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YASKAWA MOTOMAN-HP6 YR-HP6-A00 Instructions Manual

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MOTOMAN-HP6
INSTRUCTIONS
TYPE: YR-HP6-A00 (STANDARD SPECIFICATION)
YR-HP6-A01 (WITH LIMIT SWITCHES FOR S-, L-, U-AXES)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-HP6 INSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATOR'S MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operator's manuals above correspond to specific usage.
Be sure to use the appropriate manual.
YASKAWA
YASKAWA
MANUAL NO. HW0481893 2

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Summary of Contents for YASKAWA MOTOMAN-HP6 YR-HP6-A00

  • Page 1 YASKAWA MOTOMAN-HP6 INSTRUCTIONS TYPE: YR-HP6-A00 (STANDARD SPECIFICATION) YR-HP6-A01 (WITH LIMIT SWITCHES FOR S-, L-, U-AXES) Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-HP6 INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S 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 rep- resentative to order a new copy. The representatives are listed on the back cover.
  • Page 3 HW0481893 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 avoided, WARNING could result in death or serious injury to personnel.
  • Page 4 HW0481893 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 programing pendant are pressed. When the servo power is turned off, the SERVO ON LED on the program- ing pendant is turned off.
  • Page 5 • 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 programing pendant, and manipulator cables.
  • Page 6 Prior to operating the manipulator, confirm the contents. WARNING label A WARNING label B Nameplate Nameplate: WARNING label A: WARNING MOTOMAN TYPE Moving parts MASS PAYLOAD may cause ORDER NO. DATE injury SERIAL NO. YASKAWA ELECTRIC CORPORATION JAPAN WARNING label B: WARNING Do not enter robot work area.

  • Page 7: Table Of Contents

    HW0481893 Product Confirmation 1.1 Contents Confirmation ......1 1.2 Order Number Confirmation .
  • Page 8 HW0481893 Allowable Load for Wrist Axis and Wrist Flange 6.1 Allowable Wrist Load ....... 6 6.2 Wrist Flange .
  • Page 9 HW0481893 9.2.9 Notes for Maintenance ......9-19 Wrist Axes ........9-19 Battery Pack Connector (with CAUTION label) .

  • Page 10: Product Confirmation

    HW0481893 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 11: Order Number Confirmation

    HW0481893 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 12: Transporting

    HW0481893 2.1 Transporting Method 2 Transporting 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 transporting. Failure to observe this caution may adversely affect the performance as the system con- sists of precision components.

  • Page 13: Using A Crane

    HW0481893 2.1 Transporting Method 2.1.1 Using a Crane As a rule, when removing the manipulator from the package and moving it, a crane should be used. The manipulator should be lifted using wire rope. Be sure the manipulator is fixed with the shipping bolts and brackets before transporting, and lift it in the posture as shown in "...

  • Page 14: Using A Forklift

    HW0481893 2.2 Shipping Bolts and Brackets 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 ". Insert claws under the pallet and lift it. The pallet must be strong enough to support the manipulator.

  • Page 15: Installation

    HW0481893 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 16: Installation Of The Safeguarding

    HW0481893 3.1 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 17: Mounting Example

    HW0481893 3.2 Mounting Procedures for Manipulator Base 3.2.1 Mounting Example Fix the baseplate onto the floor. The baseplate should be rugged and durable to prevent shifting of the manipulator or the mounting fixture. The thickness of the baseplate is 40mm or more, and an M16 size or larger anchor bolt is recommended.

  • Page 18: Types Of Mounting

    Refer to "Fig. 5 When Using Ceiling- and Wall-Mounted Types" for details. Support Hexagon socket head cap screw M16 Manipulator base (4 screws) (Tensile strength: 1200N/mm  or above) Fig. 6 When Using Ceiling- and Wall-Mounted Types NOTE When using wall-mounted or ceiling-mounted types, contact your Yaskawa representative.

  • Page 19: Location

    HW0481893 3.4 Location Location When installing the manipulator, it is necessary to satisfy the undermentioned environmental conditions: • Ambient Temperature: 0° to +45°C • Humidity: 20 to 80%RH (non-condensing) • Free from dust, soot, or water • Free from corrosive gas or liquid, or explosive gas •...

