YASKAWA MOTOMAN-EH80 INSTRUCTIONS · ii 168952-1CD HW0484108 • This instruction manual is intended to explain operating instructions and maintenance procedures primarily for the

YASKAWA

MOTOMAN-EH80 INSTRUCTIONSTYPE: YR-EH80-C00 (STANDARD SPECIFICATION)TYPE: YR-EH80-C01 (WITH LIMIT SWITCHES FOR SLU-AXES)

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.

Part Number: 168952-1CDRevision: 0

MOTOMAN INSTRUCTIONSMOTOMAN-EH80 INSTRUCTIONSNX100 INSTRUCTIONSNX100 OPERATOR’S MANUALNX100 MAINTENANCE MANUAL

The NX100 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.

MANUAL NO.

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• This instruction manual is intended to explain operating instructions and maintenance procedures primarily for the MOTOMAN-EH80.

• General items related to safety are listed in Section 1: Safety of the NX100 Instructions. To ensure correct and safe operation, carefully read the NX100 instructions before reading this manual.

• 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 product’s warranty.

MANDATORY

CAUTION

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Notes for Safe OperationRead this manual carefully before installation, operation, maintenance, or inspection of the NX100. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.

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

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 dam-age 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.

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

WARNING

CAUTION

MANDATORY

PROHIBITED

NOTE

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• Before operating the manipulator, check that servo power is turned off when the emergency stop buttons on the front door of the NX100 and programming pendant are pressed.When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.

Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.

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 ON the servo power.

Injury may result from unintentional or unexpected manipulator motion.

Release of Emergency Stop

• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:- View the manipulator from the front whenever possible.- Always follow the predetermined operating procedure.- 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 P-point maximum envelope of the manipulator and that you are in a safe location before:- Turning ON the NX100 power.- Moving the manipulator with the programming pendant.- Running check operations.- Performing automatic operations.

Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there is a problem. The emergency stop button is located on the right of front door of the NX100 and the programming pendant.

WARNING

TURN

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Definition of Terms Used Often in This ManualThe MOTOMAN manipulator is the YASKAWA industrial robot product.The manipulator usually consists of the controller, the programming pendant, and supply cables.In this manual, the equipment is designated as follows:

• 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 NX100 cabinet after use.

The programming pendant can be damaged if it is left in the P-point maximum envelope of the manipulator, on the floor, or near fixtures.

• Read and understand the Explanation of Warning Labels in the NX100 instructions before operating the manipulator.

Equipment Manual Designation

NX100 controller NX100

NX100 programming pendant Programming pendant

Cable between the manipulator and the controller Manipulator cable

CAUTION

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Explanation of Warning LabelsThe following warning labels are attached to the manipulator.Always follow the warnings on the labels.Also, an identification label with important information is placed on the body of the manipula-tor. Prior to operating the manipulator, confirm the contents.

MOTOMANTYPE

PAYLOAD

ORDER NO.

SERIAL NO.

MASS

DATE

YASKAWA ELECTRIC CORPORAION JAPAN

kgkg

Nameplate

Nameplate

Warning label A Warning label A

Warning label B

Warning Label B

WARNING

Do not enterrobot work area.

Warning Label A

WARNING

Moving partsmay causeinjury

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Table of Contents168952-1CD

Table of Contents

1 Product Confirmation1.1 Contents Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11.2 Order Number Confirmation . . . . . . . . . . . . . . . . . . . . . . . 1-2

2 Transport2.1 Transporting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.1.1 Using a Crane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-22.1.2 Using a Forklift. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4

2.2 Shipping Bolts and Brackets . . . . . . . . . . . . . . . . . . . . . . . 2-5

3 Installation3.1 Installation of Safeguarding . . . . . . . . . . . . . . . . . . . . . . . . 3-23.2 Mounting Procedures for Manipulator Base . . . . . . . . 3-2

3.2.1 Mounting the Manipulator on the Baseplate . . . . . . . . . . . . . . .3-33.2.2 Mounting the Manipulator on the Floor . . . . . . . . . . . . . . . . . . .3-4

3.3 Types of Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-53.3.1 S-axis Working Range. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-53.3.2 Affixing the Manipulator Base . . . . . . . . . . . . . . . . . . . . . . . . . .3-53.3.3 Precautions to Prevent the Manipulator from Falling. . . . . . . . .3-5

3.4 Notes in Mounting the Manipulator on the Ceiling . . 3-63.5 Notes in Mounting the Manipulator on the Wall. . . . . 3-73.6 IP (International Protection)for Main Part of the

Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-83.7 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

4 Wiring4.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14.2 Manipulator Cable Connection . . . . . . . . . . . . . . . . . . . . . 4-2

4.2.1 Connection to the Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . .4-24.2.2 Connection to the NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2

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5 Basic Specifications5.1 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15.2 Part Names and Working Axes . . . . . . . . . . . . . . . . . . . . . 5-25.3 Manipulator Base Dimensions . . . . . . . . . . . . . . . . . . . . . . 5-25.4 Dimensions and P-Point Maximum Envelope . . . . . . . 5-35.5 Alterable Operating Range . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

6 Allowable Load for Wrist Axis and Wrist Flange6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

7 System Application7.1 Peripheral Equipment Mounts . . . . . . . . . . . . . . . . . . . . . . 7-17.2 Internal User I/O Wiring Harness and Air Lines . . . . . 7-2

8 Electrical Equipment Specification8.1 Location of Limit Switches. . . . . . . . . . . . . . . . . . . . . . . . . . 8-18.2 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

9 Maintenance and Inspection9.1 Inspection Schedule. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . . 9-5

9.2.1 Battery Pack Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-59.3 Notes on Grease Replenishment/Exchange

Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-79.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer . 9-7

Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7 Grease Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8

9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer 9-10 Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10 Grease Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11

9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer 9-12 Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12 Grease Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13

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9.3.4 Grease Replenishment/Exchange for R-Axis Speed Reducer 9-15 Grease Replenishment . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-15 Grease Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16

9.3.5 Grease Replenishment/Exchange for B- and T-Axis Speed Reducers and Gears . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-17 Grease Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-18

9.3.6 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-19 Battery Pack Connection for Motors . . . . . . . . . . . . . . . . . .9-19

10 Recommended Spare Parts

11 Parts List11.1 S-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-111.2 L-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-311.3 U-Axis Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-511.4 R,B,T-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-711.5 Wrist Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9

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1 Product Confirmation1.1 Contents Confirmation

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1 Product Confirmation

1.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.Standard delivery includes the following four items (Information for the content of optional goods is given separately):

• Manipulator• NX100• Programming Pendant• Manipulator cables (3 cables, between the NX100 and the manipulator)

• Confirm that the manipulator and the NX100 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.

CAUTION

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1 Product Confirmation1.2 Order Number Confirmation

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1.2 Order Number Confirmation

Check that the order number of the manipulator corresponds to the NX100. The order number is indicated on a label as shown below.

Fig. 1 Location of Order Number Labels

ORDER. No.

Label (Enlarged View)

(a) NX100 (Front View) (b) Manipulator (Side View)

THE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER. Check that the manipulator

and the NX100 have the same order number.

y

xR+

y

xR-

T+z

98

T-z

B- B+

S+

Y+

X+X-S-

Y-

R++

7

R--

L- L+

32

-.

1

0

54 6

NX100200V 50Hz

kVA3PHASE220V 50/60Hz

NJ2484-1MADE IN JAPAN

DATE

SERIAL No.

ERCR-TYPE

POWER SUPPLY

******

ORDER NO.NJ1529

THE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER.

WARNINGDo not open the door

RESETO

FFTR

IPPED

ON

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2 Transport2.1 Transporting Method

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2 Transport

2.1 Transporting Method

• Sling 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 transport.

The system consists of precision components. Failure to observe this caution may adversely affect performance.

• The mass of the manipulator is approximately 580 kg including the shipping bolts and brackets. Use a wire rope strong enough to withstand the mass.

• The attached eyebolts are designed to support the manipulator mass. Never use them for anything other than transporting the manipulator.

• Mount the shipping bolts and brackets before transporting the manipulator.• With any transportation equipment, make sure to avoid external force on the arm or

motor unit when transporting the manipulator.

CAUTION

NOTE

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2.1.1 Using a Crane

As a rule, when uncrating the manipulator and moving it, a crane should be used. Lift the manipulator with a two-leg bridle sling using the attached eyebolts. Make sure to fix the manipulator with the shipping bolts and a bracket before transport, and lift it in the posture as shown in Fig. 2-1(a) "Transport Using a Crane (For Manipulator without External Cables)" and Fig. 2-1(b) "Transport Using a Crane (For Manipulator with External Cables)".

Fig. 2-1(a) Transport Using a Crane (For Manipulator without External Cables)

Shipping bolts and bracket(Fixed to the manipulator before shipment.)

Eyebolts M20(Fixed to the manipulator before shipment.)

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Fig.2-1(b) Transport Using a Crane (For Manipulator with External Cables)


Eyebolts M20(Fixed to the manipulator before shipment.)



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2.1.2 Using a Forklift

When using a forklift, the manipulator should be fixed on a pallet with shipping bolts and bracket as shown in Fig. 2-2(a) "Transport Using a Forklift (For Manipulator without External Cables)" and Fig. 2-2(b) "Transport Using a Forklift (For Manipulator with External Cables)". Insert claws under the pallet and lift it. The pallet must be strong enough to support the manipulator. Transport the manipulator slowly with due caution in order to avoid overturn or slippage.

