Yaskawa Motoman GP10 Instructions

MOTOMAN-GP10
Instructions
Type:
YR-1-06VX10-A00 (Standard Specification)
YR-1-06VX10-A01 (Anti-Corrosive Coat Specification)
YR-1-06VX10-A02 (Built-In Force Sensor Cable Specification)
YR-1-06VX10-A03 (Anti-Corrosive Coat/Built-In Force Sensor
Cable Specification)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
201552-1CD
0
MANUAL NO.
HW2481638
1/136
2
HW2481638
2/136
Table of Contents
i.
Before Using the Product. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
i.1
i.2
i.3
Introduction to This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
i.1.1
Applicable Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
i.1.2
Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
i.1.3
Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Notes for Safe Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
i.2.1
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
i.2.2
Visual Aids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
i.2.3
Important Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
i.2.4
Warning Labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
i.2.5
Other Labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
i.2.6
Operating Methods for Manipulator Axes during Emergencies and Abnormalities (YRC1000). . . . . 19
Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
i.3.1
Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
i.3.2
Trademarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1. Items to Check When the Product Arrives . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.1
1.2
Checking the Received Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.1.1
Components in a Basic Robot System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.1.2
Manipulator Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Verifying the Manipulator and Robot Controller Order Numbers . . . . . . . . . . . . . 25
1.2.1
Verifying the Order Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2. Transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.1
Notes for Safe Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.2
Transportation by Crane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.2.1
Precautions during Transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.2.2
Precautions after Transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.2.3
Required Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.2.4
Transportation Posture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
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2.3
Transportation by Forklift. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.3.1
2.4
Precautions during Transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Transportation Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.4.1
Cushioning Material for Shipping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.1
Notes for Safe Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.1.1
Safety Fence Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.2
Installation Site and Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.3
Dust-Proof/Water-Proof Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.3.1
3.4
Chemical and Solvent Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Installing the Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.4.1
Recommended Items to Prepare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.4.2
Strength of the Installation Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.4.3
Dimensions of the Manipulator Base Installation Surface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.4.4
Mounting to the Baseplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.4.5
Limiting the S-Axis Range of Motion (For Wall-Mounted and Tilt-Mounted Installations) . . . . . . . . . . . 40
3.4.6
Measures to Prevent Falls (For Ceiling-Mounted and Wall-Mounted Installations) . . . . . . . . . . . . . . . 41
4. Connecting the Robot Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.1
Notes for Safe Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.2
Grounding the Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.3
Connecting the Manipulator Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.3.1
Connecting the Robot Controller and Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.3.2
Connection Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.3.3
Insertion Procedure for Manipulator Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.3.4
Removal Procedure for Manipulator Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.3.5
Manipulator Cable Protrusion Length. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5. Basic Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.1
5.2
4
Manipulator Axes of Motion and Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.1.1
Axes of Motion and Rotation Directions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.1.2
Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Basic Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.2.1
Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.2.2
Dimensions and Range of Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
5.2.3
Home Position and Range of Motion of Each Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
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5.3
Stopping Distances and Stopping Times When the S-, L-, and U-Axis Stop . . . . . 59
5.3.1
General Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
5.3.2
Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
5.3.3
Stopping Distances and Stopping Times for a Category 0 Stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
5.3.4
S-Axis Arm Extension for a Category 1 Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
5.3.5
L-Axis Arm Extension for a Category 1 Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.3.6
U-Axis Arm Extension for a Category 1 Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.3.7
Stopping Distances and Stopping Times for a Category 1 Stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
6. R-, B-, and T-Axis Load Specifications and Flange Dimensions . . . . . . . . . 65
6.1
6.2
Allowable Load on the R-, B-, and T-Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.1.1
R-, B-, and T-Axis Payload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.1.2
Allowable Load on the R-, B-, and T-Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.1.3
Moment Arm Rating of the R-, B-, and T-Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Dimensions of the Manipulator's End-Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
7. Connecting Peripheral Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
7.1
7.2
Device Mounts (Tapped Holes Prepared by YASKAWA) . . . . . . . . . . . . . . . . . . . . 70
7.1.1
Mass of a Mountable Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
7.1.2
Positions of Device Mounts (Tapped Holes) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
User Cable and Air Hoses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
7.2.1
Cable and Hose Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
7.2.2
Layout of Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
7.2.3
Connector Types and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
7.2.4
Connector Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
7.2.5
Internal Piping Diagram for Built-In Solenoid Valves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
7.2.6
Mating Connector (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
8. Changing the Range of Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
8.1
Limiting the Range of Motion of Each Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
8.2
Limiting the S-Axis Range of Motion (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
8.2.1
Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
8.2.2
Available Ranges of Motion with S-Axis Stoppers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
8.2.3
Mounting the S-Axis Mechanical Stopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
8.2.4
S-Axis Range of Motion and Stopper Positions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
8.2.5
Setting the S-Axis Pulse Software Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
9. Internal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
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9.1
Internal Wiring Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
10. Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
10.1
Notes for Safe Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
10.2
Inspection Schedule and Inspection Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
10.2.1 Inspection Items. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
10.2.2 Locations to Inspect. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
10.3
Daily Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
10.3.1 Checking Home Positions with the Alignment Marks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
10.4
Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111
10.4.1 Required Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111
10.4.2 Replenishing the Grease in the S-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
10.4.3 Replenishing the Grease in the L-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
10.4.4 Replenishing the Grease in the U-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
10.4.5 Replenishing the Grease in the R-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
10.4.6 Replenishing the Grease in the B-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
10.4.7 Replenishing the Grease in the T-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
10.5
Battery Unit Replacement Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
10.5.1 Location of the Battery Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
10.5.2 Replacing the Battery Unit When the Controller's Control Power Supply Is ON (At Normal
Times). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
10.5.3 Replacing the Battery Unit When the Controller's Control Power Supply Is OFF . . . . . . . . . . . . . . . . 126
11. Recommended Spare Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
11.1
Spare Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
12. Electrical Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
12.1
Servo ON Lamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Revision History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
6
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i
Before Using the Product
i.1
i.2
i.3
Introduction to This Manual..................................................................................... 8
i.1.1
Applicable Products ....................................................................................... 8
i.1.2
Nameplate ........................................................................................................ 8
i.1.3
Related Manuals.............................................................................................. 9
Notes for Safe Operation ........................................................................................ 10
i.2.1
Safety Information......................................................................................... 10
i.2.2
Visual Aids ..................................................................................................... 10
i.2.3
Important Safety Precautions .......................................................................11
i.2.4
Warning Labels.............................................................................................. 15
i.2.5
Other Labels .................................................................................................. 17
i.2.6
Operating Methods for Manipulator Axes during Emergencies and
Abnormalities (YRC1000) ............................................................................. 19
Using This Manual.................................................................................................... 21
i.3.1
Terms .............................................................................................................. 21
i.3.2
Trademarks .................................................................................................... 21
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7
i.1 Introduction to This Manual
i.1
Introduction to This Manual
This manual describes the following items with a focus on the mechanical parts of this YASKAWA manipulator.
• Notes for safe operation
• Installation
• Connecting the controller and peripheral devices
• Specifications
• Maintenance and inspection
• Recommended spare parts
• Read and understand this manual to ensure the correct usage of the product.
• Keep this manual in a safe place so that it can be referred to whenever necessary.
Important • Assume that items not described in this manual are either prohibited or not possible. General items related to safety are
described in "Safety" in the instructions for the robot controller that will be used. Carefully read and understand the
instructions before reading this manual and use the product correctly.
i.1.1
Applicable Products
This manual describes the following manipulators.
Specification
i.1.2
Type
Standard specification
YR-1-06VX10-A00
Anti-corrosive coat specification
YR-1-06VX10-A01
Built-in force sensor cable specification
YR-1-06VX10-A02
Anti-corrosive coat/built-in force sensor cable specification
YR-1-06VX10-A03
Nameplate
The nameplate is attached to the product in the following location. Confirm that the product type is correct.
Symbol
8
Description
A
Product type
B
Month and year of manufacture
C
Serial number
D
Payload
E
Manipulator mass
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i.1 Introduction to This Manual
i.1.3
Related Manuals
(1) Manipulator
Manual Name
Manual No.
MOTOMAN-GP10 Instructions
HW2481638
MOTOMAN-GP10 Maintenance Manual
HW2481678
(2) Robot Controller
Manual Name
Manual No.
YRC1000 Instructions
RE-CTO-A221
YRC1000 General Operator's Manual
RE-CSO-A051
YRC1000 Material Handling, Press Tending, Cutting, and Other Applications Operator's Manual
RE-CSO-A053
YRC1000 Maintenance Manual
RE-CHO-A114
YRC1000 Alarm Codes (Major Alarms) (Minor Alarms)
RE-CER-A600
YRC1000 Options Instructions for INFORM Language
RE-CKI-A466
YRC1000 Options Instructions for Concurrent I/O
RE-CKI-A467
YRC1000 Notes for Safe Operation
R-AN-A308
YRC1000micro Instructions
RE-CTO-A222
YRC1000micro Operator’s Manual
RE-CSO-A058
YRC1000micro Maintenance Manual
RE-CHO-A115
YRC1000micro Alarm Codes (Major Alarms) (Minor Alarms)
RE-CER-A601
YRC1000micro Options Instructions for INFORM Language
RE-CKI-A468
YRC1000micro Options Instructions for Concurrent I/O
RE-CKI-A469
YRC1000micro Notes for Safe Operation
R-AN-A309
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9
i.2 Notes for Safe Operation
i.2
Notes for Safe Operation
i.2.1
Safety Information
Read this manual carefully before installation, operation, maintenance, or inspection of your product.
In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, or
“NOTICE”.
DANGER
Indicates an imminently hazardous situation which, if not avoided, will result in death or
serious injury. Safety Signs identified by the signal word DANGER should be used sparingly
and only for those situations presenting the most serious hazards.
WARNING
Indicates a potentially hazardous situation which, if not avoided, will result in death or serious injury. Hazards identified by the signal word WARNING present a lesser degree of risk
of injury or death than those identified by the signal word DANGER.
CAUTION
Indicates a hazardous situation, which if not avoided, could result in minor or moderate
injury. It may also be used without the safety alert symbol as an alternative to “NOTICE”.
NOTICE
NOTICE is the preferred signal word to address practices not related to personal injury. The
safety alert symbol should not be used with this signal word. As an alternative to “NOTICE”,
the word “CAUTION” without the safety alert symbol may be used to indicate a message not
related to personal injury.
i.2.2
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
Indicates precautions or restrictions that must be observed. Also indicates alarm displays and other precautions that will not
result in machine damage.
Important
Indicates definitions of difficult terms or terms that have not been previously explained in this manual.
Term
Information
10
Indicates supplemental information to deepen understanding or useful information.
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i.2 Notes for Safe Operation
i.2.3
Important Safety Precautions
(1) Overall Precautions
DANGER
Carefully understand the residual risks shown on the warning labels before using this
product.
(2) Precautions during Commissioning and Test Operation
• When Using the YRC1000
DANGER
Before manipulator operation, perform the following operations and confirm that the
servo power turns OFF. If the servo power is turned OFF, the servo ON lamp on the pendant goes out.
• Press the emergency stop button on the front panel of the YRC1000, the pendant, and
all other external operation devices.
• Pull out the safety plug on the safety fence. (For play mode and remote mode)
There is a risk of injury or equipment damage if the manipulator cannot stop in an emergency.
Emergency Stop Button
• When Using the YRC1000micro
DANGER
Before manipulator operation, perform the following operations and confirm that the
servo power turns OFF. If the servo power is turned OFF, the servo ON lamp on the pendant goes out.
• Press the emergency stop button on the pendant and all other external operation
devices.
• Pull out the safety plug on the safety fence. (For play mode and remote mode)
There is a risk of injury or equipment damage if the manipulator cannot stop in an emergency.
Emergency Stop Button
(3) Precautions during Operation
• Common to the YRC1000 and YRC1000micro
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11
i.2 Notes for Safe Operation
DANGER
Observe the following precautions when teaching inside the range of motion.
• Always lock out the safety fence when entering the inside of the safety fence. Also,
hang a sign that indicates the programmer is operating the manipulator inside the
safety fence and warn other people not to close the safety fence.
• Always view the manipulator from the front.
• Follow the predetermined operating procedures.
• Always think about how to respond to danger if the manipulator suddenly moves in
your direction.
• Ensure there is a safe place to retreat in a worst case scenario.
There is a risk of injury from mis-operation and the manipulator moving in a manner the programmer
does not intend.
WARNING
Before performing teaching work for the manipulator, inspect the items listed below. If a
problem is discovered, immediately correct the problem or take other necessary corrective actions.
• Are there problems in the operation of the manipulator?
• Is there damage to the insulation and sheathing of external wires?
Always return the pendant to its designated location after use.
If the pendant is carelessly placed in a location such as on the manipulator, jig, or floor, the uneven surface
may activate the enable switch and turn ON the servo power. In addition, if the manipulator moves, there
is a risk that the manipulator or the tool may crush the pendant, hurt a worker, or damage other devices.
• When Using the YRC1000
DANGER
When performing the following work, confirm that there are no people in the range of
motion of the manipulator and perform the work from a safe area.
• When turning ON the power supply to the robot controller.
• When moving the manipulator with the pendant.
• When performing check mode operation.
• When performing automatic operation.
If a person carelessly enters the range of motion of the manipulator, there is a risk of injury from contact
with the manipulator. In addition, press the emergency stop button as quickly as possible when there is a
problem. There is an emergency stop button on the front panel of the YRC1000 and the upper-right of the
pendant.
• When Using the YRC1000micro
12
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i.2 Notes for Safe Operation
DANGER
When performing the following work, confirm that there are no people in the range of
motion of the manipulator and perform the work from a safe area.
• When turning ON the power supply to the robot controller.
• When moving the manipulator with the pendant.
• When performing check mode operation.
• When performing automatic operation.
If a person carelessly enters the range of motion of the manipulator, there is a risk of injury from contact
with the manipulator. In addition, press the emergency stop button as quickly as possible when there is a
problem. There is an emergency stop button on the upper-right of the pendant.
When the pendant is not used, always prepare an external emergency stop button on the
equipment side. Before manipulator operation, press the external emergency stop button
and confirm that the servo power turns OFF.
Connect the external emergency stop button to pins 4-14 and pins 5-15 of the safety connector (SAFETY) on the robot controller. The pins are connected with jumper wires in a
dummy connector when the robot controller is shipped from the factory. Make sure to prepare a new connector and input the signals when using the external emergency stop
button.
If the signals are input with the jumper wires still connected, the external emergency stop button will not
function, which may cause an injury or damage.
(4) Precautions during Maintenance and Inspection
DANGER
Do not remove the motors or release the brakes except during an emergency or if an abnormality occurs.
The arm may rotate in an unexpected direction and cause a serious injury.
WARNING
Only designated workers should perform maintenance and inspection.
There is a risk of electrical shock or injury.
For disassembly or repair, contact your YASKAWA representative.
(5) Precautions for Corrective Action during a Problem
• When Using the YRC1000
DANGER
Press the emergency stop button as quickly as possible when a problem occurs.
There is an emergency stop button on the front panel of the YRC1000 and the upper-right of the pendant.
• When Using the YRC1000micro
DANGER
Press the emergency stop button as quickly as possible when a problem occurs.
There is an emergency stop button on the upper-right of the pendant.
• Common to the YRC1000 and YRC1000micro
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13
i.2 Notes for Safe Operation
DANGER
To reset the emergency stop state and turn ON the servo power again, first eliminate the
obstructions and faults that caused the emergency stop.
