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Motoman NX Controller
EA1900N
Manipulator Manual
Part Number:
Revision:
149894-1CD
0
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
COMPLETE OUR ONLINE SURVEY
Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you
received with your Motoman robotic solution.
To participate, go to the following website:
http://www.motoman.com/forms/techpubs.asp
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 MOTOMAN
All 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 EA1900N and NX controller represent state-of-the-art technology in robotics
today. The Motoman EA1900N is a high speed robot with a 3 kg payload. The robot has six
individual axes: Sweep, Lower arm, Upper arm, Rotate, Bend, and Twist. The NX controller
coodinates the operation of the robot with external equipment such as power supply and
positioning tables. The NX controller 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 robot and NX controller.
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This manual provides system information for the EA1900N robot and NX controller and
contains the following sections:
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Provides general information about the structure of this manual, a list of reference documents,
and customer service information.
5'%6+105#('6;
This section provides information regarding the safe use and operation of Motoman products.
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Provides detailed information about the EA1900N robot, including installation, wiring,
specifications, and maintenance.
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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
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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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•
Robot Type (EA1900N)
•
Application Type (arcwelding, spot welding, handling)
•
Robot Serial Number (located on back side of robot arm)
•
Robot Sales Order Number (located on back of controller)
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YASKAWA
MOTOMAN-EA1900N
INSTRUCTIONS
TYPE: YR-EA1900N-A00 (STANDARD SPECIFICATIONS)
YR-EA1900N-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 INSTRUCTIONS
MOTOMAN-EA1900N INSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATOR’S MANUAL
NX100 MAINTENANCE 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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1
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MANDATORY
• This instruction manual is intended to explain operating instructions
and maintenance procedures primarily for the MOTOMAN-EA1900N.
• 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.
CAUTION
• 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 representative 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 product’s warranty.
ii
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Notes for Safe Operation
Read 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.”
WARNING
Indicates a potentially hazardous situation which, if not
avoided, could result in death or serious injury to personnel.
CAUTION
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.
MANDATORY
Always be sure to follow explicitly the items listed under this
heading.
PROHIBITED
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations.
At any rate, be sure to follow these important items.
NOTE
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING.”
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WARNING
• 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 programming 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.
TURN
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 during operation. Always press an emergency stop button immediately if there are problems.
The emergency stop buttons are located on the right of the front door of the NX100 and
the programming pendant.
iv
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CAUTION
• Perform the following inspection procedures prior to conducting manipulator 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 cabinet 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.
Definition of Terms Used Often in This Manual
The 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:
Equipment
Manual Designation
NX100 Controller
NX100
NX100 Programming Pendant
Programming Pendant
Cable between the manipulator and the controller
Manipulator cable
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Explanation of Warning Labels
The 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 manipulator. Prior to operating the manipulator, confirm the contents.
WARNING label B
Nameplate
WARNING label A
Nameplate:
WARNING label A:
WARNING
MOTOMAN
TYPE
kg
kg
ORDER NO.
Moving parts
may cause
injury
MASS
PAYLOAD
DATE
SERIAL NO.
YASKAWA ELECTRIC CORPORATION JAPAN
WARNING label B:
WARNING
Do not enter
robot work area.
vi
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1
Product Confirmation
1.1 Contents Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Order Number Confirmation . . . . . . . . . . . . . . . . . . . . . . . 1-2
2
Transporting
2.1 Transporting Method
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.1 Using a Crane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1.2 Using a Forklift. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.2 Shipping Bolts and Brackets . . . . . . . . . . . . . . . . . . . . . . . 2-4
3
Installation
3.1 Installation of Safeguarding . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.2 Mounting Procedures for Manipulator Base . . . . . . . . 3-2
3.2.1 Installation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
3.3 Installation Method
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.3.1 S-axis Operating Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4
3.3.2 Fixing the Manipulator Base . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4
3.3.3 Precautions to Prevent the Manipulator from Falling. . . . . . . . .3-4
3.4 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
4
Wiring
4.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2 Manipulator Cable Connection . . . . . . . . . . . . . . . . . . . . . 4-2
4.2.1 Connection to the Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.2.2 Connection to the NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
5
Basic Specifications
5.1
5.2
5.3
5.4
5.5
Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Part Names and Working Axes . . . . . . . . . . . . . . . . . . . .
Manipulator Base Dimensions . . . . . . . . . . . . . . . . . . . . .
Dimensions and P-point Maximum Envelope. . . . . . .
Alterable Operating Range . . . . . . . . . . . . . . . . . . . . . . . .
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5-2
5-3
5-4
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6
Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
7
System Application
7.1 Peripheral Equipment Mounts . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.1 Allowable Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.2 Installation Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Internal User I/O Wiring Harness and Air Line
8
. . . . . . 7-3
MOTOMAN Construction
8.1 Position of Limit Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
9
Maintenance and Inspection
9.1 Inspection Schedule
(Manipulator in the Home Position: Refer to “Fig.20.”) . . . . . . . . . . 9-1
9.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . . 9-5
9.2.1 Battery Pack Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5
9.2.2 Grease Replenishment/Exchange
for S-axis Speed Reducer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
Grease Replenishment
(Refer to "Fig. 23 S-axis Speed Reducer Diagram.") . . . . . 9-8
Grease Exchange
(Refer to "Fig. 23 S-axis Speed Reducer Diagram.") . . . . . 9-8
9.2.3 Grease Replenishment/Exchange
for L-axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
Grease Replenishment
(Refer to "Fig. 24 L-axis Speed Reducer Diagram."). . . . . . 9-9
Grease Exchange
(Refer to "Fig. 24 L-axis Speed Reducer Diagram."). . . . . 9-10
9.2.4 Grease Replenishment/Exchange
for U-axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10
Grease Replenishment
(Refer to "Fig. 25 U-axis Speed Reducer Diagram.") . . . . 9-11
Grease Exchange
(Refer to "Fig. 25 U-axis Speed Reducer Diagram.") . . . . 9-11
9.2.5 Grease Replenishment for R-axis Speed Reducer. . . . . . . . . 9-12
9.2.6 Grease Replenishment for B-Axis Speed Reducer . . . . . . . . 9-13
9.2.7 Grease Replenishment for T-axis Gear . . . . . . . . . . . . . . . . . 9-14
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9.2.8 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16
Wrist Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16
Encoder Connector (with CAUTION label) . . . . . . . . . . . . .9-17
10
Recommended Spare Parts
11
Parts List
11.1
11.2
11.3
11.4
11.5
S-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
L-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
U-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
R-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wrist Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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11-3
11-5
11-7
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1.1 Contents Confirmation
1 Product Confirmation
CAUTION
• Confirm that the manipulator and the NX100 have the same order number. 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.
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 between the NX100 and the Manipulator
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1.2 Order Number Confirmation
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.
Label(Enlarged view)
THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER.
ORDER. No.
NX100
******
ERCR-
TYPE
Check that the manipulator
and the NX100 have the
same order number.
POWER SUPPLY
50Hz
50/60Hz
3PHASE
kVA
ER
GE N
C
Y
EM
200V
220V
SERIAL No.
DATE
YASKAWA ELECTRIC CORPORATION
MADE IN JAPAN
NJ2484-1
S
THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER.
T O P
ORDER NO.
NJ1529
WARNING
Do not open the door
REMOTE
TEACH
PLAY
RE
SE
T
OFF
TR
IP
PE
D
ON
S-
SHORT
CUT
SERVO
ON READY
L+
-
+
8
y
B+
z
z
T-
9
ROBOT
4
5
6
EX. AXIS
1
2
3
0
.
-
BACK
SPACE
R+
y
B-
SLOW
7
x
R-
FAST
R+
INTER
LOCK
SELECT
ASSIST
x
SERVO ON
HIGH SPEED
Y+
L-
R-
COORD
MAIN
MENU
S+
Y-
SHIFT
Multi
X+
X-
T+
TEST
START
SHIFT
BWD
FWD
DELETE INSERT
MODIFY ENTER
(a) NX100 (Front View)
(b) Manipulator (Top View)
Fig. 1 Location of Order Number Labels
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2.1 Transporting Method
2 Transporting
CAUTION
• 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 transporting.
The system consists of precision components, so failure to observe this caution may
adversely affect performance.
2.1
NOTE
Transporting Method
• Check that the eyebolts are securely fastened.
• The mass of the manipulator is approximately 280 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.
• Mount the shipping bolts and brackets for transporting the manipulator. (Refer to "Fig. 2
Transporting Position.")
• Avoid external force on the arm or motor unit when transporting. Use caution when using
transporting equipment other than a crane or forklift, as injury may occur.
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 rope threaded through attached eyebolts.
Be sure the manipulator is fixed with shipping bolts and brackets before transporting, and lift it
in the posture as shown in "Fig. 2 Transporting Position."
