MOTOMAN-MA1900

INSTRUCTIONS
TYPE: YR-MA01900
YR-MA01900-A00
-A00 (STANDARD SPECIFICATIONS)
SPECIFICATIONS)
YR-MA01900-A01 (SLU-AXES WITH LIMIT SWITCHES)
YR-MA01900-A10 (CEILING-MOUNTED SPECIFICATION)
YR-MA01900-A11 (CEILING-MOUNTED, SLU-AXES WITH LIMIT SWITCHES)

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

MOTOMAN INSTRUCTIONS
MOTOMAN-MA1900 INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL

The DX100 operator’s manuals above correspond to specific u sage.

Be sure to use the appropriate manual.

Part Number: 156226-1CD

Revision: 2

MANUAL NO.

HW0484971 3 1/79
 156226-1CD

MA1900

MANDATORY
• This instruc
instructio
tion
n manual
manual is
is intend
intended
ed to explain
explain main
mainly
ly on the
mechanical part of the MOTOMAN-MA1900 for the application to
the actual operation and for proper maintenance and inspection. It
describes on safety and handling, details on specifications,
necessary items on maintenance and inspection, to explain
operating instructions and maintenance procedures. Be sure to
read and understand this instruction manual thoroughly before
installing and operating the manipulator.
• General
General items
items rela
related
ted to safe
safety
ty are list
listed
ed in Chapt
Chapter
er 1: Safety
Safety of
of the
DX100 Instructions. To ensure correct and safe operation, carefully
read the DX100 Instructions before reading this manual.

CAUTION
• Some draw
drawing
ings
s in this
this manual
manual are
are shown
shown with
with the protec
protectiv
tive
e covers
covers
or shields removed for clarity.
clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawi
drawings
ngs and
and photo
photos
s in this
this manual
manual are repr
represen
esentat
tative
ive
examples and differences may exist between them and the
delivered product.
• YASKAWA
ASKAWA maymay modify
modify this
this model
model without
without notice
notice when
when necess
necessary
ary
due to product improvements, modifications, or changes in
specifications.
If such modification is made, the manual number will also be
revised.
• If your
your copy of the
the manual
manual is
is damaged
damaged or lost,
lost, cont
contact
act a YASKA
YASKAWA
WA
representative to order a new copy.
copy. The representatives are listed
on the back cover.
cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAW
YASKAWA A is not responsi
responsible
ble for
for incident
incidents
s arising
arising from unauthorized
unauthorized
modification of its
its products. Unauthorized modification voids your
product's warranty.
warranty.

ii

HW0484971 2/79
156226-1CD

MA1900

Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MA1900.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.

Indicates a potentially hazardous

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

Indicates a potentially hazardous

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

Always be sure to follow explicitly the

MANDATORY items listed under this heading.

Must never be performed.

PROHIBITED

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

some situations.
At any rate, be sure to follow these important items

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

NOTE follow all instructions, even if not designated as "CAUTION"
and "WARNING".

iii

HW0484971 3/79
 156226-1CD

MA1900

WARNING
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX100 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Figure 1: Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Figure 2: Release of Emergency Stop

TURN

• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the
manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result i n injury.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX100.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-p oint maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the
DX100 and the programming pendant.

iv

HW0484971 4/79
156226-1CD

MA1900

CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the cabinet
of the DX100 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on th e floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the
DX100 Instructions before operating the manipulator:

Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the m anipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows:

Equipment Manual Designation

DX100 controller DX100
DX100 programming pendant Programming pendant
Cable between the manipulator and the Manipulator cable
controller

HW0484971 5/79
 156226-1CD

MA1900

Explanation of Warning Labels

The following warning labels ar e attached to the manipulator.
Always follow the warnings on the labels.
Also, an identification label with important information is placed on the
body of the manipulator. Prior to operating the manipulator, confirm the
contents.
Figure 3: Warning Label Locations

Nameplate

WARNING label B

WARNING label A

Nameplate WARNING Label A:

MOTOMAN WARNING
TYPE

PAYLOAD
kg
MASS
kg
Moving parts
ORDER NO. DATE may cause
SERIAL NO.
injury
YASKAWA ELECTRIC CORPORAION JAPAN

