MOTOMAN-MA1900

INSTRUCTIONS

TYPE: YR-MA01900-A00 (STANDARD SPECIFICATIONS)

YR-MA01900-A01 (SLU-AXES WITH LIMIT SWITCHES)
YR-MA01900-A10 (CEILING-MOUNTED SPECIFICATION)
YR-MA01900-A11 (CEILING-MOUNTED, SLU-AXES WITH LIMIT SWITCHES)

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MA1900 INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATORS MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operators manuals above correspond to specific usage.
Be sure to use the appropriate manual.

Part Number:
Revision:

156226-1CD
2

MANUAL NO.

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MANDATORY

This instruction manual is intended to explain mainly on the

mechanical part of the MOTOMAN-MA1900 for the application to
the actual operation and for proper maintenance and inspection. It
describes on safety and handling, details on specifications,
necessary items on maintenance and inspection, to explain
operating instructions and maintenance procedures. Be sure to
read and understand this instruction manual thoroughly before
installing and operating the manipulator.

General items related to safety are listed in Chapter 1: Safety of the

DX100 Instructions. To ensure correct and safe operation, carefully
read the DX100 Instructions before reading this manual.

CAUTION

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

The drawings and photos in this manual are representative

examples and differences may exist between them and the
delivered product.

YASKAWA may modify this model without notice when necessary

due to product improvements, modifications, or changes in
specifications.
If such modification is made, the manual number will also be
revised.

If your copy of the manual is damaged or lost, contact a YASKAWA

representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.

YASKAWA is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your
product's warranty.

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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MA1900.
In this manual, the Notes for Safe Operation are classified as
WARNING, CAUTION, MANDATORY, or PROHIBITED.

WARNING
CAUTION

MANDATORY
PROHIBITED

Indicates 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 minor or moderate injury to
personnel and damage to equipment.
It may also be used to alert against
unsafe practices.
Always be sure to follow explicitly the
items listed under this heading.
Must never be performed.

Even items described as CAUTION may result in a serious accident in

some situations.
At any rate, be sure to follow these important items

NOTE

To ensure safe and efficient operation at all times, be sure to

follow all instructions, even if not designated as "CAUTION"
and "WARNING".

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WARNING

Before operating the manipulator, check that servo power is turned

OFF pressing the emergency stop buttons on the front door of the
DX100 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.

Injury or damage to machinery may result if the emergency stop circuit

cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Figure 1: Emergency Stop Button

Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.

Injury may result from unintentional or unexpected manipulator motion.

Figure 2: Release of Emergency Stop
TURN

Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the
manipulator:
View the manipulator from the front whenever possible.
Always follow the predetermined operating procedure.
Keep in mind the emergency response measures against the
manipulators unexpected motion toward you.
Ensure that you have a safe place to retreat in case of
emergency.

Improper or unintended manipulator operation may result in injury.

Confirm that no person is present in the P-point maximum envelope

of the manipulator and that you are in a safe location before:
Turning ON the power for the DX100.
Moving the manipulator with the programming pendant.
Running the system in the check mode.
Performing automatic operations.

Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the
DX100 and the programming pendant.

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CAUTION

Perform the following inspection procedures prior to conducting

manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
Check for problems in manipulator movement.
Check for damage to insulation and sheathing of external wires.

Always return the programming pendant to the hook on the cabinet

of the DX100 after use.

The programming pendant can be damaged if it is left in the

manipulator's work area, on the floor, or near fixtures.

Read and understand the Explanation of Warning Labels in the

DX100 Instructions before operating the manipulator:

Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment

Manual Designation

DX100 controller

DX100

DX100 programming pendant

Programming pendant

Cable between the manipulator and the

controller

Manipulator cable

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Explanation of Warning Labels

The following warning labels are attached to the manipulator.
Always follow the warnings on the labels.
Also, an identification label with important information is placed on the
body of the manipulator. Prior to operating the manipulator, confirm the
contents.
Figure 3: Warning Label Locations

Nameplate
WARNING label B
WARNING label A

WARNING Label A:

Nameplate

WARNING

MOTOMAN
TYPE
kg

kg
ORDER NO.

Moving parts
may cause
injury

MASS

PAYLOAD

DATE

SERIAL NO.
YASKAWA ELECTRIC CORPORAION JAPAN

WARNING Label B:

WARNING
Do not enter
robot
work area.

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Table of Contents

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

1.1 Contents Confirmation ....................................................................................................... 1-1
1.2 Order Number Confirmation .............................................................................................. 1-2
2 Transport......................................................................................................................................... 2-1
2.1 Transport Method .............................................................................................................. 2-1
2.1.1 Using a Crane ...................................................................................................... 2-2
2.1.2 Using a Forklift...................................................................................................... 2-3
2.2 Cushioning Material for Transport ..................................................................................... 2-4
3 Installation....................................................................................................................................... 3-1
3.1 Safeguarding Installation ................................................................................................... 3-2
3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2
3.2.1 Mounting Example................................................................................................ 3-3
3.3 Types of Mounting ............................................................................................................. 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............................................ 3-5
3.4 Location ............................................................................................................................. 3-6
4 Wiring.............................................................................................................................................. 4-1
4.1 Grounding .......................................................................................................................... 4-1
4.2 Cable Connection .............................................................................................................. 4-2
4.2.1 Connection to the Manipulator.............................................................................. 4-3
4.2.2 Connection to the DX100 ..................................................................................... 4-3
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 Alterable Operating Range ................................................................................................ 5-5
6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
6.1 Allowable Wrist Load ......................................................................................................... 6-1
6.2 Wrist Flange....................................................................................................................... 6-2

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Table of Contents

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

7.1 Peripheral Equipment Mounts............................................................................................ 7-1
7.1.1 Allowable Load ..................................................................................................... 7-1
7.1.2 Installation Position............................................................................................... 7-1
7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-3
8 Electrical Equipment Specification .................................................................................................. 8-1
8.1 Position of Limit Switch ...................................................................................................... 8-1
8.2 Internal Connections .......................................................................................................... 8-2
9 Maintenance and Inspection ........................................................................................................... 9-1
9.1 Inspection Schedule........................................................................................................... 9-1
9.2 Notes on Maintenance Procedures.................................................................................... 9-6
9.2.1 Battery Pack Replacement ................................................................................... 9-6
9.3 Notes on Grease Replenishment Procedures ................................................................... 9-8
9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer ............................. 9-8
9.3.1.1 Grease Replenishment............................................................................ 9-9
9.3.1.2 Grease Exchange.................................................................................... 9-9
9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer............................ 9-10
9.3.2.1 Grease Replenishment.......................................................................... 9-10
9.3.2.2 Grease Exchange.................................................................................. 9-11
9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-12
9.3.3.1 Grease Replenishment.......................................................................... 9-12
9.3.3.2 Grease Exchange.................................................................................. 9-13
9.3.4 Grease Replenishment for R-Axis Speed Reducer ............................................ 9-14
9.3.5 Grease Replenishment for B-Axis Speed Reducer ............................................ 9-15
9.3.6 Grease Replenishment for T-Axis Gear.............................................................. 9-16
9.3.7 Grease Replenishment for R-Axis Gear ............................................................. 9-17
9.3.8 Notes for Maintenance........................................................................................ 9-19
9.3.8.1 Wrist Unit ............................................................................................... 9-19
9.3.8.2 Battery Pack Connection ....................................................................... 9-20
10

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

11

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

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 Unit ..................................................................................................................... 11-8
11.5 Wrist Unit ..................................................................................................................... 11-11

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1 Product Confirmation
1.1 Contents Confirmation

Product Confirmation

CAUTION

Confirm that the manipulator and the DX100 have the same order
number. Special care must be taken when more than one
manipulator is to be installed.

If the numbers do not match, manipulators may not perform as

expected and cause injury or damage.

1.1

Contents Confirmation
Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following four items (information for the
content of optional goods are given separately):
Manipulator
DX100
Programming pendant
Manipulator cables (between the DX100 and the Manipulator)

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1 Product Confirmation
1.2 Order Number Confirmation

Order Number Confirmation

Check that the order number of the manipulator corresponds to the
DX100. The order number is located on a label as shown below.
Fig. 1-1: Location of Order Number Labels

Label (Enlarged View)

THE MANIPULATOR AND THE CONTROLLER

SHOULD HAVE SAME ORDER NUMBER.

ORDER NO.

Check that the manipulator

and the DX100 have the
same order number.

DX100
TYPE

ERDR-

3PHASE

50/60Hz
60Hz

PEAK
AVERAGE

ER

GE N
Y

kVA
kVA
kA

AC200V
AC220V

INTERRUPT CURRENT

EM

POWER SUPPLY

SERIAL No.
DATE

MADE IN JAPAN

NJ2960-1

T O P

SE

OFF

TR

IP

PE

ON

RE

1.2

WARNING
Do not open the door

ORDER NO.
NJ1529

PROGRAMMING PENDANT

X81

(a) DX100 (Front View)

(b) Manipulator (Top View)

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2 Transport
2.1 Transport Method

Transport

CAUTION

Sling applications and crane or forklift operations must be

performed by authorized personnel only.

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

Avoid 3G or more vibration or shock during transport.

The system consists of precision components. Failure to observe this

caution may adversely affect performance.
In case a message PULSE LIMIT appeared on the programming
pendant window after the manipulator is installed and the power supply is
turned ON, execute the following procedures for restoration.
1. From the alarm message, confirm that which axis has exceeded its
motion range.
2. Select VALID to {SOFT LIMIT RELEASE} on LIMIT RELEASE
window. (Refer to 8.10 Soft LImit Release Function in DX100
INSTRUCTIONS (162536-1CD) .
3. Move the axis mentioned in step one to return it into its motion range.
4. Select INVALID to {SOFT LIMIT RELEASE} on LIMIT RELEASE
window.
In case a message OUT OF RANGE(ABSO DATA) appeared, take
measures by following the instructions mentioned in 6.4 Setting the
Second Home Position (Check Point) in DX100 MAINTENANCE
MANUAL (155492-1CD) .

2.1

Transport Method

Check that the eyebolts are securely fastened.

The weight of the manipulator is approximately 285 kg
including the cushioning material for transport. Use a wire
rope strong enough to withstand the weight.

