YASKAWA MOTOMAN-PH130F - Default Chapter; Table of Contents

Contents
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HW1485471
HW1485471
1 Introduction ..................................................................................................................................... 1-1
2 Notes for Maintenance.................................................................................................................... 2-1
2.1 Details of Internal Connections .......................................................................................... 2-1
2.2 Multi-Port Connector .......................................................................................................... 2-3
3 Home Position Return..................................................................................................................... 3-1
3.1 Home Position Posture of Manipulator .............................................................................. 3-1
3.2 Types of Methods for Home Position Return ..................................................................... 3-2
3.2.1 Using a Teaching Point for Setting the Home Position......................................... 3-2
3.2.2 Using Keys............................................................................................................ 3-2
3.2.3 Using Encoder Backup Error Recovery Function ................................................. 3-2
3.2.4 Robot Calibration (MOTOCALV EG) .................................................................... 3-2
3.2.5 Table of Suitable Methods for Home Position Return........................................... 3-2
3.3 Methods for Home Position Return.................................................................................... 3-3
3.3.1 Using a Teaching Point for Setting the Home Position......................................... 3-3
3.3.1.1 Preparation.............................................................................................. 3-3
3.3.1.2 Replacement of Motor or Speed Reducer ............................................... 3-3
3.3.1.3 Home Position Adjustment ......................................................................3-4
3.3.2 Using Keys............................................................................................................ 3-5
3.3.3 Using Encoder Backup Error Recovery Function ................................................. 3-8
3.3.4 Robot Calibration (MOTOCALV EG) .................................................................... 3-8
4 L-Axis Fixing Jig .............................................................................................................................. 4-1
4.1 Fixing Jig............................................................................................................................ 4-1
4.1.1 Recommended Installation Posture of the Specified Fixing Jig............................ 4-2
4.1.2 Range of L-Arm Postures to Avoid ....................................................................... 4-3
4.2 Installation and Removal of the L-axis Fixing Jig............................................................... 4-4
4.3 Mechanism......................................................................................................................... 4-8
5 Notes on Grease Replenishment/Exchange Procedures................................................................ 5-1
5.1 Grease Exchange Procedures for Each Axis Speed Reducer........................................... 5-1
5.1.1 Notes on Grease Exchange Procedures .............................................................. 5-1
5.1.2 Grease Exchange Procedure ............................................................................... 5-3
5.1.3 Grease Replenishment for Balancer Link Part ..................................................... 5-8
5.2 Removing, Applying, Assembling of Sealing Bond ............................................................ 5-9
5.2.1 Removing Sealing Bond from Sealing Surface and Cleaning .............................. 5-9
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