WARNING Label B:

WARNING
Do not enter
robot
w o r k a r e a.

vi

HW0484971 6/79
156226-1CD

MA1900
Table of Contents

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

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

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

2 Transport....................................................................... .................................................................. 2-1

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

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

2.1.2 Using a Forklift................................................ ...................................................... 2-3

2.2 Cushioning Material for Transport ..................................................................................... 2-4

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

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

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

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

3.3 Types of Mounting ................................................................................. ............................ 3-4

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

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

3.3.3 Precautions to Prevent the Manipulator from Falling............................................ 3-5

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

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

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

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

4.2.1 Connection to the Manipulator.............................................................................. 4-3

4.2.2 Connection to the DX100 ..................................................................................... 4-3

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

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

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

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

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

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

6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1

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

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

vii

HW0484971 7/79
 156226-1CD

MA1900 4 Wiring
4.2 Cable Connection

Fig. 4-1: Grounding Method

A A

2
5.5mm or more

Section A-A’
Bolt M8 (for grounding)
(Delivered with the manipulator)

4.2 Cable Connection

Two manipulator cables are delivered with the manipulator: an encoder
cable (1BC) and a power cable (2BC). (Refer to Fig. 4-2 Manipulator
Cables on page 4-3.)
Connect these cables to the manipulator base connectors and to the
DX100. Refer to Fig. 4-3(a) Manipulator Cable Connectors (Manipulator
Side) on page 4-4 and Fig. 4-3(b) Manipulator Cable Connection (DX100
Side) on page 4-4 “.

4-2

HW0484971 22/79
156226-1CD

MA1900 4 Wiring
4.2 Cable Connection

4.2.1 Connection to the Manipulator

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

4.2.2 Connection to the DX100

Before connecting cables to the DX100, verify the numbers on both
manipulator cables and the connectors on the DX100. When connecting,
insert the cables in the order of X21, then X11, and depress each lever
until it clicks.
Fig. 4-2: Manipulator Cables

DX100 side Manipulator side

1
1 B
1 C
X

X11 1BC

1BC

Encoder cable

DX100 side Manipulator side

2
1 B
2 C
X

2BC
X21

2BC

Power cable

4-3

HW0484971 23/79
 156226-1CD

MA1900 4 Wiring
4.2 Cable Connection

Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side)

2BC

1BC

3BC

Connector Details
(Manipulator Side)

Fig. 4-3(b): Manipulator Cable Connection (DX100 Side)

X11
X21

4-4

HW0484971 24/79
156226-1CD

MA1900 5 Basic Specifications

5.1 Basic Specifications

5 Basic Specifications

5.1 Basic Specifications

Table 5-1: Basic Specifications 1)

Item Model MOTOMAN-MA1900
Structure Vertically Articulated
Degree of Freedom 6
Payload 3 kg
Repeatability2) ±0.08 mm
Range of Motion S-Axis (turning) ±180°
L-Axis (lower arm) +155°, -110°
U-Axis (upper arm) +220°, -165°
R-Axis (wrist roll) ±150°
B-Axis (wrist pitch/yaw) +180°, -45°
T-Axis (wrist twist) ±200°
Maximum Speed S-Axis 3.44 rad/s, 197°/s
L-Axis 3.05 rad/s, 175°/s
U-Axis 3.23 rad/s, 185°/s
R-Axis 7.16 rad/s, 410°/s
B-Axis 7.16 rad/s, 410°/s
T-Axis 10.65 rad/s, 610°/s
3)
Allowable Moment R-Axis 8.8 N•m (0.9 kgf•m)
B-Axis 8.8 N•m (0.9 kgf•m)
T-Axis 2.9 N•m (0.3 kgf•m)
Allowable Inertia (GD2/4) R-Axis 0.27 kg•m2
B-Axis 0.27 kg•m2
T-Axis 0.03 kg•m2
Approx. Mass 280 kg
Ambient Conditions Temperature 0° C to 45° C
Humidity 20 to 80% RH (non-condensing)
Vibration Acceleration 4.9 m/s2 or less (0.5 G)
Others Free from corrosive gas or liquid, or explosive gas
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Power Requirements 2.0 kVA
1 SI units are used in this table. However, gravitational unit is used in ( ).
2 Conformed to ISO9283
3 Refer to Section 6.1 “Allowable Wrist Load” on page 6-1 for details on t he permissible moment of inertia.

