Instructions: MOTOMAN-DX1350D

MOTOMAN-DX1350D
INSTRUCTIONS
TYPE: YR-DX1350D-A00 (STANDARD SPECIFICATION)
YR-DX1350D-A01 (WITH LIMIT SWITCHES FOR S-, L-, U-AXES)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-DX1350D INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
Part Number: 158454-1CD

Revision: 0
YASKAWA ELECTRIC CORPORATION
MANUAL NO.
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DX1350D
MANDATORY
• This instruction manual is intended to explain mainly on the
mechanical part of the MOTOMAN-DX1350D for the application to
the actual operation and for proper maintenance and inspection. It
describes on safety and handling, details on specifications,
necessary items on maintenance and inspection, to explain
operating instructions and maintenance procedures. Be sure to
read and understand this instruction manual thoroughly before
installing and operating the manipulator.
• General items related to safety are listed in Chapter 1: Safety of the
DX100 Instructions. To ensure correct and safe operation, carefully
read the DX100 Instructions before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications.
If such modification is made, the manual number will also be
revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAWA is not responsible for incidents arising from
unauthorized modification of its products. Unauthorized
modification voids your product's warranty.
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DX1350D
Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-DX1350D.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
Indicates a potentially hazardous

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

CAUTION situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to equipment.
It may also be used to alert against
unsafe practices.
Always be sure to follow explicitly the

MANDATORY items listed under this 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.
To ensure safe and efficient operation at all times, be sure to

NOTE follow all instructions, even if not designated as "CAUTION"
and "WARNING".
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DX1350D
WARNING
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX100 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the
manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX100.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the
DX100 and the programming pendant.
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DX1350D
CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the cabinet
of the DX100 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the
DX100 Instructions before operating the manipulator:
Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and manipulator cables.
In this manual, the equipment is designated as follows:
Equipment Manual Designation
DX100 controller DX100
DX100 programming pendant Programming pendant
Cable between the manipulator and the Manipulator cable
controller
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Explanation of Warning Labels

The following warning labels are attached to the manipulator.
Always follow the warnings on the labels.
Also, an identification label with important information is placed on the
body of the manipulator. Prior to operating the manipulator, confirm the
contents.
Fig. : Warning Label Locations
Warning label A
Warning label B
WARNING
WARNING
Warning label B
Moving parts
may cause
injury
Nameplate
Do not enter
robot
work area.
Nameplate Warning Label A: Warning Label B:
WARNING WARNING
Moving parts Do not enter

may cause robot
injury work area.
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DX1350D Contents
1 Product Confirmation ...................................................................................................................... 1-1
1.1 Contents Confirmation ....................................................................................................... 1-1
1.2 Order Number Confirmation .............................................................................................. 1-2
2 Transport......................................................................................................................................... 2-1
2.1 Transport Method .............................................................................................................. 2-1
2.1.1 Using a Crane ...................................................................................................... 2-2
2.1.2 Using a Forklift...................................................................................................... 2-2
2.2 Shipping Bolts and Brackets.............................................................................................. 2-3
3 Installation....................................................................................................................................... 3-1
3.1 Safeguarding Installation ................................................................................................... 3-2
3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2
3.2.1 Mounting Example................................................................................................ 3-3
3.3 Installation Method............................................................................................................. 3-4
3.3.1 S-axis Operating Range ....................................................................................... 3-4
3.3.2 Fixing the Manipulator Base ................................................................................. 3-4
3.3.3 Precautions to Prevent the Manipulator from Falling............................................ 3-4
3.4 Location ............................................................................................................................. 3-5
4 Wiring.............................................................................................................................................. 4-1
4.1 Grounding .......................................................................................................................... 4-1
4.2 Cable Connection .............................................................................................................. 4-2
4.2.1 Connection to the Manipulator.............................................................................. 4-2
4.2.2 Connection to the DX100 ..................................................................................... 4-2
5 Basic Specifications ........................................................................................................................ 5-1
5.1 Basic Specifications........................................................................................................... 5-1
5.2 Part Names and Working Axes.......................................................................................... 5-2
5.3 Manipulator Base Dimensions ........................................................................................... 5-2
5.4 Dimensions and P-point Maximum Envelope .................................................................... 5-3
5.5 Alterable Operating Range ................................................................................................ 5-4
6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
6.1 Allowable Wrist Load ......................................................................................................... 6-1
6.2 Wrist Flange....................................................................................................................... 6-2
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DX1350D Contents
7 System Application.......................................................................................................................... 7-1
7.1 Peripheral Equipment Mounts............................................................................................ 7-1
7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-2
8 Electrical Equipment Specification .................................................................................................. 8-1
8.1 Position of Limit Switch ...................................................................................................... 8-1
8.2 Internal Connections .......................................................................................................... 8-2
9 Maintenance and Inspection ........................................................................................................... 9-1
9.1 Inspection Schedule........................................................................................................... 9-1
9.2 Notes on Maintenance Procedures.................................................................................... 9-6
9.2.1 Battery Pack Replacement ................................................................................... 9-6
9.3 Notes on Grease Replenishment/Exchange Procedures .................................................. 9-7
9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer ............................. 9-8

9.3.1.1 Grease Replenishment (Refer to fig. 9-4 “S-Axis Speed Reducer
Diagram” .)............................................................................................... 9-8
9.3.1.2 Grease Exchange (Refer to fig. 9-4 “S-Axis Speed Reducer
Diagram” at page 9-8.) ............................................................................ 9-9
9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer............................ 9-10

9.3.2.1 Grease Replenishment (Refer to fig. 9-5 “L-Axis Speed Reducer
Diagram” .)............................................................................................. 9-10
9.3.2.2 Grease Exchange (Refer to fig. 9-5 “L-Axis Speed Reducer
Diagram” at page 9-10.) ........................................................................ 9-11
9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-12

9.3.3.1 Grease Replenishment (Refer to fig. 9-6 “U-Axis Speed Reducer
Diagram” .)............................................................................................. 9-12
9.3.3.2 Grease Exchange (Refer to fig. 9-6 “U-Axis Speed Reducer
Diagram” at page 9-12.) ........................................................................ 9-13
9.3.4 Grease Replenishment/Exchange for R-Axis Speed Reducer ........................... 9-14

9.3.4.1 Grease Replenishment (Refer to fig. 9-7 “R-Axis Speed Reducer
Diagram” .)............................................................................................. 9-14
9.3.4.2 Grease Exchange (Refer to fig. 9-7 “R-Axis Speed Reducer
Diagram” at page 9-14.) ........................................................................ 9-15
9.3.5 Grease Replenishment for B- and T-Axis Speed Reducers ............................... 9-16
9.3.6 Grease Replenishment for T-Axis Gear.............................................................. 9-17
9.3.7 Notes for Maintenance........................................................................................ 9-18

9.3.7.1 Wrist Unit ............................................................................................... 9-18
9.3.7.2 Battery Pack Connection ....................................................................... 9-18
9.3.7.3 Battery Pack Connection for S-, L-, and U-Axis Motors ........................ 9-18
9.3.7.4 Battery Pack Connection for R-, B-, and T-Axis Motors ........................ 9-19
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DX1350D Contents
9.4 Home Position Return (Calibration) ................................................................................. 9-20
9.4.1 Calibration by Using Key .................................................................................... 9-20
9.4.2 Calibration Procedure......................................................................................... 9-21

9.4.2.1 S-Axis Positioning ................................................................................. 9-21
9.4.2.2 L-Axis Positioning.................................................................................. 9-22
9.4.2.3 U-Axis Positioning ................................................................................. 9-22
9.4.2.4 R-Axis Positioning ................................................................................. 9-23
9.4.2.5 B-Axis Positioning ................................................................................. 9-23
9.4.2.6 T-Axis Positioning.................................................................................. 9-24
10 Recommended Spare Parts........................................................................................................ 10-1
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1 Product Confirmation
DX1350D 1.1 Contents Confirmation
CAUTION
• Confirm that the manipulator and the DX100 have the same order
number. Special care must be taken when more than one
manipulator is to be installed.
If the numbers do not match, manipulators may not perform as
expected and cause injury or damage.
1.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following four items (information for the
content of optional goods are given separately):
• Manipulator
• DX100
• Programming pendant
• Manipulator cables (cables between the DX100 and the manipulator)
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DX1350D 1.2 Order Number Confirmation
1.2 Order Number Confirmation

Check that the order number of the manipulator corresponds to the
DX100. The order number is located on a label as shown below.
Fig. 1-1: Location of Order Number Labels
Label (Enlarged View)
THE MANIPULATOR AND THE CONTROLLER Check that the manipulator

SHOULD HAVE SAME ORDER NUMBER.
and the DX100 have the
ORDER NO. same order number.
DX100
TYPE ERDR-
ER
GE N
EM
POWER SUPPLY
Y
3PHASE AC200V 50/60Hz PEAK kVA

AC220V 60Hz AVERAGE kVA
INTERRUPT CURRENT kA
SERIAL No.
DATE
S
MADE IN JAPAN NJ2960-1
T O P
ON
D
PE
IP
TR
OFF
T
SE
RE
WARNING
Do not open the door
THE MANIPULATOR AND THE CONTROLLER

SHOULD HAVE SAME ORDER NUMBER.
ORDER NO.
NJ1529
PROGRAMMING PENDANT
X81
(b) Manipulator (Top View)
(a) DX100 (Front View)
1-2
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2 Transport
DX1350D 2.1 Transport Method
2 Transport
CAUTION
• Sling applications and crane or forklift operations must be
performed by authorized personnel only.
Failure to observe this caution may result in injury or damage.
• Avoid excessive vibration or shock during transport.
The system consists of precision components. Failure to observe this
caution may adversely affect performance.
2.1 Transport Method
• Check that the eyebolts are securely fastened.

