YASKAWA MOTOMAN-VS100 Operator's Manual

MOTOMAN-VS100

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INSTRUCTIONS

TYPE:
YR-VS00100-A00

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

MOTOMAN INSTRUCTIONS

MOTOMAN-VS100 INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL

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

Part Number: 175873-1CD
Revision: 1

MANUAL NO.

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Copyright © 2018, 2016 Yaskawa America, Inc.

Terms of Use and Copyright Notice

All rights reserved. This manual is freely available as a service to Yaskawa
customers to assist in the operation of Motoman robots, related equipment
and software This manual is copyrighted property of Yaskawa and may
not be sold or redistributed in any way. You are welcome to copy this
document to your computer or mobile device for easy access but you may
not copy the PDF files to another website, blog, cloud storage site or any
other means of storing or distributing online content.

Printed in the United States of America

First Printing, 2016

Yaskawa America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: [phone]

www.motoman.com

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MANDATORY

CAUTION

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• This instruction manual is intended to explain mainly on the
mechanical part of the MOTOMAN-VS100 for the application to the
actual operation and for proper maintenance and inspection. It
describes on safety and handling, details on specifications,
necessary items on maintenance and inspection, to explain
operating instructions and maintenance procedures. Be sure to
read and understand this instruction manual thoroughly before
installing and operating the manipulator.

• General items related to safety are listed in Chapter 1: Safety of the
DX200 Instructions. To ensure correct and safe operation, carefully
read the DX200 instructions before reading this manual.

• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.

• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.

• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.

• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product’s warranty.

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We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:

Robotic Industries Association

900 Victors Way

P.O. Box 3724

Ann Arbor, Michigan 48106

TEL: [phone]

FAX: [phone]

www.roboticsonline.com

Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment. NEVER
ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR
REPAIR THE EQUIPMENT!

We recommend approved Yaskawa training courses for all personnel
involved with the operation, programming, or repair of the equipment.

This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.

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CAUTION

MANDATORY

PROHIBITED

NOTE

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Notes for Safe Operation

Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the DX200.

In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.

DANGER

WARNING

Indicates an imminent hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.

Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.

Indicates a potentially hazardous
situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to
equipment. It may also be used to
alert against unsafe practices.

Always be sure to follow explicitly
the items listed under this heading.

Must never be performed.

Even items described as “CAUTION” may result in a serious accident in
some situations.

At any rate, be sure to follow these important items.

To ensure safe and efficient operation at all times, be sure
to follow all instructions, even if not designated as
“DANGER”, “WARNING” and “CAUTION” .

DANGER

• Maintenance and inspection must be performed by specified
personnel.

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

• For disassembly or repair, contact your YASKAWA representative.

• Do not remove the motor, and do not release the brake.

Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the manipulator's arm.

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Notes for Safe Operation

WARNING

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

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

Fig. : Emergency Stop Button

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

Injury may result from unintentional or unexpected 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.

- Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.

- Ensure that you have a safe place to retreat in case of emergency.

Improper or unintended manipulator operation may result in injury.

• Confirm that no persons are present in the P-point maximum
envelope of the manipulator and that you are in a safe location
before:

- Turning ON the DX200 power.

- Moving the manipulator with the programming pendant.

- Running check operations.

- Performing automatic operations.

Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.

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Definition of Terms Used Often in This Manual

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

-Check for problems in manipulator movement.

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

• Always return the programming pendant to the hook on the DX200
cabinet after use.

The programming pendant can be damaged if it is left in the P-point
maximum envelope of the manipulator, on the floor, or near fixtures.

• Read and understand the Explanation of Warning Labels in the
DX200 instructions before operating the manipulator.

Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.

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

In this manual, the equipment is designated as follows:

Equipment Manual Designation

DX200 controller DX200

DX200 programming pendant Programming pendant

Cable between the manipulator and the
controller

Manipulator cable

Description of the Operation Procedure

In the explanation of the operation procedure, the expression “Select • • •”
means that the cursor is moved to the object item and the SELECT key is
pressed, or that the item is directly selected by touching the screen.

Registered Trademark

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

vii

TM

are omitted.

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Explanation of Warning Labels

Explanation of Warning Labels

The following warning labels are attached to the manipulator.

Always follow the warnings on the labels.

Also, an identification label with important information is placed on the
body of the manipulator. Prior to operating the manipulator, confirm the
contents.

Fig. : Warning Label Locations

Nameplate

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WARNING Label B

31

WARNING Label A

Nameplate

MODEL
MOTOMAN­TYPE

PAYLOAD

ORDERNO.

SERIALNO.

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

MASS

kg

DATE

NJ3878

Warning Label A

WARNING

Moving parts

kg

may cause
injury

Warning Label B

WARNING

Do not enter
robot
work area.

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Safeguarding Tips

All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General
safeguarding tips are as follows:

Safeguarding Tips

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

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

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

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

Mechanical Safety Devices

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

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

• Safety barriers

• Door interlocks

• Emergency stop palm buttons located on operator station

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

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Programming, Operation, and Maintenance Safety

Programming, Operation, and Maintenance Safety

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

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

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

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

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

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

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

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

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

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

• Use proper replacement parts.

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

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Maintenance Safety

Maintenance Safety

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

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

Summary of Warning Information

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

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

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[phone]

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Customer Support Information

Customer Support Information

If you need assistance with any aspect of your VS100 system, please
contact Yaskawa Customer Support at the following 24-hour telephone
number:

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

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

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[e-mail]

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

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

• System VS100

• Primary Application ___________________________

• Controller DX200

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

• Robot Serial Number Located on the robot data plate

• Robot Sales Order Number Located on the DX200 controller
data plate

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Table of Contents

Table of Contents

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

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

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

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

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

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

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

2.2 Shipping Bolts and Brackets.............................................................................................. 2-4

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

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

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

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

3.3 IP (International Protection) ............................................................................................... 3-4

3.4 Location ............................................................................................................................. 3-4

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

4.1 Grounding .......................................................................................................................... 4-1

4.2 Cable Connection .............................................................................................................. 4-2

4.2.1 Connection to the Manipulator.............................................................................. 4-2

4.2.2 Connection to the DX200 ..................................................................................... 4-2

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

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

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

5.3 Manipulator Base Dimensions ........................................................................................... 5-2

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

5.5 Stopping Distance and Time for S-, L-, and E-Axes .......................................................... 5-4

5.5.1 General Information.............................................................................................. 5-4

5.5.2 Definition of Use ................................................................................................... 5-4

5.5.3 Stopping Distance and Time for Stop Category 0: S-, L- and E-Axes.................. 5-4

5.5.4 Stopping Distance and Time for Stop Category 1: S-, L- and E-Axes.................. 5-5

5.5.4.1 Extension ................................................................................................ 5-5

5.5.4.2 Stopping Distance and Time for Stop Category 1: S-Axis....................... 5-7

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5.5.4.3 Stopping Distance and Time for Stop Category 1: L-Axis .......................5-8

5.5.4.4 Stopping Distance and Time for Stop Category 1: E-Axis....................... 5-9

5.6 Alterable S-Axis Operating Range ................................................................................... 5-10

5.6.1 Necessary Parts ................................................................................................. 5-10

5.6.2 Notes on the S-Axis Mechanical Stopper Installation ......................................... 5-11

5.6.3 Alteration of the S-Axis Pulse Soft Limit ............................................................. 5-12

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

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

6.2 Wrist Flange....................................................................................................................... 6-3

7 System Application.......................................................................................................................... 7-1

7.1 Peripheral Equipment Mounts............................................................................................ 7-1

Table of Contents

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

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

8.1 Position of Limit Switch ...................................................................................................... 8-1

8.1.1 Specification of Limit Switch ................................................................................. 8-1

8.1.2 Position of Limit Switch......................................................................................... 8-1

8.1.3 Setting of Operation Range .................................................................................. 8-2

8.1.3.1 S-Axis Operation Range.......................................................................... 8-2

8.1.3.2 L-Axis Operation Range .......................................................................... 8-2

8.1.3.3 Setting Range of L- and E-Axes Interference Angle................................ 8-3

8.1.3.4 Setting Range of E- and U-Axes Interference Angle ............................... 8-3

8.2 Internal Connections .......................................................................................................... 8-4

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

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

9.2 Battery Pack Replacement ................................................................................................ 9-5

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

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

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

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

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

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

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

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

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

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

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

9.3.5 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-14

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

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

9.3.6 Grease Replenishment/Exchange for R-, B-, T- Axes Gears in the Casing

9.3.7 Grease Replenishment/Exchange for B- and T-Axes Speed Reducers

9.4 Notes for Maintenance.....................................................................................................9-22

9.4.1 Battery Pack Connection .................................................................................... 9-22

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

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

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

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

and R-Axis Speed Reducer ................................................................................ 9-16

9.3.6.1 Grease Replenishment for R-, B-, T-Axes Gears in the Casing............ 9-16

9.3.6.2 Grease Replenishment for R-Axis Speed Reducer............................... 9-17

9.3.6.3 Grease Exchange for R-, B-, T-Axes Gears in the Casing.................... 9-18

9.3.6.4 Grease Exchange for R-Axis Speed Reducer....................................... 9-19

and Gears........................................................................................................... 9-20

9.3.7.1 Grease Replenishment.......................................................................... 9-20

9.3.7.2 Grease Exchange ................................................................................. 9-21

11.3 E-Axis Unit ..................................................................................................................... 11-5

11.4 U-Axis Unit..................................................................................................................... 11-7

11.5 R-,B-,T-Axes Unit........................................................................................................... 11-9

11.6 Wrist Unit ..................................................................................................................... 11-12

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1 Product Confirmation

1.1 Contents Confirmation

1 Product Confirmation

• Confirm that the manipulator and the DX200 have the same order
number. Special care must be taken when more than one
manipulator is to be installed.

