YASKAWA MOTOMAN-MPL80 II Instructions Manual

MOTOMAN-MPL80 II

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INSTRUCTIONS

TYPE:
YR-MPL0080-J00 (DX200 STANDARD SPECIFICATION)

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

MOTOMAN INSTRUCTIONS

MOTOMAN-MPL80 II INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL

Part Number: 170904-1CD
Revision: 5

MANUAL NO.

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Copyright © 2018, 2015, 2014 Yaskawa America, Inc.

Terms of Use and Copyright Notice

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, 2014

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 instruction manual is intended to explain mainly on the
mechanical part of the MOTOMAN-MPL80 II 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 the Chapter 1: Safety of
the DX200 instructions. To ensure correct and safe operation,
carefully read the DX200 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: [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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CAUTION

MANDATORY

PROHIBITED

NOTE

DANGER

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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MPL80 II.

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” .

• 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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TURN

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WARNING

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

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

Fig. : Emergency Stop Button

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

Injury may result from unintentional or unexpected manipulator motion.

Fig. : Release of Emergency Stop

• 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 DX200.

– 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.

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CAUTION

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• 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 DX200 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
DX200 Instructions before operating the manipulator:

Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.

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

In this manual, the equipment is designated as follows:

Equipment Manual Designation

DX200 controller DX200

DX200 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 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 bland names for each company or
corporation. The indications of

® and

TM

are omitted.

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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.

Fig. : Warning Label Locations

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WARNING label B

Nameplate

MODEL
MOTOMAN­TYPE

PAYLOAD

ORDERNO.

SERIALNO.

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

kg

MASS

DATE

WARNING label A

kg

NJ3878

WARNING label A

WARNING Label A:

WARNING Label B:

Nameplate

WARNING

Moving parts
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 button

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 EMERGENCY STOP buttons for proper operation before
programming. The equipment must be placed in the 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 making
program changes. To avoid loss of information, programs, or jobs, a
backup must always be made before performing any service
procedures or making any changes to options, accessories, or
equipment.

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

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

• The equipment allows modifications of the software for maximum
performance. Use Care 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 changes do
not create a hazard or dangerous situation.

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

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Maintenance Safety

Turn 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 Customer Support.

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NOTE

[phone]

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Customer Support Information

If you need assistance with any aspect of your MPL80 II system, please
contact Customer Support at the following 24-hour telephone number:

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

When using e-mail to contact Customer Support, please provide a
detailed description of the issue, along with complete contact information.
Please allow approximately 24 to 36 hours for a response.

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[e-mail]

Please use e-mail for routine inquiries only. If you have an
urgent or emergency need for service, replacement parts,
or information, contact Customer Support at the telephone
number shown above.

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

• System MPL80

• Primary Application

• Controller DX200

• Software Version

Access this information on the Programming
Pendant’s LCD display screen by selecting {MAIN
MENU} - {SYSTEM INFO} - {VERSION}

• Manipulator Serial Number

Located on the Manipulator data plate

• Manipulator Sales Order
Number

II

• Positioner

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Located on the Controller data plate

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Table of Contents

Table of Contents

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

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

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

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

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

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

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

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

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

3.1 Installation of the Safeguarding .........................................................................................3-2

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

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

3.2.2 When the Manipulator is Mounted Directly on the Floor....................................... 3-4

3.3 Protection Class................................................................................................................. 3-5

3.4 Location ............................................................................................................................. 3-5

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 DX200 ..................................................................................... 4-2

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

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

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

5.3 Baseplate Dimensions ....................................................................................................... 5-2

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

5.5 B-Axis Operating Range .................................................................................................... 5-4

5.6 Stopping Angle and Time at the Emergency Stop............................................................. 5-5

5.6.1 Stop Category 0: Emergency Stop ....................................................................... 5-5

5.6.1.1 Position 100% ......................................................................................... 5-5

5.6.1.2 Position 66% ........................................................................................... 5-6

5.6.1.3 Position 33% ........................................................................................... 5-7

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5.6.2 Stop Category 1: Emergency Stop ....................................................................... 5-8

5.7 Alterable Operating Range ................................................................................................5-9

5.7.1 Necessary Parts ................................................................................................... 5-9

5.7.2 Notes on the S-Axis Mechanical Stopper Installation ......................................... 5-10

5.7.3 Alteration of the S-Axis Pulse Soft Limit ............................................................. 5-11

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

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

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

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

Table of Contents

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

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

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

9.2 Notes on Maintenance Procedures.................................................................................... 9-5

9.2.1 Battery Pack Replacement ................................................................................... 9-5

9.3 Grease Replenishment/Exchange ..................................................................................... 9-7

9.3.1 Notes on Grease Replenishment/Exchange Procedures ..................................... 9-7

9.3.2 Grease Replenishment/Exchange for S-axis Speed Reducer.............................. 9-8

9.3.2.1 Grease Replenishment............................................................................ 9-8

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

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

9.3.3.1 Grease Replenishment.......................................................................... 9-10

9.3.3.2 Grease Exchange.................................................................................. 9-11

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

9.3.4.1 Grease Replenishment.......................................................................... 9-12

9.3.4.2 Grease Exchange.................................................................................. 9-13

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

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

II

9.3.5 Grease Replenishment for B- and T-Axis Gears................................................ 9-14

9.3.5.1 Grease Replenishment.......................................................................... 9-14

9.3.5.2 Grease Exchange ................................................................................. 9-15

9.3.6 Grease Replenishment for B- and T-Axis Speed Reducers and Gears ............. 9-16

9.3.6.1 Grease Replenishment.......................................................................... 9-16

9.3.6.2 Grease Exchange ................................................................................. 9-17

9.4 Notes for Maintenance..................................................................................................... 9-18

9.4.1 Battery Pack Connection .................................................................................... 9-18

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

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

Table of Contents

11.3 U-Axis Unit..................................................................................................................... 11-5

11.4 B-,T-Axes Unit ............................................................................................................... 11-7

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

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1 Product Confirmation

1.1 Contents Confirmation

1 Product Confirmation

• Confirm that the manipulator and the DX200 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 is given separately):

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• Manipulator

• DX200

• Programing Pendant

• Manipulator Cable

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1 Product Confirmation

1.2 Order Number Confirmation

1.2 Order Number Confirmation

Check that the order number of the manipulator corresponds to the
DX200. The order number is located on a label as shown below.

Fig. 1-1: Location of Order Number Labels

Label (Enlarged View)

THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER.

ORDER NO.

Check that the manipulator
and the DX200 have the
same order number.

(a) DX200 (Front View) (b) Manipulator (Side View)

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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

• Check that the eyebolts are securely fastened.

• The weight of the manipulator is approximately 580 kg
including the shipping bolts and brackets. Use a wire rope
strong enough to withstand the weight.

• Attached eyebolts 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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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

Shipping bracket

Delivered with the manipulator

Hexagon socket head cap screw M12
(8 screws)

Factory setting for angle and pulse of each axis

Axis
Angle

Pulse

SLUBT
0

-90 +5

-144384 3826

0

-80 0

-159547

0

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Delivered with the manipulator

Shipping bracket

Forklift claw entry

Pallet

Bolt M20 (8 bolts)

NOTE

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2 Transport

2.2 Shipping Bolts and Brackets

2.1.2 Using a Forklift

When using a forklift, the manipulator should be fixed on a pallet with bolts
as shown in Fig. 2-2 “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 overturning or
slippage.

Fig. 2-2: Using a Forklift

2.2 Shipping Bolts and Brackets

The manipulator is provided with shipping bolts and a shipping brackets.

(See Fig. 2-1 “Transporting Position”.)

• The shipping bolts and bracket are painted yellow.

Before turning ON the power, make 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

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 a 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 are removed.

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

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3 Installation

3.1 Installation of the Safeguarding

3.1 Installation of the Safeguarding

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 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.

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 repulsion forces
during acceleration and deceleration.

Construct a solid foundation with the appropriate thickness to withstand
maximum repulsion forces of the manipulator referring to Table 3-1
“Manipulator Repulsion Force and Torque” .

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” or section 3.2.2 “When the Manipulator is
Mounted Directly on the Floor”.

Table 3-1: Manipulator Repulsion Force and Torque

Horizontal rotation Vertical rotation

Repulsion force F

Emergency stop 23544 N

(2400kgf)

Acceleration/deceleration 5886 N

(600 kgf)

Torque M

H

24525 N•m
(2500 kgf•m)

6131 N•m
(625 kgf•m)

Fig. 3-1: Manipulator Repulsion Force and Torque

H

Repulsion force FVTorque M

27468 N
(2800 kgf)

5396 N
(550 kgf)

M

V

45126 N•m
(4600 kgf•m)

11282 N•m
(1150 kgf•m)

V

3-2

F

V

M

H

F

H

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50

30

Flatness:

0.5mm or less

Hexagon head screw
M20 (8 screws)

Manipulator base

Spring washer

Washer

Baseplate

Anchor bolt M20 or more

Baseplate

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3.2 Mounting Procedures for Manipulator Base

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.

Next, fix the manipulator base to the baseplate. The manipulator base is
tapped for eight mounting holes; securely fix the manipulator base to the
baseplate with hexagon head screws M20 (70 mm long is recommended).

Tighten the hexagon head screws and anchor bolts firmly so that they will
not work loose during the operation.

Refer to Fig. 3-2 “Mounting the Manipulator Baseplate”.

Fig. 3-2: Mounting the Manipulator Baseplate

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600

900

800

720

385

320

300300

400

230

Bolt A

Tapped hole M20 (8 holes)

Bolt B

Tapped hole M24 (4holes) (Base B)

28dia. (4 holes) (Base A)

28dia. (4 holes) (Base B)

Base B

Base A

Bolt A: Bolt M20 X 70 mm (8 bolts),Spring Washer, Flat Washer

Tightening bolts or bases are prepared by the customer.

FL

Leveling is required

32

36250

350

200

100

100

200

JA Base bolt
M24 X315mm

Weld after adjusting
the installation

10

Manipulator base

Units: mm

Bolt B: Bolt M24 X 70 mm (4 bolts),Spring Washer, Flat Washer

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3 Installation

3.2 Mounting Procedures for Manipulator Base

3.2.2 When the Manipulator is Mounted 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) is 200 mm or more, the manipulator base can
be fixed directly to the floor with M 20 anchor bolts. Before mounting the
manipulator, however, check that the floor is level and that all cracks, etc.
are repaired. Any thickness less than 200 mm is insufficient for mounting,
even if the floor is concrete.

Fig. 3-3: Direct Mounting on the Floor

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3.3 Protection Class

3.3 Protection Class

For the standard type, environmental resistance for main part of the
manipulator conforms to IP54; the wrist part conforms to IP67.

For the main part of environmental resistance, IP65 is also available as
optional.

