182806-1CD - Manual de Instrução Robô

MOTOMAN-SP210,SP165,SP165-105
INSTRUCTIONS
TYPE:
YR-1-06VX225-A00
(MOTOMAN-SP210 STANDARD SPECIFICATION)
YR-1-06VX180-A00
(MOTOMAN-SP165 STANDARD SPECIFICATION)
YR-1-06VX180-120-A00
(MOTOMAN-SP165-105 STANDARD SPECIFICATION)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-SP210,SP165,SP165-105 INSTRUCTIONS
YRC1000 INSTRUCTIONS
YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)
YRC1000 MAINTENANCE MANUAL
YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
MANUAL NO.
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DANGER
• This instruction manual is intended to explain mainly on the
mechanical part of this manipulator 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. Any matter not described in this manual must be
regarded as “prohibited” or “improper”.
• General information related to safety are described in “Chapter 1.
Safety” of the YRC1000 INSTRUCTIONS. To ensure correct and
safe operation, carefully read “Chapter 1. Safety” of the YRC1000
INSTRUCTIONS.
CAUTION
• In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place 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 is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids the
product warranty.
NOTICE
• 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.
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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of your manipulator.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.
Indicates an imminently hazardous

DANGER situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.
Indicates a potentially hazardous

WARNING situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.
Indicates a hazardous situation,

CAUTION which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.
NOTICE is the preferred signal word

NOTICE to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.
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

NOTE to follow all instructions, even if not designated as “DAN-
GER”, “WARNING” and “CAUTION” .
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DANGER
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the manipulator's arm.
WARNING
• 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.
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DANGER
• Before operating the manipulator, make sure the servo power is
turned OFF by performing the following operations. When the servo
power is turned OFF, the SERVO ON LED on the programming
pendant is turned OFF.
– Press the emergency stop buttons on the front door of the
YRC1000, on the programming pendant, on the external control
device, etc.
– Disconnect the safety plug of the safety fence.
(when in the play mode or in the remote mode)
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button
• Before releasing the emergency stop, make sure to remove the

obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may cause unintended movement of
the manipulator, which may result in personal injury.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing a teaching

operation within the manipulator's operating range:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may cause improper or unintended
movement of the manipulator, which may result in personal injury.
• Confirm that no person is present in the manipulator's operating
range and that the operator is in a safe location before:
– Turning ON the YRC1000 power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Personal injury may result if a person enters the manipulator's
operating range during operation. Immediately press an emergency
stop button whenever there is a problem. The emergency stop buttons
are located on the front panel of the YRC1000 and on the right of the
programming pendant.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.
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WARNING
• Perform the following inspection procedures prior to conducting
manipulator teaching. If there is any problem, immediately take
necessary steps to solve it, such as maintenance and repair.
– Check for a problem in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the
YRC1000 cabinet after use.
If the programming pendant is left unattended on the manipulator, on a
fixture, or on the floor, etc., the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.
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 supply cables.
In this manual, the equipment is designated as follows:
Equipment Manual Designation
YRC1000 controller YRC1000
YRC1000 programming pendant Programming pendant
Cable between the manipulator and the Manipulator cable
controller
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
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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.
Note: Taking the maintenance-relevant trainings offered by YASKAWA is
indispensable for replacing the L-axis of the balancer-equipped
manipulator.
Fig. : Warning Label Locations
Motor removing prohibited label

Nameplate
Fall down hazard label
Motor removing
prohibited label
Balancer disassembly
prohibited label Crush hazard label Collision hazard label
Collision hazard label

Crush hazard label
Nameplate
TYPE
DATE PAYLOAD
kg
SERIAL NO. MASS
kg
YASKAWA ELECTRIC CORPORATION
2-1 Kurosakishiroishi, Yahatanishi-ku,
Kitakyushu 806-0004 Japan
MADE IN JAPAN
NJ4030
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Fall down hazard label
Description
Make sure to secure the manipulator base by using the bolts of the
specified sizes and by tightening the bolts with the specified tightening
torques. If the power is turned ON and the manipulator is operated
without securing the manipulator properly, the manipulator may fall down,
which may result in personal injury and/or equipment damage.
Collision hazard label
Description
Personal injury may result if a person enters the manipulator's operating
range during operation. Immediately press an emergency stop button
whenever there is a problem. Confirm that no person is present in the
manipulator's operating range and that the operator is in a safe location
before:
• Turning ON the YRC1000 power
• Moving the manipulator by using the programming pendant
• Running the system in the check mode
• Performing automatic operations
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Crush hazard label
Description
Keep clear of moving parts when performing a teaching operation within
the manipulator's operating range. Failure to observe this instruction may
result in personal injury.
Balancer disassembly prohibited label
Description
Do not disassemble the balancer.
When disassembling the balancer, the internal energy is released and the
L-arm rotates. Failure to observe this caution may result in injury or
malfunction.
Motor removing prohibited label
Description
Do not remove the motor without mounting the jig for fixing the motor.
Failure to observe this safety precaution may result in injury from
unexpected turning of the manipulator’s arm.
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1 Product Confirmation ...................................................................................................................... 1-1
1.1 Contents Confirmation ....................................................................................................... 1-1
1.2 Order Number Confirmation............................................................................................... 1-3
2 Transport......................................................................................................................................... 2-1
2.1 Transport Method............................................................................................................... 2-1
2.1.1 Using a Crane....................................................................................................... 2-1
2.1.2 Using a Forklift...................................................................................................... 2-5
2.2 Shipping Bracket................................................................................................................ 2-7
2.3 Cushioning Material for Transport...................................................................................... 2-8
3 Installation ....................................................................................................................................... 3-1
3.1 Installation of the Safety Fence.......................................................................................... 3-2
3.2 Mounting Procedures for Manipulator Base....................................................................... 3-2
3.2.1 Mounting Example ................................................................................................ 3-4
3.3 Mounting Method ............................................................................................................... 3-5
3.4 Location ............................................................................................................................. 3-6
3.5 Notes on Dust-Proof/Water-Proof Specifications............................................................... 3-7
4 Wiring .............................................................................................................................................. 4-1
4.1 Grounding .......................................................................................................................... 4-2
4.2 Cable Connection .............................................................................................................. 4-3
5 Basic Specifications ........................................................................................................................ 5-1
5.1 Basic Specifications ........................................................................................................... 5-1
5.2 Part Names and Working Axes.......................................................................................... 5-4
5.3 Dimensions and P-Point Maximum Envelope.................................................................... 5-5
5.4 Stopping Distance and Time for S-, L-, and U-Axes .......................................................... 5-9
5.4.1 General Information .............................................................................................. 5-9
5.4.2 Definition of Use ................................................................................................... 5-9
5.4.3 Stopping Distance and Time for Stop Category 0: S-, L- and U-Axes.................. 5-9
5.4.4 Stop Category 1: Stopping Distance and Time for Stop Category 1:
S-, L- and U-Axes ............................................................................................... 5-11
5.4.4.1 Extension............................................................................................... 5-11
5.4.4.2 Stopping Distance and Time for Stop Category 1: S-axis
(YR-1-06VX225-A00) ............................................................................ 5-13
5.4.4.3 Stopping Distance and Time for Stop Category 1: L-axis
(YR-1-06VX225-A00) ............................................................................ 5-14
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5.4.4.4 Stopping Distance and Time for Stop Category 1: U-axis

(YR-1-06VX225-A00) ............................................................................ 5-15
(YR-1-06VX180-A00) ............................................................................ 5-16
(YR-1-06VX180-A00) ............................................................................ 5-17
(YR-1-06VX180-A00) ............................................................................ 5-18
(YR-1-06VX180-120-A00) ..................................................................... 5-19
(YR-1-06VX180-120-A00) ..................................................................... 5-20
(YR-1-06VX180-120-A00) ................................................................... 5-21
5.5 Alterable Operating Range .............................................................................................. 5-22
5.5.1 Components for Altering Operating Range ........................................................ 5-22
5.5.2 Notes on the Mechanical Stopper Installation .................................................... 5-24
5.5.3 Adjustment to the Pulse Limitation of S-Axis...................................................... 5-24
6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
6.1 Allowable Wrist Load ......................................................................................................... 6-1
6.2 Wrist Flange....................................................................................................................... 6-6
7 System Application ......................................................................................................................... 7-1
7.1 Peripheral Equipment Mounts ........................................................................................... 7-1
7.1.1 Allowable Load ..................................................................................................... 7-1
7.1.2 Installation Position .............................................................................................. 7-2
7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-5
7.3 Mating Connector for Internal User I/O Wiring Harness (Optional) ................................... 7-7
8 Electrical Equipment Specification.................................................................................................. 8-1
8.1 Overrun Limit Switches (Optional) ..................................................................................... 8-1
8.1.1 Position of Limit Switch......................................................................................... 8-1
8.1.2 Adjustment to the Activation Angle of Limit Switch............................................... 8-2
8.2 Servo ON Lamp (Optional) ................................................................................................ 8-3
8.3 Internal Connections.......................................................................................................... 8-4
9 Maintenance and Inspection ........................................................................................................... 9-1
9.1 Inspection Schedule .......................................................................................................... 9-1
9.2 Notes for Maintenance....................................................................................................... 9-5
9.2.1 Multi-Port Connector............................................................................................. 9-5
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9.3 Notes on Maintenance Procedures.................................................................................... 9-8
9.3.1 Home Position Check ........................................................................................... 9-8
9.3.2 Seeped Oil Check............................................................................................... 9-10
9.3.3 L-, U-, R-, B-, and T-axis Motors......................................................................... 9-11
9.3.4 Battery Pack Replacement ................................................................................. 9-12
9.4 Notes on Grease Replenishment/Exchange Procedures ................................................ 9-16
9.4.1 Notes on Grease Exchange Procedures ............................................................ 9-16
9.4.2 Grease Exchange Procedures for Gear of Each Axis Speed Reducer .............. 9-17
9.4.3 Grease Replenishment for Gas Balancer Link Part............................................ 9-22
9.5 Gas Maintenance Procedure in the Gas Balancer........................................................... 9-23
9.5.1 Notes on Gas Maintenance Procedure in the Gas Balancer .............................. 9-23
9.5.2 Gas Pressure Inspection .................................................................................... 9-24

9.5.2.1 Adequate Gas Pressure ........................................................................ 9-24
9.5.2.2 Necessary Device.................................................................................. 9-25
9.5.2.3 Inspection Procedures........................................................................... 9-25
9.5.3 Gas Discharging Procedure................................................................................ 9-27

9.5.3.1 Necessary Devices................................................................................ 9-27
9.5.3.2 Gas Discharging Procedure .................................................................. 9-27
9.5.4 Gas Injecting Procedure ..................................................................................... 9-30

9.5.4.1 Necessary Devices................................................................................ 9-30
9.5.4.2 Gas Injecting Procedures ...................................................................... 9-30
10 Recommended Spare Parts........................................................................................................ 10-1
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1 Product Confirmation
1.1 Contents Confirmation
CAUTION
• Confirm that the manipulator and the YRC1000 have the same
order number. Pay special attention when installing two or more
manipulators.
Failure to observe this instruction may cause improper movement of
the manipulator, which may result in personal injury and/or equipment
damage.

Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following five items (information for the
content of optional goods are given separately):
• Manipulator (accessories included)
• YRC1000 (spare parts included)
• Programming pendant
• Manipulator cable (between the YRC1000 and the Manipulator)
• Manual
Fig. 1-1: Five Items for Standard Delivery
Programming YRC1000
Manipulator
Pendant
(Data)
CD-ROM which is connected to the USB connector
Complete Set of Manuals (in the CD-ROM which is Manipulator Cable

connected to the USB connector)
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Accessories of Manipulator Pcs Remarks

Hexagon socket head cap 8
screw M20 (length:80 mm)
Spring washer M20 8 For mounting the manipulator
*stainless*
Washer M20 *stainless* 8
4 For grease replenishment of L-, U-, R-,
and BT-axes
1 For grease replenishment for the R-, B-,
Grease zerk A-PT1/8
and T-axis gear in the casing
2 For grease replenishment for the joint of
the balancer
Grease zerk A-PT1/4 1 For grease replenishment of S-axis
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1.2 Order Number Confirmation
1.2 Order Number Confirmation

Confirm the order number of the manipulator corresponds to the
YRC1000. The order number is located on a label as shown below.
Fig. 1-2: Location of Order Number Labels
Label (Enlarged View)
䝻䝪䝑䝖ᮏయ䛸䝁䞁䝖䝻䞊䝷䞊䛿䚸ୗグ䜸䞊䝎䛾
ྠ୍No.䛸᥋⥆䛧䛶ᚚ౑⏝䛟䛰䛥䛔䚹 ORDER NO.
THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER. NJ4061
ORDER No.
NJ4014-1
View A (Enlarged View)
(a) YRC1000 (Front View) (b) Manipulator (Top View)
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2 Transport
2.1 Transport Method
2 Transport
WARNING
• Operation of the crane, sling, or forklift must be performed only by
authorized personnel.
Failure to observe this instruction may result in personal injury and/or
equipment damage.
NOTICE
• Avoid excessive vibration or shock while transporting or moving the
manipulator.
Failure to observe this instruction may adversely affect the
performance of the manipulator because it consists of precision
components.
2.1.1 Using a Crane

As a rule, the manipulator must be lifted by a crane with four wire ropes
when removing the manipulator from the package and moving it. Be sure
to fix the manipulator with the cushioning materials for transport, and lift it
in the posture as shown in fig. 2-1(a) “Transporting Position (factory setting)
(YR-1-06VX225-A00)” , fig. 2-1(b) “Transporting Position (factory setting) (YR-1-
06VX180-A00)” , and fig. 2-1(c) “Transporting Position (factory setting) (YR-1-
06VX180-120-A00)” .
The length of the wire rope must be 2000 mm or longer.
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2 Transport
Fig. 2-1(a): Transporting Position (factory setting) (YR-1-06VX225-A00)
Position of the center of gravity
A Wire rope
(length: 2000 mm or longer)
Transporting Posture 1102 1550

Axis Angle Pulse
S 0 0
L -60 -183758
U -86 -217225
R 0 0
B +116 +284915 Shipping bracket
T 0
1610
0 (4 brackets)
Position of
Shipping the center of
bracket gravity
Position of the center B

of gravity
-Hexagon head screw M20

*trivalent chromate* (length: 70 mm) (8 screws)
-Spring washer M20 *stainless* (8 washers)
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2 Transport
Fig. 2-1(b): Transporting Position (factory setting) (YR-1-06VX180-A00)
A Wire rope
Transporting Posture 1102 1539

Axis Angle Pulse
S 0 0
L -60 -150869
U -86 -196676
R 0 0
B +116 +205298 Shipping
T 0 0 bracket (4 brackets)
1610
Position of
bracket gravity
Position of the center of B

gravity

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2 Transport
Fig. 2-1(c): Transporting Position (factory setting) (YR-1-06VX180-120-A00)
A Wire rope
1102 1867
Transporting Posture
Axis Angle Pulse
S 0 0
L -60 -150869
U -86 -196676
R 0 0
B +116 +205298 Shipping bracket
1610
T 0 0 (4 brackets)
Position of
bracket gravity
Position of the center of B

gravity

NOTE When lifting the manipulator, be careful not to damage the

motor, connector, cable, etc.
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2 Transport
2.1.2 Using a Forklift

When using a forklift, there are two methods to transport the manipulator:
using shipping brackets or using a pallet. For either method, transport the
manipulator in the posture as shown in fig. 2-2(a) “Using a Forklift (YR-1-
06VX225-A00)” , fig. 2-2(b) “Using a Forklift (YR-1-06VX180-A00)” , or
fig. 2-2(c) “Using a Forklift (YR-1-06VX180-120-A00)” .
When using the shipping brackets, insert claws of the forklift into four
brackets and transport the manipulator.
When using the pallet, put the pallet under the manipulator and secure the
manipulator by using bolts or screws. Insert the claws of the forklift into
the pallet, and transport the manipulator together with the pallet.
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(a): Using a Forklift (YR-1-06VX225-A00)
(Shipping bracket) Forklift claw entries
Shipping
bracket
Bolt M20
Pallet (1 or more bolts each for
4 corners recommended)
(Pallet) Forklift claw entries
Fig. 2-2(b): Using a Forklift (YR-1-06VX180-A00)

Shipping
bracket
Bolt M20
S1 Pallet
(1 or more bolts each for
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2 Transport
Fig. 2-2(c): Using a Forklift (YR-1-06VX180-120-A00)

Shipping
bracket
Bolt M20
Pallet (1 or more bolts each for
The approximate weight of the manipulator is shown below.

