Yaskawa MPL80 User Manual

MOTOMAN-MPL80
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INSTRUCTIONS
TYPE: YR-MPL0080-A00 (STANDARD SPECIFICATION) YR-MPL0080-A01 (WITH LIMIT SWITCHES FOR S-, L-, U-AXES)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MPL80 INSTRUCTIONS DX 100 INSTRUCTIONS DX 100 OPERATOR’S MANUAL DX100 MAINTENANCE MANUAL
The DX 100 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
Part Number: 157283-1CD Revision: 4
MANUAL NO.
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Copyright © 2015, Yaskawa America, Inc. All Rights Reserved.
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MANDATORY
CAUTION
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This instruction manual is intended to explain mainly on the mechanical part of the MOTOMAN-MPL80 for the application to the actual operation and for proper maintenance and inspection. It describes on safety and handling, details on specifications, necessary items on maintenance and inspection, to explain operating instructions and maintenance procedures. Be sure to read and understand this instruction manual thoroughly before installing and operating the manipulator.
General items related to safety are listed in the Chapter 1: Safety of the DX 100 instructions. To ensure correct and safe operation, carefully read the DX 100 instructions before reading this manual.
Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product.
The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product.
YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised.
If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product’s warranty.
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DANGER
WARNING
CAUTION
MANDATORY
PROHIBITED
NOTE
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or inspection of the MOTOMAN-MPL80.
In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
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Indicates an imminent hazardous situation which, if not avoided, could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe practices.
Always be sure to follow explicitly the items listed under this heading.
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations.
At any rate, be sure to follow these important items.
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “DANGER”, “WARNING” and “CAUTION”.
DANGER
Maintenance and inspection must be performed by specified personnel.
Failure to observe this caution may result in electric shock or injury.
For disassembly or repair, contact your Yaskawa representative.
Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or serious injury from unexpected turning of the manipulator's arm.
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WARNING
TURN
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Before operating the manipulator, check that servo power is turned OFF pressing the emergency stop buttons on the front door of the DX100 and the programming pendant. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.
Figure 1: Emergency Stop Button
Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator. Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Figure 2: Release of Emergency Stop
Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:
– Be sure to lock out the safeguarding when going inside.
Also, display the sign that the operation is being performed inside the safeguarding and make sure no one closes the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX100.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the DX100 and the programming pendant.
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Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
Always return the programming pendant to the hook on the cabinet of the DX100 after use.
The programming pendant can be damaged if it is left in the manipulator's work area, on the floor, or near fixtures.
Read and understand the Explanation of Warning Labels in the DX100 Instructions before operating the manipulator:
Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment Manual Designation
DX100 controller DX100
DX100 programming pendant Programming pendant
Cable between the manipulator and the controller
Manipulator cable
Registered Trademark
In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or corporation. The indications of (R) and TM are omitted.
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MOTOMAN
TYPE
PAYLOAD
ORDER NO.
SERIAL NO.
MASS
DATE
YASKAWA ELECTRIC CORPORATION JAPAN
kg
kg
WARNING
Do not enter robot work area.
WARNING
Moving parts may cause injury
Nameplate:
WARNING Label B:
WARNING Label A:
Nameplate
WARNING label A
WARNING label B
WARNING label B
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Explanation of Warning Labels
The following warning labels are attached to the manipulator.
Always follow the warnings on the labels.
Also, an identification label with important information is placed on the body of the manipulator. Prior to operating the manipulator, confirm the contents.
Figure 3: Warning Label Locations
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Table of Contents
Table of Contents
1 Product Confirmation ...................................................................................................................... 1-1
1.1 Contents Confirmation ....................................................................................................... 1-1
1.2 Order Number Confirmation............................................................................................... 1-2
2 Transport......................................................................................................................................... 2-1
2.1 Transport Method............................................................................................................... 2-1
2.1.1 Using a Crane....................................................................................................... 2-2
2.1.2 Using a Forklift...................................................................................................... 2-3
2.2 Shipping Bolts and Brackets .............................................................................................. 2-3
3 Installation....................................................................................................................................... 3-1
3.1 Installation of the Safeguarding ......................................................................................... 3-2
3.2 Mounting Procedures for Manipulator Base....................................................................... 3-2
3.2.1 Mounting Example ................................................................................................ 3-3
3.2.2 When the Manipulator is Mounted Directly on the Floor....................................... 3-4
3.3 Protection Class................................................................................................................. 3-5
3.4 Location ............................................................................................................................. 3-5
4 Wiring.............................................................................................................................................. 4-1
4.1 Grounding .......................................................................................................................... 4-1
4.2 Cable Connection .............................................................................................................. 4-2
4.2.1 Connection to the Manipulator.............................................................................. 4-2
4.2.2 Connection to the DX100...................................................................................... 4-3
5 Basic Specifications ........................................................................................................................ 5-1
5.1 Basic Specifications ........................................................................................................... 5-1
5.2 Part Names and Working Axes.......................................................................................... 5-2
5.3 Baseplate Dimensions ....................................................................................................... 5-2
5.4 Dimensions and P-Point Maximum Envelope.................................................................... 5-3
5.5 B-Axis Operating Range ....................................................................................................5-4
5.6 Alterable Operating Range ................................................................................................ 5-5
6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
6.1 Allowable Wrist Load ......................................................................................................... 6-1
6.2 Wrist Flange....................................................................................................................... 6-2
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7 System Application ......................................................................................................................... 7-1
7.1 Peripheral Equipment Mounts ........................................................................................... 7-1
7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-2
8 Electrical Equipment Specification.................................................................................................. 8-1
8.1 Location of Limit Switch ..................................................................................................... 8-1
8.2 Internal Connections.......................................................................................................... 8-2
9 Maintenance and Inspection ........................................................................................................... 9-1
9.1 Inspection Schedule .......................................................................................................... 9-1
9.2 Notes on Maintenance Procedures ................................................................................... 9-6
9.2.1 Battery Pack Replacement ................................................................................... 9-6
9.3 Notes on Grease Replenishment/Exchange Procedures .................................................. 9-8
Table of Contents
9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer ............................. 9-8
9.3.1.1 Grease Replenishment............................................................................ 9-9
9.3.1.2 Grease Exchange ................................................................................. 9-10
9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer............................ 9-11
9.3.2.1 Grease Replenishment.......................................................................... 9-11
9.3.2.2 Grease Exchange ................................................................................. 9-12
9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-13
9.3.3.1 Grease Replenishment.......................................................................... 9-13
9.3.3.2 Grease Exchange ................................................................................. 9-14
9.3.4 Grease Replenishment for B- and T-Axis Gears ................................................ 9-15
9.3.4.1 Grease Replenishment.......................................................................... 9-15
9.3.4.2 Grease Exchange ................................................................................. 9-16
9.3.5 Grease Replenishment for B- and T-Axis Speed Reducers and Gears ............. 9-17
9.3.5.1 Grease Replenishment.......................................................................... 9-17
9.3.5.2 Grease Exchange ................................................................................. 9-18
9.3.6 Notes for Maintenance ....................................................................................... 9-19
9.3.6.1 Battery Pack Connection....................................................................... 9-19
10 Recommended Spare Parts....................................................................................................... 10-1
11 Parts List ..................................................................................................................................... 11-1
11.1 S-Axis Unit ..................................................................................................................... 11-1
11.2 L-Axis Unit ..................................................................................................................... 11-3
11.3 U-Axis Unit..................................................................................................................... 11-5
11.4 B-,T-Axes Unit ............................................................................................................... 11-7
11.5 Wrist Unit ....................................................................................................................... 11-9
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1 Product Confirmation

1.1 Contents Confirmation

1 Product Confirmation
Confirm that the manipulator and the DX100 have the same order number. Special care must be taken when more than one manipulator is to be installed.
If the numbers do not match, manipulators may not perform as expected and cause injury or damage.
1.1 Contents Confirmation
Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following four items (Information for the content of optional goods is given separately):
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• Manipulator
• DX100
• Programing Pendant
• Manipulator Cable (between the DX100 and the Manipulator)
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THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER.
ORDER NO.
Check that the manipulator and the DX100 have the same order number.
Label (Enlarged View)
(a) DX 100 (Front View) (b) Manipulator (Side View)
ON
TRIPPED
RESET
OFF
Y
C
E
G
N
O
T
P
M
E
E
S
R
X81
PROGRAMMING PENDANT
PROPERLY.
CHECK ALL THE DOOR LOCKS
NJ3005-1
AVERAGE
PEAK
kVA
kA
INTERRUPT CURRENT
ERDR-
POWER SUPPLY
TYPE
DX100
kVA
3PHASE
NJ2960-1
60Hz
SERIAL No.
DATE
AC220V
MADE IN JAPAN
50/60HzAC200V
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1 Product Confirmation

1.2 Order Number Confirmation

1.2 Order Number Confirmation
Check that the order number of the manipulator corresponds to the DX100. The order number is located on a label as shown below.
Fig. 1-1: Location of Order Number Labels
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NOTE
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2 Transport
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2 Transport

2.1 Transport Method

Sling applications and crane or forklift operations must be performed by authorized personnel only.
Failure to observe this caution may result in injury or damage.
Avoid excessive vibration or shock during transport.
The system consists of precision components. Failure to observe this caution may adversely affect performance.
2.1 Transport Method
• Check that the eyebolts are securely fastened.
• The weight of the manipulator is approximately 580 kg including the shipping bolts and brackets. Use a wire rope strong enough to withstand the weight.
• Attached eyebolts are designed to support the manipulator weight. Do not use them for anything other than transporting the manipulator.
• Mount the shipping bolts and brackets for transporting the manipulator.
• Avoid putting external force on the arm or motor unit when transporting by a crane, forklift, or other equipment. Failure to observe this instruction may result in injury.
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Shipping bracket
Hexagon socket head cap screw M12 (8 screws)
Delivered with the manipulator
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2 Transport
2.1 Transport Method

2.1.1 Using a Crane

As a rule, the manipulator should be lifted by a crane with four wire ropes when removing it from the package and moving it. Be sure that the manipulator is fixed with the shipping bolts and brackets before transport, and lift it in the posture as shown in Fig. 2-1 “Transporting Position”.
Fig. 2-1: Transporting Position
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Shipping bracket
Forklift claw entry
Pallet
Bolt M20 (8 bolts)
NOTE
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2 Transport

