YASKAWA
VS-606V7 OPTION UNIT
MECHATROLINK COMMUNICATIONS INTERFACE UNIT
INSTRUCTIONS
MODEL: SI-T/V7
Upon receipt of the product and prior to initial operation, read these instructions
thoroughly and retain them for future reference.
YASKAWA
MANUAL NO. TOBP C730600 03C
Copyright © 2004 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this
publication.
Introduction
Thank you for purchasing a Vector-control General-purpose VS-606V7 Inverter and a SI-T/
V7 MECHATROLINK-I/MECHATROLINK-II Communications Interface Unit (called “SIT/V7 Unit” below).
This manual describes the operation and specifications of the SI-T/V7 Unit, which connects
to the MECHATROLINK-I/MECHATROLINK-II open field network for exchanging data.
Be sure that you have read and understood this manual before attempting to operate the SIT/V7 Unit.
For details on operating the Inverter itself, refer to the VS-606V7 Series Instruction Manual
(TOE-S606-11).
Yaskawa Electric, Inc.
General Precautions
• The diagrams in this manual may be indicated without covers or safety shields in order to show
details. Be sure to restore covers or shields before operating the Inverter, and operate the Inverter
according to the instructions provided in this manual.
• The products and specifications described in this manual or the contents and presentation of the
manual may be changed without notice to improve the product and/or the manual.
• When ordering a new copy of the manual due to damage or loss, contact your Yaskawa representative or the nearest Yaskawa sales office and provide the manual number shown on the front
cover.
• Any modifications to the product by the customer invalidate the warranty, and Yaskawa accepts no
responsibility for the results of any modifications
3
Safety Precautions
Carefully read this manual and all other documentation provided with the product before
attempting to install, operate, inspect, or perform maintenance on the product. Within this
manual, safety-related precautions are classified a “warnings” and “cautions.”
WARNING
CAUTION
Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury.
Indicates precautions that, if not heeded, could result in relatively less serious or
minor injury, or damage to the equipment.
Failure to heed even a precaution classified as a caution can result in serious consequences
depending on the situation. All precautions contain important information, so make sure that
they are followed carefully.
IMPORTANT
Indicates important information that the user should make careful note of, even though it is
not classified as a caution.
4
„ Confirmations upon Delivery
CAUTION
• Never use an Option Unit that is damaged or missing components.
Doing so can result in injury.
„ Installation and Wiring
WARNING
• Never touch the inside of the Inverter with your hands.
Doing so can result in electric shock.
• Before installing or removing the Option Unit, or performing wiring operations, always turn OFF the
power to the Inverter and wait until the specified period of time has elapsed after all the Inverter
indicators have turned OFF. (The time is shown on the Inverter’s front cover.)
Failure to do so can result in electric shock.
• Do not allow cables to be damaged, subjected to stress, placed under heavy objects, or pinched.
Doing so can result in electric shock, faulty operation, or damage to the equipment.
CAUTION
• Never touch the Option Unit terminals directly with your hands.
Doing so can result in damage from static electricity.
• Insert the connectors securely.
Failure to do so can result in damage or faulty operation of devices.
„ Settings
CAUTION
• Do not carelessly change the Inverter’s settings.
Doing so can result in damage or faulty operation of devices.
5
Warranty Information
„ Free Warranty Period and Scope
„ Warranty Period
This product is warranted for twelve months after being delivered to Yaskawa's customer or
if applicable eighteen months from the date of shipment from Yaskawa's factory, whichever
comes first.
„ Scope of Warranty
Inspections
Periodic inspections must be conducted by the customer. However, upon request, Yaskawa
or one of Yaskawa's Service Centers can inspect the product for a fee. In this case, if after
conferring with the customer, a Yaskawa product is found to be defective due to Yaskawa
workmanship or materials and the defect occurs during the warranty period, then this fee
will be waived and the problem remedied free of charge.
