Upload
rodrigo
View
226
Download
0
Embed Size (px)
Citation preview
8/19/2019 UP165 100 Manual
1/582
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
Part Number: 145074-1
Release Date: January 31, 2001
Document Version: 2
Document Status: Final
8/19/2019 UP165 100 Manual
2/582
The information contained within this document is the proprietary property of Motoman, Inc., and may not becopied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.
©2003 by MOTOMANAll Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications withoutnotice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
8/19/2019 UP165 100 Manual
3/582
TABLE OF CONTENTS
MOTO
MAN i UP165-100 Manipulator Manual
Section Page
1 INTRODUCTION..........................................................................................................1-1
2 SAFETY.......................................................................................................................2-1
3 UP165-100 INSTRUCTIONS SUPPLEMENT................................................................3-1
4 UP165 INSTRUCTIONS...............................................................................................4-1
5 XRC INSTRUCTIONS — NORTH AMERICAN STANDARD (R1) ....................................5-1
6 XRC INSTRUCTIONS — GENERAL (R2).......................................................................6-1
7 XRC TROUBLESHOOTING ..........................................................................................7-1
8 UP165 ELEMENTARY DIAGRAMS ..............................................................................8-1
8/19/2019 UP165 100 Manual
4/582
UP165-100 Manipulator Manual ii
MOTO
MAN
NOTES
8/19/2019 UP165 100 Manual
5/582
MOTO MAN 1-1 UP165-100 Manipulator Manual
SECTION 1
INTRODUCTION
The Motoman UP165-100 and XRC controller represent state-of-the-arttechnology in robotics today. The Motoman UP165-100 has six individual axes:
Sweep, Lower arm, Upper arm, Rotate, Bend, and Twist.
The XRC controller coodinates the operation of the UP165-100 robot withexternal equipment such as power supply and positioning tables. The XRCprocesses input and output signals, maintains variable data, and performs numericprocessing to convert to and from different coordinate systems. Furthermore, itprovides main logic functions, servo control, program and constant data memory,and power distribution. Please read this manual thoroughly to familiarize yourself with the many aspects of the UP165-100 robot and XRC controller.
1.1 About this Document
This manual provides system information for UP165-100 robot and XRCcontroller and contains the following sections:
SECTION 1 — INTRODUCTION
Provides general information about the structure of this manual, a list of referencedocuments, and customer service information.
SECTION 2 — SAFETY
Provides information regarding the safe use and operation of the UP165-100 robot.
SECTION 3 — UP165-100 INSTRUCTIONS SUPPLEMENT
Provides detailed information about the UP165-100 where it differs from the basicUP165 robot.
SECTION 4 — UP165 INSTRUCTIONS
Provides basic detailed information about the UP165-type including installation,wiring, specifications, and maintenance.
SECTION 5 — XRC INSTRUCTIONS — NORTH AMERICAN STANDARD
Provides detailed information about the NAS XRC controller includingdescriptions, inspections, and parts replacement.
SECTION 6 — XRC INSTRUCTIONS — GENERAL
Provides general information about the XRC controller including system setup,inspections, diagnosis, and configuration, as well as specifications, maintenance,and alarm/error message lists.
SECTION 7 — XRC TROUBLESHOOTING
Provides logic trees for troubleshooting the XRC controller.
SECTION 8 — UP165 ELEMENTARY DIAGRAMS
Provides detailed information about XRC wiring and system configuration withregard to UP165-type robots.
8/19/2019 UP165 100 Manual
6/582
INTRODUCTION
UP165-100 Manipulator Manual 1-2
MOTO
MAN
1.2 Reference to Other Documentation
For additional information refer to the following:
• Concurrent I/O Parameters Manual (P/N 142102-1)
• Operator’s Manual for General Purpose (P/N 142099-1)
• Operator’s Manual for Handling (P/N 142100-1)
• Operator’s Manual for Spot Welding (P/N 142101-1)
• Operator’s Manual for Arc Welding (P/N 142098-1)
• Vendor manuals for system components not manufactured by Motoman.
1.3 Customer Service Information
If 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 (UP165-100)
• Application Type (Arc Welding, Handling, etc.)
• Software Version (5.101A, etc.)• Robot Serial Number (on the back side of the robot arm)
• Robot Sales Order Number (on front, lower right corner of the XRCcontroller and lower back of robot)
8/19/2019 UP165 100 Manual
7/582
MOTO MAN 2-1 UP165-100 Manipulator Manual
SECTION 2
SAFETY
2.1 Introduction
.
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 Association
900 Victors WayP.O. Box 3724
Ann Arbor, Michigan 48106TEL: (734) 994-6088FAX: (734) 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 not beentrained!
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 safety section addresses the following:
• Standard Conventions (Section 2.2)
• General Safeguarding Tips (Section 2.3)
• Mechanical Safety Devices (Section 2.4)
• Installation Safety (Section 2.5)
• Programming Safety (Section 2.6)
• Operation Safety (Section 2.7)
• Maintenance Safety (Section 2.8)
It is the purchaser's responsibility to ensure that all local, county,
state, and national codes, regulations, rules, or laws relating to
safety and safe operating conditions for each installation are met
and followed.
8/19/2019 UP165 100 Manual
8/582
SAFETY
UP165-100 Manipulator Manual 2-2
MOTO
MAN
2.2 Standard Conventions
This 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 the
protection of personnel from the immediate and imminent hazards
that, if not avoided, will result in immediate, serious personal injury
or loss of life in addition to equipment damage.
WARNING!
Information appearing under the WARNING caption concerns the protection of personnel and equipment from potential hazards that can result in personal injury or loss of life in addition to equipment damage.
CAUTION!
Information appearing under the CAUTION caption concerns the protection of personnel and equipment, software, and data from hazards that can result in minor personal injury or equipment damage.
NOTE: Information appearing in a NOTE caption provides additional information which is helpful in understanding the item being explained.
8/19/2019 UP165 100 Manual
9/582
SAFETY
MOTO
MAN 2-3 UP165-100 Manipulator Manual
2.3 General Safeguarding Tips
All 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 is
not in use.• In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use
lockout/tagout procedures during equipment maintenance. Refer also toSection 1910.147 (29CFR, Part 1910), Occupational Safety and HealthStandards for General Industry (OSHA).
2.4 Mechanical Safety Devices
The 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 aware of the various national codes, ANSI/RIA R15.06 safety standards, and other local
codes 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 following safetymeasures 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.
8/19/2019 UP165 100 Manual
10/582
SAFETY
UP165-100 Manipulator Manual 2-4
MOTO
MAN
2.5 Installation Safety
Safe installation is essential for protection of people and equipment. Thefollowing suggestions are intended to supplement, but not replace, existing federal,local, and state laws and regulations. Additional safety measures for personnel andequipment may be required depending on system installation, operation, and/orlocation. 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 unauthorized entryinto 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.
2.6 Programming Safety
All 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 severe
personal 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. YOURWARRANTY WILL BE VOID
if you use these special passwords.
• Back up all programs and jobs onto a floppy disk whenever program changesare made. To avoid loss of information, programs, or jobs, a backup mustalways be made before any service procedures are done and before anychanges are made to options, accessories, or equipment.
• The concurrent I/O (Input and Output) function allows the customer to
modify 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.
8/19/2019 UP165 100 Manual
11/582
SAFETY
MOTO
MAN 2-5 UP165-100 Manipulator Manual
• 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.
2.7 Operation Safety
All 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.
• 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 be
permitted to operate the system.• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the cell.
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it isnot in use.
• 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 robot
operates and can cause severe personal injury or death, as well as damage therobot. This includes controller parameters, ladder parts 1 and 2, and I/O(Input and Output) modifications. Check and test all changes at slow speed.
8/19/2019 UP165 100 Manual
12/582
8/19/2019 UP165 100 Manual
13/582
YASKAWA
YASKAWA MANUAL NO. HW9483105
MOTOMAN-UP165-100
INSTRUCTIONSSUPPLEMENTARY TO YR-UP165-A30
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retainfor future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUALMOTOMAN-!!! INSTRUCTIONSYASNAC XRC INSTRUCTIONSYASNAC XRC OPERATOR’S MANUALYASNAC XRC OPERATOR’S MANUAL for BEGINNERS
The YASNAC XRC operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
8/19/2019 UP165 100 Manual
14/582
ii
8/19/2019 UP165 100 Manual
15/582
1
1 INTRODUCTION
This supplementary instruction manual describes how the YR-UP165-A30 (the following
UP165-A30) is different from the YR-UP165-A00 (the following UP165-A00).
