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: [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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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

:ޓޓ

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

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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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CAUTION

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4 Wiring

4 Wiring

• Ground resistance must be 100 W or less.

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

• Before wiring, make sure to turn OFF the primary power supply, and put
up a w

arning sign. (ex. DO NOT TURN THE POWER ON.)

Failure to observe this warning may result

• Wiring must be performed by authorized or certified personnel.

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

in fire or electric shock.

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NOTE

Section A

AA

Bolt M8 (for grounding)
(delivered with the manipulator)

Grounding wire size

5.5mm

2

or more

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4 Wiring

4.1 Grounding

4.1 Grounding

Follow the local regulations for grounding line size. A line of 5.5 mm2 or more is
recommended.

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• Never use this line sharing with other ground
electric power, motor power, welding devices, etc.

• Where metal ducts, metallic conduits, or distributing rac
grounding should be performed in accordance with Electric Equipment Technical
Standards.

lines or grounding electrodes for other

ks are used for cable laying,

Fig. 4-1: Grounding Method

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4 Wiring

4.2 Manipulator Cable Connection

4.2 Manipulator Cable Connection

Five manipulator cables are provided: two encoder cables (1BC and 3BC) and three power
cables (2BC, 4BC and 5BC). (Refer to Fig. 4-2 “Manipulator Cables”). Connect these cables
to the connectors on the manipulator connector base and the NX100 by referring to Fig.4-3(a)
Cable Connections of the Manipulator and Fig.4-3(b) Cable Connections of the NX100.

4.2.1 Connection to the Manipulator

Before connecting the manipulator cables to the manipulator, confirm the numbers on both the
manipulator cables and the connectors on the manipulator connector base. Then, connect
the cables in the order of 2BC, 4BC, 5BC, 1BC, 3BC.
Insert the connectors and set the lever down until it clicks. (1BC,2BC,3BC,4BC)

Insert each connector until it clicks. (5BC)

4.2.2 Connection to the NX100

Before connecting the manipulator cables to the NX100, confirm the numbers on both the
manipulator cables and the NX100 board connectors. Then, connect the cables in order of
X21, X22

, X23, X11, X12. Insert the connectors and set the lever down until it clicks.

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X23

X22

X12

X21

X11

X23

X22

X12

X21

X11

5BC

5BC

3BC

3BC

4BC

4BC

2BC

1BC

2BC

1BC

Manipulator

NX100

Manipulator

NX100

Connector No.

Connector No.

4BC: Power Cable

2BC: Power Cable

3BC: Encoder Cable

1BC: Encoder Cable

5BC: Power Cable

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4 Wiring

4.2 Manipulator Cable Connection

Fig. 4-2: Manipulator Cables

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A

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4 Wiring

4.2 Manipulator Cable Connection

AIR-2

AIR-4AIR-3AIR-1

GREASE

1BC

View A

Fig. 4-3(a): Cable Connections of the Manipulator

S1 S2

20-2920-29

2BC

5BC

22-14

3BC

4BC

X11

X21

X12

X22

X23

Back View

Fig. 4-3(b): Cable Connections of the NX100

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5 Basic Specifications

5.1 Basic Specifications

5 Basic Specifications

5.1 Basic Specifications

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Table 5-1: Basic Specifications

Model

I t e m

Configuration Articulated

Degree of Freedom

Payload 20 kg/arm

Repetitive Positioning Accuracy

Rotation-axis -180°

S-axis (lifting)

L-axis (lower arm) -110°

Range of

Motion

Maximum

S

peed

Allowable

Moment

Allowable

Inertia

2

(GD

/4)

Ambient

Conditions

7th-axis (lower arm twist) -170°

U-axis (upper arm) -130°

R-axis (upper arm twist) -180°

B-axis (wrist pitch/yaw) -110°

T-axis (wrist twist) -180°

Rotation-axis 2.18 rad/s (125 °/s)

S-axis 2.27 rad/s (130 °/s)

L-axis 2.27 rad/s (130 ° /s)

7th-axis 2.97 rad/s (170°/s)

U-axis 2.97 rad/s (170 °/s)

R-axis 3.49 rad/s (200 °/s)

B-axis 3.49 rad/s (200 °/s)

T-axi s 6.98 rad/s (400 °/s)

R-axis

*3

Power Capacity 4.4 kVA

B-axis

T-axi s

R-axis

B-axis

T-axi s

Mass 380 kg

Temperature 0 to 40°C

Humidity 20 to 80% RH at constant temperature

Vibration acceleration

Others

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

*1

7 axes for the right arm (R2); 7 axes for the left arm (R1);
1 rotation-axis

*2

• Free from corrosive gas or liquid, or explosive gas

• Free from water, oil, or dust

• Free from excessive electrica

moment of inertia.

MOTOMAN-SDA20

±0.1 mm

− +180°

-180°

− +180°

− +110°

− +170°

− +130°

− +180°

− +110°

− +180°

·m (6.0 kgf·m)

58.8 N

58.8 N

·m (6.0 kgf·m)

29.4 N

·m (3.0 kgf·m)

·m

4.0 kgf

4.0 kgf

·m

2.0 kgf

·m

2

4.9 m/s

(0.5 G) or less

l noise (plasma)

2

2

2

5-1

HW0484820

155492-1CD

A

View A

Z+

Y+

X+

R+

B+

Rotation+

T+

U+

7th+

L+

R+

B+

T+

U+

7th+

L+

S+

S+

R-axis

B-axis

T-axis

U-axis

7th-axis

S-axis

S-axis

R2

R1

R,T+

7th+ 7th+

R,T+

Rotation+

R2

R1

Reference coordinate
of base/robot axes

Reference coordinate
of robot axis

Reference coordinate
of robot axis

Reference coordinate
of base axis

Reference coordinate
of base axis

(S1: Axis Station 1)

Rotation-axis

150

150

27 of 66

SDA20

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

5-2

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SDA20

28 of 66

5 Basic Specifications

5.3 Manipulator Base Dimensions

5.3 Manipulator Base Dimensions

155492-1CD

0.1

±

215

Rotation-axis

Center

Center

150

A

10 dia. (2 holes)

22 dia. (4 holes)

S-axis

+0.018
0

0.02

±

140

270

360

420

(591)

View A

Fig. 5-2: Manipulator Base Dimensions

180

215

0.02

±

360

420

±

0.1

0.02

±

140

5-3

HW0484820

155492-1CD

P-point (R1)

P-point (R2)

P-point maximum envelope

P-point maximum envelope (R1)

P-point maximum envelope (R2)

P-point maximum envelope

690

550

770

R1323

1010

385 385

770

R390

R420

R420

R910

1590

150

180

420490

R390

R910

R390

R910

R420

120 110

104 97

80 86

(Maximum radius

of rotation)

110

110

130

180

110

130

110

180

180

180

29 of 66

SDA20

5 Basic Specifications

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

5-4

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155492-1CD

30 of 66

SDA20

5 Basic Specifications

5.5 Alterable Operating Range

5.5 Alterable Operating Range

The operating range of the rotation-axis can be altered according to the operating conditions
as shown in " Table. 5-2 Rotation-Axis Operating Range ". If alteration is necessary, contact
your Yaskawa representative in advance.

Table 5-2: Rotation-Axis Operating Range

Item Specifications

Rotation-Axis
Oper

ating Range

±180°
±150°
±120°
±90°
±60°
±30°

(standard)

5-5

HW0484820

155492-1CD

HOLDSTART

PLAY

TEACH

REMOTE

T

Z

T

Z

B

Y

R

X

B

Y

R

X

UZU

Z

L

Y

S

X

L

Y

S

X

MOTOMANMOTOMAN

!?

7

4

2

3

. −

5

6

0

819

Rotation-axis

R-axis

B-axis

T-axis

U-axis

L-axis

S-axis

S-axis

R2

R1

7th-axis

R-axis

B-axis

T-axis

U-axis

L-axis

T

Z

T

Z

B

Y

R

X

B

Y

R

X

HIGH
SPEED

FAST

LOW

MANUAL SPEED

UZU

Z

L

Y

S

X

L

Y

S

X

SERVO ON

MOTOMAN

SELECT

SERVO

ON

READY

MAIN
MENU

SHORT

CUT

GO BACK

PAGE

AREA

LAYOUT

Multi

CANCEL

ASSIST

!?

DIRECT

OPEN

INFORM
LIST

BACK

SPACE

SHIFT

INTER
LOCK

ROBOT

EX. AXIS

MOTION
TYPE

TEST

START

BWD

INSERT

MODIFY

ENTER

FWD

DELETE

SHIFT

7

4

2

3

. −

5

6

0

819

COORD

[S+] or [S-] key

[Shift] key

[Shift] key

7th-axis

31 of 66

SDA20

5 Basic Specifications

5.6 Operating Characteristics and Operating Method of the 7-Axis Arm

5.6 Operating Characteristics and Operating Method
of the 7-Axis Arm

The arm with 7 axes operates differently from the 6-axis arm, and requires the different
operating method.
The following sections explain how to operate the 7-axis arm based on the operation patterns
(the join

5.6.1 Operation in the Joint Coordinate System

Note the following point in operating the manipulator in the joint coordinate system:

t coordinate system, Cartesian coordinate system, etc.).

