Motoman MotoPos-T1000 User manual

Motoman, Incorporated
805 Liberty Lane
West Carrollton, Ohio 45449 USA
937.847.6200 (Voice)
937.847.6277 (Fax)
937.847.3200 (24-Hour Support)
www.motoman.com
[email protected]
Motoman®NX100 Controller
MotoPos-T1000
Positioner Manual
Part Number: 152163-1CD
Revision 0

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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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

MotoPos-T1000
152163-1
Final page 1
Chapter 1
Introduction
1.1 About This Document
This manual provides information for the MotoPos-T1000 positioner and contains the following sections:
CHAPTER 1 - INTRODUCTION
Provides general information about the structure of this manual, a list of reference documents, and
customer service information.
CHAPTER 2 - SAFETY
This section provides information regarding the safe use and operation of Motoman products.
CHAPTER 3 - MOTOPOS-T1000 INSTRUCTIONS
Provides detailed information for the MotoPos-T1000 positioner.
1.2 Reference to Other Documentation
For additional information refer to the following:
• NX100 Controller Manual (P/N 149201-1)
• Concurrent I/O Manual (P/N 149230-1)
• Operator’s Manual for your application
• Vendor manuals for system components not manufactured by Motoman
1.3 Customer Service Information
If you are in need of technical assistance, contact the Motoman service staff at [phone]. Please have
the following information ready before you call:
• Robot Type (MotoPos-T1000)
• Application Type (welding, handling, etc.)
• Robot Serial Number (located on back side of robot arm)
• Robot Sales Order Number (located on back of controller)

Positioner Manual
Chapter 1 Introduction
page 2 Final
Notes

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152163-1
Final page 3
Chapter 2
Safety
2.1 Introduction
It is the purchaser’s responsibility to ensure that all local, county, state,
and national codes, regulations, rules, or laws relating to safety and safe
operating conditions for each installation are met and followed.
We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for
Industrial Robots and Robot Systems. This information can be obtained from the Robotic Industries
Association by requesting ANSI/RIA R15.06-1999. The address is as follows:
RoboticIndustriesAssociation
900VictorsWay
P.O.Box3724
AnnArbor,Michigan48106
TEL:[phone]
FAX:[phone]
INTERNET:www.roboticsonline.com
Ultimately, the best safeguard is trained personnel. The user is responsible for providing personnel
who are adequately trained to operate, program, and maintain the robot cell. The robot must not be
operated by personnel who have not been trained!
We recommend that all personnel who intend to operate, program, repair, or use the robot system be
trained in an approved Motoman training course and become familiar with the proper operation of the
system.

Positioner Manual
Chapter 2 Safety
page 4 Final
This safety section addresses the following:
• Standard Conventions (Section 2.2)
• General Safeguarding Tips (Section 2.3)
• Mechanical Safety Devices (Section 2.4)
• Installation Safety (Section 2.5)
• Programming, Operation, and Maintenance Safety (Section 2.6)
2.2 Standard Conventions
This manual includes the following alerts –in descending order of severity –that are essential to the
safety of personnel and equipment. As you read this manual, pay close attention to these alerts to
insure safety when installing, operating, programming, and maintaining this equipment.
DANGER!
Information appearing in a DANGER concerns the protection of personnel from the immediate
and imminent hazards that, if not avoided, will result in immediate, serious personal injury or
loss of life in addition to equipment damage.
WARNING!
Information appearing in a WARNING concerns the protection of personnel and equipment from
potential hazards that can result in personal injury or loss of life in addition to equipment
damage.
CAUTION!
Information appearing in a CAUTION concerns the protection of personnel and equipment,
software, and data from hazards that can result in minor personal injury or equipment damage.
Note: Information appearing in a Note provides additional information which is helpful in understanding the item being
explained.