NOTE

Attached eyebolts are designed to support the manipulator

mass. Do not use them for anything other than
transporting the manipulator.
Mount the cushioning material for transport to the
manipulator. (Refer to Fig. 2-1 Transporting Position on
page 2-2.)
Avoid putting external force on the arm or motor unit when
transporting by a crane, forklift, or other equipment.
Failure to observe this instruction may result in injury.

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2 Transport
2.1 Transport Method
2.1.1

Using a Crane
As a rule, the manipulator should be lifted by a crane with two wire ropes
using the attached eyebolts when removing it from the package and
moving it. Be sure that the manipulator is fixed with the cushioning
material for transport, and lift it in the posture as shown in Fig.2-1
Transporting Position.
Fig. 2-1: Transporting Position

Eyebolt M12 (2 eyebolts)

(Delivered with the manipulator)

View E
Eyebolt M12 (2 eyebolts)
(Delivered with the manipulator)

E
A

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2 Transport
2.1 Transport Method
2.1.2

Using a Forklift
When using a forklift, the manipulator should be fixed on a pallet with
shipping bolts as shown in Fig.2-2 Using a Forklift. Insert claws under the
pallet and lift it. The pallet must be strong enough to support the
manipulator. Transporting of the manipulator must be performed slowly in
order to avoid overturning or slippage.
Fig. 2-2: Using a Forklift

Bolt M16 (4 places)

Pallet

Forklift claw entries

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2 Transport
2.2 Cushioning Material for Transport

2.2

Cushioning Material for Transport

The manipulator is provided with the cushioning materials for transport at
position A to minimize the external force during transportation.
(See Fig. 2-1 Transporting Position on page 2-2.)
Eyebolt M12 (2 eyebolts)
(Delivered with the manipulator)

Enlarged View A
A rubber cushion is respectively wedged at the sections A and B

NOTE

Before turning ON the power, check to be sure that the

cushioning materials for transport are removed.
In the event that the manipulator must be moved again, to
avoid its main body from being damaged, the cushioning
materials such as rubber plate, etc. must be used.

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Installation

Installation

WARNING

Install the safeguarding.

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

Install the manipulator in a location where the tool or the workpiece

held by its fully extended arm will not reach the wall, safeguarding,
or controller.

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

Do not start the manipulator or even turn ON the power before it is

firmly anchored.

The manipulator may overturn and cause injury or damage.

When mounting the manipulator on the ceiling or wall, the base

section must have sufficient strength and rigidity to support the
weight of the manipulator. Also, it is necessary to consider
countermeasures to prevent the manipulator from falling.

Failure to observe these warnings may result in injury or damage.

CAUTION

Do not install or operate the manipulator that is damaged or lacks

parts.

Failure to observe this caution may cause injury or damage.

Before turning ON the power, check to be sure that the cushioning

materials for transport explained in Section 2.2 Cushioning
Material for Transport on page 2-4 are removed.

Failure to observe this caution may result in damage to the driving

parts.

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3 Installation
3.1 Safeguarding Installation

3.1

Safeguarding Installation
To insure safety, be sure to install safeguarding. It prevents unforeseen
accidents with personnel and damage to equipment. Refer to the quoted
clause for your information and guidance:
Responsibility for Safeguarding (ISO10218)
The user of a manipulator or robot system shall ensure that safeguards
are provided and used in accordance with Sections 6, 7, and 8 of this
standard. The means and degree of safeguarding, including any
redundancies, shall correspond directly to the type and level of hazard
presented by the robot system consistent with the robot application.
Safeguarding may include but not be limited to safeguarding devices,
barriers, interlock barriers, perimeter guarding, awareness barriers, and
awareness signals.

3.2

Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a baseplate or foundation
strong enough to support the manipulator and withstand repulsion forces
during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand
maximum repulsion forces of the manipulator referring to Table 3-1
Maximum Repulsion Forces of the Manipulator at Emergency Stop and
Table 3-2 Endurance Torque in Operation.
A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness
of installation surface may deform the manipulator shape and affect its
functional abilities. Mount the manipulator base as instructed in Section
3.2.1 Mounting Example on page 3-3.
Table 3-1: Maximum Repulsion Forces of the Manipulator at Emergency Stop
Maximum torque in horizontal rotation
(S-axis moving direction)

8000 Nm
(815 kgfm)

Maximum torque in vertical rotation

(L-, U-axes moving direction)

5000 Nm
(510 kgfm)

Table 3-2: Endurance Torque in Operation

Endurance torque in horizontal operation
(S-axis moving direction)

1700 Nm
(171 kgfm)

Endurance torque in vertical operation

(L-, U-axes moving direction)

3775 Nm
(385 kgfm)

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3 Installation
3.2 Mounting Procedures for Manipulator Base
3.2.1

Mounting Example
For the first process, anchor the baseplate firmly to the ground. The
baseplate should be rugged and durable to prevent shifting of the
manipulator or the mounting fixture. It is recommended to prepare a
baseplate of 32 mm or more thickness, and anchor bolts of M16 or larger
size.
Next, fix the manipulator base to the baseplate. The manipulator base is
tapped for four mounting holes; securely fix the manipulator base to the
baseplate with four hexagon head screws M16 (60 mm long is
recommended).
Tighten the hexagon socket head cap screws and anchor bolts firmly so
that they will not work loose during the operation.
Refer to Fig.3-1 Mounting the Manipulator on Baseplate.
Fig. 3-1: Mounting the Manipulator on Baseplate

Bolt M16 (4 bolts)

(Tensile strength: 1200 N/mm2 or more,
tightening torque: 206 N m)

Spring washer
Washer

32mm or more 25

Manipulator base
Baseplate

Manipulator base
Anchor bolt (M16 or larger)
Baseplate

375

18 dia. hole
(4 holes)

335
2000.1

313

Baseplate

375

335

60

1700.1

250

2000.1

60

2600.1

+0.018

12 0 dia. hole
(2 holes)

Manipulator Base

Units: mm

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3 Installation
3.3 Types of Mounting

3.3

Types of Mounting
The MOTOMAN-MA1900 is available in three types: floor-mounted type
(standard), wall-mounted type, and ceiling-mounted type. For wallmounted and ceiling-mounted types, the three points listed below are
different from the floor-mounted type.
The ceiling-mounted type manipulators are YR-MA01900-A10 and A11.
S-Axis Operating Range
Fixing the Manipulator Base
Precautions to Prevent the Manipulator from Falling

3.3.1

S-Axis Operating Range

For wall-mounted type, the S-axis operating range is 30.
(The range is adjusted prior to the shipment.)

3.3.2

Fixing the Manipulator Base

For wall- and ceiling-mounted types, be sure to use four hexagon socket
head cap screws M16 (tensile strength: 1200 N/mm2 or more) when fixing
the manipulator base. Use a torque of 206 Nm when tightening the
screws.

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3 Installation
3.3 Types of Mounting
3.3.3

Precautions to Prevent the Manipulator from Falling

For the wall- or ceiling-mounted types, take appropriate measures to avoid
the falling of the manipulator in case of emergency. Refer to Fig.3-2
Precaution Against Falling for details.
Fig. 3-2: Precaution Against Falling

Support for fall prevention

Hexagon socket head cap screw M16

Manipulator base

(4 places, tensile strength: 1200 N/mm2 or more)

NOTE

In case of using the wall-/ceiling-mounted type, inform

Yaskawa Motoman of the matter when placing an order. Be
sure to contact your Yaskawa Motoman representative
(listed on the back cover of this instruction manual) to
perform a wall/ceiling installation on site.
Also, thoroughly read the instructions described in 8.4
ARM Control in DX100 INSTRUCTIONS (162536-1CD)
before installing and using the manipulator.

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3 Installation
3.4 Location

3.4

Location
When installing a manipulator, it is necessary to satisfy the following
environmental conditions:
Ambient temperature: 0 to + 45C
Humidity: 20 to 80%RH (non-condensing)
Free from dust, soot, or water
Free from corrosive gas or liquid, or explosive gas
Free from excessive vibration
(Vibration acceleration: 4.9 m/s2 [0.5 G] or less)
Free from large electrical noise (plasma)
Flatness for installation: 0.5 mm or less

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4 Wiring
4.1 Grounding

Wiring

WARNING

Ground resistance must be 100 or less.

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

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

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

CAUTION

Wiring must be performed by authorized or certified personnel.

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

4.1

Grounding
Follow electrical installation standards and wiring regulations for
grounding. A ground wire of 5.5 mm2 or more is recommended.
Refer to Fig. 4-1 Grounding Method on page 4-2 to connect the ground
line directly to the manipulator.

NOTE

Never use this wire sharing with other ground lines or

grounding electrodes for other electric power, motor
power, welding devices, etc.
Where metal ducts, metallic conduits, or distributing racks
are used for cable laying, ground in accordance with
electrical installation standards.

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4 Wiring
4.2 Cable Connection
Fig. 4-1: Grounding Method

5.5mm or more

Section A-A
Bolt M8 (for grounding)
(Delivered with the manipulator)

4.2

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 on page 4-3.)
Connect these cables to the manipulator base connectors and to the
DX100. Refer to Fig. 4-3(a) Manipulator Cable Connectors (Manipulator
Side) on page 4-4 and Fig. 4-3(b) Manipulator Cable Connection (DX100
Side) on page 4-4 .

