YASKAWA MOTOMAN-SDA20 Instructions Manual
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YASKAWA MOTOMAN-SDA20 Instructions Manual

YASKAWA MOTOMAN-SDA20 Instructions Manual

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MOTOMAN-SDA20
INSTRUCTIONS
TYPE
YR-SDA20-A00 (STANDARD SPECIFICATION)
YR-SDA20-A01 (DRIP PROOF SPECIFICATION)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-SDA20 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.
Part Number:
155492-1CD
Revision:
2
MANUAL NO.
HW0484820
1 of 66
3

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Summary of Contents for YASKAWA MOTOMAN-SDA20

  • Page 1 YR-SDA20-A01 (DRIP PROOF SPECIFICATION) Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-SDA20 INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator’s manual above corresponds to specific usage.
  • Page 2 155492-1CD SDA20 Copyright © 2015, Yaskawa America, Inc. All Rights Reserved. In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or corporation. The indications of (R) and TM are omitted.
  • 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.
  • 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 • 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 6 155492-1CD SDA20 • 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 programming pendant is turned OFF.
  • Page 7 • 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 manipulator cables.
  • Page 8 155492-1CD SDA20 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. Warning Label B Warning Label A Front View...

  • Page 9: Table Of Contents

    155492-1CD Table of Contents SDA20 Table of Contents Product Confirmation 1.1 Contents Confirmation ......1 1.2 Order Number Confirmation .
  • Page 10 155492-1CD Table of Contents SDA20 5.6 Operating Characteristics and Operating Method of the 7-Axis Arm ....5 5.6.1 Operation in the Joint Coordinate System ....5-6 5.6.2 Operation in the Cartesian Coordinate System, Tool Coordinate System, and User Coordinate System .
  • Page 11 155492-1CD Table of Contents SDA20 Parts List 11.1 Turning-Axis Unit ....... 11 11.2 S- L-Axis Unit(R1,R2) .

  • Page 12: Product Confirmation

    155492-1CD SDA20 Product Confirmation 1.1 Contents Confirmation 1 Product Confirmation CAUTION • Confirm that the manipulator and the NX100 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 13: Order Number Confirmation

    155492-1CD SDA20 Product Confirmation 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 14: Transport

    155492-1CD SDA20 Transport 2.1 Transporting Method 2 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. Failure to observe this caution may adversely affect the performance as the system consists of precision components.

  • Page 15: Using A Crane

    155492-1CD SDA20 Transport 2.1 Transporting Method 2.1.1 Using a Crane As a rule, when uncrating the manipulator and moving it, a crane should be used. Lift the manipulator with a four-leg bridle sling using the attached eyebolts as shown in Fig. 2-1 “Transporting Position”.

  • Page 16: Using A Forklift

    155492-1CD SDA20 Transport 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 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 17: Installation

    155492-1CD SDA20 Installation 3 Installation • 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 18: Installation Of The Safeguarding

    155492-1CD SDA20 Installation 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 guidance. 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 19: Mounting Example

    155492-1CD SDA20 Installation 3.2 Mounting Procedures for Manipulator Base 3.2.1 Mounting Example Fix the mounting base firmly to the floor. The mounting base should be durable enough to prevent shifting of the manipulator and mounting fixture. It is recommended to prepare a mounting base with a bottom plate of 20 mm or more in thickness, and the anchor bolts of size M16 or more for the base fixation.

  • Page 20: Location

    In case of using the wall-/ceiling-mounted type, inform Yaskawa of the matter when NOTE placing an order. Be sure to contact Yaskawa representative (listed on the back cover of this instruction manual) to execute a wall/ceiling installation on site. 20 of 66...

  • Page 21: Wiring

    155492-1CD SDA20 Wiring 4 Wiring • Ground resistance must be 100 W or less. Failure to observe this warning may result in fire or electric shock. • Before wiring, make sure to turn OFF the primary power supply, and put up a warning sign.

  • Page 22: Grounding

    155492-1CD SDA20 Wiring 4.1 Grounding Grounding Follow the local regulations for grounding line size. A line of 5.5 mm or more is recommended. • Never use this line sharing with other ground lines or grounding electrodes for other NOTE electric power, motor power, welding devices, etc. •...

