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Motoman EA1800N Manual

Nx100 controller manipulator
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Motoman
NX100 Controller
EA1800N
Manipulator Manual
Part Number:
Revision:
Motoman, Incorporated
805 Liberty Lane
West Carrollton, Ohio 45449 USA
937.847.6200 (Voice)
937.847.6277 (Fax)
937.847.3200 (24-Hour Support)
www.motoman.com
info@motoman.com
154992-1CD
0

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Summary of Contents for Motoman EA1800N

  • Page 1 ® Motoman NX100 Controller EA1800N Manipulator Manual Part Number: 154992-1CD Revision: Motoman, Incorporated 805 Liberty Lane West Carrollton, Ohio 45449 USA 937.847.6200 (Voice) 937.847.6277 (Fax) 937.847.3200 (24-Hour Support) www.motoman.com info@motoman.com...
  • Page 2 COMPLETE OUR ONLINE SURVEY Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you received with your Motoman robotic solution. To participate, go to the following website: http://www.motoman.com/forms/techpubs.asp The information contained within this document is the proprietary property of Motoman, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman, Inc.
  • Page 3 • Vendor manuals for system components not manufactured by Motoman Customer Service Information If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200. Please have the following information ready before you call: • Robot Type (EA1800N) •...
  • Page 4 Manipulator Manual Chapter 1 Introduction Notes page 2 Final...
  • Page 5 We recommend that all personnel who intend to operate, program, repair, or use the robot system be trained in an approved Motoman training course and become familiar with the proper operation of the system. This safety section addresses the following: •...
  • Page 6 Manipulator Manual Chapter 2 Safety • Installation Safety (Section 2.5) • Programming, Operation, and Maintenance Safety (Section 2.6) Standard Conventions This manual includes the following alerts in descending order of severity that are essential to the – – safety of personnel and equipment. As you read this manual, pay close attention to these alerts to insure safety when installing, operating, programming, and maintaining this equipment.
  • Page 7 EA1800N 154992-1 General Safeguarding Tips All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation.
  • Page 8 Manipulator Manual Chapter 2 Safety Installation Safety Safe installation is essential for protection of people and equipment. The following suggestions are intended to supplement, but not replace, existing federal, local, and state laws and regulations. Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location.
  • Page 9 Motoman will VOID YOUR WARRANTY! • Some operations require standard passwords and some require special passwords. Special passwords are for Motoman use only. YOUR WARRANTY WILL BE VOID if you use these special passwords. • The robot controller allows modifications of PART 2, User Section, of the concurrent I/O program and modifications to controller parameters for maximum robot performance.
  • Page 10 Manipulator Manual Chapter 2 Safety Notes page 8 Final...
  • Page 11 YASKAWA MOTOMAN-EA1800N INSTRUCTIONS TYPE: YR-EA1800N-A00 (STANDARD SPECIFICATIONS) TYPE: YR-EA1800N-A01 (WITH SLU-AXIS LIMIT SWITCHES) Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-EA1800N INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator’s manuals above correspond to specific usage.
  • Page 12 MANDATORY • This instruction manual is intended to explain operating instructions and maintenance procedures primarily for the MOTOMAN-EA1800N. • General items related to safety are listed in the Section 1: Safety of the NX100 Instructions. To ensure correct and safe operation, carefully read the NX100 Instructions before reading this manual.
  • Page 13 HW0484074 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the NX100. In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,” “MANDATORY,” or “PROHIBITED.” Indicates a potentially hazardous situation which, if not WARNING avoided, could result in death or serious injury to personnel.
  • Page 14 HW0484074 WARNING • 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 program- ming pendant is turned OFF.
  • Page 15 • 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 supply cables.
  • Page 16 Also, an identification label with important information is placed on the body of the manipula- tor. Prior to operating the manipulator, confirm the contents. Nameplate Warning label B Warning label A Warning label A Nameplate Warning Label A: WARNING MOTOMAN TYPE Moving parts MASS PAYLOAD may cause DATE ORDER NO. injury SERIAL NO.

