MOTOMAN-MHJ INSTRUCTIONS (A00) · MANUAL NO. HW1480687 4 MOTOMAN-MHJ INSTRUCTIONS TYPE: YR-MH0000J-A00 Upon receipt of the product and prior to initial oper ation, read these instructions

MANUAL NO.

HW1480687 4

MOTOMAN-MHJINSTRUCTIONS

TYPE:YR-MH0000J-A00

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

MOTOMAN INSTRUCTIONS

MOTOMAN-MHJ INSTRUCTIONS

FS100 INSTRUCTIONSFS100 OPERATOR’S MANUALFS100 MAINTENANCE MANUAL

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MANDATORY

• This instruction manual is intended to explain operating instructionsand maintenance procedures primarily for the MOTOMAN-MHJ.

• General items related to safety are listed in the Chapter 1: Safety ofthe FS100 Instructions. To ensure correct and safe operation,carefully read the FS100 Instructions before reading this manual.

CAUTION

• Some drawings in this manual are shown with the protective coversor shields removed for clarity. Be sure all covers and shields arereplaced before operating this product.

• The drawings and photos in this manual are representativeexamples and differences may exist between them and thedelivered product.

• YASKAWA may modify this model without notice when necessarydue to product improvements, modifications, or changes inspecifications. If such modification is made, the manual number willalso be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWArepresentative to order a new copy. The representatives are listedon the back cover. Be sure to tell the representative the manualnumber listed on the front cover.

• YASKAWA is not responsible for incidents arising from unauthorizedmodification of its products. Unauthorized modification voids yourproduct’s warranty.

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Notes for Safe OperationRead this manual carefully before installation, operation, maintenance, or inspection of the FS100 and your manipulator.

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 “DAN-GER”, “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 when the emergency stop button on the programing pendant is pressed. When the servo power is turned off, the SERVO ON LED on the programing 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.

Fig. : Emergency Stop Button

• In the case of not using the programming pendant, be sure to supply the emergency stop button on the equipment. Then before operating the manipulator, check to be sure that the servo power is turned OFF by pressing the emergency stop button. Connect the external emergency stop button to the 5-6 pin and 16-17 pin of the robot system signal connector (CN2).

• Upon shipment of the FS100, this signal is connected by a jumper cable in the dummy connector. To use the signal, make sure to prepare a new connector, and then input it.

If the signal is input with the jumper cable connected, it does not function, which may result in personal injury or equipment damage.

• 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.

Fig. : Release of EM

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.

– Ensure that you have a safe place to retreat in case of emergency.

Improper or unintended manipulator operation may result in injury.

The emergency stop button is located on the programing 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 FS100 controller, manipulator cables, the FS100 programming pendant (optional), and the FS100 programming pendant dummy connector (optional).

In this manual, the equipment is designated as follows:

WARNING

• 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 FS100.

– Moving the manipulator with the programming pendant.

– Running the system in the check mode.

– Performing automatic operations.

Injury may result if anyone enters the working envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems.

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 FS100 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 FS100 Instructions before operating the manipulator:

Equipment Manual Designation

FS100 controller FS100

FS100 programming pendant Programming pendant

Cable between the manipulator and the controller

Manipulator Cable

FS100 programming pendant dummy connector

Programming pendant dummy connector

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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.

Nameplate Warning Label B

WARNING

Do not enterrobotwork area.

Warning Label A

WARNING

Moving partsmay causeinjury

Warning label A

Warning label B

Nameplate

MADE IN JAPAN

YASKAWA ELECTRIC CORPORATION

Kitakyushu 806-0004 Japan2-1 Kurosakishiroishi, Yahatanishi-ku,

SERIAL NO.

PAYLOADkg

TYPE

MASS

DATEORDER NO.kg

MOTOMAN-MODEL

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Contents

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1 Product Confirmation ...................................................................................................................... 1-1

1.1 Contents Confirmation....................................................................................................... 1-1

1.2 Order Number Confirmation .............................................................................................. 1-2

2 Transport......................................................................................................................................... 2-1

2.1 Transporting Method.......................................................................................................... 2-1

2.1.1 Transporting Posture............................................................................................ 2-1

2.1.2 Using a Forklift...................................................................................................... 2-2

2.1.3 Notes on Transportation....................................................................................... 2-3

3 Installation....................................................................................................................................... 3-1

3.1 Installation of Safeguarding ............................................................................................... 3-2

3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2

3.2.1 Mounting the Manipulator on the Baseplate ......................................................... 3-3

3.2.2 Mounting the Manipulator Itself Directory on the Floor......................................... 3-4

3.2.3 Ways of Mounting................................................................................................. 3-5

3.3 Location ............................................................................................................................. 3-6

4 Wiring.............................................................................................................................................. 4-1

4.1 Grounding Method............................................................................................................. 4-1

4.2 Manipulator Cable Connection .......................................................................................... 4-2

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

4.2.2 Connection to the FS100...................................................................................... 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 P-Point Maximum Envelope.................................................................... 5-3

5.5 B-Axis Working Envelope .................................................................................................. 5-4

6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1

6.1 Allowable Wrist Load ......................................................................................................... 6-1

6.2 Wrist Flange....................................................................................................................... 6-2

7 System Application ......................................................................................................................... 7-1

7.1 Internal User I/O Wiring Harness and Air Lines................................................................. 7-1

7.2 Without Brake at S-, R-, B- and T-Axes Specification ....................................................... 7-2

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8 Electrical Equipment Specification .................................................................................................. 8-1

8.1 Internal Connections..........................................................................................................8-1

9 Maintenance and Inspection ...........................................................................................................9-1

9.1 Inspection Schedule...........................................................................................................9-1

9.2 Notes on Maintenance Procedures....................................................................................9-4

9.2.1 Battery Pack Replacement ...................................................................................9-4

9.2.2 Notes on Maintenance..........................................................................................9-6

9.2.2.1 Battery Pack Connection for Motors........................................................ 9-6

10 Recommended Spare Parts........................................................................................................ 10-1

11 Parts List .................................................................................................................................... 11-1

11.1 S-Axis Unit ..................................................................................................................... 11-1

11.2 LU-Axis Unit ................................................................................................................... 11-4

11.3 R-Axis Unit ..................................................................................................................... 11-6

11.4 Wrist Unit ....................................................................................................................... 11-8

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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 three items (Information for the content of optional goods is given separately):

• Manipulator

• FS100

• Manipulator cables (between the FS100 and the manipulator)

CAUTION

• Confirm that the manipulator and the FS100 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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1 Product Confirmation1.2 Order Number Confirmation

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1.2 Order Number Confirmation

Check that the order number of the manipulator corresponds to the FS100. The order number is indicated on a label as shown below.

