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MOTOMAN-GP700, GP400L Instructions (R0)

  • 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 Bracket

3 Installation

3.1 Installation of the Safety Fence

3.2 Mounting Procedures for Manipulator Base

3.2.1 Mounting Example

3.3 Mounting Method

3.4 Location

3.5 Notes on Dust-Proof/Water-Proof Specifications

4 Wiring

4.1 Grounding

4.2 Cable Connection

5 Basic Specifications

5.1 Basic Specifications

5.2 Part Names and Working Axes

5.3 Dimensions and P-Point Maximum Envelope

5.4 Stopping Distance and Time for S-, L-, and U-Axes

5.4.1 General Information

5.4.2 Definition of Use

5.4.3 Extension

5.4.4 Stopping Distance and Time for Stop Category 0: S-, L-, U-axis

5.4.4.1 Stopping Distance and Time for Stop Category 0: S-axis (YR-1-06VX700-A00,-A01)

5.4.4.2 Stopping Distance and Time for Stop Category 0: L-axis (YR-1-06VX700-A00,-A01)

5.4.4.3 Stopping Distance and Time for Stop Category 0: U-axis (YR-1-06VX700-A00,-A01)

5.4.5 Stopping Distance and Time for Stop Category 1: S-, L-, U-axis (YR-1-06VX700-A00,-A01)

5.4.5.1 Stopping Distance and Time for Stop Category 1: S-axis (YR-1-06VX700-A00,-A01)

5.4.5.2 Stopping Distance and Time for Stop Category 1: L-axis (YR-1-06VX700-A00,-A01)

5.4.5.3 Stopping Distance and Time for Stop Category 1: U-axis (YR-1-06VX700-A00,-A01)

5.4.6 Stopping Distance and Time for Stop Category 0: S-, L-, U-axis (YR-1-06VXL400-A00,-A01)

5.4.6.1 Stopping Distance and Time for Stop Category 0: S-axis (YR-1-06VXL400-A00,-A01)

5.4.6.2 Stopping Distance and Time for Stop Category 0: L-axis (YR-1-06VXL400-A00,-A01)

5.4.6.3 Stopping Distance and Time for Stop Category 0: U-axis (YR-1-06VXL400-A00,-A01)

5.4.7 Stopping Distance and Time for Stop Category 1: S-, L-, U-axis (YR-1-06VXL400-A00,-A01)

5.4.7.1 Stopping Distance and Time for Stop Category 1: S-axis (YR-1-06VXL400-A00,-A01)

5.4.7.2 Stopping Distance and Time for Stop Category 1: L-axis (YR-1-06VXL400-A00,-A01)

5.4.7.3 Stopping Distance and Time for Stop Category 1: U-axis (YR-1-06VXL400-A00,-A01)

5.5 Alterable Operating Range

5.5.1 Components for Altering Operating Range

5.5.2 Notes on the Mechanical Stopper Installation

5.5.3 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

7.1.1 Allowable Load

7.1.2 Installation Position

7.2 Internal User I/O Wiring Harness and Air Hose

7.3 Mating Connector for Internal User I/O Wiring Harness (Optional)

7.4 How to Wire Fieldbus Cable inside Manipulator

8 Electrical Equipment Specification

8.1 Position of Limit Switch

8.2 Position of Servo ON Lamp

8.3 Internal Connections

9 Maintenance and Inspection

9.1 Inspection Schedule

9.2 Notes for Maintenance

9.2.1 Multi-Port Connector

9.3 Notes on Maintenance Procedures

9.3.1 Home Position Check

9.3.2 Seeped Oil Check

9.3.3 L-, U-, R-, B-, and T-axis Motors

9.3.4 Battery Pack Replacement

9.4 Notes on Grease Replenishment/Exchange Procedures

9.4.1 Grease Exchange Procedures for Gear of Each Axis Speed Reducer

9.4.1.1 Notes on Grease Exchange Procedures

9.4.1.2 Grease Exchange Procedure

9.4.1.3 Grease Replenishment for U-axis Bearing Part

9.4.1.4 Grease Replenishment for Links

9.4.1.5 Grease Replenishment for Balancer Link Part

10 Recommended Spare Parts

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