Download 02-TOE-C945-111 - Service manual Motoman K6S K10S
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"" Yaskawa's fully electric industrial robot .system consists of an industrial robot (Motoman-K6S/KlOS) , a numerical control unit (Y ASNAC ERC) , an operating station, a wo~kpiece mounting fixture and another equipment. I This manual is intended to give operating instructions and maintenance procedures primarily for the Motoman-K6S/KlOS robot. For the numerical control urit, refer to the maintenance manual for y ASNAC ERC. Instructions for i the operating fixture and the another equipment are not described in th~s manual, since they a're not furnished by Yaskawa Refer to each supplier of those devices for instructions. Read thoroughly this manual prior to maintenance and retain this for further reference. CONTENTS 1. BASIC BASIC SPECIFICATIONS .3 PARTS NAM~ ANp WORKING AXES Motoman-K6S/KlO,~ DIMENSIONS AND "'IORKING RANGE OF B-AXIS 7 ALTERABLE WORkING RANGE 7 1.1 1.2 1.3 1.4 1.5 2. ALLOWABLE LOAD ALLO"IABLE ATTACHMENT 2.1 2.2 8 3. ALLOWABLE 4. HANDLING s. SHIPPING 6. INSTALLATION 7. ".'iotoman 7.1 7.2 8. MAI 3 SPECIFICATIONs Folk V/RIST 4 WORKING PRECAUTIONS LOA~ FOR '!'11RIST 8 MdUNTING PRECAUTIONS LOAD 9. 8 9 10 oNlu-Axls 12 BOLTS 13 ANOIJIC-'S 14 16 CO"!STRUCTld)N POSITIO1"IS OF LI~1IT SWITCHES Il'~TERNAL CONNBcTIONS 17 ~~TENANCE AND FOR AXES RECO~.1~.~ENDED SPARE I PARTS 16 20 Ad>JUST~~EI\jT 8.1 INSPECTION SCHtDULE 20 8.2 INSPECTION ITEMs 21 8.2.1 Replacement Progedures for Battery Unit 8.2.2 Grease Replacem,nt Procedures for S-, LReduction f\lotor 24 8.2.3 Note for Wrist U~it Maintenance 25 8 RANGE 26 2 - 23 and U-axis .s This page is intentionally left blank! Denna sida har med mening lämnats blank! 1 1.1 BASIC SPECIFICATIONS BASIC SPECIFICATIONS Table 1.1 Basic Specifications Mode! Mode Degree Free.dom of . K1OS Motoman-K6S Item Operating of K6S and VerticalIy l\1otoman-K articuIated 6 6 Payload Verticallv 1 OS articulated 6 . kg - Repeatitive Positioning Accuracy s tO.l axis mm 3400 3400 2400 2400 2700 275° 3600 3600 2700 2700 4000 4000 (turning) L axis (lower u axis (upper Motion arm) arm) Range R axis (wrist roll) 13 axis (wrist pitch/yaw) 120°15 110°/5 .90°/s 110°/5 Maximum Speed 240°/5 240°/s 400°/s Allowable Allowable GD2.. Moment Inertia 1.2 kg.m 1.0 kg.m- 0:6 kg.~ 0.91 kg.~ 0.67 kg.m2 0.24 kg.m2 180 Weight MunselI ° Temperature 7.5R3/12 to 20 to ( non-con Humidity Vibration Ambient kg Less Conditions 45°C 80%RH densin than g) O.5G Free from corrosive or explosive gascs .Clean Others Free gases or liquids, all1d dry from excessive electrical noise (plasma) Power Capaci ty 5 kVJI. -3 - 8 kVA 1.2 PARTS NAME AND WORKING UPPER (U) AXES ARM WRIST ~ ~! 03 1!;!::=1 I:rr;"fij 03 ~ FLANGE ROTARY (S) HEAD ~ LOWER ARM ~ I' =l /*-= , ~ BASE CONNECTOR BASE Fig. 1.1 Parts Name and \AJorking Axes 4 1.3 Motoman-K6S/KlOS DIMENSIONS AND WORKING RANGE Motoman-K6S Dimensions VIEW @ : < ~ < ~ 16 ~ f-+- J ~ ~ < ~ § 3 ~ <:;'009 :'1 :;( VIE\-l @ : Baseplate Fig. 1.2 and l\1otoman-K6S Oimensions Working Range 5 "'rist Flange in mm 1.4 WORKING RANGE OF B-AXIS B-axis moves in the range maintainirig U-axis, as shown in Fig. 1.4. , constant I angle to the center of ~. ."' Fig. 1.5 ALTERABLE , .4 WORKING \"Jorking R~nge of B-axis RANGE The working range of S-axis can be al l ered conditions shown Yaskawa as representative in Table in 1.2. If al eration according to is necessary, advance. Table 1 J2 Item Specifications :t 17 o (Standard) :t150o S-axis Working :t120o Range :t90o :t60o :t30o 7 the operating contact your 2. 