motoman-epx2750 instructions€¦ · shields removed for clarity. be sure all covers and shields...

MOTOMAN-EPX2750INSTRUCTIONSTYPE:YR-EPX2750-A300(-A310)

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.

Part Number: 164707-1CDRevision: 1

MOTOMAN INSTRUCTIONSMOTOMAN-EPX2750 INSTRUCTIONSNX100 INSTRUCTIONSNX100 INSTRUCTIONS (EPX INSTRUCTIONS SUPPLEMENTS)NX100 OPERATOR’S MANUAL FOR PAINTING

The NX100 operator’s manuals above correspond to specific usage. Be sure to use the appropriate manual.

MANUAL NO.

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• This manual describes the specifications, precautions for operation and required items for maintenance or inspections, for proper application of the MOTOMAN-EPX2750. Read this manual carefully and be sure to understand its contents before handling the MOTOMAN.

• General items related to safety are listed in Section 1: Safety of the Setup Manual. To ensure correct and safe operation, carefully read the Setup Manual before reading this manual.

• Refer to NX100 Operator’s Manual for the operation methods.

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

• The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product.

• YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.

• YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product’s warranty.

MANDATORY

CAUTION

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Notes for Safe OperationRead this manual carefully before installation, operation, maintenance, or inspection of the MOTOMAN. 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.

Definition of Terms Used Often in This ManualThe MOTOMAN is the YASKAWA industrial robot product.The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and the manipulator cables.In this manual, the equipment is designated as follows:.

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”.

Equipment Manual Definition

NX100 controller NX100

NX100 programming pendant Programming pendant

Cable between the manipulator and the control-ler

Manipulator cable

WARNING

CAUTION

MANDATORY

PROHIBITED

NOTE

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1 Safety Precautions

2 Features2.1 Methods of Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12.2 Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

3 Installation3.1 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13.2 Installation Site. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

4 Handling and Installation4.1 Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14.2 Receiving and Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14.3 Installation of MOTOMAN . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4.3.1 Safeguard Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34.3.2 Installation of Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34.3.3 When the Manipulator and Mounting Fixture are

Installed on a Base Plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44.3.4 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54.3.5 Controller and Programming Pendant . . . . . . . . . . . . . . . . . . . 4-54.3.6 Safety Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

5 Connection5.1 Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.1.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25.2 Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

5.2.1 Connection to the Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . 5-35.2.2 Connection to the NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5.3 Internal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

6 System Configuration6.1 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16.2 Robot Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

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6.3 Pneumatic Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-46.4 Tubes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-66.5 O-ring in the Wrist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

7 Basic Specifications7.1 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-17.2 Wrist Flange. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27.3 System Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

8 Frequent Inspections8.1 Frequent Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18.2 Daily Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3

8.2.1 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3 Visual inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3 Dried paint, dust, and dirt . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3 Tubes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3 Air leakage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-4 Noise and vibration during operation. . . . . . . . . . . . . . . . . . .8-4

8.2.2 Pneumatic Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-4 Drained water from air filter . . . . . . . . . . . . . . . . . . . . . . . . . .8-4 Pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-4

8.2.3 Safety Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5 Emergency stop button and safety plug . . . . . . . . . . . . . . . .8-5 Photoelectric intrusion detecting switch . . . . . . . . . . . . . . . .8-5 Limit switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5

8.2.4 Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5 Gun tilt switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5 Shear pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5

9 Maintenance and Inspection9.1 Inspection Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19.2 Maintenance for Manipulator. . . . . . . . . . . . . . . . . . . . . . . 9-4

9.2.1 Grease Replenishment/Replacement . . . . . . . . . . . . . . . . . . . .9-4 Gears. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-5 Harmonic Drive speed reducer . . . . . . . . . . . . . . . . . . . . . . .9-6 RV speed reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-7

9.2.2 Lubricating Oil Replacement for R-, B- and T-axes Speed Reducers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-10

9.2.3 Tightening Bolts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-109.2.4 Wrist Speed Reducer and Bearing . . . . . . . . . . . . . . . . . . . . .9-11

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9.2.5 Air Sealing for Internal Air Pressure . . . . . . . . . . . . . . . . . . . . 9-12 Gasket on the motor case. . . . . . . . . . . . . . . . . . . . . . . . . . 9-12 Manipulator Base Box Cover Gasket . . . . . . . . . . . . . . . . . 9-14

9.2.6 Battery Board Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . 9-159.3 Inspection of the Pneumatic Unit . . . . . . . . . . . . . . . . . . 9-16

9.3.1 Solenoid Valve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-169.3.2 Pressure Reducing Valve . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16

9.4 Inspection of Explosion-proof Devices . . . . . . . . . . . . . 9-179.4.1 Pressure Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-179.4.2 Master Valve. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-179.4.3 Pressurized Explosion-proof Barrier . . . . . . . . . . . . . . . . . . . . 9-17

10 Recommended Spare Parts

11 Parts List11.1 S-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-111.2 LU-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-311.3 Switch Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-511.4 RBT-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-711.5 Wrist Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9

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1 Safety Precautions

1. Respect the law, local regulations, and safety codes for connecting the painting robot.

2. Specify the working regulations and the person in charge for the following operations:

a) Turning the power to the robot ON/OFF, and RUN/STOP operations To avoid any faulty operation, take measures such as putting up a notice to remind operators of procedures and precautions explained in the instruction manual.

b) Warning sign or signal to inform operator of the robot operation status Starting an operation while someone is in the manipulator’s working envelope or while someone is doing maintenance checks or repairs may cause a serious accident. When on standby, the manipulator can be moved by an external signal. To avoid these accidents caused by a lack of information, put up a board or indicator lamp to show the robot operation status.

c) Action to be taken in case of a failure or an accidentAppoint a person to be contacted and the action to be taken in case of a failure or an accident.

d) Safety standards and the supervisor for safe operationAppoint a supervisor for the safe operation of the manipulator and establish the working regulations.

e) Appoint a person to be in charge of teaching, maintenance and inspections and provide training or lectures on safety and the actions to be taken in case of an emergency.

Select a location for the MOTOMAN-EPX2750, a “Division 1 area” or “Division 2 area”. Do not select a location which can be classified as a “Division 0 area” or a more hazardous location.These divisions are prescribed in “Recommended Practice for Explosion-Protected? Electrical Installations in General Industries 1979” in the “TECHNICAL RECOMMENDATIONS OF THE RESEARCH INSTITUTE OF INDUSTRIAL SAFETY” by the “Technical Institution of Industrial Safety”

WARNING

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• Take the following measures when teaching, correcting, inspecting, or adjusting the manipulator when the motor power supply is ON:(a) Appoint a personnel to stay beside the emergency stop button of the NX100. And

perform the operations holding the programming pendant with the emergency stop button.

(b) Before the operation, verify the correct robot motion and that the emergency stop works.

• Observe the following precautions during an automatic operation:(c) Do not enter inside the safeguards during operation.(d) Confirm the following before starting the operation:

• No person is inside the manipulator working envelope• No obstacles such as unnecessary workpieces and tools are inside the

manipulator working envelope• The manipulator is in its standby position

(e) When any abnormality occurs, immediately press the emergency stop button to stop the manipulator.

(f) Before entering inside the manipulator working envelope, be sure to stop the manipulator and turn OFF the main power supply to the NX100.

• Brake release (Option)A braking system is provided on each axis of the manipulator to hold the arm in its position when a failure or fault occurs. When the brake is activated, the manipulator cannot be moved manually even if the power is OFF. To change the posture of the manipulator after a failure or fault, the brake can be released by the operation from the controller.When the brake is released with the manipulator’s power OFF, each axis falls down because of the arm weight. While two or more people are holding the arm in position before releasing the brake, change the posture of the manipulator within the minimum motion range.Use the brake release function only when absolutely necessary.

Any modification of the MOTOMAN-EPX2750, and the followings are strictly prohibited:1. Explosion-proof devices and system installation2. Safeguards and the safety devices mounted on these safeguards3. Emergency stop button, and other safety devices4. Robot control system such as the NX100 robot controller, the manipulator drive

section and the power transmission section

WARNING

PROHIBITED

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2.1 Methods of Protection164707-1CD

2 Features

The MOTOMAN-EPX2750 is designed for easy-handling and to consider safety first in operation.

2.1 Methods of Protection

The MOTOMAN-EPX2750 is evaluated as Type X Purged for use in Class I, Division 1, Groups A, B, C and D indoor hazardous (classified) locations T4, and appear in the Factory Mutual (FM) Research Approval Guide.They have the construction of protection as follows:Metod of Protection;

• The pressurized explosion-proof method prevents explosive gas from entering the manipulator by supplying a protective gas, such as clean air or an inert gas, to keep the internal air pressure constant.

• The Intrinsic-safety explosion-proof method prevents explosive gas from igniting by electric spark and heat.

2.2 Teaching

The target positions, the motion speed, and the ON/OFF timing of the spray can be taught with the programming pendant while moving the manipulator, which shortens the time required for teaching. And, the data can be corrected at any time.Because the teaching function and the correction function are integrated, the operations such as forward/reverse run, position modification, addition/deletion of points can be performed during teaching. And the management function, which manages the parameter settings, enables you to monitor the actual status during teaching. The on-screen guidance and the interactive system on the pull-down menus lead the operator through the operation procedures.

(1) Large-capacity backup as a standard featureThe large-capacity drive for PC cards is provided as a standard feature of backup unit and enables data to be transmitted easily.

Install the MOTOMAN-EPX2750 in a location that meets the requirements of Area Classification “Division 1 area” or “Division 2 area” prescribed in FM Approval Standard.Do not select a location which can be classified as a “Division 0 area” or a more hazardous location.

