SK16 Dual MRC Manipulator Manual®‰川sk16手册... · 2018. 7. 24. · Minc MRC Controller SK16 Dual MRC Manipulator Manual Part Number 140067-2 March 31, 1998 MOTOMAN 805 Liberty

Minc MRC Controller

SK16 Dual MRCManipulator ManualPart Number 140067-2

March 31, 1998

MOTOMAN805 Liberty Lane

West Carrollton, OH 45449TEL: (937) 847-6200 FAX: (937) 847-627724-HOUR SERVICE HOTLINE: (937) 847-3200

The information contained within this document is the proprietary property of Motoman, Inc., andmay not be copied, reproduced or transmitted to other parties without the expressed written

authorization of Motoman, Inc.

©1998 by MOTOMANAll Rights Reserved

Because we are constantly improving our products, we reserve the right to change specificationswithout notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.

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SK16 Dual MRC Manipulator Manual i MOTOMAN

SK16 DUAL MRC MANIPULATOR MANUAL

TABLE OF CONTENTS Chapter/Section Page

CHAPTER 1 INTRODUCTION

CHAPTER 2 SAFETY

1 INTRODUCTION........................................................................................1-1

2 STANDARD CONVENTIONS......................................................................2-1

3 GENERAL SAFEGUARDING TIPS..............................................................3-1

4 MECHANICAL SAFETY DEVICES...............................................................4-1

5 INSTALLATION SAFETY ...........................................................................5-1

6 PROGRAMMING SAFETY .........................................................................6-1

7 OPERATION SAFETY ................................................................................7-1

8 MAINTENANCE SAFETY ...........................................................................8-1

CHAPTER 3 SK16 MANIPULATOR INSTRUCTIONS

1 RECEIVING ...............................................................................................1-1

2 INSTALLATION .........................................................................................2-1

3 WIRING ....................................................................................................3-1

4 SPECIFICATIONS......................................................................................4-1

5 PRECAUTIONS FOR ALLOWABLE WRIST LOAD ......................................5-1

6 ALLOWABLE LOAD ON U-AXIS ................................................................6-1

7 ROBOT CONSTRUCTION ..........................................................................7-1

8 MAINTENANCE .........................................................................................8-1

9 RECOMMENDED SPARE PARTS ..............................................................9-1

10 PARTS LIST............................................................................................10-1

CHAPTER 4 SK16 DUAL MRC INSTRUCTIONS

1 INTRODUCTION........................................................................................1-1

2 EQUIPMENT DESCRIPTION......................................................................2-1

3 BASIC OPERATION...................................................................................3-1

4 CONTROLLER MAINTENANCE..................................................................4-1

5 TROUBLESHOOTING ................................................................................5-1

6 DIAGRAMS...............................................................................................6-1

CHAPTER 5 SK16 ELEMENTARY DIAGRAMS

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CHAPTER 1

INTRODUCTION

March 31, 1998



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SK16 Manipulator Introduction 1-1 MOTOMAN

INTRODUCTIONAbout this DocumentThis manual provides information, including basic installation and maintenanceinformation for the SK16 and operation and maintenance instructions for theSK16 Dual MRC Controller. It is your responsibility to familiarize yourselfthoroughly with the information presented in this manual. Before you proceed, besure you have read and understand CHAPTER 2, SAFETY.

This manual is divided into the following chapters:

CHAPTER 1 - INTRODUCTIONChapter 1 provides general information regarding this manual, a list of referencedocuments, and customer service information.

CHAPTER 2 - SAFETYChapter 2 provides specific safety information designed to supplement trainingreceived in an approved Motoman training course.

CHAPTER 3 - SK16 MANIPULATOR INSTRUCTIONSChapter 3 provides basic handling, installation, and wiring information forthe SK16. In addition, preventive checks, maintenance, and specifications arealso provided.

CHAPTER 4 - SK16 DUAL MRC INSTRUCTIONSThe Dual MRC processes input and output signals, controls manipulatormovement, operates welding power supply, and provides the signals to operatethe welding system. It maintains variable data and performs the numericprocessing to convert to and from different coordinate systems. The controlleralso provides main logic functions, servo control, program and constant datamemory, and power distribution. In addition to the above, Chapter 4 alsoprovides basic information for troubleshooting the SK16 Dual MRC Controller.

CHAPTER 5 - ELEMENTARY DIAGRAMSChapter 5 provides reference information and block wiring diagrams of thevarious components of the Dual MRC controller and SK16 manipulator.

Reference to Other DocumentationFor additional information refer to the following:

• Motoman User Function Manual (Part Number 132331-1)

• Vendor manuals for system components not manufactured by Motoman

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INTRODUCTION

SK16 Manipulator Introduction 1-2 MOTOMAN

Customer Service InformationIf you are in need of technical assistance, contact the Motoman service staff at(937) 847-3200. Please have the following information ready before you call:

• Robot Type (SK16)

• Application Type (Welding, Handling, etc.)

• Robot Serial Number (located on the back side of the robot arm)

• Robot Sales Order Number (located on back side of MRC controller)

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CHAPTER 2

SAFETY

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SK16 Manipulator Safety i MOTOMAN

TABLE OF CONTENTS Section Page

1 INTRODUCTION.......................................................................................................1-1

2 STANDARD CONVENTIONS ....................................................................................2-1

3 GENERAL SAFEGUARDING TIPS.............................................................................3-1

4 MECHANICAL SAFETY DEVICES..............................................................................4-1

5 INSTALLATION SAFETY ..........................................................................................5-1

6 PROGRAMMING SAFETY ........................................................................................6-1

7 OPERATION SAFETY ...............................................................................................7-1

8 MAINTENANCE SAFETY ..........................................................................................8-1

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SK16 Manipulator Safety 1-1 MOTOMAN

SECTION 1

INTRODUCTION

It is the purchaser's responsibility to ensure that all local, county,state, and national codes, regulations, rules, or laws relating tosafety and safe operating conditions for each installation are metand followed.

We suggest that you obtain and review a copy of the ANSI/RIA National SafetyStandard for Industrial Robots and Robot Systems. This information can beobtained from the Robotic Industries Association by requesting ANSI/RIAR15.06. The address is as follows:

Robotic Industries Association900 Victors WayP.O. Box 3724

Ann Arbor, Michigan 48106TEL: 313/994-6088FAX: 313/994-3338

Ultimately, the best safeguard is trained personnel. The user is responsible forproviding personnel who are adequately trained to operate, program, and maintainthe robot cell. The robot must not be operated by personnel who have notbeen trained!

We recommend that all personnel who intend to operate, program, repair, or usethe robot system be trained in an approved Motoman training course and becomefamiliar with the proper operation of the system.

This chapter addresses the following:

• Introduction (Section 1)

• Standard Conventions (Section 2)

• General Safeguarding Tips (Section 3)

• Mechanical Safety Devices (Section 4)

• Installation Safety (Section 5)

• Programming Safety (Section 6)

• Operation Safety (Section 7)

• Maintenance Safety (Section 8)

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SECTION 2

STANDARD CONVENTIONSThis manual includes information essential to the safety of personnel andequipment. As you read through this manual, be alert to the four signal words:

• DANGER

• WARNING

• CAUTION

• NOTE

Pay particular attention to the information provided under these headings whichare defined below (in descending order of severity).

DANGER!Information appearing under the DANGER caption concerns theprotection of personnel from the immediate and imminent hazardsthat, if not avoided, will result in immediate, serious personal injuryor loss of life in addition to equipment damage.

WARNING!Information appearing under the WARNING caption concerns theprotection of personnel and equipment from potential hazards thatcan result in personal injury or loss of life in addition to equipmentdamage.

CAUTION!Information appearing under the CAUTION caption concerns theprotection of personnel and equipment, software, and data fromhazards that can result in minor personal injury or equipmentdamage.

NOTE: Information appearing in a NOTE caption provides additional information which is helpful inunderstanding the item being explained.

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SECTION 3

GENERAL SAFEGUARDING TIPSAll operators, programmers, plant and tooling engineers, maintenance personnel,supervisors, and anyone working near the robot must become familiar with theoperation of this equipment. All personnel involved with the operation of theequipment must understand potential dangers of operation. General safeguardingtips are as follows:

• Improper operation can result in personal injury and/or damage to theequipment. Only trained personnel familiar with the operation of this robot,the operator's manuals, the system equipment, and options and accessoriesshould be permitted to operate this robot system.

• Do not enter the robot cell while it is in automatic operation. Programmersmust have the teach pendant when they enter the robot cell.

