YASKAWA MOTOMAN-VA1400, Instructions Manual

Page 1: ...ON YR VA01400 A11 CEILING MOUNTED SLU AXES WITH LIMIT SWITCHES Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN VA1400 INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR S MANUAL DX100 MAINTENANCE MANUAL The DX100 operator s manual above corresponds to specific usage Be sure to use the appropriate...

Page 2: ...ighted property of Yaskawa and may not be sold or redistributed in any way You are welcome to copy this document to your computer or mobile device for easy access but you may not copy the PDF files to another website blog cloud storage site or any other means of storing or distributing online content Printed in the United States of America First Printing 2012 Yaskawa America Inc Motoman Robotics D...

Page 3: ...al 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 improvement...

Page 4: ...sible for providing adequately trained personnel to operate program and maintain the equipment NEVER ALLOW UNTRAINED PERSONNEL TO OPERATE PROGRAM OR REPAIR THE EQUIPMENT We recommend approved Yaskawa training courses for all personnel involved with the operation programming or repair of the equipment This equipment has been tested and found to comply with the limits for a Class A digital device pu...

Page 5: ...sonnel CAUTION Indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury to personnel and damage to equipment It may also be used to alert against unsafe practices MANDATORY Always be sure to follow explicitly the items listed under this heading PROHIBITED Must never be performed NOTE To ensure safe and efficient operation at all times be sure to fol...

Page 6: ...e of the manipulator Be sure to use a lockout device to the safeguarding when going inside Also display the sign that the operation is being performed inside the safeguarding and make sure no one closes the safeguarding View the manipulator from the front whenever possible Always follow the predetermined operating procedure Keep in mind the emergency response measures against the manipulator s une...

Page 7: ...ction 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 cabinet of the DX100 after use The programming pendant can be dama...

Page 8: ...on the labels Also an identification label with important information is placed on the body of the manipulator Prior to operating the manipulator confirm the contents Figure 3 Warning Label Locations WARNING Do not enter robot work area WARNING Moving parts may cause injury Nameplate WARNING Label B WARNING Label A WARNING Label B Nameplate WARNING Label A WARNING Label A 8 of 85 ...

Page 9: ...t is not in use In accordance with ANSI RIA R15 06 2012 section 4 2 5 Sources of Energy use lockout tagout procedures during equipment maintenance Refer also to Section 1910 147 29CFR Part 1910 Occupational Safety and Health Standards for General Industry OSHA Mechanical Safety Devices The safe operation of this equipment is ultimately the users responsibility The conditions under which the equipm...

Page 10: ... backup must always be made before any service procedures are done and before any changes are made to options accessories or equipment Any modifications to the controller unit can cause severe personal injury or death as well as damage to the robot Do not make any modifications to the controller unit Making any changes without the written permission from Yaskawa will void the warranty Some operati...

Page 11: ...ified personnel Summary of Warning Information This manual is provided to help users establish safe conditions for operating the equipment Specific considerations and precautions are also described in the manual but appear in the form of Dangers Warnings Cautions and Notes It is important that users operate the equipment in accordance with this instruction manual and any additional information whi...

Page 12: ...for a response to your inquiry Please have the following information ready before you call Customer Support techsupport motoman com NOTE Please use e mail for routine inquiries only If you have an urgent or emergency need for service replacement parts or information you must contact YASKAWA Customer Support at the telephone number shown above System VA1400 Robots ___________________________ Primar...

Page 13: ...anipulator Base 3 2 3 2 1 Mounting Example 3 3 3 3 Types of Mounting 3 4 3 3 1 S Axis Operating Range 3 4 3 3 2 Fixing the Manipulator Base 3 4 3 3 3 Precautions to Prevent the Manipulator from Falling 3 4 3 4 Location 3 5 4 Wiring 4 1 4 1 Grounding 4 1 4 2 Cable Connection 4 2 4 2 1 Connection to the Manipulator 4 2 4 2 2 Connection to the DX100 4 2 5 Basic Specifications 5 1 5 1 Basic Specificat...

Page 14: ...7 9 3 1 Grease Replenishment Exchange for S Axis Speed Reducer 9 7 9 3 1 1 Grease Replenishment 9 8 9 3 1 2 Grease Exchange 9 9 9 3 2 Grease Replenishment Exchange for L Axis Speed Reducer 9 10 9 3 2 1 Grease Exchange 9 10 9 3 2 2 Grease Exchange 9 11 9 3 3 Grease Replenishment Exchange for E Axis Speed Reducer 9 12 9 3 3 1 Grease Replenishment 9 12 9 3 3 2 Grease Exchange 9 13 9 3 4 Grease Replen...