Fig.2-2(a) Transport Using a Forklift (For Manipulator without External Cables)

Fig.2-2(b) Transport Using a Forklift (For Manipulator with External Cables)

Screw M20 (8 screws)


Pallet

Forklift claw entries

Screw M20 (8 screws)


Pallet

Forklift claw entries



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2 Transport2.2 Shipping Bolts and Brackets

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2.2 Shipping Bolts and Brackets

The manipulator is provided with shipping bolts and brackets at positions as shown in the figures in "2.1 Transporting Method", to protect its driving units from various external force during transport.The shipping brackets are painted yellow

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

NOTE

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3 Installation

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3 Installation

• Install the safeguarding.

Failure to observe this warning may result in injury or damage. • Install the manipulator in a location where the manipulator’s tool or the

workpiece held by the manipulator will not reach the wall, safeguarding, or NX100 when the arm is fully extended.

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.

• Do not install or operate a manipulator that is damaged or lacks parts.

Failure to observe this caution may cause injury or damage.

• Before turning ON the power, check to be sure that the shipping bolts and brackets explained in Section 2.2 "Shipping Bolts and Brackets" are removed.

Failure to observe this caution may result in damage to the driving parts.

WARNING

CAUTION

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3 Installation3.1 Installation of Safeguarding

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3.1 Installation of Safeguarding

To insure safety, be sure to install the safeguarding. They prevent unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guidance.

Responsibility for Safeguarding (ISO 10218)The user of a manipulator or robot system shall ensure that safeguarding is provided and used in accordance with Sections 6, 7, and 8 of this standard. The means and degree of safeguarding, including any redundancies, shall correspond directly to the type and level of hazard presented by the robot system consistent with the robot application. Safeguarding may include but not be limited to safeguarding devices, barriers, interlock barriers, perimeter guarding, awareness barriers, and awareness signals.

3.2 Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a baseplate 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 force of the manipulator. (Refer to Table 3-1 "Maximum Repulsion Force of the Manipulator at Emergency Stop" and Table 3-2 "Endurance Torque in Operation".)A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness of installation surface may deform the manipulator shape and affect its functional abilities. For installation, refer to Section 3.2.1 "Mounting the Manipulator on the Baseplate" or Section 3.2.2 "Mounting the Manipulator on the Floor".

Table. 3-1 Maximum Repulsion Force of the Manipulator at Emergency Stop

Maximum torque in horizontal rotation(S-axis moving direction)

19600 N·m(2000 kgf·m)

Maximum torque in vertical rotation(LU-axis moving direction)

47100 N·m(4800 kgf·m)

Table. 3-2 Endurance Torque in Operation

Endurance torque in horizontal operation 5900 N·m(600 kgf·m)

Endurance torque in vertical operation 14100 N·m(1440 kgf·m)

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3 Installation3.2 Mounting Procedures for Manipulator Base

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3.2.1 Mounting the Manipulator on the Baseplate

The baseplate should be rugged and durable to withstand maximum repulsion force of the manipulator and to ensure that the manipulator and fixture are in the correct relative position. The thickness of the baseplate is 50 mm or more and an M20 size or larger anchor bolt is recommended. After anchoring the baseplate firmly on the floor, fix the manipulator base to the baseplate with the hexagon head screw M20 (8 screws, length of 70 mm or more is recommended) using mounting holes on the manipulator base. The manipulator base is tapped for eight mounting holes. Tighten the hexagon head bolts and anchor bolts securely so that they will not work loose during operation. For details, refer to Fig. 3-3 "Mounting the Manipulator on the Baseplate".

Fig.3-3 Mounting the Manipulator on the Baseplate

5030

Spring washer

Washer

Hexagon head screw M20 (8 screws)

Manipulator base

BaseplateAnchor bolt(M20 or more)

Baseplate(Flatness: 0.5 mm or less)

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3 Installation3.2 Mounting Procedures for Manipulator Base

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3.2.2 Mounting the Manipulator 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 force of the manipulator shown in Table 3-1 "Maximum Repulsion Force of the Manipulator at Emergency Stop" As a rough standard, if there is a concrete thickness (floor) of 200 mm or more, the manipulator base can be fixed directly to the floor with anchor bolts M20. Before mounting the manipulator, however, check that the floor is level and that all cracks, etc. are repaired. Any thickness less than 200 mm is insufficient for mounting, even if the floor is concrete.

Fig.3-4 Mounting the Manipulator on the Floor

Tapped hole M20 (8 holes);Screw A

Units: mm

10

FL

900

720

385

320

600

400

230

300

32

3625

0

35020

0

300

870

100 100200

800

28 dia. hole (4 holes) (Base A);Tapped hole M24 (4 holes) (Base B);Screw B

28 dia. hole (4 holes); Base B

Weld here after installationand adjustment .

Base A

Base B

Level the floor.

Screw A: Screw M20 (length: 70) (8 screws); spring washer, flat washerScrew B: Screw M24 (length: 70) (4 screws); spring washerThe fixing screws and bases are to be prepared by customer.

JA-type anchor bolt M24 (length: 315)

Manipulator base

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3 Installation3.3 Types of Mounting

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3.3 Types of Mounting

The manipulator can be mounted in three different ways: floor-mounted (standard), wall-mounted, and ceiling-mounted types are available. For wall- and ceiling-mounted types, the four points listed below are different from the floor-mounted types.

• S-axis Working Range• Affixing the Manipulator Base• Precautions to Prevent the Manipulator from Falling• IP (International Protection) for Main Part of the Manipulator (Refer to Section 3.6 "IP

(International Protection)for Main Part of the Manipulator".)

3.3.1 S-axis Working Range

When performing a wall installation, the S-axis movable range must be ±25. (Changed prior to shipment.)

3.3.2 Affixing the Manipulator Base

When performing a wall or ceiling installation, be sure to use eight hexagon socket head cap screws M20 (tensile strength: 1200 N/mm2 or more). Use a torque of 402Nm (41kgfm) when screwing in the screws.

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. 3-5 "When Using Ceiling and Wall-mounted Types" for details.

Fig.3-5 When Using Ceiling and Wall-mounted Types

Preventive support from falling

(tensile strength: 1200 N/mm or more)2

Hexagon socket head cap screws M20 (8 screws)Manipulator base

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3 Installation3.4 Notes in Mounting the Manipulator on the Ceiling

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3.4 Notes in Mounting the Manipulator on the Ceiling

In the case if the manipulator shipped is the floor-mounted type, yet is to be mounted on the ceiling, mounting positions of the union, hexagon socket head plug PT1/8, grease cap, and air breezer installed in the LU-axes motor base should be changed after installing the manipulator on the ceiling, to prevent a grease leakage from an air breezer. Change the mounting positions of the parts as shown in the figure below.

After installing the manipulator on the ceiling, replace the positions of the parts installed in the LU-axes motor base, by switching the positions of the union and the hexagon socket head plug PT 1/8, and the positions of the grease cap and the air breezer.

Replace the positions of the grease cap and the air breezer promptly, to prevent the grease leakage from a hole where a grease cap is to be installed.

Fig.3-6 Parts Positions for Ceiling Mounted Manipulator

When using wall-mounted or ceiling mounted types, contact your Yaskawa representative.NOTE

A

Union

Air breezer

Hexagon socket head plug PT 1/8

(After the Replacement)Air breezer

View A

Grease cap

(Before the Replacement)

LU-axes motor base

UnionHexagon socket head plug PT 1/8

Grease cap

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3 Installation3.5 Notes in Mounting the Manipulator on the Wall

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3.5 Notes in Mounting the Manipulator on the Wall

In the case if the manipulator shipped is the wall-mounted type, yet is to be mounted on the wall, mounting positions of the union, hexagon socket head plug PT1/8, grease cap, and air breezer installed in the motor base should be changed after installing the manipulator on the wall, to prevent a grease leakage from an air breezer. Change the mounting positions of the parts as shown in the figure below.

After installing the manipulator on the wall, replace the positions of the parts installed in the motor base, by switching the positions of the union and the hexagon socket head plug PT 1/8, and the positions of the grease cap and the air breezer.

Replace the positions of the grease cap and the air breezer promptly, to prevent the grease leakage from a hole where a grease cap is to be installed.

Fig. 3-6(a) Parts Positions for Wall Mounted Manipulator

In case of using the wall-mounted type, please be sure that the connector base comes upward.

NOTE

A

onnector base

otor base

Air breezer

Hexagon socket head plug PT 1/8

Grease cap

Grease cap

Union

Hexagon socket head plug PT 1/8Hexagon socket head

plug PT 1/8

Air breezer

Grease cap

Union

Grease cap

(After the Replacement)

View A

(Before the Replacement)

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3 Installation3.6 IP (International Protection)for Main Part of the Manipulator

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3.6 IP (International Protection)for Main Part of the Manipulator

For standard type, environmental resistance for main part of the manipulator conforms to IP54. However, for wall-mounted or ceiling mounted types, it does not conform to IP54. Environmental resistance for IP65 is optional. For wrist part of any mounted type, the resistance conforms to IP67.

3.7 Location

When installling the manipulator, satisfy the following environmental conditions.

