Hyundai HX400 manual

H y u n d a i R o b o t Manipulator Maintenanc e Manual - HX 200 L , H X20 0L -200 0, - HX 300 , HX3 00L , - HX 400 HX300060301MME2[...]

The information presented in the manual is the propert y of HHI. A n y copy or even p artial is not allowed without prior written authorization from HHI. It may not be provided to the third p arty , nor us ed for any other purpose s. HHI reserves the right to modify without prior notification. Printed in Korea - Oct. 2005. 1st Edition Copyright ⓒ[...]

i Content s 1. S afety.......................................... .................................................. 1-1 1.1. Introducti on ............................................................................................ 1-2 1.2. Relev ant Safety Regul ations ................................................................. 1- 4 1.3. Saf[...]

Cont ents ii 2.5. Axi s Identification ................................................................................. 2-11 2.6. Details o f Wrist Ax is Attachment Surface ............................................ 2-12 2.7. Details of Upper 1 st ARM Attachm ent Surface ..................................... 2-13 2.8. Application Wiring and Insp[...]

iii 5.1.8. A1 Frame - Gear Box ........................................................................ 5-14 5.1.9. Wrist - Gear B ox ............................................................................... 5-15 5.2. Battery Replacement ........................................................................... 5-16 5.2.1. Instruc tions for [...]

Cont ents iv List of Figures Fig 1.1 Recommended Size for Fence and Gate Hole (Square Gate) ..... .... 1-8 Fig 1.2 Recommended Size for Fence and Gate Hole (Slot Gate) ..... ......... 1-8 Fig 1.3 Placement of Peripheral Equipment and Operator ... ........... .......... 1-10 Fig 1.4 S p ace for robot install ation....................................[...]

v Fig 6.2 Enc oder Reset Connec tor.............................................................. 6-18 Fig 8.1 Manip ulator Con figuration ................................................................ 8-2 Fig 8.2 Motor a nd Brake w iring connecti on No.1 ......................................... 8-3 Fig 8.3 Motor a nd Brake w iring connecti on N[...]

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1. S afet y 1-1 1. Safety 1 Safety[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-2 1. Safety 1.1. Introduction The main pu rpose of this chapter is to describe the safety precautions for u sers and operators who repair and manipulate the industrial robot. This m anual de scribes safety precautions f or rob ot manipu lator and controller, in comply with the req uirement of ANSI/RIA[...]

1. S afet y 1-3 It is applied to the 6-axis industrial robot used by insta lling on the surface of wall or plane (axes addable). It is also appropriate for controlling operation in the dotted section or consecutive section. Major application is  Spot welding  Handling  Assembly  Application such as Sealing  MIG/MAG welding  Pallet[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-4 1.2. Rele v ant Safe ty Regulations The robot is designed a s per I SO10218.Jan. 1 992 , safet y standards fo r indust rial robots, and furthermore in comply w ith ANSI/RIA 15 .06-1999 regulations. 1.3. Safety T rai ning All the personnel who intend to teach, operate o r inspect the robot must be tr[...]

1. S afet y 1-5 1.4. Safety Related Nameplate 1.4.1. Safety Marking For the purpose of ef fective safe ty instructions, the fo llowing safety symbo ls a re used in this manual. T able 1-1 Safety marking Symbols Descrptions W a rning Indicate a potentially hazardous situation which, if no t avoided, could result in death or se rious injury to person[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-6 1.4.2. Safety Nameplate Identification plates, warning label an d safety symbo ls are attached to t he robot and to the inside and outside of control panel. The designation labels and cable Mark for wire harness between the robot and control panel, and the cables inside/outside of control panel are [...]

1. S afet y 1-7 1.5. Definition of Saf ety Functions Emergency S top Func tion - IEC 204-1,10,7 There is one emergency stop button on t he controller and teaching pendant respectively. If necessary, additional eme rgency buttons should be able to connected to the robot's safety chain circuit. T he emergency stop f unction, which overrides all [...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-8 1.6. Inst a llation 1.6.1. Safety Fence Install safety f ence against the possible collision between the robot and workers, so that no worker may approach the robot .When operators or other personnel enter the robot's working e nvelope by accident, it ma y cause an a ccident. Install th e safet[...]

1. S afet y 1-9 ② The safety fence should be a fixed type in principle, using harmless materials that do not have any broken surface or projecting part. ③ Install th e safety f ence with an entrance gate, and register the safety plug at the gate so that it does not open un less pulling the plug out. Interlock the robot to be MOT ORS OFF when th[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-1 0 1.6.2. Placeme nt of Robot & Pe ripheral Equ ipment (1) Make sure t hat the power su pply is off before operating, when connectin g the primary power of controller or periph eral equipment. The re is a possible danger of e lectric shock because the high voltage such a s 22 0V and 440V is used [...]

1. S afet y 1-1 1 (5) Make sure that the robot manipulator and the wiring and p iping of co ntroller , interlock pa nel, and timer should not be placed in t he way o f operator's working range so that they would not be directly stepped on by FORK and LIFT . There is a possible danger of accident if the workers are affected b y electricity or t[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-1 2 1.6.3. Inst alling the Robot Install the robot a s p er the p lanning and layout which has b een p rev iousl y reviewed and studied f or its op timized per fo rmance a nd functionality. In case of poor conditions for robot installation, the serious problems can take place, including error of relat[...]

1. S afet y 1-1 3 (3) Install at the ambient temperature ranged 0~45 ℃ . (4) Secure suf f icient space fo r the easier disassembly and maintenance. (5) Install safet y f ence with a gate, and p rohibit any pe rson from entering the robot's working envelope. (6) Remo ve any obst acles out of the robot’s working envelope . (7) T ake a specia[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-1 4 1.6.4. S p ace for Robot Inst allation Install robot after securing suf ficient space for m aintaining t he robot manipulator , Hi4a controller , and other periphe ral equipment. Install the robot m anipulator and controller , securing space f or installation as per the guideline as described in t[...]

