YASKAWA EPX1750, EPX2050 Instructions Manual

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

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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: [phone]

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: [phone]
FAX: [phone]

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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[phone]

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:

[e-mail]

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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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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DANGER

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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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CAUTION

ORDER. No.

Label (Enlarged View)

(a) NX100 (Front View) (b) Manipulator (Side View)

THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER.

Check that the manipulator
and the NX100 have the
same order number.

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4 Transport and Installation

4.2 Receiving and Handling

4.2 Receiving and Handling

When the package arrives, check the contents. Are the items and quantities in accordance
with your order sheet? Was any damage incurred during shipment?

• Confirm that the manipulator and the NX100 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.

Fig. 4-1 Location of Order Number Labels

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4 Transport and Installation

4.3 Transport

4.3 Transport

• Sling 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.

4.3.1 Transporting Method

• The mass of the manipulator is approximately 900 kg including the shipping bolts

and brackets. Use a wire rope strong enough to withstand the mass.

• The attached eyebolts are designed to support the manipulator mass. Never
use them for anything other than transporting the manipulator.

• Mount the shipping bolts and brackets before transporting the manipulator.

• With any transportation equipment, make sure to avoid external force on the arm
or motor unit when transporting the manipulator.

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before shipment)

(Fixed to the manipulater

Shipping bolt and bracket

before shipment)

(Fixed to the manipulater

Eyebolt M20

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4 Transport and Installation

4.3 Transport

 Using a Crane

As a rule, when uncrating the manipulator and moving it, a crane should be used. Lift the
manipulator with a wire rope using the attached eyebolts. Make sure to fix the manipulator
with shipping bolts and brackets before transport, and lift it in the posture as shown in
Fig. 4-2 "Transport Using a Crane".

Fig. 4-2 Transport Using a Crane

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(length:50mm, 12screws)

Hexagon socket head cap screw M12

Pallet

NOTE

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4 Transport and Installation

4.3 Transport

 Using a Forklift

When using a forklift, the manipulator should be fixed on a pallet with shipping bolts and
bracket as shown in Fig. 4-3 "Transport Using a Forklift". Insert claws under the pallet and lift
it. The pallet must be strong enough to support the manipulator.
Transport the manipulator slowly with due caution in order to avoid overturn or slippage.

Fig. 4-3 Transport Using a Forklift

4.3.2 Shipping Bolts and Brackets

The manipulator is provided with shipping bolts and brackets at positions as shown in the
figures in Fig. 4-2 "Transport Using a Crane", to protect its driving units from various external
force during transport.
The shipping brackets are painted yellow.

Before turning ON the power, check to be sure that the shipping bolts and
brackets have been removed. The shipping bolts and brackets then must be
stored for future use, in the event that the manipulator must be moved again for
relocation.

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CAUTION

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4 Transport and Installation

4.4 Installation

4.4 Installation

• Install the safeguarding.

Failure to observe this warning may result in injury or damage.

• Install the manipulator in a location where the manipulator’s tool or the workpiece held by
the manipulator will not reach the wall, safeguarding, or NX100 when the arm is fully
extended.

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.

• Do not install or operate a manipulator that is damaged or lacks parts.

Failure to observe this caution may cause injury or damage.

• Do not install the paint gun and the gun brackets until the manipulator is firmly anchored.

Any contact to the unstable manipulator may cause injury or damage.

• Before turning ON the power, check to be sure that the shipping bolts and brackets
explained in Fig. 4-2 "Transport Using a Crane" are removed.

Failure to observe this caution may result in damage to the driving parts.

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4 Transport and Installation

4.4 Installation

4.4.1 Installation of Safeguarding

To insure safety, be sure to install the safeguarding. They prevent unforeseen accidents with
personnel and damage to equipment. The following is quoted for your information and
guidance.

Responsibility for Safeguarding (ISO 10218)

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

4.4.2 Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a baseplate or foundation strong enough to
support the manipulator and withstand repulsion forces during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand maximum repulsion
force of the manipulator. (Refer to Table 4-1 "Maximum Repulsion Force of the Manipulator at
Emergency Stop".)
A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness of installation surface
may deform the manipulator shape and affect its functional abilities.
For installation, refer to section "4.4.3 Mounting the Manipulator on the Baseplate".

Table 4-1 Maximum Repulsion Force of the Manipulator at Emergency Stop

Maximum torque in horizontal rotation
(S-axis moving direction)

Maximum torque in vertical rotation
(L-, U-axes moving direction)

11000 N
(1100 kgf

21400 N
(2140kgf

·m

·m)

·m

·m)

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4 Transport and Installation

4.4 Installation

4.4.3 Mounting the Manipulator on the Baseplate

The baseplate should be rugged and durable to withstand maximum repulsion force of the
manipulator and to ensure that the manipulator and fixture are in the correct relative position.
The thickness of the baseplate is 40 mm or more and an M16 size or larger anchor bolt is
recommended.
Fix the manipulator base to the baseplate with the hexagon socket head cap screws M16
(8 screws, length of 70 mm or more is recommended) using mounting holes on the
manipulator base.
Tighten the hexagon socket head cap screws and anchor bolts securely so that they will not
work loose during operation.