Page 15: ...963 VA1400 Table of Contents 10 Recommended Spare Parts 10 1 11 Parts List 11 1 11 1 S Axis Unit 11 1 11 2 L Axis Unit 11 4 11 3 U Axis Unit 11 5 11 4 E Axis Unit 11 8 11 5 R Axis Unit 11 10 11 6 Wrist Unit 11 13 15 of 85 ...

Page 16: ... four items information for the content of optional goods are given separately Manipulator DX100 Programming pendant Manipulator cables between the DX100 and the Manipulator CAUTION Confirm that the manipulator and the DX100 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 an...

Page 17: ...LLER SHOULD HAVE SAME ORDER NUMBER ORDER NO Check that the manipulator and the DX100 have the same order number Label Enlarged View b Manipulator Side View a DX100 Front View X81 PROGRAMMING PENDANT Y C E G N O T P M E E S R ON TR IP PE D RE SE T OFF WARNING Do not open the door THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER AVERAGE PEAK kVA kA INTERRUPT CURRENT ERDR POWER SUPPLY...

Page 18: ...port The system consists of precision components Failure to observe this caution may adversely affect performance NOTE The weight of the manipulator is approximately 150 kg including the shipping bolts and brackets Use a wire rope strong enough to withstand the weight Mount the shipping bolts and brackets for transporting the manipulator Avoid putting external force on the arm or motor unit when t...

Page 19: ... moving it Be sure that the manipulator is fixed with the shipping bolts and brackets before transport and lift it in the posture as shown in Fig 2 1 Transporting Position Fig 2 1 Transporting Position Rubber plate 40 W 30 H thickness 2 mm Rubber plate Shipping bracket Hexagon socket head cap screw M8 2 screws Hexagon socket head cap screw M10 2 screws Shipping bracket Shipping bracket 19 of 85 ...

Page 20: ...ided with shipping bolts and a shipping brackets See Fig 2 1 Transporting Position Fig 2 3 Shipping Bolts and Brackets The shipping bolts and bracket are painted yellow The shipping bracket is to be fixed with the hexagon socket head cap screws M10 2 screws Bolt M16 4 places Pallet Forklift claw entries NOTE Before turning ON the power check to be sure that the shipping bolts and brackets are remo...

Page 21: ...nd cause injury or damage When mounting the manipulator on the 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 the manipulator that is damaged or lacks pa...

Page 22: ... be firmly mounted on a baseplate 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 referring to Table 3 1 Maximum Repulsion Forces of the Manipulator at Emergency Stop and Table 3 2 Endurance Torque in Operati...

Page 23: ... manipulator base to the baseplate with four hexagon head bolts M16 50 mm long is recommended Next fix the manipulator base to the baseplate Tighten the hexagon head bolts and anchor bolts firmly so that they will not work loose during the operation Refer to Fig 3 1 Mounting the Manipulator on Baseplate Fig 3 1 Mounting the Manipulator on Baseplate 20 A 130 0 1 102 0 1 153 0 1 100 0 1 153 0 1 60 3...

Page 24: ... wall and ceiling mounted types be sure to use four hexagon socket head cap screws M16 tensile strength 1200 N mm2 or more when fixing the manipulator base Use a torque of 206 N m when tightening screws 3 3 3 Precautions to Prevent the Manipulator from Falling For the wall or ceiling mounted types take appropriate measures to avoid the falling of the manipulator in case of emergency Refer to Fig 3...

Page 25: ...vironmental conditions Ambient temperature 0 to 45 C Humidity 20 to 80 RH no condensing Free from dust soot oil or water Free from corrosive gas or liquid or explosive gas or liquid Free from excessive vibration Vibration acceleration 4 9 m s2 0 5 G or less Free from large electrical noise plasma Flatness for installation 0 5 mm or less 25 of 85 ...

Page 26: ...efore 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 NOTE Never use this wire sharing with other ground lines or grounding electrod...

Page 27: ...connecting two cables to the manipulator verify the numbers on both manipulator cables and the connectors on the connector base of the manipulator When connecting adjust the cable connector positions to the main key positions of the manipulator and insert cables in the order of 2BC then 1BC After inserting the cables depress the lever until it clicks 4 2 2 Connection to the DX100 Before connecting...

Page 28: ...e Connection 4 3 155556 1CD HW0484963 VA1400 Fig 4 2 Manipulator Cables 2BC The DX100 Side The Manipulator Side X11 1BC 1BC X21 2BC X11 1BC X21 2BC The DX100 Side The Manipulator Side Encoder Cable Power Cable 28 of 85 ...

