Yaskawa Motoman DX100 Owner's Manual

DX100 NOTES FOR
SAFE OPERATION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for
future reference.
Definition of Terms Used Often in This
Manual
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
CD-ROM : DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The MOTOMAN manipulator is the YASKAWA
industrial robot product.
The manipulator usually consists of the controller, the
programming pendant, and manipulator cable.
In this manual, the equipment is designated as follows.
The DX100 operator’s manuals above correspond to
specific usage.
Be sure to use the appropriate manual.
Equipment
MANDATORY
• Read this manual and all the electrical data in
attached CD-ROM carefully before installation,
operation, maintenance, or inspection of the
DX100.
Manual Designation
DX100 Controller
DX100
DX100 Programming Pendant
Programming Pendant
Cable between the manipulator
and the controller
Manipulator Cable
Notes for Safe Operation
In this manual, the Notes for Safe Operation are
classified as “DANGER”, “WARNING”, “CAUTION”,
“MANDATORY” or “PROHIBITED”.
• In this manual, the Notes for Safe Operation are
classified as “DANGER”, “WARNING”, “CAUTION”,
“MANDATORY” or “PROHIBITED”.
• Note, however, this instruction manual does not
sufficiently provide all the safety precautions. For
your safety, be sure to ensure safety measures or
management before the operation.
DANGER
WARNING
CAUTION
• Some drawings in this manual are shown with the
protective covers or shields removed for clarity. Be
sure all covers and shields are replaced before
operating this product.
CAUTION
• The drawings and photos in this manual are
representative examples and differences may exist
between them and the delivered product.
Indicates an imminent hazardous
situation which, if not avoided,
could result in death or serious
injury to personnel.
Indicates a potentially hazardous
situation which, if not avoided,
could result in death or serious
injury to personnel.
Indicates a potentially hazardous
situation which, if not avoided,
could result in minor or moderate
injury to personnel and damage
to equipment. It may also be
used to alert against unsafe
practices.
Always be sure to follow explicitly
• YASKAWA may modify this model without notice
when necessary due to product improvements,
modifications, or changes in specifications. If such
modification is made, the manual number will also
be revised.
MANDATORY the items listed under this
• If your copy of the manual is damaged or lost,
contact a YASKAWA representative to order a new
copy. The representatives are listed on the back
cover. Be sure to tell the representative the manual
number listed on the front cover.
Even items described as “CAUTION” may result in a
serious accident in some situations. At any rate, be
sure to follow these important items.
heading.
PROHIBITED Must never be performed.
• YASKAWA is not responsible for incidents arising
from unauthorized modification of its products.
Unauthorized modification voids your product’s
warranty.
NOTE
To ensure safe and efficient operation at all
times, be sure to follow all instructions, even
if not designated as “DANGER”, “WARNING”
and “CAUTION”.
Part Number:
Revision:
Manual No:
1
170536-1CD
3
R-AN-A304 6
1.1 For Your Safety
1
 Explanation of Warning Labels
The following warning labels are attached to the
manipulator and DX100.
Fully comply with the precautions on the warning
labels.
1.1 For Your Safety
Robots generally have requirements which are different
from other manufacturing equipment, such as larger
working areas, high-speed operation, rapid arm
movements, etc., which can pose safety hazards.
Read and understand the instruction manuals and
related documents, and observe all precautions in
order to avoid the risk of injury to personnel and
damage to equipment.
It is the user's responsibility to ensure that all local,
state, and national codes, regulations rules, or laws
relating to safety and safe operating conditions are met
and followed.
DANGER
• The label described below is attached to the
manipulator.
Observe the precautions on the warning labels.
Failure to observe this caution may result in injury or
damage to equipment.
WARNING
WARNING
Moving parts
may cause
injury
Do not enter
robot
work area.
MANDATORY
• Teaching maintenance of the robot must conform to:
• The following warning labels are attached to DX100.