WARNING

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(2) High reliabilitya) The built-in microcomputer continuously checks the I/O data and the

manipulator motion to ensure high-reliability.b) Can detect power supply faults and software faults with its self-diagnosis

functions.(3) When an error such as an operation error or a controller fault occurs, the alarm code

and message are displayed, and the date and time of the error occurrence with its explanation are stored in the alarm history to help you take a quick, corrective action.

Be sure to save the backup data for the controller, such as the data for jobs and constants, on a PC card. If not, the necessary data for the manipulator may be lost if an internal memory fault occurs in the controller.

CAUTION

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3.1 Requirements164707-1CD

3 Installation

3.1 Requirements

Prepare the power supply, the air supply, and the grounding according to the following specifications.

Table 1 Specifications

No. Item Specifications Remarks

1Power supply 3-phase 200/220 VAC (±10%)

50/60 Hz (±2 Hz)5 kVA (at peak)

2

Air supply Pressurized explosion-proof enclosure

Required pressure: 0.35 MPa to 0.65 MPa (3.5 kgf/cm2 to 6.5 kgf/cm2)Capacity: For the pressurized explosion- proof 50 NI/min usually 1000 NI/min when purgingDryness: Freezing at -18 C

Use dry air for the pressurized explosion-proof enclosure.

3Grounding Grounding resistance:

100ohm or less (Non I.S. GND) 10ohm or less (I.S. GND)

For the robot controller

Use dry air for the pressurized explosion-proof enclosure. Moisture in the air supply may damage the electronic parts.

CAUTION

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3.2 Installation Site164707-1CD

3.2 Installation Site

This section describes the conditions of the installation site for the robot system. Only devices that are approved as explosion-proof can be installed in hazardous locations. Refer to the local regulations and safety codes for the definition of a hazardous location. Install the controller and control panels in a location free from water drops, dust, and dirt.

Table 2 Installation Site

System Components

Hazardous Location

(Inside Painting Booth)

Non-hazardous Location

(Outside Painting Booth)

Ambient Tempera-

ture

Maximum Ambient Humidity

Manipulator (explosion-proof) - 0 to 40 C 80 %RHController (not explosion-proof) 0 to 45 C 90 %RH

Pneumatic unit (not explosion-proof) 0 to 45 C 85 %RH

Programming pendant(not explosion-proof) 0 to 40 C 85 %RH

Programming pendant (explosion-proof) (Option) 0 to 40 C 85 %RH

Conveyer speed detector(not explosion-proof) 0 to 50 C 90 %RH

Conveyer speed detector(explosion-proof) - 0 to 50 C 90 %RH

Conveyer switch (explosion-proof) - 0 to 50 C 90 %RH

Workpiece supplier (explosion-proof) 0 to 50 C 85 %RH

Control panel for workpiece supplier(not explosion-proof)

0 to 45 C 90 %RH

Safety devices Box for emergency stop switches Safety plugs Limit switches Flashing light Indicator lamps Photoelectric switches

Selected according to the requirements of the customer. Refer to the appropriate instruction manual provided separately.

: Not acceptable : Acceptable

Devices that are not explosion-proof must not be installed in hazardous locations. Failure to observe this warning may result in a fire.

WARNING

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4.1 Preparation164707-1CD

4 Handling and Installation

Read “MOTOMAN Setup Manual”thoroughly before handling and installing the MOTOMAN system , and then carry out the operation safely observing the following precautions.

1) Signs indicating prohibitions such as, “The lighting of fires is prohibited”2) Clean working place that is clearly defined and free of obstacles3) Appointment of personnel in charge4) Company working regulations for safe operation

4.1 Preparation

Before installing the MOTOMAN, do the following:1) Confirm the installation layout and the dimensions of each device to ensure the

transportation route and the installation space.2) Check if the transportation route can support the weight of each device. If

necessary, reinforce the route.3) To lift the manipulator, use the appropriate machinery such as a forklift.

4.2 Receiving and Handling

1) When the package arrives, check the contents.Are the items and quantities in accordance with your order sheet?Was any damage incurred during shipment?

2) Use a forklift, a pallet truck to carry the manipulator. Take measures to prevent the manipulator from falling down.

3) Some devices such as the controller are mounted on casters, so be careful when handling them.

• 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.

CAUTION

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4.3 Installation of MOTOMAN164707-1CD

4.3 Installation of MOTOMAN

• Install safeguards.

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

• Install the manipulator in a location where the fully extended arm and tool will not reach the wall, safeguards, and the NX100.

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

• Do not turn ON the power before the manipulator is firmly anchored.

The manipulator may turn over, and cause injury or damage.

• Lifting the manipulator

The manipulator must be lifted only by qualified and authorized personnel. The manipulator weighs approximately 370 kg (EPX2750). Use a wire, belt, or chain block strong enough to support the weight.Carefully check the length and the tension of the wire and belt to maintain the equilibrium of the manipulator while lifting. <Lifting method>Attach the eyebolts in two locations on the turning section of the S-axis and in one location on the top of the U-arm of the manipulator. Slowly lift the manipulator to form the posture shown in Fig 1. using wire or a belt threaded through the eyebolts.Use the eyebolt on the top of the U-arm for adjusting the posture of the manipulator and the two eyebolts on the S-axis for lifting.

Fig. 1 Lifting EPX2750

When the manipulator is lifted to the desired height, adjust the posture of the manipulator by adjusting the length of the chain block and then install the manipulator.

WARNING

Eyebolt M16Provided with the manipulator

Manipulator

Chain block

Crane

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4.3.1 Safeguard Installation

To ensure safe, be sure to install safeguards. They prevent unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guidance (ISO 10218).

Responsibility for SafeguardingThe user of a manipulator or robot system shall ensure that safeguards are provided and used in accordance with Section 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.

4.3.2 Installation of Manipulator

The manipulator should be firmly mounted on a base or foundation strong enough to support the manipulator and jigs, and withstand repulsion forces during acceleration and deceleration. During installation, if the flatness is not right, the manipulator shape may change and its functional ability may be compromised. The flatness for installation must be kept at 0.5 mm or less. Mount the manipulator base in the ways shown in " 4.3.3 When the Manipulator and Mounting Fixture are Installed on a Base Plate ".

• Do not install or operate a manipulator that is damaged or lacking parts.

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

• Do not install the painting gun and the gun brackets until the manipulator is firmly anchored. Any contact to the unstable manipulator may cause injury or damage.

• Be sure to remove the shipping jigs before turning ON the power supply.

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

Table 3 Maximum Repulsion Forces of the EPX2750

Horizontal rotating maximum torque(S-axis moving direction)

11000N • m(1100kgf• m)

Vertical rotating maximum torque(L- and U-axis moving direction)

21400N • m(2140kgf• m)

CAUTION

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4.3.3 When the Manipulator and Mounting Fixture are Installed on a Base Plate

The base plate should be rugged and durable to prevent shifting of the manipulator or the mounting fixture. It is recommended that the thickness of the base plate is 40 mm or more, the anchor bolt is M16 or more. There are four mounting holes in the manipulator base. Affix the manipulator securely with hexagon socket head bolts M16 (70 mm long recommended). Tighten the bolts securely so that they will not work loose during operation. See " Fig. 2 Mounting on the Base Plate "for the method. The flatness for the manipulator installation face must be 0.5 mm or less.

Fig. 2 Mounting on the Base Plate

40m

m

Anchor bolt

Manipulator base

Base plate

Base plate

Manipulator base

Washer

Spring washer

Hexagon socket head bolt M16 (4 bolts)

or m

ore

35m

m

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4.3.4 Location

Install the manipulator in a location that has the following environmental conditions:• Ambient operating temperature: 0 to +40C• 20 to 80 %RH (no moisture, non-condensation)• Free from dust, dirt, oil mist, and water drop• Free from excessive impact or vibration (less than 4.9 m/s2 (0.5 G))• Free from large electrical noise (TIG welder, etc.)• The flatness for installation is 0.5 mm or less.

4.3.5 Controller and Programming Pendant

• The controller and the programming pendant are not explosion-proof (the explosion- proof programming pendant is available as an option). Never install the controller and the programming pendant that are not explosion-proof in a hazardous location.

• Keep a minimum space of 60cm around the controller for maintenance. When the sufficient space is not available, provide equipment for maintenance such as a drawing-out system.

• An exhaust fan is provided on the back of the controller. Keep enough space behind the controller so that air can be exhausted properly.

• Do not install the controller and programming pendant close to any noise source such as the power supply for other devices.

• Install the controller in a location where the optimum atmosphere, temperature, and humidity are assured and provide protection against water drops or thinner. If necessary, install a control room to supply clean and temperature-controlled air.

4.3.6 Safety Devices

The standard safety devices are listed below. Refer to the instructions for connectng safety devices required for your system application.Install each device considering each function.

• Emergency stop switches• Safety plugs• Limit switches• Flashing lights• Indicator lamps• Photoelectric intrusion detecting switches

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5.1 Wiring164707-1CD

5 Connection

5.1 Wiring

• 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.

• Wiring must be performed by authorized or certified personnel.

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

• Do not cover the power cable between the manipulator and the NX100 with heat insulating material, and avoid multiple cabling.

Failure to observe this caution may result in burn due to undisputed heat of the cable.

WARNING

CAUTION

5-1

HW1481061 18/69

5.1 Wiring164707-1CD

5.1.1 Grounding

Follow the local regulations for ground line size. A line of 5.5 mm2 or more is recommended.

The grounding methods differ depending on the system application. Refer to the connection instructions that are provided separately.

Fig. 3 Grounding Method

• Do not use this line in common with other ground lines or grounding electrodes for other electric power, motor power, welding devices, etc.

