YASKAWA ES165D Instructions Manual

MOTOMAN-ES165D

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INSTRUCTIONS

TYPE: YR-ES0165D-A00 (STANDARD SPECIFICATION) YR-ES0165D-A01 (SLU-AXES WITH LIMIT SWITCHES)

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

MOTOMAN INSTRUCTIONS

MOTOVAN-ES165D INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR’S MANUAL DX100 MAINTENANCE MANUAL

The DX100 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.

Part Number: 155976-1CD Revision: 6

MANUAL NO.

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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, 2016

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 instruction manual is intended to explain mainly on the mechanical part of the MOTOMAN-ES165D for the application to the actual operation and for proper maintenance and inspection. It describes on safety and handling, details on specifications, necessary items on maintenance and inspection, to explain operating instructions and maintenance procedures. Be sure to read and understand this instruction manual thoroughly before installing and operating the manipulator.

• General items related to safety are listed in Chapter 1: Safety of the DX100 Instructions. To ensure correct and safe operation, carefully read the DX100 Instructions before reading this manual.

• 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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CAUTION

MANDATORY

PROHIBITED

NOTE

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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or inspection of the MOTOMAN-ES165D.

In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.

DANGER

WARNING

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”.

DANGER

• 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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Notes for Safe Operation

WARNING

• Before operating the manipulator, check that servo power is turned OFF pressing the emergency stop buttons on the front door of the DX100 and the programming pendant. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.

Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.

Figure 1: Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator. Then turn the servo power ON.

Injury may result from unintentional or unexpected manipulator motion.

Figure 2: Release of Emergency Stop

• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:

– Be sure to use a lockout device to the safeguarding when going

inside. Also, display the sign that the operation is being performed inside the safeguarding and make sure no one closes the safeguarding.

– View the manipulator from the front whenever possible.

– Always follow the predetermined operating procedure.

– Keep in mind the emergency response measures against the

manipulator’s unexpected motion toward you.

– Ensure that you have a safe place to retreat in case of

emergency.

Improper or unintended manipulator operation may result in injury.

• Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before:

– Turning ON the power for the DX100.

– Moving the manipulator with the programming pendant.

– Running the system in the check mode.

– Performing automatic operations.

Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there is a problem.

The emergency stop buttons are located on the right of front door of the DX100 and the programming pendant.

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Definition of Terms Used In this Manual

• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed.

– Check for problems in manipulator movement.

– Check for damage to insulation and sheathing of external wires.

• Always return the programming pendant to the hook on the cabinet of the DX100 after use.

The programming pendant can be damaged if it is left in the manipulator's work area, on the floor, or near fixtures.

• Read and understand the Explanation of Warning Labels in the DX100 Instructions before operating the manipulator:

Definition of Terms Used In this Manual

The MOTOMAN is the YASKAWA industrial robot product.

The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and the manipulator cables.

In this manual, the equipment is designated as follows:

Equipment Manual Designation

DX100 controller DX100

DX100 programming pendant Programming pendant

Cable between the manipulator and the controller

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.

Registered Trademark

In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or corporation. The indications of (R) and TM are omitted.

Manipulator cable

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Explanation of Warning Labels

The following warning labels are attached to the manipulator.

Always follow the warnings on the labels.

Also, an identification label with important information is placed on the body of the manipulator. Prior to operating the manipulator, confirm the contents.

Figure 3: Warning Label Locations

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WARNING Label B

Nameplate

WARNING Label A

Nameplate:

MODEL

MOTOMANTYPE

PAYLOAD

ORDERNO.

SERIALNO.

YASKAWAELECTRICCORPORATION 2-1Kurosakishiroishi,Yahatanishi-ku, Kitakyushu806-0004Japan MADEINJAPAN

WARNING Label A

WARNING Label A:

WARNING Label B

WARNING

Moving parts

MASS

DATE

WARNING Label B:

NJ3878

may cause injury

WARNING

Do not enter robot work area.

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Safeguarding Tips

All operators, programmers, maintenance personnel, supervisors, and anyone working near the system must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. General safeguarding tips are as follows:

• Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation of this equipment, the operator's manuals, the system equipment, and options and accessories should be permitted to operate this equipment.

• Improper connections can damage the equipment. All connections must be made within the standard voltage and current ratings of the equipment.

• The system must be placed in Emergency Stop (E-Stop) mode whenever it is not in use.

• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources of Energy, use lockout/tagout procedures during equipment maintenance. Refer also to Section 1910.147 (29CFR, Part 1910), Occupational Safety and Health Standards for General Industry (OSHA).

