YASKAWA MOTOMAN-ES200RN Instructions Manual
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YASKAWA MOTOMAN-ES200RN Instructions Manual

YASKAWA MOTOMAN-ES200RN Instructions Manual

Standard/slu-axes with l.s. specification
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MOTOMAN-ES200RN
INSTRUCTIONS
TYPE: YR-ES200RN-A00 (STANDARD SPECIFICATION)
YR-ES200RN-A01 (SLU-AXES WITH L.S. SPECIFICATION)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-ES200RN INSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATOR'S MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operator's manual above corresponds to specific usage.
Be sure to use the appropriate manual.
YASKAWA ELECTRIC CORPORATION
Part Number: 149539-1CD
Revision: 2
MANUAL NO.
HW0482143
8
1/71

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  • Page 1 YR-ES200RN-A01 (SLU-AXES WITH L.S. SPECIFICATION) Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-ES200RN INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator’s manual above corresponds to specific usage.
  • Page 2 If such modification is made, the manual number will also be revised. • If your copy of the manual is damaged or lost, contact a YASKAWA rep- resentative to order a new copy. The representatives are listed on the back cover.
  • Page 3 HW0482143 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”. Indicates a potentially hazardous situation which, if not avoided, WARNING could result in death or serious injury to personnel.
  • Page 4 HW0482143 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 5 • Read and understand the Explanation of 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 6 Prior to operating the manipulator, confirm the contents. WARNING label A Nameplate WARNING label A MOTOMAN TYPE PAYLOAD MASS DATE ORDER NO. WARNING label B SERIAL NO. YASKAWA ELECTRIC CORPORATION JAPAN Nameplate: WARNING label B WARNING label A MOTOMAN WARNING WARNING TYPE PAYLOAD MASS ORDER NO.

  • Page 7: Table Of Contents

    HW0482143 Product Confirmation 1.1 Contents Confirmation ......1 1.2 Order Number Confirmation .
  • Page 8 HW0482143 Allowable Load for Wrist Axis and Wrist Flange 6.1 Allowable Wrist Load ....... 6 6.2 Wrist Flange .
  • Page 9 HW0482143 Grease Exchange for R-, B- T-Axis Gears in the Casing (Refer to " Fig. 27 U-Arm Diagram ".) ....9-17 Grease Exchange for R-Axis Speed Reducer (Refer to "...

  • Page 10: Contents Confirmation

    HW0482143 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 11: Order Number Confirmation

    HW0482143 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 SHOULD HAVE SAME ORDER NUMBER. Check that the manipulator and the NX100 have the same order number.

  • Page 12: Transporting Method

    HW0482143 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 13 HW0482143 2.1 Transporting Method Details of shipping bolt Rubber plate Electrical tape painted yellow Shipping bolt (1 piece) Shipping bracket (2 pieces) Shipping bracket (2 pieces) Hexagon socket head cap screw M20 (length: 50mm) (8 screws) Fig. 2 Transporting Position HW0482143 13/71...

  • Page 14: Shipping Bolts And Brackets

    HW0482143 2.2 Shipping Bolts and Brackets Shipping Bolts and Brackets The manipulator is provided with shipping bolts and brackets at position A and with the hexa- gon socket head cap screws at point B. (" Fig. 2 Transporting Position ") Shipping bracket Front View Side View...
  • Page 15 HW0482143 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 16: Installation Of The Safeguarding

    HW0482143 3.1 Installation of the Safeguarding Installation of the Safeguarding To insure safety, be sure to install the safeguarding. They prevent unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guid- ance. Responsibility for Safeguarding (ISO 10218) The user of a manipulator or robot system shall ensure that safeguarding is provided and used in accordance with Sections 6, 7, and 8 of this standard.

  • Page 17: Mounting Example

    HW0482143 3.3 Location 3.2.1 Mounting Example The baseplate should be rugged and durable to prevent shifting of the manipulator or the fix- ture. The thickness of the baseplate is 50mm or more and an M20 size or larger anchor bolt is recommended.

