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Some of the motors for the S axis and L axis are unable to install the battery pack. (HW9470932-A) directly because that the type of the battery backup connector is differ ent. The battery pack connection cable (HW9470945-A) are necessary in this case. Connect the battery pack connection cable with the motor, then connect the battery pack with it.

2.2 Battery Pack Connection for R-, B-, and T-Axis Motors • Refer to the Fig. 2-2 "R-, B- and T-Axis Battery Pack Connection" in this chapter. The connector (insertion-type pin terminal) for the battery backup is installed in the end point of the cable for the encoder of the R-, B-, and T-axis motors (BAT and OBT are marked). Connect the battery pack according to the following procedure.

1. Connect the battery pack (HW9470932-B) for the R-, B-, and T-axis with the battery backup connector (BAT and OBT are marked) located in the end point of the cable for the encoder. (Under such a condition, remove the encoder connector and perform the

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2 Notes for Maintenance

maintenance inspection.) 2. Confirm all connectors connection after the maintenance inspection ends, and remove the battery pack.

Connector for the battery backup S, L, U-axis motors

0BT

a

b 0BT1

BAT

b

a BAT1

Battery pack for S, L, U-axis (HW9470932-A) Battery pack connection cable for the motor (HW9470945-A)

Fig. 2-1 S-, L- and U-Axis Battery Pack Replacement

R, B, T-axis motors

Encoder cable

0BT

a

b 0BT4

BAT

b

a BAT4 Battery pack for R, B, T-axis (HW9470932-B)

Connector for the battery backup

Fig. 2-2 R-, B- and T-Axis Battery Pack Connection

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3

Home Position Return Operation

3 Home Position Return Operation NOTE

In the following cases, perform calibration and set the robot geometrical position. • Change in the combination of the MOTOMAN and the control unit. • Replacement of the motor or encoder. • Clearing stored memory. • Home position deviation caused by hitting the MOTOMAN against a workpiece, etc. • Replacement, disassembly, and assembly of the main parts of the speed reducer in performing calibration, be sure to satisfy the following conditions. Avoid applying external force to the robot. • Remove the hand of the wrist part and other parts.

3.1 How to Return to the Home Position in the Case of Replacing the Motor 3.1.1

How to Use the Robot Calibration (MOTOCALV EG)

The MOTOCALV EG allows the home position reset by teaching the five-point-in-five-posture. Refer to “MOTOCALV EG Operator’s Manual” (152646-1CD) for details on the operation.

3.1.2 How to Set the Teaching Point for Home Position Setting before Replacement YASNAC-XRC holds the position data of the job program (hereinafter called the JOB) as the pulse number from the home position of each axis. Therefore, by adjusting the home position precisely, the JOB had been used before replacement can be used after replacement without correction. This section explains how to set the YASNAC-XRC.



Preparation before Replacement • Refer to the Fig. 3-3 "Preparation before replacement (Ex.)" in this chapter.

Before replacement, create the standard position (hereinafter called the checked point) for home position adjustment after replacement. The checked point must satisfy the following conditions. Create the JOB so that safety moving to the checked point from the standby position can be ensured. (Hereinafter called the checked JOB) 1 The position is not deviated by turning the power ON or OFF, or lowering air pressure. Do not create the position in the working part of the tool (end effecter) or the jigs (related unit including the rotary table). Using specific jigs is recommended if necessary.

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2 Use pointed jigs to create the position so that the deviation is easily found. Keep a distance as long as possible from the rotational center of the replacing axis. 3 Considering the moving direction of the replacing axis, create the position so that the deviation is easily found and the axis will not interfere with the jigs even if it is deviated. One of the checked point when replacing the U-axis on the UP130-A00 Spot System is shown below as an example.

• The check-point cannot be created without operating each axis. Therefore, the checkpoint cannot be created if the axis cannot operate for some reasons including failure. It is recommended to create the check-point for each axis under normal operating conditions. Next, check the home position of the replacing axis. Move the replacing axis to the 0 pulse position, the home position, on the position screen, and check the position of the home position mark. If it is deviated, adjust it. An example of the U-axis of UP130-A00 is shown below.

A

View observed from the arrow A

Fig. 3-3 Preparation before replacement (Ex.)



Replacement • Refer to the Fig. 3-4 "Replacement (Ex.)" in this chapter.

The attitude cannot be hold because the motor is removed for replacement. Hold the arm using the chain block. If not, it is seriously dangerous. Replace it with due care. The example of the U-axis of UP130-A00 is shown below.

Fig. 3-4 Replacement (Ex.) Remove the motor and replace it.

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


Home Position Adjustment

After completing the replacing work, move the replaced axis to the position of the home position mark. Perform the home position alignment only for the replaced axis. (For more detailed information, refer to "YASNAC XRC INSTRUCTIONS".) Move the axis to the checked point by the checked JOB. (Care must be taken so that the axis may not interfere with the jigs in moving the axis.) Move only the replaced axis to adjust the deviation from the point created before the work for alignment. Display the position screen (command value). The example of U-axis is shown below. Command value S:007 Interpolation:

R1 Link

[Command value] Instruction tool:

Speed: 0

25.00%

[Present value] Operation tool:

0

R1:S

3458

R1:S

3458

L

5638

L

5638

U

-2989

U

-3067

R

80

R

80

B

-10754

B

-10754

T

-10

T

-10

Using the above values, calculate the amount of deviation. (Subtract the command value from the present value.) Present value - Command value = the amount of deviation U(-3067) - (-2989) = -78 Move the replaced axis to a position where it will not interfere with the jigs when it moves to the home position by stepping back of the Checked JOB. (Care must be taken so that the axis may not interfere with the jigs in moving the axis.) Move the replaced axis to the pulse position equal to the amount of deviation on the position screen. The example is shown below. Command value S:007 Interpolation: [Command value] Instruction tool:

R1 Link

Speed: 0

25.00%

[Present value] Operation tool:

0

R1:S

58

R1:S

58

L

0

L

0

U

0

U

-78

R

0

R

0

B

-11700

B

-11700

T

0

T

0

Perform the home position alignment only for the replaced axis on this position. (For more detailed information, refer to "YASNAC XRC INSTRUCTIONS".) Move the axis to the Checked point by the Checked JOB again. Check that it is in the point created before the work for completing the work. If it is deviated, repeat the adjustment procedures. Check the operation by using the JOB before replacement. When no problem is found, write the home position data (ABSO data) and the date in the label attached on the inside of the XRC.

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3.2 How to Return to the Home Position in the Case of the Exhaustion of the Motor Battery of the Robot Axis 3.2.1 The Method by Using the Home Position Alignment Function for Restoration at the Time of Battery Backup This is the method for operating the software of the "Backup alarm restoration" on Programing Pendant. After moving the robot to the posture close to the home position (within 1motor rotation) by teaching operation. The multi-turn data is updated in this method.

3.2.2

The Method by Using the Keys

This is the method for writing a differential pulse between the key position and the home position at the time of the MOTOMAN shipment in the home position label attached on the inside of the YASNAC . When the home position disappears, move the robot to the key position, form which set mentioned above the differential pulse as the home position.

Calibration Operation



Table 3-1 Required Parts List UP130 and UP165 Drawing number (Product number)

Name

Number

Remark

HW9405595-1

Pin

6

For all the axes

HW9405584-1

Jig

1

For the R-axis

MSTH6-20

Knockout pin

2

For the R-axis

HW9405597-1

Jig

1

For the T-axis

MSTH10-30

Knockout pin

2

For the T-axis

UP200 Drawing number (Product number)

Name

Number

Remark

HW9405595-1

Pin

4

For the S-, L-, U- and R-axis

HW9405627-1

Pin

1

For the B-axis

HW9405626-1

Pin

1

For the T-axis

HW9405624-1

Jig

1

For the R-axis

MSTH6-20

Knockout pin

2

For the R-axis

HW9405625-1

Jig

1

For the T-axis

HW0404355-1

Knockout pin

2

For the T-axis

Prepare the Table 3-1 "Required Parts List" parts for performing calibration.

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3


1. S-axis Positioning As shown in the Fig. 3-5 "S-axis Positioning", insert the pin (HW9405595-1) from the hole of the pin (6 +0018 dia.) of the S head into the slot of the base part for positioning by 0 the teach box.

HW9405595-1 Pin

180±0.1

Fig. 3-5 S-axis Positioning

2. L-Axis Positioning As shown in the Fig. 3-6 "L-Axis Positioning", insert the pin (HW9405595-1) from the hole of the pin (6 +0018 dia.) of the S head into the slot of the L-arm for positioning by the 0 teach box.

L-Arm

HW9405595-1 Pin

S head

Fig. 3-6 L-Axis Positioning

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3. U-Axis Positioning As shown in the Fig. 3-7 "U-Axis Positioning", insert the pin (HW9405595-1) from the hole of the pin (6 +0018 dia.) of the L-arm into the slot of the casing for positioning by the 0 teach box. Casing HW9405595-1 pin

L-Arm

Fig. 3-7 U-Axis Positioning

4. R-axis Positioning (1) UP130 and UP165 As shown in the Fig. 3-8 "R-Axis Positioning", fasten the jigs (HW9405584-1) to the U-arm with two knockout pins (MSTH6-20), and insert the pin (HW9405595-1) into the slot of the wrist unit for positioning by the teach box. (2) UP200 As shown in the Fig. 3-8 "R-Axis Positioning", fasten the jigs (HW9405624-1) to the U-arm with two knockout pins (MSTH6-20), and insert the pin (HW9405595-1) into the slot of the wrist unit for positioning by the teach box.

135.5 (165)*

Wrist unit

40

U-arm

HW9405595-1 Pin MSTH6-20 two Knockout pins HW9405584-1 Jigs (HW9405624-1 Jigs)* *: Inside of ( ) indicates the type and dimension for UP200 model.

Fig. 3-8 R-Axis Positioning

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5. B-Axis Positioning (1) UP130 and UP165 As shown in the Fig. 3-9 "B-Axis Positioning", insert the pin (HW9405595-1) from the hole of the pin (6 +0018 dia.) of the B-axis speed reducer part into the slot of the 0 wrist part for positioning by the teach box. (2) UP200 As shown in the Fig. 3-9 "B-Axis Positioning", insert the pin (HW9405627-1) from the hole of the pin (8 +0018 dia.) of the B-axis speed reducer part into the slot of the 0 wrist part for positioning by the teach box.

Wrist part B-axis speed reducer part HW9405595-1 Pin (HW9405627-1 Pin)* *: inside of ( ) indicates the types and dimension for UP200

Fig. 3-9 B-Axis Positioning

6. T-Axis Positioning (1) UP130 and UP165 As shown in the Fig. 3-10 "T-Axis Positioning", fasten the jigs (HW9405597-1) with two knockout pins (MSTH10-30), and insert the pin (HW9405595-1) from the hole of the T-axis flange into the slot of the wrist part for positioning by the teach box. (2) UP200 As shown in the Fig. 3-10 "T-Axis Positioning", fasten the jigs (HW9405625-1) with two knockout pins (HW0404355-1), and insert the pin (HW9405626-1) from the hole of the T-axis flange into the slot of the wrist part for positioning by the teach box. MSTH10-30 two Knockout pins (MISUMI.corp) (HW0404355-1, two Knockout pins)*

HW9405597-1 Jigs (HW9405625-1 Jigs)* T-axis flange

91(101)*

3

HW9405595-1 Pin (HW9405626-1 Pin)* 62.5±0.02 62.5±0.02 (46±0.02)* (46±0.02)* *: inside of ( ) indicates the types and dimension for UP200 Wrist part

Fig. 3-10 T-Axis Positioning

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4 L-axis Fixing Jig Operating


Maintenance and inspection must be performed by specified personal. Failure to observe this warning may result in electric shock or injury.

