Professional Documents
Culture Documents
Motoman Mh5f Manual
Motoman Mh5f Manual
INSTRUCTIONS
TYPE: YR-MH0005S-A00 (STANDARD SPECIFICATION DX100)
TYPE: YR-MH0005S-B00 (ARC SPECIFICATION DX100)
TYPE: YR-MH0005F-A00 (STANDARD SPECIFICATION FS100)
TYPE:
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOVAN-MH5S / MH5F INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATORS MANUAL
DX100 MAINTENANCE MANUAL
FS100 INSTRUCTIONS
FS100 OPERATORS MANUAL
FS100 MAINTENANCE MANUAL
The DX100 / FS100 Operators manual above corresponds to specific usage.
Be sure to use the appropriate manual.
MANUAL NO.
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MH5S/MH5F
MANDATORY
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.
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WARNING
CAUTION
MANDATORY
PROHIBITED
NOTE
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WARNING
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 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 / FS100 and the programming pendant.
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CAUTION
Manual Designation
DX100 / FS100
Programming pendant
Manipulator cable
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Nameplate
Warning Label B
Warning Label B
Warning Label A
WARNING Label A:
Nameplate
WARNING
Moving parts
may cause
injury
WARNING Label B:
WARNING
Do not enter
robot
work area.
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Contents
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Contents
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Contents
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1
1.1
MH5S/MH5F
Product Confirmation
Contents Confirmation
Product Confirmation
CAUTION
Confirm that the manipulator and the DX100/FS100 have the same
order number. Special care must be taken when more than one
manipulator is to be installed.
1.1
Contents Confirmation
Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following four (six or seven) items
(Information for the content of optional goods is given separately):
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1.2
MH5S/MH5F
1.2
Product Confirmation
Order Number Confirmation
ORDER NO.
AC200V
AC220V
50/60Hz
60Hz
PEAK
AVERAGE
kVA
kVA
kA
ER
GE N
Y
3PHASE
INTERRUPT CURRENT
ERDR-
POWER SUPPLY
EM
DX100
TYPE
SERIAL No.
DATE
MADE IN JAPAN
NJ2960-1
T O P
RE
SE
OFF
TR
IP
PE
ON
ORDER NO.
NJ1529
PROGRAMMING PENDANT
X8 1
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2.1
MH5S/MH5F
Transporting
Transporting Method
Transporting
CAUTION
2.1
Transporting Method
NOTE
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2.1.1
2
2.1
Transporting
Transporting Method
Using a Crane
As a rule, the manipulator should be lifted by a crane with two wire ropes
when removing it from the package and moving it.
Be sure the manipulator is fixed with the shipping bolts and brackets
before transport, and lift it in the posture as shown in "fig. 2-1
Transporting Position ".
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2.1.2
2
2.1
Transporting
Transporting Method
Using a Forklift
When using a forklift, the manipulator should be fixed on a pallet with
shipping bolts and brackets as shown in fig. 2-2 Using a Forklift . Insert
claws under the pallet and lift it. The pallet must be strong enough to
support the manipulator.
Transport the manipulator slowly with due caution in order to avoid
overturning or slippage.
Fig. 2-2: Using a Forklift
Bolt (4 bolts)
Pallet
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2.2
MH5S/MH5F
2.2
Transporting
Shipping Bolts and Brackets
NOTE
Pcs
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Installation
WARNING
CAUTION
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3.1
MH5S/MH5F
3.1
Installation
Installation of the Safeguarding
3.2
700 N m
(71.4 kgf m)
700 N m
(71.4 kgf m)
220 N m
(22.4 kgf m)
270 N m
(27.6 kgf m)
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3.2
MH5S/MH5F
3.2.1
Installation
Mounting Procedures for Manipulator Base
Mounting Example
For the first process, anchor the base plate firmly to the ground. The
baseplate should be rugged and durable to prevent shifting of the
manipulator or the mounting fixture. It is recommended to be prepare a
balseplate of 30 mm or more thick , and anchor bolts of M10 or larger
size.
The manipulator base is tapped for four mounting holes; securely fix the
manipulator base to the baseplate with four hexagon socket head cap
screws M10 (recommended length: 35 mm).
Next ,fix the manipulator base to the baseplate. Tighten the hexagon
socket head cap screws and anchor bolts firmly so that they will not work
loose during the operation.
Refer to fig. 3-1 Mounting the Manipulator on Baseplate .
Fig. 3-1: Mounting the Manipulator on Baseplate
Manipulator base
30 mm
or more
Baseplate
+0.012
0
6 dia.
(Standard hole)
(2 holes)
Baseplate
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3.3
MH5S/MH5F
3.3
Installation
Types of Mounting
Types of Mounting
The MOTOMAN-MH5S / MH5F is available in three types: floor-mounted
type (standard), wall-mounted type, and ceiling-mounted type. For wallmounted and ceiling-mounted types, the three points listed below are
different from the floor-mounted type.
S-axis Operating Range
Fixing of the Manipulator Base
Precautions to Prevent the Manipulator from Falling
3.3.1
3.3.2
3.3.3
Support
Manipulator base
Hexagon socket head cap screw M10
(4 screws)(tensile strength: 1200N/mm2 or more)
Conical spring washer
NOTE
In case of using the wall-/ceiling-mounted type, inform Yaskawa of the matter when placing an order. Be sure to contact Yaskawa representative (listed on the back cover of
this instruction manual) to execute a wall/ceiling installation
on site.
