Yaskawa Motoman MH6 Owner's Manual

MOTOMAN-MH6
MAINTENANCE MANUAL
TYPE:
YR-MH00006-A00 (STANDARD SPECIFICATIONS)
YR-MH00006-B00 (ZEROING SPECIFICATIONS)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MH6 INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number:
Revision:
179158-1CD
0
MANUAL NO.
HW1480394 1
1 of 94
179158-1CD
MH6
Copyright © 2017 Yaskawa America, Inc.
Terms of Use and Copyright Notice
All rights reserved. This manual is freely available as a service to Yaskawa
customers to assist in the operation of Motoman robots, related equipment
and software This manual is copyrighted property of Yaskawa and may
not be sold or redistributed in any way. You are welcome to copy this
document to your computer or mobile device for easy access but you may
not copy the PDF files to another website, blog, cloud storage site or any
other means of storing or distributing online content.
Printed in the United States of America
First Printing, 2017
Yaskawa America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200
www.motoman.com
ii
2 of 94
HW1480394
179158-1CD
MH6
Table of Contents
Table of Contents
1 Introduction ..................................................................................................................................... 1-1
1.1 Safety Standard for Industrial Robots and Robot Systems ............................................... 1-2
1.2 Notes for Safe Operation ................................................................................................... 1-3
1.3 Definition of Terms Used In this Manual ............................................................................ 1-6
1.4 Description of the Operation Procedure ............................................................................ 1-6
1.5 Registered Trademark ....................................................................................................... 1-6
1.6 Explanation of Warning Labels .......................................................................................... 1-7
1.7 Safeguarding Tips.............................................................................................................. 1-8
1.8 Mechanical Safety Devices................................................................................................ 1-8
1.9 Programming, Operation, and Maintenance Safety........................................................... 1-9
1.10 Maintenance Safety ....................................................................................................... 1-10
1.11 Summary of Warning Information .................................................................................. 1-10
1.12 Customer Support Information....................................................................................... 1-11
2 Notes for Maintenance.................................................................................................................... 2-1
2.1 Wrist Axes.......................................................................................................................... 2-1
2.2 Battery Pack Connection ................................................................................................... 2-2
3 Home Position Return..................................................................................................................... 3-1
3.1 Home Position Return after Motor Replacement ............................................................... 3-1
3.1.1 Home Position Return by Zeroing Function.......................................................... 3-1
3.1.2 Home Position Return by Robot Calibration (MOTOCALV EG) ........................... 3-1
3.1.3
Setting the Teaching Point for Home Position before Replacement ................... 3-2
3.1.3.1 Preparation before Replacement ............................................................ 3-2
3.1.3.2 Replacement ........................................................................................... 3-4
3.1.3.3 Home Position Adjustment ...................................................................... 3-5
3.2 Homing Method When the Robot-Axis Motor Battery Runs Out........................................ 3-7
3.2.1 With the Home Position Calibration Function for Restoration
from the Battery Back Up ..................................................................................... 3-7
3.2.2 With the Return Keys (L- and U-axes).................................................................. 3-7
ii
3 of 94
HW1480394
179158-1CD
MH6
Table of Contents
4 Grease Replenishment/Exchange .................................................................................................. 4-1
4.1 Notes on Grease Replenishment/Exchange Procedures .................................................. 4-1
4.1.1 Grease Replenishment/Exchange for S-axis Speed Reducer.............................. 4-1
4.1.1.1 Grease Replenishment............................................................................ 4-2
4.1.1.2 Grease Exchange.................................................................................... 4-2
4.1.2 Grease Replenishment/Exchange for L-axis Speed Reducer .............................. 4-4
4.1.2.1 Grease Replenishment............................................................................ 4-4
4.1.2.2 Grease Exchange.................................................................................... 4-5
4.1.3 Grease Replenishment/Exchange for U-axis Speed Reducer.............................. 4-6
4.1.3.1 Grease Replenishment............................................................................ 4-6
4.1.3.2 Grease Exchange.................................................................................... 4-7
4.1.4 Grease Replenishment for R-axis Speed Reducer............................................... 4-8
4.1.5 Grease Replenishment for B- and T-axes Speed Reducers ................................ 4-9
4.1.6 Grease Replenishment for T-axis Gear .............................................................. 4-10
4.1.7 Grease Replenishment for R-axis Cross Roller Bearing .................................... 4-11
5 Disassembly/Reassembly of the Motor........................................................................................... 5-1
5.1 Disassembly and Reassembly of the S-axis Motor............................................................ 5-1
5.2 Disassembly and Reassembly of the L-axis Motor ............................................................ 5-3
5.3 Disassembly and Reassembly of the U-axis Motor ........................................................... 5-5
5.4 Disassembly and Reassembly of the R-axis Motor ........................................................... 5-7
5.5 Disassembly/Reassembly of B-Axis Motor ...................................................................... 5-10
5.6 Disassembly/Reassembly of T-Axis Motor ...................................................................... 5-12
6 Disassembly/Reassembly of the Speed Reducer ........................................................................... 6-1
6.1 Disassembly/Reassembly of S-axis Speed Reducer......................................................... 6-1
6.2 Disassembly/Reassembly of L-Axis Speed Reducer......................................................... 6-3
6.3 Disassembly/Reassembly of U-Axis Speed Reducer ........................................................ 6-5
6.4 Disassembly/Reassembly of R-Axis Speed Reducer ........................................................ 6-7
6.5 Disassembly/Reassembly of B-Axis Speed Reducer ........................................................ 6-9
6.6 Disassembly/Reassembly of T-axis Speed Reducer ....................................................... 6-12
7 Disassembly/Reassembly of the Wrist Unit .................................................................................... 7-1
8 Disassembly/Reassembly and Adjustment of B- and T-Axes Timing Belts .................................... 8-1
8.1 Disassembly/Reassembly of B- and T-axes Timing Belts ................................................. 8-1
8.2 Adjustment of Timing Belts ................................................................................................ 8-2
iii
4 of 94
HW1480394
179158-1CD
MH6
Table of Contents
9 Notes for Maintenance Procedures ................................................................................................ 9-1
9.1 Battery Pack Replacement ................................................................................................ 9-1
10 Cable Wiring ............................................................................................................................... 10-1
10.1 Disconnecting Cables .................................................................................................... 10-1
10.1.1 Wrist Unit .......................................................................................................... 10-1
10.1.2 Casing and L-Arm............................................................................................. 10-2
10.1.3 S-Head and Base ............................................................................................. 10-5
10.2 Connecting Cables ........................................................................................................ 10-7
10.2.1 S-Head and Base ............................................................................................. 10-7
10.2.2 U-Arm and Casing ............................................................................................ 10-8
10.2.3 Wrist Unit .......................................................................................................... 10-9
11 Parts List ..................................................................................................................................... 11-1
11.1 S-Axis Unit ..................................................................................................................... 11-1
11.2 L-Axis Unit ..................................................................................................................... 11-4
11.3 U-Axis Unit..................................................................................................................... 11-6
11.4 R-Axis Unit..................................................................................................................... 11-8
11.5 Wrist Unit ..................................................................................................................... 11-11
iv
5 of 94
HW1480394
179158-1CD
MH6
1
1
Introduction
Introduction
MANDATORY
•
This maintenance manual is intended to explain maintenance
procedures primarily for the MOTOMAN-MH6.
•
General items related to safety are listed in Chapter 1: Safety of the
DX100 Instructions. To ensure correct and safe operation, carefully
read the DX100 instructions before reading this manual.
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 and maintenance this product.
•
The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
•
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.
•
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.
•
YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product's warranty.
1-1
6 of 94
HW1480394
179158-1CD
MH6
1 Introduction
1.1 Safety Standard for Industrial Robots and Robot Systems
1.1
Safety Standard for Industrial Robots and Robot Systems
We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment. NEVER
ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR
REPAIR THE EQUIPMENT!
We recommend approved Yaskawa training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.
1-2
7 of 94
HW1480394
179158-1CD
MH6
1 Introduction
1.2 Notes for Safe Operation
1.2
Notes for Safe Operation
Read this manual carefully before maintenance or inspection of the
DX100.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
DANGER
Indicates an imminent hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
WARNING
Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
CAUTION
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 the
MANDATORY items listed under this heading.
PROHIBITED
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in
some situations. At any rate, be sure to follow these important items.
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”.
1-3
8 of 94
HW1480394
179158-1CD
MH6
1 Introduction
1.2 Notes for Safe Operation
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.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Figure 1: Emergency Stop Button
•
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.
Injury may result from unintentional or unexpected manipulator motion.
Figure 2: Release of Emergency Stop
TURN
•
Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the
manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
•
Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX100.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the
DX100 and the programming pendant.
1-4
9 of 94
HW1480394
179158-1CD
MH6
1 Introduction
1.2 Notes for Safe Operation
CAUTION
•
Perform maintenance inspection with the specific person who took
the maintenance training course in Yaskawa.
Failure to observe this may result in electric shock or injury.
•
When the maintenance inspection is performed, be sure to mount
the battery pack before removing the motor encoder connector.
Failure to observe this caution may result in disappearance of the home
position data.
•
Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– 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
cabinet of the DX100 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
•
Read and understand the Explanation of Warning Labels in the
DX100 Instructions before operating the manipulator:
1-5
10 of 94
HW1480394
179158-1CD
MH6
1 Introduction
1.3 Definition of Terms Used In this Manual
1.3
Definition of Terms Used 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.
In this manual, the equipment is defined as follows:
1.4
Equipment
Manual Definition
DX100 Controller
DX100
DX100 Programming Pendant
Programming pendant
Cable between the manipulator and the
controller
Manipulator cable
Description of the Operation Procedure
In the explanation of the operation procedure, the expression “Select • • •”
means that the cursor is moved to the object item and the SELECT key is
pressed, or that the item is directly selected by touching the screen.
1.5
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
1-6
11 of 94
HW1480394
179158-1CD
MH6
1 Introduction
1.6 Explanation of Warning Labels
1.6
Explanation of Warning Labels
The following warning labels are 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.
Warning label A
Warning label B
Warning label A
Nameplate
Nameplate
Warning Label A:
WARNING
Moving parts
may cause
injury
Warning Label B:
WARNING
Do not enter
robot
work area.
1-7
12 of 94
HW1480394
179158-1CD
MH6
1 Introduction
1.7 Safeguarding Tips
1.7
Safeguarding Tips
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General
safeguarding tips are as follows:
• Improper operation can result in personal injury and/or damage to
the equipment. Only trained personnel familiar with the operation of
this equipment, the operator's manuals, the system equipment, and
options and accessories should be permitted to operate this
equipment.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
• The system must be placed in Emergency Stop (E-Stop) mode
whenever it is not in use.
• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources of
Energy, use lockout/tagout procedures during equipment
maintenance. Refer also to Section 1910.147 (29CFR, Part 1910),
Occupational Safety and Health Standards for General Industry
(OSHA).
1.8
Mechanical Safety Devices
The safe operation of this equipment is ultimately the users responsibility.
The conditions under which the equipment will be operated safely should
be reviewed by the user. The user must be aware of the various national
codes, ANSI/RIA R15.06-2012 safety standards, and other local codes
that may pertain to the installation and use of this equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following
safety equipment is provided as standard:
• Safety barriers
• Door interlocks
• Emergency stop palm buttons located on operator station
Check all safety equipment frequently for proper operation. Repair or
replace any non-functioning safety equipment immediately.
1-8
13 of 94
HW1480394
179158-1CD
MH6
1 Introduction
1.9 Programming, Operation, and Maintenance Safety
1.9
Programming, Operation, and Maintenance Safety
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. Improper operation can result in personal injury and/or
damage to the equipment. Only trained personnel familiar with the
operation, manuals, electrical design, and equipment interconnections of
this equipment should be permitted to program, or maintain the system.
All personnel involved with the operation of the equipment must
understand potential dangers of operation.
• Inspect the equipment to be sure no potentially hazardous conditions
exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place. Check all safety equipment
for proper operation. Repair or replace any non-functioning safety
equipment immediately.
• Check the E-Stop button on the operator station for proper operation
before programming. The equipment must be placed in Emergency
Stop (E-Stop) mode whenever it is not in use.
• Back up all programs and jobs onto suitable media before program
changes are made. To avoid loss of information, programs, or jobs, a
backup must always be made before any service procedures are
done and before any changes are made to options, accessories, or
equipment.
• Any modifications to the controller unit can cause severe personal
injury or death, as well as damage to the robot! Do not make any
modifications to the controller unit. Making any changes without the
written permission from Yaskawa will void the warranty.
• Some operations require standard passwords and some require
special passwords.
• The equipment allows modifications of the software for maximum
performance. Care must be taken when making these modifications.
All modifications made to the software will change the way the
equipment operates and can cause severe personal injury or death,
as well as damage parts of the system. Double check all
modifications under every mode of operation to ensure that the
changes have not created hazards or dangerous situations.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller and other
equipment. Disconnect and lockout/tagout all electrical circuits
before making any modifications or connections.
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Use proper replacement parts.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
1-9
14 of 94
HW1480394
179158-1CD
MH6
1 Introduction
1.10 Maintenance Safety
1.10
Maintenance Safety
Turn the power OFF and disconnect and lockout/tagout all electrical
circuits before making any modifications or connections.
Perform only the maintenance described in this manual. Maintenance
other than specified in this manual should be performed only by Yaskawatrained, qualified personnel.
1.11
Summary of Warning Information
This manual is provided to help users establish safe conditions for
operating the equipment. Specific considerations and precautions are also
described in the manual, but appear in the form of Dangers, Warnings,
Cautions, and Notes.
It is important that users operate the equipment in accordance with this
instruction manual and any additional information which may be provided
by Yaskawa. Address any questions regarding the safe and proper
operation of the equipment to Yaskawa Customer Support.
1-10
15 of 94
HW1480394
179158-1CD
MH6
1 Introduction
1.12 Customer Support Information
1.12
Customer Support Information
If you need assistance with any aspect of your MH6 system, please
contact YASKAWA Customer Support at the following 24-hour telephone
number:
(937) 847-3200
For routine technical inquiries, you can also contact YASKAWA Customer
Support at the following e-mail address:
[email protected]
When using e-mail to contact YASKAWA Customer Support, please
provide a detailed description of your issue, along with complete contact
information. Please allow approximately 24 to 36 hours for a response to
your inquiry.
NOTE
Please use e-mail for routine inquiries only. If you have an
urgent or emergency need for service, replacement parts,
or information, you must contact YASKAWA Customer
Support at the telephone number shown above.
Please have the following information ready before you call Customer
Support:
• System
MH6
• Primary Application
___________________________
• Controller
DX100
• Software Version
Access this information on the
Programming Pendant’s LCD
display screen by selecting {MAIN
MENU} - {SYSTEM INFO} {VERSION}
• Robot Serial Number
Located on the robot data plate
• Robot Sales Order Number
Located on the DX100 controller
data plate
1-11
16 of 94
HW1480394
179158-1CD
MH6
2
2 Notes for Maintenance
2.1 Wrist Axes
Notes for Maintenance
2.1
Wrist Axes
The motor and encoder units are provided with the wrist unit. To prevent
fumes from penetrating into the wrist unit, the matched parts are sealed
with sealing bond. Therefore, if the wrist cover is disassembled, be sure to
reapply the sealing bond when reassemble the cover. (ThreeBond 1206C)
Fig. 2-1: Sealing Para of Wrist Unit
Cover
Cover jointing face
Cover jointing face
Cover
2-1
17 of 94
HW1480394
179158-1CD
MH6
2 Notes for Maintenance
2.2 Battery Pack Connection
Battery Pack Connection
Before removing the encoder connector (with CAUTION label), connect
the battery pack referring to the following figures.
Fig. 2-2(a): Battery Pack Connector Diagram for SLU-axes
Motor
Power connector
Encoder connector
OBT
b
a OBT*
BAT
a
b BAT*
Battery pack: HW9470932
Connector for battery backup
Fig. 2-2(b): Battery Pack Connector Diagram for RBT-axes
Encoder
Motor
Motor cable etc.
Internal wire
2.2
Power connector
Connect
OBT
BAT
b OBT4
a BAT4
a
b
CAUTION
Connect battery to encoder
to save the data before
removing connector.
Encoder connector
Battery pack
CAUTION label
CAUTION label (Enlarged view)
CAUTION
OBT
a
BAT
b
b OBT4
a BAT4
a: Crimped contact-pin (socket)
b: Crimped contact-pin (pin)
Connect battery to encoder
to save the data before
removing connector.
2-2
18 of 94
HW1480394
179158-1CD
MH6
3
3 Home Position Return
3.1 Home Position Return after Motor Replacement
Home Position Return
In the following cases, perform calibration and set the
manipulator geometrical position.
• Change in the combination of the MOTOMAN and the
control unit
• Replacement of the motor or encoder
• Clearing stored memory
NOTE
• Home position deviation caused by hitting the MOTOMAN
against a workpiece, etc.
• Replacement, disassembly, and reassembly of the main
parts such as speed reducers etc.
Before the calibration, be sure that the manipulator satisfies
the following conditions.
• No external force is exerted on the manipulator.
The hand and other parts attached to the wrist unit are
removed.
3.1
Home Position Return after Motor Replacement
3.1.1
Home Position Return by Zeroing Function
The Zeroing function is an optional function which automatically allows the
restoration of the home position data when the manipulator’s home
position data disappears.
For the details of this function, refer to “INSTRUCTIONS FOR ZEROING
FUNCTION”.
3.1.2
Home Position Return by Robot Calibration (MOTOCALV EG)
The MOTOCALV EG allows the home position reset by teaching the fivepoint-in-five-posture.
Refer to “MOTOCALV EG for Windows Operator’s Manual” (152646-1CD)
for details on the operation.
3-1
19 of 94
HW1480394
179158-1CD
MH6
3 Home Position Return
3.1 Home Position Return after Motor Replacement
3.1.3
Setting the Teaching Point for Home Position before Replacement
The DX100 holds the position data of the job program (hereinafter called
the JOB) as the pulse number from the home position of each axis.
Stated differently, the precise adjustment of home position allows use of
the JOB, which had been used before the motor replacement, without
correction even after the motor replacement.
This section explains how to set the DX100.
3.1.3.1
Preparation before Replacement
• Refer to the Fig. 3-1 “Preparation before Replacement (Example)”.
Before replacement, create the standard position (hereinafter called the
check-point) for home position adjustment after replacement. The checkpoint must satisfy the conditions below. Furthermore, create the JOB so
that the manipulator safely moves to the check-point from the standby
position. (The JOB created in this manner will be hereinafter called the
check-JOB.)
The position should not be deviated by turning the power ON or OFF,
or lowering air pressure. Do not create the check point in the working
part of the tool (end effecter) or the jigs (related unit including the rotary
table). It is recommended to use a specific jig if necessary.
1
Use pointed jigs to create the position so that the deviation is easily
found.
Keep a distance as long as possible from the rotational center of the
replacing axis.
2
3 Considering the moving direction of the replacing axis, create the
position at the point where any deviation is easily found and the axis will
not interfere with jigs even if it is deviated.
Example of Check-point Creation
• The check-point cannot be created unless each axis moves to
operate. Stated differently, the check-point cannot be created if the
axis does not move due to a failure. It is, therefore, recommended to
create the check-point for each axis under normal operating
conditions.
• Check the home position of the replacing axis. Use the position
screen and move the replacing axis to the 0-pulse position: the home
position, then check the position of the home position mark. Please
execute the adjustment if it is deviated.
3-2
20 of 94
HW1480394
179158-1CD
MH6
3 Home Position Return
3.1 Home Position Return after Motor Replacement
The Fig. 3-1 “Preparation before Replacement (Example)”shows the
YR-MH00006-A00 U-axis replacement as an example.
Fig. 3-1: Preparation before Replacement (Example)
D
Home position mark
View D
3-3
21 of 94
HW1480394
179158-1CD
MH6
3 Home Position Return
3.1 Home Position Return after Motor Replacement
3.1.3.2
Replacement
• Refer to the Fig. 3-2 “Replacement (Example)”.
CAUTION
Since the motor is removed, the manipulator cannot keep its posture
during the replacement operation. When replacing the motor, hold the
manipulator arm with a chain block, etc.
Failure to observe this caution may cause a hazardous condition. Also,
when replacing the motor with due care.
The Fig. 3-2 “Replacement (Example)” shows the motor in
YR-MH00006-A00 U-axis replacement as an example.
Remove the motor, then conduct the replacement of the U-axis.
Fig. 3-2: Replacement (Example)
Chain block
Hanging tool
3-4
22 of 94
HW1480394
179158-1CD
MH6
3 Home Position Return
3.1 Home Position Return after Motor Replacement
3.1.3.3
Home Position Adjustment
After replacement, move the replaced axis to the position of the home
position mark. Perform the home position alignment only to the replaced
axis.
(For more detailed information, refer to "DX100 INSTRUCTIONS"
(162536-1CD).)
Move the axis to the check-point by the check-JOB. (Be careful when
moving the axis so that the manipulator may not interfere with jigs.) Move
only the replaced axis to adjust the deviation from the check-point created
before alignment.
Display the position screen (command value).
The following figure shows the position screen for U-axis.
Using the above values, calculate the amount of deviation. (Subtract the
command value from the present value.)
Present value - Command value = the amount of deviation
U (-3067) - (-2989) = -78
3-5
23 of 94
HW1480394
179158-1CD
MH6
3 Home Position Return
3.1 Home Position Return after Motor Replacement
Perform stepping back, etc. of the check JOB and move the replaced axis
to the position where the replaced axis will not interfere with jigs when it
moves to the home position. (Be careful when moving the axis so that the
manipulator may not interfere with jigs.) Use the position screen and
move the replaced axis to the pulse position equal to the amount of
deviation.
Refer to the example:
Perform the home position alignment only for the replaced axis on this
position. (For more detailed information, refer to "DX100
INSTRUCTIONS" (162536-1CD).)
Move the axis again to the check-point by the check-JOB. Check if the
axis is in the check-point created before the operation to complete the
adjustment. (If it is deviated, repeat the adjustment procedures.)
Perform an operation check by using the JOB program used before the
replacement. If no problem is found, write down the modified home
position data (ABSO data) and the date in the label attached inside the
DX100.
3-6
24 of 94
HW1480394
179158-1CD
MH6
3 Home Position Return
3.2 Homing Method When the Robot-Axis Motor Battery Runs Out
3.2
Homing Method When the Robot-Axis Motor Battery
Runs Out
3.2.1
With the Home Position Calibration Function for Restoration from the
Battery Back Up
This is the method to return the manipulator to its home position by
executing the "Backup alarm restoration” software on the programming
pendant after moving the manipulator close to its home position (within the
motor rotation).
The home position returned by this function updates the multi-turn data for
motor.
3.2.2
With the Return Keys (L- and U-axes)
This is the method to return the manipulator to its home position by writing
down the difference of the pulse between the key position and the home
position, which is set when MOTOMAN is delivered, on the home position
label affixed inside of the DX100
When the home position data disappears, move the manipulator to the
key position and set the position where the above mentioned difference of
the pulse is reflected in the key position as the home position.

Calibration Operation
Table 3-1: Parts List
Drawing No.
Name
Qty.
Remark
SFJW6-100
Shaft
1
For L- and U-axes
SFJW4-60
Shaft
1
For R-axis
The parts in Table 3-1 "Parts List" are required for calibration.
3-7
25 of 94
HW1480394
179158-1CD
MH6
3 Home Position Return
3.2 Homing Method When the Robot-Axis Motor Battery Runs Out
1. L-axis Positioning
As shown in Fig. 3-3 “L-Axis Positioning”, insert the shaft SFJW6-100
from the pin hole ( 6 +0.012
dia. ) on the S-head and perform positioning
0
with the programming pendant so that the pin (shaft) fits into the slot of
the L-arm.
Fig. 3-3: L-Axis Positioning
L-arm
S-head
Pin
2. U-axis Positioning
As shown in Fig. 3-4 “U-Axis Positioning”, insert the shaft SFJW6-100
from the pin hole ( 6 +0.012
dia. ) on the casing and perform positioning
0
with the programming pendant so that the pin (shaft) fits into the slot of
the L-arm.
Fig. 3-4: U-Axis Positioning
Casing
Pin
L-arm
3-8
26 of 94
HW1480394
179158-1CD
MH6
3 Home Position Return
3.2 Homing Method When the Robot-Axis Motor Battery Runs Out
3. R-axis Positioning
As shown in Fig. 3-5 “R-Axis Positioning”, insert the shaft SFJW4-60
dia. ) on the wrist unit and perform
from the pin hole ( 4 +0.012
0
positioning with the programming pendant so that the pin (shaft) fits
into the slot of the R-arm.
Fig. 3-5: R-Axis Positioning
U-arm
Pin
Casing
3-9
27 of 94
HW1480394
179158-1CD
MH6
4
4 Grease Replenishment/Exchange
4.1 Notes on Grease Replenishment/Exchange Procedures
Grease Replenishment/Exchange
4.1
Notes on Grease Replenishment/Exchange Procedures
Make sure to follow the instructions listed below at grease replenishment/
exchange. Failure to observe the following notes may result in damage to
motor and speed reducer.
• If grease is added without removing the plug/screw from
grease exhaust port, grease will leak inside a motor or an
oil seal of a speed reducer will come off, which may result
in damage to the motor. Make sure to remove the plug.
• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.
NOTE
• Make sure to use a grease pump to inject grease. Set air
supply pressure to the grease pump at 0.3 MPa or less,
and the grease injection rate at 8 g/s or less.
• Make sure to fill the hose on the grease inlet with grease
beforehand to prevent air from leaking into the speed
reducer.
4.1.1
Grease Replenishment/Exchange for S-axis Speed Reducer
Fig. 4-1: S-axis Speed Reducer Diagram
Grease exhaust port
Hexagon socket
head plug PT1/8
2BC
1BC
YB-100
250V 240A
38-100mm2 10.0Nm
3BC
S-axis speed reducer
Grease inlet
Hexagon socket head plug PT1/8
NOTE
For the ceiling-mounted manipulator, the grease exhaust
port and the grease inlet are inverted.
4-1
28 of 94
HW1480394
179158-1CD
MH6
4 Grease Replenishment/Exchange
4.1 Notes on Grease Replenishment/Exchange Procedures
4.1.1.1
Grease Replenishment
(Refer to Fig. 4-1 “S-axis Speed Reducer Diagram”.)
Replenish the grease according to the following procedure:
1. Remove the hexagon socket head plugs PT1/8 from the grease inlet
and grease exhaust port.
NOTE
• If grease is injected with the plugs on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plugs before the grease injection.
• Do not install a joint, a hose, etc. to a grease exhaust port.
Failure to observe this instruction may result in damage to
the motor due to coming off of an oil seal.
2. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
3. Inject the grease through the inlet using a grease gun.
– Grease type:
VIGO Grease RE No. 0
– Amount of grease:
70 cc (140 cc for 1st supply)
– Air supply pressure of grease pump:
0.3 MPa or less
– Grease injection rate:
8 g/s or less
4. Move the S-axis for a few minutes to discharge the excess grease.
5. Wipe the discharged grease with a cloth. Remove the grease zerk
from the grease inlet, and reinstall the plugs to the grease inlet and
grease exhaust port.
Before installing the plugs, apply ThreeBond 1206C on the thread part
of each plug, then tighten the plugs with a tightening torque of 4.9 N•m
(0.5 kgf•m).
4.1.1.2
Grease Exchange
(Refer to Fig. 4-1.)
1. Remove the hexagon socket head plug PT 1/8 from the grease
exhaust port.
NOTE
• If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
• Do not install a joint, a hose, etc. to a grease exhaust port.
Failure to observe this instruction may result in damage to
the motor due to coming off of an oil seal.
2. Install the grease zerk PT1/8 to the grease inlet.
(The grease zerk is delivered with the manipulator.)
3. Inject the grease through the grease inlet using a grease gun.
– Grease type:
VIGO Grease RE No. 0
– Amount of grease:
approx. 450 cc
– Air supply pressure of grease pump:
0.3 MPa or less
– Grease injection rate:
8 g/s or less
4-2
29 of 94
HW1480394
179158-1CD
MH6
4 Grease Replenishment/Exchange
4.1 Notes on Grease Replenishment/Exchange Procedures
4. The grease exchange is complete when new grease appears from the
exhaust port. (The new grease can be distinguished from the old
grease by color.)
5. Move the S-axis for a few minutes to discharge the excess grease.
6. Wipe the discharged grease with a cloth. Remove the grease zerk
from the grease inlet, then reinstall the hexagon socket head plug PT
1/8 to the inlet and exhaust port.
Before installing the plugs, apply ThreeBond 1206C on the thread part
of each plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m).
4-3
30 of 94
HW1480394
179158-1CD
MH6
4 Grease Replenishment/Exchange
4.1 Notes on Grease Replenishment/Exchange Procedures
4.1.2
Grease Replenishment/Exchange for L-axis Speed Reducer
Fig. 4-2: L-axis Speed Reducer Diagram
Grease exhaust port
Hexagon socket head plug PT1/8
L-arm
Grease inlet
Hexagon socket head
cap screw M6
NOTE
4.1.2.1
For ceiling-mounted manipulators, the grease exhaust port
and the grease inlet are inverted
Grease Replenishment
(Refer to Fig. 4-2 “L-axis Speed Reducer Diagram”.)
1. Make the L-arm vertical to ground.
2. Remove the hexagon socket head plug PT 1/8 from the grease
exhaust port.
3. Remove the hexagon socket head cap screw M6 from the grease inlet.
NOTE
• If grease is injected with the exhaust plug on, the grease
will leak inside the motor and may cause a damage. Make
sure to remove the plug before the grease injection.
• Do not install a joint, a hose, etc. to a grease exhaust port.
Failure to observe this instruction may result in damage to
the motor due to coming off of an oil seal.
4. Install the grease zerk A-MT6 x 1 to the grease inlet. (The grease zerk
is delivered with the manipulator.)
5. Inject grease through the grease inlet using a grease gun.
– Grease type:
VIGO Grease RE No. 0
– Amount of grease:
65 cc (130 cc for 1st supply)
– Air supply pressure of grease pump:
0.3 MPa or less
– Grease injection rate:
8 g/s or less
4-4
31 of 94
HW1480394
179158-1CD
MH6
4 Grease Replenishment/Exchange
4.1 Notes on Grease Replenishment/Exchange Procedures
6. Move the L-axis for a few minutes to discharge the excess grease.
7. Remove the grease zerk from the grease inlet and reinstall the screw.
Before installing the screw, apply ThreeBond 1206C on the thread part
of each screw, then tighten the screw with a tightening torque of
10 N•m (1.0 kgf•m).
8. Wipe the discharged grease with a cloth and reinstall the hexagon
socket head plug PT 1/8 to the exhaust port.
Before installing the plug, apply ThreeBond 1206C on the thread part
of each plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m).
4.1.2.2
Grease Exchange
(Refer to Fig. 4-2 “L-axis Speed Reducer Diagram”.)
1. Make the L-arm vertical to ground.
2. Remove the hexagon socket head plug PT 1/8 from the grease
exhaust port.
3. Remove the hexagon socket head cap screw M6 from the grease inlet.
NOTE
• If grease is injected with the exhaust plug on, the grease
will leak inside the motor and may cause a damage. Make
sure to remove the plug before the grease injection.
• Do not install a joint, a hose, etc. to a grease exhaust port.
Failure to observe this instruction may result in damage to
the motor due to coming off of an oil seal.
4. Install the grease zerk A-MT6 x 1 to the grease inlet.
(The grease zerk is delivered with the manipulator.)
5. Inject grease through the grease inlet using a grease gun.
– Grease type:
VIGO Grease RE No. 0
– Amount of grease:
approx. 420 cc
– Air supply pressure of grease pump:
0.3 MPa or less
– Grease injection rate:
8 g/s or less
6. The grease discharge is complete when new grease appears from the
exhaust port. The new grease can be distinguished from the old
grease by color.
7. Move the L-axis for a few minutes to discharge the excess grease.
8. Remove the grease zerk from the grease inlet and reinstall the
hexagon socket head cap screw M6 to the grease inlet.
Before installing the screw, apply ThreeBond 1206C on the thread part
of each screw, then tighten the screw with a tightening torque of
10 N•m (1.0 kgf•m).
9. Wipe the discharged grease with a cloth and reinstall the plug to the
exhaust port.
Before installing the plugs, apply ThreeBond 1206C on the thread part
of each plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m).
4-5
32 of 94
HW1480394
179158-1CD
MH6
4 Grease Replenishment/Exchange
4.1 Notes on Grease Replenishment/Exchange Procedures
4.1.3
Grease Replenishment/Exchange for U-axis Speed Reducer
Fig. 4-3: U-axis Speed Reducer Diagram
U-arm
Grease exhaust port
Hexagon socket head
cap screw M6
U-axis speed reducer
Grease inlet
Hexagon socket head
plug PT1/8
NOTE
4.1.3.1
For ceiling-mounted manipulators, the grease exhaust port
and the grease inlet are inverted.
Grease Replenishment
(Refer to Fig. 4-3 “U-axis Speed Reducer Diagram”.)
1. Make the U-arm horizontal to ground.
2. Remove the hexagon socket head cap screw M6 from the grease
exhaust port.
3. Remove the hexagon socket head plug PT 1/8 from the grease inlet.
NOTE
• If grease is injected with the bolt on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the bolt before the grease injection.
• Do not install a joint, a hose, etc. to a grease exhaust port.
Failure to observe this instruction may result in damage to
the motor due to coming off of an oil seal.
4. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
5. Inject grease through the grease inlet using a grease gun.
– Grease type:
VIGO Grease RE No. 0
– Amount of grease:
30 cc (60 cc for 1st supply)
– Air supply pressure of grease pump:
0.3 MPa or less
– Grease injection rate:
8 g/s or less
4-6
33 of 94
HW1480394
179158-1CD
MH6
4 Grease Replenishment/Exchange
4.1 Notes on Grease Replenishment/Exchange Procedures
6. Move the U-axis for a few minutes to discharge the excess grease.
7. Remove the grease zerk from the grease inlet and reinstall the plug.
Before installing the plug, apply ThreeBond 1206C on the thread part
of each plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m)
8. Wipe the discharged grease with a cloth and reinstall the hexagon
socket head cap screw M6 to the exhaust port.
Before installing the screw, apply ThreeBond 1206C on the thread part
of each screw, then tighten the screw with a tightening torque of
10 N•m (1.0 kgf•m).
4.1.3.2
Grease Exchange
(Refer to Fig. 4-3 “U-axis Speed Reducer Diagram”.)
1. Make the U-arm horizontal to ground.
2. Remove the hexagon socket head cap screw M6 from the grease
exhaust port.
3. Remove the hexagon socket head plug PT 1/8 from the grease inlet.
NOTE
• If grease is injected with the bolt on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the bolt before the grease injection.
• Do not install a joint, a hose, etc. to a grease exhaust port.
Failure to observe this instruction may result in damage to
the motor due to coming off of an oil seal.
4. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
5. Inject grease through the grease inlet using a grease gun.
– Grease type:
VIGO Grease RE No. 0
– Amount of grease:
approx.200 cc
– Air supply pressure of grease pump:
0.3 MPa or less
– Grease injection rate:
8 g/s or less
6. The grease discharge is complete when new grease appears from the
exhaust port. The new grease can be distinguished from the old
grease by color.
7. Move the U-axes for a few minutes to discharge the excess grease.
8. Remove the grease zerk from the grease inlet and reinstall the
hexagon socket head plug PT 1/8.
Before installing the plug, apply ThreeBond 1206C on the thread part
of each plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m).
9. Wipe the discharged grease with a cloth and reinstall the hexagon
socket head cap screw M6 to the exhaust port.
Before installing the screw, apply ThreeBond 1206C on the thread part
of each screw, then tighten the screw with a tightening torque of
10 N•m (1.0 kgf•m).
4-7
34 of 94
HW1480394
179158-1CD
MH6
4 Grease Replenishment/Exchange
4.1 Notes on Grease Replenishment/Exchange Procedures
4.1.4
Grease Replenishment for R-axis Speed Reducer
Fig. 4-4: R-axis Speed Reducer Diagram
Pipe plug
Exhaust port
(Plug LP-M5)
Grease inlet
Grease zerk A-MT6X1
1. Remove a plug LP-M5 from the exhaust port.
2. Remove the pipe plug.
3. Inject grease through the grease inlet using a grease gun.
(Refer to Fig. 4-4 “R-axis Speed Reducer Diagram”.)
– Grease type:
Harmonic grease SK-1A
– Amount of grease:
8 cc (16 cc for 1st supply)
NOTE
The exhaust port is used for air exhaust, and the grease is
not exhausted from the exhaust port. Do not inject
excessive grease through the grease inlet.
4. Reinstall the pipe plug.
5. Reinstall the plug LP-M5 on the exhaust port.
4-8
35 of 94
HW1480394
179158-1CD
MH6
4 Grease Replenishment/Exchange
4.1 Notes on Grease Replenishment/Exchange Procedures
4.1.5
Grease Replenishment for B- and T-axes Speed Reducers
Fig. 4-5: B- and T-axes Speed Reducers Diagram
Exhaust port (T-axis)
(Hexagon socket
head cap screw M6)
T-axis speed
reducer
B-axis speed reducer
Exhaust port (B-axis)
(Plug LP-M5)
Grease inlet (T-axis)
(Hexagon socket
head cap screw M6)
Grease inlet (B-axis)
(Hexagon socket
head cap screw M6)
1. Remove the plug LP-M5 of B-axis or the hexagon socket head cap
screw M6 of T-axis from the exhaust ports.
NOTE
Remove the U-arm cover side of the B-axis speed reducer.
2. Remove the hexagon socket head cap screws M6 from the grease
inlets and install the grease zerk A-MT6 x 1. (The grease zerk is
delivered with the manipulator.)
3. Inject grease through the grease inlets using a grease
gun. (Refer to Fig. 4-5 “B- and T-axes Speed Reducers Diagram”)
– Grease type:
Harmonic grease SK-1A
– Amount of grease:
For B-axis: 10 cc (20 cc for 1st supply)
For T-axis: 5 cc (10 cc for 1st supply)
NOTE
The exhaust port is used for air exhaust, and the grease is
not exhausted from the exhaust port. Do not inject
excessive grease through the grease inlet.
4. Remove the grease zerk form the grease inlets and reinstall the
screws. Before installing the screws, apply ThreeBond 1206C on the
thread part of them, then tighten the screws with a tightening torque of
6 N•m (0.6 kgf•m).
4-9
36 of 94
HW1480394
179158-1CD
MH6
4 Grease Replenishment/Exchange
4.1 Notes on Grease Replenishment/Exchange Procedures
5. Reinstall the plug LP-M5 of B-axis or the hexagon socket head cap
screw M6 of T-axis to the exhaust ports.
Before installing the plug/screw, apply ThreeBond 1206C on the
thread part, then tighten them with a tightening torque of 6 N•m (0.6
kgf•m).
NOTE
4.1.6
Mount the U-arm cover side of the B-axis speed reducer.
(Refer to chapter 2 “Notes for Maintenance”.)
Grease Replenishment for T-axis Gear
Fig. 4-6: T-axis Gear Diagram
Exhaust port
(Plug LP-M5)
Grease inlet
(Hexagon socket head
cap screw M6)
1. Remove the plug LP-M5 from the grease exhaust port.
2. Remove the hexagon socket head cap screw M6 from the grease inlet,
then install the grease zerk A-MT6 x 1. (The grease zerk is delivered
with the manipulator.)
3. Inject grease through the grease inlet using a grease gun.
(Refer to Fig. 4-6 “T-axis Gear Diagram”)
– Grease type:
Harmonic grease SK-1A
– Amount of grease:
5 cc (10 cc for the 1st supply)
NOTE
The exhaust port is used for air exhaust, and the grease is
not exhausted from the exhaust port. Do not inject
excessive grease through the grease inlet.
4. Remove the grease zerk from the grease inlet and reinstall the
hexagon socket head cap screw M6.
Before installing the screw, apply ThreeBond 1206C on the thread part
of the screw, then tighten the screw with a tightening torque of 6 N•m
(0.6 kgf•m).
5. Reinstall the plug LP-M5 to the exhaust port.
Apply ThreeBond 1206C to screwed parts when installing the plug.
4-10
37 of 94
HW1480394
179158-1CD
MH6
4 Grease Replenishment/Exchange
4.1 Notes on Grease Replenishment/Exchange Procedures
4.1.7
Grease Replenishment for R-axis Cross Roller Bearing
Fig. 4-7: R-axis Cross Roller Bearing Diagram
Exhaust port
(Plug LP-M5)
R-axis cross roller bearing
Grease inlet
Hexagon socket head
cap screw M6
1. Remove the plug LP-M5 from the exhaust port.
2. Remove the hexagon socket head cap screw M6 from the grease inlet,
then install the grease zerk A-MT6 x 1. (The grease zerk is delivered
with the manipulator.)
3. Inject grease through the grease inlet using a grease gun.
(Refer to Fig. 4-7 “R-axis Cross Roller Bearing Diagram”.
– Grease type:
Alvania EP grease 2
– Amount of grease:
3 cc (6 cc for the 1st supply)
– Air supply pressure of grease pump:
0.3 MPa or less
– Grease injection rate:
8 g/s or less
NOTE
The exhaust port is used for air flow. Do not inject
excessive grease through the gear grease inlet.
4. Remove the grease zerk from the grease inlet and reinstall the
hexagon socket head cap screw M6.
Before installing the screw, apply ThreeBond 1206C on the thread part
of the screw, then tighten the screw with a tightening torque of 6 N•m
(0.6 kgf•m).
5. Reinstall the plug LP-M5 to the exhaust port.
Apply ThreeBond 1206C to screwed parts when installing the plug.
4-11
38 of 94
HW1480394
179158-1CD
MH6
5
5 Disassembly/Reassembly of the Motor
5.1 Disassembly and Reassembly of the S-axis Motor
Disassembly/Reassembly of the Motor
5.1
Disassembly and Reassembly of the S-axis Motor
• Refer to Fig. 5-1 “Disassembly & Assembly of S-Axis Motor”.
NOTE
Refer to chapter 3 “Home Position Return”, chapter 4
“Grease Replenishment/Exchange” and chapter 8
“Disassembly/Reassembly and Adjustment of B- and TAxes Timing Belts” in this manual.
If you replace the motor, you don’t need to insert the backup
battery.
Remove old sealing from each parts before starting
assembling.

Disassembly
1. Turn OFF the DX100 power supply.
2. Connect the backup battery with the cable of S-axis motor 1 .
(Refer to Chapter chapter 2 “Notes for Maintenance”.)
3. Disconnect the cables (both encoder and power cables) of the S-axis
motor 1 from the internal wiring harness.
4. Unscrew the hexagon socket head cap screws 2 , then remove the
S-axis motor 1 from the M-base 5 by using the tap for removing stud
which is on the motor flanged face.
5. Unscrew the hexagon socket head cap screws 6 , then remove the
input gear 3 .

Reassembly
1. Install the key 4 and the input gear 3 on the S-axis motor 1 .
(The key 4 is delivered with the S-axis motor 1 .)
2. Pass the hexagon socket head cap screws 6 through the conical
spring washers, then apply LOCTITE 242 to their screw parts and
tighten them with the tightening torque shown in Table 5-1 "S-Axis
Motor Parts Checklist".
3. Mount the S-axis motor 1 on the M-base 5 .
4. Tighten the hexagon socket head cap screws 2 with the tightening
torque shown in Table 5-1.
5. Connect the cables of the S-axis motor 1 with the internal wiring
harness.
6. Remove the backup battery.
7. Turn ON the DX100 power supply.
5-1
39 of 94
HW1480394
179158-1CD
MH6
5 Disassembly/Reassembly of the Motor
5.1 Disassembly and Reassembly of the S-axis Motor
Table 5-1: S-Axis Motor Parts Checklist
N
o
Item
Qty
Remark
1
S-axis Motor
1
SGMRV-05ANA-YR2*
2
GT-SA Bolt M8 (length: 30mm)
3
Tightening Torque 24.5 N•m
3
Input Gear HW0312734-1
1
4
Key
1
5
M-Base HW0312732-1
1
6
Hexagon Socket Head Cap Screw M5
(length: 85mm)
Conical Spring Washer 2H-5
1
ea
Tightening Torque 6 N•m
Fig. 5-1: Disassembly & Assembly of S-Axis Motor
1
2
5
4
3
6
5-2
40 of 94
HW1480394
179158-1CD
MH6
5 Disassembly/Reassembly of the Motor
5.2 Disassembly and Reassembly of the L-axis Motor
5.2
Disassembly and Reassembly of the L-axis Motor
• Refer to Fig. 5-2 “Disassembly & Assembly of L-Axis Motor”.

