YASKAWA MOTOMAN-VS100 Operator's Manual
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YASKAWA MOTOMAN-VS100 Operator's Manual

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MOTOMAN-VS100
INSTRUCTIONS
TYPE:
YR-VS00100-A00
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-VS100 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:
175873-1CD
Revision:
1
MANUAL NO.
HW1483557
1
1 of 91

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Summary of Contents for YASKAWA MOTOMAN-VS100

  • Page 1 YR-VS00100-A00 Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-VS100 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.
  • Page 2 Copyright © 2018, 2016 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 175873-1CD VS100 Notes for Safe Operation WARNING • Before operating the manipulator, check that servo power is turned off when the emergency stop buttons. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF. Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency.
  • Page 7 Read and understand the Explanation of Warning Labels in the DX200 instructions before operating the manipulator. Definition of Terms Used Often 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 MODEL MOTOMAN- Moving parts TYPE may cause PAYLOAD MASS injury ORDER NO. DATE SERIAL NO. YASKAWA ELECTRIC CORPORATION 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004 Japan Warning Label B NJ3878 MADE IN JAPAN WARNING Do not enter robot work area. HW1483557 viii...
  • Page 9 175873-1CD Safeguarding Tips VS100 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 a 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 VS100 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

    175873-1CD Table of Contents VS100 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 175873-1CD VS100 Table of Contents 5.5.4.3 Stopping Distance and Time for Stop Category 1: L-Axis ....... 5-8 5.5.4.4 Stopping Distance and Time for Stop Category 1: E-Axis....... 5-9 5.6 Alterable S-Axis Operating Range ................... 5-10 5.6.1 Necessary Parts ....................5-10 5.6.2 Notes on the S-Axis Mechanical Stopper Installation .........
  • Page 15 175873-1CD Table of Contents VS100 9.3.4.2 Grease Exchange ................. 9-13 9.3.5 Grease Replenishment/Exchange for U-Axis Speed Reducer ......9-14 9.3.5.1 Grease Replenishment................9-14 9.3.5.2 Grease Exchange ................. 9-15 9.3.6 Grease Replenishment/Exchange for R-, B-, T- Axes Gears in the Casing and R-Axis Speed Reducer ................

  • Page 16: Product Confirmation

    175873-1CD VS100 Product Confirmation 1.1 Contents 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 17: Order Number Confirmation

    175873-1CD Product Confirmation VS100 1.2 Order Number Confirmation Order Number Confirmation Check that the order number of the manipulator corresponds to the DX200. The order number is indicated 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

    175873-1CD VS100 Transport 2.1 Transport Method Transport 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 transport. The system consists of precision components.

  • Page 19: Using A Crane

    175873-1CD Transport VS100 2.1 Transport Method 2.1.1 Using a Crane As a rule, the manipulator should be lifted by a crane with a four-leg bridle sling using the shipping bolts and brackets when removing it from the package or 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

    175873-1CD VS100 Transport 2.1 Transport Method 2.1.2 Using a Forklift When using a forklift, the manipulator should be fixed on a pallet with shipping bolts and brackets as shown in Fig. 2-2 “Transport Using a Forklift”. Insert forks under the pallet and lift it. The pallet must be strong enough to support the manipulator.

  • Page 21: Shipping Bolts And Brackets

    175873-1CD Transport VS100 2.2 Shipping Bolts and Brackets Shipping Bolts and Brackets The manipulator is provided with shipping bolts and brackets at positions shown in Fig. 2-1 “Transport Using a Crane”. • The shipping bolts and brackets are painted in yellow. •...

  • Page 22: Installation

    175873-1CD VS100 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 23: Installation Of Safeguarding

    175873-1CD Installation VS100 3.1 Installation of Safeguarding Installation of 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 24: Mounting The Manipulator On The Baseplate

    175873-1CD VS100 Installation 3.2 Mounting Procedures for Manipulator Base 3.2.1 Mounting the Manipulator on the Baseplate 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 50 mm or thicker, and anchor bolts of M20 or larger size.

