YASKAWA DX200 Instructions Manual
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YASKAWA DX200 Instructions Manual

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See also: Operator's Manual , Instruction Manual
MOTOMAN-ES200RD II
INSTRUCTIONS
TYPE: YR-ES200RD-J00 (DX200:STANDARD SPECIFICATION)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-ES200RD II INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR'S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
The DX200 operator's manual above corresponds to specific usage. Be sure to use the appropriate manual.
Part Number:
Revision:
MANUAL NO.
HW1482737
170625-1CD
1
1 of 100
1

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  • Page 1 MOTOMAN INSTRUCTIONS MOTOMAN-ES200RD II INSTRUCTIONS DX200 INSTRUCTIONS DX200 OPERATOR’S MANUAL (for each purpose) DX200 MAINTENANCE MANUAL The DX200 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual. Part Number: 170625-1CD Revision: MANUAL NO. 1 of 100...
  • Page 2 Copyright © 2016, 2014 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 Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before: – Turning ON the power for the DX200. – Moving the manipulator with the programming pendant. – Running the system in the check mode.
  • Page 7 Read and understand the Explanation of Warning Labels in the DX200 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 170625-1CD ES200RD II 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 Programming Pendant’s LCD display screen by selecting {MAIN MENU} - {SYSTEM INFO} - {VERSION} • Robot Serial Number Located on the robot data plate • Robot Sales Order Number Located on the DX200 controller data plate 9 of 100 HW1482737...

  • Page 10: Table Of Contents

    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 DX200..................4-2 5 Basic Specifications ........................5-1 5.1 Basic Specifications ......................5-1 5.2 Part Names and Working Axes..................5-2 5.3 Manipulator Base Dimensions ...................
  • Page 11 170625-1CD ES200RD II Table of Contents 5.6.3 Adjustment of the Soft Limit of the S-Axis Pulse ..........5-11 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 ...................
  • Page 12 170625-1CD ES200RD II Table of Contents 9.3.5.5 Grease Exchange for R-, B-, T-Axes Gears in the Casing ....9-19 9.3.5.6 Grease Exchange for R-Axis Speed Reducer ........9-20 9.3.5.7 Grease Exchange for B-Axis Speed Reducer ........9-21 9.3.5.8 Grease Exchange for T-Axis Speed Reducer ........9-22 9.3.6 Grease Replenishment for Balancer Connection Part........

  • Page 13: Product Confirmation

    Product Confirmation CAUTION • Confirm that the manipulator and the DX200 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 14: Order Number Confirmation

    1.2 Order Number Confirmation Order Number Confirmation Check that the order number of the manipulator corresponds to the DX200. The order number is located on a label as shown below. Fig. 1-1: Location of Order Number Labels Label (Enlarged View)

  • Page 15: Transport

    170625-1CD ES200RD II 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 16: Using A Crane

    170625-1CD ES200RD II Transport 2.1 Transport Method 2.1.1 Using a Crane As a rule, the manipulator should be lifted by a crane with four 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 17: Shipping Bolts And Brackets

    170625-1CD ES200RD II Transport 2.2 Shipping Bolts and Brackets Shipping Bolts and Brackets The manipulator is provided with shipping bolts and brackets at position and hexagon socket head cap screws . (See Fig. 2-1 “Transporting Position”.) Fig. 2-2: Shipping Bolts and Brackets Shipping bracket Side view Front view...

  • Page 18: Installation

    170625-1CD ES200RD II 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 19: Safeguarding Installation

    170625-1CD ES200RD II 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 20: Mounting Example

    170625-1CD ES200RD II 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 recommended to prepare a baseplate of 50 mm or more thickness, and anchor bolts of M20 or larger size.

  • Page 21: Location

    170625-1CD ES200RD II Installation 3.3 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 (non-condensing) • Free from dust, soot, or water •...

  • Page 22: Wiring

    • DO NOT cover the cable with heat insulating material, and avoid multiple cabling when laying manipulator cables from the manipulator to the DX200. Failure to observe this caution may result in burn caused by cable heat emission failure. Grounding Follow electrical installation standards and wiring regulations for grounding.

