INSTRUCTION MANUAL MOTOMAN-SV3X,
Contents
1. Co st co N N o lt i8 N 150 4 260 20 RS 1827 120 135 d mm 72 5182 5 Y or T i io 673 g Mi 591 BF Le 1 d i N 1584 lt a to Point P 1455 ME SM k e sh 1362 y Neo U 302 S A 176 __ L TIRE i q Y ov n i 0 Vv 1138 y 1156 119 192 90 Point P Working range Fig 13 Dimesions and working range MOTOMAN ROBOTICS AB 24 Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 99 11 25 Doc name mrs52050 ch5 fm Dimensions and working range 402 323 206 0 239 320 795 H lt 4 gt Se 945 1 150 1320 90 y 19 NIR Sh E 9 445 n Ta 389 y f 1314 A WY S em mm 158 12 yY 1 0 4 229 303 2 5 103 Fig 14 Dimesions and working range ROBOTICS Instruction manual MOTOMAN SV3X Page 25 B axis working range Created 99 03 29 Revised 99 12 06 name mrs52050 ch5 fm 5 5 B axis working range The w2. Bq REG ext Connector base bolt B Screw Battery unit HW9470917 B Washer HW9470917 A F Base Fig 23 Battery location Connector base Battery unit for SLU axes See procedure 6 before replacement See procedure Insertion type pin terminal male o gt b Insertion type pin terminal female 1 sf J bHOBTIH BATI b aH Bam IrOBT1a IO MOBI H a BAT1 6 ER O See procedure 4 7 Battery unit for RBT axes See procedure 6 before replacement See procedure 5 See procedure CH New battery unit a b HOBT4H b aHBATAH 4 4 Pd See procedure 4 Fig 24 Battery connection
3. Di MOTOMAN ROBOTICS AB 4 Page 38 Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 99 11 25 Doc name mrs52050 ch9 fm Notes on maintenance procedures a Turn the XRC main power supply off b Remove the connector base and grease tube from the union c Remove the battery unit mounting screw on the connector base d Remove the plastic tape insulation tape protecting the connection part of the battery unit in the manipulator e Connect the new battery f Remove the old battery and washer g Protect the connection part of the battery unit in the manipulator with plastic tape insulation tape h Mount the battery unit and washer with the screws connect the grease tube to the union and then mount the connector base Note Remove the old battery unit after connecting the new one so that the encoder absolute data does not disappear Y MOTOMAN ROBOTICS AB Instruction manual MOTOMAN SV3X Page 39 Notes on maintenance procedures Created 99 03 29 Revised 99 11 25 Doc name mrs52050 ch9 fm 9 2 B Grease replenishment for S axis speed reducer S Grease inlet G nipple A PT1 8 Plug for air flow xagon socket head PT1 8 AN S axis speed reducer Fig 25 S axis speed reducer diagram Grease replenishment for S axis Replenish the grease according to the following proced
4. Rank Parts Name Type Manufacturer Qty Qty Remarks no per unit A 1 Grease Harmonic Grease Yaskawa Electric 2 5kg 4BNo 2 Corporation 2 Battery unit HW9470917 B Yaskawa Electric 1 1 for SLU axes Corporation 3 Battery unit HW9470917 A Yaskawa Electric 1 1 for RBT axes Corporation B 4 R axis timing belt 05084 5M198 Mitsuboshi 1 1 Belting Limited 5 B axis timing belt 05054 5 315 Mitsuboshi 1 1 Belting Limited 6 S axis HW9381283 A Yaskawa Electric 1 1 speed reducer Corporation 7 L axis HW9381284 A Yaskawa Electric 1 1 Speed reducer Corporation 8 U axis HW9381285 A Yaskawa Electric 1 1 Speed reducer Corporation 9 R axis HW9381225 A Yaskawa Electric 1 1 speed reducer Corporation 10 B axis HW9381226 A Yaskawa Electric 1 1 Speed reducer Corporation 11 T axis HW9381227 A Yaskawa Electric 1 1 Speed reducer Corporation 12 S axis HW9171589 A Yaskawa Electric 1 1 internal wiring Corporation 13 In L arm HW9271096 A Yaskawa Electric 1 1 U R B T axes internal wiring Corporation for SV3X 14 In L arm HW9271096 B Yaskawa Electric 1 1 U R B T axes internal wiring Corporation for SV3XL 15 In U arm HW9270889 A Yaskawa Electric 1 1 B T axes internal wiring Corporation for SV3X 16 In U arm HW9270889 B Yaskawa Electric 1 1 B T axes internal wiring Corporation for SV3XL C 17 S and L axes HW9381586 A Yaskawa Electric 1 2 With breake no AC Servomotor SGMPH 02
5. with pressure plu View B P PSU Fig 19 Incorporated wire and airduct Internal wires 0 2mm 12 wires Pins 6 Fig 20 Detailed drawing connector pin numbers The same pin number 1 12 of two connectors is connected in the lead line of single 0 2 mm MOTOMAN ROBOTICS Instruction manual MOTOMAN SV3X Page 31 Internal connections Created 99 03 29 Revised 99 11 25 Doc name mrs52050 ch8 fm 8 Motoman construction 8 1 Internal connections High reliability connectors which can be easily removed are used with each connector part For the number and location of connectors see the figure Location and numbers of connectors S head for internal wire 3BC Fig 21 Location and Base connector numbers of connectors for internal wire 3BC List of connector types Name Type of connector Base connector JL05 2A20 29PC for internal wire JL05 6A20 298 Optional S head JL05 2A20 298C for internal wire JL05 6A20 29P Optional Page 32 Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 99 11 25 Doc name mrs52050 ch8 fm Internal connections MOTOMAN ROBOTICS AB ROBOTICS AB Instruction manual MOTOMAN SV3X Page Inspection schedule Created 99 03 29 Revised 00 04 03 Doc name mrs52050 ch9 fm 9 Maintenance and inspection AN Note Before maintenance or inspection be sure to turn the main power
6. 8 Wire harness v Check for conduc v in manipulator tion between ter L arm leads minals and wear of protective spring v Replace 9 Wire harness v Visual Check for conduc v v In manipulator Multi tion between ter U arm leads meter minals and wear of protective spring v Replace v 10 Battery unit in v Replace the bat v v manipulator tery unit when the battery alarm occurs or the manipulator drove for 36000H ROBOTICS Instruction manual MOTOMAN SV3X Page 35 Inspection schedule Created 99 03 29 Revised 99 11 25 Doc name mrs52050 ch9 fm Inspection items Items Schedule Method Inspection charge Daily 1000H 6000H 12000H 24000H 36000H Speci Service Cycle Cycle Cycle fied see com person pany 11 S axis speed v Grease Check for malfunc v v reducer gun tion Replace if necessary Supply grease 6000H cycle 12 L axis speed v Grease Check for malfunc v v reducers gun tion Replace if necessary Supply grease 6000H cycle 13 U axis speed v Grease Check for malfunc v v reducers gun tion Replace if necessary Supply grease 6000H cycle 14 RB axes v Grease Check for malfunc v v speed gun tion Replace if reducers necessary Supply grease 6000H cycle 15 T axis speed v Grease Check for malfunc v v reducers gun tion Replace if necessary Su
7. The Lo exhaust port is used for air flow Do not inject excessive grease into the L grease inlet Y MOTOMAN ROBOTICS AB Instruction manual MOTOMAN SV3X Page 41 Notes on maintenance procedures Created 99 03 29 Revised 99 11 25 Doc name mrs52050 ch9 fm 9 2 D Grease replenishment for U axis speed reducer Uo Plug for air flow Grease inlet U axis reducer G nipple A MT6x1 Fig 27 U axis speed reducer diagram Grease replenishment for U axis Be sure to remove Ug plug for air flow b Inject grease into the U grease inlet using a grease gun Grease type Harmonic grease 4B No 2 Amount of grease 8cc c Reinstall the Ug plug for air flow Note For ceiling mounted manipulators the exhaust port and the grease inlet are inverted grease is added with the Ug plug in place the internal pressure is increased and the grease will infiltrate from the oil seal The Lo exhaust port is used for air flow Do not inject excessive grease into the L grease inlet MOTOMAN ROBOTICS AB Y Page 42 Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 99 11 25 name mrs52050 ch9 fm Notes on maintenance procedures 9 2 E Grease replenishment for R and B axes speed reducer R axis speed reducer B axis speed reducer Ro Plug for air flow Hexagon socket head M6 Bo Plug for air flow n Grease inlet G nipple A MT6x1 Ry Grease in
