YASKAWA MOTOMAN-MA1900 User manual

MANUAL NO.MANUAL NO.
33
HW0484971HW0484971
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MOTOMAN-MA1900MOTOMAN-MA1900
INSTRUCTIONSINSTRUCTIONS
TYPE: YR-MA01900TYPE: YR-MA01900
-A00 (STANDARD SPECIFICA-A00 (STANDARD SPECIFICA
TIONS)TIONS)
YR-MA01900-A01 (SLU-AXES WITH LIMIT SWITCHES)YR-MA01900-A01 (SLU-AXES WITH LIMIT SWITCHES)
YR-MA01900-A10 YR-MA01900-A10
(CEILING-MOUNTED (CEILING-MOUNTED
SPECIFICATION)SPECIFICATION)
 YR-MA01900-A11 YR-MA01900-A11
(CEILING-MOUNTED, SLU-AXES WITH LIMIT SWITCHES)(CEILING-MOUNTED, SLU-AXES WITH LIMIT SWITCHES)
Upon receipt of the Upon receipt of the
product and prior to initial operation, read these product and prior to initial operation, read these
instructions thoroughlyinstructions thoroughly
, and retain, and retain
for future reference.for future reference.
MOTOMAN INSTRUCTIONSMOTOMAN INSTRUCTIONS
MOTOMAN-MA1900 INSTRUCTIONSMOTOMAN-MA1900 INSTRUCTIONS
DX100 INSTRUCTIONSDX100 INSTRUCTIONS
DX100 OPERATOR’S MANUALDX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUALDX100 MAINTENANCE MANUAL
The DX100 operator’s manuals above correspond to specific uThe DX100 operator’s manuals above correspond to specific u
sage.sage.
Be sure to use the appropriate manual.Be sure to use the appropriate manual.
1/791/79

iiii
156226-1CD156226-1CD
HW0484971HW0484971
MA1900MA1900
MANDATORYMANDATORY
••
This This
insins
tructruc
tiotio
n mann man
ual iual i
s ints int
endend
ed to ed to
explexpl
ain main m
ainain
ly on ly on
thethe
mechanical part of the MOTOMAN-MA1900 for the application tomechanical part of the MOTOMAN-MA1900 for the application to
the actual operation the actual operation
and for proper and for proper
maintenance and inspection. maintenance and inspection.
ItIt
describes on safety and handling, details on specifications,describes on safety and handling, details on specifications,
necessary items on maintenance and inspection, to explainnecessary items on maintenance and inspection, to explain
operating instructions and operating instructions and
maintenance procedures. maintenance procedures.
Be sure toBe sure to
read and understand this instruction manual thoroughly beforeread and understand this instruction manual thoroughly before
installing and operating the manipulator.installing and operating the manipulator.
••
GeneGene
ral itral it
ems rems r
elaela
ted to sted to s
afeafe
ty are lty are l
istist
ed in Ched in Ch
aptapt
er 1: Saer 1: Sa
fety ofety o
f thef the
DX100 Instructions. DX100 Instructions.
TT
o ensure correct and safe operation, carefullyo ensure correct and safe operation, carefully
read the DX100 Instructions before reading this manual.read the DX100 Instructions before reading this manual.
CAUTIONCAUTION
••
Some dSome d
rawraw
inging
s in this in thi
s manus manu
al aral ar
e showe show
n witn wit
h the prh the pr
otecotec
tivtiv
e cove cov
ersers
or shields removed for clarityor shields removed for clarity
. .
Be sure all covers and shields areBe sure all covers and shields are
replaced before operating this product.replaced before operating this product.
••
The dThe d
rawirawi
ngs angs a
nd phnd ph
otooto
s in ths in th
is mais ma
nual nual
are rare r
eprepr
esenesen
tattat
iveive
examples and differences may exist between them and theexamples and differences may exist between them and the
delivered product.delivered product.
••
YY
ASKAASKA
WA maWA ma
y modiy modi
fy thify thi
s modes mode
l withl with
out noout no
tice wtice w
hen nehen ne
cesscess
aryary
due to product improvements, modifications, or changes indue to product improvements, modifications, or changes in
specifications.specifications.
If such modification is made, the manual number will also beIf such modification is made, the manual number will also be
revised.revised.
••
If youIf you
r copy r copy
of thof th
e mane man
ual iual i
s dams dam
aged aged
or loor lo
st, cst, c
ontont
act a Yact a Y
ASKAASKA
WAWA
representative to order a representative to order a
new copynew copy
. .
The representatives are The representatives are
listedlisted
on the back coveron the back cover
. .
Be sure to tell the representative the manualBe sure to tell the representative the manual
number listed on the front cover.number listed on the front cover.
••
YAYA
SKAWSKAW
A is A is
not rnot r
esponsiesponsi
ble fble f
or ior i
ncidentncident
s as a
rising rising
from from
unauthunauth
orizedorized
modification of itmodification of it
s products. s products.
Unauthorized modification Unauthorized modification
voids yourvoids your
product's product's
warrantywarranty
..
2/792/79