  • Page 23: Cable Connection

    2BC, then 1BC. After inserting the cables, depress the lever until it clicks. 4.2.2 Connection to the DX200 Before connecting cables to the DX200, verify the numbers on both manipulator cables and the connectors on the DX200. When connecting, insert the cables in the order of X21 then X11, and depress each lever until it clicks.
  • Page 24 170625-1CD ES200RD II Wiring 4.2 Cable Connection Fig. 4-2: Manipulator Cables DX200 side Manipulator side Encoder Cable DX200 side Manipulator side Power Cable 24 of 100 HW1482737...
  • Page 25 170625-1CD ES200RD II Wiring 4.2 Cable Connection Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side) positions Connector Details (Manipulator Side) Fig. 4-3(b): Manipulator Cable Connection (DX200 Side) 25 of 100 HW1482737...

  • Page 26: Basic Specifications

    170625-1CD ES200RD II Basic Specifications 5.1 Basic Specifications Basic Specifications Basic Specifications Table 5-1: Basic Specifications Item Model MOTOMAN-ES200RD II Structure Vertically Articulated Degree of Freedom Payload 200 kg Repeatability ±0.2 mm Range of Motion S-Axis (turning) -180° - +180° L-Axis (lower arm) -130°...

  • Page 27: Part Names And Working Axes

    170625-1CD ES200RD II Basic Specifications 5.2 Part Names and Working Axes Part Names and Working Axes Fig. 5-1: Part Names and Working Axes Rotary head Upper arm Lower arm (U-arm) Base L-arm Wrist Wrist flange Manipulator Base Dimensions Fig. 5-2: Manipulator Base Dimensions Fitting surface 290–0.1 290–0.1...

  • Page 28: Dimensions And T-Point Maximum Envelope

    170625-1CD ES200RD II Basic Specifications 5.4 Dimensions and T-Point Maximum Envelope Dimensions and T-Point Maximum Envelope Fig. 5-3: Dimensions and P-Point Maximum Envelope 2850 P-point maximum envelope 2295 2293 1150 P-point 1932 28 of 100 HW1482737...

  • Page 29: Stopping Angles And Times For S-, L-, And U-Axes

    170625-1CD ES200RD II Basic Specifications 5.5 Stopping Angles and Times for S-, L-, and U-Axes Stopping Angles and Times for S-, L-, and U-Axes Following data on stopping angle and time for each axis measured under the standard of ISO10218. 5.5.1 Stop Category 0: Stopping Angles and Times 5.5.1.1 Position 100% Fig.

  • Page 30: Position 66

    170625-1CD ES200RD II Basic Specifications 5.5 Stopping Angles and Times for S-, L-, and U-Axes 5.5.1.2 Position 66% Fig. 5-5: Stop Category 0, Position 66% : Stopping Angle and Time for Each Axis (a) S-Axis Stop Category 0, Position 66% Stop Category 0, Position 66% Speed[deg/s] Speed[deg/s]...

  • Page 31: Position 33

    170625-1CD ES200RD II Basic Specifications 5.5 Stopping Angles and Times for S-, L-, and U-Axes 5.5.1.3 Position 33% Fig. 5-6: Stop Category 0, Position 33% : Stopping Angle and Time for Each Axis (a) S-Axis Stop Category 0, Position 33% Stop Category 0, Position 33% Speed[deg/s] Speed[deg/s]...

  • Page 32: Stop Category 1: Stopping Angles And Times

    170625-1CD ES200RD II Basic Specifications 5.5 Stopping Angles and Times for S-, L-, and U-Axes 5.5.2 Stop Category 1: Stopping Angles and Times Stopping angles and times at Stop Category 1 are not NOTE subjected to the position and the load of the manipulator. Fig.

  • Page 33: 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 34: Components For Altering Operating Range

    170625-1CD ES200RD II Basic Specifications 5.6 Alterable Operating Range 5.6.1 Components for Altering Operating Range Arrange the components listed in Fig. 5-8 “Components of S-axis Stopper”, when modifying the angle of S-axis. (1) Pin (drawing No. HW0402104-1, 1 pin) (2) Stopper (drawing No. HW0302424-2, 1 stopper) (3) Hexagon head screw M20 (length: 45 mm, tensile strength: 1200 N/mm or more, 3 screws)

  • Page 35: Notes On The Mechanical Stopper Installation

    170625-1CD ES200RD II Basic Specifications 5.6 Alterable Operating Range 5.6.2 Notes on the Mechanical Stopper Installation • Apply the Locktite 242 to the thread part of the pin HW0402104-1, and install the pin bottom up into the S-axis mechanical stopper HW0302424-2 as shown in Fig.

