MOTOMAN-MA1400

INSTRUCTIONS
TYPE: YR-MA01400-A00 (STANDARD SPECIFICATION)
TYPE: YR-MA01400-A01 (SLU-AXES WITH LIMIT SWITCHES)
TYPE: YR-MA01400-A10 (CEILING-MOUNTED SPECIFICATION)
TYPE: YR-MA01400-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-MA1400 INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 Operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.

Part Number: 155557-1CD

Revision: 2

MANUAL NO.

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MA1400

MANDATORY
• This instruction manual is intended to explain mainly on the
mechanical part of the MOTOMAN-MA1400 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 Motoman 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
Motoman Customer Service 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 Motoman is not responsible for incidents arising from
unauthorized modification of its products. Unauthorized
modification voids your product's warranty.

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MA1400

Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MA1400.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.

Indicates a potentially hazardous

WARNING situation which, if not avoided, could
result in death or serious injury to
personnel.

Indicates a potentially hazardous

CAUTION 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

MANDATORY items listed under this heading.

Must never be performed.

PROHIBITED

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

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

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

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

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MA1400

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
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX100.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the
DX100 and the programming pendant.

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MA1400

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 Manipulator cable
controller

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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

WARNING Label B
WARNING Label A WARNING Label A

Nameplate

Nameplate: WARNING Label A:

WARNING
Moving parts
may cause
injury

WARNING Label B:

WARNING
Do not enter
robot
work area.

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MA1400
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 Shipping Bolts and Brackets .............................................................................................. 2-3

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

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

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

3.2.1 Mounting Example ................................................................................................ 3-3

3.3 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............................................ 3-4

3.4 Location ............................................................................................................................. 3-5

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

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

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

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

4.2.2 Connection to the DX100...................................................................................... 4-2

5 Basic Specifications ........................................................................................................................ 5-1

5.1 Basic Specifications ........................................................................................................... 5-1

5.2 Part Names and Working Axes.......................................................................................... 5-2

5.3 Manipulator Base Dimensions ........................................................................................... 5-2

5.4 Dimensions and 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 ................................................................................... 9-7

9.2.1 Battery Pack Replacement ................................................................................... 9-7

9.3 Notes on Grease Replenishment/Exchange Procedures .................................................. 9-8

9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer ............................. 9-9

9.3.1.1 Grease Replenishment............................................................................ 9-9
9.3.1.2 Grease Exchange ................................................................................. 9-10

9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer............................ 9-11

9.3.2.1 Grease Exchange ................................................................................. 9-11
9.3.2.2 Grease Exchange ................................................................................. 9-12

9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-13

9.3.3.1 Grease Replenishment.......................................................................... 9-13
9.3.3.2 Grease Exchange ................................................................................. 9-14

9.3.4 Grease Replenishment for R-Axis Speed Reducer ............................................ 9-15

9.3.5 Grease Replenishment for B-Axis Speed Reducer ............................................ 9-16

9.3.6 Grease Replenishment for T-Axis Gear ............................................................. 9-17

9.3.7 Grease Replenishment for R-Axis Gear ............................................................. 9-19

9.3.8 Notes for Maintenance ....................................................................................... 9-20

9.3.8.1 Wrist Unit............................................................................................... 9-20
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 ..................................................................................................................... 11-4

11.3 U-Axis Unit..................................................................................................................... 11-5

11.4 Wrist Unit ..................................................................................................................... 11-10

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MA1400 1 Product Confirmation

1.1 Contents Confirmation

1 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
• DX 100
• Programming pendant
• Manipulator cables (between the DX 100 and the Manipulator)

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MA1400 1 Product Confirmation

1.2 Order Number Confirmation

1.2 Order Number Confirmation

Check that the order number of the manipulator corresponds to the DX
100. 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 Check that the manipulator

SHOULD HAVE SAME ORDER NUMBER.
and the DX100 have the
same order number.
ORDER NO.

DX100
TYPE ERDR-
EM

ER
GE N
POWER SUPPLY

C
3PHASE AC200V 50/60Hz PEAK kVA

Y
AC220V 60Hz AVERAGE kVA
INTERRUPT CURRENT kA
SERIAL No.
DATE

MADE IN JAPAN NJ2960-1

S
T O P

ON
D
PE
IP
TR
OFF
T
SE
RE

WARNING
Do not open the door

THE MANIPULATOR AND THE CONTROLLER

SHOULD HAVE SAME ORDER NUMBER.

ORDER NO.
NJ1529

PROGRAMMING PENDANT
X81

(a) DX 100 (Front View) (b) Manipulator (Side View)

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MA1400 2 Transport
2.1 Transport Method

2 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 excessive vibration or shock during transport.
The system consists of precision components. Failure to observe this
caution may adversely affect performance.

2.1 Transport Method

• The weight of the manipulator is approximately 130 kg

including the shipping bolts and brackets. Use a wire rope
strong enough to withstand the weight.

NOTE • Mount the shipping bolts and brackets for transporting the
manipulator.
• Avoid putting external force on the arm or motor unit when
transporting by a crane, forklift, or other equipment.
Failure to observe this instruction may result in injury.

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MA1400 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
when removing it from the package and moving it. Be sure that the
manipulator is fixed with the shipping bolts and brackets before transport,
and lift it in the posture as shown in Fig.2-1 Transporting Position.
Fig. 2-1: Transporting Position
Shipping bracket

View A

Hexagon socket
head cap screw M10 2
Shipping bracket

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MA1400 2 Transport
2.2 Shipping Bolts and Brackets

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. Transport the manipulator slowly with due caution in order to
avoid overturning or slippage.
Fig. 2-2: Using a Forklift

Bolt M16 (4 places)

Pallet

Forklift claw entries

2.2 Shipping Bolts and Brackets

The manipulator is provided with two shipping bolts and a shipping
bracket. (See Fig.2-3 Shipping Bolts and Brackets.)
Fig. 2-3: Shipping Bolts and Brackets

Shipping bracket

Hexagon socket
head cap screw M10
Front View (2 screws) Side View

• The shipping bolts and bracket are painted yellow.

• The shipping bracket is to be fixed with the hexagon socket head cap
screws M10 (2 screws).

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

NOTE shipping bolts and brackets are removed. The shipping
bolts and brackets then must be stored for future use, in the
event that the manipulator must be moved again.

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MA1400 3 Installation

3 Installation

WARNING
• Install the safeguarding.
Failure to observe this warning may result in injury or damage.
• Install the manipulator in a location where the tool or the workpiece
held by its fully extended arm will not reach the wall, safeguarding,
or controller.
Failure to observe this warning may result in injury or damage.
• Do not start the manipulator or even turn ON the power before it is
firmly anchored.
The manipulator may overturn and cause injury or damage.
• When mounting the manipulator on the 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 shipping
bolts and brackets explained in Fig. 2-3 Shipping Bolts and Brackets
on page 2-3 are removed.
Failure to observe this caution may result in damage to the driving
parts.

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MA1400 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” .

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

Stop
Maximum torque in horizontal rotation 3800 N•m
(S-axis moving direction) (390 kgf•m)
Maximum torque in vertical rotation 3500 N•m
(L-,U-axes moving direction) (357 kgf•m)

Table 3-2: Endurance Torque in Operation

Endurance torque in horizontal operation 900 N•m
(S-axis moving direction) (93 kgf•m)
Endurance torque in vertical operation 1500 N•m
(L-,U-axes moving direction) (158 kgf•m)

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MA1400 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 recommend to prepare a
baseplate of 40 mm or more thick, and anchor bolts of M16 or larger size.
The manipulator base is tapped for four mounting holes; securely fix the
manipulator base to the baseplate with four hexagon head bolts M16
(50 mm long is recommended).
Next, fix the manipulator base to the baseplate. Tighten the hexagon
head bolts and anchor bolts firmly so that they will not work loose during
the operation.
Refer to Fig. 3-1 Mounting the Manipulator on Baseplate on page 3-3.
Fig. 3-1: Mounting the Manipulator on Baseplate

Hexagon head bolt M16 (4 bolts)

Spring washer

Washer

Manipulator base
20

Baseplate

40 mm
or more

Manipulator base
Anchor bolt (M16 or larger)
Baseplate

+0.018
16 dia. 0
132±0.1 (2 holes)
153±0.1
102±0.1

Baseplate
60

132±0.1
130±0.1

+0.018
12 dia. 0

102±0.1
100±0.1 153±0.1

View A

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MA1400 3 Installation
3.3 Types of Mounting

3.3 Types of Mounting

The MOTOMAN-MA1400 is available in three types: floor-mounted type
(standard), wall-mounted type, and ceiling-mounted type. For wall-
mounted and ceiling-mounted types, the three points listed below are
different from the floor-mounted type.
The ceiling-mounted type manipulators are: YR-MA01400-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 N•m when tightening the
screws.

