YASKAWA MOTOMAN-MS80W User Manual

MANUAL NO.

HW1481428

Part Number: 163548-1CD
Revision: 0

MOTOMAN-MS80W

INSTRUCTIONS

SUPPLEMENTARY FOR TYPE: YR-MS0080W-A23

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

MOTOMAN INSTRUCTIONS

MOTOMAN-MS80W INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENACE MANUAL

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

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Introduction

This supplementary instruction manual describes how YR-MS0080W-A23
(hereinafter referred to as MS0080W-A23) is different from the
YR-MS0080W-A00 (hereinafter referred to as MS0080W-A00).

When using MS0080W-A23, read this supplementary instruction manual
thoroughly with:
“MOTOMAN-MS80W INSTRUCTIONS” (Manual No. 159328-1CD).

Differences

The MS0080W-A23 differ from the MS0080W-A00 in the following points:

1. Axis Name, Axis Direction

(1) Axis Name, Axis Direction

• Axes are differently named as follows.

• Also, following axes have different rotating directions.

(2) Dimension

• With Servo ON Lamp

2. Internal Cable

• The system connection of the cooling water hose changes in the
third system from the second system.

The differences are described based on
“MOTOMAN-MS80W INSTRUCTIONS”(Manual No. 159328-1CD).
Read this manual thoroughly replacing the subject matters for changes
with this supplementary instruction manual.

S-axis



JT1-axis

L-axis



JT2-axis

U-axis



JT3-axis

R-axis



JT4-axis

B-axis



JT5-axis

T-axis



JT6-axis

JT1 (S)

JT4 (R)

JT6 (T)

5.4 Dimensions and P-Point Maximum Envelope(5-3)

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5.4 Dimensions and P-Point Maximum Envelope(5-3)

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

R2236

R718

320 1025 175

P-point

224

210

870

540

873

2236

3803

718

2456

3751

1295

543

301

242

P-point maximum
envelope

7.1 Peripheral Equipment Mounts (7-1 page)

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7 System Application

7.1 Peripheral Equipment Mounts (7-1 page)

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

Fig. 7-1: Installing Peripheral Equipment

513

100

100

50

57

200

150 90

5050

6060

100

98.5

(pitch:1.25) (4 holes)

Tapped hole M8(depth:16)

A

(pitch:1.25) (4 holes)

Tapped hole M8(depth:16)

B

Mount the peripheral equipment
within this range.

Table 7-1: Constraint for Attaching

Section Application Note

A Cable processing Up to 80 kg for attaching load

mass including wrist load.

B Cable processing

and valve, etc mounting

Up to 10 kg.
49

N•m (5 kgf•m) max. for
increased moment amount of
upper arm

7.2 Internal User I/O Wiring Harness and Air Lines for User’s System
Applications (7-2 page)

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7.2 Internal User I/O Wiring Harness and Air Lines for User’s

System Applications (7-2 page)

Internal user I/O wiring harness, encoder or power cables for external
axis, cables for primary source for welding power, thermostat transformer
cables and hoses for air or cooling are incorporated in the manipulator for
the drive of peripheral devices mounted on the upper arm as shown in

fig. 7-2 “Connectors for Internal User I/O Wiring Harness and Air Lines for
User’s applications” and ffig. 7-2 “Connectors for Internal User I/O Wiring
Harness and Air Lines for User’s applications”

Table 7-2: Internal User I/O Wiring Harness and Air Lines for Use’s Applications

Item Specification Conditions

Internal user I/O wiring
harness

0.5 mm

2

× 23 wires For the pin allocation, refer to

.fig. 7-3 “Details of the

Connector Pin NUmbers” at
page 7-4

5.8 A or less per a wire.
The total current value must be
36 A or less.

Encoder cable for
external axis

0.2 mm

2

× 6 cables 3.9 A or less per a wire.

The total current value must be

12.8 A or less.

Power cable for
external axis

2 mm

2

× 4 cables

0.75 mm2 × 2 cables

2 mm2: 16.1 A or less per a wire

0.75 mm2: 9.0 A or less per a wire
The total current value must be

51.4 A or less.

Cable for primary
source for welding

21 mm

2

× 2 cables

10 mm

2

× 1 cable

1)

21 mm2: 150 A or less per a wire
The total current value must be
255 A or less.

Cable for thermostat
transformer

0.75 mm

2

× 3 cables 7.7 A or less per a wire

The total current value must be

29.2 A or less.

Air hose Inside dia. 8.0 mm × 1 hose 490 kPa (5 kgf/cm

2

) or less

Hose for cooling Inside dia. 6.5 mm × 6 hoses 300 kPa (5 kgf/cm

2

) or less

1 For ground wires

7.2 Internal User I/O Wiring Harness and Air Lines for User’s System

Applications (7-2 page)

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

User’s applications

A

B

View B

Dimensions vary depending on the external cable specifications.

Exhaust (air)
KQE12-03

Cooling water OUT3
KQE10-03

Cooling water OUT2
KQE10-03

Cooling water OUT1
KQE10-03

Cooling water IN3
KQE10-03

Cooling water IN1
KQE10-03

Cooling water IN2
KQE10-03

Air inlet
KQE12-03

Cooling water IN1
F10-03MS

Cooling water OUT1
F10-03MS

Cooling water IN2
F10-03MS

Cooling water OUT2
F10-03MS

Cooling water IN3
F10-03MS

Cooling water OUT3
F10-03MS

View A

For the folloing cables, terminal blocks are prepared in the box:

-Cables for the primary source for welding power

-Cables for the thermostat transformer

C2BG3236 (SANKEI)

Connector for the internal I/O wiring harness:

Prepare pin connector JL05-6A24-28S

JL05-2A24-28PC
(socket connector with a cap)

Connector for the primary source for welding

Prepare pin connector MS3106B36-3P

MS3100A36-3S (with a cap)

and for the cables of extenal damage detector

Connector for the internal I/O wiring harness:

Prepare pin connector JL05-6A24-28P

JL05-2A24-28SC
(socket connector with a cap)

Connector for the external axis power cable:

Prepare pin connector JL05-6A20-29P

JL05-2A20-29SC
(socket connector with a cap)

Connector for the external axis power cable:

Prepare pin connector JL05-6A18-1P

JL05-2A18-1SC-FO
(socket connector with a cap)

(socket connector with a cap)

Connector for the thermostat transformer:

Prepare pin connector MS3106B14S-1P

MS3100A14S-1S

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MANUAL NO.

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

MOTOMAN-MS80W

INSTRUCTIONS

SUPPLEMENTARY FOR TYPE: YR-MS0080W-A23

SUPPLEMENTARY FOR TYPE: