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MOTOMAN-MA1400
INSTRUCTIONS
TYPE: YR-MA01400-A00 (STANDARD SPECIFICATION)
TYPE: YR-MA01400-A01 (SLU-AXES WITH LIMIT SWITCHES)
TYPE: YR-MA01400-A10 (CEILING-MOUNTED SPECIFICATION)
TYPE: YR-MA01400-A11 (CEILING-MOUNTED, SLU-AXES
WITH LIMIT SWITCHES)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MA1400 INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
YASKAWA
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MA1400
MANDATORY
• This instruction manual is intended to explain mainly on the
mechanical part of the MOTOMAN-MA1400 for the application to
the actual operation and for proper maintenance and inspection. It
describes on safety and handling, details on specifications,
necessary items on maintenance and inspection, to explain
operating instructions and maintenance procedures. Be sure to
read and understand this instruction manual thoroughly before
installing and operating the manipulator.
• General items related to safety are listed in Section 1: Safety of the
DX100 Instructions. To ensure correct and safe operation, carefully
read the DX100 Instructions before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications.
• If such modification is made, the manual number will also be
revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product's warranty.
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WARNING
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX100 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
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CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately,
and be sure that all other necessary processing has been
performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the cabinet
of the DX100 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the
DX100 Instructions before operating the manipulator:
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WARNING Label B
WARNING Label A WARNING Label A
Nameplate
WARNING Label B:
WARNING
Do not enter
robot
work area.
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2 Transport......................................................................................................................................... 2-1
6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
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7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-3
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1 Product Confirmation
MA1400 1.1 Contents Confirmation
1 Product Confirmation
CAUTION
• Confirm that the manipulator and the DX 100 have the same order
number. Special care must be taken when more than one
manipulator is to be installed.
If the numbers do not match, manipulators may not perform as
expected and cause injury or damage.
1-1
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1 Product Confirmation
MA1400 1.2 Order Number Confirmation
DX100
TYPE ERDR-
POWER SUPPLY
3PHASE AC200V 50/60Hz PEAK kVA
AC220V 60Hz AVERAGE kVA
INTERRUPT CURRENT kA
SERIAL No.
DATE
WARNING
Do not open the door
ORDER NO.
NJ1529
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2 Transport
MA1400 2.1 Transport Method
2 Transport
CAUTION
• Sling applications and crane or forklift operations must be
performed by authorized personnel only.
Failure to observe this caution may result in injury or damage.
• Avoid excessive vibration or shock during transport.
The system consists of precision components; failure to observe this
caution may adversely affect performance.
NOTE • Make sure to mount the shipping bolts and brackets when
transporting the manipulator.
• With any transportation equipment, make sure to avoid
external force on the arm or motor unit when transporting
the manipulator.
2-1
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2 Transport
MA1400 2.1 Transport Method
Shipping bracket
View A
Hexagon socket
head cap screw M10 2
Shipping bracket
2-2
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2 Transport
MA1400 2.2 Shipping Bolts and Brackets
Pallet
Shipping bracket
Hexagon socket
Front View head cap screw M10 Side View
(2 screws)
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3 Installation
MA1400
3 Installation
WARNING
• Install the safeguarding.
Failure to observe this warning may result in injury or damage.
• Install the manipulator in a location where the fully extended arm
and tool will not reach the wall, safeguarding, or controller.
Failure to observe this warning may result in injury or damage.
• Do not start the manipulator or even turn ON the power before it is
firmly anchored.
The manipulator may overturn and cause injury or damage.
• When mounting the manipulator on the wall, the base section must
have sufficient strength and rigidity to support the weight of the
manipulator. Also, it is necessary to consider countermeasures to
prevent the manipulator from falling.
Failure to observe these warnings may result in injury or damage.
CAUTION
• Do not install or operate the manipulator that is damaged or lacks
parts.
Failure to observe this caution may cause injury or damage.
• Before turning ON the power, check to be sure that the shipping
bolts and brackets explained in fig. 2-3 “Shipping Bolts and
Brackets” at page 2-3 are removed.
Failure to observe this caution may result in damage to the driving
parts.
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3 Installation
MA1400 3.1 Safeguarding Installation
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3 Installation
MA1400 3.2 Mounting Procedures for Manipulator Base
Spring washer
Washer
Manipulator base
20
Baseplate
40 mm
or more
Manipulator base
Anchor bolt (M16 or larger)
Baseplate
300
260 +0.018
16 dia. 0
A
18 dia. (4 holes) 60
153±0.1
102±0.1
300
260
292
Baseplate
60
132±0.1
130±0.1
+0.018
12 dia. 0
102±0.1
100±0.1 153±0.1
View A
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3 Installation
MA1400 3.3 Types of Mounting
Manipulator base
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3 Installation
MA1400 3.4 Location
3.4 Location
When the manipulator is installed, it is necessary to satisfy the following
environmental conditions:
• Ambient temperature: 0 to +45C
• Humidity: 20 to 80%RH (at constant temperature)
• Free from dust, soot, or water
• Free from corrosive gases or liquids, or explosive gases
• Free from excessive vibration (Vibration acceleration: 4.9 m/s2 or
less [0.5 G] or less)
• Free from large electrical noise (plasma)
• Flatness for installation: 0.5 mm or less
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4 Wiring
MA1400 4.1 Grounding
4 Wiring
WARNING
• Ground resistance must be 100 or less.
Failure to observe this warning may result in fire or electric shock.
• Before wiring, make sure to turn the primary power supply off, and
put up a warning sign. (ex. DO NOT TURN THE POWER ON.)
Failure to observe this warning may result in fire or electric shock.
CAUTION
• Wiring must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire or electric shock.
4.1 Grounding
Follow local regulations for grounding line size. A line of 5.5 mm2 or more
is recommended.
Refer to fig. 4-1 “Grounding Method” at page 4-2 to connect the ground
line directly to the manipulator.