If the numbers do not match, manipulators may not perform as
expected and cause injury or damage.

1.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.

Standard delivery includes the following four items (Information for the
content of optional goods is given separately):

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• Manipulator

• DX200

• Programming Pendant

• Manipulator cables

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1 Product Confirmation

1.2 Order Number Confirmation

1.2 Order Number Confirmation

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

Fig. 1-1: Location of Order Number Labels

Label (Enlarged View)

THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER.

ORDER. No.

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

0
*76$
࣡ࢩࣕ

0
*76$
࣡ࢩࣕ

&'

0;
*76$
࣡ࢩࣕ

(a) DX200 (Front View)

(b) Manipulator (Top View)

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2 Transport

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2 Transport

2.1 Transport Method

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

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

• Avoid excessive vibration or shock during transport.

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

2.1 Transport Method

• Check that the eyebolts are securely fastened.

• The weight of the manipulator is approximately 810kg
including the shipping bolts and brackets. Use a wire rope
strong enough to withstand the weight.

• The attached eyebolts are designed to support the
manipulator mass. Never use them for anything other
than transporting the manipulator.

• Mount the shipping bolts and brackets before transporting
the manipulator.

• Avoid putting external force on the arm of motor unit when
transporting by a crane, forklift, or other equipment.
Failure to observe this instruction may result in injury.

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2 Transport

2.1 Transport Method

2.1.1 Using a Crane

As a rule, the manipulator should be lifted by a crane with a four-leg bridle
sling using the shipping bolts and brackets when removing it from the
package or moving it. Be sure that the manipulator is fixed with the
shipping bolts and brackets before transport, and lift it in the posture as
shown in Fig. 2-1 “Transport Using a Crane”.

Fig. 2-1: Transport Using a Crane

Shipping bolts and brackets

(Fixed to the manipulator
before shipment.)

Hexagon socket head cap
screw M12 (8 screws)

Factory setting for angle and pulse of each axis

Axis
Angle
Pulse

SLURBT

0㺽

-45㺽 -70㺽 90㺽 -90㺽 0㺽

0

-136192-107008

127377 0-124599

E

-45㺽

-102912

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2 Transport

2.1 Transport Method

2.1.2 Using a Forklift

When using a forklift, the manipulator should be fixed on a pallet with
shipping bolts and brackets as shown in
Insert forks under the pallet and lift it. The pallet must be strong enough to
support the manipulator. Transport the manipulator slowly with due
caution in order to avoid overturning or slippage.

Fig. 2-2: Transport Using a Forklift

Shipping bolts and brackets
(Fixed to the manipulator
before shipment.)

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Fig. 2-2 “Transport Using a Forklift”.

Pallet

Forklift fork entries

Bolt M20 (8 bolts)

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2 Transport

2.2 Shipping Bolts and Brackets

2.2 Shipping Bolts and Brackets

The manipulator is provided with shipping bolts and brackets at positions
shown in Fig. 2-1 “Transport Using a Crane”.

• The shipping bolts and brackets are painted in yellow.

• Refer to the following table for the shipping bolts and brackets fixing
screws.

Table 2-1: Shipping Bolts and Brackets Fixing Screws

Shipping Bolts and
Brackets Qty.

2 Hexagon Socket Head Cap Screw M12

Shipping Bolts and Brackets Fixing
Screw Specification

(length: 25 mm)
(Tensile strength: 1200 N/mm

2

)

Before turning ON the power, check to be sure that the
shipping bolts and brackets are removed. The shipping
bolts and brackets must be stored for future use, in the
event that the manipulator will be moved again.

Fixing Screw
Qty.

4 screws x
2 places

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3 Installation

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3 Installation

WARNING

• Install the safeguarding.

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

• Install the manipulator in a location where the tool or the workpiece
held by its fully extended arm will not reach the wall, safeguarding,
or controller.

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

• Do not start the manipulator or even turn ON the power before it is
firmly anchored.

The manipulator may overturn and cause injury or damage.

• Do not install or operate a manipulator that is damaged or lacks
parts.

Failure to observe this caution may cause injury or damage.

• Before turning ON the power, check to be sure that the shipping
bolts and brackets explained in Chapter 2 “Transport” are removed.

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

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3 Installation

3.1 Installation of Safeguarding

3.1 Installation of 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 that safeguarding
is provided and used in accordance with Sections 6, 7, and 8 of this
standard. The means and degree of safeguarding, including any
redundancies, shall correspond directly to the type and level of hazard
presented by the robot system consistent with the robot application.
Safeguarding may include but not be limited to safeguarding devices,
barriers, interlock barriers, perimeter guarding, awareness barriers, and
awareness signals.

3.2 Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a baseplate or foundation
strong enough to support the manipulator and withstand reaction forces
during acceleration and deceleration.

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

A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness
of installation surface may deform the manipulator shape and affect its
functional abilities. Mount the manipulator base as instructed in section

3.2.1 “Mounting the Manipulator on the Baseplate”.

Table 3-1: Manipulator Reaction Force and Torque

Horizontal rotation Vertical rotation

Reaction force F

Emergency stop 23544 N

(2400 kgf)

Acceleration/deceleration 7358 N

(750 kgf)

Tor q u e M

H

23897 N•m
(2436 kgf•m)

7171 N•m
(731 kgf•m)

Fig. 3-1: Manipulator Reaction Force and Torque

H

Reaction force FVTor q u e M

35316 N
(3600 kgf)

14715 N
(1500 kgf)

0

9

49050 N•m
(5000 kgf•m)

18394 N•m
(1875 kgf•m)

V

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3 Installation

3.2 Mounting Procedures for Manipulator Base

3.2.1 Mounting the Manipulator on the Baseplate

For the first process, anchor the baseplate firmly to the ground. The
baseplate should be rugged and durable to prevent shifting of the
manipulator or the mounting fixture. It is recommend to prepare a
baseplate of 50 mm or thicker, and anchor bolts of M20 or larger size.

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

Next, fix the manipulator base to the baseplate. Tighten the hexagon
head bolts and anchor bolts firmly so that they will not work loose during
the operation.

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

Fig. 3-2: Mounting the Manipulator on the Baseplate

Spring washer

Washer

175873-1CD

Hexagon head screw
M20 (8 screws)

Manipulator base

Flatness: 0.5mm or less



Anchor bolt (M20 or more)

Baseplate





Baseplate

3-3

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3 Installation

3.3 IP (International Protection)

3.3 IP (International Protection)

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

3.4 Location

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

• Ambient temperature: 0° to 45°C

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

• Free from exposure to dust, soot, oil, or water.

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

• Free from excessive vibration (Vibration acceleration: 4.9 m/s
[0.5 G] or less)

• Free from large electrical noise (plasma)

2

• Flatness for installation is 0.5 mm or less

3-4

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4 Wiring

4.1 Grounding

WARNING

• Ground resistance must be 100 Ω 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 warning sign. (ex. DO NOT TURN THE POWER ON.)

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

• Wiring must be performed by authorized or certified personnel.

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

4.1 Grounding

Follow electrical installation standards and wiring regulations for
grounding. A ground wire of 5.5 mm

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

Fig. 4-1: Grounding Method

2

or more is recommended.

• Never use this wire sharing with other ground lines or
grounding electrodes for other electric power, motor
power, welding devices, etc.

• Where metal ducts, metallic conduits, or distributing racks
are used for cable laying, ground in accordance with
electrical installation standards.

A

5.5mm2 or more

4-1

Bolt M8 (for grounding)

(Delivered with the manipulator)

View A

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4 Wiring

4.2 Cable Connection

4.2 Cable Connection

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

Connect these cables to the connectors on the manipulator connector
base and the DX200 board connectors. Refer to Fig. 4-3(a) “Manipulator

Cable Connection (Manipulator Side)” and Fig. 4-3(b) “Manipulator Cable
Connection (DX200 Side)”.

4.2.1 Connection to the Manipulator

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

4.2.2 Connection to the DX200

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

Fig. 4-2: Manipulator Cables

The DX200 Side

X11

X11

The DX200 Side

X21

The Manipulator Side

1BC

1BC

1BC

Encoder Cable

The Manipulator Side

2BC

4-2

2BC

Power Cable

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4 Wiring

4.2 Cable Connection

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

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5 Basic Specifications

5.1 Basic Specifications

5 Basic Specifications

5.1 Basic Specifications

Table 5-1: Basic Specifications

Item Model MOTOMAN-VS100

YASKAWA Standard External Cable

Structure Vertically Articulated

Degree of Freedom 7

Payload 110 kg 100 kg

Repeatability

Range of Motion S-Axis (turning) -180° - +180°

Maximum Speed S-Axis 2.45 rad/s, 140°/s

Allowable Moment

Allowable Inertia

2

/4)

(GD

Approx. Mass 780 kg

Protective Structure Basic axis: IP54 or equivalent

Ambient Conditions Temperature 0° C to 45° C

Power Requirements 5.5 kVA

Noise

1 SI units are used in this table. However, gravitational unit is used in ( ).
2 Specification changes when the manipulator is equipped with YASKAWA standard external cable.
3 Conformed to ISO9283
4 Refer to section 6.1 “Allowable Wrist Load” for details on the permissible moment of inertia.
5 Conformed to ISO6926
1, Measurement is carried out when the maximum load is mounted to the manipulator and

operated in the maximum speed.

2, Measurement is carried out:

- between 1.2m and 1.5m above the ground.

