PX2050 1850 1450

YASKAWA
MOTOMAN-PX2050/-PX1850/-PX1450
INSTRUCTIONS
YR-PX2050-B20
YR-PX2050-B30
YR-PX1850-B20
YR-PX1850-B30
YR-PX1450-B20
YR-PX1450-B30
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUAL
MOTOMAN- INSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATOR’S MANUAL
YASNAC XRC OPERATOR’S MANUAL for BEGINNERS
The YASNAC XRC operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
Part Number: 154641-1CD

Revision: 0
YASKAWA MANUAL NO. HW0480614 7

HW0480614
MANDATORY
• This manual describes the specifications, precautions for operation and
required items for maintenance or inspections, for proper application of
the MOTOMAN-PX2050/-PX1850/-PX1450. 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 XRC Operator’s Manual for the operation methods.
CAUTION
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
• The drawings and photos in this manual are representative examples

and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA rep-

resentative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your prod-
uct’s warranty.
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HW0480614
Notes for Safe Operation

Read 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”.
Indicates a potentially hazardous situation which, if not avoided,

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

CAUTION 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

MANDATORY heading.
Must never be performed.

PROHIBITED
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
Definition of Terms Used Often in This Manual

The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the playback panel, the programming pen-
dant, and supply cables.
In this manual, the equipment is defined as follows.
Equipment Manual Definition
YASNAC XRC Controller XRC
YASNAC XRC Playback Panel Playback Panel
YASNAC XRC Programming Pendant Programming Pendant
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HW0480614
1 Safety Precautions
2 Features
2.1 Methods of Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
3 Installation
3.1 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Installation Site . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
4 Handling and Installation

4.1 Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Receiving and Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.3 Installation of MOTOMAN . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.3.1 Safeguard Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.3.2 Installation of Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.3.3 When the Manipulator and Mounting Fixture are Installed on a
Common Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.3.4 When the Manipulator is Mounted Directly on the Floor . . . . . . 4-5
4.3.5 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.3.6 Controller and Programming Pendant . . . . . . . . . . . . . . . . . . . 4-6
4.3.7 Safety Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
5 Connection
5.1 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.2.1 Connection to the Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.2.2 Connection to the XRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2.3 Power Cable Construction Method Example . . . . . . . . . . . . . . 5-4
5.2.4 The Cables & Air-tubing Connection(procedure) . . . . . . . . . . . 5-5
5.3 Internal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
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6 System Configuration
6.1 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Robot Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.3 Pneumatic Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.4 O-ring in the Wrist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
7 Basic Specifications
7.1 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.3 System Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
8 Frequent Inspections
8.1 Frequent Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 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 Inspection

9.1 Inspection Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.2 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
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HW0480614
9.2.2 Lubricating Oil Replacement for R- and B-axes

Speed Reducers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
9.2.3 Tightening Bolts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
9.2.4 Wrist Speed Reducer and Bearing . . . . . . . . . . . . . . . . . . . . . 9-10
9.2.5 Air Sealings for Internal Air Pressure . . . . . . . . . . . . . . . . . . . 9-11
Packing on the motor case . . . . . . . . . . . . . . . . . . . . . . . . . 9-11
Manipulator Base Box Cover Packings . . . . . . . . . . . . . . . 9-12
9.3 Maintenance and Inspection of the Pneumatic Unit 9-13
9.3.1 Solenoid Valve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13
9.3.2 Pressure Reducing Valve . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13
9.4 Inspection of Explosion-proof Devices . . . . . . . . . . . . . 9-13
9.4.1 Pressure Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13
9.4.2 Master Valve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
9.4.3 Pressurized Explosion-proof Barrier . . . . . . . . . . . . . . . . . . . . 9-14
10 Recommended Spare Parts
11 Parts List
11.1 S-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.2 L,U-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.3 Switch Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
11.4 R, B, T-Axes Unit (1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-7
11.5 RBT-Axes Unit(2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9
11.6 Wrist Unit (1-1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-11
11.7 Wrist Unit (1-2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-13
11.8 Wrist Unit (2-1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-15
11.9 Wrist Unit (2-2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-17
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HW0480614
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 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 seri-
ous accident. When on standby, the manipulator can be moved by an exter-
nal 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 accident

Appoint a person to be contacted and the action to be taken in case of a fail-
ure or an accident.
d) Safety standards and the supervisor for safe operation

Appoint 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.
WARNING
Install the MOTOMAN-PX2050/-PX1850/-PX1450 in a location that meets the require-
ments of Area Classification ’Division I’ prescrived in FM Approval Standard.
1-1
HW0480614
WARNING
• 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 XRC. And per-
form the operations holding the programming pendant with the emergency stop but-
ton.
(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 manipula-
tor 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 manip-
ulator and turn OFF the main power supply to the XRC.
• Brake release (Option)

A braking system is provided on each axis of the manipulator to hold the arm in its posi-
tion 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 maniuplator within the minimum
motion range.
Use the brake release function only when absolutely necessary.
PROHIBITED
Any modification of the MOTOMAN-PX2050/-PX1850/-PX1450, and the following are
strictly prohibited:
1. Explosion-proof devices and system installation
2. Safeguards and the safety devices mounted on these safeguards
3. Emergency stop button, and other safety devices
4. Robot control system such as the XRC robot controller, the manipulator drive section
and the power transmission section
1-2
HW0480614
2.1 Methods of Protection
2 Features
The MOTOMAN-PX2050/-PX1850/-PX1450 are designed for easy-handling and to consider

safety first in operation.
2.1 Methods of Protection
The MOTOMAN-PX2050/-PX1850/-PX1450 are 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.
WARNING
Install the MOTOMAN-PX2050/PX1850/PX1450 in a location that meets the require-
ments of Area Classification ’Division I’ prescribed in FM Approval Standard.
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 feature
The large-capacity drive for PC cards is provided as a standard feature of backup
unit and enables data to be transmitted easily.
2-1
HW0480614
2.2 Teaching
CAUTION
Be sure to save the backup data for the controller, such as the data for jobs and con-
stants, on a PC card. If not, the necessary data for the manipulator may be lost if an inter-
nal memory fault occurs in the controller.
(2) High reliability

a) The built-in microcomputer continuously checks the I/O data and the manipu-
lator motion to ensure high-reliability.
b) Can detect power supply faults and software faults with its self-diagnosis func-
tions.
(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.
2-2
HW0480614
3.1 Requirements
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
Power supply 3-phase 200/220 VAC ( ± 10 % )

1 50/60 Hz ( ±2 Hz)
5 kVA (at peak)
Air supply Required pressure: 0.35 MPa to 0.65

Spray ON/OFF MPa (3.5 kgf/cm2 to 6.5 kgf/cm2) Prepare the liquified air
Gun-tilt switching Capacity: for the spray gun sepa-
Pressurized For turning the spray ON/OFF: rately.
explosion-proof 30NI/min Use dry air for the pres-
enclosure For switching the tilt of the gun: surized explosion-proof
2 enclosure.
30 NI/min
For the pressurized explosion-
proof
30 NI/min usually
250 NI/min when purging
Dryness: Freezing at -18 °C
Grounding Grounding resistance: For the robot controller

3 100 ohm or less (Non I.S. GND)
10 ohm or less (I.S. GND)
CAUTION
Use dry air for the pressurized explosion-proof enclosure. Moisture in the air supply may-
damage the electronic parts.
3-1
HW0480614
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
Hazardous Non-hazardous
Ambient Maximum
Location Location
System Components Tempera- Ambient
(Inside Painting (Outside
ture Humidity
Booth) Painting Booth)
Manipulator (explosion-proof) { - 0 to 45 °C 80 %RH
Controller (not explosion-

× { 0 to 45 °C 90 %RH
proof)
Pneumatic unit (not explo-

× { 0 to 45 °C 85 %RH
sion-proof)
Programming pendant
× { 0 to 40 °C 85 %RH
(not explosion-proof)
Programming pendant
{ { 0 to 40 °C 85 %RH
(explosion-proof) (Option)
Conveyer speed detector

× { 0 to 50 °C 90 %RH
Conveyer speed detector

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

{ - 0 to 50 °C 90 %RH
proof)
Workpiece supplier (explo-

{ { 0 to 50 °C 85 %RH
sion-proof)
Control panel for workpiece

supplier × { 0 to 45 °C 90 %RH
Safety devices
Box for emergency stop Selected according to the requirements of the customer.
switches Refer to the appropriate instruction manual provided sepa-
Safety plugs rately.
Limit switches
Flashing light × : Not acceptable
Indicator lamps { : Acceptable
Photoelectric switches
3-2
HW0480614
WARNING
Devices that are not explosion-proof must not be installed in hazardous locations. Failure
to observe this warning may result in a fire.
3-3
HW0480614
4.1 Preparation
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 obstacles
3) Appointment of personnel in charge
4) 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 neces-
sary, reinforce the route.
3) To lift the manipulator, use the appropriate machinary 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.
CAUTION
• Confirm that the manipulator and the XRC 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.
4-1
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4.3 Installation of MOTOMAN
WARNING
• 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 XRC.
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 manipula-
tor weighs approximately 370 kg (PX2050). 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 loca-
tion 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 eybolts.
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.
Crane
Chain Block
EyeBolt
Belt
Approx.20
EyeBolt
Manipulator
Approx.25
Fig. 1 Lifting the PX2050/1850/1450
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.
4-2
HW0480614
CAUTION
• 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 manipula-
tor 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.
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 Safeguarding

The 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 either of the following ways: “4.3.3 When the Manipulator
and Mounting Fixture are Installed on a Common Base” and “4.3.4 When the Manipulator is
Mounted Directly on the Floor.”
Table. 3 Maximum Repulsion Forces of the the PX2050/PX1850/PX1450
Horizontal rotating maximum torque 11000N • m

(S-axis moving direction) (1100kgf• m)
Vertical rotating maximum torque 21400N • m

(L- and U-axis moving direction) (2140kgf• m)
4-3
HW0480614
4.3.3 When the Manipulator and Mounting Fixture are

Installed on a Common Base
The common installation base should be rugged and durable to prevent shifting of the
manipulator or the mounting fixture. It is recommended that the thickness of the common
installation base 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 Common
Installation Base "for the method. The flatness for the manipulator installation face must be
0.5 mm or less.
Hexagon socket head bolt M16 (4 bolts)
Spring Washer
Washer
Manipulator base
30mm
or more
40mm
Common installation base

Manipulator base
Anchor bolt
Common installation base
Fig. 2 Mounting on the Common Installation Base
4-4
HW0480614
4.3.4 When the Manipulator is Mounted Directly on the

