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Motoman EA1400N Manipulator Manual

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Motoman NX Controller
EA1400N
Manipulator Manual
Part Number:
Revision:
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
149208-1CD
0

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  • Page 1 Motoman NX Controller EA1400N Manipulator Manual Part Number: 149208-1CD Revision: Motoman, Incorporated 805 Liberty Lane West Carrollton, OH 45449 TEL: (937) 847-6200 FAX: (937) 847-6277 24-Hour Service Hotline: (937) 847-3200...
  • 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 (HP3JC) •...
  • Page 4 User’s 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.

  • Page 6: Standard Conventions

    User’s Manual Chapter 2 Safety This safety section addresses the following: • Standard Conventions (Section 2.2) • General Safeguarding Tips (Section 2.3) • Mechanical Safety Devices (Section 2.4) • 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...

  • Page 7: General Safeguarding Tips

    EA1400N 149208-1 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: Installation Safety

    User’s 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 User’s Manual Chapter 2 Safety Notes page 8 Final...
  • Page 11 INSTRUCTIONS TYPE: YR-EA1400N-A00 (STANDARD SPECIFICATION) YR-EA1400N-A01 (SLU-AXES WITH L.S.) YR-EA1400N-A10 (CEILING-MOUNTED SPECIFICATION) YR-EA1400N-A11 (CEILING-MOUNTED, SLU-AXES WITH L.S.) Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-EA1400N INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S MANUAL...
  • Page 12 MANDATORY • This instruction manual is intended to explain mainly on the mechanical part of the MOTOMAN-EA1400N for the application to the actual opera- tion and for proper maintenance and inspection. It describes on safety and handling, details on specifications, necessary items on mainte- nance and inspection, to explain operating instructions and mainte- nance procedures.

  • Page 13: Notes For Safe Operation

    Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the MOTOMAN-EA1400N. 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 WARNING • Before operating the manipulator, check that servo power is turned OFF pressing the emergency stop buttons on the front door of the NX100 and the programming pendant. 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 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 Always follow the warnings on the labels. Also, an identification label with important information is placed on the body of the manipula- tor. 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 DATE ORDER NO. injury SERIAL NO.

  • Page 17: Table Of Contents

    Product Confirmation 1.1 Contents Confirmation ......1 1.2 Order Number Confirmation ..... . . 1 Transporting 2.1 Transporting Method .
  • Page 18 Allowable Load for Wrist Axis and Wrist Flange 6.1 Allowable Wrist Load ....... 6 6.2 Wrist Flange .
  • Page 19 9.2.8 Notes for Maintenance ......9-18 Wrist Unit ........9-18 Battery Pack Connection .

  • 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

    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. and the NX100 have the  same order number. ORDER NO. NX100 ****** TYPE ERCR- POWER SUPPLY 200V...

  • Page 22: Transporting

    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. The system consists of precision components, so failure to observe this caution may adversely affect performance.

  • Page 23: Using A Crane

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

  • Page 24: Using A Forklift

    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 as shown in " Fig. 3 Using the Forklift ". Insert claws under the pallet and lift it. The pallet must be strong enough to support the manipulator.

  • Page 25: Installation

    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 fully extended arm and tool will not reach the wall, safeguarding, or controller. Failure to observe this warning may result in injury or damage.

  • Page 26: Mounting Procedures For Manipulator Base

    3.1 Safeguarding Installation Safeguarding Installation To insure safety, be sure to install safeguarding. It prevents unforeseen accidents with personnel and damage to equipment. Refer to the quoted clause for your information and guidance: Responsibility for Safeguarding (ISO10218) The user of a manipulator or robot system shall ensure that safeguards are provided and used in accordance with Sections 6, 7, and 8 of this standard.

  • Page 27: Mounting Example

    3.2 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 rug- ged and durable to prevent shifting of the manipulator or the mounting fixture. It is recom- mend to prepare a baseplate in 40 mm or more in thickness, and anchor bolts in M16 or larger size.

