Post on 02-Jan-2016
Motoman, Incorporated 805 Liberty LaneWest Carrollton, OH 45449TEL: (937) 847-6200FAX: (937) 847-627724-Hour Service Hotline: (937) 847-3200
Motoman NX100 Controller
DX1350N Manipulator Manual
Part Number: 150728-1CDRevision: 0
The information contained within this document is the proprietary property of Motoman, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.
©2007 by MOTOMANAll Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
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The Motoman DX1350N and NX100 controller represent state-of-the-art technology in robotics today. The Motoman DX1350N is a high speed robot with a 35 kg payload. It has six individual axes: Sweep, Lower arm, Upper arm, Rotate, Bend, and Twist. the NX100 controller coordinates the operation of the DX1350N robot with external equipment such as power supply and positioning tables. The NX100 processes input and output signals, maintains variable data, and performs numeric processing to convert to and from different coordinate systems. Furthermore, it provides main logic functions, servo control, program and constant data memory, and power distribution. Please read this manual thoroughly to familiarize yourself with the many aspects of the DX1350N robot and NX100 controller.
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This manual provides information for the DX1350N robot and contains the following sections:
����+-���0�+��"-�1��+-�Provides general information about the structure of this manual, a list of reference documents, and customer service information.
����+-��*�0���2��3This section provides information regarding the safe use and operation of Motoman products.
����+-����0�������1��" �����1�&Provides detailed information for the DX1350N, including installation, wiring, specifications, and maintenance.
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For additional information refer to the following:
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If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200. Please have the following information ready before you call:
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YASKAWA
MOTOMAN-DX1350NINSTRUCTIONSTYPE: YR-DX1350N-A00 (STANDARD SPECIFICATIONS)
YR-DX1350N-A01 (WITH SLU-AXES LIMIT SWITCHES)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.
MOTOMAN INSTRUCTIONSMOTOMAN-DX1350N INSTRUCTIONSNX100 INSTRUCTIONSNX100 OPERATOR’S MANUALNX100 MAINTENANCE MANUAL
The NX100 operator’s manuals above correspond to specific usage. Be sure to use the appropriate manual.
YASKAWA MANUAL NO.
HW0482356 1
HW0482356
• This instruction manual is intended to explain operating instructions and maintenance procedures primarily for the MOTOMAN-DX1350N.
• General items related to safety are listed in the Section 1: Safety of the NX100 Instructions. To ensure correct and safe operation, carefully read the NX100 Instructions before reading this manual.
• Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product.
• The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications.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. Be sure to tell the representative the manual number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your prod-uct’s warranty.
MANDATORY
CAUTION
ii
HW0482356
HW0482356
Notes for Safe OperationRead 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”.
Even items described as “CAUTION” may result in a serious accident in some situations.At any rate, be sure to follow these important items.
Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe practices.
Always be sure to follow explicitly the items listed under this heading.
Must never be performed.
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “CAUTION” and “WARNING”.
WARNING
CAUTION
MANDATORY
PROHIBITED
NOTE
iii
HW0482356
HW0482356
• 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.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator.Then turn ON the servo power.
Injury may result from unintentional or unexpected manipulator motion.
Release of Emergency Stop
• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:
- View the manipulator from the front whenever possible.- Always follow the predetermined operating procedure.- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the P-point maximum envelope of the manipulator and that you are in a safe location before:
- Turning ON the NX100 power.- Moving the manipulator with the programming pendant.- Running the system in the check mode.- Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the manipulator dur-ing operation. Always press an emergency stop button immediately if there is a problem.The emergency stop buttons are located on the right of the front door of the NX100 and the programming pendant.
WARNING
TURN
iv
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Definition of Terms Used Often in This ManualThe MOTOMAN manipulator is the YASKAWA industrial robot product.The manipulator usually consists of the controller, the programming pendant, and supply cables.In this manual, the equipment is designated as follows:
• Perform the following inspection procedures prior to conducting manip-ulator teaching. If problems are found, repair them immediately,and be sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.-Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the NX100 cabi-net after use.
The programming pendant can be damaged if it is left in the P-point maximum envelope of manipulator, on the floor, or near fixtures.
• Read and understand the Explanation of the Warning Labels in the NX100 Instructions before operating the manipulator.
Equipment Manual Designation
NX100 Controller NX100
NX100 Programming Pendant Programming Pendant
Cable between the Manipulator and the Controller Manipulator Cable
CAUTION
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Explanation of Warning LabelsThe following warning labels are attached to the manipulator.Always follow the warnings on the labels.Also, an identification label with important information is placed on the body of the manipula-tor. Prior to operating the manipulator, confirm the contents.
Warning label A
Warning label B
Nameplate
Warning Label A: Warning Label B:Nameplate
MOTOMANTYPE
PAYLOAD
ORDER NO.
SERIAL NO.
MASS
DATE
YASKAWA ELECTRIC CORPORAION JAPAN
kgkg
Warning label B
WARNING
Do not enterrobot work area.
WARNING
Moving partsmay causeinjury
WARNING
Do not enterrobot work area.
WARNING
Moving partsmay causeinjury
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1 Product Confirmation1.1 Contents Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.2 Order Number Confirmation . . . . . . . . . . . . . . . . . . . . . . . .1-2
2 Transportation2.1 Transportation Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1.1 Using a Crane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-12.1.2 Using a Forklift. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.2 Shipping Bolts and Brackets . . . . . . . . . . . . . . . . . . . . . . . .2-3
3 Installation3.1 Installation of Safeguarding . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.2 Mounting Procedures for Manipulator Base . . . . . . . . .3-23.2.1 Installation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
3.3 Installation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-43.3.1 S-axis Operating Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-43.3.2 Fixing the Manipulator Base . . . . . . . . . . . . . . . . . . . . . . . . . . .3-43.3.3 Precautions to Prevent the Manipulator from Falling. . . . . . . . .3-4
3.4 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
4 Wiring4.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.2 Manipulator Cable Connection . . . . . . . . . . . . . . . . . . . . . .4-24.2.1 Connection to the Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . .4-34.2.2 Connection to the NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
5 Basic Specifications5.1 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
5.2 Part Names and Working Axes . . . . . . . . . . . . . . . . . . . . .5-2
5.3 Manipulator Base Dimensions . . . . . . . . . . . . . . . . . . . . . .5-2
5.4 Dimensions and P-point Maximum Envelope. . . . . . . .5-3
5.5 Alterable Operating Range . . . . . . . . . . . . . . . . . . . . . . . . .5-4
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6 Allowable Load for Wrist Axis and Wrist Flange6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
7 System Application7.1 Peripheral Equipment Mounts . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Internal User I/O Wiring Harness and Air Line . . . . . . 7-2
8 Electrical Equipment Specification8.1 Position of Limit Switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
9 Maintenance and Inspection9.1 Inspection Schedule. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . . 9-59.2.1 Battery Pack Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-59.2.2 Grease Replenishment/Exchange
for S-axis Speed Reducer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6 Grease Replenishment
(Refer to "Fig. 23 S-axis Speed Reducer Diagram".) . . . . . 9-6 Grease Exchange
(Refer to "Fig. 23 S-axis Speed Reducer Diagram".) . . . . . 9-79.2.3 Grease Replenishment/Exchange
for L-axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8 Grease Replenishment
(Refer to "Fig. 24 L-axis Speed Reducer Diagram".). . . . . . 9-8 Grease Exchange
(Refer to "Fig. 24 L-axis Speed Reducer Diagram".). . . . . . 9-99.2.4 Grease Replenishment/Exchange
for U-axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10 Grease Replenishment
(Refer to "Fig. 25 U-axis Speed Reducer Diagram".) . . . . 9-10 Grease Exchange
(Refer to "Fig. 25 U-axis Speed Reducer Diagram".) . . . . 9-119.2.5 Grease Replenishment/Exchange
for R-axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12 Grease Replenishment
(Refer to "Fig. 26 R-axis Speed Reducer Diagram".) . . . . 9-12 Grease Exchange
(Refer to "Fig. 26 R-axis Speed Reducer Diagram".) . . . . 9-13
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9.2.6 Grease Replenishment for B-, T-axes Speed Reducers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-14
9.2.7 Grease Replenishment for T-axis Gear. . . . . . . . . . . . . . . . . .9-159.2.8 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16
Wrist Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-169.2.9 Encoder Connector (with CAUTION Label). . . . . . . . . . . . . . .9-16
Battery Pack Connection (for S-, L-, U-axes Motors) . . . . .9-17 Battery Pack Connection (for R-, B-, T-axes Motors) . . . . .9-18
9.3 Home Position Return Operation (Calibration) . . . . .9-199.3.1 Calibration by Using the Keys . . . . . . . . . . . . . . . . . . . . . . . . .9-199.3.2 Calibration Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-20
S-axis Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-20 L-axis Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-21 U-axis Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-21 R-axis Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-22 B-axis Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-22 T-axis Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-23
10 Recommended Spare Parts
11 Parts List11.1 S-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-1
11.2 L-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-3
11.3 U-Axis Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-5
11.4 R-Axis Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-7
11.5 Wrist Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-9
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1.1 Contents ConfirmationHW0482356
1 Product Confirmation
1.1 Contents Confirmation
Confirm the contents of the delivery when the product arrives.Standard delivery includes the following four items (information for the content of optional goods is given separately):
• Manipulator• NX100• Programming pendant• Manipulator cable
• 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.