• When operating the 7th-axis, hold the "SHIFT" key and press the "S+" or "S-" key.

5-6

HW0484820

Fig. 5-4: Operating the 7th-axis

155492-1CD

32 of 66

SDA20

5 Basic Specifications

5.6 Operating Characteristics and Operating Method of the 7-Axis Arm

5.6.2 Operation in the Cartesian Coordinate System, Tool Coordinate System, and User Coordinate System

Setting the wrist position and angle of the 6-axis arm accordingly determines the arm posture.
However, the 7-axis arm can take any arm posture, allowing users to freely modify the "elbow
angle" (the arm angle) keeping its wrist at the same position and angle.Fig. 5-5

“Characteristics of the 7-Axis Arm (e.g. MOTOMAN-SIA20)”

To modify the elbow angle without changing its cu
cartesian coordinate system, tool coordinate system, or user coordinate system, then hold the
"SHIFT" key and press the "S+" or "S-" key. (Refer to Fig. 5-4 “Operating the 7th-axis”)

rrent wrist position and angle, select the

Fig. 5-5: Characteristics of the 7-Axis Arm (e.g. MOTOMAN-SIA20)

5-7

HW0484820

155492-1CD

A

View A

(Enlarged)

Through hole for internal
user I/O wiring harness

33 of 66

SDA20

5 Basic Specifications

5.7 Wrist Flange of Drip-Proof Specification SDA20-A01

5.7 Wrist Flange of Drip-Proof Specification
SDA20-A01

The wrist flange of drip-proof specification SDA20-A01 has a cable through hole as well as the
standard specification.
When mounting equipment such as an attachment, perform
face. As an option, waterproof flange is available.
The connectors for internal user I/O wiring harness
is installed at a location where some water is splashed on the manipulator, apply drip-proof
treatment on those connectors when connection is completed. (Example: use of silicon tape,
or connection within a connection box.)

are not drip-proof type; if the manipulator

drip-proof treatment on the flange

Fig. 5-6: Details of Flange

5-8

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SDA20

34 of 66

155492-1CD

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 20 kg; however, consider the limitations shown in Table 6-1
"Allowable Moment and Total Inertia of the Wrist Axis" to fulfill this condition.
If force is applied to the wrist instead of the load
within the values shown in Table 6-1.

Table 6-1: Allowable Moment and Total Inertia of the Wrist Axis

Axis

R-axis
B-axis
T-a xis

Moment Nm (kgf

*1

( ): Gravitational unit

, the forces on R-, B-, and T-Axes should be

58.8 (6.0)

58.8 (6.0)

29.4 (3.0)

·m)

*1

GD2/4 Inertia kg·m

4.0

4.0

2.0

2

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

n the moment is at the maximum. Contact your
Yaskawa representative when only inertia moment, or load moment is small while inertia
moment is large. Also contact your Yaskawa representative in advance in a case where the
load mass is combined with an external force.

LT(mm)

800

600

400

200

P-point

5kg

10kg

16kg

20kg

1000200 800400 600

LB(mm)

P-point

B-axis rotation center

Fig. 6-1: Moment Arm Rating

180

LB

T-, R-axis
rotation center

Center of
gravity

LT

6-1

HW0484820

155492-1CD

View A

(Enlarged)

P.C.D.80

8.25

6

3

10 dia.

98

27 dia.

6

10.5
Units: mm

(Range where the dimension

100 dia. is available)

0

-0.035

100 dia.

0

-0.035

Note 1

Note 1

(diagonal)

8 dia. hole for positioning
(depth: 10mm) (2 holes)

+0.015
0

30

30

30

A

(equally-spaced)

Tapped hole M8
(depth: 12mm) (6 holes)

[Note 1]
When 100 dia. part is used,
pay attention to the screw & plug
for T-axis grease replenishment.

0

-0.035

NOTE

35 of 66

SDA20

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".
When using the outside fitting, the depth of outside fitting must be 10 mm or less.

Fig. 6-2: Wrist Flange

• Wash off anti-corrosive paint (Yellow) on the wrist flange surface with thinner or light oil
befo

• When mounting an attachment, use a sc
tapped hole to avoid any possible adverse affect on the manipulator performance.

• Each flange has a cable through hole. When mounting equipment such as an attach­ment, ensure that no foreign objects including liquid, oil, or dust go into the hole.

re mounting the tools.

rew which will not go beyond 12 mm of the

6-2

HW0484820

155492-1CD

Tapped hole M8
(depth: 16mm)(6 holes)

176

60

40

40

115

36 of 66

SDA20

7 System Application

7.1 Peripheral Equipment Mounts

7 System Application

7.1 Peripheral Equipment Mounts

The manipulator is equipped with peripheral equipment mounts and tapped holes on the top
of the S-base for easier installation of the user’s system application as shown in
Fig.7-1 "Location of Peripheral Equipment Mounts/Tapped Holes".
Note that the maximum allowable mass on the peripheral equipment is 20 kg.

Fig. 7-1: Location of Peripheral Equipment Mounts/Tapped Holes

7-1

HW0484820

155492-1CD

A

View A

Prepare socket connector:
JL05-6A20-29SC

Connector for internal user I/O wiring
harness: JL05-2A20-29PC
(pin connector with a cap)

R2 Connectors

Air inlet (4 inlets):

Tapped hole PT3/8
with a pipe plug

Connector for internal user I/O
wiring harness: 51216-0800

Prepare connector: 51227-0800
*MOLEX*

Air lines (2 lines each)

(outside dia.: 6mm. inside dia.: 4mm)

260

AIR-3

AIR-4

AIR-2

AIR-1

AIR-3

AIR-4

AIR-2

AIR-1

S2-2

S2-1

S1-2

S1-1S1

S2

Blue

Red

Blue

Red

R2

R1

22-14

20-2920-29

S1 S2

2BC

AIR-4AIR-3AIR-1

GREASE

5BC

3BC

4BC

AIR-2

1BC

S1-2

AIR-1(Red),AIR-2(Blue)

R1 Connectors

S1-1

S2-2

AIR-3(Red),AIR-4(Blue)

S2-1

System Connection

Diagram

Base

37 of 66

SDA20

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 harnesses (0.1 mm2) and air lines are incorporated in the manipulator
for drives of the peripheral devices mounted on the arms as shown in Fig.7-2 "Internal User I/
O Wiring Harness and Air Lines".
The connector pins and terminals are assigned a
User I/O Wiring Harness ". Wiring must be performed by user.

• The allowable current for wires: 1.0 A for each wire

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

s shown in " Fig. 7-3 Connectors for Internal

2

) or less.

7-2

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

HW0484820

SDA20

NOTE

38 of 66

155492-1CD

7 System Application

7.2 Internal User I/O Wiring Harness and Air Line

Connector Base

R1:

S1

1

2

4

7

9

13

15

2

4

7

9

13

15

R2:

3

5

6

8

10

1211

14

16

Internal user I/O wiring
harness: 0.1mm , 16 wires

S2

1

3

5

6

8

10

1211

14

16

R1 Flange

1
2
3
4
5
6
7
8

9

10

11
12
13
14
15
16

1
2
3
4

S1-1

5
6
7
8

1
2
3
4

S1-2

5
6
7
8

2

R2 Flange

1
2
3
4
5
6
7
8

9

10

11
12
13
14
15
16

Internal user I/O wiring
harness: 0.1mm , 16 wires

1
2
3
4

S2-1

5
6
7
8

1
2
3
4

S2-2

5
6
7
8

2

87654321

87654321

87654321

87654321

Fig. 7-3: Connectors for Internal User I/O Wiring Harness

For wirings, refer to the Internal Connection Diagram in the following chapter.

7-3

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39 of 66

SDA20

8 Electrical Equipment Specification

8.1 Internal Connections

8 Electrical Equipment Specification

8.1 Internal Connections

Internal Connection Diagram Fig. 8-1(a through Fig. 8-1(d show the internal connections
between the manipulator and the NX100.