8. 11 3 U and R axes driving unit MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SV3X Page 55 Created 00 04 03 Revised 00 04 03 Doc name mrs52050 ch1 1 fm U and R axes driving unit No Name DWG no Pcs 2011 L am A 9100868 1 1 2015 L arm B HW9100837 1 1 2027 Cover HW9200835 1 1 3001A Fly wheel HW9404925 1 1 3001B Distance piece HW9404926 1 1 3001C Distance piece HW9404927 1 1 3001D Distance piece HW9404930 1 1 3002 Motor SGMPH 01A1A YR11 1 3003 Socket screw M5 x 25 4 3004 Spring washer 2H 5 4 3004A Washer MSRB5 5 2 0 4 3005 Socket screw M4 x 35 1 3006 Spring washer 2H 4 1 3007 RV reduction gear HW9381285 A 1 3008 Socket screw M4 x 20 8 3009 Spring washer 2H 4 8 3010 Socket screw GT LAM4 x 16 8 3011 G nipple 6 x 1 1 3012 Plug LP M5 1 3013 Shaft HW9301 793 1 1 3014 Socket screw M4 x 12 3 3015 Spring washer 2H 4 3 3016 Bearing 6812LLU 1 3017 Clip WR60 1 3018 Clip AR78 1 3019 Guide HW9404541 1 1 3020 Round head screw M4 x8 2 3021 Socket screw M6 x 20 2 3022 Spring washer 2H 6 2 3023 Support HW9404660 1 1 3024 Socket screw M4 x 12 2 3025 Spring washer 2H 4 2 3026 Insulok tie T50R 2 3027 Clamp TA1 S8 2 3028 Round head screw M4 x6 2 3029 Saddle CD 15 1 3030 Round head screw M5x6 2 3031 Motor SGMAH A5A2A YR21 1 Page 56 Instruction manual MOTOMAN SV3X Created 00
9. s R axis 5 23 rad s 300 s 5 23 rad s 300 6 B axis 5 23 rad s 300 s 5 23 rad s 300 s T axis 7 33 rad s 420 s 7 33 rad s 420 s Allowable R axis 5 39 Nm 0 55 kgfm moment B axis 5 39 Nm 0 55 kgfm T axis 2 94 Nm 0 3 kgfm Allowable R axis 0 1 kgm inertia B axis 0 1 kgm GD 4 T axis 0 03 kgm Mass 30 kg 35 kg Temperature 0 to 45C Humidity 20 to 80 RH non condensing Vibration Less than 0 5G Ambient qum Others Free from corrosive gasses liquids or explo conditions sive gasses Clean and dry Free from excessive electrical noise plasma Power capacity 1kVA 1 Sl units are used in this table However gravitational unit is used in 2 Conformed to ISO9283 3 Refer to chapter Allowable wrist load for details on the permissible moment of iner tia Page 22 Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 99 11 25 name mrs52050 ch5 fm Part names and working axes MOTOMAN ROBOTICS AB Y 5 2 Part names and working axes A Upper U arm T Rotary S Lower L arm head Fig 11 Part names and working ax 5 3 Baseplate dimensions m Fig 12 Baseplate dimensions mm ROBOTICS AB Instruction manual MOTOMAN SV3X Page 23 Dimensions and working range Created 99 03 29 Revised 99 11 25 Doc name mrs52050 ch5 fm 5 4 Dimensions and working range SV3X o
10. Czech Republic Denmark Finland Greece Hungary Israel Norway Portugal South Africa Switzerland MOTOMAN Robotics Europe AB Box 504 SE 385 25 Torsas Sweden Tel 46 486 48800 46 486 41410 MOTOMAN Robotics SARL Rue Nungesser et Coli D2A Nantes Atlantique F 44860 Saint Aignan de Grand Lieu France Tel 33 2 40131919 Fax 33 40754147 MOTOMAN Robotec GmbH Kammerfeldstrabe 1 DE 85391 Allershausen Germany Tel 49 8166 90 0 Fax 49 8166 90 103 MOTOMAN Robotec GmbH Im Katzenforst 2 DE 61476 Kronberg Taunus Germany Tel 49 6173 60 77 30 Fax 49 6173 60 77 39 MOTOMAN Robotics UK Ltd 1 Swan Industrial Estate Banbury OXON OX16 8DJ England Tel 44 1295 272755 Fax 44 1295 267127 MOTOMAN Robotics Italia SRL Via Emilia 1420 16 IT 41100 Modena Italy Tel 39 059 280496 Fax 39 059 280602 MOTOMAN benelux B V Zinkstraat 70 NL 4823 AC Breda Netherlands Tel 3 1 76 5424278 Fax 3 1 76 5429246 RISTRO d o o Lepovce 23 SI 1310 Ribnica Slovenia Tel 386 61 861113 Fax 386 61 861227 MOTOMAN Robotics Espa a S A Avenida Marina 56 Parcela 90 ES 08830 St Boi de Llobregat Barcelona Spain Tel 34 93 6303478 Fax 34 93 6543459 MOTOMAN Mecatron Robotic Systems AB Box 4004 SE 390 04 Kalmar Sweden Tel 46 480 444600 Fax 46 444699 MGM Spol s r o Trebizsk ho 1870 CZ 39002 Tabor Czech Republic Tel 420 361 254571 Fax 420 361 256038 Robia A S Hjulmagervej 4 D
11. LOVOSM gt MIND 22 4 Cru tZ 180 RECH NO SAN lives EI 9x9 981 KEN ONX OVNSVA bw pt uva AYALLVE MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SV3X Created 99 07 12 Revised 00 04 03 62 Page mrs52050 Internal fm Doc name z TA H ES H OL 5i 1 8 H a td 8 8 L 1 NO8 L Es NOSUON dd 2 T E SEN 2 E S Y H EL E Hir y Si x 3HvdS T PEG ESE o8Z LEI faz 59 SN 2 5 amp 62 02 08 z 1q 5 15 E 6ZNO LONIX BA 98H c2 7 N Zuel sva gt 6 ege wee oe c2 y ELE aN E DW 9 Y 1 r sixv L WS mse MNSE LL AR Ss E um lt 1
12. bolts and jigs then must be stored for future use in the event that the manipulator must be moved again Page 10 Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 99 08 09 Doc name mrs52050 ch2 fm Shipping bolts and 195 MOTOMAN ROBOTICS AB Y MOTOMAN ROBOTICS AB Instruction manual MOTOMAN SV3X Page 11 Created 99 03 29 Revised 99 08 09 Doc name mrs52050 ch3 fm 3 Installation AN Note Install the safety guards according to CE marking before taking into service Failure to observe this warning may result in injury or damage Do not start the manipulator or even turn on the power before it is firmly anchored The manipulator may overturn and cause injury or damage When mounting the manipulator in the ceiling or on the wall the base section must have sufficient strength and rigidity to support the weight of the manipulator Also it is necessary to consider counter measures to prevent the manipulator from falling Failure to observe these warnings may result in injury or damage Do not install or operate a manipulator that is damaged or lacking parts Failure to observe this caution may cause injury or damage Before turning on the power check to be sure that the shipping bolts and jigs have been removed Failure to observe this caution may result in damage to the driving parts z MOTOMAN ROBOTICS AB Y Page 12 Instruction manual MOTOMAN SV3X Safety guard installation Cre
13. 04 03 Revised 00 04 03 Doc name mrs52050 ch1 1 fm MOTOMAN ROBOTICS EUROPE U and R axes driving unit No Name DWG no Pcs 3032 Socket screw GT SAMS 12 2 3033 RV reduction gear HW9381225 A 1 3034 Socket screw M4 x 12 6 3035 Spring washer 2H 4 6 3036 Casing HW9100804 1 1 3037 Block HW9404757 1 1 3038 Socket screw M4 x 12 2 3039 Spring washer 2H 4 2 3040 Sheet HW9481967 A 1 3041 Pulley HW9481901 A 1 3042 Socket screw GT SA M3 x 12 1 3043 Pulley HW9481902 A 1 3044 Washer HW9404536 1 1 3045 Flange HW9404537 1 1 3046 Socket screw GT SA M3 x 12 3 3047 Timing belt 05084 5M198 1 3048 Socket screw GT SAM4 x 10 2 3049 Cover HW9200834 1 1 3050 Socket screw GT SA M4 x 10 4 3051 Cap EZ5036AO 1 3052 Stopper HW9404539 1 1 3053 Socket screw M4 x 6 2 4014 UarmA HW9100842 1 1 6076 Pipe HW9404538 A 1 MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SV3X Page 57 Wrist unit Created 00 04 03 Revised 00 04 03 Doc name mrs52050 ch11 fm 11 4 Wrist unit Page 58 Doc name mrs52050 ch1 1 fm No Name DWG no Pcs 3052 Stopper HW9404539 1 1 3053 Socket screw M4 x 6 2 4002 Reduction screw HW9381226 A 1 4003 G nipple A MT6 x 1 1 4004 Plug LP M5 1 4005 Socket screw M3 x 25 8 4006 Spring washer 2H
