type: current power cable, two fieldbus tubes)...internal user i/o wiring harness, encoder or power...

MANUAL NO.

HW1486463

MOTOMAN-GP110SUPPLEMENTAL INSTRUCTIONS

TYPE:YR-1-06VX110-A01 (MOTOMAN-GP110 WITHOUT HIGH-CURRENT POWER CABLE, TWO FIELDBUS TUBES)

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

MOTOMAN INSTRUCTIONS

MOTOMAN-GP110,GP110B INSTRUCTIONSMOTOMAN-GP110 SUPPLEMENTAL INSTRUCTIONSYRC1000 INSTRUCTIONSYRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)YRC1000 MAINTENANCE MANUAL YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)

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IntroductionThis supplemental instruction manual describes MOTOMAN-GP110 (YR-1-06VX110-A01).

Point of DifferenceThe YR-1-06VX110-A01 differs from the YR-1-06VX110-A00 in the following points:

• No high-current power cable

• Fieldbus tube (2 tubes)

This manual differs from “MOTOMAN-GP110,GP110B INSTRUCTIONS” (Manual No. HW1484665) in the following points.

• 5.3 Dimensions and P-Point Maximum Envelope

• 7.2 Internal User I/O Wiring Harness and Air Lines for User’s System Applications

• 8.3 Internal Connections

• 10 Recommended Spare Parts

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5.3 Dimensions and P-Point Maximum Envelope

Fig. 5-2(a): Dimensions and P-Point Maximum Envelope (YR-1-06VX110-A01)

ABS. ENCODER

UTTAH-B20RJ

KQ2E12-03A

R491 R

740

108

141

R2236

540

870

235

235

320 1020

0

155

90

349

1482

1536

414

543

740

2236

0

394

1016

966

0

185

949

2456

1295

200

P-point maximum envelope

80

90

191 82

531

257268

260P-point

Unit: mm

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7.2 Internal User I/O Wiring Harness and Air Lines for User’s

System Applications

Internal user I/O wiring harness, encoder or power cables for external axis, air lines, and fieldbus tube are incorporated in the manipulator for the drive of peripheral devices mounted on the U-arm as shown in fig. 7-2 “Connectors for Internal User I/O Wiring Harness and Air Line” and fig. 7-3 “Details of the Connector Pin Numbers” .

Refer to table 7-1 “Conditions for Use” for information on the conditions of use for each cable and line.

Table 7-1: Conditions for Use

Item Specification Conditions

Internal user I/O wiringharness

0.5 mm2 × 12 wires0.75 mm2 × 11 wires

0.5 mm2: 7.5 A or less per wire0.75 mm2: 10.0 A or less per wireThe total current value must be 42.0 A or less.

Encoder cable for external axis

0.2 mm2 × 6 cables1 shielded cable

0.2 mm2: 3.0 A or less per cableThe total current value must be 12.9 A or less.

Power cable for external axis

2 mm2 × 4 cables0.75 mm2 × 2 cables

2 mm2: 13.0 A or less per cable0.75 mm2: 10.0 A or less per cableThe total current value must be 51.4 A or less.

Cable for D-NET 0.3 mm2 × 2 cables0.2 mm2 × 2 cables1 drain wire

0.3 mm2: 3.0 A or less per cable0.2 mm2: 3.0 A or less per cable

Cable for +24V 1.25 mm2 × 4 cables 8.0 A or less per cable

Air line maximum allowable working pressure

Inside dia. 8.5 mm × 1 lineInside dia. 6.5 mm × 1 line

490 kPa (5 kgf/cm2) or less

Fieldbus tube Inside dia. 12 mm × 2 tubes

-

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Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line

DC-PWS1

1BC

AIR2

D-NET

AIR1

Air 1Rc3/8with a pipe plug


Connector for the internal user I/O wiring harnessJL05-2A24-28PC-UL (pin connector with a cap)Prepare socket connector: JL05-6A24-28SMain key (upper side)

(YR-1-06VX110-A01)

B

A

Tube (internal dia. 12) is installed inside the protective tubing.