  • Page 25: Ip (International Protection)

    175873-1CD Installation VS100 3.3 IP (International Protection) IP (International Protection) For the standard type, environmental resistance for main part of the manipulator conforms to IP54; the wrist part conforms to IP67. Location When installing a manipulator, it is necessary to satisfy the following environmental conditions.

  • Page 26: Wiring

    175873-1CD VS100 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 OFF the primary power supply, and put up a warning sign.

  • Page 27: Cable Connection

    175873-1CD Wiring VS100 4.2 Cable Connection 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 connectors on the manipulator connector base and the DX200 board connectors.
  • Page 28 175873-1CD VS100 Wiring 4.2 Cable Connection Fig. 4-3(a): Manipulator Cable Connection (Manipulator Side) Fig. 4-3(b): Manipulator Cable Connection (DX200 Side) HW1483557 28 of 91...

  • Page 29: Basic Specifications

    75 dB 1 SI units are used in this table. However, gravitational unit is used in ( ). 2 Specification changes when the manipulator is equipped with YASKAWA standard external cable. 3 Conformed to ISO9283 4 Refer to section 6.1 “Allowable Wrist Load” for details on the permissible moment of inertia.

  • Page 30: Part Names And Working Axes

    175873-1CD VS100 Basic Specifications 5.2 Part Names and Working Axes Part Names and Working Axes Fig. 5-1: Part Names and Working Axes Wrist flange Middle arm (L-armB) Upper arm Wrist (U-arm) Rotary head (S-head ) Lower arm (L-arm A) Base Manipulator Base Dimensions Fig.

  • Page 31: Dimensions And P-Point Maximum Envelope

    175873-1CD Basic Specifications VS100 5.4 Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope Fig. 5-3: Dimensions and P-Point Maximum Envelope P-point Maximum envelope 1020 314 258 1469 2236 3705 HW1483557 31 of 91...

  • Page 32: Stopping Distance And Time For S-, L-, And E-Axes

    175873-1CD VS100 Basic Specifications 5.5 Stopping Distance and Time for S-, L-, and E-Axes Stopping Distance and Time for S-, L-, and E-Axes 5.5.1 General Information • The stopping distance is an angle traveled by the manipulator from the moment when the stop signal is activated until the manipulator comes to a complete standstill.

  • Page 33: Stopping Distance And Time For Stop Category 1: S-, L- And E-Axes

    175873-1CD Basic Specifications VS100 5.5 Stopping Distance and Time for S-, L-, and E-Axes 5.5.4 Stopping Distance and Time for Stop Category 1: S-, L- and E-Axes 5.5.4.1 Extension Refer to Fig. 5-4 “S-Axis Extension”, Fig. 5-5 “L-Axis Extension” and Fig.
  • Page 34 175873-1CD VS100 Basic Specifications 5.5 Stopping Distance and Time for S-, L-, and E-Axes Fig. 5-6: E-Axis Extension 100%=1482 HW1483557 34 of 91...

  • Page 35: Stopping Distance And Time For Stop Category 1: S-Axis

    175873-1CD Basic Specifications VS100 5.5 Stopping Distance and Time for S-, L-, and E-Axes 5.5.4.2 Stopping Distance and Time for Stop Category 1: S-Axis Extension 100% Extension 100% Extension 66% Extension 66% Extension 33% Extension 33% HW1483557 35 of 91...

  • Page 36: Stopping Distance And Time For Stop Category 1: L-Axis

    175873-1CD VS100 Basic Specifications 5.5 Stopping Distance and Time for S-, L-, and E-Axes 5.5.4.3 Stopping Distance and Time for Stop Category 1: L-Axis Extension 100% Extension 100% Extension 66% Extension 66% Extension 33% Extension 33% HW1483557 36 of 91...

  • Page 37: Stopping Distance And Time For Stop Category 1: E-Axis

    175873-1CD Basic Specifications VS100 5.5 Stopping Distance and Time for S-, L-, and E-Axes 5.5.4.4 Stopping Distance and Time for Stop Category 1: E-Axis Extension 100% Extension 100% Extension 66% Extension 66% HW1483557 37 of 91...