– Industrial Safety and Health Law
– Enforcement Order of Industrial Safety and
Health Law
– Ordinance of Industrial Safety and
Health Law
Other related laws are:
Observe the precautions on the warning labels.
Failure to observe this warning may result in injury or
damage to equipment.
WARNING
WARNING
High Voltage
Do not open the door
with power ON.
High Voltage
Do not ope the cover.
Safety
WARNING
– Occupational Safety and Health Act in USA
– Factory Act (Gewerbeordnung) in Germany
– Health and Safety at Work, etc. Act in UK
– Machinery Directive 2006/42/EC, 2004/108/EC
on Electromagnetic Compatibility (EMCD) and
2006/95/EC on Low Voltage (LVD) in EU
• Prepare
May cause
electric shock.
Ground the earth
terminal based on
local and national
electric code.
Refer to the DX100 INSTRUCTIONS for the warning
label location.
– SAFETY WORK REGULATIONS
based on concrete policies for safety
management complying with related laws.
• Observe the
– MANIPULATING INDUSTRIAL ROBOTSSAFETY (ISO 10218)
for safe operation of the robot. (Japan Only)
(JIS B 8433)
• Reinforce the
– SAFETY MANAGEMENT SYSTEM
by designating authorized workers and safety
managers, as well as giving continuing safety
education.
• Teaching and maintaining the robot are specified as
“Hazardous Operations” in the Industrial Safety and
Health Law
(Japan only).
Workers employed in these above operations are
requested to attend special training offered by
YASKAWA.
2
1.2 Special Training
1.2 Special Training
WARNING
MANDATORY
• Strictly observe the following items:
– Always wear approved work clothes (no loosefitting clothes).
– Do not wear gloves when operating the
MOTOMAN.
– Do not allow underwear, shirts, or neckties to
hang out from the work clothes.
– Do not wear large jewelry, such as earrings,
rings, or pendants.
Always wear protective safety equipment such as
helmets, safety shoes (with slip-proof soles), face
shields, safety glasses, and gloves as necessary.
• Persons who teach or inspect the manipulator must
undergo required training before using the
manipulator.
• For more information on training, inquire at the
nearest YASKAWA branch office.
The telephone numbers are listed on the back cover of
this manual.
1.3 Motoman Manual List
Improper clothing may result in injury.
• Unauthorized persons should not approach the
manipulator or associated peripheral equipment.
MANDATORY
• It is important to have and be familiar with all
manuals concerning the MOTOMAN.
Failure to observe this caution may result in injury due
to contact with DX100, controller, the workpiece, the
positioner, etc.
You should have the four manuals listed below:
– MOTOMAN- INSTRUCTIONS
– DX100 INSTRUCTIONS
– DX100 OPERATOR'S MANUAL
– DX100 MAINTENANCE MANUAL
Confirm that you have all these manuals on hand.
CAUTION
• Never forcibly move the manipulator axes.
Failure to observe this caution may result in injury or
equipment damage.
If any manuals are missing, contact your salesman from
YASKAWA’s local branch office.
The relevant telephone numbers are listed on the back
cover.
1.4 Personnel Safety
The entire manipulator P-point maximum envelope is
potentially dangerous.
All personnel working with the MOTOMAN (safety
administration, installation, operation, and
maintenance personnel) must always be prepared and
“Safety First” minded, to ensure the safety of all
personnel.
• Never lean on DX100 or other controllers, and avoid
inadvertently pushing buttons.
Failure to observe this caution may result in injury or
damage by unexpected movement of the manipulator.
WARNING
21
5(6(7
5(6(7
21
• Avoid any dangerous actions in the area where the
MOTOMAN is installed.
There is a danger of injury if there is contact with the
manipulator or peripheral equipment.
• Please take strict safety precautions by placing
signs such as “Flammable”, “High Voltage”,
“Waiting”, and “Off-limits to Unauthorized
Personnel” in necessary areas in the factory.