Floor
The floor should be strong enough to support the manipulator. Construct a solid foundation
with the appropriate thickness to withstand maximum repulsion forces of the manipulator. As
a rough standard, when there is a concrete thickness (floor) of 150 mm or more, the
manipulator base can be fixed directly on the floor with M16 anchor bolts. Make the floor
surface even and repair all the cracks. A non-concrete floor or a concrete floor less than 150
mm thick is insufficient to install the manipulator directly.
*215 *215
*215 *215
Manipulator base
Anchor bolt M16 (4 bolts)
150mm
or more
Concrete floor
Fig. 3 Direct Mounting on the Floor
4-5
HW0480614
4.3.5 Location
Install the manipulator in a location that has the following environmental conditions:
• Ambient operating temperature: 0 to +45 °C
• 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.
4.3.6 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 60 cm around the controller for maintenance. When the suffi-
cient 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.
4.3.7 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
4-6
HW0480614
5.1 Wiring
5 Connection
5.1 Wiring
WARNING
• Ground resistance must be 100 Ω or less. (Non I.S. GND)
10 Ω or less. (I.S. GND)
Failure to observe this warning may result in fire or electric shock.
• Before wiring, make sure to turn the primary power supply OFF, and put up a warning sign.
(ex. DO NOT TURN THE POWER ON.)
Failure to observe this warning may result in fire or electric shock.
CAUTION
• Wiring must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire or electric shock.
• Do not cover the power cable between the manipulator and the XRC
with a highly adiathermic material, and separate the cable from the
other cables.
The heat radiating from the cable will be trapped, and the accumulated heat may cause
burns and injury.
5.1.1 Grounding
Follow the local regulations for ground line size. A line of 5.5 mm2 or more is recommended.
• Do not use this line in common with other ground lines or grounding electrodes for other
NOTE 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.
5-1
HW0480614
5.2 Cable Connection
The grounding methods differ depending on the system application. Refer to the connection
instructions that are provided separately.
Remove the Cover
2
5.5mm or more
(Prepare by the customer)
less than 0.1W
Fig. 4 Grounding Method
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. 5 Manipulator Internal Cable Connection
5-2
HW0480614
5.2.2 Connection to the XRC

Remove the cover on the XRC side. Pass the signal cable for detection (1BC) and power
cable (2BC) through the opening for the cables, and then fasten bolts on the opening.
Connect the 1BC cable to the boards. Be sure to verify the numbers on both cables and board
connectors before connecting, and to fasten the bolts on connectors to prevent cables from
loosening.
Connect the 2BC cable to the terminals inside of the XRC. Be sure to verify the numbers on
both the cable and board connectors before connecting.
Nylon Air Tube (Prepared by YASNAC XRC

SERVO ON
READY PLAY
MODE
TEACH
EMERGENCY STOP
the customer) BRAKE RELEASE
S L U R B T
EDIT LOCK
(OFF)
(ON)
REMOTE
ALARM
HOLD START
12/9 Dia WARNING
May cause
electric shock.
Ground the earth terminal
based on local code.
OFF
6/4 Dia
JZNC-XRK01
XCP01 CPS-150F
XCP01
CPS-150F
4X 5X
1 2
3 4
CN05
5 6
Contact Barrier
7 8
1 2
XIU01-CN29
9 10
3 4
11 12
5 6
CN04/CARD
13 14
7 8
1X
CN05/SV
15 16
9 10
17 18
11 12 20
19
13 14
CN04
15 16
less than 0.1Ω
17 18
20
SW
0 1 2 3 4
19
IBRC6052R-FM
BAT
1KM CN03
CN03/RS232C
SOURCE
PWR ON
+5V
CN02
+24V
OHT
CN02/PP
CN01
CN01/IO
1 2
3 4
5 6
SER NO. DATE
7 8
TYPE
YASKAWA ELECTRIC CORPORATION 9 10
JAPAN NJ2096-1
11 12
CONTROL IN
GRIP
CN1
CN2
CNPB04 CNPB05 CNPB06

1
R1
LED1
CN10
49
50
24
25
Cover
CNPG456
CN20
CNPGC
CN50
1
2
27
26
CNPG123
B1
B2
T1
T2
49
50
24
25
49
50
24
25
S1
CNTEST
CNPG456
CNE
CN30
CNPGB
CN1-1 CN1-2 CN1-3 CN1-4 CN1-5 CN1-6

1
1
2
2
27
26
27
26
CN40
CNPB01 CNPB02 CNPB03

+
+
D5
D6
D7
D8
U1
U2
R1
R2
49
50
24
25
49
50
24
25
CNPG123
CNPGA
1
2
2
27
26
27
26
+
+
D1
D2
D3
D4
S1
S2
L1
L2
Battery Unit
JZRCR-XSB01
Power and Signal Cable
Ground Terminal Battery Unit BAT1

CN1-7
WRCA01-CNPG456
BAT1 BAT1 BAT1

BAT1
CNPG456
OBT1
OBT1 OBT1 OBT1 OBT1
SHIELD 0BT1
Ground Terminal E
BAT3
BAT3 BAT3 BAT3 BAT3
BAT3
OBT3
WRCA01-CNPG123
OBT3 OBT3 OBT3 OBT3
SHIELD 0BT3
CNPG123
Ground Terminal E
BAT5
BAT5 BAT5 BAT5 BAT5
BAT5
OBT5
OBT5 OBT5 OBT5 OBT5
SHIELD 0BT5
Ground Terminal E
E
Ground Terminal E
E
Ground Terminal E
Fig. 6 Connection to the XRC
5-3
HW0480614
5.2.3 Power Cable Construction Method Example

The construction example is shown as follows.
Non Hazardous Location Hazardous Location

(Outside of Booth) (Inside of Booth)
max:30m
Rigid Steel Conduits
Sealing Compound
Chico A
Sealing Fitting
Cable EYS41
Control
Unit
Manipulator
Plate
Packing
Fig. 7 Metal Pipe Construction example
• Construct the signal cable and the peripheral device coupling cable as mentioned above.
NOTE • The metal pipe must have enough strength.
• For the explosion-proof approved parts, use neither sealing fitting nor sealing compound
other than the above-mentioned model.(Manufacturer: Cooper Industrial Inc, or equiva-
lent)
5-4
HW0480614
5.3 Internal Wiring
5.2.4 The Cables & Air-tubing Connection(procedure)

Cables and tubes necessary for construction are tables below.
The customer needs to prepare the power supply cable, the grounding cable, the cables for
the optional equipment, and the air tube.
Use Connection to Type
Power supply cable Power supply to/from the con- CVV-3.5SQ-4C

troller
Intrinsically safe signal cable Manipulator to/from the control- CVV-1.25SQ-2Cx2

ler
Cable for the conveyor speed To/from the controller CVV-SB-1.25SQ-3C

detection device
Cable for the optional equip- To/from the controller CVV-SB-1.25SQ

ment
Air tube for pressurized explo- Manipulator to/from the pneu- φ12/9,φ6/4 nylon tube(each
sion-proofness matic unit line)
Air tube for air supply Air supply to/from the pneu- φ12/9 nylon tube
matic unit
5.3 Internal Wiring
Figs. 8 (a),(b) and (c) show the internal wiring.
5-5
Power Supply Cable Internal wiring leads
Casing for internal air pressure Casing for internal air pressure
YASNAC-XRC
1BC
WRCA01 CN1-1 No.12CN
CNPG123 24 -1 DATA+1 CN-1 DATA+1
22 P -2 DATA-1 P -2 DATA-1
-3 BAT
P -4 OBT PG S-AXIS absolute encoder
19 -3 +5V-1 -5 +5V
45 P -4 0V-1 P -6 0V UTSAH-B17BB
21 P -5 FG1 -7 FG1
47
OBT
BAT
BAT-S
OBT-S
CN1-2
No.13CN
16 -1 DATA+2 CN-C DATA+2
14 P -2 DATA-2 P -D DATA-2
-T BAT
54331-0501 P -S OBT PG L-AXIS absolute encoder
(MOLEX) 11 -3 +5V-2 -H +5V UTSAH-B17BB
37 P -4 0V-2 P -G 0V
13 P -5 FG2 -J FG2
39
OBT
BAT-L BAT
OBT-L
CN1-3
No.1CN
8 -1 DATA+3 CN1-1 DATA+3
6 P -2 DATA-3 P -2 DATA-3
-3 BAT
P -4 OBT PG U-AXIS absolute encoder
3 -3 +5V-3 -5 +5V UTSAH-B17BB
29 P -4 0V-3 P -6 0V
5 P -5 FG3 -7 FG3
31
FG OBT
BAT-U BAT
OBT-U
CN1-4
No.2CN
WRCA01
24 -1 DATA+4 CN-1 DATA+4
CNPG456 22 P -2 DATA-4 P -2 DATA-4
-3 BAT
P -4 OBT PG R-AXIS absolute encoder
19 -3 +5V-4 CN-1 +5V UTSAH-B16DA
45 P -4 0V-4 P -2 0V
21 P -3 FG4
47
No.3CN
BAT-R OBT
OBT-R BAT
CN1-5
No.4CN
14 P -2 DATA-5 P -2 DATA-5
-3 BAT
P P -4 OBT PG B-AXIS absolute encoder
54331-0501 11 -3 +5V-5 CN-1 +5V UTSAH-B16DA
(MOLEX) 37 P -4 0V-5 P -2 0V
13 P -3 FG5
39
Battery Unit No.5CN OBT
BAT-BT BAT
OBT-BT
JZRCR-XSB01 CN1-6
No.6CN
6 P -2 DATA-6 P -2 DATA-6
-3 BAT
P -4 OBT PG T-AXIS absolute encoder
3 -3 +5V-6 CN-1 +5V UTSAH-B16DA
29 P -4 0V-6 P -2 0V
BAT1 5 P -5 FG6 -3 FG6
0BT1 31
FG No.7CN OBT
0BT1 BAT1 BAT
Casing for internal air pressure

1BC
E CN1-7
0BT3 BAT3 1 BAT-1

P 7 0BT-1 P
3 BAT-3
0BT3 BAT3 P 4 0BT-3 P
5 BAT-5
P 6 BAT-5 P
P 11 0BT-5
12 0BT-5 P
E
E P
E Terminal A
1.25-4.0
0BT5 BAT5
0BT5 BAT5
Fig.8(a) Internal Cable Connection

5-6
Power Supply Cable
Internal wiring leads
Casing for internal air pressure Casing for internal air pressure
E E Terminal A
Terminal A 1.25-4.0
1.25-4.0 2BC
1SV-CN1-1 No.15CN
CN 2- 1 -1 MU1 CN-1 MU1
-B1 -2 MV1 -2 MV1
1-917807-2 -A2 -3 MW1 -3 MW1 SM S-axis motor
(AMP) -B2 -4 ME1 -4 ME1 SGMDH-12A2A-YRA1
-A1 -5 BA1 -5 BA1
-6 BB1 -6 BB1 YB Brake
1SV-CN1-2 No.16CN
CN 2- 2-1 -1 MU2 CN-A MU2
-B1 -2 MU2
-3 MU2
-A2 -4 MV2 B MV2
-5 MV2
-6 MV2
-7 MW2 C MW2
SM L-axis motor
1-917807-2 -B2 CN 2- 2-2 -1 MW2 SGMGH-30A2A-YRA1
(AMP) MW2
-2
-A1 -3 ME2 D ME2 YB Brake
-4 ME2
-5 ME2
-6 BA2 E BA2
-7 BB2 F BB2