Connector for the internal user I/O wiring harnessJL05-2A24-28SC-UL (socket connector with a cap)Prepare pin connector: JL05-6A24-28PMain key (upper side)

Connector for the encoder of the external axisJL05-2A20-29SC-UL (socket connector with a cap)Prepare pin connector: JL05-6A20-29PMain key (upper side)

Connector for the power supply of the external axisJL05-2A18-1SC-UL (socket connector with a cap)Prepare pin connector: JL05-6A18-1PMain key (upper side)

Fieldbus cover(Tube (internal dia. 12) is installed in the base)Tapped hole M4 (depth: 3 mm) (pitch: 0.7 mm) (8 holes)Pan-head sems screw M4 (length: 10 mm) (8 sets)

Connector for D-NET8R5L30Prepare pin connector: 8A5006-32DN

Connector for +24VCM03A-R4P-S-1Prepare socket connector: CM03-P4S

Connector for +24V1R4030Prepare pin connector: CM03-J4P

Connector for D-NETCM02-8DR5P-CFPrepare socket connector: CM02A-8DP5S-D

4949

55 55

View A (Enlarged View)

View B (Enlarged View)

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Fig. 7-3: Details of the Connector Pin Numbers

16

10

232221

13

18

1211

17

15

2019

14

32

7

1

5 6 9

4

8

4

3

1

2

3

4

12

Pins used

(1.25 mm2)(1.25 mm2)

(1.25 mm2)

(1.25 mm2)

3

4

1

Pins used2

5

Drain wire

(0.3 mm2)

(0.2 mm2)

(0.2 mm2)

(0.3 mm2)

21

2322

16

1817

1920

1112131415

10987

2

43

56

1 (0.5 mm2)(0.5 mm2)(0.5 mm2)(0.5 mm2)(0.5 mm2)(0.5 mm2)(0.5 mm2)(0.5 mm2)(0.5 mm2)(0.5 mm2)(0.5 mm2)(0.5 mm2)(0.75 mm2)(0.75 mm2)(0.75 mm2)(0.75 mm2)(0.75 mm2)(0.75 mm2)(0.75 mm2)(0.75 mm2)(0.75 mm2)(0.75 mm2)(0.75 mm2)

Pins used

56

1

34

2(2 mm2)

(0.75 mm2)

(2 mm2)(2 mm2)(2 mm2)

(0.75 mm2)

Pins used

7 (Open)8 (Open)9 (Open)

16

10

23 22 21

13

18

12 11

17

15

20 19

14

3 2

7

1

569

4

8

4

3

1

2

4

1

52

3

4

1

52

3

View A

View B

69

784 3

15

2

1612

15

21

4

13

911

75

3

10

14

68

View A

View B

View A

View B

View B

View B

Pins used 9

1

11

2

10

15

(0.2 mm2)(0.2 mm2)

(0.2 mm2)

(0.2 mm2)(0.2 mm2)

(Shielded cable)

345678

(Open)(Open)(Open)(Open)(Open)(Open)

121314

(Open)(Open)

(0.2 mm2)

16(Open)

12×0.5 mm2, 11×0.75 mm2

Details of the connector for internal user I/O wiring harness pin numbers

4×2 mm2, 2×0.75 mm2

Details of the connector for the power of the external axis

6×0.2 mm2

Details of the connector for the encoder of the external axis

4×1.25 mm2

Connector for +24V

2×0.3 mm2, 2×0.2 mm2

Connector for D-NET

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8.3 Internal Connections

As shown in the following figures, diagrams for internal connections of the manipulator are changed.

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Fig. 8-4(a): Internal Connection Diagram (YR-1-06VX110-A01)

A1

B1

LB1LA1

LD1LC1

S-AXIS OVERRUN L.S.

L-AXIS OVERRUN L.S.

L AND U-AXIS INTERFERENCE L.S.

S-, L-, and U-axes with Limit Switch Specification

LB1

LB2LA2

A1

A2

A3

Connected to

Connected to

Connected to

S-AXIS OVERRUN L.S.

L-AXIS OVERRUN L.S.

L AND U-AXIS INTERFERENCE L.S.

