YASKAWA YR-HP0020D-A00 - User Manual

MANUAL NO.
3
HW1480357
Part Number: 159281-1CD
Revision: 1
MOTOMAN-HP20D
MAINTENANCE MANUAL
TYPE:
YR-HP0020D-A00 (STANDARD SPECIFICATION FOR DX100)
YR-HP0020D-B00 (ZEROING SPECIFICATIONS FOR DX100)
YR-HP0020D-A10 (LONG U-ARM, 6kg PAYLOAD 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-HP20D INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENACE MANUAL
The DX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
1 of 96

YASKAWA YR-HP0020D-A00 Specifications

General

Model	YR-HP0020D-A00
Category	Robotics
Manufacturer	YASKAWA
Type	Industrial Robot
Payload	20 kg
Repeatability	±0.06 mm
Number of axes	6
Mounting	Floor, Wall, Ceiling

Summary

Introduction

National Safety Standard for Industrial Robots

Notes for Safe Operation

Guidelines and warnings for safe operation of the robot system.

Explanation of Warning Labels

Programming, Operation, and Maintenance Safety

Safety precautions for programming, operating, and maintaining the equipment.

Home Position Return Procedures

Home Position Return After Motor Replacement

Steps for returning the manipulator to its home position after a motor replacement.

Home Position Return Due to Battery Exhaustion

Procedures for home position restoration when robot axis motor batteries are exhausted.

Grease Replenishment and Exchange

Motor Disassembly and Reassembly

S-Axis Motor Procedures

Step-by-step instructions for disassembling and reassembling the S-axis motor.

L-Axis Motor Procedures

Step-by-step instructions for disassembling and reassembling the L-axis motor.

U-Axis Motor Procedures

Step-by-step instructions for disassembling and reassembling the U-axis motor.

R-Axis Motor Procedures

Step-by-step instructions for disassembling and reassembling the R-axis motor.

Speed Reducer Disassembly and Reassembly

S-Axis Speed Reducer Procedures

L-Axis Speed Reducer Procedures

U-Axis Speed Reducer Procedures

Wrist Unit Disassembly and Reassembly

Wrist Unit Procedures

Timing Belt Adjustment

B- and T-Axis Timing Belt Procedures

Timing Belt Tension Adjustment

Battery Pack Replacement

Battery Pack Replacement Procedure

Cable Wiring Procedures

Disconnecting Cables

Connecting Cables