There is a risk of injury due to the manipulator moving in a manner the operator did not intend.
Resetting the Emergency Stop State
(6) Precautions during Disposal
In Japan, dispose of this product in an appropriate manner according to the local or regional ordinances of location where the manipulator is used. Outside of Japan, dispose of this product according to the relevant national
laws and regulations. As necessary, label or provide notification regarding disposal on the final product.
(7) General Precautions
• Figures provided in this manual are typical examples or conceptual representations. There may be differences
between them and actual wiring, circuits, and products.
• The products shown in illustrations in this manual are sometimes shown with their covers or protective guards
removed to illustrate detail. Always replace all covers and protective guards before the product is used.
• If a new copy of this manual is required because it has been lost or damaged, contact your nearest YASKAWA
representative or one of the offices, and inform them of the manual number.
• This manual is subject to change without notice for product improvements, specifications changes, and
improvements to the manual itself. The manual number of this manual will be updated and revisions issued
when changes are made.
• Any and all quality guarantees provided by YASKAWA are null and void if the customer modifies the product
in any way. YASKAWA disavows any responsibility for damages or losses that are caused by modified
products.
14
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i.2 Notes for Safe Operation
i.2.4
Warning Labels
This section describes the safety symbols on the warning labels that are attached to the product. Be careful of the
residual risks shown on the warning labels.
For warning labels shown with the (*) symbol, whether the warning label is necessary and the language of the
warning label can be selected as options.
(1) Warning Label Attachment Locations
A
Tip over hazard label
C
Collision hazard label
B
Crush hazard label
D
Electrical shock hazard label
(2) Tip Over Hazard Label
• Description
Fix the manipulator to the manipulator base with specified bolt size and tightening torque. If the manipulator is
powered and moved without being fixed to the manipulator base, there is a risk the manipulator may fall over
and cause injury or damage.
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15
i.2 Notes for Safe Operation
(3) Crush Hazard Label
• Description
When the programmer performs teaching in the range of motion and gets close to a moving part, there is a risk
of being crushed.
(4) Collision Hazard Label
• Description
If a person enters the range of motion of the manipulator during operation, there is a risk of injury from contact
with the manipulator. In addition, press the emergency stop button as quickly as possible when there is a problem. When performing the following work, confirm that there are no people in the range of motion of the
manipulator and perform the work from a safe area.
– When turning ON the power supply to the robot controller.
– When moving the manipulator with the pendant.
– When performing check mode operation.
– When performing automatic operation.
(5) Electrical Shock Hazard Label
• Description
To prevent electrical shock, always ground the manipulator before the power supply to the robot controller is
turned ON. If the manipulator is touched when it is not grounded, there is a risk of electrical shock from the
electrical charge in the manipulator.
16
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i.2 Notes for Safe Operation
i.2.5
Other Labels
The following labels are applied to the manipulator.
A
Range of motion label
B
Transportation method label
(1) Range of Motion Label
• Description
This label shows the range of motion of the manipulator.
Refer to the following sections in the instructions for your robot controller for the installation site of the
manipulator.
– Installation and Wiring Safety
– Work Area Safety
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17
i.2 Notes for Safe Operation
(2) Transportation Method Label
• Description
This label shows the transportation posture of the manipulator.
Refer to the following section for the transportation method.
2 Transportation on page 27
18
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i.2 Notes for Safe Operation
i.2.6
Operating Methods for Manipulator Axes during Emergencies and
Abnormalities (YRC1000)
When an emergency or an abnormality occurs (e.g., a person is pinched or crushed by the manipulator or a person is trapped inside the machine), the manipulator axes can be moved without motor drive power by releasing
the brakes. Refer to the following manuals for the brake release unit (option).
Manual Name
Manual No.
YRC1000 Options Instructions for Brake Release Unit Installed in Controller Cabinet
HW1484107
YRC1000 Options Instructions for Independent Type Brake Release Unit (Handy Type)
HW1484109
YRC1000 Options Instructions for Independent Type Brake Release Unit (Handy Type) (AC 220V/200V Power
Supply Specification)
HW2480839
Purchase the necessary quantity of brake release units for the environment in which the manipulator is used and
manage them in an appropriate manner so they can be promptly deployed when an emergency or abnormality
occurs.
DANGER
Do not use the brake release unit except during an emergency or if an abnormality occurs.
The arm may rotate in an unexpected direction due to the released brake and cause a serious injury. For this
reason, make sure to release the brake only after safety can be confirmed, such as by supporting the arm in
an appropriate manner to handle arm rotation when the brake is released.
The directions the arm falls when the L-axis or U-axis motor brake is released and an example of supporting the
arm are shown below.
Note:
The example in the following figures shows the manipulator when it is mounted to the floor. Support the arm in an appropriate manner by
taking into consideration the effect of gravity because the directions the arm falls depend on the installation angle.
(1) Directions the Arm Falls (When the L-Axis or U-Axis Motor Brake Is
Released)
When the L-Axis Motor Brake Is Released
*1
When the U-Axis Motor Brake Is Released
Indicates the directions the arm falls.
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19
i.2 Notes for Safe Operation
(2) Example of Supporting the Arm (When the L-Axis or U-Axis Motor
Brake Is Released)
A
20
Chain block
B
Hanging tool
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i.3 Using This Manual
i.3
Using This Manual
i.3.1
Terms
"MOTOMAN" is the product name for industrial robots manufactured by YASKAWA.
MOTOMAN consists of a manipulator, a robot controller, a pendant, and a manipulator cable.
Interpret the devices described in this manual as shown below.
Device
i.3.2
Name in This Manual
YRC1000/YRC1000micro robot controller or control panel
Robot controller
YRC1000 programming pendant
Pendant
YRC1000micro programming pendant (option)
Pendant
Arm composed of multiple joints
Manipulator
Cable between the manipulator and the YRC1000 or YRC1000micro
Manipulator cable
Safety signal short circuit connector for the programming pendant for the YRC1000micro
(option)
Safety signal short circuit connector for
the programming pendant
Trademarks
The product names and company names used in this manual are the trademarks or product names of the respective company. TM and the ® mark do not appear with the trademarks of companies in this manual.
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21
i.3 Using This Manual
22
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1
Items to Check When the Product
Arrives
1.1
1.2
Checking the Received Products......................................................................... 24
1.1.1
Components in a Basic Robot System ....................................................... 24
1.1.2
Manipulator Accessories ............................................................................. 24
Verifying the Manipulator and Robot Controller Order Numbers ................ 25
1.2.1
Verifying the Order Numbers ....................................................................... 25
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1.1 Checking the Received Products
1.1
Checking the Received Products
Confirm that all of the ordered products have been received.
1.1.1
Components in a Basic Robot System
Name
Remarks
Manipulator
Includes accessories.
Robot controller
YRC1000
Includes accessories.
YRC1000micro
Includes accessories.
YRC1000 or YRC1000micro
Manipulator cable
Connects the manipulator and robot controller.
Pendant
The pendant is an option when using the YRC1000micro.
YRC1000micro only
-
Safety signal short circuit connector for the
programming pendant (option)
1.1.2
Pendant connection cable
Connects the robot controller and pendant.
CD-ROM
Contains PDF copies of the manuals.
Manipulator Accessories
Purpose
Installing the manipulator
24
Name
Type/Specifications
Qty.
Hexagon socket head cap screw
M10 (length: 35 mm)
4
Spring washer
M10
4
Washer
M10
4
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1.2 Verifying the Manipulator and Robot Controller Order Numbers
1.2
Verifying the Manipulator and Robot Controller Order
Numbers
1.2.1
Verifying the Order Numbers
CAUTION
Verify that the manipulator and the robot controller have the same order number. Use extra
caution when installing multiple manipulators.
There is a risk of injury or damage due to malfunction.
Items to Check When the Product Arrives
Verify that the order numbers on the nameplates of the manipulator and robot controller match.
1
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25
1.2 Verifying the Manipulator and Robot Controller Order Numbers
26
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2
Transportation
2.1
Notes for Safe Operation ........................................................................................ 28
2.2
Transportation by Crane......................................................................................... 29
2.3
2.2.1
Precautions during Transportation............................................................. 29
2.2.2
Precautions after Transportation ................................................................ 29
2.2.3
Required Items .............................................................................................. 29
2.2.4
Transportation Posture ................................................................................ 30
Transportation by Forklift ...................................................................................... 31
2.3.1
2.4
Precautions during Transportation............................................................. 31
Transportation Accessories .................................................................................. 32
2.4.1
Cushioning Material for Shipping ............................................................... 32
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27
2.1 Notes for Safe Operation
2.1
Notes for Safe Operation
WARNING
Transportation tasks that involve a sling, operating a crane or forklift, and other similar work
must be performed by workers who have acquired the relevant national qualifications or
workers approved by that company.
There is a risk of injury or equipment damage.
NOTICE
Transport the product so that it is not exposed to excessive vibration or shock.
Performance will be affected because this product is a precision machine.
28
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2.2 Transportation by Crane
2.2
Transportation by Crane
When unpacking and moving the manipulator, use a crane to transport it as a basic rule.
2.2.1
Precautions during Transportation
• Use a two-leg wire rope or sling with sufficient tensile strength.
• When transporting the manipulator, make sure to set the manipulator to the posture specified in this manual.
Important • Always attach the included eye bolts and the cushioning material for shipping to the manipulator before transporting it.
Confirm that the eye bolts have been fastened in a sufficient manner before transporting the manipulator.
• The included eye bolts are designed to be able to withstand the mass of the manipulator body. Do not use the eye bolts for
any purpose other than transporting the manipulator.
• Make sure an external force is not applied to the arm part or other parts when transporting the manipulator using a method
other than a crane or forklift.
2.2.2
Precautions after Transportation
• After the manipulator is transported, remove the attached eye bolts and the cushioning material for shipping
from the manipulator.
• Carefully store the transportation parts (eye bolts and cushioning material for shipping) that were removed
because these parts are required when moving or transporting the manipulator again.
Required Items
Name
Hanging tool
Remarks
Transportation
2.2.3
Example: Wire or nylon sling.
Be sure to use a hanging tool for a two-leg wire rope or sling with a length of
150 mm or longer.
Eye bolt (2 bolts)
Included with the manipulator. The manipulator is shipped from the factory
with these parts mounted as the transportation parts.
Rubber sheet
Included with the manipulator. The manipulator is shipped from the factory
with the rubber sheet sandwiched between the L-arm and the U-arm.
2
This rubber sheet is folded in half and wrapped in two to three layers of
Sumiron protective tape.
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29
2.2 Transportation by Crane
2.2.4
Transportation Posture
Mass: Approx. 59 kg
When moving the manipulator to another location, such as when changing the production line, set the manipulator to the
following transportation posture.
Important
A
Hanging tool (for a two-leg wire rope or sling with a length
of 150 mm or longer)
C
Eye bolt M8 *stainless steel* (2 bolts)
B
Position of the center of gravity
D
Rubber sheet
Table 2.1 Angle and Pulses of Each Axis When Shipped from the Factory
30
Axis
Pulses
Angle
S
0
0°
L
-22756
-20°
U
-61235
-69°
R
0
0°
B
31750
+49°
T
0
0°
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2.3 Transportation by Forklift
2.3
Transportation by Forklift
When using a forklift to transport the manipulator, fasten the bottom of the manipulator to a pallet with bolts.
Insert the forks of the forklift into the pallet and transport the manipulator together with the pallet.
Note:
Use a pallet with a sufficient strength and load capacity.
• Transport the manipulator by carefully considering its balance so that it does not shift or fall over.
• Drive the forklift at a reduced speed when transporting the manipulator.
Important
Precautions during Transportation
• When transporting the manipulator, make sure to set the manipulator to the posture specified in this manual.
• Make sure an external force is not applied to the arm part or other parts when transporting the manipulator using a method
other than a crane or forklift.
Important
• When the manipulator is equipped with the bottom manipulator cable specification (option), make sure there is no interference between the manipulator cable connector part and the pallet.
Mass: Approx. 59 kg
Transportation
2.3.1
2
A
Pallet
C
M10 bolt (2 or more bolts in diagonally opposite corners are
recommended)
B
Forklift pockets
-
-
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31
2.4 Transportation Accessories
2.4
Transportation Accessories
2.4.1
Cushioning Material for Shipping
A rubber sheet is attached to the manipulator as cushioning material for shipping to protect the mechanical parts
of the manipulator from various outside forces that occur during shipping.
A
Rubber sheet
-
-
• After the manipulator is installed, remove the cushioning material for shipping from the manipulator.
• When moving or transporting the manipulator, use the cushioning material for shipping (rubber sheet) to protect the
manipulator body from damage.
Important
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3
Installation
3.1
Notes for Safe Operation ........................................................................................ 34
3.1.1
Safety Fence Installation.............................................................................. 34
3.2
Installation Site and Environment........................................................................ 35
3.3
Dust-Proof/Water-Proof Performance................................................................. 36
3.3.1
3.4
Chemical and Solvent Resistance .............................................................. 36
Installing the Manipulator ...................................................................................... 37
3.4.1
Recommended Items to Prepare ................................................................. 37
3.4.2
Strength of the Installation Surface ............................................................ 37
3.4.3
Dimensions of the Manipulator Base Installation Surface ....................... 38
3.4.4
Mounting to the Baseplate ........................................................................... 40
3.4.5
Limiting the S-Axis Range of Motion (For Wall-Mounted and TiltMounted Installations).................................................................................. 40
3.4.6
Measures to Prevent Falls (For Ceiling-Mounted and Wall-Mounted
Installations) .................................................................................................. 41
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33
3.1 Notes for Safe Operation
3.1
Notes for Safe Operation
DANGER
Install a safety fence.
There is a risk of injury or damage.
WARNING
Do not perform welding work, such as welding the pedestal, when the manipulator cable is
connected.
There is a risk of damage to electronic devices due to welding current.
Select the following kind of location as the installation site for the manipulator.
• A location where the tip of the tool or workpiece will not touch walls, the safety fence,
the robot controller, or any other objects when the manipulator arm is fully extended
while holding a workpiece.
There is a risk of injury or equipment damage from contact with the manipulator.
Do not supply power and operate the manipulator unless it has been fixed to an object.
The manipulator may fall over and cause injury or damage.
For the ceiling-mounted and wall-mounted installation methods, secure the manipulator to a
ceiling or wall with sufficient strength and rigidity. In addition, implement measures on the
manipulator base part to prevent the manipulator from falling in case of an accident.
There is a risk of injury or damage.
Do not install or operate the manipulator when damaged or with missing parts.
There is a risk of injury or damage due to malfunction.
NOTICE
After the manipulator is installed, make sure to remove the attached eye bolts before turning
ON the power supply for the first time.
There is a risk of damage to the main drive parts.
3.1.1
Safety Fence Installation
Article 150 of the Ordinance on Industrial Safety and Health mandates that the employer must take necessary
measures, such as providing a railing or enclosure, to prevent workers from getting close to the manipulator and
other equipment when there is a risk of contact during automatic operation of an industrial robot.
To avoid the following types of accidents, make sure to install a safety fence that complies with JIS B 8433 (ISO
10218).
• Equipment damage during manipulator operation
• Accidents to workers and other people in the surrounding area
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3.2 Installation Site and Environment
Installation Site and Environment
Install the manipulator in a site that satisfies the following environmental conditions.
