- •1 Receiving
- •1.1 Contents Confirmation
- •1.2 Order Number Confirmation
- •2 Transporting
- •2.1 Transporting Method
- •2.1.1 Using a Crane
- •2.2 Shipping Bolts and Brackets
- •3 Installation
- •3.1 Safeguarding Installation
- •3.2 Mounting Procedures for Manipulator Baseplate
- •3.2.1 When the Manipulator and Mounting Fixture are Installed on a Baseplate
- •3.2.2 When the Manipulator is Mounted Directly on the Floor
- •3.3 Location
- •4 Wiring
- •4.1 Grounding
- •4.2 Manipulator Cable Connection
- •4.2.1 Connection to the Manipulator
- •4.2.2 Connection to the NX100
- •5 Basic Specifications
- •5.1 Basic Specifications
- •5.2 Part Names and Working Axes
- •5.3 Manipulator Base Dimensions
- •5.4 Dimensions and P-Point Maximum Envelope
- •5.5 Alterable S-axis Operating Range
- •6.1 Allowable Wrist Load
- •6.2 Wrist Flange
- •7 System Application
- •7.1 Peripheral Equipment Mounts
- •7.2 Internal User I/O Wiring Harness and Air Line
- •8 Motoman Construction
- •8.1 Position of S-axis Overrun Limit Switch
- •8.2 Internal Connections
- •9 Maintenance and Inspection
- •9.1 Inspection Schedule
- •9.2 Notes on Maintenance Procedures
- •9.2.1 Battery Pack Replacement
- •9.2.9 Grease Replenishment for Tapered Roller Bearing at Link and Connection
- •9.2.10 Grease Replenishment for Balancer Connection
- •9.2.11 Notes for Maintenance
- •Battery Pack Connection for Motor
- •10 Recommended Spare Parts
- •11 Parts List
- •11.1 S-Axis Unit
- •11.2 L-Axis Unit
- •11.3 Link Unit
- •11.4 Balancer Unit*
- •11.5 RBT-Axes Unit
- •11.6 U-Axis Unit
- •11.7 Wrist Unit
151781-1CD
11.5 RBT-Axes Unit
HP600 MANIPULATOR
11.5 RBT-Axes Unit
|
|
|
6003 6004 |
|
|
|
6026 |
6005 |
|
T-AXIS |
|
|
|
|
6025 |
6027 |
R-AXIS |
|
|
6003 |
|
|||
|
|
|
||
|
|
|
|
|
6004 |
|
|
|
|
6005 |
|
|
6012 |
|
|
|
|
|
|
|
|
|
6007 |
|
|
6023 |
|
6011 |
|
|
|
6010 |
|
|
6006 |
6024 |
6022 |
6002 |
|
6007 |
6021 6028 |
|
|
|
|
6009 |
|
|
|
|
6008 |
|
6028 |
|
|
|
|
|
|
6002 |
|
|
6018 |
6017 |
|
|
|
6020 6019
6003 |
|
|
|
6014 |
6015 |
6016 |
|
|
6004 |
6001 |
|
|
|
|
|
|
6005 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
6013 |
|
|
|
|
|
|
|
6007 |
|
|
|
|
|
|
|
6009 |
6018 |
6017 |
|
|
|
|
|
6008 |
|
|
|
|
|
6002 |
B-AXIS |
|
|
|
|
U-ARM |
|
|
|
|
|
|
|||
|
|
|
|
|
|
|
|
|
|
