Instructions: MOTOMAN-EA1400
Instructions: MOTOMAN-EA1400
Instructions: MOTOMAN-EA1400
MOTOMAN-EA1400
INSTRUCTIONS
YR-EA1400-A00 YR-EA1400-A01
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN-YR-EA1400 INSTRUCTIONS YASNAC XRC INSTRUCTIONS YASNAC XRC OPERATORS MANUAL YASNAC XRC OPERATORS MANUAL for BEGINNERS
The YASNAC XRC operators manuals above correspond to specific usage. Be sure to use the appropriate manual.
YASKAWA
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MANDATORY
This instruction manual is intended to explain operating instructions and maintenance procedures primarily for the MOTOMAN-EA1400. General items related to safety are listed in the Safety Manual Section 1: Safety. To ensure correct and safe operation, carefully read the Setup Manual 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 products warranty.
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WARNING
CAUTION
MANDATORY
PROHIBITED
Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel. Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe practices. Always be sure to follow explicitly the items listed under this heading.
Even items described as CAUTION may result in a serious accident in some situations. At any rate, be sure to follow these important items.
NOTE
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as CAUTION and WARNING.
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WARNING
Before operating the manipulator, check that servo power is turned off when the emergency stop buttons on the playback panel or programming pendant are pressed. When the servo power is turned off, the SERVO ON READY lamp on the playback panel and the SERVO ON LED on the programming pendant are 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.
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
Always set the Teach Lock before entering the robot work envelope to teach a job. Operator injury can occur if the Teach Lock is not set and the manipulator is started from the playback panel. 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 manipulators work envelope and that you are in a safe location before: - Turning on the YASNAC XRC 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 operation. Always press an emergency stop button immediately if there are problems. The emergency stop button is located on the right side of both the YASNAC XRC playback panel and programming pendant.
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CAUTION
Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed. -Check for problems in manipulator movement. -Check for damage to insulation and sheathing of external wires. Always return the programming pendant to the hook on the XRC cabinet after use. The programming pendant can be damaged if it is left in the manipulators work area, on the floor, or near fixtures. Read and understand the Explanation of the Alarm Display in the Setup Manual before operating the manipulator:
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MOTOMAN
TYPE !!!!!! PAYLOAD !! kg ORDER NO. !!!!!! SERIAL NO. !!!!!! MASS !!! DATE !!
WARNING
kg
WARNING
Donotenter robotworkarea
Movingpartsmay causeinjury
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Receiving
1.1 Checking Package Contents . . . . . . . . . . . . . . . . . . . . . . . -1-1 1.2 Checking the Order Number . . . . . . . . . . . . . . . . . . . . . . . -1-2
Transporting
2.1 Transporting Method
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 2.1.1 Using the Crane. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1 2.1.2 Using the Forklift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
Installation
3.1 Safeguard Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 3.2 Mounting Procedures for Manipulator Base . . . . . . . . 3-2
3.2.1 When the Manipulator and Mounting Fixture are Installed on a Common Installation Base . . . . . . . . . . . . . . . . .3-3 3.2.2 When the Manipulator is Mounted Directly on the Floor . . . . . .3-4 3.3.1 S-Axis Working Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5 3.3.2 Affixing the Manipulator Base . . . . . . . . . . . . . . . . . . . . . . . . . .3-5 3.3.3 Precautions to Prevent the Manipulator from Falling. . . . . . . . .3-5
Wiring
4.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2 4.2 Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2.1 Connection to the Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . .4-2 4.2.2 Connection to the XRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
Basic Specifications
5.1 5.2 5.3 5.4 5.5 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Part Names and Working Axes . . . . . . . . . . . . . . . . . . . . Manipulator Base Dimensions . . . . . . . . . . . . . . . . . . . . . Dimensions and Working Envelope . . . . . . . . . . . . . . . . B-Axis Working Range. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1 5-2 5-2 5-3 5-4
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System Application
7.1 Mounting Equipment
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1 7.1.1 Allowable Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1 7.1.2 Installation Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Motoman Construction
8.1 Position of S-Axis Limit Switch . . . . . . . . . . . . . . . . . . . . . 8-1 8.2 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
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Grease Replenishment for R-Axis Speed Reducer . . . . . . . . .9-12 Grease Replenishment for B-Axis Speed Reducer . . . . . . . . .9-13 Grease Replenishment for T-Axis Gear . . . . . . . . . . . . . . . . .9-14 Grease Replenishment for R-Axis Cross Roller Bearing. . . . .9-15 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16 # Wrist Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16 # Encoder Connector (with CAUTION label) . . . . . . . . . . . . .9-16
10 11
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1 Receiving
CAUTION
Confirm that the manipulator and the XRC 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
When the package arrives, check the contents for the following standard items (Any additional options ordered should be checked as well.): Manipulator XRC Programming Pendant Power supply cables (2 cables) between the XRC and the Manipulator
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1.2
Check that the order number of the manipulator corresponds to the XRC. 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. !!!!!!
Check that the manipulator and the XRC have the same order number.
YASNACXRC
EA1400
ON
RE
SE
OFF
TR
IP
XSYL-
X+ S+
Y+
L+ B-
RR+
B+
ZU-
Z+
U+
T-
T+
7 4 1 0
8 5
9 6 3
ORDERNO.
NJ1530
TYPE
ERCR-
POWERSUPPLY
200/220V
SERIALNO. DATE
50/60Hz
3PHASE
KVA
P/N
MADEINJAPAN
NJ2063-1
1-2
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2 Transporting
CAUTION
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. The system consists of precision components, so failure to observe this caution may adversely affect performance.
2.1
2.1.1
Transporting Method
Using the 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 the shipping jigs before transporting, and lift it in the posture as shown in " Fig. 2 Transporting Position ".