14. 11 25 Instruction manual MOTOMAN SV3X Doc name mrs52050 ch10 fm MOTOMAN ROBOTICS AB Y Spare parts for the MOTOMAN SV3 YR SV3X J00 and YR SV3XL J20 Rank Parts Name Type Manufacturer Qty Qty Remarks No per Unit B 13 In L arm HW9271096 A Yaskawa Electric 1 1 U R B T axes internal wiring Corporation for SV3X 14 In L arm HW9271096 B Yaskawa Electric 1 1 U R B T axes internal wiring Corporation for SV3XL 15 In U arm HW9270889 A Yaskawa Electric 1 1 B T axes internal wiring Corporation for SV3X 16 In U arm HW9270889 B Yaskawa Electric 1 1 B T axes internal wiring Corporation for SV3XL 17 S axis HW9381585 A Yaskawa Electric 1 1 No key lead ter AC servomotor SGMPH 02A1A Corporation minal treatment YR21 completion 18 L axis HW9381586 A Yaskawa Electric 1 1 With breake no AC servomotor SGMPH 02A1A Corporation key lead terminal YR11 treatment comple tion 19 U axis HW9381587 A Yaskawa Electric 1 1 With breake no AC servomotor SGMPH 01A1A Corporation key lead terminal YR11 treatment comple tion 20 R B T axes HW9381588 A Yaskawa Electric 1 3 No key lead ter AC servomotor SGMAH A5A1A Corporation minal treatment YR21 completion Y MOTOMAN ROBOTICS AB Created 99 03 29 Revised 99 11 25 Instruction manual MOTOMAN SV3X Page 47 Doc name mrs52050 ch10 fm Spare parts for the MOTOMAN SV3 YR SV3X J10 and YR SV3XL J30
15. 3 8 4007 Motor SGMAH A5A1A YR21 1 4008 Socket screw M4 x 12 2 4009 Spring washer 2H 4 2 4010 M base HW9404521 1 1 4011 Washer M4 2 4012 Socket screw M4 x 16 2 4013 Spring washer 2H 4 2 4014 UarmA HW9100842 1 1 4015 Socket screw M5 x 16 6 4016 Spring washer 2H 5 6 4017 Pulley HW9481900 A 2 4018 Socket screw GT SA M3x12 1 4019 Timing belt 05054 5 315 1 4020 U arm B HW9200833 1 1 4021 Socket screw GT LA M4x16 4 4023 Bearing 6809DD 1 4024 Shaft HW9301 794 1 1 4025 Socket screw GT SA M4x10 3 4026 Clip ISTW 45 1 4027 Support HW9404520 1 1 4028 Socket screw GT SA M4x10 2 4029 Insulok tie 1 4030 Cover HW9301798 1 2 4031 Socket screw GT SA M4x10 1 4032 Reduction gear HW9381227 A 1 4033 Cap EZ5002A0 1 4034 G nipple A MT6 x 1 1 4035 H set screw M6 x 6 1 4036 Socket screw M4 x 12 4 4037 Spring washer 2H 4 4 4038 Motor SGMAH A5A1A YR21 1 MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SV3X Created 00 04 03 Revised 00 04 03 Wrist unit MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SV3X Page 59 Created 00 04 03 Revised 00 04 03 Doc name mrs52050 ch1 1 fm Wrist unit No Name DWG no Pcs 4039 Socket screw M4 x 12 2 4040 Spring washer 2H 4 2 4041 Socket screw GT LA M3 x 15 8 4042 Wrist base HW9200925 1 1 4043 Cover HW9301797 1 1 4044 Socket screw GT SAM4 x 10 4 4045 Socket screw M3 x 30 1 4046 Spring washer 2H 3 1 4047 G nipple A MT6 x 1 1 40
16. 48 H set screw M6 x 6 1 4049 Support HW9404701 1 1 4050 Socket screw GT SA M4 x 10 2 4051 Clamp TA1 S8 2 4052 Insulok tie T30R 2 4053 Round head screw M4 x 8 2 4054 Clamp NK 9N 1 MOTOMAN ROBOTICS EUROPE Page 60 Instruction manual MOTOMAN SV3X Created 00 04 03 Revised 00 04 03 Doc name mrs52050 ch1 1 fm Wrist unit 61 M 2 TS Tre Pe 94 15V9 D T NIP ON i Ie 9477 E ons t T 9477 9 quus t T 9477 9 Vy 6 RO z fa 0 77 y b NO 77 y 5 AD E D 62 Ke gt Gt ZENE 2 AT 3 5 F e 18077 y eo SIXV L 1 Iva lt gt Q vivd 7 z b Ian ZC M 7 z Gi rvlvd Z v B 9 9 O TVIvd NZ TVIvd 7 IN ES VIVO C 98077 1 880 g 1 E lt NOSS ON NOVZ ON NO8 ON NOZE ON d M E fe as lt q E 947 g quet t CL S RO z B 77 9 B NO Er Mr Cy Lg o AGE AOE Ag 7 E
17. A1A Corporation key lead terminal YR11 treatment comple tion 18 U axis HW9381587 A Yaskawa Electric 1 1 With breake no AC servomotor SGMPH 01A1A Corporation key lead terminal YR11 treatment comple tion 19 R B and T axes HW9381589 A Yaskawa Electric 1 3 With breake no AC servomotor SGMAH ASA1A YR21 Corporation key lead terminal treatment comple tion MOTOMAN ROBOTICS AB Page 48 Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 99 11 25 Doc name mrs52050 ch10 fm MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SV3X Page 49 S axis driving unit Created 00 04 03 Revised 00 04 03 name mrs52050 ch11 fm 11 Parts list 11 1 S axis driving unit Page 50 Doc name mrs52050 ch1 1 fm MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SV3X Created 00 04 03 Revised 00 04 03 S axis driving unit No Name DWG no Pcs 1002 AC servo motor SGMPH 02A1A YR21 1 1003 Socket screw GT SA M6 x 20 4 1004 Base HW9100950 1 1 1005 RV reduction gear HW9381283 A 1 1006 Socket screw M5 x 45 12 1007 Spring washer 2H 5 12 1008 Socket screw M4 x 35 1 1009 Spring washer 2H 4 1 1010 S head HW9100847 1 1 1011 Socket screw M6 x 10 1 1012 Spring washer 2H 6 1 1013 Socket screw GT SA M6 x 20 7 1014 Cover HW9301 806 1 1 1015 A
18. AN SV3X 5 Checking package contents Created 99 06 14 Revised 99 08 09 Doc name mrs52050 ch1 fm Motoman SV3X 1 Receiving A Note Confirm that the manipulator and the XRC have the same serial num ber Special care must be taken when more than one manipulator is to be installed If the numbers do not match manipulators may not perform as expected and cause injury or damage 1 1 Checking package contents When the package arrives check the contents for the following standard items Any additional options ordered should be checked as well V Manipulator robot arm VY XRC robot controller VY Programming pendant V Motor cable V Signal cable z MOTOMAN ROBOTICS AB Y 6 Instruction manual MOTOMAN SV3X Checking the serial number Created 99 06 14 Revised 99 08 09 Doc name mrs52050 ch1 fm 1 2 Checking the serial number Check that the serial number of the manipulator corresponds to the XRC The serial number is located on a label as shown below ROBOTICS YASNAC XRC Type ERCS Fig l Controller and robot System No identification Power Supply Peak kVA Average kVA Serialo Check serial numbers Robot Serial No T there should be same Part No number on both robot and controller Date signature C Made in Sweden THE MANIPULATO
19. AUTION and WAR INFORMATION Always be sure to follow explicitly the items listed under this heading This manual explains the various components of the MOTOMAN XRC system and general operations Read this manual carefully and be sure to understand its contents before handling the MOTOMAN XRC General items related to safety are listed in the MOTOMAN XRC Setup Manual To ensure correct and safe operation carefully read the Setup Manual before reading this manual Some drawings in this manual are shown with the protective covers or shields removed for clarity Be sure all covers and shields are replaced before operating this product The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product MOTOMAN ROBOTICS EUROPE Page 2 Operator s manual MOTOMAN XRC Created 98 08 08 Revised 99 11 22 Doc name GENERAL WARNING FM The equipment is manufactured in conformity with the EC Machinery directive the EMC directive as well as the LVD directive The equipment is intended to be incorporated into machinery or assembled with other machinery to constitute machinery covered by this directive and must not be put into service until the machinery into which it is to be incorporated has been declared in conformity with the provisions of EC s Machinery EMC and LVD Directive Information how to connect to the MOTOMAN XRC is describe
