MOTOMAN-ES200RD INSTRUCTIONS · 2018-12-10 · MANUAL NO. HW04852895 Part Number: 156828-1CD Revision: 4 MOTOMAN-ES200RD. INSTRUCTIONS. TYPE YR-ES200RD-A00 (STANDARD SPECIFICATION)

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.

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Copyright © 2015, Yaskawa America, Inc. All Rights Reserved.

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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.

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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.

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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.

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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.

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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

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Explanation of Warning LabelsThe following warning labels are attached to the manipulator.

Always follow the warnings on the labels.

Also, an identification label with important information is placed on the body of the 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

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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

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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

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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

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1 Product Confirmation1.1 Contents Confirmation

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1 Product Confirmation

1.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.

Standard delivery includes the following four items (information for the content of optional goods 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.

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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

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2 Transport2.1 Transport Method

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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.

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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

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2 Transport2.2 Shipping Bolts and Brackets

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2.2 Shipping Bolts and Brackets

The manipulator is provided with shipping bolts and brackets at 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

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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.

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3 Installation3.1 Safeguarding Installation

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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)

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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

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3 Installation3.3 Location

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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

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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.

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4 Wiring4.2 Cable Connection

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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

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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

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4 Wiring4.2 Cable Connection

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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

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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.

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5 Basic Specifications5.2 Part Names and Working Axes

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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

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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

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5 Basic Specifications5.5 Alterable Operating Range

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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.

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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

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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.

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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.

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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.

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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.



Hexagon head screws

Hexagon head screws

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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.


The stopper is irreversible.Only this side of the stopper canbe used at this angle.


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Fig. 5-6(c): Properly-Mounted Models for S-Axis Stopper


Hexagon head screws

Hexagon head screws

The stopper is irreversible.Only this side of the stopper canbe used at this angle.



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Fig. 5-6(d): Properly-Mounted Models for S-Axis Stopper



Hexagon head screws


Hexagon head screws


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Fig. 5-6(e): Properly-Mounted Models for S-Axis Stopper



Hexagon head screws

The stopper is irreversible.Only this side of the stopper can be used at this angle.

Hexagon head screws


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Fig. 5-6(f): Properly-Mounted Models for S-Axis Stopper



Hexagon head screws

The stopper is irreversible.Only this side of the stoppercan be used at this angle.

Hexagon head screws


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Fig. 5-6(g): Properly-Mounted Models for S-Axis Stopper


Hexagon head screws


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

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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

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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.

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7 System Application7.1 Peripheral Equipment Mounts

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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



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.

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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)

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

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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

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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

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8 Electrical Equipment Specification8.1 Position of Limit Switch

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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)

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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)


Connector for external axis(Power cable)


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)

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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

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8 Electrical Equipment Specification8.1 Internal Connections

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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


A2L-AXIS OVERRUN L.S. Connected to


B2L-AXIS OVERRUN L.S. Connected to

S-axis with Limit Switch Specification



T-AXIS

B-AXIS

R-AXIS

U-AXIS

L-AXIS

S-AXIS

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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.

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9 Main

tena

nce

and

Insp

ection

9.1 Insp

ection S

ched

ule

9-2

15

682

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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.

• •

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and

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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

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Insp

ection

9.1 Insp

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ched

ule

9-4

15

682

8-1C

D

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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

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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

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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

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9 Maintenance and Inspection9.2 Notes on Maintenance Procedures

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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.

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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.

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

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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.

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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.)



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


– Amount of grease: approx. 7000 cc



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.




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.

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9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer

Fig. 9-5: L-Axis Speed Reducer Diagram


(Refer to fig. 9-5 “L-Axis Speed Reducer Diagram” .)

1. Make the L-arm vertical to the ground.








5. Move the L-axis for a few minutes to discharge excess grease.



Grease inletHexagon socket head plug PT1/8



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(Refer to Fig. 9-5 "L-Axis Speed Reducer Diagram" on page 9-11.)

1. Make the L-arm vertical to the ground.









6. Move the L-axis for a few minutes to discharge excess grease.




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9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer

Fig. 9-6: U-Axis Speed Reducer Diagram


(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.







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



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(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.








6. Move the U-axis for a few minutes to discharge excess grease.




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.

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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

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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.







4. Move the R-, B-, T-axes for a few minutes to discharge excess grease.



9.3.4.2 Grease Replenishment for R-Axis Speed Reducer









4. Move the R-axis for a few minutes to discharge excess grease.



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9.3.4.3 Grease Replenishment for B-Axis Speed Reducer









4. Move the B-Axis for a few minutes to discharge excess grease.



9.3.4.4 Grease Replenishment for T-Axis Speed Reducer

(Refer to fig. 9-7 “U-Arm Diagram” at page 9-15.)





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4. Move the T-axis for a few minutes to discharge excess grease.



9.3.4.5 Grease Exchange for R-, B-, T-Axes Gears in the Casing










5. Move the R-, B-, T-Axes for a few minutes to discharge excess grease.



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.

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9.3.4.6 Grease Exchange for R-Axis Speed Reducer










5. Move the R-Axis for a few minutes to discharge excess grease.



9.3.4.7 Grease Exchange for B-Axis Speed Reducer












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5. Move the B-Axis for a few minutes to discharge excess grease.



9.3.4.8 Grease Exchange for T-Axis Speed Reducer










5. Move the T-Axis for a few minutes to discharge excess grease.




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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




– Grease type: Alvania EP grease 2


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

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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).

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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.