• Ambient temperature: 0 to 45C • Humidity: 20 to 80% RH at constant temperature• Free from exposure to water, oil, or dust• Free from corrosive gas or liquid, or explosive gas or liquid• Free from excessive vibration (Vibration acceleration: 4.9 m/s2 [0.5G] or less)• Free from large electrical noise (plasma)• Flatness for installation is 0.5 mm or less

When using wall-mounted or ceiling mounted types, contact your Yaskawa representative.NOTE

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4 Wiring4.1 Grounding

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4 Wiring

4.1 Grounding

Follow local regulations for grounding line size. A line of 5.5 mm2 or more is recommended. Refer to Fig. 4-7 "Grounding Method" to connect the ground line directly to the manipulator.

Fig.4-7 Grounding Method

• 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 OFF the primary power supply, 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.

• Wiring must be performed by authorized or certified personnel.

Failure to observe this caution may result in fire or electric shock.

• Do not use this line sharing 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.

WARNING

CAUTION

NOTE

A

5.5mm2 or more

Screw M8 (for grounding)(Delivered with the manipulator)

View A

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4 Wiring4.2 Manipulator Cable Connection

168952-1CD

4.2 Manipulator Cable Connection

Three manipulator cables are delivered with the manipulator: an encoder cable (1BC) and two power cables (2BC and 3BC). Refer to Fig. 4-8 "Manipulator Cables". Connect these cables to the connectors on the manipulator connector base and the NX100 board connectors.

4.2.1 Connection to the Manipulator

Before connecting the manipulator cables to the manipulator, verify the connector numbers: both the cables and the connectors on the manipulator base are marked with 1BC, 2BC, and 3BC. Connect the cables in the order of 2BC, 3BC, 1BC, referring to Fig. 4-9(a) "Manipulator Cable Connection (To the Manipulator)". When connecting, insert each cable connector adjusting its position to the main keys on the connector base of the manipulator, and then set the lever low until it clicks.

4.2.2 Connection to the NX100

Before connecting the manipulator cables to the NX100, verify the connector numbers: both the cables and the connectors on the NX100 are marked with X11, X21, and X22. Connect the cables in the order of X21, X22, X11, referring to Fig. 4-9(b) "Manipulator Cable Connection (To the NX100)". When connecting, insert each cable connector adjusting its position to the main keys on the NX100, and then set the lever low until it clicks.

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168952-1CD

Fig.4-8 Manipulator Cables

X1

1

1B

C

X21

2BC

X22

3BC

3BC

2BC

1BC

Power Cable

Power Cable

X11 1BC

X21 2BC

X22 3BC

NX100 Manipulator

NX100 Manipulator

NX100 Manipulator

Encoder Cable

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168952-1CD

Fig. 4-9(a) Manipulator Cable Connection (To the Manipulator)

Fig.4-9(b) Manipulator Cable Connection (To the NX100)

3BC2BC

A

1BC

molexmolexmolex

AIR

Connector keys

Connector Details(Manipulator Side)

X22

X21X11

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5 Basic Specifications5.1 Basic Specifications

168952-1CD

5 Basic Specifications

5.1 Basic Specifications

*1 Conformed to ISO9283 *2 For the limit switch specification (type: MOTOMAN-EH80-C01), the range of motion is limited with limit switch

before shipment. *3 Refer to Section 6.1 "Allowable Wrist Load" for details on the allowable moment of inertia.

Note: SI units are used in this table. However, gravitational unit is used in ().

Table. 5-3 Basic Specifications*1

Item Model MOTOMAN-EH80

Configuration Vertically Articulated

Degree of Freedom 6

Payload 80 kg

Repeatability*1 ±0.07 mm

Range of Motion*2

S-axis (turning) ±180

L-axis (lower arm) +135, -90

U-axis (upper arm) +280, -160

R-axis (wrist roll) ±360

B-axis (wrist pitch/yaw) ±125

T-axis (wrist twist) ±360

MaximumSpeed

S-axis 2.97 rad/s, 170/s

L-axis 2.44 rad/s, 140/s

U-axis 2.79 rad/s, 160/s

R-axis 4.01 rad/s, 230/s

B-axis 4.01 rad/s, 230/s

T-axis 6.11 rad/s, 350/s

AllowableMoment*3

R-axis 372.4 N•m (38 kgf•m)

B-axis 372.4 N•m (38 kgf•m)

T-axis 196 N•m (20 kgf•m)

Approx. Mass 570 kg

AmbientConditions

Temperature 0C to 45C

Humidity 20 to 80% RH at constant temperature

Vibration Acceleration Less than 4.9 m/s2 (0.5 G)

Others

• Free from corrosive gas or liquid, or explosive gas.

• Free from water, oil, or dust.

• Free from excessive electrical noise (plasma).Power Capacity 5.0 kVA

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5 Basic Specifications5.2 Part Names and Working Axes

168952-1CD

5.2 Part Names and Working Axes

Fig.5-10 Part Names and Working Axes

5.3 Manipulator Base Dimensions

Fig.5-11 Manipulator Base Dimensions

T+

T-

B+

B-

R+

R-

U+

U-

L+L-

S-

S+

Upper arm(U-arm)

Lower arm(L-arm)

Base

Rotary head(S-head)

Wrist flange

Wrist

22 dia. hole(8 holes)

195±

0.2

230±

0.2

455

195±0.2

455156.2

230±0.2

30

A

195±

0.2

195±0.2

611.2

320

385

230

400

12 dia. hole(2 holes)

+0.0180

View AManipulator Base Dimensions

Units: mm

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5 Basic Specifications5.4 Dimensions and P-Point Maximum Envelope

168952-1CD

5.4 Dimensions and P-Point Maximum Envelope

Fig.5-12 Dimensions and P-Point Maximum Envelope

534

1761 2051

3812

2444

.535

57

90°

135°

206°131

77°

65°

160°

175145

52

138

80°

1112

.5

1698

150

289.5348

242

0

1025

870

30

540

0

R534

R340

R2051

P-point

P-point maximum envelope

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5 Basic Specifications5.5 Alterable Operating Range

168952-1CD

5.5 Alterable Operating Range

The operating range of the S-axis can be altered according to the operating conditions as shown in Table 5-4 "S-Axis Operating Range". If alteration is necessary, contact your Yaskawa representative in advance.

Table. 5-4 S-Axis Operating Range

Item Specifications

S-AxisOperatingRange

±180 (standard)±150±120±90±60±30

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6 Allowable Load for Wrist Axis and Wrist Flange6.1 Allowable Wrist Load

168952-1CD

6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist LoadThe allowable wrist load is 80 kg.As shown in Table 6-5 "Allowable Total Moment of Wrist", the moment of each axis is restricted. Observe the conditions described in this section in applying load on the wrist.

*1 ( ): Gravitational unit

The allowable total moment of inertia changes according to the load moment as shown in the Fig. 6-13(a) "Allowable Total Moment of Inertia on R-, B-axes" and Fig. 6-13(b) "Allowable Total Moment of Inertia on T-axis". The manipulator shall be operated fulfilling the conditions in these charts. For example, when the load moment on the T-axis is 20 kgf·m, the allowable total moment of inertia is 8 kg·m2; the allowable total moment of inertia becomes 19 kg·m2 if the load moment is 0 kgf·m.

When the volume load is small, refer to the moment arm rating shown in Fig. 6-14 "Moment Arm Rating".The allowable total inertia is calculated when the moment is at the maximum. Contact your Yaskawa representative when only inertia, or load moment is small and inertia is large. Also, when the load mass is combined with an outside force, contact your Yaskawa representative.

Table 6-5 Allowable Total Moment of Wrist

Axis Moment N·m (kgf·m)*1

R-axisB-axisT-axis

372.4 (38)372.4 (38)196 (20)

Fig.6-13(a) Allowable Total Moment of Inertia on R-, B-axes

Fig.6-13(b) Allowable Total Moment of Inertia on T-axis

38

403038

10

0

0 20

10

20

40

30

Total Moment of Inertia (kgm2)GD2/4

Moment (kgfm)

201519

58

0

0 10

5

10

20

15

Total Moment of Inertia (kgm2)

Moment (kgfm)

GD2/4

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6 Allowable Load for Wrist Axis and Wrist Flange6.2 Wrist Flange

168952-1CD

Fig.6-14 Moment Arm Rating

6.2 Wrist Flange

The wrist flange dimensions are shown in Fig. 6-15 "Wrist Flange". To make the alignment mark visible and to enable an easy grease exchange for the B- and T-axis gears, mount the attachment inside the fitting. Fitting depth of inside and outside fittings must be 5 mm or less.

Fig.6-15 Wrist Flange

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

LT (mm)

LT (mm)

LB (mm)

R-, T-axis center of rotation

B-axis center of rotation

P-point

400

200

400

200

50kg60kg

80kg

70kg

80kg

70kg

4240

6

6

10

P.C.D.80

P.C.D.80

Alignment mark

Units: mm

+0.01508 dia. hole

(depth: 14)

+0.01206 dia. hole

(depth: 10)

Tapped hole M8(depth: 14) (pitch: 1.25)(6 holes)

0-0

.022

100

dia.