  • Page 20: Wiring

    HW0481893 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 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: Grounding

    HW0481893 4.1 Grounding Grounding Follow the local regulations and electrical installation standards for grounding. The recom- mended grounding wire size is 5.5mm at minimum. For grounding, connect the ground wire directly to the manipulator as in "Fig. 6 Grounding Method". •...

  • Page 22: Cable Connection

    HW0481893 4.2 Cable Connection Cable Connection Two manipulator cables are provided; a signal cable (1BC) and a power cable (2BC). Connect these cables to the manipulator base connectors and to the NX100. Refer to “Fig.8 (a) Cable Connection to the Manipulator” and “Fig.8 (b) Cable Connection to the NX100”. 4.2.1 Connection to the Manipulator Before connecting the manipulator cables to the manipulator, verify the numbers: 1BC and...
  • Page 23 HW0481893 4.2 Cable Connection    Connector details Manipulator side Fig. 9 (a) Details of the Manipulator Cable Connectors (Manipulator Side) Fig. 9 (b) Manipulator Cable Connections to the NX100...

  • Page 24: Basic Specifications

    HW0481893 5.1 Basic Specifications 5 Basic Specifications Basic Specifications Table. 3 Basic Specifications Operation Mode Vertically Articulated Degree of Freedom Payload ±0.08mm Repetitive Positioning Accuracy S-Axis (turning) ±170° L-Axis (lower arm) +155°, -90° U-Axis (upper arm) +250°, -175° Motion Range R-Axis (wrist roll) ±180°...

  • Page 25: Part Names And Working Axes

    HW0481893 5.2 Part Names and Working Axes Part Names and Working Axes Wrist flange U-arm L-arm Wrist Rotary head Manipulator base Fig. 10 Part Names and Working Axes Baseplate Dimensions 132 0.1 Tapped holes 18 dia. (4 holes) +0.018 16 dia.  0 (2 holes)  +0.018 12 dia.  0 (2 holes)  102 0.1 100 0.1 153 0.1 Units: mm...

  • Page 26: Dimensions And P-Point Maximum Envelope

    HW0481893 5.4 Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope 1678 P-point maximum envelope P-point Units: mm View A Fig. 12 Dimensions and Operating Range...

  • Page 27: Alterable Operating Range

    Alterable Operating Range The operating range of the S-Axis can be altered as in "Table. 4 S-Axis Operating Range" in accordance with the operating conditions. If alteration is necessary, contact your Yaskawa representative in advance. Table. 4 S-Axis Operating Range...
  • Page 28 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 and inertia moment is large. Also, when the load mass is combined with an outside force, contact your Yaskawa representative in advance.
  • Page 29 HW0481893 6.1 Allowable Wrist Load 11.8 0.24 0.483 /4 (Kg m Fig. 14 The Diagram Moment/Inertia for R-Axis 0.17 0.37 /4 (Kg m Fig. 15 The Diagram Moment/Inertia for B-Axis 0.06 0.14 0.05 0.15 /4 (Kg m The Diagram Moment/Inertia for T-Axis Fig. 16...
  • Page 30 HW0481893 6.2 Wrist Flange Wrist Flange The wrist flange dimensions are shown in " Fig. 17 Wrist Flange ". In order to see the align- ment marks, it is recommended that the attachment be mounted inside the fitting. Fitting depth of inside and outside fittings must be 5mm or less. Tapped holes M6 ...

  • Page 31: Allowable Load

    HW0481893 7.1 Mounting Equipment 7 System Application Mounting Equipment The peripheral equipment mounts are provided on the U-Axis (upper arm) and S-Axis (rotary head) as shown in " Fig. 18 Installing Peripheral Equipment " for easier installation of the users’ system applications. The following conditions should be observed to attach or install peripheral equipments.