20. K 7100 Vejle Denmark Tel 45 79428000 Fax 45 79428001 Robia Suomi OY Messinkikatu 2 FI 20380 Turku Finland Tel 358 22145600 Fax 358 22145660 Kouvalias Industrial Robots 25 El Venizelou Ave GR 17671 Kallithea Greece Tel 30 1 9589243 6 Fax 30 1 9567289 REHM Hegeszt stechnika Kft T pi szele Jaszber nyi ut 4 H 2766 Hungary Tel 36 30 9510065 Fax 36 1 2562012 KNT Engineering Ltd 9 Hapalmach Street IL Kfar Azar 55905 Israel Tel 972 35351945 Fax 972 03535943 ROBIA ASA Industriveien 1 NO 3300 Hokksund Norway Tel 47 32252820 Fax 47 32252840 Electro Arco S A Rua Vice Almirante Azevedo Coutinho 4 Venda Nova PT 2700 Amadora Portugal Tel 351 21 4968160 Fax 351 21 4990319 Robotic Systems S A PTY Ltd P O Box 90741 ZA Bertsham 2013 South Africa Tel 27 11 4943604 Fax 27 11 4942320 Messer SAG Langweisenstrasse 12 CH 8108 Dallikon Switzerland Tel 41 18471717 Fax 41 18442432 MOTOMAN ROBOTICS EUROPE AB a subsidiary of YASKAWA Electric Corporation
21. MOTOMAN XRC INSTRUCTION MANUAL MOTOMAN SV3X SV3XL Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference UV MOTOMAN ROBOTICS AB A subsidiary of YASKAWA Electric Corporation MANUAL NO MRS52050 MOTOMAN ROBOTICS AB Y EI Reference list Operator s manual basic programming MOTOMAN XRC Maintenance manual Revision 990614 First release of this manual Revision 990810 Master page updated with new company name MOTOMAN ROBOTICS EUROPE AB Revision 991125 Data for robot type SV3XL is added E Revision 000403 Spare part list is added Y MOTOMAN ROBOTICS AB Instruction manual MOTOMAN SV3X III Created 99 06 14 Revised 00 04 03 Doc name mrs52050TOC fm 5 Checking package contents 5 Checking the serial number 6 2 Transporting e 7 Transporting method 7 Shipping bolts jigs 9 3 Installation S e t Pc 11 Safety guard installation 12 Mounting procedures for manipulator baseplate 12 Types of mounting 15 Location 16 4 Wiring 17 Grounding 18 Cable connection 18 5 Ee ter de E 21 Basic specifications 21 Part names and working axes 22 Baseplate dimensions 22 Dimensions and working range 23 B axis working range 25 Alterable working range 25 6 Allowable load for wrist axis and wrist flange 27 Allowable wrist load 27 Wrist flange 28 7 System
22. Not E ET EZE 1 T 180 77 Li 18077 v E SIXv 8 Ta 1 8 gt gt Viva 2 b 1 0 z p viva z FVIV Z La Pp Fi EE 221 07 TVIVd gt gt 1 07 Core 91 d ae ON NO Z ON NOL ON 9 5 NOZZ ON Fy t K p 6 947 ST a L gt 8 Ao z KO 40 8 Sr c 2 SIXV M G 200027 Kot ZE DAT Tt i 6l m T 18077 b 180 7 2 1 1 8 7 Iva gt lt amp Viva z Viva gt gt 2 Z pz zZ LOVOMM ke gt LXvIvd 22120017 77 Noo CET tZ c 2180 NOIZ ON NOSON m e 94 152 GOOH 0 7 NQOZ ON Ww 7190 L fe d 5 S S477 lt Tans bw pt viva V c Q ALE id _ o b 10 77 9 09 r T i D 3 pi SIXY N 24 20 AG 77 1 Ge E e o 7 LLI SC 9 18077 y b 18077 y a 5 Ive c NIP z fa viva T KEISER T i B 9 O XVIvd 221 061 XVvlvd 221 05 ot 2 8 tc 185 NOGL ON NOS ON D 441 5 77g NOKON m E Ne 94 g IT g 77 z TE D 8 185 O oa AGE 27 1 NOY AERE CAR ll E T 18077 p 5 1 Ht viva z Ke ZC ea TVIvd Ee FVIVO CZO TZN 91 lt 180 NOSON O s ww H i i 177 54 t t iz A0 rm O 8 y d Gy 221 02 AWO C 6l 180 77 p b SIXV S Iva g viva 22 z P Fuvd Z 7 fi ZZ
23. OPE Instruction manual MOTOMAN SV3X Page 53 Created 00 04 03 Revised 00 04 03 Doc name mrs52050 ch1 1 fm L axis driving unit No Name DWG no Pcs 1010 S head HW9100847 1 1 2001A Fly wheel HW9404928 1 1 2001B Distance piece HW9404929 1 1 2001C Distance piece HW9404930 1 1 2002 Reduction gear HW9381284 A 1 2003 Socket screw M5x25 8 2004 Spring washer 2H 5 8 2005 Sheet HW9481967 A 1 2006 Motor SGMPH 02A1A YR11 1 2007 Socket screw M6 x 25 4 2008 Spring washer 2H 6 4 2009 Socket screw M4 x 45 1 2010 Spring washer 2H 4 1 2011 LarmA HW9100868 1 1 2012 Socket screw GT LA M5 x 20 8 2013 Grease nipple A MT6 x 1 1 2014 Plug LP M5 1 2015 Larm B HW9100837 1 1 2016 Clamp TA1 S8 1 2017 Round head screw M4 x 6 1 2018 Insulok tie T50R 1 2019 Shaft HW9301793 1 1 2020 Socket screw M4 x 12 3 2021 Spring washer 2H 4 3 2022 Guide HW9404533 1 1 2023 Round head screw M4 x8 2 2024 Bearing 6812LLU 1 2025 Clip WR6 1 2026 Clip AR78 1 2027 Cover HW9200835 1 1 2028 Socket screw GT SA M4 x 10 6 2029 Socket screw M5 x 14 1 2030 Spring washer 2H 5 1 2031 stopper HW9404532 1 1 2032 Socket screw M4 x6 2 2033 Socket screw M6 x 10 1 2034 Spring washer 2H 6 1 MOTOMAN ROBOTICS EUROPE Page 54 Instruction manual MOTOMAN SV3X Created 00 04 03 Revised 00 04 03 Doc name mrs52050 ch1 1 fm U and R axes driving unit
24. PS bolt M4 x 10 4 1016 M base HW9301922 1 1 1017 Socket screw M5 x 16 8 1018 Spring washer 2H 5 8 1019 Oil seal UE15257 1 1020 Support HW9404556 1 1 1021 Support HW9404556 2 1 1022 Socket screw GT LA M4 x 16 4 1023 Insulok tie T50R 2 1024 Clamp TA1 8 2 1025 Saddle CD 15 2 1026 Round head screw M4 x 8 2 1027 APS bolt M5x8 4 1028 Washer M5 4 1029 Support HW9404555 1 1 1030 Socket screw MA x 12 2 1030A Spring washer 2H 4 2 1081 Insulok tie T50R 1 1032 Clamp TA1 S8 1 1033 Saddle CD 15 1 1034 Round head screw M4 x8 1 1035 APS bolt M5x8 2 1036 Tube TP 6 0 25 2 1037 Union POC6 M5M 2 1038 Union PMF6 01 2 MOTOMAN ROBOTICS EUROPE Instruction manual MOTOMAN SV3X Page 51 S axis driving unit Created 00 04 03 Revised 00 04 03 Doc name mrs52050 ch1 1 fm No Name DWG no Pcs 1039 Plug PT1 8 1 1040 G nipple A PT1 8 1 1042 Socket elbow PLJ8 1 1043 Union KQE08 03 1 1044 Plug PT3 8 1 1046 APS bolt M4 x 10 4 6003 C base HW9302397 A 1 6069 Union KQE08 03 1 6070 Plug PT3 8 19 1 6071 Saddle CD 15 2 6072 APS bolt M5 x8 4 6071 Saddle CD 15 2 6072 APS bolt M5 x8 4 6073 Clamp TA1 S8 2 6074 Round head screw M4 x 8 2 6075 Insulok tie T50R 2 MOTOMAN ROBOTICS EUROPE Page 52 Instruction manual MOTOMAN SV3X Created 00 04 03 Revised 00 04 03 Doc name mrs52050 ch1 1 fm L axis driving unit 11 2 L axis driving unit MOTOMAN ROBOTICS EUR
25. R AND THE CONTROLLER SHOULD HAVE THE SAME ORDER NUMBER ORDER NO MOTOMAN DESC D b Manipulator top view Fig 2 Location of order number labels a XRC front view ROBOTICS AB Instruction manual MOTOMAN SV3X 7 Transporting method Created 99 03 29 Revised 99 08 09 Doc name mrs52050 ch2 fm 2 Transporting AN Note Sling applications and crane or forklift operations must be performed by authorized personnel only Failure to observe this caution may result in injury or damage Avoid excessive vibration or shock during transporting The system consists of precision components so failure to observe this caution may adversely affect performance 2 1 Transporting method 2 1 A Using the crane As a rule when removing the manipulator from the package and moving it a crane should be used The manipulator should be lifted using wire rope threaded through attached eyebolts Be sure the manipulator is fixed with jigs before trans porting and lift it in the posture as shown in the figure Transporting position Fig 3 Transporting position MOTOMAN ROBOTICS AB 4 Page s Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 99 08 09 name mrs52050 ch2 fm Transporting method 2 1 B Using the forklift When using a forklift the manipulator should be fixed on a pallet with shi
