YASKAWA MOTOMAN-MA1900 Instructions Manual

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MOTOMAN-MA1900

INSTRUCTIONS

TYPE: YR-MA01900-A00 (STANDARD SPECIFICA

TYPE: YR-MA01900

YR-MA01900-A01 (SLU-AXES WITH LIMIT SWITCHES)

YR-MA01900-A10

YR-MA01900-A10 (CEILING-MOUNTED

YR-MA01900-A11

YR-MA01900-A11 (CEILING-MOUNTED, SLU-AXES WITH LIMIT SWITCHES)

Upon receipt of the product and prior to initial operation, read these

Upon receipt of the

product and prior to initial operation, read these instructions thoroughly

for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN-MA1900 INSTRUCTIONS

DX100 INSTRUCTIONS

DX100 OPERATOR'S MANUAL

DX100 MAINTENANCE MANUAL

The DX100 operator's manuals above correspond to specific u sage.

The DX100 operator's manuals above correspond to specific u

Be sure to use the appropriate manual.

-A00 (STANDARD SPECIFICATIONS)

(CEILING-MOUNTED SPECIFICATION)

(CEILING-MOUNTED, SLU-AXES WITH LIMIT SWITCHES)

sage.

TIONS)

SPECIFICATION)

instructions thoroughly, and retain

P P a a r r t t N N u u m m b b e e r r : :

1 1 5 5 6 6 2 2 2 2 6 6 - - 1 1 C C D D

R R e e v v i i s s i i o o n n : :

2 2

MANUAL NO.

