YASKAWA MOTOMAN-MPL100 - Default Chapter; Table of Contents

xiii
157569-1CD
HW0485652
MPL100
Table of Contents
Table of Contents
1 Product Confirmation ...................................................................................................................... 1-1
1.1 Contents Confirmation....................................................................................................... 1-1
1.2 Order Number Confirmation .............................................................................................. 1-2
2 Transport......................................................................................................................................... 2-1
2.1 Transport Method .............................................................................................................. 2-1
2.1.1 Using a Crane ...................................................................................................... 2-2
2.2 Shipping Bolts and Brackets.............................................................................................. 2-3
3 Installation....................................................................................................................................... 3-1
3.1 Safeguarding Installation ...................................................................................................3-2
3.2 Mounting Procedures for Manipulator Base ......................................................................3-2
3.2.1 Mounting Example................................................................................................ 3-3
3.3 Location ............................................................................................................................. 3-4
4 Wiring.............................................................................................................................................. 4-1
4.1 Grounding..........................................................................................................................4-1
4.2 Cable Connection .............................................................................................................. 4-2
4.2.1 Connection to the Manipulator.............................................................................. 4-2
4.2.2 Connection to the DX100 ..................................................................................... 4-2
5 Basic Specifications........................................................................................................................ 5-1
5.1 Basic Specifications........................................................................................................... 5-1
5.2 Part Names and Working Axes.......................................................................................... 5-2
5.3 Manipulator Base Dimensions........................................................................................... 5-2
5.4 Dimensions and T-Point Maximum Envelope.................................................................... 5-3
5.5 Alterable Operating Range ................................................................................................5-4
5.5.1 Components for Altering Operating Range .......................................................... 5-5
5.5.2 Notes on the Mechanical Stopper Installation...................................................... 5-6
5.5.3 Adjustment of the Soft Limit of the S-Axis Pulse .................................................. 5-7
6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
6.1 Allowable Wrist Load .........................................................................................................6-1
6.2 Wrist Flange....................................................................................................................... 6-3
6.3 Levelness of the Wrist Flange ........................................................................................... 6-4
13 of 106