• Never allow unauthorized personnel to touch the
DX100 during operation.
Failure to observe this caution may result in injury or
damage resulting from unexpected movement of the
manipulator.
Failure to observe these cautions may result in fire,
electric shock, or injury due to contact with the
manipulator and other equipment.
3
1.5 Motoman Safety
1.5 Motoman Safety
Fig. : Transporting Position of the Small-size
Manipulator (two hanging wires)
1.5.1 Transporting
CAUTION
• Operation of the crane, sling, or forklift should only
be performed by authorized personnel.
Failure to observe this precaution may result in injury or
equipment damage.
• Avoid jarring, dropping, or hitting the controller
during handling.
Excessive vibration or impacting the DX100 may
adversely affect the performance of the DX100.
• If storing the manipulator temporarily before
installation, be sure to place it on a stable and flat
surface and take precautions to prevent
unauthorized personnel from touching it.
Table : The Weight of Manipulator (approx)
Type
Failure to observe this precaution may result in injury of
damage to equipment.
1.5.1.1
Small
size
Transportation of the manipulator
r
CAUTION
• 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
threaded through attached eyebolts. Be sure the
manipulator is fixed with shipping bolts and brackets
before transporting, and lift it in the posture as
shown in the figures below.
MediumLarge
size
• Be sure to use wire that is strong enough to handle
the weight of the manipulator
• Transportation posture of the manipulator
1.5.1.2
Model
Approx. weight (kg)
MH5L
MA1400, VA1400, MH6
HP20D
MA1900
HP20D-6
HP20RD
MA1800
MH50-20
MH50, MS80
MH50-35
VS50, SIA50D
ES165D, HP165D
ES200D
ES165RD
ES200RD
UP350D
31 kg
130 kg
257 kg
280 kg
285 kg
293 kg
380 kg
495 kg
550 kg
570 kg
640 kg
1100 kg
1130 kg
1730 kg
1800 kg
2200 kg
Transportation of the DX100
CAUTION
Fig. : Transporting Position of the Large-size
Manipulator (four hanging wires)
• When lifting the DX100, please check the following:
– As a rule, handling of DX100 must be
performed using a crane with wire rope
threaded through attached eyebolts.
– Be sure to use wire that is strong enough to
handle the weight of the DX100.
Table : The Weight of DX100
(approx.)
DX100 equivalent
model
Approx.
weight (kg)
Small size
Type A: Standard
MA1400, MA1900,
100
VA1400, MH5, MH5L,
MH6,HP20D, HP20D-6,
HP20RD
Medium-Large size
Type A: Standard
MH50, MH50-20,
100
MH50-35, MS80, VS50,
SIA50D, MA1800,
ES165D, ES165RD,
ES200D, ES200RD,
HP165D, UP350D
• Be sure the eyebolts are
securely fastened.
• Failure to observe this caution
may result in injury or damage
to equipment.
4
1.5 Motoman Safety
1.5.2 Installation
WARNING
Refer to the MOTOMAN- Instructions manual
and DX100 Instructions for details on installation and
wiring.
In planning installation, adapt an easy to observe
arrangement to ensure safety. Take safety into
consideration when planning the installation. Observe
the following when installing the manipulator:
• Do not start the manipulator or even turn ON the
power before it is firmly anchored.
The manipulator may overturn and cause injury or
damage.
• When mounting the manipulator on the ceiling or
wall, the base section must have sufficient strength
and rigidity to support the mass of the manipulator.
Also, it is necessary to consider countermeasures to
prevent the manipulator from falling.
To insure safety, be sure to install the
safeguarding. It prevents unforeseen accidents
with personnel and damage to equipment. The
following is quoted for your information and
guidance.
Failure to observe these warning may result in injury or
damage.