  • Page 38: Alterable S-Axis Operating Range

    Alterable S-Axis Operating Range The operating range of the S-axis can be altered in accordance with the operating conditions as shown in Fig. 5-2 “S-Axis Operating Range”. If alteration is necessary, contact your YASKAWA representative in advance. Table 5-2: S-Axis Operating Range...

  • Page 39: Notes On The S-Axis Mechanical Stopper Installation

    175873-1CD Basic Specifications VS100 5.6 Alterable S-Axis Operating Range 5.6.2 Notes on the S-Axis Mechanical Stopper Installation Mount the collar (drawing No. HW9405875-1) to the hexagon socket head screws M20 (length: 40 mm) (Tensile strength: 1200N/mm ). Then, as shown in Fig. 5-7 “S-Axis Mechanical Stopper”, mount the S-axis mechanical stopper to the S-head using the collar with the screws with the tightening torque of 167 N•m (17 kgf•m).

  • Page 40: Alteration Of The S-Axis Pulse Soft Limit

    175873-1CD VS100 Basic Specifications 5.6 Alterable S-Axis Operating Range 5.6.3 Alteration of the S-Axis Pulse Soft Limit When limiting the S-axis range of motion, alter the parameter from the programming pendant by referring to the DX200 INSTRUCTIONS. Pulse limit (positive (+) direction of the S-axis): S1CxG400 Pulse limit (negative (-) direction of the S-axis): S1CxG408 -15°−...

  • Page 41: Allowable Load For Wrist Axis And Wrist Flange

    The allowable wrist load including the weight of the mount/gripper is as follows at each specification. : 110 kg maximum (without YASKAWA standard external cable) : 100 kg maximum (with YASKAWA standard external cable) 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(a) “Allowable Wrist...
  • Page 42 175873-1CD VS100 Allowable Load for Wrist Axis and Wrist Flange 6.1 Allowable Wrist Load Fig. 6-1: Moment Arm Rating Without YASKAWA standard external cable LT(mm) 50kg 60kg 80kg P-point 110kg R-, T-axis center of rotation 1000 1200 1400 1600 LB(mm)

  • Page 43: Wrist Flange

    Wrist Flange The wrist flange dimensions are shown in Fig. 6-2 “Wrist Flange (without YASKAWA standard external cable)”. To make the alignment mark visible and to enable an easy grease exchange for the B- and T-axis gears, mount the attachment inside the fitting. Fitting depth of inside and outside fittings must be 5 mm or less.

  • Page 44: System Application

    175873-1CD VS100 System Application 7.1 Peripheral Equipment Mounts System Application Peripheral Equipment Mounts The peripheral equipment mounts are provided on the U-axis (upper arm) as shown in Fig. 7-1 “Installing Peripheral Equipment” for easier installation of the user’s system applications. The following conditions shall be observed to attach or install peripheral equipment.

  • Page 45: Internal User I/O Wiring Harness And Air Lines For User's System Applications

    175873-1CD System Application VS100 7.2 Internal User I/O Wiring Harness and Air Lines for User’s System Applications Internal User I/O Wiring Harness and Air Lines for User’s System Applications Internal user I/O wiring harness, encoder and power cables for external axis, cables for primary source for welding, D-NET cables, cables for +24V and hoses for air or cooling are incorporated in the manipulator for the drive of peripheral devices mounted on the upper arm as shown in Fig.
  • Page 46 175873-1CD VS100 System Application 7.2 Internal User I/O Wiring Harness and Air Lines for User’s System Applications Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Lines for User’s Applications Connector for the D-NET 8R5L30 Connector for the external axis encoder cable: Prepare pin connector 8A5006-32DN JL05-2A20-29SC(socket connector with a cap) Prepare pin connector JL05-6A20-29P...
  • Page 47 175873-1CD System Application VS100 7.2 Internal User I/O Wiring Harness and Air Lines for User’s System Applications Fig. 7-3: Details of the Connector Pin Numbers 0.5 mm , 12 wires Pin Used 0.75 mm , 11 wires Pin Details for Connectors for Internal user I/O wiring harness 2 mm , 4 wires Pin Used...