5-1

HW0484971 25/79
 156226-1CD

MA1900 5 Basic Specifications

5.2 Part Names and Working Axes

5.2 Part Names and Working Axes

Fig. 5-1: Part Names and Working Axes

U-arm
U+
R+ B+

R- B-
U-

T- T+
L-arm
Wrist flange

L- L+

S-head

S+

S-

Manipulator base

5.3 Manipulator Base Dimensions

Fig. 5-2: Manipulator Base Dimensions

200 ±0.1
Fitting surface 60

1
.
0
±
0
5 0
2 2 0
6

A
Fitting surface
375
335
18 dia. (4 holes) 313
(For fixing the manipulator)

5 5
3 7
0 3 3 .5
5 5
2 9 1
.

.5 3 0
±
5 0
9 7

1 1

260 ±0.1
Units: mm View A
+0.018
12 0 dia. hole
(2 holes)

5-2

HW0484971 26/79
156226-1CD

MA1900 5 Basic Specifications

5.4 Dimensions and P-point Maximum Envelope

5.4 Dimensions and P-point Maximum Envelope

Fig. 5-3(a): Dimensions and P-Point Maximum Envelope (YR-MA01900-A00, A01)

4
90
R1

180°
a.
75 55 di
42
5
1 .4
4
7
1
0
4 54
R5
180°

2259
1604 1534 1166 409 0 554 1904
P-point maximum
150 970 30 envelope

P-Point 247 154.7

0 0
2 0
2 2
°

81
138.5
0
6
5 7 0
°
908 264 157
8 1
4
1
1 5
1 5
°

465 °

5 220
0 341
5

0
0

547
647
165°

1178
Units: mm
408 0 178 519

5-3

HW0484971 27/79
156226-1CD

MA1900 5 Basic Specifications

5.5 Alterable Operating Range

5.5 Alterable Operating Range

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

Table 5-2: S-Axis Operating Range

Item Specifications
S-Axis Operating ±180°(standard)
Range ±150°
±120°
± 90°
± 60°
± 30°

5-5

HW0484971 29/79
 156226-1CD

MA1900 5 Basic Specifications

5.5 Alterable Operating Range

5-6

HW0484971 30/79
156226-1CD

MA1900 6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

The allowable wrist load is 3 kg maximum. If force is applied to the wrist
instead of the load, force on R-, B-, and T-axes should be within the value
shown in Table 6-1 Allowable Wrist Load . Contact your Yaskawa
Motoman representative for further information or assistance.

Table 6-1: Allowable Wrist Load

Axis Moment N•m (kgf•m)1) GD2/4 Total Moment of Inertia
kg•m2
R-Axis 8.8 (0.9) 0.27
B-Axis 8.8 (0.9) 0.27
T-Axis 2.9 (0.3) 0.03
1 ( ): Gravitational unit

When the volume load is small, refer to the moment arm rating shown in
Fig.6-1 Moment Arm Rating.
The allowable total moment of inertia is calculated when the moment is at
the maximum. Contact your Yaskawa representative beforehand when
only the moment of inertia is created, or when the load moment is small
while the moment of inertia is large. Also, when the load mass is
combined with an outside force, contact your Yaskawa Motoman
representative beforehand.
Fig. 6-1: Moment Arm Rating

LB
Load gravity position
200

T
L

R-, T-axis rotation center

B-axis rotation center

200

)
m
(m 100
T
L

W=3Kg

0 100 200 300 400

L B(mm)

6-1

HW0484971 31/79
 156226-1CD

MA1900 6 Allowable Load for Wrist Axis and Wrist Flange

6.2 Wrist Flange

6.2 Wrist Flange

The wrist flange dimensions are shown in Fig.6-2 Wrist Flange. It is
recommended that the attachment be mounted inside the fitting in orde r to
identify the alignment marks. Fitting depth shall be 6 mm or less. As
shown in the figure below, the attachment shall be mounted on the range
of 90 diameter or less with up to 5 mm height from the flange face.
Fig. 6-2: Wrist Flange

Tapped hole M4 (6 holes)

Attachments shall be mounted (Depth: 10) (Pitch: 0.7)
within this range.
30 °
5 +0.025
(The range of 42 dia. 0 )

56
.D.
P.C
5
2
.
a
0
.
0
+
0
i
6 .
a
i d
d
0
2
4 9

+0.012
6 dia. 0 (Depth: 6)

Units: mm

NOTE Wash off anti-corrosive paint (yellow) on the wrist flange

surface with thinner or light oil before mounting the tools.