Repairs
If a Yaskawa product is found to be defective due to Yaskawa workmanship or materials and
the defect occurs during the warranty period, Yaskawa will provide a replacement, repair the
defective product, and provide shipping to and from the site free of charge.
However, if the Yaskawa Authorized Service Center determines that the problem with a
Yaskawa product is not due to defects in Yaskawa's workmanship or materials, then the customer will be responsible for the cost of any necessary repairs. Some problems that are outside the scope of this warranty are:
• Problems due to improper maintenance or handling, carelessness, or other reasons where
the customer is determined to be responsible.
• Problems due to additions or modifications made to a Yaskawa product without
Yaskawa's understanding.
• Problems due to the use of a Yaskawa product under conditions that do not meet the recommended specifications.
• Problems caused by natural disaster or fire.
• Or other problems not due to defects in Yaskawa workmanship or materials.
Warranty service is only applicable within Japan.
However, after-sales service is available for customers outside of Japan for a reasonable fee.
Contact your local Yaskawa representative for more information.
„ Exceptions
Any inconvenience to the customer or damage to non-Yaskawa products due to Yaskawa's
defective products whether within or outside the warranty period are NOT covered by this
warranty.
6
Restrictions
• The SI-T Unit was not designed or manufactured for use in devices or systems that may
directly affect or threaten human lives or health.
• Customers who intend to use the product described in this manual for devices or systems
relating to transportation, health care, space aviation, atomic or electric power, or underwater use must contact their Yaskawa representatives or the nearest Yaskawa sales office
beforehand.
• This product has been manufactured under strict quality-control guidelines. However, if
this product is to be installed in any location where failure of this product could involve
or result in a life-and-death situation or loss of human life or in a facility where failure
may cause a serious accident or physical injury, safety devices must be installed to minimize the likelihood of any accident.
7
CONTENTS
Introduction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Warranty Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Restrictions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
3
4
6
7
1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9
2 Checking the Product - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9
2.1 Nameplate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9
2.2 Parts List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10
3 Component Names and Settings - - - - - - - - - - - - - - - - - - - - 10
3.1 Component Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10
3.2 Communications Connectors (CN2) - - - - - - - - - - - - - - - - - - 11
3.3 LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11
3.4 Switch Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12
4 Installation and Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - 14
4.1 Installing the SI-T/V7 Unit - - - - - - - - - - - - - - - - - - - - - - - - - 14
4.2 MECHATROLINK Communications Cables - - - - - - - - - - - - - 16
5 Inverter Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 17
6 Communications Specifications - - - - - - - - - - - - - - - - - - - - - 18
Revision History
8
1 Overview
1
Overview
The SI-T/V7 Interface Unit is an interface unit that connects to the MECHATROLINK-I or
MECHATROLINK-II high-speed field network for communicating with the host controller.
By installing the SI-T/V7 Unit to a VS-606V7-series Inverter, various applications are enabled;
monitoring of the run/stop status and the operating conditions as well as the changing and the
referencing of the settings for the Inverter constants from the host controller.
The SI-T/V7 Unit can be installed in the following Inverters.
• VS-606V7-series Inverter, software No. 5650.
• VS-606V7-series Inverter, software No. 573X.
Note: 1. “X” indicates the design revision order.
2. The Inverter software will soon be updated from version No. 5650
to No. 573X.
IMPORTANT
2
VS-606V7 Inverter with an SI-T/V7 Unit does not conform to CE Marking, although the VS-606V7
Inverter itself conforms to CE Marking.
Checking the Product
Check the following items as soon as the product is delivered.
Item
Method
Is there any discrepancy between the shipment and
what was ordered?
Check the information printed on the Unit. (Refer to 2.1.)
Has the product been damaged in any way?
Inspect the entire exterior of the Unit for any damage that
may have occurred during shipping.
Are the contents of the package correct?
Check the contents shown in the table below.
Contact your Yaskawa representative immediately if any failure should be found concerning the
above items.
