YASKAWA MOTOMAN-SDA20 Manual de usuario

MANUAL NO.

HW0484820

Part Number: 155492-1CD

Revision: 2

MOTOMAN-SDA20

INSTRUCTIONS

TYPE

YR-SDA20-A00 (STANDARD SPECIFICATION)

YR-SDA20-A01 (DRIP PROOF SPECIFICATION)

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

for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN-SDA20 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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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.

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• This instruction manual explains operating instructions and

maintenance procedures primarily for MOTOMAN-SDA20.

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

NX100 Instructions. To ensure correct and safe operation, carefully

read the NX100 instructions 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

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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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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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or inspection of the

NX100.

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.

Indicates an imminent 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 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 “DANGER”, “WARNING” and “CAUTION”.

NOTE

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

emergency stop buttons on the front door of the NX100 and programming pendant are

pressed.

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.

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

• 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.

- 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 P-point maximum envelope of the manipulator

and that you are in a safe location before:

- Turning ON the NX100 power

- 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 are

problems.

The emergency stop buttons are located on the right of the front door of the NX100 and

the programming pendant.

TURN

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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 programming pendant, and manipulator

cables.

In this manual, the equipment is designated as follows:

• 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 NX100 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 Warning Labels in the

NX100 instructions before operating the manipulator.

Equipment Manual Designation

NX100 controller NX100

NX100 programming pendant Programming pendant

Cable between the manipulator and the controller Manipulator cable

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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.

Warning Label B Warning Label A

Front View

Section A Nameplate

Warning Label A

Warning Label B

Back View

WARNING

Do not enter

robot

work area.

WARNING

Moving parts

may cause

injury

Warning Label A:

Warning Label B:

Nameplate

S1 S2

2BC

AIR-4AIR-3AIR-1

GREASE

5BC

3BC

4BC

AIR-2

1BC

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SDA20 Table of Contents

Table of Contents

1Product Confirmation

1.1 Contents Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.2 Order Number Confirmation . . . . . . . . . . . . . . . . . . . . . . . 1-2

2Transport

2.1 Transporting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.1.1 Using a Crane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

2.1.2 Using a Forklift. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3

3Installation

3.1 Installation of the Safeguarding . . . . . . . . . . . . . . . . . . . . 3-2

3.2 Mounting Procedures for Manipulator Base . . . . . . . . 3-2

3.2.1 Mounting Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3

3.3 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

4Wiring

4.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4.2 Manipulator Cable Connection. . . . . . . . . . . . . . . . . . . . . 4-3

4.2.1 Connection to the Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . .4-3

4.2.2 Connection to the NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3

5Basic Specifications

5.1 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.2 Part Names and Working Axes . . . . . . . . . . . . . . . . . . . . 5-2

5.3 Manipulator Base Dimensions . . . . . . . . . . . . . . . . . . . . . 5-3

5.4 Dimensions and P-Point Maximum Envelope . . . . . . 5-4

5.5 Alterable Operating Range . . . . . . . . . . . . . . . . . . . . . . . . 5-5

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5.6 Operating Characteristics and

Operating Method of the 7-Axis Arm. . . . . . . . . . . . . . . . 5-6

5.6.1 Operation in the Joint Coordinate System . . . . . . . . . . . . . . . . 5-6

5.6.2 Operation in the Cartesian Coordinate System,

Tool Coordinate System, and User Coordinate

System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7

5.7 Wrist Flange of Drip-Proof Specification

SDA20-A01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-8

6Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

6.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2

7System Application

7.1 Peripheral Equipment Mounts . . . . . . . . . . . . . . . . . . . . . . 7-1

7.2 Internal User I/O Wiring Harness and Air Line . . . . . . 7-2

8Electrical Equipment Specification

8.1 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

9Maintenance and Inspection

9.1 Inspection Schedule. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-2

9.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . . 9-5

9.2.1 Battery Pack Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5

9.2.2 Grease Replenishment & Exchange. . . . . . . . . . . . . . . . . . . . . 9-6

9.2.3 Arm Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10

9.2.4 Home Position Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10

10 Recommended Spare Parts

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