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

3)

L-Axis (lower arm) -45° - +155°

E-Axis (elbow) -45° - +120°

U-Axis (upper arm) -70° - +90°

R-Axis (wrist roll) -360° - +360° -205° - +205°

B-Axis (wrist pitch/yaw) -125° - +125° -120° - +120°

T-Axis (wrist twist) -360° - +360° -205° - +205°

L-Axis 1.92 rad/s, 110°/s

E-Axis 1.92 rad/s, 110°/s

U-Axis 2.27 rad/s, 130°/s

R-Axis 3.05 rad/s, 175°/s

B-Axis 3.05 rad/s, 175°/s

T-Axis 4.45 rad/s, 255°/s

4)

R-Axis 721 N•m (73.5 kgf•m) 696 N•m (71 kgf•m)

B-Axis 721 N•m (73.5 kgf•m) 696 N•m (71 kgf•m)

T-Axis 294 N•m (30 kgf•m)

R-Axis 60 kg•m

B-Axis 60 kg•m

T-Axis 33.7 kg•m

Humidity 20 to 80% RH (non-condensing)

Vibration Acceleration 4.9 m/s

Others Free from corrosive gasses or liquids, or explosive gasses

5)

1)

2)

Not Equipped Equipped

±0.12 mm

2

2

2

Wrist axis only: IP67 or equivalent

2

or less (0.5 G)

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

75 dB

58 kg•m

58 kg•m

33 kg•m

2

2

2

5-1

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5 Basic Specifications

5.2 Part Names and Working Axes

5.2 Part Names and Working Axes

Fig. 5-1: Part Names and Working Axes

Middle arm

(L-armB)

E-



Rotary head

(S-head )

U+

U-

E+

/L-

Lower arm
(L-arm A)

R+

R-

Upper arm
(U-arm)

B+

B-

Wrist flange

T+

T-

Wrist

175873-1CD

R+R-

T-

T+

Base

S+

S-

5.3 Manipulator Base Dimensions

Fig. 5-2: Manipulator Base Dimensions

455

30

A

195±0.2

230±0.2

385

320

195±0.2

153 455

12 dia. hole

(2 holes )

280

400

608

22dia. hole (8 holes)

+0.018
0

230

195±0.2

230±0.2195±0.2

S+S-

5-2

View A

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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

320 1020 200

R2236

P-point
Maximum envelope

613

45°

70°

45°

90°

540 435 435 235

316

685

1469 2236

0

31

3705

155°

P-point

270

24571336

258

3793

314 258

584

5-3

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5 Basic Specifications

5.5 Stopping Distance and Time for S-, L-, and E-Axes

5.5 Stopping Distance and Time for S-, L-, and E-Axes

5.5.1 General Information

• The stopping distance is an angle traveled by the manipulator from
the moment when the stop signal is activated until the manipulator
comes to a complete standstill.

• The stopping time is a time elapsed from the moment that the stop
signal is activated until the manipulator comes to a complete
standstill.

• The data that are given for the main axes S, L and E are the
maximum displacement.

• Superposed axes motions may result in longer stopping distance.

• Stopping distance and stopping time are measured in accordance
with ISO 10218-1, Annex B.

• Stop categories: According to IEC60204-1

• Stop category 0

• Stop category 1

• The values specified for Stop category 0 are the reference values
that are determined by tests and simulations. The actual stopping
distance and stopping time may differ.

• The stopping distance and stopping time are measured using the
manipulator-internal measuring technique.

5.5.2 Definition of Use

Load : Rated load weight and load on an arm

Speed : Operating speed of the manipulator

Extension : Distance between the rotation center and the P-point of

each axis

5.5.3 Stopping Distance and Time for Stop Category 0: S-, L- and E-Axes

Measurement Conditions

• Load: Maximum load

• Speed: Maximum speed

• Posture: Maximum inertia generating posture

Axis Stopping distance (deg) Stopping Time (sec)

S-axis 31.7 0.669

L-axis 25.5 0.451

E-axis 20.9 0.388

5-4

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5.5 Stopping Distance and Time for S-, L-, and E-Axes

5.5.4 Stopping Distance and Time for Stop Category 1: S-, L- and E-Axes

5.5.4.1 Extension

Refer to Fig. 5-4 “S-Axis Extension”, Fig. 5-5 “L-Axis Extension” and

Fig. 5-6 “E-Axis Extension”for each axis arm extension.

Fig. 5-4: S-Axis Extension

100%=2236

66%

Fig. 5-5: L-Axis Extension

33%

100%=1917

66%

5-5

33%

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5 Basic Specifications

5.5 Stopping Distance and Time for S-, L-, and E-Axes

Fig. 5-6: E-Axis Extension

100%=1482

66%

5-6

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5.5 Stopping Distance and Time for S-, L-, and E-Axes

5.5.4.2 Stopping Distance and Time for Stop Category 1: S-Axis

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5 Basic Specifications

5.5 Stopping Distance and Time for S-, L-, and E-Axes

5.5.4.3 Stopping Distance and Time for Stop Category 1: L-Axis

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㻜㻚㻡

㻜㻚㻠

㻜㻚㻟

㻜㻚㻞

㻿㼠㼛㼜㼜㼕㼚㼓㻌㼠㼕㼙㼑㼇㼟㼑㼏㼉

㻜㻚㻝

㻜㻚㻜

㻜 㻞㻜 㻢㻜 㻤㻜 㻝㻞㻜㻠㻜 㻝㻜㻜

㻸㼛㼍㼐㻝㻜㻜㻑 㻸㼛㼍㼐㻢㻢㻑 㻸㼛㼍㼐㻟㻟㻑

Extension 66%

㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉

5-8

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5 Basic Specifications

5.5 Stopping Distance and Time for S-, L-, and E-Axes

5.5.4.4 Stopping Distance and Time for Stop Category 1: E-Axis

㻟㻡

㻟㻜

㻞㻡

㻞㻜

㻝㻡

㻝㻜

㻿㼠㼛㼜㼜㼕㼚㼓㻌㼐㼕㼟㼠㼍㼚㼏㼑㼇㼐㼑㼓㼉

㻡

㻜

㻜 㻞㻜 㻢㻜 㻤㻜 㻝㻞㻜㻠㻜 㻝㻜㻜

㻸㼛㼍㼐㻝㻜㻜㻑 㻸㼛㼍㼐㻢㻢㻑 㻸㼛㼍㼐㻟㻟㻑

Extension 100% Extension 100%

㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉

Extension 66% Extension 66%

㻟㻜

㻞㻡

㻞㻜

㻝㻡

㻝㻜

㻿㼠㼛㼜㼜㼕㼚㼓㻌㼐㼕㼟㼠㼍㼚㼏㼑㼇㼐㼑㼓㼉

㻡

㻜

㻜 㻞㻜 㻢㻜 㻤㻜 㻝㻞㻜㻠㻜 㻝㻜㻜

㻸㼛㼍㼐㻝㻜㻜㻑 㻸㼛㼍㼐㻢㻢㻑 㻸㼛㼍㼐㻟㻟㻑

㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉

㻜㻚㻢

㻜㻚㻡

㻜㻚㻠

㻜㻚㻟

㻜㻚㻞

㻿㼠㼛㼜㼜㼕㼚㼓㻌㼠㼕㼙㼑㼇㼟㼑㼏㼉

㻜㻚㻝

㻜㻚㻜

㻜 㻞㻜 㻢㻜 㻤㻜 㻝㻞㻜㻠㻜 㻝㻜㻜

㻸㼛㼍㼐㻝㻜㻜㻑 㻸㼛㼍㼐㻢㻢㻑 㻸㼛㼍㼐㻟㻟㻑

㻜㻚㻢

㻜㻚㻡

㻜㻚㻠

㻜㻚㻟

㻜㻚㻞

㻿㼠㼛㼜㼜㼕㼚㼓㻌㼠㼕㼙㼑㼇㼟㼑㼏㼉

㻜㻚㻝

㻜㻚㻜

㻜 㻞㻜 㻢㻜 㻤㻜 㻝㻞㻜㻠㻜 㻝㻜㻜

㻸㼛㼍㼐㻝㻜㻜㻑 㻸㼛㼍㼐㻢㻢㻑 㻸㼛㼍㼐㻟㻟㻑

㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉

㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉

5-9

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5 Basic Specifications

5.6 Alterable S-Axis Operating Range

5.6 Alterable S-Axis Operating Range

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

Table 5-2: S-Axis Operating Range

Item Specifications

S-Axis Operating Range -180° - +180°

-165° - +165°

-150° - +150°

-135° - +135°

-120° - +120°

-105° - +105°

-90° - +90°

-75° - +75°

-60° - +60°

-45° - +45°

-30° - +30°

-15° - +15°

175873-1CD

(standard)

5.6.1 Necessary Parts

When altering the operating range of the S-axis, following parts shown in
Fig. 5-7 “S-Axis Mechanical Stopper” are necessary in addition to the
already delivered parts.

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

(Tensile strength: 1200N/mm
stopper)

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

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

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

Fig. 5-7: S-Axis Mechanical Stopper



2

) x 1 screw (for the mechanical

Collar

HW9405875-1

Hexagon socket head cap screw
M20 (length: 40 mm)
(as a mechanical stopper)

Pin (HW9405032-2)

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

5-10

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5 Basic Specifications

5.6 Alterable S-Axis Operating Range

5.6.2 Notes on the S-Axis Mechanical Stopper Installation

Mount the collar (drawing No. HW9405875-1) to the hexagon socket head
screws M20 (length: 40 mm) (Tensile strength: 1200N/mm

2

). Then, as
shown in Fig. 5-7 “S-Axis Mechanical Stopper”, mount the S-axis
mechanical stopper to the S-head using the collar with the screws with the
tightening torque of 167 N•m (17 kgf•m).

The S-axis mechanical stopper can be mounted in every 15-degree pitch
as shown in Fig. 5-8 “S-Axis Stopper Mounting Position”.

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

Fig. 5-8: S-Axis Stopper Mounting Position

Section A-A



AA

5-11

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5 Basic Specifications

5.6 Alterable S-Axis Operating Range

5.6.3 Alteration of the S-Axis Pulse Soft Limit

When limiting the S-axis range of motion, alter the parameter from the
programming pendant by referring to the DX200 INSTRUCTIONS.

