MOTOMAN-EPX1750 and EPX2050
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INSTRUCTIONS
TYPE:
YR-EPX1750-B5**
YR-EPX2050-B5**
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-EPX1750 & EPX2800 INSTRUCTIONS
NX100 INSTRUCTIONS
NX100 INSTRUCTIONS (EPX INSTRUCTION SUPPLEMENTS
NX100 OPERATOR’S MANUAL FOR PAINTING
NX100 MAINTENANCE MANUAL
The NX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number: 154771-1CD
Revision: 2
MANUAL NO.
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2
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Copyright © 2015, Yaskawa America, Inc.
Terms of Use and Copyright Notice
154771-1CD
All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the
operation of Motoman robots, related equipment and software This manual is copyrighted property of
Yaskawa and may not be sold or redistributed in any way. You are welcome to copy this document to
your computer or mobile device for easy access but you may not copy the PDF files to another website,
blog, cloud storage site or any other means of storing or distributing online content.
Printed in the United States of America
First Printing, 2015
Yaskawa America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200
www.motoman.com
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MANDATORY
CAUTION
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• This manual describes the specifications, precautions for operation and required items for
maintenance or inspections, for proper application of the MOTOMAN EPX1750 & EPX2050. Read
this manual carefully and be sure to understand its contents before handling the MOTOMAN.
• General items related to safety are listed in the Section 1: Safety of the NX100 Instructions. To
ensure correct and safe operation, carefully read the NX100 Instructions before reading this
manual.
• Refer to NX100 Operator’s Manual for the operation methods.
• 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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We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for Industrial
Robots and Robot Systems (ANSI/RIA R15.06-2012). You can obtain this document from the Robotic
Industries Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against accidents and damage that can result
from improper operation of the equipment. The customer is responsible for providing adequately
trained personnel to operate, program, and maintain the equipment. NEVER ALLOW UNTRAINED
PERSONNEL TO OPERATE, PROGRAM, OR REPAIR THE EQUIPMENT!
We recommend approved Yaskawa training courses for all personnel involved with the operation,
programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a Class A digital device,
pursuant to part 15 of the FCC rules. These limits are designed to provide reasonable protection
against harmful interference when the equipment is operated in a commercial environment. This
equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in
accordance with the instruction manual, may cause harmful interference to radio communications.
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DANGER
WARNING
CAUTION
MANDATORY
PROHIBITED
NOTE
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Notes for Safe Operations
Notes for Safe Operations
Read this manual carefully before installation, operation, maintenance, or inspection of the MOTOMAN.
In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”,
“CAUTION”, “MANDATORY”, or “PROHIBITED”.
Indicates an imminent hazardous situation which, if not
avoided, could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided,
could result in death or serious injury to personnel.
Indicates a potentially hazardous 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 items listed under this
heading.
Must never be performed.
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 follow all instructions, even if
not designated as “DANGER”, “WARNING” and “CAUTION”.
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WARNING
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Notes for Safe Operations
• Before operating the manipulator, check that servo power is turned OFF when the emergency stop
buttons on the front door of the NX100 and programming pendant are pressed.
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.
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.
Release of Emergency Stop
• 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.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the P-point maximum envelope of the manipulator and that
you are in a safe location before:
- Turning ON the NX100 power.
- Moving the manipulator with the programming pendant.
- Running the system in the check mode.
- Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the manipulator
during operation. Always press an emergency stop button immediately if there is a
problems. The emergency stop buttons are located on the right of the front door of the
NX100 and the programming pendant.
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CAUTION
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Notes for Safe Operations
• 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 NX100 cabinet after use.
The programming pendant can be damaged if it is left in the P-point maximum envelope
of the manipulator, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the NX100 Instructions before
operating the EPX1750 & EPX2050.
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Do not enter
robot work area
WARNING
Moving parts may
cause injury
WARNING
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Explanation of Warning Labels
Explanation of Warning Labels
The following warning labels are attached to the manipulator and NX100.
Always follow the warnings on the labels.
WARNING
•The following warning labels are attached to NX100.
Always follow the warnings on the labels.
Neglect of this warning may cause a serious accident.
To find these labels, please refer the Manipulator Instruction book.
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• The following warning labels are attached to the NX100.
Always follow the warnings on the labels.
Neglect of this warning may cause a serious accident.
