Motoman NX100 Manipulator Manual
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Motoman NX100 Manipulator Manual

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Motoman
NX100 Controller
ES280N
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
154989-1CD
0

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  • Page 1 ® Motoman NX100 Controller ES280N Manipulator Manual Part Number: 154989-1CD 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 (ES280N) •...
  • 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 ES280N 154989-1 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 Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-ES280N INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S MANUAL NX100 MAINTENACE MANUAL The NX100 operator’s manuals above correspond to specific usage. Be sure to use the appropriate manual. YASKAWA MANUAL NO. HW0483980 1/70...
  • Page 12 • This instruction manual explains operating instructions and mainte- nance procedures primarily for the MOTOMAN-ES280N. • General items related to safety are listed in Section 1: Safety of the NX100 Instructions. To ensure correct and safe operation, carefully read the NX100 instructions before reading this manual. CAUTION •...
  • Page 13 HW0483980 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 14 Injury may result if anyone enters the working envelope of the manipulator during opera- tion. Always press an emergency stop button immediately if there are problems. The emergency stop button is located on the right of the front door of the NX100 and the pro- gramming pendant.
  • Page 15 -Check for problems in manipulator movement. -Check for damage to insulation and sheathing of external wires. • Always return the programming pendant to the hook on the NX100 cabi- net after use. The programming pendant can be damaged if it is left in the manipulator’s work area, on the floor, or near fixtures.
  • Page 16 WARNING label B WARNING label B Nameplate WARNING label A WARNING label A Nameplate: WARNING label A: WARNING label B: WARNING WARNING MOTOMAN TYPE PAYLOAD MASS DATE ORDER NO. SERIAL NO. YASKAWA ELECTRIC CORPORATION JAPAN Do not enter Moving parts...

  • Page 17: Table Of Contents

    4.2.1 Connection to the Manipulator......4-2 4.2.2 Connection to the NX100 ......4-3 Basic Specifications 5.1 Basic Specifications...
  • Page 18 7.2 Internal User I/O Wiring Harness and Air Line ..7 Motoman Construction 8.1 Position of S-axis Limit Switch ..... . 8 8.2 Internal Connections...
  • Page 19 HW0483980 Grease Replenishment for B-axis Speed Reducer (Refer to " Fig. 28 U-Arm Diagram ".)....9-16 Grease Replenishment for T-axis Speed Reducer (Refer to " Fig. 28 U-Arm Diagram ".)....9-16 Grease Exchange for R-, B- T-axis Gears in the Casing (Refer to "...

  • Page 20: Product Confirmation

    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

    HW0483980 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: Transporting

    HW0483980 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 23 HW0483980 2.1 Transporting Method Detailed View: Detailed View: Rubber plate Vinyl tape (yellow) (Qty: 1) Hook (Qty: 4) Detailed View: Fig. 2 Transporting Position HW0483980 13/70...

  • Page 24: Shipping Bolts And Brackets

    HW0483980 2.2 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 screw at point B (" Fig. 2 Transporting Position "). Hook Rubber plate Vinyl tape (yellow) Fig.

  • Page 25: Installation

    • 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. Failure to observe this warning may result in injury or damage.

  • Page 26: Mounting Procedures For Manipulator Base

    HW0483980 3.1 Installation of the Safeguarding Installation of the Safeguarding To insure safety, be sure to install the safeguarding. They prevent unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guidance. Responsibility for Safeguarding (ISO 10218) The user of a manipulator or robot system shall ensure that safeguarding is provided and used in accordance with Sections 6, 7, and 8 of this standard.

  • Page 27: Mounting Example

    HW0483980 3.3 Location 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 fixture. The thickness of the baseplate is 50 mm or more, and an M20 size or larger anchor bolt is recommended. There are eight mounting holes on the manipulator base.

  • Page 28: Wiring

    • Do not cover the cable with heat insulating material, and avoid multiple cabling when laying manipulator cables from the manipulator to the NX100. Failure to observe this caution may result in burn caused by cable heat emission failure. HW0483980...

  • Page 29: Grounding

    (2BC and 3BC). (Refer to " Fig. 6 Manipulator Cable Connections ".) Connect these cables to the manipulator base connectors and the NX100. (Refer to " Fig. 7 (a) Details of the Manipulator Cable Connectors (Manipulator Side) " and " Fig. 7 (b) Manipulator Cable Connections to the NX100 ".