2.1 ALLOWABLE LOAD ALLOWABLE FOR WRIST AND PRECAUTIOf'IS LOAD FOR WRIST (1) The allowable load for wrist of Motoman-K6S and -KIOS is 6 kg and 10 kg, respectively, including the weight of the grip. The following conditions should be observed. (2) If force is applied to the wrist instead of the load, force on R-, Band T-axis should be within the values shown in Table 2.1. Contact your Yaskawa representative for further information or assistance. (3) Where the Fig. 2.1. volume of load is small, refer to limit load Lb(mm) (a) gravity Lb(mm) (b) Motoman-K6S Fig. 2.1 Limit -8 Load Gravity - Motoman-K1OS shown in .Inside fitting : The fitting .Gutside depth must be 5 mm or less . fitting : If th'e outside fitting is used, the fitting depth must be 5 mm or less. =:> Wrist Q Flange 3. ALLOWABLE LOAD ON U-AXIS When peripheral equipment is attached conditians should be observed. (1) to thi~ U-axis, the following Motoman-K6S .A1lowable load .Unbalance 3 kg:m (at on U-axis moment at Wl=3 kg) : the lS kg max center of U-axis; rotation : .Never perform additional modifications on the robot to make provisions for other conditions. For attaching the equipment on U-axis use clamps shown in Fig. 3. 1. 4-}16x PI, 28 j5 12 t t5 ~ t (kg), 15 ""' ~ '-' , ~ N Rr WI = LOAD CAPACITY (kg) 10 E-o :I: C H t.J ~ 'When load capacity WI equals 10 kg, un1;~lanced nment is not permitted. -- 100200 300400 \mn) 200100 I DISTANCE POINT I BETWEEN U AND LOAD GRAVITY "' ~ w,' ...w, U-AXIS ROTATION CENTER (POINT U) ( 1 J ~ Fig. 3.1 Allov.Jable Dimensions in mm Load on U-axis -10 - for ~.1otoman-K6S 3. (2) ALLOWABLE LOAD 0"'1 U-AXIS (Cont'd) ~1otoman-KlOS .A11owable load on U-axis: 25 kg max. .Unbalance moment at the center of U-axis rotation: 6 kg:m (at WI=5 kg) .Never perform addition al modifications on the robot to make provisions for other conditions. For attaching the equipment on U-axis, use clamps shown in Fig. 3.2. 4-M6 x12PI,. -.§&.-- 45 -., -. I ~ ~ ~ 81 L (kg) " :1= - W1 ~ 25 WI 20 E-:I: c H t.J :1= 15 5 -Wll~ ~ " 10 200 100 = LOAD GRAVITY ('kg) I *When load capacity W1 equals 10 kg, UnbalancErl m:xrent is not pennitteCI. 100200 300 400 (mm) DI S TANCE BETWEEN POINT U AND LOAD w. GRAVITY $:1 -fV! +w, U-AXIS ROTATION CENTER (POINT U) ..o: -ILL..L Q Dimensions in mm ~ Fig. 3.2 Allowable Load on U-axis 11 for Motoman-K10S 5. SHIPPING BOL TS AND JIGS Motoman is provided with shipping bolts and ji!~s at @ to @ in Fig. 5.1 to protect the robot from the movement and forces during shipment. The jigs are painted yellow. Be sure to remove thE~mbefore .insta11ation. NOTE Before turning ori the power, check to be shipping bolts and jigs have been removed. so may cause ciamage to the driving parts. sure that the Failure to do These shipping bolts and jigs must be stored for future event of moving or carrying the robot. -~ ~~ ~ Fig. 5.1 Positions of Shipping -13 E3olts and Jigs use in the 6. INSTALLATION The Motoman should be firmly mounted on a baseplate, or foundation rigid enough to support the Motoman and withstand repulsion forces during acceleration and deceleration. Mount the baseplate in either of the following ways. For mounting dimensions of Motoman baseplate, see par. 1.3. (1) Where the Motoman and the mounting fixture flat steel plate (common base) : are installed on a comm9n The common base should be rugged and durable to prevent shifting of the Motoman or the mounting fixture. When the Motoman is used for welding, connect the ground lead to the Motoman baseplate. For Motoman baseplate SPRING mounting, see Fig. WASHER 6.1 ~ BOLT WASHER Motoman COMMON Fig. (2) ~ere 6.1 Motoman Baseplate the Motoman is mounted directly the concrete thickness (f1oor) t,1ounting on the floor: The floor should be rigid enough to support construction procedure are as follows . ."IThere BASEPLATE BASE the Motoman. Foundation is 150 mm or more (i} The surface of floor should be level and even. grind the swell and flatten the surface. If it is uneven, (n) Check for cracks on the floor. If any c:rack is found, remove the material around the crack and rebuild the floor with concrete. Place the robot by fastening the plate with M20 anchor bolts. The plate is tapped for M20 bolts . Where the cancrete thickness faundatian . 