2.2 Shipping Bolts and Brackets

2.1.2 Using a Forklift

When using a forklift, the manipulator should be fixed on a pallet with bolts as shown in Fig. 2-2 “Using a Forklift”. Insert claws under the pallet and lift it. The pallet must be strong enough to support the manipulator. Transport the manipulator slowly with due caution in order to avoid overturning or slippage.
Fig. 2-2: Using a Forklift
2.2 Shipping Bolts and Brackets
The manipulator is provided with shipping bolts and a shipping brackets.
(See Fig. 2-1 “Transporting Position" on page 2-2.)
• The shipping bolts and bracket are painted yellow.
Before turning ON the power, make sure that the shipping bolts and brackets are removed. The shipping bolts and brackets then must be stored for future use, in the event that the manipulator must be moved again.
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WARNING
CAUTION
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3 Installation

3 Installation

Install the safeguarding.
Failure to observe this warning may result in injury or damage.
Install the manipulator in a location where the tool or the workpiece held by its fully extended arm will not reach the wall, safeguarding, or controller.
Failure to observe this warning may result in injury or damage.
Do not start the manipulator or even turn ON the power before it is firmly anchored.
The manipulator may overturn and cause injury or damage.
Do not install or operate a manipulator that is damaged or lacks parts.
Failure to observe this caution may cause injury or damage.
Before turning ON the power, check to be sure that the shipping bolts and brackets are removed.
Failure to observe this caution may result in damage to the driving parts.
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3 Installation

3.1 Installation of the Safeguarding

3.1 Installation of the Safeguarding
To insure safety, be sure to install safeguarding. It prevents unforeseen accidents with personnel and damage to equipment. Refer to the quoted clause for your information and guidance.
Responsibility for Safeguarding (ISO10218)
The user of a manipulator or robot system shall ensure that safeguarding is provided and used in accordance with Sections 6, 7, and 8 of this standard. The means and degree of safeguarding, including any redundancies, shall correspond directly to the type and level of hazard presented by the robot system consistent with the robot application. Safeguarding may include but not be limited to safeguarding devices, barriers, interlock barriers, perimeter guarding, awareness barriers, and awareness signals.

3.2 Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a baseplate or foundation strong enough to support the manipulator and withstand repulsion forces during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator referring to Table 3-1
"Maximum Repulsion Forces of the Manipulator at Emergency Stop" and Table 3-2 "Endurance Torque in Operation".
A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness of installation surface may deform the manipulator shape and affect its functional abilities.
Mount the manipulator base as instructed in section 3.2.1 “Mounting
Example” on page 3-3 or section 3.2.2 “When the Manipulator is Mounted Directly on the Floor” on page 3-4.
Table 3-1:
Maximum torque in horizontal rotation (S-axis moving direction)
Maximum torque in vertical rotation (L-, U-axes moving direction)
Maximum Repulsion Forces of the Manipulator at Emergency Stop
24500 N•m (2500 kgf•m)
45080 N•m (4600 kgf•m)
Table 3-2: Endurance Torque in Operation
Endurance torque in horizontal operation (S-axis moving direction)
Endurance torque in vertical operation (L-, U-axes moving direction)
6125 N•m (625 kgf•m)
11270 N•m (1150 kgf•m)
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50
30
Flatness:
0.5mm or less
Hexagon head screw M20 (8 screws)
Manipulator base
Spring washer
Washer
Baseplate
Anchor bolt M20 or more
Baseplate
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3.2 Mounting Procedures for Manipulator Base

3.2.1 Mounting Example

For the first process, anchor the baseplate firmly to the ground. The baseplate should be rugged and durable to prevent shifting of the manipulator or the mounting fixture. It is recommend to prepare a baseplate of 50 mm or more thick, and anchor bolts of M20 or larger size.
Next, fix the manipulator base to the baseplate. The manipulator base is tapped for eight mounting holes; securely fix the manipulator base to the baseplate with hexagon head screws M20 (70 mm long is recommended).
Tighten the hexagon head screws and anchor bolts firmly so that they will not work loose during the operation.
Refer to Fig. 3-1 “Mounting the Manipulator Baseplate”.
Fig. 3-1: Mounting the Manipulator Baseplate
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600
900
800
720
385
320
300300
400
230
Bolt A
Tapped hole M20 (8 holes)
Bolt B
Tapped hole M24 (4holes) (Base B)
28dia. (4 holes) (Base A)
28dia. (4 holes) (Base B)
Base B
Base A
Bolt A: Bolt M20 X 70 mm (8 bolts),Spring Washer, Flat Washer
Tightening bolts or bases are prepared by the customer.
FL
Leveling is required
32
36250
350
200
100
100
200
JA Base bolt M24 X315mm
Weld after adjusting the installation
10
Manipulator base
Units: mm
Bolt B: Bolt M24 X 70 mm (4 bolts),Spring Washer, Flat Washer
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3 Installation
3.2 Mounting Procedures for Manipulator Base

3.2.2 When the Manipulator is Mounted Directly on the Floor

The floor should be strong enough to support the manipulator. Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator. As a rough standard, when there is a concrete thickness (floor) is 200 mm or more, the manipulator base can be fixed directly to the floor with M 20 anchor bolts. Before mounting the manipulator, however, check that the floor is level and that all cracks, etc. are repaired. Any thickness less than 200 mm is insufficient for mounting, even if the floor is concrete.
Fig. 3-2: Direct Mounting on the Floor
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3 Installation

3.3 Protection Class

3.3 Protection Class
The protection class at the main part conforms to IP54 and that of wrist part is IP67.

3.4 Location

When installing a manipulator, it is necessary to satisfy the following environmental conditions:
• Ambient Temperature: 0° to +45°C
• Humidity: 20 to 80%RH (non-condensing)
• Free from dust, soot, oil, or water
• Free from corrosive gas or liquid, or explosive gas or liquid.
• Free from excessive vibration (4.9 m/s
• Free from large electrical noise (plasma)
2
[0.5G] or less)
• The flatness for installation is 0.5 mm or less
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CAUTION
NOTE
A
5.5mm or more
2
Delivered with the manipulator
Bolt M8 (for grounding)
View A
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4 Wiring
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4 Wiring

4.1 Grounding

Ground resistance must be 100 Ω or less.
Failure to observe this warning may result in fire or electric shock.
Before wiring, make sure to turn the primary power supply off, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.)
Failure to observe this warning may result in fire or electric shock.
Wiring must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire or electric shock
4.1 Grounding
Follow the local regulations and electrical installation standards for grounding. A wire of 5.5 mm
Refer to Fig. 4-1 “Grounding Method” to connect the ground line directly to the manipulator.
Fig. 4-1: Grounding Method
2
or more is recommended.
• Never use this wire sharing with other ground lines or grounding electrodes for other electric power, motor power, welding devices, etc.
• Where metal ducts, metallic conduits, or distributing racks are used for cable laying, ground in accordance with electrical installation standards.
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4 Wiring

4.2 Cable Connection

4.2 Cable Connection
Two manipulator cables are delivered with the manipulator; an encoder cable (1BC) and a power cable (2BC). (Refer to Fig. 4-2 “Manipulator Cables" on page 4-3.)
Connect these cables to the manipulator base connectors and to the DX100. Refer to Fig. 4-3(a) "Manipulator Cable Connectors (Manipulator
Side)" on page 4-4" and Fig. 4-3(b) "Manipulator Cable Connectors (DX100 Side)" on page 4-4.

4.2.1 Connection to the Manipulator

Before connecting cables to the manipulator, verify the numbers on both manipulator cables and the connectors on the connector base of the manipulator. When connecting, adjust the cable connector positions to the main key positions of the manipulator, and insert cables in the order of 2BC, then 1BC. After inserting the cables, depress the lever until it clicks.
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molexmolexmolex molexmolexmolex
2BC
X11
1BC
1BC
X21
2BC
X11
1BC
X21
2BC
The DX100 side
The Manipulator side
Encoder cable
Power cable
The DX100 side
The Manipulator side
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4 Wiring
4.2 Cable Connection

4.2.2 Connection to the DX100

Before connecting cables to the DX100, verify the numbers on both manipulator cables and the connectors on the DX100. When connecting, insert the cables in the order of X21, then X11, and depress each lever low until it clicks.
Fig. 4-2: Manipulator Cables
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X11
X21
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4.2 Cable Connection
Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side)
Fig. 4-3(b): Manipulator Cable Connectors (DX100 Side)
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5 Basic Specifications

5.1 Basic Specifications

5 Basic Specifications
5.1 Basic Specifications
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Table 5-1: Basic Specifications
Item Model MOTOMAN-MPL80
Structure Vertically Articulated
Degree of Freedom 5
Payload 80 kg
Repeatability
Range of Motion
Maximum Speed S-Axis 2.97rad/s, 170°/s
*2)
3)
1)
±0.07 mm
S-Axis (turning) ±180°
L-Axis (lower arm) +135°, -90°
U-Axis (upper arm) +251°, -170°
B-Axis (wrist pitch/yaw) ±15°
T-Axis (wrist twist) ±360°
L-Axis 2.97rad/s, 170°/s
U-Axis 2.97rad/s, 170°/s
4)
B-Axis 2.97rad/s, 170°/s
T-Axis 6.11 rad/s, 350°/s
Allowable Moment
Allowable Inertia
2
/4)
(GD
Approx. Mass 550 kg
Ambient Conditions Temperature 0° to 45°C
Power Capacity 4.0 kVA
1 SI units are used in this table. However, gravitational unit is used in ( ). 2 Conformed to ISO9283 3 The range of motion of type:MPL0080-A01 is limited with the limit switch before shipment. 4 The range of motion of the B-axis indicates the angle to the ground. With certain postures, however, motion may
be limited by the relative angle between the B-axis and the upper arm. Refer to section 5.5 “B-Axis Operating Range” on page 5-4.
5 Refer to section 6.1 “Allowable Wrist Load” on page 6-1 for details on the allowable inertia.
5)
B-Axis 78.4 N•m (8 kgf•m)
T-Axis 20.5N•m (2.1 kgf•m)
B-Axis 16 kg•m
T-Axis 6.1 kg•m
Humidity 20 to 80% RH at constant temperature
Vibration Acceleration Less than 4.9 m/s
Others Free from corrosive gas or liquid, or explosive gas or
liquid. Free from water, oil, or dust. Free from excessive electrical noise (plasma).
2
2
2
(0.5G)
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T-
B-
T+
B+
U-
U+
L-
L+
S-
S+
Wrist
Wrist flange
Lower arm L-arm
Upper arm U-arm
Rotary head S-head
Manipulator base
30
A
153
455
608
455
±
0.1
195
385
320
±0.1
195
±0.1
195
±0.1
230
230±0.1
22 dia.(8 holes)
View A
+0.018 0
12 dia. (2 holes)
230
400
195
±0.1
Base dimensions
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5 Basic Specifications