• YR-1-06VX225-A00, YR-1-06VX180-120-A00: 1150 kg
(including the shipping bolts/screws and brackets)
• YR-1-06VX180-A00: 1100 kg (including the shipping bolts/
screws and brackets)
NOTE
Use a wire rope strong enough to withstand the weight.
• When transporting, be sure to install the shipping brack-
ets.
• Avoid applying external force on the arm or motor unit
when transporting by a crane, forklift, or other equipment.
Failure to observe this instruction may result in injury.
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2 Transport
2.2 Shipping Bracket
2.2 Shipping Bracket

To protect the manipulator's machinery from external forces during
transportation, shipping brackets are installed.
(Refer to fig. 2-3 “Shipping Bracket” .)
Fig. 2-3: Shipping Bracket
Hook
Shipping bracket
176
87
4×R20
-Hexagon head screw M20 *trivalent chromate* (length: 70 mm)

-Spring washer M20 *stainless*
• The shipping brackets are painted yellow.

• The shipping brackets are fixed with the hexagon head screw M20
(length: 70 mm) (two screws) (four places) (trivalent
chromate) and the spring washer M20 (two washers)
(four places) (stainless).
Before turning ON the power, check to be sure that the ship-

NOTE ping bolts/screws 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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2 Transport
2.3 Cushioning Material for Transport
2.3 Cushioning Material for Transport

To protect the manipulator's machinery from external forces during
transportation, the cushioning materials for transport are installed in the
sections A and B. (Refer to fig. 2-4 “Cushioning Materials for Transport” .)
Fig. 2-4: Cushioning Materials for Transport
• A rubber cushion is respectively wedged at the sections A and B.
Before turning ON the power, check to be sure that the

cushioning materials for transport are removed.
NOTE
In the event that the manipulator must be moved again, to
avoid its main body from being damaged, the cushioning
materials such as rubber plate, etc. must be used.
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3 Installation
3 Installation
DANGER
• Install the safety fence.
Failure to observe this warning may result in injury or damage.
WARNING
• Do not perform the welding operation for a pedestal or etc. when the
power cable is being connected.
Failure to observe this instruction may result in damage to an electric
device due to the current of welding.
• Install the manipulator in a location where the tool or the workpiece
held by its fully extended arm will not reach the wall, the safety
fence, or the YRC1000, etc.
Failure to observe this warning may result in injury or damage.
• Make sure to firmly anchor the manipulator before turning ON the
power and operating the manipulator.
Failure to observe this instruction may cause overturning of the
manipulator, which may result in personal injury and/or equipment
damage.
• Do not install or operate a damaged manipulator or a manipulator
any of whose components is missing.
Failure to observe this instruction may cause improper movement, etc.
of the manipulator, which may result in personal injury and/or
equipment damage.
NOTICE
• After completing the installation of the manipulator, make sure to
remove the shipping bolts/screws and brackets before turning ON
the power.
Failure to observe this instruction may result in damage to the main
drive unit.
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3 Installation
3.1 Installation of the Safety Fence
3.1 Installation of the Safety Fence

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

The user of a manipulator or robot system shall ensure that safety fences
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 reaction forces
during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand
maximum reaction forces of the manipulator referring to table 3-1
“Manipulator Reaction Force and Torque” .
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: Manipulator Reaction Force and Torque

Horizontal rotation Vertical rotation
Reaction force FH Torque MH Reaction force Fv Torque MV
Emergency stop 24000 N 37630 N•m 15680 N 49000 N•m

(2500 kgf) (3840 kgf•m) (1600 kgf) (5000 kgf•m)
Acceleration/ 6370 N 9400 N•m 4900 N 22050 N•m
deceleration (650 kgf) (960 kgf•m) (500 kgf) (2250 kgf•m)
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3 Installation
Fig. 3-1: Manipulator Reaction Force and Torque
MV
FV
MH
FH
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3 Installation
3.2.1 Mounting Example

For the first process, anchor the baseplate firmly to the ground. The
baseplate must be rugged and durable to prevent shifting of the
manipulator or the mounting fixture. It is recommended to prepare a
baseplate of 50 mm or more in thickness, and anchor bolts of M20 or
larger size.
The manipulator base is tapped for eight mounting holes; securely fix the
manipulator base to the baseplate with eight hexagon socket head cap
screws M20 (Tensile strength: 1200 N/mm2 or more) (80 mm long is
recommended) by using a tightening torque 402 Nm.
Next, fix the manipulator base to the baseplate. Tighten the hexagon
socket head cap screws and anchor bolts firmly so that they will not work
loose during the operation. Refer to fig. 3-2 “Mounting the Manipulator on
Baseplate” .
Fig. 3-2: Mounting the Manipulator on Baseplate
Hexagon socket head cap screw M20 (8 screws)

(Tensile strength: 1200 N/mm2 or more)
Tightening torque 402 N•m
Spring washer
Washer
40
Manipulator base
Baseplate
or more
50 mm
Manipulator base
Anchor bolt (M20 or larger)
Baseplate
450 290 22 dia. (2 holes) (4 places)

+0.021
500 20 dia. 0 (2 holes)
A
420
250±0.1
185±0.1 185±0.1
500
420
320
Baseplate 230±0.1 230±0.1

295±0.1
View A
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3 Installation
3.3 Mounting Method
3.3 Mounting Method

This manipulator is mounted on the floor only.
A wall-mounted way, a tilt mounted way, and a ceiling mounted way are
not available.
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3 Installation
3.4 Location
3.4 Location
When installing a manipulator, it is necessary to satisfy the following
environmental conditions:
Table 3-2: Ambient Conditions
Type YR-1-06VX225-A00
Item YR-1-06VX180-A00
YR-1-06VX180-120-A00
Ambient 0°C - +45°C
temperature during
operation
Humidity 20%RH - 80%RH (no-condensing)
Vibration 4.9 m/s2 (0.5G) or less
Altitude 1000 m or less
Flatness for 0.5 mm or less
installation
Others Free from dirt, dust, oil soot, or water
Free from explosive and corrosive gas or liquid
Free from excessive electrical noise (plasma)
Free from strong magnetic field
When the operation is started after the manipulator has

been out of operation and left in the low temperature
NOTE (almost 0°C) for a long period, the alarm may occur since
the friction torque of the drive unit is large.
If the alarm occurs, perform the break-in for few minutes.
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3 Installation
3.5 Notes on Dust-Proof/Water-Proof Specifications
3.5 Notes on Dust-Proof/Water-Proof Specifications

This manipulator conforms to:
IP67 for the wrist part
IP54 for the main part of the manipulator
< Definition of IP (protection class) >

• Definition of IP67
IP6□: Protection from the entry of dust.
IP □7: Protection from immersion in water with being
submerged for a specified duration and pressure.
NOTE
• Definition of IP54
IP5□: Protection from a certain amount of dust which
is harmful enough to affect the normal operation of
equipment.
IP □4: Protection from sprays and splashing of water in all
directions.
Body Wrist part
Note: The illustration above shows a typical model.
However, the following precautions must be observed:

• Do not use the following liquids, because the rubber parts of the
manipulator (gasket, oil seal, O-ring, etc.) may be deteriorated or
corroded:
• Organic solvent
• Chlorine-based cutting fluid
• Amine-based cleaning fluid
• Corrosive substances such as acids, alkalis, or liquids/solutions
causing rust
• Other liquids/solutions to which nitrile-butadiene rubber (NBR) is
not resistant
• After removing a gasket for parts replacement or maintenance/
inspection, make sure to replace the gasket with a new one.
• Do not use cutting fluid or cleaning fluid which contains unknown
chemical substances.
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4 Wiring
4 Wiring
WARNING
• Ground resistance must be 100 Ω or less.
Failure to observe this warning may result in fire and/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 electric shock and/or
personal injury.
• Wiring must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire and/or electric shock.
• When laying the cables from the manipulator to the YRC1000, DO
NOT cover the cable with heat insulating material and avoid multiple
cabling.
Failure to observe this caution may result in burn caused by cable heat
emission failure.
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4 Wiring
4.1 Grounding
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” to connect the ground line directly
to the manipulator.
• Never use this wire 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.
Fig. 4-1: Grounding Method
View A-A
A A
Bolt M8 (For grounding)

Delivered with the manipulator
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4 Wiring
4.2 Cable Connection

Connect the both edge of the manipulator cable to the manipulator base
connectors and to the YRC1000. Before connecting the cable to the
manipulator, verify the numbers on the connector as shown in fig. 4-3
“Manipulator Cables” .
For the connecting position, refer to fig. 4-4 “Manipulator Cable
Connection (Manipulator Side)” and fig. 4-5 “Manipulator Cable
Connection (YRC1000 Side)” .
Refer to table 4-1 “Specifications of Manipulator Cable” and fig. 4-6
“Overhead View of Manipulator Cable Connection (Manipulator Side)” for
the outside diameter and the minimum bending radius (for fixed part and
moving part) of the manipulator cable and the details of the manipulator
cable connection on the manipulator side.
 Procedures for Inserting the Connector

1. Confirm the connector lever of the manipulator cable is at the initial
position. Insert the cable straight into the connector on the back side of
the YRC1000. Insert the manipulator cable to a fixed depth then the
lever rotates about 30 degree forward automatically.
2. Push the lever with hand and turn it (about 30 degree) until the lock is
clicked.
 Procedures for Removing the Connector

1. Release the lock by pushing the unlock part of the lever to unlock.
Turn the lever about 60 degree to return to the initial position.
2. Pull out the connector straight.
Fig. 4-2: Connection of Manipulator Cable
Inserting Removing
Push the unlock part
Initial position of lever
(60
)
Insert
Initial position of lever
(30
) Rotate automatically
Rotate manually
(60 Rotate manually

)
Pull out
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4 Wiring
Fig. 4-3: Manipulator Cables
The YRC1000 side The Manipulator side

X1
71.2
1BC
119
102
Fig. 4-4: Manipulator Cable Connection (Manipulator Side)
1BC
Connector Details
(Manipulator side)
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4 Wiring
Fig. 4-5: Manipulator Cable Connection (YRC1000 Side)
X1
Table 4-1: Specifications of Manipulator Cable

Outside Distance between A and B
Minimum bending radius (mm)
diameter (mm) (mm)
Fixed part Moving part
36 305
135 3201)
1 The high flexible cable with a 250-mm bending radius is also available as an option.
Fig. 4-6: Overhead View of Manipulator Cable Connection (Manipulator

Side)
A
305 mm or longer
ore
orm
35
R1
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5 Basic Specifications
5.1 Basic Specifications
Table 5-1: Basic Specifications (YR-1-06VX225-A00)1)
Item　　　　　　　　　　　　　　　　Type YR-1-06VX225-A00
2)
Flange for cabling Not-equipped Equipped
Structure Vertically articulated
Degree of freedom 6
Payload Wrist part 225 kg 210 kg
U-arm 30 kg
Repeatability3) 0.05 mm
Range of Motion S-Axis (turning) -180° - +180°
L-Axis (lower arm) -60° - +76°
U-Axis (upper arm) -86° - +90°
R-Axis (wrist roll) -360° - +360° -210° - +210°
B-Axis (wrist pitch/yaw) -125° - +125°
T-Axis (wrist twist) -360° - +360° -210° - +210°
Maximum Speed S-Axis 2.09 rad/s, 120°/s
L-Axis 1.69 rad/s, 97°/s
U-Axis 2.01 rad/s, 115°/s
R-Axis 2.53 rad/s, 145°/s
B-Axis 2.53 rad/s, 145°/s
T-Axis 3.84 rad/s, 220°/s
Allowable Moment4) R-Axis 1372 N•m (140 kgf•m) 1323 N•m (135 kgf•m)
B-Axis 1372 N•m (140 kgf•m) 1323 N•m (135 kgf•m)
T-Axis 735 N•m (75 kgf•m)
Allowable Inertia4) R-Axis 145 kg•m 2 143 kg•m2
(GD2/4) B-Axis 145 kg•m 2
143 kg•m2
2
T-Axis 84 kg•m
Approx. Mass 1080 kg
Protective enclosure Body: IP54 Wrist part: IP67
Mounting method Floor-mounted
Power Capacity 5.0 kVA
Applicable controller: YRC10005) ERAR-1000-06VX280-□ *□: Depends on the specification.
Equivalent continuous sound pressure level6) 72 dB or less
1 SI units are used in this table. However, gravitational unit is used in ( ).
2 For the manipulator with the YASKAWA standard external cable, the flange for cabling (for details, refer
to fig. 5-2(a) “Dimensions and P-Point Maximum Envelope (YR-1-06VX225-A00)” ) is mounted on the
edge of the wrist.
3 Conformed to ISO9283
4 Refer to chapter 6.1 “Allowable Wrist Load” for details on the allowable moment and the allowable inertia.
5 The last digit of the type number differs depending on the specification. Refer to “YRC1000 INSTRUCTIONS
(RE-CTO-A221)” and YRC1000 supplementary instructions for details.
6 Conformed to equivalent continuous A-weighted sound pressure level measured in accordance with
ISO11201 (EN31201).
1, Measurement is carried out when the maximum load is mounted to the manipulator and
operated in the maximum speed.
2, Measurement is carried out:
-between 1.2 m and 1.5 m above the ground.
-400 mm away from the P-point maximum envelope.
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Table 5-2: Basic Specifications (YR-1-06VX180-A00)1)