• When metal ducts, metallic conduits, or distributing racks are used for cable laying, ground in accordance with Electric Equipment Technical Standards.

NOTE

Remove the Cover

5.5mm2 or more(Prepare by the customer)

5-2

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5.2 Cable Connection164707-1CD

5.2 Cable Connection

5.2.1 Connection to the Manipulator

Before connecting the cables to the manipulator, verify the connectors named 1BC-1, -2, -3, -4, -5, -6, -7 and 2BC-1, -2, -3, -4, -5, -6 on both cables and manipulator. Then connect each connector of cables to same-named connector of Manipulator. Fix the plate of cables 6 bolts M6 (4 bolts 12mm long and 2 bolts 20mm long recommended) with spring washers and washers. The air hose for the pressure switch, the intrinsically safe cable, and the crimped terminals should be prepared by the customer.

Fig. 4 Manipulator Internal Cable Connection

To the Controller

Power and Signal Cabke

To the Pneumatic Unit

(Prepare by the customer)Nylon air tube of 12/9 dia

Wire/Lay the intrinsically safe cables and air tubes Intrinsically safe cables and air lines

which are connected to the pressure switch, outside the box,and pass the cables and air tubes through the cutout of thefront cover to connect them to the pressure switch in the box.

To the Controller (NX100)

Pressure switch

front cover

Intrinsically safe terminal box

cutout

Climped Terminals

Climped Terminals

(Note 2)

(Note 1) (Note 4)

(Note 4)

(Note 3)

309310E

E

309310G G

3.2 dia. min

3.2 dia. min

6.5 m

ax

5.6 max3.4 min

4.4 max

6 m

ax

5.3 min

A1B1

A1B1

2. Cable Connection1. Cable Type (or CVV-S) 1.25 mm 2 Core

Intrinsically Safe CableNotes.

terminal boxIntrinsically Safe

(NX100)Controller

Crimped TerminalsFor connecting the intrinsicallysafe cable to the intrinsically safe terminal box

Crimped Terminals

contact barriersafe cable to the controller internalFor connecting the intrinsically

Power Cables

Signal Cables(6 cables)

(7 cables)

Coupling (attached)

Nylon air tube of 6/4 dia.

Intrinsically safe cable(Prepared by the customer)

(Prepared by the customer)

1)4)

2)

3)

5-3

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5.3 Internal Wiring164707-1CD

5.2.2 Connection to the NX100

Connect two cables (X21 and X11) to the back side of the NX100..

Fig. 5 Connection to the NX100

5.3 Internal Wiring

Figs. 6 (a) and (b) show the internal wiring.

Nylon Air Tube

Cable connecting part

Front View Back View

6/4 dia. 12/9 dia.

��ß

PROGRAMMING PENDANT

X?@8?@1

ALARM

OT PS

E RM

E

EG N

YC

(Prepared by the customer)

Operate air for air-purge valve

Pressurized air outlet

5-4

HW1481061 21/69


HW1481061

tion

NX100

X11

CN1-1

FG1

DATA-1DATA+1

+5V-10V-1P

P

P

-3-4-5

-1-2

DATA+3DATA-3

CN-1

No.11CN

-2-3

OBTBAT

+5V

FG60V

P

P

-3

No.9CN

No.10CN

CN-1

-4

-2-3

CN-1

CN-1

No.8CN

-3

-2

-4

-2

FG5

DATA+6DATA-6

OBTBAT

BATOBT

DATA+5DATA-5BATOBT

+5V0V

BAT

No.7CN

CN-1

CN-1-2-3

-4

-2-3

No.6CN

DATA+4DATA-4

+5V

OBT

FG40V

OBTBAT

0VFG3

OBTBAT

+5V

BATOBT

P

P

P

P

P

P+5V-4

-6

-4-9-7

-5

No.3CN

CN-1-2

-9-7

BAT

BATOBT

+5V

FG2

OBT

0V

DATA-2DATA+2

FG10V

OBTBAT

No.2CN

CN-1-2

-5-6

DATA-1DATA+1

OBTBAT

PG L-AXIS

PG S-AXIS

No.5CN

U-AXIS

R-AXIS

B-AXIS

T-AXISPG

PG

PG

PG

-7-9-4-5-6-2

CN-1

1BC-1

BATOBT

CN1-2

CN1-3CN1-4

CN1-5

Power cable

Internal pressure case Internal pressure case

Internal pressure case


Internal lead wires

22/69

5-5

Fig. 6 (a) Internal Cable Connec

BASE E E E EE EE

E

EMANIPULATOR

E

FG3

DATA+3DATA-3

+5V-30V-3

DATA+4DATA-4

+5V-40V-4

+5V-5

DATA-5DATA+5

0V-5

DATA+6DATA-6

+5V-60V-6FG6

PP -4

-3

-5

P

P

P

P

P

PP

P

PP

-1-2

-1-2

-4-3

-1-2

-3-4

-3-4

-1-2

-5

0BT-RBT

0BT-RBT

K

K

BATTERY

RBAT-RBT

BAT-RBT RP

DATA+2DATA-2

FG20V-2+5V-2

PP

P

1BC-2

-3-4-5

-1-2

P

P

P

P

P

P

P

P

P

P

FG5-5

FG4-5

P

P

P

-5-4-3

CN-1

No.1CN

-2

BAT

0V

OBT

FG2

+5V

DATA+2DATA-2

E-6

1BC-3

1BC-4

1BC-5

1BC-6

BATTERY

0BT10BT1

KK

P

BAT1

BAT1

R

R

P

P

BATOBT

BATOBT

BATOBT

P

CN2-1CN2-2

CN2-3CN2-4

CN2-5

CN3-1CN3-2

CN3-3CN3-4

CN3-5

CN4-1CN4-2

CN4-3CN4-4

CN4-5

CN5-1CN5-2

CN5-3CN5-4

CN5-5

CN6-1CN6-2

CN6-3CN6-4

CN6-5


HW1481061

-1

-4-3-2

ME1MW1MV1MU1 CN-1

-4

-2-3

ME1MW1MV1 MU1

BA1BB1

CN-1

ME6

BA6BB6

MW6

MU6MV6

BB5

-4

-2-1

-2

-3-2

-4-3

CN-1-2

-5-6

-3-4

CN-1-2

-1-2

CN-1

MU4

MW5

BA5

ME5

MV5 MU5

-3

-1

-4

-2

MW4ME4

MV4

BB4 BA4

BA3BB3

ME3

MV3 MW3

MU3

SM

YB

YB

SM

YB

SM

YB

SM

YB

SM

MANIPULATORE

SM

YB

MV2

MU2

2

3 MW2

ME24

BB2BA2

2

BB2 -F

MU2

MW2MV2

ME2BA2-E

-BCN-A

-C-D

X21

NX100

E

2BC-1 No.30CN

No.19CN

No.16CN

No.17CN

No.18CN

S-AXIS

U-AXIS

R-AXIS

B-AXIS

T-AXIS

L-AXIS

2CN

3CN

No.15CN

No.31CN

No.32CN

No.33CN

CN1-1CN1-2CN1-3CN1-4

Power cable

Internal pressure case Internal pressure case


23/69

5-6

Fig. 6 (b) Internal Cable Connection

PE

MV2

MU2

MV2MU2

MU2MU2

ME3

MU3

MW3MV3

MU5

MW5 ME5

MW6

MU6 MV6

MV5

ME6-3

-1-2

-4

-3-4

-2-1

-4

-1

-3-2

-5

-7-6

-3

-1

-4

-2

-5-6

-8MV2MV2

MW2MW2

ME2

MW2

ME2

MW2

ME2ME2

-5-6-7-8

-4

-2-1

-3

MV2

ME2

BB4BA4

BA3

BA2BB1BA1

BA6

BA5

-6

-5

-5

-7

-5-6

-5

-5

MU4

MW4ME4

MV4-3-4

-2-1

-

-1

-

-

-1-

BB2-8

BB3-6

BB5-6

BB6-6

2BC-3

2BC-4

2BC-6

3BC-1

3BC-2

3BC-3

No.1

No.1

CN2-1CN2-2CN2-3CN2-4CN2-5CN2-6CN2-7CN2-8







6.1 Manipulator164707-1CD

6 System Configuration

" Fig. 7 System Configuration "shows the system configuration of the the MOTOMAN-EPX2750.

6.1 Manipulator

The explosion-proof manipulator can be installed in hazardous locations such as in the painting booth. For painting, a spray gun is mounted on the end of the wrist with special fixtures." Fig. 8 Dimensions and P-point Maximum Envelope " shows the dimensions and the working envelopes of the EPX2750.The manipulator is driven by the servo motor in vertically articulated operation mode with 6 degrees of freedom on the manipulator base. The motion of the manipulator is made by 6 axes:The three main axes are used for positioning the spray gun: the S-axis which turns the arm, the L-axis which moves the arm left and right, and the U-axis which moves the arm up and down.The three wrist axes are used for changing the direction of the spray gun: the R-, B-, and T-axes.The working envelope shown in " Fig. 8 Dimensions and P-point Maximum Envelope ", and are that of the wrist axis center point P that is made by the combination of the motions of the three main axes.

When taking safety precautions, consider the working envelope of the manipulator shown in " Fig. 8 Dimensions and P-point Maximum Envelope " .

WARNING

6-1

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Fig. 7 System Configuration

(optional)

(optional)

(optional)

(optional)

(optional)

(0.35 - 0.65MPa)

(NX100)

unit1

Conveyor switch

4

Conveyor speed detector

5

(PP)

Programming Pendant

AIR SUP.