  • Page 36: Adjustment Of The Soft Limit Of The S-Axis Pulse

    5.6 Alterable Operating Range 5.6.3 Adjustment of the Soft Limit of the S-Axis Pulse Apply the Instruction for “DX200 Instructions section 8.17 Changing the Parameter Setting (165292-1CD)” as part of reference materials for adjusting the programming pendant when modifying the range of motion of S-Axis.
  • Page 37 170625-1CD ES200RD II Basic Specifications 5.6 Alterable Operating Range Table 5-3: Settable Angle for S-Axis Stopper 5-12 37 of 100 HW1482737...
  • Page 38 170625-1CD ES200RD II Basic Specifications 5.6 Alterable Operating Range Fig. 5-10(a): Properly-Mounted Models for S-Axis Stopper Hexagon head screws The stopper is reversible. Either side of the stopper can be used. Installation at + 180° Hexagon head screws The stopper is reversible. Either side of the stopper can be used.
  • Page 39 170625-1CD ES200RD II Basic Specifications 5.6 Alterable Operating Range Fig. 5-10(b): Properly-Mounted Models for S-Axis Stopper The stopper is irreversible. Only this side of the stopper can be used at this angle. Hexagon head screws Installation at + 150° The stopper is reversible. Either side of the stopper can be used.
  • Page 40 170625-1CD ES200RD II Basic Specifications 5.6 Alterable Operating Range Fig. 5-10(c): Properly-Mounted Models for S-Axis Stopper The stopper is irreversible. Only this side of the stopper can be used at this angle. Hexagon head screws Installation at + 120° The stopper is reversible. Either side of the stopper Hexagon head screws can be used.
  • Page 41 170625-1CD ES200RD II Basic Specifications 5.6 Alterable Operating Range Fig. 5-10(d): Properly-Mounted Models for S-Axis Stopper The stopper is reversible. Either side of the stopper can be used. Hexagon head screws The stopper is reversible. Either side of the stopper can be used. Hexagon head screws Installation at + 75°...
  • Page 42 170625-1CD ES200RD II Basic Specifications 5.6 Alterable Operating Range Fig. 5-10(e): Properly-Mounted Models for S-Axis Stopper The stopper is irreversible. Only this side of the stopper can be used at this angle. Hexagon head screws Installation at + 60° The stopper is irreversible. Only this side of the stopper can be used at this angle.
  • Page 43 170625-1CD ES200RD II Basic Specifications 5.6 Alterable Operating Range Fig. 5-10(f): Properly-Mounted Models for S-Axis Stopper The stopper is irreversible. Only this side of the stopper can be used at this angle. Hexagon head screws Installation at + 30° The stopper is reversible. Either side of the stopper can be used.
  • Page 44 170625-1CD ES200RD II Basic Specifications 5.6 Alterable Operating Range Fig. 5-10(g): Properly-Mounted Models for S-Axis Stopper The stopper is reversible. Either side of the stopper can be used. Hexagon head screws Installation at + 0° 5-19 44 of 100 HW1482737...

  • Page 45: Allowable Load For Wrist Axis And Wrist Flange

    The allowable wrist load is 200 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 46: Wrist Flange

    170625-1CD ES200RD II 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 47: System Application

    170625-1CD ES200RD II System Application 7.1 Peripheral Equipment Mounts System Application Peripheral Equipment Mounts The peripheral equipment mounts and tapped holes are provided on the wrist unit 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 48: Internal User I/O Wiring Harness And Air Line

    170625-1CD ES200RD II System Application 7.2 Internal User I/O Wiring Harness and Air Line Internal User I/O Wiring Harness and Air Line 6 cables for valves (0.75 mm ), 18 internal user I/O wires (0.5 mm wires, 0.3 mm x 12 wires), cables for the external 1-axis (2.0 mm cables, 0.75 mm x 2 cables, 0.2 mm x 6 cables), an air line, and a field...
  • Page 49 170625-1CD ES200RD II 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 Key position Tube for fieldbus cable(inner dia.: 12) (inside base) Exhaust port (air flow): Tapped hole PT3/8 with a pipe plug Connector for the internal user...
  • Page 50 170625-1CD ES200RD II System Application 7.2 Internal User I/O Wiring Harness and Air Line Fig. 7-3: Details of the Connector Pin Numbers 0.5mm 0.5mm (6 pins) (6 pins) Pins used 0.3mm 0.3mm (12 pins) (12 pins) Pins used 0.75mm (6 pins) 17 18 5 6 7 Pin details for internal user I/O wiring harness...