26. SAW 24 275 Z 21 205 A EEN M IN 9N9771 9N9 8 2 2 ii saa lt lt 9 caa 9 p gy T SV 71 0095 Svg 7 9 sva 76 DND S 9 1 H mt RE LESE 3 a sixv 8 NS ai ss AN 5 5 wan ss se P GNO L WMdL MOES E NOBZ iz E SA SE UN NES Sek 1 _ NOlLdO 8A Z WE pyd 7 S WW 5 6 _ TAN 22 2 y Jh 9 1 2 sixv u Ws 5 5 SE ch GIE NM dL PAN 71 NOZZ PW INOT PNO I ON NILZ ON Nov UON 11 8A cag SCD 9 ove ER DVC ER 11 TIWN Lean v CW 9 y E sixv n Ws EE 5 1 Z ENO 1 NMdL nN 7 1 NOSZ SAW 7 T NOET m ENNE N98Z ON Nog VON zag c SY 52 9027 ve gt _ TIN 27 CAN 9 Gy E sxv 1 WS MUERE AI 1 ZNW ENNE ZNI ZNI NOLLON ul NOlLdO 8A 88 SC 9 7 9 Eege m 5 ER E y DN 3 r1 E sxv s WS Vd Wii LNO L WMdL InN 221 006 oo VON PRATA 3 3 epe id 2 syg m 621 255 55 v 9N9779 9NO E AO dg 403 un E A zq Q A i A 8 E 1 GN0 79 6NO t 12 n ZER 772 FEN O PNO ta I8 v GZNO LONIX 155 DN ly Notes Headquarters Sweden Group companies France Germany Germany Great Britain Italy Netherlands Slovenia Spain Sweden Distributors
27. application rc 29 Mounting equipment 29 Incorporated wire and airduct 30 8 Motoman construction 31 Internal connections 31 9 Maintenance and inspection 33 Inspection schedule 33 Notes on maintenance procedures 37 1 Grease replenishment for S axis 39 Grease replenishment for L axis 40 1 Grease replenishment for U axis 41 10 Recommended spare parts 45 hn 49 S axis driving unit 49 L axis driving unit 52 U and R axes driving unit 54 Wrist unit 57 MOTOMAN ROBOTICS AB Page by Instruction manual MOTOMAN SV3X Created 99 06 14 Revised 00 04 03 Doc name mrs52050TOC fm MOTOMAN ROBOTICS EUROPE Operator s manual MOTOMAN XRC Page 1 Created 98 08 08 Revised 99 11 22 Doc name GENERAL WARNING FM Safety NOTES FOR SAFE OPERATION Read this manual carefully before installation operation maintenance or inspec tion of the MOTOMAN XRC In this manual the Notes for Safe Operation are classified as WARNING or INFORMATION AN WARNING Indicates a potentially hazardous situation which if not avoided could result in minor moderate or serious injury to personnel and damage to equipment It may also be used to alert against unsafe practices To ensure safe and efficient operation at all times be sure to follow all instructions even if not designated as C
28. ated 99 03 29 Revised 99 08 09 Doc name mrs52050 ch3 fm 3 1 Safety guard installation To insure safety be sure to install safety guards according to the EC directive related to machinery They prevent unforeseen accidents with personnel and damage to equipment Responsibility for safeguarding The user of a manipulator or robot system shall ensure that safeguards are pro vided The means and degree of safeguarding including any redundancies shall correspond directly to the type and level of hazard presented by the robot system consistent with the robot application Example of safetyguardings are barriers interlock barriers perimeter guarding awareness barriers and awareness signals 3 2 Mounting procedures for manipulator baseplate The manipulator should be firmly mounted on a baseplate or foundation strong enough to support the manipulator and withstand repulsion forces during accele ration and deceleration Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator as shown in the table Maximum repulsion force of the manipulator During installation if out of the plane is not right the manipulator shape may change and its functional ability may be compromised Out of the plane for instal lation must be kept at 0 5mm or less Mount the baseplate in either of the following ways see following chapter Maximum repulsion forces of the manipulator Horizonta
29. ctric shock Wiring must be performed by authorized or certified personnel Failure to observe this caution may result in fire or electric shock MOTOMAN ROBOTICS AB Y Page 18 Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 99 08 09 Doc name mrs52050 ch4 fm Grounding 4 1 Grounding Follow local regulations for grounding line size Note Do not use this line in common with other ground lines or grounding electrodes for other electric power motor power welding devices etc Where metal ducts metallic conduits or distributing racks are used for cable laying ground in accordance with Electric Equipment Technical Standards 8 bolt for grounding View A Provided at factory Fig 8 Grounding method 4 2 Cable connection There are two cables for the power supply a signal cable for detection 1BC and a power cable 2BC Connect these cables to the manipulator base connectors and the XRC Refer to the figures Power cable connection to the manipulator and Power cable connection to the XRO 4 2 A Connection to the manipulator Before connecting two cables to the manipulator verify the numbers 1BC and 2BC on both power supply cables and the manipulator base connectors When connecting adjust the cable connector positions to the main key positions of the manipulator and insert cables in the order of 2BC 1BC and then set the lever until hearing a click Tighten the connector
30. d in the XRC Service Manual MOTOMAN is not responsible for incidents arising from unauthorized modification of its products Unauthorized modification voids your product s warranty MOTOMAN may modify this model without notice when necessary due to product improvements modifications or changes in specifica tions If such modification is made the manual will also be revised see revision information If your copy of the manual is damaged or lost contact a MOTOMAN representative to order a new copy The representatives are listed on the back cover Be sure to tell the representative the manual number listed on the front cover MOTOMAN is not responsible for incidents arising from unauthorized modification of its products Unauthorized modification voids your product s warranty MOTOMAN ROBOTICS EUROPE Operator s manual MOTOMAN XRC Page 3 Created 98 08 08 Revised 99 11 22 Doc name GENERAL WARNING FM Definition of terms used often in this manual The MOTOMAN manipulator is the YASKAWA industrial robot product The manipulator usually consists of the controller the playback panel the programming pendant and supply cables In this manual the equipment is designated as follows Equipment Manual designation MOTOMAN XRC Controller XRC MOTOMAN XRC Playback panel P Panel MOTOMAN XRC Programming pendant P Pendant Start panel for machinery operation in PLAY mode Start panel Ke
31. e parts are ranked as follows Instruction manual MOTOMAN SV3X Page 45 Doc name mrs52050 ch10 fm v Rank A Expendable and frequently replaced parts V Rank B Parts for which replacement may be necessary as a result of frequent operation Rank C Drive unit Note For replacing parts in rank B or rank C contact MOTOMAN service Spare parts for the MOTOMAN SV3 YR SV3X J00 and YR SV3XL J20 Rank Parts Name Type Manufacturer Qty Qty Remarks No per Unit A 1 Grease Harmonic Grease Yaskawa Electric 2 5kg 4BNo 2 Corporation 2 Battery unit HW9470917 B Yaskawa Electric 1 1 for SLU axes Corporation 3 Battery unit HW9470917 A Yaskawa Electric 1 1 for RBT axes Corporation B 4 R axis timing belt 05084 5M198 Mitsuboshi 1 1 Belting Limited 5 B axis timing belt 05054 5 315 Mitsuboshi 1 1 Belting Limited 6 S axis HW9381283 A Yaskawa Electric 1 1 Speed reducer Corporation 7 L axis HW9381284 A Yaskawa Electric 1 1 Speed reducer Corporation 8 U axis HW9381285 A Yaskawa Electric 1 1 Speed reducer Corporation 9 R axis HW9381225 A Yaskawa Electric 1 1 Speed reducer Corporation 10 B axis HW9381226 A Yaskawa Electric 1 1 Speed reducer Corporation 11 T axis HW9381227 A Yaskawa Electric 1 1 Speed reducer Corporation 12 S axis HW9171589 A Yaskawa Electric 1 1 internal wiring Corporation Page 46 Created 99 03 29 Revised 99