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4 Wiring
4.2 Cable Connection
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, depress the lever until it clicks.
Connection to the DX100
Before connecting cables to the DX100, verify the numbers on both
manipulator cables and the connectors on the DX100. When connecting,
insert the cables in the order of X21, then X11, and depress each lever
until it clicks.
Fig. 4-2: Manipulator Cables

Manipulator side

DX100 side

X11

1BC

X11

1BC

1BC

Encoder cable

Manipulator side

DX100 side

2BC

X21

4.2.2

2BC
X21

2BC

Power cable

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

2BC
1BC

3BC

Connector Details
(Manipulator Side)

Fig. 4-3(b): Manipulator Cable Connection (DX100 Side)

X11
X21

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5 Basic Specifications
5.1 Basic Specifications

Basic Specifications
5.1

Basic Specifications

Table 5-1: Basic Specifications1)

Item

Model

MOTOMAN-MA1900

Structure

Vertically Articulated

Degree of Freedom

Payload
Repeatability

3 kg
2)

0.08 mm

Range of Motion

S-Axis (turning)

180

L-Axis (lower arm)

+155, -110

U-Axis (upper arm)

+220, -165

R-Axis (wrist roll)

150

B-Axis (wrist pitch/yaw)

+180, -45

T-Axis (wrist twist)

Maximum Speed

Allowable Moment

3)

Allowable Inertia (GD

2/4)

200

S-Axis

3.44 rad/s, 197/s

L-Axis

3.05 rad/s, 175/s

U-Axis

3.23 rad/s, 185/s

R-Axis

7.16 rad/s, 410/s

B-Axis

7.16 rad/s, 410/s

T-Axis

10.65 rad/s, 610/s

R-Axis

8.8 Nm (0.9 kgfm)

B-Axis

8.8 Nm (0.9 kgfm)

T-Axis

2.9 Nm (0.3 kgfm)

R-Axis

0.27 kgm2

B-Axis

0.27 kgm2

T-Axis

0.03 kgm2

Approx. Mass
Ambient Conditions

280 kg
Temperature

0 C to 45 C

Humidity

20 to 80% RH (non-condensing)
4.9 m/s2 or less (0.5 G)

Vibration Acceleration
Others

Free from corrosive gas or liquid, or explosive gas

Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)

Power Requirements

2.0 kVA

1 SI units are used in this table. However, gravitational unit is used in ( ).

2 Conformed to ISO9283
3 Refer to Section 6.1 Allowable Wrist Load on page 6-1 for details on the permissible moment of inertia.

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5 Basic Specifications
5.2 Part Names and Working Axes

5.2

Part Names and Working Axes

Fig. 5-1: Part Names and Working Axes
U-arm
U+
R+

B+

R-

B-

UT+

TL-arm

L-

Wrist flange

L+

S-head

S+

SManipulator base

5.3

Manipulator Base Dimensions

Fig. 5-2: Manipulator Base Dimensions

200 0.1
Fitting surface

60

25

200 0.1

60

A
Fitting surface
375
335

Units: mm

+0.018

12 0
dia. hole
(2 holes)

170 0.1

195.5

View A

395.5

335
375

313

250

18 dia. (4 holes)
(For fixing the manipulator)

260 0.1

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5 Basic Specifications
5.4 Dimensions and P-point Maximum Envelope

5.4

Dimensions and P-point Maximum Envelope

Fig. 5-3(a): Dimensions and P-Point Maximum Envelope (YR-MA01900-A00, A01)

90

R1

180
55

R5
5

40

174.4

15

42

dia

75

180

2259
1604 1534

1166

409

554

150

1904

970

P-point maximum
envelope

30

247

154.7

138.5
908

264

157

465

505

155

11

1485
760

81

220

200

P-Point

220

341
0

547
165

647

1178
408

0 178

Units: mm

519

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5 Basic Specifications
5.4 Dimensions and P-point Maximum Envelope
Fig. 5-3(b): Dimensions and P-Point Maximum Envelope (YR-MA01900-A10, A11)
0

519

178

408

1178
165

647
547

155

505

220

341

760
1485

264

11

157

465

908

220

P-point

81

138.5

200

247

P-point maximum
envelope

30
2259

970

150
554

1904

409

1166

1534 1604

The area where the manipulator can operate

with its wrist unit (B-axis) pointed downward

174.4

R5

40

54

180

75

dia

55

15

154.7

42

180

Units: mm

90

R1

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5 Basic Specifications
5.5 Alterable Operating Range

5.5

Alterable Operating Range

The operating range of the S-axis can be altered in accordance with the
operating conditions as shown in Table 5-2 S-Axis Operating Range.
If alteration is necessary, contact your Yaskawa Motoman representative
in advance.
Table 5-2: S-Axis Operating Range
Item

Specifications

S-Axis Operating
Range

180(standard)
150
120
90
60
30

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5 Basic Specifications
5.5 Alterable Operating Range

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Allowable Load for Wrist Axis and Wrist Flange

Allowable Wrist Load
The allowable wrist load is 3 kg maximum. If force is applied to the wrist
instead of the load, force on R-, B-, and T-axes should be within the value
shown in Table 6-1 Allowable Wrist Load. Contact your Yaskawa
Motoman representative for further information or assistance.
Table 6-1: Allowable Wrist Load
Axis

Moment Nm (kgfm)1)

GD2/4 Total Moment of Inertia

kgm2

R-Axis

8.8 (0.9)

0.27

B-Axis

8.8 (0.9)

0.27

T-Axis

2.9 (0.3)

0.03

1 ( ): Gravitational unit

When the volume load is small, refer to the moment arm rating shown in
Fig.6-1 Moment Arm Rating.
The allowable total moment of inertia is calculated when the moment is at
the maximum. Contact your Yaskawa representative beforehand when
only the moment of inertia is created, or when the load moment is small
while the moment of inertia is large. Also, when the load mass is
combined with an outside force, contact your Yaskawa Motoman
representative beforehand.
Fig. 6-1: Moment Arm Rating
LB

Load gravity position

200

LT

6.1

R-, T-axis rotation center

B-axis rotation center

200

LT (mm)

6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

100
W=3Kg

100

200

300

400

L B(mm)

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6 Allowable Load for Wrist Axis and Wrist Flange

6.2 Wrist Flange

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 6 mm or less. As
shown in the figure below, the attachment shall be mounted on the range
of 90 diameter or less with up to 5 mm height from the flange face.
Fig. 6-2: Wrist Flange
Tapped hole M4 (6 holes)
(Depth: 10) (Pitch: 0.7)

Attachments shall be mounted

within this range.
5

(The range of 42 dia.

+0.025
0

30

.D.5

90 dia.

+0.025

P.C

42 dia. 0

6.2

6 dia.

+0.012
0

(Depth: 6)

Units: mm

NOTE

Wash off anti-corrosive paint (yellow) on the wrist flange

surface with thinner or light oil before mounting the tools.

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7 System Application
7.1 Peripheral Equipment Mounts

System Application
7.1

Peripheral Equipment Mounts

The peripheral equipment mounts are provided on the U-axis (upper arm)
as shown in Fig. 7-1 Installing Peripheral Equipment on page 7-2 for
easier installation of the users system applications. The following
conditions shall be observed to attach or install peripheral equipment.

7.1.1

Allowable Load
The maximum allowable load on the U-axis is 12 kg, including the wrist
load. For instance, when the mass installed on the wrist point is 3 kg, the
mass which can be installed on the upper arm is 9 kg.

7.1.2

Installation Position
There is a limitation on where to install the peripheral equipment as shown
in Fig. 7-1 Installing Peripheral Equipment on page 7-2 on the following
page.

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7 System Application
7.1 Peripheral Equipment Mounts
Fig. 7-1: Installing Peripheral Equipment
55

40
15

75

Tapped hole M8 (2 holes)

(Depth: 16) (Pitch: 1.25)

55

75

40
15

104

50

94

65

150

Mount the peripheral

equipment within this range.

Tapped hole M6 (2 holes)

(Depth: 12) (Pitch: 1.0)

70
65

150

50

51 dia

94
104

100

80

165

65

15

65

100

165

Tapped hole M10

(4 holes) (Depth: 20)
(Pitch:1.5)

15

85

80

85

Units: mm

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7 System Application
7.2 Internal User I/O Wiring Harness and Air Line

7.2

Internal User I/O Wiring Harness and Air Line

Internal user I/O wiring harness (0.2 mm2 x 8 wires, 1.25 mm2 x 6 wires)
and an air line are incorporated in the manipulator for the drive of
peripheral devices mounted on the upper arm as shown in Fig.7-2
Connectors for Internal User I/O Wiring Harness and Air Line.
The connector pins 1 to 16 are assigned as shown in Fig. 7-3 Details of
the Connector Pin Numbers on page 7-4. Wiring must be performed by
users.

The allowable current for internal user

I/O wiring harness

3 A or less for each wire

(The total current value for pins 1 to 16
must be 40 A or less.)

The maximum pressure for the air line 490 kPa (5 kgf/cm2) or less
(The air line inside diameter: 6.5mm)

Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line
Air inlet
Tapped hole PT3/8
with a pipe plug
2BC

Connector for the internal user I/O wiring

harness: JL05-2A20-29PC (with a cap)
Prepare connector: JL05-6A20-29S

1BC

3BC

View A

Exhaust port
Tapped hole PT3/8
with a pipe plug

Connector for the internal user I/O wiring

harness: JL05-2A20-29SC (with a cap)
Prepare connector: JL05-6A20-29P

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7 System Application
7.2 Internal User I/O Wiring Harness and Air Line
Fig. 7-3: Details of the Connector Pin Numbers
1

Pins used

1
2
3
4
5
6
9
10
11
12
13
14
15
16

3
5

11

12

9
(1.25 mm2)
(1.25 mm2)
2
(1.25 mm )
2
(1.25 mm )
2
(1.25 mm )
2
(1.25 mm )

10
14

13
15

16

Internal user I/O wiring harness : 0.2mm , 8 wires

Details of the Connector Pin Numbers

: 1.25mm , 6 wires

The same numbered pins (1 to 16) of the two connectors are connected
with a single lead wire of 0.2 mm2 or 1.25 mm2.