1SV-CN1-3
No.8CN
CN 2- 3 -1 MU3 CN-1 MU3
1-917807-2 -B1 -2 MV3 -2 MV3
-A2 -3 MW3 -3 MW3 SM U-axis motor
(AMP) -B2 SGMDH-12A2A-YRA1
-A1 -4 ME3 -4 ME3
-5 BA3 -5 BA3
1SV-CN1-4 No.9CN
CN 2- 4 -1 MU4 CN-1 MU4
-B1 -2 MV4 -2 MV4
1-917807-2 -A2 -3 MW4 -3 MW4 SM R-axis motor
(AMP) -B2 -4 ME4 -4 ME4 SGMPH-04A1A-YR61
-A1 -5 BA4 -5 BA4
1SV-CN1-5 No.10CN
CN 2- 5 -1 MU5 CN-1 MU5
-B1 -2 MV5 -2 MV5
1-917807-2 -A2 -3 MW5 -3 MW5 SM B-axis motor
(AMP) -B2 ME5 ME5 SGMPH-04A1A-YR61
-A1 -4 -4
-5 BA5 -5 BA5
-6 BB5 YB Brake
1SV-CN1-6 No.11CN
CN 2- 6 -1 MU6 CN-1 MU6
-B1 -2 MV6 -2 MV6
1-917807-2 -A2 -3 MW6 -3 MW6 SM T-axis motor
(AMP) -B2 -4 ME6 -4 ME6 SGMPH-04A1A-YR61
-A1 -5 BA6 -5 BA6
-6 -6 BB6 YB Brake
XIU01-CN29
B1
178214-1 A1
(AMP) C1
D1 Casing for internal air pressure
B2
A2
C2
D2
PE
Fig.8(b) Internal Cable Connection

5-7
Non-Intrinsically Intrincally
Safe Circuit Safe Circuit
Confact Barrier
(Approved Product) Non Hazardous Location Hazardous Location
IBRC6052R-FM (Class I, Division 1, Groups A,B,C and D)
Robot
Controller 30m Max.
A1 P1
C1 N1
A2 P2 Manipulator
C2 N2
Control A3 P3 1m Max.
Section C3 N3
A4 P4 Intrinsically Safe
Terminal Box Pressure Detector
C4 N4
I/O PC-board A5 P5 101
C5 N5 102 Flow Switch
0V G 103
200V G 104 Limit Switch for
200V FG 111 Robot Manipulator
112
113
A1 114 Pressure Switch
P1
for Shear Pin
C1 N1 G
5-8
A2 P2
C2 N2 1m Max.
A3 P3
C3 N3
A4 P4
C4 N4
A5 P5
C5 N5
Power Source
Dividing Box
0V G
200/220VAC at 50/60HZ 200V G
Output Circuit
200V FG Signal Input Switch(S)
Safe-guard Rating
Fig.8(c) Intrinsically Safe Circuit Diagram

250VAC at 50/60HZ,
250VDC
Signal Input Switch(LS)
30m Max.
Confact Barrier
(Approved Product)
IBRC6052R-FM
GND GND
Less
than
0.1Ω
Power Supply Cable Internal wiring leads
Battery Unit Casing for internal air pressure Casing for internal air pressure
JZRCR-XSB01 Manipulator
0BT1 BAT1
0BT1 BAT1
BAT3
E
0BT3
0BT3 BAT3
P
P
BAT5
E
0BT5
0BT5 BAT5
P
P
E
24 24 DATA+1 CN-1 DATA+1

22 22 P DATA-1 P -2 DATA-1
BAT-S -3 BAT
OBT-S P -4 OBT E
19 19 +5V-1 -5 +5V Sweep Axis Encorder
45 45 P 0V-1 P -6 0V
21 21 P FG1 -7 FG1
47 47
OBT
MC BAT UTSAH-B17BB
AC200V 16 16 DATA+2 CN-C DATA+2

14 14 P DATA-2 P -D DATA-2
BAT-L -T BAT
OBT-L P -S OBT E
11 11 +5V-2 -H +5V Arm Down Axis Encorder
37 37 P 0V-2 P -G 0V
13 13 P FG2 -J FG2
39 39
UTSAH-B17BB
OBT
BAT
8 8 DATA+3 DATA+3
6 6 P DATA-3 P -2 DATA-3
BAT-U -3 BAT
OBT-U P -4 OBT E
3 3 +5V-3 -5 +5V Arm Up
29 29 P 0V-3 P -6 0V
5 Encoder 5 P FG3 -7 FG3 Axis Encorder
Servo 31 31
FG Separation FG OBT
Pack BAT UTSAH-B17BB
24
Board 24 DATA+4 DATA+4
22 22 P DATA-4 P DATA-4
BAT
P OBT E Wrist Rolling
19 19 +5V-4 +5V Axis Encorder
45 45 P 0V-4 P 0V
21 21 P FG4
47 47
OBT
UTSAH-B16DA
BAT
16 16 DATA+5 DATA+5
BAT
P OBT E Wrist Swing
37 37 P 0V-5 P 0V
13 13 P FG5
39 39
OBT UTSAH-B16DA
BAT
8 8 DATA+6 DATA+6
BAT
P OBT E Wrist Rotation
29 29 P 0V-6 P 0V
5 5 P FG6 FG6
31 31 UTSAH-B16DA
FG FG OBT
BAT
E E Terminal A
Drain Wire
PE
HW0480614
6.1 Manipulator
6 System Configuration
" Fig. 9 System Configuration "shows the system configuration of the the MOTOMAN-PX2050/
PX1850/PX1450.
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. 10 (a) Dimensions and P-point Maximum Envelope (PX2050) " , " Fig. 10 (b)
Dimensions and P-point Maximum Envelope (PX1850) " and " Fig. 10 (c) Dimensions and P-
point Maximum Envelope (PX1450) " shows the dimensions and the working envelopes of the
PX2050/PX1850/PX1450.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. 10 (a) Dimensions and P-point Maximum Envelope
(PX2050) "," Fig. 10 (b) Dimensions and P-point Maximum Envelope (PX1850) " and " Fig. 10
(c) Dimensions and P-point Maximum Envelope (PX1450) " are that of the wrist axis center
point P that is made by the combination of the motions of the three main axes.
WARNING
When taking safety precautions, consider the working envelope of the manipulator shown in
" Fig. 10 (a) Dimensions and P-point Maximum Envelope (PX2050) "," Fig. 10 (b)
Dimensions and P-point Maximum Envelope (PX1850) " and " Fig. 10 (c) Dimensions and
P-point Maximum Envelope (PX1450) ".
6-1
HW0480614
6.1 Manipulator
Hazardous location Non-hazardous location

Conveyor speed detector
5 (option) 7
Program
Conveyor switch selector
4
(option)
(Option)
Air tube (2)
3 AIR SUP.
(0.35 - 0.65MPa)
1 Manipulator Pneumatic
unit (3.5 - 6.5kg/cm2 )
Programming Pendant
2 (PP)
Robot
controller POWER SUP.
(XRC) (3-Phase 200/220 VAC
50/60 Hz)
less than 0.1Ω
less than 0.1Ω
6 Workpiece supplier
(option) Power Supply
cable
(2)
6 Controller for the

workpiece supplier
(option)
Fig. 9 System Configuration
6-2
HW0480614
6.1 Manipulator
A P-point
234 850
T-axis
±260° R-axis
±260°
T-type Wrist
245
P-point
B-axis
±140°
93 850
R-axis
0 ° ±260°
5°
18
2335
to
141.5
16
3° L-type Wrist
245
2767
50°
0° 165
4070
10 T-axis
±260°
B-axis P-point
±270°
P-point maximum envelope

642
432
215 215
18 dia. hole
(4 holes)
215
1475 560 1020
480
2035
215
View A Manipulator Installation Dimensions
Fig. 10 (a) Dimensions and P-point Maximum Envelope (PX2050)
6-3
HW0480614
6.1 Manipulator
P-point
P-point
234 850
T-axis
±260° R-axis
±260°
T-type Wrist
245
0°
6°
2135
B-axis
18
±140°
to
16
3°
2532
50°
0°
93 850
10
3670
R-axis
T-axis ±260°
±260°
141.5
L-type Wrist
245
P-point maximum envelope 165
397
B-axis P-point
±270°
642
215 215
1395 440 866 18 dia. hole
(4 holes)
1835
215
View A
480
215
Manipulator Installation Dimensions
Fig. 10 (b) Dimensions and P-point Maximum Envelope (PX1850)
6-4
HW0480614
6.1 Manipulator
234 500
A T-axis
±260° R-axis
±260°
T-type Wrist
P-point
6° B-axis
±140° P-point
to
163
93 500
141.5
R-axis
±260°
50° 0°
18
1757
L-type Wrist
0°
1818
10
165
T-axis
2914
±260° P-point
B-axis
±270°
642
61
215 215
18 dia. hole
(4 holes)
848 168 441 637
215
1457
480
215
View A
Manipulator Installation Dimensions
Fig. 10 (c) Dimensions and P-point Maximum Envelope (PX1450)
6-5
HW0480614
6.2 Robot Controller
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.
WARNING
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.
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. 11 Pneumatic Unit Air
Circuit " and " Fig. 12 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. 11 Pneumatic Unit Air Circuit ".
CAUTION
The pneumatic unit is used to provide a pressurized explosion-proof barrier for the manip-
ulator. Because the barrier is only ensured when the air supply is within the recom-
mended 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.
6-5
HW0480614
6.3 Pneumatic Unit
Pressure reducing valve P1(Setting Pressure)

for setting 0.02~0.04MPa(0.20~0.40 kgf/cm2)
Supply Pressure
P2(Purge Air Pressure)
0.35~0.65MPa Pressure reducing valve 0.3~0.45MPa
(3.5~6.5 kgf/cm2 ) for Purge Air (3.0~4.5 kgf/cm2)
SV1 Manipulator
Air in
Filter
Pressure reducing valve
for setting PO(Pressure) Manipulator
0.35~0.65MPa (3.5~6.5 kgf/cm2 ) SV2 to MV
P3(Pressure for spray signal)

0.35~0.65MPa
(3.5~6.5 kgf/cm2 ) Spray gun
Pressure reducing valve for spraying
Fig. 11 Pneumatic Unit Air Circuit
CAUTION
Manufacturer is requested to strictly observe that the supply air is between 0.35 MPa to
0.65 MPa. The pressurized explosion-proof will not operate properly without the required
amount of air pressure, if air pressure is low. If the air pressure is increased, the pneu-
matic equipment for the pressurized explosion-proof system will be caused for equipment
damage.
Normal pressure
Pressurised air outlet
(P1:0.02 - 0.04MPa)
For air -purge pressure entry Operate air

for air-purge valve
(P2:0.3 - 0.45MPa)
Supply Pressure
(P3:0.35 - 0.65MPa)
Supply port
Fig. 12 Pneumatic Unit External View
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6.4 O-ring in the Wrist
6.4 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).
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7.1 Basic Specifications
7 Basic Specifications
Table. 4 PX2050 Basic Specifications *1
MOTOMAN- MOTOMAN-
Item Type
PX2050-B20 PX2050-B30
Operation Mode Vertically Articulated
Degree of Freedom 6
Payload 10 kg
Repetitive Positioning Accuracy*2 ± 0.5 mm
S-axis (turning) ± 90°
L-axis (lower arm) + 100°, - 50°
U-axis (upper arm) + 123°, - 125°

Motion Range
R-axis ± 260° (wrist roll) ± 260° (wrist pitch)
B-axis ± 140° (wrist yaw/pitch) ± 270°(wrist yaw/roll)
T-axis ± 260° (wrist twist)
Maximum Speed 2 m/s
R-axis 34.1N•m(3.5 kgf•m) 30.4N•m(3.1 kgf•m)
Allowable Moment B-axis 34.1N•m(3.5 kgf•m) 19.6N•m(2.0 kgf•m)
T-axis 9.8N•m(1.0 kgf•m)
R-axis 1.21 kg•m2 0.97 kg•m2