2.1
Nameplate
The following diagram shows the nameplate on the side of the SI-T/V7 Unit.
SI-T/V7 Unit type
Code No.*
Program No.
Lot No.
Manufacturing No.
INTERFACE UNIT SI-T/V7
CODE NO : 73606-V706X
PRG
:
LOT NO :
SER NO :
YASKAWA ELECTRIC
CORPORATION
* “X” indicates the design revision order.
9
MASS : 0.5kg
MADE IN
JAPAN
MS
Mass
2.2
Parts List
The SI-T/V7 Unit contains the following parts.
Parts Name
3
Qty
SI-T/V7 Communications Interface Unit
1
Mounting fixture
1
M3 × 8 SW screw
1
Grounding cable (small)
1
Grounding cable (medium)
1
Grounding cable (large)
1
Component Names and Settings
3.1
Component Names
The following diagram shows the SI-T/V7 Unit external appearance and component names.
Modular plug (CN10)
LED
Optional connector (CN1)
5.5
mm
Communications
connector (CN2)
DIP switch
Ground terminal
Communications
connector (CN2)
Rotary switch
Front of the SI-T/V7 Unit
Rear of the SI-T/V7 Unit
10
3 Component Names and Settings
3.2
Communications Connectors (CN2)
The communications connectors connect the SI-T/V7 Unit to the communications lines of
the MECHATROLINK-I or MECHATROLINK-II . The following table shows the pin numbers and their functions.
Pin No.
A1
A2
A3
A4
B1
B2
B3
B4
Shell
3.3
Signal Name
(NC)
SRD−
SRD+
(NC)
(NC)
SRD−
SRD+
(NC)
Shield
I/O
−
I/O
I/O
−
−
I/O
I/O
−
−
Function
Not used.
Send/receive data (-)
Send/receive data (+)
Not used.
Not used.
Send/receive data (-)
Send/receive data (+)
Not used.
Not used.
LED Indicators
The LED indicators indicate the status of the communications of the MECHATROLINK-I
or MECHATROLINK-II and the SI-T/V7 Unit.
However, these indicates are for maintenance checks at Yaskawa. Use the Digital Operator
to check the status.
RUN TX
RX
ERR
Name
RUN
ERR
TX
RX
Display
Explanation
Color
Status
Green
Lit
−
Not lit
Communications CPU stopped, resetting hardware, RAM check
error, DPRAM check error, station address setting error, or
Inverter model code error
Red
Lit
Watchdog timeout error, communications error, or resetting hardware
Red
Blinking
ROM check error (once), RAM check error (twice)*, DPRAM
check error (3 times)*, communications ASIC self-diagnosis error
(4 times) *, ASIC RAM check error (5 times), station address setting error (6 times) *, Inverter model code error (7 times) *
*: Indicates the number of blinking.
−
Not lit
Green
Lit
−
Not lit
Green
Lit
−
Not lit
Normal operation
No communications error or self-diagnosis error
Sending data
Sending of dara stopped, hardware reset
Searching for receiving carrier
No receiving carrier found, resetting hardware
11
Switch Setting
„ DIP Switch
The following table shows the SI-T/V7 Unit DIP switch settings.
1
2
3
4
OFF
Name
Baud rate
Data length
Station
address
Label
Status
S1-1
OFF
4 Mbps (MECHATROLINK-I)*1
ON
10 Mbps (MECHATROLINK-II)
OFF
17-byte data transmission (MECHATROLINK-I/
MECHATROLINK-II)
ON
32-byte data transmission (MECHATROLINK-II)*1
OFF
Set the10’s digit of the station number to 2. Invalid if
the maximum number of units including the S2 of
the rotary switch is 20.
ON
Set the 10’s digit of the station number to 3. Invalid
if the maximum number of units including the S2 of
the rotary switch is 3F.
OFF
Normally OFF*2
ON
Not used.