  • Page 17: Table Of Contents

    HW0484074 Product Confirmation 1.1 Contents Confirmation ......1 1.2 Order Number Confirmation .
  • Page 18 HW0484074 Allowable Load for Wrist Axis and Wrist Flange 6.1 Allowable Wrist Load ....... 6 6.2 Wrist Flange .
  • Page 19 HW0484074 9.3.4 Grease Replenishment for R-axis Speed Reducer ..9-13 9.3.5 Grease Replenishment for B-Axis Speed Reducer ..9-14 9.3.6 Grease Replenishment for T-axis Gear....9-15 9.3.7 Notes for Maintenance .

  • Page 20: Product Confirmation

    HW0484074 1.1 Contents Confirmation 1 Product Confirmation CAUTION • Confirm that the manipulator and the NX100 have the same order num- ber. 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 21: Order Number Confirmation

    HW0484074 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 22: Transport

    HW0484074 2.1 Transporting Method 2 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 23 HW0484074 2.1 Transporting Method View E Eyebolt M16 (2 eyebolts) Fixed to the manipulator before shipment Eyebolt M16 (2 eyebolts) Fixed to the manipulator before shipment Fig. 2 Transporting Position HW0484074 13/59...

  • Page 24: Using A Forklift

    HW0484074 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 and brackets as shown in "Fig. 3 Using a Forklift". Use a pallet strong enough to support the manipulator.

  • Page 25: Shipping Bolts And Brackets

    HW0484074 2.2 Shipping Bolts and Brackets Shipping Bolts and Brackets To protect the driving units of the manipulator from various external force during transport, a shipping bracket ("A" in "Fig. 2 Transporting Position") is attached to the manipulator. Eyebolt M16 (2 eyebolts) Fixed to the manipulator before shipment Enlarged View A Enlarged View B...

  • Page 26: Installation

    HW0484074 3 Installation WARNING • 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 27: Installation Of Safeguarding

    HW0484074 3.1 Installation of Safeguarding Installation of Safeguarding To insure safety, be sure to install the safeguarding. It prevents 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 the safeguarding is provided and used in accordance with Sections 6, 7, and 8 of this standard.

  • Page 28: Installation Example

    HW0484074 3.2 Mounting Procedures for Manipulator Base 3.2.1 Installation Example 1. Fix the baseplate to the floor with anchor bolts. The baseplate should be rugged and durable. It is recommended to prepare a base- plate of 40 mm or more thick, and anchor bolts of size M16 or larger size. 2.

  • Page 29: Installation Method

    HW0484074 3.3 Installation Method Installation Method The MOTOMAN-EA1800N-A00/-A01 manipulator is available in floor-mounted (standard) and wall-mounted types. For installation of the ceiling-mounted type, the following points are different from the floor-mounted type. • S-axis Operating Range • Fixing the Manipulator Base •...

  • Page 30: Location

    HW0484074 3.4 Location Location When installing the manipulator, satisfy the undermentioned environmental conditions: • 0° to +45°C (ambient temperature) • 20 to 80% RH (non-condensing) • Free from dust, soot, or water • Free from corrosive gases or liquid, or explosive gases •...

  • Page 31: Wiring

    HW0484074 4 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. (ex. DO NOT TURN THE POWER ON.) Failure to observe this warning may result in fire or electric shock.

  • Page 32: Grounding

    HW0484074 4.1 Grounding Grounding Follow local regulations for grounding line size. A line of 5.5 mm or more is recommended. Refer to "Fig. 5 Grounding Method" to connect the ground line directly to the manipulator. • Never use this line sharing with other ground lines or grounding electrodes for other elec- NOTE tric power, motor power, welding devices, etc.

  • Page 33: Connection To The Manipulator

    HW0484074 4.2 Manipulator Cable Connection 4.2.1 Connection to the Manipulator Before connecting the manipulator cables to the manipulator, verify the connector numbers: both the cables and the connectors on the manipulator base are marked with 1BC, 2BC, and 3BC. Connect the cables in the order of 3BC, 2BC, 1BC, referring to " Fig. 7 (a) Manipulator Cable Connection (To the Manipulator) ".
  • Page 34 HW0484074 4.2 Manipulator Cable Connection Connector Details (Manipulator) Fig. 7 (a) Manipulator Cable Connection (To the Manipulator) Fig. 7 (b) Manipulator Cable Connection (To the NX100) HW0484074 24/59...