ShippingJig
M10Eyeboltsprovidedat factory(2bolts)
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2.1.2
When using a forklift, the manipulator should be fixed on a pallet with shipping bolts and jigs as shown in " Fig. 3 Using the Forklift ". Insert claws under the pallet and lift it. The pallet must be strong enough to support the manipulator. Transporting of the manipulator must be performed slowly in order to avoid overturning or slippage.
M16Bolts(4bolts)
Pallet
ForkliftClawEntry
Fig. 3 Using the Forklift Check that the eyebolts are securely fastened. The weight of the maniputator is approximately 150kg including the shipping bolts and jigs. Use a wire rope strong enough to withstand the weight. Attached eyebolts are designed to support the manipulator weight. Do not use them for anything other than transporting the manipulator. Mount the shipping bolts and jigs for transporting the manipulator. Avoid exerting 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.
NOTE
2.2
The manipurator is provided with shipping bolts and jigs. (" Fig. 2 Transporting Position "). The jigs are painted yellow. The jigs are fixed by M10 hexagon socket head cap bolts (2 bolts).
NOTE
Before turning on the power, check to be sure that the shipping bolts and jigs have been removed. The shipping bolts and jigs then must be stored for future use, in the event that the manipulator must be moved again.
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3 Installation
WARNING
Install the safeguards. Failure to observe this warning may result in injury or damage. Install the manipulator in a location where the fully extended arm and tool will not reach the wall, safeguards, or controller. 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 wall, the base section must have sufficient strength and rigidity to support the weight of the manipulator. Also, it is necessary to consider countermeasures to prevent the manipulator from falling. Failure to observe these warnings may result in injury or damage.
CAUTION
Do not install or operate a manipulator that is damaged or lacking 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 jigs have been removed. Failure to observe this caution may result in damage to the driving parts.
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3.1
Safeguard Installation
To insure safety, be sure to install safeguards. They prevent unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guidance. (ISO10218) Responsibility for Safeguarding The user of a manipulator or robot system shall ensure that safeguards are provided and used in accordance with Sections 6, 7, and 8 of this standard. The means and degree of 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
The manipulator should be firmly mounted on a common installation base or foundation strong enough to support 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 as shown in " Table. 1 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. Common installation base flatness must be kept at 0.5mm or less. Mount the manipulator base in either of the following ways: " Fig. 3.2.1 When the Manipulator and Mounting Fixture are Installed on a Common Installation Base " or " Fig. 3.2.2 When the Manipulator is Mounted Directly on the Floor ".
Table. 1 Maximum repulsion forces of the manipulator Horizontal rotating maximum torque ( S-axis moving direction) Vertical rotating maximum torque (LU-axis moving direction) 2000N m (204kgf m) 3500N m (357kgf m)
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3.2.1
When the Manipulator and Mounting Fixture are Installed on a Common Installation Base
The common installation base should be rugged and durable to prevent shifting of the manipulator or the mounting fixture. The thickness of the common installation base is 40mm or more and an M16 size or larger anchor bolt is recommended. Affix the manipulator by fastening the base with the M16 (mm) anchor bolts. There are 4 mounting holes on the manipulator base. The base is tapped for M16 (50mm length) bolts. Tighten the bolts and anchor bolts securely so that they will not work loose during operation. See " Fig. 4 Mounting the Manipulator on Common Installation Base " for the method.
20 40mm or More
CommonInstallationBase
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3.2.2
The floor should be strong enough to support the manipulator. Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator as shown in " Table. 1 Maximum repulsion forces of the manipulator ". As a rough standard, when there is a concrete thickness (floor) is 150mm or more, the manipulator base can be fixed directly to the floor with M16 anchor bolts. Before mounting the manipulator, however, check that the floor is level and that all cracks, etc. are repaired. Any thickness less than 150mm is insufficient for mounting, even if the floor is concrete.
Concrete
M16AnchorBolts(4bolts)
150mm or More
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3.3
Types of Mounting
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 manipulator can not be mounted on ceiling. S-Axis Working Range Affixing the Manipulator Base Precautions to Prevent the Manipulator from Falling
3.3.1
When performing a wall installation, the S-Axis working range must be 30.
3.3.2
When performing a wall or ceiling installation, be sure to use four M16 hexagon socket head cap bolts. Use a torque of 206N m when tightening the bolts.
3.3.3
When performing wall or ceiling installations, for safety purposes, take measures to keep the manipulator from falling. Refer to " Fig. 6 When Using Ceiling and Wall-Mounted Types " for details.
NOTE
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3.4 Location
3.4
Location
When the manipulator is installed, it is necessary to satisfy the undermentioned environmental conditions: 0 to +45C (Ambient temperature) 20 to 80%RH (no moisture) Free from dust, soot, or water Free from corrosive gases or liquid, or explosive gases Free from excessive vibration (less than 4.9m/s2) Free from large electrical noise (plasma) Flatness for installation is 0.5mm or less
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4 Wiring
WARNING
Ground resistance must be 100 or less. Failure to observe this warning may result in fire or electric shock. Before wiring, make sure to turn the primary power supply off, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.) Failure to observe this warning may result in fire or electric shock.
CAUTION
Wiring must be performed by authorized or certified personnel. Failure to observe this caution may result in fire or electric shock.
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4.1 Grounding
4.1
Grounding
Follow local regulations for grounding line size. A line of 5.5mm2 or more is recommended. Refer to " Fig. 7 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, ground in accordance with Electric Equipment Technical Standards.
5.5mm2orMore
A ViewA
M8Bolt(ForGrounding) ProvidedatFactory
4.2
Cable Connection
There are two cables for the power supply; a signal cable for detection (1BC) and a power cable (2BC). (Refer to " Fig. 8 Power Supply Cables ".) Connect these cables to the manipulator base connectors and the XRC. Refer to " Fig. 9 (a) Power Supply Cable Connection to the Manipulator ", " Fig. 9 (b) Power Supply Cable Connection to the XRC ".