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3.4
MH5S/MH5F
3.4
Installation
Location
Location
When installing the manipulator, it is necessary to satisfy the following
environmental conditions:
Ambient Temperature: 0 to +45C
Humidity: 20 to 80%RH (non-condensing)
Free from dust, soot, oil, or water
Free from corrosive gas or liquid, or explosive gas or liquid.
Free from excessive vibration
(Vibration acceleration: 4.9m/s2 [0.5G] or less)
Free from large electrical noise (plasma)
Flatness for installation: 0.5mm or less
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4.1
MH5S/MH5F
Wiring
Grounding
Wiring
WARNING
Before wiring, make sure to turn the primary power supply OFF, and
put up a warning sign. (ex. DO NOT TURN THE POWER ON.)
CAUTION
4.1
Grounding
Follow the electrical installation standards and wiring regulations for
grounding. A ground wire of 5.5 mm2 or more is recommended.
Refer to fig. 4-1 Grounding Method at page 4-2 to connect the ground
line directly to the manipulator.
NOTE
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4.2
MH5S/MH5F
Wiring
Cable Connection
4.2
Cable Connection
Two manipulator cables are delivered with the manipulator; an encoder
cable (1BC) and a power cable (2BC). (Refer to fig. 4-2(a) Manipulator
Cables for DX100 at page 4-3 and fig. 4-2(b) Manipulator Cables for
FS100 at page 4-4.)
Connect the cables to the manipulator base connectors and to the DX100/
FS100. Refer to fig. 4-3(a) Manipulator Cable Connection (Manipulator
Side) at page 4-5 , fig. 4-3(b) Manipulator Cable Connection (DX100
Side) at page 4-5 and fig. 4-3(c) Manipulator Cable Connection (FS100
Side) at page 4-6
4.2.1
4-2
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4.2
MH5S/MH5F
1BC
X11
X11
1BC
2BC
X21
4.2.2
Wiring
Cable Connection
2BC
X21
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4.2
Wiring
Cable Connection
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4.2
Wiring
Cable Connection
X21
X11
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5.1
MH5S/MH5F
Basic Specifications
Basic Specifications
Basic Specifications
5.1
Basic Specifications
Model
MOTOMAN-MH5S / MH5F
Application
Handling
Structure
Vertically Articulated
Degree of freedom
Payload
5 kg
Repeatability
2)
0.02 mm
Range of Motion
Maximum Speed
Allowable Moment
4)
S-Axis (turning)
-170 +170
-65 +1503)
-136 +2553)
-190 +1903)
-135 +135
-360 +360
S-Axis
L-Axis
U-Axis
R-Axis
B-Axis
T-Axis
R-Axis
12 Nm (1.22 kgfm)
B-Axis
12 Nm (1.22 kgfm)
T-Axis
7 Nm (0.71 kgfm)
0.30 kgm2
B-Axis
0.30 kgm2
T-Axis
0.10 kgm2
Approx. Mass
Ambient Conditions
Power Capacity
1
2
3
4
27 kg
Temperature
0 to 45C
Humidity
20 to 80% RH (non-condensing)
Vibration
Others
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5.2
MH5S/MH5F
5.2
Basic Specifications
Part Names and Working Axes
Lower arm
(L-arm)
Wrist flange
Rotary head
Manipulator base
5.3
Baseplate Dimensions
Fig. 5-2: Manipulator Base Dimensions
+0.018
0
12 dia.
+0.012
6 dia. 0
(Standard hole)
(2 holes)
Baseplate
(Standard hole)
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5.4
MH5S/MH5F
5.4
Basic Specifications
Dimensions and P-Point Maximum Envelope
55
55
170
170
R2
305
80
P-point
706
Dia.187
246
156
239
474
688
947
109 109
R7
06
35
243
203
114
15
88
235
51
0
233
277
178
501
60
40
310
330
740
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6.1
MH5S/MH5F
Moment Nm (kgfm)1)
R-Axis
B-Axis
T-Axis
12 (1.22)
12 (1.22)
7 (0.71)
0.30
0.30
0.10
1 ( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown
infig. 6-1 Moment Arm Rating .
The allowable total inertia is calculated when the moment is at the
maximum. Contact your Yaskawa representative beforehand when
moment of inertia is the only load, or load moment is smaller than moment
of inertia . Also contact your Yaskawa representative in advance in a case
where the load mass is combined with an external force.
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6.2
Wrist Flange
The wrist flange dimensions are shown in fig. 6-2 Wrist Flange .
It is recommended that the attachment be mounted inside the fitting in
order to identify the alignment marks. Fitting depth shall be 5 mm or less.
+0.018
0
6.2
12 dia.
MH5S/MH5F
+0.012
5 dia. 0
(depth: 7)
NOTE
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7.1
MH5S/MH5F
System Application
Peripheral Equipment Mounts
System Application
7.1
7.1.1
Allowable Load
The allowable load on the U-Axis is a maximum of 6 kg, including the wrist
load.
For instance, when the mass installed in the wrist point is 5 kg, the mass
which can be installed on the upper arm is 1 kg.
