YASKAWA RM2-755-RDR User manual

Part Number: 183523-1CD
Revision: 1
RM2-755-RDR POSITIONER
INSTRUCTIONS
YASKAWA INSTRUCTIONS
Upon receipt of the product and prior to initial operation, read these instructions thoroughly and
retain for future reference
MOTOMAN RM2-755-RDR POSTIONER INSTRUCTIONS
YASKAWA MH(T)-SERIES SIGMA-5 POSITIONER MANUAL
CONTROLLER MANUAL ASSEMBLY
OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)
MAINTENANCE MANUAL
ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
The operator’s manual above correspond to specific usage.
Be sure to use the appropriate manual.
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Copyright © 2019, 2018 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 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, 2018
YASKAWA America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: [phone]
www.motoman.com
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Safety
Summary of Warning Information
RM2-755-RDR Postioner
Safety
Summary of Warning Information
This manual is provided to help users establish safe conditions for
operating the equipment. Specific considerations and precautions are also
described in the manual, but appear in the form of Dangers, Warnings,
Cautions, and Notice.
It is important that users operate the equipment in accordance with this
instruction manual and any additional information which may be provided
by YASKAWA. Address any questions regarding the safe and proper
operation of the equipment to Customer Support.
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the manipulator.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.
DANGER Indicates an imminently hazardous
situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.
WARNING Indicates a potentially hazardous
situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.
CAUTION Indicates a hazardous situation,
which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.
NOTICE NOTICE is the preferred signal word
to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.
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Safety
Notes for Safe Operation
RM2-755-RDR Postioner
Even items described as “CAUTION” may result in a serious accident in
some situations.
WARNING
• This instruction manual is intended to explain mainly the
mechanical part of the Positioner concerning the actual operations,
proper maintenance, and inspection. It describes the safety and
handling, details on specifications, necessary items concerning
maintenance and inspection, and operating instructions and
maintenance procedures. Be sure to read and understand this
instruction manual thoroughly before installing and operating the
Positioner. Any matter not described in this manual must be
regarded as “prohibited” or “improper”.
• General information related to safety are described in Chapter 1.
“Safety” of the Controller instructions. To ensure correct and safe
operation, carefully read Chapter 1. “Safety” of the CONTROLLER
INSTRUCTIONS.
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected movement of the Positioner.
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Safety
Notes for Safe Operation
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WARNING
• Before operating the Positioner, check that servo power is turned
OFF by pressing the EMERGENCY STOP buttons. When servo
power is turned OFF, the SERVO ON LED on the Programming
Pendant is turned OFF.
Injury or damage to equipment may result if the Emergency Stop circuit
can not stop the Positioner during an emergency. The Positioner should
not be used if the EMERGENCY STOP buttons do not function
properly.
Fig. 1 : EMERGENCY STOP Button
• Release the EMERGENCY STOP button (refer to Fig. 2). Once this
button is released, clear the cell of all items which could interfere
with the operation of the manipulator. Then turn servo power ON.
Injury may result from unintentional or unexpected Positioner motion.
Fig. 2 : Release of EMERGENCY STOP Button
TURN
• Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the Positioner.
– View the Positioner from the front whenever possible.
– Always follow the predetermined operating procedure.
– Ensure that there is a safe place to retreat to in case of
emergency.
Improper or unintended Positioner operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the Positioner and that you are in a safe location before:
– Turning on the power for the Controller.
– Moving the Positioner with the Programming Pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
Positioner during operation. Always press an EMERGENCY STOP
button immediately if there is a problem.
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Safety
Notes for Safe Operation
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WARNING
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact Customer Service
CAUTION
• Read and understand the Explanation of Warning Labels on the
Controller instructions before operating the Positioner.
• In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place 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 is not responsible for incidents arising from unauthorized
modifications to its products. Unauthorized modification voids the
product warranty.
• Perform the following inspection procedures prior to conducting
Positioner teaching. If a problem occurs, repair the problem
immediately, and make sure all other processes perform correctly.
– Check for problems with the Positioner’s movement.
– Check for damage to insulation and sheathing of external wires.
CAUTION
• Always return the Programming Pendant to the hook on the cabinet
of the Controller after use.
Damage to the Programming Pendant can occur if left in the
Positioner's work area, on the floor, or near fixtures.
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Safety
Notes for Safe Operation
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NOTICE
• 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.