6-2

HW0484971 32/79
 156226-1CD

MA1900 9 Maintenance and Inspection

9.3 Notes on Grease Replenishment Procedures

9.3.8.2 Battery Pack Connection

Before removing the encoder connector (with CAUTION label), connect
the battery pack referring to the following figures.
Fig. 9-12(a): Encoder Connector Diagram (for S-, L-, and U-Axes)

Encoder connector
Motor

CAUTION
Motor power connector
Connect battery to encoder
to save the data before
removingconector.

CAUTION label

0BT b a 0BT*
BAT a b BAT*

Battery pack (HW9470932-A)

Connector for the battery backup

a: Crimped contact-pin (pin)

CAUTION label (Enlarged view) b: Crimped contact-pin (socket)

CAUTION
Connect battery to encoder
to save the data before
removing conector.

9-20

HW0484971 60/79
156226-1CD

MA1900 9 Maintenance and Inspection

9.3 Notes on Grease Replenishment Procedures

Fig. 9-12(b): Encoder Connector Diagram (for R-, B-, and T-Axes)

Encoder

Motor

Motor cable, etc.

Wire harness
Power connector
in manipulator
Connection
a 0BT4
0BT b b BAT4
BAT a
er to C
m s o
a n
o n

g
v
in e
v
th
e
c
t
C
c
o
e b
a
tt
A
e
n d
a
ta
e
r U
Encoder connector
c y
to
r.
b
e
to T
f
o
r
e
n I
O
Battery pack
e c
o
d
e
r
N

(HW9470932-A)
CAUTION label

0BT b a 0BT4
BAT a b BAT4

CAUTION label (Enlarged view)

a: Crimped contact-pin (pin)
b: Crimped contact-pin (socket)
CAUTION
Connect battery to encoder
to save the data before
removing conector.

9-21

HW0484971 61/79
 156226-1CD

MA1900 9 Maintenance and Inspection

9.3 Notes on Grease Replenishment Procedures

9-22

HW0484971 62/79
HW0484971

10 Recommended Spare Parts

MA1900

10 Recommended Spare Parts

It is recommended to keep the parts and components in the following table

in stock as spare parts for the MOTOMAN-MA1900. 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 Motoman representative.

Table 10-1: Spare Parts for the YR-MA01900-A00, -A01, -A10, -A11
Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
A 1 Grease VIGO Grease Yaskawa 16kg -
RE No. 0
A 2 Grease Harmonic Grease Harmonic Drive 2.5kg -
4B No. 2 Systems, Inc.
A 3 Grease Harmonic Grease Harmonic Drive 2.5kg -
SK-1A Systems, Inc.
A 4 Grease Alvania EP Showa Shell 16kg -
Grease 2 Sekiyu K.K.
A 5 Liquid Gasket Three Bond 1206C Three Bond Co., - -
Ltd.
A 6 Battery Pack HW0470360-A Yaskawa 1 1
A 7 Battery Pack HW9470932-A Yaskawa 1 - For replacement
of wire harness in
manipulator
B 8 B-Axis Timing Belt 60S4.5M711 Mitsuboshi 1 1
Belting Limited
B 9 T-Axis Timing Belt 60S4.5M932 Mitsuboshi 1 1
Belting Limited
B 10 S-Axis HW0387753-B Yaskawa 1 1
Speed Reducer
B 11 S-Axis Input Gear HW0313491-1 Yaskawa 1 1
B 12 L-Axis HW0387753-C Yaskawa 1 1
Speed Reducer
B 13 L-Axis Input Gear HW0313492-1 Yaskawa 1 1
B 14 U-Axis HW9280880-G Yaskawa 1 1
Speed Reducer
B 15 R-Axis HW0381645-A Yaskawa 1 1
Speed Reducer
B 16 B-Axis HW0381646-A Yaskawa 1 1
Speed Reducer
B 17 R-Axis Gear HW0303288-1 Yaskawa 1 1