  • Page 48: Electrical Equipment Specification

    In case of re-adjusting the operating range of each subject axis, it is also required to change the dog location and limit NOTE values in software. Contact your YASKAWA representative if re-adjustment is required. 8.1.2 Position of Limit Switch The limit switches are optional. For the S-, L-, E- and U-Axes with limit switches specifications, L.S.

  • Page 49: Setting Of Operation Range

    175873-1CD Electrical Equipment Specification VS100 8.1 Position of 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 -46°...

  • Page 50: Setting Range Of L- And E-Axes Interference Angle

    175873-1CD VS100 Electrical Equipment Specification 8.1 Position of Limit Switch 8.1.3.3 Setting Range of L- and E-Axes Interference Angle L- and E-axes interference limit switches are designed to check the interference angle of L- and E-axes. As shown in Fig. 8-3 “L- and E-Axes Interference Angle”, the operation range of E-axis can be set to any angles within -46°...

  • Page 51: Internal Connections

    8 Electrical Equipment Specification 8.2 Internal Connections Internal Connections Fig. 8-5(a): Internal Connection Diagram NOTE 1. This is the internal connection diagram for MOTOMAN-VS100. S-AXIS OVERRUN L.S. Connected to 2. For the limit switch specification, the connection of the section S-AXIS differ as follows.
  • Page 52 175873-1CD VS100 8 Electrical Equipment Specification 8.2 Internal Connections Fig. 8-5(b): Internal Connection Diagram N0.39CN(24-28) No.17CN(24-28) SP10 SP11 SP12 SP13 SP14 SP15 SP16 SP17 SP18 SP19 SP20 SP21 SP22 SP23 2BC(8PX3+12PX3) No.18CN 18CN-A SM S-AXIS 19CN-1 B-10 B-10 No.19CN No.20CN 20CN-A SM L-AXIS 21CN-1...

  • Page 53: 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 54 Table 9-1: Inspection Items (Sheet 1 of 2) Items Schedule Method Operation Inspection Charge • • • • Alignment marks Visual Check alignment mark accordance at the home position. Check for damage. • • • • External cables Visual Check for damage and deterioration. •...
  • Page 55 1 Inspection No. correspond to the numbers in Fig. 9-1 “Inspection Parts and Inspection Numbers”. 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 56 Fig. 9-1: Inspection Parts and Inspection Numbers R-axis S-axis T-axis B-axis T-axis B-axis T-axis B-axis R-axis T-axis R-axis U-axis B-axis U-axis U-axis E-axis U-axis E-axis E-axis L-axis S-axis L-axis S-axis S-axis L-axis 56 of 91...

  • Page 57: Battery Pack Replacement

    175873-1CD Maintenance and Inspection VS100 9.2 Battery Pack Replacement Battery Pack Replacement The battery packs (type: HW0470360-A) are installed in the position shown in Fig. 9-2 “Battery Location”. If a battery alarm occurs in the DX200, replace the battery in accordance with the following procedures: Fig.
  • Page 58 175873-1CD VS100 Maintenance and Inspection 9.2 Battery Pack Replacement 1. Turn OFF the DX200 main power supply. 2. Remove the plate fixing bolts and the plate on the connector base, then pull the battery pack out to replace it with a new one. 3.

  • Page 59: Grease Replenishment/Exchange

    175873-1CD Maintenance and Inspection VS100 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 60: Grease Replenishment/Exchange For S-Axis Speed Reducer

    175873-1CD VS100 Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.2 Grease Replenishment/Exchange for S-Axis Speed Reducer Fig. 9-4: S-Axis Speed Reducer Grease exhaust port Grease inlet (Hexagon socket head (Hexagon socket head plug PT3/8) plug PT1/4) S-axis speed reducer 9.3.2.1 Grease Replenishment (Refer to Fig.

  • Page 61: Grease Exchange

    175873-1CD Maintenance and Inspection VS100 9.3 Grease Replenishment/Exchange 9.3.2.2 Grease Exchange (Refer to Fig. 9-4 “S-Axis Speed Reducer”.) 1. Remove the hexagon socket head plug PT3/8 from the grease exhaust port. • If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage.