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

Manipulator base

Hexagon socket head cap

screw M16 (4 places)
(Tensile strength: 1200 N/mm2 or more)

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MA1400 3 Installation
3.4 Location

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

Yaskawa Motoman of the matter when placing an order. Be
NOTE sure to contact your Motoman Customer Service
Representative (listed on the back cover of this instruction
manual) to perform a wall/ceiling installation on site.

3.4 Location
When installing a manipulator, it is necessary to satisfy the following
environmental conditions:
• Ambient temperature: 0 to + 45C
• Humidity: 20 to 80%RH (no-condensing)
• Free from dust, soot, oil, or water
• Free from corrosive gas or liquid, or explosive gas or liquid.
• Free from excessive vibration (Vibration acceleration: 4.9 m/s2
[0.5 G] or less)
• Free from large electrical noise (plasma)
• Flatness for installation: 0.5 mm or less

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MA1400 4 Wiring
4.1 Grounding

4 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.

• Never use this wire sharing with other ground lines or

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

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MA1400 4 Wiring
4.2 Cable Connection

Fig. 4-1: Grounding Method

A A

Section A-A’
2
5.5 mm or more

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.

4.2.1 Connection to the Manipulator

Before connecting 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.

4.2.2 Connection to the DX100

Before connecting two 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 low
until it clicks.

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MA1400 4 Wiring
4.2 Cable Connection

Fig. 4-2: Manipulator Cables

The DX100 Side The Manipulator Side

1BC
X11
X11 1BC

1BC

molex molex

Encoder Cable

The DX100 Side The Manipulator Side

2BC
X21

2BC
X21

2BC

Power Cable

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MA1400 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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MA1400 5 Basic Specifications

5.1 Basic Specifications

5 Basic Specifications

5.1 Basic Specifications

Table 5-1: Basic Specifications1)
Item Model MOTOMAN-MA1400
Application Arc Welding
Structure Vertically Articulated
Degree of Freedom 6
Payload 3 kg
2) ±0.08 mm
Repeatability
Range of Motion S-Axis (turning) ±170°
L-Axis (lower arm) +155°, -90°
U-Axis (upper arm) +190°, -175°
R-Axis (wrist roll) ±150°
B-Axis (wrist pitch/yaw) +180°, -45°
T-Axis (wrist twist) ±200°
Maximum Speed S-Axis 3.84 rad/s, 220°/s
L-Axis 3.49 rad/s, 200°/s
U-Axis 3.84 rad/s, 220°/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
Allowable Moment3) R-Axis 8.8 N•m (0.9 kgf•m)
B-Axis 8.8 N•m (0.9 kgf•m)
T-Axis 2.9 N•m (0.3 kgf•m)
2/4)
Allowable Inertia (GD R-Axis 0.27 kg•m2
B-Axis 0.27 kg•m2
T-Axis 0.03 kg•m2
Approx. mass 130 kg
Ambient Conditions Temperature 0°C to 45°C
Humidity 20 to 80% RH (non-condensing)
Vibration Acceleration 4.9 m/s2 or less (0.5 G)
Others Free from corrosive gasses or liquids, or explosive gasses
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Power Requirements 1.5 kVA
1 SI units are used in this table. However, gravitational unit is used in ().
2 Conformed to ISO9283
3 Refer to Table 6.1 Allowable Wrist Load on page 6-1 for details on the permissible moment of inertia.

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MA1400 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+
B+
R+

U- R- B-
Wrist flange

L- L+ T- T+

L-arm

S-head

S+

S- Manipulator base

5.3 Manipulator Base Dimensions

Fig. 5-2: Manipulator Base Dimensions

300
260
240 132±0.1 +0.018
16 dia. 0
(2 holes)
60
153±0.1

18 dia.
102±0.1

(4 holes)
260
292
300

132±0.1
60
130–0.1

+0.018
20

12 dia. 0

102±0.1
100±0.1 153±0.1

View A
A

Units: mm

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MA1400 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-MA01400-A00,A01)

170°

26
199 155

R4
434
R1

199

R2

170°
07

P-point maximum
envelope
1734
P-point
110

150 640 30
200
200

°
83
614

190° 726
°
90

155°

2511

294
450

361
17
5°

777
1434
0
1134
1059

210

426

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MA1400 5 Basic Specifications

5.4 Dimensions and P-Point Maximum Envelope

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

(YR-MA01400-A10,A11)

1434 1284 426 0 210 1059 1134

777
P-Point
175 maximum envelope

361

153
0
0
142

450
294
2511

155
0

90
623 19
199 726 760

614
752
P-Point
1150
83

200
200

110
155 199
1734
30 640 150
The working envelope
of wrist part (B-axis)
in downward posture
26

170
R4
R2
70

4
43
R1

170

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MA1400 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 Customer
Service Representative in advance.

Table 5-2: S-Axis Operating Range

Item Specifications
S-Axis Operating ±170°(standard)
Range ±150°
±135°
±120°
±105°
± 90°
± 75°
± 60°
± 45°
± 30°
± 15°

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MA1400 6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

6 Allowable Load for Wrist Axis and Wrist Flange

6.1 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 Loard. Contact your Yaskawa
Motoman Customer Service Representative for further information or
assistance.

Table 6-1: Allowable Wrist Loard

Axis Moment N•m (kgf•m)1) GD2/4 Total Moment of Inertia
kg•m2
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 Motoman Customer Service
Representative beforehand when only moment of inertia, or load moment
is small and moment of inertia is large. Also, when the load mass is
combined with an outside force, contact your Yaskawa Motoman
Customer Service Representative beforehand.
Fig. 6-1: Moment Arm Rating
LB
Load gravity position
200
LT

R-, T-axis
rotation center

B-axis rotation center

200
LT (mm)

100

W=3 Kg

0 100 200 300 400

LB (mm)

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MA1400 6 Allowable Load for Wrist Axis and Wrist Flange

6.2 Wrist Flange

6.2 Wrist Flange

1. 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 holes M4 (6 holes)

Attachments shall be
(Depth: 10) (Pitch: 0.7)
mounted within this 30°
range. 5 +0.025
(The range of 42 dia. 0 )
56
.D.
P.C

42 dia. +0.025
90 dia.
0
6

+0.012
6 dia. 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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MA1400 7 System Application

7.1 Peripheral Equipment Mounts

7 System Application

7.1 Peripheral Equipment Mounts

The peripheral equipment mounts are provided on the U-axis (upper arm)
and S-axis (rotary head) as shown in Fig. 7-1 Installing Peripheral
Equipment on page 7-2 for easier installation of the users’s 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.
The maximum allowable load on the S-axis is 20 kg. Install the peripheral
equipment on the S-axis so that the moment of inertia (GD2/4) from the
S-axis rotation center is 1.25 kg•m2 or less.

