YASKAWA MOTOMAN-MPX2600 Instructions Manual

MOTOMAN-MPX2600

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INSTRUCTIONS

TYPE:
YR-MPX2600-*00 (STANDARD SPECIFICATION)

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

MOTOMAN INSTRUCTIONS

MOTOMAN-MPX2600 INSTRUCTIONS
MOTOMAN-MPX2600 MAINTENANCE MANUAL
MOTOMAN-MPX2600 INSTRUCTIONS FOR MANIPULATOR OPTIONAL SPECIFICATIONS
INSTRUCTIONS FOR EXPLOSION-PROOF SPECIFICATIONS
DX200 INSTRUCTIONS FOR EXPLOSION-PROOF SPECIFICATIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL FOR PAINTING
DX200 MAINTENACE MANUAL

The DX200 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.

Part Number: 180788-1CD
Revision: 0

MANUAL NO.

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Copyright © 2017, 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, 2017

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-MPX2600 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

Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MPX2600.

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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Notes for Safe Operation

WARNING

• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX200 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.

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

Fig. : Emergency Stop Button

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

Injury may result from unintentional or unexpected manipulator motion.

Fig. : Release of Emergency Stop

• 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.

The emergency stop buttons are located on the right of front door of the
DX200 and the programming pendant.

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CAUTION

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Definition of Terms Used Often in This Manual

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

– Check for problems in manipulator movement.

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

• Always return the programming pendant to the hook on the cabinet
of the 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

Registered Trademark

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

TM

are omitted.

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ಖㆤ࢞ࢫࡢ᭱ᑠᤲẼὶ㔞 :

᭱ᑠᤲẼ󰪍㛫 :

᭱ᑠෆᅽ :

ಖㆤ࢞ࢫࡢ᭱ᑠὶ㔞 :

ෆᅽಖㆤࢩࢫࢸ࣒࡟ຍ࠼ࡿ᭱ᑠ౪⤥ᅽຊ :

ಖㆤ࢞ࢫ ᗘ⠊ᅖ :

4 min

0Υ㹼+40Υ

320 L/min

15 NL/min

0.01㹼0.02 MPa

0.18㹼0.20 MPa

{஧◲໬㕲ࣜࢳ࣒࢘㟁ụ㸦ENERGIZER L91㸧}

ෆᅽಖㆤࢩࢫࢸ࣒࡟ຍ࠼ࡿ᭱኱౪⤥ᅽຊ :

ෆᅽಖㆤࢩࢫࢸ࣒

50 kPa

5 kPa

᭱኱ෆᅽ :

KVA

KW

A

㠀ᮏᏳᅇ㊰

AC250V 50/60Hz,DC250V

チᐜ㟁ᅽ :

YR-MPX2600-A00

8.7

9.9

3.0

Ex ibpxIIB T4 Gb/Ex ibIIBT4Gb

[Ex ib]IIB

15 NL/min

᭱኱₃࠼࠸㔞 :

࣮ࣝࢳࣥヨ㦂 :

ᆺ ᘧ
㜵⇿グྕࠉ

ᐃ ᱁ࠉ

࣐ࢽࣆ࣮ࣗࣞࢱࠉ

ᮏᏳᅇ㊰

ࣂࢵࢸࣜࣂࢵࢡ࢔ࢵࣉᅇ㊰ :

DC4.5V 37.9mA

࿘ᅖ ᗘ

0Υ㹼+45Υࠉ

㆙ࠉࠉࠉ࿌

1.࣐ࢽࣆ࣮ࣗࣞࢱࠊ࣮ࣜࣞࣂࣜ࢔ࠊ⤯⦕ࣂࣜ࢔ཬࡧ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ(ሬ⿦ࣘࢽࢵࢺෆⶶ)ࡣ
ᮏ㉁Ᏻ඲㜵⇿ᵓ㐀ཬࡧෆᅽ㜵⇿ᵓ㐀ࡢ⤌ྜࡏᶵჾ࡛ࡍ࠿ࡽࠊᵓᡂᶵჾࠊ㓄⥺➼ࢆኚ᭦ࡲࡓࡣ
ᨵ㐀ࡋ࡞࠸࡛ୗࡉ࠸ࠋࠉ

3.ሬ⿦ࣘࢽࢵࢺࡢ᥋ᆅࡣD✀᥋ᆅᕤ஦࡟‽ࡌ࡚⾜ࡗ࡚ୗࡉ࠸ࠋࠉ

4.࣮ࣜࣞࣂࣜ࢔ࠊ⤯⦕ࣂࣜ࢔ཬࡧ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ(ሬ⿦ࣘࢽࢵࢺෆⶶ)ࡣ㠀༴㝤ሙᡤ࡟タ⨨ࠉ

2.ࣂࢵࢸࣜࣂࢵࢡ࢔ࢵࣉᅇ㊰ࡣࠊࣂࢵࢸࣜࣘࢽࢵࢺࠊ఩⨨᳨ฟჾࠊ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ࠿ࡽ

ᵓᡂࡉࢀࠊไᚚ⿦⨨ࡢ㟁※㐽᩿󰪍ࠊࡲࡓࡣᤲẼ୰࡟ᮏᏳᅇ㊰࡜࡞ࡾࡲࡍࠋ

᭱኱㟁ຊ :

᭱኱ᐜ㔞 :

᭱኱㟁ὶ :

᭱኱㟁ᅽ

ࢩࣜ࢔ࣝNo:

࣮࢜ࢲNo:

0Υ㹼+40Υࠉ

࣐ࢽࣆ࣮ࣗࣞࢱ㸸
ሬ⿦ࣘࢽࢵࢺࠉ㸸

୕┦ AC200V (-15%,+10%) 50/60Hz

0.35 MPa

࣐ࢽࣆ࣮ࣗࣞࢱࠉ
ሬ⿦ࣘࢽࢵࢺ

AC220V (-15%,+10%) 60Hz

0.65 MPa

ྜ᱁

ᤲẼ󰪍ࡢタᐃᅽຊ⠊ᅖࠉ㸸

㐠㌿󰪍ࡢタᐃᅽຊ⠊ᅖ :

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Explosion-Proof Indication Label and Warning

Explosion-Proof Indication Label and Warning

Warning labels are attached on the manipulator body.