• To ensure safe and efficient operation at all times, be sure to follow
all instructions, even if not designated as “DANGER”, “WARNING”
or “CAUTION”.
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Explanation of Safety Labels
Notes for Safe Operation
RM2-755-RDR Postioner
Explanation of Safety Labels
The following labels are attached to the Positioner (refer to Fig. 3).
Always follow the safety labels.
Also, an identification label with important information is placed on the
body of the Positioner. Prior to operating the manipulator, confirm the
contents.
Fig. 3 : Safety Labels
Safety Label A:
WARNING
Moving parts
may cause
injury
WARNING
Do not enter
robot
work area.
Safety Label B:
Safety Label C:
WARNING
Arc flash
may injure
Safety Label E:
Safety Label D:
755/1664
18


A
B
C
A
B
C
D
E
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Explanation of Safety Labels
Programming, Operation, and Maintenance Safety
RM2-755-RDR Postioner
Programming, Operation, and Maintenance Safety
CAUTION
Anyone working near the system must become familiar with the
operation of this equipment.
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 equipment
should be permitted to program, or maintain the system. All personnel
involved with the operation of the equipment must understand potential
dangers of operation.
• Inspect the equipment 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 all safety
equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Check the EMERGENCY STOP buttons for proper operation
before programming. The equipment must be in Emergency Stop
(E-Stop) mode whenever it is not in use.
• Back up all programs and jobs onto suitable media before
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.
• Any modifications to the Controller unit can cause severe personal
injury or death, as well as damage to the system. Do not make
any modifications to the Controller unit. Making any changes
without the written permission from YASKAWA will void the
warranty.
• Some operations require standard passwords and some require
special passwords.
• The equipment allows modifications to the software for maximum
performance. Care must be taken when making modifications. All
modifications made to the software will change the way the
equipment operates and can cause severe personal injury or
death, as well as damage parts of the system. Double check all
modifications under every mode of operation to ensure that the
changes have not created hazards or dangerous situations.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the Controller and other
equipment. Disconnect and lockout/tagout all electrical circuits
before making any modifications or connections.
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Use proper replacement parts.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
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Explanation of Safety Labels
Safeguarding Tips
RM2-755-RDR Postioner
Safeguarding Tips
Mechanical Safety Devices
CAUTION
Anyone working near the system 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
equipment, the operator's manuals, the system equipment, and options
and accessories should be permitted to operate this equipment.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
• The system must be placed in Emergency Stop (E-Stop) mode
whenever it is not in use.
• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources
of Energy, 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).
CAUTION
The safe operation of this equipment is ultimately the users
responsibility. 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 R15.06-2012 safety standards, and
other local codes that may pertain to the installation and use of this
equipment.
Additional safety measures for personnel and equipment may be
required depending on system installation, operation, and/or location.
• Safety barriers
• Door interlocks
• EMERGENCY STOP button located on operator station
Check all safety equipment frequently for proper operation. Repair or
replace any non-functioning safety equipment immediately.
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Explanation of Safety Labels
Maintenance Safety
RM2-755-RDR Postioner
Maintenance Safety
National Safety Standard
We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: [phone]
FAX: [phone]
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment.
NEVER ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM,
OR REPAIR THE EQUIPMENT!
We recommend approved YASKAWA training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.
WARNING
• Turn the power OFF, disconnect and lockout/tagout all electrical
circuits before making any modifications or connections.
Perform only the maintenance described in this manual. Maintenance
other than specified in this manual should be performed only by
YASKAWA-trained, qualified personnel.
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Explanation of Safety Labels
Definition of Terms Used Often in This Manual
RM2-755-RDR Postioner
Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of a Positioner, Manipulator, Controller,
the Programming Pendant, and supply cables.
In this manual, the equipment is designated as follows:
Descriptions of the Programming Pendant keys, buttons, and displays are
shown as follows:
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or bland names for each company or
corporation. The indications of ® and TM are omitted.
Equipment Manual Designation
Controller Controller
Programming Pendant Programming Pendant
RM2-755-RDR Positioner Positioner
Cable between the Positioner and the
Controller
Positioner Cable
Equipment Manual Designation
Programming
Pendant
Character Keys The keys which have characters printed on
them are denoted with [ ].
ex. [ENTER]
Symbol Keys The keys which have a symbol printed on
them are not denoted with [ ] but depicted
with a small picture.
ex. PAGE key
The Cursor is an exception, and a picture is
not shown.