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

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

Degree 0° -15°− +15° -30°− +30° -45°− +45° -60° − +60°

Pulse 0 -21203

-

+21203

D e g r e e -75°− +75° -90°− +90° -105°− +105° -120°− +120° -135° − +135°

Pulse -106015

-

+106015

-127217

-

+127217

-42406

+42406

-148420

-

+148420

175873-1CD

-63609

-

-

+63609

-169623

-

+169623

-84812

-

+84812

-190826

-

+190826

Degree -150°− +150° -165°− +165° -180° − +180° (Standard)

Pulse -212029

-

+212029

-233232

-

+233232

-254434

-

+254434

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

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

5-12

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6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

The allowable wrist load including the weight of the mount/gripper is as
follows at each specification.

: 110 kg maximum (without YASKAWA standard external cable)

: 100 kg maximum (with YASKAWA standard external cable)

If force is applied to the wrist instead of the load, force on R-, B-, and T­axes should be within the value shown in

Load (without YASKAWA standard external cable)”and Table 6-1(b)
“Allowable Wrist Load (with YASKAWA standard external cable)”.

your YASKAWA representative for further information or assistance.

Table 6-1(a): Allowable Wrist Load (without YASKAWA standard external
cable)

Axis Moment N•m (kgf•m)

R-Axis 721 (73.5) 60

B-Axis 721 (73.5) 60

T-Axis 294 (30) 33.7

1 ( ): Gravitational unit

1)

Table 6-1(a) “Allowable Wrist

2

/4 Total Moment of Inertia kg•m

GD

Contact

2

Table 6-1(b): Allowable Wrist Load (with YASKAWA standard external
cable)

Axis Moment N•m (kgf•m)

R-Axis 696 (71) 58

B-Axis 696 (71) 58

T-Axis 294 (30) 33

1 ( ): Gravitational unit

1)

2

/4 Total Moment of Inertia kg•m

GD

2

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

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

6-1

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6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

Fig. 6-1: Moment Arm Rating

Without YASKAWA standard external cable

P-point

LT(mm)

600

400

200

200

400

600

LT(mm)

50kg
60kg

80kg

110kg

800

600

400

B-axis center of rotation

1000

With YASKAWA standard external cable

P-point

LT(mm)

600

400

200

50kg
60kg

80kg

100kg

400

600

800

1000

1200

1200

1400

1400

R-, T-axis
center of rotation

LB(mm)

1600

R-, T
center of rotation

LB(mm)

1600

-axis

200

400

600

LT(mm)

B-axis center of rotation

6-2

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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 (without
YASKAWA standard external cable)”. To make the alignment mark visible

and to enable an easy grease exchange for the B- and T-axis gears,
mount the attachment inside the fitting. Fitting depth of inside and outside
fittings must be 5 mm or less.

Fig. 6-2: Wrist Flange (without YASKAWA standard external cable)



+0.025

125

Tapped hole M10
(depth: 15.0)(10 holes)

+0.015

10 dia.

0

0

0

-0.025

(depth: 15.0) (2 holes)

145 dia.

31.5 dia.

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

6-3

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7 System Application

7.1 Peripheral Equipment Mounts

7 System Application

7.1 Peripheral Equipment Mounts

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

Fig. 7-1: Installing Peripheral Equipment

175873-1CD

Tapped hole M6(depth:11)

(2 holes)

82

45

Tapped hole M8(depth:14)
(4 holes)

Tapped hole M5(depth:9)
(2 holes)

191

27.5 12.5

110 110

16

60

16

246

60180

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

50 50

Mount the peripheral equipment

within this range.

98.5100

Table 7-1: Constraint for Attaching

Application Note

Cable processing
and valve, etc mounting

Up to 10 kg.
49 N•m (5 kgf•m) max. for increased moment
amount of upper arm

7-1

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7 System Application

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

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

System Applications

Internal user I/O wiring harness, encoder and power cables for external
axis, cables for primary source for welding, D-NET cables, cables for
+24V and hoses for air or cooling are incorporated in the manipulator for
the drive of peripheral devices mounted on the upper arm as shown in Fig.

7-2 “Connectors for Internal User I/O Wiring Harness and Air Lines for
User’s Applications”and Fig. 7-3 “Details of the Connector Pin Numbers”.

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

Item Specification Conditions

2

Internal user I/O wiring
harness

Encoder cable for
external axis

Power cable for
external axis

Cable for primary
source for welding

Cable for D-NET(DS1) 0.3 mm

Cable for +24V 1.25 mm

Air hose
maximum allowable
working pressure

Coolant hose
maximum allowable
working pressure

0.5 mm

0.75 mm2 × 11wires

0.2 mm

2

2 mm

0.75 mm2 × 2 cables

22 mm
14 mm

1.25 mm2 × 3 cables

0.2 mm
1 drain wire

Inside dia. 8.0mm
hoses

Inside dia. 8.0mm
hoses

× 12 wires

2

× 6 cables 3.9A or less per wire

× 4 cables

2

× 2 cables

2

× 1 cable

2

× 2 cables

2

× 2 cables

2

× 4 cables 8.0A or less per wire

0.5 mm2: 3.5A or less per wire

0.75 mm2: 5.0A or less per wire
The total current value must be

59.8A or less.

2 mm2: 16.1A or less per wire

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

55.7A or less.

2

22 mm

1)

14 mm

1.25 mm2: 9.3A or less per wire

0.3 mm

0.2 mm

× 1

490 kPa (5 kgf/cm2) or less

× 4

490 kPa (5 kgf/cm2) or less

: 77.6A or less per wire

2

: 54.4A or less per wire

2

: 4.0A or less per wire

2

: 4.0A or less per wire

1 A ground cable.

7-2

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7 System Application

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

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

Connector for the external axis encoder cable:
JL05-2A20-29SC(socket connector with a cap)
Prepare pin connector JL05-6A20-29P

Connector for +24V 1R4030
Prepare pin connector
CM03-J4P

Cooling water 3
Rc 3/8 Tap

Air
Rc 3/8 Tap

Cooling water 4

Rc 3/8 Tap

Cooling water 2
Rc 3/8 Tap

View A

Connector for +24V CM03A-R4P-S-1
Prepare pin connector CM03-P4S

Connector for the D-NET 8R5L30
Prepare pin connector 8A5006-32DN

Connector for the internal I/O wiring harness
(the casing side):
JL05-2A24-28SC (with a cap)
Prepare pin connector JL05-6A24-28P

Connector for the primary source for welding
MS3100A36-3S (with a cap)
Prepare pin connector MS3106B36-3P

Connector for the external axis power cable:
JL05-2A18-1SC-F0 (with a cap)
Prepare pin connector JL05-6A18-1P

Cooling water 1
Rc 3/8 Tap

Connector for the D-NET CM02-8DR5P-CF
Prepare pin connector CM02A-8DP5S-D

Connector for the internal I/O wiring harness:
JL05-2A24-28PC (with a cap)
Prepare pin connector JL05-6A24-28S

Cable for the primary source for welding

2

14mm

×1 cable

22mm2×2 cables

2

×3 cables

1.25mm

Terminal-A R14-8
Terminal-A R22-8

Terminal-A 1.25-3

Cooling water 4
Rc 1/2 Tap

A

S1

DC-PW

2BC

View B

Air

Rc 3/8 Tap

D-NET

)%7

AIR

1BC

Cooling water 3

Rc 1/2 Tap

Cooling water 1

Rc 1/2 Tap

Cooling water 2

FBT

AIR

27

Cover for the field bus
Pan-head sems screw M3 (length:6) (4 places )
The tube (inside dia. 12 mm) is equipped in the base.

Rc 1/2 Tap

Tube for the field bus cable (inside dia. 12 mm)

(in the base)

27

7-3

B

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7 System Application

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

Fig. 7-3: Details of the Connector Pin Numbers

1

P

2
3

P

4
5

P

6
7

P

8
9

P

10
11

Pin Used

P

12
13

P

14
15

P

16
17

P

18
19

P

20
21

P

22
23

Pin Details for Connectors for Internal user I/O wiring harness

0.5 mm

0.75 mm

2

, 12 wires

56

10

11

16

2

, 11 wires

3271

4

9

8

13

15

14

12

18

17

19

20

232221

1

P

Pin Used

Pin Details for Connectors for External Axis Signal

Pin Used

E

2
11

P

12
9

P

10
15

1

2

3

5

4

7

8

9

12

11

13

16

15

0.2 mm

Shield wire

6

10

14

2

, 6 wires

Pin Used

Pin Details for Connectors for External Axis Power

B
D

F
A
C
E

A

F

B

D

C

22 mm

14 mm

1.25 mm

2

, 2 wires

2

, 1 wires

2

, 3 wires

Pin Details for Connectors for Primary Source for Welding

Drain wire

1

Pin Used

2
3
4
5

0.3 mm

0.2 mm

2

, 2 wires

2

, 2 wires

Pin Used

1
2

3
4

152

3

6

9

1
2
3
4
5
6

4

8

7

1.25 mm

2

2 mm

0.75 mm

2

, 4 wires

, 4 wires

2

, 2 wires

1

2

4

5

3

Pin Details for Connectors for D-NET

1

4

2

3

Pin Details for Connectors for +24V

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8 Electrical Equipment Specification

8.1 Position of Limit Switch

8 Electrical Equipment Specification

8.1 Position of Limit Switch

8.1.1 Specification of Limit Switch

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

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

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

175873-1CD

8.1.2 Position of Limit Switch

The limit switches are optional. For the S-, L-, E- and U-Axes with limit
switches specifications, L.S. are located on S-, L-, E-, and U-Axis
respectively.
For the location, refer to Fig. 8-1 “Location of Limit Switches”. The
inspection and adjustment of the limit switches should be made after
removing the cover.