(3.5 - 6.5kg/cm2 )

Hazardous location Non-hazardous location

selectorProgram

7

50/60 Hz)(3-Phase 200/220 VAC POWER SUP.

6 Workpiece supplier

6 Controller for the workpiece supplier

controller

2Robot

Pneumatic3

Manipulator

Air tube (2)

(2)

Power Supplycable

6-2

HW1481061 25/69


Fig. 8 Dimensions and P-point Maximum Envelope

0

600

1100

300

750

250

250

265265100

580

R638

141.

5

R2729

168

1269

604

285

2455

2772

3029

827

176.5

609

729667

3758

770.

582

299

8

2729

3997.5

0

1298300 93

40

108 168

R82

2

165

78

B

A

– 270

– 260

90

1040

80

P-point

P-point

View B

P-point maximum working envelope

P-point maximum working envelope

18 dia. mounting hole (6 holes)

NoteOperate the manipulator within the following range of motion.Intereference may occur if the arm exceeds the range. R-axis -145 to -20 , +215 to +260 : B-axis -215 to 15

6-3

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6.2 Robot Controller164707-1CD

6.2 Robot Controller

The robot controller has a built-in microcomputer that controls all motion of the robot by saving motion signals when teaching and sending these signals to the manipulator. The power unit that supplies power to the manipulator is also built into the robot controller.

6.3 Pneumatic Unit

The pneumatic unit supplies protective air or gas to the manipulator to prevent explosive gas from entering the manipulator. Usually, the unit is attached to the side of the robot controller. The circuit diagram and dimensions of the unit are shown in " Fig. 9 Pneumatic Unit Air Circuit " and " Fig. 10 Pneumatic Unit External View ". Set the air pressure so that the pressure shown on the pressure gauge of each pressure reducing valve will be within the pressure ranges shown in " Fig. 9 Pneumatic Unit Air Circuit ".

The power supply of the robot controller is 200/220 VAC. Be sure to turn OFF the primary power supply of the controller before starting maintenance. Failure to observe this warning may result in electric shock.

The pneumatic unit is used to provide a pressurized explosion-proof barrier for the manipulator. Because the barrier is only ensured when the air supply is within the recommended pressure range, a lower air pressure will reduce the barrier’s efficiency, and a higher air pressure will damage the pneumatic unit. Be sure to keep the air pressure within the specified range.

WARNING

CAUTION

6-4

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6.3 Pneumatic Unit164707-1CD

Fig. 9 Pneumatic Unit Air Circuit

Fig. 10 Pneumatic Unit External View

(3.0~4.5 kgf/cm2) Manipulator

Manipulatorto MV

P1(Setting Pressure)0.01~0.03MPa(0.20~0.30 kgf/cm2)

SV1

0.15~0.35MPaP2(Purge Air Pressure)

Filter

Air in

Pressure reducing valvefor setting

Pressure reducing valvefor Purge Air

Pressure reducing valve for setting

Supply Pressure0.35~0.65MPa(3.5~6.5 kgf/cm2 )

0.35~0.65MPa (3.5~6.5 kgf/cm2 )PO(Pressure)

SV2

Operate air Pressurised air outlet

Controling pressure

for air-purge valve

��ß

PROGRAMMING PENDANT

X?@8?@1

ALARM

OT PS

E RM

E

EG N

YC

Setting Pressure

Purge air pressure

0.01~0.03MPa(0.20~0.30 kgf/cm2)

(3.0~4.5 kgf/cm2)0.15~0.35MPa

0.35~0.65MPa (3.5~6.5 kgf/cm2)

Front View Back View

6-5

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6.4 Tubes164707-1CD

6.4 Tubes

Daily inspection is requested for the tubes used for supplying paints, thinner, and air (not the tube for supplying protective gas into the manipulator). Replace them periodically.

6.5 O-ring in the Wrist

Periodically replace the O-rings in the wrist. Contact your Yaskawa representative to replace the rings. When the wrist is cleaned 2 or 3 times a week with the recovered thinner, the O-rings may become deformed, which causes malfunctions. Contact your Yaskawa representative for more information about the O-ring made of special material (option).

6-6

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7.1 Basic Specifications164707-1CD

7 Basic Specifications

7.1 Basic Specifications

*1 SI units are used in the table are also described in parentheses.

*2 Conformed to ISO9283.

*3 Interefere may occur if the arm exceeds this range of motion.

Table 4 EPX2750 Basic Specifications *1

Item Type MOTOMAN-EPX2750-A300

Operation Mode Vertically ArticulatedDegree of Freedom 6

Payload 10 kg

Repetitive Positioning Accuracy*2 ± 0.5 mm

Motion Range S-axis (turning) -150° - +150°L-axis (lower arm) -40° - +90°U-axis (upper arm) +10° - +168°

R-axis(wrist roll) -260° - -145°, -20° - +215° (B-axis: -270° - +270°)-145° - -20°, +215° - +260° *3 (B-axis: -195° - +15°)

B-axis(wrist yaw/ roll) -270° - +270°T-axis (wrist twist) -260° - +260°

Maximum Speed S-axis 2.16 rad/s (124°/s)L-axis 2.21 rad/s (127°/s)U-axis 1.95 rad/s (112°/s)R-axis 6.28 rad/s (360°/s)B-axis 6.28 rad/s (360°/s)T-axis 6.28 rad/s (360°/s)

Allowable Moment R-axis 30.4 N•m(3.1 kgf•m)B-axis 19.6 N•m(2.0 kgf•m)T-axis 9.8 N•m(1.0 kgf•m)

Allowable Moment of Inertia(GD2/4)

R-axis 0.97 kg•m2

B-axis 0.40 kg•m2

T-axis 0.10 kg•m2

Mass 560 kgAmbient Conditions Temperature 0 to + 40 C

Humidity 20 to 80 %RH (non-condensing)Vibration 4.9 m/s2 (0.5 G) or lessOthers Free from excessive electrical noise

Power Capacity 5 kVA

7-1

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7.2 Wrist Flange164707-1CD

7.2 Wrist Flange

The wrist flange dimension is shown in " Fig. 11 Wrist Flange ". Fitting depth of inside fittings must be 6mm or less.

Fig. 11 Wrist Flange

+0.0

18 0(Oute

r dia.

ofRo

atatin

g part

)

O-ring

(depth: 9 mm)Tapped hole 8-M6 x 1 (attached to the manipulator)

0.5

P.C.D.32

670 di

a.

45 di

a. 14 dia

.

7-2

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7.3 System Application164707-1CD

7.3 System Application

The device required for the system application can be mounted on the horizontal arm.Observe the following restrictions.

• Maximum allowable load: 20 kg• Mounting position: refer to " Fig. 12 Device Mounting Position "

Fig. 12 Device Mounting Position

Allowable load : 20 kg or less

700mm or less

7-3

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8.1 Frequent Inspections164707-1CD

8 Frequent Inspections

8.1 Frequent Inspections

The painting robot is a precision device using advanced technology. It is important to frequently inspect the robot and remove any dried paint.Conduct the daily and weekly inspections listed in " Table. 5 Frequent Inspections " to ensure the long life of the robot and its performance.

Table 5 Frequent Inspections

No. Items to be Inspected Inspection Daily Weekly Remarks

Manipulator

1

Motion Smooth tuning, horizontal, and vertical motions of each arm. The robot’s standby position does not change.

Do not enter the robot working envelope.

2

Noise and vibration during operation

No abnormal noise and vibration during robot operation.

Do not enter the robot working envelope.

3Tubes No severe wear and

tear on paint and air supply tubes.

Use a pair of protective glasses to protect your eyes against paint or thinner that is being removed.

Make sure that the air tube is firmly inserted in the joint. Accidental disconnection of the air tube may cause injury.

4

Air leakage No excessive air leak-age from the fitting of the motor case.

5

Dried paint Remove the dried paint on the robot.

Replace the sheet.

When removing the paint with a tool, be careful not to damage the robot.

Pneumatic Unit

1 Water drained from the air filter

No need for the automatic system

2

Pressure set value The pressure of the pressure reducing valve is within the specified range

WARNING

WARNING

CAUTION

CAUTION

WARNING

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8.1 Frequent Inspections164707-1CD

Safety Devices

1

Operation of emer-gency stop button and safety plug.Dried paint

1. The manipulator stops immediately when the emergency stop button is pressed.

Inspect the robot while it is in its standby position and not in motion.

2. The manipulator stops immediately when the safety plug is pulled out.

3. Remove the dried paint on the emergency stop button and the safety plug.

2

Operation of the photoelectric intru-sion detecting switchDried paint

1. The manipulator stops when the photoelectric switch is turned OFF.

2. Remove the dried paint on the light beam detector.

3

Operation of limit switch.Dried paint

1. Normal operation of the limit switch

2. Remove the dried paint on the limit switch.

Options

1Operation of the gun tilt switching

The gun tilt changes correctly when air is supplied.

2

Operation of the shear pin system

1. The manipulator stops immediately when the shear pin is sheared.

2. The test valve is closed and the tube is not broken.

Table 5 Frequent Inspections

No. Items to be Inspected Inspection Daily Weekly Remarks

CAUTION

8-2

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8.2 Daily Inspections164707-1CD

8.2 Daily Inspections

Inspect the robot daily to ensure its high performance and early detection of any abnormalities.

8.2.1 Manipulator

Visual inspectionBefore turning ON the power to the manipulator, check if any abnormality can be found on the manipulator. Remove the jacket if it is attached.

Dried paint, dust, and dirtRemove any dried paint on the manipulator and other devices.Replace the vinyl sheet if any.Replace the jacket if it is dirty.