To find these labels, please refer the Manipulator Instruction book
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Definition of Terms Used Often in This Manual
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
NX100 controller NX100
NX100 programming pendant Programming pendant
Cable between the manipulator and the controller Manipulator cable
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • " means that the cursor is
moved to the object item and the SELECT key is pressed, or that the item is directly selected by
touching the screen.
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(937) 847-3200
NOTE
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Customer Support Information
Customer Support Information
If you need assistance with any aspect of your EPX1750 & EPX2050 system, please contact Motoman
Customer Support at the following 24-hour telephone number:
For routine technical inquiries, you can also contact Motoman Customer Support at the following
e-mail address:
techsupport@motoman.com
When using e-mail to contact Motoman Customer Support, please provide a detailed description of
your issue, along with complete contact information. Please allow approximately 24 to 36 hours for a
response to your inquiry.
Please use e-mail for routine inquiries only. If you have an urgent or emergency need for
service, replacement parts, or information, you must contact Motoman Customer Support
at the telephone number shown above.
Please have the following information ready before you call Customer Support:
• System EPX1750 & EPX2050
• Robots ___________________________
• Primary Application Painting
• Controller NX100
• Software Version Access this information on the Programming Pendant’s LCD
display screen by selecting {MAIN MENU} - {SYSTEM INFO} {VERSION}
• Robot Serial Number Located on the robot data plate
• Robot Sales Order Number Located on the NX100 controller data plate
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Table of Contents
1 Safety Precautions
2 Features
2.1 Methods of Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
3 Installation
Table of Contents
3.1 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Installation Site . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
4 Transport and Installation
4.1 Preparation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Receiving and Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.3 Transport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.3.1 Transporting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.3.2 Shipping Bolts and Brackets . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5
4.4 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.4.1 Installation of Safeguarding . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7
4.4.2 Mounting Procedures for Manipulator Base . . . . . . . . . . . . . . .4-7
4.4.3 Mounting the Manipulator on the Baseplate . . . . . . . . . . . . . . .4-8
4.4.4 Mounting Manipulator Directly on the Floor. . . . . . . . . . . . . . . .4-9
4.4.5 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-10
4.4.6 Controller and Programming Pendant . . . . . . . . . . . . . . . . . . .4-10
4.4.7 Safety Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-10
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Table of Contents
5 Connection
5.1 Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.2 Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
5.2.1 Connection to the Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.2.2 Power Cable Construction Method Example . . . . . . . . . . . . . . 5-4
5.2.3 Cable and Air Tube Connection . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.3 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
6 System Configuration
6.1 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Robot Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
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6.3 Pneumatic Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.4 O-Ring and X-Ring in the Wrist. . . . . . . . . . . . . . . . . . . . .6-5
7 Basic Specifications
7.1 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.3 System Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
8 Frequent Inspections
8.1 Frequent Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1
8.2 Daily Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.2.1 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.2.2 Pneumatic Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.2.3 Safety Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.2.4 Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
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9 Maintenance and Inspection
9.1 Inspection Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.2 Maintenance for Manipulator. . . . . . . . . . . . . . . . . . . . . . . 9-4
9.2.1 Grease Replenishment/Replacement . . . . . . . . . . . . . . . . . . . .9-4
9.2.2 Lubricating Oil Replacement R-, B-, and
T-Axis Speed Reducers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-7
9.2.3 Tightening Bolts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-8
9.2.4 Wrist Speed Reducer and Bearing . . . . . . . . . . . . . . . . . . . . . .9-9
9.2.5 Air Sealings for Internal Air Pressure . . . . . . . . . . . . . . . . . . .9-10
9.3 Maintenance and Inspection of the
Pneumatic Unit
9.3.1 Solenoid Valve. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-12
9.3.2 Pressure Reducing Valve . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-12
9.4 Inspection of Explosion-Proof Devices . . . . . . . . . . . . 9-13
9.4.1 Pressure Switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-13
9.4.2 Master Valve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-13
9.4.3 Pressurized Anti-Explosion Barrier . . . . . . . . . . . . . . . . . . . . .9-13
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12
Table of Contents
10 Recommended Spare Parts
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WARNING
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1 Safety Precautions
1 Safety Precautions
• Respect the law, local regulations, and safety codes for connecting the painting robot.
