YASKAWA

MOTOMAN-EA1400

INSTRUCTIONS
YR-EA1400-A00 YR-EA1400-A01

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN-YR-EA1400 INSTRUCTIONS YASNAC XRC INSTRUCTIONS YASNAC XRC OPERATORS MANUAL YASNAC XRC OPERATORS MANUAL for BEGINNERS
The YASNAC XRC operators manuals above correspond to specific usage. Be sure to use the appropriate manual.

YASKAWA

MANUAL NO. HW0481059

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MANDATORY
This instruction manual is intended to explain operating instructions and maintenance procedures primarily for the MOTOMAN-EA1400. General items related to safety are listed in the Safety Manual Section 1: Safety. To ensure correct and safe operation, carefully read the Setup Manual before reading this manual.

CAUTION
Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product. The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product. YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised. If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover. YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your products warranty.

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NOTES FOR SAFE OPERATION

Read this manual carefully before installation, operation, maintenance, or inspection of the YASNAC XRC. In this manual, the Notes for Safe Operation are classified as WARNING, CAUTION, MANDATORY, or PROHIBITED.

WARNING
CAUTION
MANDATORY
PROHIBITED

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel. Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe practices. Always be sure to follow explicitly the items listed under this heading.

Must never be performed.

Even items described as CAUTION may result in a serious accident in some situations. At any rate, be sure to follow these important items.

NOTE

To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as CAUTION and WARNING.

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WARNING
Before operating the manipulator, check that servo power is turned off when the emergency stop buttons on the playback panel or programming pendant are pressed. When the servo power is turned off, the SERVO ON READY lamp on the playback panel and the SERVO ON LED on the programming pendant are turned off. Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.

Emergency Stop Button

Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator. Then turn the servo power ON. Injury may result from unintentional or unexpected manipulator motion.
TURN

Release of Emergency Stop

Always set the Teach Lock before entering the robot work envelope to teach a job. Operator injury can occur if the Teach Lock is not set and the manipulator is started from the playback panel. Observe the following precautions when performing teaching operations within the working envelope of the manipulator : - View the manipulator from the front whenever possible. - Always follow the predetermined operating procedure. - Ensure that you have a safe place to retreat in case of emergency. Improper or unintended manipulator operation may result in injury. Confirm that no persons are present in the manipulators work envelope and that you are in a safe location before: - Turning on the YASNAC XRC power - Moving the manipulator with the programming pendant - Running check operations - Performing automatic operations Injury may result if anyone enters the working envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems. The emergency stop button is located on the right side of both the YASNAC XRC playback panel and programming pendant.

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CAUTION
Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed. -Check for problems in manipulator movement. -Check for damage to insulation and sheathing of external wires. Always return the programming pendant to the hook on the XRC cabinet after use. The programming pendant can be damaged if it is left in the manipulators work area, on the floor, or near fixtures. Read and understand the Explanation of the Alarm Display in the Setup Manual before operating the manipulator:

Definition of Terms Used Often in This Manual

The MOTOMAN manipulator is the YASKAWA industrial robot product. The manipulator usually consists of the controller, the playback panel, the programming pendant, and supply cables. In this manual, the equipment is designated as follows:
Equipment YASNAC XRC Controller YASNAC XRC Playback Panel YASNAC XRC Programming Pendant XRC Playback Panel Programming Pendant Manual Designation

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AN EXPLANATION OF WARNING LABELS

The following warning labels are attached to the manipulator. Always follow the warnings on the labels. Also, an indentification label with important information is placed on the body of the manipulator. Prior to operating the manipulator, confirm the contents.

MOTOMAN
TYPE !!!!!! PAYLOAD !! kg ORDER NO. !!!!!! SERIAL NO. !!!!!! MASS !!! DATE !!

WARNING
kg

WARNING

YASKAWA ELECTRIC CORPORATION JAPAN

Donotenter robotworkarea

Movingpartsmay causeinjury

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Receiving
1.1 Checking Package Contents . . . . . . . . . . . . . . . . . . . . . . . -1-1 1.2 Checking the Order Number . . . . . . . . . . . . . . . . . . . . . . . -1-2

Transporting
2.1 Transporting Method
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 2.1.1 Using the Crane. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1 2.1.2 Using the Forklift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

2.2 Shipping Bolts and Jigs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Installation
3.1 Safeguard Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 3.2 Mounting Procedures for Manipulator Base . . . . . . . . 3-2
3.2.1 When the Manipulator and Mounting Fixture are Installed on a Common Installation Base . . . . . . . . . . . . . . . . .3-3 3.2.2 When the Manipulator is Mounted Directly on the Floor . . . . . .3-4 3.3.1 S-Axis Working Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5 3.3.2 Affixing the Manipulator Base . . . . . . . . . . . . . . . . . . . . . . . . . .3-5 3.3.3 Precautions to Prevent the Manipulator from Falling. . . . . . . . .3-5

3.3 Types of Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3.4 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

Wiring
4.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2 4.2 Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2.1 Connection to the Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . .4-2 4.2.2 Connection to the XRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3

Basic Specifications
5.1 5.2 5.3 5.4 5.5 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Part Names and Working Axes . . . . . . . . . . . . . . . . . . . . Manipulator Base Dimensions . . . . . . . . . . . . . . . . . . . . . Dimensions and Working Envelope . . . . . . . . . . . . . . . . B-Axis Working Range. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1 5-2 5-2 5-3 5-4

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5.6 Alterable Working Range . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 6.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

System Application
7.1 Mounting Equipment
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1 7.1.1 Allowable Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1 7.1.2 Installation Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

7.2 Connections for User Cable and Air Duct . . . . . . . . . . . 7-2

Motoman Construction
8.1 Position of S-Axis Limit Switch . . . . . . . . . . . . . . . . . . . . . 8-1 8.2 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

Maintenance and Inspection

9.1 Inspection Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1 9.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . . 9-6
9.2.1 Battery Unit Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6 9.2.2 Grease Replenishment/Replacement for S-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7 # Grease Replenishment (Refer to " Fig. 25 S-Axis Speed Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8 # Grease Replacement (Refer to " Fig. 25 S-Axis Speed Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8 9.2.3 Grease Replenishment/Replacement for L-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9 # Grease Replenishment (Refer to " Fig. 26 L-Axis Speed Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9 # Grease Replacement (Refer to " Fig. 26 L-Axis Speed Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10 9.2.4 Grease Replenishment/Replacement for U-Axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10 # Grease Replenishment (Refer to " Fig. 27 U-Axis Speed Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11 # Grease Replacement (Refer to " Fig. 27 U-Axis Speed Reducer Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11

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9.2.5 9.2.6 9.2.7 9.2.8 9.2.9

Grease Replenishment for R-Axis Speed Reducer . . . . . . . . .9-12 Grease Replenishment for B-Axis Speed Reducer . . . . . . . . .9-13 Grease Replenishment for T-Axis Gear . . . . . . . . . . . . . . . . .9-14 Grease Replenishment for R-Axis Cross Roller Bearing. . . . .9-15 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16 # Wrist Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16 # Encoder Connector (with CAUTION label) . . . . . . . . . . . . .9-16

10 11

Recommended Spare Parts Parts List

11.1 11.2 11.3 11.4 S-axis Driving Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . L,U-Axis Driving Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . R-Axis Driving Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Wrist Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11-1 11-3 11-5 11-7

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1.1 Checking Package Contents

1 Receiving
CAUTION
Confirm that the manipulator and the XRC have the same order number. Special care must be taken when more than one manipulator is to be installed. If the numbers do not match, manipulators may not perform as expected and cause injury or damage.

1.1

Checking Package Contents

When the package arrives, check the contents for the following standard items (Any additional options ordered should be checked as well.): Manipulator XRC Programming Pendant Power supply cables (2 cables) between the XRC and the Manipulator

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1.2 Checking the Order Number

1.2

Checking the Order Number

Check that the order number of the manipulator corresponds to the XRC. The order number is located on a label as shown below.

Label(Enlarged view)
THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER. ORDER. No. !!!!!!

Check that the manipulator and the XRC have the same order number.

YASNACXRC

EA1400

ON

RE

SE

OFF

TR

IP

XSYL-

X+ S+
Y+
L+ B-

RR+

B+

ZU-

Z+
U+

T-

T+

7 4 1 0

8 5

9 6 3

ORDERNO.
NJ1530

TYPE

ERCR-

POWERSUPPLY

200/220V
SERIALNO. DATE

50/60Hz

3PHASE

KVA

P/N

MADEINJAPAN

NJ2063-1

(a) XRC (Front View)

(b) Manipulator (Top View)

Fig. 1 Location of Order Number Labels

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2.1 Transporting Method

2 Transporting
CAUTION
Sling applications and crane or forklift operations must be performed by authorized personnel only. Failure to observe this caution may result in injury or damage. Avoid excessive vibration or shock during transporting. The system consists of precision components, so failure to observe this caution may adversely affect performance.

