YASKAWA Motoman UP6 User manual

Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: [phone]
FAX: [phone]
24-Hour Service Hotline: [phone]
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72
/CPKRWNCVQT/CPWCN
Part Number: 142104-1
Release Date: January 31, 2001
Document Version: 2
Document Status: Final

The information contained within this document is the proprietary property of Motoman, Inc., and may not be
copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.
©2003 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without
notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.

TABLE OF CONTENTS
MOTO MAN i UP6 Manipulator Manual
Section Page
1 INTRODUCTION..........................................................................................................1-1
2 SAFETY.......................................................................................................................2-1
3 UP6 INSTRUCTIONS (R2)...........................................................................................3-1
4 XRC INSTRUCTIONS — NORTH AMERICAN STANDARD (R1) ....................................4-1
5 XRC INSTRUCTIONS — GENERAL (R2).......................................................................5-1
6 XRC TROUBLESHOOTING ..........................................................................................6-1
7 UP6 ELEMENTARY DIAGRAMS..................................................................................7-1

UP6 Manipulator Manual ii MOTO MAN
NOTES

MOTO MAN 1-1 UP6 Manipulator Manual
SECTION 1
INTRODUCTION
The Motoman UP6 and XRC controller represent state-of-the-art technology in
robotics today. The UP6 has six individual axes: Sweep, Lower arm, Upper arm,
Rotate, Bend, and Twist.
The XRC controller coodinates the operation of the UP6 robot with external
equipment such as power supply and positioning tables. The XRC processes input
and output signals, maintains variable data, and performs numeric processing to
convert to and from different coordinate systems. Furthermore, it provides main
logic functions, servo control, program and constant data memory, and power
distribution. Please read this manual thoroughly to familiarize yourself with the
many aspects of the UP6 robot and XRC controller.
1.1 About this Document
This manual provides system information for UP6 robot and XRC controller and
contains the following sections:
SECTION 1 — INTRODUCTION
Provides general information about the structure of this manual, a list of reference
documents, and customer service information.
SECTION 2 — SAFETY
Provides information regarding the safe use and operation of the UP6 robot.
SECTION 3 — UP6 INSTRUCTIONS
Provides detailed information about the UP6 including installation, wiring,
specifications, and maintenance.
SECTION 4 — XRC INSTRUCTIONS — NORTH AMERICAN STANDARD
Provides detailed information about the NAS XRC controller including
descriptions, inspections, and parts replacement.
SECTION 5 — XRC INSTRUCTIONS — GENERAL
Provides general information about the XRC controller including system setup,
inspections, diagnosis, and configuration, as well as specifications, maintenance,
and alarm/error message lists.
SECTION 6 — XRC TROUBLESHOOTING
Provides logic trees for troubleshooting the XRC controller.
SECTION 7 — UP6 ELEMENTARY DIAGRAMS
Provides detailed information about XRC wiring and system configuration with
regard to the UP6 robot.

INTRODUCTION
UP6 Manipulator Manual 1-2 MOTO MAN
1.2 Reference to Other Documentation
For additional information refer to the following:
• Concurrent I/O Parameters Manual (P/N 142102-1)
• Operator’s Manual for General Purpose (P/N 142099-1)
• Operator’s Manual for Handling (P/N 142100-1)
• Operator’s Manual for Spot Welding (P/N 142101-1)
• Operator’s Manual for Arc Welding (P/N 142098-1)
• Vendor manuals for system components not manufactured by Motoman.
1.3 Customer Service Information
If you are in need of technical assistance, contact the Motoman service staff at
[phone]. Please have the following information ready before you call:
• Robot Type (UP6)
• Application Type (Arc Welding, Handling, etc.)
• Software Version (5.101A, etc.)
• Robot Serial Number (on the back side of the robot arm)
• Robot Sales Order Number (on front, lower right corner of the XRC
controller and lower back of robot)