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2.1 Transporting Method
A
View E
Eyebolt M12 (2 eyebolts)
Delivered with the manipulator
C
Eyebolt M12 (2 eyebolts)
Delivered with the manipulator
E
Fig. 2 Transporting Position
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2.1 Transporting Method
2.1.2
Using a Forklift
When using a forklift, the manipulator should be fixed on a pallet with shipping bolts and
brackets as shown in "Fig. 3 Using a Forklift." Insert claws under the pallet and lift it. The
pallet must be strong enough to support the manipulator. Transporting of the manipulator must
be performed slowly in order to avoid overturning or slippage.
Bolt M16 (4 bolts)
Pallet
Forklift claw entry
Fig. 3 Using a Forklift
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2.2 Shipping Bolts and Brackets
2.2
Shipping Bolts and Brackets
The manipulator is provided with shipping bolts and a shipping bracket at point A. (" Fig. 2
Transporting Position ")
Eyebolt M12 (2 eyebolts)
Delivered with the manipulator
A
C
Enlarged View C
Enlarged View A
Shipping Bracket A
Fig. 4 Shipping Bolts and Brackets
• The shipping bracket (A) is painted yellow.
• A hexagon socket head cap screw M8 is attached at point A as a fixing jig.
• A rubber cushion is wedged at point C.
NOTE
Before turning ON the power, check to be sure that the shipping bolts, brackets, and rubber
cushions have been removed. The shipping bolts, a bracket, and a rubber cushion then
must be stored for future use, in the event that the manipulator must be moved again.
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3 Installation
WARNING
• 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.
• 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 prevent the manipulator from falling.
Failure to observe these warning may result in injury or damage.
CAUTION
• 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.
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3.1 Installation of Safeguarding
3.1
Installation of Safeguarding
To insure safety, be sure to install the safeguarding. It prevents unforeseen accidents with
personnel 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
safeguarding, 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" and "
Table. 2 Endurance Torque in Operation " to construct a solid foundation with the appropriate
thickness to withstand maximum repulsion forces of the manipulator.
During installation, if the flatness is not right, the manipulator shape may change and its
functional ability may be compromised. The flatness for installation must be kept at 0.5 mm or
less. Mount the manipulator base as described in the following " Fig. 5 Manipulator
Installation Example. "
Table. 1 Maximum Repulsion Forces of the Manipulator at Emergency Stop
Horizontal rotating maximum torque
( S-axis moving direction)
8000N m
(815kgf m)
Vertical rotating maximum torque
(LU-axes moving direction)
5000N m
(510kgf m)
Table. 2 Endurance Torque in Operation
Maximum horizontal torque
(S-axis moving direction)
1700N m
(171kgf m)
Maximum vertical torque
(LU-axes moving direction)
3775N m
(385kgf m)
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3.2 Mounting Procedures for Manipulator Base
3.2.1
Installation Example
1. Fix the base plate with the anchor bolts on the floor.
The base plate should be rugged and durable. It is recommended that the thickness of
the base plate be 32 mm or more and the anchor bolt size be M16 or larger.
2. Fix the manipulator base with the hexagon socket head cap screws on the base plate.
There are four mounting holes on the manipulator base. Fix the manipulator securely
with the hexagon socket head cap screws M16 (length: 60 mm recommended).
NOTE Tighten the anchor bolts and the hexagon socket head cap screws securely so that
they will not work loose during operation.
Refer to "Fig. 5 Manipulator Installation Example" for the method.
Bolt M16 (14 bolts)
(Tensile strength: 1200 N/mm2 or more)
Tightening torque 206 N m
Spring washer
Flat washer
Manipulator base
32 or more
25
Baseplate
Manipulator base
Anchor bolt (M16 or more)
Baseplate
375
18 dia. hole
(4 holes)
335
200
313
Baseplate
0.1
375
335
170
0.1
60
250
200
0.1
60
+0.018
12 dia. hole
0
(2 holes)
260
0.1
Units: mm
Manipulator Base
Fig. 5 Manipulator Installation Example
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3.3 Installation Method
3.3
Installation Method
The manipulator can be mounted in two different ways: floor-mounted (standard) and wallmounted types are available. For wall-mounted type, the three points listed below are different
from the floor-mounted type.
The abovementioned manipulator cannot be mounted on the ceiling.
• S-axis Operating Range
• Fixing the Manipulator Base
• Precautions to Prevent the Manipulator from Falling
3.3.1
S-axis Operating Range
When performing a wall installation, the S-axis movable range must be ±30°. (Changed prior to
shipment.)
3.3.2
Fixing the Manipulator Base
When performing a wall installation, be sure to use four M16 hexagon socket head cap screws
(tensile strength: 1200N/mm2 or more). Use a torque of 206N m when screwing in the screws.
3.3.3
Precautions to Prevent the Manipulator from Falling
When performing wall installation, for safety purposes, take measures to keep the manipulator
from falling.
NOTE
When using wall-mounted type, contact your Yaskawa representative.
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3.4 Location
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 (non-condensing)
• Free from dust, soot, or water
• Free from corrosive gases or liquid, or explosive gases
• Free from excessive impact or vibration (vibration acceleration: less than 4.9 m/s2 (0.5G))
• Free from large electrical noise (plasma)
• The flatness for installation is 0.5 mm or less.
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4 Wiring
WARNING
• 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.
CAUTION
• Wiring must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire or electric shock.
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4.1 Grounding
4.1
Grounding
Follow local regulations for grounding line size. A line of 5.5 mm2 or more is recommended.
Refer to "Fig. 6 Grounding Method" to connect the ground line directly to the manipulator.
NOTE
• Do not use this line in common with other ground lines or grounding electrodes for other
electric power, motor power, welding devices, etc.
• Where metal ducts, metallic conduits, or distributing racks are used for cable laying,
A
A
ground in accordance with Electric Equipment Technical Standards.
2
5.5mm or more
Section A-A
Bolt M8 (for grounding)
(Delivered with the manipulator)
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 two cables to the
manipulator base connectors and the NX100. Refer to "Fig. 8 (a) Manipulator Cable
Connectors (Manipulator Side)," "Fig. 8 (b) Manipulator Cable Connection to the NX100."
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4.2 Manipulator Cable Connection
4.2.1
Connection to the Manipulator
Before connecting three cables to the manipulator, verify the numbers: 1BC and 2BC on both
manipulator cables and the manipulator base connectors. When connecting, adjust the cable
connector positions to the main key positions of the manipulator, and insert cables in the order
of 2BC and 1BC, and then push down the lever until hearing a “click.”
4.2.2
Connection to the NX100
The numbers are written on the manipulator cables and NX100 connectors. Confirm the
numbers to connect the connectors in the order of 2BC and 1BC. When connecting, insert the
connector and then push down the lever until hearing a “click.”
Connector to the Manipulator
Connector to the NX100
X11
1BC
X11
1BC
1BC
Encoder cable
Connector to the NX100
Connector to the Manipulator
X21
2BC
2BC
X21
2BC
Power cable
Fig. 7 Manipulator Cables (1BC and 2BC)
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4.2 Manipulator Cable Connection
2BC
1BC
3BC
Connector details
(Manipulator side)
Fig. 8 (a) Manipulator Cable Connectors (Manipulator Side)
Fig. 8 (b) Manipulator Cable Connection to the NX100
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5.1 Basic Specifications
5 Basic Specifications
5.1
Basic Specifications
Table. 3 Basic Specifications*1
Item
Model
MOTOMAN-EA1900N
Configuration
Vertically Articulated
Degree of Freedom
6
Payload
3 kg
Repeatability
Range of
Motion
*2
±0.08 mm
S-axis (turning)
±180°
L-axis (lower arm)
+155°, -110°
U-axis (upper arm)
+255°, -165°
R-axis (wrist roll)
±150°
B-axis (wrist pitch/yaw)
+180°, -45°
T-axis (wrist twist)
±200°
S-axis
2.96 rad/s, 170°/s
L-axis
2.96 rad/s, 170°/s
U-axis
3.05 rad/s, 175°/s
R-axis
5.93 rad/s, 340°/s
B-axis
5.93 rad/s, 340°/s
T-axis
9.08 rad/s, 520°/s
R-axis
8.8N m (0.9kgf m)
B-axis
8.8N m (0.9kgf m)
T-axis
2.9N m (0.3kgf m)
R-axis
0.27kg m2
B-axis
0.27kg m2
T-axis
0.03kg m2
Maximum
Speed
Allowable
Moment*3
Allowable
Inertia
(GD2/4)*3
Mass
Ambient
Conditions*4
280kg
Temperature
0° to 45C°
Humidity
20 to 80% RH (non-condensing)
Vibration Acceleration
Less than 4.9m/s2 (0.5G)
• Free from corrosive gasses or liquids, or explosive gasses
Others
• Clean and dry
• Free from excessive electrical noise (plasma)
Power Requirements
*1
*2
*3
2.8kVA
SI units are used in this table. However, gravitational unit is used in ( ).
Conformed to ISO9283
Refer to " 6.1 Allowable Wrist Load " for details on the allowable moment and inertia.