Mechanical Safety Devices

The safe operation of this equipment is ultimately the users responsibility. The conditions under which the equipment will be operated safely should be reviewed by the user. The user must be aware of the various national codes, ANSI/RIA R15.06-2012 safety standards, and other local codes that may pertain to the installation and use of this equipment.

Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location. The following safety equipment is provided as standard:

• Safety barriers

• Door interlocks

• Emergency stop palm buttons located on operator station

Check all safety equipment frequently for proper operation. Repair or replace any non-functioning safety equipment immediately.

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Programming, Operation, and Maintenance Safety

All operators, programmers, maintenance personnel, supervisors, and anyone working near the system must become familiar with the operation of this equipment. Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation, manuals, electrical design, and equipment interconnections of this equipment should be permitted to program, or maintain the system. All personnel involved with the operation of the equipment must understand potential dangers of operation.

• Inspect the equipment to be sure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Be sure that all safeguards are in place. Check all safety equipment for proper operation. Repair or replace any non-functioning safety equipment immediately.

• Check the E-Stop button on the operator station for proper operation before programming. The equipment must be placed in Emergency Stop (E-Stop) mode whenever it is not in use.

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• Back up all programs and jobs onto suitable media before program changes are made. To avoid loss of information, programs, or jobs, a backup must always be made before any service procedures are done and before any changes are made to options, accessories, or equipment.

• Any modifications to the controller unit can cause severe personal injury or death, as well as damage to the robot! Do not make any modifications to the controller unit. Making any changes without the written permission from Yaskawa will void the warranty.

• Some operations require standard passwords and some require special passwords.

• The equipment allows modifications of the software for maximum performance. Care must be taken when making these modifications. All modifications made to the software will change the way the equipment operates and can cause severe personal injury or death, as well as damage parts of the system. Double check all modifications under every mode of operation to ensure that the changes have not created hazards or dangerous situations.

• This equipment has multiple sources of electrical supply. Electrical interconnections are made between the controller and other equipment. Disconnect and lockout/tagout all electrical circuits before making any modifications or connections.

• Do not perform any maintenance procedures before reading and understanding the proper procedures in the appropriate manual.

• Use proper replacement parts.

• Improper connections can damage the equipment. All connections must be made within the standard voltage and current ratings of the equipment.

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Maintenance Safety

Turn the power OFF and disconnect and lockout/tagout all electrical circuits before making any modifications or connections.

Perform only the maintenance described in this manual. Maintenance other than specified in this manual should be performed only by Yaskawatrained, qualified personnel.

Summary of Warning Information

This manual is provided to help users establish safe conditions for operating the equipment. Specific considerations and precautions are also described in the manual, but appear in the form of Dangers, Warnings, Cautions, and Notes.

It is important that users operate the equipment in accordance with this instruction manual and any additional information which may be provided by Yaskawa. Address any questions regarding the safe and proper operation of the equipment to Yaskawa Motoman Customer Support.

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(937) 847-3200

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Customer Support Information

If you need assistance with any aspect of your ES165D system, please contact YASKAWA Customer Support at the following 24-hour telephone number:

For routine technical inquiries, you can also contact YASKAWA Customer Support at the following e-mail address:

When using e-mail to contact YASKAWA 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.

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techsupport@motoman.com

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 YASKAWA Customer Support at the telephone number shown above.

Please have the following information ready before you call Customer Support:

• System ES165D

• Robots ___________________________

• Primary Application ___________________________

• Controller DX100

• 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 DX100 controller data plate

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Table of Contents

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

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

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

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

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

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

2.2 Shipping Bolts and Brackets.............................................................................................. 2-3

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

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

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

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

3.3 Location ............................................................................................................................. 3-3

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

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

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

4.2.1 Connection to the Manipulator.............................................................................. 4-2

4.2.2 Connection to the DX100 ..................................................................................... 4-2

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

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

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

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

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

5.5 Alterable Operating Range ................................................................................................ 5-4

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

5.5.2 Notes on the Mechanical Stopper Installation ...................................................... 5-6

5.5.3 Adjustment to the Pulse Limitation of S-Axis........................................................ 5-7

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

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

6.2 Wrist Flange....................................................................................................................... 6-3

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

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

7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-2

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

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

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

8.1.2 Location of Limit Switch ........................................................................................ 8-1

8.1.3 Setting of Operation Range .................................................................................. 8-2

8.1.3.1 S-Axis Operation Range.......................................................................... 8-2

8.1.3.2 L-Axis Operation Range .......................................................................... 8-2

8.1.3.3 Setting Range of LU-Axes Interference Angle......................................... 8-3

8.2 Internal Connections .......................................................................................................... 8-4

