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Motoman EA1900N Manual

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Motoman NX Controller
EA1900N
Manipulator Manual
Part Number:
Revision:
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
149894-1CD
0

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  • Page 1 Motoman NX Controller EA1900N Manipulator Manual Part Number: 149894-1CD Revision: Motoman, Incorporated 805 Liberty Lane West Carrollton, OH 45449 TEL: (937) 847-6200 FAX: (937) 847-6277 24-Hour Service Hotline: (937) 847-3200...
  • Page 2 COMPLETE OUR ONLINE SURVEY Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you received with your Motoman robotic solution. To participate, go to the following website: http://www.motoman.com/forms/techpubs.asp The information contained within this document is the proprietary property of Motoman, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman, Inc.
  • Page 3 The Motoman EA1900N and NX controller represent state-of-the-art technology in robotics today. The Motoman EA1900N is a high speed robot with a 3 kg payload. The robot has six individual axes: Sweep, Lower arm, Upper arm, Rotate, Bend, and Twist. The NX controller coodinates the operation of the robot with external equipment such as power supply and positioning tables.
  • Page 4 • Vendor manuals for system components not manufactured by Motoman %WUVQOGT 5GTXKEG +PHQTOCVKQP If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200. Please have the following information ready before you call: • Robot Type (EA1900N) •...
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  • Page 10 Gg€u‚‡xg†„ Gg€‡gx 7tg‚†q„ Sgrq†‘ 016'5 gsq @u€gx...
  • Page 11 YASKAWA MOTOMAN-EA1900N INSTRUCTIONS TYPE: YR-EA1900N-A00 (STANDARD SPECIFICATIONS) YR-EA1900N-A01 (WITH SLU-AXES LIMIT SWITCHES) Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-EA1900N INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator’s manuals above correspond to specific usage.
  • Page 12 MANDATORY • This instruction manual is intended to explain operating instructions and maintenance procedures primarily for the MOTOMAN-EA1900N. • General items related to safety are listed in the Section 1: Safety of the NX100 Instructions. To ensure correct and safe operation, carefully read the NX100 Instructions before reading this manual.
  • Page 13 HW0482170 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the NX100. In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,” “MANDATORY,” or “PROHIBITED.” WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.
  • Page 14 HW0482170 WARNING • Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front door of the NX100 and programming pendant are pressed. When the servo power is turned OFF, the SERVO ON LED on the program- ming pendant is turned OFF.
  • Page 15 • Read and understand the Explanation of the Warning Labels in the NX100 Instructions before operating the manipulator. Definition of Terms Used Often in This Manual The MOTOMAN manipulator is the YASKAWA industrial robot product. The manipulator usually consists of the controller, the programming pendant, and supply cables.
  • Page 16 Also, an identification label with important information is placed on the body of the manipula- tor. Prior to operating the manipulator, confirm the contents. WARNING label B Nameplate WARNING label A Nameplate: WARNING label A: WARNING MOTOMAN TYPE Moving parts PAYLOAD MASS may cause DATE ORDER NO. injury SERIAL NO.

  • Page 17: Table Of Contents

    HW0482170 Product Confirmation 1.1 Contents Confirmation ......1 1.2 Order Number Confirmation .
  • Page 18 7.2 Internal User I/O Wiring Harness and Air Line ..7 MOTOMAN Construction 8.1 Position of Limit Switch ......8 8.2 Internal Connections...
  • Page 19 HW0482170 9.2.8 Notes for Maintenance ......9-16 Wrist Axes ........9-16 Encoder Connector (with CAUTION label) .

  • Page 20: Product Confirmation

    HW0482170 1.1 Contents Confirmation 1 Product Confirmation CAUTION • 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.

  • Page 21: Order Number Confirmation

    HW0482170 1.2 Order Number Confirmation Order Number Confirmation Check that the order number of the manipulator corresponds to the NX100. The order number is located on a label as shown below. Label(Enlarged view) THE MANIPULATOR AND THE CONTROLLER Check that the manipulator SHOULD HAVE SAME ORDER NUMBER.