5.2 Part Names and Working Axes

5.2 Part Names and Working Axes
Fig. 5-1: Part Names and Working Axes
Fig. 5-2: Baseplate Dimensions

5.3 Baseplate Dimensions

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2170
1300
925
312
112 1
623
2192
543
471248
131
2061
57
175
1025
145
1807
187540 870 210
105 105
6
A
P-point
276
343
253
234
234
R377
R543
R2061
View A
P-point maximum envelope
Units: mm
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5 Basic Specifications

5.4 Dimensions and P-Point Maximum Envelope

5.4 Dimensions and P-Point Maximum Envelope
Fig. 5-3: Dimensions and P-Point Maximum Envelope
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157283-1CD
15°
B-axis rotation center
Wrist flange
15°
15°
15°
15°
55°
(*1)
U-axis rotation center
15°
15°
15°
15°
S-axis rotation center
L-axis rotation center
55°
Upper arm
(U-arm)
(*1)
1515°15°
1515°15°
15°
15°
1515°15°
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MPL80
5 Basic Specifications

5.5 B-Axis Operating Range

5.5 B-Axis Operating Range
The operating range of the B-axis maintaining a constant angle to the center of U-axis is shown in Fig. 5-4 “B-Axis Operating Range”.
By “B-axis adjustable motion function”, the B-axis maintains the same posture to the ground regardless of the L- or U-axis angle.
The operating range is ±15° (0 degree is defined as the angle when the wrist flange is horizontal and facing to the ground.) When the B-axis position exceeds this limit, ”Special Soft Limit” occurs.
Note: In relation with interference with the upper arm, the range of motion can be limited.
Fig. 5-4: B-Axis Operating Range
5-4
HW0485739
MPL80
28 of 69
5 Basic Specifications

5.6 Alterable Operating Range

5.6 Alterable Operating Range
The operating range of the S-axis can be altered in accordance with the operating conditions as shown in Table 5-2 "S-Axis Operating Range". If alteration is necessary, contact your Yaskawa representative in advance.
Table 5-2: S-Axis Operating Range
Item Specifications
S-Axis Operating Range
157283-1CD
±180°(standard) ±165° ±150° ±135° ±120° ± 105° ± 90° ± 75° ± 60° ± 45° ± 30° ± 15°
5-5
HW0485739
157283-1CD
800 600 400
20kg
1200
1000
800
600
400
800600400
LT(mm)
10kg
40kg
60kg
80kg
LB(mm)
LT(mm)
T- and R-axes center of rotation
B-axis center of rotation
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MPL80

6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
The allowable wrist load is 80 kg. If force is applied to the wrist instead of the load, force on R-, B-, and T-axes should be within the value shown in Table 6-1 "Allowable Wrist Load". Contact your Yaskawa representative for further information or assistance.
Table 6-1: Allowable Wrist Load
Axis Moment Nm (kgfm)
B-Axis 78.4 (8) 16
T-Axis 20.5 (2.1) 6
1 ( ): Gravitational unit
1)
GD kg•m
2
/4 Total Moment of Inertia
2
When the volume load is small, refer to the moment arm rating shown in Fig. 6-1 “Moment Arm Rating”.
The allowable total moment of inertia is calculated when the moment is at the maximum. Contact your Yaskawa representative beforehand when only the moment of inertia is created, or when the load moment is small while the moment of inertia is large. Also, when the load mass is combined with an outside force, contact your Yaskawa representative beforehand.
Fig. 6-1: Moment Arm Rating
6-1
HW0485739
MPL80
P.C.D.80
42
40
Unit: mm
6
6
10
axis
Tapped hole M8
8 dia
Alignment mark
6 dia.
+0.012 0
50 dia.
0
-0.025
(depth: 10mm)
(depth:14 mm) (pitch:1.25) (6 holes)
(depth: 14mm)
+0.015 0
100 dia.
0
-0.022
NOTE
30 of 69
Fig. 6-2: Wrist Flange
157283-1CD
6 Allowable Load for Wrist Axis and Wrist Flange

6.2 Wrist Flange

6.2 Wrist Flange
The wrist flange dimensions are shown in Fig. 6-2 “Wrist Flange”. In order to see the alignment marks, it is recommended that the attachment be mounted inside the fitting. Fitting depth of inside and outside fittings must be 5 mm or less.
Wash off anti-corrosive paint (yellow) on the wrist flange surface with thinner or light oil before mounting the tools.
6-2
HW0485739
157283-1CD
611.5
200
100
100
57
223.5
40
105
105
223.5
40
105
105
100
100
200
50
Tapped hole M8 (4 holes) (pitch: 1.25) (depth: 16)
Tapped hole M8 (4 holes)
(pitch: 1.25) (depth: 16)
Tapped hole M12 (4 holes) (pitch: 1.75) (depth: 20)
A
B
C
31 of 69
MPL80

7 System Application

7.1 Peripheral Equipment Mounts

7 System Application
7.1 Peripheral Equipment Mounts
The peripheral equipment mounts are provided on the U-axis (upper arm) and S-axis (rotary head) as shown in Fig. 7-1 “Installing Peripheral Equipment” for easier installation of the users’ system applications. The following conditions should be observed to attach or install peripheral equipment.
Fig. 7-1: Installing Peripheral Equipment
Table 7-1: Conditions for Installation
Section Application Note
A Cable processing 80 kg max. for attaching load mass including
wrist load.
B Cable processing and
valve load
10 kg max.
N•m (5 kgf•m) max. for increased
49
moment amount of upper arm
C Others 30 kg max.
7-1
HW0485739
MPL80
View A
Connector for Internal User I/O Wiring Harness
Pins used
Internal user I/O wiring harness :
0.5 mm
2
, 23 wires
AIR
1BC
2BC
8
4
9
6517
23
14
19
20
15
17
11 121813
21 22 23
10
16
P
P
P
P
P
P
P
P
P
P
P
1
6
5
3 4
2
7 8 9 10
15
14
13
12
11
20
19
17 18
16
22 23
21
Tapped hole PT3/8 with a pipe plug
Air inlet
Connector for internal user I/O wiring harness: JL05-2A24-28PC (with a cap)
Prepare pin connector: JL05-6A24-28S
A
B
Connector for internal user I/O wiring harness: JL05-2A24-28SC (with a cap)
Prepare pin connector: JL05-6A24-28S
View B
Air inlet Tapped hole PT3/8
with a pipe plug
32 of 69
157283-1CD
7 System Application

7.2 Internal User I/O Wiring Harness and Air Line

7.2 Internal User I/O Wiring Harness and Air Line
Internal user I/O wiring harness (0.5 mm2 x 23 wires), and an air line are incorporated in the manipulator for the drive of peripheral device mounted on the upper arm as shown in Fig. 7-2 “Connectors for Internal User I/O Wiring Harness and Air Line" on page 7-2.
The connector pins 1 to 23 are assigned as shown in Fig. 7-2. Wiring must be performed by users.
The allowable current for internal user I/O wiring harness
5.1A or less for each wire (The total current value for pins 1 to 23 must be 34.5A or less.)
The maximum pressure for the air line 490 kPa (5 kgf/cm
(The air line inside diameter: 8.0 mm.)
Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line
2
) or less
The same numbered pins (1 to 23) of the two connectors are connected with a single lead wire of 0.5 mm
2
.
7-2
HW0485739
157283-1CD
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MPL80

8 Electrical Equipment Specification

8.1 Location of Limit Switch

8 Electrical Equipment Specification
8.1 Location of Limit Switch
The limit switches are optional. See Fig. 8-1 “Location of Limit Switches”. The overrun limit switches (the S- and L-axis overrun limit switches and the LU-axes interference limit switch) are mounted only if the manipulator type is : YR-MPL0080-A01.
Fig. 8-1: Location of Limit Switches
L-and U-axes interference limit switch (YR-MPL0080-A01 with limit switch)
S-axis overrun limit switch
L-axis overrun limit switch (YR-MPL0080-A01 with limit swich)
8-1
HW0485739
MPL80
1BC
2BC
Connector for internal user I/O wiring harness
Connector for internal user I/O wiring harness
L-and U-axes interference limit switch (YR-MPL0080-A01 with limit switch)
S-axis overrun limit switch
L-axis overrun limit switch (YR-MPL0080-A01
with limit switch)
34 of 69
8 Electrical Equipment Specification

