YASKAWA YR-HP0020D-B00 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.
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YASKAWA YR-HP0020D-B00 Specifications

General

Model	YR-HP0020D-B00
Category	Robotics
Manufacturer	YASKAWA
Type	Industrial Robot
Payload	20 kg
Controller	YRC1000
Axis	6
Protection Class	IP67
Mounting	Floor, Ceiling, Wall

Summary

3 Home Position Return

3.1 Home Position Return after Motor Replacement

Explains how to set the manipulator position after motor replacement using calibration or zeroing functions.

3.2 Home Position Return in Case of Exhaustion of Robot-Axis Motor Battery

4 Grease Replenishment and Exchange

4.2 Grease Replenishment and Exchange for S-Axis Speed Reducer

4.3 Grease Replenishment and Exchange for L-Axis Speed Reducer

4.4 Grease Replenishment and Exchange for U-Axis Speed Reducer

5 Disassembly and Reassembly of Motors

5.1 Disassembly and Reassembly of S-Axis Motor

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

5.2 Disassembly and Reassembly of L-Axis Motor

Details the process for disassembling and reassembling the L-axis motor, including grease draining.

5.3 Disassembly and Reassembly of U-Axis Motor

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

5.4 Disassembly and Reassembly of R-Axis Motor

Details the procedures for disassembling and reassembling the R-axis motor.

5.5 Disassembly and Reassembly of B-Axis Motor

Provides step-by-step instructions for disassembling and reassembling the B-axis motor.

5.6 Disassembly and Reassembly of T-Axis Motor

Details the procedures for disassembling and reassembling the T-axis motor.

6 Disassembly and Reassembly of Speed Reducer

6.1 Disassembly and Reassembly of S-Axis Speed Reducer

Provides instructions for disassembling and reassembling the S-axis speed reducer.

6.2 Disassembly and Reassembly of L-Axis Speed Reducer

Details the procedures for disassembling and reassembling the L-axis speed reducer.

6.3 Disassembly and Reassembly of U-Axis Speed Reducer

Provides instructions for disassembling and reassembling the U-axis speed reducer.

6.4 Disassembly and Reassembly of R-Axis Speed Reducer

Details the procedures for disassembling and reassembling the R-axis speed reducer.

6.5 Disassembly and Reassembly of B-Axis Speed Reducer

Provides instructions for disassembling and reassembling the B-axis speed reducer.

6.6 Disassembly and Reassembly of T-Axis Speed Reducer

Details the procedures for disassembling and reassembling the T-axis speed reducer.

7 Disassembly and Reassembly of Wrist Unit

7.1 Disassembly and Reassembly of Wrist Unit

Provides instructions for disassembling and reassembling the robot's wrist unit.

8 Disassembly, Reassembly, and Adjustment of B- and T-axis Timing Belts

8.1 Disassembly and Reassembly of B- and T-axis Timing Belts

Details the process for disassembling and reassembling the B- and T-axis timing belts.

8.2 Adjustment of Timing Belts