Motoman NX100 Controller EP4000N Manipulator …...• Light curtains and/or safety mats • Door...

Motoman NX100 Controller

EP4000N Manipulator Manual

Part Number: 151530-1CDRevision: 0

Motoman, Incorporated 805 Liberty LaneWest Carrollton, OH 45449TEL: (937) 847-6200FAX: (937) 847-627724-Hour Service Hotline: (937) 847-3200

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.

©2006 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.

EP4000N151530-1

Chapter 1

Introduction

1.1 About This Document

This manual provides information for the EP4000N manipulator and contains the following sections:

CHAPTER 1 - INTRODUCTIONProvides general information about the structure of this manual, a list of reference documents, and customer service information.

CHAPTER 2 - SAFETYThis section provides information regarding the safe use and operation of Motoman products.

CHAPTER 3 - EP4000N INSTRUCTIONSProvides detailed instructions for the EP4000N.

1.2 Reference to Other Documentation

For additional information refer to the following:

• NX100 Controller Manual (P/N 149201-1)

• Concurrent I/O Manual (P/N 149230-1)

• Operator’s Manual for your application

• Vendor manuals for system components not manufactured by Motoman

1.3 Customer Service Information

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:

• Robot Type (EP4000N, HP50, etc.)

• Application Type (handling, welding, etc.)

• Robot Serial Number (located on back side of robot arm)

• Robot Sales Order Number (located on back of controller)

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Manipulator Manual Chapter 1 Introduction

Notes

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EP4000N151530-1

Chapter 2

Safety

2.1 Introduction

It is the purchaser’s responsibility to ensure that all local, county, state, and national codes, regulations, rules, or laws relating to safety and safe operating conditions for each installation are met and followed.

We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for Industrial Robots and Robot Systems. This information can be obtained from the Robotic Industries Association by requesting ANSI/RIA R15.06-1999. The address is as follows:

Robotic Industries Association900 Victors WayP.O. Box 3724

Ann Arbor, Michigan 48106TEL: (734) 994-6088FAX: (734) 994-3338

INTERNET: www.roboticsonline.com

Ultimately, the best safeguard is trained personnel. The user is responsible for providing personnel who are adequately trained to operate, program, and maintain the robot cell. The robot must not be operated by personnel who have not been trained!

We recommend that all personnel who intend to operate, program, repair, or use the robot system be trained in an approved Motoman training course and become familiar with the proper operation of the system.

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Manipulator Manual Chapter 2 Safety

This safety section addresses the following:

• Standard Conventions (Section 2.2)

• General Safeguarding Tips (Section 2.3)

• Mechanical Safety Devices (Section 2.4)

• Installation Safety (Section 2.5)

• Programming, Operation, and Maintenance Safety (Section 2.6)

2.2 Standard Conventions

This manual includes the following alerts – in descending order of severity – that are essential to the safety of personnel and equipment. As you read this manual, pay close attention to these alerts to insure safety when installing, operating, programming, and maintaining this equipment.

DANGER!Information appearing in a DANGER concerns the protection of personnel from the immediate and imminent hazards that, if not avoided, will result in immediate, serious personal injury or loss of life in addition to equipment damage.

WARNING!Information appearing in a WARNING concerns the protection of personnel and equipment from potential hazards that can result in personal injury or loss of life in addition to equipment damage.

CAUTION!Information appearing in a CAUTION concerns the protection of personnel and equipment, software, and data from hazards that can result in minor personal injury or equipment damage.

Note: Information appearing in a Note provides additional information which is helpful in understanding the item being explained.

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EP4000N151530-1

2.3 General Safeguarding Tips

All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. General safeguarding tips are as follows:

• Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation of this robot, the operator's manuals, the system equipment, and options and accessories should be permitted to operate this robot system.

• Do not enter the robot cell while it is in automatic operation. Programmers must have the teach pendant when they enter the robot cell.

• Improper connections can damage the robot. All connections must be made within the standard voltage and current ratings of the robot I/O (Inputs and Outputs).

• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in use.

• In accordance with ANSI/RIA R15.06-1999, section 4.2.5, Sources of Energy, use lockout/tagout procedures during equipment maintenance. Refer also to Section 1910.147 (29CFR, Part 1910), Occupational Safety and Health Standards for General Industry (OSHA).

2.4 Mechanical Safety Devices

The safe operation of the robot, positioner, auxiliary equipment, and system is ultimately the user's responsibility. The conditions under which the equipment will be operated safely should be reviewed by the user. The user must be aware of the various national codes, ANSI/RIA R15.06-1999 safety standards, and other local codes that may pertain to the installation and use of industrial equipment. Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location. The following safety equipment is provided as standard:

• Safety fences and barriers

• Light curtains and/or safety mats

• Door interlocks

• Emergency stop palm buttons located on operator station, robot controller, and programming pendant

Check all safety equipment frequently for proper operation. Repair or replace any non-functioning safety equipment immediately.

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2.5 Installation Safety

Safe installation is essential for protection of people and equipment. The following suggestions are intended to supplement, but not replace, existing federal, local, and state laws and regulations. Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location. Installation tips are as follows:

• Be sure that only qualified personnel familiar with national codes, local codes, and ANSI/RIA R15.06-1999 safety standards are permitted to install the equipment.

• Identify the work envelope of each robot with floor markings, signs, and barriers.

• Position all controllers outside the robot work envelope.

• Whenever possible, install safety fences to protect against unauthorized entry into the work envelope.

• Eliminate areas where personnel might get trapped between a moving robot and other equipment (pinch points).

• Provide sufficient room inside the workcell to permit safe teaching and maintenance procedures.

2.6 Programming, Operation, and Maintenance Safety

All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation, manuals, electrical design, and equipment interconnections of this robot should be permitted to program, operate, and maintain the system. All personnel involved with the operation of the equipment must understand potential dangers of operation.

• Inspect the robot and work envelope to be sure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Be sure that all safeguards are in place. Check all safety equipment for proper operation. Repair or replace any non-functioning safety equipment immediately.

• Do not enter the robot cell while it is in automatic operation. Be sure that only the person holding the programming pendant enters the workcell.

• Check the E-STOP button on the programming pendant for proper operation before programming. The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in use.

• Back up all programs and jobs onto suitable media before program changes are made. To avoid loss of information, programs, or jobs, a backup must always be made before any service procedures are done and before any changes are made to options, accessories, or equipment.

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EP4000N151530-1

• Any modifications to PART 1, System Section, of the robot controller concurrent I/O program can cause severe personal injury or death, as well as damage to the robot! Do not make any modifications to PART 1, System Section. Making any changes without the written permission of Motoman will VOID YOUR WARRANTY!

• Some operations require standard passwords and some require special passwords. Special passwords are for Motoman use only. YOUR WARRANTY WILL BE VOID if you use these special passwords.

• The robot controller allows modifications of PART 2, User Section, of the concurrent I/O program and modifications to controller parameters for maximum robot performance. Great care must be taken when making these modifications. All modifications made to the controller will change the way the robot operates and can cause severe personal injury or death, as well as damage the robot and other parts of the system. Double-check all modifications under every mode of robot operation to ensure that you have not created hazards or dangerous situations.

• Check and test any new or modified program at low speed for at least one full cycle.

• This equipment has multiple sources of electrical supply. Electrical interconnections are made between the controller and other equipment. Disconnect and lockout/tagout all electrical circuits before making any modifications or connections.

• Do not perform any maintenance procedures before reading and understanding the proper procedures in the appropriate manual.

• Use proper replacement parts.

• Improper connections can damage the robot. All connections must be made within the standard voltage and current ratings of the robot I/O (Inputs and Outputs).

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Notes

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YASKAWA

MOTOMAN-EP4000NINSTRUCTIONSFOR INTER-PRESS HANDLINGTYPE: YR-EP4000N-*0* (PARALLEL LINK HAND SPECIFICATION)TYPE: YR-EP4000N-*1* TYPE: YR-EP4000N-*3* (PARALLEL LINK HAND SPECIFICATION, TYPE: YR-EP4000N- *4* ALUMINUM LINK PART MOUNTED ON THE RIGHT SIDE)TYPE: YR-EP4000N-*4* (DIAGONAL-MOUNT PARALLEL LINK HAND SPEC: +45 DEGREE ANGLE)TYPE: YR-EP4000N-*5* (DIAGONAL-MOUNT PARALLEL LINK HAND SPEC: -45 DEGREE ANGLE)

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.

