YASKAWA MOTOMAN-ES200RN - Page 8

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6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1
6.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2
7 System Application
7.1 Peripheral Equipment Mounts . . . . . . . . . . . . . . . . . . . . . .7-1
7.2 Internal User I/O Wiring Harness and Air Lines . . . . .7-2
8 Motoman Construction
8.1 Position of S-Axis Limit Switch . . . . . . . . . . . . . . . . . . . . .8-1
8.2 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2
9 Maintenance and Inspection
9.1 Inspection Schedule
(Manipulator in the Home Position: Refer to “Fig.21.”) . . . . . . . . . . 9-1
9.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . .9-6
9.2.1 Battery Pack Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
9.2.2
Grease Replenishment/Exchange for S-Axis Speed Reducer . . . . . . 9-8
 Grease Replenishment
(Refer to " Fig. 24 S-Axis Speed Reducer and Gear Diagram ".) . . 9-8
 Grease Exchange
(Refer to " Fig. 24 S-Axis Speed Reducer and Gear Diagram ".) . . 9-9
9.2.3 Grease Replenishment/Exchange for L-Axis Speed Reducer 9-10
 Grease Replenishment
(Refer to " Fig. 25 L-Axis Speed Reducer Diagram ".) . . . . 9-10
 Grease Exchange
(Refer to " Fig. 25 L-Axis Speed Reducer Diagram ".) . . . . 9-11
9.2.4 Grease Replenishment/Exchange for U-Axis Speed Reducer 9-12
 Grease Replenishment
(Refer to " Fig. 26 U-Axis Speed Reducer Diagram ".). . . . 9-12
 Grease Exchange
(Refer to " Fig. 26 U-Axis Speed Reducer Diagram ".). . . . 9-13
 Grease Replenishment for R-, B-, T- Gears in the Casing
(Refer to " Fig. 27 U-Arm Diagram ".). . . . . . . . . . . . . . . . . 9-15
 Grease Replenishment for R-Axis Speed Reducer
(Refer to " Fig. 27 U-Arm Diagram ".). . . . . . . . . . . . . . . . . 9-15
 Grease Replenishment for B-Axis Speed Reducer
(Refer to " Fig. 27 U-Arm Diagram ".). . . . . . . . . . . . . . . . . 9-16
 Grease Replenishment for T-Axis Speed Reducer
(Refer to " Fig. 27 U-Arm Diagram ".). . . . . . . . . . . . . . . . . 9-16
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