YASKAWA MOTOMAN-MC2000 II Instructions Manual
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YASKAWA MOTOMAN-MC2000 II Instructions Manual

YASKAWA MOTOMAN-MC2000 II Instructions Manual

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MOTOMAN-MC2000 II
INSTRUCTIONS
TYPE
YR-MC02000-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-MC2000 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.
173704-1CD
1
MANUAL NO.
HW1483028
2
1/69

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Summary of Contents for YASKAWA MOTOMAN-MC2000 II

  • Page 1 YR-MC02000-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-MC2000 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.
  • Page 2 If such modification is made, the manual number will also be revised. • If your copy of the manual is damaged or lost, contact a YASKAWA 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 3 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 4 HW1483028 WARNING • Before operating the manipulator, check that servo power is turned OFF pressing the emergency stop buttons on the front door of the DX200 and the programming pendant. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
  • Page 5 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 6: Hw1483028

    HW1483028 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 7: Table Of Contents

    HW1483028 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....................2-4 3 Installation............................
  • Page 8 HW1483028 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 7.2 Internal User I/O Wiring Harness and Air Line..............7-2 8 YElectrical Equipment Specification....................
  • Page 9 HW1483028 Contents 11.1 S-Axis Unit ........................11-1 11.2 L-Axis Unit ........................11-3 11.3 URBT-Axis Unit......................11-5 11.4 U-Arm Unit ........................11-7 11.5 Wrist Unit ........................11-9 HW1483028 9/69...

  • Page 10: Product Confirmation

    HW1483028 Product Confirmation 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 11: Order Number Confirmation

    HW1483028 Product Confirmation 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) THE MANIPULATOR AND THE CONTROLLER Check that the manipulator SHOULD HAVE SAME ORDER NUMBER.

  • Page 12: Transport

    HW1483028 Transport 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 13: Using A Crane

    HW1483028 Transport Transport Method 2.1.1 Using a Crane As a rule, the manipulator should be lifted by a crane with a four-leg brindle sling using the attached eyebolts 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 14: Using A Forklift

    HW1483028 Transport Transport Method 2.1.2 Using a Forklift When using a forklift, the manipulator should be fixed on a pallet with 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. Transport the manipulator slowly with due caution in order to avoid overturning or slippage.

  • Page 15: Shipping Bolts And Brackets

    HW1483028 Transport Shipping Bolts and Brackets Shipping Bolts and Brackets The manipulator is provided with shipping bolts and brackets at position A and with the hexagon socket head cap screws at point B. (fig. 2-1 “Transporting Position” ). Fig. 2-3: Shipping Bolts and Brackets The section A : part drawing Hook •...

  • Page 16: Installation

    HW1483028 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 17: Installation Of The Safeguarding

    HW1483028 Installation Installation of the Safeguarding Installation of the Safeguarding To insure safety, be sure to install safeguarding. They prevent unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guidance. Responsibility for Safeguarding (ISO10218) 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 18: Mounting Example

    HW1483028 Installation 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 50 mm or more thick, and anchor bolts of M20 or larger size.

  • Page 19: Types Of Mounting

    HW1483028 Installation Types of Mounting Types of Mounting The MOTOMAN-MC2000 II is available in one ways: floor-mounted (standard). Protection Class For the standard type, environmental resistance for main part of the manipulator conforms to IP54; the wrist part conforms to IP67.

  • Page 20: Wiring

    HW1483028 Wiring 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. (ex. DO NOT TURN THE POWER ON.) Failure to observe this warning may result in fire or electric shock.

  • Page 21: Cable Connection

    HW1483028 Wiring Cable Connection Cable Connection Two manipulator cables are delivered with the manipulator; an encoder cable (1BC) and a power cables (2BC). (Refer to fig. 4-2 “Manipulator Cables” .) Connect these cables to the manipulator base connectors and to the DX200.
  • Page 22 HW1483028 Wiring Cable Connection Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side) V iewA: Maniplator (back view) Fig. 4-3(b): Manipulator Cable Connectors (DX200 Side) HW1483028 22/69...

  • Page 23: Basic Specifications

    HW1483028 Basic Specifications Basic Specifications Basic Specifications Basic Specifications Table 5-1: Basic Specifications Item Model MOTOMAN-MC2000 II Structure Vertically Articulated Degree of Freedom Payload 50 kg Repeatability ±0.07 mm Range of Motion S-Axis (turning) -180° - +180° L-Axis (lower arm) -90°...

  • Page 24: Part Names And Working Axes

    HW1483028 Basic Specifications Part Names and Working Axes Part Names and Working Axes Fig. 5-1: Part Names and Working Axes Upper arm (U-arm) Wrist Wrist flange Lower arm (L-arm) Rotary head (S-head) Manipulator base Baseplate Dimensions Fig. 5-2: Baseplate Dimensions +0.018 20 dia.