Fig. 4-4 Mounting on the Common Installation Base

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4 Transport and Installation

4.4 Installation

4.4.4 Mounting Manipulator Directly on the Floor

The floor should be strong enough to support the manipulator. Construct a solid foundation
with the appropriate thickness to withstand maximum repulsion forces of the manipulator. As a
rough standard, when there is a concrete thickness (floor) of 150 mm or more, the manipulator
base can be fixed directly on the floor with M16 anchor bolts. Make the floor surface even and
repair all the cracks. A non-concrete floor or a concrete floor less than 150 mm thick is
insufficient to install the manipulator directly.

Fig. 4-5 Mounting Directly on the Floor

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4 Transport and Installation

4.4 Installation

4.4.5 Location

When installing the manipulator, satisfy the following environmental conditions.

• Ambient temperature: 0° to 40°C

• Humidity: 20 to 80% RH at constant temperature

• Free from exposure to water, oil, or dust

• Free from corrosive gas or liquid, or explosive gas or liquid

• Free from excessive vibration (Vibration acceleration: 4.9 m/s

• Free from large electrical noise (plasma)

• Flatness for installation is 0.5 mm or less

2

[0.5 G] or less)

4.4.6 Controller and Programming Pendant

• The controller and the programming pendant are not explosion-proof (the explosion-

proof programming pendant is available as an option). Never install the controller and the
programming pendant that are not explosion-proof in a hazardous location.

• Keep a minimum space of 60 cm around the controller for maintenance. When the suffi-

cient space is not available, provide equipment for maintenance such as a drawing-out
system.

• An exhaust fan is provided on the back of the controller. Keep enough space behind the

controller so that air can be exhausted properly.

• Do not install the controller and programming pendant close to any noise source such as

the power supply for other devices.

• Install the controller in a location where the optimum atmosphere, temperature, and

humidity are assured and provide protection against water drops or thinner. If necessary,
install a control room to supply clean and temperature-controlled air.

4.4.7 Safety Devices

The standard safety devices are listed below. Refer to the instructions for connecting safety
devices required for your system application.
Install each device considering each function.

• Emergency stop switches

• Safety plugs

• Limit switches

• Flashing lights

• Indicator lamps

• Photoelectric intrusion detecting switches

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5 Connection

5 Connection

5.1 Wiring

WARNING

• Ground resistance must be:

- Non I.S. GND - 100 Ω or less

- I.S. GND - 10 Ω or less

Failure to observe this warning may result in fire or electric shock.

• Before wiring, make sure to turn the primary power supply OFF, and put up a warning sign.

(ex. DO NOT TURN THE POWER ON.)

5.1 Wiring

Failure to observe this warning may result in fire or electric shock.

• Wiring must be performed by authorized or certified personnel.

Failure to observe this caution may result in fire or electric shock.

• Do not cover the cable with heat insulating material, and avoid multiple cabling.

Failure to observe this caution may result in burn caused by cable heat emission failure.

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Remove the Cover

5.5mm2 or more

less than 0.1W

(Prepare by the customer)

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5 Connection

5.2 Cable Connection

5.1.1 Grounding

The grounding methods differ depending on the system application. Refer to the connection
instructions that are provided separately.

Fig. 5-1 Grounding Method

5.2 Cable Connection

5.2.1 Connection to the Manipulator

Before connecting the cables to the manipulator, verify the connectors named 1BC-1, -2, -3,

-4, -5, -6, -7 and 2BC-1, -3, -4, -6, 3BC-1, -2, and -3 on both cables and manipulator. Then
connect each connector of cables to same-named connector of Manipulator. Fix the plate of
cables 6 bolts M6 (4 bolts 12 mm long and 2 bolts 20 mm long recommended) with spring
washers and washers. The air hose for the pressure switch, the intrinsically safe cable, and
the crimped terminals should be prepared by the customer.

Fig. 5-2 Manipulator Internal Cable Connections

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5 Connection

5.2 Cable Connection

Fig. 5-3 Manipulator Cable Connection

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5.2 Cable Connection

5.2.2 Power Cable Construction Method Example

The construction example is shown as follows:

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Fig. 5-4 Metal Pipe Construction Example

• Construct the signal cable and the peripheral device coupling cable as mention above.

• The metal pipe must have enough strength

• For the explosion-proof approved parts use neither sealing fitting nor sealing compound
other than the above-mentioned model. (Manufacturer: Cooper Industrial Inc, or
equivalent)

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5 Connection

5.3 Internal Connections

5.2.3 Cable and Air Tube Connection

The cables and tubes necessary for installation are shown in the table below.
The customer must prepare the power supply cable, the grounding cable, the cables for
optional equipment, and the air tubes.