  • Page 18: Grounding

    HW0482143 4.1 Grounding 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.

  • Page 19: Manipulator Cable Connection

    HW0482143 4.2 Manipulator Cable Connection Bolt M8 (for grounding) Delivered with the manipulator View A 5.5mm or more Fig. 5 Grounding Method Manipulator Cable Connection Three manipulator cables are delivered with the manipulator: an encoder cable for detection (1BC) and two power cables (2BC and 3BC). Refer to " Fig. 6 Manipulator Cable Connections ".
  • Page 20 HW0482143 4.2 Manipulator Cable Connection NX100 side Manipulator side Encoder cable NX100 side Manipulator side Power cable NX100 side Manipulator side Power cable Fig. 6) Manipulator Cable Connections HW0482143 20/71...
  • Page 21 HW0482143 4.2 Manipulator Cable Connection molex molex molex molex molex molex Key positions Connector details (Manipulator side) Fig. 7 (a) Details of the Manipulator Cable Connectors (Manipulator Side) Fig. 7 (b) Manipulator Cable Connections to the NX100 HW0482143 21/71...

  • Page 22: Basic Specifications

    HW0482143 5.1 Basic Specifications 5 Basic Specifications Basic Specifications Table. 3 Basic Specifications Item Model MOTOMAN-ES200RN Operation Mode Vertically Articulated Degree of Freedom Payload 200kg ±0.2mm Repeatability Positioning Accuracy S-Axis (turning) ±180° L-Axis (lower arm) +80°, -130° U-Axis (upper arm) +208°, -107°...

  • Page 23: Part Names And Working Axes

    HW0482143 5.2 Part Names and Working Axes Part Names and Working Axes Rotary head (S-head) Upper arm (U-arm) Lower arm (L-arm) Base Wrist Wrist flange Fig. 8 Part Names and Working Axes Manipulator Base Dimensions +0.021 290 0.1 290 0.1 Fitting surface dia.
  • Page 24 HW0482143 5.4 Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope Fig. 10 Dimensions and P-Point Maximum Envelope HW0482143 24/71...

  • Page 25: Alterable Operating Range

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

  • Page 26: Components For Altering Operating Range

    HW0482143 5.5 Alterable Operating Range 5.5.1 Components for Altering Operating Range Arrange the components listed in " Fig. 11 The Components of the S-Axis Stopper ", when modifying the angle of S-axis. Pin (drawing No. HW0402104-1, 1 pin) Stopper (drawing No. HW0302424-2, 1 stopper) Hexagon socket head cap screw M20 (length: 45mm) (3 screws) (tensile strength: 1200 N/ mm or more)

