hp200 manipulator manual - motoman€¦ · the information contained within this document is the pr...

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

Motoman NX100 Controller

HP200 Manipulator Manual

Part Number: 150331-1CDRevision 0

The information contained within this document is the proprietary property of Motoman, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,

Inc.

©2007 by MOTOMANAll Rights Reserved

Because we are constantly improving our products, we reserve the right to change specifications without notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.

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YASKAWA

MOTOMAN-HP200INSTRUCTIONS��

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

YASKAWA

ii

� Introduction

This supplementry instruction manual describes how YR-HP200-A00 (hereinafter referred to as HP200-A00) is different from the YR-ES200N-A00 (hereinafter referred to as ES200N-A00).Read this supplementary instruction manual thoroughly togther with ”MOTOMAN-ES200 INSTRUCTIONS” (Manual No. HW0482027).

� Points of Difference

The HP200-A00 differs from the ES200-A00 in the following points:• Internal User I/O Wiring Harness• Internal Connections• Recommended Spare Parts

The differences are described based on “MOTOMAN-ES200 INSTRUCTIONS” (Manual No. HW0482027). Read this manual thoroughly replacing the subject matter for changes with this supplementary instruction manual.

7.2 Internal User I/O Wiring Harness and Air Line

7-3

Fig. 17 (a) Connectors for Internal User I/O Wiring Harness and Air Line

A

Connector for internal uwer I/O wiringharness (Casing):JL05-2A22-14SC(socket connector with cap).Prepare pin connector:JL05-6A22-14P

Exhaust port (air flow)Tapped hole PT3/8with pipe plug

Key positions

3BC

S1

1BC

AIR

2BC

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

Air inlet (air flow)Tapped hole PT3/8with pipe plug

View A

8.2 Internal Connections

8-2


High reliability connectors which can be easily put on and removed are used with each con-nector part. For the numbers, types, and locations of connectors, see " Fig. 19 Location of Connectors " and “Table.8 List of Connector Types”.

Fig. 19 Location of Connectors

Table. 8 List of Connector Types

Name Type of Connector

Connector Base Connector for internal user I/O wiring harness

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

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

JL05-2A22-14SC(JL05-6A22-14P: Optional)

Connector for internal user I/O wiring harness (Casing)

S1

3BC

AIRA

molexmolexmolex

2BC

1BC

3BC

1BC2BC

Connector for internal user I/Owiring harnss (Base)

-9-4-5-6

0BAT6BAT6

PG5V6

T-1-2-3

No.21CN

-4 PG0V6

0BAT5BAT5

PG5V5

B-1-2-3

No.20CN

-4 PG0V5

R

0BAT4

PG0V4PG5V4

BAT4

-4-3-2-1No.19CN

U

0BAT3

PG0V3PG5V3

BAT3

-4-3-2-1No.18CN

L

0BAT2

PG0V2PG5V2

BAT2

-4-3-2-1No.17CN

S

0BAT1BAT1

PG5V1PG0V1

-1-2-3-4

No.16CN

X

0V+24V

0V+24V

No.22CN

-2-4

-1-3

-6-5-4-9

-6-5-4-9

-6-5-4-9

-6-5-4-9

-9-4-5-6

LA1

E

E

Note: For the limit switch specification, the connecetion of A is changed.

S-axisPG

DATA-1DATA+1

-2

0V

BATOBT+5V

1CN-1No.1CN

0BAT2

0BAT3BAT2

BAT3

BAT11819

2122

20

0BAT4

0BAT5

0BAT6BAT5

BAT4

2425

2829

2726

23

17 0BAT1BAT0BTBAT

P

P 4

23

BAT110BAT12BAT12

0BT

0BTBATP

BATP 6

87

5 0BAT21

BAT220BAT22BAT21

K

K

K

K

R

R

R

R

0BAT1110BT

BAT6

PG0V2PG5V1PG0V1

3031

32132

PG0V3

PG0V5

PG0V4PG5V4

PG5V35

9

78

6

4 PG5V2

P

P

P

PG5V6PG0V6

1211

16151413

10 PG5V5

12

543

876

1BC(10P 4)

31

42

0V+24V

0V+24V

SPG-1SPG+1

P

P

P

CN1-5

CN1-2CN1-1

CN1-9CN1-10

CN1-4

L-axisPG

U-axisPG

DATA+2

FG1

BATOBT

-7

2CN-1No.2CN

-7

BAT

0VFG2

+5VOBT

-2 DATA-2

DATA-3DATA+3

-2BAT

BAT

3CN-1No.3CN

-7

OBT

0VFG3

OBT

+5V

OBT

R-axisPG

B-axisPG

DATA+4DATA-4-2

OBTBAT

4CN-1No.4CN

-7

OBTBAT

FG40V+5V

DATA+5DATA-5-2

0V

BATOBT+5V

5CN-1

DATA+6

-7

OBTBAT

FG5

6CN-1No.6CN

No.5CN

BAT

P

P

P

P

P

P

FG1

SPG+2

FG2

SPG-2P CN1-7CN1-6

CN1-8

SPG-3SPG+3

FG3

P

CN2-3

CN2-2CN2-1

P

P

P

P

P

P

SPG+4SPG-4

FG4

P CN2-7CN2-6

CN2-8

SPG-5SPG+5

SPG+6

FG5

P

CN3-6

CN3-3

CN3-2CN3-1

T-axisPG

For lamp (Optional)

-7

BAT

0V

OBT+5V

FG6

BAT

A

OBT

LA2LB2

BC1BC2

LB3LA3

E E

CASING

SP19

P

P

LB1

SS1

LA2LB2

SS2

LB3LA3

FG6

LB1+24V

P

CN3-8

CN4-6CN4-1

SS2

BC2

P

P

CN4-4

CN4-8CN4-3

CN4-7CN4-2

E

BASE

E E

P

P

P

P

CN2-10CN2-9CN2-5CN2-4CN4-9

CN3-5CN3-9CN3-10

CN3-4

E

19

S1(28-21)

CN4-5P

MANIPULATOR

PSPG-6P CN3-7 -2 DATA-6

CN1-3

CN1-5CN1-4

CN1-10CN1-9

0V

0V+24V

+24V

CN1-1CN1-2

SPG-1SPG+1

NX100

CN1-3

CN1-6

FG1

SPG+2

CN1-7

CN1-8 FG2

SPG-2

CN2-1CN2-2 SPG-3

SPG+3

CN2-3 FG3

CN2-6CN2-7

SPG+4SPG-4

CN2-8 FG4

CN3-1CN3-2

SPG+5SPG-5

CN3-6

CN3-3

SPG+6

FG5

CN3-7

CN3-8 FG6

CN4-1CN4-6

+24VLB1

CN4-2CN4-7

SS2AL1

CN4-8CN4-3 BC2

AL2

SPG+7

FG7CN4-5CN4-9CN2-4CN2-5CN2-9CN2-10

5V0V

0V5V0V

CN3-10CN3-9CN3-5 0V

5V

5VCN3-4

SPG-7CN4-4

SPG-6

No.8CN

321 SP1

SP2SP3

E

SP6

789

SP7SP8

65

SP5SP4

4

13141516

1211

SP12SP13SP14SP15

SP11SP10

18SP18SP17

17 SP16

10 SP9

SP20SP21

P

P

P

12

21

6

87

45

3

20

1213

1514

1011

181716

9

Fig. 20 (a) Internal Connection Diagram8-3

S-axis overrun L.S.L- axis overrun L.S. (Optional)LA1

LB1

ALA3LB3

LB2LA2

LB2LA2

LB3LA3

S-Axis with L.S. Specification

EE

CN5-1

CN5-4

CN6-1

CN6-4

CN6-6

CN6-5

CN5-5

CN5-2

A

A

LB2LA2

LB3LA3

LA1S-axis overrun L.S.

LB1

LB1LB2LA2

LB3LA3

L-Axis with L.S. Specification

LB1LA1

S-axis overrun L.S.

E

MU1MU1

MW1

MV1MV1MV1

MU1

2BC (8PX5+12PX1)

CN1-7CN1-6CN1-5

CN2-1

CN1-3CN1-2CN1-1

MW1

ME1ME1ME1

BB1

MU2MU2

BA1CN6-2

CN2-6CN2-5

CN2-3

CN2-4

CN1-4CN1-8

CN6-1

CN2-2 MW1

LB2

LB3LA3

LU-Axes with L.S. Specification

LB1

LB2

LB3LA3

MW2

MV2MV2MV2

ME2ME2ME2

MW2MW2

CN3-8CN3-4CN2-8

CN3-7CN3-6CN3-5

CN3-3CN3-2CN3-1

BB2

MU3MU3

MW3

MV3MV3MV3

MU3CN4-2CN4-1

CN6-4

CN5-1

CN4-7CN4-6CN4-5

CN4-3

CN6-3 BA2

MW3

ME3ME3ME3

BB3

BA4BB4

BA5

BA3CN6-6

CN5-3

CN6-5

CN5-4CN4-8CN4-4

CN6-7CN6-8

CN6-9

BA6BB6

MW4MV4

MW4

MU4

MV4MU4

3BC (6PX6)

CN2-2CN2-1CN1-5CN1-4CN1-2CN1-1

CN6-11CN6-12

CN6-10 BB5

CN5-2 MW3

LA2 LA2

CN2-7 MU2

L-axis overrun L.S. (Optional)

L- and U- axis interference L.S.

L-axis overrun L.S. (Optional)