+0.0

25 050

dia.

ho

le

NOTE

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7 System Application7.1 Peripheral Equipment Mounts

168952-1CD

7 System Application

7.1 Peripheral Equipment Mounts

The peripheral equipment mounts are fixed on the upper arm for easier installation of the user's system application as shown in Fig. 7-16 "Installing Peripheral Equipment". Observe the conditions in the figure and table below in mounting the peripheral equipment on the U-axis.

Fig.7-16 Installing Peripheral Equipment

Table. 7-6 Constraint for Attaching

Section Application Note

A Cable processing Up to 80 kg for attaching load mass including wrist load.

B Cable processing and valve load

Up to 10 kg.49 N•m (5 kgf•m) max. for increased moment amount of upper arm

C Transformer and others Up to 30 kg (for floor-mounted type only)

187

40

50240

52240

50Section A:Tapped hole M8 (depth: 15) (pitch: 1.25) (4 holes)

50

75

Section B:Tapped hole M8 (depth: 15) (pitch: 1.25) (4 holes)

8087

187

40

Section C:Tapped hole M12 (depth: 18) (pitch: 1.75) (4 holes)

50

595

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7 System Application7.2 Internal User I/O Wiring Harness and Air Lines

168952-1CD

7.2 Internal User I/O Wiring Harness and Air Lines

Internal user I/O wiring harness (0.75 mm2 x 23 wires) and an air line are incorporated in the manipulator for the drive of peripheral devices mounted on the upper arm as shown in Fig. 7-17 "Connectors for Internal User I/O Wiring Harness and Air Lines" The Fig. 7-17 also shows the connector pin (1 to 23) assignment. Perform wiring referng to the figure and the conditions below.

Fig.7-17 Connectors for Internal User I/O Wiring Harness and Air Lines

The same pin number (1-23) of two connectors is connected with the lead wire of single 0.75 mm2.

Items Conditions

The allowable current for internal user I/O wiring harness

6.6 A or less per a wire. The total current value for pins 1 to 23 must be 60 A or less.

The maximum pressure for the air line 490 kPa (5 kgf/cm2) or less(The air line inside diameter: 8 mm.)

3 421

1519

1420

22

17 1812

1610

21

11 13

23

5 76 98

4312

8

111210976

14

171516

13

5

1819

22232120

3BC2BC

A

1BC

molexmolexmolex

AIR

View A

Air inlet:Tapped hole PT3/8 with a pipe plug

Connector for internal user I/O wiring harness:JL05-2A24-28PC (pin connector with a cap)Prepare socket connector JL05-6A24-28S.

View B

Exhaust port (for air supply):Tapped hole PT3/8 with a pipe plug

Connector for internal user I/O wiring harness:JL05-2A24-28SC (socket connector with a cap)Prepare pin connector JL05-6A24-28P.

Pin Details for Internal User I/O Wiring Harness

Pins Used

Internal user I/O wiring harness: 0.75 mm2, 23 wires.

B

A

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8 Electrical Equipment Specification8.1 Location of Limit Switches

168952-1CD

8 Electrical Equipment Specification

8.1 Location of Limit Switches

Limit switches are optional. The limit switches (the S- and L-axis overrun limit switches and the LU-axes interference limit switch) can be mounted only if the manipulator type is YR-EH80-C01. For each location, refer to Fig. 8-18 "Location of Limit Switches".

Fig.8-18 Location of Limit Switches

LU-axis interference limit switch(For limit switch specification YR-EH80-A01)

L-axis overrun limit switch(For limit switch specification YR-EH80-A01)

S-axis overrun limit switch

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8 Electrical Equipment Specification8.2 Internal Connections

168952-1CD

8.2 Internal Connections

Highly reliable connectors are equipped on each connection part of the manipulator to enable easy removal and installation for maintenance and inspection.For the numbers, types, and locations of connectors, see Fig. 8-19 "Location of Connectors" and Table 8-7 "List of Connector Types".

Fig.8-19 Location of Connectors

Table. 8-7 List of Connector Types

Name Type of Connector

Connector for internal user I/O wiring harness on connector base

JL05-2A24-28PCPrepare JL05-6A24-28S (optional)

Connector for internal user I/O wiring harness on U-arm

JL05-2A24-28SCPrepare JL05-6A24-28P (optional)

Connector for internal userI/O wiring harness

1BC2BC

3BC

4BC (Connector for internal user I/O wiring harness)

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A

G

G

G R-axis

B-axis

T-axis

p (Optional)

A

ith Limit Switches

errun Limit Switch

L- and U-axis Interference Limit Switch

39/72

BC2BC2

+24V

BATOBT

SS2

CN4-6CN4-1

CN4-3CN4-8

CN4-7CN4-2

P

P

P

LB1+24V

SS2AL1

AL2BC2 BC2

SS2

LB1+24V

CN4-8CN4-3

CN4-7CN4-2

CN4-6CN4-1

E E E E

E

0BAT6BAT6

PG5V6

T-1-2-3

No.18CN

-4 PG0V6

0BAT5BAT5

PG5V5

B-1-2-3

No.17CN

-4 PG0V5

R

0BAT4

PG0V4PG5V4

BAT4

-4-3-2-1No.16CN

U

0BAT3

PG0V3PG5V3

BAT3

-4-3-2-1No.15CN

L

0BAT2

PG0V2PG5V2

BAT2

-4-3-2-1No.14CN

S

0BAT1BAT1

PG5V1PG0V1

-1-2-3-4

No.13CN

X

0V+24V

0V+24V

No.19CN

-2-4

-1-3

-6-5-4-9

-6-5-4-9

-6-5-4-9

-6-5-4-9

-6-5-4-9

-9-4-5-6

E

PGDATA-1DATA+1

-2

0V

BATOBT+5V

11CN-1No.11CN

0BAT4

0BAT5

0BAT6BAT5

BAT4

2425

2829

2726

0BT

0BTBATP

BATP 6

87

5 0BAT21

BAT220BAT22BAT21

BAT6

PG0V2PG5V1PG0V1

3031

32132

PG0V3

PG0V5

PG0V4PG5V4

PG5V35

9

78

6

4 PG5V2

P

P

P

PG5V6PG0V6

1211

16151413

10 PG5V5

12

543

876

1BC(10Px4)

31

42

0V+24V

0V+24V

SPG-1SPG+1

P

P

P

CN1-5

CN1-2CN1-1

CN1-9CN1-10

CN1-4

DATA+2

FG1

BATOBT

-7

9CN-1No.9CN

-7

BAT

0VFG2

+5VOBT

-2 DATA-2

DATA-3DATA+3

-2BAT

BAT

7CN-1No.7CN

-7

OBT

0VFG3OBT

+5V

OBT

DATA+4DATA-4-2

OBTBAT

1CN-1No.1CN

-7OBTBAT

FG40V+5V

DATA+5DATA-5-2

0V

BATOBT+5V

2CN-1

DATA+6

-7OBTBAT

FG5

3CN-1No.3CN

No.2CN

BAT

P

P

P

P

P

P

FG1

SPG+2

FG2

SPG-2P CN1-7CN1-6

CN1-8

SPG-3SPG+3

FG3

P

CN2-3

CN2-2CN2-1

P

P

P

P

P

P

SPG+4SPG-4

FG4

P CN2-7CN2-6

CN2-8

SPG-5SPG+5

SPG+6

FG5

P

CN3-6

CN3-3

CN3-2CN3-1

-7

BAT

0V

OBT+5V

FG6

P

PFG6CN3-8

CN4-4

PP

PP

CN2-10CN2-9CN2-5CN2-4CN4-9

CN3-5CN3-9CN3-10

CN3-4

CN4-5P

PSPG-6P CN3-7 -2 DATA-6

CN1-3

CN1-5CN1-4

CN1-10CN1-9

0V

0V+24V

+24V

CN1-1CN1-2 SPG-1

SPG+1

0

CN1-3

CN1-6

FG1

SPG+2CN1-7

CN1-8 FG2

SPG-2

CN2-1CN2-2 SPG-3

SPG+3

CN2-3 FG3

CN2-6CN2-7

SPG+4SPG-4

CN2-8 FG4

CN3-1CN3-2

SPG+5SPG-5

CN3-6

CN3-3

SPG+6

FG5

CN3-7

CN3-8 FG6

CN4-5CN4-9CN2-4CN2-5CN2-9CN2-10

CN3-10CN3-9CN3-5CN3-4

CN4-4

SPG-6

LA1BC1SS1

BC1BC2

LA4

LD5LC5LB4

LD4

LB3LC4

LA3LB1

LB1

LD3LC3

LD3LB2

LB2LC3

LA2

LA1

SS1

E

2

56

34

1

4BC(24-28)

4BC-2

4BC-44BC-5

4BC-3

4BC-14BC

8

11109

7

14

1615

1312

4BC-13

4BC 16

4BC-144BC-15

4BC-74BC-8

4BC-124BC-114BC-104BC-9

SP1SP2

4BC-6

E

2

56

34

14BC4BC(24-28)