  • Page 30: Connection To The Nx100

    First connect the 2BC cable then 3BC and 1BC cables respectively after verifying the numbers. The numbers are on both the manipulator cables and the NX100 board connectors. When connecting, insert cables adjusting the cable connector positions to the main key positions of the NX100, and then set the lever until it clicks.
  • Page 31 HW0483980 4.2 Manipulator Cable Connection Key positions Connector details (Manipulator side) Fig. 7 (a) Details of the Manipulator Cable Connectors (Manipulator Side) Fig. 7 (b) Manipulator Cable Connections to the NX100 HW0483980 21/70...

  • Page 32: Basic Specifications

    HW0483980 5.1 Basic Specifications 5 Basic Specifications Basic Specifications Table.3 Basic Specifications Item Model MOTOMAN-ES280N Configuration Vertically Articulated Degree of Freedom Payload 280 kg ±0.2 mm Repeatability S-axis (turning) ±180 ° L-axis (lower arm) +76 ° , -60 ° Range of U-axis (upper arm) +230 °, -142.5 °...

  • Page 33: Part Names And Working Axes

    HW0483980 5.2 Part Names and Working Axes Part Names and Working Axes Wrist Upper arm (U-arm) Wrist flange Lower arm Rotary head (L-arm) (S-head) Base Fig. 8 Part Names and Working Axes Manipulator Base Dimensions +0.021 290±0.1 290±0.1 Fitting surface 20 dia.

  • Page 34: Dimensions And P-Point Maximum Envelope

    HW0483980 5.4 Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope HW0483980 24/70...

  • Page 35: Alterable Operating Range

    HW0483980 5.5 Alterable Operating Range Alterable Operating Range The operating 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.

  • Page 36: Components For Altering Operating Range

    HW0483980 5.5 Alterable Operating Range 5.5.1 Components for Altering Operating Range Arrange the components listed in " Fig. 11 The Components of the S-axis Stopper ", when modifying the angle of S-axis. Pin (drawing No. HW0402104-1, 1 pin) Stopper (drawing No. HW0302424-2, 1 stopper) Hexagon head screw M20 (length: 45 mm) (3 screws) (Tensile strength: 1200 N/mm or more)

  • Page 37: Notes On The Mechanical Stopper Installation

    HW0483980 5.5 Alterable Operating Range 5.5.2 Notes on the Mechanical Stopper Installation • For S-axis mechanical stopper, install the stopper (drawing No. HW0302424-2) with the pin which is used bottom up (drawing No. HW0402104-1) as in " Fig. 11 The Compo- nents of the S-axis Stopper ".

  • Page 38: Modifying The Soft Limit Of The S-Axis Pulse

    5.5.3 Modifying the Soft Limit of the S-axis Pulse When confining the operating range of the S-axis, refer to "NX100 Concurrent I/O (manual No. RE-CKI-A442)" and modify the following parameters with the programming pendant. Pulse limit (positive (+) direction of the S-axis): SICxG200...
  • Page 39 HW0483980 5.5 Alterable Operating Range HW0483980 29/70...

  • Page 40: Mounting The S-Axis Stopper By Settable Angles

    HW0483980 5.5 Alterable Operating Range Mounting the S-axis Stopper by Settable Angles 　 Hexagon head screws The stopper is reversible. Either side of the stopper can be used. The Settled Model of +180 Degree Hexagon head screws The stopper is reversible. Either side of the stopper can be used.
  • Page 41 HW0483980 5.5 Alterable Operating Range The stopper is irreversible. Only this side of the stopper can be used at this angle. Hexagon head screws The Settled Model of +150 Degree The stopper is reversible. Either side of the stopper can be used. Hexagon head screws The Settled Model of +135 Degree Fig.
  • Page 42 HW0483980 5.5 Alterable Operating Range The stopper is irreversible. Only this side of the stopper can be used at this angle. Hexagon head screws The Settled Model of +120 Degree Hexagon head screws The stopper is reversible. Either side of the stopper can be used. The Settled Model of +105 Degree Fig.
  • Page 43 HW0483980 5.5 Alterable Operating Range The stopper is reversible. Either side of the stopper can be used. Hexagon head screws The Settled Model of +90 Degree The stopper is reversible. Either side of the stopper can be used. Hexagon head screws The Settled Model of +75 Degree Fig.
  • Page 44 HW0483980 5.5 Alterable Operating Range The stopper is irreversible. Hexagon head screws Only this side of the stopper can be used at this angle. The Settled Model of +60 Degree The stopper is reversible. Either side of the stopper can be used. Hexagon head screws The Settled Model of +45 Degree Fig.
  • Page 45 HW0483980 5.5 Alterable Operating Range The stopper is irreversible. Hexagon head screws Only this side of the stopper can be used at this angle. The Settled Model of +30 Degree The stopper is reversible. Either side of the stopper can be used. Hexagon head screws The Settled Model of +15 Degree Fig.
  • Page 46 HW0483980 5.5 Alterable Operating Range The stopper is reversible. Either side of the stopper can be used. Hexagon head screws The Settled Model of 0 Degree Fig. 13 (g) The Properly-Mounted Models for S-axis Stopper 5-15 HW0483980 36/70...