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8 Electrical Equipment Specification

8.1 Position of Limit Switch

Electrical Equipment Specification

8.1

Position of Limit Switch

The limit switches are optional. See Fig.8-1 Location of Limit Switches.
The manipulator with S- and L-axis overrun limit switches, and L-, U-axes
interference limit switches is the type YR-MA01900-A01 (standard
specification) or YR-MA01900-A11 (ceiling-mounted specification).
Fig. 8-1: Location of Limit Switches

L- and U-axes interference

limit switch (optional)

L-axis overrun limit switch

(optional)

S-axis overrun limit switch

(optional)

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8 Electrical Equipment Specification

8.2 Internal Connections

8.2

Internal Connections
Highly reliable connectors are equipped on each connection part of the
manipulator to enable easy removal and installation for maintenance and
inspection. For the number and location of connectors, see Fig.8-2
Locations and Numbers of Connectors.
Diagrams for Internal connections of the manipulator are shown in Fig.
8-3(a) Internal Connection Diagram on page 8-3 and Fig. 8-3(b) Internal
Connection Diagram on page 8-4.
Fig. 8-2: Locations and Numbers of Connectors
3BC (for internal user I/O wiring harness)

3BC (for internal user I/O wiring harness)

Table 8-1: List of Connector Types

Name

Type of Connector

Connector for the internal user I/O

wiring harness on the connector
base

JL05-2A20-29PC
(JL05-6A20-29S: Optional)

Connector for the internal user I/O

wiring harness on the U-arm

JL05-2A20-29SC
(JL05-6A20-29P: Optional)

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P
P

P
P

0BT
BAT
0BT
BAT

1
2
3
4

0BAT11
BAT11
0BAT12
BAT12

0BT
BAT
0BT
BAT

5
6
7
8

0BAT21
BAT21
0BAT22
BAT22

1
2
3
4
5
6
7
8

DX100

1BC(10X4)

CN1-5
CN1-4

+24V
0V

1
3

CN1-10
CN1-9

CN1-10
CN1-9

+24V
0V

2
4

CN1-1
CN1-2

CN1-1
CN1-2

SPG+1
SPG-1

CN1-5
CN1-4

17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16

0BAT1
BAT1
0BAT2
BAT2
0BAT3
BAT3

Notes

0BAT4
BAT4

1. For the limit switch specification, the connection of the part A is changed as follows:
LA1
LB1

PG0V1
PG5V1
PG0V2
PG5V2
PG0V3
PG5V3
PG0V4
PG5V4
PG0V5
PG5V5
PG0V6
PG5V6

LC1
LD1

SPG+2
SPG-2

CN1-8

FG2

CN2-1
CN2-2

CN2-1
CN2-2

SPG+3
SPG-3

LB3

LD1

LC2
LD2

LC2

LD1

No.21CN
21CN-1
-2
-6
-5
-4
-9
-10

DATA+1
DATA-1
BAT
OBT
+5V
0V
FG1
OBT
BAT

1BC(10X4)

CN2-6
CN2-7

FG3

CN2-6
CN2-7

SPG+4
SPG-4

LD3

DATA+2
DATA-2
BAT
OBT
+5V
0V
FG2
OBT
BAT

PG L-AXIS

No.22CN
22CN-1
-2
-6
-5
-4
-9
-10

No.23CN
23CN-1
-2
-3
-4
24CN-1
-2
-3

P
P
P
P

CN3-1
CN3-2

CN3-1
CN3-2

SPG+5
SPG-5

No.7CN
7CN-1
-7
-2
-8
-3
-9

CN3-6
CN3-7

CN3-6
CN3-7

SPG+6
SPG-6

CN4-1
CN4-6
CN4-2

CN4-1
CN4-6

+24V
LB1

CN4-2

SS2

CN4-3

CN4-3

BC2

CN4-10

CN4-10

0V

LA1

LB1

LC1

LD1

CN4-4
CN4-5
CN4-9

CN2-10

+24V

CN4-4
CN4-5
CN4-9

+24V
LD1
FG8
E

DATA+5
DATA-5
BAT
OBT
+5V
0V

-4
-10

DATA+6
DATA-6

-5
-11
-6

+5V
0V
FG6

DATA+3
DATA-3
BAT
OBT
+5V
0V
FG3
OBT
BAT
DATA+4
DATA-4
BAT
OBT
+5V
0V
FG4
OBT
BAT

PG

U-AXIS

PG R-AXIS

No.14CN
14CN-1
-2
-3
-4
15CN-1
-2
-3

P
P
P

No.16CN
16CN-1
-2
-3
-4
17CN-1
-2
-3

LB3

LA2

LD3

LC2

DATA+5
DATA-5
BAT
OBT
+5V
0V
FG5
OBT
BAT
DATA+6
DATA-6
BAT
OBT
+5V
0V
FG6
OBT
BAT

PG B-AXIS

PG T-AXIS

CN2-10

L AND U-AXIS INTERFERENCE L.S

LD3

PG S-AXIS

CN2-3

L-AXIS OVERRUN L.S

LC3

P
CN2-3

L AND U-AXIS INTERFERENCE L.S

LB3

S-AXIS OVERRUN L.S

LC1

No.20CN
20CN-1
-2
-6
-5
-4
-9
-10

P
CN1-8

L-AXIS OVERRUN L.S

LA3

SLU-axes with Overrun Limit Switch Specification

CN1-3

CN1-6
CN1-7

LA2
LB2

LA2

LB1

LB1

CN1-6
CN1-7

S-AXIS OVERRUN L.S

LA1

U
V

FOR LAMP(OPTION)

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E E
E

Base
E

Casing

3BC(20-29)

3BC(20-29)
E

E
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16

7
8

1
2
3
4
5
6
SS1
SS2

1
2
3
4
5
6
SS1
SS2

E
1
2
3
4

P
P

1
2
3
4

P
P

P
SS1
SS2

SS1
SS2

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16

3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16

For Internal User I/O Wiring Harn

and Air Line

2BC(6X6)

E
CN1-1
CN1-2
CN1-3
CN1-4
CN1-5
CN1-6

2BC(6X6)

CN1-1
CN1-2
CN1-3
CN1-4
CN1-5
CN1-6

ME1
ME2
ME2
MU1
MV1
MW1

No.3CN
3CN-3
-2
-1
-PE
-4
-5

MU1
MV1
MW1
ME1
BA1
BB1

No.4CN
4CN-1 -A
-B
-C
-D
-1
-2

MU2
MV2
MW2
ME2
BA2
BB2

SM

S-AXIS

YB

CN2-1
CN2-2
CN2-3
CN2-4
CN2-5
CN2-6

CN2-1
CN2-2
CN2-3
CN2-4
CN2-5
CN2-6

MU2
MV2
MW2
MU2
MV2
MW2

CN3-1
CN3-2
CN3-3
CN3-4
CN3-5
CN3-6

CN3-1
CN3-2
CN3-3
CN3-4
CN3-5
CN3-6

MU3
MV3
MW3
MU4
MV4
MW4

No.26CN
MU3
26CN-3
MV3
-2
MW3
-1
ME3
-PE
BA3
-4
BB3
-5

MU5
MV5
MW5
MU6
MV6
MW6

No.25CN
MU4
25CN-1
MV4
-2
MW4
-3
ME4
-4
BA4
-1
BB4
-2

CN4-1
CN4-2
CN4-3
CN4-4
CN4-5
CN4-6

CN5-1
CN5-2
CN5-3
CN5-4
CN5-5
CN5-6

CN4-1
CN4-2
CN4-3
CN4-4
CN4-5
CN4-6

CN5-1
CN5-2
CN5-3
CN5-4
CN5-5
CN5-6

ME3
ME4
ME5
ME6
BA1
BB1

SM

L-AXIS

YB

No.11CN
11CN-1
MU5
MV5
-2
-3
MW5
ME5
-4

SM U-AXIS
YB

SM R-AXIS
YB

No.35CN

No.18CN
18CN-1
-2
-3
-4
-1
-2

MU5
MV5
MW5
ME5
BA5
BB5

SM B-AXIS
YB

No.36CN
CN6-1
CN6-2
CN6-3
CN6-4
CN6-5
CN6-6

PE

CN6-1
CN6-2
CN6-3
CN6-4
CN6-5
CN6-6

BA2
BA3
BA4
BB4
BA5
BA6

-5
-6
-7
-8

No.19CN
MU6
19CN-1
MV6
-2
MW6
-3
ME6
-4
BA6
-1
BB6
-2

MU6
MV6
MW6
ME6

No.12CN
12CN-1
BA5
-2
BB5
BA6
-3
BB6
-4

SM T-AXIS
YB

No.37CN

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9 Maintenance and Inspection

9.1 Inspection Schedule

Maintenance and Inspection

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

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 Motoman

representative.

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.

9.1

Inspection Schedule
Proper inspections are essential not only to assure that the mechanism
will be able to function for a long period, but also to prevent malfunctions
and assure safe operation. Inspection intervals are classified into several
levels as shown in Table 9-1 Inspection Items on page 9-3.
In Table 9-1 Inspection Items on page 9-3, the inspection items are
categorized by three types of operations: operations which can be
performed by personnel authorized by the user, operations to be
performed by trained personnel, and operations to be performed by

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9 Maintenance and Inspection

9.1 Inspection Schedule
service company personnel. Only specified personnel shall perform the
inspection work.
The inspection interval depends on the total servo
operation time.

NOTE

The following inspection schedule is based on the case

where the manipulator is used for arc welding application.
If the manipulator is used for other application or if it is
used under special conditions, a case-by-case
examination is required.
The inspection may be conducted at shorter intervals if the
manipulator is used very frequently for the application
such as handling; in this case, contact your Yaskawa
Motoman representative.
Abnormal sound may be heard from the speed reducer to
which VIGO Grease RE No.0 (as shown in Table 9-2
Inspection Parts and Grease Used on page 9-5) is used at
its initial operation or at a operation after a long stopped
status. This sound will fade into silence after a day or two
break-in operation.

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4
5

Motors for S-, L-, and U-axes

Baseplate mounting bolts

Cover mounting screws

7
8
9

Connector base
Timing belts for B- and T-axes
Wire harness in manipulator
(Wires for S-, L-, and U-axes)
(Wires for R-, B-, and T-axes)

HW0484971

10 Wire harness in manipulator

(Wires for B- and T-axes)

Specified
Personnel

36000H

24000H

12000HCycle

6000HCycle

Visual
Visual
Visual
Spanner,
Wrench
Screwdriver,
Wrench
Manual
Manual
Visual,
Multimeter

11 Battery pack in manipulator

12 S-axis speed reducer

Check alignment mark accordance at the home position.

Check for damage.
Check for damage and deterioration of leads.
Clean the work area if dust or spatter is present.
Check for damage and outside cracks.
Check for grease leakage.2)
Tighten loose bolts. Replace if necessary.

Visual,
Multimeter

Grease Gun

Tighten loose bolts. Replace if necessary.