8.2 Internal Connections

8.2 Internal Connections
Highly reliable connectors are equipped on each connection part of the manipulator to enable easy removal and installation for maintenance and inspection. For the number and location of connectors, see Fig. 8-2
“Location and Numbers of Connectors” and Table 8-1 "List of Connector Types".
Diagrams for internal connections of the manipulator are shown in Fig. 8-3(a) "Internal Connection Diagram" on page 8-3 and Fig. 8-3(b) "Internal Connection Diagram" on page 8-4 .
Fig. 8-2: Location and Numbers of Connectors
157283-1CD
Table 8-1: List of Connector Types
Name Type of Connector
Connector for the internal user I/O wiring harness on the connector base
Connector for the internal user I/O wiring harness on the U-arm
JL05-2A24-28PC (JL05-6A24-28S: Optional)
JL05-2A24-28SC (JL05-6A24-28P: Optional)
8-2
HW0485739
DX100
Board for encoder power
1.For the limit switch specification, the connection of the section A B are changed as follows:
<Notes>
S-axis overrun L.S.
Connected to
A1
L-axis overrun L.S.
A2
Connected to
L and U-axes interference L.S.
A3
Connected to
S-axis overrun L.S.
Connected to
B1
L-axis overrun L.S.
B2Connected to
L and U-axes interference L.S.
B3
Connected to
SLU-axes with Limit Switch Specification
S-axis with Limit Switch Specification
S-axis overrun L.S.
Connected to
B1
S-axis overrun L.S.
Connected to
A1
DC/DC
SP23
23
23
P
22
SP22
SP21
21
22
21
P
20
SP20
SP19
19
20
19
P
P
P
P
P
P
S1(24-28)
No.8CN(24-28)
3
2
1
SP1 SP2 SP3
SP6
7 8 9
SP7 SP8
6
5
SP5
SP4
4
13 14 15 16
12
11
SP12
SP13 SP14 SP15
SP11
SP10
18
SP18
SP17
17
SP16
10
SP9
P
P
P
1 2
6
8
7
4 5
3
12
13
15
14
10 11
18
17
16
9
LC1
LD1
LD1
+24V
LD1
LD2
LB1
LB2
LA1
LB1
P
0V
P
P
CN4-9
CN4-4 CN4-5
P
AWG23
AWG23 AWG23
CN4-4 CN4-5
CN2-10
CN2-9
CN2-5
CN2-4
CN3-4 CN3-5
AWG23
AWG23 AWG23
AWG23
AWG23
AWG23
CN3-10
AWG23
AWG23
CN3-9
CN2-10
CN3-4 CN3-5
CN2-4 CN2-5 CN2-9
+24V LD1
CN3-9 CN3-10
CN4-9
CN4-10
AWG23
0V
CN4-10
S-AXIS
PG
PG
U-AXIS
PG
BAT OBT +5V 0V
DATA-5
-9
-6
-5
-4
-2
DATA+5
B-AXIS
DATA+6
BAT
DATA-6
OBT
-2
PG
+5V
FG6
0V
BAT OBT
-10
-4
-9
-6
-5
T-AXIS
FG5-10
BAT
OBT
L-AXIS
PG
0BAT2
BAT1
0BAT1 18 19
17
0BAT3
BAT3
21
24 25
22 23
BAT2
20
0BAT5
0BAT6
BAT6
BAT5
27
29 30
28
31
PG0V3
PG0V2
PG5V2
PG5V1
PG0V1
5
2 3 4
1
32
26
1CN-1
No.1CN
-2
DATA-1
DATA+1
S
P
-4
-9
-10
-5
-6
0V
+5V
FG1
BAT OBT
No.2CN 2CN-1
-6
-2
DATA-2
DATA+2
BAT
BAT
OBT
P
P
L
P
No.18CN
PG5V6
PG0V6
PG5V5
PG0V5
8
12
11
10
9
7
16
15
14
13
-3
-4
-2
-1
No.19CN
-1
PG5V1 PG0V1
0BAT1
BAT2
BAT1
PG5V3
6
0BAT12
BAT11
0BAT11
2 3
1
PK R BAT
0BT
0BT
0BAT21
50BT
BAT12
PK R BAT 4
0BAT22 BAT22
7
1
8PKR
0BT BAT
7
4 5 6
3
2
BAT21
PK R BAT 6
X
3
1
-3
No.24CN
-1 +24V 0V
4
2
-2-4+24V 0V
1BC(10 4)
0V
+24V
CN1-5 CN1-4
P
AWG23
AWG23
SPG-1
SPG+1
0V
+24V
CN1-2
CN1-1
CN1-9
CN1-10
P
P
AWG23
AWG23
AWG23
AWG23
FG1
CN1-3
SPG-2
SPG+2
CN1-7
CN1-6
P AWG23
AWG23
CN1-5
0V
+24V
CN1-10
CN1-1
CN1-9
0V
SPG-1
SPG+1
+24V
CN1-4
CN1-3
FG1
CN1-6 CN1-7
SPG-2
SPG+2
CN1-2
8
-10
-4
-9 0V
BAT
OBT
FG2
+5V
-2
-5
-6
3CN-1
No.3CN
DATA-3
DATA+3
OBT
BAT
P
U
P
P
-9
-10
0V
OBT BAT
FG3
P
-4 +5V
-4
-3
No.20CN
-2
-1
-4
-3
PG5V3 PG0V3
0BAT3
PG0V2
PG5V2
BAT3
B
P
P
P
T
P
P
P
No.22CN
-4
-2
-3
-1
No.23CN
-2
-3
-4
-1
PG5V6 PG0V6
0BAT6
BAT6
PG0V5
0BAT5 PG5V5
BAT5
FG2
CN1-8
SPG-3
SPG+3
CN2-2
CN2-1
P
AWG23 AWG23
FG3
CN2-3
CN2-7
CN2-6
P
AWG23 AWG23
CN1-8
FG2
CN2-2
CN2-1
SPG-3
SPG+3
CN2-3
FG3
CN2-6 CN2-7
CN3-1
CN2-8
AWG23
FG5
SPG-5
CN3-3
CN3-2
P
AWG23
SPG+5
SPG+6 SPG-6
CN3-6 CN3-7
P
AWG23 AWG23
FG6
CN3-8
CN2-8
CN3-2
FG5
SPG-5
CN3-1
SPG+5
CN3-6
SPG-6
SPG+6
CN3-8
FG6
CN3-7
CN3-3
BC1 BC2
SS1
E
MANIPULATOR CasingBase
E
LB1
+24V
CN4-6
P
AWG23
AWG23
CN4-1
SS2
BC2
SS2
CN4-3
CN4-7
CN4-2
P
AWG23
AWG23 AWG23
CN4-8
P
AWG23
CN4-6
CN4-1
LB1
+24V
CN4-7
CN4-2
BC2
SS2
CN4-8
CN4-3
E
-2
0BAT2 P
-5 OBT
6CN-1
No.6CN
5CN-1
No.5CN
LC3
LD3
LA3
LB3
LA1
LC1
LA3
LB3
LB2 LB1
LB1
LA1
LC3
LD3
LD2
LD1
LD1
LC1
LD1
LD1
LC1
LB1
LB1
LA1
LD1
LC2
LD2
LD2
LD1
LC1
LB1
LA2
LB2
LB2
LB1
LA1
LC2 LD2
LD2
LD1
LB1 LB2
LB2
LA2
FOR LAMP(OPTION)
B1
A1
B3
A3
B2
A2
35 of 69
157283-1CD
MPL80
8 Electrical Equipment Specification
8.1 Internal Connections
Fig. 8-3(a): Internal Connection Diagram
8-3
HW0485739
MPL80
YB
SM
B-AXIS
SM
YB
T-AXIS
13CN-3
No.13CN
MU5
-2
-1
-5
-4
-PE
MV5 MW5
BB5
BA5
ME5
-2
14CN-3
No.14CN
MU6 MV6
-1
-4
-5
-PE
MW6
BA6 BB6
ME6
EE
2BC
2BC(8X4+12X2)
PE
ME6
BB1
BA1
BA3
BA6
BA5
BB5
BA2
ME5
ME3
ME2
ME2
ME1
ME1
MW5
MV5
MU5
MU6
MW6
MV6
MV2 MV2 MW2
MU3 MV3
MW2
MU1
MV1 MV1 MW1
MU1
MU2 MU2
MW1
MW3
ME6
BB1
BA1
BA3
BA6
BA5
BB5
BA2
CN6-9 CN6-10
CN6-12
CN6-11
CN6-2
CN6-1
CN6-4
CN6-7
CN6-8
CN6-6
CN6-5
CN6-3
ME5
ME3
ME2
ME2
ME1
ME1
CN5-5
CN5-8
CN5-7
CN5-6
CN5-4
CN5-3
CN5-2
CN5-1
CN4-2
CN4-1
CN4-6 CN4-7
CN4-3
CN4-5
CN4-4
CN4-8
MW5
MV5
MU5
MU6
MW6
MV6
CN3-1 CN3-2
CN3-5
CN3-4
CN3-7
CN3-8
CN3-6
CN3-3
CN5-5
CN5-8
CN5-7
CN5-6
CN5-4
CN5-3
CN5-2
CN2-8
CN2-7
CN2-8
CN2-7
MV2 MV2 MW2
MU3 MV3
MW2
CN2-1
CN2-3
CN2-2
CN2-5 CN2-6
CN2-4
CN1-8
CN1-7
CN1-6
CN1-5
CN1-4
CN1-3
CN1-2
CN1-8
CN1-7
CN1-6
CN1-5
CN1-4
CN1-3
CN1-2
CN6-9 CN6-10
CN6-12
CN6-11
S-AXISSM
YB
L-AXIS
YB
SM
U-AXISSM
YB
-C
No.9CN
9CN-A
-B MW1
MU1 MV1
-1
-D
-2
BA1
ME1
BB1
CN1-1
MU1
MV1 MV1 MW1
MU1
MU2 MU2
MW1
CN1-1
CN2-1
CN2-3
CN2-2
10CN-A
No.10CN
MU2
-2
-C
-1
-D
BB2
MW2
BA2
ME2
MV2-B
-C
-B
No.11CN 11CN-A
MW3
MV3
MU3
-2
-1 BA3 BB3
ME3-D
MW3
CN2-5 CN2-6
CN2-4
CN3-1 CN3-2
CN3-5
CN3-4
CN4-2
CN3-7
CN4-1
CN3-8
CN3-6
CN3-3
CN4-6 CN4-7
CN4-3
CN4-5
CN4-4
CN4-8
CN5-1
CN6-2
CN6-1
CN6-4
CN6-7
CN6-8
CN6-6
CN6-5
CN6-3
36 of 69
157283-1CD
8 Electrical Equipment Specification
8.1 Internal Connections
Fig. 8-3(b): Internal Connection Diagram
8-4
HW0485739
157283-1CD
DANGER
WARNING
CAUTION
NOTE
37 of 69
MPL80