MOTOMAN INSTRUCTIONSMOTOMAN-EP4000N INSTRUCTIONSNX100 INSTRUCTIONSNX100 OPERATOR’S MANUALNX100 MAINTENACE MANUAL

The NX100 operator’s manuals above correspond to specific usage. Be sure to use the appropriate manual.

YASKAWA MANUAL NO.

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• This instruction manual explains operating instructions and mainte-nance procedures primarily for the MOTOMAN-EP4000N.

• General items related to safety are listed in 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

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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”, “MAN-DATORY”, 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 dam-age 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

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• 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 the servo power ON.

Injury may result from unintentional or unexpected manipulator motion.

Release of Emergency Stop

• Observe the following precautions when performing teaching operations within the working 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 manipulator’s work envelope and that you are in a safe location before:- Turning on the NX100 power- Moving the manipulator with the programming pendant- Running check operations- Performing automatic operations

Injury may result if anyone enters the working envelope of the manipulator during opera-tion. Always press an emergency stop button immediately if there are problems. The emergency stop button is located on the right of the front door of the NX100 and the pro-gramming pendant.

WARNING

TURN

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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 manipulator 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 manipulator’s work area, 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.

MOTOMANTYPE

PAYLOAD

ORDER NO.

SERIAL NO.

MASS

DATE

YASKAWA ELECTRIC CORPORAION JAPAN

kgkg

Warning Label A

Warning Label B

Nameplate

Warning label B

Warning label A

Nameplate

Warning label B

Warning label A

WARNING

Do not enterrobot work area.

WARNING

Moving partsmay causeinjury

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1 Product Confirmation1.1 Contents Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11.2 Order Number Confirmation . . . . . . . . . . . . . . . . . . . . . . . 1-2

2 Transporting2.1 Transporting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.1.1 Using a Crane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-12.2 Shipping Bolts and Brackets . . . . . . . . . . . . . . . . . . . . . . . 2-3

3 Installation3.1 Safeguarding Installation . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23.2 Mounting Procedures for Manipulator Base . . . . . . . . 3-2

3.2.1 Manipulator Base Mount . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-33.3 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

4 Wiring4.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14.2 Manipulator Cable Connection . . . . . . . . . . . . . . . . . . . . . 4-2

4.2.1 Connection to the Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . .4-24.2.2 Connection to the NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2

5 Basic Specifications5.1 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15.2 Part Names and Working Axes . . . . . . . . . . . . . . . . . . . . 5-25.3 Manipulator Base Dimensions . . . . . . . . . . . . . . . . . . . . . 5-25.4 Dimensions and P-point Maximum Envelope. . . . . . . 5-35.5 JT5-Axis Operating Range. . . . . . . . . . . . . . . . . . . . . . . . . 5-45.6 Alterable Operating Range . . . . . . . . . . . . . . . . . . . . . . . . 5-4

6 Allowable Load for Wrist Axis and Wrist Flange6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16.2 Wrist Flange. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

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7 System Application7.1 Peripheral Equipment Mounts . . . . . . . . . . . . . . . . . . . . . . 7-17.2 Internal User I/O Wiring Harness and Air Line . . . . . . 7-2

8 Electrical Equipment Specifications8.1 Locations of Limit Switches. . . . . . . . . . . . . . . . . . . . . . . . . 8-18.2 Internal Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3

9 Maintenance and Inspection9.1 Inspection Schedule

(Manipulator in the Home Position: Refer to “Fig. 19”) . . . . . . . . . . 9-19.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . . 9-6

9.2.1 Battery Pack Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-69.2.2 Grease Replenishment/Exchange for JT1-Axis

Speed Reducer and Gear. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8 Grease Replenishment (Refer to "Fig. 22 JT1-Axis

Speed Reducer and Gear Diagram".). . . . . . . . . . . . . . . . . . 9-8 Grease Exchange (Refer to "Fig. 22 JT1-Axis

Speed Reducer and Gear Diagram".). . . . . . . . . . . . . . . . . . 9-99.2.3 Grease Replenishment/Exchange for JT2-Axis

Speed Reducer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10 Grease Replenishment (Refer to "Fig. 23 JT2-Axis

Speed Reducer Diagram".). . . . . . . . . . . . . . . . . . . . . . . . . 9-10 Grease Exchange (Refer to "Fig. 23 JT2-Axis

Speed Reducer Diagram".). . . . . . . . . . . . . . . . . . . . . . . . . 9-119.2.4 Grease Replenishment/Exchange for JT3-Axis



Speed Reducer Diagram".). . . . . . . . . . . . . . . . . . . . . . . . . 9-139.2.5 Grease Replenishment/Exchange for JT4, JT5-,

JT6-Axis Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14 Grease Replenishment (Refer to "Fig. 25 JT4-, JT5-,

JT6-Axis Gear Diagram".). . . . . . . . . . . . . . . . . . . . . . . . . . 9-14 Grease Exchange (Refer to "Fig. 25 JT4-, JT5-,

JT6-Axis Gear Diagram".). . . . . . . . . . . . . . . . . . . . . . . . . . 9-159.2.6 Grease Replenishment/Exchange for JT4-Axis



Speed Reducer Diagram".). . . . . . . . . . . . . . . . . . . . . . . . . 9-17

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9.2.7 Grease Replenishment/Exchange for JT5-Axis Speed Reducer and Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-18 Grease Replenishment (Refer to "Fig. 27 JT5-Axis

Speed Reducer and Gear Diagram".) . . . . . . . . . . . . . . . . .9-18 Grease Exchange (Refer to "Fig. 27 JT5-Axis

Speed Reducer and Gear Diagram".) . . . . . . . . . . . . . . . . .9-199.2.8 Grease Replenishment/Exchange for JT6-Axis

Speed Reducer and Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-20 Grease Replenishment (Refer to "Fig. 28 JT6-Axis

Speed Reducer and Gear Diagram".) . . . . . . . . . . . . . . . . .9-20 Grease Exchange (Refer to "Fig. 28 JT6-Axis

Speed Reducer and Gear Diagram".) . . . . . . . . . . . . . . . . .9-219.2.9 Grease Replenishment for JT2-Axis Cross Roller Bearing . . .9-229.2.10 Grease Replenishment for Tapered Roller Bearing

in the Link Part . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-239.2.11 Grease Replenishment for Balancer Link Part . . . . . . . . . . .9-249.2.12 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-25

Motors for JT1-, JT2-, JT3-, JT4-, JT5-, JT6-Axes . . . . . . .9-25

10 Recommended Spare Parts

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1.1 Contents ConfirmationHW0482597

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 cables (six cables, between manipulator and NX100)

• 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.

Connectors for manipulator cables are located on different positions depending on manipu-lator types.

CAUTION

NOTE

EP4000N-B

Manipulator cableconnector

The left side of the front

The back side

The right side of the front

**


EP4000N-K**

EP4000N-A**EP4000N-J **

EP4000N-C**EP4000N-L **

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1.2 Order Number Confirmation

Check that the order number of the manipulator corresponds to the NX100. The order number is located on a label as shown below.

Fig. 1 Location of Order Number Labels

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)

ORDER NO.NJ1529

THE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER.

WARNINGDo not open the door

RESETO

FFTR

IPPED

ON

(a) NX100 (Front View) (b) Manipulator (Top View)

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2 Transporting

2.1 Transporting Method

2.1.1 Using a Crane

As a rule, when removing the manipulator from the package and moving it, a crane should be used. The manipulator should be lifted using wire ropes threaded through shipping bolts and brackets. Be sure the manipulator is fixed with the shipping bolts and brackets before trans-portation, and lift it in the posture as shown in "Fig. 2 Transporting Position".

• Sling applications and crane or forklift operations must be performed by authorized personnel only.

Failure to observe this caution may result in injury or damage.

• Avoid excessive vibration or shock during transporting.

Failure to observe this caution may adversely affect the performance as the system con-sists of precision components.

• Check that the eyebolts are securely fastened.• The weight of the manipulator is approximately 3200 kg including the shipping bolts and

brackets. Use a wire rope strong enough to withstand the weight.• Attached eyebolts are designed to support the manipulator weight. Do not use them for

anything other than transporting the manipulator.• Mount the shipping bolts and brackets in transporting the manipulator.• Avoid exerting force on the arm or motor unit during transportation: use caution when

using transporting equipment other than a crane or forklift to avoid injury.

CAUTION

NOTE

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2.1 Transporting MethodHW0482597

Fig. 2 Transporting Position

C B

A

2-2

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2.2 Shipping Bolts and BracketsHW0482597

2.2 Shipping Bolts and Brackets

The manipulator is equipped with shipping bolts and brackets at points A, B, and C ("Fig. 2 Transporting Position").