  • Page 47: Allowable Load For Wrist Axis And Wrist Flange

    HW0483980 6.1 Allowable Wrist Load 6 Allowable Load for Wrist Axis and Wrist Flange Allowable Wrist Load The allowable wrist load including the weight of the mount/gripper is: • YR-ES280N-A00, -A01: 280 kg maximum This section explains the allowable values and conditions. As shown in "...

  • Page 48: Wrist Flange

    HW0483980 6.2 Wrist Flange Wrist Flange The wrist flange dimensions are shown in " Fig. 15 Wrist Flange ". In order to see the alignment mark, it is recommended that the attachment be mounted inside the fitting. Fitting depth of inside and outside must be 8 mm or less. Tapped hole M10 (depth: 12 mm) (6 holes) Tapped hole M10...

  • Page 49: System Application

    HW0483980 7.1 Peripheral Equipment Mounts 7 System Application Peripheral Equipment Mounts When peripheral equipment is attached to the manipulator, the following conditions should be observed. Tapped hole M8 (depth: 15 mm) (2 holes x 2 places) Tapped hole M8 (depth: 15 mm) (4 holes) Tapped hole M12 (depth: 24 mm) Tapped hole M12 (depth: 24 mm)

  • Page 50: Internal User I/O Wiring Harness And Air Line

    HW0483980 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 (0.75 mm x 23 wires) and two air lines are used in the manipulator for the drives of the peripheral devices mounted on the upper arm as shown in "...
  • Page 51 HW0483980 7.2 Internal User I/O Wiring Harness and Air Line Connector for internal user I/O wiring harness (Casing): JL05-2A24-28SC (socket connector with a cap). Prepare pin connector: JL05-6A24-28P Exhaust port A (air flow): Tapped hole PT 3/8 with a pipe plug Exhaust port B (air flow): Tapped hole PT 3/8 with a pipe plug...
  • Page 52 HW0483980 7.2 Internal User I/O Wiring Harness and Air Line Pins used Internal user I/O wiring harness: 23 wires, size: 0.75 mm Fig. 18 Connectors for Internal User I/O Wiring Harness and Air Line (Pin Details) HW0483980 42/70...

  • Page 53: Motoman Construction

    HW0483980 8.1 Position of S-axis Limit Switch 8 Motoman Construction Position of S-axis Limit Switch The limit switches are optional. For the S, L, and U-axes with limit switches specifications, L.S. are located on S-axis, L-axis, and U-axis respectively. For the location, refer to " Fig. 19 Location of Limit Switches ".

  • Page 54: Internal Connections

    HW0483980 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. 20 Location of Connectors " and “Table.8 List of Connector Types”. Connector for internal user I/O wiring harness (Casing) Connector for internal user...
  • Page 55 BAT5 0BAT6 BAT6 For the FAN specification, the connection of the section B and C are changed. PG0V1 PG5V1 PG0V2 PG5V2 PG0V3 PG5V3 PG0V4 PG5V4 1BC(10P 4) NX100 PG0V5 No.19CN PG5V5 +24V CN1-5 +24V CN1-5 +24V PG0V6 CN1-4 PG5V6 CN1-4...
  • Page 56 HW0483980 8.2 Internal Connections S-AXIS OVERRUN L.S. S-axis Limit Switch Specification X21(8X4),(12X1) 2BC(8X4),(12X1) S-AXIS OVERRUN L.S. L-AXIS OVERRUN L.S.(OPTION) CN1-1 CN1-1 CN1-2 CN1-2 CN1-3 CN1-3 CN1-4 CN1-4 CN1-5 CN1-5 CN1-6 CN1-6 No.9CN CN1-7 CN1-7 9CN-A CN1-8 CN1-8 S- and L-axis Limit Switch Specification CN2-1 CN2-1 CN2-2...