4.2.1
Before connecting two cables to the manipulator, verify the numbers: 1BC and 2BC on both power supply 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, 1BC, and then set the lever until hearing a click.
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4.2.2
Remove the two entrance cable covers on the XRC side. Pass the signal cable for detection (1BC) through one entrance, the power cable (2BC) through the other entrance, and then tighten bolts on the entrances. Connect each cable to the boards. Be sure to verify the numbers on both the cable and board connectors before connecting, and to tighten the bolts on 1BC connectors to prevent cables from loosening.
ConnectiontotheXRC
Connector
Connectiontothemanipulator
Connector 1BC
WRCA01-CNPG123
WRCA01-CNPG456
Terminal
E
SignalCable
ManipulatorBaseSide
SHOCK 1VUSHOCK
XIU01-CN25
E
XIU01-CN29 1PWM-1-CN1 1PWM-1-CN2 1PWM-1-CN3 1PWM-1-CN4 1PWM-1-CN5
2BC
PowerCable ManipulatorBaseSide
1PWM-1-CN6
3BC
ConnectorDetails
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Signal Cable
Power Cable
Signal Cable
Connector No. WRCA01-CNPG456 (upper) WRCA01-CNPG123 (lower) Grounding plate for Signal and power cable Terminal No.: E
Power Cable
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5 Basic Specifications
5.1 Basic Specifications
Table. 2 Basic Specifications*1
Item Operation Degree of Freedom Payload Repetitive Positioning Accuracy*2 S-Axis (turning) L-Axis (lower arm) Motion Range U-Axis (upper arm) R-Axis (wrist roll) B-Axis (wrist pitch/yaw) T-Axis (wrist twist) S-Axis L-Axis Maximum Speed U-Axis R-Axis B-Axis T-Axis R-Axis Allowable Moment*3 B-Axis T-Axis Allowable Inertia (GD2/4) Mass Temperature Humidity Ambient Conditions Vibration R-Axis B-Axis T-Axis Model Mode MOTOMAN-EA1400 Vertically Articulated 6 3kg 0.08mm 170 +155, -90 +190, -175 150 +180, -45 200 2.44 rad/s, 140/s 2.79 rad/s, 160/s 2.97 rad/s, 170/s 5.93 rad/s, 340/s 5.93 rad/s, 340/s 9.08 rad/s, 520/s 8.8Nm (0.9kgfm) 8.8Nm (0.9kgfm) 2.9Nm (0.3kgfm) 0.27kgm2 0.27kgm2 0.03kgm2 130kg 0 to 45C 20 to 80% RH (non-condensing) Less than 4.9m/s2 (0.5G) Free from corrosive gasses or liquids, or Others explosive gasses Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma) Power Capacity 1.5kVA
*1 *2 *3
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 permissible moment of inertia.
5-1
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5.2
UArm
T-
T+ WristFlange
L+
LLArm SHead S+
SManipulatorBase
5.3
4-18
240 60
hw27230hw927089401hw721.0y
hw27230hw927089401hw721.0y
98
1300.1
300
260
165
hw27230hw927089401hw721.0y
20
120
+0.018
1000.1
1530.1
ViewA
A
5-2
60
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5.4
170
R3 91
R138
170
391
1388
R2 85
PointP WorkingEnvelope
1688
190
81
150
640
40
135
147.5
86
570
200 F100
450
268
312
175
734
1088
1017
230
5-3
2422
10
90
684
155
210 170
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5.5
The working range of the B-Axis maintaining a constant angle to the center of the U-arm is shown in " Fig. 13 B-Axis Working Range ".
135
5.6
The working range of the S-Axis can be altered according to the operating conditions as shown in " Table. 3 S-Axis Working Range ". If alteration is necessary, contact your Yaskawa representative in advance.
Table. 3 S-Axis Working Range Item Specifications 170(standard) 150 120 90 60 30
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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. 4 Moment and Total Moment of Inertia ". Contact your Yaskawa representative for further information or assistance.
Table. 4 Moment and Total Moment of Inertia Axis R-Axis B-Axis T-Axis Moment Nm (kgfm)*1 8.8 (0.9) 8.8 (0.9) 2.9 (0.3) GD2/4 Total Moment of Inertia kgm2 0.27 0.27 0.03
*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 moment of inertia is calculated when the moment is at the maximum. Contact your Yaskawa representative when only moment of inertia, or load moment is small and moment of inertia is large. Also, when the load mass is combined with an outside force, contact your Yaskawa representative.
LoadGravityPosition
LB 200 LT(mm) LT
200
100 W=3kg
B-AxisRotationCenterLine
100
200 LB(mm)
300
400
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6.2
Wrist Flange
The wrist flange dimensions are shown in " Fig. 15 Wrist Flange ". It is recommended that the attachment be mounted inside the fitting. Fitting depth must be 6mm or less. The attachment must be mounted on the range of 90 or less with up to 5mm height from the flange face.
30
420
+0.025
90
56
+0.012 60dia.,depth:14mm
NOTE
Wash off anti-corrosive paint (solid color) on the wrist flange surface with thinner or light oil before mounting the tools.
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7 System Application
7.1 Mounting Equipment
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 12kg, including the wrist load. For instance, when the mass installed in the wrist point is 3kg, the mass which can be installed on the upper arm becomes 9kg.
7.1.2
Installation Position
There is a limitation also on the installation position. " Fig. 17 Connectors for User Cable and Air Duct " shows the distance between the U-Axis rotation center and the load gravity.
W1
15
10 50 10
ViewA
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7.2
14 wires (8 x 0.22mm2, 2 x 0.75mm2, and 4 x 1.25mm2) and an air hose are used in the manipulator for the drives of the peripheral devices mounted on the upper arm as shown in " Fig. 17 Connectors for User Cable and Air Duct ". The connector pins 1 to 16 are assigned as shown in Fig.19. Wiring must be performed by user. The allowable current for cables: must be 3A or below for each cable. (The total current value for pins 1 to 16 must be 40A or less). The maximum pressure for the air hose: is 490 kPa (5 kgf/cm2) or less (The air hose inside diameter: 6.5mm.)