• The weight of the manipulator is approximately 275 kg
including the shipping bolts and brackets. Use a wire rope
strong enough to withstand the weight.
• Attached eyebolts are designed to support the manipulator
NOTE weight. Do not use them for anything other than transport-
ing the manipulator.
• Mount the shipping bolts and brackets for transporting the
manipulator.
• Avoid putting external force on the arm or motor unit when
transporting by a crane, forklift, or other equipment. Fail-
ure to observe this instruction may result in injury.
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2 Transport
DX1350D 2.1 Transport Method
2.1.1 Using a Crane

As a rule, when removing the manipulator from the package and moving
it, a crane should be used. The manipulator should be lifted using wire
ropes threaded through the attached eyebolts. Be sure that the
manipulator is fixed with the shipping bolts and brackets before transport,
and lift it in the posture as shown in fig. 2-1 “Transport Using a Crane” .
Fig. 2-1: Transport Using a Crane
Eyebolt M16 (4 places)

Nut M16 (2 places) A
(Delivered with the manipulator)
2.1.2 Using a Forklift

When using a forklift, the manipulator should be fixed on a pallet as shown
in fig. 2-2 “Transport Using a Forklift” . Insert claws under the pallet and lift
it. The pallet must be strong enough to support the manipulator.
Transport the manipulator slowly with due caution in order to avoid
overturning or slippage.
Fig. 2-2: Transport Using a Forklift
Bolt M16 (4 bolts)
Pallet Forklift claw entry
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2 Transport
DX1350D 2.2 Shipping Bolts and Brackets
2.2 Shipping Bolts and Brackets

The manipulator is provided with shipping bolts and brackets at the part A.
(fig. 2-1 “Transport Using a Crane” at page 2-2)
• The shipping brackets are painted yellow.
• The part A is fixed with two hexagon socket head cap screws M12.
Before turning ON the power, check to be sure that the ship-

NOTE ping bolts and brackets are removed. The shipping bolts
and brackets then must be stored for future use, in the
event that the manipulator must be moved again.
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3 Installation
DX1350D
3 Installation
WARNING
• Install the safeguarding.
Failure to observe this warning may result in injury or damage.
• Install the manipulator in a location where the tool or the workpiece
held by its fully extended arm will not reach the wall, safeguarding,
or controller.
Failure to observe this warning may result in injury or damage.
• Do not start the manipulator or even turn ON the power before it is
firmly anchored.
The manipulator may overturn and cause injury or damage.
• When mounting the manipulator on the ceiling or wall, the base
section must have sufficient strength and rigidity to support the
mass of the manipulator. Also, it is necessary to consider
countermeasures to prevent the manipulator from falling.
Failure to observe these warning may result in injury or damage.
CAUTION
• Do not install or operate the manipulator that is damaged or lacks
parts.
Failure to observe this caution may cause injury or damage.
• Before turning ON the power, check to be sure that the shipping
bolts and brackets explained in chapter 2.2 “Shipping Bolts and
Brackets” at page 2-3 are removed.
Failure to observe this caution may result in damage to the driving
parts.
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3 Installation
DX1350D 3.1 Safeguarding Installation
3.1 Safeguarding Installation

To insure safety, be sure to install safeguarding. It prevents unforeseen
accidents with personnel and damage to equipment. Refer to the quoted
clause for your information and guidance.
Responsibility for Safeguarding (ISO10218)

The user of a manipulator or robot system shall ensure that safeguards
are provided and used in accordance with Sections 6, 7, and 8 of this
standard. The means and degree of safeguarding, including any
redundancies, shall correspond directly to the type and level of hazard
presented by the robot system consistent with the robot application.
Safeguarding may include but not be limited to safeguarding devices,
barriers, interlock barriers, perimeter guarding, awareness barriers, and
awareness signals.
3.2 Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a baseplate or foundation
strong enough to support the manipulator and withstand repulsion forces
during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand
maximum repulsion forces of the manipulator referring to table 3-1
“Maximum Repulsion Forces of the Manipulator at Emergency Stop” and
table 3-2 “Endurance Torque in Operation” .
A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness
of installation surface may deform the manipulator shape and affect its
functional abilities. Mount the manipulator base as instructed in
chapter 3.2.1 “Mounting Example” .
Table 3-1: Maximum Repulsion Forces of the Manipulator at Emergency Stop

Maximum torque in horizontal rotation 9800 N•m
(S-axis moving direction) (1000 kgf•m)
Maximum torque in vertical rotation 10500 N•m
(L-, U-axes moving direction) (1070 kgf•m)
Table 3-2: Endurance Torque in Operation

Endurance torque in horizontal operation 1243 N•m
(S-axis moving direction) (127 kgf•m)
Endurance torque in vertical operation 815 N•m
(L-, U-axes moving direction) (83 kgf•m)
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3 Installation
DX1350D 3.2 Mounting Procedures for Manipulator Base
3.2.1 Mounting Example

For the first process, anchor the baseplate firmly to the ground. The
baseplate should be rugged and durable to prevent shifting of the
manipulator or the mounting fixture. It is recommend to prepare a
baseplate of 40 mm or more thick, and anchor bolts of M16 or larger size.
The manipulator base is tapped for four mounting holes; securely fix the
manipulator base to the baseplate with four hexagon head bolts M16 (60
mm long is recommended). Next, fix the manipulator base to the
baseplate. Tighten the hexagon head bolts and anchor bolts firmly so that
they will not work loose during the operation.
Refer to fig. 3-1 “Mounting the Manipulator on Baseplate” .
Fig. 3-1: Mounting the Manipulator on Baseplate
Manipulator base
Bolt M16 (4 bolts)

Spring washer
Washer
20
40 mm
or more
Baseplate
Manipulator base
Anchor bolt (M16 or more)

Baseplate
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3 Installation
DX1350D 3.3 Installation Method
3.3 Installation Method

The manipulator can be mounted in three different ways: floor-mounted
(standard), wall-mounted, and ceiling-mounted ways. For wall- or ceiling-
mounted way, the three points listed below are different from the floor-
mounted way.
• S-axis Operating Range
• Fixing the Manipulator Base
• Precautions to Prevent the Manipulator from Falling
3.3.1 S-axis Operating Range

For the wall-mounted way, the S-Axis operating range must be ±30°.
(Adjusted prior to the shipment.)
3.3.2 Fixing the Manipulator Base

For the wall- or ceiling-mounted way, be sure to use four hexagon socket
head cap screws M16 (tensile strength: 1200 N/mm2 or more) to fix the
manipulator base. Use a torque of 206 N·m in tightening the screws.
3.3.3 Precautions to Prevent the Manipulator from Falling

For the wall- or ceiling-mounted way, take appropriate measures to avoid
the falling of the manipulator in case of emergency. Refer to fig. 3-2 “Fall
Prevention” for details.
Fig. 3-2: Fall Prevention
Support
Manipulator base Hexagon socket head cap screws M16 (4 screws)
(Tensile strength: 1200 N/mm2)
In case of using the wall-/ceiling-mounted way, inform

Yaskawa of the matter when placing an order. Be sure to
NOTE contact Yaskawa representative (listed on the back cover of
this instruction manual) to perform a wall/ceiling installation
on site.
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3 Installation
DX1350D 3.4 Location
3.4 Location
When installing a manipulator, it is necessary to satisfy the following
environmental conditions:
• Ambient temperature: 0° to + 45°C
• Humidity: 20 to 80%RH (no-condensing)
• Free from dust, soot, oil, or water
• Free from corrosive gas or liquid, or explosive gas or liquid
• Free from excessive vibration
(Vibration acceleration: 4.9 m/s2 [0.5 G] or less)
• Free from large electrical noise (plasma)
• Flatness for installation: 0.5 mm or less
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4 Wiring
DX1350D 4.1 Grounding
4 Wiring
WARNING
• Ground resistance must be 100 Ω or less.
Failure to observe this warning may result in fire or electric shock.
• Before wiring, make sure to turn the primary power supply off, and
put up a warning sign. (ex. DO NOT TURN THE POWER ON.)
Failure to observe this warning may result in fire or electric shock.
CAUTION
• Wiring must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire or electric shock.
4.1 Grounding
Follow electrical installation standards and wiring regulations for
grounding. A ground wire of 5.5 mm2 or more is recommended.
Refer to fig. 4-1 “Grounding Method” at page 4-2 to connect the ground
line directly to the manipulator.
• Never use this line sharing with other ground lines or

grounding electrodes for other electric power, motor
power, welding devices, etc.
NOTE
• Where metal ducts, metallic conduits, or distributing racks
are used for cable laying, ground in accordance with elec-
trical installation standards.
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4 Wiring
DX1350D 4.2 Cable Connection
Fig. 4-1: Grounding Method
A
2
5.5 mm or more
Section A-A
Bolt M8 (for grounding)
(delivered with the manipulator)
4.2 Cable Connection