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5.2 Part Names and Working Axes
5.2
Part Names and Working Axes
U+
R+
B+
BR-
U-
Wrist
Wrist flange
Uppwer arm
(U-arm)
T-
T+
Lower arm
(L-arm)
L-
L+
Rotary head
S+
SManipulator base
Fig. 9 Part Names and Working Axes
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5.3 Manipulator Base Dimensions
5.3
Manipulator Base Dimensions
200±0.1
Fitting surface
A
25
60
200±0.1
60
Fitting surface
375
335
170 ±0.1
395.5
195.5
375
335
313
250
18 dia. hole (4 holes)
(for manipulator fixing)
260 ±0.1
+0.018
12 dia. hole
0
(2 holes)
View Units: mm
Fig. 10 Manipulator Base Dimensions
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5.4 Dimensions and P-Point Maximum Envelope
5.4
Dimensions and P-Point Maximum Envelope
A
2259
1604
1904
554
0
P-point maximum envelope
150
970
30
81
P-point
78
220
200
11
0°
°
122
155
260
180°
190
155
11
0°
760
1485
4
90
R1
100 dia.
R5
54
505
°
180°
0
View A
Units: mm
1178
Fig. 11 Dimensions and P-Point Maximum Envelope
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5.5 Alterable Operating Range
5.5
Alterable Operating Range
The working range of the S-axis can be altered according to the operating conditions as
shown in "Table. 4 S-axis Operating Range." If alteration is necessary, contact your Yaskawa
representative in advance.
Table. 4 S-axis Operating Range
Item
S-axis
Operating
Range
Specifications
±180° (standard)
±150°
±120°
±90°
±60°
±30°
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6.1 Allowable Wrist Load
6 Allowable Load for Wrist Axis and Wrist
Flange
6.1
Allowable Wrist Load
The allowable wrist load is 3kg. 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. 5 Allowable Moment and Inertia."
Contact your Yaskawa representative for further information or assistance.
Table. 5 Allowable Moment and Inertia
*1
Axis
Moment N•m (kgf•m)*1
Inertia kg•m2
R-axis
B-axis
T-axis
8.8 (0.9)
8.8 (0.9)
2.9 (0.3)
0.27
0.27
0.03
( ): 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.
LB
Load gravity position
200
R-, T-axes rotation center line
LT (mm)
LT
200
100
W = 3Kg
B-axis rotaion center line
0
100
200
300
400
LB (mm)
Fig. 12 Moment Arm Rating
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6.2 Wrist Flange
6.2
Wrist Flange
The wrist flange dimensions are shown in "Fig. 13 Wrist Flange." It is recommended that the
attachment be mounted inside the fitting. Fitting depth must be 6 mm or less. The attachment
must be mounted on the range of 90 diameter or less with up to 5 mm height from the flange
face.
Tapped hole M4 (6 holes)
(depth: 10) (pitch: 0.7)
Attachments are to be mounted
within this range.
30°
5
+0.025
(The range of 42 dia. )
0
56
.D.
90 dia.
42 dia. 0
6
+0.025
P.C
+0.012
6 dia. 0
(depth: 6)
Units: mm
Fig. 13 Wrist Flange
NOTE
• Wash off anti-corrosive paint (yellow color) on the wrist flange surface with thinner or light
oil before mounting the tools.
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7.1 Peripheral Equipment Mounts
7 System Application
7.1
Peripheral Equipment Mounts
The peripheral equipment mounts are fixed on the upper arm for easier installation of the
users’ system applications as shown in "Fig. 14 Installing Peripheral Equipment Mounts."
When peripheral equipment is attached to the U-axis, the following conditions should be
observed.
7.1.1
Allowable Load
The allowable load on the U-Axis is a maximum of 12 kg, including the wrist load.
For instance, when the mass installed in the wrist point is 3 kg, the mass which can be
installed on the upper arm becomes 9 kg.
7.1.2
Installation Position
There is a limitation on where to install the peripheral equipment as shown in " Fig. 14
Installing Peripheral Equipment Mounts " on the following page.
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7.1 Peripheral Equipment Mounts
Tapped hole M8 (2 holes)
(depth: 16 mm) (pitch: 1.25)
65
55
15
40
75
50
55
40
104
94
15
75
Peripheral equipment is to be
mounted within this range.
70
65
Tapped hole M6 (2 holes)
(depth: 12 mm) (pitch: 1.0)
50
50
65
.
104
94
dia
80
165
100
65
100
Tapped hole M10 (4 holes)
(depth: 20 mm) (pitch: 1.5)
165
15
85
15
80
85
Units: mm
Fig. 14 Installing Peripheral Equipment Mounts
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7.2 Internal User I/O Wiring Harness and Air Line
7.2
Internal User I/O Wiring Harness and Air Line
Internal user I/O wiring harness (0.2mm2× 8 lead wires and 1.25mm2× 6 lead wires) and one
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 16) are assigned as shown in "Fig. 16 Detailed Drawing of Connector Pin
Numbers." Wiring must be performed by user.
• The allowable current for cables
: 3A or less for each cable
The total current value for pins 1 to 16 must
be 40A or less.
• The maximum pressure for the air line
: 490kPa (5kgf/cm2) or less
(the inside diameter: 6.5 mm)
Air inlet
Tapped hole PT3/8
with pipe plug
2BC
1BC
Connector for internal I/O wiring harness:
JL05-2A20-29PC
(pin connector with cap).
Prepare socket connector:
JL05-6A20-29S. 3BC
View A
Air inlet
Tapped hole PT3/8
with pipe plug
Connector for internal I/O wiring harness:
JL05-2A20-29SC
(socket connector with cap).
Prepare pin connector: JL05-6A20-29P
A
Fig. 15 Internal User I/O Wiring Harness and Air Line
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7.2 Internal User I/O Wiring Harness and Air Line
Pins used
1
2
3
4
5
6
9
10
11
12
13
14
15
16
1
2
3
5
4
6
7
8
11
12
10
9
(1.25mm2)
(1.25mm2)
(1.25mm2)
(1.25mm2)
(1.25mm2)
(1.25mm2)
14
13
16
15
2
Internal user I/O wiring harness : 0.2mm , 8 lead wires
2
: 1.25mm , 6 lead wires
Fig. 16 Detailed Drawing of Connector Pin Numbers
The same pin number (1-16) of two connectors is connected by the lead wire of single
0.2 mm2 or 1.25 mm2.
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8.1 Position of Limit Switch
8 MOTOMAN Construction
8.1
Position of Limit Switch
Limit switches are optional. Refer to " Fig. 17 Location of Limit Switch " for location. With the
S- or L-axis overrun limit switch or the LU-axes interference limit switch, the manipulator
model is YR-EA1900N-A01.
LU-Axes interference limit switch
(optional)
L-Axis interference
limit switch
(optional)
S-Axis overrun limit switch
(optional)
Fig. 17 Location of Limit Switch
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8.2 Internal Connections
8.2
Internal Connections
High reliability connectors which can be easily removed are used with each connector part.
For the number and location of connectors, refer to "Fig. 18 Location and Numbers of
Connectors."
