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11.5 Wrist Unit

11-10

HW0482170

HW0482170

No.

DWG No.

Name

Pcs

5001

SGMAS-01A2A-YR1

*

Motor

2

5002

HW0381646-A

Speed Reducer

1

5003

TC72888

Oil seal

1

5004

TC65786

Oil seal

1

5005

NA4901

Needle bearing

1

5006

HW9482218-A

Bearing

1

5007

6902DBLU

Bearing

1

5008

6812DBLU

Bearing

1

5009

688A

Bearing

1

5010

6811LLU

Bearing

1

5011

6812LLU

Bearing

1

5012

6902ZZ

Bearing

1

5013

HW0100617-1

U-arm

1

5014

HW0100618-1

Wrist

1

5015

HW0401758-1

Washer

1

5016

HW0481692-A

Pulley

1

5017

HW0481429-A

Pulley

1

5018

HW0480867-A

Pulley

1

5019

HW0480866-A

Pulley

1

5020

HW0301435-1

Gear

1

5021

HW0301300-1

Gear

1

5022

HW0301299-1

Gear

1

5023

HW0301289-1

Gear

1

5024

HW0303102-1

Housing

1

5025

HW0403705-1

Housing

1

5026

HW0302206-1

Housing

1

5027

HW0401551-1

B-cover

1

5028

HW0401552-1

B-cover

1

5029

HW0401553-1

B-cover

1

5030

HW0302519-1

Shaft

1

5031

HW0301293-1

Shaft

1

5032

HW0100621-1

Cover

1

5033

HW0100622-1

Cover

1

5034

HW0404547-1

M-base

2

5035

RTW78

Stopper

1

5036

WR12

Sirclip

2

5038

IRTW-24

Stopper

1

5039

SP-0060

**

Shim

1

5040

SP-0120

**

Shim

1

5041

HW0401549-1

B-nut

1

5042

HW0402669-1

Cover

1

5043

HW0303390-1

Cover

1

5044

HW0403207-1

Cover

1

5045

M4X25

Socket Screw

1

5047

60S4.5M711

Belt

1

5048

60S4.5M932

Belt

1

5050

RTW28

C-stopper

1

5051

HW0301310-1

Shaft

1

5052

HW0404303-2

Coller

1

5053

HW0404365-1

Cover

1

5054

HW0404366-1

Packing

1

5055

M4X10

Socket Screw

2

5056

M4X12

Socket Screw

1

5057

M4X16

Socket Screw

4

5058

M4

Washer

4

5059

M4X10

Socket Screw

20

5060

M4X10

Socket Screw

2

5061

M4X12

Socket Screw

4

5062

M5X16

Socket Screw

1

5063

M6X6

Socket Screw

1

5064

M4X10

Bolt 2

No.

DWG No.

Name

Pcs

5065

M4X12

Socket Screw

9

5066

M4X16

Socket Screw

4

5067

M5X25

Socket Screw

4

5068

2H-5

Spring Washer

4

5069

M4X35

Socket Screw

6

5070

2H-4

Spring Washer

6

5071

MS4-10

Pin

2

5072

M4X12

Socket Screw

6

5073

M5X20

Socket Screw

1

5074

2H-5

Spring Washer

1

5075

M4X4

H-set screw

1

5076

M4X12

Socket Screw

4

5077

M4X12

Socket Screw

4

5078

M5X16

Socket Screw

1

5079

M6X6

Socket Screw

1

5080

M4X12

Socket Screw

5

5081

M6X6

H-set screw

1

5082

M4X12

Socket Screw

4

5083

M5X16

Socket Screw

1

2H-4

Spring Washer

1

5084

M6X6

Socket Screw

1

5085

M4X10

Socket Screw

2

5086

M4X25

Socket Screw

2

2H-4

Spring Washer

2

5087

HW0404353-1

Fly wheel

1

5088

HW0404354-1

Spacer

1

5089

M4X12

Bolt

2

2H-4

Spring washer

2

5090

M5X10

Bolt

2

5091

LP-M5

Plug

1

«
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Summary of Contents for EA1900N

Page 1: ...Incorporated 805 Liberty Lane West Carrollton OH 45449 TEL 937 847 6200 FAX 937 847 6277 24 Hour Service Hotline 937 847 3200 Motoman NX Controller EA1900N Manipulator Manual Part Number 149894 1CD Re...

Page 2: ...ved Because we are constantly improving our products we reserve the right to change specifications without notice MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing COMPLETE OUR ONLIN...

