motoman-es200rd instructions · 2018-12-10 · manual no. hw04852895 part number: 156828-1cd...
TRANSCRIPT
MANUAL NO.
5HW0485289
Part Number: 156828-1CDRevision: 4
MOTOMAN-ES200RDINSTRUCTIONS
TYPEYR-ES200RD-A00 (STANDARD SPECIFICATION)YR-ES200RD-A01 (SLU-AXES WITH LIMIT SWITCHES)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-XXX INSTRUCTIONSDX100 INSTRUCTIONSDX100 OPERATOR’S MANUALDX100 MAINTENANCE MANUAL
The DX100 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
1 of 92
ii
156828-1CD
HW0485289
ES200RD
Copyright © 2015, Yaskawa America, Inc. All Rights Reserved.
2 of 92
iii
156828-1CD
HW0485289
ES200RD
MANDATORY
• This instruction manual is intended to explain mainly on the mechanical part of the MOTOMAN-ES200RD for the application to the actual operation and for proper maintenance and inspection. It describes on safety and handling, details on specifications, necessary items on maintenance and inspection, to explain operating instructions and maintenance procedures. Be sure to read and understand this instruction manual thoroughly before installing and operating the manipulator.
• General items related to safety are listed in Chapter 1: Safety of the DX100 Instructions. To ensure correct and safe operation, carefully read the DX100 Instructions before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating 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.
3 of 92
iv
156828-1CD
HW0485289
ES200RD
We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA R15.06-2012). You can obtain this document from the Robotic Industries Association (RIA) at the following address:
Robotic Industries Association900 Victors WayP.O. Box 3724
Ann Arbor, Michigan 48106TEL: (734) 994-6088FAX: (734) 994-3338
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against accidents and damage that can result from improper operation of the equipment. The customer is responsible for providing adequately trained personnel to operate, program, and maintain the equipment. NEVER ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR REPAIR THE EQUIPMENT!
We recommend approved Yaskawa training courses for all personnel involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications.
4 of 92
v
156828-1CD
HW0485289
ES200RD
Notes for Safe OperationRead this manual carefully before installation, operation, maintenance, or inspection of the MOTOMAN-ES200RD .
In this manual, the Notes for Safe Operation are classified as “DANGER”, “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.
DANGERIndicates an imminent hazardous situation which, if not avoided, could result in death or serious injury to personnel.
WARNINGIndicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.
CAUTIONIndicates 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.
MANDATORYAlways be sure to follow explicitly the items listed under this heading.
PROHIBITEDMust never be performed.
NOTETo ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “DANGER”, “WARNING” and “CAUTION” .
DANGER• 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 these safety precautions may result in death or serious injury from unexpected turning of the manipulator's arm.
5 of 92
vi
156828-1CD
HW0485289
ES200RD
WARNING• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the DX100 and the programming pendant. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.
Figure 1: Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator. Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Figure 2: Release of Emergency Stop
TURN
• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:
– Be sure to use a lockout device to the safeguarding when going inside. Also, display the sign that the operation is being performed inside the safeguarding and make sure no one closes the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX100.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the DX100 and the programming pendant.
6 of 92
vii
156828-1CD
HW0485289
ES200RD
Definition of Terms Used Often in This ManualThe MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
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 cabinet of the DX100 after use.
The programming pendant can be damaged if it is left in the manipulator's work area, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the DX100 Instructions before operating the manipulator:
Equipment Manual Designation
DX100 controller DX100
DX100 programming pendant Programming pendant
Cable between the manipulator and the controller
Manipulator cable
7 of 92
viii
156828-1CD
HW0485289
ES200RD
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 manipulator. Prior to operating the manipulator, confirm the contents.
Figure 3: Warning Label Locations
WARNINGMoving partsmay causeinjury
WARNINGDo not enterrobot work area.
WARNING Label A:
WARNING Label B:
Nameplate
WARNING label A
WARNING label A
WARNING label B
Nameplate
8 of 92
ix
156828-1CD
HW0485289
ES200RD Table of Contents
Table of Contents
1 Product Confirmation ...................................................................................................................... 1-1
1.1 Contents Confirmation....................................................................................................... 1-1
1.2 Order Number Confirmation .............................................................................................. 1-2
2 Transport......................................................................................................................................... 2-1
2.1 Transport Method .............................................................................................................. 2-1
2.1.1 Using a Crane ...................................................................................................... 2-2
2.2 Shipping Bolts and Brackets.............................................................................................. 2-3
3 Installation....................................................................................................................................... 3-1
3.1 Safeguarding Installation ................................................................................................... 3-2
3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2
3.2.1 Mounting Example................................................................................................ 3-3
3.3 Location ............................................................................................................................. 3-4
4 Wiring.............................................................................................................................................. 4-1
4.1 Grounding.......................................................................................................................... 4-1
4.2 Cable Connection .............................................................................................................. 4-2
4.2.1 Connection to the Manipulator.............................................................................. 4-2
4.2.2 Connection to the DX100 ..................................................................................... 4-2
5 Basic Specifications........................................................................................................................ 5-1
5.1 Basic Specifications........................................................................................................... 5-1
5.2 Part Names and Working Axes.......................................................................................... 5-2
5.3 Manipulator Base Dimensions ........................................................................................... 5-2
5.4 Dimensions and T-Point Maximum Envelope.................................................................... 5-3
5.5 Alterable Operating Range ................................................................................................ 5-4
5.5.1 Components for Altering Operating Range .......................................................... 5-5
5.5.2 Notes on the Mechanical Stopper Installation ...................................................... 5-6
5.5.3 Adjustment of the Soft Limit of the S-Axis Pulse .................................................. 5-7
6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
6.1 Allowable Wrist Load ......................................................................................................... 6-1
6.2 Wrist Flange....................................................................................................................... 6-2
9 of 92
Table of Contents
x
156828-1CD
HW0485289
ES200RD
7 System Application..........................................................................................................................7-1
7.1 Peripheral Equipment Mounts............................................................................................7-1
7.2 Internal User I/O Wiring Harness and Air Line...................................................................7-2
8 Electrical Equipment Specification .................................................................................................. 8-1
8.1 Position of Limit Switch ......................................................................................................8-1
8.2 Internal Connections.......................................................................................................... 8-2
9 Maintenance and Inspection ........................................................................................................... 9-1
9.1 Inspection Schedule........................................................................................................... 9-1
9.2 Notes on Maintenance Procedures.................................................................................... 9-6
9.2.1 Battery Pack Replacement ...................................................................................9-6
9.3 Notes on Grease Replenishment/Exchange Procedures ..................................................9-8
9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer and Gear ............. 9-9
9.3.1.1 Grease Replenishment............................................................................9-9
9.3.1.2 Grease Exchange.................................................................................. 9-10
9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer............................ 9-11
9.3.2.1 Grease Replenishment..........................................................................9-11
9.3.2.2 Grease Exchange.................................................................................. 9-12
9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-13
9.3.3.1 Grease Replenishment..........................................................................9-13
9.3.3.2 Grease Exchange.................................................................................. 9-14
9.3.4 Grease Replenishment/Exchange for U-Arm ..................................................... 9-15
9.3.4.1 Grease Replenishment for R-, B-, T-Axes Gears in the Casing ............ 9-16
9.3.4.2 Grease Replenishment for R-Axis Speed Reducer ............................... 9-16
9.3.4.3 Grease Replenishment for B-Axis Speed Reducer ............................... 9-17
9.3.4.4 Grease Replenishment for T-Axis Speed Reducer ............................... 9-17
9.3.4.5 Grease Exchange for R-, B-, T-Axes Gears in the Casing.................... 9-18
9.3.4.6 Grease Exchange for R-Axis Speed Reducer .......................................9-19
9.3.4.7 Grease Exchange for B-Axis Speed Reducer .......................................9-19
9.3.4.8 Grease Exchange for T-Axis Speed Reducer .......................................9-20
9.3.5 Grease Replenishment for Balancer Connection Part........................................ 9-21
9.3.6 Notes for Maintenance........................................................................................ 9-23
9.3.6.1 Battery Pack Connection.......................................................................9-23
10 Recommended Spare Parts........................................................................................................ 10-1
10 of 92
xi
156828-1CD
HW0485289
ES200RD Table of Contents
11 Parts List .................................................................................................................................... 11-1
11.1 S-Axis Unit ..................................................................................................................... 11-1
11.2 L-Axis Unit ..................................................................................................................... 11-4
11.3 URBT-Axes Unit ............................................................................................................ 11-7
11.4 U-Arm Unit ................................................................................................................... 11-10
11.5 Wrist Unit ..................................................................................................................... 11-12
11.6 Balancer Unit ............................................................................................................... 11-15
11 of 92
1 Product Confirmation1.1 Contents Confirmation
1-1
156828-1CD
HW0485289
ES200RD
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 are given separately):
• Manipulator
• DX100
• Programming pendant
• Manipulator cables (between the DX100 and the Manipulator)
CAUTION
• Confirm that the manipulator and the DX100 have the same order number. Special care must be taken when more than one manipulator is to be installed.
If the numbers do not match, manipulators may not perform as expected and cause injury or damage.
12 of 92
1-2
156828-1CD
HW0485289
ES200RD 1 Product Confirmation1.2 Order Number Confirmation
1.2 Order Number Confirmation
Check that the order number of the manipulator corresponds to the DX100. The order number is located on a label as shown below.
Fig. 1-1: Location of Order Number Labels
THE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER.
ORDER NO.
Check that the manipulator and the DX100 have the same order number.
Label (Enlarged View)
(a) DX100 (Front View) (b) Manipulator (Side View)
YCEG N
OT P
ME
E
S
R
ON
TRIP
PEDRESET
OFF
AVERAGEPEAK kVA
kAINTERRUPT CURRENT
ERDR-POWER SUPPLY
TYPE
DX100kVA
3PHASE
NJ2960-1
60Hz
SERIAL No.
DATE
AC220V
MADE IN JAPAN
50/60HzAC200V
NJ1529
13 of 92
2 Transport2.1 Transport Method
2-1
156828-1CD
HW0485289
ES200RD
2 Transport
2.1 Transport Method
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 transport.
The system consists of precision components. Failure to observe this caution may adversely affect performance.
NOTE
• The weight of the manipulator is approximately 2030kg including the shipping bolts and brackets. Use a wire rope strong enough to withstand the weight.
• Shipping bolts and brackets are designed to support the manipulator weight. Do not use them for anything other than transporting the manipulator.
• Mount the shipping bolts and brackets for transporting the manipulator.
• Avoid putting external force on the arm or motor unit when transporting by a crane or other equipment. Failure to observe this instruction may result in injury.
14 of 92
2-2
156828-1CD
HW0485289
ES200RD 2 Transport2.1 Transport Method
2.1.1 Using a Crane
As a rule, the manipulator should be lifted by a crane with four wire ropes when removing it from the package and moving it. Be sure that the manipulator is fixed with the shipping bolts and brackets before transport, and lift it in the posture as shown in Fig.2-1 "Transporting Position".
Fig. 2-1: Transporting Position
A
Electrical tapepainted yellow
Rubber plate
Details of B
Shipping bracket
Hexagon socket head cap screw
Hexagon head screw
15 of 92
2 Transport2.2 Shipping Bolts and Brackets
2-3
156828-1CD
HW0485289
ES200RD
2.2 Shipping Bolts and Brackets
The manipulator is provided with shipping bolts and brackets at position A. (See Fig. 2-1) "Transporting Position" on page 2-2.)
Fig. 2-2: Shipping Bolts and Brackets
• The shipping bracket A is painted yellow.
Position Screw Type Pcs
A Hexagon head screw M20 x 50 mm 8
B Hexagon socket head cap screw M16 x 20 mm 1
NOTEBefore turning ON the power, check to be sure that the shipping bolts and brackets are removed. The shipping bolts and brackets then must be stored for future use, in the event that the manipulator must be moved again.