  • Page 51: Electrical Equipment Specification

    Refer to section 8.9 “Overrun/Tool Shock Sensor Releasing” in “DX200 INSTRUCTIONS” for releasing the status of this overrun. 2. The range of S-, L- and U-axes limit switches are set to the maximum operating range before shipping.

  • Page 52: Setting Of Operation Range

    170625-1CD ES200RD II Electrical Equipment Specification 8.1 Limit Switch 8.1.3 Setting of Operation Range 8.1.3.1 S-Axis Operation Range By the S-axis limit switch, S-axis operation range can be set to those ranges mentioned in Table 5-2 "S-Axis Operating Range" . 8.1.3.2 L-Axis Operation Range By the L-axis limit switch, the L-axis operation range can be set to any angles within -131°...

  • Page 53: Internal Connections

    170625-1CD ES200RD II 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. 8-4 “Locations and Numbers of Connectors”.
  • Page 54 L-AXIS OVERRUN L.S. Connected to PG5V1 PG0V2 PG5V2 L AND U-AXIS INTERFERENCE L.S. Connected to PG0V3 PG5V3 PG0V4 SLU-axes with Limit Switch Specification PG5V4 1BC(10P 4) PG0V5 No.22CN PG5V5 DX200 +24V CN1-5 +24V +24V PG0V6 CN1-5 CN1-4 PG5V6 CN1-4 +24V CN1-10 +24V +24V...
  • Page 55 170625-1CD ES200RD II 8 Electrical Equipment Specification 8.2 Internal Connections Fig. 8-5(b): Internal Connection Diagram S-AXIS OVERRUN L.S. Connected to 2BC(8PX3+12PX3) L-AXIS OVERRUN L.S. Connected to S-AXIS OVERRUN L.S. Connected to No.9CN L-AXIS OVERRUN L.S. Connected to 9CN-A S-AXIS SL-axes with Limit Switch Specification B-10 B-10 Connected to...

  • Page 56: Maintenance And Inspection

    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 57 Table 9-1: Inspection Items (Sheet 1 of 2) Items Schedule Method Operation Inspection 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 58 1 Inspection item numbers 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.
  • Page 59 Fig. 9-1: Inspection Items L-axis S-axis U-axis R-axis B-axis T-axis 59 of 100...

  • Page 60: Notes On Maintenance Procedures

    The battery packs are installed in the position shown in Fig. 9-2(a) “Battery Location (Back View)”, and Fig. 9-2(b) "Battery Location (Top View)" on page 9-5. If the battery alarm occurs in the DX200, replace the battery in accordance with the following procedure: Fig.
  • Page 61 (Type: SGDR-EFBA02A) New battery pack (HW0470360-A) 1. Turn OFF the DX200 main power supply. 2. Remove the plate fixing screws and the plate on the connector base, then pull the battery pack out to replace it with the new one.

  • Page 62: Grease Replenishment/Exchange

    170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange Grease Replenishment/Exchange 9.3.1 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 63: Grease Replenishment/Exchange For S-Axis Speed Reducer And Gear

    170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.2 Grease Replenishment/Exchange for S-Axis Speed Reducer and Gear Fig. 9-4: S-Axis Speed Reducer and Gear Diagram Grease exhaust port Hexagon socket head plug PT1/8 Grease inlet S-axis speed reducer Hexagon socket head plug PT 1/4 9.3.2.1 Grease Replenishment (Refer to Fig.
  • Page 64 170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.2.2 Grease Exchange (Refer to Fig. 9-4 “S-Axis Speed Reducer and Gear Diagram”.) 1. Remove the hexagon socket head plugs from the grease inlet and grease exhaust port. If grease is injected with the plug on, grease will leak inside NOTE the motor and may cause a damage.

  • Page 65: Grease Replenishment/Exchange For L-Axis Speed Reducer

    170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.3 Grease Replenishment/Exchange for L-Axis Speed Reducer Fig. 9-5: L-Axis Speed Reducer Diagram Grease exhaust port Hexagon socket head plug PT3/8 Grease inlet Hexagon socket head plug PT1/8 9.3.3.1 Grease Replenishment (Refer to Fig.
  • Page 66 170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.3.2 Grease Exchange (Refer to Fig. 9-5 “L-Axis Speed Reducer Diagram”.) 1. Make the L-arm vertical to the ground. 2. Remove the hexagon socket head plugs from the grease inlet and grease exhaust port.