iiiiii
156226-1CD156226-1CD
HW0484971HW0484971
MA1900MA1900
Notes for Safe OperationNotes for Safe Operation
Read this manual carefully before installation, operation, maintenance, orRead this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MA1900.inspection of the MOTOMAN-MA1900.
In this manual, the Notes for Safe Operation are classified asIn this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
Even items described as “CAUTION” may result in a serious accident inEven items described as “CAUTION” may result in a serious accident in
some situations.some situations.
At any rate, be sure to follow these important itemsAt any rate, be sure to follow these important items
WARNINGWARNING
Indicates a potentially hazardousIndicates a potentially hazardous
situation which, if not avoided, couldsituation which, if not avoided, could
result in death or serious injury toresult in death or serious injury to
personnel.personnel.
CAUTIONCAUTION
Indicates a potentially hazardousIndicates a potentially hazardous
situation which, if not avoided, couldsituation which, if not avoided, could
result in minor or moderate injury toresult in minor or moderate injury to
personnel and damage to equipment.personnel and damage to equipment.
It may also be used to alert againstIt may also be used to alert against
unsafe practices.unsafe practices.
MANDATORYMANDATORY
Always be sure Always be sure
to follow to follow
explicitly theexplicitly the
items listed under this heading.items listed under this heading.
PROHIBITEDPROHIBITED
Must never be performed.Must never be performed.
NOTENOTE
TT
o ensure safe and efficient operation at all o ensure safe and efficient operation at all
times, be sure totimes, be sure to
follow all instructions, even if not designated as "CAUTION"follow all instructions, even if not designated as "CAUTION"
and "WARNING".and "WARNING".
3/793/79

iv
156226-1CD
HW0484971
MA1900
WARNING
•
Befo
re ope
rati
ng the ma
nip
ula
tor
, chec
k that s
erv
o powe
r is tur
ned
OFF pressing the emergency stop buttons on the front door of the
DX100 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant
is turned OF
F
.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator
during an emergency
.
The manipulator
should not be used if the emergency stop buttons do not function.
Figure
1: Emerge
ncy St
op Button
•
Once t
he em
erge
ncy s
top bu
tto
n is re
lea
sed,
cle
ar th
e cell o
f all
items which could interfere
with the operation of the
manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Figure
2: Relea
se of Emergenc
y Stop
TURN
•
Obse
rve th
e fol
low
ing pr
ecau
tio
ns wh
en pe
rfor
min
g tea
chin
g
operations within the P-point maximum envelope of the
manipulator:
–
View the manipulator from the front whenever possible.
–
Always follow the predetermined operating procedure.
–
Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
–
Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended m
anipulator operation may result i
n injury.
•
Con
firm t
hat n
o pers
on is pr
ese
nt in t
he P-
poi
nt ma
ximu
m env
elo
pe
of the manipulator and that you are in a safe location before:
–
Turning ON the power for the DX100.
–
Moving the manipulator with the programming pendant.
–
Running the system in the check mode.
–
Performing automatic operations.
Injury may result if anyone enters the P-p
oint maximum envelope of the
manipulator during operation.
Always press an
emergency stop button
immediately if there is a problem.
The emergency stop buttons are located
on the right of front door of the
DX100 and the programming pendant.
4/79