3.4 Location

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

• Ambient Temperature: 0 to +45C

• Humidity: 20 to 80%RH (non-condensing)

• Free from dust, soot, oil, or water

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

• Free from excessive vibration (4.9 m/s

2

[0.5G] or less)

• Free from large electrical noise (plasma)

• The flatness for installation is 0.5 mm or less

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NOTE

A

5.5mm or more

2

Delivered with the manipulator

Bolt M8 (for grounding)

View A

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4 Wiring

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4 Wiring

4.1 Grounding

WARNING

• Ground resistance must be 100  or less.

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

• Before wiring, make sure to turn the primary power supply off, and
put up a warning sign. (ex. DO NOT TURN THE POWER ON.)

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

• Wiring must be performed by authorized or certified personnel.

4.1 Grounding

Fig. 4-1: Grounding Method

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

Follow the local regulations and electrical installation standards for
grounding. A wire of 5.5 mm

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

• 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.

2

or more is recommended.

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2BC

X11

1BC

X21

2BC

DX200 side

X11

1BC

X21 2BC

DX200 side

1BC

Manipulator side

Encoder cable

Power cable

Manipulator side

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4 Wiring

4.2 Cable Connection

4.2 Cable Connection

Two manipulator cables are delivered with the manipulator; an encoder
cable (1BC) and a power cable (2BC). (Refer to Fig. 4-2 “Manipulator
Cables”.)

Connect these cables to the manipulator base connectors and to the
DX200. Refer to Fig. 4-3(a) “Manipulator Cable Connectors (Manipulator
Side)” and Fig. 4-3(b) “Manipulator Cable Connectors (DX200 Side)”.

4.2.1 Connection to the Manipulator

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

4.2.2 Connection to the DX200

Before connecting cables to the DX200, verify the numbers on both
manipulator cables and the connectors on the DX200. When connecting,
insert the cables in the order of X21, then X11, and depress each lever low
until it clicks.

Fig. 4-2: Manipulator Cables

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4 Wiring

4.2 Cable Connection

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

AIR

1BC

2BC

Fig. 4-3(b): Manipulator Cable Connectors (DX200 Side)

X11

X21

AIR

1BC

2BC

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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-MPL80 II

Structure Vertically Articulated

Degree of Freedom 5

Payload 80 kg

Repeatability

Range of Motion S-Axis (turning) -180+180

Maximum Speed S-Axis 2.97 rad/s, 170/s

Allowable Moment

Allowable Inertia

2

/4)

(GD

Approx. Mass 550 kg

Protective Structure Basic axis: IP54 or equivalent

Ambient Conditions Temperature 0 to 45C

Power Capacity 4.0 kVA

Noise

1 SI units are used in this table. However, gravitational unit is used in ( ).
2 Conformed to ISO9283
3 The range of motion of the B-axis indicates the angle to the ground. With certain postures,

however, motion may be limited by the relative angle between the B-axis and the upper arm.

Refer to section 5.5 “B-Axis Operating Range”.
4 Refer to section 6.1 “Allowable Wrist Load” for details on the permissible moment of inertia.
5 Conformed to ISO6926
1, Measurement is carried out when the maximum load is mounted to the manipulator and

operated in the maximum speed.
2, Measurement is carried out:

- between 1.2m and 1.5m above the ground.

- 400mm away from the P-point maximum envelope.

2)

4)

5)

1)

±0.07 mm

L-Axis (lower arm) -90+135

U-Axis (upper arm) -160+35

B-Axis (wrist pitch/yaw) -15+15

T-Axis (wrist twist) -360+360

L-Axis 2.97 rad/s, 170/s

U-Axis 2.97 rad/s, 170/s

B-Axis 2.97 rad/s, 170/s

T-Axis 6.11 rad/s, 350/s

B-Axis 78.4 N•m (8 kgf•m)

T-Axis 20.5 N•m (2.1 kgf•m)

B-Axis 16 kg•m

T-Axis 6.1 kg•m

Wrist axis only: IP67 or equivalent

Humidity 20 to 80% RH at constant temperature

Vibration Acceleration Less than 4.9 m/s

Others Free from corrosive gas or liquid, or explosive gas.

Free from water, oil, or dust.
Free from excessive electrical noise (plasma).

70 dB

3)

2

2

2

(0.5 G)

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A

153

455

608

455

195

385

320

195

±0.1

195

230

22 dia.(8 holes)

View A

+0.018
0

12 dia. (2 holes)

230

400

195

Base dimensions

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5 Basic Specifications

5.2 Part Names and Working Axes

5.2 Part Names and Working Axes

Fig. 5-1: Part Names and Working Axes

Rotary head
S-head

L- L+

S+

Upper arm

U+

U-

Lower arm
L-arm

Manipulator base

U-arm

B-

T-

Wrist

B+

T+

Wrist flange

5.3 Baseplate Dimensions

Fig. 5-2: Baseplate Dimensions

S-

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5.4 Dimensions and P-Point Maximum Envelope

5.4 Dimensions and P-Point Maximum Envelope

Fig. 5-3: Dimensions and P-Point Maximum Envelope

1807

210870540 187

180°

R377

180°

145

90°

1025

R543

R2061

P-point maximum envelope

55°

57

175

P-point

276

253343

135°

85°

131

3291

15°

15°

65°

6231121 312 925 1300 2170

160°

471

248

6

543

2192

2061

234234

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15°

15°

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5 Basic Specifications

5.5 B-Axis Operating Range

5.5 B-Axis Operating Range

The operating range of the B-axis maintaining a constant angle to the
center of U-axis is shown in Fig. 5-4 “B-Axis Operating Range”.

By “B-axis adjustable motion function”, the B-axis maintains the same
posture to the ground regardless of the L- or U-axis angle.

The operating range is ±15° (0 degree is defined as the angle when the
wrist flange is horizontal and facing to the ground.) When the B-axis
position exceeds this limit, ”Special Soft Limit” occurs.

Note: In relation with interference with the upper arm, the range of motion
can be limited.

Fig. 5-4: B-Axis Operating Range

U-axis rotation center

55°

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(*1)

15°

L-axis rotation center

S-axis rotation center

55°

(*1)

15°

15°

15°

15

15

15°

15

15°

Upper arm
(U-arm)

15°

15°

15°

15°

B-axis rotation center

Wrist flange

15°

15°

15°

15°

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Stop position of S -axis category0 100%

0

5

10

15

20

25

30

35

0 30 60 90 120 150 180

Speed[deg/s]

Stopping angle[deg]

Load100% Load66% Load33%

Stop position of S -axis category0 100%

0.0

0.1

0.2

0.3

0.4

0.5

0 30 60 90 120 150 180

Speed[deg/s]

Stopping time[sec]

Load100% Load66% Load33%

Stop position of L-axis category0 100%

0

5

10

15

20

25

30

35

0 30 60 90 120 150 180

S peed[deg/s]

Stopping angle[deg]

Load100% Load66% Load33%

Stop position of L-axis category0 100%

0.0

0.1

0.2

0.3

0.4

0.5

0 30 60 90 120 150 180

Speed[deg/s]

Stopping time[sec]

Load100% Load66% Load33%

Stop position of U -axis category0 100%

0

5

10

15

20

25

30

35

0 30 60 90 120 150 180

Speed[deg/s]

Stopping angle[deg]

Load100% Load66% Load33%

Stop position of U -axis category0 100%

0.0

0.1

0.2

0.3

0.4

0.5

0 30 60 90 120 150 180

Speed[deg/s]

Stopping time[sec]

Load100% Load66% Load33%

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5 Basic Specifications

5.6 Stopping Angle and Time at the Emergency Stop

5.6 Stopping Angle and Time at the Emergency Stop

Following data on stopping angle and time at the emergency stop are
measured under the standard of ISO10218.

5.6.1 Stop Category 0: Emergency Stop

5.6.1.1 Position 100%

Fig. 5-5: Category 0, Position 100%: Stopping Angle and Time for each Axis at the Emergency Stop

(a)S-Axis

(b)L-Axis

(c)U-Axis

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Stop position of S -axis category0 66%

0

5

10

15

20

25

30

35

0 306090120150180

Speed[deg/s]

Stopping angle[deg]

Load100% Load66% Load33%

Stop positio n o f S - ax is category0 66%

0.0

0.1

0.2

0.3

0.4

0.5

0 30 60 90 120 150 180

Speed[deg/s]

Stopping time[sec]

Load100% Load66% Load33%

Stop position of L-axis category0 66%

0

5

10

15

20

25

30

35

0 20 40 60 80 100 120 140 160 180

Speed[deg/s]

Stopping angle[deg]

Load100% Load66% Load33%

Stop position of L-axis category0 66%

0.0

0.1

0.2

0.3

0.4

0.5

0 30 60 90 120 150 180

Speed[deg/s]

Stopping time[sec]

Load100% Load66% Load33%

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5 Basic Specifications

5.6 Stopping Angle and Time at the Emergency Stop

5.6.1.2 Position 66%

Fig. 5-6: Category 0, Position 66%: Stopping Angle and Time for each Axis at the Emergency Stop

(a)S-Axis

(b)L-Axis

note: U axis is only one pose for its structure.

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Stop position of S -axis category0 33%

0

5

10

15

20

25

30

35

0 30 60 90 120 150 180

Speed[deg/s]

Stopping angle[deg]

Load100% Load66% Load33%

Stop positio n o f S - ax is category0 33%

0.0

0.1

0.2

0.3

0.4

0.5

0 30 60 90 120 150 180

Speed[deg/s]

Stopping time[sec]

Load100% Load66% Load33%

Stop position of L-axis category0 33%

0

5

10

15

20

25

30

35

0 30 60 90 120 150 180

Speed[deg/s]

Stopping angle[deg]

Load100% Load66% Load33%

Stop position of L-axis category0 3 3%

0.0

0.1

0.2

0.3

0.4

0.5

0 30 60 90 120 150 180

Speed[deg/s]

Stopping time[sec]

Load100% Load66% Load33%

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5.6 Stopping Angle and Time at the Emergency Stop

5.6.1.3 Position 33%

Fig. 5-7: Category 0, Position 33%: Stopping Angle and Time for each Axis at the Emergency Stop

(a)S-Axis

(b)L-Axis

note: U axis is only one pose for its structure.

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Stop position of S -axis category1

0

10

20

30

40

50

60

0 30 60 90 120 150 180

Speed[deg/s]

Stopping angle[deg]

Stop position of S -axis category1

0.0

0.1

0.2

0.3

0.4

0.5

0.6

0 30 60 90 120 150 180

Speed[deg/s]

Stopping time[sec]

Stop position of L-axis ca te g ory 1

0

10

20

30

40

50

60

0 30 60 90 120 150 180

Speed[deg/s]

Stopping angle[deg]

Stop position of L-axis category1

0.0

0.1

0.2

0.3

0.4

0.5

0.6

0 30 60 90 120 150 180

Speed[deg/s]

Stopping time[sec]

Stop position of U -axis c a tego ry 1

0

10

20

30

40

50

60

0 30 60 90 120 150 180

Speed[deg/s]

Stopping angle[deg]

Stop position of U -axis c ate go ry 1

0.0

0.1

0.2

0.3

0.4

0.5

0.6

0 30 60 90 120 150 180

Speed[deg/s]

Stopping time[sec]

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5 Basic Specifications

5.6 Stopping Angle and Time at the Emergency Stop

5.6.2 Stop Category 1: Emergency Stop

The stopping angle and time at the emergency stop in category 1 are not
subjected to the manipulator position and the load.