• Specify the working regulations and the person in charge for the following operations:
• Turning the power to the robot ON/OFF, and RUN/STOP operations
To avoid any faulty operation, take measures such as putting up a notice to remind
operators of procedures and precautions explained in the instruction manual.
• Warning sign or signal to inform operator of the robot operation status
Starting an operation while someone is in the manipulator’s working envelope or while
someone is doing maintenance checks or repairs may cause a serious accident.
When on standby, the manipulator can be moved by an external signal.
To avoid these accidents caused by a lack of information, put up a board or indicator
lamp to show the robot operation status.
• Action to be taken in case of a failure or an accident
Appoint a person to be contacted and the action to be taken in case of a failure or an
accident.
• Safety standards and the supervisor for safe operation
Appoint a supervisor for the safe operation of the manipulator and establish the working regulations.
• Appoint a person to be in charge of teaching, maintenance and inspections and provide training or lectures on safety and the actions to be taken in case of an emergency.
Install the MOTOMAN-EPX1750 & EPX2050 in a location that meets the requirements of
Area Classification “Division I” prescribed in FM Approval Standard.
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1 Safety Precautions
DANGER
PROHIBITED
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• Take the following measures when teaching, correcting, inspecting, or adjusting the
manipulator when the motor power supply is ON:
(a) Appoint a personnel to stay beside the emergency stop button of the NX100 and
perform the operations holding the programming pendant with the emergency stop
button.
(b) Before the operation, verify the correct robot motion and that the emergency stop
works.
• Observe the following precautions during an automatic operation:
(a) Do not enter inside the safeguards during operation.
(b) Confirm the following before starting the operation:
• No person is inside the manipulator working envelope.
• No obstacles such as unnecessary workpieces and tools are inside the
manipulator working envelope.
• The manipulator is in its standby position.
(c) When any abnormality occurs, immediately press the emergency stop button to stop
the manipulator.
(d) Before entering inside the manipulator working envelope, be sure to stop the
manipulator and turn OFF the main power supply to the NX100.
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• Brake release (Option)
A braking system is provided on each axis of the manipulator to hold the arm in its
position when a failure or fault occurs. When the brake is activated, the manipulator
cannot be moved manually even if the power is OFF. To change the posture of the
manipulator after a failure or fault, the brake can be released by the operation from the
controller.
When the brake is released with the manipulator’s power OFF, each axis falls down
because of the arm weight. While two or more people are holding the arm in position
before releasing the brake, change the posture of the manipulator within the minimum
motion range.
Use the brake release function only when absolutely necessary.
Any modification of the MOTOMAN-EPX1750 & EPX2050, and the following is strictly
prohibited:
1. Explosion-proof devices and system installation
2. Safeguards and the safety devices mounted on these safeguards
3. Emergency stop button, and other safety devices
4. Robot control system such as the NX100 robot controller, the manipulator drive
section and the power transmission section
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2 Features
2.1 Methods of Protection
2 Features
The MOTOMAN-EPX1750 & EPX2050 is designed for easy-handling and to consider safety
first in operation.
2.1 Methods of Protection
The MOTOMAN-EPX1750 & EPX2050 is evaluated as Type X Purged for use in Class Ι,
Division 1, Groups A, B, C and D indoor hazardous (classified) Iocations T4, and appear in the
Factory Mutual (FM) Research Approval Guide.They have the construction of protection as
follows:
Method of Protection;
• The pressurized explosion-proof method prevents explosive gas from entering the
manipulator by supplying a protective gas, such as clean air or an inert gas, to keep the
internal air pressure constant.
• The Intrinsic-safety explosion-proof method prevents explosive gas from igniting by
electric spark and heat.
DANGER
Install the MOTOMAN-EPX1750 & EPX2050 in a location that meets the requirements of
Area Classification “Division1” prescribed in FM Approval Standard.
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2 Features
2.2 Teaching
2.2 Teaching
The target positions, the motion speed, and the ON/OFF timing of the spray can be taught
with the programming pendant while moving the manipulator, which shortens the time
required for teaching and, the data can be corrected at any time.
Because the teaching function and the correction function are integrated, the operations such
as forward/reverse run, position modification, addition/deletion of points can be performed
during teaching and the management function, which manages the parameter settings,
enables you to monitor the actual status during teaching. The on-screen guidance and the
interactive system on the pull-down menus lead the operator through the operation
procedures.
