Manipulator Manual Motoman

Motoman NX100 Controller
DX1350N Manipulator Manual
Part Number: Revision:
150728-1CD 0
Motoman, Incorporated 805 Liberty Lane West Carrollton, OH 45449 TEL: (937) 847-6200 FAX: (937) 847-6277 24-Hour Service Hotline: (937) 847-3200
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Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you received with your Motoman robotic solution. To participate, go to the following website: http://www.motoman.com/forms/techpubs.asp
The information contained within this document is the proprietary property of Motoman, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman, Inc. 2007 by MOTOMAN All Rights Reserved Because we are constantly improving our products, we reserve the right to change specifications without notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
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The Motoman DX1350N and NX100 controller represent state-of-the-art technology in robotics today. The Motoman DX1350N is a high speed robot with a 35 kg payload. It has six individual axes: Sweep, Lower arm, Upper arm, Rotate, Bend, and Twist. the NX100 controller coordinates the operation of the DX1350N robot with external equipment such as power supply and positioning tables. The NX100 processes input and output signals, maintains variable data, and performs numeric processing to convert to and from different coordinate systems. Furthermore, it provides main logic functions, servo control, program and constant data memory, and power distribution. Please read this manual thoroughly to familiarize yourself with the many aspects of the DX1350N robot and NX100 controller.

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This manual provides information for the DX1350N robot and contains the following sections:
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Provides general information about the structure of this manual, a list of reference documents, and customer service information.
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This section provides information regarding the safe use and operation of Motoman products.
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Provides detailed information for the DX1350N, including installation, wiring, specifications, and maintenance.

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For additional information refer to the following:
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If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200. Please have the following information ready before you call:
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YASKAWA
MOTOMAN-DX1350N
INSTRUCTIONS
TYPE: YR-DX1350N-A00 (STANDARD SPECIFICATIONS) YR-DX1350N-A01 (WITH SLU-AXES LIMIT SWITCHES)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-DX1350N INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATORS MANUAL NX100 MAINTENANCE MANUAL
The NX100 operators manuals above correspond to specific usage. Be sure to use the appropriate manual.
YASKAWA
MANUAL NO.
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MANDATORY
This instruction manual is intended to explain operating instructions and maintenance procedures primarily for the MOTOMAN-DX1350N. General items related to safety are listed in the Section 1: Safety of the NX100 Instructions. To ensure correct and safe operation, carefully read the NX100 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 products warranty.
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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or inspection of the NX100. In this manual, the Notes for Safe Operation are classified as WARNING, CAUTION, MANDATORY, or PROHIBITED.
WARNING
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.
CAUTION
MANDATORY
PROHIBITED
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 when the emergency stop buttons on the front door of the NX100 and programming pendant are pressed. 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.
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 ON the servo power. Injury may result from unintentional or unexpected manipulator motion.
TURN
Release of Emergency Stop
Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator: - View the manipulator from the front whenever possible. - Always follow the predetermined operating procedure. - Ensure that you have a safe place to retreat in case of emergency. Improper or unintended manipulator operation may result in injury. Confirm that no persons are present in the P-point maximum envelope of the manipulator and that you are in a safe location before: Turning ON the NX100 power. 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 the front door of the NX100 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 NX100 cabinet after use. The programming pendant can be damaged if it is left in the P-point maximum envelope of manipulator, on the floor, or near fixtures. Read and understand the Explanation of the Warning Labels in the NX100 Instructions before operating the manipulator.
Definition of Terms Used Often in This Manual

The MOTOMAN manipulator is the YASKAWA industrial robot product. The manipulator usually consists of the controller, the programming pendant, and supply cables. In this manual, the equipment is designated as follows:
Equipment NX100 Controller NX100 Programming Pendant Cable between the Manipulator and the Controller Manual Designation NX100 Programming Pendant 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.
Warning label A Warning label B Nameplate

WARNING WARNING
Warning label B
Moving parts may cause injury
Do not enter robot work area.
Nameplate
MOTOMAN
TYPE PAYLOAD kg ORDER NO. SERIAL NO.
YASKAWA ELECTRIC CORPORAION JAPAN
Warning Label A:
Warning Label B:
WARNING
MASS kg DATE
WARNING
Moving parts may cause injury
Do not enter robot work area.
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Product Confirmation
1.1 Contents Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1 1.2 Order Number Confirmation . . . . . . . . . . . . . . . . . . . . . . . .1-2
Transportation
2.1 Transportation Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1 2.2 Shipping Bolts and Brackets . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.1.1 Using a Crane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1 2.1.2 Using a Forklift. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
Installation
3.1 Installation of Safeguarding . . . . . . . . . . . . . . . . . . . . . . . . .3-2 3.2 Mounting Procedures for Manipulator Base . . . . . . . . .3-2 3.3 Installation Method
3.2.1 Installation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .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
Wiring
4.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2 4.2 Manipulator Cable Connection . . . . . . . . . . . . . . . . . . . . . .4-2
4.2.1 Connection to the Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . .4-3 4.2.2 Connection to the NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
Basic Specifications
5.1 5.2 5.3 5.4 5.5 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1 Part Names and Working Axes . . . . . . . . . . . . . . . . . . . . .5-2 Manipulator Base Dimensions . . . . . . . . . . . . . . . . . . . . . .5-2 Dimensions and P-point Maximum Envelope. . . . . . . .5-3 Alterable Operating Range . . . . . . . . . . . . . . . . . . . . . . . . .5-4
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Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 6.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
System Application
7.1 Peripheral Equipment Mounts . . . . . . . . . . . . . . . . . . . . . . 7-1 7.2 Internal User I/O Wiring Harness and Air Line . . . . . . 7-2
Electrical Equipment Specification

8.1 Position of Limit Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1 8.2 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Maintenance and Inspection

9.1 Inspection Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1 9.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . . 9-5
9.2.1 Battery Pack Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5 9.2.2 Grease Replenishment/Exchange for S-axis Speed Reducer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6 Grease Replenishment (Refer to "Fig. 23 S-axis Speed Reducer Diagram".) . . . . . 9-6 Grease Exchange (Refer to "Fig. 23 S-axis Speed Reducer Diagram".) . . . . . 9-7 9.2.3 Grease Replenishment/Exchange for L-axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8 Grease Replenishment (Refer to "Fig. 24 L-axis Speed Reducer Diagram".). . . . . . 9-8 Grease Exchange (Refer to "Fig. 24 L-axis Speed Reducer Diagram".). . . . . . 9-9 9.2.4 Grease Replenishment/Exchange for U-axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10 Grease Replenishment (Refer to "Fig. 25 U-axis Speed Reducer Diagram".) . . . . 9-10 Grease Exchange (Refer to "Fig. 25 U-axis Speed Reducer Diagram".) . . . . 9-11 9.2.5 Grease Replenishment/Exchange for R-axis Speed Reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12 Grease Replenishment (Refer to "Fig. 26 R-axis Speed Reducer Diagram".) . . . . 9-12 Grease Exchange (Refer to "Fig. 26 R-axis Speed Reducer Diagram".) . . . . 9-13
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9.3 Home Position Return Operation (Calibration)
9.2.6 Grease Replenishment for B-, T-axes Speed Reducers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-14 9.2.7 Grease Replenishment for T-axis Gear. . . . . . . . . . . . . . . . . .9-15 9.2.8 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16 Wrist Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-16 9.2.9 Encoder Connector (with CAUTION Label). . . . . . . . . . . . . . .9-16 Battery Pack Connection (for S-, L-, U-axes Motors) . . . . .9-17 Battery Pack Connection (for R-, B-, T-axes Motors) . . . . .9-18 . . . . .9-19 9.3.1 Calibration by Using the Keys . . . . . . . . . . . . . . . . . . . . . . . . .9-19 9.3.2 Calibration Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-20 S-axis Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-20 L-axis Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-21 U-axis Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-21 R-axis Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-22 B-axis Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-22 T-axis Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-23
10 11
Recommended Spare Parts Parts List

