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    Motoman - MRM2-500 Positioner - 137174-2

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    aferro

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    © All Rights Reserved
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    Yasnac MRC Controller MRM2-500 Positioner Operation Manual Part Number 137174-2 Revised 9/12/00 June 14, 1996 MOTOMAN 805 Liberty Lane West Carrollton, OH 45449 TEL: 937-847-6200 FAX: 997-847-627 24-HOUR SERVICE HOTLINE: 937-847-3200 Tho information contained within tis document isthe proprietary property of Motoman, ‘nc, and may not be copied, reproduced or transmitted to other partes without the ‘expressed wniten authorization of Motoman, Ine © 1996 by moromAN ‘All Rights Resorved ‘Because we are constantly iproving our products, we reserve the right to change specifications without notice. YASNAC and MOTAMAN are registred trademarks of YASKAWA lectric Manufacturing. TABLE OF CONTENTS Section Page 10: SAFETY. rH 11 INTRODUCTION. ot 12. STANDARD CONVENTIONS. 12 13 GENERAL SAFEGUARDING TIPS. 13 1.4 MECHANICAL SAFETY DEVICES. 13 45. INSTALLATION SAFETY. 14 16 PROGRAMMING SAFETY. 14 17 OPERATION SAFETY. 15 1.8 MAINTENANCE SAFETY. 16 20 OPERATION MANUAL. at /MRU2-500 Positioner Operation Manual i ‘MOTOMAN NOTES ‘MFIM2-500 Positioner Operation Manual i ‘MOTOMAN 1.0 SAFETY Itis the purchaser's responsibility to ensure that all local, county, state, and national codes, regulations, rules, or laws relating to safety and safe operating conditions for each installation are met and followed. We suggest that you obtain and review a copy of the ANSV/RIA National Safety Standard for Industrial Robots and Robot Systems. This information can be obtained from the Robotic Industries Association by requesting ANSU/RIA R15.06. The address is as follow Robotic Industries Association 900 Victors Way P.O. Box 3724 Ann Arbor, Michigan 48106 TEL: 313/994-6088 FAX: 313/994-3338 Ultimately, the best safeguard is trained personnel. The user is responsible for providing personnel who are adequately trained to operate, program, and maintain the robot cell. The robot must not be operated by personnel who have not been trained! We recommend that all personne! who intend to operate, program, repair, or use the robot system be trained in an approved Motoman training course and become familiar with the proper operation of the system. This safety section addresses the following: + Standard Conventions (Section 1.1) + General Safeguarding Tips (Section 1.2) + Mechanical Safety Devices (Section 1.3) + Installation Safety (Section 1.4) + Programming Safety (Section 1.5) + Operation Safety (Section 1.6) + Maintenance Safety (Section 1.7) 1MaN2-500 Postioner Operation Manual rr 1.1 NOTE: STANDARD CONVENTIONS ‘This manual includes information essential to the safety of personnel and equipment. As you read through this manual, be alert to the four signal words: + DANGER + WARNING + CAUTION + NOTE Pay particular attention to the information provided under these headings which are defined below (in descending order of severity). DANGER! Information appearing under the DANGER caption concerns the protection of personnel from the immediate and imminent hazards that, if not avoided, will result in immediate, serious personal injury or loss of life in addition to equipment damage. WARNING! Information appearing under the WARNING caption concerns the protection of personnel and equipment from potential hazards that can result in personal injury or loss of life in addition to equipment damage CAUTION! Information appearing under the CAUTION caption concerns the protection of personnel and equipment, software, and data from hazards that can result in minor personal injury or equipment damage. Information appearing in a NOTE caption provides additional information whichis helpful in understanding the item being explained, IMAN2-500 Pastioner Operation Manual 42 ‘Motors 1.2 GENERAL SAFEGUARDING TIPS All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation, General safeguarding tips are as follows + Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation of this robot, the operator's manuals, the system equipment, and options and accessories should be permitted to operate this robot system. + Do not enter the robot cell while it is in automatic operation. Programmers must have the teach pendant when they enter the robot cell + Improper connections can damage the robot, All connections must be made within the standard voltage and current ratings of the robot I/O (Inputs and Outputs), + The robot must be placed in Emergency Stop (E-Stop) mode whenever it is not in use. + In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use lockouttagout procedures during equipment maintenance. Refer also to Section 1910.147 29CFR, Part 1910), Occupational Safety and Health Standards for General Industry (OSHA). 1.3 MECHANICAL SAFETY DEVICES The safe operation of the robot, positioner, auxiliary equipment, and system is ultimately the user's responsibility. The conditions under which the equipment will be operated safely should be reviewed by the user. The user must be aware of the various national codes, ANSVRIA R15.06 safety standards, and other local codes that may pertain to the installation and use of industrial equipment. Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location. The following safety measures are available + Safety fences and barriers + Light curtains * Door interlocks + Safety mats + Floor markings + Warning lights Check all safety equipment frequently for proper operation. Repair or replace any non-functioning safety equipment immediately. IWANZ-500 Postioner Operation Manual a) ‘Matorian 1.4 1.5 INSTALLATION SAFETY Safe installation is essential for protection of people and equipment. The following suggestions are intended to supplement, but not replace, existing federal, local, and state laws and regulations, Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location. Installation tips are as follows: + Be sure that only qualified personnel familiar with national codes, local codes, and ANSU/RIA R15.06 safety standards are permitted to install the equipment. + Identify the work envelope of each robot with floor markings, signs, and barriers + Position all controllers outside the robot work envelope. + Whenever possible, install safety fences to protect against unauthorized entry into the work envelope. + Eliminate areas where personnel might get trapped between a moving robot and other equipment (pinch points). + Provide sufficient room inside the workcell to permit safe teaching and maintenance procedures. PROGRAMMING SAFETY All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation, Programming tips are as follows: + Any modifications to PART | of the MRC controller PLC can cause severe personal injury or death, as well as damage to the robot! Do not make any modifications to PART 1. Making any changes without the written permission of Motoman will VOID YOUR WARRANTY! + Some operations require standard passwords and some require special passwords. Special passwords are for Motoman use only. YOUR WARRANTY WILL BE VOID if you use these special passwords. + Back up all programs and jobs onto a floppy disk whenever program changes are made. To avoid loss of information, programs, or jobs, a backup must always be made before any service procedures are done and before any changes are made to options, accessories, or equipment, + The concurrent I/O (Input and Output) function allows the customer to modify the internal ladder inputs and outputs for maximum robot performance. Great care must be taken when making these modifications. Double-check all modifications under every mode of robot operation to ensure that you have not created hazards or dangerous situations that may damage the robot or other parts of the system. + Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation, manuals, electrical design, and equipment interconnections of this robot should be permitted to operate the system, 1MaN2-500 Positioner Operation Manual 4 ‘Matornan 1.6 + Inspect the robot and work envelope to be sure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, etc. * Be sure that all