YASKAWA MOTOMAN-ES165D Manual de usuario

MANUAL NO.

HW0485249

Part Number: 155976-1CD

Revision: 6

MOTOMAN-ES165D

INSTRUCTIONS

TYPE:

YR-ES0165D-A00 (STANDARD SPECIFICATION)

YR-ES0165D-A01 (SLU-AXES WITH LIMIT SWITCHES)

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain

for future reference.

MOTOMAN INSTRUCTIONS

MOTOVAN-ES165D INSTRUCTIONS

DX100 INSTRUCTIONS

DX100 OPERATOR’S MANUAL

DX100 MAINTENANCE MANUAL

The DX100 operator’s manual above corresponds to specific usage.

Be sure to use the appropriate manual.

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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, 2016

Yaskawa America, Inc.

Motoman Robotics Division

100 Automation Way

Miamisburg, OH 45342

Phone: 937-847-6200

www.motoman.com

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MANDATORY

• This instruction manual is intended to explain mainly on the

mechanical part of the MOTOMAN-ES165D for the application to

the actual operation and for proper maintenance and inspection. It

describes on safety and handling, details on specifications,

necessary items on maintenance and inspection, to explain

operating instructions and maintenance procedures. Be sure to

read and understand this instruction manual thoroughly before

installing and operating the manipulator.

• General items related to safety are listed in Chapter 1: Safety of the

DX100 Instructions. To ensure correct and safe operation, carefully

read the DX100 Instructions before reading this manual.

CAUTION

• 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.

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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: (734) 994-6088

FAX: (734) 994-3338

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.

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ES165D Notes for Safe Operation

Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or

inspection of the MOTOMAN-ES165D.

In this manual, the Notes for Safe Operation are classified as “DANGER”,

“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.

DANGER

Indicates an imminent hazardous

situation which, if not avoided, could

result in death or serious injury to

personnel.

WARNING

Indicates a potentially hazardous

situation which, if not avoided, could

result in death or serious injury to

personnel.

CAUTION

Indicates a potentially hazardous

situation which, if not avoided, could

result in minor or moderate injury to

personnel and damage to equipment.

It may also be used to alert against

unsafe practices.

MANDATORY

Always be sure to follow explicitly the

items listed under this heading.

PROHIBITED

Must never be performed.

NOTE

To ensure safe and efficient operation at all times, be sure to

follow all instructions, even if not designated as “DANGER”,

“WARNING” and “CAUTION”.

DANGER

• 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 YASKAWA 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.

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Notes for Safe Operation

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WARNING

• Before operating the manipulator, check that servo power is turned

OFF pressing the emergency stop buttons on the front door of the

DX100 and the programming pendant.

When the servo power is turned OFF, the SERVO ON LED on the

programming pendant is 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.

Figure 1: 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.

Figure 2: Release of Emergency Stop

TURN

• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the

manipulator:

– Be sure to use a lockout device to the safeguarding when going

inside. Also, display the sign that the operation is being

performed inside the safeguarding and make sure no one closes

the safeguarding.

– View the manipulator from the front whenever possible.

– Always follow the predetermined operating procedure.

– Keep in mind the emergency response measures against the

manipulator’s unexpected motion toward you.

– 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 person is present in the P-point maximum envelope

of the manipulator and that you are in a safe location before:

– Turning ON the power for the DX100.

– Moving the manipulator 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

manipulator during operation. Always press an emergency stop button

immediately if there is a problem.

The emergency stop buttons are located on the right of front door of the

DX100 and the programming pendant.

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ES165D Definition of Terms Used In this Manual

Definition of Terms Used In this Manual

The MOTOMAN is the YASKAWA industrial robot product.

The MOTOMAN usually consists of the manipulator, the controller, the

programming pendant, and the manipulator 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.

Registered Trademark

In this manual, names of companies, corporations, or products are

trademarks, registered trademarks, or brand names for each company or

corporation. The indications of (R) and TM are omitted.

CAUTION

• Perform the following inspection procedures prior to conducting

manipulator 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 cabinet

of the DX100 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 Warning Labels in the

DX100 Instructions before operating the manipulator:

Equipment Manual Designation

DX100 controller DX100

DX100 programming pendant Programming pendant

Cable between the manipulator and the

controller

Manipulator cable

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Explanation of Warning Labels

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Explanation of Warning Labels

The following warning labels are attached to the manipulator.

Always follow the warnings on the labels.

Also, an identification label with important information is placed on the

body of the manipulator. Prior to operating the manipulator, confirm the

contents.

Figure 3: Warning Label Locations

WARNING Label B

Nameplate

WARNING Label A

WARNING Label A WARNING Label B

WARNING

Do not enter

robot

work area.

WARNING

Moving parts

may cause

injury

Nameplate:

WARNING Label B:

WARNING Label A:

MADEINJAPAN

YASKAWAELECTRICCORPORATION

Kitakyushu806-0004Japan

2-1Kurosakishiroishi,Yahatanishi-ku,

SERIALNO.

PAYLOAD kg

TYPE

MASS

DATE

ORDERNO.

MOTOMAN-

MODEL

NJ3878

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ES165D Safeguarding Tips

Safeguarding Tips

All operators, programmers, maintenance personnel, supervisors, and

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).

Mechanical Safety Devices

The safe operation of this equipment is ultimately the users 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 R15.06-2012 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. The following

safety equipment is provided as standard:

• Safety barriers

• Door interlocks

• Emergency stop palm buttons 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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Programming, Operation, and Maintenance Safety

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Programming, Operation, and Maintenance Safety

All operators, programmers, maintenance personnel, supervisors, and

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 E-Stop button on the operator station for proper operation

before programming. The equipment must be placed 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 robot! 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 of the software for maximum

performance. Care must be taken when making these 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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