11.1 11.2 11.3 11.4 11.5 S-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-1 L-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-3 U-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-5 R-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-7 Wrist Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-9
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1.1 Contents Confirmation
1 Product Confirmation
CAUTION
Confirm that the manipulator and the NX100 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 is given separately): Manipulator NX100 Programming pendant Manipulator cable
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1.2 Order Number Confirmation
1.2
Order Number Confirmation
Check that the order number of the manipulator corresponds to the NX100. The order number is located on a label as shown below.
Label (Enlarged View)
THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER.
ORDER NO.
Check that the manipulator and the NX100 have the same order number.
NX100
TYPE POWER SUPPLY
ERCR-
*****
3PHASE kVA
MADE IN JAPAN NJ2484-1
200V 220V
SERIAL No. DATE
50Hz 50/60Hz
THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER.
ORDER NO.
NJ1529
WARNING
Do not open the door
ON
IPP ED
OFF
ET RES
TR
(b) Manipulator (Top View)
(a) NX100 (Front View)
Fig. 1 Location of Order Number Labels
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2.1 Transportation Method
2 Transportation
CAUTION
Sling and crane or forklift operations must be performed by authorized personnel only. Failure to observe this caution may result in injury or damage. Avoid excessive vibration or shock during transportation. The system consists of precision components, so failure to observe this caution may adversely affect performance.
2.1
Transportation Method
Check that the eyebolts are securely fastened.
NOTE The mass of the manipulator is approximately 275 kg including the shipping bolts and
brackets. Use a wire rope strong enough to withstand the mass. Attached eyebolts are designed to support the manipulator mass. Do not use them for anything other than transporting the manipulator. Be sure to mount the shipping bolts and brackets before transporting the manipulator. (Refer to "Fig. 2 Transporting Position.") Avoid external force on the arm or motor unit in transporting the manipulator. To avoid injury, use caution in case of using transporting equipment other than a crane or forklift.
2.1.1
Using a Crane
As a rule, in case of removing the manipulator from the package and moving it, a crane should be used. The manipulator should be lifted using wire rope threaded through attached eyebolts. Be sure the manipulator is fixed with shipping bolts and brackets before transportation, and lift it in the posture as shown in "Fig. 2 Transporting Position".
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2.1 Transportation Method
Eyebolt M16 (4 places) Nut M16 (2 places) (Delivered with the manipulator)
Fig. 2 Transporting Position
2.1.2
Using a Forklift
In case of using a forklift, the manipulator should be fixed on a pallet with shipping bolts and brackets as shown in "Fig. 3 Using the Forklift." Insert claws under the pallet and lift it. The pallet must be strong enough to support the manipulator. Transportation of the manipulator must be performed slowly in order to avoid overturning or slippage.
Bolt M16 (4 bolts)
Pallet
Forklift claw entry
Fig. 3 Using the Forklift
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2.2 Shipping Bolts and Brackets
2.2
Shipping Bolts and Brackets
The manipulator is provided with shipping bolts and brackets at section A. ("Fig. 2 Transporting Position") The shipping bolts and brackets are painted yellow. The section A is fixed with two hexagon socket head cap screws M12.
NOTE been removed. The shipping bolts and brackets then must be stored for future use, in the
event that the manipulator must be moved again.
Before turning ON the power, check to be sure that the shipping bolts and brackets have
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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 manipulators tool or the workpiece held by the manipulator will not reach the wall, safeguarding, or NX100 when the manipulator arm is fully extended. 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 mass of the manipulator. Also, it is necessary to consider countermeasures to prevent the manipulator from falling. Failure to observe these warning 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 " 2.2 Shipping Bolts and Brackets " are removed. Failure to observe this caution may result in damage to the driving parts.
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3.1 Installation of Safeguarding
3.1
Installation of Safeguarding
To insure safety, be sure to install the safeguarding. It prevents unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guidance. Responsibility for Safeguarding (ISO10218) The user of a manipulator or robot system shall ensure that the safeguarding is provided and used in accordance with Sections 6, 7, and 8 of this standard. The means and degree of safeguarding, including any redundancies, shall correspond directly to the type and level of hazard presented by the robot system consistent with the robot application. Safeguarding may include but not be limited to safeguarding devices, barriers, interlock barriers, perimeter guarding, awareness barriers, and awareness signals.
3.2
Mounting Procedures for Manipulator Base
The manipulator should be firmly mounted on a base or foundation strong enough to support the manipulator and withstand repulsion forces during acceleration and deceleration. Refer to "Table. 1 Maximum Repulsion Forces of the Manipulator at Emergency Stop" to construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the manipulator. 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 described in " 3.2.1 Installation Example ".
Table. 1 Maximum Repulsion Forces of the Manipulator at Emergency Stop Horizontal rotating maximum torque (S-axis moving direction) Vertical rotating maximum torque (LU-axes moving direction) 8000 Nm (815 kgfm) 5000 Nm (510 kgfm)
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3.2 Mounting Procedures for Manipulator Base
3.2.1
Installation Example
For the first process, anchor the baseplate firmly on the floor. The baseplate should have enough rigidity, which is 40 mm or more in thickness. The size of the anchor bolt recommended for the baseplate fixation is M16 or more. Next, fix the manipulator base to the baseplate. There are four mounting holes on the manipulator base: securely fix the manipulator to the baseplate using four hexagon head screws M16 (60 mm long is recommended). Tighten the hexagon head screws and anchor bolts firmly so that they will not be loosened during the operation. See "Fig. 4 Manipulator Installation Example" for the method.
Manipulator base Bolt M16 (4 bolts) Spring washer Washer
20 40 mm or more
Baseplate
Manipulator base Anchor bolt (M16 or more) Baseplate
Fig. 4 Manipulator Installation Example
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3.3 Installation Method
3.3
Installation Method
The manipulator can be mounted in three different ways: floor-mounted (standard), wallmounted, and ceiling-mounted types are available. For wall- and ceiling-mounted types, the three points listed below are different from the floor-mounted types. S-axis Operating Range Fixing the Manipulator Base Precautions to Prevent the Manipulator from Falling
3.3.1
S-axis Operating Range
For the wall-mounted type, the S-Axis operating range must be 30. (Adjusted prior to the shipment.)
3.3.2
Fixing the Manipulator Base
For the wall- or ceiling-mounted types, be sure to use four hexagon socket head cap screws M16 (tensile strength: 1200 N/mm2 or more) to fix the manipulator base. Use a torque of 206 Nxm in 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. 5 Fall Prevention" for details.
Preventive support from falling Manipulator base Hexagon socket head cap screws M16 (4 screws) (Tensile strength: 1200N/mm2)
Fig. 5 Fall Prevention
NOTE
In case of using the wall-/ceiling-mounted type, inform Yaskawa of the matter when placing an order. Be sure to contact Yaskawa representative (listed on the back cover of this instruction manual) to execute a wall/ceiling installation on site.
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3.4 Location
3.4
Location
When the manipulator is installed, it is necessary to satisfy the undermentioned environmental conditions: 0 to +45C (ambient temperature). 20 to 80%RH (no moisture, at constant temperature). Free from dust, soot, or water. Free from corrosive gases or liquid, or explosive gases. Free from excessive impact or vibration (vibration acceleration: 4.9 m/s2 (0.5 G) or less). Free from large electrical noise (plasma). The flatness for installation is 0.5 mm or less.
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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.
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4.1 Grounding
4.1
Grounding
Follow the local regulations and electrical installation standards for grounding. The recommended grounding wire size is 5.5 mm2 or more. For grounding, connect the ground wire directly to the manipulator as shown in "Fig. 6 Grounding Method".
Never use this line sharing with other ground lines or grounding electrodes for other elec-
NOTE
tric power, motor power, welding devices, etc. Where metal ducts, metallic conduits, or distributing racks are used for cable laying, ground in accordance with Electric Equipment Technical Standards.
5.5 mm or more
Bolt M8 (for grounding) (delivered with the manipulator)
Fig. 6 Grounding Method
4.2
Manipulator Cable Connection
There are two manipulator cables; an encoder cable for detection (1BC) and power cable (2BC). (Refer to "Fig. 7 Manipulator Cables (1BC and 2BC).") Connect these cables respectively to the connectors at the manipulator base and the NX100. Refer to " Fig. 8 (a) Manipulator Cable Connection to the Manipulator ", and " Fig. 8 (b) Manipulator Cable Connection to the NX100 ".
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4.2 Manipulator Cable Connection
4.2.1
Connection to the Manipulator
Before connecting the manipulator cables to the manipulator, verify the numbers: 1BC and 2BC on both the cables and the connectors of the manipulator. Connect 2BC first, and then connect 1BC. After inserting the cables, lower each lever until it clicks.
4.2.2
Connection to the NX100
Before connecting the manipulator cables to the NX100, verify the numbers: 1BC and 2BC on both the cables and the NX100 connectors. Connect 2BC first, and then connect 1BC. After inserting the cables, lower each lever until it clicks.
NX100 side
Manipulator side
1BC
X11
X11
1BC
1BC
Encoder cable
NX100 side
Manipulator side
2BC
X21
X21
2BC
2BC
Power cable
Fig. 7 Manipulator Cables (1BC and 2BC)
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4.2 Manipulator Cable Connection
3BC 1BC AIR
2BC
3BC 1BC AIR
2BC
Connector details (Manipulator side)
Fig. 8 (a) Manipulator Cable Connection to the Manipulator
X11 X21
Fig. 8 (b) Manipulator Cable Connection to the NX100
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5.1 Basic Specifications
5 Basic Specifications
5.1 Basic Specifications
Table. 2 Basic Specifications*1
Configuration Degree of Freedom Payload Repeatability*2 S-axis (turning) L-axis (lower arm) Range of Motion U-axis (upper arm) R-axis (wrist roll) B-axis (wrist pitch/yaw) T-axis (wrist twist) S-axis L-axis Maximum Speed U-axis R-axis B-axis T-axis R-axis Allowable Moment*3 B-axis T-axis Allowable Inertia (GD2/4)*3 Mass Temperature Humidity Ambient Conditions*4 Others Vibration Acceleration R-axis B-axis T-axis Vertically Articulated 6 35 kg 0.06 mm 180 +145, -50 +220, -140 200 125 360 2.97 rad/s, 170/s 2.97 rad/s, 170/s 2.97 rad/s, 170/s 4.71 rad/s, 270/s 4.71 rad/s, 270/s 8.02 rad/s, 460/s 82 Nm (8.4 kgfm) 82 Nm (8.4 kgfm) 41 Nm (4.2 kgfm) 2.0 kgm2 2.0 kgm2 0.5 kgm2 275 kg 0 to 45C 20 to 80% RH (at constant temperature) 4.9 m/s2 (0.5G) or less Free from corrosive gasses or liquids, or explosive gasses Clean and dry Free from excessive electrical noise (plasma) Power Requirements 5 kVA
*1 *2 *3 *4
SI units are used in this table. However, gravitational unit is used in ( ). Conformed to ISO9283 Refer to " 6.1 Allowable Wrist Load " for details on the allowable moment and inertia. Conformed to IP54 for the main part of the manipulator. Conformed to IP67 for the wrist part (IP65 for the main part is optional.)
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5.2 Part Names and Working Axes
5.2
Part Names and Working Axes
U+
R+
B+
T+
Wrist flange
ULL+
RU-arm
BWrist
T-
Rotary head S+
S-
Manipulator base
Fig. 9 Part Names and Working Axes
5.3
Manipulator Base Dimensions