Always follow the warnings on the labels.

Also, identification labels with important information are placed on the
body of the manipulator. Prior to operating the manipulator, thoroughly
understand the contents of the label.

Fig. : Explosion-Proof Indication Label

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II2G

II(2)G

Ex ib pxb B T4 Gb/Ex ib B T4 Gb

Maximum Leakage :

50 kPa

5 kPaMinimum Over Pressure(input) :

Maximum Over Pressure(input) :

4 min

320 L/min

KVA

Minimum Purge Flow Time :

Maximum Power :

Minimum Dilution Flow Rate :

Year of Manufacture :

A

3Px200V (-15%,+10%)50/60Hz

Maximum Current :

Maximum Voltage :

Serial No:

Maximum Line Pressure : 0.65 MPa

0.35 MPaMinimum Line Pressure :

WARNINGS:

Pressurized enclosure, do not open when energized.
Enclosure contains lithium battery.

Remove all dust from this enclosure before connecting

or restoring the electrical supply.

Do not open when an explosive atmosphere is present.

Refer to instructions in the manual before opening.

Ambient Temperature

0°C to +45°C

YASKAWA ELECTRIC CORPORATION

2-1 Kurosakishiroishi, Yahatanishi-ku
Kitakyushu 806-0004 Japan

Pressurization System

Protective Gas Temperature :

0°C to +40°C

Manipulator

Intrinsically Safe Circuitry

Battery Back Up Circuitry :

DC4.5V 37.9mA

[Ex ib Gb]Painting Unit

Setting Pressure for Purging :

0.18 to 0.20 MPa

Setting Pressure for Operating :

0.01 to 0.02 MPa

｛Lithium/Iron Disulfide Battery (ENERGIZER L91)}

Battery backup circuit is consisted of battery unit, position detector
and encoder separation board. The circuit is intrinsically safe circuit
when the power supply of the Controller is shut down or air purging.
The painting Unit combined shall be grounded at 100 ohms or less.
Relay barrier, isolated barrier and encoder
separation board (inside the painting Unit) shall be installed in a non-hazardous area.

3Px220V (-15%,+10%)60Hz

KW

Maximum Capacity :

Do not make any changes of the equipments and wiring in the manipulator,
relay barrier,isolated barrier and encoder separation board (inside the painting unit)
and combination equipment of Internal pressure explosion-proof structure.

This is pressurized enclosure.

1.

5.

9.

6.

8.

2.

3.

4.

7.

Non-Intrinsic safety circuit

Allowable Voltage : AC250V 50/60Hz,DC250V

Manipulator :
Painting Unit :

0°C to +40°C

Minimum Flow Rate of Protective Gas:

Routine Test : Pass

B

CML 17ATEX1034X

2503

15 NL/min

8.7

3.0

9.9

YR-MPX2600-C00

15 NL/min

Note 1

NJ

DWG.No,

Notified Body Number

Certificate Number

The place of production
may be replaced with the
following address it is the
ATEX-approved one.

Note 1

YASKAWA Europe GmbH
Yaskawastr.1, D-85391
Allershausen Germany

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Explosion-Proof Indication Label and Warning

Fig. : Explosion-Proof Indication Label (ATEX)

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Warning label B

Warning label A

Pressure switch unit warning label

Battery warning label

Nameplate

NJ3878

MADE IN JAPAN

YASKAWA ELECTRIC CORPORATION

Kitakyushu 806-0004 Japan

2-1 Kurosakishiroishi, Yahatanishi-ku,

SERIAL NO.

PAYLOAD

kg

TYPE

MASS

DATE

ORDER NO.

kg

MOTOMAN-

MODEL

Battery unit type

Battery type

Manufucturere

ENERGIZER L91

YASKAWA Electric Corporation

HW1372692-A,-B,-C

This pressurized enclosure contains a battery which remains connected after

the external power has been isolated.

Refer to instructions in the manual before carrying
out frequent inspection and exchanging periodically.
Battery only to be replaced by Licensee when the area is known to be safe.

WARNING

Explosion-proof safety Device

WARNING

Do not change any Parameters.

NJ4036NJ4032

Crush hazard

Can cause severe injury.

Keep clear of all moving

parts.

はさまれ危険

重傷を負う恐れあり。

動作中は手や身体を

近づけるな。

NJ4037

警 告

WARNING

NJ4036

NJ4033

Collision hazard

Can cause severe injury.

Keep away from the robot

during automatic operation.

衝突の危険

重傷を負う恐れあり。

自動運転中は近づくな。

警 告

WARNING

NJ4032

PurgingPressure

OperationPressure

0

0.1 0.3

0.2

0.4

●SMC

MPa

○　○

0

0.05 0.15

0.1

0.2

●SMC

MPa

○　○

(バッテリーNP)

M6X12

M6X12

M4

M4

M4X8M4X6M4X6

M4X8 M4X6

M4X8

M4X6

NJ3878

NJ1530

ORDER

MADE IN JAPAN

YASKAWA ELECTRIC CORPORATION

Kitakyushu 806-0004 Japan

2-1 Kurosakishiroishi, Yahatanishi-ku,

SERIAL NO.

PAYLOAD

kg

TYPE

MASS

DATEORDER NO.

kg

MOTOMAN-

MODEL

労（ ）検

第　　　号

SHOULD HAVE SAME NUMBER.

NO.

THE MANIPULATOR AND THE CONTROLLER

Pressure switch unit warning label

Pressure switch unit

HW1372692-A(For S-,L-axis）

-B(For U-,R-axis）

-C(For B-,T-axis）
Battery pack type: ENERGIZER L91
Manufacturer: YASKAWA Electric Corporation

Warning label A

Warning label B

Nameplate

View A

A

Battery warning label
The label is on the cover
which the battery is mounted.