ConnectorfortheusercableonU-axis isTypeJL05-2A20-29SC(withCap) MatingPlugTypeisJL05-6A20-29P
2BC
1BC
3BC
ViewA
ConnectorfortheusercableonS-axis isTypeJL05-2A20-29PC(withCap) MatingplugTypeisJL05-6A20-29S
2 7 9 13 11 15 4
1 5
3 6 8 10 12 14 16
Pinsusednumber
The same pin number (1-16) of two connectors is connected in the lead line of single 0.2mm2, 0.75mm2, or 1.25mm2.
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8 Motoman Construction
8.1 Position of S-Axis Limit Switch
The limit switches for the S-, L-, and U-Axes are located as shown in " Fig. 19 Location of Limit Switches ". The limit switch for the S-Axis is standard. The limit switch for the L- and UAxes are optional (type EA1400-A01). The inspection and adjustment of the limit switches should be made after removing the cover.
L-andU-AxesInterferencelimitswitch (Option)
L-AxisOverrunlimitswitch (Option)
S-AxisOverrunlimitswitch
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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, see " Fig. 20 Location and Numbers of Connectors ".
3BC(ForUserCable)
3BC(ForUserCable)
2BC
1BC
3BC
Fig. 20 Location and Numbers of Connectors Table. 5 List of Connector Types Name Connector for the user cable on the base Connector for the user cable on the U-Arm Type of Connector JL05-2A20-29PC (JL05-6A20-29S: Optional) JL05-2A20-29SC (JL05-6A20-29P: Optional)
Fig. 21 (a) Internal Connection Diagram Fig. 21 (b) Internal Connection Diagram
8-2
YASNAC-XRC
WRCA01 CNPG123
24 22 19 45 21 47
CN 1- 1 CN 1-2
DATA+1 DATA-1
No. 1CN P
-1 -2 -3 -4 -5 -6
P P
CN 1-3 CN 1-4
+5-1 0V-1
PG
S-AXIS
P P
-7
No. 2CN
16 14 11 37 13 39
CN2- 1 CN2-2
DATA+2 DATA-2
-1 -2 -3 -4 -5 -6 -7
BAT OBT
P P
PG
L-AXIS
BAT1 P OBT1
BAT4 0BT4
P
BAT4
P OBT4
BAT4 0BT4
P P
8 6 3 29 5 31 FG WRCA01 CNPG456 24 22 19 45 21 47
CN3- 1 CN3-2
DATA+3 DATA-3
P P
-1 -2 -3 -4 -5 -6 -7
BAT OBT
P P
CN3-3 CN3-4
+5-3 0V-3
PG
U-AXIS
CN4- 1 CN4-2
DATA+4 DATA-4
No. 6CN P P
-1 -2 -3 -4 -1 -2 -3 -1 -2 -3 -4 -5 -6
BAT OBT
P P
CN4-3 CN4-4
+5-4 0V-4
PG
R-AXIS
No.7CN P P
16 14 11 37 13 39
CN5- 1 CN5-2
DATA+5 DATA-5
No.8CN P
No.14CN P P
-1 -2 -3 -4
BAT OBT
B-AXIS PG
P P
CN5-3 CN5-4
+5-5 0V-5
No.17CN P P
-1 -2 -3
8 6 3 29 5 31 FG XIU01-CN25 -A1 -B1 -D1 -A3 -C1 -D2 -C3 -D3 1.25-4 E
P P
CN6- 1 CN6-2
DATA+6 DATA-6
No.9CN P
-1 -2
DATA+6 DATA-6
No.16CN P
-1 -2 -3 -4 -1 -2 -3
BAT OBT
T-AXIS PG
-3 -4 -5
+5V 0V FG6
No.17CN P
178214-1 (AMP) B
P P
B1 SS1 U V
For LAMP(OPTION)
A1
B2 SS2
POWER CABLE
E
3BC(20-29)
E
Bace
E E E
Casing
E
P P P P
3BC(20-29)
E 1 2 3 4 5 6 7 8 9
3BC-1 -2 -3 -4 -5 -6 -7 -8 -9
1 2 3 4 5 6 7 8 9
-11 -12 -13 -14 -15 -16 2BC(6X6) 1.25-4 -2 -3 -4 -1 2PWM-1-CN1 -2 -3 -4 -1 3PWM-1-CN1 -2 -3 -4 -1 4PWM-1-CN1 -2 -3 -4 -1 5PWM-1-CN1 -2 -3 -4 -1 6PWM-1-CN1 -2 -3 -4 -1 XIU01-CN29 -B1 -A1 -C1 -D1 -B2 -A2 -C2 -D2 CN6- 1 CN6-2 CN6-3 CN6-4 CN6-5 CN5- 1 CN5-2 CN5-3 CN5-4 CN5-5 CN4- 1 CN4-2 CN4-3 CN4-4 CN4-5 CN4-6 CN3- 1 CN3-2 CN3-3 CN3-4 CN3-5 CN2- 1 CN2-2 CN2-3 CN2-4 CN2-5 E CN 1- 1 CN 1-2 CN 1-3 CN 1-4 CN 1-5 CN 1-6
11 12 13 14 15 16
11 12 13 14 15 16
E MU1 MV1 MW1 ME1 BA1 BB1 MU2 MV2 MW2 ME2 BA2
4CN-1 -2 -3 -4 -5 -6
No.3CN
1PWM-1-CN1
SM YB
S-AXIS (OPTION)
4CN-1 -2 -3 -4 -5 -6
No.4CN
SM YB
10CN-1 -2 -3 -4 -5 -6 11CN-1 -2 -3 -4 -5 -6 MU3 MV3 MW3 ME3 BA3 BB3 MU4 MV4 MW4 ME4 BA4 BB4
L-AXIS
MU3 MV3 MW3 ME3 BA3 MU4 MV4 MW4 ME4 BA4 BB4 MU5 MV5 MW5 ME5 BA5 MU6 MV6 MW6 ME6 BA6
SM YB
U-AXIS
No.11CN
SM YB
R-AXIS (OPTION)
18CN-1 -2 -3 -4 -5 -6 19CN-1 -2 -3 -4 -5 -6
No.18CN
12CN-1 -2 -3 -4 -5 -6 -1 -2 -3 -4
No.12CN
MU5 MV5 MW5 ME5 BA5 BB5 MU6 MV6 MW6 BA6
MU5 MV5 MW5 ME5 BA5 BB5 MU6 MV6 MW6 ME6 BA6 BB6
SM YB
B-AXIS (OPTION)
No.13CN
No.19CN
SM YB
T-AXIS (OPTION)
PE
Notes A2 A1 LA1 LB1 LA2 LA3 LB2 1.These drawings are applicable to EA1400 internal connection. LB3 LB3 2. These drawings indicate the standard specification, and L-,U-Axis L-U-Axis L.S.Specification L.S. specification were changed as shown in right drawing A. 3.These drawings indicate the standard specification, and the drawings at using the shock sensor were changed as shown in right drawing B .