1800.2 310 12 dia. 0 (2 holes)
+0.018
1800.2
18 dia. hole (4 holes) 27 1300.2 310 360
1700.2
1300.2
View A Units: mm
Fig. 10 Manipulator Base Dimensions
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5.4 Dimensions and P-point Maximum Envelope
5.4
Dimensions and P-point Maximum Envelope

Fig. 11
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5.5 Alterable Operating Range
5.5
Alterable Operating Range
The operating range of the S-axis can be altered according to the operating conditions as shown in "Table. 3 S-axis Working Range." If alteration is necessary, contact your Yaskawa representative in advance.
Table. 3 S-axis Working Range Item Specifications 180 (standard) 150 120 90 60 30
S-axis Operating Range
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6.1 Allowable Wrist Load
6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load
The allowable wrist load is 35 kg. 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. 4 Allowable Moment and Inertia." Contact your Yaskawa representative for further information or assistance.
Table. 4 Allowable Moment and Inertia Axis R-axis B-axis T-axis Moment Nm (kgfm)*1 82 (8.4) 82 (8.4) 41 (4.2) Inertia kgm2 2.0 2.0 0.5
*1
( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in "Fig. 12 Moment Arm Rating." The allowable inertia is calculated when the moment is at the maximum. Contact your Yaskawa representative when only load inertia, or load moment is small and inertia is large. Also, when the load is combined as a force but a mass, contact your Yaskawa representative.
LB
Load gravity position
LT (mm) 300
10 kg 16 kg
120 mm
LT
200
100
35 kg 20 kg
100
200
300
400
LB (mm) 500
Fig. 12 Moment Arm Rating
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6.2 Wrist Flange
6.2
Wrist Flange
The wrist flange dimensions are shown in " Fig. 13 Wrist Flange ". In order to see the alignment marks, it is recommended that the attachment be mounted inside the fitting. Fitting depth of inside and outside fittings must be 5 mm or less.
6 dia. 0 hole (depth: 11)
+0.012
450.03
0 D9 C P
22.5
Tapped hole M8 (4 holes)(pitch: 1.25) (depth: 11)
106 dia. -0.022
50 dia.
+0.025 0
Units: mm
Fig. 13 Wrist Flange
NOTE Wash off anti-corrosive paint (yellow color) on the wrist flange surface with thinner or light
oil before mounting the tools.
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7.1 Peripheral Equipment Mounts
7 System Application
7.1 Peripheral Equipment Mounts
The peripheral equipment mounts are fixed on the upper arm for easier installation of the users system application as shown in " Fig. 14 Peripheral Equipment Mounts ". Observe the conditions in the figure and table below in attaching the peripheral equipment on the U-axis.
A
Z-coordinate direction 50
13.5
50 X-coordinate direction Hole M8 (4 holes) (pitch: 1.25)(depth: 16) 40 45 45
170
Center of U-axis rotation
View A Units: mm
Fig. 14 Peripheral Equipment Mounts
Table. 5 Restrictions on Mounting the Peripheral Equipment Equipment Valves Remark 10 kg or less
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7.2 Internal User I/O Wiring Harness and Air Line
7.2
Internal User I/O Wiring Harness and Air Line
23 wires (0.75 mm2) and an air line are used in the manipulator for the drives of the peripheral devices mounted on the upper arm as shown in " Fig. 15 Internal User I/O Wiring Harness and Air Line ". The connector pins (1 to 23) are assigned as shown in "Fig. 16 Detailed Drawing of Connector Pin Numbers." Wiring must be performed by users, following the conditions below: The allowable current for wires: 6.6 A or less for each wire (the total current value for pins 1 to 23 must be 60 A or less) The maximum pressure for the air line: 490 kPa (5 kgf/cm2) or less (the inside diameter: 6.5 mm)
Air inlet: tapped hole PT3/8 with pipe plug
View A
Connector for internal user I/O wiring harness: JL05-2A24-28SC (socket connector with a cap) Prepare pin connector JL05-6A24-28P (compatible connector).
Air inlet: tapped hole PT3/8 with pipe plug
View B
Connector for internal user I/O wiring harness: JL05-2A24-28PC (pin connector with a cap) Prepare socket connector JL05-6A24-28S (compatible connector).
Fig. 15 Internal User I/O Wiring Harness and Air Line
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7.2 Internal User I/O Wiring Harness and Air Line
Pins Used
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
1 5 6
2 7
3 8
4 9
10 11 12 13 14 15 16 17 18 19 20 21 22 23
Internal user I/O wiring harness : 0.75 mm2, 23 lead wires
Fig. 16 Detailed Drawing of Connector Pin Numbers
The same pin number (1-23) of two connectors is connected by the lead wire of single 0.75 mm2.
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8.1 Position of Limit Switch
8 Electrical Equipment Specification