HW0484971

, and retain

1/79

3 3

Table of Contents

Summary of Contents for YASKAWA MOTOMAN-MA1900

Page 1 , and retain for future reference. for future reference. MOTOMAN INSTRUCTIONS MOTOMAN INSTRUCTIONS MOTOMAN-MA1900 INSTRUCTIONS MOTOMAN-MA1900 INSTRUCTIONS DX100 INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR’S MANUAL DX100 OPERATOR’S MANUAL DX100 MAINTENANCE MANUAL DX100 MAINTENANCE MANUAL The DX100 operator’s manuals above correspond to specific u...
Page 2 MOTOMAN-MA1900 for the application to mechanical part of the MOTOMAN-MA1900 for the application to the actual operation the actual operation and for proper and for proper maintenance and inspection.
Page 3 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or Read this manual carefully before installation, operation, maintenance, or inspection of the MOTOMAN-MA1900. inspection of the MOTOMAN-MA1900. In this manual, the Notes for Safe Operation are classified as In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
Page 4 156226-1CD MA1900 WARNING • Before operating the manipulator, check that servo power is turned OFF pressing the emergency stop buttons on the front door of the DX100 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 DX100 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 m anipulator, the controller, the programming pendant, and supply cables.
Page 6 156226-1CD MA1900 Explanation of Warning Labels The following warning labels ar e 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
156226-1CD MA1900 Table of Contents 1 Product Confirmation ........................1-1 1.1 Contents Confirmation ....................... 1-1 1.2 Order Number Confirmation ....................1-2 2 Transport............................2-1 2.1 Transport Method ......................2-1 2.1.1 Using a Crane ...................... 2-2 2.1.2 Using a Forklift..........
Page 8: Wiring
156226-1CD MA1900 Wiring 4.2 Cable Connection Fig. 4-1: Grounding Method A A 5.5mm or more Section A-A’ Bolt M8 (for grounding) (Delivered with the manipulator) Cable Connection Two manipulator cables are delivered with the manipulator: an encoder cable (1BC) and a power cable (2BC). (Refer to Fig. 4-2 Manipulator Cables on page 4-3.) Connect these cables to the manipulator base connectors and to the DX100.
Page 9: Connection To The Manipulator
156226-1CD MA1900 Wiring 4.2 Cable Connection 4.2.1 Connection to the Manipulator Before connecting two cables to the manipulator, verify the numbers on both manipulator cables and the connectors on the connector base of the manipulator. When connecting, adjust the cable connector positions to the main key positions of the manipulator, and insert cables in the order of 2BC, then 1BC.
Page 10 156226-1CD MA1900 Wiring 4.2 Cable Connection Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side) Connector Details (Manipulator Side) Fig. 4-3(b): Manipulator Cable Connection (DX100 Side) HW0484971 24/79...
Page 11: Basic Specifications
156226-1CD MA1900 Basic Specifications 5.1 Basic Specifications Basic Specifications Basic Specifications Table 5-1: Basic Specifications Item Model MOTOMAN-MA1900 Structure Vertically Articulated Degree of Freedom Payload 3 kg Repeatability ±0.08 mm Range of Motion S-Axis (turning) ±180° L-Axis (lower arm) +155°, -110°...
Page 12: Part Names And Working Axes
156226-1CD MA1900 Basic Specifications 5.2 Part Names and Working Axes Part Names and Working Axes Fig. 5-1: Part Names and Working Axes U-arm L-arm Wrist flange S-head Manipulator base Manipulator Base Dimensions Fig. 5-2: Manipulator Base Dimensions ± Fitting surface 1 .
Page 13: Dimensions And P-Point Maximum Envelope
156226-1CD MA1900 Basic Specifications 5.4 Dimensions and P-point Maximum Envelope Dimensions and P-point Maximum Envelope Fig. 5-3(a): Dimensions and P-Point Maximum Envelope (YR-MA01900-A00, A01) 4 9 0 R 1 ° a . d i 4 2 5 4 1 . 4 7 1...
Page 14: 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 Motoman representative in advance. Table 5-2: S-Axis Operating Range...
Page 15 156226-1CD MA1900 Basic Specifications 5.5 Alterable Operating Range HW0484971 30/79...
Page 16: Allowable Load For Wrist Axis And Wrist Flange
The allowable wrist load is 3 kg maximum. 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 Motoman representative for further information or assistance.
Page 17: Wrist Flange
156226-1CD MA1900 Allowable Load for Wrist Axis and Wrist Flange 6.2 Wrist Flange Wrist Flange The wrist flange dimensions are shown in Fig.6-2 Wrist Flange. It is recommended that the attachment be mounted inside the fitting in orde r to identify the alignment marks.
Page 18 156226-1CD MA1900 Maintenance and Inspection 9.3 Notes on Grease Replenishment Procedures 9.3.8.2 Battery Pack Connection Before removing the encoder connector (with CAUTION label), connect the battery pack referring to the following figures. Fig. 9-12(a): Encoder Connector Diagram (for S-, L-, and U-Axes) Encoder connector ...
Page 19 156226-1CD MA1900 Maintenance and Inspection 9.3 Notes on Grease Replenishment Procedures Fig. 9-12(b): Encoder Connector Diagram (for R-, B-, and T-Axes) Encoder Motor Motor cable, etc. Wire harness Power connector in manipulator Connection 0BT4 BAT4 r t C e o o ...
Page 20 156226-1CD MA1900 Maintenance and Inspection 9.3 Notes on Grease Replenishment Procedures 9-22 HW0484971 62/79...
Page 21 Recommended Spare Parts It is recommended to keep the parts and components in the following table in stock as spare parts for the MOTOMAN-MA1900. Product performance cannot be guaranteed when using spare parts from any company other than Yaskawa. The spare parts are ranked as follows: •...
Page 22 156226-1CD 156226-1CD MA1900 MA1900 Parts Parts List List 11.1 11.1 S-Axis S-Axis Unit Unit Table 11-1: S-axis Unit Table 11-1: S-axis Unit N N o o . . D D W W G G N N o o . . N N a a m m e e P P c c s s .
Page 23 156226-1CD 156226-1CD MA1900 MA1900 Parts Parts List List 11.2 11.2 L-Axis L-Axis Unit Unit 1 1 1 1 . . 2 2 L L - - A A x x i i s U s Un n i i t t Fig.
Page 24 156226-1CD 156226-1CD MA1900 MA1900 Parts Parts List List 11.2 11.2 L-Axis L-Axis Unit Unit Table 11-2: L-Axis Unit Table 11-2: L-Axis Unit N N o o . . D D W W G G N N o o . . N N a a m m e e P P c c s s .
Page 25 156226-1CD MA1900 Parts List 11.3 U-Axis Unit 11.3 U-Axis Unit Fig. 11-3: U-Axis Unit 3037 3030 3031 3048 3038 3032 3039 3001 3035 3041 3042 3043 3036 3040 3002 3020 3018 3044 3045 3017 3047 3016 3046 3015 3033 3014 3034 3019 3026...
Page 26 156226-1CD MA1900 Parts List 11.3 U-Axis Unit Table 11-3: U-Axis Unit (Sheet 1 of 2) DWG No. Name Pcs. 3001 SGMRV-05ANA-YR1* Motor 3002 M8X30 Socket screw (Dacrotized) 3003 PT1/8 Plug 3004 M10X20 Socket screw 3005 2H-10 Spring washer 3006 M8X45 Socket screw 3007 2H-8...
Page 27 156226-1CD MA1900 Parts List 11.3 U-Axis Unit Table 11-3: U-Axis Unit (Sheet 2 of 2) DWG No. Name Pcs. 3043 KQN10-12 Nipple 3044 2H-8 Spring washer (Dacrotized) 3045 TA1-S10 Clamp 3046 T50R Cable tie 3047 M5X10 APS bolt 3048 HW0100634-2 Casing 2017...
Page 28 156226-1CD MA1900 Parts List 11.4 R-Axis Unit 11.4 R-Axis Unit Fig. 11-4: R-Axis Unit 4033 4029 4058 5073 4052 4031 4053 4032 4054 4055 4028 4018 4056 4015 4030 4016 4061 4026 4059 4025 4007 4060 4003 4048 4014 4057 4035 4013 4027...
Page 29 MOTOMAN-MA1900 INSTRUCTIONS Specifications are subject to change without notice for ongoing product modifications and improvements. MANUAL NO. HW0484971 79/79...

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Yr-ma01900-a00 Yr-ma01900-a01 Yr-ma01900-a10 Yr-ma01900-a11

YASKAWA MOTOMAN-MA1900 Instructions Manual

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