Disassembly
1. Turn OFF the DX100 power supply.
2. Connect the backup battery with the cable of L-axis motor 1 .
(Refer to Chapter chapter 2 “Notes for Maintenance”.)
3. Disconnect the cables (both encoder and power cables) of the L-axis
motor 1 from the internal wiring harness.
4. Before removing the L-axis motor 1 , support the L-arm with a chain
block, etc. to avoid it from rotating.
5. Unscrew the GT-SA bolts 2 , then remove the L-axis motor 1 from the
S-head by using the tap for removing stud which is on the motor
flanged face.
6. Unscrewing the hexagon socket head cap screw 5 , then remove the
key 4 and the input gear 3 .

Reassembly
1. Mount the key 4 and the input gear 3 on the L-axis motor 1 .
(The key 4 is provided with the L-axis motor 1 .)
2. Pass the hexagon socket head cap screws 5 through the conical
spring washers, then apply LOCTITE 242 to their screw parts and
tighten them with the tightening torque shown in Table 5-2 "L-Axis
Motor Parts Checklist".
3. Before mounting the L-axis motor 1 on the S-head, apply ThreeBond
1206C to the matching face between them.
4. Tighten the GT-SA bolts 2 with the tightening torque shown in Table
5-2.
5. Connect the cables of the L-axis motor 1 with the internal wiring
harness.
6. Remove the backup battery.
7. Turn ON the DX100 power supply.
5-3
41 of 94
HW1480394
179158-1CD
MH6
5 Disassembly/Reassembly of the Motor
5.2 Disassembly and Reassembly of the L-axis Motor
Table 5-2: L-Axis Motor Parts Checklist
No Item
Qty
Remark
1
L-Axis Motor
1
SGMRV-09ANAYR1*
2
GT-SA Bolt M8 (length: 30mm)
4
Tightening Torque 24.5 N•m
3
Input Gear HW0312735-1
1
4
Key
1
5
Hexagon Socket Head Cap Screw M6 1
Tightening Torque16.5 N•m
(length: 75mm)
each
Conical Spring Washer 2H-6
Fig. 5-2: Disassembly & Assembly of L-Axis Motor
2
1
4
3
5
5-4
42 of 94
HW1480394
179158-1CD
MH6
5 Disassembly/Reassembly of the Motor
5.3 Disassembly and Reassembly of the U-axis Motor
5.3
Disassembly and Reassembly of the U-axis Motor
• Refer to Fig. 5-3 “Disassembly & Assembly of U-Axis Motor”.

Disassembly
1. Turn OFF the DX100 power supply.
2. Connect the backup battery with the cable of the U-axis motor 1 .
(Refer to chapter 2 “Notes for Maintenance”.)
3. Disconnect the cables (both encoder and power cables) of the U-axis
motor 1 from the internal wiring harness.
4. Before removing the L-axis motor 1 , support the L-arm with a chain
block, etc. to avoid it from rotating.
5. Unscrew the GT-SA bolts 2 , then remove the U-axis motor 1 from the
casing.
6. Unscrew the hexagon socket head cap screw 5 , then remove the
input gear 3 and the key 4 .

Reassembly
1. Mount the key 4 and input gear 3 on the U-axis motor 1 .
(The key 4 is provided with the U-axis motor 1 .)
2. Pass the hexagon socket head cap screw 5 through the conical spring
washers, then apply LOCTITE 242 to its screw part and tighten it with
the tightening torque shown in Table 5-3 "U-Axis Motor Parts
Checklist".
3. Before mounting the U-axis motor 1 on the casing, apply ThreeBond
1206C to the matching face between them.
4. Tighten the GT-SA bolts 2 with the tightening torque shown in Table
5-3.
5. Connect the cables of the U-axis motor 2 with the internal wiring
harness.
6. Remove the backup battery.
7. Turn ON the DX100 power supply.
Table 5-3: U-Axis Motor Parts Checklist
No Item
Qty
Remark
1
U-axis Motor HW9381362-A
1
SGMRV-05ANA-YR2*
2
GT-SA Bolts M8 (length: 30mm)
4
Tightening Torque 24.5 N•m
3
Input Gear HW0303277-4
1
4
Key
1
5
Hexagon Socket Head Cap Screw M5 1
Tightening Torque 10 N•m
(length: 65mm)
each
Conical Spring Washer 2H-5
5-5
43 of 94
HW1480394
179158-1CD
MH6
5 Disassembly/Reassembly of the Motor
5.3 Disassembly and Reassembly of the U-axis Motor
Fig. 5-3: Disassembly & Assembly of U-Axis Motor
3
4
5
1
Casing
2
5-6
44 of 94
HW1480394
179158-1CD
MH6
5 Disassembly/Reassembly of the Motor
5.4 Disassembly and Reassembly of the R-axis Motor
5.4
Disassembly and Reassembly of the R-axis Motor
• Refer to Fig. 5-4 “R-Axis Motor Parts Checklist”.

Disassembly
1. Turn OFF the DX100 power supply.
2. Unscrew the GT-SA bolts 10 to remove the cover 9 .
3. Remove the vinyl cover covering the connector (encoder cables) parts
of the R-axis motor 1 , then connect the backup battery (Refer to
chapter 2 “Notes for Maintenance”).
4. Remove the vinyl cover covering the connector (power cables) parts of
the R-axis motor 1 , then disconnect the cables (both encoder and
power cables) of the internal wiring harness connected to R-axis
motor 1 .
5. Unscrew the hexagon socket head cap screws 3 , insert M4 stud bolts
(thread part: 40mm or more) to the tap for removing M4 stud on the
M-base 4 . Screw the bolts until the gap between the M-base 4 and
its matching face is, to get a rough idea, 10 mm or more, then remove
the M-base 4 from the casing.
6. Unscrew the hexagon socket head cap screw 8 , and remove the fly
wheel 5 , speed reducer 6 , and the washer 7 .
7. Unscrew the GT-SA bolts 2 , and remove the R-axis motor 1 from the
M-base 4 .

Reassembly
1. Install the R-axis motor 1 to the M-base 4 .
2. Tighten the GT-SA bolts 2 to the tightening torque as shown in Table
5-4 "R-Axis Motor Parts Checklist".
3. Fill up the shaded area (see the enlarged figure in Fig. 5-4) of the oil
seal 11 with MP-1 Grease.
4. Install the fly wheel 5 , speed reducer 6 and the washer 7 to the
R-axis motor 1 .
5. Apply LOCTITE 242 to the thread part of he hexagon socket head cap
screw 8 and tighten the screw with the tightening torque shown in
Table 5-4.
6. Apply ThreeBond 1206C to the matching surfaces of the M-base 4
and the casing, and install the M-base 4 to the casing.
7. Tighten the hexagon socket head cap screw 3 with the tightening
torque shown in Table 5-4.
8. Connect the cables (both encoder and power cables) of the internal
wiring harness to the R-axis motor 1 , disconnect the backup battery,
then protect them with the vinyl cover.
9. Install the cover 9 with the GT-SA bolts 10 .
10. Tighten the GT-SA bolts 10 with the tightening torque shown inTable
5-4.
11. Turn ON the NX100 power supply.
5-7
45 of 94
HW1480394
179158-1CD
MH6
5 Disassembly/Reassembly of the Motor
5.4 Disassembly and Reassembly of the R-axis Motor
Table 5-4: R-Axis Motor Parts Checklist
No Item
Qty
Remark
1
R-axis Motor HW0389297-A
1
SGMPH-01ANA-YR1*
2
GT-SA Bolt M5 (length: 12 mm)
4
Tightening Torque: 6.0 N•m
3
Hexagon Socket Head Cap Screw M4 9 ea
(length: 25 mm)
Conical Spring Washer 2H-4
4
M-base HW0404161-1
1
5
Fly Wheel HW0404163-1
1
6
Speed Reducer HW0382277-A
1
7
Washer HW0404196-1
1
8
Hexagon Socket Head Cap Screw M4 1 ea
(length: 40 mm)
Conical Spring Washer 2H-4
9
Cover HW0304455-1
1
10
GT-SA Bolt M4 (length: 16 mm)
6
11
Oil Seal TC12227FKM
1
Tightening Torque: 4.1 N•m
Wave Generator
Tightening Torque: 4.8 N•m
Tightening Torque: 2.8 N•m
5-8
46 of 94
HW1480394
179158-1CD
MH6
5 Disassembly/Reassembly of the Motor
5.4 Disassembly and Reassembly of the R-axis Motor
Fig. 5-4: Disassembly & Assembly of R-Axis Motor
1
2
5
3
6
7
8
9
10
4
11
Apply MP-1 grease here
Casing
5-9
47 of 94
HW1480394
179158-1CD
MH6
5 Disassembly/Reassembly of the Motor
5.5 Disassembly/Reassembly of B-Axis Motor
5.5
Disassembly/Reassembly of B-Axis Motor
• Refer to Fig. 5-5 “Disassembly & Reassembly of B-Axis Motor”.

Disassembly
1. Turn OFF the DX100 power supply.
2. Unscrew the GT-SA bolts 6 to remove the cover 5 .
3. Remove the vinyl cover covering the connector (encoder cables) parts
connected to the B-axis motor 1 , then connect the backup battery
(Refer to chapter 2 “Notes for Maintenance”).
4. Remove the vinyl cover protecting the connector parts (power cables)
of the internal wiring harness which is connected to the B-axis motor 1
then disconnect the cables (both encoder and power cables) of the
internal wiring harness.
5. Unscrew the GT-SA bolts 2 and uninstall the B-axis motor 1 from the
U-arm.
6. Unscrew the hexagon socket head cap screw 4 to remove the pulley
3 . (To fix the pulley 3 , use two 3.4 dia. holes which are on the
pulley’s 3 surface.)

Reassembly
1. Install the pulley 3 to the B-axis motor 1 .
2. Apply LOCTITE 242 to the thread part of the hexagon socket head cap
screw 4 . Tighten the screw with the tightening torque shown in Table
5-5 "B-Axis Motor Parts Checklist". (To fix the pulley 3 , use two 3.4
dia. holes which are on the pulley’s 3 surface.)
3. Install the B-axis motor 1 to the U-arm, then hook the belt on the
pulley 3 .
4. Tighten the GT-SA bolts 2 with the tightening torque shown in Table
5-5. (Refer to chapter 8 “Disassembly/Reassembly and Adjustment of
B- and T-Axes Timing Belts” to adjust the tension of the belt.)
5. Connect the cables (both encoder and power cables) of the internal
wiring harness to the B-axis motor 1 , disconnect the backup battery,
then protect them with the vinyl cover.
6. Install the cover 5 to the U-arm with the GT-SA bolts 6 . (Apply
ThreeBond 1206C to the matching surfaces of the cover 5 and the
U-arm).
7. Tighten the GT-SA bolts 6 with the tightening torque shown in Table
5-5.
8. Turn ON the NX100 power supply.
5-10
48 of 94
HW1480394
179158-1CD
MH6
5 Disassembly/Reassembly of the Motor
5.5 Disassembly/Reassembly of B-Axis Motor
Table 5-5: B-Axis Motor Parts Checklist
No
Item
Qty
Remark
1
B-axis Motor HW0389297-A
1
SGMPH-01ANA-YR1*
2
GT-SA Bolt M4 (length: 16 mm)
2
Tightening Torque: 2.8 N•m
3
Pulley HW0481429-A
1
4
Hexagon Socket Head Cap Screw M4 1
Tightening Torque: 4.8 N•m
(length: 12 mm)
each
Conical Spring Washer 2H-4
5
Cover HW9200780-1
2
6
GT-SA Bolt M5 (length: 12 mm)
24
Tightening Torque: 6.0 N•m
Fig. 5-5: Disassembly & Reassembly of B-Axis Motor
1
6
6
5
2
5
4
3
U-arm
5-11
49 of 94
HW1480394
179158-1CD
MH6
5 Disassembly/Reassembly of the Motor
5.6 Disassembly/Reassembly of T-Axis Motor
5.6
Disassembly/Reassembly of T-Axis Motor
• Refer to Fig. 5-6 “Disassembly & Reassembly of T-Axis Motor”.

Disassembly
1. Turn OFF the NX100 power supply.
2. Remove the B-axis motor 5 . (Execute "Disassembly" (2) to (5) in
section 5.5 “Disassembly/Reassembly of B-Axis Motor”.)
3. Remove the vinyl cover covering the connector (encoder cables) parts
connected to the T-axis motor 1 , then connect the backup battery
(Refer to chapter 2 “Notes for Maintenance”).
4. Remove the vinyl cover protecting the connector parts (power cables)
of the internal wiring harness which is connected to the T-axis motor 1
then disconnect the cables (both encoder and power cables) of the
internal wiring harness.
5. Unscrew the GT-SA bolts 2 and uninstall the T-axis motor 1 from the
U-arm.
6. Unscrew the hexagon socket head cap screw 4 to remove the
pulley 3 . (To fix the pulley 3 , use two 4 dia. eliptic holes which are on
the pulley’s 3 surface.)

Reassembly
1. Install the pulley 3 to the T-axis motor 1 .
2. Apply LOCTITE 242 to the thread part of the hexagon socket head cap
screw 4 and tighten the screw with the tightening torque shown in
Table 5-6. (To fix the pulley 3 , use two 4 dia. eliptic holes which are
on the pulley’s 3 surface.)
3. Install the T-axis motor 1 to the U-arm, then hook the belt on the
pulley 3 .
4. Tighten the GT-SA bolts 2 with the tightening torque shown in Table
5-6. (Refer to chapter 8 “Disassembly/Reassembly and Adjustment of
B- and T-Axes Timing Belts” to adjust the tension of the belt.)
5. Connect the connector parts (both encoder and power cables) of the
internal wiring harness to the T-axis motor 1 , disconnect the backup
battery, then protect them with the vinyl cover.
6. Install the B-axis motor 5 . ((Execute "Reassembly" (3) to (7) in
section 5.5.)
7. Turn ON the NX100 power supply.
Table 5-6: T-Axis Motor Parts Checklist
No Item
Qty
Remark
1
1
SGMPH-01ANA-YR1*
Tightening Torque: 2.8 N•m
T-axis Motor HW0389297-A
2
GT-SA Bolt M4 (length: 16 mm)
2
3
Pulley HW9482352-A
1
4
Hexagon Socket Head Cap Screw M4 1 ea
(length: 12 mm)
Conical Spring Washer 2H-4
Tightening Torque: 4.8 N•m
5
B-Axis Motor HW0389297-A
SGMPH-01ANA-YR1*
1
5-12
50 of 94
HW1480394
179158-1CD
MH6
5 Disassembly/Reassembly of the Motor
5.6 Disassembly/Reassembly of T-Axis Motor
Fig. 5-6: Disassembly & Reassembly of T-Axis Motor
4
3
5
2
U
1
arm
5-13
51 of 94
HW1480394
179158-1CD
MH6
6
6 Disassembly/Reassembly of the Speed Reducer
6.1 Disassembly/Reassembly of S-axis Speed Reducer.
Disassembly/Reassembly of the Speed Reducer
NOTE
6.1
Refer to chapter 3 “Home Position Return”, chapter 4
“Grease Replenishment/Exchange”, chapter 6
“Disassembly/Reassembly of the Speed Reducer” and
chapter 7 “Disassembly/Reassembly of the Wrist Unit”.
Remove old sealing from each parts before assembling.
Disassembly/Reassembly of S-axis Speed Reducer.
• Refer to Fig. 6-1 “Disassembly & Reassembly of the S-Axis Speed
Reducer”.

Disassembly
1. Turn OFF the DX100 power supply.
2. Remove the S-axis motor 4 to remove the input gear 5 . (Execute
"Disassembly" (2) to (4) in section 5.1 “Disassembly and Reassembly
of the S-axis Motor”.)
3. Remove the GT-SA bolts 3 , then, by using a chain block, lift up the
upper part of the manipulator including the S-head and down it next to
the base. (When putting it down, put it on a base and handle it with
care not to pinch its internal lead.)
4. Unscrew the GT-SA bolts 7 , then remove the M-base 6 by using a
bolt remover.
5. Unscrew the GT-SA bolts 2 , then remove the speed reducer 1 by
using a bolt remover.
6. Discharge the built-up grease inside the reducer.

Reassembly
1. Before mounting the speed reducer 1 on the base, apply ThreeBond
1206C to the matching face between them.
2. Tighten the GT-SA bolts 2 with the tightening torque shown in Table
6-1 "S-Axis Speed Reducer Parts Checklist".
3. Remove old sealing from the M-base 6 . Mount the M-base 6 on the
S-head, then tighten the GT-SA bolts 7 with the tightening torque
shown in Table 6-1.
4. Apply ThreeBond 1206C to the matching face between the speed
reducer 1 and the M-base 6 . By using a chain block, lift up the
S-head to install it to the speed reducer 1 .
5. Tighten the GT-SA bolts 3 with the tightening torque shown in Table
6-1.
6. Mount the input gear 5 to the S-axis motor 4 .
(Execute "Reassembly" (3) to (6) in section 5.1. When replacing the
speed reducer 1 , replace the input gear 5 , too.)
7. Replenish VIGO Grease RE NO.0 from the grease inlet.
8. Turn ON the DX100 power supply.
6-1
52 of 94
HW1480394
179158-1CD
MH6
6 Disassembly/Reassembly of the Speed Reducer
6.1 Disassembly/Reassembly of S-axis Speed Reducer.
Table 6-1: S-Axis Speed Reducer Parts Checklist
No
Item
Qty
Remark
1
Speed Reducer HW0386621-B
1
2
GT-SA Bolt M6 (length: 35mm)
16
Tightening Torque
16.5 N•m
3
GT-SA Bolt M8 (length: 30mm)
18
Tightening Torque
24.5 N•m
4
S-Axis Motor
1
SGMRV-05ANAYR2*
5
Input Gear HW0312734-1
1
6
M-Base HW0312732-1
1
7
GT-SA Bolt M8 (length: 30mm)
7
Tightening Torque
24.5 N•m
Fig. 6-1: Disassembly & Reassembly of the S-Axis Speed Reducer
4
3
7
S-head
6
2
Base
Internal wire harness
5
6-2
1
53 of 94
HW1480394
179158-1CD
MH6
6 Disassembly/Reassembly of the Speed Reducer
6.2 Disassembly/Reassembly of L-Axis Speed Reducer
6.2
Disassembly/Reassembly of L-Axis Speed Reducer
• Refer to Fig. 6-2 “Disassembly & Reassembly of the L-Axis Speed
Reducer”.

Disassembly
1. Turn OFF the DX100 power supply.
2. Before detaching the L-arm 3 , to avoid the L-arm from falling down,
support it with a chain block, etc.
3. Remove the L-axis motor 5 to remove the input gear 6 .
(Execute "Disassembly" (2) to (5) in section 5.2 “Disassembly and
Reassembly of the L-axis Motor”.)
4. Unscrew the hexagon socket head cap screws 4 , then remove the
L-arm 3 from the speed reducer 1 .
5. Unscrew the GT-SA bolts 2 , then remove the speed reducer 1 from
the S-head.
6. Remove old sealing from the L-arm 3 and S-head.

Reassembly
1. Mount the input gear 6 to the L-axis motor 5 . (When replacing the
speed reducer 1 , replace the input gear 6 , too.)
2. Before mounting the speed reducer 1 to the S-head, apply ThreeBond
1206C to the matching face between them.
3. Tighten the GT-SA bolts 2 with the tightening torque shown in Table
6-2.
4. Before mounting the L-arm 3 to the speed reducer 1 , apply
ThreeBond 1206C to the matching face between them.
5. Tighten the hexagon socket head cap screws 4 with the tightening
torque shown in table Table 6-2.
6. Mount the L-arm 3 . (Execute "Reassembly" (3) to (6) in section 5.2.)
7. Replenish VIGO Grease RE NO.0 from the grease inlet.
8. Turn ON the DX100 power supply.
Table 6-2: L-Axis Speed Reducer Parts Checklist
No Item
Qty
1
Speed Reducer HW0387809-A
1
Remark
2
GT-SA Bolt M8 (length: 25mm)
18
3
L-Arm
1
4
Hexagon Socket Head Cap Screw M6
(length: 70mm)
Conical Spring Washer 2H-6
16
Tightening Torque
each 16.5 N•m
5
L-Axis Motor
1
6
Input Gear HW0312735-1
1
Tightening Torque
40 N•m
SGMRV-09ANAYR1*
6-3
54 of 94
HW1480394
179158-1CD
MH6
6 Disassembly/Reassembly of the Speed Reducer
6.2 Disassembly/Reassembly of L-Axis Speed Reducer
Fig. 6-2: Disassembly & Reassembly of the L-Axis Speed Reducer
1
S-head
2
5
3
6
4
6-4
55 of 94
HW1480394
179158-1CD
MH6
6 Disassembly/Reassembly of the Speed Reducer
6.3 Disassembly/Reassembly of U-Axis Speed Reducer
6.3
Disassembly/Reassembly of U-Axis Speed Reducer
• Refer to Fig. 6-3 “Disassembly & Reassembly of the U-Axis Speed
Reducer”.

Disassembly
1. Turn OFF the DX100 power supply.
2. Before detaching the U-arm unit, to avoid the unit from falling down,
support it with a chain block, etc.
3. Remove the U-axis motor 4 to remove the input gear 5 .
(Execute "Disassembly" (2) to (5) in section 5.3 “Disassembly and
Reassembly of the U-axis Motor”.)
4. Unscrew the GT-SA bolts 3 , then remove the U-arm unit from the
L-arm.
5. Unscrew the hexagon socket head cap screws 2 , then remove the
speed reducer 1 .
6. Remove old sealing from the L-arm and the U-arm unit.

Reassembly
1. Mount the input gear 5 to the U-axis motor 4 . (When replacing the
speed reducer 1 , replace the input gear 5 , too.)
2. Before mounting the speed reducer 1 to the U-arm unit, apply
ThreeBond 1206C to the matching face between them.
3. Tighten the GT-SA bolts 2 with the tightening torque shown in Table
6-3 "U-Axis Speed Reducer Parts Checklist".
4. Before mounting the U-arm unit, to which the speed reducer 1 is
attached, to the L-arm, apply ThreeBond 1206C to the matching face
between the speed reducer 1 and the L-arm.
5. Before tightening all the 6 GT-SA bolts 3 , apply ThreeBond 1206C to
the thread part of the 2 bolts which are marked with “ ”,
then tighten all the bolts with the tightening torque shown in Table 6-3.
6. Mount the U-axis motor 4 with the tightening torque shown in Table
6-3. (Execute "Reassembly" (3) to (6) in section 5.3.)
7. Replenish VIGO Grease RE NO.0 from the grease inlet.
8. Turn ON the DX100 power supply.
Table 6-3: U-Axis Speed Reducer Parts Checklist
N
o
Item
Qty
Remark
1
Speed Reducer HW9280738-B
1
2
Hexagon Socket Head Cap Screw M6
(length: 35mm)
Conical Spring Washer 2H-6
16
Tightening Torque 10 N•m
each
3
GT-SA Bolt M10 (length: 30 mm)
6
Tightening Torque 82 N•m
4
U-Axis Motor
1
SGMRV-05ANA-YR2*
5
Input Gear HW0303277-4
1
6-5
56 of 94
HW1480394
179158-1CD
MH6
6 Disassembly/Reassembly of the Speed Reducer
6.3 Disassembly/Reassembly of U-Axis Speed Reducer
Fig. 6-3: Disassembly & Reassembly of the U-Axis Speed Reducer
U-arm unit
4
5
3
3
2
1
L-arm
6-6
57 of 94
HW1480394
179158-1CD
MH6
6 Disassembly/Reassembly of the Speed Reducer
6.4 Disassembly/Reassembly of R-Axis Speed Reducer
6.4
Disassembly/Reassembly of R-Axis Speed Reducer
• Refer to Fig. 6-4 “Disassembly & Reassembly of the R-Axis Speed
Reducer”.

Disassembly
1. Turn OFF the DX100 power supply.
2. Remove the R-axis motor. (Execute "Disassembly"(2) to (6) in section
5.4 “Disassembly and Reassembly of the R-axis Motor”.)
3. Unscrew the hexagon socket head cap screws 6 , and remove the
circular spline 1 from the casing.
4. Unscrew the GT-SA bolts 5 , then remove the shaft 4 and the flex
spline 2 .

Reassembly
1. Install the circular spline 1 to the casing.
2. Tighten the hexagon socket head cap screws 6 with the tightening
torque shown in Table 6-4 "R-Axis Speed Reducer Parts Checklist".
3. Before installing the flex spline 2 and the shaft 4 to the casing, apply
Harmonic Grease SK-1A to the matching face between the circular
spline 1 and the flex spline 2 .
4. Tighten the GT-SA bolts 5 with the tightening torque shown in Table
6-4.
5. Apply Harmonic Grease SK-1A to the bearing of the wave generator
3 , and install it to the R-axis motor. (Execute "Reassembly" (4) to (8)
in section 5.4.)
6. Turn ON the DX100 power supply.
Table 6-4: R-Axis Speed Reducer Parts Checklist
No Item
Qty
Remark
1
Speed Reducer HW0382277-A
1
Circular Spline
2
Speed Reducer HW0382277-A
1
Flex Spline
Wave Generator
3
Speed Reducer HW0382277-A
1
4
Shaft HW0404164-1
1
5
GT-SA Bolt M5 (length: 16 mm)
8
6
Hexagon Socket Head Cap Screw M3 12
(length: 16 mm)
each
Conical Spring Washer 2H-3
Tightening Torque: 10 N•m
Tightening Torque: 1.9 N•m
6-7
58 of 94
HW1480394
179158-1CD
MH6
6 Disassembly/Reassembly of the Speed Reducer
6.4 Disassembly/Reassembly of R-Axis Speed Reducer
Fig. 6-4: Disassembly & Reassembly of the R-Axis Speed Reducer
1
6
3
2
5
R-axis motor
4
Casing
6-8
59 of 94
HW1480394
179158-1CD
MH6
6 Disassembly/Reassembly of the Speed Reducer
6.5 Disassembly/Reassembly of B-Axis Speed Reducer
6.5
Disassembly/Reassembly of B-Axis Speed Reducer
• Refer to Fig. 6-5 “Disassembly & Reassembly of the B-Axis Speed
Reducer”.

Disassembly
1. Turn OFF the DX100 power supply.
2. Unscrew the GT-SA bolts 11 to remove the cover 10 .
3. Loosen the GT-SA bolts 14 fixing the B-axis motor, then remove the
timing belt 5 .
4. Unscrew the GT-SA bolts 9 to remove the pulley 6 , the housing 15 ,
the wave generator 3 , and the bearings 8 and 12 .
5. Unscrew the hexagon socket head cap screw 7 to remove the
pulley 6 .
6. Unscrew the GT-SA bolts 4 to remove the circular spline 2 .
7. Unscrew the GT-SA bolts 13 to remove the flex spline 1 .