Fig. 1-1: Location of Order Number Labels

ORDER. No.

Label (Enlarged View)

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

and the FS100 have the same order number.

(a) FS100 (Top View) (b) Manipulator (Back and Side View)

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2 Transport2.1 Transporting Method

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2 Transport

2.1 Transporting Method

2.1.1 Transporting Posture

As a rule, when transporting the manipulator, take the following posture.

Fig. 2-1: Transporting Posture

CAUTION

• Sling and crane or forklift operations must be performed by authorized personnel only.

Failure to observe this caution may result in injury or damage.

• Avoid excessive vibration or shock during transport.

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

414.2

543

5

Arm:Horizontal

Bolt M8(7bolts)

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2.1.2 Using a Forklift

When using a forklift, the manipulator should be fixed on a pallet with shipping bolts and brackets as shown in fig. 2-2 “Transport Using a Forklift” .

Insert claws under the pallet and lift it. The pallet must be strong enough to support the manipulator.

Transport the manipulator slowly with due caution in order to avoid overturn or slippage.

Fig. 2-2: Transport Using a Forklift

NOTE• The mass of the manipulator is approximately 15 kg.

• With any transportation equipment, make sure to avoid external force on the arm or motor unit when transporting the manipulator.

Bolt M8(7bolts)

Pallet

Forklift fork entries

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2.1.3 Notes on Transportation

Fig. 2-3: Arm Rotation Axis when Transportation

Please keep the followings when the manipulator is transported because there are no brakes on S-, R-, B- and T-axes.

• When it is transported by the forklift, please keep it parallel to the ground. If it is tilted, s-axis might rotates.

• When it is transported by humans, please be careful not to be stuck in the arm or not to lose its balance due to the spontaneous arm rota-tion.

R-axis B-axis

T-axis

S-axis

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3 Installation

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3 Installation

WARNING

• Sling and crane or forklift operations must be performed by authorized personnel only.

Failure to observe this caution may result in injury or damage.

• Avoid excessive vibration or shock during transport.

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

• Install the safeguarding.

Failure to observe this warning may result in injury or damage.

• Install the manipulator in a location where the manipulator’s tool or the workpiece held by the manipulator will not reach the wall, safeguarding, or FS100 when the arm is fully extended.


• 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.

• The base for the manipulator should have adequate strength and rigidity.


CAUTION

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

Failure to observe this caution may cause injury or damage.

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3 Installation3.1 Installation of Safeguarding

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3.1 Installation of Safeguarding

To insure safety, be sure to install the safeguarding.

They prevent unforeseen accidents with personnel and damage to equipment.

The following is quoted for your information and guidance.

Responsibility for Safeguarding (ISO 10218)

The user of a manipulator or robot system shall ensure that safeguarding is provided and used in accordance with Sections 6, 7, and 8 of this standard.

The means and degree of safeguarding, including any redundancies, shall correspond directly to the type and level of hazard presented by the robot system consistent with the robot application.

Safeguarding may include but not be limited to safeguarding devices, barriers, interlock barriers, perimeter guarding, awareness barriers, and awareness signals.

3.2 Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a baseplate or foundation strong enough to support the manipulator and withstand repulsion forces during acceleration and deceleration.

Construct a solid foundation with the appropriate thickness to withstand maximum repulsion force of the manipulator. (Refer to table 3-1 “Maximum Repulsion Force of the Manipulator at Emergency Stop” and table 3-2 “Endurance Torque in Operation” .)

A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness of installation surface may deform the manipulator shape and affect its functional abilities.

For installation, refer to chapter 3.2.1 “Mounting the Manipulator on the Baseplate” or chapter 3.2.2 “Mounting the Manipulator Itself Directory on the Floor” .

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

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

196 N•m(20 kgf•m)

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

294 N•m(30 kgf•m)

Table 3-2: Endurance Torque in Operation

Endurance torque in horizontal operation 11.7 N•m(11.4 kgf•m)

Endurance torque in vertical operation 164.6 N•m(16.8 kgf•m)

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3 Installation3.2 Mounting Procedures for Manipulator Base

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3.2.1 Mounting the Manipulator on the Baseplate

The baseplate should be rugged and durable to withstand maximum repulsion force of the manipulator and to ensure that the manipulator and fixture are in the correct relative position.

The thickness of the baseplate is 25 mm or more and an M8 size or larger anchor bolt is recommended.

After anchoring the baseplate firmly on the floor, fix the manipulator base to the baseplate with the hexagon head screw M8 (5 screws, length of 35 mm or more is recommended) using mounting holes on the manipulator base.

The manipulator base is tapped for five mounting holes.

Tighten the hexagon head bolts and anchor bolts securely so that they will not work loose during operation. For details, refer to fig. 3-1 “Mounting the Manipulator on the Baseplate”

Fig. 3-1: Mounting the Manipulator on the Baseplate

12

25 30

60

60

55

P.C.D

.160

63 92.5185

160

0.2 80

0.

1

Spring washer

Washer

Manipulator base

Manipulator base

(Diagonal)

Baseplate

25 mm

or mo

re

Anchor bolt (M8 or more)Baseplate

9 dia. hole (5 holes for fixing)

6 dia. (6 holes for reference)

Hexagon head cap screw M8 (5 screws)

+0.012 0

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3.2.2 Mounting the Manipulator Itself Directory on the Floor

The floor should be strong enough to support the manipulator.

Construct a solid foundation with the appropriate thickness to withstand maximum repulsion force of the manipulator shown in table 3-1 “Maximum Repulsion Force of the Manipulator at Emergency Stop” .