Page 29: ...HW0484963 VA1400 4 Wiring 4 2 Cable Connection Fig 4 3 a Manipulator Cable Connectors Manipulator Side Fig 4 3 b Manipulator Cable Connection DX100 Side 3BC 2BC 1BC Connector Details Manipulator Side X11 X21 29 of 85 ...

Page 30: ...mum Speed S Axis 3 84 rad s 220 s L Axis 3 49 rad s 200 s U Axis 3 84 rad s 220 s R Axis 7 16 rad s 410 s B Axis 7 16 rad s 410 s T Axis 10 65 rad s 610 s E Axis 3 84 rad s 220 s Allowable Moment3 3 Refer to chapter 6 1 Allowable Wrist Load for details on the permissible moment of inertia R Axis 8 8 N m 0 9 kgf m B Axis 8 8 N m 0 9 kgf m T Axis 2 9 N m 0 3 kgf m Allowable Inertia GD2 4 R Axis 0 27...

Page 31: ...Working Axes 5 3 Manipulator Base Dimensions Fig 5 2 Manipulator Base Dimensions E E T T B B R R U U L L S S U arm L arm A Manipulator base S head L arm B Wrist flange 130 0 1 102 0 1 153 0 1 100 0 1 153 0 1 60 300 260 60 300 260 292 20 240 132 0 1 132 0 1 102 0 1 A 18 dia 4 holes 16 dia 2 holes 0 018 0 12 dia 0 018 0 View A Units mm 31 of 85 ...

Page 32: ...0 5 4 Dimensions and P Point Maximum Envelope Fig 5 3 a Dimensions and P Point Maximum Envelope YR VA01400 A00 A01 150 199 R 2 7 0 170 170 R 4 5 8 30 640 450 150 200 614 200 110 2475 70 8 0 1 4 8 175 155 199 1734 288 745 741 325 0 1081 144 0 458 1434 R1434 P point maximum envelope P point 32 of 85 ...

Page 33: ...3 b Dimensions and P Point Maximum Envelope YR VA01400 A 10 A11 200 175 8 0 7 0 1 4 8 110 450 614 200 150 640 R458 R1434 R 2 7 0 170 170 199 199 155 2475 150 1734 288 745 741 325 0 1081 144 0 458 1434 30 The working envelope of wrist part B axis in downward postur P point maximum envelope P point 33 of 85 ...

Page 34: ... range of the S axis can be altered in accordance with the operating conditions as shown in Table 5 2 S Axis Operating Range If alteration is necessary contact your YASKAWA representative in advance Table 5 2 S Axis Operating Range Item Specifications S Axis Operating Range 170 standard 150 135 120 105 90 75 60 45 30 15 34 of 85 ...

Page 35: ...ating shown in Fig 6 1 Moment Arm Rating The allowable total moment of inertia is calculated when the moment is at the maximum Contact your YASKAWA representative beforehand 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 beforehand Fig 6 1 Moment Arm Rating Table 6 1 Al...

Page 36: ...shall be 6 mm or less As shown in the figure below the attachment shall be mounted on the range of 90 diameter or less with up to 5 mm height from the flange face Fig 6 2 Wrist Flange NOTE Wash off anti corrosive paint yellow on the wrist flange surface with thinner or light oil before mounting the tools 42 dia 0 025 0 90 dia 6 dia Depth 6 0 012 0 Units mm P C D 56 5 6 30 Attachments shall be moun...

Page 37: ... peripheral equipment 7 1 1 Allowable Load The maximum allowable load on the U axis is 12 kg including the wrist load For instance when the mass installed on the wrist point is 3 kg the mass which can be installed on the upper arm is 9 kg The maximum allowable load on the S axis is 20 kg Install the peripheral equipment on the S axis so that the moment of inertia GD2 4 from the S axis rotation cen...

Page 38: ...0 95 50 152 5 90 105 36 70 75 70 15 35 25 Tapped hole M8 3 holes Depth 16 Pitch 1 25 Mount the peripheral equipment within this range The center of gravity of the peripheral equipment on the U arm should be within this range Tapped hole M10 4 holes Depth 20 Pitch 1 5 View A Tapped hole M6 2 holes Depth 14 Pitch 1 0 A 38 of 85 ...

Page 39: ...n in Fig 7 3 Details of the Connector Pin Numbers on the following page Wiring must be performed by users The allowable current for internal user I O wiring harness 3 A or less for each wire The total current value for pins 1 to 16 must be 40 A or less The maximum pressure for the air line 490 kPa 5 kgf cm2 or less The air line inside diameter 8 0 mm and 6 5 mm The allowable current for arc weldin...