Two manipulator cables are delivered with the manipulator; an encoder
cable for detection (1BC) and a power cable (2BC). (Refer to fig. 4-2
“Manipulator Cables” at page 4-3.)
Connect these cables to the manipulator base connectors and to the
DX100. Refer to fig. 4-3(a) “Manipulator Cable Connectors (Manipulator
Side)” at page 4-4 and fig. 4-3(b) “Manipulator Cable Connection (DX100
Side)” at page 4-4 “.
4.2.1 Connection to the Manipulator

Before connecting three cables to the manipulator, verify the numbers on
both manipulator cables and the connectors on the connector base of the
manipulator. When connecting, adjust the cable connector positions to
the main key positions of the manipulator, and insert cables in the order of
2BC, then 1BC. After inserting the cables, depress the lever until it clicks.
4.2.2 Connection to the DX100

Before connecting cables to the DX100, verify the numbers on both
manipulator cables and the connectors on the DX100. When connecting,
insert the cables in the order of X21, then X11, and depress each lever
until it clicks.
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4 Wiring
Fig. 4-2: Manipulator Cables
DX100 side Manipulator side
1BC
X11
X11
1BC
1BC
Encoder cable
DX100 side Manipulator side
2BC
X21
2BC
2BC
X21
Power cable
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4 Wiring
Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side)
3BC 2BC
1BC
AIR
Connector details
3BC
1BC
2BC (Manipulator side)
AIR
Fig. 4-3(b): Manipulator Cable Connection (DX100 Side)
X11
X21
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5 Basic Specifications
DX1350D 5.1 Basic Specifications
5.1 Basic Specifications
Table 5-1: Basic Specifications1)

Item Model MOTOMAN-DX1350D
Structure Vertically Articulated
Degree of Freedom 6
Payload 35 kg
Repetitive Positioning Accuracy2) ±0.06 mm
Range of Motion S-Axis (turning) -180° - +180°
L-Axis (lower arm) -50° - +145°
U-Axis (upper arm) -140° - +220°
R-Axis (wrist roll) -200° - +200°
B-Axis (wrist pitch/yaw) -125° - +125°
T-Axis (wrist twist) -360° - +360°
Maximum Speed S-Axis 2.97 rad/s, 170°/s
L-Axis 2.97 rad/s, 170°/s
U-Axis 2.97 rad/s, 170°/s
R-Axis 4.71 rad/s, 270°/s
B-Axis 4.71 rad/s, 270°/s
T-Axis 8.02 rad/s, 460°/s
3)
Allowable Moment R-Axis 82 N•m (8.4 kgf•m)
B-Axis 82 N•m (8.4 kgf•m)
T-Axis 41 N•m (4.2 kgf•m)
Allowable Inertia R-Axis 2.0 kg•m2
(GD2/4) B-Axis 2.0 kg•m2
T-Axis 0.5 kg•m2
Mass 275 kg
Ambient Conditions Temperature 0° C to 45° C
Humidity 20 to 80% RH (non-condensing)
Vibration Acceleration 4.9 m/s2 or less (0.5 G)
Others Free from corrosive gasses or liquids, or explosive gasses
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Power Requirements 4 kVA
1 SI units are used in this table. However, gravitational unit is used in ( ).
2 Conformed to ISO9283
3 Refer to table chapter 6 “Allowable Load for Wrist Axis and Wrist
Flange” at page 6-1 for details on the permissible moment of inertia.
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DX1350D 5.2 Part Names and Working Axes
5.2 Part Names and Working Axes

Fig. 5-1: Part Names and Working Axes
U+ R+ B+ T+
Wrist flange
U- R- B- T-
U-arm Wrist
L- L+
Rotary head
S+
S- Manipulator base
5.3 Manipulator Base Dimensions

Fig. 5-2: Manipulator Base Dimensions 180±0.2
180±0.2
310
360
170±0.2
+0.018
18 dia. hole 12 dia. 0
(4 holes) (2 holes)
27
130±0.2 130±0.2
310
360
View A
A
Units: mm
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DX1350D 5.4 Dimensions and P-point Maximum Envelope
5.4 Dimensions and P-point Maximum Envelope

Fig. 5-3: Dimensions and P-Point Maximum Envelope
200 R1
355
View A
34
R4
0
48
R
225
315
1635
936
748
422
566
274
0
maximum
envelope
P-point
1355
P-point
120
544
120 480
145°
550
390
0°
°
70
16 95° 291
282
A
171
200
0
50°
0° 208
13
632
814
95 75 600 480
1250
865
454
703
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DX1350D 5.5 Alterable Operating Range
5.5 Alterable Operating Range

The operating range of the S-axis can be altered in accordance with the
operating conditions as shown in table 5-2 “S-Axis Operating Range” .
If alteration is necessary, contact your Yaskawa representative in
advance.
Table 5-2: S-Axis Operating Range

Item Specifications
S-Axis Operating Range -180° - +180° (standard)
-150° - +150°
-120° - +120°
-90° - +90°
-60° - +60°
-30° - +30°
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6 Allowable Load for Wrist Axis and Wrist Flange

DX1350D 6.1 Allowable Wrist Load
6.1 Allowable Wrist Load

The allowable wrist load is 35 kg maximum. If force is applied to the wrist
instead of the load, force on R-, B-, and T-axes should be within the value
shown in table 6-1 “Allowable Wrist Load” . Contact your Yaskawa
representative for further information or assistance.
Table 6-1: Allowable Wrist Load

Axis Moment N•m (kgf•m)1) GD2/4 Total Moment of Inertia
kg•m2
R-Axis 82 (8.4) 2.0
B-Axis 82 (8.4) 2.0
T-Axis 41 (4.2) 0.5
1 ( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in
fig. 6-1 “Moment Arm Rating” .
The allowable total moment of inertia is calculated when the moment is at
the maximum. Contact your Yaskawa representative beforehand when
only moment of inertia, or load moment is small and moment of inertia is
large. Also, when the load mass is combined with an outside force,
contact your Yaskawa representative beforehand.
Fig. 6-1: Moment Arm Rating

Load gravity
LB position
120 mm
LT
LT (mm)
300
10 kg
16 kg
200
100
35 kg
20 kg
LB (mm)
0 100 200 300 400 500
6-1
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DX1350D 6.2 Wrist Flange
6.2 Wrist Flange

The wrist flange dimensions are shown in fig. 6-2 “Wrist Flange” . In
order to see the alignment mark, it is recommended that the attachment
be mounted inside the fitting. Fitting depth of inside and outside must be 5
mm or less.
Fig. 6-2: Wrist Flange
+0.012
6 dia. 0 hole 45±0.03
(depth: 11)
0
D9
PC
22.5°
Tapped hole M8
7 (4 holes, pitch: 1.25, depth: 11)
106 dia. -0.022
0
+0.025
0
50 dia.
5
Units: mm
NOTE Wash off anti-corrosive paint (yellow) on the wrist flange

surface with thinner or light oil before mounting the tools.
6-2
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7 System Application
DX1350D 7.1 Peripheral Equipment Mounts
7.1 Peripheral Equipment Mounts

The peripheral equipment mounts are provided on the U-axis (upper arm)
as shown in fig. 7-1 “Peripheral Equipment Mounts” for easier installation
of the user’s system applications. The following conditions shall be
observed to attach or install peripheral equipment.
Fig. 7-1: Peripheral Equipment Mounts

A
Z-coordinate
direction
50
13.5°
170
50 40
X-coordinate
direction
Hole M8
(4 holes, pitch: 1.25, depth: 16)
Center of U-axis
45
rotation
45
View A
Units: mm
Table 7-1: Conditions for Installation

Application Note
Valve, etc. Up to 10 kg
mounting
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DX1350D 7.2 Internal User I/O Wiring Harness and Air Line
7.2 Internal User I/O Wiring Harness and Air Line

Internal user I/O wiring harness (0.75 mm2 x 23 wires), and an air line are
incorporated in the manipulator for the drive of peripheral devices
mounted on the upper arm as shown in fig. 7-2 “Connectors for Internal
User I/O Wiring Harness and Air Line” .
The connector pins 1 to 23 are assigned as shown in fig. 7-3 “Details of
the Connector Pin Numbers” at page 7-3. Wiring must be performed by
users.
The allowable current for internal user 6.6 A or less for each wire
I/O wiring harness (The total current value for pins 1 to 23
must be 60 A or less.)
The maximum pressure for the air line 490 kPa (5 kgf/cm2) or less
(The air line inside diameter: 6.5 mm)
Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line
Air inlet: tapped hole