Read this instruction manual thoroughly together with the following:
“MOTOMAN-UP130, -UP165 INSTRUCTIONS” (Manual No. RE-MTO-A214)
2 DIFFERENCES BETWEEN THEUP165-A30 AND THE UP165-A00
The UP165-A30 differs from the UP165-A00 in the following:
1. Basic specifications
2. Dimensions and working envelope
3. Allowable wrist load
4. Locations of mounting plate and tapped holes
For the matters described above, refer to this instruction manual instead of the “MOTOMAN-
UP130, -UP165 INSTRUCTIONS” (Manual No. RE-MTO-A214).
When using the UP165-A30, read both manuals thoroughly.
8/19/2019 UP165 100 Manual
16/582
2.1 Basic Specifications
2
2.1 Basic Specifications
This section replaces page 5-1 of “MOTOMAN-UP130, -UP165 INSTRUCTIONS” (ManualNo. RE-MTO-A214).
Table 2 Basic Specifications
Item Model MOTOMAN-UP165-100
Operation Mode Vertically articulated
Degree of Freedom 6
Payload 100kg
Repetitive Positioning Accuracy* ±0.3mm
MotionRange
S-axis (turning) ±180°
L-axis (lower arm) +76°, -60°
U-axis (upper arm) +240°, -130°
R-axis (wrist roll) ±360°
B-axis (wrist pitch/yaw) ±130°
T-axis (wrist twist) ±360°
MaximumSpeed
S-axis 1.92rad/s (110° /s)
L-axis 1.92rad/s (110° /s)
U-axis 1.92rad/s (110° /s)
R-axis 3.05 rad/s (175° /s)
B-axis 2.53 rad/s (145° /s)
T-axis 4.19 rad/s (240° /s)
Allowable
Moment
R-axis 833N•m (85kgf•m)
B-axis 833N•m (85kgf•m)
T-axis 490N•m (50kgf•m)
NOTE
8/19/2019 UP165 100 Manual
17/582
2.1 Basic Specifications
3
* SI units are used in this table. However, gravitational unit is used in ( ).
Conformed to ISO 9283
AllowableMoment of
Inetia
(GD2 /4)
R-axis 75kg•m2
B-axis 75kg•m2
T-axis 25kg•m2
Mass 1325kg
AmbientConditions
Temperature 0 to 45°C
Humidity 20 to 80% RH (non-condensing)
Vibration Less than 0.5G
Others
• Free from corrosive gasses or liquids, or explosive
gasses
• Clean and dry
• Free from excessive electrical noise (plasma)
Power Capacity 7.5kVA
Table 2 Basic Specifications
Item Model MOTOMAN-UP165-100
8/19/2019 UP165 100 Manual
18/582
2.2 Dimensions and Working Envelope
4
2.2 Dimensions and Working Envelope
Fig.10 Dimensions and Working Envelope
This section replaces page 5-3 of “MOTOMAN-UP130, -UP165 INSTRUCTIONS” (ManualNo. RE-MTO-A214).
NOTE
230
Point P working range
Point P
1049
715
384
3480
00
592
217
6 0
553 1 0 0
6 0
275 275
R 5 2 5
126
160
R 9 5 0
2716
1600
1 3 0
6 9
. 2
3 6
8 5
8 5
5312
285
285
25
2 0. 8
8 0
1 0 0
9 0 °
95
6 0 ° 7 6
1 4 0 1
9 5 0
8 5 3
5 0
3 7 2
0
0 8 9
2311
1 8 9
1 1 5 0
2 0 6 9
7 3 0
2691
715
1305
1 6 8 5
1 5 1 1
8100
R 3 0 0 1
Dimensions in mm
8/19/2019 UP165 100 Manual
19/582
2.3 Allowable Wrist Load
5
2.3 Allowable Wrist Load
The allowable wrist load for the UP165-A30 is 100kg, including the weight of the mount/grip-
per.
Fig. 12 Mount Arm Rating
This section replaces page 6-1 of “MOTOMAN-UP130, -UP165 INSTRUCTIONS” (ManualNo. RE-MTO-A214).
Table 4 Allowable Wrist Load
Model Axis Moment N"m (kgf"m)Total Moment of Inertia (GD2 /4)
kg"m2
YR-UP165-A30R-axisB-axisT-axis
833 (85)833 (85)490 (50)
757525
NOTE
T- and R-axis rotation
center line
BL (mm)
40kg
1200
60kg
800 1000 1400
100kg
600400
TL (mm)
600
400
200
800
B-axis rotation center line
400
200
TL (mm)
800
600
80kg
8/19/2019 UP165 100 Manual
20/582
2.4 Locations of Mounting Plate and Tapped Holes
6
2.4 Locations of Mounting Plate and Tapped Holes
Fig.14 Locations of Mounting Plate and Tapped Holes
This section replaces page 7-1 of “MOTOMAN-UP130, -UP165 INSTRUCTIONS” (ManualNo. RE-MTO-A214).
NOTE
6 0
6 0
275
8
5
275
8 5
160126
553
1 0 0
3×4-M8×P1.25, Depth: 15mm
2×2-M8×P1.25, Depth: 15mm
25
Dimensions in mm
95 1 0 0
8 0
1 8 9
2×4-M12×P1.75, Depth: 25mm
8/19/2019 UP165 100 Manual
21/582
8/19/2019 UP165 100 Manual
22/582
8/19/2019 UP165 100 Manual
23/582
YASKAWA
YASKAWA MANUAL NO. RE-MTO-A214 4
MOTOMAN-UP130, -165
INSTRUCTIONSYR-UP130-A00, -A01
YR-UP165-A00, -A01
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retainfor future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUALMOTOMAN-UP130, -165 INSTRUCTIONSYASNAC XRC INSTRUCTIONSYASNAC XRC OPERATOR’S MANUALYASNAC XRC OPERATOR’S MANUAL For BEGINNERS
The YASNAC XRC operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
8/19/2019 UP165 100 Manual
24/582
ii
• This instruction manual is intended to explain operating instructions
and maintenance procedures primarily for the MOTOMAN-UP130, -165.
• General items related to safety are listed in the Safety Manual Section
1: Safety. 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.
• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA rep-
resentative 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.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your prod-
uct’s warranty.
MANDATORY
CAUTION
8/19/2019 UP165 100 Manual
25/582
iii
NOTES FOR SAFE OPERATIONRead this manual carefully before installation, operation, maintenance, or inspection of the
YASNAC XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”, or “PROHIBITED”.
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
Indicates a potentially hazardous situation which, if not avoided,could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided,could result in minor or moderate injury to personnel and dam-age to equipment. It may also be used to alert against unsafepractices.
Always be sure to follow explicitly the items listed under this
heading.
Must never be performed.
To ensure safe and efficient operation at all times, be sure to follow all instructions, even ifnot designated as “CAUTION” and “WARNING”.
WARNING
CAUTION
MANDATORY
PROHIBITED
NOTE
8/19/2019 UP165 100 Manual
26/582
iv
• Before operating the manipulator, check that servo power is turned offwhen the emergency stop buttons on the playback panel or program-
ming pendant are pressed.
When the servo power is turned off, the SERVO ON READY lamp on the
playback panel and the SERVO ON LED on the programming pendant are
turned off.
Injury or damage to machinery may result if the emergency stop circuit cannot stop themanipulator during an emergency. The manipulator should not be used if the emergencystop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Release of Emergency Sto
• Always set the Teach Lock before entering the robot work envelope to
teach a job.
Operator injury can occur if the Teach Lock is not set and the manipulator is started fromthe playback panel.
• Observe the following precautions when performing teaching operations
within the working envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the manipulator’s work envelope
and that you are in a safe location before:
- Turning on the YASNAC XRC power
- Moving the manipulator with the programming pendant
- Running check operations
- Performing automatic operations
Injury may result if anyone enters the working envelope of the manipulator during opera-
tion. Always press an emergency stop button immediately if there are problems.Theemergency stop button is located on the right side of both the YASNAC XRC playbackpanel and programming pendant.