B
A
Electrical tapepainted yellow
Rubber plate
Shipping bracket
Hexagon socket head cap screw
Front view Side view
16 of 92
3-1
156828-1CD
HW0485289
ES200RD 3 Installation
3 Installation
WARNING• Install the safeguarding.
Failure to observe this warning may result in injury or damage.
• Install the manipulator in a location where the tool or the workpiece held by its fully extended arm will not reach the wall, safeguarding, 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.
CAUTION
• Do not install or operate the manipulator that is damaged or lacks parts.
Failure to observe this caution may cause injury or damage.
• Before turning ON the power, check to be sure that the shipping bolts and brackets explained in Fig. 2-2 "Shipping Bolts and Brackets" on page 2-3 are removed.
Failure to observe this caution may result in damage to the driving parts.
17 of 92
3 Installation3.1 Safeguarding Installation
3-2
156828-1CD
HW0485289
ES200RD
3.1 Safeguarding Installation
To insure safety, be sure to install safeguarding. It prevents unforeseen accidents with personnel and damage to equipment. Refer to the quoted clause for your information and guidance:
Responsibility for Safeguarding (ISO10218)
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 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 forces of the manipulator referring to Table 3-1 "Maximum Repulsion Forces 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. Mount the manipulator base as instructed in section 3.2.1 “Mounting Example” on page 3-3.
Table 3-1: Maximum Repulsion Forces of the Manipulator at Emergency Stop
Maximum torque in horizontal rotation (S-axis moving direction)
32000 N•m(3265 kgf•m)
Maximum torque in vertical rotation (L-, U-axes moving direction)
78500 N•m(8000 kgf•m)
Table 3-2: Endurance Torque in Operation
Endurance torque in horizontal operation (S-axis moving direction)
9000 N•m(918 kgf•m)
Endurance torque in vertical operation (L-, U-axes moving direction)
26150 N•m(2664 kgf•m)
18 of 92
3-3
156828-1CD
HW0485289
ES200RD 3 Installation3.2 Mounting Procedures for Manipulator Base
3.2.1 Mounting Example
For the first process, anchor the baseplate firmly to the ground. The baseplate should be rugged and durable to prevent shifting of the manipulator or the mounting fixture. It is recommended to prepare a baseplate of 50 mm or more thickness, and anchor bolts of M20 or larger size.
The manipulator base is tapped for eight mounting holes; securely fix the manipulator base to the baseplate with eight hexagon socket head cap screws M20 (80 mm long is recommended).
Next, fix the manipulator base to the baseplate. Tighten the hexagon socket head cap screws and anchor bolts firmly so that they will not work loose during the operation.
Refer to Fig.3-1 "Mounting the Manipulator on Baseplate".
Fig. 3-1: Mounting the Manipulator on Baseplate
40
Hexagon socket head cap screw M20 (8 screws)
Spring washer
Baseplate
Washer
Flatness: 0.5 mm or less
Manipulator base
19 of 92
3 Installation3.3 Location
3-4
156828-1CD
HW0485289
ES200RD
3.3 Location
When installing a manipulator, it is necessary to satisfy the following environmental conditions:
• Ambient temperature: 0° to + 45°C
• Humidity: 20 to 80%RH (non-condensing)
• Free from dust, soot, or water
• Free from corrosive gas or liquid, or explosive gas
• Free from excessive vibration (Vibration acceleration: 4.9 m/s2 [0.5 G] or less)
• Free from large electrical noise (plasma)
• Flatness for installation: 0.5 mm or less
20 of 92
4-1
156828-1CD
HW0485289
ES200RD 4 Wiring4.1 Grounding
4 Wiring
4.1 Grounding
Follow electrical installation standards and wiring regulations for grounding. A ground wire of 5.5 mm2 or more is recommended.
Refer to Fig. 4-1 "Grounding Method" on page 4-2 to connect the ground line directly to the manipulator.
WARNING• Ground resistance must be 100 Ω 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.
• DO NOT cover the cable with heat insulating material, and avoid multiple cabling when laying manipulator cables from the manipulator to the DX100.
Failure to observe this caution may result in burn caused by cable heat emission failure.
NOTE
• Never use this wire 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 electrical installation standards.
21 of 92
4 Wiring4.2 Cable Connection
4-2
156828-1CD
HW0485289
ES200RD
Fig. 4-1: Grounding Method
4.2 Cable Connection
Three manipulator cables are delivered with the manipulator: an encoder cable (1BC) and two power cables (2BC and 3BC). (Refer to Fig. 4-2 "Manipulator Cables" on page 4-3.)
Connect these cables to the manipulator base connectors and to the DX100. Refer to Fig. 4-3(a) "Manipulator Cable Connectors (Manipulator Side)" on page 4-4 and Fig. 4-3(b) "Manipulator Cable Connection (DX100 Side)" on page 4-4.
4.2.1 Connection to the Manipulator
Before connecting two cables to the manipulator, verify the numbers on both manipulator cables and the connectors on the connector base of the manipulator. When connecting, adjust the cable connector positions to the main key positions of the manipulator, and insert cables in the order of 2BC, 3BC, then 1BC. After inserting the cables, depress the lever until it clicks.
4.2.2 Connection to the DX100
Before connecting cables to the DX100, verify the numbers on both manipulator cables and the connectors on the DX100. When connecting, insert the cables in the order of X21, X22, then X11, and depress each lever until it clicks.
Bolt M8 (for grounding)Delivered with the manipulator
5.5 mm2 or moreEnlarged View A
A
22 of 92
4-3
156828-1CD
HW0485289
ES200RD 4 Wiring4.2 Cable Connection
Fig. 4-2: Manipulator Cables
Power Cable
Power Cable
Encoder Cable
DX100 side
DX100 side
DX100 side
Manipulator side
Manipulator side
Manipulator side
X11 1BC
X21
2BC
X22
3BC
3BC
X11 1BC
X21 2BC
X22 3BC
2BC
1BC
23 of 92
4 Wiring4.2 Cable Connection
4-4
156828-1CD
HW0485289
ES200RD
Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side)
Fig. 4-3(b): Manipulator Cable Connection (DX100 Side)
Connector Details(Manipulator Side)
Keypositions
3BC
1BC
AIRS1
2BC
S1
1BC
AIR
2BC
A
3BC
X22
X21X11
24 of 92
5-1
156828-1CD
HW0485289
ES200RD 5 Basic Specifications5.1 Basic Specifications
5 Basic Specifications
5.1 Basic Specifications
Table 5-1: Basic Specifications1)
Item Model MOTOMAN-ES200RD
Structure Vertically Articulated
Degree of Freedom 6
Payload 200 kg
Repeatability2) ±0.2 mm
Range of Motion S-Axis (turning) -180° - +180°
L-Axis (lower arm) -130° - +80°
U-Axis (upper arm) -107° - +208°
R-Axis (wrist roll) -360° - +360°
B-Axis (wrist pitch/yaw) -125° - +125°
T-Axis (wrist twist) -360° - +360°
Maximum Speed S-Axis 1.57 rad/s, 90°/s
L-Axis 1.48 rad/s, 85°/s
U-Axis 1.48 rad/s, 85°/s
R-Axis 2.09 rad/s, 120°/s
B-Axis 2.09 rad/s, 120°/s
T-Axis 3.32 rad/s, 190°/s
Allowable Moment3) R-Axis 1344 N•m (137 kgf•m)
B-Axis 1344 N•m (137 kgf•m)
T-Axis 715 N•m (73 kgf•m)
Allowable Inertia (GD2/4) R-Axis 143 kg•m2
B-Axis 143kg•m2
T-Axis 80 kg•m2
Approx. Mass 1800 kg
Ambient Conditions Temperature 0° C to 45° C
Humidity 20 to 80% RH (non-condensing)
Vibration Acceleration 4.9 m/s2 or less (0.5 G)
Others Free from corrosive gas or liquid, or explosive gasFree from exposure to water, oil, or dustFree from excessive electrical noise (plasma)
Power Requirements 5 kVA
1 SI units are used in this table. However, gravitational unit is used in ( ).2 Conformed to ISO92833 Refer to section 6.1 “Allowable Wrist Load” on page 6-1 for details on the permissible moment of inertia.
25 of 92
5 Basic Specifications5.2 Part Names and Working Axes
5-2
156828-1CD
HW0485289
ES200RD
5.2 Part Names and Working Axes
Fig. 5-1: Part Names and Working Axes
5.3 Manipulator Base Dimensions
Fig. 5-2: Manipulator Base Dimensions
Lower armL-arm
Base Upper arm(U-arm)
Wrist
Wrist flange
Rotary head
T- T+
B-
R-
U-L+
B+
R+
U+
L-
S-
S+
A
40
350±
0.1
290±
0.1
290±
0.1
640
290±0.1
893
290±0.1
540
290±0.1290±0.1
540
640
735
353±0.1
View A
22 dia. (8 holes)(For fixing the manipulator)Units: mm
Fitting surface
Fitting surface
20 dia. (2 holes)(Pin hole for manipulator positioning)
+0.021 0
16 dia. (2 holes)(Pin hole for manipulator positioning)
+0.018 0
26 of 92
5-3
156828-1CD
HW0485289
ES200RD 5 Basic Specifications5.4 Dimensions and T-Point Maximum Envelope
5.4 Dimensions and T-Point Maximum Envelope
Fig. 5-3: Dimensions and P-Point Maximum Envelope
P-pointmaximumenvelope
P-point
180°
180°
365555
R3140R1000
153250
78°
2293
1150740
11.6°
130°
R1232
R873
365
555
0
795
28°
0
122591
250
11.6°80
°78
°
107°
1932
3140
1117
1232741
20575
100
450
0
310
304
85
564
42
766
2295
2850
27 of 92
5 Basic Specifications5.5 Alterable Operating Range
5-4
156828-1CD
HW0485289
ES200RD
5.5 Alterable Operating Range
The operating range of the S-axis can be altered in accordance with the operating conditions as shown in Table 5-2 "S-Axis Operating Range". If alteration is necessary, contact your Yaskawa representative in advance.
* The interval between stoppers must be 60° or more.
Table 5-2: S-Axis Operating Range
Item Specifications
S-Axis Operating Range
-180° - +180°(standard)*(-165° - +165°)-150° - +150°-135° - +135°-120° - +120°-105° - +105°-90° - +90°-75° - +75°-60° - +60°-45° - +45°-30° - +30°*(-15° - +15°)
NOTE When altering the operating range to -15° - +15° or -165° - +165°, please contact your Yaskawa representative.
28 of 92
5-5
156828-1CD
HW0485289
ES200RD 5 Basic Specifications5.5 Alterable Operating Range
5.5.1 Components for Altering Operating Range
Arrange the components listed in Fig.5-4 "Components of S-axis Stopper", when modifying the angle of S-axis.
(1) Pin (drawing No. HW0402104-1, 1 pin)
(2) Stopper (drawing No. HW0302424-2, 1 stopper)
(3) Hexagon head screw M20 (length: 45 mm, tensile strength: 1200 N/mm2 or more, 3 screws)
(4) Flat washer M20 (3 flat washers)
Fig. 5-4: Components of S-axis Stopper
Stopper(HW0302424-2)
Pin(HW0402104-1)
Section A-A’
Hexagon head screw M20 (length: 45 mm)(tensile strength: 1200 N/mm2 or more, 3 screws)Washer M20 (3 washers)
A’
A
29 of 92
5 Basic Specifications5.5 Alterable Operating Range
5-6
156828-1CD
HW0485289
ES200RD
5.5.2 Notes on the Mechanical Stopper Installation
• Apply the Locktite 242 to the thread part of the pin HW0402104-1, and install the pin bottom up into the S-axis mechanical stopper HW0302424-2 as shown in Fig. 5-4 "Components of S-axis Stopper" on page 5-5. Mount the stopper to the S-head with three hexagon head screws M20 (length: 45 mm) and tighten the screws to the tightening torque of 402 N•m (tensile strength: 1200 N/mm2 or more). The stopper is installed as shown in Fig. 5-4 "Components of S-axis Stopper" on page 5-5 when the operating range is ±180°.
