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MOTOMAN-MH215 II INSTRUCTIONS (R2)

  • Updated

1 Product Confirmation

1.1 Contents Confirmation

1.2 Order Number Confirmation

2 Transport

2.1 Transport Method

2.1.1 Using a Crane

2.1.2 Using a Forklift

2.2 Shipping Bolts and Brackets

3 Installation

3.1 Safeguarding Installation

3.2 Mounting Procedures for Manipulator Base

3.2.1 Mounting Example

3.3 Protection Class

3.4 Location

4 Wiring

4.1 Grounding

4.2 Cable Connection

4.2.1 Connection to the Manipulator

4.2.2 Connection to the DX200

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 Stopping Angle and Time for S-, L- and U-Axes

5.5.1 Stop Category 0: Stopping Angles and Times

5.5.1.1 Position 100%

5.5.1.2 Position 66%

5.5.1.3 Position 33%

5.5.2 Stop Category 1: Stopping Angles and Times

5.5.2.1 Position100%

5.6 Alterable Operating Range

5.6.1 Components for Altering Operating Range

5.6.2 Notes on the Mechanical Stopper Installation

5.6.3 Adjustment to the Pulse Limitation of S-Axis

6 Allowable Load for Wrist Axis and Wrist Flange

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 Hose

8 Electrical Equipment Specification

8.1 Position of Limit Switch

8.1.1 Specification of Limit Switch

8.1.2 Position of Limit Switch

8.1.3 Setting of Operation Range

8.1.3.1 S-Axis Operation Range

8.1.3.2 L-Axis Operation Range

8.1.3.3 Setting Range of LU-Axes Interference Angle

8.2 Internal Connection Diagram

9 Maintenance and Inspection

9.1 Inspection Schedule

9.2 Notes on Maintenance Procedures

9.2.1 Battery Pack Replacement

9.3 Grease Replenishment/Exchange

9.3.1 Notes on Grease Replenishment/Exchange Procedures

9.3.1.1 Grease Replenishment/Exchange for S-Axis Speed Reducer

9.3.1.2 Grease Replenishment/Exchange for L-Axis Speed Reducer

9.3.1.3 Grease Replenishment/Exchange for U-Axis Speed Reducer

9.3.1.4 Grease Replenishment/Exchange for U-Arm

9.3.1.5 Grease Replenishment for Balancer Connection Part

9.4 Notes for Maintenance

9.4.1 Battery Pack Connection

10 Recommended Spare Parts

11 Parts List

11.1 S-Axis Unit

11.2 L-Axis Unit

11.3 U-, R-, B-, T-Axis Unit

11.4 U-Arm Unit

11.5 Wrist Unit

11.6 Balancer Unit

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