Use Connection Type

Power supply cable Power source to/from controller CVV-3.5SQ-4C

Intrinsically-safe signal line
cable

Cable for conveyor-speed
detection device

Cable for optional equipment To/from controller CVV-SB-1.25SQ

Air tube for pressurized
explosion-proof

Air tube for air supply Air supply source to/from pneumatic unit φ12/9 nylon tube

Manipulator to/from controller CVV-1.25SQ-2Cx2

To/from controller CVV-SB-1.25SQ-3C

Manipulator to/from pneumatic unit φ12/9, φ6/4 nylon tube

(each line)

5.3 Internal Connections

Fig. 5-5 (a) "Internal Connection Diagram", Fig. 5-5 (b) "Internal Connection Diagram" show
the internal connections and Fig. 5-5 (c) "Intrinsically Safe Circuit Diagram" shows the
Intrinsically Safe Circuit Diagram.

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EPX1750 & EPX2050

5 Connection

5.3 Internal Connections

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Fig.5-5 (a) Internal Connection Diagram

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EPX1750 & EPX2050

5 Connection

5.3 Internal Connections

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Fig.5-5 (b) Internal Connection Diagram

5 Connection

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5.3 Internal Connections

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Fig.5-5 (c) Intrinsically Safe Circuit Diagram

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6 System Configuration

6.1 Manipulator

6 System Configuration

Fig. 6-1 "System Configuration" shows the system configuration of the MOTOMAN-EPX1750
& EPX2050.

6.1 Manipulator

The explosion-proof manipulator can be installed in hazardous locations such as in the
painting booth. For painting, a spray gun is mounted on the end of the wrist with special
fixtures.
Fig. 6-2 "Dimensions and P-point Maximum Envelope" shows the dimensions and the range
of motion of the EPX1750 & EPX2050. The manipulator is driven by the servo motors in
vertically articulated operation mode with 6 degrees of freedom on the manipulator base. The
motion of the manipulator is made by six axis:
The three main axes are used for positioning the spray gun: the S-axis which turns the arm,
the L-axis which moves the arm left and right, and the U-axis which moves the arm up and
down.
The three wrist axis are used for changing the direction of the spray gun: the R-, B-, and T­axis.
The range of motion shown in Fig. 6-2 "Dimensions and P-point Maximum Envelope" is that
of the wrist axis center P-point that is made by the combination of the motions of the three
main axis.

WARNING

When taking safety precautions, consider the range of motion of the manipulator shown in
Fig. 6-2 "Dimensions and P-point Maximum Envelope".

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6.1 Manipulator

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Fig. 6-1 System Configuration

Fig. 6-2 Dimensions and P-point Maximum Envelope

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CAUTION

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6 System Configuration

6.2 Robot Controller

6.2 Robot Controller

The robot controller has a built-in microcomputer that controls all motion of the robot by saving
motion signals when teaching and sending these signals to the manipulator. The power unit
that supplies power to the manipulator is also built into the robot controller.

• The power supply of the robot controller is 200/220 VAC. Be sure to turn OFF the primary power
supply of the controller before starting maintenance.

Failure to observe this warning may result in electric shock.

6.3 Pneumatic Unit

The pneumatic unit supplies protective air or gas to the manipulator to prevent explosive gas
from entering the manipulator. Usually, the unit is attached to the side of the robot controller.
The circuit diagram and dimensions are shown in Fig. 6-3 "Pneumatic Unit Air Circuit" and
Fig. 6-4 "Pneumatic Unit External View". Set the air pressure so that the pressure shown on
the pressure gauge of each pressure reducing valve will be within the pressure ranges shown
in Fig. 6-3 "Pneumatic Unit Air Circuit".

The pneumatic unit is used to provide a pressurized explosion-proof barrier for the
manipulator. Because the barrier is only ensured when the air supply is within the
recommended pressure range, a lower air pressure will reduce the barrier’s efficiency,
and a higher air pressure will damage the pneumatic unit. Be sure to keep the air
pressure within the specified range.

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6.3 Pneumatic Unit

.

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Fig. 6-3 Pneumatic Unit Air Circuit

Manufacturer is requested to strictly, observe that the supply air is between 0.35 MPa to

0.65 MPa. The pressurized explosion-proof will not operate properly without the required
amount of air pressure, if air pressure is low. If increase the air pressure, the pneumatics
equipment for the pressurized explosion-proof system will be caused for equipment
damage.

Fig. 6-4 Pneumatic Unit External View

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6 System Configuration

6.4 O-Ring and X-Ring in the Wrist

6.4 O-Ring and X-Ring in the Wrist

Periodically replace the O-ring and X-ring in the wrist. Contact your Yaskawa representative
to replace the ring. When the wrist is cleaned two or three times a week with the recovered
thinner, the O-rings may become deformed, which causes malfunctions. Contact your
Yaskawa representative for more information about the O-ring made of special material
(option.)