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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MA1400 7 System Application

7.1 Peripheral Equipment Mounts

Fig. 7-1: Installing Peripheral Equipment

Tapped hole M6 (2 holes)

View A
(Depth: 14) (Pitch: 1.0)
Tapped hole M8 (3 holes)
(Depth: 16) (Pitch: 1.25)

95 50 35

36 75 70
25

Mount the peripheral

equipment within this range
70

A
300 60

Mount the peripheral

15 equipment so that the
center of gravity of
the peripheral equipment
on the U-arm should be
within this range
YB-100
250V 240A
2

90 105
152.5

Tapped hole M10 (4 holes)

50

(Depth: 20) (Pitch: 1.5)

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MA1400 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 (14 wires: 0.2 mm2 x 8 wires, 0.75 mm2 x
2 wires and 1.25 mm2 x 4 wires), and two air lines 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 7-5 on the following page. Wiring
must be performed by users.

The allowable current for internal user 3 A or less for each wire
I/O wiring harness (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: 8.0mm and 6.5 mm)
The allowable current for arc welding Rated current of 350A or less and the rated operational ratio should be
power cable 60% or lower.
The allowable operational ratio when it is operated with less current
than the allowable current is calculated by the following formula.
Allowable operational ratio = 60% x (350A/operating current )2

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MA1400 7 System Application

7.2 Internal User I/O Wiring Harness and Air Line

Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line

Connector for the internal user I/O wiring harness:

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

Exhaust port: B PT3/8

with a pipe plug

Exhaust port: A PT3/8

with a pipe plug

Power cable terminal for arc welding

TS200CHM

Exhaust port: A PT3/8

with a pipe plug

2BC Air Inlet: B PT3/8

1BC with a pipe plug

3BC

Power cable terminal for arc welding

Recommended crimped terminal: R100-10
Cover (TCV-2001-04) is supplied.
View A
Connector for the internal user I/O
wiring harness: JL05-2A20-29PC (with a cap)
Prepare connector JL05-6A20-29S

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MA1400 7 System Application

7.2 Internal User I/O Wiring Harness and Air Line

Fig. 7-3: Details of the Connector Pin Numbers

Connector for Internal User I/O Wiring Harness

on the Connector Base
1
2
3
4
5
6
7 (Open) 1
Pins used 8 (Open) 2 3
9 4 5
6
10 7 8
11 (0.75 mm2) 9 10
12 (0.75 mm2) 11 12
13 (1.25 mm2) 13 14
14 (1.25 mm22)
15 (1.25 mm2) 15 16
16 (1.25 mm )
Internal user I/O wiring harness: 0.2 mm2, 8 wires
: 0.75 mm2, 2 wires
: 1.25 mm2, 4 wires

Connector for Internal User I/O Wiring Harness

on the U-arm
1
2
3
4
5
6
7 (+24V: for shock sensor) 1
Pins used 8 (Shock sensor signal input) 2 3
9 4 5
6
10 2 7 8
11 (0.75 mm2) 9 10
12 (0.75 mm2) 11 12
13 (1.25 mm2) 13 14
14 (1.25 mm2)
15 (1.25 mm ) 15 16
16 (1.25 mm2)
Internal user I/O wiring harness: 0.2 mm2, 8 wires
: 0.75 mm2, 2 wires
: 1.25 mm2, 4 wires

• For the standard specification, the pins No.7 and No.8 of

3BC connector on the U-arm are respectively connected
with the shock sensor power supply and shock sensor
signal input port of the DX100 controller.
NOTE • The pins No.7 and No.8 of respective 3BC connectors on
the connector base side and the U-arm side are not
connected with each other.
• For wiring, refer to Fig. 8-3(a) Internal Connection
Diagram on page 8-3

The same pin-number connectors (1 to 16) at both connector base part

and arm part are connected with the single wire lead of 0.2 mm2,
0.75 mm2 or 1.25 mm2.

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MA1400 8 Electrical Equipment Specification

8.1 Position of Limit Switch

8 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 LU-axis
interference limit switch is the type YR-MA01400-A01 (standard
specification) or YR-MA01400-A11 (ceiling-mounted specification).

Fig. 8-1: Location of Limit Switches

LU-axis interference
limit switch (optional)

L-axis overrun
limit switch (optional)

S-axis overrun
limit switch (optional)

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MA1400 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)

on the U-arm

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

on the connector base

Table 8-1: List of Connector Types

Name Type of Connector
Connector for the internal user I/O JL05-2A20-29PC
wiring harness on the connector (JL05-6A20-29S: Optional)
base
Connector for the internal user I/O JL05-2A20-29SC
wiring harness on the U-arm (JL05-6A20-29P: Optional)

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8 Electrical Equipment Specification
MA 1400 8.2 Internal Connections

Fig. 8-3(a): Internal Connection Diagram

<Notes>
1.For the limit switch specification, the connection of the section A B is changed as follows:
Internal Cable in
Power Cable Internal Cable in S-axis Internal Cable in BT-axes LC1
L-axis LC1
LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1
LD1 LC2
LD2 LD2 L-AXIS OVERRUN L.S. Connected to B2
LD2 LC3
0BT 1 0BAT11 17 0BAT1 LD1 LD3
P BAT 2 BAT11 18 BAT1 B3
L AND U-AXIS INTERFERENCE L.S. Connected to
0BT 3 0BAT12 19 0BAT2
P BAT 4 BAT12 20 BAT2 LA1
21 0BAT3 LA1
LB1 LB1 S-AXIS OVERRUN L.S. Connected to A1
22 BAT3
23 LB1 LA2
24 A2
0BT 5 0BAT21 25 0BAT4 LB2 LB2 L-AXIS OVERRUN L.S. Connected to
P BAT 6 BAT21 26 BAT4 LB2 LA3
0BT 7 0BAT22 27 L AND U-AXIS INTERFERENCE L.S.
P BAT 8 BAT22 28 LB1 LB3 A3
Connected to
29 SLU-axes with Limit Switch Specification
30
1 31
2 32 LC1 LC1
3 1 PG0V1 LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1
4 2 PG5V1
5 3 PG0V2 LA1 LA1
6 4 PG5V2 LB1 LA2
7 5 PG0V3 LB1 LB1 S-AXIS OVERRUN L.S.Connected to A1
8 6 PG5V3 P LB2 LB2 A2
7 PG0V4 S-axis with Limit Switch Specification
8 PG5V4
1BC(10X4) 9 PG0V5
LD1 LC2
DX100 10 PG5V5 P LD2 LD2 B2 2.For standard specification, the pins No.7 and No.8 of 3BC connector
CN1-5
CN1-4 P
CN1-5
CN1-4
+24V
0V
1
3
11
12
PG0V6
PG5V6
on the U-arm are respectively connected with the shock sensor power supply
13 and shock sensor signal input port of the DX100 controller.
CN1-10 CN1-10 +24V 2 14
CN1-9 P CN1-9 0V 4 15
16 No.22CN No.18CN Pin No. Connected Port in DX100
CN1-1 CN1-1 SPG+1 22CN-1 DATA+1 18CN-1 DATA+1
CN1-2 P CN1-2 SPG-1 P -2 DATA-1 P -2 DATA-1 7 Shock sensor power supply; +24V (1A)
-6 BAT -6 BAT
-5 OBT P -5 OBT PG S-axis 8 Shock sensor signal input port
-4 +5V -4 +5V
P -9 0V P -9 0V
CN1-3 CN1-3 -7 FG1 -10 FG1
FG1

P
No.23CN No.19CN 3. When connecting the pins No.7 and No.8 of 3BC connector base and
CN1-6 CN1-6
CN1-7 P CN1-7
SPG+2
SPG-2 P
23CN-1
-2
DATA+2
DATA-2 P
19CN-1
-2
DATA+2
DATA-2
the pins No.7 and No.8 of 3BC U-arm, the crimped contact-pins (SS1.SS2)
-6 BAT -6 BAT need to be replaced as shown in C .
-5 OBT P -5 OBT PG L-axis
P
-4
-9
+5V
0V P
-4
-9
+5V
0V
(Contact your Yaskawa representative in case of modifying the wiring before use.)
CN1-8 CN1-8 FG2 -7 FG2 -10 FG2