ME4ME4

MW5

ME5MW5

MV5MU5

MV5

MU5

CN1-6CN1-3

CN3-1

CN3-3CN3-2

CN2-6CN2-3CN2-5CN2-4

MU6MU6

ME6ME6

MW6MW6

MV6MV6

CN4-6CN4-5CN4-3CN4-2CN4-4CN4-1CN3-5CN3-4

CN3-6 ME5

CN6-5

CN6-6

CN6-4

CN6-1

CN5-4

CN5-1

CN5-3CN5-6

CN5-5

CN5-2

CN1-1CN1-2

E

MU1MU1

CN1-7CN1-6CN1-5

CN2-1

MV1MV1MV1

MW1

MU1CN1-3

CN2-3

CN1-8CN1-4

CN2-4

MW1

ME1ME1ME1

CN6-2

CN2-6CN2-5

BB1

MU2MU2

BA1CN6-1

MW1CN2-2

CN3-3

CN3-1CN3-2

CN3-5

MV2MV2MV2

MW2

CN3-7

CN2-8CN3-4CN3-8

MW2

ME2ME2ME2

MW2CN3-6

CN4-1CN4-2

CN6-4

MU3MU3

BB2

CN4-7

CN4-5CN4-6

CN5-1

MV3MV3MV3

MW3

MU3CN4-3

BA2CN6-3

CN5-3

CN4-4CN4-8CN5-4

MW3

ME3ME3ME3

CN6-9

CN6-7CN6-8

CN6-6

BA5

BB4BA4

BB3BA3CN6-5

CN6-11CN6-12

BA6BB6

CN2-2

CN1-5CN2-1

CN1-2CN1-4

CN1-1

MW4

MV4

MU4

MW4

MV4

MU4

CN6-10 BB5

MW3CN5-2

MU2CN2-7

CN1-3CN1-6

ME4ME4

CN3-1CN3-2CN3-3

CN2-6

CN2-5CN2-3

MW5

MV5

MU5MV5

MW5

ME5

MU5CN2-4

CN3-5CN3-4

MU6MU6

CN4-5

CN4-4

CN4-3CN4-2

CN4-6

MV6

MW6MW6

ME6ME6

MV6CN4-1

ME5CN3-6

MU7

MU7

MW7

MW7

MV7

MV7

CN5-6CN5-3

BB7BA7

ME7

PE

ME7

SM

MU1MV1MW1

-B-C

9CN-ANo.9CN

YB

ME1

BB1BA1

-D

-F-E

S-axis

U-axisSM

11CN-ANo.11CN

-C-B MV3

MW3

MU3

MV2MU2

YB

ME2

BB2BA2

MW2 SM-B

10CN-A

-D

-F-E

-C

No.10CN

L-axis

YB

-D

-F-E

ME3

BB3BA3

SM

12CN-ANo.12CN

-B-C

MU4

MW4MV4

R-axisYB

B-axisSM

-F

-D-E

BB4BA4ME4

13CN-ANo.13CN

-B-C-D

MV5

ME5MW5

MU5

YB

T-axisYB

SM

-F BB5

14CN-A

-D-E-F

-C-B

ME6

BB6BA6

MU6

MW6MV6

No.14CN

-E BA5

Fig. 20 (b) Internal Connection Diagram8-4

10

7

B 11 U-Axis Input Gear HW0301780-AYaskawaElectricCorporation

1 1

B 12 R-AxisSpeed Reducer HW0380780-A

YaskawaElectricCorporation

1 1

B 13 B-AxisSpeed Reducer HW9381453-B


1 1

B 14 T-AxisSpeed Reducer HW0380794-A


1 1

B 15 Wrist Unit HW0171254-AYaskawaElectricCorporation

1 1

C 16 AC Servomotor for S-, L-, and U-Axes

HW0382157-ASGMRS-37A2A-YR1*


1 3

C 17 AC Servomotor for R-, B-, and T-Axes



1 3

C 18 Wire Harness in Manipulator HW0171425-A


1 1



1 1

Table. 11 Spare Parts for the Motoman-HP200

Rank PartsNo. Name Type Manufacturer Qty

QtyperUnit

Remarks

MOTOMAN-HP200INSTRUCTIONS

HEAD OFFICE2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, JapanPhone 81-93-645-7745 Fax 81-93-645-7746

MOTOMAN INC. HEADQUARTERS805 Liberty Lane West Carrollton, OH 45449, U.S.A.Phone 1-937-847-6200 Fax 1-937-847-6277

YASKAWA MOTOMAN CANADA LTD.2280 Argentia Road, Mississauga, Ontario, L5N 6H8, CanadaPhone 1-905-813-5900 Fax 1-905-813-5911

YASKAWA ELECTRIC AMERICA, INC.2121 Norman Drive South Waukegan, IL 60085, U.S.A.Phone 1-847-887-7000 Fax 1-847-887-7370

YASKAWA ELECTRIC EUROPE GmbHAm Kronberger Hang 2, 65824 Schwalbach,GermanyPhone 49-6196-569-300 Fax 49-6196-888-301

MOTOMAN ROBOTICS EUROPE ABBox 504 S38525 Torsas, SwedenPhone 46-486-48800 Fax 46-486-41410

MOTOMAN ROBOTEC GmbHKammerfeldstr.1,D-85391 Allershausen, GermanyPhone 49-8166-90100 Fax 49-8166-90103

YASKAWA ELECTRIC KOREA CORPORATIONKFPA Bldg #1201, 35-4 Yeoido-dong, Youngdungpo-Ku, Seoul 150-010, KoreaPhone 82-2-784-7844 Fax 82-2-784-8495

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, SingaporePhone 65-6282-3003 Fax 65-6289-3003

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. MALAYSIA REPRESENTATIVE OFFICEB615, 6th Floor, East Wing, Wisma Tractors, No.7, Jalan SS 16/1, Subang Jaya, 47500 Petaling Jaya, Selangor D.E. MalaysiaPhone 60-3-5031-5311 Fax 60-3-5031-5312

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.4F No Aona Road, Waigaoqiao Free Trade Zone, Pudong New Area, Shanghai 200131, ChinaPhone 86-21-5866-3470 Fax 86-21-5866-3869

YASKAWA ELECTRIC TAIWAN CORPORATION9F, 16, Nanking E. RD., Sec. 3, Taipei, TaiwanPhone 886-2-2502-5003 Fax 886-2-2505-1280

YASKAWA ELECTRIC (HK) COMPANY LIMITEDRm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong KongPhone 852-2803-2385 Fax 852-2547-5773

BEIJING OFFICERoom No. 301 Office Building Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, ChinaPhone 86-10-6532-1850 Fax 86-10-6532-1851

BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD.30 Xue Yuan Road, Haidian, Beijing P.R. China Post Code: 100083, ChinaPhone 86-10-6234-5003 Fax 86-10-6234-5002

SHOUGANG MOTOMAN ROBOT CO., LTD.7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, ChinaPhone 86-10-6788-0541 Fax 86-10-6788-2878

YASKAWA

YASKAWA ELECTRIC CORPORATION

Specifications are subject to change without noticefor ongoing product modifications and improvements.

YASKAWA

MOTOMAN-ES200NINSTRUCTIONSTYPE: YR-ES200N-A00 (STANDARD SPECIFICATION) YR-ES200N-A01 (SLU-AXES WITH L.S. SPECIFICATION)

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

MOTOMAN INSTRUCTIONSMOTOMAN-ES200N INSTRUCTIONSNX100 INSTRUCTIONSNX100 OPERATOR’S MANUALNX100 MAINTENACE MANUAL

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

YASKAWA MANUAL NO. RE-MTO-A248

• This instruction manual explains operating instructions and mainte-nance procedures primarily for the MOTOMAN-ES200N.

• General items related to safety are listed in Section 1: Safety of the NX100 Instructions. To ensure correct and safe operation, carefully read the NX100 instructions before reading this manual.

• Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product.

• The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product.

• YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA rep-resentative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.

• YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your prod-uct’s warranty.

MANDATORY

CAUTION

ii

Notes for Safe OperationRead this manual carefully before installation, operation, maintenance, or inspection of the NX100. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.

Even items described as “CAUTION” may result in a serious accident in some situations. At any rate, be sure to follow these important items.

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.

Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and dam-age to equipment. It may also be used to alert against unsafe practices.

Always be sure to follow explicitly the items listed under this heading.

Must never be performed.

To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “CAUTION” and “WARNING”.

WARNING

CAUTION

MANDATORY

PROHIBITED

NOTE

iii

• Before operating the manipulator, check that servo power is turned off when the emergency stop buttons on the front door of the NX100 and programming pendant are pressed.When the servo power is turned off, the SERVO ON LED on the program-ming pendant is turned off.

Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.

Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator. Then turn the servo power ON.

Injury may result from unintentional or unexpected manipulator motion.

Release of Emergency Stop

• Observe the following precautions when performing teaching operations within the working envelope of the manipulator:- View the manipulator from the front whenever possible.- Always follow the predetermined operating procedure.- Ensure that you have a safe place to retreat in case of emergency.

Improper or unintended manipulator operation may result in injury.

• Confirm that no persons are present in the manipulator’s work envelope and that you are in a safe location before:- Turning on the NX100 power- Moving the manipulator with the programming pendant- Running check operations- Performing automatic operations

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

WARNING

TURN

iv

Definition of Terms Used Often in This ManualThe MOTOMAN manipulator is the YASKAWA industrial robot product.The manipulator usually consists of the controller, the programming pendant, and manipulator cables.In this manual, the equipment is designated as follows:

• Perform the following inspection procedures prior to conducting manip-ulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed.-Check for problems in manipulator movement.-Check for damage to insulation and sheathing of external wires.

• Always return the programming pendant to the hook on the NX100 cabi-net after use.

The programming pendant can be damaged if it is left in the manipulator’s work area, on the floor, or near fixtures.

• Read and understand the Explanation of the Warning Labels in the NX100 instructions before operating the manipulator.

Equipment Manual Designation

NX100 Controller NX100

NX100 Programming Pendant Programming Pendant

Cable between the manipulator and the controller Manipulator Cable

CAUTION

v

Explanation of Warning LabelsThe following warning labels are attached to the manipulator.Always follow the warnings on the labels.Also, an identification label with important information is placed on the body of the manipula-tor. Prior to operating the manipulator, confirm the contents.

Nameplate

WARNING label A

WARNING label A

WARNING label B

WARNING label B

MOTOMANTYPE

ORDER NO.

PAYLOAD kg

MASS kg

SERIAL NO.

DATE

YASKAWA ELECTRIC CORPORATION JAPAN

Nameplate:

WARNING

Do not enterrobot work area.

WARNING

Moving partsmay causeinjury

WARNING label A: WARNING label B:

vi

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

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

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

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

3.2.1 Mounting Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-33.3 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

4 Wiring4.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24.2 Manipulator Cable Connection . . . . . . . . . . . . . . . . . . . . . 4-2

4.2.1 Connection to the Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . .4-24.2.2 Connection to the NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3

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

5.5.1 Components for Altering Operating Range . . . . . . . . . . . . . . . .5-55.5.2 Notes on the Mechanical Stopper Installation . . . . . . . . . . . . . .5-65.5.3 Adjustment to the Pulse Limitation of S-Axis. . . . . . . . . . . . . . .5-7

Mounting the S-Axis Stopper by Settable Angles . . . . . . . . .5-9

vii

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

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

8 Motoman Construction8.1 Position of S-Axis Limit Switch . . . . . . . . . . . . . . . . . . . . . 8-18.2 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

9 Maintenance and Inspection9.1 Inspection Schedule. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . . 9-6

9.2.1 Battery Pack Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-69.2.2 Grease Replenishment/Exchange for S-Axis Speed Reducer . 9-8

Grease Replenishment (Refer to " Fig. 24 S-Axis Speed Reducer and Gear Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . 9-8

Grease Exchange (Refer to " Fig. 24 S-Axis Speed Reducer and Gear Diagram ".) . . . . . . . . . . . . . . . . . 9-9

9.2.3 Grease Replenishment/Exchange for L-Axis Speed Reducer . 9-9 Grease Replenishment (Refer to " Fig. 25 L-Axis

Speed Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . 9-10 Grease Exchange (Refer to " Fig. 25 L-Axis

Speed Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . 9-109.2.4 Grease Replenishment/Exchange for U-Axis Speed Reducer 9-11

Grease Replenishment (Refer to " Fig. 26 U-Axis Speed Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11

Grease Exchange (Refer to " Fig. 26 U-Axis Speed Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . 9-12

9.2.5 Grease Replenishment/Exchange for U-Arm . . . . . . . . . . . . . 9-13 Grease Replenishment for R-, B-, T- Gears

in the Casing (Refer to " Fig. 27 U-Arm Diagram ".) . . . . . . 9-14 Grease Replenishment for R-Axis Speed Reducer

(Refer to " Fig. 27 U-Arm Diagram ".) . . . . . . . . . . . . . . . . . 9-14 Grease Replenishment for B-Axis Speed Reducer

(Refer to " Fig. 27 U-Arm Diagram ".) . . . . . . . . . . . . . . . . . 9-15 Grease Replenishment for T-Axis Speed Reducer

(Refer to " Fig. 27 U-Arm Diagram ".) . . . . . . . . . . . . . . . . . 9-15

viii

Grease Exchange for R-, B- T-Axis Gears in the Casing (Refer to " Fig. 27 U-Arm Diagram ".) . . . . . . . . . . . . . . . . .9-16

Grease Exchange for R-Axis Speed Reducer (Refer to " Fig. 27 U-Arm Diagram ".) . . . . . . . . . . . . . . . . .9-16

Grease Exchange for B-Axis Speed Reducer (Refer to " Fig. 27 U-Arm Diagram ".) . . . . . . . . . . . . . . . . .9-17

Grease Exchange for T-Axis Speed Reducer (Refer to " Fig. 27 U-Arm Diagram ".) . . . . . . . . . . . . . . . . .9-17

9.2.6 Grease Replenishment for Balancer Connection Part. . . . . . .9-189.2.7 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-19

Battery Pack Connection. . . . . . . . . . . . . . . . . . . . . . . . . . .9-19

10 Recommended Spare Parts

11 Parts List11.1 S-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-111.2 L-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-311.3 URBT-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-511.4 U-Arm Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-711.5 Wrist Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-911.6 Balancer Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-11

ix

1.1 Contents Confirmation

1 Product Confirmation

1.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.Standard delivery includes the following four items (Information for the content of optional goods is given separately):

• Manipulator• NX100• Programming Pendant• Manipulator Cables (Three cables, between manipulator and NX100)

• Confirm that the manipulator and the NX100 have the same order num-ber. Special care must be taken when more than one manipulator is to be installed.