W A R N I N G
TURN
8/19/2019 UP165 100 Manual
27/582
v
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 pen-
dant, and supply cables.
In this manual, the equipment is designated as follows:
• Perform the following inspection procedures prior to conducting manip-
ulator teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the XRC cabinet
after use.
The programming pendant can be damaged if it is left in the manipulator’s work area, onthe floor, or near fixtures.
• Read and understand the Explanation of the Alarm Display in the SetupManual before operating the manipulator.
Equipment Manual Designation
YASNAC XRC Controller XRC
YASNAC XRC Playback Panel Playback Panel
YASNAC XRC Programming Pendant Programming Pendant
CAUTION
8/19/2019 UP165 100 Manual
28/582
vi
AN EXPLANATION OF WARNING LABELS
The following warning labels are attached to the manipulator.
Always follow the warnings on the labels.
Also, an indentification label with important information is placed on the body of the manipula-
tor. Prior to operating the manipulator, confirm the contents.
MOTOMAN
TYPE
!!!!!!
ORDER NO.
!!!!!!
PAYLOAD
!! kg
MASS
!!! kg
SERIAL NO.
!!!!!!
DATE
!!
YASKAWA EL ECTRI C CORPORATI ON JAPAN
Do not enter
robot work area
WARNING
Moving parts may
cause injury
WARNING
8/19/2019 UP165 100 Manual
29/582
vii
1 Receiving1.1 Checking Package Contents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.2 Checking the Order Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
2 Transporting2.1 Transporting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1.1 Using the Crane. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.2 Shipping Bolts and Jigs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
3 Installation3.1 Safety Guard Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.2 Mounting Procedures for Manipulator Baseplate . . . . . . . . . . . .3-2
3.2.1 When the Manipulator and Mounting Fixture are Installedon a Common Flat Steel Plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2.2 When the Manipulator is Mounted Directly on the Floor . . . . . . . . . . .3-3
3.3 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
4 Wiring4.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24.2.1 Connection to the Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.2.2 Connection to the XRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
5 Basic Specifications5.1 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
5.2 Part Names and Working Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
5.3 Baseplate Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
5.4 Dimensions and Working Range. . . . . . . . . . . . . . . . . . . . . . . . . . . .5-3
5.5 B-Axis Working Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
5.6 Alterable Working Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
6 Allowable Load for Wrist Axis and Wrist Flange6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1
6.2 Wrist Flange. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
7 System Application7.1 Mounting Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1
7.2 Incorporated Wire and Airduct . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-2
http://-/?-http://-/?-http://-/?-http://-/?-
8/19/2019 UP165 100 Manual
30/582
viii
8 Motoman Construction8.1 Position of S-Axis Limit Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
9 Maintenance and Inspection9.1 Inspection Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . . . . . . . . . . 9-59.2.1 Battery Unit Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5
9.2.2 Grease Replenishment/Replacement for S-Axis Speed Reducer. . . . 9-7
# Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
# Grease Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
9.2.3 Grease Replenishment/Replacement for L-Axis Speed Reducer . . . . 9-8
# Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8
# Grease Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-99.2.4 Grease Replenishment/Replacement for U-Axis Speed Reducer . . 9-10
# Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10
# Grease Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11
9.2.5 Grease Replenishment/Replacement for R-Axis Speed Reducer . . 9-11
# Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12
# Grease Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12
9.2.6 Grease Replenishment/Replacement for B-Axis Speed Reducer. . . 9-13
# Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13
# Grease Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13
9.2.7 Grease Replacement for T-Axis Speed Reducer and Gear . . . . . . . 9-14
# Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
# Grease Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-15
9.2.8 Grease Replenishment for Balancer Connection Part . . . . . . . . . . . 9-15
9.2.9 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-17
# Battery Unit Connection for S-, L-, and U-Axis Motors. . . . . . . . 9-17
# Battery Unit Connection for R-, B-, and T-Axis Motors . . . . . . . 9-17
10 Recommended Spare Parts
11 Parts List11.1 S-Axis Driving Unit(1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.2 S-Axis Driving Unit(2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.3 L-Axis Driving Unit(1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
11.4 L-Axis Driving Unit(2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8
11.5 U.R.B.T-Axis Link Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-10
11.6 Wrist Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-12
8/19/2019 UP165 100 Manual
31/582
8/19/2019 UP165 100 Manual
32/582
1.2 Checking the Order Number
1-2
1.2 Checking the Order Number
Check that the order number of the manipulator corresponds to the XRC. The order number is
located on a label as shown below.
(a) XRC (Front View) (b) Manipulator (Side View)
Fig. 1 Location of Order Number Labels
Label (Enlarged view)
THE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER.
ORDER. No. $$$$$$
Check that the manipulator
and the XRC have the
same order number.
8/19/2019 UP165 100 Manual
33/582
2.1 Transporting Method
2-1
2 Transporting
2.1 Transporting Method
2.1.1 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 transporting, and lift it in the posture as shown
in " Fig. 2 Transporting Position ".
Fig. 2 Transporting Position
• 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.
CAUTION
CB
A
CB
A
(Standard)
(2Piece)(2Piece)
Fig. 2-a Without cable accessory Fig. 2-b With cable accessory
8/19/2019 UP165 100 Manual
34/582
2.2 Shipping Bolts and Jigs
2-2
2.2 Shipping Bolts and Jigs
The manipulator is provided with shipping bolts and jigs at points A, B, and C ( " Fig. 2 Trans-
porting Position ").
• The jigs are painted yellow.
• The rubber board is attached at point D.
• Check that the eyebolts are securely fastened.
• The weight of the manipulator is approximately 1400kg 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.
Position Screw Type Pcs
a-A Hexagon socket head cap screw M8 X 20Hexagon socket head cap screw M12 X 35
22
a-B Hexagon socket head cap screw M16 X 55 2X3
a-C Hexagon socket head cap screw M16 X 55 2X3
Position Screw Type Pcs
b-A Hexagon socket head cap screw M8 X 20 4
b-B Hexagon socket head cap screw M12 X 50 4
b-C Hexagon socket head cap screw M12 X 50 4
Before turning on the power, check to be sure that the shipping bolts and jigs have beenremoved. The shipping bolts and jigs then must be stored for future use, in the event thatthe robot must be moved again.
NOTE
NOTE
8/19/2019 UP165 100 Manual
35/582
3-1
3 Installation
• Install the safety guards.
Failure to observe this warning may result in injury or damage.
• Install the manipulator in a location where the fully extended arm and
tool will not reach the wall, safety guards, or controller.
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.
• 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.
WARNING
C A U T I O N
8/19/2019 UP165 100 Manual
36/582
3.1 Safety Guard Installation
3-2
3.1 Safety Guard Installation
To insure safety, be sure to install safety guards. They prevent unforeseen accidents with per-
sonnel and damage to equipment. The following is quoted for your information and guidance.
(ISO 10218)
Responsibility for Safeguarding
The user of a manipulator or robot system shall ensure that safeguards are provided and used
in accordance with Sections 6, 7, and 8 of this standard. The means and degree of safeguard-
ing, including any redundancies, shall correspond directly to the type and level of hazard pre-
sented by the robot system consistent with the robot application. Safeguarding may include
but not be limited to safeguarding devices, 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 sup-
port the robot and withstand repulsion forces during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand maximum repulsion
forces of the manipulator.
During installation, if out of the plane is not right, the manipulator shape may change and itsfunctional ability may be compromised. Out of the plane for installation must be kept at 0.5mm
or less. Mount the baseplate in either of the following ways: 3.2.1 or 3.2.2.
Table. 1 Maximum Repulsion Forces of the Manipulator
Horizontal rotating maximum torque(S-axis moving direction)
32000N • m
Vertical rotating maximum torque(LU-axis moving direction)
78500N • m
8/19/2019 UP165 100 Manual
37/582
3.2 Mounting Procedures for Manipulator Baseplate
3-3
3.2.1 When the Manipulator and Mounting Fixture areInstalled on a Common Flat Steel Plate
The common base should be rugged and durable to prevent shifting of the manipulator or the
mounting fixture. The thickness of the common base is 50mm or more and a size of theanchor bolt of M20 or larger is recommended. Affix the manipulator by fastening the plate with
the eight M20 (mm) anchor bolts. The plate is tapped for M20 (90mm length) bolts. Tighten
the bolts and anchor bolts securely so that they will not work loose during operation. See " Fig.