Page 3: ...tems Furthermore it provides main logic functions servo control program and constant data memory and power distribution Please read this manual thoroughly to familiarize yourself with the many aspects...

Page 4: ...lication Vendor manuals for system components not manufactured by Motoman WUVQOGT 5GTXKEG PHQTOCVKQP If you are in need of technical assistance contact the Motoman service staff at 937 847 3200 Please...

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Page 9: ...WR WKH FRQWUROOHU ZLOO FKDQJH WKH ZD WKH URERW RSHUDWHV DQG FDQ FDXVH VHYHUH SHUVRQDO LQMXU RU GHDWK DV ZHOO DV GDPDJH WKH URERW DQG RWKHU SDUWV RI WKH V VWHP RXEOH FKHFN DOO PRGLILFDWLRQV XQGHU HYHU...

Page 10: ...CPKRWNCVQT CPWCN JCRVGT 5CHGV RCIG KPCN 016 5...

Page 11: ...CHES Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN EA1900N INSTRUCTIONS NX100 INSTRUCTIONS...

Page 12: ...rawings 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 produc...

Page 13: ...ndicates a potentially hazardous situation which if not avoided could result in death or serious injury to personnel Indicates a potentially hazardous situation which if not avoided could result in mi...

Page 14: ...ergency Stop Observe the following precautions when performing teaching operations within the P point maximum envelope of the manipulator View the manipulator from the front whenever possible Always f...

Page 15: ...sary 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 NX...

Page 16: ...abel with important information is placed on the body of the manipula tor Prior to operating the manipulator confirm the contents Nameplate WARNING label A WARNING label B Nameplate MOTOMAN TYPE ORDER...

Page 17: ...Installation Example 3 3 3 3 Installation Method 3 4 3 3 1 S axis Operating Range 3 4 3 3 2 Fixing the Manipulator Base 3 4 3 3 3 Precautions to Prevent the Manipulator from Falling 3 4 3 4 Location...

Page 18: ...2 Grease Replenishment Exchange for S axis Speed Reducer 9 7 Grease Replenishment Refer to Fig 23 S axis Speed Reducer Diagram 9 8 Grease Exchange Refer to Fig 23 S axis Speed Reducer Diagram 9 8 9 2...

Page 19: ...es for Maintenance 9 16 Wrist Axes 9 16 Encoder Connector with CAUTION label 9 17 10 Recommended Spare Parts 11 Parts List 11 1 S Axis Unit 11 1 11 2 L Axis Unit 11 3 11 3 U Axis Unit 11 5 11 4 R Axis...

Page 20: ...Information for the content of optional goods is given separately Manipulator NX100 Programming pendant Manipulator cable between the NX100 and the Manipulator Confirm that the manipulator and the NX...

Page 21: ...lator and the NX100 have the same order number NX100 200V 50Hz kVA 3PHASE 220V 50 60Hz NJ2484 1 MADE IN JAPAN DATE SERIAL No ERCR TYPE POWER SUPPLY ORDERNO NJ1529 N P O E T R G Y C M S E E PLAY TEACH...

Page 22: ...damage Avoid excessive vibration or shock during transporting The system consists of precision components so failure to observe this caution may adversely affect performance Check that the eyebolts ar...

Page 23: ...2 1 Transporting Method 2 2 HW0482170 HW0482170 Fig 2 Transporting Position A View E Eyebolt M12 2 eyebolts Delivered with the manipulator E C Eyebolt M12 2 eyebolts Delivered with the manipulator...

Page 24: ...with shipping bolts and brackets as shown in Fig 3 Using a Forklift Insert claws under the pallet and lift it The pallet must be strong enough to support the manipulator Transporting of the manipulat...

Page 25: ...xagon socket head cap screw M8 is attached at point A as a fixing jig A rubber cushion is wedged at point C Before turning ON the power check to be sure that the shipping bolts brackets and rubber cus...

Page 26: ...cause injury or damage When mounting the manipulator on the ceiling or wall the base section must have sufficient strength and rigidity to support the mass of the manipulator Also it is necessary to...

Page 27: ...hould be firmly mounted on a base or foundation strong enough to support the manipulator and withstand repulsion forces during acceleration and deceleration Refer to Table 1 Maximum Repulsion Forces o...

Page 28: ...ipulator securely with the hexagon socket head cap screws M16 length 60 mm recommended Refer to Fig 5 Manipulator Installation Example for the method Fig 5 Manipulator Installation Example Tighten the...