8-1

HW0484820

SDA20

E E E

E E E E

PG

PG

PG

PG

PG

PG

PG

PG

BAT1

No.2CN

No.1CN

BAT1
0BAT1
BAT2
0BAT2
BAT3
0BAT3

6

5

2

4

3

1

0BAT7

8

BAT4
0BAT4
BAT5
0BAT5
BAT6
0BAT6
BAT7

6

5

2

4

3

1

7

1BC(50)

Lamp

U
V

PG0V8

PG0V7
PG5V7

PG5V8

Base

19

18

17

20

BAT1

0BAT1

CN2

BAT2

0BAT2

CN3

4

3

2

1

BAT12

BAT11

0BAT11

0BT

0BT

BAT

BAT

0BAT12

21

26

24

23

25

22

0BAT7
BAT7

BAT63128

30

29

27 0BAT6

BAT5

BAT4

0BAT4

BAT3

0BAT5

0BAT3

0BAT8

CN4

81BAT22

BAT

0BAT11

7

5
6

BAT21

BAT
0BT

0BT

0BAT22

0BAT21

7 PG0V4
8

10
119PG0V6

PG0V5
PG5V5

PG5V4

6

3

5

4

2

1

PG5V3

PG5V1

PG0V3

PG0V2
PG5V2

PG0V1

CN1

1
3

+24V

0V

8

5

7

6

4

3

BAT21

0BAT21

14

13

15
16

2
4

+24V

0V

12 PG5V6

2

BAT11

32 BAT8

Power Cable

NX100

1BC(10X4)

S-base

No.16CN

DATA+8
DATA-8
BAT8
0BAT8
PG0V8
PG5V8
FG8

4

9

2

5

6

1

S1-PG

7

C-AXIS

No.15CN

No.14CN

No.13CN

No.12CN

No.11CN

No.10CN

No.9CN

No.8CN

No.7CN

No.6CN

No.5CN

No.4CN

No.3CN

8

6

5

2

4

3

1

7

1-CN6

FG7
FG7-2

DATA+7
DATA-7
BAT7
0BAT7
PG5V7
PG0V7

BAT6
0BAT6
PG5V6
PG0V6

FG6-2

FG5-2

6

5

2

4

3

1

1-CN5

DATA+1
DATA-1
BAT1
0BAT1
PG5V1
PG0V1
FG1

FG6

FG3
FG4

BAT3
0BAT3

FG3-2

DATA+2

FG1-2

FG4-2

12

11

FG2

9

FG2-2

FG5

10

DATA6+
DATA-6

BAT5
0BAT5
PG5V5
PG0V5

DATA+5
DATA-5

DATA+4
DATA-4
BAT4
0BAT4
PG5V4
PG0V4

PG0V3

DATA+3
DATA-3

PG5V3

BAT2
0BAT2
PG5V2
PG0V2

DATA-2

9

11

10

8

6

5

2

4

3

1

1-CN4

7

9
10

8

6

5

2

4

3

1

1-CN3

7

9

8

6

5

2

4

3

1

1-CN2

7

8

DATA+1
DATA-1
BAT1
0BAT1
PG5V1
PG0V1
FG1

6

5

2

4

3

1

1-CN1

7

PG5V7
PG0V7

BAT7
0BAT7

DATA+7
DATA-7

FG7

6

5

2

4

3

1

T-PG

7

T-AXIS

PG5V6
PG0V6

BAT6
0BAT6

DATA+6
DATA-6

FG6

6

5

2

4

3

1

B-PG

7

B-AXIS

PG5V5
PG0V5

BAT5
0BAT5

DATA+5
DATA-5

FG5

6

5

2

4

3

1

R-PG

7

R-AXIS

PG5V4
PG0V4

BAT4
0BAT4

DATA+4
DATA-4

FG4

6

5

2

4

3

1

U-PG

7

U-AXIS

PG5V3
PG0V3

BAT3
0BAT3

DATA+3
DATA-3

FG3

6

5

2

4

3

1

7-PG

7

7-AXIS

PG5V2
PG0V2

BAT2
0BAT2

DATA+2
DATA-2

FG2

6

5

2

4

3

1

L-PG

7

L-AXIS

6

5

2

4

3

1

S-PG

7

S-AXIS

Lead Wires in Arm

Manipulator

Internal Connection Diagram (R1-1)

MOTOMAN-SDA20(YR-SDA20-A00/A01)

0V

FG8

SPG+8
SPG-8

CN 4-8

5V

0V

5V

0V

CN 2-2

CN 2-1

CN 1-8

CN 1-7

CN 1-6

CN 3-7

CN 3-6

CN 3-3

CN 3-2

CN 3-1

CN 2-8

CN 2-7

CN 2-6

CN 3-10

CN 3-9

CN 2-10

CN 3-4
CN 3-5

CN 2-9

CN 2-5

CN 2-4

CN 2-3

CN 4-9

CN 4-5

CN 4-4

CN 4-10

CN 4-3

CN 4-7

CN 4-2

CN 4-6

CN 4-1

CN 3-8

CN 1-3

CN 1-2

CN 1-1

CN 1-9

CN 1-10

CN 1-4

CN 1-5

5V

0V

5V

0V

LB1

+24V
0V

SPG-1

SPG+1

FG1

+24V
0V

FG2

FG3

SPG-3

SPG+3

SPG-2

SPG+2

FG4

SPG-5

SPG+5

SPG-4

SPG+4

FG6

+24V

SPG+6
SPG-6

SPG+7

FG5

SPG-7

FG7

CN 4-8

AL2

5V

0V

5V

0V

CN 4-9

CN 4-5

CN 4-4

CN 4-10

CN 4-3

CN 4-7

CN 4-2

CN 4-6

CN 4-1

CN 3-7

CN 3-8

CN 3-6

CN 3-3

CN 3-2

CN 3-1

CN 2-8

CN 2-7

CN 2-6

CN 3-10

CN 3-9

CN 2-10

CN 3-4
CN 3-5

CN 2-9

CN 2-5

CN 2-4

CN 2-3

CN 2-2

CN 2-1

CN 1-8

CN 1-7

CN 1-6

CN 1-3

CN 1-2

CN 1-1

CN 1-9

CN 1-10

CN 1-4

CN 1-5

5V

0V

5V

0V

LB1

BC2

AL1

SS2

+24V
0V

SPG-1

SPG+1

FG1

+24V
0V

FG2

FG3

SPG-3

SPG+3

SPG-2

SPG+2

FG4

SPG-5

SPG+5

SPG-4

SPG+4

FG6

+24V

SPG+6
SPG-6

SPG+7

0V

FG5

SPG-7

FG7

E

40 of 66

155492-1CD

8 Electrical Equipment Specification

8.1 Internal Connections

Fig. 8-1(a): Internal Connection Diagram

8-2

HW0484820

155492-1CD

E

E

E

PW

YB

PW

YB

PW

YB

PW

YB

PW

YB

PW

YB

PW

YB

SM

YB

No.37CN

No.38CN

No.39CN

No.40CN

No.41CN

No.42CN

5

8

6
7

1

S1-1

2
3
4

5
6

1

S1-2

7

4

8

2
3

10

9

S1

5

7

6

8

5
14
15

13

16 8

6

7

1

S1-1

2

3

4

5

6

1

S1-2

7

4

8

2

3

6

5

4

3

2

S1-1

1

3

2

8

4

7

S1-2

1

E

6

1

2
3
4

5

JL05,20-29

10
11

9

8

12

7

Air-2

Air-1

No.35CN

1

C1

2
3
4

5
6

No.34CN

7
8
9
10

11
12

1

7

2
3
4

5
6

No.30CN

No.31CN

5BC

2BC(6X6)

18

17

15
16

14

13

BO7R-

BO7R+

MU7R

ME7R

MV7R
MW7R

CN3-4

CN3-3

CN3-2

CN3-1

CN3-6

CN3-5

5BC(JL05,22-14)

MU4
MV4

ME4

MW4

CN6-3

CN6-2

CN6-1

CN6-6

CN6-5

CN6-4

CN5-2

CN5-4

CN5-6

CN5-5

CN5-1

CN5-3

CN4-3

CN4-1

CN4-6

CN4-5

CN4-4

CN4-2

CN3-4

CN3-1

CN3-6

CN3-5

CN3-2

CN3-3

CN2-6

CN2-5

CN2-2

CN2-1

CN2-4

CN2-3

CN1-6

CN1-5

CN1-2

CN1-1

CN1-4

CN1-3

MU1

BO1-

BO1+

ME1

MW1

MV1

MV2

MU2

ME2

BO2+
BO2-

MW2

MU6
MV6

ME6

MW6

BO6-

BO6+

MU5
MV5

ME5

MW5

BO5-

BO5+

BO4+
BO4-

MU3
MV3

ME3

MW3

BO3+
BO3-

MV2

MU2

ME2

BO2+
BO2-

MW2

MU1

BO1-

BO1+

ME1

MW1

MV1

CN6-3

CN6-2

CN6-1

CN6-6

CN6-5

CN6-4

CN5-2

CN5-4

CN5-6

CN5-5

CN5-1

CN5-3

CN4-3

CN4-1

CN4-6

CN4-5

CN4-4

CN4-2

CN3-4

CN3-1

CN3-6

CN3-5

CN3-2

CN3-3

E

CN2-6

CN2-5

CN2-2

CN2-1

CN2-4

CN2-3

CN1-6

CN1-5

CN1-2

CN1-1

CN1-4

CN1-3

MU6
MV6

ME6

MW6

BO6-

BO6+

2BC(6X6)