3BC: Connector for internal user I/O
wiring harness
3BC: Connector for internal user I/O
wiring harness
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
JL05-2A20-29PC
(JL05-6A20-29S: Optional)
Connector for internal user I/O
wiring harness on U-arm
JL05-2A20-29SC
(JL05-6A20-29P: Optional)
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8.2 Internal Connections
Manipulator Cable
Wire Harness in S-Axis
Wire Harness in L-Axis
Wire Harness in BT-Axes
Encoder Power Circuit Board
0BT
P BAT
0BT
P BAT
1
2
3
4
0BAT11
BAT11
0BAT12
BAT12
0BT
P BAT
0BT
P BAT
5
6
7
8
0BAT21
BAT21
0BAT22
BAT22
1
2
3
4
5
6
7
8
NX100
1BC(10X4)
CN1-5
CN1-4
CN1-10
CN1-9
CN1-1
CN1-2
P
CN1-5
CN1-4
+24V
0V
1
3
P
CN1-10
CN1-9
+24V
0V
2
4
P
CN1-1
CN1-2
SPG+1
SPG-1
CN1-3
CN1-3
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
0BAT1
BAT1
0BAT2
BAT2
0BAT3
BAT3
0BAT4
BAT4
PG0V1
PG5V1
PG0V2
PG5V2
PG0V3
PG5V3
PG0V4
PG5V4
PG0V5
PG5V5
PG0V6
PG5V6
P
P
P
P
P
P
No.20CN
20CN-1
-2
-6
-5
-4
-9
-7
FG1
DATA+1
DATA-1
BAT
OBT
+5V
0V
FG1
PG
S-Axis
PG
L-Axis
OBT
BAT
CN1-6
CN1-6
CN1-7
P
CN1-8
CN1-7
SPG+2
SPG-2
CN1-8
FG2
No.21CN
21CN-1
-2
-6
-5
-4
-9
-7
P
P
P
P
P
P
DATA+2
DATA-2
BAT
OBT
+5V
0V
FG2
OBT
BAT
CN2-1
CN2-2
CN2-1
CN2-2
SPG+3
SPG-3
CN2-3
CN2-3
FG3
CN2-6
CN2-7
CN2-6
CN2-7
SPG+4
SPG-4
CN2-8
CN2-8
FG4
CN3-1
CN3-2
CN3-1
CN3-2
SPG+5
SPG-5
P
P
P
P
No.22CN
22CN-1
-2
-6
-5
-4
-9
-7
DATA+3
DATA-3
BAT
OBT
+5V
0V
FG3
No.23CN
23CN-1
-2
-3
-4
24CN-1
-2
-3
DATA+4
DATA-4
BAT
OBT
+5V
0V
FG4
PG
U-Axis
PG
R-Axis
OBT
BAT
1BC (10X4)
P
P
P
P
OBT
BAT
P
No.7CN
P
CN3-3
CN3-3
CN3-6
CN3-6
-1
-7
-2
-8
-3
-9
P
P
DATA+5
DATA-5
BAT
OBT
+5V
0V
No.14CN
14CN-1
-2
-3
-4
15CN-1
-2
-3
P
P
P
FG5
DATA+5
DATA-5
BAT
OBT
+5V
0V
FG5
PG
B-Axis
PG
T-Axis
OBT
BAT
P
CN3-7
CN3-7
SPG+6
SPG-6
P
P
CN3-8
CN3-8
FG6
-4
-10
DATA+6
DATA-6
-5
-11
-6
+5V
0V
FG6
No.16CN
16CN-1
-2
-3
-4
17CN-1
-2
-3
P
P
DATA+6
DATA-6
BAT
OBT
+5V
0V
FG6
OBT
BAT
CN4-1
CN4-6
P
CN4-1
CN4-6
+24V
LB1
CN4-2
CN4-7
SS2
P
CN4-2
CN4-7
CN4-3
CN4-8
P
CN4-3
CN4-8
CN2-4
CN2-5
P
CN2-4
CN2-5
CN2-9
CN2-10
P
CN2-9
CN2-10
CN3-4
CN3-5
P
CN3-4
CN3-5
LA1
LA2
P
A
BC2
AL2
U
V
P
P
CN4-4
CN4-5
CN4-9
P
CN3-9
CN3-10
CN4-4
CN4-5
CN4-9
for Lamp (Optional)
0V
+5V
0V
+5V
LA1
LB1
0V
+5V
S-Axis Overrun Limit Switch
LA1
LB1
LA2
LB1
P
CN3-9
CN3-10
LA2
LB2
AL1
LA2
LB2
LB3
0V
+5V
A
L-Axis Overrun Limit Switch
LA3
LB3
LU-Axes Interference Limit Switch
SLU-Axes with Limit Switch Specification
SPG+7
SPG-7
FG7
E
E
Fig. 19 (a) Internal Connection Diagram
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8.2 Internal Connections
E E
Casing
Base
3BC(20-29)
E
E
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
For Internal User I/O Wiring Harness
and Air Line
E
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
E
3BC(20-29)
E
7
8
1
2
3
4
5
6
SS1
SS2
1
2
3
4
5
6
SS1
SS2
E
1
2
3
4
P
P
1
2
3
4
P
P
P
SS1
SS2
P
SS1
SS2
P
P
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
2BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
2BC(6X6)
E
E
2BC(6X6)
CN1-1
CN1-1
CN1-2
CN1-2
CN1-3
CN1-4
CN1-3
CN1-4
CN1-5
CN1-5
CN1-6
CN1-6
CN2-1
CN2-1
CN2-2
CN2-2
CN2-3
CN2-4
CN2-3
CN2-4
CN2-5
CN2-5
CN2-6
CN2-6
CN3-1
CN3-1
CN3-2
CN3-2
CN3-3
CN3-4
CN3-3
CN3-4
CN3-5
CN3-5
CN3-6
CN3-6
CN4-1
CN4-1
CN4-2
CN4-2
CN4-3
CN4-4
CN4-3
CN4-4
CN4-5
CN4-5
CN4-6
CN4-6
BA1
BA2
BB1
ME1
ME2
ME2
MU1
MV1
MW1
MU2
MV2
MW2
No.3CN
MU1
MV1
MW1
ME1
BA1
BB1
3CN-1
-2
-3
-4
-5
-6
No.4CN
MU2
MV2
MW2
ME2
BA2
BB2
4CN-A
-B
-C
-D
-E
-F
CN5-1
CN5-2
CN5-2
CN5-3
CN5-4
CN5-3
CN5-4
CN5-5
CN5-5
CN5-6
CN5-6
CN6-1
CN6-1
CN6-2
CN6-2
CN6-3
CN6-4
CN6-3
CN6-4
CN6-5
CN6-5
CN6-6
CN6-6
S-Axis
YB
SM
L-Axis
YB
No.26CN
MU2
MV2
MW2
MU3
MV3
MW3
26CN-1
-2
-3
-4
-5
-6
MU4
MV4
MW4
MU5
MV5
MW5
25CN-1
-2
-3
-4
-1
-2
No.25CN
No.11CN
CN5-1
SM
MU6
MV6
MW6
ME3
ME4
ME5
ME6
BA3
BB4
BA4
BA5
BA6
11CN-1
-2
-3
-4
No.35CN
MU5
MV5
MW5
ME5
MU3
MV3
MW3
ME3
BA3
BB3
SM
YB
MU4
MV4
MW4
ME4
BA4
BB4
SM
18CN-1
-2
-3
-4
-1
-2
12CN-1
-2
-3
-4
No.19CN
MU6
MV6
MW6
ME6
BA5
BB5
BA6
BB6
19CN-1
-2
-3
-4
-1
-2
No.37CN
R-Axis
YB
No.18CN
MU5
MV5
MW5
ME5
BA5
BB5
No.36CN
-5
-6
-7
-8
U-Axis
MU6
MV6
MW6
ME6
BA6
BB6
SM
B-Axis
YB
SM
T-Axis
YB
No.12CN
PE
Fig. 19 (b) Internal Connection Diagram
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9.1 Inspection Schedule
9 Maintenance and Inspection
WARNING
• Before maintenance or inspection, be sure to turn the main power supply 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.
CAUTION
• 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 connector when maintenance and inspection.
Failure to observe this caution may result in the loss of home position data.
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 displayed in six levels. Conduct periodical inspections according to the
inspection schedule in "Table 7 Inspection Items."
In " Table. 7 Inspection Items, " the inspection items are classified into three types of
operation: 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 inspection work.
NOTE
• 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 recommended that inspections be conducted at shorter Intervals. Contact your Yaskawa representative.
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9.1 Inspection Schedule
Table. 7 Inspection Items
Inspection Charge
Schedule
Items*4
Daily
1000
H
Cycle
Method
6000 12000
24000 36000
H
H
H
H
Cycle Cycle
Operation
Specified
Service
Licensee
Person
Company
Alignment
mark
Visual
Check alignment
mark accordance
and damage at the
home position.
External lead
Visual
Check for damage
and deterioration of
leads.
Manipulator
Visual
Clean the work area
if dust or spatter is
present.
Check for damage
and exterior cracks.
SLU-axes
motors
Visual
Check for grease
leakage.*5
Manipulator
base
mounting
bolts
Wrench
Cover mounting screws
Phillips
screwdriver,
wrench
Connector
base
Manual
Check for loose connectors.
BT-axes
timing belts
Manual
Check for belt
tension and wear.
Tighten loose bolts.
Replace if necessary.
Tighten loose bolts.
Replace if necessary.
Check for conduction between the
main connector of
Visual, connector base and
multime- intermediate connector with manually
ter
shaking the wire.
Check for wear of
Wire harness
in manipulator (for SLUaxes) (for
RBT-axes)
protective spring.*1
Replace.*2
Visual, Check for connecmultime- tion between termiter
nals.*1
Wire harness
in manipulator (for BTaxes)
11
12
Replace.*2
Replace the battery
pack when the battery alarm occurs or
the manipulator
drove for 36000H.
Battery pack
in manipulator
S-axis speed
reducer
Grease
Gun
Check for malfunction. (Replace if necessary.) Supply
grease (6000H
cycle). *3
Exchange grease
(12000H cycle).*3
See Par. 9.2.2.
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9.1 Inspection Schedule
Table. 7 Inspection Items
Inspection Charge
Schedule
Items*4
Daily
13
14
15
16
17
1000
H
Cycle
Operation
Method
6000 12000
24000 36000
H
H
H
H
Cycle Cycle
LU-axes
speed reducers
Grease
Gun
Specified
Service
Licensee
Person
Company
Check for malfunction. (Replace if necessary.) Supply
grease (6000H
cycle). *3
Exchange grease
(12000H cycle). *3
See Par. 9.2.3 and
9.2.4.
R-axis speed
reducer
Grease
Gun
B-axis speed
reducer
Grease
Gun
Grease
Gun
T-axis gear
Check for malfunction. (Replace if necessary.) Supply
grease (6000H
cycle).*3
See Par. 9.2.5 and
9.2.6.
Check for malfunction. (Replace if necessary.) Supply
grease (6000H
cycle).*3
See Par. 9.2.5 and
9.2.6.
Check for malfunction. (Replace if necessary.) Supply
grease (6000H
cycle). *3
See Par. 9.2.7.