Fig.21 (b) Internal Connection Diagram 8-4
HW0481059
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 unit 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. 6 Inspection Items ". In " Table. 6 Inspection Items ", the inspection items are classified into three types of operation: 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.
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
HW0481059
$ Tram mark
Visual
Check tram mark accordance and damage at the home position. Check for damage and deterioration of leads. Clean the work area if dust or spatter is present. Check for damage and outside cracks. Check for grease leakage.*5 Tighten loose bolts. Replace if necessary.
Visual
'
Visual
( motor
% %
Visual
% %
% %
% %
) mounting
bolts
Baseplate
Spanner Wrench
Cover mount-
% % %
% %
% % %
% % %
Base connec-
Check for loose connectors. Check for belt tension and wear.
, ing belt
BT-axes tim-
Manual
- (SLURBT-
Check for conduction between the main connecter of base and intermediVisual Multimeter ate connector with manually shaking the wire. Check for wear of protective spring*1
%
Wire harness In manipulator (BT-axes leads)
Replace*2 Check for conduction between termiVisual Multimeter nals and wear of protective spring.*1
% %
% %
Replace*2 Replace the battery unit when the battery alarm occurs or the manipulator drove for 36000H.
11
9-2
HW0481059
Check for malfunction. (Replace if necessary.) Supply grease*3 (6000H cycle). See Par. " 9.2.2 Grease Replenishment/ Replacement for SAxis Speed Reducer " Replace grease*3. (12000H cycle) See Par. " 9.2.2 Grease Replenishment/Replacement for S-Axis Speed Reducer " Check for malfunction. (Replace if necessary.) Supply grease*3 (6000H cycle). See Par. " 9.2.3 Grease Replenishment/ Replacement for LAxis Speed Reducer " Replace grease*3 (12000H cycle). See Par. " 9.2.3 Grease Replenishment/ Replacement for LAxis Speed Reducer " Check for malfunction. (Replace if necessary.) Supply
12
Grease Gun
13
Grease Gun
14
Grease Gun
grease*3 (6000H cycle). See Par. " 9.2.4 Grease Replenishment/Replacement for U-Axis Speed Reducer ", " 9.2.5 Grease Replenishment for R-Axis Speed Reducer " Check for malfunction. (Replace if necessary.) Supply
15
T-axis gear
Grease Gun
grease*3 (6000H cycle). See Par. " 9.2.6 Grease Replenishment for B-Axis Speed Reducer " Check for malfunction. (Replace if necessary.) Supply
16
Grease Gun
grease*3 (6000H cycle). See Par. " 9.2.7 Grease Replenishment for T-Axis Gear ", " 9.2.8 Grease Replenishment for RAxis Cross Roller Bearing "
9-3
HW0481059
17
Overhaul
*1 *2 *3 *4 *5
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 detecter side for each axis from the motor. Otherwise, the home position may be lost. (Refer to " 9.2.9 Notes for Maintenance ") Wire harness in manipulator to be replaced at 24000H inspection. For the grease, refer to " Table. 7 Inspection Parts and Grease Used ". Inspection No. correspond to the numbers in " Fig. 22 Inspection Parts and Inspection Numbers ". 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.
9-4
HW0481059
Inspected Parts S-, L-, and U-axis speed reducers R-, B-, and T-axis speed reducers, R-axis cross roller bearing T-axis gear
,
14
13
15
16
The numbers in the above table correspond to the numbers in " Table. 6 Inspection Items ".
9-5
HW0481059
9.2
9.2.1
The battery units are attached in the two positions indicated in " Fig. 23 Battery Location "and " Fig. 24 Battery Connection ". If the battery alarm occurs in the XRC, replace the battery according to the following procedure:
Battery Unit
Connector BaseBolt
Connector Base
Support
Seestep6nextpage Seestep7nextpage
0BT1 BAT1 0BT1 BAT1
a:Insertion-typepinterminal(Female) b:Insertion-typepinterminal(Male)
b 0BT1 a BAT1
b 0BT4 a BAT4
b 0BT4 a BAT4
Seestep4below
ConnectorBase
1. 2. 3. 4.
Turn the XRC main power supply off. Remove the connector base, and grease tube from the union. Remove the battery unit mounting screw on the support. Remove the plastic tape (insulation tape) protecting the connection part of the battery unit in the manipulator. 5. Connect the new battery.
9-6
HW0481059
NOTE
Remove the old battery unit after connecting the new one so that the encoder absolute data does not disappear.
7. Protect the connection part of the battery unit in the manipulator with plastic tape (insulation tape). 8. Mount the battery unit with the screws, connect the grease tube to the union, and then mount the connector base.
