151781-1CD
9.1 Inspection Schedule
HP600 MANIPULATOR
9 Maintenance and Inspection
WARNING
•Before maintenance or inspection, be sure to turn the main power supply off, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.)
Failure to observe this warning may result in electric shock or injury.
CAUTION
•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 this caution may result in injury from unexpected turning of the manipulator’s arm.
•The battery pack must be connected before removing detection connector when maintenance and inspection.
Failure to observe this caution may result in the loss of home position data.
9.1Inspection 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 displayed in six levels. Conduct periodical inspections according to the inspection schedule in " Table. 1 Inspection Items ".
In " Table. 1 Inspection Items ", the inspection items are classified into three types of operation: operations which can be performed by personnel authorized by the user, operations which can be performed by trained personnel, and operations which can be performed by service company personnel. Only specified personnel are to do the inspection work.
9-1
HW0482904 35/73
151781-1CD
9.1 Inspection Schedule
HP600 MANIPULATOR
• The inspection interval must be based on the servo power supply on time.
NOTE • For axes which are used very frequently (in handling applications, etc.), it is recom- 
mended that inspections be conducted at shorter intervals. Contact your Yaskawa representative.
Table. 1 Inspection Items
|
Items*1 |
|
|
Schedule |
|
|
|
Operation |
Inspection Charge |
||||
|
|
|
|
|
|
|
Method |
|
|
|
|||
|
Daily |
1000H |
6000H |
12000H |
24000 |
36000 |
Specified |
Licensee |
Service |
||||
|
|
|
Cycle |
Cycle |
Cycle |
H |
H |
|
|
Personnel |
Company |
||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Alignment |
|
|
|
|
|
|
|
Check alignment |
|
|
|
1 |
|
|
|
|
|
|
|
Visual |
mark accordance |
|
|
|
|
|
mark |
|
|
|
|
|
and damage at the |
||||||
|
|
|
|
|
|
|
|
|
|
|
|
||
|
|
|
|
|
|
|
|
|
|
home position. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
2 |
|
|
|
|
|
|
|
|
|
Check for damage |
|
|
|
|
External lead |
|
|
|
|
|
Visual |
and deterioration of |
|||||
|
|
|
|
|
|
|
|
|
|
leads. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Working area |
|
|
|
|
|
|
|
Clean the work area |
|
|
|
3 |
|
|
|
|
|
|
|
Visual |
if dust or spatter is |
|
|
|
|
|
and |
|
|
|
|
|
present. Check for |
||||||
|
|
manipulator |
|
|
|
|
|
|
|
damage and outside |
|
|
|
|
|
|
|
|
|
|
|
|
|
cracks. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
4 |
|
LU-axis |
|
|
|
|
|
|
Visual |
Check for grease |
|
|
|
|
motors |
|
|
|
|
|
leakage.*2 |
||||||
|
|
|
|
|
|
|
|
|
|
|
|
||
5 |
|
Baseplate |
|
|
|
|
|
|
Spanner |
Tighten loose bolts. |
|
|
|
|
mounting bolts |
|
|
|
|
|
Replace if necessary. |
||||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
6 |
|
Cover mount- |
|
|
|