  • Page 57: Maintenance And Inspection

    HW0483980 9.1 Inspection Schedule 9 Maintenance and Inspection WARNING • Before maintenance or inspection, be sure to turn the main power sup- ply off, 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 58 HW0483980 9.1 Inspection Schedule • The inspection interval must be based on the servo power supply on time. NOTE • 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 59 HW0483980 9.1 Inspection Schedule Table. 9 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.) Replenish S-axis speed Grease grease (6000H reducer,...
  • Page 60 HW0483980 9.1 Inspection Schedule Table. 10 Inspection Parts and Grease Used Grease Used Inspected Parts VIGO Grease RE No. 0 Speed Reducers for all Axes 12 13 14 R-, B-, and T-axes gears 15 16 Alvania EP Grease 2 L-axis Balancer Inspection numbers correspond to the numbers in "...
  • Page 61 HW0483980 9.1 Inspection Schedule HW0483980 51/70...

  • Page 62: Notes On Maintenance Procedures

    The battery packs are attached in the two positions indicated in " Fig. 23 (a) Battery Location (Back View) " and " Fig. 23 (b) Battery Location (Top View) ". If a battery alarm occurs in the NX100, replace the battery in accordance with the following procedure:...
  • Page 63 New battery pack HW0470360-A Fig. 24 Battery Connection 1. Turn the NX100 main power supply off. 2. Uninstall the plate from the base connector and pull the battery pack out to replace with a new battery pack. 3. Remove the battery pack from the battery holder.

  • Page 64: Notes On Grease Replenishment/Exchange Procedures

    HW0483980 9.3 Notes on Grease Replenishment/Exchange Procedures Notes on Grease Replenishment/Exchange Proce- dures 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 65: Grease Exchange (Refer To " Fig. 25 S-Axis Speed Reducer And Gear Diagram ".)

    HW0483980 9.3 Notes on Grease Replenishment/Exchange Procedures 2. Remove the plug from the grease inlet. Install the grease zerk A-PT1/4 and then inject the grease. The grease zerk A-PT1/4 is delivered with the manipulator. Grease type: VIGO Grease RE No. 0 Amount of grease: 1200 cc (2400 cc for 1st supply) Grease pump air supply pressure: 0.3 MPa or less...

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

    HW0483980 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 PT 3/8) Grease inlet (Hexagon socket head plug PT 1/8) Fig. 26 L-axis Speed Reducer Diagram Grease Replenishment (Refer to " Fig. 26 L-axis Speed Reducer Diagram ".) 1.

  • Page 67: Grease Exchange (Refer To " Fig. 26 L-Axis Speed Reducer Diagram ".)

    HW0483980 9.3 Notes on Grease Replenishment/Exchange Procedures Grease Exchange (Refer to " Fig. 26 L-axis Speed Reducer Dia- gram ".) 1. Make the L-Arm vertical to ground. 2. Remove the plug from the grease exhaust port. • If grease is added with the plug on, the grease will go inside the motor and may cause a NOTE damage.

  • Page 68: Grease Replenishment/Exchange For U-Axis Speed Reducer

    HW0483980 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.3 Grease Replenishment/Exchange for U-axis Speed Reducer Grease exhaust port Hexagon socekt head plug PT 1/8 Grease inlet Hexagon socekt head plug PT 1/8 Fig. 27 U-axis Speed Reducer Diagram Grease Replenishment (Refer to " Fig. 27 U-axis Speed Reducer Diagram ".) 1.

  • Page 69: Grease Exchange (Refer To " Fig. 27 U-Axis Speed Reducer Diagram ".)

    HW0483980 9.3 Notes on Grease Replenishment/Exchange Procedures Grease Exchange (Refer to " Fig. 27 U-axis Speed Reducer Dia- gram ".) 1. Make the U-Arm horizontal to ground. 2. Remove the plug from the exhaust port. • If grease is added with the plug on, the grease will go inside the motor and may cause a NOTE damage.

  • Page 70: Grease Replenishment/Exchange For U-Arm

    HW0483980 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.4 Grease Replenishment/Exchange for U-Arm Grease inlet for R-, B- and T-gears in the casing (Hexagon socket head plug PT 1/8) T-axis speed reducer Grease exhaust port for T-axis speed reducer (Hexagon socket head plug PT 1/16) R-axis speed reducer Grease inlet for B-, and T-axis...