  • Page 28: Types Of Mounting

    3.3 Types of Mounting Types of Mounting The MOTOMAN-EA1400N can be mounted in three ways: floor-mouning (standard), wall- mounting, and ceiling-mounting. For wall-mounted and ceiling-mounted types, the three points listed below are different from the floor-mounted type. The manipulator types for ceiling-mounting are: YR-EA1400N-A10 and YR-EA1400N-A11.

  • Page 29: Precautions To Prevent The Manipulator From Falling

    3.4 Location 3.3.3 Precautions to Prevent the Manipulator from Falling In case of installation of wall-mounted and ceiling-mounted types, for safety purposes, take measures to keep the manipulator from falling. Refer to " Fig. 6 Precaution against Falling ". Support to prevent the manipulator from fall Manipulator base Hexagon socket head cap screw M16...

  • Page 30: Wiring

    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 31: Grounding

    4.1 Grounding Grounding Follow local regulations for grounding line size. A line of 5.5 mm or more is recommended. Refer to " Fig. 7 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 32: Connection To The Manipulator

    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 and 1BC, then set the lever low until it clicks.
  • Page 33 4.2 Cable Connection Connector details (Manipulator side) Fig. 9 (a) Manipulator Cable Connectors (Manipulator Side) Fig. 9 (b) Manipulator Cable Connection to the NX100...

  • Page 34: Basic Specifications

    5.1 Basic Specifications 5 Basic Specifications Basic Specifications Table. 3 Basic Specifications Item Model MOTOMAN-EA1400N Application Arc Welding Structure Vertically Articulated Degree of Freedom Payload 3 kg ±0.08 mm Repetitive Positioning Accuracy S-Axis (turning) ±170° L-Axis (lower arm) +155°, -90°...

  • Page 35: Manipulator Base Dimensions

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

  • Page 36: Dimensions And P-Point Maximum Envelope

    5.4 Dimensions and P-Point Maximum Envelope Dimensions and P-Point Maximum Envelope 210 170 View A 1690 P-point maximum envelope P-point  Unit:mm Fig. 12 (a) Dimensions and P-Point Maximum Envelope...
  • Page 37 5.4 Dimensions and P-Point Maximum Envelope P-point maximum envelope P-point 1690 The area where the manipulator operates with its wrist unit (B-axis) pointed downward Unit:mm Fig. 12 (b) Dimensions and P-Point Maximum Envelope...

  • Page 38: Alterable Operating Range

    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 39: Allowable Load For Wrist Axis And Wrist Flange

    6.1 Allowable Wrist Load 6 Allowable Load for Wrist Axis and Wrist Flange Allowable Wrist Load 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. 5 Moment and Total Moment of Inertia ".

  • Page 40: Wrist Flange

    6.2 Wrist Flange Wrist Flange The wrist flange dimensions are shown in " Fig. 14 Wrist Flange ". It is recommended that the attachment be mounted inside the fitting in order to see alignment marks. Fitting depth must be 6 mm or less. The attachment must be mounted on the range of 90 diameter or less with up to 5 mm height from the flange face.

  • Page 41: System Application

    7.1 Peripheral Equipment Mounts 7 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. 15 Installing Peripheral Equipment " for easier installation of the users’s system applications.
  • Page 42 7.1 Peripheral Equipment Mounts View A Tapped hole M6 (2 holes) (Depth: 12) (Pitch: 1.0) Tapped hole M8 (3 holes) (Depth: 16) (Pitch: 1.25) Mount the peripheral equipment within this range. Upper arm Mount the peripheral equipment so that the center of gravity of the peripheral equipment on the U-arm should be within this range.

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

    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 (14 wires: 0.2 mm x 8 wires and 1.25 mm x 6 wires), and an air line are incorporated in the manipulator for the drive of peripheral devices mounted on the upper arm as shown in "...
  • Page 44 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 on the Connector Base on the U-arm (Open) (+24V: for shock sensor) (Open) (Shock sensor signal input) Pins used Pins used (1.25mm...

  • Page 45: Electrical Equipment Specification

    The limit switches are optional. See " Fig. 18 Location of Limit Switches " for the locations of limit switches. The manipulator with S- and L-axis overrun limit switches, and LU-axis interference limit switch is the type YR-EA1400N-A01 (standard specification) or YR- EA1400N-A11 (ceiling-mounted specifcation).