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7.1 Basic Specifications

7 Basic Specifications

7.1 Basic Specifications

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Table 7-1 Basic Specifications

Item Type EPX1750-B5** EPX2050-B5**

Configuration Vertically articulated

Degree of Freedom 6

Payload 15 kg

Repeatability

Range of

Motion

B-axis (wrist pitch/yaw) ± 360°

Maximum Speed 2 m/s

Allowable

Moment

Allowable

Moment of

Inertia

2

(GD

/4)

*2

S-axis (turning) ± 90°

L-axis (lower arm) +100° - -50°

U-axis (upper arm) +6° - 163° +5° - 163°

R-axis (wrist roll) ± 360°

T-axis (wrist twist) ± 360°

R-axis 45.8 N•m (4.67 kgf•m)

B-axis 33.8 N•m (3.45 kgf•m)

T-axis 10.8 N•m (1.1 kgf•m)

R-axis

B-axis

T-axis

*1

± 0.5 mm

1.45 kg•m

0.79 kg•m

0.1 kg•m

2

2

2

Approx. Mass 530 kg 540 kg

Temperature 0 to + 45 °C

Ambient

Conditions

Power Capacity

Humidity 20 to 80 %RH (non-condensing)

Vibration Acceleration

Others Free from excessive electrical noise.

Less than 4.9 m/s

5 kVA

2

(0.5G)

*1 SI units are used in this table. However, gravitational unit is used in ( ).
*2 Conformed to ISO9283.

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7 Basic Specifications

7.2 Wrist Flange

7.2 Wrist Flange

The wrist flange dimensions are shown in Fig. 7-1 "Wrist Flange". Fitting depth of inside and
outside fittings must be 7 mm or less.

Fig. 7-1 Wrist Flange

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7.3 System Application

7.3 System Application

The device required for the system application can be mounted on the horizontal arm.
Observe the following restriction.

• Maximum allowable load: 15 kg

• Mounting Position: Refer to Fig. 7-2 "Device Mounting Position"

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Fig. 7-2 Device Mounting Position

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CAUTION

CAUTION

WARNING

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8 Frequent Inspections

8.1 Frequent Inspections

8 Frequent Inspections

8.1 Frequent Inspections

The painting robot is a precision device using advanced technology. It is important to
frequently inspect the robot and remove any dried paint.
Conduct the daily and weekly inspections listed in Table 8-1 "Frequent Inspections" to ensure
the long life of the robot and its performance.
For more information about the inspection items, refer to section 8.2 "Daily Inspections"

Table 8-1 Frequent Inspections

No. Items to be Inspected Inspection Daily Weekly Remarks

Manipulator

Motion Smooth tuning, hori-

zontal, and vertical

1

Noise and vibration
during operation

2

Tubes No severe wear and

3

Air leakage No excessive air leak-

4

motions of each arm.
The robot’s home
position does not
change.

No abnormal noise
and vibration during
robot operation.

tear on paint and air
supply tubes.

age from the fitting of
the motor case.









DANGER

Do not enter the robot
working envelope.

Do not enter the robot
working envelope.

Use a pair of protective
glasses to protect your
eyes against paint or
thinner that is being
removed.

Make sure that the air
tube is firmly inserted
in the joint. Accidental
disconnection of the air
tube may cause injury.

Pneumatic

Unit

Dried paint Remove the dried

paint on the robot.

5

Water drained from

1

the air filter

Pressure set value The pressure of the

2

pressure reducing
valve is within the
specified range

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

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Replace the sheet.

When removing the
paint with a tool, be
careful not to damage
the robot.

8 Frequent Inspections

CAUTION

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8.1 Frequent Inspections

No. Items to be Inspected Inspection Daily Weekly Remarks

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Table 8-1 Frequent Inspections

Safety

Devices

Operation of emer­gency stop button
and safety plug.
Dried paint

1

Operation of the
photoelectric intru­sion detecting
switch

2

Dried paint

1. The manipulator
stops immediately
when the
emergency stop
button is pressed.

2. The manipulator
stops immediately
when the safety
plug is pulled out.

3. Remove the
dried paint on
the emergency
stop button and the
safety plug.

1. The manipulator
stops when the
photoelectric
switch is turned
OFF.

2. Remove the dried
paint on the light
beam detector.











Inspect the robot while
it is in its standby posi­tion and not in motion.

Options

Operation of limit
switch.
Dried paint

3

Operation of the

1

gun tilt switching

Operation of the
shear pin system

2

1. Normal operation
of the limit switch

2. Remove the
dried paint on
the limit switch.

The gun tilt changes
correctly when air is
supplied.

1. The manipulator
stops immediately
when the shear pin
is sheared.

2. The test valve is
closed and the tube
is not broken.











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8 Frequent Inspections

8.2 Daily Inspections

8.2 Daily Inspections

Inspect the robot daily to ensure its high performance and early detection of any
abnormalities.

8.2.1 Manipulator

 Visual Inspection

Before turning ON the power to the manipulator, check if any abnormality can be found on the
manipulator. Remove the jacket if it is attached.

 Manipulator Motions and Noise/Vibration during Operation

Check if the manipulator home posture does not change when turning ON the power supply
using the eye mark.