S1-2
S1-3
Maintenance S1-4
Function
Factory
Setting
ON
ON
OFF
OFF
* 1. Invalid if S1-1 is OFF (4 Mbps) and S1-2 is ON (32-byte data transmission).
* 2. For maintenance. Always leave this switch OFF.
„ Rotary Switch
The following table shows the SI-T/V7 Units rotary switch settings.
F012
34 5
BCD
E
7 8 9A
Label
S2
Status
0 to F
6
3.4
Function
Factory Setting
Set the 1’s digit of the station number.
Invalid if the maximum number of units including the
S1-3 is 20 or 3F.
1
Note: Although the range that can be set by S1-3 and S2 is from 20 to 3F,
20 and 3F are invalid (the ERR LED indicator blinks six times).
Therefore, the actual setting range is from 21 to 3E.
Refer to the following section Station-number Setting for details.
12
3 Component Names and Settings
„ Station-number Setting
A station number is set by both the S1-3 DIP switch and the S2 rotary switch. Station numbers from 21 to 3E are valid. Although 20 or 3F can be set as a station number, do not use
these settings because they will be faulty.
S1-3: Set the 10’s digit of the station number.
OFF = 2 (2X)
ON = 3 (3X)
S2: Set the 1’s digit of the station number.
0 = 0 (X0)
1 = 1 (X1)
x x
x x
F = F (XF)
Switch Setting and Station Number
SI-3
S2
Station
Number
S1-3
S2
Station
Number
OFF
0
Fault
ON
0
30
OFF
1
21
ON
1
31
OFF
2
22
ON
2
32
OFF
3
23
ON
3
33
OFF
4
24
ON
4
34
OFF
5
25
ON
5
35
OFF
6
26
ON
6
36
OFF
7
27
ON
7
37
OFF
8
28
ON
8
38
OFF
9
29
ON
9
39
OFF
A
2A
ON
A
3A
OFF
B
2B
ON
B
3B
OFF
C
2C
ON
C
3C
OFF
D
2D
ON
D
3D
OFF
E
2E
ON
E
3E
OFF
F
2F
ON
F
Fault
13
4
Installation and Wiring
WARNING
• Before installing or removing the Option Unit, or performing wiring operations, always turn OFF the
power to the Inverter and wait until the specified period of time has elapsed after all the Inverter
indicators have turned OFF. (The time is shown on the Inverter’s front cover.)
Failure to do so can result in electric shock.
IMPORTANT
4.1
Route the MECHATROLINK communications cables separately from the main circuit wiring and
other power lines.
Installing the SI-T/V7 Unit
Use the following procedure to mount the SI-T/V7 Unit after removing the Inverter’s Digital
Operator and front cover.
Be sure to complete the wiring to the Inverter before installing the SI-T/V7 Unit, because the
terminals of the Inverter are hidden from view after the Unit is installed.
1. Turn OFF the Inverter’s main-circuit power supply and wait one minute.
2. Confirm that all the indicators on the Inverter have turned OFF, wait until the specified
period of time has elapsed (the time is shown on the Inverter’s front cover), and then
remove the Digital Operator and the front cover.
3. Use nippers to cut off the cover of the Inverter’s CN2 connector in the three placesmarked as A in Fig. 1. Be careful that the covers do not fall into the Inverter Unit. If
pieces do fall in, be sure to remove them.
4. Align the mounting fixture with the C tab, and use M3 × 8 SW screws to secure the fixture B.
5. Before installing the SI-T/V7 Unit on the Inverter, connect the grounding cable to the
grounding terminal as shown in Fig. 2 . Three types of grounding cables for various
Inverter capacities are provided. Connect the appropriate cable with a crimp terminal.
6. When installing the SI-T/V7 Unit onto the Inverter Unit, make sure that it is straight.
Align the modular plug (CN10) of the SI-T/V7 Unit with the modular plug (CN1) of the
Inverter, and connector (CN2) with the connector for the SI-T/V7 Unit (CN2).