  • Page 62: Grease Replenishment/Exchange For L-Axis Speed Reducer

    175873-1CD VS100 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 Grease exhaust port L-axis speed reducer (Hexagon socket head plug PT3/8) Grease inlet (Hexagon socket head plug PT1/8) 9.3.3.1 Grease Replenishment (Refer to Fig.

  • Page 63: Grease Exchange

    175873-1CD Maintenance and Inspection VS100 9.3 Grease Replenishment/Exchange 9.3.3.2 Grease Exchange (Refer to Fig. 9-5 “L-Axis Speed Reducer”.) 1. Tilt the L-arm A vertical to the ground • If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage.

  • Page 64: Grease Replenishment/Exchange For E-Axis Speed Reducer

    175873-1CD VS100 Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.4 Grease Replenishment/Exchange for E-Axis Speed Reducer Fig. 9-6: E-Axis Speed Reducer Grease exhaust port (Hexagon socket head plug PT3/8) E-axis speed reducer Grease inlet (Hexagon socket head plug PT1/8) 9.3.4.1 Grease Replenishment (Refer to Fig.
  • Page 65 175873-1CD Maintenance and Inspection VS100 9.3 Grease Replenishment/Exchange 9.3.4.2 Grease Exchange (Refer to Fig. 9-6 “E-Axis Speed Reducer”.) 1. Tilt the L-arm B vertical to the ground. • If grease is injected with the plug on, the grease will leak inside the motor and may cause a damage.

  • Page 66: Grease Replenishment/Exchange For U-Axis Speed Reducer

    175873-1CD VS100 Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.5 Grease Replenishment/Exchange for U-Axis Speed Reducer Fig. 9-7: U-Axis Speed Reducer U-arm Grease exhaust port (Hexagon socket head plug PT3/8) E-axis speed reducer Grease inlet (Hexagon socket head plug PT1/8) 9.3.5.1 Grease Replenishment (Refer to Fig.
  • Page 67 175873-1CD Maintenance and Inspection VS100 9.3 Grease Replenishment/Exchange 9.3.5.2 Grease Exchange (Refer to Fig. 9-7 “U-Axis Speed Reducer”.) 1. Tilt the U-arm horizontal to the ground. (Refer to Fig. 9-7.) (The L-arm B is in the vertical posture.) 2. Remove the hexagon socket head plug PT3/8 from the grease exhaust port.

  • Page 68: Grease Replenishment/Exchange For R-, B-, T- Axes Gears In The Casing And R-Axis Speed Reducer

    175873-1CD VS100 Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.6 Grease Replenishment/Exchange for R-, B-, T- Axes Gears in the Casing and R-Axis Speed Reducer Fig. 9-8: R-, B-, T- Axes Gears in the Casing and R-Axis Speed Reducer Grease exhaust port (Hexagon socket head plug PT3/8) R-axis speed reducer U-arm...

  • Page 69: Grease Replenishment For R-Axis Speed Reducer

    175873-1CD Maintenance and Inspection VS100 9.3 Grease Replenishment/Exchange 9.3.6.2 Grease Replenishment for R-Axis Speed Reducer (Refer to Fig. 9-8 “R-, B-, T- Axes Gears in the Casing and R-Axis Speed Reducer”.) 1. Remove the hexagon socket head plug PT3/8 from the grease exhaust port.

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

    175873-1CD VS100 Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.6.3 Grease Exchange for R-, B-, T-Axes Gears in the Casing (Refer to Fig. 9-8 “R-, B-, T- Axes Gears in the Casing and R-Axis Speed Reducer”.) 1. Remove the hexagon socket head plug PT3/8 from the grease exhaust port.

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

    175873-1CD Maintenance and Inspection VS100 9.3 Grease Replenishment/Exchange 9.3.6.4 Grease Exchange for R-Axis Speed Reducer (Refer to Fig. 9-8 “R-, B-, T- Axes Gears in the Casing and R-Axis Speed Reducer”.) 1. Remove the hexagon socket head plug PT3/8 from the grease exhaust port.