Also, check for abnormal noise and vibration during operation.

DANGER

Never enter inside the safeguarding and the manipulator working envelope after turning
ON the power supply.

Paint stuck on the manipulator rotating parts prevents them from turning normally and
smoothly. Periodically remove the paint on the manipulator.
A cloth that is soaked in paint thinner can be used for cleaning the inside of the wrist,
because an anti-thinner enclosure is provided. But, be careful not to remove the original
coat of paint on the manipulator.

 Tubes and Air Leakage

Check for excessive air leakage from the tubes, the couplings, and the joint fittings of the
motor on each axis when the air is supplied in the manipulator to form the anti-explosion
barrier.
The actual amount of air leakage is not important if a fault in the internal air pressure does not
occur. However, if internal air pressure faults occur frequently, check if the pressure of the air
source and the pressure setting of the pressure reducing valve are correct and if excessive air
is leaking.

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8 Frequent Inspections

8.2 Daily Inspections

 Dried Paint, Dust, and Dirt

Remove any dried paint on the manipulator and other devices.
Replace the vinyl sheet if any.
Replace the jacket if it is dirty.

When using a tool to remove the dried paint, be careful not to damage the manipulator.

 Noise and Vibration during Operation

Check if the manipulator standby posture does not change when turning ON the power supply.
Also check for abnormal noise or vibration during operation.

Never enter inside the safeguards and the manipulator working envelope after turning ON
the power supply.

8.2.2 Pneumatic Unit

 Drained Water from Air Filter

Empty the water drained from the air filter on the pneumatic unit.

 Pressure

Before moving the manipulator, check if the gauges of the pressure reducing valves on the
pneumatic unit show the pressure to be within the specified range.

8.2.3 Safety Devices

 Emergency Stop Button and Safety Plug

Before operating the manipulator, check the following to make sure that the emergency stop
button and the safety plug operate correctly:
The manipulator stops immediately when the emergency stop button is pressed.
The manipulator stops immediately when the safety plug is pulled out.
Inspect the manipulator while it is in the standby posture and not in motion with the power
supply turned ON. Repeated sudden stops while the manipulator is in motion will damage the
braking system.
Remove any dried paint on the emergency stop button and the safety plug.

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8 Frequent Inspections

8.2 Daily Inspections

 Photoelectric Intrusion Detecting Switch

Make sure that the photoelectric intrusion detecting switch operates correctly.
Remove any dried paint on the light beam receiving section on the switch.
When the air is purging, check the air for purging.

 Limit Switch

Make sure that the limit switches for positioning workpieces, starting the robot, and return the
robot to home operate correctly.
Remove any dried paint that may obstruct the robot motion.

8.2.4 Options

 Gun Tilt Switching

Check if the gun changes its tilt smoothly when compressed air is supplied.
If excessive shock is applied on both ends, reduce the pressure supplied to the actuator.

 Shear Pin

Disconnect the air supply tube, and check if the shear pin breaks immediately to shut off the
power supply to the manipulator.
Also, make sure that the air tube is not bent or crushed.

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DANGER

WARNING

CAUTION

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9 Maintenance and Inspection

• 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.

• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or serious injury from
unexpected turning of the manipulator's arm.

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• 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.

• 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.

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9 Maintenance and Inspection

9.1 Inspection Schedule

9.1 Inspection Schedule

Conduct daily and periodic inspections to ensure the long life of the robot and its performance.
Proper inspections are essential not only to assure that the mechanism will be able to function for a
long period, but also to prevent malfunctions and assure safe operation.
Inspection intervals are given in the levels shown in Table 9-1 "Inspection Schedule".
In Table 9-1 "Inspection Schedule", the inspection items are classified into three types of operation:
operations which can be performed by personnel authorized of the user, operations which can be
performed by personnel being trained, and operations which can be performed by service company
personnel.
Only specified personnel are to do inspection work.

The inspection interval must be based on the servo power supply ON time.

Maintenance

and Inspection

Inspection,
replacement and
grease
replenishment/
replacement of
bearing, speed
reducers, and

a

gears

Refer to Section

9.2

Item

Gear inside the
wires

RV speed
reducer

R-, B-, T-axis
speed reducer
made by Alpha
Getriebebau
GmbH

1000H

Cycle



Replenish

grease

Table 9-1 Inspection Schedule

Schedule

6000H

Cycle



Adjustment

gear
(Every­7500H)



Replenish

grease

12000H

Cycle



Replenish

grease

24000H

Cycle

36000H

Cycle

Operation

Replace the belt and gear if
any abnormality is found.
Use Alvania EP grease 2

Contact your Yaskawa repre­sentative for gear adjustment

Replace the speed reducer if
any abnormality is found Use
Molywhite RE No. 00 grease

Contact your Yaskawa repre­sentative.



Inspection

Charge

Specified Personnel

Service Company

Licensee









Tightening of
bolts

Inspection of
Wrist

Tighten the bolts
that loosen from
vibration and an
excessively
swing load.