Check for loose connectors.
Check for belt tension and wear.
Check for conduction between the main connector of base and
intermediate connector with manually shaking the wires.
Check for wear of protective spring.3)
Replace4)
Check for conduction between terminals.
Replace4)
Replace the battery pack when the battery alarm occurs or the
manipulator drove for 36000H.
See Section 9.2.1 on page 9-6 .
Check for malfunction. (Replace if necessary.)
Supply grease5) (6000H cycle).
See Section 9.3.1 on page 9-8 .
Replace grease5). (12000H cycle)
See Section 9.3.1 on page 9-8 .

Service
Company

External lead
Working area and manipulator

Visual

Inspection
Charge

Licensee

2
3

Operation

Maintenance and Inspection

Inspection Schedule

Alignment mark

Method

9
9.1

9-3

1000HCycle

Daily

Schedule

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Table 9-1: Inspection Items (Sheet 1 of 2)

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Grease Gun

14 R-axis speed reducer

Grease Gun

16 T-axis gear
17 Overhaul

Grease Gun
Grease Gun

Service
Company

Licensee

Specified
Personnel

1 Inspection item numbers correspond to the numbers in Fig. 9-1 Inspection Items on page 9-5.
2 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can cause a motor breakdown. Contact your Yaskawa Motoman
representative.
3 When checking for conduction with multimeter, connect the battery to BAT and OBT of connectors on the motor side for each axis, and then remove connectors on
detector side for each axis from the motor. Otherwise, the home position may be lost. (Refer to Section 9.3.8 Notes for Maintenance on page 9-19)
4 Wire harness in manipulator to be replaced at 24000H inspection.
5 For the grease, refer to Table 9-2 Inspection Parts and Grease Used on page 9-5.

Maintenance and Inspection

Inspection Schedule

Check for malfunction. (Replace if necessary.)

Supply grease5) (6000H cycle). See Section 9.3.2 on page 9-10 and
Section 9.3.3 on page 9-12 .
Replace grease5) (12000H cycle). See Section 9.3.2 on page 9-10
and Section 9.3.3 on page 9-12 .
Check for malfunction. (Replace if necessary.)
Supply grease5) (6000H cycle). See Section 9.3.4 on page 9-14 .
Check for malfunction. (Replace if necessary.)
Supply grease5) (6000H cycle). See Section 9.3.5 on page 9-15 .
Check for malfunction. (Replace if necessary.)
Supply grease5) (6000H cycle). See Section 9.3.6 on page 9-16 .

Inspection
Charge

9
9.1

Operation

13 Speed reducers for L- and U-axes

15 B-axis speed reducer

9-4

Method

36000H

24000H

12000HCycle

6000HCycle

1000HCycle

Schedule

Daily

Items1)

MA1900

Table 9-1: Inspection Items (Sheet 2 of 2)

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9.1 Inspection Schedule
Fig. 9-1: Inspection Items

14

Note:
This figure shows the standard specification
manipulator in the home position.

8
4

15

10
16
4

13

4
13
11

12
5

Table 9-2: Inspection Parts and Grease Used

No.

Grease Used

Inspected Parts

12, 13

VIGO Grease RE No. 0

Speed reducers for S-, L-, and

U-axes

14

Harmonic Grease 4B No. 2

R-axis speed reducer

15

Harmonic Grease SK-1A

B-axis speed reducer

16

Alvania EP Grease 2

T-axis gear

The numbers in the above table correspond to the numbers in Table 9-1
Inspection Items on page 9-3

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9 Maintenance and Inspection

9.2 Notes on Maintenance Procedures

9.2
9.2.1

Notes on Maintenance Procedures

Battery Pack Replacement
The battery packs are installed in the position shown in Fig.9-2 Battery
Location. If the battery alarm occurs in the DX100, replace the battery in
accordance with the following procedure:
Fig. 9-2: Battery Location

Battery pack

Connector base
Support

Tightening bolt
for connector base

Connector base

Fig. 9-3: Battery Connection

Battery pack before replacement

See procedure 5
Connector

Board
(type: SGDR-EFBA02A)

See procedure 4
New battery pack

1. Turn the DX100 main power supply OFF.

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9 Maintenance and Inspection

9.2 Notes on Maintenance Procedures
2. Remove the mounting screws for the battery pack on the support.
3. Remove the battery pack from the battery holder.
4. Connect the new battery pack to the unoccupied connector on the
board.
5. Remove the old battery pack from the board.

NOTE

Remove the old battery pack after connecting the new one
so that the encoder absolute data does not disappear.

6. Mount the new battery pack to the holder.

7. Securely fix the battery pack on the support with the mounting screws.

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9 Maintenance and Inspection

9.3 Notes on Grease Replenishment Procedures

9.3

Notes on Grease Replenishment Procedures

Make sure to follow the instructions listed below at grease replenishment.
Failure to observe the following notes may result in damage to motor and
speed reducer.
If grease is added without removing the plug/screw from
the grease exhaust port, the grease will leak inside a
motor or an oil seal of a speed reducer will come off, which
may result in damage to the motor. Make sure to remove
the plug/screw.

NOTE

Do not install a joint, a hose, etc. to the grease exhaust

port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.
Make sure to use a grease pump to inject grease. Set air
supply pressure to the grease pump at 0.3 MPa or less,
and the grease injection rate at 8 g/s or less.
Make sure to fill hoses, which are joined to the grease
inlet, with grease beforehand to prevent air from intruding
into the speed reducer.

9.3.1

Grease Replenishment/Exchange for S-Axis Speed Reducer

Fig. 9-4: S-Axis Speed Reducer Diagram

Grease exhaust port

Hexagon socket head plug PT1/8

Grease exhaust port

Hexagon socket head plug PT1/8

Grease inlet
Hexagon socket head plug PT1/8

S-axis speed reducer

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NOTE

For the ceiling-mounted manipulator, the grease exhaust

port and the grease inlet are inverted.

9.3.1.1 Grease Replenishment

(Refer to Fig. 9-4 S-Axis Speed Reducer Diagram on page 9-8)
1. Remove the hexagon socket head plugs PT1/8 from the grease inlet
and grease exhaust port.

NOTE

If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.

2. Install a grease zerk PT1/8 to the grease inlet.

(The grease zerk is delivered with the manipulator.)
3. Inject the grease through the grease inlet using a grease gun.
Grease type:

VIGO Grease RE No. 0

Amount of grease:

360 cc
(720 cc for 1st supply)

Air supply pressure of grease pump:

0.3 MPa or less

Grease injection rate:

8 g/s or less

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

5. Wipe the discharged grease with a cloth. Remove the grease zerk
from the grease inlet, and reinstall the plugs to the grease inlet and
grease exhaust port. Before installing the plugs, apply Three Bond
1206C on the thread part of each plug, then tighten the plug with a
tightening torque of 4.9 Nm (0.5 kgfm).

9.3.1.2 Grease Exchange

(Refer to Fig. 9-4 S-Axis Speed Reducer Diagram on page 9-8)
1. Remove the hexagon socket head plugs PT1/8 from the grease inlet
and grease exhaust port.

NOTE

If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.

2. Install a grease zerk PT1/8 to the grease inlet.

(The grease zerk is delivered with the manipulator.)
3. Inject the grease through the grease inlet using a grease gun.
Grease type:

VIGO Grease RE No. 0

Amount of grease:

approx. 1800 cc

Air supply pressure of grease pump:

0.3 MPa or less

Grease injection rate:

8 g/s or less

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9 Maintenance and Inspection

9.3 Notes on Grease Replenishment Procedures
4. The grease exchange is completed when new grease appears in the
grease exhaust port. (The new grease can be distinguished from the
old grease by color.)
5. Move the S-axis for a few minutes to discharge excess grease.
6. Wipe the discharged grease with a cloth. Remove the grease zerk
from the grease inlet, and reinstall the plugs to the grease inlet and
grease exhaust port. Before installing the plugs, apply Three Bond
1206C on the thread part of each plug, then tighten the plug with a
tightening torque of 4.9 Nm (0.5 kgfm).
9.3.2

Grease Replenishment/Exchange for L-Axis Speed Reducer

Fig. 9-5: L-Axis Speed Reducer Diagram
Grease exhaust port
Hexagon socket head plug PT1/8

L-arm

Grease inlet
Hexagon socket head
cap screw M6

NOTE

For the ceiling-mounted manipulator, the grease exhaust

port and the grease inlet are inverted.

9.3.2.1 Grease Replenishment

(Refer to Fig.9-5 L-Axis Speed Reducer Diagram)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head plug PT1/8 from the grease
exhaust port.
3. Remove the hexagon socket head cap screw M6 from the grease inlet.

NOTE

If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.

4. Install a grease zerk A-MT6 x 1 to the grease inlet.

(The grease zerk is delivered with the manipulator.)
5. Inject grease through the grease inlet using a grease gun.
Grease type:

VIGO Grease RE No. 0

Amount of grease:

100 cc
(200 cc for 1st supply)

Air supply pressure of grease pump:

0.3 MPa or less

Grease injection rate:

8 g/s or less

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9 Maintenance and Inspection

9.3 Notes on Grease Replenishment Procedures
6. Move the L-axis for a few minutes to discharge excess grease.
7. Remove the grease zerk from the grease inlet, and reinstall the screw.
Before installing the screw, apply Three Bond 1206C on the thread
part of the screw. Then tighten the screw with a tightening torque of 10
Nm (1.0 kgfm).
8. Wipe the discharged grease with a cloth, and reinstall the plug. Before
installing the plug, apply Three Bond 1206C on the thread part of the
plug. Then tighten the plug with a tightening torque of 4.9 Nm (0.5
kgfm).

9.3.2.2 Grease Exchange

(Refer to Fig. 9-5 L-Axis Speed Reducer Diagram on page 9-10)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head plug PT1/8 from the grease
exhaust port.
3. Remove the hexagon socket head cap screw M6 from the grease inlet.

NOTE

If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.