• Improper connections can damage the robot. All connections must be madewithin the standard voltage and current ratings of the robot I/O (Inputs andOutputs).

• The robot must be placed in Emergency Stop (E-Stop) mode whenever it isnot in use.

• In accordance with ANSI/RIA R15.06, Section 6.13.4 and 6.13.5, uselockout/tagout procedures during equipment maintenance. Refer also toSection 1910.147 (29CFR, Part 1910), Occupational Safety and HealthStandards for General Industry (OSHA).

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SECTION 4

MECHANICAL SAFETY DEVICESThe safe operation of the robot, positioner, auxiliary equipment, and system isultimately the user's responsibility. The conditions under which the equipmentwill be operated safely should be reviewed by the user. The user must be awareof the various national codes, ANSI/RIA R15.06 safety standards, and other localcodes that may pertain to the installation and use of industrial equipment.Additional safety measures for personnel and equipment may be requireddepending on system installation, operation, and/or location. The followingsafety measures are available:

• Safety fences and barriers

• Light curtains

• Door interlocks

• Safety mats

• Floor markings

• Warning lights

Check all safety equipment frequently for proper operation. Repair or replace anynon-functioning safety equipment immediately.

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SECTION 5

INSTALLATION SAFETYSafe installation is essential for protection of people and equipment. Thefollowing suggestions are intended to supplement, but not replace, existingfederal, local, and state laws and regulations. Additional safety measures forpersonnel and equipment may be required depending on system installation,operation, and/or location. Installation tips are as follows:

• Be sure that only qualified personnel familiar with national codes, localcodes, and ANSI/RIA R15.06 safety standards are permitted to install theequipment.

• Identify the work envelope of each robot with floor markings, signs, andbarriers.

• Position all controllers outside the robot work envelope.

• Whenever possible, install safety fences to protect against unauthorizedentry into the work envelope.

• Eliminate areas where personnel might get trapped between a moving robotand other equipment (pinch points).

• Provide sufficient room inside the workcell to permit safe teaching andmaintenance procedures.

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SECTION 6

PROGRAMMING SAFETYAll operators, programmers, plant and tooling engineers, maintenance personnel,supervisors, and anyone working near the robot must become familiar with theoperation of this equipment. All personnel involved with the operation of theequipment must understand potential dangers of operation. Programming tips areas follows:

• Any modifications to PART 1 of the controller PLC can cause severepersonal injury or death, as well as damage to the robot! Do not make anymodifications to PART 1. Making any changes without the writtenpermission of Motoman will VOID YOUR WARRANTY!

• Some operations require standard passwords and some require specialpasswords. Special passwords are for Motoman use only. Y O U RWARRANTY WILL BE VOID if you use these special passwords.

• Back up all programs and jobs onto a floppy disk whenever programchanges are made. To avoid loss of information, programs, or jobs, abackup must always be made before any service procedures are done andbefore any changes are made to options, accessories, or equipment.

• The concurrent I/O (Input and Output) function allows the customer tomodify the internal ladder inputs and outputs for maximum robotperformance. Great care must be taken when making these modifications.Double-check all modifications under every mode of robot operation toensure that you have not created hazards or dangerous situations that maydamage the robot or other parts of the system.

• Improper operation can result in personal injury and/or damage to theequipment. Only trained personnel familiar with the operation, manuals,electrical design, and equipment interconnections of this robot should bepermitted to operate the system.

• Inspect the robot and work envelope to be sure no potentially hazardousconditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Be sure that all safeguards are in place.

• Check the E-STOP button on the teach pendant for proper operation beforeprogramming.

• Carry the teach pendant with you when you enter the workcell.

• Be sure that only the person holding the teach pendant enters the workcell.

• Test any new or modified program at low speed for at least one full cycle.

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SECTION 7

OPERATION SAFETYAll operators, programmers, plant and tooling engineers, maintenance personnel,supervisors, and anyone working near the robot must become familiar with theoperation of this equipment. All personnel involved with the operation of theequipment must understand potential dangers of operation. Operation tips are asfollows:

• Be sure that only trained personnel familiar with the operation of this robot,the operator's manuals, the system equipment, and options and accessoriesare permitted to operate this robot system.

• Check all safety equipment for proper operation. Repair or replace any non-functioning safety equipment immediately.

• Inspect the robot and work envelope to ensure no potentially hazardousconditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Ensure that all safeguards are in place.


• Do not enter the robot cell while it is in automatic operation. Programmersmust have the teach pendant when they enter the cell.


• This equipment has multiple sources of electrical supply. Electricalinterconnections are made between the controller, external servo box, andother equipment. Disconnect and lockout/tagout all electrical circuits beforemaking any modifications or connections.

• All modifications made to the controller will change the way the robotoperates and can cause severe personal injury or death, as well as damagethe robot. This includes controller parameters, ladder parts 1 and 2, and I/O(Input and Output) modifications. Check and test all changes at slow speed.

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SECTION 8

MAINTENANCE SAFETYAll operators, programmers, plant and tooling engineers, maintenance personnel,supervisors, and anyone working near the robot must become familiar with theoperation of this equipment. All personnel involved with the operation of theequipment must understand potential dangers of operation. Maintenance tips areas follows:

• Do not perform any maintenance procedures before reading andunderstanding the proper procedures in the appropriate manual.

• Check all safety equipment for proper operation. Repair or replace any non-functioning safety equipment immediately.


• Back up all your programs and jobs onto a floppy disk whenever programchanges are made. A backup must always be made before any servicing orchanges are made to options, accessories, or equipment to avoid loss ofinformation, programs, or jobs.

• Do not enter the robot cell while it is in automatic operation. Programmersmust have the teach pendant when they enter the cell.


• Be sure all safeguards are in place.

• Use proper replacement parts.

• This equipment has multiple sources of electrical supply. Electricalinterconnections are made between the controller, external servo box, andother equipment. Disconnect and lockout/tagout all electrical circuits beforemaking any modifications or connections.

• All modifications made to the controller will change the way the robotoperates and can cause severe personal injury or death, as well as damagethe robot. This includes controller parameters, ladder parts 1 and 2, and I/O(Input and Output) modifications. Check and test all changes at slow speed.

• Improper connections can damage the robot. All connections must be madewithin the standard voltage and current ratings of the robot I/O (Inputs andOutputs).

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CHAPTER 3

SK16 MANIPULATORINSTRUCTIONS

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GENERAL PRECAUTIONSThis instruction manual is intended to give operating instructions and maintenanceprocedures for the Motoman SK16. Some drawings in this manual are shownwith the protective cover or shields removed, in order to describe their detail withmore clarity. Make sure all covers and shields are replaced before operating thisrobot.

Motoman is not responsible for any modification of the product made by the usersince that will void our guarantee.

The information contained within this document is the proprietary property ofMotoman, Inc., and may not be copied, reproduced or transmitted to other partieswithout the express written authorization of Motoman, Inc.

Because we are constantly improving our products, we reserve the right to changespecifications without notice. MOTOMAN is a registered trademark ofYASKAWA Electric Manufacturing.

© 1998 by MOTOMAN

All Rights Reserved

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SK16 Manipulator Instructions i MOTOMAN


LIST OF FIGURES ............................................................................................................. i i

LIST OF TABLES .............................................................................................................. i i i

1 RECEIVING.............................................................................................................. 1-1

2 INSTALLATION ....................................................................................................... 2-1

2.1 Selecting a Location ..................................................................................... 2-1

2.2 Positioning the SK16....................................................................................2-1

2.3 Mounting the SK16 on the Floor ..................................................................2-3

2.4 Mounting SK16 on the Wall or Ceiling ..........................................................2-4

2.5 Safety Guards .............................................................................................2-5

3 WIRING................................................................................................................... 3-1

3.1 Connecting the Earth Grounds ....................................................................3-1

3.2 Cable Connection ........................................................................................3-2

3.3 Conducting a Safety/Operation Check...........................................................3-4

4 SPECIFICATIONS ................................................................................................... 4-1

4.1 Basic Specification....................................................................................... 4-1

4.2 Nomenclature and Working Axes .................................................................4-2

4.3 Dimensions and Working Ranges ..................................................................4-2

4.4 Working Range of B-axis .............................................................................4-3

4.5 Alterable Working Range .............................................................................4-3

5 PRECAUTIONS FOR ALLOWABLE WRIST LOAD ....................................................5-1

5.1 Allowable Wrist Load ................................................................................... 5-1

5.2 Wrist Flange................................................................................................5-2

6 ALLOWABLE LOAD ON U-AXIS .............................................................................. 6-1

6.1 Mounting Equipment ....................................................................................6-1

6.2 Incorporated Wire and Airduct .....................................................................6-2

7 ROBOT CONSTRUCTION ....................................................................................... 7-1

7.1 Position of Limit Switches ............................................................................7-1

7.2 Internal Connections................................................................................... 7-1

8 MAINTENANCE ...................................................................................................... 8-1

8.1 Preventive Maintenance .............................................................................. 8-1

8.2 Maintenance Procedures .............................................................................8-4

8.2.1 Replacing the Battery ......................................................................8-48.2.2 S-axis Speed Reducer Lubrication Procedure .....................................8-48.2.3 L- and U-axes Speed Reducers Lubrication Procedures.....................8-58.2.4 R-axis Speed Reducer Lubrication Procedure.....................................8-6