• The shipping bolts and brackets are painted yellow.

Position Bolt Type Pcs

A Hexagon socket head cap screw: M12 (length: 30 mm) (Tensile strength: 1200 N/mm2 or more)

3

B Hexagon nut: M12 2

C Hexagon nut: M12 2

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 robot 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 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.

• Do not install or operate the manipulator which 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 Safeguarding Installation

To insure safety, be sure to install safeguarding. They prevent unforeseen accidents with per-sonnel and damage to equipment. The following term is quoted for your information and guid-ance. Responsibility for Safeguarding [ISO 10218]The user of a manipulator or robot system shall ensure that safeguards are provided and used in accordance with Sections 6, 7, and 8 of this standard. The means and degree of safeguard-ing, including any redundancies, shall correspond directly to the type and level of hazard pre-sented 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 manipulator base mount strong enough to support the robot and withstand repulsion forces during acceleration and deceleration. Con-struct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator, referring to "Table 1 Maximum repulsion forces of the manipulator base mount".A base mount flatness must be kept at 0.5 mm or less: insufficient flatness of installation sur-face may deform the manipulator shape and affect its functional abilities.

Connectors for manipulator cables are located on different positions depending on manipu-lator types.Confirm the correct position of the manipulator cable before Installing the manipulator.

NOTE

EP4000N-B


The left side of the front

The back side

The right side of the front

**


EP4000N-K**

EP4000N-A**EP4000N-J **

EP4000N-C**EP4000N-L **

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3.2.1 Manipulator Base Mount

Design and construct the manipulator base mount so that it can bear the torque shown in the table below. The vibration in the manipulator base must be 4.9 m/s2 (0.5G) or less when the manipulator is individually operated. The manipulator base mount has 12 mounting holes. Mount the manipulator base firmly using the hexagon socket head cap screws M24 (tensile strength: 1000 N/mm2 or more, recom-mended length: 90 mm).

Fig. 3 Installation Base

Table 1 Maximum repulsion forces of the manipulator base mount

Maximum torque in horizontal rotation (JT1-axis moving direction)

88200 N·m or more(9000 kgf·m)

Maximum torque in vertical rotation (JT2-, JT3-axis moving directions)

68600 N·m or more(7000 kgf·m)

Washer

45

Hexagon socket head cap screw M24 (length: 90)

Spring washer

Manipulator Base

2 Torque

1 Torque

Manipulator base mount

Units: mm

3-3

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3.3 LocationHW0482597

3.3 Location

When the manipulator is installed, it is necessary to satisfy the following environmental condi-tions:

• Ambient temperature: 0 to 45°C.• Humidity: 20 to 80%RH at constant temperature.• Free from exposure to water, oil, or dust.• Free from corrosive gas or liquid, or explosive gas.• Free from large electrical noise (plasma).• Shock or vibration from the press must be 9.8 m/s2 (1.0 G) or less.• Free from excessive shock or vibration: 4.9 m/s2 (0.5G) or less when the manipulator is

operated individually (with no vibration from other equipment such as the press). (Exces-sive vibration affects the mechanism.)

• Flatness for installation: 0.5 mm or less.

3-4

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4.1 GroundingHW0482597

4 Wiring

4.1 Grounding

Follow local regulations for grounding line size. A line of 8.0 mm2 or more is recommended. Refer to "Fig. 4 Grounding Method" to connect the ground line directly to the manipulator.

• 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 OFF the primary power supply, and put up a warning sign such as: “DO NOT TURN ON THE POWER.”

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.

• Do not cover the cable with heat insulating material, and avoid multiple cabling when laying manipulator cables from the manipulator to the NX100.

Failure to observe this caution may result in burn caused by cable heat emission failure.

• 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.

WARNING

CAUTION

NOTE

4-1

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4.2 Manipulator Cable ConnectionHW0482597

Fig. 4 Grounding Method

4.2 Manipulator Cable Connection

As shown on "Fig. 5 Manipulator Cables", there are six cables for the power supply. Connect these cables to the connectors on the manipulator base and the NX100, referring to "Fig. 5 Manipulator Cables".

4.2.1 Connection to the Manipulator

Before connecting the cables to the manipulator, verify the numbers: there are 1BC, 2BC, 3BC, 4BC, 5BC, and 6BC on both manipulator cables and the manipulator base connectors. When connecting the cables, adjust the cable connector positions to the main key positions of the manipulator, and insert the cables in the order of 2BC, 3BC, 4BC, 5BC, 6BC, and 1BC, then set each lever downward until it clicks.

4.2.2 Connection to the NX100

Before connecting the cables to the NX100, verify the numbers: there are X11, X21, X22, X23, X24, and X25 on both manipulator cables and the connectors on the NX100. When con-necting the cables, adjust the cable connector positions to the main key positions of the NX100, and insert the cables in the order of X21, X22, X23, X24, X25, and X11, then set each lever downward until it clicks.

• Do not cover the cable with heat insulating material, and avoid multiple cabling when laying manipulator cables from the manipulator to the NX100.

Failure to observe this caution may result in burn caused by cable heat emission failure.

A(Delivered with manipulator)Bolt M8 (for grounding)

View A

CAUTION

4-2

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Fig. 5 Manipulator Cables

X11

X21

X22

X23

X24

X25

1BC6BC

4BC5BC

3BC2BC

X25 6BC

X24 5BC

X23 4BC

X22 3BC

X21 2BC

X11 1BC

1BC

Encoder cable

Manipulator sideNX100 side

2BC

Power cable

3BC

Power cable

4BC

Power cable

5BC

Power cable

6BC

Power cable

4-3

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Fig. 6 (a) Manipulator Cable Connectors (Manipulator Side)

AIR1 AIR27BC

6BC5BC4BC3BC2BC1BC

Main key positions

4-4

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Fig. 6 (b) Manipulator Cable Connectors (NX100 Side)

X22X21

X11

X23

X24

X25

4-5

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5.1 Basic SpecificationsHW0482597

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.

Table. 2 Basic Specifications*1

Item Model

MOTOMAN-EP4000N-*0*MOTOMAN-EP4000N-*3*MOTOMAN-EP4000N-*4*MOTOMAN-EP4000N-*5*

MOTOMAN-EP4000N-*1*

Configuration Vertically Articulated

Degree of Freedom 6

Payload 200 kg

Repeatability2 ±0.5 mm

MotionRange

JT1-Axis (turning) ±150°

JT2-Axis (lower arm) +25°, -122°

JT3-Axis (upper arm) +53°, -70°

JT4-Axis (wrist roll) ±360°

JT5-Axis (wrist pitch/yaw) +85°, -120° ±120°

JT6-Axis (wrist twist) ±70° ±360°

MaximumSpeed

JT1-Axis 1.57 rad/s, 90°/s






Mass 3100 kg

AmbientConditions

Temperature 0 to 45C°

Humidity 20 to 80% RH (non-condensing)

Vibration 9.8 m/s2 (1.0 G) or less

Others• Free from corrosive gasses or liquids, or explosive gasses.• Free from exposure to water, oil, or dust.• Free from excessive electrical noise (plasma).

Power Requirements 22 kVA

5-1

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5.2 Part Names and Working AxesHW0482597

5.2 Part Names and Working Axes

Fig. 7 Part Names and Working Axes

5.3 Manipulator Base Dimensions

Fig. 8 Baseplate Dimensions (mm)

JT4+

JT3+

Lower arm(L-arm)

Base

Rotary head(S-head)

Upper arm(U-arm)

Wrist flange

Wrist

JT4-

JT5+JT5-

JT6-

JT3-

JT2-

JT1-

JT6+

JT2+

JT1+

475

640

640

860

45

70

860

760

760A 350±0.2

410±

0.2

350±0.2

410±

0.2

12 dia. dowel hole

28 dia. hole (12 holes)+0.018

0

12 dia. dowel hole

+0.0180

Units: mm

5-2

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5.4 Dimensions and P-Point Maximum Envelope

5-3

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5.4 Dimensions and P-Point Maximum Envelope

Fig. 9 Dimensions and P-Point Maximum Envelope

152

300

1681

380

4411

0

A

R3505

803

2110

R1033

250550

122°

1100 210

150°

150°

755

53°

527

2135

25°

70°

3505

3878

1803542 1823

255

740

588

555

467

690

261

0

373

1874

53°

Servo ON/OFF indicating lamp (red)(Optional)

Tapped hole M10 (pitch: 1.5)(depth: 25)(4 holes)

View A

P-point maximum envelope

2500

(with

indi

catin

g la

mp)

2480

(with

out i

ndic

atin

g la

mp)

P-point

Units: mm

70 d

ia.

