Feb 19, 2013 - information regarding the application of the device, Infineon. The Hexagon Application Boards are designed to use “Serial Wire Debug” as debug. FS 3 3/HA/8.5 48/RE 48 S/ll 7,1 $270 www.bergans.com (206) 329-2088 USAGE. SW 3/HA/8.6 4/HA/8.6 33.2/RE 36/HX 0/13 S/8+5 6,2 $649 $498 DO. APEX 2A EXPED SOLESTAR GOLITE HEX 3 V HILLEBERG AKTO CODES. Lbs.oz Price (in) 64 1,3 $79 63 18_ $69 66 __3J '$99' 62 2,11 $139 2,4 $169 72/78 64.
Special for trucks, tanker, train door, meter box, money bags Seal Seal by hand; Removable by cable cutters; Application trucks, traliors and doors, heavy-duty boxs and cases, etc. Introduction. Inner part is made by zinc casting. Aluminium alloy lock body,without any plastic.
Non-preformed galvanized cable. Pull tight locking mechanism, easy to lock. Company name or LOGO and serial numbers are laser printed. Bar code is available. Various colors are available, or do as per special requirements.
Features Tamper- 1.evident cable seal separates into individual strands when cut and cannot be resealed. Provides a versatile method of identification 4.Available in four standard colors 5.Can be customized by laser printing a name, logo, consecutive number and bar code. Non-preformed steel cable unravels when cut 7.
Galvanized steel cable, removable only with tool 8. Prevents tampering by cable cutting and reusing 9. Suitable for securing valuables for long period of time Note: Any length of cable can be custom ordered.
. YR-ES200RN-A01 (SLU-AXES WITH L.S. SPECIFICATION) Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-ES200RN INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator’s manual above corresponds to specific usage. If such modification is made, the manual number will also be revised. If your copy of the manual is damaged or lost, contact a YASKAWA rep- resentative to order a new copy.
The representatives are listed on the back cover. HW0482143 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the NX100. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”. Indicates a potentially hazardous situation which, if not avoided, WARNING could result in death or serious injury to personnel.
HW0482143 WARNING. Before operating the manipulator, check that servo power is turned off when the emergency stop buttons on the front door of the NX100 and programming pendant are pressed. When the servo power is turned off, the SERVO ON LED on the program- ming pendant is turned off. Read and understand the Explanation of Warning Labels in the NX100 instructions before operating the manipulator. Definition of Terms Used Often in This Manual The MOTOMAN manipulator is the YASKAWA industrial robot product. The manipulator usually consists of the controller, the programming pendant, and supply cables.
Prior to operating the manipulator, confirm the contents. WARNING label A Nameplate WARNING label A MOTOMAN TYPE PAYLOAD MASS DATE ORDER NO.
WARNING label B SERIAL NO. YASKAWA ELECTRIC CORPORATION JAPAN Nameplate: WARNING label B WARNING label A MOTOMAN WARNING WARNING TYPE PAYLOAD MASS ORDER NO. HW0482143 Product Confirmation 1.1 Contents Confirmation.1 1.2 Order Number Confirmation. HW0482143 Allowable Load for Wrist Axis and Wrist Flange 6.1 Allowable Wrist Load. 6 6.2 Wrist Flange. HW0482143 Grease Exchange for R-, B- T-Axis Gears in the Casing (Refer to ' Fig. 27 U-Arm Diagram '.).9-17 Grease Exchange for R-Axis Speed Reducer (Refer to '.
HW0482143 1.1 Contents Confirmation 1 Product Confirmation CAUTION. Confirm that the manipulator and the NX100 have the same order num- ber.
Special care must be taken when more than one manipulator is to be installed. If the numbers do not match, manipulators may not perform as expected and cause injury or damage. HW0482143 1.2 Order Number Confirmation Order Number Confirmation Check that the order number of the manipulator corresponds to the NX100. The order number is located on a label as shown below. Label (Enlarged view) THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER. Check that the manipulator and the NX100 have the same order number. HW0482143 2.1 Transporting Method 2 Transporting CAUTION.
Sling and crane or forklift operations must be performed by authorized personnel only. Failure to observe this caution may result in injury or damage. Avoid excessive vibration or shock during transporting. The system consists of precision components, so failure to observe this caution may adversely affect performance. HW0482143 2.1 Transporting Method Details of shipping bolt Rubber plate Electrical tape painted yellow Shipping bolt (1 piece) Shipping bracket (2 pieces) Shipping bracket (2 pieces) Hexagon socket head cap screw M20 (length: 50mm) (8 screws) Fig.