  • Page 22: Transporting

    HW0482170 2.1 Transporting Method 2 Transporting CAUTION • Sling and crane or forklift operations must be performed by authorized personnel only. Failure to observe this caution may result in injury or damage. • Avoid excessive vibration or shock during transporting. The system consists of precision components, so failure to observe this caution may adversely affect performance.
  • Page 23 HW0482170 2.1 Transporting Method View E Eyebolt M12 (2 eyebolts) Delivered with the manipulator Eyebolt M12 (2 eyebolts) Delivered with the manipulator Fig. 2 Transporting Position HW0482170...

  • Page 24: Using A Forklift

    HW0482170 2.1 Transporting Method 2.1.2 Using a Forklift When using a forklift, the manipulator should be fixed on a pallet with shipping bolts and brackets as shown in "Fig. 3 Using a Forklift." Insert claws under the pallet and lift it. The pallet must be strong enough to support the manipulator.

  • Page 25: Shipping Bolts And Brackets

    HW0482170 2.2 Shipping Bolts and Brackets Shipping Bolts and Brackets The manipulator is provided with shipping bolts and a shipping bracket at point A. (" Fig. 2 Transporting Position ") Eyebolt M12 (2 eyebolts) Delivered with the manipulator Enlarged View C  Enlarged View A Shipping Bracket A Fig. 4 Shipping Bolts and Brackets •...

  • Page 26: Installation

    HW0482170 3 Installation WARNING • Install the safeguarding. Failure to observe this warning may result in injury or damage. • Install the manipulator in a location where the manipulator’s tool or the workpiece held by the manipulator will not reach the wall, safeguarding, or NX100 when the arm is fully extended.

  • Page 27: Installation Of Safeguarding

    HW0482170 3.1 Installation of Safeguarding Installation of Safeguarding To insure safety, be sure to install the safeguarding. It prevents unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guidance. Responsibility for Safeguarding (ISO10218) The user of a manipulator or robot system shall ensure that the safeguarding is provided and used in accordance with Sections 6, 7, and 8 of this standard.

  • Page 28: Installation Example

    HW0482170 3.2 Mounting Procedures for Manipulator Base 3.2.1 Installation Example 1. Fix the base plate with the anchor bolts on the floor. The base plate should be rugged and durable. It is recommended that the thickness of the base plate be 32 mm or more and the anchor bolt size be M16 or larger. 2.

  • Page 29: Installation Method

    HW0482170 3.3 Installation Method Installation Method The manipulator can be mounted in two different ways: floor-mounted (standard) and wall- mounted types are available. For wall-mounted type, the three points listed below are different from the floor-mounted type. The abovementioned manipulator cannot be mounted on the ceiling. •...

  • Page 30: Location

    HW0482170 3.4 Location Location When the manipulator is installed, it is necessary to satisfy the undermentioned environmental conditions: • 0° to +45°C (ambient temperature) • 20 to 80% RH (non-condensing) • Free from dust, soot, or water • Free from corrosive gases or liquid, or explosive gases •...

  • Page 31: Wiring

    HW0482170 4 Wiring WARNING • Ground resistance must be 100 Ω or less. Failure to observe this warning may result in fire or electric shock. • Before wiring, make sure to turn the primary power supply OFF, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.) Failure to observe this warning may result in fire or electric shock.

  • Page 32: Grounding

    HW0482170 4.1 Grounding Grounding Follow local regulations for grounding line size. A line of 5.5 mm or more is recommended. Refer to "Fig. 6 Grounding Method" to connect the ground line directly to the manipulator. • Do not use this line in common with other ground lines or grounding electrodes for other NOTE electric power, motor power, welding devices, etc.