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SK16 Manipulator Instructions ii MOTOMAN

Section Page8.2.5 B- and T-axes Speed Reducers Lubrication Procedure .......................8-68.2.6 T-axis Gear Lubrication Procedure ...................................................8-88.2.7 L-axis Cross Roller Bearing Lubrication Procedure ...........................8-88.2.8 R-axis Cross Roller Bearing, L- and U-axes Link, and

Link Taper Roller Bearing Lubrication Procedures........................8-99 RECOMMENDED SPARE PARTS ............................................................................9-1

10 PARTS LIST ........................................................................................................... 10-1

10.1 S-axis Driving Unit ....................................................................................10-2

10.2 L- and U-axes Driving Unit ........................................................................10-4

10.3 R-axis Driving Unit ....................................................................................10-6

10.4 Wrist Unit ................................................................................................. 10-8

LIST OF FIGURES Figures Page

Figure 1-1 Manipulator/Robot Order Number.............................................................. 1-1Figure 2-1 Lifting the SK16.........................................................................................2-2Figure 2-2 Mounting SK16 Directly To The Floor ........................................................2-3Figure 2-3 Manipulator Baseplate Mounting ...............................................................2-4Figure 2-4 Wall- and Ceiling-Mounted Variations .........................................................2-4Figure 3-1 Grounding the SK16...................................................................................3-2Figure 3-2 SK16 Power Cables ...................................................................................3-3Figure 3-3 Cable Connection Details ...........................................................................3-3Figure 4-1 SK16 Nomenclature and Working Axes ......................................................4-2Figure 4-2 SK16 Dimensions and Working Ranges .......................................................4-2Figure 4-3 SK16 Working Range of B-axis ..................................................................4-3Figure 5-1 SK16 Moment Arm Rating ......................................................................... 5-1Figure 5-2 SK16 Wrist Flange.....................................................................................5-2Figure 6-1 Allowable Load on U-axis ........................................................................... 6-1Figure 6-2 Internal Wires, Connectors, and Air Inlet Locations ...................................6-2Figure 6-3 Connector Pin Detail .................................................................................6-2Figure 7-1 Limit Switch Locations ................................................................................7-1Figure 7-2 Connector Numbers and Locations ............................................................. 7-1Figure 7-3 Internal Connect ion Diagram - 1 of 4 ........................................................7-2Figure 7-3 Internal Connection Diagram - 2 of 4 ........................................................7-3Figure 7-3 Internal Connection Diagram - 3 of 4 ........................................................7-4Figure 7-3 Internal Connection Diagram - 4 of 4 ........................................................7-5

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SK16 Manipulator Instructions iii MOTOMAN

Figures PageFigure 8-1 Inspection Points.......................................................................................8-3

Figure 8-2 Battery Location ........................................................................................8-4

Figure 8-3 S-axis Speed Reducer Lubrication ...............................................................8-5

Figure 8-4 U-axis Lubrication Position.........................................................................8-5

Figure 8-5 L- and U-axes Speed Reducers Lubrication..................................................8-6

Figure 8-6 R-axis Speed Reducer Lubrication ...............................................................8-6

Figure 8-7 B- and T-axes Speed Reducer Lubrication ...................................................8-7

Figure 8-8 T-axis Gear Lubrication..............................................................................8-8

Figure 8-9 L-axis Cross Roller Bearing.......................................................................8-8

Figure 8-10 R-axis Cross Roller Bearing, L and U-axes Link, andLink Taper Roller Bearing Lubrication.................................................8-9

LIST OF TABLES Tables Page

Table 4-1 Basic Specifications for SK16..................................................................... 4-1

Table 4-2 S-axis Working Range ................................................................................4-3

Table 5-1 Moment and Total Inertia .......................................................................... 5-1

Table 7-1 Connector Types .......................................................................................7-6

Table 8-1 Preventive Maintenance Checks and Services ............................................8-2

Table 9-1 Spare Parts for SK16 Robot ...................................................................... 9-1

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SK16 Manipulator Instructions 1-1 MOTOMAN

SECTION 1

RECEIVING1. After unpacking, check the following:

• Manipulator

• MOTOMAN MRC Controller

• Programming Pendant

• Feeder Cable between MRC and SK16

CAUTION!Confirm that the manipulator and the MOTOMAN MRC controllerhave the same order number. Special care must be taken whenmore than one manipulator is to be installed.

2. Check that the order numbers of the manipulator and controller agree. If thenumbers do not match, manipulators may not perform as expected and causeinjury or damage.

THE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER.

ORDER.NO.THE MANIPULATOR AND THE CONTROLLERTHE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER.SHOULD HAVE SAME ORDER NUMBER.

ORDER.NO.ORDER.NO.

OR

DE

R.N

O.

OR

DE

R.N

O.

Figure 1-1 Manipulator/Robot Order Number

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SECTION 2

INSTALLATION2.1 Selecting a Location

CAUTION!Install the manipulator in a location where a fully extended armwith tool will not reach a side wall or MRC cabinet.

Installation location can have a profound effect on the positioning accuracy and lifeof the robot. Locate the robot in an area that meets the following criteria:

• Ambient temperature is between 0˚C to 45˚C (32˚F to 113˚F)

• No corrosive gases or liquids

• No explosive gases

• No large electrical noise (plasma)

• No excessive vibration

• Enough room to safely operate manipulator

• Level, undamaged floor surface (no cracks or other defects)

2.2 Positioning the SK16The SK16 can be placed in its final position by either being lifted with a hoist andcable or sling or with a forklift. To lift the SK16 with a cable or sling, proceed asfollows:

1. Ensure all shipping brackets are securely in place, as shown in Figure 2-1.

WARNING!• The MOTOMAN SK16 weighs approximately 280 kg (618 lbs),

including the shipping bolts and brackets. Use a cable orsling, that can withstand this weight.

• Eyebolts are designed to support the robot weight. Use thebolts for lifting the robot ONLY.

2. Ensure that eyebolts are attached securely to the robot.

3. Attach a suitable lifting device securely to the eyebolts.

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INSTALLATION


CAUTION!• Crane operations or sling applications must be performed b y

authorized personnel only, or injury or damage may result.

• Be sure to use a spreader bar to keep dual chains from pullingagainst the robot assembly and damaging it.

4. Carefully lift the robot, taking care to avoid excessive vibration/shock orexerting force on the arm or motor unit, and place in the desired location.

EYEBOLT (M12)

PALLET

4 BOLTS (M18)

EYEBOLT (M12)

3 BOLTS (M6)

SPREADER ATTACHEDTO LIFTING DEVICE

SHIPPING BRACKETS W/BOLTS (M6)

Figure 2-1 Lifting the SK16

To lift the SK16 with a forklift, proceed as follows:

1. Ensure all shipping brackets are securely in place, as shown in Figure 2-1.

WARNING!The MOTOMAN SK16 weighs approximately 280 kg (618 lbs),including the shipping bolts and brackets. Use a suitable palletand forklift that can withstand this weight.

2. Attach SK16 to a suitable pallet with shipping bolts (see Figure 2-1).

CAUTION!Forklift operation must be performed by authorized personnelonly, or injury or damage may result.

3. Carefully lift the robot, taking care to avoid excessive vibration or shock orexerting force on the arm or motor unit, and place in the desired location.

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INSTALLATION


2.3 Mounting the SK16 on the FloorThe SK16 can be mounted to a common base, that is secured to the floor, ordirectly to the floor without a common base.

To mount the robot directly to the floor (see Figure 2-2):

WARNING!The MOTOMAN SK16 weighs approximately 280 kg (618 lbs).Inspect the floor for unevenness, cracks, and other defects.Correct all defects before mounting the robot.

1. Secure the robot to the floor with four M16 (50 mm length) anchor bolts,spring washers, and washers. Tighten anchor bolts securely.