2 Transporting Position HW0482143 13/71. HW0482143 2.2 Shipping Bolts and Brackets Shipping Bolts and Brackets The manipulator is provided with shipping bolts and brackets at position A and with the hexa- gon socket head cap screws at point B. 2 Transporting Position ') Shipping bracket Front View Side View.
HW0482143 3 Installation WARNING. Install the safeguarding. Failure to observe this warning may result in injury or damage. Install the manipulator in a location where the manipulator’s tool or the workpiece held by the manipulator will not reach the wall, safeguarding, or NX100 when the arm is fully extended.
HW0482143 3.1 Installation of the Safeguarding Installation of the Safeguarding To insure safety, be sure to install the safeguarding. They prevent unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guid- ance. Responsibility for Safeguarding (ISO 10218) The user of a manipulator or robot system shall ensure that safeguarding is provided and used in accordance with Sections 6, 7, and 8 of this standard.
HW0482143 3.3 Location 3.2.1 Mounting Example The baseplate should be rugged and durable to prevent shifting of the manipulator or the fix- ture. The thickness of the baseplate is 50mm or more and an M20 size or larger anchor bolt is recommended.
HW0482143 4.1 Grounding 4 Wiring WARNING. Ground resistance must be 100 Ω or less.
Failure to observe this warning may result in fire or electric shock. Before wiring, make sure to turn the primary power supply off, and put up a warning sign. HW0482143 4.2 Manipulator Cable Connection Bolt M8 (for grounding) Delivered with the manipulator View A 5.5mm or more Fig.
![Hexagon Hexagon](https://media.springernature.com/full/nature-static/assets/v1/image-assets/ncomms13553-f1.jpg)
5 Grounding Method Manipulator Cable Connection Three manipulator cables are delivered with the manipulator: an encoder cable for detection (1BC) and two power cables (2BC and 3BC). Refer to ' Fig. 6 Manipulator Cable Connections '. HW0482143 4.2 Manipulator Cable Connection NX100 side Manipulator side Encoder cable NX100 side Manipulator side Power cable NX100 side Manipulator side Power cable Fig.
6) Manipulator Cable Connections HW0482143 20/71. HW0482143 4.2 Manipulator Cable Connection molex molex molex molex molex molex Key positions Connector details (Manipulator side) Fig. 7 (a) Details of the Manipulator Cable Connectors (Manipulator Side) Fig. 7 (b) Manipulator Cable Connections to the NX100 HW0482143 21/71.
HW0482143 5.1 Basic Specifications 5 Basic Specifications Basic Specifications Table. 3 Basic Specifications Item Model MOTOMAN-ES200RN Operation Mode Vertically Articulated Degree of Freedom Payload 200kg ±0.2mm Repeatability Positioning Accuracy S-Axis (turning) ±180° L-Axis (lower arm) +80°, -130° U-Axis (upper arm) +208°, -107°. HW0482143 5.2 Part Names and Working Axes Part Names and Working Axes Rotary head (S-head) Upper arm (U-arm) Lower arm (L-arm) Base Wrist Wrist flange Fig. 8 Part Names and Working Axes Manipulator Base Dimensions +0.021 290 0.1 290 0.1 Fitting surface dia. HW0482143 5.4 Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope Fig. 10 Dimensions and P-Point Maximum Envelope HW0482143 24/71. 5.5 Alterable Operating Range Alterable Operating Range The operating range of the S-Axis can be altered according to the operating conditions as shown in ' Table.
4 S-Axis Operating Range '. If alteration is necessary, contact your Yaskawa representative in advance. HW0482143 5.5 Alterable Operating Range 5.5.1 Components for Altering Operating Range Arrange the components listed in ' Fig. 11 The Components of the S-Axis Stopper ', when modifying the angle of S-axis.
Pin (drawing No. HW0402104-1, 1 pin) Stopper (drawing No.
![Hexagon Hexagon](http://i.ebayimg.com/images/i/131795100651-0-1/s-l1000.jpg)
HW0302424-2, 1 stopper) Hexagon socket head cap screw M20 (length: 45mm) (3 screws) (tensile strength: 1200 N/ mm or more). HW0482143 5.5 Alterable Operating Range 5.5.2 Notes on the Mechanical Stopper Installation. For S-axis mechanical stopper, install the stopper (drawing No. HW0302424-2) with the pin which is used bottom up (drawing No. HW0402104-1) as in ' Fig.