Page 29: ...Prevent the Manipulator from Falling 3 3 1 S axis Operating Range When performing a wall installation the S axis movable range must be 30 Changed prior to shipment 3 3 2 Fixing the Manipulator Base W...

Page 30: ...onmental conditions 0 to 45 C ambient temperature 20 to 80 RH non condensing Free from dust soot or water Free from corrosive gases or liquid or explosive gases Free from excessive impact or vibration...

Page 31: ...hock 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 Wiring must...

Page 32: ...Manipulator Cables 1BC and 2BC Connect two cables to the manipulator base connectors and the NX100 Refer to Fig 8 a Manipulator Cable Connectors Manipulator Side Fig 8 b Manipulator Cable Connection...

Page 33: ...s in the order of 2BC and 1BC and then push down the lever until hearing a click 4 2 2 Connection to the NX100 The numbers are written on the manipulator cables and NX100 connectors Confirm the number...

Page 34: ...Manipulator Cable Connection 4 4 HW0482170 HW0482170 Fig 8 a Manipulator Cable Connectors Manipulator Side Fig 8 b Manipulator Cable Connection to the NX100 2BC 1BC 3BC Connector details Manipulator s...

Page 35: ...er arm 255 165 R axis wrist roll 150 B axis wrist pitch yaw 180 45 T axis wrist twist 200 Maximum Speed S axis 2 96 rad s 170 s L axis 2 96 rad s 170 s U axis 3 05 rad s 175 s R axis 5 93 rad s 340 s...

Page 36: ...s and Working Axes 5 2 HW0482170 HW0482170 5 2 Part Names and Working Axes Fig 9 Part Names and Working Axes T T B B R R U U L L S S Wrist flange Wrist Uppwer arm U arm Lower arm L arm Rotary head Man...

Page 37: ...Manipulator Base Dimensions Fig 10 Manipulator Base Dimensions Fitting surface 395 5 195 5 Fitting surface 60 0 1 60 200 200 0 1 0 1 260 170 0 1 for manipulator fixing 335 375 A 25 250 313 335 375 Vi...

Page 38: ...4 Dimensions and P Point Maximum Envelope Fig 11 Dimensions and P Point Maximum Envelope 1178 2259 0 78 200 122 970 30 0 81 150 1 1 0 554 1604 220 100 dia 1 1 0 1 5 5 760 505 1485 1904 155 190 260 R19...

Page 39: ...range of the S axis can be altered according to the operating conditions as shown in Table 4 S axis Operating Range If alteration is necessary contact your Yaskawa representative in advance Table 4 S...

Page 40: ...all refer to the moment arm rating shown in Fig 12 Moment Arm Rating The allowable inertia is calculated when the moment is at the maximum Contact your Yaskawa representative when only load inertia or...

Page 41: ...nt must be mounted on the range of 90 diameter or less with up to 5 mm height from the flange face Fig 13 Wrist Flange Wash off anti corrosive paint yellow color on the wrist flange surface with thinn...

Page 42: ...ripheral equipment is attached to the U axis the following conditions should be observed 7 1 1 Allowable Load The allowable load on the U Axis is a maximum of 12 kg including the wrist load For instan...

Page 43: ...104 94 Units mm 55 75 15 40 Tapped hole M6 2 holes Tapped hole M6 2 holes depth 12 mm pitch 1 0 depth 12 mm pitch 1 0 Tapped hole M6 2 holes depth 12 mm pitch 1 0 100 15 65 85 Tapped hole M8 2 holes d...

Page 44: ...nnector Pin Numbers Wiring must be performed by user Fig 15 Internal User I O Wiring Harness and Air Line The allowable current for cables 3A or less for each cable The total current value for pins 1...

Page 45: ...mbers The same pin number 1 16 of two connectors is connected by the lead wire of single 0 2 mm2 or 1 25 mm2 1 6 10 14 8 12 7 11 5 16 15 4 9 13 2 3 3 4 5 1 2 9 10 11 16 15 13 14 12 6 1 25mm2 1 25mm2 1...

Page 46: ...Refer to Fig 17 Location of Limit Switch for location With the S or L axis overrun limit switch or the LU axes interference limit switch the manipulator model is YR EA1900N A01 Fig 17 Location of Lim...

Page 47: ...tion and Numbers of Connectors Fig 18 Location and Numbers of Connectors Table 6 List of Connector Types Name Type of Connector Connector for internal user I O wiring harness on connector base JL05 2A...