Table of Contents

9 Maintenance and Inspection ........................................................................................................... 9-1

9.1 Inspection Schedule........................................................................................................... 9-1

9.2 Notes on Maintenance Procedures.................................................................................... 9-6

9.2.1 Battery Pack Replacement ................................................................................... 9-6

9.3 Notes on Grease Replenishment/Exchange Procedures .................................................. 9-8

9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer ............................. 9-8

9.3.1.1 Grease Replenishment............................................................................ 9-9

9.3.1.2 Grease Exchange.................................................................................... 9-9

9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer............................ 9-10

9.3.2.1 Grease Exchange.................................................................................. 9-10

9.3.2.2 Grease Exchange.................................................................................. 9-11

9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-12

9.3.3.1 Grease Replenishment.......................................................................... 9-12

9.3.3.2 Grease Exchange.................................................................................. 9-13

9.3.4 Grease Replenishment/Exchange for U-Arm ..................................................... 9-14

9.3.4.1 Grease Replenishment for R-, B-, T-Axes Gears in the Casing ............9-14

9.3.4.2 Grease Replenishment for R-Axis Speed Reducer ............................... 9-15

9.3.4.3 Grease Replenishment for B-Axis Speed Reducer ............................... 9-16

9.3.4.4 Grease Replenishment for T-Axis Speed Reducer ............................... 9-16

9.3.4.5 Grease Exchange for R-, B-, T-Axes Gears in the Casing .................... 9-17

9.3.4.6 Grease Exchange for R-Axis Speed Reducer ....................................... 9-17

9.3.4.7 Grease Exchange for B-Axis Speed Reducer ....................................... 9-18

9.3.4.8 Grease Exchange for T-Axis Speed Reducer ....................................... 9-19

9.3.5 Grease Replenishment for Balancer Connection Part........................................ 9-20

9.3.6 Notes for Maintenance........................................................................................ 9-21

9.3.6.1 Battery Pack Connection ....................................................................... 9-21

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10 Recommended Spare Parts........................................................................................................ 10-1

11 Parts List ..................................................................................................................................... 11-1

11.1 S-Axis Unit ..................................................................................................................... 11-1

11.2 L-Axis Unit ..................................................................................................................... 11-3

11.3 URBT-Axes Unit ............................................................................................................ 11-5

11.4 U-Arm Unit ..................................................................................................................... 11-8

11.5 Wrist Unit ..................................................................................................................... 11-10

11.6 Balancer Unit ............................................................................................................... 11-13

Table of Contents

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1 Product Confirmation

1.1 Contents Confirmation

1 Product Confirmation

• Confirm that the manipulator and the DX100 have the same order number. Special care must be taken when more than one manipulator is to be installed.

If the numbers do not match, manipulators may not perform as expected and cause injury or damage.

1.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.

Standard delivery includes the following four items (information for the content of optional goods are given separately):

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• Manipulator

• DX100

• Programming pendant

• Manipulator cables (3 cables between the DX100 and the Manipulator)

1-1

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X81

PROGRAMMING PENDANT

TRIPPED

RESET

OFF

AVERAGE

PEAK

kVA

INTERRUPT CURRENT

ERDR-

POWER SUPPLY

TYPE

DX100

kVA

3PHASE

NJ2960-1

60Hz

SERIAL No.

DATE

AC220V

MADE IN JAPAN

50/60HzAC200V

NJ1529

THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER.

ORDER NO.

Check that the manipulator and the DX100 have the same order number.

Label (Enlarged View)

(b) Manipulator (Side View)(a) DX100 (Front View)

WARNING

Do not open the door

THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER.

ORDER NO.

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1 Product Confirmation

1.2 Order Number Confirmation

Check that the order number of the manipulator corresponds to the DX100. The order number is located on a label as shown below.

Fig. 1-1: Location of Order Number Labels

1-2

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2 Transport

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2 Transport

2.1 Transport Method

• Sling applications and crane or forklift operations must be performed by authorized personnel only.

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

• Avoid excessive vibration or shock during transport.

The system consists of precision components. Failure to observe this caution may adversely affect performance.

2.1 Transport Method

• The weight of the manipulator is approximately 1150 kg including the shipping bolts and brackets. Use a wire rope strong enough to withstand the weight.

• Shipping bolts and brackets are designed to support the manipulator weight. Do not use them for anything other than transporting the manipulator.

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

• Avoid putting external force on the arm or motor unit when transporting by a crane, forklift, or other equipment. Failure to observe this instruction may result in injury.

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(1 piece)

Shipping bolt

Electrical tape painted in yellow

Rubber plate

Details of B part

Hook

Shipping bracket (4 pieces)

Details of A part

Axis

Angle

When equipped with external cablings, those settings are subject to change depending on the specifications.