  • Page 35: Basic Specifications

    HW0484074 5.1 Basic Specifications 5 Basic Specifications Basic Specifications Table 3 Basic Specifications Item Model MOTOMAN-EA1800N Application Arc Welding Configuration Vertically Articulated Degree of Freedom Payload 15 kg ±0.08 mm Repeatability S-axis (turning) ±180° L-axis (lower arm) +155°, -100° U-axis (upper arm) +210°, -175°...

  • Page 36: Part Names And Working Axes

    HW0484074 5.2 Part Names and Working Axes Part Names and Working Axes Upper arm Wrist (U-arm) Lower arm (L-arm) Rotary head (S-head) Manipulator base Fig. 8 Part Names and Working Axes Manipulator Base Dimensions 18 dia. hole 195±0.1 (4 holes) +0.015 12 dia.

  • Page 37: Dimensions And P-Point Maximum Envelope

    HW0484074 5.4 Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope 180 ° 180 ° View A 2212 P-point maximum P-point envelope 1031 Units: mm Fig. 10 Dimensions and P-Point Maximum Envelope HW0484074 27/59...

  • Page 38: Alterable Operating Range

    HW0484074 5.5 Alterable Operating Range Alterable Operating Range The working range of the S-axis can be altered according to the operating conditions as shown in "Table 4 S-axis Operating Range" If alteration is necessary, contact your Yaskawa representative in advance. Table 4 S-axis Operating Range Item Specifications...

  • Page 39: Allowable Load For Wrist Axis And Wrist Flange

    HW0484074 6.1 Allowable Wrist Load 6 Allowable Load for Wrist Axis and Wrist Flange Allowable Wrist Load The allowable wrist load is 15 kg. As shown in "Table 5 Allowable Total Moment of Wrist", the moment of each axis is restricted. Observe the conditions described in this section in applying load on the wrist.

  • Page 40: Wrist Flange

    HW0484074 6.2 Wrist Flange Wrist Flange The wrist flange dimensions are shown in "Fig. 12 Wrist Flange". It is recommended that the attachment is mounted inside the fitting. Fitting depth of inside and outside fittings shall be 6 mm or less. Tapped hole M4 (pitch: 0.7)(depth: 8)(6 holes) +0.025...

  • Page 41: System Application

    HW0484074 7.1 Peripheral Equipment Mounts 7 System Application Peripheral Equipment Mounts The peripheral equipment mounts are fixed on the upper arm for easier installation of the user's system application as shown in "Fig. 13 Installing Peripheral Equipment". Observe the conditions in the following sections and the figure in mounting the peripheral equipment on the U-axis.
  • Page 42 HW0484074 7.1 Peripheral Equipment Mounts Tapped hole M8 (pitch: 1.25)(depth: 18) (2 holes) Tapped hole M6 (pitch: 1.0)(depth: 14) (2 holes) View A Mount the peripheral equipment within this range. Gravity point of the peripheral equipment on the U-arm is to be set within this range.

  • Page 43: Internal User I/O Wiring Harness And Air Line

    HW0484074 7.2 Internal User I/O Wiring Harness and Air Line Internal User I/O Wiring Harness and Air Line Internal user I/O wiring harness (0.2 mm x 8 wires and 1.25 mm x 6 wires) and an air line are built into the manipulator for the drive of peripheral devices mounted on the upper arm as shown in "Fig.
  • Page 44 HW0484074 7.2 Internal User I/O Wiring Harness and Air Line Connector for Internal User I/O Wiring Harness Connector for Internal User I/O Wiring Harness (Connector Base) (U-arm) (Power for shock sensor +24 V [1 A]) (Open) (Open) (Signal input port for shock sensor) Pins Used Pins Used (1.25 mm...

  • Page 45: Electrical Equipment Specification

    Location of Limit Switches Limit switches are optional. For each location, refer to "Fig. 16 Location of Limit Switch". A manipulator type with the S- or L-axis overrun limit switch or the LU-axis interference limit switch is YR-EA1800N-A01. LU-axis interference limit switch (optional)