4022 |
|
6020 |
|
|
|
|
|
|
|
6019 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
6018 |
6017 |
|
|
|
|
|
|
|
6020 |
|
|
|
|
|
|
|
|
6019 |
|
11-9
HW0482904 67/73
HW0482904
11.5 RBT-Axes Unit
No. |
DWG No. |
Name |
Pcs |
6001 |
HW0100126-2 |
Casing |
1 |
6002 |
SGMRS-13A2A-YR1* |
Motor |
3 |
6003 |
M6X30 |
Socket screw |
12 |
|
(DACROTIZED coating) |
|
|
6004 |
2H-6 |
Spring washer |
12 |
6005 |
HW9404231-1 |
Collar |
12 |
6006 |
HW0401148-1 |
Pulley |
1 |
6007 |
HW9405163-1 |
B-cover |
3 |
6008 |
M6X25 |
Socket screw |
2 |
6009 |
2H-6 |
Spring washer |
2 |
6010 |
M6X20 |
Socket screw |
1 |
6011 |
2H-6 |
Spring washer |
1 |
6012 |
HW0404361-1 |
Pulley |
1 |
6013 |
HW0401147-1 |
Pulley |
1 |
6014 |
200S8M656 |
Belt |
1 |
6015 |
200S8M760 |
Belt |
1 |
6016 |
200S8M848 |
Belt |
1 |
6017 |
HW0401195-1 |
Cover |
3 |
6018 |
HW0480662-A |
Gasket |
3 |
6019 |
M6X12 |
Socket screw |
12 |
6020 |
2H-6 |
Spring washer |
12 |
6021 |
HW0480663-A |
Gasket |
1 |
6022 |
HW0401196-1 |
Cover |
1 |
6023 |
M6X16 |
Socket screw |
4 |
6024 |
2H-6 |
Spring washer |
4 |
6025 |
HW9403751-1 |
Cover |
1 |
6026 |
M5X8 |
Socket screw |
7 |
6027 |
2H-5 |
Spring washer |
7 |
6028 |
EZ5013A0 |
Cap |
2 |
4022 |
HW0100128-1 |
L-arm |
1 |
11-10
HW0482904 68/73
151781-1CD
11.6 U-Axis Unit
HP600 MANIPULATOR
11.6 U-Axis Unit
70107011 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
7051 |
|
|
7021 |
|
7009 |
|
|
|
|
|
|
7022 |
|
|
|
|
|
|
|
|
|
7019 7018 7020 |
||
|
|
|
7007 |
|
|
7002 |
70237015 |
||
|
|
|
|
|
|
7016 |
|||
|
|
|
|
7008 |
|
|
|
||
|
|
|
|
7004 |
|
|
7017 |
|
|
|
|
|
|
|
|
|
7016 |
7014 |
|
|
|
|
|
|
7003 |
|
|||
|
|
|
|
|
|
|
|
7017 |
7013 |
|
7012 |
|
|
|
|
|
|
|
|
|
|
|
7024 |
|
|
|
7001 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
7027 |
|
|
|
|
|
7028 |
|
|
|
|
|
|
|
|
7030 |
|
7031 |
|
|
|
|
|
|
|
7029 |
|
|
|
|
|
|
|
||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
7032 |
|
|
|
7025 |
|
|
|
|
|
7035 |
|
|
7050 |
||
|
|
|
|
|
7036 7037 |
|
|
7026 |
|
|
|
|
|
|
|
|
|
||
|
|
|
|
|
|
|
|
|
|
|
|
|
7034 7033 |
7040 |
7041 |
7042 |
|
||
|
|
|
|
|
|
|
|||
|
|
|
|
|
|
7049 |
|
||
|
7031 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
7048 |
|
|
|
7045 |
|
7043 |
7050 |
|
|
|
|
|
|
7044 |
|
|
|
|
|
|||
|
|
|
70397038 |
|
|
|
|
||
|
|
