YASKAWA MOTOMAN-MH5F User Manual

MANUAL NO.
HW1483638
Part Number: 176183-1CD
Revision: 1
2
MOTOMAN-MH5S(II)/MH5F
MAINTENANCE MANUAL
TYPE:
YR-MH0005F-A00 (STANDARD SPECIFICATION)
YR-MH0005S-A00 (STANDARD SPECIFICATION)
YR-MH0005S-J00 (STANDARD 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-MH5S/MH5F INSTRUCTIONS
MOTOMAN-MH5S II INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
FS100 INSTRUCTIONS
FS100 OPERATOR’S MANUAL
FS100 MAINTENANCE MANUAL
The controller operator’s manual above correspond to a specific usage. Be sure to use the appropriate manual.
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YASKAWA MOTOMAN-MH5F Specifications

General

Model	MOTOMAN-MH5F
Type	Articulated Robot
Payload Capacity	5 kg
Number of Axes	6
Mounting	Floor, Ceiling, Wall
Installation	Industrial
Repeatability	±0.03 mm
Controller	YRC1000

Summary

Introduction to Yaskawa Robot Operation and Safety

Notes for Safe Operation Categories

Classification of safety notes (DANGER, WARNING, CAUTION, MANDATORY, PROHIBITED).

Explanation of Robot Warning Labels

Illustrates and explains various warning labels affixed to the manipulator.

Safety for Programming, Operation, and Maintenance

Safety considerations for all operational phases of the robot.

Maintenance Safety Procedures

Details safety procedures specifically for maintenance tasks.

Notes for Maintenance Procedures

Home Position Return Procedures

Home Position Return After Motor Replacement

Steps to return the robot to its home position after motor replacement.

Grease Replenishment Guidelines

S-Axis Speed Reducer Grease Replenishment

Procedure for replenishing grease in the S-axis speed reducer.

S-Axis Gear Grease Replenishment

Procedure for replenishing grease in the S-axis gear.

L-Axis Speed Reducer Grease Replenishment

Procedure for replenishing grease in the L-axis speed reducer.

U-Axis Speed Reducer Grease Replenishment

Procedure for replenishing grease in the U-axis speed reducer.

R-Axis Speed Reducer Grease Replenishment

Procedure for replenishing grease in the R-axis speed reducer.

B- and T-Axes Speed Reducers Grease Replenishment

Procedure for replenishing grease in B and T axis speed reducers.

Motor Disassembly and Reassembly

S-Axis Motor Disassembly and Reassembly

Procedures for disassembling and reassembling the S-axis motor.

L-Axis Motor Disassembly and Reassembly

Procedures for disassembling and reassembling the L-axis motor.

U-Axis Motor Disassembly and Reassembly

R-Axis Motor Disassembly and Reassembly

B-Axis Motor Disassembly and Reassembly

T-Axis Motor Disassembly and Reassembly

Speed Reducer Disassembly and Reassembly

S-Axis Speed Reducer Disassembly and Reassembly

L-Axis Speed Reducer Disassembly and Reassembly

U-Axis Speed Reducer Disassembly and Reassembly

R-Axis Speed Reducer Disassembly and Reassembly

B-Axis Speed Reducer Disassembly and Reassembly

T-Axis Speed Reducer Disassembly and Reassembly

Wrist Unit Disassembly and Reassembly

Timing Belt Disassembly, Reassembly, and Adjustment

L- and U-Axis Timing Belt Disassembly and Reassembly

R-Axis Timing Belt Disassembly and Reassembly

B- and T-Axis Timing Belt Disassembly and Reassembly

Timing Belt Tension Adjustment

How to adjust timing belt tension for different robot axes.

Battery Pack Replacement Procedures

Battery Pack Replacement Steps

Cable Wiring and Connections

Disconnecting Cables

Connecting Cables