Page 40: ...r with a cap Prepare pin connector JL05 6A20 29P Exhaust port B PT3 8 with a pipe plug Exhaust port A PT3 8 with a pipe plug Air Inlet A PT3 8 with a pipe plug Air Inlet B PT3 8 with a pipe plug Connector for the internal user I O wiring harness JL05 2A20 29PC with a cap Prepare connector JL05 6A20 29S View A Power cable terminal for arc weldingTS200CHM Power cable terminal for arc welding Recomme...

Page 41: ...or base side and the U arm side are not connected with each other For wiring refer to Fig 8 3 a Internal Connection Diagram 7 Open 8 Open 7 24V for shock sensor 1A 8 Shock sensor signal input 2 4 3 1 6 9 5 11 12 10 16 15 14 13 10 3 8 5 2 7 1 9 4 6 16 13 15 14 11 12 2 4 3 1 6 9 5 11 12 10 16 15 14 13 Connector for Internal User I O Wiring Harness on the Connector Base Pins used 0 75 mm2 0 75 mm 2 1...

Page 42: ...e Fig 8 1 Location of Limit Switches The manipulator with S and L axis overrun limit switches and L U axes interference limit switches are the type YR VA01400 A01 standard specification or YR VA01400 A11 ceiling mounted specification Fig 8 1 Location of Limit Switches L and U axes interference limit switch optional L axis overrun limit switch optional S axis overrun limit switch optional 42 of 85 ...

Page 43: ...or Internal connections of the manipulator are shown in Fig 8 3 a Internal Connection Diagram and Fig 8 3 b Internal Connection Diagram Fig 8 2 Locations and Numbers of Connectors Table 8 1 List of Connector Types Name Type of Connector Connector for the internal user I O wiring harness on the connector base JL05 2A20 29PC JL05 6A20 29S Optional Connector for the internal user I O wiring harness o...

Page 44: ... 30 7 5 6 8 0BAT21 0BAT22 BAT21 BAT22 1 2 4 6 5 3 23 18CN 1 No 18CN 2 6 P 4 9 10 P 19CN 1 2 5 4 6 9 P P No 19CN 5 6 7 8 10 11 9 12 PG5V3 PG0V4 PG5V4 PG5V5 PG0V6 PG0V5 PG5V6 15 14 13 16 8 1 3 4 2 5 PG0V3 7 P P P P CN1 5 1BC 10X4 CN1 4 P CN1 10 CN1 9 CN1 1 CN1 2 P P CN1 3 CN1 6 CN1 7 CN1 8 P DX100 SPG 2 SPG 2 FG2 FG1 SPG 1 SPG 1 24V 0V 24V 0V 0BT BAT 0BT BAT 0BT BAT BAT 0BT CN2 1 CN2 2 P CN2 3 CN2 6...

Page 45: ...3 MU4 MV4 BA4 BB4 MW4 ME4 SM YB MV5 MU5 MW5 5CN 1 2 3 BA5 BB5 1 2 ME5 4 11CN 1 5 2 3 4 1 2 SM YB ME6 MW6 BA6 MV6 3 4 1 2 BB6 2 MU6 7CN 1 MV5 MU5 2 ME5 MW5 MU6 MV6 3 4 7 6 ME6 8 MW6 BA5 BA6 BB6 BB5 PE 10 1C 10 1C 10 1C 10 1C 10 1C No 19CN E WRCT 60sq 10 1C 3BC 20 29 P P P No 14CN No 17CN P P 3BC 20 29 P P P No 22CN No 23CN 2BC 12X5 No 5CN No 7CN No 12CN No 6CN No 11CN No 8CN No 15CN CN4 4 CN4 5 CN4...

Page 46: ...epair 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 manipulator s arm WARNING Before maintenance or inspection be sure to turn the main power supply OFF and put up a warning sign ex DO NOT TURN THE POWER ON Failure to observe this warning may result in electric shock or in...

Page 47: ...ry 6 Cover mounting screws Screwdriver Wrench Tighten loose bolts Replace if necessary 7 Connector base Manual Check for loose connectors 8 Timing belts for B and T axes Manual Check for belt tension and wear 9 Wire harness in manipulator SLUE axis wires RBT axis wires Visual Multimeter Check for conduction between the main connector of base and intermediate connector with manually shaking the wir...

Page 48: ...ion 9 3 7 17 Overhaul 1 Inspection No correspond to the numbers in Fig 9 1 Inspection Items 2 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 3 When checking for conduction with multimeter connect the battery to BAT and OBT of connectors on the motor side for each axis and then r...