  • Page 32: Installation Position

    HW0481893 7.1 Mounting Equipment 7.1.2 Installation Position There is a limitation also on the installation position. " Fig. 19 Allowable Load on U-Axis " shows the distance between the U-Axis rotation center and the load gravity. View A Upper arm Z-direction X-direction U-axis Tapped holes M6 rotation center...
  • Page 33 HW0481893 7.2 Internal User I/O Wiring Harness and Air Lines Internal User I/O Wiring Harness and Air Lines Wires and an air line are incorporated into the manipulator for user application. An internal user I/O wiring harness (0.2mm x 8, 1.25mm x 6) and an air line are used in the manipulator for the drives of the peripheral devices.
  • Page 34 HW0481893 7.2 Internal User I/O Wiring Harness and Air Lines • For the standard specification, the pins No.7 and No.8 of 3BC connector on the U-Arm NOTE are respectively connected with the shock sensor power supply and shock sensor signal input port of the NX100 controller.
  • Page 35 HW0481893 8.1 Position of S-Axis Limit Switch 8 Motoman Construction Position of S-Axis Limit Switch The limit switches are optional and are located as shown in " Fig. 22 Location of Limit Switches ". The overrun limit switches for the the S-Axis and L-Axis, and LU-Axes interfer- ence limit switch are applied to the robot type: YR-HP6-A01.
  • Page 36 HW0481893 8.2 Internal Connections Internal Connections High reliability connectors which can be easily put on and removed are used with each connector part. For the numbers, types, and locations of connectors, see "Fig. 22 Location and Numbers of Connectors". 3BC (for internal user I/O wiring harness) 3BC (for internal user I/O wiring harness)
  • Page 37 POWER CABLE INTERNAL CABLE IN S-AXIS INTERNAL CABLE IN L-AXIS INTERNAL CABLE IN BT-AXIS ENCODER POWER SUPPLY BOARD 0BAT11 0BAT1 BAT11 BAT1 0BAT12 0BAT2 BAT12 BAT2 0BAT3 BAT3 0BAT21 0BAT4 BAT21 BAT4 0BAT22 Applicable Serial Number: Before RH9520-4097 BAT22 The products which were manufactured by August, 2004 PG0V1 PG5V1...
  • Page 38 B should be changed as shown in CN1-7 CN1-7 SPG-2 DATA-2 section C below. L-AXIS (Contact your Yaskawa representative in case of modifying the wiring before use.) CN1-8 CN1-8 No.22CN CN2-1 CN2-1 SPG+3...
  • Page 39 Casing Base 3BC(20-29) 3BC(20-29) 3BC-1 2BC-1 FOR SPARE CABLE SHOCK SENSOR (OPTIONAL) 2BC (6X6) No.3CN CN1-1 3CN-1 CN1-1 CN1-2 S-AXIS CN1-2 CN1-3 CN1-3 CN1-4 CN1-4 CN1-5 CN1-5 CN1-6 CN1-6 No.4CN CN2-1 4CN-1 CN2-1 CN2-2 CN2-2 L-AXIS CN2-3 CN2-3 CN2-4 CN2-4 CN2-5 CN2-5 CN2-6...
  • Page 40 For any different or special applications, the inspection process should be developed on an case-by-case basis. For axes which are used very frequently (in handling applications, etc.), it is recom- mended that inspections be conducted at shorter Intervals. Contact your Yaskawa repre- sentative.
  • Page 41 HW0481893 9.1 Inspection Schedule Table. 7 Inspection Items Schedule Inspection Charge Operation Items Method 1000 6000 12000 24000 36000 Specified Service Daily Licensee Person Company Cycle Cycle Cycle Check tram mark Alignment accordance and Visual mark damage at the home position.
  • Page 42 HW0481893 9.1 Inspection Schedule Table. 7 Inspection Items Schedule Inspection Charge Operation Items Method 1000 6000 12000 24000 36000 Specified Service Daily Licensee Person Company Cycle Cycle Cycle Check for malfunc- tion. (Replace if nec- essary.) Supply grease (6000H cycle). See Par. "...
  • Page 43 Inspection No. correspond to the numbers in " Fig. 25 Inspection Parts and Inspection Numbers ". 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. Table. 8 Inspection Parts and Grease Used...
  • Page 44 HW0481893 9.1 Inspection Schedule Note: The home position of the manipulator takes the B-axis folded to a 90 degree            downward position to the manipulators illustrated in "Fig. 25 Inspection Parts and           Inspection Numbers".             The manipulator illustrated in "Fig. 25" is not in a complete home position since             the B-axis is extended horizontal to the ground. B-axis B-axis T-axis R-axis Fig. 25 Inspection Parts and Inspection Numbers (Manipulator in Home Position: Except for B-axis)

  • Page 45: Battery Pack Replacement

    HW0481893 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 in accordance with the following procedure: Battery pack Connector base Support Plate fastening bolt Fig. 26 Battery Location Battery pack before replacement See procedure 5 Connector Board...