Table 3.1 Ambient Conditions
Item
Specifications/Conditions
Temperature
0°C to +45°C
Humidity
20% RH to 80% RH (no condensation)
Vibration acceleration
4.9 m/s2 (0.5 G) or less
Altitude
1000 m or less *1
Flatness for installation
0.5 mm or less
Others
• A site with no flammable or corrosive liquids or gases.
• A site that is not near sources of electrical noise. *2
• A site where no strong magnetic fields are produced.
*1
*2
If the altitude exceeds 1000 m, the manipulator can be used at an altitude up to 2000 m by reducing the maximum ambient temperature
by 1% per 100 m (for example, at 2000 m, the maximum ambient temperature during operation is 40.5°C).
Alarms may occur and the manipulator may stop due to external noise.
If operation is resumed after the manipulator has stopped for a long period time in a cold environment near 0°C, an alarm
may occur because the resistance of the drive parts will increase. If the alarm occurs, perform warm-up operation for a few
Important minutes.
Installation
3.2
3
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35
3.3 Dust-Proof/Water-Proof Performance
3.3
Dust-Proof/Water-Proof Performance
This product has an IP67 protection rating.
Refer to the following section for the protection rating of the manipulator.
5 Basic Specifications on page 53
Item
Definition of IP67
Description
IP6*
No ingress of dust; complete protection against contact.
IP*7
Ingress of water in harmful quantity shall not be possible when the enclosure is
immersed in water under defined conditions of pressure and time.
3.3.1
Chemical and Solvent Resistance
The following liquids cannot be used with this manipulator because there is a risk of deterioration or corrosion in
the rubber parts (e.g., gaskets, oil seals, and O-rings) used in the manipulator.
• Organic solvents
• Chlorine-based cutting fluids
• Amine-based cleaning fluids
• Corrosive substances such as acids and alkalis, liquids/aqueous solutions that produce rust
• Other liquids/aqueous solutions to which nitrile-butadiene rubber (NBR) is not resistant
• When a gasket is removed during parts replacement work and inspections, always replace that gasket with a new gasket.
• Do not use cutting fluids or cleaning fluids with unknown properties.
Important
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3.4 Installing the Manipulator
3.4
Installing the Manipulator
Designing the base of the installation site and installing the manipulator base are exceptionally important jobs for
the manipulator to operate safely and reliably deliver optimal performance.
Large reaction forces are applied to the base of the manipulator in a variety of directions when the manipulator is
operating. Construct the base so that it can sufficiently withstand the following elements:
• Maximum reaction force/torque during manipulator acceleration/deceleration
• Static mass of the manipulator
• Static mass of the jig
Note:
Refer to the instructions for your robot controller for details on robot controller installation.
3.4.1
Recommended Items to Prepare
Name
*1
*2
Qty.
Hexagon socket head cap screw *1
M10 (length: 35 mm)
4
Spring washer *1
M10
4
Washer *1
M10
4
Baseplate *2
A thickness of 40 mm or greater is
recommended.
1
Anchor bolt *2
M10 or larger is recommended.
4
Included with the manipulator.
Not provided by YASKAWA.
Strength of the Installation Surface
Installation
3.4.2
Type/Specifications
3
Table 3.2 Manipulator Installation Reaction Force/Torque
When Rotating Horizontally
Reaction Force FH
During an emergency stop 1862 N
During acceleration/
deceleration
Torque MH
When Rotating Vertically
Reaction Force FV
Torque MV
980 N∙m
2156 N
1764 N∙m
(190 kgf)
(100 kgf∙m)
(220 kgf)
(180 kgf∙m)
784 N
392 N∙m
1372 N
686 N∙m
(80 kgf)
(40 kgf∙m)
(140 kgf)
(70 kgf∙m)
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3.4 Installing the Manipulator
3.4.3
Dimensions of the Manipulator Base Installation Surface
• Ensure the installation surface of the manipulator has a flatness of 0.5 mm or lower. If the flatness of the installation surface is poor, the manipulator may deform and lose appropriate functionality.
Important • If the installation position of the manipulator is different after being separated from the baseplate when the manipulator is
installed again, the teaching points in all jobs must be corrected. For this reason, positioning the manipulator with reference holes and a reference surface is recommended.
(1) Standard
38
A
Baseplate
B
Reference hole: φ6H7
(2 places)
C
Hole for mounting body: φ12 (4 places)
D
Reference surface
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3.4 Installing the Manipulator
(2) Bottom Manipulator Cable (Option)
Installation
When using the bottom manipulator cable specification, prepare a baseplate with the opening shown in the following figure.
3
*1
A
Example of the manipulator mounting base
E
Reference hole: φ6H7
B
Bottom side view when manipulator is mounted
F
Opening
C
Baseplate
G
Seating surface for drip-proofing gasket (shaded area) *1
D
For mounting body: M10 tapped hole (4 places)
-
-
(2 places)
Prepare the gasket (HW2402251) as necessary.
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3.4 Installing the Manipulator
3.4.4
Mounting to the Baseplate
1.
2.
Fix the baseplate to the floor with the anchor bolts.
Fix the manipulator to the baseplate with the hexagon socket head cap screws. (4
places)
Purpose
For fixing the manipulator base *1
For installing/fixing the
baseplate
*1
*2
3.4.5
Symbol
A
Name
Qty.
Hexagon socket head cap screw M10 (length: 35 mm)
4
Tensile strength (JIS B 1051): 12.9 (1200 N/mm2 or
more)
Description
Tightening torque: 68 N∙m
(6.9 kgf∙m)
B
Spring washer M10
4
-
C
Washer M10
4
-
D
Manipulator base (bottom of the manipulator body)
-
14.5 mm thick
E
Baseplate *2
-
A thickness of 40 mm or
greater is recommended.
F
Anchor bolt for fixing the baseplate *2
-
M10 or larger is
recommended.
Use the accessories included with the manipulator when it was delivered.
Not provided by YASKAWA.
Limiting the S-Axis Range of Motion (For Wall-Mounted and TiltMounted Installations)
• When using a wall-mounted installation (available as an option), the S-axis range of motion is limited to ±30°.
• When using a tilt-mounted installation, the S-axis range of motion is limited as shown in the following table.
Manipulator Installation Angle (θ)
40
S-Axis Range of Motion
0° ≤ θ ≤ 30°
±180° or less (no limit)
30° < θ ≤ 35°
±60° or less
35° < θ ≤ 45°
±45° or less
45° < θ
±30° or less
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3.4 Installing the Manipulator
Figure 3.1 Manipulator Installation Angle When Tilt Mounted
When the manipulator is wall-mounted, tilt-mounted, or ceiling-mounted, make sure to enter the installation angle in relation to the ground on the pendant.
Important
Measures to Prevent Falls (For Ceiling-Mounted and WallMounted Installations)
For ceiling-mounted and wall-mounted installations, implement measures on the base part to prevent the manipulator from falling in case an accident occurs.
An example of a method to prevent falls is shown below.
• When using the manipulator in a ceiling-mounted or wall-mounted installation, notify your YASKAWA representative in
advance when ordering.
Important • When the manipulator is wall-mounted, tilt-mounted, or ceiling-mounted, make sure to enter the installation angle in relation to the ground on the pendant.
Refer to "ARM Control" in the instructions for your robot controller for the entry method. In addition, make sure to change
the S-axis range of motion angle at the same time.
Installation
3.4.6
Refer to "ARM Control" in the instructions for your robot controller for the entry method. In addition, make sure to change
the S-axis range of motion angle at the same time.
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3.4 Installing the Manipulator
Symbol
A
Name
Hexagon socket head cap screw M10 (length: 35 mm) *1
Qty.
4
Tensile strength (JIS B 1051): 12.9 (1200 N/mm2 or more)
*1
*2
42
Description
Tightening torque: 68 N∙m (6.9 kgf∙m)
Spring washer M10 *1
4
-
Washer M10 *1
4
-
B
Support for fall prevention *2
4
-
C
Manipulator base
-
14.5 mm thick
Use the accessories included with the manipulator when it was delivered.
Not provided by YASKAWA.
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4
Connecting the Robot Controller
4.1
Notes for Safe Operation ........................................................................................ 44
4.2
Grounding the Manipulator.................................................................................... 45
4.3
Connecting the Manipulator Cable ...................................................................... 46
4.3.1
Connecting the Robot Controller and Manipulator ................................... 46
4.3.2
Connection Method....................................................................................... 48
4.3.3
Insertion Procedure for Manipulator Cable................................................ 49
4.3.4
Removal Procedure for Manipulator Cable ................................................ 50
4.3.5
Manipulator Cable Protrusion Length ........................................................ 51
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43
4.1 Notes for Safe Operation
4.1
Notes for Safe Operation
WARNING
Ground the manipulator and robot controller with the ground wire before turning ON the
power supply to the robot controller.
There is a risk of fire or electrical shock if the manipulator or robot controller is not grounded.
Always connect the ground terminal to a grounding electrode with a resistance of 100 Ω or
less.
There is a risk of fire or electrical shock.
Always turn OFF the power supply and tag out (e.g., a "DO NOT POWER" sign) the system
before maintenance, inspection, and wiring work.
There is a risk of electrical shock or injury.
Wiring work should be performed by a certified worker or a qualified electrician.
There is a risk of fire or electrical shock.
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4.2 Grounding the Manipulator
Grounding the Manipulator
Ground the manipulator to a ground resistance of 100 Ω or less in accordance with all relevant local and national
electrical codes. Refer to the following figure and connect the manipulator directly to the ground wire.
1. Do not share the ground wire for the manipulator with any other ground wires or grounding electrodes (e.g. electrical
power, motors, and welders).
Important 2. Ground the product in accordance with all relevant local and national electrical codes when using metal ducts, metal
conduits, or cable trays to install cables.
Parts for grounding *1
A
*1
• Bolt M8 *stainless steel* (length: 10 mm)
• Small washer M8 *stainless steel*
• Spring washer M8 *stainless steel*
B
Ground wire (5.5 mm2 or larger is recommended)
Connecting the Robot Controller
4.2
Included with the manipulator.
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4.3 Connecting the Manipulator Cable
4.3
Connecting the Manipulator Cable
This section describes the method to connect the manipulator cable to the manipulator and robot controller.
WARNING
When running the manipulator cable from the manipulator to the robot controller, do not
cover it with materials with high heat insulating properties or run it with multiple cables.
Heat dissipation will be impaired and the cable will get hot which may cause burns.
4.3.1
Connecting the Robot Controller and Manipulator
(1) When Using the YRC1000
Table 4.1 Required Items
Name
Qty.
Remarks
Manipulator cable
1
Included with the manipulator.
Power cable *1 *2
1
Ground wire *1 *2 *3
1
Leakage breaker *1 *4
1
Safety plug *1 *5
–
Phillips screwdriver *1
1
–
Flat head screwdriver *1
1
–
–
Select a ground wire that is larger than or equal to the size of the power
cable conductor to be used.
–
The necessary quantity of parts is not provided by YASKAWA.
*1
*2
Not provided by YASKAWA.
Refer to the following manual for selecting and connecting the power cable.
*3
Refer to the following section for connecting the ground wire.
4.2 Grounding the Manipulator on page 45
Refer to the following manual for selecting the leakage breaker.
YRC1000 Instructions (RE-CTO-A221)
*4
YRC1000 Instructions (RE-CTO-A221)
*5
Wiring work is required for safety plugs when installing the safety fence. The customer is responsible for this wiring work.
Refer to the following manual for details.
YRC1000 Instructions (RE-CTO-A221)
(2) When Using the YRC1000micro
Table 4.2 Required Items
Name
Qty.
Remarks
Manipulator cable
1
Included with the manipulator.
Dummy connector (SAFETY) for short-circuiting
the safety signals
1
Included with the robot controller.
L-shaped angled plug for the primary power
cable
1
Included with the robot controller.
Continued on next page.
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4.3 Connecting the Manipulator Cable
Continued from previous page.
Name
Qty.
Remarks
End bell
1
Included with the robot controller.
Straight plug for the primary power cable
1
Must be purchased separately if the robot controller is side mounted.
Power cable *1 *2
1
–
Cable clamp *1
1
–
Ground wire *1 *2 *3
1
Select a ground wire that is larger than or equal to the size of the power
cable conductor to be used.
Leakage breaker *1 *4
1
–
Safety plug *1 *5
–
The necessary quantity of parts is not provided by YASKAWA.
Circuit protector
1
Robot controller circuit protector capacity: 16 A
Phillips screwdriver *1
1
*1
*2
Not provided by YASKAWA.
Refer to the following manual for selecting and connecting the power cable.
*3
Refer to the following section for connecting the ground wire.
4.2 Grounding the Manipulator on page 45
Refer to the following manual for selecting the leakage breaker.
–
YRC1000micro Instructions (RE-CTO-A222)
*4
YRC1000micro Instructions (RE-CTO-A222)
Wiring work is required for safety plugs when installing the safety fence. The customer is responsible for this wiring work.
Refer to the following manual for details.
YRC1000micro Instructions (RE-CTO-A222)
Connecting the Robot Controller
*5
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4.3 Connecting the Manipulator Cable
4.3.2
Connection Method
The following figure shows an outline of the connection between the manipulator and the robot controller using
the manipulator cable.
Manipulator Connector (1BC)
Robot Controller Connector (-X1)
YRC1000 (Back Side)
YRC1000micro (Front Side)
CAUTION
When connecting and disconnecting the manipulator cable, hold the manipulator cable by
the connector part.
The manipulator cable may break if this work is performed by holding the cable part.
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4.3 Connecting the Manipulator Cable
Insertion Procedure for Manipulator Cable
1.
Check the connectors on the cable before making the connections. The code that indicates the target connector for the cable is printed on the connectors of the manipulator
cable.
• When Using the YRC1000
-X1 Connector (Robot Controller Side)
1BC Connector (Manipulator Side)
• When Using the YRC1000micro
-X1 Connector (Robot Controller Side)
2.
First confirm that the lever for the 1BC connector on the manipulator cable is in position
A, and then insert that connector straight into the 1BC connector on the manipulator.
A
3.
1BC Connector (Manipulator Side)
Lever
B
4
Insertion direction
When the cable is inserted into the connector up to a certain depth, the lever on the
cable connector rotates toward your hand. (Approx. 30°)
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49
4.3 Connecting the Manipulator Cable
4.
Rotate the lever on the cable connector by hand until it clicks and locks. (To a final position of approx. 60°)
5.
Use the same procedure to connect the -X1 connector on the manipulator cable to the
robot controller.
• When Using the YRC1000
• When Using the YRC1000micro
4.3.4
Removal Procedure for Manipulator Cable
Use the following procedure to remove the manipulator cable from the robot controller and the manipulator.
1.
Push the lock release part of the lever and rotate the lever to position B. (Approx. 60°)
A
2.
50
Lock release part
B
Return the lever to its initial position
Pull the connector straight off the other connector.
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4.3 Connecting the Manipulator Cable
4.3.5
Manipulator Cable Protrusion Length
Table 4.3 Manipulator Cable Specifications
Minimum Bending Radius (mm)
Cable Outside Diameter (mm)
φ25.1
Fixed
Flexible
90
260
Note:
A high-flex cable (minimum bending radius 150 mm) is also available as an option.
