YASKAWA MOTOMAN-HP6 YR-HP6-A00 User Manual

YASKAWA
YASKAWA
MANUAL NO. HW0481893
2
MOTOMAN-HP6
INSTRUCTIONS
TYPE: YR-HP6-A00 (STANDARD SPECIFICATION)
YR-HP6-A01 (WITH LIMIT SWITCHES FOR S-, L-, U-AXES)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-HP6 INSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATOR’S MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.

YASKAWA MOTOMAN-HP6 YR-HP6-A00 Specifications

General

Brand	YASKAWA
Model	MOTOMAN-HP6 YR-HP6-A00
Category	Robotics
Language	English

Summary

Notes for Safe Operation

Definition of Terms Used Often in This Manual

Explanation of Warning Labels

Product Confirmation

1.1 Contents Confirmation

Verify all delivered items are present upon product arrival.

1.2 Order Number Confirmation

Ensure the manipulator and NX100 controller share the same order number.

Transporting

2.1 Transporting Method

Procedures and precautions for safely moving the manipulator using a crane or forklift.

2.2 Shipping Bolts and Brackets

Details on the shipping bolts and brackets used to secure the manipulator during transport.

Installation

3.1 Installation of the Safeguarding

Importance and requirements for installing safety guarding systems to prevent accidents.

3.2 Mounting Procedures for Manipulator Base

Guidelines for securely mounting the manipulator base on a foundation or baseplate.

3.3 Types of Mounting

Overview of available mounting types (floor, wall, ceiling) and specific considerations.

3.4 Location

Environmental conditions required for manipulator installation, including temperature and humidity.

Wiring

4.1 Grounding

Procedures and standards for proper grounding of the manipulator system.

4.2 Cable Connection

Instructions for connecting the signal and power cables between the manipulator and NX100.

Basic Specifications

5.1 Basic Specifications

Key technical data including degree of freedom, payload, speed, and ambient conditions.

5.2 Part Names and Working Axes

Identification of the robot's parts and their corresponding axis names.

5.3 Baseplate Dimensions

Detailed measurements and specifications for the manipulator baseplate mounting.

5.4 Dimensions and P-Point Maximum Envelope

Diagrams illustrating the manipulator's physical dimensions and operational reach.

5.5 Alterable Operating Range

Information on how the S-Axis operating range can be adjusted based on conditions.

Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

Specifies the maximum load and inertia that can be applied to the wrist axes.

6.2 Wrist Flange

Dimensions and mounting recommendations for the wrist flange.

System Application

7.1 Mounting Equipment

Guidelines for attaching peripheral equipment to the manipulator's U-Axis and S-Axis.

7.2 Internal User I/O Wiring Harness and Air Lines

Details on the internal wiring and air lines for user applications and peripheral devices.

Motoman Construction

8.1 Position of S-Axis Limit Switch

Location and function of limit switches for the S-Axis and other axes.

8.2 Internal Connections

Information on connector types, numbers, and locations within the manipulator.

Maintenance and Inspection

9.1 Inspection Schedule

Periodic inspection items, schedules, and methods to ensure long-term functionality and safety.

9.2 Notes on Maintenance Procedures

Important precautions and step-by-step guides for various maintenance tasks.

Recommended Spare Parts

Parts List

11.1 S-axis Unit

Exploded view and part number list for the S-axis assembly.

11.2 L-Axis Unit

Exploded view and part number list for the L-axis assembly.

11.3 U-Axis Unit

Exploded view and part number list for the U-axis assembly.

11.4 R-Axis Unit

Exploded view and part number list for the R-axis assembly.

11.5 Wrist Unit

Exploded view and part number list for the wrist unit assembly.