7. Tighten the screw at position D to affix the SI-T/V7 Unit to the Inverter Unit. The screw
is already screwed in on the Inverter Unit.
8. Return the Digital Operator and the front cover to their original positions.
14
4 Installation and Wiring
D
Connector for SI-T/V7 Unit (CN2)
A
Modular plug (CN10)
Modular plug (CN1)
B
CN1
C
CN2
5.5
mm
Mounting fixture
Ground terminal
5.5
mm
-
-
Grounding cable (blue)
To Inverter ground terminals
Fig. 1 Front of the Inverter
Fig. 2 Front of the SI-T/V7 Unit
15
4.2
MECHATROLINK Communications Cables
„ Wiring
Wire the MECHATROLINK communications cables to the communications connector
(CN2).
• For communications cables, use special shielded twisted-pair cables for MECHATROLINK communications.
Recommended cable: JEPMC-W603-†† *
IMPORTANT
* †† is the length (m).
With USB male connector
• Install MECHATROLINK communications cables apart from main-circuit wiring and other electrical and power lines.
• Connect the terminator (model No.: JEPMC-W6022) on the end of the communication lines.
• Maximum transmission distance is 50 m.
• Minimum wiring distance between stations is 0.5 m.
„ Communications Wiring Example
The following diagram is an example of communications wiring around the Inverters.
R
S
T
3-phase power supply
200 to 230 VAC
NC
NC
SRD-
SRD-
SRD+
MECHATROLINK D SLD
controller
SRD+
U
V
W
Inverter
3-phase, 200 VAC,
0.1 kW
SI-T/V7
SLD
NC
SRDSRD+
E
SLD
* If there are noise influences on communication,
remove the grounding cable.
Fig. 3 Connection Diagram with VS-606V7 (3-phase, 200 VAC, 0.1kW)
16
M
5 Inverter Setting
5
Inverter Setting
Perform the following constant setting, whenever necessary, before starting communications
between the Inverter and the MECHATROLINK-I/MECHATROLINK-II master.
To run or stop through the MECHATROLINK communications, set 3 to n003. To set frequency,
set 9 to n004.
For details, refer to the VS-606V7 Series Instruction Manual (TOE-S606-11).
Constant No.
Name
Description
Factory Setting
n003
Run command
selection
0: Digital Operator
1: Control circuit terminal
2: MEMOBUS communications
3: Communications Option Card (Optional)
0
n004
Frequency reference
selection
0: Digital Operator
1: Frequency reference 1 (n024)
2: Voltage reference (0 to 10V)
3: Current reference (4 to 20 mA)
4: Current reference (0 to 20 mA)
5: Pulse train reference
6: MEMOBUS communications
7: Voltage reference of the Digital Operator circuit terminal (0 to 10V)
8: Current reference of the Digital Operator circuit terminal (4 to 20 mA)
9: Communications Option Card (Optional)
0
17
6
Communications Specifications
Item
Contents
Baud rate
4 Mbps or 10 Mbps*1
Access mode
Start-stop synchronization, master/slave method
Transmission cycle
500 µs to 8 ms*2
Max. transmission distance
50 m*5
Data length
17-byte data transmission or 32-byte data transmission*3
Max. number of slaves
30*4 *5
* 1. The baud rate is 4 Mbps for MECHATROLINK-I, and 10 Mbps for
MECHATROLINK-II.
* 2. For MECHATROLINK-I, a cycle is 2 ms. For MECHATROLINK-II, a
cycle is 1 ms to 8 ms for a 32-byte data transmission, and 500 µs to 8
ms for a 17-byte data transmission.
* 3. For MECHATROLINK-I, only a 17-byte data transmission can be
selected.
* 4. The maximum number of connectable stations changes depending on
the types and settings of the host controller, baud rate, or communications cycle. For details, refer to the manuals of your controller.