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7.2
MH5S/MH5F
7.2
System Application
Internal User I/O Wiring Harness and Air Lines
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7.2
System Application
Internal User I/O Wiring Harness and Air Lines
Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line
Connector for internal user I/O wiring harness:
HR10A-10R-10S (2 socket connectors )
Prepare pin connector HR10A-10P-10P*HIROSE*
Exhaust port 1:
Tapped hole M5
with pipe plug
Exhaust port 2:
Tapped hole M5
with pipe plug
Connector for internal user I/O wiring harness:
HR10A-10R-10P (pin connector )
Prepare socket connector HR10A-10P-10S*HIROSE*
Air inlet 1:
tapped hole PT1/4
with pipe plug
Air inlet 2:
tapped hole PT1/4
with pipe plug
Pins used
1
2
3
4
5
6
7
8
9
10
1
2
10
Pins used
3
6
5
3BC
1
2
3
4
5
6
8
7
1
2
10
9
3
6
5
4BC
The same pin-number connectors (1-16) at both connector base part and
arm part are connected with the single wire lead of 0.2mm2.
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8.1
MH5S/MH5F
Internal Connections
High reliability connectors are equipped on each connection part of the
manipulator to enable easy removal and installation for maintenance and
inspection. For the number and location of connectors, see fig. 8-1
Locations and Numbers of Connectors .
Diagrams for internal connections of the manipulator are shown in
fig. 8-2(a) Internal Connection Diagram for DX100 / FS100 at page 8-2,
fig. 8-2(b) Internal Connection Diagram for DX100 / FS100 at page 8-3
.
Fig. 8-1: Locations and Numbers of Connectors
Type of Connector
HR10A-10R-10P
(HR10A-10P-10P*HIROSE*: Optional)
HR10A-10R-10S
(HR10A-10P-10S*HIROSE*: Optional)
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POWER CABLE
0BT
BAT
0BT
BAT
1
2
3
4
0BAT11
BAT11
0BAT12
BAT12
0BT
BAT
0BT
BAT
5
6
7
8
0BAT21
BAT21
0BAT22
BAT22
1
2
3
4
5
6
7
8
FS100
1BC(10X4)
DX100
B2
B1
CN1-5
CN1-4
B4
B3
CN1-10
CN1-9
A1
A2
CN1-1
CN1-2
CN1-5
CN1-4
+24V
0V
CN1-10
CN1-9
+24V
0V
CN1-1
CN1-2
SPG+1
SPG-1
A3
CN1-3
CN1-3
A4
A5
CN1-6
CN1-7
CN1-6
CN1-7
No.1CN
X
-1
+24V
-3
0V
-2
-4
+24V
0V
1
3
2
4
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
0BAT1
BAT1
0BAT2
BAT2
0BAT3
BAT3
0BAT4
BAT4
0BAT5
BAT5
0BAT6
BAT6
PG0V1
PG5V1
PG0V2
PG5V2
PG0V3
PG5V3
PG0V4
PG5V4
PG0V5
PG5V5
PG0V6
PG5V6
No.2CN
-1
-2
-3
-4
S
BAT1
0BAT1
PG5V1
PG0V1
P
P
FG1
No.8CN
CN-1
-2
-3
-4
CN-1
-2
-3
No.9CN
A6
SPG+2
SPG-2
CN1-8
CN1-8
FG2
No.3CN
-1
-2
-3
-4
L
BAT2
0BAT2
PG5V2
PG0V2
P
P
P
S-IRV,0.3XK
DATA+1
DATA-1
BAT1
OBT1
+5V1
0V1
FG1
PG S-AXIS
OBT
BAT
No.10CN
CN-1
-2
-3
-4
CN-1
-2
-3
No.11CN
C1
C2
CN2-1
CN2-2
C3
CN2-3
D5
D6
CN2-4
CN2-5
B6
CN2-9
C4
C5
CN2-6
CN2-7
CN2-1
CN2-2
SPG+3
SPG-3
CN2-3
FG3
CN2-4
CN2-5
SPG+7
SPG-7
CN2-9
FG7
CN2-6
CN2-7
SPG+4
SPG-4
No.4CN
-1
-2
-3
-4
U
BAT3
0BAT3
PG5V3
PG0V3
No.12CN
CN-1
-2
-3
-4
CN-1
-2
-3
No.13CN
DATA+2
DATA-2
BAT2
OBT2
+5V2
0V2
FG2
PG L-AXIS
OBT
BAT
DATA+3
DATA-3
BAT3
OBT3
+5V3
0V3
FG3
PG U-AXIS
OBT
BAT
U
V
C6
CN2-8
CN2-8
FG4
CN2-10
CN2-10
CN3-1
CN3-2
CN3-1
CN3-2
SPG+5
SPG-5
CN3-3
CN3-3
FG5
E4
E5
CN3-6
CN3-7
CN3-6
CN3-7
SPG+6
SPG-6
E6
CN3-8
CN3-8
FG6
D3
CN4-1
CN4-1
+24V
D4
CN4-6
CN4-6
B5
CN4-2
CN4-2
SS2
D1
CN4-7
CN4-7
AL1
F6
D2
CN4-3
CN4-8
CN4-3
CN4-8
BC2
AL2
G1
G2
CN3-4
CN3-5
CN3-4
CN3-5
0V
+5V
G3
F3
CN3-9
CN3-10