  • Page 46: Grease Replenishment/Exchange For S-Axis Speed Reducer

    HW0481893 9.2 Notes on Maintenance Procedures NOTE Remove the old battery pack after connecting the new one so that the encoder absolute data does not disappear. 6. Mount the new battery pack on the battery holder. 7. Reinstall the plate. NOTE Do not pinch the cable when the plate is installed.

  • Page 47: Grease Replenishment (Refer To " Fig. 28 S-Axis Speed Reducer Diagram ".)

    HW0481893 9.2 Notes on Maintenance Procedures Grease Replenishment (Refer to " Fig. 28 S-Axis Speed Reducer Diagram ".) Replenish the grease in accordance with the following procedure: 1. Remove plugs from the grease exhaust port and grease inlet NOTE If grease is injected with the plugs on, the grease will go inside the motor and may damage it.

  • Page 48: Grease Replenishment/Exchange For L-Axis Speed Reducer

    HW0481893 9.2 Notes on Maintenance Procedures 9.2.3 Grease Replenishment/Exchange for L-Axis Speed Reducer L-arm Grease exhaust port Hexagon socket head plug PT1/8  L-axis  speed reducer Grease inlet  Hexagon socket head cap screw M6 Fig. 29 L-Axis Speed Reducer Diagram For ceiling mounted manipulators, the grease exhaust port and the grease inlet are NOTE inverted.

  • Page 49: Grease Exchange

    HW0481893 9.2 Notes on Maintenance Procedures Grease Exchange (Refer to " Fig. 29 L-Axis Speed Reducer Dia- gram ".) 1. Make the L-arm vertical to ground. 2. Remove a plug from the grease exhaust port. 3. Remove bolts from the grease inlet. NOTE If grease is injected with the plug on, the grease will go inside the motor and may damage it.

  • Page 50: Grease Replenishment/Exchange For U-Axis Speed Reducer

    HW0481893 9.2 Notes on Maintenance Procedures 9.2.4 Grease Replenishment/Exchange for U-Axis Speed Reducer U-arm Grease exhaust port Hexagon socket head cap screw M6 Grease inlet Hexagon socket head plug PT1/8 U-axis speed reducer U-axis speed reducer U-axis speed reducer Fig. 30 U-Axis Speed Reducer Diagram NOTE For ceiling mounted manipulators, the exhaust port and the grease inlet are inverted. Grease Replenishment (Refer to "...

  • Page 51: Grease Exchange

    HW0481893 9.2 Notes on Maintenance Procedures Grease Exchange (Refer to " Fig. 30 U-Axis Speed Reducer Dia- gram ".) 1. Make the U-arm horizontal to ground. 2. Remove bolts from the grease exhaust port. 3. Remove a plug from the grease inlet. NOTE If grease is injected with the bolts on, the grease will go inside the motor and may damage it.

  • Page 52: Grease Replenishment For R-Axis Speed Reducer

    HW0481893 9.2 Notes on Maintenance Procedures 9.2.5 Grease Replenishment for R-Axis Speed Reducer Note that the grease replenishment procedure is different by serial number of the subject manipulator. The serial number is indicated on a nameplate. (Refer to " Explanation of Warning Labels " on page 6(vi).) For Application of Serial Numbers S3W120-5 to S3W120-6 Exhaust port...

  • Page 53: For Application Of Serial Numbers S3W120-7 To Rh9520-3112

    HW0481893 9.2 Notes on Maintenance Procedures For Application of Serial Numbers S3W120-7 to RH9520-3112 Grease inlet Cover plug Grease zerk A-MT6X1 Exhaust port (Hexagon socket head plug PT1/8) Fig. 31 (b) R-Axis Speed Reducer Diagram (For Serial Numbers S3W120-7 to RH9520-3112) 1. Remove a plug from the exhaust port. 2.
  • Page 54 HW0481893 9.2 Notes on Maintenance Procedures For Application of Serial Numbers RH9520-3121 and Over Grease inlet Cover plug Exhaust port Grease zerk A-MT6X1 (Plug LP-M5) Fig. 31 (c) R-Axis Speed Reducer Diagram (For Serial Numbers RH9520-3121 and Over) 1. Remove a plug from the exhaust port. 2.