4BC-5

4BC-2

4BC-44BC-3

4BC-1

8

11109

7

14

1615

1312

4BC-13

4BC 16

4BC-144BC-15

4BC-124BC-11

4BC-74BC-8

4BC-104BC-9

4BC-6

PG

PG

P

P

P

S-axis

L-axis

U-axis

For Lam

CasingManipulatorBase

LB4

LA3LB3

LA4

LA2

LB2LB1

LA1

LB1

LB1LB2

LB1LA1

Optional Specification: SLU-axes w

S-axis Overrun Limit Switch

L-axis Ov

YB

SM

SM

YB

YB

SM

YB

SM

U-axis

R-axis

B-axis

T-axis

40/72

ME6

MV6MW6MU6ME5MW5

ME5MW5

CN2-2CN2-1CN1-5CN1-4CN1-2CN1-1

CN1-6CN1-3

CN3-1

CN3-3CN3-2

CN2-6CN2-3CN2-5CN2-4

CN4-6CN4-5CN4-3CN4-2CN4-4CN4-1CN3-5CN3-4

CN3-6

CN2-2

CN1-5CN2-1

CN1-2CN1-4

CN1-1

CN1-3CN1-6

CN3-1CN3-2CN3-3

CN2-6

CN2-5CN2-3

CN2-4

CN3-5CN3-4

CN4-5

CN4-4

CN4-3CN4-2

CN4-6

CN4-1

CN3-6

ME4

MW4

MU4MV4

ME2ME2

MW2

MW2MW2

MV2

MW4MV4MU4

ME2ME2ME2

MW2MW2

MV2

CN4-2CN4-1

CN5-1

CN4-7CN4-6CN4-5

CN4-3

CN5-3

CN5-4CN4-8CN4-4

CN5-2

CN4-1CN4-2

CN4-7

CN4-5CN4-6

CN5-1

CN4-3

CN5-3

CN4-4CN4-8CN5-4

CN5-2

CN2-6CN2-5

CN3-8CN3-4CN2-8

CN3-7CN3-6CN3-5

CN3-3CN3-2CN3-1

CN6-4CN6-3

CN2-7CN2-6CN2-5

CN3-3

CN3-1CN3-2

CN3-5

CN3-7

CN2-8CN3-4CN3-8

CN3-6

CN6-4CN6-3

CN2-7

ME2ME4

ME2

BA3BB3

BA4BB4

ME3MW3ME3ME3

MU3MV3

MV5MU5

BA5BB5

BA6BB6

ME6

MW6MV6MU6

MV3MW3MW3

MU3MU3

MV3

EE


CN6-6CN6-5

CN5-5CN5-2

E

MU1MU1

MW1

MV1MV1MV1

MU1

2BC(8PX5+12PX1)

CN1-7CN1-6CN1-5

CN2-1

CN1-3CN1-2CN1-1

MW1

ME1ME1ME1

BB1

MU2MU2

BA1CN6-2

CN2-3

CN2-4

CN1-4CN1-8

CN6-1

CN2-2 MW1

MW2

MV2MV2

BA2

MW2MV2MU2

BB2

CN6-6CN6-5

CN6-7CN6-8

CN6-9

3BC(6PX6)

CN6-11CN6-12

CN6-10

MU2

CN6-5CN6-6


CN5 3

CN5-5CN5-2

CN1-1CN1-2

E

MU1MU1

CN1-7CN1-6CN1-5

CN2-1

MV1MV1MV1

MW1

MU1CN1-3

CN2-3

CN1-8CN1-4

CN2-4

MW1

ME1ME1ME1

CN6-2 BB1

MU2MU2

BA1CN6-1

MW1CN2-2

MV2MV2

MW2

MU2MV2

ME2

BB2BA2

CN6-9

CN6-7CN6-8

CN6-6

BA5

BB4BA4

BB3BA3CN6-5

CN6-11CN6-12

BA6BB6

MW3

MV3

MU3

MW3

MV3

MU3

CN6-10 BB5

MU2

MU3MV3

MV5

ME3

ME3MW3

MU5

ME3

CN5 3

MV4MU4

ME4

BB4BA4

MW4-B

4CN-A

-D

-F-E

-C

No.4CN

8CN-ANo.8CN

-C-B MV3

MW3

MU3

-D

-F-E

ME3

BB3BA3

MV5MU5

ME5

BB5BA5

MW5-B

5CN-A

-D

-F-E

-C

No.5CN

MV6MU6

ME6

BB6BA6

MW6-B

6CN-A

-D

-F-E

-C

No.6CN

SMMU1MV1MW1

-B-C

12CN-ANo.12CN

YBME1

BB1BA1

-D

-F-E

MV2MU2

YBME2

BB2BA2

MW2 SM-B

10CN-A

-D

-F-E

-C

No.10CN

S-axis

L-axis

9 Maintenance and Inspection9.1 Inspection Schedule

168952-1CD

9 Maintenance and Inspection

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 classified into six levels as shown in Table 9-8 "Inspection Items". Conduct periodical inspections according to the inspection schedule in the table.In Table 9-8, the inspection items are categorized by three types of operations: 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 the inspection work.

• Before maintenance or inspection, be sure to turn OFF the main power supply, 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.

• 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.

• Do not remove the motor, and do not release the brake.

Failure to observe this caution may result in injury from unexpected turning of the manipulator’s arm.

• The battery pack must be connected before removing encoder connector when maintenance and inspection.

Failure to observe this caution may result in the loss of home position data.

• The inspection interval depends on the total servo operation time.• If axes are used very frequently (in handling applications, etc.), inspections may be

required at shorter intervals. Contact your Yaskawa representative.

WARNING

CAUTION

NOTE

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Table 9-8 Inspection Items

Items*1

Schedule

Method Operation

Inspection Charge

Daily1000

HCycle

6000H

Cycle

12000H

Cycle

24000H

Cycle

36000H

Cycle

Specified Personnel Licensee Service

Company

1 Alignment marks Visual

Check alignment mark accordance and damage at the home position.

2 External cables Visual Check for damage

and deterioration.

3

Working areaand whole exterior of manipulator

Visual

Clean the work area if dust or spatter is present. Check for damage and outside cracks.

4 SLU-axis motors Visual Check for

grease leakage.*2

5Baseplate mounting bolts

Wrench Tighten loose bolts. Replace if necessary.

6 Cover mount-ing screws

Screw-driver, Wrench

Tighten loose bolts. Replace if necessary.

7SLU-axismotorconnectors

ManualCheck for loose con-nectors and tighten if necessary.

8 Connector base Manual Check for loose con-

nectors.

9 RB-axis timing belts Manual Check for belt ten-

sion an wear.

10 Wire harness in manipulator

Visual,Multimeter

Check for conduc-tion between the main connector of base and intermedi-ate connector by manually shaking the wire. Check for wear of protective spring.*3

11

Limit switches and dogs(For SLU-axes)

Screw-driver, Wrench,Multimeter

Check for dirt, dam-age, malfunction. Tighten loose bolts.

12 Battery pack in manipulator

Replace the battery pack when the bat-tery alarm occurs or when the manipulator has been operated for 36000H.

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*1 Inspection No. corresponds to the numbers in Fig. 9-21 "Inspection Parts and Inspection Numbers".*2 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.*3 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 detector side for each axis from the motor. Other-wise, the home position may be lost. (Refer to 9.3.6.)

*4 For the grease, refer to Table 9-9 "Inspection Parts and Grease Used".*5 The application that requires highly frequent operation such as handling may cause grease leakage of air

breather or the internal pressure rise of speed reducer. Contact your Yaskawa representative.

Inspection numbers correspond to the numbers in Table 9-8 "Inspection Items".

13 S-axis speed reducer, Grease

Gun

Check for malfunc-tion. (Replace if necessary.)*5 Supply grease*4 (6000H cycle). Exchange grease*4.(12000H cycle).See section 9.3.1.

14LU-axis speed reduc-ers

Grease Gun

Check for malfunc-tion. (Replace if necessary.)*5 Supply grease*4 (6000H cycle). Exchange grease*4.(12000H cycle).See sections 9.3.2 and 9.3.3.

15 R-axis speed reducer Grease

Gun


16BT-axis speedreducers and gears

Grease Gun


17 Overhaul

Table. 9-9 Inspection Parts and Grease Used

No. Grease Used Inspected Parts

13, 14, 15, 16 VIGO Grease RE No. 0 Speed reducers for all axesB-, T-axis gears

Table 9-8 Inspection Items

Items*1

Schedule

Method Operation

Inspection Charge

Daily1000

HCycle

6000H

Cycle

12000H

Cycle

24000H

Cycle

36000H

Cycle

Specified Personnel Licensee Service

Company

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L-ax

is

U-a

xis

T-ax

isB

-axi

sR

-axi

sS

-axi

s

Not

e: T

he m

anip

ulat

or is

in th

e ho

me

posi

tion.

11

6

27

812

6

6

134

65

14

61

115

6

1

10

19

16

16

1

14

Fig.

9-21

Ins

pect

ion

Parts

and

Insp

ectio

n N

umbe

rs

9-4

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9 Maintenance and Inspection9.2 Notes on Maintenance Procedures

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9.2 Notes on Maintenance Procedures

9.2.1 Battery Pack Replacement

The battery packs (type: HW0470360-A) are attached in the two locations as shown in Fig. 9-22 "Battery Location".