Overhaul
*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
*3
*4
Internal cables to be replaced at 24000H inspection.
*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.
For the grease, refer to "Table 8 Inspection Parts and Grease Used."
Inspection No. correspond to the numbers in "Fig. 20 Inspection Parts and Inspection Numbers (Manipulator
in the Home Position)."
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9.1 Inspection Schedule
Table. 8 Inspection Parts and Grease Used
No.
Grease Used
12 13
Inspected Parts
Molywhite RE No. 00
S-, L-, and U-axes speed reducers
Harmonic Grease 4B No.2
R-axis speed reducer
Harmonic Grease SK-1A
B-axis speed reducer
Alvania EP Grease 2
T-axis gear
14
15
16
The numbers in the above table correspond to the numbers in "Table 7 Inspection Items."
14
8
8
4
10
15
Note:
The manipulator is in the home position.
16
4
13
4
13
11
9
7
12
5
Fig. 20 Inspection Parts and Inspection Numbers (Manipulator in the Home Position)
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9.2 Notes on Maintenance Procedures
9.2
9.2.1
Notes on Maintenance Procedures
Battery Pack Replacement
If the battery alarm occurs in the NX100, replace the battery pack according to the following
procedure:
Battery pack
Connector base
Support
Connector base
Tightening bolt for connector base Fig. 21 Battery Pack Location
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9.2 Notes on Maintenance Procedures
See the following step 5.
Battery pack before replacement
Connector
Circuit board
See the following step 4.
New battery pack
Fig. 22 Battery Pack Connection
1.
2.
3.
4.
Turn the NX100 main power supply OFF.
Remove the mounting screws for the battery pack on the support.
Remove the battery pack from the holder.
Connect the new battery pack to an unconnected connector on the circuit board.
5. Remove the old battery pack from the circuit board.
NOTE
Connect the new battery pack before removing the old one so that the encoder absolute
data does not disappear.
6. Mount the new battery pack on the holder.
7. Securely fix the battery pack on the support with the mounting screws.
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9.2 Notes on Maintenance Procedures
9.2.2
Grease Replenishment/Exchange for S-axis Speed
Reducer
Grease exhaust port
Hexagon socket head plug PT1/8
Grease exhaust port
Hexagon socket head plug PT1/8
S-axis speed reducer
Grease inlet
Hexagon socket head plug PT1/8
Fig. 23 S-axis Speed Reducer Diagram
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9.2 Notes on Maintenance Procedures
Grease Replenishment (Refer to "Fig. 23 S-axis Speed Reducer
Diagram.")
1. Remove the hexagon socket head plug PT1/8 from the grease exhaust port.
NOTE
If grease is added with the plug PT1/8 on, the grease will go inside the motor and may
damage it. It is absolutely necessary to remove the plug PT1/8.
2. Remove the hexagon socket head plug PT1/8 from the grease inlet and install the
grease zerk PT1/8. Inject the grease from the grease inlet using a grease gun.
(The grease zerk is delivered with the manipulator.)
Grease type: Molywhite RE No.00
Amount of grease: 30cc
(60cc for first supply)
3. Move the S-axis for a few minutes to discharge the excess grease.
4. Remove the grease zerk PT1/8 from the grease inlet and reinstall the plug PT1/8.
Apply the Three Bond 1206C on the screwed part of the plug.
5. Wipe the grease exhaust port with a cloth and reinstall the plug PT1/8. Apply the Three
Bond 1206C on the screwed part of the plug.
Grease Exchange (Refer to "Fig. 23 S-axis Speed Reducer Diagram.")
1. Remove the hexagon socket head plug PT1/8 from the grease exhaust port.
NOTE
If grease is added with the plug PT1/8 on, the grease will go inside the motor and may
damage it. It is absolutely necessary to remove the plug PT1/8.
2. Remove the hexagon socket head plug PT1/8 from the grease inlet and install the
grease zerk PT1/8. Inject the grease from the grease inlet using a grease gun.
(The grease zerk is delivered with the manipulator.)
Grease type: Molywhite RE No.00
Amount of grease: Approx. 1800cc
3. The grease exchange is complete 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 PT1/8 from the grease inlet and reinstall the plug PT1/8.
Apply the Three Bond 1206C on the screwed part of the plug.
6. Wipe the grease exhaust port with a cloth and reinstall the plug PT1/8.
Apply the Three Bond 1206C on the screwed part of the plug.
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9.2 Notes on Maintenance Procedures
9.2.3
Grease Replenishment/Exchange for L-axis Speed
Reducer
L-arm
Grease exhaust port
Hexagon socket head plug PT1/8
L-axis speed reducer
Grease inlet
Hexagon socket head cap screw M6
Fig. 24 L-axis Speed Reducer Diagram
Grease Replenishment (Refer to "Fig. 24 L-axis Speed Reducer
Diagram.")
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head plug PT1/8 from the grease exhaust port.
NOTE
If grease is added with the plug PT1/8 on, the grease will go inside the motor and may
damage it. It is absolutely necessary to remove the plug.
3. Remove the hexagon socket head cap screw M6 from the grease inlet and install the
grease zerk A-MT6 x 1. (The grease zerk is delivered with the manipulator.)
4. Inject the grease from the grease inlet using a grease gun.
Grease type: Molywhite RE No.00
Amount of grease: 30cc
(60cc for first supply)
5. Move the L-axis for a few minutes to discharge the excess grease.
6. Remove the grease zerk A-MT6 x 1 from the grease inlet and reinstall the screw M6.
Apply the Three Bond 1206C on the screwed part of the screw.
7. Wipe the grease exhaust port with a cloth and reinstall the plug PT1/8.
Apply the Three Bond 1206C on the screwed part of the plug.
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9.2 Notes on Maintenance Procedures
Grease Exchange (Refer to "Fig. 24 L-axis Speed Reducer Diagram.")
1. Make the L-arm vertical for ground.
2. Remove the hexagon socket head plug PT1/8 from the grease exhaust port.
NOTE
If grease is added with the plug 1/8 on, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the plug.
3. Remove the hexagon socket head cap screw M6 from the grease inlet and install the
grease zerk A-MT6 x 1. (The grease zerk is delivered with the manipulator.)
4. Inject the grease into the grease inlet using a grease gun.
Grease type: Molywhite RE No.00
Amount of grease: approx. 500cc
The grease exchange is complete 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 A-MT6 x 1 from the grease inlet and reinstall the screw M6.
Apply the Three Bond 1206C on the screwed part of the screw.
7. Wipe the grease exhaust port with a cloth and reinstall the plug PT1/8. Apply the
Three Bond 1206C on the screwed part of the plug.
9.2.4
Grease Replenishment/Exchange for U-axis Speed
Reducer
U-arm
U-axis speed reducer
Grease exhaust port
Hexagon socket head cap screw M6
Grease inlet
Hexagon socket head plug PT1/8
Fig. 25 U-axis Speed Reducer Diagram
9-10
HW0482170
HW0482170
9.2 Notes on Maintenance Procedures
Grease Replenishment (Refer to "Fig. 25 U-axis Speed Reducer
Diagram.")
1. Tilt the U-arm as shown in "Fig. 25 U-axis Speed Reducer Diagram."
2. Remove the hexagon socket head cap screw M6 from the grease exhaust port.
NOTE
If grease is added with the screw M6 on, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the screw.
3. Remove the hexagon socket head cap plug PT1/8 from the grease inlet and install the
grease zerk A-MT6 x 1. (The grease zerk is delivered with the manipulator.)
4. Inject the grease from the grease inlet using a grease gun.
Grease type: Molywhite RE No.00
Amount of grease: 30cc
(60cc for first supply)
5. Move the U-axis for a few minutes to discharge the excess grease.
6. Remove the grease zerk A-MT6 x 1 from the grease inlet and reinstall the plug PT1/8.
Apply the Three Bond 1206C on the screwed part of the plug.
7. Wipe the grease exhaust port with a cloth and reinstall the screw M6.
Apply the Three Bond 1206C on the screwed part of the screw.
Grease Exchange (Refer to "Fig. 25 U-axis Speed Reducer Diagram.")
1. Tilt the U-arm as shown in "Fig. 25 U-axis Speed Reducer Diagram."
2. Remove the hexagon socket head cap screw M6 from the grease exhaust port.
NOTE
If grease is added with the screw M6 on, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the screw.
3. Remove the hexagon socket head cap plug PT1/8 from the grease inlet and install the
grease zerk A-MT6 x 1. (The grease zerk is delivered with the manipulator.)
4. Inject the grease from the grease inlet using a grease gun.
Grease type: Molywhite RE No.00
Amount of grease: approx. 300cc
5. The grease exchange is complete when new grease appears in the grease exhaust
port. The new grease can be distinguished from the old grease by color.
6. Move the U-axis for a few minutes to discharge the excess grease.
7. Remove the grease zerk A-MT6 x 1 from the grease inlet and reinstall the plug PT1/8.
Apply the Three Bond 1206C on the screwed part of the plug.