(Lam

p dim

ensio

n)

Hole M10 (pitch: 1.5)(depth: 15)(3 holes)




+0.01508 dia. hole

(depth: 8)(2 holes)

+0.01508 dia. hole

(depth: 8)(2 holes)

+0.01508 dia. hole

(depth: 8)(2 holes)

- 5* *

- 4* *

- 3* *

- 0* *- 1* *

+0.01508 dia. hole

(depth: 8)(2 holes)

- 4* *- 0* *- 1* *- 3* *- 5* *

180°

45°

45°

B

View B

5.5 JT5-Axis Operating RangeHW0482597

5.5 JT5-Axis Operating Range

The JT5-axis operates keeping the constant angle to the center of U-arm as shown in "Fig. 10 JT5-Axis Operating Range".

Fig. 10 JT5-Axis Operating Range

5.6 Alterable Operating Range

The operating range of the JT1-axis can be altered according to the operating conditions as shown in "Table 3 JT1-Axis Operating Range". If alteration is necessary, contact your Yaskawa representative in advance.

Table 3 JT1-Axis Operating Range

Item Specifications

JT1-AxisOperating

Range

±150° (standard)±120°±90°±60°±30°

Center of rotation:JT5-axis

Center of rotation: JT3-axis



120°120°

5-4

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6.1 Allowable Wrist LoadHW0482597

6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist LoadThe allowable wrist load including the mass of the gripper is 200 kg.This section explains the allowable values and conditions.

As shown in "Table 4 Allowable Inertia and Moment of Inertia" below, there are limitations in moment and moment of inertia: fulfill the requirement in the table in operating the manipulator.

*1 ( ): Gravitational unit

• Allowable wrist load is based on an assumption that the robot is handling a workpiece horizontally by keeping its wrist flange downwards.

Table 4 Allowable Inertia and Moment of Inertia

Allowable Moment N•m (kgf·m)*1

Allowable Moment of Inertia (GD2/4) kg·m2

JT4-axis 1274 (130) 84.5

JT5-axis 2156 (220) 330

JT6-axis 0 (0) 80

6-1

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6.2 Wrist FlangeHW0482597

6.2 Wrist Flange

It is recommended that the attachment be mounted inside the fitting to identify the alignment marks. Fitting depth of inside and outside fittings must be 8 mm or less.

Fig. 11 Wrist Flange

Wash off anti-corrosive paint (yellow) on the wrist flange surface with thinner or light oil before mounting the tools.

(Moving side)

(Fixed side)JT5-axis flange

JT6-axis flange

55°

45°

55°

12.5

°

12.5°

30°

30°

55°

30°

214

25°

55°

45°

90°

30°30°

30°

90°

227

from P

-poi

nt

8

PCD212

8

8 dia. hole (depth: 8) (2 holes)

40 dia.

170 dia.

255

from P

-poi

nt5

PCD58

PCD100PCD126

236 dia.

+0.0150





8 dia. hole (depth: 8) (2 holes)+0.015

0

0-0.016

0-0.025

0-0.029

Units: mm

NOTE

6-2

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7.1 Peripheral Equipment MountsHW0482597

7 System Application

7.1 Peripheral Equipment Mounts

The peripheral equipment mounts and tapped holes are provided on the upper arm of the manipulator as shown in "Fig. 12 Tapped Holes for Peripheral Equipment Mounts", for easier installation of the user's system applications. Make efficient use of these mounts following the conditions in "Table 5 Condition for Attachment".

Fig. 12 Tapped Holes for Peripheral Equipment Mounts

Table 5 Condition for Attachment

Application Remarks

A Cabling Allowable load mass is 200 kg including wrist load.

B CablingValve mounting

10 kg or less.25 N·m (2.5 kgf·m) or less for increased moment amount of upper arm

100

794.

5

16.5

160

100

60

1495

.5

140

94

BTapped hole M8 (pitch 1.25)(depth: 15)(2 holes x 2 places)

ATapped hole M8 (pitch 1.25)(depth: 15)(2 holes x 2 places)

Units: mm

7-1

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7.2 Internal User I/O Wiring Harness and Air LineHW0482597

7.2 Internal User I/O Wiring Harness and Air Line

34 wires (0.5 mm2) and 2 air lines are used in the manipulator for the drives of the peripheral devices mounted on the upper arm as described in "Fig. 13 Internal User I/O Wiring Harness and Air Line".The connector pins 1 to 34 are assigned as shown in the close-up drawing in Fig. 13.Wiring must be performed by user.

• The allowable current for wires: 6.6 A or less for each wire.(The total current value for pins 1 to 34 must be 60 A or less.)

• The maximum pressure for the air lines: 490 kPa (5 kgf/cm2) or less for each line.(The inside diameter: 8 mm.)

Fig. 13 Internal User I/O Wiring Harness and Air Line

The same pin number (1-34) of two connectors is connected in the lead line of single 0.5mm2.

3433323130292827262524

2726 28252423

222019 21181716

12

45

3

67

3 42

11

141312

109

1615

8

1

15

9

3231

36

14

87

13

33

21

2322

1918

20

10

29 30

34

5

11

6

35

12

17

7BCAIR1 AIR2

7BCAIR1 AIR2

Pins used

Internal user I/O wiring harness:0.5mm2 (34 wires)

Details on Connector Pin Numbers

Connectors for internal user I/O wiring harness: JL05-2A28-21SC (socket connector with a cap). Prepare pin connector JL05-6A28-21P.

Exhaust port B: tapped hole PT3/8 with a pipe plug

Exhaust port A: tapped hole PT3/8 with a pipe plug

Connectors for internal user I/O wiring harness: JL05-2A28-21PC (pinconnector with a cap). Prepare socket connector JL05-6A28-21S.

Air inlet B: tapped hole PT3/8 with a pipe plug

Air inlet A: tapped hole PT3/8 with a pipe plug

AIR

1AI

R2

AIR

1AI

R2

7-2

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8.1 Locations of Limit SwitchesHW0482597

8 Electrical Equipment Specifications

8.1 Locations of Limit Switches

(1) "YR-EP4000N-**0"Equipped with an overrun limit switch for the JT1-axis.Refer to "Fig. 14 Locations of Limit Switches" for the location.

(2) "YR-EP4000N-**1"Equipped with overrun limit switches for the JT1- and JT2-axes, and an interference limit switch for the JT2- and JT3-axes. Refer to "Fig. 14 Locations of Limit Switches" for the locations.

Fig. 14 Locations of Limit Switches

(3) The JT2-axis overrun limit switch and the JT2-JT3-axis interference limit switch electrically restrict the ranges of each subject axis motion by adjusting the dog posi-tion. The mechanical stopper is effective at the P-point maximum envelope, and its position cannot be changed.

(4) The power supply to the manipulator will be cut off once the limit switch is activated, resulting in an emergency stop of the manipulator.Refer to “9.6 Overrun / Tool Shock Sensor Releasing” in “NX100 INSTRUCTIONS” to release the manipulator from the overrun status.

(5) The limit switches are set at the P-point maximum envelope before the shipment.

(6) Adjustable range of the JT2-axis overrun limit switchAs shown in "Fig. 15 JT2-axis Overrun Limit Switch Adjustable Range", JT2-axis is adjustable within the range between 26° to the plus (+) direction and 123° to the minus (-) direction. However, the least adjustable range of motion is 16°. The JT2-axis can be set at any degrees within the above mentioned range as long as it is set at 16° or more.

In case of re-adjusting the operating range of each subject axis, it is also required to change the dog location and limit values in software. Contact your Yaskawa representative if re-adjustment is required.

JT2-axis overrun limit switchFor YR-EP4000N- 1 only**

JT2-JT3-axis interference limit switchFor YR-EP4000N- 1 only**

JT1-axis overrun limit switch

NOTE

8-1

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8.1 Locations of Limit SwitchesHW0482597

Fig. 15 JT2-axis Overrun Limit Switch Adjustable Range

(7) Adjustable range of the JT2-JT3-axis interference limit switchThe limit switch for the JT2- and JT3-axis interference is structured to check the interference angle between the JT2- and JT3-axes. Set the interference angle between the JT2- and JT3-axes within the range from 19° to 161° as shown in "Fig. 16 JT2-JT3-axes Interference Limit Switch Adjustable Range".