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Warning Labels

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Warning Labels

Fig. : Locations for the Name Plate and the Warning Label

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Safety Precautions for Painting Manipulator

Safety Precautions for Painting Manipulator

Respect the law, local regulations, and safety codes for connecting the
painting robot.

Standards

This manipulator meets the following requirements:

For the details of the standards, refer to "Standards" section in the
instruction manual of each manipulator.

 MOTOMAN-MPX2600 meets the following requirements:

• IEC60079-0:
for electrical apparatus for explosive gas atmospheres

- Part 0: General requirements

• IEC 60079-2:
for electrical apparatus for explosive gas atmospheres

- Part 2: Pressurized enclosures “p”

• IEC60079-11:
for electrical apparatus for explosive gas atmospheres

- Part 11: Intrinsic safety “ i ”

In special cases, such that the specification of areas which has a risk of
explosion cannot be specified, contact the competent authorities or
YASKAWA representative.

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PROHIBITED

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Explosion-Proof Structure

Explosion-Proof Structure

The explosion-proof structure of the MOTOMAN-MPX2600 consists of
intrinsic safety and inner pressure explosion preventing system.

Following notations show the explosion-proof structure for each country’s
explosion-proof standard.

Explosion-proof
structure

Power ON Power OFF

TIIS Exibpx

ATEX /
CAT.2

II2G ExibpxbIIBT4Gb II2G ExibIIBT4Gb

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IIBT4Gb ExibIIBT4Gb

DANGER

In case installing the MOTOMAN-MPX2600 in the hazardous area,
classify the manipulator environment by following the local explosion­proof standard and then, on the basis of the explosion-proof structure
notation on the MOTOMAN-MPX2600, confirm that the manipulator is
possible to install in that area.

• Any modification of the MOTOMAN-MPX2600, and the following is
strictly prohibited:

1. Explosion-proof devices and system installation

2. Safeguarding and the safety devices mounted on these safeguards

3. Emergency stop button, and other safety devices

4. Robot control system such as the DX200 robot controller, the
manipulator drive section and the power transmission section

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CAUTION

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Explosion-Proof Structure

• Take the following measures when teaching, correcting, inspecting,
or adjusting the manipulator when the motor power supply is ON:

a) Appoint a personnel to stay beside the emergency stop

button of the DX200. And perform the operations holding
the programming pendant with the emergency stop but­ton.

b) Before the operation, verify the correct robot motion and

that the emergency stop works.

• Observe the following precautions during an automatic operation:

a) Do not enter inside the safeguarding during operation.

b) Confirm the following before starting the operation:

• No person is inside the manipulator working envelope.

• No obstacles such as unnecessary workpieces and tools
are inside the manipulator working envelope.

• The manipulator is in its standby position.

c) When any abnormality occurs, immediately press the

emergency stop button to stop the manipulator.

d) Before entering inside the manipulator working envelope,

be sure to stop the manipulator and turn OFF the main
power supply to the DX200.

• Brake release (Optional)

A braking system is provided on each axis of the manipulator to hold
the arm in its position when a failure or fault occurs. When the brake is
activated, the manipulator cannot be moved manually even if the power
is OFF. To change the posture of the manipulator after a failure or fault,
the brake can be released by the operation from the controller.

When the brake is released with the manipulator’s power OFF, each
axis falls down because of the arm weight. Before releasing the brake,
hold the arm with a lifting jig or a support, and then change the posture
of the manipulator within the minimum motion range.

Use the brake release function only when absolutely necessary.

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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:

180788-1CD

Safeguarding Tips

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

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

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

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

Mechanical Safety Devices

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

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

• Safety barriers

• Door interlocks

• Emergency stop palm buttons located on operator station

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

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MPX2600

Programming, Operation, and Maintenance Safety

Programming, Operation, and Maintenance Safety

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

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

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

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

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

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

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

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

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

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

• Use proper replacement parts.

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

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Maintenance Safety

Maintenance Safety

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

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

Summary of Warning Information

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

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

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[phone]

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MPX2600

Customer Support Information

Customer Support Information

If you need assistance with any aspect of your MPX2600 system, please
contact YASKAWA Customer Support at the following 24-hour telephone
number:

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

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

[e-mail]

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

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

• System MPX2600

• Primary Application ___________________________

• Controller DX200

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

• Robot Serial Number Located on the robot data plate

• Robot Sales Order Number Located on the DX200 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............................................................................................... 1-3

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

2.1 Transporting Method.......................................................................................................... 2-1

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

2.1.2 Using a Forklift...................................................................................................... 2-5

2.2 Shipping Bolts and Brackets .............................................................................................. 2-9

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

3.1 Installation of Safeguarding ............................................................................................... 3-1

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

3.2.1 Mounting the Manipulator on the Baseplate ......................................................... 3-3

3.2.2 How to Install the Pressure Switch ....................................................................... 3-4

3.3 Mounting methods .............................................................................................................3-5

3.3.1 S-axis Operation Range ....................................................................................... 3-5

3.3.2 Installing Direction ................................................................................................ 3-5

3.3.3 Measures to Prevent the Manipulator from Falling ............................................... 3-6

3.4 Protection Class................................................................................................................. 3-7

3.5 Location ............................................................................................................................. 3-7

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

4.1 Grounding .......................................................................................................................... 4-3

4.2 Cable Connection .............................................................................................................. 4-5

4.2.1 Connecting Positions of Cables............................................................................ 4-8

4.2.2 Manipulator Cable Connection ........................................................................... 4-10

4.2.3 Changing the Battery Position ............................................................................ 4-12

4.2.4 Intrinsically Safe Cable Connection .................................................................... 4-13

4.3 Requirements................................................................................................................... 4-14

4.3.1 Pressure Switch Unit .......................................................................................... 4-15

4.4 Installation Site................................................................................................................. 4-16

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

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

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

5.3 Manipulator Base Dimensions ........................................................................................... 5-3