10-1

HW0484971 63/79
 156226-1CD

MA1900 11 Parts List

11.1 S-Axis Unit

Table 11-1: S-axis Unit

No. DWG No. Name Pcs.
1001 SGMRV-09ANA-YR1* Motor 1
1002 HW0100545-2 S head 1
1003 M16X20 Socket screw 1
1004 2H-16 Spring washer 1
1005 HW0387753-B Speed reducer 1
1006 M10X40 GT-SA bolt 16
1007 HW0100544-2 Base 1
1008 M8X30 GT-SA bolt 3
1009 HW0305306-2 M base 1
1010 M5X10 APS bolt 4
1011 PT1/8 Plug 1
1012 UKM6-01 Union 1
1013 HW0305809-1 Cover 1
1014 NB-0640-0.3 Tube 2
1015 HW0304221-1 Cover 1
1016 M6X15 GT-SA bolt 2
1017 MSB8-15 Stripperbolt 1
1018 HW0400645-2 Lever 1
1020 TSH6-01M Union 2
1021 CD-31 Saddle 1
1022 M6X10 Socket screw 2
1023 TA1-S10 Clamp 2
1024 M5X10 Screw with spring 2
washer
1025 EZ5036A0 Cap 1
1026 M6X15 GT-SA bolt 2
1027 HW0305812-1 Holder 1
1028 HW9406775-1 Cover 1
1029 M6X8 APS bolt 2
1030 M12 Eye bolt 2
1031 M8X60 Socket screw 3
1032 2H-8 Spring washer 3
1033 M12X35 GT-SA bolt 9
1034 HW0313491-1 Gear 1
1035 M6X60 Socket screw 1
1036 2H-6 Spring washer 1

11-2

HW0484971 66/79
156226-1CD

MA1900 11 Parts List

11.2 L-Axis Unit

11.2 L-Axis Un
Unit
Fig. 11-2:
11-2: L-Axis
L-Axis Unit

2024
2001
2023

2017 2005

2004

2003
2011 2008
2012 2019 2018 2006 2002 2007
2010
2009

2028
2026 2032
2027

2022
2021
2014 2020
2013
2016
2015

2029
1002
2031
2030
2033
2034

2035
2036

2031

11-3

HW0484971 67/79
 156226-1CD

MA1900 11 Parts List

11.2 L-Axis Unit

Table 11-2: L-Axis Unit

No. DWG No. Name Pcs.
2001 SGMRV-13ANA-YR2* Motor 1
2002 M6X90 Socket screw 1
2003 2H-6 Spring washer 1
2004 HW0313492-1 Gear 1
2005 HW0304229-1 M base 1
2006 Y426012.5 Oil seal 1
2007 HW0401506-1 Plate 1
2008 HW0304226-1 Support 1
2009 M6X10 Socket screw 2
2010 2H-6 Spring washer 2
2011 HW0304227-1 Cover 1
2012 M6X8 APS bolt 4
2013 M12X40 Socket screw 12
2014 2H-12 Spring washer 12
2015 M10X35 Socket screw 6
2016 2H-10 Spring washer 6
2017 HW0100546-2 L arm 1
2018 HW0387753-C Speed reducer 1
2019 M10X40 GT-SA bolt 14
2020 M12X40 Socket screw 2
2021 2H-12 Spring washer 2
2022 HW0404196-4 Washer 2
2023 M8X30 GT-SA bolt 4
2024 M8X25 GT-SA bolt 4
2026 TA1-S10 Clamp 4
2027 M5X10 Screw with spring 4
washer
2028 M6X10 Socket screw 1
2029 HW0305813-1 Holder 1
2030 HW0305698-1 Cover 1
2031 M5X12 GT-SA bolt 6
2032 PT1/8 Plug 1
*STAINLESS coating*
2033 CD-31 Saddle 1
2034 M5X12 GT-SA bolt 2
2035 TA1-S10 Clamp 2
2036 M5X10 Screw with spring 2
washer
1002 HW0100545-2 S head 1