9.2.2
So:GreaseExhaustPlug GNippleA-PT1/8
2BC
1BC
3BC
Si:GreaseInlet GNippleA-PT1/8
S-AxisSpeedReducer
9-7
HW0481059
Grease Replenishment (Refer to " Fig. 25 S-Axis Speed Reducer Diagram ".)
1. Remove the So exhaust G Nipple.
NOTE
If grease is added without removing the exhaust G Nipple, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the G Nipple.
2. Inject the grease into the Si grease inlet using a grease gun.
Grease type: Molywhite RE No. 00 Amount of grease: 30cc (60cc for 1st supply)
3. Move the S-axis for for a few minutes to discharge the excess grease. 4. Wipe the So exhaust port with a cloth and reinstall the G Nipple. Spread the Three Bond 1211 on the screw of the G Nipple.
Grease Replacement (Refer to " Fig. 25 S-Axis Speed Reducer Diagram ".)
1. Remove the So exhaust G Nipple.
NOTE
If grease is added without removing the exhaust G Nipple, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the G Nipple.
2. Inject the grease into the Si grease inlet using a grease gun.
Grease type: Molywhite RE No. 00 Amount of grease: 200cc
3. The grease replacement is complete when new grease appears in the So 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 So exhaust port with a cloth and reinstall the G Nipple. Spread the Three Bond 1211 on the screw of the G Nipple.
9-8
HW0481059
9.2.3
LArm
Lo:GreaseExhaustPort (GNippleA-MT6x1)
L-AxisSpeedReducer
Li:GreaseInlet (GNippleA-MT6x1)
Grease Replenishment (Refer to " Fig. 26 L-Axis Speed Reducer Diagram ".)
1. Make the L-arm vertical for ground. 2. Remove the Lo exhaust G Nipple.
NOTE
If grease is added without removing the exhaust G Nipple, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the G Nipple.
4. Move the L-Axis for a few minutes to discharge the excess grease. 5. Wipe the Lo exhaust G Nipple with a cloth and reinstall the G Nipple. Spread the Three Bond 1211 on the screw of the G Nipple.
9-9
HW0481059
Grease Replacement (Refer to " Fig. 26 L-Axis Speed Reducer Diagram ".)
1. Make the L-arm vertical for ground. 2. Remove the Lo exhaust G Nipple.
NOTE
If grease is added without removing the exhaust G Nipple, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the G Nipple.
4. The grease replacement is complete when new grease appears in the Lo 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. Wipe the Lo exhaust port with a cloth and reinstall the G Nipple. Spread the Three Bond 1211 on the screw of the G Nipple.
9.2.4
U-AxisSpeedReducer
UArm
Ui:GreaseInlet (GNippleA-MT6x1)
9-10
HW0481059
Grease Replenishment (Refer to " Fig. 27 U-Axis Speed Reducer Diagram ".)
1. Make the U-arm horizontal for ground. 2. Remove the Uo exhaust G Nipple.
NOTE
If grease is added without removing the exhaust G Nipple, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the G Nipple.
4. Move the U-Axes for a few minutes to discharge the excess grease. 5. Wipe the Uo exhaust port with a cloth and reinstall the G Nipple. Spread the Three Bond 1211 on the screw of the G Nipple.
Grease Replacement (Refer to " Fig. 27 U-Axis Speed Reducer Diagram ".)
1. Make the U-arm horizontal for ground. 2. Remove the Uo exhaust G Nipple.
NOTE
If grease is added without removing the exhaust G Nipple, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the G Nipple.
4. The grease replacement is complete when new grease appears in the Uo exhaust port. (The new grease can be distinguished from the old grease by color.) 5. Move the U-Axes for a few minutes to discharge the excess grease. 6. Wipe the Uo exhaust port with a cloth and reinstall the G Nipple. Spread the Three Bond 1211 on the screw of the G Nipple.
9-11
HW0481059
9.2.5
Ri:Greaseinlet (GNippleA-PT1/8)
1. Remove the Ro plug for air flow. 2. Inject grease into the Ri grease inlet using a grease gun. (Refer to " Fig. 28 R-Axis Speed Reducer Diagram ".)
Grease type: Harmonic grease SK-1A Amount of grease: 8cc (16cc for first supply)
NOTE
The Ro exhaust port is used for air flow. Do not inject excessive grease into the Ri grease inlet.
3. Reinstall the Ro plug. Spread the Three Bond 1211 on the screw of the plug.
9-12
HW0481059
9.2.6
Bi:GreaseInlet Bo:Plugforairflow
(Plug)
(GNippleA-MT6x1)
1. Remove the cover and remove the Bo plug for air flow. 2. Inject grease into the Bi grease inlet using a grease gun. (Refer to " Fig. 29 B-Axis Speed Reducers Diagram ")
Grease type: Harmonic grease SK-1A Amount of grease: For B-axis (Bi): 10cc (20cc for 1st supply)
NOTE
The Bo exhaust port is used for air flow. Do not inject excessive grease into the Bi grease inlet.
9-13
HW0481059
9.2.7
1. Remove the T1 inlet G Nipple. 2. Inject grease into the T2 gear grease inlet using a grease gun.
Grease type: Alvania EP grease2 Amount of grease: 10cc
NOTE
The T1 exhaust port is used for air flow. Do not inject excessive grease into the gear grease inlet.
3. Remove the T2 inlet G Nipple and install the T1 inlet G Nipple. Spread the Three Bond 1211 on the screw of the G Nipple. 4. Inject grease into the T1 gear grease inlet using a grease gun.
Grease type: Alvania EP grease2 Amount of grease: 10cc
NOTE
The T2 exhaust port is used for air flow. Do not inject excessive grease into the gear grease inlet.