|
|
|
Screw- |
Tighten loose bolts. |
|
|
|
|
|
|
|
|
|
driver, |
Replace if necessary. |
||||||
|
ing screws |
|
|
|
|
|
|||||||
|
|
|
|
|
|
|
|
Wrench |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
7 |
|
SLURBT-axis |
|
|
|
|
|
|
|
Check for loose con- |
|
|
|
|
motor |
|
|
|
|
|
Manual |
nectors and tighten if |
|||||
|
|
connectors |
|
|
|
|
|
|
|
necessary. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
8 |
|
Connector |
|
|
|
|
|
|
Manual |
Check for loose con- |
|
|
|
|
|
base |
|
|
|
|
|
|
|
nectors. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
9 |
|
Cable bearing |
|
|
|
|
|
|
Visual |
Remove the cover to |
|
|
|
|
in S-axis |
|
|
|
|
|
check for wear. |
|
|||||
|
|
|
|
|
|
|
|
|
|
|
|
||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Visual, |
Tighten loose nuts |
|
|
|
10 |
|
L-axis bal- |
|
|
|
|
|
|
and shafts. |
|
|
|
|
|
|
|
|
|
|
Grease |
|
||||||
|
ancer |
|
|
|
|
|
Supply grease*4 . |
|
|||||
|
|
|
|
|
|
Gun |
|
||||||
|
|
|
|
|
|
|
|
|
See par. 9.2.10. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
11 |
|
RB-axis tim- |
|
|
|
|
|
|
Manual |
Check for belt ten- |
|
|
|
|
ing belts |
|
|
|
|
|
sion and wear. |
|
|||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Check for conduc- |
|
|
|
|
|
|
|
|
|
|
|
|
|
tion between the |
|
|
|
|
|
|
|
|
|
|
|
|
|
main connector of |
|
|
|
|
|
|
|
|
|
|
|
|
|
base and intermedi- |
|
|
|
|
|
Wire harness |
|
|
|
|
|
|
ate connector with |
|
|||
12 |
|
in manipulator |
|
|
|
|
|
|
|
manually shaking the |
|
|
|
|
(for SLURBT- |
|
|
|
|
|
|
|
wire. |
|
|
|
|
|
|
axes) |
|
|
|
|
|
|
|
Check for wear of |
|
|
|
|
|
|
|
|
|
|
|
|
|
protective spring*3. |
|
|
|
|
|
|
|
|
|
|
|
|
|
Replace in every |
|
|
|
|
|
|
|
|
|
|
|
|
24000H. |
|
|
||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Check for taint dam- |
|
|
|
|
|
|
|
|
|
|
|
|
Screw- |
age, deterioration, |
|
|
|
|
|
S-axis limit |
|
|
|
|
|
|
and function of the |
|
|
|
|
13 |
|
|
|
|
|
|
|
driver, |
|
|
|
||
|
|
|
|
|
|
limit switch dog. |
|
||||||
|
switch dog |
|
|
|
|
|
Wrench, |
|
|||||
|
|
|
|
|
|
|
|
|
Tester |
Check for any loose- |
|
|
|
|
|
|
|
|
|
|
|
|
ness and tighten if |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
necessary. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
9-2
HW0482904 36/73
151781-1CD
9.1 Inspection Schedule
HP600 MANIPULATOR
Table. 1 Inspection Items
|
Items*1 |
|
|
Schedule |
|
|
|
Operation |
Inspection Charge |
||||
|
|
|
|
|
|
|
Method |
|
|
|
|||
|
Daily |
1000H |
6000H |
12000H |
24000 |
36000 |
Specified |
Licensee |
Service |
||||
|
|
|
|
|
|||||||||
|
|
|
Cycle |
Cycle |
Cycle |
H |
H |
|
|
Personnel |
Company |
||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Move the LU-axes |
|
|
|
|
|
LU-arm con- |
|
|
|
|
|
|
|
back and forth and |
|
|
|
14 |
|
|
|
|
|
|
|
Visual, |
around to check for |
|
|
|
|
|
nection and |
|
|
|
|
|
|
||||||
|
|
|
|
|
|
Manual |
the bearing backlash. |
|