As a rough standard, if there is a concrete thickness (floor) of 150 mm or more, the manipulator base can be fixed directly to the floor with anchor bolts M8.

Before mounting the manipulator, however, check that the floor is level and that all cracks, etc. are repaired.

Any thickness less than 150 mm is insufficient for mounting, even if the floor is concrete.

Fig. 3-2: Mounting the Manipulator Directory on the Floor

M8 anchor bolt (5 bolts)

Concrete floor

45 m

m o

r mor

e

150

mm

or m

ore

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3.2.3 Ways of Mounting

The manipulator can be mounted in three different ways: floor-mounted (standard), wall-mounted, and ceiling-mounted ways are available.

1. For ceiling-mounted way, the base of the manipulator should be fixed with the hexagon head screw M8 (5 screws, length of 35 mm or more is recommended). And tighten them with the tightening torque of 24.5 N•m.

2. When performing ceiling installations, for safety purposes, take measures to the manipulator base to keep the manipulator from falling. Refer to fig. 3-3 “Precaution Against Falling” for details.

Fig. 3-3: Precaution Against Falling

NOTE

• In case of installing on the ceiling, inform your Yaskawa representative of the matter when placing an order.

• Be sure to contact your Yaskawa representative (listed on the back cover of this instruction manual) to perform a ceiling installation on site.

Support for fall prevention

Manipulator base

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3 Installation3.3 Location

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3.3 Location

When installing the manipulator, satisfy the following environmental conditions.

• Ambient temperature: 0° to 45°C

• Humidity: 20 to 80%RH at constant temperature

• Free from exposure to water, oil, or dust

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

• Free from excessive vibration (Vibration acceleration: 4.9 m/s2

[0.5 G] or less)

• Free from large electrical noise (plasma)

• Flatness for installation is 0.5 mm or less

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4 Wiring4.1 Grounding Method

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4 Wiring

4.1 Grounding Method

Follow local regulations for grounding line size. A line of 5.5 mm2 or more is recommended. Refer to fig. 4-1 “Grounding Method” to connect the ground line directly to the manipulator.

Fig. 4-1: Grounding Method

WARNING

• Ground resistance must be 100 W or less.

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

• Before wiring, make sure to turn OFF the primary power supply, and put up a warning sign. (ex. DO NOT TURN THE POWER ON.)

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

CAUTION

• Wiring must be performed by authorized or certified personnel.

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

NOTE

• Do not use this line sharing with other ground lines or grounding electrodes for other electric power, motor power, welding devices, etc.

• Where metal ducts, metallic conduits, or distributing racks are used for cable laying, ground in accordance with Elec-tric Equipment Technical Standards.

View A

A

Bolt M8 (for grounding)Delivered with the manipulator

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4 Wiring4.2 Manipulator Cable Connection

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4.2 Manipulator Cable Connection

Two manipulator cables are delivered with the manipulator; an encoder cable (1BC) and a power cable (2BC). (Refer to fig. 4-2 “Manipulator Cables” .)

Connect these cables to the manipulator base connectors and to the FS.

Please refer to fig. 4-3(a) “Manipulator Cable Connection (Manipulator Side)” and fig. 4-3(b) “Manipulator Cable Connection (FS100 Side)” .

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, then 1BC. After inserting the cables, fix them with screws.

4.2.2 Connection to the FS100

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, then connect 2BC to X21 on the FS first, then connect 1BC to X11.

After inserting the cables, depress the lever until it clicks.

CAUTION

• Do not cover the cable with heat insulating material, and avoid multiple cabling.

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4 Wiring4.2 Manipulator Cable Connection

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Fig. 4-2: Manipulator Cables

Fig. 4-3(a): Manipulator Cable Connection (Manipulator Side)

Fig. 4-3(b): Manipulator Cable Connection (FS100 Side)

FS100 Side Manipulator Side

1BC Encoder Cable

2BC Power Cable

1BCX

11

2BC

X21

FS100 Side Manipulator Side

X11 1BC

2BCX21

Connector Details(Manipulator Side)

1BC

2BC

Connector Details (FS100 side)

X21 X11

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5 Basic Specifications5.1 Basic Specifications

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5 Basic Specifications

5.1 Basic Specifications

Table 5-1: Basic Specifications1)

Item Model MOTOMAN-MHJ (YR-MH0000J-A00)

Configuration Vertically Articulated

Degree of Freedom 6

Payload 1 kg (Max. 2 kg)

Repeatability2) ±0.03 mm

Range of Motion S-axis (turning) -160° − +160°

L-axis (lower arm) -90° − +110°

U-axis (upper arm) -105° − +290°

R-axis (wrist roll) -180° − +180°

B-axis (wrist pitch/yaw) -130° − +130°

T-axis (wrist twist) -360° − +360°

MaximumSpeed

S-axis 2.79 rad/s, 160°/s

L-axis 2.27 rad/s, 130°/s

U-axis 3.49rad/s, 200°/s

R-axis 5.23 rad/s, 300°/s

B-axis 6.98 rad/s, 400°/s

T-axis 8.72 rad/s, 500°/s

AllowableMoment3)

R-axis 3.33 N•m (0.34 kgf•m)

B-axis 3.33 N•m (0.34 kgf•m)

T-axis 0.98 N•m (0.1 kgf•m)

AllowableInertia3) (GD2/4)

R-axis 0.058 kg•m2

B-axis 0.058 kg•m2

T-axis 0.005 kg•m2

Approx. Mass 15 kg

AmbientConditions

Temperature 0°C - 45°C

Humidity 20 to 80% RH at constant temperature

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

Mounting Method Floor-mounted, Ceiling-mounted

Others • Free from explosive and corrosive gas or liquid.• Free from water, oil, or dust.• Free from excessive electrical noise (plasma).