  • Page 33: Connection To The Manipulator

    HW0482170 4.2 Manipulator Cable Connection 4.2.1 Connection to the Manipulator Before connecting three cables to the manipulator, verify the numbers: 1BC and 2BC on both manipulator cables and the manipulator base connectors. When connecting, adjust the cable connector positions to the main key positions of the manipulator, and insert cables in the order of 2BC and 1BC, and then push down the lever until hearing a “click.”...
  • Page 34 HW0482170 4.2 Manipulator Cable Connection Connector details (Manipulator side) Fig. 8 (a) Manipulator Cable Connectors (Manipulator Side) Fig. 8 (b) Manipulator Cable Connection to the NX100 HW0482170...

  • Page 35: Basic Specifications

    HW0482170 5.1 Basic Specifications 5 Basic Specifications Basic Specifications Table. 3 Basic Specifications Item Model MOTOMAN-EA1900N Configuration Vertically Articulated Degree of Freedom Payload 3 kg ±0.08 mm Repeatability ±180° S-axis (turning) L-axis (lower arm) +155°, -110° U-axis (upper arm) +255°, -165°...

  • Page 36: Part Names And Working Axes

    HW0482170 5.2 Part Names and Working Axes Part Names and Working Axes Wrist Wrist flange Uppwer arm (U-arm) Lower arm (L-arm) Rotary head Manipulator base Fig. 9 Part Names and Working Axes HW0482170...

  • Page 37: Manipulator Base Dimensions

    HW0482170 5.3 Manipulator Base Dimensions Manipulator Base Dimensions ±0.1 Fitting surface Fitting surface 18 dia. hole  (4 holes) (for manipulator fixing) 260 ±0.1 +0.018 12         dia. hole View    0  (2 holes) Units: mm Fig. 10 Manipulator Base Dimensions HW0482170...

  • Page 38: Dimensions And P-Point Maximum Envelope

    HW0482170 5.4 Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope 2259 1604 1904 P-point maximum envelope P-point 100 dia. 180° 180° View A Units: mm 1178 Fig. 11 Dimensions and P-Point Maximum Envelope HW0482170...

  • Page 39: Alterable Operating Range

    HW0482170 5.5 Alterable Operating Range Alterable Operating Range The working range of the S-axis can be altered according to the operating conditions as shown in "Table. 4 S-axis Operating Range." If alteration is necessary, contact your Yaskawa representative in advance. Table.

  • Page 40: Allowable Load For Wrist Axis And Wrist Flange

    HW0482170 6.1 Allowable Wrist Load 6 Allowable Load for Wrist Axis and Wrist Flange Allowable Wrist Load The allowable wrist load is 3kg. If force is applied to the wrist instead of the load, force on R-, B-, and T-axes should be within the value shown in "Table. 5 Allowable Moment and Inertia." Contact your Yaskawa representative for further information or assistance.

  • Page 41: Wrist Flange

    HW0482170 6.2 Wrist Flange Wrist Flange The wrist flange dimensions are shown in "Fig. 13 Wrist Flange." It is recommended that the attachment be mounted inside the fitting. Fitting depth must be 6 mm or less. The attachment must be mounted on the range of 90 diameter or less with up to 5 mm height from the flange face.

  • Page 42: System Application

    HW0482170 7.1 Peripheral Equipment Mounts 7 System Application Peripheral Equipment Mounts The peripheral equipment mounts are fixed on the upper arm for easier installation of the users’ system applications as shown in "Fig. 14 Installing Peripheral Equipment Mounts." When peripheral equipment is attached to the U-axis, the following conditions should be observed.
  • Page 43 HW0482170 7.1 Peripheral Equipment Mounts Tapped hole M8 (2 holes) (depth: 16 mm) (pitch: 1.25) Tapped hole M6 (2 holes) Tapped hole M6 (2 holes) Tapped hole M6 (2 holes) Peripheral equipment is to be mounted within this range. (depth: 12 mm) (pitch: 1.0) (depth: 12 mm) (pitch: 1.0) (depth: 12 mm) (pitch: 1.0) Tapped hole M10 (4 holes) Tapped hole M10 (4 holes) Tapped hole M10 (4 holes) (depth: 20 mm) (pitch: 1.5) (depth: 20 mm) (pitch: 1.5) (depth: 20 mm) (pitch: 1.5) Units: mm Fig. 14 Installing Peripheral Equipment Mounts HW0482170...