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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*

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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 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


B 11 U-Axis Input Gear HW0301780-1 Yaskawa 1 1

B 12 R-Axis Speed Reducer


B 13 B-Axis Speed Reducer


B 14 T-Axis Speed Reducer


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


Yaskawa 1 1

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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


Yaskawa 1 2

C 19 Internal Wire Harness


C 20 Connector Base Set


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

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11 Parts List11.1 S-Axis Unit

11-1

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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

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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


1014 GT-SH-16 Washer 12


1016 SW2H-12 Spring washer 16

1017 G415 O ring 1

1018 G105 O ring 1



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



1029 MSTH6-20 Pin 2

1030 HW0402627-1 Washer 1






1036 PT1/8 Plug 1



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

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11 Parts List11.1 S-Axis Unit

11-3

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ES200RD

1044 HW0314717-1 Gear 1



Table 11-1: S-Axis Unit (Sheet 2 of 2)


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11-4

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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

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Table 11-2: L-Axis Unit (Sheet 1 of 2)


2001 23103-37ANA-YR11 Motor 1



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


2017 SW2H-12 Spring washer 24


2019 2H-12 Washer 21


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



2029 6218LLU Bearing 1

2038 HW9405055-1 Shaft 2


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



2048 HW9405195-* Shim -

2055 PT1/8 Plug 2

2056 MSTH8-20 Pin 1

2057 HW0402753-1 Cover 1


2059 2H-10 Washer 3

2061 PT3/8 Plug 1



80 of 92

11-6

156828-1CD

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ES200RD 11 Parts List11.2 L-Axis Unit


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)


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11 Parts List11.3 URBT-Axes Unit

11-7

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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

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ES200RD 11 Parts List11.3 URBT-Axes Unit

Table 11-3: URBT-Axes Unit (Sheet 1 of 2)


3001 GS210 O ring 1

3002 HW0402391-1 Collar 1

3003 HW0402406-1 Collar 1

3004 HW0306788-1 Gear 1




3008 HW0402544-1 Collar 1

3009 HW0306797-1 Gear 1



3012 HW0306795-1 Gear 1



3015 HW0401507-1 Plate 1



3018 23103-13ANA-YR11 Motor 1

3019 23103-13ANA-YR21 Motor 2

3020 M8X25 GT-SA bolt 12

3022 HW0100239-5 Casing 1



3025 HW9405703-1 Flange 1



3028 MSTM8-20 Pin 1

3029 HW0402885-1 Cover 1



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


3038 HW0301779-1 Spacer 1





3043 HW0481083-A Bolt 1

3044 HW0408806-1 Washer 1

3045 HW0301780-1 Gear 1

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11 Parts List11.3 URBT-Axes Unit

11-9

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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


3056 HW0402846-1 Stopper 1



2023 HW0100278-2 L arm 1

4001 HW0100241-1 U arm 1

Table 11-3: URBT-Axes Unit (Sheet 2 of 2)


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11-10

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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

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11 Parts List11.4 U-Arm Unit

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Table 11-4: U-Arm Unit


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


1


4009 HW9302581-1 Washer 1



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


4022 HW0306798-1 Gear 1

4023 HW0306796-1 Gear 1

4024 HW0401505-1 B nut 1

4025 HW0306787-1 Gear 1







4032 M4X6 H set screw 1



4036 PT1/8 Plug 1

4037 MSTH6-15 Parallel pin 1


3022 HW0100239-5 Casing 1

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11-12

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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

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Table 11-5: Wrist Unit (Sheet 1 of 2)


5001 HW0100242-1 Wrist base 1



5004 HW0100243-1 Wrist 1

5005 HW9381453-B Speed reducer 1


5007 GT-SH M14 Spring washer 6





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


2


5025 HW0309518-1 Gear 1

5026 HW0301223-1 Gear 1

5027 6007 Bearing 1



5030 HW0409072-1 Cover 1

5031 G140 O ring 1


5033 6911 Bearing 1

5034 AE3290E3 Oil seal 1

5035 S60 O ring 1

5036 HW9403618-1 Housing 1




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

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ES200RD 11 Parts List11.5 Wrist Unit





5048 HW9403617-1 Housing 1

5049 HW0200615-1 Cover 1


5051 HW9302370-1 Cover 1


5053 PT1/8 Plug 1

5054 HW0306790-1 Gear 1


5057 HW0306789-1 Gear 1




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



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


5086 HW0411718-1 Collar 1

5087 HW0404270-1 Shim 1

4015 HW0312106-1 Shaft 1

Table 11-5: Wrist Unit (Sheet 2 of 2)


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11 Parts List11.6 Balancer Unit

11-15

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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

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ES200RD 11 Parts List11.6 Balancer Unit

Table 11-6: Balancer Unit


6001 HW0100267-1 Case 1

6002 HW0100268-1 Flange 1



6005 HW0481227-A Coil spring 2

6006 HW0481228-A Coil spring 2

6007 HW0302081-1 Spacer 1

6008 SOB607440 Oilless bearing 4


6010 FD3187AO Dust seal 1

6011 HW0302080-1 Flange 1

6012 HW0302082-1 Rod 1

6013 HW9405057-1 Clevis 1


6016 PT1/8 Plug 3

2030 HW9302054-1 Shaft 1



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

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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

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Documents

MOTOMAN-ES200RD INSTRUCTIONS · 2018-12-10 · MANUAL NO. HW04852895 Part Number: 156828-1CD Revision: 4 MOTOMAN-ES200RD. INSTRUCTIONS. TYPE YR-ES200RD-A00 (STANDARD SPECIFICATION)