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4 Wiring
MA1400 4.2 Cable Connection
A A
Section A-A’
2
5.5 mm or more
4-2
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4 Wiring
MA1400 4.2 Cable Connection
1BC
X11
X11 1BC
1BC
molex molex
Encoder Cable
2BC
X21
2BC
X21
2BC
Power Cable
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4 Wiring
MA1400 4.2 Cable Connection
2BC
1BC
3BC
Connector Details
(Manipulator Side)
X11
X21
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5 Basic Specifications
MA1400 5.1 Basic Specifications
5 Basic Specifications
5-1
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5 Basic Specifications
MA1400 5.2 Part Names and Working Axes
U-arm U+
B+
R+
U- R- B-
Wrist flange
L- L+ T- T+
L-arm
S-head
S+
S- Manipulator base
± +0.018
16 dia. 0
(2 holes)
18 dia.
(4 holes)
±
±
+0.018
12 dia. 0
±
±
±
± ±
View A
A
Units: mm
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5 Basic Specifications
MA1400 5.4 Dimensions and P-Point Maximum Envelope
170°
26
199 155
R4
434
R1
199
R2
170°
07
P-point maximum
envelope
1734
P-point
110
150 640 30
200
200
°
83
614
190° 726
°
90
155°
2511
294
450
361
17
5°
777
1434
0
1134
1059
210
426
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5 Basic Specifications
MA1400 5.4 Dimensions and P-Point Maximum Envelope
361
450
2511
294
155
°
0
10
°
199 187.6
614
726
°
90
°
83
200
200
P-point
110
155 P-point maximum
envelope
1734
30 640 150
R2
170°
70
434
R1
26
170°
R4
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5 Basic Specifications
MA1400 5.5 Alterable Operating Range
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When the volume load is small, refer to the moment arm rating shown in
fig. 6-1 “Moment Arm Rating” .
The allowable total moment of inertia is calculated when the moment is at
the maximum. Contact your Yaskawa representative beforehand when
only moment of inertia, or load moment is small and moment of inertia is
large. Also, when the load mass is combined with an outside force,
contact your Yaskawa representative beforehand.
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6 Allowable Load for Wrist Axis and Wrist Flange
MA1400 6.2 Wrist Flange
LT
R-, T-axis
rotation center
200
LT (mm)
100
W=3 Kg
+0.012
6 dia. 0
(Depth: 6)
Units: mm
NOTE Wash off anti-corrosive paint (solid color) on the wrist flange
surface with thinner or light oil before mounting the tools.
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7 System Application
MA1400 7.1 Peripheral Equipment Mounts
7 System Application
7-1
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7 System Application
MA1400 7.1 Peripheral Equipment Mounts
95 50
35
36
75 70
25
A
300 60
90 105
152.5
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7 System Application
MA1400 7.2 Internal User I/O Wiring Harness and Air Line
7-3
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7 System Application
MA1400 7.2 Internal User I/O Wiring Harness and Air Line
Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line
3BC
View A
Connector for the internal user I/O
wiring harness: JL05-2A20-29PC (with a cap)
Prepare connector JL05-6A20-29S
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7 System Application
MA1400 7.2 Internal User I/O Wiring Harness and Air Line
The same pin number (1 to 16) of two connectors is connected in the wire
lead of single 0.2 mm2, 0.75 mm2 or 1.25 mm2.
7-5
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LU-axis interference
limit switch (optional)
L-axis overrun
limit switch (optional)
S-axis overrun
limit switch (optional)
8-1
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8 Electrical Equipment Specification
MA1400 8.2 Internal Connections
8-2
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8 Electrical Equipment Specification
MA1400 8.2 Internal Connections
<Notes>
1.For the limit switch specification, the connection of the section A B is changed as follows:
Internal Cable in
Power Cable Internal Cable in S-axis Internal Cable in BT-axes LC1
L-axis LC1
LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1
LD1 LC2
LD2 LD2 L-AXIS OVERRUN L.S. Connected to B2
LD2 LC3
0BT 1 0BAT11 17 0BAT1 LD1 LD3
P BAT 2 BAT11 18 BAT1 B3
L AND U-AXIS INTERFERENCE L.S. Connected to
0BT 3 0BAT12 19 0BAT2
P BAT 4 BAT12 20 BAT2 LA1
21 0BAT3 LA1
LB1 LB1 S-AXIS OVERRUN L.S. Connected to A1
22 BAT3
23 LB1 LA2
24 A2
0BT 5 0BAT21 25 0BAT4 LB2 LB2 L-AXIS OVERRUN L.S. Connected to
P BAT 6 BAT21 26 BAT4 LB2 LA3
0BT 7 0BAT22 27 L AND U-AXIS INTERFERENCE L.S.
P BAT 8 BAT22 28 LB1 LB3 A3
Connected to
29 SLU-axes with Limit Switch Specification
30
1 31
2 32 LC1 LC1
3 1 PG0V1 LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1
4 2 PG5V1
5 3 PG0V2 LA1 LA1
6 4 PG5V2 LB1 LA2
7 5 PG0V3 LB1 LB1 S-AXIS OVERRUN L.S.Connected to A1
8 6 PG5V3 P LB2 LB2 A2
7 PG0V4 S-axis with Limit Switch Specification
8 PG5V4
1BC(10X4) 9 PG0V5
LD1 LC2
DX100 10 PG5V5 P LD2 LD2 B2 2.For standard specification, the pins No.7 and No.8 of 3BC connector
CN1-5
CN1-4 P
CN1-5
CN1-4
+24V
0V
1
3
11
12
PG0V6
PG5V6
on the U-arm are respectively connected with the shock sensor power supply
13 and shock sensor signal input port of the DX100 controller.