  • Page 46: Internal Connections

    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 number and location of connectors, see " Fig. 19 Locations and Numbers of Connectors ". Diagrams for Internal connections of the manipulator are shown in “ Fig. 20 (a) Internal Connection Diagram ”, “...
  • Page 47 8.2 Internal Connections POWER CABLE INTERNAL CABLE IN S-AXIS INTERNAL CABLE IN L-AXIS INTERNAL CABLE IN BT-AXES <NOTES> ENCODER POWER SUPPLY BOARD - For the limit switch specification, the connection of the section A is changed as follows: 0BAT11 0BAT1 BAT11 BAT1 0BAT12...
  • Page 48 8.2 Internal Connections POWER CABLE INTERNAL CABLE IN S-AXIS INTERNAL CABLE IN L-AXIS INTERNAL CABLE IN BT-AXES ENCODER POWER SUPPLY BOARD 0BAT11 0BAT1 <NOTES> BAT11 BAT1 0BAT12 0BAT2 BAT12 BAT2 - For the limit switch specification, the connection of the section A is changed as follows: 0BAT3 BAT3 S-AXIS OVERRUN LIMIT SWITCH...
  • Page 49 8.2 Internal Connections Casing Base 3BC(20-29) 3BC(20-29) 3BC-1 2BC-1 FOR SPARE CABLE SHOCK SENSOR (OPTIONAL) 2BC(6X6) No.3CN CN1-1 CN1-1 3CN-1 CN1-2 CN1-2 S-AXIS CN1-3 CN1-3 CN1-4 CN1-4 CN1-5 CN1-5 CN1-6 CN1-6 No.4CN CN2-1 CN2-1 4CN-1 CN2-2 CN2-2 L-AXIS CN2-3 CN2-3 CN2-4 CN2-4 CN2-5...

  • Page 50: Maintenance And Inspection

    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 51 9.1 Inspection Schedule • The inspection interval must be based on the servo power supply on time. NOTE • These inspections were developed for applications where the manipulator is used for arc welding work. For any different or special applications, the inspection process should be developed on an case-by-case basis.
  • Page 52 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 conduc- tion between termi- Visual, Wire harness nals and wear of Multimeter In manipulator protective spring.
  • Page 53 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 B-axis speed Grease cycle).
  • Page 54 9.1 Inspection Schedule...

  • Page 55: Notes On Maintenance Procedures

    9.2 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. 22 Battery Location ". If the bat- tery alarm occurs in the NX100, replace the battery according to the following procedure: Battery pack Plate Connector base...
  • Page 56 9.2 Notes on Maintenance Procedures 1. Turn off the NX100 main power supply. 2. Remove the plate fixing screws and the plate on the connector base, then pull the bat- tery pack out to replace it with the new one. 3.

  • Page 57: Grease Replenishment/Exchange For S-Axis Speed Reducer

    9.2 Notes on Maintenance Procedures 9.2.2 Grease Replenishment/Exchange for S-Axis Speed Reducer Grease exhaust port Hexagon socket head plug PT1/8 (Applicable serial number: before RH9520-4023) Grease exhaust port Hexagon socket head plug PT1/8 (Applicable serial number: RH9520-4024 and over) Grease inlet Hexagon socket head plug PT1/8 S-axis speed reducer Fig.

  • Page 58: Grease Exchange (Refer To " Fig. 24 S-Axis Speed Reducer Diagram ".)

    9.2 Notes on Maintenance Procedures Grease Exchange (Refer to " Fig. 24 S-Axis Speed Reducer Dia- gram ".) 1. Remove the hexagon socket head plugs PT1/8 from the grease inlet and grease exhaust port. If grease is added with the plugs on, the grease will go inside the motor and may damage NOTE it.

  • Page 59: Grease Replenishment/Exchange For L-Axis Speed

    9.2 Notes on Maintenance Procedures 9.2.3 Grease Replenishment/Exchange for L-Axis Speed Reducer Grease exhaust port L-arm Hexagon socket head plug PT 1/8 L-axis speed reducer Grease Inlet Hexagon socket head cap screw M6 Fig. 25 L-Axis Speed Reducer Diagram For the ceiling-mounted manipulator, the grease exhaust port and the grease inlet are NOTE inverted.