32. e playback panel or program ming pendant are pressed Injury or damage to machinery may result if the emergency stop circuit cannot stop the robot during emergency The MOTOMAN XRC should not be used if the emergency stop buttons do not function Always set the Teach Lock before entering the robot work envelope to teach a job Operator injury can occure if other person reset safety and restart robot in PLAY mode Confirm that no persons are present in the robot work envelope and that you are in a safe location before v Turning on the MOTOMAN XRC power Y Moving the robot with the programming pendant v Running check operations Performing automatic operations Injury may result if anyone enters the working envelope of the robot during opera tion Always press an emergency stop button immediately if there are problems Service Perform the following inspection procedures prior to conducting robot teaching If problems are found repair them immediately and be sure that all other necessary processing has been performed v Check for problems in robot movement v Check for damages to insulation and sheathing of external wires Always return the programming pendant to the hook after use The programming pendant can be damaged if it is left in the robots work area on the floor or near fixtures Spare parts MOTOMAN warranty is only valid if original spare parts are used Y MOTOMAN ROBOTICS AB Instruction manual MOTOM
33. inertia Axis Moment Nm GD 4 Total inertia kgm R axis 5 39 0 55 0 1 B axis 5 39 0 55 0 1 T axis 2 94 0 3 0 03 1 Gravitational unit When the volume load is small refer to the moment arm rating shown in the figure Moment arm rating The allowable total inertia is calculated when the moment is at the maximum Contact MOTOMAN service when only inertia moment or load moment is small and inertia moment is large Also when the load mass is combined with an out side force contact MOTOMAN service Load gravity position B axis rotation center line B axis rotation center line SV3X SV3XL 200 200 LT mm LT mm 100 W 1 5kg 400 W 1 5kg W 3kg W 3kg 0 100 200 300 0 100 200 300 LB mm LB mm Fig 16 Moment arm rating Page 28 Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 00 04 03 Doc name mrs52050 ch6 fm Wrist flange MOTOMAN ROBOTICS AB Y 6 2 Wrist flange The wrist flange dimensions are shown in the figure Wrist flange In order to see the tram marks it is recommended that the attachment be mounted inside the fitting Fitting depth of inside and outside fittings must be 6 mm or less 4 5 x P0 8 Tram mark Depth 9mm Depth 7 mm Fig 17 Wrist flange Note Wash off anti corrosive paint solid color on the wrist flange surface with thinner or light oil before mounting the too
34. inspection process should be developed on an case by case basis For axes which are used very frequently in handling applications etc it is recommended that inspections be conducted at shorter intervals Contact MOTOMAN service Page 34 Created 99 03 29 Revised 99 11 25 Doc name mrs52050 ch9 fm Instruction manual MOTOMAN SV3X Inspection items MOTOMAN ROBOTICS AB Y Inspection schedule Items Schedule Method Inspection charge Daily 1000H 6000H 12000H 24000H 36000H Speci Licen Service Cycle Cycle Cycle fied see com person pany 1 Tram mark v Visual Check tram mark v v v accordance and damage at the home position 2 Working area v Visual Clean the work v v v and area if dust or manipulator spatter is present Check for dam age and outside cracks 3 Baseplate v Spanner Tighten loose v v v mounting Wrench bolts Replace if bolts necessary 4 Cover mount v Screw Tighten loose v v v ing screws driver bolts Replace if Wrench necessary 5 v Manual Check for loose v v v connectors connectors 6 RBT axes tim v Manual for belt v v ing belt tension and wear 7 Wire harness v Visual Check for conduc v v in manipulator Multime tion between the S axis leads ter main connecter of base and interme diate connector with manually shaking the wire Check for wear of protective spring v Replace
35. l rotating maximum torque 500 Nm S axis moving direction Vertical rotating maximum torque 700 Nm LU axis moving direction Y MOTOMAN ROBOTICS AB Instruction manual MOTOMAN SV3X Page 13 Mounting procedures for manipula Created 99 03 29 Revised 99 08 09 Doc name mrs52050 ch3 fm 3 2 A When the manipulator and mounting fixture are installed on a common flat steel plate The common base should be rugged and durable to prevent shifting of the mani pulator or the mounting fixture The thickness of the common base is 30 mm or more and an M10 size or larger anchor bolt is recommended Affix the manipu lator by fastening the plate with the M10 mm anchor bolts The plate is tapped for M10 35 mm length bolts Tighten the bolts and anchor bolts securely so that they will not work loose during operation See the figure Mounting the manipula tor baseplate for the method 4xM10 Bolts Manipulator base Anchor bot M10 or more q T Fig 5 Mounting the manipulator baseplate Common base MOTOMAN ROBOTICS AB Y 14 Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 99 08 09 name mrs52050 ch3 fm Mounting procedures for manipula 3 2 B When the manipulator is mounted directly on the floor The floor should be strong enough to support the manipulator Construct a solid foundation with the appropriate thickness to withstand maxi
36. let G nipple A MT6x1 Fig 28 R axis and B axis speed reducer diagram a Be sure to remove Ro and Bo plugs for air flow after removing the cover b Inject grease into the R and B grease inlet using a grease gun Grease type Harmonic grease 4B No 2 Amount of grease For R axis Rj 4cc For B axis Bj 4cc c Reinstall the Ro and Bo plugs for air flow and cover Note If grease is added with the Ro and Bo plugs in place the internal pres sure is increased and the grease will infiltrate from the oil seal The Ro and Bo exhaust port is used for air flow Do not inject exces sive grease into the R grease inlet Y MOTOMAN ROBOTICS AB Instruction manual MOTOMAN SV3X Page 43 Notes on maintenance procedures Created 99 03 29 Revised 99 11 25 Doc name mrs52050 ch9 fm 9 2 F Grease replenishment for T axis speed reducers Grease inlet T axis speed reducer G nipple A MT6x1 To Plug for air flow Hexagon socket head M6 Fig 29 T axis speed reducers diagram a Be sure to remove To plug for air flow b Inject grease into the T grease inlets using a grease gun Grease type Harmonic grease 4B No 2 Amount of grease For T axis Tj 4cc c Reinstall the To plug for air flow Note If grease is added with the To plug in place the internal pressure is increased and the grease will infiltrate from the oil seal The To exhaust ports are used for air flow D