  • Page 23: Manipulator Cable Connection

    155492-1CD SDA20 Wiring 4.2 Manipulator Cable Connection Manipulator Cable Connection Five manipulator cables are provided: two encoder cables (1BC and 3BC) and three power cables (2BC, 4BC and 5BC). (Refer to Fig. 4-2 “Manipulator Cables”). Connect these cables to the connectors on the manipulator connector base and the NX100 by referring to Fig.4-3(a) Cable Connections of the Manipulator and Fig.4-3(b) Cable Connections of the NX100.
  • Page 24 155492-1CD SDA20 Wiring 4.2 Manipulator Cable Connection Manipulator NX100 NX100 Manipulator Connector No. Connector No. 1BC: Encoder Cable 2BC: Power Cable 3BC: Encoder Cable 4BC: Power Cable 5BC: Power Cable Fig. 4-2: Manipulator Cables 24 of 66 HW0484820...
  • Page 25 155492-1CD SDA20 Wiring 4.2 Manipulator Cable Connection AIR-1 AIR-2 AIR-3 AIR-4 20-29 20-29 22-14 GREASE View A Fig. 4-3(a): Cable Connections of the Manipulator Back View Fig. 4-3(b): Cable Connections of the NX100 25 of 66 HW0484820...

  • Page 26: Basic Specifications

    SDA20 Basic Specifications 5.1 Basic Specifications 5 Basic Specifications Basic Specifications Table 5-1: Basic Specifications Model MOTOMAN-SDA20 Item Configuration Articulated 7 axes for the right arm (R2); 7 axes for the left arm (R1); Degree of Freedom 1 rotation-axis Payload 20 kg/arm ±0.1 mm...

  • Page 27: Part Names And Working Axes

    155492-1CD SDA20 Basic Specifications 5.2 Part Names and Working Axes Part Names and Working Axes Reference coordinate of base axis 7th+ Reference coordinate of robot axis Rotation+ 7th+ Reference coordinate of robot axis Reference coordinate of base axis U-axis 7th-axis R-axis B-axis T-axis Rotation-axis (S1: Axis Station 1)

  • Page 28: Manipulator Base Dimensions

    155492-1CD SDA20 Basic Specifications 5.3 Manipulator Base Dimensions Manipulator Base Dimensions Rotation-axis S-axis Center Center +0.018 10 dia. (2 holes) 22 dia. (4 holes) ± 0.02 ± (591) View A Fig. 5-2: Manipulator Base Dimensions 28 of 66 HW0484820...

  • Page 29: Dimensions And P-Point Maximum Envelope

    155492-1CD SDA20 Basic Specifications 5.4 Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope P-point maximum envelope P-point maximum envelope (R1) P-point (R1) P-point (R2) P-point maximum envelope (R2) 1590 P-point maximum envelope Fig. 5-3: Dimensions and P-Point Maximum Envelope 29 of 66 HW0484820...

  • Page 30: Alterable Operating Range

    The operating range of the rotation-axis can be altered according to the operating conditions as shown in " Table. 5-2 Rotation-Axis Operating Range ". If alteration is necessary, contact your Yaskawa representative in advance. Table 5-2: Rotation-Axis Operating Range Item...

  • Page 31: Operating Characteristics And

    155492-1CD SDA20 Basic Specifications 5.6 Operating Characteristics and Operating Method of the 7-Axis Arm Operating Characteristics and Operating Method of the 7-Axis Arm The arm with 7 axes operates differently from the 6-axis arm, and requires the different operating method. The following sections explain how to operate the 7-axis arm based on the operation patterns (the joint coordinate system, Cartesian coordinate system, etc.).

  • Page 32: Operation In The Cartesian Coordinate System

    155492-1CD SDA20 Basic Specifications 5.6 Operating Characteristics and Operating Method of the 7-Axis Arm 5.6.2 Operation in the Cartesian Coordinate System, Tool Coordinate System, and User Coordinate System Setting the wrist position and angle of the 6-axis arm accordingly determines the arm posture. However, the 7-axis arm can take any arm posture, allowing users to freely modify the "elbow angle"...

  • Page 33: Wrist Flange Of Drip-Proof Specification

    155492-1CD SDA20 Basic Specifications 5.7 Wrist Flange of Drip-Proof Specification SDA20-A01 Wrist Flange of Drip-Proof Specification SDA20-A01 The wrist flange of drip-proof specification SDA20-A01 has a cable through hole as well as the standard specification. When mounting equipment such as an attachment, perform drip-proof treatment on the flange face.