  • Page 60: Grease Exchange (Refer To " Fig. 25 L-Axis Speed Reducer Diagram ".)

    9.2 Notes on Maintenance Procedures Grease Exchange (Refer to " Fig. 25 L-Axis Speed Reducer Dia- gram ".) 1. Make the L-arm vertical to the ground. 2. Remove the hexagon socket head plug PT1/8 from the grease exhaust port. 3. Remove the hexagon socket head cap screw M6 from the grease inlet. If grease is added with the plug on, the grease will go inside the motor and may damage it.

  • Page 61: Grease Replenishment/Exchange For U-Axis Speed Reducer

    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 U-axis Hexagon socket head plug PT 1/8 speed reducer Fig. 26 U-Axis Speed Reducer Diagram For the ceiling-mounted manipulator, the grease exhaust port and the grease inlet are NOTE inverted.

  • Page 62: Grease Exchange (Refer To " Fig. 26 U-Axis Speed Reducer Diagram ".)

    9.2 Notes on Maintenance Procedures Grease Exchange (Refer to " Fig. 26 U-Axis Speed Reducer Dia- gram ".) 1. Make the U-arm horizontal to the ground. 2. Remove the hexagon socket head cap screw M6 from the grease exhaust port. 3.

  • Page 63: Grease Replenishment For R-Axis Speed Reducer

    9.2 Notes on Maintenance Procedures 9.2.5 Grease Replenishment for R-Axis Speed Reducer Exhaust port Hexagon socket head plug PT 1/8 R-axis speed reducer Grease inlet Hexagon socket head cap screw M6 Fig. 27 R-Axis Speed Reducer Diagram NOTE For the ceiling-mounted manipulator, the exhaust port and the grease inlet are inverted. 1.

  • Page 64: Grease Replenishment For B-Axis Speed Reducer

    9.2 Notes on Maintenance Procedures 9.2.6 Grease Replenishment for B-Axis Speed Reducer B-axis speed reducer Grease inlet Exhaust port (Grease zerk A-MT6X1) Cover (Plug LPM5) View A Fig. 28 B-Axis Speed Reducers Diagram 1. Remove the plug LPM5 from the exhaust port. 2.

  • Page 65: Grease Replenishment For T-Axis Gear

    9.2 Notes on Maintenance Procedures 9.2.7 Grease Replenishment for T-Axis Gear Grease inlet 2 Hexagon socket head cap screw M6 Grease inlet 1 Hexagon socket head cap screw M6 Exhaust port Hexagon socket head plug M6 Fig. 29 T-Axis Gear Diagram 1.
  • Page 66 9.2 Notes on Maintenance Procedures 7. Install a grease zerk A-MT6X1 to the grease inlet 2. (The grease zerk is delivered with the manipulator.) 8. Inject grease into the grease inlet 2 using a grease gun. Grease type: Alvania EP grease2 Amount of grease: 5cc The exhaust port is used for air flow.

  • Page 67: Notes For Maintenance

    Therefore, if the wrist cover is disassembled, reseal with sealing bond (Three Bond 1206C, refer to " Table. 9 Spare Parts for the YR-EA1400N-A00, -A01, -A10, -A11 "). Cover...
  • Page 68 9.2 Notes on Maintenance Procedures Motor Motor power connector Encoder connector 0BT* BAT* Battery pack HW9470932 Connector for battery back-up Fig. 31 (a) Encoder Connector Diagram (for S-, L-, and U-Axes) Encoder Motor Motor cable, etc. Wire harness Power connector in manipulator Connection OBT4...

  • Page 69: Recommended Spare Parts

    It is recommended that the following parts and components be kept in stock as spare parts for the Motoman-EA1400N. The spare parts list for the Motoman-EA1400N is shown below. Product performance can not be guaranteed when using spare parts from any company other than Yaskawa.
  • Page 70 Table. 9 Spare Parts for the YR-EA1400N-A00, -A01, -A10, -A11 Parts Rank Name Type Manufacturer Remarks Unit L-Axis HW0303276-1 Yaskawa Electric Input Gear Corporation U-Axis HW9280738-B Yaskawa Electric Speed Reducer Corporation U-Axis HW0303277-1 Yaskawa Electric Input Gear Corporation R-Axis HW0381645-A...