Item Type YR-1-06VX180-A00
Flange for cabling2) Not-equipped Equipped
Degree of freedom 6
U-arm 30 kg
R-Axis (wrist roll) -360° - +360° -210° - +210°
B-Axis (wrist pitch/yaw) -130° - +130° -125° - +125°
Allowable Inertia4) R-Axis 90 kg•m2 88 kg•m2
(GD2/4) B-Axis 90 kg•m2 88 kg•m2
2
T-Axis 46.3 kg•m
Equivalent continuous sound pressure level 6) 70 dB or less
to fig. 5-2(b) “Dimensions and P-Point Maximum Envelope (YR-1-06VX180-A00)” ) is mounted on the
edge of the wrist.
ISO11201 (EN31201).
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Table 5-3: Basic Specifications (YR-1-06VX180-120-A00)1)

Item Type YR-1-06VX180-120-A00
Flange for cabling2) Not-equipped Equipped
Degree of freedom 6
U-arm 30 kg
R-Axis (wrist roll) -360° - +360° -210° - +210°
B-Axis (wrist pitch/yaw) -130° - +130° -125° - +125°
Allowable Inertia4) R-Axis 79 kg•m2 77 kg•m2
(GD2/4) B-Axis 79 kg•m2 77 kg•m2
2
T-Axis 40 kg•m
Equivalent continuous sound pressure level 6) 71 dB or less
to fig. 5-2(c) “Dimensions and P-Point Maximum Envelope (YR-1-06VX180-120-A00)” ) is mounted on
the edge of the wrist.
ISO11201 (EN31201).
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5.2 Part Names and Working Axes
5.2 Part Names and Working Axes

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

Fig. 5-2(a): Dimensions and P-Point Maximum Envelope (YR-1-06VX225-A00)
R515
0
(Flange for cabling)

18
R270
2
R7
18 13
0
970 2702
3061
P-point maximum
envelope
250
90

325 1225 (275) 344

153
2450
220
91

60
300
90 86 P-point
76


2253
1
41
R2 957
1150
928

147
598
407
650
266
332
276 349
1441
562
577
709
713
762
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Fig. 5-2(b): Dimensions and P-Point Maximum Envelope (YR-1-06VX180-A00)
㻾㻡㻝
㻡 (Flange for cabling)
㻜
㻝㻤
㻾㻞㻣㻜㻞
㻝㻤
㻜
㻾㻣㻝
㻟
970 2702
3061
P-point maximum
envelope
90
225 (275) 344


325 1225
153
2450
220
82

60
300

90 86
76
 P-point

2253
411
R2
1150
957
928

147
598
407
650
332 266
276 349
1441
562
577
709
713
762
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Fig. 5-2(c): Dimensions and P-Point Maximum Envelope (YR-1-06VX180-120-A00)

0
18
R515
(Flange for cabling)
R305
R9 8
08
18
0
3416
P-point maximum envelope
2815 3058
90
970 325 1590 225


153
(275) 344
82
220

60
300
P-point

86
90
76

766

R2
2253
1150
928
797

142
650
234
266
287
276 349
689
1440
372
735
889
908
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Fig. 5-3: Home Position and Operating Range of Each Axis

+180°
0°
° +7
-60 6°
0°
-180°
(1) S-axis (2) L-axis

+9
0°
0°
0°
0°
°
+210
-210
6°
-8
°
+360°
-360°
Without the flange With the flange

for cabling for cabling
(3) U-axis (4) R-axis
0°
+1 +13 0°
25 0°
°
0° 0° 0°
°
+210
-210
°
5°
-12 0° +360°
-13
-360°
YR-1-06VX225-A00 YR-1-06VX180-120-A00 Without the flange With the flange
YR-1-06VX180-A00 for cabling for cabling
(5) B-axis (6) T-axis
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5.4 Stopping Distance and Time for S-, L-, and U-Axes
5.4.1 General Information

• The stopping distance is an angle traveled by the manipulator from
the moment when the stop signal is activated until the manipulator
comes to a complete standstill.
• The stopping time is a time elapsed from the moment that the stop
signal is activated until the manipulator comes to a complete stand-
still.
• The data that are given for the main axes S, L and U are the maxi-
mum displacement.
• Superposed axes motions may result in longer stopping distance.
• Stopping distance and stopping time are measured in accordance
with ISO 10218-1, Annex B.
• Stop categories: According to IEC60204-1
• Stop category 0
• Stop category 1
• The values specified for Stop category 0 are the reference values
that are determined by tests and simulations. The actual stopping
distance and stopping time may differ.
5.4.2 Definition of Use

Load: Rated load weight and load on an arm
Speed: Operating speed of the manipulator
Extension: Distance between the rotation center and the P-point of
each axis
5.4.3 Stopping Distance and Time for Stop Category 0: S-, L- and U-Axes
Measurement Conditions
• Load: Maximum load
• Speed: Maximum speed
• Posture: Maximum inertia generation posture
Table 5-4: YR-1-06VX225-A00

Axis Stopping distance (deg) Stopping time (sec)
S-axis 34.3 0.553
L-axis 28.0 0.578
U-axis 24.4 0.502
Table 5-5: YR-1-06VX180-A00

S-axis 34.7 0.640
L-axis 40.8 0.780
U-axis 24.0 0.480
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Table 5-6: YR-1-06VX180-120-A00

S-axis 38.9 0.755
L-axis 32.6 0.654
U-axis 26.3 0.469
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5.4.4 Stop Category 1: Stopping Distance and Time for Stop Category 1: S-, L- and U-Axes
5.4.4.1 Extension
Refer to fig. 5-4 “S-Axis Extension” , fig. 5-5 “L-Axis Extension” and
fig. 5-6 “U-Axis Extension” for each axis arm extension.
Fig. 5-4: S-Axis Extension
U-axis B-axis Load
L-axis
100%
B-axis Load
U-axis
L-axis
66%
B-axis Load
U-axis
L-axis
33%
Type 100% extension length (mm)

YR-1-06VX225-A00 2702
YR-1-06VX180-A00 2702
YR-1-06VX180-120-A00 3058
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Fig. 5-5: L-Axis Extension

B-axis Load
U-axis
L-axis
100%
U-axis
L-axis B-axis
Load
66%
U-axis
L-axis B-axis
33% Load

YR-1-06VX225-A00 2377
YR-1-06VX180-A00 2377
YR-1-06VX180-120-A00 3058
Fig. 5-6: U-Axis Extension
U-axis B-axis Load
100%
L-axis

YR-1-06VX225-A00 1261
YR-1-06VX180-A00 1261
YR-1-06VX180-120-A00 1618
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5.4.4.2 Stopping Distance and Time for Stop Category 1: S-axis (YR-1-06VX225-A00)
Extension 100% Extension 100%

70 1.4
60 1.2
50 1.0
Stopping distance[deg]
Stopping time[sec]
40 0.8
30 0.6
20 0.4
10 0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250
Speed[deg/s] Speed[deg/s]
Load100% Load66% Load33% Load100% Load66% Load33%

70 1.4
60 1.2
50 1.0
Stopping time[sec]
40 0.8
30 0.6
20 0.4
10 0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250

70 1.4
60 1.2
50 1.0
Stopping time[sec]
40 0.8
30 0.6
20 0.4
10 0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250
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5.4.4.3 Stopping Distance and Time for Stop Category 1: L-axis (YR-1-06VX225-A00)

70 1.4
60 1.2
50 1.0
Stopping time[sec]
40 0.8
30 0.6
20 0.4
10 0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250

70 1.4
60 1.2
50 1.0
Stopping time[sec]
40 0.8
30 0.6
20 0.4
10 0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250

70 1.4
60 1.2
50 1.0
Stopping time[sec]
40 0.8
30 0.6
20 0.4
10 0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250
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5.4.4.4 Stopping Distance and Time for Stop Category 1: U-axis (YR-1-06VX225-A00)

50 1.4
1.2
40
1.0
Stopping time[sec]
30
0.8
20 0.6
0.4
10
0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250
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5.4.4.5 Stopping Distance and Time for Stop Category 1: S-axis (YR-1-06VX180-A00)

70 1.2
60
1.0
50
Stopping time[sec]
0.8
40
0.6
30
20 0.4
10 0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250

70 1.2
60 1.0
50
0.8
Stopping time[sec]
40
0.6
30
0.4
20
10 0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250

70 1.2
60 1.0
50
0.8
Stopping time[sec]
40
0.6
30
0.4
20
10 0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250
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5.4.4.6 Stopping Distance and Time for Stop Category 1: L-axis (YR-1-06VX180-A00)

70 1.2
60 1.0
50
0.8
Stopping time[sec]
40
0.6
30
0.4
20
10 0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250

70 1.2
60 1.0
50
0.8
Stopping time[sec]
40
0.6
30
0.4
20
0.2
10
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250

70 1.2
60 1.0
50
0.8
Stopping time[sec]
40
0.6
30
0.4
20
10 0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250
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5.4.4.7 Stopping Distance and Time for Stop Category 1: U-axis (YR-1-06VX180-A00)

50 1.2
40 1.0
0.8
Stopping time[sec]
30
0.6
20
0.4
10
0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250
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5.4.4.8 Stopping Distance and Time for Stop Category 1: S-axis (YR-1-06VX180-120-A00)

70 1.2
60
1.0
50
Stopping time[sec]
0.8
40
0.6
30
20 0.4
10 0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250

70 1.2
60 1.0
50
0.8
Stopping time[sec]
40
0.6
30
0.4
20
10 0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250

70 1.2
60 1.0
50
0.8
Stopping time[sec]
40
0.6
30
0.4
20
10 0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250
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5.4.4.9 Stopping Distance and Time for Stop Category 1: L-axis (YR-1-06VX180-120-A00)

70 1.2
60 1.0
50
0.8
Stopping time[sec]
40
0.6
30
0.4
20
10 0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250

70 1.2
60 1.0
50
0.8
Stopping time[sec]
40
0.6
30
0.4
20
0.2
10
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250

70 1.2
60 1.0
50
0.8
Stopping time[sec]
40
0.6
30
0.4
20
10 0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250
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5.4.4.10 Stopping Distance and Time for Stop Category 1: U-axis (YR-1-06VX180-120-A00)

50 1.2
40 1.0
0.8
Stopping time[sec]
30
0.6
20
0.4
10
0.2
0 0.0
0 50 100 150 200 250 0 50 100 150 200 250
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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 5-7 “S-Axis Operating Range” .
If alteration is necessary, contact your YASKAWA representative in
advance.
Table 5-7: S-Axis Operating Range

Item Specifications
S-axis operating - 180° - + 180° (standard)
range* - 150° - + 150°
- 135° - + 135°
- 120° - + 120°
- 105° - + 105°
- 90° - + 90°
- 75° - + 75°
- 60° - + 60°
- 45° - + 45°
- 30° - + 30°
* For the settable angles, refer to table 5-8
“The Settable Angle for S-Axis Stopper” .
5.5.1 Components for Altering Operating Range

Arrange the components listed in fig. 5-7 “Components of the S-Axis
Stopper and Stopper Mounting Position” , when modifying the angle of S-
axis.
• Pin (drawing No. HW0402104-1) (1 pin)
• Stopper (drawing No. HW1405450-1) (1 pc)
• Hexagon socket head cap screw M16 *FA coat*
(length: 35 mm) (4 screws)
• Conical spring washer M16 *FA coat* (4 washers)
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Fig. 5-7: Components of the S-Axis Stopper and Stopper Mounting

Position
180 (Mechanical Limit)
15
15 15
 15
15 
h g
f

i
15
e
15

j
d

15
15

c
15
15
l 7.5
b
m
a
7.5
15
l b
15
k c

15
15
j HW1405450-1 (Stopper)
d


i
15
15
e
h

15 g f 
 15
Hexagon socket head cap screw M16 15 15 15
(length: 35 mm) (4 screws) *FA coat*
180 (Mechanical Limit)
Conical spring washer M16 *FA coat*
Tapped hole M16 (24 places)
(4 washers)
Tightening torque: 348N・m Section A-A
Dog Mounting Position
S-axis Stopper
operating angle position
±180 a
㸦±165㸧 1)
b
±150 c
±135 d
A A
±120 e
HW0402104-1 (Pin) ±105 f

±90 g
±75 h
±60 i
±45 j
±30 k
㸦±15㸧 1)
l
Example: For S-Axis Operating Angle of +180° 0° m
1 For the settable angles, refer
to table 5-8 “The Settable
Angle for S-Axis Stopper” .
Fixing positions of bolts
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5.5.2 Notes on the Mechanical Stopper Installation

When mounting the S-axis mechanical stopper, as shown in fig. 5-7
“Components of the S-Axis Stopper and Stopper Mounting Position” ,
mount a pin (HW0402104-1) down on the stopper (HW1405450-1).
When mounting the pin on the stopper, apply LOCTITE 243 to the thread
part.
Mount the stopper by using the hexagon socket head cap screw M16
(length: 35 mm) (four screws) (FA coat) on the S head and tighten them
with the tightening torque 348 N•m.
If the operating angle is ± 180°, the mechanical stopper is mounted as
shown in Example of fig. 5-7 “Components of the S-Axis Stopper and
Stopper Mounting Position” .
The S-axis mechanical stopper can be set at a pitch of 15°, however,
stoppers may be overlapped, for example, ± 15° or ± 165°. Therefore,
mount the S-axis mechanical stopper using the combinations in table 5-8
“The Settable Angle for S-Axis Stopper” .
1. Apply the specified components when mounting the S-

NOTE Axis mechanical stopper.
2. Turn OFF the electric power supply before mounting.
5.5.3 Adjustment to the Pulse Limitation of S-Axis

For altering the range of motion of S-Axis, refer to chapter 6.13 “Softlimit
Setting Function” in “YRC1000 GENERAL OPERATOR'S MANUAL (RE-
CSO-A051)”. With programming pendant, input the numeric value as
shown in the following table to modify the parameter.
Degree 0° (±15°)* ±30° ±45° ±60°

Pulse 0 ±28672 ±57344 ±86016 ±114688
Degree ±75° ±90° ±105° ±120° ±135°

Pulse ±143360 ±172032 ±200704 ±229376 ±258048
Degree ±150° (±165°)* ±180°

Pulse ±286720 ±315392 ±344064
* Refer to chapter 5.5 “Alterable Operating Range” .
Adjust both of the pulse limitation and the angle of S-Axis

NOTE mechanical stopper as modifying the range of motion for
machinery.
5-24 HW1484442 59/120

5
5.5
The Angle of S-Axis Stopper for + Direction

180 165 150 135 120 105 90 75 60 45 30 15 0 -15 -30 -45 -60 -75 -90 -105 -120 -135 -150 -165 -180
-180
-165
-150
-135
-120
5-25
-105
Basic Specifications
-90
-75
-60
-45
Alterable Operating Range
-30
-15
0
15
30
45
60
75
90
105
Table 5-8: The Settable Angle for S-Axis Stopper
The Angle of S-Axis Stopper for - Direction

120
135
150
165
180
∙ ∙ ∙ Angle that can be set.