  • Page 34: Allowable Load For Wrist Axis And Wrist Flange

    The allowable total inertia is calculated when the moment is at the maximum. Contact your Yaskawa representative when only inertia moment, or load moment is small while inertia moment is large. Also contact your Yaskawa representative in advance in a case where the load mass is combined with an external force.

  • Page 35: Wrist Flange

    155492-1CD SDA20 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". When using the outside fitting, the depth of outside fitting must be 10 mm or less. Tapped hole M8 (depth: 12mm) (6 holes) Note 1...

  • Page 36: System Application

    155492-1CD SDA20 System Application 7.1 Peripheral Equipment Mounts 7 System Application Peripheral Equipment Mounts The manipulator is equipped with peripheral equipment mounts and tapped holes on the top of the S-base for easier installation of the user’s system application as shown in Fig.7-1 "Location of Peripheral Equipment Mounts/Tapped Holes".

  • Page 37: Internal User I/O Wiring Harness And Air Line

    155492-1CD SDA20 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 harnesses (0.1 mm ) and air lines are incorporated in the manipulator for drives of the peripheral devices mounted on the arms as shown in Fig.7-2 "Internal User I/ O Wiring Harness and Air Lines".
  • Page 38 155492-1CD SDA20 System Application 7.2 Internal User I/O Wiring Harness and Air Line Connector Base R1 Flange S1-1 S1-2 Internal user I/O wiring harness: 0.1mm , 16 wires R2 Flange S2-1 S2-2 Internal user I/O wiring harness: 0.1mm , 16 wires Fig.

  • Page 39: Electrical Equipment Specification

    155492-1CD SDA20 Electrical Equipment Specification 8.1 Internal Connections 8 Electrical Equipment Specification Internal Connections Internal Connection Diagram Fig. 8-1(a through Fig. 8-1(d show the internal connections between the manipulator and the NX100. 39 of 66 HW0484820...
  • Page 40 155492-1CD SDA20 8 Electrical Equipment Specification 8.1 Internal Connections Manipulator MOTOMAN-SDA20(YR-SDA20-A00/A01) Base S-base Lead Wires in Arm Internal Connection Diagram (R1-1) BAT1 0BAT11 0BAT1 BAT11 BAT1 0BAT12 0BAT2 BAT12 BAT2 0BAT3 BAT3 No.1CN 0BAT4 BAT4 0BAT21 0BAT5 BAT1 BAT21 BAT5...
  • Page 41 155492-1CD SDA20 8 Electrical Equipment Specification 8.1 Internal Connections MOTOMAN-SDA20(YR-SDA20-A00/A01) 2BC(6X6) No.17CN No.20CN Internal Connection Diagram (R1-2) 2-CN1 S-PW CN1-2 CN1-2 CN1-3 CN1-3 S-AXIS CN1-4 CN1-4 CN1-1 CN1-1 BO1+ No.21CN BO1- S-BR BO1+ CN1-5 CN1-5 BO1+ BO1+ BO1- CN1-6 CN1-6...
  • Page 42 155492-1CD SDA20 8 Electrical Equipment Specification 8.1 Internal Connections Manipulator MOTOMAN-SDA20(YR-SDA20-A00/A01) Base S-base Lead Wires in Arm Internal Connection Diagram (R2-1) BAT2 0BAT11 0BAT1 BAT11 BAT1 0BAT12 0BAT2 BAT12 BAT2 0BAT3 BAT3 0BAT4 No.41CN BAT4 0BAT21 0BAT5 BAT1 BAT21 BAT5...
  • Page 43 155492-1CD SDA20 8 Electrical Equipment Specification 8.1 Internal Connections MOTOMAN-SDA20(YR-SDA20-A00/A01) 4BC(6X6) No.56CN No.59CN Internal Connection Diagram (R2-2) 4-CN1 2-CN1 S-PW CN1-2 CN1-2 CN1-3 CN1-3 S-AXIS CN1-4 CN1-4 CN1-1 CN1-1 BO1+ No.60CN BO1- S-BR BO1+ CN1-5 CN1-5 BO1+ BO1+ BO1- CN1-6...