safeguards are in place. + Check the E-STOP button on the teach pendant for proper operation before programming + Carry the teach pendant with you when you enter the workcell. * Be sure that only the person holding the teach pendant enters the workcell. + Test any new or modified program at low speed for at least one full cycle. OPERATION SAFETY All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. Operation tips are as follows: + Be sure that only trained personnel familiar with the operation of this robot, the operator’s manuals, the system equipment, and options and accessories are permitted to operate this robot system + Check all safety equipment for proper operation. Repair or replace any non- functioning safety equipment immediately + Inspect the robot and work envelope to ensure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, ete. + Ensure that all safeguards are in place. + Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation, manuals, electrical design, and equipment interconnections of this robot should be permitted (o operate the system. + Do not enter the robot cell while it is in automatic operation, Programmers ‘must have the teach pendant when they enter the cell + The robot must be placed in Emergency Stop (E-Stop) mode whenever it is not in use. + This equipment has multiple sources of electrical supply. Electrical interconnections are made between the controller, external servo box, and other equipment. Disconnect and lockout/tagout all electrical circuits before making any modifications or connections. + All modifications made to the controller will change the way the robot operates and can cause severe personal injury or death, as well as damage the robot. This includes controller parameters, ladder parts 1 and 2, and I/O (Input and Output) modifications. Check and test all changes at slow speed. |MAN2-500 Positioner Operation Manual 1S ‘Motoman 1.7 MAINTENANCE SAFETY All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation, Maintenance tips are as follows + Do not perform any maintenance procedures before reading and understanding the proper procedures in the appropriate manual. + Check all safety equipment for proper operation. Repair or replace any non- functioning safety equipment immediately. + Improper operation can result in personal injury and/or damage to the equipment. Only trained personne! familiar with the operation, manuals, electrical design, and equipment interconnections of this robot should be permitted to operate the system. + Back up all your programs and jobs onto a floppy disk whenever program changes are made. A backup must always be made before any servicing or changes are made 10 options, accessories, or equipment to avoid loss of information, programs, or jobs. * Do not enter the robot cell while it is in automatic operation. Programmers must have the teach pendant when they enter the cell + The robot must be placed in Emergency Stop (E-Stop) mode whenever it is not in use. + Be sure all safeguards are in place. + Use proper replacement parts. + This equipment has multiple sources of electrical supply. Electrical interconnections are made between the controller, external servo box, and other equipment. Disconnect and lockout/tagout all electrical circuits before making any modifications or connections. + All modifications made to the controller will change the way the robot operates and can cause severe personal injury or death, as well as damage the robot. This includes controller parameters, ladder parts 1 and 2, and /O (Input and Output) modifications. Check and test all changes at slow speed. + Improper connections can damage the robot. All connections must be made within the standard voltage and current ratings of the robot /O (Inputs and Outputs). ‘MAME-500 Postioner Operation Manual 76 ‘Motoran SG MOTOMAN ROBOTICS AB a subsidiary of YASKAWA Electric Corporation MOTOMAN ROBOTICS “ Table of contents Page: 1 . About this manual 2. General Production unit comprises: Identification 3. Safety Manufacturer 4. Installation Technical specifications Lifting instruction Installation safety Dimensions Mounting