Axis Keys
Numeric Keys
“Axis Keys” and “Numeric Keys” are generic
names for the keys for axis operation and
number input.
Keys pressed
simultaneously
When two keys are to be pressed
simultaneously, the keys are shown with a
“+” sign between them.
ex. SHIFT key +COORD key
Mode Key Three kinds of modes that can be selected
by the mode key are denoted as follows:
REMOTE, PLAY, or TEACH
Button Three buttons on the upper side of the
programming pendant are denoted as
follows:
HOLD button
START button
EMERGENCY STOP button
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
PC Keyboard The name of the key is denoted
ex. Ctrl key on the keyboard
GO BACK
PAGE
SHIFT
TOOL SEL
COORD
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Table of Contents
RM2-755-RDR Postioner
Table of Contents
1 Introduction ..................................................................................................................................... 1-1
1.1 About this Document ......................................................................................................... 1-1
1.2 System Overview............................................................................................................... 1-2
1.2.1 Positioner Configuration ....................................................................................... 1-3
1.2.2 Welding Ground System....................................................................................... 1-4
1.2.3 Major Components ............................................................................................... 1-4
1.2.4 Optional Equipment.............................................................................................. 1-4
1.3 Reference Documentation................................................................................................. 1-4
1.4 Customer Support Information........................................................................................... 1-5
2 Installation....................................................................................................................................... 2-1
2.1 Contents Confirmation....................................................................................................... 2-2
2.1.1 Major Components ............................................................................................... 2-2
2.1.2 Optional Equipment.............................................................................................. 2-2
2.2 Materials Required............................................................................................................. 2-3
2.2.1 Customer-Supplied Items..................................................................................... 2-3
2.2.2 Customer-Supplied Items..................................................................................... 2-3
2.3 Positioner Installation......................................................................................................... 2-4
2.3.1 Site Preparation.................................................................................................... 2-4
2.3.1.1 Location................................................................................................... 2-5
2.3.2 Shipping Bolts and Bracket .................................................................................. 2-7
2.3.3 Transporting Method ............................................................................................ 2-8
2.3.3.1 Using an Overhead Crane....................................................................... 2-9
2.3.3.2 Using Forklifts........................................................................................ 2-10
2.3.4 Mounting Positioner............................................................................................ 2-10
2.3.4.1 Setting Headstock ................................................................................. 2-11
2.3.4.2 Setting Tailstock .................................................................................... 2-12
2.3.4.3 Mounting the Positioner on the Floor .................................................... 2-13
2.4 Customer-Supplied Tooling Fixtures ............................................................................... 2-15
2.5 Installation of Safeguarding ............................................................................................. 2-15
2.5.1 Responsibility for Safeguarding (ISO10218) ...................................................... 2-16
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3 Wiring.............................................................................................................................................. 3-1
3.1 Grounding .......................................................................................................................... 3-1
3.2 Cable Connection ..............................................................................................................3-2
3.2.1 Connection to the Positioner................................................................................. 3-2
3.2.2 Connection to the Controller ................................................................................. 3-3
4 Basic Specifications ........................................................................................................................4-1
4.1 Basic Specifications List ....................................................................................................4-1
4.2 Part Names and Working Axes.......................................................................................... 4-3
4.3 Mounting Dimensions ........................................................................................................ 4-3
4.4 Dimensions and Working Envelope ................................................................................... 4-4
5 Load Specifications and Jig Mounting............................................................................................. 5-1
5.1 Details of Fixture Mounting ................................................................................................5-1
5.2 Fixture Specifications.........................................................................................................5-1
6 Maintenance and Troubleshooting..................................................................................................6-1
6.1 Inspection Interval..............................................................................................................6-2
6.2 Battery Pack Replacement ................................................................................................ 6-4
6.3 Grease Replenishment/Exchange for Speed Reducers .................................................... 6-5
6.3.1 Tooling Axes Reducer .......................................................................................... 6-5
6.3.2 Tailstock Lubrication ............................................................................................. 6-6