9 Maintenance and Inspection

9.1 Inspection Schedule

9 Maintenance and Inspection
Maintenance and inspection must be performed by specified personnel.
Failure to observe this caution may result in electric shock or injury.
For disassembly or repair, contact your Yaskawa representative.
Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or serious injury from unexpected turning of the manipulator's arm.
Before maintenance or inspection, be sure to turn the main power supply OFF, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.)
Failure to observe this warning may result in electric shock or injury.
The battery pack must be connected before removing detection connector when maintenance and inspection.
Failure to observe this caution may result in the loss of home position data.
9.1 Inspection Schedule
Proper inspections are essential not only to assure that the mechanism will be able to function for a long period, but also to prevent malfunctions and assure safe operation. Inspection intervals are classified into six levels as shown in Table 9-1 "Inspection Items" on page 9-2.
In Table 9-1 "Inspection Items" on page 9-2, the inspection items are classified into three types of operation: operations which can be performed by personnel authorized by the user, operations to be performed by trained personnel, and operations to be performed by service company personnel. Only specified personnel shall perform the inspection work.000
• The inspection interval depends on the total servo operation time.
• The inspection may be conducted at shorter intervals if the manipulator is used very frequently for the application such as handling; in this case, contact your Yaskawa representative.
9-1
HW0485739
Table 9-1: Inspection Items (Sheet 1 of 2)
38 of 69
1)
Items
Schedule Method Operation Inspection
MPL80 9.1 Inspection Schedule
Charge
1 Alignment mark
2 External lead 3 Working area and
manipulator
4 S, L, U, B, T-axes motor
9-2
5 Baseplate mounting bolts
6 Cover mounting screws
7 S, L, U, B, T-axes motor
connector
8 Connector base
9 Wire harness in
manipulator
HW0485739
10 Limit switches and dogs
(S,L,U-axes)
11 Battery pack in
manipulator
12 S-axis speed reducer
Daily
1000HCycle
6000HCycle
12000HCycle
••
24000HCycle
36000HCycle
Visual Check alignment mark accordance at the home position.
Check for damage. Visual Check for damage and deterioration of leads. Visual Clean the work area if dust or spatter is present. Check for damage
and outside cracks. Visual Check for grease leakage. Spanner
Wrench Screwdriver,
Wrench Manual Tighten loose bolts.
Manual Check for loose connectors.
Visual Multimeter Check for conduction between the main connecter of base
Screwdriver, Wrench, Multimeter
Grease Gun Check for malfunction. (Replace if necessary.)
Tighten loose bolts. Replace if necessary.
Tighten loose bolts. Replace if necessary.
and intermediate connector with manually shaking the wire. Check
for wear of protective spring
Replace it 24000H intervals.
Tighten loose bolts. Replace if necessary.
Replace the battery pack when the battery alarm occurs or the
manipulator drove for 36000H.
Supply grease (6000H cycle)5)
Replace grease. (12000H cycle) 5)See section 9.3.1 on page 9-8.
2)
3)
4)
Specified
Personnel
Licensee
Service
Company
•••
•••
•••
•••
•••
•••
•••
•••
••
••
••
••
9 Maintenance and Inspection
157283-1CD
9-3
39 of 69
Table 9-1: Inspection Items (Sheet 2 of 2)
1)
Items
13 LU-axes speed reducers
14 B,T-axes speed reducers
B,T-axes gears
15 Overhaul
1 Inspection No. correspond to the numbers in Fig. 9-1 “Inspection Items" on page 9-4. 2 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can cause a motor breakdown. Contact your Yaskawa
representative.
3 When checking for conduction with multimeter, connect the battery to “BAT” and “OBT” of connectors on the motor side for each axis, and then remove
connectors on detector side for each axis from the motor. Otherwise, the home position may be lost. (Refer to section 9.3.6 on page 9-19.)
4 The grease might leak out from the air breather or the internal pressure might rise in case the manipulator is used very frequently for the application such as
handling.
5 For the grease, refer to Table 9-2 "Inspection Parts and Grease Used" on page 9-5.
Schedule Method Operation Inspection
Charge
Daily
1000HCycle
6000HCycle
12000HCycle
24000HCycle
••
••
36000HCycle
Grease Gun Check for malfunction. (Replace if necessary.)
Supply grease (6000H cycle)5).
Replace grease (12000H cycle)5). See section 9.3.2 on page 9-11,
section 9.3.3 on page 9-13. Grease Gun Check for malfunction. (Replace if necessary.)
Supply grease(6000H cycle)5).
Replace grease(12000H cycle)
5)
. See section 9.3.5 on page 9-17.
4)
4)
Specified
Personnel
Licensee
••
••
••
Service
157283-1CD
MPL80 9.1 Inspection Schedule
Company
9 Maintenance and Inspection
HW0485739
Fig. 9-1: Inspection Items
6
7
2
1
8
10
L-axis
15
1
B-axis
6
1
14
R-axis
1
U-axis
11
14
6
5
6
16
1
T-axis
6
6
4
13
6
1
9
12
S-axis
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9 Maintenance and Inspection
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9 Maintenance and Inspection
9.1 Inspection Schedule
Table 9-2: Inspection Parts and Grease Used
No. Grease Used Inspected Parts
13,14,15,16 Molywhite RE
No.00
The numbers in the above table correspond to the numbers in Table 9-1 "Inspection Items" on page 9-2.
Speed reducers for all axes B,T-axes gears
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AIR
1BC
2BC
Top View
Backside View
Connector base
Battery pack (HW0470360-A)
Cross head APS bolt M6 (Length:12)(8 bolts)
Cross head APS bolt M4 (Length:8)(4 bolts)
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9 Maintenance and Inspection

9.2 Notes on Maintenance Procedures

9.2 Notes on Maintenance Procedures

9.2.1 Battery Pack Replacement

The battery packs are installed in the position shown in Fig. 9-2 “Battery Location”.
• Battery Type: HW0470360-A
Fig. 9-2: Battery Location
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See procedure 5
Connector
Battery pack before replacement
See procedure 4
New battery pack
Circuit Board
(Type: SGDR-EFBA02A)
NOTE
NOTE
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Fig. 9-3: Battery Connection
9 Maintenance and Inspection
9.2 Notes on Maintenance Procedures
1. Turn OFF the DX100 main power supply.
2. Remove the plate fixing screws and the plate on the connector base, then
pull the battery pack out to replace it with the new one.
3. Remove the battery pack from the battery holder.
4. Connect the new battery pack to the unoccupied connectors on the circuit boa
5. Remove the old battery pack from the circuit board.
6. Mount the new battery pack on the battery holder.
7. Reinstall the plate.
rd.
Remove the old battery pack after connecting the new one so that the encoder absolute data does not disappear.
Do not allow plate to pinch the cables when reinstalling the plate.
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Grease exhaust port
Air breather
S-axis speed reducer
Grease inlet
Hexagon socket head plug PT1/4
Air breather
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9 Maintenance and Inspection

9.3 Notes on Grease Replenishment/Exchange Procedures

9.3 Notes on Grease Replenishment/Exchange Procedures
Make sure to follow the instructions listed below at grease replenishment/ exchange. Failure to observe the following notes may result in damage to a motor and a speed reducer.
• If grease is added without removing the plug/air breather from the grease exhaust port, grease will leak inside a motor or an oil seal of a speed reducer will come off, which may result in damage to the motor. Make sure to remove the plug/air breather.
• Do not install a joint, a hose, etc. to the grease exhaust port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
• Make sure to use a grease pump to inject grease. Set air supply pressure to the grease pump at 0.3 MPa or less, and the grease injection rate at 8 g/s or less.
• Make sure to fill hoses, which are joined to the grease inlet, with grease beforehand to prevent air from intruding into the speed reducer.

9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer

Fig. 9-4: S-Axis Speed Reducer Diagram
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9.3.1.1 Grease Replenishment
9 Maintenance and Inspection
9.3 Notes on Grease Replenishment/Exchange Procedures
(Refer to Fig. 9-4 “S-Axis Speed Reducer Diagram" on page 9-8.)
1. Remove the hexagon socket head plug PT1/4 from the grease inlet and the hexagon socket head air breather from the grease exhaust port.
2. Install the grease zerk PT1/4 to the grease inlet. (The grease zerk is delivered with the manipulator.)
3. Inject the grease through the inlet using a grease gun.
– Grease type: Molywhite RE No. 00
• If grease is injected with the air breather on, grease will leak inside the motor and may cause a damage. Make sure to remove the air breather before the grease injection.
• Do not install a joint, a hose, etc. to the grease exhaust port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
Amount of grease: 520 cc (1040 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. Move the S-axis for a few minutes to discharge the excess grease.
5. Wipe the discharged grease with a cloth and reinstall the air breather up
ward. Before installing the air breather, apply thread part of each plug.
6. Remove the grease zerk from the grease inlet and reinstall the he
xagon socket head plug PT1/4. Before installing the plug, apply Three Bond of each plug, then tighten the plug with a tightening torque of 12 N•m (1.2 kgf•m).
Three Bond 1206C on the
1206C on the thread part
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9.3.1.2 Grease Exchange
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9 Maintenance and Inspection
9.3 Notes on Grease Replenishment/Exchange Procedures
(Refer to Fig. 9-4 “S-Axis Speed Reducer Diagram" on page 9-8.)
1. Remove the hexagon socket head plug PT1/4 from the grease inlet and the hexagon socket head air breather from the grease exhaust port
.
• If grease is injected with the air breather, the grease will leak inside the motor and may cause a damage. Make sure to remove the air breather before the grease injection.
• Do not install a joint, a hose, etc. to a grease exhaust port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
2. Install the grease zerk PT1/4 to the grease inlet. (The grease zerk is delivered with the manipulator.)
3. Inject the grease through the grease inlet using a grease gun.
– Grease type: Molywhite RE No. 00
Amount of grease: approx. 2600 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. The grease exchange is complete when new grease appears from the e
xhaust port. (The new grease can be distinguished from the old
grease by color.)
5. Move the S-axis for a few minutes to discharge the excess grease.
6. Wipe the discharged grease with a clo upward. Before installing the air breather thread part of each plug.
If grease is injected with the air breather on, grease will leak inside the motor and may cause a damage. Make sure to remove the air breather before the grease injection.
7. Remove the grease zerk from the grease inlet and reinstall the
exagon socket head plug PT1/4.
h Before installing the plug, apply Three Bond 1206C of each plug, then tighten the plug with a tightening torque of 12 N•m (1.2 kgf•m).
th and reinstall the air breather
, apply Three Bond 1206C on the
on the thread part
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Grease exhaust port
Hexagon socket head plug PT3/8
Grease inlet
Hexagon socket
head plug PT1/8
L-axis speed reducer
NOTE
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9 Maintenance and Inspection
9.3 Notes on Grease Replenishment/Exchange Procedures

