Maintenance Manual for Collaborative Robot
English
English
  • Maintenance Manual for Collaborative Robot
  • About this manual
    • Copyright
    • Notation rules
    • Safety precautions
  • 1. Safety
    • 1.1 Safety requirements
      • 1.1.1 Applicable standards
      • 1.1.2 Safety performance
    • 1.2 Safety measures
      • 1.2.1 Safety functions
      • 1.2.2 Safety training
      • 1.2.3 Safety labels
      • 1.2.4 Emergency stop
        • 1.2.4.1 Emergency stop switches
        • 1.2.4.2 Connecting to emergency stop devices of external systems
    • 1.3 Risk assement
    • 1.4 Potential risk
    • 1.5 Validity and responsibilities
  • 2. Introduction to the product
    • 2.1 Intended uses of the product
    • 2.2 Product components
    • 2.3 Part names
      • 2.3.1 Manipulator
      • 2.3.2 Controller
      • 2.3.3 Teach pendant
    • 2.4 Nameplate
  • 3. Product installation
    • 3.1 Environment of installation and preparation
      • 3.1.1 Environments of installation and use
      • 3.1.2 Spaces of the robot system
      • 3.1.3 Allowable limit of wrist axis load
      • 3.1.4 Payload
    • 3.2 Product installation
      • 3.2.1 Composition of robot systems
      • 3.2.2 Robot and controller installation
        • 3.2.2.1 Mounting plate installation
      • 3.2.3 Tool connection
      • 3.2.4 Wiring
      • 3.2.5 Power on
    • 3.3 Robot interface
      • 3.3.1 Tool flange connection point
        • 3.3.1.1 T4071017041-001 (TE) pin map
        • 3.3.1.2 T41171130012-001 (TE) pin map
        • 3.3.1.3 Air hose
      • 3.3.2 External device interface
        • 3.3.2.1 Terminal block (TB1): common analog I/O signals
        • 3.3.2.2 Terminal block (TB2): dedicated safety signal input
        • 3.3.2.3 Terminal block (TB3): system signal I/O
        • 3.3.2.4 D-sub 25-pin connector (SDIO): common digital I/O
        • 3.3.2.5 D-sub 9-pin connector (COM1, COM2): serial communication (RS485, 422)
    • 3.4 Stopping distance and time
      • 3.4.1 STOP 0
      • 3.4.2 STOP1
    • 3.5 Safety setting
    • 3.6 Programming and restarting
    • 3.7 Axis limiting devices
    • 3.8 Movement without drive power
    • 3.9 Other safety precautions
  • 4. Maintenance
    • 4.1 Checking of the collaborative robot
      • 4.1.1 Check sheet
      • 4.1.2 Wiring check
      • 4.1.3 Bolt check
    • 4.2 Maintenance of the collaborative robot
      • 4.2.1 Replacement of internal wiring
      • 4.2.2 Replacement of the integrated driving module
        • 4.2.2.1 Replacement timing
        • 4.2.2.2 Weight of the integrated driving module
        • 4.2.2.3 Tools and parts
        • 4.2.2.4 Recommended posture in disassembling the integrated driving module
        • 4.2.2.5 Method for replacing the integrated driving module
      • 4.2.3 Encoder backup battery replacement
      • 4.2.4 Grease replacement
    • 4.3 Controller check and maintenance
      • 4.3.1 Internal structure
      • 4.3.2 Safety control module
        • 4.3.2.1 Connection and display
        • 4.3.2.2 Connection of I/O signals for the robot system (TBSYS1)
        • 4.3.2.3 Safety I/O signal connection (TBSDI, TBSDO)
        • 4.3.2.4 Connection of common digital I/O signals (TBDIO)
        • 4.3.2.5 Connection of common digital I/O signals (TBAIO)
        • 4.3.2.6 Information on major components
      • 4.3.3 Power precharge module (PPM)
        • 4.3.3.1 Connection and display
        • 4.3.3.2 Information on major components
      • 4.3.4 Regenerative discharge module (RDM)
        • 4.3.4.1 Connection and display
        • 4.3.4.2 Information on major components
      • 4.3.5 Microcomputer module
      • 4.3.6 Power supply
      • 4.3.7 Teach pendant
      • 4.3.8 PCI communication card (optional)
        • 4.3.8.1 Connect pin map
  • 5. Moving and storing
    • 5.1 Moving method
      • 5.1.1 Recommended posture
      • 5.1.2 Packaging box
      • 5.1.3 Cautions
    • 5.2 Storing method
    • 5.3 Disposal
  • 6. Appendix
    • 6.1 Block diagrams
      • 6.1.1 YL012 S-axis
      • 6.1.2 YL012 H-axis
      • 6.1.3 YL012 V-axis
      • 6.1.4 YL012 R-axis
      • 6.1.5 YL012 B-axis
      • 6.1.6 YL012 R1-axis
      • 6.1.7 YL012 tool flange
      • 6.1.8 Power connector
    • 6.2 System specifications
      • 6.2.1 Collaborative robot
      • 6.2.2 Controller
      • 6.2.3 Teach pendant
  • Certifications
  • Attachment
    • Rules on Occupational Safety and Health Standards, and Notice for Safety Inspection
  • Quality Assurance
Powered by GitBook
On this page