ANCHOR BOLTS (M16)

CONCRETE

150

mm

OR

MO

RE

ANCHOR BOLTS (M16)

Figure 2-2 Mounting SK16 Directly To The Floor

To mount the SK16 to a common base, proceed as follows (see Figure 2-3):

1. Ensure the common base will be strong enough to support the robot andwithstand repulsion forces during acceleration and deceleration. The commonbase must be at least 40mm thick and rugged enough to prevent the SK16from shifting.

2. Attach the SK16 to the common base with four M16 anchor bolts, springswashers, and washers. Tighten anchor bolts securely.

3. Attach the common base to the floor with M18 (60 mm length) anchor bolts.Tighten anchor bolts securely.

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INSTALLATION


MANIPULATOR BASE

ANCHOR BOLT (M16)

COMMON BASE

WASHER

MANIPULATOR BASE

COMMON BASE

4 BOLTS (M18)SPRINGWASHER

40mmor more

40mmor more

20mm

Figure 2-3 Manipulator Baseplate Mounting

2.4 Mounting SK16 on the Wall or CeilingThe standard method of mounting the SK16 is on the floor. However wall-and ceiling-mounted types are also available with the following differences (seeFigure 2-4):

NOTE: When using wall-mounted or ceiling-mounted types, contact your MOTOMANrepresentative.

DANGER!The MOTOMAN SK16 weighs approximately 280 kg (618 lbs). Theceiling or wall must be strong enough to support at least thismuch weight. Also, for safe operation, always use safety countermeasures to prevent the manipulator from falling.

NOTE: When the SK16 is mounted on the wall, the S-axis working range is restricted to + 30˚C.

1. Ensure the mounting (wall or ceiling) can support the weight of themanipulator.

4 HEX. SOCKET HEADCAP BOLTS (M18)

MANIPULATOR BASE

SUPPORT SUPPORT

Figure 2-4 Wall- and Ceiling-Mounted Variations

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INSTALLATION


2. Using adequate supports, attach the SK16 to the wall or ceiling with fourM18 hexagon socket head cap bolts that have a tensile strength of 1200N/mm2 or more. Tighten bolts to 29 kgf.m (210 ft lb).

2.5 Safety Guards

DANGER!Failure to install safety guards may result in injury or damage.

To ensure maximum safety for your personnel, always install safety guards aroundthe SK16. The following is quoted from American National Standard ANSI/RIAR15.06-1986:

"The user of a robot or robot system shall ensure that safeguards are providedand used in accordance with Sections 6, 7, and 8 of this standard. The means anddegree of safeguarding, including any redundancies, shall correspond directly tothe type and level of hazard presented by the robot system consistent with therobot application. Safeguarding may include, but not limited to, safeguardingdevices, barriers, interlock barriers, perimeter guarding, awareness barriers, andawareness signals."

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SECTION 3

WIRING

DANGER!Bone Wiring should be performed only by a qualified electrician.Electrical and grounding connections must comply withapplicable portions of the national electrical code and/or localelectrical codes.

WARNING!Bone Before beginning any wiring procedures, ensure the primaryAC Power Disconnect Switch is in the OFF position and has beenlocked out and tagged out as specified in ANSI/RIA R15.06 andOSHA, Section 1910.147.

3.1 Connecting the Earth GroundsThe robot and the MRC must each be connected to an earth ground. An earthground is a ground in which the equipment is connected to a ground stake driveninto the earth. The ground stake must be driven a minimum of eight feet into theearth, and the earth must be treated with chemicals in order to reduce resistance tothe ground stake. Deeper ground stakes may be required depending on area soilconditions. A maximum of 100 ohms ground resistance is recommended.

WARNING!• If proper earth grounds cannot be provided, do not use the

equipment! Serious injury or death can occur.

• You must use class 3 ground (ground resistance 100 Ω or less).Failure to observe this warning may result in fire or electricshock.

NOTE: If the robot and the MRC are within 15 feet of each other, a common earth ground may beused. Otherwise, separate earth grounds must be used.

To ground the robot and the MRC:

1. Use a class 3 ground (ground resistance 100Ω or less) with 5.5mm2 or largerground line.

NOTE: • Do not use this line in common with other ground lines or grounding electrode for otherelectric power, motive power, welding device, etc.

• Where the metal duct, metallic conduit, or distributing rack is used for cable laying, groundin accordance with Electric Equipment Technical Standards.

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WIRING


2. Connect one end of the first earth ground cable to the lug marked EARTHGROUND on the bottom back of the robot (see Figure 3-1).

3. Connect the other end of the first earth ground cable to the earth ground stake.

4. Connect one end of the second earth ground cable to the common ground busbar inside the MRC.

5.5mm OR LARGERGROUND LINE

2

GROUNDINGBOLT

Figure 3-1 Grounding the SK16

5. Connect the other end of the second earth ground cable to the earthground stake.

3.2 Cable ConnectionThere are two power supply cables that run from the MRC to the SK16; one is asignal cable for detection (IBC) and the other is a power cable (2BC) (see Figure 3-2). Refer to Figure 3-3 for cable connection details. To connect the cables to theSK16, proceed as follows (see Figure 3-2):

1. Carefully connect two power supply cables (labeled 1BC and 2BC), runningfrom the MRC, to the 1BC and 2BC connections on the back of the SK16.

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2BC CABLE1BC CABLE

Figure 3-2 SK16 Power Cables

MRC CONNECTIONS

ROBOT CONNECTIONS

BAT - 1

1SV-12CN

BA

T -

1

1SV

-12C

N

1SV-22CN

1SV

-22C

N

1SV-32CN

1SV

-32C

N

2SV-12CN

2SV

-32C

N

2SV-22CN

2SV

-22C

N

2SV-32CN

MTU-6

MT

U-6

CN

6-18

CN

6-20

2SV

32C

N

E

1BC

2BC

CONNECTOR

MAIN KEY POSITION

MAIN KEY POSITION

CONNECTOR

TERMINAL

KEYWAY

SIGNAL CABLE FOR DETECTION (1BC)

POWER CABLE (2BC)

CONNECTOR

MAIN KEY POSITION

CONNECTOR

CONNECTOR

CONNECTOR

Figure 3-3 Cable Connection Details

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3.3 Conducting a Safety/Operation CheckBefore installing the tooling and fixtures for your application, take a few minutes toperform a safety/operation check. To conduct a safety/operation check, proceed asfollows:

1. Ensure that the robot and components have been firmly and properlyanchored.

2. Ensure that all three yellow shipping brackets have been removed fromthe robot.

3. Ensure that all safety guards, fencing, and mats are in place.

4. Ensure that all cable connections are tight.

5. Verify that incoming line power matches the input power as specified on thefront of the MRC.

CAUTION!The SK16 should only be operated by personnel who have receivedoperator training from Motoman, Inc. and are familiar with theoperation of the SK16.

Your SK16 is now be ready for power up. Turn the main power ON, and continuethe safety/operation check.

6. Check all E-STOPS (pendant, op-station, shock sensor, playback box).

7. Check system Hold buttons.

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SECTION 4

SPECIFICATIONS4.1 Basic Specification

Table 4-1 Basic Specifications for SK16

Description SpecificationOperation Mode Vertically Articulated

Degree of Freedom 6

Payload 16 kg (35.3 lbs)

Repetitive Positioning Accuracy + 0.1 mm (0.0039 in.)

Motion RangeS-axis (Turning)L-axis (Lower Arm)U-axis (Upper Arm)R-axis (Rotation)B-axis (Bend)T-axis (Turning)

+ 170°+150° , -90°+150° , -125°

+ 180° + 135° + 350°

Maximum SpeedS-axisL-axisU-axisR-axisB-axisT-axis

2.44 rad/s, 140°/s2.44 rad/s, 140°/s2.44 rad/s, 140°/s5.24 rad/s, 300°/s5.24 rad/s, 300°/s6.98 rad/s, 400°/s

Allowable MomentR-axisB-axisT-axis

31.4 N•m (3.2 kgf•m)31.4 N•m (3.2 kgf•m)15.7 N•m (1.6 kgf•m)

Allowable InertiaR-axisB-axisT-axis

0.7 kg•m2

0.7 kg•m2

0.2 kg•m2

Weight 280 kg (618 lbs)

Temperature 0 to 45°CNoise Level Below 80 dB

Power Capacity 6 kVA

Ambient ConditionsHumidityVibrationOthers

20 to 80% RH (non-condensing)Less than 0.5 G

• Free from corrosive or explosive gases and liquids• Clean and dry• Free from excessive electrical noise (plasma)

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SPECIFICATIONS


4.2 Nomenclature and Working Axes

S-

S+

L- L+

U- R- T-

U+ R+ T+

BASE

ROTARY (S)HEAD

WRIST FLANGE

LOWER (L) ARM

B-

B+

UPPER (U) ARM WRIST

Figure 4-1 SK16 Nomenclature and Working Axes

4.3 Dimensions and Working Ranges510˚

POINT P

POINT PWORKING RANGE

170˚

170˚

R275

R581R1555

R413

(58)

1555

2679

344 581

2653

1940

956

232

28401124

1375

585

152

770200

182

643870

0

713631

60

˚

35

˚

25

˚

90̊

105

BASEPLATE

130 + 0.1

170

+ 0.