  • Page 67: Grease Replenishment/Exchange For U-Axis Speed Reducer

    170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.4 Grease Replenishment/Exchange for U-Axis Speed Reducer Fig. 9-6: U-Axis Speed Reducer Diagram Grease exhaust port Hexagon socket head plug PT1/8 Grease inlet Hexagon socket head plug PT1/8 9.3.4.1 Grease Replenishment (Refer to Fig.
  • Page 68 170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.4.2 Grease Exchange (Refer to Fig. 9-6 “U-Axis Speed Reducer Diagram”.) 1. Make the U-arm vertical to the ground. 2. Remove the hexagon socket head plug PT1/8 from the grease inlet and the grease exhaust port.

  • Page 69: Grease Replenishment/Exchange For U-Arm

    170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.5 Grease Replenishment/Exchange for U-Arm Fig. 9-7: U-Arm Diagram Grease inlet (R-, B-, and T-gears in the casing) Hexagon socket head plug PT1/8 T-axis speed reducer Grease exhaust port (T-axis speed reducer) Hexagon socket head plug PT1/16 Grease inlet (B-, and T-axes speed reducers) R-axis speed reducer...

  • Page 70: Grease Replenishment For R-, B-, T-Axes Gears In The Casing

    170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.5.1 Grease Replenishment for R-, B-, T-Axes Gears in the Casing (Refer to Fig. 9-7 “U-Arm Diagram”.) 1. Remove the hexagon socket head plugs from the grease inlet and the grease exhaust port. If grease is injected with the plug on, grease will leak inside NOTE the motor and may cause a damage.

  • Page 71: Grease Replenishment For R-Axis Speed Reducer

    170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.5.2 Grease Replenishment for R-Axis Speed Reducer (Refer to Fig. 9-7 “U-Arm Diagram”.) 1. Remove the hexagon socket head plugs from the grease inlet and the grease exhaust port. If grease is injected with the plug on, grease will leak inside NOTE the motor and may cause a damage.

  • Page 72: Grease Replenishment For B-Axis Speed Reducer

    170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.5.3 Grease Replenishment for B-Axis Speed Reducer (Refer to Fig. 9-7 “U-Arm Diagram”.) 1. Remove the hexagon socket head plugs from the grease inlet and the grease exhaust port. If grease is injected with the plug on, grease will leak inside NOTE the motor and may cause a damage.

  • Page 73: Grease Replenishment For T-Axis Speed Reducer

    170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.5.4 Grease Replenishment for T-Axis Speed Reducer (Refer to Fig. 9-7 “U-Arm Diagram”.) 1. Remove the hexagon socket head plugs from the grease inlet and the grease exhaust port. If grease is injected with the plug on, grease will leak inside NOTE the motor and may cause a damage.

  • Page 74: Grease Exchange For R-, B-, T-Axes Gears In The Casing

    170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.5.5 Grease Exchange for R-, B-, T-Axes Gears in the Casing (Refer to Fig. 9-7 “U-Arm Diagram”.) 1. Remove the hexagon socket head plugs from the grease inlet and the grease exhaust port. If grease is injected with the plug on, the grease will leak NOTE inside the motor and may cause a damage.

  • Page 75: Grease Exchange For R-Axis Speed Reducer

    170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.5.6 Grease Exchange for R-Axis Speed Reducer (Refer to Fig. 9-7 “U-Arm Diagram”.) 1. Remove the hexagon socket head plugs from the grease inlet and the grease exhaust port. If grease is injected with the plug on, grease will leak inside NOTE the motor and may cause a damage.

  • Page 76: Grease Exchange For B-Axis Speed Reducer

    170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.5.7 Grease Exchange for B-Axis Speed Reducer (Refer to Fig. 9-7 “U-Arm Diagram”.) 1. Remove the hexagon socket head plugs from the grease inlet and the grease exhaust port. If grease is injected with the plug on, grease will leak inside NOTE the motor and may cause a damage.