4.1

Fixing Jig Operating

In the MOTOMAN-UP130 series, different from the conventional SK series, the "Linkless mechanism with the balancer" is adopted. Therefore, releasing the L-axis holding power including removing the L-axis motor or releasing the brake is seriously dangerous because it will cause a L-arm rotation different from the conventional model's rotation, depending on the edge load, wrist load posture, U-axis posture, and L-axis posture. (For outlined mechanism, refer to section 4.4 “Mechanism” in this chapter.) When releasing the L-axis holding power for L-axis motor replacement, or releasing the brake, be sure to hold the L-arm using the fixing jigs specified in this manual and following the procedures. After mount this fixing jig, be sure to release the brake and confirm the L-axis is completely fixed. Set the L-arm in the recommended posture in Fig. 4-12 "UP130 external view"..

• Avoid using the fixing jigs at the angles below. The manipulator axis may move when the brake is released. UP130… -15° to +15° (-30423 to +30423 pulse) UP165, UP200… -15° to +15° (-35039 to +35039 pulse)

-15°

+15°

Fig. 4-11 L-arm Posture Range to be Avoided

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L-axis Fixing Jig Operating

• If fix the axis at the above range under necessity such as the motor cannot be driven, turn the brake ON and OFF by inches to move the arm gradually when release the brake. Repeat this until the arm no longer moves. In this case, the tip of the flange may move by several hundred mm. If there are interfering objects around, move the rotation axis or other axes to perform the above in the posture without interference. This section explains the procedures for fixing the L-arm in the attitude shown in Fig. 4-12 "UP130 external view".

4.1.1

Specific Jig Installing Posture and Installing Position

Set the L-arm in the posture in Fig. 4-12 "UP130 external view". L-axis: -60° (-121692 pulse for UP130 and -140154 pulse for UP165 and UP200) Rotate the U-arm in the θ direction shown in Fig. 4-12 "UP130 external view" (the direction to minimize the relative angle of the L-axis and U-axis) so that the relative angle of the L-axis and U-axis can be minimized. At this time, care must be taken so that the arm including the work and hand may not interfere with the peripheral devices and the main unit of the robot. Install the specific fixing jigs in the B part (the rear of the balancer) shown in Fig. 4-12 "UP130 external view". U-arm

Edge load L-arm

L-arm

P point

A

A

ȟ

L-axis motor

B part Balancer

Fig. 4-12 UP130 external view

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4.2

1. 2.

3.

4. 5.

Installing • Refer to the Table 4-2 "L-Axis Fixing Jigs List" and Fig. 4-13 "Detail View of Installing the Specific Jigs". Remove the three rubber caps and three screws (Hexagon socket head cap screw M8 (15 screws) or M12 (18 screws) installed on the rear of the balancer. Insert the M45xP1.5 screw side of the stud (Two types of screws, M55xP2 and M45xP1.5, are processed in the stud.) into the hole of the rear of the balancer, and screw them into the screw part of the rod (M45xP1.5), a component part of the balancer. At this time, screw them in tightly so that there is no "looseness" between the stud and rod. Screw the nut into the stud until it touches the rear of the balancer. At this time screw it in tightly so that there is no "looseness" between the edge of the nut and the surface of the rear of the balancer. Install the shaft HW9405579-1 with three hexagon socket head cap screws M8 (length: 40mm) or M12 (length: 40mm). Tighten the three hexagon socket head cap screws M8 (length: 40 mm) or M12 (length: 40mm) equally with the tightening torque (M8: 20Nm, M12: 58Nm)

NOTE

• Avoid using the same hexagon socket head cap screws M8 (length: 40mm) or M12 (length: 40mm) repeatedly. Replace them with new ones. • Use a bolt with tensile strength of 1200 N/mm2 or more for the hexagon socket head cap screws M8 (length: 40mm) or M12 (length: 40mm).

6. Release the L-axis brake to confirm that the L-axis is firmly fixed. (Prepare for the shock at the time of arm motion by releasing the brake by inches.) Table 4-2 L-Axis Fixing Jigs List Drawing number (Product number)

Name

Number

HW9402997-1

Plate

1

HW9402998-1

Plate

1

HW9405579-1

Shaft

1

ANE12-300 (Manufacturer: MISUMI.corp)

Total screw

2

Hexagon socket head cap screw M8 (15mm)

3


3


1

Hexagonal nut M12

4

HW9405580-1

Stud

1

HW9405581-1

Nut

1

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Rubber cap

Hexagon socket head cap screws M8x15 (3 screws) (or Hexagon socket head cap screw M12x18 (3 screws)) Hexagon socket head cap screws M8x40 (3 screws) (or Hexagon socket head cap screw M12x40 (3 screws)) M55xP2 Before installing the jigs

Nut (HW9405581-1) Stud (HW9405580-1)

M4.5xP1.5

Shaft (HW9405579-1) Rod Case When installing the jigs

Fig. 4-13 Detail View of Installing the Specific Jigs • For removal procedures, check that the L-axis holding power has been restored first, and

NOTE

then perform the installing procedures in inverted order. In some attitudes of the robot, removing them may be impossible. (because of the mesh of the stud and rod) In this case, before performing the removal work, as shown in, Fig. 4-14 "Detail View of Removing the Specific Jigs" install the plates (HW9402997-1 and HW9402998-1), insert the total screw with double nut (M12) installed on the edge of the plate, and screw in the total screw while pressing the plate of the rear of the balancer so that the nut can be moved by hand.

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4.3

Removing

• Refer to Fig. 4-14 "Detail View of Removing the Specific Jigs". 1. Remove the shaft (HW9405579-1) and nut (HW9405581-1) installed on the stud. When the nut is hard to remove, after installing the plate (HW9402997-1) on the stud (HW9405580-1) and installing the plate (HW9402998-1) in the case, screw the total screw until the nut loosens. 2. Remove the stud from the rear of the balancer. 3. Remove the stud, plate (HW9402997-1) installed on the case, plate (HW9402998-1), and total screw.

Rubber cap Hexagon socket head cap screw M8x15 (3 screws) (or Hexagon socket head cap screw M12x18 (3 screws)) Hexagon socket head cap screw M8x40 (3 screws) (or Hexagon socket head cap screw M12x40 (3 screws)) Nut (HW9405581-1) Stud (HW9405580-1)

M55xP2 Before installing the jigs

Plate (HW9402997-1)

M45xP1.5

Hexagonal nut M12 (4 nuts)

2-ANE 12-300 *MISUMI.corp* Plate (HW9402998-1) Rod Case When installing the jigs

Fig. 4-14 Detail View of Removing the Specific Jigs

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4.4

Mechanism

• Refer to Fig. 4-15 "The L-Arm Rotating Direction". The L-arm rotating direction depends on the extent of the torque Tb generated by the balancer, and the load torque TL generated around the L-axis. The torque Tb generated by the balancer is always generated toward the directions where the L-arm becomes 0° from the posture vertical against the ground, and its extent varies depending on the L-axis angle. The load torque TL generated around the L-axis works around the center of the L-axis rotation, and its direction and extent vary depending on the edge load, postures of the wrist, the U-arm, and the L-arm. When no load is applied to the edge, for the L-arm rotating direction, 3 patterns are assumed as described in the Fig. 4-15 "The L-Arm Rotating Direction". It is quite difficult to accurately compare the extent of the torque works around the L-axis and the extent of the torque generated by the balancer on the actual work site. Although the loaded torque direction generated around the L-axis could be identified in the conventional series, the rotational direction cannot be identified in this unit; therefore, handling this unit in the same way as the conventional series is seriously dangerous, as the L-arm may rotate in a direction that the operator does not expect.

°

75

55

°䡚

65

°

60

°

Posture in which the L-arm operates in the clockwise direction

Posture in which the L-arm does not operate

Posture in which the L-arm operates in the counterclockwise direction

Fig. 4-15 The L-Arm Rotating Direction

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5 Grease Replenishment/Exchange

5 Grease Replenishment/Exchange 5.1 Grease Replenishment/Exchange for S-Axis Speed Reducer and Gear • Refer to the Fig. 5-16 "S-Axis Speed Reducer and Gear Diagram".

So: Grease exhaust Hexagon socket head (PT 1/8) plug

Si: Grease inlet Grease zerk (A-PT 1/4)

S-axis speed reducer

Fig. 5-16 S-Axis Speed Reducer and Gear Diagram

5.1.1

Grease Replenishment

1. Remove the So exhaust plug.

NOTE

If grease is added without removing the exhaust plug, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the plug.

2. Inject grease into the Si grease inlet using a grease gun. Grease type: Molywhite RE No.00 Amount of grease: 530cc (1060cc for 1st supply)

3. Move the S-Axis for a few minutes to discharge the excess grease. 4. Reinstall the So exhaust plug. (Spread the modifier silicon caulk on the screw of the plug.)

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Grease Replenishment/Exchange

5.1.2

Grease Exchange

1. Remove the So exhaust plug. 2. Inject grease into the Si grease inlet using a grease gun. 3. The grease replacement is complete when new grease appears in the So exhaust port. The new grease can be distinguished from the old grease by color.

Grease type: Molywhite RE No.00 Amount of grease: 3650cc

4. Move the S-Axis for a few minutes to discharge the excess grease. 5. Wipe the So exhaust port with a cloth and reinstall the plug. (Spread the modifier silicon caulk on the screw of the plug.)

NOTE

If the plug is installed when grease is being exhausted, grease will go inside the motor and may damage it.

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5.2 Grease Replenishment/Exchange for L-Axis Speed Reducer • Refer to the Fig. 5-17 "L-Axis Speed Reducer Diagram". Lo: Grease exhaust Hexagon socket head (PT 1/8) plug

L-axis speed reducer

Li: Grease inlet Grease Zerk (A-PT 1/8)

Fig. 5-17 L-Axis Speed Reducer Diagram

5.2.1


1. Make the L-Arm vertical for ground. 2. Remove the Lo exhaust plugs.

NOTE

If grease is added without removing the exhaust plug, grease will go inside the motor and may damage it. It is absolutely necessary to remove the plugs.

3. Inject grease into the Li grease inlet using a grease gun. Grease type: Molywhite RE No.00 Amount of grease: 400cc (800cc for 1st supply)

4. Move the L-Axis for a few minutes to discharge the excess grease. 5. Wipe the Lo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier silicon Caulk on the screw of the plug.)

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5.2.2

Grease Exchange

1. Make the L-Arm vertical for ground. 2. Remove the Lo exhaust plugs.

NOTE

If grease is added without removing the exhaust plugs, grease will go inside the motor and may damage it. It is absolutely necessary to remove the plugs.

3. Inject grease into the Li grease inlets using a grease gun. Grease type: Molywhite RE No.00 Amount of grease for Li: approx. 2000cc

4. The grease replacement is complete when new grease appears in the Lo exhaust ports. (The new grease can be distinguished from the old grease by color.) 5. Move the L-Axis for a few minutes to discharge the excess grease. 6. Wipe the Lo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier silicon Caulk on the screw of the plug.)