11 The Components of the S-Axis Stopper '. HW0482143 5.5 Alterable Operating Range 5.5.3 Adjustment to the Pulse Limitation of S-Axis Apply the Instruction for NX100 Concurrent I/O Parameter (Manual No.
RE-CKI-A442) as part of reference materials for adjusting the programming pendant when modifying the range of motion of S-Axis. The limitation to the pulse (Pulse Soft Limit + 1st Axis ): SICxG200 The limitation to the pulse (Pulse Soft Limit. HW0482143 5.5 Alterable Operating Range HW0482143 29/71.
HW0482143 5.5 Alterable Operating Range Mounting the S-Axis Stopper by Settable Angles Hexagon socket head cap screws The stopper could be utlized by either side. The Settled Model of +180 Degree Hexagon socket head cap screws The stopper could be utlized by either side. HW0482143 5.5 Alterable Operating Range The stopper only utlized by one side with this angle. Hexagon socket head cap screws The Settled Model of +150 Degree The stopper could be utlized by either side. Hexagon socket head cap screws The Settled Model of +135 Degree Fig. HW0482143 5.5 Alterable Operating Range The stopper is only utlized by one side with this angle. Hexagon socket head cap screws The Settled Model of +120 Degree The stopper could Hexagon socket head cap screws be utlized by either side.
The Settled Model of +105 Degree Fig. HW0482143 5.5 Alterable Operating Range The stopper could be utlized by either side. Hexagon socket head cap screws The Settled Model of + 90 Degree The stopper could be utlized by either side. Hexagon socket head cap screws The Settled Model of + 75 Degree Fig. HW0482143 5.5 Alterable Operating Range The stopper is only utlized by one side with this angle. Hexagon socket head cap screws The Settled Model of + 60 Degree The stopper could be utilized by either side. Hexagon socket head cap screws The Settled Model of +45 Degree Fig.
HW0482143 5.5 Alterable Operating Range The stopper is only utlized by one side with this angle. Hexagon socket head cap screws The Settled Model of +30 Degree The stopper could be utlized by either side. Hexagon socket head cap screws The Settled Model of +15 Degree Fig. HW0482143 5.5 Alterable Operating Range The stopper could be utlized by either side. Hexagon socket head cap screws The Settled Model of 0 Degree Fig. 13 (g) The Properly-Mounted Models for S-Axis Stopper 5-15 HW0482143 36/71. The allowable total inertia is calculated when the moment is at the maximum.
Contact your Yaskawa representative when only inertia, or load moment is small and inertia is large. Also, when the load mass is combined with an outside force, contact your Yaskawa representative. HW0482143 6.2 Wrist Flange Wrist Flange The wrist flange dimensions are shown in ' Fig. 15 Wrist Flange '. In order to see the align- ment marks, it is recommended that the attachment be mounted inside the fitting. Fitting depth of inside and outside fittings must be 8mm or less. HW0482143 7.1 Peripheral Equipment Mounts 7 System Application Peripheral Equipment Mounts When peripheral equipment is attached to the manipulator, the following conditions should be observed.
Tapped hole M12 (8 holes) (depth: 24mm) Tapped hole M8 (4 holes) (depth: 15mm) Tapped hole M6 (4 holes) (depth: 15mm) Units: mm Fig. HW0482143 7.2 Internal User I/O Wiring Harness and Air Lines Internal User I/O Wiring Harness and Air Lines 3 cables for valves (0.75mm ), 18 internal user I/O wires (0.5mm x 6 wires, 0.75mm x 12 wires), the cables for the external axis (1.0mm x 4 cables, 0.5mm x 2 cables, 0.2mm cables), and an air line are used in the manipulator for the drives of the peripheral devices.
HW0482143 7.2 Internal User I/O Wiring Harness and Air Lines Key positions Exhaust port (air flow) Tapped hole PT3/8 with pipe plug Connector for internal user I/O wiring harness (Casing): JL05-2A22-14SC (socket connector with cap). Prepare pin connector: JL05-6A22-14P. Connector for the external axis (Encoder cable): JL05-2A20-29SC (socket connector with cap).