  • Page 44: Internal User I/O Wiring Harness And Air Line

    HW0482170 7.2 Internal User I/O Wiring Harness and Air Line Internal User I/O Wiring Harness and Air Line × 8 lead wires and 1.25mm × 6 lead wires) and one Internal user I/O wiring harness (0.2mm air line are used in the manipulator for the drives of the peripheral devices mounted on the upper arm as shown in "Fig.
  • Page 45 HW0482170 7.2 Internal User I/O Wiring Harness and Air Line Pins used (1.25mm (1.25mm (1.25mm (1.25mm (1.25mm (1.25mm Internal user I/O wiring harness : 0.2mm , 8 lead wires                                                    : 1.25mm , 6 lead wires Fig. 16 Detailed Drawing of Connector Pin Numbers The same pin number (1-16) of two connectors is connected by the lead wire of single 0.2 mm or 1.25 mm HW0482170...

  • Page 46: Motoman Construction

    Position of Limit Switch Limit switches are optional. Refer to " Fig. 17 Location of Limit Switch " for location. With the S- or L-axis overrun limit switch or the LU-axes interference limit switch, the manipulator model is YR-EA1900N-A01. LU-Axes interference  limit switch (optional) L-Axis interference...

  • Page 47: Internal Connections

    HW0482170 8.2 Internal Connections Internal Connections High reliability connectors which can be easily removed are used with each connector part. For the number and location of connectors, refer to "Fig. 18 Location and Numbers of Connectors." 3BC: Connector for internal user I/O wiring harness 3BC: Connector for internal user I/O wiring harness Fig.
  • Page 48 HW0482170 8.2 Internal Connections Manipulator Cable Wire Harness in S-Axis Wire Harness in L-Axis Wire Harness in BT-Axes Encoder Power Circuit Board 0BAT11 0BAT1 BAT11 BAT1 0BAT12 0BAT2 BAT12 BAT2 0BAT3 BAT3 0BAT21 0BAT4 BAT21 BAT4 0BAT22 BAT22 PG0V1 PG5V1 PG0V2 PG5V2 PG0V3...
  • Page 49 HW0482170 8.2 Internal Connections For Internal User I/O Wiring Harness and Air Line Casing Base 3BC(20-29) 3BC(20-29) 3BC-1 2BC-1 2BC(6X6) No.3CN 3CN-1 CN1-1 CN1-1 CN1-2 CN1-2 S-Axis CN1-3 CN1-3 CN1-4 CN1-4 CN1-5 CN1-5 CN1-6 CN1-6 No.4CN CN2-1 CN2-1 4CN-A CN2-2 CN2-2 L-Axis CN2-3...

  • Page 50: Maintenance And Inspection

    HW0482170 9.1 Inspection Schedule 9 Maintenance and Inspection WARNING • 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. CAUTION •...
  • Page 51 HW0482170 9.1 Inspection Schedule Table. 7 Inspection Items Schedule Inspection Charge Operation Items Method 1000 6000 12000 24000 36000 Specified Service Daily Licensee Person Company Cycle Cycle Cycle Check alignment Alignment mark accordance Visual and damage at the mark home position. Check for damage External lead Visual...
  • Page 52 HW0482170 9.1 Inspection Schedule Table. 7 Inspection Items Schedule Inspection Charge Operation Items Method 1000 6000 12000 24000 36000 Specified Service Daily Licensee Person Company Cycle Cycle Cycle Check for malfunc- tion. (Replace if nec- essary.) Supply LU-axes grease (6000H Grease speed reduc- cycle).
  • Page 53 HW0482170 9.1 Inspection Schedule Table. 8 Inspection Parts and Grease Used Grease Used Inspected Parts Molywhite RE No. 00 S-, L-, and U-axes speed reducers 12 13 Harmonic Grease 4B No.2 R-axis speed reducer Harmonic Grease SK-1A B-axis speed reducer Alvania EP Grease 2 T-axis gear The numbers in the above table correspond to the numbers in "Table 7 Inspection Items."...