5.4 Dimensions and P-point Maximum Envelop ...................................................................... 5-4

5.5 Appearance and Dimensions of the Pressure Switch Unit ................................................ 5-5

5.6 Stopping Distance and Time for S-, L-, and U-Axes.......................................................... 5-6

5.6.1 General Information.............................................................................................. 5-6

5.6.2 Definition of Use ................................................................................................... 5-6

5.6.3 Stopping Distance and Time for Stop Category 0: S-, L- and U-Axes.................. 5-6

5.6.4 Stop Category 1: Stopping Distance and Time for Stop Category 1:

S-, L- and U-Axes................................................................................................. 5-7

5.6.4.1 Extension ................................................................................................ 5-7

5.6.5 Stopping Angles and Times for S-, L- and U-Axes............................................... 5-9

5.6.5.1 Position 100% ......................................................................................... 5-9

5.6.5.2 Stopping Distance and Time for Stop Category 1: S-Axis....................... 5-9

5.6.5.3 Stopping Distance and Time for Stop Category 1: L-Axis .................... 5-10

5.6.5.4 Stopping Distance and Time for Stop Category 1: U-Axis .................... 5-11

Table of Contents

5.7 Modification of S-Axis Movable Envelope........................................................................ 5-12

5.7.1 Changing the S-axis Mechanical Stopper .......................................................... 5-13

5.7.2 Adjustment to the Pulse Limitation of S-Axis...................................................... 5-13

6 Allowable Load for Wrist Axis 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

7.1.1 Allowable Load ..................................................................................................... 7-1

7.1.2 Installation Position .............................................................................................. 7-2

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

8.1 Internal Connections.......................................................................................................... 8-1

9 Frequent Inspections ...................................................................................................................... 9-1

9.1 Frequent Inspections ......................................................................................................... 9-1

9.2 Daily Inspections................................................................................................................ 9-3

9.2.1 Manipulator........................................................................................................... 9-3

9.2.1.1 Visual Inspection ..................................................................................... 9-3

9.2.1.2 Manipulator Motions and Noise/Vibration during Operation.................... 9-3

9.2.1.3 Air Tubes and Air Leakage...................................................................... 9-3

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9.2.1.4 Paint Removal and Cleaning ................................................................... 9-3

9.2.1.5 Emergency Stop Button Operation and Dried Paint ................................ 9-4

9.2.2 Pressure Switch Unit ............................................................................................ 9-4

9.2.2.1 Pressure .................................................................................................. 9-4

10 Maintenance and Inspection ....................................................................................................... 10-1

10.1 Inspection Schedule....................................................................................................... 10-1

10.2 Maintenance for Manipulator ......................................................................................... 10-5

10.2.1 Grease Replenishment/Replacement............................................................... 10-5

10.2.1.1 Grease Replacement Procedures for Wrist Gears .............................. 10-5

10.2.1.2 Grease Replacement Procedures for S-, L-, and

10.2.1.3 Grease Replenishment Procedures for S-,L-, and

10.2.2 Inspection of Air Sealing for Internal Air Pressure .......................................... 10-13

Table of Contents

U-Axis Speed Reducers ........................................................................ 10-6

U-axis Speed Reducer ........................................................................ 10-12

10.2.3 Battery Replacement ...................................................................................... 10-15

10.3 Inspection of the Explosion-Proof Device .................................................................... 10-17

10.3.1 Pressure Switch Unit Inspection ..................................................................... 10-17

10.3.1.1 Solenoid Valve .................................................................................. 10-17

10.3.1.2 Operation Method of Pressure Reducing Valve ................................ 10-17

10.3.1.3 Operation Check of Pressure Reducing Valve .................................. 10-18

10.3.1.4 Operation Check of Pressure Detection Function ............................. 10-20

10.3.1.5 Operation Check for Master Valve .................................................... 10-23

10.3.2 Enclosure Protection Sequence ..................................................................... 10-24

10.3.2.1 Operation Check for Enclosure Protection Sequence ....................... 10-27

10.4 Notes for Maintenance................................................................................................. 10-30

10.4.1 Encoder Connector (with CAUTION label) ..................................................... 10-30

10.4.1.1 S-, L-, and U-Axis Motors .................................................................. 10-30

11 Recommended Spare Parts........................................................................................................ 11-1

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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 six items (information for the content of
optional goods are given separately):

• Manipulator

• DX200

• Programming pendant

• Manipulator cables (between the DX200 and the Manipulator)

• Pressure switch unit

• Complete Set of Manuals (supplied on the CD-ROM which is con­nected to the USB connector)

Fig. 1-1: Six Items for Standard Delivery

Programming pendant

DX200

SER NO.

DATE

TYPE

YASKAWA ELECTRIC CORPORATION

MADE IN JAPAN NJ2096-□

඲࡚ࡢࢻ࢔ࣟࢵࢡࢆ☜ᐇ࡟㛢ࡵ࡚ୗࡉ࠸ࠋ

CHECK ALL THE DOOR LOCKS

PROPERLY.

ᆺ ᘧ YR-MPX2600-A

03

㜵⇿グྕࠉ Exibpx ࠉBT4Gb/Exib BT4G㹠

ᐃ ᱁ࠉ

࣐ࢽࣆ࣮ࣗࣞࢱࠉ

᭱኱㟁ᅽ

A10.1

᭱኱㟁ὶ

KW10.3

᭱኱ᐜ㔞

KVA3.5

᭱኱㟁ຊ

࿘ᅖ ᗘࠉ 0㹼+40Υࠉ

ᮏᏳᅇ㊰

ᅽຊ᳨ฟჾ/ࣇ࣮ࣟࢫ࢖ࢵࢳᅇ㊰

㟁☢ᘚᅇ㊰ DC17.22V 220mA

ࣂࢵࢸࣜࣂࢵࢡ࢔ࢵࣉᅇ㊰ DC3.6V 81mA

㸦ሷ໬ࢳ࢜ࢽࣝࣜࢳ࣒࢘㟁ụ㸦ER17500VLY㸧)