O- and X-ring

Presence check
abnormality





Replace if any abnormality is
found. Contact your Yaskawa
representative





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9.1 Inspection Schedule

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Maintenance

and Inspection

Inspection of air
sealing parts for
internal pressure

Replacement of
pneumatic unit
filter

Item

Inspection of the
packing of the
motor case

Inspection of
packing of the
box

Replace
pneumatic unit
filter.

Check operation
of the solenoid
valve

Check operation
of the pressure
reducing valve.

1000H

Cycle

Inspection

Charge

Specified Personnel

Service Company

Licensee



6000H

Cycle



Schedule

12000H

Cycle

24000H

Cycle

36000H

Cycle

Operation

Replace the picking if exces­sive wear is found









Inspection of
explosion-proof
devices

Inspection of
internal cables

Motor Connector

Battery in
manipulator

Check the
operation of the
pressure switch

Check the
operation of the
master valve.

Check the
operation of the
explosion-proof
enclosure

Check operation
of the relief valve

Check the
conduction.
Check for the

b

wears on the
protective spring

Check if the
connectors are
securely
inserted.

Replacement of
the battery











Swinging the lead wire,



Inspect



Replace

c

Replace

check the conduction of the
main connector and interme­diate connector of the box.
Check for the wears on the
protective spring

Insert the connector securely
if it is loose

Replace the battery when the



battery alarm is displayed on
the XRC







Overhaul

Contact your Yaskawa repre-



sentative

a.When replenishing or replacing the grease, be careful not to let any grease into the motor. Grease in the
motor may cause motor failure. When any grease enters in the motor, contact your Yaskawa representative.
b.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 data may be lost.
c.Replace the internal cables of S-, L-, U-, R-, B-, and T-axis at 24,000H inspection.

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9 Maintenance and Inspection

9.2 Maintenance for Manipulator

9.2 Maintenance for Manipulator

9.2.1 Grease Replenishment/Replacement

Inspection parts and Inspection numbers show the location of the components of the manipulator.
Replenish or replace the grease for the following:

1) Gears on the wrist and the end of the U-arm

2) RV speed reducers for the S-, L- and U-axis

 Gears

Remove the cover and the plug. Inject Alvania EP grease 2 by using a grease gun to the gear teeth.
See Fig. 9-1 "Injecting Grease at Wrist and End of U-arm (PX2850-A10)" and Fig. 9-2 "Injecting Grease
at R-, B-, T-axis Gear"

Fig. 9-1 Injecting Grease at Wrist and End of U-arm (PX2850-A10)

Fig. 9-2 Injecting Grease at R-, B-, T-axis Gear

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NOTE

NOTE

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9 Maintenance and Inspection

9.2 Maintenance for Manipulator

 RV Speed Reducers

Grease Replenishment

Refer to Fig , Fig, and Fig

1. Remove the plug on the So (Lo, Uo) grease exhaust port. Remove the cover on the

L-axis motor side..

• If grease is added without removing the plug, the internal pressure will be higher and

may damage it. It is absolutely necessary to remove the plug.

• When injecting grease into the L-axis speed reducer, grease may come out from the air

flow on the motor base. Remove the cover on the motor side to check if excessive

grease is coming out. If there is any grease, wipe it off.

2. Inject grease into the Si (Li, Ui) grease inlet with the injecting pressure of 0.3 Mpa or
less and injecting speed of 8.0 g/s or less. (Ass for L- and U-axis, before injecting
grease, remove the plugs on Li and Ui and install G nipples A-PT 1/8.)

Grease type: Molywhite RE No.00
Amount of grease:

S-axis: 700 cc (1400 cc for the 1st supply)
L-axis: 600 cc (1200 cc for the 1st supply)
U-axis: 300 cc (600 cc for the 1st supply)

3. Move S-axis (L-axis, U-axis) for more than 20 minutes to discharge excessive grease.

4. Wipe the So (Lo, Uo) exhaust ports with a cloth and reinstall plugs in So (Li, Lo and Ui,
Uo) exhaust ports. Apply Three Bond 4501 on screwed parts. Reinstall the cover on
the L-axis motor side.

Grease Replacement

Refer to Fig , Fig, and Fig

1. Remove the plug on the So (Lo, Uo) grease exhaust port. Remove the cover on the

L-axis motor side..

• If grease is added without removing the plug, the internal pressure will be higher and

may damage it. It is absolutely necessary to remove the plug.

• When injecting grease into the L-axis speed reducer, grease may come out from the air

flow on the motor base. Remove the cover on the motor side to check if excessive

grease is coming out. If there is any grease, wipe it off.

2. Inject grease into the Si (Li, Ui) grease inlet with the injecting pressure of 0.3 Mpa or
less and injecting speed of 8.0 g/s or less. (Ass for L- and U-axis, before injecting

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9 Maintenance and Inspection

9.2 Maintenance for Manipulator

grease, remove the plugs on Li and Ui and install G nipples A-PT 1/8.)