• Large-capacity backup as a standard
A large-capacity drive for PC cards is provided as a standard feature of backup unit and
enables data to be transmitted easily.
Be sure to save the backup data for the controller, such as the data for jobs and
constants, on a PC card. If not, the necessary data for the manipulator may be lost if an
internal memory fault occurs in the controller.
• High reliability
• The built-in microcomputer continuously checks the I/O data and the manipulator
motion to ensure high-reliability.
• Can detect power supply faults and software faults with its self-diagnosis functions.
• When an error such as an operation error or a controller fault occurs, the alarm code and
message are displayed, and the date and time of the error occurrence with its explanation
are stored in the alarm history to help you take a quick, corrective action.
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3 Installation
3.1 Requirements
3 Installation
3.1 Requirements
Prepare the power supply, the air supply, and the grounding according to the following
specifications.
Table 3-1 Specifications
No. Item Specifications Remarks
Power supply 3-phase 200/220 VAC
(±10 % to -15 %)
1
Air supply
Spray ON/OFF
Gun-tilt switching
Pressurized explosion proof enclosure
2
Grounding Grounding resistance:
3
50/60 Hz (±2 Hz)
5 kVA (at peak)
Required pressure: 0.35 MPa to
0.65 MPa
Capacity:
For turning the spray ON/OFF:
30 N/min
For switching the tilt of the gun:
30 N/min
For the pressurized explosion proof
30 N/min usually
1000 N/min when purging
Dryness: Freezing at -18°C
100 ohm or less (Non I.S. GND)
10 ohm or less (I.S. GND)
(Option)
3-phase 240/480/575VAC
(+10% to -15%)
50/60 Hz (±2 Hz)
5 kVA
Use dry air for the
pressurized explosionproof construction.
For the robot controller
Use dry air for the pressurized explosion-proof enclosure. Moisture in the air supply may
damage the electronic parts.
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3 Installation
3.2 Installation Site
3.2 Installation Site
This section describes the conditions of the installation site for the robot system. Only devices
that are approved as explosion-proof can be installed in hazardous locations. Refer to the
local regulations and safety codes for the definition of a hazardous location. Install the
controller and control panels in a location free from water drops, dust, and dirt.
Table. 3-2 Installation Site
Hazardous
System Components
Manipulator (explosion-proof) - 0 to 40°C80 %RH
Controller (not explosion-proof) × 0 to 45°C90 %RH
Pneumatic unit
(not explosion-proof)
Programming pendant
(not explosion-proof)
Programming pendant
(explosion-proof) (Option)
Conveyor speed detector
(not explosion-proof)
Conveyor speed detector
(explosion-proof)
Conveyor switch
(explosion-proof)
Location
(Inside Painting
Booth)
× 0 to 45°C85 %RH
× 0 to 40°C85 %RH
0 to 40°C85 %RH
× 0 to 50°C90 %RH
- 0 to 50°C90 %RH
- 0 to 50°C90 %RH
Non-hazardous
location
(Outside
Painting Booth)
Ambient
Temperature
Maximum
Ambient
Humidity
Workpiece supplier
(explosion-proof)
Control panel for workpiece
supplier (not explosion-proof)
Safety devices
Box for emergency stop
switches
Safety plugs
Limit switches
Flashing light
Indicator lamps
Photoelectric switches
Selected according to the requirements of the customer. Refer
to the appropriate instruction manual provided separately.
× : Not acceptable
: Acceptable
0 to 50°C85 %RH
× 0 to 45°C90 %RH
Devices that are not explosion-proof must not be installed in hazardous locations. Failure
to observe this warning may result in a fire.
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4 Transport and Installation
4.1 Preparation
4 Transport and Installation
Read the “Motoman Setup Manual” thoroughly before handling and installing the Motoman
system, and then carry out the operation safely observing the following precautions.
1) Signs indicating prohibitions such as, “The lighting of fires is prohibited”
2) Clean working place that is clearly defined and free of obstacles
3) Appointment of personnel in charge
4) Company working regulations for safe operation
4.1 Preparation
Before installing the MOTOMAN, do the following:
1) Confirm the installation layout and the dimensions of each device to ensure the
transportation route and the installation space.
2) Check if the transportation route can support the weight of each device. If necessary, reinforce the route.
3) To lift the manipulator, use the appropriate machinery such as a forklift.
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