  • Page 46: Internal Connections

    HW0484074 8.2 Internal Connections Internal Connections Highly reliable connectors that enable easy removal and installation for maintenance and inspection are equipped to each connection part of the manipulator. For the numbers, types, and locations of the connectors, refer to "Fig. 17 Location of Connectors" and "Table 6 Con- nector Types".
  • Page 47 HW0484074 8.2 Internal Connections 0BAT11 0BAT1 BAT11 BAT1 0BAT12 0BAT2 BAT12 BAT2 0BAT3 Note: BAT3 For the limit switch specification, the connection of the section A is changed as follows: 0BAT21 0BAT4 BAT21 BAT4 0BAT22 0BAT5 S-axis Overrun Limit Switch BAT22 BAT5 0BAT6...
  • Page 48 HW0484074 8.2 Internal Connections Base Casing Manipulator 4BC (20-29) 4BC (20-29) 4BC-1 4BC-1 4BC-2 4BC-2 4BC-3 4BC-3 4BC-4 4BC-4 4BC-5 4BC-5 4BC-6 4BC-6 4BC-7 4BC-7 4BC-8 4BC-8 4BC-9 4BC-9 4BC-10 4BC-10 4BC-11 4BC-11 4BC-12 4BC-12 4BC-13 4BC-13 4BC-14 4BC-14 4BC-15 4BC-15 4BC-16 4BC-16...

  • Page 49: Maintenance And Inspection

    HW0484074 9.1 Inspection Schedule 9 Maintenance and Inspection WARNING • Before maintenance or inspection, be sure to turn OFF the main power supply, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.) Failure to observe this warning may result in electric shock or injury. CAUTION •...
  • Page 50 HW0484074 9.1 Inspection Schedule Table 7 Inspection Items Schedule Inspection Charge Operation Items Method 1000 6000 12000 24000 36000 Specified Service Daily Licensee Personnel Company Cycle Cycle Cycle Check alignment Alignment mark accordance Visual mark and damage at the home position. External Check for damage Visual...
  • Page 51 HW0484074 9.1 Inspection Schedule Table 7 Inspection Items Schedule Inspection Charge Operation Items Method 1000 6000 12000 24000 36000 Specified Service Daily Licensee Personnel Company Cycle Cycle Cycle Check for malfunc- tion. (Replace if nec- essary.) Supply grease (6000H U-axis speed Grease reducer cycle).
  • Page 52 HW0484074 9.1 Inspection Schedule HW0484074 42/59...

  • Page 53: Notes On Maintenance Procedures

    HW0484074 9.2 Notes on Maintenance Procedures Notes on Maintenance Procedures 9.2.1 Battery Pack Replacement If the battery alarm occurs in the NX100, replace the battery pack according to the following procedure: Battery pack Cover plate Connector base Support Cover plate fixing screw Fig.
  • Page 54 HW0484074 9.2 Notes on Maintenance Procedures 3. Remove the battery pack from the battery holder. 4. Connect the new battery pack to an unconnected connector on the circuit board. 5. Remove the old battery pack from the circuit board. Make sure to connect the new battery pack before removing the old one so that the NOTE encoder absolute data will not disappear.

  • Page 55: Notes On Grease Replenishment/Exchange Procedures

    HW0484074 9.3 Notes on Grease Replenishment/Exchange Procedures Notes on Grease Replenishment/Exchange Procedures Make sure to follow the instructions listed below at grease replenishment/exchange. Failure to observe the following notes may result in damage to motor and speed reducer. • If grease is added without removing the plug/screw from the grease exhaust port, the NOTE grease will go inside a motor or an oil seal of a speed reducer will come off, which may result in damage to the motor.

  • Page 56: Grease Exchange (Refer To "Fig. 22 S-Axis Speed Reducer")

    HW0484074 9.3 Notes on Grease Replenishment/Exchange Procedures 2. Remove the hexagon socket head plug PT1/8 from the grease inlet and install the grease zerk PT1/8. (The grease zerk is delivered with the manipulator.) 3. Inject grease from the grease inlet using a grease gun. Grease type: VIGO Grease RE No.

  • Page 57: Grease Replenishment (Refer To "Fig. 23 L-Axis Speed Reducer")

    HW0484074 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.2 Grease Replenishment/Exchange for L-axis Speed Reducer Grease exhaust port (Hexagon socket head plug PT1/8) L-arm L-axis speed reducer Grease inlet (Hexagon socket head cap screw M6) Fig. 23 L-axis Speed Reducer Grease Replenishment (Refer to "Fig. 23 L-axis Speed Reducer") 1.