∙ ∙ ∙ Angle that cannot be set.
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60/120
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6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load

The allowable payload of the wrist axis including the mass of the grip is
shown below.
1 YR-1-06VX225-A00
: a maximum of 225 kg (without a flange for cabling)
(Refer to fig. 5-2(a) “Dimensions and P-Point Maximum Envelope (YR-1-
06VX225-A00)” .)
: a maximum of 210 kg (with a flange for cabling)
2 YR-1-06VX180-A00
(Refer to fig. 5-2(b) “Dimensions and P-Point Maximum Envelope (YR-1-
06VX180-A00)” .)
3 YR-1-06VX180-120-A00
(Refer to fig. 5-2(c) “Dimensions and P-Point Maximum Envelope (YR-1-
06VX180-120-A00)” .)
However, the conditions listed in table 6-1(a) “Allowable Wrist Load (YR-
1-06VX225-A00)” , table 6-1(b) “Allowable Wrist Load (YR-1-06VX180-
A00)” ,and table 6-1(c) “Allowable Wrist Load (YR-1-06VX180-120-A00)”
must be satisfied due to limits of moments and the moment of inertia.
The values in table 6-1(a), table 6-1(b),and table 6-1(c) must not be
exceeded even if the load is not applied as mass but applied as force.
Table 6-1(a): Allowable Wrist Load (YR-1-06VX225-A00)
Axis Without flange for cabling With flange for cabling
Allowable moment Allowable inertia Allowable moment Allowable inertia
N•m (kgf•m)1) (GD2/4) kg•m2 N•m (kgf•m)1) (GD2/4) kg•m2
R-Axis 1372 (140) 145 1323 (135) 143
B-Axis 1372 (140) 145 1323 (135) 143
T-Axis 735 (75) 84 735 (75) 84
1 ( ): Gravitational unit
Table 6-1(b): Allowable Wrist Load (YR-1-06VX180-A00)

R-Axis 1000 (102) 90 951 (97) 88
B-Axis 1000 (102) 90 951 (97) 88
T-Axis 618 (63) 46.3 618 (63) 46.3
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HW1484442

Table 6-1(c): Allowable Wrist Load (YR-1-06VX180-120-A00)

R-Axis 883 (90) 79 834 (85) 77
B-Axis 883 (90) 79 834 (85) 77
T-Axis 520 (53) 40 520 (53) 40
When the volume of the load is relatively small, refer to the moment arm
rating (LB, LT) shown in fig. 6-1(a) “Moment Arm Rating (YR-1-06VX225-
A00) Without Flange for Cabling” , fig. 6-1(b) “Moment Arm Rating (YR-1-
06VX225-A00) With Flange for Cabling” , fig. 6-1(c) “Moment Arm Rating
(YR-1-06VX180-A00) Without Flange for Cabling” , fig. 6-1(d) “Moment
Arm Rating (YR-1-06VX180-A00) With Flange for Cabling” , fig. 6-1(e)
“Moment Arm Rating (YR-1-06VX180-120-A00) Without Flange for
Cabling” , and fig. 6-1(f) “Moment Arm Rating (YR-1-06VX180-120-A00)
With Flange for Cabling” .
Each value of the allowable inertia above is calculated assuming that the
moment load is at the maximum. Thus, in the case when only the inertia
load is applied, when the moment load is small while the inertia load is
large, or when the load is not applied as mass but applied as force, etc.,
contact your YASKAWA representative in advance.
When a tool is installed, the tool information and the load information must
be set. For the setting, refer to chapter 8.3 “Tool Data Setting” and
chapter 8.4 “ARM Control” in “YRC1000 INSTRUCTIONS (RE-CTO-
A221)”.
6-2 HW1484442 62/120

HW1484442
Fig. 6-1(a): Moment Arm Rating (YR-1-06VX225-A00) Without Flange for Cabling
LB
Center of gravity (COG) of end tool
250
LT
R-, T-axis
rotation center
B-axis rotation center
1200
1183
W=60
937
W=80
800
750
LT[mm]
W=100
576
454 W=130
400 W=165
333
W=225
0 622 848 1056 1204 1346 1554

400 800 1200 1600
LB[mm]
Fig. 6-1(b): Moment Arm Rating (YR-1-06VX225-A00) With Flange for Cabling
LB
250
LT
R-, T-axis
rotation center
1200
1183
W=60
937
W=80
800
750
LT[mm]
W=100
576
454 W=130
400 W=165
357
W=210
0 642 818 1038 1195 1337 1543

400 800 1200 1600
LB[mm]
6-3 HW1484442 63/120

HW1484442

Fig. 6-1(c): Moment Arm Rating (YR-1-06VX180-A00) Without Flange for Cabling
LB
225
LT
R-, T-axis
rotation center
1200
1075
W=40
878
800 W=60
760
LT[mm]
W=80
630
W=100
484
400 W=130
350
W=180
0 556 784 9481060 1224 1500

400 800 1200 1600
LB[mm]
Fig. 6-1(d): Moment Arm Rating (YR-1-06VX180-A00) With Flange for Cabling
LB
225
LT
R-, T-axis
rotation center
1200
1075
W=40
878
800 W=60
760
LT[mm]
W=80
630
W=100
484
400 W=130
381
W=165
0 587 746 938 1048 1211 1483

400 800 1200 1600
LB[mm]
6-4 HW1484442 64/120

HW1484442
Fig. 6-1(e): Moment Arm Rating (YR-1-06VX180-120-A00) Without Flange for Cabling
LB
225
LT
R-, T-axis
rotation center
1200
1000
W=40
816
800
W=60
LT[mm]
662
W=80
530
W=100
441
400
W=120
750 888 993 1147 1405

0 400 800 1200 1600
LB[mm]
Fig. 6-1(f): Moment Arm Rating (YR-1-06VX180-120-A00) With Flange for Cabling
LB
225
LT
R-, T-axis
rotation center
1200
1000
W=40
816
800 W=60
LT[mm]
662
W=80
504
W=105
400
809 981 1132 1387

0 400 800 1200 1600
LB[mm]
6-5 HW1484442 65/120

HW1484442

6.2 Wrist Flange
6.2 Wrist Flange

The wrist flange dimensions are shown in fig. 6-2(a) “Wrist Flange (YR-1-
06VX225-A00)” and fig. 6-2(b) “Wrist Flange (YR-1-06VX180-A00) (YR-
1-06VX180-120-A00)” .
It is recommended that the attachment be mounted inside the fitting in
order to identify the alignment marks. Fitting depth shall be 8 mm or less.
Fig. 6-2(a): Wrist Flange (YR-1-06VX225-A00)
0
8 mm (180 dia. -0.025 range) 10 dia.
+0.015
(2 holes) (Depth: 8 mm)
+0.030
0
0
63 dia.
12
5 9 dia. +0.015
0
180 dia. -0.025
0
92 Holes M10 (6 holes)

(Pitch: 1.5) (Depth: 14 mm)
Holes M10 (6 holes)
30
8 mm (63 dia. +0.030

0 range)
Fig. 6-2(b): Wrist Flange (YR-1-06VX180-A00) (YR-1-06VX180-120-A00)

63 dia. +0.030
0 +0.015
8 mm (160 dia. -0.025 range) 10 dia.0 (2 holes) (Depth: 8 mm)
0
+0.015
9 dia. 0 (2 holes) (Depth: 8 mm)
125
160 dia. -0.025
0
92 Holes M10 (6 holes)

Holes M10 (6 holes)
30 (Pitch: 1.5) (Depth: 14 mm)
+0.030
8 mm (63 dia. 0 range)
NOTE Wash off anti-corrosive paint (yellow) on the wrist flange

surface with thinner before mounting the tools.
6-6 HW1484442 66/120

HW1484442
6.2 Wrist Flange
Fig. 6-3(a): Flange for Cabling (YR-1-06VX225-A00)

375 +0.015
10 dia. 0 (2 holes)
Holes M10 (6 holes)
250 (Depth: 8 mm)
+0.015
Holes M10 (6 holes) 9 dia. 0 (2 holes)
30°
(Pitch: 1.5) (Depth: 16 mm) (Depth: 8 mm)
92
125
160 dia.
210 dia.
Fig. 6-3(b): Flange for Cabling (YR-1-06VX180-A00)

(YR-1-06VX180-120-A00)
350 +0.015
10 dia. 0 (2 holes)
Holes M10 (6 holes)
225 (Pitch: 1.5) (Depth: 16 mm) (Depth: 8 mm)
+0.015
Holes M10 (6 holes) 9 dia. 0 (2 holes)
30°
(Pitch: 1.5) (Depth: 16 mm) (Depth: 8 mm)
92
125
160 dia.
210 dia.
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HW1484442
7 System Application
7.1 Peripheral Equipment Mounts
CAUTION
• Do not make any additional holes or tapped holes on the
manipulator's body.
Failure to observe this instruction may adversely affect the safety and/
or performance of the manipulator.
• YASKAWA provides no guarantee against damages, malfunctions,
failures, etc. caused by using any means other than the tapped
holes shown in the following figure. The tightening bolts used for the
mechanical parts of the manipulator must be used only to secure
the mechanical parts. Do not additionally secure or attach any other
things by using these tightening bolts.

The peripheral equipment mounts are provided as shown in fig. 7-1(a)
“Installation Position (YR-1-06VX225-A00)” , fig. 7-1(b) “Installation
Position (YR-1-06VX180-A00)” , and fig. 7-1(c) “Installation Position (YR-
1-06VX180-120-A00)” for easier installation of the user's system
applications. The following conditions shall be observed to attach or
install peripheral equipment.
7.1.1 Allowable Load

The allowable load on the peripheral equipment mounts of the U-arm (A1,
A2, and A3) is 30 kg or less in total. And the amount of increase for the
upper arm moment must be 49 N•m (5 kgf•m) or less when loading the
allowable load. The allowable load on the peripheral equipment mounts
(B) of the rotation head is up to 250 kg.
When a load is applied on the U-arm or the rotary head, the load setting
must be performed. For setting procedures, refer to chapter 8.4 “ARM
Control” in “YRC1000 INSTRUCTIONS (RE-CTO-A221)”.
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HW1484442
7.1.2 Installation Position

There is a limitation on where to install the peripheral equipment as shown
in fig. 7-1(a) “Installation Position (YR-1-06VX225-A00)” , fig. 7-1(b)
“Installation Position (YR-1-06VX180-A00)” , and fig. 7-1(c) “Installation
Position (YR-1-06VX180-120-A00)” .
Fig. 7-1(a): Installation Position (YR-1-06VX225-A00)
From the center of the U-axis 344 92

A3 Tapped hole M8 (4 holes) (Depth: 14 mm) (Pitch: 1.25)
16 60
A3 Tapped hole
M8 (4 holes)
(Depth: 14 mm)
(Pitch: 1.25)
A2 Tapped hole M6 (4 holes)
27.5
220
(Depth: 11 mm) (Pitch: 1.0)
195
50 220
153
120
12.5
57.5
A3 Tapped hole A3 Tapped hole M6 25

(2 holes)
20
M5 (2 holes)
(Depth: 9 mm) (Depth: 11 mm)
(Pitch: 0.8) (Pitch: 1.0)
20
266
235 235
of the U-axis 270

From the center
91

(Depth: 14 mm)
(Pitch: 1.25)
B Tapped hole
M12 (4 holes)
(Depth: 24 mm)
(Pitch: 1.75)
45 45
305
163
305
50
B Tapped hole M20

B Tapped hole M20 (4 holes)
(Depth: 39 mm) (Pitch: 2.5) (4 holes)
170 170 170 170
(Depth: 39 mm)
234 234 234 234 (Pitch: 2.5)
7-2 HW1484442 69/120

HW1484442
Fig. 7-1(b): Installation Position (YR-1-06VX180-A00)


16 60
A1 Tapped hole M8
(4 holes)
(Depth: 14 mm)
(Pitch: 1.25)
27.5
220
195
120
50 220
12.5
57.5
153
A3 Tapped hole M6
25
20

(Pitch: 0.8)
20
266
235 235
of the U-axis 270

82
From the center
A2 Tapped hole M8
(4 holes)
(Depth: 14 mm)
(Pitch: 1.25)
B Tapped hole M12

(4 holes)
(Depth: 24 mm)
(Pitch: 1.75)
45 45
305
163
305
50
B Tapped hole M20 (4 holes) B Tapped hole M20

(Depth: 39 mm) (Pitch: 2.5) (4 holes)
170 170 170 170 (Depth: 39 mm)
234 234 234 234 (Pitch: 2.5)
7-3 HW1484442 70/120

HW1484442
Fig. 7-1(c): Installation Position (YR-1-06VX180-120-A00)

16 60
A1 Tapped hole M8
(4 holes)
(Depth: 14 mm)
(Pitch: 1.25)
27.5
220
195
120
50 220
57.5
12.5
153
A3 Tapped hole M6
(Depth: 11 mm)
25
(2 holes)
(Pitch: 1.0)
20
(Depth: 9 mm)
(Pitch: 0.8)
20
266
235 235
82
of the U-axis 270

From the center
A2 Tapped hole M8
(4 holes)
(Depth: 14 mm)
(Pitch: 1.25)
B Tapped hole M12

(4 holes)
(Depth: 24 mm)
(Pitch: 1.75)
45 45
305
163
305
50
B Tapped hole M20 (4 holes) B Tapped hole M20

(Depth: 39 mm) (Pitch: 2.5) 170 170 (4 holes)
170 170
(Depth: 39 mm)
234 234 234 234 (Pitch: 2.5)
7-4 HW1484442 71/120

HW1484442
7.2 Internal User I/O Wiring Harness and Air Line

Internal user I/O wiring harness (0.75 mm2 x 11 wires, 0.5 mm2 x 12
wires), the cable of the external 1 axis (2.0 mm2 × 4 cables, 0.75 mm2 × 2
cables, 0.2 mm2 × 6 cables) and one air line are incorporated into the
manipulator for driving peripheral devices mounted on the U-arm as
shown in fig. 7-2 “Connectors for Internal User I/O Wiring Harness and Air
Line” .
The connector pins are assigned as shown in fig. 7-3 “Details of the
Connector Pin Numbers” . Wiring must be performed by user.
The operating conditions are shown in the following table.
The allowable current 13.0 A or less for each wire (2.0 mm2)
for cables 10.0 A or less for each wire (0.75 mm2)
7.5 A or less for each wire (0.5 mm2)
3.0 A or less for each wire (0.2 mm2)
The total current value 51.4 A or less (connector for the power of the external axis)
for connectors 12.9 A or less (connector for the encoder of the external axis)
42 A or less (connector for the internal user I/O wiring harness)
The maximum pressure 490 kPa (5 kgf/cm2) or less. (The inside diameter: 8.0 mm)
for the air line
The allowable temperature 0°C - +45°C
range of the air line
Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line
Exhaust port Rc3/8
with a pipe plug
Connectors for the internal user I/O wiring harness

and the external axis
Position of the main key (upper side)
Connector for the power
supply of the external axis
JL05-2A18-1SC
(socket connector with a cap)
Prepare pin connector:
JL05-6A18-1P
Connector for the encoder

of the external axis
JL05-2A20-29SC A
JL05-6A20-29P Connector for the internal user
Connector for the internal user I/O wiring harness:
I/O wiring harness: Air Inlet Rc3/8 Position of the main key
JL05-2A24-28SC with a pipe plug (upper side)
JL05-6A24-28P
Connector for the internal user