1

12

250

3356

0

60330

335 375

4-20 DIAMETER

200 + 0.1

200

+ 0.

1

0.0180

+ DIAMETER

375

0

1185 70

˚

1300

Figure 4-2 SK16 Dimensions and Working Ranges

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SPECIFICATIONS


4.4 Working Range of B-axisThe working range of B-axis maintaining a constant angle to the center of U-axis isshown in Figure 4-3.

L-AXIS ROTATION CENTER

U-AXIS ROTATION CENTER

B-AXIS ROTATION CENTER

S-AXIS ROTATION CENTER

135˚

135˚

Figure 4-3 SK16 Working Range of B-axis

4.5 Alterable Working RangeThe working range of S-axis can be altered according to the operating conditions, asshown in Table 4-2. If alteration is necessary, contact your MOTOMANrepresentative in advance.

Table 4-2 S-axis Working Range

Item SpecificationsS-axisWorkingRange

+ 170˚ (Standard) + 150˚ + 120˚ + 90˚ + 60˚ + 30˚

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SECTION 5

PRECAUTIONS FORALLOWABLE WRIST LOAD

5.1 Allowable Wrist Load1. The allowable wrist load for the SK16 is 16 kg (35.3 lbs). The following

conditions should be observed.

2. If force is applied to the wrist instead of the load, force on R-, B-, and T-axesshould be within the value shown in Table 5-1. Contact your MOTOMANrepresentative for further information or assistance.

Table 5-1 Moment and Total Inertia

Axis Moment N-m Total Inertia (GD2/4)kg•m2

R-axis 31.4 0.7

B-axis 31.4 0.7

T-axis 15.7 0.2

3. Where the volume of load is small, refer to moment arm rating (seeFigure 5-1).

LOAD GRAVITYPOSITION

B-AXIS ROTATION CENTER LINE

T-AXIS & R-AXISROTATION CENTER LINE

LB

L T

105mm

200

300

100

0 100 200 300 400

LB (mm)

LT (mm)W=10kg

W=6kg

W=16kg

Figure 5-1 SK16 Moment Arm Rating

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PRECAUTIONS FOR ALLOWABLE WRIST LOAD


5.2 Wrist FlangeWrist flange dimensions are shown in Figure 5-2. In order to see the tram marks,it is recommended that the attachment be mounted inside the fitting. Fitting depthof inside and outside fittings must be 5mm (0.2 in.) or less.

45˚ 4 TAPPED HOLES (M6),10mm DEEP

P.C. D40

6 DIAMETER,6mm DEEP

25 DIAMETER0.0210+

6mm

50

D

IAM

ET

ER

0 0.03

9-

0.0120

+

6mm

Figure 5-2 SK16 Wrist Flange

NOTE: Wash out anti-corrosive paint on wrist flange surface with thinner or light oil before mountingthe tools.

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SECTION 6

ALLOWABLE LOADON U-AXIS

6.1 Mounting EquipmentWhen peripheral equipment is attached to the U-axis, the following conditionsshould be observed. Never modify the robot for other mountings.

CAUTION!The maximum allowable load on the U-axis, including the wristload, is 31 kg (68.3 lbs).

30

20

200 100 100 200 300 400 500 (mm)

10

00

WEIGHT(W2)

(kg)

W1=16*

W1=10

W1=6

DISTANCE BETWEEN U-AXIS ROTATIONCENTER AND LOAD GRAVITY

* WHEN LOAD CAPACITY (W1) EQUALS 16kg UN-BALANCED MOMENT IS NOT PERMITTED

4-M8P1.0, 10mm DEEP

VIEW A

80

58

190

W1

U-AXIS ROTATIONCENTER

DIMENSIONS ARE IN MILLIMETERS (mm)

W2

A

25ϒ50

W1 = LOAD GRAVITY (kg)

Figure 6-1 Allowable Load on U-axis

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ALLOWABLE LOAD ON U-AXIS


6.2 Incorporated Wire and AirductWires and an air line are incorporated into the robot for user application. Followingare ratings for sixteen wires and air ducts:

• Allowable current for wires: 6.6 A or below/wire. Total current value forpins 1 to 16 must be 40 A or less.

• Maximum pressure for air duct: 490 kPa (71.1 psi) or less.

A Air inlet: PT 3/8 tap, with bull plugB S-axis Cable Connector: Type JL05-2A20-29PC (with cap) Mating plug:

Type JL05-6A20-29S

C Air inlet: PT 3/8 tap, with bull plugD U-axis Cable Connector: Type JL05-2A20-29SC (with cap) Mating plug:

Type JL05-6A20-29P

A BC

DC

Figure 6-2 Internal Wires, Connectors, and Air Inlet Locations

PINS USED

INTERNAL WIRES: 0.3 mm2 , 12 WIRES 1.25 mm2, 4 WIRES

12 3

4 5 67 8

9 1011 12

13 14 15 16

12345678910111213 (1.25 mm )14 (1.25 mm )15 (1.25 mm )16 (1.25 mm )

2

2

2

2

Figure 6-3 Connector Pin Detail

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SECTION 7

ROBOT CONSTRUCTION7.1 Position of Limit Switches

The limit switches are located as shown in Figure 7-1. The inspection andadjustment of the limit switches should be made after removing the cover.

S-AXIS OVERRUNLIMIT SWITCH

LU-AXIS INTEREFERENCELIMIT SWITCH(OPTIONAL)

L-AXIS OVERRUNLIMIT SWITCH(OPTIONAL)

Figure 7-1 Limit Switch Locations

7.2 Internal ConnectionsHigh reliability connectors, which can be easily removed, are used with eachconnector part. For the numbers and locations of connectors, refer to Figure 7-2.

Nos. 18 TO 25

Nos. 7 TO 17

Nos. 2, 5

Nos. 1, 3, 4, 6

No. 26

INTERNAL WIRE CONNECTOR

1BC 2BC 3BC (FOR INTERNAL WIRE)

Figure 7-2 Connector Numbers and Locations

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ROBOT CONSTRUCTION


YASNAC-MRCPOWER CABLE

1-178288-3

MR-20L

MR-20L

MR-20L

MR-20L

MR-20L

MR-20L

1BC (36-74)

