YASKAWA MOTOMAN-VA1400 Instructions Manual
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YASKAWA MOTOMAN-VA1400 Instructions Manual

YASKAWA MOTOMAN-VA1400 Instructions Manual

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MOTOMAN-VA1400
INSTRUCTIONS
TYPE:
YR-VA01400-A00 (STANDARD SPECIFICATION)
YR-VA01400-A01 (SLU-AXES WITH LIMIT SWITCHES)
YR-VA01400-A10 (CEILING-MOUNTED SPECIFICATION)
YR-VA01400-A11 (CEILING-MOUNTED, SLU-AXES WITH
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 manual.
LIMIT SWITCHES)
Part Number:
155556-1CD
Revision:
3
MANUAL NO.
HW0484963
1 of 85
5

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Summary of Contents for YASKAWA MOTOMAN-VA1400

  • Page 1 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.
  • Page 2 Copyright © 2017, 2012 Yaskawa America, Inc. Terms of Use and Copyright Notice All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the operation of Motoman robots, related equipment and software This manual is copyrighted property of Yaskawa and may not be sold or redistributed in any way.
  • Page 3 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.
  • Page 4 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, pursuant to part 15 of the FCC rules.
  • Page 5 Failure to observe this caution may result in electric shock or injury. • For disassembly or repair, contact your YASKAWA representative. • Do not remove the motor, and do not release the brake. Failure to observe these safety precautions may result in death or serious injury from unexpected turning of the manipulator's arm.
  • Page 6 155556-1CD VA1400 Notes for Safe Operation WARNING • Before operating the manipulator, check that servo power is turned OFF pressing the emergency stop buttons on the front door of the DX100 and the programming pendant. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
  • Page 7 Read and understand the Explanation of Warning Labels in the DX100 Instructions before operating the manipulator: Definition of Terms Used In this Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and supply cables.
  • Page 8 155556-1CD VA1400 Explanation of Warning Labels Explanation of Warning Labels The following warning labels are attached to the manipulator. Always follow the warnings on the labels. Also, an identification label with important information is placed on the body of the manipulator. Prior to operating the manipulator, confirm the contents.
  • Page 9 155556-1CD VA1400 Safeguarding Tips Safeguarding Tips All operators, programmers, maintenance personnel, supervisors, and anyone working near the system must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. General safeguarding tips are as follows: •...
  • Page 10 Do not make any modifications to the controller unit. Making any changes without the written permission from Yaskawa will void the warranty. • Some operations require standard passwords and some require special passwords.
  • Page 11 Turn the power OFF and disconnect and lockout/tagout all electrical circuits before making any modifications or connections. Perform only the maintenance described in this manual. Maintenance other than specified in this manual should be performed only by Yaskawa- trained, qualified personnel. Summary of Warning Information This manual is provided to help users establish safe conditions for operating the equipment.
  • Page 12 If you need assistance with any aspect of your VA1400 system, please contact YASKAWA Customer Support at the following 24-hour telephone number: (937) 847-3200 For routine technical inquiries, you can also contact YASKAWA Customer Support at the following e-mail address: techsupport@motoman.com When using e-mail to contact YASKAWA Customer Support, please provide a detailed description of your issue, along with complete contact information.

  • Page 13: Table Of Contents

    155556-1CD VA1400 Table of Contents Table of Contents 1 Product Confirmation ........................1-1 1.1 Contents Confirmation ....................... 1-1 1.2 Order Number Confirmation ....................1-2 2 Transport............................2-1 2.1 Transport Method ......................2-1 2.1.1 Using a Crane ...................... 2-2 2.1.2 Using a Forklift...................... 2-3 2.2 Shipping Bolts and Brackets....................
  • Page 14 155556-1CD VA1400 Table of Contents 6 Allowable Load for Wrist Axis and Wrist Flange ................6-1 6.1 Allowable Wrist Load ......................6-1 6.2 Wrist Flange........................6-2 7 System Application.......................... 7-1 7.1 Peripheral Equipment Mounts.................... 7-1 7.1.1 Allowable Load ..................... 7-1 7.1.2 Installation Position....................
  • Page 15 155556-1CD 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 HW0484963...