TubesCheck for wear and tear on the air supply tubes and the paint supply tubes connected to the motor on each axis. Also, make sure that the tubes are not bent from the weight of the vinyl sheet or the robot cover.

When using a tool to remove the paint, be careful not to damage the manipulator.

Paint stuck on the manipulator rotating parts prevents them from turning normally and smoothly. Periodically remove the paint on the manipulator.A cloth that is soaked in paint thinner can be used for cleaning the inside of the wrist, because an anti-thinner enclosure is provided. But, be careful not to remove the original coat of paint on the manipulator.

WARNING

CAUTION

8-3

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Air leakageCheck for excessive air leakage from the tubes, the couplings, and the joint fittings of the motor on each axis when the air is supllied in the manipulator to form the explosion-proof barrier.The actual amount of air leakage is not important if a fault in the internal air pressure does not occur. However, if internal air pressure faults occur frequently, check if the pressure of the air source and the pressure setting of the pressure reducing valve are correct and if excessive air is leaking.

Noise and vibration during operationCheck if the manipulator standby posture does not change when turning ON the power supply. Also, check for abnormal noise or vibration during operation.

8.2.2 Pneumatic Unit

Drained water from air filterEmpty the water drained from the air filter on the pneumatic unit.Where the automatic drainage system is provided, check the water level.

PressureBefore moving the manipulator, check if the gauges of the pressure reducing valves on the pneumatic unit show the pressure to be within the specified range.

• Remove the adhered paint on the manipulator periodically.

The paint deposited on the rotating parts of the manipulator may cause a malfunction.

• The wrist part structurally can be cleaned with a cloth with some thinner, preventing thinner goes inside the wrist. However, use caution not to remove the original coat of the manipulator.

Never enter inside the safeguards and the manipulator working envelope after turning ON the power supply.

CAUTION

WARNING

8-4

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8.2.3 Safety Devices

Emergency stop button and safety plugBefore operating the manipulator, check the following to make sure that the emergency stop button and the safety plug operate correctly: The manipulator stops immediately when the emergency stop button is pressed.The manipulator stops immediately when the safety plug is pulled out.Inspect the manipulator while it is in the standby posture and not in motion with the power supply turned ON. Repeated sudden stops while the manipulator is in motion will damage the braking system.Remove any paint on the emergency stop button and the safety plug.

Photoelectric intrusion detecting switchMake sure that the photoelectric intrusion detecting switch operates correctly.Remove any dried paint on the light beam receiving section on the switch.When the air is purging, check the air for purging.

Limit switchMake sure that the limit switches for positioning workpieces, starting the robot, and return the robot to home operate correctly.Remove any dried paint that may obstruct the robot motion.

8.2.4 Options

Gun tilt switchingCheck if the gun changes its tilt smoothly when compressed air is supplied.If excessive shock is applied on both ends, reduce the pressure supplied to the actuator.

Shear pinDisconnect the air supply tube, and check if the shear pin breaks immediately to shut off thepower supply to the manipulator.Also, make sure that the air tube is not bent or crushed.

8-5

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9.1 Inspection Schedule164707-1CD

9 Maintenance and Inspection

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 displayed in the levels shown in "Table 6 Inspection Schedule". Conduct periodical inspections according to the inspection schedule in "Table 6 Inspection Schedule". In "Table 6 Inspection Schedule", the inspection items are classified into three types of operation: 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 inspection work.

• Before maintenance or inspection, be sure to turn the main power supply OFF, and put up a warning sign such as “DO NOT TURN THE POWER ON”.

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

• Maintenance and inspection must be performed by the specified personnel.

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

• For disassembly or repair, contact your Yaskawa representative.

• Do not disconnect the motor, and do not release the brake.

Unexpected arm motion may cause injury or damage to the equipment.

• Be sure to connect the battery board before disconnecting the connectors for detection at maintenance and inspection.

Failure to observe this caution may result in loss of home position data.

WARNING

CAUTION

9-1

HW1481061 38/69


The inspection interval must be based on the servo power supply ON time.

Table 6 Inspection Schedule

Maintenance and Inspection Item

Schedule

Operation

Inspectioncharge

1000 Hr

cycle

6000 Hr

cycle

12000 Hr

cycle

24000 Hr

36000 Hr

Specified person-nel Licensee Service

com-pany

1

Inspection, replacement, and grease replenishment/replacement of speed reducers and gears(*1)Refer to 9.2.

(1)Gear inside the wrist

Replenish

grease

Replace the gear if any abnormality is found.Use Alvania EP grease 2.

Adjustmentgear(7500

Hr)

Contact your Yas-kawa representa-tive.

(2)Harmonic drive speed reducer

Replenish

grease

Replace the speed reducer if any abnormality is found.Use Harmonic grease 4B-No.2.

(3)RV speed reducer

Replenish

grease

Replac

e grease

Replace the speed reducer if any abnormality is found.Use Molywhite RE No. 00 grease.

(4)R-and B-axes speed reducer made by Alpha Getriebebau GmbH

Replacement

of lubri-cating

oil(15000

H)


(5)Conical spring washer inside the wrist

Replenish

grease

Repla

ce spring


2 Tightening of bolts

(1)Tighten the bolts that loosed from vibration and an exces-sively swinging load.

3 Inspection of wrist

(1)O-ring

Replace if any abnormality is found.Contact your Yas-kawa representa-tive.

(2)Presence check of abnormality

4

Inspection of air sealing parts for internal pres-sure

(1)Inspection of the gasket of the motor case

Replace the gas-ket if excessive wear is found.

(2)Inspection of the gasket of the box

NOTE

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*1 When replenishing or replacing the grease, be careful not to let any grease into the motor. Grease in the motor may cause motor failure. When any grease enters in the motor, contact your Yaskawa representative.

*2 When checking the conduction with multimeter, connect the battery to “BAT” and “0BT” 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 data may be lost.

*3 Replace the internal cables of S-, L-, U-, R-, B-, and T-axes at 24,000H inspection.

5Replacement of pneumatic unit filter

(1)Replace the pneumatic unit filter.

(2)Check the operation of the solenoid valve.

(3)Check the operation of the pressure reducing valve.

6Inspection of explosion-proof devices

(1)Check the operation of the pressure switch.

(2)Check the operation of the master valve.

(3)Check the operation of the explosion-proof enclo-sure.

7Inspection of internal cables(*2)

(1)Check the conduction.Check for the wears on the protective spring.

Inspect

Replac

e(*3)

Swinging the lead wire, check the conduction of the main connector and the intermedi-ate connector of the box.Check for the wears on the pro-tective spring.

8 Motor connector

(1)Check if the connectors are securely inserted.

Insert the connec-tor securely if it is loose.

9 Battery in manipulator

(1)Replacement of the battery

Replac

e

Replace the bat-tery when the bat-tery alarm is displayed on the NX100.

10 Overhaul Contact your Yas-kawa representa-tive.

Table 6 Inspection Schedule

Maintenance and Inspection Item

Schedule

Operation

Inspectioncharge

1000 Hr

cycle

6000 Hr

cycle

12000 Hr

cycle

24000 Hr

36000 Hr

Specified person-nel Licensee Service

com-pany

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9.2 Maintenance for Manipulator164707-1CD

9.2 Maintenance for Manipulator

9.2.1 Grease Replenishment/Replacement

"Fig. 13 Locations of Components" shows the location of the components of the manipulator.Replenish or replace the grease for the following:

1) Gears on the wrist and the end of the U-arm2) Harmonic Drive speed reducers for the U- and T-axes3) RV speed reducers for the S- and L-axes4) Gear part

Fig. 13 Locations of Components

T-axis speed reducer

(Manipulator base)

L-arm

R- and B-axes speed reducers

U-axis motor and speed reducer

Box

S-axis motor and speed reducer

Turning head

WristU-arm

L-axis motor and speed reducer

Motors for R-, B- and T-axes

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GearsRemove the cover and the plug. Inject Alvania EP grease 2 by using a grease gun to the gear teeth. See "Fig. 14 Injecting Grease at Wrist and End of U-arm".

Fig. 14 Injecting Grease at Wrist and End of U-arm

Cover Plug

Plug

Cover

Grease gun

Cover

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Harmonic Drive speed reducerFor the U-Axis Harmonic Drive speed reducer, the customer is responsible for replenishing the grease. But for the T-Axis speed reducer, contact your Yaskawa representative.

Grease ReplenishmentRefer to "Fig. 15 U-axis Harmonic Drive Speed Reducer".

1. Remove the plug in the Uo air flow.

2. Remove the plug 1/8 from the Ui grease inlet, and install the G nipple A-PT1/8 to inject grease.

3. Reinstall the plugs on the Ui grease inlet and the Uo air outlet. Apply Three Bond 1104 on screwed part.

Fig. 15 U-axis Harmonic Drive Speed Reducer

The grease is not exhausted from the Uo air flow. Do not inject excessive grease.

Grease type: Harmonic grease 4B No.2 Amount of grease: 90 cc(180 cc for 1st supply)

NOTE

U-axisspeed reducer

(with hexagon socket head plug PT1/8)Uo: Air flow

(with hexagon socket head plug PT1/8)Ui: Grease inlet

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RV speed reducer

Grease Replenishment Refer to "Fig. 16 S-axis RV Speed Reducer" and "Fig. 17 L-axis RV Speed Reducer".

1. Remove the plug in the So (Lo) grease exhaust port. Remove the cover on the L-axis motor side.

2. Inject grease into the Si (Li) grease inlet. Before injecting grease in the Li port, remove the plug on Li and install a G nipple A-PT1/8.

3. Move the S-axis (L-axis) for a few minutes to discharge the excessive grease. 4. Wipe the So (Lo) exhaust port with a cloth and reinstall plugs in So (Li and Lo) exhaust

port. Apply Three Bond 1104 on screwed parts.Reinstall the cover on the L-axis motor side.