CN1-10 CN1-10 +24V 2 14
CN1-9 P CN1-9 0V 4 15
16 No.22CN No.18CN Pin No. Connected Port in DX100
CN1-1 CN1-1 SPG+1 22CN-1 DATA+1 18CN-1 DATA+1
CN1-2 P CN1-2 SPG-1 P -2 DATA-1 P -2 DATA-1 7 Shock sensor power supply; +24V (1A)
-6 BAT -6 BAT
-5 OBT P -5 OBT PG S-axis 8 Shock sensor signal input port
-4 +5V -4 +5V
P -9 0V P -9 0V
CN1-3 CN1-3 -7 FG1 -10 FG1
FG1
P
No.23CN No.19CN 3. When connecting the pins No.7 and No.8 of 3BC connector base and
CN1-6 CN1-6
CN1-7 P CN1-7
SPG+2
SPG-2 P
23CN-1
-2
DATA+2
DATA-2 P
19CN-1
-2
DATA+2
DATA-2
the pins No.7 and No.8 of 3BC U-arm, the crimped contact-pins (SS1.SS2)
-6 BAT -6 BAT need to be replaced as shown in C .
-5 OBT P -5 OBT PG L-axis
P
-4
-9
+5V
0V P
-4
-9
+5V
0V
(Contact your Yaskawa representative in case of modifying the wiring before use.)
CN1-8 CN1-8 FG2 -7 FG2 -10 FG2
P
CN4-1 CN4-1 +24V
CN4-6 P CN4-6 LB1
CN4-2 CN4-2 SS2
CN4-7 P CN4-7 AL1
No.16CN
Power Cable Internal Cable
CN2-1 CN2-1 SPG+3 16CN-1 DATA+3
CN2-2 P CN2-2 SPG-3 P -2 DATA-3 Connector Base U-arm
-6 BAT
P -5 OBT PG U-axis
CN2-3 CN2-3 FG3
P
-4
-9
+5V
0V
DX100 1BC(10X4)
-10 FG3
Casing
No.9CN
CN2-6 CN2-6 SPG+4 9CN-1 DATA+4 CN4-1 CN4-1 24V(1A) SS1
CN2-7 P CN2-7 SPG-4 P -2 DATA-4 CN4-2 CN4-2 SS2 SS2 E
1BC(10X4) -3 BAT E E E Crimped C
P -4 OBT PG R-axis Contact-Pin
CN2-8 CN2-8 FG4 10CN-1 +5V
3BC(20-29)
P -2 0V 3BC(20-29) Base
-3 FG4
CN2-10 CN2-10 +24V
OBT E E E E
BAT Unused
P 3BC-1 1 1 1 1 1 1 3BC-1
No.13CN No.1CN -2 2 2 2 2 2 2 -2
P P
CN3-1 CN3-1 SPG+5 -1 DATA+5 1CN-1 DATA+5 -3 3 3 3 3 3 3 -3
CN3-2 P CN3-2 SPG-5 P -7 DATA-5 P -2 DATA-5
-2 BAT -4 4 4 4 P 4 4 P 4 -4
-3 BAT
-8 OBT P -4 OBT PG B-axis -5 5 5 5 5 -5
CN3-3 CN3-3
FG5 -3 +5V 2CN-1 +5V -6 6 6 6 P 6 -6
CN2-4 CN2-4 P -9 0V P -2 0V -7 7 7 SS1 SS1 SS1 7 -7
CN2-5 P CN2-5 SPG+7 -3 FG5 -8 8 8 SS2 P SS2 SS2 P 8 -8
SPG-7 -9 9 9 -9
OBT
BAT -10 10 P 10 -10
CN2-9 CN2-9 FG7 -11 11 11 -11
No.3CN -12 12 12 -12
CN3-6 CN3-6 SPG+6 -4 DATA+6 3CN-1 DATA+6
SPG-6 -13 13 13 -13
CN3-7 P CN3-7 P -10 DATA-6 P -2 DATA-6
-3 BAT -14 14 14 -14
-4 OBT PG T-axis -15 15 15 -15
CN3-8 CN3-8 -5 +5V 4CN-1 +5V -16 16 16 -16
FG6 P -11 0V P -2 0V
-6 FG6 -3 FG6
CN4-3 CN4-3 BC2 OBT
CN4-8 P CN4-8 BAT
AL2
CN4-10 CN4-10 0V U
P V FOR LAMP(OPTION)
CN3-4 CN3-4 0V
CN3-5 P CN3-5 +5V
E E
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8 Electrical Equipment Specification
MA1400 8.2 Internal Connections
E E E
Base Casing
E E E
3BC(20-29)
3BC(20-29)
E E
3BC-1 1 1 1 1 1 1 3BC-1
-2 2 2 2 P 2 2 P 2 -2
-3 3 3 3 3 3 3 -3
-4 4 4 4 P 4 4 P 4 -4 For Spare Cable
-5 5 5 5 5 -5
-6 6 6 6 P 6 -6
-7 7 7 SS1 SS1 SS1 SS1 7 -7 C
-8 8 8 SS2 SS2 P SS2 SS2 P 8 -8
-9 9 9 -9
Shock Sensor
-10 10 P 10 -10
-11 11 11 -11
(Optional)
-12 12 12 -12
-13 13 13 -13
-14 14 14 -14
-15 15 15 -15
-16 16 16 -16
2BC(6X6)
E
E
No.20CN
CN1-1 CN1-1 ME1 20CN-3 MU1
CN1-2 CN1-2 ME2 -2 MV1
CN1-3 CN1-3 -1 MW1
SM S-axis
ME2
CN1-4 CN1-4 MU1 -PE ME1
CN1-5 CN1-5 MV1 -4 BA1
CN1-6 CN1-6 MW1 -5 BB1 YB
No.21CN
CN2-1 CN2-1 MU2 21CN-3 MU2
CN2-2 CN2-2 MV2 -2 MV2
CN2-3 CN2-3 -1 MW2
SM L-axis
MW2
CN2-4 CN2-4 MU2 -PE ME2
CN2-5 CN2-5 MV2 -4 BA2
CN2-6 CN2-6 MW2 -5 BB2 YB
No.17CN
CN3-1 CN3-1 MU3 17CN-3 MU3
CN3-2 CN3-2 MV3 -2 MV3
CN3-3 CN3-3 -1 MW3
SM U-axis
MW3
CN3-4 CN3-4 MU4 -PE ME3
CN3-5 CN3-5 MV4 -4 BA3
CN3-6 CN3-6 MW4 -5 BB3 YB
No.11CN
CN4-1 CN4-1 MU5 11CN-1 MU4
2BC(6X6) CN4-2 CN4-2 -2 MV4
MV5
SM R-axis
CN4-3 CN4-3 MW5 -3 MW4
CN4-4 CN4-4 MU6 -4 ME4
CN4-5 CN4-5 MV6 -1 BA4
CN4-6 CN4-6 MW6 -2 BB4 YB
No.12CN No.5CN
No.14CN
CN5-1 CN5-1 ME3 14CN-1 MU5 5CN-1 MU5
CN5-2 CN5-2 ME4 -2 MV5 -2 MV5
CN5-3 CN5-3 MW5 MW5
SM
ME5 -3 -3 B-axis
CN5-4 CN5-4 ME6 -4 ME5 -4 ME5
CN5-5 CN5-5 BA1 -1 BA5
CN5-6 CN5-6 BB1 -2 BB5 YB