8.1 Position of Limit Switch
Limit switches are optional. Refer to " Fig. 17 Location of Limit Switch " for location. A manipulator type with limit switch is YR-DX1350N-A01.
LU-axes interference limit switch (optional)
L-axis interference limit switch (optional)
S-axis overrun limit switch (optional)
Fig. 17 Location of Limit Switch
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8.2 Internal Connections
8.2
Internal Connections
High reliability connectors which can be easily put on and removed are used for each connector part. For the numbers, types, and locations of connectors, refer to " Fig. 18 Location and Numbers of Connectors " and " Table. 6 List of Connector Types ". Diagrams for internal connections of the manipulator are shown in " Fig. 19 (a) Internal Connection Diagram " and in " Fig. 19 (b) Internal Connection Diagram ".
3BC (for internal user I/O wiring harness)
3BC (For internal user I/O wiring harness)
View A
Fig. 18 Location and Numbers of Connectors
Table. 6 List of Connector Types Name Connector for internal user I/O wiring harness on connector base Connector for internal user I/O wiring harness on U-arm Type of Connector JL05-2A24-28PC (JL05-6A24-28S: Optional) JL05-2A24-28SC (JL05-6A24-28P: Optional)
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8.2 Internal Connections
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Fig. 19
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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 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. Conduct periodical inspections according to the inspection schedule in "Table 7 Inspection Items". In "Table 7 Inspection Items", the inspection items are categorized by three types of operations: operations which can be performed by personnel authorized of the user, operations which can be performed by personnel being trained, and operations which can be performed by service company personnel. Only specified personnel are to do the inspection work.
NOTE
The inspection interval must be based on the servo power supply ON time. These inspections were developed for applications where the manipulator is used for arc welding work. For any different or special applications, the inspection process should be developed on an case-by-case basis. For axes which are used very frequently (in handling applications, etc.), it is recommended that inspections be conducted at shorter Intervals. Contact your Yaskawa representative.
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Table. 7 Inspection Items Schedule Items*4

Daily 1000 H Cycle 6000 12000 24000 36000 H H H H Cycle Cycle
Inspection Charge
Method
Operation
Specified Service Licensee Person Company
c d e f g h i j k
Alignment mark
Visual
Check alignment mark accordance and damage at the home position. Check for damage and deterioration of leads. Clean the working area if dust or spatter is present. Check for damage and exterior cracks. Check for grease leakage.*5 Tighten loose bolts. Replace if necessary.
External lead
Visual
Working area and whole exterior of manipulator SLU-axes motors Manipulator base mounting bolts Cover mounting screws
Visual
{ {
Visual
{ {
{ {
{ {
Wrench
{ { {
Phillips screwdriver, wrench Manual Phillips screwdriver, wrench
Tighten loose bolts. Replace if necessary.
{ { {
{ { {
{ { {
Connector base
Check for loose connectors. Discharge dew condensation water inside the manipulator. Check for belt tension and wear.
Drain plug
RBT-axes timing belts
Manual
Wire harness in manipulator (for SLUR-axes)
Check for conduction between the main connector of connector base and Visual, intermediate connecmultimeter tor with manually shaking the wire. Check for wear of protective spring.*1
{ { {
Replace.*2 Check for connecVisual, tion between termimultimeter nals.*1 Replace.*2 Replace the battery pack when the battery alarm occurs or the manipulator drove for 36000H.
{ { { {
Wire harness in 11 manipulator (for BT-axes)
Battery pack in 12 manipulator
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Table. 7 Inspection Items Schedule Items*4

Daily 1000 H Cycle 6000 12000 24000 36000 H H H H Cycle Cycle
Inspection Charge
Method
Operation
Specified Service Licensee Person Company
13
S-axis speed reducer
Grease Gun
Check for malfunction. Replenish grease.*3 (6000H cycle) See Par. 9.2.2. Exchange grease.*3 (12000H cycle) See Par. 9.2.2. Check for malfunction. Replenish grease.*3 (6000H cycle) See Par. 9.2.3, Par. 9.2.4. Exchange grease.*3 (12000H cycle) See Par. 9.2.3, Par.9.2.4. Check for malfunction. (Replace if necessary.) Replenish grease*3 (6000H cycle). See Par. 9.2.5 and Par. 9.2.6. Check for malfunction. (Replace if necessary.) Replenish grease*3 (6000H cycle). See Par. 9.2.7.
14
LU-axes speed reducers
Grease Gun
15
RBT-axes speed reducers
Grease Gun
16
T-axis gear
Grease Gun
17
Overhaul
*1 *2 *3 *4 *5
When checking for conduction with multimeter, connect the battery pack 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 " 9.2.8 Notes for Maintenance.") Internal cables to be replaced at 24000H inspection. For the grease, refer to "Table 8 Inspection Parts and Grease Used." Inspection No. correspond to the numbers in Fig.21 Inspection Parts and Inspection Numbers (Manipulator in Home Position). 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 representative.
Table. 8 Inspection Parts and Grease Used No.

13 , 14
Grease Used Molywhite RE No. 00 Harmonic Grease 4B No. 2
Inspected Parts S-, L-, U-, R-axes speed reducers B- and T-axes speed reducers, T-axis gear
15
16
The numbers in the above table correspond to the numbers in "Table 7 Inspection Items."
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This page should be replaced with an A3 sheet in PDF file.

Fig. 20
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9.2 Notes on Maintenance Procedures
9.2
9.2.1
Notes on Maintenance Procedures

Battery Pack Replacement
The battery pack is attached in the position indicated in "Fig. 21 Battery Pack Location". If the battery alarm occurs in the NX100, replace the battery pack in accordance with the following procedure:
3BC 1BC AIR
2BC
Plate
APS cross-recessed head screw M4 (4 screws)(length: 8 mm)
Fig. 21 Battery Pack Location
Battery (HW0470360-A)
Fig. 22 Battery Pack Connection
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1. Turn OFF the NX100 main power supply. 2. Remove the plate on the connector base, and pull out the old battery pack to be replaced. 3. Remove the battery pack from the holder. 4. Connect the new battery pack to an unconnected connector. 5. Remove the old battery pack from the circuit board.
NOTE
Connect the new battery pack before removing the old one so that the encoder absolute data does not disappear.
6. Mount the new battery pack to the battery holder. 7. Reinstall the plate.
NOTE
Use caution not to pinch the cable when the plate is being installed.
9.2.2
Grease Replenishment/Exchange for S-axis Speed Reducer
Grease exhaust port Plug: PT1/8

3BC 1BC AIR 2BC
Grease inlet Plug: PT1/8
S-axis speed reducer
Fig. 23 S-axis Speed Reducer Diagram
NOTE
For ceiling mounted manipulators, the exhaust port and the grease inlet are inverted.
Grease Replenishment (Refer to "Fig. 23 S-axis Speed Reducer Diagram".)