Stop of category1 doesn't depend on the robot position and the load.

Fig. 5-8: Category 1: Stopping Angle and Time for each Axis at the Emergency Stop

(a)S-Axis

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(b)L-Axis

(c)U-Axis

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5.7 Alterable Operating Range

5.7 Alterable Operating Range

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

Table 5-2: S-Axis Operating Range

Item Specifications

S-Axis Operating Range -180° - +180°(standard)

-165° - +165°

-150° - +150°

-135° - +135°

-120° - +120°

-105° - +105°

-90° - +90°

-75° - +75°

-60° - +60°

-45° - +45°

-30° - +30°

-15° - +15°

5.7.1 Necessary Parts

When altering the operating range of the S-axis, following parts shown in
Fig. 5-9 “S-Axis Mechanical Stopper” are necessary in addition to the
already delivered parts.

(1) Hexagon socket head cap screw M20 (length: 40 mm)

(2) Collar (drawing No. HW9405875-2) x 1

(3) Pin (drawing No. HW9405032-2) x 1

(4) Washer M6X3

Note:((3), (4) only): Necessary only when the manipulator is equipped with

Fig. 5-9: S-Axis Mechanical Stopper

(Tensile strength: 1200N/mm
stopper)

the S-axis overrun limit switch.

Collar

HW9405875-2

Hexagon socket head cap screw M20 (length: 40 mm)

(Stopper)

2

) x 1 screw (for the mechanical

Washer M6×3
(Necessary only when the manipulator is equipped
with the S-axis overrun limit switch)

Pin
HW9405032-2

(Necessary only when the manipulator is equipped
with the S-axis overrun limit switch)

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5.7 Alterable Operating Range

5.7.2 Notes on the S-Axis Mechanical Stopper Installation

Mount the collar (drawing No. HW9405785-2) to the hexagon socket head
screws M20 (length: 40 mm) (Tensile strength: 1200N/mm
shown in Fig. 5-9 “S-Axis Mechanical Stopper”, mount the S-axis
mechanical stopper to the S-head using the collar with the screws with the
tightening torque of 167 N•m (17 kgf•m).

The S-axis mechanical stopper can be mounted in every 15-degree pitch
as shown in Fig. 5-10 “S-Axis Stopper Mounting Position”.

When the manipulator is equipped with the S-axis overrun limit switches,
install the pins (drawing No. HW9405032-2) and washer M6 to the same
degree positions as the hexagon socket head screws.

Fig. 5-10: S-Axis Stopper Mounting Position

2

). Then, as

Section A-A

A

5-10

A

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5 Basic Specifications

5.7 Alterable Operating Range

5.7.3 Alteration of the S-Axis Pulse Soft Limit

Apply the Instruction for “DX200 Instructions section 8.17 Changing the
Parameter Setting (manual No. RE-CTO-A220)” as part of reference
materials for adjusting the programming pendant when modifying the
range of motion of S-Axis.

Pulse limit (positive (+) direction of the S-axis): S1CxG400

Pulse limit (negative (-) direction of the S-axis): S1CxG408

D e g r e e 0 -1515 -3030 -4545 -6060

Pulse 0 -21203

-

+21203

Degree -7575 -9090 -105105 -120120 -135135

Pulse -106015

-

+106015

-127217

-

+127217

-42406

-

+42406

-148420

-

+148420

-63609

-

+63609

-169623

-

+169623

-84812

-

+84812

-190826

-

+190826

D e g r e e -150150 -165165 -180180(Standard)

Pulse -212029

-

+212029

-233232

-

+233232

-254434

-

+254434

Please do not alter the range of motion with the software
only, but in combination with the mechanical stopper.

Also, when executing the alteration, be sure to uniform the
range.

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800 600 400

20kg

1200

1000

800

600

400

800600400

LT(mm)

10kg

40kg

60kg

80kg

LB(mm)

LT(mm)

T- and R-axes
center of rotation

B-axis center of rotation

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6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

The allowable wrist load is 80 kg. If force is applied to the wrist instead of
the load, force on R-, B-, and T-axes should be within the value shown in
Table 6-1 “Allowable Wrist Load”. Contact your Yaskawa representative
for further information or assistance.

Table 6-1: Allowable Wrist Load

Axis Moment N•m (kgf•m)

B-Axis 78.4 (8) 16

T-Axis 20.5 (2.1) 6

1 ( ): Gravitational unit

1)

GD
kg•m

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2

/4 Total Moment of Inertia

2

When the volume load is small, refer to the moment arm rating shown in
Fig. 6-1 “Moment Arm Rating”.

The allowable total moment of inertia is calculated when the moment is at
the maximum. Contact your Yaskawa representative beforehand when
only the moment of inertia is created, or when the load moment is small
while the moment of inertia is large. Also, when the load mass is
combined with an outside force, contact your Yaskawa representative
beforehand.

Fig. 6-1: Moment Arm Rating

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Unit: mm

axis

Tapped hole M8

8 dia

Alignment mark

6 dia.

+0.012
0

50 dia.

0

-0.025

(depth: 10mm)

(depth:14 mm) (pitch:1.25) (6 holes)

(depth: 14mm)

+0.015
0

100 dia.

0

-0.022

P.C.D.80

4240

6

8

NOTE

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Fig. 6-2: Wrist Flange

6 Allowable Load for Wrist Axis and Wrist Flange

6.2 Wrist Flange

6.2 Wrist Flange

The wrist flange dimensions are shown in Fig. 6-2 “Wrist Flange”. In order
to see the alignment marks, it is recommended that the attachment be
mounted inside the fitting. Fitting depth of inside and outside fittings must
be 5 mm or less.

Wash off anti-corrosive paint (yellow) on the wrist flange
surface with thinner or light oil before mounting the tools.

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7 System Application

7.1 Peripheral Equipment Mounts

7 System Application

7.1 Peripheral Equipment Mounts

The peripheral equipment mounts are provided on the U-axis (upper arm)
and S-axis (rotary head) as shown in Fig. 7-1 “Installing Peripheral
Equipment” for easier installation of the users’ system applications. The
following conditions should be observed to attach or install peripheral
equipment.

Fig. 7-1: Installing Peripheral Equipment

A

Tapped hole M8 (4 holes)
(pitch: 1.25) (depth: 16)

100

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100

50

200

200

57

B

Tapped hole M8 (4 holes)

(pitch: 1.25) (depth: 16)

100

100

611.5

223.5

223.5

105

105

C

Tapped hole M12 (4 holes)
(pitch: 1.75) (depth: 20)

40

105

105

40

Table 7-1: Conditions for Installation

Section Application Note

A Cable processing 80 kg max. for attaching load mass including

wrist load.

B Cable processing and

valve load

10 kg max.

N•m (5 kgf•m) max. for increased

49

moment amount of upper arm

C Others 30 kg max.

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A

Exhaust port
Tapped hole PT3/8 with pipe plug

Connector for Internal User I/O Wiring Harness

Pins used

Internal user I/O wiring harness :

0.5 mm

2

, 23 lead wires

8

4

9

6517

23

14

19

20

15

17

11 121813

21 22 23

10

16

P

P

P

P

P

P

P

P

P

P

P

1

6

5

3
4

2

7
8
9
10

15

14

13

12

11

20

19

17
18

16

22
23

21

Air inlet Tapped hole PT3/8 with pipe plug

Connector for internal user I/O wiringharness:
JL05-2A24-28SC (socket connector with a cap)
Prepare pin connector JL05-6A24-28P.

Connector for internal user I/O wiringharness:
JL05-2A24-28PC (socket connector with a cap)
Prepare pin connector JL05-6A24-28S.

Tube for field bus cable (inside dia.:12)

(inside of the manipulator base)

View A

Tapped hole M4x3 (4 holes)
(pitch: 0.7) (depth: 3)

Tapped hole M4x3 (4 holes)
(pitch: 0.7) (depth: 3)

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7 System Application

7.2 Internal User I/O Wiring Harness and Air Line

7.2 Internal User I/O Wiring Harness and Air Line

Internal user I/O wiring harness (0.5 mm2 x 23 wires), and an air line are
incorporated in the manipulator for the drive of peripheral device mounted
on the upper arm as shown in Fig. 7-2 “Connectors for Internal User I/O
Wiring Harness and Air Line”.

The connector pins 1 to 23 are assigned as shown in Fig. 7-2. Wiring
must be performed by users.

The allowable current for internal user
I/O wiring harness

The maximum pressure for the air line 490 kPa (5 kgf/cm

Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line

5.1 A or less for each wire
(The total current value for pins 1 to 23
must be 34.5 A or less.)

2

) or less

(The air line inside diameter: 8.0 mm.)

The same numbered pins (1 to 23) of the two connectors are connected
with a single lead wire of 0.5 mm

7-2

2

.

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NOTE

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8 Electrical Equipment Specification

8.1 Position of Limit Switch

8 Electrical Equipment Specification

8.1 Position of Limit Switch

8.1.1 Specification of Limit Switch

1. The interference limit switch at S-, L- and U-axes electrically limit the
operating range of respective axes by adjusting the position of the dog
using the limit switch.
The positions of the mechanical limits (mechanical stoppers) at S-axis
is changeable.
When the limit switch is activated, the power supply to the manipulator
is interrupted, then the manipulator makes an emergency stop as a
result. Refer to section 8.9 “Overrun/Tool Shock Sensor Releasing” in
“DX200 INSTRUCTIONS” for releasing the status of this overrun.

2. The range of S-, L- and U-axes limit switches are set to the maximum
operating range before shipping.

170904-1CD

In case of re-adjusting the operating range of each subject
axis, it is also required to change the dog location and limit
values in software. Contact your Yaskawa representative if
re-adjustment is required.

8.1.2 Location of Limit Switch

The limit switches are optional. See Fig. 8-1 “Location of Limit Switches”.

Fig. 8-1: Location of Limit Switches

L-and U-axes interference L.S.

S-axis overrun L.S.

8-1

L-axis overrun L.S.

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8.1.3 Setting of Operation Range

8.1.3.1 S-Axis Operation Range

8.1.3.2 L-Axis Operation Range

8 Electrical Equipment Specification

8.1 Position of Limit Switch

By the S-axis limit switch, S-axis operation range can be set to those
ranges mentioned in Table 5-2 “S-Axis Operating Range”.