  • Page 44: Maintenance And Inspection

    • 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 45: Inspection Schedule

    If the manipulator is used for other application or if it is used under special conditions, a case-by-case examination is required. The inspection may be conducted at shorter intervals if the manipulator is used very frequently even in case of the handling application. For details, contact your Yaskawa representative. Table 9-1: Inspection Items...
  • Page 46 Wire harnesses in the arm & rotation axis are to be replaced at 24000 H inspection. For the grease, refer to Table 9-2 "Inspection Parts and Grease Used". When a grease leakage is found, promptly contact your Yaskawa representative. Table 9-2: Inspection Parts and Grease Used...
  • Page 47 155492-1CD SDA20 Maintenance and Inspection 9.1 Inspection Schedule Inspection numbers correspond to the numbers in Table 9-1 "Inspection Items". AIR-1 AIR-2 AIR-3 AIR-4 GREASE Grease leakage detection hole View A (Enlarged) Fig. 9-1: Inspection Parts and Inspection Numbers 47 of 66 HW0484820...

  • Page 48: Notes On Maintenance Procedures

    155492-1CD SDA20 Maintenance and Inspection 9.2 Notes on Maintenance Procedures Notes on Maintenance Procedures 9.2.1 Battery Pack Replacement The battery packs are attached in two positions indicated in Fig.9-2 "Battery Location". If a battery alarm occurs in the NX100, replace the battery in accordance with the following procedure: AIR-1 AIR-2...

  • Page 49: Grease Replenishment & Exchange

    155492-1CD SDA20 Maintenance and Inspection 9.2 Notes on Maintenance Procedures 5. Remove the old battery pack from the battery holder and mount the new battery pack. 6. Mount the battery holder back to the original position. NOTE Do not allow plate to pinch the cables when reinstalling the plate. 9.2.2 Grease Replenishment &...
  • Page 50 155492-1CD SDA20 Maintenance and Inspection 9.2 Notes on Maintenance Procedures  Grease Exchange for the Rotation-Axis Speed Reducer 1. Remove the plug PT1/8 from the grease inlet and install the grease zerk A-PT1/8. (The grease zerk is delivered with the manipulator.) 2.
  • Page 51 155492-1CD SDA20 Maintenance and Inspection 9.2 Notes on Maintenance Procedures 4. Before the air outlet is stoppered, operate the grease-replenished axis for a few minutes. 5. Remove the grease zerk from the grease inlet, apply Three Bond 1206C to the thread part of the hexagon socket head cap screw M6 and reinstall the screw.
  • Page 52 155492-1CD SDA20 Maintenance and Inspection 9.2 Notes on Maintenance Procedures (4) Repeat the step (3) until the amount of exhausted grease exceeds the amount shown in " Table. 9-4 Rough Standard of the Amount of Exhausted Grease ". Note: To confirm the amount of exhausted grease, put a plastic bag on the grease exhaust port and measure the mass of grease, or put the exhausted grease into a container with which the volume of the grease can be measured such as an injec- tion syringe.

  • Page 53: Arm Replacement

    Arm Replacement If a malfunction occurs in the arm component parts, the arm unit must be replaced. Contact your Yaskawa representative. Note that a spare arm unit is used both for R1 (left arm) and R2 (right arm). Arm Unit (R1)
  • Page 54 155492-1CD SDA20 Maintenance and Inspection 9.2 Notes on Maintenance Procedures S-axis S-axis Top View S-axis U-axis 7th-axis L-axis T-axis B-axis R-axis Front View S-axis U-axis 7th-axis L-axis T-axis B-axis R-axis Rotation-axis AIR-1 AIR-2 AIR-3 AIR-4 GREASE Back View Fig. 9-5: Home Position Calibration 9-11 54 of 66 HW0484820...

  • Page 55: Recommended Spare Parts

    • Rank B: Parts for which replacement may be necessary as a result of frequent operation • Rank C: Drive Unit NOTE To replace parts in Rank B or Rank C, make sure to contact your Yaskawa representative. Table 10-1: Spare Parts for SDA20-A00/A01 Parts...