View A I/O wiring harness:
JL05-2A24-28PC
JL05-6A24-28S
7-5 HW1484442 72/120

HW1484442
Fig. 7-3: Details of the Connector Pin Numbers

For the Connector Base: View A
1 (0.5 mm2)
2 (0.5 mm2)
3 (0.5 mm2)
4 (0.5 mm2)
5 (0.5 mm2) 1 2 3 4
6 (0.5 mm2)
7 (0.5 mm2) 5 6 7 8 9
8 (0.5 mm2)
9 (0.5 mm2) 10 11 12 13 14 15
10(0.5 mm2)
Pins used 11(0.5 mm2) 16 17 18 19 20
12(0.5 mm2) 21 22 23
13(0.75 mm2)
14(0.75 mm2)
15(0.75 mm2)
16(0.75 mm2)
17(0.75 mm2) Internal user
18(0.75 mm2) I/O wiring harness: 12×0.5 mm2
19(0.75 mm2) : 11×0.75 mm2
20 (0.75 mm2)
21 (0.75 mm2)
22 (0.75 mm2)
23 (0.75 mm2)
Details of the connector

A for internal user I/O wiring harness pin numbers
For the U-arm: View B
1 (2.0 mm2)
2 (2.0 mm2)
3 (2.0 mm2)
4 (2.0 mm2)
Pins used 5 (0.75 mm2)
6 (0.75 mm2)
7 (Open)
8 (Open)
9 (Open)
Power cable for
the external axis: 4×2.0 mm2
: 2×0.75 mm2
for the power of the external axis
B 1 (0.2 mm2)
2 (0.2 mm2)
3 (Open)
4 (Open)
5 (Open)
6 (Open)
Pins used 7 (Open)
8 (Open)
9 (0.2 mm2)
10 (0.2 mm2)
11 (0.2 mm2)
12 (0.2 mm2)
13 (Open)
14 (Open)
15 (shield) Encoder cable for
16 (Open) the external axis: 6×0.2 mm2

for the encoder of the external axis
1 (0.5 mm2)
2 (0.5 mm22)
3 (0.5 mm2)
4 (0.5 mm2)
5 (0.5 mm )
6 (0.5 mm2) 4 3 2 1
7 (0.5 mm22)
8 (0.5 mm2) 9 8 7 6 5
9 (0.5 mm )
Pins used 10 (0.5 mm22) 15 14 13 12 11 10
11(0.5 mm2)
12 (0.5 mm )2 20 19 18 17 16
13 (0.75 mm2)
14 (0.75 mm2) 23 22 21
15 (0.75 mm2)
16 (0.75 mm2)
17 (0.75 mm2)
18 (0.75 mm2)
19 (0.75 mm ) Internal user
20 (0.75 mm22) I/O wiring harness: 12×0.5 mm2
21 (0.75 mm2) : 11×0.75 mm2
22 (0.75 mm2)
23 (0.75 mm )
Details of the connector for
internal user I/O wiring harness pin numbers
7-6 HW1484442 73/120

HW1484442
7.3 Mating Connector for Internal User I/O Wiring Harness (Optional)
7.3 Mating Connector for Internal User I/O Wiring Harness

(Optional)
The mating connector for internal user I/O wiring harness is optional.
For the position of the mating connector for internal user I/O wiring
harness, refer to fig. 7-4 “Location of Connector” .
For the mating connector for internal user I/O wiring harness, two different
types of the end bell are prepared depending on the form: Straight type
and Elbow type. Select either one type.
Fig. 7-4: Location of Connector
Connector for
internal user I/O wiring harness
Connector for
internal user I/O
wiring harness
(Base side)
1BC
Manipulator’s base part U-arm part

Straight type Plug JL05-6A24-28S-R or the equivalent JL05-6A24-28P-R or the equivalent
End bell CE01-24BS-DS (straight form) CE01-24BS-DS (straight form)
Cable clamp CE3057-16A-2-D CE3057-16A-2-D
Elbow type Plug JL05-6A24-28S-R or the equivalent JL05-6A24-28P-R or the equivalent
End bell CE01-24BS-DS (straight form) CE-24BA-S-D (elbow form)
Cable clamp CE3057-16A-2-D CE3057-16A-2-D
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7.3 Mating Connector for Internal User I/O Wiring Harness (Optional)
 Straight Type
The appearance of the manipulator with the connector installed is shown

in fig. 7-5(a) “Manipulator With the Mating Connector for Internal User I/O
Wiring Harness (straight type)” .
When operating, be careful not to let the connector and/or cable touch the
other equipment.
Fig. 7-5(a): Manipulator With the Mating Connector for Internal User I/O
Wiring Harness (straight type)
U-arm part: straight
Base part: straight
 Elbow Type
The appearance of the manipulator with the connector installed is shown

in fig. 7-5(b) “Manipulator With the Mating Connector for Internal User I/O
Wiring Harness (elbow type)” .
When the connector with the elbow type of end bell is installed, the
direction shown in the following figure is recommended for the connector
installation. When assembling the connector, the key must be located at
the position shown in the following figure.
Fig. 7-5(b): Manipulator With the Mating Connector for Internal User I/O
Wiring Harness (elbow type)
U-arm part: Elbow

A
Position of the key

When assembling the connector,
the key must be located at this
position.
Recommended direction
Base part: Straight for installing the connector
View A
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8 Electrical Equipment Specification

8.1 Overrun Limit Switches (Optional)

The overrun limit switches (referred to below as the limit switches) can be
optionally installed for the S-, L-, and U-axes.
The soft limit and the activation angles of the limit switch for each axis when
the manipulator is shipped with limit switches installed at the factory are
given in table 8-1 “Degrees of Angle (with limit switch installed)” .
Table 8-1: Degrees of Angle (with limit switch installed)
Soft limit Limit switch
S-axis -180° - +180° -181° - +181°
L-axis -60° - +76° -61.5° - +77.5°
U-axis -86° - +90° -87° - +91.5°
8.1.1 Position of Limit Switch

For the locations of the limit switches, refer to fig. 8-1 “Location of Limit
Switches” .
Fig. 8-1: Location of Limit Switches
U-axis limit switch
S-axis limit switch L-axis limit switch
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8.1.2 Adjustment to the Activation Angle of Limit Switch

When altering the operating angle of the manipulator, adjust both the soft
limit and the activation angle of the limit switch. The activation angle of the
limit switch must be larger than the soft limit.
For adjusting soft limit, refer to chapter 6.13 “Softlimit Setting Function” in
“YRC1000 GENERAL OPERATOR'S MANUAL (RE-CSO-A051)”.
For releasing soft limit, refer to chapter 8.10 “Soft Limit Release Function”
in “YRC1000 INSTRUCTIONS (RE-CTO-A221)”.
For adjusting limit switch, refer to the following page.
• Adjusting activation angle of limit switch of S-axis
The activation angle of limit switch of S-axis can be adjusted by
altering the position of the S-axis stopper. For altering the stopper's
position, refer to chapter 5.5 “Alterable Operating Range” .
• Adjusting activation angle of limit switch of L-axis
The activation angle of limit switch of L-axis can be adjusted by
altering the position of the dog on the ring which is mounted on the
L-axis. Refer to fig. 8-2 “Adjustment of Dog (L-axis)” .
• Adjusting activation angle of limit switch of U-axis
The activation angle of limit switch of U-axis can be adjusted by
altering the position of the dog on the ring which is mounted on the
U-axis. Refer to fig. 8-3 “Adjustment of Dog (U-axis)” .
Fig. 8-2: Adjustment of Dog (L-axis)
Hexagon socket head cap screw M4
*trivalent chromate* (length: 16 mm)
(2 screws) (2 places)
Conical spring washer M4
*trivalent chromate* (2 washers) (2 places)
Washer M4 *stainless* (2 washers) (2 places)
Tightening torque: 2.8 N•m
HW1402002-1
(Dog) (2 dogs)
Fig. 8-3: Adjustment of Dog (U-axis)

Hexagon socket head cap screw M4
*trivalent chromate* (length: 16 mm)
(2 screws) (2 places)
Conical spring washer M4
*trivalent chromate* (2 washers) (2 places)
Washer M4 *stainless* (2 washers) (2 places)
Tightening torque: 2.8 N•m
HW1402002-1
(Dog) (2 dogs)
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8.2 Servo ON Lamp (Optional)
8.2 Servo ON Lamp (Optional)

The servo ON lamp can be optionally installed. For the location of the servo
ON lamp, refer to fig. 8-4 “Location of Servo ON Lamp” .
Fig. 8-4: Location of Servo ON Lamp
Servo ON lamp
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8.3 Internal Connections

Diagrams for Internal connections of the manipulator are shown in
fig. 8-5(a) “Internal Connection Diagram (YRC1000)” , fig. 8-5(b) “Internal
Connection Diagram (YRC1000)” .
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Fig. 8-5(a): Internal Connection Diagram (YRC1000)
Multi-port Connector( )
7 2Slot(T-PG) T-PG
-1 S+(OUT) -1 S+(OUT) -4 S+(OUT)
-4 S-(OUT) -4 S-(OUT) P -5 S-(OUT) T-AXIS
-9 S+(IN) -9 S+(IN) -2 S+(IN)
-8 S-(IN) -8 S-(IN) P -7 S-(IN)
-3 +5V -3 +5V -6 +5V PG
-6 0V -6 0V -3 0V
-2 OBT -2 OBT -8 OBT
-5 BAT -5 BAT P -9 BAT
LA1 LA1 -7 FG -7 FG -1 FG
LB1 LB1 S-AXIS OVERRUN L.S. Connected to A1 0BT
BAT( )
-2
LB1 LA2 LA2 BAT -1
LB2 LB2 LB2 L-AXIS OVERRUN L.S. Connected to A2
Signal in( ) 1Slot(B-PG) B-PG
LB2 LA3 LA3 -1 S+(OUT) -1 S+(OUT) -4 S+(OUT)
LB1 LB3 LB3 L AND U-AXIS INTERFERENCE L.S. Connected to A3 -4 S-(OUT) -4 S-(OUT) P -5 S-(OUT) B-AXIS
-9 S+(IN) -9 S+(IN) -2 S+(IN)
P -8 S-(IN) -8 S-(IN) P -7 S-(IN)
LC1 LC1 -3 +5V -3 +5V -6 +5V PG
LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1 P -6 0V -6 0V -3 0V
LD1 LC2 LC2 -5 BAT -5 BAT P -9 BAT
LD2 LD2 LD2 L-AXIS OVERRUN L.S. Connected to B2 -7 FG -7 FG -1 FG
LC3 LC3
LD1 LD3 LD3 L AND U-AXIS INTERFERENCE L.S. Connected to B3 Multi-port Connector( )
S-, L-,and U-axes with Limit Switch Specification Signal out( ) 2Slot(R-PG) R-PG
-1 S+(OUT) -1 S+(OUT) -4 S+(OUT)
-4 S-(OUT) -4 S-(OUT) P -5 S-(OUT) R-AXIS
-9 S+(IN) -9 S+(IN) -2 S+(IN)
LA1 LA1 -8 S-(IN) -8 S-(IN) P -7 S-(IN)
Connected to A1 -3 -3 +5V -6 +5V PG
LB1 LB1 S-AXIS OVERRUN L.S. -6
+5V
0V -6 0V -3 0V
LC1 LC1 -2 OBT -2 OBT -8 OBT
LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1 -7 FG -7 FG -1 FG
S-axis with Limit Switch Specification 0BT

BAT( )
-2
BAT -1
Signal in( ) 1Slot(U-PG) U-PG
-1 S+(OUT) -1 S+(OUT) -4 S+(OUT)
-4 S-(OUT) -4 S-(OUT) P -5 S-(OUT) U-AXIS
-9 S+(IN) -9 S+(IN) -2 S+(IN)
P -8 S-(IN) -8 S-(IN) P -7 S-(IN)
-3 +5V -3 +5V -6 +5V PG
P -6 0V -6 0V -3 0V
-7 FG -7 FG -1 FG
Multi-port Connector( )
Signal out( ) 2Slot(L-PG) L-PG
-1 S+(OUT) -1 S+(OUT) -4 S+(OUT)
Board for encorder power -4 S-(OUT) -4 S-(OUT) P -5 S-(OUT) L-AXIS
-9 S+(IN) -9 S+(IN) -2 S+(IN)
CN1 CN2 CN3 -8 S-(IN) -8 S-(IN) P -7 S-(IN)
- -1 -1 S+(OUT) -1 S+(OUT) -3 +5V -3 +5V -6 +5V PG
- -2 -4 S-(OUT) P -4 S-(OUT) -6 0V -6 0V -3 0V
- -4 -9 S+(IN) -9 S+(IN) -2 OBT -2 OBT -8 OBT
- -5 -8 S-(IN) -8 S-(IN) -5 BAT -5 BAT P -9 BAT
DC/DC
S- -3 -3 +5V -3 +5V -7 FG -7 FG -1 FG
P S+ -6 -6 0V P -6 0V BAT( )
24V -8 -2 OBT -2 OBT 0BT -2
P 0V -9 -5 BAT -5 BAT
FG -7 -7 FG -7 FG BAT -1
Signal in( ) 1Slot(S-PG) S-PG
-1 S+(OUT) -1 S+(OUT) -4 S+(OUT)
-4 S-(OUT) -4 S-(OUT) P -5 S-(OUT) S-AXIS
-9 S+(IN) -9 S+(IN) -2 S+(IN)
P -8 S-(IN) -8 S-(IN) P -7 S-(IN)
-3 +5V -3 +5V -6 +5V PG
P -6 0V -6 0V -3 0V
-7 FG -7 FG -1 FG
YRC1000 LB1 LA2

LB2 LB2
A2
CN4-1 DATA-
CN4-1 P CN4-2 DATA+ LB2 LA3
CN4-2 CN4-3 LA1 LC2 A3
CN4-3
CN4-4 CN4-4 +24V(OT1-1+) LB1 A1 LD1 LB1 LB3
CN4-5 CN4-5
CN4-6
LB1
+24V(OT1-2+) LC1
LD2 LD2 B2
CN4-6 CN4-7 LD1 LD1 B1 LD2 LC3
CN4-7
CN4-8 CN4-8
CN4-9
+24V
0V LAMP
LD1 LD3 B3
CN4-9
CN4-10 CN4-10 DATA7-
P CN4-11 DATA7+ -1 BC1
CN4-11 CN4-12 BC2(LAMP-) -2 BC2 FOR LAMP(OPTION)
CN4-12 CN4-13
CN4-13
CN4-14 CN4-14 +24V(LAMP+)
CN4-15 CN4-15
CN4-16 GUN CN7
CN4-16 CN4-17 +5V
CN4-17 -1 1
CN4-18 CN4-18 0V P -2 P 2 SPG+7
SIG shield SIG shield FG -4 9 SPG-7
P -5 P 10 5V GUN
11 0V
12 BAT
-6 15 0BAT
FG7
E
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Fig. 8-5(b): Internal Connection Diagram (YRC1000)
CN1-1 CN1-1 MU1