Allowable Moment of Inertia
B-axis 1.21 kg•m2 0.4 kg•m2
(GD2/4)
T-axis 0.1 kg•m2
Mass 370 kg
Temperature 0 to + 45 °C
Humidity 20 to 80 %RH (non-condensing)

Ambient Conditions
Vibration 4.9 m/s2 (0.5 G) or less
Others Free from excessive electrical noise
Power Capacity 5 kVA
*1 SI units are used in the table. Gravitatioal units are also described in parentheses.
*2 Conformed to ISO9283.
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MOTOMAN- MOTOMAN-
Item Type
PX1850-B20 PX1850-B30
Operation Mode Vertically Articulated
Degree of Freedom 6
Payload 10 kg
U-axis (upper arm) + 123°, - 124°

Motion Range
R-axis ± 260° (wrist roll) ± 260° (wrist pitch)
B-axis ± 140° (wrist yaw/pitch) ± 270°(wrist yaw/roll)
T-axis ± 260° (wrist twist)
Maximum Speed 2 m/s
R-axis 34.1N•m(3.5 kgf•m) 30.4N•m(3.1 kgf•m)
Allowable Moment B-axis 34.1N•m(3.5 kgf•m) 19.6N•m(2.0 kgf•m)
T-axis 9.8N•m(1.0 kgf•m)
R-axis 1.21 kg•m2 0.97 kg•m2

Allowable Moment of Inertia
B-axis 1.21 kg•m2 0.4 kg•m2
(GD2/4)
T-axis 0.1 kg•m2
Mass 360 kg

Ambient Conditions
*1 SI units are used in the table. Gravitatioal units are also described in parentheses.
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Item Type MOTOMAN-PX1450-B20 MOTOMAN-PX1450-B30
Operation Mode Vertically articulated
Degree of Freedom 6
Payload 10 kg
U-axis (upper arm) + 123°, - 170°

Motion Range
R-axis (wrist roll/ ± 260°
B-axis (wrist yaw/pitch) ± 140° ± 270°
T-axis (wrist twist) ± 260°
Maximum Speed 2 m/s
R-axis 34.1 N·m (3.5 kgf·m) 30.4 N·m (3.1 kgf·m)
Allowable Moment B-axis 34.1 N·m (3.5 kgf·m) 19.6 N·m (2.0 kgf·m)
T-axis 9.8 N·m (1.0 kgf·m)
R-axis 1.21 kg·m2 0.97 kg·m2

Allowable Moment of
Inertia B-axis 1.21 kg·m2 0.4 kg·m2
(GD2/4)
T-axis 0.1 kg·m2
Mass 345 kg 360 kg

Ambient Conditions
*1 SI units are used in the table. Gravitational units are also described in parentheses.
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7.2 Wrist Flange
7.2 Wrist Flange
The wrist flange dimensions are shown in " Fig. 13 Wrist Flange (for PX2050/1850/1450-B20)
" and " Fig. 14 Wrist Flange (for PX2050/1850/1450-B30) ". Fitting depth of inside fittings
must be 6mm or less.
O ring
Tapped hole 8-M6 x 1 (attached to the manipulator)
(depth: 9 mm)
0.5
45 Roatating part)
D.32
(Outer dia. of
P.C.
14 +0.018
70
Fig. 13 Wrist Flange (for PX2050/1850/1450-B20)
O ring
Tapped hole 8-M6 x 1 (attached to the manipulator)
(depth: 9 mm)
0.5
45 Roatating part)
D.32
(Outer dia. of
P.C.
14 +0.018
0
70
Fig. 14 Wrist Flange (for PX2050/1850/1450-B30)
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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: 10 kg
• Mounting position: refer to " Fig. 15 Device Mounting Position (for PX2050/PX1850) "
and " Fig. 16 Device Mounting Position (for PX1450) ".
420 mm or less
Fig. 15 Device Mounting Position (for PX2050/PX1850)
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220 mm or less
Fig. 16 Device Mounting Position (for PX1450)
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8.1 Frequent Inspections
8 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. 7 Frequent Inspections " to ensure
the long life of the robot and its performance.
Table. 7 Frequent Inspections
Week
No. Items to be Inspected Inspection Daily Remarks
ly
Motion Smooth tuning, hori- WARNING

zontal, and vertical
motions of each arm. Do not enter the robot
1 { working envelope.
The robot’s standby
position does not
change.
Noise and vibration No abnomal noise and WARNING

2 during operation vibration during robot {
operation. Do not enter the robot
working envelope.
Tubes No severe wear and CAUTION

3 tear on paint and air { {
supply tubes. Use a pair of protective
glasses to protect your
Air leakage No excessive air leak- eyes against paint or
Manipulator
age from the fitting of thinner that is being
the motor case. removed.
CAUTION
4 { { Make sure that the air
tube is firmly inserted
in the joint. Accidental
disconnection of the air
tube may cause injury.
Dried paint Remove the dried Replace the sheet.

paint on the robot. WARNING
5 { { When removing the

paint with a tool, be
careful not to damage
the robot.
Water drained from No need for the auto-

1 {
the air filter matic system
Pneumatic
Pressure set value The pressure of the
Unit
pressure reducing
2 {
valve is within the
specified range
8-1
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Table. 7 Frequent Inspections
Week
No. Items to be Inspected Inspection Daily Remarks
ly
Operation of emer- 1. The manipulator CAUTION

gency stop button stops immediately
and safety plug. when the { Inspect the robot while
Dried paint emergency stop it is in its standby posi-
button is pressed. tion and not in motion.
2. The manipulator
stops immediately
{
1 when the safety
plug is pulled out.
3. Remove the
dried paint on
the emergency
{
stop
button and the
Safety safety plug.
Devices
Operation of the 1. The manipulator
photoelectric intru- stops when the
sion detecting photoelectric {
switch switch is turned
2 Dried paint OFF.
2. Remove the dried

paint on the light {
beam detector.
Operation of limit 1. Normal operation

switch. of { {
Dried paint the limit switch
3
2. Remove the
dried paint on { {
the limit switch.
Operation of the The gun tilt changes

1 gun tilt switching correctly when air is { {
supplied.
Operation of the 1. The manipulator

shear pin system stops immediately
when the shear { {
Options
pin
is sheared.
2
2. The test valve is
closed and the
{ {
tube
is not broken.
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8.2 Daily Inspections
Inspect the robot daily to ensure its high performance and early detection of any
abnormalities.
8.2.1 Manipulator
Visual inspection
Before 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 dirt

Remove any dried paint on the manipulator and other devices.
Replace the vinyl sheet if any.
Replace the jacket if it is dirty.
WARNING
When using a tool to remove the paint, be careful not to damage the manipulator.
CAUTION
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.
Tubes
Check 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.
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CAUTION
• 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 thin-
ner, preventing thinner goes inside the wrist. However, use caution not
to remove the original coat of the manipulator.
Air leakage
Check 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 operation

Check if the manipulator standby posture does not change when turning ON the power
supply. Also, check for abnormal noise or vibration during operation.
WARNING
Never enter inside the safeguards and the manipulator working envelope after turning ON
the power supply.
8.2.2 Pneumatic Unit

Drained water from air filter
Empty the water drained from the air filter on the pneumatic unit.
Where the automatic drainage system is provided, check the water level.
Pressure
Before 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.
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8.2.3 Safety Devices

Emergency stop button and safety plug
Before 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 switch

Make 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 switch
Make 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 switching
Check 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 pin
Disconnect the air supply tube, and check if the shear pin breaks immediately to shut off the
power supply to the manipulator.
Also, make sure that the air tube is not bent or crushed.
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9.1 Inspection Schedule
9 Maintenance and Inspection
WARNING
• Before maintenance or inspection, be sure to turn the main power sup-
ply 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.
CAUTION
• Maintenance and inspection must be performed by the specified person-
nel.
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 connec-

tors for detection at maintenance and inspection.
Failure to observe this caution may result in loss of home position data.
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. 8 Inspection Schedule ". Conduct
periodical inspections according to the inspection schedule in " Table. 8 Inspection Schedule
". In " Table. 8 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.
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NOTE The inspection interval must be based on the servo power supply ON time.
Table. 8 Inspection Schedule
Inspection
Schedule
charge
Maintenance
and Item Operation
Inspection Specified Service
1000H 6000H 12000H Licen
24000H 36000H person- com-
cycle cycle cycle see
nel pany
Replace the gear if

{
any abnormality is
Replen-
ish
found. { {
Use Alvania EP
grease
grease 2.
Gear inside
the wrist
{
Adjust-
ment {
gear
(7500 H)
Replace the speed

{ reducer if any
Inspection, Harmonic drive Replen- abnormality is
replacement, speed reducer ish found.
{ {
and grease grease Use Harmonic
replenishment/ grease 4B-No.2.
replacement of
speed reducers
and gears Replace the speed
(*1) { reducer if any
{
Refer to 9.2. RV speed Repren- abnormality is
reducer ish
Replace
found.
{ {
grease
grease Use Molywhite RE
No. 00 grease.
R-, B-, and T- {

axes speed Replace-
Contact your
reducer made ment of
by Alpha lubricat-
Yaskawa represen- { {
tative.
Getriebebau ing oil
GmbH (Every 15000H)
{
Belleville { Contact your
Replen-
Spring inside
ish
Replace Yaskawa represen- { {
the wrist spring tative.
grease
Tighten the
bolts that
Tightening of loosed from
{ { { {
bolts vibration and
an excessively
swinging load.
O-ring { Replace if any { {

abnormality is
found.
Inspection of Contact your
wrist Presence
Yaskawa represen-
check of {
tative.
{ { {
abnormality
Inspection of
the packing of { { {
Inspection of the motor case Replace the pack-
air sealing
ings if excessive
parts for inter- wear is found.
Inspection of
nal pressure
the packing of { { {
the box
9-2
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Table. 8 Inspection Schedule
Inspection
Schedule
charge
Maintenance
and Item Operation
Inspection Specified Service
1000H 6000H 12000H Licen
24000H 36000H person- com-
cycle cycle cycle see
nel pany
Replace the
pneumatic unit { { {
filter.
Check the
Replacement operation of
{ { {
of pneumatic the solenoide
unit filter valve.
Check the
operation of
the pressure
{ { {
reducing valve.
Check the
operation of
the pressure
{ { {
switch.
Check the
Inspection of operation of
explosion- the master
{ { {
proof devices valve.
Check the
operation of
the explosion- { { {
proof enclo-
sure.
Swinging the lead

wire, check the
Check the con- conduction of the
Inspection of duction. main connector
{
Check for the { and the intermedi-
internal wears on the Inspect
Replace
ate connector of
{ {
cables(*2) (*3)
protective the box.
spring. Check for the
wears on the pro-
tective spring.
Check if the
Insert the connec-
Motor con- connectors are
securely
{ tor securely if it is { { {
nector loose.
inserted.
Replace the bat-

tery when the bat-
Battery in Replacement {
tery alarm is { {
manipulator of the battery Replace
displayed on the
XRC.
Contact your
Overhaul { Yaskawa represen- {
tative.
*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 representa-
tive.
*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.
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9.2 Maintenance for Manipulator
9.2.1 Grease Replenishment/Replacement