1. Remove the plug from the grease exhaust port.
Replenish the grease in accordance with the following procedure:
NOTE
If grease is injected with the plug on, the grease will go inside the motor and may damage it. Never fail to remove the plug before the grease injection.
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2. Remove the plug from the grease inlet, and install the grease zerk PT1/8. (The grease zerk PT1/8 is delivered with the manipulator.) 3. Inject the grease into the grease inlet using a grease gun.
Grease type: Molywhite RE No.00 Amount of grease: 70 cc (150 cc for the 1st supply)
4. Move the S-axis for a few minutes to discharge the excess grease. 5. Remove the grease zerk and reinstall the plug on the grease inlet. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C (listed on "Table 9 Spare Parts for the MOTOMAN-DX1350N") on the thread part of the plug. 6. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug.
Grease Exchange (Refer to "Fig. 23 S-axis Speed Reducer Diagram".)
Exchange the grease in accordance with the following procedure: 1. Remove plug from the grease exhaust port.
NOTE
Grease type: Molywhite RE No.00 Amount of grease: approx. 1500 cc
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. 4. Move the S-axis for a few minutes to discharge the excess grease. 5. Remove the grease zerk and reinstall the plug on the grease inlet. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug. 6. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug.
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9.2.3
Grease Replenishment/Exchange for L-axis Speed Reducer

L-arm
L-axis speed reducer
(Back)
Fig. 24 L-axis Speed Reducer Diagram
NOTE
The exhaust port and the grease inlet are inverted in case of ceiling installation.
Grease Replenishment (Refer to "Fig. 24 L-axis Speed Reducer Diagram".)
Replenish the grease in accordance with the following procedure: 1. Posture the L-axis vertical to the ground as shown in "Fig. 24 L-axis Speed Reducer Diagram". 2. Remove the plug from the grease exhaust port.
NOTE
3. Remove the plug from the grease inlet, and install the grease zerk A-PT1/8. (The grease zerk A-PT1/8 is delivered with the manipulator.) 4. Inject the grease into the grease inlet using a grease gun.
5. Move the L-axis for a few minutes to discharge the excess grease. 6. Remove the grease zerk and reinstall the plug on the grease inlet. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread
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part of the plug. 7. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug.
Grease Exchange (Refer to "Fig. 24 L-axis Speed Reducer Diagram".)
Exchange the grease in accordance with the following procedure: 1. Posture the L-arm vertical to the ground as shown in "Fig. 24 L-axis Speed Reducer Diagram". 2. Remove the plug from the grease exhaust port.
NOTE
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 L-axis for a few minutes to discharge the excess grease. 6. Remove the grease zerk on the grease inlet and reinstall the plug. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug. 7. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug.
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9.2.4
Grease Replenishment/Exchange for U-axis Speed Reducer

U-arm
U-axis speed reducer
Fig. 25 U-axis Speed Reducer Diagram
NOTE
The exhaust port and the grease inlet are inverted in case of ceiling installation.
Grease Replenishment (Refer to "Fig. 25 U-axis Speed Reducer Diagram".)
Replenish the grease in accordance with the following procedure: 1. Posture the U-arm as shown in "Fig. 25 U-axis Speed Reducer Diagram". 2. Remove the plug from the grease exhaust port.
NOTE
5. Move the U-axis for a few minutes to discharge the excess grease. 6. Remove the grease zerk and reinstall the plug on the grease inlet. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug. 7. Wipe the grease exhaust port with a cloth and reinstall plug. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug.
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Grease Exchange (Refer to "Fig. 25 U-axis Speed Reducer Diagram".)
Exchange the grease in accordance with the following procedure: 1. Posture the U-arm as shown in "Fig. 25 U-axis Speed Reducer Diagram". 2. Remove the plug from the grease exhaust port.
NOTE
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 U-axis for a few minutes to discharge the excess grease. 6. Remove the grease zerk and reinstall the plug on the grease inlet. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug. 7. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug.
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9.2.5
Grease Replenishment/Exchange for R-axis Speed Reducer

R-axis speed reducer Grease exhaust port Plug: PT1/8
Fig. 26 R-axis Speed Reducer Diagram
Grease Replenishment (Refer to "Fig. 26 R-axis Speed Reducer Diagram".)

NOTE
4. Move the R-axis for a few minutes to discharge the excess grease. 5. Remove the grease zerk and reinstall the plug on the grease inlet. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug. 6. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug.
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Grease Exchange (Refer to "Fig. 26 R-axis Speed Reducer Diagram".)

NOTE
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. 4. Move the R-axis for a few minutes to discharge the excess grease. 5. Remove the grease zerk and reinstall the plug on the grease inlet. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug. 6. Wipe the grease exhaust port with a cloth and reinstall the plug. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug.
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9.2.6
Grease Replenishment for B-, T-axes Speed Reducers

B-axis speed reducer Grease inlet
Grease inlet
T-axis speed reducer Exhaust port
Grease inlet
Fig. 27 B-, T-axes Speed Reducers Diagram
1. Remove the plug from the exhaust port.
NOTE
Remove the cover in case of grease replenishment of the B-axis speed reducer.
2. Remove the plug from the grease inlet and install the grease zerk A-MT6X1. 3. Inject the grease into the grease inlet using a grease gun.
Grease type: Harmonic grease 4B No. 2 Amount of grease: For B-axis: 10 cc (20 cc for the 1st supply) For T-axis: 5 cc (10 cc for the 1st supply)
NOTE
The exhaust port is used for air flow; the grease is not exhausted from the exhaust port. Do not inject excessive grease into the grease inlet.
4. Reinstall the plug on the exhaust port. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug. 5. Remove the grease zerk on the grease inlet and reinstall the plug. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug.
NOTE
Reinstall the cover for the B-axis speed reducer. (Refer to " 9.2.8 Notes for Maintenance.")
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9.2.7
Grease Replenishment for T-axis Gear

Gear grease inlet Exhaust port
Fig. 28 T-axis Gear Diagram
1. Remove the plug from the exhaust port. 2. Remove the plug from the grease inlet and install the grease zerk A-MT6X1. 3. Inject the grease into the gear grease inlet using a grease gun.
Grease type: Harmonic grease 4B No. 2 Amount of grease: 5 cc (10 cc for the 1st supply)
NOTE
The exhaust port is used for air flow; the grease is not exhausted from the exhaust port. Do not inject excessive grease into the grease inlet.
4. Reinstall the plug on the exhaust port. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug. 5. Remove the grease zerk on the gear grease inlet and reinstall the plug. Tighten the plug with a tightening torque of 5 Nm (0.51 kgfm). Apply Three Bond 1206C on the thread part of the plug.
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9.2.8
Notes for Maintenance
Wrist Axes
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. Therefore, if the wrist cover is disassembled, reseal it with sealing bond (Three Bond 1206C, listed on "Table 9 Spare Parts for the MOTOMAN-DX1350N").
Cover
Cover jointing face
Cover jointing face Cover
Fig. 29 Sealing Part of Wrist Unit
9.2.9
Encoder Connector (with CAUTION Label)

When performing maintenance such as replacement of a wire harness in the manipulator, the encoder connector (with CAUTION label) may be necessary to be removed. In this case, be sure to connect the battery pack to the battery backup connector before removing the encoder connector. Removing the encoder connector without connecting the battery backup leads to disappearance of the encoder absolute data. For the battery pack connection, refer to "Fig. 30 (a) Battery Pack Connection for Encoder Connector (S-, L-, U-axes Motors)" and fig31(b).
NOTE
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Battery Pack Connection (for S-, L-, U-axes Motors)
The connectors (crimped contact-pins) for the battery backup are installed at the end point of the motor (marked as BAT and OBT). Connect the battery pack according to the following procedure. 1. Remove the cap attached to the battery backup connector of the motor. 2. Connect the battery pack (HW9470932-A) with the battery backup connectors. (Under this condition, remove the encoder connector and carry out the maintenance inspections). 3. After the maintenance inspections, check if all the connectors are connected, then remove the battery pack. Reinstall the cap attached to the battery backup connector of the motor.
NOTE
Do not remove the battery pack in the connector base.
Motor
Motor power connector Encoder connector
0BT BAT
b a
a 0BT * b BAT*
Battery pack (HW9470932-A) Connector for the battery backup a: Crimped contact-pin (pin) b: Crimped contact-pin (socket)
Cap
Fig. 30 (a) Battery Pack Connection for Encoder Connector (S-, L-, U-axes Motors)
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Battery Pack Connection (for R-, B-, T-axes Motors)
The connectors (crimped contact-pins) for the battery backup are installed at the end point of the motor (marked as BAT and OBT). Connect the battery pack according to the following procedure. 1. Connect the battery pack (HW9470932-A) with the battery backup connectors located at the end point of the encoder cable. (Under this condition, remove the encoder connector and carry out the maintenance inspections). 2. After the maintenance inspections, check if all the connectors are connected, then remove the battery pack.
NOTE
Do not remove the battery pack in the connector base.
Encoder Motor
Motor cable, etc.
Wire harness in manipulator
Power connector Connected