By the L-axis limit switch, the L-axis operation range can be set to any
angles within -91° to +136° as mentioned in the figure below.

Fig. 8-2: L-Axis Overrun Limit Switch Setting Range

Positive side

Negative side

L-axis center of rotation

8-2

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8 Electrical Equipment Specification

8.1 Position of Limit Switch

8.1.3.3 Setting Range of LU-Axes Interference Angle

L- and U-axes interference limit switches are designed to check the
interference angle of L- and U-axes.

As shown in Fig. 8-3 “LU-Axes Interference Angle”, the operation range of
U-axis can be set to any angles within +9° to +276° as the interference
angle with L-axis.

Fig. 8-3: LU-Axes Interference Angle

U-axis center of rotation

8-3

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MPL80 II

8.2 Internal Connections

Fig. 8-4(a): Internal Connection Diagram

Controller

CN1-5
CN1-4

CN1-10
CN1-9

CN1-1
CN1-2

CN1-3

CN1-6
CN1-7

CN1-8

CN2-1
CN2-2

CN2-3

CN3-1
CN3-2

CN3-3

CN3-6
CN3-7

CN3-8

CN4-10

CN2-10

CN4-3

CN4-1
CN4-6

CN2-4
CN2-5

+24V
0V

+24V
0V

SPG+1
SPG-1

FG1

SPG+2
SPG-2

FG2

SPG+3
SPG-3

FG3

SPG+5
SPG-5

FG5

SPG+6
SPG-6

FG6

0V

+24V
BC2

+24V
LB1

+24V

LD1

8 Electrical Equipment Specification

8.2 Internal Connections

<Notes>

1.For the limit switch specification, the connection of the section A B are changed as follows:

LA1

LA1

LB1

0BT

1

0BAT11

BATRKP

2

BAT11

0BT

3

0BAT12

4BATRK P BAT12

0BT

5 0BAT21
6BATRK P BAT21
7

0BAT22

0BT

8

BAT22

BAT

RKP

1
2
3
4
5
6
7
8

1BC(10×4)

CN1-5

+24V

CN1-4

P

P

P

P

P

P

P

P

P

CN1-10
CN1-9

CN1-1
CN1-2

CN1-3

CN1-6
CN1-7

CN1-8

CN2-1
CN2-2

CN2-3

CN3-1
CN3-2

CN3-3

CN3-6
CN3-7

CN3-8

CN4-10

CN2-10
CN4-3 BC2

CN4-1
CN4-6

CN2-4
CN2-5

S1(24-28)

1

0V

+24V
0V

SPG+1
SPG-1

FG1

SPG+2
SPG-2

FG2

SPG+3
SPG-3

FG3

SPG+5
SPG-5

FG5

SPG+6
SPG-6

FG6

0V

+24V

+24V
LB1

+24V
LD1

E

2
3
4
5
6

7
8
9
10
11
12

13
14
15
16
17
18

19
20
21
22
23

No.24CN

X

+24V-1

0V

-3

+24V

-2 2
0V

-4

1
3

4

E

Base

E

17

0BAT1

18

BAT1

19

0BAT2
20 BAT2
21

0BAT3
22

BAT3
23
24
25
26
27

0BAT5
28

BAT5
29

0BAT6
30

BAT6
31
32
1

PG0V1
2

PG5V1
3

PG0V2
4

PG5V2

PG0V3

5
6PG5V3
7
8
9

PG0V5
10

PG5V5
11

PG0V6
12

PG5V6
13
14
15
16

LA1

LC1

P

P

P

P

P

P

P

P

P

P

P

LB1

LD1

MANIPULATOR

A1

B1

LC1
LD1

LC1
LD1

LA1
LB1

No.18CN

-1

-2

-3

-4

No.19CN

-1

-3

-4

No.20CN

-1

-2

-4

No.22CN

-1

-2

-3

-4

No.23CN

-1

-2

-3

-4

BAT1
0BAT1
PG5V1
PG0V1

BAT2

PG5V2
PG0V2

BAT3
0BAT3
PG5V3-3
PG0V3

BAT5
0BAT5
PG5V5
PG0V5

BAT6
0BAT6
PG5V6
PG0V6

LB1

LB1

LB2

LB2
LB1

LC1

LD1

LD1

LD2

LD2

LD1

LA2

LB2

LC2

LD2

LC3

LD3

S-axis overrun L.S.

LA3

LB3

S-axis overrun L.S.

SLU-axes with Limit Switch Specification

LC1

LD1

LA1

LB1

S-axis overrun L.S.

S-axis overrun L.S.

S-axis with Limit Switch Specification

S

P

P

P

L

P

P

U

P

P

P

B

P

P

P

T

P

P

P

LB1
LB2

LD1
LD2

LB2
LB1

LD2
LD1

LA2

A2

LB2

LC2
LD2

Casing

L-axis overrun L.S.

L-axis overrun L.S.

No.1CN
1CN-1

-6

-5

-4

-9

-10

No.2CN
2CN-1

-6

-4

-10

No.3CN
3CN-1

-2

-6

-5

-9

-10

B2

No.8CN(24-28)

1
2
3
4
5
6

7
8
9
10
11
12

13
14
15
16
17
18

19
20
21
22
23

Connected to

Connected to

Connected to

Connected to

DATA+1
DATA-1-2
BAT
OBT
+5V
0V
FG1

OBT
BAT

DATA+2
DATA-2-2
BAT
OBT-5P0BAT2-2
+5V
0V-9
FG2

OBT
BAT

DATA+3
DATA-3
BAT
OBT
+5V-4
0V
FG3

OBT
BAT

SP1

SP2
SP3

SP4
SP5
SP6

SP7
SP8
SP9

SP10
SP11
SP12

SP13
SP14
SP15
SP16
SP17
SP18

SP19
SP20
SP21
SP22
SP23

A1

Connected to

A2

L and U-axes interference L.S.

B1

B2Connected to

L and U-axes interference L.S.

B1

A1

PG S-AXIS

PG L-AXIS

PG

No.5CN
5CN-1

DATA+5

-2

DATA-5

-6

BAT

-5

OBT

-4

+5V

-9

0V

-10 FG5

OBT
BAT

No.6CN
6CN-1

DATA+6

-2

DATA-6

-6

BAT

-5

OBT

-4

+5V

-9

0V

-10

FG6

OBT
BAT

BC1
BC2

LA3

A3

LB3

LC3
LD3

U-AXIS

Connected to

Connected to

FOR LAMP(OPTION)

B3

A3

B3

PG

B-AXIS

T-AXIS

PG

8-4

HW1483872

MPL80 II

YB

SM

B-AXIS

SM

YB

T-AXIS

13CN-3

No.13CN

MU5

-2

-1

-5

-4

-PE

MV5
MW5

BB5

BA5

ME5

-2

14CN-3

No.14CN

MU6
MV6

-1

-4

-5

-PE

MW6

BA6
BB6

ME6

EE

2BC

2BC(8X4+12X2)

PE

ME6

BB1

BA1

BA3

BA6

BA5

BB5

BA2

ME5

ME3

ME2

ME2

ME1

ME1

MW5

MV5

MU5

MU6

MW6

MV6

MV2
MV2
MW2

MU3
MV3

MW2

MU1

MV1
MV1
MW1

MU1

MU2
MU2

MW1

MW3

ME6

BB1

BA1

BA3

BA6

BA5

BB5

BA2

CN6-9
CN6-10

CN6-12

CN6-11

CN6-2

CN6-1

CN6-4

CN6-7

CN6-8

CN6-6

CN6-5

CN6-3

ME5

ME3

ME2

ME2

ME1

ME1

CN5-5

CN5-8

CN5-7

CN5-6

CN5-4

CN5-3

CN5-2

CN5-1

CN4-2

CN4-1

CN4-6
CN4-7

CN4-3

CN4-5

CN4-4

CN4-8

MW5

MV5

MU5

MU6

MW6

MV6

CN3-1
CN3-2

CN3-5

CN3-4

CN3-7

CN3-8

CN3-6

CN3-3

CN5-5

CN5-8

CN5-7

CN5-6

CN5-4

CN5-3

CN5-2

CN2-8

CN2-7

CN2-8

CN2-7

MV2
MV2
MW2

MU3
MV3

MW2

CN2-1

CN2-3

CN2-2

CN2-5
CN2-6

CN2-4

CN1-8

CN1-7

CN1-6

CN1-5

CN1-4

CN1-3

CN1-2

CN1-8

CN1-7

CN1-6

CN1-5

CN1-4

CN1-3

CN1-2

CN6-9
CN6-10

CN6-12

CN6-1

1

S-AXISSM

YB

L-AXIS

YB

SM

U-AXISSM

YB

-C

No.9CN

9CN-A

-B
MW1

MU1
MV1

-1

-D

-2

BA1

ME1

BB1

CN1-1

MU1

MV1
MV1
MW1

MU1

MU2
MU2

MW1

CN1-1

CN2-1

CN2-3

CN2-2

10CN-A

No.10CN

MU2

-2

-C

-1

-D

BB2

MW2

BA2

ME2

MV2-B

-C

-B

No.11CN
11CN-A

MW3

MV3

MU3

-2

-1 BA3
BB3

ME3-D

MW3

CN2-5
CN2-6

CN2-4

CN3-1
CN3-2

CN3-5

CN3-4

CN4-2

CN3-7

CN4-1

CN3-8

CN3-6

CN3-3

CN4-6
CN4-7

CN4-3

CN4-5

CN4-4

CN4-8

CN5-1

CN6-2

CN6-1

CN6-4

CN6-7

CN6-8

CN6-6

CN6-5

CN6-3

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8 Electrical Equipment Specification

8.2 Internal Connections

Fig. 8-4(b): Internal Connection Diagram

8-5

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170904-1CD

DANGER

CAUTION

NOTE

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9 Maintenance and Inspection

9.1 Inspection Schedule

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.

WARNING

• Before maintenance or inspection, be sure to turn the main power
supply OFF, and put up a warning sign. (ex. DO NOT TURN THE
POWER ON.)

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

• The battery pack must be connected before removing detection
connector when maintenance and inspection.

Failure to observe this caution may result in the loss of home position
data.

9.1 Inspection Schedule

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 classified into six
levels as shown in Table 9-1 “Inspection Items”.

In Table 9-1 “Inspection Items”, the inspection items are classified into
three types of operation: operations which can be performed by personnel
authorized by the user, operations to be performed by trained personnel,
and operations to be performed by service company personnel. Only
specified personnel shall perform the inspection work.

• The inspection interval depends on the total servo
operation time.

• If the manipulator is used in a repetitive action pattern with

a high frequency, inspection intervals or parts replacement
intervals may become shorter. Perform preventive
maintenance by referring to section 8.21 “Preventive
Maintenance Function” of “DX200 INSTRUCTIONS.”