Reassembly
1. Apply LOCTITE 242 to the matching face between the collar 16 and
the flex spline 1 which are in the wrist base, then install the flex
spline 1 to the wrist base. If the collar 16 had came off when
disassembling the B-axis speed reducer, apply LOCTITE 242 to the
matching face between the collar 16 and the wrist base before
installing the collar 16 .
2. Tighten the GT-SA bolts 13 with the tightening torque shown in Table
6-5.
3. Before mounting the circular spline 2 to the U-arm, apply Harmonic
Grease SK-1A to the matching face between the circular spline 2 and
the flex spline 1 .
4. Tighten the GT-SA bolts 4 with the tightening torque shown in Table
6-5.
5. Apply Harmonic Grease SK-1A to the bearing of the wave generator
3 , and press-fit the bearings 8 and 12 , then install the housing 15 and
the pulley 6 . (When replacing the speed reducer, replace the
bearings 8 and 12 , too.)
6. Apply LOCTITE 242 to the thread part of hexagon socket head cap
screw 7 , then tighten the screw with the tightening torque shown
inTable 6-5.
7. Insert the wave generator 3 (assembled in the above mentioned step
5) into the wrist base.
8. Tighten the GT-SA bolts 9 with the tightening torque shown in Table
6-5.
9. Hook the timing belt 5 on the pulley 6 .
10. Adjust the initial tension of the timing belt 5 to the designated tension,
then tighten the GT-SA bolts 14 with the tightening torque shown
inTable 6-5. (Refer to chapter 8 “Disassembly/Reassembly and
Adjustment of B- and T-Axes Timing Belts”.)
11. Before mounting the cover 10 to the U-arm, apply ThreeBond 1206C to
the matching face between them. (Remove old sailings on the cover
10 and the U-arm.)
6-9
60 of 94
HW1480394
179158-1CD
MH6
6 Disassembly/Reassembly of the Speed Reducer
6.5 Disassembly/Reassembly of B-Axis Speed Reducer
12. Tighten the GT-SA bolts 11 with the tightening torque shown in Table
6-5.
13. Turn ON the DX100 power supply.
Table 6-5: B-Axis Speed Reducer Parts Checklist
No Item
Qty
Remark
1
Speed Reducer HW0381646-A
1
Flex Spline
2
Speed Reducer HW0381646-A
1
Circular Spline
3
Speed Reducer HW0381646-A
1
Wave Generator
4
GT-SA Bolt M4 (length: 12 mm)
4
Tightening Torque: 2.8 N•m
5
Timing Belt 60S4.5M558
1
6
Pulley HW0481692-A
1
7
Tightening Torque: 10 N•m
Hexagon Socket Head Cap Screw M5 1
(length: 16 mm)
each
Conical Spring Washer 2H-5
8
Bearing 6902ZZ
1
9
GT-SA Bolt M4 (length: 16 mm)
4
10
Cover HW9200780-1
2
11
GT-SA Bolt M5 (length: 12 mm)
24
12
Bearing 688A
1
13
GT-SA Bolt M4 (length: 16 mm)
9
Tightening Torque: 4.8 N•m
Tightening Torque: 2.8 N•m
14
GT-SA Bolt M4 (length: 16 mm)
2
15
Housing HW0403705-1
1
16
Collar HW0404303-1
1
6-10
Tightening Torque: 2.8 N•m
Tightening Torque: 6 N•m
61 of 94
HW1480394
179158-1CD
MH6
6 Disassembly/Reassembly of the Speed Reducer
6.5 Disassembly/Reassembly of B-Axis Speed Reducer
Fig. 6-5: Disassembly & Reassembly of the B-Axis Speed Reducer
B-axis motor
U-arm
Wrist base
12
16
1
2
11
4
14
10
13
3
5
8
7
4
6
9
15
9
6-11
62 of 94
HW1480394
179158-1CD
MH6
6 Disassembly/Reassembly of the Speed Reducer
6.6 Disassembly/Reassembly of T-axis Speed Reducer
6.6
Disassembly/Reassembly of T-axis Speed Reducer
• Rrefer to Fig. 6-6 “Disassembly & Reassembly of the T-Axis
Speed Reducer”.

Disassembly
1. Turn OFF the DX100 power supply.
2. Unscrew the hexagon socket head cap screws 10 to remove the right
side part from the point marked with A in the Fig. 6-6.
3. Remove the circular spline 2 from the flange.
4. Unscrew the GT-SA bolts 4 to remove the flex spline 1 .
5. Unscrew the GT-SA bolts 5 to remove the housing 6 from the wrist
base.
6. Unscrew the GT-SA bolt 8 to remove the gear 7 , shim 9 , then pull
out the wave generator 3 .

Reassembly
1. Insert the wave generator 3 into the housing 6 . (Inject Harmonic
Grease SK-1A into the baring part of the wave generator 3 .)
2. Install the gear 7 and the shim 9 .
3. Apply LOCTITE 242 to the thread part of the hexagon socket head cap
screw 8 , then tighten the screw with the tightening torque shown in
Table 6-6 "B-Axis Speed Reducer Parts Checklist".
4. Insert the housing 6 (in the stage of assembling step 1 to 3) into the
wrist base.
5. Temporarily tighten the GT-SA bolts 5 .
6. Check if the backlash is proper, and adjust the shim when necessary.
(Unscrew the GT-SA bolts 5 , then remove the housing 6 . Insert the
shim (choose one as needed from the list below) between the gear 7
and the wave generator 3 so that the backlash is set at 0.05 to
0.1 mm on the gear pitch circle diameter 52.5 mm.)
Shim Type
Thickness (mm)
SP012010
0.1
SP012015
0.15
SP012020
0.2
SP012050
0.5
7. Unscrew the GT-SA bolts 5 again after verifying the backlash is
appropriate. Remove the housing 6 , and apply Harmonic Grease
SK-1A on the teeth of the gear 7 .
8. Install the housing 6 to the wrist base, then tighten the GT-SA bolts 5
with the tightening torque shown in Table 6-6.
9. Install the flex spline 1 to the flange.
10. Tighten the GT-SA bolts 4 with the tightening torque shown in Table
6-6.
6-12
63 of 94
HW1480394
179158-1CD
MH6
6 Disassembly/Reassembly of the Speed Reducer
6.6 Disassembly/Reassembly of T-axis Speed Reducer
11. Insert the circular spline 2 into the flange, then install them to the
housing 6 . (Apply Harmonic Grease SK-1A to the matching face
between the circular spline 2 and the flex spline 1 .)
12. Tighten the hexagon socket head cap screws 10 with the tightening
torque shown in Table 6-6.
13. Replenish Harmonic Grease SK-1A from the grease inlet.
14. Turn ON the DX100 power supply.
Table 6-6: B-Axis Speed Reducer Parts Checklist
No Item
Qty
Remark
1
Speed Reducer HW0382917-A
1
Flex Spline
2
Speed Reducer HW0382917-A
1
Circular Spline
3
Speed Reducer HW0382917-A
1
Wave Generator
4
GT-SA Bolt M5 (length: 12 mm)
6
Tightening Torque: 10.0 N•m
5
GT-SA bolt M4 (length: 12 mm)
8
Tightening Torque: 2.8 N•m
6
Housing HW0303912-1
1
7
Gear HW9381384-A
1
8
Hexagon Socket Head Cap Screw M4 1 ea
(length: 12 mm)
Conical Spring Washer 2H-4
9
Shim
(Refer to the list on the previous
page.)
10
Hexagon Socket Head Cap Screw M4 4 ea
(length: 30 mm)
Conical Spring Washer 2H-4
Tightening Torque: 4.8N•m
Tightening Torque: 4.0N•m
6-13
64 of 94
HW1480394
179158-1CD
MH6
6 Disassembly/Reassembly of the Speed Reducer
6.6 Disassembly/Reassembly of T-axis Speed Reducer
Fig. 6-6: Disassembly & Reassembly of the T-Axis Speed Reducer
8
9
5
3
1
4
7
2
6
A
Wrist base
10
Flange
6-14
65 of 94
HW1480394
179158-1CD
MH6
7
7
Disassembly/Reassembly of the Wrist Unit
Disassembly/Reassembly of the Wrist Unit
• Refer to Fig. 7-1 “Disassembly & Reassembly of Wrist Unit”.
NOTE

Refer to the following chapters in this manual as needed:
chapter 2 “Notes for Maintenance” and chapter 3 “Home
Position Return” .
Disassembly
1. Turn OFF the DX100 power supply.
2. Unscrew GT-SA bolts 6 to remove the cover 5 .
3. Connect backup batteries to the B- and T-axes motors.
4. Disconnect the connectors of the BT-axes internal wiring harness.
5. Unscrew the GT-SA bolts 4 , remove the support 3 , and cut off the
cable tie which is fixing the BT-axes internal wiring harness.
6. Unscrew the GT-SA bolts 2 to remove the wrist unit 1 .

Reassembly
1. Pass the BT-axes internal wiring harness through the wrist unit 1 , then
fix the wrist unit 1 with the GT-SA bolts 2 .
2. Tighten the GT-SA bolts 2 with the tightening torque shown in Table
7-1 "Wrist Unit Parts Checklist".
3. Fix the white-marked part of the BT-axes internal wiring harness to the
support 3 with a cable tie.
4. Install the support 3 to the wrist unit 1 with the GT-SA bolts 4 .
5. Tighten the GT-SA bolts 4 with the tightening torque shown in Table
7-1.
6. Connect the BT-axes internal wiring harness to the B- and T-axes
motor connectors, then disconnect the backup batteries.
7. Before mounting the cover 5 to the wrist unit 1 with the GT-SA
bolts 6 , apply ThreeBond 1206C to the matching face between them.
8. Tighten the GT-SA bolts 6 with the tightening torque shown in Table
7-1.
9. Turn ON the DX100 power supply.
7-1
66 of 94
HW1480394
179158-1CD
MH6
7
Disassembly/Reassembly of the Wrist Unit
Table 7-1: Wrist Unit Parts Checklist
No
Item
Qty
1
Wrist Unit
1
2
GT-SA Bolt M6 (length: 60 mm)
8
3
Support HW9406556-1
1
4
GT-SA Bolt M4 (length: 12 mm)
2
5
Cover HW9200780-1
2
6
GT-SA Bolt M5 (length: 12 mm)
24
Remark
Tightening Torque: 10 N•m
Tightening Torque: 2.8 N•m
Tightening Torque: 6 N•m
Fig. 7-1: Disassembly & Reassembly of Wrist Unit
5
6
2
4
1
3
B-,T-axes internal wire harness
7-2
67 of 94
HW1480394
179158-1CD
8 Disassembly/Reassembly and Adjustment of B- and T-Axes Timing
Belts
8.1 Disassembly/Reassembly of B- and T-axes Timing Belts
MH6
8
Disassembly/Reassembly and Adjustment of B- and T-Axes Timing Belts
8.1
Disassembly/Reassembly of B- and T-axes Timing Belts
• Refer to Fig. 8-1 “Disassembly & Reassembly of B- and T-Axes
Timing Belt” and Table 8-1 "B- and T-Axes Timing Belt Parts
Checklist".
• Refer to section 5.5 “Disassembly/Reassembly of B-Axis Motor” and
section 5.6 “Disassembly/Reassembly of T-Axis Motor”.

Disassembly
1. Remove the B-axis motor 5 to unhook the B-axis timing belt 1 .
2. Remove the T-axis motor 3 to unhook the T-axis timing belt 2 .

Reassembly
1. Hook the T-axis timing belt 2 , then install the T-axis motor 3 .
2. Hook the B-axis timing belt 1 , then install the B-axis motor 5 .
Table 8-1: B- and T-Axes Timing Belt Parts Checklist
No
Item
1
B-Axis Timing Belt 60S4.5M558 1
Qty
2
T-Axis Timing Belt 60S4.5M387 1
3
T-Axis Motor HW0389297-A
1
Remark
SGMPH-01ANA-YR1*
4
GT-SA Bolt M4 (length: 16 mm) 2
Tightening Torque: 2.8 Nm
5
B-Axis Motor HW0389297-A
SGMPH-01ANA-YR1*
6
GT-SA Bolt M4 (length: 16 mm) 2
7
Cover HW9200780-1
1
Tightening Torque: 2.8Nm
2
8
GT-SA Bolt M5 (length: 12 mm) 24
Tightening Torque: 6.0 Nm
9
Pulley HW0481429-A
1
For B-Axis
10
Pulley HW9482352-A
1
For T-Axis
Fig. 8-1: Disassembly & Reassembly of B- and T-Axes Timing Belt
8
8
7
10
5
2
6
9
7
4
3
1
8-1
68 of 94
HW1480394
179158-1CD
8 Disassembly/Reassembly and Adjustment of B- and T-Axes Timing
Belts
8.2 Adjustment of Timing Belts
MH6
8.2

Adjustment of Timing Belts
B-axis
1. Loosen the GT-SA bolts 6 shown in Fig. 8-1 “Disassembly &
Reassembly of B- and T-Axes Timing Belt” in section 8.1
“Disassembly/Reassembly of B- and T-axes Timing Belts”, press the
pulley 9 in the direction that the timing belt 1 is hooked, then adjust
the belt tension.
2. Tighten the GT-SA bolts 6 temporarily to adjust the initial tension to be
the specific initial tension as shown in Table 8-2 "Initial Tension of
Timing Belt" with a tension meter.
3. Tighten the GT-SA bolts 6 firmly with the tightening torque specified in
Table 8-2. Make the B-axis move the teaching movement in a low
speed to even the belt tension. Again, confirm the initial tension to be
as shown in Table 8-2 .
Setting Value of the Tension Meter

