YASKAWA MOTOMAN-HP6 YR-HP6-A00 - Allowable Load for Wrist Axis and Wrist Flange; System Application; Motoman Construction; Maintenance and Inspection

viii
HW0481893
6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
7 System Application
7.1 Mounting Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.1 Allowable Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.2 Installation Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2 Internal User I/O Wiring Harness and Air Lines . . . . . 7-3
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 . . . 9-7
 Grease Replenishment
(Refer to " Fig. 28 S-Axis Speed Reducer Diagram ".) . . . . 9-8
 Grease Exchange
(Refer to " Fig. 28 S-Axis Speed Reducer Diagram ".) . . . . 9-8
9.2.3
Grease Replenishment/Exchange for L-Axis Speed Reducer . . . . 9-9
 Grease Replenishment
(Refer to " Fig. 29 L-Axis Speed Reducer Diagram ".) . . . . 9-9
 Grease Exchange
(Refer to " Fig. 29 L-Axis Speed Reducer Diagram ".) . . . 9-10
9.2.4
Grease Replenishment/Exchange for U-Axis Speed Reducer . . 9-11
 Grease Replenishment
(Refer to " Fig. 30 U-Axis Speed Reducer Diagram ".) . . . 9-11
 Grease Exchange
(Refer to " Fig. 30 U-Axis Speed Reducer Diagram ".) . . . 9-12
9.2.5 Grease Replenishment for R-Axis Speed Reducer . . . . . . . . 9-13
 For Application of Serial Numbers S3W120-5 to S3W120-6 . . . . 9-13
 For Application of Serial Numbers S3W120-7 to RH9520-3112 . . 9-14
 For Application of Serial Numbers RH9520-3121 and Over . . . . 9-15
9.2.6
Grease Replenishment for B- and T-Axes Speed Reducers . . . . 9-16
9.2.7 Grease Replenishment for T-Axis Gear . . . . . . . . . . . . . . . . . 9-17
9.2.8 Grease Replenishment for R-Axis Cross Roller Bearing . . . . 9-18