4 Affixing the Manipulator on the Floor " for the method.
Fig. 3 Mounting the Manipulator Baseplate
3.2.2 When the Manipulator is Mounted Directly on theFloor
The floor should be strong enough to support the manipulator. Construct a solid foundation
with the appropriate thickness to withstand maximum repulsion forces of the manipulator as
shown in Table 1. As a rough standard, when there is a concrete thickness (floor) of 200mm or
more, the base of the manipulator can be fixed directly to the floor with M20 anchor bolts.
Before mounting the manipulator, however, check that the floor is level and that all cracks, etc.
are repaired. Any thickness less than 200mm is insufficient for mounting, even if the floor is
concrete.
5 0
Spring Washer 8 XM20 Bolts
Washer
Common Base
Manipulator Base
Out of plane: 0.5mm or less
8/19/2019 UP165 100 Manual
38/582
3.2 Mounting Procedures for Manipulator Baseplate
3-4
Fig. 4 Affixing the Manipulator on the Floor
5 0 0
4 6 0
3 6
3 2
1 0 0
3 5 0 2
5 0
100200
5 0
320320
160160
*640
*540
* 6 4 0
* 5 4 0
FL
41040
440
1 2 0 0
1 1 0 0
9 6 0
8 8 0
2 0 0
Manipulator base 8-M20 Tapped holes
(Bolts A)
4-28φ Drilled holes
(Base B)
4-28φ Drilled holes (Base A)
4-M24 Tapped holes (Base B)(Bolts B)
Weld these portionsafter installation andadjustment
(Base A)
(Base B)
The surface mustbe level and even.
Dimensions in mm
JA type anchor bolts
M24 × 315 long
Bolts A: 8-M20 ×90, Spring washer, Flat washer Bolts B: 8-M24 × 70, Spring washer Bolts, Base A and Base B should be equipped by user.
8/19/2019 UP165 100 Manual
39/582
3.3 Location
3-5
3.3 Location
When the manipulator is installed, it is necessary to satisfy the undermentioned environmental
conditions:
• 0° to 45°C (Ambient temperature)
• 20 to 80%RH (no moisture)
• Free from dust, soot, or water
• Free from corrosive gases or liquid, or explosive gases
• Free from excessive vibration (less than 0.5G)
• Free from large electrical noise (plasma)
• Out of the plane for installation is 0.5mm or less.
8/19/2019 UP165 100 Manual
40/582
3.3 Location
3-6
8/19/2019 UP165 100 Manual
41/582
4.1 Grounding
4-1
4 Wiring
4.1 Grounding
Follow local regulations for grounding line size.
• Ground resistance must be 100 Ω 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 electric shock.
• Wiring must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire or electric shock.
• Do not cover the cable or allow it to tangle. Keep the cable as straight
as possible.
Failure to observe this caution may result in preventing heat of the cable from being dis-charsed.
• 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.
WARNING
C A U T I O N
NOTE
8/19/2019 UP165 100 Manual
42/582
4.2 Cable Connection
4-2
Fig. 5 Grounding Method
4.2 Cable Connection
There are three cables for the power supply; a signal cable for detection (1BC), a power cable
(2BC and 3BC). Connect these cables to the manipulator base connectors and the XRC.
4.2.1 Connection to the Manipulator
Before connecting the cables to the manipulator, verify the numbers: 1BC, 2BC, and 3BC 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, 3BC, and 1BC, and then set the lever until hearing a “click”.
4.2.2 Connection to the XRC
Remove the cover on the XRC side. Pass the signal cable for detection (1BC), the power
cable (2BC and 3BC) through the opening for the cables, and then fasten bolts on the open-ing.
Connect the 2BC and 3BC cable to the terminals inside of the XRC. Be sure to verify the num-
bers on both the cable and board connectors before connecting.
Connect the 1BC cable to the boards. Be sure to verify the numbers on both the cable and
board connectors before connecting, and to fasten the bolts on connectors to prevent cables
from loosening.
A
5.5mm2or more
M8 Bolt (For Grounding)
(Provided at factory)
View A
8/19/2019 UP165 100 Manual
43/582
4.2 Cable Connection
4-3
Fig. 6 (a) Power Cables (1BC, 2BC)
BA2
BB1
BA1
BA3
U32
U31
U32
V32
V31
V31
V32
W31
W32
W31
W32
E32
E31
E31
E32
U31
E22
W21
W22
W21
E21
E21
E22
W22
U22
U21
U22
U21
V22
V21
V21
V22
E11
E11
E12
W12
W11
W11
V11
V12
V11
U12
U11
U112 B C
E
1 B C
SHOCK-
+24V SHOCK-
E
1BC
2BCE
U11U11U12
V11V11V12W11W11W12
E11E11E12
U21U21U22U22V21V21V22
V22W21W21W22W22E21E21E22E22
U31U31U32U32V31V31V32
V32W31W31W32W32E31E31E32E32
BA1BB1BA2BA3
WRCA01-CNPG123
WRCA01-CNPG456
XIU01-CN25
Connection to the XRC Connection to the manipulator
Signal cable
Power cable
8/19/2019 UP165 100 Manual
44/582
4.2 Cable Connection
4-4
Fig. 6 (b) Power Cables (3BC)
Fig. 7 (a) Power Connection to the Manipulator
3 B C
EE
CN4
CN5
CN6
BA4BA5BA6BB4
CACR-UP130AAB
3BC
Connection to the XRC Connection to the manipulator
Power cable
3BC2BC1BC
Key position
Connector details(Manipulator side)
8/19/2019 UP165 100 Manual
45/582
4.2 Cable Connection
4-5
Fig. 7 (b) Power Connection to the XRC
Connector No.
XIU01-CN25
Signal Cable
Tighten the screws with
screw driver(+).
Grounding plate
for Signal and power line
Terminal No.: E
Signal Cable
Connector No.
WRCA01-CNPG456 (upper)
WRCA01-CNPG123 (lower)
Power Cable
Power CableBB1 to BA
E11 to U22 V21 to W32
onnector No.
ACR-UP130AAB-CN4, CN5, CN6
8/19/2019 UP165 100 Manual
46/582
4.2 Cable Connection
4-6
8/19/2019 UP165 100 Manual
47/582
5.1 Basic Specifications
5-1
5 Basic Specifications
5.1 Basic Specifications
* 1 SI units are used in this table. However, gravitational unit is used in ().
* 2 Conformed to ISO9283
* 3 Refer to 6.1 "Allowable Wrist Load" for details on the permissible moment of inertia.