1. S afet y 1-1 5 1.7. Safety Operati on for Robot Handling Follow the safety instruction s to prevent any accidents. Don't modify nor ignore safet y devices or circuits at any time, and be careful of electric shock. All the normal operations in an automatic mode must be performed outside of the safety f ence. Check the robot's w orking e[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-1 6 (9) Operators must pull the safety plug ou t, and e nter the safety f ence with the plug. (10) Do not use any devices causing noise in and around the teaching area. (11) Handle the teaching pendant b utton, while checking t he teachin g point with your naked eyes, and do not handle it just relying[...]

1. S afet y 1-1 7 T able 1-2 S tate of robot stop No. St ate of Robot Drive Power A ccess 1 Pause (Minor failure, Pause switch) ON X 2 Emergency stop (Major failure, Emergency stop switch, Safety gate) OFF O 3 Input signal standby of peripheral equipment (ST ART IN TERLOCK) ON X 4 Play back Complet ion ON X 5 S tandby ON X Even in the accessible st[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-1 8 1.7.2. Safety Precautions for Operating Test In case of operating test, e rrors in d esign or teaching and inferiority in ma nufacturing are possibly se en in the entire system such as teaching program, jig , and sequence. Thus, be more ca reful and safe in case of operating te st. Accidents ma y [...]

1. S afet y 1-1 9 1.7.3. Safety Precautions for A utomatic Operation (1) W hile posting a sign [Do Not Ente r During Operation] up the safet y fence gate, ask the o perators not to enter during operation. If t he robot stops, you may enter the safety fence under your full understanding of the situation. (2) Be sure to check if any op erators are in[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-2 0 1.8. Safety Precauti ons for A ccess to Safet y Fence Robots a re very powerful and heavy even at its low speed. W hen entering the safety fence, one must observe the relevant safety regulations of its pertinent country. The operators a lway s must be aware of the u nexpected movements of robot. R[...]

1. S afet y 1-2 1 1.9. Safety Precauti ons for Mainten ance and Rep air 1.9.1. Safety Precautions for Hi4a Co ntroller Maintenan ce and Rep air (1) Maintenance and repai r of t he robot m ust be p erformed by the personnel who was duly trained in the spe cial maintenance training co urse and has a good knowledge of maintenance. (2) Perform your wor[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-2 2 1.9.2. Safety Precautions for Robo t System & Manipulato r Maintenanace (1) Refer to the safety precautions fo r Hi4a controller maintenance and repair . (2) Perform your maintenance and repair for the robot system and man ipulator , following the indicated procedures. (3) Be su re to disconne[...]

1. S afet y 1-2 3 1.9.3. Necessa r y Actions after Mainten ance and Repair (1) Check if the cables or p arts of controller are properly connected. (2) After maintenance is completed, carefully check that no tools are left a round or inside of the controller and man ipulator . Make su re that the door is f irmly closed. (3) Do no t turn on the power[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-2 4 1.10. Safet y Functions 1.10.1. Operat ing a Safety Circuit EM1 ASG1 T P E N 1 LS1 M a n 1 A ut o 1 MOTOR POER ON MSHP1 C o n ta c t o r M S H P 1 M D r iv e U n it C o m p u t e r C o m m a nd s O p e r a ti ng m o d e se l e c to r L S Li m i t s w it ch A S G A U T O M o d e S a fe g u a rd G S[...]

1. S afet y 1-2 5 MOTORS OFF mode indicates that drive power is rem oved from the robot's motors and the brakes are applied. The status of the switches is displayed on t he teach pendant. (Refer t o the I/O monitoring screen of "SERVICE" m enu, 『 Hi4a controller operation manual 』 .) Safety circuit The emergency stop buttons o n [...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-2 6 1.10.2. Emergency stop An emergency stop should be activated when people o r equipmen t is located at the dangerous area. Th e emergency st op buttons are loca ted both on the control panel and on the teaching pendant. All safety control devices such as emergency sto p butt ons on the control pane[...]

1. S afet y 1-2 7 (1) Emerge ncy stop for control pa nel and teach pendant (Basic) The emergency stop swi tch is on the control p anel and teach pendant of the controller. Fig 1.6 Emergency S top Emergency stop switch[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-2 8 (2) Emerge ncy stop of ex ternal system External eme rgency stop device (button etc.) can be co nnected to the safety electric circuit in a ccor dance with applied standard for the emergency stop circuit. ▶ Emergency stop connection of the external system EMST2C EMST1C EMST2B EMST2A EMST2C EMST1[...]

1. S afet y 1-2 9 1.10.3. Operat ing Speed T o t each the robot, the operating mod e switch must be in a MANUAL mode. Th en the maximum speed of robot is limited to 250mm/s.. 1.10.4. Co nnecting the Safety Devices External saf ety devices such as light beams, light curtains, safety plug, and safety mats which can be adapted by the system builder ex[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-3 0 1.10.5. Restricting the working Env elope W hen the robot is n ot necessary to re ach certain area for specific ap plications, working en velope of the robot can be lim ited to secure the sufficient safety working area. T his will reduce the d amage o r loss in case of ro bot's collision with[...]

1. S afet y 1-3 1 1.11. Safet y Related to End Effe ctors 1.11.1. Grippe r (1) W hen a gripper is used to grip a workpiece, there should be s afety precautions for unexpected dropping of the loaded workpiece. (2) W hen any end ef fectors or devices are installed on the robot a rm, u se the required size a nd piece of bolt, and secu rely f asten as [...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-3 2 1.11.2. T ool / Workp iece (1) It must be p ossible to repla ce tools such as milling cutters in a safe manner . Make sure that safety devices are working correctly until the cutters stop rotating. (2) Grippers must be designed to keep in gripping workpiece securely even though a power f ailure or[...]