8 (flaar) is less 1:han 150 mm ar an earth (i) Dig a footing in the floor area. (n) Spread stones in the excavated area and tamp them sufficiently make a solid stone bed . to (~ Fi11 the empty space of the stone bed with grout, and 1ay the concrete foundation. It should be more than 150 mm thick, and the surface must be leve1 and even. (v) The concrete the robot. should be ,cured for more than 14 - a week before installing 6. (3) INSTALLATION Mounted types Foot-mounted available . l. (Cont'd) wall-mounted (Standard), For wall-mounted Motoman-K6S: type, S-axis and c:eiling-mounted working range types are is as follow. !3ao .Motoman-KlaS: !45° 2. The brakes in S-axis and in ""rist (R-, B- and T-axis) are optional. When using wall-mounted type, S-axis should be provided with a brake. 8 ( 4) Incorporated cables and air duct 1. Six cables and an air application . .Allowable .Max duct pressure application are incorporated curren t of cables: of air duct: (:1:> in tl1otoman for user 6.6 A or below 9.9 kgf/cm2 or below CD Incorpora1:ed cable connector Type M53102A 18-15 (with cap): Connect the plug type M53106B to this . (i) (J) for .. ~~ VIEW @ Air O) Incorpora1:ed cable connector Type M53102A 18-1? (with cap) : Connect the plug type M53106B 18-15 to this . @) Air @ ~ A: ~ Fig.6.2 Locations Connectors intet: 6.3 PT3/8 of Incorporated and Air Inlet cables: .Using A to F Detailed Drawing -15 of Connector - tap, with with bull bull plug plug Cable connectors .Incorporated pins: tap, PT3/8 inlet: 2. The same pin Nos. (A to F) between O. 75 mm2 lead wires . Fig. 18-1P are connected 0.75 mm2, Pin No. 6 cables with 7. 7.1 Motoman POSITIONS CONSTRUCTION OF LIMIT SWITCHES FOR AXES Fig. 7.1 Locations of S- and L-axis Limit Switches 16 7.2 INTERNAL CONNECTIONS Highly reliable connectors which can be easily removed connector part. In Figs. 7.3 and 7.4, "-<I;:-" shows can also be removed. For the numbers and locations Fig. 7.2. Fig. Locations and t~umbers of Connectors 7.2 Table Name are used with each pin connector which of connectors, see 7.2 !'-!o. List of Connector Type Receptacle. Ty~)e Plug Type I-CA3106B. Base Connector lFor Incorporated ZBC 3BC MS3106B.36AIOS MS3102A.18-1P ICable Intermediate Connector s~ Feedback Unit Connector Connector for . Incorporated Cable lfiJ:tf 32P:lOS l-.f53106B .18-15 i2p~n~-I) 172170-1 172162-1 1-480276-0 1-171196-0 172168-1 172160-1 172168-1 172160-1 MS3106B.18-P MS3102A.18-1S (Optional) 17 - This page is intentionally left blank! Denna sida har med mening lämnats blank! This page is intentionally left blank! Denna sida har med mening lämnats blank! This page is intentionally left blank! Denna sida har med mening lämnats blank! This page is intentionally left blank! Denna sida har med mening lämnats blank! 8. t..1Alt-JTENANCE 8.1 INSPECTION AND ADJUSTt..1ENT SCHEDULE To insure optimum life of operation, a suggested schedule of periodicalinspections and adjustments is offered. Adjust the schedule according to your operating conditions. Especially, axes frequently used for handling should be checked at half-periods of the follo~'ing schedule . Fig. 8.1 Inspection -20 Schedule - 8.2 INSPECTION ITEMS -E~-AXIS (Contid) ~ -AXIS /,.