Grease type: Molywhite RE No.00
Amount of grease:

S-axis: 1700 cc
L-axis: 2000 cc
U-axis: 900 cc

3. The grease replacement is complete when new grease appears in the So (Lo, Uo)
exhaust port. The new grease can be distinguished from the old grease by color.

4. Move S-axis (L-axis, U-axis) for more than 20 minutes to discharge excessive grease.

5. Wipe the exhaust ports with a cloth and reinstall plugs in the So (Lo, Uo) exhaust port
Apply three Bond 4501 on screwed parts. Reinstall the cover on the L-axis motor side.

If the plug (So, Lo, Uo) is installed while the grease is being exhausted, the grease
will go inside the motor and may cause a damage. Ensure that the grease has
been completely exhausted before installing the plug (So, Lo, Uo).

Fig. 9-3 S-axis RV Speed Reducer

Fig. 9-4 L-Axis RV Speed Reducer

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9.2 Maintenance for Manipulator

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Fig. 9-5 U-Axis RV Speed Reducer

9.2.2 Lubricating Oil Replacement R-, B-, and T-Axis Speed Reducers

Contact your Yaskawa representative because motors and drive shafts for the R- B-, and T-axis need to
be removed to replace the lubricating oil..

• Recommend lubricating oil: Renolin PG220 made by Fuchs Lubricants Co. Viscosity =
ISO VG200

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9 Maintenance and Inspection

9.2 Maintenance for Manipulator

9.2.3 Tightening Bolts

Tighten the bolts shown in Fig. 9-6 "Manipulator Base Box Fixing Bolts" to Fig. 9-8 "Terminal Box in
Manipulator Base Box"

Fig. 9-6 Manipulator Base Box Fixing Bolts

Fig. 9-7 Wrist Fixing Bolts

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CAUTION

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9.2 Maintenance for Manipulator

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Fig. 9-8 Terminal Box in Manipulator Base Box

9.2.4 Wrist Speed Reducer and Bearing

Check if the three wrist axis move smoothly or not. If the wrist does not move smoothly, contact your
Yaskawa representative. Removing and disassembling the wrist to find the faulty axis will be needed for

repair or replacement of the bearing, the speed reducer, or the sealing compounds.

To remove the wrist from the U-arm, firmly hold the wrist and remove the fixing bolt. If not, the wrist
may fall down when the fixing bolt is removed.

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9 Maintenance and Inspection

9.2 Maintenance for Manipulator

9.2.5 Air Sealings for Internal Air Pressure

 Packing on the Motor Case

Remove the mounting bolts on the motor case and check the packing where the case is mounted.
Remove the cover for the cable inlet in the motor case, and check the packing where the cover is
attached. Excessive oil in the air that is used for the internal air pressure can damage the packing,
which results in air leakage. Replace the packing if air leakage is found.
Refer to Fig. 9-9 "S- and L-axis Motor Packings" and Fig. 9-10 "R-, B-, and T-axis Motor Packing" for
more information on the packing on each axis motor.

Fig. 9-9 S- and L-axis Motor Packings

Fig. 9-10 R-, B-, and T-axis Motor Packing

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9 Maintenance and Inspection

9.2 Maintenance for Manipulator

 Manipulator Base Box Cover Packing

Remove the two covers on the back side of the manipulator base box, and check the rubber packing.
Refer to Fig. 9-11 "Manipulator Base Box Rubber Packing"

Fig. 9-11 Manipulator Base Box Rubber Packing

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9 Maintenance and Inspection

9.3 Maintenance and Inspection of the Pneumatic Unit

9.3 Maintenance and Inspection of the Pneumatic Unit

9.3.1 Solenoid Valve

Check if the air purge starts a few seconds after turning ON the power to the NX100 and if it ends
approximately 8.5 minutes later.

9.3.2 Pressure Reducing Valve

Measure the air pressure for the pneumatic unit with a pressure gauge. Remove the test plug or the
relief valve on the pneumatic unit and connect the gauge. The air pressure must always be from

2

0.02 MPa (0.2 kg/cm

2

(3.0 kg/cm

) to 0.45 MPa (4.5 kg/cm2) when purging.

) to 0.04 MPa (0.4 kg/cm2) under normal conditions and from 0.3 MPa

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9 Maintenance and Inspection

9.4 Inspection of Explosion-Proof Devices

9.4 Inspection of Explosion-Proof Devices

9.4.1 Pressure Switch

Remove the front cover of the pneumatic unit box and check the conduction of the pressure switches.
The two pressure switches must be ON when the air is being supplied and OFF when the air is not

being supplied.

• Be sure to turn OFF the power to the NX100 before inspecting the pressure switch.

• Do not touch the pressure setting dial on the pressure switch during an inspection.
Changing the setting prevents the correct pressure from being detected.

9.4.2 Master Valve

While the air is being supplied from the pneumatic unit, check if the air purge starts a few seconds after
the power to the NX100 is turned ON. Also, check if the air goes out of the two air outlets for the master
valve during the air purge.