CAUTION
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1.2 Order Number ConfirmationHW0482356
1.2 Order Number Confirmation
Check that the order number of the manipulator corresponds to the NX100. The order num-ber is located on a label as shown below.
Fig. 1 Location of Order Number Labels
kVA
ERCR-
3PHASE220V200V 50Hz
50/60Hz
NJ2484-1MADE IN JAPAN
DATE
SERIAL No.
NX100TYPE
POWER SUPPLY
ORDER NO.NJ1529
*****
ON
TRIP
PEDRESET
OFF
THE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER.
THE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER.
ORDER NO.
Check that the manipulator and the NX100 have the same order number.
Label (Enlarged View)
(a) NX100 (Front View)
(b) Manipulator (Top View)
WARNINGDo not open the door
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2 Transportation
2.1 Transportation Method
2.1.1 Using a Crane
As a rule, in case of removing the manipulator from the package and moving it, a crane should be used. The manipulator should be lifted using wire rope threaded through attached eye-bolts. Be sure the manipulator is fixed with shipping bolts and brackets before transportation, and lift it in the posture as shown in "Fig. 2 Transporting Position".
• 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 transportation.
The system consists of precision components, so failure to observe this caution may adversely affect performance.
• Check that the eyebolts are securely fastened.• The mass of the manipulator is approximately 275 kg including the shipping bolts and
brackets. Use a wire rope strong enough to withstand the mass.• Attached eyebolts are designed to support the manipulator mass. Do not use them for
anything other than transporting the manipulator.• Be sure to mount the shipping bolts and brackets before transporting the manipulator.
(Refer to "Fig. 2 Transporting Position.")• Avoid external force on the arm or motor unit in transporting the manipulator. To avoid
injury, use caution in case of using transporting equipment other than a crane or forklift.
CAUTION
NOTE
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2.1 Transportation MethodHW0482356
Fig. 2 Transporting Position
2.1.2 Using a Forklift
In case of using a forklift, the manipulator should be fixed on a pallet with shipping bolts and brackets as shown in "Fig. 3 Using the Forklift." Insert claws under the pallet and lift it. The pallet must be strong enough to support the manipulator. Transportation of the manipulator must be performed slowly in order to avoid overturning or slippage.
Fig. 3 Using the Forklift
AEyebolt M16 (4 places)Nut M16 (2 places)(Delivered with the manipulator)
Forklift claw entryPallet
Bolt M16 (4 bolts)
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2.2 Shipping Bolts and BracketsHW0482356
2.2 Shipping Bolts and Brackets
The manipulator is provided with shipping bolts and brackets at section A. ("Fig. 2 Transport-ing Position")
• The shipping bolts and brackets are painted yellow.• The section A is fixed with two hexagon socket head cap screws M12.
Before turning ON the power, check to be sure that the shipping bolts and brackets have been removed. The shipping bolts and brackets then must be stored for future use, in the event that the manipulator must be moved again.
NOTE
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3 Installation
• 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 manipulator arm is fully extended.
Failure to observe this warning may result in injury or damage.
• Do not start the manipulator or even turn ON the power before it is firmly anchored.
The manipulator may overturn and cause injury or damage.
• When mounting the manipulator on the ceiling or wall, the base section must have sufficient strength and rigidity to support the mass of the manipulator. Also, it is necessary to consider countermeasures to pre-vent the manipulator from falling.
Failure to observe these warning may result in injury or damage.
• Do not install or operate the manipulator that is damaged or lacks parts.
Failure to observe this caution may cause injury or damage.
• Before turning ON the power, check to be sure that the shipping bolts and brackets explained in " 2.2 Shipping Bolts and Brackets " are removed.
Failure to observe this caution may result in damage to the driving parts.
WARNING
CAUTION
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3.1 Installation of SafeguardingHW0482356
3.1 Installation of Safeguarding
To insure safety, be sure to install the safeguarding. It prevents unforeseen accidents with per-sonnel and damage to equipment. The following is quoted for your information and guidance.
Responsibility for Safeguarding (ISO10218)The user of a manipulator or robot system shall ensure that the safeguarding is provided and used in accordance with Sections 6, 7, and 8 of this standard. The means and degree of safe-guarding, including any redundancies, shall correspond directly to the type and level of hazard presented by the robot system consistent with the robot application. Safeguarding may include but not be limited to safeguarding devices, barriers, interlock barriers, perimeter guarding, awareness barriers, and awareness signals.
3.2 Mounting Procedures for Manipulator Base
The manipulator should be firmly mounted on a base or foundation strong enough to support the manipulator and withstand repulsion forces during acceleration and deceleration.Refer to "Table. 1 Maximum Repulsion Forces of the Manipulator at Emergency Stop" to con-struct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator.A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness of installation surface may deform the manipulator shape and affect its functional abilities. Mount the manipulator base as described in " 3.2.1 Installation Example ".
Table. 1 Maximum Repulsion Forces of the Manipulator at Emergency Stop
Horizontal rotating maximum torque(S-axis moving direction)
8000 N m(815 kgf m)
Vertical rotating maximum torque(LU-axes moving direction)
5000 N m(510 kgf m)
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3.2.1 Installation Example
For the first process, anchor the baseplate firmly on the floor. The baseplate should have enough rigidity, which is 40 mm or more in thickness. The size of the anchor bolt recom-mended for the baseplate fixation is M16 or more.Next, fix the manipulator base to the baseplate. There are four mounting holes on the manip-ulator base: securely fix the manipulator to the baseplate using four hexagon head screws M16 (60 mm long is recommended). Tighten the hexagon head screws and anchor bolts firmly so that they will not be loosened during the operation. See "Fig. 4 Manipulator Installation Example" for the method.
Fig. 4 Manipulator Installation Example
20
Spring washer Bolt M16 (4 bolts)
Washer
Manipulator base
Baseplate
40 mm or more
Manipulator base
Anchor bolt (M16 or more)Baseplate
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3.3 Installation MethodHW0482356
3.3 Installation Method
The manipulator can be mounted in three different ways: floor-mounted (standard), wall-mounted, and ceiling-mounted types are available. For wall- and ceiling-mounted types, the three points listed below are different from the floor-mounted types.
• S-axis Operating Range• Fixing the Manipulator Base• Precautions to Prevent the Manipulator from Falling
3.3.1 S-axis Operating Range
For the wall-mounted type, the S-Axis operating range must be ±30°. (Adjusted prior to the shipment.)
3.3.2 Fixing the Manipulator Base
For the wall- or ceiling-mounted types, be sure to use four hexagon socket head cap screws M16 (tensile strength: 1200 N/mm2 or more) to fix the manipulator base. Use a torque of 206 N m in tightening the screws.
3.3.3 Precautions to Prevent the Manipulator from Falling
For the wall- or ceiling-mounted types, take appropriate measures to avoid the falling of the manipulator in case of emergency. Refer to "Fig. 5 Fall Prevention" for details.
Fig. 5 Fall Prevention
In case of using the wall-/ceiling-mounted type, inform Yaskawa of the matter when placing an order. Be sure to contact Yaskawa representative (listed on the back cover of this instruction manual) to execute a wall/ceiling installation on site.
(Tensile strength: 1200N/mm2)Hexagon socket head cap screws M16 (4 screws)Manipulator base
Preventive support from falling
NOTE
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3.4 LocationHW0482356
3.4 Location
When the manipulator is installed, it is necessary to satisfy the undermentioned environmental conditions:
• 0 to +45°C (ambient temperature).• 20 to 80%RH (no moisture, at constant temperature).• Free from dust, soot, or water.• Free from corrosive gases or liquid, or explosive gases.• Free from excessive impact or vibration (vibration acceleration: 4.9 m/s2 (0.5 G) or less).• Free from large electrical noise (plasma).• The flatness for installation is 0.5 mm or less.
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4 Wiring
• 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. (ex. DO NOT TURN THE POWER ON.)
Failure to observe this warning may result in fire or electric shock.
• Wiring must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire or electric shock.
WARNING
CAUTION
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4.1 GroundingHW0482356
4.1 Grounding
Follow the local regulations and electrical installation standards for grounding. The recom-mended grounding wire size is 5.5 mm2 or more. For grounding, connect the ground wire directly to the manipulator as shown in "Fig. 6 Grounding Method".
Fig. 6 Grounding Method
4.2 Manipulator Cable Connection
There are two manipulator cables; an encoder cable for detection (1BC) and power cable (2BC). (Refer to "Fig. 7 Manipulator Cables (1BC and 2BC).") Connect these cables respec-tively to the connectors at the manipulator base and the NX100. Refer to " Fig. 8 (a) Manipu-lator Cable Connection to the Manipulator ", and " Fig. 8 (b) Manipulator Cable Connection to the NX100 ".