  • Page 16: Product Confirmation

    155556-1CD VA1400 Product Confirmation 1.1 Contents Confirmation Product Confirmation 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 and cause injury or damage.

  • Page 17: Order Number Confirmation

    155556-1CD VA1400 Product Confirmation 1.2 Order Number Confirmation Order Number Confirmation Check that the order number of the manipulator corresponds to the DX100. The order number is located on a label as shown below. Fig. 1-1: Location of Order Number Labels Label (Enlarged View) THE MANIPULATOR AND THE CONTROLLER Check that the manipulator...

  • Page 18: Transport

    155556-1CD VA1400 Transport 2.1 Transport Method Transport 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 transport. The system consists of precision components.

  • Page 19: Using A Crane

    155556-1CD VA1400 Transport 2.1 Transport Method 2.1.1 Using a Crane As a rule, the manipulator should be lifted by a crane with two wire ropes when removing it from the package and 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.

  • Page 20: Using A Forklift

    155556-1CD VA1400 Transport 2.2 Shipping Bolts and Brackets 2.1.2 Using a Forklift When using a forklift, the manipulator should be fixed on a pallet with shipping bolts as shown in Fig. 2-2 “Using a Forklift”. Insert claws under the pallet and lift it. The pallet must be strong enough to support the manipulator.

  • Page 21: Installation

    155556-1CD VA1400 Installation Installation WARNING • Install the safeguarding. Failure to observe this warning may result in injury or damage. • Install the manipulator in a location where the tool or the workpiece held by its fully extended arm will not reach the wall, safeguarding, or controller.

  • Page 22: Safeguarding Installation

    155556-1CD VA1400 Installation 3.1 Safeguarding Installation Safeguarding Installation To insure safety, be sure to install safeguarding. It prevents unforeseen accidents with personnel and damage to equipment. Refer to the quoted clause for your information and guidance. Responsibility for Safeguarding (ISO10218) 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.

  • Page 23: Mounting Example

    155556-1CD VA1400 Installation 3.2 Mounting Procedures for Manipulator Base 3.2.1 Mounting Example For the first process, anchor the baseplate firmly to the ground. The baseplate should be rugged and durable to prevent shifting of the manipulator or the mounting fixture. It is recommend to prepare a baseplate of 40 mm or more thick, and anchor bolts of M16 or larger size.

  • Page 24: Types Of Mounting

    (Tensile strength: 1200 N/mm or more) In case of using the wall-/ceiling-mounted type, inform YASKAWA of the matter when placing an order. Be sure to NOTE contact your YASKAWA representative (listed on the back cover of this instruction manual) to perform a wall/ceiling installation on site.

  • Page 25: Location

    155556-1CD VA1400 Installation 3.4 Location Location When installing a manipulator, it is necessary to satisfy the following environmental conditions: • Ambient temperature: 0° to + 45°C • Humidity: 20 to 80%RH (no-condensing) • Free from dust, soot, oil, or water •...

  • Page 26: Wiring

    155556-1CD VA1400 Wiring 4.1 Grounding 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 27: Cable Connection

    155556-1CD VA1400 Wiring 4.2 Cable Connection Fig. 4-1: Grounding Method Section A-A' Bolt M8 (for grounding) Delivered with the manipulator Cable Connection Two manipulator cables are delivered with the manipulator; an encoder cable (1BC) and a power cable (2BC). (Refer to Fig. 4-2 “Manipulator Cables”.) Connect these cables to the manipulator base connectors and to the DX100.
  • Page 28 155556-1CD VA1400 Wiring 4.2 Cable Connection Fig. 4-2: Manipulator Cables The DX100 Side The Manipulator Side Encoder Cable The DX100 Side The Manipulator Side Power Cable 28 of 85 HW0484963...
  • Page 29 155556-1CD VA1400 Wiring 4.2 Cable Connection Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side) Connector Details (Manipulator Side) Fig. 4-3(b): Manipulator Cable Connection (DX100 Side) 29 of 85 HW0484963...