Page 48: ...G0V2 PG5V2 PG5V1 0BAT4 BAT4 BAT1 0BAT1 0BAT2 BAT2 0BAT3 BAT3 0BAT11 BAT12 BAT11 1 0BT BAT BAT 0BT 3 4 2 BAT21 BAT22 0BT BAT 0BT 1 BAT 3 4 2 8 6 5 7 P P P P 7 8 5 6 0V 0V 24V 24V FG1 SPG 1 SPG 1 SPG 2...

Page 49: ...BB1 ME1 MU1 BA2 ME2 3 2 5 7 6 4 3BC 1 11 9 8 15 16 10 14 13 12 MW1 MV2 MU2 MW2 MV3 MU3 MW3 MV2 MW2 MU2 MV4 MU4 MW5 MV5 MU5 MW4 MU6 MW6 MV6 ME4 ME3 ME5 MV1 BA5 BA4 BB4 BA3 BA6 ME6 E PE E E E 3BC 20 29...

Page 50: ...he main power sup ply 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 Maintenance and inspection must be performed by s...

Page 51: ...ing screws Phillips screw driver wrench Tighten loose bolts Replace if necessary Connector base Manual Check for loose con nectors BT axes timing belts Manual Check for belt tension and wear Wire harn...

Page 52: ...hat grease has seeped into the motor This can cause a motor breakdown Contact your Yaskawa representative LU axes speed reduc ers Grease Gun Check for malfunc tion Replace if nec essary Supply grease...

Page 53: ...rs Manipulator in the Home Position Table 8 Inspection Parts and Grease Used No Grease Used Inspected Parts Molywhite RE No 00 S L and U axes speed reducers Harmonic Grease 4B No 2 R axis speed reduce...

Page 54: ...Maintenance Procedures 9 2 1 Battery Pack Replacement If the battery alarm occurs in the NX100 replace the battery pack according to the following procedure Fig 21 Battery Pack Location Connector bas...

Page 55: ...y pack to an unconnected connector on the circuit board 5 Remove the old battery pack from the circuit board 6 Mount the new battery pack on the holder 7 Securely fix the battery pack on the support w...

Page 56: ...2 2 Grease Replenishment Exchange for S axis Speed Reducer Fig 23 S axis Speed Reducer Diagram S axis speed reducer Grease inlet Hexagon socket head plug PT1 8 Grease exhaust port Hexagon socket head...

Page 57: ...ead plug PT1 8 from the grease inlet and install the grease zerk PT1 8 Inject the grease from the grease inlet using a grease gun The grease zerk is delivered with the manipulator 3 The grease exchang...

Page 58: ...grease inlet using a grease gun 5 Move the L axis for a few minutes to discharge the excess grease 6 Remove the grease zerk A MT6 x 1 from the grease inlet and reinstall the screw M6 Apply the Three B...

Page 59: ...ease by color 5 Move the L axis for a few minutes to discharge the excess grease 6 Remove the grease zerk A MT6 x 1 from the grease inlet and reinstall the screw M6 Apply the Three Bond 1206C on the s...

Page 60: ...ad cap screw M6 from the grease exhaust port 3 Remove the hexagon socket head cap plug PT1 8 from the grease inlet and install the grease zerk A MT6 x 1 The grease zerk is delivered with the manipulat...

Page 61: ...et using a grease gun Refer to Fig 26 R axis Speed Reducer Diagram 4 Remove the grease zerk A MT6 x 1 from the grease inlet and reinstall the screw M6 Apply the Three Bond 1206C on the screwed part of...

Page 62: ...ease into the grease inlet using a grease gun Refer to Fig 27 B Axis Speed Reducer Diagram 3 Reinstall the plug LPM5 into the exhaust port and remount the cover Grease type Harmonic grease SK 1A Amoun...

Page 63: ...exagon socket head cap screw M6 from the grease inlet 1 3 Install a grease zerk A MT6 x 1 into the grease inlet 1 The grease zerk is delivered with the manipulator 4 Inject grease into the grease inle...

Page 64: ...Inject grease into the grease inlet 2 using a grease gun 9 Remove the grease zerk A MT6 x 1 from the grease inlet 2 and reinstall the screw M6 into the grease inlet 2 Apply the Three Bond 1206C on the...

Page 65: ...h the wrist unit To prevent fumes from penetrating into the wrist unit the matched parts are sealed with sealing bond Therefore if the wrist cover is disassembled reseal with sealing bond Three Bond 1...

Page 66: ...e encoder connector without connecting the battery backup leads to disappearance of the encoder absolute data For the battery pack connection refer to Fig 30 a Encoder Connector for S L and U axes and...