1. S afet y 1-3 3 1.12. Liabilities The robot system h as b een bu ilt in accordance with the latest technical standards and approved safety rules. Nevertheless, the serious accidents such as death or personal injury still may take place d ue t o the collision bet ween t he robot system and peripheral equipment. The robot system must be u sed by op[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 1-3 4 Users must take the full responsibility fo r an y accident caused by their ne gligence or non-observance of t hese instructions. The manufacturer will not take any liabilities and respon sibilities for any dam ages or losses ca used by the misuse or malfunction of such equipment which is n ot incl[...]

2. S peci fi cati ons 2-1 2. S pecifications 2 S pe cifications[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 2-2 2 . S pecifications 2.1. Robot Ma chinery Par t Specif ication No . Serie s Name Rated Payload Robot T YPE HX3 00 * - * FIg 2.1 Robot Machinery Part[...]

2. S peci fi cati ons 2-3 2.2. Locatio n of Robot Ident ification Plate The model name, serial number, and manufacturing date of robot are written down in the name plate. The name plate is located in the rear of axis H in the ARM. Pr oduc t N am e : Rob ot M nipu l a to r Mo de l Na me : H X16 5 Se ria l N um ber : Year o f Ma nuf ac tu r e : We i [...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 2-4 2.3. Basic Specifications T able 2-1 Basic S pe cifications for Models Item S pecification Model HX300 HX400 HX200L HX200L -2000 HX300L Construction Articulated Degree of freedom 6 Drive sys tem AC servo system S Swivel ± 3.142 rad (±180° ) H For/ Backward +1.31 ~ -1.31 rad (+75°~ -75°) A rm V [...]

2. S peci fi cati ons 2-5 Item S pecification Model HX300 HX400 HX200L HX200L -2000 HX300L R2 Rotation 2 1668 N·m (170 kgf ·m) 1960 N·m (200 kgf·m) 1290 N·m (131.5 kgf·m) 1668N·m ((170kgf ·m) B Bending 1668 N·m (170 kgf ·m) 1960 N·m (200 kgf·m) 1290 N·m (131.5 kgf·m) 1668N·m ((170kgf ·m) Wrist Torque R1 Rotation 1 687 N·m (70 kgf·[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 2-6 2.4. Robot D imension and Working En velope Fig 2.3 Robot Dimension and Working Envel ope : [HX300][...]

2. S peci fi cati ons 2-7 Fig 2.4 Robot Dimension and Working Envel ope : [HX400][...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 2-8 Fig 2.5 Robot Dimension and Working Envel ope : [HX200L][...]

2. S peci fi cati ons 2-9 236 R 1 1 8 5 . 9 R 7 6 7 R 6 2 4 . 9 410 786 720 540 900 1000 R 1 1 1 2 . 3 150 1186 1490.8 3250.3 851.2 2278 300 3073.2 2000 200 Fig 2.6 Robot Dimension and Working Envel ope : [HX200L-2000][...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 2-1 0 Fig 2.7 Robot Dimension and Working Envel ope : [HX300L][...]

2. S peci fi cati ons 2-1 1 2.5. Axis Ide ntification T able 2-2 Axis Motion A x is Name Operation Teaching Pendant Button S Arm Swivel LFT(S+) RHT(S-) H Arm Forward and Backward BWD(H+) F W D(H-) V Arm Upward and Downward UP(V+) DOWN(V-) R2 W rist R otation2 Rx+(R2+) Rx-(R2-) B W rist Bend Ry+(B+) Ry-(B-) R1 W rist R otation1 Rz+(R1+) Rz-(R1-) BWD[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 2-1 2 2.6. Det ails of Wrist Axis Att ac hment Surface W hen attaching the operating tool to the mechanical interface of robot's wrist f lange, fasten it with a bolt at P.C.D. 125. Fig 2.9 Details of Wrist Axis Attachment Surface : [HX300/400/300L] 2-Ø10H7 D.P.16 Ø10H7 D.P.16 6-M10 TAP 6-M10 TAP [...]

2. S peci fi cati ons 2-1 3 2.7. Det ails of Up per 1 st A RM A tt a chment Surfa ce There is a Tap in upper 1 st ARM to attach peripheral equipment. Attach peripheral equipment within the range marked as . ▦ [Attention] Attach peripheral equipment to the upper side of the 1st ARM, or to only one side of upper axis V. W hen attaching, be sure to [...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 2-1 4 2.8. Applicati on Wiring and Inspe ction Wiring Diagr am There a re air unit and connector to connect the additional equipment to the robot manipulator. Application connectors are indicated as follows. [Note] Max air pressure of air connection : 7bar (7.1 kgf/cm 2 , 101 psi) Fig 2.12 Application W[...]

2. S peci fi cati ons 2-1 5 2.8.1. Det ails of Customer App lication Connectors [Encoder Connector] CONNECTOR<2> C ONNECTOR<3> CONNECTOR<1> Fig 2.13 Details of Application Connector (Encoder) ① CABLE SPECIFICA TION : 0.3sq * 40pcs ② CONNECTOR TYPE(Receptacle) <1> CA3102A32A10PX(CNR10) <2> MS3102A24-28S(CNR10A) <[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 2-1 6 2.9. Restricting the Working Envelope W hen installing the robot, take into account that the working envelope can be adjusted freely within the entire working envelope. In ca se of possible collision between the robot and periph eral equipment, the working envelope must be limited mechanically and[...]