1BC-1 PA1-2 *PA1-5 PB1-6 *PB1

PB-2

-12 PC1-13 *PC1 -3 BAT -4 OBT

-10 +5 -1 -19 +5 -1 -11 OV-1 -20 OV-1 -7 FG-1

-8 PA-2 -9 -16

PB-2 -17PB-2 -18PC-2 -25

+5 -2 -26

+5 - 3 -36

-14 -15 -22 -23 -31 -32

+5 - 3 -45OV - 3 -37OV - 3 -46FG 3 -47

+5 - 4 -40+5 - 3 -48OV - 4 -41OV - 4 -49FG 4 -24

PA 3 -21*PA 3 -28PB 3 -29

*PB 3 -30PC 3 -38

*PC 2

PA 4*PA 4PB 4

*PB 4PC 4

*PC 4

-39

+5 -2 -34OV -2 -27OV -2 -35FG 2 -33

*PA-2

BAT-1-2

1 SV- 12CN

1 SV- 22CN

1 SV- 32CN

2 SV- 12CN

2 SV- 22CN

2 SV- 32CN

-1

OBT BATBATTERY

-16-17-18-19

-15-14

-4-5-1-2-20

-16-17-18-19

-15-14

-4-5-1-2-20

-16-17-18-19

-15-14

-4-5-1-2-20

-16-17-18-19

-15-14

-4-5-1-2-20

-16-17-18-19

-15-14

-4-5-1-2-20

-16-17-18-19

-15-14

-4-5-1-2-20

P

P

P

P

P

P

P

P

P

P

P

-42 -51 -59 -60 -61 -67

PA 5*PA 5PB 5

*PB 5PC 5

*PC 5

P

P

P

-54 -55 -62 -63 -64 -70

PA 6*PA 6PB 6

*PB 6PC 6

*PC 6

P

P

P

P

P

P

P

P

P

PP

PP

PP

PP

PP

PP

+5 - 5 -43+5 - 5 -52OV - 5 -44OV - 5 -53FG 5 -50

PP

PP

+5 - 6 -68+5 - 6 -72OV - 6 -69OV - 6 -73FG 6 -71

PP

PP

PP

PP

Figure 7-3 Internal Connection Diagram - 1 of 4

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ROBOT CONSTRUCTION


NO 1

1CN-1 PA1-2 *PA1-3 PB1-4 *PB1

-6 PC1-5 PC1

-7 BAT-8 OBT-9 +5V-10 OV

-11 FG-1-12 RST

P

P

P

P

P

P

P

PG S- AXIS

SHIELD

NO 2

2CN-1 PA2-2 *PA2-3 PB2-4 *PB2

-6 PC2-5 PC2

-7 BAT-8 OBT-9 +5V-10 OV

-11 FG-2-12 RST

P

P

P

P

P

PG L- AXIS

SHIELD

NO 3

3CN-1 PA3-2 *PA3-3 PB3-4 *PB3

-6 PC3-5 PC3

-7 BAT-8 OBT-9 +5V-10 OV

-11 FG-3-12 RST

P

P

P

P

P

PG U- AXIS

SHIELD

NO 7

NO 9

NO 8

7CN-1

8CN-1

PA4-2 *PA4-3 PB4-4 *PB4

-6 PC4-5 PC4

-2BAT

-3OBT

-4+5V

-5OVFG-4

-6 RST

P

P

P

P

P

PG S- AXIS

SHIELD

P

P

P

P

P

P

P

P

P

P

P

P

NO 10

9CN-1

10CN-1

PA5-2 *PA5-3 PB5-4 *PB5

-6 *PC5-5 PC5

-2BAT

-3OBT

-4+5V

-5OVFG-5

PG

B- AXIS

T- AXIS

SHIELD

SHIELD

NO 19

NO 18

18CN-1

19CN-1

PA5-2 *PA5-3 PB5-4 *PB5

*PC5-6-5 PC5

-2BAT

-3OBT

-4+5V

-5OVFG-5

-6 RST

NO11

P

P

P

P

NO 12

11CN-1

12CN-1

PA6-2 *PA6-3 PB6-4 *PB6

-6 *PC6-5 PC6

-2

21

21

-3

+5V

PG

SHIELD SHIELD

NO 21

NO 20

20CN-1

21CN-1

PA5-2 *PA5-3 PB5-4 *PB5

-6 *PC5-5 PC5

-2BAT

-3OBT

-4+5V

-5OV

OV

FG-6FG-6

-6 RST


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ROBOT CONSTRUCTION


MR-20LW

LB1-56

-58

-65

-66

-57+24 V

BC2

SS2OV

MTU-6-15

CN21 (28-21)

CN21-33-36

-8-20-2-11-9-18-14

-1-2-5-6

-11-10

-3-4-7-8-12

P

P

E E

E

E

E E

E

BASE2BC (28-21)

3BC (20-29)

2BC-33 AC1-36 AC2

-1 MU1-2 MV1-5 MW1-6 ME1-10 BA1

-3 MU2-4 MV2-7 MW2-8 ME2-12

-9-14-15-19-20

BA2

-9-14-15-19-20

MU3 MV3MW3ME3BA3

-16-17-18-23-24

-22-26-27-28-32

MU4 MV4MW4ME4BA4

-25

-16-17-18-23-24

MU5 MV5MW5ME5BA5

-22-26-27-28-32

-30-31-34-35-13

MV6MW6

-30-31-34-35-13

-21

BA6

-21

-29 MU6-29

-25 BB4

-11 BB1

-1-2-3-4-5-6-7-8-9-10-11-12-13-14-15-16

-1 -1 -1-2 -2-3-4-5-6

-3-4-5-6

-2-3-4-5-6

-7-8-9-10-11-12-13-14-15-16

No. 26

26 CN-1

-2 SS1

B1

SS1

B1

SS2

B2

-3 BC1 U

-4 LA1

-5 LB1-6 BC2


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ROBOT CONSTRUCTION


P

P

P

P

P

P

P

P

P

P

4CN-1

AL-1

S-AXIS OVERRUN L.S.

AC-1AC-2

AL-2

MU1

SM S-AXIS

L-AXIS

YB

-2 MV1-3 MW1-4 ME1-5 BA1-6 BB1

5 CN-1 MU2

SM

YB

-2 MV2-3 MW2-4 ME2-5 BA2-6 BB2

No.5

No.6

No.4

U-AXIS

6CN-1 MU3

SM

YB

-2 MV3-3 MW3-4 ME3-5 BA3-6 BB3

No.13

No.14

13CN-1 MU4

SM

YB

-2

14CN-1-2

MV4-3 MW4-4 ME4

BA4BB4

No.15

No.16

R-AXIS

B-AXIS

15CN-1 MU5

SM

YB

-2

16CN-1-2

MV5-3 MW5-4 ME5

BA5BB5

No.22

No.23

22CN-1 MU5-2

23CN-1-2

MV5-3 MW5-4 ME5

BA5BB5

No.17

T-AXIS

17CN-1 MU6

SM

YB

-2 MV6

-3 MW6-4 BA6

No.24

24CN-1 MU6

No.25

25CN-1 BA6

-2 BB6

-2 MV6

-3 MW6-4 ME6

E E

CASING

-12BC

FOR SPARE

-2-3-4-5-6-7-8-9-10-11-12-13-14-15-16

12345678910111213141516

-1 -1-2-3-4

-2-3-4

LU-AXIS L.S. SPECIFICATIONS

L-AXIS OVERRUN L.S.

S-AXIS OVERRUN L.S.

LU-AXIS INTERFERENCE L.S.

For LAMP (OPTION)

For FAN (OPTION)

ALB1LB2

LB1LB2 LB2

LB1LA1

LA2

LB3LA3

A

3BC (20-29)

LB1LB2

LB2 LB2

LB3

LB1LA2

LA3


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ROBOT CONSTRUCTION


Table 7-1 Connector Types

Name No. Receptacle Type Plug TypeBase 1BC JL05-2A36-74PC JL05-6A36-74SC

Connector 2BC JL05-2A28-21PC JL05-6A28-21SC

For Internal Wires

3BC JL05-2A20-29PC JL05-6A20-29S(Optional)

9, 11 172168-1 172160-1

10 1-172168-2 1-172160-2

Intermediate 12, 15 172167-1 172159-1

Connector 16 172165-1 172233-1

17 172167-2 172159-2

4, 5 350715-1 350781-1

Motor 6 172168-1 172160-1

Connectors 13, 22, 24 172167-1 172159-1

14, 23, 25 172165-1 172233-1

Feedback 1,2,3 172170-1 172162-1

Unit 7, 18, 20 172168-1 172160-1

Connector 8, 19, 21 1-178168-2 1-172160-2

Connector

for Internal

Wires

JL05-2A20-29PC JL05-6A20-29SC(Opitonal)

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SECTION 8

MAINTENANCE8.1 Preventive Maintenance

Proper preventive maintenance is essential to ensure the equipment will providemany years of trouble-free performance. Table 8-1, Preventive MaintenanceChecks and Service lists when, what, and how to inspect/service specificcomponents of the SK16. All Item No.'s correspond to numbered components inFigure 8-1 except for item 18, Overhaul, which refers to the overall robot.

When performing the procedures in Table 8-1, it is important to keep the followingguidelines in mind:

WARNING!Only personnel who have been trained in the operation andmaintenance of the SK16 should perform preventivemaintenance, checks, and services or personal injury or damageto equipment could result.

1. Only personnel who have been trained in the operation and maintenance ofthe SK16 should perform the procedures listed in this section.

2. Inspection intervals are based on servo power supply ON time.

3. These inspections/services have been established for arc welding applications.It will be necessary to re-examine them for different, or special applications.

4. For axes that are used very frequently (in handling applications, for example)it is recommended that inspection intervals be cut-in-half from what islisted in Table 8-1.

5. When using a multimeter to check conductivity on wire harness leads (items14 and 15), remove detector side connectors for each axis from the motor.

CAUTION!For overhaul, disassembly, or repair contact MOTOMAN ServiceDepartment at (937) 847-3200.