2.1
2.1.1

Transporting Method
Using the Crane

As a rule, when removing the manipulator from the package and moving it, a crane should be used. The manipulator should be lifted using wire rope threaded through attached eyebolts. Be sure the manipulator is fixed with the shipping jigs before transporting, and lift it in the posture as shown in " Fig. 2 Transporting Position ".

ShippingJig

M10Eyeboltsprovidedat factory(2bolts)

Fig. 2 Transporting Position

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2.2 Shipping Bolts and Jigs

2.1.2

Using the Forklift

When using a forklift, the manipulator should be fixed on a pallet with shipping bolts and jigs as shown in " Fig. 3 Using the Forklift ". Insert claws under the pallet and lift it. The pallet must be strong enough to support the manipulator. Transporting of the manipulator must be performed slowly in order to avoid overturning or slippage.

M16Bolts(4bolts)

Pallet

ForkliftClawEntry

Fig. 3 Using the Forklift Check that the eyebolts are securely fastened. The weight of the maniputator is approximately 150kg including the shipping bolts and jigs. Use a wire rope strong enough to withstand the weight. Attached eyebolts are designed to support the manipulator weight. Do not use them for anything other than transporting the manipulator. Mount the shipping bolts and jigs for transporting the manipulator. Avoid exerting force on the arm or motor unit when transporting, use caution when using transporting equipment other than a crane or forklift, as injury may occur.

NOTE

2.2

Shipping Bolts and Jigs

The manipurator is provided with shipping bolts and jigs. (" Fig. 2 Transporting Position "). The jigs are painted yellow. The jigs are fixed by M10 hexagon socket head cap bolts (2 bolts).

NOTE

Before turning on the power, check to be sure that the shipping bolts and jigs have been removed. The shipping bolts and jigs then must be stored for future use, in the event that the manipulator must be moved again.

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3 Installation
WARNING
Install the safeguards. Failure to observe this warning may result in injury or damage. Install the manipulator in a location where the fully extended arm and tool will not reach the wall, safeguards, or controller. Failure to observe this warning may result in injury or damage. Do not start the manipulator or even turn on the power before it is firmly anchored. The manipulator may overturn and cause injury or damage. When mounting the manipulator on wall, the base section must have sufficient strength and rigidity to support the weight of the manipulator. Also, it is necessary to consider countermeasures to prevent the manipulator from falling. Failure to observe these warnings may result in injury or damage.

CAUTION
Do not install or operate a manipulator that is damaged or lacking parts. Failure to observe this caution may cause injury or damage. Before turning on the power, check to be sure that the shipping bolts and jigs have been removed. Failure to observe this caution may result in damage to the driving parts.

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3.1 Safeguard Installation

3.1

Safeguard Installation

To insure safety, be sure to install safeguards. They prevent unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guidance. (ISO10218) Responsibility for Safeguarding The user of a manipulator or robot system shall ensure that safeguards are provided and used in accordance with Sections 6, 7, and 8 of this standard. The means and degree of safeguarding, including any redundancies, shall correspond directly to the type and level of hazard presented by the robot system consistent with the robot application. Safeguarding may include but not be limited to safeguarding devices, barriers, interlock barriers, perimeter guarding, awareness barriers, and awareness signals.

3.2

Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a common installation base or foundation strong enough to support the manipulator and withstand repulsion forces during acceleration and deceleration. Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator as shown in " Table. 1 Maximum repulsion forces of the manipulator ". During installation, if the flatness is not right, the manipulator shape may change and its functional ability may be compromised. Common installation base flatness must be kept at 0.5mm or less. Mount the manipulator base in either of the following ways: " Fig. 3.2.1 When the Manipulator and Mounting Fixture are Installed on a Common Installation Base " or " Fig. 3.2.2 When the Manipulator is Mounted Directly on the Floor ".
Table. 1 Maximum repulsion forces of the manipulator Horizontal rotating maximum torque ( S-axis moving direction) Vertical rotating maximum torque (LU-axis moving direction) 2000N m (204kgf m) 3500N m (357kgf m)

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3.2 Mounting Procedures for Manipulator Base

3.2.1

When the Manipulator and Mounting Fixture are Installed on a Common Installation Base

The common installation base should be rugged and durable to prevent shifting of the manipulator or the mounting fixture. The thickness of the common installation base is 40mm or more and an M16 size or larger anchor bolt is recommended. Affix the manipulator by fastening the base with the M16 (mm) anchor bolts. There are 4 mounting holes on the manipulator base. The base is tapped for M16 (50mm length) bolts. Tighten the bolts and anchor bolts securely so that they will not work loose during operation. See " Fig. 4 Mounting the Manipulator on Common Installation Base " for the method.

M16Bolts(4bolts) SpringWasher Washer ManipulatorBase

20 40mm or More

CommonInstallationBase

ManipulatorBase AnchorBolt(M16orMore) CommonInstallationBase

Fig. 4 Mounting the Manipulator on Common Installation Base

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3.2 Mounting Procedures for Manipulator Base

3.2.2

When the Manipulator is Mounted Directly on the Floor

The floor should be strong enough to support the manipulator. Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator as shown in " Table. 1 Maximum repulsion forces of the manipulator ". As a rough standard, when there is a concrete thickness (floor) is 150mm or more, the manipulator base can be fixed directly to the floor with M16 anchor bolts. Before mounting the manipulator, however, check that the floor is level and that all cracks, etc. are repaired. Any thickness less than 150mm is insufficient for mounting, even if the floor is concrete.

Concrete

M16AnchorBolts(4bolts)

150mm or More

Fig. 5 Direct Mounting on the Floor

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3.3 Types of Mounting

3.3

Types of Mounting

The manipulator can be mounted in two different ways: floor-mounted (standard), and wallmounted types are available. For wall-mounted type, the three points listed below are different from the floor-mounted type. The manipulator can not be mounted on ceiling. S-Axis Working Range Affixing the Manipulator Base Precautions to Prevent the Manipulator from Falling

3.3.1

S-Axis Working Range

When performing a wall installation, the S-Axis working range must be 30.

3.3.2

Affixing the Manipulator Base

When performing a wall or ceiling installation, be sure to use four M16 hexagon socket head cap bolts. Use a torque of 206N m when tightening the bolts.

3.3.3

Precautions to Prevent the Manipulator from Falling

When performing wall or ceiling installations, for safety purposes, take measures to keep the manipulator from falling. Refer to " Fig. 6 When Using Ceiling and Wall-Mounted Types " for details.

Support ManipulatorBase M16HexagonSocketHeadCapBolts(4bolts) TensileStlength:1200N/mm2orAbove

Fig. 6 When Using Ceiling and Wall-Mounted Types

NOTE

When using wall-mounted type, contact your Yaskawa representative.

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3.4 Location

3.4

Location

When the manipulator is installed, it is necessary to satisfy the undermentioned environmental conditions: 0 to +45C (Ambient temperature) 20 to 80%RH (no moisture) Free from dust, soot, or water Free from corrosive gases or liquid, or explosive gases Free from excessive vibration (less than 4.9m/s2) Free from large electrical noise (plasma) Flatness for installation is 0.5mm or less

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4 Wiring
WARNING
Ground resistance must be 100 or less. Failure to observe this warning may result in fire or electric shock. Before wiring, make sure to turn the primary power supply off, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.) Failure to observe this warning may result in fire or electric shock.

CAUTION
Wiring must be performed by authorized or certified personnel. Failure to observe this caution may result in fire or electric shock.

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4.1 Grounding

4.1

Grounding

Follow local regulations for grounding line size. A line of 5.5mm2 or more is recommended. Refer to " Fig. 7 Grounding Method " to connect the ground line directly to the manipulator.

NOTE

Do not use this line in common with other ground lines or grounding electrodes for other electric power, motor power, welding devices, etc. Where metal ducts, metallic conduits, or distributing racks are used for cable laying, ground in accordance with Electric Equipment Technical Standards.

5.5mm2orMore

A ViewA
M8Bolt(ForGrounding) ProvidedatFactory

Fig. 7 Grounding Method

4.2

Cable Connection

There are two cables for the power supply; a signal cable for detection (1BC) and a power cable (2BC). (Refer to " Fig. 8 Power Supply Cables ".) Connect these cables to the manipulator base connectors and the XRC. Refer to " Fig. 9 (a) Power Supply Cable Connection to the Manipulator ", " Fig. 9 (b) Power Supply Cable Connection to the XRC ".