  • Page 77: Grease Exchange For T-Axis Speed Reducer

    170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.5.8 Grease Exchange for T-Axis Speed Reducer (Refer to Fig. 9-7 “U-Arm Diagram”.) 1. Remove the hexagon socket head plugs from the grease inlet and the grease exhaust port. If grease is injected with the plug on, grease will leak inside NOTE the motor and may cause a damage.

  • Page 78: Grease Replenishment For Balancer Connection Part

    170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.6 Grease Replenishment for Balancer Connection Part Fig. 9-8: Balancer Connection Part Exhaust port Hexagon socket head plug PT1/8 Connection Grease inlet Hexagon socket head plug PT1/8 Exhaust port Hexagon socket head cap screw M6 (2 screws) Connection Tapered roller bearing...
  • Page 79 170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 4. Reinstall the plugs and screws to the exhaust port of the connection . Before installing the plug, apply Three Bond 1206C on the thread part of the plug and screw, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).

  • Page 80: Notes For Maintenance

    170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.7 Notes for Maintenance When performing maintenance such as replacement of a wire harness in the manipulator, 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 81 170625-1CD ES200RD II Maintenance and Inspection 9.3 Grease Replenishment/Exchange Fig. 9-9: Battery Pack Connection Motor Motor power connector Connector for motor encoder 0BT* BAT* Battery pack: HW9470932-A Battery backup connector a: Crimped contact-pin (pin) b: Crimped contact-pin (socket) 9-26 81 of 100 HW1482737...

  • Page 82: Recommended Spare Parts

    MOTOMAN-ES200RD II. Product performance cannot be guaranteed when using spare parts from any company other than Yaskawa. The spare parts are ranked as follows: • Rank A: Expendable and frequently replaced parts. • Rank B: Parts for which replacement may be necessary as a result of frequent operation.
  • Page 83 ES200RD II Recommended Spare Parts Table 10-1: Spare Parts for the YR-ES200RD II (Sheet 2 of 2) Rank Parts Name Type Manufacturer Remarks Unit Internal Wire HW1171683-A Yaskawa Harness Connector HW1371758-A Yaskawa Base Set Board SGDR-EFBA02A Yaskawa 10-2 83 of 100...

  • Page 84: Parts List

    170625-1CD ES200RD II Parts List 11.1 S-Axis Unit Parts List 11.1 S-Axis Unit Fig. 11-1: S-Axis Unit 1010 1034 1035 1001 1030 1040 1037 1031 1038 1033 1039 1013 1036 1014 1045 1046 1041 1022 1042 1043 1011 1015 1044 1016 1023 1024...
  • Page 85 170625-1CD ES200RD II Parts List 11.1 S-Axis Unit Table 11-1: S-Axis Unit DWG No. Name Pcs. 1001 SGMRV-37ANA-YR1* Motor 1002 HW0388208-A Speed reducer 1003 HW0403903-1 Plate 1004 HW9404486-1 Shaft 1005 HW0402102-1 Stopper 1006 M8X40 Socket screw 1007 2H-8 Conical spring washer 1008 EZ5002A0 1009...
  • Page 86 170625-1CD ES200RD II Parts List 11.1 S-Axis Unit Table 11-1: S-Axis Unit DWG No. Name Pcs. 1044 HW0314717-1 Gear 1045 M6X14 Socket screw 1046 2H-6 Conical spring washer 11-3 86 of 100 HW1482737...

  • Page 87: L-Axis Unit

    170625-1CD ES200RD II Parts List 11.2 L-Axis Unit 11.2 L-Axis Unit Fig. 11-2: L-Axis Unit 2066 2046 2047 2062 2043 2063 2048 2055 2042 2039 2045 2044 2038 2041 2045 2038 2039 1022 2042 2048 2004 2047 2044 2041 2046 2061 2062 2043...
  • Page 88 170625-1CD ES200RD II Parts List 11.2 L-Axis Unit Table 11-2: L-Axis Unit (Sheet 1 of 2) DWG No. Name Pcs. 2001 SGMRV-37ANA-YR1* Motor 2002 M12X35 Socket screw 2003 2H-12 Conical spring washer 2004 EZ0094-A0 Air breather 2007 Y507212.5 Oil seal 2008 HW0301778-1 Gear...
  • Page 89 170625-1CD ES200RD II Parts List 11.2 L-Axis Unit Table 11-2: L-Axis Unit (Sheet 2 of 2) DWG No. Name Pcs. 2065 GT-SH-M14 Washer 2066 HW0170732-A Balancer assy 1022 HW0100265-1 S head 11-6 89 of 100 HW1482737...