  • Page 54: Notes On Maintenance Procedures

    HW0482170 9.2 Notes on Maintenance Procedures Notes on Maintenance Procedures 9.2.1 Battery Pack Replacement If the battery alarm occurs in the NX100, replace the battery pack according to the following procedure: Battery pack Connector base Support Connector base Tightening bolt for connector base  Fig. 21 Battery Pack Location HW0482170...
  • Page 55 HW0482170 9.2 Notes on Maintenance Procedures Battery pack before replacement See the following step 5. Connector Circuit board See the following step 4. New battery pack Fig. 22 Battery Pack Connection 1. Turn the NX100 main power supply OFF. 2. Remove the mounting screws for the battery pack on the support. 3. Remove the battery pack from the holder. 4.
  • Page 56 HW0482170 9.2 Notes on Maintenance Procedures 9.2.2 Grease Replenishment/Exchange for S-axis Speed Reducer Grease exhaust port Hexagon socket head plug PT1/8 Grease exhaust port Hexagon socket  head plug PT1/8 S-axis speed reducer Grease inlet Hexagon socket head plug PT1/8 Fig. 23 S-axis Speed Reducer Diagram HW0482170...

  • Page 57: Grease Replenishment/Exchange

    HW0482170 9.2 Notes on Maintenance Procedures Grease Replenishment (Refer to "Fig. 23 S-axis Speed Reducer Diagram.") 1. Remove the hexagon socket head plug PT1/8 from the grease exhaust port. NOTE If grease is added with the plug PT1/8 on, the grease will go inside the motor and may damage it.

  • Page 58: Grease Replenishment/Exchange

    HW0482170 9.2 Notes on Maintenance Procedures 9.2.3 Grease Replenishment/Exchange for L-axis Speed Reducer L-arm Grease exhaust port Hexagon socket head plug PT1/8 L-axis speed reducer Grease inlet Hexagon socket head cap screw M6 Fig. 24 L-axis Speed Reducer Diagram Grease Replenishment (Refer to "Fig. 24 L-axis Speed Reducer Diagram.") 1. Make the L-arm vertical to the ground. 2.

  • Page 59: Grease Replenishment/Exchange

    HW0482170 9.2 Notes on Maintenance Procedures Grease Exchange (Refer to "Fig. 24 L-axis Speed Reducer Dia- gram.") 1. Make the L-arm vertical for ground. 2. Remove the hexagon socket head plug PT1/8 from the grease exhaust port. NOTE If grease is added with the plug 1/8 on, the grease will go inside the motor and may dam- age it.

  • Page 60: Grease Replenishment (Refer To "Fig. 25 U-Axis Speed Reducer Diagram.")

    HW0482170 9.2 Notes on Maintenance Procedures Grease Replenishment (Refer to "Fig. 25 U-axis Speed Reducer Diagram.") 1. Tilt the U-arm as shown in "Fig. 25 U-axis Speed Reducer Diagram." 2. Remove the hexagon socket head cap screw M6 from the grease exhaust port. NOTE If grease is added with the screw M6 on, the grease will go inside the motor and may dam- age it.

  • Page 61: Grease Replenishment For R-Axis Speed Reducer

    HW0482170 9.2 Notes on Maintenance Procedures 9.2.5 Grease Replenishment for R-axis Speed Reducer Exhaust port Hexagon socket head plug PT 1/8 R-axis speed reducer Grease inlet Hexagon socket head cap screw M6 Fig. 26 R-axis Speed Reducer Diagram 1. Remove the hexagon socket head plug PT1/8 from the exhaust port. 2. Remove the hexagon socket head cap screw M6 from the grease inlet and install the grease zerk A-MT6 x 1.