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5.3 Grease Replenishment/Exchange for U-Axis Speed Reducer • Refer to the Fig. 5-18 "U-Axis Speed Reducer Diagram". Uo: Grease exhaust Hexagon socket head (PT1/8)plug U-axis speed reducer

Ui: Grease inlet Grease zerk (A-PT1/8)

Fig. 5-18 U-Axis Speed Reducer Diagram

5.3.1


1. Make the U-Arm horizontal for ground. 2. Remove the Uo exhaust plugs.

NOTE


3. Inject grease into the Ui grease inlet using a grease gun. Grease type: Molywhite RE No.00 Amount of grease for Ui: 250cc (500cc for 1st supply)

4. Move the U-Axis for a few minutes to discharge the excess grease. 5. Wipe the Uo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier silicon Caulk on the screw of the plug.)

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5.3.2

Grease Exchange

1. Make the U-Arm horizontal for ground. 2. Remove the Uo exhaust plugs.

NOTE


3. Inject grease into the Ui grease inlet using a grease gun. Grease type: Molywhite RE No.00 Amount of grease for Ui: approx. 1650cc

4. The grease replacement is complete when new grease appears in the Uo exhaust ports. (The new grease can be distinguished from the old grease by color.) 5. Move the U-Axis for a few minutes to discharge the excess grease. 6. Wipe the Uo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier silicon Caulk on the screw of the plug.)

NOTE

If the plug is installed when grease is being exhausted, grease will go inside the motor and may damage it.

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5.4 Grease Replenishment/Exchange for R-Axis Speed Reducer • Refer to the Fig. 5-19 "R-Axis Speed Reducer Diagram". Ro: Grease exhaust Hexagon socket head (PT1/8) plug

R-axis speed reducer

Ri: Grease inlet Hexagon socket head (PT1/8)plug

Fig. 5-19 R-Axis Speed Reducer Diagram

5.4.1


1. Remove the Ro exhaust plugs.

NOTE

If grease is added without removing the exhaust plugs, grease will go outside the grease box and may damage it. It is absolutely necessary to remove the plugs.

2. Remove the Ri plug: PT1/8 and install the grease zerk (A-PT1/8) and inject grease into the Ri grease inlet using a grease gun. UP130 and UP165 Grease type: Molywhite RE No.00 Amount of grease for Ri: 28cc (56cc for 1st supply) UP200 Grease type: Molywhite RE No.00 Amount of grease for Ri: approx. 40cc (80cc for 1st supply)

3. Move the R-Axis for a few minutes to discharge the excess grease. 4. Wipe the Ro exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier silicon Caulk on the screw of the plug.)

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5.4.2

Grease Exchange

1. Remove the Ro exhaust plugs.

NOTE


2. Remove the Ri plug: PT1/8 and install the grease zerk (A-PT1/8) and inject grease into the Ri grease inlet using a grease gun. UP130 and UP165 Grease type: Molywhite RE No.00 Amount of grease for Ri: 140cc UP200 Grease type: Molywhite RE No.00 Amount of grease for Ri: 210cc

3. The grease replacement is complete when new grease appears in the Ro exhaust ports. (The new grease can be distinguished from the old grease by color.) 4. Move the R-Axis for a few minutes to discharge the excess grease. 5. Wipe the Ro exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier silicon Caulk on the screw of the plug.)

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5.5 Grease Replenishment/Exchange for B-Axis Speed Reducer and Gear • Refer to the Fig. 5-20 "B-Axis Speed Reducer and Gear Diagram". Bo: Grease exhaust Hexagon socket head (PT1/8) plug

B-axis speed reducer Bi: Grease inlet Grease zerk (A-MT6) (1 zerk)

Fig. 5-20 B-Axis Speed Reducer and Gear Diagram

5.5.1


1. Remove the Bo exhaust plugs.

NOTE


2. Inject grease into the Bi grease inlet using a grease gun. UP130 and UP165 Grease type: Molywhite RE No.00 Amount of grease for Bi: 200cc (400cc for 1st supply) UP200 Grease type: Molywhite RE No.00 Amount of grease for Bi: 260cc (520cc for 1st supply)

3. Move the B-Axis for a few minutes to discharge the excess grease. 4. Wipe the Bo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier silicon Caulk on the screw of the plug.)

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5.5.2

Grease Exchange

1. Remove the Bo exhaust plugs.

NOTE


2. Inject grease into the Bi grease inlet using a grease gun. UP130 and UP165 Grease type: Molywhite RE No.00 Amount of grease for Bi: approx. 900cc UP200 Grease type: Molywhite RE No.00 Amount of grease for Bi: approx. 1300cc

3. The grease replacement is complete when new grease appears in the Bo exhaust ports. (The new grease can be distinguished from the old grease by color.) 4. Move the B-Axis for a few minutes to discharge the excess grease. 5. Wipe the Bo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier silicon Caulk on the screw of the plug.)

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5.6 Grease Replenishment/Exchange for T-Axis Speed Reducer and Gear • Refer to the Fig. 5-21 "T-Axis Speed Reducer And Gear Diagram". T-axis speed reducer

To: Grease exhaust Hexagon socket head (M6) plug

Ti: Grease inlet Grease zerk (A-MT6) (1 zerk)

Fig. 5-21 T-Axis Speed Reducer And Gear Diagram

5.6.1


1. Remove the To exhaust plugs.

NOTE


2. Inject grease into the Ti grease inlet using a grease gun. UP130 and UP165 Grease type: Molywhite RE No.00 Amount of grease for Ti: 200cc (400cc for 1st supply) UP200 Grease type: Molywhite RE No.00 Amount of grease for Ti: 260cc (520cc for 1st supply)

3. Move the T-Axis for a few minutes to discharge the excess grease. 4. Wipe the To exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier silicon Caulk on the screw of the plug.)

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5.6.2

Grease Exchange

1. Remove the To exhaust plugs.

NOTE


2. Inject grease into the Ti grease inlet using a grease gun. UP130 and UP165 Grease type: Molywhite RE No.00 Amount of grease for Ti: 900cc UP200 Grease type: Molywhite RE No.00 Amount of grease for Ti: 1300cc

3. The grease replacement is completed when new grease appears from the To exhaust port. (The new grease is distinguished from the old grease by color.) 4. Move the T-Axis for a few minutes to discharge the excess grease. 5. Wipe the To exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier silicon Caulk on the screw of the plug.)

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5.7 Grease Replenishment for Balancer Connection Part • Refer to the Fig. 5-22 "Balancer Connection Part". Air exhaust

Air exhaust Hexagon socket head plug (PT1/8)

Connection Vc: Grease inlet Connection Needle bearing

Connection 2 Tapper roller bearings

Connection Vc: Grease inlet Grease zerk (A-PT1/8) (2 zerks)

Fig. 5-22 Balancer Connection Part

1. Remove the air exhaust plugs of connection Connection Part".)

1

2. Inject grease into Vc grease inlets of connection

and

2

. (Refer to Fig. 5-22 "Balancer

1

and

2

using a grease gun.

Grease type: Alvania EP Grease 2 Amount of grease: 5cc (10cc for 1st supply) .

NOTE

Grease is not exhausted from the exhaust ports 1 and 2 . Do not inject excessive grease into the gear grease inlet.

3. Reinstall the plugs of connection screw of the plug.)

1

and

2

. (Spread the modifier silicon caulk on the

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6

Disassembly and Reassembly of the Motor

6 Disassembly and Reassembly of the Motor 6.1

Disassembly and Reassembly of the S-Axis Motor • Refer to Fig.6-23 (a) Disassembly and Reassembly of the S-Axis Motor and Fig.6 (x) Disassembly and Reassembly of the S-Axis Motor.

NOTE

Refer to chapter 2 "Notes for Maintenance",chapter 3 "Home Position Return Operation", Table 4 "L-axis Fixing Jig Operating" and chapter 5 "Grease Replenishment/Exchange", and chapter 9 "Adjustment the Tension of the RBT-Axes Belts" in this manual.

Disassembly

 1. 2. 3. 4.

Turn OFF the robot controller. Connect the backup battery. (Refer to chapter 2 "Notes for Maintenance" in this book.) Remove the MS connector (encoder, power) connected to the S-axis motor 1 . Remove the hexagon socket head cap screws 2 , and remove the S-axis motor 1 from the gear unit 5 with the tapped holes on the motor flanged surface. At this time, be careful not to scratch the oil seal in the gear unit 5 . 5. Remove the hexagon socket head cap screws 6 to remove the shaft 3 and the key 4 .



Reassembly 1. Mount the key 4 on the S-axis motor 1 . (The key 4 is attached to the S-axis motor 1 .) 2. Apply sealing bond (ThreeBond 1206C) between the S-axis motor 1 flanged surface and the shaft 3 , and mount the S-axis motor 1 and the shaft 3 . 3. Tighten the hexagon socket head cap screws 6 (apply LOCTITE 242 to the screw parts) with the tightening torque shown in Table 6-3 "The Comparison Table for Parts". 4. Apply sealing bond (ThreeBond 1206C) between the S-axis motor 1 flanged surface and the gear unit 5 . Being careful not to scratch the oil seal in the gear unit 5 , mount the S-axis motor 1 on the gear unit 5 . 5. Tighten the hexagon socket head cap screws 2 with the tightening torque shown in Table 6-3 "The Comparison Table for Parts". 6. Mount the MS connector (encoder, power) of the internal cable on the S-axis motor 1 . 7. Supply grease (Molywhite RE No.00) from the grease supply part. 8. Remove the backup battery. 9. Turn ON the robot controller.

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6 Disassembly and Reassembly of the Motor

Table 6-3 The Comparison Table for Parts No

Name

Number

S-axis Motor HW9381382-A

1

Hexagon Socket Head Cap Screws M12x40 Conical Spring Washer 2H12

4 each

3

Shaft HW9381446-A

1

4

Key

1

5

Gear Unit

1

Hexagon Socket Head Cap ScrewsM10x110 Conical Spring Washer 2H-10

1 each

1 2

6

Notes

Tightening torque 84N•m

Tightening torque 82N•m

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6


Fig. 6-23 (a) Disassembly and Reassembly of the S-Axis Motor

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1

the part to apply the sealing

2 3 4 5 6

Fig. 6 (x) Disassembly and Reassembly of the S-Axis Motor

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6


6.2

Disassembly and Reassembly of the L-Axis Motor • Refer to Fig.6-25 (a) Disassembly and Reassembly of the L-Axis Motor and Fig.6-25 (b) Disassembly and Reassembly of the L-Axis Motor (UP130).

• Execute disassembly and reassembly of the L-axis motor after mounting the L-axis fixing jig on the balancer. Also, be sure to confirm that the L-axis is firmly fixed by releasing the L-axis motor brake.

Failure to observe this leads unexpected L-arm rotation at the moment when the L-axis motor is removed and it may result in damage to machinery or death or serious injury. • Refer to chapter 4 "L-axis Fixing Jig Operating" in this book about how to fix the balancer.

Disassembly

 1. 2. 3. 4.

Turn OFF the robot controller, fasten the balancer, and drain grease. Connect the backup battery. (Refer to chapter 2 "Notes for Maintenance".) Remove the MS connector (encoder, power) connected to the L-axis motor 1 . Remove the hexagon socket head cap screws 2 , and remove the L-axis motor 1 from the motor base with the tapped holes on the L-axis motor 1 flanged surface. At this time, be careful not to scratch the oil seal in the motor base. 5. Remove the hexagon socket head cap screws 8 , and remove the shaft 3 , the key 4 , the pipe 5 , the gear 6 and the shaft 7 .