4.2.1

Connection to the Manipulator

Before connecting two cables to the manipulator, verify the numbers: 1BC and 2BC on both power supply cables and the manipulator base connectors. When connecting, adjust the cable connector positions to the main key positions of the manipulator, and insert cables in the order of 2BC, 1BC, and then set the lever until hearing a click.

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4.2 Cable Connection

4.2.2

Connection to the XRC

Remove the two entrance cable covers on the XRC side. Pass the signal cable for detection (1BC) through one entrance, the power cable (2BC) through the other entrance, and then tighten bolts on the entrances. Connect each cable to the boards. Be sure to verify the numbers on both the cable and board connectors before connecting, and to tighten the bolts on 1BC connectors to prevent cables from loosening.
ConnectiontotheXRC
Connector

Connectiontothemanipulator
Connector 1BC

WRCA01-CNPG123

WRCA01-CNPG456

Terminal
E

SignalCable

ManipulatorBaseSide

SHOCK 1VUSHOCK

XIU01-CN25

E
XIU01-CN29 1PWM-1-CN1 1PWM-1-CN2 1PWM-1-CN3 1PWM-1-CN4 1PWM-1-CN5

2BC

PowerCable ManipulatorBaseSide

1PWM-1-CN6

Fig. 8 Power Supply Cables

3BC

ConnectorDetails

Fig. 9 (a) Power Supply Cable Connection to the Manipulator

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4.2 Cable Connection

Signal Cable

Power Cable

Connector No. XIU01-CN29 Connector No. XIU01-CN25

Signal Cable

Connector No. WRCA01-CNPG456 (upper) WRCA01-CNPG123 (lower) Grounding plate for Signal and power cable Terminal No.: E

Power Cable

Connector 1PWM-1-CN1,2,3,4,5,6 (from left side)

Tighten the screws with screw driver(+).

Fig. 9 (b) Power Supply Cable Connection to the XRC

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5.1 Basic Specifications

5 Basic Specifications
5.1 Basic Specifications
Table. 2 Basic Specifications*1
Item Operation Degree of Freedom Payload Repetitive Positioning Accuracy*2 S-Axis (turning) L-Axis (lower arm) Motion Range U-Axis (upper arm) R-Axis (wrist roll) B-Axis (wrist pitch/yaw) T-Axis (wrist twist) S-Axis L-Axis Maximum Speed U-Axis R-Axis B-Axis T-Axis R-Axis Allowable Moment*3 B-Axis T-Axis Allowable Inertia (GD2/4) Mass Temperature Humidity Ambient Conditions Vibration R-Axis B-Axis T-Axis Model Mode MOTOMAN-EA1400 Vertically Articulated 6 3kg 0.08mm 170 +155, -90 +190, -175 150 +180, -45 200 2.44 rad/s, 140/s 2.79 rad/s, 160/s 2.97 rad/s, 170/s 5.93 rad/s, 340/s 5.93 rad/s, 340/s 9.08 rad/s, 520/s 8.8Nm (0.9kgfm) 8.8Nm (0.9kgfm) 2.9Nm (0.3kgfm) 0.27kgm2 0.27kgm2 0.03kgm2 130kg 0 to 45C 20 to 80% RH (non-condensing) Less than 4.9m/s2 (0.5G) Free from corrosive gasses or liquids, or Others explosive gasses Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma) Power Capacity 1.5kVA

*1 *2 *3

SI units are used in this table. However, gravitational unit is used in ( ). Conformed to ISO9283 Refer to " 6.1 Allowable Wrist Load " for details on the permissible moment of inertia.

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5.2 Part Names and Working Axes

5.2

Part Names and Working Axes

Wrist U+ R+ B+ BUR-

UArm

T-

T+ WristFlange

L+

LLArm SHead S+

SManipulatorBase

Fig. 10 Part Names and Working Axes

5.3

Manipulator Base Dimensions

300 260 1530.1

hw27230hw927089401hw721.0y

4-18

240 60

hw27230hw927089401hw721.0y

hw27230hw927089401hw721.0y

98

1300.1

300

260

165

hw27230hw927089401hw721.0y

20

120

+0.018

1000.1

1530.1

ViewA
A

Fig. 11 Manipulator Base Dimensions (mm)

5-2

60

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5.4 Dimensions and Working Envelope

5.4

Dimensions and Working Envelope

170
R3 91

R138

170

391

1388

R2 85

PointP WorkingEnvelope

1688

190

81

150

640

40

135

147.5

86

570

200 F100

450

268

312

175

734

1088

1017

230

Fig. 12 Dimesions and Working Envelope

5-3

2422

10

90

684
155

210 170

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5.5 B-Axis Working Range

5.5

B-Axis Working Range

The working range of the B-Axis maintaining a constant angle to the center of the U-arm is shown in " Fig. 13 B-Axis Working Range ".

135

Fig. 13 B-Axis Working Range

5.6

Alterable Working Range

The working range of the S-Axis can be altered according to the operating conditions as shown in " Table. 3 S-Axis Working Range ". If alteration is necessary, contact your Yaskawa representative in advance.
Table. 3 S-Axis Working Range Item Specifications 170(standard) 150 120 90 60 30

S-Axis Working Range

5-4

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6.1 Allowable Wrist Load

6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

The allowable wrist load is 3kg. If force is applied to the wrist instead of the load, force on R-, B-, and T-Axes should be within the value shown in " Table. 4 Moment and Total Moment of Inertia ". Contact your Yaskawa representative for further information or assistance.
Table. 4 Moment and Total Moment of Inertia Axis R-Axis B-Axis T-Axis Moment Nm (kgfm)*1 8.8 (0.9) 8.8 (0.9) 2.9 (0.3) GD2/4 Total Moment of Inertia kgm2 0.27 0.27 0.03

*1

( ): Gravitational unit

When the volume load is small, refer to the moment arm rating shown in " Fig. 14 Moment Arm Rating ". The allowable total moment of inertia is calculated when the moment is at the maximum. Contact your Yaskawa representative when only moment of inertia, or load moment is small and moment of inertia is large. Also, when the load mass is combined with an outside force, contact your Yaskawa representative.
LoadGravityPosition

LB 200 LT(mm) LT

200

100 W=3kg

B-AxisRotationCenterLine

100

200 LB(mm)

300

400

Fig. 14 Moment Arm Rating

6-1

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6.2 Wrist Flange

6.2

Wrist Flange

The wrist flange dimensions are shown in " Fig. 15 Wrist Flange ". It is recommended that the attachment be mounted inside the fitting. Fitting depth must be 6mm or less. The attachment must be mounted on the range of 90 or less with up to 5mm height from the flange face.
30

TramMark 5 UnavailbleRange M4Tappedholes(4holes) Depth:10mmPitch:0.7mm

420

+0.025

90

56

+0.012 60dia.,depth:14mm

Fig. 15 Wrist Flange

NOTE

Wash off anti-corrosive paint (solid color) on the wrist flange surface with thinner or light oil before mounting the tools.

6-2

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7.1 Mounting Equipment

7 System Application
7.1 Mounting Equipment

When peripheral equipment is attached to the U-axis, the following conditions should be observed.

7.1.1

Allowable Load

The allowable load on the U-Axis is a maximum of 12kg, including the wrist load. For instance, when the mass installed in the wrist point is 3kg, the mass which can be installed on the upper arm becomes 9kg.

7.1.2

Installation Position

There is a limitation also on the installation position. " Fig. 17 Connectors for User Cable and Air Duct " shows the distance between the U-Axis rotation center and the load gravity.
W1

A AvailableRange U-Axis RotationCenter 45 M6Tappedhole(4holes) Depth:16mmPitch:1.0mm

15

10 50 10

ViewA

Fig. 16 Installing Peripheral Equipment

7-1

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7.2 Connections for User Cable and Air Duct

7.2

Connections for User Cable and Air Duct

14 wires (8 x 0.22mm2, 2 x 0.75mm2, and 4 x 1.25mm2) and an air hose are used in the manipulator for the drives of the peripheral devices mounted on the upper arm as shown in " Fig. 17 Connectors for User Cable and Air Duct ". The connector pins 1 to 16 are assigned as shown in Fig.19. Wiring must be performed by user. The allowable current for cables: must be 3A or below for each cable. (The total current value for pins 1 to 16 must be 40A or less). The maximum pressure for the air hose: is 490 kPa (5 kgf/cm2) or less (The air hose inside diameter: 6.5mm.)
ConnectorfortheusercableonU-axis isTypeJL05-2A20-29SC(withCap) MatingPlugTypeisJL05-6A20-29P

AirOutlet:PT3/8 withpressureplug AirInlet:PT3/8 withpressureplug

2BC

1BC

3BC

ViewA
ConnectorfortheusercableonS-axis isTypeJL05-2A20-29PC(withCap) MatingplugTypeisJL05-6A20-29S

Fig. 17 Connectors for User Cable and Air Duct

UserCable:0.2mm2,(8Wires) :0.75mm2,(2Wires) :1.25mm2,(4Wires)
1 2 3 4 5 6 7 8 11(0.75mm2) 12(0.75mm2) 13(1.25mm2) 14(1.25mm2) 15(1.25mm2) 16(1.25mm2)

2 7 9 13 11 15 4

1 5

3 6 8 10 12 14 16

Pinsusednumber

Fig. 18 Detailed of the Connector Pin Numbers

The same pin number (1-16) of two connectors is connected in the lead line of single 0.2mm2, 0.75mm2, or 1.25mm2.