Table. 2 Basic Specifications* 1
Item Model MOTOMAN-UP130 MOTOMAN-UP165
Operation Mode Vertically Articulated
Degree of Freedo 6
Payload 130kg 165kg
Repetitive Positioning Accuracy* 2 ±0.2mm
Motion
Range
S-Axis (turning) ±180°
L-Axis (lower arm +76°, -60°
U-Axis (upper arm +240°, -130°
R-Axis (wrist roll) ±360°
B-Axis (wrist pitch/yaw) ±130°
T-Axis (wrist twist) ±360°
Maximum
Speed
S-Axi 2.27 rad/s, 130° /s 1.92 rad/s, 110° /s
L-Axis 2.27 rad/s, 130° /s 1.92 rad/s, 110° /s
U-Axis 2.27 rad/s, 130° /s 1.92 rad/s, 110° /s
R-Axis 3.75 rad/s, 215° /s 3.05 rad/s, 175° /sB-Axi 3.14 rad/s, 180° /s 2.53 rad/s, 145° /s
T-Axis 5.24 rad/s, 300° /s 4.19 rad/s, 240° /s
Allowabl
Moment* 3
R-Axis 735N•m (75kgf•m) 883N•m (90kgf•m)
B-Axi 735N•m (75kgf•m) 883N•m (90kgf•m)
T-Axis 421N•m (43kgf•m) 490N•m (50kgf•m)
Allowabl
Inertia
(GD2 /4)
R-Axis 45kg•m2 51.25kg• 2
B-Axi 45kg•m2 51.25kg• 2
T-Axis 15kg•m2 15kg•m2
Mass 1300kg
Ambient
Conditions
Temperature 0° to 45 °
Humidity 20 to 80% RH (non-condensing
Vibration Less than 0.5G
Others
• Free from corrosive gasses or liquids, o
explosive gasses
• Clean and dry
• Free from excessive electrical noise (plasma
Power Capacity 7.5kVA
8/19/2019 UP165 100 Manual
48/582
5.2 Part Names and Working Axes
5-2
5.2 Part Names and Working Axes
Fig. 8 Part Names and Working Axes
5.3 Baseplate Dimensions
Fig. 9 Baseplate Dimensions (mm)
T-
T+
B-R-
R+ B+
L- L+
S-
S+
U-
U+
Lower arm(L-arm)
Rotary head
(S-head)
Base
Upper arm
(U-arm)
Wrist
Wrist flange
5 0
3 2 0
0 . 1
50540
365–0.1
855
2 0
4 6 0
2
0
5090
2 0
5 0
2 0
40
7 2 5
3 6 5
0 . 1
5 0
A
12-φ22 Holeφ12H7
View A
8/19/2019 UP165 100 Manual
49/582
5.4 Dimensions and Working Range
5-3
5.4 Dimensions and Working Range
Fig. 10 Dimensions and Working Range
6 9
. 2
2 0 .8
7 6
6 0
1 3 0
3 5
2650
3 1 3 0
552.5
1250
200
230
90 2 0 6 9
1 1 5 0
2 4 2
5 0
7 3 0
R 2 6 5 0
R 7 2 9
4611
R 5 2 5
1961
285
1 8 9
2 2 2
nagao
Point P
Point PWorking Range
8/19/2019 UP165 100 Manual
50/582
5.5 B-Axis Working Range
5-4
5.5 B-Axis Working Range
The working range of the B-Axis maintaining a constant angle to the center of U-axis is shown
in " Fig. 11 B-Axis Working Range ".
Fig. 11 B-Axis Working Range
5.6 Alterable Working Range
The working range of the S-Axis can be altered according to the operating conditions as
shown in " Table. 3 S-Axis Working Range ". If alteration is necessary, contact your Yaskawarepresentative in advance.
Table. 3 S-Axis Working Range
Item Specifications
S-AxisWorkingRange
±180° (standard)±150°±120°±90°±60°±30°
1 3 0
1 3 0
U-Axisrotation center
L-Axisrotation center
S-Axisrotation center
B-Axisrotation center
8/19/2019 UP165 100 Manual
51/582
6.1 Allowable Wrist Load
6-1
6 Allowable Load for Wrist Axis and WristFlange
6.1 Allowable Wrist Load
The allowable wrist load including the weight of the mount/gripper is:
• YR-UP130-A00, -A01: 130kg maximu
• YR-UP165-A00, -A01: 165kg maximu
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 " Table. 4 Moment and Total Inertia ". Contact your Yaskawa representa-
tive for further information or assistance.
* 1 ( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in " Fig. 12 MomentArm Rating ".The allowable total inertia is calculated when the moment is at the maximum. Contact yourYaskawa representative when only inertia moment, or load moment is small and inertia
moment is large. Also, when the load is combined as a force but a mass, contact yourYaskawa representative.
Fig. 12 Moment Arm Rating
Table. 4 Moment and Total Inertia
Model AxisMoment N•m
(kgf•m)* 1GD2 /4 Total Inertia kg•m2
YR-UP130-A00, -A01R-AxisB-AxisT-Axis
735 (75)735 (75)421 (43)
454515
YR-UP165-A00, -A01R-AxisB-AxisT-Axis
883 (90)883 (90)490 (50)
51.2551.25
15
B
T
L (mm)
L (mm)
600
400
200
600
400
200
1000800600400
40kg
60kg
80kg
100kg
130kg
TL (mm)
Point P
T-, R-axesrotationcenter line
B-axis rotation center line
YR-UP130-A00,-A01
B
T
T
165kg
600 800 1000 L (mm)
60kg
100kg
80kg
130kg
40kg
400
200
600
L (mm)
200
600
400
L (mm)
400
T-, R-axes rotation
center line
B-axis rotation center lineYR-UP165-A00,-A01
Point P
8/19/2019 UP165 100 Manual
52/582
6.2 Wrist Flange
6-2
6.2 Wrist Flange
The wrist flange dimensions are shown in " Fig. 13 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 8mm or less.
Fig. 13 Wrist Flange
Wash off anti-corrosive paint (solid color) on the wrist flange surface with thinner or light oilbefore mounting the tools.
8
8
P C D 1 2 5
P C D 9 2
2-φ10 Depth:8
2-φ9 Depth:8
6-M10 Tapped hole,Depth: 12
6-M10 Tapped hole,Depth: 12
+0.015 0
+0.015 0
6 3
D I A
1 6 0
D I A
0 - 0 . 0
2 5
+ 0 . 0
3 0
0
NOTE
8/19/2019 UP165 100 Manual
53/582
7.1 Mounting Equipment
7-1
7 System Application
7.1 Mounting Equipment
When peripheral equipment is attached to the U-axis, the following conditions should be
observed.
Fig. 14 Clamp and Tapped Holes
A2
A1
126 160
1 0 0
6 0
497.5200552.5
120
8 0
8 0 1
8 9
B
C
1 0 0
2 × 2-M8P1.25, Depth: 15mm
2 × 2-M8P1.25, Depth: 15mm
2 × 2-M8P1.25, Depth: 15mm
2 × 4-M12 P1.75, Depth: 25mm
8/19/2019 UP165 100 Manual
54/582
7.2 Incorporated Wire and Airduct
7-2
7.2 Incorporated Wire and Airduct
Wires and an air line are incorporated into the manipulator for user application. There are 23
wires and air duct rating. The allowable current for wires must be 6.6A or below for each wire.
(The total current value for pins 1 to 23 must be 60A or below). The maximum pressure for the
air duct is 490kPa (5kgf/cm2) and its inside diameter is φ8mm.
Table. 5 Constraint for Attaching
Application Note
A1, A2 Cable Processing Attaching load weight is:130kg max. for YR-UP130-A00, -A01165kg max. for YR-UP165-A00, -A01 including wrist load
B Cable Processing andValve Load
30 kg max.49N•m max. for moment increaseamount of upper arm
C Others 200 kg max.
8/19/2019 UP165 100 Manual
55/582
7.2 Incorporated Wire and Airduct
7-3
Fig. 15 Incorporated Wire and Airduct
The same pin number (1-23) of two connectors is connected in the lead line of single
0.75mm2.
4
9
32
7 812131415
6510
3
654
21
1
1117 20
23
1819
22
16
1112
10987
181716
1415
13
2223
2021
19
21
A
Cable connector provided on U-axis
is type JL05-2A24-28SC(with cap).
Mating plug type is JL05-6A24-28P
Air A outlet: PT3/8
with bull plug
Air B outlet: PT3/8
with bull plug
Air B inlet: PT3/8
with bull plug Air A inlet: PT3/8with bull plug
Cable connector provided on S-axisis type JL05-2A24-28PC(with cap).
Mating plug type is JL05-6A24-28S
View A
Pins used
Internal wires: 23-0.75mm2
8/19/2019 UP165 100 Manual
56/582
7.2 Incorporated Wire and Airduct
7-4
8/19/2019 UP165 100 Manual
57/582
8.1 Position of S-Axis Limit Switch
8-1
8 Motoman Construction
8.1 Position of S-Axis Limit Switch
The limit switches for the S-, L-, and U-Axes are located as shown in " Fig. 16 Location of
Limit Switches ". The limit switch for the S-Axis is standard (Model: YR-UP130-A00, YR-
UP165-A00). The limit switch for the L- and U-Axes are optional (Model YR-UP130-A01, YR-
UP165-A01). The inspection and adjustment of the limit switches should be made after
removing the cover.
Fig. 16 Location of Limit Switches
YR-UP130-A01YR-UP165-A01
YR-UP165-A01YR-UP130-A01
LU-Axes Interference L.S.(option)
L-Axis Overrun L.S.(option)
S-Axis Overrun L.S.(standard)
8/19/2019 UP165 100 Manual
58/582
8.2 Internal Connections
8-2
8.2 Internal Connections
High reliability connectors which can be easily removed are used with each connector part.