Belt mass
26 g (10mm (W) x 6mm(L))
Belt width
6 mm
Distance between axes
222.68 mm
T-axis
1. Loosen the GT-SA bolts 4 shown in Fig. 8-1 in section 8.1, press the
pulley 10 in the direction that the timing belt 2 is hooked, then adjust
the belt tension.
2. Tighten the GT-SA bolts 4 temporarily to adjust the initial tension to be
the specific initial tension as shown in Table 8-2 with a tension meter.
3. Tighten the GT-SA bolts 4 firmly with the tightening torque specified in
Table 8-2. Make the T-axis move the teaching movement in a low
speed to even the belt tension. Again, confirm the initial tension to be
as shown in Table 8-2.
Setting Value of the Tension Meter
Belt mass
26 g (10mm (W) x 6mm(L))
Belt width
6 mm
Distance between axes
127.86 mm
Table 8-2: Initial Tension of Timing Belt
Initial Tension
B-axis
21.6 to 26.5 N (2.2 to 2.7kgf)
T-axis
21.6 to 26.5 N (2.2 to 2.7kgf)
8-2
69 of 94
HW1480394
179158-1CD
9 Notes for Maintenance Procedures
9.1 Battery Pack Replacement
MH6
9
Notes for Maintenance Procedures
9.1
Battery Pack Replacement
The battery packs are installed in the position shown in Fig. 9-1 “Battery
Location”. If the battery alarm occurs in the DX100, replace the battery in
accordance with the following procedure:
Fig. 9-1: Battery Location
2BC
1BC
2
250V 240A
YB-100
3BC
Support
Battery pack
Connector base
Plate fixing bolt
Fig. 9-2: Battery Connection
Battery pack
before replacement
See step 5 below
Connector
Board
See step 4 below
New battery pack
1. Turn OFF the DX 100 main power supply.
2. Remove the plate fixing screws and the plate on the connector base,
then pull the battery pack out to replace it with the new one.
3. Remove the battery pack from the battery holder.
9-1
70 of 94
HW1480394
179158-1CD
MH6
9 Notes for Maintenance Procedures
9.1 Battery Pack Replacement
4. Connect the new battery pack to the unoccupied connectors on the
board.
5. Remove the old battery pack from the board.
NOTE
Remove the old battery pack after connecting the new one
so that the encoder absolute data does not disappear.
6. Mount the new battery pack on the battery holder.
7. Reinstall the plate.
NOTE
Do not allow plate to pinch the cables when reinstalling the
plate.
9-2
71 of 94
HW1480394
179158-1CD
10 Cable Wiring
10.1 Disconnecting Cables
MH6
10 Cable Wiring
NOTE
To prevent loss of the encoder absolute data, make sure to
connect the new backup battery before disconnecting the
encoder connector. (Refer to chapter 2 “Notes for
Maintenance”.)
10.1
Disconnecting Cables
10.1.1
Wrist Unit
• Refer to Table 10-1 "Checklist for Wrist Unit Cable Wiring Parts" and
Fig. 10-1 “Cable Wiring in Wrist Unit”.
1. Unscrew the GT-SA bolts 2 and remove the covers 1 .
2. Connect the backup batteries with the B- and T-axes motors.
3. Disconnect the B- and T-axis motor connectors connected to the
internal wiring harness.
4. Cut off the cable tie and pull out the internal wiring harness to the
U-arm side.
Table 10-1: Checklist for Wrist Unit Cable Wiring Parts
No. Item
Qty.
1
Cover HW9200780-1
2
2
GT-SA bolt M5 (length: 12 mm)
12
Remark
Tightening torque:
6.00 N•m
3
Support HW9406556-1
1
4
GT-SA bolt M4 (length: 12 mm)
2
Tightening torque:
2.80 N•m
5
B-axis motor
1
SGMPH-01ANA-YR1*
6
T-axis motor
1
SGMPH-01ANA-YR1*
Fig. 10-1: Cable Wiring in Wrist Unit
4
2
3
1
6
5
10-1
72 of 94
HW1480394
179158-1CD
MH6
10 Cable Wiring
10.1 Disconnecting Cables
10.1.2 Casing and L-Arm
• Refer to Table 10-2 "Checklist for Casing and L-Arm Cable Wiring
Parts" and Fig. 10-2 “Cable Wiring in Casing and L-Arm”.
1. Unscrew the GT-SA bolts 2 and remove the cover 1 .
2. Unscrew the GT-SA bolts 4 and remove the cover 3 .
3. Remove the plastic cover covering the connector (encoder) of the
internal wiring harness connected to the R-axis motor, connect the
backup battery, and then disconnect the R-axis motor connector
connected to the internal wiring harness.
4. Unscrew the GT-SA bolts 10 and pull out the N-base 11 .
5. Unscrew the GT-SA bolts 8 and remove the stoppers 9 .
6. Unscrew the GT-SA bolts 5 and the hexagon socket head cap screws
6 , and then disconnect the ground wire.
7. Unscrew the cross head APS bolt 13 from the cover 12 , and then
disconnect the ground wire.
8. Unscrew the GT-SA bolts 14 and remove the cover 12 .
9. Cut off all the cable ties which fix the internal wiring harness.
10. Unscrew the GT-SA bolts 20 , remove the saddle 19 , and then cut off
the cable tie attached to the support 17 .
11. Unscrew the GT-SA bolts 18 , and then remove the support 17 .
12. Unscrew the hexagon socket head cap screws 16 and remove the
saddle 15 .
13. Remove the air hose from the joint projecting from the union 21 .
14. Remove the internal wiring harness from the cover 7 .
15. Connect the backup batteries with the L-axis motor and U-axis motor
and disconnect the L- and U-axis motor connectors connected to the
internal wiring harness.
16. Unscrew the hexagon socket head cap screws 22 and remove the
cover 23 .
10-2
73 of 94
HW1480394
179158-1CD
MH6
10 Cable Wiring
10.1 Disconnecting Cables
Table 10-2: Checklist for Casing and L-Arm Cable Wiring Parts
No. Item
Qty.
Remark
1
Cover HW0304455-1
1
2
GT-SA bolt M4 (length: 16 mm)
6
3
Cover HW0404720-1
1
4
GT-SA bolt M4 (length: 10 mm)
3
Tightening torque:
2.80 N•m
5
GT-SA bolt M4 (length: 12 mm)
2
Tightening torque:
2.80 N•m
6
Hexagon socket head cap screw M4
(length: 75 mm)
Conical spring washer 2L-4
2
each
Tightening torque:
2.80 N•m
7
Cover HW0201244-1
1
8
GT-SA bolt M4 (length: 16 mm)
4
Tightening torque:
2.80 N•m
Tightening torque:
2.80 N•m
9
Stopper HW0404179-1
2
10
GT-SA bolt M4 (length: 10 mm)
2
11
N-base HW0404718-1
1
12
Cover HW0404478-2
1
13
Cross head APS bolt M5 (length: 10 mm)
1
14
GT-SA bolt M4 (length: 12 mm)
2
15
Saddle HW0403879-1
1
16
Hexagon socket head cap screw M4
(length: 20 mm)
Conical spring washer 2L-4
2
each
17
Support HW0404717-2
1
18
GT-SA bolt M4 (length: 12 mm)
2
19
Saddle HW0403879-1
1
20
GT-SA bolt M4 (length: 12 mm)
2
21
Union KQE12-03
1
22
Hexagon socket head cap screw M6
(length: 15 mm)
GT-LH washer M6
4
each
23
Cover HW0314611-1
1
24
Gasket HW9481087-A
1
25
Pan-head sems screw M3 (length: 16 mm) 3
Nut M3
Tightening torque:
2.80 N•m
Tightening torque:
2.80 N•m
Tightening torque:
2.80 N•m
Tightening torque:
2.80 N•m
Tightening torque:
2.80 N•m
Tightening torque:
10.0 N•m
10-3
74 of 94
HW1480394
179158-1CD
10 Cable Wiring
10.1 Disconnecting Cables
MH6
Fig. 10-2: Cable Wiring in Casing and L-Arm
17
18
19
15
16
20
14
25
12
13
11
7
1
24 10
5
6
21
2
8
9
3
4
22
23
10-4
75 of 94
HW1480394
179158-1CD
10 Cable Wiring
10.1 Disconnecting Cables
MH6
10.1.3
S-Head and Base
• Refer to Table 10-3 "Checklist for S-Head and Base Cable Wiring
Parts" and Fig. 10-3 “Cable Wiring in S-Head and Base”.
1. Unscrew the hexagon socket head cap screws 2 and remove the
cover 1 .
2. Remove the grease hose from the union 3 .
3. Unscrew the GT-SA bolts 5 and remove the cover 4 .
4. Unscrew the GT-SA bolts 7 and remove the cover 6 .
5. Cut off the cable tie which fixes the internal wiring harness.
6. Unscrew the GT-SA bolts 9 and remove the cover 8 .
7. Connect the backup battery with the connector of the S-axis motor,
and then disconnect the connector connected to the internal wiring
harness.
8. Remove the nut from the terminal block 10 .
9. Unscrew the GT-SA bolts 11 and remove the support 12 .
10. Unscrew the GT-SA bolts 13 and remove the support 14 .
11. Unscrew the hexagon socket head cap screws 16 fixed to the
support 12 , and then remove the saddle 15 .
12. Unscrew the hexagon socket head cap screws 18 fixed to the
support 14 , and then remove the saddle 17 .
13. Unscrew the cross head APS bolts 19 , and then slightly pull out the
connector base 20 .
14. Remove the grease hose from the union 21 , and then remove the
internal wiring harness together with the connector base 20 .
Table 10-3: Checklist for S-Head and Base Cable Wiring Parts
No. Item
Qty.
1
Cover HW0314610-1
1
2
Hexagon socket head cap screw M6
(length: 12 mm)
GT-LH washer M6
7
each
3
Union PMF6-01
1
4
Cover HW0314604-A
1
5
GT-SA bolt M6 (length: 15 mm)
9
6
Cover HW0312987-1
1
7
GT-SA bolt M5 (length: 12 mm)
8
8
Cover HW0414324-1
1
9
GT-SA bolt M5 (length: 10 mm)
3
10
Terminal block (with a nut) TS200CHM
1
11
GT-SA bolt M6 (length: 15 mm)
2
12
Support HW0414670-2
1
13
GT-SA bolt M6 (length: 15 mm)
2
14
Support HW0414670-1
1
Remark
Tightening torque:
10.0 N•m
Tightening torque:
10.0 N•m
Tightening torque:
6.00 N•m
Tightening torque:
6.00 N•m
Tightening torque:
10.0 N•m
Tightening torque:
10.0 N•m
10-5
76 of 94
HW1480394
179158-1CD
10 Cable Wiring
10.1 Disconnecting Cables
MH6
Table 10-3: Checklist for S-Head and Base Cable Wiring Parts
No. Item
Qty.
Remark
15
Saddle CD31
1
16
Hexagon socket head cap screw M5
(length: 8 mm)
Conical spring washer 2L-5
2
each
17
Saddle CD31
1
18
Hexagon socket head cap screw M5
(length: 8 mm)
Conical spring washer 2L-5
2
each
19
Cross head APS bolt M5 (length: 10 mm)
(stainless)
6
20
Connector base
HW0273030-B
1
21
Union UKM6-01
1
Tightening torque:
6.00 N•m
Tightening torque:
6.00 N•m
Fig. 10-3: Cable Wiring in S-Head and Base
Inside the cover
Motor connector cable
10
16 15
11
12
6
7
4
13
5
14
18
17
External cable
9
1
8
3
2
20
YB-100
19
250V 240A
2 10.0N㺃m
38-100mm
21
10-6
77 of 94
HW1480394
179158-1CD
10 Cable Wiring
10.2 Connecting Cables
MH6
10.2
Connecting Cables
10.2.1
S-Head and Base
• Refer to Table 10-3 "Checklist for S-Head and Base Cable Wiring
Parts" and Fig. 10-3 “Cable Wiring in S-Head and Base”.
1. From the rear of the manipulator, pass the internal wiring harness
attached to the connector base 20 to the S-head.
2. Divide the internal wiring harness into two parts: one for the motor
connector side and the other for the external cable side. (Place the
external cable at the right side and the motor connector at the left side
when viewed from the connector base 20 .)
3. Insert the grease hose into the union 21 .
4. Mount the cable of the motor connector side to the support 12 by using
a cable tie. Mount the saddle 15 on the spring of the cable (at the
second or third coil from the end). Then fix it with the hexagon socket
head cap screws 16 .
5. As with the step 4, mount the external cable to the support 14 by using
a cable tie. Mount the saddle 17 on the spring of the cable, and then fix
it with the hexagon socket head cap screws 18 .
6. Mount the support 12 to the S-head with the GT-SA bolts 11 .
7. Mount the support 14 to the S-head with the GT-SA bolts 13 .
8. Mount the external cable to the terminal block 10 .
9. From the lateral side of the S-head, place the S- and L-axis motor
connectors in the S-head through .
10. Connect the connector of the S-axis motor to the internal wiring
harness and remove the backup battery.
11. Pull out the S-axis grease hose to the lateral side of the S-head, and
then fix the cover 8 with the GT-SA bolts 9 .
12. Connect the connector of the L-axis motor to the internal wiring
harness and remove the backup battery.
13. Fix the internal wiring harness with a cable tie.
14. Fix the air hose projecting from the external cable and the air hose at
the motor connector side.
15. Insert the grease hose into the union 3 .
16. Fix the cover 1 with the GT-SA bolts 2 .
17. Fix the cover 4 with the GT-SA bolts 5 .
18. Fix the cover 6 with the GT-SA bolts 7 .
19. Fix the connector base 20 with the cross head APS bolts 19 .
10-7
78 of 94
HW1480394
179158-1CD
MH6
10 Cable Wiring
10.2 Connecting Cables
10.2.2 U-Arm and Casing
• Refer to Table 10-2 "Checklist for Casing and L-Arm Cable Wiring
Parts" and Fig. 10-2 “Cable Wiring in Casing and L-Arm”.
1. Insert the protruding part of the spring of the internal wiring harness
into the L-arm. (2 places)
2. Fix the cover 23 with the hexagon socket head cap screws 252 .
3. Prepare the B- and T-axis wiring harnesses.
(1) Attach two cable ties to the support 17 .
(2) Fix the center part of the support 17 with one of the cable ties at
the white-marked position of the B- and T-axis wiring harnesses.
(3) Tie the other cable tie of the support 17 at approximately the third
coil from the end of the spring.
(4) Fix the saddle 19 to the support 17 with the GT-SA bolts 20 .
*Be careful not to incline the spring.
4. Place the protruding part of the spring in the cover 7 , and then fix the
stoppers 9 with the GT-SA bolts 8 .
5. Insert the joint of the air hose projecting from the union 21 into the air
hose projecting from the internal wiring harness.
6. Fix the internal wiring harness with cable ties in the cover 7 .
(2 places)
7. Put the gasket 24 between the N-base 11 and the connector, and then
tighten them with the pan-head sems screws 25 and nuts.