Power Capacity 0.5 kVA

1 SI units are used in this table. However, gravitational unit is used in (). 2 Conformed to ISO9283. 3 Refer to chapter 6.1 “Allowable Wrist Load” for details on the allowable moment and

the allowable 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

Upper arm(U-arm)

Wrist

Lower arm(L-arm)

Rotary head(S-head)

Base

S-

L+L-

U-

U+R+

R-

B+

B-

T+

T-

S+

(Diagonal)

View A

25 30

60

60

55

P.C.D

.160

63 92.5

185

80

0.1

160

0.2

A

+0.012 0 6 dia. (6 holes for reference)

9 dia. hole (5 holes for fixing)

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

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5.4 Dimensions and P-Point Maximum Envelope

Fig. 5-3: Dimensions and P-Point Maximum Envelope

P-point maximum envelope

P-point maximum envelope(When the payload is 1kg)




160

160

270

168

183

500 500

273

209

63545

545

240

270

234

364

545

20927

555

29090 110

105

R209

R500

R545

If more than 1kg, range ofmotion is different.Please use within range ofmotion for payload.

*1

*1

*1

P-point

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5 Basic Specifications5.5 B-Axis Working Envelope

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5.5 B-Axis Working Envelope

B-axis moves within the defined degrees toward the center of U-axis as shown in fig. 5-4 “B-Axis Working Envelope” .

Fig. 5-4: B-Axis Working Envelope

U-axiscenter of rotation

B-axiscenter of rotation

S-axiscenter of rotation

L-axiscenter of rotation

130

130

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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 2 kg including its grip mass.

As shown in table 6-1 “Allowable Total Moment of Wrist” , the moment of each axis is limited. Observe the conditions described in this section in applying load on the wrist.

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 the moment of inertia is the only load or the load moment is smaller than moment of inertia.

Also, if force is applied to the wrist instead of the load, contact your Yaskawa Representative beforehand.

Fig. 6-1: Moment Arm Rating

Table 6-1: Allowable Total Moment of Wrist

Axis Moment N•m (kgf•m)1)

1 ( ): Gravitational unit

GD2/4 Total Moment of Inertia kg•m2

R-axisB-axisT-axis

3.33 (0.34)3.33 (0.34)0.98 (0.1)

0.0580.0580.005

LT(mm)

LT(mm)

LB(mm)2kg1kg

0.5kg

100

100 200 300 400

100

R-, T-axis center of rotation

B-axis center of rotation

P-point

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

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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 6mm or less.

Fig. 6-2: Wrist Flange

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

12.5 0.02 12.5 0.02

45

P.C.D

.25

+0.01205 dia. hole

(depth: 5)

+0.0

150

10 d

ia.

hol

e

Tapped hole M5(depth: 9) (pitch: 0.8)(4 holes)

6 (fitting depth)

28/51

7 System Application7.1 Internal User I/O Wiring Harness and Air Lines

7-1

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7 System Application

7.1 Internal User I/O Wiring Harness and Air Lines

Internal user I/O wiring harness (0.1 mm2 x 8 wires) and four air lines are incorporated in the manipulator for the drive of peripheral devices mounted on the upper arm as shown in fig. 7-1 “Connectors for Internal User I/O Wiring Harness and Air Lines” .

The connector pins 1 to 8 are assigned as shown in fig. 7-1 “Connectors for Internal User I/O Wiring Harness and Air Lines” . Wiring must be performed by users.

Fig. 7-1: Connectors for Internal User I/O Wiring Harness and Air Lines

The same numbered pins(1 to 8) of the two connectors are connected with a single lead wire of 0.1 mm2.

Items Conditions

The allowable current for internal userI/O wiring harness

2.5 A or less per a wire.

The maximum pressure for the air line 490 kPa (5.0 kgf/cm2) or less(The air line inside diameter: 2.5 mm.)

1

16 7 8 9

2 3 4 5

2345678

A

B

Exhaust port (for air supply):Tapped hole M5 (pitch: 0.8) (4 holes) LP-M5 plug (with a pipe plug) (4 plugs)

Exhaust port (for air supply):Tapped hole M5 (pitch: 0.8) (4 holes) LP-M5 plug (with a pipe plug) (4 plugs)

Connector for internal user I/O wiring harness:HDEB-9S (05) Prepare pin connector HDEB-9P (05) *HRS*

Connector for internal user I/O wiring harness:HDEB-9PF (05) Prepare pin connector HDEB-9S (05) *HRS*

Connector for Internal User I/O Wiring Harness

Internal user I/O wiring harness:

Pins Used

View A

View B

0.1 mm2, 8 wires.

29/51

7 System Application7.2 Without Brake at S-, R-, B- and T-Axes Specification

7-2

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7.2 Without Brake at S-, R-, B- and T-Axes Specification

The S-, R-, B- and T-axes on MOTOMAN-MHJ are not equipped with brakes. The posture of the manipulator might change if the SERVO is turned OFF during the postures that gravitational force is likely to be applied to these axes. Taking this, the following alarms occurrs if the power supply is turned ON or the SERVO is turned ON when the manipulator is taking above mentioned postures. To avoid these alarms to occur, keep the manipulator in the posture that the gravity will not be applied to those axes.

• DROP-VALUE OUT OF RANGE (AL-4511)This alarm occurs when the difference in the rmanipulator’s position pulse of the previous and the current SERVO OFF is more then 100 pulse. Reset the alarm and turn ON the SERVO again.

• SERVO ON SPEED ERROR (AL-4307)This alarm occurs when the motor is still moving even though the SERVO is already turned OFF. Confirm that the manipulator is completely stopped, then turn ON the SERVO again.

• ABSOLUTE DATA OUT OF RANGE (AL-4107)This alarm occurs when the difference in the position pulse when the power is turned OFF and when the power is turned ON is more than 4096. Reset the alarm and move the manipulator to the home position, then confirm the position.