" Fig. 17 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-arm

2) Harmonic Drive speed reducers for the U- and T-axes
3) RV speed reducers for the S- and L-axes
4) Belleville springs in the wrist
Motor for R-, B-and T-axis

Wrist U-arm
R- and B-axis speed reducer
U-axis motor and speed reducer
T-axis speed reducer

L-arm
S-axis motor and speed reducer
Turning head
Box
L-axis motor and speed reducer
(Manipulator base)
Fig. 17 Locations of Components
9-4
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Gears
Remove the cover and the plug. Inject Alvania EP grease 2 by using a grease gun to the gear
teeth. See " Fig. 18 Injecting Grease at Wrist and End of U-arm (for PX2050/1850/1450-
B20) " and " Fig. 19 IInjecting Grease at Wrist and End of U-arm (for PX2050/1850/1450-B30)
".
Belleville spring
Grease gun
Plug
Plug Plug
Belleville spring
Plug Cover
Belleville spring
Fig. 18 Injecting Grease at Wrist and End of U-arm (for PX2050/1850/1450-B20)
Plug
Plug
Belleville spring
Grease gun
Cover
Cover
Belleville spring
Cover
Fig. 19 IInjecting Grease at Wrist and End of U-arm (for PX2050/1850/1450-B30)
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Harmonic Drive speed reducer

For 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 Replenishment
Refer to " Fig. 20 U-axis Harmonic Drive Speed Reducer ".
1. Remove the plug in the Uo air flow.
NOTE The grease is not exhausted from the Uo air flow. Do not inject excessive grease.
2. Remove the plug 1/8 from the Ui grease inlet, and install the G nipple A-PT1/8 to inject
grease.
Grease type: Harmonic grease 4B No.2

Amount of grease: 70 cc
(140 cc for 1st supply)
3. Reinstall the plugs on the Ui grease inlet and the Uo air outlet. Apply Three Bond 1104
on screwed part.
Uo: Air flow

(with hexagon socket head plug PT1/8)
U-axis
speed reducer
Ui: Grease inlet

Fig. 20 U-axis Harmonic Drive Speed Reducer
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RV speed reducer
Grease Replenishment
Refer to " Fig. 21 S-axis RV Speed Reducer " and " Fig. 22 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.
• If grease is added without removing the plug, the internal pressure will be higher and may
NOTE 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.
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.
Grease type: Molywhite RE No. 00

Amount of grease: 700 cc for S-axis; 600 cc for L-axis
(For 1st supply: 1400 cc for S-axis,1200 cc for L-axis)
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.
Grease Replacement
Refer to " Fig. 21 S-axis RV Speed Reducer " and " Fig. 22 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.
• If grease is added without removing the plug, the internal pressure will be higher and may
NOTE 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.
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.
Grease type: Molywhite RE No. 00

Amount of grease: 1700 cc for S-axis; 2000 cc for L-axis
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.
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If the plug is installed when the grease is being exhausted, the grease will go inside the
NOTE motor and may damage it. Reinstall the plug after the excessive grease is completely dis-
charged.
So Grease exhaust port

(with hexagon socket head plug 1/8)
Cover
S-axis speed reducer
i: Grease inlet
(with nipple -PT1/4)
Fig. 21 S-axis RV Speed Reducer
Lo: Grease exhaust port

L-axis speed reducer Cover on L-axis motor cover
Li: Grease inlet

(Note:Remove the hexagon socket head
plug and install a G nipple A-PT1/8 before
injecting grease)
Fig. 22 L-axis RV Speed Reducer
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9.2.2 Lubricating Oil Replacement for R- and B-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.
• Recommended lubricating oil: Renolin PG220 made by Fuchs Lubricants Co. Viscosity =
ISO VG200
9.2.3 Tightening Bolts

Tighten the bolts shown in " Fig. 23 Manipulator Base Box Fixing Bolts " to " Fig. 26 Terminal
Box in Manipulator Base Box ".
Manipulator base fixing bolts

4-M16
Fig. 23 Manipulator Base Box Fixing Bolts
Hexagon socket head bolt 6-M6 Hexagon socket head bolt 5-M6
Tightening torque 11.5N m
Tightening torque 11.5N m
(117Kg cm)
(117Kg cm)
Fig. 24 Wrist Fixing Bolts (for PX2050/1850/1450-B20)
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Hexagon socket head bolt -M6

Hexagon socket head bolt 6-M6 Tightening torque 11.5N m
Tightening torque 11.5N m (117Kg cm)
(117Kg cm)
Fig. 25 Wrist Fixing Bolts (for PX2050/1850/1450-B30)
Terminal box fixing screws
Fig. 26 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.
CAUTION
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.
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9.2.5 Air Sealings for Internal Air Pressure

Packing on the motor case
(a) S-, L-, and U-axes
Remove the mounting bolts on the motor case and check the packing where the case
is mounted.
Remove the cover for the cable inlet in the motor case, and check the packing where
the cover is attached. Excessive oil in the air that is used for the internal air pressure
can damage the packing, which result in air leakage. Replace the packing if air leak-
age is found.
Refer to " Fig. 27 S- and L-axes Motor Packings "to " Fig. 29 R-, B-, and T-axes Motor
Packings " for more information on the packing of each axis motor.
Motor case
Packing
L-axis motor
S-axis motor
Packing
Motor case
Fig. 27 S- and L-axes Motor Packings
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U-axis motor
Packing
Cover
Packing
Motor case
Fig. 28 U-axis Motor Packing
(b) R-, B-, and T-axes

The packing is provided on the joint fetting between the back of the U-arm and the
motor case. Remove the mounting bolts to check for wear and tear on the packing.
Refer to " Fig. 29 R-, B-, and T-axes Motor Packings ".
R-,B- and T-axis motors
Motor case
Packing
Fig. 29 R-, B-, and T-axes Motor Packings
Manipulator Base Box Cover Packings

Remove the two covers on the back side of the manipulator base box, and check the rubber
packing.Refer to " Fig. 30 Manipulator Base Box Rubber Packings ".
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9.3 Maintenance and Inspection of the Pneumatic Unit
Cover
Packing Cover
Cover
Cover Packing
Fig. 30 Manipulator Base Box Rubber Packings
9.3 Maintenance and 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 XRC and if it
ends approximately 8.5 minites later.
9.3.2 Pressure Reducing Valve

Measure the air pressure for the pneumatic unit with a pressure gauge. Remove the test plug
or the relief valve on the pneumatic unit and connect the gauge. The air pressure must
always be from 0.02 MPa (0.2 kg/cm2) to 0.04 MPa (0.4 kg/cm2) under normal conditions, and
from 0.3 MPa (3.0 kg/cm2) to 0.45 MPa (4.5 kg/cm2) when purging.
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.
9-13
HW0480614
9.4 Inspection of Explosion-proof Devices
CAUTION
• Be sure to turn OFF the power to the XRC 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.
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 XRC 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 XRC 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 XRC is turned ON.
(b) The alarm “AIR PRESSURE ERROR” occurs when the air supply from the pneumatic
unit is stopped during air purging.
9-14
HW0480614
10 Recommended Spare Parts
It is recommended that the following parts and components be kept in stock as spare parts for
the MOTOMAN-PX2050/-PX1850/-PX1450. 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
NOTE To replace parts in Rank B or Rank C, contact your Yaskawa representative.
Table. 9 Spare Parts for MOTOMAN-PX2050-B20/-B30
Qty
Part
Rank
No.
Name Type Manufacturer Qty per Remarks
Unit
Diabond Indus-
A 1 Sealing compound DB-1600 200 ml - For packing
tries Co., Ltd.
Three Bond Co.,

A 2 Sealant 1104 200g 1 For plug seal
Ltd.
Showa Oil Co., For the bevel gear in

A 3 Grease Alvania EP grease 2 16 kg -
Ltd. wrist
Yaskawa Electric For RV speed

A 4 Grease Molywhite RE No. 00 16 kg -
Corporation reducer
Harmonic grease 4B- Harmonic Drive For Harmonic Drive

A 5 Grease 2.5 kg -
No. 2 Systems Co., Ltd. speed reducer
Showa Oil Co., Alpha Getriebebau

A 6 Lubricating oil Tivela SB 4l -
Ltd. speed reducer
Iwatani Denko
A 7 Belleville spring BD-19B 72 72
Corporation
Yaskawa Electric
B 8 S-axis speed reducer HW9482854-A 1 1
Corporation
Yaskawa Electric
B 9 L-axis speed reducer HW9482854-C 1 1
Corporation
Yaskawa Electric
B 10 U-axis speed reducer HW9482855-C 1 1
Corporation
R- and B-axes speed Yaskawa Electric

B 11 HW9482863-A 1 2
reducers Corporation
Yaskawa Electric
B 12 T-axis speed reducer HW0480040-A 1 1
Corporation
Yaskawa Electric
B 13 Wrist unit HW0173212-A 1 1 for PX2050-B20
Corporation
Yaskawa Electric
B 14 Wrist unit HW0171974-D 1 1 for PX2050-B30
Corporation
10-1
HW0480614
AC servomotos for S- Yaskawa Electric

C 15 HW0380187-A 1 2
and U-axes Corporation
AC servomotos for L- Yaskawa Electric

C 16 HW0380188-A 1 1
axis Corporation
AC servomotors for R-, Yaskawa Electric

C 17 HW0380189-A 1 3
B-, and T-axes Corporation
Yaskawa Electric
C 18 Switch unit HW0370224-A 1 1 Pressure switch
Corporation
Yaskawa Electric
C 19 Internal cable HW0270195-A 1 1 For S-, and L-axis
Corporation
Yaskawa Electric
C 20 Internal cable HW0370208-A 1 1 For L-axis motor
Corporation
Yaskawa Electric
C 21 Internal cable HW0370209-A 1 1 For L-axis encoder
Corporation
Yaskawa Electric
C 22 Internal cable HW0370207-A 1 1 For U-axis
Corporation
Yaskawa Electric
C 23 Internal cable HW0270196-A 1 1 For R-, B-, and T-axis
Corporation
Yaskawa Electric
C 24 Internal cable HW0470122-A 1 1 Battery Cable
Corporation
10-2
HW0480614
Qty
Part
Rank
No. Name Type Manufacturer Qty per Remarks
Unit
Diabond Industries
A 1 Sealing compound DB-1600 200 ml - For packing
Co., Ltd.
Three Bond Co.,

A 2 Sealant 1104 200g 1 For plug seal
Ltd.
For the bevel gear in

A 3 Grease Alvania EP grease 2 Showa Oil Co., Ltd. 16 kg -
wrist
Yaskawa Electric
A 4 Grease Molywhite RE No. 00 16 kg - For RV speed reducer
Corporation
Harmonic grease 4B- Harmonic Drive For Harmonic Drive

A 5 Grease 2.5 kg -
No. 2 Systems Co., Ltd. speed reducer
Alpha Getriebebau
A 6 Lubricating oil Tivela SB Showa Oil Co., Ltd. 4l -
speed reducer
Iwatani Denko Cor-

A 7 Belleville spring BD-19B 72 72
poration
Yaskawa Electric
Corporation
Yaskawa Electric
Corporation
Yaskawa Electric
Corporation
R- and B-axes speed Yaskawa Electric