3. I nstr uc tion s 3-1 3. Instructions 3 Instructions[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 3-2 3. Instructions 3.1. Robot Compo nent Name The following [Fig 3.1] and [Fig 3.2] show and name each component of the robot. Fig 3.1 Identification of Robot Components T able 3-1 Components name No. Component Name No. Component Name 1 BASE BODY 9 W RIS T 2 A2 FRAME 10 R2 axis Motor 3 2 nd A RM 1 1 B [...]

3. I nstr uc tion s 3-3 3.2. Location of Saf ety Nameplate In orde r to prevent any accidents, safety m arking plates such as [Fig 3.2] is at tached to the robot. Do not remove or replace it unneccessarily. HYUNDAI WARNING 4-M24 EYE BOLT HANDLING WIRES(4 pcs) Length : 3.5m HOSE FOR PROTECTION Length : 50cm 경 고 ALVANIA 0769 GRE ASE 5cc Ever y 12[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 3-4 3.3. How to operate 3.3.1. Using Crane EYE BOL T 4-M 24 Hos e for prot ectio n Len gth : 3.5 M 4 Ha ndli ng W ires Len gth : 3.5 M 4 Ha ndl ing W ire s 4- M24 EYE BO LT Ho se fo r prot ectio n Fig 3.3 How to T ransport: Using crane [HX300/400][...]

3. I nstr uc tion s 3-5 Fig 3.4 How to T ransport: Using crane [HX200L/300L] The following lift ing instructions are valid for a "naked" robot. If a dditional equipment is put on the robot, the center of gravity may change and make lifting dangerous.  Never walk under the robot.  Pose the robot as shown in the Figure.  Mount four[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 3-6 3.3.2. Using Forklif t T ruck Loading Capa city minimum 3ton Fig 3.5 How to T ransport : Using Forklift T ruck [HX 300/ 400/200L/200L-2000/300L] Forklift may be u sed f or transpo rting the robot m anipulator . The bracket for the f orklift transporting, as an option, is provided. Follow the instruc[...]

3. I nstr uc tion s 3-7 3.4. How to Inst all NOTE: Before st arting to unpack and install the robot, read the safety regulations and other instructions very carefully .. W a rning: The installation sha ll be made by qualified installation personnel a nd should conform to all national and local codes. W hen unpacking the robot, check if it h as b ee[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 3-8 3.4.2. Inst allating the Rob ot Manipulator The manipulator must be f irmly fixed with eight M20 bo lts. Note that all eight bolts must be used.  Bolts : M20*65 of higher(12.9) SOCKET HEAD BO L T  Was her : O D = 44mm, ID = 25mm, T = 4mm  T ightening T orque : 314Nm The stiffness of the fou[...]

3. I nstr uc tion s 3-9 3.4.3. Dimension of Inst all ation Su rface Fix the swivel base for robot's installation. Refer to [Fig 3.6] for the dimension. Fig 3.6 Dimen sion of Robot Inst allation [HX300/400] [HX130/165,H X130S/165S] [HX300/400/200L/300L][...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 3-1 0 3.4.4. A c curacy of Inst allati on Su rface The d egree o f f latness f or t he four attachment plate sur faces should safisty th e specification. Use a shim, if necessary. The re st of the surface mu st be flat within ±2mm. ■ Cautions (1) The f latness of mounting plate must be within 1.0 mm.[...]

3. I nstr uc tion s 3-1 1 3.5. Allow able Load of Wrist A xi s The load, which will be applied to the mechanical interface of robot's wrist a xis, is restricted by allowable weight, allowable load torque and allowable moment of inertia. A ll owable Maximum Pa y Load Weight : T able 3-2 Allowable load weight Robot Model A ll owable Laod Weight [...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 3-1 2 A ll owable Moment of Inertia T able 3-4 Allowable Moment of Inertia A ll owable Load T orque Robot Model R2 Axis Rot a tion B A xis Rot ation R1 A xis Rot ation HX300/300L 150kg·m²(15.3kgf·m·s²) 30 kg·m²(3.1 kgf·m·s²) HX400 120 kg·m²(12.2 kgf·m·s²) 50 kg·m²(5.1 kgf·m·s²) HX200[...]

3. I nstr uc tion s 3-1 3  Allowable position of the center of gravity from the center of A xis B (The center of B axis is on the same axis of this rob ot, and the value of the allowable loa d torque and allowable m oment of inertia of B and R2 axes are the same. Therefore, if the allowable condition on the B axis is satisfied, it guarantees to [...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 3-1 4 ■ T o rque Map Fig 3.8 Wrist Axis T orque Mapping:[HX300/300L] Fig 3.9 Wrist Axis T orque Mapping : [HX400][...]

3. I nstr uc tion s 3-1 5 Fig 3.10 Wrist Axis T orque Mapping : [HX200L][...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 3-1 6 3.6. Recommended St andy Posture Selecting a good standby posture can save energy and reduce motor temperature. If the t ool is positioned as the f igure below, the load on H and V-ax es may be minimized. In case that the posture shown below might not b e a ttained due to the limited space and tim[...]

4. I nspe ct ion 4-1 4. Inspection 4 Inspection[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 4-2 4. Inspection This chapter provides the instructions for regular in spection and overhaul necessary for the prolonged lifetime of robot performance. 4.1. Inspection Item and Period Inspection is positively nece ssary to cont inue and maintain the h ig h performance of robot for long-term operation. [...]

4. I nspe ct ion 4-3 4.2. Inspection Item and Period T able 4-2 Inspection Items and Periods Inspection Interv als No. Daily 3 mothns 1 year Inspection Items Inspection method S ta ndards Remark Robot Manipulator a nd Axe s comm on 1 ○ Cleaning Examine dirt and dust with nak ed eyes 2 ○ Inspection wiring Examine an y cable damages Examine cable[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 4-4 Inspection Interv als No. Daily 3 mothns 1 year Inspection Items Inspection method S ta ndards Remark Axix S, H, V 7 ○ Reduction gear Check the abnorm al sound Check the shaking(vibrating) Axis R2, B, R1 8 ○ Reduct ion gear Check the abnorm al sound Check the vibrat ing 9 ○ End Effect tighteni[...]