8. Wipe the grease exhaust port with a cloth and reinstall the screw M6. Apply the Three
Bond 1206C on the screwed part of the screw.
9-11
HW0482170
HW0482170
9.2 Notes on Maintenance Procedures
9.2.5
Grease Replenishment for R-axis Speed Reducer
Exhaust port
Hexagon socket head plug PT 1/8
R-axis speed reducer
Grease inlet
Hexagon socket head cap screw M6
Fig. 26 R-axis Speed Reducer Diagram
1. Remove the hexagon socket head plug PT1/8 from the exhaust port.
2. Remove the hexagon socket head cap screw M6 from the grease inlet and install the
grease zerk A-MT6 x 1. (The grease zerk is delivered with the manipulator.)
3. Inject the grease into the grease inlet using a grease gun. (Refer to " Fig. 26 R-axis
Speed Reducer Diagram ".)
Grease type: Harmonic grease 4B No.2
Amount of grease: 12cc
(24cc for the first supply)
NOTE
The exhaust port is used only for air flow.
Do not inject excessive grease into the grease inlet.
4. Remove the grease zerk A-MT6 x 1 from the grease inlet and reinstall the screw M6.
Apply the Three Bond 1206C on the screwed part of the screw.
5. Reinstall the plug 1/8 into exhaust port. Apply the Three Bond 1206C on the screwed
part of the plug.
9-12
HW0482170
HW0482170
9.2 Notes on Maintenance Procedures
9.2.6
Grease Replenishment for B-Axis Speed Reducer
Exhaust port
(Plug LPM5)
B-axis speed reducer
Grease inlet
(Grease zerk A-MT6 x 1)
Fig. 27 B-Axis Speed Reducer Diagram
1. Remove the cover and the plug LPM5 from the exhaust port.
2. Inject grease into the grease inlet using a grease gun. (Refer to "Fig. 27 B-Axis Speed
Reducer Diagram.")
Grease type: Harmonic grease SK-1A
Amount of grease: 7cc
(14cc for the 1st supply)
NOTE
The exhaust port is used only for air flow.
Do not inject excessive grease into the grease inlet.
3. Reinstall the plug LPM5 into the exhaust port, and remount the cover.
9-13
HW0482170
HW0482170
9.2 Notes on Maintenance Procedures
9.2.7
Grease Replenishment for T-axis Gear
Grease inlet 2
Hexagon socket head cap screw M6
Grease inlet 1
Hexagon socket head cap screw M6
Exhaust port
Hexagon socket head plug M6
Fig. 28 T-axis Gear Diagram
1. Remove the hexagon socket head cap plug M6 from the exhaust port.
2. Remove the hexagon socket head cap screw M6 from the grease inlet 1.
3. Install a grease zerk A-MT6 x 1 into the grease inlet 1. (The grease zerk is delivered
with the manipulator.)
4. Inject grease into the grease inlet 1 using a grease gun.
Grease type: Alvania EP grease2
Amount of grease: 5cc
9-14
HW0482170
HW0482170
9.2 Notes on Maintenance Procedures
NOTE
The exhaust port is used only for air flow.
Do not inject excessive grease into the grease inlet.
5. Remove the grease zerk A-MT6 x 1 from the grease inlet 1, and reinstall the screw M6.
Apply the Three Bond 1206C on the screwed part of the screw.
6. Remove the hexagon socket head cap screw M6 from the grease inlet 2.
7. Install a grease zerk A-MT6 x 1 to the grease inlet 2. (The grease zerk is delivered with
the manipulator.)
8. Inject grease into the grease inlet 2 using a grease gun.
Grease type: Alvania EP grease2
Amount of grease: 5cc
NOTE
The exhaust port is used only for air flow.
Do not inject excessive grease into the grease inlet.
9. Remove the grease zerk A-MT6 x 1 from the grease inlet 2, and reinstall the screw M6
into the grease inlet 2. Apply the Three Bond 1206C on the screwed part of the screw.
10. Reinstall the plug M6 to the exhaust port. Apply the Three Bond 1206C on the
screwed part of the plug.
9-15
HW0482170
HW0482170
9.2 Notes on Maintenance Procedures
9.2.8
Notes for Maintenance
Wrist Axes
The motor and encoder units are provided with the wrist unit. To prevent fumes from
penetrating into the wrist unit, the matched parts are sealed with sealing bond. Therefore, if
the wrist cover is disassembled, reseal with sealing bond (Three Bond 1206C). Refer to
"Table 9 Spare Parts for the MOTOMAN-EA1900N."
Cover
Cover jointing face
Cover jointing face
Cover
Fig. 29 Sealing Part of Wrist Unit
9-16
HW0482170
HW0482170
9.2 Notes on Maintenance Procedures
Encoder Connector (with CAUTION label)
NOTE
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 removing
the encoder connector. Removing the encoder connector without connecting the battery
backup leads to disappearance of the encoder absolute data.
For the battery pack connection, refer to "Fig. 30 (a) Encoder Connector for S-, L-, and Uaxes" and "Fig. 30 (b) Encoder Connector for R-, B-, and T-axes."
Encoder connector
Motor
CAUTION
Connect battery to encoder to save the data before removing conector.
Motor power connector
CAUTION label
0BT
b
a 0BT*
BAT
a
b BAT*
Battery pack (HW9470932-A)
Connector for the battery backup
CAUTION label (Enlarged view)
a: Crimped contact-pin (pin)
b: Crimped contact-pin (socket)
CAUTION
Connect battery to encoder to save the data before removing conector.
Fig. 30 (a) Encoder Connector for S-, L-, and U-axes
9-17
HW0482170
HW0482170
9.2 Notes on Maintenance Procedures
Encoder
Motor
Motor cable, etc.
Wire harness
in manipulator
Power connector
Connection
0BT
b
BAT
a
CAUTION
Connect battery to encoder to save the data before removing conector.
Encoder connector
a
0BT
b
BAT
Battery pack (HW9470932-A)
CAUTION label
0BT
BAT
b
a
0BT
a
b
BAT
CAUTION label (Enlarged view)
a: Crimped contact-pin (pin)
b: Crimped contact-pin (socket)
CAUTION
Connect battery to encoder to save the data before removing conector.
Fig. 30 (b) Encoder Connector for R-, B-, and T-axes
9-18
HW0482170
HW0482170
10 Recommended Spare Parts
It is recommended that the following parts and components be kept in stock as spare parts for
the MOTOMAN-EA1900N. The spare parts list for the MOTOMAN-EA1900N is shown below.
For preparing lead wires for internal wiring, etc., check the serial number and contact your
Yaskawa representative.
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
NOTE
To replace parts in Rank B or Rank C, contact your Yaskawa representative.
Table. 9 Spare Parts for the MOTOMAN-EA1900N
Rank
Parts
No.
A
1
A
2
A
3
A
4
A
5
A
6
A
7
B
8
B
9
B
10
Name
Type
Manufacturer
Qty
Qty
per
Unit
Grease
Molywhite
RE No. 00
Yaskawa Electric
Corporation
16kg
-
Grease
Harmonic Grease
4B No. 2
Harmonic Drive
System Co., Ltd.
2.5kg
-
Grease
Harmonic Grease
SK-1A
Harmonic Drive
System Co., Ltd.
2.5kg
-
Grease
Alvania EP
Grease 2
Showa Shell
Sekiyu K.K.
16kg
-
Liquid Gasket
Three Bond 1206C
Three Bond Co.,
Ltd.
-
-
Battery Pack
HW0470360-A
Yaskawa Electric
Corporation
1
1
Battery Pack
HW9470932-A
Yaskawa Electric
Corporation
1
-
B-axis Timing Belt
60S4.5M711
Mitsuboshi Belting Limited
1
1
T-axis Timing Belt
60S4.5M932
Mitsuboshi Belting Limited
1
1
S-axis
Speed Reducer
HW9381641-B
Yaskawa Electric
Corporation
1
1
Remarks
For removal of the
encoder connector
10-1
HW0482170
HW0482170
Table. 9 Spare Parts for the MOTOMAN-EA1900N
Manufacturer
Qty
Qty
per
Unit
HW9381641-A
Yaskawa Electric
Corporation
1
1
U-axis
Speed Reducer
HW9280880-A
Yaskawa Electric
Corporation
1
1
13
R-axis
Speed Reducer
HW0381645-A
Yaskawa Electric
Corporation
1
1
B
14
B-axis
Speed Reducer
HW0381646-A
Yaskawa Electric
Corporation
1
1
B
15
R-axis Gear
HW0303288-A
Yaskawa Electric
Corporation
1
1
B
16
R-axis Gear Unit
HW0370905-A
Yaskawa Electric
Corporation
1
1
B
17
T-axis Gear (Output
Side)
HW0301289-A
Yaskawa Electric
Corporation
1
1
B
18
T-axis Gear (Input
Side)
HW0301435-A
Yaskawa Electric
Corporation
1
1
B
19
Wire Harness in
Manipulator
HW0171366-A
Yaskawa Electric
Corporation
1
1
20
Wire Harness in
Manipulator for Band T-axes
HW0270912-A
B
Yaskawa Electric
Corporation
1
1
C
21
AC Servomotor for
S-axis
HW0382155-A
SGMRS-12A2BYR1∗
Yaskawa Electric
Corporation
1
1
C
22
AC Servomotor for
L-axis
HW0382156-A
SGMRS-13A2AYR1∗
Yaskawa Electric
Corporation
1
1
C
23
AC Servomotor for
U-axis
HW0382154-A
SGMRS-06A2BYR2∗
Yaskawa Electric
Corporation
1
1
C
24
AC Servomotor for
R-axis
HW0382151-A
SGMPH-01A2AYR1*
Yaskawa Electric
Corporation
1
1
C
25
AC Servomotor for
B- and T-axes
HW0382150-A
SGMAS-01A2AYR1*
Yaskawa Electric
Corporation
1
2
Rank
Parts
No.