  • Page 71: Grease Replenishment For R-, B-, T- Gears In The Casing (Refer To " Fig. 28 U-Arm Diagram ".)

    HW0483980 9.3 Notes on Grease Replenishment/Exchange Procedures Grease Replenishment for R-, B-, T- Gears in the Casing (Refer to " Fig. 28 U-Arm Diagram ".) 1. Remove the plug from the exhaust port. • If grease is added with the plug on, the grease will go outside the grease box and may NOTE cause a damage.

  • Page 72: Grease Replenishment For B-Axis Speed Reducer (Refer To " Fig. 28 U-Arm Diagram ".)

    HW0483980 9.3 Notes on Grease Replenishment/Exchange Procedures 5. Remove the grease zerk from the grease inlet and reinstall the plug. Tighten the plug to 4.9 N m (0.5 kgf m). Apply Three Bond 1206C to screwed parts of the plug. •...

  • Page 73: Grease Exchange For R-, B- T-Axis Gears In The Casing (Refer To " Fig. 28 U-Arm Diagram ".)

    HW0483980 9.3 Notes on Grease Replenishment/Exchange Procedures 3. Move the T-axis for a few minutes to discharge the excess grease. 4. Wipe the grease exhaust port with a cloth and reinstall the plug after the grease dis- charge is completed. Tighten the plug to 4.9 N m (0.5 kgf m).

  • Page 74: Grease Exchange For R-Axis Speed Reducer (Refer To " Fig. 28 U-Arm Diagram ".)

    HW0483980 9.3 Notes on Grease Replenishment/Exchange Procedures Grease Exchange for R-axis Speed Reducer (Refer to " Fig. 28 U- Arm Diagram ".) 1. Remove the plug from the grease exhaust port • If grease is added with the plug on, the grease will go outside the grease box and may NOTE cause a damage.

  • Page 75: Grease Exchange For T-Axis Speed Reducer (Refer To " Fig. 28 U-Arm Diagram ".)

    HW0483980 9.3 Notes on Grease Replenishment/Exchange Procedures 5. Wipe the exhaust port with a cloth and reinstall the plug. Tighten the plug to 4.9 N • (0.5 kgf m). Apply Three Bond 1206C to screwed parts of the plug. • 6.

  • Page 76: Grease Replenishment For The Balancer Links

    HW0483980 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.5 Grease Replenishment for the Balancer Links Link 2 Grease inlet (Hexagon socket head plug PT 1/8) Exhaust port 2 (Hexagon socket head plug PT 1/8) Exhaust port 1 (Hexagon socket head plug PT 1/8) Link 2 Needle bearing Link 1 Tapered roller bearing (2 bearings)

  • Page 77: Notes For Maintenance

    HW0483980 9.3 Notes on Grease Replenishment/Exchange Procedures 9.3.6 Notes for Maintenance When performing maintenance such as replacement of a wire harness in the manipulator, NOTE 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 78: Recommended Spare Parts

    It is recommended that the following parts and components be kept in stock as spare parts for the MOTOMAN-ES280N. The spare parts list for the MOTOMAN-ES280N is shown below. For preparing lead wires for internal wiring, etc., check the serial number and contact your Yaskawa representative.
  • Page 79 HW0483980 Table. 11 Spare Parts for the Motoman-ES280N Parts Rank Name Type Manufacturer Remarks Unit Yaskawa U-axis HW0380793-B Electric Speed Reducer Corporation Yaskawa U-axis Input Gear HW0309418-1 Electric Corporation Yaskawa R-axis HW0380780-A Electric Speed Reducer Corporation Yaskawa B-axis HW9381453-B Electric...

  • Page 80: Parts List

    HW0483980 11.1 S-Axis Unit 11 Parts List 11.1 S-Axis Unit 1002 1003 1001 1012 1004 1018 1016 1017 1005 1006 1013 1007 1019 1008 1014 1020 1010 1032 1015 1009 1033 1021 1031 1022 1039 10 11 1023 1035 1030 1036 1037 1038...
  • Page 81 HW0483980 11.1 S-Axis Unit DWG No. Name 1001 SGMRS-37A2A-YR1* Motor 1002 M12X60 Socket screw (DACRODAIZED coating) 1003 2H-12 Spring washer (DACRODAIZED coating) 1004 HW0404753-1 Spacer 1005 HW0404752-1 Flywheel 1006 STW-50 Retaining rings Type C 1007 6310 Bearing 1008 HW0301627-1 Gear 1009 M8X110 Socket screw...

