Maintenance Manual for Collaborative Robot
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  • 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
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  • YL005
  • YL012
  • YL015

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

4.2.2.3 Tools and parts

The tools and parts required for the replacement of the integrated driving module are as follows:

  • Off-the-shelf torque wrenches and extensions

  • Bolts: hex socket head, strength 12.9, electroless nickel plated, or normal nickel plated

  • Pins: dowel pins of H7 tolerance or spring pins

YL005

Axis

Torque wrenches

Bolts

Dowel pins

Other parts

S

M3, M4, M5

4XM3-6, 4XM3-10, 12XM4-20, 12XM5-18

3XPIN5-10

H

M3, M4, M5

8XM3-6, 12XM4-20, 12XM5-18

3XPIN5-10

V

M3, M4

8XM3-6, 12XM3-30, 9XM4-25

PIN3-6, 2XPIN4-15

R2

M3, M4

10XM3-6, 12XM3-30, 9XM4-20

PIN3-6, 2XPIN4-15

B

M3, M4

4XM3-5 small-diameter head,

6XM3-6, 12XM3-18, 6XM4-10, 8XM3-25

PIN3-6, PIN4-10

R1

M2.5, M3

6XM4-10 countersunk head,

4XM3-5 small-diameter head

YL012

Axis

Torque wrenches

Bolts

Dowel pins

Other parts

S

M3, M5

5XM3-6, 10XM5-18,

12XM5-40

3XPIN5-10

H

M3, M6

10XM3-6, 12XM6-20,

12XM6-45

3XPIN5-10

One-touch straight fitting (KQH23-00A1)

V

M3, M5

10XM3-6, 10XM5-20,

12XM5-40

3XPIN5-10

R2

M3, M4

11XM3-6, 12XM3-30,

10XM4-25

PIN3-6, 2XPIN4-15

One-touch straight fitting (KQH23-00A1)

B

M3, M4

4XM3-5 small-diameter head,

XM3-6, 12XM3-30, 8XM4-20

PIN3-6, 2XPIN4-15

3XM3 NUT, M3 rubber washer,

One-touch straight fitting (KQH23-00A1)

R1

M2.5, M3

6XM4-10 countersunk head,

4XM3-5 small-diameter head

One-touch straight fitting (KQH23-00A1)

YL015

Axis

Torque wrenches

Bolts

Dowel pins

Other parts

S

M3, M5

5XM3-6, 10XM5-18, 12XM5-40

3XPIN5-10

H

M3, M6

10XM3-6, 12XM6-20, 12XM6-45

3XPIN5-10

One-touch straight fitting (KQH23-00A1)

V

M3, M5

10XM3-6, 10XM5-20, 12XM5-40

3XPIN5-10

R2

M3, M4

11XM3-6, 12XM3-30, 10XM4-20

PIN3-6, 2XPIN4-15

One-touch straight fitting (KQH23-00A1)

B

M3, M4

4XM3-5 small-diameter head,

6XM3-6, 12XM3-30, 8XM4-20

PIN3-6, 2XPIN4-15

3XM3 NUT, M3 rubber washer,

One-touch straight fitting (KQH23-00A1)

R1

M2.5, M3

6XM4-10 countersunk head,

4XM3-5 small-diameter head

One-touch straight fitting (KQH23-00A1)

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Last updated 3 years ago

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