P
CN4-1 CN4-1 +24V
CN4-6 P CN4-6 LB1
CN4-2 CN4-2 SS2
CN4-7 P CN4-7 AL1
No.16CN
Power Cable Internal Cable
CN2-1 CN2-1 SPG+3 16CN-1 DATA+3
CN2-2 P CN2-2 SPG-3 P -2 DATA-3 Connector Base U-arm
-6 BAT
P -5 OBT PG U-axis
CN2-3 CN2-3 FG3
P
-4
-9
+5V
0V
DX100 1BC(10X4)
-10 FG3

Casing
No.9CN
CN2-6 CN2-6 SPG+4 9CN-1 DATA+4 CN4-1 CN4-1 24V(1A) SS1
CN2-7 P CN2-7 SPG-4 P -2 DATA-4 CN4-2 CN4-2 SS2 SS2 E
1BC(10X4) -3 BAT E E E Crimped C
P -4 OBT PG R-axis Contact-Pin
CN2-8 CN2-8 FG4 10CN-1 +5V
3BC(20-29)
P -2 0V 3BC(20-29) Base
-3 FG4
CN2-10 CN2-10 +24V
OBT E E E E
BAT Unused
P 3BC-1 1 1 1 1 1 1 3BC-1
No.13CN No.1CN -2 2 2 2 2 2 2 -2
P P
CN3-1 CN3-1 SPG+5 -1 DATA+5 1CN-1 DATA+5 -3 3 3 3 3 3 3 -3
CN3-2 P CN3-2 SPG-5 P -7 DATA-5 P -2 DATA-5
-2 BAT -4 4 4 4 P 4 4 P 4 -4
-3 BAT
-8 OBT P -4 OBT PG B-axis -5 5 5 5 5 -5
CN3-3 CN3-3
FG5 -3 +5V 2CN-1 +5V -6 6 6 6 P 6 -6
CN2-4 CN2-4 P -9 0V P -2 0V -7 7 7 SS1 SS1 SS1 7 -7
CN2-5 P CN2-5 SPG+7 -3 FG5 -8 8 8 SS2 P SS2 SS2 P 8 -8
SPG-7 -9 9 9 -9
OBT
BAT -10 10 P 10 -10
CN2-9 CN2-9 FG7 -11 11 11 -11
No.3CN -12 12 12 -12
CN3-6 CN3-6 SPG+6 -4 DATA+6 3CN-1 DATA+6
SPG-6 -13 13 13 -13
CN3-7 P CN3-7 P -10 DATA-6 P -2 DATA-6
-3 BAT -14 14 14 -14
-4 OBT PG T-axis -15 15 15 -15
CN3-8 CN3-8 -5 +5V 4CN-1 +5V -16 16 16 -16
FG6 P -11 0V P -2 0V
-6 FG6 -3 FG6
CN4-3 CN4-3 BC2 OBT
CN4-8 P CN4-8 BAT
AL2

CN4-10 CN4-10 0V U
P V FOR LAMP(OPTION)
CN3-4 CN3-4 0V
CN3-5 P CN3-5 +5V

CN3-9 CN3-9 LA1 LB1 LB2 LA3

P 0V A1 LB1 P LB3
CN3-10 CN3-10 +5V A3
CN4-4 CN4-4 +24V LC1 LD1 LD2 LC3
CN4-5 P CN4-5 LD1 LD1 P LD3
CN4-9 CN4-9 B3
FG8
B1

E E

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8 Electrical Equipment Specification
MA 1400 8.2 Internal Connections

Fig. 8-3(b): Internal Connection Diagram

E E E
Base Casing
E E E

3BC(20-29)
3BC(20-29)
E E
3BC-1 1 1 1 1 1 1 3BC-1
-2 2 2 2 P 2 2 P 2 -2
-3 3 3 3 3 3 3 -3
-4 4 4 4 P 4 4 P 4 -4 For Spare Cable
-5 5 5 5 5 -5
-6 6 6 6 P 6 -6
-7 7 7 SS1 SS1 SS1 SS1 7 -7 C
-8 8 8 SS2 SS2 P SS2 SS2 P 8 -8
-9 9 9 -9
Shock Sensor
-10 10 P 10 -10
-11 11 11 -11
(Optional)
-12 12 12 -12
-13 13 13 -13
-14 14 14 -14
-15 15 15 -15
-16 16 16 -16

2BC(6X6)
E
E
No.20CN
CN1-1 CN1-1 ME1 20CN-3 MU1
CN1-2 CN1-2 ME2 -2 MV1
CN1-3 CN1-3 -1 MW1
SM S-axis
ME2
CN1-4 CN1-4 MU1 -PE ME1
CN1-5 CN1-5 MV1 -4 BA1
CN1-6 CN1-6 MW1 -5 BB1 YB
No.21CN
CN2-1 CN2-1 MU2 21CN-3 MU2
CN2-2 CN2-2 MV2 -2 MV2
CN2-3 CN2-3 -1 MW2
SM L-axis
MW2
CN2-4 CN2-4 MU2 -PE ME2
CN2-5 CN2-5 MV2 -4 BA2
CN2-6 CN2-6 MW2 -5 BB2 YB
No.17CN
CN3-1 CN3-1 MU3 17CN-3 MU3
CN3-2 CN3-2 MV3 -2 MV3
CN3-3 CN3-3 -1 MW3
SM U-axis
MW3
CN3-4 CN3-4 MU4 -PE ME3
CN3-5 CN3-5 MV4 -4 BA3
CN3-6 CN3-6 MW4 -5 BB3 YB
No.11CN
CN4-1 CN4-1 MU5 11CN-1 MU4
2BC(6X6) CN4-2 CN4-2 -2 MV4
MV5
SM R-axis
CN4-3 CN4-3 MW5 -3 MW4
CN4-4 CN4-4 MU6 -4 ME4
CN4-5 CN4-5 MV6 -1 BA4
CN4-6 CN4-6 MW6 -2 BB4 YB
No.12CN No.5CN
No.14CN
CN5-1 CN5-1 ME3 14CN-1 MU5 5CN-1 MU5
CN5-2 CN5-2 ME4 -2 MV5 -2 MV5
CN5-3 CN5-3 MW5 MW5
SM
ME5 -3 -3 B-axis
CN5-4 CN5-4 ME6 -4 ME5 -4 ME5
CN5-5 CN5-5 BA1 -1 BA5
CN5-6 CN5-6 BB1 -2 BB5 YB
No.6CN
No.7CN
CN6-1 CN6-1 BA2 -5 MU6 7CN-1 MU6
CN6-2 CN6-2 BA3 -6 MV6 -2 MV6
CN6-3 CN6-3 -7 MW6 -3 MW6
SM T-axis
BA4
CN6-4 CN6-4 BB4 -8 ME6 -4 ME6
CN6-5 CN6-5 BA5 -1 BA6
CN6-6 CN6-6 BA6 15CN-1 BA5 -2 BB6 YB
-2 BB5 No.8CN
-3 BA6
-4 BB6
No.15CN
PE
(10)/1C
(10)/1C
(10)/1C
E-WRCT(60sq)
(10)/1C
(10)/1C
(10)/1C

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MA1400 9 Maintenance and Inspection

9.1 Inspection Schedule

9 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
Customer 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 six
levels as shown in Table 9-1 Inspection Items on page 9-2.
In Table 9-1 Inspection Items on page 9-2, the inspection items are
categorized by three types of operations: operations which can be
performed by personnel authorized by the user, operations to be
performed by trained personnel, and operations to be performed by
service company personnel. Only specified personnel shall perform the
inspection work.

• The inspection interval depends on the total servo

operation time.
• 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
NOTE 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 Customer Service Representative.