  • Page 30: Basic Specifications

    155556-1CD VA1400 Basic Specifications 5.1 Basic Specifications Basic Specifications Basic Specifications Table 5-1: Basic Specifications Item Model MOTOMAN-VA1400 Application Arc Welding Structure Vertically Articulated Degree of Freedom Payload 3 kg Repeatability ±0.08 mm Range of Motion S-Axis (turning) ±170° L-Axis (lower arm) +148°, -70°...

  • Page 31: Part Names And Working Axes

    155556-1CD VA1400 Basic Specifications 5.2 Part Names and Working Axes Part Names and Working Axes Fig. 5-1: Part Names and Working Axes U-arm Wrist flange L-arm B L-arm A S-head Manipulator base Manipulator Base Dimensions Fig. 5-2: Manipulator Base Dimensions +0.018 16 dia.

  • Page 32: Dimensions And P-Point Maximum Envelope

    155556-1CD VA1400 Basic Specifications 5.4 Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope Fig. 5-3(a): Dimensions and P-Point Maximum Envelope (YR-VA01400-A00, -A01) P-point maximum envelope 1734 P-point 150° 32 of 85 HW0484963...
  • Page 33 155556-1CD VA1400 Basic Specifications 5.4 Dimensions and P-Point Maximum Envelope Fig. 5-3(b): Dimensions and P-Point Maximum Envelope (YR-VA01400-A 10,-A11) 150° P-point 1734 The working envelope of wrist part (B-axis) P-point maximum in downward postur envelope 33 of 85 HW0484963...

  • Page 34: Alterable Operating Range

    Alterable Operating Range The operating 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...

  • Page 35: Allowable Load For Wrist Axis And Wrist Flange

    The allowable wrist load is 3 kg maximum. 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 6-1 "Allowable Wrist Load". Contact your YASKAWA representative for further information or assistance.

  • Page 36: Wrist Flange

    155556-1CD VA1400 Allowable Load for Wrist Axis and Wrist Flange 6.2 Wrist Flange Wrist Flange The wrist flange dimensions are shown in Fig. 6-2 “Wrist Flange”. It is recommended that the attachment be mounted inside the fitting in order to identify the alignment marks.

  • Page 37: System Application

    155556-1CD VA1400 System Application 7.1 Peripheral Equipment Mounts System Application Peripheral Equipment Mounts The peripheral equipment mounts are provided on the U-axis (upper arm) and S-axis (rotary head) as shown in Fig. 7-1 “Installing Peripheral Equipment” for easier installation of the users’ system applications. The following conditions shall be observed to attach or install peripheral equipment.
  • Page 38 155556-1CD VA1400 System Application 7.1 Peripheral Equipment Mounts Fig. 7-1: Installing Peripheral Equipment View A Tapped hole M6 (2 holes) Tapped hole M8 (3 holes) (Depth: 14) (Pitch: 1.0) (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...

  • Page 39: Internal User I/O Wiring Harness And Air Line

    155556-1CD VA1400 System Application 7.2 Internal User I/O Wiring Harness and Air Line Internal User I/O Wiring Harness and Air Line Internal user I/O wiring harness (14 wires: 0.2 mm x 8 wires, 0.75 mm 2 wires and 1.25 mm x 4 wires), and two air lines are incorporated in the manipulator for the drive of peripheral devices mounted on the upper arm as shown in Fig.
  • Page 40 155556-1CD VA1400 System Application 7.2 Internal User I/O Wiring Harness and Air Line Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line Connector for the internal user I/O wiring harness: JL05-2A20-29SC (socket connector with a cap) Prepare pin connector: JL05-6A20-29P Exhaust port: B PT3/8 with a pipe plug Exhaust port: A...
  • Page 41 155556-1CD VA1400 System Application 7.2 Internal User I/O Wiring Harness and Air Line Fig. 7-3: Details of the Connector Pin Numbers Connector for Internal User I/O Wiring Harness on the Connector Base Pins used 7 (Open) 8 (Open) (0.75 mm (0.75 mm (1.25 mm (1.25 mm...