PT3/8 with pipe plug
Connector for internal

user I/O wiring harness:
JL05-2A24-28SC
(socket connector with a cap)
Prepare pin connector
B View A JL05-6A24-28P.
Air inlet: tapped hole

PT3/8 with pipe plug
Connector for internal

user I/O wiring harness:
View B
JL05-2A24-28PC
(pin connector with a cap)
Prepare socket connector
JL05-6A24-28S.
7-2
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DX1350D 7.2 Internal User I/O Wiring Harness and Air Line
Fig. 7-3: Details of the Connector Pin Numbers

1
2
3
4
5
6 1 2 3 4
7
8 5 6 7 8 9
9
10 10 11 12 13 14 15
11
Pins Used 12 16 17 18 19 20
13
14 21 22 23
15
16
17
18
19 Internal user I/O wiring harness : 0.75 mm2, 23 lead wires
20
21
22
23
The same numbered pins (1 to 23) of the two connectors are connected
with a single lead wire of 0.75 mm2.
7-3
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8 Electrical Equipment Specification
DX1350D 8.1 Position of Limit Switch
8.1 Position of Limit Switch

The limit switches are optional. Refer to fig. 8-1 “Location of Limit
Switches” for location. The manipulator with limit switches is the type YR-
DX1350D-A01.
Fig. 8-1: Location of Limit Switches
LU-axes interference limit switch

(optional)
L-axis interference limit switch

(optional)
S-axis overrun limit switch

(optional)
8-1
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DX1350D 8.2 Internal Connections
8.2 Internal Connections

Highly reliable connectors are equipped on each connection part of the
manipulator to enable easy removal and installation for maintenance and
inspection. For the number and location of connectors, see fig. 8-2
“Locations and Numbers of Connectors” .
Diagrams for internal connections of the manipulator are shown in fig. 8-
3(a) “Internal Connection Diagram” at page 8-3 and fig. 8-3(b) “Internal
Connection Diagram” at page 8-4.
Fig. 8-2: Locations and Numbers of Connectors
3BC (for internal user

I/O wiring harness)
3BC (For internal user

I/O wiring harness)
View A
Table 8-1: List of Connector Types

Name Type of Connector
Connector Base Connector for internal JL05-2A24-28PC
user I/O wiring harness (JL05-6A24-28S: Optional)
U-arm Connector for internal JL05-2A24-28SC
user I/O wiring harness (JL05-6A24-28P: Optional)
8-2
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Fig. 8-3(a): Internal Connection Diagram

LA1 LA1
LB1 LB1
S-AXIS OVERRUN L.S. Connected to A1
0BT 1 0BAT11 17 0BAT1 LB1 LA2
Notes: P BAT 2 BAT11 18 BAT1
0BT 3 0BAT12 19 0BAT2 LB2 LB2 L-AXIS OVERRUN L.S. Connected to A2
1. This is the internal connection diagram for MOTOMAN-DX1350D. P BAT 4 BAT12 20 BAT2
LA3
21 0BAT3 LB2
2. For the limit switch specification, the connection of the sections A and B are changed. 22
23
BAT3
LB1 LB3
L- AND U-AXIS INTERFERENCE L.S.Connected to A3
3. When performing the wiring of the overrun limit switch, pay attention to the color of wires. 0BT 5 0BAT21
24
25
P BAT 6 BAT21 26 LC1 LC1
The letters marked on the marker tubes at parts (LB1 and LD1) are the same. 0BT 7 0BAT22 27 0BAT5
LD1 LD1
P BAT 8 BAT22 28
29
BAT5 S-AXIS OVERRUN L.S. Connected to B1
30 LD1 LC2
1 31
LD2 LD2 L-AXIS OVERRUN L.S. Connected to
2 32 B2
3 1 PG0V1
4 2 PG5V1
LD2 LC3
5 3 PG0V2 LD1 LD3
DX100 6 4 PG5V2 L- AND U-AXIS INTERFERENCE L.S. Connected to B3
7 5 PG0V3
8 6
7
PG5V3
PG0V4
With Limit Switches for S-, L-, and U-Axes
8 PG5V4
1BC(10X4) 9 PG0V5
No.34CN X 10 PG5V5
No.1CN
+24V CN1-5 +24V -1 +24V 1 11 PG0V6 CN-1 DATA+1
CN1-5 No.28CN S P -2 DATA-1
0V P CN1-4 0V -3 0V 3 12 PG5V6
CN1-4 -1 BAT1 -6 BAT
13
CN1-10
+24V CN1-10 +24V -2 +24V 2 14 -2 0BAT1 P -5 OBT PG S-AXIS
0V P CN1-9 0V -4 0V 4 15 -3 PG5V1 -4 +5V
CN1-9
16 -4 PG0V1 P -9 0V
SPG+1 CN1-1 SPG+1 -7 FG1
CN1-1 SPG-1 SPG-1
P CN1-2
CN1-2
OBT
BAT
FG1 CN1-3 FG1
CN1-3
No.2CN
CN-1 DATA+2
No.29CN L P -2 DATA-2
-1 BAT2 -6 BAT
CN1-6
CN1-6 SPG+2
SPG-2 P CN1-7
SPG+2
SPG-2
-2 0BAT2 P -5 OBT PG L-AXIS
CN1-7 -3 PG5V2 -4 +5V
-4 PG0V2 P -9 0V
-7 FG2
FG2 CN1-8 FG2

CN1-8
OBT
BAT
SPG+3 CN2-1 SPG+3 No.3CN

CN2-1 CN-1 DATA+3
SPG-3 P CN2-2 SPG-3
CN2-2 No.30CN U P -2 DATA-3
-1 BAT3 -6 BAT
-2 0BAT3 P -5 OBT PG U-AXIS
-3 PG5V3 -4 +5V
FG3 CN2-3 -4 PG0V3 P -9 0V
CN2-3
-7 FG3
OBT
SPG+4 CN2-6 SPG+4 BAT
CN2-6 SPG-4 P CN2-7 SPG-4
CN2-7
No.4CN
FG4 CN2-8 FG4 CN-1 DATA+4
CN2-8 No.31CN R P -2 DATA-4
-1 BAT4 -3 BAT
-2 0BAT4 P -4 OBT
-3 PG5V4
SPG+5 CN3-1 SPG+5
CN3-1 -4 PG0V4
CN3-2
SPG-5 P CN3-2 SPG-5 No.5CN PG R-AXIS
-1 +5V
P -2 0V
-3 FG4
FG5 CN3-3 FG5
CN3-3
OBT
BAT
SPG+6 CN3-6 SPG+6
CN3-6
SPG-6 P CN3-7 SPG-6
CN3-7
FG6 CN3-8 FG6

CN3-8 No.10CN No.6CN
CN-1 DATA+5 CN-1 DATA+5
No.32CN B P -2 DATA-5 P -2 DATA-5
-1 BAT5 -3 BAT -3 BAT
-2 0BAT5
P P
PG B-AXIS
-3 PG5V5 -4 OBT -4 OBT
-4 PG0V5
No.7CN
-5 +5V -1 +5V
P -6 0V P -2 0V
+24V CN2-4 +24V
CN2-4 -3 FG5
LD1 P CN2-5 LD1
CN2-5
CN2-9
CN2-9 CN2-10 OBT
CN2-10 SS1 BAT
P
+24V CN4-1 +24V
CN4-1
LB1 P CN4-6 LB1
CN-1 DATA+6 CN-1 DATA+6
No.33CN T P -2 DATA-6 P -2 DATA-6
SS2 CN4-2 SS2 -1 BAT6 -3 BAT
CN4-2 SS2
P CN4-7 -2 0BAT6 -4 OBT
CN4-7
-3 PG5V6
-4 PG0V6 No.9CN PG T-AXIS
BC2 CN4-3 BC2
CN4-3 -3 +5V -1 +5V
P CN4-8
CN4-8 P -4 0V P -2 0V
-5 FG6 -3 FG6
0V CN4-10 0V
CN4-10
OBT
BAT
CN4-4
CN4-4 LA1 LB1
P CN4-5
CN4-5
CN4-9
CN4-9 A1
BC1
CN3-4 LC1 LD1 P BC2 FOR LAMP(OPTION)
CN3-4 P CN3-5
CN3-5
CN3-9
CN3-9 P CN3-10
CN3-10
B1 LB1
LB2 P
LA2
LB2
A2
E
LD1
LD2 P
LC2
LD2
B2
LB2 LA3 A3
LB1 P LB3
LD2 LC3
LD1 P LD3
B3
8-3
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Fig. 8-3(b): Internal Connection Diagram
BASE MANIPULATOR CASING

