YASKAWA MOTOMAN-SDA20 Instructions Manual
MOTOMAN-SDA20
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INSTRUCTIONS
TYPE
YR-SDA20-A00 (STANDARD SPECIFICATION)
YR-SDA20-A01 (DRIP PROOF SPECIFICATION)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-SDA20 INSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATOR’S MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number: 155492-1CD
Revision: 2
MANUAL NO.
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Copyright © 2015, Yaskawa America, Inc. All Rights Reserved.
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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MANDATORY
CAUTION
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• This instruction manual explains operating instructions and
maintenance procedures primarily for MOTOMAN-SDA20.
• General items related to safety are listed in Section 1: Safety of the
NX10
read the NX100 instructions before reading this manual.
• Some drawings in this manual are shown with the protective covers or
shields r
before operating this product.
0 Instructions. To ensure correct and safe operation, carefully
emoved for clarity. Be sure all covers and shields are replaced
• The drawings and photos in this manual are representative examples
an
d differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to
oduct improvements, modifications, or changes in specifications. If
pr
such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
r
epresentative 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
ification of its products. Unauthorized modification voids your
mod
product’s warranty.
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We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment. NEVER
ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR
REPAIR THE EQUIPMENT!
We recommend approved Yaskawa training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.
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NOTE
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or inspection of the
NX100.
In this manual, the notes for safe operation are
“CAUTION”, “MANDATORY”, or “PROHIBITED”.
Indicates an imminent hazardous situation which, if not avoided,
could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided,
ld result in death or serious injury to personnel.
cou
Indicates a potentially hazardous situation which, if not avoided,
ld result in minor or moderate injury to personnel and dam-
cou
age to equipment. It may also be used to alert against unsafe
actices.
pr
classified as “DANGER”, “WARNING”,
Always be sure to follow explicitly the
heading.
Must never be performed.
Even items described as “CAUTION” may result in a se
rious accident in some situations. At
items listed under this
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 re
sult in death or serious injury from
unexpected turning of the manipulator's arm.
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TURN
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• Before operating the manipulator, check that servo power is turned OFF when the
emergency stop buttons on the front door of the NX100 and programming pendant are
pressed.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency
. The manipulator should not be used if the emergency
stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items which could interfere
he operation of the manipulator.
with t
Then turn the servo power ON.
Injury may result from unintentional or unexpected
Release of Emergency Stop
manipulator motion.
• 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.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
Confirm that no persons are present in the P-point maximum envelope of the manipulator
•
and that you are in a safe location before:
- Turning ON the NX100 power
- Moving the manipulator with the programming pendant
- Running the system in the check mode
- Performing automatic operations
Injury may result if anyone enters the P-point maximum envelope of the manipulator
durin
g operation. Always press an emergency stop button immediately if there are
problems.
The emergency stop buttons are located on the right of the front door of the NX100 and
the pro
gramming pendant.
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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 NX100 cabinet 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 the Warning Labels in the
NX10
0 instructions before operating the manipulator.
Definition of Terms Used Often in This Manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consist
cables.
In this manual, the equipment is designa
NX100 controller NX100
NX100 programming pendant Programming pendant
Cable between the manipulator and the controller Manipulator cable
s of the controller, the programming pendant, and manipulator
ted as follows:
Equipment Manual Designation
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Warning Label B Warning Label A
Front View
Section A
Nameplate
Warning Label A
Warning Label B
Back View
AA
WARNING
Do not enter
robot
work area.
WARNING
Moving parts
may cause
injury
Warning Label A:
Warning Label B:
Nameplate
S1 S2
2BC
AIR-4AIR-3AIR-1
GREASE
5BC
3BC
4BC
AIR-2
1BC
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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 import
manipulator. Prior to operating the manipulator, confirm the contents.