MU3
MV3

ME3

MW3

BO3+
BO3-

MU4

MW4
ME4

MV4

BO4+
BO4-

MU5
MV5

ME5

MW5

BO5-

BO5+

12

11

9

10

8

7

BO7L-

BO7L+

MU7L

ME7L

MV7L
MW7L

CN2-4

CN2-3

CN2-2

CN2-1

CN2-6

CN2-5

MW8
ME8

MV8

MU8

BO8-

BO8+

3
4

2

1

6

5

CN1-3
CN1-4

CN1-2

CN1-1

CN1-5
CN1-6

No.19CN

No.18CN

No.17CN

No.32CN

No.33CN

No.28CN

No.29CN

No.26CN

No.27CN

No.24CN

No.25CN

No.22CN

No.23CN

No.20CN

No.21CN

-1

-2

-1

-2

-1

-2

-1

-2

-1

-2

-1

-2

-1

-2

BO7+
BO7-

BO6+
BO6-

BO5+
BO5-

BO4+
BO4-

BO3+
BO3-

MU7

ME7

MW7

MV7

MU6

ME6

MW6

MV6

MU5

ME5

MW5

MV5

MU3

ME3

MW3

MV3

MU2

ME2

MW2

MV2

-16

-15

-14

-13

-9

-12

-11

-10

-5

-8

-7

-6

-1

MU4

-4

ME4

-3

MW4

-2

MV4

2-CN3

-14

-13

-9

-12

-11

-10

-5

-8

-7

-6

-1

BO1+

-4

BO2-

-3

BO2+

-2

BO1-

2-CN2

-9

-12

-11

-10

-5

-8

-7

-6

-1

MU1

-4

ME1

-3

MW1

-2

MV1

2-CN1

T-AXIS

B-AXIS

R-AXIS

U-AXIS

7-AXIS

L-AXIS

S-AXIS

T-BR

-2

MU7
MV7
MW7
ME7

BO7+
BO7-

T-PW

-1

-4

-3

B-BR

-2

MU6
MV6
MW6
ME6

BO6+
BO6-

B-PW

-1

-4

-3

R-BR

-2

MU5
MV5
MW5
ME5

BO5+
BO5-

R-PW

-1

-4

-3

U-BR

-2

MU4
MV4
MW4
ME4

BO4+
BO4-

U-PW

-1

-4

-3

7-BR

-2

MU3
MV3
MW3
ME3

BO3+
BO3-

7-PW

-1

-4

-3

L-BR

-2

MU2
MV2
MW2
ME2

BO2+
BO2-

L-PW

-1

-4

-3

S-BR

-2

MU1
MV1
MW1
ME1

BO1+
BO1-

S-PW

-1

-4

-3

BO8+
BO8-

MV8
MW8

MU8

ME8

-3

-4

-1

-2

-6

-5

No.36CN

Internal
User I/O
Wiring
Harness

to R2

Internal Connection Diagram (R1-2)

MOTOMAN-SDA20(YR-SDA20-A00/A01)

C-AXIS

41 of 66

SDA20

8 Electrical Equipment Specification

8.1 Internal Connections

Fig. 8-1(b): Internal Connection Diagram

8-3

HW0484820

SDA20

E E E

E E E E

PG

PG

PG

PG

PG

PG

PG

Lamp

U
V

BAT2

1-CN1

1-CN2

1-CN3

1-CN4

1-CN6

1-CN5

No.42CN

No.41CN

BAT1
0BAT1
BAT2
0BAT2
BAT3
0BAT3

6

5

2

4

3

1

0BAT7

8

BAT4
0BAT4
BAT5
0BAT5
BAT6
0BAT6
BAT7

6

5

2

4

3

1

7

3BC(50)

PG0V8

PG0V7
PG5V7

PG5V8

Base

19

18

17

20

BAT1

0BAT1

CN2

BAT2

0BAT2

CN3

4

3

2

1

BAT12

BAT11

0BAT11

0BT

0BT

BAT

BAT

0BAT12

21

26

24

23

25

22

0BAT7
BAT7

BAT63128

30

29

27 0BAT6

BAT5

BAT4

0BAT4

BAT3

0BAT5

0BAT3

0BAT8

CN4

81BAT22

BAT

0BAT11

7

5
6

BAT21

BAT
0BT

0BT

0BAT22

0BAT21

7 PG0V4
8

10
119PG0V6

PG0V5
PG5V5

PG5V4

6

3

5

4

2

1

PG5V3

PG5V1

PG0V3

PG0V2
PG5V2

PG0V1

CN1

1
3

+24V

0V

8

5

7

6

4

3

BAT21

0BAT21

14

13

15
16

2
4

+24V

0V

12 PG5V6

2

BAT11

32 BAT8

Power Cable

NX100

3BC(10X4)

S-base

No.55CN

No.54CN

No.53CN

No.52CN

No.51CN

No.50CN

No.49CN

No.48CN

No.47CN

No.46CN

No.45CN

No.44CN

No.43CN

8

6

5

2

4

3

1

7

3-CN6

FG7
FG7-2

DATA+7
DATA-7

BAT7
0BAT7

PG5V7
PG0V7

BAT6
0BAT6

PG5V6
PG0V6

FG6-2

FG5-2

6

5

2

4

3

1

3-CN5

DATA+1
DATA-1
BAT1
0BAT1
PG5V1
PG0V1
FG1

FG6

FG3
FG4

BAT3
0BAT3

FG3-2

DATA+2

FG1-2

FG4-2

12

11

FG2

9

FG2-2

FG5

10

DATA6+
DATA-6

BAT5
0BAT5
PG5V5
PG0V5

DATA+5
DATA-5

DATA+4
DATA-4
BAT4
0BAT4
PG5V4
PG0V4

PG0V3

DATA+3
DATA-3

PG5V3

BAT2

0BAT2
PG5V2
PG0V2

DATA-2

9

11

10

8

6

5

2

4

3

1

3-CN4

7

9
10

8

6

5

2

4

3

1

3-CN3

7

9

8

6

5

2

4

3

1

3-CN2

7

8

DATA+1
DATA-1
BAT1
0BAT1
PG5V1
PG0V1
FG1

6

5

2

4

3

1

3-CN1

7

PG5V7
PG0V7

BAT7
0BAT7

DATA+7
DATA-7

FG7

6

5

2

4

3

1

T-PG

7

T-AXIS

PG5V6
PG0V6

BAT6
0BAT6

DATA+6
DATA-6

FG6

6

5

2

4

3

1

B-PG

7

B-AXIS

PG5V5
PG0V5

BAT5
0BAT5

DATA+5
DATA-5

FG5

6

5

2

4

3

1

R-PG

7

R-AXIS

PG5V4
PG0V4

BAT4
0BAT4

DATA+4
DATA-4

FG4

6

5

2

4

3

1

U-PG

7

U-AXIS

PG5V3
PG0V3

BAT3
0BAT3

DATA+3
DATA-3

FG3

6

5

2

4

3

1

7-PG

7

7-AXIS

PG5V2
PG0V2

BAT2
0BAT2

DATA+2
DATA-2

FG2

6

5

2

4

3

1

L-PG

7

L-AXIS

6

5

2

4

3

1

S-PG

7

S-AXIS

Lead Wires in Arm

Manipulator

Internal Connection Diagram (R2-1)

MOTOMAN-SDA20(YR-SDA20-A00/A01)