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2.3 General Safeguarding Tips
All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and
anyone working near the robot must become familiar with the operation of this equipment. All
personnel involved with the operation of the equipment must understand potential dangers of
operation. General safeguarding tips are as follows:
• Improper operation can result in personal injury and/or damage to the equipment. Only
trained personnel familiar with the operation of this robot, the operator's manuals, the system
equipment, and options and accessories should be permitted to operate this robot system.
• Do not enter the robot cell while it is in automatic operation. Programmers must have the
teach pendant when they enter the robot cell.
• Improper connections can damage the robot. All connections must be made within the
standard voltage and current ratings of the robot I/O (Inputs and Outputs).
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in use.
• In accordance with ANSI/RIA R15.06-1999, section 4.2.5, Sources of Energy, use
lockout/tagout procedures during equipment maintenance. Refer also to Section 1910.147
(29CFR, Part 1910), Occupational Safety and Health Standards for General Industry
(OSHA).
2.4 Mechanical Safety Devices
The safe operation of the robot, positioner, auxiliary equipment, and system is ultimately the user's
responsibility. The conditions under which the equipment will be operated safely should be reviewed
by the user. The user must be aware of the various national codes, ANSI/RIA R15.06-1999 safety
standards, and other local codes that may pertain to the installation and use of industrial equipment.
Additional safety measures for personnel and equipment may be required depending on system
installation, operation, and/or location. The following safety equipment is provided as standard:
• Safety fences and barriers
• Light curtains and/or safety mats
• Door interlocks
• Emergency stop palm buttons located on operator station, robot controller, and
programming pendant
Check all safety equipment frequently for proper operation. Repair or replace any non-functioning
safety equipment immediately.

Positioner Manual
Chapter 2 Safety
page 6 Final
2.5 Installation Safety
Safe installation is essential for protection of people and equipment. The following suggestions are
intended to supplement, but not replace, existing federal, local, and state laws and regulations.
Additional safety measures for personnel and equipment may be required depending on system
installation, operation, and/or location. Installation tips are as follows:
• Be sure that only qualified personnel familiar with national codes, local codes, and
ANSI/RIA R15.06-1999 safety standards are permitted to install the equipment.
• Identify the work envelope of each robot with floor markings, signs, and barriers.
• Position all controllers outside the robot work envelope.
• Whenever possible, install safety fences to protect against unauthorized entry into the work
envelope.
• Eliminate areas where personnel might get trapped between a moving robot and other
equipment (pinch points).
• Provide sufficient room inside the workcell to permit safe teaching and maintenance
procedures.
2.6 Programming, Operation, and Maintenance Safety
All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and
anyone working near the robot must become familiar with the operation of this equipment. Improper
operation can result in personal injury and/or damage to the equipment. Only trained personnel
familiar with the operation, manuals, electrical design, and equipment interconnections of this robot
should be permitted to program, operate, and maintain the system. All personnel involved with the
operation of the equipment must understand potential dangers of operation.
• Inspect the robot and work envelope to be sure no potentially hazardous conditions exist. Be
sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place. Check all safety equipment for proper operation.
Repair or replace any non-functioning safety equipment immediately.
• Do not enter the robot cell while it is in automatic operation. Be sure that only the person
holding the programming pendant enters the workcell.
• Check the E-STOP button on the programming pendant for proper operation before
programming. The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• Back up all programs and jobs onto suitable media before program changes are made. To
avoid loss of information, programs, or jobs, a backup must always be made before any
service procedures are done and before any changes are made to options, accessories, or
equipment.

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Final page 7
• Any modifications to PART 1, System Section, of the robot controller concurrent I/O
program can cause severe personal injury or death, as well as damage to the robot! Do not
make any modifications to PART 1, System Section. Making any changes without the written
permission of Motoman will VOID YOUR WARRANTY!
• Some operations require standard passwords and some require special passwords. Special
passwords are for Motoman use only. YOUR WARRANTY WILL BE VOID if you use
these special passwords.
• The robot controller allows modifications of PART 2, User Section, of the concurrent I/O
program and modifications to controller parameters for maximum robot performance. Great
care must be taken when making these modifications. All modifications made to the
controller will change the way the robot operates and can cause severe personal injury or
death, as well as damage the robot and other parts of the system. Double-check all
modifications under every mode of robot operation to ensure that you have not created
hazards or dangerous situations.
• Check and test any new or modified program at low speed for at least one full cycle.
• This equipment has multiple sources of electrical supply. Electrical interconnections are
made between the controller and other equipment. Disconnect and lockout/tagout all
electrical circuits before making any modifications or connections.
• Do not perform any maintenance procedures before reading and understanding the proper
procedures in the appropriate manual.
• Use proper replacement parts.
• Improper connections can damage the robot. All connections must be made within the
standard voltage and current ratings of the robot I/O (Inputs and Outputs).

