YASKAWA Motoman HP165-100 - Table of Contents

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HW0481994
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 Line . . . . . .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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .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 . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11
 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
9.2.5 Grease Replenishment/Exchange for U-Arm . . . . . . . . . . . . . 9-14
 Grease Replenishment for R-, B-, T-Axis 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
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