  • Page 72: Grease Replenishment/Exchange For B- And T-Axes Speed Reducers And Gears

    175873-1CD VS100 Maintenance and Inspection 9.3 Grease Replenishment/Exchange 9.3.7 Grease Replenishment/Exchange for B- and T-Axes Speed Reducers and Gears Fig. 9-9: B- and T-Axes Speed Reducers and Gears Grease inlet Grease exhaust port (Hexagon socket head cap screw M6x6) (Hexagon socket head plug PT1/8) B-axis speed reducer T-axis speed reducer 9.3.7.1 Grease Replenishment...
  • Page 73 175873-1CD Maintenance and Inspection VS100 9.3 Grease Replenishment/Exchange 9.3.7.2 Grease Exchange (Refer to Fig. 9-9 “B- and T-Axes Speed Reducers and Gears”.) 1. Remove the hexagon socket head cap screw M6x6 from the grease exhaust port. • If grease is injected with the screw on, the grease will leak inside the motor and may cause a damage.

  • Page 74: Notes For Maintenance

    175873-1CD VS100 Maintenance and Inspection 9.4 Notes for Maintenance 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 75: Recommended Spare Parts

    • Rank B: Parts for which replacement may be necessary as a result of frequent operation • Rank C: Drive Unit For replacing parts in Rank B or Rank C, contact your NOTE YASKAWA representative. Table 10-1: Spare Parts for the MOTOMAN-VS100 (Sheet 1 of 2) Rank Parts Name Type Manufacturer Remarks...
  • Page 76 175873-1CD VS100 10 Recommended Spare Parts Table 10-1: Spare Parts for the MOTOMAN-VS100 (Sheet 2 of 2) Rank Parts Name Type Manufacturer Remarks Unit T-axis Y005C- YASKAWA Speed Reducer VS00100A00T Electric Replacement Kit Corporation AC Servomotor for SGMRV-30ANA-YR1* YASKAWA S-axis...

  • Page 77: Parts List

    175873-1CD 11 Parts List VS100 11.1 S-Axis Unit 11 Parts List 11.1 S-Axis Unit Fig. 11-1: S-Axis Unit 1018 1017 1019 1020 1021 1017 1004 1015 1022 1010 1012 1016 1013 1014 1011 1009 1010 1006 1005 1004 1003 1002 1008 1007 1023...
  • Page 78 175873-1CD VS100 11 Parts List 11.1 S-Axis Unit Table 11-1: S-Axis Unit DWG No. Name 1001 HW0102236-1 Base 1002 HW0400405-3 Stopper 1003 HW9404486-1 Shaft 1004 2L-8 Conical spring washer 1005 M8×45 Hexagon socket head cap screw 1006 HW1382898-A Speed reducer 1007 KQ2L10-01S Union...

  • Page 79: L-Axis Unit

    175873-1CD 11 Parts List VS100 11.2 L-Axis Unit 11.2 L-Axis Unit Fig. 11-2: L-Axis Unit 2015 2014 2019 2018 2017 2016 2020 2021 2012 2011 2013 2010 1012 2009 2002 2007 2008 2001 2006 2003 2004 2005 HW1483557 11-3 79 of 91...
  • Page 80 175873-1CD VS100 11 Parts List 11.2 L-Axis Unit Table 11-2: L-Axis Unit DWG No. Name 2001 HW1100754-1 L-arm A 2002 HW1382456-B Speed reducer 2003 M12×35 GT-SA bolt 2004 2H-16 Conical spring washer 2005 M16×40 Hexagon socket head cap screw 2006 PT1/8 (STAINLESS) Hexagon socket head plug...