  • Page 82: L-Axis Unit

    HW0483980 11.2 L-Axis Unit 11.2 L-Axis Unit 2011 2019 2030 2018 2031 2017 2032 2012 2033 2034 2035 2037 2036 Balancer Unit 2014 2027 2013 2038 2040 2026 2039 2040 2044 2025 2028 2024 2029 2016 2023 2015 2020 2021 2022 2043 2040...
  • Page 83 HW0483980 11.2 L-Axis Unit DWG No. Name 2001 SGMRS-44A2A-YR2* Motor 2002 M12X35 Socket screw (DACRODAIZED coating) 2003 2H-12 Spring washer (DACRODAIZED coating) 2004 Y507212.5 Oil seal 2005 HW9482306-E Shaft 2006 HW0408806-1 Washer 2007 HW0481082-A Bolt 2008 HW9481343-A Shaft 2009 HW0301778-1 Gear 2010 ISTW-10...

  • Page 84: Urbt-Axis Unit

    HW0483980 11.3 URBT-Axis Unit 11.3 URBT-Axis Unit R-axis 3002 3029 3026 3003 3027 3030 U-axis 3025 3031 3028 3032 3033 3001 3026 3026 3027 3027 3004 3034 T-axis B-axis 3005 3035 3006 3036 3025 3007 3037 3028 3038 3008 3039 3009 3028 3010...
  • Page 85 HW0483980 11.3 URBT-Axis Unit DWG No. Name 3001 SGMRS-44A2A-YR2* Motor 3002 M12X40 Socket screw (DACRODAIZED coating) 3003 2H-12 Spring washer (DACRODAIZED coating) 3004 HW9482306-E Shaft 3005 HW9481343-A Shaft 3006 HW0408806-1 Washer 3007 HW0481083-A Bolt 3008 HW0309418-1 Gear 3009 ISTW-12 Retaining rings Type C 3010 HW9405703-1...

  • Page 86: U-Arm Unit

    HW0483980 11.4 U-Arm Unit 11.4 U-Arm Unit 3016 4007 4008 4005 4001 4002 4003 4004 4015 4016 4009 4006 4010 4009 4014 4021 4011 4022 4017 4012 4018 4013 4028 4020 4023 4027 4029 4030 4031 4024 4032 4025 4033 4026 4037 4038...
  • Page 87 HW0483980 11.4 U-Arm Unit DWG No. Name 4001 M8X20 Socket screw 4002 2H-8 Spring washer 4003 HW0401508-1 Plate 4004 HW0401505-1 B nut 4005 M4X6 H-set screw 4006 HW0100173-2 Housing 4007 M8X20 Socket screw 4008 2H-8 Spring washer 4009 HR32006XJ Bearing 4010 HW0301969-1 Gear...

  • Page 88: Wrist Unit

    HW0483980 11.5 Wrist Unit 11.5 Wrist Unit 40 11 5008 5006 50 11 5012 5013 5009 5014 5076 5005 5078 5015 5007 5004 5068 5069 5001 5027 5010 5063 5077 5070 5016 5018 5017 5066 5019 5065 5003 5020 5064 5002 5025 5019...
  • Page 89 HW0483980 11.5 Wrist Unit DWG No. Name DWG No. Name 5001 HW0100242-1 Wrist base 5056 M8X20 Socket screw (DACRODAIZED coating) 5002 M12X30 Socket screw 5057 2H-8 Spring washer 5003 2H-12 Spring washer (DACRODAIZED coating) 5004 G140 O-ring 5058 PT1/16 Plug 5005 HW0401510-1 B nut...

  • Page 90: Balancer Unit

    HW0483980 11.6 Balancer Unit 11.6 Balancer Unit 6001 6017 6002 6003 6004 6018 6005 6007 6006 6010 6011 6012 6009 6008 6011 6010 6014 6016 6013 6015 11-11 HW0483980 69K/70...
  • Page 91 HW0483980 11.6 Balancer Unit DWG No. Name 6001 HW0100477-1 Case 6002 HW0401112-1 Flange 6003 HW0306033-1 Flange 6004 HW0481740-A Coil spring 6005 HW0481741-A Coil spring 6006 HW0481742-A Coil spring 6007 HW0200420-1 Flange 6008 M10X40 Socket screw 6009 2H-10 Spring washer 6010 IRTW-75 Retaining rings 6011...
  • Page 92 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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