If the numbers do not match, manipulators may not perform as expected and cause injury or damage.

CAUTION

1-1

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.

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

Fig. 1 Location of Order Number Labels

Label (Enlarged view)

THE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER.

ORDER. No.

Check that the manipulatorand the NX100 have thesame order number.

NX100200V 50Hz

kVA3PHASE220V 50/60Hz

NJ2484-1MADE IN JAPAN

DATE

SERIAL No.

ERCR-TYPE

POWER SUPPLY

******

ORDER NO.NJ1529

THE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER.

WARNINGDo not open the door

RESETO

FF

TRIP

PED

ON

N

PO

E

T

R G

Y

CM

S

E

E

SELECT

PLAYTEACHREMOTE

SERVOPOWER

S-X+S+

MAINMENU

R-x

R+x

ASSIST

COORD.MULTIDISPLAYSWITCH

X-

yy

64 5

AUXILIARY

AUXILIARY

TIMER1

WEAVINGCOMPLETE

VOLTAGE CURRENT2

WELDCOMPLETE

3RETRUCT

DELETE

BACK

INSERT

NEXT

L+L-

R-

LOCKINTER

WEAVINGSTART

7

+R+

B+B-

zT-

WELDSTART

8FEED

9TEST RUN SHIFT

zT+

EX-AXISSWITCH

ROBOT SWITCH

-

SHIFT

Y+Y-

0 ENTERCABCEK INTER. REF.POINT MODIFY

. -VOLTAGE CURRENT

SHORTCUTMENU

1-2

2.1 Transporting Method

2 Transporting


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 shipping bolts and brackets. Be sure the manipulator is fixed with the shipping bolts and brackets before trans-porting, and lift it in the posture as shown in " Fig. 2 Transporting Position ".

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

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

• Avoid excessive vibration or shock during transporting.

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

• The weight of the manipulator is approximately 1280kg including the shipping bolts and brackets. Use a wire rope strong enough to withstand the weight.

• Shipping bolts and brackets are designed to support the manipulator weight. Do not use them for anything other than transporting the manipulator.

• Mount the shipping bolts and brackets for transporting the manipulator.• Avoid exerting force on the arm or motor unit when transporting, and use caution when

using transporting equipment other than a crane or forklift, as injury may occur.

CAUTION

NOTE

2-1


Fig. 2 Transporting Position

(1 piece)B Shipping bolt

Electrical tapepainted yellow

Rubber plateDetails of shipping bolt

Hook

A Shipping bracket (4 peices) & Hexagon socket head cap screw

Hexagon socket head cap screw M20(length: 70mm) (12 screws)

2-2

2.2 Shipping Bolts and Brackets

2.2 Shipping Bolts and Brackets

The manipulator is provided with shipping bolts and brackets at position A and with the hexa-gon socket head cap screws at point B. (" Fig. 2 Transporting Position ").

Fig. 3 Shipping Bolts and Brackets

• The A-shipping brackets are painted yellow.• The B-shipping bolt: hexagon socket head cap screw is taped yellow.

Position Bolt Type Pcs

A Hexagon socket head cap screw M20 X 70 mm(Tightening torque: )

12

B Hexagon socket head cap screw M16 X 20 mm(Tightening torque: )

1

Before turning ON the power, check to be sure that the shipping bolts and brackets have been removed. The shipping bolts and brackets then must be stored for future use, in the event that the robot must be moved again.

A Shipping bracket B Shipping bolt

Rubber plate

Electrical tape painted yellow

Hook

Hexagon socket head cap screw M20(length: 70mm) (12 screws)

NOTE

2-3

3 Installation

• Install the safeguarding.

Failure to observe this warning may result in injury or damage. • Install the manipulator in a location where the manipulator’s tool or the

workpiece held by the manipulator will not reach the wall, safeguarding, or NX100 when the arm is fully extended.

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

• Do not start the manipulator or even turn on the power before it is firmly anchored.

The manipulator may overturn and cause injury or damage.

• Do not install or operate the manipulator which is damaged or lacks parts.

Failure to observe this caution may cause injury or damage.

• Before turning on the power, check to be sure that the shipping bolts and brackets explained in “Fig. 3 Shipping Bolts and Brackets” are removed.

Failure to observe this caution may result in damage to the driving parts.

WARNING

CAUTION

3-1

3.1 Installation of the Safeguarding

3.1 Installation of the Safeguarding

To insure safety, be sure to install the safeguarding. They prevent unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guid-ance.

Responsibility for Safeguarding (ISO 10218)The user of a manipulator or robot system shall ensure that safeguarding is provided and used in accordance with Sections 6, 7, and 8 of this standard. The means and degree of safe-guarding, including any redundancies, shall correspond directly to the type and level of hazard presented by the robot system consistent with the robot application. Safeguarding may include but not be limited to safeguarding devices, barriers, interlock barriers, perimeter guarding, awareness barriers, and awareness signals.

3.2 Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a baseplate or foundation strong enough to sup-port the manipulator and withstand repulsion forces during acceleration and deceleration.Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator referring to “Table.1 Maximum Repulsion Forces of the Manipulator at Emergency Stop” and “Table.2 Endurance Torque in Operation”.During installation, if the flatness is not right, the manipulator shape may change and its func-tional ability may be compromised. Baseplate flatness must be kept at 0.5mm or less. Mount the manipulator base as in the following way: “3.2.1 Mounting Example”.

Table. 2 Endurance Torque in Operation

Table. 1 Maximum Repulsion Forces of the Manipulator at Emergency Stop

Horizontal rotating maximum torque(S-axis moving direction)

32000N • m(3265kgf • m)

Vertical rotating maximum torque(L-, U-axes moving direction)

78500N • m(8000kgf • m)

Horizontal acceleration and decel-eration maximum torque

9400N • m(960kgf • m)

Vertical acceleration and decelera-tion maximum torque

27150N • m(2771kgf • m)

3-2

3.3 Location

3.2.1 Mounting Example

Fix the baseplate onto the floor. The baseplate should be rugged and durable to prevent shift-ing of the manipulator or the fixture. The thickness of the baseplate is 50mm or more, and an M20 size or larger anchor bolt is recommended.Fix the manipulator base onto the baseplate with the hexagon socket head cap screw M20. The plate is tapped for M20 (length: 80mm) screws. Tighten the screws and anchor bolts securely so that they will not work loose during operation. See " Fig. 4 Mounting the Manipula-tor on Baseplate ".

Fig. 4 Mounting the Manipulator on Baseplate

3.3 Location

When the manipulator is installed, it is necessary to satisfy the undermentioned environmental conditions:

• Ambient temperature: 0° to 45°C • Humidity: 20 to 80%RH at constant temperature• Free from exposure to water, oil, or dust• Free from corrosive gas or liquid, or explosive gas • Free from excessive shock or vibration (less than 4.9m/s2 [0.5G])• Free from large electrical noise (plasma)• Flatness for installation is 0.5mm or less

Flatness: 0.5mm or less

Hexagons socket head cap screw M20 (8 screws)

Spring washer

Flat washer

Manipulator base

Baseplate

40

Units: mm

3-3

4 Wiring

• Ground resistance must be 100 Ω or less.

Failure to observe this warning may result in fire or electric shock.

• Before wiring, make sure to turn the primary power supply off, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.)

Failure to observe this warning may result in fire or electric shock.

• Wiring must be performed by authorized or certified personnel.

Failure to observe this caution may result in fire or electric shock.

• Do not cover the cable or allow it to tangle. Keep the cable as straight as possible.

Failure to observe this caution may result in preventing heat of the cable from being dis-charged.

WARNING

CAUTION

4-1

4.1 Grounding

4.1 Grounding

Follow local regulations for grounding line size. A line of 5.5mm2 or more is recommended.

Fig. 5 Grounding Method

4.2 Manipulator Cable Connection

Three manipulator cables are provided; an encoder cable for detection (1BC) and two power cables (2BC and 3BC). (Refer to " Fig. 6 Manipulator Cable Connections ".) Connect these cables to the manipulator base connectors and the NX100. (Refer to “ Fig. 7 (a) Details of the Manipulator Cable Connectors (Manipulator Side) ” and " Fig. Fig. 7 (b) Manipulator Cable Connections to the NX100 ".

4.2.1 Connection to the Manipulator

Before connecting the manipulator cables to the manipulator, confirm the numbers: 1BC, 2BC, and 3BC on both the cables and the manipulator base connectors. When connecting, insert cables adjusting the cable connector positions to the main key positions of the manipulator, and then set the lever until it clicks.

• 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, ground in accordance with Electric Equipment Technical Standards.

NOTE

A

5.5mm2 or moreView A

Delivered with manipulatorBolt M8 (for grounding)

4-2


4.2.2 Connection to the NX100

First connect the 2BC cable then 3BC and 1BC cables respectively after verifying the num-bers. The numbers are on both the manipulator cables and the NX100 board connectors. When connecting, insert cables adjusting the cable connector positions to the main key posi-tions of the NX100, and then set the lever until it clicks.

Fig. 6 Manipulator Cable Connections

X1

1

1B

CX2

1 2BC

X22 3BC

3BC

Power cable

X11 1BC

X21 2BC

X22 3BC

Power cable

2BC

Encoder cable

1BC

Manipulator sideNX100 side



4-3


Fig. 7 (a) Details of the Manipulator Cable Connectors (Manipulator Side)

Fig. 7 (b) Manipulator Cable Connections to the NX100

1BC 3BC

S1AIRA

2BC

3BCmolexmolexmolex

1BC

2BC

Connector details(Manipulator side) A

Key positions

X22

X21X11

4-4

5.1 Basic Specifications

5 Basic Specifications

5.1 Basic Specifications

*1 SI units are used in this table. However, gravitational unit is used in ( ).*2 Conformed to ISO9283*3 Refer to 6.1 "Allowable Wrist Load" for details on the permissible moment of inertia.