4. Install a grease zerk A-MT6 x 1 to the grease inlet.

(The grease zerk is delivered with the manipulator.)
5. Inject grease through the grease inlet using a grease gun.
Grease type:

VIGO Grease RE No. 0

Amount of grease:

approx. 500 cc

Air supply pressure of grease pump:

0.3 MPa or less

Grease injection rate:

8 g/s or less

6. The grease exchange is completed when new grease appears in the

grease exhaust port. (The new grease can be distinguished from the
old grease by color.)
7. Move the L-axis for a few minutes to discharge excess grease.
8. Remove the grease zerk from the grease inlet, and reinstall the screw.
Before installing the screw, apply Three Bond 1206C on the thread
part of the screw. Then tighten the screw with a tightening torque of 10
Nm (1.0 kgfm).
9. Wipe the discharged grease with a cloth, and reinstall the plug. Before
installing the plug, apply Three Bond 1206C on the thread part of the
plug, then tighten the plug with a tightening torque of 4.9 Nm
(0.5 kgfm).

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9 Maintenance and Inspection

9.3 Notes on Grease Replenishment Procedures
9.3.3

Grease Replenishment/Exchange for U-Axis Speed Reducer

Fig. 9-6: U-Axis Speed Reducer Diagram
U-arm
U-axis speed reducer

Grease exhaust port

Hexagon socket head cap screw M6

Grease inlet
Hexagon socket head plug PT1/8

NOTE

For the ceiling-mounted manipulator, the grease exhaust

port and the grease inlet are inverted.

9.3.3.1 Grease Replenishment

(Refer to Fig.9-6 U-Axis Speed Reducer Diagram)
1. Tilt the U-arm as shown in Fig.9-6 U-Axis Speed Reducer Diagram.
2. Remove the hexagon socket head cap screw M6 from grease exhaust
port.
3. Remove the hexagon socket head plug PT1/8 from the grease inlet.

NOTE

If grease is injected with the screw on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the screw before the grease injection.

4. Install a grease zerk A-MT6 x 1 to the grease inlet.

(The grease zerk is delivered with the manipulator.)
5. Inject grease through the grease inlet using a grease gun.
Grease type:

VIGO Grease RE No. 0

Amount of grease:

60 cc (120 cc for 1st supply)

Air supply pressure of grease pump:

0.3 MPa or less

Grease injection rate:

8 g/s or less

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

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9 Maintenance and Inspection

9.3 Notes on Grease Replenishment Procedures
7. Remove the grease zerk from the grease inlet, and reinstall the plug.
Before installing the plug, apply Three Bond 1206C on the thread part
of the plug, then tighten the plug with a tightening torque of 4.9 Nm
(0.5 kgfm).
8. Wipe the discharged grease with a cloth, and reinstall the screw.
Before installing the screw, apply Three Bond 1206C on the thread
part of the screw, then tighten the screw with a tightening torque of
10 Nm (1.0 kgfm).
9.3.3.2 Grease Exchange
(Refer to Fig. 9-6 U-Axis Speed Reducer Diagram on page 9-12)
1. Tilt the U-arm as shown in Fig. 9-6 U-Axis Speed Reducer Diagram on
page 9-12.
2. Remove the hexagon socket head cap screw M6 from the grease
exhaust port.
3. Remove the hexagon socket head cap plug PT1/8 from the grease
inlet.

NOTE

If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.

4. Install a grease zerk A-MT6 x 1 to the grease inlet.

(The grease zerk is delivered with the manipulator.)
5. Inject grease through the grease inlet using a grease gun.
Grease type:

VIGO Grease RE No. 0

Amount of grease:

approx. 300 cc

Air supply pressure of grease pump:

0.3 MPa or less

Grease injection rate:

8 g/s or less

6. The grease exchange is completed when new grease appears in the

grease exhaust port. (The new grease can be distinguished from the
old grease by color.)
7. Move the U-axis for a few minutes to discharge excess grease.
8. Remove the grease zerk from the grease inlet, and reinstall the plug.
Before installing the plug, apply Three Bond 1206C on the thread part
of the plug, then tighten the plug with a tightening torque of 4.9 Nm
(0.5 kgfm).
9. Wipe the discharged grease with a cloth, and reinstall the screw to the
grease exhaust port. Before installing the plug, apply Three Bond
1206C on the thread part of the screw, then tighten the screw with a
tightening torque of 10 Nm (1.0 kgfm).

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9 Maintenance and Inspection

9.3 Notes on Grease Replenishment Procedures
9.3.4

Grease Replenishment for R-Axis Speed Reducer

Fig. 9-7: R-Axis Speed Reducer Diagram
R-axis speed reducer
Exhaust port
Hexagon socket head cap screw M6

Grease inlet
Hexagon socket head
cap screw M6

NOTE

For the ceiling-mounted manipulator, the exhaust port and

the grease inlet are inverted.

1. Remove the hexagon socket head cap screw M6 from the exhaust
port.
2. Remove the hexagon socket head cap screw M6 from the grease inlet.
3. Install a grease zerk A-MT6 x 1 to the grease inlet.
(The grease zerk is delivered with the manipulator.)
4. Inject grease through the grease inlet using a grease gun. (Refer to
Fig.9-7 R-Axis Speed Reducer Diagram)
Grease type:

Harmonic grease 4B No.2

Amount of grease:

12 cc (24cc for the first supply)

NOTE

The exhaust port is used for air exhaust, and grease is not
exhausted from the exhaust port. Do not inject excessive
grease through the grease inlet.

5. Remove the grease zerk from the grease inlet, and reinstall the screw.
Before installing the screw, apply Three Bond 1206C on the thread
part of the screw, then tighten the screw with a tightening torque of 6
Nm (0.6 kgfm).
6. Reinstall the plug to the exhaust port. Before installing the screw,
apply Three Bond 1206C on the thread part of the screw, then tighten
the screw with a tightening torque of 6 Nm (0.6 kgfm).

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9.3 Notes on Grease Replenishment Procedures
9.3.5

Grease Replenishment for B-Axis Speed Reducer

Fig. 9-8: B-Axis Speed Reducer Diagram
B-axis speed reducer

Cover

Exhaust port
Plug LP-M5
Grease inlet
Hexagon socket head cap screw M6

1. Remove the cover.

2. Remove the hexagon socket head cap screw M6 from the grease inlet,
and the plug LP-M5 from the exhaust port.
3. Install a grease zerk A-MT6 x 1 to the grease inlet.
(The grease zerk is delivered with the manipulator.)
4. Inject grease through the grease inlet using a grease gun.
(Refer to Fig.9-8 B-Axis Speed Reducer Diagram.)
Grease type:

Harmonic grease SK-1A

Amount of grease:

7 cc (14 cc for the 1st supply)

NOTE

The exhaust port is used for air exhaust, and grease is not
exhausted from the exhaust port. Do not inject excessive
grease through the grease inlet.

5. Remove the grease zerk from the grease inlet, and reinstall the screw.
Before installing the screw, apply Three Bond 1206C on the thread
part of the screw, then tighten the screw with a tightening torque of 6
Nm (0.6 kgfm).
6. Reinstall the plug to the exhaust port, then reinstall the cover.

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9.3.6

Grease Replenishment for T-Axis Gear

Fig. 9-9: T-Axis Gear Diagram

Grease inlet 2
Hexagon socket head cap screw M6
Grease inlet 1
Hexagon socket head cap screw M6

Exhaust port
Hexagon socket set screw M6

1. Remove the hexagon socket set screw M6 from the exhaust port.
2. Remove the hexagon socket head cap screw M6 from the grease inlet
1.
3. Install a grease zerk A-MT6 x 1 to the grease inlet 1.
(The grease zerk is delivered with the manipulator.)
4. Inject grease through the grease inlet 1 using a grease gun.
Grease type:

Alvania EP Grease 2

Amount of grease:

5 cc

NOTE

The exhaust port is used for air exhaust, and grease is not
exhausted from the exhaust port. Do not inject excessive
grease through the grease inlet.

5. Remove the grease zerk from the grease inlet 1, and reinstall the
screw. Before installing the screw, apply Three Bond 1206C on the
thread part of the screw, then tighten the screw with a tightening
torque of 6 Nm (0.6 kgfm).

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9.3 Notes on Grease Replenishment Procedures
6. Remove the hexagon socket head cap screw M6 from the grease inlet
2.
7. Install a grease zerk A-MT6 x 1 to the grease inlet 2. (The grease zerk
is delivered with the manipulator.)
8. Inject grease through the grease inlet 2 using a grease gun.
Grease type:

Alvania EP Grease 2

Amount of grease:

5 cc

NOTE

The exhaust port is used for air exhaust, and the grease is
not exhausted from the exhaust port. Do not inject
excessive grease through the grease inlet.

9. Remove the grease zerk from the grease inlet 2, and reinstall the
screw. Before installing the screw, apply Three Bond 1206C on the
thread part of the screw, then tighten the screw with a tightening
torque of 6 Nm (0.6 kgfm).
10. Reinstall the set screw to the exhaust port. Before installing the set
screw, apply Three Bond 1206C on the thread part of the screw, then
tighten the screw with a tightening torque of 2.9 Nm (0.29 kgfm).
9.3.7

Grease Replenishment for R-Axis Gear

Fig. 9-10: R-Axis Gear Diagram
R-axis gear

Exhaust port
Hexagon socket head plug PT1/8

Grease inlet
Hexagon socket head plug PT1/8

NOTE

For the ceiling-mounted manipulator, the exhaust port and

the grease inlet are inverted.

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

2. Remove the hexagon socket head plugs PT1/8 from the grease inlet
and the grease exhaust port.

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9.3 Notes on Grease Replenishment Procedures

NOTE

If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.

3. Install a grease zerk PT1/8 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
4. Inject grease through the grease inlet using a grease gun. (Refer to
Fig.9-10 R-Axis Gear Diagram.)
Grease type:

Harmonic grease 4B No.2

Amount of grease:

55 cc (110 cc for 1st supply)

Air supply pressure of grease pump:

0.3 MPa or less

Grease injection rate:

8 g/s or less

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

6. Remove the grease zerk from the grease inlet, and reinstall the plug.
Before installing the plug, apply Three Bond 1206C on the thread part
of the plug. Then tighten the plug with a tightening torque of 4.9 Nm
(0.5 kgfm).
7. Wipe the discharged grease with a cloth, and reinstall the plug. Before
installing the plug, apply Three Bond 1206C on the thread part of the
plug. Then tighten the plug with a tightening torque of 4.9 Nm
(0.5 kgfm).