• If grease is added without removing the plug, the internal pressure will be higher and may damage it. It is absolutely necessary to remove the plug.

• When injecting grease into the L-axis speed reducer, grease may come out from the air flow on the motor base. Remove the cover on the motor side to check if excessive grease is coming out. If there is any grease, wipe it off.

Grease type: VIGO Grease RE No.0Amount of grease: 800 cc for S-axis; 700 cc for L-axis

NOTE

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Grease Replacement Refer to "Fig. 16 S-axis RV Speed Reducer" and "Fig. 17 L-axis RV Speed Reducer".

1. Remove the plug in the So (Lo) grease exhaust port. Remove the cover on the L-axis motor side.

2. Inject grease into the Si (Li) grease inlet. Before injecting grease in the Li port, remove the plug on Li and install a G nipple A-PT1/8.

3. The grease replacement is complete when new grease appears in the So (Lo) exhaust port. The new grease can be distinguished from the old grease by color.

4. Move the S-axis (L-axis) for a few minutes to discharge the excessive grease. 5. Wipe the So (Lo) exhaust port with a cloth and reinstall the plugs in the So (Li and Lo)

exhaust port. Apply Three Bond 1104 on screwed parts.Reinstall the cover on the L-axis motor side.

• If grease is added without removing the plug, the internal pressure will be higher and may damage it. It is absolutely necessary to remove the plug.

• When injecting grease into the L-axis speed reducer, grease may come out from the air flow on the motor base. Remove the cover on the motor side to check if excessive grease is coming out. If there is any grease, wipe it off.

Grease type: VIGO Grease RE No.0Amount of grease: 2000 cc for S-axis; 2300 cc for L-axis

If the plug is installed when the grease is being exhausted, the grease will go inside the motor and may damage it. Reinstall the plug after the excessive grease is completely dis-charged.

NOTE

NOTE

9-8

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Fig. 16 S-axis RV Speed Reducer

Fig. 17 L-axis RV Speed Reducer

(with hexagon socket head plug 1/8)

(with grease zark A-PT1/4)Si: Grease inlet

S-axis speed reducer

So: Grease exhaust port

Cover

(with hexagon socket head plug PT1/8)

Cover on L-axis motor cover

Li: Grease inlet(Note:Remove the hexagon socket headplug and install a G nipple A-PT1/8 beforeinjecting grease)

L-axis speed reducer

Lo: Grease exhaust port

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9.2.2 Lubricating Oil Replacement for R-, B- and T-axes Speed Reducers

Contact your Yaskawa representative because motors and drive shafts for the R- and B-axes need to be removed to replace the lubricating oil.

9.2.3 Tightening Bolts

Tighten the bolts shown in "Fig. 18 Manipulator Base Box Fixing Bolts" to "Fig. 20 Terminal Box in Manipulator Base Box".

Fig. 18 Manipulator Base Box Fixing Bolts

Fig. 19 Wrist Fixing Bolts

4-M16Manipulator base fixing bolts

Tightening torque 11.5N m(117Kg cm)

Hexagon socket head bolt 6-M6

(117Kg cm)Tightening torque 11.5N mHexagon socket head bolt 5-M6

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Fig. 20 Terminal Box in Manipulator Base Box

9.2.4 Wrist Speed Reducer and Bearing

Check if the three wrist axes move smoothly or not. If the wrist does not move smoothly, contact your Yaskawa representative. Removing and disassembling the wrist to find the faulty axis will be needed for repair or replacement of the bearing, the speed reducer, or the sealing compounds.

To remove the wrist from the U-arm, firmly hold the wrist and remove the fixing bolt. If not, the wrist may fall down when the fixing bolt is removed.

Terminal box fixing screws

CAUTION

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9.2.5 Air Sealing for Internal Air Pressure

Gasket on the motor case(a) S-, L-, and U-axes

Remove the mounting bolts on the motor case and check the gasket where the case is mounted.Remove the cover for the cable inlet in the motor case, and check the gasket where the cover is attached. Excessive oil in the air that is used for the internal air pressure can damage the gasket, which result in air leakage. Replace the gasket if air leakage is found.Refer to "Fig. 21 S- and L-axes Motor Gasket"to "Fig. 23 R-, B-, and T-axes Motor Gas-ket" for more information on the gasket of each axis motor.

Fig. 21 S- and L-axes Motor Gasket

S-axis motor

L-axis motor

Packing

Motor case

Packing

Motor case

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Fig. 22 U-axis Motor Gasket

(b) R-, B-, and T-axesThe gasket is provided on the joint fittings between the back of the U-arm and the motor case. Remove the mounting bolts to check for wear and tear on the gasket. Refer to "Fig. 23 R-, B-, and T-axes Motor Gasket".

Fig. 23 R-, B-, and T-axes Motor Gasket

U-axis motor

Cover

Packing

Motor case

Packing

Motor case

Packing

R-,B- and T-axis motors

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Manipulator Base Box Cover GasketRemove the two covers on the back side of the manipulator base box, and check the rubber gasket. Refer to "Fig. 24 Manipulator Base Box Rubber Gasket".

Fig. 24 Manipulator Base Box Rubber Gasket

Cover

Cover

Gasket

Gasket

Cover

Cover

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9.2.6 Battery Board Replacement

Two battery boards are installed in the locations shown in "Fig. 25 Battery Board Location".• Battery board: JARCR-XIS01

If a battery alarm occurs in the NX100, replace the battery board in the following procedure.

Fig. 25 Battery Board Location

Fig. 26 Battery Connection

1. Turn OFF the power to the NX100.2. Detach and pull out the connector base from the base.3. Remove the battery board mounting screws.4. Remove the electrical tape protecting connection part of the battery board in the

manipulator.5. Connect two new battery boards.6. Remove the old battery boards.

7. Protect the connection part of the battery board in the manipulator with electrical tape.8. Insert the battery board screws in the mounting holes on the connector base, and fix

the connector base on the base.

Be sure to connect the new battery boards before disconnecting the old one so that the data does not disappear.

B

(JARCR-XIS01)

A-AA

A

BoxBattery board fixing bolt M3

Top view of the battery board

Details of B part

Battery board (2 boards)

ba

0BT1BAT1

b 0BT4BAT4a

b 0BT1a

a

b

b a BAT1

0BT1

BAT1

BAT10BT1

b 0BT4a

a

b a BAT4

bBAT4

0BT4

BAT40BT4

See step 6 below Battery board for S-, L- and U-axes before replacement

Battery board for R-, B- and T-axes before replacement

See step 7 below

See step 4 below

See step 7 below

See step 4 below

See step 6 below

See step 5 below New battery board

a: crimped contact-pin (pin)b: crimped contact-pin (socket)

NOTE

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9.3 Inspection of the Pneumatic Unit164707-1CD

9.3 Inspection of the Pneumatic Unit

9.3.1 Solenoid Valve

Check if the air purge starts a few seconds after turning ON the power to the NX100 and if it ends approximately 3 minutes later.

9.3.2 Pressure Reducing Valve

Measure the explosion-proof air pressure supplied to the pneumatic unit with a pressure gauge. Remove the test plug (or the relief valve) from the pneumatic unit and connect pressure gauges to each of them, then check that the each gauge indicates the following figures:

When purging Air-purge pressure 0.15 MPa to 0.35 MPa

Normal status Normal pressure 0.01 MPa to 0.03 MPa

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9.4 Inspection of Explosion-proof Devices164707-1CD

9.4 Inspection of Explosion-proof Devices

9.4.1 Pressure Switch

Remove the front cover of the pneumatic unit box and check the conduction of the pressure switch. The pressure switch must be ON when the air is being supplied and OFF when the air is not being supplied.

9.4.2 Master Valve

While the air is being supplied from the pneumatic unit, check if the air purge starts a few seconds after the power to the NX100 is turned ON. Also, check if the air goes out of the two air outlets for the master valve during the air purge.

9.4.3 Pressurized Explosion-proof Barrier

While the air is being supplied from the pneumatic unit, check if the air purge starts a few seconds after the power to the NX100 is turned ON and if it ends approximately 8.5 minutes later. Also, check the following:

(a) The alarm “AIR PRESSURE ERROR” occurs immediately after the air supply from the pneumatic unit is stopped and the power supply to the NX100 is turned ON.

(b) The alarm “AIR PRESSURE ERROR” occurs when the air supply from the pneumatic unit is stopped during air purging.

• Be sure to turn OFF the power to the NX100 before inspecting the pressure switch.

• Do not touch the pressure setting dial on the pressure switch during an inspection. Changing the setting prevents the correct pressure from being detected.

CAUTION

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164707-1CD

10 Recommended Spare Parts

It is recommended that the following parts and components be kept in stock as spare parts for the MOTOMAN-EPX2750. The spare parts list is shown below. 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 units

To replace parts in Rank B or Rank C, contact your Yaskawa representative.