A
Protrusion length 240 mm or greater
B
Connecting the Robot Controller
(1) Standard
Radius 90 mm or more
(2) Bottom Manipulator Cable (Option)
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51
4.3 Connecting the Manipulator Cable
A
52
Protrusion length 240 mm or greater
B
Radius 90 mm or more
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5
Basic Specifications
5.1
5.2
5.3
Manipulator Axes of Motion and Part Names.................................................... 54
5.1.1
Axes of Motion and Rotation Directions .................................................... 54
5.1.2
Part Names..................................................................................................... 54
Basic Specifications ................................................................................................ 55
5.2.1
Specifications................................................................................................ 55
5.2.2
Dimensions and Range of Motion ............................................................... 57
5.2.3
Home Position and Range of Motion of Each Axis ................................... 58
Stopping Distances and Stopping Times When the S-, L-, and U-Axis
Stop.............................................................................................................................. 59
5.3.1
General Information ...................................................................................... 59
5.3.2
Definitions...................................................................................................... 59
5.3.3
Stopping Distances and Stopping Times for a Category 0 Stop ............. 59
5.3.4
S-Axis Arm Extension for a Category 1 Stop ............................................. 60
5.3.5
L-Axis Arm Extension for a Category 1 Stop ............................................. 61
5.3.6
U-Axis Arm Extension for a Category 1 Stop............................................. 61
5.3.7
Stopping Distances and Stopping Times for a Category 1 Stop ............. 62
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53
5.1 Manipulator Axes of Motion and Part Names
5.1
Manipulator Axes of Motion and Part Names
5.1.1
Axes of Motion and Rotation Directions
5.1.2
Part Names
54
A
Base (manipulator base)
D
U-arm
B
S-head
E
End-flange (end effector mounting surface)
C
L-arm
-
-
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5.2 Basic Specifications
5.2
Basic Specifications
5.2.1
Specifications
(1) YR-1-06VX10-A00, YR-1-06VX10-A01, YR-1-06VX10-A02, and YR-106VX10-A03
Table 5.1 Basic Specifications
Item
Specifications
YR-1-06VX10-A00, YR-1-06VX10-A01, YR-1-06VX10A02, and YR-1-06VX10-A03
Configuration
Vertically articulated
Degrees of freedom
6
Payload
Wrist part
10 kg
On U-arm *1
1 kg
Maximum reach
1101 mm
Repeatability *2
0.015 mm
Range of motion
Maximum speed *3
Allowable moment *4
Allowable moment of inertia *4
(GD2/4)
S-axis (turning)
-180° - +180°
L-axis (lower arm)
-100° - +145°
U-axis (upper arm)
-70° - +190°
R-axis (wrist roll)
-190° - +190°
B-axis (wrist pitch/yaw)
-45° - +225°
T-axis (wrist twist)
-360° - +360°
S-axis
5.24 rad/s, 300°/s
L-axis
4.36 rad/s, 250°/s
U-axis
5.93 rad/s, 340°/s
R-axis
8.72 rad/s, 500°/s
B-axis
8.2 rad/s, 470°/s
T-axis
13.96 rad/s, 800°/s
R-axis
22 N∙m (2.24 kgf∙m)
B-axis
22 N∙m (2.24 kgf∙m)
T-axis
11 N∙m (1.12 kgf∙m)
R-axis
0.9 kg∙m2
B-axis
0.9 kg∙m2
T-axis
0.3 kg∙m2
Mass
59 kg
Protection rating
All axes: IP67 *5
Clean rating *6
Equivalent to ISO class 5
Mounting *7
Floor, ceiling, wall, and tilt
Power requirement *8
1 kVA
Applicable controllers *9
Noise level *10
YRC1000
ERAR-1000-06VXH25-*
YRC1000micro
ERBR-100-06VXH12-*
Basic Specifications
Product type
5
65 dB or less
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5.2 Basic Specifications
*1
*2
*3
*4
*5
*6
*7
*8
*9
The mountable load on the U-arm will vary depending on the load mass of the wrist part. Refer to the following section for details.
7.1.1 Mass of a Mountable Device on page 70
Repeatability conforms to ISO 9283.
The maximum speed in this table is the available maximum value and will vary depending on the load, posture, or range of motion.
Refer to the following section for details on the allowable moment and the allowable moment of inertia.
6.1 Allowable Load on the R-, B-, and T-Axis on page 66
The entire manipulator is dust-proof and water-proof against water jets with protection rating IP66, and dust-proof and drip-proof
against water immersion with protection rating IP67.
The clean rating is for reference and not guaranteed.
When wall- or tilt-mounted, the S-axis range of motion is limited. Refer to the following section for details.
3.4.5 Limiting the S-Axis Range of Motion (For Wall-Mounted and Tilt-Mounted Installations) on page 40
The power requirement value is obtained using YASKAWA's in-house measurement conditions and will vary depending on the load,
motion pattern, or cycle time.
The code at the end of the robot controller type depends on the specifications. Refer to the following manuals for details.
YRC1000 Instructions (RE-CTO-A221)
YRC1000micro Instructions (RE-CTO-A222)
YRC1000 Supplementary Instructions
YRC1000micro Supplementary Instructions
*10
The noise level is measured in accordance with ISO 11201 (EN 31201).
Measurement conditions:
1.
The maximum load and speed are used for the measurement.
2.
Measurement position:
• Measurement height: 1.2 m to 1.5 m above the floor.
• Distance from the measured object to the measuring instrument: 400 mm from the maximum range of the P-point working
envelope
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5.2 Basic Specifications
5.2.2
Dimensions and Range of Motion
A
P-point
B
Basic Specifications
(1) YR-1-06VX10-A00, YR-1-06VX10-A01, YR-1-06VX10-A02, and YR-106VX10-A03
P-point working envelope
5
Note:
In the following cases, use caution as there is a risk of interference with the manipulator due to the mounted devices and the size and shape of
parts.
• When a tool (end effector) is mounted to the end-flange of the manipulator
• When a part is mounted to the device mount (tapped holes) on the top part of the casing as described in the following section
7.1.2 Positions of Device Mounts (Tapped Holes) on page 70
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5.2 Basic Specifications
5.2.3
Home Position and Range of Motion of Each Axis
Table 5.2 Home Position and Range of Motion of Each Axis
S-Axis
L-Axis
U-Axis
R-Axis
B-Axis
T-Axis
The manipulator's range of motion can be changed from the standard values by setting the range of motion for each axis.
When the manipulator is to conform to UL 1740 as part of a robot system, the functional safety function option must be conImportant figured. Refer to the following sections for the setting procedure.
"Axis Range Limit Function" in "YRC1000 Options Instructions for Functional Safety Function (HW1483576)"
"Axis Range Limit Function" in "YRC1000micro Options Instructions for Functional Safety Function (HW1484544)"
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5.3 Stopping Distances and Stopping Times When the S-, L-, and U-Axis Stop
5.3
Stopping Distances and Stopping Times When the S, L-, and U-Axis Stop
5.3.1
General Information
• The stopping distance is the angle the axis moves from after the stop signal was activated to when manipulator
operation stops completely.
• The stopping time is the time it takes from after the stop signal was activated to when manipulator operation
stops completely.
• The data presented is the maximum displacement of three axes (S-, L-, and U-axis).
• The stopping distance may increase for operation that involves multiple axes.
• The stopping distances and stopping times are measured based on Annex B in JIS B 8433-1 (ISO 10218-1).
• Stop Categories (From JIS B 9960-1 (IEC 60204-1))
– Category 0 stop
– Category 1 stop
• The category 0 stop values are reference values derived from testing and simulation.
The actual stopping distances and stopping times may differ. Measurement technologies inside the manipulator
are used to measure the stopping distances and stopping times.
5.3.2
Definitions
• Load: Weight of the rated load and the load on the arm
• Speed: Operating speed of the manipulator
• Extension: Distance from the center of rotation of each axis to the P-point
Stopping Distances and Stopping Times for a Category 0 Stop
The measurement conditions for the stopping distances and stopping times are given next.
Basic Specifications
5.3.3
• Load: Maximum load
• Speed: Maximum speed
• Posture: Maximum inertia generation posture
Table 5.3 Stopping Distances and Stopping Times for a Category 0 Stop (S-, L-, and U-Axis)
Axis
Stopping Distance (deg)
Stopping Time (sec)
S-axis
39.3
0.315
L-axis
31.0
0.224
U-axis
62.0
0.327
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5.3 Stopping Distances and Stopping Times When the S-, L-, and U-Axis Stop
5.3.4
S-Axis Arm Extension for a Category 1 Stop
Table 5.4 S-Axis Arm Extension
Type
Length at 100% Extension (mm)
YR-1-06VX10-A00, YR-1-06VX10-A01, YR-1-06VX10-A02, and YR- 1101
1-06VX10-A03
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5.3 Stopping Distances and Stopping Times When the S-, L-, and U-Axis Stop
5.3.5
L-Axis Arm Extension for a Category 1 Stop
Table 5.5 L-Axis Arm Extension
Type
Length at 100% Extension (mm)
5.3.6
Basic Specifications
YR-1-06VX10-A00, YR-1-06VX10-A01, YR-1-06VX10-A02, and YR- 1061
1-06VX10-A03
U-Axis Arm Extension for a Category 1 Stop
5
Table 5.6 U-Axis Arm Extension
Type
Length at 100% Extension (mm)
YR-1-06VX10-A00, YR-1-06VX10-A01, YR-1-06VX10-A02, and YR- 530
1-06VX10-A03
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5.3 Stopping Distances and Stopping Times When the S-, L-, and U-Axis Stop
5.3.7
Stopping Distances and Stopping Times for a Category 1 Stop
(1) S-Axis
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5.3 Stopping Distances and Stopping Times When the S-, L-, and U-Axis Stop
Basic Specifications
(2) L-Axis
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5.3 Stopping Distances and Stopping Times When the S-, L-, and U-Axis Stop
(3) U-Axis
64
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6
R-, B-, and T-Axis Load Specifications
and Flange Dimensions
6.1
6.2
Allowable Load on the R-, B-, and T-Axis........................................................... 66
6.1.1
R-, B-, and T-Axis Payload............................................................................ 66
6.1.2
Allowable Load on the R-, B-, and T-Axis ................................................... 66
6.1.3
Moment Arm Rating of the R-, B-, and T-Axis ............................................ 67
Dimensions of the Manipulator's End-Flange................................................... 68
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6.1 Allowable Load on the R-, B-, and T-Axis
6.1
Allowable Load on the R-, B-, and T-Axis
1. Make sure to keep the following conditions within the allowable range for the load mounted to the end-flange of the
manipulator. A load on the R-, B-, and T-axis that exceeds the allowable value may cause deterioration in operating performance and mechanical service life. Always contact your YASKAWA representative if the load will exceed the allowImportant
able value.
• Payload (Also includes the mass of devices mounted on the end-flange, such as the tool (end effector) and workpiece.)
• Allowable moment
• Allowable moment of inertia
2. The tool and load information must be set in the robot controller. Refer to "Tool Data Setting" and "ARM Control" in
the instructions for your robot controller for the configuration methods.
6.1.1
R-, B-, and T-Axis Payload
The following table gives the payload of the R-, B-, and T-axis that includes the mass of the tool (end effector)
and workpiece.
Table 6.1 R-, B-, and T-Axis Payload
Type
Maximum R-, B-, and T-Axis Payload
YR-1-06VX10-A00, YR-1-06VX10-A01, YR-1-06VX10-A02, and
YR-1-06VX10-A03
6.1.2
10 kg
Allowable Load on the R-, B-, and T-Axis
Table 6.2 Allowable Load on the R-, B-, and T-Axis
Axis
Allowable Moment N•m (kgf•m)
Allowable Moment of Inertia (GD2/4)
kg∙m2
R-axis
22 (2.24)
0.9
B-axis
22 (2.24)
0.9
T-axis
11 (1.12)
0.3
Note:
The values in parentheses are given in gravitational units.
66
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6.1 Allowable Load on the R-, B-, and T-Axis
Moment Arm Rating of the R-, B-, and T-Axis
This section gives the moment arm rating of the R-, B-, and T-axis. Design the system so that the load conditions
fall within the range in the graph.
Consider the allowable moment of inertia when the moment load is at maximum. Contact your YASKAWA representative in advance in the following cases:
• When there is a moment of inertia load only
• When the moment load is small and the moment of inertia load is high
• When the load is special, such as when the load is applied as force and not mass
R-, B-, and T-Axis Load Specifications and Flange Dimensions
6.1.3
Figure 6.1 Moment Arm Rating
A
Load gravity position
B
Center of T-axis rotation
6
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67
6.2 Dimensions of the Manipulator's End-Flange
6.2
Dimensions of the Manipulator's End-Flange
This section gives the dimensions of the manipulator's end-flange.
Use the outside insertion parts of the flange surface, use the reference hole for positioning, and use the tapped
holes to fix the tool with bolts.
1. Select the length of the bolts to mount the tool according to the depth of the tapped holes on the manipulator's endflange.
Important 2. Keep the insertion depth of the insertion part of the manipulator's end-flange to 3 mm or less.
3. A small amount of lubricant may seep from the outside of the lip part of the oil seal at first. If lubricant is seeping from
the lip part, wipe it off with a cloth or other material before using the manipulator.
Figure 6.2 Manipulator's End-Flange
A
M5 (pitch: 0.8 mm) (depth: 7 mm) (7 places)
C
φ42h7
(insertion depth of attachment or other device: 3 mm)
B
68
φ5H7
hole (depth: 5 mm)
-
-
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7
Connecting Peripheral Devices
7.1
7.2
Device Mounts (Tapped Holes Prepared by YASKAWA) ................................ 70
7.1.1
Mass of a Mountable Device ........................................................................ 70
7.1.2
Positions of Device Mounts (Tapped Holes) .............................................. 70
User Cable and Air Hoses ...................................................................................... 73
7.2.1
Cable and Hose Specifications.................................................................... 73
7.2.2
Layout of Connectors ................................................................................... 74
7.2.3
Connector Types and Specifications.......................................................... 79
7.2.4
Connector Pin Assignments........................................................................ 80
7.2.5
Internal Piping Diagram for Built-In Solenoid Valves................................ 85
7.2.6
Mating Connector (Option) .......................................................................... 87
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7.1 Device Mounts (Tapped Holes Prepared by YASKAWA)
7.1
Device Mounts (Tapped Holes Prepared by
YASKAWA)
CAUTION
Do not drill holes or tapped holes into the manipulator under any circumstances. There is a
risk of negatively impacting the safety and functionality of the manipulator.
Be aware that YASKAWA provides no warranty whatsoever if tapped holes other than those
indicated in this section are used to connect devices.
Do not fasten hardware to the manipulator, such as peripheral devices and support brackets
for wiring, by using the bolts on the mechanical parts of the manipulator.
When mounting a peripheral device to the manipulator, ensure that the device and cables to
be mounted to the manipulator do not interfere with the internal wiring harnesses.
There is a risk of inhibiting the movement of an internal wiring harness and causing a failure, such as premature cable breakage.
YASKAWA has prepared mounts (i.e., tapped holes) on various parts of the manipulator for mounting peripheral
devices and hardware (e.g., brackets to support cables).
Note:
Make sure to set the load on the robot controller when mounting a peripheral device on the U-arm. Refer to "ARM Control" in the instructions for your robot controller for the configuration method.
7.1.1
Mass of a Mountable Device
Table 7.1 Mass of a Device Mountable to the U-Arm Mount
Mounting Location
U-arm mount
Mountable Mass
The mountable mass together with the mass on the end-flange of the manipulator is 11 kg or less.