ಖㆤ࢞ࢫࡢ᭱ᑠᤲẼὶ㔞

390L/min

᭱ᑠᤲẼ󰪍㛫

㸲min

ಖㆤ࢞ࢫࡢ᭱ᑠὶ㔞

50NL/min

᭱ᑠෆᅽ

5 kPa

50 kPa

᭱኱ෆᅽ

ෆᅽᐜჾධཱྀ࡛ࡢಖㆤ࢞ࢫࡢᣦᐃࡢ ᗘཪࡣ ᗘ⠊ᅖ

0Υ㹼+40Υ

206.2 l

ෆᐜ✚

ෆᅽಖㆤࢩࢫࢸ࣒

ෆᅽಖㆤࢩࢫࢸ࣒࡟ຍ࠼ࡿ᭱ᑠ౪⤥ᅽຊ

ෆᅽಖㆤࢩࢫࢸ࣒࡟ຍ࠼ࡿ᭱኱౪⤥ᅽຊ

㆙ࠉࠉࠉ࿌

1.࣐ࢽࣆ࣮ࣗࣞࢱࠊ࣮ࣜࣞࣂࣜ࢔ࠊ⤯⦕ࣂࣜ࢔ཬࡧ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ(ไᚚ⿦⨨ෆⶶ)ࡣ

ᮏ㉁Ᏻ඲㜵⇿ᵓ㐀ཬࡧෆᅽ㜵⇿ᵓ㐀ࡢ⤌ྜࡏᶵჾ࡛ࡍ࠿ࡽࠊᵓᡂᶵჾࠊ㓄⥺➼ࢆኚ᭦ࡲࡓࡣ

ᨵ㐀ࡋ࡞࠸࡛ୗࡉ࠸ࠋࠉ

2.ࣂࢵࢸࣜࣂࢵࢡ࢔ࢵࣉᅇ㊰ࡣࠊࣂࢵࢸࣜࠊ఩⨨᳨ฟჾࠊ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ࠿ࡽ

ᵓᡂࡉࢀࠊไᚚ⿦⨨ࡢ㟁※㐽᩿󰪍ࠊࡲࡓࡣᤲẼ୰࡟ᮏᏳᅇ㊰࡜࡞ࡿࠋ

3.ไᚚ⿦⨨ࡢ᥋ᆅࡣD✀᥋ᆅᕤ஦࡟‽ࡌ࡚⾜ࡗ࡚ୗࡉ࠸ࠋࠉ

4.࣮ࣜࣞࣂࣜ࢔ࠊ⤯⦕ࣂࣜ࢔ཬࡧ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ(ไᚚ⿦⨨ෆⶶ)ࡣ㠀༴㝤ሙᡤ࡟タ⨨ࠉ

ࡋ࡚ୗࡉ࠸ࠋࠉ

5.ࣂࢵࢸࣜࡢ஺᥮ࡣࠊ⇿Ⓨᛶ㞺ᅖẼࡢᜍࢀࡀ↓࠸≧ែࢆ☜ㄆࡋ࡚⾜࠺ࠋ

6.⇿Ⓨᛶ㞺ᅖẼࡀᏑᅾࡍࡿ࠾ࡑࢀࡢ࠶ࡿ࡜ࡁࡣ࢝ࣂࢆ㛤ࡅ࡞࠸࡛ୗࡉ࠸ࠋ

7.ࡇࢀࡣࠊෆᅽ㜵⇿ᵓ㐀ࡢᐜჾ࡛࠶ࡿࠋ

8.ྲྀᢅㄝ󰩣᭩ཧ↷ࡢࡇ࡜ࠋ

9.᥋⥆ࡲࡓࡣ㟁※౪⤥ࢆ෌㛤ࡍࡿ๓࡟ࠊࡇࡢ࢚ࣥࢡ࣮ࣟࢪ࣮ࣕ࠿ࡽ

ࡍ࡭࡚ࡢ࡯ࡇࡾࢆྲྀࡾ㝖࠸࡚ୗࡉ࠸ࠋ

NJ

ᰴᘧ఍♫ࠉᏳᕝ㟁ᶵࠉ

TYPE

ERER-

POWER SUPPLY

3PHASE

AVERAGE

kVA

FULL LOAD CURRENT

A

INTERRUPT CURRENT

kA

APPROX MASS

kg

DOCUMENT No.

SERIAL No.

DATE

MADE IN JAPAN

NJ3523-5

O

N

DX200 MPX2600

E

D

I

P

T

P

R

O

F

F

S

R

T

E

E

༴ࠉ㝤

ឤ㟁ࡢᜍࢀ࠶ࡾ

㏻㟁୰ࠊᡬࢆ㛤ࡅࡿ࡞

Motomanᮏయ࡜ࢥࣥࢺ࣮ࣟࣛࡣࠊୗグ

࣮࢜ࢲࡢྠ୍NO.࡜᥋⥆ࡋᚚ౑⏝㢪࠸ࡲࡍࠋ

ORDER NO.

඲࡚ࡢࢻ࢔ࣟࢵࢡࢆ☜ᐇ࡟㛢ࡵ࡚ୗࡉ࠸ࠋ

CHECK ALL THE DOOR LOCKS

PROPERLY.