No.6CN
No.7CN
CN6-1 CN6-1 BA2 -5 MU6 7CN-1 MU6
CN6-2 CN6-2 BA3 -6 MV6 -2 MV6
CN6-3 CN6-3 -7 MW6 -3 MW6
SM T-axis
BA4
CN6-4 CN6-4 BB4 -8 ME6 -4 ME6
CN6-5 CN6-5 BA5 -1 BA6
CN6-6 CN6-6 BA6 15CN-1 BA5 -2 BB6 YB
-2 BB5 No.8CN
-3 BA6
-4 BB6
No.15CN
PE
(10)/1C
(10)/1C
(10)/1C
E-WRCT(60sq)
(10)/1C
(10)/1C
(10)/1C
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WARNING
• Before maintenance or inspection, be sure to turn the main power
supply OFF, and put up a warning sign. (ex. DO NOT TURN THE
POWER ON.)
Failure to observe this warning may result in electric shock or injury.
CAUTION
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your Yaskawa representative.
• The battery pack must be connected before removing detection
connector when maintenance and inspection.
Failure to observe this caution may result in the loss of home position
data.
9-1
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Table 9-1: Inspection Items (Sheet 1 of 3)
Items1) Schedule Method Operation Inspection
Charge
12000HCycle
1000HCycle
6000HCycle
Personnel
Company
Specified
Licensee
Service
24000H
36000H
Daily
1 Alignment mark • Visual Check alignment mark accordance and damage at the • • •
9.1
9
home position.
2 External lead • Visual Check for damage and deterioration of leads. • • •
Inspection Schedule
Maintenance and Inspection
3 Working area and
manipulator
• Visual Clean the work area if dust or spatter is present. Check for
damage and outside cracks.
• • •
4 Motors for S-, L-, U-axes • Visual Check for grease leakage.2) • • •
5 Baseplate mounting bolts • Spanner
Wrench
Tighten loose bolts. Replace if necessary. • • •
9-2
• Replace4) •
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Table 9-1: Inspection Items (Sheet 2 of 3)
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Items1) Schedule Method Operation Inspection
Charge
12000HCycle
1000HCycle
6000HCycle
Personnel
Company
Specified
Licensee
Service
24000H
36000H
Daily
12 S-axis speed reducer • • Grease Gun Check for malfunction. (Replace if necessary.) Supply
grease5) (6000H cycle).
• •
9.1
9
See Par. chapter 9.3.1 “Grease Replenishment/
Exchange for S-Axis Speed Reducer” at page 9-9.
Replace grease5). (12000H cycle)
Inspection Schedule
Maintenance and Inspection
See Par. chapter 9.3.1 “Grease Replenishment/
Exchange for S-Axis Speed Reducer” at page 9-9.
13 Speed reducers for L-, E- and
U-axes
• • Grease Gun Check for malfunction. (Replace if necessary.) Supply
grease5) (6000H cycle).
• •
See Par.chapter 9.3.2 “Grease Replenishment/Exchange
9-3
14 R-axis speed reducer • Grease Gun Check for malfunction. (Replace if necessary.) Supply
grease5) (6000H cycle).
• •
See Par. chapter 9.3.4 “Grease Replenishment for R-Axis
Speed Reducer” at page 9-15.
Table 9-1: Inspection Items (Sheet 3 of 3)
MA1400
Items1) Schedule Method Operation Inspection
Charge
12000HCycle
1000HCycle
6000HCycle
Personnel
Company
Specified
Licensee
Service
24000H
36000H
Daily
15 B-axis speed reducer • Grease Gun Check for malfunction. (Replace if necessary.) Supply
grease5) (6000H cycle).
• •
9.1
9
See Par. chapter 9.3.5 “Grease Replenishment for B-Axis
Speed Reducer” at page 9-16.
16 T-axis gear • Grease Gun Check for malfunction. (Replace if necessary.) Supply • •
Inspection Schedule
Maintenance and Inspection
grease5) (6000H cycle). See Par. chapter 9.3.6 “Grease
Replenishment for T-Axis Gear” at page 9-17
17 Overhaul • •
1 Inspection No. correspond to the numbers in fig. 9-1 “Inspection Items” at page 9-6.
9-4
2 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can
cause a motor breakdown. Contact your Yaskawa representative.