7-2

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8.1 Position of S-Axis Limit Switch

8 Motoman Construction
8.1 Position of S-Axis Limit Switch

The limit switches for the S-, L-, and U-Axes are located as shown in " Fig. 19 Location of Limit Switches ". The limit switch for the S-Axis is standard. The limit switch for the L- and UAxes are optional (type EA1400-A01). The inspection and adjustment of the limit switches should be made after removing the cover.
L-andU-AxesInterferencelimitswitch (Option)

L-AxisOverrunlimitswitch (Option)

S-AxisOverrunlimitswitch

Fig. 19 Location of Limit Switches

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8.2 Internal Connections

8.2

Internal Connections

High reliability connectors which can be easily removed are used with each connector part. For the number and location of connectors, see " Fig. 20 Location and Numbers of Connectors ".
3BC(ForUserCable)

3BC(ForUserCable)

2BC

1BC

3BC

Fig. 20 Location and Numbers of Connectors Table. 5 List of Connector Types Name Connector for the user cable on the base Connector for the user cable on the U-Arm Type of Connector JL05-2A20-29PC (JL05-6A20-29S: Optional) JL05-2A20-29SC (JL05-6A20-29P: Optional)

Fig. 21 (a) Internal Connection Diagram Fig. 21 (b) Internal Connection Diagram

8-2

YASNAC-XRC

POWER CABLE 1BC(6x6)

INTERNAL CABLE IN S-AXIS

INTERNAL CABLE IN L-AXIS

BAT OBT

INTERNAL CABLE IN BT-AXIS

WRCA01 CNPG123

24 22 19 45 21 47

CN 1- 1 CN 1-2

DATA+1 DATA-1

No. 1CN P

-1 -2 -3 -4 -5 -6

DATA+ 1 DATA- 1 BAT OBT +5V 0V FG 1

P P

CN 1-3 CN 1-4

+5-1 0V-1

PG

S-AXIS

P P

-7
No. 2CN

16 14 11 37 13 39

CN2- 1 CN2-2

DATA+2 DATA-2

-1 -2 -3 -4 -5 -6 -7

DATA+2 DATA-2 BAT OBT +5V 0V FG2

BAT OBT

P P

CN2-3 CN2-4 CN2-5

+5-2 0V-2 FG2

BAT1 0BT1 BATTERY BAT1 BATTERY 0BT1
P

PG

L-AXIS

BAT1 P OBT1

BAT4 0BT4
P

BAT4
P OBT4

for Laxis L.S. A2

LA2 LB2
P

for L,Uaxis interference L.S. A3

LA3 LB3
No.5CN

BAT4 0BT4

P P

8 6 3 29 5 31 FG WRCA01 CNPG456 24 22 19 45 21 47

CN3- 1 CN3-2

DATA+3 DATA-3

P P

-1 -2 -3 -4 -5 -6 -7

DATA+3 DATA-3 BAT OBT +5V 0V FG3

BAT OBT

P P

CN3-3 CN3-4

+5-3 0V-3

PG

U-AXIS

CN4- 1 CN4-2

DATA+4 DATA-4

No. 6CN P P

-1 -2 -3 -4 -1 -2 -3 -1 -2 -3 -4 -5 -6

DATA+4 DATA-4 BAT OBT +5V 0V FG4

BAT OBT

P P

CN4-3 CN4-4

+5-4 0V-4

PG

R-AXIS

No.7CN P P

16 14 11 37 13 39

CN5- 1 CN5-2

DATA+5 DATA-5

No.8CN P

DATA+5 DATA-5 BAT OBT +5V 0V

No.14CN P P

-1 -2 -3 -4

DATA+5 DATA-5 BAT OBT +5V 0V FG5

BAT OBT

B-AXIS PG

P P

CN5-3 CN5-4

+5-5 0V-5

No.17CN P P

-1 -2 -3

8 6 3 29 5 31 FG XIU01-CN25 -A1 -B1 -D1 -A3 -C1 -D2 -C3 -D3 1.25-4 E
P P

CN6- 1 CN6-2

DATA+6 DATA-6

No.9CN P

-1 -2

DATA+6 DATA-6

No.16CN P

-1 -2 -3 -4 -1 -2 -3

DATA+6 DATA-6 BAT OBT +5V 0V FG6

BAT OBT

T-AXIS PG

CN6-3 CN6-4 CN6-5

+5-6 0V-6 FG6

20CN-1 -2 -3 -4
No.24CN

-3 -4 -5

+5V 0V FG6

No.17CN P

178214-1 (AMP) B

CN2-6 CN3-6 CN4-6 CN5-6 CN6-6

+24V LB1 BC2 0V SS2

E

B1 SS1 BC1 LA1 LB3 LA1 LB1

P P

B1 SS1 U V

For LAMP(OPTION)

S-AXIS OVERRUN L.S.

P

A1
B2 SS2

Fig21 (a) Internal Connection Diagram 8-3

POWER CABLE

INTERNAL CABLE IN S-AXIS

INTERNAL CABLE IN L-AXIS

INTERNAL CABLE IN BT-AXIS

E
3BC(20-29)
E

Bace
E E E

Casing
E
P P P P

3BC(20-29)
E 1 2 3 4 5 6 7 8 9

3BC-1 -2 -3 -4 -5 -6 -7 -8 -9

1 2 3 4 5 6 7 8 9

-11 -12 -13 -14 -15 -16 2BC(6X6) 1.25-4 -2 -3 -4 -1 2PWM-1-CN1 -2 -3 -4 -1 3PWM-1-CN1 -2 -3 -4 -1 4PWM-1-CN1 -2 -3 -4 -1 5PWM-1-CN1 -2 -3 -4 -1 6PWM-1-CN1 -2 -3 -4 -1 XIU01-CN29 -B1 -A1 -C1 -D1 -B2 -A2 -C2 -D2 CN6- 1 CN6-2 CN6-3 CN6-4 CN6-5 CN5- 1 CN5-2 CN5-3 CN5-4 CN5-5 CN4- 1 CN4-2 CN4-3 CN4-4 CN4-5 CN4-6 CN3- 1 CN3-2 CN3-3 CN3-4 CN3-5 CN2- 1 CN2-2 CN2-3 CN2-4 CN2-5 E CN 1- 1 CN 1-2 CN 1-3 CN 1-4 CN 1-5 CN 1-6

11 12 13 14 15 16

11 12 13 14 15 16

E MU1 MV1 MW1 ME1 BA1 BB1 MU2 MV2 MW2 ME2 BA2
4CN-1 -2 -3 -4 -5 -6
No.3CN

1PWM-1-CN1

MU1 MV1 MW1 ME1 BA1 BB1

SM YB

S-AXIS (OPTION)

4CN-1 -2 -3 -4 -5 -6

No.4CN

MU2 MV2 MW2 ME2 BA2 BB2

No.10CN

SM YB
10CN-1 -2 -3 -4 -5 -6 11CN-1 -2 -3 -4 -5 -6 MU3 MV3 MW3 ME3 BA3 BB3 MU4 MV4 MW4 ME4 BA4 BB4

L-AXIS

MU3 MV3 MW3 ME3 BA3 MU4 MV4 MW4 ME4 BA4 BB4 MU5 MV5 MW5 ME5 BA5 MU6 MV6 MW6 ME6 BA6

SM YB

U-AXIS

No.11CN

SM YB

R-AXIS (OPTION)
18CN-1 -2 -3 -4 -5 -6 19CN-1 -2 -3 -4 -5 -6
No.18CN

12CN-1 -2 -3 -4 -5 -6 -1 -2 -3 -4

No.12CN

MU5 MV5 MW5 ME5 BA5 BB5 MU6 MV6 MW6 BA6

MU5 MV5 MW5 ME5 BA5 BB5 MU6 MV6 MW6 ME6 BA6 BB6

SM YB

B-AXIS (OPTION)

No.13CN

No.19CN

SM YB

T-AXIS (OPTION)

XIU01-CN25 -A1 -B1 -D1 -A3 -C1 -D2 -C3 -D3

B When using the shock sensor

L-AXIS OVERRUN L.S. L AND U-AXIS INTERFERENCE L.S. A3

PE

S-AXIS OVERRUN L.S.