• The S-axis mechanical stopper can be installed at a pitch of 15 degrees. However, to avoid the mechanical troubles caused by interference between stoppers (e.g. ±15°, ±165°), install the stopper referring to Table 5-3 "Settable Angle for S-Axis Stopper" on page 5-8.
• To ensure the stopper strength, make sure to fix both sides of the protrusion with screws. DO NOT fix only one side of the protrusion. (See Fig.5-5 "Properly-Mounted Image".)
• The figures from Fig. 5-6(a) "Properly-Mounted Models for S-Axis Stopper" on page 5-9 to Fig. 5-6(g) "Properly-Mounted Models for S-Axis Stopper" on page 5-15 show how to install the S-axis mechanical stopper for positive (+) directions. For negative (-) directions, install the stopper symmetrically.
• As in the figures: Fig. 5-6(a) "Properly-Mounted Models for S-Axis Stopper" on page 5-9 to Fig. 5-6(g) "Properly-Mounted Models for S-Axis Stopper" on page 5-15, the S-axis mechanical stopper is reversible that either side of the stopper can be used and installed except for the installation at the angles: ±30, ±60, ±120, ±150 degrees. If the stopper cannot be installed in the range shown in Table 5-3 "Settable Angle for S-Axis Stopper" on page 5-8, flip the stopper and retry installing the stopper.
Fig. 5-5: Properly-Mounted Image
Improper Installation Proper Installation
Hexagon headscrews M20
Hexagon headscrews M20
NOTE1. Apply the specified components when mounting the S-
Axis mechanical stopper.
2. TURN OFF the electric power supply before mounting.
30 of 92
5-7
156828-1CD
HW0485289
ES200RD 5 Basic Specifications5.5 Alterable Operating Range
5.5.3 Adjustment of the Soft Limit of the S-Axis Pulse
To limit the operating range of the S-axis, refer to "DX100 Concurrent I/O (155491-1CD)" and change the following parameters with the programming pendant.
Pulse limit (positive (+) direction of the S-axis): SICxG400
Pulse limit (negative (-) direction of the S-axis): SICxG408
ES200RD
Degree Number of Pulse
0° 0
±15°1)
1 Refer to section 5.5 “Alterable Operating Range” on page 5-4.
± 35840
± 30° ± 71680
± 45° ± 107520
± 60° ± 143360
± 75° ± 179200
± 90° ± 215040
± 105° ± 250880
± 120° ± 286720
± 135° ± 322560
± 150° ± 358400
±165°1) ± 394240
± 180° ± 430080
NOTEAdjust both of the pulse limit and the angle of the S-axis mechanical stopper when modifying the range of motion of the manipulator.
31 of 92
5 Basic Specifications5.5 Alterable Operating Range
5-8
156828-1CD
HW0485289
ES200RD
Table 5-3: Settable Angle for S-Axis Stopper
180
165
150
135
120
105
9075
6045
3015
0-1
5-3
0-4
5-6
0-7
5-9
0-1
05-1
20-1
35-1
50-1
65-1
80-1
80-1
65-1
50-1
35-1
20-1
05 -90
-75
-60
-45
-30
-15 0 15 30 45 60 75 90
105
120
135
150
165
180
: Set
tabl
e an
gle
: Dis
able
d an
gle
+ D
irect
ion
Ang
les
- Direction Angles
Thi
s ta
ble
can
be u
sed
whe
n in
stal
ling
two
mec
hani
cal s
topp
ers
on th
e S
-axi
s.T
he v
ertic
al a
xis
of th
e ta
ble
show
s th
e an
gles
in th
e po
sitiv
e di
rect
ion,
and
the
horiz
onta
l axi
s of
the
tabl
e sh
ows
the
angl
es in
the
nega
tive
dire
ctio
n.F
or e
xam
ple,
if o
ne s
topp
er is
to b
e in
stal
led
at a
180
deg
ree
angl
e in
the
posi
tive
dire
ctio
n, th
e ot
her
one
can
be in
stal
led
with
in th
e ra
nge
of +
/-10
5 de
gree
ang
les:
sin
ce m
ore
than
60
degr
ees
of in
terv
al is
req
uire
d to
mou
nt tw
o st
oppe
rs, t
he c
hart
indi
cate
s th
at th
e ot
her
angl
es a
re in
appr
opria
te fo
r th
e in
stal
latio
n.
Exc
eptio
n: T
he to
p le
ft ce
ll in
dica
tes
the
mou
ntab
ility
of o
ne s
topp
er.
32 of 92
5-9
156828-1CD
HW0485289
ES200RD 5 Basic Specifications5.5 Alterable Operating Range
Fig. 5-6(a): Properly-Mounted Models for S-Axis Stopper
Installation at + 165°
The stopper is reversible.Either side of the stoppercan be used.
The stopper is reversible.Either side of the stoppercan be used.
Installation at + 180°
Hexagon head screws
Hexagon head screws
33 of 92
5 Basic Specifications5.5 Alterable Operating Range
5-10
156828-1CD
HW0485289
ES200RD
Fig. 5-6(b): Properly-Mounted Models for S-Axis Stopper
Hexagon head screws
Hexagon head screws
The stopper is reversible.Either side of the stopper can be used.
Installation at + 150°
The stopper is irreversible.Only this side of the stopper canbe used at this angle.
Installation at + 135°
34 of 92
5-11
156828-1CD
HW0485289
ES200RD 5 Basic Specifications5.5 Alterable Operating Range
Fig. 5-6(c): Properly-Mounted Models for S-Axis Stopper
The stopper is reversible.Either side of the stoppercan be used.
Hexagon head screws
Hexagon head screws
The stopper is irreversible.Only this side of the stopper canbe used at this angle.
Installation at + 120°
Installation at + 105°
35 of 92
5 Basic Specifications5.5 Alterable Operating Range
5-12
156828-1CD
HW0485289
ES200RD
Fig. 5-6(d): Properly-Mounted Models for S-Axis Stopper
Installation at + 90°
The stopper is reversible.Either side of the stopper can be used.
Hexagon head screws
Installation at + 75°
Hexagon head screws
The stopper is reversible.Either side of the stopper can be used.
36 of 92
5-13
156828-1CD
HW0485289
ES200RD 5 Basic Specifications5.5 Alterable Operating Range
Fig. 5-6(e): Properly-Mounted Models for S-Axis Stopper
Installation at + 60°
The stopper is reversible.Either side of the stopper can be used.
Hexagon head screws
The stopper is irreversible.Only this side of the stopper can be used at this angle.
Hexagon head screws
Installation at + 45°
37 of 92
5 Basic Specifications5.5 Alterable Operating Range
5-14
156828-1CD
HW0485289
ES200RD
Fig. 5-6(f): Properly-Mounted Models for S-Axis Stopper
Installation at + 30°
The stopper is reversible.Either side of the stopper can be used.
Hexagon head screws
The stopper is irreversible.Only this side of the stoppercan be used at this angle.
Hexagon head screws
Installation at + 15°
38 of 92
5-15
156828-1CD
HW0485289
ES200RD 5 Basic Specifications5.5 Alterable Operating Range
Fig. 5-6(g): Properly-Mounted Models for S-Axis Stopper
The stopper is reversible.Either side of the stopper can be used.
Hexagon head screws
Installation at + 0°
39 of 92
6 Allowable Load for Wrist Axis and Wrist Flange6.1 Allowable Wrist Load
6-1
156828-1CD
HW0485289
ES200RD
6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
The allowable wrist load is 200 kg maximum. 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 6-1 "Allowable Wrist Load". Contact your Yaskawa representative for further information or assistance.
When the volume load is small, refer to the moment arm rating shown in Fig.6-1 "Moment Arm Rating".
The allowable total moment of inertia is calculated when the moment is at the maximum. Contact your Yaskawa representative beforehand when only the moment of inertia is created, or when the load moment is small while the moment of inertia is large. Also, when the load mass is combined with an outside force, contact your Yaskawa representative beforehand.
Fig. 6-1: Moment Arm Rating
Table 6-1: Allowable Wrist Load
Axis Moment N•m (kgf•m)1)
1 ( ): Gravitational unit
GD2/4 Total Moment of Inertia kg•m2
R-Axis 1344 (137) 143
B-Axis 1344 (137) 143
T-Axis 715 (73) 80
200
60kg1000
LT (mm)
14001200 LB (mm)
80kg
100kg
200kg
800400130kg
600
165kg
1000
800
600
400
400
200
600
800
1000LT (mm)
P-point T-, R-axiscenter of rotation
B-axis center of rotation
40 of 92
6-2
156828-1CD
HW0485289
ES200RD 6 Allowable Load for Wrist Axis and Wrist Flange6.2 Wrist Flange
6.2 Wrist Flange
The wrist flange dimensions are shown in Fig.6-2 "Wrist Flange". It is recommended that the attachment be mounted inside the fitting in order to identify the alignment marks. Fitting depth shall be 8 mm or less. As shown in the figure below, the attachment shall be mounted on the range of 90 diameter or less with up to 8 mm height from the flange face.
Fig. 6-2: Wrist Flange
Tappled hole M10(6 places)(depth: 12)
10 dia. hole(2 places)(depth: 8)
+0.015 0
Units: mm
63 d
ia.+0
.030
0
180
dia.
0 -0.0
25
9 dia. hole(2 places)(depth: 8)
+0.015 0
Tappled hole M10(6 places)(depth: 12)
8
8P.C.D.92
P.C.D
.125
NOTE Wash off anti-corrosive paint (yellow) on the wrist flange surface with thinner or light oil before mounting the tools.
41 of 92
7 System Application7.1 Peripheral Equipment Mounts
7-1
156828-1CD
HW0485289
ES200RD
7 System Application
7.1 Peripheral Equipment Mounts
The peripheral equipment mounts and tapped holes are provided on the wrist unit as shown in Fig.7-1 "Installing Peripheral Equipment" for easier installation of the users’ system applications.
The following conditions shall be observed to attach or install peripheral equipment. (Refer to Table 7-1 "Conditions for Installation".)
Fig. 7-1: Installing Peripheral Equipment
Tapped hole M12(8 places)(depth: 24)
Units: mm
Tapped hole M8(4 places)(depth: 15)
Tapped hole M8(4 places)(depth: 15)
365555
120133
255
40
120
255
40
8545
0
205 75
100
A2
A1
B
Table 7-1: Conditions for Installation
Application Note
A1, A2 Cable Processing and Valve Load
30 kg max.49 N•m (5 kgf•m) max. for moment increase amount of upper arm
B Others 200 kg max.
42 of 92
7-2
156828-1CD
HW0485289
ES200RD 7 System Application7.2 Internal User I/O Wiring Harness and Air Line
7.2 Internal User I/O Wiring Harness and Air Line
6 cables for valves (0.75 mm2), 18 internal user I/O wires (0.5 mm2 x 6 wires, 0.3 mm2 x 12 wires), the cables for the external axis (1.25 mm2 x 7 cables, 0.75 mm2 x 2 cables, 0.2 mm2 x 4 cables), and an air line are incorporated in the manipulator for the drive of peripheral devices mounted on the upper arm as shown in Fig. 7-2 "Connectors for Internal User I/O Wiring Harness and Air Line" on page 7-3.
The connector pins, and the terminals are assigned as shown in Fig. 7-2 "Connectors for Internal User I/O Wiring Harness and Air Line" on page 7-3 and Fig. 7-3 "Details of the Connector Pin Numbers" on page 7-4. Wiring must be performed by users.
