GP50 / GP35L drip-proof and food grade grease specifications and zeroing function
Besides the standard specification (-A00), the GP50 / GP35L are available in a drip-proof specification (-C00), and the GP50 also in a food grade grease specification (-F00). Each has its own supplemental instructions; anything not described there is the same as in the standard instructions. The optional zeroing function has its own options instructions.
Drip-proof specification (-C00)
This covers YR-1-06VX50-C00 (GP50) and YR-1-06VXL35-C00 (GP35L). They differ from the standard type in two points: the grease for the gear and each axis speed reducer, and IP65 for the protection class of the manipulator.
| Item | Standard (-A00) | Drip-proof (-C00) |
|---|---|---|
| Protective enclosure | Body: IP54, wrist part: IP67 | Body: IP65, wrist part: IP67 |
| Approx. mass | GP50 570 kg, GP35L 600 kg | GP50 585 kg, GP35L 615 kg |
| Grease for the gear and each axis speed reducer | Molywhite RE No.00 | RV grease LB00 |
- The ambient temperature is 0 to +45 °C. If the manipulator starts after being left out of operation near 0 °C for a long time, an alarm may occur because the friction torque of the drive unit is large. In that case, perform the break-in for a few minutes.
- The amounts and procedures for grease are the same as the standard type; only the grease type changes. The recommended spare part grease is RV grease LB00 (16 kg).
- Do not use the manipulator where organic solvent, chlorine-based cutting fluid, amine-based cleaning fluid, corrosive substances such as acids or alkalis, or other liquids to which nitrile-butadiene rubber (NBR) is not resistant can reach it. Replace any gasket you remove with a new one.
Food grade grease specification (GP50 -F00)
YR-1-06VX50-F00 uses food grade grease for the gear and each axis speed reducer. The ambient temperature is +15 to +45 °C.
| Item | Standard (-A00) | Food grade grease (-F00) |
|---|---|---|
| Protective enclosure | Body: IP54, wrist part: IP67 | Body: IP65, wrist part: IP67 |
| Approx. mass | 570 kg | 570 kg |
| Maximum speed, R- and B-axis | 4.36 rad/s (250°/s) | 2.61 rad/s (150°/s) |
| Maximum speed, T-axis | 6.28 rad/s (360°/s) | 3.49 rad/s (200°/s) |
| Inspection of covers and bolts | 1000 h cycle | 12000 h cycle |
| Overhaul | 36000 h | 18000 h |
| Grease for the gear and each axis speed reducer | Molywhite RE No.00 | CASSIDA grease EPS00 |
The amount of grease (approx.) for the food grade grease specification differs from the standard type.
| Axis to exchange grease | Amount of grease |
|---|---|
| S-axis | 2840 g |
| L-axis | 1460 g |
| U-axis | 660 g |
| R-axis | 3150 g |
| B-, and T-axes | 1350 g |
The recommended spare parts list CASSIDA grease EPS00 and EPS02 (19 kg each).
Zeroing function (option)
The zeroing function is an option that automatically restores the home position when the home position data has been lost: a sensor is attached and the manipulator makes a small motion by itself. It is used after replacing a motor or encoder, or after the backup battery of the encoders has run out.
- The zeroing function is only valid when the security mode is set to the management mode.
- The home position data is kept by the battery. If the battery stays exhausted, the data is lost again at power-off even after zeroing.
- If the combination of the manipulator and the YRC1000 is changed, zeroing cannot set the home position accurately.
- Always remove the cover of the axis first and line up the alignment marks. For the B-axis, put the R-axis at 0 pulse first; for the T-axis, the R- and B-axes. When several axes are needed, go in the order R → B → T.
- In the "TEACH" mode, select {Robot} - {Zeroing} under the main menu and choose the axis.
- If zeroing fails, an 8-digit error code starting with 5555 is displayed (17 codes). The options instructions list the cause and solution for each.
The flow is almost the same as the SP210 / GP225 zeroing function.
Related articles
- GP50 / GP35L specifications
- GP50 / GP35L inspection, grease exchange and battery replacement
- Home position calibration
Source: based on YASKAWA manuals HW1485883 (GP50/GP35L supplemental instructions, drip-proof specification rev 1, Japanese), HW1485885 (GP50 supplemental instructions, food grade grease rev 1, Japanese) and HW1484680 (GP50/GP35L zeroing function instructions rev 0, Japanese). English terms follow HW1485884, HW1485886 (MOTOMAN-GP50,GP35L / GP50 SUPPLEMENTAL INSTRUCTIONS rev 1) and HW1484681 (MOTOMAN-GP50,GP35L OPTIONS INSTRUCTIONS rev 0).