MOTO MAN 2-1 UP6 Manipulator Manual
SECTION 2
SAFETY
2.1 Introduction
.
We suggest that you obtain and review a copy of the ANSI/RIA National Safety
Standard for Industrial Robots and Robot Systems. This information can be
obtained from the Robotic Industries Association by requesting ANSI/RIA
R15.06. The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: [phone]
FAX: [phone]
Ultimately, the best safeguard is trained personnel. The user is responsible for
providing personnel who are adequately trained to operate, program, and maintain
the robot cell. The robot must not be operated by personnel who have not been
trained!
We recommend that all personnel who intend to operate, program, repair, or use
the robot system be trained in an approved Motoman training course and become
familiar with the proper operation of the system.
This safety section addresses the following:
• Standard Conventions (Section 2.2)
• General Safeguarding Tips (Section 2.3)
• Mechanical Safety Devices (Section 2.4)
• Installation Safety (Section 2.5)
• Programming Safety (Section 2.6)
• Operation Safety (Section 2.7)
• Maintenance Safety (Section 2.8)
It is the purchaser's responsibility to ensure that all local, county,
state, and national codes, regulations, rules, or laws relating to
safety and safe operating conditions for each installation are met
and followed.

SAFETY
UP6 Manipulator Manual 2-2 MOTO MAN
2.2 Standard Conventions
This manual includes information essential to the safety of personnel and
equipment. As you read through this manual, be alert to the four signal words:
• DANGER
• WARNING
• CAUTION
•NOTE
Pay particular attention to the information provided under these headings which
are defined below (in descending order of severity).
DANGER!
Information appearing under the DANGER caption concerns the
protection of personnel from the immediate and imminent hazards
that, if not avoided, will result in immediate, serious personal injury
or loss of life in addition to equipment damage.
WARNING!
Information appearing under the WARNING caption concerns the
protection of personnel and equipment from potential hazards that
can result in personal injury or loss of life in addition to equipment
damage.
CAUTION!
Information appearing under the CAUTION caption concerns the
protection of personnel and equipment, software, and data from
hazards that can result in minor personal injury or equipment
damage.
NOTE: Information appearing in a NOTE caption provides additional information which is
helpful in understanding the item being explained.

SAFETY
MOTO MAN 2-3 UP6 Manipulator Manual
2.3 General Safeguarding Tips
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General safeguarding
tips are as follows:
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
should be permitted to operate this robot system.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the robot cell.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs and
Outputs).
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use
lockout/tagout procedures during equipment maintenance. Refer also to
Section 1910.147 (29CFR, Part 1910), Occupational Safety and Health
Standards for General Industry (OSHA).
2.4 Mechanical Safety Devices
The safe operation of the robot, positioner, auxiliary equipment, and system is
ultimately the user's responsibility. The conditions under which the equipment
will be operated safely should be reviewed by the user. The user must be aware of
the various national codes, ANSI/RIA R15.06 safety standards, and other local
codes that may pertain to the installation and use of industrial equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following safety
measures are available:
• Safety fences and barriers
• Light curtains
• Door interlocks
• Safety mats
• Floor markings
• Warning lights
Check all safety equipment frequently for proper operation. Repair or replace any
non-functioning safety equipment immediately.

SAFETY
UP6 Manipulator Manual 2-4 MOTO MAN
2.5 Installation Safety
Safe installation is essential for protection of people and equipment. The
following suggestions are intended to supplement, but not replace, existing federal,
local, and state laws and regulations. Additional safety measures for personnel and
equipment may be required depending on system installation, operation, and/or
location. Installation tips are as follows:
• Be sure that only qualified personnel familiar with national codes, local
codes, and ANSI/RIA R15.06 safety standards are permitted to install the
equipment.
• Identify the work envelope of each robot with floor markings, signs, and
barriers.
• Position all controllers outside the robot work envelope.
• Whenever possible, install safety fences to protect against unauthorized entry
into the work envelope.
• Eliminate areas where personnel might get trapped between a moving robot
and other equipment (pinch points).
• Provide sufficient room inside the workcell to permit safe teaching and
maintenance procedures.
2.6 Programming Safety
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Programming tips are
as follows:
• Any modifications to PART 1 of the controller PLC can cause severe
personal injury or death, as well as damage to the robot! Do not make any
modifications to PART 1. Making any changes without the written
permission of Motoman will VOID YOUR WARRANTY!
• Some operations require standard passwords and some require special
passwords. Special passwords are for Motoman use only. YOUR
WARRANTY WILL BE VOID if you use these special passwords.
• Back up all programs and jobs onto a floppy disk whenever program changes
are made. To avoid loss of information, programs, or jobs, a backup must
always be made before any service procedures are done and before any
changes are made to options, accessories, or equipment.
• The concurrent I/O (Input and Output) function allows the customer to
modify the internal ladder inputs and outputs for maximum robot
performance. Great care must be taken when making these modifications.
Double-check all modifications under every mode of robot operation to
ensure that you have not created hazards or dangerous situations that may
damage the robot or other parts of the system.
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.