9-1

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Table 9-1: Inspection Items (Sheet 1 of 2)

1)

Items

1 Alignment mark

2 External lead

3 Working area and

manipulator

4 S, L, U, B, T-axes motor

9-2

5 Baseplate mounting bolts

6 Cover mounting screws

7 S, L, U, B, T-axes motor

connector

8 Connector base

9 Wire harness in manipulator

HW1482870

10 Battery pack in manipulator

11 S-axis speed reducer

Schedule Method Operation Inspection

Charge

Daily

1000HCycle

6000HCycle

12000HCycle

24000HCycle

36000HCycle

•

•

•

•

•

•

•

•

•

••

Visual Check alignment mark accordance at the home position.

Check for damage.

Visual Check for damage and deterioration of leads.

Visual Clean the work area if dust or spatter is present. Check for damage and

outside cracks.

Visual Check for grease leakage.

Spanner
Wrench

Screwdriver,
Wrench

Manual Tighten loose bolts.

Manual Check for loose connectors.

Visual Multimeter Check for conduction between the main connecter of base and intermediate

•

•

Grease Gun Check for malfunction. (Replace if necessary.)

Tighten loose bolts. Replace if necessary.

Tighten loose bolts. Replace if necessary.

connector with manually shaking the wire.
Check for wear of protective spring

Replace it 24000H intervals.

Replace the battery pack when the battery alarm occurs or the manipulator
drove for 36000H.

Supply grease (6000H cycle)5)
Replace grease. (12000H cycle) 5). See section 9.3.2.

2)

3)

4)

Specified

Licensee

•••

•••

•••

•••

•••

•••

•••

•••

••

•

••

••

Service

II

9 Maintenance and Inspection

9.1 Inspection Schedule

170904-1CD

Table 9-1: Inspection Items (Sheet 2 of 2)

51 of 81

1)

Items

12 LU-axes speed reducers

13 B,T-axes speed reducers

B,T-axes gears

14 Overhaul

1 Inspection No. correspond to the numbers in Fig. 9-1 “Inspection Items”.

9-3

2 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can cause a motor breakdown. Contact your Yaskawa

representative.

3 When checking for conduction with multimeter, connect the battery to “BAT” and “OBT” of connectors on the motor side for each axis, and then remove connectors

on detector side for each axis from the motor. Otherwise, the home position may be lost. (Refer to section 9.4 “Notes for Maintenance”.)

4 The grease might leak out from the air breather or the internal pressure might rise in case the manipulator is used very frequently for the application such as

handling.

5 For the grease, refer to Table 9-2 “Inspection Parts and Grease Used”.

Schedule Method Operation Inspection

Daily

1000HCycle

6000HCycle

12000HCycle

24000HCycle

••

••

36000HCycle

Grease Gun Check for malfunction. (Replace if necessary.)

Supply grease (6000H cycle)5).
Replace grease (12000H cycle)5). See section 9.3.3, section 9.3.4.

Grease Gun Check for malfunction. (Replace if necessary.)

Supply grease(6000H cycle)5).
Replace grease(12000H cycle)5). See section 9.3.5, section 9.3.6.

4)

4)

••

Charge

Specified

••

••

Licensee

Service

9.1 Inspection Schedule

MPL80

II

9 Maintenance and Inspection

170904-1CD

HW1482870

Table 9-2: Inspection Parts and Grease Used

No. Grease Used Inspected Parts

13,14,15,16 Molywhite RE

The numbers in the above table correspond to the numbers in Table 9-1 “Inspection Items”

No.00

Speed reducers for all axes
B,T-axes gears

MPL80

6

7

2

1

10

8

9

L-axis

1

9

1

B-axis

6

12

1

U-axis

12

5

1

T-axis

6

4

12

S-axis

13

7

7

2

2

72

2 7

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9 Maintenance and Inspection

9.1 Inspection Schedule

Fig. 9-1: Inspection Items

9-4

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AIR

1BC

2BC

Top View

Backside View

Connector base

Battery pack (HW0470360-A)

Cross head APS bolt M6
(Length:12)(8 bolts)

Cross head APS bolt M4
(Length:8)(4 bolts)

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9 Maintenance and Inspection

9.2 Notes on Maintenance Procedures

9.2 Notes on Maintenance Procedures

9.2.1 Battery Pack Replacement

The battery packs are installed in the position shown in Fig. 9-2 “Battery
Location”.

• Battery Type: HW0470360-A

Fig. 9-2: Battery Location

Fig. 9-3: Battery Connection

Board

(Type: SGDR-EFBA02A)

1. Turn OFF the DX200 main power supply.

2. Remove the plate fixing screws and the plate on the connector base,
then pull the battery pack out to replace it with the new one.

See procedure 5

Connector

9-5

Battery pack before replacement

See procedure 4

New battery pack

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NOTE

NOTE

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170904-1CD

9 Maintenance and Inspection

9.2 Notes on Maintenance Procedures

3. Remove the battery pack from the battery holder.

4. Connect the new battery pack to the unoccupied connectors on
bo

ard.

5. Remove the old battery pack from the board.

Remove the old battery pack after connecting the new one
so that the encoder absolute data does not disappear.

6. Mount the new battery pack on the battery holder.

7. Reinstall the plate.

Do not allow plate to pinch the cables when reinstalling the
plate.

the

9-6

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NOTE

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9 Maintenance and Inspection

9.3 Grease Replenishment/Exchange

9.3 Grease Replenishment/Exchange

9.3.1 Notes on Grease Replenishment/Exchange Procedures

Make sure to follow the instructions listed below at grease replenishment/
exchange. Failure to observe the following notes may result in damage to
a motor and a speed reducer.

• If grease is added without removing the plug from the
grease exhaust port, grease will leak inside a motor or an
oil seal of a speed reducer will come off, which may result
in damage to the motor. Make sure to remove the plug.

•

Do not install a joint, a hose, etc. to the grease exhau

por

t. Failure to observe this instruction may r

damage

•

Make sure to use a grease pump to inject grease. Set

s

upply pressure to the grease pump at 0.3 MPa or less

and

• Make s
inlet, with gr
into the speed reducer

to the motor due to coming off of an oil seal.

the grease injection rate at 8 g/s or less.

ure to fill hoses, which are j

ease beforehand to prevent air from intruding

.

oined to the grease

esult in

st

air

,

9-7

HW1482870

MPL80 II

$,5

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Grease exhaust port
Hexagon socket
head plug PT3/8

S-axis speed reducer

Grease inlet

Hexagon socket
head plug PT1/4

NOTE

56 of 81

9 Maintenance and Inspection

9.3 Grease Replenishment/Exchange

9.3.2 Grease Replenishment/Exchange for S-axis Speed Reducer

Fig. 9-4: S-axis Speed Reducer Diagram

170904-1CD

9.3.2.1 Grease Replenishment

(Refer to Fig. 9-4 “S-axis Speed Reducer Diagram”.)

Replenish the grease according to the following procedure:

1. Remove the hexagon socket head plug PT1/4 from the grease inl
d the hexagon socket head plug PT3/8 from the grease exhaust

an
port

.

• If grease is injected with the plugs on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.

• Do not install a joint, a hose, etc. to a grease exhaust port
Fa

ilure to observe this instruction may result in damage

the mo

tor due to coming off of an oil seal.

2. Install the grease zerk PT1/4 to the grease inlet.
(The grease zerk is delivered with the manipulator.)

3

. Inject the grease through the inlet using a grease gun.

– Grease type: Molywhite RE No.00

– Amount of

grease:

– Air supply pressure of grease pump: 0.3 MPa or less

et

.

to

520 cc

(1040 cc for 1st supply)

– Grease injection rate: 8 g/s or less

4. Move the S-axis for a few minutes to discharge the excess grease.

5. Remove the grease zerk from the grease inlet and reinstall th

e
hexagon socket head plug PT 1/4.
Before installing the plug, apply Three Bond 1206C on the thread par

f each plug, then tighten the plug with a tightening torque of 12 N•m

o
(1.2 kgf•m).

6. Wipe the discharged grease with a cloth and reinstall the hexagon
socket head plug PT 3/8 to the exhaust port.
Before installing the plug, apply Three Bond 1206C on the thread part
of each plug, then tighten the plug with a tightening torque of 23 N•m
(2.3 kgf•m).

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MPL80

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9.3.2.2 Grease Exchange

9 Maintenance and Inspection

9.3 Grease Replenishment/Exchange

(Refer to Fig. 9-4 “S-axis Speed Reducer Diagram”.)

1. Remove the hexagon socket head plug PT1/4 from the grease inlet
and the hexagon socket head plug PT3/8 from the grease exhaust
port

.

• If grease is injected with the plugs on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.

•

Do not install a joint, a hose, etc. to a grease exhaust port

Failu

re to observe this instruction may result in damage to

the motor due to coming off of an oil seal.

2. Install the grease zerk PT1/4 to the grease inlet.
(The grease zerk is delivered with the manipulator.)

3. Inject the grease through the grease inlet using a grease gun.

– Grease type

– Amount of grease: approx. 2600 cc

– Air supply pressure of grease pump: 0.3 MPa or less

– Grease injection rate: 8 g/s or less

4. The grease exchange is complete when new grease appears from th
exha

ust port. (The new grease can be distinguished from the ol

gr

ease by color.)

5. Move the S-axis for a few minutes to discharge the excess grease.

6. Remove the grease zerk from the grease inlet and reinstall th
he

xagon socket head plug PT 1/4.
Before installing the plug, apply Three Bond 1206C on the thread pa
of each
(1.2 kgf•m).

7.

Wipe the discharged grease with a cloth and reinstall the hexago
socke
Before installing the plug, apply Three Bond 1206C on the thread part
of each plug, then tighten the plug with a tightening torque of 23 N•
(2.3 kgf•m).

plug, then tighten the plug with a tightening torque of 12 N•

t head plug PT 3/8 to the exhaust port.

:

Molywhite RE No.00

d

e

n

.

e

rt

m

m

If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection

9-9

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MPL80 II

Grease exhaust port

Hexagon socket head
plug PT3/8

Grease inlet

Hexagon socket

head plug PT1/8

L-axis speed reducer

NOTE

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9 Maintenance and Inspection

9.3 Grease Replenishment/Exchange

9.3.3 Grease Replenishment/Exchange for L-Axis Speed Reducer

Fig. 9-5: L-Axis Speed Reducer Diagram

9.3.3.1 Grease Replenishment

(Refer to Fig. 9-5 “L-Axis Speed Reducer Diagram”.)

1. Make the L-arm vertical to the ground.

2. Remove the hexagon socket head plug PT3/8 from the grease
exhaust port.

3. Remove the hexagon socket head plug PT1/8 from the grease inlet.

170904-1CD

• If grease is injected with the exhaust plug on, grease will
leak inside the motor and may cause a damage. Make
sure to remove the plug before the grease injection.