  • Page 27: Notes On The Mechanical Stopper Installation

    HW0482143 5.5 Alterable Operating Range 5.5.2 Notes on the Mechanical Stopper Installation • For S-axis mechanical stopper, install the stopper (drawing No. HW0302424-2) with the pin which is used bottom up (drawing No. HW0402104-1) as in " Fig. 11 The Components of the S-Axis Stopper ".
  • Page 28 HW0482143 5.5 Alterable Operating Range 5.5.3 Adjustment to the Pulse Limitation of S-Axis Apply the Instruction for NX100 Concurrent I/O Parameter (Manual No. RE-CKI-A442) as part of reference materials for adjusting the programming pendant when modifying the range of motion of S-Axis. The limitation to the pulse (Pulse Soft Limit + 1st Axis ) : SICxG200 The limitation to the pulse (Pulse Soft Limit...
  • Page 29 HW0482143 5.5 Alterable Operating Range HW0482143 29/71...
  • Page 30 HW0482143 5.5 Alterable Operating Range Mounting the S-Axis Stopper by Settable Angles 　 Hexagon socket head cap screws The stopper could be utlized by either side. The Settled Model of +180 Degree Hexagon socket head cap screws The stopper could be utlized by either side.
  • Page 31 HW0482143 5.5 Alterable Operating Range The stopper only utlized by one side with this angle. Hexagon socket head cap screws The Settled Model of +150 Degree The stopper could be utlized by either side. Hexagon socket head cap screws The Settled Model of +135 Degree Fig.
  • Page 32 HW0482143 5.5 Alterable Operating Range The stopper is only utlized by one side with this angle. Hexagon socket head cap screws The Settled Model of +120 Degree The stopper could Hexagon socket head cap screws be utlized by either side. The Settled Model of +105 Degree Fig.
  • Page 33 HW0482143 5.5 Alterable Operating Range The stopper could be utlized by either side. Hexagon socket head cap screws The Settled Model of + 90 Degree The stopper could be utlized by either side. Hexagon socket head cap screws The Settled Model of + 75 Degree Fig.
  • Page 34 HW0482143 5.5 Alterable Operating Range The stopper is only utlized by one side with this angle. Hexagon socket head cap screws The Settled Model of + 60 Degree The stopper could be utilized by either side. Hexagon socket head cap screws The Settled Model of +45 Degree Fig.
  • Page 35 HW0482143 5.5 Alterable Operating Range The stopper is only utlized by one side with this angle. Hexagon socket head cap screws The Settled Model of +30 Degree The stopper could be utlized by either side. Hexagon socket head cap screws The Settled Model of +15 Degree Fig.
  • Page 36 HW0482143 5.5 Alterable Operating Range The stopper could be utlized by either side. Hexagon socket head cap screws The Settled Model of 0 Degree Fig. 13 (g) The Properly-Mounted Models for S-Axis Stopper 5-15 HW0482143 36/71...
  • Page 37 The allowable total inertia is calculated when the moment is at the maximum. Contact your Yaskawa representative when only inertia, or load moment is small and inertia is large. Also, when the load mass is combined with an outside force, contact your Yaskawa representative.
  • Page 38 HW0482143 6.2 Wrist Flange Wrist Flange The wrist flange dimensions are shown in " Fig. 15 Wrist Flange ". In order to see the align- ment marks, it is recommended that the attachment be mounted inside the fitting. Fitting depth of inside and outside fittings must be 8mm or less.
  • Page 39 HW0482143 7.1 Peripheral Equipment Mounts 7 System Application Peripheral Equipment Mounts When peripheral equipment is attached to the manipulator, the following conditions should be observed. Tapped hole M12 (8 holes) (depth: 24mm) Tapped hole M8 (4 holes) (depth: 15mm) Tapped hole M6 (4 holes) (depth: 15mm) Units: mm Fig.
  • Page 40 HW0482143 7.2 Internal User I/O Wiring Harness and Air Lines Internal User I/O Wiring Harness and Air Lines 3 cables for valves (0.75mm ), 18 internal user I/O wires (0.5mm x 6 wires, 0.75mm x 12 wires), the cables for the external axis (1.0mm x 4 cables, 0.5mm x 2 cables, 0.2mm cables), and an air line are used in the manipulator for the drives of the peripheral devices...
  • Page 41 HW0482143 7.2 Internal User I/O Wiring Harness and Air Lines Key positions Exhaust port (air flow) Tapped hole PT3/8 with pipe plug Connector for internal user I/O wiring harness (Casing): JL05-2A22-14SC (socket connector with cap). Prepare pin connector: JL05-6A22-14P. Connector for the external axis (Encoder cable): JL05-2A20-29SC (socket connector with cap).
  • Page 42 HW0482143 7.2 Internal User I/O Wiring Harness and Air Lines 0.5mm (6 pins) 0.5mm (6 pins) Pins used 0.75mm (12 pins) 0.75mm (12 pins) Pins used 0.75mm (3 pins) 17 18 Pin details for internal user I/O wiring harness (Casing side) 32 33 Pin details for internal user I/O wiring harness (Base side)
  • Page 43 HW0482143 7.2 Internal User I/O Wiring Harness and Air Lines 0.5mm (6 pins) 0.5mm (6 pins) Pins used 0.3mm (12 pins) 0.3mm (12 pins) Pins used 0.75mm (6 pins) 17 18 Pin details for internal user I/O wiring harness (Casing side) 32 33 1.25mm (4 pins)
  • Page 44 HW0482143 8.1 Position of S-Axis Limit Switch 8 Motoman Construction Position of S-Axis Limit Switch Limit switches are optional. For axes with limit switch specifications, limit switches are located on S-axis, L-axis, and U-axis. Refer to " Fig. 18 Location of Limit Switches " for the location. L-axis overrun limit switch S-axis overrun limit switch L-and U-axes Interference limit switch...
  • Page 45 HW0482143 8.2 Internal Connections Internal Connections High reliability connectors which can be easily put on and removed are used with each con- nector part. For the numbers, types, and locations of connectors, see " Fig. 19 Location of Connectors " and "...
  • Page 46 0BAT11 0BAT1 BAT11 BAT1 0BAT12 0BAT2 Note) BAT12 BAT2 0BAT3 BAT3 1. This diagram is for the MOTOMAN-ES200RN. 0BAT21 0BAT4 BAT21 BAT4 For the limit switch specification, the connection of the section A was changed. 0BAT22 0BAT5 BAT22 BAT5 0BAT6 BAT6 2.
  • Page 47 HW0482143 8.2 Internal Connections S-AXIS OVERRUN L.S. L-AXIS OVERRUN L.S.(OPTION) 2BC(8PX5+12PX1) CN1-1 CN1-1 CN1-2 CN1-2 CN1-3 CN1-3 S-axis L.S. CN1-5 CN1-5 CN1-6 CN1-6 No.9CN CN1-7 CN1-7 9CN-A S-AXIS OVERRUN L.S. CN2-1 CN2-1 S-AXIS CN2-2 CN2-2 L-AXIS OVERRUN L.S.(OPTION) CN2-3 CN2-3 CN1-4 CN1-4 CN1-8...