5. Reinstall the T2 inlet G Nipple. Spread the Three Bond 1211 on the screw of the G Nipple.
9-14
HW0481059
9.2.8
R-AxisCrossRollerBearing
Co:Boltforairflow (HexagonSocketHeadCapBoltM6)
1. Remove the Co bolt for air flow. 2. Inject grease into the Ci grease inlet using a grease gun. (Refer to " Fig. 31 R-Axis Cross Roller Bearing Diagram ").
Grease type: Alvania EP grease 2 Amount of grease: 3cc (6cc for 1st supply)
NOTE
The Co exhaust port is used for air flow. Do not inject excessive grease into the grease inlet.
3. Reinstall the Co bolt for air flow. Spread the Three Bond 1211 on the screw of the bolt.
9-15
HW0481059
9.2.9
#
Wrist Axis
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 silicon sealant. Therefore, if the wrist cover is disassembled, reseal with silicon sealant (modifier silicon caulk, refer to " Table. 8 Spare Parts for the YR-EA1400-A00,A01 ").
Cover CoverJointingFace
Cover
CoverJointingFace
Connect the battery unit with reference to the following figure before removing the encoder connector (with CAUTION label).
Powerconnector
Encoderconnector CAUTIONlabel
batteryunit
Connectiondiagram
0BT BAT a b b a 0BT4 BAT4
WARNING
Connectbatterytoencoder tosavethedatabefore removingconnector.
9-16
HW0481059
NOTE
Grease
Molywhite RE No. 00 Harmonic Grease SK-1A Alvania EP Grease 2 Modifier Silicon Caulk Three Bond 1211
Yaskawa Electric Corporation Harmonic Drive System Co., Ltd. Showa Oil Co., Ltd. Konishi Co., Ltd.
16kg
Grease
2.5kg
Grease
16kg
Three Bond Co., Ltd Yaskawa Electric Corporation Yaskawa Electric Corporation Mitsuboshi Belting Limited Mitsuboshi Belting Limited Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation
for SLU-axes
Battery Unit
HW9470932-A
Battery Unit
HW9470917-A
for RBT-axes
60S4.5M950
60S4.5M801
10
HW9280729-A
11
HW9280732-A
12
HW9280738-A
10-1
HW0481059
13
R-Axis Speed Reducer B-Axis Speed Reducer T-Axis Gear (Input Side) T-Axis Gear (Output Side) Cross Roller Bearing Internal Cable
HW0380504-A
Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation
14
HW0380710-A
15
HW0301289-A
16
HW0301435-A
17
HW0380721-A
18
HW0170471-A
19
HW0370377-A
HW9381362-A
20
With brake, with key, lead terminal treatment completion With brake, with key, lead terminal treatment completion With brake, no key, lead terminal treatment completion
21
L-Axis AC Servomotor
HW9381363-A
22
HW9381370-A
10-2
HW0481059
11 Parts List
11.1 S-axis Driving Unit
1004
1020
1030 1027
1029
1026
1023 1024
1012 1013
1011 1025
1008
1005
11-1
HW0481059
No. 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039
DWG No. HW9100881-1 TSH6-01M NB-0640-0.25 HW9100941-1 HW9302222-1 A-MT6X1 LP-M5 GT-SA Bolt M8x30 GT-SA Bolt M10x25 GT-SA Bolt M6x20 23198-06A2A-YR24 M8x50 2H-8 HW9280729-A M4x80 2H-4 GT-SA Bolt M6x30 HW9405026-1 APS Bolt M5x10 HW9405278-1 M10x35 2H-10 HW9200962-1 M5x12 HW9302270-1 GT-SA Bolt M6x15 CD-31 M6x10 TA1-S10 M5x10 T50R HW0370350-A M5x12 2H-5 M4 x 12 HW9470917-A HW9470932-A M5x10 HW0170470-A
Name Base Union Tube S head M base G nipple Plug Socket screw Socket screw Socket screw Motor Socket screw Washer Reduction gear Socket screw Washer Socket screw Cover Bolt Dog Socket screw Washer Cover APS Bolt Support Socket screw Saddles Socket screw Clamp APS Bolt Insulok Limit Switch Socket screw Washer Round head screw Battery Battery APS Bolt internal wiring
Pcs 1 1 1 1 1 1 1 4 3 12 1 3 3 1 1 1 16 1 2 1 1 1 1 4 1 2 1 2 1 1 1 1 2 2 2 1 1 4 1
11-2
HW0481059
2029 2027
2020
2021 2042 2036 2038 2039 2040 2041 2039 2040 2043 2037 2041
2044
2035 2033
2034
2032
2030
2031
2028
2011
2007
11-3
HW0481059
No. 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 2021 2022 2023 2024 2025 2026 2027 2028 2029 2030 2031 2032 2033 2034 2035 2036 2037 2038 2039 2040 2041 2042 2043 2044
DWG No. 23198-12A2A-YR13 GT-SA Bolt M8x30 HW9100942-1 M14x35 GT-SH Washer M14 A-MT6X1 HW9280732-A GT-SA Bolt M8x45 M6x60 2H-6 HW9302190-1 M6x8 A-MT6X1 HW9405283-A GT-SA Bolt M6x45 M6 HW9408284-A GT-SA Bolt M6x30 M6 23198-06A2A-YR24 GT-SA Bolt M8x30 HW9280738-A M4x50 2H-4 M6x35 2H-6 HW0100158-1 GT-SA Bolt M10x30 A-MT6X1 HW9405285-A M5x20 2H-5 HW0302204-1 GT-SA Bolt M4x12 HW0401541-1 HW0401540-1 HW0401993-1 CH-16 GT-SA Bolt M5x12 TA1-S8 T50R M4x8 M4x10 HW0402292-1