ALARM

G

E

R

M

E

N

E

C

Y

O

S

P

T

PROGRAMMING PENDANT

X 8 1

Manipulator

0.2

●SMC

0.1 0.3

MPa

0.4

0

○ࠉ○

Purging

Pressure

Operation

0.1

●SMC

0.05 0.15

MPa

0.2

0

○ࠉ○

Pressure

䠮

䡋
䠾

䡋
䡐䠩

䠽䡊䡑䠽䡈

RE

A
D

O
NL

Y
M

E
M

O
RY

(Data)

䠮䡋䠾䡋䡐 䠩䠽䡊䡑䠽䡈

HW*******

READ ONLY MEMORY

CD memory

Manipulator cablesPressure switch unit Complete set of manuals
(supplied on the CD-ROM which
is connected to the USB connector)

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1 Product Confirmation

1.1 Contents Confirmation

Accessories of Manipulator Pcs Remarks

Hexagon socket head cap screw M20
(Length: 90 mm)

Washer M20 4

Conical spring washer M20 4

Grease zerk A-PT3/8 3

Grease zerk A-PT1/8 3

Hexagon socket head cap screw M4
(Length: 12 mm)

Conical spring washer M4 2

Hexagon socket head cap screw M5
(Length: 8 mm)

Conical spring washer M5 2

Cable tie T50L 4 For tying up the plastic cover for

Hexagon socket head cap screw M6
(Length: 25 mm)

Conical spring washer M6 14

Key 1 For positioning of the wrist axis

Hexagon socket head cap screw M5
(Length: 16 mm)

Washer M5 4

4

2

2

14

4

For mounting the manipulator

For grease replenishment

For mounting the bracket to the
manipulator cable.

For mounting the grounding wire
of the manipulator cable

the manipulator cable

For mounting the manipulator
cable

For mounting the pressure switch
unit

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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. 1-2: Location of Order Number Labels

THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER.

ORDER. No.

SER NO.

TYPE

YASKAWA ELECTRIC CORPORATION

MADE IN JAPAN NJ2096-□

඲࡚ࡢࢻ࢔ࣟࢵࢡࢆ☜ᐇ࡟㛢ࡵ࡚ୗࡉ࠸ࠋ

CHECK ALL THE DOOR LOCKS

PROPERLY.

ᆺ ᘧ YR-MPX2600-A

㜵⇿グྕࠉ Exibpx ࠉBT4Gb/Exib BT4G㹠

ᐃ ᱁ࠉ

࣐ࢽࣆ࣮ࣗࣞࢱࠉ

᭱኱㟁ᅽ

᭱኱㟁ὶ

᭱኱ᐜ㔞

᭱኱㟁ຊ

࿘ᅖ ᗘࠉ 0㹼+40Υࠉ

ᮏᏳᅇ㊰

ᅽຊ᳨ฟჾ/ࣇ࣮ࣟࢫ࢖ࢵࢳᅇ㊰

㟁☢ᘚᅇ㊰ DC17.22V 220mA

ࣂࢵࢸࣜࣂࢵࢡ࢔ࢵࣉᅇ㊰ DC3.6V 81mA

㸦ሷ໬ࢳ࢜ࢽࣝࣜࢳ࣒࢘㟁ụ㸦ER17500VLY㸧)

ಖㆤ࢞ࢫࡢ᭱ᑠᤲẼὶ㔞

᭱ᑠᤲẼ󰪍㛫

ಖㆤ࢞ࢫࡢ᭱ᑠὶ㔞

᭱ᑠෆᅽ

᭱኱ෆᅽ

ෆᅽᐜჾධཱྀ࡛ࡢಖㆤ࢞ࢫࡢᣦᐃࡢ ᗘཪࡣ ᗘ⠊ᅖ

ෆᐜ✚

ෆᅽಖㆤࢩࢫࢸ࣒

ෆᅽಖㆤࢩࢫࢸ࣒࡟ຍ࠼ࡿ᭱ᑠ౪⤥ᅽຊ

ෆᅽಖㆤࢩࢫࢸ࣒࡟ຍ࠼ࡿ᭱኱౪⤥ᅽຊ

1.࣐ࢽࣆ࣮ࣗࣞࢱࠊ࣮ࣜࣞࣂࣜ࢔ࠊ⤯⦕ࣂࣜ࢔ཬࡧ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ(ไᚚ⿦⨨ෆⶶ)ࡣ

ᮏ㉁Ᏻ඲㜵⇿ᵓ㐀ཬࡧෆᅽ㜵⇿ᵓ㐀ࡢ⤌ྜࡏᶵჾ࡛ࡍ࠿ࡽࠊᵓᡂᶵჾࠊ㓄⥺➼ࢆኚ᭦ࡲࡓࡣ

ᨵ㐀ࡋ࡞࠸࡛ୗࡉ࠸ࠋࠉ

2.ࣂࢵࢸࣜࣂࢵࢡ࢔ࢵࣉᅇ㊰ࡣࠊࣂࢵࢸࣜࠊ఩⨨᳨ฟჾࠊ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ࠿ࡽ

ᵓᡂࡉࢀࠊไᚚ⿦⨨ࡢ㟁※㐽᩿󰪍ࠊࡲࡓࡣᤲẼ୰࡟ᮏᏳᅇ㊰࡜࡞ࡿࠋ

3.ไᚚ⿦⨨ࡢ᥋ᆅࡣD✀᥋ᆅᕤ஦࡟‽ࡌ࡚⾜ࡗ࡚ୗࡉ࠸ࠋࠉ

4.࣮ࣜࣞࣂࣜ࢔ࠊ⤯⦕ࣂࣜ࢔ཬࡧ࢚ࣥࢥ࣮ࢲศ㞳ᇶᯈ(ไᚚ⿦⨨ෆⶶ)ࡣ㠀༴㝤ሙᡤ࡟タ⨨ࠉ

ࡋ࡚ୗࡉ࠸ࠋࠉ

5.ࣂࢵࢸࣜࡢ஺᥮ࡣࠊ⇿Ⓨᛶ㞺ᅖẼࡢᜍࢀࡀ↓࠸≧ែࢆ☜ㄆࡋ࡚⾜࠺ࠋ

6.⇿Ⓨᛶ㞺ᅖẼࡀᏑᅾࡍࡿ࠾ࡑࢀࡢ࠶ࡿ࡜ࡁࡣ࢝ࣂࢆ㛤ࡅ࡞࠸࡛ୗࡉ࠸ࠋ

7.ࡇࢀࡣࠊෆᅽ㜵⇿ᵓ㐀ࡢᐜჾ࡛࠶ࡿࠋ

8.ྲྀᢅㄝ󰩣᭩ཧ↷ࡢࡇ࡜ࠋ

9.᥋⥆ࡲࡓࡣ㟁※౪⤥ࢆ෌㛤ࡍࡿ๓࡟ࠊࡇࡢ࢚ࣥࢡ࣮ࣟࢪ࣮ࣕ࠿ࡽ

ࡍ࡭࡚ࡢ࡯ࡇࡾࢆྲྀࡾ㝖࠸࡚ୗࡉ࠸ࠋ

TYPE

ERER-

POWER SUPPLY

3PHASE

FULL LOAD CURRENT

INTERRUPT CURRENT

APPROX MASS

DOCUMENT No.