Pulse

RUBTS

-143518

-134502 0 -147520 0

-60

-63.9 0 -86.1 0

Factory setting for angle and pulse of each axis

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2 Transport

2.1 Transport Method

2.1.1 Using a Crane

As a rule, the manipulator should be lifted by a crane with four wire ropes when removing it from the package and moving it. Be sure that the manipulator is fixed with the shipping bolts and brackets before transport, and lift it in the posture as shown in Fig. 2-1 “Transporting Position”.

Fig. 2-1: Transporting Position

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Hook

Electrical tape painted in yellow

Rubber plate

Shipping bracket

Shipping bolt

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2 Transport

2.2 Shipping Bolts and Brackets

The manipulator is provided with shipping bolts and brackets at position A and with the hexagon socket head cap screws at point B. (Fig. 2-1

“Transporting Position”).

Fig. 2-2: Shipping Bolts and Brackets

• The A-shipping brackets are painted in yellow.

• The B-shipping bolt: hexagon socket head cap screw is taped in yellow.

Position Bolt Type Pcs

A Hexagon socket head cap screw M20 X 70 mm 12

B Hexagon socket head cap screw M16 X 20 mm 1

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

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3 Installation

WARNING

• Install the safeguarding.

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

• Install the manipulator in a location where the tool or the workpiece held by its fully extended arm will not reach the wall, safeguarding, or controller.

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

• Do not start the manipulator or even turn ON the power before it is firmly anchored.

The manipulator may overturn and cause injury or damage.

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

Failure to observe this caution may cause injury or damage.

• Before turning ON the power, check to be sure that the shipping bolts and brackets explained in Fig. 2-2 “Shipping Bolts and Brackets” are removed.

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

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3 Installation

3.1 Safeguarding Installation

To insure safety, be sure to install safeguarding. It prevents unforeseen accidents with personnel and damage to equipment. Refer to the quoted clause for your information and guidance.

Responsibility for Safeguarding (ISO10218)

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

3.2 Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a baseplate or foundation strong enough to support the manipulator and withstand reaction forces during acceleration and deceleration.

Construct a solid foundation with the appropriate thickness to withstand maximum reaction forces of the manipulator referring to Table 3-1

"Maximum Reaction Forces of the Manipulator at Emergency Stop" and Table 3-2 "Endurance Torque in Operation".

A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness of installation surface may deform the manipulator shape and affect its functional abilities. Mount the manipulator base as instructed in section

3.2.1 “Mounting Example”.

Table 3-1: Maximum Reaction Forces 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)

32000 N•m (3265 kgf•m)

78500 N•m (8000 kgf•m)

Table 3-2: Endurance Torque in Operation

Endurance torque in horizontal operation (S-axis moving direction)

Endurance torque in vertical operation (L-, U-axes moving direction)

3-2

9400 N•m (960 kgf•m)

23900 N•m (2434 kgf•m)

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Baseplate

Manipulator base

Spring washer

Washer

Flatness: 0.5mm or less

Hexagon socket head cap screw M20 (8 screws)

Units: mm

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3.3 Location

3.2.1 Mounting Example

For the first process, anchor the baseplate firmly to the ground. The baseplate should be rugged and durable to prevent shifting of the manipulator or the mounting fixture. It is recommend to prepare a baseplate of 50 mm or more thick, and anchor bolts of M20 or larger size.

The manipulator base is tapped for eight mounting holes; securely fix the manipulator base to the baseplate with eight hexagon head bolts M20 (80 mm long is recommended).

Next, fix the manipulator base to the baseplate. Tighten the hexagon head bolts and anchor bolts firmly so that they will not work loose during the operation.

Refer to Fig. 3-1 “Mounting the Manipulator on Baseplate”.

Fig. 3-1: Mounting the Manipulator on Baseplate

3.3 Location

When the manipulator is installed, it is necessary to satisfy the following environmental conditions:

• Ambient temperature: 0° to + 45°C

• Humidity: 20 to 80%RH (at constant temperature)

• Free from dust, soot, or water

• Free from corrosive gases or liquids, or explosive gases

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

or less [0.5 G] or less)

• Free from large electrical noise (plasma)

• Flatness for installation: 0.5 mm or less

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CAUTION

NOTE

5.5mm2 or more

View A

Delivered with manipulator

Bolt M8 (for grounding)

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4 Wiring

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4 Wiring

4.1 Grounding

WARNING

• Ground resistance must be 100 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.)

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 or allow it to tangle. Keep the cable as straight as possible.