Fig. 16 JT2-JT3-axis Interference Limit Switch Adjustable Range

123°

[Example]

Setting possiblePlus(+) side

Setting impossibleMinus(-) side

123°

26°

Over

16°

Under 16°

JT2-axis rotationcenter

L-arm 26°

Plus

(+) s

ide

Minus (-) side

19°

JT3-axis rotationcenter

161°

U-arm

8-2

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8.2 Internal ConnectionsHW0482597

8.2 Internal Connections

High reliability connectors which can be easily put on and removed are used with each con-nector part.For the numbers, types, and locations of the connectors, see "Fig. 17 Location and Numbers of Connectors" and "Table 6 List of Connector Types". As to the internal connections between the manipulator and the NX100, see connection diagrams in “Fig. 18 (a)” and “Fig. 18 (b)” on the following pages.

Fig. 17 Location and Numbers of Connectors

Table 6 List of Connector Types

Name Type of Connector

Connector base: Connector for internal user I/O wiring harness

JL05-2A28-21PC(JL05-6A28-21S: Optional)

U-arm: Connector for internal user I/O wiring harness

JL05-2A28-21SC(JL05-6A28-21P: Optional)

AIR

2AI

R1

7BCAIR2AIR1

Connector for internal user I/O wiring harness

7BC: Connector for internal userI/O wiring harness and air line

AIR

1AI

R2

7BCAIR2

8-3

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PG JT6-AXIS

OBTBAT

PG JT5-AXIS

BATOBT

JT4-AXISPG

OBTBAT

AL2AL3 AL2AL2AL1 AL1

ALM

23456

89

10

7

1

1213141516

18

192021

17

222324252627282930

31

11

3334

32

E

E7BC(28-21)

A

JT1-AXIS OVERRUN LIMIT SWITCH

ALM

FOR LAMP (OPTIONAL)

CASING

LA1LB1

FOR JT1-AXIS FAN

LC1 LC1

LA3LA3LA2

LA5 LA5LA4LB4

LB1

LB3 LB3

LB4LA4

JT2-AXIS OVERRUN LIMIT SWITCH

JT2-JT3-AXIS INTERFERENCE LIMIT SWITCH

JT1-AXIS OVERRUN LIMIT SWITCHLB5LA1

LB1LA1

A

For the limit switch specification of the JT2- and JT3-axes, the connection of the section A is changed as follows:

Note:

Limit switch specification of JT2-, JT3-axes (Optional)

IS FANS

8-4

Fig. 18 (a) Internal Connection Diagram

CN1-3

CN1-2CN1-1

CN2-2

CN2-3

CN2-1

CN1-4

CN3-2CN3-1

CN2-4

CN2-5

CN4-3

CN4-2CN4-1

CN3-4

CN3-3

+5V-4

DATA-4DATA+4

DATA-2

+5V-3

DATA-3DATA+3

0V-3

+5V-2

FG2

0V-2

1BC(6X6) TYPE A

DATA+2

DATA+1DATA-1

+5V-1

0V-1

CN5-2

CN5-3

CN5-1

CN4-4

CN6-2

CN6-3

CN6-1

CN5-4

CN6-4

CN6-5

CN2-6

CN4-6

CN6-6CN5-6

CN3-6

E

CN1-6CN1-5

+24V

AL2AL1

BC2

SS2

LB1

0V

DATA+6DATA-6

+5V-6

FG6

0V-6

DATA+5DATA-5

+5V-5

0V-5

0V-4

No.3CN

0V

-S-H

-G-J

-T-D

OBT+5V

FG6

BATDATA-6DATA+6CN3-C

P

P

P

P

P

P

PP 0V

CN2-CNo.2CN

-D-T

-J-G

-H-S

DATA-5DATA+5

BAT

FG5

+5VOBT

OBT+5V

0VFG4

BAT

CN1-C

-S-H

-G-J

-T-D

No.1CNDATA+4DATA-4

P

P

P

P

JT3-AXISPG

BATOBT

BAT

FG30V

+5VOBT

-D-T

CN-C

-J-G

-H-S

No.9CNDATA+3DATA-3P

PP

P

JT2-AXISPG

BATOBT

BAT

FG20V

+5VOBT

-D-T

CN-C

-J-G

-H-S

No.8CNDATA+2DATA-2P

PP

P

0V-1

+5V-1

DATA-1DATA+1

JT1-AXISPG

BATOBT

+5VOBTBAT

0VFG1

-H-S-T-D

CN-C

-G-J

No.7CN

DATA-1DATA+1

P

P

PP

R

BAT1

BAT1

P

K 0BT1

0BT1

AL3

ALM

AL2AL2 AL1AL1AL2

LB5LC1

LB4LA4

BC2BC1

7BC-34

247BC-2325

282726

32

3029

7BC-257BC-24

7BC-277BC-26

7BC-307BC-297BC-28

7BC-327BC-33

7BC-313334

31

E

AL1AL2

MANIPULATOR

DATA+2

CN1-1CN1-2

CN1-3

CN1-4

CN2-1

0V-2

FG2

+5V-2

0V-3

DATA+3DATA-3

+5V-3

CN2-5

CN2-3

CN2-4

CN3-1

CN3-3

CN3-4

CN3-2

DATA-2CN2-2

P

P

P

SS1B1

PR

BAT4

SS1BC1

B1-2-3

CN-1No.16CN

BAT40BT4

0BT4

BATTERY

SS2B2

LB1-5-6

EE EE

EEBASE

SP1SP2

BC2

-4 LA1

0V-4

DATA+4DATA-4

+5V-4

0V-5

+5V-5

DATA-5DATA+5

CN4-1CN4-2

CN4-4

CN4-3

CN5-1

CN5-3

CN5-4

CN5-2

0V-6

FG6

+5V-6

DATA-6DATA+6CN6-1

CN6-5

CN6-4

CN6-3

CN6-2

P

P

P

0V

LB1

SS2

BC2

AL1AL2

E

E

CN1-5CN1-6

CN3-6

CN5-6CN6-6

CN4-6

E7BC(28-21)

21

43

5

11109

78

6

1312

16

1415

1819

2120

17

7BC-27BC-1

7BC-47BC-3

7BC-9

7BC-11

7BC-77BC-8

7BC-6

7BC-10

7BC-5

7BC-137BC-12

7BC-187BC-197BC-207BC-21

7BC-167BC-17

7BC-147BC-15

+24VCN2-6

K

23227BC-22

NX100

POWER CABLE INTERNAL WIRE

1BC(6X6) TYPE A

FOR JT2-AX(2 FANS)


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AC1AC2

C1C2

C1C2 AC2

AC1

AC1AC2

C1C2

FAN

FAN

FANFOR FAN

SM

YB

YB

SM

SM

YB

AXIS

AXIS

AXIS

JT4-AXIS

JT5-AXIS

JT6-AXIS

JT2-AXIS

JT2-AXIS

JT1-AXIS

8-5

Fig. 18 (b) Internal Connection Diagram

CN1-1CN1-2CN1-3CN1-4

CN2-1CN2-2CN2-3CN2-4CN2-5CN2-6CN2-7CN2-8

CN6-1CN6-2

CN5-2CN5-1

CN4-2CN4-3CN4-4CN4-5CN4-6CN4-7

CN6-3CN4-8

CN6-6CN6-5

CN5-4

CN6-4

CN5-3

CN4-1

AC1AC2

E

MV6

MU6MV6

MU6

BA6

BB4BA4

MU4

ME5ME5

ME2ME5

BA5

MU5MV5

MU5

MU5MU5

MV5

MW5MV5MV5

MW5

MW5MW5

MV4MW4ME4

CN1-3

CN1-5CN1-4

CN1-1CN1-2

CN2-8CN3-1

CN2-1

CN2-3CN2-2

CN2-6CN2-5

CN2-7

CN2-4

CN1-7CN1-8

CN1-6

ME3

MU3

MW3

MV3

MU3MU3

MU3MU3MV3

MV3MV3MV3

MW3MW3MW3MW3

ME3

CN3-4CN3-3

CN4-1BA3

ME3ME3

CN3-2ME3

E4BC(8X4)