CN1-2 CN1-2 MU1
CN1-3
CN1-4 CN1-5 MV1
CN1-5 CN1-6 MV1
CN1-6 CN1-7 MW1
CN1-7 CN1-8 MW1
CN1-8
CN1-9
CN1-10 CN1-11 ME1 S-PW
CN1-11 CN1-12 ME1 -A MU1
CN1-12 -B MV1
-C MW1 SM
ME1
-D BA1 S-AXIS
CN2-1 MW4 -E BB1
CN2-1 CN2-2 MU4
CN2-2 CN2-3 MV2
CN2-3 CN2-4 MV2
CN2-4 CN2-5 ME2
CN2-5 CN2-6 ME2
CN2-6 L-PW
CN2-7 CN2-7 MV4 -A MU2
CN2-8 CN2-8 ME4 -B MV2
CN2-9 CN2-9 MW2 -C MW2
CN2-10 MW2 SM
CN2-10 CN2-11 MU2 ME2
CN2-11 CN2-12 MU2 L-AXIS
CN2-12 -D BA2
-E BB2
CN3-1 U-PW
CN3-2 CN3-2 BA1 -A MU3
CN3-3 CN3-3 BB1 -B MV3
CN3-4 BA2 -C MW3
CN3-4 CN3-5 BA3 SM
CN3-5 ME3
CN3-6
CN3-7 -D BA3 U-AXIS
CN3-8 -E BB3
CN3-9 CN3-10 BA4
CN3-10 CN3-11 BB4
CN3-11 CN3-12 BA5
CN3-12 CN3-13 BA6
CN3-13 CN3-14 BA7
R-PW
CN3-14 CN3-15 -A MU4
CN3-15 BB7
-B MV4
CN3-16 -C MW4 SM
CN3-17
CN3-18 ME4
-D BA4 R-AXIS
-E BB4
CN5-1 CN5-1 MV6 B-PW

CN5-2 CN5-2 MU6 -A
CN5-3 MW5 MU5
CN5-3 CN5-4 ME5 -B MV5
CN5-4 -C MW5 SM
CN5-5
CN5-6 CN5-7 MW6 ME5
CN5-7 CN5-8 ME6 -D BA5 B-AXIS
CN5-8 CN5-9 MU5 -E BB5
CN5-9 CN5-10 MV5
CN5-10
CN5-11 T-PW
CN5-12 -A MU6
-B MV6
-C MW6 SM
ME6
CN6-1 MV7 -D BA6 T-AXIS
CN6-1 CN6-2 ME7 -E BB6
CN6-2 CN6-3 ME3
CN6-3 CN6-4 ME3
CN6-4 CN6-5 MV3
CN6-5 CN6-6 MV3 EX-PW
CN6-6 CN6-7 MU7 1
CN6-7 CN6-8 MW7 2 MU7
CN6-8 CN6-9 MW3 MV7
3
CN6-9
CN6-10 CN6-10 MW3 4 MW7 GUN
CN6-11 MU3 5 ME7
CN6-11 CN6-12 MU3 BA7
CN6-12 6 BB7
E
E E
E E E E
PE
Base MANIPULATOR Casing E
E E
E
S1 S1
E
E
1 1 SP1
P 2 SP2
2 3
3 SP3
P 4 SP4
4 5
5 6 SP5
P SP6
6
7 SP7
7 P 8
8 SP8
9 9 SP9
P 10
10
11
11 SP10
SP11
Internal user I/O wiring harness
P 12
12 SP12
13 13 SP13
14 14 SP14
15 SP15
15 16
16 17 SP16
17 18 SP17
18 19 SP18
19 20 SP19
20 21 SP20
21 22 SP21
22 23 SP22
23 SP23
Note ) 1. For the limit switch specification, the part A is different from the part B .
2.When performing the wiring of the overrun limit switch, pay attention to lead wires.
The letter marked on the marker tube at point (LB1 and LD1) are the same.
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9 Maintenance and Inspection
9.1 Inspection Schedule
DANGER
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the manipulator's arm.
WARNING
• 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.
• 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.
NOTICE
• Do not remove the connector between the motor and the multi-port
connector during 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 six
levels as shown in table 9-1 “Inspection Items” .
In table 9-1, 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 interval between inspections is calculated according

to the total servo operation time.
• If axes are used very frequently (in handling applications,
NOTE etc.), inspections may be required at shorter intervals.
Contact your YASKAWA representative.
• A small amount of oil used to maintain sealing perfor-
mance may leak from the bottom part of the gas balancer.
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Table 9-1: Inspection Items (Sheet 1 of 2)
Items1) Schedule Method Operation Inspection
Charge
Daily
1000 h Cycle
6000 h Cycle
12000 h Cycle
24000 h
36000 h
Specified
Personnel
Licensee
Service
Company
1 Alignment mark Visual Check alignment mark accordance at the home position.
9
• • • •
9.1
Cheek for damage.

Check for misalignment of the position at the check point.
2 Working area and Visual Check for seeped oil.
manipulator
• Clean the work area if dust, spatter or seeped oil is present.
• • •
Check for damage and outside cracks.
3 Baseplate mounting bolts Spanner Tighten loose bolts. Replace if necessary.
• Wrench
• • •
4 Covers, bolts for the Driver Tighten loose bolts. Replace if necessary.
• • • •
9-2
connector base Wrench
Inspection Schedule
5 Connector for manipulator Manual Check for loose connectors.

cable
• • • •
6 Protective tubing Visual Clean the spatter. Check for holes or tears. (Replace it if any.)
• • • •
Maintenance and Inspection
Grease Gun Supply grease to the joint of the gas balancer

7 Gas balancer
• Dedicated Check the gas pressure in the gas balancer, the exhaust and supply of
• •
• maintenance parts gas.
• •
8 Wire harness in manipulator Visual Check for damage and contamination.
(Lead wires for the S-, L-, U-,
• Check the condition of the internal wiring harness
• • •
R-, B-, T-axes) • Check wear to the protective spring (replace if there is abnormal wear).
• •
(Power supply board included) Replace
9 Battery pack in manipulator
• Replace the battery pack when the battery alarm occurs or the manipulator
•
• drove for 24000 h.
• •
10 Motors for all axes Visual Check for grease leakage.
• • • •
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Table 9-1: Inspection Items (Sheet 2 of 2)
Items1) Schedule Method Operation Inspection
Charge
HW1484442
Daily
1000 h Cycle
6000 h Cycle
12000 h Cycle
24000 h
36000 h
Specified
Personnel
Licensee
Service
Company
11 Speed reducers for all axes Grease Gun Check for malfunction. (Replace if necessary.)
• Replace grease2) (12000 h cycle).
• •
9
12 R-, B-, and T-axes gear Grease Gun Check for malfunction. (Replace if necessary.)
9.1
• Supply grease2) (12000 h cycle).

• •
13 Overhaul
• •
1 Inspection No. correspond to the numbers in fig. 9-1 “Inspection Items” .
2 For the grease, refer to table 9-2 “Inspection Parts and Grease Used” .
Table 9-2: Inspection Parts and Grease Used
9-3
No. Grease Used Inspected Parts
Inspection Schedule
8 Alvania EP grease 2 Joint of the balancer

12,13 Molywhite RE No. 00 Speed reducers for all axes
R-, B-, and T-axes gear
HW1484442
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The numbers in the above table correspond to the numbers in table 9-1 “Inspection Items” .
Fig. 9-1: Inspection Items
4 10 9
12 11
9.1
10
9
9-4
11
Inspection Schedule
8
10
11
4 9
10
10
3
5
11
4
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9.2 Notes for Maintenance
9.2.1 Multi-Port Connector

Three multi-port connectors (refer to fig. 9-2 “Multi-Port Connector” ) for
the motor signals are mounted on each part of the manipulator. (For the
locations, refer to fig. 9-7 “Location of the Battery and Multi-port
Connector” ) The multi-port connector has four ports. For the connections
of the multi-port connectors, refer to fig. 9-3 “Wiring of Multi-Port
Connector Part” .
When disconnecting the connector of the multi-port connector during the
battery replacement, be careful not to disconnect the connector between
the motor and the multi-port connector. If the connector between the motor
and the multi-port connector is disconnected, the encoder absolute data
will disappear.
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Fig. 9-2: Multi-Port Connector

Multi-Port for S- and L- Axes
Port nameplate
S-axis motor S IN Wire harness “IN”

L OUT
L-axis motor Wire harness “OUT”
Multi-Port for U- and R- Axes

Port nameplate
U-axis motor U IN Wire harness “IN”

R X
R-axis motor Lead wire “X”
Multi-Port for B-, T-, and External Axis

Port nameplate
B-axis motor B Y Lead wire “Y”

T 7
T-axis motor Connector for the external axis
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Fig. 9-3: Wiring of Multi-Port Connector Part

Wiring of Multi-Port Connector for S- and L-Axes Parts
Motor
Battery pack
Wire harness
Multi-port connector
Wiring of Multi-Port Connector for U- and R-Axes Parts
Motor
Battery pack
Wire harness
Lead wire
Wiring of Multi-Port Connector for B- and T-Axes Parts
Motor
Battery pack
Lead wire
To the external axis
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9.3 Notes on Maintenance Procedures
9.3.1 Home Position Check

There are alignment marks on each axis to check the home position.
With those alignment marks, periodically check for home position
deviation. When home position is disappeared or deviated, contact your
YASKAWA representative.
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Fig. 9-4: Alignment Mark Check

L-axis alignment mark
S-axis alignment mark
View A
U-axis alignment mark
R-axis alignment mark

YR-1-06VX180-A00
YR-1-06VX180-120-A00
View B
R-axis alignment mark

YR-1-06VX225-A00
B-axis alignment mark
T-axis alignment mark

View C YR-1-06VX180-A00
YR-1-06VX180-120-A00
YR-1-06VX180-A00
YR-1-06VX180-120-A00
C
B-axis alignment mark
T-axis alignment mark

YR-1-06VX225-A00
View D
D YR-1-06VX225-A00
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9.3.2 Seeped Oil Check

Periodically check for contamination due to seeped oil or oil spot.
Especially the parts indicated in fig. 9-5 “Inspection Parts for Seeped Oil
Check” must be inspected carefully. Wipe off seeped oil or oil spot with a
cloth before use.
Fig. 9-5: Inspection Parts for Seeped Oil Check
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9.3.3 L-, U-, R-, B-, and T-axis Motors

For castings of the L-, U-, R-, B- and T-axis motor, there is a notch for
detecting grease leakage.
Check if grease is leaking from the notch.
For the notch part of each axis, refer to fig. 9-6 “Positions of Grease-
Leakage Detection Notch” .
If grease leakage is detected, contact your YASKAWA representative.
Fig. 9-6: Positions of Grease-Leakage Detection Notch
Notch for detecting grease leakage
Position of Grease Leakage Detection Notch (L-axis)
Position of Grease Leakage Detection Notch (T-axis)
Position of Grease Leakage Detection Notch (U-axis)
Notch for detecting grease leakage (R-axis)
Notch for detecting grease leakage (B-axis)
Position of Grease Leakage Detection Notch (R- and B-axes)
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9.3.4 Battery Pack Replacement

The battery packs are installed in the position shown in fig. 9-7 “Location
of the Battery and Multi-port Connector” . If the battery alarm occurs in the
YRC1000, replace the battery in accordance with the following procedure:
Fig. 9-7: Location of the Battery and Multi-port Connector
Protective tube
Cable tie
Battery pack for U-, R-axes

Battery pack for B-, T-axes
Cable tie Multi-port connector

Protective tube
When the Cover is Removed

Cover
Fixing bolt for the cover

Cross head APS bolt M4 A
(length: 8 mm)
*trivalent chromate*
(2 bolts)
View A
Protective tube
Battery pack for S-, L-axes Cable tie
When the Cover is Removed
Cover
Fixing bolt for the cover
Cross head APS bolt M4
(length: 8 mm)
*trivalent chromate* (2 bolts)
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 Normal (The power supply of the YRC1000 can be turned ON)

Fig. 9-8: Battery connection (the power supply of the YRC1000 can be
turned ON)
Old battery pack
Connector
New battery pack

(HW1483880-A)
1. Turn ON the power supply of the YRC1000 and turn OFF the servo
power.
DANGER
• Make sure to perform the battery replacement with the emergency
stop button being pressed.
Failure to observe this instruction may cause improper movement of
the manipulator which may result in personal injury and/or equipment
damage.
2. Loosen the cover mounting bolts and remove the cover.

3. The old battery pack is fixed by using the cable tie. Cut the cable tie
(1 place) to remove the old battery pack from the protective tube.
4. The connector is in the protective tube. Cut the cable ties (2 places)
fixing the protective tube, and take out the connector.
5. Remove the old battery pack from the multi-port connector and mount
the new battery pack.
6. Fix the new battery pack by using the cable tie T50R-HSW.
7. After placing the connector and the lead wires around the connector
into the protective tube, fix the opening of the protective tube by using
the cable tie T18L-HSW.
8. Fix the new battery pack and the protective tube in which the
connector is placed at step 7 by using the cable tie T18L-HSW.
9. Tighten the cover mounting bolts to reinstall the cover.
NOTE When reinstalling the cover, be careful not to get caught the
cable.
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 When the Power Supply of the YRC1000 Cannot Be Turned ON

Fig. 9-9: Battery Connection (the power supply of the YRC1000 cannot be
turned ON)
Old battery pack
Connector
IN
or “Y”
Lead wires for battery replacement

New battery pack
(HW1471281-A)
(HW1483880-A)
Battery pack for back-up

(HW1483880-A)
1. Prepare lead wires for battery replacement and a battery pack for
backup. (Apart from the new battery pack for replacement, prepare a
battery pack for backup)
2. Loosen the cover mounting bolts and remove the cover.
3. Remove the connector from the “IN” or “Y” port of the multi-port
connector.
Connect the lead wires for battery replacement to the “IN” or “Y” port of
the multi-port connector.
4. Connect the battery pack for backup to the lead wires for battery
replacement.
Before removing the old battery pack, make sure to connect

NOTE the battery pack for backup to prevent the encoder absolute
data from disappearing.
5. The old battery pack is fixed by using the cable tie. Cut the cable tie
(1 place) to remove the old battery pack from the protective tube.
6. The connector is in the protective tube. Cut the cable ties (2 places)
fixing the protective tube, and take out the connector.
7. Remove the old battery pack from the multi-port connector and mount
the new battery pack.
8. Remove the lead wires for battery replacement and the battery pack
for backup from the multi-port connector, connect the connector which
has been removed at step 3 of this procedure to the “IN” or “Y” port
again.
If the battery pack for backup remains connected,

an electric current flows from the new battery to the backup
NOTE battery and which may result in the voltage drop in the new
battery. Remove the battery pack for backup immediately
after connecting the new battery.
9. Fix the new battery pack by using the cable tie T50R-HSW.
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10. After placing the connector and the lead wires around the connector
into the protective tube, fix the opening of the protective tube by using
the cable tie T18L-HSW.
11. Fix the new battery pack and the protective tube in which the
connector is placed at step 10 by using the cable tie T18L-HSW.
12. Tighten the cover mounting bolts to reinstall the cover.
NOTE When reinstalling the cover, be careful not to get caught the
cable.
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9.4 Notes on Grease Replenishment/Exchange Procedures
9.4.1 Notes on Grease 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
motor and speed reducer.
• If grease is injected without removing the plug from the