Fig.9-22 Battery Location

AIR

3BC2BC

1BC

Cover plate fixing screw M4(length: 8 mm) (4 screws)

Connector base

Cover plate

(a) Back View

(b) Front View

Battery pack(HW0470360-A)

Cross head APS bolt M6(length: 12 mm) (5 bolts)

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9 Maintenance and Inspection9.2 Notes on Maintenance Procedures

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Fig. 9-23 Battery Connection

1. Turn OFF the NX100 main power supply.2. Remove the cover plate fastening screws M4 and from the connector base and pull out

the battery pack to replace with a new battery pack.3. Remove the old battery pack from the battery holder.4. Connect the new battery pack to the unoccupied connector on the board.5. Remove the old battery pack from the board.

6. Mount the new battery pack to the battery holder.7. Reinstall the plate and fix it with the plate fastening screws M4.

Connect the new battery pack before removing the old one so that the encoder absolute data does not disappear.

Be sure not to pinch the cable when putting the plate back into place.

Connector

Battery pack before replacementSee step 5 below.

See step 4 below.

New battery pack(HW0470360-A)

Board

NOTE

NOTE

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9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures

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9.3 Notes on Grease Replenishment/Exchange Procedures

Make sure to follow the instructions listed below at grease replenishment/exchange. Failure to observe the following notes may result in damage to motor and speed reducer.

9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer

Fig.9-24 S-Axis Speed Reducer

Grease Replenishment (Refer to Fig. 9-24 "S-Axis Speed Reducer".)

• If grease is added without removing the plug/screw from the grease exhaust port, the grease will go inside a motor or an oil seal of a speed reducer will come off, which may result in damage to the motor. Make sure to remove the plug.

• Do not install a joint, a hose, etc. to the grease exhaust port. Failure to observe this instruction may result in damage to the motor due to coming off of an oil seal.

• Make sure to use a grease pump to inject grease. Set air supply pressure to the grease pump at 0.3 MPa or less, and the grease injection rate at 8 g/s or less.

• Make sure to fill the hose on the grease inlet with grease beforehand to prevent air from leaking into the speed reducer.

NOTE

3BC2BC

A

1BC

AIR

molexmolexmolex

Grease exhaust port(Hexagon socket head plug PT1/8)

Grease inlet(Hexagon socket head plug PT1/4)

S-axis speed reducer

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1. Remove the hexagon socket head plug PT1/8 from the grease exhaust port.

2. Remove the hexagon socket head plug PT1/4 from the grease inlet and install the grease zerk PT1/4. (The grease zerk is delivered with the manipulator.)

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

4. Move the S-axis for a few minutes to discharge excess grease.5. Wipe the discharged grease with a cloth and reinstall the plug PT1/8 on the grease

exhaust port. Apply Three Bond 1206C to the thread part of the plug, and tighten the plug with a tightening torque of 4.9 Nm (0.5 kgfm).

6. Remove the grease zerk from the grease inlet and reinstall the plug PT1/4. Apply Three Bond 1206C to the thread part of the plug, and tighten the plug with a tightening torque of 12 Nm (1.2 kgfm).

Grease Exchange (Refer to Fig. 9-24 "S-Axis Speed Reducer".)




4. The grease exchange is completed when new grease appears in the exhaust port. The new grease can be distinguished from the old grease by color.

5. Move the S-axis for a few minutes to discharge excess grease.6. Wipe the discharged grease with a cloth and reinstall the plug PT1/8 on the grease

exhaust port. Apply Three Bond 1206C to the thread part of the plug, and tighten the

• If grease is injected with the plug on, the grease will go inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.


Grease type: VIGO Grease RE No. 0Amount of grease: 700 cc(1400 cc for 1st supply)

Air supply pressure of grease pump: 0.3 MPa or lessGrease injection rate: 8 g/s or less



Grease type: VIGO Grease RE No. 0Amount of grease: approx. 3400 cc


NOTE

NOTE

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plug with a tightening torque of 4.9 Nm (0.5 kgfm).

7. Remove the grease zerk from the grease inlet and reinstall the plug PT1/4. Apply Three Bond 1206C to the thread part of the plug, and tighten the plug with a tightening torque of 12 Nm (1.2 kgfm).

If the plug is installed while the grease is being exhausted, the grease will go inside the motor and may cause a damage. Ensure that the grease has been completely exhausted before installing the plug.

NOTE

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9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer

Fig.9-25 L-Axis Speed Reducer

Grease Replenishment (Refer to Fig. 9-25 "L-Axis Speed Reducer".)

1. Tilt the L-arm vertical to the ground.2. Remove the hexagon socket head plug PT1/8 from the grease exhaust port.



5. Move the L-axis for a few minutes to discharge excess grease.6. Wipe the discharged grease with a cloth and reinstall the plug PT1/8 on the grease


7. Remove the grease zerk from the grease inlet and reinstall the plug PT1/8. Apply Three Bond 1206C to the thread part of the plug, and tighten the plug with a tightening torque of 4.9 Nm (0.5 kgfm).



Grease type: VIGO Grease RE No. 0Amount of grease: 250 cc

(500 cc for 1st supply)Air supply pressure of grease pump: 0.3 MPa or less

Grease injection rate: 8 g/s or less



L-axis speed reducer

NOTE

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Grease Exchange (Refer to Fig. 9-25 "L-Axis Speed Reducer".)

1. Tilt the L-arm vertical to the ground.2. Remove the hexagon socket head plug PT1/8 from the grease exhaust port..


4. Inject grease into the grease inlets using a grease gun.

5. The grease exchange is completed when new grease appears in the exhaust port. The new grease can be distinguished from the old grease by color.

6. Move the L-axis for a few minutes to discharge excess grease.7. Wipe the discharged grease with a cloth and reinstall the plug PT1/8 on the grease





Grease type: VIGO Grease RE No. 0Amount of grease: approx. 1650 cc



NOTE

NOTE

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9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer

Fig.9-26 U-Arm Posture in Grease Replenishment/Exchange for U-Axis Speed Reducer

Fig.9-27 U-Axis Speed Reducer

Grease Replenishment (Refer to Fig. 9-27 "U-Axis Speed Reducer".)

1. Tilt the U-arm horizontal to the ground. (Refer to Fig. 9-26 "U-Arm Posture in Grease Replenishment/Exchange for U-Axis Speed Reducer".)





U-arm (horizontal to the ground)

L-arm (vertical to the ground)



U-axis speed reducer

NOTE

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5. Move the U-axis for a few minutes to discharge excess grease. 6. Wipe the discharged grease with a cloth and reinstall the plug PT1/8 on the grease



Grease Exchange (Refer to Fig. 9-27 "U-Axis Speed Reducer".)

1. Tilt the U-arm horizontal to the ground. (Refer to Fig. 9-26 "U-Arm Posture in Grease Replenishment/Exchange for U-Axis Speed Reducer".)











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5. The grease exchange is completed when new grease appears in the grease exhaust port. The new grease can be distinguished from the old grease by color.

6. Move the U-axis for a few minutes to discharge excess grease.7. Wipe the discharged grease with a cloth and reinstall the plug PT1/8 on the grease




NOTE

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9.3.4 Grease Replenishment/Exchange for R-Axis Speed Reducer

Fig.9-28 R-Axis Speed Reducer

Grease Replenishment (Refer to Fig. 9-28 "R-Axis Speed Reducer".)

1. Remove the hexagon socket head plug 1/8 from the grease exhaust port.



4. Move the R-axis for a few minutes to discharge excess grease.5. Wipe the discharged grease with a cloth and reinstall the plug PT1/8 on the grease





Grease type: VIGO Grease RE No. 0Amount of grease: 90 cc(180 cc for 1st supply)



U-arm

Grease exhaust port(Hexagon socket head plug PT1/8)R-axis speed reducer

NOTE

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Grease Exchange (Refer to Fig. 9-28 "R-Axis Speed Reducer".)




4. The grease exchange is completed when new grease appears from the grease exhaust port. The new grease is distinguished from the old grease by color.

5. Move the R-axis for a few minutes to discharge excess grease.6. Wipe the discharged grease with a cloth and reinstall the plug PT1/8 on the grease








NOTE

NOTE

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9.3.5 Grease Replenishment/Exchange for B- and T-Axis Speed Reducers and Gears

Fig.9-29 B- and T-Axis Speed Reducers and Gears

Grease Replenishment (Refer to Fig. 9-29 "B- and T-Axis Speed Reducers and Gears".)

1. Remove the hexagon socket head set screw M6 from the grease exhaust port.



4. Move the B-axis for a few minutes to discharge excess grease.5. Wipe the discharged grease with a cloth and reinstall the set screw M6 on the grease

exhaust port. Apply Three Bond 1206C to the thread part of the set screw, and tighten the set screw with a tightening torque of 3.9 Nm (0.4 kgfm).


• If grease is injected with the set screw on, the grease will go inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.





B-axis speed reducer and gearT-axis speed reducer and gear

Grease inlet(Hexagon socket head plug PT1/8) Grease exhaust port

(Hexagon socket head set screw M6)

NOTE

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Grease Exchange (Refer to Fig. 9-29 "B- and T-Axis Speed Reducers and Gears".)

1. Remove the hexagon socket head set screw M6 from the grease exhaust port.



4. The grease exchange is completed when new grease appears from the grease exhaust port. The new grease is distinguished from the old grease by color.

5. Move the B-axis for a few minutes to discharge excess grease.6. Wipe the discharged grease with a cloth and reinstall the set screw M6 on the grease

exhaust port. Apply Three Bond 1206C to the thread part of the set screw, and tighten the set screw with a tightening torque of 3.9 Nm (0.4 kgfm).