Reassembly 1. Mount the key 4 on the L-axis motor 1 . (The key 4 is attached to the L-axis motor 1 .) 2. Apply sealing bond (ThreeBond 1206C) between the L-axis motor 1 flanged surface and the shaft 3 , and mount the L-axis motor 1 , the shaft 3 , the pipe 5 , the gear 6 and the shaft 7 . 3. Tighten the hexagon socket head cap screws 8 (apply LOCTITE 242 to the screw parts) with the tightening torque shown in the Table 6-4 "The Comparison Table for Parts". 4. Apply sealing bond (ThreeBond 1206C) between the L-axis motor 1 flanged surface and the motor base. Being careful not to scratch the oil seal in the motor base, mount the L-axis motor 1 on the motor base. 5. Tighten the hexagon socket head cap screws 2 with the tightening torque shown in the Table 6-4 "The Comparison Table for Parts". 6. Mount the MS connector (encoder, power) of the internal cable on the L-axis motor 1 . 7. Remove the backup battery. 8. Supply grease (Molywhite RE No.00). 9. Turn ON the robot controller.

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Table 6-4 The Comparison Table for Parts No.

Num ber

Name

Notes

1

L-axis Motor HW9381261-A L-axis Motor HW9381536-A

1 1

For UP130 and UP165 For UP200

2

Hexagon Socket Head Cap Screws M12x35 Conical Spring Washer 2H-12

4 each

Tightening Torque84N•m

Shaft HW9482306-B Shaft HW9482306-E Shaft HW9482339-A

1 1 1

For UP130 For UP165 For UP200

4

Key

1

5

Pipe HW9405134-1•Retaining Ring ISTW-15

1

For UP130

6

Gear HW9482308-A Gear HW9482358-A

1 1

For UP130 For UP165 and UP200

7

Shaft HW9481343-A

1

Hexagon Socket Head Cap Screws M8x115 Conical Spring Washer 2H-8 Hexagon Socket Head Cap Screws HW9482316-C Conical Spring Washer ISTW12 Hexagon Socket Head Cap Screws HW9482506-A Conical Spring Washer ISTW12

1 each 1 each 1 each

3

8

Tightening Torque for UP130 :40N•m Tightening Torque for UP165 :40N•m Tightening Torque for UP200 :68N•m

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6


Fig. 6-25 (a) Disassembly and Reassembly of the L-Axis Motor

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8

3 7

2

6

5

The part to apply the sealing bond

4

1

Fig.6-25 (b) Disassembly and Reassembly of the L-Axis Motor (UP130)

8 6 7

3

4

1

2

Fig. 6-25 (c) Disassembly and Reassembly of the L-Axis Motor (UP165 and UP200)

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6.3

Disassembly and Reassembly of the U-Axis Motor • Refer to "Fig. 6-26 (a) Disassembly and Reassembly of the U-Axis Motor " and "Fig. 6-26 (b) Disassembly and Reassembly of the U-Axis Motor ".

Disassembly



1. Turn OFF the robot controller, drain grease, and connect the backup battery. 2. Remove the MS connector (encoder, power) connected to the U-axis motor 1 .(Refer to chapter " 2 Notes for Maintenance " in this manual). 3. Before removing the U-axis motor 1 , hold the U-arm not to rotate by chain block etc. 4. Remove the hexagon socket head cap screws 2 , and remove the U-axis motor 1 from the casing with the tapped holes on the U-axis motor 1 flanged surface. At this time, be careful not to scratch the oil seal in the casing. 5. Remove the retaining ring 7 and the bolt 8 to remove the shaft 3 , the gear 4 , the shaft 7 and the key 6 .

Reassembly



1. Mount the key 6 on the U-axis motor 1 . (The key 6 is attached to the U-axis motor 1 .) 2. Apply sealing bond (ThreeBond 1206C) between the U-axis motor 1 flanged surface and the shaft 3 , and mount the U-axis motor, the shaft 3 , the gear 4 and the shaft 5 . 3. Mount the shaft 5 , the gear 4 and the retaining ring 7 , after tightening the bolt 8 (apply LOCTITE242 to the screw parts) with the tightening torque shown in the Table 65 "The Comparison Table for Parts". 4. Apply sealing bond (ThreeBond 1206C) between the U-axis motor 1 flanged surface and the casing. Being careful not to scratch the oil seal in the gear unit, mount the Uaxis motor 1 on the casing. 5. Tighten the hexagon socket head cap screws 2 with the tightening torque shown in the Table 6-5 "The Comparison Table for Parts". 6. Mount the MS connector (encoder, power) of the internal cable on the U-axis motor 1 . 7. Remove the backup battery. 8. Supply grease (Molywhite RE No.00). 9. Turn ON the robot controller. Table 6-5 The Comparison Table for Parts No. 1 2 3 4 5

Num ber

Name

Notes

U-axis Motor HW9381261-A

1

Hexagon Socket Head Cap Screws M12x40 Conical Spring Washers 2H-12 Shaft HW9482306-C

4 each 1

Tightening Torque 84N•m

Gear HW9482318-A Gear HW9482451-A Shaft HW9481343-A

1 1 1


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Num ber

Name

6

Key

1

7

Retaining Ring ISTW-12

1

8

Bolt HW9482316-A

1

Notes


Fig. 6-26 (a) Disassembly and Reassembly of the U-Axis Motor

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7 4 5 8

3 6

2


1 Fig. 6-26 (b) Disassembly and Reassembly of the U-Axis Motor

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6.4 Disassembly and Reassembly of the RBT-Axes Motors • Refer to Fig.6-27 (a "Disassembly and Reassembly of the RBT-axes Motors" and Fig.6-27 (b "Disassembly and Reassembly of the RBT-Axes Motors".



Disassembly 1. Turn OFF the robot controller. 2. Remove the GT-SA bolts 12 • 13 to remove the covers 10 • 8 and the gaskets 11 • 9 . 3. Connect the backup battery to the connector on the upper part of the casing 7 . (Refer to chapter 2 "Notes for Maintenance" in this manual.) 4. Remove the RBT-axis motor’s 1 connectors connected to the internal cable. 5. Remove the hexagon socket head cap screws 2 , and remove the RBT-axis motors 1 from the casing 7 with the notch on the casing 7 . 6. Remove the hexagon socket head cap screws 6 to remove the keys 3 , the pulleys 4 and B covers 5 .



Reassembly 1. Mount the key motors

1

4

on the RBT-axis motors

. (The key

1

4

is attached to the RBT-axis

.)

2. Mount the pulleys

4

and the B covers

5

on the RBT axis motors

1

and tighten the

hexagon socket head cap screws 6 (apply LOCTITE 242 to the screw parts) with the tightening torque shown in the Table 6-6 "The Comparison Table for Parts". 3. Apply sealing bond (ThreeBond 1206C) between the RBT-axis motors casing

7

, and mount the RBT-axis motors

1

on the casing

7

1

and the

.

4. Adjust the tension of the belt, and tighten the hexagon socket head cap screws 2 with the tightening torque shown in the Table 6-6 "The Comparison Table for Parts". (Refer to the chapter 9 "Adjustment the Tension of the RBT-Axes Belts" in this manual. 5. Connect the connector connected to the internal cable to the connector on the upper part of casing. Remove the backup battery. 6. Mount the covers

8

•

10

and the gaskets

9

•

11

, and tighten them with the GT-SA

bolts 12 • 13 . 7. Turn ON the robot controller.

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Name

Number

Notes

RBT-axis Motors : R-axis HW9380938-A : B•T-axis HW9381368-A

1 2

Hexagon Socket Head Cap Screws M6x30 Conical Spring Washer 2H-6(B•T-axis) Collar HW9404231-1

4 each x 3

Key

3

Pulley HW9482275-A Pulley HW9482450-A Pulley HW9482275-A

3 2 1

5

B Cover HW9405163-1

3

6

Hexagon Socket Head Cap Screw M6x20 Conical Spring Washer 2H-6

1 each x 3

7

Casing HW9100889-1

1

8

Cover HW9302176-1

1

9

Gasket HW9381484-A

1

10

Cover HW9405439-1

1

11

Gasket HW9482427-A

1

12

GT-SA Bolts M6x15

4

Tightening Torque 10 N•m

13

GT-SA Bolts M6x15

7


1 2

3 4

Tightening Torque 10.0 N•m

4x3

For UP130, 200 (RBT-Axes) For UP165 (RB-Axes) For UP165 (T-Axis)

Tightening Torque 16.5 N•m

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Fig. 6-27 (a) Disassembly and Reassembly of the RBT-axes Motors

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6


7 3 4 5

2

9 6

B-axis motor

A

T-axis motor

1

R-axis motor View observed from the arrow A (a scale of measurement 1 : 8)

8 10

11

12


Fig.6-27 (b) Disassembly and Reassembly of the RBT-Axes Motors

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7 Disassembly and Reassembly of the Speed Reducer

7 Disassembly and Reassembly of the Speed Reducer • Refer to Fig.7-28(a "Disassembly and Reassembly of the S-Axis Speed Reducer" and Fig.7-28(b "Disassembly and Reassembly of the S-Axis Speed Reducer" in this chapter.

7.1 Disassembly and Reassembly of the S-Axis RV Speed Reducer NOTE



Refer to chapter 3 "Home Position Return Operation", chapter 4 "L-axis Fixing Jig Operating" and chapter 5 "Grease Replenishment/Exchange" in this book.

Disassembly 1. Turn OFF the robot controller and drain grease. 2. Remove the hexagon socket head cap screws 11 • 2 , and remove the shaft 12 and the gear unit 3 with the tapped holes. 3. Remove the hexagon socket head cap screws 4 to remove the upper part from the S head of the robot. 4. Remove the hexagon socket head cap screws 5 to remove the RV speed reducer 1 from the base 13 . 5. Remove the tube 10 connected to the straight union 9 . 6. Remove the straight union 9 from the RV speed reducer 1 . 7. Remove the hexagon socket head cap screws 7 , and remove the shaft 6 and O-ring 8 with the tapped holes.



Reassembly 1. Mount the straight union 9 on the RV speed reducer 1 . 2. Mount O-ring 8 on the shaft 6 , apply sealing bond (ThreeBond 1206C) between the RV speed reducer 1 and the shaft 6 , and tighten the hexagon socket head cap screws 7 with the tightening torque shown in the Table 7-7 "The Comparison Table for Parts". 3. Connect the tube 10 to the straight union 9 . 4. Apply sealing bond (ThreeBond 1206C) between the RV speed reducer 1 and the base 13 , and tighten the hexagon socket head cap screws 5 (apply ThreeBond 1206C to the screw parts) with the tightening torque shown in the Table 7-7 "The Comparison Table for Parts".

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Disassembly and Reassembly of the Speed Reducer

5. Mount the upper part from the S head of the robot on (3), and tighten the hexagon socket head cap screws 4 with the tightening torque shown in the Table 7-7 "The Comparison Table for Parts". 6. Apply sealing bond (ThreeBond 1206C) between (4) and the gear unit 3 , and tighten the hexagon socket head cap screws 2 (apply ThreeBond 1206C to the screw parts) with the tightening torque shown in the Table 7-7 "The Comparison Table for Parts". 7. Mount the shaft 12 on the RV speed reducer 1 , and tighten the hexagon socket head cap screws 11 (apply ThreeBond 1206C to the screw parts) with the tightening torque shown in the Table 7-7 "The Comparison Table for Parts". 8. Turn ON the robot controller.