Notes A2 A1 LA1 LB1 LA2 LA3 LB2 1.These drawings are applicable to EA1400 internal connection. LB3 LB3 2. These drawings indicate the standard specification, and L-,U-Axis L-U-Axis L.S.Specification L.S. specification were changed as shown in right drawing A. 3.These drawings indicate the standard specification, and the drawings at using the shock sensor were changed as shown in right drawing B .
Fig.21 (b) Internal Connection Diagram 8-4

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9.1 Inspection Schedule

9 Maintenance and Inspection

WARNING
Before maintenance or inspection, be sure to turn the main power supply off, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.) Failure to observe this warning may result in electric shock or injury.

CAUTION
Maintenance and inspection must be performed by specified personnel. Failure to observe this caution may result in electric shock or injury. For disassembly or repair, contact your Yaskawa representative. The battery unit must be connected before removing detection connector when maintenance and inspection. Failure to observe this caution may result in the loss of home position data.

9.1

Inspection Schedule

Proper inspections are essential not only to assure that the mechanism will be able to function for a long period, but also to prevent malfunctions and assure safe operation. Inspection intervals are displayed in six levels. Conduct periodical inspections according to the inspection schedule in " Table. 6 Inspection Items ". In " Table. 6 Inspection Items ", the inspection items are classified into three types of operation: operations which can be performed by personnel authorized by the user, operations which can be performed by personnel being trained, and operations which can be performed by service company personnel. Only specified personnel are to do inspection work.

NOTE

The inspection interval must be based on the servo power supply on time. These inspections were developed for applications where the manipulator is used for arc welding work. For any different or special applications, the inspection process should be developed on an case-by-case basis. For axes which are used very frequently (in handling applications, etc.), it is recommended that inspections be conducted at shorter Intervals. Contact your Yaskawa representative.

9-1

HW0481059

9.1 Inspection Schedule

Table. 6 Inspection Items Schedule Items*4

Daily 1000 H Cycle

Inspection Charge Operation

Specified Service Licensee Person Company

Method 6000 12000 24000 36000 H H H H Cycle Cycle

$ Tram mark

Visual

Check tram mark accordance and damage at the home position. Check for damage and deterioration of leads. Clean the work area if dust or spatter is present. Check for damage and outside cracks. Check for grease leakage.*5 Tighten loose bolts. Replace if necessary.

& External lead

Working area and manipulator S,L,U-axes

Visual

'

Visual

( motor

% %

Visual

% %

% %

% %

) mounting
bolts

Baseplate

Spanner Wrench

* ing screws + tors

Cover mount-

% % %

Screwdriver, Wrench Manual

Tighten loose bolts. Replace if necessary.

% %

% % %

% % %

Base connec-

Check for loose connectors. Check for belt tension and wear.

, ing belt

BT-axes tim-

Manual

- (SLURBT-

Wire harness in manipulator axes leads))

Check for conduction between the main connecter of base and intermediVisual Multimeter ate connector with manually shaking the wire. Check for wear of protective spring*1

%
Wire harness In manipulator (BT-axes leads)

Replace*2 Check for conduction between termiVisual Multimeter nals and wear of protective spring.*1

% %

% %

Replace*2 Replace the battery unit when the battery alarm occurs or the manipulator drove for 36000H.

11

Battery unit in manipulator

9-2

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9.1 Inspection Schedule

Table. 6 Inspection Items Schedule Items*4

Daily 1000 H Cycle

Inspection Charge Operation

Specified Service Licensee Person Company

Method 6000 12000 24000 36000 H H H H Cycle Cycle

Check for malfunction. (Replace if necessary.) Supply grease*3 (6000H cycle). See Par. " 9.2.2 Grease Replenishment/ Replacement for SAxis Speed Reducer " Replace grease*3. (12000H cycle) See Par. " 9.2.2 Grease Replenishment/Replacement for S-Axis Speed Reducer " Check for malfunction. (Replace if necessary.) Supply grease*3 (6000H cycle). See Par. " 9.2.3 Grease Replenishment/ Replacement for LAxis Speed Reducer " Replace grease*3 (12000H cycle). See Par. " 9.2.3 Grease Replenishment/ Replacement for LAxis Speed Reducer " Check for malfunction. (Replace if necessary.) Supply

12

S-axis speed reducer

Grease Gun

13

LU-axes speed reducers

Grease Gun

14

RB-axes speed reducers

Grease Gun

grease*3 (6000H cycle). See Par. " 9.2.4 Grease Replenishment/Replacement for U-Axis Speed Reducer ", " 9.2.5 Grease Replenishment for R-Axis Speed Reducer " Check for malfunction. (Replace if necessary.) Supply

15

T-axis gear

Grease Gun

grease*3 (6000H cycle). See Par. " 9.2.6 Grease Replenishment for B-Axis Speed Reducer " Check for malfunction. (Replace if necessary.) Supply

16

R-axis cross roller bearing

Grease Gun

grease*3 (6000H cycle). See Par. " 9.2.7 Grease Replenishment for T-Axis Gear ", " 9.2.8 Grease Replenishment for RAxis Cross Roller Bearing "

9-3

HW0481059

9.1 Inspection Schedule

Table. 6 Inspection Items Schedule Items*4

Daily 1000 H Cycle

Inspection Charge Operation

Specified Service Licensee Person Company

Method 6000 12000 24000 36000 H H H H Cycle Cycle

17

Overhaul

*1 *2 *3 *4 *5

When checking for conduction with multimeter, connect the battery to BAT and OBT of connectors on the motor side for each axis, and then remove connectors on detecter side for each axis from the motor. Otherwise, the home position may be lost. (Refer to " 9.2.9 Notes for Maintenance ") Wire harness in manipulator to be replaced at 24000H inspection. For the grease, refer to " Table. 7 Inspection Parts and Grease Used ". Inspection No. correspond to the numbers in " Fig. 22 Inspection Parts and Inspection Numbers ". The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can cause a motor breakdown. Contact your Yaskawa representative.

Fig. 22 Inspection Parts and Inspection Numbers

9-4

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9.1 Inspection Schedule

Table. 7 Inspection Parts and Grease Used No.

12

Grease Used Molywhite RE No. 00 Harmonic Grease SK-1A Alvania EP Grease 2

Inspected Parts S-, L-, and U-axis speed reducers R-, B-, and T-axis speed reducers, R-axis cross roller bearing T-axis gear

,
14

13

15

16

The numbers in the above table correspond to the numbers in " Table. 6 Inspection Items ".

9-5

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9.2 Notes on Maintenance Procedures

9.2
9.2.1

Notes on Maintenance Procedures

Battery Unit Replacement

The battery units are attached in the two positions indicated in " Fig. 23 Battery Location "and " Fig. 24 Battery Connection ". If the battery alarm occurs in the XRC, replace the battery according to the following procedure:

Battery Unit

Connector BaseBolt

Connector Base

Support

Fig. 23 Battery Location

BatteryunitforSLU-axes beforereplacement Type:HW9470932-A SeeTable8)
a b a b b 0BT1 a BAT1

Seestep6nextpage Seestep7nextpage
0BT1 BAT1 0BT1 BAT1

a:Insertion-typepinterminal(Female) b:Insertion-typepinterminal(Male)
b 0BT1 a BAT1

Seestep4below Seestep6nextpage Seestep7nextpage

0BT4 BAT4 0BT4 BAT4 a b a b

Batteryunitfor RBT-axes before replacement Seestep5nextpage Newbatteryunit

b 0BT4 a BAT4

b 0BT4 a BAT4

Seestep4below

ConnectorBase

Support Type:HW9470917-A (SeeTable8)

Fig. 24 Battery Connection

1. 2. 3. 4.

Turn the XRC main power supply off. Remove the connector base, and grease tube from the union. Remove the battery unit mounting screw on the support. Remove the plastic tape (insulation tape) protecting the connection part of the battery unit in the manipulator. 5. Connect the new battery.