B 11 HW9482863-A 1 2
reducers Corporation
Yaskawa Electric
Corporation
Yaskawa Electric
B 13 Wrist unit HW0173212-A 1 1 for PX1850-B20
Corporation
Yaskawa Electric
B 14 Wrist unit HW0171974-D 1 1 for PX1850-B30
Corporation
AC servomotos for S- Yaskawa Electric

C 15 HW0380187-A 1 2
and U-axes Corporation
AC servomotos for L- Yaskawa Electric

C 16 HW0380188-A 1 1
axis Corporation
AC servomotors for R-, Yaskawa Electric

C 17 HW0380189-A 1 3
B-, and T-axes Corporation
Yaskawa Electric
C 18 Switch unit HW0370224-A 1 1 Pressure switch
Corporation
Yaskawa Electric
C 19 Internal cable HW0270195-A 1 1 For S-, and L-axis
Corporation
Yaskawa Electric
C 20 Internal cable HW0370208-A 1 1 For L-axis motor
Corporation
Yaskawa Electric
C 21 Internal cable HW0370209-A 1 1 For L-axis encoder
Corporation
Yaskawa Electric
C 22 Internal cable HW0370207-B 1 1 For U-axis
Corporation
Yaskawa Electric
C 23 Internal cable HW0270196-B 1 1 For R-, B-, and T-axis
Corporation
Yaskawa Electric
C 24 Internal cable HW0470122-A 1 1 Battery Cable
Corporation
10-3
HW0480614
Table. 11 Spare Parts for PX1450-B20/-B30
Qty
Part
Rank Name Type Manufacturer Qty per Remarks
No.
Unit
Sealing Diabond Industries

A 1 DB-1600 200 ml - For gasket
compound Co., Ltd.
A 2 Sealant tape 4501 Three Bond Co., Ltd. 1 - For plug seal
Showa Shell Sekiyu For the bevel gear in

A 3 Grease Alvania EP grease 2 16 kg -
K.K. wrist
Yaskawa Electric Cor-

A 4 Grease Molywhite RE No. 00 16 kg - For RV speed reducer
poration
Harmonic grease 4B- Harmonic Drive Sys- For Harmonic Drive

A 5 Grease 2.5 kg -
No. 2 tems Co., Ltd. speed reducer
FUCHS PETROLUB Alpha Getriebebau

A 6 Lubricating oil Renolin PG220 10 l -
AG speed reducer
Conical spring washer Iwata Denko

A 7 BD-19B 72 72
(Belleville spring) Co., Ltd.

poration

poration

poration
R- and B-axes speed Yaskawa Electric Cor-

B 11 HW9482863-A 1 2
reducers poration

poration

B 13 Wrist unit HW0173212-A 1 1 PX1450-B20
poration

B 14 Wrist unit HW0171974-D 1 1 PX1450-B30
poration
AC servomotors for S- Yaskawa Electric Cor-

C 15 HW0171974-D 1 2
and U-axes poration
AC servomotor for L- Yaskawa Electric Cor-

C 16 HW0380188-A 1 1
axis poration
AC servomotors for R-,

C 17 B-, and HW0380189-A 1 3
poration
T-axes

C 18 Switch unit HW0370224-A 1 1
poration
Wire harness in Yaskawa Electric Cor-

C 19 HW0270195-A 1 1 For S-axis
manipulator poration

C 20 HW0370208-A 1 1 For L-axis motor

C 21 HW0370209-A 1 1 For L-axis encoder

C 22 HW0370207-C 1 1 For U-axis

C 23 HW0270196-A 1 1 For R-, B-, T-axes

C 24 HW0470122-A 1 1 For battery
10-4
HW0480614
11.1 S-Axis Unit
11 Parts List
11.1 S-Axis Unit

PX1450-B20,-B30)(PX1850-B20,-B30)(PX2050-B20,-B30)
1096
1097
1098
1055
1095 1099
1054 1092
1003 1053 1100
1004 1101
1056 1102
1055 1103
1001 1104
1054
1093 1051
1094
1053 1052
1058
1059
1049
1057
1002 1050
1045 1047
1046 1048
1043
1044
1006 1036
1007
1005 1059
1040 1058
1060
1042 1037
1018 1041
1016
1039
1025 1038
1016 1024
1009
1010
1011
1008
1026
1054
1027
1017 1028
1053 1029
1087
1020 1030
1091
1022 1031
1086
1032
1033
1021
1053 1032
1034
1065 1054
1019
1013
1023
1014
1061
1012 1035
1067
1068
1066 1069
1062
1063
1064
1075
1090
1074
1071 1073
1072
1069 1076 1084
1068
1085 1077
1070 1083 1078
1079 1080
1084 1081
1088 1082
1089
11-1
HW0480614
11.1 S-Axis Unit
No. DWG No. Name Pcs No. DWG No. Name Pcs
1001 HW020095-1 Cover 1 1062 HW9201026-1 Cover 1
1002 HW9302810-1 Packing 1 1063 M6 × 10 Socket screw 4
1003 M6 × 20 Socket screw 12 1064 2H-6 Spring washer 4
1004 2H-6 Spring washer 12 1065 HW0370224-A Switch unit 1
1005 SGMDH-12A2A-YRA1 Motor 1 1066 M6 × 10 Bolt 2
1006 M8 × 25 Socket screw 4 1067 HW0400835-1 Cover 1
1007 2H-8 Spring washer 4 1068 M6 × 10 Socket screw 8
1008 HW0200051 M base 1 1069 2H-6 Spring washer 8
1009 PT1/8 Plug 1 1070 HW0400834-1 Cover 1
1010 M10 × 30 Socket screw 4 1071 TP-6-0.3 Tube 1
1011 2H-10 Spring washer 4 1072 T20R Insulock’ tie 1
1012 HW9302755-1 Base 1 1073 M6 × 10 APS bolt 1
1014 2H-12 Spring washer 12 1075 HW9406056-2 Packing 1
1016 Y426012.5 Oil seal 2 1076 KQL10-04S Joint 1
1017 HW0300601-1 Shaft 1 1077 HW9406055-5 Packing 1
1018 HW0400470-1 Collar 1 1078 HW0400420-1 Packing 1
1019 HW0300604-1 Gear 1 1079 HW9406054-1 Holder 1
1020 HW9481648-A Shaft 1 1080 HW0400424-1 Flange 1
1021 HW9481645-A Bolt 1 1081 M4 × 25 Socket screw 18
1022 2H-6 Spring washer 1 1082 2H-4 Spring washer 18
1023 STW-9 Retaining ring 1 1083 M6 × 25 Socket screw 4
C-type 1084 2H-6 Spring washer 6
1024 HW9482854-A Speed reducer 1 1085 M6 × 10 Bolt 2
1025 M10 × 35 Socket screw 12 1086 HW9302763-1 Stopper 1
1026 G190 O ring 1 1087 M10 × 35 Socket screw 4
1027 HW9406119-1 Cover 1 1088 SLE-062V Union 2
1028 M6 × 16 Socket screw 2 1089 A-PT1/4 G nipple 1
1029 2H-6 Spring washer 2 1090 PH6-6M Joint 1
1030 HW9406118-1 Shaft 1 1091 2H-10 Spring washer 4
1031 P41 O ring 1 1092 HW0300915 Support 1
1032 6005ZZ Bearing 2 1093 M6 × 12 Socket screw 2
1033 HW9406117-2 Collar 1 1094 2H-6 Spring washer 2
1034 HW9302764-1 Guide 1 1095 M5 × 6 Socket screw 2
1035 STW-20 Retaining ring 1 1096 M5 Washer 2
C-type
1097 FCD15 Saddle 1
1036 HW9100906-1 Base 1
1098 T50R Insulock’ tie 2
1037 HW9406107-1 Cover 1
1099 M4 × 8 Socket screw 4
1100 HW9403595 Metal fittings 2
1039 2H-6 Spring washer 4
1040 HW9406115-1 Cover 1
1102 M5 Washer 2
1103 FCD22 Saddle 1
1104 T50S Insulock’ tie 1
1043 HW0400422-1 Flange 1
1044 HW0400442-1 Packing 1
1047 HW9406055-5 Packing 4
1048 HW9406054-1 Holder 4
1051 KQLE10-00 Joint 2
1052 SW-16 Packing 2
1053 HW9406050-1 Block 4
1055 M16 Eye bolt 2
1056 HW9406114-1 Bolt 1
1057 HW9406053-1 Clamp 1
1060 HW9406116-1 Clamp 1
1061 HW9100989-1 Box 1
11-2
HW0480614
11.2 L,U-Axis Unit
11.2 L,U-Axis Unit
(PX1450-B20,-B30)(PX1850-B20,-B30)(PX2050-B20,-B30)
2012
2013 2015
2011
2014
2016 2015
2017
2076
2018 2004
2070 2020
2019 2006
2009
2010
2027 2007
2025
2024
2005
2029
2030 2036
2029 2077 2032 2008
2082 2075
2079 2074
2078 2037 2073
2031 2033 2072
2034
2023 2028 2078 2035
2022 2079 2038 2066
2077 2067
2027
2026 2071 2068
2080 2069
2060 2081
2061
2021 2065
2070
2083 2062
2003 2001
2002
2063
2064
2058 2070
2059
2052
2050
2051 2049
2053
2043 2048
2042 2046
2045
2044
2041 2039 2047

2040
2054
2055
2057
2056
11-3
HW0480614
11.2 L,U-Axis Unit
2001 HW9201021-1 Cover 1 2061 2H-12 Spring washer 18
2003 2H-6 Spring washer 10 2063 M6 × 15 Bolt 3
2005 HW9302796-1 Packing 1 2065 HW0400703-1 Plate 1
2006 M6 × 15 Socket screw 10 2066 M16 × 55 Socket screw 6
2008 SGMDH-12A2A-YRA1 Motor 1 2068 M8 × 40 Socket screw 12
2009 M8 × 25 Socket screw 4 2069 2H-8 Spring washer 12
2010 2H-8 Spring washer 4 2070 PT1/8 Plug 3
2011 HW0200108-1 M base 1 2071 M5× 20 Socket screw 3
2012 M10 × 50 Socket screw 4 2072 HW9406055-4 Packing 2
2013 2H-10 Spring washer 4 2073 HW9406054-1 Holder 2
2014 G135 O ring 1 2074 M5 × 12 Socket screw 4
2015 Y355212.5 Oil seal 2 2075 2H-5 Spring washer 4
2016 HW0400470-1 Collar 1 2076 KES6-30 Key 1
2017 HW0300603-1 Shaft 1 2077 FCD22 Saddle 2
2018 HW0400694-1 Washer 1 2078 M5 Washer 4
2019 M6 × 70 Socket screw 1 2079 M5 × 6 Socket screw 4
2021 HW0400700-1 Plate 1 2081 M5 Washer 2
2022 M14 × 40 Socket screw 8 2082 M5 Nut
2023 2H-14 Spring washer 8 2083 HW0100037-1(PX1850) Arm 1
2024 HW9482855-A Speed reducer 1 2083’ HW9100848-1(PX2050) Arm 1
2025 M8 × 30 Socket screw 16 2083 HW0100524-1(PX1450) Arm 1
2028 HW0300873-1 Stopper 1
2029 HW0401047-1 Gum plate 2
2030 HW0401025-1 Plate 1
2031 HW0401025-3 Plate 1
2032 HW9302679-1 Cover 1
2033 HW9406013-1 Packing 1
2036 KQLE10-00 Joint 1
2037 SW-16 Packing 1
2038 KQH10-02S H union 1
2039 SGMGH-30A2A-YRA1 Motor 1
2042 HW0200107-1 M base 1
2043 HW0200110-1 M base 1
2046 HW0400434-1 Collar 1
2047 Y507212.5 Oil seal 2
2048 HW0300602-1 Shaft 1
2049 HW0300605-1 Gear 1
2050 HW9481648-A Shaft 1
2051 HW9481712-1 Bolt 1
2052 ISTW-12 Retaining ring 1
C-type
2054 HW9302809-1 Packing 1
2055 HW0200096-1 Cover 1
2058 HW9482854-C Speed reducer 1
2059 G220 O ring 1
11-4
HW0480614
11.3 Switch Unit
11.3 Switch Unit
(PX1450-B20,-B30)(PX1850-B20,-B30)(PX2050-B20,-B30)
3015
3005
3004 3017
3019
3018
3006
3016 3014
3010 3007
3013
3002 3020
3021
3023
3001
3008
3009
3011
3003
3012
3022
11-5
HW0480614
11.3 Switch Unit
No. DWG No. Name Pcs