SERIAL No.

DATE

E

P

R

O

F

F

S

T

E

E

Motomanᮏయ࡜ࢥࣥࢺ࣮ࣟࣛࡣࠊୗグ

࣮࢜ࢲࡢྠ୍NO.࡜᥋⥆ࡋᚚ౑⏝㢪࠸ࡲࡍࠋ

ORDER NO.

඲࡚ࡢࢻ࢔ࣟࢵࢡࢆ☜ᐇ࡟㛢ࡵ࡚ୗࡉ࠸ࠋ

CHECK ALL THE DOOR LOCKS

PROPERLY.

DATE

03

A10.1

KW10.3

KVA3.5

390L/min

㸲min

50NL/min

5 kPa

50 kPa

0Υ㹼+40Υ

206.2 l

㆙ࠉࠉࠉ࿌

NJ

ᰴᘧ఍♫ࠉᏳᕝ㟁ᶵࠉ

kVA

AVERAGE

A

kA

kg

MADE IN JAPAN

NJ3523-5

N

O

D

I

T

P

R

༴ࠉ㝤

ឤ㟁ࡢᜍࢀ࠶ࡾ

㏻㟁୰ࠊᡬࢆ㛤ࡅࡿ࡞

DX200 MPX2600

ALARM

R

G

E

E

M

N

E

C

Y

S

P

T

O

PROGRAMMING PENDANT

X 8 1

(a)DX200㸦Front View㸧

A

(b)Manipulator㸦Back View㸧

Label (Enlarged View)

ORDER.NO.

THE MANIPULATOR AND THE CONTROLLER

SHOULD HAVE SAME ORDER NUMBER.

NJ2513

MADE IN JAPAN

YASKAWA ELECTRIC CORPORATION

Kitakyushu 806-0004 Japan

2-1 Kurosakishiroishi, Yahatanishi-ku,

SERIAL NO.

NJ3878

NJ1530

NO.

ORDER

PAYLOADkgTYPE

MOTOMAN-

MODEL

kg

MASS

DATEORDER NO.

THE MANIPULATOR AND THE CONTROLLER

SHOULD HAVE SAME NUMBER.

View A

1-3

HW1484370

MPX2600

CAUTION

NOTE

24 of 116

2 Transport

180788-1CD

2 Transport

2.1 Transporting Method

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

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

• Avoid excessive vibration or shock during transport.

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

2.1 Transporting Method

• Check that the eyebolts are securely fastened.

• The weight of the manipulator is approximately 550 kg
(including the shipping bolts and brackets for the floor­mounted model. For the wall-mounted model, the weight
of the manipulator is approximately 600 kg. For the
ceiling-mounted model, the weight of the manipulator is
approximately 580 kg). Use a wire rope strong enough to
withstand the mass.

• 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.

2-1

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180788-1CD

25 of 116

MPX2600

2 Transport

2.1 Transporting 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

“Transport Using a Crane (Floor-mounted)”

as shown in Fig. 2-1(a)

.

Fig. 2-1(a): Transport Using a Crane

:Gravity center “G” : Manipulator and Shpping bolts and brackets

Unit: [mm]

Wire Rope
length: 2.5 m or more

Hexagon socket head
cap screw M16
(4 screws,
length: 50 mm)
Conical spring washer
2H-16 (4 washers)
Washer M16
(4 washers)
Tightening torque:
206 N•m (21 kgf•m)

Shipping bolt and bracket
(Fixed to the manipulator
before shipment.)

Factory setting for angle and pulse of each axis

(Floor-mounted)

(916.3)

G

30°

U-axis

37.1

(2945)

(1833.4)

708.3

108.1

Hexagon socket head
cap screw M16
(4 screws,
length: 50 mm)
Conical spring washer
2H-16 (4 washers)
Washer M16
(4 washers)
Tightening torque:
206 N•m (21 kgf•m)

Axis

Angle

Pulse

S-axis

0°

0

L-axis

0°

0

U-axis

-60°

R-axis

0°

0

B-axis

0°

0-144625 0

T-axis

0°

2-2

HW1484370

MPX2600

G

(1190)

(1005)

703.3

(1828)

(1846.4)

(562.9)

108.1

0-144625 0

0°

T-axis

0°

B-axis

0

0°

R-axis

-60°

U-axis

0

0°

L-axis

0

0°

S-axis

Factory setting for angle and pulse of each axis

Axis

Angle

Pulse

Hexagon socket head cap screw
M10 (2 screws, length: 35 mm)
Conical spring washer 2L-10
(2 washers)
Tightening torque:
48 N•m (4.9 kgf•m)

Hexagon socket head cap screw M10
(4 screws, length: 35 mm)
Conical spring washer 2L-10 (4 washers)
Tightening torque: 24.5 N•m (2.5 kgf•m)

Hexagon socket head cap screw M10
(2 screws, length: 35 mm)
Conical spring washer 2L-10 (2 washers)
Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head
cap screw M16
(4 screws, length: 50 mm)
Conical spring washer
2H-16 (4 washers)
Washer M16 (4 washers)
Tightening torque:
206 N•m (21 kgf•m)

Hexagon socket head
cap screw M10
(4 screws, length:
35 mm)
Conical spring washer
2L-10 (4 washers)
Tightening torque:
48 N•m (4.9 kgf•m)

Hexagon socket head
cap screw M16
(4 screws, length: 50 mm)
Conical spring washer
2H-16 (4 washers)
Washer M16 (4 washers)
Tightening torque:
206 N•m (21 kgf•m)