For example, if the mounted mass on the end-flange is 10 kg, the mountable mass on the U-arm mount is 1
kg.
7.1.2
Positions of Device Mounts (Tapped Holes)
(1) Casing
*1
70
A
M8 (pitch: 1.25 mm) (depth: 15 mm) (4 places)
C
Tapped hole for adjusting R-axis timing belt tension *1
B
Center of S-axis rotation
-
-
This tapped hole is used to adjust the tension of the R-axis timing belt. In order to prevent interference with belt tension adjustment
work, do not place a device above this tapped hole (within a diameter of 50 mm)
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7.1 Device Mounts (Tapped Holes Prepared by YASKAWA)
(2) U-Arm
A
M4 (pitch: 0.7 mm) (depth: 6 mm) (2 holes in 2 places (as
shown in the drawing and also on the opposite side))
B
Center of U-axis
Connecting Peripheral Devices
(3) L-Arm
7
A
Center of U-axis
C
Center of S-axis rotation
B
M4 (pitch: 0.7 mm) (depth: 6 mm) (2 holes in 2 places (as
shown in the drawing and also on the opposite side))
-
-
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71
7.1 Device Mounts (Tapped Holes Prepared by YASKAWA)
(4) S-Head
A
72
M6 (pitch: 1.0 mm) (depth: 10 mm) (2 holes in 2 places (as
shown in the drawing and also on the opposite side))
B
Center of S-axis rotation
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7.2 User Cable and Air Hoses
7.2
User Cable and Air Hoses
Cables and other parts are built into each specification of the manipulator to drive the mounted peripheral devices. The customer is responsible for all wiring and connection work.
Cable and Hose Specifications
Type
Common specification
Built-In Cables *1
User cable
Qty.
1
(0.2 mm2 (18 wires))
Ethernet cable: Cat 6A + PoE
supported
Operating Conditions *1
User cable allowable current: 2.0 A or less per pin
(Keep the total current for pins 1 to 18 less than or equal to 36 A.)
1
-
1
Solenoid valve unit (option) *2
• Operating fluid: Compressed air
• Operating pressure range: 200 kPa to 490 kPa (2 kgf/cm2 to 5
kgf/cm2)
• Operating temperature range: 0°C to +45°C
• Power supply: 24 VDC (±10%)
2
Air hose operating pressure range: -100 kPa to 490 kPa (-1 kgf/cm2
to 5 kgf/cm2)
(0.1 mm2 (8 wires))
Air hose for solenoid valve unit
(option) *2
(Hose inner diameter: φ2.5 mm)
• YR-1-06VX10-A00
Standard Specifications
• YR-1-06VX10-A01
Anti-corrosive coat
specification
Air hose
• YR-1-06VX10-A02
Built-in force sensor
cable specification
• YR-1-06VX10-A03
Anti-corrosive coat/
built-in force sensor
cable specification
Air hose
*1
*2
(Hose inner diameter: φ4 mm)
Air hose operating temperature range: 0°C to +45°C
1
(Hose inner diameter: φ4 mm)
Air hose operating pressure range: -100 kPa to 490 kPa (-1 kgf/cm2
to 5 kgf/cm2)
Air hose operating temperature range: 0°C to +45°C
Force sensor cable
1
Force sensor cable allowable current: 2.0 A or less per pin
(0.2 mm2 (7 wires))
When using an option, the pins that can be used on the user cable, the inner diameter of the air hose, and the number of air hoses are
different. Refer to the following sections for details.
7.2.2 Layout of Connectors on page 74
7.2.3 Connector Types and Specifications on page 79
7.2.4 Connector Pin Assignments on page 80
Refer to the following section for the internal piping diagram when the manipulator has built-in solenoid valves.
7.2.5 Internal Piping Diagram for Built-In Solenoid Valves on page 85
Connecting Peripheral Devices
7.2.1
The quality of Cat 6A communications is guaranteed when cables with the following lengths are connected to the
manipulator.
Important
• 5 m from the connector on the base part
• 0.5 m from the connector on the top part of the U-arm
Note that the communications standards may not be satisfied if cables longer than the above conditions are used.
The quality of Cat 6A communications is guaranteed with the combination of the internal wiring harnesses of the S-axis,
the L- and U-axis and the R-, B-, and T-axis. If the cable used by a peripheral device that supports Cat 6A communications
requires replacement, replace the internal wiring harnesses in the body except for the connector base lead unit.
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73
7.2 User Cable and Air Hoses
7.2.2
Layout of Connectors
Insert the cable connector by matching its position to the positioning key on the connector.
If the cable connector is inserted incorrectly, the connector may be damaged.
Important
(1) YR-1-06VX10-A00 and YR-1-06VX10-A01
(a) Connectors on Input Side: Base Part
User cable connector (S1)
A
Air 1 inlet (A) *1
D
B
Air 2 inlet (B)
E
Positioning key on the connector
-
-
C
*1
Ethernet cable connector (E-NET)
(Position of positioning key: bottom-right side)
(Position of positioning key: top side)
When the manipulator has built-in solenoid valves, air is supplied to the solenoid valves from the air 1 inlet (A) on the base part.
(b) Connectors on Input Side: Bottom Manipulator Cable (Option)
Air 1 inlet (A) *1
D
B
Air 2 inlet (B)
E
Positioning key on the connector
-
-
C
*1
74
User cable connector (S1)
A
Ethernet cable connector (E-NET)
(Position of positioning key: top-right side)
(Position of positioning key: left side)
When the manipulator has built-in solenoid valves, air is supplied to the solenoid valves from the air 1 inlet (A) on the bottom of the
manipulator.
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7.2 User Cable and Air Hoses
(c) Connectors on Output Side: U-Arm Part
User cable connector (S1)
A
Air 1 outlet (A)
D
B
Air 2 outlet (B)
E
Positioning key on the connector
-
-
C
Ethernet cable connector (E-NET)
(Position of positioning key: bottom-left side)
(Position of positioning key: left side)
Ethernet cable connector (E-NET)
A
Air 1 outlet (A)
D
B
Air 2 outlet (B)
E
Positioning key on the connector
-
-
C
User cable connector (S1)
(Position of positioning key: right side)
Connecting Peripheral Devices
(d) Connectors on Output Side: Casing Part (Option)
(Position of positioning key: top-right side)
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7.2 User Cable and Air Hoses
(e) Connectors on Output Side: U-Arm Part with Built-In Solenoid Valves (Option)
Solenoid valve exhaust (Exhaust)
D
B
Air 2 outlet (B)
E
Solenoid valve supply inlet (1A, 2A, 3A, 1B, 2B, and 3B) *1
F
Positioning key on the connector
C
*1
User cable connector (S1)
A
Ethernet cable connector (E-NET)
(Position of positioning key: bottom-left side)
(Position of positioning key: left side)
There are a maximum of six inlet ports.
• For 2-station valves: 1A, 1B, 2A, and 2B are used for a total of four ports
• For 3-station valves: 1A, 1B, 2A, 2B, 3A, and 3B are used for a total of six ports
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7.2 User Cable and Air Hoses
(2) YR-1-06VX10-A02 and YR-1-06VX10-A03
(a) Connectors on Input Side: Base Part
A
B
C
*1
Air inlet (A) *1
Force sensor cable connector (FS)
(Position of positioning key: top-left side)
Ethernet cable connector (E-NET)
(Position of positioning key: bottom-right side)
D
User cable connector (S1)
(Position of positioning key: top side)
E
Positioning key on the connector
-
-
When the manipulator has built-in solenoid valves, air is supplied to the solenoid valves from the air inlet (A) on the base part.
Connecting Peripheral Devices
(b) Connectors on Input Side: Bottom Manipulator Cable (Option)
7
A
B
C
Air inlet (A) *1
Force sensor cable connector (FS)
(Position of positioning key: bottom-left side)
Ethernet cable connector (E-NET)
(Position of positioning key: top-right side)
D
User cable connector (S1)
(Position of positioning key: left side)
E
Positioning key on the connector
-
-
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77
7.2 User Cable and Air Hoses
*1
When the manipulator has built-in solenoid valves, air is supplied to the solenoid valves from the air inlet (A) on the bottom of the
manipulator.
(c) Connectors on Output Side: U-Arm Part
A
B
C
Air outlet (A)
Force sensor cable connector (FS)
(Position of positioning key: bottom-right side)
Ethernet cable connector (E-NET)
(Position of positioning key: bottom-left side)
D
User cable connector (S1)
(Position of positioning key: left side)
E
Positioning key on the connector
-
-
(d) Connectors on Output Side: U-Arm Part with Built-In Solenoid Valves (Option)
A
B
C
78
Solenoid valve exhaust (Exhaust)
Force sensor cable connector (FS)
(Position of positioning key: bottom-right side)
Ethernet cable connector (E-NET)
(Position of positioning key: bottom-left side)
D
User cable connector (S1)
(Position of positioning key: left side)
E
Solenoid valve supply inlet (1A, 2A, 1B, and 2B)
F
Positioning key on the connector
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7.2 User Cable and Air Hoses
Connector Types and Specifications
• YR-1-06VX10-A00 and YR-1-06VX10-A01
Connector
Location
Name
U-arm part and casing For user cable (S1)
part
For Ethernet cable (E-NET)
Air 1 outlet (A) *4
Manipulator Side
Mating End *1
LF13WBRB-20S *2
LF13WBLP-20PA
M12 X-coding 8-contact socket *2
M12 X-coding 8-contact plug
M5 (pitch: 0.8 mm) (depth: 5 mm)
-
*3
Air 2 outlet (B)
Base part and manipu- For user cable (S1)
lator bottom part *5
For Ethernet cable (E-NET)
Air 1 inlet (A)
LF13WBRB-20P *2
LF13WBP-20S
M12 X-coding 8-contact socket *2
M12 X-coding 8-contact plug
Rc1/4 *3
-
Air 2 inlet (B)
U-arm part (solenoid
valve unit option)
*1
*2
*3
*4
*5
Solenoid valve supply inlet (1A, 1B, M5 (pitch: 0.8 mm) (depth: 5 mm)
*3
2A, 2B, 3A, and 3B)
-
Mating connectors are not provided by YASKAWA.
Cap is included.
Plug is included.
This is "Exhaust" when the manipulator has built-in solenoid valves.
Indicates the manipulator cable is the bottom specification.
• YR-1-06VX10-A02 and YR-1-06VX10-A03
Connector
Location
U-arm part
Name
Manipulator Side
Mating End *1
For user cable (S1)
LF13WBRB-20S *2
LF13WBLP-20PA
For Ethernet cable (E-NET)
M12 X-coding 8-contact socket *2
M12 X-coding 8-contact plug
For force sensor cable (FS)
M12A-08PFFS-SF8001 *2
M12A-08PMMS-SF8001
Air outlet (A) *4
M5 (pitch: 0.8 mm) (depth: 5 mm)
-
*3
Base part and manipu- For user cable (S1)
lator bottom part *5
For Ethernet cable (E-NET)
U-arm part (solenoid
valve unit option)
*1
*2
*3
*4
*5
LF13WBRB-20P *2
LF13WBP-20S
M12 X-coding 8-contact socket *2
M12 X-coding 8-contact plug
For force sensor cable (FS)
M12A-08PMMS-SF8001 *2
M12A-08PFFS-SF8001
Air inlet (A)
Rc1/4 *3
-
Solenoid valve supply inlet (1A, 1B, M5 (pitch: 0.8 mm) (depth: 5 mm)
*3
2A, and 2B)
Connecting Peripheral Devices
7.2.3
-
Mating connectors are not provided by YASKAWA.
Cap is included.
Plug is included.
This is "Exhaust" when the manipulator has built-in solenoid valves.
Indicates the manipulator cable is the bottom specification.
7
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79
7.2 User Cable and Air Hoses
7.2.4
Connector Pin Assignments
Note:
The figures show the mating side of the connector on the manipulator.
● indicates a connected pin and ○ indicates an unconnected pin.
(1) YR-1-06VX10-A00 and YR-1-06VX10-A01
(a) User Cable Connector (S1)
Base Part
Manipulator Bottom
Part *1
U-Arm Part
Details on Connector Pin Numbers
LF13WBRB-20P
*1
80
Casing Part
LF13WBRB-20S
Indicates the manipulator cable is the bottom specification.
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7.2 User Cable and Air Hoses
◆ User Cable Connector (S1): With Built-In Solenoid Valves (2 Stations)
Connection
Details on Connector Pin Numbers
Base part
Connection
Used by solenoid valves
Manipulator bottom part *1
LF13WBRB-20P
U-arm part
LF13WBRB-20S
Pins No. 1, 2, 4, 5, and 7
Used by solenoid valves
Pins No. 8 to 18
Available to user
Pins No. 8 to 18
Available to user
*1
Indicates the manipulator cable is the bottom specification.
◆ User Cable Connector (S1): With Built-In Solenoid Valves (3 Stations)
Connection
Details on Connector Pin Numbers
Base part
Connection
Used by solenoid valves
Manipulator bottom part *1
LF13WBRB-20P
U-arm part
Connecting Peripheral Devices
LF13WBRB-20S
Pins No. 1 to 7
Used by solenoid valves
Pins No. 8 to 18
Available to user
Pins No. 8 to 18
Available to user
*1
7
Indicates the manipulator cable is the bottom specification.
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81
7.2 User Cable and Air Hoses
(b) Ethernet Cable Connector (E-NET)
Base Part
Manipulator Bottom
Part *1
U-Arm Part
Details on Connector Pin Numbers
M12 X-Coding 8-Contact Socket
*1
82
Casing Part
M12 X-Coding 8-Contact
Socket
Indicates the manipulator cable is the bottom specification.
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7.2 User Cable and Air Hoses
(2) YR-1-06VX10-A02 and YR-1-06VX10-A03
(a) User Cable Connector (S1)
Base Part
Manipulator Bottom
Part *1
Details on Connector Pin Numbers
U-Arm Part
LF13WBRB-20S
LF13WBRB-20P
*1
Indicates the manipulator cable is the bottom specification.
◆ User Cable Connector (S1): With Built-In Solenoid Valves
Connection
Details on Connector Pin Numbers
Base part
Connection
Used by solenoid valves
Manipulator bottom part *1
Connecting Peripheral Devices
LF13WBRB-20P
U-arm part
LF13WBRB-20S
Pins No. 1, 2, 4, 5, and 7
Used by solenoid valves
7
Pins No. 8 to 18
Available to user
Pins No. 8 to 18
Available to user
*1
Indicates the manipulator cable is the bottom specification.
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83
7.2 User Cable and Air Hoses
(b) Ethernet Cable Connector (E-NET)
Base Part
Manipulator Bottom
Part *1
U-Arm Part
Details on Connector Pin Numbers
M12 X-Coding 8-Contact Socket
*1
M12 X-Coding 8-Contact
Socket
Indicates the manipulator cable is the bottom specification.
(c) Force Sensor Cable Connector (FS)
Base Part
Manipulator Bottom
Part *1
Details on Connector Pin Numbers
U-Arm Part
M12A-08PFFS-SF8001
M12A-08PMMS-SF8001
*1
84
Indicates the manipulator cable is the bottom specification.
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7.2 User Cable and Air Hoses
7.2.5
Internal Piping Diagram for Built-In Solenoid Valves
Connecting Peripheral Devices
(1) YR-1-06VX10-A00 and YR-1-06VX10-A01
7
*1
The manipulator uses a maximum of three double solenoid valves with the following specifications.