LD1

LD2LC2

B1

B2

B3

Connected to

Connected to

Connected to

LC1

LD1

LD3LC3

LA1

LB1

LB3LA3

LA1

LC1LD1

LB1

LD2LC2

LD3LC3

LB2LA2

LB3LA3

S-AXIS OVERRUN L.S.

S-axis with Limit Switch Specification

LA1LB1 A1Connected to

S-AXIS OVERRUN L.S.LC1

LD1 B1Connected toLC1

LA1

LD1

LB1

P

P P

P

-3-8

-5

-9-4

-6

-7

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

-2BATOBT

-1

BAT0BT

-1-2

K R

P

P

-3-8

-5

-9-4

-6

-7

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

-2BATOBT

-1

-3-8

-5

-9-4

-6

-7

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

-2BATOBT

-1

-3-8

-5

-9-4

-6

-7

-2

1Slot(S-PG)-1

-3-8

-5

-9-4

-6

-7

-2

-12Slot(L-PG)

S-AXIS

S-PG

L-PG

-3-8

-5

-9-4

-6

-7

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

-2BATOBT

-3-8

-5

-9-4

-6

-7

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

-2BATOBT

-3-8

-5

-9-4

-6

-7

-2

-3-8

-5

-9-4

-6

-7

-2

U-PG

-3-8

-5

-9-4

-6

-7

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

-2BATOBT

-3-8

-5

-9-4

-6

-7

-2

-3-8

-5

-9-4

-6

-7

-2

L-AXIS

U-AXIS

1Slot(U-PG)-1

1Slot(B-PG)-1

-12Slot(R-PG)

-12Slot(T-PG)

-1

-1

-1

-1

BAT0BT

-1-2

K R

BAT0BT

-1-2

BAT( )

K R

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

BATOBT

PG

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

BATOBT

P

P

P

-6-7

-9

-2-5

-3

-1

-8

-4

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

BATOBT

PG

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

BATOBT

P

P

P

-6-7

-9

-2-5

-3

-1

-8

-4

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

BATOBT

PG

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

BATOBT

P

P

P

-6-7

-9

-2-5

-3

-1

-8

-4T-AXIS

B-AXIS

R-AXIS

R-PG

B-PG

T-PG

-3-8

-5

-9-4

-6

-7

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

-2BATOBT

-1

DATA-DATA+

FG

+24V(SS1)+24V(OT1-1+)LB1+24V(OT1-2+)

+24V0V

BC2(LAMP-)

LD1

SS2

CN4-3CN4-4CN4-5CN4-6CN4-7CN4-8CN4-9CN4-10

CN4-1CN4-2

CN4-11

SIG shield

CN4-3CN4-4CN4-5CN4-6CN4-7CN4-8CN4-9

CN4-1CN4-2

SIG shield

CN4-12CN4-13CN4-14

CN4-12CN4-13CN4-14

YRC1000

+24V(LAMP+)CN4-15 CN4-15CN4-16CN4-17CN4-18

CN4-16

CN4-10CN4-11

DATA7-DATA7+

CN4-17CN4-18

+5V0V

DC

/DC

Board for encoder power

-3-8

-5

-9-4

-6

-7

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

-2BATOBT

-1CN2

-5-4

-8

-3

-2

-6

-9

S-

0V

--

S+

--

-7

24V

FG

-1CN1

P

P

LB1

LD1

LB2

LD2

BC2BC1

FOR LAMP(OPTION)

LB3

LA3

LD3

LC3

A3

B3

LB2

LD2

LB1

LD1

LB2

LA2

LD2

LC2

A2

B2

SPG+7

FG7

SPG-75V0V

1EX-PG

GUN2

109

15 0BTBAT11

12

P

P

LB2

LB1LB2

LD2

LD1

-6-7

-9

-2-5

-3

-1

-8

-4

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

BATOBT

PG

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

BATOBT

P

P

P

-6-7

-9

-2-5

-3

-1

-8

-4

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

BATOBT

PG

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

BATOBT

P

P

P

-6-7

-9

-2-5

-3

-1

-8

-4

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

BATOBT

PG

S+(IN)

FG

+5VS-(IN)

0V

S-(OUT)S+(OUT)