R-axis B-axis

T-axis

S-axis

30/51

8 Electrical Equipment Specification8.1 Internal Connections

8-1

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8 Electrical Equipment Specification

8.1 Internal Connections

Diagram for internal connections of the manipulator are shown in fig. 8-1(a) “Internal Connection Diagram” and fig. 8-1(b) “Internal Connection Diagram”

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8-2

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Fig. 8-1(a): Internal Connection Diagram

No.3CN

CN-1

No.4CN

-2-3

-3-4

-2CN-1

0V

OBTBAT

FG2

DATA-2DATA+2

+5V

0V(OBT)3.6V(BAT)

PG L-AXIS

No.5CN

CN-1

No.6CN

-2-3

-3-4

-2CN-1

0V

OBTBAT

FG3

DATA-3DATA+3

+5V

0V(OBT)3.6V(BAT)

PG U-AXIS

No.1CN

CN-1

No.2CN

-2-3

-3-4

-2CN-1

0VFG1

DATA-1DATA+1

+5V

0V(OBT)3.6V(BAT)

PG S-AXIS

No.7CN

CN-1

No.8CN

-2-3

-3-4

-2CN-1

0VFG4

DATA-4DATA+4

+5V

0V(OBT)3.6V(BAT)

PG R-AXIS

No.9CN

CN-1

No.10CN

-2-3

-3-4

-2CN-1

0VFG5

DATA-5DATA+5

+5V

0V(OBT)3.6V(BAT)

PG B-AXIS

No.11CN

CN-1

No.12CN

-2-3

-3-4

-2CN-1

0VFG6

DATA-6DATA+6

+5V

0V(OBT)3.6V(BAT)

PG T-AXIS

OBTBAT

OBTBAT

OBTBAT

OBTBAT

P

P

P

P

P

P

P

P

P

P

P

P

P

P

MANIPULATOR E E E E

DATA-2DATA+2

DATA-3DATA+3

DATA-1DATA+1

DATA-4DATA+4

DATA-5DATA+5

DATA-6DATA+6

-5-6

-7-8

-9-10

-11-12

-13-14

-15-16

EEE

P

P

P

P

P

P

SPG+1

E

FS100

P

PP

P

<1BC>

215

417

619

821

1023

1225

18 BAT1BAT112R PK BAT

0V+24V

0V

-4-2

-3

24

3+24V-1

X

0BAT12BAT12

34

0BAT21BAT216

5

R PK

R PK BAT0BT

0BTBAT

BAT22

1

8

5

76

34

2

R PK BAT0BAT220BT 7

1

8

14

1615

1312

1920

24

2625

232221

3031

2928

3

54

2132

27

PG0V2PG5V2PG0V3

PG0V1PG5V1

0BAT3BAT3

BAT40BAT4

0BAT2BAT2

910

76

8

11

PG5V3PG0V4PG5V4

0BAT1110BT 17 0BAT1

No.1CN

-3-4

0V+24V-1

-2

P

P+24V0V

0V+24V+24V

0V

SPG-1

SPG+2SPG-2

SPG+3SPG-3

SPG+4SPG-4

SPG+5SPG-5

SPG+6SPG-6

163

141

E

Controller Power Supply Part Base Part Arm Part

This diagram is for the MOTOMAN-MHJ.Note)

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Fig. 8-1(b): Internal Connection Diagram

CN-1

-3-4

-2MU1

MW1ME1

MV1S-AXISSM

No.13CN

CN-1-2

CN-1

-3-4

-2

BA2BB2

MU2

MW2ME2

MV2

L-AXIS

YB

SM

No.14CN

No.15CN

CN-1-2

CN-1

-3-4

-2

BA3BB3

MU3

MW3ME3

MV3

U-AXIS

YB

SM

No.16CN

No.17CN

CN-1

-3-4

-2MU4

MW4ME4

MV4R-AXISSM

No.18CN

CN-1

-3-4

-2MU5

MW5ME5

MV5B-AXISSM

No.19CN

CN-1

-3-4

-2MU6

MW6ME6

MV6T-AXISSM

No.20CN

MU1

MW1ME1

MV1

BA2BB2

MU2

MW2ME2

MV2

BA3

MU3

MW3ME3

MV3

MU4

MW4ME4

MV4

MU5

MW5ME5

MV5

MU6

MW6ME6

MV6

-1-2-3-4

-5-6-7-8

-9-10-11-12

-13-14-15-16

-17-18-19-20

-21-22-23-24

-27-28

-29

EE

<2BC>

-30 BB3

-1-2-3-4

<3BC>

-5-6-7-8

1234

5678

-1-2-3-4

1234

-1-2-3-4

1234

-1-2-3-4

<3BC>

-5-6-7-8

1234

5678

<3BC-1>

<3BC-2>

P

P

P

P

-25-26

-31-32

-33-34

-35-36

MU1

MW1ME1

MV1

MU2

MW2ME2

MV2

BA1BB1

MU3

MW3ME3

MV3

MU4

MW4ME4

MV4

MU5

MW5ME5

MV5

MU6

MW6ME6

MV6

BA2BB2

BA3BB3BA4BB4

BA5BB5

BA6BB6

EE

1234

56782526

9101112

13141516

17181920

21222324

2728

29303132

3334

3536

33/51

9 Maintenance and Inspection9.1 Inspection Schedule

9-1

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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 six levels as shown in table 9-1 “Inspection Items” .

Conduct periodical inspections according to the inspection schedule in the table.

In table 9-1 “Inspection Items” , the inspection items are categorized by three types of operations: operations which can be performed by personnel authorized by the user, operations which can be performed by personnel being trained, and operations which can be performed by service company personnel. Only specified personnel are to do the inspection work.

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.

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9-2

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Tabl

e 9-

1: In

spec

tion

Item

s

Ite

ms1

)

1In

spec

tion

No

. cor

resp

ond

to th

e nu

mbe

rs in

fig.

9-1

“In

spec

tion

Item

s” .

Sc

hed

ule

Met

ho

dO

per

atio

nIn

spec

tio

n

Ch

arg

e

Daily

1000HCycle

5000HCycle

15000HCycle

Specified Personnel

Licensee

Service Company

1W

orki

ng a

rea

and

who

le e

xter

ior

of m

anip

ula

tor•

Vis

ual

Cle

an th

e w

ork

area

if d

ust o

r sp

atte

r is

pre

sent

. Che

ck fo

r da

ma

ge

and

outs

ide

crac

ks.

••

•2

LU-a

xes

join

t par

ts•

Vis

ual

Ch

eck

for

grea

se le

akag

e.•

••

3B

asep

late

mo

untin

g bo

lts•

Spa

nner

W

renc

hT

ight

en lo

ose

bol

ts.

Rep

lace

if n

eces

sary

.•

••

4C

ove

r m

oun

ting

scre

ws

•S

cre

wdr

iver

, W

renc

hT

ight

en lo

ose

bol

ts.