• Never use this line sharing with other ground lines or grounding electrodes for other elec-tric power, motor power, welding devices, etc.
• Where metal ducts, metallic conduits, or distributing racks are used for cable laying, ground in accordance with Electric Equipment Technical Standards.
NOTE
AA
Section A-A
5.5 mm2 or more
Bolt M8 (for grounding)(delivered with the manipulator)
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4.2 Manipulator Cable ConnectionHW0482356
4.2.1 Connection to the Manipulator
Before connecting the manipulator cables to the manipulator, verify the numbers: 1BC and 2BC on both the cables and the connectors of the manipulator. Connect 2BC first, and then connect 1BC. After inserting the cables, lower each lever until it clicks.
4.2.2 Connection to the NX100
Before connecting the manipulator cables to the NX100, verify the numbers: 1BC and 2BC on both the cables and the NX100 connectors. Connect 2BC first, and then connect 1BC. After inserting the cables, lower each lever until it clicks.
Fig. 7 Manipulator Cables (1BC and 2BC)
X21 2BC
X11 1BC
X212BC
X11 1BC
Encoder cable
1BC
Manipulator sideNX100 side
Manipulator sideNX100 side
2BC
Power cable
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4.2 Manipulator Cable ConnectionHW0482356
Fig. 8 (a) Manipulator Cable Connection to the Manipulator
Fig. 8 (b) Manipulator Cable Connection to the NX100
AIR
2BC1BC
3BC
2BC3BC
1BC
AIR
Connector details(Manipulator side)
X11X21
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5.1 Basic SpecificationsHW0482356
5 Basic Specifications
5.1 Basic Specifications
*1 SI units are used in this table. However, gravitational unit is used in ( ).*2 Conformed to ISO9283*3 Refer to " 6.1 Allowable Wrist Load " for details on the allowable moment and inertia.*4 Conformed to IP54 for the main part of the manipulator. Conformed to IP67 for the wrist part (IP65 for the
main part is optional.)
Table. 2 Basic Specifications*1
Configuration Vertically Articulated
Degree of Freedom 6
Payload 35 kg
Repeatability*2 ±0.06 mm
Range of Motion
S-axis (turning) ±180°
L-axis (lower arm) +145°, -50°
U-axis (upper arm) +220°, -140°
R-axis (wrist roll) ±200°
B-axis (wrist pitch/yaw) ±125°
T-axis (wrist twist) ±360°
MaximumSpeed
S-axis 2.97 rad/s, 170°/s
L-axis 2.97 rad/s, 170°/s
U-axis 2.97 rad/s, 170°/s
R-axis 4.71 rad/s, 270°/s
B-axis 4.71 rad/s, 270°/s
T-axis 8.02 rad/s, 460°/s
AllowableMoment*3
R-axis 82 N m (8.4 kgf m)
B-axis 82 N m (8.4 kgf m)
T-axis 41 N m (4.2 kgf m)
AllowableInertia
(GD2/4)*3
R-axis 2.0 kg m2
B-axis 2.0 kg m2
T-axis 0.5 kg m2
Mass 275 kg
AmbientConditions*4
Temperature 0 to 45°C
Humidity 20 to 80% RH (at constant temperature)
Vibration Acceleration 4.9 m/s2 (0.5G) or less
Others
• Free from corrosive gasses or liquids, or explo-sive gasses
• Clean and dry• Free from excessive electrical noise (plasma)
Power Requirements 5 kVA
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5.2 Part Names and Working AxesHW0482356
5.2 Part Names and Working Axes
Fig. 9 Part Names and Working Axes
5.3 Manipulator Base Dimensions
Fig. 10 Manipulator Base Dimensions
U-
U+
R-
R+ B+
B- T-
T+
L+
S+
S-
L-
Rotary head
Manipulator base
U-arm Wrist
Wrist flange
27
170±
0.2
360
130±0.2
180±0.2
310
360
180±
0.2
310
130±0.2
A
12 dia.+0.018
0(2 holes)
View A
18 dia. hole(4 holes)
Units: mm
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5.4 Dimensions and P-point Maximum EnvelopeHW0482356
5.4 Dimensions and P-point Maximum Envelope
This page should be replaced with an A3 size sheet in PDF file.Fig. 11
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5.5 Alterable Operating RangeHW0482356
5.5 Alterable Operating Range
The operating range of the S-axis can be altered according to the operating conditions as shown in "Table. 3 S-axis Working Range." If alteration is necessary, contact your Yaskawa representative in advance.
Table. 3 S-axis Working Range
Item Specifications
S-axisOperatingRange
±180° (standard)±150°±120°±90°±60°±30°
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6.1 Allowable Wrist LoadHW0482356
6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
The allowable wrist load is 35 kg. If force is applied to the wrist instead of the load, force on R-, B-, and T-axes should be within the value shown in "Table. 4 Allowable Moment and Iner-tia." Contact your Yaskawa representative for further information or assistance.
*1 ( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in "Fig. 12 Moment Arm Rating."The allowable inertia is calculated when the moment is at the maximum. Contact your Yaskawa representative when only load inertia, or load moment is small and inertia is large. Also, when the load is combined as a force but a mass, contact your Yaskawa representative.
Fig. 12 Moment Arm Rating
Table. 4 Allowable Moment and Inertia
Axis Moment N·m (kgf·m)*1 Inertia kg·m2
R-axisB-axisT-axis
82 (8.4)82 (8.4)41 (4.2)
2.02.00.5
500400300100 2000
300
200
100
L T
LB
120 mm
LB (mm)
LT (mm)
10 kg
16 kg
20 kg
35 kg
Load gravityposition
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6.2 Wrist FlangeHW0482356
6.2 Wrist Flange
The wrist flange dimensions are shown in " Fig. 13 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 5 mm or less.
Fig. 13 Wrist Flange
Wash off anti-corrosive paint (yellow color) on the wrist flange surface with thinner or light oil before mounting the tools.
PCD90
7
22.5°
5
45±0.03
Units: mm
Tapped hole M8 (4 holes)(pitch: 1.25)(depth: 11)
106
dia
. 0
-0.0
22
50 di
a.+0.02
5 0
6 dia. hole (depth: 11)
+0.0120
NOTE
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7.1 Peripheral Equipment MountsHW0482356
7 System Application
7.1 Peripheral Equipment Mounts
The peripheral equipment mounts are fixed on the upper arm for easier installation of the user’s system application as shown in " Fig. 14 Peripheral Equipment Mounts ". Observe the conditions in the figure and table below in attaching the peripheral equipment on the U-axis.
Fig. 14 Peripheral Equipment Mounts
Table. 5 Restrictions on Mounting the Peripheral Equipment
Equipment Remark
Valves 10 kg or less
50
13.5°
A
4545
50 40170
Units: mmView A
Z-coordinate direction
Center of U-axisrotation
X-coordinate direction
Hole M8 (4 holes)(pitch: 1.25)(depth: 16)
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7.2 Internal User I/O Wiring Harness and Air LineHW0482356
7.2 Internal User I/O Wiring Harness and Air Line
23 wires (0.75 mm2) and an air line are used in the manipulator for the drives of the peripheral devices mounted on the upper arm as shown in " Fig. 15 Internal User I/O Wiring Harness and Air Line ". The connector pins (1 to 23) are assigned as shown in "Fig. 16 Detailed Draw-ing of Connector Pin Numbers." Wiring must be performed by users, following the conditions below:
• The allowable current for wires: 6.6 A or less for each wire (the total current value for pins 1 to 23 must be 60 A or less)• The maximum pressure for the air line: 490 kPa (5 kgf/cm2) or less
(the inside diameter: 6.5 mm)
Fig. 15 Internal User I/O Wiring Harness and Air Line
A
B
Air inlet: tapped hole PT3/8 with pipe plug
View A
Connector for internaluser I/O wiring harness:JL05-2A24-28SC(socket connector with a cap)Prepare pin connector JL05-6A24-28P (compatible connector).
Air inlet: tapped hole PT3/8 with pipe plug
Connector for internaluser I/O wiring harness:JL05-2A24-28PC(pin connector with a cap)Prepare socket connector JL05-6A24-28S (compatible connector).
View B
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7.2 Internal User I/O Wiring Harness and Air LineHW0482356
Fig. 16 Detailed Drawing of Connector Pin Numbers
The same pin number (1-23) of two connectors is connected by the lead wire of single 0.75 mm2.
1
10
87
9
6
2
543
17
1516
18
11
141312
19
15
42 31
814
712 13
22 23
18 19
51110
21
16 17
6
20
9
23
20
2221
Pins Used
Internal user I/O wiring harness : 0.75 mm2, 23 lead wires
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8.1 Position of Limit SwitchHW0482356
8 Electrical Equipment Specification
8.1 Position of Limit Switch
Limit switches are optional. Refer to " Fig. 17 Location of Limit Switch " for location. A manip-ulator type with limit switch is YR-DX1350N-A01.