--~-~ ~ R-AXIS Fig. 8.2 Inspection Parts -22 and Inspection Number 8.2.1 Replacement If the to the battery following Procedures for Battery charge becomes procedures . (1) Remove the side cover (2) Remove the battery (3) Remove the pins too (U-axis unit CD. low or motor mounting @ is depleted, side) screw (PC-2005-M, replace of rotary it head. sides of battery. -E--{> DIODO ( 4) Remove the old battery and mount the new battery. NOTE l. 2. When the battery unit is replaced. Keep the power ON between y ASNAC and Motoman . Be sure direction. to insert Fig. the 8.3 pins in correct Battery -23 Loca1~ion - according (M5) . W) on both ~BATTERY -E{=:J-< oE-c:)--< (D (g; f -< Unit 8.2.2 Grease Replacement Reduction Motor (l) (2) Remove plugs Inject grease using grease @ , Procedures @ and (EPINOC for S-, L- and U-axis (f) . APO) into grease inlet on @ and @ @, gun. Table Amount 8.2 of Greasing L- and U-axis S-axis MotomanK6S 700 cc 300 MotomanK1OS 600 cc 400 cc cc (3) The grease replacement is completed when new grease appears from @ @ and @ .The new grease is distinguished. ofrom old grease by color. (4) "Iipe parts @ , @ and @ with a cloth and reinstall the plug . ~ (f) @ INLET GREASE ~ U-AXIS REDUCTION MOTOR @ . 1.~ ~ L-AXIS REDUCTION ~- MOTOR '. --. ~ --,--~ r-:~ 7SIS GREASE I Oetailed LReduction S-axis t-.~otor INLET REDUCTION Ioetailed L- and u-axisl L Reduction f\"otor PartJ l Par~ S-AXIS MOTOR @ MOTOR n ,..,.,.-r-- ;, .1..' I" I" MOTOR BASE S-AXIS REDUCTION MOTOR @-: /Uf~ L-AXIS~\ MOTOR ~ CQVER Fig. 8.4 Grease ~ -~ Lubricated 24 - I ~.:J ":-7" ~/ t""" ~ U-AXIS FLANGE \LOWER L-AXIS REDUCTlON Parts (L) ARM MOTOR . REDUCTION MOTOR MOTOR 8.2.3 Note for Wrist Unit tJaintenance The motor and feedback unit are provided ,:X'ith the wrist unit. To counteract fumes from welding operation, etc. , the hatched parts are sea]ed with sealing compound so that fumes from welding operation, etc. do not penetrate into the wrist unit. Therefore" if the wrist shaft is disassembled, reseal with seaUng compound (KE4~;RTV) . Fig. 8.5 Sealing -25 Part of V~'rist Unit - 9. RECOMMENDED SPARE PARTS It is recommended that the following parts and components be kept in stock as spare parts for the Motoman-K6S/K10S. List of spare parts for Motoman-K6S and KIOS is shown in Table 9.1 and 9.2, respectively. They are ranked A, B and C, as follows . Rank A: Expendable be expected. parts and those"1or Rank B: Pal-ts for which replacement frequent operation . which frequent replacement may be necessary as a result can of Rank C: Drive units Table Rank Spare Part No. Parts Name 1 z 9.1 Spare Parts for Motoman-K6S Type Manufacturer Qty I Oty per Unit H\\'8471013-A Limit switch set 1 1 3 A Rema..ks S-axis, Lead terminal treatment completion L-2xis, Lead terminal treatment completion 4 S 2.5 Grease kg 6 7 Sillcon rubber compound (tube) 1 8 Gear 9 n 10 Yaska~.a 1 l 1 2 1 1 ~ 1 EJectric II 12 I.Ug. Go., Ltd. Speed reducer 13 ~ 14 - 1 I 15 ~ 16 AG Servomotor 17 c T-axis (Tip) Yaska~.a Elcctric "Ifg. Go. .Ltd. 18 19 ZO Interna! wiring ZI ZZ Wrist unlt 26 - 1 1 1 1 1 2 1 3 1 1 1 1 I 1 1 1 1 Without brake With brake Without brake In L ann With key. Lead terminal treatmcnt completion ~ 9. RECOM""\ENDED SPARE Table Rank Sp;)re P;)rt No. Parts Nanle 9.2 PARTS Spare (Contid) Parts for Motoman-KlOS I.\anu(acturcr Type j Qty ()Cr Unit Qty\ 1 2 Limit swltch set 1 1 3 Rcm;)rks I k"d tcrminal l treatment S-ax Is , completion 4 A 5 2.5 kg Grease 6 7 Silicon rubber compound (tube) I Shln-Etsu Chemical Co.. 8 Gear 1 KE4SRTV Ltd. 11\\.8~2S13S-1 H\\'8~2S133-1 1 2 9 B 1 10 2 II 14 l l 1 15 2 1Z 13 ~ brake Ilith l With I L.ead key. terminal treatment , 1 16 c 3 17 1 18 1 ]9 1 1 20 1 21 .8 8 -27 - Without brake in L arm completion This page is intentionally left blank! Denna sida har med mening lämnats blank! TOE..c945-111 MOTOMAN Box 504 ROBOTICS 8-38525 Torsås AB MAY 1994 8weden Tel. int. 46486-10575 Fax. int 46486-11410 MOTOMAN ROBOTICS 1 Swan Industrial Estate Banbury Tel. int. 44295-272755 Fax. int. 44295-267127 OXON U.K LTD OX16 8DJ England