Rep

lace

if n

eces

sary

.•

••

5C

onne

ctor

bas

e•

Man

ual

Ch

eck

for

loo

se c

onn

ecto

rs.

••

•6

LUR

B-a

xes

timin

g be

lts•

Man

ual

Ch

eck

for

belt

tens

ion

and

wea

r.•

•7

Wire

har

ness

in m

anip

ula

tor

•V

isua

l,M

ultim

eter

Ch

eck

for

cond

uctio

n be

twee

n th

e m

ain

con

nec

tor

of b

ase

an

d in

term

edi

ate

conn

ecto

r b

y m

anua

lly s

haki

ng th

e w

ire.

Re

plac

e th

e w

ire2)

2W

hen

chec

king

fo

r co

nduc

tion

with

mu

ltim

ete

r, c

onn

ect

the

ba

ttery

to

“BA

T”

and

“OB

T”

of c

onne

cto

rs o

n th

e m

otor

sid

e fo

r ea

ch a

xis,

an

d th

en

rem

ove

conn

ecto

rs o

n de

tect

or s

ide

for

eac

h ax

is f

rom

the

mot

or.

Oth

erw

ise

, th

e ho

me

pos

ition

may

be

lost

. (R

efer

to

cha

pter

9.2

.2“N

ote

s o

nM

aint

enan

ce”

)

••

•R

epl

ace

3)

3W

ire h

arn

ess

in m

anip

ula

tor

(for

S-,

L-,

U-,

R-,

B-,

T-a

xes)

to b

e re

pla

ced

at 1

5000

H in

spec

tion.

.

8B

atte

ry p

ack

in m

anip

ulat

or•

Test

er

Re

plac

e th

e ba

ttery

pac

k w

hen

the

batte

ry a

larm

occ

urs

or w

hen

the

man

ipul

ator

has

bee

n o

pera

ted

for

1500

0H.

••

9S

-axi

s sp

eed

re

duce

r,•

Ch

eck

for

mal

func

tion

. (R

epla

ce if

nec

essa

ry.)

•

•10

LU-a

xis

spe

ed r

edu

cers

•C

hec

k fo

r m

alfu

nctio

n. (

Rep

lace

if n

eces

sary

.)

••

11R

-axi

s sp

eed

redu

cer

•C

hec

k fo

r m

alfu

nctio

n. (

Rep

lace

if n

eces

sary

.)

••

12B

T-ax

is s

peed

redu

cers

and

T-a

xis

gea

r•

Ch

eck

for

mal

func

tion

. (R

epla

ce if

nec

essa

ry.)

•

•13

Ove

rhau

l•

•

35/5

1


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Fig. 9-1: Inspection Items

The numbers in the above figure fig. 9-1 “Inspection Items” correspond to the numbers in table 9-1 “Inspection Items” .

6

10

11

12

2

2

9 3

6

6

10

7

5

8

36/51

9 Maintenance and Inspection9.2 Notes on Maintenance Procedures

9-4

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9.2 Notes on Maintenance Procedures

9.2.1 Battery Pack Replacement

Two battery packs are attached in the locations as shown in fig. 9-2(a) “Battery Location” .

If the battery alarm occurs in the FS100, replace the battery in accordance with the following procedures.

Fig. 9-2(a): Battery Location

Fig. 9-2(b): Battery Connection

1. Turn OFF the FS100 main power supply.

2. Unscrew the connector base fixing bolts, then pull out the connector base.

3. Untie the cable tie which is fixing the battery pack.

4. Connect the new battery pack to the unoccupied connector on the board.

Connector base fixing bolt

Connector base

Connector pins for the battery

Board

Cable tie for the battery pack (T50R)

Connector

BoardSee step 4 below.

New battery pack

Battery pack before replacementSee step 5 below.

37/51


9-5

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5. Remove the old battery pack from the board.

6. Tie the new battery pack with the cable tie and return the connector base.

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

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

38/51


9-6

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9.2.2 Notes on Maintenance

9.2.2.1 Battery Pack Connection for Motors

The connectors (crimped contact-pin) for battery backup are installed at the end point of each motor (marked as BAT and OBT).

Connect the battery pack according to the following procedure.

1. Connect a battery pack (HW9470932-A) to the connectors for battery backup.( With the battery pack connected to the connectors for battery backup, disconnect the motor encoder connectors, then perform maintenance check.)

2. After the maintenance check, confirm that all connectors are connected and then, remove the battery pack.

Fig. 9-3: Encoder Connector Diagram

NOTE Do not remove battery pack in the connector base.

BAT40BT4b

aa

b0BTBAT

BAT40BT4b

aa

bBAT

0BT

Motor

Enlarged Label

Wire harnes in manipulator

Encoder

Power connector

Connector for battery pack back-up

Motor cable, etc.

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

CAUTIONConnect battery to encoderto save the data beforeremoving connector.

CAUTION Label (Enlarged View)

CAU

TION

Connect battery to encoder

to save the data beforerem

oving connector. HW9470932-A (Battery pack)Encoder connector

39/51

10 Recommended Spare Parts

10-1

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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-MHJ. Product performance can not be guaranteed when using spare parts from any company other than Yaskawa. The spare parts are ranked as follows:

• Rank A: Expendable and frequently replaced parts

• Rank B: Parts for which replacement may be necessary as a result of frequent operation

• Rank C: Drive Unit

NOTE To replace parts in Rank B or Rank C, contact your Yas-kawa representative.

Table 10-1: Spare Parts for the MOTOMAN-MHJ

Rank PartsNO.