CN1-1

CN1-6CN1-7

CN1-5

CN1-3CN1-4

CN1-2

CN2-4

CN4-3CN4-2CN4-1CN2-8CN2-7CN2-6CN2-5

CN2-3CN2-2CN2-1CN1-8

CN6-1CN4-4

MW2

ME2

ME2ME2

BA2ME2

ME2

MW2MW2MW2

MU2

MV2

MW2

MV2MV2

MV2

MV2

MU2MU2MU2MU2

E

CN1-1CN1-2CN1-3CN1-4CN1-5CN1-6CN3-1CN3-2CN3-3

CN4-1

CN3-4CN3-5CN3-6


3BC(6X4)

ME1

MW1MW1MW1MW1MW1MW1MW1MW1MW1

ME1ME1ME1ME1ME1ME1ME1

ME1BA1BB1

E

CN1-6CN2-1

CN1-2

CN1-4CN1-3

CN1-1

CN1-5

CN2-2CN2-3

CN2-4CN2-5CN2-6

CN4-2CN4-3CN4-4CN4-5CN4-6

CN4-1

MV1

MU1

MV1MV1MV1MV1MV1MV1MV1MV1

MU1MU1MU1MU1MU1MU1MU1MU1

2BC(6X3) TYPE B

AA

AA

AA

AC2AC1

YB-BCN-ANo.15CN

BA3BB3

YBCN-A

-B

No.13CNBA2BB2

CN-ANo.11CN

BA1YB-B BB1

CN6-4

CN6-2CN6-1

CN4-8CN6-3

CN4-7CN4-6CN4-5CN4-4CN4-3CN4-2CN4-1CN2-8CN2-7CN2-6CN2-5CN2-4CN2-3

ME4MW4MV4

MW5MW5

MW5

MV5MV5MW5

MV5

MU5MU5

MU5

MV5MU5

BA5

ME5ME2

ME5ME5

-B-C

-F-E

-DCN1-3CN1-2CN1-1 MU4

CN2-2CN2-1

BA4BB4

CN1-4

-B

-D-C

-F-E

CN5-1

CN5-3CN5-4

CN5-2

BA6

MU6

MV6MU6

MV6

ME3ME3ME3ME3

MW3MW3MW3MW3

MV3MV3MV3

MV3MU3MU3

MU3MU3

CN1-2CN1-1

MV3

MW3

CN1-8CN1-7CN1-6

CN1-4CN1-5

CN2-4

CN2-7

CN2-5CN2-6

CN2-2CN2-3

CN2-1

CN1-3 MU3

BA3CN4-1

CN3-3CN3-4

CN3-1CN3-2

CN2-8 ME3

BB1BA1ME1

ME1ME1ME1ME1ME1ME1ME1


CN3-6CN3-5CN3-4

CN3-3CN3-2CN3-1CN1-6CN1-5CN1-4CN1-3CN1-2

MW1MW1MW1MW1MW1MW1MW1MW1MW1

3BC(6X4)

MU1MU1MU1MU1MU1MU1MU1MU1

MV1MV1MV1MV1MV1MV1MV1MV1

CN4-1


CN2-6CN2-5CN2-4

CN2-3CN2-2

E

ME1

CN4-1

SM

SM

SM

CN-ANo.10CN

-D-C-B

ME1

MV1MW1

MU1

CN-A-B

No.12CNMU2MV2

-D ME2

CN-A

-D-C-B

No.14CN

ME3

MV3MW3

MU3

MW2-C

AC2AC1

E

MU1

MV1

CN1-5

CN1-1

CN1-3CN1-4

CN1-2

CN2-1CN1-6

2BC(6X3)

E

MU2MU2MU2MU2

MV2

MV2

MV2MV2

MW2

MV2

MU2

CN1-1

CN1-2

CN1-4CN1-3

CN1-5


CN1-6

CN1-1

4BC(8X4)

MW2MW2MW2

ME2

ME2BA2

ME2ME2

ME2

CN2-5CN2-6CN2-7CN2-8CN4-1CN4-2CN4-3CN4-4CN6-1

E

CN2-4 MW2

AC2AC1CN6-5

CN6-6

6BC(8X5)

E5BC(8X4)

ME5BA5

MW5MV5MU5

-D-E

-B-C

No.5CNCN-A

BB5-F

MV4MU4

No.4CNCN-A

BB4

ME4

BA4

MW4

MW6ME6

MU6MV6

No.6CNCN-A

BB6BA6

6BC(8X5)

E5BC(8X4)

JT1-

JT2-

JT3-

GROUNDING WIRE

TYPE B

TYPE A

TYPE A

TYPE B

TYPE A

GROUNDING WIRE

GROUNDING WIRE

GROUNDING WIRE

GROUNDING WIRE

TYPE A

TYPE A

TYPE B

TYPE A

9.1 Inspection ScheduleHW0482597

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 intervals are classified into six levels as shown in "Table 7 Inspection Items". Con-duct periodical inspections according to the inspection schedule in this table.In the table, the inspection items are categorized by three types of operations: operations which can be performed by personnel authorized by the user, operations which can be per-formed by personnel being trained, and operations which can be performed by service com-pany personnel. Only specified personnel are to do inspection work.

• Before maintenance or inspection, be sure to turn OFF the main power supply, and put up a warning sign. (ex. DO NOT TURN ON THE POWER.)

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.

• Do not remove the motor, and do not release the brake.

Failure to observe this caution may result in injury from unexpected turning of the manipu-lator’s arm.

• The battery pack must be connected before removing encoder connec-tor when maintenance and inspection.

Failure to observe this caution may result in the loss of home position data.

WARNING

CAUTION

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• The inspection interval depends on the total servo operation time.• 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.

• The speed reducers for the JT1-, JT2-, and JT3-axes are recommended to be replaced in the secondary inspection (which is to be done in 18000-hour cycle) as a preventive main-tenance. The replacement should be made in less than 18000-hour cycle, depending upon the operation pattern.

Table 7 Inspection Items

Items*4Schedule

Method Operation

Inspection Charge

Daily 500HCycle

3000HCycle

9000HCycle

18000HCycle

Specified Person Licensee Service

Company

Alignment mark Visual

Check alignment mark accordance and damage at the home position.

External leads VisualCheck for damage and deterioration of leads.

Manipulator(whole exterior) Visual

Clean the work area if dust or spatter is present. Check for damage and outside cracks.

JT2, JT3-axis motors Visual

Check for grease leakage.*5

Manipulator base mounting screws

SpannerTighten loose screws. Replace if necessary.

Cover mount-ing screws

Screw-driver,

Wrench

Tighten loose screws. Replace if necessary.

JT1, JT2, JT3, JT4, JT5, JT6-axis motorconnectors

Manual

Check for loose con-nectors and tighten if necessary.

Connector base Manual Check for loose con-nectors.

Internal wiring harness in JT1-axis

VisualRemove the cover and check for wear.

Internal wiring harness protec-tive spring

VisualRemove the cover and check for wear.Apply grease.

JT2-axis balancer

Visual, Grease

Gun

Check for loose nuts or shafts, and tighten if necessary. Supply grease.

NOTE

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Internal wiring harness*2 Multimeter

Check for conduc-tion between the main connector of base and each con-nector with manually shaking the wiring harness. Check for wear of protective spring*1Replace the wire (18000H cycle).

Limit switch dog (JT1-axis)

Driver, Wrench, Multimeter

Check for dirt, dam-age, looseness. Tighten if neces-sary. Check the operation.

Limit switch(JT2-axis)



JT2, JT3-axis interference limit switch



JT2, JT3-axis arm connection parts

Visual, Manual

Check for backlash of bearings by moving the JT2, JT3-axes back and forth, and up and down. Supply grease.

Battery pack in manipulator Multimeter

Replace if the result of voltage check is 2.8 V or less.

JT1-axis speed reducer

Grease Gun

Check for malfunc-tion. (Replace if nec-essary.) Replenish grease*3 (3000H cycle). See Par. 9.2.2. Exchange grease*3(9000H cycle). See Par. 9.2.2.

JT2, JT3-axis speed reducers

Grease Gun

Check for malfunc-tion. (Replace if nec-essary.) Replenish grease*3 (3000H cycle). See Par. 9.2.3 and 9.2.4. Exchange grease*3 (9000H cycle). See Par. 9.2.3 and 9.2.4.

JT4, JT5, JT6-axis gears

Grease Gun

Check for malfunc-tion. (Replace if nec-essary.) Replenish grease*3 (3000H cycle). See Par. 9.2.5. Exchange grease*3 (9000H cycle). See Par. 9.2.5.


Items*4Schedule

Method Operation

Inspection Charge

Daily 500HCycle

3000HCycle

9000HCycle

18000HCycle


Company

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*1 When checking for conduction with a multimeter, remove connectors on encoder side for each axis from the motor.