0V

LB1

+24V

CN 4-8

5V

0V

5V

0V

CN 2-2

CN 2-1

CN 1-8

CN 1-7

CN 1-6

CN 3-7

CN 3-6

CN 3-3

CN 3-2

CN 3-1

CN 2-8

CN 2-7

CN 2-6

CN 3-10

CN 3-9

CN 2-10

CN 3-4
CN 3-5

CN 2-9

CN 2-5

CN 2-4

CN 2-3

CN 4-9

CN 4-5

CN 4-4

CN 4-10

CN 4-3

CN 4-7

CN 4-2

CN 4-6

CN 4-1

CN 3-8

CN 1-3

CN 1-2

CN 1-1

CN 1-9

CN 1-10

CN 1-4

CN 1-5

5V

0V

5V

0V

+24V
0V

SPG-1

SPG+1

FG1

+24V
0V

FG2

FG3

SPG-3

SPG+3

SPG-2

SPG+2

FG4

SPG-5

SPG+5

SPG-4

SPG+4

FG6

SPG+6
SPG-6

SPG+7

FG5

SPG-7

FG7

CN 4-8

AL2

5V

0V

5V

0V

CN 4-9

CN 4-5

CN 4-4

CN 4-10

CN 4-3

CN 4-7

CN 4-2

CN 4-6

CN 4-1

CN 3-7

CN 3-8

CN 3-6

CN 3-3

CN 3-2

CN 3-1

CN 2-8

CN 2-7

CN 2-6

CN 3-10

CN 3-9

CN 2-10

CN 3-4
CN 3-5

CN 2-9

CN 2-5

CN 2-4

CN 2-3

CN 2-2

CN 2-1

CN 1-8

CN 1-7

CN 1-6

CN 1-3

CN 1-2

CN 1-1

CN 1-9

CN 1-10

CN 1-4

CN 1-5

5V

0V

5V

0V

LB1

BC2

AL1

SS2

+24V
0V

SPG-1

SPG+1

FG1

+24V
0V

FG2

FG3

SPG-3

SPG+3

SPG-2

SPG+2

FG4

SPG-5

SPG+5

SPG-4

SPG+4

FG6

+24V

SPG+6
SPG-6

SPG+7

0V

FG5

SPG-7

FG7

E

42 of 66

155492-1CD

8 Electrical Equipment Specification

8.1 Internal Connections

Fig. 8-1(c): Internal Connection Diagram

8-4

HW0484820

155492-1CD

E

E

PW

YB

PW

YB

PW

YB

PW

YB

PW

YB

PW

YB

PW

YB

S2-1

S2-2

No.75CN

No.76CN

No.73CN

No.74CN

5

8

6
7

1

S2-1

2
3
4
5
6

1

S2-2

7

4

8

2
3

10

9

S2

5

7

6

8

5
14
15

13

16 8

6

7

1

S2-1

2

3

4

5

6

1

S2-2

7

4

8

2

3

6

5

4

3

2

No.77CN

1

3

2

8

4

7

No.78CN

1

E

6

1
2
3
4
5

JL05,20-29

10
11

9

8

12

7

Air-4

Air-3

2-CN1

2-CN2

2-CN3

4BC(6X6)

MU4
MV4

ME4

MW4

CN6-3

CN6-2

CN6-1

CN6-6

CN6-5

CN6-4

CN5-2

CN5-4

CN5-6

CN5-5

CN5-1

CN5-3

CN4-3

CN4-1

CN4-6

CN4-5

CN4-4

CN4-2

CN3-4

CN3-1

CN3-6

CN3-5

CN3-2
CN3-3

CN2-6

CN2-5

CN2-2

CN2-1

CN2-4

CN2-3

CN1-6

CN1-5

CN1-2

CN1-1

CN1-4

CN1-3

MU1

BO1-

BO1+

ME1

MW1

MV1

MV2

MU2

ME2

BO2+
BO2-

MW2

MU6
MV6

ME6

MW6

BO6-

BO6+

MU5
MV5

ME5

MW5

BO5-

BO5+

BO4+
BO4-

MU3
MV3

ME3

MW3

BO3+
BO3-

MV2

MU2

ME2

BO2+
BO2-

MW2

MU1

BO1-

BO1+

ME1

MW1

MV1

CN6-3

CN6-2

CN6-1

CN6-6

CN6-5

CN6-4

CN5-2

CN5-4

CN5-6

CN5-5

CN5-1

CN5-3

CN4-3

CN4-1

CN4-6

CN4-5

CN4-4

CN4-2

CN3-4
CN3-1

CN3-6

CN3-5

CN3-2
CN3-3

CN2-6

CN2-5

CN2-2

CN2-1

CN2-4

CN2-3

CN1-6

CN1-5

CN1-2

CN1-1

CN1-4

CN1-3

MU6
MV6

ME6

MW6

BO6-

BO6+

4BC(6X6)

MU3
MV3

ME3

MW3

BO3+
BO3-

MU4

MW4
ME4

MV4

BO4+
BO4-

MU5
MV5

ME5

MW5

BO5-

BO5+

No.58CN

No.57CN

No.56CN

No.71CN

No.72CN

No.69CN

No.70CN

No.67CN

No.68CN

No.65CN

No.66CN

No.63CN

No.64CN

No.61CN

No62CN

No.59CN

No.60CN

-1

-2

-1

-2

-1

-2

-1

-2

-1

-2

-1

-2

-1

-2

BO7+
BO7-

BO6+
BO6-

BO5+
BO5-

BO4+
BO4-

BO3+
BO3-

MU7

ME7

MW7

MV7

MU6

ME6

MW6

MV6

MU5

ME5

MW5

MV5

MU3

ME3

MW3

MV3

MU2

ME2

MW2

MV2

-16

-15

-14

-13

-9

-12

-11

-10

-5

-8

-7

-6

-1

MU4

-4

ME4

-3

MW4

-2

MV4

4-CN3

-14

-13

-9

-12

-11

-10

-5

-8

-7

-6

-1

BO1+

-4

BO2-

-3

BO2+

-2

BO1-

4-CN2

-9

-12

-11

-10

-5

-8

-7

-6

-1

MU1

-4

ME1

-3

MW1

-2

MV1

4-CN1

T-AXIS

B-AXIS

R-AXIS

U-AXIS

7-AXIS

L-AXIS

S-AXIS

T-BR

-2

MU7
MV7
MW7
ME7

BO7+
BO7-

T-PW

-1

-4

-3

B-BR

-2

MU6
MV6
MW6
ME6

BO6+
BO6-

B-PW

-1

-4

-3

R-BR

-2

MU5
MV5
MW5
ME5

BO5+
BO5-

R-PW

-1

-4

-3

U-BR

-2

MU4
MV4
MW4
ME4

BO4+
BO4-

U-PW

-1

-4

-3

7-BR

-2

MU3
MV3
MW3
ME3

BO3+
BO3-

7-PW

-1

-4

-3

L-BR

-2

MU2
MV2
MW2
ME2

BO2+
BO2-

L-PW

-1

-4

-3

S-BR

-2

MU1
MV1
MW1
ME1

BO1+
BO1-

S-PW

-1

-4

-3

Internal Connection Diagram (R2-2)

MOTOMAN-SDA20(YR-SDA20-A00/A01)

from R1

Internal
User I/O
Wiring
Harness

43 of 66

SDA20

8 Electrical Equipment Specification

8.1 Internal Connections

Fig. 8-1(d): Internal Connection Diagram

8-5

HW0484820

155492-1CD

44 of 66

SDA20

9 Maintenance and Inspection

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.

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

sup

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

• The battery pack must be connected before removing encoder connector

hen maintenance and inspection.

w

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

9-1

HW0484820

155492-1CD

NOTE

45 of 66

SDA20

9 Maintenance and Inspection

9.1 Inspection Schedule

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". Conduct
periodical inspections according to th
In Table 9-1, the inspection items are categorized by thre
be performed by personnel authorized by the user
being trained, and operations to be performed by service company personnel. Only the
specified personnel are to do the inspection work.

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

• The following inspection schedule is based on the case wher
handling application. If the manipulator is used for other application or if it is used under
special conditions, a case-by-case examination is required.
The inspection may be conducted at shorter intervals if the manipulator is used very

equently even in case of the handling application. For details, contact your Yaskawa

fr
representative.

e inspection schedule in Table 9-1 "Inspection Items".

e types of operations: operations to

, operations to be performed by personnel

e the manipulator is used for

Table 9-1: Inspection Items

Items

Alignment

1

mark

Working area
and whole

2

exterior of
manipulator

Daily





1000

H

Cycle





Rotation-axis
speed

3

ucer

red

Schedule

3000

H

Cycle

 

6000

H

Cycle

12000

H

Cycle

24000H36000

H

Method

Visual

Visual

Visual

Wrench,

Visual

Grease

Gun

Operation

Check alignment mark
acco

rdance and damage

at the home position.

Clean the work area if

r spatter is present.

dust o
Check for damage and
outside cracks.

Check for grease

*3

leakage.

Unplug the grease
leakage detection hole

and check

Check for malfunction.
(Replace if

Exchange grease
(initial exchange at 3000
H
cycle after the initial
grease exchange).

for grease.

necessary.)

inspection; 6000 H

*3

*2

Inspection Charge

Specified

Personnel

Licensee

Service

Company

  

  

  

  

 

9-2

HW0484820

SDA20

46 of 66

Table 9-1: Inspection Items

155492-1CD

9 Maintenance and Inspection

9.1 Inspection Schedule

4

5

6

7

8

ems

It

Actuator

Baseplate
mounting
bolts

Cover
mounting

ews

scr

Connector
base

Wire
harness in

m

ar

Daily



1000

H

Cycle



Schedule

3000

H

Cycle

6000

H

Cycle



12000

H

Cycle







24000H36000

H



Method

Visual

Grease

Gun

Spanner,

Wrench

Screw-

driver,

Wrench

Manual

Visual

Operation

Check for grease

*3

leakage.

Check for malfunction.

lace if necessary.)

(Rep
For S-, L-, 7th-, U-axis:

ge grease

Exchan
(6000H cycle)
For R-, B-, T-axis:

nish grease

Reple
(6000H cycle).

Tighten loose bolts.

ce if necessary.

Repla

Tighten loose screws.

ce if necessary.

Repla

Check for loose
connectors and tighten if
necessary.

Check for damages.

Replace

*2

*2

*1

Inspection Charge

Specified

Personnel

Licensee

Service

Company

  

 

  

  

  

 



Wire
harness in
ma

9

(Lead wires
f
axis)

Battery pack
in manipula-

10

tor

Overhaul

11

nipulator

or rotation-







 

Check for damages.

