EA1900N Manipulator Manual
Transcription
EA1900N Manipulator Manual
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. '#0 %JCRVGT +PVTQFWEVKQP 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. #DQWV6JKU&QEWOGPV This manual provides system information for the EA1900N robot and NX controller and contains the following sections: 5'%6+10+0641&7%6+10 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. 5'%6+10'#0+05647%6+105 Provides detailed information about the EA1900N robot, including installation, wiring, specifications, and maintenance. (KPCN RCIG /CPKRWNCVQT/CPWCN %JCRVGT +PVTQFWEVKQP 4GHGTGPEGVQ1VJGT&QEWOGPVCVKQP 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 %WUVQOGT5GTXKEG+PHQTOCVKQP 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: RCIG • 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) (KPCN '#0 %JCRVGT 5CHGV[ +PVTQFWEVKQP +VKUVJGRWTEJCUGT UTGURQPUKDKNKV[VQGPUWTGVJCVCNNNQECNEQWPV[UVCVG CPFPCVKQPCNEQFGUTGIWNCVKQPUTWNGUQTNCYUTGNCVKPIVQUCHGV[CPFUCHG QRGTCVKPIEQPFKVKQPUHQTGCEJKPUVCNNCVKQPCTGOGVCPFHQNNQYGF :HVXJJHVWWKDW\RXREWDLQDQGUHYLHZDFRS\RIWKH$16,5,$1DWLRQDO6DIHW\6WDQGDUGIRU ,QGXVWULDO5RERWVDQG5RERW6\VWHPV7KLVLQIRUPDWLRQFDQEHREWDLQHGIURPWKH5RERWLF,QGXVWULHV $VVRFLDWLRQE\UHTXHVWLQJ$16,5,$57KHDGGUHVVLVDVIROORZV 5RERWLF,QGXVWULHV$VVRFLDWLRQ 9LFWRUV:D\ 32%R[ $QQ$UERU0LFKLJDQ 7(/ )$; ,17(51(7ZZZURERWLFVRQOLQHFRP 8OWLPDWHO\WKHEHVWVDIHJXDUGLVWUDLQHGSHUVRQQHO7KHXVHULVUHVSRQVLEOHIRUSURYLGLQJSHUVRQQHO ZKRDUHDGHTXDWHO\WUDLQHGWRRSHUDWHSURJUDPDQGPDLQWDLQWKHURERWFHOO7KHURERWPXVWQRWEH RSHUDWHGE\SHUVRQQHOZKRKDYHQRWEHHQWUDLQHG 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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. HW0482170 1 HW0482170 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 HW0482170 HW0482170 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.” iii HW0482170 HW0482170 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 HW0482170 HW0482170 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 v HW0482170 HW0482170 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 HW0482170 HW0482170 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 . . . . . . . . . . . . . . . . . . . . . . . . vii HW0482170 5-1 5-2 5-3 5-4 5-5 HW0482170 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 viii HW0482170 HW0482170 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix HW0482170 11-1 11-3 11-5 11-7 11-9 HW0482170 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 1-1 HW0482170 HW0482170 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 1-2 HW0482170 HW0482170 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." 2-1 HW0482170 HW0482170 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 2-2 HW0482170 HW0482170 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 2-3 HW0482170 HW0482170 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. 2-4 HW0482170 HW0482170 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. 3-1 HW0482170 HW0482170 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) 3-2 HW0482170 HW0482170 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 3-3 HW0482170 HW0482170 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. 3-4 HW0482170 HW0482170 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. 3-5 HW0482170 HW0482170 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. 4-1 HW0482170 HW0482170 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." 4-2 HW0482170 HW0482170 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) 4-3 HW0482170 HW0482170 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 4-4 HW0482170 HW0482170 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. 5-1 HW0482170 HW0482170 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 5-2 HW0482170 HW0482170 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 5-3 HW0482170 HW0482170 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 5-4 HW0482170 HW0482170 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° 5-5 HW0482170 HW0482170 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 6-1 HW0482170 HW0482170 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. 6-2 HW0482170 HW0482170 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. 7-1 HW0482170 HW0482170 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 7-2 HW0482170 HW0482170 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 7-3 HW0482170 HW0482170 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. 7-4 HW0482170 HW0482170 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 8-1 HW0482170 HW0482170 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) 8-2 HW0482170 HW0482170 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 8-3 HW0482170 HW0482170 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 8-4 HW0482170 HW0482170 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. 9-1 HW0482170 HW0482170 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. 9-2 HW0482170 HW0482170 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)." 9-3 HW0482170 HW0482170 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) 9-4 HW0482170 HW0482170 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 9-5 HW0482170 HW0482170 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. 9-6 HW0482170 HW0482170 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 9-7 HW0482170 HW0482170 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. 9-8 HW0482170 HW0482170 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. 9-9 HW0482170 HW0482170 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