37. ls ROBOTICS AB Instruction manual MOTOMAN SV3X Page 29 Mounting equipment Created 99 03 29 Revised 99 11 25 Doc name mrs52050 ch7 fm 7 System application 7 1 Mounting equipment When peripheral equipment is attached to the U axis the following conditions should be observed 7 1 A Allowable load The allowable load on the U axis is a maximum of 4 kg including the wrist load For instance when the mass installed in the wrist point is 3 kg the mass which can be installed on the upper arm becomes 1 kg 2 M6P1 0 Depth 12mm Fig 18 Installing peripheral equipment Page 30 Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 00 04 03 name mrs52050 ch7 fm Incorporated wire and airduct MOTOMAN ROBOTICS AB Y 7 2 Incorporated wire and airduct Wires and an air line are incorporated into the manipulator for user application There are 12 wires and an air duct rating The allowable current for wires must be 2 5 or below for each wire The total current value for pins 1 to 12 must be 40A or below The maximum pressure for the air duct is 490 kPa 5 kgf cm and its inside diameter is 25 Cable connector provided on U axis is type JLO5 2A20 29PC with cap Mating plug type is JL05 6A20 29P Air outlet PT3 8 with pressure plug Cable connector provided on S axis is type JLO5 2A20 29SC with Mating plug type is JLO5 6A20 29S d Air inlet PT3 8
38. mum repulsion forces of the manipulator as shown in table 1 As a rough standard when there is a con crete thickness floor is 150 mm or more the base of the manipulator can be fixed directly to the floor with M10 anchor bolts Before mounting the manipulator how ever check that the floor is level and that all cracks etc are repaired Any thick ness less than 150 mm is insufficient for mounting even if the floor is concrete 4xM10 Anchor bolts Fig 6 Direct mounting Concrete on the floor ROBOTICS Instruction manual MOTOMAN SV3X Page 15 Types of mounting Created 99 03 29 Revised 99 08 09 mrs52050 ch3 fm 3 3 Types of mounting The manipulator can be mounted in three different ways floor mounted stand ard wall mounted and ceiling mounted types are available For wall and ceiling mounted types the three points listed below are different from the floor mounted types S axis working range v Affixing the manipulator base V Precautions to prevent the manipulator from falling 3 3 A S axis working range When performing a wall installation the S axis movable range must be 30 S axis motor becomes with the brake 3 3 B Affixing the manipulator base When performing a wall or ceiling installation be sure to use four M10 hexagon Socket head cap bolts Use a torque of 48 Nm when screwing in the bolts 3 3 C Precautions to prevent the manipulator from falli
39. ng When performing wall or ceiling installations for safety purposes take measures to keep the manipulator from falling Refer to the figure When using ceiling and wall mounted types for details 4xM10 Hexagon socket head cap bolts Manipulator base Fig 7 When using ceiling and wall mounted types Note When using wall mounted or ceiling mounted types contact MOTOMAN service MOTOMAN ROBOTICS AB 4 Page 16 Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 99 08 09 name mrs52050 ch3 fm Location 3 4 Location When the manipulator is installed it is necessary to satisfy the undermentioned environmental conditions v 0 to 45 C Ambient temperature v 20 to 80 RH no moisture V Free from dust soot or water v Free from corrosive gases liquid or explosive gases V Free from excessive vibration less than 0 5G v Free from large electrical noise plasma v Out of the plane for installation is 0 5 mm or less ROBOTICS Instruction manual MOTOMAN SV3X Page 17 Created 99 03 29 Revised 99 08 09 Doc name mrs52050 ch4 fm 4 Wiring AN Note Ground resistance must be 100 or less Failure to observe this warning may result in fire or electric shock Before wiring make sure to turn the primary power supply off and put up a warning sign ex DO NOT TURN THE POWER ON Failure to observe this warning may result in fire or ele
40. o not inject excessive grease into the T grease inlets MOTOMAN ROBOTICS AB Y Page A4 Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 99 11 25 Doc name mrs52050 ch9 fm Notes on maintenance procedures 9 2 G Notes for maintenance Connect the battery unit with reference to the following figure before removing the encoder connector with CAUTION label Encoder x Motor cable etc Internal Insertion type pin terminal male wire Bower connector b Insertion type pin terminal Female b OBT4 OBTHa 2 7 4 5 mE Re NI unit Encoder connector Connection diagram CAUTION label b BAT Hb a OBT4H 4 WARNING Connect battery to encoder to save the data before removing connector Fig 30 Encoder connector diagram ROBOTICS AB Created 99 03 29 Revised 99 11 25 10 Recommended spare parts It is recommended that the following parts and components be kept in stock as spare parts for the Motoman SV3 The spare parts list for the Motoman SV3 is shown below Product performance can not be guaranteed when using spare parts from any company other than Motoman The spar
41. orking range of the B axis maintaining a constant angle to the center of the U arm is shown in the figure B axis working range U axis rotation B axis rotation center center Wrist L axis rotation center S axis rotation center CO essc Ml 5 Fig 15 B axis working range Note The list might come in contact with the robot body by the pose of the basic axis S L U 5 6 Alterable working range The working range of the S axis can be altered according to the operating condi tions as shown in the table S axis working range If alteration is necessary contact MOTOMAN service in advance S axis working range Item Specifications S axis 170 standard working 150 range 120 90 60 30 MOTOMAN ROBOTICS AB Y Page 26 Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 99 12 06 mrs52050 ch5 fm Alterable working range ROBOTICS Instruction manual MOTOMAN SV3X Page 27 Allowable wrist load Created 99 03 29 Revised 00 04 03 Doc name mrs52050 ch6 fm 6 Allowable load for wrist axis and wrist flange 6 1 Allowable wrist load The allowable wrist load is 3 kg If force is applied to the wrist instead of the load force on R B and T axes should be within the value shown in the table Moment nad total inertia Contact MOTOMAN service for further information or assist ance Moment and total
42. pping bolts and jigs as shown in the figure Using the forklift Insert claws under the pallet and lift it The pallet must be strong enough to support the manipulator Transporting of the manipulator must be performed slowly in order to avoid over turning or slippage Forklift claw entry Fig 4 Using the forklift Note Check that the eyebolts are securely fastened The weight of the maniputator is approximately 35kg including the shipping bolts and jigs Use a wire rope strong enough to withstand the weight Attached eyebolts are designed to support the manipulator weight Do not use them for anything other than transporting the manipulator Mount the shipping bolts and jigs for transporting the manipulator Avoid exerting force on the arm or motor unit when transporting use caution when using transporting equipment other than a crane or forklift as injury may occur Instruction manual MOTOMAN SV3X 9 Shipping bolts and jigs Created 99 03 29 Revised 00 04 03 mrs52050 ch2 fm Y MOTOMAN ROBOTICS AB 2 2 Shipping bolts and jigs The manipulator is provided with shipping bolts and jigs at points A and B see the figure Transporting position V The jigs are painted yellow v The number of hexagon socket head cap screws are A M6 X 3 M5 X2 Note Before turning on the power check to be sure that the shipping bolts and jigs have been removed The shipping