Fig. 17 Location of Limit Switch
LU-axes interference limit switch(optional)
L-axis interference limit switch(optional)
S-axis overrun limit switch(optional)
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8.2 Internal ConnectionsHW0482356
8.2 Internal Connections
High reliability connectors which can be easily put on and removed are used for each connector part. For the numbers, types, and locations of connectors, refer to " Fig. 18 Loca-tion and Numbers of Connectors " and " Table. 6 List of Connector Types ". Diagrams for internal connections of the manipulator are shown in " Fig. 19 (a) Internal Con-nection Diagram " and in " Fig. 19 (b) Internal Connection Diagram ".
Fig. 18 Location and Numbers of Connectors
Table. 6 List of Connector Types
Name Type of Connector
Connector for internal user I/O wiring harness on connector base
JL05-2A24-28PC(JL05-6A24-28S: Optional)
Connector for internal user I/O wiring harness on U-arm
JL05-2A24-28SC(JL05-6A24-28P: Optional)
A
3BC (for internal userI/O wiring harness)
3BC (For internal userI/O wiring harness)
View A
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8.2 Internal ConnectionsHW0482356
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9.1 Inspection ScheduleHW0482356
9 Maintenance and Inspection
9.1 Inspection Schedule
Proper inspections are essential not only to assure that the mechanism will be able to function for a long period, but also to prevent malfunctions and assure safe operation. Inspection inter-vals are classified into six levels. Conduct periodical inspections according to the inspection schedule in "Table 7 Inspection Items".In "Table 7 Inspection Items", the inspection items are categorized by three types of opera-tions: operations which can be performed by personnel authorized of the user, operations which can be performed by personnel being trained, and operations which can be performed by service company personnel. Only specified personnel are to do the inspection work.
• Before maintenance or inspection, be sure to turn the main power sup-ply OFF, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.)
Failure to observe this warning may result in electric shock or injury.
• Maintenance and inspection must be performed by specified personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your Yaskawa representative.
• The battery pack must be connected before removing detection connec-tor when maintenance and inspection.
Failure to observe this caution may result in the loss of home position data.
• The inspection interval must be based on the servo power supply ON time.• These inspections were developed for applications where the manipulator is used for arc
welding work. For any different or special applications, the inspection process should be developed on an case-by-case basis.For axes which are used very frequently (in handling applications, etc.), it is recom-mended that inspections be conducted at shorter Intervals. Contact your Yaskawa repre-sentative.
WARNING
CAUTION
NOTE
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9.1 Inspection ScheduleHW0482356
Table. 7 Inspection Items
Items*4
Schedule
Method Operation
Inspection Charge
Daily1000
HCycle
6000H
Cycle
12000H
Cycle
24000H
36000H
Specified Person Licensee Service
Company
Alignment mark Visual
Check alignment mark accordance and damage at the home position.
External lead VisualCheck for damage and deterioration of leads.
Working area and whole exte-rior of manipula-tor
Visual
Clean the working area if dust or spatter is present.Check for damage and exterior cracks.
SLU-axes motors Visual
Check for grease leakage.*5
Manipulator basemounting bolts
WrenchTighten loose bolts. Replace if necessary.
Cover mounting screws
Phillips screw-driver, wrench
Tighten loose bolts. Replace if necessary.
Connector base Manual Check for loose con-nectors.
Drain plugPhillips screw-driver, wrench
Discharge dew con-densation water inside the manipula-tor.
RBT-axes timing belts Manual
Check for belt tension and wear.
Wire harness in manipulator (for SLUR-axes)
Visual, multimeter
Check for conduc-tion between the main connector of connector base and intermediate connec-tor with manually shaking the wire. Check for wear of protective spring.*1
Replace.*2
Wire harness in manipulator (for BT-axes)
Visual, multimeter
Check for connec-tion between termi-nals.*1
Replace.*2
Battery pack in manipulator
Replace the battery pack when the bat-tery alarm occurs or the manipulator drove for 36000H.
11
12
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9.1 Inspection ScheduleHW0482356
*1 When checking for conduction with multimeter, connect the battery pack to “BAT” and “OBT” of connectors on the motor side for each axis, and then remove connectors on detector side for each axis from the motor. Otherwise, the home position may be lost. (Refer to " 9.2.8 Notes for Maintenance.")
*2 Internal cables to be replaced at 24000H inspection.*3 For the grease, refer to "Table 8 Inspection Parts and Grease Used."*4 Inspection No. correspond to the numbers in “Fig.21 Inspection Parts and Inspection Numbers (Manipulator
in Home Position)”.*5 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can
cause a motor breakdown. Contact your Yaskawa representative.
The numbers in the above table correspond to the numbers in "Table 7 Inspection Items."
S-axis speed reducer
Grease Gun
Check for malfunc-tion.Replenish grease.*3(6000H cycle)See Par. 9.2.2.Exchange grease.*3 (12000H cycle)See Par. 9.2.2.
LU-axes speed reducers
Grease Gun
Check for malfunc-tion.Replenish grease.*3(6000H cycle)See Par. 9.2.3, Par. 9.2.4.Exchange grease.*3 (12000H cycle)See Par. 9.2.3, Par.9.2.4.
RBT-axes speed reducers
Grease Gun
Check for malfunc-tion. (Replace if nec-essary.) Replenish grease*3 (6000H cycle).See Par. 9.2.5 and Par. 9.2.6.
T-axis gear Grease Gun
Check for malfunc-tion. (Replace if nec-essary.) Replenish grease*3 (6000H cycle).See Par. 9.2.7.
Overhaul
Table. 8 Inspection Parts and Grease Used
No. Grease Used Inspected Parts
Molywhite RE No. 00 S-, L-, U-, R-axes speed reducers
Harmonic Grease 4B No. 2 B- and T-axes speed reducers,T-axis gear
Table. 7 Inspection Items
Items*4
Schedule
Method Operation
Inspection Charge
Daily1000
HCycle
6000H
Cycle
12000H
Cycle
24000H
36000H
Specified Person Licensee Service
Company
13
14
15
16
17
13 14,
, 1615
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9.1 Inspection ScheduleHW0482356
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9.2 Notes on Maintenance ProceduresHW0482356
9.2 Notes on Maintenance Procedures
9.2.1 Battery Pack Replacement
The battery pack is attached in the position indicated in "Fig. 21 Battery Pack Location". If the battery alarm occurs in the NX100, replace the battery pack in accordance with the following procedure:
Fig. 21 Battery Pack Location
Fig. 22 Battery Pack Connection
APS cross-recessed head screw M4(4 screws)(length: 8 mm)
2BC1BC
3BC
AIRPlate
Battery (HW0470360-A)
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9.2 Notes on Maintenance ProceduresHW0482356
1. Turn OFF the NX100 main power supply.2. Remove the plate on the connector base, and pull out the old battery pack to be
replaced.3. Remove the battery pack from the holder.4. Connect the new battery pack to an unconnected connector.5. Remove the old battery pack from the circuit board.
6. Mount the new battery pack to the battery holder.7. Reinstall the plate.
9.2.2 Grease Replenishment/Exchange for S-axis Speed Reducer
Fig. 23 S-axis Speed Reducer Diagram
Grease Replenishment (Refer to "Fig. 23 S-axis Speed Reducer Diagram".)
Replenish the grease in accordance with the following procedure:
1. Remove the plug from the grease exhaust port.
Connect the new battery pack before removing the old one so that the encoder absolute data does not disappear.
Use caution not to pinch the cable when the plate is being installed.
For ceiling mounted manipulators, the exhaust port and the grease inlet are inverted.
If grease is injected with the plug on, the grease will go inside the motor and may damage it. Never fail to remove the plug before the grease injection.
NOTE
NOTE
Grease exhaust portPlug: PT1/8
Grease inletPlug: PT1/8
S-axis speed reducer
2BC
1BC
3BC
AIR
NOTE
NOTE
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9.2 Notes on Maintenance ProceduresHW0482356
2. Remove the plug from the grease inlet, and install the grease zerk PT1/8. (The grease zerk PT1/8 is delivered with the manipulator.)
3. Inject the grease into the grease inlet using a grease gun.
4. Move the S-axis for a few minutes to discharge the excess grease.5. Remove the grease zerk and reinstall the plug on the grease inlet. Tighten the plug
with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C (listed on "Table 9 Spare Parts for the MOTOMAN-DX1350N") on the thread part of the plug.
6. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
Grease Exchange (Refer to "Fig. 23 S-axis Speed Reducer Diagram".)
Exchange the grease in accordance with the following procedure:
1. Remove plug from the grease exhaust port.
2. Remove the plug from the grease inlet, and install the grease zerk PT1/8. (The grease zerk PT1/8 is delivered with the manipulator.)
3. Inject the grease into the grease inlet using a grease gun.
The grease exchange is completed when new grease appears in the grease exhaust port. The new grease can be distinguished from the old grease by color.
4. Move the S-axis for a few minutes to discharge the excess grease.5. Remove the grease zerk and reinstall the plug on the grease inlet. Tighten the plug
with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
6. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
Grease type: Molywhite RE No.00Amount of grease: 70 cc
(150 cc for the 1st supply)
If grease is injected with the plug on, the grease will go inside the motor and may damage it. Never fail to remove the plug before the grease injection.