Positioner Manual
Chapter 2 Safety
page 8 Final
Notes

YASKAWA
YASKAWA MANUAL NO.
HS0481357 1
MOTOPOS-T1000 POSITIONER
INSTRUCTIONS
TYPE: YR-MPT1000-A15 (WITH 2000 kg PAYLOAD)
TYPE: YR-MPT1000-A16 (FOR NORTH AMERICAN STANDARD WITH 2000 kg PAYLOAD)
TYP: EYR-MPT1000-F00 (FOR SPECIAL SPECIFICATION WITH 2000 kg PAYLOAD)
YPE: : YR-MPT1000-F01 (FOR SPECIAL SPECIFICATION WITH 2000 kg PAYLOAD)
YPE: : YR-MPT1000-F02 (FOR SPECIAL SPECIFICATION WITH 2000 kg PAYLOAD)
YPE: : YR-MPT1000-F03 (FOR SPECIAL SPECIFICATION WITH 2000 kg PAYLOAD)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOPOS INSTRUCTIONS
MOTOMAN SETUP MANUAL
MOTOMAN-MANIPULATOR INSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATOR’S MANUAL
YASNAC XRC OPERATOR’S MANUAL FOR BEGINNERS
MOTOPOS INSTRUCTIONS
The YASNAC XRC operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.

ii
HS0481357
HS0481357
• This instruction manual is intended to explain operating instructions
and maintenance procedures primarily for the MOTOPOS.
• General items related to safety are listed in the Setup Manual Section 1:
Safety. To ensure correct and safe operation, carefully read the Setup
Manual before reading this manual.
• 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 rep-
resentative 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 prod-
uct’s warranty.
MANDATORY
CAUTION

iii
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HS0481357
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or inspection of the
MOTOPOS and YASNAC XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”, or “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.
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 dam-
age to equipment. It may also be used to alert against unsafe
practices.
Always be sure to follow explicitly the items listed under this
heading.
Must never be performed.
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
WARNING
CAUTION
MANDATORY
PROHIBITED
NOTE

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HS0481357
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• Before operating the MOTOPOS, check that servo power is turned OFF
when the emergency stop buttons on the playback panel or program-
ming pendant are pressed.
When the servo power is turned OFF, the SERVO ON READY lamp on the
playback panel and the SERVO ON LED on the programming pendant are
turned OFF.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
MOTOPOS during an emergency. The MOTOPOS 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 MOTOPOS. Then turn the
servo power ON.
Injury may result from unintentional or unexpected MOTOPOS motion.
Release of Emergency Stop
• Always set the Teach Lock before entering the MOTOPOS work envelope
to teach a job.
Operator injury can occur if the Teach Lock is not set and the MOTOPOS is started from
the playback panel.
• Observe the following precautions when performing teaching operations
within the working envelope of the MOTOPOS :
- View the MOTOPOS 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 MOTOPOS operation may result in injury.
• Confirm that no persons are present in the work envelope of MOTOPOS
and that you are in a safe location before:
- Turning ON the YASNAC XRC power.
- Operating the MOTOPOS with the programming pendant.
- Running check operations.
- Performing automatic operations.
Injury may result if anyone enters the working envelope of the MOTOPOS during opera-
tion. Always press an emergency stop button immediately if there is a problem.The emer-
gency stop buttons are located on the right side of both the YASNAC XRC playback panel
and programming pendant.
WARNING
TURN

v
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HS0481357
Definition of Terms Used Often in This Manual
The MOTOPOS is the positioner for the YASKAWA industrial robot.
The MOTOPOS usually consists of MOTOPOS positioner unit, a controller unit, a playback
panel, a programming pendant, and power cables.
In this manual, the equipment is defined as follows:
• Perform the following inspection procedures prior to conducting MOTO-
POS teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
-Check for problems in MOTOPOS movement.
-Check for damage on insulation and sheathing of external cables.
• Always return the programming pendant to the hook on the XRC cabinet
after use.
The programming pendant can be damaged if it is left in work area of the MOTOPOS, on
the floor, or near fixtures.
• Read and understand the Explanation of the Warning Labels in the Setup
Manual before operating the MOTOPOS.
Equipment Definition in this Manual
YASNAC XRC Controller XRC
YASNAC XRC Playback Panel Playback Panel
YASNAC XRC Programming Pendant Programming Pendant
CAUTION