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9 Maintenance and Inspection

9.3 Notes on Grease Replenishment Procedures
9.3.8

Notes for Maintenance

9.3.8.1 Wrist Unit
The motor and encoder units are provided with the wrist unit. To prevent
fumes from penetrating through the wrist unit, the matched parts are
sealed with sealing bond. If the wrist cover is disassembled, make sure to
reseal with sealing bond (Three Bond 1206C, refer to Table 10-1 Spare
Parts for the YR-MA01900-A00, -A01, -A10, -A11 on page 10-1.
Fig. 9-11: Sealing Part of Wrist Unit
Cover
Cover jointing face

Cover jointing face

Cover

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9.3 Notes on Grease Replenishment Procedures
9.3.8.2 Battery Pack Connection
Before removing the encoder connector (with CAUTION label), connect
the battery pack referring to the following figures.
Fig. 9-12(a): Encoder Connector Diagram (for S-, L-, and U-Axes)
Encoder connector
Motor

CAUTION

Motor power connector

Connect battery to encoder

to save the data before
removing conector.

CAUTION label

0BT

a 0BT*

BAT

b BAT*
Battery pack (HW9470932-A)
Connector for the battery backup

CAUTION label (Enlarged view)

a: Crimped contact-pin (pin)

b: Crimped contact-pin (socket)

CAUTION
Connect battery to encoder
to save the data before
removing conector.

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Fig. 9-12(b): Encoder Connector Diagram (for R-, B-, and T-Axes)

Encoder
Motor

Motor cable, etc.

Wire harness
in manipulator

Power connector
Connection
a 0BT4
0BT

BAT

b BAT4

CAUTION

Connect battery to encoder

to save the data before
removing conector.

Encoder connector

Battery pack
(HW9470932-A)

CAUTION label
0BT

0BT4

BAT

BAT4

CAUTION label (Enlarged view)

CAUTION

a: Crimped contact-pin (pin)

b: Crimped contact-pin (socket)

Connect battery to encoder

to save the data before
removing conector.

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10

Recommended Spare Parts

Recommended Spare Parts

It is recommended to keep the parts and components in the following table
in stock as spare parts for the MOTOMAN-MA1900. Product performance
cannot be guaranteed when using spare parts from any company other
than Yaskawa. The spare parts are ranked as follows:
Rank A: Expendable and frequently replaced parts.
Rank B: Parts for which replacement may be necessary as a result of
frequent operation.
Rank C: Drive unit.

NOTE

For replacing parts in Rank B or Rank C, contact your

Yaskawa Motoman representative.

Table 10-1: Spare Parts for the YR-MA01900-A00, -A01, -A10, -A11
Rank Parts Name

Type

Manufacturer

Qty

No.

Qty

Remarks

per
Unit

Grease

VIGO Grease
RE No. 0

Yaskawa

16kg

Grease

Harmonic Grease
4B No. 2

Harmonic Drive
Systems, Inc.

2.5kg

Grease

Harmonic Grease
SK-1A

Harmonic Drive
Systems, Inc.

2.5kg

Grease

Alvania EP
Grease 2

Showa Shell
Sekiyu K.K.

16kg

Liquid Gasket

Three Bond 1206C

Three Bond Co., Ltd.

Battery Pack

HW0470360-A

Yaskawa

Battery Pack

HW9470932-A

Yaskawa

B-Axis Timing Belt

60S4.5M711

Mitsuboshi
Belting Limited

T-Axis Timing Belt

60S4.5M932

Mitsuboshi
Belting Limited

10

S-Axis
Speed Reducer

HW0387753-B

Yaskawa

11

S-Axis Input Gear

HW0313491-1

Yaskawa

12

L-Axis
Speed Reducer

HW0387753-C

Yaskawa

13

L-Axis Input Gear

HW0313492-1

Yaskawa

14

U-Axis
Speed Reducer

HW9280880-G

Yaskawa

15

R-Axis
Speed Reducer

HW0381645-A

Yaskawa

16

B-Axis
Speed Reducer

HW0381646-A

Yaskawa

17

R-Axis Gear

HW0303288-1

Yaskawa

For replacement
of wire harness in
manipulator

10-1

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MA1900

Recommended Spare Parts

Table 10-1: Spare Parts for the YR-MA01900-A00, -A01, -A10, -A11
Rank Parts Name

Type

Manufacturer

Qty

No.

Qty

Remarks

per
Unit

18

R-Axis Gear Unit

HW0370905-A

Yaskawa

19

T-Axis Gear (Input

Side)

HW0310757-1

Yaskawa

20

T-Axis Gear Unit

HW0372792-A

Yaskawa

21

Wire Harness in
Manipulator

HW0174798-A

Yaskawa

22

Wire Harness in
Manipulator for Band T-axes

HW0270912-A

Yaskawa

23

AC Servomotor for
S-Axis

SGMRV-09ANA-YR1*
HW0388665-A

Yaskawa

24

AC Servomotor for
L-Axis

SGMRV-13ANA-YR2*
HW0388667-A

Yaskawa

25

AC Servomotor for
U-Axis

SGMRV-05ANA-YR1*
HW0388663-A

Yaskawa

26

AC Servomotor for
R-Axis

SGMPH-01ANA-YR1*
HW0389297-A

Yaskawa

27

AC Servomotor for
B- and T-Axes

SGMAV-01ANA-YR1*
HW0389294-A

Yaskawa

28

Board

SGDR-EFBA02A

Yaskawa

10-2

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11

11 Parts List
11.1 S-Axis Unit

Parts List
11.1

S-Axis Unit
Fig. 11-1: S-Axis Unit

1008
1001
1011
1012

1010
1034

1013

1036
1020

1035

1031
1032

1014
1024
1023

1022
1021

1026
1009

1024
1023

1030

1027
1030

1033

1002

1016

1004

1015

1017

1003
1006

1018
1025

1005

1014
1020

1007

1028
1029

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11 Parts List
11.1 S-Axis Unit

Table 11-1: S-axis Unit

No.

DWG No.

Name

Pcs.

1001

SGMRV-09ANA-YR1*

Motor

1002

HW0100545-2

S head

1003

M16X20

Socket screw

1004

2H-16

Spring washer

1005

HW0387753-B

Speed reducer

1006

M10X40

GT-SA bolt

16

1007

HW0100544-2

Base

1008

M8X30

GT-SA bolt

1009

HW0305306-2

M base

1010

M5X10

APS bolt

1011

PT1/8

Plug

1012

UKM6-01

Union

1013

HW0305809-1

Cover

1014

NB-0640-0.3

Tube

1015

HW0304221-1

Cover

1016

M6X15

GT-SA bolt

1017

MSB8-15

Stripperbolt

1018

HW0400645-2

Lever

1020

TSH6-01M

Union

1021

CD-31

Saddle

1022

M6X10

Socket screw

1023

TA1-S10

Clamp

1024

M5X10

Screw with spring

washer

1025

EZ5036A0

Cap

1026

M6X15

GT-SA bolt

1027

HW0305812-1

Holder

1028

HW9406775-1

Cover

1029

M6X8

APS bolt

1030

M12

Eye bolt

1031

M8X60

Socket screw

1032

2H-8

Spring washer

1033

M12X35

GT-SA bolt

1034

HW0313491-1

Gear

1035

M6X60

Socket screw

1036

2H-6

Spring washer

11-2

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11 Parts List
11.2 L-Axis Unit

11.2

L-Axis Unit
Fig. 11-2: L-Axis Unit

2024
2001
2023
2017

2005

2004
2008

2011
2012

2019

2010
2009

2018

2028

2003
2006 2002

2007

2032

2026
2027

2022
2021
2020

2014
2013
2016
2015

2029

1002

2031
2030

2033
2034

2035
2036

2031

11-3

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11 Parts List
11.2 L-Axis Unit

Table 11-2: L-Axis Unit

No.

DWG No.

Name

Pcs.

2001

SGMRV-13ANA-YR2*

Motor

2002

M6X90

Socket screw

2003

2H-6

Spring washer

2004

HW0313492-1

Gear

2005

HW0304229-1

M base

2006

Y426012.5

Oil seal

2007

HW0401506-1

Plate

2008

HW0304226-1

Support

2009

M6X10

Socket screw

2010

2H-6

Spring washer

2011

HW0304227-1

Cover

2012

M6X8

APS bolt

2013

M12X40

Socket screw

12

2014

2H-12

Spring washer

12

2015

M10X35

Socket screw

2016

2H-10

Spring washer

2017

HW0100546-2

L arm

2018

HW0387753-C

Speed reducer

2019

M10X40

GT-SA bolt

14

2020

M12X40

Socket screw

2021

2H-12

Spring washer

2022

HW0404196-4

Washer

2023

M8X30

GT-SA bolt

2024

M8X25

GT-SA bolt

2026

TA1-S10

Clamp

2027

M5X10

Screw with spring

washer

2028

M6X10

Socket screw

2029

HW0305813-1

Holder

2030

HW0305698-1

Cover

2031

M5X12

GT-SA bolt

2032

PT1/8
*STAINLESS coating*

Plug

2033

CD-31

Saddle

2034

M5X12

GT-SA bolt

2035

TA1-S10

Clamp

2036

M5X10

Screw with spring

washer

1002

HW0100545-2

S head

11-4

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11 Parts List
11.3 U-Axis Unit

11.3

U-Axis Unit
Fig. 11-3: U-Axis Unit

3037
3030
3032 3031

3038

3048

3039

3001
3035
3042 3041
3043

3036
3002
3044

3017
3016
3033

3045
3047
3046

3015
3014

3034
3026
3027

3040

3020 3018

3019
3024
3028 3025
3029
3003

3023
3022
3017
3016
3015
3014

3021
2017

3013
3010
3008

3009
3012

3007
3006

3011
3004
3005

11-5

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11 Parts List
11.3 U-Axis Unit

Table 11-3: U-Axis Unit (Sheet 1 of 2)

No.

DWG No.

Name

Pcs.