• Manufacturer: CKD
• Type: Equivalent to M4SA020-M3-*-3
• Rated voltage: 24 VDC (with attached non-polar surge suppressor)
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85
7.2 User Cable and Air Hoses
(2) YR-1-06VX10-A02 and YR-1-06VX10-A03
*1
The manipulator uses a double solenoid valve with the following specifications.
• Manufacturer: CKD
• Type: Equivalent to M4SA020-M3-*-3
• Rated voltage: 24 VDC (with attached non-polar surge suppressor)
86
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7.2 User Cable and Air Hoses
Mating Connector (Option)
The mating connector for each cable is available as an option.
• YR-1-06VX10-A00 and YR-1-06VX10-A01
Category
Straight type
Elbow type
*1
Base Part
U-Arm Part
Manipulator Bottom Part *1
Casing Part
For user cable
LF13WBP-20S
-
For Ethernet cable
M12 X-coding 8-contact plug
M12 X-coding 8-contact plug
For user cable
-
LF13WBLP-20PA
For Ethernet cable
-
-
Indicates the manipulator cable is the bottom specification.
• YR-1-06VX10-A02 and YR-1-06VX10-A03
Base Part
Category
Straight type
Elbow type
*1
U-Arm Part
Manipulator Bottom Part *1
For user cable
LF13WBP-20S
-
For force sensor cable
M12 A-coding 8-contact socket
M12 A-coding 8-contact plug
For Ethernet cable
M12 X-coding 8-contact plug
M12 X-coding 8-contact plug
For user cable
-
LF13WBLP-20PA
For force sensor cable
-
-
For Ethernet cable
-
-
Indicates the manipulator cable is the bottom specification.
Connecting Peripheral Devices
7.2.6
7
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7.2 User Cable and Air Hoses
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8
Changing the Range of Motion
8.1
Limiting the Range of Motion of Each Axis ....................................................... 90
8.2
Limiting the S-Axis Range of Motion (Option) .................................................. 91
8.2.1
Components .................................................................................................. 91
8.2.2
Available Ranges of Motion with S-Axis Stoppers.................................... 93
8.2.3
Mounting the S-Axis Mechanical Stopper .................................................. 94
8.2.4
S-Axis Range of Motion and Stopper Positions ........................................ 96
8.2.5
Setting the S-Axis Pulse Software Limits................................................... 97
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8.1 Limiting the Range of Motion of Each Axis
8.1
Limiting the Range of Motion of Each Axis
The range of motion of the manipulator can be limited by setting the range of motion of each axis using the functional safety function. Refer to the following sections for the setting procedure.
"Axis Range Limit Function" in "YRC1000 Options Instructions for Functional Safety Function (HW1483576)"
"Axis Range Limit Function" in "YRC1000micro Options Instructions for Functional Safety Function (HW1484544)"
90
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8.2 Limiting the S-Axis Range of Motion (Option)
8.2
Limiting the S-Axis Range of Motion (Option)
The S-axis range of motion can be limited with the S-axis mechanical stopper and by setting the parameters in
the robot controller. Limit the range of motion when there is an area in which the manipulator interferes with the
tool, peripheral devices, or cables during manipulator operation.
The S-axis range of motion can be set at the following angles by assembling the S-axis mechanical stopper
(option).
• From 30° to 150° in each of the ± directions in increments of 15°
• 170° in each of the ± directions
Contact your YASKAWA representative in advance to change the S-axis range of motion.
Important
NOTICE
If the manipulator's S-axis hits a mechanical stopper, depending on the operating conditions
(speed during manipulator operation and mass of the grasped object), the manipulator may
coast to a stop instead of stopping immediately.
Note:
The stopping times and distances in the above cases are less than or equal to the numeric values in the following section. Take note of these
numeric values when building the system.
5.3.3 Stopping Distances and Stopping Times for a Category 0 Stop on page 59
8.2.1
Components
The following parts are required to change the S-axis range of motion. Prepare these parts in advance.
Changing the Range of Motion
(1) S-Axis Mechanical Stopper (When the Range of Motion Is Limited to
±170°)
Symbol
Name
Qty.
Type/Remarks
A
Stopper
1
HW2402248-1
B
Hexagon socket head cap screw M6 *FA coat*
(length: 20 mm)
2
For fixing the stopper
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91
8.2 Limiting the S-Axis Range of Motion (Option)
(2) S-Axis Mechanical Stopper (When the Range of Motion Is Limited to a
Range Other than ±170°)
Symbol
Qty.
Type/Remarks
A
Plate
2
B
Hexagon socket head cap screw M6 *FA coat*
(length: 25 mm)
6
Hexagon socket head cap screw M8 *FA coat*
(length: 10 mm)
2
D
Stopper
1
HW2402248-1
E
Hexagon socket head cap screw M6 *FA coat*
(length: 20 mm)
2
For fixing the stopper
C
92
Name
HW2302148-1
For fixing the plate
Mount two hexagon socket head cap screws each to
the front and back of the S-head, and one hexagon
socket head cap screw each to the left and right.
For the stopper
Mount one hexagon socket head cap screw each to
the plates on the left and right sides of the S-head.
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8.2 Limiting the S-Axis Range of Motion (Option)
Available Ranges of Motion with S-Axis Stoppers
Combinations of ranges of motion indicated by "-" in the following table cannot be set.
For example, the combination of -150° in the - direction and +150° in the + direction can be set, but 0° in the direction and +135° in the + direction cannot be set.
Table 8.1 Available Ranges of Motion with S-Axis Stoppers
Angle in + Direction (°)
170
150
135
120
105
90
75
60
45
30
0
-30
-45
-60
-75
-90
-105
-120
-135
-150
-170
Angle in -170
- Direc-150
tion (°)
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-135
-
-
-
-
-
-
-
-
-
-120
-
-
-
-
-
-
-
-
-105
-
-
-
-
-
-
-
-90
-
-
-
-
-
-
-75
-
-
-
-
-
-60
-
-
-
-
-45
-
-
-
-30
-
-
0
-
-
-
-
-
-
-
-
-
-
30
-
-
-
-
-
-
-
-
-
-
45
-
-
-
-
-
-
-
-
-
60
-
-
-
-
-
-
-
-
75
-
-
-
-
-
-
-
90
-
-
-
-
-
-
105
-
-
-
-
-
120
-
-
-
-
135
-
-
-
150
-
-
170
-
-
: A combination that can be set.
-
: A combination that cannot be set.
Changing the Range of Motion
8.2.2
8
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93
8.2 Limiting the S-Axis Range of Motion (Option)
8.2.3
Mounting the S-Axis Mechanical Stopper
This section describes the procedure to assemble the S-axis mechanical stopper (option).
• When mounting the stopper, make sure to use the specified bolts and other parts that were included with the stopper.
• Always turn OFF the power supply before performing this work.
Important • If the stopper or any fixing bolts and other parts become deformed due to a violent collision, always replace those parts.
• Make sure to install the manipulator before performing this work.
Software Limits :
Term
The range of motion monitored in software to stop the manipulator before the mechanical stopper. Use the pendant to set
the software limits.
• To Limit the Range of Motion to ±170°
Step
Work
1
Set the angle of the S-axis to the 0° position, and then turn OFF the power supply.
2
Use the following parts to mount the stopper (HW2402248-1)
to the top of the connector base part.
– Hexagon socket head cap screw M6 *FA coat* (length: 20
mm) (2 screws)
– Tightening torque: 4.1 N∙m
3
Use the pendant to change the parameters for the S-axis pulse
software limits.
-
– S-axis + direction: S1CxG 800
– S-axis - direction: S1CxG 810
Refer to the following section for the set values.
8.2.5 Setting the S-Axis Pulse Software Limits on page 97
4
Check operation.
-
• To Limit the Range of Motion to a Range Other than ±170°
Step
Work
1
Set the angle of the S-axis to the 0° position, and then turn OFF the power supply.
2
Use the following parts to mount the stopper (HW2402248-1)
to the top of the connector base part.
– Hexagon socket head cap screw M6 *FA coat* (length: 20
mm) (2 screws)
– Tightening torque: 4.1 N∙m
Continued on next page.
94
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8.2 Limiting the S-Axis Range of Motion (Option)
Continued from previous page.
Step
3
Work
Use the following parts to mount the plates (HW2302148-1) to
both sides of the S-head.
– Hexagon socket head cap screw M6 *FA coat* (length: 25
mm) (2 screws)
– Tightening torque: 4.1 N∙m
4
Fix the plates (HW2302148-1) by attaching the following parts
to the front and back of the S-head.
– Hexagon socket head cap screw M6 *FA coat* (length: 25
mm) (4 screws)
– Tightening torque: 4.1 N∙m
5
Attach one of the following parts to both plates (HW23021481). Make sure the head of the hexagon socket head cap screw
points down from the plate.
– Hexagon socket head cap screw M8 *FA coat* (length: 10
mm) (2 screws)
– Tightening torque: 10 N∙m
The positions to attach the above parts depend on the range of
motion to set. Refer to the following section.
6
Use the pendant to change the parameters for the S-axis pulse
software limits.
Changing the Range of Motion
8.2.4 S-Axis Range of Motion and Stopper Positions on
page 96
-
– S-axis + direction: S1CxG 800
– S-axis - direction: S1CxG 810
Refer to the following section for the set values.
8.2.5 Setting the S-Axis Pulse Software Limits on page 97
7
Check operation.
-
8
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95
8.2 Limiting the S-Axis Range of Motion (Option)
8.2.4
S-Axis Range of Motion and Stopper Positions
To limit the S-axis range of motion to a range other than ±170°, the stopper screws must be attached in the relevant stopper positions (a to i in the following figure) based on the range of motion to set.
Attach one stopper screw to each plate on the left and right sides.
In the following cases, the range of motion limit is not sufficient on the side with the plate that lacks a stopper screw.
Important
Unacceptable Examples
• When two stopper screws are attached to one plate
• When only one stopper screw is used
Stopper
Position
S-Axis Range
of Motion
-
-170° - +170°
a
-150° - +150°
b
-135° - +135°
c
-120° - +120°
d
-105° - +105°
e
-90° - +90°
f
-75° - +75°
g
-60° - +60°
h
-45° - +45°
i
-30° - +30°
Figure 8.1 Stopper Positions (Section A-A)
A
96
Plate (HW2302148-1)
B
Adjustment range of mechanical stopper (when the S-axis
range of motion is limited to a range other than ±170°)
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8.2 Limiting the S-Axis Range of Motion (Option)
Setting the S-Axis Pulse Software Limits
Table 8.2 S-Axis Pulse Software Limit Set Values
Angle
Pulses
Angle
Pulses
±180°
±184320
±90°
±92160
±170°
±174080
±75°
±76800
±150°
±153600
±60°
±61440
±135°
±138240
±45°
±46080
±120°
±122880
±30°
±30720
±105°
±107520
-
-
• Do not limit the manipulator's range of motion by changing only the range of motion in software. Use the software limits
together with limiting the range of motion using the mechanical stopper. Set both types of limits to the same range of
motion.
Important
• Refer to the following manuals for the method to set the S-axis range of motion.
"Softlimit Setting Function" in "YRC1000 General Operator's Manual (RE-CSO-A051)"
"Softlimit Setting Function" in "YRC1000micro Operator's Manual (RE-CSO-A058)"
Changing the Range of Motion
8.2.5
8
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97
8.2 Limiting the S-Axis Range of Motion (Option)
98
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9
Internal Wiring
9.1
Internal Wiring Diagrams......................................................................................100
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99
9.1 Internal Wiring Diagrams
9.1
Internal Wiring Diagrams
This section provides the following wiring diagrams.
• Manipulator internal wiring diagram
• Wiring diagram between the manipulator and robot controller
Figure 9.1 Internal Wiring Diagram (1)
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Internal Wiring
9.1 Internal Wiring Diagrams
9
Figure 9.2 Internal Wiring Diagram (2)
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101
9.1 Internal Wiring Diagrams
Figure 9.3 Internal Wiring Diagram (3)
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10
Maintenance and Inspection
10.1
Notes for Safe Operation ......................................................................................104
10.2
Inspection Schedule and Inspection Items .....................................................105
10.3
10.2.1
Inspection Items.......................................................................................... 105
10.2.2
Locations to Inspect ................................................................................... 108
Daily Inspection ......................................................................................................109
10.3.1
10.4
10.5
Checking Home Positions with the Alignment Marks............................. 109
Grease Replenishment ......................................................................................... 111
10.4.1
Required Preparations ................................................................................111
10.4.2
Replenishing the Grease in the S-Axis Speed Reducer ..........................112
10.4.3
Replenishing the Grease in the L-Axis Speed Reducer...........................114
10.4.4
Replenishing the Grease in the U-Axis Speed Reducer ..........................116
10.4.5
Replenishing the Grease in the R-Axis Speed Reducer ..........................118
10.4.6
Replenishing the Grease in the B-Axis Speed Reducer ......................... 120
10.4.7
Replenishing the Grease in the T-Axis Speed Reducer.......................... 122
Battery Unit Replacement Procedures .............................................................123
10.5.1
Location of the Battery Unit ....................................................................... 123
10.5.2
Replacing the Battery Unit When the Controller's Control Power
Supply Is ON (At Normal Times)................................................................ 124
10.5.3
Replacing the Battery Unit When the Controller's Control Power
Supply Is OFF .............................................................................................. 126
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103
10.1 Notes for Safe Operation
10.1 Notes for Safe Operation
DANGER
Do not remove the motors or release the brakes.
The arm may rotate in an unexpected direction and cause a serious injury.
WARNING
Only designated workers should perform maintenance and inspection.
There is a risk of electrical shock or injury.
Always turn OFF the power supply and tag out (e.g., a "DO NOT POWER" sign) the system
before maintenance, inspection, and wiring work.
There is a risk of electrical shock or injury.
For disassembly or repair, contact your YASKAWA representative.
NOTICE
During maintenance and inspection, do not disconnect the connector between the encoder
and the battery.
The home position data will be lost.
104
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10.2 Inspection Schedule and Inspection Items
10.2 Inspection Schedule and Inspection Items
Accurate inspections are essential for prolonging the service life of the mechanical parts, preventing failures, and
ensuring safety.
• Only designated workers should perform inspections.
• The inspection schedule is shown in the list of inspection items. Inspect the product according to its operation
time.
• The person responsible for the inspection of each item is classified as follows:
– Work performed by the designated worker at the user's facility
– Work performed by qualified workers who have received training
– Work performed by your YASKAWA representative
• Estimate the inspection interval based on the time the servo power is turned ON.
• If the robot will be used in other high-frequency handling applications or under special usage conditions, a separate review
must be conducted for the inspection methods. Contact your YASKAWA representative for more information.
Important
10.2.1 Inspection Items
Refer to the following items for the specific locations to inspect on the manipulator.
Contact your YASKAWA representative if any problem occurs on the manipulator.
Important
10.2.2 Locations to Inspect on page 108
10.3.1 Checking Home Positions with the Alignment Marks on page 109
10.5.1 Location of the Battery Unit on page 123
Table 10.1 Inspection Items
Schedule
Daily
Every Every
24000
1000 12000
H
H
H
YASDesig- QualiKAWA
Method
Details
of
Inspection/Action
36000
nated fied
RepH
Work- Workresener
er
tative
1
Alignment
marks
✓
-
-
-
-
Visual
check
Check if the alignment marks are
lined up at the home position posture or if any alignment marks
are dirty.