Fig. 8-1: Location of Limit Switches

U-axis interference
limit switch

E-axis overrun
limit switch



S-axis overrun
limit switch

8-1

L-axis overrun
limit switch

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8 Electrical Equipment Specification

8.1 Position of Limit Switch

8.1.3 Setting of Operation Range

8.1.3.1 S-Axis Operation Range

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

8.1.3.2 L-Axis Operation Range

By the L-axis limit switch, the L-axis operation range can be set to any
angles within -46° to +156° as mentioned in the figure below.

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

Negative side

Positive side

r

r

8-2

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175873-1CD

8 Electrical Equipment Specification

8.1 Position of Limit Switch

8.1.3.3 Setting Range of L- and E-Axes Interference Angle

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

As shown in Fig. 8-3 “L- and E-Axes Interference Angle”, the operation
range of E-axis can be set to any angles within -46° to +121° as the
interference angle with L-axis.

Fig. 8-3: L- and E-Axes Interference Angle

Positive sideNegative side

46°

121°

8.1.3.4 Setting Range of E- and U-Axes Interference Angle

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

As shown in Fig. 8-4 “E- and U-Axes Interference Angle”, the operation
range of U-axis can be set to any angles within -91° to +71° as the
interference angle with E-axis.

Fig. 8-4: E- and U-Axes Interference Angle

91°

8-3

71°



Positive side

Negative side

HW1483557

No.5CN
5CN-1

No.6CN
6CN-1

No.7CN
7CN-1

OBT-5P0BAT2-2

E

CN4-3

LD㸯

CN4-8

+24V

0V

BC2

CN4-2

CN4-7

+24V
LB1

CN4-1
CN4-6

P

CN4-8

P

CN4-2

CN4-7

CN4-3

BC2

CN4-1

P

CN4-6

+24V
LB1

MANIPULATOR

E

BC2

BC1

CN3-3

CN3-7

FG6

CN3-8

SPG+6
SPG-6

CN3-6

SPG+5

CN3-1

SPG-5

FG5

CN3-2

FG4

CN2-8

CN3-8

FG6

P

CN3-7

CN3-6

SPG-6

SPG+6

SPG+5

P

CN3-2

CN3-3

SPG-5

FG5

CN2-8

CN3-1

FG4

SPG-4

SPG+4

CN2-7

CN2-6

FG3

CN2-3

SPG+3
SPG-3

CN2-1
CN2-2

FG2

CN1-8

P

CN2-6
CN2-7

SPG-4

SPG+4

CN2-3

FG3

P

CN2-1
CN2-2

SPG+3
SPG-3

CN1-8

FG2

PPG0V4-4

BAT5

PG5V5

0BAT5

PG0V5

BAT6
0BAT6

PG0V6

PG5V6

-1

-4

-3

-2

No.15CN

-1

-3

-2

-4

No.14CN

P

P

P

T

P

P

P

B

BAT3

PG5V2
PG0V2

0BAT3

BAT4

PG0V3

PG5V4

0BAT4

PG5V3-3

-1

-3

-2

No.13CN

-4

-1

-2

No.12CN

-3

-4

+5V-4

P

P

R

P

FG3

BA

T

OBT

0V

-10

-9

P

P

U

P

BAT
OBT

DATA+3
DATA-3

No.4CN
4CN-1

-6

-5

-2

+5V

FG2

OBT
BAT

0V-9

-4

-10

8

CN1-2

SPG+2
SPG-2

CN1-7

CN1-6

FG1

CN1-3

DX200

CN1-4

+24V

SPG+1
SPG-1

0V

CN1-9

CN1-1

CN1-10

+24V
0V

CN1-5

P

CN1-6
CN1-7

SPG+2
SPG-2

CN1-3

FG1

P

P

CN1-10
CN1-9

CN1-1
CN1-2

+24V
0V

SPG+1
SPG-1

P

CN1-4

CN1-5

+24V
0V

1BC(10×4)

0V

+24V

-4

-2 2
4

0V

+24V-1

No.40CN

-3

1
3

X

6BATRK P BAT21

2
3

6

5

4

7

BAT

0BT

RKP 8

1

7

BAT22

0BAT22

4BATRK P BAT12

0BT 5 0BAT21

0BT

0BT

BATRKP

1

3

2

0BAT11
BAT11
0BAT12

6 PG5V3

BAT1

BAT2

0BAT1

PG0V1

PG5V1

-1

No.10CN

-1

-2

-4

-3

13
14
15
16

7

9
10
11
12

8

PG0V4

PG0V5
PG5V5
PG0V6
PG5V6

PG5V4

No.9CN

P

L

P

P

OBT
BA

T

BAT

DATA+2
DATA-2-2

-6

2CN-1

No.2CN

OBT

BAT

FG1

+5V
0V

-6

-5

-10

-9

-4

P

S

DATA+1
DATA-1-2

No.1CN
1CN-1

26 BAT5

32
1

4

3

2

5

PG0V1
PG5V1

PG5V2

PG0V2

PG0V3

31

28

30

29

27

BAT6

BAT7

0BAT7

0BAT6

20 BAT2

23

22

25

24

21

BAT3

0BAT5

0BAT3

17

19

18

0BAT1
BAT1
0BAT2

PG L-AXIS

OBT
BAT

-9 0V

-10 FG5

T-AXIS-5

-6

-9

-4

-10

OBT

BAT

0V
FG6

+5V

PG

-2

OBT

DATA-6

BAT

DATA+6

B-AXIS

DATA+5

-2

-4

-5

-6

-9

DA

TA-5

0V

+5V

OBT

BAT

PG

-10

BAT

OBT

FG4

U-AXIS

R-AXIS

-2

-6

-4-5+5V

BAT
OBT

DATA-4

DATA+4

PG

PG

PG S-AXIS

CN4-10

0V

CN4-10

CN4-9

CN3-10

CN3-9

CN2-9

CN2-5

CN2-4

CN3-5

CN3-4

CN2-10

CN3-9
CN3-10

5V

0V

CN3-5

CN3-4

CN2-4
CN2-5
CN2-9
CN2-10

SPG+8
SPG-8
FG8

CN4-5

CN4-4

P

SPG-8

SPG+8

FG8

CN4-5

CN4-4

CN4-9

P

P

0V

P

GUN

LB1

LA1

LB2
LB3

LD2
LD3

LD1

LC1

+24V

+24V

P

P

P

BAT8

0BAT8

PG0V7
PG5V7

No.8CN
8CN-1

-12

-11

-10

-9

-15

OBT

BAT

0V
FG8

+5V

-2
DATA-8

DATA+8

BAT8
0BAT8

PG0V8

PG5V8

-1

-4

-3

-2

No.16CN

8

OBT-5P0BAT7-2
PG5V7
PG0V7

-3

-4 P

+5V

FG7

OBT

BAT

0V-9

-4

-10

BAT7-1

No.11CN

P

E

BAT

DATA+7

DATA-7-2

-6

3CN-1

No.3CN

PG E-AXIS

BAT4

0BAT4

PG0V8
PG5V8

SPG+7
SPG-7
FG7

SPG+7
SPG-7
FG7

+24V

LD1

5V
0V

LB3
LB1

LD3
LD1

5V

0V
5V
0V

A1

B1

A3

FOR LAMP(OPTION)

LA2
LB2

LB2

LB1

LD1
LD2

LD2

LC2

LB3

LA3

LD3

LC3

LB4

LA4

LD4

LC4

LA1

LB1

LB1

S-AXIS

LC1

LD1

LD1

LC1

LA1

OVERRUN L.S.

S-AXIS
OVERRUN L.S.

S-AXIS OVERRUN L.S.

L-AXIS OVERRUN L.S.

L AND E-AXIS INTERFERENCE L.S.

LA1

LB1

LB2

LB2

LA2

LB1

S-AXIS OVERRUN L.S.

L-AXIS OVERRUN L.S.

L AND E-AXIS INTERFERENCE L.S.

LC1

LD1

LD2

LD2

LC2

LD1

LC1

LD1

LD3

LD2

LD3

LC3

LA1

LB1

LB3

LB2

LB3

LA3

LD1

LD3

LD4

LC4

L AND E AND U-AXIS INTERFERENCE L.S.

LB1

LB3

LB4

LA4

L AND E AND U-AXIS INTERFERENCE L.S.

A2

B2

A3

B3

A1

B1

A4

B4

NOTE

A

B

2. For the limit switch specification, the connection of the section
and di

ffer as follows.

