YASKAWA Motoman GP50 - Default Chapter; Table of Contents

Contents
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HW1484673
HW1484673
1 Introduction ..................................................................................................................................... 1-1
2 Notes for Maintenance.................................................................................................................... 2-1
2.1 Details of Internal Connections ..........................................................................................2-1
2.2 Multi-Port Connector .......................................................................................................... 2-3
3 Home Position Return..................................................................................................................... 3-1
3.1 Home Position Posture of Manipulator .............................................................................. 3-1
3.2 Types of Methods for Home Position Return ..................................................................... 3-2
3.2.1 Using a Teaching Point for Setting the Home Position......................................... 3-2
3.2.2 Using Keys............................................................................................................ 3-2
3.2.3 Using Encoder Backup Error Recovery Function ................................................. 3-2
3.2.4 Robot Calibration (MOTOCALV EG) .................................................................... 3-2
3.2.5 Table of Suitable Methods for Home Position Return........................................... 3-2
3.3 Methods for Home Position Return.................................................................................... 3-3
3.3.1 Using a Teaching Point for Setting the Home Position......................................... 3-3
3.3.1.1 Preparation.............................................................................................. 3-3
3.3.1.2 Replacement of Motor or Speed Reducer ...............................................3-3
3.3.1.3 Home Position Adjustment ...................................................................... 3-4
3.3.2 Using Keys............................................................................................................ 3-5
3.3.3 Using Encoder Backup Error Recovery Function ................................................. 3-8
3.3.4 Robot Calibration (MOTOCALV EG) .................................................................... 3-8
4 Notes on Grease Replenishment/Exchange Procedures................................................................ 4-1
4.1 Grease Exchange Procedures for Speed Reducers and Gears ........................................ 4-1
4.1.1 Notes on Grease Exchange Procedures .............................................................. 4-1
4.1.2 Grease Exchange Procedure ............................................................................... 4-2
4.2 Removing, Applying, Assembling of Sealing Bond ............................................................ 4-7
4.2.1 Removing Sealing Bond from Sealing Surface and Cleaning .............................. 4-7
4.2.2 Applying Sealing Bond to Sealing Surface ........................................................... 4-8
4.2.3 Assembling After Applying Sealing Bond ............................................................. 4-9
5 Disassembly and Reassembly of the Motor.................................................................................... 5-1
5.1 Disassembly and Reassembly of the S-Axis Motor ........................................................... 5-2
5.2 Disassembly and Reassembly of the L-Axis Motor............................................................ 5-6
5.2.1 YR-1-06VX50-A00 ................................................................................................ 5-6
5.2.2 YR-1-06VXL35-A00 .............................................................................................. 5-9
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