a 0BT 0BT BAT
Connect battery to encoder to save the data before removing conector.
b a
b BAT
* *
CAUTION
Encoder connector
Battery pack (HW9470932-A)
CAUTION label
0BT BAT b a a b 0BT * BAT*
CAUTION Label (Enlarged View)
CAUTION
Connect battery to encoder to save the data before removing conector.
a: Crimped contact-pin (pin) b: Crimped contact-pin (socket)
Fig. 30 (b) Battery Pack Connection for Encoder Connector (R-, B-, T-axes Motors)
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9.3
NOTE
Home Position Return Operation (Calibration)

In the following cases, perform calibration and set the manipulator position. Change in the combination of the MOTOMAN and the control unit. Replacement of the motor or absolute encoder. Clearing stored memory. Home position deviation caused by hitting the MOTOMAN against a workpiece, etc. Replacement, disassembly, and assembly of the main parts of the speed reducer. Be sure to satisfy the following conditions in performing the calibration. Avoid applying external force to the manipulator. Remove the hand of the wrist part and other parts.
9.3.1
NOTE
Calibration by Using the Keys

Calibration using the keys requires a differential pulse between the home position pulse set prior to shipment and the position pulse of the manipulator posture specified by using the key. Read this paragraph carefully before using the MOTOMAN and record the abovementioned differential value.
When the home position has disappeared, use the key slot provided in the manipulator (see "Fig. 31 Positions of Key Slots") and the keys to set the home position. Prepare the tools listed in "Table 9 Tools for Calibration" required for the operation.
U-axis B-, T-axes
R-axis
L-axis
S-axis
Fig. 31 Positions of Key Slots
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Table. 9 Tools for Calibration Type MSTH12-120 HW0403409-1 Name Pin Key Quantity 1 1 Remark For the S-, L-, and U-axis For the R-, B-, and T-axis
9.3.2
Calibration Procedure
Perform the calibration in accordance with the following procedure: 1. Using the key, perform the following positioning operations on the axis of which the home position has disappeared. 2. After completion of positioning, move the manipulator for the differential distance between the position pulse at the manipulator posture specified by using the key, and the home position pulse recorded prior to shipment. 3. Set the position obtained after moving the manipulator as the home position. For the setting method of the home position, refer to "3.1 Home Position Calibration" in the NX100 INSTRUCTIONS.
S-axis Positioning
As shown in "Fig. 32 S-axis Positioning," insert the pin (MSTH12-120) into the slot of the rotary head. Perform the positioning with the programming pendant by fitting the pin in the slot of the manipulator base.
30 0.1
Pin MSTH12-120
Fig. 32 S-axis Positioning
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L-axis Positioning
As shown in "Fig. 33 L-axis Positioning", insert the pin (MSTH12-120) into the slot of the Larm. Perform the positioning with the programming pendant by fitting the pin in the slot of the rotary head.
L-arm Pin MSTH12-120
Fig. 33 L-axis Positioning
U-axis Positioning
As shown in "Fig. 34 U-axis Positioning", insert the pin (MSTH12-120) into the pin hole (12 mm dia. +0.018 ) of the casing. Perform the positioning with the programming pendant by 0 fitting the pin in the slot of the L-arm.
Casing
Pin MSTH12-120
L-arm
Fig. 34 U-axis Positioning
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R-axis Positioning
As shown in "Fig. 35 R-axis Positioning" insert the key (HW0403409-1) into the slot of the casing. Perform the positioning with the programming pendant by fitting the pin in the slot of the U-arm.
Casing
U-arm
Key HW0403409-1
L-arm
Fig. 35 R-axis Positioning
B-axis Positioning
As shown in "Fig. 36 B-axis Positioning", insert the key (HW0403409-1) into the slot of the U-arm. Perform the positioning with the programming pendant by fitting the pin in the slot of the wrist section.
Key HW0403409-1 Wrist
U-arm
Fig. 36 B-axis Positioning
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T-axis Positioning
As shown in "Fig. 37 T-axis Positioning", insert the key (HW0403409-1) into the slot of the wrist section. Perform the positioning with the programming pendant by fitting the pin in the slot of the wrist flange.
Key HW0403409-1 Wrist
U-arm
Fig. 37 T-axis Positioning
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10 Recommended Spare Parts

It is recommended to keep the parts and components in the following table in stock as spare parts for the MOTOMAN-DX1350N. Check the serial number and contact your Yaskawa representative for preparing lead wires for internal wiring, etc. Product performance can not be guaranteed when using spare parts from any company other than Yaskawa. The spare parts are ranked as follows: Rank A: Expendable and frequently replaced parts Rank B: Parts for which replacement may be necessary as a result of frequent operation Rank C: Drive unit
NOTE
To replace parts in Rank B or Rank C, be sure to contact your Yaskawa representative.
Table. 9 Spare Parts for the MOTOMAN-DX1350N

Parts No. Qty per Unit -
Rank
Name
Type
Manufacturer
Qty
Remarks
Grease
Molywhite RE No. 00 Harmonic Grease 4B No. 2 Three Bond 1206C
Yaskawa Electric Corporation Harmonic Drive System Co., Ltd. Three Bond Co., Ltd. Yaskawa Electric Corporation Yaskawa Electric Corporation Mitsuboshi Belting Limited Mitsuboshi Belting Limited Mitsuboshi Belting Limited Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation
16 kg
Grease
2.5 kg
Liquid Gasket
Battery Pack
HW0470360-A
Battery Pack
HW9470932-A
R-axis Timing Belt
80S4.5M450
B-axis Timing Belt
80S4.5M675
T-axis Timing Belt S-axis Speed Reducer S-axis Input Gear L-axis Speed Reducer
100S4.5M468
HW0380902-A
10
HW0380960-A
11
HW0383230-A
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Table. 9 Spare Parts for the MOTOMAN-DX1350N