Name Motor Socket screw L arm Socket screw Washer G nipple Reduction gear Socket screw Socket screw Washer Cover APS Bolt G nipple Stopper Socket screw Washer Stopper Socket screw Washer Motor Socket screw Reduction gear Socket screw Washer Socket screw Washer Casing Socket screw G nipple Stopper Socket screw Washer Cover Socket screw Cover Cover Plate Saddles Bolt Clamp Insulok Round head screws Round head screws Support
Pcs 1 4 1 6 6 1 1 12 1 1 1 4 1 1 1 1 1 1 1 1 4 1 1 1 12 12 1 6 2 2 2 2 1 8 1 1 1 2 5 2 2 1 1 1
11-4
HW0481059
3024
3025
3016 3015
3018
3019
3026
3027
3039
3028
3042 3001 3010 3012 3011 3005 3008 3032 3004 3007 3006 3041 3040 3009 3002 3029 3030 3033 3031 3013 3014
3003
11-5
HW0481059
No. 3001 3002 3003 3004 3005 3006 3007 3008 3009 3010 3011 3012 3013 3014 3015 3016 3017 3018 3019 3020 3021 3022 3023 3024 3025 3026 3027 3028 3029 3030 3031 3032 3033 3034 3035 3036 3037 3038 3039 3040 3041 3042
DWG No. HW0380504-A GT-SA Bolt M5x12 HW0300869-1 GT-SA Bolt M4x12 23184-01A1AYR21 GT-SA Bolt M5x12 HW9482404-A HW0402672-1 TC13287 HW0402673-1 M5x45 2H-5 M4x25 2H-4 RTW62 6007LLU HW0200169-1 M6x25 2H-6 HW0380721-A M6x30 2H-6 HW0302207-1 M5x20 HW0401992-1 HW0302205-1 M5x12 HW0401991-1 KQE10-03 PT 3/8 PMF06-01 A-PT1/8 PT 1/8 TP6(150mm) TP6(170mm) P0C6-M6M TU1065B KQ2L10-00 M4x12 M5x50 2H-5 GT-SA Bolt M5x12
Name Reduction gear Socket screw Cover Socket screw Motor Socket screw Sheet Fly wheel Oil seal M base Socket screw Washer Socket screw Washer Washer Bearing Crank Socket screw Washer Bearing Socket screw Washer Shaft Socket screw Cover Plate APS Bolt Cover Union Plug Union G nipple Plug Tube Tube Half union Tube Elbow APS Bolt Socket screw Washer Socket screw
Pcs 1 2 1 4 1 2 1 1 1 1 3 3 1 1 1 1 1 6 6 1 8 8 1 6 1 1 2 1 1 1 2 1 1 1 1 2 1 1 3 2 2 6
11-6
HW0481059
4048 4031 4013 4055 4019 4016 4030 4060 4045 4051 4048 4056 4021 4057 4027 4023 4003 4034 4043 4034 4006 4025 4012 4054 4048 4048
4059 4007 4048 4044 4005 40294035 4026 4015 4048 4007 4048 4017 4050 4024 4014 4002 4020 4053 4052
4046 4050 4048 4048 4037 4028 4001 4004 4062 4061 4048 4036 4011 4058 4063 4064 4048 4041 4018 4059 4041 4050 4042 4032 4008 4011 4058 4061 4062 4038 4048 4014 4033 4007 4049 4022 4040 4049 4049 4039 4047
4048
11-7
HW0481059
No. 4001 4002 4003 4004 4005 4006 4007 4008 4011 4012 4013 4014 4015 4016 4017 4018 4019 4020 4021 4022 4023 4024 4025 4026 4027 4028 4029 4030 4031 4032 4033 4034 4035 4036 4037 4038 4039 4040 4041 4042 4043 4044 4045 4046 4047 4048 4049 4050 4051 4052 4053 4054 4055 4056 4057 4058 4059 4060 4061
DWG No. HW9482218-A HW0401551-1 HW0401552-1 HW0401553-1 HW0401549-1 RTW78 A-MT6x1 HW0380710-A HW0402670-1 TC60759 TC72888 HW0100290-1 HW0402669-1 HW0301289-1 HW0301299-1 HW0301300-1 HW0301435-1 HW0302208-1 WR12 WR20 SP006 SP0120 HW0301292-1 HW0301293-1 HW0302206-1 HW0301310-1 M4x4 IRTW-24 HW0301291-1 HW0401550-1 HW0401554-1 MS4-10 LP-M5 HW0480866-A HW0480867-A HW0481015-A HW0481016-A 6804ZZ NS7 6811LLU 6901DD NS7 6812DBLU 6902DBLU NA4901 60S4.5M950 60S4.5M801 GT-SA Bolt M4x12 GT-SA Bolt M4x12 GT-SA Bolt M14x12 M4x35 M4x10 2H-4 M5x20 2H-5 M5x25 2H-5 23184-01A1AYR21 HW0100288-1 HW0401758-1 M4
Name Bearing B cover B cover B cover B nut Washer G nipple Reduction gear M base Oil seal Oil seal Cover Cover Gear Gear Gear Gear Support Clip Clip Shim Shim Shaft Shaft Housing Shaft Screw Washer Housing Housing Housing Pin Plug PulIey PulIey PulIey PulIey Bearing Bearing Bearing Bearing Bearing Needle bearing Belt Belt Socket Screw Socket Screw Socket Screw Socket Screw Socket Screw Washer Socket Screw Washer Socket Screw Washer Motor Wrist Washer Washer
Pcs 1 1 1 1 1 1 3 1 2 1 1 2 1 1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 1 1 1 2 1 1 1 1 1 1 2 1 1 1 1 1 1 51 17 8 6 2 2 1 1 4 4 2 1 1 6
Pcs 1 5 5
11-8
MOTOMAN-EA1400
INSTRUCTIONS
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan Phone 81-93-645-7745 Fax 81-93-645-7746
BEIJING OFFICE
Room No. 301 Office Building Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China Phone 86-10-6532-1850 Fax 86-10-6532-1851
YASKAWA
Specifications are subject to change without notice for ongoing product modifications and improvements.
C