Table.3 Basic Specifications*1

Item Model MOTOMAN-ES200N

Configuration Vertically Articulated

Degree of Freedom 6

Payload 200kg

Repeatability*2 ±0.2mm

Range of Motion

S-Axis (turning) ±180°

L-Axis (lower arm) +76°, -60°

U-Axis (upper arm) +230°, -142.5°

R-Axis (wrist roll) ±360°

B-Axis (wrist pitch/yaw) ±125°

T-Axis (wrist twist) ±360°

Maximum Speed

S-Axis 1.67 rad/s, 95°/s

L-Axis 1.48 rad/s, 85°/s

U-Axis 1.67 rad/s, 95°/s

R-Axis 2.01 rad/s, 115°/s

B-Axis 1.92 rad/s, 110°/s

T-Axis 3.32 rad/s, 190°/s

AllowableMoment*3

R-Axis 1274N•m (130kgf•m)

B-Axis 1274N•m (130kgf•m)

T-Axis 686N•m (70kgf•m)

AllowableInertia

(GD2/4)

R-Axis 120kg•m2

B-Axis 120kg•m2

T-Axis 70kg•m2

Mass 1230kg

AmbientConditions

Temperature 0° to 45°C

Humidity 20 to 80% RH at constant temperature

Vibration acceleration Less than 4.9m/s2 (0.5G)

Others

• Free from corrosive gas or liquid, or explo-sive gas

• Free from exposure to water, oil, or dust• Free from excessive electrical noise

(plasma)

Power Capacity 7.5kVA

5-1

5.2 Part Names and Working Axes

5.2 Part Names and Working Axes

Fig. 8 Part Names and Working Axes

5.3 Manipulator Base Dimensions

Fig. 9 Manipulator Base Dimensions

Upper arm(U-arm)

U+R+ B+

B-R-U-

L+L-

T+

T-

Wrist

Wrist flange

S+

S-

Lower arm(L-arm)

Base

Rotary head(S-head)

View A

Fitting surface

Fitting surface

22 dia. (8 holes)(For fixing the manipulator)

20 dia. (2 holes)(Pin hole for manipulator positioning)

+0.021 0

16 dia. (2 holes)(Pin hole for manipulator positioning)

+0.018 0

350

0.1

290

0.1

290

0.1

640

290 0.1

893

290 0.1

540

290 0.1290 0.1

540

640

735

353 0.1

40

A

Units: mm

5-2

5.4 Dimensions and P-Point Maximum Envelope

5.4 Dimensions and P-Point Maximum Envelope

A

View

-A

180° 180°

337

491

3050

142.5°

499

348

650

1089 0

32216

R789

R26

5126

5119

6146

12

250

1225

12.2

°

12.2

°

76°

285

25°

42°

153 250

50°

6501150

12.2°

60°

1401

775789

582532

766

0

945

2203

126

687

1225 0

1307

P-po

int

18°

R608

Uni

ts: m

m

P-po

int m

axim

umen

velo

pe

Fig.

10

Dim

ensi

ons

and

P-P

oint

Max

imum

Env

elop

e

5-3

5.5 Alterable Operating Range


The operating 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 Specifications

S-AxisOperating

Range

±180° (standard) ±165° ±150° ±135° ±120° ±105° ±90° ±70° ±60° ±45° ±30° (±15°)

The interval between stopper and stopper can correspond only by 60° or more.NOTE

5-4


5.5.1 Components for Altering Operating Range

Arrange the components listed in " Fig. 11 The Components of the S-Axis Stopper ", when modifying the angle of S-axis.

Pin (drawing No. HW0402104-1, 1 pin) Stopper (drawing No. HW0302424-2, 1 stopper) Hexagon socket head cap screw M20 (length: 45mm) (3 screws) (tightening torque: 402 N m) Flat washer M20 (3 flat washers)

Fig. 11 The Components of the S-Axis Stopper

HW0302424-2

Section A-A

Hexagon socket head cap screws M20 (3 screws)(length: 45) (tightening torque: 12.9)

Stopper

HW0402104-1Pin

Flat washer M20

A A

5-5


5.5.2 Notes on the Mechanical Stopper Installation

• For S-Axis mechanical stopper, install the stopper (drawing No. HW0302424-2) with the pin which is used bottom up (drawing No. HW0402104-1) as in " Fig. 11 The Components of the S-Axis Stopper ".

• DO NOT forget applying the locktite 242 to screwed parts of the pin as inserting it into the stopper.

• Install the stopper to the S head with the hexagon socket head cap screws M20 (length; 45mm, 3 screws) fastening by the tightening torque intensified 12.9 (tightening torque: 402 N m).

• To avoid the mechanical troubles, refer to "Table. 5 The Settable Angle for S-Axis Stop-per" when mounting the S-Axis mechanical stopper. The stopper can be installed by every 15 degrees.

• Confirm to stabilize both sides of the protrusion with the hexagon socket head cap screws as in " Fig. 12 Properly-Mounted Image " on account of the limitation of strength to the unit.

• Refer to the figures: “Fig.13” as adjusting the setting angle of the S-Axis mechanical stop-per. When mounting the S-Axis mechanical stopper by inverse angle to the examples in the figures: “Fig.13”, settle the machinery symmetrical to those models.

• As in the figures: “Fig.13”, the component is reversible that both sides of the machinery can be attached to the stopper, except for the angles of ±30, ±60, ±120, ±150 degrees. Flip side and retry installing the S-Axis mechanical stopper if finding any difficulty to set the machinery to the stopper based on " Fig. 11 The Components of the S-Axis Stopper ".

Fig. 12 Properly-Mounted Image

1. Apply the specified components when mounting the S-Axis mechanical stopper.2.TURN OFF the electric power supply before mounting.

Hexagon socket head cap scerws

Improperly-mounted Properly-mounted

Hexagon socket head cap scerws

NOTE

5-6


5.5.3 Adjustment to the Pulse Limitation of S-Axis

Apply the Instruction for NX100 Concurrent I/O Parameter (Manual No.:RE-CKI-A442) as part of reference materials for adjusting the programming pendant when modifying the range of motion of S-Axis. The limitation to the pulse (Pulse Soft Limit + 1st Axis ) : SICxG200 The limitation to the pulse (Pulse Soft Limit - 1st Axis ) : SICxG208

Degree ±0° ±15° ±30° ±45° ±60° ±75° ±90°

Number of Pulse ±0 ±35109 ±70217 ±105326 ±140434 ±175543 ±210651

Degree ±105° ±120° ±135° ±150° ±165° ±180° (Standard)

Number of Pulse ±245760 ±280869 ±315977 ±351086 ±386194 ±421303

Adjust both of the pulse limitation and the angle of S-Axis mechanical stopper as modifying the range of motion for machinery.

NOTE

5-7


180

165

150

135

120

105

9075

6045

3015

0-1

5-3

0-4

5-6

0-7

5-9

0-1

05-1

20-1

35-1

50-1

65-1

80

-180

-165

-150

-135

-120

-105 -9

0

-75

-60

-45

-30

-15 0

15 30 45 60 75 90

105

120

135

150

165

180

…S

etta

ble

angl

e

…N

on s

etta

ble

angl

e

The

Ang

le o

f S-A

xis

Sto

pper

for

+ D

irect

ion

The Angle of S-Axis Stopper for - Direction

Tab

le 5

. The

set

tabl

e an

gle

for

S-A

xis

Sto

pper

"Tab

le. 5

The

Set

tabl

e A

ngle

for

S-A

xis

Sto

pper

" in

dica

tes

the

angl

e ra

nge

whi

ch a

llow

s S

-axi

s to

be

set a

t + d

irect

ion

and

- di

rect

ion

angl

es.

Not

e: H

oriz

onta

l axi

s of

the

tabl

e in

dica

tes

set a

ngle

s in

+ d

irect

ion

for

S-a

xis.

V

ertic

al a

xis

of th

e ta

ble

indi

cate

s se

t ang

les

in -

dire

ctio

n fo

r S

-axi

s.(e

.g. S

-axi

s ca

n be

set

with

in th

e an

gle

rang

e be

twee

n +1

80°

and

-180

°, b

ut c

anno

t be

set w

ithin

the

angl

e ra

nge

betw

een

+180

° an

d -1

65°.

)

5-8


Mounting the S-Axis Stopper by Settable Angles　

Fig. 13 (a) The Properly-Mounted Models for S-Axis Stopper

The Settled Model of +165 Degree

The stopper could be utlized by either side.

Hexagon socket head cap screws



Hexagon socket head cap screws

5-9


Fig. 13 (b) The Properly-Mounted Models for S-Axis Stopper


The stopper could be

utlized by either side.

Hexagon sockethead cap screws

The stopper only utlized by one side with this angle



5-10


Fig. 13 (c) The Properly-Mounted Models for S-Axis Stopper

The stopper couldbe utlized by either side.



The stopper is only utlizedby one side with this angle



5-11


Fig. 13 (d) The Properly-Mounted Models for S-Axis Stopper

The Settled Model of + 90 Degree




The stopper could beutlized by either side.


5-12


Fig. 13 (e) The Properly-Mounted Models for S-Axis Stopper






The stopper could beutilized by either side.

5-13


Fig. 13 (f) The Properly-Mounted Models for S-Axis Stopper







5-14


Fig. 13 (g) The Properly-Mounted Models for S-Axis Stopper

The Settled Model of 0 Degree



5-15

6.1 Allowable Wrist Load

6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist LoadThe allowable wrist load including the weight of the mount/gripper is:

• YR-ES200N-A00, -A01: 200kg maximumIf 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. 6 Allowable Total Moment and Total Inertia ". Contact your Yaskawa representative for further information or assistance.

*1 ( ): Gravitational unit

When the volume load is small, refer to the moment arm rating shown in " Fig. 14 Moment Arm Rating ".The allowable total inertia is calculated when the moment is at the maximum. Contact your Yaskawa representative when only inertia, or load moment is small and inertia is large. Also, when the load mass is combined with an outside force, contact your Yaskawa representative.

Fig. 14 Moment Arm Rating

Table. 6 Allowable Total Moment and Total Inertia

Model AxisMoment N•m

(kgf•m)*1 GD2/4 Inertia kg•m2

YR-ES200N-A00, -A01R-AxisB-AxisT-Axis

1274 (130)1274 (130)

686 (70)

12012070

200P-point

1000

LT(mm)

14001200 LB(mm)

80kg80kg80kg

100kg100kg100kg

800400 600600600 100010001000

800

600

400

200

400

200

600

800

1000

LT(mm)B-axis center of rotation

T-, R-axiscenter of rotation

60kg60kg60kg

130kg130kg130kg165kg165kg165kg

200kg200kg200kg

6-1

6.2 Wrist Flange

6.2 Wrist Flange

The wrist flange dimensions are shown in " Fig. 15 Wrist Flange ". In order to see the align-ment mark, it is recommended that the attachment be mounted inside the fitting. Fitting depth of inside and outside must be 8mm or less.

Fig. 15 Wrist Flange

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

9 dia.(2 holes) (depth: 8mm)

10 dia.(2 holes) (depth: 8mm)

Alignment mark

63 d

ia.+0

.030

0

160

dia.

0-0

.025

+0.018 0

+0.015 0

8

8

P.C.D.125

P.C.D.92

Tapped hole M10 (6 holes) (depth: 12mm)

Tapped hole M10(6 holes) (depth: 12mm)

Units: mm

NOTE

6-2

7.1 Peripheral Equipment Mounts

7 System Application

7.1 Peripheral Equipment Mounts

When peripheral equipment is attached to the manipulator, the following conditions should be observed.

Fig. 16 Installing Peripheral Equipment

Table. 7 Constraint for Attaching

Application Note

A1, A2

Cable Processing andValve Load

30 kg max.49N m (5kgf m) max. for moment increase amount of upper arm

B Others 250 kg max.

40 255

3050

73117

120

855

75 137.5

91

40255

133

120

A1Tapped hole M8(4 holes) (depth: 15mm)

A225540

120


B

855

75 137.5 B

5030

73117


410

73

255 40

120

133


7-1



3 cables for valves (0.75mm2), 18 internal user I/O wires (0.5mm2 x 6 wires, 0.75mm2 x 12 wires), the cables for the external axis (1.0mm2 x 4 cables, 0.5mm2 x 2 cables, 0.2mm2 x 4 cables), and an air line are used in the manipulator for the drives of the peripheral devices mounted on the upper arm as shown in " Fig. 17 (a) Connectors for Internal User I/O Wiring Harness and Air Line ".The connector pins, and the terminals are assigned as shown in " Fig. 17 (b) Connectors for Internal User I/O Wiring Harness and Air Line (Pin Details) ". Wiring must be performed by user.

• The allowable current for wires : 8.0A or less / wire. (1.25mm2)

: 7.0A or less / wire. (1.0mm2)




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

7-2


Fig. 17 (a) Connectors for Internal User I/O Wiring Harness and Air Line

A

Connector for the external axis(Power cable):JL05-2A18-1SC(socket connector with cap).Prepare pin connector:JL05-6A18-1P.