43. pply grease 6000H cycle 16 Overhaul v v 1 Inspection no correspond to the numbers in the figure Inspection parts and inspections numbers 2 When checking for conduction with multimeter connect the battery to BAT and OBT of connectors on the motor side for each axis and then remove connectors on detecter side for each axis from the motor Otherwise the home position may be lost 3 Wire harness in manipulator to be replaced at 24000H inspection 4 For the grease refer to the table Inspection parts and grease used Page 36 Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 99 11 25 Doc name mrs52050 ch9 fm Inspection schedule MOTOMAN ROBOTICS AB UV Fig 22 Inspection parts and inspection numbers Inspection parts and grease used No Grease used Inspected parts 11 12 13 14 15 Harmonic Grease 4B No 2 S L U R B and T axes speed reducers The numbers in the above table correspond to the numbers in the table Inspection items Y MOTOMAN ROBOTICS AB Instruction manual MOTOMAN SV3X 37 Created 99 03 29 Revised 99 11 25 Doc name mrs52050 ch9 fm Notes on maintenance procedures 9 2 Notes on maintenance procedures 9 2 A Battery unit replacement If the battery alarm occurs in the XRC replace the battery according to the following procedure
44. s with the M3 hexagon socket head cap bolt Accessory at the end Y MOTOMAN ROBOTICS AB Instruction manual MOTOMAN SV3X Page 19 Cable connection Created 99 03 29 Revised 99 08 09 Doc name mrs52050 ch4 fm 4 2 B Connection to the XRC Connect each cable to the connector Be sure to verify the numbers on both the cable and connectors before connecting X1 1 BC X2 2 BC Fig 9 Power cables Connector details Fig 10 Power cable connection to the manipulator Page 20 Instruction manual MOTOMAN SV3X Created 99 03 29 Revised 99 08 09 Doc name mrs52050 ch4 fm Cable connection MOTOMAN ROBOTICS AB ROBOTICS Instruction manual MOTOMAN SV3X Page 1 Basic specifications Doc name mrs52050 ch5 fm Created 99 03 29 Revised 99 11 25 5 Basic specifications 5 1 Basic specifications Basic specifications SV3X SV3XL Operation mode Vertically articulated Degree of freedom 6 Payload 3 kg Repetitive positioning accuracy 0 03 mm S axis turning 170 L axis lower arm 150 45 Motion U axis upper arm 190 70 range R axis wrist roll 180 B axis wrist pitch yaw 135 T axis wrist twist 350 S axis 3 67 rad s 210 s 2 62 rad s 150 s L axis 2 79 rad s 170 s 2 09 rad s 120 s Maximum U axis 3 93 rad s 225 5 3 40 rad s 195
45. supply off and put up a warning sign ex DO NOT TURN THE POWER ON Failure to observe this warning may result in electric shock or injury Maintenance and inspection must be performed by specified personnel Failure to observe this caution may result in electric shock or injury For disassembly or repair contact Motoman service The battery unit must be connected before removing detection connector when maintenance and inspection Failure to observe this caution may result in the loss of home position data 9 1 Inspection schedule Proper inspections are essential not only to assure that the mechanism will be able to function for a long period but also to prevent malfunctions and assure safe operation Inspection intervals are displayed in six levels Conduct periodical inspections according to the inspection schedule in the table Inspection items In the table Inspection items the inspection items are classified into three types of operation operations which can be performed by personnel authorized by the user operations which can be performed by personnel being trained and opera tions which can be performed by service company personnel Only specified per sonnel are to do inspection work Note The inspection interval must be based on the servo power supply on time These inspections were developed for applications where the mani pulator is used for arc welding work For any different or special applications the
46. ure a Be sure to remove the So plug for air flow b Inject the grease into the S grease inlet using a grease gun Grease type Harmonic grease 4B No 2 Amount of grease 25cc c Reinstall the So plug for air flow and cover Note For ceiling mounted manipulators the exhaust port and the grease inlet are inverted If grease is added with the So plug in place the internal pressure is increased and the grease will infiltrate from the oil seal The Sg exhaust port is used for air flow Do not inject excessive grease into the S grease inlet MOTOMAN ROBOTICS AB Page 40 Instruction manual MOTOMAN SV3X Notes on maintenance procedures Created 99 03 29 Revised 99 11 25 Doc name mrs52050 ch9 fm 9 2 C Grease replenishment for L axis speed reducer Lo Plug for air flow GP L axis speed reducer xagon socket head PT1 8 Grease inlet G nipple A MT6x1 Fig 26 L axis speed reducer diagram Grease replenishment for L axis a Be sure to remove Lo plug for air flow b Inject grease into the L grease inlet using a grease gun Grease type Harmonic grease 4B No 2 Amount of grease 20cc c Wipe the Lo exhaust plugs with a cloth and reinstall the plugs Note For ceiling mounted manipulators the exhaust port and the grease inlet are inverted If grease is added with the Lo plug in place the internal pressure is increased and the grease will infiltrate from the oil seal
47. y operation Descriptions of the programming pendant and playback panel keys buttons and displays are shown as follows Equipment Manual designation Programming Character keys The keys which have characters printed on them are pendant denoted with ex ENTER Symbol keys The keys which have a symbol printed on them are not denoted with but depicted with a small picture ex page key The cursor key is an exception and a picture is not shown Axis keys Axis keys and Number keys are generic names Number keys for the keys for axis operation and number input Keys pressed When two keys are to be pressed simultaneously simultaneously the keys are shown with a sign between them SHIFT COORD Displays The menu displayed in the programming pendant is denoted with italic characters ex JOB Playback panel Buttons Playback panel buttons are enclosed in brackets ex TEACH on the playback panel Page 4 gt MOTOMAN ROBOTICS EUROPE Operator s manual MOTOMAN XRC Created 98 08 08 Revised 99 11 22 Doc name GENERAL WARNING FM Description of the operation procedure In the explanation of the operation procedure the expression Select means that the cursor is moved to the object item and the SELECT key is pressed Teaching Before operating the robot check that the servo power is turned off when the emergency stop buttons on th
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