ant information is placed on the body of the
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Table of Contents
Table of Contents
1 Product Confirmation
1.1 Contents Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Order Number Confirmation . . . . . . . . . . . . . . . . . . . . . . . 1-2
2 Transport
2.1 Transporting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.1 Using a Crane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.1.2 Using a Forklift. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
3 Installation
3.1 Installation of the Safeguarding . . . . . . . . . . . . . . . . . . . . 3-2
3.2 Mounting Procedures for Manipulator Base . . . . . . . . 3-2
3.2.1 Mounting Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
3.3 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
4 Wiring
4.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2 Manipulator Cable Connection. . . . . . . . . . . . . . . . . . . . . 4-3
4.2.1 Connection to the Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.2.2 Connection to the NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
5 Basic Specifications
5.1 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 Part Names and Working Axes . . . . . . . . . . . . . . . . . . . . 5-2
5.3 Manipulator Base Dimensions . . . . . . . . . . . . . . . . . . . . . 5-3
5.4 Dimensions and P-Point Maximum Envelope . . . . . . 5-4
5.5 Alterable Operating Range . . . . . . . . . . . . . . . . . . . . . . . . 5-5
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Table of Contents
5.6 Operating Characteristics and
Operating Method of the 7-Axis Arm
5.6.1 Operation in the Joint Coordinate System . . . . . . . . . . . . . . . . 5-6
5.6.2 Operation in the Cartesian Coordinate System,
Tool Coordinate System, and User Coordinate
System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
. . . . . . . . . . . . . . . . 5-6
5.7 Wrist Flange of Drip-Proof Specification
SDA20-A01
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-8
6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
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7 System Application
7.1 Peripheral Equipment Mounts . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Internal User I/O Wiring Harness and Air Line . . . . . .7-2
8 Electrical Equipment Specification
8.1 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
9 Maintenance and Inspection
9.1 Inspection Schedule. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . . 9-5
9.2.1 Battery Pack Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5
9.2.2 Grease Replenishment & Exchange. . . . . . . . . . . . . . . . . . . . . 9-6
9.2.3 Arm Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10
9.2.4 Home Position Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10
10 Recommended Spare Parts
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11 Parts List
11.1 Turning-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.2 S- L-Axis Unit(R1,R2) . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
11.3 7th- U-Axis Unit(R1,R2) . . . . . . . . . . . . . . . . . . . . . . . . . 11-8
11.4 R- B- T-Axis Unit(R1,R2) . . . . . . . . . . . . . . . . . . . . . . . . 11-9
Table of Contents
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CAUTION
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1 Product Confirmation
1.1 Contents Confirmation
1 Product Confirmation
• Confirm that the manipulator and the NX100 have the same order
number
to be installed.
If the numbers do not match, manipulators may not perform as expected and cause injury
or dama
. Special care must be taken when more than one manipulator is
ge.
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1.1 Contents Confirmation
Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following five items (Information for the content of optional
g
oods is given separately):
• Manipulator
• NX100
• Programming Pendant
• Manipulator Cables (Cables between manipulator and NX100)
• Set of instruction manuals
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Order No.
Label
Manipulator Top View
NX100 Front View
:ޓޓ
241)4#//+0)2'0
5&#
0:
Order No. Label
THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER.
ORDER NO.
Check that the manipulator
and the NX100 have the
same order number.
Label (Enlarged View)
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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 NX100. The order number
is located on a label as shown below.
Fig. 1-1: Location of Order Number Labels
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CAUTION
NOTE
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2 Transport
2.1 Transporting Method
2 Transport
• 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.
Failure to observe this caution may adversely af
consists of precision components.
2.1 Transporting Method
• Before transporting the manipulator, check if the eyebolts are firmly fixed to the manipulator.
• The mass of the manipulator is approximately 380
withstand the mass.
• The attached eyebolts are designed to support the manipulator mass. Never use them
anything other than transporting the manipulator.
for
• With any transportation equipment, make sure to avoid external force on the arm or
mo
tor unit when transporting the manipulator.
fect the performance as the system
kg. Use a wire rope strong enough to
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749
(697)
(1018)
1010
125
25
60
0
Rotationaxis (S1)
0
28729
0
128000
92160
92160
61440
T-axis
B-axis
R-axis
U-axis
7th-axis
L-axis
S-axis
Factory Setting for Angle of Each Axis
(Difference from Home Position,
Common to R1 and R2)
Pulse
Angle
Axis
25
0
125
90
60
90
0
0
Eyebolt M16 (4 places)
(Fixed to the manipulator)
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2 Transport
2.1 Transporting Method
2.1.1 Using a Crane
As a rule, when uncrating the manipulator and moving it, a crane should be used. Lift the
manipulator with a four-leg bridle sling using the attached eyebolts as shown in Fig. 2-1
“Transporting Position”.
Be sure to lift the manipulator in the original posture used when shipped from the factory.