Visual

Replace

Replace the battery pack
when the battery alarm
occurs or the manipulator
has been driven for
36000H.

*1 Wire harnesses in the arm & rotation axis are to be replaced at 24000 H inspection.
*2 For the grease, refer to Table 9-2 "Inspection Parts and Grease Used".
*3 When a grease leakage is found, promptly contact your Yaskawa representative.

Table 9-2: Inspection Parts and Grease Used

No. Grease Used Inspected Parts

3 Molywhite RE No. 00 Speed reducer for the rotation-axis

Unilite FS No.0 S-, L-, 7th-, U-axis actuator

4

Harmonic Grease SK-1A R-, B-, T-axis actuator

 

*1



 

9-3

HW0484820

155492-1CD

View A (Enlarged)

A

3

3

4

4

5

7

10

Grease leakage detection hole

S1 S2

2BC

AIR-4AIR-3AIR-1

GREASE

5BC

3BC

4BC

AIR-2

1BC

47 of 66

SDA20

9 Maintenance and Inspection

9.1 Inspection Schedule

Inspection numbers correspond to the numbers in Table 9-1 "Inspection Items".

Fig. 9-1: Inspection Parts and Inspection Numbers

9-4

HW0484820

SDA20

S1 S2

2BC

AIR-4AIR-3AIR-1

GREASE

5BC

3BC

4BC

AIR-2

1BC

Screws to mount battery holder
: Circled, 4 screws x2

Battery

Battery holder [BAT2]
: R2 (right arm)

Battery holder [BAT1]
: R1 (left arm) & Rotation-axis

NOTE

Old
battery

New
battery

Connect new battery

Board
(type: SGDR-EFBA02A)

Remove old battery

Old
battery

New
battery

Board
(type: SGDR-EFBA02A)

48 of 66

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 attached in two positions indicated in Fig.9-2 "Battery Location".
If a battery alarm occurs in the NX100, replace
procedure:

the battery in accordance with the following

155492-1CD

Fig. 9-2: Battery Location

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

1. Turn OFF the NX100 main power supply.

2. Unscrew the mounting screws (4 screws x 2) and pull out the battery holder.

3. Connect the new battery pack to the

unoccupied connector on the board.

4. Remove the old battery connectors from the board.

9-5

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NOTE

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9 Maintenance and Inspection

9.2 Notes on Maintenance Procedures

5. Remove the old battery pack from the battery holder and mount the new battery pack.

6. Mount the battery holder back to the

original position.

Do not allow plate to pinch the cables

when reinstalling the plate.

9.2.2 Grease Replenishment & Exchange

: Grease inlet

: Air outlet (works as grease exhaust port when
exchanging grease of Rotation-, S-, L-, 7th-, U-axis)

R1 S-axis air outlet
(Grease inlet is placed diagonally)

7th-axis

L-axis

T-axis

(Grease inlet is placed diagonally)

R-axis

B-axis

R2 S-axis air outlet

U-axis

7th-axis

L-axis

R2 S-axis grease inlet R1 S-axis grease inlet

R2 R1

R2 R1

Top V i ew

U-axis

R-axis

T-axis

B-axis

Front View

R-axis

B-axis

U-axis

7th-axis

R1 R2

L-axis

Back View

L-axis

Rotation-axis grease exhaust port
Rotation-axis grease inlet

7th-axis

U-axis

R-axis

B-axis

Fig. 9-3: Grease Inlets, Grease Exhaust Ports & Air Outlets

Table 9-3: Grease Type and Amount of Grease

Axis Schedule Amount Grease Type

Rotation-axis Exchange

S-, L-axis Exchange

1st exchange: at 3,000H
From 2nd exchange:
6,000H cycle

6,000H cycle

approx. 1,500 cc

68cc

Molywhite RE
No. 00

Unilite FS No.0

7th-, U-axis Exchange

R-, B-, T-axis

Replenishment 6,000H cycle

6,000H cycle

47cc

2cc (3cc for the 1st supply)

Harmonic
Grease SK-1A

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NOTE

NOTE

NOTE

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9 Maintenance and Inspection

9.2 Notes on Maintenance Procedures

 Grease Exchange for the Rotation-Axis Speed Reducer

1. Remove the plug PT1/8 from the grease inlet and install the grease zerk A-PT1/8.
(The grease zerk is delivered with the manipulator.)

2. Remove the plug PT1/8 from the grease exhaust port.

• If grease is added with the plug on the grease exhaust port, the grease will go inside the
motor and may cause a damage. Never fail to remove the plug before the grease injec­tion.

• Do not install a joint, a hose, etc. to the g
instruction may result in damage to the motor due to coming off of an oil seal.

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

Grease type: Molywhite RE No. 00

Amount of grease: approx. 1500 cc

Air supply pressure of grease pump: 0.3 MPa or less

Grease injection rate

rease exhaust port. Failure to observe this

: 8 g/s or less

155492-1CD

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

5. Before the grease exhaust port is stoppered, operate the rotation-axis for a few

tes to discharge excess grease.

minu

6. Remove the grease zerk from the grease inlet, apply Three Bond 1206C to the thread
p

art of the plug PT1/8 and reinstall the plug. Tighten the plug to a tightening torque of

5 N·m (0.51 kgf·m).

7. Wipe off the grease discharged from the grea

se exhaust port, apply Three Bond
1206C to the thread part of the plug PT1/8 and reinstall the plug. Tighten the plug to a
tightening torque of 5 N·m (0.51 kgf·m).



Grease Replenishment for the Actuator (R-, B-, T-axis)

1. Remove the plug LP-M5 from the air outlet.

Never fail to remove the plug from the air outlet. If grease is added with the plug on,
internal pressure shall increase and cause a damage.

2. Remove the hexagon socket head cap screw M6 from the grease inlet and install the
g

rease zerk A-MT6X1 (The grease zerk is delivered with the manipulator.)

3. Inject grease with the grease zerk. Refer to " Table. 9-3 Grease Type and Amount of

Grease ".

When grease is replenished, grease is not exh
excessive grease into the grease inlet.

austed from the air outlet. Do not inject

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NOTE

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SDA20

4. Before the air outlet is stoppered, operate the grease-replenished axis for a few
minutes.

5. Remove the grease zerk from the grease inlet, apply Three Bond 1206C to the thread
p

art of the hexagon socket head cap screw M6 and reinstall the screw. Tighten the

screw to a tightening torque of 10 N·m (1.0 kgf·m).

6. Reinstall the plug LP-M5 on the air outlet.

9 Maintenance and Inspection

9.2 Notes on Maintenance Procedures

 Grease Exchange for the Actuator (S-, L-, 7th-, U-axis)

1. When the ambient temperature is 20°C or lower, operate the axis for grease exchange
for a few minutes.
Change the posture to make the grease inlet of the axis face downward. If it is impos­sible to make it face downward completely due to environment conditions, etc., change
the p

osture to make it face as downward as possible.

2. Remove the plug LP-M5 from the grease exhaust port.

• Never fail to remove the plug from the grease exhaust port. If grease is added with the

plug on, internal pressure shall increase and cause a damage.

• If the temperature of grease is low, the viscosity of it is

be exhausted enough. Thus, operate the axis for a few minutes before exchanging

grease.

high, and the old grease may not

3. Remove the hexagon socket head cap screw M6 from the grease inlet and install the
grea

se zerk A-MT6X1.

(The grease zerk is delivered with the manipulator.)

4. Inject grease with the grease zerk. Refer to " Table. 9-3 Grease Type and Amount of
Grease ".

5. The grease exchange is complete when new grease appears from the grease exhaust
port.

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

6. Put a plastic bag on the grease exhaust port. (Keep the exhausted grease to measure
the a

mount of grease exhausted during running-in.)

7. Perform running-in operation of the axis with grease injected for approximately 10
minutes to d
Amount of Exhausted Grease ".)
For the operation pattern of the running-in, if possible, set the speed to 100% and the
amount o
overheat.
If the amount of exhausted grease is less than the amount shown in Table 9-4 even
after the running-in operation for 10 minutes, discharge excess grease as follows:

(1) Remove the grease zerk from the grease inlet.
(2) Supply air from the grease inlet to disch

exhaust port. At this time, set the air pressure to 0.03 MPa or less.

(3) If the amount of exhausted grease is still less than the amount shown in Table 9-4

even after discharging excess grease once,
and then perform the step (2) again. Supply air while performing the oscillating
operation of the grease-injected axis to discharge grease faster if safety is ensured
to do so under the relevant local safety standards.

ischarge excess grease. (Refer to " Table. 9-4 Rough Standard of the

f movement to 40000 pulses or more. Also, set the timer of JOB to avoid

arge excess grease from the grease

perform running-in operation one cycle,

9-8

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9 Maintenance and Inspection

9.2 Notes on Maintenance Procedures

(4) Repeat the step (3) until the amount of exhausted grease exceeds the amount

shown in " Table. 9-4 Rough Standard of the Amount of Exhausted Grease ".
Note: To confirm the amount of exhausted

grease, put a plastic bag on the grease
exhaust port and measure the mass of grease, or put the exhausted grease into a
container with which the volume of the grease can be measured such as an injec­tion syringe. When supplying air, making a small air hole on the plastic bag makes
the

work easier.