v
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MA1900
Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the m
anipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
CAUTION
•
Per
form t
he fol
low
ing in
spe
cti
on pro
ced
ure
s prio
r to cond
uct
ing
manipulator teaching.
If problems
are found, repair
them
immediately
, and be sure th
at all other necessary processing
has
been performed.
–
Check for problems in manipulator movement.
–
Check for damage to insulation and sheathing of external wires.
•
Alw
ays r
etu
rn the p
rog
ram
min
g pend
ant t
o the ho
ok on t
he cab
ine
t
of the DX100 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on th
e floor, or near fixtures.
•
Rea
d and un
der
sta
nd th
e Expl
ana
tio
n of W
arn
ing La
bel
s in the
DX100 Instructions before operating the manipulator:
E
q
u
i
p
m
e
n
t
M
a
n
u
a
l
D
e
s
i
g
n
a
t
i
o
n
D
X
1
0
0
c
o
n
t
r
o
l
l
e
r
D
X
1
0
0
D
X
1
0
0 p
r
o
g
r
a
m
m
i
n
g
p
e
n
d
a
n
t
P
r
o
g
r
a
m
m
i
n
g p
e
n
d
a
n
t
Cable between the manipulator and the
controller
Manipulator cable
5/79

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MA1900
Explanation of Warning Labels
The following warning labels ar
e attached to the manipulator.
Always follow the warnings on the labels.
Also, an identification label with important information is placed on the
body of the manipulator
.
Prior to operating the manipulator
, confirm the
contents.
Figure
3: Warnin
g Label Locat
ions
WARNING label A
WARNING label B
Nameplate
WARNING
Moving parts
may ca us e
injury
WARNING Label A:
WARNING Label B:
Nameplate
MOTOMAN
TYPE
PAYLOAD
ORDER NO.
SERIAL NO.
MASS
DATE
YASKA
WA ELECTRIC
CORPORAION JAPAN
kg
kg
WARNING
Do n o t enter
robot
work
area
.
6/79

vii
156226-1CD
HW0484971
MA1900
Table of Contents
1 Product
Confirmation
....................................................................................
..................................
1-1
1.1
Contents
Confirmation
........................................................................................
...............
1-1
1.2
Order
Number
Confirmation
...............................................................................
...............
1-2
2
Transport.......................................................................
..................................................................
2-1
2.1 Transport
Method
............................................................................
..................................
2-1
2.1.1
Using
a
Crane
....................................................................
..................................
2-2
2.1.2
Using
a
Forklift................................................
......................................................
2-3
2.2
Cushioning
Material
for
Transport
.....................................................................................
2-4
3
Installation.................
.................................................................................................
.....................
3-1
3.1 Safeg
uarding
Installation
...................................................................................................
3-2
3.2
Mounting
Procedures
for
Manipulator
Base
......................................................................
3-2
3.2.1
Mounting
Example
.................................................................................
...............
3-3
3.3
Types
of
Mounting
.................................................................................
............................
3-4
3.3.1
S-Axis
Operating
Range
.......................................................................................
3-4
3.3.2
Fixing
the
Manipulator
Base
.................................................................................
3-4
3.3.3
Precautions
to
Prevent
the
Manipulator
from
Falling............................................
3-5
3.4
Location
.................................................................................................
............................
3-6
4
Wiring.....
................................................................................................
.........................................
4-1
4.1
Grounding
........................................................................................
..................................
4-1
4.2 Cable
Connection
..................................................................................
............................
4-2
4.2.1
Connection
to
the
Manipulator..............................................................................
4-3
4.2.2
Connection
to
the
DX100
.....................................................................................
4-3
5
Basic
Specifications
......................................................................................
..................................
5-1
5.1
Basic
Specifications..
.........................................................................................................
5-1
5.2
Part
Names
and
Working
Axes..................................................................................
........
5-2
5.3
Manipulator
Base
Dimensions
...........................................................................................
5-2
5.4
Dimensions
and
P-point
Maximum
Envelope
....................................................................
5-3
5.5
Alterable
Operating
Range
..............................................................................................
..
5-5
6
Allowable
Load
for
Wrist
Axis
and
Wrist
Flange
.............................................................................
6-1
6.1
Allowable
Wrist
Load
.......................................................................................................
..
6-1
6.2
Wrist
Flange........................................................................
...............................................
6-2
7/79