Table 7-7 The Comparison Table for Parts Num ber

The number of the parts

Name

Notes

1

RV Speed Reducer HW9381388-A

1

2

Hexagon Socket Head Cap Screws M8x90 Spring Washers 2H-8

8 each

3

Gear Unit HW9171471-A

1

4


17 each


5


9 each


6

Shaft HW9302385-1

1

7


4 each

8

O-ring G135

1

9

Straight union KQS10-01S

1

10

Tube NB-1075-1,1.

1

11


4 each

12

Shaft HW9302524-1

1

13

Base HW9100888-1

1

Tightening Torque 24.5N•m



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Fig. 7-28(a Disassembly and Reassembly of the S-Axis Speed Reducer

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12 11

2 3

4 S-head

13

1 7

5 8

6

9 10

Fig.7-28(b Disassembly and Reassembly of the S-Axis Speed Reducer

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7.2 Disassembly and Reassembly of the L-Axis RV Speed Reducer • Refer to Fig.7-29(a "Disassembly and Reassembly of the L-Axis Speed Reducer" and Fig.7- 29 (b "Disassembly and Reassembly of the L-Axis Speed Reducer" in this chapter.

• Execute disassembly and reassembly of the L-axis motor after mounting the L-axis fixing jig on the balancer. Also, be sure to confirm that the L-axis is firmly fixed by releasing the L-axis motor brake.

Failure to observe this leads unexpected L-arm rotation at the moment when the L-axis motor is removed and it may result in damage to machinery or death or serious injury. • Refer to chapter 4 "L-axis Fixing Jig Operating" about the way to fasten the balancer.



Disassembly 1. Turn OFF the robot controller, and fix the balancer. 2. Remove the L-axis motor 10 . (Refer to section 6.2 “Disassembly and Reassembly of the L-Axis Motor”.) 3. Hold the L arm not to rotate by the chain block etc. before removing the RV speed reducer 1 . 4. Remove the hexagon socket head cap screws 4 to remove the motor base 2 and the oil seal 5 from the RV speed reducer 1 . 5. Remove the hexagon socket head cap screws 8 • 7 • 3 to remove the RV speed reducer 1 and O-ring 6 from the S head 9 .



Reassembly 1. Mount the O-ring 6 on the RV speed reducer 1 . 2. Apply sealing bond (ThreeBond 1206C) between (1) and the S head 9 , and tighten the hexagon socket head cap screws 3 • 7 • 8 with the tightening torque shown in the Table 7-8 "The Comparison Table for Parts". 3. Mount the motor base 2 on the RV speed reducer 1 , and tighten the hexagon socket head cap screws 3 with the tightening torque shown in the Table 7-8 "The Comparison Table for Parts". 4. Mount the L-axis motor 10 . (Refer to section 6.2 “Disassembly and Reassembly of the L-Axis Motor”.) 5. Turn ON the robot controller.

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Table 7-8 The Comparison Table for Parts Num ber

The number of the parts

Name

Notes

1

RV Speed Reducer HW9381442-A RV Speed Reducer HW9381442-B

1 1

2

Motor Base HW9200895-1

1

3


2 each


4


22 each


5

Oil Seal Y507212.5

1

6

O-ring G300

1

7


6 each


8


18 each


9

S head HW9100894-1

1

L-axis motor

1

10


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Fig. 7-29(a Disassembly and Reassembly of the L-Axis Speed Reducer

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7


L-arm

7

8

6

2

3

1

5

3

A

4

4


10

3

View observed from the arrow A(1:2)

Fig.7- 29 (b Disassembly and Reassembly of the L-Axis Speed Reducer

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7.3 Disassembly and Reassembly of the U-Axis RV Speed Reducer • Refer to Fig.7-30(a "Disassembly and Reassembly of the U-Axis Speed Reducer"Disassembly and Fig.7- 30 (b "Disassembly and Reassembly of the UAxis Speed Reducer" in this chapter.

Disassembly



1. Turn OFF the robot controller. 2. Hold the U-arm unit 4 not to fall by the chain block etc before removing the U-axis motor 6 .(Refer to section 6.3 “Disassembly and Reassembly of the U-Axis Motor”.) 3. Remove the U-axis motor 6 . 4. Remove the hexagon socket head cap screws 2 • 3 to remove the U-arm unit 4 from the body of the machine. 5. Remove the hexagon socket head cap screws 7 to remove the RV speed reducer 1 and the O-ring 5 from the U-arm unit 4 . 6. Remove the O-ring 5 from the RV speed reducer 1 .

Reassembly



1. Mount the O-ring 5 to the RV speed reducer 1 . 2. Mount 1. on the U-arm unit 4 , and tighten the hexagon socket head cap screws 7 with the tightening torque shown in the Table 7-9 "The Comparison Table for Parts". 3. Apply sealing bond (ThreeBond 1206C) between the RV speed reducer 1 and the L-arm on the body, and tighten the hexagon socket head cap screws 2 • 3 with the tightening torque shown in Table 7-9 "The Comparison Table for Parts". 4. Mount the U-axis motor 6 .(Refer to section 6.3 “Disassembly and Reassembly of the U-Axis Motor”) 5. Turn ON the robot controller. Table 7-9 The Comparison Table for Parts No.

Name

Number

Notes

1

RV Speed Reducer HW9381465-A RV Speed Reducer HW9381465-C

1 1


2


6 each


3

Hexagon Socket Head Cap Screws M10x35 Conical spring washers 2H-10

18 each


4

U-arm Unit

1

5

O-ring

1

6

U-axis Motor

1

7


16 each


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7


Fig. 7-30(a Disassembly and Reassembly of the U-Axis Speed Reducer

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2

The part to apply the sealing bond L-arm

3

1

7 4

5

6

Fig.7- 30 (b Disassembly and Reassembly of the U-Axis Speed Reducer

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7.4 Disassembly and the Reassembly of the R-Axis Cyclo Speed Reducer • Refer to Fig.7-31(a "Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer", Fig.7- 31 (b "Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer" and Fig.7- 31 (c "Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer" in this chapter.

Disassembly



1. Turn OFF the robot controller. 2. Remove the hexagon socket head cap screws 3 and the pin 4 , and use the tapped holes to remove the wrist unit 5 from the cyclo speed reducer 1 . 3. Remove the hexagon socket head cap screws 2 , and use the tapped holes to remove the cyclo speed reducer 1 from the U-arm 6 .

Reassembly



1. Apply sealing bond (ThreeBond 1206C) between the U-arm

6

and the cycle speed

reducer 1 , and tighten the hexagon socket head cap screws 2 with the tightening torque shown in the Table 7-10 "The Comparison Table for Parts". 2. Mount the wrist unit

5

on the cycle speed reducer

1

with the hexagon socket head

cap screws 3 temporarily, and tighten the hexagon socket head cap screws 3 with the tightening torque shown in the Table 7-10 "The Comparison Table for Parts" after putting the pin 4 . 3. Turn ON the robot controller. Table 7-10 The Comparison Table for Parts No.

Name

Number

Notes

Cyclo Speed Reducer HW9381399-A Cyclo Speed Reducer HW9381260-A

1 1


Hexagon Socket Head Cap Screws M8x95 Spring Washers 2H-8 Hexagon Socket Head Cap Screws M12x115 Spring Washers 2H-12 Washer HW9302581-1

16 each

Tightening Torque for UP130: 40N•m Tightening Torque for UP165 and UP200: 142N•m

3


8 each

4

Pin MSTM8-20

1

5

Wrist Base HW9100890-1 Wrist Base HW9100955-1

1 1

6

U-arm

1

1 2

12 each



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Fig. 7-31(a Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer

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Fig.7- 31 (b Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer

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6

1

2

3

4

5

Fig.7- 31 (c Disassembly and Reassembly of the R-Axis Cyclo Speed Reducer

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7


7.5 Disassembly and Reassembly of the B-Axis RV Speed Reducer 1. Turn OFF the robot controller. 2. Remove the hexagon socket head cap screws 3 to remove the cover 2 . 3. Remove the hexagon socket head cap screws 4 • 5 • 6 • 12 , use the tapped holes to remove the RV speed reducer 1 , the shims 8 , the gear 9 and the bearing 11 all together from the wrist 10 . 4. Remove the hexagon socket head cap screws 7 to remove the shims 8 , the gear 9 and the bearing 11 from the RV speed reducer 1 . (Use the tapped holes in removing the gear 9 .)

Reassembly



1. Mount the bearing 11 , the shims 8 and the gear 9 on the RV speed reducer 1 , and tighten the hexagon socket head cap screws 7 with the tightening torque shown in the Table 7-11 "The Comparison Table for Parts". 2. Apply sealing bond (ThreeBond 1208D) between the RV speed reducer 1 and the wrist 10 , and tighten the hexagon socket head cap screws 4 • 5 • 6 • 12 (Apply ThreeBond 1208D only to the screw part of 4 .) with the tightening torque shown in the Table 7-11 "The Comparison Table for Parts". 3. Mount the wrist 10 and the cover 2 on the RV speed reducer 1 , and tighten the hexagon socket head cap screws 3 with the tightening torque shown in the Table 711 "The Comparison Table for Parts". 4. Turn ON the robot controller. Table 7-11 The Comparison Table for Parts No.

Name

Number

Notes

1

RV Speed Reducer HW9380961-A RV Speed Reducer HW9381453-A

1 1


2

Cover HW0300889-1 Cover HW9302370-1

1 1


Hexagon Socket Head Cap Screws M6x25 Spring Washers 2H-6 Hexagon Socket Head Cap Screws M6x12 Spring Washers 2H-6

4 each

Tightening Torque for UP130 and UP165: 10 N•m Tightening Torque for UP200: 10 N•m


2 each

Hexagon Socket Head Cap Screws M8x90 Spring Washers2H-8

4 each



14 each


3

4

5 6

6 each

6 each

10 each

Tightening Torque for UP130 and UP165: 40 N•m Tightening Torque for UP200: 226N•m

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Name

Number

7


4 each

8

Shim HW9403624-1

1

9

Gear HW9380983-A

1

10

Wrist HW9100896-1 Wrist HW9100954-1

1 1

11

Bearing 6908•Retaining ring C-type 51040

1 each


16 each

12

14 each

Notes Tightening Torque 16.5 N•m



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7


Fig. 7-32(a Disassembly and Reassembly of the B-Axis RV Speed Reducer

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12 The part to apply the sealing bond

6

1

7 5

11 8

10

4 2

9

3

Fig.7- 32 (b Disassembly and Reassembly of the B-Axis RV Speed Reducer

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7.6 Disassembly and Reassembly of the T-Axis Cycle Speed Reducer Disassembly



1. Turn OFF the robot controller. 2. Remove the hexagon socket head cap screws 2 to remove the flange 3 . 3. Remove the hexagon socket head cap screws 4 , remove the cycle speed reducer 1 , the gear 5 , the shims 6 and the washer 8 all together from the wrist 9 with the tapped holes. 4. Remove the hexagon socket head cap screws 7 to remove the gear 5 , the shims 6 and the washer 8 from the cycle speed reducer 1 .