(ISO10218)
Responsibility for Safeguarding
NOTE
1.5.2.1
The user of a manipulator or robot system shall
ensure that the safeguarding is provided and
used in accordance with Sections 6, 7, and 8 of
this standard. The means and degree of
safeguarding, including any redundancies, shall
correspond directly to the type and level of
hazard presented by the robot system
consistent with the robot application.
Safeguarding may include but not be limited to
safeguarding devices, barriers, interlock
barriers, perimeter guarding, awareness
barriers, and awareness signals.
CAUTION
• Do not install or operate the manipulator that is
damaged or lacks parts.
Failure to observe this caution may cause injury or
damage.
• Before turning ON the power, check to be sure that
the shipping bolts and brackets are removed.
Failure to observe this caution may result in damage to
the driving parts.
Installation of the manipulator
• Install the manipulator using bolts of the size and
type specified for each MOTOMAN in the
MOTOMAN INSTRUCTION MANUAL.
WARNING
Failure to observe this caution may result in injury or
damage to equipment.
• Select an area such as that described below to
install the manipulator:
Confirm that the area is large enough so that the
fully extended manipulator arm with tool will not
reach a side wall, safeguarding, or the controller.
Failure to observe this caution may result in injury or
damage resulting from unexpected movement of the
manipulator.
Safeguarding
DX100
Door
1000mm or more
1000mm
or
more
1000mm
or
more
P-point maximum envelope
of Manipulator
Maximum Working Envelope of
Manipulator Including Tool or
Workpiece End
1000mm or more
• Install a safeguarding around the manipulator to
prevent any accidental contact with the manipulator
while the power is on.
• Equipped with a safety interlock. Be sure the
interlock operates correctly before use.
• Perform grounding in accordance with all applicable
electrical codes.
Failure to observe this caution may result in fire or
electric shock.
5
1.5 Motoman Safety
1.5.2.2
Installation of the DX100
CAUTION
CAUTION
• Take precautions when wiring and piping between
the DX100, manipulator, and peripheral equipment.
Run the piping, wiring, or cables through a pit or use
a protective cover, so that they are not stepped on
by personnel or run over by the forklift.
• Be sure there is sufficient room for maintenance on
the manipulator, DX100, and other peripheral
equipment.
500
Failure to observe this precaution could result in injury
during maintenance.
450
DX100
EM
S
GE N
T O P
1200
RESET
OFF
TRIPPED
ON
DOOR
406
ER
Y
450
DX100
500
C
510
425
DX100
425
Operators and other
personnel may
stumble on exposed
wiring or piping.
Cable damage can
cause unexpected
manipulator motion
resulting in injury or
property damage.
Piping
Cable Channel
lead
PROGRAMMING PENDANT
X 8 1
1.5.3 Work Area Safety
Kg
Area for carrying
maintenance of DX100
(mm)
SAFETY
FIRST
Carelessness contributes to serious accidents in the
work area. To ensure safety, enforce the following
precautions:
Dimensions of DX100 (mm)
Type A (standard)
WARNING
• To ensure safety, be sure to operate the controller
from a location where the manipulator is easily
visible.
• Install a safeguarding around the manipulator to
prevent any accidental contact with the manipulator
while the power is on. Post a warning sign stating
“Off-limits During Operation” at the entrance of the
enclosure. The gate of the safeguarding must be
equipped with a safety interlock. Be sure the
interlock operates correctly before use.
Operation by unauthorized personnel may result in
injury or equipment damage.
• Install the DX100 outside the safeguarding of the
manipulator's safety enclosure.
Failure to observe this precaution may result in injury or
damage to equipment resulting from contact with the
manipulator.
Failure to observe this caution may result in a serious
accident due to contact with the manipulator.
• Do not climb on top of the DX100.
CAUTION
Failure to observe this caution could lead to injury or
mechanical failure.
• Store tools and similar equipment in proper
locations outside of the enclosure.