CN3-9
CN3-10
0V
+5V
G4
G5
CN4-4
CN4-5
CN4-4
CN4-5
B
B
G6
CN4-9
CN4-9
FG8
F2
CN4-10
CN4-10
0V
1BC(10X4)
1BC(10X4)
MH5S/MH5F
F1
E1
E2
E3
No.5CN
-1
-2
-3
-4
R
BAT4
0BAT4
PG5V4
PG0V4
P
P
P
No.14CN
CN-1
-2
-3
-4
CN-1
-2
-3
No.15CN
B
No.6CN
-1
BAT5
-2
0BAT5
-3
PG5V5
-4
PG0V5
P
P
P
DATA+4
DATA-4
BAT4
OBT4
+5V4
0V4
FG4
No.7CN
-1
-2
-3
-4
T
BAT6
0BAT6
PG5V6
PG0V6
No.16CN
CN-1
-2
-3
-4
CN-1
-2
-3
No.18CN
CN-1
-2
-3
-4
CN-1
-2
-3
No.19CN
PG
R-AXIS
OBT
BAT
No.17CN
FOR LAMP(OPTION)
DATA+5
DATA-5
BAT5
OBT5
+5V5
0V5
FG5
PG B-AXIS
OBT
BAT
DATA+6
DATA-6
BAT6
OBT6
+5V6
0V6
FG6
PG T-AXIS
OBT
BAT
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Base
3BC
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
4BC
4BC-1
-2
-3
-4
-5
-6
-7
-8
1
2
3
4
5
6
7
8
9
10
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
1
2
3
4
5
6
7
8
9
10
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
P
P
P
P
P
4BC-1
-2
-3
-4
-5
-6
-7
-8
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
7
8
9
10
1
2
3
4
5
6
7
8
4BC-1
-2
-3
-4
-5
-6
-7
-8
P
P
P
P
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
FOR SPARE(X)
4BC-1
-2
-3
-4
-5
-6
-7
-8
FOR SPARE(Y)
4BC
No.35CN
No.33CN
1
2
3
4
5
6
7
8
3BC
No.34CN
No.32CN
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
2BC(6X6)
A5
H6
G6
A2
A3
A4
CN1-1
CN1-2
CN1-3
CN1-4
CN1-5
CN1-6
CN1-1
CN1-2
CN1-3
CN1-4
CN1-5
CN1-6
ME1
ME2
ME2
MU1
MV1
MW1
No.20CN
CN-1
-2
-3
-4
CN-1
-2
MU1
MV1
MW1
ME1
BA1
BB1
SM S-AXIS
YB
No.21CN
B6
D6
F6
A6
C6
E6
CN2-1
CN2-2
CN2-3
CN2-4
CN2-5
CN2-6
CN2-1
CN2-2
CN2-3
CN2-4
CN2-5
CN2-6
MU2
MV2
MW2
MU2
MV2
MW2
No.22CN
CN-1
-2
-3
-4
CN-1
-2
MU2
MV2
MW2
ME2
BA2
BB2
CN-1
-2
-3
-4
CN-1
-2
MU3
MV3
MW3
ME3
BA3
BB3
SM L-AXIS
YB
H5
H4
H3
H1
G1
F1
2BC(6X6)
No.23CN
2BC(6X6)
MH5S/MH5F
CN3-1
CN3-2
CN3-3
CN3-4
CN3-5
CN3-6
CN3-1
CN3-2
CN3-3
CN3-4
CN3-5
CN3-6
MU3
MV3
MW3
MU4
MV4
MW4
CN4-1
CN4-2
CN4-3
CN4-4
CN4-5
CN4-6
CN4-1
CN4-2
CN4-3
CN4-4
CN4-5
CN4-6
MU5
MV5
MW5
MU6
MV6
MW6
No.24CN
SM U-AXIS
YB
No.25CN
D1
C1
B1
C2
C3
C4
No.26CN
CN-1
-2
-3
-4
CN-1
-2
MU4
MV4
MW4
ME4
BA4
BB4
SM R-AXIS
YB
No.27CN
H2
E1
A1
C5
D5
D4
CN5-1
CN5-2
CN5-3
CN5-4
CN5-5
CN5-6
CN5-1
CN5-2
CN5-3
CN5-4
CN5-5
CN5-6
ME3
ME4
ME5
ME6
BA1
BB1
D3
E5
E3
E2
F5
F3
CN6-1
CN6-2
CN6-3
CN6-4
CN6-5
CN6-6
CN6-1
CN6-2
CN6-3
CN6-4
CN6-5
CN6-6
BA2
BA3
BA4
BB4
BA5
BA6
No.28CN
CN-1
-2
-3
-4
CN-1
-2
MU5
MV5
MW5
ME5
BA5
BB5
CN-1
-2
-3
-4
CN-1
-2
MU6
MV6
MW6
ME6
BA6
BB6
SM B-AXIS
YB
No.29CN
No.30CN
SM T-AXIS
YB
No.31CN
PE
PE
POWER CABLE
8-3
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9
9.1
MH5S/MH5F
WARNING
CAUTION
Failure to observe this caution may result in the loss of home position
data.
9.1
Inspection Schedule
Proper inspections are essential not only to assure that the mechanism
will be able to function for a long period, but also to prevent malfunctions
and assure safe operation. Inspection intervals are classified into six
levels as shown in table 9-1 Inspection Items at page 9-2.
In table 9-1 Inspection Items at page 9-2, the inspection items are
categorized by types of operations: operations which can be performed by
personnel authorized by the user, operations to be performed by trained
personnel, and operations to be performed by service company
personnel. Only specified personnel shall perform the inspection work.