Rank Parts No. Name Type Manufacturer Qty Qty per Unit 1 Remarks
12
L-axis Input Gear U-axis Speed Reducer U-axis Input Gear R-axis Speed Reducer B-axis Speed Reducer T-axis Speed Reducer Wire Harness in Manipulator Wire Harness in Manipulator for Band T-axes AC Servomotor for S- and L-axes
HW0306174-A
Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation
13
HW0380901-A
14
HW0380963-A
15
HW0380900-A
16
HW0380904-A
17
HW0380903-A
18
HW0171703-A
19
HW0371440-A
20
HW0382156-A SGMRS-13A2AYR1 HW0382155-A SGMRS-12A2BYR1 HW0383366-A SGMPH-04A2AYR3 HW0370602-A
Yaskawa Electric Corporation
21
AC Servomotor for U-axis
Yaskawa Electric Corporation
22
AC Servomotor for R-, B-, T-axes
Yaskawa Electric Corporation Yaskawa Electric Corporation Yaskawa Electric Corporation
23
Limit Switch Units
24
Wrist Unit
HW0170775-B
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11.1 S-Axis Unit
11 Parts List
11.1 S-Axis Unit
1074 1002 1024 1023 1025 1022 1026 1038 1031 1039 1010 1006 1029 1007 1004 1009 1001 1003
1005
1008 1033 1034 1030 1015 1018 1032 1057 1049 1056 1016 1016 1014 1017 1014 1013 1048 1049 1012 1011 1035 1036
1037 1027
1055
1041 1040
1050 1052 1051 1049 1049 1020
1064 1065
1061*
1021 1067 1066
1019
* : For DX1350N-A00 Only
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11.1 S-Axis Unit
No. 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1048 1049 1050 1051 1052 1055 1056 1057 1061 1064 1065 1066 1067 1068 1069 1070 M8X25 2H-8
DWG No. SGMRS-13A2A-YR1* Motor
Name Socket screw Washer M-Base Oil seal Socket screw Washer O-ring Flywheel Shaft Socket screw Washer Gear Bearing B-nut H-set screw Housing Socket screw Washer Guide O-ring Socket screw Washer Gear Bearing Clip B-cover Socket screw Washer S-head Speed reducer O-ring O-ring O-ring Union Tube Socket screw Washer Base Socket screw Washer Socket screw Washer Socket screw Washer Plug Collar Socket screw Washer Housing Oil-seal Oil-seal Plug Socket screw Washer Cover Socket screw Washer Plate Socket screw Washer Plate
Pcs 1 4 4 1 1 4 4 1 1 1 1 1 1 2 1 2 1 4 4 1 1 4 4 1 1 1 1 4 4 1 1 1 1 1 1 1 9 9 1 6 6 9 9 4 4 4 1 1 1 1 1 1 1 6 6 1 8 8 1 2 2 1
No. 1071 1074 M6X15 2H-6
DWG No.
Name Socket screw Washer Silicon sheet
Pcs 2 2 2
HW9482404-A
HW0306171-1 Y426212.5 M6X30 2H-6 S95 HW0405722-1 HW0482271-A M6X80 2H-6 HW0380960-A HR32907J HW9405847-1 M6X8 HW9405844-2 M6X20 2H-6 HW0302146-1 S65*NBR* M6X15 2H-6 HW0380961-A 6816 WR80 HW0403138-1 M4X10 2H-4 HW0100270-3 HW0380902-A ARP568-165 ARP568-173 G115 TSH6-01M NB-0640-0.4 M10X60 GT-LH-10 HW0100269-1 M14X95 SW-2H-14 M12X45 GT-LH-12 M6X14 2H-6 PT1/8 HW0402594-1 M12X30 SW-2H-12 HW0402597-1 TC65786 VC65859 RP2BG16LG For DX1350N-A00 Only M4X16 2H-4 HW0402598-1 M6X12 2H-6 HW0403170-1 M6X15 2H-6 HW0403171-1
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11.2 L-Axis Unit
11.2 L-Axis Unit
2015
2024 2023 2036 2012 2011
2016
2026 2027
2025
2014 2013 2030 2029
2022 2017 2021 2020 2019
2030 2018
2028
2005 2006 1027 2008 2004 2035 2007 2010 2009 2039
2038
2030 2037 2002
2003 2001
2040 2041
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11.2 L-Axis Unit
No. 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 2021 2022 2023 2024 2025 2026 2027 2028 2029 2030 2035 2036 2037 2038 2039 2040 2041 1027 M8X30 2H-8
DWG No. SGMRS-13A2A-YR1* Motor
Name Socket screw Washer Shaft Shaft Gear Pipe Socket screw Washer Washer Speed reducer O-ring Socket screw Washer L-Arm Shaft Socket screw Washer Washer Socket screw Washer Socket screw Washer Cap Socket screw Washer Pin Collar Oil-seal Cover Socket screw Washer Plug Silicon sheet Support M-base Oil-seal Collar Socket screw Washer S-head
Pcs 1 4 4 1 1 1 1 1 1 1 1 1 11 11 1 1 8 8 3 6 6 15 15 1 4 4 2 1 1 1 7 7 3 2 1 1 1 1 4 4 1
HW0482272-A HW9481648-A HW0306174-1 HW9406792-3 M6X105 2H-6 M6 HW0383230-A G220 M12X50 SW2H-12 HW0100271-1 HW0302763-1 M4X12 2H-4 HW0402615-1 M16X45 2H-16 M8X35 2H-8 EZ2228B0 M8X30 GT-LH-8 MSTH6-10 HW0403199-1 TC22025016 HW0200260-1 M6X20 2H-6 PT1/8 HW9482404-A HW0200258-1 HW0306173-1 Y426212.5 HW9405257-1 M8X20 2H-8 HW0100270-1
11-4
HW0482356
HW0482356
11.3 U-Axis Unit
11.3 U-Axis Unit

3046 3001
3014 3002 3004 3003 3013
3010
3005
3011
3009 3008 3006 3012
3011
3007
4013
3025 3024 3026 3023
3028 3040 3040 3040 3019
3027
3016 3034 3033 3021 3020 3029 3022 3017 3018
2015
3036 3035 3030 3032
3031
11-5
HW0482356
HW0482356
11.3 U-Axis Unit
No. 3001 3002 3003 3004 3005 3006 3007 3008 3009 3010 3011 3012 3013 3014 3016 3017 3018 3019 3020 3021 3022 3023 3024 3025 3026 3027 3028 3029 3030 3031 3032 3033 3034 3035 3036 3040 3046 2015 4013
DWG No. SGMRS-12A2B-YR1* HW0481221-A M6X20 WSSB25-6-5 M8X35 2H-8 HW0306175-1 S105 M8X35 2H-8 HW0402601-1 M6X20 2H-6 HR32908J HW0380963-A HW0402602-1 M6X8 HW0380901-A M8X80 2H-8 ARP568-169 HW0302149-1 M4X10 2H-4 G60 HW0380964-A 6813 WR65 HW0403139-1 M4X10 2H-4 TC52709 HW0402661-1 M8X16 2H-8 HW0302148-1 M10X30 GT-LH-10 M8X16 2H-8 PT1/8 HW9482404-A HW0100271-1 HW0100272-1 Motor Shaft
Name
Pcs 1 1 1 1 4 4 1 1 3 3 1 4 4 2 1 1 2 1 13 13 1 1 4 4 1 1 1 1 1 4 4 1 1 3 3 1 9 9 9 9 3 4 1 1
Socket Screw Washer Socket Screw Washer M-base O-ring Socket Screw Washer Housing Socket Screw Washer Bearing Gear B-nut H-set screw Speed reducer Socket Screw Washer O-ring Guide Socket Screw Washer O-ring Gear Bearing Sirclip B-cover Socket Screw Washer Oil seal Collar Socket Screw Washer Cover Socket Screw Washer Socket Screw Washer Plug Silicon sheet L-Arm Casing
11-6
HW0482356
HW0482356
11.4 R-Axis Unit
11.4 R-Axis Unit

4002 4007
4001
4033
4004
4030 4026 4025 4024 4003 4008 4031 4007
4010 4009 4023 4011 4022 4021

4012
4013
4034
4029 4028 4027
4020 4019 4017 4016
5052
4015 4014
11-7
HW0482356
HW0482356
11.4 R-Axis Unit
No. 4001 4002 4003 4004 4007 4008 4009 4010 4011 4012 4013 4014 4015 4016 4017 4019 4020 4021 4022 4023 4024 4025 4026 4027 4028 4029 4030 4031 4033 4034 5052 M6X20 2H-6
DWG No. HW0200261-1 Cover
Name Socket Screw Washer Motor Socket Screw Washer Plug Gear Pulley Socket Screw Washer Flange Socket Screw Washer Casing Socket Screw Washer Socket Screw Washer Speed reducer O-ring Clip Bearing Oil seal Socket Screw Washer Washer Socket Screw Washer Cover Packing Pulley Belt Silicon sheet H-set Screw U-arm
Pcs 1 5 5 1 4 4 2 1 1 4 4 1 4 4 1 6 6 10 10 1 1 1 1 1 1 1 1 4 4 1 1 1 1 2 2 1
SGMPH-04A2A-YR3* M5X20 2H-5 PT1/8 HW0380965-A HW0481215-A M4X12 2H-4 HW0302143-1 M5X16 2H-5 HW0100272-1 M8X30 GT-LH-8 M6X55 2H-6 HW0380900-A ARP568-048 WR50 6810 TC45629 M4X20 2H-4 HW9405900-1 M5X16 2H-5 HW0402600-1 HW0481213-A HW0481214-A 80S4.5M450 HW9482408-A M6X6 HW0100264-1
11-8
HW0482356
HW0482356
11.5 Wrist Unit
11.5 Wrist Unit