|||||
|
|
link |
|
|
|
|
|
|
|
Supply grease*4. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
See Par. 9.2.9. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Replace the battery |
|
|
|
|
|
Battery pack |
|
|
|
|
|
|
|
pack when the bat- |
|
|
|
15 |
|
|
|
|
|
|
|
|
tery alarm occurs or |
|
|
|
|
|
in manipulator |
|
|
|
|
|
|
the manipulator |
|
||||
|
|
|
|
|
|
|
|
|
|
drove for every |
|
|
|
|
|
|
|
|
|
|
|
|
|
36000H. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Check for malfunc- |
|
|
|
|
|
|
|
|
|
|
|
|
|
tion. (Replace if nec- |
|
|
|
|
|
|
|
|
|
|
|
|
|
essary.) |
|
|
|
16 |
|
S-axis speed |
|
|
|
|
|
|
Grease |
Supply grease*4 |
|
|
|
|
|
|
|
|
(6000H cycle). See |
|
|||||||
|
reducer |
|
|
|
|
Gun |
|
||||||
|
|
|
|
|
|
|
|
|
|
Par. 9.2.2. |
|
|
|
|
|
|
|
|
|
|
|
|
|
Replace grease*4 |
|
|
|
|
|
|
|
|
|
|
|
|
|
(12000H cycle). See |
|
|
|
|
|
|
|
|
|
|
|
|
|
Par. 9.2.2. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Check for malfunc- |
|
|
|
|
|
|
|
|
|
|
|
|
|
tion. (Replace if nec- |
|
|
|
|
|
|
|
|
|
|
|
|
|
essary.) |
|
|
|
17 |
|
LU-axis speed |
|
|
|
|
|
|
Grease |
Supply grease*4 |
|
|
|
|
|
|
|
|
(6000H cycle). See |
|
|||||||
|
reducers |
|
|
|
|
Gun |
|
||||||
|
|
|
|
|
|
|
|
|
|
Par. 9.2.3. |
|
|
|
|
|
|
|
|
|
|
|
|
|
Replace grease*4 |
|
|
|
|
|
|
|
|
|
|
|
|
|
(12000H cycle). See |
|
|
|
|
|
|
|
|
|
|
|
|
|
Par. 9.2.3. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Check for malfunc- |
|
|
|
|
|
|
|
|
|
|
|
|
|
tion. (Replace if nec- |
|
|
|
|
|
|
|
|
|
|
|
|
|
essary.) |
|
|
|
18 |
|
R-axis speed |
|
|
|
|
|
|
Grease |
Supply grease*4 |
|
|
|
|
|
|
|
|
(6000H cycle). See |
|
|||||||
|
reducer |
|
|
|
|
Gun |
|
||||||
|
|
|
|
|
|
|
|
|
|
Par. 9.2.4. |
|
|
|
|
|
|
|
|
|
|
|
|
|
Replace grease*4 |
|
|
|
|
|
|
|
|
|
|
|
|
|
(12000H cycle). See |
|
|
|
|
|
|
|
|
|
|
|
|
|
Par. 9.2.4. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Check for malfunc- |
|
|
|
|
|
|
|
|
|
|
|
|
|
tion. (Replace if nec- |
|
|
|
|
|
|
|
|
|
|
|
|
|
essary.) |
|
|
|
19 |
|
B-axis speed |
|
|
|
|
|
|
Grease |
Supply grease*4 |
|
|
|
|
reducer and |
|
|
|
|
(6000H cycle). See |
|
||||||
|
|
|
|
|
Gun |
|
|||||||
|
|
gear |
|
|
|
|
|
|
Par. 9.2.5. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||
|
|
|
|
|
|
|
|
|
|
Replace grease*4 |
|
|
|
|
|
|
|
|
|
|
|
|
|
(12000H cycle). See |
|
|
|
|
|
|
|
|
|
|
|
|
|
Par. 9.2.5. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Check for malfunc- |
|
|
|
|
|
|
|
|
|
|
|
|
|
tion. (Replace if nec- |
|
|
|
|
|
|
|
|
|
|
|
|
|
essary.) |
|
|
|
20 |
|
T-axis speed |
|
|
|
|
|
|
Grease |
Supply grease*4 |
|
|
|
|
reducer and |
|
|
|
|
(6000H cycle). See |
|
||||||
|
|
|
|
|
Gun |
|
|||||||
|
|
gear |
|
|
|
|
|
|
Par. 9.2.6. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||
|
|
|
|
|
|
|
|
|
|
Replace grease*4 |
|
|
|
|
|
|
|
|
|
|
|
|
|
(12000H cycle). See |
|
|
|
|
|
|
|
|
|
|
|
|
|