9.4.3 Pressurized Anti-Explosion Barrier

While the air is being supplied from the pneumatic unit, check if the air purge starts a few seconds after
the power to the NX100 is turned ON and if it ends approximately 8.5 minutes later.
Also, check the following:

(a) The alarm “AIR PRESSURE ERROR” occurs immediately after the air supply from the

pneumatic unit is stopped and the power supply to the NX100 is turned ON.

(b) The alarm “AIR PRESSURE ERROR” occurs when the air supply from the pneumatic

unit is stopped during air purging.

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NOTE

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10 Recommended Spare Parts

10 Recommended Spare Parts

It is recommended that the following parts and components be kept in stock as spare parts for the
MOTOMAN-EPX1750 & EPX2050. The spare parts list is shown below.
Product performance can not 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 units

To replace parts in Rank B or Rank C, contact your Yaskawa representative.

Fig. 10-1 Spare Parts for MOTOMAN-EPX1750 & EPX2050

Rank

Part

No.

A 1 Sealing compound DB-1600

A 2 Seal tape TB-4501

A 3 Grease Alvania EP grease 2 Showa Oil Co., Ltd 16 kg -

A 4 Grease VIGO grease RE No.0 Yaskawa 16 kg - For RV speed reducer

A 5 Lubricating oi Renolin PG220

B 6 S-axis speed reducer HW9482854-A Yaskawa 1 1

B 7 L-axis speed reducer HW9482854-C Yaskawa 1 1

B 8 U-axis speed reducer HW0384017-A Yaskawa 1 1

B9

Name Type Manufacturer Qty

Diabond Industries
Co., Ltd.

Three Bond Co.,
Ltd

Fuchs Lubricants
Co.

R-, B- and T-axes
speed reducers

HW0485932-A Yaskawa 1 3

200ml - For packing

- - For plug seal

10l -

Qty

per

Unit

Remarks

For bevel gear in wrist
and R-, B-and T-axes
scissors gear

Alpha Getriebebau
speed reducer

B 10 U-arm unit HW0171945-B Yaskawa 1 1

B 11 Wrist unit HW0171946-A Yaskawa 1 1

C12

C13

C14

AC servomotors for S­and U-axis

AC servomotors for L­axis

AC servomotors for
R-, B-, and T-axis

SGMRS-12A2B-YRA* Yaskawa 1 2

SGMRS-30A2A-YRA* Yaskawa 1 1

SGMPH-04A2A-YR5* Yaskawa 1 3

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Fig. 10-1 Spare Parts for MOTOMAN-EPX1750 & EPX2050

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Rank

Part

No.

C 15 Switch unit

C 16 Internal Cable HW0272857-A Yaskawa 1 1 For S-axis

C 17 Internal Cable HW0373190-A Yaskawa 1 1 For L-axis motor

C 18 Internal Cable HW0373191-A Yaskawa 1 1 For L-axis encoder

C 19 Internal Cable HW0272858-A Yaskawa 1 1 For R-, B-, and T-axis

C 20 Internal Cable HW0373189-A Yaskawa 1 1 For U-axis

21 Internal Cable HW0472242-A Yaskawa 1 1 Battery Cable

Name Type Manufacturer Qty

HW0370224-A

Yas kawa 1 1

HW0370224-B EPX2050-B501, -B511

Qty
per

Unit

Remarks

EPX2050-B500, -B510

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INSTRUCTIONS

HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone [phone] Fax [phone]

YASKAWA America Inc. (Motoman Robotics Division)
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone [phone] Fax [phone]

YASKAWA Europe GmbHRobotics Divsion )
Yaskawastrasse 1, 85391 Allershausen, Germany
Phone [phone] Fax [phone]

YASKAWA Nordic AB
Bredbandet 1 vån. 3 varvsholmen 392 30 Kalmar, Sweden
Phone [phone] Fax [phone]

YASKAWA Electric (China) Co., Ltd.
22/F One Corporate Avenue No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone [phone] Fax 㧗86-21-5385-3299

YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone

[phone]

Fax

[phone]

YASKAWA India Private Ltd. (Robotics Division)
#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India

YASKAWA Electric Korea Co., Ltd
9F, KyoboSecuritiesBldg., 26-4, Yeouido-dong,Yeongdeungpo-gu, Seoul 150-737, Korea
Phone [phone] Fax [phone]

YASKAWA Electric Taiwan Corporation
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan

YASKAWA Electric (Singapore) PTE Ltd.
151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone [phone] Fax [phone]

YASKAWA Electric (Thailand) Co., Ltd.
252/125-126 27th Floor, Tower B Muang Thai-Phatra Complex Building,
Rachadaphisek Road㧘Huaykwang, Bangkok 10320, Thailand
Phone

[phone]

PT. YASKAWA Electric Indonesia
Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia

Fax [phone]Phone [phone]

Fax [phone]Phone [phone]

Fax

[phone]

Fax [phone]Phone [phone]

Specifications are subject to change without notice
for ongoing product modifications and improvements.

MANUAL NO.

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