4 Wiring
4.2
Cable
Connection
4-2
156226-1CD
HW0484971
MA1900
Fig.
4-1: Gro
unding M
ethod
4
.
2
C
a
b
l
e
C
o
n
n
e
c
t
io
n
Two manipulator cables are delivered with the manipulator: an encoder
cable (1BC) a
nd a pow
er cable (2BC).
(Refer to
Fig. 4-2 Manipulator
Cables on page 4-3
.)
Connect these cables to the manipulator base connectors and to the
DX100.
Refer
to
Fig. 4-3(a) Manipulator Cable Connectors (Manipulator
Side
) on pa
ge
4-4
and
Fig. 4-3(b) Manipulator Cable Connection (DX100
Side
) on pa
ge
4-4
“.
5.5mm
2
or more
A
A
Bolt M8 (for grounding)
(Delivered with the
manipula
tor)
Section A-A’
22/79

4-3
156226-1CD
HW0484971
MA1900
4 Wiring
4.2
Cable
Connection
4.2
.1
Co
nne
cti
on to t
he Ma
ni
pul
ato
r
Before connecting two cables to the manipulator, verify the numbers on
both manipulator cables and the connectors on the connector base of the
manipulator.
When connecting, adjust the c
able connector positions to
the main key positions of the manipulator, and insert cables in the order of
2BC, then 1BC.
After inserting the cables,
depress the lever until
it clicks.
4.2
.2
Co
nne
ct
io
n t
o t
he
DX
10
0
Before connecting cables to the DX100, verify the numbers on both
manipulator cables and t
he connectors on th
e DX100.
When connecting,
insert the cables in the order of X21, then X11, and depress each lever
until it clicks.
Fig.
4-2: Mani
pulator
Cables
X
2
1
2
B
C
X
1
1
1
B
C
2BC
1BC
X21
2BC
X11
1BC
Encoder cable
Manipulator side
Manipulator side
DX100 side
DX100 side
Power cable
23/79

4 Wiring
4.2
Cable
Connection
4-4
156226-1CD
HW0484971
MA1900
Fig.
4-3(a): Manipulator
Cable Connectors
(Manipulator Side)
Fig.
4-3(b): Manipulator
Cable Connection
(DX100 Side)
2BC
1BC
3BC
Connector Details
(Manipulator Side)
X11
X21
24/79