  • Page 81: E-Axis Unit

    175873-1CD 11 Parts List VS100 11.3 E-Axis Unit 11.3 E-Axis Unit Fig. 11-3: E-Axis Unit 3021 3022 3020 3017 3019 3016 3018 3014 3015 3013 3012 3011 3003 3001 3009 3002 3006 3007 3004 3008 3005 3010 2001 HW1483557 11-5 81 of 91...
  • Page 82 175873-1CD VS100 11 Parts List 11.3 E-Axis Unit Table 11-3: E-Axis Unit DWG No. Name 3001 HW1100755-1 L-arm B 3002 HW0388209-F Speed reducer 3003 PT3/8 (STAINLESS) Hexagon socket head plug 3004 2H-16 Conical spring washer 3005 M16×40 Hexagon socket head cap screw 3006 M10x30...

  • Page 83: U-Axis Unit

    175873-1CD 11 Parts List VS100 11.4 U-Axis Unit 11.4 U-Axis Unit Fig. 11-4: U-Axis Unit 4021 4020 4018 4016 4019 4014 4017 4012 4011 4015 4013 4002 4010 4010 4009 4005 4008 4002 4003 4001 4006 4004 4007 HW1483557 11-7 83 of 91...
  • Page 84 175873-1CD VS100 11 Parts List 11.4 U-Axis Unit Table 11-4: U-Axis Unit DWG No. Name 4001 HW1382715-A Speed reducer 4002 PT3/8 (STAINLESS) Hexagon socket head plug 4003 2H-16 Conical spring washer 4004 M16×35 Hexagon socket head cap screw 4005 M8×30 GT-SA bolt 4006 SW-2H-12...

  • Page 85: R-,B-,T-Axes Unit

    175873-1CD 11 Parts List VS100 11.5 R-,B-,T-Axes Unit 11.5 R-,B-,T-Axes Unit Fig. 11-5: R-,B-,T-Axes Unit R-axis 5002 5007 5003 5006 5008 B-axis 5002 5009 5010 5003 5007 5004 5012 5006 T-axis 5005 5008 5002 5013 5011 5009 5003 5015 5014 5007 5004 5001...
  • Page 86 175873-1CD VS100 11 Parts List 11.5 R-,B-,T-Axes Unit Table 11-5: R-,B-,T-Axes Unit (Sheet 1 of 2) DWG No. Name 5001 PT3/8 (STAINLESS) Hexagon socket head plug 5002 SGMRV-13ANA-YR2* Motor 5003 HW1301148-1 Housing 5004 2L-4 Conical spring washer 5005 M4×14 Hexagon socket head cap screw 5006 2L-8...
  • Page 87 175873-1CD 11 Parts List VS100 11.5 R-,B-,T-Axes Unit Table 11-5: R-,B-,T-Axes Unit (Sheet 2 of 2) DWG No. Name 5040 HR32916J Bearing 5041 SC8010010*FKM* Oil seal 5042 HW1100625-1 U-arm 5043 M12×35 GA-SA bolt 5044 G110 O-ring 5045 HW1303999-1 Housing 5046 M6×15 GT-SA bolt 5047...

  • Page 88: Wrist Unit

    175873-1CD VS100 11 Parts List 11.6 Wrist Unit 11.6 Wrist Unit Fig. 11-6: Wrist Unit 5042 5048 6009 6016 6014 6012 6017 6013 6015 6014 6011 6010 6007 6005 6002 6001 6009 6006 6002 6004 6060 6067 6059 6003 6055 6066 6052 6019...
  • Page 89 175873-1CD 11 Parts List VS100 11.6 Wrist Unit Table 11-6: Wrist Unit (Sheet 1 of 2) DWG No. Name 6001 HW1304009-1 Shaft 6002 6808LLU Bearing 6003 ISTW-40 Retaining ring 6004 HW9405445-1 B nut 6005 M4x6 H set screw 6006 HW9481234-A Bearing 6007 HW9405880-1...
  • Page 90 175873-1CD VS100 11 Parts List 11.6 Wrist Unit Table 11-6: Wrist Unit (Sheet 2 of 2) DWG No. Name 6041 M4x8 Hexagon socket head cap screw 6042 HW1100627-1 Wrist 6043 HW1382810-A Speed reducer 6044 M6x6 Hexagon socket head cap screw 6045 APR568-161 O-ring...
  • Page 91 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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