  • Page 48: Inspection Schedule

    • Maintenance and inspection must be performed by specified personnel. Failure to observe this caution may result in electric shock or injury. • For disassembly or repair, contact your Yaskawa representative. • Do not remove the motor, and do not release the brake.
  • Page 49 • For any different or special applications, the inspection process should be developed on an case-by-case basis. • For axes which are used very frequently (in handling applications, etc.), it is recom- mended that inspections be conducted at shorter intervals. Contact your Yaskawa repre- sentative. Table. 9...
  • Page 50 Inspection No. correspond to the numbers in “ Fig. 21 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. HW0482143...
  • Page 51 HW0482143 9.1 Inspection Schedule Table. 10 Inspection Parts and Grease Used Grease Used Inspected Parts Molywhite RE No. 00 Speed Reducers for all Axes 12 13 14 R-, B-, and T-Axes gears 15 16 Alvania EP Grease 2 L-Axis Balancer Inspection numbers correspond to the numbers in "...
  • Page 52 HW0482143 9.1 Inspection Schedule U-axis L-axis Note: The manipulator is in the home position. S-axis molex molex molex R-axis B-axis T-axis Fig. 21 Inspection Parts and Inspection Numbers HW0482143 51/71...

  • Page 53: Notes On Maintenance Procedures

    HW0482143 9.2 Notes on Maintenance Procedures Notes on Maintenance Procedures 9.2.1 Battery Pack Replacement The battery packs are attached in the two positions as shown in " Fig. 22 (a) Battery Location (Back View) " and “ Fig.22 (b) Battery Location (Top View) “. If a battery alarm occurs in the NX100, replace the battery in accordance with the following procedure: Plate...
  • Page 54 HW0482143 9.2 Notes on Maintenance Procedures Battery pack before replacement See procedure 5 Connector Board See procedure 4 New battery pack (HW0470360-A) Fig. 23 Battery Connection 1. Turn the NX100 main power supply off. 2. Uninstall the plate from the connector base and pull the battery pack out to replace with a new battery pack.