1. This is the internal connection diagram for MOTOMAN-VS100.

S-axis with Limit Switches Specification

A2

Connected to

Connected to

A1

Connected to

Connected to

Connected to

Connected to

A4

B1

Connected to

B2

Connected to

B3

Connected to

B4

Connected to

S-, L-, E-, U-axes with Limit Switches Specification

CasingBase

51 of 91

175873-1CD

VS100

8.2 Internal Connections

Fig. 8-5(a): Internal Connection Diagram

8 Electrical Equipment Specification

8.2 Internal Connections

8-4

169856-1CD

VS100

52 of 91

175873-1CD

8 Electrical Equipment Specification

8.2 Internal Connections

Fig. 8-5(b): Internal Connection Diagram

N0.39CN(24-28)

1
2
3
4
5
6

7
8
9
10
11
12

13
14
15
16
17
18
19
20
21
22
23

E E

MU1

E-8

MU1

E-7

MV1

E-2

MV1

E-1

MW1

E-6
E-5

MW1
ME1

E-4

ME1

E-3

BA1

B-5
B-10

BB1

MU2

F-8

MU2

F-7

MV2

F-2

MV2

F-1

MW2

F-6
F-5

MW2
ME2

F-4

ME2

F-3
B-4

BA2

MU7

E-12
F-12

MU7
MV7

E-9

MV7

F-9

MW7

E-11
F-11

MW7
ME7

E-10

ME7

F-10
B-1

BA7

B-6

BB7 BB7

MU3

D-8

MU3

D-7

MV3

D-4

MV3

D-3

MW3

D-6
D-5

MW3
ME3

D-2

ME3

D-1

BA3

B-3

A-6

MU4
MV4

A-3
A-1

MW4
ME4

A-5

BA4

B-2

BB4

B-9

MU5

C-11

MV5

C-9

MW5

C-7
C-8

ME5

BA5

B-12

MU6

C-6

MV6

C-4
C-2

MW6

ME6

C-5

BA6

B-11

MU7

A-11

MV7

A-9

MW7

A-2

ME7

A-4

BA7

B-8

BB7

B-7

2BC(8PX3+12PX3)2BC

C-11
C-9
C-7
C-8
B-12

C-6

E-2
E-1
E-6
E-5
E-4
E-3
B-5
B-10

F-8
F-7
F-2
F-1
F-6
F-5
F-4
F-3
B-4

D-8
D-7
D-4
D-3
D-6
D-5
D-2
D-1
B-3

A-6
A-3
A-1
A-5
B-2
B-9

C-4
C-2
C-5
B-11

A-11
A-9
A-2
A-4
B-8
B-7

E-8
E-7

E-12
F-12
E-9
F-9
E-11
F-11
E-10
F-10
B-1
B-6

MU8
MV8
MW8
ME8
BA8
BB8

MU1
MU1
MV1
MV1
MW1
MW1
ME1
ME1
BA1
BB1

MU2
MU2
MV2
MV2
MW2
MW2
ME2
ME2
BA2

MU7
MU7
MV7
MV7
MW7
MW7
ME7
ME7
BA7

MU3
MU3
MV3
MV3
MW3
MW3
ME3
ME3
BA3

MU4
MV4
MW4
ME4
BA4
BB4

MU5
MV5
MW5
ME5
BA5

MU6
MV6
MW6
ME6
BA6

No.17CN(24-28)

1

SP1

MU1
MV1
MW1
ME1

BA1
BB1

MU2
MV2
MW2
ME2

BA2
BB2

MU7
MV7
MW7
ME7

BA7
BB7

MU3
MV3
MW3
ME3

BA3
BB3

2
3
4
5
6

7
8
9
10
11
12

13
14
15
16
17
18
19
20
21
22
23

No.26CN
26CN-A

-B

-C

-D

27CN-1

-2

No.27CN

No.28CN
28CN-A

-B

-C

-D

29CN-1

-2

No.29CN

No.30CN
30CN-A

-B

-C

-D

31CN-1

-2

No.31CN

No.32CN(18-1)
32CN-1

2
3
4
5
6

SP2
SP3

SP4
SP5
SP6

SP7
SP8
SP9
SP10
SP11
SP12

SP13
SP14
SP15
SP16
SP17
SP18
SP19
SP20
SP21
SP22
SP23

SM

YB

SM L-AXIS

YB

SM

YB

SM U-AXIS

YB

MU4
MV4
MW4
ME4

BA4
BB4

MU5
MV5
MW5
ME5

BA5
BB5

MU6
MV6
MW6
ME6

BA6
BB6

MU8
MV8
MW8
ME8
BA8
BB8

S-AXIS

E-AXIS

GUN

S1

SM R-AXIS

YB

SM B-AXIS

YB

SM

T-AXIS

YB

P

P

P

P

P

P

No.18CN

18CN-A

-B

-C

-D

19CN-1

-2

No.19CN

No.20CN

20CN-A

-B

-C

-D

21CN-1

-2

No.21CN

No.22CN

22CN-A

-B

-C

-D

23CN-1

-2

No.23CN

No.24CN

24CN-A

-B

-C

-D

25CN-1

-2

No.25CN

PE

8-5

U
V
E

1
2
3

No.37CN(8DR5P)

DRAIN

37CN-1

V+

-2
V-

-3
CANH

-4
CANL

-5

No.38CN(R4P)
38CN-1

+24V

-2

+24V

-3

0V
0V -4-4

No.36CN
36CN-1

No.33CN(36-3)

33CN-B

U

-D
V

-F
E

1
2
3

DRAIN
V+
V­CANH
CANL

+24V
+24V
0V
0V

Primary power source

D-NET

+24V

-A

-C

-E

No.34CN(32DN)
34CN-1

-2

-3

-4

-5

No.35CN(P4S)
+24V
+24V

-2
0V

-3
0V

-4

35CN-1

-2

-3

169856-1CD

175873-1CD

CAUTION

NOTE

53 of 91

VS100

9 Maintenance and Inspection

9.1 Inspection Schedule

9 Maintenance and Inspection

• Maintenance and inspection must be performed by specified
personnel.

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

• For disassembly or repair, contact your YASKAWA representative.

• Do not remove the motor, and do not release the brake.

Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the manipulator's arm.

DANGER

WARNING

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

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

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

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

9.1 Inspection Schedule

Proper inspections are essential not only to assure that the mechanism
will be able to function for a long period, but also to prevent malfunctions
and assure safe operation. Inspection intervals are classified into six
levels as shown in Table 9-1 “Inspection Items”.

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

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

• If axes are used very frequently (in handling applications,
etc.), inspections may be required at shorter intervals.
Contact your YASKAWA representative.

9-1

HW1483557

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

54 of 91

1)

Items

1 Alignment marks

2 External cables
3 Working area and whole exterior of

manipulator

4 S-,L-,E-,U-,R-,B- and T-axes

motors

5 Baseplate mounting bolts
6 Cover mounting screws

9-2

7 S-,L-,E-,U-,R-,B- and T-axes

motor connectors

8 Connector base
9 Wire harness in manipulator

10 Limit switches and dogs

(For S-,L-, E- and U-axes)

HW1483557

*Option (Only for Overrun L.S.
specification.)

11 Battery pack in manipulator

12 S-axis speed reducer

13 L-, E- and U-axes speed reducers

Schedule Method Operation Inspection

Charge

Daily

1000H Cycle

6000H Cycle

12000H Cycle

24000H Cycle

36000H Cycle

•

•

•

•

•

•

•

•

•

•

•

••

••

Visual Check alignment mark accordance at the home position.

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

Check for damage and outside cracks.
Visual Check for grease leakage.

Wrench Tighten loose bolts. Replace if necessary.
Screwdriver,

Wrench
Manual Check for loose connectors and tighten if necessary.

Manual Check for loose connectors.
Visual,
Multimeter

Screwdriver,
Wrench,
Multimeter

•

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

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

Tighten loose bolts. Replace if necessary.

Check for conduction between the main connector of base and

intermediate connector by manually shaking the wire.

Check for wear of protective spring.

Replace at 2400H inspection

Check for dirt, damage, malfunction.

Tighten loose bolts.

Replace the battery pack when the battery alarm occurs or when the

manipulator has been operated for 36000H.

Supply grease.5) (6000H cycle).

Exchange grease.

Supply grease.5) (6000H cycle).

Exchange grease.

See section 9.3.3, section 9.3.4 and section 9.3.5.

5)

5)

2)

3)

4)

(12000H cycle). See section 9.3.2.

(12000H cycle).

4)

Specified

Personnel

Licensee

•••

•••

•••

•••

•••

•••

•••

•••

••

••

••

••

••

Service

Company

•

9.1 Inspection Schedule

VS100

9 Maintenance and Inspection

175873-1CD

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

55 of 91

1)

Items

14 R-axis speed reducer

15 B- and T-axes speed reducers and

gears

16 Overhaul

1 Inspection No. correspond to the numbers in Fig. 9-1 “Inspection Parts and Inspection Numbers”.
2 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can cause a motor breakdown. Contact your YASKAWA

representative.

9-3

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

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

4 The application that requires highly frequent operation such as handling may cause grease leakage of air breather or the internal pressure rise of speed reducer.

Contact your YASKAWA representative.

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

Schedule Method Operation Inspection

Daily

1000H Cycle

6000H Cycle

12000H Cycle

24000H Cycle

••

••

36000H Cycle

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

Supply grease.5) (6000H cycle).

Exchange grease.5) (12000H cycle). See section 9.3.6.
Grease Gun Check for malfunction. (Replace if necessary.)

Supply grease.5) (6000H cycle).

Exchange grease.5) (12000H cycle). See section 9.3.7.