  • Page 42: Electrical Equipment Specification

    155556-1CD VA1400 Electrical Equipment Specification 8.1 Position of Limit Switch Electrical Equipment Specification Position of Limit Switch The limit switches are optional. See 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).

  • Page 43: Internal Connections

    155556-1CD VA1400 Electrical Equipment Specification 8.2 Internal Connections Internal Connections Highly reliable connectors are equipped on each connection part of the manipulator to enable easy removal and installation for maintenance and inspection. For the number and location of connectors, see Fig. 8-2 “Locations and Numbers of Connectors”.
  • Page 44 No.7 and No.8 of 3BC on U-arm, the crimped contact-pins (SS1.SS2) CN4-1 CN4-1 +24V CN4-6 CN4-6 need to be replaced as shown in CN4-2 CN4-2 (Contact your Yaskawa representative in case of modifying the wiring before use.) CN4-7 CN4-7 No.16CN CN2-1 CN2-1 SPG+3 16CN-1 DATA+3...
  • Page 45 155556-1CD VA1400 8 Electrical Equipment Specification 8.2 Internal Connections Fig. 8-3(b): Internal Connection Diagram Base Casing 3BC(20-29) 3BC(20-29) 3BC-1 3BC-1 For Spa Shock Sensor (Optional) 2BC(12X5) No.22CN CN6-1 CN6-1 22CN-3 S-AXIS CN6-3 CN6-3 CN6-2 CN6-2 CN1-4 CN1-4 CN2-3 CN2-3 No.23CN CN1-1 CN1-1 23CN-3...

  • Page 46: Maintenance And Inspection

    The inspection may be conducted at shorter intervals if the manipulator is used very frequently for the application such as handling; in this case, contact your YASKAWA representative. 46 of 85 HW0484963...
  • Page 47 Table 9-1: Inspection Items (Sheet 1 of 2) Schedule Method Operation Inspection Items Charge • • • • Alignment mark Visual Check alignment mark accordance and damage at the home position. • • • • External lead Visual Check for damage and deterioration of leads. •...
  • Page 48 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 remove connectors on detector side for each axis from the motor.
  • Page 49 Fig. 9-1: Inspection Items Note: This figure shows the standard specification manipulator in the home position. 49 of 85...

  • Page 50: Notes On Maintenance Procedures

    155556-1CD VA1400 Maintenance and Inspection 9.2 Notes on Maintenance Procedures Table 9-2: Inspection Parts and Grease Used Grease Used Inspected Parts 12, 13 VIGO Grease RE No. 0 Speed reducers for S-, L-, U- and E-axes Harmonic Grease 4B No. 2 R-axis speed reducer Harmonic Grease SK-1A B-axis speed reducer...
  • Page 51 155556-1CD VA1400 Maintenance and Inspection 9.2 Notes on Maintenance Procedures Fig. 9-3: Battery Connection Battery pack See replacing step 5. before replacement Connector Circuit Board See replacing step 4. (Type: SGDR-EFBA02A) New battery pack 1. Turn OFF the DX 100 main power supply. 2.

  • Page 52: Notes On Grease Replenishment/Exchange Procedures

    155556-1CD VA1400 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures Notes on Grease Replenishment/Exchange Procedures Make sure to follow the instructions listed below at grease replenishment/ exchange. Failure to observe the following notes may result in damage to motor and speed reducer. •...

  • Page 53: Grease Replenishment

    155556-1CD VA1400 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.1.1 Grease Replenishment (Refer to Fig. 9-4 “S-Axis Speed Reducer Diagram”.) Replenish the grease according to the following procedure: 1. Remove the hexagon socket head plugs PT1/8 from the grease inlet and grease exhaust port.