5-1
156226-1CD
HW0484971
MA1900
5
Basic
Specifications
5.1
Basic
Specifications
5
B
a
s
i
c
S
p
e
c
i
f
i
c
a
t
i
o
n
s
5
.1
Ba
si
c S
p
ec
if
ic
a
ti
on
s
T
able 5-1: Basic
Specifications
1)
I
t
e
m
M
o
d
e
l
M
O
T
O
M
A
N
-
M
A
1
9
0
0
S
t
r
u
c
t
u
r
e
V
e
r
t
i
c
a
l
l
y
A
r
t
i
c
u
l
a
t
e
d
D
e
g
r
e
e
o
f
F
r
e
e
d
o
m
6
P
a
y
l
o
a
d
3
k
g
Repeatability
2)
±0.08 mm
R
a
n
g
e
o
f
M
o
t
i
o
n
S
-
A
x
i
s
(
t
u
r
n
i
n
g
)
±
1
8
0
°
L
-
A
x
i
s
(
l
o
w
e
r
a
r
m
)
+
1
5
5
°
,
-
1
1
0
°
U
-
A
x
i
s
(
u
p
p
e
r
a
r
m
)
+
2
2
0
°
,
-
1
6
5
°
R
-
A
x
i
s
(
w
r
i
s
t
r
o
l
l
)
±
1
5
0
°
B
-
A
x
i
s
(
w
r
i
s
t
p
i
t
c
h
/
y
a
w
)
+
1
8
0
°
,
-
4
5
°
T
-
A
x
i
s
(
w
r
i
s
t
t
w
i
s
t
)
±
2
0
0
°
M
a
x
i
m
u
m
S
p
e
e
d
S
-
A
x
i
s
3
.
4
4
r
a
d
/
s
,
1
9
7
°
/
s
L
-
A
x
i
s
3
.
0
5
r
a
d
/
s
,
1
7
5
°
/
s
U
-
A
x
i
s
3
.
2
3
r
a
d
/
s
,
1
8
5
°
/
s
R
-
A
x
i
s
7
.
1
6
r
a
d
/
s
,
4
1
0
°
/
s
B
-
A
x
i
s
7
.
1
6
r
a
d
/
s
,
4
1
0
°
/
s
T
-
A
x
i
s
1
0
.
6
5
r
a
d
/
s
,
6
1
0
°
/
s
Allowable Moment
3)
R
-
A
x
i
s
8
.
8
N
•
m
(
0
.
9
k
g
f
•
m
)
B
-
A
x
i
s
8
.
8
N
•
m
(
0
.
9
k
g
f
•
m
)
T
-
A
x
i
s
2
.
9
N
•
m
(
0
.
3
k
g
f
•
m
)
Allowable Inertia (GD
2
/
4
)
R
-
A
x
i
s
0
.
2
7
k
g
•
m
2
B
-
A
x
i
s
0
.
2
7
k
g
•
m
2
T
-
A
x
i
s
0
.
0
3
k
g
•
m
2
Approx. Mass
280 kg
Ambient Conditions
T
emperature
0° C to 45° C
H
u
m
i
d
i
t
y
2
0
t
o
8
0
%
R
H
(
n
o
n
-
c
o
n
d
e
n
s
i
n
g
)
V
i
b
r
a
t
i
o
n
A
c
c
e
l
e
r
a
t
i
o
n
4
.
9
m
/
s
2
or less (0.5 G)
O
t
h
e
r
s
F
r
e
e
f
r
o
m
c
o
r
r
o
s
i
v
e
g
a
s
o
r
l
i
q
u
i
d
,
o
r
e
x
p
l
o
s
i
v
e
g
a
s
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
P
o
w
e
r
R
e
q
u
i
r
e
m
e
n
t
s
2
.
0
k
V
A
1
SI units a
re used in th
is table
. Howev
er, grav
itatio
nal unit is us
ed in ( ).
2
Co
nf
or
me
d t
o IS
O9
28
3
3
R
e
f
e
r
t
o
Section 6.1 “Allowable Wrist Load” on page 6-1
for details on t
he permissible moment of inertia.
25/79