9-6

HW0481059

9.2 Notes on Maintenance Procedures

6. Remove the old battery.

NOTE

Remove the old battery unit after connecting the new one so that the encoder absolute data does not disappear.

7. Protect the connection part of the battery unit in the manipulator with plastic tape (insulation tape). 8. Mount the battery unit with the screws, connect the grease tube to the union, and then mount the connector base.

9.2.2

Grease Replenishment/Replacement for S-Axis Speed Reducer

So:GreaseExhaustPlug GNippleA-PT1/8

2BC

1BC

3BC

Si:GreaseInlet GNippleA-PT1/8

S-AxisSpeedReducer

Fig. 25 S-Axis Speed Reducer Diagram

9-7

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9.2 Notes on Maintenance Procedures

Grease Replenishment (Refer to " Fig. 25 S-Axis Speed Reducer Diagram ".)
1. Remove the So exhaust G Nipple.

Replenish the grease according to the following procedure:

NOTE

If grease is added without removing the exhaust G Nipple, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the G Nipple.

2. Inject the grease into the Si grease inlet using a grease gun.
Grease type: Molywhite RE No. 00 Amount of grease: 30cc (60cc for 1st supply)

3. Move the S-axis for for a few minutes to discharge the excess grease. 4. Wipe the So exhaust port with a cloth and reinstall the G Nipple. Spread the Three Bond 1211 on the screw of the G Nipple.

Grease Replacement (Refer to " Fig. 25 S-Axis Speed Reducer Diagram ".)
1. Remove the So exhaust G Nipple.

NOTE

If grease is added without removing the exhaust G Nipple, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the G Nipple.

2. Inject the grease into the Si grease inlet using a grease gun.
Grease type: Molywhite RE No. 00 Amount of grease: 200cc

3. The grease replacement is complete when new grease appears in the So exhaust port. (The new grease can be distinguished from the old grease by color.) 4. Move the S-axis for a few minutes to discharge the excess grease. 5. Wipe the So exhaust port with a cloth and reinstall the G Nipple. Spread the Three Bond 1211 on the screw of the G Nipple.

9-8

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9.2 Notes on Maintenance Procedures

9.2.3

Grease Replenishment/Replacement for L-Axis Speed Reducer

LArm

Lo:GreaseExhaustPort (GNippleA-MT6x1)

L-AxisSpeedReducer

Li:GreaseInlet (GNippleA-MT6x1)

Fig. 26 L-Axis Speed Reducer Diagram

Grease Replenishment (Refer to " Fig. 26 L-Axis Speed Reducer Diagram ".)
1. Make the L-arm vertical for ground. 2. Remove the Lo exhaust G Nipple.

NOTE

If grease is added without removing the exhaust G Nipple, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the G Nipple.

3. Inject grease into the Li grease inlet using a grease gun.

Grease type: Molywhite RE No. 00 Amount of grease: 30cc (60cc for 1st supply)

4. Move the L-Axis for a few minutes to discharge the excess grease. 5. Wipe the Lo exhaust G Nipple with a cloth and reinstall the G Nipple. Spread the Three Bond 1211 on the screw of the G Nipple.

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9.2 Notes on Maintenance Procedures

Grease Replacement (Refer to " Fig. 26 L-Axis Speed Reducer Diagram ".)
1. Make the L-arm vertical for ground. 2. Remove the Lo exhaust G Nipple.

NOTE

If grease is added without removing the exhaust G Nipple, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the G Nipple.

3. Inject grease into the Li grease inlets using a grease gun.

Grease type: Molywhite RE No. 00 Amount of grease: approx. 200cc

4. The grease replacement is complete when new grease appears in the Lo exhaust port. (The new grease can be distinguished from the old grease by color.) 5. Move the L-Axis for a few minutes to discharge the excess grease. 6. Wipe the Lo exhaust port with a cloth and reinstall the G Nipple. Spread the Three Bond 1211 on the screw of the G Nipple.

9.2.4

Grease Replenishment/Replacement for U-Axis Speed Reducer

Uo:GreaseExhaustport (GNippleA-MT6x1)

U-AxisSpeedReducer

UArm

Ui:GreaseInlet (GNippleA-MT6x1)

Fig. 27 U-Axis Speed Reducer Diagram

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9.2 Notes on Maintenance Procedures

Grease Replenishment (Refer to " Fig. 27 U-Axis Speed Reducer Diagram ".)
1. Make the U-arm horizontal for ground. 2. Remove the Uo exhaust G Nipple.

NOTE

If grease is added without removing the exhaust G Nipple, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the G Nipple.

3. Inject grease into the Ui grease inlet using a grease gun.

Grease type: Molywhite RE No. 00 Amount of grease: 30cc (60cc for 1st supply)

4. Move the U-Axes for a few minutes to discharge the excess grease. 5. Wipe the Uo exhaust port with a cloth and reinstall the G Nipple. Spread the Three Bond 1211 on the screw of the G Nipple.

Grease Replacement (Refer to " Fig. 27 U-Axis Speed Reducer Diagram ".)
1. Make the U-arm horizontal for ground. 2. Remove the Uo exhaust G Nipple.

NOTE

If grease is added without removing the exhaust G Nipple, the grease will go inside the motor and may damage it. It is absolutely necessary to remove the G Nipple.

3. Inject grease into the Ui grease inlets using a grease gun.

Grease type: Molywhite RE No. 00 Amount of grease: approx. 200cc

4. The grease replacement is complete when new grease appears in the Uo exhaust port. (The new grease can be distinguished from the old grease by color.) 5. Move the U-Axes for a few minutes to discharge the excess grease. 6. Wipe the Uo exhaust port with a cloth and reinstall the G Nipple. Spread the Three Bond 1211 on the screw of the G Nipple.

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9.2 Notes on Maintenance Procedures

9.2.5

Grease Replenishment for R-Axis Speed Reducer

Ro:Plugforairflow (Plug) R-AxisSpeedReducer

Ri:Greaseinlet (GNippleA-PT1/8)

Fig. 28 R-Axis Speed Reducer Diagram

1. Remove the Ro plug for air flow. 2. Inject grease into the Ri grease inlet using a grease gun. (Refer to " Fig. 28 R-Axis Speed Reducer Diagram ".)
Grease type: Harmonic grease SK-1A Amount of grease: 8cc (16cc for first supply)

NOTE

The Ro exhaust port is used for air flow. Do not inject excessive grease into the Ri grease inlet.

3. Reinstall the Ro plug. Spread the Three Bond 1211 on the screw of the plug.

9-12

HW0481059

9.2 Notes on Maintenance Procedures

9.2.6

Grease Replenishment for B-Axis Speed Reducer

B-AxisSpeedReducer

Bi:GreaseInlet Bo:Plugforairflow
(Plug)

(GNippleA-MT6x1)

Fig. 29 B-Axis Speed Reducers Diagram

1. Remove the cover and remove the Bo plug for air flow. 2. Inject grease into the Bi grease inlet using a grease gun. (Refer to " Fig. 29 B-Axis Speed Reducers Diagram ")
Grease type: Harmonic grease SK-1A Amount of grease: For B-axis (Bi): 10cc (20cc for 1st supply)

NOTE

The Bo exhaust port is used for air flow. Do not inject excessive grease into the Bi grease inlet.

3. Reinstall the Bo plug, and mount the cover.

9-13

HW0481059

9.2 Notes on Maintenance Procedures

9.2.7

Grease Replenishment for T-Axis Gear

T1:GearGreaseInlet T2:GearGreaseInlet (GNippleA-MT6x1) (GNippleA-MT6x1)

Fig. 30 T-Axis Gear Diagram

1. Remove the T1 inlet G Nipple. 2. Inject grease into the T2 gear grease inlet using a grease gun.
Grease type: Alvania EP grease2 Amount of grease: 10cc

NOTE

The T1 exhaust port is used for air flow. Do not inject excessive grease into the gear grease inlet.

3. Remove the T2 inlet G Nipple and install the T1 inlet G Nipple. Spread the Three Bond 1211 on the screw of the G Nipple. 4. Inject grease into the T1 gear grease inlet using a grease gun.
Grease type: Alvania EP grease2 Amount of grease: 10cc

NOTE

The T2 exhaust port is used for air flow. Do not inject excessive grease into the gear grease inlet.