Page 67: ...r Motor cable etc Power connector Wire harness in manipulator Encoder connector CAUTION label Battery pack HW9470932 A a Crimped contact pin pin b Crimped contact pin socket Connection CAUTION label E...

Page 68: ...s in Rank B or Rank C contact your Yaskawa representative Table 9 Spare Parts for the MOTOMAN EA1900N Rank Parts No Name Type Manufacturer Qty Qty per Unit Remarks A 1 Grease Molywhite RE No 00 Yaskaw...

Page 69: ...skawa Electric Corporation 1 1 B 19 Wire Harness in Manipulator HW0171366 A Yaskawa Electric Corporation 1 1 B 20 Wire Harness in Manipulator for B and T axes HW0270912 A Yaskawa Electric Corporation...

Page 70: ...Parts List 11 1 S Axis Unit 1007 1008 1009 1010 1001 1002 1003 1043 1004 1005 1006 1015 1016 1040 1041 1042 1041 1021 1023 1022 1024 1026 1031 1035 1038 1019 1018 1020 1028 1027 1029 1030 1033 1034 1...

Page 71: ...18 M16X20 Socket screw 1 1019 2H 16 Spring Washer 1 1020 MSB8 15 Shoulder 1 1021 HW0400645 1 Lever 1 1022 M5X10 Bolt 6 1023 HW0100545 1 S head 1 1024 HW9381641 B Speed Reducer 1 1025 M10X40 Socket scr...

Page 72: ...HW0482170 11 2 L Axis Unit 2006 2001 2026 2010 2011 2012 2013 2015 2019 2020 2031 2033 2002 2003 2029 2029 2032 2034 2027 2028 2028 2004 2030 2005 2008 2014 2035 2016 2017 2018 2021 2009 2022 2023 202...

Page 73: ...ocket screw 2 2015 HW0304227 1 Cover 1 2016 M6X8 Bolt 4 2017 M12X35 Socket screw 12 2018 2H 12 Spring Washer 12 2019 HW0100546 1 L arm 1 2020 HW9381641 A Speed Reducer 1 2021 M10X35 Socket screw 12 20...

Page 74: ...nit 3002 3040 3001 2019 3004 3005 3013 3006 3008 3027 3026 3025 3024 3007 3041 3009 3010 3014 3015 3016 3017 3018 3019 3042 3007 3041 3019 3042 3020 4042 3022 3039 3043 3023 3031 3033 34 3036 3037 303...

Page 75: ...t Screw 4 2H 4 Spring Washer 4 3021 M4X70 Socket Screw 4 2H 4 Spring Washer 4 3022 PT3 8 Plug 1 3023 M4X12 Socket Screw 2 2H 4 Spring Washer 2 3024 PZ1212 Saddle 1 3025 M4X10 Bolt 2 3026 M4X10 Bolt 2...

Page 76: ...4007 4070 4073 4071 4072 4078 4074 4075 4076 4077 4001 4019 4021 4031 4035 4036 4048 4050 4052 4053 4054 4055 4037 4064 4039 4003 4022 4023 4024 4025 4026 4027 4028 4065 4067 4066 4020 4030 4030 4041...

Page 77: ...w 1 4034 2H 4 Spring Washer 1 4035 M5X16 Socket Screw 6 4036 2H 5 Spring Washer 6 4037 M4X10 Socket Screw 4 4039 M6X30 Socket Screw 8 2H 6 Spring Washer 8 4041 PT1 8 Plug 1 4043 KQL10 00 Union 1 4044...

Page 78: ...5055 5056 5059 5059 5061 5062 5063 5065 5066 5077 5085 5082 5086 5047 5048 5009 5010 5011 5012 5057 5058 5057 5058 5045 5060 5078 5003 5004 5005 5015 5014 5022 5023 5024 5072 5028 5030 5031 5035 5036...

Page 79: ...HW0402669 1 Cover 1 5043 HW0303390 1 Cover 1 5044 HW0403207 1 Cover 1 5045 M4X25 Socket Screw 1 5047 60S4 5M711 Belt 1 5048 60S4 5M932 Belt 1 5050 RTW28 C stopper 1 5051 HW0301310 1 Shaft 1 5052 HW04...

Page 80: ...TRIC KOREA CORPORATION 1F Samyang Bldg 89 1 Shinchun dong Donk Ku Daegu Korea Phone 82 53 382 7844 Fax 82 53 382 7845 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park Singapore...

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