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Table 9-1: Inspection Items (Sheet 1 of 3)
Items1) Schedule Method Operation Inspection
Charge

12000HCycle
1000HCycle
6000HCycle

Personnel

Company
Specified

Licensee
Service
24000H
36000H
Daily
1 Alignment mark • Visual Check alignment mark accordance and damage at the • • •

9.1
9
home position.
2 External lead • Visual Check for damage and deterioration of leads. • • •
• • • •

Inspection Schedule
3 Working area and Visual Clean the work area if dust or spatter is present. Check for

Maintenance and Inspection

manipulator damage and outside cracks.
4 Motors for S-, L-, U-axes • Visual Check for grease leakage.2) • • •
5 Baseplate mounting bolts • Spanner
Wrench
Tighten loose bolts. Replace if necessary. • • •
9-2

6 Cover mounting screws • Screwdriver,

Wrench
Tighten loose bolts. Replace if necessary. • • •
7 Connector base • Manual Check for loose connectors. • • •
8 Timing belts for B- and
T-axes
• Manual Check for belt tension and wear. • •
9 Wire harness in manipulator
(SLEU-axis wires)
• Visual,
Multimeter
Check for conduction between the main connector of base
and intermediate connector with manually shaking the
• •
(RBT-axis wires) wires. Check for wear of protective spring.3)

• Replace4) •
HW0484969

10 Wire harness in manipulator

(BT-axis wires)
• Visual,
Multimeter
Check for conduction between terminals and wear of
protective spring.3)
• •
• Replace4) •
11 Battery pack in manipulator • Replace the battery pack when the battery alarm occurs or
the manipulator drove for 36000H.
• •

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 Table 9-1: Inspection Items (Sheet 2 of 3)

155557-1CD
MA1400
Items1) Schedule Method Operation Inspection
Charge

12000HCycle
1000HCycle
6000HCycle

Personnel

Company
Specified

Licensee
Service
24000H
36000H
Daily
12 S-axis speed reducer • • Grease Gun Check for malfunction. (Replace if necessary.) Supply
grease5) (6000H cycle).
• •

9.1
9
See Par. Section 9.3.1 “Grease Replenishment/Exchange
for S-Axis Speed Reducer” on page 9-9.
Replace grease5). (12000H cycle)

Inspection Schedule
See Par. Section 9.3.1 “Grease Replenishment/Exchange

Maintenance and Inspection

for S-Axis Speed Reducer” on page 9-9.
13 Speed reducers for L-, E- and
U-axes
• • Grease Gun Check for malfunction. (Replace if necessary.) Supply
grease5) (6000H cycle).
• •
See Par.Section 9.3.2 “Grease Replenishment/Exchange
9-3

for L-Axis Speed Reducer” on page 9-11, Section 9.3.3

“Grease Replenishment/Exchange for U-Axis Speed
Reducer” on page 9-13.
Replace grease5) (12000H cycle).
See Par. Section 9.3.2 “Grease Replenishment/Exchange
for L-Axis Speed Reducer” on page 9-11, Section 9.3.3
“Grease Replenishment/Exchange for U-Axis Speed
Reducer” on page 9-13.
14 R-axis speed reducer • Grease Gun Check for malfunction. (Replace if necessary.) Supply
grease5) (6000H cycle).
• •
HW0484969

See Par. Section 9.3.4 “Grease Replenishment for R-Axis

Speed Reducer” on page 9-15.

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 Table 9-1: Inspection Items (Sheet 3 of 3)

MA1400
Items1) Schedule Method Operation Inspection
Charge

12000HCycle
1000HCycle
6000HCycle

Personnel

Company
Specified

Licensee
Service
24000H
36000H
Daily
15 B-axis speed reducer • Grease Gun Check for malfunction. (Replace if necessary.) Supply
grease5) (6000H cycle).
• •

9.1
9
See Par. Section 9.3.5 “Grease Replenishment for B-Axis
Speed Reducer” on page 9-16.
16 T-axis gear • Grease Gun Check for malfunction. (Replace if necessary.) Supply • •

Inspection Schedule
grease5) (6000H cycle). See Par. Section 9.3.6 “Grease

Maintenance and Inspection

Replenishment for T-Axis Gear” on page 9-17
17 Overhaul • •
1 Inspection No. correspond to the numbers in Fig. 9-1 Inspection Items on page 9-5.
9-4

2 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can
cause a motor breakdown. Contact your Yaskawa Motoman Customer Service 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 9-20)
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 9-6.
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 Fig. 9-1: Inspection Items

155557-1CD
MA1400
5
14
4 8

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

9.1
9
8

15

Inspection Schedule
Maintenance and Inspection
9-5

16 4
13

13
9
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12 4

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9.1 Inspection Schedule

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-, E-
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 9-2

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9.2 Notes on Maintenance Procedures

9.2 Notes on Maintenance Procedures

9.2.1 Battery Pack Replacement

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

2BC

1BC

3BC

Support
Battery pack
Connector base
Plate fixing screw

Fig. 9-3: Battery Connection

Battery pack
See step 5 below before replacement
Connector

Board
See step 4 below

New battery pack

1. Turn OFF the DX100 main power supply.

2. Remove the plate fixing screws and the plate on the connector base,
then pull the battery pack out to replace it with the new one.
3. Remove the battery pack from the battery holder.
4. Connect the new battery pack to the unoccupied connector on the
board.

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9.3 Notes on Grease Replenishment/Exchange Procedures

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. Reinstall the plate.

NOTE Do not allow plate to pinch the cables when reinstalling the
plate.

9.3 Notes on Grease Replenishment/Exchange Procedures

Make sure to follow the instructions listed below at grease replenishment/
exchange. Failure to observe the following notes may result in damage to
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.
• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
NOTE damage to the motor due to coming off of an oil seal.
• Make sure to use a grease pump to inject grease. Set air
supply pressure to the grease pump at 0.3 MPa or less,
and the grease injection rate at 8 g/s or less.
• Make sure to fill hoses, which are joined to the grease
inlet, with grease beforehand to prevent air from intruding
into the speed reducer.

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MA1400 9 Maintenance and Inspection

9.3 Notes on Grease Replenishment/Exchange Procedures

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

2BC

1BC

3BC

Grease inlet S-axis speed reducer

Hexagon socket head plug PT1/8

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.)
Replenish the grease according to the following procedure:
1. Remove the hexagon socket head plugs PT1/8 from the grease inlet
and grease exhaust port.

• 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.
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.

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: 70 cc (140 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.

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9.3 Notes on Grease Replenishment/Exchange Procedures

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 N•m (0.5 kgf•m).

9.3.1.2 Grease Exchange

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

• 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.
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.

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. 450 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
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 N•m (0.5 kgf•m).

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9.3 Notes on Grease Replenishment/Exchange Procedures

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 PT 1/8

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 Exchange

(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.

• 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.
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.

4. Install a grease zerk A-MT6X1 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: 65 cc (130 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 L-axis for a few minutes to discharge excess grease.

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9.3 Notes on Grease Replenishment/Exchange Procedures

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 N•m (1.0 kgf•m).
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 N•m
(0.5 kgf•m).

9.3.2.2 Grease Exchange

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

• 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.
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.

4. Install a grease zerk A-MT6X1 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. 420 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 N•m (1.0 kgf•m).
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 N•m
(0.5 kgf•m).

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MA1400 9 Maintenance and Inspection

9.3 Notes on Grease Replenishment/Exchange Procedures

9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer

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

U-axis
U-arm speed reducer

Grease exhaust port

Hexagon socket head
cap screw M6
Grease inlet
Hexagon socket head plug PT 1/8

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. Make the U-arm horizontal to the ground.
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.

• 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.
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.

4. Install a grease zerk PT1/8 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: 40 cc (80 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.
7. Remove the grease zerk from the grease inlet, and reinstall the plug.
Before installing the plug, apply Three Bond 1206C on the thread part
of the plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m).

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9.3 Notes on Grease Replenishment/Exchange Procedures

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
N•m (1.0 kgf•m).

9.3.3.2 Grease Exchange

(Refer to Fig. 9-6 U-Axis Speed Reducer Diagram on page 9-13.)
1. Make the U-arm horizontal to the ground.
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.