6. Wire harnesses (items 14 and 15) are to be replaced at Overhaul (24000H).

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Table 8-1 Preventive Maintenance Checks and Services

ItemNo.

Interval(Daily/Hours)

Item to beInspected Procedure

1 Daily Tram Mark Check for Tram Mark.

2 Daily External Leads Check leads for damage or deterioration.

3 Daily Robot and WorkArea

• Check robot for cracks or damage.

• Clean work area of dust and/or spatter.

4 Daily L- and U-axesMounting Baseplate

Check for grease leakage.

5 • 1000H

• 6000H

• 12000H

Baseplate MountingBolts

Tighten loose bolts. Replace bolts if necessary.

6 • 1000H

• 6000H

• 12000H

Cover MountingScrews

Tighten loose bolts. Replace bolts if necessary.

7 • 1000H

• 6000H

• 12000H

Base Connectors Check for loose connectors. Tighten connectors, if necessary.

8 • 6000H

• 12000H

S-axis SpeedReducer

• Check for malfunction. Replace if necessary.

• Grease at 6000H with Molywhite RE No. 00 (see Sec. 8.2.2).

• Replace grease at 12000H with Molywhite RE No. 00 (see Sec. 8.2.2).

9 • 6000H

• 12000H

L- and U-axes SpeedReducer


• Grease at 6000H with Molywhite RE No. 00 (see Section 8.2.3).

• Replace grease at 12000H with Molywhite RE No. 00 (see Sec. 8.2.3).

10 • 6000H R-, B-, and T-axesSpeed Reducers


• Grease every 6000H with Harmonic Grease SK (see Sections 8.2.4 and 8.2.5).

11 • 6000H T-axis Gear • Check for malfunction. Replace if necessary.

• Grease every 6000H with Harmonic Grease SK-1 (see Sec. 8.2.6).

12 • 6000H L- and R-axes CrossRoller Bearings


• Grease every 6000H with Alvania EP (see Sections 8.2.7 and 8.2.8).

13 • 12000H R-, B-, and T-axesTiming Belt

Check for adequate tension and excessive belt wear.

14 • 12000H Wire Harness Leadsfor S-, L-, U-, R-, B-,and T-axes

• Check S-, L-, U-, R-, B-, and T-axes leads for conductivity between base main connector and intermediate connector.

• Check for excessive wear on protective spring and insulation.

15 • 12000H Wire Harness Leadsfor B- and T-axes

• Check B-, and T-axes leads for conductivity between terminals.

• Check for excessive wear on protective spring and insulation.

16 • 12000H L- and U-axes Link • Check for bearing wear (looseness) by moving L- and U-axes forward, backward, up, and down.

• Grease every 12000H with Alvania EP Grease 2 (see Sec. 8.2.9).

17 • 12000H Battery • Check voltage. If less than 2.8V, replace battery (see Sec. 8.2.1).

18 • 6000H

• 24000H

Overhaul Contact the Motoman Service Department at (937) 847-3200.

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T-AXIS

B-AXIS

T-AXIS

16

14

13

8

13

1

5

12

10

1

1 B-AXIS

13

10

11

2

17

72

44

14

12

14

9

14

1

1

L-AXIS

U-AXIS

16 16

1

U-AXIS 9

S-AXIS

14

Figure 8-1 Inspection Points

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8.2 Maintenance Procedures

DANGER!In accordance with ANSI/RIA R15.06, Section 6.13.4 and 6.13.5,use lockout/tagout procedures during equipment maintenance.Refer also to Section 1910.147 (29CFR, Part 1910), OccupationalSafety and Health Standards for General Industry (OSHA).

8.2.1 Replacing the BatteryTo replace the battery, proceed as follows:

1. Remove the battery unit mounting screws and cover.

2. Remove the pins 1 and 2 on both sides of the battery.

BATTERY DIODE

1 2

3. Remove old battery.

4. Install new battery and connect the pins in correct direction.

5. Install cover and mounting screws. Tighten securely.

BATTERY

SCREW (M4)

BASE CONNECTOR

BASE

Figure 8-2 Battery Location

8.2.2 S-axis Speed Reducer Lubrication ProcedureTo lubricate the S-axis speed reducer, proceed as follows:

NOTE: For ceiling-mounted robot, the exhaust port and the grease fitting locations are reversed.

CAUTION!Be sure to remove So exhaust plug before adding grease to theS-axis speed reducer or damage to the motor may result.

1. Remove So exhaust plug (see Figure 8-3).

2. Inject 30cc (60cc for the initial lubrication) of Molywhite RE No. 00 into theSI grease fitting.

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NOTE: To replace the old grease with new grease, inject 400cc of Molywhite RE No. 00 into the SIgrease fitting, or until new grease starts to exit the exhaust port.

S : GREASE FITTING(G NIPPLE A-PT 1/8)

I

S : EXHAUST PLUG(G NIPPLE A-PT 1/8)

O

S-AXIS SPEED REDUCER

Figure 8-3 S-axis Speed Reducer Lubrication

3. Operate the S-axis for 30 minutes to discharge any extra grease.

4. Install the So plug and wipe the exhaust port with a clean cloth, if necessary.

8.2.3 L- and U-axes Speed Reducers Lubrication ProceduresTo lubricate the L- and U-axes speed reducers, proceed as follows:

1. Position U-axis within the angles shown in Figure 8-4.

20˚

10˚

30˚

Figure 8-4 U-axis Lubrication Position

CAUTION!Be sure to remove Lo and Uo exhaust plugs before adding greaseto the L- and U-axes speed reducers or damage to the motors mayresult.

2. Remove Lo and Uo exhaust plugs (see Figure 8-5).

3. Inject 30cc (60cc for the initial lubrication) of Molywhite RE No. 00 into theLI and the UI grease fittings.

NOTE: To replace the old grease with new grease, inject 300cc of Molywhite RE No. 00 into each LIand UI grease fittings, or until new grease starts to exit the exhaust ports.

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U-AXIS SPEED REDUCER

L-AXIS SPEED REDUCER

U :GREASE FITTING(G NIPPLE A-PT 1/8)

L :GREASE FITTING(G NIPPLE A-PT 1/8)

U : EXHAUST PLUG(G NIPPLE A-PT 1/8)

O L : EXHAUST PLUG(G NIPPLE A-PT 1/8)

O

II

Figure 8-5 L- and U-axes Speed Reducers Lubrication

4. Operate L- and U-axes for 30 minutes to discharge the extra grease.

5. Install the Lo and Uo plugs and wipe exhaust ports with a clean cloth,if necessary.

8.2.4 R-axis Speed Reducer Lubrication ProcedureTo lubricate the R-axis speed reducer, proceed as follows:

1. Remove Ro plug (see Figure 8-6).

2. Inject 8cc (16cc for the initial lubrication) of Harmonic Grease SK-1 into theRI grease fitting.

3. Install Ro plug and wipe exhaust port with a clean cloth, if necessary.

R-AXIS SPEED REDUCER

R :GREASE FITTING(G NIPPLE A-MT6 x 1 )

I

R : PLUG FOR AIR FLOW(HEXAGON SOCKET HEAD M6)

O

Figure 8-6 R-axis Speed Reducer Lubrication

8.2.5 B- and T-axes Speed Reducers Lubrication ProcedureTo lubricate the B- and T-axes speed reducers, proceed as follows:

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1. Remove U-arm cover (B-axis side) (see Figure 8-7).

2. Remove Bo and To plugs.

3. Inject 10cc (20cc for the initial lubrication) of Harmonic Grease SK-1into theBI grease fitting.

4. Inject 5cc (10cc for the initial lubrication) of Harmonic Grease SK-1 into theTI grease fitting.

B-AXIS SPEED REDUCER

T-AXIS SPEED REDUCER

U-ARM COVER(B-AXIS SIDE)

T : PLUG FOR AIR FLOW(HEXAGON SOCKET HEAD M6)

O

T : GREASE FITTING(G NIPPLE A-MT6 x1)

I

B : GREASE FITTING (G NIPPLE A-MT6 x1)

I

B : PLUG FOR AIR FLOW (G NIPPLE A-MT6 x1)

O

Figure 8-7 B- and T-axes Speed Reducer Lubrication

5. Reinstall the Bo and To plugs and wipe exhaust ports with a clean cloth, ifnecessary.

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8.2.6 T-axis Gear Lubrication Procedure1. Remove To plug (see Figure 8-8).