B
11
L-axis
Speed Reducer
B
12
B
Name
Type
Remarks
With input gear
10-2
HW0482170
HW0482170
11.1 S-Axis Unit
11 Parts List
11.1 S-Axis Unit
1014
1013
1040
1041
1016
1031
1017
1033
1003
1043
1005
1004
1041
1042
1032
1027
1008
1002
1006
1007
1010
1009
1028
1015
1029
1030
1023
1019
1018
1039
1025
1038
1020
1021
1024
1001
1012
1026
1022
1037
1034
1035
1036
11-1
HW0482170
HW0482170
11.1 S-Axis Unit
No.
1001
DWG No.
EZ5036A0
Name
Pcs
Cap
1
1
1002
CD-31
Saddle
1003
M6X10
Socket screw
2
1004
TA1-S8
Clamp
1
1005
M5X10
Washer
1
1006
TSH6-01M
Union
1
1
1007
HW0304225-1
Holder
1008
M6X15
Socket screw
2
1009
TA1-S8
Clamp
1
1010
M5X10
Screw with
spring washer
1
1012
PT3/8
Plug
1
1013
SGMRS-12A2B-YR1*
Motor
1
1014
M8X25
Socket screw
3
1015
HW0304228-1
M base
1
1016
M5X10
Bolt
4
1017
HW0304223-1
Cover
1
1018
M16X20
Socket screw
1
1019
2H-16
Spring Washer
1
1
1020
MSB8-15
Shoulder
1021
HW0400645-1
Lever
1
1022
M5X10
Bolt
6
1023
HW0100545-1
S-head
1
1024
HW9381641-B
Speed Reducer
1
1025
M10X40
Socket screw
12
1026
HW0100544-1
Base
1
1027
M8X60
Socket Screw
3
1028
2H-8
Spring Washer
3
1029
M12X35
Socket screw
9
1030
2H-12
Spring Washer
9
1
1031
HW0304301-1
Gear
1032
M6X60
Socket screw
1
1033
2H-6
Spring Washer
1
1
1034
TSH6-01M
Union
1035
HW9406775-1
Cover
1
1036
M6X8
Bolt
2
1037
NB-0640B-0.27
Tube
1
1038
HW0304221-1
Cover
1
1039
M6X15
Socket screw
2
1040
PT1/8
Plug
1
1041
UKM6-01
Union
1
1042
NB-0640B-0.2
Tube
1
1043
2H-6
Spring Washer
2
11-2
HW0482170
HW0482170
11.2 L-Axis Unit
11.2 L-Axis Unit
2019
2020
2022
2016
2035
2014
2021
2013
2015
2030
2018
2017
2003
2002
2004
2007
2012
2005
2010
2001
2006
2009
2008
2011
2025
2024
2023
1023
2032
2025
2024
2026
2027
2023
2033
2031
2028
2029
2029
2028
2034
11-3
HW0482170
HW0482170
11.2 L-Axis Unit
No.
2001
DWG No.
PT1/8
Name
Plug
Pcs
1
2002
PT1/8
Plug
2
2003
M8X25
Socket screw
4
2004
M8X25
Socket screw
4
2005
TSH6-01M
Union
1
2006
HW0304229-1
M-base
1
2007
SGMRS-13A2A-YR1*
Motor
1
2008
M6X90
Socket screw
1
2009
2H-6
Spring Washer
1
2010
HW0304302-1
Gear
1
2011
Y426012.5
Oil seal
1
2012
HW0401506-1
Plate
1
2013
HW0304226-1
Support
1
2014
M6X10
Socket screw
2
2015
HW0304227-1
Cover
1
2016
M6X8
Bolt
4
2017
M12X35
Socket screw
12
2018
2H-12
Spring Washer
12
2019
HW0100546-1
L-arm
1
2020
HW9381641-A
Speed Reducer
1
2021
M10X35
Socket screw
12
2022
2H-10
Spring Washer
12
2023
M12X40
Socket screw
2
2024
2H-12
Spring Washer
2
2025
NCLB12-20-22
Coller
2
2026
FCD-31
Saddle
1
2027
M5X12
Socket screw
2
2028
TA1-S8
Clamp
2
2029
M5X8
Screw with
spring washer
2
2030
M6X10
Socket screw
1
2031
HW0304222-1
Holder
1
4
2032
M5X12
Socket screw
2033
HW0304224-1
Cover
1
2034
M5X12
Socket screw
4
2035
2H-6
Spring Washer
2
1023
HW0100545-1
S-head
1
11-4
HW0482170
HW0482170
11.3 U-Axis Unit
11.3 U-Axis Unit
3043
3039
3005
3022
3004
4042
3021
3044
3045
3038
3037
3013
3012
3001
3006
3033-34
3035
3010
3029
3028
3036 3020
3025
3024
3027
3026
3041
3007
3008
3023
3009
3033-34
3035
3019
3042
3002
3040
3041
3007
3042
3019
3017
3015
3014
3016
2019
3031
3018
3030
11-5
HW0482170
HW0482170
11.3 U-Axis Unit
No.
3001
DWG No.
SGMRS-06A2B-YR2*
Name
Pcs
Motor
1
1
3002
HW9280880-A
Speed Reducer
3004
HW0100634-1
Casing
1
3005
HW0200494-3
Cover
1
3006
HW0404554-1
N-base
1
3007
FAMSC-V10-D18-L16
Washer
2
3008
HW0404719-1
Plate
1
3009
HW0304458-1
Support
1
3010
HW0304454-1
Cover
1
3012
PT1/8
Plug
1
3013
M8X30
Socket Screw
4
2H-8
Spring Washer
4
3014
M8X45
Socket Screw
16
3015
2H-8
Spring Washer
16
3016
M4X65
Socket Screw
1
3017
2H-4
Spring Washer
1
3018
M14X35
Socket Screw
6
M14
Washer
6
3019
M10X50
Socket Screw
2
3020
M4X10
Socket Screw
4
2H-4
Spring Washer
4
3021
M4X70
Socket Screw
4
2H-4
Spring Washer
4
3022
PT3/8
Plug
1
3023
M4X12
Socket Screw
2
2H-4
Spring Washer
2
3024
PZ1212
Saddle
1
3025
M4X10
Bolt
2
3026
M4X10
Bolt
2
3027
PZ1208
Saddle
1
3028
M4X12
Socket Screw
7
2H-4
Spring Washer
7
3029
M4
Washer
7
3030
M6X6
Socket Screw
1
3031
M10X20
Socket Screw
1
2H-10
Spring Washer
1
3033
TA1-S10
Clamp
2
3034
T50R
Cable tie
2
3035
M5X10
Bolt
2
3036
M4X70
Socket Screw
2
2H-4
Spring Washer
2
3037
M3X16
Round head
screw
2
3038
M3
Nut
2
4042
KQE10-03
Air joint
1
2019
HW0100546-1
L-arm
1
3039
HW0404688-1
Cover
1
3040
ARP568-258
O-ring
1
3041
HW9405278-1
Spacer
2
3042
2H-10
Spring Washer
2
3043
M4X10
Socket screw
2
2H-4
Spring Washer
2
3044
HW0305696-1
Spacer
2
3045
HW0305697-1
Spacer
1
11-6
HW0482170
HW0482170
11.4 R-Axis Unit
11.4 R-Axis Unit
4054
4055
4052
4053
4070
4073
5013
4071
4072
4062
4074
4075
4078
4019
4048
4016
4017
4026
4027
4045
4044
4007
4003
4076
4046
4077
4015
4063
4039
4028
4065
4014
4037
4064
4006
4066
4067
4041
4005
4025
4043
4050
4008
4011
4009
4031
4010
4024
4020 4004
4012
4002
4057
4001
3004
4050
4068
4011
4058
4022
4021 4030
4030
4023
4036
4035
4033
4034
4018
4069
4056
4061
4060
4059
11-7
HW0482170
HW0482170
11.4 R-Axis Unit
No.
No.
DWG No.
Name
DWG No.