For the number and location of connectors, see" Fig. 17 Location and Numbers of Connec-
tors " and " Table. 6 List of Connector Types ".
Fig. 17 Location and Numbers of Connectors
Table. 6 List of Connector Types
Name Type of Connector
Connector for User Cable onbase
JL05-2A24-28PC(JL05-6A24-28S: Optional)
Connector for User Cable onU-arm
JL05-2A24-28SC(JL05-6A24-28P: Optional)
4BC
3BC2BC1BC
Connector for internal wire
Connector for internal wire
8/19/2019 UP165 100 Manual
59/582
R
BAT1 R
hw1 7198 hw91 7084 704h w711 .0t
h w172 69hw 917 1211 03hw 711.0 t
hw 1719 5hw9 1710 8706 hw71 1.0t
hw1 7198 hw91 7084 704h w711 .0t
DATA-1
DATA-2DATA+2
P
P
DATA+1PK
BAT1R
P
P
P
P
P
P
DATA-4DATA+4
P
P
P
P
P
P
P
P
P
P
P
R
1BC(6X6)
CN1-2
CN1-4CN1-3
CN2-2CN2-1
CN2-4CN2-3
CN2-5
CN3-2CN3-1
CN1-1P
P
P
P
PP
P
CN3-4CN3-3
CN4-1
CN4-3
CN4-2
CN5-1
CN5-4CN5-3
CN5-2
CN4-4
CN6-1CN6-2
CN6-3CN6-4CN6-5
LB1CN2-6CN3-6 +24V
PP
P
P
PP
P
P
P
PP
P
CN6-6CN5-6
CN1-6CN1-5
P
P
E
CN4-6
BAT40BT4K
0BT1K
No.13CN
No.10CN
No.2CN
BATOBT
OBTBAT
OBTBAT
OBTBAT
B A
2CN-
BATOBT13CN-
AB
11CN- AB
BATOBT
BATTERY
-H
-J-G
-S-T
-D1CN-CNo.1CN
+5V
FG30V
BATOBT
DATA+3DATA-3
PG
S-AXISPG
L-AXISPG
U-AXIS
No.11CN
0V
BATOBT+5V
FG1
-H-G
-S-T-D
12CN-C-D
-J
No.12CN
0V+5V
FG2
OBT-H-G-J
-S-T BAT
10CN-C
BATTERY
PG
PG
-5
-2-3-4
4CN-1No.4CN
-7
5CN-1No.5CN
-4-3
-5-6-7
-2
-6FG40V+5VOBTBAT
DATA+5DATA-5BATOBT+5V0VFG5
PG
-2-3
No.6CN6CN-1
-7-6-5-4
BC2
BC1
FG60V+5VOBTBATDATA-6DATA+6
R-AXIS
B-AXIS
T-AXIS
FOR LAMP(OPTION)
LA4LB4
E
CASING
E4BC-1
E1
4BC(24-28)
B1SS1
K
B1
BC1
LB1LA1
SS1
BAT4
AL2 AL1
LB3LA3
LA1LB1LA2LB2
LB1
SS2B2
MANIPULATOR
BC2 S-AXIS OVERRUN L.S.
S-AXIS(FAN ALM)(OPTION)
0BT1
FG2
DATA-1
+5V-10V-1
DATA+2DATA-2
0V-2+5V-2
DATA+3DATA-3
DATA+1
1945
22
1614
4721
13
1137
39
54306-5011
(MOLEX)
68
24
DATA-4
0V-5+5V-5
DATA-5DATA+5
+5V-40V-4
DATA+4
+5V-30V-3
0BT4
-3
-4-5
-2
FG6
+5V-60V-6
DATA+6DATA-6
315293
2422
19
16
4721
113713
(MOLEX)
54306-5011
14
45
86
5293
31FG
-A3-D1
-B1-A1
39
EE
E
E
BASE
SS20V
AL1 AL2
E
E1
E4BC-1
4BC(24-28)
-D2-C3-D3
BC2 -6-C1
No.16CN16CN-1
A terminal1.25-4
YASNAC-XRC
B
A
CNPG123WRCA01
CNPG456WRCA01
178214-1(AMP)
A terminal1.25-4
XIU01-CN25
Fig.18 (a)Internal Connection Diagram
8-3
8/19/2019 UP165 100 Manual
60/582
E2BC(8X6)
MU1CN1-2C N1 -1 M U1
E
V11
V12V11
U12U11
E11
E12E11
W12W11W11
U11
U21
BB1BA1
V21V21
U22U22
V22
U21
V22
E21W22W22W21W21
E22E22E21
BA2
3BC(6X6)
MU5
MW5
MV5MU5
MV5
ME5ME5
MW5
ME4BA4BB4
E
U31U31U32
W31
V31
V32V32V31
U32
E31E31E32
W32W32
BA3
E32
E
W31
B1
A2
B2
A1
B1
A1
B2
A2
AC1
MU6
MV6
MW6
MU6
MV6
MW6
ME6ME6
BA5
BA6
AC2
A2
B1
B2
A1
BA4
BB4
BA5
BA6
AC2
AC1
CN4
CN5
CN6
Brake
Brake
Brake
Brake
Brake
Brake
INCORPRATED CABLE
1.25-3.5 A Terminal
A terminal
1.25-3.5
1.25-4
A Terminal
A Terminal
1.25-3.5
A Terminal
1.25-4
1.25-3.5
A Terminal
A Terminal
A Terminal
A Terminal
1.25-4
1.25-4
-6-5
CN4-1
CN4-3CN4-4CN4-5
CN4-6
CN4-2
L AND U-AXIS INTERFERENCE L.S.
LB4LA4
LA3
LA1LB1LA2
S-AXIS OVERRUN L.S.
LB3
LB1
LB2
LB1LB2
L-AXIS OVERRUN L.S.(OPTION)
LB2LB1
L-AXIS OVERRUN L.S.(OPTION)
LA4LB4
LA3LB3
LA2
LB1
LB2
LB1LA1 S-AXIS OVERRUN L.S.
A Terminal
A Terminal
MV3
ME3
BB3BA3
MW3
MU3No.3CN3CN-A
-F
-B
-E-D-C SM
YB
E
CASING
4BC-34BC-4
E
4BC-24BC-1
34
E
21
4BC-104BC-9
4BC-5
4BC-74BC-8
4BC-6
910
78
56
4BC-15
4BC-11
4BC-144BC-134BC-12
1514131211
4BC-21
4BC-184BC-19
4BC-17
2021
171819
1 6 4 BC- 1 6
4BC-20
4BC(24-28)
SP1SP2
MANIPULATOREE
E
E
BASE
34
E
21
4BC-34BC-4
E
4BC-24BC-1
910
5
876
4BC-94BC-10
4BC-5
4BC-74BC-8
4BC-6
15
11121314
4BC-15
4BC-11
4BC-144BC-134BC-12
2021
191817
4BC-21
4BC-174BC-184BC-194BC-20
4 BC -1 6 1 6
4BC(24-28)
23
YB
SM S-axis motor
4BC-23
SM
YB
L-axis motor
U-axis motor
R-axis motor SM
YB
B-axis motor SM
YB
MV4MU4MU4
-2-7
ME4
MW4MW4ME4
-3
-4-9
-10
MV4-8
No.7CN7CN-1
MU5MV5
BB4
-2
ME5
BB5BA5
MW5
-5-6
-4-3
No.8CN8CN-1
BA4
No.14CN14CN-A
-B-C-D-E-F
MW1
MU1MV1
BA1BB1
ME1
No.15CN
-B-C-D-E-F
MW2
BA2BB2
ME2
MV2MU215CN-A
T-axis motor SM
YB
MW6ME6
MU6MV6-3-4
-2
BA6BB6
-5-6
9CN-1
No.9CN
S-AXIS(FAN)(OPTION)
234BC-23
MV1MV1
MV1MU1
CN1-6CN1-7
CN1-5CN1-3
ME1ME1
MW1ME1
MW1
CN2-7CN2-6
CN2-2
CN2-5CN2-3
C N2 -1 M W1
BB1
CN3-1
CN1-8
CN3-7
CN3-4CN3-3
CN3-6CN3-5
CN3-2
CN4-5
CN4-3CN4-4
CN4-2CN4-1
CN4-7CN4-8CN2-4
CN4-6
CN3-8
MU2MU2
MU2
ME2ME2BA2
MW2MW2
ME2ME2
MW2
MV2MV2MW2
MV2MV2
MU2
BA1CN1-4
CN5-2
CN5-4CN5-3
CN5-1
CN5-7CN5-8
CN5-6CN5-5
CN6-1CN6-2
CN6-4CN6-5CN6-6CN6-7
CN6-3
CN2-8
CN6-8
MU3MU3
ME3ME3ME3
BA3
MW3MW3
MW3ME3
MW3
MV3MV3MV3
MU3MV3
MU3
CN1-1
CN1-3CN1-2
CN1-5CN1-6
CN2-2CN2-1
CN1-4
CN3-2CN3-1
CN5-4
CN3-6
CN3-4CN3-5
CN3-3
CN2-4CN2-3
CN5-1
MU4MU4
MW4MW4ME4
MV4MV4
(AMP)
(AMP)1-917807-2
1-917807-2
CN5-2
CN2-6CN2-5
CN5-3
CN5-6CN5-5
(AMP)1-917807-2
4BC-22 22 4BC-2222
L,U-axis limit switch
YR-UP165-A01
YR-UP130-A01
L-axis overrun limit switch(option)
PE
B
A
A
L-axis limit switchNote
1.These drawings are applicable to UP130-A00,UP165-A00.