9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer

Fig. 9-5: L-Axis Speed Reducer Diagram
9.3.2.1 Grease Replenishment
(Refer to Fig. 9-5 “L-Axis Speed Reducer Diagram”.)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head plug PT3/8 from the grease exhaust port.
3. Remove the hexagon socket head plug PT1/8 from the grease inlet.
• If grease is injected with the exhaust plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
• Do not install a joint, a hose, etc. to the grease exhaust port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
4. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk is d
elivered with the manipulator.)
5. Inject grease through the grease inlet using a grease gun.
– Grease type: Molywhite RE No. 00
Amount of grease: 250 cc (500 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
6. Move the L-axis for a few minutes to discharge the excess grease.
7. Wipe the discharged grease with a cloth and reinstall the hexagon so
cket head plug PT3/8 to the exhaust port.
Before installing the plugs, apply Three
Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 23 N•m (2.3 kgf•m).
8. Remove the grease zerk from the grease inlet and reinstall the xagon socket head plug PT1/8 to the grease inlet.
he Before installing the plug, apply Three Bond
1206C on the thread part of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
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9 Maintenance and Inspection
9.3 Notes on Grease Replenishment/Exchange Procedures
(Refer to Fig. 9-5 “L-Axis Speed Reducer Diagram" on page 9-11.)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head plug PT3/8 from the grease exhaust port.
3. Remove the hexagon socket head plug PT1/8 from the grease inlet.
• If grease is injected with the exhaust plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
• Do not install a joint, a hose, etc. to the grease exhaust port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
4. Install the grease zerk PT1/8 to the gr (The grease zerk is delivered with the manipulator.)
5. Inject grease through the grease inlet using a grease gun.
– Grease type: Molywhite RE No. 00
Amount of grease: approx. 1650 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
6. The grease discharge is complete when new grease appears from the e
xhaust port. The new grease can be distinguished from the old
grease by color.
7. Move the L-axis for a few minutes to discharge the excess grease.
8. Wipe the discharged grease with a clo socket head plug PT3/8 to the exhaust port. Before installing the plugs, apply Three Bond 1206C on the thread part
f each plug, then tighten the plug with a tightening torque of 23 N•m
o (2.3 kgf•m).
If grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
ease inlet.
th and reinstall the hexagon
9. Remove the grease zerk from the grease inlet and reinstall the
exagon socket head plug PT1/8 to the grease inlet.
h Before installing the plug, apply Three Bond 1206C of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
on the thread part
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U-arm
NOTE
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9 Maintenance and Inspection
9.3 Notes on Grease Replenishment/Exchange Procedures

9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer

Fig. 9-6: U-Arm Posture
Fig. 9-7: U-Axis Speed Reducer Diagram
Grease inlet
Hexagon socket head plug PT1/8
9.3.3.1 Grease Replenishment
(Refer to Fig. 9-7 “U-Axis Speed Reducer Diagram”.)
1. Make the U-arm horizontal to the ground.
2. Remove the hexagon socket head plug PT3/8 from the grease exhaust port.
3. Remove the hexagon socket head plug PT1/8 from the grease inlet.
4. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk is d
U-axis speed reducer
• If grease is injected with the bolt on, grease will leak inside the motor and may cause a damage. Make sure to remove the bolt before the grease injection.
• Do not install a joint, a hose, etc. to the grease exhaust port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
elivered with the manipulator.)
Grease exhaust port
Hexagon socket head plug PT3/8
5. Inject grease through the grease inlet using a grease gun.
– Grease type: Molywhite RE No. 00
– Amount of grease: 140 cc
(280 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
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9 Maintenance and Inspection
9.3 Notes on Grease Replenishment/Exchange Procedures
6. Move the U-axis for a few minutes to discharge the excess grease.
9.3.3.2 Grease Exchange
7. Wipe the discharged grease with a clo socket head plug PT3/8 to the exhaust port. Three Bond 1206C on the thread part of each plug, then tighten the
lug with a tightening torque of 23 N•m (2.3 kgf•m)
p
8. Remove the grease zerk from the grease inlet and reinstall the h
exagon socket head plug PT1/8. Before installing the plug, apply Three Bond 1206C of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m)
Refer to Fig. 9-7 “U-Axis Speed Reducer Diagram" on page 9-13.)
(
1. Make the U-arm horizontal to the ground.
2. Remove the hexagon socket head plug PT3/8 from the grease ex
haust port.
3. Remove the hexagon socket head plug PT1/8 from the grease inlet.
• If grease is injected with the bolt on, grease will leak inside the motor and may cause a damage. Make sure to remove the bolt before the grease injection.
• Do not install a joint, a hose, etc. to the grease exhaust port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
th and reinstall the hexagon
on the thread part
4. Install the grease zerk PT1/8 to the gr delivered with the manipulator.)
5. Inject grease through the grease inlet using a grease gun.
– Grease type: Molywhite RE No. 00
Amount of grease: approx.700 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
6. The grease discharge is complete when new grease appears from the ex
haust port. The new grease can be distinguished from the old
grease by color.
7. Move the U-axis for a few minutes to discharge the excess grease.
8. Wipe the discharged grease with a clo socket head plug PT3/8 to the exhaust port. Before installing the plug, apply Three Bond 1206C of each plug, then tighten the plug with a tightening torque of 23 N•m (2.3 kgf•m).
If grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
ease inlet. (The grease zerk is
th and reinstall the hexagon
on the thread part
9. Remove the grease zerk from the grease inlet and reinstall the
exagon socket head plug PT1/8.
h Before installing the plug, apply Three Bond 1206C of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
on the thread part
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9.3 Notes on Grease Replenishment/Exchange Procedures

9.3.4 Grease Replenishment for B- and T-Axis Gears

Fig. 9-8: B- and T-Axis Gears Diagram
9.3.4.1 Grease Replenishment
(Refer to Fig. 9-8 “B- and T-Axis Gears Diagram”.)
Exhaust port
Hexagon socket head plug PT3/8
U-arm
Grease inlet
Hexagon socket head plug PT1/8
1. Remove the hexagon socket head plug PT3/8 from the exhaust port.
• If grease is injected with the bolt on, grease will leak inside the motor and may cause a damage. Make sure to remove the bolt before the grease injection.
• Do not install a joint, a hose, etc. to the grease exhaust port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
2. Remove the hexagon socket head plug PT1/8.
3. Inject grease through the grease inlet using a grease gun.
– Grease type: Molywhite RE No. 00
Amount of grease: approx.700 cc (1400 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. The grease discharge is complete when new grease appears from the exha
ust port. The new grease can be distinguished from the old
grease by color.
5. Move the B-axis for a few minutes to discharge the excess grease.
6. Wipe the discharged grease with a cloth and reinstall the hexagon so
cket head plug PT3/8 to the exhaust port.
Before installing the plug, apply Three Bond
1206C on the thread part of each plug, then tighten the plug with a tightening torque of 23 N•m (2.3 kgf•m).
7. Remove the grease zerk from the grease inlet and reinstall the xagon socket head plug PT1/8.
he Before installing the plug, apply Three Bond
1206C on the thread part of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
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9.3.4.2 Grease Exchange
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9 Maintenance and Inspection
9.3 Notes on Grease Replenishment/Exchange Procedures
(Refer to Fig. 9-8 “B- and T-Axis Gears Diagram" on page 9-15.)
1. Remove the hexagon socket head plug PT3/8 from the grease exhaust port.
2. Remove the hexagon socket head plug PT1/8 from the grease inlet.
• If grease is injected with the bolt on, grease will leak inside the motor and may cause a damage. Make sure to remove the bolt before the grease injection.
• Do not install a joint, a hose, etc. to the grease exhaust port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
3. Install the grease zerk PT1/8 to the gr delivered with the manipulator.)
4. Inject grease through the grease inlet using a grease gun.
– Grease type: Molywhite RE No. 00
Amount of grease: approx.3500 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
5. The grease discharge is complete when new grease appears from the ex
haust port. The new grease can be distinguished from the old
grease by color.
6. Move the B-axis for a few minutes to discharge the excess grease.
7. Wipe the discharged grease with a clo socket head plug PT3/8 to the exhaust port. Before installing the plug, apply Three Bond 1206C of each plug, then tighten the plug with a tightening torque of 23 N•m (2.3 kgf•m).
If grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
ease inlet. (The grease zerk is
th and reinstall the hexagon
on the thread part
8. Remove the grease zerk from the grease inlet and reinstall the
exagon socket head plug PT1/8.
h Before installing the plug, apply Three Bond 1206C of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
on the thread part
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Grease inlet Hexagon socket head plug PT1/8
T-axis speed reducer, gear
Exhaust port Hexagon socket head plug PT1/8
B-axis speed reducer, gear
NOTE
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9.3 Notes on Grease Replenishment/Exchange Procedures

