YASKAWA MOTOMAN-NX100 User manual

Part Number: 151521-1CD
Revision: 2
YASKAWA MOTOMAN-NX100
CONTROLLERMANUAL
FOR HD DRIVE MODULE
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
YASKAWA MOTOMAN INSTRUCTIONS
YASKAWA MOTOMAN-NX100 CONTROLLER INSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATOR’S MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
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Copyright ©2016, 2005, 2003 Yaskawa America, Inc.
Terms of Use and Copyright Notice
All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the
operation of YASKAWA Motoman robots, related equipment and software This manual is copyrighted
property of YASKAWA and may not be sold or redistributed in any way. You are welcome to copy this
document to your computer or mobile device for easy access but you may not copy the PDF files to
another website, blog, cloud storage site or any other means of storing or distributing online content.
Printed in the United States of America
First Printing, 2016
Yaskawa America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: [phone]
www.motoman.com
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• This manual describes the specifications, precautions for operation and required items for
maintenance or inspections, for proper application of the YASKAWA MOTOMAN-NX100
Controller. Read this manual carefully and be sure to understand its contents before handling the
YASKAWA MOTOMAN.
• General items related to safety are listed in the Section 1: Safety of the NX100 Instructions. To
ensure correct and safe operation, carefully read the NX100 Instructions before reading this
manual.
• Refer to NX100 Operator’s Manual for the operation methods.
• Some drawings in this manual are shown with the protective covers or shields removed for clarity.
Be sure all covers and shields are replaced before operating this product.
• The drawings and photos in this manual are representative examples and differences may exist
between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to product improvements,
modifications, or changes in specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new
copy. The representatives are listed on the back cover. Be sure to tell the representative the
manual number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized modification of its products.
Unauthorized modification voids your product’s warranty.
MANDATORY
CAUTION
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Definition of Terms Used Often in This Manual
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Definition of Terms Used Often in This Manual
MOTOMAN is a YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and
supply cables.
In this manual, the equipment is designated as follows.
Description of the Operation Procedure
In the explanation of the operation procedure, the expression “Select • • •” means that the cursor is
moved to the object item and the [SELECT] key is pressed, or that the item is directly selected by
touching the screen.
Equipment Manual Designation
NX100 controller NX100
NX100 programming pendant Programming pendant
Cable between the manipulator and the controller Manipulator cable
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Table of Contents
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Table of Contents
Chapter 1 Introduction
1.1 About This Document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2.2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.3 Reference to Other Documentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.4 Customer Support Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Chapter 2 Safety
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Notes for Safe Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.3 General Safeguarding Tips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.4 Mechanical Safety Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5 Installation Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.6 Programming, Operation, and Maintenance Safety . . . . . . . . . . . . . . . . . 2-6
Chapter 3 Installation
3.1 Materials Required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.1 Customer-Supplied Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.2 List of Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Lifting Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.3 Installation Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.3.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.3.2 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.4 Connection to YASKAWA NX100 Controller. . . . . . . . . . . . . . . . . . . . . . . 3-4
3.4.1 Conducting a Safety/Operation Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.5 Drive Pinion Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.5.1 List of Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.5.2 Coarse Adjustment/Gear Alignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.5.3 Adjusting Gear Engagement (Gear Lash). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
3.6 Installation of Tooling and Fixtures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
Chapter 4 Maintenance
4.1 Ordering Parts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Drive Motor Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2.1 Servopack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.3 Lubrication and Maintenance Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.4 Resetting Axis To Home Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.5 Inspecting/Adjusting Brake Pads. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.6 Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Appendix A Options Installation
A.1 Installing the Over Travel Limit Switch . . . . . . . . . . . . . . . . . . . . . . . . . . .A-1
A.2 Installing the Zone Ring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-2
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Appendix B Illustrated Parts List
B.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .B-3
B.1.1 Explanation of Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3
B.1.1.1 Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .B-3
B.1.1.2 Parts List Form. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .B-3
B.2 Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .B-4
B.2.1 Explanation of Parts List Arrangement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-4
B.2.2 Symbols and Abbreviations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-4
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Chapter 1 Introduction
1.1 About This Document
This manual is intended as an introduction and overview for personnel who have received operator
training from YASKAWA, and who are familiar with the operation of their YASKAWA robot model. For
more detailed information, refer to the manuals listed in section 1.3 "Reference to Other
Documentation". This manual contains the following sections:
CHAPTER 1 - INTRODUCTION
Provides general information about the HD Drive Module and its components, a list of reference
documents, and customer service information.
CHAPTER 2 - SAFETY
Provides information regarding the safe use and operation of the HD Drive Module.
CHAPTER 3 - INSTALLATION
Provides instructions for set up and installation of the HD Drive Module.
CHAPTER 4 - MAINTENANCE
Contains a table listing periodic maintenance requirements for the components of the HD Drive Module.