•

Do not install a joint, a hose, etc. to the grease exhaus
port.

Failure to observe this instruction may result in

t

damage to the motor due to coming off of an oil seal.

4. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk
d

elivered with the manipulator.)

5. Inject grease through the grease inlet using a grease gun.

– Grease type: Molywhite RE No. 00

– Amount of grease: 250 cc

(500 cc for 1st supply)

– Air supply pressure of grease pump: 0.3 MPa or less

– Grease injection ra

te:

8 g/s or less

6. Move the L-axis for a few minutes to discharge the excess grease.

7. Wipe the discharged grease with a cloth and reinstall the hexag
socket hea

d plug PT3/8 to the exhaust port.

on

Before installing the plugs, apply Three Bond 1206C on the thread par

f each plug, then tighten the plug with a tightening torque of 23 N•m

o
(2.3 kgf•m).

8. Remove the grease zerk from the grease inlet and reinstall th

exagon socket head plug PT1/8 to the grease inlet.

h

e

Before installing the plug, apply Three Bond 1206C on the thread par

f each plug, then tighten the plug with a tightening torque of 4.9 N

o
(0.5 kgf•m).

is

t

t

•m

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9.3.3.2 Grease Exchange

9 Maintenance and Inspection

9.3 Grease Replenishment/Exchange

(Refer to Fig. 9-5 “L-Axis Speed Reducer Diagram”.)

1. Make the L-arm vertical to the ground.

2. Remove the hexagon socket head plug PT3/8 from the gre
exha

ust port.

3. Remove the hexagon socket head plug PT1/8 from the grease inlet.

• If grease is injected with the exhaust plug on, grease will
leak inside the motor and may cause a damage. Make
sure to remove the plug before the grease injection.

•

Do not install a joint, a hose, etc. to the grease exhau

por

t. Failure to observe this instruction may r

damage

4. Install the grease zerk PT1/8 to the grease inlet.
(The grease zerk is delivered with the manipulator.)

5.

Inject grease through the grease inlet using a grease gun.

– Grease ty

– Amount of grease: approx. 1650 cc

– Air supply pressure of grease pump: 0.3 MPa or less

– Grease injection rate: 8 g/s or less

6. The grease discharge is complete when new grease appears from the
exhaust port. The new grease can be distinguished from the old
grease by color.

pe:

to the motor due to coming off of an oil seal.

Molywhite RE No. 00

ase

st

esult in

7. Move the L-axis for a few minutes to discharge the excess grease.

8. Wipe the discharged grease with a cloth and reinstall the hexago

ocket head plug PT3/8 to the exhaust port.

s
Before installing the plugs, apply Three Bond 1206C on the thread p
of each
(2.3 k

9. Remove the grease zerk from the grease inlet and reinstall th
he
Before installing the plug, apply Three Bond 1206C on the thread pa
of each
(0.5 kgf•m).

plug, then tighten the plug with a tightening torque of 23 N•

gf•m).

If grease is injected with the plug on, grease will leak inside
the motor and may cause a damage. Make sure to remove
the plug before the grease injection.

e

xagon socket head plug PT1/8 to the grease inlet.

plug, then tighten the plug with a tightening torque of 4.9

n

art

m

rt

N•m

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U-axis speed reducer

Grease inlet
Hexagon socket head

plug PT1/8

Grease exhaust port
Hexagon socket head

plug PT3/8

NOTE

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9 Maintenance and Inspection

9.3 Grease Replenishment/Exchange

9.3.4 Grease Replenishment/Exchange for U-Axis Speed Reducer

Fig. 9-6: U-Arm Posture

Fig. 9-7: U-Axis Speed Reducer Diagram

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U-arm

9.3.4.1 Grease Replenishment

(Refer to Fig. 9-7 “U-Axis Speed Reducer Diagram”.)

1. Make the U-arm horizontal to the ground.

2. Remove the hexagon socket head plug PT3/8 from the grease
exhaust port.

3. Remove the hexagon socket head plug PT1/8 from the grease inlet.

• If grease is injected with the bolt on, grease will leak inside
the motor and may cause a damage. Make sure to
remove the bolt before the grease injection.

•

Do not install a joint, a hose, etc. to the grease exhaus
port.

Failure to observe this instruction may result in

damage to the motor due to coming off of an oil seal.

4. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk
d

elivered with the manipulator.)

5. Inject grease through the grease inlet using a grease gun.

– Grease type: Molywhite RE No. 00

– Amount of

grease:

t

is

140 cc

(280 cc for 1st supply)

– Air supply pressure of grease pump: 0.3 MPa or less

– Grease injection ra

te:

9-12

8 g/s or less

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9.3.4.2 Grease Exchange

9 Maintenance and Inspection

9.3 Grease Replenishment/Exchange

6. Move the U-axis for a few minutes to discharge the excess grease.

7. Wipe the discharged grease with a cloth and reinstall the hexagon
socket head plug PT3/8 to the exhaust port.
Three Bond 1206C on the thread part of each plug, then tighten

lug with a tightening torque of 23 N•m (2.3 kgf•m)

p

8. Remove the grease zerk from the grease inlet and reinstall the
hexagon socket head plug PT1/8.
Before installing the plug, apply Three Bond 1206C on the thread part
of each plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m)

(Refer to Fig. 9-7 “U-Axis Speed Reducer Diagram”.)

1. Make the U-arm horizontal to the ground.

the

2. Remove the hexagon socket head plug PT3/8 from the gre

ust port.

exha

3. Remove the hexagon socket head plug PT1/8 from the grease inlet.

• If grease is injected with the bolt on, grease will leak inside
the motor and may cause a damage. Make sure to
remove the bolt before the grease injection.

•

Do not install a joint, a hose, etc. to the grease exhau

por

t. Failure to observe this instruction may r

damage

4. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk
d

elivered with the manipulator.)

5. Inject grease through the grease inlet using a grease gun.

– Grease ty

– Amount of grease: approx.700 cc

– Air supply pressure of grease pump: 0.3 MPa or less

– Grease injection rate

6. The grease discharge is complete when new grease appears from the
exhaust port. The new grease can be distinguished from the old
grease by color.

pe:

to the motor due to coming off of an oil seal.

Molywhite RE No. 00

:

8 g/s or less

ase

st

esult in

is

7. Move the U-axis for a few minutes to discharge the excess grease.

8. Wipe the discharged grease with a cloth and reinstall the hexagon
socket head plug PT3/8 to the exhaust port.
Before installing the plug, apply Three Bond 1206C on the thread part
of each plug, then tighten the plug with a tightening torque of 23 N•
(2.3 kgf•m).

If grease is injected with the plug on, grease will leak inside
the motor and may cause a damage. Make sure to remove
the plug before the grease injection.

Remove the grease zerk from the grease inlet and reinstall th

9.

xagon socket head plug PT1/8.

he
Before installing the plug, apply Three Bond 1206C on the thread pa
of each
(0.5 kgf•m).

plug, then tighten the plug with a tightening torque of 4.9

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9 Maintenance and Inspection

9.3 Grease Replenishment/Exchange

9.3.5 Grease Replenishment for B- and T-Axis Gears

Fig. 9-8: B- and T-Axis Gears Diagram

Exhaust port

Hexagon socket head
plug PT3/8

9.3.5.1 Grease Replenishment

(Refer to Fig. 9-8 “B- and T-Axis Gears Diagram”.)

170904-1CD

U-arm

Grease inlet

Hexagon socket head
plug PT1/8

1. Remove the hexagon socket head plug PT3/8 from the exhaust port.

• If grease is injected with the bolt on, grease will leak inside
the motor and may cause a damage. Make sure to
remove the bolt before the grease injection.

•

Do not install a joint, a hose, etc. to the grease exhaus
port.

Failure to observe this instruction may result in

t

damage to the motor due to coming off of an oil seal.

2. Remove the hexagon socket head plug PT1/8.

3. Inject grease through the grease inlet using a grease gun

.

– Grease type: Molywhite RE No. 00

– Amount of grea

se:

approx.700 cc

(1400 cc for 1st supply)

– Air supply pressure of grease pump: 0.3 MPa or less

– Grease injection ra

te:

8 g/s or less

4. The grease discharge is complete when new grease appears from the
exhaust port. The new grease can be distinguished from the old
grease by color.

5. Move the B-axis for a few minutes to discharge the excess grease.

6. Wipe the discharged grease with a cloth and reinstall the hexag
socket hea

d plug PT3/8 to the exhaust port.

Before installing the plug, apply Three Bond 1206C on the thread par

f each plug, then tighten the plug with a tightening torque of 23 N•m

o
(2.3 kgf•m).

7. Remove the grease zerk from the grease inlet and reinstall the
hexagon socket head plug PT1/8.
Before installing the plug, apply Three Bond 1206C on the thread part
of each plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m).

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9.3.5.2 Grease Exchange

9 Maintenance and Inspection

9.3 Grease Replenishment/Exchange

(Refer to Fig. 9-8 “B- and T-Axis Gears Diagram”.)

1. Remove the hexagon socket head plug PT3/8 from the gre
exhaust port.

2. Remove the hexagon socket head plug PT1/8 from the grease inlet.

• If grease is injected with the bolt on, grease will leak inside
the motor and may cause a damage. Make sure to
remove the bolt before the grease injection.

•

Do not install a joint, a hose, etc. to the grease exhau

por

t. Failure to observe this instruction may r

damage

3. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk
elivered with the manipulator.)

d

4. Inject grease through the grease inlet using a grease gun.

– Grease ty

– Amount of grease: approx.3500 cc

– Air supply pressure of grease pump: 0.3 MPa or less

– Grease injection rate

5. The grease discharge is complete when new grease appears from the

exhaust port. The new grease can be distinguished from the old
grease by color.

pe:

to the motor due to coming off of an oil seal.

Molywhite RE No. 00

:

8 g/s or less

ase

st

esult in

is

6. Move the B-axis for a few minutes to discharge the excess grease.

7. Wipe the discharged grease with a cloth and reinstall the hexago

s

ocket head plug PT3/8 to the exhaust port.
Before installing the plug, apply Three Bond 1206C on the thread part
of each plug, then tighten the plug with a tightening torque of 23 N•
(2.3 kgf•m).

If grease is injected with the plug on, grease will leak inside
the motor and may cause a damage. Make sure to remove
the plug before the grease injection.

Remove the grease zerk from the grease inlet and reinstall th

8.
xagon socket head plug PT1/8.

he
Before installing the plug, apply Three Bond 1206C on the thread pa
of each
(0.5 kgf•m).

plug, then tighten the plug with a tightening torque of 4.9

n

e

m

rt

N•m

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9 Maintenance and Inspection

9.3 Grease Replenishment/Exchange

9.3.6 Grease Replenishment for B- and T-Axis Speed Reducers and Gears

Fig. 9-9: B- and T-Axis Speed Reducers and Gears Diagram

Grease inlet
Hexagon socket head
plug PT1/8

T-axis speed reducer, gear

B-axis speed reducer, gear

9.3.6.1 Grease Replenishment

(Refer to Fig. 9-9 “B- and T-Axis Speed Reducers and Gears Diagram”.)