Grease type: Molywhite RE No.00Amount of grease: approx. 1500 cc
NOTE
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9.2 Notes on Maintenance ProceduresHW0482356
9.2.3 Grease Replenishment/Exchange for L-axis Speed Reducer
Fig. 24 L-axis Speed Reducer Diagram
Grease Replenishment (Refer to "Fig. 24 L-axis Speed Reducer Diagram".)
Replenish the grease in accordance with the following procedure:
1. Posture the L-axis vertical to the ground as shown in "Fig. 24 L-axis Speed Reducer Diagram".
2. Remove the plug from the grease exhaust port.
3. Remove the plug from the grease inlet, and install the grease zerk A-PT1/8. (The grease zerk A-PT1/8 is delivered with the manipulator.)
4. Inject the grease into the grease inlet using a grease gun.
5. Move the L-axis for a few minutes to discharge the excess grease.6. Remove the grease zerk and reinstall the plug on the grease inlet. Tighten the plug
with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread
The exhaust port and the grease inlet are inverted in case of ceiling installation.
If grease is injected with the plug on, the grease will go inside the motor and may damage it. Never fail to remove the plug before the grease injection.
Grease type: Molywhite RE No.00Amount of grease: 50 cc
(100 cc for the 1st supply)
(Back)
L-axis speed reducer
L-arm
Grease exhaust portPlug: PT1/8
Grease inletPlug: PT1/8
NOTE
NOTE
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9.2 Notes on Maintenance ProceduresHW0482356
part of the plug. 7. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with
a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
Grease Exchange (Refer to "Fig. 24 L-axis Speed Reducer Diagram".)
Exchange the grease in accordance with the following procedure:
1. Posture the L-arm vertical to the ground as shown in "Fig. 24 L-axis Speed Reducer Diagram".
2. Remove the plug from the grease exhaust port.
3. Remove the plug from the grease inlet, and install the grease zerk A-PT1/8. (The grease zerk A-PT1/8 is delivered with the manipulator.)
4. Inject the grease into the grease inlet using a grease gun.
The grease exchange is completed when new grease appears in the grease exhaust port. The new grease can be distinguished from the old grease by color.
5. Move the L-axis for a few minutes to discharge the excess grease.6. Remove the grease zerk on the grease inlet and reinstall the plug. Tighten the plug
with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
7. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
If grease is injected with the plug on, the grease will go inside the motor and may damage it. Never fail to remove the plug before the grease injection.
Grease type: Molywhite RE No.00Amount of grease: approx. 850 cc
NOTE
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9.2 Notes on Maintenance ProceduresHW0482356
9.2.4 Grease Replenishment/Exchange for U-axis Speed Reducer
Fig. 25 U-axis Speed Reducer Diagram
Grease Replenishment (Refer to "Fig. 25 U-axis Speed Reducer Diagram".)
Replenish the grease in accordance with the following procedure:
1. Posture the U-arm as shown in "Fig. 25 U-axis Speed Reducer Diagram".2. Remove the plug from the grease exhaust port.
3. Remove the plug from the grease inlet, and install the grease zerk A-PT1/8. (The grease zerk A-PT1/8 is delivered with the manipulator.)
4. Inject the grease into the grease inlet using a grease gun.
5. Move the U-axis for a few minutes to discharge the excess grease.6. Remove the grease zerk and reinstall the plug on the grease inlet. Tighten the plug
with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
7. Wipe the grease exhaust port with a cloth and reinstall plug. Tighten the plug with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
The exhaust port and the grease inlet are inverted in case of ceiling installation.
If grease is injected with the plug on, the grease will go inside the motor and may damage it. Never fail to remove the plug before the grease injection.
Grease type: Molywhite RE No.00Amount of grease: 100 cc(200 cc for the 1st supply)
Grease exhaust portPlug: PT1/8
U-arm
Grease inletPlug: PT1/8
U-axis speed reducer
NOTE
NOTE
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9.2 Notes on Maintenance ProceduresHW0482356
Grease Exchange (Refer to "Fig. 25 U-axis Speed Reducer Diagram".)
Exchange the grease in accordance with the following procedure:
1. Posture the U-arm as shown in "Fig. 25 U-axis Speed Reducer Diagram".2. Remove the plug from the grease exhaust port.
3. Remove the plug from the grease inlet, and install the grease zerk A-PT1/8. (The grease zerk A-PT1/8 is delivered with the manipulator.)
4. Inject the grease into the grease inlet using a grease gun.
The grease exchange is completed when new grease appears in the grease exhaust port. The new grease can be distinguished from the old grease by color.
5. Move the U-axis for a few minutes to discharge the excess grease.6. Remove the grease zerk and reinstall the plug on the grease inlet. Tighten the plug
with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
7. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
If grease is injected with the plug on, the grease will go inside the motor and may damage it. Never fail to remove the plug before the grease injection.
Grease type: Molywhite RE No.00Amount of grease: approx. 1100 cc
NOTE
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9.2 Notes on Maintenance ProceduresHW0482356
9.2.5 Grease Replenishment/Exchange for R-axis Speed Reducer
Fig. 26 R-axis Speed Reducer Diagram
Grease Replenishment (Refer to "Fig. 26 R-axis Speed Reducer Diagram".)
1. Remove the plug from the grease exhaust port.
2. Remove the plug from the grease inlet, and install the grease zerk PT1/8. (The grease zerk PT1/8 is delivered with the manipulator.)
3. Inject the grease into the grease inlet using a grease gun.
4. Move the R-axis for a few minutes to discharge the excess grease.5. Remove the grease zerk and reinstall the plug on the grease inlet. Tighten the plug
with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
6. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
If grease is injected with the plug on, the grease will go inside the motor and may damage it. Never fail to remove the plug before the grease injection.
Grease type: Molywhite RE No.00Amount of grease: 20 cc(40 cc for the 1st supply)
R-axis speed reducer Grease exhaust portPlug: PT1/8
Grease inletPlug: PT1/8
NOTE
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9.2 Notes on Maintenance ProceduresHW0482356
Grease Exchange (Refer to "Fig. 26 R-axis Speed Reducer Diagram".)
1. Remove the plug from the grease exhaust port.
2. Remove the plug from the grease inlet, and install the grease zerk PT1/8. (The grease zerk PT1/8 is delivered with the manipulator.)
3. Inject the grease into the grease inlet using a grease gun.
The grease exchange is completed when new grease appears in the grease exhaust port. The new grease can be distinguished from the old grease by color.
4. Move the R-axis for a few minutes to discharge the excess grease.5. Remove the grease zerk and reinstall the plug on the grease inlet. Tighten the plug
with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
6. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
If grease is injected with the plug on, the grease will go inside the motor and may damage it. Never fail to remove the plug before the grease injection.
Grease type: Molywhite RE No.00Amount of grease: approx. 200 cc
NOTE
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9.2 Notes on Maintenance ProceduresHW0482356
9.2.6 Grease Replenishment for B-, T-axes Speed Reducers
Fig. 27 B-, T-axes Speed Reducers Diagram
1. Remove the plug from the exhaust port.
2. Remove the plug from the grease inlet and install the grease zerk A-MT6X1.3. Inject the grease into the grease inlet using a grease gun.
4. Reinstall the plug on the exhaust port. Tighten the plug with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
5. Remove the grease zerk on the grease inlet and reinstall the plug. Tighten the plug with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
Remove the cover in case of grease replenishment of the B-axis speed reducer.
Grease type: Harmonic grease 4B No. 2 Amount of grease: For B-axis: 10 cc (20 cc for the 1st supply)For T-axis: 5 cc (10 cc for the 1st supply)
The exhaust port is used for air flow; the grease is not exhausted from the exhaust port. Do not inject excessive grease into the grease inlet.
Reinstall the cover for the B-axis speed reducer. (Refer to " 9.2.8 Notes for Maintenance.")
T-axis speed reducer
B-axis speed reducer
Grease inlet
Exhaust port
Grease inlet
Grease inlet
NOTE
NOTE
NOTE
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9.2 Notes on Maintenance ProceduresHW0482356
9.2.7 Grease Replenishment for T-axis Gear
Fig. 28 T-axis Gear Diagram
1. Remove the plug from the exhaust port.2. Remove the plug from the grease inlet and install the grease zerk A-MT6X1. 3. Inject the grease into the gear grease inlet using a grease gun.
4. Reinstall the plug on the exhaust port. Tighten the plug with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
5. Remove the grease zerk on the gear grease inlet and reinstall the plug. Tighten the plug with a tightening torque of 5 N·m (0.51 kgf·m). Apply Three Bond 1206C on the thread part of the plug.
Grease type: Harmonic grease 4B No. 2Amount of grease: 5 cc
(10 cc for the 1st supply)
The exhaust port is used for air flow; the grease is not exhausted from the exhaust port. Do not inject excessive grease into the grease inlet.