8. Fix the N-base 11 to the cover 7 with the GT-SA bolts 10 .
9. From the lateral side of the casing, pass the B- and T-axis encoder
cables and power cables through to the R-axis motor side.
10. Pass the U-axis encoder cable and power cable to the U-axis motor
side.
11. Connect the connector of the internal wiring harness to the U-axis
motor, and remove the backup battery.
12. Pass the R-, B-, and T-axis encoder cables and power cables through
to the R-axis motor side in the casing.
13. From the lateral side of the casing, pass the B- and T-axis wiring
harnesses into the U-arm.
14. Fix the support 17 to the shaft inside the casing with the GT-SA
bolts 18 .
15. Apply grease (Multemp) evenly to the whole surface of the spring of
the B- and T-axis wiring harnesses.
16. Place the spring in a U shape into the casing.
*Insert and pull out the spring a few times to make sure that the spring
does not interfere with other components.
17. Fix the spring at approximately the third coil from the end.
18. Fix the saddle 15 to the casing with the hexagon socket head cap
screws 16 .
19. Fix the cover 12 to the casing with the GT-SA bolts 14 .
20. Fix the ground wire of the internal wiring harness to the cover 12 with
the APS bolt 13 .
10-8
79 of 94
HW1480394
179158-1CD
10 Cable Wiring
10.2 Connecting Cables
MH6
21. Fix the cover 7 with the GT-SA bolts 5 and the hexagon socket head
cap screws 56 .
22. Cover the U-axis power cable with the plastic cover, and then place it
into the casing.
23. Fix the cover 3 with the GT-SA bolts 4 .
24. Cover the B- and T-axis encoder cables, R-axis encoder cable, B- and
T-axis power cables, and R-axis power cable with the plastic covers
respectively, and then place them into the casing.
25. Fix the cover 1 with the GT-SA bolts 2 .
10.2.3
Wrist Unit
• Refer to Table 10-1 "Checklist for Wrist Unit Cable Wiring Parts" and
Fig. 10-1 “Cable Wiring in Wrist Unit”.
1. Pass the cable in the wrist unit and fix the white-marked part of the
internal wiring harness to the support 3 with a cable tie.
2. Fix the support 3 to the U-arm with the GT-SA bolts 4 .
3. Connect the B- and T-axis motor connectors to the internal wiring
harness and remove the backup battery.
4. Divide the connected connectors into two parts: one for the encoder
cables and the other for the power cables. Cover each of them with
the plastic cover. Fix each end with a cable tie.
5. After placing the internal wiring harness in the wrist unit, fix the
cover 1 with the GT-SA bolts 2 .
*For the contact surface with the cover, apply liquid gasket (1206C).
10-9
80 of 94
HW1480394
179158-1CD
11 Parts List
11.1 S-Axis Unit
MH6
11 Parts List
11.1
S-Axis Unit
Fig. 11-1: S-Axis Unit
1004
1022
1005
1006
1008
1007
1023
1017
1023
1016
1047
1045
1018
1034
1037
1036
1054
1003
1058
1059
1058
1059
1002
1051
1012
1056
1056
1011
1057 1057
1014
1020
1010
1020
1024
1029
1013
1012
1011
1057 1056
1014
1056
1057
1009
1028
1060
1013
1025
1052
1060
1060
1030
1033
1043
1044
1042
1031
1032
1015
1026
1027
1040
1001
1019
11-1
81 of 94
HW1480394
179158-1CD
MH6
11 Parts List
11.1 S-Axis Unit
Table 11-1: S-Axis Unit (Sheet 1 of 2)
No.
DWG No.
Name
Pcs.
1001
HW0102222-1
Base
1
1002
HW0102223-1
S-head
1
1003
HW0312732-1
M-base
1
1004
SGMRV-05ANA-YR2*
Motor
1
1005
M4X10
GT-SA bolt
1
1006
HW0312734-1
Gear
1
1007
M5X85
Hexagon socket head 1
cap screw
1008
2L-5
Spring washer
1
1009
HW0414670-1
Support
1
1010
HW0414670-2
Support
1
1011
TA1-S10
Clamp
2
1012
M5X8
Pan-head sems
screw
2
1013
T50R
Cable tie
2
1014
CD-31
Saddle
2
1015
EZ5036A0
Cap
1
1016
POC6-01
Union
1
1017
NB-0640-0.2
Tube
1
1018
PT1/8
Plug
1
1019
M5X10
Cross head APS bolt
(stainless)
6
1020
M6X15
GT-SA bolt
4
1022
M8X30
GT-SA bolt
3
1023
M8X30
GT-SA bolt
25
1024
HW0414041-1
dog
1
1025
M6X35
GT-SA bolt
16
1026
M12X20
Hexagon socket head 1
cap screw
1027
2H-12
Spring washer
1028
M12X35
Hexagon socket head 1
cap screw
1
1029
2H-12
Spring washer
1
1030
HW0386621-B
Speed reducer
1
1031
TSH6-01M
Union
1
1032
NB-0640-0.3
Tube
1
1033
HW0314610-1
Cover
1
1034
M6X15
GT-SA bolt
8
1036
HW0312987-1
Cover
1
1037
HW0314604-A
Cover
1
1040
M6X12
Hexagon socket head 7
cap screw
1042
M6
GT-LH washer
7
1043
PMF6-01
Union
1
1044
PT1/8
Plug
1
1045
M5X12
GT-SA bolt
4
1047
M5X12
GT-SA bolt
4
1051
TS200CHM
Terminal
1
11-2
82 of 94
HW1480394
179158-1CD
MH6
11 Parts List
11.1 S-Axis Unit
Table 11-1: S-Axis Unit (Sheet 2 of 2)
No.
DWG No.
Name
1052
HW0414324-1
Cover
1
1054
C-30-SG-30A
Grommet
1
1056
M5X8
Hexagon socket head 4
cap screw
1057
2L-5
Spring washer
1058
M5X16
Hexagon socket head 2
cap screw
1059
2L-5
Spring washer
2
1060
M5X10
GT-SA bolt
3
11-3
Pcs.
4
83 of 94
HW1480394
179158-1CD
11 Parts List
11.2 L-Axis Unit
MH6
11.2
L-Axis Unit
Fig. 11-2: L-Axis Unit
2005
2001
2012
2003
2013
2010
2009
2018
2016
1002
2006
2011
2002
2020
2019
2004
2015
2014
11-4
84 of 94
HW1480394
179158-1CD
MH6
11 Parts List
11.2 L-Axis Unit
Table 11-2: L-Axis Unit
No.
DWG No.
Name
Pcs.
2001
SGMRV-09ANA-YR1*
Motor
1
2002
HW0387809-A
Speed reducer
1
2003
HW0312735-1
Gear
1
2004
M6X6
Hexagon socket head 1
cap screw
2005
HW0102224-1
L-arm
1
2006
HW0314611-1
Cover
1
2009
M6X75
Hexagon socket head 1
cap screw
2010
2L-6
Spring washer
1
2011
M8X25
GT-SA bolt
18
2012
M8X30
GT-SA bolt
4
2013
PT1/8
Plug
1
2014
M6X70
Hexagon socket head 16
cap screw
2015
2L-6
Spring washer
2016
M6X15
Hexagon socket head 4
cap screw
2018
M6
GT-LH Washer
2019
M14X20
Hexagon socket head 2
cap screw
2020
M14
GT-SH Washer
2
1002
HW0102223-1
S-head
1
11-5
16
4
85 of 94
HW1480394
179158-1CD
11 Parts List
11.3 U-Axis Unit
MH6
11.3
U-Axis Unit
Fig. 11-3: U-Axis Unit
3002
3009
3001
3025
3023
3019
3006
3008
3007
3024
3042
3041
3040
3041
3039
3042
3010
3040
3039
3034
3035
3028
3032
3038
3037
3036
3027
3020
3022
3021
3028
3031
3011
3012
3004
3013
3012
3003
3013
3034
3035
3026
2005
11-6
86 of 94
HW1480394
179158-1CD
MH6
11 Parts List
11.3 U-Axis Unit
Table 11-3: U-Axis Unit
No.
DWG No.
Name
Pcs.
3001
SGMRV-05ANA-YR2*
Motor
1
3002
M8X30
GT-SA bolt
4
3003
HW9280738-B
Speed reducer
1
3004
M10X30
GT-SA bolt
6
3006
HW0303277-4
Gear
1
3007
M5X65
Hexagon socket head 1
cap screw
3008
2L-5
Spring washer
1
3009
HW0102559-1
Casing
1
3010
HW0201244-1
Cover
1
3011
M4X12
GT-SA bolt
2
3012
HW0404179-1
Stopper
2
3013
M4X16
GT-SA bolt
4
3019
HW0404718-1
N-base
1
2
3020
M4X10
GT-SA bolt
3021
M4X75
Hexagon socket head 2
cap screw
3022
2L-4
Spring washer
4
3023
HW9481087-A
Gasket
1
3024
M3X16
Pan-head sems
screw
2
3025
M3
Nut
2
3026
M6X6
Hexagon socket head 2
cap screw
3027
PT1/8
Plug
1
3028
PT3/8 *SUS*
Plug
2
3031
KQE10-03
Union
1
3032
KQE12-03
Union
1
3034
M12X20
Hexagon socket head 3
cap screw
3035
2H-12
Spring washer
3036
M6X35
Hexagon socket head 16
cap screw
3
3037
2L-6
Spring washer
16
3038
HW0404152-1
Support
1
3039
M4X10
GT-SA bolt
2
3040
TA1-S8
Clamp
2
3041
M4X10
Pan-head sems
screw
2
3042
T50R
Cable tie
2
2005
HW0102224-1
L-arm
1
11-7
87 of 94
HW1480394
179158-1CD
11 Parts List
11.4 R-Axis Unit
MH6
11.4
R-Axis Unit
Fig. 11-4: R-Axis Unit
5008
4009
4010
4008
4010
4037
4036
4007
4039
4026
4035
4043
4040
4042
4027
4030
4029
4037
4032
4031 4028
4004
4021
4023
4033
4012 4022
4018
4028
4024
4025
4017
4019
4020
4003
4011
4041
4015
4014
3009
4038
4030
4029
4016
4001
4003
4013
4002
4006
4005
11-8
88 of 94
HW1480394
179158-1CD
MH6
11 Parts List
11.4 R-Axis Unit
Table 11-4: R-Axis Unit (Sheet 1 of 2)
No.
DWG No.
Name
Pcs.
4001
SGMPH-01ANA-YR1*
Motor
1
4002
M5X12
GT-SA bolt
4
4003
HW0382277-A
Speed reducer
1
4004
HW0404164-1
Shaft
1
4005
M3X16
Hexagon socket head 12
cap screw
4006
CDW-L3
Spring washer
12
4007
HW0381872-A
Cross roller bearing
1
4008
M6X30
Hexagon socket head 8
cap screw
4009
M6X60
Hexagon socket head 8
cap screw
4010
2L-6
Spring washer
8
4011
TC12227FKM
Oil seal
1
4012
6809ZZ
Bearing
1
4013
HW0404161-1
M-base
1
4014
M4X25
Hexagon socket head 9
cap screw
4015
2L-4
Spring washer
9
4016
HW0404163-1
Fly wheel
1
4017
HW0304348-1
Shaft
1
4018
HW0404196-1
Washer
1
4019
M4X40
Hexagon socket head 1
cap screw
4020
2L-4
Spring washer
1
4021
M5X16
GT-SA bolt
8
4022
HW0404717-2
Support
1
4023
M4X12
GT-SA bolt
2
4024
HW0304455-1
Cover
1
4025
M4X16
GT-SA bolt
6
4026
HW0404478-2
Cover
1
4027
M4X12
GT-SA bolt
2
4028
HW0403879-1
Saddle
2
4029
M4X20
Hexagon socket head 4
cap screw
4030
2L-4
Spring washer
4
4031
TA1-S8
Clamp
1
4032
M4X10
Pan-head sems
screw
1
4033
T18L
Cable tie
1
4035
HW0404720-1
Cover
1
4036
M4X10
GT-SA bolt
3
4037
LP-M5
Plug
2
4038
MT6X1
Grease zerk
1
4039
M6X6
Hexagon socket head 1
cap screw
4040
EZ5036A0
Cap
11-9
1
89 of 94
HW1480394
179158-1CD
MH6
11 Parts List
11.4 R-Axis Unit
Table 11-4: R-Axis Unit (Sheet 2 of 2)
No.
DWG No.
Name
Pcs.
4041
4042
HW0404304-1
Gasket
1
M5X10
Cross head APS bolt
1
3009
HW0102559-1
Casing
1
11-10
90 of 94
HW1480394
179158-1CD
11 Parts List
11.5 Wrist Unit
MH6
11.5
Wrist Unit
Fig. 11-5: Wrist Unit
5041
5042
5040
5046
5059
5054 5007
5060
5069
5009
5010
5024
5065
5011
5019
5024
5016
5039
5060
5038
5053
5069
5005
5051
5028
5060
5031
5023
5030
5032
5015
5014 5001
5012
5002
5013
5068
5026
5067
5017
5036
5037
5029
5065
5044
5050
5061
5027
5045
5043
5035
5052
5062
5063
5064
5033 5003
5049
5057
5058
5055
5060
5001
5004
5002
5048
5047 5022
5018
5034
5020
5065
5056
5008
5021
5066
5025 5010
5024
5011
3009
11-11
91 of 94
HW1480394
179158-1CD
MH6
11 Parts List
11.5 Wrist Unit
Table 11-5: Wrist Unit (Sheet 1 of 2)
No.
DWG No.
Name
Pcs.
5001
SGMPH-01ANA-YR1*
Motor
2
5002
M4X16
GT-SA bolt
4
5003
HW0381646-A
Speed reducer
1
5004
M4X16
GT-SA bolt
9
5005
HW0382917-A
Speed reducer
1
5007
M5X12
GT-SA bolt
6
5008
HW0100620-1
U-arm
1
5009
HW0200491-1
Wrist base
1
5010
HW9200780-1
Cover
2
5011
M5X12
GT-SA bolt
12
5012
HW9406556-1
Support
1
5013
M4X12
GT-SA bolt
2
5014
TA1-S8
Clamp
1
5015
M4X8
Pan-head sems screw
1
5016
T18L
Cable tie
1
5017
HW9482352-A
Pulley
1
5018
HW0481429-A
Pulley
1
5019
60S4.5M387
Belt
1
5020
60S4.5M558
Belt
1
5021
HW0481692-A
Pulley
1
5022
RTW28
C-type retaining ring
1
5023
HW9482220-A
Pulley
1
5024
M4X12
Hexagon socket head
cap screw
3
5025
M5X16
Hexagon socket head
cap screw
1
5026
HW9404988-1
B-cover
1
5027
M4X12
GT-SA bolt
4
5028
HW0404266-1
Housing
1
5029
M4X12
GT-SA bolt
4
5030
HW9381452-A
Gear
1
5031
6811LLU
Bearing
1
5032
HW9482218-A
Bearing
1
5033
688A
Bearing
1
5034
6902ZZ*NS7*
Bearing
1
5035
6812LLU
Bearing
1
5036
HW9381384-A
Gear
1
5037
M4X12
Hexagon socket head
cap screw
1
5038
HW9405199-1
B-nut
1
5039
HW9481180-A
Bearing
1
5040
HW0404550-1
Housing
1
5041
M4X30
Hexagon socket head
cap screw
4
5042
2L-4
Spring washer
4
5043
HW9481024-A
Bearing
1
5044
HW0307678-1
Shaft
1
5045
HW0307679-1
Flange
1
11-12
92 of 94
HW1480394
179158-1CD
MH6
11 Parts List
11.5 Wrist Unit
Table 11-5: Wrist Unit (Sheet 2 of 2)
No.
DWG No.
Name
Pcs.
5046
M4X10
GT-SA bolt
6
5047
HW0403705-1
Housing
1
5048
M4X12
GT-SA bolt
4
5049
M4X16
GT-SA bolt
4
5050
SP-0120**
Shim
1
5051
HW0404302-1
Shaft
1
5052
M3X12
GT-SA bolt
2
5053
HW0303912-1
Housing
1
5054
M4X12
GT-SA bolt
8
5055
HW0404303-1
Collar
1
5056
HW0404279-1
Block
1
5057
M4X20
Hexagon socket head
cap screw
2
5058
2L-4
Spring washer
2
5059
HW0404371-1
Bolt
1
5060
M6X6
Hexagon socket head
cap screw
4
5061
LP-M5
Plug
1
5062
M6X14
Hexagon socket head
cap screw
1
5063
2L-6
Spring washer
1
5064
M6
Washer
1
5065
2L-4
Spring washer
1
5066
2L-5
Spring washer
1
5067
HW0403239
Shim
2
5068
2L-4
Spring washer
1
5069
M6
Washer
4
3009
HW0102559-1
Casing
1
11-13
93 of 94
HW1480394
MOTOMAN-MH6
MAINTENANCE MANUAL
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703
Fax +81-93-645-7802
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
YASKAWA Europe GmbH Robotics Divsion )
Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100
Fax +49-8166-90-103
YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone +46-480-417-800
Fax +46-486-414-10
YASKAWA Electric (China) Co., Ltd.
22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200
Fax 㸩86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone +86-10-6788-2858
Fax +86-10-6788-2878
YASKAWA India Private Ltd. (Robotics Division)
#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Phone +91-124-475-8500
Fax +91-124-475-8542
YASKAWA Electric Korea Corporation
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea
Phone +82-2-784-7844
Fax +82-2-784-8495
07326
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
YASKAWA Electric (Singapore) PTE Ltd.
151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003
Fax +65-6289-3003
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
PT. YASKAWA Electric Indonesia
Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470
Fax +62-21-2982-6741
Specifications are subject to change without notice
for ongoing product modifications and improvements.
MANUAL NO.
94 of 94
HW1480394 1
">