  • Page 55: Grease Replenishment For B- And T-Axes Speed Reducers

    HW0481893 9.2 Notes on Maintenance Procedures 9.2.6 Grease Replenishment for B- and T-Axes Speed Reducers T-axis speed reducer Exhaust port (T-axis) Plug LP-M5 Exhaust port (B-axis) Plug LP-M5 B-axis speed reducer Grease inlet (T-axis) Grease inlet (B-axis) Hexagon socket head  Hexagon socket head  cap screw M6 cap screw M6 Fig. 32 B- and T-Axes Speed Reducers Diagram 1. Remove plugs from the exhaust port NOTE Remove the U-arm cover side of the B-axis speed reducer.

  • Page 56: Grease Replenishment For T-Axis Gear

    HW0481893 9.2 Notes on Maintenance Procedures 9.2.7 Grease Replenishment for T-Axis Gear Exhaust port Plug LP-M5 Grease inlet  Hexagon socket head cap screw M6 Fig. 33 T-Axis Gear Diagram 1. Remove a plug from the grease exhaust port. 2. Remove bolts from the grease inlet, then install the grease zerk A-MT6 x 1. The grease zerk is provided at factory.
  • Page 57 HW0481893 9.2 Notes on Maintenance Procedures 9.2.8 Grease Replenishment for R-Axis Cross Roller Bearing R-axis cross roller bearing Exhaust port Hexagon socket head cap  screw M6 (6 screws) Grease inlet Hexagon socket head cap screw M6 (6 screws) Fig. 34 R-Axis Cross Roller Bearing Diagram 1. Remove bolts of the exhaust port. 2. Remove bolts of the grease inlet, then install the grease zerk A-MT6 x 1. The grease zerk is provided at factory.
  • Page 58 HW0481893 9.2 Notes on Maintenance Procedures 9.2.9 Notes for Maintenance Wrist Axes The motor and encoder units are provided with the wrist unit. To prevent fumes from penetrating into the wrist unit, the matched parts are sealed with sealing bond. Therefore, if the wrist cover is disassembled, reseal with sealing bond (Three Bond 1206C, refer to "...
  • Page 59 HW0481893 9.2 Notes on Maintenance Procedures Encoder Motor Motor cable etc. Power connector Internal wire Connect 0BT4 BAT4 Encoder connector Battery pack CAUTION label 0BT4 BAT4 CAUTION label (Enlarged view) CAUTION a: insertion-type pin terminal (Socket) b: insertion-type pin terminal (Pin) Connect battery to encoder to save the data before removing connector. Fig. 37 Battery Pack Connector Diagram for RBT-Axes 9-20...
  • Page 60 • Rank B: Parts for which replacement may be necessary as a result of frequent operation • Rank C: Drive unit NOTE For replacing parts in Rank B or Rank C, contact your Yaskawa representative. Table. 9 Spare Parts for YR-HP6-A00 and YR-HP6-A01 Parts...
  • Page 61 HW0481893 Table. 9 Spare Parts for YR-HP6-A00 and YR-HP6-A01 Parts Rank Name Type Manufacturer Remarks Unit U-Axis HW9280738-B Yaskawa Electric Speed Reducer Corporation U-Axis Input Gear HW0303277-1 Yaskawa Electric Corporation R-Axis HW0382277-A Yaskawa Electric Speed Reducer Corporation B-Axis HW0381646-A Yaskawa Electric...
  • Page 62 HW0481893 11.1 S-axis Unit 11 Parts List 11.1 S-axis Unit 1020 1021 1001 1027 1035 1030 1011A 1034 1018 1033 1034 1032 1011 1035 1033 1010 1009 1026 1036 1015 1007 1004 1024 1006 1012 1040 1005 1039 1023 1041 1042 1022 1013...