Exhaust portGear grease inlet
NOTE
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9.2 Notes on Maintenance ProceduresHW0482356
9.2.8 Notes for Maintenance
Wrist AxesThe motor and encoder units are provided with the wrist unit. To prevent fumes from penetrat-ing into the wrist unit, the matched parts are sealed with sealing bond. Therefore, if the wrist cover is disassembled, reseal it with sealing bond (Three Bond 1206C, listed on "Table 9 Spare Parts for the MOTOMAN-DX1350N").
Fig. 29 Sealing Part of Wrist Unit
9.2.9 Encoder Connector (with CAUTION Label)
• When performing maintenance such as replacement of a wire harness in the manipulator, the encoder connector (with CAUTION label) may be necessary to be removed. In this case, be sure to connect the battery pack to the battery backup connector before remov-ing the encoder connector. Removing the encoder connector without connecting the bat-tery backup leads to disappearance of the encoder absolute data.For the battery pack connection, refer to "Fig. 30 (a) Battery Pack Connection for Encoder Connector (S-, L-, U-axes Motors)" and fig31(b).
CoverCover jointing face
CoverCover jointing face
NOTE
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9.2 Notes on Maintenance ProceduresHW0482356
Battery Pack Connection (for S-, L-, U-axes Motors)The connectors (crimped contact-pins) for the battery backup are installed at the end point of the motor (marked as BAT and OBT). Connect the battery pack according to the following procedure.
1. Remove the cap attached to the battery backup connector of the motor.2. Connect the battery pack (HW9470932-A) with the battery backup connectors. (Under
this condition, remove the encoder connector and carry out the maintenance inspec-tions).
3. After the maintenance inspections, check if all the connectors are connected, then remove the battery pack. Reinstall the cap attached to the battery backup connector of the motor.
Fig. 30 (a) Battery Pack Connection for Encoder Connector (S-, L-, U-axes Motors)
Do not remove the battery pack in the connector base.NOTE
b
aab0BT
BAT BAT0BT*
*
Encoder connectorMotor power connector
Battery pack (HW9470932-A)
Motor
Connector for the battery backup
a: Crimped contact-pin (pin)b: Crimped contact-pin (socket)Cap
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9.2 Notes on Maintenance ProceduresHW0482356
Battery Pack Connection (for R-, B-, T-axes Motors)The connectors (crimped contact-pins) for the battery backup are installed at the end point of the motor (marked as BAT and OBT). Connect the battery pack according to the following procedure.
1. Connect the battery pack (HW9470932-A) with the battery backup connectors located at the end point of the encoder cable. (Under this condition, remove the encoder con-nector and carry out the maintenance inspections).
2. After the maintenance inspections, check if all the connectors are connected, then remove the battery pack.
Fig. 30 (b) Battery Pack Connection for Encoder Connector (R-, B-, T-axes Motors)
Do not remove the battery pack in the connector base.NOTE
BAT0BT
b
aab0BT
BAT
BAT0BT
b
a
ab
BAT0BT
**
**
Encoder
Motor
Motor cable, etc.
Power connectorWire harnessin manipulator
Encoder connector
CAUTION label
Battery pack (HW9470932-A)
a: Crimped contact-pin (pin)b: Crimped contact-pin (socket)
Connected
CAUTION Label (Enlarged View)
CAUTION
Connect battery to encoder to save the data before removing conector.
CAU
TION
Connect battery to encoder
to save the data before rem
oving conector.
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9.3 Home Position Return Operation (Calibration)HW0482356
9.3 Home Position Return Operation (Calibration)
9.3.1 Calibration by Using the Keys
When the home position has disappeared, use the key slot provided in the manipulator (see "Fig. 31 Positions of Key Slots") and the keys to set the home position. Prepare the tools listed in "Table 9 Tools for Calibration" required for the operation.
Fig. 31 Positions of Key Slots
In the following cases, perform calibration and set the manipulator position.
• Change in the combination of the MOTOMAN and the control unit.• Replacement of the motor or absolute encoder.• Clearing stored memory.• Home position deviation caused by hitting the MOTOMAN against a workpiece, etc.• Replacement, disassembly, and assembly of the main parts of the speed reducer.
Be sure to satisfy the following conditions in performing the calibration.
• Avoid applying external force to the manipulator.• Remove the hand of the wrist part and other parts.
Calibration using the keys requires a differential pulse between the home position pulse set prior to shipment and the position pulse of the manipulator posture specified by using the key. Read this paragraph carefully before using the MOTOMAN and record the above-mentioned differential value.
NOTE
NOTE
U-axisB-, T-axes
L-axis
R-axis
S-axis
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9.3 Home Position Return Operation (Calibration)HW0482356
9.3.2 Calibration Procedure
Perform the calibration in accordance with the following procedure:1. Using the key, perform the following positioning operations on the axis of which the
home position has disappeared. 2. After completion of positioning, move the manipulator for the differential distance
between the position pulse at the manipulator posture specified by using the key, and the home position pulse recorded prior to shipment.
3. Set the position obtained after moving the manipulator as the home position. For the setting method of the home position, refer to "3.1 Home Position Calibration" in the NX100 INSTRUCTIONS.
S-axis PositioningAs shown in "Fig. 32 S-axis Positioning," insert the pin (MSTH12-120) into the slot of the rotary head. Perform the positioning with the programming pendant by fitting the pin in the slot of the manipulator base.
Fig. 32 S-axis Positioning
Table. 9 Tools for Calibration
Type Name Quantity Remark
MSTH12-120 Pin 1 For the S-, L-, and U-axis
HW0403409-1 Key 1 For the R-, B-, and T-axis
±0.130 Pin MSTH12-120
9-20
HW0482356
9.3 Home Position Return Operation (Calibration)HW0482356
L-axis PositioningAs shown in "Fig. 33 L-axis Positioning", insert the pin (MSTH12-120) into the slot of the L-arm. Perform the positioning with the programming pendant by fitting the pin in the slot of the rotary head.
Fig. 33 L-axis Positioning
U-axis PositioningAs shown in "Fig. 34 U-axis Positioning", insert the pin (MSTH12-120) into the pin hole (12 mm dia. ) of the casing. Perform the positioning with the programming pendant by fitting the pin in the slot of the L-arm.
Fig. 34 U-axis Positioning
Pin MSTH12-120L-arm
+0.018 0
Pin MSTH12-120Casing
L-arm
9-21
HW0482356
9.3 Home Position Return Operation (Calibration)HW0482356
R-axis PositioningAs shown in "Fig. 35 R-axis Positioning" insert the key (HW0403409-1) into the slot of the casing. Perform the positioning with the programming pendant by fitting the pin in the slot of the U-arm.
Fig. 35 R-axis Positioning
B-axis PositioningAs shown in "Fig. 36 B-axis Positioning", insert the key (HW0403409-1) into the slot of the U-arm. Perform the positioning with the programming pendant by fitting the pin in the slot of the wrist section.
Fig. 36 B-axis Positioning
Key HW0403409-1
U-armCasing
L-arm
Key HW0403409-1
U-arm
Wrist
9-22
HW0482356
9.3 Home Position Return Operation (Calibration)HW0482356
T-axis PositioningAs shown in "Fig. 37 T-axis Positioning", insert the key (HW0403409-1) into the slot of the wrist section. Perform the positioning with the programming pendant by fitting the pin in the slot of the wrist flange.
Fig. 37 T-axis Positioning
Key HW0403409-1
U-arm
Wrist
9-23
HW0482356
HW0482356
10 Recommended Spare Parts
It is recommended to keep the parts and components in the following table in stock as spare parts for the MOTOMAN-DX1350N. Check the serial number and contact your Yaskawa representative for preparing lead wires for internal wiring, etc.Product performance can not be guaranteed when using spare parts from any company other than Yaskawa. The spare parts are ranked as follows:
• Rank A: Expendable and frequently replaced parts• Rank B: Parts for which replacement may be necessary as a result of frequent operation• Rank C: Drive unit
To replace parts in Rank B or Rank C, be sure to contact your Yaskawa representative.