NOTE grease exhaust port, the grease will leak inside a motor, or
an oil seal of a speed reducer will come off. Make sure to
remove the plug or it may result in a failure.
Also, when using a tube, the length must be 150 mm or
shorter and the inside diameter must be 6 mm or longer.
If the tube is too long, the exhaust resistance at the tube
part is increased, and the inner pressure of the grease
bath is raised. It may result in coming off of an oil seal.
• Make sure to use a grease pump to inject grease. Set the
grease injection rate to 7 g/s or less. (Air supply
pressure to the grease pump: 0.3 MPa or less (rough stan-
dard))
• When using extrusion air for discharging the grease, set
air supply pressure at 0.025 MPa or less.
If the air supply pressure is higher than above mentioned
value, an oil seal of a speed reducer will come off, and it
may result in a failure.
• When using extrusion air for discharging grease, grease
may be vigorously discharged from the exhaust port.
Perform an operation such as using a tube at the grease
exhaust port to pour into an appropriate container.
• Make sure to fill the hose on the grease inlet with grease
beforehand to prevent air from leaking into the speed
reducer.
• After injecting grease, discharge the specified amount of
grease. If insufficient, the inner pressure is raised during
the operation, and grease may leak. When discharged
too much, the speed reducer is not lubricated sufficiently
during the operation, and it may cause the early failure of
the speed reducer.
• When filling/exchanging grease, the grease may flow out
from the grease inlet or the grease exhaust port. Prepare
a container to receive the grease and a waste cloth to
wipe the grease in advance.
• After mounting a speed reducer or a motor, and then wait
for 30 minutes or more and then inject grease.
If grease is filled before the sealing bond is solidified, it
may cause grease to leak.
WARNING
• When operating the manipulator, do not enter into the working area
of the manipulator. Injury may result if anyone enter into the
working area during operation.
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9.4.2 Grease Exchange Procedures for Gear of Each Axis Speed Reducer
Fig. 9-10: Grease Inlets and Exhaust Ports for Each Axis
Grease inlet of L-axis Grease exhaust port

(Hexagon socket head plug PT1/8) of L-axis
(Hexagon socket
Grease exhaust port head plug PT3/8)
of S-axis
(Hexagon socket
head plug PT3/8)
Grease inlet of S-axis

(Hexagon socket head plug PT1/4)
Grease exhaust port

R-, B-, and T-axis gear in the casing of U-axis
Grease exhaust port (Hexagon socket
(Hexagon socket head plug PT3/8) head plug PT3/8)
R-, B-, and T-axis

gear in the casing
Grease inlet
(Hexagon socket
head plug PT1/8)
Grease inlet of U-axis
Grease exhaust port of B- and T-axis

Grease exhaust port of B- and T-axis
(Hexagon socket head plug PT1/8) R-axis speed reducer T-axis speed reducer
R-axis speed reducer T-axis speed reducer
Grease exhaust port of R-axis

Grease inlet of B- and T-axis
Grease exhaust port of R-axis (Hexagon socket head plug PT1/8)
Grease inlet of B- and T-axis Grease inlet of R-axis
(Hexagon socket head plug PT1/8) (Hexagon socket head plug PT1/8)
Grease inlet of R-axis
(Hexagon socket head plug PT1/8) YR-1-06VX180-A00
YR-1-06VX225-A00 YR-1-06VX180-120-A00
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1. Before injecting grease, the posture of the manipulator must be set as

indicated in table 9-3 “Recommended Posture for Grease Injection” . If
it is difficult to make the recommended posture because of external
cabling or etc., adjust the posture as much as possible to make the
position of the grease inlet located in the lower part and the position of
exhaust port located in the upper part. If the exhaust port is located in
the lower part, grease may not be exchanged properly.
Table 9-3: Recommended Posture for Grease Injection
Axis to inject Posture
S-axis L-axis U-axis R-axis B-axis T-axis
S-axis Any Any Any Any Any Any
L-axis Any 0° Any Any Any Any
U-axis Any 0° * 0° * Any Any Any
R-axis
B-axis Any Any 0° * 0° 0° 0°
T-axis
* If the recommended posture cannot be made, make the U-arm horizontal to the
ground.
2. Remove the hexagon socket head plugs from the grease inlet and
grease exhaust port.
3. Install a grease zerk A-PT3/8 to the grease inlet.
(The grease zerk is delivered with the manipulator.)
4. Inject the grease through the grease inlet using a grease gun.
– Grease type: Molywhite RE No.00
– Recommended grease lubricator “Powerlube P3C (made by
Macnaught)”
– Amount of grease: 7 g/s or less
(For example, if grease is supplied from the lubricator at 2 times/s,
set the amount to 3.5 g/time or less.)
– Air supply pressure of grease pump: Approximately 0.3 MPa or less
Table 9-4: Amount of Grease
Axis to exchange grease Amount of grease
S-axis Approx. 4350 g
L-axis Approx. 2180 g
U-axis Approx. 2180 g
R-, B-, and T-axis gear Approx. 2260 g
in the casing
R-axis Approx. 1910 g
B-, and T-axes Approx. 1130 g
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5. Injection stop:
– <When replacing the speed reducer>
Stop injecting grease when grease can be seen from the exhaust
port.
– <When exchanging grease>
The old grease is discharged from the grease exhaust port. At this
time, stop injection when the mixture of the old grease and the new
grease in an equal ratio is seen.
And then, skip the steps 6 and 7, and proceed to the step 8.
6. Operate each axis about 5 times in the teach mode as shown in
table 9-5 “Teaching Operation for Each Axis” .
Table 9-5: Teaching Operation for Each Axis
Axis to replenish Angle for teaching Speed for teaching
grease operation operation
S-axis S-axis ±45°
L-axis L-axis ±45°
U-axis U-axis ±45°
User-specified
In the casing R-axis ±90°
R-, B-, and T-axis gear B-axis ±45°
R-, B-, and T-axis T-axis ±90°
7. Inject grease again, and when grease comes out of the exhaust port,
grease injection is completed.
8. Discharge the specified amount of grease from the grease inlet or
grease exhaust port. (Refer to table 9-6 “Amount of Grease
Discharged from Each Axis” .) In order to discharge the specified
amount of grease, receive the discharged grease by using a container,
and then measure the weight of the discharged grease by weighing
the container till the amount reaches to the specified amount.
Use one of the following methods to discharge grease.
Method 1: Extruding grease by air
(1) Connect the joint and the hose to the grease inlet.
(2) Connect the regulator to the grease exhaust port.
(3) Inject air from the grease exhaust port to extrude grease by air.
(Extrusion air pressure: 0.025 MPa or less)
(4) If the grease is not discharged enough by injecting air, operate the
manipulator about 5 times in the teach mode as shown in
table 9-5.
Method 2: Suctioning grease out
(1) Keep the inlet open and insert the tube into the exhaust port.
(2) Discharge grease by suctioning grease out of the exhaust port.
(Suction pressure: 0.025 MPa or less)
(3) If grease is not discharged by suctioning, operate the manipulator
again about 5 times in the teach mode as shown in table 9-5.
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Table 9-6: Amount of Grease Discharged from Each Axis

Axis to exchange grease Amount of exhausted grease
[g] [cc]
S-axis 0 [unnecessary] 0 [unnecessary]
L-axis 240±30 275±35
U-axis 295±40 340±45
R-, B-, and T-axis gear 115±15 130±15
in the casing
R-axis 95±10 110±15
B-, and T-axes 55±5 65±10
9. For the axis where grease is exchanged, perform a playback operation

indicated in table 9-7 “Running- In Operation for Each Axis” for
running-in the speed reducer with grease.
At this time, grease may be discharged during the operation. Remove
the grease zerk from the grease inlet, and clean and degrease the tap
part and the thread part of the plug. Wrap the seal tape TB4501
around the plug, and then attach it to the grease inlet. Tighten the plug
with the tightening torque shown in table 9-8 “Plug Type and
Tightening Torque for Each Axis” . Also, discharge the excess grease
in order not to increase the inner pressure of the speed reducer.
Attach a bag to receive grease such as indicated in fig. 9-11 “Grease
Receiving Bag (Rough Standard)” , and then perform the running-in
operation.
Table 9-7: Running- In Operation for Each Axis
Axis to exchange grease Running-in operation
Operation Operation speed Timer after each Operating time
angle operation
S-axis S-axis ±45° MOVJ VJ=50.00 1.0 s 15 minutes
L-axis L-axis ±45° MOVJ VJ=50.00 1.0 s 15 minutes
U-axis U-axis ±45° MOVJ VJ=50.00 1.0 s 15 minutes
In the casing R-axis ±90°

R-, B-, and T-axis gear B-axis ±45° MOVJ VJ=50.00 1.0 s 15 minutes
R-, B-, and T-axis T-axis ±90°
Table 9-8: Plug Type and Tightening Torque for Each Axis
Axis to exchange grease Plug for the grease inlet Plug for the grease exhaust port
Plug type Tightening torque Plug type Tightening torque
S-axis PT1/4 12 N•m (1.2 kgf•m)
L-axis PT3/8 23 N•m (2.34 kgf•m)
U-axis
In the casing
R-, B-, and T-axis gear PT1/8 4.9 N•m (0.5 kgf•m) PT1/8 4.9 N•m (0.5 kgf•m)
R-, B-, and T-axis
R-axis
PT1/8 4.9 N•m (0.5 kgf•m)
B- and T-axis
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Fig. 9-11: Grease Receiving Bag (Rough Standard)
Grease receiving bag

Cut one corner to remove air.
To prevent grease from scattering from the cut corner,
cover the receiving bag with a plastic bag etc. without
being sealed.
Bond for fixing a grease receiving bag
Tube (inside dia.: 6 mm or more)
Union (inside dia.: 6 mm or more)

PT3/8
10. Wipe the discharged grease with a cloth, and reinstall the plug. Clean
and degrease the tap part and the thread part of the plug. Wrap the
seal tape TB4501 around the plug, and tighten the plug with seal tape
to the grease exhaust port with the tightening toque shown in table 9-8
“Plug Type and Tightening Torque for Each Axis” .
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9.4.3 Grease Replenishment for Gas Balancer Link Part

Fig. 9-12: Gas Balancer Link Part
Link 2 grease exhaust port

(Hexagon socket head
plug PT1/8)
Link 2 grease inlet

plug PT1/8) Link 2 bearing
Link 1 bearing
Link 1 grease inlet

plug PT1/8)
Link 1 grease exhaust port

1. Remove the plugs from the grease inlet and from the grease exhaust
port of the link 1 and 2 .
(Refer to fig. 9-12 “Gas Balancer Link Part” .)
2. Inject grease through the grease inlet of the link 1 and 2 using a
grease gun.
– Grease type: Alvania EP Grease 2
– Amount of grease: to the link 1 : 8 cc
(30 cc for 1st supply)
to the link 2 : 8 cc
(30 cc for 1st supply)
3. Wipe the discharged grease with a cloth at the grease exhaust port
and reinstall the plug to the exhaust port of the link 1 and 2 . Before
installing the plug, clean and degrease the thread part of the plug.
Wrap the seal tape TB4501 around the thread part, and then tighten
the plug and screw with a tightening torque of 4.9 N•m (0.5 kgf•m).
4. Reinstall the plug to the grease inlet of the link 1 and 2 . Before
installing the plug, clean and degrease the thread part of the plug.
Wrap the seal tape TB4501 around the thread part, and then tighten
the plug and screw with a tightening torque of 4.9 N•m (0.5 kgf•m).
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9.5 Gas Maintenance Procedure in the Gas Balancer
9.5.1 Notes on Gas Maintenance Procedure in the Gas Balancer

Be sure to read the following precautions thoroughly and understand the
contents before performing gas inspections or discharging/injecting gas.
Failure to observe this may cause malfunctions of the gas balancer or
occurrence of accidents or injury.
DANGER
• This gas balancer uses high-pressure nitrogen gas.
• Do not inject other gas than nitrogen gas to this gas balancer.
Failure to observe this may cause malfunctions of the gas balancer
or occurrence of accidents or injury.
• There is a possibility of suffocation accident in the high-density
nitrogen gas environment. For this reason, enough ventilation is
required when performing the operations.
• Before inspecting the gas pressure in the gas balancer or discharg-
ing/filling the gas from/into the gas balancer, confirm that the L-axis
motor brake is appropriately functioning and L-axis is firmly fixed so
that it will not rotate.
Failure to observe this may cause very dangerous situation due to
releasing of the L-axis motor brake. Because the L-axis without
retaining force leads the L-arm to rotate by the lengthened or short-
ened gas balancer.
CAUTION
• When handling high-pressure gas, sufficient caution and observing
of the related laws and local government regulations are required.
• For gas filling devices, contact your YASKAWA service
representative.
NOTE To maintain the sealing performance, small quantity of oil

used may leak from the bottom part of the gas balancer.
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9.5.2 Gas Pressure Inspection
NOTICE
• Perform the gas pressure inspection every 6000H.
• Operation of the manipulator with inadequate gas pressure, gas
balancer may cause failure or breakage.
9.5.2.1 Adequate Gas Pressure

Adequate nitrogen gas pressure in the gas balancer varies depending on
the temperature of the gas balancer surface. Refer to table 9-9
“Adequate Gas Pressure per Gas Balancer Surface Temperature” .
Table 9-9: Adequate Gas Pressure per Gas Balancer Surface Temperature
Gas balancer
surface
-10 -5 0 5 10 15 20 25 30 35 40 45 50 55 60
temperature
(°C)
Adequate gas
10.5 10.8 11.1 11.4 11.6 11.9 12.2 12.4 12.7 13.0 13.2 13.5 13.8 14.1 14.4
pressure (MPa)
Fig. 9-13: Adequate Gas Pressure per Gas Balancer Surface Temperature
13.2
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9.5.2.2 Necessary Device