3 When checking for conduction with multimeter, connect the battery to “BAT” and “OBT” of connectors on the
motor side for each axis, and then remove connectors on detector side for each axis from the motor. Otherwise,
the home position may be lost. (Refer to chapter 9.3.8 “Notes for Maintenance” at page 9-20)
4 Wire harness in manipulator to be replaced at 24000H inspection.
5 For the grease, refer to table 9-2 “Inspection Parts and Grease Used” at page 9-5.
155557-1CD
155557-1CD
155557-1CD
The numbers in the above table correspond to the numbers in table 9-1
“Inspection Items” at page 9-2
9-5
155557-1CD
Fig. 9-1: Inspection Items
MA1400
5
14
4 8
Note:
This figure shows the standard specification
manipulator in the home position.
9.1
9
8
Inspection Schedule
Maintenance and Inspection
15
9-6
16 4
13
13
9
155557-1CD
11
12 4
155557-1CD
155557-1CD
2BC
1BC
3BC
Support
Battery pack
Connector base
Plate fixing screw
Battery pack
See step 5 below before replacement
Connector
Board
See step 4 below
9-7
155557-1CD
155557-1CD
9 Maintenance and Inspection
MA1400 9.3 Notes on Grease Replenishment/Exchange Procedures
NOTE Remove the old battery pack after connecting the new one
so that the encoder absolute data does not disappear.
NOTE Do not allow plate to pinch the cables when reinstalling the
plate.
9-8
155557-1CD
155557-1CD
2BC
1BC
3BC
9.3.1.1 Grease Replenishment (Refer to fig. 9-4 “S-Axis Speed Reducer Diagram” .)
Replenish the grease according to the following procedure:
1. Remove the hexagon socket head plugs PT1/8 from the grease inlet
and grease exhaust port.
• If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
NOTE
• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in dam-
age to the motor due to coming off of an oil seal.
2. Install a grease zerk PT1/8 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
3. Inject the grease into the grease inlet using a grease gun
– Grease type: VIGO Grease RE No. 0
– Amount of grease: 70 cc (140 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. Move the S-axis for a few minutes to discharge excess grease.
5. Wipe the discharged grease with a cloth. Remove the grease zerk
from the grease inlet, and reinstall the plugs to the grease inlet and
grease exhaust port. Before installing the plugs, apply Three Bond
1206C on the thread part of each plug, then tighten the plug with a
tightening torque of 4.9 N•m (0.5 kgf•m).
9-9
155557-1CD
155557-1CD
9 Maintenance and Inspection
MA1400 9.3 Notes on Grease Replenishment/Exchange Procedures
9.3.1.2 Grease Exchange (Refer to fig. 9-4 “S-Axis Speed Reducer Diagram” at page 9-9.)
1. Remove the hexagon socket head plugs PT1/8 from the grease inlet
and grease exhaust port.
• If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
NOTE
• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in dam-
age to the motor due to coming off of an oil seal.
2. Install a grease zerk PT1/8 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
3. Inject the grease into the grease inlet using a grease gun.
– Grease type: VIGO Grease RE No. 0
– Amount of grease: approx. 450 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. The grease exchange is completed when new grease appears in the
grease exhaust port. (The new grease can be distinguished from the
old grease by color.)
5. Move the S-axis for a few minutes to discharge excess grease.
6. Wipe the discharged grease with a cloth. Remove the grease zerk
from the grease inlet, and reinstall the plugs to the grease inlet and
grease exhaust port. Before installing the plugs, apply Three Bond
1206C on the thread part of each plug, then tighten the plug with a
tightening torque of 4.9 N•m (0.5 kgf•m).
9-10
155557-1CD
155557-1CD
L-arm
Grease inlet
Hexagon socket head cap screw M6
9.3.2.1 Grease Exchange (Refer to fig. 9-5 “L-Axis Speed Reducer Diagram” .)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head plug PT1/8 from the grease
exhaust port.
3. Remove the hexagon socket head cap screw M6 from the grease inlet.
• If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
NOTE
• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in dam-
age to the motor due to coming off of an oil seal.
4. Install a grease zerk A-MT6X1 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
5. Inject grease into the grease inlet using a grease gun.
– Grease type: VIGO Grease RE No. 0
– Amount of grease: 65 cc (130 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
6. Move the L-axis for a few minutes to discharge excess grease.
7. Remove the grease zerk from the grease inlet, and reinstall the screw.
Before installing the screw, apply Three Bond 1206C on the thread
part of the screw. Then tighten the screw with a tightening torque of 10
N•m (1.0 kgf•m).
9-11
155557-1CD
155557-1CD
9 Maintenance and Inspection
MA1400 9.3 Notes on Grease Replenishment/Exchange Procedures
8. Wipe the discharged grease with a cloth, and reinstall the plug. Before
installing the plug, apply Three Bond 1206C on the thread part of the
plug. Then tighten the plug with a tightening torque of 4.9 N•m (0.5
kgf•m).
9.3.2.2 Grease Exchange (Refer to fig. 9-5 “L-Axis Speed Reducer Diagram” at page 9-11.)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head plug PT1/8 from the grease
exhaust port.
3. Remove the hexagon socket head cap screw M6 from the grease inlet.
• If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
NOTE
• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in dam-
age to the motor due to coming off of an oil seal.
4. Install a grease zerk A-MT6X1 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
5. Inject grease into the grease inlet using a grease gun.
– Grease type: VIGO Grease RE No. 0
– Amount of grease: approx. 420 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
6. The grease exchange is completed when new grease appears in the
grease exhaust port. (The new grease can be distinguished from the
old grease by color.)
7. Move the L-axis for a few minutes to discharge excess grease.
8. Remove the grease zerk from the grease inlet, and reinstall the screw.
Before installing the screw, apply Three Bond 1206C on the thread
part of the screw. Then tighten the screw with a tightening torque of 10
N•m (1.0 kgf•m).
9. Wipe the discharged grease with a cloth, and reinstall the plug. Before
installing the plug, apply Three Bond 1206C on the thread part of the
plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5
kgf•m).