  • Page 54: Grease Exchange

    155556-1CD VA1400 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.1.2 Grease Exchange (Refer to Fig. 9-4 “S-Axis Speed Reducer Diagram”.) 1. Remove the hexagon socket head plugs PT1/8 from the grease inlet and grease exhaust port. • If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage.

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

    155556-1CD VA1400 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer Fig. 9-5: L-Axis Speed Reducer Diagram Grease exhaust port Hexagon socket head plug PT 1/8 L-axis speed reducer L-arm Grease Inlet Hexagon socket head cap screw M6 For the ceiling-mounted manipulator, the grease exhaust NOTE port and the grease inlet are inverted.
  • Page 56 155556-1CD VA1400 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 8. Wipe the discharged grease with a cloth, 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).

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

    155556-1CD VA1400 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.3 Grease Replenishment/Exchange for E-Axis Speed Reducer Fig. 9-6: E-Axis Speed Reducer Diagram Grease exhaust port Hexagon socket head plug PT 1/8 Grease inlet Hexagon socket head E-axis speed reducer plug PT 1/8 For the ceiling-mounted manipulator, the grease exhaust NOTE...

  • Page 58: Grease Exchange

    155556-1CD VA1400 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 7. 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 plug, then tighten the plug with a tightening torque of 10 N•m (1.0 kgf•m).

  • Page 59: Grease Replenishment/Exchange For U-Axis Speed Reducer

    155556-1CD VA1400 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.4 Grease Replenishment/Exchange for U-Axis Speed Reducer Fig. 9-7: U-Axis Speed Reducer Diagram U-axis speed reducer U-arm Grease exhaust port Hexagon socket head cap screw M6 Grease inlet Hexagon socket head plug PT 1/8 For the ceiling-mounted manipulator, the grease exhaust NOTE port and the grease inlet are inverted.

  • Page 60: Grease Exchange

    155556-1CD VA1400 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 8. Wipe the discharged grease with a cloth, 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).

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

    155556-1CD VA1400 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.5 Grease Replenishment for R-Axis Speed Reducer Fig. 9-8: R-Axis Speed Reducer Diagram R-axis speed reducer Exhaust port Hexagon socket head cap screw M6 Grease inlet Hexagon socket head cap screw M6 For the ceiling-mounted manipulator, the exhaust port and NOTE...

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

    155556-1CD VA1400 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.6 Grease Replenishment for B-Axis Speed Reducer Fig. 9-9: B-Axis Speed Reducers Diagram Exhaust port B-axis speed reducer (Plug LPM5) Cover Grease inlet Hexagon socket head cap screw M6 1.

  • Page 63: Grease Replenishment For T-Axis Gear

    155556-1CD VA1400 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.7 Grease Replenishment for T-Axis Gear Fig. 9-10: T-Axis Gear Diagram Grease inlet 1 Grease inlet 2 Hexagon socket Hexagon socket head cap screw M6 head cap screw M6 Exhaust port Hexagon socket set screw M6...

  • Page 64: Grease Replenishment For R-Axis Gear

    155556-1CD VA1400 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 7. Install a grease zerk A-MT6X1 to the grease inlet 2. (The grease zerk is delivered with the manipulator.) 8. Inject grease through the grease inlet 2 using a grease gun. –...

  • Page 65: Notes For Maintenance

    155556-1CD VA1400 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 4. Install a grease zerk PT1/8 to the grease inlet. (The grease zerk is delivered with the manipulator.) 5. Inject grease through the grease inlet using a grease gun. Refer to Fig.

  • Page 66: Battery Pack Connection

    155556-1CD VA1400 Maintenance and Inspection 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.9.2 Battery Pack Connection Before removing the encoder connector (with CAUTION label), connect the battery pack referring to the following figures. Fig. 9-13(a): Encoder connector Diagram (for S-, L-, U-and E- Axes) Motor Motor power connector Encoder connector...