BATOBT

P

P

P

P

7

-1

-5

-2-4

-6

GUN

P

P

-2-1

LAMP

CN3

P

P

P

P

BAT( )

BAT( )

Signal in( )

Signal out( )

Multi-port Connector ( )

Signal in( )

Signal out( )


Signal in( )


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Fig. 8-4(b): Internal Connection Diagram (YR-1-06VX110-A01)

E

T-AXIS

B-AXIS

KIVTW-3,0.75XK

GUN

R-AXIS

MW73

56

4

BB7BA7ME7

12 MU7

MV7

BaseE

CasingE

-A

L-AXIS

S-AXIS

MU4

MV6

MW4

MW6

MV4

MU6

MU5MV5MW5

MW7ME7

MU7MV7

ME4

ME5

BA4BB4

BA5

BA6

BA7BB7

ME6

MU3MU3

MW3MW3MV3MV3

ME3ME3BA3

BB2

ME2BA2

MV2MU2

MW2 SM

BB1

ME1BA1

MV1MU1

MW1-B-C SM

U-AXISBB3

ME3BA3

MV3MU3

MW3 SM

BB4

ME4BA4

MV4MU4

MW4 SM

BB5

ME5BA5

MV5MU5

MW5 SM

BB6

ME6BA6

MV6MU6

MW6 SM

MANIPULATOR

S-PW

L-PW-A-B-C

U-PW-A-B-C

R-PW-A-B-C

B-PW-A-B-C

T-PW-A-B-C

EX-PW

E E

PE

MU1MU1

MV1MV1MW1

ME1ME1

MW1

CN1-3CN1-4CN1-5CN1-6CN1-7CN1-8CN1-9CN1-10CN1-11CN1-12

CN1-2CN1-1

CN1-5CN1-6CN1-7CN1-8

CN1-11CN1-12

CN1-2CN1-1


CN2-2CN2-1

CN2-5CN2-6CN2-7CN2-8

CN2-11CN2-12

CN2-2CN2-1

BA1BB1BA2BA3

CN3-3CN3-4CN3-5CN3-6CN3-7CN3-8CN3-9CN3-10CN3-11

CN3-2CN3-1

MW6ME6MU5MV5


CN5-2CN5-1 CN5-1

CN5-2CN5-3CN5-4

CN5-7CN5-8CN5-9CN5-10

BA4

CN3-12CN3-13CN3-14CN3-15

BB4BA5BA6

CN3-16CN3-17CN3-18

MV7ME7

MV3MV3MU7

MW3MW3MU3MU3

MW7


CN6-2CN6-1


CN6-2CN6-1

MW4MU4

ME2ME2MV4

MU2MU2

ME4

MV6MU6

ME3ME3

MW5ME5

CN3-3CN3-4CN3-5

CN3-10CN3-11

CN3-2

CN3-12CN3-13

CN2-3CN2-4

MV2MV2

CN2-9CN2-10

MW2MW2

BA7BB7

CN3-14CN3-15

-D-E

-D-E

-D-E

-D-E

-D-E

-D-E

9

161718

1110

1415

13

12

3

54

78

6

21

P

P

P

SP910

SP1617 SP17SP1818

SP10SP11

SP15SP14SP13

SP121112

16151413

4 SP4SP55

6

SP8SP7

987

SP6

SP3SP2SP11

23

S1S1

P

P

P

1920

19 SP19SP2020

2122

21 SP21SP2222

23 23 SP23

S1

D-NET2

D-NETDRAINV+V-

31CN-1-2-3

32CN-1-2-3

CANHCANL

-4-5

-4-5

DRAINV+V-CANHCANL

D-NET1

DW-PW3

+24V+24V+24V0V

35CN-1-2-3

0V-4

+24V+24V0V0V

DW-PW1 DW-PW2+24V+24V

0V0V

E

11

5

2

4

34

6

3

1

1112

15

1413

78

910

56

7

323637

35383940

3334

31

19

161817

20

21

1

2

2322

25

2826

29

2430

27

8910

33CN-1-2-3-4

34CN -3-4-5-6

Note) 1. For the limit switch specification, the part A is different from the part B .2. When performing the wiring of the overrun limit switch, pay attention to lead wires. The letter marked on the marker tube at point (LB1 and LD1) are the same.