5
Basic
Specifications
5.2
Part Names
and Working
Axes
5-2
156226-1CD
HW0484971
MA1900
5.
2
Pa
rt
Na
me
s a
nd
Wo
rk
in
g A
xe
s
Fig.
5-1: Part N
ames and Work
ing Axes
5.
3
Ma
ni
pu
la
to
r Ba
se D
im
en
si
on
s
Fig.
5-2: Manipu
lator Base Dime
nsions
Wrist flange
T+
T-
B-
B+
R+
R-
U-
U+
L
-
L
+
S-
S+
U-arm
L-arm
Manipulator base
S-head
3
9
5
.
5
1
9
5
.
5
6
0
±
0.1
60
200
2
0
0
±
0
.
1
±
0
.
1
260
1
7
0
±
0.1
3
3
5
3
7
5
2
5
0
313
335
375
2
5
A
View A
18 dia. (4 holes)
(For fixing the manipulator)
Units: mm
Fitting surface
Fitting surface
12
dia.
hole
(2 holes)
+0.018
0
26/79

5-3
156226-1CD
HW0484971
MA1900
5
Basic
Specifications
5.4
Dimensions and
P-point Maximum
Envelope
5.
4
Di
me
ns
io
ns a
nd P
-p
oi
nt Ma
xi
mu
m En
ve
lo
pe
Fig.
5-3(
a):
Dimensions and P-Point Maximum Envelope (YR-MA01900-A00, A01)
4
2
d
i
a
.
408
519
1
7
4
.
4
1534
154.7
247
138.5
264
157
1166
409
8
1
°
1
6
5
°
2
2
0
°
0
341
178
908
R
1
9
0
4
R
5
5
4
180
°
55
180
°
75
1
5
4
0
0
465
547
1178
647
1
1
0
°
1
5
5
°
2259
0
2
0
0
970
30
0
150
554
1604
2
2
0
7
6
0
5
0
5
1
4
8
5
1904
P-point maximum
envelope
P-Point
Units: mm
27/79

5-5
156226-1CD
HW0484971
MA1900
5
Basic
Specifications
5.5
Alterable
Operating
Range
5.
5
Al
te
ra
bl
e O
pe
ra
ti
ng
Ra
ng
e
The operating range of the S-axis can be altered in accordance with the
operating conditions as shown in
Table 5-2 S-Axis Operating Range
.
If alteration
is necessary, contact your Yaskawa Motoman representative
in advance.
T
able 5-2: S-Axis Operating
Range
I
t
e
m
S
p
e
c
i
f
i
c
a
t
i
o
n
s
S-Axis Operating
Range
±180°(standard)
±150°
±120°
± 90°
± 60°
± 30°
29/79

5
Basic
Specifications
5.5
Alterable
Operating
Range
5-6
156226-1CD
HW0484971
MA1900
30/79

6-1
156226-1CD
HW0484971
MA1900
6
Allowable
Load
for
Wrist
Axis
and
Wrist
Flange
6.1
Allowable
Wrist
Load
6
Al
lo
wa
bl
e L
oa
d f
or
Wr
is
t A
xi
s a
nd
W
ri
st
Fl
an
ge
6
.1
Al
lo
wa
bl
e W
r
is
t L
o
a
d
The allowable wrist load is 3 kg
maximum.
If force is applied to the w
rist
instead of the load, force on R-, B-, and T-axes should be within the value
shown in
T
able 6-1 Allowable
Wrist Load
.
Contact
your Y
askawa
Motoman representative for further information or assistance.
When the volume load is small, refer to the moment arm rating shown in
Fig.6-1 Moment Arm Rating
.
The allowable total moment of inertia is calculated when the moment is at
the maximum.
Contact your Y
askawa representative beforehand w
hen
only the moment of inertia is created, or when the load moment is small
while the moment of
inertia is large.
Also, when the
load mass is
combined with an outside force, contact your Yaskawa Motoman
representative beforehand.
Fig.
6-1: Mom
ent Arm R
ating
Table 6-1: Allowable Wrist Load
A
x
i
s
M
o
m
e
n
t
N
•
m (kgf
•
m)
1)
1
( )
: Gr
av
ita
ti
on
al u
ni
t
GD
2
/4 To
tal Mom
ent of Inertia
kg•m
2
R
-
A
x
i
s
8
.
8
(
0
.
9
)
0
.
2
7
B
-
A
x
i
s
8
.
8
(
0
.
9
)
0
.
2
7
T
-
A
x
i
s
2
.
9
(
0
.
3
)
0
.
0
3
Load gravity position
400
(mm)
L
B
(
m
m
)
T
L
W=3Kg
200
100
300
200
100
0
B
T
L
L
200
B-axis rotation center
R-, T-axis rotation center
31/79