The allowable current for internal user I/O wiring harness
8.0A or less / wire. (1.25 mm2)5.0A or less / wire. (0.75 mm2)3.5A or less / wire. (0.5 mm2)2.8A or less / wire. (0.3 mm2)2.3A or less / wire. (0.2 mm2)
The maximum pressure for the air line 490 kPa (5 kgf/cm2) or less(The air line inside diameter: 8.0mm)
43 of 92
7 System Application7.2 Internal User I/O Wiring Harness and Air Line
7-3
156828-1CD
HW0485289
ES200RD
Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line
View A
S1
3BC
1BC
2BC
AIR
molexmolexmolex
A
A
Connector for the external axis (Encoder cable):JL05-2A20-29SC (with a cap)Prepare connector: JL05-6A20-29P
Connector for the internal user I/O wiring harness (Casing):JL05-2A22-14SC (with a cap)Prepare connector: JL05-6A22-14P
Exhaust port (air flow):Tapped hole PT3/8 with a pipe plug
Connector for the external axis (Power cable):JL05-2A18-1SC (with a cap)Prepare connector: JL05-6A18-1P
Key position
Air inlet (air flow):Tapped hole PT3/8with a pipe plug
Connector for the internal user I/O wiring harness (Base): JL05-2A28-21PC (with a cap)Prepare connector: JL05-6A28-21S
44 of 92
7-4
156828-1CD
HW0485289
ES200RD 7 System Application7.2 Internal User I/O Wiring Harness and Air Line
Fig. 7-3: Details of the Connector Pin Numbers
43
2214
2113
202726
32 33
15
28
9821
121118
25243035
1016
232934
17
5 6 7
3631
19
321
6
45
P
P
P
78
1011
9
1314
1617
15
192021
18
12
7611
3
121615
549
1
81413
17 18
10
2
12
543
87
11109
6
131415161718
12
610
3
8512
74
914
161211
1513
12
1015
921
4
7
58
3
96
21
54
6
3
222324
87
9
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
0.3mm2 (12 pins)
0.75mm2 (6 pins)
0.2mm2 (4 pins)
1.25mm2 (4 pins)
0.75mm2 (2 pins)
0.5mm2 (6 pins)
0.3mm2 (12 pins)
1.25mm2 (3 pins)
0.5mm2 (6 pins)
Pins used
Pins used
Pins used
Pins used
Shielded wire
Pin details for internal user I/O wiring harness (Base side)
Pin details for internal user I/O wiring harness (Casing side)
Pin details for external axis encoder cable
Pin details for external axis power cable
45 of 92
8 Electrical Equipment Specification8.1 Position of Limit Switch
8-1
156828-1CD
HW0485289
ES200RD
8 Electrical Equipment Specification
8.1 Position of Limit Switch
The limit switches are optional. For the S-, L-, and U-axes with limit switches specifications, the limit switches are located on the S-axis, L-axis, and U-axis respectively. For the location, refer to Fig.8-1 "Location of Limit Switches".
Fig. 8-1: Location of Limit Switches
L- and U-axes interferencelimit switch (optional)
L-axis overrun limit switch (optional)
S-axis overrun limit switch (optional)
46 of 92
8-2
156828-1CD
HW0485289
ES200RD 8 Electrical Equipment Specification8.2 Internal Connections
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 number and location of connectors, see Fig.8-2 "Locations and Numbers of Connectors".
Diagrams for internal connections of the manipulator are shown in Fig. 8-3(a) "Internal Connection Diagram" on page 8-3 and Fig. 8-3(b) "Internal Connection Diagram" on page 8-4.
Fig. 8-2: Locations and Numbers of Connectors
Table 8-1: List of Connector Types
Name Type of Connector
Connector Base Connector for internal user I/O wiring harness
JL05-2A28-21PC(JL05-6A28-21S: Optional)
U-arm Connector for internal user I/O wiring harness
JL05-2A22-14SC(JL05-6A22-14P: Optional)
Connector for external axis(Encoder cable)
JL05-2A20-29SC(JL05-6A20-29P: Optional)
Connector for external axis(Power cable)
JL05-2A18-1SC(JL05-6A18-1P: Optional)
3BC
1BC
AIRS1
2BC
S1
3BC
2BC
1BC
A
AIR
3BC
2BC
1BC
Connector for internal userI/O wiring harness (Base)
Connector for external axis(Power cable)
Connector for external axis(Encoder cable)
Connector for internal user I/O wiring harness (Casing)
47 of 92
8-3
156828-1CD
HW0485289
8 Electrical Equipment Specification8.1 Internal Connections
ES200RD
Fig. 8-3(a): Internal Connection Diagram
E E E E
LD1+24
E E E E E E E
LD1+24
0V
LC1 LD1
LB2LB1
LD1LD2
LA3LB3
LD3LC3
CN4-10CN4-10 0V
2324
22 SP22SP23SP24
P
P
P
P
P
P
0BAT6BAT6
PG5V6
T-1-2-3
No.21CN
-4 PG0V6
0BAT5BAT5
PG5V5
B-1-2-3
No.20CN
-4 PG0V5
R
0BAT4
PG0V4PG5V4
BAT4
-4-3-2-1No.19CN
U
0BAT3
PG0V3PG5V3
BAT3
-4-3-2-1No.18CN
L
0BAT2
PG0V2PG5V2
BAT2
-4-3-2-1No.17CN
S
0BAT1BAT1
PG5V1PG0V1
-1-2-3-4
No.16CN
X
0V+24V
0V+24V
No.22CN
-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
LA1
E
E
PG
DATA-1DATA+1
-2
0V
BATOBT+5V
1CN-1No.1CN
0BAT2
0BAT3BAT2
BAT3
BAT11819
2122
20
0BAT4
0BAT5
0BAT6BAT5
BAT4
2425
2829
2726
23
17 0BAT1BAT0BTBAT
P
P 4
23
BAT110BAT12BAT12
0BT
0BTBATP
BATP 6
87
5 0BAT21
BAT220BAT22BAT21
0BAT1110BT
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
CN1-5
CN1-2CN1-1
CN1-9CN1-10
CN1-4
PG
PG
DATA+2
FG1
BATOBT
-10
2CN-1No.2CN
-10
BAT
0VFG2
+5VOBT
-2 DATA-2
DATA-3DATA+3
-2BAT
BAT
3CN-1No.3CN
-10
OBT
0VFG3OBT
+5V
OBT
PG
PG
DATA+4DATA-4-2
OBTBAT
4CN-1No.4CN
-10OBTBAT
FG40V+5V
DATA+5DATA-5-2
0V
BATOBT+5V
5CN-1
DATA+6
-10OBTBAT
FG5
6CN-1No.6CN
No.5CN
BAT
P
P
P
P
P
P
FG1
SPG+2
FG2
SPG-2CN1-7CN1-6
CN1-8
SPG-3SPG+3
FG3CN2-3
CN2-2CN2-1
P
P
P
P
P
P
SPG+4SPG-4
FG4
CN2-7CN2-6
CN2-8
SPG-5SPG+5
SPG+6
FG5
CN3-6
CN3-3
CN3-2CN3-1
PG
No.7CN(20-29)1
-10
BAT
0V
OBT+5V
FG6
BATOBT
LA2LB2
BC1BC2
LD2LC2
15
109 0V
5V
SPG-7
FG7P
E
SP19
2 SPG+7P
P
P
LB1
SS1
LB1LB2
SS2LD2LD1
FG6
LB1+24V
CN3-8
CN4-6CN4-1
SS2
SPG+7
BC2
CN4-4
CN4-8CN4-3
CN4-7CN4-2
E
E
FG7
0V
0V5V
5V
CN2-10CN2-9CN2-5CN2-4CN4-9
CN3-5CN3-9CN3-10
CN3-4
19
S1(28-21)
CN4-5 SPG-7
MANIPULATOR
PSPG-6CN3-7 -2 DATA-6
CN1-3
CN1-5CN1-4
CN1-10CN1-9
0V
0V+24V
+24V
CN1-1CN1-2 SPG-1
SPG+1
DX100
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
CN4-1CN4-6
+24VLB1
CN4-2CN4-7
SS2AL1
CN4-8CN4-3 BC2
AL2
SPG+7
FG7CN4-5CN4-9CN2-4CN2-5CN2-9CN2-10 0V
CN3-10CN3-9CN3-5 0V
5V
5VCN3-4
SPG-7CN4-4
SPG-6
No.8CN(22-14)
321 SP1
SP2SP3
SP6
789
SP7SP8
65 SP5
SP44
13141516
1211
SP12SP13SP14SP15
SP11SP10
18 SP18SP1717 SP16
10 SP9
SP20SP21
P
P
P
12
21
6
87
45
3
20
1213
1514
1011
181716
9
B3A3
B2A2
B1
A1
LA3LB3
LB2LB1
LB1
LA1
LC3LD3
LD2LD1
LD1
LC1LD1
LC2LD2LD2
LD1LC1
**
**
LB1
LA2LB2LB2
LB1LA1
Base
SLU-axes with Limit Switch Specification
A1Connected toS-AXIS OVERRUN L.S.
A3L AND U-AXIS INTERFERENCE L.S. Connected to
A2L-AXIS OVERRUN L.S. Connected to
B1S-AXIS OVERRUN L.S. Connected to
B2L-AXIS OVERRUN L.S. Connected to
B3L AND U-AXIS INTERFERENCE L.S. Connected to
1. For the limit switch specification, the connection of the section Notes
A B parts are changed as follows:and
T-AXIS
B-AXIS
R-AXIS
U-AXIS
L-AXIS
S-AXIS
FOR LAMP (OPTION)
Casing
48 of 92
8 Electrical Equipment Specification8.1 Internal Connections
8-4
156828-1CD
HW0485289
ES200RD
Fig. 8-3(b): Internal Connection Diagram
1
8
72
4
9
3
EE
CN5-1
CN5-4
CN6-1CN6-4
CN6-6
CN6-5
CN5-5
CN5-2
E
MU1MU1
MW1
MV1MV1MV1
MU1
2BC(8PX5+12PX1)
CN1-7CN1-6CN1-5
CN2-1
CN1-3CN1-2CN1-1
MW1
ME1ME1ME1
BB1
MU2MU2
BA1CN6-2
CN2-6CN2-5
CN2-3
CN2-4
CN1-4CN1-8
CN6-1
CN2-2 MW1
MW2
MV2MV2MV2
ME2ME2ME2
MW2MW2
CN3-8CN3-4CN2-8
CN3-7CN3-6CN3-5
CN3-3CN3-2CN3-1
BB2
MU3MU3
MW3
MV3MV3MV3
MU3CN4-2CN4-1
CN6-4
CN5-1
CN4-7CN4-6CN4-5
CN4-3
CN6-3 BA2
MW3
ME3ME3ME3
BB3
BA4BB4
BA5
BA3CN6-6
CN5-3
CN6-5
CN5-4CN4-8CN4-4
CN6-7CN6-8
CN6-9
BA6BB6
MW4MV4
MW4
MU4
MV4MU4
3BC(6PX6)
CN2-2CN2-1CN1-5CN1-4CN1-2CN1-1
CN6-11CN6-12
CN6-10 BB5
CN5-2 MW3
CN2-7 MU2
ENo.15CN
56
ME4ME4
MW5
ME5MW5
MV5MU5
MV5
MU5
CN1-6CN1-3
CN3-1
CN3-3CN3-2
CN2-6CN2-3CN2-5CN2-4
MU6MU6
ME6ME6
MW6MW6
MV6MV6
CN4-6CN4-5CN4-3CN4-2CN4-4CN4-1CN3-5CN3-4
CN3-6 ME5
MU7
MU7
MW7
MW7
MV7MV7
CN6-5
CN6-6
CN6-4CN6-1
CN5-4
CN5-1
BA7BB7
ME7
CN5-3CN5-6
CN5-5
CN5-2 ME7
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
CN2-6CN2-5
BB1
MU2MU2
BA1CN6-1
MW1CN2-2
CN3-3
CN3-1CN3-2
CN3-5
MV2MV2MV2
MW2
CN3-7
CN2-8CN3-4CN3-8
MW2
ME2ME2ME2
MW2CN3-6
CN4-1CN4-2
CN6-4
MU3MU3
BB2
CN4-7
CN4-5CN4-6
CN5-1
MV3MV3MV3
MW3
MU3CN4-3
BA2CN6-3
CN5-3
CN4-4CN4-8CN5-4
MW3
ME3ME3ME3
CN6-9
CN6-7CN6-8
CN6-6
BA5
BB4BA4
BB3BA3CN6-5
CN6-11CN6-12
BA6BB6
CN2-2
CN1-5CN2-1
CN1-2CN1-4
CN1-1
MW4
MV4
MU4
MW4
MV4
MU4
CN6-10 BB5
MW3CN5-2
MU2CN2-7
CN1-3CN1-6
ME4ME4
CN3-1CN3-2CN3-3
CN2-6
CN2-5CN2-3
MW5
MV5
MU5MV5
MW5
ME5
MU5CN2-4
CN3-5CN3-4
MU6MU6
CN4-5
CN4-4
CN4-3CN4-2
CN4-6
MV6
MW6MW6
ME6ME6
MV6CN4-1
ME5CN3-6
MU7
MU7
MW7
MW7
MV7MV7
CN5-6CN5-3
BB7BA7
ME7
PE
ME7
LB1
LA1
LD1
LC1LD1
LC2LD2LD2
LD1LC1
LB1
LA2LB2LB2
LB1LA1
LA1
LC1LD1 LD1
LC1
LB1 LB1LA1
SM
MU1MV1MW1
-B-C
9CN-ANo.9CN
YB
ME1
BB1BA1
-D
-2-1
SM
11CN-ANo.11CN
-C-B MV3
MW3
MU3
MV2MU2
YB
ME2
BB2BA2
MW2 SM-B
10CN-A
-D
-2-1
-C
No.10CN
YB
-D
-2-1
ME3
BB3BA3
SM
12CN-ANo.12CN
-B-C
MU4
MW4MV4
YB
SM
-2
-D
-1BB4BA4
ME4
13CN-ANo.13CN
-B-C-D
MV5
ME5MW5
MU5
YB
YB
SM
-2 BB5
14CN-A
-D
-1-2
-C-B
ME6
BB6BA6
MU6
MW6MV6
No.14CN
-1 BA5
**
**
*
*
*
*
SL-axes with Limit Switch Specification
A1Connected toS-AXIS OVERRUN L.S.