Table 9-4: Rough Standard of the Amount of Exhausted Grease

155492-1CD

Axis

S- and L-axes 28 cc ± 4 cc (24.0 g ± 3.4 g)

7th and U-axes 19 cc ± 4 cc (16.5 g ± 3.4 g)

Rough standard of the amount of exhausted grease

(unit: cc, mass shown inside ())

8. Remove the grease zerk from the grease inlet, apply ThreeBond 1206C to the thread
p

art of the hexagon socket head cap screw M6, and reinstall the screw.

Tighten the screw with a tightening torque of 9.8 N·m (1.0 kgf·m).

9. Wipe off the grease discharged from the grea

se exhaust port and reinstall the plug

LP-M5.

9-9

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155492-1CD

(at Home Position)

Arm Unit (R2)

Arm Unit (R1)

Front View

50

80

5

0

-0.008

53 of 66

SDA20

9 Maintenance and Inspection

9.2 Notes on Maintenance Procedures

9.2.3 Arm Replacement

If a malfunction occurs in the arm component parts, the arm unit must be replaced. Contact
your Yaskawa representative.

Note that a spare arm unit is used both for R1 (left arm) and R2 (right arm).

Fig. 9-4: Arm Replacement

9.2.4 Home Position Calibration

After replacing an arm, recalibrate the manipulator home position as described in this section.
For calibration, the positioning key (attached as accessory) shall be used. Refer to Table 9-5

"Parts List".

Table 9-5: Parts List

Name Type Manufacturer Qty Configuration Remarks

Positioning key HW0411598-1

Yaskawa Electric

poration

Cor

1

Attached as
accessory

Using the programming pendant, adjust each axis home position so that the positioning key fits
into the key slot as shown in Fig.9-5 "Home Position Calibration", then register each position to
the NX100. For details, refer to "Home Position Calibration" described in the "NX100
I

NSTRUCTIONS".

9-10

HW0484820

SDA20

R2

R1

T-axis

B-axis

R-axis

R1

U-axis

7th-axis

L-axis

S-axis

T-axis

B-axis

R-axis

R2

U-axis 7th-axis

L-axis

S-axis

S-axisS-axis

R1R2

Top View

Rotation-axis

Back View

Front View

S1 S2

2BC

AIR-4AIR-3AIR-1

GREASE

5BC

3BC

4BC

AIR-2

1BC

54 of 66

155492-1CD

9 Maintenance and Inspection

9.2 Notes on Maintenance Procedures

Fig. 9-5: Home Position Calibration

9-11

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NOTE

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SDA20

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-SDA10 (see Table 10-1 "Spare Parts for SDA20-A00/A01"). Product
performance may not be guaranteed when using spare parts recommended by companies
othe

r than Yaskawa. The spare parts are ranked as follows:

• Rank A: Expendable and frequently replaced parts

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

• Rank C: Drive Unit

To replace parts in Rank B or Rank C, make sure to contact your Yaskawa representative.

Table 10-1: Spare Parts for SDA20-A00/A01

Unit

- -

Qty
per

Remarks

for S-, L- ,7th-, U­axis

Rank

Parts

No.

A 1 Grease Molywhite RE No.00 Yask awa 16 kg - for Rotation-axis

A 2 Grease Unilite FS no.0 Yas kawa - -

A 3 Grease

A 4 Liquid Gasket Three Bond 1206C

A 5 Battery Pack HW0470360-A Yas kawa 2 2

B 6

B 7

B 8 Arm Unit HW0388155-C Yas kaw a 1 2 for R1 and R2

B 9

B 10

C 11

C 12 S-, L-Axis Actuator

C 13

C 14 R-, B-Axis Actuator

C

C 16 Board SGDR-EFBA02A Yaskawa 1 1

15 T-Axis Actuator

Name Type Manufacturer Qty

Wire Harness in

tation-Axis

Ro

Rotation-Axis Speed
Re

ducer

Wire Harness in
Arm for R1

Wire Harness in
Arm for R2

Rotation-Axis
AC Servomotor

7th-, U-Axis
Actuator

Harmonic Grease
SK-1A

HW0174201-A Yaskaw a 1 1

HW0380902-A Yaskaw a 1 1

HW0173303-A Yaskaw a 1 1 Arm component

HW0173303-B Yaskaw a 1 1 Arm component

HW0382155-A Yaskaw a 1 1

SGAGS-412MA29-

6*

YR

SGAGS-172LA29­YR

6*

SGAGS-761KA2A-

6*

YR

SGAGS-381KA25-

6*

YR

Showa Shell

u K. K.

Sekiy

ThreeBond Co.,
Lt

d.

Yas kawa 1 4 Arm component

Yas kawa 1 4 Arm component

Yas kawa 1 4 Arm component

Yas kawa 1 2 Arm component

2.5 kg - for R-, B-, T-axis

10-1

HW0484820

SDA20

1002

1020

1014

1059

1013

1012

1011

1065

1010

1009

1008

1030

1060

1033

1038

1095

1037

1070

1042

1074

1073

1036

1034

1057

1052

1075

1076

1053

1016

1017

1015

1058

1054

1031

1050

1051

1080

1096

1068

1069

1039

1037

1041

1045

1044

1046

1043

1019

1066

1018

1056
1055

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11 Parts List

11.1 Turning-Axis Unit

11 Parts List

11.1 Turning-Axis Unit

155492-1CD

11-1

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155492-1CD

1042

1041

1043

1047

1001

1080

1063

1064

1005

1067

1079

1087

1032
1062

1061

1048

1026

1027

1004

1040

1045

1044

1046

1077

1003

1029

1028

1025

1007

1078

1006

1024

1022

1022

1021

1049

1023

1083

1084

1090

57 of 66

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11 Parts List

11.1 Turning-Axis Unit

11-2

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11 Parts List

11.1 Turning-Axis Unit

No. DWG No. Name Pcs

1001 23253-12A2B-YR12 Motor 1

1002 HW0102300-1 Base 1

1003 HW0484650-A Shaft 1

1004 HW0313074-2 M base 1

1005 HW0413022-1 Support 1

1006 HW9405847-1 B nut 1

1007 S95 O ring 1

1008 HW0302146-1 Guide 1

1009 WR80 Circlip 1

1010 6816 Bearing 1

1011 HW0403138-1 B cover 1

1012 HW0380961-A Gear 1

1013 ARP568-173 O ring 1

1014 HW0380902-A Speed reducer 1

1015 TSH6-01M Union 1

1016 TC65786 Oil seal 1

1017 VC65859 Oil seal 1

1018 HW0402597-1 Housing 1

1019 G115 O ring 1

1020 ARP568-165 O ring 1

1021 HW0380960-A Gear 1

1022 HR32907J Bearing 2

1023 HW9405844-2 Housing 1

1024 M6X8 H set screw 2

1025 Y426012.5 Oil seal 1

1026 M6X35 Socket screw 4

1027 2H-6 Spring washer 4

1028 M6X80 Socket screw 1

1029 2H-6 Spring washer 1

1030 S65 O ring 1

1031 HW0412930-1 Pin 1

1032 HW0412931-1 Collar 1

1033 HW0412932-1

1034 HW0412936-1 Cover 1

1036 M5X16 APS bolt 4

1037 M5X10 APS bolt 6

1038 PT3/8

1039 M6X12 APS bolt 14

1040 PT1/8 Plug 1

1041 HW9403595-1 Metallic orna-

1042 M4X12 Flat head screw 4

1043 T50R Cable tie 4

1044 CD-39 Saddle 2

1045 M6X10 Socket screw 4

1046 2H-6 Spring washer 4

1047 M8X30 Socket screw 4

1048 2H-8 Spring washer 4

1049 M6X20 GT-SA bolt 4

1050 M8X40 Socket screw 1

1051 2H-8 Spring washer 1

1052 M12X45 Socket screw 9

1053 2H-12 Spring washer 9

1054 M12 Spring washer 9

1055 M4X18 Socket screw 6

1056 2H-4 Spring washer 6

1057 M5X12 GT-SA bolt 8

1058 NB-0640-0.6 Tube 1

1059 M14X100 Socket screw 6

1060 2H-14 Spring washer 6

1061 M12X40 Socket screw 1

(DACROTIZED coating)