Table. 9 Spare Parts for the MOTOMAN-DX1350N
Rank PartsNo. Name Type Manufacturer Qty
QtyperUnit
Remarks
A 1 Grease MolywhiteRE No. 00
Yaskawa ElectricCorporation 16 kg -
A 2 Grease Harmonic Grease 4B No. 2
Harmonic DriveSystem Co., Ltd. 2.5 kg -
A 3 Liquid Gasket Three Bond 1206C Three Bond Co., Ltd. - -
A 4 Battery Pack HW0470360-A Yaskawa ElectricCorporation 1 1
A 5 Battery Pack HW9470932-A Yaskawa ElectricCorporation 1 1
B 6 R-axis Timing Belt 80S4.5M450 Mitsuboshi Belt-ing Limited 1 1
B 7 B-axis Timing Belt 80S4.5M675 Mitsuboshi Belt-ing Limited 1 1
B 8 T-axis Timing Belt 100S4.5M468 Mitsuboshi Belt-ing Limited 1 1
B 9 S-axisSpeed Reducer HW0380902-A Yaskawa Electric
Corporation 1 1
B 10 S-axisInput Gear HW0380960-A Yaskawa Electric
Corporation 1 1
B 11 L-axisSpeed Reducer HW0383230-A Yaskawa Electric
Corporation 1 1
NOTE
10-1
HW0482356
HW0482356
B 12 L-axisInput Gear HW0306174-A Yaskawa Electric
Corporation 1 1
B 13 U-axisSpeed Reducer HW0380901-A Yaskawa Electric
Corporation 1 1
B 14 U-axisInput Gear HW0380963-A Yaskawa Electric
Corporation 1 1
B 15 R-axisSpeed Reducer HW0380900-A Yaskawa Electric
Corporation 1 1
B 16 B-axisSpeed Reducer HW0380904-A Yaskawa Electric
Corporation 1 1
B 17 T-axisSpeed Reducer HW0380903-A Yaskawa Electric
Corporation 1 1
B 18 Wire Harness in Manipulator HW0171703-A Yaskawa Electric
Corporation 1 1
B 19Wire Harness in Manipulator for B- and T-axes
HW0371440-A Yaskawa ElectricCorporation 1 1
C 20 AC Servomotor for S- and L-axes
HW0382156-ASGMRS-13A2A-YR1∗
Yaskawa ElectricCorporation 1 2
C 21 AC Servomotor for U-axis
HW0382155-ASGMRS-12A2B-YR1∗
Yaskawa ElectricCorporation 1 1
C 22 AC Servomotor for R-, B-, T-axes
HW0383366-ASGMPH-04A2A-YR3∗
Yaskawa ElectricCorporation 1 3
C 23 Limit Switch Units HW0370602-A Yaskawa ElectricCorporation 1 1
C 24 Wrist Unit HW0170775-B Yaskawa ElectricCorporation 1 1
Table. 9 Spare Parts for the MOTOMAN-DX1350N
Rank PartsNo. Name Type Manufacturer Qty
QtyperUnit
Remarks
10-2
HW0482356
HW0482356
11 Parts Lis
11.1 S-Axis U
1026
1048
1066
1067
1037
1039
1033
1034
1055
1
1049
1038
11.1 S-Axis Unit
t
nit
1001
1002
1074
1003
1004
1010
1013
1018
1025
1027
1029
1030
1032
1036
1031
1035
1056
1057
1023
1009
1005
1015
10161016
1008
1017
1014
1014
1022
1006
1007
1011
1012
1024
1049
11-1
HW0482356
1052
1065
1019
064
10401041
1020
1021
1050
1051
1049
10491061*
* : For DX1350N-A00 Only
11.1 S-Axis Unit
No. DWG No.
1001 SGMRS-13A2A-YR1*
1002 M8X25
1003 2H-8
1004 HW0306171-1
1005 Y426212.5
1006 M6X30
1007 2H-6
1008 S95
1009 HW0405722-1
1010 HW0482271-A
1011 M6X80
1012 2H-6
1013 HW0380960-A
1014 HR32907J
1015 HW9405847-1
1016 M6X8
1017 HW9405844-2
1018 M6X20
2H-6
1019 HW0302146-1
1020 S65*NBR*
1021 M6X15
2H-6
1022 HW0380961-A
1023 6816
1024 WR80
1025 HW0403138-1
1026 M4X10
2H-4
1027 HW0100270-3
1029 HW0380902-A
1030 ARP568-165
1031 ARP568-173
1032 G115
1033 TSH6-01M
1034 NB-0640-0.4
1035 M10X60
1036 GT-LH-10
1037 HW0100269-1
1038 M14X95
1039 SW-2H-14
1040 M12X45
1041 GT-LH-12
1048 M6X14
2H-6
1049 PT1/8
1050 HW0402594-1
1051 M12X30
1052 SW-2H-12
1055 HW0402597-1
1056 TC65786
1057 VC65859
1061 RP2BG16LG For DX1350N-A00 Onl
1064 M4X16
2H-4
1065 HW0402598-1
1066 M6X12
1067 2H-6
1068 HW0403170-1
1069 M6X15
2H-6
1070 HW0403171-1
HW0482356
Name Pcs
Motor 1
Socket screw 4
Washer 4
M-Base 1
Oil seal 1
Socket screw 4
Washer 4
O-ring 1
Flywheel 1
Shaft 1
Socket screw 1
Washer 1
Gear 1
Bearing 2
B-nut 1
H-set screw 2
Housing 1
Socket screw 4
Washer 4
Guide 1
O-ring 1
Socket screw 4
Washer 4
Gear 1
Bearing 1
Clip 1
B-cover 1
Socket screw 4
Washer 4
S-head 1
Speed reducer 1
O-ring 1
O-ring 1
O-ring 1
Union 1
Tube 1
Socket screw 9
Washer 9
Base 1
Socket screw 6
Washer 6
Socket screw 9
Washer 9
Socket screw 4
Washer 4
Plug 4
Collar 1
Socket screw 1
1071 M6X15 Socket screw 2
2H-6 Washer 2
1074 HW9482404-A Silicon sheet 2
No. DWG No. Name Pcs
11-2
HW0482356
Washer 1
Housing 1
Oil-seal 1
Oil-seal 1
yPlug 1
Socket screw 6
Washer 6
Cover 1
Socket screw 8
Washer 8
Plate 1
Socket screw 2
Washer 2
Plate 1
HW0482356
11.2 L-Axis U
20232024
2022
2027
11.2 L-Axis Unit
nit
2002
2005
2006
2007
20082009
2010
2036
20112012
2015
2018
2030
201920202021
2028
20292030
1027
20132014
2035
2017
2016
2026
2004
2025
2039
2038
2037
2030
11-3
HW0482356
2001
2003
20402041
11.2 L-Axis Unit
No. DWG No.
2001 SGMRS-13A2A-YR1*
2002 M8X30
2003 2H-8
2004 HW0482272-A
2005 HW9481648-A
2006 HW0306174-1
2007 HW9406792-3
2008 M6X105
2009 2H-6
2010 M6
2011 HW0383230-A
2012 G220
2013 M12X50
2014 SW2H-12
2015 HW0100271-1
2016 HW0302763-1
2017 M4X12
2H-4
2018 HW0402615-1
2019 M16X45
2020 2H-16
2021 M8X35
2H-8
2022 EZ2228B0
2023 M8X30
2024 GT-LH-8
2025 MSTH6-10
2026 HW0403199-1
2027 TC22025016
2028 HW0200260-1
2029 M6X20
2H-6
2030 PT1/8
2035 HW9482404-A
2036 HW0200258-1
2037 HW0306173-1
2038 Y426212.5
2039 HW9405257-1
2040 M8X20
2041 2H-8
1027 HW0100270-1
HW0482356
Name Pcs
Motor 1
Socket screw 4
Washer 4
Shaft 1
Shaft 1
Gear 1
Pipe 1
Socket screw 1
Washer 1
Washer 1
Speed reducer 1
O-ring 1
Socket screw 11
Washer 11
L-Arm 1
Shaft 1
Socket screw 8
Washer 8
Washer 3
Socket screw 6
Washer 6
Socket screw 15
Washer 15
Cap 1
Socket screw 4
Washer 4
Pin 2
Collar 1
Oil-seal 1
Cover 1
Socket screw 7
Washer 7
Plug 3
Silicon sheet 2
Support 1
M-base 1
Oil-seal 1
Collar 1
Socket screw 4
Washer 4
S-head 1
11-4
HW0482356
HW0482356
11.3 U-Axis U
30353036
3007
11.3 U-Axis Unit
nit
3001
30033004
3008
3009
3011
3012
3014
3016
30173018
3019
3020
3021 3022
3023
3024
3026
3027
3029
30303031
3032
30333034
4013
30113013
3002
3006
3005
3046
3010
30253028
3040
3040
3040
2015
11-5
HW0482356
11.3 U-Axis Unit
No. DWG No.
3001 SGMRS-12A2B-YR1*
3002 HW0481221-A
3003 M6X20
3004 WSSB25-6-5
3005 M8X35
2H-8
3006 HW0306175-1
3007 S105
3008 M8X35
2H-8
3009 HW0402601-1
3010 M6X20
2H-6
3011 HR32908J
3012 HW0380963-A
3013 HW0402602-1
3014 M6X8
3016 HW0380901-A
3017 M8X80
3018 2H-8
3019 ARP568-169
3020 HW0302149-1
3021 M4X10
2H-4
3022 G60
3023 HW0380964-A
3024 6813
3025 WR65
3026 HW0403139-1
3027 M4X10
2H-4
3028 TC52709
3029 HW0402661-1
3030 M8X16
3031 2H-8
3032 HW0302148-1
3033 M10X30
3034 GT-LH-10
3035 M8X16
3036 2H-8
3040 PT1/8
3046 HW9482404-A
2015 HW0100271-1
4013 HW0100272-1
HW0482356
Name Pcs
Motor 1
Shaft 1
Socket Screw 1
Washer 1
Socket Screw 4
Washer 4
M-base 1
O-ring 1
Socket Screw 3
Washer 3
Housing 1
Socket Screw 4
Washer 4
Bearing 2
Gear 1
B-nut 1
H-set screw 2
Speed reducer 1
Socket Screw 13
Washer 13
O-ring 1
Guide 1
Socket Screw 4
Washer 4
O-ring 1
Gear 1
Bearing 1
Sirclip 1
B-cover 1
Socket Screw 4
Washer 4
Oil seal 1
Collar 1
Socket Screw 3
Washer 3
Cover 1
Socket Screw 9
Washer 9
Socket Screw 9
Washer 9
Plug 3
Silicon sheet 4
L-Arm 1
Casing 1
11-6
HW0482356
HW0482356
11.4 R-Axis U
4004
40094010
40
4023 4011
4012
11.4 R-Axis Unit
nit
4001
4002
4003
4033
4007
4013
401920
4031
4030
40244025
4026
40164017
4027
4028
4029
4008
4021
4022
4007
4015
5052
4034
11-7
HW0482356
4014
11.4 R-Axis Unit
No. DWG No.