6.3.2.1 Swingarm Main Swing Axis ..................................................................... 6-6
6.3.2.2 Motomount Lubrication (If equipped)....................................................... 6-6
6.4 General Cleaning...............................................................................................................6-7
6.5 Sigma-5 Servomotors ........................................................................................................6-7
6.6 Servo Pack......................................................................................................................... 6-7
6.7 Main (Sweep) Axis Reduction Gear Unit (RDR–320C)......................................................6-8
6.8 Tooling Axis Reduction Gear Units (RV–80E–X)...............................................................6-8
6.9 Welding Ground System.................................................................................................... 6-8
6.9.1 Inspection and Cleaning of Carbon Brushes ........................................................ 6-8
6.9.2 Weld Ground Brush Replacement ........................................................................6-9
6.10 AC Servomotor Encoder Back-Up Battery..................................................................... 6-11
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6.11 Positioner Home Position .............................................................................................. 6-12
6.11.1 Positioner Headstock........................................................................................ 6-12
6.11.1.1 Setting the Main Axis (S1) to Home (Zero) Position ........................... 6-12
6.11.1.2 Defining Trunnion Axis (S1) “A-Side” .................................................. 6-12
6.11.2 Setting the Tooling Axis (S2 & S3) to Home (Zero) Position ............................ 6-14
6.11.2.1 “Re-Homing” Tooling Axes S2
& S3 to Flat at the Robot and Operator:.............................................. 6-15
6.12 Troubleshooting............................................................................................................. 6-16
6.12.1 Positioner ......................................................................................................... 6-16
6.12.2 MotoMount ....................................................................................................... 6-16
7 Recommended Spare Parts............................................................................................................ 7-1
Appendix A .......................................................................................................................................A-1
A.1 Performance Charts ..........................................................................................................A-1
A.1.1 Positioner Assembly.............................................................................................A-1
Appendix B .......................................................................................................................................B-1
B.1 Illustrated Parts List...........................................................................................................B-1
B.1.1 General ................................................................................................................B-1
B.1.2 Purpose................................................................................................................B-1
B.1.3 IPL Layout............................................................................................................B-1
B.1.4 Item Categories Not Included in the IPL ..............................................................B-1
B.1.5 Parts List Table Structure.....................................................................................B-2
Appendix C .......................................................................................................................................C-1
C.1 Glossary............................................................................................................................C-1
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1 Introduction
1.1 About this Document
RM2-755-RDR Postioner
1 Introduction
1.1 About this Document
This manual provides the following information:
Chapter 1 Introduction
Provides general information about the Positioner system and
components and customer support contact information.
Chapter 2 Installation
Provides information regarding the installation.
Chapter 3 Wiring
Provides a information required for wiring the Positioner system.
Chapter 4 Basic Specifications
This chapter provides basic specifications for the Positioner system.
Chapter 5 Load Specifications and Jig Mounting
This chapter provides guidelines for customer-supplied tooling design.
Chapter 6 Maintenance and Troubleshooting
This chapter provides preventive maintenance requirements for certain
components of the Positioner.
Chapter 7 Recommended Spare Parts
This chapter provides recommended parts and components to be kept in
stock as spare parts for the Positioner.
Appendix A
This appendix contains Performance Charts for the Positioner concerning
Holding Torques, Rated Bearing Moment, and Allowable Load Inertia.
Appendix B
This appendix contains the Illustrated Parts List (IPL). The IPL provides
detailed views (with part numbers).
Appendix C
This appendix contains a list of terms that may be needed when working
with the Positioner.
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1.2 System Overview
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1.2 System Overview
The Positioner is for a variety of applications that require precise parts
movement. Normally the Positioner is in a work cell arrangement with one
or more Manipulators and Controllers.
The Positioner is a two-station headstock/tailstock (HS/TS) Positioner.
Due to certain operational dynamics, this type of Positioner is known as a
“Ferris wheel” Positioner.
The main (sweep) axis and tooling plate (orbital) axes rotate using
servomotors (working through gear reduction units) that the controller
controls.
All three axes can be driven simultaneously during a sweep motion. In
addition, movement of the Positioner can be coordinated with manipulator
motion to allow complex jobs such as the welding of joints.
Fig. 1-1: Positioner Assembly
The Headstock Drive Assembly, Headstock Swing Arm, and the Arc
Shield Assembly rotate around a main (sweep) axis are limited in rotation
by a hardstops located on the tooling drive swing arm.
HEADSTOCK
DRIVE ASSY
ARC SHIELD ASSY
TAILSTOCK
SWING ARM ASSY
HEADSTOCK
DRIVE ASSY
FORKLIFT
POCKETS
HEADSTOCK
SWINGARM
ASSY
FACE PLATE
TAILSTOCK
ASSY
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1.2 System Overview
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A tooling plate multiple angle control feature allows the programmer to
define the angle of the tooling presented to the operator (with a resolution
of infinite degrees). This improves load station ergonomics and part
tacking (see Fig. 1-2).