2. Inject 5cc (10cc for the initial lubrication) of Harmonic Grease SK into theGEARI grease fitting.

3. Install the To plug and wipe exhaust port with a clean cloth, if necessary.

GEAR : GREASE FITTING (G NIPPLE A-MT6 x 1)

I

T : PLUG FOR AIR FLOW(HEXAGON SOCKET HEAD M6)

O

Figure 8-8 T-axis Gear Lubrication

8.2.7 L-axis Cross Roller Bearing Lubrication ProcedureTo lubricate the L-axis cross roller bearing, proceed as follows (see Figure 8-9):

1. Inject 5cc of Alvania EP Grease 2 into the Lc grease fitting.

2. Wipe grease fitting with a clean cloth, if necessary.

L-AXIS CROSSROLLER BEARING

L : GREASE FITTING (G NIPPLE A-MT6x1)

C

Figure 8-9 L-axis Cross Roller Bearing

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8.2.8 R-axis Cross Roller Bearing, L- and U-axes Link, and Link TaperRoller Bearing Lubrication ProceduresTo lubricate the R-axis cross roller bearings, L- and U-axes link, and the link taperroller bearing, proceed as follows:

1. Remove plugs 1 through 4 (see Figure 8-10).

1LINK : TAPERROLLER BEARING x 2


2 : PLUG FOR AIR FLOW (LP-M5)

: PLUG FOR AIR FLOW (LP-M5)

4LINK : CROSS ROLLER BEARING

4

LINK : GREASE FITTING(G NIPPLE A-MT6x1)

4

: PLUG FOR AIR FLOW (LP-M5x2)

1

: PLUG FOR AIR FLOW (LP-M5)3

LINK : TAPERROLLER BEARING

3


2


1

3LINK : GREASE FITTING(G NIPPLE A-MT6x1)


Figure 8-10 R-axis Cross Roller Bearing, L and U-axes Link, and Link Taper RollerBearing Lubrication

2. Inject 3cc (6cc for the initial lubrication) of Alvania EP Grease 2 into links 1

through 4 grease fittings.

3. Install plugs 1 through 4 .

4. Wipe grease fittings with a clean cloth, if necessary.

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SECTION 9

RECOMMENDED SPARE PARTSTable 9-1 lists parts that are recommended stock as spare parts for the SK16 robotand are ranked as follows:

Rank A: Expendable and frequently replaced parts

Rank B: Parts for which replacement may be necessary as a result of frequent operation.

Rank C: Drive unit

NOTE: For replacing parts rank B and C, contact your MOTOMAN representative.

Table 9-1 Spare Parts for SK16 Robot

No. Rank Part Name Type Manufacturer Qty.Qty.perUnit

Remarks

1 A Limit Switch set HW9470694-A Yaskawa Electric Corp. 1 1 S-axis, lead terminaltreatment completion

2 A Grease Molywhite RENo. 00

Yaskawa Electric Corp. 16 kg

3 A Grease Harmonic GreaseSK-1

Harmonic Drive SystemCo., Ltd.

2.5 kg

4 A Grease Alvania EPGrease 2

Showa Oil Co., Ltd. 16 kg

5 A Battery unit HW8471030-A Yaskawa Electric Corp. 1 1

6 B R-axis timing belt 60S4.5 M441 Mitsuboshi Belting Ltd. 1 1

7 B S-axis speedreducer

HW9280613-A Yaskawa Electric Corp. 1 1

8 B L- and U-axesspeed reducer

HW9280614-A Yaskawa Electric Corp. 1 2

9 B R-axis drive unit HW9370855-A Yaskawa Electric Corp. 1 1

10 C AC servomotor forS-axis

HW9380768-A Yaskawa Electric Corp. 1 2 With brake, with key,lead terminal treatmentcompletion

11 C AC servo motorfor L- and U-axes


12 C AC servo motorfor R-axis


13 C Wrist unit HW9171193-A Yaskawa Electric Corp. 1 1

14 C Internal wiring HW9170901-A Yaskawa Electric Corp. 1 1

15 C B- and T-axesinternal wiring

HW9370774-A Yaskawa Electric Corp. 1 1 In U-arm

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SECTION 10

PARTS LISTThis section provides illustrations and parts lists for SK16 replacement parts and isbroken down in the following manner:

• S-axis Driving Unit

• L-, U-axes Driving Unit

• R-axis Driving Unit

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10.1 S-axis Driving Unit

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PARTS LIST


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PARTS LIST


10.2 L- and U-axes Driving Unit

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PARTS LIST


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PARTS LIST


10.3 R-axis Driving Unit

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PARTS LIST


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PARTS LIST


10.4 Wrist Unit

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PARTS LIST


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INDEX

SK16 Manipulator Instructions MOTOMAN

AAllowable Load on U-axis, 6-1Allowable Wrist Load, 5-1Alterable Working Range, 4-3

BB- and T-axes Speed Reducers

Lubrication Procedure, 8-7Basic Specification, 4-1

CCable Connection, 3-2Conducting a Safety/Operation Check, 3-4Connecting the Earth Grounds, 3-1

DDimensions and Working Ranges, 4-2

IIncorporated Wire and Airduct, 6-2Installation, 2-1Internal Connections, 7-1

LL- and U-axes Driving Unit, 10-4,L- and U-axes Speed Reducers

Lubrication Procedures, 8-5L-axis Cross Roller Bearing Lubrication

Procedure, 8-8List of Figures, iiList of Tables, iii

MMaintenance Procedures, 8-4Maintenance, 8-1Mounting Equipment, 6-1Mounting SK16 on the Wall or Ceiling, 2-4Mounting the SK16 on the Floor, 2-3

NNomenclature and Working Axes, 4-2

PParts List, 10-1Position of Limit Switches, 7-1Positioning the SK16, 2-1Precautions for Allowable Wrist Load, 5-1Preventive Maintenance, 8-1

RR-axis Cross Roller Bearing, L- and U-axes

Link, and Link Taper Roller BearingLubrication Procedures, 8-9

R-axes Driving Unit, 10-6R-axis Speed Reducer Lubrication Procedure, 8-6Receiving, 1-1Recommended Spare Parts, 9-1Replacing the Battery, 8-4Robot Construction, 7-1

SS-axis Driving Unit, 10-2S-axis Speed Reducer Lubrication Procedure, 8-4Safety Guards, 2-5Selecting a Location, 2-1Specifications, 4-1

TT-axis Gear Lubrication Procedure, 8-8

WWiring, 3-1Working Range of B-axis, 4-3Wrist Flange, 5-2Wrist Unit, 10-8

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CHAPTER 4

SK16 DUAL MRCINSTRUCTIONS

March 31, 1998



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SK16 Dual MRC Instructions i MOTOMAN


LIST OF FIGURES............................................................................................................. iii

LIST OF TABLES ............................................................................................................... v

1 INTRODUCTION.......................................................................................................1-1

1.1 About the SK16 Dual MRC Controller ......................................................... 1-1

1.2 About this Document..................................................................................1-1

1.3 Reference to Other Documentation ............................................................1-2

1.4 Customer Service Information....................................................................1-2

2 EQUIPMENT DESCRIPTION ....................................................................................2-1

2.1 External Components .................................................................................2-1

2.1.1 Playback Box ..................................................................................2-22.1.2 Programming Pendant....................................................................2-52.1.3 Brake Release ...............................................................................2-14

2.2 Internal Components ................................................................................2-15

2.2.1 Incoming Voltage ......................................................................... 2-152.2.2 Cooling System............................................................................. 2-152.2.3 Servopacks ...................................................................................2-162.2.4 Contactor Unit ..............................................................................2-172.2.5 I/O Rack Configuration..................................................................2-182.2.6 CPU Rack Configuration ...............................................................2-19

2.3 Diagnostic Displays ..................................................................................2-20

2.3.1 Input Status Displays....................................................................2-212.3.2 Output Status Displays ................................................................. 2-222.3.3 RIN Input Display..........................................................................2-222.3.4 System Monitoring Time Displays ................................................2-232.3.5 Alarm List Displays .......................................................................2-242.3.6 Servo Display................................................................................2-26

2.4 Alarms and Errors ....................................................................................2-28

2.4.1 Error Messages............................................................................. 2-282.4.2 Minor Alarms................................................................................2-282.4.3 Major Alarms ................................................................................2-28

2.5 Specifications ...........................................................................................2-29

3 BASIC OPERATION..................................................................................................3-1

3.1 Using the ENABLE Switch ........

Documents

SK16 Dual MRC Manipulator Manual®‰川sk16手册... · 2018. 7. 24. · Minc MRC Controller SK16 Dual MRC Manipulator Manual Part Number 140067-2 March 31, 1998 MOTOMAN 805 Liberty