4. I nspe ct ion 4-5 4.3. Inspection of M ain External B olt s The recommended bolt torque is shown in [Fig 4.1]. Apply th e appropriate torque, where required, usin g the t orque wrench and place the paint marking w here the ch eck-up is completed T able 4-3 Inspection part for main bolts No. Inspec tion p a rt s No. Inspection part s 1 H & V [...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 4-6 Fig 4.1 Inspection Part for Main Bolts [HX300/400/300L][...]

4. I nspe ct ion 4-7 4.4. Inspection of Wrist Backlash Check a d iversion b y forcing the end-effector (End Effector : spot gun, hand device, etc.), which is attac hed to th e vertical hem of W rist, in the direction of back and forth, right and left, and up and down. Fig 4.2 Abnormal Backlash Inspecting Directions[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 4-8 4.5. Inspection Inter nal Wiring Flexible cables are used fo r internal wiring o f robot manipulator. However, when a n internal cable is broken or crushed, the robot may malfunction. Therefore, regular inspection is required. W hen operating in the working envelope a ccording to following inspectio[...]

4. I nspe ct ion 4-9 4.5.2. Inspection Part Inspe ction p art Fig 4.3 Cable Inspection Parts : [HX300/400/200L/200L-2000/300L][...]

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5. M aint en ance 5-1 5. Maintenance 5 Maintenanc e[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 5-2 5. Maintenance 5.1. Grease Repleni shment/Replac ement ① Befo re st arting to grease, remove the plug from the grease outlet. ② W henever possible, avoid u sing a co mpressed-air pump, p owered by the factory air supply . If the use of a comp ressed-air pump is una voidable, restrict the greasin[...]

5. M aint en ance 5-3 5.1.1. S-A xis Reduction Gear ■ Grease Repleni shment ① Remo ve the grease outlet plug. ② Inject the grease into the grease inlet using a gr ease gun. ③ Attach the outlet plug with seal tape. ■ Grease Replac ement ① Remo ve the grease outlet plug. ② Inject the grease into the grease inlet using a gr ease gun. ③[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 5-4 5.1.2. H-A xis Reduction Gear ■ Grease Repleni shment ① Make the H-Axis Arm vertical fo r ground.(H:90°-Floor T ype, H:0°-Shelf T ype ) ② Remo ve the grease outlet plug. ③ Inject the grease into the grease inlet using a gr ease gun. ④ W ipe the outlet port with a cloth and att ach the pl[...]

5. M aint en ance 5-5 ■ Grease Replac ement ① Make the H-Axis Arm vertical fo r ground.(H:90°-Floor T ype, H:0°-Shelf T ype ) ② Remo ve the grease outlet plug. ③ Inject the grease into the grease inlet using a gr ease gun. ④ The grease replacement is complete when new grease appears in t he outlet port. The new grease can be distinguish[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 5-6 5.1.3. V - A xis Reduction Gear ■ Grease Repleni shment ① Make t he V -Axis Arm horizontal for ground.(V :0°-Floor T ype, V :-90°-Sh elf T ype ) ② Remo ve the grease outlet plug. ③ Inject the grease into the grease inlet using a grease gun. ④ W ipe the outlet port with a cloth and att ac[...]

5. M aint en ance 5-7 ■ Grease Replac ement ① Make the V -Axis Arm horizontall f or ground. (V :0°-Floor T ype, V :-90°-Shelf T ype ) ② Remo ve the grease outlet plug. ③ Inject the grease into the grease inlet using a grease gun. ④ The grease replacement is complete when new grease appears in t he outlet port. The new grease can be dist[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 5-8 5.1.4. R2-A xis Reduction Gear ■ Grease Repleni shment ① Prepare a grease nipple A-PT1/4. ② Remo ve the grease outlet plug. ③ Remo ve the grease inlet plug and inst all grease nipple A-PT1/4. ④ Inject the grease into the grease inlet using a grease gun. ⑤ W ipe the o utlet port with a cl[...]

5. M aint en ance 5-9 5.1.5. B-A xis Reduction Gear ■ Grease Repleni shment ① Prepare a grease nipple A-PT1/8 and then Make the R2-Axis 0°degree. ② Remo ve the grease inlet plug and inst all grease nipple A-PT1/8. ③ Make the R2 -Axis -90°degree and then Remov e the grease outlet plug. ④ Inject the grease into the grease inlet using a gr[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 5-1 0 ■ Grease Replac ement ① Prepare a grease nipple A-PT1/8 and then Make the R2-Axis 0°degree. ② Remo ve the grease inlet plug and inst all grease nipple A-PT1/8. ③ Make the R2 -Axis -90°degree and then Remov e the grease outlet plug. ④ Inject the grease into the grease inlet using a grea[...]

5. M aint en ance 5-1 1 5.1.6. R1-A xis Reduction Gear ■ Grease Repleni shment ① Remo ve the grease outlet plug. ② Inject the grease into the grease inlet using a grease gun. ③ W ipe the outlet port with a cloth and att ach the outlet plug with seal tape. Attention Do not inject excessive grease. The excessive grease w ould cause an abnorma[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 5-1 2 ■ Grease Replac ement ① Remo ve the grease outlet plug. ② Inject the grease into the grease inlet using a grease gun. ③ The grease replacement is complete when new grease appears in t he outlet port. The new grease can be distinguished from the old one by color . ④ W ipe the outlet port [...]