Name Type Manufacturer Qty QtypreUnit

Remarks

A 1 Battery Pack HW0470360-B Yaskawa ElectricCorporation

1 1

HW9470932-A Yaskawa ElectricCorporation

1 1

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

B 3 L-axis Timing Belt 060S3M309 Mitsuboshi Belting Limited 1 1

B 4 U-axis Timing Belt 060S3M318 Mitsuboshi Belting Limited 1 1

B 5 S- and R-axes Timing Belts

060S3M186 Mitsuboshi Belting Limited 1 2

B 6 B-axis Timing Belt 060S3M276 Mitsuboshi Belting Limited 1 1

B 7 S- and R-axes Speed Reducers


1 2

B 8 L- and U-axesSpeed Reducers


1 2

B 9 B-axisSpeed Reducer


1 1

B 10 T-axisSpeed Reducer

HW0390472-A YaskawaElectricCorporation

1 1

B 11 AC Servomotor for S-, R-, B- and T axes

HW0388794-ASGMAV-A5ANA-YR2*

Yaskawa ElectricCorporation

1 4

B 12 AC Servomotors for L- and U-axes

HW0388647-ASGMAV-A5ANA YR1*

Yaskawa ElectricCorporation

1 2

C 13 TWire Harness in Manipulatorr


1 1 Connector base included

40/51

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

1001

1012

1043

1045

1042

1042

1044

1046

1044

1016

1034

1034

1034

1034

1034

10381040

1010

1019

1023

1019

1022

1032

1033

1033

1033

1036

1036

1032

1031

1031

1031

1019

1011

1013

1024

1030

1025

1026

1017

1021

1021

1018

1032

1003

1004

1006

1005

1037

1041

1015

1039

10411040

1008

1009

1014

1020

1020

1007

1002

1035

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

No. DWG No. Name Pcs

1001 HW9482970-A Bearing 1

1002 6806ZZ Bearing 1

1003 6808ZZ*NS7* Bearing 1

1004 SGMAV-A5ANA-YR21(HW0388794-A)

Motor 1

1005 *HW1401031-1*GHW0483420-A

Pulley 1

1006 HW1401028-1 Collar 1

1007 060S3M186 Belt 1

1008 HW0483421-A Pulley 1

1009 HW9406278-2 Washer 1

1010 HW9406276-1 B cover 1

1011 HW0102843-2 Base 1

1012 HW0102844-2 S head 1

1013 HW9406285-F Pipe 1

1014 HW0315900-1 Cover 1

1015 HW0416109-1 M base 1

1016 HW0416110-2 B holder 1

1017 HW0416112-2 Cover 1

1018 HW0416173-1 Support 1

1019 HW0390469-A Speed reducer 1

1020 M3X4 Truss head machine screw (STAINLESS coating)

4


8

1022 HW1400595-1 Support 1

1023 HW1400597-1 Block 1

1024 HW1400599-1 Support 1

1025 SGDR-FBA02A Board 1

1026 SLCG5.5-6 Spacer 4

1030 M3X6 Sems pan-head machine screw

4

1031 T50R Cable tie 4

1032 TA1-S8 Clamp 4


4

1034 M3X10 GT-SA bolt 19




1038 M3X10 Socket screw 12


1040 2H-3 Spring washer 13

1041 M4 Washer 3


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1045 GT-LH-4 Washer 6

1046 EZ0025B0 Cap 1

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


43/51

11 Parts List11.2 LU-Axis Unit

11-4

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11.2 LU-Axis Unit

Fig. 11-2: LU-Axis Unit

20012033

2033

2035

2035

2034

2034

2003

20352031

2004

2002

2006

2006

2009

2009

20102014

2025

2028

2028

20362040

2041

2042

20412042

20362040

2026

20272027

2027

20272029

2029

20292029

2015

2022

2022

2015

2014

2022

2017

20242031

2031

2024

3006

1012

2019

2020

2018

2016

2010

2011

2021

2021

2021

2021

20212034

2032

2021

2011

2012

2013

2009

2009

200520372040

2040

2007

2008

2041

2030

2042

20412042

2038

20392042

20392042

2023

2023

20342032

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11 Parts List11.2 LU-Axis Unit

11-5

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Table 11-2: LU-Axis Unit


2001 *HW1401031-1*GHW0483420-A

Pulley 1

2002 HW1401028-1 Collar 1

2003 *HW1401030-1*GHW0483423-A

Pulley 1

2004 HW1401028-1 Collar 1

2005 *HW1401032-1*GHW0483425-A

Pulley 1

2006 SGMAV-A5ANA-YR11(HW0388647-A)

Motor 2

2007 HW1401027-1 Collar 1

2008 HW0483419-A Pulley 1


2010 6911DDU*NS7* Bearing 2

2011 6913DDU Bearing 2

2012 060S3M309 Belt 1

2013 060S3M327 Belt 1

2014 PSLCG5.5-18 Spacer 8

2015 HW0315902-1 Cover 2

2016 HW0315904-1 Cover 1

2017 HW1300552-1 Plate 1

2018 HW1300866-1 Plate 1

2019 HW0416114-2 Shaft 4

2020 HW0416197-1 Shaft 1



10

2023 HW0416113-1 M base 2

2024 HW1400596-1 Block 2

2025 HW1401025-1 Support 1

2026 HW1401026-1 Support 1

2027 HW1401029-1 Block 4








2035 M4 Washer 4








1012 HW0102844-2 S head 1

3006 HW0102844-2 S head 1

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11 Parts List11.3 R-Axis Unit

11-6

HW1480687

HW1480687

11.3 R-Axis Unit

Fig. 11-3: R-Axis Unit

3001

3011

3019

3019

3002

3012

30323035

3026

30303029

3005

3003

3020

3010

3016

3015

30273029

3015

3015

3017

3008

3024

3013

2017

2018

30243034

30283033

3024

3024

3004

3023

30233021

3022

3025

3022

3021

3006

3007

3009

30183031

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11 Parts List11.3 R-Axis Unit

11-7

HW1480687

HW1480687

Table 11-3: R-Axis Unit


3001 SGMAV-A5ANA-YR21 (HW0388794-A)

Motor 1

3002 *HW1401031-1*GHW0483420-A

Pulley 1

3003 HW0201354-2 Spacer 1

3004 HW1400595-1 Support 1

3005 HW1401028-1 Collar 1

3006 HW0102844-2 S head 1

3007 HW0483421-A Pulley 1

3008 HW9406285-F Pipe 1

3009 HW9406278-2 Washer 1

3010 HW9406276-1 B cover 1

3011 HW0315900-1 Cover 1

3012 HW0416109-1 M base 1

3013 HW0416110-1 B holder 1


3016 HW9482970-A Bearing 1


3018 060S3M186 Belt 1


4



3


3023 TA1-S8 Clamp 3







3030 M4 Washer 1




3034 EZ0025B0 Cap 1

3035 M4 Washer 2

2017 HW1300552-1 Plate 1

2018 HW1300866-1 Plate 1

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11 Parts List11.4 Wrist Unit