Communications cycle: Integral multiple of transmission cycles
(depending on the host controller settings).
Example: If the host controller is an MP2300
• For MECHATROLINK-II (32-byte transmission,
2-ms communications cycle): 21 stations max. (21 slaves can be
set, but then the maximum number of connectable Inverters will
be 16.)
• For MECHATROLINK-II (32-byte transmission,
1-ms communications cycle): 9 stations max.
• For MECHATROLINK-II (17-byte transmission,
1-ms communications cycle): 15 stations max.
• For MECHATROLINK-I: 14 stations max.
* 5. At the maximum transmission distance of 50 m, the maximum number
of slaves is 15.
18
Revision History
The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO.
TOBP C730600 03B
C Printed in Japan
July 2004 04-6
Date of
printing
June 2004
Date of Printing
Rev. No.
−
July 2004
1
December 2004
2
1
Revision number
Date of original
publication
Section
Revised Content
First edition
Revision: Layout size (A4 → A5)
Addition: Warranty Information
3
Addition: Station-number Setting
VS-606V7 OPTION UNIT
MECHATROLINK COMMUNICATIONS INTERFACE UNIT
INSTRUCTIONS
IRUMA BUSINESS CENTER
480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5696 Fax 81-4-2962-6138
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone 1-847-887-7000 Fax 1-847-887-7370
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200 Fax 1-937-847-6277
YASKAWA ELETRICO DO BRASIL COMERCIO LTD.A.
Avenida Fagundes Filho, 620 Bairro Saude-Sao Paulo-SP, Brazil
Phone 55-11-5071-2552 Fax 55-11-5581-8795
CEP: 04304-000
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach, Germany
Phone 49-6196-569-300 Fax 49-6196-569-312
Motoman Robotics Europe AB
Box 504 S38525 Torsas, Sweden
Phone 46-486-48800 Fax 46-486-41410
Motoman Robotec GmbH
Kammerfeldstraβe 1, 85391 Allershausen, Germany
Phone 49-8166-90-100 Fax 49-8166-90-103
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul 150-877, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No.18 Xizang Zhong Road. Room 1805, Harbour Ring Plaza Shanghai 20000, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YATEC ENGINEERING CORPORATION
4F., No.49 Wu Kong 6 Rd, Wu-Ku Industrial Park, Taipei, Taiwan
Phone 886-2-2298-3676 Fax 886-2-2298-3677
YASKAWA ELECTRIC (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone 852-2803-2385 Fax 852-2547-5773
BEIJING OFFICE
Room No. 301 Office Building of Beijing International Club, 21
Jianguomenwai Avenue, Beijing 100020, China
Phone 86-10-6532-1850 Fax 86-10-6532-1851
TAIPEI OFFICE
9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
SHANGHAI YASKAWA-TONGJI M & E CO., LTD.
27 Hui He Road Shanghai China 200437
Phone 86-21-6553-6060 Fax 86-21-5588-1190
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.
30 Xue Yuan Road, Haidian, Beijing P.R. China Post Code: 100083
Phone 86-10-6233-2782 Fax 86-10-6232-1536
SHOUGANG MOTOMAN ROBOT CO., LTD.
7, Yongchang-North Street, Beijing Economic Technological Investment & Development Area,
Beijing 100076, P.R. China
Phone 86-10-6788-0551 Fax 86-10-6788-2878
YASKAWA ELECTRIC CORPORATION
YASKAWA
In the event that the end user of this product is to be the military and said product is to be
employed in any weapons systems or the manufacture thereof, the export will fall under
the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade
Regulations. Therefore, be sure to follow all procedures and submit all relevant
documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice
for ongoing product modifications and improvements.
© 2004 YASKAWA ELECTRIC CORPORATION. All rights reserved.
MANUAL NO. TOBP C730600 03C
Printed in Japan December 2004 04-6 2
04-8⑥