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

9-7

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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

9-8

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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

9-9

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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

9-12

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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