was changed as shown in the right drawing.
2.In case of UP130-A01,UP165-A01,connevtion of part A
Fig.18 (b)Internal Connection Diagram
8-4
1.25-4
1.25-4
1.25-4
8/19/2019 UP165 100 Manual
61/582
9.1 Inspection Schedule
9-1
9 Maintenance and Inspection
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 inter-
vals are displayed in six levels. Conduct periodical inspections according to the inspection
schedule in " Table. 7 Inspection Items ".
In " Table. 7 Inspection Items ", the inspection items are classified into three types of opera-
tion: operations which can be performed by personnel authorized by the user, operations
which can be performed by personnel being trained, and operations which can be performed
by service company personnel. Only specified personnel are to do inspection work.
• Before maintenance or inspection, be sure to turn the main power sup-
ply 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 your Yaskawa representative.
• Do not remove the motor, and do not release the brake.
Failure to observe this caution may result in injury from unexpected turning of the manipu-lator’s arm.
• The battery unit must be connected before removing detection connec-
tor when maintenance and inspection.
Failure to observe this caution may result in the loss of home position data.
WARNING
C A U T I O N
8/19/2019 UP165 100 Manual
62/582
9.1 Inspection Schedule
9-2
• The inspection interval must be based on the servo power supply on time.
• For axes which are used very frequently (in handling applications, etc.), it is recom-
mended that inspections be conducted at shorter intervals. Contact your Yaskawa repre-
sentative.
Table. 7 Inspection Items
Items* 4
Schedule
Method Operation
Inspection Charge
Daily
1000
H
Cycle
6000
H
Cycle
12000
H
Cycle
24000
H
3600
HSpecifiedPerson
LicenseeService
Company
% Tram mark & Visual
Check tram markaccordance anddamage at the homeposition.
& & &
' External lead & VisualCheck for damageand deterioration ofleads.
& & &
(
Working area
and
manipulator& Visual
Clean the work areaif dust or spatter ispresent. Check fordamage and outsidecracks.
& & &
)LU-axes
motor & Visual
Check for grease
leakage.* 5 & & &
*
Baseplate
mounting
bolts&
SpannerWrench
Tighten loose bolts.Replace if necessary. & & &
+Cover mount
ing screws &
Screw-driver,
Wrench
Tighten loose bolts.Replace if necessary. & & &
,
SLU-axes
motor
connecto& Manual
Check for loose con-nectors and tighten ifnecessary.
& & &
-Base connec-
tors & Manual
Check for loose con-nectors. & & &
. Balancer &Grease
GunSupply grease.See Par. 9.2.8 & &
/RBT-axes
timing belt & Manual
Check for belttension and wear. & &
Wire harness
in manipulator
(SLURBT-
axes leads))
&
Multimeter
Check for conduc-tion between themain connector ofbase and intermedi-ate connector withmanually shaking thewire. Check for wear
of protective spring* 1
& &
& Replace* 2
&
NOTE
11
8/19/2019 UP165 100 Manual
63/582
9.1 Inspection Schedule
9-3
* 1 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 detector side for each axis from the motor. Other-
wise, the home position may be lost. (Refer to 9.2.9
* 2 Wire harness in manipulator to be replaced at 24000H inspection.
* 3 For the grease, refer to " Table. 8 Inspection Parts and Grease Used ".
* 4 Inspection No. correspond to the numbers in " Fig. 19 Inspection Parts and Inspection Numbers ".
* 5 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can
cause a motor breakdown. Contact your Yaskawa representative.
Battery unit in
manipulator &
Replace the batteryunit when the batteryalarm occurs or themanipulator drove for36000H.See Par.9.2.9
& &
S-axis speed
reducer,
S-axis gear& &
GreaseGun
Check for malfunc-tion. (Replace if nec-essary.) Supply
grease* 3 (6000Hcycle). See Par. 9.2.2
Replace grease* 3 .(12000H cycle).
See Par. 9.2.2
& &
L-axis speed
reducer & &
GreaseGun
Check for malfunc-tion. (Replace if nec-essary.) Supply
grease* 3 (6000Hcycle). See Par. 9.2.3
Replace grease* 3 (12000H cycle). See
Par. 9.2.3
& &
U-axis speed
reducer & &
GreaseGun
Check for malfunc-tion. (Replace if nec-essary.) Supply
grease* 3 (6000Hcycle). See Par. 9.2.4
Replace grease* 3 (12000H cycle). SeePar. 9.2.
& &
R-axis speed
reducer & &
GreaseGun
Check for malfunc-tion. (Replace if nec-essary.) Supply
grease* 3 (6000Hcycle). See Par. 9.2.5
Replace grease* 3 (12000H cycle). SeePar. 9.2.5
& &
B-, T-axis
speedreducer & &
Grease
Gun
Check for malfunc-tion. (Replace if nec-essary.) Supply
grease* 3 (6000H
cycle). See Par.9.2.6, 9.2.7
Replace grease* 3 (12000H cycle). SeePar. 9.2.6, 9.2.7
&
Overhaul & &
Table. 7 Inspection Items
Items* 4
Schedule
Method Operation
Inspection Charge
Daily
1000
H
Cycle
6000
H
Cycle
12000
H
Cycle
24000
H
36000
H
Specified
Person
LicenseeService
Company
12
13
14
15
16
17
18
8/19/2019 UP165 100 Manual
64/582
9.1 Inspection Schedule
9-4
Fig. 19 Inspection Parts and Inspection Numbers
The numbers in the above table correspond to the numbers in " Table. 7 Inspection Items ".
Table. 8 Inspection Parts and Grease Used
No. Grease Used Inspected Parts
13, 14, 15,16, 17
Molywhite RE No. 00 S-, L-, U-, R-, B-, and T-axes speed reducersS-, B-, and T-Axes gears
9 Alvania EP Grease 2 L-Axis Balancer
1
4
2
2
11
7
4
1
13
6
9
8
6
2
714
1 ,6
6
10
6
17
15
5
1 1 1
16
R-axis B-axis T-axis
U-axis
L-axis
S-axis
8/19/2019 UP165 100 Manual
65/582
9.2 Notes on Maintenance Procedures
9-5
9.2 Notes on Maintenance Procedures
9.2.1 Battery Unit ReplacementIf a battery alarm occurs in the XRC, replace the battery according to the following procedure:
Fig. 20 (a) Battery Location (Side View)
Fig. 20 (b) Battery Location (Top View)
Manipuatorbase
Battery unit
M5 screwConnector base
M4 Screw M4 Screw
Battery unit for SLU-axes(HW9470932-A)
Battery unit for RBT-axes(HW9470932-B)
8/19/2019 UP165 100 Manual
66/582
9.2 Notes on Maintenance Procedures
9-6
Fig. 21 (a) Battery Connection for SLU-Axes
Fig. 21 (b) Battery Connection for RBT-Axes
1. Turn the XRC main power supply off.
2. Remove the connector base, and grease tube from the union.
3. Remove the battery unit mounting screw on the support.
4. Remove the plastic tape (insulation tape) protecting the connection part of the battery
unit in the manipulator.