CAUTION
Tools and loose equipment should not be left on the
floor around the manipulator, DX100, or welding fixture,
etc., as damage to equipment can occur if the
manipulator comes in contact with objects or equipment
left in the work area, or injury may result in if the hit
objects jump toward you.
• Secure the position of the DX100 after setting up.
Attach the DX100 to the floor or rack, etc., using the
screw holes on the bottom of the DX100.
1.5.4 Operation Safety
12 mm
diameter
2 holes
MANDATORY
Tapped Holes for
M10 Screws on
the DX100 Side
40
30
• Persons operating or inspecting the manipulator
should be trained as required by applicable laws
and company policies.
50
(section 1.2 “Special Training” on page 3)
30
50
(mm)
Failure to observe this caution could lead to injury or
equipment damage if the DX100 should shift or fall.
• Be familiar with the connection diagram before
wiring the DX100, and perform the wiring in
accordance with the connection diagram.
There is a danger of equipment damage or injury due to
mis-wiring and unexpected movement of the
equipment.
6
1.5 Motoman Safety
WARNING
WARNING
Fig. : Emergency Stop Button
• When attaching a tool such as the welding torch to
the manipulator, be sure the power supply of the
DX100 and the tool is off, lock the switch, and
display a warning sign.
• Once the emergency stop button is released, clear
the cell of all items which could interfere with the
operation of the manipulator. Then turn the servo
power ON.
TR
IP
PE
D
ON
Fig. : Release of Emergency Stop
TURN
PADLOCK
• Prior to performing the following operations, be sure
that no one is in the P-point maximum envelope of
the manipulator when:
DX100
– Turning ON the DX100 power
– Moving the manipulator with the programming
pendant.
– Running the system in the check mode
– Performing automatic operations
Injury may result from contact with the manipulator if
persons enter the P-point maximum envelope of the
manipulator.
Turning the power on during tool installation may case
electric shock or injury due to unexpected movement of
the manipulator.
• Never exceed the rated capacity of the manipulator
(capacity can be found in the specifications section
of the manipulator manual.).
Failure to observe this caution may result in injury or
damage to equipment.
• Teach jobs from outside the manipulator's work area
whenever possible.
• Observe the following precautions when performing
teaching operations within the P-point maximum
envelope of the manipulator:
Press the emergency stop button immediately if there
are problems.
.
Emergency Stop Button
– Be sure to use a lockout device to the
safeguarding when going inside. Also, display
the sign that the operation is being performed
inside the safeguarding and make sure no one
closes the safeguarding.
– Always view the manipulator from the front.
– Always follow the predetermined operating
procedure.
– Always have an escape plan in mind in case
the manipulator comes toward you
unexpectedly.
– Ensure that you have a place to retreat to in
case of emergency.
Improper or unintentional manipulator operation can
result in injury.
• Before operating the manipulator, check that the
SERVO ON lamp goes out when the emergency
stop button on the right of the front door of the
DX100 and the programming pendant are pressed.
Confirm that the servo lamp is turned off.
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manipulator motion.
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Programming Pendant
DX100
CAUTION
• Perform the following inspection procedures prior to
teaching the manipulator. If problems are found,
correct them immediately, and be sure that all other
necessary tasks have been performed.
Injury or damage to machinery may result if the
manipulator cannot be stopped in case of an
emergency.
– Check for problems in manipulator movement.
– Check for damage to the insulation and
sheathing of external wires.
• Always return the programming pendant to its hook
on the DX100 cabinet after use.
If the programming pendant is inadvertently left on the
manipulator, a fixture, or on the floor, the manipulator or
a tool could collide with it during manipulator
movement, possibly causing injury or equipment
damage.
7
1.6 Notes for Moving and Transferring the MOTOMAN
1.5.5 Connection
1.5.6 Turning ON the Main Power Supply
WARNING
WARNING
• The system must be grounded.
• Confirm that nobody is present in the P-point
maximum envelope of the manipulator when turning
on DX100 power supply.