  • Page 58: Grease Exchange (Refer To "Fig. 23 L-Axis Speed Reducer")

    HW0484074 9.3 Notes on Grease Replenishment/Exchange Procedures 5. Move the L-axis for a few minutes to discharge the excess grease. 6. Wipe the discharged grease with a cloth and reinstall the plug PT1/8 on the grease exhaust port. Apply Three Bond 1206C to the thread part of the plug, and tighten the m (0.5 kgf plug with a tightening torque of 4.9 N 7.

  • Page 59: Grease Replenishment (Refer To "Fig. 24 U-Axis Speed Reducer")

    HW0484074 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.3 Grease Replenishment/Exchange for U-axis Speed Reducer U-arm Grease exhaust port Grease inlet (Hexagon socket head cap screw M6) (Hexagon socket head plug PT1/8) U-axis speed reducer Fig. 24 U-axis Speed Reducer Grease Replenishment (Refer to "Fig. 24 U-axis Speed Reducer") 1.
  • Page 60 HW0484074 9.3 Notes on Grease Replenishment/Exchange Procedures 2. Remove the hexagon socket head cap screw M6 from the grease exhaust port. • If grease is injected with the screw on, the grease will go inside the motor and may cause NOTE a damage.

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

    HW0484074 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.4 Grease Replenishment for R-axis Speed Reducer Exhaust port (Hexagon socket head plug PT1/8) R-axis speed reducer Grease inlet (Hexagon socket head cap screw M6) Fig. 25 R-axis Speed Reducer 1. Remove the hexagon socket head plug PT1/8 from the exhaust port. 2.

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

    HW0484074 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.5 Grease Replenishment for B-Axis Speed Reducer Exhaust port (Plug LPM5) B-axis speed reducer Grease inlet (Hexagon socket head cap screw M6) Fig. 26 B-Axis Speed Reducer 1. Remove the cover and the plug LPM5 from the exhaust port. 2.

  • Page 63: Grease Replenishment For T-Axis Gear

    HW0484074 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.6 Grease Replenishment for T-axis Gear Grease inlet 2 (Hexagon socket head cap screw M6) Exhaust port (Hexagon socket set screw) Grease inlet 1 (Hexagon socket head cap screw M6) Fig. 27 T-axis Gear 1.
  • Page 64 HW0484074 9.3 Notes on Grease Replenishment/Exchange Procedures 6. Inject grease into the grease inlet 2 using a grease gun. Grease type: Alvania EP Grease 2 Amount of grease: 5 cc The exhaust port is used only for air flow; the grease is not exhausted from the exhaust NOTE port.

  • Page 65: Notes For Maintenance

    If the wrist cover is removed for some reason, make sure to reapply the sealing bond (Three Bond 1206C, refer to "Table 9 Spare Parts for the MOTOMAN-EA1800N-A00, -A01") when reassembling the cover.

  • Page 66: T Encoder Connector (With Caution Label)