• 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.
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.

4. Install a grease zerk PT1/8 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. 250 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 complete 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 N•m
(0.5 kgf•m).
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 N•m (1.0 kgf•m).

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9.3 Notes on Grease Replenishment/Exchange Procedures

9.3.4 Grease Replenishment for R-Axis Speed Reducer

Fig. 9-7: R-Axis Speed Reducer Diagram

R-axis speed reducer

Grease 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-MT6X1 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)

The exhaust port is used for air exhaust, and the grease is
NOTE 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 N•m (0.6 kgf•m).
6. Reinstall the screw 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 N•m (0.6 kgf•m).

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9.3 Notes on Grease Replenishment/Exchange Procedures

9.3.5 Grease Replenishment for B-Axis Speed Reducer

Fig. 9-8: B-Axis Speed Reducers Diagram

B-axis speed Grease inlet

Cover Grease exhaust port reducer Hexagon socket head
(Plug LPM5) cap screw M6

1. Remove the plug LPM5 from the exhaust port.

2. Remove the screw from the grease inlet.
3. Install a grease zerk A-MT6X1 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
4. Remove the cover, then inject grease through the grease inlet using a
grease gun. (Refer to Fig.9-8 B-Axis Speed Reducers Diagram.)
– Grease type: Harmonic grease SK-1A
– Amount of grease: 7 cc (14 cc for the 1st supply)

The exhaust port is used for air exhaust, and the grease is
NOTE 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
N•m (0.6 kgf•m).
6. Reinstall the plug to the exhaust port, then reinstall the cover.

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MA1400 9 Maintenance and Inspection

9.3 Notes on Grease Replenishment/Exchange Procedures

9.3.6 Grease Replenishment for T-Axis Gear

Fig. 9-9: T-Axis Gear Diagram

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

Grease exhaust port

Hexagon socket
set screw M6

1. Remove the hexagon socket set screw from the exhaust port.
2. Remove the hexagon socket head cap screw M6 from the grease inlet
1.
3. Install a grease zerk A-MT6X1 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

The exhaust port is used for air exhaust, and the grease is
NOTE 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 N•m (0.6 kgf•m).
6. Remove the hexagon socket head cap screw M6 from the grease inlet
2.
7. Install a grease zerk A-MT6X1 to the grease inlet 2.
(The grease zerk is delivered with the manipulator.)

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9.3 Notes on Grease Replenishment/Exchange Procedures

8. Inject grease through the grease inlet 2 using a grease gun.

– Grease type: Alvania EP Grease 2
– Amount of grease: 5 cc

The exhaust port is used for air exhaust, and the grease is
NOTE 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 N•m (0.6 kgf•m).
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 N•m (0.29 kgf•m).

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9.3 Notes on Grease Replenishment/Exchange Procedures

9.3.7 Grease Replenishment for R-Axis Gear

Fig. 9-10: R-Axis Gear Diagram

Grease exhaust port

Hexagon socket head plug PT1/8
R-axis gear

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 plug PT1/8 from the grease
exhaust port.
3. Remove the hexagon socket head plug PT1/8 from the grease inlet.

• 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.
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.

4. Install a grease zerk PT1/81 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
5. 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
6. Move the R-axis for a few minutes to discharge excess grease.
7. Remove the grease zerk from the grease inlet, and reinstall the plug.
Before installing the plug, apply Three Bond 1206C on the thread part
of the plug. Then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m).
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 N•m
(0.5 kgf•m).

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9.3 Notes on Grease Replenishment/Exchange 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 into 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-MA01400-A00, -A01, -A10, -A11 on page 10-1.)
Fig. 9-11: Sealing Part of Wrist Unit
Cover

Cover jointing face

Cover jointing face

Cover

9.3.8.2 Battery Pack Connection

When performing maintenance such as replacement of a

wire harness in the manipulator, the encoder connector
(with CAUTION label) will be removed. In this case, be sure
to connect the battery pack to the battery backup connector
before removing the encoder connector.
NOTE Removing the encoder connector without connecting the
battery pack leads to disappearance of the encoder
absolute data.
For the battery pack connection, refer to Fig.9-12(a Encoder
connector Diagram (for S-, L- and U-Axes) and Fig.9-12(b
Encoder Connector Diagram (for R-, B-, and T-Axes).

Before removing the encoder connector (with CAUTION label), connect

the battery pack referring to the following figures.

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9.3 Notes on Grease Replenishment/Exchange Procedures

Fig. 9-12(a): Encoder connector Diagram (for S-, L- and U-Axes)

Motor

Motor power connector

Encoder connector

0BT b a 0BT*
BAT a b BAT*

Battery pack HW9470932-A

Connector for battery back-up

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

Encoder
Motor

Motor cable, etc.

Wire harness Power connector

in manipulator
Connection
b OBT4
OBT a a BAT4
BAT b
removing connector.
to save the data before
Connect battery to encoder

CAUTION

Encoder connector Battery pack

CAUTION label
Connection Diagram
0BT a b 0BT4
BAT b a BAT4

CAUTION Label (Enlarged View)

a: Crimped contact-pin (Socket)
CAUTION b: Crimped contact-pin (Pin)

Connect battery to encoder

to save the data before
removing connector.

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MA1400 10 Recommended Spare Parts

10 Recommended Spare Parts

It is recommended to keep the parts and components in the following table
in stock as spare parts for the MOTOMAN-MA1400. 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 Customer Service Representative.

Table 10-1: Spare Parts for the YR-MA01400-A00, -A01, -A10, -A11 (Sheet 1 of 2)
Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
A 1 Grease VIGO Grease RE Yaskawa 16 kg -
No. 0
A 2 Grease Harmonic Grease Harmonic Drive Systems 2.5 kg -
4B No.2 Co., Ltd.
A 3 Grease Harmonic Grease Harmonic Drive Systems 2.5 kg -
SK-1A Co., Ltd.
A 4 Grease Alvania EP Grease 2 Showa Shell Sekiyu K.K. 16 kg -
A 5 Liquid Seal Three Bond 1206C Three Bond Co., Ltd. - -
A 6 Battery Pack HW0470360-A Yaskawa 1 1
A 7 Battery Pack HW9470932-A Yaskawa 1 -
B 8 B-Axis Timing Belt 60S4.5M711 Mitsuboshi Belting Limited 1 1
B 9 T-Axis Timing Belt 60S4.5M932 Mitsuboshi Belting Limited 1 1
B 10 S-Axis Speed HW0386621-B Yaskawa 1 1
Reducer
B 11 S-Axis Input Gear HW0312734-1 Yaskawa 1 1
B 12 L-Axis Speed HW0387809-A Yaskawa 1 1
Reducer
B 13 L-Axis Input Gear HW0312735-1 Yaskawa 1 1
B 14 U-Axis Speed HW9280738-B Yaskawa 1 1
Reducer
B 15 U-Axis Input Gear HW0303277-4 Yaskawa 1 1
B 16 R-Axis Speed HW0381645-A Yaskawa 1 1
Reducer
B 17 B-Axis Speed HW0381646-A Yaskawa 1 1
Reducer
B 18 R-Axis Gear HW0303288-A Yaskawa 1 1
B 19 R-Axis Gear Unit HW0370905-A Yaskawa 1 1
B 20 T-Axis Gear HW0372792-A Yaskawa 1 1
(Output Side)
B 21 T-Axis Gear HW0310757-A Yaskawa 1 1
(Input Side)

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MA1400 10 Recommended Spare Parts

Table 10-1: Spare Parts for the YR-MA01400-A00, -A01, -A10, -A11 (Sheet 2 of 2)
Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
B 22 Internal Wire HW0174016-A Yaskawa 1 1
Harness
B 23 Internal Cable for HW0270867-A Yaskawa 1 1
B- and T-Axes
C 24 AC Servomotor for SGMRV-05ANA- Yaskawa 1 2
S- and U-Axes YR2*
HW0388664-A
C 25 L-Axis AC SGMRV-09ANA- Yaskawa 1 1
Servomotor YR1*
HW0388665-A
C 26 R-Axis AC SGMPH-01ANA- Yaskawa 1 1
Servomotor YR1*
HW0389297-A
C 27 AC Servo Motor SGMAV-01ANA- Yaskawa 1 2
for B- and T-Axes YR1*
HW0389294-A