  • Page 55: Grease Replenishment/Exchange For S-Axis Speed Reducer

    HW0482143 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 molex molex molex molex molex molex Grease inlet S-axis speed reducer Hexagon socket head plug PT1/4 Fig. 24 S-Axis Speed Reducer and Gear Diagram Grease Replenishment (Refer to "...

  • Page 56: Grease Exchange

    HW0482143 9.2 Notes on Maintenance Procedures Grease Exchange (Refer to " Fig. 24 S-Axis Speed Reducer and Gear Diagram ".) 1. Remove the hexagon socket head plug PT1/8 from the exhaust port. If grease is added with the plug on, the grease will go inside the motor and may damage it. NOTE It is absolutely necessary to remove the plug.

  • Page 57: Grease Replenishment/Exchange For L-Axis Speed Reducer

    HW0482143 9.2 Notes on Maintenance Procedures 9.2.3 Grease Replenishment/Exchange for L-Axis Speed Reducer Grease exhaust port Hexagon socket head plug PT1/8 Grease inlet Hexagon socket head plug PT1/8 Fig. 25 L-Axis Speed Reducer Diagram Grease Replenishment (Refer to " Fig. 25 L-Axis Speed Reducer Diagram ".) 1.

  • Page 58: Grease Exchange

    HW0482143 9.2 Notes on Maintenance Procedures Grease Exchange (Refer to " Fig. 25 L-Axis Speed Reducer Dia- gram ".) 1. Tilt the L-arm vertical to ground. 2. Remove the hexagon socket head plug PT1/8 from the grease exhaust port. NOTE If grease is added with the plug on, the grease will go inside the motor and may damage it.

  • Page 59: (Refer To " Fig. 26 U-Axis Speed Reducer Diagram ".)

    HW0482143 9.2 Notes on Maintenance Procedures 9.2.4 Grease Replenishment/Exchange for U-Axis Speed Reducer Grease exhaust port Hexagon socket head plug PT1/8 Grease inlet Hexagon socket head plug PT1/8 Fig. 26 U-Axis Speed Reducer Diagram Grease Replenishment (Refer to " Fig. 26 U-Axis Speed Reducer Diagram ".) 1.
  • Page 60 HW0482143 9.2 Notes on Maintenance Procedures Grease Exchange (Refer to " Fig. 26 U-Axis Speed Reducer Dia- gram ".) 1. Tilt the U-arm horizontal to ground. 2. Remove the hexagon socket head plug PT1/8 from the grease exhaust port. If grease is added with the plug on, the grease will go inside the motor and may damage it. NOTE It is absolutely necessary to remove the plug.
  • Page 61 HW0482143 9.2 Notes on Maintenance Procedures Grease inlet (R-,B-, and T-gears in the casing) Hexagon socket head plug PT1/8 T-axis speed reducer Grease inlet (B-, and T-axis speed reducer) Grease exhaust port Hexagon socket head plug PT1/8 (T-axis speed reducer) Hexagon socket head plug PT1/16 R-axis speed reducer...

  • Page 62: Grease Replenishment For R-, B-, T- Gears In The Casing

    HW0482143 9.2 Notes on Maintenance Procedures Grease Replenishment for R-, B-, T- Gears in the Casing (Refer to " Fig. 27 U-Arm Diagram ".) 1. Remove the hexagon socket head plug PT1/8 from the grease exhaust port. NOTE If grease is added with the plug on, the grease will go outside the grease box and may damage it.

  • Page 63: Grease Replenishment For B-Axis Speed Reducer

    HW0482143 9.2 Notes on Maintenance Procedures Grease Replenishment for B-Axis Speed Reducer (Refer to " Fig. 27 U-Arm Diagram ".) 1. Remove the hexagon socket head plug PT1/8 from the grease exhaust port. If grease is added with the plug on, the grease will go outside the grease box and may NOTE damage it.