Failure to ground equipment may result in injury from
fire or electric shock.
Failure to observe this caution could result in injury
caused by accidental contact with the manipulator.
• Before grounding the system, turn off the power
supply and lock the main power switch.
Push the emergency stop button immediately if any
problems occur.
The emergency stop button is located in the upper left
of the door on the DX100 and on the right side of the
programming pendant.
Failure to observe this caution may result in injury and
electric shock.
• Do not touch any board inside the controller for five
minutes after turning off the power supply.
Capacitors inside the controller store electricity after
power is turned off. Exercise caution whenever handling
circuit boards. Failure to observe this caution may
cause electrical shock.
NOTE
• Power cannot be turned on unless the door is
closed. Interlocks prevent power from being turned
on.
Be sure to remove all items from the area
before moving the manipulator.
Refer to the INSTRUCTION MANUAL for the
appropriate position of the fixture.
1.6 Notes for Moving and
Transferring the MOTOMAN
Failure to observe this caution may result in fire and
electric shock.
• Any occurrence during wiring while the DX100 is in
the emergency stop mode is the user's
responsibility. Do an operation check once the
wiring is completed.
When moving or transferring the Motoman, observe the
following safety precautions:
CAUTION
Failure to observe this caution could lead to injury or
mechanical failure.
• Wiring must be performed only by authorized
personnel.
• Attach the instructions to the controller cabinet so
that all users have access to necessary manuals.
See section 1.3 “Motoman Manual List” on page 3
for a complete list of manuals.
Incorrect wiring may cause fire and electric shock.
If any manuals are missing, contact your YASKAWA
representative.
• If the warning labels on the manipulator and DX100
are illegible, clean the labels so that they can be
read clearly. Note that some local laws may prohibit
equipment operation if safety labels are not in place.
• Perform wiring in accordance with the rated
capacity as specified in the Instructions.
Incorrect wiring may cause fire or mechanical
breakdown.
• Be sure the power circuit screws are securely
tightened.
Contact your YASKAWA representative if you require
new warning labels.
• When the MOTOMAN is transferred, it is
recommended to check with YASKAWA.
Loose power circuit wires can cause fire and electric
shock.
• Do not handle the circuit board directly by hand.
The IC board may malfunction due to electrostatics.
Incorrect installation or wiring may result in personal
injury and property damage.
1.5.5.1
1.7 Notes on MOTOMAN Disposal
Connecting the Primary Power Supply
• Don't connect the grounding wire with the
wires for the electric power source, the
welder, etc.
NOTE
• Do not modify the manipulator or the DX100.
• Ground in accordance with all relevant
governmental regulations when using
metallic ducts, metallic conduits, and
cable tray to construct the cable.
1.5.5.2
Connecting the Manipulator Cable
NOTE
For more information on connecting the
manipulator cable, please refer to the
Instruction Manual which corresponds to the
particular DX100 model.
NOTE
DANGER
Failure to observe this instruction may cause fire,
mechanical failure, or malfunction, which may result in
personal injury and/or equipment damage.
WARNING
• Take precautionary measures to prevent the
manipulator from overturning, such as anchoring it
firmly, etc., even when temporarily storing it before
disposal.
Failure to observe this instruction may cause
overturning of the manipulator, which may result in
personal injury.
Close the door of the controller (DX100)
securely to prevent dust from entering.
8
2.1 Contents Confirmation
2.2 Order Number Confirmation
MANDATORY
Confirm that the order number pasted on the
manipulator and DX100 match.
The order number plates are affixed to the figure below.
When disposing of or recycling the MOTOMAN, follow
the applicable national/local laws and regulations.
Only connect the MOTOMAN to the
DX100 which has same order
number.
Example
PROHIBITED
ORDER NO. S78796-1
• This symbol is applicable for EU member states
only.