Name
Pcs
Pcs
4066
M6X6
Socket Screw
1
4001
SGMPH-01A2A-YR1*
Motor
1
4067
2H-6
Spring Washer
1
4002
HW0381645-A
Speed reducer
1
4068
2H-4
Spring Washer
1
4003
CRBH11016AUE01
Cross roller
bearing
1
4069
2H-5
Spring Washer
2
4070
M4X10
Socket Screw
6
5
4004
6906
Bearing
1
4071
M6X55
Socket Screw
4005
6905
Bearing
1
4072
2H-6
Spring Washer
5
4006
TC1101226
Oil seal
1
4073
HW0404689-1
Cover
1
4
4007
TC1301427
Oil seal
1
4074
M4X14
Socket Screw
4008
HW0303724-1
Gear
1
4075
2H-4
Spring Washer
4
4009
HW0303725-1
Gear
1
4076
HW0404690-1
Cover
1
4010
HW0403980-1
Pin
4
4077
M4X10
Socket Screw
6
4011
HW0403979-1
Coller
2
4078
HW0200500-1
Motor
1
4012
SWB8-20
Spring
2
4014
HW0303288-1
Gear
1
4015
HW0303343-1
Shaft
1
4016
HW0303345-1
Shaft
1
4017
HW0304453-1
Flange
1
4018
HW0402673-1
M-base
1
4019
HW0304451-1
Shaft
1
4020
HW0304452-1
Housing
1
4021
HW0402672-1
Fly wheel
1
4022
TC13287
Oil seal
1
4023
RTW47
Stopper
1
4024
STW-30
C-stopper
1
4025
STW-25
C-stopper
1
4026
PZ1212
Saddle
1
4027
PZ1208
Saddle
1
1
4028
EZ5036AO
Cap
4030
HW0404304-1
Packing
2
4031
M5X16
Socket Screw
4
2H-5
Spring Washer
4
4033
M4X25
Socket Screw
1
4034
2H-4
Spring Washer
1
4035
M5X16
Socket Screw
6
4036
2H-5
Spring Washer
6
4037
M4X10
Socket Screw
4
4039
M6X30
Socket Screw
8
2H-6
Spring Washer
8
4041
PT1/8
Plug
1
4043
KQL10-00
Union
1
4044
M4X10
Bolt
2
4045
M4X6
Bolt
2
4046
M5X20
Socket Screw
6
4048
M5x16
Socket Screw
6
4050
M4X16
Socket Screw
2
4052
M4X14
Socket Screw
4
4053
2H-4
Spring Washer
4
4054
M6X55
Socket Screw
5
4055
2H-6
Spring Washer
5
4056
M5x16
Bolt
2
4057
M5X45
Bolt
3
4058
2H-5
Spring Washer
3
4059
M5x12
Bolt
2
4060
M5X50
Bolt
2
4061
2H-5
Spring Washer
2
3004
HW0100634-1
Casing
1
5013
HW0100617-1
U-arm
1
4062
2H-5
Spring Washer
6
4063
2H-5
Spring Washer
6
4064
2H-4
Spring Washer
4
4065
PT1/8
Plug
1
11-8
HW0482170
HW0482170
11.5 Wrist Unit
11.5 Wrist Unit
5038
5036
5005
5036
5090 5053
5054
5081
5064
5043
5069
5080
5003
5071 5023
5068
5026
5028
5008
5024
5067
5072
5004
5079
5041
5007
5027
5075 5091
5031
5074
5015
5071
5030
5035
5014
5076
5020
5039
5070
5073
5002
5052
5009
5011
5040
5022
5042 5083
5065
5084
5089
5059
5032
5078
5018
5051
5006
5048
5077
5057
5045
5019
5087
5034
5029
5021
5010
5082
5058
5085
5061
5044
5050
5012 5025
5088
5001
5060
5086
5016
5062
5055
5013
5063
5066
5058
5001
5047
5057
5034
5017 5056
5033
5059
11-9
HW0482170
HW0482170
11.5 Wrist Unit
No.
No.
DWG No.
Name
DWG No.
Name
Pcs
Pcs
5065
M4X12
Socket Screw
9
4
5001
SGMAS-01A2A-YR1*
Motor
2
5066
M4X16
Socket Screw
5002
HW0381646-A
Speed Reducer
1
5067
M5X25
Socket Screw
4
5003
TC72888
Oil seal
1
5068
2H-5
Spring Washer
4
5004
TC65786
Oil seal
1
5069
M4X35
Socket Screw
6
5005
NA4901
Needle bearing
1
5070
2H-4
Spring Washer
6
5006
HW9482218-A
Bearing
1
5071
MS4-10
Pin
2
5007
6902DBLU
Bearing
1
5072
M4X12
Socket Screw
6
5008
6812DBLU
Bearing
1
5073
M5X20
Socket Screw
1
5009
688A
Bearing
1
5074
2H-5
Spring Washer
1
5010
6811LLU
Bearing
1
5075
M4X4
H-set screw
1
5011
6812LLU
Bearing
1
5076
M4X12
Socket Screw
4
5012
6902ZZ
Bearing
1
5077
M4X12
Socket Screw
4
5013
HW0100617-1
U-arm
1
5078
M5X16
Socket Screw
1
5014
HW0100618-1
Wrist
1
5079
M6X6
Socket Screw
1
5015
HW0401758-1
Washer
1
5080
M4X12
Socket Screw
5
5016
HW0481692-A
Pulley
1
5081
M6X6
H-set screw
1
4
5017
HW0481429-A
Pulley
1
5082
M4X12
Socket Screw
5018
HW0480867-A
Pulley
1
5083
M5X16
Socket Screw
1
5019
HW0480866-A
Pulley
1
2H-4
Spring Washer
1
5020
HW0301435-1
Gear
1
5084
M6X6
Socket Screw
1
5021
HW0301300-1
Gear
1
5085
M4X10
Socket Screw
2
5022
HW0301299-1
Gear
1
5086
M4X25
Socket Screw
2
5023
HW0301289-1
Gear
1
2H-4
Spring Washer
2
5024
HW0303102-1
Housing
1
5087
HW0404353-1
Fly wheel
1
5025
HW0403705-1
Housing
1
5088
HW0404354-1
Spacer
1
5026
HW0302206-1
Housing
1
5089
M4X12
Bolt
2
2
5027
HW0401551-1
B-cover
1
2H-4
Spring washer
5028
HW0401552-1
B-cover
1
5090
M5X10
Bolt
2
5029
HW0401553-1
B-cover
1
5091
LP-M5
Plug
1
5030
HW0302519-1
Shaft
1
5031
HW0301293-1
Shaft
1
5032
HW0100621-1
Cover
1
5033
HW0100622-1
Cover
1
5034
HW0404547-1
M-base
2
5035
RTW78
Stopper
1
5036
WR12
Sirclip
2
5038
IRTW-24
Stopper
1
5039
SP-0060**
Shim
1
5040
SP-0120**
Shim
1
5041
HW0401549-1
B-nut
1
5042
HW0402669-1
Cover
1
5043
HW0303390-1
Cover
1
5044
HW0403207-1
Cover
1
5045
M4X25
Socket Screw
1
5047
60S4.5M711
Belt
1
5048
60S4.5M932
Belt
1
5050
RTW28
C-stopper
1
5051
HW0301310-1
Shaft
1
1
5052
HW0404303-2
Coller
5053
HW0404365-1
Cover
1
5054
HW0404366-1
Packing
1
5055
M4X10
Socket Screw
2
5056
M4X12
Socket Screw
1
5057
M4X16
Socket Screw
4
5058
M4
Washer
4
5059
M4X10
Socket Screw
20
5060
M4X10
Socket Screw
2
5061
M4X12
Socket Screw
4
5062
M5X16
Socket Screw
1
5063
M6X6
Socket Screw
1
5064
M4X10
Bolt
2
11-10
HW0482170
MOTOMAN-EA1900N
INSTRUCTIONS
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone +81-93-645-7745
Fax
+81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200
Fax
+1-937-847-6277
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 10, Box 4004, SE-390 04 Kalmar, Sweden
Phone +46-480-417800
Fax
+46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100
Fax
+49-8166-90-103
YASKAWA ELECTRIC KOREA CORPORATION
1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone +82-53-382-7844
Fax
+82-53-382-7845
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741
Phone +65-6282-3003
Fax
+65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
Unit 47-1 and 2. Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810, Petailng Jaya Selangor, Malaysia
Phone +60-3614-08919
Fax
+60-3614-08929
YASKAWA ELECTRIC (THAILAND) CO., LTD.
252/246, 4th Floor. Muang Thai-Phatra office Tower II Rechadapisek Road, Huaykwang Bangkok 10320, Thailand
Phone +66-2-693-2200
Fax
+66-2-693-4200
SHOUGANG MOTOMAN ROBOT CO., LTD.
No.7,Yongchang-North Road, Beijing Economic and Technological and Development Area, Beijing 100076, China
Phone +86-10-6788-0541
Fax
+86-10-6788-0542
MOTOMAN MOTHERSON ROBOTICS LTD.
910, DLF Galleria, DLF City Phase IV, Gurgaon - 122002 Haryama, india
Phone +91-124-414-8514
Fax
+91-124-414-8016
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
C
Printed in Japan January 2007 04-08
MANUAL NO.
HW0482170
1