Connection to air supply Connection to YASNAC MRC Before first start 5. Maintenance General Robus FA & FR Cleaning Seite gy) Pneumatic equipment AC servo 10 Fixing hubs, type CN "1 Lubrication scheme 12 O©0©OCMM MIYVODR ROW ON NBA & 6. Spare parts 13 Pneumatic scheme 14 Spare parts 16-25 | ‘Skapad: 95-04-24 ‘Andrad: 96-04-09, Filnamn: t\m-manip\rm2-00\eng\serv-man.ih MOTOMAN ROBOTICS AB About this manual Page: 1 Service and installation manual Positioner MOTOMAN RM2-500SE2 1. About this manual This manual shall be available to service personnel. -Machine safety -Installation -For operating instruction, see Operators Manual. Together with this manual, please find enclosed mechanical and electrical documentation. These documents may not be copied without our written permission and the contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Text written in BOLD letters means command or button. ‘Text written in ITALIC means text shown on display. 2. General 2.1 Production unit comprises: -Two-station horizontal positioner, type RM2-500SE2. -Cable set between positioner and controller. -Assembly kit for MRC-controller. Skapad: 95-04-24 ‘Andrad: 96-04-09 Fllnamn: tim-manip\n2-500\englserv-man MOTOMAN ROBOTICS Page: 2 Safety AB 2.2 Identification Fig.1 Identification 3. Safety This machine shall be used for welding of workpiece. The machine is designed to be used together with a MOTOMAN industrial robot. This equipment is constructed, produced and tested according to the laws of the Member States relating to machinery (91/368/EEC). CE Motoman Robotics AB's responsibility does not cover errors or See ) safety risks that may occur in equipment connected to the Moto- man Robotics AB machine, nor errors or safety risks that may occur in the machine caused by equipment connected to the Moto- man Robotics AB's machine. The Motoman Robotics AB machine may not be used until the com- plete production unit correspond to the laws of the Member States relating to machinery (91/368/EEC). The machine must only be operated by specially trained persons. Skapad: 96-04-24 ‘ndrad: 96-04-09 Finamn: Um-manipima-600ienglsen-man MOTOMAN ROBOTICS AB Installation Page: 3 3.1 Manufacturer Address: Motoman Robotics AB Box 504 $-385 25 Torsés Sweden Telephone: +46 486 105 75 Telefax +46 486 414 10 Machine type: RM2-500SE2 Year of manufacturing 1996 4. Installation 4.1 Technical specifications Refer to MOTOMAN dimension drawing No, 213730-XX. T Index | index | Orbital | Orbital Model | Load | torque | time | torque | speed co -80 | 500kg]2000Nm | Ssec | 1050Nm | 0-16.8 rpm | 2,2kW 81 FR-45 . 92 119-1 : “93 “94 Compressed air : -working pressure 0.6 MPa = -minimum pressure 0,5 MPa -consumption 10 lit free air / eycle ‘Skapad: 95-04-24 ‘Andrad: 96-04-09 Filnamn: t\m-manipirm2-S00\eng\serv-man MOTOMAN ROBOTICS Page: 4 Installation ae 4.2 Lifting instruction ‘When lifting the machine use straps, applied to the centre beam accord- ing to sketch, or use a fork lift with its forks in their outer position. The straps shall be certificated for at least 2.000 kg each. Note! When using straps the locking bolt must be applied. : | | \ \ j Fig.2 Lifting instruction Forks Note! Crane operation, sling application, and forklift truck operation should be performed only by licenced personnel. In handling the positioner, extra care must be taken regarding the following: -Never place any part of your body under a suspended load or move a suspended load over any part of another person's body. Careless hand- ling may result in severe personal injury or death 4.3 Installation safety Warning signs and restrictive devices such as fence, chains, safety mats or light beams must be placed around the working area of the robot / Positioner. The warning signs shall indicate hazardous conditions and results that may occure if the waming is disregarded, Refer to the local regulation according to Machine Safety. Skapad: 95-04-26 Kndred: 96-04-09 Filnarnn:Eim-manipv™2-S00\englsenv-men| MOTOMAN ROBOTICS id Installation 4.4 Dimensions Page: 5 es 2175 eal 0 22(10x) 5 Is = a— 5 F | | TU | Fig.3 Main drawing with dimensions Model | A B c D