A2L-AXIS OVERRUN L.S. Connected to
B1S-AXIS OVERRUN L.S. Connected to
B2L-AXIS OVERRUN L.S. Connected to
S-axis with Limit Switch Specification
B1S-AXIS OVERRUN L.S. Connected to
A1Connected toS-AXIS OVERRUN L.S.
T-AXIS
B-AXIS
R-AXIS
U-AXIS
L-AXIS
S-AXIS
49 of 92
9 Maintenance and Inspection9.1 Inspection Schedule
9-1
156828-1CD
HW0485289
ES200RD
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 several levels as shown in Table 9-1 "Inspection Items" on page 9-2.
In Table 9-1 "Inspection Items" on page 9-2, the inspection items are categorized by three types of operations: operations which can be performed by personnel authorized by the user, operations to be performed by trained personnel, and operations to be performed by service company personnel. Only specified personnel shall perform the inspection work.
DANGER• 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 these safety precautions may result in death or serious injury from unexpected turning of the manipulator's arm.
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• The battery pack 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.
NOTE
• The inspection interval depends on the total servo operation time.
• 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.
50 of 92
9 Main
tena
nce
and
Insp
ection
9.1 Insp
ection S
ched
ule
9-2
15
682
8-1C
D
HW
0485289
ES
20
0RD
Table 9-1: Inspection Items (Sheet 1 of 2)
Items1) Schedule Method Operation Inspection Charge
Dai
ly
1000
HC
ycle
6000
HC
ycle
1200
0HC
ycl
e
2400
0H
3600
0H
Sp
ecif
ied
P
erso
nn
el
Lic
ense
e
Ser
vice
C
om
pan
y
1 Alignment mark • Visual Check alignment mark accordance and damage at the home position. • • •2 External lead • Visual Check for damage and deterioration of leads. • • •3 Working area and manipulator • Visual Clean the work area if dust or spatter is present.
Check for damage and outside cracks. • • •4 Motors for L- and U-axes • Visual Check for grease leakage.2) • • •5 Baseplate mounting bolts • Spanner
WrenchTighten loose bolts. Replace if necessary. • • •
6 Cover mounting screws • Screwdriver, Wrench
Tighten loose bolts. Replace if necessary. • • •7 S-,L-,U-axes motor connectors • Manual Check for loose connectors and tighten if necessary. • • •8 Connector base • Manual Check for loose connectors. • • •9 Balancer • Grease Gun Supply grease. See section 9.3.5 “Grease Replenishment for
Balancer Connection Part” on page 9-21. • •10 Wire harness in manipulator
(Wires for S-, L-, and U-axes)(Wires for R-, B-, and T-axes)
• Check for conduction between the main connector of base and intermediate connector with manually shaking the wires. Check for wear of protective spring.3)
• •
• Replace4) •11 Battery pack in manipulator • Replace the battery pack when the battery alarm occurs or the
manipulator drove for 36000H. See section 9.2.1 “Battery Pack Replacement” on page 9-6.
• •
12 S-axis speed reducer,S-axis gear • • Grease Gun Check for malfunction. (Replace if necessary.)
Supply grease5) (6000H cycle). See section 9.3.1 “Grease Replenishment/Exchange for S-Axis Speed Reducer and Gear” on page 9-9.Replace grease5). (12000H cycle) See section 9.3.1 “Grease Replenishment/Exchange for S-Axis Speed Reducer and Gear” on page 9-9.
• •
51 of 92
9-3
156
828
-1C
D
HW
0485289
9 Main
tena
nce
and
Insp
ection
9.1 Insp
ection S
ched
uleE
S2
00R
D
13 L-axis speed reducer • • Grease Gun Check for malfunction. (Replace if necessary.) Supply grease5) (6000H cycle). See section 9.3.2 “Grease Replenishment/Exchange for L-Axis Speed Reducer” on page 9-11.Replace grease5) (12000H cycle). See section 9.3.2 “Grease Replenishment/Exchange for L-Axis Speed Reducer” on page 9-11.
• •
14 U-axis speed reducer • • Grease Gun Check for malfunction. (Replace if necessary.) Supply grease5) (6000H cycle). See section 9.3.3 “Grease Replenishment/Exchange for U-Axis Speed Reducer” on page 9-13.Replace grease5) (12000H cycle). See section 9.3.3 “Grease Replenishment/Exchange for U-Axis Speed Reducer” on page 9-13.
• •
15 R-axis speed reducer • • Grease Gun Check for malfunction. (Replace if necessary.) Supply grease5) (6000H cycle). See section 9.3.4 “Grease Replenishment/Exchange for U-Arm” on page 9-15.Replace grease5) (12000H cycle). See section 9.3.4 “Grease Replenishment/Exchange for U-Arm” on page 9-15.
• •
16 Speed reducers for B- and T-axesGears for B- and T-axes • • Grease Gun Check for malfunction. (Replace if necessary.)
Supply grease5) (6000H cycle). See section 9.3.4 “Grease Replenishment/Exchange for U-Arm” on page 9-15.Replace grease5) (12000H cycle). See section 9.3.4 “Grease Replenishment/Exchange for U-Arm” on page 9-15.
• •
17 Overhaul • •1 Inspection item numbers correspond to the numbers in Fig. 9-1 "Inspection Items" on page 9-4.2 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. Otherwise, the home position may be lost. (Refer to section 9.3.6 “Notes for Maintenance” on page 9-23)4 Wire harness in manipulator to be replaced at 24000H inspection.5 For the grease, refer to Table 9-2 "Inspection Parts and Grease Used" on page 9-5.
Table 9-1: Inspection Items (Sheet 2 of 2)
Items1) Schedule Method Operation Inspection Charge
Dai
ly
100
0HC
ycle
600
0HC
ycle
120
00H
Cy
cle
240
00H
360
00H
Sp
ecif
ied
P
erso
nn
el
Lic
ense
e
Ser
vice
C
om
pan
y
52 of 92
9 Main
tena
nce
and
Insp
ection
9.1 Insp
ection S
ched
ule
9-4
15
682
8-1C
D
HW
0485289
ES
20
0RD
Fig. 9-1: Inspection Items
U-axis
L-axis
T-axis
B-axis
R-axis
S-axis
3BC
1BCAIR
AIRS1
2BC
1
5
713 4
1
1
7 42
1014
15
16 1
1
16
612
6
9
11
8
53 of 92
9 Maintenance and Inspection9.1 Inspection Schedule
9-5
156828-1CD
HW0485289
ES200RD
The numbers in the above table correspond to the numbers in Table 9-1 "Inspection Items" on page 9-2.
Table 9-2: Inspection Parts and Grease Used
No. Grease Used Inspected Parts
12, 13, 14, 15, 16
Molywhite RE No. 00 Speed reducers for all axesGears for R-, B-, and T-axes
9 Alvania EP Grease 2 L-axis balancer
54 of 92
9-6
156828-1CD
HW0485289
ES200RD 9 Maintenance and Inspection9.2 Notes on Maintenance Procedures
9.2 Notes on Maintenance Procedures
9.2.1 Battery Pack Replacement
The battery packs are installed in the position shown in Fig.9-2(a) Battery Location (Back View), and Fig. 9-2(b) "Battery Location (Top View)" on page 9-6. If the battery alarm occurs in the DX100, replace the battery in accordance with the following procedure:
Fig. 9-2(a): Battery Location (Back View)
Fig. 9-2(b): Battery Location (Top View)
Plate
Connector base
Base
Plate mounting screw M4
S1
3BC
AIR
2BC
1BC
Battery pack
Board
55 of 92
9 Maintenance and Inspection9.2 Notes on Maintenance Procedures
9-7
156828-1CD
HW0485289
ES200RD
Fig. 9-3: Battery Connection
1. Turn OFF the DX100 main power supply.
2. Remove the plate fixing screws and the plate on the connector base, then pull the battery pack out to replace it with the new one.
3. Remove the battery pack from the battery holder.
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 holder.
7. Reinstall the plate.
New battery pack(HW0470360-A)
Battery pack before replacementSee the step 5.
See the step 4.
Connector
Board(Type: SGDR-EFBA02A)
NOTE Remove the old battery pack after connecting the new one so that the encoder absolute data does not disappear.
NOTE Do not allow the plate to pinch the cables when reinstalling the plate.
56 of 92
9-8
156828-1CD
HW0485289
ES200RD 9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
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 a motor and a speed reducer.
NOTE
• If grease is added without removing the plug/screw from the grease exhaust port, grease will leak inside a motor or an oil seal of a speed reducer will come off, which may result in damage to the motor. Make sure to remove the plug/screw.
• 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 hoses, which are joined to the grease inlet, with grease beforehand to prevent air from intruding into the speed reducer.
57 of 92
9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
9-9
156828-1CD
HW0485289
ES200RD
9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer and Gear
Fig. 9-4: S-Axis Speed Reducer and Gear Diagram
9.3.1.1 Grease Replenishment
(Refer to Fig.9-4 "S-Axis Speed Reducer and Gear Diagram".)
1. Remove the hexagon socket head plugs from the grease inlet and grease exhaust port.
2. Install a grease zerk A-PT1/4 to the grease inlet. (The grease zerk is delivered with the manipulator.)
3. Inject grease through the grease inlet using a grease gun
– Grease type: Molywhite RE No. 00
– Amount of grease: 1200 cc (2400 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. Move the S-axis for a few minutes to discharge excess grease.
5. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug. Then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
Grease inletHexagon socket head plug PT 1/4
S-axis speed reducer
Grease exhaust portHexagon socket head plug PT1/8
3BC
S1
2BC
AIR
1BC
molexmolexmolex
A
B
3BC
S1
2BC
AIR
1BC
molexmolexmolex
A
NOTEIf grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
58 of 92
9-10
156828-1CD
HW0485289
ES200RD 9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
6. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug. Then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
9.3.1.2 Grease Exchange
(Refer to Fig. 9-4 "S-Axis Speed Reducer and Gear Diagram" on page 9-9.)