Hexagon socket head cap screw
M10 (4 screws, length: 35 mm)
Conical spring washer 2L-10 (4 washers)
Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head cap screw M10
(2 screws, length: 35 mm)
Conical spring washer 2L-10 (2 washers)
Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head cap
screw M8 (4 screws, length: 30 mm)
Conical spring washer 2L-8 (4 washers)
Tightening torque: 24.5 N•m (2.5 kgf•m)

:Gravity center “G” : Manipulator and Shpping bolts and brackets

Hexagon socket head
cap screw M8
(4 screws, length: 30 mm)
Conical spring washer
2L-8 (4 washers)
Tightening torque:

24.5 N•m (2.5 kgf•m)

Wire Rope
length: 1.0 m
or more

26 of 116

180788-1CD

2 Transport

2.1 Transporting Method

Fig. 2-1(b): Transport Using a Crane (Wall-mounted) (Optional

)

2-3

HW1484370

180788-1CD

G

1190

(976)

(1833)

37.1

708.3

30°

1190

(1398)

(965)

(2983)

108.1

0-144625 0

0°

T-axis

0°

B-axis

0

0°

R-axis

-60°

U-axis

0

0°

L-axis

0

0°

S-axis

Factory setting for angle and pulse of each axis

Axis

Angle

Pulse

:Gravity center “G” : Manipulator and Shpping bolts and brackets

Hexagon socket head cap screw M16
(4 screws, length: 50 mm)
Conical spring washer 2H-16 (4 washers)
Washer M16 (4 washers)
Tightening torque:
206 N•m (21 kgf•m)

Hexagon socket head
cap screw M10
(2 screws,
length: 35 mm)
Conical spring washer
2L-10 (2 washers)
Tightening torque:
48 N•m (4.9 kgf•m)

Hexagon socket head
cap screw M10
(4 screws, length: 35 mm)
Conical spring washer
2L-8 (4 washers)
Tightening torque:

24.5 N•m (2.5 kgf•m)

Hexagon socket head cap screw M10
(2 screws, length: 35 mm)
Conical spring washer 2L-10 (2 washers)
Tightening torque: 48 N•m (4.9 kgf•m)

Hexagon socket head
cap screw M8
(4 screws, length: 20 mm)
Conical spring washer
2L-8 (4 washers)
Tightening torque:

24.5 N•m (2.5 kgf•m)

Hexagon socket head cap screw M8
(4 screws, length: 20 mm)
Conical spring washer 2L-8 (4 washers)
Tightening torque: 24.5 N•m (2.5 kgf•m)

Hexagon socket head
cap screw M16
(4 screws,
length: 50 mm)
Conical spring washer
2H-16 (4 washers)
Washer M16
(4 washers)
Tightening torque:
206 N•m (21 kgf•m)

Wire Rope
length: 1.5 m
or more

27 of 116

MPX2600

2 Transport

2.1 Transporting Method

Fig. 2-1(c): Transport Using a Crane (Ceiling-mounted) (Optional)

The manipulator is in the nailed wooden box when it is delivered.

2-4

HW1484370

MPX2600

G

708.3

(1833)

Unit: [mm]

Fix the manipulator
to the base for
transportation
by using 22 dia.
tapped hole
(4 holes).

Pallet

Manipulator base

Hexagon socket
head cap screw
M20 (4 screws)
Nut M20 (4 nuts)
Washer M20
(8 washers)

Forklift claw entries

Pallet

:Gravity center “G” : Manipulator and Shpping bolts and brackets

0-144625 0

0°

T-axis

0°

B-axis

0

0°

R-axis

-60°

U-axis

0

0°

L-axis

0

0°

S-axis

Factory setting for angle and pulse of each axis

Axis

Angle

Pulse

28 of 116

2 Transport

2.1 Transporting Method

2.1.2 Using a Forklift

When using a forklift, the manipulator should be fixed on a pallet with
shipping bolts and bracket as shown in Fig. 2-2(a) “Transport Using a
Forklift (Floor-mounted)”.

Insert claws under the pallet and lift it. The pallet must be strong enough
to support the manipulator.
When this manipulator is mounted on the floor, it can be transported
without a pallet by inserting the claws of the forklift into the entry of the
shipping bolts and bracket.

Transport the manipulator slowly with due caution in order to avoid
overturn or slippage.

Fig. 2-2(a): Transport Using a Forklift (Floor-mounted)

180788-1CD

2-5

HW1484370

180788-1CD

29 of 116

MPX2600

2 Transport

2.1 Transporting Method

Fig. 2-2(b): Transport Using a Forklift (Floor-mounted)

:Gravity center “G” : Manipulator and Shpping bolts and brackets

Unit: [mm]

1020

U-axis

r

(917.7)

G

1020

108.1

37.1

(1833.4)

708.3

Forklift claw entries

Axis

Angle

Pulse

Shipping bolt and bracket
(Fixed to the manipulator
before shipment.)

Factory setting for angle and pulse of each axis

S-axis

0°

0

L-axis

0°

0

U-axis

-60°

R-axis

0°

0

Forklift claw entries

B-axis

0°

0-144625 0

T-axis

0°

2-6

HW1484370

MPX2600

G

562.9

(1005)

0-144625 0

0°

T-axis

0°

B-axis

0

0°

R-axis

-60°

U-axis

0

0°

L-axis

0

0°

S-axis

Factory setting for angle and pulse of each axis

Axis

Angle

Pulse

Pallet

Manipulator base

Hexagon socket
head cap screw
M16 (6 screws)
Washer M16
(12 washers)
Nut M16 (6 nuts)

Fix the manipulator to the base for transportation
by using 17.5 dia. tapped hole (4 holes) (3 places).

Forklift claw entries

Pallet

Unit: [mm]

:Gravity center “G” : Manipulator and Shpping bolts and brackets

30 of 116

180788-1CD

2 Transport

2.1 Transporting Method

Fig. 2-2(c): Transport Using a Forklift (Wall-mounted)

(Optional)

2-7

HW1484370