4)

4)

••

Charge

Specified

Personnel

Licensee

Service

Company

••

••

VS100

175873-1CD

9 Maintenance and Inspection

9.1 Inspection Schedule

HW1483557

No. Grease Used Inspected Parts

12, 13, 14, 15 Molywhite RE.No.00 Speed reducers for all axes

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

Table 9-2: Inspection Parts and Grease Used

B- and T-axis gears

Fig. 9-1: Inspection Parts and Inspection Numbers

56 of 91

9-4

U-axis

HW1483557

R-axis

B-axis

U-axis

R-axis

2

7

7

7

S-axis

2

4

4

L-axis

7

VS100

R-axis

S-axis

1

T-axi s

7

B-axis

6

4

T-axis

4

U-axis

9

13

13

U-axis

E-axis

E-axis

E-axis

10

1

10

2

1

13

L-axis

1

B-axis

6

T-axis

1

1

15

15

B-axis

T-axis

9.1 Inspection Schedule

9 Maintenance and Inspection

14

6

8㍈

1

(㍈

7

(㍈

4

4

/㍈

S-axis

7

4

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11

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5(1R

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S-axis

10

10

L-axis

12

5

/㍈

175873-1CD

8

175873-1CD

57 of 91

VS100

9 Maintenance and Inspection

9.2 Battery Pack Replacement

9.2 Battery Pack Replacement

The battery packs (type: HW0470360-A) are installed in the position
shown in Fig. 9-2 “Battery Location”. If a battery alarm occurs in the
DX200, replace the battery in accordance with the following procedures:

Fig. 9-2: Battery Location

Cross head APS bolt M6
(length: 12mm) (8 bolts)

Cross head APS bolt M4
(length: 10mm) (4 bolts)
(For cover plate fixing)

Battery pack
(HW0470360-A)

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Plate

(a) Back View

Connector base

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Fig. 9-3: Battery Connection

See step 5 below

Circuit board

(Type: SGDR-EFBA02A)

(b) Top View

Battery pack before replacement

Connector

See step 4 below

New battery pack

9-5

HW1483557

VS100

NOTE

NOTE

58 of 91

175873-1CD

9 Maintenance and Inspection

9.2 Battery Pack Replacement

1. Turn OFF the DX200 main power supply.

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

3. Remove the old battery pack from the battery holder.

4. Connect the new battery pack to the unoccupied connector on the
board.

5. Remove the old battery pack from the board.

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

6. Mount the new battery pack to the holder.

7. Reinstall the plate.

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

9-6

HW1483557

175873-1CD

NOTE

59 of 91

VS100

9 Maintenance and Inspection

9.3 Grease Replenishment/Exchange

9.3 Grease Replenishment/Exchange

9.3.1 Notes on Grease Replenishment/Exchange Procedures

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

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

• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.

• Make sure to use a grease pump to inject grease. Set air
supply pressure to the grease pump at 0.3 MPa or less,
and the grease injection rate at 8 g/s or less.

• Make sure to fill hoses, which are joined to the grease
inlet, with grease beforehand to prevent air from intruding
into the speed reducer.

9-7

HW1483557

VS100

NOTE

60 of 91

175873-1CD

9 Maintenance and Inspection

9.3 Grease Replenishment/Exchange

9.3.2 Grease Replenishment/Exchange for S-Axis Speed Reducer

Fig. 9-4: S-Axis Speed Reducer

Grease inlet

(Hexagon socket head
plug PT1/4)

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5(1R
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9.3.2.1 Grease Replenishment

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

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

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

• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.

Grease exhaust port
(Hexagon socket head plug PT3/8)

S-axis speed reducer

2. Remove the hexagon socket head plug PT1/4 from the grease inlet
and install the grease zerk PT1/4. (The grease zerk is delivered with
the manipulator.)

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

– Grease type: Molywhite RE.No.00

– Amount of grease: 600 cc

(1200 cc for the 1st supply)

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

– Grease injection rate: 8 g/s or less

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

5. Wipe the discharged grease with a cloth and reinstall the plug PT3/8
on the grease exhaust port. Apply ThreeBond 1206C to the thread
part of the plug, and tighten the plug with a tightening torque of 23 N
(2.3 kgf

•m).

•m

6. Remove the grease zerk from the grease inlet and reinstall the plug
PT1/4. Apply ThreeBond 1206C to the thread part of the plug, and
tighten the plug with a tightening torque of 12 N

•m (1.2 kgf•m).

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9.3 Grease Replenishment/Exchange

9.3.2.2 Grease Exchange

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

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

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

• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.

2. Remove the hexagon socket head plug PT1/4 from the grease inlet
and install the grease zerk PT1/4. (The grease zerk is delivered with
the manipulator.)

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

– Grease type: Molywhite RE.No.00

– Amount of grease: 3000 cc

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

– Grease injection rate: 8 g/s or less

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

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

6. Wipe the discharged grease with a cloth and reinstall the plug PT3/8
on the grease exhaust port. Apply ThreeBond 1206C to the thread
part of the plug, and tighten the plug with a tightening torque of 23 N
(2.3 kgf

7. Remove the grease zerk from the grease inlet and reinstall the plug
PT1/4. Apply ThreeBond 1206C to the thread part of the plug, and
tighten the plug with a tightening torque of 12 N

•m).

If the plug is installed while the grease is being exhausted,
the grease will leak inside the motor and may cause a
damage. Ensure that the grease has been completely
exhausted before installing the plug.

•m (1.2 kgf•m).

•m

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9.3 Grease Replenishment/Exchange

9.3.3 Grease Replenishment/Exchange for L-Axis Speed Reducer

Fig. 9-5: L-Axis Speed Reducer

L-axis speed reducer



Grease inlet
(Hexagon socket head plug PT1/8)

9.3.3.1 Grease Replenishment

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

1. Tilt the L-arm A vertical to the ground.

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

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

• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.

Grease exhaust port

(Hexagon socket head plug PT3/8)

3. Remove the hexagon socket head plug PT1/8 from the grease inlet
and install the grease zerk PT1/8. (The grease zerk is delivered with
the manipulator.)

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

– Grease type: Molywhite RE.No.00

– Amount of grease: 400 cc

(800 cc for 1st supply)

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

– Grease injection rate: 8 g/s or less

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

6. Wipe the discharged grease with a cloth and reinstall the plug PT3/8
on the grease exhaust port. Apply ThreeBond 1206C to the thread
part of the plug, and tighten the plug with a tightening torque of 23 N
(2.3 kgf

•m).

•m

7. Remove the grease zerk from the grease inlet and reinstall the plug
PT1/8. Apply ThreeBond 1206C to the thread part of the plug, and
tighten the plug with a tightening torque of 4.9 N

•m (0.5 kgf•m).

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9.3 Grease Replenishment/Exchange

9.3.3.2 Grease Exchange

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

1. Tilt the L-arm A vertical to the ground

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

• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.

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

3. Remove the hexagon socket head plug PT1/8 from the grease inlet
and install the grease zerk PT1/8. (The grease zerk is delivered with
the manipulator.)

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

– Grease type: Molywhite RE.No.00

– Amount of grease: 2000 cc

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

– Grease injection rate: 8 g/s or less

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

.

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

7. Wipe the discharged grease with a cloth and reinstall the plug PT3/8
on the grease exhaust port. Apply ThreeBond 1206C to the thread
part of the plug, and tighten the plug with a tightening torque of 23 N
(2.3 kgf

8. Remove the grease zerk from the grease inlet and reinstall the plug
PT1/8. Apply ThreeBond 1206C to the thread part of the plug, and
tighten the plug with a tightening torque of 4.9 N

•m).

If the plug is installed while the grease is being exhausted,
the grease will leak inside the motor and may cause a
damage. Ensure that the grease has been completely
exhausted before installing the plug.

•m (0.5 kgf•m).

•m

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9.3 Grease Replenishment/Exchange

9.3.4 Grease Replenishment/Exchange for E-Axis Speed Reducer

Fig. 9-6: E-Axis Speed Reducer

Grease exhaust port

(Hexagon socket head plug PT3/8)

E-axis
speed reducer

Grease inlet
(Hexagon socket head plug PT1/8)

9.3.4.1 Grease Replenishment

(Refer to Fig. 9-6 “E-Axis Speed Reducer”.)

1. Tilt the L-arm B vertical to the ground.

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

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

• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.

3. Remove the hexagon socket head plug PT1/8 from the grease inlet
and install the grease zerk PT1/8. (The grease zerk is delivered with
the manipulator.)

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

– Grease type: Molywhite RE.No.00

– Amount of grease: 400 cc

(800 cc for 1st supply)

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

– Grease injection rate: 8 g/s or less

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

6. Wipe the discharged grease with a cloth and reinstall the plug PT3/8
on the grease exhaust port. Apply ThreeBond 1206C to the thread
part of the plug, and tighten the plug with a tightening torque of 23 N
(2.3 kgf

7. Remove the grease zerk from the grease inlet and reinstall the plug
PT1/8. Apply ThreeBond 1206C to the thread part of the plug, and
tighten the plug with a tightening torque of 4.9 N

•m).

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9.3 Grease Replenishment/Exchange

9.3.4.2 Grease Exchange

(Refer to Fig. 9-6 “E-Axis Speed Reducer”.)

1. Tilt the L-arm B vertical to the ground.

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

• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.

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

3. Remove the hexagon socket head plug PT1/8 from the grease inlet
and install the grease zerk PT1/8. (The grease zerk is delivered with
the manipulator.)

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

– Grease type: Molywhite RE.No.00

– Amount of grease: 2000 cc

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

– Grease injection rate: 8 g/s or less

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

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

7. Wipe the discharged grease with a cloth and reinstall the plug PT3/8
on the grease exhaust port. Apply ThreeBond 1206C to the thread
part of the plug, and tighten the plug with a tightening torque of 23 N
(2.3 kgf

8. Remove the grease zerk from the grease inlet and reinstall the plug
PT1/8. Apply ThreeBond 1206C to the thread part of the plug, and
tighten the plug with a tightening torque of 4.9 N

•m).

If the plug is installed while the grease is being exhausted,
the grease will leak inside the motor and may cause a
damage. Ensure that the grease has been completely
exhausted before installing the plug.

•m (0.5 kgf•m).

•m

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9.3 Grease Replenishment/Exchange

9.3.5 Grease Replenishment/Exchange for U-Axis Speed Reducer

Fig. 9-7: U-Axis Speed Reducer

U-arm

Grease exhaust port

E-axis speed reducer

Grease inlet

(Hexagon socket head plug PT1/8)

9.3.5.1 Grease Replenishment

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

(Hexagon socket head plug PT3/8)

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1. Tilt the U-arm horizontal to the ground. (Refer to Fig. 9-7.)
(The L-arm B is in the vertical posture.)

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

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

• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.

3. Remove the hexagon socket head plug PT1/8 from the grease inlet
and install the grease zerk PT1/8. (The grease zerk is delivered with
the manipulator.)