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Explanation of Warning Labels
The following warning labels are attached to the MOTOPOS.
Always follow the warnings on the labels.
Also, an identification label with important information is placed on the body of the MOTO-
POS. Prior to operating the MOTOPOS, confirm the contents.
Motoman
No.
Warning label A Warning label B Nameplate
WARNING
Do not enter
robot work area
WARNING Label B:
Moving parts may
cause injury
WARNING
WARNING Label A:
Moving parts may
cause injury
WARNING WARNING
Do not enter
robot work area
YASKAWA ELECTRIC CORPORATION JAPAN
kgkg
Nameplate

vii
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1Receiving
1.1 Contents Confirmation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Checking the Order Number. . . . . . . . . . . . . . . . . . . . . . . 1-2
2Transportation
2.1 Transporting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.1 Using a Crane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
3Installation
3.1 Installation of the Safeguarding. . . . . . . . . . . . . . . . . . . . 3-2
3.2 Mounting Procedures for MOTOPOS Baseplate . . . 3-2
3.2.1 In Case of Installing the MOTOPOS and Manipulator
on a Common Baseplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
3.2.2 In Case of Mounting the MOTOPOS on the Floor. . . . . . . . . . .3-4
3.3 Location. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
4Wiring4.1 Grounding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2.1 Connection to the MOTOPOS. . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.2.2 Connection to the XRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
5Basic Specifications
5.1 Basic Specifications List . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 Part Names and Working Axes . . . . . . . . . . . . . . . . . . . . 5-2
5.3 Baseplate Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.4 Dimensions and Working Envelope. . . . . . . . . . . . . . . . 5-3
6Load Specifications and Jig Mounting Section
6.1 Allowable Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Details of Jig Mounting Face. . . . . . . . . . . . . . . . . . . . . . . 6-2

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7System Application
7.1 Internal User I/O Wiring Harness and Air Lines . . . . .7-1
7.2 Stopper Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-3
8Electrical Equipment Specification
8.1 Position of Limit Switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1
8.2 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1
1Maintenance and Inspection
1.1 Inspection Interval. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1
1.2 Notes on Maintenance Procedures. . . . . . . . . . . . . . . . .9-4
1.2.1 Battery Pack Replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4
1.2.2 Grease Replenishment/Exchange for Tilting Axis Speed Reducer.
9-5
Grease Replenishment (Refer to " Fig. 20 Speed Reducer
Diagram ".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5
Grease Exchange (Refer to " Fig. 20 Speed Reducer Diagram
".) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
2Recommended Spare Parts

1.1 Contents Confirmation
1-1
HS0481357
HS0481357
1Receiving
1.1 Contents Confirmation
Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following six items (information for the content of optional
goods is given separately):
• Manipulator
• XRC
• Programming pendant
• Cable between the XRC and the manipulator (2 cables or 3 cables)
• MOTOPOS
• Cable between the MOTOPOS and the XRC (2 cables)
• Confirm that the MOTOPOS and the XRC have the same order number.
Special care must be taken when more than one units of MOTOPOS are
to be installed.
If the numbers do not match, MOTOPOS may not perform as expected and cause injury
or damage.
CAUTION

1.2 Checking the Order Number
1-2
HS0481357
HS0481357
1.2 Checking the Order Number
Check that the order number of the MOTOPOS corresponds to the XRC. The order number is
located on a label as shown below.
Fig. 1 Location of Order Number Labels
TYPE
POWERSUPPLY
DATE P/N
MADEIN JAPAN
SERIALNO.
ERCR-
NJ2063-1
200/220V 50/60Hz 3PHASE KVA
NJ1530
T-
zT+ z
R+
B-
y
B+
y
R-
Z+
U+
L+
- 0
.
9
3
6
7 8
1
4
2
5
Z-
U-
X-
S-
Y-
L-
Y+
X+
S+
YASNAC XRC UP6
ORDER NO.
(a) XRC (Front View) (b) MOTOPOS (Side View)
THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER.
ORDER NO.
Check that the manipulator
and the XRC have the
same order number.
Label (Enlarged View)
THE MANIPULATORAND THE CONTROLLER
SHOULD HAVESAME ORDER NUMBER.
ORDER NO.