5. M aint en ance 5-1 3 5.1.7. Bearing Jo int Part s ■ Grease Repleni shment ① Prepare a grease nipple A-PT1/8. ② As ne cessary , remove grease inlet plug and install grease nipple A-PT1/8. ③ Inject the grease into the grease inlet using a grease gun. ④ Remo ve grease nipple A-PT1 /8 from grease inlet port. ⑤ Reinstall the grease plugs [...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 5-1 4 5.1.8. A 1 Frame - Gear Box ■ Grease Repleni shment ① Prepare a grease nipple A-PT1/8. ② Remo ve the grease outlet plug. ③ Remo ve the grease inlet plug and inst all grease nipple A-PT1/8. ④ Inject the grease into the grease inlet using a grease gun. ⑤ Remo ve grease nipple A-PT1 /8 fr[...]

5. M aint en ance 5-1 5 5.1.9. W r ist - Gear Box ■ Grease Repleni shment ① Prepare a grease nipple A-PT1/8. ② Remo ve the grease inlet plug and inst all grease nipple A-PT1/8. ③ Inject the grease into the grease inlet using a grease gun. ④ Remo ve grease nipple A-PT1 /8 from grease inlet port. ⑤ Reinstall the grease plugs with seal tap[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 5-1 6 5.2. Batter y Replacement The position d ata of each axis is p reserved by the backup batte ries. T he batteries need to be replaced every two years. T o rep lace batteries observ e the following procedure. ① Keep the power on . Press the Emergency S top but ton to prohibit the robot motion. ②[...]

5. M aint en ance 5-1 7 Attention  Do no t dipose the batteries. Dispose of t he battery with ind ustrial waste acoording to t he laws and other rules i n the count ry where the controller is installed.  Do not recharge the batteries, o therwise batteries may result in exploding or everheating.  Do not use any batteries other than the reco[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 5-1 8 5.2.1. Instruct ions for Battery Storage ① Do not keep the batteries at a high tempe rature and humidity . Keep it in the well-ventilating place without dew condensation. ② Keep it in a no rmal temperature, at relatively con stant temperature(20±15 ) ℃ and at relative humidity of less than [...]

5. M aint en ance 5-1 9 5.3. Internal Wiring Replacement cycle of internal wiring depends on follows.  Contin uous operation  Ope rating speed  Atmosp here/environment Inspect on a regular basis,every three months and check any damage on the cables or cable protect spring. If any damage, replace it. Replace the cable every 16,000 operating[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 5-2 0 5.3.1. W iring Connection Diagram Refer to [Fig 5.1] for part symbols of the internal wiring. BJ1 BJ2 CN S-Axis MOTO R Brake REVISI ON CODE( A, B, C... ) ROBOT TYPE JUNCT ION PAR T(J1:BJ 1, J2:BJ2, J3:BJ3) COMPONE NT (MB:Motor /Brake, E:Encod er, L:Limit sw itch, H:Applica tion Connect or) Axis N [...]

5. M aint en ance 5-2 1 Fig 5.2 W iring connection diagram : [HX300/400/200L/200L -2000/300L][...]

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6. T robl es hoot ing 6-1 6. T robleshooting 6 T roble shoo ting[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 6-2 6. T robleshooting 6.1. T roublesh ooting Proce dure If a failure occurs during robot's operation, but it does n ot stem f rom the controller, i t must be caused by damage on mach ine parts. The way to trou bleshoot as quick a nd easy as possible sh ould be t o diagnose the problem. In ad ditio[...]

6. T robl es hoot ing 6-3 6.2. T rouble S ymptoms an d Possible Cause s As shown in [table 6-1], there may be many parts as the cause of one phenomenon. Refer to next page to determine which part is malfunction. T able 6-1 T rouble phenomenon and cause Defect p art s T rouble phenomenon Reduction gear Brake Motor Encoder Fulcrum bearing Overload [N[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 6-4 6.3. Diagnostics an d Resolutions f or Major Part s Failure 6.3.1. Fu lcrum Bearings Vibration, a bnormal sound and overloads are o bserved when a fulcrum bearing is damaged. W hen the Nut holding bea rings become s loose, bearing play occu rs. It may damage the bearings.  Diagnostics ① Shake t[...]

6. T robl es hoot ing 6-5 6.3.2. Red uction Gear Vibration and abnormal sound will be occurred when a reduction gear is damaged. In this case, it causes overload and abnorma l deviation disturbing normal operation. Sometimes overheating m ay result. T he robot ma y also becom e completely immovable, or a position offset error may occur. [Main A xes[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 6-6  Resolution ① Replace the reduction gear . ② Replace the entire wrist section. (The replacement of entire wrist should be a quick and re liable resolution as it takes time and necessary equipment for reduction gea r replacement)[...]

6. T robl es hoot ing 6-7 6.3.3. Brakes In case of brakes failure, each axis possibly drops with the m otors [OFF]. Or, in reverse, brakes po ssibly op erate even with t he motors [ON]. The latter cause s overload and noise. W hen intending to operate the entire robot without the motors [ON], operate it with the brake release switch [ON]. Before tu[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 6-8 6.3.4. Motor Motor failure cau ses abnormal operation of robot such as staggering at stop, irregular twitching and noise in operation. Besides, It may cause o verheating and abnormal sound. Check the reduction gear and fulcrum be aring as well in o rder to determine which part causes the abnormality[...]

6. T robl es hoot ing 6-9 6.3.5. Enco der Position offset, malfunction, an d out of control movement a s well as stagg ering at stop, irregular twitching may occur when t he Encoder is in bad condition. This case has nothing to do with such phenomena as mechanical abn ormal sound, overheating, and vibration  Diagnostics ① Check for any encoder[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 6-1 0 6.4. Motor Replace ment W a rning: W hen motor is separated, the ARM will drop due to its built-in brakes inside the motor for h olding robot's posture. T ake ne cessary precau tions such as f ixing A2 FRAME with 2nd ARM by u sing M20×250 bolts or lifting and hanging th e ARM by u sing cran [...]