Page 49: ... Inspection 9 1 Inspection Schedule 9 4 155556 1CD HW0484963 VA1400 Fig 9 1 Inspection Items 8 9 11 13 14 4 12 13 16 4 5 8 13 4 Note This figure shows the standard specification manipulator in the home position 49 of 85 ...

Page 50: ...hown in Fig 9 2 Battery Location If the battery alarm occurs in the DX100 replace the battery in accordance with the following procedure Fig 9 2 Battery Location Table 9 2 Inspection Parts and Grease Used No Grease Used Inspected Parts 12 13 VIGO Grease RE No 0 Speed reducers for S L U and E axes 14 Harmonic Grease 4B No 2 R axis speed reducer 15 Harmonic Grease SK 1A B axis speed reducer 16 Alvan...

Page 51: ...he battery holder 4 Connect the new battery pack to the unoccupied connector on the board 5 Remove the old battery pack from the board 6 Mount the new battery pack to the holder 7 Reinstall the plate NOTE Remove the old battery pack after connecting the new one so that the encoder absolute data does not disappear NOTE Do not allow plate to pinch the cables when reinstalling the plate See replacing...

Page 52: ...ducer will come off which may result in damage to the motor Make sure to remove the plug screw Do not install a joint a hose etc to the grease exhaust port Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal Make sure to use a grease pump to inject grease Set air supply pressure to the grease pump at 0 3 MPa or less and the grease injection rate a...

Page 53: ...supply pressure of grease pump 0 3 MPa or less Grease injection rate 8 g s or less 4 Move the S axis for a few minutes to discharge excess grease 5 Wipe the discharged grease with a cloth Remove the grease zerk from the grease inlet and reinstall the plugs to the grease inlet and grease exhaust port Before installing the plugs apply Three Bond 1206C on the thread part of each plug then tighten the...

Page 54: ...ted when new grease appears in the grease exhaust port The new grease can be distinguished from the old grease by color 5 Move the S axis for a few minutes to discharge excess grease 6 Wipe the discharged grease with a cloth Remove the grease zerk from the grease inlet and reinstall the plugs to the grease inlet and grease exhaust port Before installing the plugs apply Three Bond 1206C on the thre...

Page 55: ...ressure of grease pump 0 3 MPa or less Grease injection rate 8 g s or less 6 Move the L axis for a few minutes to discharge excess grease 7 Remove the grease zerk from the grease inlet and reinstall the screw Before installing the screw apply Three Bond 1206C on the thread part of the screw Then tighten the screw with a tightening torque of 10 N m 1 0 kgf m NOTE For the ceiling mounted manipulator...

Page 56: ...mp 0 3 MPa or less Grease injection rate 8 g s or less 6 The grease exchange is completed when new grease appears in the grease exhaust port The new grease can be distinguished from the old grease by color 7 Move the L axis for a few minutes to discharge excess grease 8 Remove the grease zerk from the grease inlet and reinstall the screw Before installing the screw apply Three Bond 1206C on the th...

Page 57: ... pump 0 3 MPa or less Grease injection rate 8 g s or less 5 Move the E axis for a few minutes to discharge excess grease 6 Remove the grease zerk from the grease inlet and reinstall the plug Before installing the plug apply Three Bond 1206C on the thread part of the plug then tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m NOTE For the ceiling mounted manipulator the grease exhaust ...

Page 58: ...n rate 8 g s or less 5 The grease exchange is complete when new grease appears in the grease exhaust port The new grease can be distinguished from the old grease by color 6 Move the E axis for a few minutes to discharge excess grease 7 Remove the grease zerk from the grease inlet and reinstall the plug Before installing the plug apply Three Bond 1206C on the thread part of the plug then tighten th...

Page 59: ...pressure of grease pump 0 3 MPa or less Grease injection rate 8 g s or less 6 Move the U axis for a few minutes to discharge excess grease 7 Remove the grease zerk from the grease inlet and reinstall the plug Before installing the plug apply Three Bond 1206C on the thread part of the plug then tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m Hexagon socket head plug PT 1 8 Hexagon so...

Page 60: ...a or less Grease injection rate 8 g s or less 6 The grease exchange is complete when new grease appears in the grease exhaust port The new grease can be distinguished from the old grease by color 7 Move the U axis for a few minutes to discharge excess grease 8 Remove the grease zerk from the grease inlet and reinstall the plug Before installing the plug apply Three Bond 1206C on the thread part of...