  • Page 71: Parts List

    11.1 S-Axis Unit 11 Parts List 11.1 S-Axis Unit 1020 1021 1001 1027 1011A 1030 1035 1011 1034 1034 1018 1035 1033 1032 1033 1010 Applicable serial number: Before RH9510-410C 1009 1026 1036 1015 1007 1004 1024 1024 1006 1012 1006 1040 1005...
  • Page 72 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: Serial No. Cover RH9510-410C HW0200492-1: Serial No. Cover RH9510-410C 1007 HW0404551-1: Serial No. Cover RH9510-410C Not used for Serial No. RH9510-410C 1009 HW0404549-1...
  • Page 73 11.2 L-Axis Unit 11.2 L-Axis Unit 2004 2012 2001 2014 2006 2002 2003 2013 2009 2021 2020 2011 2010 2024 2016 2023 1004 2022 2008 2007 2005 Applicable serial number: RH9510-4021 and after Applicable serial number: Before RH9510-4021 * The locations of parts 2025 and 2026 are changed as above according to the manipulator's serial number.
  • Page 74 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 RH9510-4015 HW0303127-1: Serial No RH9510-4021 RH9510- 4034 HW0304456-1: Serial No RH9510-4041 2006 HW0304457-1 Cover 2007 M14X35 Socket screw 2008 Washer...
  • Page 75 11.3 U-Axis Unit 11.3 U-Axis Unit 3022 3004 4042 3013 3001 3012 3036 3033-34 3005 3010 3035 3009 3007 3008 3033-34 3019 3021 3035 3023 3027 3029 3026 3024 3038 3003 3025 3006 3037 3028 3020 3007 3019 3017 3002 2004 3016 3015...
  • Page 76 11.3 U-Axis Unit DWG No. Name 3001 SGMRS-06A2B-YR1* Motor 3002 HW9280738-B Speed reducer 3003 HW0303277-1 Gear 3004 HW0100616-1 Casing 3005 HW0200494-1 Cover 3006 HW0404554-1 N-base 3007 HW0404196-2 Washer 3008 HW0404719-1 Plate 3009 HW0304458-1 Support 3010 HW0304454-1 Cover 3012 PT1/8 Plug 3013 M8X30 Socket screw...
  • Page 77 11.4 R-Axis Unit 11.4 R-Axis Unit 4054 4055 4052 4053 5013 4019 4048 4016 4027 4017 4045 4026 4044 4007 4003 4046 4039 4028 4015 4014 4037 4006 4041 4025 4005 4043 4050 4011 3004 4008 4050 4009 4011 4010 4024 4012 4004...
  • Page 78 11.4 R-Axis Unit DWG No. Name DWG No. Name 4001 SGMPH-01A2A-YR1* Motor 4061 2H-5 Spring washer 4002 HW0381645-A Speed reducer 3004 HW0100616-1 Casing 4003 CRBH11016AUE01 Cross roller 5013 HW0100617-1 U-arm bearing 4004 6906 Bearing 4005 6905 Bearing 4006 TC1101226 Oil seal 4007 TC1301427 Oil seal...

  • Page 79: Wrist Unit

    11.5 Wrist Unit 11.5 Wrist Unit 5069 5080 5070 5074 5073 5024 5020 5003 5015 5038 5023 5067 5071 5039 5005 5068 5026 5036 5028 5072 5053 5036 5054 5008 5064 5090 5071 5081 5043 5030 5035 5014 5004 5079 5041 5007 5076...
  • Page 80 11.5 Wrist Unit DWG No. Name DWG No. Name 5001 SGMAS-01A2A-YR1* Motor 5056 M4X12 Socket screw 5002 HW0381646-A Speed reducer 2H-4 Spring washer 5003 TC72888 Oil seal 5057 M4X16 Socket screw 5004 TC65786 Oil seal 2H-4 Spring washer 5005 NA4901 Needle bearing 5058 Washer...
  • Page 81 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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