1. Remove the hexagon socket head plugs from the grease inlet and grease exhaust port.
2. Install a grease zerk A-PT1/4 to the grease inlet. (The grease zerk is delivered with the manipulator.)
3. Inject grease through the grease inlet using a grease gun.
– Grease type: Molywhite RE No. 00
– Amount of grease: approx. 7000 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. 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.)
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. Before installing the plug, apply Three Bond 1206C on the thread part of the plug. Then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
7. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug. Then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
NOTEIf grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
NOTEIf the plug is installed while grease is being exhausted, grease will leak inside the motor and may cause a damage. Make sure to install the plug when the grease exhaust is completed.
59 of 92
9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
9-11
156828-1CD
HW0485289
ES200RD
9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer
Fig. 9-5: L-Axis Speed Reducer Diagram
9.3.2.1 Grease Replenishment
(Refer to fig. 9-5 “L-Axis Speed Reducer Diagram” .)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head plugs from the grease inlet and grease exhaust port.
3. Install a grease zerk A-PT1/8 to the grease inlet. (The grease zerk is delivered with the manipulator.)
4. Inject grease through the grease inlet using a grease gun
– Grease type: Molywhite RE No. 00
– Amount of grease: 280 cc (560 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
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. Before installing the plug, apply Three Bond 1206C on the thread part of the plug. Then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
7. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug. Then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
Grease inletHexagon socket head plug PT1/8
Grease exhaust portHexagon socket head plug PT3/8
NOTEIf grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
60 of 92
9-12
156828-1CD
HW0485289
ES200RD 9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
9.3.2.2 Grease Exchange
(Refer to Fig. 9-5 "L-Axis Speed Reducer Diagram" on page 9-11.)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head plugs from the grease inlet and grease exhaust port.
3. Install a grease zerk A-PT1/8 to the grease inlet. (The grease zerk is delivered with the manipulator.)
4. Inject grease through the grease inlet using a grease gun.
– Grease type: Molywhite RE No. 00
– Amount of grease: approx. 1400 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
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 L-axis for a few minutes to discharge excess grease.
7. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug. Then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
8. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug. Then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
NOTEIf grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
61 of 92
9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
9-13
156828-1CD
HW0485289
ES200RD
9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer
Fig. 9-6: U-Axis Speed Reducer Diagram
9.3.3.1 Grease Replenishment
(Refer to fig. 9-6 “U-Axis Speed Reducer Diagram” .)
1. Make the U-arm horizontal to the ground.
2. Remove the hexagon socket head plug PT1/8 from the grease inlet and the grease exhaust port.
3. Install a grease zerk A-PT1/8 to the grease inlet. (The grease zerk is delivered with the manipulator.)
4. Inject grease through the grease inlet using a grease gun.
– Grease type: Molywhite RE No. 00
– Amount of grease: 280 cc (560 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
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. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
7. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
Grease inletHexagon socket head plug PT1/8
Grease exhaust portHexagon socket head plug PT1/8
NOTEIf grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
62 of 92
9-14
156828-1CD
HW0485289
ES200RD 9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
9.3.3.2 Grease Exchange
(Refer to Fig. 9-6 "U-Axis Speed Reducer Diagram" on page 9-13.)
1. Make the U-arm vertical to the ground.
2. Remove the hexagon socket head plug PT1/8 from the grease inlet and the grease exhaust port.
3. Install a grease zerk A-PT1/8 to the grease inlet. (The grease zerk is delivered with the manipulator.)
4. Inject grease through the grease inlet using a grease gun.
– Grease type: Molywhite RE No. 00
– Amount of grease: approx. 1800 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
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. Before installing the plug, apply Three Bond 1206C on the thread part of the plug. Then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
8. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
NOTEIf grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
NOTEIf the plug is installed while grease is being exhausted, grease will leak inside the motor and may cause a damage. Make sure to install the plug when the grease exhaust is completed.
63 of 92
9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
9-15
156828-1CD
HW0485289
ES200RD
9.3.4 Grease Replenishment/Exchange for U-Arm
Fig. 9-7: U-Arm Diagram
Grease inlet (R-, B-, and T-gears in the casing)Hexagon socket head plug PT1/8
Grease exhaust port (T-axis speed reducer)Hexagon socket head plug PT1/16
T-axis speed reducer
Grease inlet (B-, and T-axes speed reducers)Hexagon socket head plug PT1/8
R-axis speed reducer
B-axis speed reducer
Grease exhaust port (R-, and B-axes speed reducers)Hexagon socket head plug PT1/8
Grease inlet (R-axis speed reducer)Hexagon socket head plug PT1/8
Grease exhaust port(R-, B-, and T-gears in the casing)Hexagon socket head plug PT1/8View A
64 of 92
9-16
156828-1CD
HW0485289
ES200RD 9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
9.3.4.1 Grease Replenishment for R-, B-, T-Axes Gears in the Casing
(Refer to Fig. 9-7 "U-Arm Diagram" on page 9-15.)
1. Remove the hexagon socket head plugs from the grease inlet and the grease exhaust port.
2. Install a grease zerk A-PT1/8 to the grease inlet. (The grease zerk is delivered with the manipulator.)
3. Inject grease through the grease inlet using a grease gun
– Grease type: Molywhite RE No. 00
– Amount of grease: 300 cc (600 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. Move the R-, B-, T-axes for a few minutes to discharge excess grease.
5. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
6. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
9.3.4.2 Grease Replenishment for R-Axis Speed Reducer
(Refer to Fig. 9-7 "U-Arm Diagram" on page 9-15.)
1. Remove the hexagon socket head plugs from the grease inlet and the grease exhaust port.
2. Install a grease zerk A-PT1/8 to the grease inlet. (The grease zerk is delivered with the manipulator.)
3. Inject grease through the grease inlet using a grease gun
– Grease type: Molywhite RE No. 00
– Amount of grease: 350 cc (700 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. Move the R-axis for a few minutes to discharge excess grease.
NOTEIf grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
NOTEIf grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
65 of 92
9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
9-17
156828-1CD
HW0485289
ES200RD
5. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
6. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
9.3.4.3 Grease Replenishment for B-Axis Speed Reducer
(Refer to Fig. 9-7 "U-Arm Diagram" on page 9-15.)
1. Remove the hexagon socket head plugs from the grease inlet and the grease exhaust port.
2. Install a grease zerk A-PT1/8 to the grease inlet. (The grease zerk is delivered with the manipulator.)
3. Inject grease through the grease inlet using a grease gun
– Grease type: Molywhite RE No. 00
– Amount of grease: 260 cc (520 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. Move the B-Axis for a few minutes to discharge excess grease.
5. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
6. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
9.3.4.4 Grease Replenishment for T-Axis Speed Reducer
(Refer to fig. 9-7 “U-Arm Diagram” at page 9-15.)
1. Remove the hexagon socket head plugs from the grease inlet and the grease exhaust port.
2. Install a grease zerk A-PT1/8 to the grease inlet. (The grease zerk is delivered with the manipulator.)
NOTEIf grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
NOTEIf grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
66 of 92
9-18
156828-1CD
HW0485289
ES200RD 9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
3. Inject grease through the grease inlet using a grease gun
– Grease type: Molywhite RE No. 00
– Amount of grease: 260 cc (520 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. Move the T-axis for a few minutes to discharge excess grease.
5. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
6. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
9.3.4.5 Grease Exchange for R-, B-, T-Axes Gears in the Casing
(Refer to Fig. 9-7 "U-Arm Diagram" on page 9-15.)
1. Remove the hexagon socket head plugs from the grease inlet and the grease exhaust port.
2. Install a grease zerk A-PT1/8 to the grease inlet. (The grease zerk is delivered with the manipulator.)
3. Inject grease through the grease inlet using a grease gun
– Grease type: Molywhite RE No. 00
– Amount of grease: approx. 2000 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. 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.)
5. Move the R-, B-, T-Axes for a few minutes to discharge excess grease.
6. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
7. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
NOTEIf grease is injected with the plug on, the grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
67 of 92
9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
9-19
156828-1CD
HW0485289
ES200RD
9.3.4.6 Grease Exchange for R-Axis Speed Reducer
(Refer to Fig. 9-7 "U-Arm Diagram" on page 9-15.)
1. Remove the hexagon socket head plugs from the grease inlet and the grease exhaust port.
2. Install a grease zerk A-PT1/8 to the grease inlet. (The grease zerk is delivered with the manipulator.)
3. Inject grease through the grease inlet using a grease gun
– Grease type: Molywhite RE No. 00
– Amount of grease: approx. 2050 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. 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.)
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. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
7. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
9.3.4.7 Grease Exchange for B-Axis Speed Reducer
(Refer to Fig. 9-7 "U-Arm Diagram" on page 9-15.)
1. Remove the hexagon socket head plugs from the grease inlet and the grease exhaust port.
2. Install a grease zerk A-PT1/8 to the grease inlet. (The grease zerk is delivered with the manipulator.)
3. Inject grease through the grease inlet using a grease gun
– Grease type: Molywhite RE No. 00
– Amount of grease: approx. 1300 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. 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.)
NOTEIf grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
NOTEIf grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
68 of 92
9-20
156828-1CD
HW0485289
ES200RD 9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
5. Move the B-Axis for a few minutes to discharge excess grease.
6. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
7. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
9.3.4.8 Grease Exchange for T-Axis Speed Reducer
(Refer to Fig. 9-7 "U-Arm Diagram" on page 9-15.)
1. Remove the hexagon socket head plugs from the grease inlet and the grease exhaust port.
2. Install a grease zerk A-PT1/8 to the grease inlet. (The grease zerk is delivered with the manipulator.)
3. Inject grease through the grease inlet using a grease gun
– Grease type: Molywhite RE No. 00
– Amount of grease: approx. 1300 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. 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.)
5. Move the T-Axis for a few minutes to discharge excess grease.
6. Wipe the discharged grease with a cloth, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
7. Remove the grease zerk from the grease inlet, and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
NOTEIf grease is injected with the plug on, grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.
69 of 92
9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
9-21
156828-1CD
HW0485289
ES200RD
9.3.5 Grease Replenishment for Balancer Connection Part
Fig. 9-8: Balancer Connection Part
1. Remove the plugs and screws of the grease inlet and the exhaust port of connection and . (Refer to Fig.9-8 "Balancer Connection Part".)
– Grease type: Alvania EP grease 2
– Amount of grease: 5 cc (10 cc for 1st supply)
2. Install a grease zerk A-PT1/8 to the grease inlet. (The grease zerk is delivered with the manipulator.)
3. Inject grease through the grease inlet using a grease gun
– Grease type: Alvania EP grease 2
– Amount of grease: 5 cc (10 cc for 1st supply)
NOTEThe exhaust port is for AIR flow: Grease is not exhausted from the exhaust port.
Do not inject excessive grease through the grease inlet.
Hexagon socket head plug PT1/8
Hexagon socket head cap screw M6 (2 screws)
Hexagon socket head plug PT1/8 (2 plugs)
Connection Needle bearing
2
Connection Grease inlet 1
Connection Tapered roller bearing(2 bearings)
1
Exhaust port 1
Connection Grease inlet 2
Hexagon socket head plug PT1/8
Exhaust port 2
70 of 92
9-22
156828-1CD
HW0485289
ES200RD 9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
4. Reinstall the plugs and screws to the exhaust port of the connection and . Before installing the plug, apply Three Bond 1206C on the thread part of the plug and screw, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
5. Remove the grease zerk from the grease inlet of the connection and , and reinstall the plug. Before installing the plug, apply Three Bond 1206C on the thread part of the plug. Then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
71 of 92
9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
9-23
156828-1CD
HW0485289
ES200RD
9.3.6 Notes for Maintenance
9.3.6.1 Battery Pack Connection
The connectors (crimped contact-pin) for the battery backup are installed at the end point of the motors (BAT and OBT are marked). Connect the battery packs according to the following procedure.