Connector for the external axis(Encoder cable):JL05-2A20-29SC(socket connector with cap).Prepare pin connector:JL05-6A20-29P.

Connector for internal uwer I/O wiringharness (Casing):JL05-2A22-14SC(socket connector with cap).Prepare pin connector:JL05-6A22-14P

Exhaust port (air flow)Tapped hole PT3/8with pipe plug

Key positions

3BC

S1

1BC

AIR

2BC

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

Air inlet (air flow)Tapped hole PT3/8with pipe plug

View A

7-3


Fig. 17 (b) Connectors for Internal User I/O Wiring Harness and Air Line (Pin Details)

(~RH9550-4077)

43

2214

2113

202726

32 33

15

28

98

21

121118

25243035

1016

232934

17

5 6 7

3631

19

0.5mm2(6 pins)321

6

45

P

P

P

78

1011

9

1314

1617

15

192021

18

12

0.75mm2(3 pins)

0.75mm2(12 pins)

Pins used

Pin details for internal user I/O wiring harness (Base side)

7611

3

121615

549

1

81413

17 18

10

2

Pin details for internal user I/O wiring harness (Casing side)

0.75mm2(12 pins)

0.5mm2(6 pins)

12

543

P

P

87

11109

P 6

131415161718

12Pins used

6

10

3

85

12

74

9

1416

121115

13

Pin details for external axis encoder cable

Shielded wire

0.2mm2(4 pins)12P

P 1015

9Pins used

214

7

5

8

3

96

Pin details for external axis power cable

21

54

6

3 1.0mm2(4 pins)Pins used

0.5mm2(2 pins)

7-4


Fig. 17 (c) Connectors for Internal User I/O Wiring Harness and Air Line (Pin Details)

(RH9550-4077~)

43

2214

2113

202726

32 33

15

28

98

21

121118

25243035

1016

232934

17

5 6 7

3631

19

0.5mm2(6 pins)321

6

45

P

P

P

78

1011

9

1314

1617

15

192021

18

12

0.75mm2(6 pins)

0.3mm2(12 pins)

Pins used

Pin details for internal user I/O wiring harness (Base side)

7611

3

121615

549

1

81413

17 18

10

2

Pin details for internal user I/O wiring harness (Casing side)

0.3mm2(12 pins)

0.5mm2(6 pins)

12

543

P

P

87

11109

P 6

131415161718

12Pins used

6

10

3

85

12

74

9

1416

121115

13

Pin details for external axis encoder cable

Shielded wire

0.2mm2(4 pins)12P

P 1015

9Pins used 214

7

5

8

3

96

Pin details for external axis power cable

21

54

6

3 1.25mm2(4 pins)Pins used

0.75mm2(2 pins)

222324

1.25mm2(3 pins)87

9

7-5

8.1 Position of S-Axis Limit Switch

8 Motoman Construction

8.1 Position of S-Axis Limit Switch

The limit switches are optional. For the S, L, and U-Axes with limit switches specifications, L.S. are located on S-Axis, L-Axis, and U-Axis respectively. For the location, refer to " Fig. 18 Location of Limit Switches ". The inspection and adjustment of the limit switches should be made after removing the cover.

Fig. 18 Location of Limit Switches

S1

3BC

AIR

2BC

1BC

LU-axes interference

limit switch

L-axis overrun limit switch

S-axis overrun limit switch

8-1



High reliability connectors which can be easily put on and removed are used with each con-nector part. For the numbers, types, and locations of connectors, see " Fig. 19 Location of Connectors " and “Table.8 List of Connector Types”.

Fig. 19 Location of Connectors

Table. 8 List of Connector Types

Name Type of Connector

Connector Base Connector for internal user I/O wiring harness

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

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


Connector for external axis(Encoder cable)


Connector for external axis(Power cable)


Connector for external axis(Power cable)

Connector for external axis(Encoder cable)

Connector for internal user I/O wiring harness (Casing)

S1

3BC

AIRA

molexmolexmolex

2BC

1BC

3BC

1BC2BC

Connector for internal user I/Owiring harnss (Base)

8-2


Y

550-4077

00N.nnection of the section A was changed.

ctions of the sections X , Y , Z were changed.

-6-5-4-9

-6-5-4-9

-6-5-4-9

-6-5-4-9

-6-5-4-9

-9-4-5-6 S-AXISPG

DATA-1DATA+1

-2

0V

BATOBT+5V

1CN-1No.1CN

0BAT2BAT118

19

17 0BAT1BAT0BT

P 23

BAT110BAT12

K R0BAT1110BT

L-AXISPG

U-AXISPG

DATA+2

FG1

BATOBT

-7

2CN-1No.2CN

-7

BAT

0VFG2

+5VOBT

-2 DATA-2

DATA-3DATA+3

-2BAT

BAT

3CN-1No.3CN

-7

OBT

0VFG3OBT

+5V

OBT

R-AXISPG

B-AXISPG

DATA+4DATA-4-2

OBTBAT

4CN-1No.4CN

-7OBTBAT

FG40V+5V

DATA+5DATA-5-2

0V

BATOBT+5V

5CN-1

DATA+6

-7OBTBAT

FG5

6CN-1No.6CN

No.5CN

BAT

T-AXISPG

LAMP(OPTION)

-7

BAT

0V

OBT+5V

FG6

BATOBT

-2 DATA-6

8-3

Fig. 20 (a) Internal Connection Diagram

Y

XRH9550-4077~

RH9550-4077~ ~RH9

Note)1. This diagram is for the MOTOMAN-ES2 For the limit switch specification, the co

2. For RH9550-4077 and over, the conne

2324

22 SP22SP23SP24

P

P

P

P

P

P

0BAT6BAT6

PG5V6

T-1-2-3

No.21CN

-4 PG0V6

0BAT5BAT5

PG5V5

B-1-2-3

No.20CN

-4 PG0V5

R

0BAT4

PG0V4PG5V4

BAT4

-4-3-2-1No.19CN

U

0BAT3

PG0V3PG5V3

BAT3

-4-3-2-1No.18CN

L

0BAT2

PG0V2PG5V2

BAT2

-4-3-2-1No.17CN

S

0BAT1BAT1

PG5V1PG0V1

-1-2-3-4

No.16CN

X

0V+24V

0V+24V

No.22CN

-2-4

-1-3

LA1

E

E

0BAT3BAT2

BAT32122

20

0BAT4

0BAT5

0BAT6BAT5

BAT4

2425

2829

2726

23

BATP 4 BAT12

0BT

0BTBATP

BATP 6

87

5 0BAT21

BAT220BAT22BAT21

K

K

K

R

R

R

BAT6

PG0V2PG5V1PG0V1

3031

32132

PG0V3

PG0V5

PG0V4PG5V4

PG5V35

9

78

6

4 PG5V2

P

P

P

PG5V6PG0V6

1211

16151413

10 PG5V5

12

543

876

1BC(10Px4)

31

42

0V+24V

0V+24V

SPG-1SPG+1

P

P

P

CN1-5

CN1-2CN1-1

CN1-9CN1-10

CN1-4

P

P

P

P

P

P

FG1

SPG+2

FG2

SPG-2P CN1-7CN1-6

CN1-8

SPG-3SPG+3

FG3

P

CN2-3

CN2-2CN2-1

P

P

P

P

P

P

SPG+4SPG-4

FG4

P CN2-7CN2-6

CN2-8

SPG-5SPG+5

SPG+6

FG5

P

CN3-6

CN3-3

CN3-2CN3-1

No.7CN(20-29)1

FOR

ALA2LB2

BC1BC2

LB3LA3

15

109

E

0V5V

SPG-7

FG7

E

P

E E

Casing

SP19

2 SPG+7P

P

P

LB1

SS1

LA2LB2

SS2

LB3LA3

FG6

LB1+24V

P

CN3-8

CN4-6CN4-1

SS2

SPG+7

BC2

P

P

CN4-4

CN4-8CN4-3

CN4-7CN4-2

E

Base

E E

0V

0V5V

5V

FG7

0V

0V5V

5V

P

P

P

P

CN2-10CN2-9CN2-5CN2-4CN4-9

CN3-5CN3-9CN3-10

CN3-4

E

19

S1(28-21)

CN4-5P SPG-7

MANIPULATOR

PSPG-6P CN3-7

CN1-3

CN1-5CN1-4

CN1-10CN1-9

0V

0V+24V

+24V

CN1-1CN1-2 SPG-1

SPG+1

NX100

CN1-3

CN1-6

FG1

SPG+2

CN1-7

CN1-8 FG2

SPG-2

CN2-1CN2-2 SPG-3

SPG+3

CN2-3 FG3

CN2-6CN2-7

SPG+4SPG-4

CN2-8 FG4

CN3-1CN3-2

SPG+5SPG-5

CN3-6

CN3-3

SPG+6

FG5

CN3-7

CN3-8 FG6

CN4-1CN4-6

+24VLB1

CN4-2CN4-7

SS2AL1

CN4-8CN4-3 BC2

AL2

SPG+7

FG7CN4-5CN4-9CN2-4CN2-5CN2-9CN2-10 5V

0V

0V5V0V

CN3-10CN3-9CN3-5 0V

5V

5VCN3-4

SPG-7CN4-4

SPG-6

No.8CN(22-14)

321 SP1

SP2SP3

E

SP6789

SP7SP8

65 SP5

SP44

13141516

1211

SP12SP13SP14SP15

SP11SP10

18 SP18SP1717 SP16

10 SP9

SP20SP21

P

P

P

12

21

6

87

45

3

20

1213

1514

1011

181716

9


ZRH9550-4077~ ~RH9550-4077

12

43

65

No.15CNE

1

8

72

493

S-AXIS OVERRUN L.S.L-AXIS OVERRUN L.S.(OPTION)

LA1LB1

ALA3LB3

LB2LA2LB2

LA2

LB3LA3

S-axis L.S.

A

A

LB2LA2

LB3LA3

LA1S-AXIS OVERRUN L.S.

LB1

LB1LB2LA2

LB3LA3

L-axis L.S.

LB1LA1

S-AXIS OVERRUN L.S.

LB2

LB3LA3

LU-axis L.S.

LB1

LB2

LB3LA3

LA2 LA2L-AXIS OVERRUN L.S.(OPTION)

L AND U-AXIS INTERFERENCE L.S.