Reassembly



1. Mount the gear 5 , the shim 6 and the washer 8 on the cycle speed reducer 1 , and tighten the hexagon socket head cap screws 7 (Apply LOCTITE 242 to the screw parts.) with the tightening torque shown in the Table 7-12 "The Comparison Table for Parts". 2. Apply sealing bond (ThreeBond 1208D) between the cyclo speed reducer 1 and the wrist 9 , and tighten the hexagon socket head cap screws 4 with the tightening torque shown in the Table 7-12 "The Comparison Table for Parts". (For UP200, Apply sealing bond (ThreeBond 1208D) to the screw part of 2 screws which are indicated with "" and shown in " Fig. 7- 33 (c) Disassembly and Reassembly of the T-Axis Cycle Speed Reducer (UP200) " out of 8 hexagon socket head cap screws 4 , and tighten them with the tightening torque shown in Table 7-12 "The Comparison Table for Parts".) 3. Apply sealing bond (ThreeBond 1208D) between the cyclo speed reducer 1 and the flange 3 , and tighten the hexagon socket head cap screws 2 with the tightening torque shown in the Table 7-12 "The Comparison Table for Parts" 4. Turn ON the robot controller. Table 7-12 The Comparison Table for Parts No. 1 2

3 4

5

Name

Number


Notes For UP130 and UP165 For UP200

Hexagon Socket Head Cap Screws M8x15 Conical spring washers 2H-8 Hexagon Socket Head Cap Screws M8x20 Conical spring washers 2H-8

14 each

Flange HW9302056-1 Flange HW9302372-1

1 1


Hexagon Socket Head Cap Screws M14x40 GT-SH Washers M14 Hexagon Socket Head Cap Screws M14x40 GT-SH Washers M14

4 each


Gear HW9380985-A Gear HW9381049-A

1 1

16 each

8 each



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Name

Number

6

Shims HW9403620-1 to5

1

7

Hexagon Socket Head Cap Screws M5x16 Conical spring washers 2H-5

1 each

8

Washer HW9403619-1

1

9

Wrist HW9100896-1 Wrist HW9100954-1

1 1

Notes



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7


Fig. 7-33(a Disassembly and Reassembly of the T-Axis Cycle Speed Reducer

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5

6

3


1 9

7

2

8

4

Fig.7- 33 (b Disassembly and Reassembly of the T-Axis Cycle Speed Reducer (UP130,UP165)

4

Fig.7- 33 (c Disassembly and Reassembly of the T-Axis Cycle Speed Reducer (UP200)

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8

Disassembly and Reassembly of the Wrist Unit

8 Disassembly and Reassembly of the Wrist Unit 8.1

Disassembly and Reassembly of the Wrist Unit Disassembly



1. Turn OFF the robot controller. 2. Remove the hexagon socket head cap screws 3 , remove the wrist unit cycle speed reducer 4 with the tapped holes on the wrist base part 2 .

1

from the

Reassembly



1. Mount the wrist unit

1

on the cyclo speed reducer

4

with the hexagon socket head

cap screws 3 temporarily, and tighten the hexagon socket head cap screws 3 with the tightening torque shown in the Table 8-13 "The Comparison Table for Parts". 2. Turn ON the robot controller. Table 8-13 The Comparison Table for Parts No. 1

2 3

4

Name

Number

Notes

Wrist Unit HW9171451-A Wrist Unit HW9171451-B Wrist Unit HW9171561-A

1 1 1

For UP130 For UP165 For UP200

Wrist Base HW9100890-1 Wrist Base HW9100955-1

1 1


Hexagon Socket Head Cap Screw M12x35 Spring Washer 2H-12 Hexagon Socket Head Cap Screw M12x35 Spring Washer 2H-12

8 each

Tightening Torque for UP130 and UP165 : 142 N•m Tightening Torque for UP200 : 142 N•m


1 1

12 each

UP130 and UP165 UP200

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8 Disassembly and Reassembly of the Wrist Unit

4

2

3

1

Fig. 8-34 Disassembly and Reassembly of the Wrist Unit

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9

Adjustment the Tension of the RBT-Axes Belts

9 Adjustment the Tension of the RBTAxes Belts • Refer to Fig. 9-35 "Timing Belt Adjustment" in this chapter.

9.1 Disassembly and Reassembly of the R-, B- and T-Axis Timing Belts NOTE



Refer to chapter 3 "Home Position Return Operation", and chapter 6 "Disassembly and Reassembly of the Motor" in this manual.

Disassembly 1. Turn OFF the robot controller, and drain grease. 2. Remove the GT-SA bolts

9

and remove the cover

7

and gasket

3. Remove the T-axis motor 6 and remove the T-axis timing belt 6.4 “Disassembly and Reassembly of the RBT-Axes Motors”.)



3

8

.

. (Refer to section

4. Remove the B-axis motor 5 and remove the B-axis timing belt 6.4 “Disassembly and Reassembly of the RBT-Axes Motors”.)

2

. (Refer to section

5. Remove the R-axis motor 4 and remove the R-axis timing belt 6.4 “Disassembly and Reassembly of the RBT-Axes Motors”.)

1

. (Refer to section

Reassembly 1. Mount the R-axis timing belt 1 and mount the R-axis motor “Disassembly and Reassembly of the RBT-Axes Motors”.)

4

. (Refer to section 6.4

2. Mount the B-axis timing belt 2 and mount the B-axis motor “Disassembly and Reassembly of the RBT-Axes Motors”.)

5


3. Mount the T-axis timing belt 3 and mount the T-axis motor “Disassembly and Reassembly of the RBT-Axes Motors”.)

6


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Table 9-14 The Comparison Table for Parts NO.

Name

Number

1

R-Axis Timing Belt 200S8M976 R-Axis Timing Belt 200S8M960

1 1

2

B-Axis Timing Belt 200S8M800

1

3

T-Axis Timing Belt 200S8M656

1

4

R-Axis Motor

1

5

B-Axis Motor

1

6

T-Axis Motor

1

7

Cover

1

8

Gasket HW9302176-1

1

9

GT-SA Bolt M6 x 15

7

Notes For UP130 and UP200 UP165

Tightening Torque: 10 N•m

7 8

9

L-arm

1

4 3

6

2

5

Fig. 9-35 Timing Belt Adjustment

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9

Adjustment the Tension of the RBT-Axes Belts

9.2

Adjustment of the RBT-Axes Timing Belts Belt tension inspection part

Inspect the tension of the timing belt due to opening the cover of the belt tension inspection part as shown above. 1. Remove the hexagon socket head cap screws (M16 x 15)(4 screws) • the spring washers 2H-6, and remove the cover (HW9405164-1) • the gasket (HW9482310-A). 2. Loosen the hexagon socket head cap screws which are installed in the motor,

and tighten the hexagon socket head cap screws with the tightening torque shown in the section 6.4 “Disassembly and Reassembly of the RBT-Axes Motors” after adjustment the tension of the timing belt by the tension meter to fall within the tension shown in the Table 9-15 "Tension of the timing belts".  Table 9-15 Tension of the timing belts Tension R-Axis

219 - 290N (22.3 - 29.6 kgf)

B-Axis

219 - 290N (22.3 - 29.6 kgf)

T-Axis

219 - 290N (22.3 - 29.6 kgf)

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10 Battery Pack Replacement

10 Battery Pack Replacement • Refer to Fig.10-36(a "Battery Location (Back View)", Fig.10- 36(b "Battery Location (Top View)", Fig.10- 36(c "Battery Connection for SLU-Axis", Fig.10- 36(d "Battery Connection for RBT-Axis" in this chapter The battery packs are attached in the two positions indicated in Fig.10-36(a "Battery Location (Back View)" and Fig.10- 36(b "Battery Location (Top View)". If a battery alarm occurs in the XRC, replace the battery packs according to the following procedure:

Manipulator base

1BC

2BC

3BC

Battery pack

Connector base

Fig. 10-36(a Battery Location (Back View)

Pan head screw with washer M5 (8 washers)

Pan head screw with washer M5 (8 washers)

Battery pack for RBT-axes (HW9470932-B)

Battery pack for SLU-axes (HW9470932-A)

Fig.10- 36(b Battery Location (Top View)

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10

Battery Pack Replacement

See Procedure 6

Battery pack for SLU-axes before replacement

See Procedure 7

Internal wires for SLU-axes

0BT1

a

b

0BT1

BAT1

b

a

BAT1

0BT1

a

b 0BT1

BAT1

b

a BAT1 New battery pack

See Procedure 4

See Procedure 5 a: Insertion-type pin terminal(Male) b: Insertion-type pin terminal(Female)

Fig.10- 36(c Battery Connection for SLU-Axis See Procedure 6

Battery pack for RBT-axes before replacement

See Procedure 7

Internal wires for RBT-axes

0BT4

a

b

0BT4

BAT4

b

a

BAT4

0BT4

a

b 0BT4

BAT4

b

a BAT4 New battery pack

See Procedure 4

See Procedure 5 a: Insertion-type pin terminal(Male) b: Insertion-type pin terminal(Female)

Fig.10- 36(d Battery Connection for RBT-Axis

1. 2. 3. 4.

Turn the XRC main power supply off. Remove the plate of the connector base to replace the battery unit. Remove the mounting screw which mounted on the plate of battery unit. Remove the plastic tape (insulation tape) protecting the connection part of the battery pack in the manipulator. 5. Connect the new battery unit. 6. Remove the old battery unit.

NOTE

Remove the old battery pack after connecting the new one so that the encoder absolute date does not disappear.

7. Protect the connection part of the battery pack in the manipulator with plastic tape (insulation tape). 8. Mount the battery unit with the screw, and then mount the connector base.

NOTE

Do not pinch the cable when the base connector is installed.

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11 Cable Wiring NOTE



Remove the encoder cable connectors, after connecting new battery pack not to loose the encoder absolute data.

Remove Operation of the Cable Work Procedure

1

Undo the four hexagon socket head cap screws (M6x12), and remove the cover (HW9200891-1) beside the L-arm. Cover

2

Remove the screws of the upper side of the model GP holder (BGP-48) to remove the flexible tube.

BGP-48 3

Remove the seven hexagon socket head cap screws (M6x16) to remove the cover (HW9302176-1) and the gasket (HW9381484-1).

Gasket

Cover

Hexagon socket head cap screw

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11

4

Cable Wiring

Remove the four (M6x16) and two (M6x12) hexagon socket head cap screws to remove the cover (HW9405439-1), the gasket (HW9482427-A) and the cover (HW9405310-1). Cover

5

Remove the two pan head screws with washers (M4x10) to remove the connector (JL05-2A-24-28S), and pull the air tube out of the union.

Union (2)

JL Connector 6

Remove the hexagon socket head cap screws (M6x16) to remove the ground wire for the JL connector.

7

that the R-, B- and T-axis motors connect with the battery for backup. Then remove the connector on the motor side of the relay adopter in the casing.

8

that the U-axis motor connects with the battery for backup. Then remove the U-axis cable.

U-Axis connector

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11 Cable Wiring

9

Remove the (HW9302140-1) from the casing.

10

Take out the lead wire from the casing.

11

that the S- and L-axis motors connect with the battery for backup. Then remove the S- and L-axis motor connector.

12

Remove the cover (HW9381532-1). Remove the two hexagon socket head cap screws (M6x20) to remove the plate (HW9405448-1) from the (HW9302335-1).

Cover Hexagon socket head cap Screw

Plate

13

Remove the four cross recessed APS bolts (M6x12) to remove the connector base (HW9302338-A).

14

Remove the S-axis speed reducer grease hose and the air tube from the union.

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11

Cable Wiring

15

Remove the ground wire of the S-axis base. (There are two points to remove.)