1. Removed the cap attached to the battery backup connector of the motors.
2. Connect the battery packs (HW9470932-A) with the battery backup connectors (BAT and OBT are marked) located at the end point of the cables for the encoder. (Under this condition, remove the encoder connector and carry out the maintenance checks.)
3. Confirm all connectors connected after the maintenance check, and remove the battery packs. Install the caps attached to the battery backup connectors of the motors.
NOTE
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 disappearance of the encoder absolute data.
For the battery pack connection, refer to Fig. 9-9 "Battery Pack Connection" on page 9-24.
NOTE Do not remove the battery pack in the connector base.
72 of 92
9-24
156828-1CD
HW0485289
ES200RD 9 Maintenance and Inspection9.3 Notes on Grease Replenishment/Exchange Procedures
Fig. 9-9: Battery Pack Connection
Motor
Motor power connector
Connector for motor encoder
Battery pack: HW9470932-A
Battery backup connector
a: Crimped contact-pin (pin)b: Crimped contact-pin (socket)
b
a
ab0BT
BAT BAT*
0BT*
73 of 92
10 Recommended Spare Parts
10-1
156828-1CD
HW0485289
ES200RD
10 Recommended Spare Parts
It is recommended to keep the parts and components in the following table in stock as spare parts for the MOTOMAN-ES200RD. Product performance cannot 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 10-1: Spare Parts for the YR-ES0200RD-A00, -A01 (Sheet 1 of 2)
Rank PartsNo.
Name Type Manufacturer Qty Qty per Unit
Remarks
A 1 Grease Molywhite RE No. 00 Yaskawa 16 kg - for all axes speed reducers and wrist units
A 2 Grease Alvania EP Grease 2 Showa Oil Co.,Ltd. 16 kg - for balancer joint part
A 3 Liquid Seal Three Bond 1206C Three Bond Co., Ltd. 1 1
A 4 Battery Pack HW0470360-A Yaskawa 1 1
A 5 Battery Pack HW9470932-A Yaskawa 1 - For wire harness in manipulator replacing
B 6 S-Axis Speed Reducer
HW0388208-A Yaskawa 1 1
B 7 S-Axis Input Gear HW0314717-1 Yaskawa 1 1
B 8 L-Axis Speed Reducer
HW0390225-B Yaskawa 1 1
B 9 L-Axis Input Gear HW0301778-1 Yaskawa 1 1
B 10 U-Axis Speed Reducer
HW0388210-A Yaskawa 1 1
B 11 U-Axis Input Gear HW0301780-1 Yaskawa 1 1
B 12 R-Axis Speed Reducer
HW0388212-A Yaskawa 1 1
B 13 B-Axis Speed Reducer
HW9381453-B Yaskawa 1 1
B 14 T-Axis Speed Reducer
HW0380794-A Yaskawa 1 1
B 15 Wrist Unit HW0170621-I Yaskawa 1 1
C 16 AC Servo Motor for S-, L-, and U-Axes
SGMRV-37ANA-YR1*HW0388670-A
Yaskawa 1 3
C 17 AC Servo Motor for R-Axis
SGMRV-13ANA-YR1*HW0388666-A
Yaskawa 1 1
74 of 92
10-2
156828-1CD
HW0485289
ES200RD 10 Recommended Spare Parts
Note: When the robot is equipped with the built-in external cable
The built-in external cable of ES series is regarded as a spare part. Please contact your Yaskawa representative after confirming the drawing number of the cable when ordering.
C 18 AC Servo Motor for B-and T-Axes
SGMRV-13ANA-YR2*HW0388667-A
Yaskawa 1 2
C 19 Internal Wire Harness
HW0175092-A Yaskawa 1 1
C 20 Connector Base Set
HW0374283-B Yaskawa 1 1
C 21 Board SGDR-EFBA02A Yaskawa 1 1
Table 10-1: Spare Parts for the YR-ES0200RD-A00, -A01 (Sheet 2 of 2)
Rank PartsNo.
Name Type Manufacturer Qty Qty per Unit
Remarks
Rank Name Type Manufacturer Qty Qty per Unit
Remarks
C External cable Varies depending on each user’s specification
Yaskawa 1 1
75 of 92
11 Parts List11.1 S-Axis Unit
11-1
156828-1CD
HW0485289
ES200RD
11 Parts List
11.1 S-Axis Unit
Fig. 11-1: S-Axis Unit
1021
1018
10091019
1017
1012
1015
10231024
1026
1016
10021006
1008
1003
102710281029
10071004
1005
1011
1010
1013
1014
1022
1020
1025
1031
1033
1030
1040
1039
10451046
1036
10411042
1043
1044
10331032
10371038
1001
10341035
76 of 92
11-2
156828-1CD
HW0485289
ES200RD 11 Parts List11.1 S-Axis Unit
Table 11-1: S-Axis Unit (Sheet 1 of 2)
No. DWG No. Name Pcs
1001 23103-37ANA-YR11 Motor 1
1002 HW0388208-A Speed reducer 1
1003 HW0403903-1 Plate 1
1004 HW9404486-1 Shaft 1
1005 HW0402102-1 Stopper 1
1006 M8X40 Socket screw 1
1007 2H-8 Spring washer 1
1008 EZ5002A0 Cap 1
1009 HW0306181-1 Pipe 1
1010 TC12015014 Oil seal 1
1011 MSTH12-30 Pin 1
1012 MSTH12-40 Pin 2
1013 M16X60 Socket screw 12
1014 GT-SH-16 Washer 12
1015 M12X50 Socket screw 16
1016 SW2H-12 Spring washer 16
1017 G415 O ring 1
1018 G105 O ring 1
1019 M6X14 Socket screw 6
1020 2H-6 Spring washer 6
1021 HW0100193-2 Base 1
1022 HW0100265-1 S head 1
1023 M20X45(12.9) Bolt 3
1024 M20 Washer 3
1025 HW0402104-1 Pin 1
1026 HW0302424-2 Stopper 1
1027 M6X15 Socket screw 1
1028 2H-6 Spring washer 1
1029 MSTH6-20 Pin 2
1030 HW0402627-1 Washer 1
1031 M8X80 Socket screw 6
1032 M8X160 Socket screw 1
1033 2H-8 Spring washer 7
1034 M12X40 Socket screw 4
1035 2H-12 Spring washer 4
1036 PT1/8 Plug 1
1037 M6X16 Socket screw 4
1038 2H-6 Spring washer 4
1039 HW0302423-1 Spacer 1
1040 HW0404754-1 Fly wheel 1
1041 HW0404755-1 Shaft 1
1042 STW-50 Retaining rings C-type
1
1043 6310 Bearing 1
77 of 92
11 Parts List11.1 S-Axis Unit
11-3
156828-1CD
HW0485289
ES200RD
1044 HW0314717-1 Gear 1
1045 M6X14 Socket screw 4
1046 2H-6 Spring washer 4
Table 11-1: S-Axis Unit (Sheet 2 of 2)
No. DWG No. Name Pcs
78 of 92
11-4
156828-1CD
HW0485289
ES200RD 11 Parts List11.2 L-Axis Unit
11.2 L-Axis Unit
Fig. 11-2: L-Axis Unit
1022
2061
20042046
2047 2044
2055
2025
2029
2026 2024
20182019
2065
2056
2028
2021
2023
2020
2027
2064
20622063 2043
2048
2042
2041
2038
2045
2045
2039
20032009
2013
2014
2012
2010
2008
2011
200720022001
2022
20152017
2066
2057
2059
2058
20462047
2055
20622063
2043
2044
2048
2042
2041
2038
2039
79 of 92
11 Parts List11.2 L-Axis Unit
11-5
156828-1CD
HW0485289
ES200RD
Table 11-2: L-Axis Unit (Sheet 1 of 2)
No. DWG No. Name Pcs
2001 23103-37ANA-YR11 Motor 1
2002 M12X35 Socket screw 4
2003 2H-12 Spring washer 4
2004 EZ0094-A0 Air breather 1
2007 Y507212.5 Oil seal 1
2008 HW0301778-1 Gear 1
2009 HW9482306-E Shaft 1
2010 HW9481343-A Shaft 1
2011 ISTW-10 Retaining rings 1
2012 HW0481082-A Bolt 1
2013 HW0408806-1 Washer 1
2014 HW9381442-E Speed reducer 1
2015 M12X60 Socket screw 24
2017 SW2H-12 Spring washer 24
2018 M12X50 Socket screw 21
2019 2H-12 Washer 21
2020 M16X60 Socket screw 6
2021 2H-16 Washer 6
2022 G300 O ring 1
2023 HW0100278-2 L arm 1
2024 PT1/8 Plug 1
2025 HW0200259-1 Support 1
2026 HW0402106-1 Shaft 1
2027 M12X60 Socket screw 6
2028 2H-12 Spring washer 6
2029 6218LLU Bearing 1
2038 HW9405055-1 Shaft 2
2039 M10X50 Socket screw 18
2041 KE901107 Oil seal 2
2042 HR32916J Bearing 2
2043 S105 O ring 2
2044 HW9405699-5 B cover 2
2045 PT1/8 Plug 2
2046 M8X20 Socket screw 8
2047 2H-8 Spring washer 8
2048 HW9405195-* Shim -
2055 PT1/8 Plug 2
2056 MSTH8-20 Pin 1
2057 HW0402753-1 Cover 1
2058 M10X16 Socket screw 3
2059 2H-10 Washer 3
2061 PT3/8 Plug 1
2062 M6X6 Socket screw 2
2063 2H-6 Spring washer 2
80 of 92
11-6
156828-1CD
HW0485289
ES200RD 11 Parts List11.2 L-Axis Unit
2064 M14X40 Socket screw 6
2065 GT-SH-M14 Washer 6
2066 HW0170732-A Balancer assy 1
1022 HW0100265-1 S head 1
Table 11-2: L-Axis Unit (Sheet 2 of 2)
No. DWG No. Name Pcs
81 of 92
11 Parts List11.3 URBT-Axes Unit
11-7
156828-1CD
HW0485289
ES200RD
11.3 URBT-Axes Unit
Fig. 11-3: URBT-Axes Unit
3038
3035
2023
3037
3049
3035
3022 3001
30423041
30403039
30233024
4001
3033
3032
30253027
3035
3026
3028
3034
30473045
3046
30433044
3048
303630163017
3018
3020
R-axis
B-axis
T-axis
3004
3009
3012
3052
3052
3052
3055
3002
3053
30083054
30543019
3020
305430153019 3050
3020
30033030
303130293005
30073006
3010
3011
3013
30143051
3035
3056
30583057
82 of 92
11-8
156828-1CD
HW0485289
ES200RD 11 Parts List11.3 URBT-Axes Unit
Table 11-3: URBT-Axes Unit (Sheet 1 of 2)
No. DWG No. Name Pcs
3001 GS210 O ring 1
3002 HW0402391-1 Collar 1
3003 HW0402406-1 Collar 1
3004 HW0306788-1 Gear 1
3005 M6X60 Socket screw 1
3006 2H-6 Spring washer 1
3007 ISTW-30 Retaining rings 1
3008 HW0402544-1 Collar 1
3009 HW0306797-1 Gear 1
3010 M6X25 Socket screw 1
3011 2H-6 Spring washer 1
3012 HW0306795-1 Gear 1
3013 M6X25 Socket screw 1
3014 2H-6 Spring washer 1
3015 HW0401507-1 Plate 1
3016 M12X40 Socket screw 4
3017 2H-12 Spring washer 4
3018 23103-13ANA-YR11 Motor 1
3019 23103-13ANA-YR21 Motor 2
3020 M8X25 GT-SA bolt 12
3022 HW0100239-5 Casing 1
3023 M12X40 Socket screw 18