6. T robl es hoot ing 6-1 1 Fig 6.1 How to prevent dropping of ARM Axis H & V W a rning: In this work, there is a part performed with th e motor [ON]. Therefore, perform the work in pairs. An observer must a lway s be ready to activate an emerg ency stop . The other p erform the work quickly and carefully . An escape route should be determined [...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 6-1 2 6.4.1. Necessa r y T ools and Part s T able 6-3 Necessary T ools T ool Name A x is Name Pa rt No.(Model) Remark S, H, V M12 T orque wrench (Lock type) T orque wrench ( prepared by user) R2, B, R1 M8 T orque w rench (Lock type) M5 T orque w rench (Lock type) Use torque wrench and extension on the m[...]

6. T robl es hoot ing 6-1 3 6.4.2. Ho w to Rep lace Motor (1) Put the co ntroller into T EACH mode and se lect moto rs [ON]. W hen t he motors [On] state cannot b e obtain ed, check the respective ARM is f irmly fixed while supporting it to prevent dropping. And then begin at step No.4. (2) The a xis requiring motor repla cement tak es basic postur[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 6-1 4 W arning Before encoder correction, check motor connections, w ith motors [ ON], while pressing the Enable switch for 2~3 seconds. (13) Perform the encoder calibration about the a xis whose m otor is repla ced. Refer to the chapter [E ncoder Calibration] in t he controller ope rating manual.. (14)[...]

6. T robl es hoot ing 6-1 5 6.5. Encoder Zer o Setting It is necessary to re set the origin when encoder data has been corrupted due to some problems and when the motor is replaced. Level and Block is adop ted as the po sition setting method for ea ch axis. Th e origin must b e set in order of a xis 4, 5, and 6 considering axis interference of the [...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 6-1 6 6.5.1. Zero Sett ing ① Put the controller into TEACH mode and select [MOTORS ON]. If you can not select MOTOR On due to abnormality , set the o rigin position of the robot b y using the brake release switch. ② Move respective axes to t he basic posture, then set them by the scale mark. ③ Res[...]

6. T robl es hoot ing 6-1 7 6.5.2. Enco der Reset ① Turn t he controller power [ON] for 3 minutes, and then turn it [O FF]. ② T ake of f the rear cover of the robot. (Check the batteries/encoder backup batteries are well conneceted.) ③ Turn t he controller power [ON]. ④ After connecting the reset connector(CNRST1 6) of the axis to reset wit[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 6-1 8 Fig 6.2 Encoder Reset Connector[...]

6. T robl es hoot ing 6-1 9 6.5.3. Co nfirming the Reset W a rning This operation is used to verify an encoder reset was performed correctly. Note this procedure is different from 『 E ncoder Calibration 』 which determines encoder data from basic posture of the robot. The number of pulses p er revolution of the currently u sed encoder da ta is 8[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 6-2 0 6.5.4. Enco der Calibration(D at a input) and Selection  IT is necessary to comp ensate encoder data f or the basic position of each axis.  Refer to 『 Encoder calibration 』 in the Controller Manual for details.  Select 『 Encoder calibration (Position Rec) 』 in the mode of Const an[...]

7. R ecom me nded Spa re Part s 7-1 7. Recommend ed S p are Part s 7 Re co m me nd ed Spa re Pa rts[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 7-2 7. Recommen ded S pare P art s The recommended spare parts f or ro bot a re as follows. Please check robot serial number and manufacturing date when purchasing, and contact our seriv e office. [Category] A : Regular maintenance parts(what is replaced regularly) B : Essential spare parts (what is of [...]

7. R ecom me nded Spa re Part s 7-3 Manufacturer Per Unit Category Part Name S pecification A pplicable Model Use Rec. A pplicati on HHI C R V Reduction gear R13-212052-00 HX300/400/300L 1EA 1EA Axis R2 HHI C R V Reduction gear R13-213101-00 HX300/300L 1EA 1EA Axis B HHI C R V Reduction gear R13-223101-00 HX400 1EA 1EA Axis B HHI C R V Reduction ge[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 7-4 T able 7-2 S pare Parts List Ⅱ Manufacturer Per Unit Caterogy Part Name S pecification A pplicable Model Use Rec. A pplicati on T eijin seiki A G rease Moly white RE00 HX300/400/200L /200L-2000/300L 16kg /CAN S,H,V axis reduction gear Shell A G rease Alvania 0769 HX300/400/200L /200L-2000/300L 16k[...]

7. R ecom me nded Spa re Part s 7-5 T able 7-3 S pare Parts List Ⅲ Manufacturer Per Unit Category Part Name S pecif ication A pplicable Model Use Rec. A pplicati on HHI D T aper Roller Bearing R15-21 101 1-00 HX300/400/200L /200L-2000/300L 2 EA 2EA Support center shaft in A2 HHI D T aper Bearing R15-21 1041- 00 HX300/400/200L /200L-2000/300L 4 EA[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 7-6 T able 7-4 S pare Parts List Ⅳ Part Name Manufacturer Per Unit Category S pecificatio n Dwg. No. A pplicable Model Use Rec. A pplicati on HHI D O-ring R15-213091-00 HX300/400/300L 1 EA 1EA Case surfac e of axis B reduction gear HHI D O-ring R13-213092-00 HX300/400/300L 1 EA 1EA Case surfac e of ax[...]

