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8.2 Internal Connections

8-3

HW0482170

Fig. 19 (a) Internal Connection Diagram

LB3

LA2

LB2

LA2
LB2

LA2

LA3

LB1

LA1

LB1

LA1

LA2

B-Axis

T-Axis

R-Axis

U-Axis

BAT

+5V

OBT

-3

-2

-4

-2

15CN-1

No.14CN
14CN-1

FG6

OBT
+5V

BAT

-2

-3

-2

-4

-3

17CN-1

16CN-1

No.16CN

FG5

-3

OBT

DATA-6

DATA+6

OBT
BAT

DATA-5

DATA+5

BAT

OBT
+5V

BAT

DATA+1
DATA-1

BAT

FG1

OBT

DATA+2

-5
-4

-6

-2

-7

-9

S-Axis

No.21CN
21CN-1

No.20CN
20CN-1

DATA+3
DATA-3

OBT

0V
FG3

OBT
+5V

OBT

BAT

DATA-4

DATA+4

BAT

-2

22CN-1

No.22CN

-9
-7

-5
-4

-4

-2
-3

No.23CN
23CN-1

-6

BAT

OBT

FG4

-3

-2

+5V

24CN-1

FG2

BAT
OBT
+5V

DATA-2

OBT
BAT

-7

-9

-6

-4

-5

-2

L-Axis

for Lamp (Optional)

+5V

BAT
OBT

DATA-5

DATA+5

-9

-3

-7
-2
-8

-1

DATA-6

DATA+6

FG6

+5V

-10

-4

-6

-11

-5

No.7CN

1
2

28
29

25
26
27

3
4

13
14
15

2
4

PG0V3

PG5V6

PG0V5

PG0V6

PG5V5

PG5V4

PG0V4

PG5V3

PG0V1

PG0V2
PG5V2

PG5V1

0BAT4
BAT4

BAT1

0BAT1

0BAT2
BAT2
0BAT3
BAT3

0BAT11

BAT12

BAT11

0BT

BAT

0BT

3
4

BAT21

BAT22

0BT

BAT

0BT

BAT

3
4

7
8

5
6

+24V

FG1

SPG+1
SPG-1

SPG+2

CN1-1

CN1-6

CN1-3

CN1-2

CN1-9

CN1-10

CN1-4

1BC(10X4)

CN1-5

0BAT22

0BAT21

0BAT12

LA1

FG2

SPG-3

SPG+3

SPG-2

FG3

SPG-4

SPG+4

FG4

SPG+5
SPG-5

FG6

SPG+6
SPG-6

FG5

CN3-8

CN3-7

CN3-6

CN3-3

CN2-8

CN3-2

CN3-1

CN2-7

CN2-6

CN2-3

CN2-2

CN2-1

CN1-8

CN1-7

LB1

BC2

SS2

AL2

AL1

+24V

0V
+5V

+5V

SPG+7

FG7

SPG-7

CN4-8

CN4-6

CN4-7

CN4-3

CN4-2

CN4-1

CN2-5

CN2-4

CN2-10

CN2-9

CN4-5

CN4-4

CN3-5

CN3-4

CN4-9

CN3-9
CN3-10

NX100

CN1-6

CN1-3

CN1-10
CN1-9

CN1-1
CN1-2

CN1-5
CN1-4

1BC (10X4)

CN3-8

CN3-6
CN3-7

CN3-3

CN2-8

CN3-1
CN3-2

CN2-6
CN2-7

CN2-3

CN2-1
CN2-2

CN1-7

CN1-8

CN4-8

CN4-6

CN4-2

CN4-3

CN4-7

CN4-1

CN2-5

CN2-4

CN2-10

CN2-9

CN4-5

CN4-4

CN3-5

CN3-4

CN4-9

CN3-9
CN3-10

Wire Harness in L-Axis

Wire Harness in BT-Axes

S-Axis Overrun Limit Switch

L-Axis Overrun Limit Switch

SLU-Axes with Limit Switch Specification

LU-Axes Interference Limit Switch

Manipulator Cable

Wire Harness in S-Axis

Encoder Power Circuit Board

Содержание EA1900N

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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