  • Page 25: Dimensions And P-Point Maximum Envelope

    HW1483028 Basic Specifications Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope Fig. 5-3: Dimensions and P-Point Maximum Envelope 2388 P-point maximum envelope P-point 1480 1103 1367 2038 HW1483028 25/69...

  • Page 26: Stopping Angles And Times For S-, L- And U-Axes

    HW1483028 Basic Specifications 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 27: Position 66

    HW1483028 Basic Specifications 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% (b)L-Axis Stop Category 0, Position 66% Stop Category 0, Position 66%...

  • Page 28: Position 33

    HW1483028 Basic Specifications 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% (b)L-Axis Stop Category 0, Position 33% Stop Category 0, Position 33%...

  • Page 29: Stop Category 1: Stopping Angles And Times

    HW1483028 Basic Specifications 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 load of the manipulator. Fig. 5-7: Stop Category 1, Position 100%: Stopping Angle and Time for each Axis (a)S-Axis Stop Category 1, Position 100%...

  • Page 30: 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 31: Allowable Load For Wrist Axis And Wrist Flange

    The allowable wrist load is 50 kg. 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 32: Wrist Flange

    HW1483028 Allowable Load for Wrist Axis and Wrist Flange Wrist Flange Wrist Flange The wrist flange dimensions are shown in fig. 6-2 “Wrist Flange” . In order to see the alignment marks, it is recommended that the attachment be mounted inside the fitting. Fitting depth of inside and outside fittings must be 5 mm or less.

  • Page 33: System Application

    HW1483028 System Application 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 should be observed to attach or install peripheral equipment.

  • Page 34: Internal User I/O Wiring Harness And Air Line

    HW1483028 System Application Internal User I/O Wiring Harness and Air Line Internal User I/O Wiring Harness and Air Line Internal user I/O wiring harness (0.5 mm x 23,) and an air line are incorporated in the manipulator for the drive of peripheral device mounted on the upper arm as shown in fig.

  • Page 35: Yelectrical 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 Location of Limit Switch The limit switches are optional. See fig. 8-1 “Location of Limit Switches” .
  • Page 36 HW1483028 8 Electrical Equipment Specification 8.2 Internal Connections Fig. 8-2(a): Internal Connection Diagram 0BAT11 0BAT1 Note: BAT11 BAT1 0BAT12 0BAT2 1. For the limit switch specification, the connection of the section Connected to S-AXIS OVERRUN L.S. BAT12 BAT2 A and B parts are changed as follows: 0BAT3 BAT3 Connected to...
  • Page 37 HW1483028 8 Electrical Equipment Specification 8.2 Internal Connections Fig. 8-2(b): Internal Connection Diagram Base MANIPULATOR Casing No.13CN(24-28) S1(24-28) SP10 SP11 SP12 SP13 SP14 SP15 SP16 SP17 SP18 SP19 SP20 SP21 SP22 SP23 2BC(8PX5+12PX1) No.7CN 7CN-A S-AXIS B-10 B-10 No.8CN 8CN-A L-AXIS No.9CN 9CN-A...

  • Page 38: Maintenance And Inspection

    • The inspection interval depends on the total servo opera- tion time. NOTE • 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 rep- resentative. HW1483028 38/69...
  • Page 39 HW1483028 Maintenance and Inspection Inspection Schedule HW1483028 39/69...
  • Page 40 HW1483028 Maintenance and Inspection Inspection Schedule HW1483028 40/69...
  • Page 41 HW1483028 Maintenance and Inspection Inspection Schedule HW1483028 41/69...

  • Page 42: Notes On Maintenance Procedures

    HW1483028 Maintenance and Inspection Notes on Maintenance Procedures Notes on Maintenance Procedures 9.2.1 Battery Pack Replacement The battery packs are installed in the position shown in fig. 9-2 “Battery Location” . • Battery Type: HW0470360-A Fig. 9-2: Battery Location Connector base Cross head APS bolt M6 (Length:12)(6 bolts) Cross head APS bolt M4...
  • Page 43 HW1483028 Maintenance and Inspection Notes on Maintenance Procedures 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. 3.

  • Page 44: Grease Replenishment/Exchange Procedures

    HW1483028 Maintenance and Inspection Grease Replenishment/Exchange Procedures Grease Replenishment/Exchange Procedures 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 instructions may result in damage to a motor and a speed reducer. •...

  • Page 45: Grease Replenishment/Exchange For S-Axis Speed Reducer

    HW1483028 Maintenance and Inspection Grease Replenishment/Exchange Procedures 9.3.2 Grease Replenishment/Exchange for S-axis Speed Reducer Fig. 9-4: S-axis Speed Reducer Diagram Grease exhaust port Hexagon socket head plug PT3/8 S-axis speed reducer Grease inlet Hexagon socket head plug PT1/4 9.3.2.1 Grease Replenishment Replenish the grease according to the following procedure.