    HW0484074 9.3 Notes on Grease Replenishment/Exchange Procedures Encoder Connector (With CAUTION Label) Before disconnecting the encoder connector (with CAUTION label), connect the battery pack to the motor referring to the following figures. Motor Motor power connector Encoder connector 0BT* BAT* HW9470932-A (battery pack) Battery backup connector Fig.
  • Page 67 • 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, contact your Yaskawa representative. Table 9 Spare Parts for the MOTOMAN-EA1800N-A00, -A01 Parts Rank Name...
  • Page 68 HW0484074 Table 9 Spare Parts for the MOTOMAN-EA1800N-A00, -A01 Parts Rank Name Type Manufacturer Remarks Unit Yaskawa Electric L-axis Input Gear HW0309830-1 Corporation U-axis Yaskawa Electric HW0385640-A Speed Reducer Corporation Yaskawa Electric U-axis Input Gear HW0309857-1 Corporation R-axis Yaskawa Electric...
  • Page 69 HW0484074 11.1 S-Axis Unit 11 Parts List 11.1 S-Axis Unit 1001 1002 1031 1032 1005 1061 1036 1021 1035 1020 1047 1033 1048 1003 1046 1044 1034 1078 1045 1054 1049 1041 1006 1055 1038 1050 1007 1053 1037 1009 1012 1056 1057...
  • Page 70 HW0484074 11.1 S-Axis Unit DWG No. Name DWG No. Name 1001 M12X40 Socket screw 1062 M16X25 Socket screw (DACROTIZED coating) 1063 2H-16 Spring washer 1002 2H-12 Spring washer 1064 ARP568-173 O ring (DACROTIZED coating) 1065 HW9405032-2 Bolt 1003 M6X20 GT-SA bolt 1066 Washer 1004...
  • Page 71 HW0484074 11.2 L-Axis Unit 11.2 L-Axis Unit 2012 2016 2013 2026 2025 2024 2021 2017 2003 2018 2011 2014 2010 2020 2015 2001 2029 2002 2028 2027 2019 2032 2031 2030 2006 2009 2037 2023 2022 2007 2008 2005 1060 2004 2038 2036...
  • Page 72 HW0484074 11.2 L-Axis Unit DWG No. Name 2001 M6X10 Socket screw 2002 2H-6 Spring washer 2003 PT1/8 Plug 2004 M5X16 GT-SA bolt 2005 HW0409438-1 Support 2006 HW0409011-2 Plate 2007 M4X8 Socket screw 2008 2H-4 Spring washer 2009 M5X12 GT-SA bolt 2010 PT1/8 Plug...
  • Page 73 HW0484074 11.3 U-Axis Unit 11.3 U-Axis Unit 3001-02 3010 3048 3003 3011 3042 3041 3012 3013 3035 3033 3034 3025 3024 3039 3015 3043-44 3026 3045 3031 3037 3036 3014 3046 3040 3047 3043-44 3004 3045 3005 3008 3018 3017 3009 3006 3038...
  • Page 74 HW0484074 11.3 U-Axis Unit DWG No. Name 3001 TA1-S10 Clamp 3002 T50R Insulok 3003 M4X10 APS bolt 3004 HW0404719-1 Plate 3005 M4X12 GT-SA bolt 3006 PZ1212 Saddle 3007 M4X10 Socket screw 3008 PZ1208 Saddle 3009 M4X10 APS bolt 3010 HW0409457-1 Cover 3011 M4X10...
  • Page 75 HW0484074 11.4 R-Arm Unit 11.4 R-Arm Unit 5021 4030 4012 4046 4029 4050 4049 4052 4051 4045 4047 4010 4044 4011 4026 4039 4021 4043 4048 4041 4040 4042 4028 4027 3048 4025 4022 4023 4006 4038 4005 4009 4007 4008 4037 4002...
  • Page 76 HW0484074 11.4 R-Arm Unit DWG No. Name 4001 PT1/8 Plug 4002 M6X6 Socket screw 4003 2H-6 Spring washer 4004 PT1/8 Plug 4005 M4X35 Socket screw 4006 2H-4 Spring washer 4007 PT1/8 Plug 4008 M4X20 Socket screw 4009 2H-4 Spring washer 4010 M6X25 Socket screw...
  • Page 77 HW0484074 11.5 Wrist Unit 11.5 Wrist Unit 5089 5086 5084 5090 5075 5094 5076 5053 5054 5080 5051 5056 5055 5057 5087 5055 5074 5049 5052 5088 5050 5079 5048 5096 5082 5081 5095 5083 5046 5017 5045 5091 5018 5058 5047 5063...
  • Page 78 HW0484074 11.5 Wrist Unit DWG No. Name DWG No. Name 5001 HW0409521-1 Cover 5064 HW0309958-1 Housing 5002 M6X8 Socket screw 5065 HW0385641-A Speed reducer (DACROTIZED coating) 5066 HW0309959-1 Housing 5003 M4X12 Socket screw 5067 M6X16 Socket screw 5004 2H-4 Spring washer 5068 2H-6 Spring washer...
  • Page 79 YASKAWA ELECTRIC (THAILAND) CO., LTD. 252/246, 4th Floor. Muang Thai-Phatra office Tower II Rechadapisek Road, Huaykwang Bangkok 10320, Thailand Phone +66-2-693-2200 +66-2-693-4200 SHOUGANG MOTOMAN ROBOT CO., LTD. No.7,Yongchang-North Road, Beijing Economic and Technological and Development Area, Beijing 100076, China Phone +86-10-6788-0541 +86-10-6788-0542 MOTOMAN MOTHERSON ROBOTICS LTD.

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