✓
✓
✓
2
Exterior
overall
✓
-
-
-
-
Visual
check
• Clean dust, dirt, spatter, seeping oil, and any other substances. *1
• Inspect each part for cracks
and damage.
✓
✓
✓
3
Base bolts
-
✓
-
-
-
Spanner, Check for missing bolts and
wrench loose bolts. Retighten bolts.
✓
✓
✓
4
Cover screws
-
✓
-
-
-
Screwdriver,
wrench
Check for missing screws and
loose screws. Retighten screws.
✓
✓
✓
5
Connector
base
-
✓
-
-
-
Manual
check
Check for looseness.
✓
✓
✓
6
Connector for
manipulator
cable
-
✓
-
-
-
Manual
check
Check for looseness.
✓
✓
✓
Continued on next page.
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105
Maintenance and Inspection
Location and
Item
Worker in Charge
10
10.2 Inspection Schedule and Inspection Items
Continued from previous page.
Schedule
Location and
Item
Every Every
24000
1000 12000
H
H
H
YASDesig- QualiKAWA
36000 Method Details of Inspection/Action nated fied
RepH
Work- Workresener
er
tative
7
R-axis timing
belt, B-axis
timing belt,
and T-axis
timing belt
-
-
✓
-
-
Manual
and visual
check
Check the tension and condition
of the belt (replace when there
are missing teeth, swelling, or
unusual wear).
-
✓
✓
8
Internal wiring harness
-
-
✓
-
-
Multimeter
Test continuity between user
cable connectors in the base part
and the wrist part
-
✓
✓
-
-
-
✓
-
-
Replace
-
-
✓
Internal battery unit
-
-
-
✓
-
-
Replace when the battery alarm
is displayed in the robot controller or after 24000 H of accumulated manipulator operation time.
-
✓
✓
10 S-axis speed
reducer
-
-
✓
-
-
Injection • Inspect for abnormalities
(replace if there is an
syringe
abnormality)
• Grease replenishment (12000
H) *2
-
✓
✓
11 L-axis speed
reducer
-
-
✓
-
-
Injection • Inspect for abnormalities
(replace if there is an
syringe
abnormality)
• Grease replenishment (12000
H) *2
-
✓
✓
12 U-axis speed
reducer
-
-
✓
-
-
Injection • Inspect for abnormalities
(replace if there is an
syringe
abnormality)
• Grease replenishment (12000
H) *2
-
✓
✓
13 R-axis speed
reducer
-
-
✓
-
-
Injection • Inspect for abnormalities
(replace if there is an
syringe
abnormality)
• Grease replenishment (12000
H) *2
-
✓
✓
14 B-axis speed
reducer
-
-
✓
-
-
Injection • Inspect for abnormalities
(replace if there is an
syringe
abnormality)
• Grease replenishment (12000
H) *2
-
✓
✓
15 T-axis speed
reducer
-
-
✓
-
-
Injection • Inspect for abnormalities
(replace if there is an
syringe
abnormality)
• Grease replenishment (12000
H) *2
-
✓
✓
16 Solenoid
valve unit
(option)
-
✓
-
-
-
Check
operation
Check operation of the solenoid
valve unit.
✓
✓
✓
17 Overhaul
-
-
-
-
✓
-
-
-
-
✓
9
*1
106
Daily
Worker in Charge
Minute amounts of oil may seep from the lip of the oil seal depending on the operating conditions and ambient environment. If enough
of this oil collects and forms a drop, the drop may fall off during operation. Keep this oil from collecting by cleaning the bottom of the
oil seal of sliding parts before operation. Frequent reverse motions and operation in a high-temperature environment may cause oil
seepage due to the motor running hot and the internal pressure of the grease bath increasing. In this case, the internal pressure can be
restored by opening the grease port once immediately after operation is ended. (Use caution so that grease does not splatter when
opening the grease port.)
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10.2 Inspection Schedule and Inspection Items
Refer to the following table for the grease to use in each part.
Location and Item
10 to 15
Grease Type
S-, L-, U-, R-, B-, and T-axis speed reducers Harmonic Grease SK-1A
Refer to the following sections for the grease replenishment procedures.
10.4.2 Replenishing the Grease in the S-Axis Speed Reducer on page 112
10.4.3 Replenishing the Grease in the L-Axis Speed Reducer on page 114
10.4.4 Replenishing the Grease in the U-Axis Speed Reducer on page 116
10.4.5 Replenishing the Grease in the R-Axis Speed Reducer on page 118
10.4.6 Replenishing the Grease in the B-Axis Speed Reducer on page 120
10.4.7 Replenishing the Grease in the T-Axis Speed Reducer on page 122
Maintenance and Inspection
*2
10
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107
10.2 Inspection Schedule and Inspection Items
10.2.2 Locations to Inspect
The numbers in the figures match the numbers in the list of inspection items.
Table 10.1 Inspection Items on page 105
108
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10.3 Daily Inspection
10.3 Daily Inspection
10.3.1 Checking Home Positions with the Alignment Marks
There is an alignment mark on each axis of the manipulator for checking the home position. Check the alignment
marks on a regular basis to determine if any of the home positions of the manipulator are out of alignment.
Note:
Contact your YASKAWA representative if any of the home positions of the manipulator disappear or go out of alignment.
(1) S-Axis
Maintenance and Inspection
(2) L-Axis
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109
10.3 Daily Inspection
(3) U-Axis
(4) R-Axis
(5) B-Axis
110
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10.4 Grease Replenishment
10.4 Grease Replenishment
10.4.1 Required Preparations
(1) Precautions
When replenishing grease, carefully read the following precautions. Using the wrong method to replace grease
may cause a failure in a motor or speed reducer.
• The injection syringe for grease replenishment is prepared as a recommended spare part. Do not replenish grease with a
grease pump.
Important • First soften the grease, such as by stirring it with the injection syringe, and then fill the manipulator with the necessary
amount.
• If the manipulator is filled with grease more than the specified number of times, the internal pressure may increase during
operation and cause grease to leak.
(2) Required Tools and Other Items
The following tools and other items are required when replenishing grease.
Use an injection syringe to inject grease.
Important
Name
Type
Qty.
Purpose
Specified grease
Harmonic Grease SK-1A
-
-
Injection syringe for grease
replenishment
HW1484274-A
1
-
Cloth/wipes
-
-
For wiping up grease
ThreeBond 1206C
-
-
For the set screw of the R-, B-, and T-axis grease
inlets
Grease Replenishment Location
Grease Injection Amount (Approx.)
S-axis
5g
L-axis
11 g
U-axis
4g
R-axis
3g
B-axis
1g
T-axis
1g
Maintenance and Inspection
(3) Grease Injection Amount
10
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111
10.4 Grease Replenishment
10.4.2 Replenishing the Grease in the S-Axis Speed Reducer
(1) Part Names
No.
Name
Qty.
Remarks
(1)
Hexagon socket head cap screw M4 *trivalent chromate* (length: 10
mm)
8
Tightening torque: 2.3 N∙m
(2)
Cover HW2402239-1
1
(3)
Gasket HW2402241-1
1
(4)
NHSS bolt M3 (length: 6 mm)
2
(5)
Support HW2301804-1
1
(6)
Cap HW2401558-1
1
(7)
Grease inlet
-
Tightening torque: 1.4 N∙m
The grease inlet is the place where the
cap (6) was removed.
(2) Preparations before Grease Replenishment
Refer to the following section.
10.4.1 Required Preparations on page 111
(3) Grease Replenishment Procedure for the S-Axis Speed Reducer
1. Set the manipulator to a posture that will make it easy to fill it with grease.
2. Unscrew the eight hexagon socket head cap screws (1), and remove the cover (2) and
the gasket (3).
3.
Unbolt the two NHSS bolts (4) and remove the support (5) with battery.
Note:
Keep the push-on pin terminals for the battery connected at this time.
4.
5.
Remove the cap (6).
Inject grease into the grease inlet (7).
Refer to the following section for the type and amount of grease.
10.4.1 Required Preparations on page 111
112
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10.4 Grease Replenishment
Note:
Inject the grease so that it comes to the location shown as "A" in the following figure.
6.
7.
Mount the cap (6).
Use the two NHSS bolts (4) and mount the support (5) with battery to the manipulator.
Refer to the following section for the tightening torque.
(1) Part Names on page 112
Use the eight hexagon socket head cap screws (1) and mount the cover (2) and the gasket (3) to the manipulator.
Refer to the following section for the tightening torque.
(1) Part Names on page 112
Maintenance and Inspection
8.
10
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113
10.4 Grease Replenishment
10.4.3 Replenishing the Grease in the L-Axis Speed Reducer
(1) Part Names
No.
Name
Qty.
Remarks
(1)
Hexagon socket head cap screw M4 *trivalent chromate* (length: 10
mm)
16
Tightening torque: 2.3 N∙m
(2)
Cover HW2100330-1
1
(3)
Metal gasket HW2380790-1
1
(4)
Cap HW2401558-2
1
(5)
Grease inlet
1
The grease inlet is the place where the
cap (4) was removed.
(2) Preparations before Grease Replenishment
Refer to the following section.
10.4.1 Required Preparations on page 111
(3) Grease Replenishment Procedure for the L-Axis Speed Reducer
1. Set the manipulator to a posture that will make it easy to fill it with grease.
2. Unscrew the 16 hexagon socket head cap screws (1), and remove the cover (2) and the
metal gasket (3).
3.
4.
Remove the cap (4).
Inject grease into the grease inlet (5).
Refer to the following section for the type and amount of grease.
10.4.1 Required Preparations on page 111
114
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10.4 Grease Replenishment
Note:
Inject the grease so that it comes to the location shown as "A" in the following figure.
Mount the cap (4).
Use the 16 hexagon socket head cap screws (1) and mount the cover (2) and the metal
gasket (3) to the manipulator.
Refer to the following section for the tightening torque.
(1) Part Names on page 114
Maintenance and Inspection
5.
6.
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115
10.4 Grease Replenishment
10.4.4 Replenishing the Grease in the U-Axis Speed Reducer
(1) Part Names
No.
Name
Qty.
Remarks
(1)
Hexagon socket head cap screw M4 *trivalent chromate* (length: 10
mm)
16
Tightening torque: 2.3 N∙m
(2)
Cover HW2100330-1
1
(3)
Metal gasket HW2380790-1
1
(4)
Cap HW2401558-1
1
(5)
Grease inlet
1
The grease inlet is the place where the
cap (4) was removed.
(2) Preparations before Grease Replenishment
Refer to the following section.
10.4.1 Required Preparations on page 111
(3) Grease Replenishment Procedure for the U-Axis Speed Reducer
1. Set the manipulator to a posture that will make it easy to fill it with grease.
2. Unscrew the 16 hexagon socket head cap screws (1), and remove the cover (2) and the
metal gasket (3).
3.
4.
Remove the cap (4).
Inject grease into the grease inlet (5).
Refer to the following section for the type and amount of grease.
10.4.1 Required Preparations on page 111
116
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10.4 Grease Replenishment
Note:
Inject the grease so that it comes to the location shown as "A" in the following figure.
Mount the cap (4).
Use the 16 hexagon socket head cap screws (1) and mount the cover (2) and the metal
gasket (3) to the manipulator.
Refer to the following section for the tightening torque.
(1) Part Names on page 116
Maintenance and Inspection
5.
6.
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117
10.4 Grease Replenishment
10.4.5 Replenishing the Grease in the R-Axis Speed Reducer
(1) Part Names
No.
Name
Qty.
Remarks
(1)
Hexagon socket head cap screw M4 *trivalent chromate* (length: 10
mm)
6
Tightening torque: 2.3 N∙m
(2)
Cover HW2200217-1
1
(3)
Metal gasket HW2380789-1
1
(4)
Set screw M4 (length: 5 mm)
1
Tightening torque: 0.5 N∙m
(5)
Grease inlet
1
The grease inlet is the place where the
set screw (4) was removed.
(2) Preparations before Grease Replenishment
Refer to the following section.
10.4.1 Required Preparations on page 111
(3) Grease Replenishment Procedure for the R-Axis Speed Reducer
1. Set the manipulator to a posture that will make it easy to fill it with grease.
2. Unscrew the six hexagon socket head cap screws (1), and remove the cover (2) and the
metal gasket (3).
3.
4.
Unscrew the set screw (4).
Inject grease into the grease inlet (5).
Refer to the following section for the type and amount of grease.
10.4.1 Required Preparations on page 111
5.
After cleaning and degreasing the tapped part of the set screw (4), apply ThreeBond
1206C to the set screw (4), and screw it in the grease inlet (5).
Refer to the following section for the tightening torque.
(1) Part Names on page 118
6.
Use the six hexagon socket head cap screws (1) and mount the cover (2) and the metal
gasket (3) to the manipulator.
Refer to the following section for the tightening torque.
(1) Part Names on page 118
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Maintenance and Inspection
10.4 Grease Replenishment
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10.4 Grease Replenishment
10.4.6 Replenishing the Grease in the B-Axis Speed Reducer
(1) Part Names
No.
Name
Qty.
Remarks
(1)
Hexagon socket head cap screw M4 *trivalent chromate* (length: 10
mm)
13
Tightening torque: 2.3 N∙m
(2)
Cover HW2100325-1
1
(3)
Metal gasket HW2380788-1
1
(4)
Pulley HW2402196-1
1
(5)
Set screw M2.5 (length: 3 mm)
1
(6)
Grease inlet
1
The grease inlet is the place where the
set screw (5) was removed.
(2) Preparations before Grease Replenishment
Refer to the following section.
10.4.1 Required Preparations on page 111
(3) Grease Replenishment Procedure for the B-Axis Speed Reducer
1. Set the manipulator to a posture that will make it easy to fill it with grease.
2. Unscrew the 13 hexagon socket head cap screws (1), and remove the cover (2) and the
metal gasket (3).
3.
4.
5.
Turn the pulley (4) to set it to a phase at which the set screw (5) can be seen.
Unscrew the set screw (5).
Inject grease into the grease inlet (6).
Refer to the following section for the type and amount of grease.
10.4.1 Required Preparations on page 111
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10.4 Grease Replenishment
6.
After cleaning and degreasing the tapped part of the set screw (5), apply ThreeBond
1206C to the set screw (5), and screw it in the grease inlet (6).
Note:
If the set screw is overtightened, there is a risk of deforming internal parts. Tighten the set screw to the position at which its head
sinks slightly under the mounting surface.
Use the 13 hexagon socket head cap screws (1) and mount the cover (2) and the metal
gasket (3) to the manipulator.
Refer to the following section for the tightening torque.
(1) Part Names on page 120
Maintenance and Inspection
7.
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121
10.4 Grease Replenishment
10.4.7 Replenishing the Grease in the T-Axis Speed Reducer
(1) Part Names
No.
Name
Qty.
Remarks
(1)
Set screw M4 (length: 5 mm)
1
Tightening torque: 1.1 N∙m
(2)
Grease inlet
1
The grease inlet is the place where the
set screw (1) was removed.
(2) Preparations before Grease Replenishment
Refer to the following section.
10.4.1 Required Preparations on page 111
(3) Grease Replenishment Procedure for the T-Axis Speed Reducer
1. Set the manipulator to a posture that will make it easy to fill it with grease.
2. Unscrew the set screw (1).
3. Inject grease into the grease inlet (2).
Refer to the following section for the type and amount of grease.