5. Connect the new battery.6. Remove the old battery.
7. Protect the connection part of the battery unit in the manipulator with plastic tape (insu-
lation tape).
8. Mount the battery unit with the screw, connect the grease tube to the union, and then
mount the connector base.
Remove the old battery unit after connecting the new one so that the encoder absolutedata does not disappear.
a
b 0BT1
BAT1
0BT1
BAT1a
ba
bBAT1
0BT1
b
a0BT1
BAT1
See Procedure 7
See Procedure 6
See Procedure 4
Internal wiresfor SLU-axes
Battery unit for SLU-axesbefore replacement
New battery unit
See Procedure 5 a: Insertion-type pin terminal (Male)b: Insertion-type pin terminal (Female)
b
a
0BT4b
a BAT4
BAT4a
0BT4b
BAT4
0BT4
See Procedure 7
See Procedure 6Battery unit for RBT-axesbefore replacement
Internal wires
for RBT-axes
New battery unitSee Procedure 4
See Procedure 5 a: Insertion-type pin terminal (Male)b: Insertion-type pin terminal (Female)
b
a0BT4
BAT4
NOTE
8/19/2019 UP165 100 Manual
67/582
9.2 Notes on Maintenance Procedures
9-7
9.2.2 Grease Replenishment/Replacement for S-AxisSpeed Reducer
Fig. 22 S-Axis Speed Reducer Diagram
# Grease Replenishment (Refer to " Fig. 22 S-Axis Speed ReducerDiagram ".)
1. Remove the So exhaust plug
2. Inject the grease into the Si grease inlet using a grease gun
3. Reinstall the So exhaust plug.(Spread the Modifier silicon Caulk on the screw of the
plug.)
# Grease Replacement (Refer to " Fig. 22 S-Axis Speed ReducerDiagram ".)
1. Remove the So exhaust plug
Do not pinch the cable when the base connector is installed.
If grease is added without removing the exhaust plug, the grease will go inside the motorand may damage it. It is absolutely necessary to remove the plug.
Grease type: Molywhite RE No.00Amount of grease: 530cc(1060cc for 1st supply)
If grease is added without removing the exhaust plug, the grease will go inside the motorand may damage it. It is absolutely necessary to remove the plug.
NOTE
So: Grease outlet
Hexagon socket head PT1/8 plug Si: Grease inlet
G Nipple A-PT1/4
S-axis speed reducer
NOTE
NOTE
8/19/2019 UP165 100 Manual
68/582
9.2 Notes on Maintenance Procedures
9-8
2. Inject the grease into the Si grease inlet using a grease gun.
3. The grease replacement is complete when new grease appears in the So exhaust port.
The new grease can be distinguished from the old grease by color.
4. Wipe the So exhaust port with a cloth and reinstall the plug.(Spread the Modifier silicon
Caulk on the screw of the plug.)
9.2.3 Grease Replenishment/Replacement for L-AxisSpeed Reducer
Fig. 23 L-Axis Speed Reducer Diagram
# Grease Replenishment (Refer to " Fig. 23 L-Axis Speed ReducerDiagram ".)
1. Make the L-Arm vertical for ground.
2. Remove the Lo exhaust plugs.
Grease type: Molywhite RE No.00Amount of grease: 3650cc
If the plug is installed when the grease is being exhausted, the grease will go inside themotor and may damage it.
If grease is added without removing the exhaust plugs, the grease will go inside the motorand may damage it. It is absolutely necessary to remove the plugs.
NOTE
L-axis speed reducer
Lo: Grease outlet
Hexagon socket head PT1/8 plug
Li: Grease inlet
G Nipple A-PT1/8
NOTE
8/19/2019 UP165 100 Manual
69/582
9.2 Notes on Maintenance Procedures
9-9
3. Inject grease into the Li grease inlet using a grease gun.
4. Move the L-Axis for a few minutes to discharge the excess grease.
5. Wipe the Lo exhaust plugs with a cloth and reinstall the plugs.(Spread the Modifier sili-
con Caulk on the screw of the plug.)
# Grease Replacement (Refer to " Fig. 23 L-Axis Speed Reducer Dia-gram ".)
1. Make the L-Arm vertical for ground.
2. Remove the Lo exhaust plugs.
3. Inject grease into the Li grease inlets using a grease gun
4. The grease replacement is complete when new grease appears in the Lo exhaust
ports. The new grease can be distinguished from the old grease by color.
5. Move the L-Axis for a few minutes to discharge the excess grease.
6. Wipe the Lo exhaust plugs with a cloth and reinstall the plugs.(Spread the Modifier sili-
con Caulk on the screw of the plug.)
Grease type: Molywhite RE No.00Amount of grease: 400cc
(800cc for 1st supply)
If grease is added without removing the exhaust plugs, the grease will go inside the motorand may damage it. It is absolutely necessary to remove the plugs.
Grease type: Molywhite RE No.00Amount of grease: approx. 2000cc
NOTE
8/19/2019 UP165 100 Manual
70/582
9.2 Notes on Maintenance Procedures
9-10
9.2.4 Grease Replenishment/Replacement for U-AxisSpeed Reducer
Fig. 24 U-Axis Speed Reducer Diagram
# Grease Replenishment (Refer to " Fig. 24 U-Axis Speed ReducerDiagram ".)
1. Make the U-Arm horizontal for ground.
2. Remove the Uo exhaust plugs.
3. Inject grease into the Ui grease inlet using a grease gun.
4. Wipe the Uo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier sil-
icon Caulk on the screw of the plug.)
If grease is added without removing the exhaust plugs, the grease will go inside the motorand may damage it. It is absolutely necessary to remove the plugs.
Grease type: Molywhite RE No.00Amount of grease: 250cc
(500cc for 1st supply)
Uo: Grease outlet
Hexagon socket head PT1/8 plug
U-axis speed reducer
Ui: Grease inlet
G Nipple A-PT1/8
NOTE
8/19/2019 UP165 100 Manual
71/582
9.2 Notes on Maintenance Procedures
9-11
# Grease Replacement (Refer to " Fig. 24 U-Axis Speed ReducerDiagram ".)
1. Make the U-Arm horizontal for ground.
2. Remove the Uo exhaust plugs
3. Inject grease into the Ui grease inlet using a grease gun
4. The grease replacement is complete when new grease appears in the Uo exhaustports. The new grease can be distinguished from the old grease by color.
5. Wipe the Uo exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier sil-
icon Caulk on the screw of the plug.)
9.2.5 Grease Replenishment/Replacement for R-Axis
Speed Reducer
Fig. 25 R-Axis Speed Reducer Diagram
If grease is added without removing the exhaust plugs, the grease will go inside the motorand may damage it. It is absolutely necessary to remove the plugs.
Grease type: Molywhite RE No.00Amount of grease: approx. 1650cc
If the plug is installed when the grease is being exhausted, the grease will go inside themotor and may damage it.
NOTE
NOTE
R-axis speed reducer
Ro: Grease outlet
Hexagon socket head PT1/8 plug
Ui: Grease inletHexagon socket head PT1/8 plug
8/19/2019 UP165 100 Manual
72/582
9.2 Notes on Maintenance Procedures
9-12
# Grease Replenishment (Refer to " Fig. 25 R-Axis Speed ReducerDiagram ".)
1. Remove the Ro exhaust plugs
2. Remove the Ri plug: PT1/8 and install the G Nipple A-PT1/8 and inject grease into the
Ri grease inlet using a grease gun
3. Move the R-Axis for a few minutes to discharge the excess grease.
4. Wipe the Ro exhaust plugs with a cloth and reinstall the plugs. (Spread the Modifier sil-
icon Caulk on the screw of the plug.)
# Grease Replacement (Refer to " Fig. 25 R-Axis Speed ReducerDiagram ".)
1. Remove the Ro exhaust plugs
2.