*2 The internal wiring harness is to be replaced at 18000H inspection (at overhaul).*3 For the grease, refer to "Table 8 Inspection Parts and Grease Used".*4 Inspection numbers correspond to the numbers in "Fig. 19 Inspection Parts and Inspection Numbers".

The numbers in the above table correspond to the numbers in "Table 7 Inspection Items".


Grease Gun

Check for malfunc-tion. (Replace if nec-essary.) Replenish grease*3 (3000H cycle). See Par. 9.2.6. Exchange grease*3 (9000H cycle). See Par. 9.2.6.

JT5, JT6-axis speed reducers,JT5, JT6-axis gears

Grease Gun

Check for malfunc-tion. (Replace if nec-essary.) Replenish grease*3 (3000H cycle). See Par. 9.2.7 and 9.2.8.Exchange grease*3 (9000H cycle). See Par. 9.2.7 and 9.2.8.

JT2-axis cross roller bearing

Grease Gun

Check for malfunc-tion. (Replace if nec-essary.) Replenish grease*3 (3000H cycle). See Par. 9.2.9.Exchange grease *3 (9000H cycle). See Par. 9.2.8.

Overhaul

Table 8 Inspection Parts and Grease Used

No. Grease Used Inspected Parts

18, 19, 20,21,22 Molywhite RE No. 00 Speed reducers for all axes

JT5- and JT6-axis gears

11, 16, 23 Alvania EP Grease 2JT2-axis cross roller bearingTapered roller bearing in the link partJT2-axis balancer


Items*4Schedule

Method Operation

Inspection Charge

Daily 500HCycle

3000HCycle

9000HCycle

18000HCycle


Company

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9.1 Inspection Schedule

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Fig. 19 Inspection Parts and Inspection Numbers (Manipulator in Home Position)

16

7

6

AIR

2AI

R1

11

2

1

1

8

7219

1

6

2

152319

47

16

1710

9 1310 12

22

21

18

14

6 1

5

4

7

1

20

JT2-Axis

JT1-Axis

JT4-Axis

JT5-Axis

JT3-Axis

Note: The manipulator is in the home position.

9.2 Notes on Maintenance ProceduresHW0482597

9.2 Notes on Maintenance Procedures

9.2.1 Battery Pack Replacement

Two battery packs are installed in the position described in "Fig. 20 Battery Location". If a battery alarm shows up on the NX100, replace the battery according to the following proce-dure:

Fig. 20 Battery Location

Fig. 21 (a) Battery Connection for JT1-, JT2-, JT3-Axes

BAT4

OBT4BAT1

OBT1

5BC4BC 6BC

A

2BC

B

1BC 3BC

7BC

Battery pack on JT1-, JT2-, JT3-axis side(HW9470932-A)

Battery pack on JT4-, JT5-, JT6-axis side(HW9470932-B)

ab 0BT1

BAT1

0BT1BAT1a

b a

bBAT10BT1

b

a0BT1BAT1

See step 7

See step 6

See step 4See step 5

Internal wires for JT1-, JT2-, JT3-axes

New battery pack

Batterypack before replacement

a: Crimped contact-pin (pin)b: Crimped contact-pin (socket)

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Fig. 21 (b) Battery Connection for JT4-, JT5-, JT6-Axes

1. Turn OFF the NX100 main power supply.2. Remove the plate from the connector base and pull out the battery pack to replace it

with a new battery pack.3. Unscrew the battery pack mounting screws on the battery holder, and remove the bat-

tery pack.4. Remove the electrical tape (insulation tape) protecting the connection part of the bat-

tery pack in the manipulator.5. Connect the new battery pack.6. Remove the old battery pack.

7. Protect the connection part of the battery pack in the manipulator with electrical tape (insulation tape).

8. Fix the battery pack with screws, and put the connector base back on the manipulator.

Remove the old battery pack after connecting the new one so that the encoder absolute data does not disappear.

Pay attention not to pinch the cable when the plate is being installed.

ab 0BT4

BAT4

0BT4BAT4a

b a

bBAT40BT4

b

a0BT4BAT4

See step 7

See step 6

See step 4See step 5

Internal wires for JT4-, JT5-, JT6-axes

New battery pack

Batterypack before replacement


NOTE

NOTE

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9.2.2 Grease Replenishment/Exchange for JT1-Axis Speed Reducer and Gear

Fig. 22 JT1-Axis Speed Reducer and Gear Diagram

Grease Replenishment (Refer to "Fig. 22 JT1-Axis Speed Reducer and Gear Diagram".)

1. Remove the plug from the JT1o grease exhaust port.

2. Inject the grease into the JT1i grease inlet using a grease gun.

3. Before putting the plug back on the JT1o grease exhaust port, move the JT1-axis for a few minutes to discharge the excess grease.

4. Wipe the discharged grease with a cloth and reinstall the plug on the JT1o grease 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.)

If grease is added 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: 2340 cc

(4680 cc for the initial supply)

Grease exhaust port JT1o(Hexagon socket head plug PT1/8)

Grease inlet JT1i(Grease zerk A-PT1/4)


JT1-axis gear unit

NOTE

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Grease Exchange (Refer to "Fig. 22 JT1-Axis Speed Reducer and Gear Diagram".)



3. The grease exchange is completed when new grease appears in the JT1o grease exhaust port. The new grease can be distinguished from the old grease by its color.





NOTE

9-9

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9.2.3 Grease Replenishment/Exchange for JT2-Axis Speed Reducer

Fig. 23 JT2-Axis Speed Reducer Diagram

Grease Replenishment (Refer to "Fig. 23 JT2-Axis Speed Reducer Diagram".)

1. Make the L-arm posture as shown in “Fig. 23 L-Axis Speed Reducer Diagram”.2. Remove the plug from the JT2o grease exhaust port.








NOTE

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Grease Exchange (Refer to "Fig. 23 JT2-Axis Speed Reducer Dia-gram".)

1. Make the L-arm posture as shown in “Fig. 23 L-Axis Speed Reducer Diagram”.2. Remove the plug from the JT2o grease exhaust port.






Grease type: Molywhite RE No. 00Amount of grease: approx. 2600 cc

NOTE

9-11

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1. Make the L-arm posture as shown in “Fig. 23 U-Axis Speed Reducer Diagram”.2. Remove the plug from the JT3o grease exhaust port.





AA

Section A-A

JT3-axis speedreducer



NOTE

9-12

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1. Make the L-arm posture as shown in “Fig. 24 U-Axis Speed Reducer Diagram”.2. Remove the plug from the JT3o grease exhaust port.







NOTE

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9.2.5 Grease Replenishment/Exchange for JT4, JT5-, JT6-Axis Gears

Fig. 25 JT4-, JT5-, JT6-Axis Gear Diagram

Grease Replenishment (Refer to "Fig. 25 JT4-, JT5-, JT6-Axis Gear Diagram".)

1. Remove the plug from the Go grease exhaust port.

2. Inject the grease into the Gi grease inlet using a grease gun.

3. Before putting the plug back on the Go grease exhaust port, move the JT4-, JT5-, JT6-axes for a few minutes to discharge the excess grease.

4. Wipe the discharged grease with a cloth and reinstall the plug on the Go grease 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.)

If grease is injected with the plug on, the grease will go outside the grease box and may cause a damage. Never fail to remove the plug before the grease injection.

Grease type: Molywhite RE No. 00Amount of grease:1040 cc


Grease exhaust port Go(Hexagon socket head plug PT1/8)

Grease inlet Gi(Grease zerk A-PT1/8)

NOTE

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Grease Exchange (Refer to "Fig. 25 JT4-, JT5-, JT6-Axis Gear Dia-gram".)

1. Remove the plug from the Go grease exhaust port.

2. Inject the grease into the Gi grease inlet using a grease gun.

3. The grease exchange is completed when new grease appears in the Go grease exhaust port. The new grease can be distinguished from the old grease by its color.

4. Before putting the plug back on the Go grease exhaust port, move the JT4-, JT5-, JT6-axis for a few minutes to discharge the excess grease.

5. Wipe the discharged grease with a cloth and reinstall the plug on the Go grease 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.)



NOTE

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NOTE

9-16

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NOTE

9-17

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Grease inlet JT5i(Hexagon socket head plug PT1/8)


NOTE

9-18

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3. The grease exchange is completed when new grease appears from the JT5o grease exhaust port. The new grease is distinguished from the old grease by its color.