5054 5053 5023 5053 5022 5054 5006 5012 5013 5011 5039 5080 5010 5009 5020 5076 5025 5052 5016 5019 5018 5007 5017 5026 5021 5060
5014
5078 5080 5055 5058 5007 5079 5069 5068 5067 5066 5015 5065 5059 5079 5070 5074 5062 5074 5038 5036 5063 5071 5061 5032 5031 5030 5073 5072 5045 5048 5047 5049 5048 5046 5074 5051 5050 5044 5043 5035 5034 5033 5040 5027
5006
5074 5064
5075
5024
5029 5028
5056 5057
5042 5041
11-9
HW0482356
HW0482356
11.5 Wrist Unit
No. 5006 5007 5009 5010 5011 5012 5013 5014 5015 5016 5017 5018 5019 5020 5021 5022 5023 5024 5025 5026 5027 5028 5029 5030 5031 5032 5033 5034 5035 5036 5038 5039 5040 5041 5042 5043 5044 5045 5046 5047 5048 5049 5050 5051 5052 5053 5054 5055 5056 5057 5058 5059 No. M5X20 2H-5
DWG No. SGMPH-04A2A-YR3* Motor
Name Socket Screw Washer Pulley Plate Washer Socket Screw Washer Belt Pulley Socket Screw Washer Gear O-ring Bearing Collar Collar Housing O-ring Oil seal Socket Screw Washer Flange Socket Screw Washer Wrist Bearing Oil seal Shaft Bearing Clip Bearing Shim B-nut Gear Socket Screw Washer Oil seal Housing Socket Screw Washer Speed reducer Socket Screw Washer Plate Socket Screw Socket Screw Washer Flange Socket Screw Washer U-Arm Cover Socket Screw Washer Pulley Washer Socket Screw Washer Belt Pulley Name
Pcs 2 8 8 1 1 1 1 1 1 1 2 2 1 1 1 1 1 1 1 1 4 4 1 4 4 1 1 1 1 1 1 1 * 1 1 1 1 1 1 5 5 1 6 6 1 9 2 11 1 16 16 1 2 18 18 1 1 1 1 1 1 Pcs
5060 5061 5062 5063 5064 5065 5066 5067 5068 5069 5070 5071 5072 5073 5074 5075 5076 5078 5079 5080
M5X20 2H-5 HW0402605-1 M3X10 2H-3 6902 6906 ISP1D28406 HW0402610-1 S90 M5X35 2H-5 HW0380904-A HW0402607-1 M5X40 2H-5 PF-M6M-31W HW0403163-1 M4X12 2H-4 PT1/8 M6X6 HW9482408-A
Socket Screw Washer Shaft Socket Screw Washer Bearing Bearing Oil seal Housing O-ring Socket Screw Washer Speed reducer Plate Socket Screw Washer Plug Cover Socket Screw Washer Plug H-set screw Silicon sheet
2 2 1 6 6 1 1 1 1 1 15 15 1 1 11 11 4 1 4 4 1 2 4
HW0481218-A HW0403137-1 HW9405900-1 M4X12 2H-4 100S4.5M468 HW0380959-A M4X20 2H-4 HW0380967-A S18 HW0481236-A HW0402604-1 HW0402604-2 HW0402611-1 S46 ISP1D28406 M4X12 2H-4 HW042614-1 M4X12 2H-4 HW0100263-1 6911 TC70826 HW0402606-1 6904 WR20 HW9481180-A SP-0120** HW0401691-1 HW0380966-A M5X16 2H-5 TC325211 HW0402612-1 M4X25 2H-4 HW0380903-A M3X10 2H-3 HW0402609-1 M4X35 M4X30 2H-4 HW0402613-1 M4X25 GT-SH-4 HW0100264-1 HW0200256-1 M4X16 2H-4 HW0481216-A HW9405900-1 M4X12 2H-4 80S4.5M675 HW0481217-A DWG No.
11-10
HW0482356
MOTOMAN-DX1350N
INSTRUCTIONS
HEAD OFFICE 2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan Phone 81-93-645-7745 Fax 81-93-645-7746 MOTOMAN INC. HEADQUARTERS 805 Liberty Lane West Carrollton, OH 45449, U.S.A. Phone 1-937-847-6200 Fax 1-937-847-6277 YASKAWA MOTOMAN CANADA LTD. 3530 Laird Road, Unit 3, Mississauga, Ontario, L5L 5Z7, Canada Phone 1-905-569-6686 Fax 1-905-813-5911 MOTOMAN ROBOTICS EUROPE AB Franska Vagen 1039854, Kalmar, Sweden Phone 46-480-417800 Fax 46-480-417999 MOTOMAN ROBOTEC GmbH Kammerfeld strasse 1, DE-85391 Allershausen, Germany Phone 49-8166-90100 Fax 49-8166-90103 YASKAWA ELECTRIC KOREA CORPORATION 1F Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea Phone 82-53-745-7844 Fax 82-2-784-8495 YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. 151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741, Singapore Phone 65-6282-3003 Fax 65-6289-3003 YASKAWA ELECTRIC (MALAYSIA) SDN. BHD. No.71, Jalan Bandar Rawang 2, 48000 Rawang, Selangor D.E., Malaysia Phone 60-3-6092-1377 Fax 60-3-6092-6377 YASKAWA ELECTRIC TAIWAN CORPORATION 9F, 16 Nanking E. Rd., Sec. 3, Taipei, Taiwan Phone 886-2-2502-5003 Fax 886-2-2505-1280 SHOUGANG MOTOMAN ROBOT CO., LTD. 7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, China Phone 86-10-6788-0541 Fax 86-10-6788-2878
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice for ongoing product modifications and improvements.
C
Printed in Japan October 2006 04-11
MANUAL NO.
HW0482356

Manipulator Manual Motoman

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Manipulator Manual Motoman

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Motoman NX100 Controller

DX1350N Manipulator Manual

Part Number: Revision:

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Notes for Safe Operation

Must never be performed.

Emergency Stop Button

Release of Emergency Stop

Definition of Terms Used Often in This Manual

Explanation of Warning Labels

Warning label A Warning label B Nameplate

Moving parts may cause injury

Do not enter robot work area.

Moving parts may cause injury

Do not enter robot work area.

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

Allowable Load for Wrist Axis and Wrist Flange

Electrical Equipment Specification

Maintenance and Inspection

9.3 Home Position Return Operation (Calibration)

Recommended Spare Parts Parts List

1.1 Contents Confirmation

1.2 Order Number Confirmation

Order Number Confirmation

Label (Enlarged View)

(b) Manipulator (Top View)

(a) NX100 (Front View)

Fig. 1 Location of Order Number Labels

2.1 Transportation Method

2.1 Transportation Method

Fig. 2 Transporting Position

Bolt M16 (4 bolts)

Forklift claw entry

Fig. 3 Using the Forklift

2.2 Shipping Bolts and Brackets

Shipping Bolts and Brackets

3.1 Installation of Safeguarding

Mounting Procedures for Manipulator Base

3.2 Mounting Procedures for Manipulator Base

Manipulator base Bolt M16 (4 bolts) Spring washer Washer

Manipulator base Anchor bolt (M16 or more) Baseplate

Fig. 4 Manipulator Installation Example

3.3 Installation Method

S-axis Operating Range

Fixing the Manipulator Base

Precautions to Prevent the Manipulator from Falling

Fig. 5 Fall Prevention

Bolt M8 (for grounding) (delivered with the manipulator)

Fig. 6 Grounding Method

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