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MA1400 11 Parts List

11.1 S-Axis Unit

11 Parts List

11.1 S-Axis Unit

Fig. 11-1: S-Axis Unit

1022 1004

1005

1006

1008
1007
1023

1023 1017

1047 1016
1045 1018

1034
1002
1037 1036 1003
1054

1053 1051

1012
1014 1055 1011
1013
1020
1012 1024
1010 1055 1029
1013
1014 1028
1020
1011
1009 1052
1025

1043
1030 1033 1044
1042
1041
1040
1031
1015 1032

1026 1001
1027

1019

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MA1400 11 Parts List

11.1 S-Axis Unit

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

No. DWG No. Name Pcs
1001 HW0102222-1 Base 1
1002 HW0102223-1 S head 1
1003 HW0312732-1 M base 1
1004 SGMRV-05ANA-YR2* Motor 1
1005 M4X10 GT-SA bolt 1
1006 HW0312734-1 Gear 1
1007 M5X85 Socket screw 1
1008 2H-5 Spring washer 1
1009 HW0412662-1 Support 1
1010 HW0412662-2 Support 1
1011 TA1-S10 Clamp 2
1012 M5X8 Round Head Screw with 2
Spring Washer
1013 T50R Insulok 2
1014 CD-31 Saddle 2
1015 EZ5036A0 Cap 1
1016 POC6-01 Union 1
1017 NB-0640-0.2 Tube 1
1018 PT1/8 Plug 1
1019 M5X10 APS bolt 6
1020 M6X15 GT-SA bolt 4
1022 M8X30 GT-SA bolt 3
1023 M8X30 GT-SA bolt 25
1024 HW0413455-1 Dog 1
1025 M6X35 GT-SA bolt 16
1026 M12X20 Socket screw 1
1027 2H-12 Spring washer 1
1028 M12X35 Socket screw 1
1029 2H-12 Spring washer 1
1030 HW0386621-B Speed reducer 1
1031 TSH6-01M Union 1
1032 NB-0640-0.3 Tube 1
1033 HW0313539-1 Cover 1
1034 M6X15 GT-SA bolt 8
1036 HW0312987-1 Cover 1
1037 HW0313540-A Cover 1
1040 M6X12 Socket screw 7
1041 2H-6 Spring washer 7
1042 M6 GT-LH washer 5
1043 PMF6-01 Union 1
1044 PT1/8 Plug 1
1045 M5X12 GT-SA bolt 4
1047 M5X12 GT-SA bolt 4
1051 TS200CHM Tarminal 1

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MA1400 11 Parts List

11.1 S-Axis Unit

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

No. DWG No. Name Pcs
1052 HW0411175-1 Cover 1
1053 HW0314103-1 Support 1
1054 C-30-SG-30A Glomet 1
1055 2H-5 Spring washer 2

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MA1400 11 Parts List

11.2 L-Axis Unit

11.2 L-Axis Unit

Fig. 11-2: L-Axis Unit

2005
2012
2001

2003
2013
2010 1002 2018
2016
2009

2006
2011

2002
2020
2019 2004

2015
2014

Table 11-2: L-Axis Unit

No. DWG No. Name Pcs
2001 SGMRV-09ANA-YR1* Motor 1
2002 HW0387809-A Speed reducer 1
2003 HW0312735-1 Gear 1
2004 M6X6 Socket screw 1
2005 HW0102224-1 L arm 1
2006 HW0312986-1 Cover 1
2009 M6X75 Socket screw 1
2010 2H-6 Spring washer 1
2011 M8X25 GT-SA bolt 18
2012 M8X30 GT-SA bolt 4
2013 PT1/8 Plug 1
2014 M6X70 Socket screw 16
2015 2H-6 Spring washer 16
2016 M6X15 GT-SA bolt 4
2018 M6 GT-LH washer 4
2019 M14X20 Socket screw 2
2020 M14 GT-SH washer 2
1002 HW0102223-1 S head 1

11-4

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MA1400 11 Parts List

11.3 U-Axis Unit

11.3 U-Axis Unit

Fig. 11-3: U-Axis Unit

3011

3003
3001

3025
3034
3024
3033
3008
3010
3009
3028
3032 3039 3029 3017
3031 3019 3016 3014
3004
3020 3018 3007
3021 3041 3006 3012
3027
3040
3030
3038
3015 3005
3022 3013
3023
3035
3037
3036

2005

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MA1400 11 Parts List

11.3 U-Axis Unit

R-Axis Unit
Table 11-3: U-Axis Unit
No. DWG No. Name Pcs
3001 SGMRV-05ANA-YR2* Motor 1
3003 M8X30 GT-SA bolt 4
3004 HW9280738-B Speed reducer 1
3005 M10X30 GT-SA bolt 6
3006 M6X35 Socket screw 16
3007 2H-6 Spring washer 16
3008 HW0303277-4 Gear 1
3009 M5X65 Socket screw 1
3010 2H-5 Spring washer 1
3011 HW0102397-1 Casing 1
3012 HW0200494-1 Cover 1
3013 M4X12 GT-SA bolt 4
3014 HW0404554-2 N base 1
3015 M4X12 GT-SA bolt 4
3016 M3X16 Round Head Screw with 2
Spring Washer
3017 M3 Nut 2
3018 M12X20 Socket screw 2
3019 2H-12 Spring washer 2
3020 HW0404719-2 Plate 1
3021 PZ1212 Saddle 1
3022 PZ1208 Saddle 1
3023 M4X10 APS bolt 4
3024 M4X12 GT-SA bolt 2
3025 HW0304458-2 Support 1
3027 TA1-S10 Clamp 2
3028 T50R Insulok 2
3029 M5X8 Round Head Screw with 2
Spring Washer
3030 HW0304454-1 Cover 1
3031 M4X12 GT-SA bolt 7
3032 M4 Washer 7
3033 HW0412661-1 Cover 1
3034 M4X10 GT-SA bolt 2
3035 M12X20 Socket screw 2
3036 2H-12 Spring washer 2
3037 M6X6 Socket screw 1
3038 PT1/8 Plug 1
3039 KQE10-03 Union 1
3040 KQE12-03 Union 1
3041 PT3/8*dacro* Plug 1
3048 23184-01A2AYR12 Motor 1
3049 SGMPH-01A3A-YR11 Motor 1
2005 HW0102224-1 L arm 1

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MA1400 11 Parts List

11.3 U-Axis Unit

Fig. 11-4: R-Axis Unit

5073

4028
4029

4026
4027

4025
4030
4031
4035
4044
4045
4046
4033 4032 4047
4040

4036
4002
4038 4018

4048 4049
4037
4024
4023
4039 4041

4019 4042
4022
4021 4043

4020 4059
4052 4012 4017 4013
4058
4010
5009 4014
4016
4015
4056 4057
4054 4008 4007