Par. 9.2.6. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Check for malfunc- |
|
|
|
|
|
|
|
|
|
|
|
|
|
tion. (Replace if nec- |
|
|
|
|
|
|
|
|
|
|
|
|
|
essary.) |
|
|
|
21 |
|
SL-axis cross |
|
|
|
|
|
|
Grease |
Supply grease*4 |
|
|
|
|
|
|
|
|
|
(6000H cycle). |
|
||||||
|
roller bearings |
|
|
|
|
|
Gun |
|
|||||
|
|
|
|
|
|
|
|
|
|
Replace grease*4 |
|
|
|
|
|
|
|
|
|
|
|
|
|
(primary inspection). |
|
|
|
|
|
|
|
|
|
|
|
|
|
See Par. 9.2.7 and |
|
|
|
|
|
|
|
|
|
|
|
|
|
9.2.8. |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
9-3
HW0482904 37/73
|
|
|
|
|
|
|
|
|
|
|
|
|
151781-1CD |
|||
HP600 MANIPULATOR |
|
9.1 Inspection Schedule |
|
|
|
|
|
|
||||||||
|
|
|
|
|
|
|
|
|
|
|
|
|
||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Table. 1 Inspection Items |
|
|
|
|
|
|
|||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Items*1 |
|
|
|
|
Schedule |
|
|
|
Operation |
Inspection Charge |
||||||
|
|
|
|
|
|
|
|
Method |
|
|
|
|
|
|||
Daily |
|
1000H |
|
6000H |
12000H |
24000 |
36000 |
Specified |
Licensee |
Service |
||||||
|
|
|
|
|
|
|||||||||||
|
|
|
Cycle |
|
Cycle |
Cycle |
H |
H |
|
|
Personnel |
Company |
||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
||
22 |
Overhaul |
|
|
|
|
|
|
|
|
|
|
|
|
|
||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
*1
*2
*3
*4
Inspection No. correspond to the numbers in " Fig. 17 Inspection Parts and Inspection Numbers (Manipulator in the Home Position) ".
The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can cause a motor breakdown. Contact your Yaskawa representative.
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 par. 9.2.11.)
For the grease used in each part, refer to " Table. 2 Inspection Parts and Grease Used ".
Table. 2 Inspection Parts and Grease Used
No. |
|
Grease Used |
Inspected Parts |
|
|
|
|
|
|
16 17 18 |
Molywhite RE No. 00 |
• Speed reducers for ALL axes |
||
|
• B- and T-axis Gears |
|||
19 |
20 |
|
|
|
|
|
|
||
|
|
|
|
|
|
|
|
Alvania EP Grease 2 |
• S- and L-axis Cross Roller Bearings |
14 |
10 |
21 |
|
• Tapered Roller Bearings for Link and Con- |
|
nection |
|||
|
|
|
|
|
|
|
|
|
• L-axis Balancer |
|
|
|
|
|
The numbers in the above table correspond to the numbers in " Table. 1 Inspection Items ".
9-4
HW0482904 38/73
5-9
HW0482904
5 |
6 |
12 |
11 |
1 B-axis 20 1 |
|
|
|
T-axis
19 6
|
6 |
|
|
|
|
|
|
|
6 |
|
|
|
6 |
|
7 |
|
|
|
6 |
|
|
14 |
|
|
|
||
|
|
|
|
|
1 |
|
|
|
|
|
18 |
1 |
|
|
|
|
14 |
U-axis |
||
|
|
|
|
R-axis |
||
|
2 |
|
|
|
10 |
|
|
|
|
|
12 |
||
|
6 |
|
|
|
10 |
|
|
14 |
|
|
|
||
|
|
|
|
|
|
|
|
|
|
|
|
4 |
1 |
|
|
|
|
|
|
|
|
|
6 |
|
|
17 |
L-axis |
|
|
|
|
|
||
7 |
|
7 |
|
|
|
17 |
|
|
|
|
|
||
16 |
|
13 |
|
|
21 |
1 |
15 |
15 |
13 |
|
|
L-axis |
S-axis |
9 |
12 |
|
||||
|
|
|
|
|
||
|
|
|
|
|
21 |
|
|
|
|
|
|
S-axis |
|
|
Fig. 17 |
Inspection Parts and Inspection Numbers (Manipulator in the Home Position) |
|
|||
MANIPULATOR HP600 |
1.9 |
1CD-151781 |
|
|
|
|
Schedule Inspection |
|
|
|
|
39/73