16

Remove the housings (1BC, 2BC and 3BC).

Ground wire

Housing 17

Remove the two pan head screws with washers (M4x16) to remove the 4BC connector mounted on the base.

2-pan head screw with washer M4X16

Nut M4 HW9481087-E Gasket Detail view of installing JL connector

18

Remove the two hexagon socket head cap screws (M5x12) to remove the saddle (FCD-51).

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19

Remove the insert pin terminals of the battery and the S-axis LS lead wire.

20

Extract the cable.

Direction of extraction

 1

Reassembly Insert the cable.

Direction of insertion

2

Mount the saddle (FCD-51) with the hexagon socket head cap screws (M5x12).

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11

3

Cable Wiring

Mount the 4BC connector on the base with the two pan head screws with washers (M4x16).

2-Pan head screw with washer M4 (16washers)

Nut M4 HW9481087-E Gasket

Detail view of installing JL connector

4

Mount the insert pin terminals on the battery and the S-axis LS lead wire.

5

Mount the housing (1BC, 2BC and 3BC).

Housing 6

Mount the ground wire of the S-axis base. (There are two places to mount.)

7

Mount the grease hose and the air tube of the S-axis speed reducer on the union.

8

Mount the connector base (HW9302338-A) with the four cross recessed APS bolts (M6x12).

Ground wire

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9

Mount the plate (HW9405448-1) on the (HW9302335-1) with the two hexagon socket head cap screws (M6x20), and then mount the cover (HW9381532-1).

Cover Hexagon socket head cap Screw

Plate

10

Mount the S- and L-axis motor connector, and remove the S- and L-axis battery for backup.

11

Insert the lead wire into the casing.

12

Mount the (HW9302140-1) with the four hexagon socket head cap screws (M6x20, applying the sealing bond).

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11

Cable Wiring

13

Mount the connector on the motor side of the relay adopter in the casing. Then mount the U-axis motor cable on the U-axis motor, and remove the battery for the U-, R-, B- and Taxis for backup.

14

Mount the ground wire attached to the casing with the hexagon socket head cap screw (M6x16).

15

Mount the JL connector (JL05-2A-24-28S) with the two pan head screws with washers (M4x10), and mount the air tube.

Union (2)

JL Connector 16

Mount the cover (HW9405439-1), the cover (HW9405310-1) and the gasket (HW9482427-A) with the four (M6x16) and two (M6x12) hexagon socket head cap screws. Cover

17

Mount the cover (HW9302176-1) and the gasket (HW9381484-1) with the seven hexagon socket head cap screws (M6x16).

Gasket

Cover

Hexagon socket head cap screw

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18

Mount the flexible tube on the lower side of the model GP holder, and fasten the upper side of the model GP holder with the screws.

19

Mount the L-arm cover (HW9200892-1) with the hexagon socket head cap screws.

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Parts List

12 Parts List 12.1 UP130, UP165 12.1.1

S-Axis Driving Unit(1)

1019 3062 1045 1046

1021 1022

1020

1023

1004 1015

1016 1003

1027 1028 1024

1034 1006

1035 1033

1005

1026

1012 1025

1011

1001

1014 1013

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12 Parts List

No.

DWG No.

Name

Pcs.

1001

HW9100888-1

Base

1

1003

HW9381388-A

Speed reducer

1

1004

AS568-281

O ring

1

1005

HW9302345-1

Shaft

1

1006

G135

O ring

1

1007

TC9011513

Oil seal

1

1008

VC801057

Oil seal

1

1009

AR-110

Clip

1

1010

6817ZZ

Bearing

1

1011

M6×20

Socket screw

4

1012

2H-6

Conical spring washer

4

1013

KQS10-01S

Union

1

1014

NB-1075-1

Tube

1

1015

M18×150

Socket screw

9

1016

2H-18


9

1017

M8×90

Socket screw

8

1018

2H-8


8

1019

HW9100894-1

S head

1

1020

M30×50

Socket screw

1

1021

HW9405032-1

Bolt

1

1022

M12×55

Socket screw

17

1023

2H-12


17

1024

HW9404486-1

Shaft

1

1025

LFF-3025

Oiless

1

1026

HW9404863-1

Stopper

1

1027

M8×40

Socket screw

1

1028

2H-8


1

1029

S130

O ring

1

1030

HW9302346-1

Shaft

1

1031

M5×20

Socket screw

4

1032

2H-5


4

1033

HW9470892-A

Leads

1

1034

M5×20

Socket screw

2

1035

2H-5


2

1036

HW9302335-1

1

1037

M5×16

Socket screw

4

1038

2H-5


4

1039

SGMDH-45A2BYR12

Motor

1

1040

M12×40

Socket screw

4

1041

2H-12


4

1042

HW9381446-A

Shaft

1

1043

M10×110

Socket screw

1

1044

2H-10


1

1045

M6×8

Socket screw

1

1046

2H-6


1

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Parts List

12.1.2

S-Axis Driving Unit(2)

1031 1032 2028

1029

1040

1036

2010

2026 1041

1037

2011

2028 2031

1038

2009

1039

1030 1042 1017 1044

1008

2033

1018 1010

1043 2032

1009

2030 2025 2029

1007

2007 2008

2017

2006 2021 2027 2005 2020

2026 2025

2017

2022

2019 2018

2002

2016 2004

2024

2015

2023

2003

2012 2001

2014 2013

1019

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12 Parts List

No.

DWG No.

Name

Pcs.

1019

HW9100894-1

S head

1

2001

HW9381475-A

Gear

1

2002

HW9405052-1

B stopper

1

2003

M5×16

Socket screw

6

2004

2H-5


6 1

2005

HW9481231-A

Bearing

2006

HW9405049-1

B stopper

1

2007

M5×16

Socket screw

6

2008

2H-5


6

2009

HW9302141-1

Flange

1

2010

M5×16

Socket screw

4

2011

2H-5


4

2012

HW9405048-1

Housing

1

2013

M5×16

Socket screw

7

2014

2H-5


7

2015

G85

O ring

1

2016

HW9405304

Shim

1

2017

HR33206J

Bearing

2

2018

M8×25

Socket screw

8

2019

2H-8


8

2020

HW9405047-1

Shaft

1

2021

HW9381476-A

Gear

1

2022

HW9405051-1

Cover

1

2023

M5×16

Socket screw

7

2024

2H-5


7

2025

ISTW-35

Stopper

2

2026

6207ZZ

Bearing

2

2027

HW9381477-A

Gear

1

2028

IRTW-72

Stopper

2

2029

CIMR35-1

Shim

2

2030

Y507212.5

Oil seal

1

2031

M12×20

Socket screw

1

2032

HW9100893-1

Gear case

1

2033

PT1/8

Plug

1

12-4

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12

Parts List

12.1.3

L-Axis Driving Unit(1) UP130 (UP160: Next page)

3001

3010 3011 3009

3025

3002 3003

3062

3004 3005

3008

3012 3013 3015 3014

3017

3027

3019

3006 3007 3053 3054 3051

3029 3028

3050

3023 3022

3049

3046

3024 3016 3047 3048

3021 3051 3054 3053

3052

3018

1019

3020

3019

3052

3049 3046

3055

3050

3061

3048 3047

3033

3035 3034 3030

3032 3037 3036

3031

12-5

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UP165

3001

3002 3003

3010

3015

3011 3014 3009 3013

12-6

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Parts List

No.

DWG No.

Name

Pcs.

1019

HW9100894-1

S head

1

3001

SGMGH-44A2AYR12

Motor

1

3002

M12×35

Socket screw

4

3003

2H-12


4

3004

HW9200895-1

M base

1

3005

EZ0094-AO

Air breezer

1

3006

POC6-01M

Union

1

3007

UB-0640-0.1C

Tube

1

3008

Y507212.5

Oil seal

1

3009

HW9482308-A (UP130) HW9482358-A (UP165)

Gear

1

3010

HW9482306-B (UP130) HW9482306-E (UP165)

Shaft

1

3011

HW9481343-A

Shaft

1

3012

HW9405134-1

Pipe

1

3013

ISTW-15(UP130) ISTW-12(UP165)

Stopper

1

3014

M8×115(UP130) HW9482316-C (UP165)

Socket screw

1

3015

2H-8(UP130) 2H-12(UP165)


1

3016

HW9381442-A (UP130) HW9381442-B (UP165)

Speed reducer

1

3017

M12×80

Socket screw

22

3018

M12×65

Socket screw

2

3019

2H-12


24

3020

M12×55

Socket screw

18

3021

GT-SH-12

Washer

18

3022

M16×65

Socket screw

6

3023

GT-SH-16

Washer

6

3024

G300

O ring

1

3025

HW9100895-1

L arm

1

3027

HW9200891-1

Cover

1

3028

M6×12

APS bolt

4

3029

A-PT1/8

G nipple

1

3030

HW9405162-1

Shaft

1

3031

M12×90

Socket screw

6

3032

2H-12


6

3033

6218ZZ

Bearing

1

3034

STW-90

C stopper

1

3035

HW9405161-1

Cover

1

3036

M8×20

Socket screw

4

3037

2H-8


4

3038

HW9302054-1

Shaft

1

3039

M12×50

Socket screw

12

12-7

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No.

DWG No.

Name

Pcs.

3040

2H-12


12

3041

NA6912

Bearing

1

3042

AR-85

C stopper

1

3043

WR60

C stopper

1

3044

SB75×95×5

Oil seal

1

3045

SB60×78×9

Oil seal

1

3046

HW9405055-1

Shaft

2

3047

M10×55

Socket screw

18

3048

2H-10


18

3049

KE901107

Oil seal

2

3050

HR32916J

Bearing

2

3051

HW9405056-1

B cover

2

3052

A-PT1/8

G nipple

2

3053

M8×25

Socket screw

8

3054

2H-8


8

3055

HW9405195-1

Shim

1

3056

HW9405195-2

Shim

2

3057

HW9405195-3

Shim

1

3058

HW9405195-4

Shim

1

3059

HW9405195-5

Shim

1

3060

HW9405195-6

Shim

1

3061

HW9405195-7

Shim

1

3062

PT1/8

Plug

2

12-8

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Parts List

12.1.4

L-Axis Driving Unit(2)

3080 3076

3077

3075

3074

3073

3072

3071 3070

3067

3066

3068

3070 3071 3065 3064 3069 3063 3079 3078

3041

3045 3043

3025

3042 3044 3038 3040 3039

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No.

DWG No.

Name

Pcs.

3025

HW9100895-1

L arm

1

3063

HW9405057-1

Clevis

1 1

3064

A-PT1/8

G nipple

3065

PT1/8

Plug

2

3066

HW9200892-1

Frange

1

3067

HW9302126-1

Rod

1

3068

M8

Set screw with a ball

1

3069

FD3187AO

Dust seal

1

3070

SOB-607440

Oiless

2

3071

IRTW-75

C stopper

2

3072

HW9482271-A

Coil spring

1

3073

HW9482270-A

Coil spring

1

3074

HW9482269-A

Coil spring

1

3075

HW9301853-1

Flange

1

3076

HW9100909-1

Case

1

3077

M8×35

Socket screw

3

3078

M8×20

Socket screw

8

3079

2H-8


8

3080

EZ2228A0

Cap

1

12-10

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Parts List

12.1.5

U.R.B.T-Axis Link Unit 4049 4050

4047 4048 4051

4024 4024 4019

4079 4080 4081

4062 4061 4063 4028 4065 4029 4031 4030 4032 4036 4033 4037 4034

4075

4020 4022 4019 4021 4022

4035

4046

4023 4020 4021

4073 4054

4071

4052 4053

4064 4022 4021

4076

4019AA

4066

4074 4020

4079 4080 4081

4027

4100

4072

4056 4055

4079 4080 4081

4102 4103 4101

3025

4016 4017 4015 4058 4057 4025 4026 4018 4020 4014

4068 4067 4043

4060

4042

4008 4083 4090

4059

4041 4045 4044

4009 4010

4084

4012 4011 4007

4091

4070 4069 4001 4005

4013

4093 4092 4094

4006

4078 4077

4088

4085

4003 4004 4002

4082 4089

4095

4087 4086

4096

4096 4098 4099

12-11

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No.