5. Reinstall the T2 inlet G Nipple. Spread the Three Bond 1211 on the screw of the G Nipple.

9-14

HW0481059

9.2 Notes on Maintenance Procedures

9.2.8

Grease Replenishment for R-Axis Cross Roller Bearing

Ci:GreaseInlet (GNippleA-MT6x1)

R-AxisCrossRollerBearing

Co:Boltforairflow (HexagonSocketHeadCapBoltM6)

Fig. 31 R-Axis Cross Roller Bearing Diagram

1. Remove the Co bolt for air flow. 2. Inject grease into the Ci grease inlet using a grease gun. (Refer to " Fig. 31 R-Axis Cross Roller Bearing Diagram ").
Grease type: Alvania EP grease 2 Amount of grease: 3cc (6cc for 1st supply)

NOTE

The Co exhaust port is used for air flow. Do not inject excessive grease into the grease inlet.

3. Reinstall the Co bolt for air flow. Spread the Three Bond 1211 on the screw of the bolt.

9-15

HW0481059

9.2 Notes on Maintenance Procedures

9.2.9
#

Notes for Maintenance

Wrist Axis

The motor and encoder units are provided with the wrist unit. To prevent fumes from penetrating into the wrist unit, the matched parts are sealed with silicon sealant. Therefore, if the wrist cover is disassembled, reseal with silicon sealant (modifier silicon caulk, refer to " Table. 8 Spare Parts for the YR-EA1400-A00,A01 ").
Cover CoverJointingFace

Cover

CoverJointingFace

Fig. 32 Sealing Part of Wrist Unit

Encoder Connector (with CAUTION label)

Connect the battery unit with reference to the following figure before removing the encoder connector (with CAUTION label).

Encoder Motor Motorcable etc a:Insertion-typepinterminal(Female) b:Insertion-typepinterminal(Male)

Powerconnector

b 0BT4 0BT BAT a b a BAT4

Encoderconnector CAUTIONlabel

batteryunit

Connectiondiagram
0BT BAT a b b a 0BT4 BAT4

WARNING
Connectbatterytoencoder tosavethedatabefore removingconnector.

Batteryunittype: HW9470917-A (See"Table.8SparePartsfortheMotoman-EA1400")

Fig. 33 Encoder Connector Diagram

9-16

HW0481059

10 Recommended Spare Parts

It is recommended that the following parts and components be kept in stock as spare parts for the Motoman-EA1400. The spare parts list for the Motoman-EA1400 is shown below. Product performance can not be guaranteed when using spare parts from any company other than Yaskawa. The spare parts are ranked as follows: Rank A: Expendable and frequently replaced parts Rank B: Parts for which replacement may be necessary as a result of frequent operation Rank C: Drive unit

NOTE

For replacing parts in Rank B or Rank C, contact your Yaskawa representative.

Table. 8 Spare Parts for the YR-EA1400-A00,A01

Rank Parts No. Name Type Manufacturer Qty Qty per Unit Remarks

Grease

Molywhite RE No. 00 Harmonic Grease SK-1A Alvania EP Grease 2 Modifier Silicon Caulk Three Bond 1211

Yaskawa Electric Corporation Harmonic Drive System Co., Ltd. Showa Oil Co., Ltd. Konishi Co., Ltd.

16kg

Grease

2.5kg

Grease

16kg

Silicon Rubber Compound Tube Liquid Seal

Three Bond Co., Ltd Yaskawa Electric Corporation Yaskawa Electric Corporation Mitsuboshi Belting Limited Mitsuboshi Belting Limited Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation

for SLU-axes

Battery Unit

HW9470932-A

Battery Unit

HW9470917-A

for RBT-axes

B-Axis Timing Belt

60S4.5M950

T-Axis Timing Belt

60S4.5M801

10

S-Axis Speed Reducer L-Axis Speed Reducer U-Axis Speed Reducer

HW9280729-A

11

HW9280732-A

12

HW9280738-A

10-1

HW0481059

Table. 8 Spare Parts for the YR-EA1400-A00,A01

Rank Parts No. Name Type Manufacturer Qty Qty per Unit 1 Remarks

13

R-Axis Speed Reducer B-Axis Speed Reducer T-Axis Gear (Input Side) T-Axis Gear (Output Side) Cross Roller Bearing Internal Cable

HW0380504-A

Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation

14

HW0380710-A

15

HW0301289-A

16

HW0301435-A

17

HW0380721-A

18

HW0170471-A

1 For B-, T- Axis

19

B- and T-Axes Internal Cable S-and U-Axes AC Servomotor

HW0370377-A

HW9381362-A

20

With brake, with key, lead terminal treatment completion With brake, with key, lead terminal treatment completion With brake, no key, lead terminal treatment completion

21

L-Axis AC Servomotor

HW9381363-A

Yaskawa Electric Corporation

22

R-, B- and T-Axes AC Servomotor

HW9381370-A

Yaskawa Electric Corporation

10-2

HW0481059

11.1 S-axis Driving Unit

11 Parts List
11.1 S-axis Driving Unit

1004

1020

1022 1021 1028 1031

1030 1027

1029

1026

1023 1024

1012 1013

1011 1025

1009 1006 1010 1007

1008

1005

1017 1019 1018 1033 1034 1032 1014 1016 1015

1001 1035 1036 1037

1002 1003 1039 1038

11-1

HW0481059

11.1 S-axis Driving Unit

No. 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039

DWG No. HW9100881-1 TSH6-01M NB-0640-0.25 HW9100941-1 HW9302222-1 A-MT6X1 LP-M5 GT-SA Bolt M8x30 GT-SA Bolt M10x25 GT-SA Bolt M6x20 23198-06A2A-YR24 M8x50 2H-8 HW9280729-A M4x80 2H-4 GT-SA Bolt M6x30 HW9405026-1 APS Bolt M5x10 HW9405278-1 M10x35 2H-10 HW9200962-1 M5x12 HW9302270-1 GT-SA Bolt M6x15 CD-31 M6x10 TA1-S10 M5x10 T50R HW0370350-A M5x12 2H-5 M4 x 12 HW9470917-A HW9470932-A M5x10 HW0170470-A

Name Base Union Tube S head M base G nipple Plug Socket screw Socket screw Socket screw Motor Socket screw Washer Reduction gear Socket screw Washer Socket screw Cover Bolt Dog Socket screw Washer Cover APS Bolt Support Socket screw Saddles Socket screw Clamp APS Bolt Insulok Limit Switch Socket screw Washer Round head screw Battery Battery APS Bolt internal wiring

Pcs 1 1 1 1 1 1 1 4 3 12 1 3 3 1 1 1 16 1 2 1 1 1 1 4 1 2 1 2 1 1 1 1 2 2 2 1 1 4 1

11-2

HW0481059

11.2 L,U-Axis Driving Unit

11.2 L,U-Axis Driving Unit

2029 2027

2020

2021 2042 2036 2038 2039 2040 2041 2039 2040 2043 2037 2041

2044

2035 2033

2034

2032
2030

2024 2022 2023 2026

2025

2031

2028

2001 2002 2006 2003 2029

2011

2007

2008 2012 2010 2009

2014 2016 2017 2015 2005 2004 2019 2018 2013

11-3

HW0481059

11.2 L,U-Axis Driving Unit

No. 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 2021 2022 2023 2024 2025 2026 2027 2028 2029 2030 2031 2032 2033 2034 2035 2036 2037 2038 2039 2040 2041 2042 2043 2044

DWG No. 23198-12A2A-YR13 GT-SA Bolt M8x30 HW9100942-1 M14x35 GT-SH Washer M14 A-MT6X1 HW9280732-A GT-SA Bolt M8x45 M6x60 2H-6 HW9302190-1 M6x8 A-MT6X1 HW9405283-A GT-SA Bolt M6x45 M6 HW9408284-A GT-SA Bolt M6x30 M6 23198-06A2A-YR24 GT-SA Bolt M8x30 HW9280738-A M4x50 2H-4 M6x35 2H-6 HW0100158-1 GT-SA Bolt M10x30 A-MT6X1 HW9405285-A M5x20 2H-5 HW0302204-1 GT-SA Bolt M4x12 HW0401541-1 HW0401540-1 HW0401993-1 CH-16 GT-SA Bolt M5x12 TA1-S8 T50R M4x8 M4x10 HW0402292-1

Name Motor Socket screw L arm Socket screw Washer G nipple Reduction gear Socket screw Socket screw Washer Cover APS Bolt G nipple Stopper Socket screw Washer Stopper Socket screw Washer Motor Socket screw Reduction gear Socket screw Washer Socket screw Washer Casing Socket screw G nipple Stopper Socket screw Washer Cover Socket screw Cover Cover Plate Saddles Bolt Clamp Insulok Round head screws Round head screws Support

Pcs 1 4 1 6 6 1 1 12 1 1 1 4 1 1 1 1 1 1 1 1 4 1 1 1 12 12 1 6 2 2 2 2 1 8 1 1 1 2 5 2 2 1 1 1

