Hyundai HX200L - User Manual

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Hyundai Robot

Manipulator Maintenance Manual

- HX200L , HX200L-2000,

- HX300 , HX300L,

- HX400

HX300060301MME2

Main Page

Table of Contents3
Introduction10
Relevant Safety Regulations12
Safety Training12
Safety Related Nameplate13
Safety Marking13
Table 1-1 Safety Marking13
Safety Nameplate14
Definition of Safety Functions15
Installation16
Safety Fence16
Fig 1.1 Recommended Size for Fence and Gate Hole (Square Gate)16
Fig 1.2 Recommended Size for Fence and Gate Hole (Slot Gate)16
Placement of Robot & Peripheral Equipment18
Fig 1.3 Placement of Peripheral Equipment and Operator18
Installing the Robot20
Space for Robot Installation22
Fig 1.4 Space for Robot Installation22
Safety Operation for Robot Handling23
Safety Precautions for Robot Handling23
Table 1-2 State of Robot Stop25
Safety Precautions for Operating Test26
Safety Precautions for Automatic Operation27
Safety Precautions for Access to Safety Fence28
Safety Precautions for Maintenance and Repair29
Safety Precautions for Hi4A Controller Maintenance and Repair29
Safety Precautions for Robot System & Manipulator Maintenanace30
Necessary Actions after Maintenance and Repair31
Safety Functions32
Operating a Safety Circuit32
Fig 1.5 Robot's Safety Circuit32
Emergency Stop34
Fig 1.6 Emergency Stop36
Fig 1.7 Emergency Stop Connection of External System36
Operating Speed37
Connecting the Safety Devices37
Restricting the Working Envelope38
Monitoring Function38
Safety Related to End Effectors39
Gripper39
Tool / Workpiece40
Pneumatic and Hydraulic Systems40
Liabilities41
Specifications43
Robot Machinery Part44
Fig 2.1 Robot Machinery Part44
Location of Robot Identification Plate45
Fig 2.2 the Location of Identification Plate45
Basic Specifications46
Table 2-1 Basic Specifications for Models46
Robot Dimension and Working Envelope48
Fig 2.3 Robot Dimension and Working Envelope : [HX300]48
Fig 2.4 Robot Dimension and Working Envelope : [HX400]49
Fig 2.5 Robot Dimension and Working Envelope : [HX200L]50
Fig 2.6 Robot Dimension and Working Envelope : [HX200L-2000]51
Fig 2.7 Robot Dimension and Working Envelope : [HX300L]52
Axis Identification53
Fig 2.8 Robot Dimension and Axis [HX300/400/200L/200L-2000/300L]53
Table 2-2 Axis Motion53
Details of Wrist Axis Attachment Surface54
Fig 2.9 Details of Wrist Axis Attachment Surface : [HX300/400/300L]54
Fig 2.10 Details of Wrist Axis Attachment Surface : [HX200L]54
Details of Upper 1 St ARM Attachment Surface55
Fig 2.11 Details of Upper 1St ARM Attachment Surface55
Application Wiring and Inspection Wiring Diagram56
Fig 2.12 Application Wiring and Inspection Wiring Diagram56
Details of Customer Application Connectors57
Fig 2.13 Details of Application Connector (Encoder)57
Fig 2.14 Details of Application Connector (Power)57
Restricting the Working Envelope58
Axis 1(Axis S)58
Instructions59
Robot Component Name60
Fig 3.1 Identification of Robot Components60
Table 3-1 Components Name60
Location of Safety Nameplate61
Fig 3.2 Location of Safety Nameplate61
How to Operate62
Using Crane62
Fig 3.3 How to Transport: Using Crane [HX300/400]62
Fig 3.4 How to Transport: Using Crane [HX200L/300L]63
Using Forklift Truck64
Fig 3.5 How to Transport : Using Forklift Truck64
How to Install65
Operating Conditions65
Installating the Robot Manipulator66
Dimension of Installation Surface67
Fig 3.6 Dimension of Robot Installation67
Accuracy of Installation Surface68
Fig 3.7 Accuracy of Installation Surface68
Allowable Load of Wrist Axis69
Table 3-2 Allowable Load Weight69
Table 3-3 Allowable Load Torque69
Table 3-4 Allowable Moment of Inertia70
Fig 3.8 Wrist Axis Torque Mapping:[Hx300/300L]72
Fig 3.9 Wrist Axis Torque Mapping : [HX400]72
Fig 3.10 Wrist Axis Torque Mapping : [HX200L]73
Recommended Standy Posture74
Fig 3.11 Recommended Standby Posture74
Inspection75
Inspection Item and Period76
Table 4-1 Inspection Schedule76
Table 4-2 Inspection Items and Periods77
Inspection of Main External Bolts79
Table 4-3 Inspection Part for Main Bolts79
Inspection of Wrist Backlash81
Fig 4.2 Abnormal Backlash Inspecting Directions81
Inspection Internal Wiring82
The Conditions of Safety Inspection82
Inspection Part83
Fig 4.3 Cable Inspection Parts : [HX300/400/200L/200L-2000/300L]83
Maintenance85
Grease Replenishment/Replacement86
S-Axis Reduction Gear87
H-Axis Reduction Gear88
V-Axis Reduction Gear90
R2-Axis Reduction Gear92
B-Axis Reduction Gear93
R1-Axis Reduction Gear95
Bearing Joint Parts97
A1 Frame - Gear Box98
Wrist - Gear Box99
Battery Replacement100
Instructions for Battery Storage102
Internal Wiring103
Wiring Connection Diagram104
Fig 5.1 Explains of Internal Wiring104
Fig 5.2 Wiring Connection Diagram : [HX300/400/200L/200L-2000/300L]105
Trobleshooting107
Troubleshooting Procedure108
Trouble Symptoms and Possible Causes109
Table 6-1 Trouble Phenomenon and Cause109
Diagnostics and Resolutions for Major Parts Failure110
Fulcrum Bearings110
Reduction Gear111
Brakes113
Motor114
Encoder115
Motor Replacement116
Table 6-2 Motor Weight116
Necessary Tools and Parts118
Table 6-3 Necessary Tools118
Table 6-4 Necessary Parts118
How to Replace Motor119
Encoder Zero Setting121
Zero Setting122
Encoder Reset123
Table 6-5 Reset Connectors Corresponding to Axes123
Fig 6.2 Encoder Reset Connector124
Confirming the Reset125
Encoder Calibration(Data Input) and Selection126
Table 6-6 Data Range after Resetting126
Recommended Spare Parts127
Table 7-1 Spare Parts Listⅰ128
Table 7-2 Spare Parts Listⅱ130
Table 7-3 Spare Parts List Ⅲ131
Table 7-4 Spare Parts List Ⅳ132
Table 7-5 Spare Parts List Ⅴ133
Internal Wiring Diagram135
Manipulator Configuration136
Wiring Diagram136
Fig 8.1 Manipulator Configuration136
Fig 8.2 Motor and Brake Wiring Connection No.1137
Fig 8.3 Motor and Brake Wiring Connection No.2138
Fig 8.4 Encoder Wiring Connection No.1139
Fig 8.5 Encoder Wiring Connection No.2140
Fig 8.6 Encoder Wiring Connection No.3141
Fig 8.7 Application Wiring Connection No.1142
Fig 8.8 Application Wiring Connection No.2143
Table 9-1 Materials of each Part146

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Hyundai HX200L Specifications

General

Brand	Hyundai
Model	HX200L
Category	Robotics
Language	English

Hyundai HX200L - User Manual

Table of Contents

Hyundai HX200L Specifications