  • Page 56: Parts List

    155492-1CD SDA20 Parts List 11.1 Turning-Axis Unit 11 Parts List 11.1 Turning-Axis Unit 1080 1059 1013 1060 1030 1050 1066 1051 1036 1008 1014 1095 1031 1096 1033 1009 1037 1068 1038 1020 1010 1019 1011 1065 1069 1037 1012 1039 1045 1046...
  • Page 57 155492-1CD SDA20 Parts List 11.1 Turning-Axis Unit 1047 1048 1001 1077 1003 1029 1028 1026 1025 1027 1004 1078 1007 1006 1024 1022 1049 1083 1023 1063 1022 1064 1090 1021 1080 1045 1040 1046 1043 1084 1042 1041 1044 1005 1067 1032...
  • Page 58 155492-1CD SDA20 Parts List 11.1 Turning-Axis Unit DWG No. Name 1001 23253-12A2B-YR12 Motor 1002 HW0102300-1 Base 1003 HW0484650-A Shaft 1004 HW0313074-2 M base 1005 HW0413022-1 Support 1006 HW9405847-1 B nut 1007 O ring 1008 HW0302146-1 Guide 1009 WR80 Circlip 1010 6816 Bearing 1011...
  • Page 59 155492-1CD SDA20 Parts List 11.1 Turning-Axis Unit DWG No. Name 1062 2H-12 Spring washer 1063 M10X60 Socket screw 1064 GT-LH-10 Washer 1065 M4X12 GT-SA bolt 1066 M6X20 GT-SA bolt 1067 M6X20 GT-SA bolt 1068 M3X16 Screw with spring washer 1069 1070 HW0412934-A Bracket...

  • Page 60: S- L-Axis Unit(R1,R2)

    HW0484820 Parts List 11.2 S- L-Axis Unit(R1,R2) 1080 2017 2013 2026 2028 2019 2018 2007 2027 1082 1081 2011 2003 2021 2001 2005 2006 2027 2028 2026 2020 2017 2030 2006 2004 2002 2014 2029 2010 1093 2022 2019 2025 1094 2012 1086...
  • Page 61 155492-1CD SDA20 Parts List 11.2 S- L-Axis Unit(R1,R2) DWG No. Name 2001 SGAGS-412MA29-YR6* Actuator 2002 HW0412722-1 Pipe 2003 HW0411584-1 Flange 2004 M3X6 Socket screw 2005 M3X8 Socket screw 2006 2H-3 Spring washer 2007 HW0201120-1 Cover 2008 HW0201121-1 Cover 2009 HW0102073-1 L arm A 2010 HW0102074-1...
  • Page 62 155492-1CD SDA20 Parts List 11.2 S- L-Axis Unit(R1,R2) DWG No. Name 3001 SGAGS-172LA29-YR6* Actuator 3002 HW0412721-1 Pipe 3003 HW0411583-1 Flange 3004 M3X6 Socket screw 3005 M3X8 Socket screw 3006 2H-3 Spring washer 3007 HW0102071-1 Casing 3008 HW0102072-1 L arm B 3009 HW0201123-1 Cover...

  • Page 63: 7Th- U-Axis Unit(R1,R2)

    155492-1CD SDA20 Parts List 11.3 7th- U-Axis Unit(R1,R2) 11.3 7th- U-Axis Unit(R1,R2) 3009 3034 3015 3012 3025 3027 3026 3005 3006 3003 3021 3018 3032 3007 3029 2009 3020 3024 3001 3002 3013 3001 3028 3024 3017 3033 3024 3002 3004 3006 3021...

  • Page 64: R- B- T-Axis Unit(R1,R2)

    155492-1CD SDA20 Parts List 11.4 R- B- T-Axis Unit(R1,R2) 11.4 R- B- T-Axis Unit(R1,R2) 3007 4008 4009 4037 4002 4032 4044 4001 4019 4004 4040 4003 4029 4039 4005 4023 4025 4006 4028 4041 4042 4007 4034 4008 4009 4022 4037 4021 4031...
  • Page 65 155492-1CD SDA20 Parts List 11.4 R- B- T-Axis Unit(R1,R2) DWG No. Name 4001 SGAGS-761KA2A-YR1* Actuator 4002 HW0411563-1 Pipe 4003 HW0411590-1 Spacer 4004 HW0411591-1 Plate 4005 6706LLF Bearing 4006 BM-1221-A3 V ring 4007 M2X6 Socket screw 4008 M2.5X6 Socket screw 4009 M2.6 Washer 4010...
  • Page 66 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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