1. Remove the hexagon socket head plug PT1/8 from the exhaust port.

• If grease is injected with the bolt on, grease will leak inside

the motor and may cause a damage. Make sure to
remove the bolt before the grease injection.

•

Do not install a joint, a hose, etc. to the grease exhaus
port.

Failure to observe this instruction may result in

damage to the motor due to coming off of an oil seal.

2. Remove the hexagon socket head plug PT1/8.

3. Inject grease through the grease inlet using a grease gun

Exhaust port
Hexagon socket head
plug PT1/8

t

.

Grease type: Molywhite RE No. 00

–

– Amount of grease: approx.300 cc

(600 cc for 1st supply)

– Air supply pressure of grease pump: 0.3 MPa or less

– Grease injection ra

te:

8 g/s or less

4. The grease discharge is complete when new grease appears from the
exhaust port. The new grease can be distinguished from the old
grease by color.

5. Move the B-axes for a few minutes to discharge the excess grease.

6. Wipe the discharged grease with a cloth and reinstall the hexagon
socket head plug PT1/8 to the exhaust port.
Before installing the plug, apply Three Bond 1206C on the thread part
of each plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m).

7

. Remove the grease zerk from the grease inlet and reinstall th

h

exagon socket head plug PT1/8.

e

Before installing the plug, apply Three Bond 1206C on the thread par
o

f each plug, then tighten the plug with a tightening torque of 4.9 N

•m

(0.5 kgf•m).

t

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MPL80

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9.3.6.2 Grease Exchange

9 Maintenance and Inspection

9.3 Grease Replenishment/Exchange

(Refer to Fig. 9-9 “B- and T-Axis Speed Reducers and Gears Diagram”.)

1. Remove the hexagon socket head plug PT1/8 from the gre
exhaust port.

2. Remove the hexagon socket head plug PT1/8 from the grease inlet.

• If grease is injected with the bolt on, grease will leak inside
the motor and may cause a damage. Make sure to
remove the bolt before the grease injection.

•

Do not install a joint, a hose, etc. to the grease exhau

por

t. Failure to observe this instruction may r

damage

3. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk
elivered with the manipulator.)

d

4. Inject grease through the grease inlet using a grease gun.

– Grease ty

– Amount of grease: approx.1500 cc

– Air supply pressure of grease pump: 0.3 MPa or less

– Grease injection rate

5. The grease discharge is complete when new grease appears from the

exhaust port. The new grease can be distinguished from the old
grease by color.

pe:

to the motor due to coming off of an oil seal.

Molywhite RE No. 00

:

8 g/s or less

ase

st

esult in

is

6. Move the B-axes for a few minutes to discharge the excess grease.

7. Wipe the discharged grease with a cloth and reinstall the hexago

s

ocket head plug PT1/8 to the exhaust port.
Before installing the plug, apply Three Bond 1206C on the thread part
of each plug, then tighten the plug with a tightening torque of 4.9
(0.5 kgf•m).

If grease is injected with the plug on, grease will leak inside
the motor and may cause a damage. Make sure to remove
the plug before the grease injection.

Remove the grease zerk from the grease inlet and reinstall th

8.
xagon socket head plug PT1/8.

he
Before installing the plug, apply Three Bond 1206C on the thread pa
of each
(0.5 kgf•m).

plug, then tighten the plug with a tightening torque of 4.9

n

N•m

e

N•m

rt

9-17

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NOTE

b

a

a

b

0BT

BAT

BAT*

0BT*

Motor

a: Crimped contact-pin (socket)
b: Crimped contact-pin (pin)

Connector for motor encoder

Power connector

Connector for battery backup

Battery pack: HW9470932-A

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9 Maintenance and Inspection

9.4 Notes for Maintenance

9.4 Notes for Maintenance

When performing maintenance such as replacement of a wire harness in
the manipulator, the encoder connector may be necessary to be removed.
In this case, be sure to connect the battery pack to the battery backup
connector before removing the encoder connector.

Removing the encoder connector without connecting the battery pack
leads to disappearance of the encoder absolute data.

For the battery pack connection, refer to Fig. 9-10 “Battery Pack
Connection”.

9.4.1 Battery Pack Connection

The connectors (crimped contact-pin) for the battery backup are installed
at the end point of the motors (BAT and OBT are marked). Connect the
battery packs according to the following procedure.

1. Remove the cap attached to the battery backup connector of th
mo

tors.

e

2. Connect the battery packs (HW9470932-A) with the battery backup
connectors (BAT and OBT are marked) located at the end point of the
cables for the encoder. (Under this condition, remove the encoder
connector and carry out the maintenance checks.)

3. Confirm all connectors connected after the maintenance check,
remove t

ackup connectors of the motors.

b

he battery packs. Install the caps attached to the bat

and

tery

Do not remove the battery pack in the connector base.

Fig. 9-10: Battery Pack Connection

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10 Recommended Spare Parts

10 Recommended Spare Parts

It is recommended to keep the parts and components in the following table
in stock as spare parts for the MOTOMAN-MPL80 II . Product
performance cannot be guaranteed when using spare parts from any
company other than Yaskawa. The spare parts are ranked as follows:

nk A: Expendable and frequently replaced parts

• Ra

• Rank B: Parts for which replacement may be necessary as a result of
frequent operation

•

Rank C: Drive unit

For replacing parts in Rank B or Rank C, contact your
Yaskawa representative.

Table 10-1: Spare Parts for YR-MPL0080-J00 (Sheet 1 of 2)

Rank Parts

A 1 Grease

A 2 Liquid Gasket Three Bond 1206C Three Bond Co.,

A 3 Battery Pack HW9470932-A Yaskawa

A 4 Battery Pack HW0470360-A Yaskawa

B5 S-axis

B6 L-axis

B7 U-axis

B8 B-axis

B9 T-axis

C 10 S-Axis

C 11 L-Axis

Name Type Manufacturer Qty Qty

No.

Yaskawa
Electric
Corporation

Ltd.

Electric
Corporation

Electric
Corporation

Electric
Corporation

Electric
Corporation

Electric
Corporation

Electric
Corporation

Electric
Corporation

Yaskawa
Electric
Corporation

Yaskawa
Electric
Corporation

Speed Reducers Kit

Speed Reducers Kit

Speed Reducers Kit

Speed Reducers Kit

Speed Reducers Kit

AC Servomotor

AC Servomotor

Molywhite RE No. 00

Y005C-MPL0080J00S Yaskawa

Y005C-MPL0080J00L Yaskawa

Y005C-MPL0080J00U Yaskawa

Y005C-MPL0080J00B Yaskawa

Y005C-MPL0080J00T Yaskawa

SGMRV-30ANA-YR11
HW0388669-A

SGMRV-37ANA-YR11
HW0388670-A

Remarks

per

Unit

16 kg - For speed reducers

in each axis

--

1 1 For internal wire

harness
replacement

11

11

11

11

11

11

11

11

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10 Recommended Spare Parts

Table 10-1: Spare Parts for YR-MPL0080-J00 (Sheet 2 of 2)

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Rank Parts

C 12 U-Axis

C 13 B-, T-Axes

C 14 Internal Wire

C 15 Connector Base HW0374528-C Yaskawa

C 16 Board SGDR-EFBA02A Yaskawa

Name Type Manufacturer Qty Qty

No.