10.4.1 Required Preparations on page 111
4.
After cleaning and degreasing the tapped part of the set screw (1), apply ThreeBond
1206C to the set screw (1), and screw it in the grease inlet (2).
Refer to the following section for the tightening torque.
(1) Part Names on page 122
122
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10.5 Battery Unit Replacement Procedures
10.5 Battery Unit Replacement Procedures
DANGER
Make sure to replace the battery with the emergency stop button depressed.
There is a risk of injury or damage due to malfunction.
The manipulator is equipped with one battery unit.
When the battery alarm is displayed on the pendant, replace the battery unit. The replacement procedure depends
on the status of the controller's control power supply. Refer to the following sections.
10.5.2 Replacing the Battery Unit When the Controller's Control Power Supply Is ON (At Normal Times) on
page 124
10.5.3 Replacing the Battery Unit When the Controller's Control Power Supply Is OFF on page 126
10.5.1 Location of the Battery Unit
The following figure shows the location of the battery. The battery is stored in the S-head part of the
manipulator.
A
B
Battery
Cover mounting bolt M4 (length: 10 mm) (8 bolts)
Tightening torque: 2.3 N∙m
C
Cover
D
Gasket
Maintenance and Inspection
Use caution so as not to disconnect the connector between the encoder and the battery when disconnecting and connecting
the connector for battery replacement. If the connector between the encoder and the battery is disconnected, the absolute
Important data will be lost.
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123
10.5 Battery Unit Replacement Procedures
10.5.2 Replacing the Battery Unit When the Controller's Control Power
Supply Is ON (At Normal Times)
(1) Required Items
Name
Qty.
Drawing No.
Remarks
Hex key
1
-
For removing the cover and the battery
support
Torque wrench
1
-
For attaching the cover and the battery
support
Flat head screwdriver or nippers
1
-
For removing the cable ties
New battery unit
1
HW2470373-A
For replacement
Cable tie
2
T30R-HSW
For fixing the replacement battery
Gasket
1
HW2402241-1
For replacement
(2) Procedure
DANGER
Make sure to replace the battery with the emergency stop button depressed.
There is a risk of injury or damage due to malfunction.
Make sure to replace the battery by carefully following this procedure. The battery saves the position data of each axis of
the manipulator. If a mistake is made in this procedure, the absolute data will be lost.
Important
Figure 10.1 Connecting the Battery (When the Controller's Control Power Supply Is ON)
124
A
L-axis motor
E
Push-on pin terminals for the battery connection (BAT1
and 0BT1)
B
Internal wiring harness
F
Battery connector
C
Old battery unit
G
Encoder cable
D
New battery unit
-
-
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10.5 Battery Unit Replacement Procedures
1.
Turn ON the main power supply to the robot controller.
Make sure the main power supply to the robot controller is turned ON to prevent the absolute data from being
lost.
Important
Press the emergency stop button to activate the servo OFF state.
Loosen the cover mounting bolts on the S-head part of the manipulator and remove the
cover and gasket.
A
4.
5.
6.
7.
Cover
B
Gasket
Remove the NHSS bolt (2 bolts) for the battery support.
A
NHSS bolt M3 (length: 6 mm) (2 bolts)
C
Battery
B
Battery support
-
-
Remove the battery support with old battery unit still attached.
Cut the cable ties (2 places) that hold the old battery unit.
Disconnect the old battery unit from the push-on pin terminals for the battery connection (BAT1 and 0BT1) and connect the new battery unit to the same terminals.
Maintenance and Inspection
2.
3.
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125
10.5 Battery Unit Replacement Procedures
8.
9.
Pass the cable ties (T30R-HSW) (2 cable ties) through the slots for fixing the battery on
the battery support and fix the new battery unit.
A
Battery support
C
Cable tie (2 cable ties)
B
Battery
-
-
Attach the battery support with the attached new battery using the NHSS bolt M3
(length: 6 mm) (2 bolts). (Tightening torque: 1.4 N∙m)
10. Attach the replacement gasket to the cover mounting part of the S-head.
11. Attach the manipulator cover and tighten the cover mounting bolts. (Tightening torque:
2.3 N∙m)
Note:
Be careful not to crush any cables when attaching the battery support and the cover.
• Make sure to use the proper tightening torque.
• When tightening the cover mounting bolts, always tighten the bolts in a diagonal pattern.
Important
10.5.3 Replacing the Battery Unit When the Controller's Control Power
Supply Is OFF
(1) Required Items
Name
Qty.
Drawing No.
Remarks
Hex key
1
-
For removing the cover and the battery support
Torque wrench
1
-
For attaching the cover and the battery support
Flat head screwdriver or nippers
1
-
For removing the cable ties
New battery unit
2
HW2470373-A
• For replacement × 1
• For battery backup × 1 *1
1
T18L
2
T30R-HSW
For fixing the replacement battery
1
HW2402241-1
For replacement
Cable tie
Gasket
*1
For fixing the push-on pin terminals for the
backup battery connection
Prepare a backup battery unit in addition to the replacement battery unit.
(2) Procedure
Make sure to replace the battery by carefully following this procedure. The battery saves the position data of each axis of
the manipulator. If a mistake is made in this procedure, the absolute data will be lost.
Important
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10.5 Battery Unit Replacement Procedures
Figure 10.2 Connecting the Battery (When the Controller's Control Power Supply Is OFF)
L-axis motor
F
New battery unit
B
Backup battery unit
G
Push-on pin terminals for the battery connection (BAT1
and 0BT1)
C
Push-on pin terminals for the backup battery connection
(BAT and 0BT)
H
Battery connector
D
Internal wiring harness
I
Encoder cable
E
Old battery unit
-
-
1.
Loosen the cover mounting bolts on the S-head part of the manipulator and remove the
cover and gasket.
Maintenance and Inspection
A
A
Cover
B
Gasket
2.
Cut the cable tie (1 place) that holds the push-on pin terminals for the backup battery
connection (BAT and 0BT).
3.
Connect the backup battery unit to the push-on pin terminals for the backup battery
connection (BAT and 0BT).
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127
10.5 Battery Unit Replacement Procedures
4.
5.
6.
7.
Remove the NHSS bolt (2 bolts) for the battery support.
A
NHSS bolt M3 (length: 6 mm) (2 bolts)
C
Battery
B
Battery support
-
-
Remove the battery support with old battery unit still attached.
Cut the cable ties (2 places) that hold the old battery unit.
Disconnect the old battery unit from the push-on pin terminals for the battery connection (BAT1 and 0BT1) and connect the new battery unit to the same terminals.
Make sure to connect the backup battery unit before removing the old battery so the absolute data is not lost.
Important
8.
9.
Pass the cable ties (T30R-HSW) (2 cable ties) through the slots for fixing the battery on
the battery support and fix the new battery unit.
A
Battery support
C
Cable tie (2 cable ties)
B
Battery
-
-
Attach the battery support with the attached new battery using the NHSS bolt M3
(length: 6 mm) (2 bolts). (Tightening torque: 1.4 N∙m)
10. Disconnect the backup battery unit from the push-on pin terminals for the backup battery connection (BAT and 0BT).
11. Fix the push-on pin terminals for the backup battery connection (BAT and 0BT) with a
cable tie (T18L).
12. Attach the replacement gasket to the cover mounting part of the S-head.
13. Attach the manipulator cover and tighten the cover mounting bolts. (Tightening torque:
2.3 N∙m)
Note:
Be careful not to crush any cables when attaching the battery support and the cover.
• Make sure to use the proper tightening torque.
• When tightening the cover mounting bolts, always tighten the bolts in a diagonal pattern.
Important
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11
Recommended Spare Parts
11.1
Spare Parts List ......................................................................................................130
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129
11.1 Spare Parts List
11.1 Spare Parts List
This section lists spare parts to be prepared among the manipulator components. The spare parts are ranked
according to the level at which they are recommended. Purchase these spare parts as necessary.
• Rank A: Expendable parts or frequently replaced parts
• Rank B: Mechanical parts with a high operation frequency
• Rank C: Important mechanical parts
1. To replace parts with a rank of B or C, contact your YASKAWA representative.
2. To purchase lead wires, such as those for the internal wiring, first check the serial number of the manipulator, and then
contact your YASKAWA representative.
Important
3. Product performance cannot be guaranteed when using parts other than the recommended spare parts.
Table 11.1 Spare Parts List
Qty.
RanNo.
k
Name
Type
Manufacturer
Qty.
per
Unit
A
1
Grease (2.5 kg)
MP-1
Nippon Grease Co., Ltd.
-
-
A
2
Grease (2.5 kg)
MULTEMP PS No. 2
Kyodo Yushi Co., Ltd.
-
-
A
3
Battery unit
HW2470373-A
YASKAWA Electric
Corporation
1
1
B
4
R-axis timing belt
60 Ceptor-X S3M 207
Bando Chemical Industries,
Ltd.
1
1
B
5
B- and T-axis timing belt
40 Ceptor-X S3M 507
Bando Chemical Industries,
Ltd.
1
2
B
6
Replacement kit for S-axis speed
reducer *1
HW2481252-A
YASKAWA Electric
Corporation
1
1
B
7
Replacement kit for L-axis speed
reducer *1
HW2481253-A
YASKAWA Electric
Corporation
1
1
B
8
Replacement kit for U-axis speed
reducer *1
HW2481254-A
YASKAWA Electric
Corporation
1
1
B
9
Replacement kit for R-axis speed
reducer *1
HW2481255-A
YASKAWA Electric
Corporation
1
1
B
10
Replacement kit for B-axis speed
reducer *1
HW2481256-A
YASKAWA Electric
Corporation
1
1
B
11
Replacement kit for T-axis speed
reducer *1
HW2481257-A
YASKAWA Electric
Corporation
1
1
B
12
Wrist unit
HW2171229-A
YASKAWA Electric
Corporation
1
1
B
13
Internal wiring harness delivery
specification (connector base lead
unit)
HW2481684-B
YASKAWA Electric
Corporation
1
1
B
14
Internal wiring harness delivery
HW2481684-C
specification (internal wiring harness
1, S-axis part)
YASKAWA Electric
Corporation
1
1
B
15
Internal wiring harness delivery
HW2481684-D
specification (internal wiring harness
2, L-/U-axis part)
YASKAWA Electric
Corporation
1
1
B
16
Internal wiring harness delivery
HW2481684-E
specification (internal wiring harness
3, R-/B-/T-axis part)
YASKAWA Electric
Corporation
1
1
B
17
Internal wiring harness delivery
HW2481684-A
specification (set that includes the
connector base lead unit and internal
wiring harnesses 1 to 3)
YASKAWA Electric
Corporation
1
1
Continued on next page.
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11.1 Spare Parts List
Continued from previous page.
Qty.
Name
Type
Qty.
per
Unit
B
18
Lead unit for signal wires (between
U-axis motor and R-axis motor,
between B-axis motor and T-axis
motor)
HW2470521-A
YASKAWA Electric
Corporation
1
2
B
19
Lead unit for battery (between Uaxis motor and R-axis motor)
HW2470470-A
YASKAWA Electric
Corporation
1
1
B
20
Lead unit for battery (between Baxis motor and T-axis motor)
HW2470470-B
YASKAWA Electric
Corporation
1
1
B
21
Connector base lead unit (U-arm
user cable connector part)
HW2470339-A
YASKAWA Electric
Corporation
1
1
C
22
Bypass cable (signal lead wires for
recovering from a failure)
HW2470634-A
YASKAWA Electric
Corporation
1
1
C
23
S-axis AC servomotor
HW2381143-A
YASKAWA Electric
Corporation
1
1
HW2381144-A
YASKAWA Electric
Corporation
1
1
HW2381142-A
YASKAWA Electric
Corporation
1
1
HW2381140-A
YASKAWA Electric
Corporation
1
1
HW2381141-A
YASKAWA Electric
Corporation
1
2
SGRXN-02CUC8CA3
C
24
L-axis AC servomotor
SGRXN-04CUC8CA3
C
25
U-axis AC servomotor
SGRXN-02BUC8CA3
C
26
R-axis AC servomotor
SGRXN-A4AUC8CA3
C
27
B- and T-axis AC servomotor
SGRXN-A7BUC8CA3
*1
Manufacturer
A
28
Gasket (connector base cover part)
HW2402113-1
YASKAWA Electric
Corporation
1
1
A
29
Gasket (S-base bottom cover part)
HW2402198-1
YASKAWA Electric
Corporation
1
1
A
30
Gasket (connector base part)
HW2401317-1
YASKAWA Electric
Corporation
1
1
A
31
Gasket (S-head cover part)
HW2402241-1
YASKAWA Electric
Corporation
1
1
A
32
Metal gasket (U-arm cover part)
HW2380788-1
YASKAWA Electric
Corporation
1
2
A
33
Metal gasket (casing cover part)
HW2380789-1
YASKAWA Electric
Corporation
1
1
A
34
Metal gasket (L-arm cover part)
HW2380790-1
YASKAWA Electric
Corporation
1
2
A
35
Gasket (Connector base part on Uarm, casing connector base part)
HW2401417-1
YASKAWA Electric
Corporation
1
2
A
36
O-ring (Cover part on U-arm)
HW2301797-1
YASKAWA Electric
Corporation
1
1
C
37
Power supply board
HW1384624-A
YASKAWA Electric
Corporation
1
1
C
38
Dummy connector (for isolating an
axis)
HW2470635-A
YASKAWA Electric
Corporation
1
1
A
39
Injection syringe for grease
replenishment
HW1484274-A
YASKAWA Electric
Corporation
1
1
The replacement kits for speed reducers contain the following parts.
Recommended Spare Parts
RanNo.
k
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11.1 Spare Parts List
Kit Name
Replacement kit for S-axis
speed reducer
Part
Type
Speed reducer
HW2380963-A
Parts required when replacing the speed reducer (oil seal, bolts, and
other parts)
Replacement kit for L-axis
speed reducer
Speed reducer
HW2380964-A
Parts required when replacing the speed reducer (oil seal, bolts, and
other parts)
Replacement kit for U-axis
speed reducer
Speed reducer
HW2380965-A
Parts required when replacing the speed reducer (oil seal, bolts, and
other parts)
Replacement kit for R-axis
speed reducer
Speed reducer
HW2380966-A
Parts required when replacing the speed reducer (oil seal, bolts, and
other parts)
Replacement kit for B-axis
speed reducer
Speed reducer
HW2380967-A
Parts required when replacing the speed reducer (oil seal, bolts, and
other parts)
Replacement kit for T-axis
speed reducer
Speed reducer
HW2380968-A
Parts required when replacing the speed reducer (oil seal, bolts, and
other parts)
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-
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12
Electrical Options
12.1
Servo ON Lamp .......................................................................................................134
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133
12.1 Servo ON Lamp
12.1 Servo ON Lamp
The servo ON lamp is available as an option. The servo ON lamp is lit when the manipulator is operating (i.e.,
when the servo is turned ON). Install this option to check from a distance if the manipulator's servo power is
turned ON.
The installation location of the servo ON lamp is shown below.
A
134
Servo ON lamp
-
-
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Revision History
Month/Year
July 2025
Rev. No.
-
Revised Contents
First edition
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135
MOTOMAN-GP10
Instructions
C 2025 YASKAWA ELECTRIC CORPORATION
Published by YASKAWA
July 2025 25-07
MANUAL NO.
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