- •1 Receiving
- •1.1 Contents Confirmation
- •1.2 Order Number Confirmation
- •2 Transporting
- •2.1 Transporting Method
- •2.1.1 Using a Crane
- •2.2 Shipping Bolts and Brackets
- •3 Installation
- •3.1 Safeguarding Installation
- •3.2 Mounting Procedures for Manipulator Baseplate
- •3.2.1 When the Manipulator and Mounting Fixture are Installed on a Baseplate
- •3.2.2 When the Manipulator is Mounted Directly on the Floor
- •3.3 Location
- •4 Wiring
- •4.1 Grounding
- •4.2 Manipulator Cable Connection
- •4.2.1 Connection to the Manipulator
- •4.2.2 Connection to the NX100
- •5 Basic Specifications
- •5.1 Basic Specifications
- •5.2 Part Names and Working Axes
- •5.3 Manipulator Base Dimensions
- •5.4 Dimensions and P-Point Maximum Envelope
- •5.5 Alterable S-axis Operating Range
- •6.1 Allowable Wrist Load
- •6.2 Wrist Flange
- •7 System Application
- •7.1 Peripheral Equipment Mounts
- •7.2 Internal User I/O Wiring Harness and Air Line
- •8 Motoman Construction
- •8.1 Position of S-axis Overrun Limit Switch
- •8.2 Internal Connections
- •9 Maintenance and Inspection
- •9.1 Inspection Schedule
- •9.2 Notes on Maintenance Procedures
- •9.2.1 Battery Pack Replacement
- •9.2.9 Grease Replenishment for Tapered Roller Bearing at Link and Connection
- •9.2.10 Grease Replenishment for Balancer Connection
- •9.2.11 Notes for Maintenance
- •Battery Pack Connection for Motor
- •10 Recommended Spare Parts
- •11 Parts List
- •11.1 S-Axis Unit
- •11.2 L-Axis Unit
- •11.3 Link Unit
- •11.4 Balancer Unit*
- •11.5 RBT-Axes Unit
- •11.6 U-Axis Unit
- •11.7 Wrist Unit
151781-1CD
11.3 Link Unit
HP600 MANIPULATOR
11.3 Link Unit
|
|
|
|
|
4013 4011 |
4035 |
4038 |
||
|
|
4004 |
|
|
|
||||
|
|
|
|
4031 |
|
||||
|
|
|
|
|
|
|
|
||
|
|
|
40024005 |
|
|
|
|
||
|
4004 |
|
|
|
4029 |
|
|
||
|
4003 |
|
4003 |
|
4012 |
|
|
|
4036 |
|
4002 |
|
|
4010 |
|
|
|
4037 |
|
4006 |
|
|
|
|
|
|
|||
|
|
|
|
|
|
|
|
||
4008 |
|
4018 |
|
|
|
|
|
4032 |
|
4007 |
|
|
4017 |
|
4031 |
|
|
4033 |
|
|
|
|
4016 |
4034 |
|
|
|
|
|
|
4014 |
|
4035 |
|
|
|
|
|
|
4009 |
|
40364037 |
|
|
|
|
|
|
|
4010 |
|
|
|
|
|
|
|
|
4030 |
|
|
|
|
|
|
|
|
|
|
4013 |
|
|
4038 |
|
4029 |
4030 |
|
|
|
|
|
|
|
|
|
||||
|
|
|
4057 |
|
|
|
|
|
|
|
|
4015 |
|
|
|
|
|
|
|
40114012 |
4019 |
4017 |
|
|
|
|
|
|
|
|
4016 |
|
|
|
|
|
|
||
|
|
|
|
|
4058 |
|
|
||