NOTE

9-19

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4. Wipe the discharged grease with a cloth and reinstall the plug on the JT6o grease exhaust port. (Apply Three Bond 1206C on the thread part of the plug.)




Grease inlet JT6i(Hexagon socket head plug PT1/8)

Grease exhaust port JT6o(Hexagon socket set screw M5: length: 6 mm)


NOTE

9-20

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3. The grease exchange is completed when new grease appears from the JT6o grease exhaust port. The new grease is distinguished from the old grease by its color.


5. Wipe the discharged grease with a cloth and reinstall the plug on the JT6o grease exhaust port. (Apply Three Bond 1206C on the thread part of the plug.)



NOTE

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9.2.9 Grease Replenishment for JT2-Axis Cross Roller Bearing

Fig. 29 L-Axis Cross Roller Bearing Diagram

1. Remove the plug from the exhaust port. (Refer to "Fig. 29 L-Axis Cross Roller Bearing Diagram".)

2. Inject the grease into the JT2c grease inlet using a grease gun.

3. 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.)

Grease type: Alvania EP Grease 2Amount of grease: 64 cc

The exhaust port is for AIR exhaust: the grease is not exhausted from the exhaust port.Do not inject excessive grease into the grease inlet.

JT2-axis cross roller bearing

L-arm

Exhaust port (Hexagon socket head plug PT1/8)

Grease inlet JT2c(Grease zerk A-PT1/8)

NOTE

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9.2.10 Grease Replenishment for Tapered Roller Bearing in the Link Part

Fig. 30 Link Part

1. Remove the plugs from the exhaust ports on link parts (6 exhaust ports). (Refer to "Fig. 30 Link Part".)

2. Inject the grease into each Hc grease inlet on link part using a grease gun (6 inlets).

3. Reinstall the plug on each 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.)



The exhaust port is for AIR exhaust: the grease is not exhausted from the exhaust port.Do not inject excessive grease into the grease inlet.

Tapered roller bearing in the link part (2 bearings)

Exhaust port Ho (2 ports)(Hexagon socket head plug PT1/8)

Grease inlet Hi in the link part (2 inlets)(Grease zerk A-PT1/8)


Grease inlet Hi in the linkpart (2 inlets)(Grease zerk A-PT1/8)


Grease inlet Hi in the linkpart (2 inlets)(Grease zerk A-PT1/8)



NOTE

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9.2.11 Grease Replenishment for Balancer Link Part

Fig. 31 Balancer Link Part

1. Remove the plugs from the Vo exhaust ports on link parts (4 exhaust ports). (Refer to "Fig. 31 Balancer Link Part".)

2. Inject the grease into each Vi grease inlet on link part using a grease gun (3 inlets).

3. Reinstall the plug on each 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.)


Needle bearing in the link part

Grease inlet Vi in the link part(1 inlet)(Grease zerk A-PT1/8)

Exhaust port Vo (2 ports)(Hexagon socket head plug PT1/8)

Exhaust port Vo (2 ports)(Hexagon socket head cap screw M6)

Grease inlet Vi in the link part (2 inlets)(Grease zerk A-PT1/8)

Tapered roller bearing inthe link part (2 bearings)

9-24

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9.2.12 Notes for Maintenance

Connecting the new battery pack before removing the old one so that the encoder absolute data will not disappear.

Motors for JT1-, JT2-, JT3-, JT4-, JT5-, JT6-AxesThe connectors for the battery pack connection of each motor are attached to the main body of respective motor. Connect the battery pack according to "Fig. 32 Backup Battery Pack Connection for Motor".

1. Remove a cap attached to the battery backup connector of the motor encoder by removing the cover mounting screws.

2. Connect the battery pack (HW9470932-A or HW9470932-B) to the battery backup con-nector (crimped contact-pin).

3. After the maintenance check, confirm all the connectors are connected properly, then remove the battery pack.

Fig. 32 Backup Battery Pack Connection for Motor

Do not remove the battery pack in the connector base.NOTE

Encoder

Encoder connector

ab

0BTBAT

ba

Battery (-)Battery (+)

Connection

Power connector

Motor

CAU

TION

Co

nn

ect b

atte

ry toencoder to save the data

before removing connector.

CAUTION label

Cap (cover for battery backup connectors)

Cover fixing screw

Battery pack


9-25

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Fig. 33 Battery Pack Connection

Fig. 34 Caution Label

ba

0BTBAT

a0BTbBAT

CAUTIONConnect battery to encoderto save the data BEFOREr e m o v i n g c o n n e c t o r .

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10Recommended Spare Parts

It is recommended to keep the parts and components in the following table in stock as spare parts for the MOTOMAN-EP4000N.Product performance can not be guaranteed in case of using the spare parts other than the recommended parts listed below.

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, contact your Yaskawa representative.

Table. 9 Spare Parts for the Motoman-EP4000N

Rank PartsNo. Name Type Manufacturer Qty

QtyperUnit

Remarks

A 1Battery Pack HW9470932-A Yaskawa

ElectricCorporation

1 1For JT1, JT2, JT3-axes

A 2Battery Pack HW9470932-B Yaskawa

ElectricCorporation

1 1For JT4, JT5, JT6-axes

A 3Grease Molywhite

RE No. 00YaskawaElectricCorporation

16kg -For all axes’ speed reducers and wrist unit

A 4 Grease Alvania EPGrease 2

Showa Shell Sekiyu K.K. 16kg - For tapered roller

bearings

B 5JT1-AxisSpeed Reducer

HW0280730-A YaskawaElectricCorporation

1 1

B 6JT2-, JT3-AxisSpeed Reducers


1 2


HW0380393-B YaskawaElectricCorporation

1 1



1 1

B 9JT6-axisSpeed Reducer


1 1

NOTE

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B 10Wrist Unit HW0170875-A Yaskawa

ElectricCorporation

1 1

C 11AC Servomotor for JT1-Axis

HW0381330-A(SGMGH-1AA2A-YR3*)

YaskawaElectricCorporation

1 3

C 12AC Servomotor for L-and U-Axes

HW9381527-A(SGMGH-75A2A-YR3*)


1 2

C 13AC Servomotor for JT4- and JT6-Axes



1 2

C 14AC Servomotor for JT5-Axis



1 1

C 15Wiring Harness in Manipulator


1 1

C 16Cooling Fan HW9370631-E Yaskawa

ElectricCorporation

1 3Completed with lead terminal treatment

Table. 9 Spare Parts for the Motoman-EP4000N

Rank PartsNo. Name Type Manufacturer Qty

QtyperUnit

Remarks

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HW0482597

MOTOMAN-EP4000NINSTRUCTIONS

HEAD OFFICE2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, JapanPhone 81-93-645-7745 Fax 81-93-645-7746MOTOMAN INC. HEADQUARTERS805 Liberty Lane West Carrollton, OH 45449, U.S.A.Phone 1-937-847-6200 Fax 1-937-847-6277YASKAWA MOTOMAN CANADA LTD.3530 Laird Road, Unit 3, Mississauga, Ontario, L5L 5Z7, CanadaPhone 1-905-569-6686 Fax 1-905-813-5911MOTOMAN ROBOTICS EUROPE ABFranska Vagen 1039854, Kalmar, SwedenPhone 46-480-417800 Fax 46-480-417999MOTOMAN ROBOTEC GmbHKammerfeld strasse 1, DE-85391 Allershausen, GermanyPhone 49-8166-90100 Fax 49-8166-90103YASKAWA ELECTRIC KOREA CORPORATION1F Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, KoreaPhone 82-53-745-7844 Fax 82-2-784-8495YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741, SingaporePhone 65-6282-3003 Fax 65-6289-3003YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.No.71, Jalan Bandar Rawang 2, 48000 Rawang, Selangor D.E., MalaysiaPhone 60-3-6092-1377 Fax 60-3-6092-6377YASKAWA ELECTRIC TAIWAN CORPORATION9F, 16 Nanking E. Rd., Sec. 3, Taipei, TaiwanPhone 886-2-2502-5003 Fax 886-2-2505-1280SHOUGANG MOTOMAN ROBOT CO., LTD.7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, ChinaPhone 86-10-6788-0541 Fax 86-10-6788-2878

YASKAWA

YASKAWA ELECTRIC CORPORATION

Specifications are subject to change without noticefor ongoing product modifications and improvements. Printed in Japan February 2005 05-02C

HW0482597MANUAL NO.

Motoman NX100 Controller EP4000N Manipulator …...• Light curtains and/or safety mats • Door...

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