APPENDIX A - POSITIONER ASSEMBLY KIT
Provides detailed information on the HD table positioner kit.
APPENDIX B - ILLUSTRATED PARTS LIST
Appendix B provides exploded views and illustrated parts lists for the MotoSweep O.
1.2 Overview
The HD Drive Module is an AC servo drive module designed for use in a variety of applications
including; primary axis for large multi-axes positioners, custom MotoSweep O HD transporters, high
capacity headstocks, and high-capacity positioning tables. The simple design provides high reliability
and ease of installation and maintenance, while the compact, low-profile configuration provides
increased application flexibility. The drive system achieves smooth and stable motion with zero gear
lash in hold mode, and minimal lash during rotate mode. An optional floor mount, positioner assembly
kit is available for more flexible design integration. For more information, refer to Appendix A.
Fig. 1-1 illustrates the system layout of the HD Drive Module.
Fig. 1-1 Layout
RADIAL BEARING BRAKE ASSEMBLY
PINION GEAR
DRIVE FRAME
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The secondary reduction gear (radial bearing) is driven by an AC servo motor through an RV reducer
and primary reduction gear (pinion). The AC servo motor is controlled by the NX100 controller. All
customer supplied adapter plates or fixturing mount directly to the secondary reduction gear (radial
bearing) and must conform to specific dimensions (see Fig. 1-2).
Fig. 1-2 Customer Adapter Plate Configuration
This manual is for a standard YASKAWA Motoman system. If your system is a custom or
modified system, please use the drawing and Bill of Material (BOM) provided with the
system for troubleshooting and spares provisioning.
NOTE
OUTER CIRCUMFERENCE
DETERMINED BY CUSTOMER
5˚
12x 10˚
11x 20˚
12x R20
2
4X M12 X 1.75 THRU
(
FOR LIMIT SWITCH OPTION)
6x 30
335 MM
(13.19 IN.)
6X 307
167.5 MM
(6.6 IN.) 167.5 MM (6.6 IN.)
141.6 MM
(5.6 IN.)
215.3 MM
(8.5 IN.)
335 MM
(13 IN.)
24 X M24 X 3 THRU
(FOR ATTACHEMENT TO BEARING)
HOMING PIN HOLE
2X 290.1
25
256.6 MM
10.1 IN.
303.6 MM
12.0 IN.
6X 12 X 1.75 THRU
(FOR BRAKE PLATE
15 MIN)
C
C
40
R352 Ø835
Ø980
30 30
Ø8
80
70 MM +.25
- 0
10 MM
MIN RELIEF
VIEW C-C
TOP - LOOKING DOWN AT BEARING
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1.2.1 Dimensions
Fig. 1-3 Dimensions
1325 mm
(52.2 in.)
1436 mm
(56.5 in.)
1140 mm
(44.9 in.)
663 mm
(26.1 in.)
288 mm
(11.3 in.)
1050 mm
(41.3 in.)
700 mm
(27.6 in.)
350 mm
(13.8 in.)
1436 mm
(56.5 in.)
1140 mm
(44.9 in.)
960 mm
(37.8 in.)
720 mm
(28.3 in.)
609 mm
(24.0 in.)
441 mm
(17.4 in.) 330 mm
(13.0 in.)
1325 mm
(52.2 in.)
1230 mm
(48.4 in.)
1125 mm
(44.3 in.)
925 mm
(36.4 in.)
820 mm
(32.3 in.)
410 mm
(16.1 in.) 105 mm (4.1 in.) 18x Ø 24.0 THRU
407 mm
(16.0 in.)
513 mm
(20.2 in.)
Approximate C.G. Location
Mass Est. = 1700 kg as shown
20 mm Dowel Hole
20 mm Dowel Hole
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1.2.2 Specifications
1.3 Reference to Other Documentation
For additional information refer to the following:
• YASKAWA Motoman Manipulator Manual
• YASKAWA Motoman NX100 Controller Manual (P/N 149201-1CD)
• YASKAWA Motoman Concurrent I/O Parameter Manual (P/N 149230-1CD)
• Vendor manuals for system components not manufactured by YASKAWA
Table 1.1 HD Drive Module Specifications
Max. Speed rpm 3.9
Reduction Ratio (Number) 21
Reduction Ratio (Denom) 21375
Motor Power kw 3.7
Motor P/N (YEC) SGMRS-37A2B-YR14
Motor P/N (Motoman) 149568-8
Servo Amp P/N (YEC) SGDR-SDB710A018
Servo Amp P/N (Motoman) 149472-3
Maximum Motor Speed rpm 4000
Rated Torque Nm 12,000
Rated Moment Nm 60,000
Rated Inertia kg.m214,500
Rated Thrust kgf 10,000
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