DWG No.

3025 4001 4002 4003 4004

HW9100895-1 6919DDU HW9405058-1 M5×12 2H-5

4005 4006 4007 4008 4009 4010

WR95 HW9302143-1 6914DDU HW9381448-A M5×16 2H-5

4011 4012 4013 4014 4015

ISTW-70 HW9381449-A HW9302142-A 6204DDU HW9381447-A (UP130) HW9381559-A (UP165) M5×16 2H-5

4016 4017 4018 4019

4019AA 4020 4021 4022 4023 4024 4025 4026 4027

HW9482276-A HW9482275-A (UP130) HW9482450-A (UP165) HW9482275-A HW9402163-1 M6×20 2H-6 SGMGH-13A2AYR22 SGMGH-13A2AYR12 M6×25 2H-6

4028 4029 4030

HW9100889-1 (UP130) HW9100889-2 (UP165) HW9405482-1 M6×12 2H-6

4031 4032 4033 4034 4035 4036 4037

HW9482447-A HW9405481-1 ISTW-72 HW9405439-1 HW9482427-A M6×12 2H-6

4041 4042 4043 4044 4045

A-PT/1/8 HW9405165-1 G45 M6×20 2H-6

4046 4047 4048 4049 4050

PT1/8 HW9302176-1 HW9381484-A M6×15 2H-6

4051

SGMGH-44A2AYR12

Name

Pcs.

L arm Bearing B cover Socket screw Conical spring washer S stopper Shaft Bearing Pulley Socket screw Conical spring washer Stopper Shaft Shaft Bearing Pulley

1 1 1 3 3

Socket screw Conical spring washer Pulley Pulley

3 3

1 1 1 1 3 3 1 1 1 1 1

1 2

Pulley B cover Socket screw Conical spring washer Motor

1 4 3 3

Motor

2

Socket screw Conical spring washer Casing

1 1

Flange Socket screw Conical spring washer Oil seal Collar Stopper Cover Gasket Socket screw Conical spring washer G nipple Cover O ring Socket screw Conical spring washer Plug Cover Gasket Socket screw Conical spring washer Motor

1 7 7

1

1

1 1 1 1 1 4 4 1 1 1 4 4 2 1 1 7 7 1

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Parts List

No.

DWG No.

Name

4052 4053

M12×40 2H-12

Socket screw Conical spring washer Speed reducer

4054

4055 4056 4057 4058

HW9381465-A (UP130) HW9381465-C (UP165) HW9405164-1 HW9482310-A M6×15 2H-6

4059 4060

M12×55 2H-12

4061 4062

HW9482316-A 2H-12

4063

4064 4065 4066 4067 4068

HW9482318-A (UP130) HW9482451-A (UP165) HW9481343-A ISTW-12 HW9482306-C M10×35 2H-10

4069 4070

M16×50 2H-16

4071 4072 4073 4074

4075 4076 4077 4078

G270 POC6-01M UB-0640-0.1C 200S8M976 (UP130) 200S8M960 (UP165) 200S8M800 200S8M656 M12×40 2H-12

4079 4080

M6×25 2H-6

4081 4082 4083 4084 4085 4086 4087

HW9404231 HW9200894-1 6904LLU*NS7* 6811LLU HW9482283-A M4×14 2H-4

4088 4089 4090 4091 4092 4093

6914DDU ISTW-70 51020 HW9482282-A M4×14 2H-4

4094 4095 4096 4098 4099

G185 HW9381399-A PT1/8 M8×95 2H-8

4100 4101 4102 4103

MSTM8-20 HW9405310-1 M6×12 2H-6

Pcs. 4 4 1

Cover Gasket Socket screw Conical spring washer Socket screw Conical spring washer Bolt Conical spring washer Gear

1 1 4 4

Shaft C stopper Shaft Socket screw Conical spring washer Socket screw Conical spring washer O ring Union Tube Timing belt

1 1 1 18 18

Timing belt Timing belt Socket screw Conical spring washer Socket screw Conical spring washer Washer U arm Bearing Bearing Shaft Socket screw Conical spring washer Bearing C stopper C stopper Shaft Socket screw Conical spring washer O ring Speed reducer Plug Socket screw Conical spring washer Pin Cover Socket screw Conical spring washer

16 16 1 1 1

6 6 1 2 1 1

1 1 12 12 12 12 3 1 1 1 1 4 4 1 1 1 1 6 6 1 1 2 16 16 1 1 2 2

12-13

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12.1.6

Wrist Unit 5020 5021

5014 5013 5015

5018

5019 5021

5016

5117~5121

5017

5025

5024 5023

5026 5028

5022 5095

5027

5096

5030 5029

5050

5094

5003 5002

5004

5053 5001 5032

5097

5075

5074

5052

5031 5076 5077 5038

5056 5057

5041 5007 5011

5094 5096

5040 5110~5113

5095

5055

5061

5106~5109 5042

5045 5043 5046

5062

5058 5051

5054 5051

5048 5008 5045 5011 5044

5039

5047

5069 5066 5070 5072 5068 5073 5063 5067 5059 5065 5071 5064 5102~5105 5051 5087

5034 5035 5033 5114~5116 5036

5011 5009 5006

5085 5086 5084

5037 5005 5079

5083 5098~5101

5088

5052

5061 5050 5051

5012 5091

5092

5082

5011 5093

5090

5010

5089 5081 5090

12-14

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No.

DWG No.

5001 5002 5003

HW9100890-1 M12×35 2H-12

5004 5005 5006 5007 5008 5009 5010 5011

MSTM8-20 HW9100896-1 HW9380961-A M8×20 M8×40 M8×90 M8×85 2H-8

5012 5013 5014 5015

ARP568-263 HW9482260-A M4×12 2H-4

5016 5017 5018 5019 5020 5021

HW9302055-A HW9481234-A HW9403607-1 M4×20 M4×10 2H-4

5022 5023 5024 5025 5026 5027 5028 5029 5030 5031 5032

HW9301424-1 HW9405445-1 M4×6 G70 AC2651FO 6810 WR50 AC1030FO HW9380982-A M4×12 2H-4

5033 5034 5035

HW9380983-A M6×16 2H-6

5036 5037 5038 5039 5040 5041 5042 5043 5044 5045

6908 51040 HW9380984-A HW9380986-A HW9481236-A HW9403609-1 HW9403610-1 M4×8 M4×16 2H-4

5046 5047 5048 5049 5050 5051 5052

HW9405444-1 M4×6 HW9405097-1 M4×16 G110 HR32004XJ 6911

Name Wrist base Socket screw Conical spring washer Pin Wrist Speed reducer Socket screw Socket screw Socket screw Socket screw Conical spring washer O ring Shaft Socket screw Conical spring washer Shaft Bearing B cover Socket screw Socket screw Conical spring washer Housing B nut H set screw O ring Oil seal Bearing Clip Oil seal Gear Socket screw Conical spring washer Gear Socket screw Conical spring washer Bearing C stopper Gear Gear Bearing Housing B cover Socket screw Socket screw Conical spring washer B nut H set screw Cover Socket screw O ring Bearing Bearing

Pcs. 1 8 8 1 1 1 16 14 4 2 36 1 1 4 4 1 1 1 4 4 8 1 1 1 1 1 1 1 1 1 6 6 1 4 4 1 1 1 1 1 1 1 4 4 8 1 1 1 4 1 4 1

12-15

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No.

DWG No.

5053 5054 5055 5056 5057

AE3290E3 S60 HW9403618-1 M6×16 2H-6

5058 5059 5060 5061 5062

HW9380987-A HW9380988-A HW9380989-A HW9405443-1 M5×7

5063 5064 5065 5066 5067

HW9481235-A HW9405442-1 HW9403615-1 M8×40 2H-8

5068 5069 5070

HW9403616-1 M4×10 2H-4

5071 5072 5073

HW9403617-1 M6×16 2H-6

5074 5075 5076 5077 5079 5080 5081

HW9200900-1 A-MT×1 M5×14 M5 HW9301409-1 M6×25 2H-6

5082 5083

PT1/8 HW9380985-A (UP130) HW9381049-A (UP165) HW9403619-1 M5×12 2H-5

5084 5085 5086 5087

5088 5089 5090 5091 5092 5093 5094 5095 5096

HW9380986-A (UP130) HW9381048-A (UP165) HW9381400-A M14×40 GT-SH-M14 HW9302056-1 M5×8 M8×15 HW9481237-A M8×15 2H-8

5097 5098 5099

EZ5036AO HW9403620-1 HW9403620-2

Name

Pcs.

Oil seal O ring Housing Socket screw Conical spring washer Gear Gear Gear B nut Set screw with a ball Bearing Shaft Washer Socket screw Conical spring washer B cover Socket screw Conical spring washer Housing Socket screw Conical spring washer Cover G nipple Socket screw Washer Cover Socket screw Conical spring washer Plug Gear

1 1 1 5 5

Washer Socket screw Conical spring washer Gear

1 1 1

Speed reducer Socket screw washer Flange H set screw Socket screw Stopper Socket screw Conical spring washer Cap Shim Shim

1 4 4 1 1 14 2 4 4

1 1 1 2 4 1 1 1 1 1 1 4 4 1 3 3 1 1 8 8 1 4 4 1 1

1

2 1 1

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No.

DWG No.

5100 5101 5102 5103 5104 5105 5106 5107 5108 5109 5110 5111 5112 5113 5114 5115 5116 5117 5118 5119 5120 5121

HW9403620-6 HW9403620-7 HW9403621-1 HW9403621-2 HW9303621-5 HW9303621-6 HW9303622-1 HW9303622-2 HW9303622-4 HW9303622-6 HW9303623-1 HW9303623-2 HW9303623-4 HW9303623-5 HW9303624-1 HW9303624-2 HW9303624-3 HW9303625-1 HW9303625-2 HW9303625-4 HW9303625-5 HW9303625-6

Name Shim Shim Shim Shim Shim Shim Shim Shim Shim Shim Shim Shim Shim Shim Shim Shim Shim Shim Shim Shim Shim Shim

Pcs. 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1

12-17

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MOTOMAN-UP130, UP165, UP200

MAINTENANCE MANUAL 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, 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 㧗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 Phone +91-124-475-8500 Fax +91-124-475-8542 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 Phone +886-2-8913-1333 Fax +886-2-8913-1513 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 Road㧘Huaykwang, Bangkok 10320, Thailand Phone +66-2693-2200 Fax +66-2693-4200 PT. YASKAWA Electric Indonesia Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma, Jakarta 13610, Indonesia Phone +62-21-2982-6470 Fax +62-21-2982-6741

Specifications are subject to change without notice for ongoing product modifications and improvements.

MANUAL NO.

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