• If grease is injected with the set screw on, the grease will go inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.





NOTE

NOTE

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9.3.6 Notes for Maintenance

Battery Pack Connection for MotorsThe connectors (crimped contact-pin) for battery backup are installed at the end point of each motor (marked as BAT and OBT). Connect the battery pack according to the following procedure.

1. Remove a cap attached to battery backup connectors of the motor.2. Connect a battery pack (HW9470932-A) to the battery backup connectors (BAT and

OBT are marked) located at the end point of an encoder cable. With the battery pack connected to the battery backup connectors, perform maintenance check.

3. After the maintenance check, confirm all connectors are connected and remove the battery pack. Reinstall the cap onto the battery backup connectors of the motor.

Fig.9-30 Battery Pack Connection for Motors

When performing maintenance such as replacement of a wire harness in the manipulator, the encoder connector may be necessary to be removed. In this case, be sure to connect the battery pack to the battery backup connector before removing the encoder connector.Removing the encoder connector without connecting the battery pack leads to disappear-ance of the encoder absolute data.For the battery pack connection, refer to Fig. 9-30 "Battery Pack Connection for Motors".

Do not remove battery pack in the connector base.

NOTE

NOTE

b

aab0BT

BAT BAT*0BT*

Motor

Connector for battery backup

HW9470932-A (Battery pack)

Motor power connector

Connector for the motor encoder

a: Crimped contact-pin (pin)b: Crimped contact-pin (socket)

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It is recommended to keep the parts and components in the following table in stock as spare parts for the MOTOMAN-EH80. 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

To replace parts in Rank B or Rank C, contact your Yaskawa representative.

Table. 10-10 Spare Parts for the MOTOMAN-EH80

Rank

PartsNo. Name Type Manufacturer Qty

QtyperUnit

Remarks

A 1 Grease VIGO Grease RE No. 0 Yaskawa 16 kg -

For all axis speed reducers and wrist units

A 2 Liquid Gasket Three Bond 1206C ThreeBond Co., Ltd. - -

A 3 Battery Pack HW9470932-A Yaskawa 1 1

A 4 Battery Pack HW0470360-A Yaskawa 1 1

B 5 R-axis Timing Belt 250S5M520 Bando Chemical Industries, Ltd. 1 1

B 6 B-axis Timing Belt 250S5M475 Bando Chemical Industries, Ltd. 1 1

B 7 S-axisSpeed Reducer HW9381671-A Yaskawa 1 1

B 8 S-axis Input Gear HW9381676-A Yaskawa 1 1

B 9 L-axisSpeed Reducer HW9381465-A Yaskawa 1 1

B 10 L-axis Input Gear HW0409103-1 Yaskawa 1 1

B 11 U-axisSpeed Reducer HW0385484-A Yaskawa 1 1

B 12 U-axis Input Gear HW0409102-1 Yaskawa 1 1

B 13 R-axisSpeed Reducer HW9381640-A Yaskawa 1 1

NOTE

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B 14 B-axisSpeed Reducer HW9381139-A Yaskawa 1 1

B 15 T-axisSpeed Reducer HW9381635-D Yaskawa 1 1

C 16 AC Servomotor for S-axis SGMRS-30A2A-YR1* Yaskawa 1 1

C 17 AC Servomotor for L-axis SGMRS-44A2A-YR2* Yaskawa 1 1

C 18 AC Servomotor for U-axis SGMRS-20A2A-YR2* Yaskaw 1 1

C 19 AC Servomotors for R-, B-, and T-axes SGMRS-12A2B-YR1* Yaskawa 1 3

C 20 Wire Harness in Manipulator HW0172836-A Yaskawa 1 1

C 21 Wire Harness in Manipulator HW0372351-A Yaskawa 1 1

Table. 10-10 Spare Parts for the MOTOMAN-EH80

Rank

PartsNo. Name Type Manufacturer Qty

QtyperUnit

Remarks

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11 Parts List11.1 S-Axis Unit

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11 Parts List

11.1 S-Axis Unit

1091

1092

1093

1113

1112

1114

1090

1096

1097

1096

1097

10941095

10011011

1012

1012

1013

1014

1015

1016

1017

1018

1019

1067

1044

1108

1109

1110

1021

1063

1064

1065

1066

1020

1069

1068

1023

1026

1027

1028

1029

1030

1002

1003

1004

1005

1006

1007

1008

1009

1009

1010

1035

1102

1106

1101

1103

11041074

1105

1075

1076

1040

1041

1043

1042

1045

1057

1058

1059

1060

10611062

1022

1024

1025

1031

1032

1033

1034

1037

1038

1039

1046

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11 Parts List11.1 S-Axis Unit

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No. DWG No. Name Pcs

1001 HW9405850-2 Spacer 11002 HW9381678-A Shaft 11003 Y426012.5 Oil seal 11004 HW9405846-1 Housing 11005 M8X70 Socket Screw 11006 2H-8 Spring Washer 11007 HW9405847-1 B Nut 11008 M6X8 H set screw 21009 HR32907J Bearing 21010 EZ2228B0 Cap 21011 HW9100984-1 S head 11012 M20 I bolt 21013 SGMRS--30A2A-YR1* Motor 11014 M12X40

(DACROTIZED coating)Socket Screw 4

1015 2H-12 Spring Washer 41016 M6X16 Socket Screw 41017 2H-6 Spring Washer 41018 WR100 Ring 11019 6820 Bearing 11020 M6X16 Socket Screw 41021 2H-6 Spring Washer 41022 HW9381676-A Gear 11023 HW9405848-1 B holder 11024 M16X130 Socket Screw 61025 2H-16 Spring Washer 61026 M12X50 Socket Screw 81027 2H-12 Spring Washer 81028 HW9405875-1 Collar 11029 M20X40 Socket Screw 11030 HW9405032-2 Bolt 11031 HW9381671-A Reduction gear 11032 HW9100983-1 Base 11033 M6X12 APS bolt 41034 HW9405871-1 Cover 11035 M6 Washer 31037 AC3837EO Oil seal 11038 AG3830EO Oil seal 11039 HW9405845-1 Housing 11040 M6X30 Socket Screw 41041 2H-6 Spring Washer 41042 M16X40 Socket Screw 31043 2H-16 Spring Washer 31044 HW9302613-1 Guide 11045 AS568-277 O ring 11046 C-30-SG-22A Gromment 1


1057 M8X45 Socket Screw 11058 2H-8 Spring Washer 11059 HW9404486-1 Shaft 11060 HW0400405-1 Stopper 11061 HW9405870-1 Cover 11062 M6X12 APS bolt 41063 HW9381677-A Gear 11064 HW9405844-1 Housing 11065 M6X16 Socket Screw 41066 2H-6 Spring Washer 41067 M6X16 Socket Screw 41068 2H-6 Spring Washer 41069 PT1/8 Plug 21074 M6X12 APS bolt 41075 M6X12 APS bolt 21076 M6 Washer 21090 HW0200144-1 Support 11091 HW9302618-1 Support 11092 M6X16 Socket Screw 21093 2H-6 Spring Washer 21094 FCD51 Saddle 11095 CD36 Saddle 11096 M5X10 Socket Screw 41097 M5 Washer 41101 HW9482783-A Stopper 11102 M6X35 Socket Screw 21103 2H-6 Spring Washer 21104 HW9406185-1 Cover 11105 HW9405864-1 Bracket 11106 HW9406172-1 Plate 11108 HW9302609-1 Cover 11109 M12X25 Socket Screw 41110 2H-12 Spring Washer 41112 M8X25 Socket Screw 41113 2H-8 Spring Washer 41114 MSTH6-10 Pin 2

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11 Parts List11.2 L-Axis Unit

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11.2 L-Axis Unit

2001

2013

2031

20282030

2029

2027

2032

2003

20042005

20062032

2032

1011

2007

2010

2011

20142016

2015

1090

20192020

20262024

2025

20082009

20172018

20212022

2033

2012

2034

2023

2032

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11 Parts List11.2 L-Axis Unit

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2001 HW9381680-A Shaft 12003 SGMRS-44A2A-YR2* Motor 12004 M12X60

(DACROTIZED coating)Socket 4

2005 2H-12 Spring Washer 42006 EZ0094-A0 Air breather 12007 G270 O ring 12008 M12X50 Socket Screw 162009 2H-12 Spring Washer 162010 HW9381465-A Reduction gear 12011 HW0101563-1 L arm 12012 HW9481343-A Shaft 12013 HW0409103-1 Gear 12014 V-120A V ring 12015 HW0400693-1 Coller 12016 EZ2228B0 Cap 12017 M16X40 Socket Screw 62018 2H-16 Spring Washer 62019 M6X35 Socket Screw 22020 2H-6 Spring Washer 22021 M10X35 Socket Screw 162022 2H-10 Spring Washer 162023 UB-0640-0.1C Tube 12024 PH6-01 Union 12025 HW0483473-B Bolt 12026 NW0408806-2 Washer 12027 HW9302621-1 M base 12028 HW9481688-A Stopper 12029 M8X20 Socket Screw 12030 M8 Washer 12031 STW-9 C stopper 12032 PT1/8 Plug 42033 Y507212.5 Oil seal 12034 HW9405850-1 Spacer 11011 HW9100984-1 S head 11090 HW0200144-1 Support 1