Refer to
Fig. 2-1 “Transporting Position”.
Fig. 2-1: Transporting Position
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Forklift claw entries
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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 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 orde
r to avoid overturning or slippage.
Fig. 2-2: Using a Forklift
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CAUTION
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3 Installation
3 Installation
• Install the safeguarding.
Failure to observe this warning may result in injury or damage.
• Install the manipulator in a location where the manipulator’s tool or the workpiece held by
the manipulator will not reach the wall, safeguarding, or NX100 when the arm is fully
extended.
Failure to observe this warning may result in injury or damage.
• Do not start the manipulator or even turn ON the power before it is firmly anchored.
The manipulator may overturn and cause injury or damage.
• Do not install or operate the manipulator which is damaged or lacks
rts.
pa
Failure to observe this caution may cause injury or damage.
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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 the safeguarding. They prevent unforeseen accidents with
personnel and damage to equipment. The following is quoted for your information and
guidance.
Responsibility for Safeguarding (ISO 10218)
The user of a manipulator or robot system shall ensure th
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.
at safeguarding is provided and
3.2 Mounting Procedures for Manipulator Base
The manipulator shall be firmly mounted on a baseplate or a foundation which is strong
enough to support the manipulator and withstands repulsion forces during acceleration and
deceleration.
Refer to Table 3-1 "Maximum Repulsion Fo
Table 3-2 "Endurance Torque in Operation" to construct a solid foundation with the
appropriate thickness to withstand maximum repulsion forces of the manipulator.
The baseplate flatness must be kept at 0.5 mm or les
surface may deform the manipulator shape and affect its functional abilities. Mount the
manipulator base as described in section 3.2.1 “Mounting Example”.
Table 3-1: Maximum Repulsion Forces of the Manipulator in an Emergency Stop
Maximum torque in horizontal rotation
(Rotation-axis moving direction)
Maximum torque in vertical rotation
rces of the Manipulator in an Emergency Stop" and
s: insufficient flatness of installation
9800 N
(1000 kgf
9800 N
(1000 kgf
·m
·m)
·m
·m)
Table 3-2: Endurance Torque in Operation
Endurance torque in horizontal operation
(Rotation-axis moving direction)
Endurance torque in vertical operation
3-2
4900 N
(500 kgf
4900 N
(500 kgf
·m
·m)
·m
·m)
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Section A
A
A
420
(591)
420
360
270
360
25
20
215
0.1
180
0.02
140
0.02
140
0.02
215
0.1
22 dia. (4 holes)
Mounting Base
Mounting Base
(Prepared by User)
Anchor bolt
(M16 or larger)
Manipulator base
Hexagon socket head cap
screw M20 (4 screws)
Spring washer
Washer
10 dia. (2 holes)
+0.018
0
±
±
±
±
±
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3 Installation
3.2 Mounting Procedures for Manipulator Base
3.2.1 Mounting Example
Fix the mounting base firmly to the floor. The mounting base should be durable enough to
prevent shifting of the manipulator and mounting fixture. It is recommended to prepare a
mounting base with a bottom plate of 20 mm or more in thickness, and the anchor bolts of size
M16 or more for the base fixation.
Fig. 3-1: There are four mounting holes on the manipulator base. Securely fix the manipulator to the
mounting base with hexagon socket head cap screws M20. Tighten the hexagon socket head cap
screws and anchor bolts firmly so that they will not be loosened during the operation. See " Fig. 3-2
Mounting the Manipulator on Baseplate ".
Fig. 3-2: Mounting the Manipulator on Baseplate
3-3
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NOTE
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3 Installation
3.3 Location
3.3 Location
When the manipulator is installed, it is necessary to satisfy the undermentioned environmental
conditions:
• Ambient temperature: 0 to 40°C
• Humidity: 20 to 80% RH at constant temperature
• Free from exposure to water, oil, or dust
• Free from corrosive gas or liquid, or explosive gas
2
• Free from excessive shock or vibration (less than 4.9 m/s
• Free from large electrical noise (plasma)
• Flatness for installation is 0.5 mm or less
In case of using the wall-/ceiling-mounted type, inform Yaskawa of the matter when
placing an order. Be sure to contact Yaskawa representative (listed on the back cover of
this instruction manual) to execute a wall/ceiling installation on site.
[0.5G])
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