6
Allowable
Load
for
Wrist
Axis
and
Wrist
Flange
6.2
Wrist
Flange
6-2
156226-1CD
HW0484971
MA1900
6
.
2
W
r
i
s
t
F
l
a
n
g
e
The wrist flange dimensions are shown in
Fig.6-2 Wrist Flange
.
It
is
recommended that the attachment be mounted inside the fitting in orde
r to
identify the
alignment marks.
Fitting depth
shall be
6 mm or
less.
As
shown in the figure below, the attachment shall be mounted on the range
of 90 diameter or less with up to 5 mm height from the flange face.
Fig.
6-2: Wr
ist Fl
ange
NOTE
Wash off anti-corrosive paint (yellow) on the wrist flange
surface with thinner or light oil before mounting the tools.
P
.
C
.
D
.
5
6
9
0
d
i
a
.
3
0
°
Attachments shall be mounted
within this range.
(The
range
of
42
dia.
)
+0.025
0
4
2
d
i
a
.
+
0
.
0
2
5
0
6
d
i
a
.
(
D
e
p
t
h
:
6
)
+0.012
0
Units: mm
Tapped hole M4 (6 holes)
(Depth: 10) (Pitch: 0.7)
5
6
32/79

9
Maintenance
and
Inspection
9.3
Notes on
Grease Replenishment
Procedures
9-20
156226-1CD
HW0484971
MA1900
9.
3.
8.2
Bat
te
ry P
ac
k Co
nn
ec
ti
on
Before removing the encoder connector (with CAUTION label), connect
the battery pack referring to the following figures.
Fig.
9-12(a): Enco
der Connecto
r Diagram (for S-, L-, and
U-Axes)
CAUTION label
Encoder connector
Motor power connector
Battery pack (HW9470932-A)
Motor
Connector for the battery backup
a: Crimped contact-pin (pin)
b: Crimped contact-pin (socket)
Connect battery to encoder
to save the data before
removing conector.
CAUTION
CAUTION label (Enlarged view)
CAUTION
Connect battery to
encoder
to save the data before
removing conector.
b
a
a
b
0BT
BAT
BAT*
0BT*
60/79

9-21
156226-1CD
HW0484971
MA1900
9
Maintenance
and
Inspection
9.3
Notes on
Grease Replenishment
Procedures
Fig.
9-12(b): Encoder Connector Diagram (for
R-, B-, and T
-Axes)
Encoder
Motor
Motor cable, etc.
Power connector
Wire harness
in manipulator
Encoder connector
CAUTION label
Battery pack
(HW9470932-A)
a: Crimped contact-pin (pin)
b: Crimped contact-pin (socket)
Connection
CAUTION label (Enlarged view)
CAUTION
Connect battery to encoder
to save the data before
removing conector.
C
A
U
T
I
O
N
C
o
n
n
e
c
t
b
a
t
t
e
r
y
t
o
e
n
c
o
d
e
r
t
o
s
a
v
e
t
h
e
d
a
t
a
b
e
f
o
r
e
r
e
m
o
v
i
n
g
c
o
n
e
c
t
o
r
.
BAT4
0BT4
a
b
b
a
0BT
BAT
BAT4
0BT4
a
b
b
a
BAT
0BT
61/79

9
Maintenance
and
Inspection
9.3
Notes on
Grease Replenishment
Procedures
9-22
156226-1CD
HW0484971
MA1900
62/79