E Weight 90 [2000 | 1765 | 3155 [3565 | 3845 [2.250kg 91 2500 | 2015 | 3655 | 4065 | 4345 | 2.400kg 92 | 3000 | 2265 | 4155 | 4565 | 4845 | 2.550 kg 93 | 3500 | 2515 | 4655 | 5065 | 5345 |2.700kg 94 | 2636 | 2015 | 3791 | 4201 [4481 | 2.400kg ‘Skapad: 95-04-24 ‘Andrad: 96-04-09 Filnamn: tim-manip\m2-S00\eng\serv-man MOTOMAN ROBOTICS Page: 6 Installation of 45 UNC1/2" (80) 4 M12 (8x), Mounting ‘The RM2-500SE2 should be firmly mounted on a base plate or founda- tion rigid enough to support the positioner and withstand repulsion forces. The surface of the floor should be level and even. Ifit is uneven, grind the swell and flatten the surface. The concrete thickness of the floor shall be at least 150 mm. a) Remove the cover before leveling. b) Place a spirit-level on the surfaces A, B and C resp. Adjust the level with the screws in both ends of the bed to a level >0,2/1000 mm. ¢) Adjust the screws in the middle of the bed, ) Fix the bed to the floor. Use anchor bolts according to the holes in the stand, ) Remove shipping bolt placed at the main gear wheel. ‘Skapad: 95-04-24 ‘Andrad: 96-04-09 Filnamn: t\m-manip\m2-S00\eng\serv-man MOTOMAN ROBOTICS AB Installation Page: 7 \ Air connection R1/4" iH Fig.5 Level adjustment surfaces 4.6 Connection to air supply Connect to main supply of compressed air (The air shall be clean and dry.) See pneumatic scheme No. 213657, at the end of this manual Note! Be careful when opening the main valve for the first time, cylin- ders may do unexpected motions. 4.7 Connection to YASNAC MRC. Installation and connection to MRC comprises hardware as well as software installation, this moment shall be carried out by MOTOMAN- service personnel ‘When the RM2 is delivered together with a robot, this installation is already carried out at MOTOMAN factory. ‘See separate scheme, included in this documentation, for electrical connection. Skapad: 95.04.26 Fndrad: 86-04-08 FFinama: tim-manipin2-S00\eng\serv-man Page: 8 MOTOMAN ROBOTICS AB Maintenance Install al electrical cables connecting the positioner, controller, weldit machine, and electrical supply wiring cables so that there is no possi ty of their being walked on or run over. Do not put any object directly on the cables. Do not install cables across other cables, and do not lay cables under- neath the welding machine The positioner is controlled from the robot controller / operators panel. Install these so that the positioner is in full view from the controller. 4.8 Before first start Before starting the operation, the safety fence, shield screens, cover and protective devices must be connected. Personnel should be instructed to stay outside the robot / positioner work area. Check all safety functions emergency stop buttons ete. Failure to do so could result in serious personel injury or death. Radio Frequency Interference (RF) and Electromagnetic Interference (EMI) may cause unexpected positioner motion which may result in severe personal injury or death. If RFI or EMI are suspected, contact an electrical noise consultant. During operation, check the positioner for excessive vibration, unusual noise etc. If any of these occure, stop immediately by pushing EMER- GENCY STOP button on the operator's panel, and contact MOTOMAN- Service 5. Maintenance 5.1 General Maintenance of the positioner should be handled only by authorized per- sonnel or MOTOMAN-Service, who are thoroughly familiar with the design and construction of the system Before performing maintenance or service work, be sure to: a) Turn off and lock the electrical supplies. b) Lock the wiring circuit breaker. Skapad: 95-04-24 ‘Andrad: 96-04-09, Filnamn: t\m-manip\m2-500\englserv-man MOTOMAN ROBOTICS, AB Maintenance Page: 9 Due to possible interconnections of the positioner controller with other equipment, more than one live circuit can exist. Be sure you have turned off all live circuits before servicing. In order to prevent inadvertent turning on of the machine, post a warn- ing or danger notice on the disconnected main switch, indicating that maintenance is performed. After completing maintenance work, be sure to check that all the cover clamping bolts are tight and that no tools are left in the interior of the working cell 5.2 Robus FA & FR 5.2.A Condition at delivery The reduction units are filled with grease and ready for operation Only the planetary gear portin on type FR requires additional lubrica- tion at the time of installation. 