  • Page 67: Recommended Spare Parts

    10 Recommended Spare Parts It is recommended to keep the parts and components in the following table in stock as spare parts for the MOTOMAN-VA1400. Product performance cannot be guaranteed when using spare parts from any company other than YASKAWA. The spare parts are ranked as follows: •...
  • Page 68 Table 10-1: Spare Parts for the YR-VA01400-A00, -A01, -A10, -A11 (Sheet 2 of 2) Rank Parts Name Type Manufacturer Remarks Unit T-Axis Gear Unit HW0372792-A YASKAWA T-Axis Gear HW0310757-A YASKAWA (Input Side) Internal Wire HW0174026-A YASKAWA Harness Internal Cable for...

  • Page 69: Parts List

    155556-1CD VA1400 Parts List 11.1 S-Axis Unit 11 Parts List 11.1 S-Axis Unit Fig. 11-1: S-Axis Unit 1004 1022 1005 1006 1008 1007 1023 1023 1017 1016 1047 1045 1018 1034 1002 1037 1036 1003 1054 1051 1053 1012 1011 1014 1055 1013...
  • Page 70 155556-1CD VA1400 Parts List 11.1 S-Axis Unit Table 11-1: S-Axis Unit DWG No. Name 1001 HW0102222-1 Base 1002 HW0102223-1 S head 1003 HW0312732-1 M base 1004 SGMRV-05ANA-YR2* Motor 1005 M4X10 GT-SA bolt 1006 HW0312734-1 Gear 1007 M5X85 Socket screw 1008 2H-5 Spring washer 1009...
  • Page 71 155556-1CD VA1400 Parts List 11.1 S-Axis Unit Table 11-1: S-Axis Unit DWG No. Name 1052 HW0411175-1 Cover 1053 HW0314103-1 Support 1054 C-30-SG-30A Glomet 1055 2H-5 Spring washer 11-3 71 of 85 HW0484963...

  • Page 72: L-Axis Unit

    155556-1CD VA1400 Parts List 11.2 L-Axis Unit 11.2 L-Axis Unit Fig. 11-2: L-Axis Unit 2012 2001 2003 2013 1002 2005 2010 2009 2011 2016 2018 2002 2022 2021 2004 2006 2015 2014 Table 11-2: L-Axis Unit DWG No. Name 2001 SGMRV-09ANA-YR1* Motor 2002...

  • Page 73: U-Axis Unit

    155556-1CD VA1400 Parts List 11.3 U-Axis Unit 11.3 U-Axis Unit Fig. 11-3: U-Axis Unit 3011 3003 3001 3025 3034 3024 3033 3008 3010 3009 3028 3032 3017 3039 3029 3031 3016 3014 3019 3004 3020 3018 3006 3007 3012 3021 3041 3027 3040...
  • Page 74 155556-1CD VA1400 Parts List 11.3 U-Axis Unit Table 11-3: U-Axis Unit DWG No. Name 3001 SGMRV-05ANA-YR2* Motor 3002 HW0102226-1 L arm B 3003 M8X30 GT-SA bolt 3004 HW9280738-B Speed reducer 3005 M10X30 GT-SA bolt 3006 2H-6 Spring washer 3007 M6X35 GT-SA bolt 3008 HW0303277-4...
  • Page 75 155556-1CD VA1400 Parts List 11.3 U-Axis Unit Table 11-3: U-Axis Unit DWG No. Name 3036 2H-12 Spring washer 3037 M6X6 Socket screw 3038 PT1/8 Plug 3039 KQE10-03 Union 3040 KQE12-03 Union 3041 PT3/8*dacro* Plug 3042 HW0313099-A Cover 3043 M6X15 GT-SA bolt 3045 Washer 2005...

