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MH180
YASKAWA MH180 User Manual
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ROBOTICS
MH180
YR-MH180-A00
Operating and Maintenance Manual
2
Table of Contents
Default Chapter
3
Table of Contents
3
1 General
5
Notes for Safe Operation
5
Frequently Used Terms
5
Target Group
6
Intended Use
6
Improper Use
7
About this Manual
8
Safety
9
Manufacturer
11
Authorized Representative
11
2 Supply
12
Checking the Scope of Delivery
12
Position Type Plate
13
3 Transportation
14
Transporting Method
14
Using a Crane
15
Using a Forklift
16
Shipping Brackets and Bolts
17
Damping Material During Transportation
18
4 Installation
19
Protection Measures
19
Ambient Conditions and Installation Location
20
Installation Example
21
5 Wiring
23
Grounding
23
Cable Connections
24
Connecting the Robot
25
Connection of the Robot Controller
26
Connecting the Programming Pendant
27
6 Technical Data
28
Parts and Work Axis Label
29
Robot Base Dimension
29
Dimensions and Defined Working Area
30
Adjustable Working Area
31
Components for Changing the Working Area
32
Adjusting the S-Axis Pulse Limit
33
Stopping Angle and Time at the Emergency Stop
36
Stop Category 0
37
Stop Category 1
40
7 Allowable Load for Wrist Axis and Wrist Flange
43
Wrist Flange
43
Allowable Wrist Load
44
8 Internal Cables and Compressed Air Lines
47
9 Maintenance and Inspection
51
Inspection Schedule
52
Note on Battery Unit
58
Battery Pack Replacement
58
Battery Pack Connector (Including Warning Note)
60
Note on Maintenance
61
Refill/Replace Grease
62
Grease Filling the Main Axes
64
Grease Filling the Wrist Axes
65
Grease Replenishment for Balancer Link Part
65
Gas Maintenance Procedure in the Gas Balancer
66
Notes on Gas Maintenance Procedure in the Gas Balancer
66
Gas Pressure Inspection
67
Gas Discharging Procedure
70
Gas Injecting Procedure
71
Home Position Calibration
72
Registering All Axes at the Time
72
Registering Individual Axes
75
Changing the Absolute Data
76
Clearing Absolute Data
77
Setting the Second Home Position (Check Point)
78
Purpose of Position Check Operation
78
Procedure for the Second Home Position Setting
80
Procedure after Alarm
80
Zeroing Function (Optional)
82
Connection Diagram
82
Overview and Operation Reset to Zero Device Yasxzero
83
Resetting
85
Positions for the Reset Sensor
88
Error and Solutions During Resetting
89
10 Recommended Spare Parts List
92
11 Parts Lists
94
S-Axis Unit
94
L-Axis Unit
97
For R-, B- and T-Axes Drive
100
U Arm Unit
102
Wrist Unit
104
5
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YASKAWA MH180 Specifications
General
Payload Capacity
180 kg
Reach
2702 mm
Degrees of Freedom
6
Axes
6
Installation
Indoor
Mounting
Floor
Protection Class
IP54
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