NOTE
9-1
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Connector base
Daily
1000HCycle
6000HCycle
12000HCycle
24000H
36000H
Grease Gun
Grease Gun
Visual Multimeter
Manual
Screwdriver,
Wrench
Spanner
Wrench
Visual
Visual
at
Replace the battery pack when the battery alarm occurs or the
manipulator drove for 36000H.
Replace3)
Inspection
Charge
9
9.1
Operation
MH5S/MH5F
Alignment mark
Method
Specified
Personnel
Schedule
Licensee
Items1)
Service
Company
HW1480683
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Overhaul
11
12
6000HCycle
Grease Gun
12000HCycle
24000H
Grease Gun
36000H
Operation
1000HCycle
Daily
Inspection
Charge
9
9.1
MH5S/MH5F
1 Inspection No. correspond to the numbers in fig. 9-1 Inspection Items at page 9-4.
2 When checking for conduction with multimeter, connect the battery to BAT and OBT of connectors on the motor side for each axis, and then remove connectors on
detector side for each axis from the motor. Otherwise, the home position may be lost. (Refer to " 9.2.7 Notes for Maintenance ")
3 Wire harness in manipulator (S-, L-, U-, R-, B-, T-axis part) to be replaced at 24000H inspection.
4 For the grease, refer to " Table. 8 Inspection Parts and Grease Used ".
10
Method
Specified
Personnel
Schedule
Licensee
Items1)
Service
Company
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B-axis
L-axis
S-axis
R-axis
S-axis
9
9.1
U-axis
U-axis
T-axis
B-axis
MH5S/MH5F
T-axis
Note:
This figure shows the standard specification
manipulator in the home position.
R-axis
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9
9.1
Grease Used
Inspected Parts
9,10,11,
12
The numbers in the above table correspond to the numbers in table 9-1
Inspection Items at page 9-2.
9-5
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9.2
MH5S/MH5F
9.2
9.2.1
Battery pack
Plate
9-6
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9
9.2
MH5S/MH5F
Connector
Board
NOTE
Remove the old battery pack after connecting the new one
so that the encoder absolute data does not disappear.
NOTE
9-7
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9.3
MH5S/MH5F
9.3
NOTE
9-8
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9.3.1
9
9.3
S-axis motor
9.3.1.1
NOTE
If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
2. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk is
packed with the manipulator on the shipment.)
3. Inject the grease into the grease inlet using a grease gun.
Grease type:
Amount of grease:
25cc
NOTE
The exhaust port is used for air exhaust, and the grease is
not exhausted from the exhaust port. Do not inject excessive grease through the grease inlet.
9-9
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9.3.2
9
9.3
Grease inlet
(hexagon socket
head plug PT 1/8)
S-axis motor
Exhaust port
(hexagon socket
head plug PT 1/8)
S-axis motor
9.3.2.1
NOTE
If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
2. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk is
packed with the manipulator on the shipment.)
3. Inject the grease into the grease inlet using a grease gun.
Grease type:
Amount of grease:
25cc
NOTE
The exhaust port is used for air exhaust, and the grease is
not exhausted from the exhaust port. Do not inject excessive grease through the grease inlet.
9-10
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9.3.3
9
9.3
L-axis motor
Exhaust port
(Plug M5)
9.3.3.1
NOTE
If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
2. Install the grease zerk A-MT6 x 1 to the grease inlet. (The grease zerk
is packed with the manipulator on the shipment.)
3. Inject grease into the grease inlet using a grease gun.
Grease type:
Amount of grease:
30cc
NOTE
The exhaust port is used for air exhaust, and the grease is
not exhausted from the exhaust port. Do not inject excessive grease through the grease inlet.
4. Wipe the discharged grease with a cloth. Remove the grease zerk
from the grease inlet and reinstall the screw M6, and the plug M5 to
the exhaust port before reinstalling the cover.
Apply Three Bond 1206C on the thread part of the screw/plug.
9-11
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9.3.4
9
9.3
Grease inlet
(Hexagon socket
head cap screw M6)
9.3.4.1
NOTE
If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
Do not install a joint, a hose, etc. to the grease exhaust port.
Failure to observe this instruction may result in damage to
the motor due to coming off of an oil seal.
2. Install the grease zerk A-MT6 x 1 to the grease inlet. (The grease zerk
is packed with the manipulator on the shipment.)
3. Inject grease into the grease inlet using a grease gun.
Grease type:
Amount of grease:
20cc
NOTE
The exhaust port is used for air exhaust, and the grease is
not exhausted from the exhaust port. Do not inject excessive grease through the grease inlet.
4. Wipe the discharged grease with a cloth. Remove the grease zerk
from the grease inlet and reinstall the screw M6, and the plug M5 to
the exhaust port before reinstalling the cover.
Apply Three Bond 1206C on the thread part of the screw/plug.
9-12
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9.3.5
9
9.3
Exhaust port
(Hexagon socket
head cap screw M6)
Grease inlet
(Plug M5)
R-axis motor
9.3.5.1
Exhaust port
(Hexagon socket
head cap screw M6)
NOTE
If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
Amount of grease:
7cc
NOTE
The exhaust port is used for air exhaust, and the grease is
not exhausted from the exhaust port. Do not inject excessive grease through the grease inlet.