9-12
155557-1CD
155557-1CD
U-axis
U-arm speed reducer
9.3.3.1 Grease Replenishment (Refer to fig. 9-6 “U-Axis Speed Reducer Diagram” .)
1. Make the U-arm horizontal to the ground.
2. Remove the hexagon socket head cap screw M6 from grease exhaust
port.
3. Remove the hexagon socket head plug PT1/8 from the grease inlet.
• If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
NOTE
• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in dam-
age to the motor due to coming off of an oil seal.
4. Install a grease zerk PT1/8 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
5. Inject grease into the grease inlet using a grease gun.
– Grease type: VIGO Grease RE No. 0
– Amount of grease: 40 cc (80 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
6. Move the U-axis for a few minutes to discharge excess grease.
7. Remove the grease zerk from the grease inlet, and reinstall the plug.
Before installing the plug, apply Three Bond 1206C on the thread part
of the plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m).
8. Wipe the discharged grease with a cloth, and reinstall the screw.
Before installing the screw, apply Three Bond 1206C on the thread
part of the screw, then tighten the screw with a tightening torque of 10
N•m (1.0 kgf•m).
9-13
155557-1CD
155557-1CD
9 Maintenance and Inspection
MA1400 9.3 Notes on Grease Replenishment/Exchange Procedures
9.3.3.2 Grease Exchange (Refer to fig. 9-6 “U-Axis Speed Reducer Diagram” at page 9-13.)
1. Make the U-arm horizontal to the ground.
2. Remove the hexagon socket head cap screw M6 from the grease
exhaust port.
3. Remove the hexagon socket head cap plug PT1/8 from the grease
inlet.
• If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
NOTE
• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in dam-
age to the motor due to coming off of an oil seal.
4. Install a grease zerk PT1/8 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
5. Inject grease into the grease inlet using a grease gun.
– Grease type: VIGO Grease RE No. 0
– Amount of grease: approx. 250 cc
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
6. The grease exchange is complete when new grease appears in the
grease exhaust port. (The new grease can be distinguished from the
old grease by color.)
7. Move the U-axis for a few minutes to discharge excess grease.
8. Remove the grease zerk from the grease inlet, and reinstall the plug.
Before installing the plug, apply Three Bond 1206C on the thread part
of the plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m).
9. Wipe the discharged grease with a cloth, and reinstall the screw to the
grease exhaust port. Before installing the plug, apply Three Bond
1206C on the thread part of the screw, then tighten the screw with a
tightening torque of 10 N•m (1.0 kgf•m).
9-14
155557-1CD
155557-1CD
Exhaust port
Hexagon socket
head cap screw M6
Grease inlet
Hexagon socket head
cap screw M6
1. Remove the hexagon socket head cap screw M6 from the exhaust
port.
2. Remove the hexagon socket head cap screw M6 from the grease inlet.
3. Install a grease zerk A-MT6X1 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
4. Inject grease into the grease inlet using a grease gun. (Refer to
fig. 9-7 “R-Axis Speed Reducer Diagram” .)
– Grease type: Harmonic grease 4B No.2
– Amount of grease: 12 cc (24cc for the first supply)
The exhaust port is used for air exhaust, and the grease is
NOTE not exhausted from the exhaust port. Do not inject exces-
sive grease into the grease inlet.
5. Remove the grease zerk from the grease inlet, and reinstall the screw.
Before installing the screw, apply Three Bond 1206C on the thread
part of the screw, then tighten the screw with a tightening torque of 6
N•m (0.6 kgf•m).
6. Reinstall the screw to the exhaust port. Before installing the screw,
apply Three Bond 1206C on the thread part of the screw, then tighten
the screw with a tightening torque of 6 N•m (0.6 kgf•m).
9-15
155557-1CD
155557-1CD
9 Maintenance and Inspection
MA1400 9.3 Notes on Grease Replenishment/Exchange Procedures
The exhaust port is used for air exhaust, and the grease is
NOTE not exhausted from the exhaust port. Do not inject exces-
sive grease into the grease inlet.
5. Remove the grease zerk from the grease inlet, and reinstall the screw.
Before installing the screw, apply Three Bond 1206C on the thread
part of the screw, then tighten the screw with a tightening torque of 6
N•m (0.6 kgf•m).
6. Reinstall the plug to the exhaust port, then reinstall the cover.
9-16
155557-1CD
155557-1CD
Grease inlet 1
Grease inlet 2
Hexagon socket
head cap screw M6 Hexagon socket
head cap screw M6
Exhaust port
Hexagon socket
set screw M6
1. Remove the hexagon socket set screw from the exhaust port.
2. Remove the hexagon socket head cap screw M6 from the grease inlet
1.
3. Install a grease zerk A-MT6X1 to the grease inlet 1. (The grease zerk
is delivered with the manipulator.)
4. Inject grease into the grease inlet 1 using a grease gun.
– Grease type: Alvania EP Grease 2
– Amount of grease: 5 cc
The exhaust port is used for air exhaust, and the grease is
NOTE not exhausted from the exhaust port. Do not inject exces-
sive grease into the grease inlet.
5. Remove the grease zerk from the grease inlet 1, and reinstall the
screw. Before installing the screw, apply Three Bond 1206C on the
thread part of the screw, then tighten the screw with a tightening
torque of 6 N•m (0.6 kgf•m).
6. Remove the hexagon socket head cap screw M6 from the grease inlet
2.
7. Install a grease zerk A-MT6X1 to the grease inlet 2. (The grease zerk
is delivered with the manipulator.)
9-17
155557-1CD
155557-1CD
9 Maintenance and Inspection
MA1400 9.3 Notes on Grease Replenishment/Exchange Procedures
The exhaust port is used for air exhaust, and the grease is
NOTE not exhausted from the exhaust port. Do not inject exces-
sive grease into the grease inlet.
9. Remove the grease zerk from the grease inlet 2, and reinstall the
screw. Before installing the screw, apply Three Bond 1206C on the
thread part of the screw, then tighten the screw with a tightening
torque of 6 N•m (0.6 kgf•m).