Stopper 1

Plug 1

ments

155492-1CD

2

11-3

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11 Parts List

11.1 Turning-Axis Unit

No. DWG No. Name Pcs

1062 2H-12 Spring washer 1

1063 M10X60 Socket screw 11

1064 GT-LH-10 Washe r 11

1065 M4X12 GT-SA bolt 4

1066 M6X20 GT-SA bolt 4

1067 M6X20 GT-SA bolt 2

1068 M3X16 Screw with

1069 M3 Nut 12

1070 HW0412934-A Bracket 1

1073 M5X16

1074 2H-5

1075 HW0412937-1 Cover 1

1076 M6X15 GT-SA bolt 14

1077 HW0413258-2 Spacer 1

1078 HW0313076-1 Cover 1

1079 HW0412935-1 Cover 1

1080 HW0102301-1 S base 1

1083 M5X16 GT-SA bolt 12

1084 MSTH6-15 Parallel pin 1

1087 M5X16 GT-SA bolt 10

1090 MSTH6-15 Parallel pin 1

1095 HW0371565-A Lamp assy 1

1096 HW0373580-A C base assy 1

(DACROTIZED coating)

(DACROTIZED coating)

spring was

Socket screw 2

Spring washer 2

her

12

11-4

HW0484820

HW0484820

1080

2010

2029

2019

2007

2018

2002

2001

2022

2025

2012

2021

2006

2004

2014

2017

2028

2026

2002

2006

2004

2011

1082

1081

2019

2029

2017

1093

1094

2030

2020

2003

2027

2028

2026

2013

2006

1086

1085

2005

2027

2001

2021

2025

2009

2003

2015
2026
2028

2027

2006
2005

2020

2008

2030

2018

2017

60 of 66

11.2 S- L-Axis Unit(R1,R2)

11 Parts List

1011-5

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11 Parts List

11.2 S- L-Axis Unit(R1,R2)

No. DWG No. Name Pcs

2001 SGAGS-412MA29-YR6* Actuator 4

2002 HW0412722-1 Pipe 4

2003 HW0411584-1 Flange 4

2004 M3X6 Socket screw 24

2005 M3X8 Socket screw 24

2006 2H-3 Spri ng wa sh er 48

2007 HW0201120-1 Cover 2

2008 HW0201121-1 Cover 2

2009 HW0102073-1 L arm A 2

2010 HW0102074-1 S head 2

2021 HW0311103-1 Spacer 2

2012 HW0405817-9 Collar 2

2013 HW0411433-1 Support 2

2014 HW0412790-1 Support 2

2015 HW0411435-1 Support 2

2017 M4X12 GT-SA bolt 12

2018 M4X16 Socket screw 44

2019 M6X6 Socket screw 4

2020 M6X35 Socket screw 72

2021 M6X65 Socket screw 70

2022 M6X70 Socket screw 2

2025 2H-6 Spring washer 72

2026 TA1- S8 Clamp 10

2027 T50R Cable tie 10

2028 M4X8 Screw with

2029 LP-M5 Plug 4

2030 GT-LH-6 Washer 4

1081 M6X25 Socket screw 40

1082 2H-6 Spring washer 40

1085 M6X35 Socket screw 8

1086 2H-6 Spri ng wa sh er 8

1093 HW0411436-1 Stopper 4

1094 TCLM6-8-11

1080 HW0102301-1 S base 1

ring washer

sp

Collar 8

10

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11 Parts List

11.2 S- L-Axis Unit(R1,R2)

No. DWG No. Name Pcs

3001 SGAGS-172LA29-YR6* Actuator 4

3002 HW0412721-1 Pipe 4

3003 HW0411583-1 Flange 4

3004 M3X6 Socket screw 24

3005 M3X8 Socket screw 24

3006 2H-3 Spring washer 48

3007 HW0102071-1 Casing 2

3008 HW0102072-1 L arm B 2

3009 HW0201123-1 Cover 2

3010 HW0201169-1 Cover 2

3011 HW0412789-1 Support 2

3012 HW0411624-1 Support 2

3013 HW8411125-2 Washer 48

3015 M4X12 Socket screw 4

3016 M4X14 Socket screw 4

3017 M5X8 Socket screw 2

3018 M5X30 Socket screw 32

3019 M5X35 Socket screw 12

3020 M5X60 Socket screw 48

3021 M6X6 Socket screw 4

3024 2H-5 Spring washer 74

3025 TA1-S8 Clamp 8

3026 T50R Cable tie 8

3027 M4X8 Screw with

3028 WSSM10-6-3 Washer 4

3029 LP-M5 Plug 4

3032 GT-LH-5 Washer 32

3033 M5X70 Socket screw 12

3034 M4X16 GT-SA bolt 42

2009 HW0102073-1 L arm A 2

spring washer

155492-1CD

8

11-7

HW0484820

155492-1CD

2009

3002

3006

3004

3001

3020

3029

3024

3013
3028

3008

3017

3024

3003

3006

3005

3002

3006
3004

3011

3001

3020

3024

3033

3024

3013
3028

3021

3021

3025

3024

3013

3019

3007

3029

3003

3018

3032

3006

3005

3009

3034

3012

3015

3025

3027

3026

3010

3034

3027

3026

3016

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SDA20

11 Parts List

11.3 7th- U-Axis Unit(R1,R2)

11.3 7th- U-Axis Unit(R1,R2)

11-8

HW0484820

SDA20

3007

4021

4001

4004

4024

4037

4034

4040

4019

4044

4025

4029

4002

4001

4007

4037

4032

4004

4003

4005

4006

4028

4033

4038

4031

4037

4008

4040

4039

4041

4023

4009

4002

4008

4034

4009

4002

4008
4009

4037
4032

4010

4037

4032

4034

4003

4005

4006

4016

4013

4012

4014

4015

4042

4040

4039

4041

4042

4036
4031

4026

4029

4022

4042

4007

4029

4020

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11 Parts List

11.4 R- B- T-Axis Unit(R1,R2)

11.4 R- B- T-Axis Unit(R1,R2)

155492-1CD

11-9

HW0484820

155492-1CD

65 of 66

SDA20

11 Parts List

11.4 R- B- T-Axis Unit(R1,R2)

No. DWG No. Name Pcs

4001 SGAGS-761KA2A-YR1* Actuator 4

4002 HW0411563-1 Pipe 4

4003 HW0411590-1 Spacer 4

4004 HW0411591-1 Plate 4

4005 6706LLF Bearing 4

4006 BM-1221-A3 V ring 4

4007 M2X6 Socket screw 12

4008 M2.5X6 Socket screw 24

4009 M2.6 Washer 24

4010 SGAGS-381KA25-YR1* Actuator 2

4011 HW0411563-1 Pipe 2

4012 HW0411590-1 Spacer 2

4013 HW0411591-1 Plate 2

4014 6706LLF Bearing 2

4015 BM-1221-A3 V ring 2

4016 M2X6 Socket screw 8

4017 M2.5X6 Socket screw 8

4018 M2.6 Washer 8

4019 HW0201100-1 Cover 2

4020 HW0201124-1 Cover 2

4021 HW0102053-1 L arm B 2

4022 HW0102070-1 Wrist 2

4023 HW0312107-1 Spacer 2

4024 HW0311166-1 Flange 2

4025 HW0412791-1 Support 2

4026 HW0411625-1 Support 2

4028 M4X8 Socket screw 2

4029 M4X12 GT-SA bolt 8

4030 M4X15 GT-SA bolt 24

4031 M4X20 Socket screw 48

4032 M4X25 Socket screw 72

4033 M5X25 Socket screw 16

4034 M6X6 Socket screw 6

4036 GT-LH-4 Washer 24

4037 2H-4 Spring washer 120

4038 2H-5 Spring washer 16

4039 TA1-S8 Clamp 8

4040 T50R Cable tie 8

4041 M4X8 Screw with

4042 LP-M5 Plug 4

4044 M4X16 GT-SA bolt 28

3007 HW0102071-1 Casing 2

spring washer

8

11-10

HW0484820

MOTOMAN-SDA20

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INSTRUCTIONS

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

YASKAWA America Inc. (Motoman Robotics Division)
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone [phone] Fax [phone]

YASKAWA Europe GmbHRobotics Divsion )
Yaskawastrasse 1, 85391 Allershausen, Germany
Phone [phone] Fax [phone]

YASKAWA Nordic AB
Bredbandet 1 vån. 3 varvsholmen 392 30 Kalmar, Sweden

Phone [phone] Fax [phone]

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

YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone

[phone]

Fax

[phone]

YASKAWA India Private Ltd. (Robotics Division)
#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India

YASKAWA Electric Korea Co., Ltd

9F, KyoboSecuritiesBldg., 26-4, Yeouido-dong,Yeongdeungpo-gu, Seoul 150-737, Korea

Phone [phone] Fax [phone]

YASKAWA Electric Taiwan Corporation
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan

YASKAWA Electric (Singapore) PTE Ltd.
151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone [phone] Fax [phone]

YASKAWA Electric (Thailand) Co., Ltd.
252/125-126 27th Floor, Tower B Muang Thai-Phatra Complex Building,
Rachadaphisek Road㧘Huaykwang, Bangkok 10320, Thailand
Phone

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

[phone]

Fax [phone]Phone [phone]

Fax [phone]Phone [phone]

Fax

[phone]

Fax [phone]Phone [phone]

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

MANUAL NO.

HW0484820

3