SAFETY
MOTO MAN 2-5 UP6 Manipulator Manual
• Inspect the robot and work envelope to be sure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place.
• Check the E-STOP button on the teach pendant for proper operation before
programming.
• Carry the teach pendant with you when you enter the workcell.
• Be sure that only the person holding the teach pendant enters the workcell.
• Test any new or modified program at low speed for at least one full cycle.
2.7 Operation Safety
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Operation tips are as
follows:
• Be sure that only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
are permitted to operate this robot system.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Inspect the robot and work envelope to ensure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Ensure that all safeguards are in place.
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the cell.
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder parts 1 and 2, and I/O
(Input and Output) modifications. Check and test all changes at slow speed.

SAFETY
UP6 Manipulator Manual 2-6 MOTO MAN
2.8 Maintenance Safety
All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Maintenance tips are
as follows:
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.
• Back up all your programs and jobs onto a floppy disk whenever program
changes are made. A backup must always be made before any servicing or
changes are made to options, accessories, or equipment to avoid loss of
information, programs, or jobs.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the cell.
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• Be sure all safeguards are in place.
• Use proper replacement parts.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder parts 1 and 2, and I/O
(Input and Output) modifications. Check and test all changes at slow speed.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs and
Outputs).

YASKAWA
YASKAWA MANUAL NO. RE-MTO-A211 2
MOTOMAN-UP6
INSTRUCTIONS
YR-UP6-A00
YR-UP6-A01
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUAL
MOTOMAN-UP6 INSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATOR’S MANUAL
YASNAC XRC OPERATOR’S MANUAL for BEGINNERS
The YASNAC XRC operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.

ii
• This instruction manual is intended to explain operating instructions
and maintenance procedures primarily for the MOTOMAN-UP6.
• General items related to safety are listed in the Safety Manual Section
1: Safety. To ensure correct and safe operation, carefully read the Setup
Manual before reading this manual.
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
• The drawings and photos in this manual are representative examples
and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications.
If such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA rep-
resentative 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 prod-
uct’s warranty.
MANDATORY
CAUTION

iii
NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or inspection of the
YASNAC XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”, or “PROHIBITED”.
Even items described as “CAUTION” may result in a serious accident in some situations.
At any rate, be sure to follow these important items.
Indicates a potentially hazardous situation which, if not avoided,
could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided,
could result in minor or moderate injury to personnel and dam-
age to equipment. It may also be used to alert against unsafe
practices.
Always be sure to follow explicitly the items listed under this
heading.
Must never be performed.
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
WARNING
CAUTION
MANDATOR
Y
PROHIBITED
NOTE

iv
• Before operating the manipulator, check that servo power is turned off
when the emergency stop buttons on the playback panel or program-
ming pendant are pressed.
When the servo power is turned off, the SERVO ON READY lamp on the
playback panel and the SERVO ON LED on the programming pendant are
turned off.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Release of Emergency Stop
• Always set the Teach Lock before entering the robot work envelope to
teach a job.
Operator injury can occur if the Teach Lock is not set and the manipulator is started from
the playback panel.
• Observe the following precautions when performing teaching operations
within the working envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the manipulator’s work envelope
and that you are in a safe location before:
- Turning on the YASNAC XRC power
- Moving the manipulator with the programming pendant
- Running check operations
- Performing automatic operations
Injury may result if anyone enters the working envelope of the manipulator during opera-
tion. Always press an emergency stop button immediately if there are problems.
The emergency stop button is located on the right side of both the YASNAC XRC play-
back panel and programming pendant.
WARNING
TURN

v
Definition of Terms Used Often in This Manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the playback panel, the programming pen-
dant, and supply cables.
In this manual, the equipment is designated as follows:
• Perform the following inspection procedures prior to conducting manip-
ulator teaching. If problems are found, repair them immediately,
and be sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the XRC cabinet
after use.
The programming pendant can be damaged if it is left in the manipulator’s work area, on
the floor, or near fixtures.
• Read and understand the Explanation of the Alarm Display in the Setup
Manual before operating the manipulator:
Equipment Manual Designation
YASNAC XRC Controller XRC
YASNAC XRC Playback Panel Playback Panel
YASNAC XRC Programming Pendant Programming Pendant
CAUTION