  • Page 62: Grease Replenishment For B-Axis Speed Reducer

    HW0482170 9.2 Notes on Maintenance Procedures 9.2.6 Grease Replenishment for B-Axis Speed Reducer Exhaust port B-axis speed reducer (Plug LPM5) Grease inlet (Grease zerk A-MT6 x 1) Fig. 27 B-Axis Speed Reducer Diagram 1. Remove the cover and the plug LPM5 from the exhaust port. 2. Inject grease into the grease inlet using a grease gun. (Refer to "Fig. 27 B-Axis Speed Reducer Diagram.") Grease type: Harmonic grease SK-1A Amount of grease: 7cc...

  • Page 63: Grease Replenishment For T-Axis Gear

    HW0482170 9.2 Notes on Maintenance Procedures 9.2.7 Grease Replenishment for T-axis Gear Grease inlet 2 Hexagon socket head cap screw M6 Grease inlet 1 Hexagon socket head cap screw M6 Exhaust port Hexagon socket head plug M6 Fig. 28 T-axis Gear Diagram 1. Remove the hexagon socket head cap plug M6 from the exhaust port. 2. Remove the hexagon socket head cap screw M6 from the grease inlet 1. 3.
  • Page 64 HW0482170 9.2 Notes on Maintenance Procedures The exhaust port is used only for air flow. NOTE Do not inject excessive grease into the grease inlet. 5. Remove the grease zerk A-MT6 x 1 from the grease inlet 1, and reinstall the screw M6. Apply the Three Bond 1206C on the screwed part of the screw.
  • Page 65 The motor and encoder units are provided with the wrist unit. To prevent fumes from penetrating into the wrist unit, the matched parts are sealed with sealing bond. Therefore, if the wrist cover is disassembled, reseal with sealing bond (Three Bond 1206C). Refer to "Table 9 Spare Parts for the MOTOMAN-EA1900N." Cover Cover jointing face Cover jointing face...
  • Page 66 HW0482170 9.2 Notes on Maintenance Procedures Encoder Connector (with CAUTION label) When performing maintenance such as replacement of a wire harness in the manipulator, NOTE the encoder connector (with CAUTION label) may be necessary to be removed. In this case, be sure to connect the battery pack to the battery backup connector before removing the encoder connector.
  • Page 67 HW0482170 9.2 Notes on Maintenance Procedures Encoder Motor Motor cable, etc. Wire harness in manipulator Power connector Connection Encoder connector Battery pack  (HW9470932-A) CAUTION label CAUTION label (Enlarged view) a: Crimped contact-pin (pin) b: Crimped contact-pin (socket) CAUTION Connect battery to encoder  to save the data before  removing conector. Fig. 30 (b) Encoder Connector for R-, B-, and T-axes 9-18 HW0482170...
  • Page 68 It is recommended that the following parts and components be kept in stock as spare parts for the MOTOMAN-EA1900N. The spare parts list for the MOTOMAN-EA1900N is shown below. For preparing lead wires for internal wiring, etc., check the serial number and contact your Yaskawa representative.
  • Page 69 HW0482170 Table. 9 Spare Parts for the MOTOMAN-EA1900N Parts Rank Name Type Manufacturer Remarks Unit L-axis HW9381641-A Yaskawa Electric Speed Reducer Corporation U-axis HW9280880-A Yaskawa Electric With input gear Speed Reducer Corporation R-axis HW0381645-A Yaskawa Electric Speed Reducer Corporation B-axis...