3. Wipe the discharged grease with a cloth. Remove the grease zerk
from the grease inlet and reinstall the plug to the exhaust port.
Apply Three Bond 1206C on the thread part of the plug.
9-13
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9.3
MH5S/MH5F
9.3.6
Exhaust port
(T-axis speed reducer)
Plug M5
9.3.6.1
Grease Replenishment for B-axis (Refer to "fig. 9-9 B- and T-Axes Speed Reducers
Diagram .)
1. unscrew the plug M5 from the exhaust port.
NOTE
If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
Amount of grease:
5cc
NOTE
The exhaust port is used for air exhaust, and the grease is
not exhausted from the exhaust port. Do not inject excessive grease through the grease inlet.
3. Wipe the discharged grease with a cloth. Reinstall the plug to the
exhaust port.
Apply Three Bond 1206C on the thread part of the plug.
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9.3.6.2
9
9.3
Grease Replenishment for T-axis (Refer to fig. 9-9 B- and T-Axes Speed Reducers Diagram
.)
1. Remove the plug M5 from the exhaust port and the low head socket
head cap screw M6 from the grease inlet.
NOTE
If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.
2. Install the grease zerk A-MT6 x 1 to the grease inlet. (The grease zerk
is packed with the manipulator on the shipment.)
3. Inject grease into the grease inlet using a grease gun.
Grease type:
Amount of grease:
5cc
NOTE
The exhaust port is used for air exhaust, and the grease is
not exhausted from the exhaust port. Do not inject excessive grease through the grease inlet.
4. Wipe the discharged grease with a cloth. Remove the grease zerk
from the grease inlet and reinstall the screw M6, and the plug M5 to
the exhaust port.
Apply Three Bond 1206C on the thread parts of the plug/screw.
9-15
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9.3
MH5S/MH5F
9.3.7
9.3.7.1
Cover
Cover jointing face
9.3.7.2
Internal wire
Power connector
OBT
BAT
b OBT4
a BAT4
Encoder connector
CAUTION label
0BT
BAT
a
b
Battery pack
b 0BT4
a BAT4
CAUTION
9-16
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MH5S/MH5F
NOTE
Parts
No.
Name
Type
Manufacturer
Qty
Qty
Remarks
per
Unit
Grease
Harmonic Drive
Systems Co., Ltd.
2.5 kg
Liquid Gasket
Battery Pack
HW0470360-A
Yaskawa Electric
Corporation
Battery Pack
HW9470932-A
Yaskawa Electric
Corporation
100S5M305
Mitsuboshi
Belting Ltd.
100S5M390
Mitsuboshi
Belting Ltd.
060S3M219
Mitsuboshi
Belting Ltd.
060S3M396
Mitsuboshi
Belting Ltd.
S-Axis
Speed Reducer
HW0389176-A
Yaskawa Electric
Corporation
10
L-Axis
Speed Reducer
HW0388706-A
Yaskawa Electric
Corporation
11
U-Axis
Speed Reducer
HW0388707-A
Yaskawa Electric
Corporation
12
R-Axis
Speed Reducer
HW0388708-A
Yaskawa Electric
Corporation
13
B-Axis
Speed Reducer
HW1380238-A
Yaskawa Electric
Corporation
14
T-Axis
Speed Reducer
HW0388710-A
Yaskawa Electric
Corporation
10-1
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MH5S/MH5F
Table 10-1: Spare Parts for the YR-MH0005S-A00,B00/YR-MH0005F-A00 (Sheet 2 of 2)
Rank
Parts
No.
Name
Type
Manufacturer
Qty
Qty
Remarks
per
Unit
15
Wire Harness in
Manipulator
HW0175096-A
Yaskawa Electric
Corporation
16
S-and L-Axes
AC Servomotor
HW0388651-A
SGMAV-04ANA-YR1*
Yaskawa Electric
Corporation
17
U-Axis
AC Servomotor
HW038650-A
SGMAV-02ANA-YR1*
Yaskawa Electric
Corporation
18
R-Axis
AC Servomotor
HW0388708-1
SGMAV-A5ANA-YR1*
Yaskawa Electric
Corporation
19
HW0388794-A
SGMAV-A5ANA-YR2*
Yaskawa Electric
Corporation
20
HW1470525
Yaskawa Electric
Corporation
10-2
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11
Parts List
11.1 S-Axis Unit
MH5
11 Parts List
11.1
S-Axis Unit
Fig. 11-1: S-Axis Unit
1027
1026
1020
1023
1023
1003
1001
1020
1049
1048
1023
1013
1040
1002
1005
1039
1025
1024
1015
1028
1029
1011
1034
1033
1012
1017
1009
1010
1006
1041
1018
1007
1047
1032
1031
1043
1022
1016
1019
1030
1008
1032
1036
1035
1014
1038
1045
1037
1021
1004
1023
11-1
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11
Parts List
11.1 S-Axis Unit
DWG No.