L-AXIS OVERRUN L.S.(OPTION)

ENo.15CN

56

-AXIS

U-AXISSM11CN-ANo.11CN

-C-B MV3

MW3

MU3

-AXIS

YB-D

-F-E

ME3

BB3BA3

SM12CN-ANo.12CN

-B-C

MU4

MW4MV4 R-AXIS

YB

B-AXISSM

-F

-D-E

BB4BA4ME4

13CN-ANo.13CN

-B-C-D

MV5

ME5MW5

MU5

YB

T-AXISYB

SM

-F BB5

14CN-A

-D-E-F

-C-B

ME6

BB6BA6

MU6

MW6MV6

No.14CN

-E BA5

8-4

Fig. 20 (b) Internal Connection Diagram

Z

EE


CN6-6CN6-5

CN5-5CN5-2

E

MU1MU1

MW1

MV1MV1MV1

MU1

2BC(8PX5+12PX1)

CN1-7CN1-6CN1-5

CN2-1

CN1-3CN1-2CN1-1

MW1

ME1ME1ME1

BB1

MU2MU2

BA1CN6-2

CN2-6CN2-5

CN2-3

CN2-4

CN1-4CN1-8

CN6-1

CN2-2 MW1

MW2

MV2MV2MV2

ME2ME2ME2

MW2MW2

CN3-8CN3-4CN2-8

CN3-7CN3-6CN3-5

CN3-3CN3-2CN3-1

BB2

MU3MU3

MW3

MV3MV3MV3

MU3CN4-2CN4-1

CN6-4

CN5-1

CN4-7CN4-6CN4-5

CN4-3

CN6-3 BA2

MW3

ME3ME3ME3

BB3

BA4BB4

BA5

BA3CN6-6

CN5-3

CN6-5

CN5-4CN4-8CN4-4

CN6-7CN6-8

CN6-9

BA6BB6

MW4MV4

MW4

MU4

MV4MU4

3BC(6PX6)

CN2-2CN2-1CN1-5CN1-4CN1-2CN1-1

CN6-11CN6-12

CN6-10 BB5

CN5-2 MW3

CN2-7 MU2

ME4ME4

MW5

ME5MW5

MV5MU5

MV5

MU5

CN1-6CN1-3

CN3-1

CN3-3CN3-2


MU6MU6

ME6ME6

MW6MW6

MV6MV6

CN4-6CN4-5CN4-3CN4-2CN4-4CN4-1CN3-5CN3-4

CN3-6 ME5

MU7MU7

MW7MW7

MV7MV7

CN6-5CN6-6


BA7BB7

ME7

CN5-3CN5-6

CN5-5CN5-2 ME7

CN1-1CN1-2

E

MU1MU1

CN1-7CN1-6CN1-5

CN2-1

MV1MV1MV1

MW1

MU1CN1-3

CN2-3

CN1-8CN1-4

CN2-4

MW1

ME1ME1ME1

CN6-2

CN2-6CN2-5

BB1

MU2MU2

BA1CN6-1

MW1CN2-2

CN3-3

CN3-1CN3-2

CN3-5

MV2MV2MV2

MW2

CN3-7

CN2-8CN3-4CN3-8

MW2

ME2ME2ME2

MW2CN3-6

CN4-1CN4-2

CN6-4

MU3MU3

BB2

CN4-7

CN4-5CN4-6

CN5-1

MV3MV3MV3

MW3

MU3CN4-3

BA2CN6-3

CN5-3

CN4-4CN4-8CN5-4

MW3

ME3ME3ME3

CN6-9

CN6-7CN6-8

CN6-6

BA5

BB4BA4

BB3BA3CN6-5

CN6-11CN6-12

BA6BB6

CN2-2

CN1-5CN2-1

CN1-2CN1-4

CN1-1

MW4

MV4

MU4

MW4

MV4

MU4

CN6-10 BB5

MW3CN5-2

MU2CN2-7

CN1-3CN1-6

ME4ME4

CN3-1CN3-2CN3-3

CN2-6

CN2-5CN2-3

MW5

MV5

MU5MV5

MW5

ME5

MU5CN2-4

CN3-5CN3-4

MU6MU6

CN4-5

CN4-4

CN4-3CN4-2

CN4-6

MV6

MW6MW6

ME6ME6

MV6CN4-1

ME5CN3-6

MU7MU7

MW7MW7

MV7MV7

CN5-6CN5-3

BB7BA7

ME7

PE

ME7

SMMU1MV1MW1

-B-C

9CN-ANo.9CN

YBME1

BB1BA1

-D

-F-E

S

MV2MU2

YBME2

BB2BA2

MW2 SM-B

10CN-A

-D

-F-E

-C

No.10CN

L

9.1 Inspection Schedule

9 Maintenance and Inspection


Proper inspections are essential not only to assure that the mechanism will be able to function for a long period, but also to prevent malfunctions and assure safe operation. Inspection inter-vals are displayed in six levels. Conduct periodical inspections according to the inspection schedule in " Table. 9 Inspection Items ".In " Table. 9 Inspection Items ", the inspection items are classified into three types of opera-tion: operations which can be performed by personnel authorized by 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.

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

Failure to observe this warning may result in electric shock or injury.

• Maintenance and inspection must be performed by specified personnel.

Failure to observe this caution may result in electric shock or injury.

• For disassembly or repair, contact your Yaskawa representative.

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

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

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

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

WARNING

CAUTION

9-1


• The inspection interval must be based on the servo power supply on time.• For any different or special applications, the inspection process should be developed on

an case-by-case basis.• For axes which are used very frequently (in handling applications, etc.), it is recom-

mended that inspections be conducted at shorter intervals. Contact your Yaskawa repre-sentative.

Table. 9 Inspection Items

Items*4

Schedule

Method Operation

Inspection Charge

Daily1000

HCycle

6000H

Cycle

12000H

Cycle

24000H

36000H

Specified Person Licensee Service

Company

Alignment mark Visual

Check alignment mark accordance and damage at the home position.

External lead VisualCheck for damage and deterioration of leads.

Working area andmanipulator

Visual

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

L-,U-axes motor Visual

Check for grease leakage.*5

Baseplate mounting bolts

SpannerWrench

Tighten loose bolts. Replace if necessary.

Cover mount-ing screws

Screw-driver,

Wrench

Tighten loose bolts. Replace if necessary.

S-,L-,U-axesmotorconnector

ManualCheck for loose con-nectors and tighten if necessary.

Connector Base Manual

Check for loose con-nectors.

Balancer Grease Gun

Supply grease. See Par. 9.2.6

Wire harness in manipulator(Lead wire for SLU-axes)(Lead wire for RBT-axes)

Multimeter

Check for conduc-tion between the main connector of base and intermedi-ate connector with manually shaking the wire. Check for wear of protective spring*1

Replace*2

NOTE

9-2


*1 When checking for conduction with multimeter, connect the battery 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. Other-wise, the home position may be lost. (Refer to” 9.2.7 Notes for Maintenance ”)

*2 Wire harness in manipulator to be replaced at 24000H inspection.*3 For the grease, refer to " Table. 10 Inspection Parts and Grease Used ".*4 Inspection numbers correspond to the numbers in “ Fig. 21 Inspection Parts and Inspection Numbers ”.*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.

Battery pack in manipulator

Replace the battery pack when the bat-tery alarm occurs or the manipulator drove for 36000H. See Par.9.2.1

S-axis speed reducer,S-axis gear

Grease Gun

Check for malfunc-tion. (Replace if nec-essary.) Replenish grease *3 (6000H cycle). See Par.9.2.2.Exchange grease*3

(12000H cycle).See Par. 9.2.2

L-axis speed reducer

Grease Gun

Check for malfunc-tion. (Replace if nec-essary.) Replenish grease *3 (6000H cycle). See Par.9.2.3.Exchange grease*3 (12000H cycle). See Par. 9.2.3

U-axis speed reducer

Grease Gun


R-axis speed reducer

Grease Gun


B-, T-axis speedreducer

Grease Gun


Overhaul

Table. 9 Inspection Items

Items*4

Schedule

Method Operation

Inspection Charge

Daily1000

HCycle

6000H

Cycle

12000H

Cycle

24000H

36000H

Specified Person Licensee Service

Company

11

12

13

14

15

16

17

9-3


Inspection numbers correspond to the numbers in " Table. 9 Inspection Items ".

Table. 10 Inspection Parts and Grease Used

No. Grease Used Inspected Parts

Molywhite RE No.00 Speed Reducers for all AxesR-, B-, and T-Axes gears

Alvania EP Grease 2 L-Axis Balancer

12 13 14

15 16

9

9-4


10

2

7

4

1

7 22

134 7

1

14

1

5

1615

11

1

6

6

9

6

12

811

T-ax

is

U-a

xis

L-ax

is

S-ax

isR

-axi

sB-

axis

Not

e:Th

e m

anip

ulat

or is

in th

e ho

me

posi

tion.

Fig.

21

Insp

ectio

n P

arts

and

Insp

ectio

n N

umbe

rs

9-5

9.2 Notes on Maintenance Procedures


9.2.1 Battery Pack Replacement

The battery packs are attached in the two positions indicated in " Fig. 22 (a) Battery Location (Back View) " and “ Fig.22 (b) Battery Location (Top View) “.

If a battery alarm occurs in the NX100, replace the battery in accordance with the following procedure:

Fig. 22 (a) Battery Location (Back View)

Fig. 22 (b) Battery Location (Top View)

Plate screw M4Plate

Connector base

Base

S1

3BC

AIR

2BC

1BC

Board

Battery pack

9-6


Fig. 23 Battery Connection

1. Turn the NX100 main power supply off.2. Uninstall the plate from the base connector and pull the battery pack out to replace with

a new battery pack.3. Remove the battery pack from the battery holder.4. Connect the new battery pack to the unoccupied connectors on the board.5. Remove the old battery pack from the board.

6. Mount the new battery pack to the battery holder.7. Reinstall the plate.

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

Do not pinch the cable when the plate is installed.

Connector

Battery pack before replacementSee procedure 5

See procedure 4

New battery pack

Board

NOTE

NOTE

9-7


9.2.2 Grease Replenishment/Exchange for S-Axis Speed Reducer

Fig. 24 S-Axis Speed Reducer and Gear Diagram

Grease Replenishment (Refer to " Fig. 24 S-Axis Speed Reducer and Gear Diagram ".)

1. Remove the plug from the grease exhaust port.

2. Remove the plug from the grease inlet. Install the grease zerk A-PT1/4 and then inject the grease. The grease zerk A-PT1/4 is delivered with the manipulator.

3. Move the S-Axis for a few minutes to discharge the excess grease.4. Wipe the exhaust port with a cloth and reinstall the plug. Tighten the plug to 5 N・m

(0.51kgf・m). Apply Three Bond 1206C to screwed parts of the plug.

If grease is added with the plug on, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the plug.

Grease type: Molywhite RE No.00Amount of grease: 1200c c

(2400 cc for 1st supply)

S1

3BC

AIR

2BC

1BC

A

molexmolexmolex

Grease exhaust portHexagon socket head plug A-PT1/4

Grease inlet

Hexagon socket head plug PT1/8 S-axis speed reducer

NOTE

9-8


Grease Exchange (Refer to " Fig. 24 S-Axis Speed Reducer and Gear Diagram ".)

1. Remove the plug from the exhaust port.

2. Remove the plug from the grease inlet. Install the grease zerk A-PT1/4 and then inject the grease. The grease zerk A-PT1/4 is delivered with the manipulator.

3. The grease exchange is complete when new grease appears in the 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. Wipe the exhaust port with a cloth and reinstall the plug. Tighten the plug to 5 N・m


9.2.3 Grease Replenishment/Exchange for L-Axis Speed Reducer

Fig. 25 L-Axis Speed Reducer Diagram


Grease type: Molywhite RE No.00Amount of grease: 7000 cc

If the plug is installed when the grease is being exhausted, the grease will go inside the motor and may damage it.

NOTE

NOTE

Grease exhaust portHexagon socket head plug PT1/8

Hexagon socket head plug PT1/8Grease inlet

9-9


Grease Replenishment (Refer to " Fig. 25 L-Axis Speed Reducer Diagram ".)

1. Make the L-Arm vertical to ground.2. Remove the plug from the grease exhaust port.

3. Remove the plug from the grease inlet, then mount the grease zerk A-PT1/8. Inject the grease. The grease zerk A-PT1/8 is delivered with the manipulator.

4. Move the L-Axis for a few minutes to discharge the excess grease.5. Wipe the exhaust port with a cloth and reinstall the plug. Tighten the plug to 5 N・m


Grease Exchange (Refer to " Fig. 25 L-Axis Speed Reducer Dia-gram ".)

1. Make the L-Arm vertical to ground.2. Remove the plug from the grease exhaust port..

3. Remove the plug from the grease inlet and mount the grease zerk A-PT1/8. Then inject the grease. The grease zerk A-PT1/8 is delivered with the manipulator.


