Created: 99-04-27 Revised: 99-05-04
Doc. name: MRS52040TOC.fm
Instruction manual
MOTOMAN
-
UP200
Page: III
MOTOMAN
ROBOTICS
AB
1. Receiving .............................................................. 5
Checking package contents
5
Checking the serial number
6
2. Transporting ......................................................... 7
Transporting method
7
Shipping bolts and jigs
8
3. Installation ............................................................ 9
Safety guard installation
10
Mounting procedures for manipulator baseplate
10
Location
13
4. Wiring ................................................................. 15
Grounding
16
Cable connection
16
5. Basic specifications ............................................ 19
Basic specifications
19
Part names and working axes
20
Baseplate dimensions
20
Dimensions and working range
21
B-axis working range
22
Alterable working range
22
6. Allowable load for wrist axis and wrist flange ..... 23
Allowable wrist load
23
Wrist flange
24
7. System application ............................................. 25
Mounting equipment
25
Incorporated wire and airduct
26
8. Motoman construction ........................................ 29
Position of S-axis limit switch
29
Internal connections
30
9. Maintenance and
inspection
............................... 31
Inspection schedule
31
Notes on maintenance procedures
35
o
Grease replenishment (for S-axis)
37
o
Grease replacement (for S-axis)
38
o
Grease replenishment (for L-axis)
39
o
Grease replacement (for L-axis)
40
o
Grease replenishment (for U-axis)
41
o
Grease replacement (for U-axis)
42
o
Grease replenishment (for
R
-axis)
43
o
Grease replacement (for R-axis)
44
o
Grease replenishment (for B-axis)
45
o
Grease replacement (for B-axis)
46
o
Grease replenishment (for T-axis)
47
o
Grease replacement (for T-axis)
48
o
Battery unit connection for S-, L- and U-axes motors
50
o
Battery unit connection for R-, B- and T-axes motors
50
10. Recommended spare parts ................................ 53
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