Fig. 1-2: Tooling (Orbital) Axis “S” — Tooling Plate Multiple Angle Control
Components
All Positioner tooling plates are fitted with a MotoMount™ flexible tool
mounting system as the tooling interface (see Fig.1-1 "Positioner
Assembly" and Fig.1-2 "Tooling (Orbital) Axis “S” — Tooling Plate Multiple
Angle Control Components").
Each AC servomotor incorporates a small Lithium-Ion “keep alive” battery
pack that maintains servo positioning data in memory, should the main
cables between the Positioner and Controller be disconnected. This
battery pack is part of each cable assembly (internal to the Positioner) that
connects each AC servomotor to its associated multi-pin plug on the
Positioner base. These battery packs have a very long life. However, if
they drop below a certain charge level, a “low battery” indication appears
on the Programming Pendant display screen.
Refer to Table 4-1 “Positioner Technical Specifications” on page 4-1.
1.2.1 Positioner Configuration
The Positioner assembly main (sweep) axis AC servomotor and tooling
(orbital) axis AC servomotors are located on the headstock swingarm of
the Positioner. This configuration, along with other proprietary features,
gives the Positioner an exceptional Total Index Time (refer to Table 4-1
“Positioner Technical Specifications” on page 4-1 for a complete listing of
specifications).
SWINGARM ASSY
TOOLING DRIVE
TOOLING
PLATE (REF)
MOTOMOUNT
(REF)
SERVO
MOTOR
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1 Introduction
1.3 Reference Documentation
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1.2.2 Welding Ground System
The Positioner incorporates spring-loaded carbon brushes to connect
each tooling plate to the welding ground system. A group of three carbon
brushes contact the back side of each tooling plate. The negative (–)
ground cable of the welding power source is connected to a grounding
block located inside the Positioner headstock swingarm assembly.
1.2.3 Major Components
The Positioner includes the following major components –
• One tooling drive housing assembly (headstock)
• One main drive housing assembly (tailstock)
• One main (sweep) axis Sigma-5 servomotor (and associated gear
reduction unit)
• Two tooling (orbital) axes Sigma-5 servomotors (and associated gear
reduction units)
• One arc screen
• Two Positioner-to-Controller interconnect cables (power and
encoder)
• One assembly kit for the Controller (servo packs, etc.)
1.2.4 Optional Equipment
This manual documents a standard Positioner assembly. If the Positioner
assembly is modified or incorporates optional equipment, refer to the
Engineering Drawing Package and associated Bill of Materials (BOM) in
addition to this manual. The Engineering Drawing Package and BOM are
included with the Positioner shipment. Please refer to those documents,
along with this manual, when troubleshooting or establishing spare parts
for the Positioner assembly.
1.3 Reference Documentation
For additional information on individual components of the Positioner,
refer to the following documentation that is included with the system:
• YASKAWA Positioner Manual (P/N 183523-1CD)
• Controller Manual
• Maintenance Manual for Controller
• Operator's Manual for the application
• Controller Concurrent I/O Manual
• INFORM User’s Manual
• Vendor manuals for system components not manufactured by
YASKAWA
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183523-1CD
183523-1CD
1 Introduction
1.4 Customer Support Information
RM2-755-RDR Postioner
1.4 Customer Support Information
If assistance is needed with any aspect of the Positioner, contact
Customer Support at the following 24-hour telephone number:
For routine technical inquiries, feel free to contact Customer Support at
the following e-mail address:
When using e-mail to contact Customer Support, please provide a
detailed description of the issue, along with complete contact information.
Please allow approximately 24 to 36 hours for a response to your inquiry
.
Please have the following information ready before calling:
[email protected]
WARNING
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your representative.
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the Manipulator's arm.
NOTICE
Please use e-mail for routine inquiries only. If there is an urgent or
emergency need for service, replacement parts, or information, contact
Customer Support at the telephone number shown above.
• Positioner RM2-755-RDR Postioner
• Manipulator
• Controller
• Software Version Access this information on the
Programming Pendant’s LCD display
screen by selecting {MAIN MENU} -
{SYSTEM INFO} - {VERSION}
• Serial Number Located on the Positioner data plate
• Sales Order Number Located on the Positioner data plate
[phone]
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