YASKAWA MOTOMAN-HP20D User Manual

MANUAL NO.
3
HW1480357
Part Number: 159281-1CD
Revision: 1
MOTOMAN-HP20D
MAINTENANCE MANUAL
TYPE:
YR-HP0020D-A00 (STANDARD SPECIFICATION FOR DX100)
YR-HP0020D-B00 (ZEROING SPECIFICATIONS FOR DX100)
YR-HP0020D-A10 (LONG U-ARM, 6kg PAYLOAD SPECIFICATION)
Procedures described in this maintenance manual should be carried out by the person who took the
maintenance-relevant trainings offered by YASKAWA.
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-HP20D INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENACE MANUAL
The DX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
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YASKAWA MOTOMAN-HP20D Specifications

General

Brand	YASKAWA
Model	MOTOMAN-HP20D
Category	Robotics
Language	English

Summary

Introduction

National Safety Standard for Industrial Robots and Robot Systems

Details on the ANSI/RIA National Safety Standard for Industrial Robots and Robot Systems.

Notes for Safe Operation

Classification and explanation of safety terms like DANGER, WARNING, CAUTION, MANDATORY, PROHIBITED.

Explanation of Warning Labels

Explanation of Warning Label A (Moving parts may cause injury) and Warning Label B (Do not enter robot work area).

Safeguarding Tips

Programming, Operation, and Maintenance Safety

Safety precautions for programming, operating, and maintaining the equipment.

Maintenance Safety

Safety procedures for maintenance, including power off and lockout/tagout.

Notes for Maintenance

Home Position Return

Home Position Return after Motor Replacement

Steps for restoring home position after motor replacement using zeroing or calibration.

Home Position Return by Setting Teaching Point for Home Position Setting before Motor Replacement

Prepares a check-point and check-JOB for home position adjustment before motor replacement.

Motor Replacement

Procedure for replacing the motor, including using a chain block for support.

Home Position Adjustment

Adjusts the axis position to the home mark and performs calibration after motor replacement.

Home Position Return in Case of Exhaustion of Robot-Axis Motor Battery

Restores home position using battery backup function or by key input.

Calibration Operation

Grease Replenishment and Exchange

Notes on Grease Replenishment and Exchange Procedures

Important notes on procedures to prevent motor or speed reducer damage.

Grease Replenishment and Exchange for S-Axis Speed Reducer

Grease Replenishment and Exchange for L-Axis Speed Reducer

Grease Replenishment and Exchange for U-Axis Speed Reducer

Disassembly and Reassembly of Motors

Disassembly and Reassembly of S-Axis Motor

Detailed steps for disassembling and reassembling the S-axis motor.

Disassembly and Reassembly of L-Axis Motor

Detailed steps for disassembling and reassembling the L-axis motor.

Disassembly and Reassembly of U-Axis Motor

Detailed steps for disassembling and reassembling the U-axis motor.

Disassembly and Reassembly of R-Axis Motor

Disassembly and Reassembly of B-Axis Motor

Disassembly and Reassembly of T-Axis Motor

Disassembly and Reassembly of Speed Reducers

Disassembly and Reassembly of S-Axis Speed Reducer

Disassembly and Reassembly of L-Axis Speed Reducer

Disassembly and Reassembly of U-Axis Speed Reducer

Disassembly and Reassembly of R-Axis Speed Reducer

Disassembly and Reassembly of B-Axis Speed Reducer

Disassembly and Reassembly of T-Axis Speed Reducer

Disassembly and Reassembly of Wrist Unit

Disassembly and Reassembly of Wrist Unit

Disassembly, Reassembly, and Adjustment of Timing Belts

Disassembly and Reassembly of B- and T-axis Timing Belts

Adjustment of Timing Belts

Battery Pack Replacement

Battery Pack Connection

Detailed procedure for replacing the battery pack, ensuring data retention.