3001 HW9302757-2 Plate 1
3002 VXA2260-04 Solenoid 1
3004 DG-50U Switch 1
3005 NJ2139-1 NP 1
3006 PT1/4 Nipple 1
3007 PT1/4 Tees 1
3008 1/2 × 1/4 Nipple 1
3009 KQL06-01S Joint 1
3011 BD8-MB11 Terminal plate 1
3012 M4 × 12 Head machine 2
screws with
washer
3013 M-200-A31 Switch 1
3014 KQH10-03S Half union 1
3015 AP100-02-X201 Pressure regu- 1
lation
3016 PT3/8 Nipple 1
3017 3/8 x 1/4 Nipple 1
3018 PT3/8 Tees 1
3020 A terminal 0.5-3 Terminal 2
3021 Marker tube Marker tube 2
3022 HW0370344-A Cable assembly 1
3023 1/4 Female male 1
elbow
11-6
HW0480614
11.4 R, B, T-Axes Unit (1)
(PX1850-B20,-B30)(PX2050-B20,-B30)
4015
4016
4017 4018
4013
4015 4019
4013 4011
4014 4021
4016 4003
4002
4017 4004
4023
4011 4024
4014 4003 4025
4012 4022
4004
4001
4024
4023 4022 4027 4066
4026 4067
4068 4008
4069
4010
4009
4006
4005
4055 4056
4057
4037
4061 4007
4062
4035 4063
4039 4064
4038
4034 4060
4044
4048 4054
4031 4040
4041 4052 4029
4028
4048 4028
4052
4036 4043
4042 4059
4058 T-AXIS
4041
4035 4040
4039 4046 4051 4030
4038 4049
4034 4050
4044 4045 4029
4028
4031 4040 4028
4041
4048 4047
4052 4033
4043 4032 B-AXIS
4042
4041
4040
4046 4051 4030
4049
4050
4045 4029
4028
4028
4047
4033
4032 R-AXIS
11-7
HW0480614
4001 HW9101021-1 Arm 1 4062 Y234010.5 Oil seal 1
4002 T50R Insulock’ tie 1 4063 M5 × 45 Socket screw 1
4003 KQLE10-00 Joint 2 4064 2H-5 Spring washer 1
4004 SW-16 Packing 2 4066 HW9406055-4 Packing 3
4005 M5 × 25 Bolt 4 4067 HW9406054 Holder 3
4006 2H-6 Spring washer 4 4068 M5 × 25 Socket screw 6
4008 HW9302797-1 Packing 1
4011 6907ZZ Bearing 4
4012 RTW-55 Retaining ring 2
C-type
4013 HW9302692-1 Holder 2
4014 HW9406100-3 Collar 2
4017 M6 Washer 4
4019 M4 × 8 Pan head 2
screw
4021 4MM × 10 Pin 2
4022 HW9406147-1 Cover 2
4025 HW9406176-1 Stopper 1
4026 HW0400587-1 Flange 1
4027 HW0400588-1 Packing 1
4028 HW9482404-A Seat 6
4029 HW9482408-A Seat 3
4030 SGMPH-04A1A-YR61 Motor 2
4031 HW9482863-A Speed reducer 2
4032 M5 × 55 Socket Screw 8
4034 HW0301828 Rod 2
4035 M5 × 6 H set screw 12
4036 HW9302714-1 Gear 1
4037 HW9302715-1 Gear 1
4040 M4 × 16 Bolt 4
4044 HW9406015-2 O ring 1
4045 HW0400440-2 Shaft 2
4046 HW0301002-2 Flange 2
4047 M5 Washer 8
4048 HW0400326-1 Key process 3
4051 AD22327 Oil seal 2
4052 M6 × 8 Screw 3
4054 SGMPH-04A1A-YR61 Motor 1
4055 HW9302725-B Rod 1
4056 M4 × 8 H set screw 1
4057 CO-0544A O ring 1
4060 HW0400241-1 Shaft 1
4061 HW0301003-1 Flange 1
11-8
HW0480614
11.5 RBT-Axes Unit(2)
(PX1450-B20, -B30)
5015
5016
5017 5018
5014 5019
5015 5020
5014 5012
5021
5016 5003
5002
5017 5004
5023
5012 5024
5003 5025
5013 5022
5004
5030
5031
5024
5023 5022
5027
5001 5026 5008
5011
5010
5009
5006
5005
5040
5039
5047 5007
5048
5042
5049 5044
5056
5045
5055 5043
5061
5046 5038
5051 4057
4058 5041 5029
5028
5048 5028
5052
5037
5036 5033
5032 T-AXIS
5058
5056 5057
5063 5067 5050
5065
5054 5066
5061 5062 5029
5028
5051 5057 5028
5058
5048 5064
5052 5035
5060 5034 B-AXIS
5059
5058
5057
5063 5067 5050
5065
5066
5062 5029
5028
5028
5064
5053
5052 R-AXIS
11-9
HW0480614
5001 HW0100525-1 Arm (2) 1 5061 HW9406105-2 O ring 2
5002 T50R Insulok 1 5062 HW0400440-2 Shaft 2
5003 KQLE10-00 Union 2 5063 HW0400439-2 Flange 2
5004 SW-16 Packing 2 5064 M5 Washer 8
5005 M5X25 Socket screw 4 5065 M5X55 Socket screw 2
5007 HW0200101-1 Cover (M4) 1 5067 AD22327 Oil seal 2
5008 HW9302797-1 Packing 1
5009 M6X20 Socket screw 8
5011 M6 Washer 8
C-type
5014 HW9302682-B Holder 2
5017 M6 Washer 4
5019 M4X8 Pan head 2
screw
5020 M4 Washer 2
5021 4MMX10 Parallel pin 1
5022 HW9406147-1 Cover 2
5025 HW9406176-1 Plug 1
5026 HW0400587-1 Flange 1
5027 HW0400588-1 Packing 1
5028 HW9482404-A Sheet 6
5029 HW9482408-A Sheet 3
5038 DP0310069 Motor 1
5039 HW0303929-1 Gear (S61) 1
5040 M4X8 H set screw 1
5041 M6X8 Magic screw 1
5042 CO-0544A O ring 1
5043 HW0400241-1 Shaft 1
5044 HW0400242-1 Flange 1
5045 Y234010.5 Oil seal 1
5046 HW0400326-1 Key 1
5049 M5 Washer 4
5050 DP0310069 Motor 2
5054 HW0303927-1 Gear (S41) 1
5055 HW0303928-1 Gear (S51) 1
11-10
HW0480614
11.6 Wrist Unit (1-1)
(PX1450-B20)(PX1850-B20)(PX2050-B20)
6023
6025
6026
6027
6024
6029
6030 6041
6028 6031
6032
6035 6036 6038 6040
6034 6039
6033
6037
6002
6004 6039
6011 6009
6006 6008 6038
6001
6003
6012 6040
6005
6007
6013
6010 6014 6015
6017
6018
6016
6020
6021
6019 6022
6042
6043
11-11
HW0480614