|
|
7047 |
|
|
|
|
|
|
|
|
|
7046 |
|
|
|
|
11-11
HW0482904 69/73
HW0482904
11.6 U-Axis Unit
No. |
DWG No. |
Name |
Pcs |
No. |
DWG No. |
Name |
Pcs |
7001 |
HW0100127-1 |
U-arm |
1 |
7049 |
2H-12 |
Spring washer |
16 |
7002 |
G185 |
O-ring |
1 |
7050 |
PT1/8 |
plug |
2 |
7003 |
M12X45 |
Socket screw |
14 |
7051 |
HW0404444-1 |
Collar |
1 |
7004 |
2H-12 |
Spring washer |
14 |
6001 |
HW0100126-2 |
Casing |
1 |
7005 |
MSTM8-20 |
Pin |
1 |
|
|
|
|
7006 |
HW9302143-A |
Shaft |
1 |
|
|
|
|
7007 |
6919DDU |
Bearing |
1 |
|
|
|
|
7008 |
WR95 |
Retaining rings |
1 |
|
|
|
|
7009 |
HW9405058-1 |
B-cover |
1 |
|
|
|
|
7010 |
M5X12 |
Socket screw |
3 |
|
|
|
|
7011 |
2H-5 |
Spring washer |
3 |
|
|
|
|
7012 |
HW9302142-A |
Shaft |
1 |
|
|
|
|
7013 |
6914DDU |
Bearing |
1 |
|
|
|
|
7014 |
ISTW-70 |
Stopper |
1 |
|
|
|
|
7015 |
HW0304174-1 |
Pulley |
1 |
|
|
|
|
7016 |
M5X16 |
Socket screw |
6 |
|
|
|
|
7017 |
2H-5 |
Spring washer |
6 |
|
|
|
|
7018 |
HW9482276-A |
Pulley |
1 |
|
|
|
|
7019 |
HW9405163-1 |
B-cover |
3 |
|
|
|
|
7020 |
HW0300932-1 |
Pulley |
1 |
|
|
|
|
7021 |
M6X25 |
Socket screw |
1 |
|
|
|
|
7022 |
2H-6 |
Spring washer |
1 |
|
|
|
|
7023 |
6204DDU |
Bearing |
1 |
|
|
|
|
7024 |
6811LLU |
Bearing |
1 |
|
|
|
|
7025 |
6904LLU |
Bearing |
1 |
|
|
|
|
7026 |
51020 |
Retaining rings |
1 |
|
|
|
|
|
|
C-type |
|
|
|
|
|
7027 |
HW9381449-C |
Shaft |
1 |
|
|
|
|
7028 |
HW0480643-A |
Shaft |
1 |
|
|
|
|
7029 |
M4X14 |
Socket screw |
6 |
|
|
|
|
7030 |
2H-4 |
Spring washer |
6 |
|
|
|
|
7031 |
AE2085K4 |
Oil seal |
2 |
|
|
|
|
7032 |
HW0300924-1 |
Shaft |
1 |
|
|
|
|
7033 |
M4X14 |
Socket screw |
4 |
|
|
|
|
7034 |
2H-4 |
Spring washer |
4 |
|
|
|
|
7035 |
6912DDU |
Bearing |
1 |
|
|
|
|
7036 |
ISTW-60 |
Stopper |
1 |
|
|
|
|
7037 |
HW0401149-1 |
Housing |
1 |
|
|
|
|
7038 |
M5X14 |
Socket screw |
4 |
|
|
|
|
7039 |
2H-5 |
Spring washer |
4 |
|
|
|
|
7040 |
AE3055E2 |
Oil seal |
1 |
|
|
|
|
7041 |
AS568-272 |
O-ring |
1 |
|
|
|
|
7042 |
HW0380393-A |
Speed reducer |
1 |
|
|
|
|
7043 |
HW0300925-1 |
Spacer |
1 |
|
|
|
|
7044 |
6907LLU |
Bearing |
1 |
|
|
|
|
7045 |
IRTW-55 |
Stopper |
1 |
|
|
|
|
7046 |
M12X50 |
Socket screw |
16 |
|
|
|
|
7047 |
2H-12 |
Spring washer |
16 |
|
|
|
|
7048 |
M12X60 |
Socket screw |
16 |
|
|
|
|
11-12
HW0482904 70/73