AC Servomotor

AC Servomotor

Harness

SGMRV-13ANA-YR11
HW0388666-A

SGMRV-09ANA-YR11
HW0388665-A

HW1171901-A Yaskawa

Yaskawa
Electric
Corporation

Yaskawa
Electric
Corporation

Electric
Corporation

Electric
Corporation

Electric
Corporation

Remarks

per

Unit

11

12

11

11

11

10-2

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1019

1001

1002

1003

1004

1005

1007

1009

1008

1010

1011

1013

1014

1016

1018

1020

1017

1021

1022

1025

1026

1028

1023

1024

1012

1030

1033

1029

1032

1031

1035

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11 Parts List

Fig. 11-1: S-Axis Unit

11 Parts List

11.1 S-Axis Unit

11.1 S-Axis Unit

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11 Parts List

11.1S-Axis Unit

Table 11-1: S-Axis Unit

No. DWG No. Name Pcs

1001 HW1382298-A Speed reducer 1

1002 SGMRV-30ANA-YR1* Motor 1

1003 HW9404486-1 Shaft 1

1004 HW0400405-1 Stopper 1

1005 6310 Bearing 1

1007 M8X45 Socket screw 1

1008 2H-8 Spring washer 1

1009 HW0102237-4 S-head 1

1010 M12X45 Socket screw 16

1011 2H-12 Spring washer 16

1012 C-30-SG-22A Grommet 1

1013 M12X55 Socket screw 3

1014 2H-12 Spring washer 3

1016 STW-50 Retaining Ring-C type 1

1017 M8X100 Socket screw 1

1018 2H-8 Spring washer 1

1019 PT3/8(STAINLESS) Plug 1

1020 MSTH10-25 Dowel pin 1

1021 M12X55 Socket screw 12

1022 2H-12 Spring washer 12

1023 HW9405875-1 Collar 1

1024 M20X40 Socket screw 1

1025 HW0102236-1 Base 1

1026 KQ2L10-01S Elbow 1

1028 NB-1075-0.43 Tube 1

1029 HW0314010-1 M-base 1

1030 Y507212.5 Oil seal 1

1031 M6X20 Socket screw 2

1032 2H-6 Spring washer 2

1033 HW0313741-1 Gear 1

1034 PT1/8(STAINLESS) Plug 1

1035 M12X35 GT-SA bolt 2

11-2

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Fig. 11-2: L-Axis Unit

11 Parts List

11.2 L-Axis Unit

11.2 L-Axis Unit

2027

2025

2018

2024

2023

2027

2022

2021

2001

2013

2014

2015

2012

2011

2016

2005

2010

2019

2025
2027

2020

2026

1009

2026
2009
2008

2006

2007

2002

2003

2004

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11 Parts List

11.2L-Axis Unit

Table 11-2: L-Axis Unit

No. DWG No. Name Pcs

2001 SGMRV-37ANA-YR1* Motor 1

2002 HW0102425-1 L-arm 1

2003 M12X55 Socket screw 16

2004 SW-2H-12 Spring washer 16

2005 HW9381465-B Speed reducer 1

2006 M10X40 Socket screw 18

2007 2H-10 Spring washer 18

2008 M16X45 Socket screw 6

2009 2H-16 Spring washer 6

2010 HW9481343-A Shaft 1

2011 HW9482771-A Gear 1

2012 HW9405902-1 Pipe 1

2013 M8X130 Socket screw 1

2014 2H-8 Spring washer 1

2015 M8 Washer 1

2016 G270 O-ring 1

2018 HW0314011-1 M-base 1

2019 HW0312815-2 Gear 1

2020 HW9482447-A Oil seal 1

2021 M12X65 Socket screw 4

2022 2H-12 Spring washer 4

2023 M6X30 Socket screw 2

2024 2H-6 Spring washer 2

2025 EZ5002A0 Cap 3

2026 PT3/8(STAINLESS) Plug 2

2027 PT1/8(STAINLESS) Plug 4

1009 HW0102237-4 S-head 1

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11 Parts List

11.3 U-Axis Unit

11.3 U-Axis Unit

Fig. 11-3: U-Axis Unit

3017

3007

3027

3028

2002

3015

3014

3012

3015

3022

3003

3002

3004

3023

3010

3024

3011

3009

3008

3026

3018

3025

3016

3021

3020

3019

3001

3006

3005

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11 Parts List

11.3U-Axis Unit

Table 11-3: U-Axis Unit

No. DWG No. Name Pcs

3001 SGMRV-13ANA-YR1* Motor 1

3002 HW0413914-1 Stopper 1

3003 M6X55 Socket screw 1

3004 2H-6 Spring washer 1

3005 M8X55 Socket screw 4

3006 2H-8 Spring washer 4

3007 HW0387753-A Speed reducer 1

3008 HW0313740-1 Gear 1

3009 HW8411125-3 Washer 1

3010 M6X115 Socket screw 1

3011 2H-6 Spring washer 1

3012 M12X30 Socket screw 12

3013 2H-12 Spring washer 12

3014 M10X30 Socket screw 6

3015 2H-10 Spring washer 6

3016 HW9405257-1 Collar 1

3017 HW0102239-2 Casing 1

3018 Y426012.5 Oil seal 1

3019 M6X30 Socket screw 2

3020 2H-6 Spring washer 2

3021 HW0314012-1 M-base 1

3022 G195 O-ring 1

3023 M10X40 Socket screw 16

3024 2H-10 Spring washer 16

3025 TSH6-01M Union 2

3026 UB-0640-0.1C Tube 2

3027 PT1/8(STAINLESS) Plug 1

3028 PT3/8(STAINLESS) Plug 1

2002 HW0102425-1 L-arm 1

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4029

4030

4003

4001

4004

4005

4007

4008

4010

4012

4013

4014

4016

4017

4021

4022

4023

4024

4025

40264027

4028

4031

4031

4033

4035

4034

4048

4036

4037

4037

4039

4038

4040

4041

4044

4045

3017

4007

4020

4002

4046

4047

4002

4049
4050

4042

4043

4006

4053

4054

4051

4046

4047

4055
4056

B axis

T axis

4052

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11.4 B-,T-Axes Unit

Fig. 11-4: B-,T-Axes Unit

11 Parts List

11.4B-,T-Axes Unit

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11 Parts List

11.4B-,T-Axes Unit

Table 11-4: B-,T-Axes Unit

No. DWG No. Name

4001 HW0315191-1 Spacer 1
4002 SGMRV-09ANA-YR1* Motor 2
4003 SC25387*FKM* Oil seal 1
4004 TC20367*FKM* Oil seal 1
4005 HW0415265-1 Spacer 1

4006 HW0415352-1 Cover 1
4007 HR32005XJ Bearing 2
4008 HR32909J Bearing 1
4010 HW0313628-1 Gear 1
4012 HW0313629-1 Gear 1
4013 HW0312826-1 Gear 1
4014 HW0404196-8 Washer 1
4016 HW1408161-8-20 Dowel pin 1
4017 HW0312834-1 Shaft 1
4020 HW0312833-1 Shaft 1
4021 HW0312835-1 Shaft 1
4022 HW0312838-1 Flange 1
4023 HW1408161-6-15 Dowel pin 1
4024 HW0200768-1 Shaft 1
4025 HW0312837-1 Housing 1
4026 HW9405662-1 Washer 1
4027 HW0312825-1 Gear 1
4028 HW0412720-1 B nut 1
4029 PT1/8 (STAINLESS) Plug 1
4030 PT3/8 (STAINLESS) Plug 1
4031 M5X16 GT-SA bolt 10
4033 M4X6 H set screw 1
4034 M6X25 Socket screw 1
4035 2H-6 Spring washer 1
4036 M8X25 Socket screw 18
4037 2H-8 Spring washer 19
4038 M6X20 Socket screw 1
4039 2H-6 Spring washer 1
4040 M6X25 Socket screw 6
4041 2H-6 Spring washer 6
4042 M8X18 Socket screw 3
4043 2H-8 Spring washer 3
4044 M6X35 Socket screw 16
4045 M8X30 Socket screw 8
4046 M8X25 Socket screw 7
4047 2H-8 Spring washer 7
4048 M8X20 Socket screw 1
4049 M4X6 Socket screw 1
4050 2H-4 Spring washer 1
4051 HW1408161-6-15 Dowel pin 1
4052 HW1408161-6-15 Dowel pin 1
4053 2H-6 Spring washer 16
4054 2H-8 Spring washer 8

170904-1CD

Pcs.

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11 Parts List

11.4B-,T-Axes Unit

Table 11-4: B-,T-Axes Unit

No. DWG No. Name

4055 M4X6 Socket screw 1
4056 2H-4 Spring washer 1
3017 HW0102239-2 Casing 1

Pcs.

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5001

5002

5003

5004

5006

5007

5008

5009

5010

5013

5014

5047

5048

5053

5054

5055

5056

5057

5058

5060

5075

5082

5089

5093

5094

5113

5015

5016

5027

5028

5029

5032

5033

5034

5035

5036

5037

5039

5039

5040

5041

5044

5046

5022

5095

5096

5104

5103

5108
5107

3017

5091

5090

5049

5099

5092

5092

5030

5038

5097

5098

5045

5068

5092

5017

5012

5043

5109

5059

5092

5031

5042

5093

5094

5105

5106

5035

5102

5100

5039

5005

5005

5039

5115

5114

5011

5115

5115

5112

5111

5110

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Fig. 11-5: Wrist Unit

170904-1CD

11 Parts List

11.5Wrist Unit

11.5 Wrist Unit

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11 Parts List

11.5 Wrist Unit

Table 11-5: Wrist Unit

No. DWG No. Name Pcs

5001 HW0387737-B Speed reducer 1

5002 HW0389043-A Speed reducer 1

5003 HW9405880-1 B-cover 1

5004 HW9405445-1 B nut 1

5005 HW9405881-1 B nut 2

5006 HW9405882-1 B nut 1

5007 S34 O ring 1

5008 AE3092E2 Oil seal 1

5009 SC15247F585 Oil seal 1

5010 SC39528F585 Oil seal 1

5011 HW9405883-1 Collar 1

5012 HW9381667-A Gear 1

5013 HW9381668-A Gear 1

5014 HW9381669-A Gear 1

5015 HW9381672-A Gear 1

5016 WR60 Circlip 1

5017 HW9405888-* Shim *

5022 HW9405885-* Shim *

5027 HW9482772-A Gear 1

5028 HW9482765-A Shaft 1

5029 HW9381675-A Shaft 1

5030 RTW42 Retaining Ring 1

5031 STW-25 Retaining Ring-C type 1

5032 ISTW40 Retaining Ring 1

5033 HW9405891-1 Housing 1

5034 PT3/8 Plug 2

5035 PT1/8 (STAINLESS) Plug 3

5036 HW9405892-1 Flange 1

5037 HW9481234-A Bearing 1

5038 6004LBD2PX24V1 Bearing 1

5039 HW9480086-A Bearing 4

5040 6912DU Bearing 1

5041 6808LLU Bearing 2

5042 6905 Bearing 1

5043 HW9405901-1 Washer 1

5044 BG3000-15X19 Ring 1

5045 HW0312827-1 Gear 1

5046 HW0312828-1 Gear 1

5047 HW0313631-1 Gear 1

5048 HW0313631-1 Gear 1

5049 HW0201297-A Shaft 1

5053 HW1300244-1 Flange 1

5054 HW0314705-1 Flange 1

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11 Parts List

11.5Wrist Unit

Table 11-5: Wrist Unit

No. DWG No. Name Pcs

5055 HW9302630-3 Housing 1

5056 HW0102233-1 U-arm 1

5057 HW0102491-1 Wrist 1

5058 HW0201226-1 Cover 1

5059 HW0414884-1 Cover 1

5060 HW0412694-* Shim *

5068 HW0412683-* Shim *

5075 HW0412695-* Shim *

5082 HW0412696-* Shim *

5089 HW9404651-1 Washer 1

5090 M8X85 Socket screw 12

5091 2H-8 Spring washer 12

5092 M4X12 GT-SA bolt 17

5093 M5X16 Socket screw 10

5094 2H-5 Spring washer 10

5095 M5X35 Socket screw 6

5096 2H-5 Spring washer 6

5097 M4X25 Socket screw 6

5098 2H-4 Spring washer 6

5099 M4X6 H set screw 1

5100 M8X18 GT-SA bolt 8

5102 M6X30 GT-SA bolt 10

5103 M6X20 Socket screw 1

5104 2H-6 Spring washer 1

5105 M6X25 Socket screw 16

5106 2H-6 Spring washer 16

5107 M8X25 Socket screw 12

5108 2H-8 Spring washer 12

5109 M6X16 Socket screw 1

5110 2H-6 Spring washer 1

5111 M8X20 Socket screw 16

5112 2H-8 Spring washer 16

5113 M4X14 Socket screw 4

5114 2H-4 Spring washer 4

5115 M5X7 Magic screw 6

3017 HW0102239-2 Casing 1

11-12

HW1482870

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

100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone [phone] Fax [phone]

YASKAWA America Inc. (Motoman Robotics Division)

Yaskawastrasse 1, 85391 Allershausen, Germany
Phone [phone] Fax [phone]

YASKAWA Europe GmbHRobotics Divsion )

Phone [phone] Fax [phone]

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone [phone] Fax [phone]

YASKAWA Electric (Singapore) PTE Ltd.

No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone [phone] Fax [phone]

YASKAWA SHOUGANG ROBOT Co. Ltd.

#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India

Fax [phone]Phone [phone]

YASKAWA India Private Ltd. (Robotics Division)

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

YASKAWA Electric (Thailand) Co., Ltd.
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Huaykwang, Bangkok 10310, THAILAND
Phone [phone] Fax [phone]

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Fax [phone]Phone [phone]

YASKAWA Electric Taiwan Corporation

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

Fax [phone]Phone [phone]

PT. YASKAWA Electric Indonesia

Phone [phone] Fax [phone]

YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326

YASKAWA Electric Korea Corporation

MOTOMAN-MPL80 II

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INSTRUCTIONS

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

MANUAL NO.

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