Page 61: ... 24cc for the first supply 5 Remove the grease zerk from the grease inlet and reinstall the screw Before installing the screw apply Three Bond 1206C on the thread part of the screw then tighten the screw with a tightening torque of 6 N m 0 6 kgf m 6 Reinstall the screw to the exhaust port Before installing the screw apply Three Bond 1206C on the thread part of the screw then tighten the screw with...

Page 62: ...g a grease gun Refer to Fig 9 9 B Axis Speed Reducers Diagram Grease type Harmonic grease SK 1A Amount of grease 7 cc 14 cc for the 1st supply 5 Remove the grease zerk from the grease inlet and reinstall the screw Before installing the screw apply Three Bond 1206C on the thread part of the screw then tighten the screw with a tightening torque of 6 N m 0 6 kgf m 6 Reinstall the plug to the exhaust ...

Page 63: ... using a grease gun Grease type Alvania EP Grease 2 Amount of grease 5 cc 5 Remove the grease zerk from the grease inlet 1 and reinstall the screw Before installing the screw apply Three Bond 1206C on the thread part of the screw then tighten the screw with a tightening torque of 6 N m 0 6 kgf m 6 Remove the hexagon socket head cap screw M6 from the grease inlet 2 NOTE The exhaust port is used for...

Page 64: ... 29 kgf m 9 3 8 Grease Replenishment for R Axis Gear Fig 9 11 R Axis Gear Diagram 1 Make the U arm horizontal to the ground 2 Remove the hexagon socket head plug PT1 8 from grease exhaust port 3 Remove the hexagon socket head plug PT1 8 from the grease inlet NOTE The exhaust port is used for air exhaust and the grease is not exhausted from the exhaust port Do not inject excessive grease through th...

Page 65: ...installing the plug apply Three Bond 1206C on the thread part of the plug then tighten the plug with a tightening torque of 4 9 N m 0 5 kgf m 8 Wipe the discharged grease with a cloth and reinstall the plug Before installing the screw apply Three Bond 1206C on the thread part of the screw then tighten the screw with a tightening torque of 4 9 N m 0 5 kgf m 9 3 9 Notes for Maintenance 9 3 9 1 Wrist...

Page 66: ...xes b a a b 0BT BAT BAT 0BT Motor Motor power connector Encoder connector Battery pack HW9470932 A Connector for battery back up OBT b a BAT OBT4 BAT4 OBT BAT OBT4 BAT4 b a a a b b Encoder Motor Wire harness in manipulator CAUTION label CAUTION Connect battery to encoder to save the data before removing connector CAUTION Label Enlarged View a Crimped contact pin Pin b Crimped contact pin Socket Co...

Page 67: ...ive Systems Co Ltd 2 5 kg A 3 Grease Harmonic Grease SK 1A Harmonic Drive Systems Co Ltd 2 5 kg A 4 Grease Alvania EP Grease 2 Showa Shell Sekiyu K K 16 kg A 5 Liquid Seal Three Bond 1206C Three Bond Co Ltd A 6 Battery Pack HW0470360 A YASKAWA 1 1 A 7 Battery Pack HW9470932 A YASKAWA 1 B 8 B Axis Timing Belt 60S4 5 M 711 Mitsuboshi Belting Limited 1 1 B 9 T Axis Timing Belt 60S4 5 M 932 Mitsuboshi...

Page 68: ...C 26 AC Servomotor for S U and E Axes SGMRV 05ANA YR2 HW0388664 A YASKAWA 1 3 C 27 L Axis AC Servomotor SGMRV 09ANA YR1 HW0388665 A YASKAWA 1 1 C 28 R Axis AC Servomotor SGMPH 01ANA YR1 HW0389297 A YASKAWA 1 1 C 29 AC Servo Motor for B and T Axes SGMAV 0 ANA YR1 HW0389294 A YASKAWA 1 2 C 30 Circuit board SGDR EFBA02A YASKAWA 1 1 Table 10 1 Spare Parts for the YR VA01400 A00 A01 A10 A11 Sheet 2 of ...

Page 69: ...ig 11 1 S Axis Unit 1002 1003 1004 1005 1006 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1007 1001 1020 1034 1036 1037 1045 1047 1051 1022 1023 1031 1032 1033 1052 1030 1025 1023 1024 1029 1028 1026 1027 1019 1042 1041 1040 1043 1044 1020 1014 1011 1012 1055 1055 1013 1053 1054 69 of 85 ...