  • Page 76: E-Axis Unit

    155556-1CD VA1400 Parts List 11.4 E-Axis Unit 11.4 E-Axis Unit Fig. 11-4: E-Axis Unit 4002 4001 4009 4011 4010 4003 4004 4012 4005 4016 4015 4017 3002 4018 4006 4020 4019 4013 4021 4014 4007 4022 4023 4008 2005 11-8 76 of 85 HW0484963...
  • Page 77 155556-1CD VA1400 Parts List 11.4 E-Axis Unit Table 11-4: E-Axis Unit DWG No. Name 4001 SGMRV-05ANA-YR2* Motor 4002 M8X25 GT-SA bolt 4003 M8X20 Socket screw 4004 2H-8 Spring washer 4005 HW0312733-1 M base 4006 PT1/8 Plug 4007 HW0387811-A Speed reducer 4008 PT1/8 Plug...

  • Page 78: R-Axis Unit

    155556-1CD VA1400 Parts List 11.5 R-Axis Unit 11.5 R-Axis Unit Fig. 11-5: R-Axis Unitt 6073 5028 5029 5026 5027 5025 5030 5031 5035 5044 5045 5046 5032 5033 5047 5040 5036 5002 5038 5018 5049 5048 5037 5024 5023 5041 5039 5019 5042...
  • Page 79 155556-1CD VA1400 Parts List 11.5 R-Axis Unit Table 11-5: R-Axis Unit DWG No. Name 5001 SGMPH-01ANA-YR1* Motor 5002 M5X20 GT-SA bolt 5003 M5X16 GT-SA bolt 5004 HW0404304-1 Packin 5005 AE0478G Oil seal 5006 M4X16 Socket screw 5007 2H-4 Spring washer 5008 HW0410364-1 M base...
  • Page 80 155556-1CD VA1400 Parts List 11.5 R-Axis Unit Table 11-5: R-Axis Unit DWG No. Name 5046 PZ1212 Saddle 5047 M4X10 APS bolt 5048 PT1/8 Plug 5049 M4X10 APS bolt 5052 M5X16 GT-SA bolt 5053 M5X12 GT-SA bolt 5054 M5X35 Socket screw 5055 M5X40 Socket screw...

  • Page 81: Wrist Unit

    155556-1CD VA1400 Parts List 11.6 Wrist Unit 11.6 Wrist Unit Fig. 11-6: Wrist Unit 6045 6048 6075 6043 6041 6046 6096 6076 6085 6042 6047 6097 6099 6044 6084 6042 6095 6083 6035 6079 6078 6081 6092 6080 6049 6093 6090 6100 6087...
  • Page 82 155556-1CD VA1400 Parts List 11.6 Wrist Unit Table 11-6: Wrist Unit DWG No. Name 6001 SGMAV-01ANA-YR1* Motor 6002 M6X55 Socket screw 6003 2H-6 Spring washer 6004 M4X25 Socket screw 6005 2H-4 Spring washer 6006 HW0480866-B Pulley 6007 HW0404353-1 Fly wheel 6008 HW0404354-1 Spacer...
  • Page 83 155556-1CD VA1400 Parts List 11.6 Wrist Unit Table 11-6: Wrist Unit DWG No. Name 6045 M6X25 Socket screw 6046 2H-6 Spring washer 6047 HW8411125-3 Washer 6048 HW0310757-1 Gear 6049 HW0310758-1 Housing 6050 688A Bearing 6051 6812LLU Bearing 6052 HW0381646-A Speed reducer 6053 M4X16 GT-SA bolt...
  • Page 84 155556-1CD VA1400 Parts List 11.6 Wrist Unit Table 11-6: Wrist Unit DWG No. Name 6091 MS4-10 6092 CBS4-12 Bolt 6093 2H-4 Spring washer 6094 M4X12 GT-SA bolt 6095 M5X10 APS bolt 6096 HW0404365-1 Cover 6097 HW0404366-1 Packin 6098 M4X12 GT-SA bolt 6099 M6X6 H set screw...
  • Page 85 INSTRUCTIONS HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802 YASKAWA America Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Europe GmbH Robotics Divsion ) Yaskawastrasse 1, 85391 Allershausen, Germany...

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