10. Reinstall the set screw to the exhaust port. Before installing the set
screw, apply Three Bond 1206C on the thread part of the screw, then
tighten the screw with a tightening torque of 2.9 N•m (0.29 kgf•m).
Grease inlet
(Hexagon socket head plug PT1/8)
• If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
NOTE
• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in dam-
age to the motor due to coming off of an oil seal.
9-18
155557-1CD
155557-1CD
4. Install a grease zerk PT1/81 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
5. Inject grease into the grease inlet using a grease gun. (Refer to
fig. 9-10 “R-Axis Gear Diagram” .)
– Grease type: Harmonic grease 4B No.2
– Amount of grease: 55 cc (110 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
6. Move the R-axis for a few minutes to discharge excess grease.
7. Remove the grease zerk from the grease inlet, and reinstall the screw.
Before installing the screw, apply Three Bond 1206C on the thread
part of the screw. Then tighten the screw with a tightening torque of
4.9 N•m (0.5 kgf•m).
8. Wipe the discharged grease with a cloth, and reinstall the plug. Before
installing the plug, apply Three Bond 1206C on the thread part of the
plug. Then tighten the plug with a tightening torque of 4.9 N•m (0.5
kgf•m).
9-19
155557-1CD
155557-1CD
9 Maintenance and Inspection
MA1400 9.3 Notes on Grease Replenishment/Exchange Procedures
Cover
9-20
155557-1CD
155557-1CD
Motor
0BT b a 0BT*
BAT a b BAT*
Fig. 9-12(b): Encoder Connector Diagram (for R-, B-, and T-Axes)
Encoder
Motor
CAUTION
CAUTION label
Connection Diagram
0BT a b 0BT4
BAT b a BAT4
9-21
155557-1CD
155557-1CD
Table 10-1: Spare Parts for the YR-MA01400-A00, -A01, -A10, -A11 (Sheet 1 of 2)
Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
A 1 Grease VIGO Grease RE Yaskawa Electric 16 kg -
No. 0 Corporation
A 2 Grease Harmonic Grease Harmonic Drive Systems 2.5 kg -
4B No.2 Co., Ltd.
A 3 Grease Harmonic Grease Harmonic Drive Systems 2.5 kg -
SK-1A Co., Ltd.
A 4 Grease Alvania EP Grease 2 Showa Shell Sekiyu K.K. 16 kg -
A 5 Liquid Seal Three Bond 1206C Three Bond Co., Ltd. - -
A 6 Battery Pack HW0470360-A Yaskawa Electric 1 1
Corporation
A 7 Battery Pack HW9470932-A Yaskawa Electric 1 -
Corporation
B 8 B-Axis Timing Belt 60S4.5M711 Mitsuboshi Belting Limited 1 1
B 9 T-Axis Timing Belt 60S4.5M932 Mitsuboshi Belting Limited 1 1
B 10 S-Axis Speed HW0386621-B Yaskawa Electric 1 1
Reducer Corporation
B 11 S-Axis Input Gear HW0312734-1 Yaskawa Electric 1 1
Corporation
B 12 L-Axis Speed HW0387809-A Yaskawa Electric 1 1
Reducer Corporation
B 13 L-Axis Input Gear HW0312735-1 Yaskawa Electric 1 1
Corporation
B 14 U-Axis Speed HW9280738-B Yaskawa Electric 1 1
Reducer Corporation
B 15 U-Axis Input Gear HW0303277-4 Yaskawa Electric 1 1
Corporation
B 16 R-Axis Speed HW0381645-A Yaskawa Electric 1 1
Reducer Corporation
B 17 B-Axis Speed HW0381646-A Yaskawa Electric 1 1
Reducer Corporation
B 18 R-Axis Gear HW0303288-A Yaskawa Electric 1 1
Corporation
10-1
155557-1CD
155557-1CD
10 Recommended Spare Parts
MA1400
Table 10-1: Spare Parts for the YR-MA01400-A00, -A01, -A10, -A11 (Sheet 2 of 2)
Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
B 19 R-Axis Gear Unit HW0370905-A Yaskawa Electric 1 1
Corporation
B 20 T-Axis Gear HW0372792-A Yaskawa Electric 1 1
(Output Side) Corporation
B 21 T-Axis Gear HW0310757-A Yaskawa Electric 1 1
(Input Side) Corporation
B 22 Internal Wire HW0174016-A Yaskawa Electric 1 1
Harness Corporation
B 23 Internal Cable for HW0270867-A Yaskawa Electric 1 1
B- and T-Axes Corporation
C 24 AC Servomotor for SGMRV-05ANA- Yaskawa Electric 1 2
S- and U-Axes YR2* Corporation
HW0388664-A
C 25 L-Axis AC SGMRV-09ANA- Yaskawa Electric 1 1
Servomotor YR1* Corporation
HW0388665-A
C 26 R-Axis AC SGMPH-01ANA- Yaskawa Electric 1 1
Servomotor YR1* Corporation
HW0389297-A
C 27 AC Servo Motor SGMAV-01ANA- Yaskawa Electric 1 2
for B- and T-Axes YR1* Corporation
HW0389294-A
10-2
155557-1CD
155557-1CD
11 Parts List
MA1400 11.1 S-Axis Unit
11 Parts List
1022 1004
1005
1006
1008
1007
1023
1023 1017
1047 1016
1045 1018
1034
1002
1037 1036 1003
1054
1053 1051
1012
1014 1055 1011
1013
1020
1012 1024
1010 1055 1029
1013
1014 1028
1020
1011
1009 1052
1025
1043
1030 1033 1044