4056 4005 4006

4055 4004 4011
3011
4003
4057

4053
4001

11-7

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MA1400 11 Parts List

11.3 U-Axis Unit

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

No. DWG No. Name Pcs
4001 SGMPH-01ANA-YR1* Motor 1
4002 M5X20 GT-SA bolt 6
4003 M5X16 GT-SA bolt 2
4004 HW0404304-1 Packin 1
4005 AE0478G Oil seal 1
4006 M4X16 Socket screw 1
4007 2H-4 Spring washer 1
4008 HW0410364-1 M base 1
(HW0410364-2 for the ceiling-
mounted maniplator)
4009 M5X16 Socket screw 6
4010 2H-6 Spring washer 6
4011 HW0381645-A Speed reducer 1
4012 HW0304452-1 Housing 1
4013 SWB8-20 Spring 2
4014 HW0403980-1 Pin 4
4015 RTW47 Retaining Ring 1
4016 STW-30 Retaining Ring-C type 1
4017 6906DDU Bearing 1
4018 EZ5036A0 Cap 1
4019 6905 Bearing 1
4020 STW-25 Retaining Ring-C type 1
4021 HW0303725-1 Gear 1
4022 HW0303724-1 Gear 1
4023 HW0403979-1 Coller 2
4024 M4X16 GT-SA bolt 2
4025 HW0304451-1 Shaft 1
4026 M4X14 Socket screw 4
4027 2H-4 Spring washer 4
4028 M6X55 Socket screw 5
4029 2H-6 Spring washer 5
4030 M5X16 GT-SA bolt 6
4031 HW0303345-1 Shaft 1
4032 TC1301427 Oil seal 1
4033 CRBH11016AUE01 Cross roller bearing 1
4035 HW0304453-1 Flange 1
4036 HW0303343-1 Shaft 1
4037 TC1101226 Oil seal 1
4038 HW0303288-1 Gear 1
4039 M4X10 GT-SA bolt 4
4040 M6X30 GT-SA bolt 8
4041 PT1/8 Plug 1
4042 KQE10-03 Union 1
4043 KQL10-00 Coupling 1

11-8

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MA1400 11 Parts List

11.3 U-Axis Unit

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

No. DWG No. Name Pcs
4044 PZ1208 Saddle 2
4045 M4X6 APS bolt 2
4046 PZ1212 Saddle 2
4047 M4X10 APS bolt 2
4048 PT1/8 Plug 1
4049 M4X10 APS bolt 1
4052 M5X16 GT-SA bolt 4
4053 M5X12 GT-SA bolt 2
4054 M5X35 Socket screw 3
4055 M5X40 Socket screw 2
4056 2H-5 Spring washer 5
4057 M6X6 Socket screw 2
4058 KQE12-03 Union 1
4059 KQL12-00 Coupling 1
3011 HW0102227-1 Casing 1
5073 HW0100617-1 U arm 1

11-9

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MA1400 11 Parts List

11.4 Wrist Unit

11.4 Wrist Unit

Fig. 11-5: Wrist Unit

5045
5048
5075 5041 5043
5096 5046
5076 5097 5042 5047 5085
5099 5044 5084
5042
5095 5083
5035 5079
5078

5081
5092
5080 5093 5049
5100 5090
5037 5087
5091 5088
5050
5082
5039 5063
5038 5052 5101
5040 5051
5062 5098
5029 5054 5086
5017 5023 5089
5028 5091
5022
5021 5091
5016
5027 5030
5094 5034
5024
5026
5025
5033
5031
5015 5032 5019
5018
5014 5036
5074 5071
5070
5072 5020
5004 5052
5013 5061
5005 5001 5012
5006 5002
5007 5003 5060 5077
5008
5057
5059 5056
5010 5058 5055
5009 5012
5011 5053
5070
5064
5071
3011
5073 5069
5001
5072
5068
5067 5065
5066

5074

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MA1400 11 Parts List

11.4 Wrist Unit

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

No. DWG No. Name Pcs
5001 SGMAV-01ANA-YR1* Motor 2
5002 M6X55 Socket screw 5
5003 2H-6 Spring washer 5
5004 M4X25 Socket screw 1
5005 2H-4 Spring washer 1
5006 HW0480866-B Pulley 1
5007 HW0404353-1 Fly wheel 1
5008 HW0404354-1 Spacer 1
5009 M4X25 Socket screw 2
5010 2H-4 Spring washer 2
5011 T50L Insulok 1
5012 M4X10 GT-SA bolt 2
5013 HW0403207-1 Cover 1
5014 60S4.5M932 Belt 1
5015 HW0100621-1 Cover 1
5016 HW0480867-B Pulley 1
5017 HW0311225-1 Gear 1
5018 CBS4-12 Bolt 4
5019 2H-4 Spring washer 4
5020 HW0401553-1 B cover 1
5021 M5X35 Socket screw 1
5022 2H-5 Spring washer 1
5023 HW0410762-1 Shaft 1
5024 MS4-10 Pin 2
5025 HW0410930-1 Cover 1
5026 M6X6 Socket screw 1
5027 WR20 Sirclip 1
5028 6804DDU Bearing 1
5029 WB22-20 Spring 1
5030 M5X16 Socket screw 1
5031 2H-5 Spring washer 1
5032 HW0301300-2 Gear 1
5033 HW9482218-A Bearing 1
5034 HW0301310-2 Shaft 1
5035 6811LLU Bearing 1
5036 M4X12 GT-SA bolt 4
5037 AR28 Sirclip 1
5038 NA4902 Needle bearing 1
5039 WR15 Sirclip 1
5040 HW0311214-1 Shaft 1
5041 HW0100618-2 Wrist 1
5042 WR12 Sirclip 2
5043 NA4901 Needle bearing 1
5044 IRTW-24 Retaining ring 1

11-11

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MA1400 11 Parts List

11.4 Wrist Unit

Table 11-5: Wrist Unit (Sheet 2 of 3)

No. DWG No. Name Pcs
5045 M6X25 Socket screw 1
5046 2H-6 Spring washer 1
5047 HW8411125-3 Washer 1
5048 HW0310757-1 Gear 1
5049 HW0310758-1 Housing 1
5050 688A Bearing 1
5051 6812LLU Bearing 1
5052 HW0381646-A Speed reducer 1
5053 M4X16 GT-SA bolt 4
5054 M4X12 GT-SA bolt 9
5055 M5X16 Socket screw 1
5056 2H-5 Spring washer 1
5057 HW0481692-A Pulley 1
5058 6902ZZ*NS7* Bearing 1
5059 RTW28 Retaining Ring-C type 1
5060 HW0403705-1 Housing 1
5061 M4X12 GT-SA bolt 4
5062 HW0404303-2 Coller 1
5063 LP-M5 Plug 1
5064 60S4.5M711 Belt 1
5065 HW0100622-1 Cover 1
5066 M4X12 Socket screw 1
5067 2H-4 Spring washer 1
5068 HW0481429-A Pulley 1
5069 M4X10 GT-SA bolt 2
5070 M4 Washer 4
5071 M4X16 GT-SA bolt 4
5072 HW0404547-1 M base 2
5073 HW0100617-1 U arm 1
5074 M4X10 GT-SA bolt 22
5075 HW0303390-1 Cover 1
5076 M4X10 APS bolt 2
5077 M6X6 Socket screw 1
5078 HW0404371-2 Bolt 1
5079 M4X16 GT-SA bolt 6
5080 TC65786 Oil seal 1
5081 AR78 Sirclip 1
5082 HW0310763-1 Shaft 1
5083 6812DBLU Bearing 1
5084 HW0401552-1 B cover 1
5085 HW0310762-1 Housing 1
5086 TC70826 Oil seal 1
5087 M4X12 Socket screw 6
5088 2H-4 Spring washer 6
5089 HW0310761-1 Flange 1

11-12

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MA1400 11 Parts List

11.4 Wrist Unit

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

No. DWG No. Name Pcs
5090 M5X16 GT-SA bolt 4
5091 MS4-10 Pin 3
5092 CBS4-12 Bolt 6
5093 2H-4 Spring washer 6
5094 M4X12 GT-SA bolt 2
5095 M5X10 APS bolt 2
5096 HW0404365-1 Cover 1
5097 HW0404366-1 Packin 1
5098 M4X12 GT-SA bolt 5
5099 M6X6 H set screw 1
5100 M6X6 Socket screw 1
5101 HW0372792-A Gear ASSY 1
3011 HW0102227-1 Casing 1

11-13

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MOTOMAN-MA1400
INSTRUCTIONS

Specifications are subject to change without notice

for ongoing product modifications and improvements.

MANUAL NO.

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