4001 HW0200261-1
4002 M6X20
2H-6
4003 SGMPH-04A2A-YR3*
4004 M5X20
2H-5
4007 PT1/8
4008 HW0380965-A
4009 HW0481215-A
4010 M4X12
2H-4
4011 HW0302143-1
4012 M5X16
2H-5
4013 HW0100272-1
4014 M8X30
4015 GT-LH-8
4016 M6X55
4017 2H-6
4019 HW0380900-A
4020 ARP568-048
4021 WR50
4022 6810
4023 TC45629
4024 M4X20
4025 2H-4
4026 HW9405900-1
4027 M5X16
2H-5
4028 HW0402600-1
4029 HW0481213-A
4030 HW0481214-A
4031 80S4.5M450
4033 HW9482408-A
4034 M6X6
5052 HW0100264-1
HW0482356
Name Pcs
Cover 1
Socket Screw 5
Washer 5
Motor 1
Socket Screw 4
Washer 4
Plug 2
Gear 1
Pulley 1
Socket Screw 4
Washer 4
Flange 1
Socket Screw 4
Washer 4
Casing 1
Socket Screw 6
Washer 6
Socket Screw 10
Washer 10
Speed reducer 1
O-ring 1
Clip 1
Bearing 1
Oil seal 1
Socket Screw 1
Washer 1
Washer 1
Socket Screw 4
Washer 4
Cover 1
Packing 1
Pulley 1
Belt 1
Silicon sheet 2
H-set Screw 2
U-arm 1
11-8
HW0482356
HW0482356
11.5 Wrist Un
5057
5007
5015
5039
5053
5055
5056
5058
50
11.5 Wrist Unit
it
5006
5006
5080
5080
5007
50095010
50115012
5013
5014
5016
5017
50185019
5020
5021
5022
5023
5024
5025
5026
5027
5028
5074
5029
5030
50315032
50335034
503550365038
5074
5074
5040 50415042
5043
50445045
5048
5052
5078
5053
5054
5054
5059
5060
5061
5062
5063
5064
5065 5079
5079
5066
506768
5069
5070
5071
50725073
5075
5076
11-9
HW0482356
5074
5046
5047
5048
5049
50505051
11.5 Wrist Unit
No. DWG No.
5006 SGMPH-04A2A-YR3*
5007 M5X20
2H-5
5009 HW0481218-A
5010 HW0403137-1
5011 HW9405900-1
5012 M4X12
2H-4
5013 100S4.5M468
5014 HW0380959-A
5015 M4X20
2H-4
5016 HW0380967-A
5017 S18
5018 HW0481236-A
5019 HW0402604-1
5020 HW0402604-2
5021 HW0402611-1
5022 S46
5023 ISP1D28406
5024 M4X12
2H-4
5025 HW042614-1
5026 M4X12
2H-4
5027 HW0100263-1
5028 6911
5029 TC70826
5030 HW0402606-1
5031 6904
5032 WR20
5033 HW9481180-A
5034 SP-0120**
5035 HW0401691-1
5036 HW0380966-A
5038 M5X16
2H-5
5039 TC325211
5040 HW0402612-1
5041 M4X25
5042 2H-4
5043 HW0380903-A
5044 M3X10
2H-3
5045 HW0402609-1
5046 M4X35
5047 M4X30
5048 2H-4
5049 HW0402613-1
5050 M4X25
5051 GT-SH-4
5052 HW0100264-1
5053 HW0200256-1
5054 M4X16
2H-4
5055 HW0481216-A
5056 HW9405900-1
5057 M4X12
2H-4
5058 80S4.5M675
5059 HW0481217-A
No. DWG No.
HW0482356
Name Pcs
Motor 2
Socket Screw 8
Washer 8
Pulley 1
Plate 1
Washer 1
Socket Screw 1
Washer 1
Belt 1
Pulley 1
Socket Screw 2
Washer 2
Gear 1
O-ring 1
Bearing 1
Collar 1
Collar 1
Housing 1
O-ring 1
Oil seal 1
Socket Screw 4
Washer 4
Flange 1
Socket Screw 4
Washer 4
Wrist 1
Bearing 1
Oil seal 1
Shaft 1
Bearing 1
Clip 1
Bearing 1
Shim *
B-nut 1
Gear 1
Socket Screw 1
Washer 1
Oil seal 1
Housing 1
Socket Screw 5
Washer 5
Speed reducer 1
Socket Screw 6
Washer 6
Plate 1
Socket Screw 9
Socket Screw 2
Washer 11
5060 M5X20 Socket Screw 2
2H-5 Washer 2
5061 HW0402605-1 Shaft 1
5062 M3X10 Socket Screw 6
2H-3 Washer 6
5063 6902 Bearing 1
5064 6906 Bearing 1
5065 ISP1D28406 Oil seal 1
5066 HW0402610-1 Housing 1
5067 S90 O-ring 1
5068 M5X35 Socket Screw 15
5069 2H-5 Washer 15
5070 HW0380904-A Speed reducer 1
5071 HW0402607-1 Plate 1
5072 M5X40 Socket Screw 11
5073 2H-5 Washer 11
5074 PF-M6M-31W Plug 4
5075 HW0403163-1 Cover 1
5076 M4X12 Socket Screw 4
2H-4 Washer 4
5078 PT1/8 Plug 1
5079 M6X6 H-set screw 2
5080 HW9482408-A Silicon sheet 4
11-10
HW0482356
Flange 1
Socket Screw 16
Washer 16
U-Arm 1
Cover 2
Socket Screw 18
Washer 18
Pulley 1
Washer 1
Socket Screw 1
Washer 1
Belt 1
Pulley 1
Name Pcs
YASKAWA
YASKAWA EL
Specifications are subject to change wfor ongoing product modifications and
MOTOMANINSTRUCT
HEAD OFFICE2-1 Kurosaki-Shiroishi, YahataPhone 81-93-645-7745MOTOMAN INC. HEADQUAR805 Liberty Lane West CarrollPhone 1-937-847-6200YASKAWA MOTOMAN CANA3530 Laird Road, Unit 3, MissPhone 1-905-569-6686MOTOMAN ROBOTICS EUROFranska Vagen 1039854, KalmPhone 46-480-417800MOTOMAN ROBOTEC GmbHKammerfeld strasse 1, DE-85Phone 49-8166-90100YASKAWA ELECTRIC KORE1F Samyang Bldg. 89-1, ShincPhone 82-53-745-7844YASKAWA ELECTRIC (SING151 Lorong Chuan, #04-01, NPhone 65-6282-3003YASKAWA ELECTRIC (MALANo.71, Jalan Bandar Rawang Phone 60-3-6092-1377YASKAWA ELECTRIC TAIWA9F, 16 Nanking E. Rd., Sec. 3Phone 886-2-2502-5003SHOUGANG MOTOMAN ROB7,Yongchang-North Road, BeiPhone 86-10-6788-0541
-DX1350NIONS
nishi-ku, Kitakyusyu-shi, 806-0004, JapanFax 81-93-645-7746
TERSton, OH 45449, U.S.A.
Fax 1-937-847-6277DA LTD.
issauga, Ontario, L5L 5Z7, CanadaFax 1-905-813-5911PE ABar, SwedenFax 46-480-417999
391 Allershausen, GermanyFax 49-8166-90103
A CORPORATIONhun-dong, Donk-Ku, Daegu, KoreaFax 82-2-784-8495
APORE) PTE. LTD.ew Tech Park, Singapore 556741, Singapore
Fax 65-6289-3003YSIA) SDN. BHD.2, 48000 Rawang, Selangor D.E., Malaysia
Fax 60-3-6092-6377N CORPORATION
, Taipei, TaiwanFax 886-2-2505-1280
OT CO., LTD.jing Economic & Technological Development Area, Beijing 100076, China
Fax 86-10-6788-2878
ECTRIC CORPORATION
ithout notice improvements. Printed in Japan October 2006 04-11C
HW0482356MANUAL NO.
1