Was this helpful?

  1. 4. Maintenance
  2. 4.2 Maintenance of the collaborative robot
  3. 4.2.2 Replacement of the integrated driving module

4.2.2.1 Replacement timing

Replace the integrated driving module when any of the following anomalies is found:

  • Anomalies of reducers

    If a reducer is damaged, abnormal noise and vibration will occur. An abnormal reducer may lead to overloading, abnormal deviation, and abnormal overheating that obstruct normal operation. It may also make the robot stop or create a deviation in its position. In such cases, replace the integrated driving module.

    The integrated driving module should also be replaced when the grease is replaced.

  • Anomalies of motors

    An abnormal motor may lead to abnormal operations such as shaking at stopping, vibration in operation, and irregular cycles (pulsation). It may also generate abnormal noise and overheating.

    The phenomena of abnormal motors are similar to those of reducers. In such cases, replace the integrated driving module, and contact our Customer Support Team to request analysis.

  • Anomalies of the brake

    An abnormal brake will make the axes fall in the operation ready [brake OFF] state or generate overloading and abnormal noise by being actuated in the operation ready [brake ON] state. You can check on anomalies of the brake by the following methods:

    • While the motor is not turned on, turn ON the brake release switch so that the robot can be moved. Before turning ON the brake release switch, take actions so that the robot arm cannot fall by gravity.

    • In the operation ready state, turn the brake release switch ON/OFF, and check that the brake operation sound is heard. In most cases, if the brake operation sound is not heard, there is a wire disconnection. In such a case, replace the integrated driving module.

[Caution]

  • Take precautions because the robot arm may fall when the brake release switch is turned ON/OFF.

  • The brake release switch is on the circuit board placed near the door inside the controller.

  • Anomalies of the encoder

    An abnormal encoder will lead to deviation in position, malfunction, rush, etc. It may also lead to shaking at stopping and irregular cycles (pulsation). In such cases, check the error code through the teach pendant, and replace the integrated driving module as necessary. Phenomena such as abnormal mechanical noise, overheating, and vibration are not related to anomalies of the encoder.

[Caution]

  • In replacing the integrated driving module, it is likely that the worker will place some parts on the floor. Before the replacement, secure the area so that no parts can be lost or damaged.

  • Replacement of the integrated driving module must be carried out by qualified experts who have taken the relevant training provided by Hyundai Robotics. In the event it is necessary to replace the integrated driving module, contact our Customer Support Team to consign the work to experts.

  • After the robot is stopped and before the worker touches the integrated driving module, its temperature should be checked.

  • In the case of the gigabit Ethernet option, because the module replacement is not simple, contact our Customer Support Team to consign the work to experts.

Previous4.2.2 Replacement of the integrated driving moduleNext4.2.2.2 Weight of the integrated driving module

Last updated 3 years ago

Was this helpful?