  • Page 64: Grease Exchange For R-, B- T-Axis Gears In The Casing

    HW0482143 9.2 Notes on Maintenance Procedures Grease Exchange for R-, B- T-Axis Gears in the Casing (Refer to " Fig. 27 U-Arm Diagram ".) 1. Remove the hexagon socket head plug PT1/8 from the grease exhaust port. If grease is added with the plug on, the grease will go outside the grease box and may NOTE damage it.

  • Page 65: Grease Exchange For B-Axis Speed Reducer

    HW0482143 9.2 Notes on Maintenance Procedures 6. Remove the grease zerk from the grease inlet and reinstall the plug PT1/8. Tighten the plug with a tightening torque of 4.9 N m (0.5 kgf m). (Apply Three Bond 1206C to the thread part of the plug.) Grease Exchange for B-Axis Speed Reducer (Refer to "...

  • Page 66: Grease Exchange For T-Axis Speed Reducer

    HW0482143 9.2 Notes on Maintenance Procedures Grease Exchange for T-Axis Speed Reducer (Refer to " Fig. 27 U- Arm Diagram ".) 1. Remove the hexagon socket head plug PT1/16 from the grease exhaust port. If grease is added with the plug on, the grease will go outside the grease box and may NOTE damage it.

  • Page 67: Grease Replenishment For Balancer Connection Part

    HW0482143 9.2 Notes on Maintenance Procedures 9.2.5 Grease Replenishment for Balancer Connection Part Exhaust port Hexagon socket head plug PT1/8 Connection Grease inlet Hexagon socket head plug PT1/ Exhaust port Hexagon socket head cap screw M6 (2 screws) Connection Tapered roller bearing (2 bearings) Connection Grease inlet Hexagon socket head plug PT1/8 (2 plugs)
  • Page 68 HW0482143 9.2 Notes on Maintenance Procedures 3. Reinstall the hexagon socket head plug PT1/8 and hexagon socket head cap screw M6 on the exhaust ports of connection . Tighten the plug with a tightening torque of 4.9 N m (0.5 kgf m). (Apply Three Bond 1206C to the thread parts of the plug and screw.) 4.

  • Page 69: Notes For Maintenance

    HW0482143 9.2 Notes on Maintenance Procedures 9.2.6 Notes for Maintenance When performing maintenance such as replacement of a wire harness in the manipulator, NOTE the encoder connector may be necessary to be removed. In this case, be sure to connect the battery pack to the battery backup connector before removing the encoder connector.

  • Page 70: Recommended Spare Parts

    It is recommended that the following parts and components be kept in stock as spare parts for the Motoman-ES200RN. The spare parts list for the Motoman-ES200RN is shown below. Product performance can not be guaranteed when using spare parts from any company other than Yaskawa.
  • Page 71 Yaskawa External cable each user's specifi- Electric cation Corporation The built-in external cable of ES series is regarded as a spare part. Please contact your Yaskawa representative after confirming the drawing number of the cable when ordering. 10-2 HW0482143 70/71...

  • Page 72: Parts List

    HW0482143 11.1 S-Axis Unit 11 Parts List 11.1 S-Axis Unit 1005 1012 1013 1054 1055 1072 1067 1063 1058 1014 1015 1016 1059 1068 1032 1033 1065 1070 1006 1069 1039 1064 1019 1020 1038 1062 1003 1066 1018 1040 1004 1008 1023...
  • Page 73 HW0482143 11.1 S-Axis Unit DWG No. Name 1001 HW0100193-2 Base 1003 HW0380936-A Speed reducer 1004 HW0306181-1 Pipe 1005 TC12015014 Oil seal 1006 MSTH12-30 1007 MSTH12-40 1008 M6X15 Socket screw 1009 2H-6 Spring washer 1010 KQ2L10-01S Union 1011 NB-10075-1.1 Tube 1012 M16X60 Socket screw 1013...