Failure to observe this caution may result in preventing heat of the cable from being discharged.

4.1 Grounding

Follow electrical installation standards and wiring regulations for grounding. A ground wire of 5.5 mm

Refer to Fig. 4-1 “Grounding Method” to connect the ground line directly to the manipulator.

or more is recommended.

• Never use this wire sharing with other ground lines or grounding electrodes for other electric power, motor power, welding devices, etc.

• Where metal ducts, metallic conduits, or distributing racks are used for cable laying, ground in accordance with electrical installation standards.

Fig. 4-1: Grounding Method

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4 Wiring

4.2 Cable Connection

Three manipulator cables are delivered with the manipulator; an encoder cable for detection (1BC) and two power cables (2BC and 3BC). (Refer to Fig. 4-2 “Manipulator Cables”.)

Connect these cables to the manipulator base connectors and to the DX100. Refer to Fig. 4-3(a) “Manipulator Cable Connectors (Manipulator Side)” and Fig. 4-3(b) “Manipulator Cable Connection (DX100 Side)” .

4.2.1 Connection to the Manipulator

Before connecting three cables to the manipulator, verify the numbers on both manipulator cables and the connectors on the connector base of the manipulator. When connecting, adjust the cable connector positions to the main key positions of the manipulator, and insert cables in the order of 2BC, 1 BC, then 3BC. After inserting the cables, depress the lever until it clicks.

4.2.2 Connection to the DX100

Before connecting cables to the DX100, verify the numbers on both manipulator cables and the connectors on the DX100. When connecting, insert the cables in the order of X21, X22, then X11, and depress each lever low until it clicks.

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X21

X22

3BC

2BC

1BC

X11

1BC

2BC

X21

X22

3BC

The Manipulator SideThe DX100 Side

Encoder Cable

Power Cable

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4.2 Cable Connection

Fig. 4-2: Manipulator Cables

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1BC

3BC

AIR

2BC

3BC

molexmolexmolex

1BC

2BC

Connector Details

(Manipulator Side)

Key positions

X22

X21

X11

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4.2 Cable Connection

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

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

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5 Basic Specifications

5.1 Basic Specifications

5 Basic Specifications

5.1 Basic Specifications

Table 5-1: Basic Specifications

Item Model MOTOMAN-ES165D MOTOMAN-ES165D

Structure Vertically Articulated

Degree of Freedom 6

Payload 165 kg

Repeatability

Range of Motion S-Axis (turning) -180° - +180°

Maximum Speed S-Axis 1.92 rad/s, 110°/s

Allowable Moment

Allowable Inertia (GD

Approx. Mass 1100 kg

Ambient Conditions Temperature 0° C to 45° C

Power Requirements 5.0 kVA

1 SI units are used in this table. However, gravitational unit is used in ( ). 2 Conformed to ISO9283 3 Refer to chapter 6.1 “Allowable Wrist Load” for details on the permissible moment of inertia.

/4) R-Axis 85 kg•m

with external cabling for

SRBT-axes

±0.2 mm

L-Axis (lower arm) -60° - +76°

U-Axis (upper arm) -142.5° - +230°

R-Axis (wrist roll) -360° - +360° -205° - +205°

B-Axis (wrist pitch/yaw) -130° - +130° -120° - +120°

T-Axis (wrist twist) -360° - +360° -200° - +200°

L-Axis 1.92 rad/s, 110°/s

U-Axis 1.92 rad/s, 110°/s

R-Axis 3.05 rad/s, 175°/s

B-Axis 2.62 rad/s, 150°/s

T-Axis 4.19 rad/s, 240°/s

R-Axis 921 N•m (94 kgf•m)

B-Axis 921 N•m (94 kgf•m)

T-Axis 490 N•m (50 kgf•m)

B-Axis 85 kg•m

T-Axis 45 kg•m

Humidity 20 to 80% RH (non-condensing)

Vibration Acceleration 4.9 m/s

Others Free from corrosive gasses or liquids, or explosive

gasses Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)

or less (0.5 G)

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+ 64 hidden pages

YASKAWA ES165D Instructions Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Product Confirmation

1.1 Contents Confirmation

1.2 Order Number Confirmation

2 Transport

2.1 Transport Method

2.1.1 Using a Crane

2.2 Shipping Bolts and Brackets

3 Installation

3.1 Safeguarding Installation

3.2 Mounting Procedures for Manipulator Base

3.3 Location

3.2.1 Mounting Example

4 Wiring

4.1 Grounding

4.2 Cable Connection

4.2.1 Connection to the Manipulator

4.2.2 Connection to the DX100

5 Basic Specifications

5.1 Basic Specifications