Name
Pcs
1001
HW0102487-1
Base
1002
HW0102486-1
S head
1003
HW0314329-1
Cover
1004
HW0314328-1
Cover
1005
HW0414024-1
Collar
1006
HW0414025-1
B holder
1007
HW0414034-1
M base
1008
HW0314319-1
Shaft
1009
HW0412383-1
Packing
1010
HW0414064-1
M base
1011
HW0314707-1
Gear
1012
HW0314708-2
Gear
1013
HW8411125-2
Washer
16
1014
HW0389176-A
Speed reducer
1015
6811LLU
Bearing
1016
6810VV
Bearing
1017
TC405208
Oil seal
1018
TC25X35X6FKM
Oil seal
1019
S39
O ring
1020
PT1/8
Plug
1021
HW9482404-A
Sheet
1022
POC6-01M
Union
1023
M4X10
Button bolt
22
1024
M8X16
Socket screw
1025
2H-8
Spring washer
1026
M6X8
Socket screw
1027
2H-6
Spring washer
1028
M5X16
Socket screw
1029
2H-5
Spring washer
1030
M4X25
Socket screw
1031
2H-4
Spring washer
1032
M4
Washer
1033
M3X30
Socket screw
1034
2H-3
Spring washer
1035
M4X14
Socket screw
1036
2H-4
Spring washer
1037
M5X40
Socket screw
12
1038
2H-5
Spring washer
12
1039
M5X30
Socket screw
16
1040
2H-5
Spring washer
16
1041
M4X10
GT-SA bolt
1043
M4X16
GT-SA bolt
1045
M4X12
GT-SA bolt
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11
Parts List
11.1 S-Axis Unit
Table 11-1: S-Axis Unit (Sheet 2 of 2)
No.
DWG No.
Name
Pcs
1047
SGMAV-04ANA-YR11
Motor
1048
HW0414483-1
Cover
1049
HW0414484-1
Packing
11-3
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Parts List
11.2 L-, U-Axes Unit
MH5
11.2
2014
2036
2035
2028
2053
2030
2014
2013
2016
2023
2057
2055 2026
2017
2001
2014
2034
2033
2037
2002
2031
2032
2040
2039
2025
2012
2055
2057
2029
2027
2038
2020
2040
2003
2010
2039
2042
2013
2053
2004
2058
2059
2060
2041
2043
2021 2038
2024
2011
2023
2015
2015
2018
2050
2049
2015
1002
2019
2022
2052
2051
2030
2017
11-4
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11
Parts List
11.2 L-, U-Axes Unit
DWG No.
Name
Pcs
2001
HW0102585-1
L arm
2002
HW0414073-A
Pulley
2003
HW0414072-A
Pulley
2004
HW0414070-B
Pulley
2007
HW0414071-B
Pulley
2010
HW8411125-1
Collar
2011
HW0408927-2
Housing
2012
HW0408928-2
Housing
2013
HW0408931-1
Housing
2014
HW0388707-B
Speed reducer
2015
HW0388706-B
Speed reducer
2016
6913DDU
Bearing
2017
6000ZZ
Bearing
2018
6913ZZ
Bearing
2019
6916DDU
Bearing
2020
100S5M305
Belt
2021
100S5M390
Belt
2022
SC901107
Oil seal
2023
SC751007
Oil seal
2024
LP-M5
Plug
2025
SGMAV-04ANA-YR11
Motor
2026
SGMAV-02A2A-YR11
Motor
2027
HW0200555-1
Cover
2028
HW0200555-2
Cover
2029
HW0414027-1
M base
2030
M5X10
Button bolt
20
2031
M8X16
Socket screw
2032
2H-8
Spring washer
2033
M4X14
Socket screw
16
2034
2H-4
Spring washer
16
2035
M3X10
Socket screw
32
2036
2H-3
Spring washer
32
2037
M4X10
GT-SA bolt
2038
M4X16
GT-SA bolt
2039
M4X18
Socket screw
2040
2H-4
Spring washer
2041
M4
Washer
2042
M5X16
Socket screw
2043
2H-5
Spring washer
2044
M4X10
GT-SA bolt
2046
M5X20
Socket screw
2047
2H-5
Spring washer
2048
M6X8
Socket screw
2049
M4X12
Socket screw
29
11-5
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11
Parts List
11.2 L-, U-Axes Unit
Table 11-2: L-, U-Axes Unit (Sheet 2 of 2)
No.
DWG No.
Name
Pcs
2050
2051
CDW4L
Spring washer
29
M4X16
Socket screw
30
2052
2H-4
Spring washer
30
2053
M4X10
GT-SA bolt
12
2055
M4X16
GT-SA bolt
2057
M4
Washer
2058
M8X16
Socket screw
2059
2H-8
Spring washer
2060
HW0414027-2
M base
1002
HW0102486-1
S head
11-6
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Parts List
11.3 R-Axis Unit
MH5
11.3
R-Axis Unit
Fig. 11-3: R-Axis Unit
3013
3029
3016
3019
3012
3004
3010
3005
3001
3006
3028
3014
3018
3002
3011 3003
3027 3030
3008
3007
3025
3026
3024
3023 3021
3022
3009
2001
11-7
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11
Parts List
11.3 R-Axis Unit
DWG No.