7. R ecom me nded Spa re Part s 7-7 T able 7-5 S pare Parts List Ⅴ Part Name Manufacturer Per Unit Category S pecification Dwg. No. A pplicable Model Use Rec. A pplicati on HHI D O-ring R15-21 1021-00 HX300/400/200L /200L-2000/300L 2EA 2EA V axis reduction gear output outlet HHI D O-ring R13-21 1022-00 HX300/400/200L /200L-2000/300L 2EA 2EA Balan[...]

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8. I nter na l Wi ring Di agra m 8-1 8. Internal Wiring Diagram 8 Internal Wiring Diagram[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 8-2 8. Internal Wiring Diagram Internal wiring is shown in a connection diagram per unit, and thus utilize it to inspect and replace the wiring. 8.1. Manipulator Co nfiguration Fig 8.1 Manipulator Configuration[...]

8. I nter na l Wi ring Di agra m 8-3 8.2. Wiring Diagram (BK) (BK) (GN) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (GN) (BK) (BK) (BK) (BK) (GN) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) (BK) BA3 BA2 TS3 TS MB BA1 [1] ETFE 2.0sq0.7m (BK) [2] ETFE 2.0sq/2.33m (BK) [3] ETFE 2.0sq/2.91m [...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 8-4 (BK) (BK) CNR02 g N c ( ) ( ) ( ) ( ) C F T ( ) ( ) V42 W41 W42 U41 V41 U42 TS5 G BA5 TS4 MB W51 W52 V51 U52 V52 U51 (BK) (GN) (BK) (BK) TS3 TS4 G BA4 (2) (2) (3) (4) (4) (3) (1) CNBA5 (1) (4) (3) (2) (2) (3) (4) W61 MB MB TS5 G W62 BA6 V61 U62 V62 U61 (3) (4) (4) (3) (2) (1) CNBA6 (1) (2) [5] KIV 1[...]

8. I nter na l Wi ring Di agra m 8-5 [11] KV 0.3sq/0.1m (WH) [10] KV 0.3sq/0.22m RST ---> (RD) [9] KV 0.3sq/0.15m (WH) [8] KV 0.3sq/0.1m (BU) After soldering, After soldering KV0.3 & shield wires together, Cover heat contraction tube Bundle 6ECE wires & pressure in contact. Cover heat contraction tube CNE1 PB1 RST1 M5E /PB1 /PC1 P5E PC1 [...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 8-6 P5E---> (BU) M5E---> (WH) (BK) (BU) (OG) (GN) (YE) (WH) (GY) (RD) (LB) (BN) P3E3 ECE RST3 /PB4 PB4 M5E P5E /PC4 PC4 P3E3 ECE RST3 /PA4 PA4 ECE ECE (BK) (BU) (OG) (GN) (YE) (WH) (GY) (RD) (LB) (BN) (LB) (RD) (GY) (WH) (YE) (GN) (OG) (BU) (BK) (BN) ( ) ( ) J ( ) T ( ) R D ( ) G ( ) H ( ) F ( ) E[...]

8. I nter na l Wi ring Di agra m 8-7 [11] KV 0.3sq/0.1m (WH) [12] KV 0.3sq/0.3m (BU) (RD) (YE) (BU) (GN) (OG) (BK) (GN) (WH) (LBU) (BN) (RD) (YE) (BU) (GN) (OG) (BK) (GN) (WH) (LBU) (BN) (WH) (GN) (BK) (OG) (GN) (BU) (YE) (RD) (LBU) (BN) (3) PB5 ( ) Cover heat contraction tube Cover heat contraction tube Bundle 6ECE wires & pressure in conta ct[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 8-8 (GN) (LBU) (PK) (PP) (OG) (PK) (PK) (BU) (PK) (PK) (RD) (BN) (WH) (WH) (BK) (WH) (WH) (GN) (WH) (YE) (PK) (PK) (BU) (PK) (PK) (OG) (PP) (PK) (LBU) (GN) (GN) (WH) (WH) (WH) (BK) (WH) (WH) (BN) (RD) (YE) (PK) (PK) (BU) (PK) (PK) (OG) (PP) (PK) (LBU) (GN) (GN) (WH) (WH) (WH) (BK) (WH) (WH) (BN) (RD) (Y[...]

8. I nter na l Wi ring Di agra m 8-9 F D V72 W71 W72 U72 V71 Bundle two wires & so lder in contac t. [13] K1V 1.25sq (GN) EB D F E G A B C I H [13] (TERMINAL 2-6) (TERMINAL 2-6) G [14] [14] K1V 1 .25sq /0.4m( GN) G (4) (6) (2) (8) (7) (9) (10) (11) (12) (1) (3) (5) CN65 MS3102A24-11P CNR020 V71 U72 W72 W71 V72 G MB TS7 BA7 TS7A SP1 U71 (BK) (BK[...]

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9. D ecom mi ssio ning 9-1 9. Decommissi oning 9 Decommissioning[...]

HX20 0/HX 20 0L-2 000/ HX3 00/H X300 L/HX 400 9-2 9. Decommis sioning The robot is m ade up of se veral materials as shown in [T ab le 9-1]. Some of them should be properly arranged and sealed u p to eliminate any bad inf luence on the human body or environment. T able 9-1 Materials of each part Part s Materials Battery NiCad or Lithium W iring, Mo[...]

 H ea d Of fi ce 1 , Je on ha -D ong , D on g-G u , U ls an , K ore a TE L : 82 -5 2- 2 30 -79 01 E x 1 1 / F A X : 8 2- 52 -2 30 -79 00  Se ou l O ffi ce 1 40 -2, Gy e -D on g, Jo ngn o- Gu , Se ou l , K or e a TE L : 82 -2 -7 4 6- 4 71 1 Ex 5 / F A X : 8 2- 2 -7 46 -4 7 20  Su w o n Of fic e 5 37 -3, Y eo ngd eo k- R i, G ihe un g-E up ,[...]