vi
AN EXPLANATION OF WARNING LABELS
The following warning labels are attached to the manipulator.
Always follow the warnings on the labels.
Also, an indentification label with important information is placed on the body of the manipula-
tor. Prior to operating the manipulator, confirm the contents.
MOTOMAN
TYPE
¨¨¨¨¨¨
ORDER NO.
¨¨¨¨¨¨
PAYLOAD
¨¨
kg MASS
¨¨¨
kg
SERIAL NO.
¨¨¨¨¨¨
DATE
¨¨
YASKAWA ELECTRIC CORPORATION
JAPAN
Do not enter
robot work area
WARNING
Moving parts may
cause injury
WARNING

vii
1 Receiving
1.1 Checking Package Contents
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.2 Checking the Order Number
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
2 Transporting
2.1 Transporting Method
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1.1 Using the Crane. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1.2 Using the Forklift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.2 Shipping Bolts and Jigs
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
3 Installation
3.1 Safety Guard Installation
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.2 Mounting Procedures for Manipulator Baseplate
. . . . . . . . . . . .3-2
3.2.1 When the Manipulator and Mounting Fixture are
Installed on a Common Flat Steel Plate . . . . . . . . . . . . . . . . . . . . . . .3-3
3.2.2 When the Manipulator is Mounted Directly on the Floor . . . . . . . . . . .3-4
3.3 Types of Mounting
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
3.3.1 S-Axis Working Range. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
3.3.2 Affixing the Manipulator Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
3.3.3 Precautions to Prevent the Manipulator from Falling. . . . . . . . . . . . . .3-5
3.4 Location
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6
4 Wiring
4.1 Grounding
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.2 Cable Connection
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.2.1 Connection to the Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.2.2 Connection to the XRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
5 Basic Specifications
5.1 Basic Specifications
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
5.2 Part Names and Working Axes
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
5.3 Baseplate Dimensions
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
5.4 Dimensions and Working Range
. . . . . . . . . . . . . . . . . . . . . . . . . . . .5-3
5.5 B-Axis Working Range
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
5.6 Alterable Working Range
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1
6.2 Wrist Flange
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2

viii
7 System Application
7.1 Mounting Equipment
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1
7.1.1 Allowable Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.2 Installation Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1
7.2 Incorporated Wire and Airduct
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-2
8 Motoman Construction
8.1 Position of S-Axis Limit Switch
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1
8.2 Internal Connections
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2
9 Maintenance and Inspection
9.1 Inspection Schedule
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1
9.2 Notes on Maintenance Procedures
. . . . . . . . . . . . . . . . . . . . . . . . .9-6
9.2.1 Battery Unit Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-6
9.2.2 Grease Replenishment/Replacement for S-Axis Speed
Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
n
Grease Replenishment (Refer to " Fig. 26 S-Axis Speed
Reducer Diagram ".). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8
n
Grease Replacement (Refer to " Fig. 26 S-Axis Speed
Reducer Diagram ".). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8
9.2.3 Grease Replenishment/Replacement for L-Axis Speed
Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
n
Grease Replenishment (Refer to " Fig. 27 L-Axis Speed
Reducer Diagram ".). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
n
Grease Replacement (Refer to " Fig. 27 L-Axis Speed
Reducer Diagram ".). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10
9.2.4 Grease Replenishment/Replacement for U-Axis Speed
Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10
n
Grease Replenishment (Refer to " Fig. 28 U-Axis Speed
Reducer Diagram ".). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11
n
Grease Replacement (Refer to " Fig. 28 U-Axis Speed
Reducer Diagram ".). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11
9.2.5 Grease Replenishment for R-Axis Speed Reducer . . . . . . . . . . . . . 9-12
9.2.6 Grease Replenishment for B- and T-Axis Speed Reducers . . . . . . .9-13
9.2.7 Grease Replenishment for T-Axis Gear . . . . . . . . . . . . . . . . . . . . . . 9-14
9.2.8 Grease Replenishment for R-Axis Cross Roller Bearing . . . . . . . . . 9-15
9.2.9 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16
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Wrist Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16
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Encoder Connector (with CAUTION label). . . . . . . . . . . . . 9-16
10 Recommended Spare Parts
11 Parts List
11.1 S-Axis Parts List
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-1
11.2 L.U-Axis Driving Unit
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-3
11.3 R-Axis Driving Unit
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-5
11.4 Wrist Unit
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-7