3001

SGMRV-05ANA-YR1*

Motor

3002

M8X30

Socket screw
(Dacrotized)

3003

PT1/8

Plug

3004

M10X20

Socket screw

3005

2H-10

Spring washer

3006

M8X45

Socket screw

16

3007

2H-8

Spring washer

16

3008

HW9280880-G

Speed reducer

3009

M5X65

Socket screw

3010

2H-5

Spring washer

3011

M14X35

Socket screw

3012

GT-SH-14

Spring washer

3013

ARP568-258

O ring

3014

M10X50

Socket screw

3015

2H-10

Spring washer

3016

HW0404196-2

washer

3017

HW9405278-1

Dog

3018

M4X12

GT-SA bolt

3019

M4X10

GT-SA bolt

3020

HW0200494-3

Cover

3021

HW0404195-1

N base

3022

M3X16

Screw with spring

washer

3023

M3

Nut

3024

KQE10-03

Union

3025

PT3/8

Plug

3026

PZ1208

Saddle

3027

M4X6

APS bolt

3028

HW0404194-1

Plate

3029

M4X12

GT-SA bolt

3030

TAI-S10

Clamp

3031

M4X8

APS bolt

3032

T50R

Cable tie

3033

PZ1212

Saddle

3034

M4X10

APS bolt

3035

M4X10

GT-SA bolt

3036

HW0404688-1

Cover

3037

HW0304068-1

Cover

3038

M4X12

GT-SA bolt

3039

M4

Washer

3040

M4X12

GT-SA bolt

3041

HW0303915-1

Support

3042

KQL12-00

Elbow union

11-6

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11 Parts List
11.3 U-Axis Unit
Table 11-3: U-Axis Unit (Sheet 2 of 2)
No.

DWG No.

Name

Pcs.

3043

KQN10-12

Nipple

3044

2H-8

Spring washer
(Dacrotized)

3045

TA1-S10

Clamp

3046

T50R

Cable tie

3047

M5X10

APS bolt

3048

HW0100634-2

Casing

2017

HW0100546-2

L arm

11-7

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11 Parts List
11.4 R-Axis Unit

11.4

R-Axis Unit
Fig. 11-4: R-Axis Unit

4033

4029

4058
5073

4052
4053

4031
4032

4054
4055
4028

4018
4056
4015

4030
4016

4061

4026
4059
4025
4060

4007
4003
4048
4014

4057

4035

4013
4027
4006

4038
4051
4011

4047
4008

4049

4024
4005

4009

4036
4045
4034

4017

4019 4004

4023

4022

4010
4012

4044

4021
4042

4043

3048
4002

4037
4041

4001
4034
4020
4040
4039
4050
4062

11-8

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11 Parts List
11.4 R-Axis Unit

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

No.

DWG No.

Name

Pcs.

4001

SGMPH-01ANA-YR11

Motor

4002

HW0381645-A

Speed reducer

4003

CRBH11016AUE01

Cross roller bearing

4004

6906DDU

Bearing

4005

6905

Bearing

4006

TC1101226

Oil seal

4007

TC1301427

Oil seal

4008

HW0303724-1

Gear

4009

HW0303725-1

Gear

4010

HW0403980-1

Collar

4011

HW0403979-1

Collar

4012

SWB8-20

Spring

4013

HW0303288-1

Gear

4014

HW0303343-1

Shaft

4015

HW0303345-1

Shaft

4016

HW0304453-1

Flange

4017

HW0402673-1

M base

4018

HW0304451-1

Shaft

4019

HW0304452-1

Housing

4020

HW0402672-1

Fly wheel

4021

AE0478G

Oil seal

4022

RTW47

Retaining ring C-type

4023

STW-30

Retaining ring C-type

4024

STW-25

Retaining ring C-type

4025

PZ1212

Saddle

4026

PZ1208

Saddle

4027

EZ5036A0

Cap

4028

HW0200500-1

Spacer

4029

HW0404689-1

Cover

4030

HW0404690-1

Cover

4031

HW0408820-1

Shaft

4032

S55

O ring

4033

M4X12

GT-SA bolt

4034

M6X6

Socket screw

4035

M5X20

GT-SA bolt

4036

M5X16

GT-SA bolt

4037

M5X12

GT-SA bolt

4038

PT1/8

Plug

4039

M5X45

Socket screw

4040

2H-5

Spring washer

4041

M5X16

GT-SA bolt

4042

HW0404304-1

Packing

4043

M4X25

Socket screw

4044

2H-5

Spring washer

11-9

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11 Parts List
11.4 R-Axis Unit
Table 11-4: R-Axis Unit (Sheet 2 of 2)
No.

DWG No.

Name

Pcs.

4045

M5X12

GT-SA bolt

4047

M4X10

GT-SA bolt

4048

M6X30

GT-SA bolt

4049

PT1/8

Plug

4050

2H-5

Spring washer

4051

M4X15

GT-SA bolt

4052

M6X55

Socket screw

4053

2H-6

Spring washer

4054

M4X14

Socket screw

4055

2H-4

Spring washer

4056

M5X16

GT-SA bolt

4057

M5X20

GT-SA bolt

4058

M4X10

APS bolt

4059

M4X6

APS bolt

4060

M4X10

APS bolt

4061

M4X10

APS bolt

4062

M5X50

Socket screw

3048

HW0100634-2

Casing

5073

HW0100617-1

U arm

11-10

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11 Parts List
11.5 Wrist Unit

11.5

Wrist Unit
Fig. 11-5: Wrist Unit

5045
5048
5075

5041 5043
5096
5042
5097
5099

5076

5046
5047

5095

5035

5085

5044
5042

5084
5079

5078

5083

5081

5092
5093
5090
5087

5080
5100

5037

5091

5050
5039 5063
5038
5040
5017

5094
5026

5052

5101
5098

5054

5086
5089
5091
5091

5016

5027

5030

5034

5025
5033

5031

5015
5014
5074

5082

5051
5062

5029
5023
5028
5022
5021

5049

5071
5070

5032 5019
5018

5036

5072

5004
5005
5006
5007

5020
5001 5012

5052

5013

5061
5002
5003

5060 5077

5008

5057
5056
5055

5059
5058

5010
5009

5053

5011

4028

5070
5071
5073

5069

5064

5001
5072
5068
5067
5066

5065

5074

11-11

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11 Parts List
11.5 Wrist Unit

Table 11-5: Wrist Unit (Sheet 1 of 3)

No.

DWG No.

Name

Pcs.

5001

SGMAV-01ANA-YR1*

Motor

5002

M6X55

Socket screw

5003

2H-6

Spring washer

5004

M4X25

Socket screw

5005

2H-4

Spring washer

5006

HW0480866-B

Pulley

5007

HW0404353-1

Fly wheel

5008

HW0404354-1

Spacer

5009

M4X25

Socket screw

5010

2H-4

Spring washer

5011

T50L

Cable tie

5012

M4X10

GT-SA bolt

5013

HW0403207-1

Cover

5014

60S4.5M932

Belt

5015

HW0100621-1

Cover

5016

HW0480867-B

Pulley

5017

HW0311225-1

Gear

5018

CBS4-12

Bolt

5019

2H-4

Spring washer

5020

HW0401553-1

B cover

5021

M5X35

Socket screw

5022

2H-5

Spring washer

5023

HW0410762-1

Shaft

5025

HW0410930-1

Cover

5026

M6X6

Socket screw

5027

WR20

Circlip

5028

6804DDU

Bearing

5029

WB22-20

Spring

5030

M5X16

Socket screw

5031

2H-5

Spring washer

5032

HW0301300-2

Gear

5033

HW9482218-A

Bearing

5034

HW0301310-2

Shaft

5035

6811LLU

Bearing

5036

M4X12

GT-SA bolt

5037

AR28

Circlip

5038

NA4902

Needle bearing

5039

WR15

Circlip

5040

HW0311214-1

Shaft

5041

HW0100618-2

Wrist

5042

WR12

Circlip

5043

NA4901

Needle bearing

5044

IRTW-24

Retaining ring

5045

M6X25

Socket screw

11-12

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11 Parts List
11.5 Wrist Unit
Table 11-5: Wrist Unit (Sheet 2 of 3)
No.

DWG No.

Name

Pcs.

5046

2H-6

Spring washer

5047

HW8411125-3

Washer

5048

HW0310757-1

Gear

5049

HW0310758-1

Housing

5050

688A

Bearing

5051

6812LLU

Bearing

5052

HW0381646-A

Speed reducer

5053

M4X16

GT-SA bolt

5054

M4X12

GT-SA bolt

5055

M5X16

Socket screw

5056

2H-5

Spring washer

5057

HW0481692-A

Pulley

5058

6902ZZ*NS7*

Bearing

5059

RTW28

Retaining Ring-C
type

5060

HW0403705-1

Housing

5061

M4X12

GT-SA bolt

5062

HW0404303-2

Collar

5063

LP-M5

Plug

5064

60S4.5M711

Belt

5065

HW0100622-1

Cover

5066

M4X12

Socket screw

5067

2H-4

Spring washer

5068

HW0481429-A

Pulley

5069

M4X10

GT-SA bolt

5070

M4

Washer

5071

M4X16

GT-SA bolt

5072

HW0404547-2

M base

5073

HW0100617-1

U arm

5074

M4X10

GT-SA bolt

20

5075

HW0303390-1

Cover

5076

M4X10

APS bolt

5077

M6X6

Socket screw

5078

HW0404371-2

Bolt

5079

M4X16

GT-SA bolt

5080

TC65786

Oil seal

5081

AR78

Circlip

5082

HW0310763-1

Shaft

5083

6812DBLU

Bearing

5084

HW0401552-1

B cover

5085

HW0310762-1

Housing

5086

TC70826

Oil seal

5087

M4X12

GT-SA bolt

5089

HW0310761-1

Flange

5090

M5X16

GT-SA bolt

11-13

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11 Parts List
11.5 Wrist Unit
Table 11-5: Wrist Unit (Sheet 3 of 3)
No.

DWG No.

Name

Pcs.

5091

MS4-10

Pin

5092

CBS4-12

Bolt

5093

2H-4

Spring washer

5094

M4X12

GT-SA bolt

5095

M5X10

APS bolt

5096

HW0404365-1

Cover

5097

HW0404366-1

Packin

5098

M4X12

GT-SA bolt

5099

M6X6

H set screw

5100

M6X6

Socket screw

5101

HW0372792-A

Gear ASSY

4028

HW0200500-1

Spacer

11-14

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MOTOMAN-MA1900

INSTRUCTIONS

Specifications are subject to change without notice

for ongoing product modifications and improvements.

MANUAL NO.

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