5.2.B Mounting of motor For reduction units with a hollow input sleeve the motor shaft should be coated with MoS2-paste or spray (e.g. Molycote). §.2.C Lubrication The series ROBUS FA & FR are grease lubricated for life and can be mounted in any position. Standard reduction units are filled with Shell Alvania RA, routine regreasing is not necessary. 5.2.D Overhaul After about 20.000 hours or 4 to 5 years operation, it is advisable to overhaul the unit and replace the grease. 5.2.E Disassembly - reassemble In principle, disassembly of the reduction unit is not recommended. No attempt should be made to change the mesh or clearances within the unit. If the unit is disassembled by other than CYCLO personnel then the operating and performance characteristic cannot be guaran- teed. 5.3 Cleaning The machine does not need any special cleaning beside normal cleaning once a shift (dust etc.). 5.4 Pneumatic equipment Check the air-treatment unit regularly, empty the filter bow. See, separate pneumatic scheme ‘Skapad: 06-04-24 ‘Andrad: 96-04-08 Filnamn: t\m-manip\rm2-500\eng\serv-man Page: 10 Maintenance MOTOMAN ROBOTICS AB 5.4.A Pneumatic valve FESTO JMVH, double solenoid valve. The valve is actuated by means of alternate switching of the voltage supply to the solenoid coils, and retains its switched position, even after the signal is removed, until a counter-signal is received. ‘The valve can be run with lubricated or unlubricated air. Operating pressure 0,2 up to 1,0 MPa. Coil: 24 V, 2.5 W Flow rate: 800 V/min. Ambient temperature -5°C up to +50°C 5.5 AC servo 5.5.A Servomotor The AC servomotor has no wearing parts (e.g. brushes), so simple daily inspection is sufficient. The inspection schedule for the motor is shown. in table. Do not disassemble the motor. If disassembly should become neces- sary, contact MOTOMAN-service. 5.5.B Servopack ‘The servopack does not require any special maintenance. Remove dust and tighten screws periodically. 5.5.C Maintenance Inspection item | Frequency Inspection operation Vibration Daily Feel manually ea) [Nowe Daily Aurally Exterior and | As required Clean with dry cloth or compressed air cleaning Insulation resist- | Annually Make sure that it is more than 10 Mohm by ance measuring with a S0OV megger after dis- connection the motor from the controller Shaft seal Every 5.000h | Replace shaft seal Overhaul Every 20.000 _| if won or damaged, replace after discon- hours or § years | necting the motor from the machine, Con- tact MOTOMAN-service. Skapad: 95-04-24 ‘Andrad: 96-04-09 Filnamn: t\m-manip\rm2-500\eng\serv-man MOTOMAN ROBOTICS AB Maintenance Page: 11 a) 5.5.D Troubleshooting Trouble | Cause Remedy Motor does not | Loose connection | Tighten connection ‘Wrong wiring Correct wiring Overload Reduce load or use a larger motor Unstable opera- | Wrong wiring Inspect and correct wiring across motor tion terminals L1, L2, L3 and PE Motor overheats | Excessive ambi- | Reduce ambient temperature below ent temperature 40°C Motor surface is | Clean motor surface dirty Overload Reduce load or use a larger motor Unusual noise | Motor loosely Tighten foundation bolts mounted Motor misaligned Realign Coupling out of | Balance coupling balance Noisy bearing Check alignment, noise of bearing, lubri- cation and contact MOTOMAN-service Vibration of driven | Contact machine manufacturer, MOTO- machine MAN-service NOTE! Shaded text, remedies should be carried out after turning power OFF. 5.6 Fixing hubs, type CN Friction locking assemblies shall be mounted slightly oiled. To increase torque by approx. 