11-4

HW0484971 68/79
156226-1CD

MA1900 11 Parts List

11.3 U-Axis Unit

11.3 U-Axis Unit

Fig. 11-3: U-Axis Unit

3037

3030
3038 3031 3048
3032

3039

3001
3035

3042 3041
3043
3036 3040

3002
3044 3020 3018
3045
3017 3047
3016 3046
3033 3015
3014
3034 3019
3026 3024
3028 3025
3027 3029 3023
3003
3022
3021
3017 2017
3016 3013
3015
3014
3010
3008 3009
3007 3012
3006 3011

3004
3005

11-5

HW0484971 69/79
 156226-1CD

MA1900 11 Parts List

11.3 U-Axis Unit

Table 11-3: U-Axis Unit (Sheet 1 of 2)

No. DWG No. Name Pcs.
3001 SGMRV-05ANA-YR1* Motor 1
3002 M8X30 Socket screw 4
(Dacrotized)
3003 PT1/8 Plug 1
3004 M10X20 Socket screw 1
3005 2H-10 Spring washer 1
3006 M8X45 Socket screw 16
3007 2H-8 Spring washer 16
3008 HW9280880-G Speed reducer 1
3009 M5X65 Socket screw 1
3010 2H-5 Spring washer 1
3011 M14X35 Socket screw 6
3012 GT-SH-14 Spring washer 6
3013 ARP568-258 O ring 1
3014 M10X50 Socket screw 2
3015 2H-10 Spring washer 2
3016 HW0404196-2 washer 2
3017 HW9405278-1 Dog 2
3018 M4X12 GT-SA bolt 4
3019 M4X10 GT-SA bolt 4
3020 HW0200494-3 Cover 1
3021 HW0404195-1 N base 1
3022 M3X16 Screw with spring 2
washer
3023 M3 Nut 2
3024 KQE10-03 Union 1
3025 PT3/8 Plug 1
3026 PZ1208 Saddle 1
3027 M4X6 APS bolt 2
3028 HW0404194-1 Plate 1
3029 M4X12 GT-SA bolt 2
3030 TAI-S10 Clamp 1
3031 M4X8 APS bolt 1
3032 T50R Cable tie 1
3033 PZ1212 Saddle 1
3034 M4X10 APS bolt 2
3035 M4X10 GT-SA bolt 2
3036 HW0404688-1 Cover 1
3037 HW0304068-1 Cover 1
3038 M4X12 GT-SA bolt 7
3039 M4 Washer 7
3040 M4X12 GT-SA bolt 2
3041 HW0303915-1 Support 1
3042 KQL12-00 Elbow union 1

11-6

HW0484971 70/79
156226-1CD

MA1900 11 Parts List

11.3 U-Axis Unit

Table 11-3: U-Axis Unit (Sheet 2 of 2)

No. DWG No. Name Pcs.
3043 KQN10-12 Nipple 1
3044 2H-8 Spring washer 4
(Dacrotized)
3045 TA1-S10 Clamp 2
3046 T50R Cable tie 2
3047 M5X10 APS bolt 2
3048 HW0100634-2 Casing 1
2017 HW0100546-2 L arm 1

11-7

HW0484971 71/79
 156226-1CD

MA1900 11 Parts List

11.4 R-Axis Unit

11.4 R-Axis Unit

Fig. 11-4: R-Axis Unit

4033
4029
4058

5073

4052
4053 4031

4032
4054
4055

4028

4018
4056
4030 4015

4061 4016
4026
4059
4007 4025
4060
4003
4048

4014 4057
4035
4013
4027
4006
4038
4051
4011 4049
4047
4024
4008 4005

4009

4036 4019 4004

4045 4010
4023 4022 4012

4034 4044
4017

4021 4043
4042 3048
4002
4037

4001 4041
4034
4020
4040
4039
4050
4062

11-8

HW0484971 72/79
MOTOMAN-MA1900
INSTRUCTIONS

Specifications are subject to change without notice

for ongoing product modifications and improvements.

MANUAL NO.

HW0484971 3 79/79