5. Move the L-Axis for a few minutes to discharge the excess grease.6. Wipe the exhaust port with a cloth and reinstall the plug. Tighten the plug to 5 N・m






Grease type: Molywhite RE No.00Amount of grease: approx. 1400 cc

NOTE

NOTE

9-10


9.2.4 Grease Replenishment/Exchange for U-Axis Speed Reducer

Fig. 26 U-Axis Speed Reducer Diagram

Grease Replenishment (Refer to " Fig. 26 U-Axis Speed Reducer Diagram ".)

1. Make the U-Arm horizontal to ground.2. Remove the plug from the exhaust port..


4. Move the U-Axis for a few minutes to discharge the excess grease.5. Wipe the exhaust plug with a cloth and reinstall the plug. Tighten the plug to 5 N・m





Grease exhaust portHexagon socekt head plug PT1/8

Grease inletGrease zerk A-PT1/8

NOTE

9-11


Grease Exchange (Refer to " Fig. 26 U-Axis Speed Reducer Dia-gram ".)

1. Make the U-Arm horizontal to ground.2. Remove the plug from the exhaust port.



5. Move the U-Axis for a few minutes to discharge the excess grease.6. Wipe the exhaust plug with a cloth and reinstall the plug. Tighten the plug to 5 N・m



Grease type: Molywhite RE No.00Amount of grease: approx. 1800 cc

If the plug is installed while the grease is being exhausted, the grease will go inside the motor and may damage it.

NOTE

NOTE

9-12


9.2.5 Grease Replenishment/Exchange for U-Arm

Fig. 27 U-Arm Diagram

Grease inlet (R-, B- and T- gears in the casing)Grease zerk A-PT1/8

T-axis speed reducer

R-axis speed reducer

Grease inlet (B-, and T-axis speed reducer)Hexagon socket head plug PT1/8

B-axis speed reducer

Grease exhaust port (R-, and B-axis speed reducer)Hexagon socket head plug PT1/8

Grease inlet (R-axis speed reducer)Hexagon socket head plug PT1/8

Grease exhaust port (R-,B-, and T-gears in the casing)Hexagon socket head plug PT1/8

Grease exhaust port (T-axis speed reducer)Hexagon socket head plug PT1/16

9-13


Grease Replenishment for R-, B-, T- Gears in the Casing (Refer to " Fig. 27 U-Arm Diagram ".)


2. Remove the plug from the grease inlet and install the grease zerk A-PT1/8. Then inject grease. The grease zerk A-PT1/8 is delivered with the manipulator.

3. Move the R-, B-, T-Axes for a few minutes to discharge the excess grease.4. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug to 5

N・m (0.51kgf・m). Apply Three Bond 1206C to screwed parts of the plug.

Grease Replenishment for R-Axis Speed Reducer (Refer to " Fig. 27 U-Arm Diagram ".)


2. Remove the plug from the grease inlet and mount the grease zerk A-PT1/8. Then inject the grease. The grease zerk A-PT1/8 is delivered with the manipulator

3. Move the R-Axis for a few minutes to discharge the excess grease.4. Wipe the exhaust port with a cloth and reinstall the plug. Apply Three Bond 1206C to

screwed parts of the plug.)5. Remove the grease zerk from the grease inlet and reinstall the plug. Tighten the plug

to 5 N・m (0.51kgf・m). Apply Three Bond 1206C to screwed parts of the plug.

If grease is added with the plug on, the grease will go outside the grease box and may damage it. It is absolutely necessary to remove the plug.

Grease type: Molywhite RE No.00Amount of grease: 300cc

(600cc for 1st supply)




NOTE

NOTE

9-14


Grease Replenishment for B-Axis Speed Reducer (Refer to " Fig. 27 U-Arm Diagram ".)



3. Move the B-Axis for a few minutes to discharge the excess grease.4. Wipe the exhaust port with a cloth and reinstall the plug. Apply Three Bond 1206C to

screwed parts of the plug.5. Remove the grease zerk from the grease inlet and reinstall the plug. Tighten the plug


Grease Replenishment for T-Axis Speed Reducer (Refer to " Fig. 27 U-Arm Diagram ".)


2. Remove the plug from the grease inlet and install the grease zerk A-PT1/8. Then inject the grease. The grease zerk A-PT1/8 is delivered with the manipulator.

3. Move the T-Axis for a few minutes to discharge the excess grease.4. Wipe the exhaust port with a cloth and reinstall the plug. Apply Three Bond 1206C to









NOTE

NOTE

9-15


Grease Exchange for R-, B- T-Axis Gears in the Casing (Refer to " Fig. 27 U-Arm Diagram ".)



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

4. Move the R-, B-, and T-Axes for a few minutes to discharge the excess grease.5. Wipe the exhaust port with a cloth and reinstall the plug. Apply Three Bond 1206C to



Grease Exchange for R-Axis Speed Reducer (Refer to " Fig. 27 U-Arm Diagram ".)




4. Move the R-Axis for a few minutes to discharge the excess grease.5. Wipe the grease exhaust port with a cloth and reinstall the plug. Apply Three Bond

1206C to screwed parts of the plug.6. Remove the grease zerk from the grease inlet and reinstall the plug. Tighten the plug



Grease type: Molywhite RE No.00Amount of grease: approx. 2000cc



NOTE

NOTE

9-16


Grease Exchange for B-Axis Speed Reducer (Refer to " Fig. 27 U-Arm Diagram ".)




4. Move the B-Axis for a few minutes to discharge the excess grease.5. Wipe the exhaust port with a cloth and reinstall the plug. Apply Three Bond 1206C to



Grease Exchange for T-Axis Speed Reducer (Refer to " Fig. 27 U-Arm Diagram ".)




4. Move the T-Axis for a few minutes to discharge the excess grease.5. Wipe the exhaust port with a cloth and reinstall the plug. Apply Three Bond 1206C to







NOTE

NOTE

9-17


9.2.6 Grease Replenishment for Balancer Connection Part

Fig. 28 Balancer Connection Part

1. Remove the exhaust plugs of connection and .(Refer to " Fig. 28 Balancer Con-nection Part ".)

2. Inject grease into grease inlets of connection and using a grease gun.

3. Reinstall the plugs of connection 1 and 2. Tighten the plug to 5 N・m (0.51kgf・m). (Apply Three Bond 1206C to screwed parts of the plug.)

Grease type: Alvania EP grease 2Amount of grease: 5cc(10cc for 1st supply)

The exhaust port is used for air flow. Do not inject excessive grease into the gear grease inlet.

Hexagon socket head plug PT1/8

Hexagon socket head plug PT1/8

Exhaust port 1

Connection 2 Grease inlet

Exhaust port 2

Grease zerk A-PT1/8

Connection 1 Tapered roller bearing(2 bearings)

Grease zerk A-PT1/8 (2 zerks)

Connection 1 Grease inlet

Connection 2 Needle bearing

NOTE

9-18


9.2.7 Notes for Maintenance

Battery Pack ConnectionThe connectors (crimped contact-pin) for the battery backup are installed at the end point of the motors (BAT and OBT are marked). Connect the battery packs according to the following procedure.

1. Removed the cap attached to the battery backup connector of the motors.2. Connect the battery packs (HW9470932-A) with the battery backup connectors (BAT

and OBT are marked) located at the end point of the cables for the encoder. (Under this condition, remove the encoder connector and carry out the maintenance checks).

3. Confirm all connectors connected after the maintenance check, and remove the bat-tery packs. Install the caps attached to the battery backup connectors of the motors.

Fig. 29 Battery Pack Connection

When performing maintenance such as replacement of a wire harness in the manipulator, the encoder connector 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 pack leads to disappear-ance of the encoder absolute data.For the battery pack connection, refer to " Fig. 29 Battery Pack Connection ".

Do not remove the battery pack in the connector base.

NOTE

NOTE

b

a

a

b0BT

BAT BAT*

0BT*

Motor

Connector for the battery backup

Battery Pack: HW9470932-A

b:Insertion-type pin terminal (Socket)a:Insertion-type pin terminal (Pin)

Motor power connector

Connector for the encoder

9-19

10 Recommended Spare Parts

It is recommended that the following parts and components be kept in stock as spare parts for the MOTOMAN-ES200N. The spare parts list for the MOTOMAN-ES200N is shown below. Product performance can not be guaranteed when using spare parts from any company other than Yaskawa. The spare parts are ranked as follows:

• Rank A: Expendable and frequently replaced parts• Rank B: Parts for which replacement may be necessary as a result of frequent operation• Rank C: Drive Unit

To replace parts in Rank B or Rank C, contact your Yaskawa representative.

Table. 11 Spare Parts for the Motoman-ES200N


QtyperUnit

Remarks

A 1 Grease Molywhite RE No.00YaskawaElectricCorporation

16kg -for all axes speed reducers and wrist units

A 2 Grease Alvania EPGrease 2

Showa Shell Sekiyu K.K. 16kg - for balancer joint

part

A 3 Liquid Gasket Three Bond 1206C ThreeBond Co., Ltd. 1 1

A 4 Battery Pack HW0470360-AYaskawaElectricCorporation

1 1

A 5 Battery Pack HW9470932-AYaskawaElectricCorporation

- 1

B 6 S-AxisSpeed Reducer HW0380936-A


1 1

B 7 S-Axis Input Gear HW0301627-1YaskawaElectricCorporation

1 1

B 8 L-AxisSpeed Reducer HW9381442-E


1 1

B 9 L-Axis Input Gear HW0301778-1YaskawaElectricCorporation

1 1

B 10 U-AxisSpeed Reducer HW0380793-A


1 1

NOTE

10-1

B 11 U-Axis Input Gear HW0301780-AYaskawaElectricCorporation

1 1

B 12 R-AxisSpeed Reducer HW0380780-A


1 1

B 13 B-AxisSpeed Reducer HW9381453-B


1 1

B 14 T-AxisSpeed Reducer HW0380794-A


1 1

B 15 Wrist Unit HW0170621-AYaskawaElectricCorporation

1 1

C 16 AC Servomotor for S-, L-, and U-Axes



1 3

C 17 AC Servomotor for R-, B-, and T-Axes



1 3



1 1



1 1

Table. 11 Spare Parts for the Motoman-ES200N


QtyperUnit

Remarks

10-2

11.1 S-Axis Unit

11 Parts List

11.1 S-Axis Unit

1001

1002

1039

1040

1003

1004

1005

1006

1007

1008

1009

10411010

1011

1012

1013

1014

1015

1016

1017

1020

1021

1022

10231024

1018

1019

10251026

10271028

10291030

10291030

1031

1032

10331034

1036

10371038

1035

11-1

11.1 S-Axis Unit

No. DWG No. Name Pcs

1001 HW0380936-A Reduction gear 11002 SGMRS-37A2A-YR1* Motor 11003 TC12015014 Oil seal 11004 STW-50 Retaining rings 11005 6310 Bearing 11006 HW0301627-1 Gear 11007 HW0100193-2 Base 11008 HW0100471-1 S head 11009 HW0402102-1 Stopper 11010 HW0302424-2 Stopper 11011 HW0402104-1 Pin 11012 HW0301626-1 Pipe 11013 HW0403903-1 Plate 11014 HW9404486-1 Shaft 11015 MSTH12-30 Pin 11016 MSTH12-40 Pin 21017 MSTH6-20 Pin 21018 KQS10-01S Union 11019 NB-1075-1 Tube 11020 PT1/8 Plug 11021 G415 O ring 11022 G105 O ring 11023 M6X16 Socket screw 11024 2H-6 Spring washer 11025 M12X50 Socket screw 161026 2H-12 Spring washer 161027 M8X40 Socket Screw 11028 2H-8 Spring washer 11029 M12X60 Socket screw 31030 2H-12 Spring washer 31031 M8X110 Socket screw 11032 2H-8 Spring washer 11033 M6X14 Socket screw 61034 2H-6 Spring washer 61035 M20X45(12.9) Bolt 31036 M20 Spring washer 31037 M16X60 Socket screw 121038 GT-SH-16 Spring washer 121039 HW0404753-1 Spacer 11040 HW0404752-1 Flywheel 11041 HW0370954-A Connector base 1