Page 70: ...p 1 1016 POC6 01 Union 1 1017 NB 0640 0 2 Tube 1 1018 PT1 8 Plug 1 1019 M5X10 APS bolt 6 1020 M6X15 GT SA bolt 4 1022 M8X30 GT SA bolt 3 1023 M8X30 GT SA bolt 25 1024 HW0413455 1 Dog 1 1025 M6X35 GT SA bolt 16 1026 M12X20 Socket screw 1 1027 2H 12 Spring washer 1 1028 M12X35 Socket screw 1 1029 2H 12 Spring washer 1 1030 HW0386621 B Speed reducer 1 1031 TSH6 01M Union 1 1032 NB 0640 0 3 Tube 1 103...

Page 71: ...556 1CD HW0484963 VA1400 11 Parts List 11 1 S Axis Unit 1052 HW0411175 1 Cover 1 1053 HW0314103 1 Support 1 1054 C 30 SG 30A Glomet 1 1055 2H 5 Spring washer 2 Table 11 1 S Axis Unit No DWG No Name Pcs 71 of 85 ...

Page 72: ...ANA YR1 Motor 1 2002 HW0387809 A Speed reducer 1 2003 HW0312735 1 Gear 1 2004 M6X6 Socket screw 1 2005 HW0102225 1 L arm A 1 2006 HW0313098 A Cover 1 2009 M6X75 Socket screw 1 2010 2H 6 Spring washer 1 2011 M8X25 GT SA bolt 18 2012 M8X30 GT SA bolt 4 2013 PT1 8 Plug 1 2014 M6X50 Socket screw 16 2015 2H 6 Spring washer 16 2016 M6X12 GT SA bolt 5 2018 M6 Washer 5 2021 M14X20 Socket screw 2 2022 M14 ...

Page 73: ...11 3 U Axis Unit Fig 11 3 U Axis Unit 3002 3003 3004 3008 3001 3010 3011 3012 3013 3014 3009 3015 3016 3017 3020 3021 3022 3024 3025 3027 3028 3029 3030 3031 3032 3033 3034 3035 3036 3037 3043 3045 3038 3039 3040 3023 3041 3042 3005 3007 3019 3018 2005 3006 73 of 85 ...

Page 74: ...asher 16 3007 M6X35 GT SA bolt 16 3008 HW0303277 4 Gear 1 3009 M5X65 Socket screw 1 3010 2H 5 Spring washer 1 3011 HW0102227 1 Casing 1 3012 HW0200494 1 Cover 1 3013 M4X12 GT SA bolt 4 3014 HW0404554 2 N base 1 3015 M4X12 GT SA bolt 4 3016 M3X16 Round Head Screw with Spring Washer 2 3017 M3 Nut 2 3018 M12X20 Socket screw 2 3019 2H 12 Spring washer 2 3020 HW0404719 2 Plate 1 3021 PZ1212 Saddle 1 30...

Page 75: ...12 Spring washer 2 3037 M6X6 Socket screw 1 3038 PT1 8 Plug 1 3039 KQE10 03 Union 1 3040 KQE12 03 Union 1 3041 PT3 8 dacro Plug 1 3042 HW0313099 A Cover 1 3043 M6X15 GT SA bolt 5 3045 M6 Washer 5 2005 HW0102225 1 L arm A 1 Table 11 3 U Axis Unit No DWG No Name Pcs 75 of 85 ...

Page 76: ...4 E Axis Unit 11 8 155556 1CD HW0484963 VA1400 11 4 E Axis Unit Fig 11 4 E Axis Unit 4001 4002 4003 4004 4005 4006 4007 2005 3002 4008 4009 4011 4010 4012 4013 4014 4015 4016 4017 4018 4019 4020 4022 4023 4021 76 of 85 ...

Page 77: ... Speed reducer 1 4008 PT1 8 Plug 1 4009 HW0312736 2 Gear 1 4010 M5X70 Socket screw 1 4011 2H 5 Spring washer 1 4012 M8X35 GT SA bolt 4 4013 M5X25 Socket screw 12 4014 2H 5 Spring washer 12 4015 HW0313153 1 Support 1 4016 TA1 S10 Clamp 2 4017 T50R Insulok 2 4018 M5X10 APS bolt 2 4019 M12X16 Socket screw 2 4020 2H 12 Spring washer 2 4021 M5X20 GT SA bolt 4 4022 M12X20 Socket screw 2 4023 2H 12 Sprin...

Page 78: ...001 5003 5011 5006 5007 5009 5037 5038 5036 5033 5032 5035 5031 5030 5046 5047 5044 5045 5025 5002 5040 5039 5010 5052 5016 5012 5017 5021 5022 5014 5013 5020 5041 5049 5043 5019 5023 5024 5048 5018 5015 5055 5054 5056 5056 5004 5005 5057 5008 5057 5053 5026 5027 5028 6073 5029 5059 5042 5058 3011 78 of 85 ...