|
|
|
|
|
4059 |
|
|
|
|
|
|
|
|
|
4033 |
|
|
||
|
|
|
|
|
4032 |
|
|
4022 |
|
|
|
|
|
|
4024 |
|
|
|
|
|
|
|
|
4055 |
4025 |
|
|
||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
4054 |
|
|
|
|
|
|
|
|
|
4051 |
|
|
|
|
|
|
|
|
|
|
4023 |
|
|
|
|
|
|
|
|
|
4038 |
|
|
||
|
4050 |
|
|
|
4021 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
4020 |
|
|
4038 |
|
|
4053 |
|
|
4002 |
|
|
|
|
4038 |
|
4052 |
|
4003 |
4010 4013 |
|
||||
|
|
|
|
||||||
4059 |
|
|
4004 |
|
|
|
|||
4058 |
|
|
|
|
4005 |
|
|
|
4039 |
4056 |
|
|
|
|
|
|
|
||
|
|
|
|
|
|
|
|
4041 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
4040 |
|
|
|
|
|
4038 |
|
4041 |
||
|
|
|
|
|
|
4040 |
|||
|
|
|
|
|
|
|
|
|
4003
4002
4006
4012
4011
4013
11-5
HW0482904 63/73
HW0482904
11.3 Link Unit
No. |
DWG No. |
Name |
Pcs |
No. |
DWG No. |
Name |
Pcs |
4001 |
HW9100723-1 |
Link-B |
1 |
4050 |
HW0407235-1 |
Spacer |
1 |
4002 |
HR32011XJ |
Bearing |
4 |
4051 |
HW0407235-2 |
Spacer |
1 |
4003 |
32011XAV |
Ring |
4 |
4052 |
M16X250 |
Socket screw |
6 |
4004 |
HW9403727-1 |
Spacer |
4 |
4053 |
2H-16 |
Spring washer |
6 |
4005 |
HW9403726-1 |
Shaft |
2 |
4054 |
M16X80 |
Socket screw |
2 |
4006 |
HW9403728-1 |
Washer |
2 |
4055 |
2H-16 |
Spring washer |
2 |
4007 |
M10X25 |
Socket screw |
2 |
4056 |
HW0304997-1 |
Weight |
1 |
4008 |
2H-10 |
Spring washer |
2 |
4057 |
HW0304997-2 |
Weight |
1 |
4009 |
HW9403724-* |
Shim |
- |
4058 |
M20X50 |
Socket screw |
4 |
4010 |
HW9403676-1 |
B-cover |
4 |
4059 |
GT-SW-20 |
Spring washer |
4 |
4011 |
M6X20 |
Socket screw |
32 |
1001 |
HW9100724-1 |
S-head |
1 |
4012 |
2H-6 |
Spring washer |
32 |
|
|
|
|
4013 |
PT1/8 |
Plug |
4 |
|
|
|
|
4014 |
HW9301455-1 |
Link-A |
1 |
|
|
|
|
4015 |
HW9403821-1 |
Stopper |
1 |
|
|
|
|
4016 |
M10X30 |
Socket screw |
2 |
|
|
|
|
4017 |
2H-10 |
Spring washer |
2 |
|
|
|
|
4018 |
HW9403821-2 |
Stopper |
1 |
|
|
|
|
4019 |
HW0306582-1 |
Weight |
1 |
|
|
|
|
4020 |
M16X45 |
Socket screw |
8 |
|
|
|
|
4021 |
2H-16 |
Spring washer |
8 |
|
|
|
|
4022 |
HW0100128-1 |
L-arm |
1 |
|
|
|
|
4023 |
HW9403654-1 |
Cover |
1 |
|
|
|
|
4024 |
M5X8 |
Socket screw |
6 |
|
|
|
|
4025 |
2H-5 |
Spring washer |
6 |
|
|
|
|
4029 |
32016XAV |
Ring |
2 |
|
|
|
|
4030 |
HW9403716-1 |
Shaft |
2 |
|
|
|
|
4031 |
HR32016XJ |
Bearing |
2 |
|
|
|
|
4032 |
M10X60 |
Socket screw |
8 |
|