Name
Pcs
3001
HW0102484-1
Casing
3002
HW0314334-1
Housing
3003
HW0414074-A
Pulley
3004
HW0483421-B
Pulley
3005
HW9406285-E
Pipe
3006
HW9406278-2
Washer
3007
HW0388708-A
Speed reducer
3008
6808ZZ
Bearing
3009
6806ZZ
Bearing
3010
060S3M219
Belt
3011
SGMAV-A5ANA-YR11
Motor
3012
OB-31
Plug
3013
M4X10
Button bolt
3014
M3X12
GT-SA bolt
3016
M3X12
GT-SA bolt
3018
M3
Washer
3019
M3X10
GT-SA bolt
3021
M3X30
Socket screw
12
3022
2H-3
Spring washer
12
3023
M6X16
Socket screw
3024
2H-6
Spring washer
3025
M3X20
Socket screw
16
3026
2H-3
Spring washer
16
3027
M3X12
Socket screw
3028
2H-3
Spring washer
3029
HW0201198-1
Cover
3030
LP-M5
Plug
2001
HW0102485-1
L arm
11-8
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Parts List
11.4 Wrist Unit
MH5
11.4
Wrist Unit
Fig. 11-4: Wrist Unit
4023
4042
4098
4097
4089
4090
4086
4083
4096
4085
4091
3007
4092-94
4075
4076
4071
4072 4053
4005
4080
4070
4082
4091
4092-94
4052
4054
4056
4051
4082
4076
4032
4068
4064
4062
4070
4080
4085
4083
4010
4068
4072
4019
4050
4001
4071
4095
4097
4090
4098 4089
4081
4020
4018
4035
4075
4088
4086
4081
4032
4005
4054
4053
4056
4052
4059
4062
4011
4064
4014
4060
4021
4018
4029
4007
4006
4014
4026
4024 4045
4047 4046
4027
4011
4037
4016
4062
4034
4057
4023
4042
4002
4037
4028
4004
4033
4048
4037
4044
4049
4038-41
4066
4043
4065
4003
4022
4025
4089
4090
4067
4015
4012
4016
4069
4033
4036
4008
4012
4009
4013
4030
4017
4031
11-9
HW0485750
63/66
HW0485750
MH5
11
Parts List
11.4 Wrist Unit
DWG No.
Name
Pcs
4001
HW0102483-1
U arm
4002
HW0313997-1
Wrist base
4003
HW0388712-A
Gear
4004
HW0388711-A
Gear
4005
HW0414075-A
Pulley
4006
HW0414076-A
Pulley
4007
HW0414078-A
Pulley
4008
HW9406260-1
Housing
4009
HW9406266-1
B nut
4010
HW0414031-1
Collar
4011
HW0388709-A
Speed reducer
4012
HW0388710-A
Speed reducer
4013
HW9480739-B
Bearing
4014
6903ZZ
Bearing
4015
6809ZZ
Bearing
4016
TC56665
Oil seal
4017
AB2551E0
Oil seal
4018
SC20304
Oil seal
4019
060S3M300
Belt
4020
060S3M285
Belt
4021
S31.5
O ring
4022
S56
O ring
4023
HW0201199-1
Cover
4024
HW0314324-1
Shaft
4025
HW0314348-1
Housing
4026
HW0414067-1
Flange
4027
HW0414065-1
B holder
4028
HW0414066-1
Housing
4029
HW0414032-1
Collar
4030
HW0314333-1
M base
4031
HW0414028-1
B nut
4032
HW0414079-1
M base
4033
6803ZZ
Bearing
4034
6810VV
Bearing
4035
RTW-30
Retaining rings
4036
IRTW-26
Retaining rings
4037
LP-M5
Plug
4038
SPS-010005
Shim
4039
SP-009010
Shim
4040
SP-009015
Shim
4041
SP-009020
Shim
4042
M4X10
Button bolt
18
4043
M4X20
Socket screw
4044
2H-4
Spring washer
11-10
HW0485750
64/66
HW0485750
MH5
11
Parts List
11.4 Wrist Unit
Table 11-4: Wrist Unit (Sheet 2 of 2)
No.
DWG No.
Name
Pcs
4045
M3X10
Socket screw
4046
2H-3
Spring washer
4047
M4X10
GT-SA bolt
4048
M3X12
Socket screw
4049
2H-3
Spring washer
4050
M4X20
Socket screw
4051
2H-4
Spring washer
4052
M3X16
Socket screw
4053
2H-3
Spring washer
4054
M4X16
GT-SA bolt
4056
M4
Washer
4057
M4X16
Socket screw
4059
M3X10
GT-SA bolt
4060
M4X10
GT-SA bolt
4062
M3X12
GT-SA bolt
10
4064
M3
Washer
4065
M4X10
GT-SA bolt
4067
CBSTS6-6
Socket screw
4068
SGMAV-A5ANA-YR21
Motor
4069
HW0414026-1
Housing
4070
HW0314323-1
Housing
4071
HW0414080-1
B holder
4072
HW0414077-A
Pulley
4075
HW0414030-1
Shaft
4076
HW0472643-A
Break
4080
6000ZZ
Bearing
4081
060S3M150
Belt
4082
STW-8
4083
M3X12
GT-SA bolt
4085
M3
Washer
4086
M3X10
GT-SA bolt
4089
M4X12
Socket screw
4090
2H-4
Spring washer
4091
M2.5X25
Socket screw
4092
HW0414829-1
Shim
4093
HW0414829-2
Shim
4094
HW0414829-3
Shim
4095
HW0414824-1
Cover
4096
HW0414825-1
Cover
4097
M4X6
Socket screw
4098
2H-4
Spring washer
3007
HW0388708-A
Speed reducer
11-11
HW0485750
65/66
MOTOMAN-MH5S / MH5F
INSTRUCTIONS
MANUAL NO.
HW1480683
66/66