9.3.5 Grease Replenishment for B- and T-Axis Speed Reducers and Gears

Fig. 9-9: B- and T-Axis Speed Reducers and Gears Diagram
9.3.5.1 Grease Replenishment
(Refer to Fig. 9-9 “B- and T-Axis Speed Reducers and Gears Diagram”.)
1. Remove the hexagon socket head plug PT1/8 from the exhaust port.
2. Remove the hexagon socket head plug PT1/8.
3. Inject grease through the grease inlet using a grease gun.
4. The grease discharge is complete when new grease appears from the
• If grease is injected with the bolt on, grease will leak inside the motor and may cause a damage. Make sure to remove the bolt before the grease injection.
• Do not install a joint, a hose, etc. to the grease exhaust port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
– Grease type: Molywhite RE No. 00
Amount of grease: approx.300 cc (600 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
exha
ust port. The new grease can be distinguished from the old
grease by color.
5. Move the B-axes for a few minutes to dischar
6. Wipe the discharged grease with a cloth and reinstall the hexagon so
cket head plug PT1/8 to the exhaust port.
Before installing the plug, apply Three Bond
ge the excess grease.
1206C on the thread part of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
7. Remove the grease zerk from the grease inlet and reinstall the xagon socket head plug PT1/8.
he Before installing the plug, apply Three Bond of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
1206C on the thread part
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9.3.5.2 Grease Exchange
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9 Maintenance and Inspection
9.3 Notes on Grease Replenishment/Exchange Procedures
(Refer to Fig. 9-9 “B- and T-Axis Speed Reducers and Gears Diagram" on page 9-17.)
1. Remove the hexagon socket head plug PT1/8 from the grease exhaust port.
2. Remove the hexagon socket head plug PT1/8 from the grease inlet.
• If grease is injected with the bolt on, grease will leak inside the motor and may cause a damage. Make sure to remove the bolt before the grease injection.
• Do not install a joint, a hose, etc. to the grease exhaust port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
3. Install the grease zerk PT1/8 to the gr delivered with the manipulator.)
4. Inject grease through the grease inlet using a grease gun.
– Grease type: Molywhite RE No. 00
Amount of grease: approx.1500 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
5. The grease discharge is complete when new grease appears from the ex
haust port. The new grease can be distinguished from the old
grease by color.
6. Move the B-axes for a few minutes to discharge the excess grease.
7. Wipe the discharged grease with a clo socket head plug PT1/8 to the exhaust port. Before installing the plug, apply Three Bond 1206C of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
If grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
ease inlet. (The grease zerk is
th and reinstall the hexagon
on the thread part
8. Remove the grease zerk from the grease inlet and reinstall the
exagon socket head plug PT1/8.
h Before installing the plug, apply Three Bond 1206C of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
on the thread part
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b
a
a
b
0BT
BAT
BAT*
0BT*
Motor
a: Crimped contact-pin (socket) b: Crimped contact-pin (pin)
Connector for motor encoder
Power connector
Connector for battery backup
Battery pack: HW9470932-A
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9.3 Notes on Grease Replenishment/Exchange Procedures

9.3.6 Notes for Maintenance

When performing maintenance such as replacement of a wire harness in the manipulator, the encoder connector may be necessary to be removed. In this case, be sure to connect the battery pack to the battery backup connector before removing the encoder connector.
Removing the encoder connector without connecting the battery pack leads to disappearance of the encoder absolute data.
For the battery pack connection, refer to Fig. 9-10 “Battery Pack Connection”.
9.3.6.1 Battery Pack Connection
The connectors (crimped contact-pin) for the battery backup are installed at the end point of the motors (BAT and OBT are marked). Connect the battery packs according to the following procedure.
1. Remove the cap attached to the battery backup connector of the
2. Connect the battery packs (HW9470932-A) with the battery backup
motors.
connectors (BAT and OBT are marked) located at the end point of the cables for the encoder. (Under this condition, remove the encoder connector and carry out the maintenance checks.)
3. Confirm all connectors connected after the maintenance check, and remove the battery
packs. Install the caps attached to the battery
backup connectors of the motors.
Do not remove the battery pack in the connector base.
Fig. 9-10: Battery Pack Connection
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10 Recommended Spare Parts

10 Recommended Spare Parts
It is recommended to keep the parts and components in the following table in stock as spare parts for the MOTOMAN-MPL80. Product performance cannot be guaranteed when using spare parts from any company other than Yaskawa. The spare parts are ranked as follows:
• Rank A: Expendable and frequently replaced parts
• Rank B: Parts for which replacement may be necessary as a result of frequent operation
• Rank C: Drive unit
For replacing parts in Rank B or Rank C, contact your Yaskawa representative.
Table 10-1: Spare Parts for YR-MPL0080-A00, -A01 (Sheet 1 of 2)
157283-1CD
Rank Parts
A1Grease
A 2 Liquid Gasket Three Bond 1206C Three Bond Co.,
A 3 Battery Pack HW9470932-A Yaskawa 1 1 For internal wire
A 4 Battery Pack HW0470360-A Yaskawa 1 1
B 5 S-Axis
B 6 S-Axis Input Gear HW0313741-1 Yaskawa 1 1
B7L-Axis
B 8 L-Axis Input Gear HW9482771-A Yaskawa 1 1
B 9 U-Axis
B 10 U-Axis Input Gear HW0313740-1 Yaskawa 1 1
B 11 B-Axis
B 12 T-Axis
C 13 S-Axis
C 14 L-Axis
C 15 U-Axis
C16B-, T-Axes
Name Type Manufacturer Qty Qty
No.
Yaskawa 16 kg - For speed reducers
Ltd.
Yaskawa 1 1
Yaskawa 1 1
Yaskawa 1 1
Yaskawa 1 2
Speed Reducer
Speed Reducer
Speed Reducer
Speed Reducer
Speed Reducer
AC Servomotor
AC Servomotor
AC Servomotor
AC Servomotor
Molywhite RE No. 00
HW0387752-A Yaskawa 1 1
HW1382898-A Yaskawa 1 1 For the manipulator
HW09381465-B Yaskawa 1 1
HW0387753-A Yaskawa 1 1
HW0387737-B Yaskawa 1 1
HW0389043-A Yaskawa 1 1
SGMRV-30ANA-YR11 HW0388669-A
SGMRV-37ANA-YR11 HW0388670-A
SGMRV-13ANA-YR11 HW0388666-A
SGMRV-09ANA-YR11 HW0388665-A
Remarks
per
Unit
in each axis
--
harness replacement
assembled after Apr.2, 2014
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10 Recommended Spare Parts
Table 10-1: Spare Parts for YR-MPL0080-A00, -A01 (Sheet 2 of 2)
Rank Parts
C 17 Internal Wire
C 18 Connector Base HW0374528-B Yaskawa 1 1
C 19 Circuit Board SGDR-EFBA02A Yaskawa 1 1
Name Type Manufacturer Qty Qty
No.
HW0175247-A Yaskawa 1 1
Harness
Remarks
per
Unit
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1019
1001
1002
1003
1004
1005
1007
1009
1008
1010
1011
1013
1014
1016
1018
1020
1017
1021
1022
1025
1026
1028
1023
1024
1012
1030
1033
1029
1032 1031
1035
58 of 69
11 Parts List
Fig. 11-1: S-Axis Unit
157283-1CD

11 Parts List

11.1 S-Axis Unit

11.1 S-Axis Unit
11-1
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MPL80
11 Parts List
11.1 S-Axis Unit
Table 11-1: S-Axis Unit
No. DWG No. Name Pcs
1001 HW0387752-A Speed reducer 1
HW1382898-A (For the manipulator assembled after Apr.2, 2014)
1002 SGMRV-30ANA-YR1* Motor 1
1003 HW9404486-1 Shaft 1
1004 HW0400405-1 Stopper 1
1005 6310 Bearing 1
1007 M8X45 Socket screw 1
1008 2H-8 Spring washer 1
1009 HW0102237-2 S-head 1
1010 M12X45 Socket screw 15
M12X45 (For the manipulator assembled after Apr.2, 2014)
1011 2H-12 Spring washer 15
2H-12 (For the manipulator assembled after Apr.2, 2014)
1012 C-30-SG-22A Grommet 1
1013 M12X55 Socket screw 3
1014 2H-12 Spring washer 3
1016 STW-50 Retaining Ring-C type 1
1017 M8X100 Socket screw 1
1018 2H-8 Spring washer 1
1019 PT3/8(STAINLESS) Plug 1
1020 MSTH10-25 Dowel pin 1
1021 M12X55 Socket screw 12
1022 2H-12 Spring washer 12
1023 HW9405875-1 Collar 1
1024 M20X40 Socket screw 1
1025 HW0102236-1 Base 1
1026 KQ2L10-01S Elbow 1
1028 NB-1075-0.43 Tube 1
1029 HW0314010-1 M-base 1
1030 Y507212.5 Oil seal 1
1031 M6X20 Socket screw 2
1032 2H-6 Spring washer 2
1033 HW0313741-1 Gear 1
1034 PT1/8(STAINLESS) Plug 1
1035 M12X35
(For the manipulator assembled after Apr.2, 2014)
Speed reducer 1
Socket screw 16
Spring washer 16
GT-SA bolt 2
11-2
HW0485739
MPL80
2002
2005
2016
2004
2003
2026 2009 2008
2006
2007
2026
2027
2027
2027
2011
2013
2014
2015
2010
2019
2020
1009
2001
2021
2022
2024
2023
2018
2025
2025
2012
2017
60 of 69
Fig. 11-2: L-Axis Unit
157283-1CD
11 Parts List

11.2 L-Axis Unit

11.2 L-Axis Unit
11-3
HW0485739
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MPL80
11 Parts List
11.2 L-Axis Unit
Table 11-2: L-Axis Unit
No. DWG No. Name Pcs
2001 SGMRV-37ANA-YR1* Motor 1
2002 HW0102425-1 L-arm 1
2003 M12X55 Socket screw 16
2004 SW-2H-12 Spring washer 16
2005 HW9381465-B Speed reducer 1
2006 M10X40 Socket screw 18
2007 2H-10 Spring washer 18
2008 M16X45 Socket screw 6
2009 2H-16 Spring washer 6
2010 HW9481343-A Shaft 1
2011 HW9482771-A Gear 1
2012 HW9405902-1 Pipe 1
2013 M8X130 Socket screw 1
2014 2H-8 Spring washer 1
2015 M8 Washer 1
2016 G270 O-ring 1
2017 EZ0094-A0 Air breather 1
2018 HW0314011-1 M-base 1
2019 HW0312815-2 Gear 1
2020 HW9482447-A Oil seal 1
2021 M12X65 Socket screw 4
2022 2H-12 Spring washer 4
2023 M6X30 Socket screw 2
2024 2H-6 Spring washer 2
2025 EZ5002A0 Cap 3
2026 PT3/8(STAINLESS) Plug 2
2027 PT1/8(STAINLESS) Plug 4
1009 HW0102237-4 S-head 1
11-4
HW0485739
MPL80
2002
3014
3015
3028
3023
3024
3007
3027
3017
3022
3001
3016
3021
3026
3025
3018
3008
3009
3011
3010
3005
3006
3020
3019
3002
3004
3003
3012
3015
62 of 69
157283-1CD
11 Parts List