11-4

HW0481059

11.3 R-Axis Driving Unit

11.3 R-Axis Driving Unit

3023 3022 3020 3017 3021

3024

3025

3016 3015

3018

3019

3026

3027

3039

3028

3042 3001 3010 3012 3011 3005 3008 3032 3004 3007 3006 3041 3040 3009 3002 3029 3030 3033 3031 3013 3014

3036 3038 3037 3036 3034 3035

3003

11-5

HW0481059

11.3 R-Axis Driving Unit

No. 3001 3002 3003 3004 3005 3006 3007 3008 3009 3010 3011 3012 3013 3014 3015 3016 3017 3018 3019 3020 3021 3022 3023 3024 3025 3026 3027 3028 3029 3030 3031 3032 3033 3034 3035 3036 3037 3038 3039 3040 3041 3042

DWG No. HW0380504-A GT-SA Bolt M5x12 HW0300869-1 GT-SA Bolt M4x12 23184-01A1AYR21 GT-SA Bolt M5x12 HW9482404-A HW0402672-1 TC13287 HW0402673-1 M5x45 2H-5 M4x25 2H-4 RTW62 6007LLU HW0200169-1 M6x25 2H-6 HW0380721-A M6x30 2H-6 HW0302207-1 M5x20 HW0401992-1 HW0302205-1 M5x12 HW0401991-1 KQE10-03 PT 3/8 PMF06-01 A-PT1/8 PT 1/8 TP6(150mm) TP6(170mm) P0C6-M6M TU1065B KQ2L10-00 M4x12 M5x50 2H-5 GT-SA Bolt M5x12

Name Reduction gear Socket screw Cover Socket screw Motor Socket screw Sheet Fly wheel Oil seal M base Socket screw Washer Socket screw Washer Washer Bearing Crank Socket screw Washer Bearing Socket screw Washer Shaft Socket screw Cover Plate APS Bolt Cover Union Plug Union G nipple Plug Tube Tube Half union Tube Elbow APS Bolt Socket screw Washer Socket screw

Pcs 1 2 1 4 1 2 1 1 1 1 3 3 1 1 1 1 1 6 6 1 8 8 1 6 1 1 2 1 1 1 2 1 1 1 1 2 1 1 3 2 2 6

11-6

HW0481059

11.4 Wrist Unit

11.4 Wrist Unit

4048 4031 4013 4055 4019 4016 4030 4060 4045 4051 4048 4056 4021 4057 4027 4023 4003 4034 4043 4034 4006 4025 4012 4054 4048 4048

4059 4007 4048 4044 4005 40294035 4026 4015 4048 4007 4048 4017 4050 4024 4014 4002 4020 4053 4052

4046 4050 4048 4048 4037 4028 4001 4004 4062 4061 4048 4036 4011 4058 4063 4064 4048 4041 4018 4059 4041 4050 4042 4032 4008 4011 4058 4061 4062 4038 4048 4014 4033 4007 4049 4022 4040 4049 4049 4039 4047

4048

11-7

HW0481059

11.4 Wrist Unit

No. 4001 4002 4003 4004 4005 4006 4007 4008 4011 4012 4013 4014 4015 4016 4017 4018 4019 4020 4021 4022 4023 4024 4025 4026 4027 4028 4029 4030 4031 4032 4033 4034 4035 4036 4037 4038 4039 4040 4041 4042 4043 4044 4045 4046 4047 4048 4049 4050 4051 4052 4053 4054 4055 4056 4057 4058 4059 4060 4061

DWG No. HW9482218-A HW0401551-1 HW0401552-1 HW0401553-1 HW0401549-1 RTW78 A-MT6x1 HW0380710-A HW0402670-1 TC60759 TC72888 HW0100290-1 HW0402669-1 HW0301289-1 HW0301299-1 HW0301300-1 HW0301435-1 HW0302208-1 WR12 WR20 SP006 SP0120 HW0301292-1 HW0301293-1 HW0302206-1 HW0301310-1 M4x4 IRTW-24 HW0301291-1 HW0401550-1 HW0401554-1 MS4-10 LP-M5 HW0480866-A HW0480867-A HW0481015-A HW0481016-A 6804ZZ NS7 6811LLU 6901DD NS7 6812DBLU 6902DBLU NA4901 60S4.5M950 60S4.5M801 GT-SA Bolt M4x12 GT-SA Bolt M4x12 GT-SA Bolt M14x12 M4x35 M4x10 2H-4 M5x20 2H-5 M5x25 2H-5 23184-01A1AYR21 HW0100288-1 HW0401758-1 M4

Name Bearing B cover B cover B cover B nut Washer G nipple Reduction gear M base Oil seal Oil seal Cover Cover Gear Gear Gear Gear Support Clip Clip Shim Shim Shaft Shaft Housing Shaft Screw Washer Housing Housing Housing Pin Plug PulIey PulIey PulIey PulIey Bearing Bearing Bearing Bearing Bearing Needle bearing Belt Belt Socket Screw Socket Screw Socket Screw Socket Screw Socket Screw Washer Socket Screw Washer Socket Screw Washer Motor Wrist Washer Washer

Pcs 1 1 1 1 1 1 3 1 2 1 1 2 1 1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 1 1 1 2 1 1 1 1 1 1 2 1 1 1 1 1 1 51 17 8 6 2 2 1 1 4 4 2 1 1 6

No. 4062 4063 4064 M6x20 2H-6

DWG No. HW0100298-1

Name U arm Socket Screw Washer

Pcs 1 5 5

11-8

MOTOMAN-EA1400

INSTRUCTIONS
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan Phone 81-93-645-7745 Fax 81-93-645-7746

MOTOMAN INC. HEADQUARTERS

805 Liberty Lane West Carrollton, OH 45449, U.S.A. Phone 1-937-847-6200 Fax 1-937-847-6277

YASKAWA MOTOMAN CANADA LTD.

2280 Argentia Road, Mississauga, Ontario, L5N 6H8, Canada Phone 1-905-813-5900 Fax 1-905-813-5911

YASKAWA ELECTRIC AMERICA, INC.

2121 Norman Drive South Waukegan, IL 60085, U.S.A. Phone 1-847-887-7000 Fax 1-847-887-7370

YASKAWA ELECTRIC EUROPE GmbH

Am Kronberger Hang 2, 65824 Schwalbach,Germany Phone 49-6196-569-300 Fax 49-6196-888-301

MOTOMAN ROBOTICS EUROPE AB

Box 504 S38525 Torsas, Sweden Phone 46-486-48800 Fax 46-486-41410

MOTOMAN ROBOTEC GmbH

Kammerfeldstr.1,D-85391 Allershausen, Germany Phone 49-8166-90100 Fax 49-8166-90103

YASKAWA ELECTRIC KOREA CORPORATION

KFPA Bldg #1201, 35-4 Yeoido-dong, Youngdungpo-Ku, Seoul 150-010, Korea Phone 82-2-784-7844 Fax 82-2-784-8495

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore Phone 65-6282-3003 Fax 65-6289-3003

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. MALAYSIA REPRESENTATIVE OFFICE

B615, 6th Floor, East Wing, Wisma Tractors, No.7, Jalan SS 16/1, Subang Jaya, 47500 Petaling Jaya, Selangor D.E. Malaysia Phone 60-3-5031-5311 Fax 60-3-5031-5312

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.

4F No Aona Road, Waigaoqiao Free Trade Zone, Pudong New Area, Shanghai 200131, China Phone 86-21-5866-3470 Fax 86-21-5866-3869

YASKAWA ELECTRIC TAIWAN CORPORATION

9F, 16, Nanking E. RD., Sec. 3, Taipei, Taiwan Phone 886-2-2502-5003 Fax 886-2-2505-1280

YASKAWA ELECTRIC (HK) COMPANY LIMITED

Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong Phone 852-2803-2385 Fax 852-2547-5773

BEIJING OFFICE
Room No. 301 Office Building Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China Phone 86-10-6532-1850 Fax 86-10-6532-1851

BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD.

30 Xue Yuan Road, Haidian, Beijing P.R. China Post Code: 100083, China Phone 86-10-6234-5003 Fax 86-10-6234-5002

SHOUGANG MOTOMAN ROBOT CO., LTD.

7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, China Phone 86-10-6788-0541 Fax 86-10-6788-2878

YASKAWA ELECTRIC CORPORATION

YASKAWA
Specifications are subject to change without notice for ongoing product modifications and improvements.
C

1 MANUAL NO. HW0481059 Printed in Japan Janualy 2003 02-03