Page 79: ...ing C type 1 5017 6906DDU Bearing 1 5018 EZ5036A0 Cap 1 5019 6905 Bearing 1 5020 STW 25 Retaining Ring C type 1 5021 HW0303725 1 Gear 1 5022 HW0303724 1 Gear 1 5023 HW0403979 1 Coller 2 5024 M4X16 GT SA bolt 2 5025 HW0304451 1 Shaft 1 5026 M4X14 Socket screw 4 5027 2H 4 Spring washer 4 5028 M6X55 Socket screw 5 5029 2H 6 Spring washer 5 5030 M5X16 GT SA bolt 6 5031 HW0303345 1 Shaft 1 5032 TC13014...

Page 80: ... 1 5049 M4X10 APS bolt 1 5052 M5X16 GT SA bolt 4 5053 M5X12 GT SA bolt 2 5054 M5X35 Socket screw 3 5055 M5X40 Socket screw 2 5056 2H 5 Spring washer 5 5057 M6X6 Socket screw 2 5058 KQE12 03 Union 1 5059 KQL12 00 Coupling 1 3011 HW0102227 1 Casing 1 6073 HW0100617 1 U arm 1 Table 11 5 R Axis Unit No DWG No Name Pcs 80 of 85 ...

Page 81: ...8 6027 6024 6025 6094 6026 6022 6074 6015 6014 6004 6071 6070 6072 6005 6006 6007 6008 6010 6009 6013 6012 6012 6011 6001 6072 6068 6066 6067 6071 6074 6070 6064 6065 6069 6073 6001 6051 6052 6052 6061 6060 6077 6053 6057 6056 6055 6059 6058 6080 6079 6082 6083 6084 6085 6081 6054 6050 6062 6097 6099 6078 6076 6035 6043 6048 6046 6045 6044 6042 6047 6091 6091 6101 6019 6018 6030 6034 6033 6032 602...

Page 82: ...67 B Pulley 1 6017 HW0311225 1 Gear 1 6018 CBS4 12 Bolt 4 6019 2H 4 Spring washer 4 6020 HW0401553 1 B cover 1 6021 M5X35 Socket screw 1 6022 2H 5 Spring washer 1 6023 HW0410762 1 Shaft 1 6024 MS4 10 Pin 2 6025 HW0410930 1 Cover 1 6026 M6X6 Socket screw 1 6027 WR20 Sirclip 1 6028 6804DDU Bearing 1 6029 WB22 20 Spring 1 6030 M5X16 Socket screw 1 6031 2H 5 Spring washer 1 6032 HW0301300 2 Gear 1 603...

Page 83: ... Plug 1 6064 60S4 5M711 Belt 1 6065 HW0100622 1 Cover 1 6066 M4X12 Socket screw 1 6067 2H 4 Spring washer 1 6068 HW0481429 A Pulley 1 6069 M4X10 GT SA bolt 2 6070 M4 Washer 4 6071 M4X16 GT SA bolt 4 6072 HW0404547 1 M base 2 6073 HW0100617 1 U arm 1 6074 M4X10 GT SA bolt 22 6075 HW0303390 1 Cover 1 6076 M4X10 APS bolt 2 6077 M6X6 Socket screw 1 6078 HW0404371 2 Bolt 1 6079 M4X16 GT SA bolt 6 6080 ...

Page 84: ...6 6093 2H 4 Spring washer 6 6094 M4X12 GT SA bolt 2 6095 M5X10 APS bolt 2 6096 HW0404365 1 Cover 1 6097 HW0404366 1 Packin 1 6098 M4X12 GT SA bolt 5 6099 M6X6 H set screw 1 6100 M6X6 Socket screw 1 6101 HW0372792 A Gear ASSY 1 3011 HW0102227 1 Casing 1 Table 11 6 Wrist Unit No DWG No Name Pcs 84 of 85 ...

Page 85: ... Gurgaon Haryana India Fax 91 124 475 8542 Phone 91 124 475 8500 YASKAWA India Private Ltd Robotics Division YASKAWA Electric China Co Ltd 22F One Corporate Avenue No 222 Hubin Road Huangpu District Shanghai 200021 China Phone 86 21 5385 2200 Fax 㸩86 21 5385 3299 YASKAWA Electric Thailand Co Ltd 59 1st 5th Floor Flourish Building Soi Ratchadapisek 18 Ratchadapisek Road Huaykwang Bangkok 10310 THAI...