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The wheelie bin symbol on this product, manual or its
packaging indicates that at the end of life the product
should enter the recycling system. It must be disposed
at an appropriate collection point for electrical and
electronic equipment (EEE) and should not be put in the
normal waste stream.
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CAUTION
2
Product Confirmation
• Confirm that the manipulator and the DX100 have
the same order number. 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.
2.1 Contents Confirmation
Confirm the contents of the delivery when the product
arrives.
Standard delivery includes the following five items
(Information for the content of optional goods is given
separately):
For inquiries or after-sales service on this product, contact
your local YASKAWA representative as shown below.
YASKAWA ELECTRIC CORPORATION
• Manipulator
• DX100
• Programming Pendant
• Manipulator Cable
(Between Manipulator and DX100)
• Complete Set of Manuals
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu, 806-0004, Japan
Phone: +81-93-645-7703 Fax: +81-93-645-7802
http://www.yaskawa.co.jp
YASKAWA AMERICA, INC. (MOTOMAN ROBOTICS DIVISION)
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone: +1-937-847-6200 Fax: +1-937-847-6277
http://www.motoman.com
YASKAWA EUROPE GmbH (ROBOTICS DIVISION)
Yaskawastrasse 1, 85391, Allershausen, Germany
Phone: +49-8166-90-100 Fax: +49-8166-90-103
http://www.yaskawa.eu.com
Fig. 1-1: Contents of the 5-piece set for the standard
specification
Programming
Pendant
DX100
Verkstadsgatan 2, Box 504, SE-385 25 Torsas, Sweden
Phone: +46-480-417-800 Fax: +46-486-414-10
http://www.yaskawa.se
Manipulator
YASKAWA ELECTRIC (CHINA) CO., LTD.
22F, One Corporate Avenue, No.222 Hubin Road, Huangpu District, Shanghai 200021, China
Phone: +86-21-5385-2200 Fax: +86-21-5385-3299
http://www.yaskawa.com.cn
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YASKAWA SHOUGANG ROBOT CO., LTD.
No.7 Yongchang North Road, Beijing E&T Development Area, Beijing 100076, China
Phone: +86-10-6788-2858 Fax: +86-10-6788-2878
http://www.ysr-motoman.cn
YASKAWA ELECTRIC KOREA CORPORATION
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, 07326, Korea
Phone: +82-2-784-7844 Fax: +82-2-784-8495
http://www.yaskawa.co.kr
352*5$00,1*3(1'$17
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YASKAWA ELECTRIC TAIWAN CORPORATION
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone: +886-2-8913-1333 Fax: +886-2-8913-1513
http://www.yaskawa.com.tw
ᴫ⟬㉁㔞㸸ࠉࠉࠉ.J
YASKAWA ASIA PACIFIC PTE. LTD.
30A Kallang Place, #06-01, 339213, Singapore
Phone: +65-6282-3003 Fax: +65-6289-3003
http://www.yaskawa.com.sg
02720$1Ᏻ඲࣐ࢽ
ࣗ࢔ࣝ
A Complete Set of Manuals
(CD-ROM included)
YASKAWA ELECTRIC (THAILAND) CO., LTD.
59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang,
Bangkok 10310, Thailand
Phone: +66-2-017-0099 Fax: +66-2-017-0199
http://www.yaskawa.co.th
Manipulator Cable
PT. YASKAWA ELECTRIC INDONESIA
Secure Building-Gedung B Lantai Dasar & Lantai 1 Jl. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone: +62-21-2982-6470 Fax: +62-21-2982-6471
http://www.yaskawa.co.id
YASKAWA INDIA PRIVATE LIMITED (ROBOTICS DIVISION)
The CD-ROM is not included in the set in case of
ordering the manuals in printed material.
#426, Udyog Vihar Phase-IV, Gurgaon, Haryana 122016, India
Phone: +91-124-475-8500 Fax: +91-124-475-8542
http://www.yaskawaindia.in
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