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11 Parts List11.3 U-Axis Unit

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11.3 U-Axis Unit

30013029

3028

3040

3023

30243021

3015

3016

30203019

3014

3022

3005

3038

3039

3025

4012

3004

3008

30033002

30423041

30103009

30073006

30323031

30353034

30183017

3005

3027

3011

3012

3030

3033

3026

30253027

3026

3036

3037

3043

3044

30463045

2011

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11 Parts List11.3 U-Axis Unit

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3001 SGMRS-20A2A-YR2* Motor 13002 M12X45 Socket Screw 43003 2H-12 Spring Washer 43004 HW0385484-A Reduction gear 13005 PT1/8 Plug 23006 M12X55 Socket Screw 123007 2H-12 Spring Washer 123008 HW0309441-1 Flange 13009 M6X20 Socket Screw 33010 2H-6 Spring Washer 33011 V-120A V ring 13012 HW0400693-1 Color 13014 STW-9 C stopper 13015 HW0483473-A Bolt 13016 HW0408806-2 Washer 13017 M8X20 Socket Screw 153018 2H-8 Spring Washer 153019 HW0409102-1 Gear 13020 HW9481648-A Shaft 13021 HW0309445-1 Shaft 13022 G220 O ring 13023 Y507212.5 Oil seal 13024 HW9405257-1 Collar 13025 HW9405876-1 Pin 23026 M6X40 Socket Screw 23027 2H-6 Spring Washer 23028 H417-100 Cooler 13029 HW9482404-A Seat 23030 HW0200927-1 Support 13031 M6X20 Socket Screw 43032 2H-6 Spring Washer 43033 HW0309442-1 Cover 13034 M6X16 Socket Screw 53035 2H-6 Spring Washer 53036 HW9405866-A Cover 13037 M6X12 APS Bolt 43038 HW9405868-1 N base 13039 M5X16

(DACROTIZED coating)Bolt 4

3040 HW0309443-A Cover 13041 M6X16 Socket Screw 73042 2H-6 Spring Washer 73043 2H-5

(DACROTIZED coating)Spring Washer 4

3044 MSTH6-10 Pin 23045 M16X35 Socket Screw 63046 2H-16 Spring Washer 62011 HW0101563-1 L arm 14012 HW0101565-1 Casing 1

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11 Parts List11.4 R,B,T-Axis Unit

168952-1CD

11.4 R,B,T-Axis Unit

4001

4012

4013

40154020

4023

4025

4021

4024

40304030

4035

4036

4031

4032

4034

4033

4033

4032

4032

4022

4037

4014

40034004

40164017

40514052

4018

4018

4019

4010

4038

4041

4011

4005

40024053

40104011

4005

4042

40434001

4008

4008

4009

4009

4006

4044

4007

4045

4001

4039

4040

4027

T-axis

B-axis

R-axis

4026

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11 Parts List11.4 R,B,T-Axis Unit

168952-1CD


4001 SGMRS-12A2B-YR1* Motor 34002 M6X30 Socket Screw 44003 M6X35


4004 2H-6(DACROTIZED coating)

Spring Washer 4

4005 HW9404231-1 Collar 84006 M8X30 Socket Screw 44007 2H-8 Spring Washer 44008 HW9482963-A Pulley 24009 HW9405852-1 Washer 24010 M6X20 Socket Screw 24011 2H-6 Spring Washer 24012 HW0101565-1 Casing 14013 HW0400401-1 Guide 14014 RTW80 Ring 14015 HW9405851-1 B Cover 14016 M5X16 Socket Screw 44017 2H-5 Spring Washer 44018 PT1/8 Plug 24019 HW9381640-A Reduction gear 14020 STW-45 Ring 14021 6909DDU*NS7* Bearing 14022 HW9381683-A Shaft 14023 HW9381682-A Shaft 14024 6911DDU*NS7* Bearing 14025 HW9405893-1 Collar 14026 HW9381681-A Pulley 14027 STW-55 Ringt 14030 6005DDU*NS7* Bearing 24031 RTW47 Ring 14032 WR25 Ring 34033 ISTW-15 RIng 24034 HW9482774-A Pulley 14035 6202DDUC3*NS7* Bearing 14036 RTW35 Ring 14037 HW9482780-A Coupling 14038 EZ5013A0 Cap 14039 250S5M475 Belt 14040 250S5M520 Belt 14041 EZ2228B0 Cap 14042 H417-70 Cooler 14043 HW9482404-A Seat 24044 HW0200926-1 Cover 14045 M6X15 GT-SA bolt 64051 M8X40 Socket Screw 124052 2H-8 Spring Washer 124053 2H-6 Spring Washer 4

11-8

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11 Parts List11.5 Wrist Unit

168952-1CD

11.5 Wrist Unit

50505051

5031

5032

5039

50405041

50425043

50445045

5046

5047

50485049

5052

5061

5062

50675068

5069

5070

5070

5071

5072

5083

5084

5085

5087

5091

50885085

50845089

5090

5091

5092

50865093

5094

5095

5096

5103

5104

51055106

5107

51085109

5110

5112

5114

51205121

5115

5077

5079

5080

5081

5082

5053

50545055

50565057

5058

50595060

5001

4019

5011

5026

5027

5028

50295030

5012

5013

5014

5015

50165017

5018

5024

5019

5002

5003

5004 50055006

5007

5008

5009

5010

50315025

5001

11-9

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11 Parts List11.5 Wrist Unit

168952-1CD


5001 M5X7 Magic screw 25002 HW9482772-A Shaft 15003 HW9405882-1 B nut 15004 HW9405880-1 B cover 15005 HW9405892-1 Flange 15006 BG3000-15X19 Ring 15007 HW9405445-1 B nut 15008 HW9482765-A Shaft 15009 RTW42 Ring 15010 HW9481234-A Bearing 15011 6004LBD2PX24V1 Bearing 15012 HW9381675-A Shaft 15013 HW9201010-A Shaft 15014 6808LLU Bearing 25015 SC15247F585 Oil seal 15016 WR40 Ring 15017 SC39528F585 OIl seal 15018 HW9381665-A Gear 15019 HW9405887-* Sim *5024 M4X12 GT-SA bolt 35025 6905 Bearing 15026 HW9381139-A Reduction gear 15027 16005 Bearing 15028 HW9405901-1 Washer 15029 M6X16 Socket Screw 15030 2H-6 Spring Washer 15031 STW-25 Ring 25032 HW9404243-* Sim *5039 HW9405900-1 Washer 15040 M5X16 Socket Screw 15041 2H-5 Spring Washer 15042 M4X16 Socket Screw 45043 2H-4 Spring Washer 45044 M8X20 Socket Screw 155045 2H-8 Spring Washer 155046 PT1/8 Plug 15047 HW0310909-1 Shaft 15048 M6X35 Socket Screw 205049 2H-6 Spring Washer 205050 M6X20 Socket Screw 125051 2H-6 Spring Washer 125052 HW9381666-B Gear 15053 HW0100124-3 Wrist 15054 M6X30 Socket Screw 125055 2H-6 Spring Washer 125056 M6X20


5057 2H-6(DACROTIZED coating

Spring Washer 6

5058 M6X16 H set Screw 15059 M8X20


5060 2H-8(DACROTIZED coating)

Spring Washer 3

5061 HW9302632-1 Flange 15062 HW9405890-* Sim *5067 HW9381674-A Gear 15068 HW9381635-D Reduction gear 15069 HW9405891-1 Housing 1


5070 HW9480086-A Bearing 25071 HW9381673-A Gear 15072 HW9405885-* Sim *5077 M4X12 GT-SA bolt 45079 HW0311682-1 Gear 15080 PT3/8 Plug 25081 HW9405884-1 Cover 15082 M4X12 GT-SA Bolt 45083 HW0200143-1 Cover 15084 HW9405881-1 B nut 25085 M5X7 Magic screw 45086 M5X35 Socket Screw 65087 2H-5 Spring Washer 65088 HW0311683-1 Gear 15089 WR60 Ring 15090 HW9381668-A Gear 15091 HW9480086-A Bearing 25092 6912DU Bearing 15093 HW9302630-1 Housing 15094 AE3092E2 Oil seal 15095 S34 O ring 15096 HW9405886-* Sim *5103 HW9381667-A Gear 15104 HW0101835-1 U arm 15105 M8X55 Socket Screw 125106 2H-8 Spring Washer 125107 M4X6 H set Screw 25108 M4X25 Socket Screw 65109 2H-4 Spring Washer 65110 M4X12 GT-SA bolt 35112 M4X12 GT-SA bolt 45114 HW9405883-1 Collar 15115 HW9405888-* Sim *5120 M5X16 Socket Screw 65121 2H-5 Spring Washer 64019 HW9381640-A Reduction gear 1

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MOTOMAN-EH80INSTRUCTIONS

3HW0484108MANUAL NO.

Specifications are subject to change without noticefor ongoing product modifications and improvements.

72/72

Documents

YASKAWA MOTOMAN-EH80 INSTRUCTIONS · ii 168952-1CD HW0484108 • This instruction manual is intended to explain operating instructions and maintenance procedures primarily for the