E E E
3BC(24-28) No.24CN No.20CN 3BC(24-28)
3BC E E
3BC
3BC-1 1 CN-1 3BC-1 CN-1 3BC-1 1
3BC-1
3BC-2 2 -2 3BC-2 -2 3BC-2 2
3BC-2
3BC-3 3 -3 3BC-3 -3 3BC-3 3
3BC-3
3BC-4 4 -4 3BC-4 -4 3BC-4 4
3BC-4
3BC-5 5 -5 3BC-5 -5 3BC-5 5
3BC-5
6 -6 3BC-6 -6 3BC-6 6
3BC-6 3BC-6
No.25CN No.21CN
3BC-7 7 CN-1 3BC-7 CN-1 3BC-7 7
3BC-7
3BC-8 8 -2 3BC-8 -2 3BC-8 8
3BC-8
3BC-9 9 -3 3BC-9 -3 3BC-9 9
3BC-9
3BC-10 10 -4 3BC-10 -4 3BC-10 10
3BC-10
3BC-11 11 -5 3BC-11 -5 3BC-11 11
12 3BC-11
-6 3BC-12 -6 3BC-12 12
3BC-12 3BC-12
No.26CN No.22CN
3BC-13 13 CN-1 3BC-13 CN-1 3BC-13 13
3BC-13
3BC-14 14 -2 3BC-14 -2 3BC-14 14
3BC-14
3BC-15 15 -3 3BC-15 -3 3BC-15 15
3BC-15
3BC-16 16 -4 3BC-16 -4 3BC-16 16
3BC-16
3BC-17 17 -5 3BC-17 -5 3BC-17 17
3BC-17
18 -6 3BC-18 -6 3BC-18 18
3BC-18 3BC-18
No.27CN No.23CN
3BC-19 19 CN-1 3BC-19 CN-1 3BC-19 19
3BC-19
3BC-20 20 -2 3BC-20 -2 3BC-20 20
3BC-20
3BC-21 21 -3 3BC-21 -3 3BC-21 21
3BC-21
3BC-22 22 -4 3BC-22 -4 3BC-22 22
3BC-22
3BC-23 23 -5 3BC-23 -5 3BC-23 23
3BC-23
2BC
E 2BC(8 x 4+12 x 2)
E
MU1 CN1-1 MU1

CN1-1
MU1 CN1-2 MU1
CN1-2 MV1 CN1-3 MV1
No.12CN
CN1-3 CN-A MU1
MV1 CN1-4 MV1
CN1-4 MW1 CN1-5 MW1
-B MV1
CN1-5 MW1 CN1-6 MW1
-C MW1 SM S-AXIS
CN1-6 ME1 CN5-1 ME1
-D ME1
CN5-1 -E BA1
ME1 CN5-2 ME1
CN5-2 BA1 CN6-1 BA1
-F BB1 YB
CN6-1 BB1 CN6-2 BB1
CN6-2
CN1-7 MU2 CN1-7 MU2

CN1-8 MU2 CN1-8 MU2
No.13CN
CN2-1 MV2 CN2-1 MV2
CN-A MU2
CN2-2 MV2 CN2-2 MV2
-B MV2
MW2 CN2-3 MW2
CN2-3
MW2 CN2-4 MW2
-C MW2 SM L-AXIS
CN2-4 -D ME2
CN5-3 ME2 CN5-3 ME2
-E BA2
CN5-4 ME2 CN5-4 ME2
BA2 CN6-3 BA2
-F BB2 YB
CN6-3
No.14CN
MU3 CN2-5 MU3 CN-1 MU3
CN2-5 MV3 CN2-6 MV3 -2 MV3
CN2-6 U-AXIS
CN2-7
MW3 CN2-7 MW3 -3 MW3 SM
ME3 CN5-5 ME3 -4 ME3
CN5-5 BA3 CN6-4 BA3 -5 BA3
CN6-4 -6 BB3 YB
CN4-1
CN4-1 CN4-2
CN4-2 CN4-3
CN4-3 CN4-4
CN4-4 CN6-9
CN6-9 CN6-10
CN6-10 No.15CN
MU4 CN2-8 MU4 CN-1 MU4
CN2-8 MV4 CN3-4 MV4 -2 MV4
CN3-4
CN3-8
MW4 CN3-8 MW4 -3 MW4 SM R-AXIS
ME4 CN5-6 ME4 -4 ME4
CN5-6 BA4 CN6-5 BA4
CN6-5 BB4 CN6-6 BB4 No.34CN
CN6-6 CN-1 BA4
-2 BB4 YB
MU5 CN3-1 MU5
CN3-1 CN3-2 No.18CN No.16CN
MV5 MV5
CN3-2 MW5 CN3-3 MW5 CN-1 MU5 CN-1 MU5
CN3-3 ME5 CN5-7 ME5 -2 MV5 -2 MV5
CN5-7 BA5 CN6-7 BA5 -3 MW5 -3 MW5 SM B-AXIS
CN6-7 -4 ME5 -4 ME5
-5 MU6
-6 MV6 No.35CN
MU5 CN3-5 MU6 -7 MW6 CN-1 BA5
CN3-5 CN3-6
MV5 MV6 -8 ME6 -2 BB5 YB
CN3-6 MW5 CN3-7 MW6
CN3-7 ME5 CN5-8 ME6
BA6 CN6-8 BA6 CN-1 BA5 CN-1 MU6
CN6-8
-2 BB5 -2 MV6
CN4-5
-3 BA6 -3 MW6 SM T-AXIS
CN4-5 -4 ME6
CN4-6
CN4-6 CN4-7
CN4-7 CN4-8 No.36CN
CN4-8 BA6
CN6-11 BB6 YB
CN6-11 CN6-12
CN6-12
LC1 LC1
PE LD1 LD1
S-AXIS OVERRUN L.S. Connected to B1
LA1 LA1
LB1 LB1
S-AXIS OVERRUN L.S. Connected to A1
With Limit Switch for S-Axis
8-4
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9 Maintenance and Inspection
DX1350D 9.1 Inspection Schedule
WARNING
• Before maintenance or inspection, be sure to turn the main power
supply OFF, and put up a warning sign. (ex. DO NOT TURN THE
POWER ON.)
Failure to observe this warning may result in electric shock or injury.
CAUTION
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your Yaskawa representative.
• The battery pack must be connected before removing detection
connector when maintenance and inspection.
Failure to observe this caution may result in the loss of home position
data.
9.1 Inspection Schedule

Proper inspections are essential not only to assure that the mechanism
will be able to function for a long period, but also to prevent malfunctions
and assure safe operation. Inspection intervals are classified into several
levels as shown in table 9-1 “Inspection Items” at page 9-2.
In table 9-1 “Inspection Items” at page 9-2, the inspection items are
categorized by three types of operations: operations which can be
performed by personnel authorized by the user, operations to be
performed by trained personnel, and operations to be performed by
service company personnel. Only specified personnel shall perform the
inspection work.
• The inspection interval depends on the total servo opera-

tion time.
• The following inspection schedule is based on the case
where the manipulator is used for arc welding applica-
NOTE tion. If the manipulator is used for other application or if it
is used under special conditions, a case-by-case exami-
nation is required.
For axes which are used very frequently (in handling appli-
cations, etc.), it is recommended that inspections be con-
ducted at shorter intervals. Contact your Yaskawa
representative.
9-1
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Table 9-1: Inspection Items (Sheet 1 of 2)
Items1) Schedule Method Operation Inspection
Charge
DX1350D
Daily
1000HCycle
6000HCycle
12000HCycle
24000H
36000H
Specified
Personnel
Licensee
Service
Company
1 Alignment mark Visual Check alignment mark accordance and damage at the home position.
• • • •
9
2 External lead Visual Check for damage and deterioration of leads.

9.1
3 Working area and manipulator

• Visual Clean the work area if dust or spatter is present.
• • •
• Check for damage and outside cracks.
• • •
4 Motors for S-, L-, and U-axes Visual Check for grease leakage.2)
5 Baseplate mounting bolts
• Spanner, Tighten loose bolts. Replace if necessary.
• • •
• Wrench
• • •
6 Cover mounting screws Screwdriver, Tighten loose bolts. Replace if necessary.
• Wrench
• • •
9-2
7 Connector base Manual Check for loose connectors.
• • • •
Inspection Schedule
8 Drain plug Phillips Drain condensation from the manipulator.