15%, make a dry mounting by drying the internal and external surface of the locking assembly itself by with a cloth, 5.6.4 Mounting In order to obtain high performance the right torque must be set, use a dynamometric wrench. This operation shall be carried out gradually. The friction locking assemblies are self centring. Torque for CN 910 50 x 80 41.Nm Torque for CN 911 85 x 125 83 Nm ‘Skapad: 95-04-24 ‘Andrad: 96-04-09 Filnamn: t\m-manip\rm2-500\eng\serv-man MOTOMAN ROBOTICS AB Page: 12 Maintenance 5.6.B Dismantling Take off as many screws as the extracting holes are and tighten them again in the latter. 5.7 Lubrication scheme Pos | Interval Point Method Lubricant 4 - Ball bearing, permanently | ~ lubricated P 3 500 h Rotary stud Manually Klber Microl- with a brush | ube GL-261 15 | 500h Gear* Grease gun | 20 gram If the cycle time is shorter Kluber grafio- than 2 minutes, grease scon every 15.000 indexes. C-SG 0 PLUS 16 |500h Gear’ Grease gun | 20 gram If the cycle time is shorter Kluber graflo- than 2 minutes, grease scon | every 15.000 indexes. C-SG 0 PLUS 17 Ball bearing, permanently | ~ Kldber Microl- lubricated ube GL-261 33 20.000 h | See separate instruction 46 500h Stud Grease gun | Kliber Microl- : | ube GL-261 59 [500h | Stud Grease gun | Klaber Microl- ube GL-261 ‘ 60 [500h | Hub Manually | Kldber Microl- ee ) with a brush | ube GL-261 ez |- Bearing, permanently = Klaber Microl- lubricated ube GL-261 *See lubrication note, mounted on the cover. ‘Skapad: 95-04-24 ‘Andrad: 96-04-09 Filnamn: t\m-maniplrm2-500\eng\serv-man MOTOMAN ROBOTICS AB Spare parts Page: 13 6. Spare parts Guarantee and machine function is valid only when using original Motoman Robotics AB spare parts. Using defect parts in the machine may result in severe accidents. When ordering spare parts, always state: v Machine type v Machine No v Part No. v Part name. v Number of parts. However, it is always advisable to keep some of the most frequent spare parts in stock, close to the machine. For RM2-500SE2 the following parts are recommended: Name PartNo. No. ofp. Rubber cover 413738 2 Magnet valve JMVH-5-1/4-B 1 Carbon brush 413569 4 Grease Kluber Grafloscon 9100551 1 If there are several indexing equipment of the same kind in the factory itis advisable to keep following parts in stock. Servo unit 1135643-90 1 4 Servo motor 2,2 kW 9011405 1 Reduction gear 6057031 1 Send your order to: Address: Motoman Robotics AB Box 504 8-385 25 Torsas Sweden Telephone: +46 486 105 75 Telefax: +46 486 414 10 ‘Skapad: 96-04-24 ‘Andrad: 96-04-09, Filnama: tm-manip\rm2-500\eng\serv-man Page: 14 MOTOMAN ROBOTICS Spare parts 4B 6.1 Pneumatic scheme To swivel To swivel (Option) TI ae | . (I . 3 ze Locking Support feme A Locking Headstock rn Rt A v4 Air connection Drive unit ‘Skapad: 95-04-24 ‘Andrad: 96-04-09 Filnamn: tm-manip\m2-500\eng\serv-man | MOTOMAN ROBOTICS AB Spare parts Page: 15 This page is intentionally left blank. Skapad: 05-08-24 Anaad: 96-04-08 Finama: t\m-manipim2-600\engWserv-man MOTOMAN ROBOTICS Page: 16 Spare parts AB ‘Skapad: 95-04-24 ‘Andrad: 96-04-09 Fiinamn: tim-manip\rm2-S00\eng\serv-man MOTOMAN ROBOTICS AB Spare parts Page: 17 Pos | No. Part name Part No. Note 1 1 | Ball bearing 6040067 2 1 Rubber cover 413738 3 2 | Carer stud 413156 4 [1 _[Gearwheel 213457 ‘Skapad: 95-04-24 ‘Andrad: 96-04-09 Filnamn: t\m-manipirm2-S00\eng\serv-man Page: 18 MOTOMAN ROBOTICS AB ‘Skapad: 95-04-24 ‘Rndrad: 96-04-09 Filnamn: t\m-manipvm2-SO0\eng\serv-man YS MOTOMAN ROBOTICS AB Spare parts Page: 19 | —— _ — Pos No. Part name Part No. Note 6 + Clamping sleeve 6046868 | CN 911 85X125 7 2 | Earthconnection _—_—(| 343747-83 8 2 Earth connection _ 313747-82 | 9 1 Bushing _ [413797 — 10 2 Current transfer | 313528 101 [4 ‘Spring 6034068 ~ Y 1 | Carbon brush 413569 fa 2 le socket con. 8411082 12 «(2 ctive proximity switch [8411048 | 8411049 USA 13 it Limit switch 8410026 14 [1 | Locking cylinder 213522 1417 Shaft 213524 | 742. |1 | Piston sealing 6052920 143 [1 __ | Piston rod sealing 6052955 144«/ 4 Bearing 443771 | [aas |? Bearing ~~ | 6054036 | ae 4 Piston rod sealing 6052950 15 1 Inner gearwheel ——*| 213528 | 16 1 | Outer gear wheel 313773 fiz |2 Ball bearing [6040066 18 4 Locking ring 6015062 19 4 Washer 6016236 — 20. [2 | Washer 6016237 21 1 Washer 6016237 22 1 Case 8413023 23 1 8413120 24 7027633 | PR-6 25 Hose [PU-4 26 Silencer U8 a Pneumatic valve JMVH-5-1/4-B 2 ia Gear