|
|
|
4033 |
2H-10 |
Spring washer |
8 |
|
|
|
|
4034 |
HW9403725-* |
Shim |
- |
|
|
|
|
4035 |
HW9301439-1 |
B-cover |
2 |
|
|
|
|
4036 |
M8X25 |
Socket screw |
16 |
|
|
|
|
4037 |
2H-8 |
Spring washer |
16 |
|
|
|
|
4038 |
PT1/8 |
Plug |
6 |
|
|
|
|
4039 |
HW9405502-1 |
Stopper |
2 |
|
|
|
|
4040 |
M10X25 |
Socket screw |
2 |
|
|
|
|
4041 |
2H-10 |
Spring washer |
2 |
|
|
|
|
11-6
HW0482904 64/73
151781-1CD
11.4 Balancer Unit*
HP600 MANIPULATOR
11.4 Balancer Unit*
|
5026 |
50285027 |
5025 |
5024 |
|
5023 |
5030 |
|
|
5029 |
|
5005 5004
5001
5011
5002 |
|
5006 |
|
|
|
5007 |
|
5003 |
|
|
5009 |
|
|
|
|
|
5006 |
|
5008 |
|
5010 |
5018 |
5014 |
|
5005 |
|
|
5021 |
|
|
|
5022 |
5017 |
||
5023 |
|
||
5013 |
5012 |
5016 |
|
5019 |
5015 |
||
5020 |
|
|
|
|
|
|
|
5027 |
5028 |
5026 50255030 |
5023 |
|
|
50295004 |
|
|
|
|
|
|
5001 |
|
|
5005 |
5024 |
|
|
5011 |
|
|
|
|
5002 |
4022 |
5003 |
|
|
|
|
5006 |
|
|
5007 |
|
|
|
5009 |
|
5006 |
5008 |
5023 |
5010 |
5005 |
5022 |
5018 |
5020 5021 |
|
|
||
|
5019 |
|
5014 |
5013 |
|
|
5012 |
|
5017
5015
5016
1001
11-7
HW0482904 65/73
HW0482904
11.4 Balancer Unit*
No. |
DWG No. |
Name |
Pcs |
5001 |
HW9403703-1 |
Shaft |
2 |
5002 |
HW9381005-1 |
Spring |
2 |
5003 |
HW9403704-1 |
Shaft |
2 |
5004 |
HW9400675-1 |
Nut |
2 |
5005 |
M6X8 |
H-set screw |
4 |
5006 |
SPB253330 |
Oilless bearing |
4 |
5007 |
HW9301438-1 |
Flange |
2 |
5008 |
M8X25 |
Socket screw |
16 |
5009 |
2H-8 |
Spring washer |
16 |
5010 |
FD1301A0 |
Dust seal |
2 |
5011 |
HW9301448-1 |
Case |
2 |
5012 |
HW9301449-1 |
Clevis |
2 |
5013 |
GE40ES-2RS |
Bearing |
2 |
5014 |
HW0405517-1 |
Shaft |
2 |
5015 |
M10X30 |
Socket screw |
6 |
5016 |
2H-10 |
Spring washer |
6 |
5017 |
HW0482206-A |
Washer |
2 |
5018 |
M4X12 |
Flat-head- |
4 |
|
|
Screw |
|
5019 |
50062 |
Retaining rings |
2 |
|
|
C-type |
|
5020 |
HW9403714-1 |
B-nut |
2 |
5021 |
M4X4 |
H-set screw |
4 |
5022 |
HW9400860-3 |
Spacer |
4 |
5023 |
PT1/8 |
Plug |
4 |
|
(DACROTIZED coating) |
|
|
5024 |
HW9403701-1 |
Shaft |
2 |
5025 |
M10X55 |
Socket screw |
8 |
5026 |
2H-10 |
Spring washer |
8 |
5027 |
HW9403715-1 |
Oilless bearing |
2 |
5028 |
51040 |
Retaining rings |
2 |
|
|
C-type |
|
5029 |
M4X6 |
H-set screw |
4 |
5030 |
M8X16 |
H-set screw |
4 |
1001 |
HW9100724-1 |
S-head |
1 |
4022 |
HW0100128-1 |
L-arm |
1 |
11-8
HW0482904 66/73