  • Page 90: U-, R-, B-, T-Axes Unit

    170625-1CD ES200RD II Parts List 11.3 U-, R-, B-, T-Axes Unit 11.3 U-, R-, B-, T-Axes Unit Fig. 11-3: U-, R-, B-, T-Axes Unit 3020 R-axis 3016 3004 3036 3017 3052 3002 3054 3008 3018 3003 3020 3030 3055 3031 3005 B-axis 3029...
  • Page 91 170625-1CD ES200RD II Parts List 11.3 U-, R-, B-, T-Axes Unit Table 11-3: U-, R-, B-, T-Axes Unit (Sheet 1 of 2) DWG No. Name Pcs. 3001 GS210 O ring 3002 HW0402391-1 Collar 3003 HW0402406-1 Collar 3004 HW0306788-1 Gear 3005 M6X60 Socket screw 3006...
  • Page 92 170625-1CD ES200RD II Parts List 11.3 U-, R-, B-, T-Axes Unit Table 11-3: U-, R-, B-, T-Axes Unit (Sheet 2 of 2) DWG No. Name Pcs. 3045 HW0301780-1 Gear 3046 HW9481343-A Shaft 3047 ISTW-12 Retaining rings C-type 3048 HW9482306-E Shaft 3049 G280 O ring...

  • Page 93: U-Arm Unit

    170625-1CD ES200RD II Parts List 11.4 U-Arm Unit 11.4 U-Arm Unit Fig. 11-4: U-Arm Unit 4001 4008 4009 4036 4018 4037 4011 4010 4013 4014 4040 4004 4022 4039 4042 4006 4041 4012 4028 4029 4019 4005 4023 4025 4021 4026 4027 4038...
  • Page 94 170625-1CD ES200RD II Parts List 11.4 U-Arm Unit Table 11-4: U Arm Unit DWG No. Name Pcs. 4001 HW0100241-1 U arm 4002 NK25/20R Bearing 4003 HW0401508-1 Plate 4004 6812LLU Bearing 4005 HW0402204-1 Collar 4006 STW-60 Retaining rings C-type 4008 HW0388212-A Speed reducer 4009 HW9302581-1...

  • Page 95: Wrist Unit

    170625-1CD ES200RD II Parts List 11.5 Wrist Unit 11.5 Wrist Unit Fig. 11-5: Wrist Unit 5018 5070 4015 5052 5013 5078 5017 5023 5014 5049 5072 5019 5016 5015 5040 5042 5034 5001 5036 5087 5033 5035 5071 5077 5043 5055 5042 5037...
  • Page 96 170625-1CD ES200RD II Parts List 11.5 Wrist Unit Table 11-5: Wrist Unit (Sheet 1 of 2) DWG No. Name Pcs. 5001 HW0100242-1 Wrist base 5002 M12X30 Socket screw 5003 2H-12 Conical spring washer 5004 HW0100243-1 Wrist 5005 HW9381453-B Speed reducer 5006 M14X115 Socket screw...
  • Page 97 170625-1CD ES200RD II Parts List 11.5 Wrist Unit Table 11-5: Wrist Unit (Sheet 2 of 2) DWG No. Name Pcs. 5044 M8X20 Socket screw 5045 2H-8 Conical spring washer 5046 M10X20 Socket screw 5047 2H-10 Conical spring washer 5048 HW9403617-1 Housing 5049 HW0200615-1...

  • Page 98: Balancer Unit

    170625-1CD ES200RD II Parts List 11.6 Balancer Unit 11.6 Balancer Unit Fig. 11-6: Balancer Unit 2057 2058 6001 2059 6011 6005 6012 6014 6006 6005 6008 6007 6006 6009 6008 6008 6009 6002 6004 6003 6009 6016 6008 6010 6009 2037 2036 2035...
  • Page 99 170625-1CD ES200RD II Parts List 11.6 Balancer Unit Table 11-6: Balancer Unit DWG No. Name Pcs. 6001 HW0100267-1 Case 6002 HW0100268-1 Flange 6003 M10X40 Socket screw 6004 2H-10 Conical spring washer 6005 HW0481227-A Coil spring 6006 HW0481228-A Coil spring 6007 HW0302081-1 Spacer 6008...
  • Page 100 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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