wheel 213526 - MOTOMAN ROBOTICS Page: 20 Spare parts 48 ‘Skapad: 95-04-24 ‘Andrad: 96-04-09 Filnamn: t\m-manipirm2-S00\eng\serv-man MOTOMAN ROBOTICS AB Spare parts Page: 21 Pos No. Part name Part No. Note 1 Gear wheel 213655-80 1__| Earth connection 313747-83, 1 Earth connection 313747-82 29 [2 _| Shaft 413683 30 4 | Bushing 6054046 ree 31 Stripper 6051153 32 [4 Servo unit 113643-90 coma Reduction gear 6057031 FA-45-119 34 i] 1 Motor 9011405 2.2 kW 35 7 Earth connection 314033 36 [2 _| Damper "| 413759 37 [1_| Cylinder DNU-80-50-PPVA 38[2 _| Proximity switch 7028631 __| SEMO-1-LED-24 39 2 Switch bracket 7028632 SMBU-2 40 = Manometer 7006051 41___|[1__ | Non-return valve 7011501 42 a Filter - Regulator 7006030 43 [1 __|Ballvalve 7007003 44 | 3.2m| Packing 6069051 a eH ‘Skapad: 95-04-24 “Andrad: 96-04-09 Filnamn: tim-manip\m2-S00\engiserv-man F MOTOMAN ROBOTICS 48 Page: 22 MOTOMAN ROBOTICS AB Spare parts Page: 23 Pos | No. Part name Part No. Note 45 [2 __| Inductive proximity switch | 6411044 | 6411045 USA 46 [4 __| Locking stud 113104-81 461 [4 __| Spring 6034080 462 [4 __ | Locking ring 6015250 463 «(4 Locking ring 6015439 464 [1 Bearing housing 313176 incl. bushing ;: 465 [1 | Stud 313177-80 466 [1 Bolt 413744 467 «| 1 Sliding pad 413953 47 2 Clamping sieeve _ 6046811 CN 910 50x80 48 [4 _| Bushing 413157 _ 49 [4 _| Locking ring 6015046 50__[8 | Ballbearing 6040902 81 [4 _| Current transfer 313528 511 [4 | Carbon brush 443569 512. {1 Spring - 6034068 52. [4 [Ring 413672 53 [2 _| Swivel 313678 84 [8 | Oxing 6017222 i 55 [2 __| Shaft 213536 | 56 [2 _| Fixture plate 313576-81 58 4 Earth connection 313736 & 60 [2 _| Bushing 343774 ‘Skapad: 96-04-24 ‘Andrad: 96-04-09, Fllnamn: t\m-manipwm2-S00\englserv-man Page: 24 MOTOMAN ROBOTICS Spare parts AB ‘Skapad: 95-04-24 ‘Andrad: 96-04-08 Filnamn: t\m-manip\r2-500\eng\serv-man MOTOMAN ROBOTICS | AB Spare parts Page: 25 Pos | No. Part name Part No. Note 11 [2 | Cable socket con 8411082 12 [2 __| Inductive proximity switch | 8411048 __| 8411049 USA 14 [4 __ | Locking cylinder 243522 141__|[1 | Shaft 213624 142__|1 __| Piston sealing 6052920 sity 143 [4 _| Piston rod sealing 6052955 : 144.4 Bearing 413771 : 148 12 | Bearing 6054036 eta 146 «(1 Piston rod sealing | 6052950 27 [3 _| Pneumatic valve 7027030 _| JMVH-5-116-B 49. *(/4 Locking ring 6015046, 50 [8 _| Ballbearing [6040802 51 [4 __ | Current transfer 313528 511__[1 __ | Carbon brush 413569 12 [1 _| Spring 6034068 52 [4 | Ring 413572 57 [2__| Shaft 213473 58 [4 _| Earthconnection 313736 59 [2 _| Bushing 313794 61 [2 __| Fixture plate 313094-81 62 [1 | Bearing 6070028 63 [1 __| Limitewitch 8410026 Pe 64 1 Limit switch 8410026Thi s ‘Skapad: 95-04-24 ‘Andrad: 96-04-09 Filnamn: t\m-manip\mn2-S00\engiserv-man Headquarters: MOTOMAN ROBOTICS AB Box 504 * 385.25 Torsis » Sweden Tel: +46.486-10575 « Fax: -46-486-41410 Subsidiary: MOTOMAN ROBOTICS UK LTD 1 Swan Indusval Estate » Banbury # OXON OX16 8DJ « England Tel: +44-1208-272755 « Fax: +44-1295-267127 MOTOMAN ROBOTICS ITALIA SRL Via Emilia 1420/76 « -41700 Modena « ITALY Tel +39-59280496 Fax: +39-$9280602 MOTOMAN ROBOTICS FRANCE S.A. : five Nungesser et Col O2A Nontes-Allanique + F-44860 Sain-Aignande-Grand-Lieu « France ( Tol s220840029 « Fax: +30-40754%47 Distributors: ELECTRO-ARCO S.A. Rua Viee Almirante Azevedo Coutinho, 4 « Venda Nova ® PT-2700 Amadors + Portugal ¢ Tel: +351-14991321 « Fax: +351-14990696 HN AUTOMATIC A/S Hjulmagervej 4 » DK-7100 Vejle « Denmark Tel +45-70428000 « Fax: +45-70426001 LINCOLN-KD S.A. Ctra, Laurea Miro 396-388 + E-08980 Sant Feliu de Llobregat « Spain Tel +34-26685051 » Fax; +34-36668461 MESSER GRIESHEIM FRANCE S.A. Zi, Bois Briand + 2, eve Paul Beauper Tel: +33-40681101 « Fax: +38-40681111 F-44026 Nantes Cedex 03 « France MOTOMAN ROBOTIT OY Karsimaente 6 « SF-20300 Turku « Finland Tel: +258-212536888 Fax: +358-212538818 ROBOT-TEKNIKK AS re Ekervel 177 « N-3048 Drammen # Norway Tel: +47-32824890 « Fax: +87-32825155 MOTOMAN ROBOTICS AB a subsidiary of YASKAWA Electric Corporation ¥ ST1L0804 NYWOLON ac MRE ” nang “0 ¥ SL0g0u N¥HOLOH @¥ SDU00Y NYHOLOH

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