Prepare following devices when checking the gas pressure.
• Gas filling device: HW1485204
The device includes:
Digital pressure gauge: GC64-173
Quick connector: 10-358-6297
• Thermometer (for measuring the gas balancer surface)
9.5.2.3 Inspection Procedures
DANGER
Before inspecting the gas pressure in the gas balancer or discharging/
filling the gas from/into the gas balancer, confirm that the L-axis motor
brake is appropriately functioning and L-axis is firmly fixed so that it will
not rotate. Failure to observe this may cause very dangerous situation
due to releasing of the L-axis motor brake. Because the L-axis without
retaining force leads the L-arm to rotate by the lengthened or shortened
gas balancer.
1. Move the manipulator to the home position and turn OFF the power
supply of the YRC1000.
2. Remove the cover 1 and the hexagon socket head screw plug with
flange 2 , which are mounted to the gas inlet, and insert the quick
connector.
3. Connect the gas filling device to the quick connector after confirming
that the blowdown valve, needle valve, and gate valve of the gas filling
device are firmly closed.
4. Check the temperature of the gas balancer surface.
5. Slowly open the needle valve of the gas filling device, and then check
that the pressure indicated on the digital pressure gauge is satisfying
the value shown in table 9-9 “Adequate Gas Pressure per Gas
Balancer Surface Temperature” . Depending on the value, procedures
after this are subject to change.
Case 1: When the value is exceeding the adequate value
→ Discharge the gas till the value satisfies the adequate
value.
(Refer to chapter 9.5.3 “Gas Discharging Procedure” .)
Case 2: When the value is lower than the adequate value by
0.5 MPa or more.
→ Inject the gas till the value satisfies the adequate
value.
(Refer to chapter 9.5.4 “Gas Injecting Procedure” .)
Other than Case 1 and 2:
→ Proceed to Step 6
6. Close the needle valve of the gas filling device, and then remove the
gas filling device from the quick connector.
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7. Remove the quick connector and mount the cover, then tighten the
hexagon socket head screw plug with flange by using a tightening
torque shown in table 9-10 “Gas in Gas Balancer Pressure Inspection” .
8. Mount the cover and tighten the hexagon socket head cap screws 3 .
9. Turn ON the power supply of the YRC1000.
Fig. 9-14: Gas Pressure Inspection in Gas Balancer
Gas inlet/gas exaust port
A part 1 2
Surface temperature
measuring point
Measure on the surface in the
gas balancer after removing the cover.
Enlarged View of the A part
Table 9-10: Gas in Gas Balancer Pressure Inspection

No. Item Qty. Note
1 Cover HW1405134-1 1
2 G1/8 plug 1 Tightening torque 4.9 N•m
3 Hexagon socket head cap screw M4 2 Tightening torque 2.8 N•m
(length: 6 mm) each
Conical spring washer 2L-4
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9.5.3 Gas Discharging Procedure
NOTICE
• Discharge all gas from the gas balancer when in the following
cases.
– When dismounting the gas balancer from the manipulator.
– When air-flight the gas balancer.
(It is treated as a hazardous material when the gas balancer is
air-flight with gas filled.)
9.5.3.1 Necessary Devices

Prepare following devices when discharging gas
Valve of the service gauge: SS-1KS4
9.5.3.2 Gas Discharging Procedure
DANGER
Before discharging/filling the gas from/into the gas balancer, confirm
that the L-axis motor brake is appropriately functioning and L-axis is
firmly fixed so that it will not rotate. Failure to observe this may cause
very dangerous situation due to releasing of the L-axis motor brake.
Because the L-axis without retaining force leads the L-arm to rotate by
the lengthened or shortened gas balancer.
NOTICE
• When discharging the gas, the blowdown valve must not be fully
opened. Take time and discharge gas little by little. If the blowdown
valve is fully opened with high internal pressure, the non-return
valve in the gas balancer can be damaged.
 When Discharging All Gas

connector.
4. Slowly open the needle valve.
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5. Discharge gas a small amount at a time by slowly releasing the

blowdown valve.
6. Close the needle valve and blowdown valve, and then remove the gas
filling device from the quick connector.
hexagon socket head screw plug with flange 2 by using a tightening
torque shown in table 9-11 “Discharging Gas Procedure” .
8. Mount the cover 1 and tighten the hexagon socket head cap screws
3 by using the tightening torque shown in table 9-11.
 When Discharging Gas for Adjusting Pressure

connector.
5. Slowly open the needle valve.
6. Discharge gas by slowly releasing the blowdown valve until the gas
pressure is the value shown in table 9-9 “Adequate Gas Pressure per
Gas Balancer Surface Temperature” .
After discharging/injecting gas, wait for a few minutes to sta-

NOTE bilize the gas pressure, and then measure the gas pres-
sure.
7. Close the needle valve and blowdown valve, and then remove the gas
filling device from the quick connector.
8. Remove the quick connector, then tighten the hexagon socket head
screw plug with flange 2 by using the tightening torque shown in
table 9-11.
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Fig. 9-15: Discharging Gas Procedure
A part 1 2
Surface temperature
measuring point
Table 9-11: Discharging Gas Procedure

No. Item Qty. Note
1 Cover HW1405134-1 1
(length: 6 mm) each
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9.5.4 Gas Injecting Procedure
9.5.4.1 Necessary Devices

Prepare following devices when injecting gas
• Nitrogen gas cylinder
9.5.4.2 Gas Injecting Procedures
DANGER
Before discharging/filling the gas from/into the gas balancer, confirm
that the L-axis motor brake is appropriately functioning and L-axis is
firmly fixed so that it will not rotate. Failure to observe this may cause
very dangerous situation due to releasing of the L-axis motor brake.
Because the L-axis without retaining force leads the L-arm to rotate by
the lengthened or shortened gas balancer.
2. Remove the cover 1 and the hexagon socket head screw plug M6
with flange 2 , which are mounted to the gas inlet, and insert the quick
connector.
5. Connect the nitrogen gas cylinder to the gas filling device.
6. Release the valve of the nitrogen gas cylinder, and then set the gas
pressure slightly higher than the adequate pressure shown in table 9-9
“Adequate Gas Pressure per Gas Balancer Surface Temperature” by
rotating the regulator handle of the gas filling device.
7. Slowly open the needle valve of the gas filling device.
8. Release the gate valve of the gas filling device to inject gas until the
gas pressure indicated by the digital pressure gauge is slightly higher
than the adequate pressure shown in table 9-9.
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9. Close the gate valve of the gas filling device, wait for the gas pressure
in the gas balancer to stabilize, and then confirm that the gas pressure
is the adequate pressure shown in table 9-9 “Adequate Gas Pressure
per Gas Balancer Surface Temperature” .
If the pressure is higher than the adequate pressure, discharge the
gas gradually and stabilize the gas pressure, then confirm that the gas
pressure finally reached the adequate value.
After discharging/injecting gas, wait for a few minutes to sta-

NOTE bilize the gas pressure, and then measure the gas pres-
sure.
10. Close needle valve of the gas filling device and the valve of the
nitrogen gas cylinder.
11. Disconnect the gas filling device from the quick connector.
hexagon socket head screw plug M6 with flange 2 by using a
tightening torque shown in table 9-12 “Injecting Gas procedure” .
14. Release the blowdown valve of the gas filling device and regulator,
and then discharge the gas in the hose.
15. Disconnect the gas filling device from the nitrogen gas cylinder.
Fig. 9-16: Injecting Gas procedure
A part 1 2
Surface temperature
measuring point
Table 9-12: Injecting Gas procedure

No. Item Qty. Note
1 Cover HW1405134-1 1
(length: 6 mm) each
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10 Recommended Spare Parts

It is recommended to keep the parts and components in the following table
in stock as spare parts for your manipulator.
To purchase lead wires of the wire harness or etc., check the order/
manufacture no. and contact your YASKAWA representative.
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: Recommend Spare Parts for the YR-1-06VX225-A00 (Sheet 1 of 3)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
A 1 Grease Molywhite RE No.00 YASKAWA 16 kg -
Electric
Corporation
A 2 Grease Alvania EP grease 2 Showa Oil 16 kg -
Co., Ltd.
A 3 Liquid Gasket TB1206C Three Bond - -
Co., Ltd.
A 4 Adhesive LOCTITE243 Henkel Japan - -
Ltd
A 5 Sealing Bond LOCTITE518 Henkel Japan - -
Ltd
A 6 Seal Tape TB4501 Three Bond - -
Co., Ltd.
A 7 Battery Pack HW1483880-A YASKAWA 1 3
Electric
Corporation
A 8 Lead Wire for HW1471281-A YASKAWA 1 -
Battery Electric
Replacement Corporation
B 9 Replacement Kit HW1485042-A YASKAWA 1 1 Speed reducer:
for S-Axis Speed Electric HW0388208-B
Reducer1) Corporation Input gear: HW1303369-1
for L-Axis Speed Electric HW1382455-B
for U-Axis Speed Electric HW1382456-A
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No. per
Unit
for R-Axis Speed Electric HW0390046-A
Reducer1) Corporation
for B-Axis Speed Electric HW0390047-B
for T-Axis Speed Electric HW1382458-A
B 15 Gas Balancer HW1382567-A YASKAWA 1 1
Electric
Corporation
B 16 Wrist Unit HW1172986-A YASKAWA 1 1
Electric
Corporation
B 17 Internal Wiring HW1173054-A YASKAWA 1 1
Harness Electric
Corporation
B 18 Lead Wire for HW1372910-A YASKAWA 1 1 Lead wire between the
S-Axis Signal Electric S-axis motor and the
Corporation multi-port connector
B 19 Lead Wire for HW1372910-B YASKAWA 1 1 Lead wire between the
L-Axis Signal Electric L-axis motor and the
B 20 Lead Wire for HW1372597-G YASKAWA 1 1 Lead wire between the
U-Axis Signal Electric U-axis motor and the
B 21 Lead Wire for HW1372597-H YASKAWA 1 1 Lead wire between the
R-Axis Signal Electric R-axis motor and the
B 22 Lead Wire for HW1372597-I YASKAWA 1 1 Lead wire between the
B-Axis Signal Electric B-axis motor and the
B 23 Lead Wire for HW1372597-J YASKAWA 1 1 Lead wire between the
T-Axis Signal Electric T-axis motor and the
B 24 Lead Wire HW1471359-B YASKAWA 1 1 Lead wire between the
Electric multiport in the casing
Corporation and the multiport
C 25 Bypass Cable HW1471212-C YASKAWA 1 1 Signal lead wires for
Electric tentative recovery from
Corporation failure
C 26 S-, L-, and U- SGM7G-37APK-YR1* YASKAWA 1 3
Axes AC HW1385397-A Electric
Servomotor Corporation
C 27 R-, B-, and T- SGM7G-13APK-YR1* YASKAWA 1 3
10-2 HW1484442 114/120

HW1484442

No. per
Unit
C 28 Multi-Port HW1384619-A YASKAWA 1 3
Connector Electric
Corporation
C 29 Power Supply HW1372943-A YASKAWA 1 1
Board Box Electric
Corporation
C 30 Dummy HW1471285-A YASKAWA 1 - For dismounting
Connector Electric function of the axis
Corporation
1 The replacement kit for the speed reducer includes the following parts.
•Speed reducer and gear (described in Remarks)
•Required parts to change speed reducer (oil seals, bolts, or other parts)
For details of the replacement kit for the speed reducer, contact your YASKAWA representative.
10-3 HW1484442 115/120

HW1484442

No. per
Unit
Electric
Corporation
Co., Ltd.
Co., Ltd.
Ltd
Ltd
Co., Ltd.
Electric
Corporation
Battery Electric
for L-Axis Speed Electric HW1382455-C
for U-Axis Speed Electric HW0388209-F
for B-Axis Speed Electric HW9380961-G
for T-Axis Speed Electric HW0389174-C
Electric
Corporation
Electric
Corporation
Harness Electric
Corporation
S-Axis Signal Electric S-axis motor and the
10-4 HW1484442 116/120

HW1484442

No. per
Unit
Corporation failure
Connector Electric
Corporation
Board Box Electric
Corporation
Corporation
10-5 HW1484442 117/120

HW1484442
Table 10-3: Recommend Spare Parts for the YR-1-06VX180-120-A00 (Sheet 1 of 2)

No. per
Unit
Electric
Corporation
Co., Ltd.
Co., Ltd.
Ltd
Ltd
Co., Ltd.
Electric
Corporation
Battery Electric
for L-Axis Speed Electric HW1382455-C
for U-Axis Speed Electric HW0388209-F
for B-Axis Speed Electric HW9380961-G
for T-Axis Speed Electric HW0389174-C
Electric
Corporation
Electric
Corporation
Harness Electric
Corporation
S-Axis Signal Electric S-Axis motor and the
10-6 HW1484442 118/120

HW1484442
Table 10-3: Recommend Spare Parts for the YR-1-06VX180-120-A00 (Sheet 2 of 2)

No. per
Unit
Corporation failure

Connector Electric
Corporation
Board Box Electric
Corporation
Corporation
10-7 HW1484442 119/120

MOTOMAN-SP210,SP165,SP165-105
INSTRUCTIONS
C 2017 YASKAWA ELECTRIC CORPORATION

Published by YASKAWA
June 2020 17-11
MANUAL NO.
HW1484442 4
120/120

182806-1CD - Manual de Instrução Robô

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182806-1CD - Manual de Instrução Robô

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Available Formats

MOTOMAN-SP210,SP165,SP165-105

182806-1CD HW1484442 4 1/120

Notes for Safe Operation

Indicates an imminently hazardous

Indicates a potentially hazardous

Indicates a hazardous situation,

NOTICE is the preferred signal word

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

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

iii HW1484442 3/120

• Before releasing the emergency stop, make sure to remove the

• Observe the following precautions when performing a teaching

Definition of Terms Used Often in This Manual

Explanation of Warning Labels

Motor removing prohibited label

Collision hazard label

vii HW1484442 7/120

Fall down hazard label

viii HW1484442 8/120

Crush hazard label

Balancer disassembly prohibited label

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

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

1.2 Order Number Confirmation............................................................................................... 1-3

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

2.1.1 Using a Crane....................................................................................................... 2-1

2.1.2 Using a Forklift...................................................................................................... 2-5

2.2 Shipping Bracket................................................................................................................ 2-7

2.3 Cushioning Material for Transport...................................................................................... 2-8

3 Installation ....................................................................................................................................... 3-1

3.1 Installation of the Safety Fence.......................................................................................... 3-2

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

3.2.1 Mounting Example ................................................................................................ 3-4

3.3 Mounting Method ............................................................................................................... 3-5

3.4 Location ............................................................................................................................. 3-6

3.5 Notes on Dust-Proof/Water-Proof Specifications............................................................... 3-7

4 Wiring .............................................................................................................................................. 4-1

4.1 Grounding .......................................................................................................................... 4-2

4.2 Cable Connection .............................................................................................................. 4-3

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

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

5.2 Part Names and Working Axes.......................................................................................... 5-4

5.3 Dimensions and P-Point Maximum Envelope.................................................................... 5-5

5.4.1 General Information .............................................................................................. 5-9

5.4.2 Definition of Use ................................................................................................... 5-9

5.4.4.4 Stopping Distance and Time for Stop Category 1: U-axis

5.5 Alterable Operating Range .............................................................................................. 5-22

5.5.1 Components for Altering Operating Range ........................................................ 5-22

5.5.2 Notes on the Mechanical Stopper Installation .................................................... 5-24

5.5.3 Adjustment to the Pulse Limitation of S-Axis...................................................... 5-24

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

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

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

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

7.1.1 Allowable Load ..................................................................................................... 7-1

7.1.2 Installation Position .............................................................................................. 7-2

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

8.1 Overrun Limit Switches (Optional) ..................................................................................... 8-1

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

8.1.2 Adjustment to the Activation Angle of Limit Switch............................................... 8-2

8.2 Servo ON Lamp (Optional) ................................................................................................ 8-3

8.3 Internal Connections.......................................................................................................... 8-4

-Hexagon head screw M20 trivalent chromate (length: 70 mm)