11.3 U-Axis Unit

11.3 U-Axis Unit
Fig. 11-3: U-Axis Unit
11-5
HW0485739
157283-1CD
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MPL80
11 Parts List
11.3 U-Axis Unit
Table 11-3: U-Axis Unit
No. DWG No. Name Pcs
3001 SGMRV-13ANA-YR1* Motor 1
3002 HW0413914-1 Stopper 1
3003 M6X55 Socket screw 1
3004 2H-6 Spring washer 1
3005 M8X55 Socket screw 4
3006 2H-8 Spring washer 4
3007 HW0387753-A Speed reducer 1
3008 HW0313740-1 Gear 1
3009 HW8411125-3 Washer 1
3010 M6X115 Socket screw 1
3011 2H-6 Spring washer 1
3012 M12X30 Socket screw 12
3013 2H-12 Spring washer 12
3014 M10X30 Socket screw 6
3015 2H-10 Spring washer 6
3016 HW9405257-1 Collar 1
3017 HW0102239-2 Casing 1
3018 Y426012.5 Oil seal 1
3019 M6X30 Socket screw 2
3020 2H-6 Spring washer 2
3021 HW0314012-1 M-base 1
3022 G195 O-ring 1
3023 M10X40 Socket screw 16
3024 2H-10 Spring washer 16
3025 TSH6-01M Union 2
3026 UB-0640-0.1C Tube 2
3027 PT1/8(STAINLESS) Plug 1
3028 PT3/8(STAINLESS) Plug 1
2002 HW0102425-1 L-arm 1
11-6
HW0485739
MPL80
4029
4030
4001
B axis
T axis
4003
4004
4005
4007
4008
4010
4012
4013
4014
4016
4017
4019
4021
4022
4023
4024
4025
4026
4027
4028
4031
4031
4031
4033
4035
4034
4048
4036
4037
4037
4039
4038
4040
4041
4044
4045
3017
4007
4020
4002
4046
4047
4046
4047
4002
4049 4050
4042
4043
4006
64 of 69
11.4 B-,T-Axes Unit
Fig. 11-4: B-,T-Axes Unit
157283-1CD
11 Parts List

11.4 B-,T-Axes Unit

11-7
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MPL80
11 Parts List
11.4 B-,T-Axes Unit
Table 11-4: B-,T-Axes Unit
No.
4001 HW0387754-A Speed reducer 1 4002 SGMRV-09ANA-YR1* Motor 2 4003 AC1306-G00X6 Oil seal 1 4004 TC20367*FKM* Oil seal 1 4005 HW0415265-1 Spacer 1 4006 HW0415352-1 Cover 1 4007 HR32005XJ Bearing 2 4008 HR32909J Bearing 1 4010 HW0313628-1 Gear 1 4012 HW0313629-1 Gear 1 4013 HW0312826-1 Gear 1 4014 HW0404196-8 Washer 1 4016 MSTH8-20 Dowel pin 1 4017 HW0312834-1 Shaft 1 4019 HW0312831-1 Gear 1 4020 HW0312833-1 Shaft 1 4021 HW0312835-1 Shaft 1 4022 HW0312838-1 Flange 1 4023 MSTH6-15 Dowel pin 1 4024 HW0200768-1 Shaft 1 4025 HW0312837-1 Housing 1 4026 HW9405662-1 Washer 1 4027 HW0312825-1 Gear 1 4028 HW0412720-1 B nut 1 4029 PT1/8 (STAINLESS) Plug 2 4030 PT3/8 (STAINLESS) Plug 1 4031 M5X16 GT-SA bolt 14 4033 M4X6 H set screw 1 4034 M6X25 Socket screw 1 4035 2H-6 Spring washer 1 4036 M8X25 Socket screw 18 4037 2H-8 Spring washer 19 4038 M6X20 Socket screw 1 4039 2H-6 Spring washer 1 4040 M6X25 Socket screw 6 4041 2H-6 Spring washer 6 4042 M8X18 Socket screw 3 4043 2H-8 Spring washer 3 4044 M6X35 GT-SA bolt 16 4045 M8X30 GT-SA bolt 8 4046 M8X25 Socket screw 7 4047 2H-8 Spring washer 7 4048 M8X20 Socket screw 1 4049 M4X6 Socket screw 1 4050 2H-4 Spring washer 1 3017 HW0102239-2 Casing 1
型式
Name
Pcs.
11-8
HW0485739
MPL80
5001
5002
5003
5004
5006
5007
5008
5009
5010
5013
5014
5047
5048
5053
5054
5055
5056
5057
5058
5060
5075
5082
5089
5093
5094
5113
5015
5016
5027
5028
5029
5032
5033
5034
5035
5036
5037
5039
5039
5040
5041
5044
5046
5022
5095
5096
5104
5103
5108 5107
3017
5091
5090
5049
5099
5092
5092
5030
5038
5097
5098
5045
5068
5092
5017
5012
5043
5109
5059
5092
5031
5042
5093
5094
5105
5106
5035
5102
5100
5039
5005
5005
5039
5115
5114
5011
5115
5115
5112
5111
5110
66 of 69
Fig. 11-5: Wrist Unit
157283-1CD
11 Parts List

11.5 Wrist Unit

11.5 Wrist Unit
11-9
HW0485739
157283-1CD
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MPL80
11 Parts List
11.5 Wrist Unit
Table 11-5: Wrist Unit
No. DWG No. Name Pcs
5001 HW0387737-B Speed reducer 1
5002 HW0389043-A Speed reducer 1
5003 HW9405880-1 B-cover 1
5004 HW9405445-1 B nut 1
5005 HW9405881-1 B nut 2
5006 HW9405882-1 B nut 1
5007 S34 O ring 1
5008 AE3092E2 Oil seal 1
5009 SC15247F585 Oil seal 1
5010 SC39528F585 Oil seal 1
5011 HW9405883-1 Collar 1
5012 HW9381667-A Gear 1
5013 HW9381668-A Gear 1
5014 HW9381669-A Gear 1
5015 HW9381672-A Gear 1
5016 WR60 Circlip 1
5017 HW9405888-* Shim *
5022 HW9405885-* Shim *
5027 HW9482772-A Gear 1
5028 HW9482765-A Shaft 1
5029 HW9381675-A Shaft 1
5030 RTW42 Retaining Ring 1
5031 STW-25 Retaining Ring-C type 1
5032 ISTW40 Retaining Ring 1
5033 HW9405891-1 Housing 1
5034 PT3/8 Plug 2
5035 PT1/8 (STAINLESS) Plug 3
5036 HW9405892-1 Flange 1
5037 HW9481234-A Bearing 1
5038 6004LBD2PX24V1 Bearing 1
5039 HW9480086-A Bearing 4
5040 6912DU Bearing 1
5041 6808LLU Bearing 2
5042 6905 Bearing 1
5043 HW9405901-1 Washer 1
5044 BG3000-15X19 Ring 1
5045 HW0312827-1 Gear 1
5046 HW0312828-1 Gear 1
5047 HW0313631-1 Gear 1
5048 HW0313631-1 Gear 1
5049 HW0201297-A Shaft 1
5053 HW1300244-1 Flange 1
5054 HW0314705-1 Flange 1
11-10
HW0485739
MPL80
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157283-1CD
11 Parts List
11.5 Wrist Unit
Table 11-5: Wrist Unit
No. DWG No. Name Pcs
5055 HW9302630-3 Housing 1
5056 HW0102233-1 U-arm 1
5057 HW0102491-1 Wrist 1
5058 HW0201226-1 Cover 1
5059 HW0414884-1 Cover 1
5060 HW0412694-* Shim *
5068 HW0412683-* Shim *
5075 HW0412695-* Shim *
5082 HW0412696-* Shim *
5089 HW9404651-1 Washer 1
5090 M8X85 Socket screw 12
5091 2H-8 Spring washer 12
5092 M4X12 GT-SA bolt 17
5093 M5X16 Socket screw 10
5094 2H-5 Spring washer 10
5095 M5X35 Socket screw 6
5096 2H-5 Spring washer 6
5097 M4X25 Socket screw 6
5098 2H-4 Spring washer 6
5099 M4X6 H set screw 1
5100 M8X18 GT-SA bolt 8
5102 M6X30 GT-SA bolt 10
5103 M6X20 Socket screw 1
5104 2H-6 Spring washer 1
5105 M6X25 Socket screw 16
5106 2H-6 Spring washer 16
5107 M8X25 Socket screw 12
5108 2H-8 Spring washer 12
5109 M6X16 Socket screw 1
5110 2H-6 Spring washer 1
5111 M8X20 Socket screw 16
5112 2H-8 Spring washer 16
5113 M4X14 Socket screw 4
5114 2H-4 Spring washer 4
5115 M5X7 Magic screw 6
3017 HW0102239-2 Casing 1
11-11
HW0485739
MOTOMAN-MPL80
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INSTRUCTIONS
HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802
YASKAWA America Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277
YASKAWA Europe GmbHRobotics Divsion ) Yaskawastrasse 1, 85391 Allershausen, Germany Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA Nordic AB Bredbandet 1 vån. 3 varvsholmen 392 30 Kalmar, Sweden Phone +46-480-417-800 Fax +46-480-417-999
YASKAWA Electric (China) Co., Ltd. 22/F One Corporate Avenue No.222, Hubin Road, Huangpu District, Shanghai 200021, China Phone +86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd. No7 Yongchang North Road, Beijing E&T Development AreaChina 100176 Phone
+86-10-6788-2858
Fax
+86-10-6788-2878
YASKAWA India Private Ltd. (Robotics Division) #426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
YASKAWA Electric Korea Co., Ltd 9F, KyoboSecuritiesBldg., 26-4, Yeouido-dong,Yeongdeungpo-gu, Seoul 150-737, Korea Phone +82-2-784-7844 Fax +82-2-784-8495
YASKAWA Electric Taiwan Corporation 12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
YASKAWA Electric (Singapore) PTE Ltd. 151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741 Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd. 252/125-126 27th Floor, Tower B Muang Thai-Phatra Complex Building, Rachadaphisek RoadHuaykwang, Bangkok 10320, Thailand Phone
+66-2693-2200
PT. YASKAWA Electric Indonesia Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma, Jakarta 13610, Indonesia
Fax +91-124-475-8542Phone +91-124-475-8500
Fax +886-2-8913-1513Phone +886-2-8913-1333
Fax
+66-2693-4200
Fax +62-21-2982-6741Phone +62-21-2982-6470
Specifications are subject to change without notice for ongoing product modifications and improvements.
MANUAL NO.
HW0485739
4
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