6003 HW0409017-1 Collar 1
6004 HW0310622-1 Gear 1
6005 HW0405926-* Shim 1
6006 HW0410305-1 Collar 1
6008 AN06 Nut 1
6010 HW9302716-1 Gear 1
6011 HQ0401105-1 Key 1
6012 HW9406066-1 Nut 1
6013 HW9302772-2 Axis 1
6015 HW9201011-1 Axis 1
*HW9201012-2*
6016 4X10 Parallel pin 1
6017 X349 X ring 1
6018 HW9302754-2 Holder 1
6020 HW9482861-B Bearing 1
6021 HW9302720-1 Holder 1
6023 HW9302717-2 Gear 1
6026 BD-80B Spring 4
6027 HW9302718-2 Gear 1
6029 HW0310625-1 Axis 1
6031 HW0409020-1 Collar 1
6032 HW0405930-1 Gear 1
6033 HW0409017-1 Collar 1
6036 HW9201014-1 Gear case 1
*HW9201015-1*
6038 HW9406067-1 Cover 2
6039 HW9406068-1 Packing 2
6041 PT3/8 Plug 1
6042 HW0401151-1 Block 1
6043 M4X16 Screw with 2
Spring washer
11-12
HW0480614
(PX1450-B20)(PX1850-B20)(PX2050-B20)
7064 7065
7019
7066
7075
7034
7020 7035
7036
7007
7021 7008 7037
7022 7009
7076 7038
7010
7039
7011
7023 7043 7040
7013 7012
7041
7024
7014 7042
7025
7026
7044
7027 7015 7016
7028 7046
7030
7029
7045
7031 7017 7051
7080
7033 7048
7052
7018
7032 7047
7053
7060
7054
7055
7062 7049
7056
7057
7059
7002 7058
7061 7003 7063
7050
7077 7006
7001 7005 7072
7004
7073 7074 7081
7078
7068
7070
7071
7079
7067 7069
11-13
HW0480614
7001 HW0406605-1 Collar 1 7061 M5X25 Socket screw 6
7002 HW0405926-* Shim 1 7062 S67 O ring 1
7003 HW0310628-2 Gear 1 7063 HW9201006-1 Case (3) 1
7004 HW0409017-1 Collar 1 *HW9201007-2*
7005 M5X16 Socket screw 1 7064 HW9201003-1 Case (2) 1
7006 2H-5 Spring washer 1 *HW9201005-2*
7007 M5X16 Socket screw 1 7065 PT3/8 Plug 1
7008 2H-5 Spring washer 1 7066 PT3/8 Plug 2
7009 HW0409017-1 Collar 1 7067 HW9201002-1 Case (1) 1
7010 HW0310649-2 Gear 1 *HW9201004-2*
7011 HW0405926-* Shim 1 7068 S125 O ring 1
7012 HW9406021-1 Nut (1) 1 7069 M4X16 Socket screw 11
7013 M4X5 H set screw 1 7070 HW0401150-1 Block 1
7014 HW9302683-2 Gear(B4) 1 7071 M4X16 Screw with 2
7015 HW0401105-1 Key 1 Spring washer
7016 HW9406022-1 Nut (3) 1 7072 HW9406017-* Shim 1
7017 HW0310619-1 Jig 1 7073 M6X30 Socket screw 11
7018 HW9406019-1 Holder (1) 1 7074 M6X16 Socket screw 6
7019 HW9482861-D Bearing 1 7075 AS568-158 O ring 1
7020 HW9302685-1 Housing 1 7076 M4X16 Socket screw 6
7021 M4X02 Socket screw 2 7077 HW0306422-1 Axis 1
7022 6000ZZ Bearing 1 7078 PT3/8 Plug 1
7023 HW0310624-1 Axis 1 7079 PY3/8 Plug 1
7024 6000ZZ Bearing 1 7080 M4X14 Socket screw 12
7025 RTW-25 Retaining ring 1 7081 AS568-159 O ring 1
C-type
7026 HW0405926-* Shim 1
7027 HW0310622-1 Gear 1
7028 HW0409017-1 Collar 1
7031 HW9406020-1 Flange 1
7036 HW0409017-1 Collar 1
7037 HW0310649-1 Gear 1
7038 HW0405926-* Shim 1
7040 HW9406021-1 Nut (1) 1
7042 HW9302683-1 Gear 1
7043 HW0401105-1 Key 1
7044 HW9406066-1 Nut 1
7045 HW9302746-2 Flange 1
7047 HW9406095-1 B holder 1
7049 HW9482861-C Bearing 1
7050 HW9302745-2 Gear 1
7051 HW9302747-3 Flange 1
7053 HW0310624-1 Axis 1
7055 HW0405926-* Shim 1
7056 HW0310622-2 Gear 1
7057 HW0409017-1 Collar 1
11-14
HW0480614
(PX1450-B30)(PX1850-B30)(PX2050-B30)
8057
8055 8058
8056
8054 8059
8053
8052
8051
8050 8048
8047
8067
8065 8066
8045 8049
8063
8046
8043
8082 8041 8069
8087 8068
8039
8038 8044 8061
8042
8040 8064
8060
8077 8079
8062
8074
8080
8072 8078
8076
8075
8081 8002
8004 8073
8006
8083 8008 8071
8001
8085 8070
8003 8010 8014
8084
8005 8012
8022 8009
8007
8024
8020
8011
8025
8021
8013
8026
8015
8016
8023
8029 8017 8019
8018
8027
8028 8087
8033
8034
8030
8036 8086
8037 8089 8091
8031 8090
8032 8035
8088
8090
8089
8091
11-15
HW0480614
8001 M5X16 Socket screw 1 8062 HW9482861-C Bearing 1
8002 2H-5 Spring washer 1 8063 HW9406031-1 Holder 1
8003 HW0405928-1 Collar 1 8064 M4X12 Socket screw 2
8004 HW0306419-1 Gear 1 8065 M6X35 Socket screw 6
8005 HW0405926-* Shim 1 8066 HW9302698-2 Flange 1
8006 AN06 B nut 1 8067 M6X12 Socket screw 12
8007 M4X6 H set screw 1 8068 6809ZZ Bearing 2
8008 HW9302704-1 Gear 1 8069 BD-72A Spring 1
8009 HW0401105-1 Key 1 8070 STW-45 Retaining ring 1
8010 HW9406030-1 Nut 1 8071 HW9406030-1 Nut 1
8011 HW9406035-1 Nut 1 8072 HW0401105-1 Key 1
8012 M4X6 H set screw 1 8073 HW9302704-1 Gear 1
8013 HW9302705-1 Gear 1 8074 M4X6 H set screw 1
8014 HW9406106-1 Key 1 8075 AN06 B nut 1
8015 HW9406034-1 Nut 1 8076 HW0405926-* Shim 1
8016 HW0306424-1 Axis 1 8077 HW0306419-1 Gear 1
8017 6900ZZ Bearing 1 8078 HW0405928-1 Collar 1
8018 HW0306423-1 Axis 1 8079 2H-5 Spring washer 1
8020 6809ZZ Bearing 1 8081 HW9101007-1 Case (1) 1
8021 HW9302707-2 Axis 1 *HW9101006-1*
8022 HW9302709-2 Flange 1 8082 M6X16 Socket screw 6
8023 M6X16 Socket screw 8 8083 S145 O ring 1
8024 RA11008CUU CC0 Bearing 1 8084 HW9406047-1 Holder 1
8025 HW9406033-1 Holder 1 8085 M4X12 Socket screw 6
8026 M4X12 Socket screw 6 8086 HW9201013-1 Gear case 1
8027 HW9302703-2 Gear 1 *HW9201014-1*
8028 M6X16 Socket screw 8 8087 PT3/8 Plug 5
8030 BD-72A Spring 4 8089 HW9406067-1 Cover 2
8031 HW0306420-1 Gear 1 8090 HW9406068-1 Packing 2
8032 M6X16 Socket screw 10 8091 M4X8 Socket screw 8
8033 HW0405929-1 Collar 1
8034 HW0405930-1 Gear 1
8035 HW0405928-1 Collar 1
8040 HW0405928-1 Collar 1
8041 HW0306419-2 Gear 1
8042 HW0405926-* Shim 1
8045 HW0306426-1 Axis 1
8047 AN06 B nut 1
8049 HW9302704-2 Gear 1
8050 HW0401105-1 Key 1
8051 HW9406035-1 Nut 1
8052 HW9406030-1 Nut 1
8053 HW0306425-1 Axis 1
8056 HW9302705-2 Gear 1
8057 HW9406106-1 Key 1
8058 HW9406034-1 Nut 1
8059 HW9302688-2 Axis 1
8060 HW9302701-1 Flange 1
8061 X428 X ring 1
11-16
HW0480614
(PX1450-B30)(PX1850-B30)(PX2050-B30)
9038
9035
9036
9037
9034
9031
9032
9030
9029
9028
9027
9011
9013
9011
9026
9023
9024
9025
9022
9020
9019
9018
9017
9014
9015 9016
9044 9012
9033 9010 9021

9009
9008
9003 9046
9045 9004 9007
9001 9046
9002 9005
9006
9039
9040
9042
9041
9043
11-17
HW0480614

9001 HW0306422-1 Axis 1
9002 HW0406605-1 Collar 1
9003 HW0405926-* Shim 1
9004 HW0306419-2 Gear 1
9006 HW0405928-1 Collar 1
9008 HW0405928-1 Collar 1
9009 HW0306419-1 Gear 1
9010 HW0405926-* Shim 1
9012 HW0306421-1 Flange 1
9013 HW0306428-1 Axis 1
9014 HW9406085-1 Holder 1
9017 RB5013UUCC0 Bearing 1
9018 HW9302752-1 Flange 1
9019 X345 X ring 1
9020 HW0306427-1 Axis 1
9022 HW9406030-1 Nut 1
9024 HW9302704-2 Gear 1
9025 HW0401105-1 Key 1
9026 AN06 B nut 1
9027 HW0405926-* Shim 1
C-type
9029 HW0306419-2 Gear 1
9030 HW0405928-1 Collar 1
9033 S67 O ring 1
9034 HW9101014-1 Case (2) 1
*HW9101012-1*
9036 HW9406102-1 Lid (2) 1
9037 HW9406103-1 Packing (2) 1
9039 HW0100873-1 Case (3) 1
*HW9101013-1*
9041 HW9406166-1 Lid (1) 1
9042 HW9406101-1 Packing (1) 1
11-18
MOTOMAN-PX2050/-PX1850/-PX1450
INSTRUCTIONS
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone +81-93-645-7745 Fax +81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 10, Box 4004, SE-390 04 Kalmar, Sweden
Phone +46-480-417800 Fax +46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA ELECTRIC KOREA CORPORATION
1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone +82-53-382-7844 Fax +82-53-382-7845
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
Unit 47-1 and 2. Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810, Petailng Jaya Selangor, Malaysia
Phone +60-3614-08919 Fax +60-3614-08929
YASKAWA ELECTRIC (THAILAND) CO., LTD.
252/246, 4th Floor. Muang Thai-Phatra office Tower II Rechadapisek Road, Huaykwang Bangkok 10320, Thailand
Phone +66-2-693-2200 Fax +66-2-693-4200
SHOUGANG MOTOMAN ROBOT CO., LTD.
No.7,Yongchang-North Road, Beijing Economic and Technological and Development Area, Beijing 100076, China
Phone +86-10-6788-0541 Fax +86-10-6788-0542
MOTOMAN MOTHERSON ROBOTICS LTD.
910, DLF Galleria, DLF City Phase IV, Gurgaon - 122002 Haryama, India
Phone +91-124-414-8514 Fax +91-124-414-8016
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice MANUAL NO. HW0480614 7

for ongoing product modifications and improvements. C Printed in Japan February 2009 04-08

PX2050 1850 1450

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YASKAWA

Part Number: 154641-1CD

YASKAWA MANUAL NO. HW0480614 7

• General items related to safety are listed in Section 1: Safety of the

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

• The drawings and photos in this manual are representative examples

• If your copy of the manual is damaged or lost, contact a YASKAWA rep-

• YASKAWA is not responsible for incidents arising from unauthorized

Notes for Safe Operation

Indicates a potentially hazardous situation which, if not avoided,

Indicates a potentially hazardous situation which, if not avoided,

Always be sure to follow explicitly the items listed under this

Must never be performed.

Definition of Terms Used Often in This Manual

Equipment Manual Definition

YASNAC XRC Controller XRC

YASNAC XRC Playback Panel Playback Panel

YASNAC XRC Programming Pendant Programming Pendant

4 Handling and Installation

9 Maintenance and Inspection

9.2.2 Lubricating Oil Replacement for R- and B-axes

10 Recommended Spare Parts

c) Action to be taken in case of a failure or an accident

d) Safety standards and the supervisor for safe operation

e) Appoint a person to be in charge of teaching, maintenance and inspections

• Observe the following precautions during an automatic operation:

• Brake release (Option)

The MOTOMAN-PX2050/-PX1850/-PX1450 are designed for easy-handling and to consider

2.1 Methods of Protection

The MOTOMAN-PX2050/-PX1850/-PX1450 are evaluated as Type X Purged for use in Class

(2) High reliability

No. Item Specifications Remarks

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

Air supply Required pressure: 0.35 MPa to 0.65

Grounding Grounding resistance: For the robot controller

3.2 Installation Site

3.2 Installation Site

Table. 2 Installation Site

Manipulator (explosion-proof) { - 0 to 45 °C 80 %RH

Controller (not explosion-

Pneumatic unit (not explo-

Conveyer speed detector

Conveyer speed detector

Conveyer switch (explosion-

Workpiece supplier (explo-

Control panel for workpiece

4 Handling and Installation

Before installing the MOTOMAN, do the following:

4.2 Receiving and Handling

1) When the package arrives, check the contents.

4.3 Installation of MOTOMAN

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

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

Fig. 1 Lifting the PX2050/1850/1450

4.3 Installation of MOTOMAN

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

4.3.1 Safeguard Installation

Responsibility for Safeguarding

4.3.2 Installation of Manipulator

Table. 3 Maximum Repulsion Forces of the the PX2050/PX1850/PX1450