  • Page 46: Grease Exchange

    HW1483028 Maintenance and Inspection Grease Replenishment/Exchange Procedures 9.3.2.2 Grease Exchange Exchange the grease according to the following procedure. (Refer to fig. 9-4 “S-axis Speed Reducer Diagram” .) 1. Remove the hexagon socket head plug PT1/4 from the grease inlet and the hexagon socket head plug PT3/8 from the grease exhaust port •...

  • Page 47: Grease Replenishment/Exchange For L-Axis Speed Reducer

    HW1483028 Maintenance and Inspection Grease Replenishment/Exchange Procedures 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 L-axis speed reducer Grease inlet Hexagon socket head plug PT1/8 9.3.3.1 Grease Replenishment Replenish the grease according to the following procedure.

  • Page 48: Grease Exchange

    HW1483028 Maintenance and Inspection Grease Replenishment/Exchange Procedures 9.3.3.2 Grease Exchange Exchange the grease according to the following procedure. (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 plug PT3/8 from the grease exhaust port.

  • Page 49: Grease Replenishment/Exchange For U-Axis Speed Reducer

    HW1483028 Maintenance and Inspection Grease Replenishment/Exchange Procedures 9.3.4 Grease Replenishment/Exchange for U-axis Speed Reducer Fig. 9-6: U-Arm Posture U-arm Fig. 9-7: U-axis Speed Reducer Diagram U-axis speed reducer Grease exhaust port Grease inlet Hexagon socket head Hexagon socket head plug PT3/8 plug PT1/8 9.3.4.1 Grease Replenishment Replenish the grease according to the following procedure.

  • Page 50: Grease Exchange

    HW1483028 Maintenance and Inspection Grease Replenishment/Exchange Procedures 7. Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT3/8 to the exhaust port. Before installing the plug, apply Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 23 N•m (2.3 kgf•m) 8.

  • Page 51: Grease Replenishment For R-Axis Speed Reducer And Rbt-Gear In The Casing

    HW1483028 Maintenance and Inspection Grease Replenishment/Exchange Procedures 9.3.5 Grease Replenishment for R-axis Speed Reducer and RBT-gear in the casing Fig. 9-8: R-axis Speed Reducer Diagram Exhaust port Hexagon socket head R-axis speed reducer plug PT3/8 Grease inlet Hexagon socket head plug PT1/8 9.3.5.1 Grease Replenishment Replenish the grease according to the following procedure.

  • Page 52: Grease Exchange

    HW1483028 Maintenance and Inspection Grease Replenishment/Exchange Procedures 9.3.5.2 Grease Exchange Exchange the grease according to the following procedure. (Refer to fig. 9-8 “R-axis Speed Reducer Diagram” .) 1. Remove the hexagon socket head plug PT3/8 from the grease exhaust port. 2.

  • Page 53: Grease Replenishment For B- And T-Axes Speed Reducer And Gear Parts

    HW1483028 Maintenance and Inspection Grease Replenishment/Exchange Procedures 9.3.6 Grease Replenishment for B- and T-axes Speed Reducer and Gear Parts Fig. 9-9: B- and T-axes Speed Reducer and Gear Parts Exhaust port Hexagon socket head plug PT1/8 T-axis speed reducer, gear Grease inlet B-axis speed Hexagon socket head...

  • Page 54: Grease Exchange

    HW1483028 Maintenance and Inspection Grease Replenishment/Exchange Procedures 9.3.6.2 Grease Exchange Exchange the grease according to the following procedure. (Refer to fig. 9-9 “B- and T-axes Speed Reducer and Gear Parts” .) 1. Remove the hexagon socket head plug PT1/8 from the grease exhaust port.

  • Page 55: Notes For Maintenance

    HW1483028 Maintenance and Inspection Grease Replenishment/Exchange Procedures 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 56: 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 Yas- NOTE kawa representative. Table 10-1: Spare Parts for MOTOMAN-MC2000 II (Sheet 1 of 2) Rank Parts Name Type Manufacturer...
  • Page 57 HW1483028 Recommended Spare Parts Table 10-1: Spare Parts for MOTOMAN-MC2000 II (Sheet 2 of 2) Rank Parts Name Type Manufacturer Remarks Unit L-axis SGMRV-44ANA-YR1* Yaskawa AC Servomotor HW0388671-A Electric Corporation U-axis SGMRV-20ANA-YR1* Yaskawa AC Servomotor HW0388668-A Electric Corporation R-,B-,T-axes SGMRV-13ANA-YR2*...