Table 7 Spare Parts for MOTOMAN-EPX2750

Rank Part No. Name Type Manufacturer Qty

Qty per Unit

Remarks

A 1 Battery board JARCR-XIS01 Yaskawa 1 2

A 2 Adhesive DB-1600 Diabond Industries Co., Ltd. 200ml - For gasket

A 3 Sealing tape (for pipe work) 4501 Three Bond Co., Ltd. 1 - For plug seal

A 4 Grease Alvania EP Grease 2 Showa Oil Co., Ltd. 16kg - For the bevel gear in

wrist

A 5 Grease VIGO Grease RE No. Yaskawa 16kg - For RV speed reducer

A 6 Grease Harmonic GreaseA4B-No.2

Harmonic Drive Sys-tems Co., Ltd. 2.5kg - For Harmonic Drive

speed reducer

A 7 Lubricating oil Renolin PG220 Showa Oil Co., Ltd. 10 l - Alpha Getriebebau speed reducer

A 8 Conical spring washer BD-19B Iwatani Denko Corpora-

tion 72 72

B 9 S-axis speed reducer HW9482862-A Yaskawa 1 1

B 10 L-axis speed reducer HW9381465-A Yaskawa 1 1

B 11 U-axis speed reducer HW9482864-A Yaskawa 1 1

B 12 R- and B-axes speed reducers HW0485932-A Yaskawa 1 2

B 13 T-axis speed reducer HW0480040-A Yaskawa 1 1

B 14 Wrist unit HW0171974-D Yaskawa 1 1

C 15 AC servomtors for S- and U-axes

HW0380187-A Yaskawa 1 2

C 16 AC servomotorsfor L-axis HW0380188-A Yaskawa 1 1

C 17 AC servomtors for R-, B-, and T-axes HW0380189-A Yaskawa 1 3

C 18 Switch unit HW9371225-A Yaskawa 1 1

C 19 Internal cable HW0272857-A Yaskawa 1 1 For S-axis

C 20 Internal cable HW0373190-A Yaskawa 1 1 For L-axis motor

NOTE

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164707-1CD

C 21 Internal cable HW0373191-A Yaskawa 1 1 For L-axis encoder

C 22 Internal cable HW0373189-B Yaskawa 1 1 For U-axis

C 23 Internal cable HW0272980-C Yaskawa 1 1 For R-, B-, and T-axis

C 24 Internal cable HW0472328-A Yaskawa 1 1 For battery

Table 7 Spare Parts for MOTOMAN-EPX2750

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11.1 S-Axis Unit

11-1

164707-1CD

HW1481061

11 Parts List

11.1 S-Axis Unit

1001

1002

1090

1091

1005

1006

1007

1008

1009

1010

10111104

1105

1014

1015

1016

1016

1017

1018

1019

1020

1021

10231024

10251026

1027

1028

1029

10301031

1116

1116

1114

1114

11131112

1115

1115

1036

1037

1038

1039

1043

1044

10451046

10471048

10491050

10511052

1053

1106

1054

10541055

1055

1056

1057

10581059

1058

1059

1110

1061

1062

1063

106611071108

1067

1068

1068

1070

1088

1085

1084

1083

10841076

1089

10681068

1109

1074

1075

1003

1004

1101

1094

1093

1095

1096

1099

10531054

1053 1054

1100

1102

1103

1098

1097

1065

10711072

10731111

57/69

11.1 S-Axis Unit164707-1CD

No. DWG No. Name Pcs

1001 HW0200092-1 Cover 11002 HW0400638-1 Packing 11003 M6X20 Socket screw 51004 2H-6 Spring washer 51005 SGMRS-12A2B-YRA1 Motor 11006 M8X25 Socket screw 41007 2H-8 Spring washer 41008 HW0100098-1 M base 11009 PT1/8 Plug 11010 M10X45 Socket screw 111011 2H-10 Spring washer 111014 M6X100 Bolt 11015 AS568-274 O-ring 11016 Y507212.5 Oil seal 21017 HW0400429-A Shaft 11018 HW0400470-1 Collar 11019 HW0300199-1 Gear 11020 HW9481343-A Shaft 11021 HW0400243-1 Pipe 11023 M6 Washer 11024 HW9482862-A Speed reducer 11025 M10X70 Bolt 81026 2H-10 Spring washer 121027 PT3/8 Plug 11028 M16 Nut 11029 HW9302740-2 Jig(1) 11030 HW0302326-A Support 11031 STW-15 Retaining Ring

C-type1

1036 HW0100034-1 Base 11037 HW9406052-1 Cover 11038 M6X10 Socket screw 41039 2H-6 Spring washer 41043 HW0400422-1 Flange 11044 HW0400442-1 Packing 11045 M4X25 Socket screw 41046 2H-4 Spring washer 41047 HW9406054-1 Holder 41048 HW9406055-4 Packing 41049 M5X25 Socket screw 41050 2H-5 Spring washer 41051 KQLE10-00 Joint 21052 SW-16 Packing 21053 HW9406050-1 Block 31054 M6X20 Socket screw 81055 M16 Eye bolt 21056 HW9406114-1 Bolt 11057 HW9406053-1 Clamp 11058 M6X12 Socket screw 41059 2H-6 Spring washer 41061 HW9101045-1 Box 11062 HW9201046-1 Cover 11063 M6X10 Socket screw 41065 HW9371199-A Switch unit 11066 M6X15 Bolt 21067 HW0400886-2 Cover 11068 M6X10 Socket screw 141070 HW0400886-1 Cover 11071 NB-0640-0.3 Tube 11072 T30R Cable tie 11073 M5X10 APS bolt 1


1074 HW0300628-1 Cover 11075 HW9406056-2 Packing 11076 KQVD10-04S Joint 11083 M6X25 Socket screw 41084 2H-6 Spring washer 61085 M6X16 Bolt 21088 SLE-062V Union 11089 PT1/4 G nipple 11090 M6X20 Bolt 21091 2H-6 Spring washer 21093 HW0300700-1 Holder(A) 11094 M8X35 Bolt 161095 HW9482861-E Bearing 11096 HW0300701-1 Holder(B) 11097 M8X35 Bolt 141098 2H-8 Spring washer 141099 HW9302735-1 Stopper 11100 M8X50 Bolt 31101 M6 Washer 31102 HW0400885-1 Cover 11103 HW0400885-2 Cover 11104 M10X25 Socket screw 101105 2H-10 Spring washer 101106 HW1402271-2 Block 11107 2H-6 Spring washer 21108 M6 Washer 21109 2H-6 Spring washer 141110 HW0302327-1 Support 11111 KR8G5 Suddle 11112 M6X40 Bolt 11113 M6 Washer 11114 M6X55 Bolt 21115 2H-6 Spring washer 21116 HW0402795-1 Support 2

11-2

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11.2 LU-Axis Unit164707-1CD

11.2 LU-Axis Unit

2001

20022003

2015

2016

2015

20172018

2019

2082

20822020

20212022

2023

2024

20252027

20292076

2029

2076

2070

2014

2004

2005

2006

2007

2008

20092010

2011

2028

20302032

20342035

20362037

2038

20392040

2041

2042

20442045

20462047

20472048

20492078

2050

20512052

2053

2054

2055

20562057

2058

2059

20602061

2062

2063

2064

20662067

20682069

2077

2065

2072

2072

2043

2071

20732074

2075

20832084

1036

4001

2082

2082

2079

2079

2031

2080

2080

2081

2081

20262027

20122013

11-3

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11.2 LU-Axis Unit164707-1CD


2001 HW9201018-1 Cover 12002 M6X20 Socket screw 32003 2H-6 Spring washer 32004 HW0200094-1 Cover 12005 HW9302786-1 Packing 12006 M6X20 Socket screw 102007 2H-6 Spring washer 102008 SGMRS-12A2B-YRA1 Motor 12009 M8X25 Socket screw 42010 2H-8 Spring washer 42011 HW0300367-1 Flange 12012 M12X35 Socket screw 42013 2H-12 Spring washer 42014 AS568-172 O-ring 12015 Y355212.5 Oil seal 22016 HW0400470-1 Collar 12017 HW0300368-1 Shaft 12018 HW0400471-1 Washer 12019 M6X80 Socket screw 12020 2H-6 Spring washer 12021 HW0400739-1 Plate 12022 M12X25 Socket screw 82023 2H-12 Spring washer 82024 HW9482864-A Reduction gear 12025 M12X45 Socket screw 82026 M12 ÅL70 Socket screw 22027 2H-12 Spring washer 102028 HW9302787-1 Stopper 12029 HW9406016 Gum plate 22030 HW0400483-3 Plate 12031 HW0400483-4 Plate 12032 HW9302679-1 Cover 12034 M6X25 Socket screw 42035 2H-6 Spring washer 42036 KQLE10-00 Joint 12037 SW-16 Packing 12038 KQH10-02S H-union 12039 SGMRS-30A2A-YRA1 Motor 12040 M12X35 Socket screw 42041 2H-12 Spring washer 42042 HW0300363-1 Flange 12043 AS568-168 O-ring 12044 M12X50 Socket screw 42045 2H-12 Spring washer 42046 HW0400738-1 Collar 12047 Y507212.5 Oil seal 22048 HW0300360-1 Shaft 12049 HW9482318-A Gear 12050 HW9481343-A Shaft 12051 M8X150 Bolt 12052 2H-8 Spring washer 12053 M8 Washer 12054 HW9302730-1 Packing 12055 HW0200093-1 Cover 12056 M6X20 Socket screw 122057 2H-6 Spring washer 122058 HW9381465-A Speed reducer 12059 G270 O-ring 12060 M12X50 Socket screw 162061 2H-12 Spring washer 162062 HW9201044-1 Cover 1


2063 M6X20 Bolt 22064 2H-6 Spring washer 22065 HW9406015-1 O-ring 12066 M16X65 Socket screw 62067 2H-16 Spring washer 62068 M10X55 Socket screw 182069 2H-10 Spring washer 182070 HW0100036-1 Arm 12071 KES8-35 Key 12072 HW9406135-1 Cover 42073 M16X55 Bolt 82074 GT-LH-16 Spring washer 82075 HW9100845-1 Arm 12076 M6X12 Socket screw 22077 M10 Washer 182078 HW0400737-1 Pipe 12079 M5X20 Socket screw 42080 2H-5 Spring washer 42081 M5 Washer 42082 PT1/8 Plug 42083 M12X20 Socket screw 32084 2H-12 Spring washer 31036 HW0100034-1 Base 14001 HW9101008-1 Arm 1