11-2

11.2 L-Axis Unit

11.2 L-Axis Unit

2001

2002

2003

2005

2006

20092019

2019

2009

2010

2011

2012

2012

2017

2017

2018

2018

2019

2019

2005

20072015

2016

2049

2004

2008

2020-26

2020-26

2031

2032

20372038

2013

6004

2014

1008

20312032

2034 2033

20332034

2028

20272019

2019

20392040

20292030

2035

2036

11-3

11.2 L-Axis Unit


2001 HW9381442-E Reduction gear 12002 SGMRS-37A2A-YR11 Motor 12003 Y507212.5 Oil seal 12004 STW-10 Stopper 12005 HR32916J Bearing 22006 HW0100647-1 L arm 12007 HW9482306-E Shaft 12008 HW0481082-A Bolt 12009 HW9405055-1 Shaft 22010 EZ0094-A0 Air breather 12011 G300 O ring 12012 S105 O ring 22013 62PP050BG14 Plug 62014 CP-30-BC-12 Cap 62015 HW9481343-A Gear 12016 HW0301778-1 Gear 12017 KE901107 Oil seal 22018 HW9405699-1 B Cover 22019 PT1/8 Plug 52020 HW9405195-* Shim -2027 M12X35 Socket screw 42028 2H-12 Spring washer 42029 M12X50 Socket screw 212030 2H-12 Spring washer 212031 M10X50 Socket screw 182032 2H-10 Spring washer 182033 M8X25 Socket Screw 82034 2H-8 Spring washer 82035 M16X60 Socket Screw 62036 2H-16 Spring washer 62037 M8X16 Socket Screw 32038 2H-8 Spring washer 32039 M12X60 Socket Screw 242040 SW-2H-12 Spring washer 242049 2H-12 Spring washer 11008 HW0100471-1 S head 16004 HW0171165-B Balancer 1

11-4

11.3 URBT-Axis Unit

11.3 URBT-Axis Unit

3001

3002

3003

3004

30053006

30073008

3009

30103011

30123015

30163017

3019R-axis

3019 B-axis

3019T-axis

3020

3021

3022

3025

30263027

3028

4001

3029

30303031

30323033

3034

303530353036

3037U-axis

3038

3039

30403041

3042

3043

3044

3045

3046

3047

3048

3049

3050

30513052

3053

3053

30103011

3053

3054

3054

3055

3055

3055

3018

3023

3024

3013

2006

3014

11-5

11.3 URBT-Axis Unit


3001 GS210 Oring 13002 HW0402391-1 Coller 13003 HW0402406-1 Coller 13004 HW0302099-1 Gear 13005 M6X60 Socket screw 13006 2H-6 Spring washer 13007 ISTW-30 Stopper 13008 HW0402544-1 Coller 13009 HW0301970-1 Gear 13010 M6X25 Socket screw 23011 2H-6 Spring washer 23012 HW0301968-1 Gear 13013 PT1/8 Plug 13014 PT1/8 Plug 13015 HW0401507-1 Plate 13016 M12X40 Socket screw 43017 2H-12 Spring washer 43018 IRTW-55 Stopper 13019 SGMRS-13A2A-YR1* Motor 33020 M8X25 Socket screw 123021 2H-8 Spring washer 123022 HW0100239-1 Casing 13023 M12X35 Socket screw 183024 2H-12 Spring washer 183025 HW9405703-1 Flange 13026 M6X16 Socket screw 23027 2H-6 Spring washer 23028 MSTM8-20 Pin 13029 HW0402885-1 Cover 13030 M6X16 Socket screw 43031 2H-6 Spring washer 43032 HW9482447-A Oil Seal 13033 HW9405481-1 Coller 13034 IRTW-72 Stopper 13035 PT1/8 Plug 13036 PT1/8 Plug 13037 SGMRS-37A2A-YR1* Motor 13038 HW0380793-A Reduction gear 13039 HW0301779-1 Spacer 13040 M12X60 Socket screw 243041 2H-12 Spring washer 243042 M12X50 Socket screw 333043 2H-12 Spring washer 333044 HW0481083-A Bolt 13045 2H-12 Spring washer 13046 HW0301780-A Gear 13047 HW9481343-A Shaft 13048 ISTW-12 C stopper 13049 HW9482306-E Shaft 13050 G280 Oring 13051 TSH6-01M Union 23052 UB0605-0.1C Air tube 23053 Y507212.5 Oil seal 33054 TAFI405520 Needle bearing 13055 HW0401506-1 Plate 32006 HW0100647-1 L arm 14001 HW0100241-1 U arm 1

11-6

11.4 U-Arm Unit

11.4 U-Arm Unit

4001

4002

4003

4004

4006

4007

4008

4009

4010

40114012

4013

4014

4015

4016

4017

4018

4022

4026

4027

4028

4029

4030

4030

4031

4032

40334034

40354036

40374038

40234024

3022

4025

4019

4020

4021

4005

11-7

11.4 U-Arm Unit

11-8


4001 HW0100241-1 U-Arm 14002 6904 Bearing 14003 HW0402202-1 Shaft 14004 HW0401508-1 Plate 14005 6812LLU Bearing 14006 HW0402204-1 Coller 14007 STW-60 C stopper 14008 STW-20 C stopper 14009 HW0380780-A Reduction gear 14010 HW9302581-1 washer 14011 M12X115 Socket screw 124012 2H-12 Spring washer 124013 AC3204-F2-FKM Oil seal 14014 HR32017XJ Bearing 14015 AC3842-F1-FKM Oil seal 14016 HW0301234-1 Shaft 14017 HW0301237-1 Shaft 14018 HW0301236-A Shaft 14019 M4X12 Socket screw 6

2H-4 Spring washer 64020 PT1/8 Plug 14021 M4X12 Socket screw 64022 HW0301235-A Shaft 14023 M4X6 H set screw 14024 M8X20 Socket screw 14025 2H-8 Spring washer 14026 HW0100173-2 Housing 14027 HR32013XJ Bearing 14028 HW0301971-1 Gear 14029 HW0301969-1 Gear 14030 HR32006XJ Bearing 24031 HW0401505-1 B nut 14032 HW0302100-1 Gear 14033 M5X16 Socket screw 34034 2H-5 Spring washer 34035 M5X12 Socket screw 34036 2H-5 Spring washer 34037 M8X20 Socket screw 64038 2H-8 Spring washer 63022 HW0100239-1 Casing 1

11.5 Wrist Unit

11.5 Wrist Unit

5014

5016

5017

50525070

5013

5001

50025003

50045005

50065007

5008

5009

50105011

5012

5015

50184016

5019

5020

50215022

5023

5023

50245025

50265027

50285029

5030

5031

5032

5032

5032

5032

50335034

50355036

5037

50385039

5040

5041

5042

5043

5042

5043

5044

5045

5046

5047

5048

5049

5050

5051

5053

5054

5057

5058

5059

5060

5061

5062

50635064

5065

5066

5073

5077

5083

5081

5078

5082

5067

5068

5069

50715072

5055

5056

11-9

11.5 Wrist Unit

11-10


5001 HW0100242-1 Wrist base 15002 M12X30 Socket screw 125003 2H-12 Spring washer 125004 HW0100243-1 Wrist 15005 HW9381453-B Reduction gear 15006 M14X115 Socket screw 65007 2H-14 Spring washer 65008 M12X60 Socket screw 105009 2H-12 Spring washer 105010 M8X20 Socket screw 185011 2H-8 Spring washer 185012 ARP568-263 Oring 15013 6908DB Bearing 15014 HW0401511-1 B holder 15015 HW0301775-1 Gear 15016 HW0401509-1 Housing 15017 HW0401510-1 B nut 15018 M4X8 H set screw 15019 6909 Bearing 15020 G220 Oring 15021 HW0301776-1 Gear 15022 6009 Bearing 15023 STW-45 C stopper 25024 ISTW-35C stopper 15025 HW0301222-1 Gear 15026 HW0301223-1 Gear 15027 6007 Bearing 15028 M6X12 Socket screw 65029 2H-6 Spring washer 65030 HW0402203-1 Cover 15031 G140 Oring 15032 HR32004XJ Bearing 45033 6911 Bearing 15034 AE3290E3 Oil seal 15035 S60 Oring 15036 HW9403618-1 Housing 15037 M6X15 Socket screw 5

2H-6 Spring washer 55038 M6X20 Socket screw 35039 2H-6 Spring washer 35040 HW0301224-1 Gear 15041 HW0301225-1 Gear 15042 HW0401514-1 B nut 25043 M5X7 Magic screw 45044 M8X20 Socket screw 145045 2H-8 Spring washer 145046 M10X20 Socket screw 35047 2H-10 Spring washer 35048 HW9403617-1 Housing 15049 HW0200180-1 Cover 15050 M4X12 Socket screw 4

2H-4 Spring washer 45051 HW9302370-1 Cover 15052 M4X12 Socket screw 4

2H-4 Spring washer 45053 PT1/8 Plug 15054 HW0301777-1 Gear 15055 M6X15 Socket screw 65056 M8X20 Socket screw 15057 HW0301226-2 Gear 1


5058 HW0380794-A Reduction gear 15059 M8X30 Socket screw 145060 2H-8 Spring washer 145061 2H-8 Spring washer 15062 M4X16 Socket screw 85063 HW0302422-1 Flange 15064 HW0301782-1 Spacer 15065 PT1/16 Plug 15066 HW0402206-* Simm5067 STW-30 C stopper 15068 6006 Bearing 15069 M6X15 Socket screw 4

2H-6 Spring washer 45070 M4X12 Socket screw 4

2H-4 Spring washer 45071 EZ5036A0-1 Cap 25072 PT1/8 Plug 15073 HW0403621-* Simm -5077 HW0403022-* Simm -5078 HW0402205-* Simm -5081 HW0401516-* Simm -5082 HW0402199-1 Shaft 15083 SP-009*** Simm4016 HW0301234-1 Shaft 1

11.6 Balancer Unit

11.6 Balancer Unit

2041

2042

2044

2045

2046

2043

20472048

6001

6002

6017

6003

6004

6005

6006

6007

6008

6009

6010

6011

6018

6012

6012

60136014

60156016

6003

2006

11-11

11.6 Balancer Unit

11-13


6001 HW0481740-A Coil spring 16002 HW0481741-A Coil spring 16003 SOB607440 Oiless 26004 HW0100477-1 Case 16005 HW0303580-1 Flange 16006 HW0200420-1 Flange 16007 HW0401112-1 Flange 16008 HW0303581-1 Rod 16009 HW9405057-1 Clevis 16010 FD3187A0 Dust seal 16011 EZ2228B0 Cap 16012 IRTW-75 Stopper 26013 M6X8 Magic screw 26014 PT1/8 Plug 36015 M10X40 Socket screw 86016 2H-10 Spring washer 86017 HW0481742-A Coil spring 16018 M8X40 Socket screw 3

2H-8 Spring washer 32006 HW0100647-1 L arm 12041 NA6912 Needle bearing 12042 HW9302054-1 Shaft 12043 AR-85 Clip 12044 WR60 Sir clip 12045 VB75X95X6 Oil seal 12046 VB60X78X9 Oil seal 12047 12X50 Socket screw 122048 2H-12 Spring washer 12

MOTOMAN-ES200NINSTRUCTIONS

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

YASKAWA

YASKAWA ELECTRIC CORPORATION

Specifications are subject to change without noticefor ongoing product modifications and improvements.

MANUAL NO. RE-MTO-A248Printed in Japan September 2006 06-07C

hp200 manipulator manual - motoman€¦ · the information contained within this document is the pr...

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