  • Page 63 HW0481893 11.1 S-axis Unit DWG No. Name 1001 SGMRS-06A2B-YR1* Motor 1002 HW9280729-B Speed reducer 1003 HW0100455-1 Base 1004 HW0100456-1 S-head 1005 HW0303548-1 Gear 1006 HW0200132-1 Cover 1007 HW0404551-1 Cover 1009 HW0404549-1 Support 1010 HW0403842-1 Support 1011 CD-19 Saddle 1011A CD-31 Saddle 1012 HW9405278-1...
  • Page 64 HW0481893 11.2 L-Axis Unit 11.2 L-Axis Unit 2004 2012 2001 2014 2006 2002 2003 2013 2009 2021 2020 2011 2010 2016 1004 2023 2008 2025 2024 2007 2026 2022 2005 11-3...
  • Page 65 HW0481893 11.2 L-Axis Unit DWG No. Name 2001 SGMRS-12A2B-YR1* Motor 2002 HW9280732-B Speed reducer 2003 HW0303276-1 Gear 2004 HW0100503-1 L-arm 2005 HW0303910-1: Serial No Cover RH9520-4023 HW0303127-1: Serial No RH9520-4024 RH9520- 402J HW0304456-1: Serial No RH9520-402K 2006 HW0304457-1 Cover 2007 M14X35 Socket screw 2008...
  • Page 66 HW0481893 11.3 U-Axis Unit 11.3 U-Axis Unit 3012 3004 3001 3032 3010 3023 3022 3024 3018 3006 3029 3026 3005 3025 3019 3027 3009 3030 3007 3003 3031 3028 3007 3017 3028 3016 3002 3015 3021 3020 2004 11-5...
  • Page 67 HW0481893 11.3 U-Axis Unit DWG No. Name 3001 SGMRS-06A2B-YR1* Motor 3002 HW9280738-B Speed reducer 3003 HW0303277-1 Gear 3004 HW0100619-1 Casing 3005 HW0404196-2 Washer 3006 HW0200493-1 Cover 3007 HW0404179-1 Stopper 3009 HW0404152-1 Support 3010 HW0404718-1 N-base 3012 M8X30 Socket screw 2H-8 Spring washer 3013 M6X35...
  • Page 68 HW0481893 11.4 R-Axis Unit 11.4 R-Axis Unit 5003 4008 4009 4037 4036 4006 4035 4007 4039 4005 4040 4044 4045 4032 4033 4016 4004 4027 4028 4011 4055 4019 4020 4049 4018 4021 4050 3004 4017 4051 4034 4038 4003 4023 4059 4031...
  • Page 69 HW0481893 11.4 R-Axis Unit DWG No. Name DWG No. Name 4001 SGMPH-01A2A-YR1* Motor 4050 Plug PT1/8: Serial No RH9520-3112 4002 M5X12 Socket screw 4051 Tube TU0640C-0.1: Serial No 2H-5 Spring washer RH9520-3112 4003 HW0382277-A Speed reducer 4054 T50R Cable tie 4004 M5X16 Socket screw...
  • Page 70 HW0481893 11.5 Wrist Unit 11.5 Wrist Unit 5063 5064 5026 5038 5055 5029 5027 5054 5028 5002 5051 5056 5002 5053 5025 5034 5058 5031 5035 5033 5023 5024 5071 5059 5067 5005 5009 5045 5022 5004 5012 5050 5013 5044 5072 5042...
  • Page 71 HW0481893 11.5 Wrist Unit DWG No. Name DWG No. Name 5001 HW0381646-A Speed reducer 5051 M4X12 Socket screw 5002 HW0381831-A Speed reducer 2H-4 Spring washer For serial No: 5053 M4X12 Socket screw before RH9520-4118 2H-4 Spring washer HW0382917-A Speed reducer For serial No: For serial No: before RH9520-4118...
  • Page 72 49-8166-90103 YASKAWA ELECTRIC KOREA CORPORATION 1F Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea Phone 82-53-745-7844 82-2-784-8495 YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. 151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741, Singapore Phone 65-6282-3003 65-6289-3003 YASKAWA ELECTRIC (MALAYSIA) SDN. BHD. No.71, Jalan Bandar Rawang 2, 48000 Rawang, Selangor D.E., Malaysia...

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