3024 2H-12 Spring washer 18
3025 HW9405703-1 Flange 1
3026 M6X16 Socket screw 4
3027 2H-6 Spring washer 4
3028 MSTM8-20 Pin 1
3029 HW0402885-1 Cover 1
3030 M6X16 Socket screw 2
3031 2H-6 Spring washer 2
3032 HW9482447-A Oil seal 1
3033 HW9405481-1 Collar 1
3034 IRTW-72 Retaining rings 1
3035 PT1/8 Plug 4
3036 23103-37ANA-YR11 Motor 1
3037 HW0388210-A Speed reducer 1
3038 HW0301779-1 Spacer 1
3039 M12X60 Socket screw 24
3040 2H-12 Spring washer 24
3041 M12X50 Socket screw 33
3042 2H-12 Spring washer 33
3043 HW0481083-A Bolt 1
3044 HW0408806-1 Washer 1
3045 HW0301780-1 Gear 1
83 of 92
11 Parts List11.3 URBT-Axes Unit
11-9
156828-1CD
HW0485289
ES200RD
3046 HW9481343-A Shaft 1
3047 ISTW-12 Retaining rings C-type 1
3048 HW9482306-E Shaft 1
3049 G280 O ring 1
3050 TSH6-01M Union 2
3051 UB-0640-0.1C Tube 2
3052 Y507212.5 Oil seal 3
3053 TAFI405520 Needle bearing 1
3054 HW0401506-1 Plate 3
3055 IRTW-55 Retaining rings 1
3056 HW0402846-1 Stopper 1
3057 M16X30 Socket screw 2
3058 2H-16 Spring washer 2
2023 HW0100278-2 L arm 1
4001 HW0100241-1 U arm 1
Table 11-3: URBT-Axes Unit (Sheet 2 of 2)
No. DWG No. Name Pcs
84 of 92
11-10
156828-1CD
HW0485289
ES200RD 11 Parts List11.4 U-Arm Unit
11.4 U-Arm Unit
Fig. 11-4: U-Arm Unit
3022
4030
4031
4008
40244032
4020
4038
4023
4015
4025
4021
4018
4001
40364037
4008
4009
40114013
4014
40064004
40174016
40294028
4002
4022
4019
4005
4012
40274026
4034�4033
4010
85 of 92
11 Parts List11.4 U-Arm Unit
11-11
156828-1CD
HW0485289
ES200RD
Table 11-4: U-Arm Unit
No. DWG No. Name Pcs
4001 HW0100241-1 U arm 1
4002 NK25/20R Bearing 1
4003 HW0401508-1 Plate 1
4004 6812LLU Bearing 1
4005 HW0402204-1 Collar 1
4006 STW-60 Retaining rings C-type
1
4008 HW0388212-A Speed reducer 1
4009 HW9302581-1 Washer 1
4010 M12X120 Socket screw 12
4011 2H-12 Spring washer 12
4012 SC60789 Oil seal 1
4013 HR32017XJ Bearing 1
4014 AC3842-F1-FKM Oil seal 1
4015 HW0312106-1 Shaft 1
4016 WR20 Clip 1
4017 LRT202526 Bearing 1
4018 HW0306113-A Shaft C 1
4019 HW0302261-A Shaft 1
4020 HW0100173-2 Housing 1
4021 HR32013XJ Bearing 1
4022 HW0306798-1 Gear 1
4023 HW0306796-1 Gear 1
4024 HW0401505-1 B nut 1
4025 HW0306787-1 Gear 1
4026 M5X16 Socket screw 3
4027 2H-5 Spring washer 3
4028 M5X12 Socket screw 3
4029 2H-5 Spring washer 3
4030 M8X20 Socket screw 1
4031 2H-8 Spring washer 1
4032 M4X6 H set screw 1
4033 M8X20 Socket screw 6
4034 2H-8 Spring washer 6
4036 PT1/8 Plug 1
4037 MSTH6-15 Parallel pin 1
4038 HR32006XJ Bearing 2
3022 HW0100239-5 Casing 1
86 of 92
11-12
156828-1CD
HW0485289
ES200RD 11 Parts List11.5 Wrist Unit
11.5 Wrist Unit
Fig. 11-5: Wrist Unit
5014
5016
5017
50525070
5013
5001
50025003
5004
5005
50065007
50085009
50105011
5012
5015
50184015
5019
5020
50215022
5023
5023
5024
5025 50265027
50285029
5030
5031
50325032
5032
5032
50335087
5034
50355036
5037
50385039
5040
5041
50425043
5042
5043
5044
5045
5046
5047
5048
5049
5050
5051
5053
5054
5057
5058
5059
5060
50635064
5065
5066
5073
5077
5083
5085
5084
5081
5078
5067
5068
5069
5071
5072
5055
5086
87 of 92
11 Parts List11.5 Wrist Unit
11-13
156828-1CD
HW0485289
ES200RD
Table 11-5: Wrist Unit (Sheet 1 of 2)
No. DWG No. Name Pcs
5001 HW0100242-1 Wrist base 1
5002 M12X30 Socket screw 12
5003 2H-12 Spring washer 12
5004 HW0100243-1 Wrist 1
5005 HW9381453-B Speed reducer 1
5006 M14X115 Socket screw 6
5007 GT-SH M14 Spring washer 6
5008 M12X60 Socket screw 10
5009 2H-12 Spring washer 10
5010 M8X20 Socket screw 18
5011 2H-8 Spring washer 18
5012 ARP568-263 O ring 1
5013 6908DB Bearing 1
5014 HW0401511-1 B holder 1
5015 HW0306791-1 Gear 1
5016 HW0401509-1 Housing 1
5017 HW0401510-1 B nut 1
5018 M4X8 H set screw 1
5019 6909 Bearing 1
5020 G220 O ring 1
5021 HW0306792-1 Gear 1
5022 6009 Bearing 1
5023 STW-45 Retaining rings C-type
2
5024 ISTW-35 Retaining rings 1
5025 HW0309518-1 Gear 1
5026 HW0301223-1 Gear 1
5027 6007 Bearing 1
5028 M6X12 Socket screw 6
5029 2H-6 Spring washer 6
5030 HW0409072-1 Cover 1
5031 G140 O ring 1
5032 HR32004XJ Bearing 4
5033 6911 Bearing 1
5034 AE3290E3 Oil seal 1
5035 S60 O ring 1
5036 HW9403618-1 Housing 1
5037 M6X15 GT-SA bolt 5
5038 M6X20 Socket screw 3
5039 2H-6 Spring washer 3
5040 HW0301224-1 Gear 1
5041 HW0301225-1 Gear 1
5042 HW0401514-1 B nut 2
5043 M5X7 Magic screw 4
88 of 92
11-14
156828-1CD
HW0485289
ES200RD 11 Parts List11.5 Wrist Unit
5044 M8X20 Socket screw 14
5045 2H-8 Spring washer 14
5046 M10X20 Socket screw 3
5047 2H-10 Spring washer 3
5048 HW9403617-1 Housing 1
5049 HW0200615-1 Cover 1
5050 M4X12 GT-SA bolt 4
5051 HW9302370-1 Cover 1
5052 M4X12 GT-SA bolt 4
5053 PT1/8 Plug 1
5054 HW0306790-1 Gear 1
5055 M6X15 GT-SA bolt 6
5057 HW0306789-1 Gear 1
5058 HW0380794-A Speed reducer 1
5059 M8X30 Socket screw 14
5060 2H-8 Spring washer 14
5063 HW0302422-2 Flange 1
5064 HW0301782-1 Spacer 1
5065 PT1/16 Plug 1
5066 HW0402206-* Shim -
5067 STW-30 Retaining ring C-type 1
5068 6006 Bearing 1
5069 M6X15 GT-SA bolt 4
5070 M4X12 GT-SA bolt 4
5071 EZ5036A0 Cap 2
5072 PT1/8 Plug 1
5073 HW9403621 Shim -
5077 HW9403622 Shim -
5078 HW0401516-* Shim -
5081 HW0402205-* Shim -
5083 HW0410868-* Shim -
5084 HW0411721-1 B nut 1
5085 M5X7 Magic screw 2
5086 HW0411718-1 Collar 1
5087 HW0404270-1 Shim 1
4015 HW0312106-1 Shaft 1
Table 11-5: Wrist Unit (Sheet 2 of 2)
No. DWG No. Name Pcs
89 of 92
11 Parts List11.6 Balancer Unit
11-15
156828-1CD
HW0485289
ES200RD
11.6 Balancer Unit
Fig. 11-6: Balancer Unit
2023
2030
20322031
2036
20332034
2035
6013
6016
6010
6009
6008
60086007
6005
6006
60046003
6002
2037
6009
60086009
6008
6009
6005
6001
6012
6014
6011
6006
90 of 92
11-16
156828-1CD
HW0485289
ES200RD 11 Parts List11.6 Balancer Unit
Table 11-6: Balancer Unit
No. DWG No. Name Pcs
6001 HW0100267-1 Case 1
6002 HW0100268-1 Flange 1
6003 M10X40 Socket screw 15
6004 2H-10 Spring washer 12
6005 HW0481227-A Coil spring 2
6006 HW0481228-A Coil spring 2
6007 HW0302081-1 Spacer 1
6008 SOB607440 Oilless bearing 4
6009 IRTW-75 Retaining rings 4
6010 FD3187AO Dust seal 1
6011 HW0302080-1 Flange 1
6012 HW0302082-1 Rod 1
6013 HW9405057-1 Clevis 1
6014 M6X6 Magic screw 1
6016 PT1/8 Plug 3
2030 HW9302054-1 Shaft 1
3031 M12X50 Socket screw 12
3032 2H-12 Spring washer 12
3033 NA6912 Needle bearing 1
3034 AR-85 Clip 1
3035 WR60 Circlip 1
3036 VB75X95X6 Oil seal 1
3037 VB60X78X7 Oil seal 1
2023 HW0100278-2 L arm 1
91 of 92
HEAD OFFICE2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, JapanPhone +81-93-645-7703 Fax +81-93-645-7802
100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277
YASKAWA America Inc. (Motoman Robotics Division)
Bredbandet 1 vån. 3 varvsholmen 392 30 Kalmar, SwedenPhone +46-480-417-800 Fax +46-480-417-999
YASKAWA Nordic AB
Yaskawastrasse 1, 85391 Allershausen, GermanyPhone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA Europe GmbH Robotics Divsion )
9F, Kyobo Securities Bldg., 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul 150-737, KoreaPhone +82-2-784-7844 Fax +82-2-784-8495
YASKAWA Electric Korea Co., Ltd
151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA Electric (Singapore) PTE Ltd.
No7 Yongchang North Road, Beijing E&T Development Area China 100176Phone +86-10-6788-2858 Fax +86-10-6788-2878
YASKAWA SHOUGANG ROBOT Co. Ltd.
#426, Udyog Vihar, Phase- IV, Gurgaon, Haryana, IndiaFax +91-124-475-8542Phone +91-124-475-8500
YASKAWA India Private Ltd. (Robotics Division)
YASKAWA Electric (China) Co., Ltd.22/F One Corporate Avenue No.222, Hubin Road, Huangpu District, Shanghai 200021, ChinaPhone +86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA Electric (Thailand) Co., Ltd.252/125-126 27th Floor, Tower B Muang Thai-Phatra Complex Building,Rachadaphisek Road Huaykwang, Bangkok 10320, ThailandPhone +66-2693-2200 Fax +66-2693-4200
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, TaiwanFax +886-2-8913-1513Phone +886-2-8913-1333
YASKAWA Electric Taiwan Corporation
Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma, Jakarta 13610, Indonesia
Fax +62-21-2982-6741Phone +62-21-2982-6470
PT. YASKAWA Electric Indonesia
5HW0485289MANUAL NO.
Specifications are subject to change without noticefor ongoing product modifications and improvements.
MOTOMAN-ES200RDINSTRUCTIONS
92 of 92