  • Page 74: L-Axis Unit

    HW0482143 11.2 L-Axis Unit 11.2 L-Axis Unit 2046 2047 2044 2043 2055 2039 2059 2042 2048 2002 2003 2041 2038 2001 2045 2009 2007 2013 2012 2010 2045 2008 2011 1006 2004 2055 2038 2043 2039 2042 2040 2048 2041 2044 2047 2046...
  • Page 75 HW0482143 11.2 L-Axis Unit DWG No. Name 2001 SGMRS-37A2A-YR1* Motor 2002 M12X35 Socket screw 2003 2H-12 Spring washer 2004 EZ0094-AO Air breather 2007 Y507212.5 Oil seal 2008 HW0301778-1 Gear 2009 HW9482306-E Shaft 2010 HW9481343-A Shaft 2011 ISTW-10 Stopper 2012 HW0481082-A Bolt 2013 2H-12...

  • Page 76: Urbt-Axis Link Unit

    HW0482143 11.3 URBT-Axis Link Unit 11.3 URBT-Axis Link Unit R-axis 3016 3055 3017 3020 3021 3037 U-axis 3004 3053 B-axis 3018 3019 3002 3020 3054 3021 3008 3049 3055 3007 T-axis 3047 3003 3009 3045 3006 3044 3011 3019 3005 3010 3046 3053...
  • Page 77 HW0482143 11.3 URBT-Axis Link Unit DWG No. Name DWG No. Name 3001 GS210 O-ring 3065 HW0402204-1 Collar 3002 HW0402391-1 Collar 3066 STW-60 C-stopper 3003 HW0402406-1 Cooler 3067 HW0380780-A Reduction gear 3004 HW0302099-1 Gear 3068 HW9302581-1 washer 3005 M6X60 Socket screw 3069 M12X115 Socket screw...

  • Page 78: Wrist Unit

    HW0482143 11.4 Wrist Unit 11.4 Wrist Unit 4070 4017 4052 3074 4014 4018 4013 4016 4081 4023 4031 4049 4019 4072 4071 4001 4015 4040 4042 4055 4043 4032 4025 4036 4024 4003 4027 4037 4002 4035 4083 4077 4082 4044 4061 4045...
  • Page 79 HW0482143 11.4 Wrist Unit DWG No. Name DWG No. Name 4001 HW0100242-1 Wrist base 4056 M8X20 Socket screw 4002 M12X30 Socket screw 4057 HW0301226-2 Gear 4003 2H-12 Spring washer 4058 HW0380794-A Reduction gear 4004 HW0100243-1 Wrist 4059 M8X30 Socket screw 4005 HW9381453-B Reduction gear...

  • Page 80: Balancer Unit

    HW0482143 11.5 Balancer Unit 11.5 Balancer Unit 5001 5017 5018 5012 5005 5014 5011 5006 5009 5005 5008 5007 5006 5008 5009 5009 5008 5002 2023 5008 5016 5009 2037 5010 2035 2032 5004 2031 5003 2033 5013 2034 2036 2030 11-9 HW0482143...
  • Page 81 HW0482143 11.5 Balancer Unit DWG No. Name 5001 HW0100267-1 Case 5002 HW0100268-1 Flange 5003 M10X40 Socket screw 5004 2H-10 Spring washer 5005 HW0481227-A Spring 5006 HW0481228-A Spring 5007 HW0302081-1 Spacer 5008 SOB607440 Oiles 5009 IRTW-75 Stopper 5010 FD3187AO Dust seal 5011 HW0302080-1 Flange...
  • Page 82 INSTRUCTIONS HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004 Japan Phone +81-93-645-7745 Fax +81-93-645-7746 YASKAWA America Inc. MOTOMAN Robotics Division 805 Liberty Lane, West Carrollton, OH 45449, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Nordic AB Franska vagen 10, Box 4004, 390 04 Kalmar, Sweden...

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