  • Page 58: Parts List

    HW1483028 Parts List 11.1 S-Axis Unit Parts List 11.1 S-Axis Unit Fig. 11-1: S-Axis Unit 1008 1009 1015 1029 1010 1011 1030 1012 1014 1013 1016 1028 1007 1018 1005 1019 1003 1017 1004 1020 1022 1006 1023 1024 1025 1001 1021 1026...
  • Page 59 HW1483028 Parts List 11.1 S-Axis Unit Table 11-1: S-Axis Unit DWG No. Name 1001 HW0388208-B Speed reducer 1002 SGMRV-37ANA-YR1* Motor 1003 HW9404486-1 Shaft 1004 HW9404863-1 Stopper 1005 M8X45 GT-SA bolt 1006 EZ5036A0 1007 MSTH12-40 1008 M12X45 Socket screw 1009 2H-12 Spring washer 1010 PT3/8 (STAINLESS)

  • Page 60: L-Axis Unit

    HW1483028 Parts List 11.2 L-Axis Unit 11.2 L-Axis Unit Fig. 11-2: L-Axis Unit 2016 2017 2001 2002 2010 2014 2015 2018 2012 2013 2005 2019 2004 2003 1016 2008 2009 2007 2006 HW1483028 60/69 11-3...
  • Page 61 HW1483028 Parts List 11.2 L-Axis Unit Table 11-2: L-Axis Unit DWG No. Name 2001 SGMRV-44ANA-YR1* Motor 2002 HW1100191-1 L-arm 2003 M12X55 Socket screw 2004 SW-2H-12 Spring washer 2005 HW0388209-E Speed reducer 2006 M10X40 Socket screw 2007 2H-10 Spring washer 2008 M16X45 Socket screw 2009...

  • Page 62: Urbt-Axis Unit

    HW1483028 Parts List 11.3 URBT-Axis Unit 11.3 URBT-Axis Unit Fig. 11-3: URBT-Axis Unit 3022 R-Axis 3023 3003 3030 3031 B-Axis 3022 3023 3003 3020 3019 3026 3029 3024 3038 3030 T-Axis 3037 3031 3022 3023 3027 3003 3026 3038 3025 3037 3030 3001...
  • Page 63 HW1483028 Parts List 11.3 URBT-Axis Unit Table 11-3: URBT-Axis Unit DWG No. Name 3001 HW1100192-1 Casing 3002 SGMRV-20ANA-YR1* Motor 3003 SGMRV-13ANA-YR2* Motor 3004 HW0388209-E Speed reducer 3005 Y507212.5 Oil seal 3006 M8X35 Socket screw 3007 2H-8 Spring washer 3008 HW9405257-1 Collar 3009 HW1301222-1...

  • Page 64: U-Arm Unit

    HW1483028 Parts List 11.4 U-Arm Unit 11.4 U-Arm Unit Fig. 11-4: U-Arm Unit 4023 4001 4017 4032 4016 4029 4033 4034 4005 4030 4037 4043 4031 4003 4035 4036 4002 4021 4027 4040 4028 4024 4020 4008 4011 4015 4010 4019 4039 4043...
  • Page 65 HW1483028 Parts List 11.4 U-Arm Unit Table 11-4: U-Arm Unit DWG No. Name 4001 HW1100193-1 U-arm 4002 HW0387754-A Speed reducer 4003 HW0313627-1 Gear 4004 HW0313629-1 Gear 4005 M5X16 GT-SA bolt 4006 HW0312826-1 Gear 4007 HR32005XJ Bearing 4008 M4X6 H set screw 4009 HW0404196-8 Washer...

  • Page 66: Wrist Unit

    HW1483028 Parts List 11.5 Wrist Unit 11.5 Wrist Unit Fig. 11-5: Wrist Unit 5011 5012 4001 5090 5091 5030 5014 5013 5011 5012 5099 5035 5083 5018 5005 5020 5085 5089 5021 5031 5010 5034 5087 5019 5033 5084 5088 5035 5023 5086...
  • Page 67 HW1483028 Parts List 11.5 Wrist Unit Table 11-5: Wrist Unit (Sheet 1 of 2) DWG No. Name 5001 HW0387737-B Speed reducer 5002 HW0389043-B Speed reducer 5003 M8X40 Socket screw 5004 2H-8 Spring washer 5005 HW1401391-* Shim 5010 HW1301145-1 Housing 5011 M4X12 Socket screw 5012...
  • Page 68 HW1483028 Parts List 11.5 Wrist Unit Table 11-5: Wrist Unit (Sheet 2 of 2) DWG No. Name 5066 M6X25 Socket screw 5067 2H-6 Spring washer 5068 M8X25 Socket screw 5069 2H-8 Spring washer 5070 M5X7 Magic screw 5071 M3X6 Socket screw 5072 2H-3 Spring washer...
  • Page 69 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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