1042
1041
1040
1031
1015 1032
1026 1001
1027
1019
11-1
155557-1CD
155557-1CD
11 Parts List
MA1400 11.1 S-Axis Unit
11-2
155557-1CD
155557-1CD
11 Parts List
MA1400 11.1 S-Axis Unit
11-3
155557-1CD
155557-1CD
11 Parts List
MA1400 11.2 L-Axis Unit
2005
2012
2001
2003
2013
2010 1002 2018
2016
2009
2006
2011
2002
2020
2019 2004
2015
2014
11-4
155557-1CD
155557-1CD
11 Parts List
MA1400 11.3 U-Axis Unit
3011
3003
3001
3025
3034
3024
3033
3008
3010
3009
3028
3032 3039 3029 3017
3031 3019 3016 3014
3004
3020 3018 3007
3021 3041 3006 3012
3027
3040
3030
3038
3015 3005
3022 3013
3023
3035
3037
3036
2005
11-5
155557-1CD
155557-1CD
11 Parts List
MA1400 11.3 U-Axis Unit
R-Axis Unit
Table 11-3: U-Axis Unit
No. DWG No. Name Pcs
3001 SGMRV-05ANA-YR2* Motor 1
3003 M8X30 GT-SA bolt 4
3004 HW9280738-B Speed reducer 1
3005 M10X30 GT-SA bolt 6
3006 M6X35 Socket screw 16
3007 2H-6 Spring washer 16
3008 HW0303277-4 Gear 1
3009 M5X65 Socket screw 1
3010 2H-5 Spring washer 1
3011 HW0102227-1 Casing 1
3012 HW0200494-1 Cover 1
3013 M4X12 GT-SA bolt 4
3014 HW0404554-2 N base 1
3015 M4X12 GT-SA bolt 4
3016 M3X16 Round Head Screw with 2
Spring Washer
3017 M3 Nut 2
3018 M12X20 Socket screw 2
3019 2H-12 Spring washer 2
3020 HW0404719-2 Plate 1
3021 PZ1212 Saddle 1
3022 PZ1208 Saddle 1
3023 M4X10 APS bolt 4
3024 M4X12 GT-SA bolt 2
3025 HW0304458-2 Support 1
3027 TA1-S10 Clamp 2
3028 T50R Insulok 2
3029 M5X8 Round Head Screw with 2
Spring Washer
3030 HW0304454-1 Cover 1
3031 M4X12 GT-SA bolt 7
3032 M4 Washer 7
3033 HW0412661-1 Cover 1
3034 M4X10 GT-SA bolt 2
3035 M12X20 Socket screw 2
3036 2H-12 Spring washer 2
3037 M6X6 Socket screw 1
3038 PT1/8 Plug 1
3039 KQE10-03 Union 1
3040 KQE12-03 Union 1
3041 PT3/8*dacro* Plug 1
3048 23184-01A2AYR12 Motor 1
3049 SGMPH-01A3A-YR11 Motor 1
2005 HW0102224-1 L arm 1
11-6
155557-1CD
155557-1CD
11 Parts List
MA1400 11.3 U-Axis Unit
5073
4028
4029
4026
4027
4025
4030
4031
4035
4044
4045
4046
4033 4032 4047
4040
4036
4002
4038 4018
4048 4049
4037
4024
4023
4039 4041
4019 4042
4022
4021 4043
4020 4059
4052 4012 4017 4013
4058
4010
5009 4014
4016
4015
4056 4057
4054 4008 4007
4053
4001
11-7
155557-1CD
155557-1CD
11 Parts List
MA1400 11.3 U-Axis Unit
11-8
155557-1CD
155557-1CD
11 Parts List
MA1400 11.3 U-Axis Unit
11-9
155557-1CD
155557-1CD
11 Parts List
MA1400 11.4 Wrist Unit
5045
5048
5075 5041 5043
5096 5046
5076 5097 5042 5047 5085
5099 5044 5084
5042
5095 5083
5035 5079
5078
5081
5092
5080 5093 5049
5100 5090
5037 5087
5091 5088
5050
5082
5039 5063
5038 5052 5101
5040 5051
5062 5098
5029 5054 5086
5017 5023 5089
5028 5091
5022
5021 5091
5016
5027 5030
5094 5034
5024
5026
5025
5033
5031
5015 5032 5019
5018
5014 5036
5074 5071
5070
5072 5020
5004 5052
5013 5061
5005 5001 5012
5006 5002
5007 5003 5060 5077
5008
5057
5059 5056
5010 5058 5055
5009 5012
5011 5053
5070
5064
5071
3011
5073 5069
5001
5072
5068
5067 5065
5066
5074
11-10
155557-1CD
155557-1CD
11 Parts List
MA1400 11.4 Wrist Unit
11-11
155557-1CD
155557-1CD
11 Parts List
MA1400 11.4 Wrist Unit
11-12
155557-1CD
155557-1CD
11 Parts List
MA1400 11.4 Wrist Unit
11-13
155557-1CD
MOTOMAN-MA1400
INSTRUCTIONS
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone +81-93-645-7745 Fax +81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 10, Box 4004, SE-390 04 Kalmar, Sweden
Phone +46-480-417800 Fax +46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA ELECTRIC KOREA CORPORATION
1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone +82-53-382-7844 Fax +82-53-382-7845
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
Unit 47-1 and 2. Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810, Petailng Jaya Selangor, Malaysia
Phone +60-3614-08919 Fax +60-3614-08929
YASKAWA ELECTRIC (THAILAND) CO., LTD.
252/246, 4th Floor. Muang Thai-Phatra office Tower II Rechadapisek Road, Huaykwang Bangkok 10320, Thailand
Phone +66-2-693-2200 Fax +66-2-693-4200
SHOUGANG MOTOMAN ROBOT CO., LTD.
No.7,Yongchang-North Road, Beijing Economic and Technological and Development Area, Beijing 100076, China
Phone +86-10-6788-0541 Fax +86-10-6788-0542
MOTOMAN MOTHERSON ROBOTICS LTD.
910, DLF Galleria, DLF City Phase IV, Gurgaon - 122002 Haryama, india
Phone +91-124-414-8514 Fax +91-124-414-8016
YASKAWA
MANUAL NO.
155557-1CD 0