  • Page 70 HW0482170 11.1 S-Axis Unit 11 Parts List 11.1 S-Axis Unit 1014 1013 1040 1041 1016 1031 1017 1033 1041 1032 1005 1042 1003 1004 1027 1043 1006 1028 1008 1002 1007 1010 1015 1009 1029 1030 1023 1019 1018 1039 1025 1038 1020...
  • Page 71 HW0482170 11.1 S-Axis Unit DWG No. Name 1001 EZ5036A0 1002 CD-31 Saddle 1003 M6X10 Socket screw 1004 TA1-S8 Clamp 1005 M5X10 Washer 1006 TSH6-01M Union 1007 HW0304225-1 Holder 1008 M6X15 Socket screw 1009 TA1-S8 Clamp 1010 M5X10 Screw with spring washer 1012 PT3/8 Plug...
  • Page 72 HW0482170 11.2 L-Axis Unit 11.2 L-Axis Unit 2019 2020 2022 2035 2021 2016 2014 2013 2015 2030 2018 2017 2002 2003 2004 2007 2012 2005 2010 2006 2001 2009 2008 2011 2025 2024 2023 1023 2032 2025 2024 2031 2026 2023 2027 2028...
  • Page 73 HW0482170 11.2 L-Axis Unit DWG No. Name 2001 PT1/8 Plug 2002 PT1/8 Plug 2003 M8X25 Socket screw 2004 M8X25 Socket screw 2005 TSH6-01M Union 2006 HW0304229-1 M-base 2007 SGMRS-13A2A-YR1* Motor 2008 M6X90 Socket screw 2009 2H-6 Spring Washer 2010 HW0304302-1 Gear 2011 Y426012.5...
  • Page 74 HW0482170 11.3 U-Axis Unit 11.3 U-Axis Unit 3043 3039 3005 3022 3004 3021 4042 3044 3045 3038 3037 3013 3006 3012 3020 3001 3036 3033-34 3035 3010 3009 3041 3008 3033-34 3035 3007 3023 3019 3042 3027 3029 3026 3002 3024 3028 3025...
  • Page 75 HW0482170 11.3 U-Axis Unit DWG No. Name 3001 SGMRS-06A2B-YR2* Motor 3002 HW9280880-A Speed Reducer 3004 HW0100634-1 Casing 3005 HW0200494-3 Cover 3006 HW0404554-1 N-base 3007 FAMSC-V10-D18-L16 Washer 3008 HW0404719-1 Plate 3009 HW0304458-1 Support 3010 HW0304454-1 Cover 3012 PT1/8 Plug 3013 M8X30 Socket Screw 2H-8 Spring Washer...
  • Page 76 HW0482170 11.4 R-Axis Unit 11.4 R-Axis Unit 4054 4055 4052 4053 4070 4073 5013 4071 4019 4072 4048 4062 4074 4016 4075 4027 4078 4017 4045 4026 4044 4007 4003 4046 4076 4077 4039 4028 4015 4065 4014 4037 4067 4064 4066 4006...
  • Page 77 HW0482170 11.4 R-Axis Unit DWG No. Name DWG No. Name 4066 M6X6 Socket Screw 4067 2H-6 Spring Washer 4001 SGMPH-01A2A-YR1* Motor 4068 2H-4 Spring Washer 4002 HW0381645-A Speed reducer 4069 2H-5 Spring Washer 4003 CRBH11016AUE01 Cross roller bearing 4070 M4X10 Socket Screw 4004 6906...
  • Page 78 HW0482170 11.5 Wrist Unit 11.5 Wrist Unit 5069 5070 5073 5074 5080 5015 5024 5020 5003 5039 5038 5067 5023 5071 5036 5068 5005 5026 5036 5028 5090 5053 5072 5008 5064 5054 5071 5081 5043 5030 5035 5014 5004 5079 5041 5007...
  • Page 79 HW0482170 11.5 Wrist Unit DWG No. Name DWG No. Name 5065 M4X12 Socket Screw 5066 M4X16 Socket Screw 5001 SGMAS-01A2A-YR1* Motor 5067 M5X25 Socket Screw 5002 HW0381646-A Speed Reducer 5068 2H-5 Spring Washer 5003 TC72888 Oil seal 5069 M4X35 Socket Screw 5004 TC65786 Oil seal...
  • Page 80 YASKAWA ELECTRIC (THAILAND) CO., LTD. 252/246, 4th Floor. Muang Thai-Phatra office Tower II Rechadapisek Road, Huaykwang Bangkok 10320, Thailand Phone +66-2-693-2200 +66-2-693-4200 SHOUGANG MOTOMAN ROBOT CO., LTD. No.7,Yongchang-North Road, Beijing Economic and Technological and Development Area, Beijing 100076, China Phone +86-10-6788-0541 +86-10-6788-0542 MOTOMAN MOTHERSON ROBOTICS LTD.

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