• screwdriver,
• • •
Wrench
Maintenance and Inspection
9 Timing belts for R-, B-, and T-axes Manual Check for belt tension and wear.
10 Wire harness in manipulator
• Visual, Check for conduction between the main connector of base and
• •
(for S-, L-, U-, and R-axes)
• Multimeter intermediate connector with manually shaking the wires.
• •
Check for wear of protective spring.3)
Replace.4)
11 Wire harness in manipulator
• Visual, Check for connection between terminals.3)
•
(for B- and T-axes)
• Multimeter
• •
Replace.4)
12 Battery pack in manipulator
• Replace the battery pack when the battery alarm occurs or the
•
• manipulator drove for 36000H.
• •
See chapter 9.2.1 at page 9-6 .
13 S-axis speed reducer Grease Gun Check for malfunction. (Replace if necessary.)
• • Supply grease5) (6000H cycle). See chapter 9.3.1 at page 9-8 .
• •
Replace grease5) (12000H cycle). See chapter 9.3.1 at page 9-8 .
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Table 9-1: Inspection Items (Sheet 2 of 2)
Items1) Schedule Method Operation Inspection
Charge
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DX1350D
Daily
1000HCycle
6000HCycle
12000HCycle
24000H
36000H
Specified
Personnel
Licensee
Service
Company
14 Speed reducers for L- and U-axes Grease Gun Check for malfunction. (Replace if necessary.)
• • Supply grease5) (6000H cycle). See chapter 9.3.2 at page 9-10
• •
and chapter 9.3.3 at page 9-12 .
9
9.1
Replace grease5) (12000H cycle). See chapter 9.3.2 at page 9-10

15 Speed reducers for R-, B-, and Grease Gun Check for malfunction. (Replace if necessary.)
T-axes
• Supply grease5) (6000H cycle). See chapter 9.3.4 at page 9-14
• •
Replace grease5) (12000H cycle). See chapter 9.3.4 at page 9-14
16 T-axis gear Grease Gun Check for malfunction. (Replace if necessary.)
• • •
9-3
Supply grease5) (6000H cycle). See chapter 9.3.6 at page 9-17 .
Inspection Schedule
17 Overhaul
• •
1 Inspection item numbers correspond to the numbers in fig. 9-1 “Inspection Items” at page 9-4.
2 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can cause a motor breakdown. Contact your Yaskawa
representative.
3 When checking for conduction with multimeter, connect the battery to “BAT” and “OBT” of connectors on the motor side for each axis, and then remove connectors on
detector side for each axis from the motor. Otherwise, the home position may be lost. (Refer to chapter 9.3.7 “Notes for Maintenance” at page 9-18)
4 Wire harness in manipulator to be replaced at 24000H inspection.
5 For the grease, refer to table 9-2 “Inspection Parts and Grease Used” at page 9-5.
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Fig. 9-1: Inspection Items
9 R-axis 5 11
DX1350D
9 T-axis
Note: The manipulator is in the home position.
9 B-axis
9
1 B-axis
9.1
U-axis R-axis B-axis

8 1 15 1 T-axis 14 1 16 15 T-axis
9-4
Inspection Schedule
8
1 R-axis L-axis 1 14 8 (When ceiling-mounted) 4
(When ceiling-mounted) 6
8
S-axis 1 7
8
10
12 13
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DX1350D 9.1 Inspection Schedule
Table 9-2: Inspection Parts and Grease Used

No. Grease Used Inspected Parts
13, 14 Molywhite RE No. 00 Speed reducers for S-, L-, U-,
and R-axes
15, 16 Harmonic Grease 4B No.2 Speed reducers for B- and T-axes
T-axis gear
The numbers in the above table correspond to the numbers in table 9-1
“Inspection Items” at page 9-2.
9-5
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DX1350D 9.2 Notes on Maintenance Procedures
9.2 Notes on Maintenance Procedures
9.2.1 Battery Pack Replacement

The battery packs are installed in the position shown in fig. 9-2 “Battery
Location” . If the battery alarm occurs in the DX100, replace the battery in
accordance with the following procedure.
Fig. 9-2: Battery Location
3BC 2BC
1BC
AIR
Plate
APS cross-recessed head screw M4

(4 screws, length: 8 mm)
Fig. 9-3: Battery Connection
Battery (HW0470360-A)
9-6
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DX1350D 9.3 Notes on Grease Replenishment/Exchange Procedures
1. Turn OFF the DX100 main power supply.

2. Remove the plate fixing screws and the plate on the connector base,
then pull the battery pack out to replace it with the new one.
3. Remove the battery pack from the battery holder.
4. Connect the new battery pack to the unoccupied connector on the
board.
5. Remove the old battery pack from the board.
NOTE Remove the old battery pack after connecting the new one
so that the encoder absolute data does not disappear.
6. Mount the new battery pack to the holder.

7. Reinstall the plate.
NOTE Do not allow the plate to pinch the cables when reinstalling
the plate.
9.3 Notes on Grease Replenishment/Exchange Procedures

Make sure to follow the instructions listed below at grease replenishment/
exchange. Failure to observe the following notes may result in damage to
a motor and a speed reducer.
• If grease is added without removing the plug/screw from

the grease exhaust port, grease will leak inside a motor or
an oil seal of a speed reducer will come off, which may
result in damage to the motor. Make sure to remove the
plug/screw.
• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in dam-
NOTE
age to the motor due to coming off of an oil seal.
• Make sure to use a grease pump to inject grease. Set air
supply pressure to the grease pump at 0.3 MPa or less,
and the grease injection rate at 8 g/s or less.
• Make sure to fill hoses, which are joined to the grease
inlet, with grease beforehand to prevent air from intruding
into the speed reducer.
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9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer

Fig. 9-4: S-Axis Speed Reducer Diagram
Grease exhaust port

(Plug: PT1/8)
3BC 2BC
1BC
AIR
Grease inlet S-axis speed reducer

(Plug: PT1/8)
NOTE For ceiling mounted manipulators, the exhaust port and the
grease inlet are inverted.
9.3.1.1 Grease Replenishment (Refer to fig. 9-4 “S-Axis Speed Reducer Diagram” .)
1. Remove the plugs PT1/8 from the grease inlet and grease exhaust
port.
If grease is injected with the plug on, grease will leak inside
NOTE the motor and may cause a damage. Make sure to remove
the plug before the grease injection.
2. Install a grease zerk PT1/8 to the grease inlet.

(The grease zerk is delivered with the manipulator.)
3. Inject grease through the grease inlet using a grease gun
– Grease type: Molywhite RE No. 00
– Amount of grease: 70 cc
(150 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. Move the S-axis for a few minutes to discharge excess grease.
5. Wipe the discharged grease with a cloth, and reinstall the plugs PT1/8
to the grease inlet and grease exhaust port. Before installing the
plugs, apply ThreeBond 1206C on the thread parts of the plugs. Then
tighten the plugs with a tightening torque of 5 N•m (0.51 kgf•m).
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9.3.1.2 Grease Exchange (Refer to fig. 9-4 “S-Axis Speed Reducer Diagram” at page 9-8.)
port.

3. Inject grease through the grease inlet using a grease gun.
– Amount of grease: approx. 1500 cc
4. The grease exchange is completed when new grease appears in the
grease exhaust port. (The new grease can be distinguished from the
old grease by color.)
5. Move the S-axis for a few minutes to discharge excess grease.
6. Wipe the discharged grease with a cloth, and reinstall the plugs to the
grease inlet and grease exhaust port. Before installing the plugs,
apply ThreeBond 1206C on the thread parts of the plugs. Then tighten
the plugs with a tightening torque of 5 N•m (0.51 kgf•m).
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9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer

Fig. 9-5: L-Axis Speed Reducer Diagram
L-arm
L-axis speed reducer
Grease exhaust port

(Plug: PT1/8)
(Back)
Grease inlet
(Plug: PT1/8)
9.3.2.1 Grease Replenishment (Refer to fig. 9-5 “L-Axis Speed Reducer Diagram” .)
1. Set the L-arm to the position as shown in fig. 9-5 “L-Axis Speed
Reducer Diagram” .
port.
3. Install a grease zerk A-PT1/8 to the grease inlet.

5. Move the L-axis for a few minutes to discharge excess grease.
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9.3.2.2 Grease Exchange (Refer to fig. 9-5 “L-Axis Speed Reducer Diagram” at page 9-10.)
1. Set the L-arm to the position as shown in fig. 9-5 “L-Axis Speed
Reducer Diagram” at page 9-10.
port.

6. Move the L-axis for a few minutes to discharge excess grease.
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9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer

Fig. 9-6: U-Axis Speed Reducer Diagram
Grease exhaust port

(Plug: PT1/8)
U-arm
Grease inlet U-axis speed reducer

(Plug: PT1/8)
9.3.3.1 Grease Replenishment (Refer to fig. 9-6 “U-Axis Speed Reducer Diagram” .)
1. Set the U-arm to the position as shown in fig. 9-6 “U-Axis Speed
Reducer Diagram” .
port.

5. Move the U-axis for a few minutes to discharge excess grease.
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9.3.3.2 Grease Exchange (Refer to fig. 9-6 “U-Axis Speed Reducer Diagram” at page 9-12.)
1. Set the U-arm to the position as shown in fig. 9-6 “U-Axis Speed
Reducer Diagram” at page 9-12.
port.