11-4

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11.3 Switch Unit

11-5

164707-1CD

HW1481061

11.3 Switch Unit

3001

3003

3011

3013 3012

3012

3002

3009

3004

3005

3006

3007

3010

3002

3008

3004

3005

3006

3007

3008

3014

61/69

11.3 Switch Unit

11-6

164707-1CD

HW1481061


3001 HW9302757-1 Plate 13002 VXA2260-04 Solenoid 23003 M5X10 Socket screw 43004 DG-50U Switch 23005 PT1/4 Nipple 23006 PT1/4 Tee 23007 1/2 X 1/4 Nipple 23008 KQL06-01S Joint 13009 KQVD06-01S Joint 13010 KQH10-02S Joint 23011 BD8-MB8 Terminal plate 13012 M4X12 Pan head screw with

washer2

3013 HW9371212-A Cable assembly 13014 NB0640B Tube 1

62/69

11.4 RBT-Axis Unit

11-7

164707-1CD

HW1481061

11.4 RBT-Axis Unit

4001

40034002

4003

4004

4004

4006

4005

40074008

4009

4010

40114012

4012

4013

4013

40114015

40164017

40154016

4017

40184018

4019

4021

4022

4022

4023

4023

4024

4024

4025

40264027

40284028

6AXIS

5AXIS

4029

40284028

4029

4030

4031

40324033

40344035

4037

40684039

40424043

4044

40454046

4047

4048

40494050

4051

4052

4052

4048

40284028

4029

4030

4031

40324033

40344035

4036

40384039

40424043

4044

40454046

4047

40484052

40494050

4051

40544069

4069

4055

40564057

40584059

4065

4060

4061 4062

40634064

4AXIS

4069

63/69

11.4 RBT-Axis Unit164707-1CD


4001 HW9101008-1 Arm 14002 T50R Cable tie 14003 KQLE10-00 Joint 24004 SW-36 Packing 24005 M5X25 Bolt 84006 2H-6 Spring washer 84007 HW9201020-1 Cover 14008 HW9302785-1 Packing 14009 M6X20 Socket screw 84010 2H-6 Spring washer 84011 6907ZZ Bearing 24012 RTW-55 Retaining Ring

C-type2

4013 HW9302682-1 Holder 24015 M6X25 Socket screw 44016 2H-6 Spring washer 44017 M6 Washer 44018 6906ZZ Bearing 24019 M4X8 Pan head

screw4

4021 4MMX10 Pin 24022 HW9405702-1 Cover 24023 M4X10 Socket screw 124024 2H-4 Spring washer 124025 HW9406176-1 Plug 14026 HW0400588-1 Packing 14027 HW0400587-1 Flange 14028 HW9482404-1 Sheet 64029 HW9482408-1 Sheet 34030 SGMPH-04A2A-YR52 Motor 24031 HW9482863-A Speed reducer 24032 M5X55 Socket Screw 84033 2H-5 Spring washer 84034 HW0301827-1 Rod 24035 M5X6 H-set screw 124036 HW9302714-1 Gear 14037 HW9302715-1 Gear 14038 M4X30 Socket screw 64039 2H-4 Spring washer 124042 M5X16 Socket screw 84043 2H-5 Spring washer 84044 HW9406015-2 O-ring 24045 HW1401967-1 Shaft 24046 HW0301002-2 Flange 24047 M5 Washer 84048 HW0400326-1 Key process 34049 M4X45 Socket screw 24050 2H-4 Spring washer 24051 AD22327 Oil seal 24052 M6X8 Screw 34054 SGMPH-04A2A-YR52 Motor 14055 HW9302725-A Rod 14056 M4X8 H-set screw 14057 CO-0544A O-ring 14058 M5X45 Socket screw 44059 2H-5 Spring washer 44060 HW1401968-1 Shaft 14061 HW1301633-1 Flange 14062 Y234010.5 Oil seal 14063 M5X45 Socket screw 14064 2H-5 Spring washer 14065 M5 Washer 4


4066 M6 Washer 84067 M4 Washer 44068 M4X35 Spring washer 64069 HW0411084-1 Collar 3

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11.5 Wrist Unit164707-1CD

11.5 Wrist Unit

5002

5003

5005

5004

5005

5006

5006

5007

5007

5008

5008

50095010

5011

5012

50135072

5014

50155016

50175018

5019

5020

5021

5022

5023

5024

5027

5025

50255026

5027

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50305031

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50365073

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50475054

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50585059 5060

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5071

5032

11-9

HW1481061 65/69



5002 HW9201014-1 Gear case 15003 HW9406047-1 Holder 15004 M4X12 Socket screw 65005 PT3/8 Plug 45006 HW9406067-1 Cover 25007 HW9406068-1 Gasket 25008 M4X8 Socket screw 85009 HW9101007-1 Case 15010 HW9101006-1 Case 15011 M6X16 Socket screw 65012 S145 O-ring 15013 M6X25 Socket screw 55014 RA11008CUUCC0 Bearing 15015 HW9302707-2 Jig 15016 HW9302709-2 Flange 15017 HW9406033-1 Holder(1) 15018 M4X12 Socket screw 65019 HW9302703-2 Gear 15020 M6X16 Socket screw 85021 HW9302705-1 Gear 15022 HW9406034-1 Nut 15023 HW9406035-1 Nut 15024 HW9406106-1 Key 15025 M4X6 H-set screw 25026 HW0401105-1 Key 15027 6809ZZ Bearing 25028 BD-72A Spring 45029 HW0306420-1 Gear 15030 M6X16 Socket screw 105031 HW0306424-1 Jig 15032 HW9302704-1 Gear 15033 HW9406030-1 Nut 15034 AN06 B-nut 15035 HW0405930-1 Gear 15036 HW0405928-1 Collar 25037 M5X16 Socket screw 25038 HW0306419-1 Gear 15039 HW0405926-* Shim 15040 6900ZZ Bearing 15041 HW0405929-1 Collar 15042 HW0306423-1 Jig 15043 M6X16 Socket screw 85044 HW9302688-2 Jig 15045 HW9482861-C Bearing 15046 HW9302698-2 Flange 15047 M6X12 Socket screw 125048 HW9406034-1 Nut 15049 HW9302705-2 Gear 15050 HW9406106-1 Key 15051 HW9406035-1 Nut 15052 M4X6 H-set screw 15053 HW0306425-1 Jig 15054 6809ZZ Bearing 25055 BD-72A Spring 45056 STW-45 Retaining Ring

C-type1

5057 HW9406030-1 Nut 25058 HW9302704-1 Gear 15059 AN06 B-nut 25060 M4X6 H-set screw 15061 6900ZZ Bearing 25062 HW0306426-1 Jig 1


5063 RTW-22 Retaining Ring C-type

1

5064 HW0405926-* Shim 25065 HW0306419-1 Gear 25066 HW9302701-1 Flange 15067 HW9406031-1 Holder 15068 M6X35 Socket screw 65069 X428 X-ring 15070 M4X12 Socket screw 25071 HW0401105-1 Key 25072 2H-6 Spring washer 55073 2H-5 Spring washer 25074 6000ZZ Bearing 15075 HW9302704-2 Gear 15076 HW0306419-2 Gear 15077 HW0405928-1 Collar 25078 M5X16 Socket screw 25079 2H-5 Spring washer

11-10

HW1481061 66/69


60026001

6003

60046005

6006

6007

6008

603960406041

603960406041

6044

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60456046

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6011

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11-11

HW1481061 67/69



6001 HW9101014-1 Case 16002 HW9101012-1 Case 16003 M6X16 Socket screw 66004 HW0100873-1 Case 16005 HW9101013-1 Case 16006 M6X16 Socket screw 86007 HW0480040-A Speed reducer 16008 S67 O-ring 16009 M5X25 Socket screw 66010 HW0405926-* Shim 16011 HW0306419-2 Gear 16013 HW9406166-1 Cover 16014 M4X8 Socket screw 46015 HW9406101-1 Gasket 16016 HW9406102-2 Cover 16017 M4X8 Socket screw 46018 HW9406103-1 Gasket 16019 HW0306427-1 Shaft 16020 M4X12 Socket screw 26021 6900ZZ Bearing 26022 HW9406030-1 Nut 16023 HW9302704-2 Gear 16024 HW0401105-1 Key 16025 AN06 B-nut 16026 M4X6 H-set screw 16027 HW9302752-1 Flange 16028 HW9406085-1 Holder 16029 M6X30 Socket screw 66030 RB5013UUCC0 Bearing 16031 HW0306421-1 Flange 16032 M6X20 Socket screw 86033 RTW-22 Retaining Ring

C-type1

6034 X345 X-ring 16035 HW0306428-1 Shaft 16036 HW0405926-* Shim 26037 HW0306419-1 Gear 16038 HW0306419-2 Gear 16039 M5X16 Socket screw 26040 2H-5 Spring washer 26041 HW0405928-1 Collar 26042 HW0306422-1 Shaft 16043 HW0406605-1 Collar 16044 M5X16 Socket screw 16045 2H-5 Spring washer 16046 HW0405928-1 Collar 1

11-12

HW1481061 68/69

MOTOMAN-EPX2750INSTRUCTIONSTYPE:YR-EPX2750-A300(-A310)

HW1481061MANUAL NO.

Specifications are subject to change without noticefor ongoing product modifications and improvements.

3 69/69

motoman-epx2750 instructions€¦ · shields removed for clarity. be sure all covers and shields...

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