11-8

HW1480687

HW1480687

11.4 Wrist Unit

Fig. 11-4: Wrist Unit

4001

4009

40184019

3003

4034

4034

4003

40014006

4012

4006

4028

4029

4031

4029

4029

4028

4028

4010

4013

4017

4017

4011

4011

4050

40334051

4039

4039

4054

4054

4054

4007

4016

40154014

40474044

4044

40444054

40444047

40444047

40444054

40084025

4026

4043

4030

40534030

4030

4030

4030

40304053

40434045

4045

4045

40454040

4042

4024

4020

4007

4021

4022

4023

4038

4038

4037

4035

4027

4027

4027

4038

4002

40414045

4046

4005

4004

4050

4038

4038

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11-9

HW1480687

HW1480687

Table 11-4: Wrist Unit (Sheet 1 of 2)


4001 SGMAV-A5ANA-YR21 (HW0388794-A)

Motor 2

4002 *HW1401031-1*GHW0483420-A

Pulley 1

4003 HW1300867-1 Plate 1

4004 HW1300868-1 Plate 1

4005 HW1401028-1 Collar 1


4007 6809DDU Bearing 2

4008 HW9480739-A Bearing 1

4009 SC12.67X22.22X4.7*FK Oil seal 1

4010 060S3M276 Belt 1

4011 PSLCG5.5-9 Spacer 6

4012 IRTW-26 Retaining rings 1

4013 HW0483424-A Pulley 1

4014 *HW1401430-1*GHW9406260-1

Housing 1

4015 HW9406260-1 Housing 1

4016 HW0201355-2 Wrist base 1

4017 HW0315908-1 Cover 2

4018 HW0315910-1 Cover 1

4019 HW1300874-B Cover 1

4020 HW0416115-1 Cover 1

4021 HW0416114-1 Shaft 1

4022 HW0416116-1 Support 1

4023 HW0416117-1 M base 1

4024 HW0315913-1 Flange 1

4025 HW0416118-1 B holder 1

4026 HW0416119-1 B holder 1





10

4031 HW1400593-1 Support 1

4033 MB2 Clamp 1

4034 MS4-10 Pin 4


2

4037 TA1-S8 Clamp 2






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11-10

HW1480687

HW1480687




4046 M4 Washer 1


4050 M3 Washer 12

4051 M4X8 Flat head screw 1

4053 M3X5 Hexagon socket button head screw (STAINLESS coating)

6


3003 HW0201354-2 Spacer 1

Table 11-4: Wrist Unit (Sheet 2 of 2)


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C 2011 YASKAWA ELECTRIC CORPORATIONPublished by YASKAWA

MANUAL NO.

4

January 2020 11-09

HW1480687

MOTOMAN-MHJINSTRUCTIONS

YASKAWA ELECTRIC CORPORATION2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu, 806-0004, JapanPhone: +81-93-645-7703 Fax: +81-93-645-7802http://www.yaskawa.co.jp

YASKAWA AMERICA, INC. (MOTOMAN ROBOTICS DIVISION) 100 Automation Way, Miamisburg, OH 45342, U.S.A.Phone: +1-937-847-6200 Fax: +1-937-847-6277http://www.motoman.com

YASKAWA EUROPE GmbH (ROBOTICS DIVISION)Yaskawastrasse 1, 85391, Allershausen, GermanyPhone: +49-8166-90-100 Fax: +49-8166-90-103http://www.yaskawa.eu.com

YASKAWA NORDIC ABVerkstadsgatan 2, Box 504, SE-385 25 Torsas, SwedenPhone: +46-480-417-800 Fax: +46-486-414-10http://www.yaskawa.se

YASKAWA ELECTRIC (CHINA) CO., LTD.22F, One Corporate Avenue, No.222 Hubin Road, Huangpu District, Shanghai 200021, ChinaPhone: +86-21-5385-2200 Fax: +86-21-5385-3299http://www.yaskawa.com.cn

YASKAWA SHOUGANG ROBOT CO., LTD.No.7 Yongchang North Road, Beijing E&T Development Area, Beijing 100076, ChinaPhone: +86-10-6788-2858 Fax: +86-10-6788-2878http://www.ysr-motoman.cn

YASKAWA ELECTRIC KOREA CORPORATION35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, 07326, Korea Phone: +82-2-784-7844 Fax: +82-2-784-8495http://www.yaskawa.co.kr

YASKAWA ELECTRIC TAIWAN CORPORATION12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, TaiwanPhone: +886-2-8913-1333 Fax: +886-2-8913-1513http://www.yaskawa.com.tw

YASKAWA ASIA PACIFIC PTE. LTD.30A Kallang Place, #06-01, 339213, SingaporePhone: +65-6282-3003 Fax: +65-6289-3003http://www.yaskawa.com.sg

YASKAWA ELECTRIC (THAILAND) CO., LTD.59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang,Bangkok 10310, ThailandPhone: +66-2-017-0099 Fax: +66-2-017-0199http://www.yaskawa.co.th

PT. YASKAWA ELECTRIC INDONESIASecure Building-Gedung B Lantai Dasar & Lantai 1 Jl. Raya Protokol Halim Perdanakusuma, Jakarta 13610, IndonesiaPhone: +62-21-2982-6470 Fax: +62-21-2982-6471http://www.yaskawa.co.id

YASKAWA INDIA PRIVATE LIMITED (ROBOTICS DIVISION)#426, Udyog Vihar Phase-IV, Gurgaon, Haryana 122016, IndiaPhone: +91-124-475-8500 Fax: +91-124-475-8542http://www.yaskawaindia.in

For inquiries or after-sales service on this product, contact your local YASKAWA representative as shown below.

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Documents

MOTOMAN-MHJ INSTRUCTIONS (A00) · MANUAL NO. HW1480687 4 MOTOMAN-MHJ INSTRUCTIONS TYPE: YR-MH0000J-A00 Upon receipt of the product and prior to initial oper ation, read these instructions