6. Move the U-axis for a few minutes to discharge excess grease.
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9.3.4 Grease Replenishment/Exchange for R-Axis Speed Reducer

Fig. 9-7: R-Axis Speed Reducer Diagram
R-axis speed reducer Grease exhaust port

(Plug: PT1/8)
Grease inlet
(Plug: PT1/8)
9.3.4.1 Grease Replenishment (Refer to fig. 9-7 “R-Axis Speed Reducer Diagram” .)
port.

4. Move the R-axis for a few minutes to discharge excess grease.
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9.3.4.2 Grease Exchange (Refer to fig. 9-7 “R-Axis Speed Reducer Diagram” at page 9-14.)
port.

5. Move the R-axis for a few minutes to discharge excess grease.
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9.3.5 Grease Replenishment for B- and T-Axis Speed Reducers

Fig. 9-8: B- and T-Axis Speed Reducers Diagram
Grease inlet
B-axis speed reducer
(Plug M6)
Grease inlet
T-axis speed reducer
Exhaust port
(Plug M6)
Grease inlet
1. Remove the plugs M6 from the grease inlet and exhaust port.
NOTE Remove the cover for the B-axis speed reducer.
2. Install a grease zerk A-MT6 x 1 to the grease inlet.

3. Inject grease through the grease inlet using a grease gun. (See
fig. 9-8 “B- and T-Axis Speed Reducers Diagram” .)
– Grease type: Harmonic Grease 4B No.2
– Amount of grease: 10 cc for Bi part
5 cc for Ti part
The exhaust port is for air flow: Grease is not exhausted

NOTE from the exhaust port.
Do not inject excessive grease through the grease inlet.
4. Reinstall the plug to the exhaust port. Before installing the plug, apply
ThreeBond 1206C on the thread part of the plug. Then tighten the
plug with a tightening torque of 5 N•m (0.51 kgf•m).
5. Reinstall the plug to the grease inlet. Before installing the plug, apply
NOTE Mount the cover for the B-axis speed reducer. (Refer to
chapter 9.3.7 “Notes for Maintenance” at page 9-18.)
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9.3.6 Grease Replenishment for T-Axis Gear

Fig. 9-9: T-Axis Gear Diagram
Gear grease inlet Exhaust port

(Plug M6) (Plug M6)
1. Remove the plugs M6 from the gear grease inlet and exhaust port.
2. Install a grease zerk A-MT6 x 1 to the gear grease inlet.
3. Inject grease through the grease inlet using a grease gun. (See
fig. 9-9 “T-Axis Gear Diagram” .)
– Grease type: Harmonic Grease 4B No.2
The exhaust port is for air flow: Grease is not exhausted

from the exhaust port.
NOTE
Do not inject excessive grease through the gear grease
inlet.
4. Reinstall the plug to the exhaust port. Before installing the plug, apply
5. Reinstall the plug to the gear grease inlet. Before installing the plug,
apply ThreeBond 1206C on the thread part of the plug. Then tighten
the plug with a tightening torque of 5 N•m (0.51 kgf•m).
9-17
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9.3.7 Notes for Maintenance
9.3.7.1 Wrist Unit

The motor and encoder units are provided with the wrist unit. To prevent
fumes from penetrating into the wrist unit, the matched parts are sealed
with sealing bond. Thus, if the wrist cover is disassembled, make sure to
reseal it with sealing bond (ThreeBond 1206C, refer to table 10-1 “Spare
Parts for the YR-DX1350D-A00, -A01” at page 10-1.
Fig. 9-10: Sealing Part of Wrist Unit
Cover
Cover matching surface
Cover matching surface

Cover
9.3.7.2 Battery Pack Connection
When performing maintenance such as replacement of a

wire harness in the manipulator, the encoder connector
(with CAUTION label) may have to be removed. In this
case, be sure to connect the battery pack to the battery
backup connector before removing the encoder connector.
NOTE
Removing the encoder connector without connecting the
battery pack leads to disappearance of the encoder
absolute data.
For the battery pack connection, refer to fig. 9-11 “Encoder
Connector Diagram” at page 9-19.
9.3.7.3 Battery Pack Connection for S-, L-, and U-Axis Motors
The connectors for the battery backup (crimped contact-pins, marked as
BAT and OBT) are attached to the S-, L-, or U-axis motor.
Connect the battery pack according to the following procedure.
1. Remove the cap of the battery backup connector attached to the
motor.
2. Connect the battery pack (HW9470932-A) to the battery backup
connectors. (Under this condition, remove the encoder connector and
carry out the maintenance inspections).
3. After the maintenance inspections, check if all the connectors are
connected, then remove the battery pack. Reinstall the cap of the
battery backup connector.
NOTE Do not remove the battery pack in the connector base.
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9.3.7.4 Battery Pack Connection for R-, B-, and T-Axis Motors
The connectors for the battery backup (crimped contact-pins, marked as
BAT and OBT) are attached to the end of the encoder cable of the R-, B-,
or T-axis motor.
Connect the battery pack according to the following procedure.
1. Connect the battery pack (HW9470932-A) to the battery backup
connectors at the end of the encoder cable. (Under this condition,
remove the encoder connector and carry out the maintenance
inspections).
2. After the maintenance inspections, check if all the connectors are
connected, then remove the battery pack.
NOTE Do not remove the battery pack in the connector base.
Fig. 9-11: Encoder Connector Diagram
y S-, L-, U-axis motor

Motor
Motor power connector

Encoder connector
0BT b a 0BT*
BAT a b BAT*
Battery pack (HW9470932-A)

Connector for the battery backup a: Crimped contact-pin (pin)
Cap b: Crimped contact-pin (socket)
y R-, B-, T-axis motor

Encoder
Motor
Motor cable, etc.
Wire harness
in manipulator Power connector
Connected
a 0BT*
0BT b b BAT*
else448nj182000001nje81.0t
BAT a
removing conector.
to save the data before
Connect battery to encoder
CAUTION
Encoder connector Battery pack

(HW9470932-A)
CAUTION label
0BT b a 0BT*
CAUTION Label (Enlarged View) BAT a b BAT*
CAUTION
a: Crimped contact-pin (pin)
Connect battery to encoder
b: Crimped contact-pin (socket)
to save the data before
removing conector.
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DX1350D 9.4 Home Position Return (Calibration)
9.4 Home Position Return (Calibration)
Perform calibration and set the manipulator position in one

of the following cases:
• The combination of the MOTOMAN and the control unit is
changed.
• The motor or absolute encoder is replaced.
• Stored memory is cleared.
• The home position is deviated by hitting the MOTOMAN
NOTE against a workpiece, etc.
• The main parts of the speed reducer, etc. are replaced or
disassembled and reassembled.
When performing calibration, be sure to satisfy the following
conditions:
• No external force is applied to the manipulator.
• The hand and the other parts of the wrist unit are
removed.
9.4.1 Calibration by Using Key
Calibration by using the key requires a differential pulse

between the home position pulse set prior to shipment and
NOTE the position pulse of the manipulator posture specified by
using the key. Read this paragraph carefully before using
the MOTOMAN and record the above-mentioned differential
value.
When the home position has disappeared, use the key slot provided in the
manipulator (see fig. 9-12 “Positions of Key Slots” ) and the keys to set
the home position. Prepare the tools listed in table 9-3 “Tools for
Calibration” at page 9-21 required for the operation.
Fig. 9-12: Positions of Key Slots
U-axis B- and T-axes
R-axis
L-axis
S-axis
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Table 9-3: Tools for Calibration

Type Name Quantity Remark
MSTH12-120 Pin 1 For the S-, L-, and U-axes
HW0403409-1 Key 1 For the R-, B-, and T-axes
9.4.2 Calibration Procedure

Perform the calibration in accordance with the following procedure:
1. Using the key, perform the following positioning operations on the axis
of which the home position has disappeared.
2. After completion of positioning, move the manipulator for the
differential distance between the position pulse at the manipulator
posture specified by using the key and the home position pulse
recorded prior to shipment.
3. Set the position obtained after moving the manipulator as the home
position. For the setting method of the home position, refer to “8.1
Home Position Calibration” in the “DX100 INSTRUCTIONS (RE-CTO-
A215)”.
9.4.2.1 S-Axis Positioning

As shown in fig. 9-13 “S-Axis Positioning” , insert the pin (MSTH12-120)
into the slot of the rotary head. Perform the positioning with the
programming pendant so that the pin fits in the slot of the manipulator
base.
Fig. 9-13: S-Axis Positioning
30 ±0.1 Pin MSTH12-120
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9.4.2.2 L-Axis Positioning

As shown in fig. 9-14 “L-Axis Positioning” , insert the pin (MSTH12-120)
into the slot of the L-arm. Perform the positioning with the programming
pendant so that the pin fits in the slot of the rotary head.
Fig. 9-14: L-Axis Positioning
L-arm
Pin MSTH12-120
9.4.2.3 U-Axis Positioning