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10 Recommended Spare Parts

It is recommended to keep the parts and components in the following table in stock as spare parts for the YR-1-06VX110-C00,YR-1-07VXB110-C00.

To purchase lead wires of the wire harness or etc., check the order/manufacture no. and contact YASKAWA representative.

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: Recommend Spare Parts for the YR-1-06VX110-A01 (Sheet 1 of 3)

Rank PartsNo.

Name Type Manufacturer Qty QtyperUnit

Remarks

A 1 Grease Molywhite RE No.00 YASKAWA Electric Corporation

16 kg -

A 2 Liquid Gasket TB1206C Three Bond Co., Ltd.

- -

A 3 Adhesive LOCTITE243 Henkel Japan Ltd

- -

A 4 Seal Tape TB4501 Three Bond Co., Ltd.

- -

A 5 Battery Pack HW1483880-A YASKAWA Electric Corporation

1 3

A 6 Lead Wire for Battery Replacement

HW1471281-A YASKAWA Electric Corporation

1 -

B 7 Replacement Kit for S-Axis Speed

Reducer1)


1 1 Speed reducer:HW1382898-AInput gear:HW0312836-1

B 8 Replacement Kit for L-Axis Speed

Reducer1)


1 1 Speed reducer:HW1382456-BInput gear:HW1303989-1

B 9 Replacement Kit for U-Axis Speed

Reducer1)



B 10 Replacement Kit for R-Axis Speed

Reducer1)


1 1 Speed reducer:HW1382808-A

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B 11 Replacement Kit for B-Axis Speed

Reducer1)



B 12 Replacement Kit for T-Axis Speed

Reducer1)



B 13 Wrist Unit HW1173122-A YASKAWA Electric Corporation

1 1

B 14 Internal Wiring Harness


1 1

B 15 Lead Wire for S-Axis Signal

HW1372597-AJ YASKAWA Electric Corporation

1 1 Lead wire between the S-axis motor and the multi-port connector

B 16 Lead Wire for L-Axis Signal

HW1372597-AK YASKAWA Electric Corporation

1 1 Lead wire between the L-axis motor and the multi-port connector

B 17 Lead Wire for U-Axis Signal

HW1372597-AL YASKAWA Electric Corporation

1 1 Lead wire between the U-axis motor and the multi-port connector

B 18 Lead Wire for R-Axis Signal

HW1372597-AM YASKAWA Electric Corporation

1 1 Lead wire between the R-axis motor and the multi-port connector

B 19 Lead Wire for B-Axis Signal

HW1372597-AN YASKAWA Electric Corporation

1 1 Lead wire between the B-axis motor and the multi-port connector

B 20 Lead Wire for T-Axis Signal

HW1372597-AO YASKAWA Electric Corporation

1 1 Lead wire between the T-axis motor and the multi-port connector

B 21 Lead Wire HW1471359-A YASKAWA Electric Corporation

1 1 Lead wire between the multiport in the casing and the multiport

C 22 Bypass Cable HW1471212-C YASKAWA Electric Corporation

1 - Signal lead wires for tentative recovery from failure

C 23 S- and U-Axes AC Servomotor

SGM7G-30APK-YR1*HW1385396-A

YASKAWA Electric Corporation

1 2

C 24 L-axis AC Servomotor



1 1

C 25 R-, B-, and T-Axes AC Servomotor



1 3


Rank PartsNo.


Remarks

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C 26 Multi-Port Connector


1 1

C 27 Power Supply Board Box


1 1

C 28 Dummy Connector


1 - For dismountingfunction of the axis

1 Replacement kit for the speed reducer includes the speed reducer and the gear described in the Remarks.For details of the replacement kit for the speed reducer, contact your YASKAWA representatives.


Rank PartsNo.


Remarks

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C 2019 YASKAWA ELECTRIC CORPORATIONPublished by YASKAWA

MANUAL NO.

December 2019 19-12

HW1486463

MOTOMAN-GP110SUPPLEMENTAL INSTRUCTIONS

13/13

type: current power cable, two fieldbus tubes)...internal user i/o wiring harness, encoder or power...

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