YASKAWA Motoman UP6 - Page 20

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7 System Application
7.1 Mounting Equipment
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.1 Allowable Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.2 Installation Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Incorporated Wire and Airduct
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
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 Unit Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
9.2.2 Grease Replenishment/Replacement for S-Axis Speed
Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
n
Grease Replenishment (Refer to " Fig. 26 S-Axis Speed
Reducer Diagram ".). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8
n
Grease Replacement (Refer to " Fig. 26 S-Axis Speed
Reducer Diagram ".). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8
9.2.3 Grease Replenishment/Replacement for L-Axis Speed
Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
n
Grease Replenishment (Refer to " Fig. 27 L-Axis Speed
Reducer Diagram ".). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
n
Grease Replacement (Refer to " Fig. 27 L-Axis Speed
Reducer Diagram ".). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10
9.2.4 Grease Replenishment/Replacement for U-Axis Speed
Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10
n
Grease Replenishment (Refer to " Fig. 28 U-Axis Speed
Reducer Diagram ".). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11
n
Grease Replacement (Refer to " Fig. 28 U-Axis Speed
Reducer Diagram ".). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11
9.2.5 Grease Replenishment for R-Axis Speed Reducer . . . . . . . . . . . . . 9-12
9.2.6 Grease Replenishment for B- and T-Axis Speed Reducers . . . . . . . 9-13
9.2.7 Grease Replenishment for T-Axis Gear . . . . . . . . . . . . . . . . . . . . . . 9-14
9.2.8 Grease Replenishment for R-Axis Cross Roller Bearing . . . . . . . . . 9-15
9.2.9 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16
n
Wrist Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16
n
Encoder Connector (with CAUTION label) . . . . . . . . . . . . . 9-16
10 Recommended Spare Parts
11 Parts List
11.1 S-Axis Parts List
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.2 L.U-Axis Driving Unit
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.3 R-Axis Driving Unit
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
11.4 Wrist Unit
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-7