As shown in fig. 9-15 “U-Axis Positioning” , insert the pin (MSTH12-120)
into the pin hole (12 mm dia. +0.018
0 ) of the casing. Perform the
positioning with the programming pendant so that the pin fits in the slot of
the L-arm.
Fig. 9-15: U-Axis Positioning
Casing Pin MSTH12-120
L-arm
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9.4.2.4 R-Axis Positioning

As shown in fig. 9-16 “R-Axis Positioning” , insert the key (HW0403409-1)
into the slot of the casing. Perform the positioning with the programming
pendant so that the pin fits in the slot of the U-arm.
Fig. 9-16: R-Axis Positioning
Casing
U-arm
Key HW0403409-1
L-arm
9.4.2.5 B-Axis Positioning

As shown in fig. 9-17 “B-Axis Positioning” , insert the key (HW0403409-1)
into the slot of the U-arm. Perform the positioning with the programming
pendant so that the pin fits in the slot of the wrist.
Fig. 9-17: B-Axis Positioning
Key HW0403409-1
Wrist
U-arm
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9.4.2.6 T-Axis Positioning

As shown in fig. 9-18 “T-Axis Positioning” , insert the key (HW0403409-1)
into the slot of the wrist. Perform the positioning with the programming
pendant so that the pin fits in the slot of the wrist flange.
Fig. 9-18: T-Axis Positioning
Key HW0403409-1
Wrist
U-arm
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10 Recommended Spare Parts
DX1350D

It is recommended to keep the parts and components in the following
table in stock as spare parts for the MOTOMAN-DX1350D. Product
performance cannot be guaranteed when using spare parts from any
company other than Yaskawa. The spare parts are ranked as follows:
• Rank A: Expendable and frequently replaced parts.
• Rank B: Parts for which replacement may be necessary as a result of
frequent operation.
• Rank C: Drive unit.
NOTE For replacing parts in Rank B or Rank C, contact your

Yaskawa representative.
Table 10-1: Spare Parts for the YR-DX1350D-A00, -A01 (Sheet 1 of 2)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
A 1 Grease Molywhite RE No. 00 Yaskawa Electric 16 kg -
Corporation
A 2 Grease Harmonic Grease 4B Harmonic Drive 2.5 kg -
No.2 Systems Inc.
A 3 Liquid Gasket ThreeBond 1206C ThreeBond Co., - -
Ltd.
A 4 Battery Pack HW0470360-A Yaskawa Electric 1 1
Corporation
A 5 Battery Pack HW9470932-A Yaskawa Electric 1 1 For replacing the
Corporation wire harness in
the manipulator
B 6 R-Axis Timing 80S4.5M450 Mitsuboshi Belting 1 1
Belt Ltd.
B 7 B-Axis Timing Belt 80S4.5M675 Mitsuboshi Belting 1 1
Ltd.
B 8 T-Axis Timing Belt 100S4.5M468 Mitsuboshi Belting 1 1
Ltd.
B 9 S-Axis Speed HW0380902-A Yaskawa Electric 1 1
Reducer Corporation
B 10 S-Axis Input Gear HW0380960-A Yaskawa Electric 1 1
Corporation
B 11 L-Axis Speed HW0383230-A Yaskawa Electric 1 1
Reducer Corporation
B 12 L-Axis Input Gear HW0306174-A Yaskawa Electric 1 1
Corporation
B 13 U-Axis Speed HW0380901-A Yaskawa Electric 1 1
Reducer Corporation
B 14 U-Axis Input Gear HW0380963-A Yaskawa Electric 1 1
Corporation
B 15 R-Axis Speed HW0380900-A Yaskawa Electric 1 1
Reducer Corporation
B 16 B-Axis Speed HW0380904-A Yaskawa Electric 1 1
Reducer Corporation
10-1
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DX1350D
Table 10-1: Spare Parts for the YR-DX1350D-A00, -A01 (Sheet 2 of 2)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
B 17 T-Axis Speed HW0380903-A Yaskawa Electric 1 1
Reducer Corporation
B 18 Wire Harness in HW0175444-A Yaskawa Electric 1 1
Manipulator Corporation
B 19 Wire Harness in HW0371440-A Yaskawa Electric 1 1
Manipulator for B- Corporation
and T-Axes
C 20 AC Servo Motor HW0382156-A Yaskawa Electric 1 2
for S- and L-Axes SGMRS-13A2A-YR1* Corporation
for U-Axis SGMRS-12A2B-YR1* Corporation
for R-, B-, and T- SGMPH-04A2A-YR3* Corporation
Axes
C 23 Limit Switch Unit HW0370602-A Yaskawa Electric 1 1
Corporation
B 24 Wrist Unit HW0170775-B Yaskawa Electric 1 1
Corporation
10-2
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MOTOMAN-DX1350D
INSTRUCTIONS
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004 Japan
Phone +81-93-645-7745 Fax +81-93-645-7746
YASKAWA America Inc. MOTOMAN Robotics Division

805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277
YASKAWA Nordic AB
Franska vagen 10, Box 4004, 390 04 Kalmar, Sweden
Phone +46-480-417800 Fax +46-480-417999
YASKAWA Europe GmbH Robotics Division

Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA Electric Korea Co., Ltd.

7F, Doore Bldg.; 24, Yeoido-Dong Youngdungpo-ku, Seoul, KOREA
Phone +82-2-784-7844 Fax +82-2-784-8495
YASKAWA Electric (Singapore) PTE Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.

252/246, 4th Floor. Muang Thai-Phatra Office Tower II Rachadaphisek 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 E&T Development Area, China 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878
MOTOMAN Motherson Robotics Ltd.

Plot No.195-196, 1st Floor, Sec.4 IMT Manesar, Gurgaon 122050, Haryana
Phone +91-124-475-8500 Fax +91-124-414-8016
Specifications are subject to change without notice

for ongoing product modifications and improvements.
C Printed in Japan April 2011 11-04

YASKAWA ELECTRIC CORPORATION
MANUAL NO.
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Instructions: MOTOMAN-DX1350D

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MOTOMAN-DX1350D

Part Number: 158454-1CD

YASKAWA ELECTRIC CORPORATION

Notes for Safe Operation

Indicates a potentially hazardous

Indicates a potentially hazardous

Always be sure to follow explicitly the

Must never be performed.

Even items described as “CAUTION” may result in a serious accident in

To ensure safe and efficient operation at all times, be sure to

• Observe the following precautions when performing teaching

Definition of Terms Used Often in This Manual

Explanation of Warning Labels

Nameplate Warning Label A: Warning Label B:

Moving parts Do not enter

1 Product Confirmation ...................................................................................................................... 1-1

1.1 Contents Confirmation ....................................................................................................... 1-1

1.2 Order Number Confirmation .............................................................................................. 1-2

2.1 Transport Method .............................................................................................................. 2-1

2.1.1 Using a Crane ...................................................................................................... 2-2

2.1.2 Using a Forklift...................................................................................................... 2-2

2.2 Shipping Bolts and Brackets.............................................................................................. 2-3

3.1 Safeguarding Installation ................................................................................................... 3-2

3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2

3.2.1 Mounting Example................................................................................................ 3-3

3.3 Installation Method............................................................................................................. 3-4

3.3.1 S-axis Operating Range ....................................................................................... 3-4

3.3.2 Fixing the Manipulator Base ................................................................................. 3-4

3.3.3 Precautions to Prevent the Manipulator from Falling............................................ 3-4

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

4.1 Grounding .......................................................................................................................... 4-1

4.2 Cable Connection .............................................................................................................. 4-2

4.2.1 Connection to the Manipulator.............................................................................. 4-2

4.2.2 Connection to the DX100 ..................................................................................... 4-2

5 Basic Specifications ........................................................................................................................ 5-1

5.1 Basic Specifications........................................................................................................... 5-1

5.2 Part Names and Working Axes.......................................................................................... 5-2

5.3 Manipulator Base Dimensions ........................................................................................... 5-2

5.4 Dimensions and P-point Maximum Envelope .................................................................... 5-3

5.5 Alterable Operating Range ................................................................................................ 5-4

6.1 Allowable Wrist Load ......................................................................................................... 6-1

6.2 Wrist Flange....................................................................................................................... 6-2

7 System Application.......................................................................................................................... 7-1

7.1 Peripheral Equipment Mounts............................................................................................ 7-1

8 Electrical Equipment Specification .................................................................................................. 8-1

8.1 Position of Limit Switch ...................................................................................................... 8-1

8.2 Internal Connections .......................................................................................................... 8-2

9 Maintenance and Inspection ........................................................................................................... 9-1

9.1 Inspection Schedule........................................................................................................... 9-1

9.2 Notes on Maintenance Procedures.................................................................................... 9-6

9.2.1 Battery Pack Replacement ................................................................................... 9-6

9.3 Notes on Grease Replenishment/Exchange Procedures .................................................. 9-7

9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer ............................. 9-8

9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer............................ 9-10

9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-12

9.3.4 Grease Replenishment/Exchange for R-Axis Speed Reducer ........................... 9-14

9.3.6 Grease Replenishment for T-Axis Gear.............................................................. 9-17