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

– Grease type: Molywhite RE.No.00

– Amount of grease: 200 cc

(400 cc for 1st supply)

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

– Grease injection rate: 8 g/s or less

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

6. Wipe the discharged grease with a cloth and reinstall the plug PT3/8
on the grease exhaust port. Apply ThreeBond 1206C to the thread
part of the plug, and tighten the plug with a tightening torque of 23 N
(2.3 kgf

7. Remove the grease zerk from the grease inlet and reinstall the plug
PT1/8. Apply ThreeBond 1206C to the thread part of the plug, and
tighten the plug with a tightening torque of 4.9 N

•m).

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9.3 Grease Replenishment/Exchange

9.3.5.2 Grease Exchange

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

1. Tilt the U-arm horizontal to the ground. (Refer to Fig. 9-7.)
(The L-arm B is in the vertical posture.)

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

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

• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.

3. Remove the hexagon socket head plug PT1/8 from the grease inlet
and install the grease zerk PT1/8. (The grease zerk is delivered with
the manipulator.)

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

– Grease type: Molywhite RE.No.00

– Amount of grease: 1000 cc

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

– Grease injection rate: 8 g/s or less

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

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

7. Wipe the discharged grease with a cloth and reinstall the plug PT3/8
on the grease exhaust port. Apply ThreeBond 1206C to the thread
part of the plug, and tighten the plug with a tightening torque of 23 N
(2.3 kgf

8. Remove the grease zerk from the grease inlet and reinstall the plug
PT1/8. Apply ThreeBond 1206C to the thread part of the plug, and
tighten the plug with a tightening torque of 4.9 N

•m).

If the plug is installed while the grease is being exhausted,
the grease will leak inside the motor and may cause a
damage. Ensure that the grease has been completely
exhausted before installing the plug.

•m (0.5 kgf•m).

•m

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9.3 Grease Replenishment/Exchange

9.3.6 Grease Replenishment/Exchange for R-, B-, T- Axes Gears in the Casing and R-Axis Speed Reducer

Fig. 9-8: R-, B-, T- Axes Gears in the Casing and R-Axis Speed Reducer

Grease exhaust port
(Hexagon socket head plug PT3/8)

U-arm

Grease inlet

(Hexagon socket head plug PT1/8)

9.3.6.1 Grease Replenishment for R-, B-, T-Axes Gears in the Casing

(Refer to Fig. 9-8 “R-, B-, T- Axes Gears in the Casing and R-Axis Speed
Reducer”.)

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R-axis speed reducer

Grease inlet

(Hexagon socket head plug PT1/8)

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

exhaust port.

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

• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.

2. Remove the hexagon socket head plug PT1/8 from the grease inlet
and install the grease zerk PT1/8. (The grease zerk is delivered with
the manipulator.)

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

– Grease type: Molywhite RE No. 00

– Amount of grease: 480 cc

(960 cc for 1st supply)

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

– Grease injection rate: 8 g/s or less

4. Move the R-, B-, T-Axes for a few minutes to discharge excess grease.

5. Wipe the discharged grease with a cloth and reinstall the plug PT3/8
on the grease exhaust port. Apply ThreeBond 1206C to the thread
part of the plug, and tighten the plug with a tightening torque of 23 N•m
(2.34 kgf•m).

6. Remove the grease zerk from the grease inlet and reinstall the plug
PT1/8. Apply ThreeBond 1206C to the thread part of the plug, and
tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).

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9.3 Grease Replenishment/Exchange

9.3.6.2 Grease Replenishment for R-Axis Speed Reducer

(Refer to Fig. 9-8 “R-, B-, T- Axes Gears in the Casing and R-Axis Speed
Reducer”.)

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

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

• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.

2. Remove the hexagon socket head plug PT1/8 from the grease inlet
and install the grease zerk PT1/8. (The grease zerk is delivered with
the manipulator.)

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

– Grease type: Molywhite RE.No.00

– Amount of grease: 400 cc

(800 cc for 1st supply)

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

– Grease injection rate: 8 g/s or less

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

5. Wipe the discharged grease with a cloth and reinstall the plug PT3/8
on the grease exhaust port. Apply ThreeBond 1206C to the thread
part of the plug, and tighten the plug with a tightening torque of 23 N
(2.3 kgf

6. Remove the grease zerk from the grease inlet and reinstall the plug
PT1/8. Apply ThreeBond 1206C to the thread part of the plug, and
tighten the plug with a tightening torque of 4.9 N

•m).

•m (0.5 kgf•m).

•m

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9.3 Grease Replenishment/Exchange

9.3.6.3 Grease Exchange for R-, B-, T-Axes Gears in the Casing

(Refer to Fig. 9-8 “R-, B-, T- Axes Gears in the Casing and R-Axis Speed
Reducer”.)

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

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

• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.

2. Remove the hexagon socket head plug PT1/8 from the grease inlet
and install the grease zerk PT1/8. (The grease zerk is delivered with
the manipulator.)

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

– Grease type: Molywhite RE No.00

– Amount of grease: approx. 2400 cc

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

– Grease injection rate: 8 g/s or less

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

5. Move the R-, B-, and T-axes for a few minutes to discharge excess
grease.

6. Wipe the discharged grease with a cloth and reinstall the plug PT3/8
on the grease exhaust port. Apply ThreeBond 1206C to the thread
part of the plug, and tighten the plug with a tightening torque of 23 N
(2.34 kgf

7. Remove the grease zerk from the grease inlet and reinstall the plug
PT1/8. Apply ThreeBond 1206C to the thread part of the plug, and
tighten the plug with a tightening torque of 4.9 N

•m).

If the plug is installed while the grease is being exhausted,
the grease will leak inside the motor and may cause a
damage. Ensure that the grease has been completely
exhausted before installing the plug.

•m (0.5 kgf•m).

•m

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9.3 Grease Replenishment/Exchange

9.3.6.4 Grease Exchange for R-Axis Speed Reducer

(Refer to Fig. 9-8 “R-, B-, T- Axes Gears in the Casing and R-Axis Speed
Reducer”.)

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

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

• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.

2. Remove the hexagon socket head plug PT1/8 from the grease inlet
and install the grease zerk PT1/8. (The grease zerk is delivered with
the manipulator.)

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

– Grease type: Molywhite RE.No.00

– Amount of grease: 2000 cc

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

– Grease injection rate: 8 g/s or less

4. The grease exchange is completed when new grease appears from
the grease exhaust port. The new grease is distinguished from the old
grease by color.

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

6. Wipe the discharged grease with a cloth and reinstall the plug PT3/8
on the grease exhaust port. Apply ThreeBond 1206C to the thread
part of the plug, and tighten the plug with a tightening torque of 23 N
(2.3 kgf

7. Remove the grease zerk from the grease inlet and reinstall the plug
PT1/8. Apply ThreeBond 1206C to the thread part of the plug, and
tighten the plug with a tightening torque of 4.9 N

•m).

If the plug is installed while the grease is being exhausted,
the grease will leak inside the motor and may cause a
damage. Ensure that the grease has been completely
exhausted before installing the plug.

•m (0.5 kgf•m).

•m

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9.3 Grease Replenishment/Exchange

9.3.7 Grease Replenishment/Exchange for B- and T-Axes Speed Reducers and Gears

Fig. 9-9: B- and T-Axes Speed Reducers and Gears

Grease inlet

(Hexagon socket head plug PT1/8)

T-axis speed reducer

9.3.7.1 Grease Replenishment

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

1. Remove the hexagon socket head cap screw M6x6 from the grease

exhaust port.

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

• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.

Grease exhaust port
(Hexagon socket head cap screw M6x6)

B-axis speed reducer

2. Remove the hexagon socket head plug PT1/8 from the grease inlet
and install the grease zerk PT1/8. (The grease zerk is delivered with
the manipulator.)

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

– Grease type: Molywhite RE.No.00

– Amount of grease: 240 cc

(480 cc for 1st supply)

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

– Grease injection rate: 8 g/s or less

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

5. Wipe the discharged grease with a cloth and reinstall the screw M6x6
on the grease exhaust port. Apply ThreeBond 1206C to the thread
part of the set screw, and tighten the set screw with a tightening torque
of 6 N

•m (0.6 kgf•m).

6. Remove the grease zerk from the grease inlet and reinstall the plug
PT1/8. Apply ThreeBond 1206C to the thread part of the plug, and
tighten the plug with a tightening torque of 4.9 N

•m (0.5 kgf•m).

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9.3 Grease Replenishment/Exchange

9.3.7.2 Grease Exchange

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

1. Remove the hexagon socket head cap screw M6x6 from the grease
exhaust port.

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

• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
damage to the motor due to coming off of an oil seal.

2. Remove the hexagon socket head plug PT1/8 from the grease inlet
and install the grease zerk PT1/8. (The grease zerk is delivered with
the manipulator.)

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

– Grease type: Molywhite RE.No.00

– Amount of grease: 1200 cc

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

– Grease injection rate: 8 g/s or less

4. The grease exchange is completed when new grease appears from
the grease exhaust port. The new grease is distinguished from the old
grease by color.

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

6. Wipe the discharged grease with a cloth and reinstall the screw M6x6
on the grease exhaust port. Apply ThreeBond 1206C to the thread
part of the set screw, and tighten the set screw with a tightening torque
of 6 N

•m (0.6 kgf•m).

If the screw is installed while the grease is being exhausted,
the grease will leak inside the motor and may cause a
damage. Ensure that the grease has been completely
exhausted before installing the screw.

7. Remove the grease zerk from the grease inlet and reinstall the plug
PT1/8. Apply ThreeBond 1206C to the thread part of the plug, and
tighten the plug with a tightening torque of 4.9 N

•m (0.5 kgf•m).

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9.4 Notes for Maintenance

9.4 Notes for Maintenance

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

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

For the battery pack connection, refer to Fig. 9-10 “Encoder
Connector Diagram”.

9.4.1 Battery Pack Connection

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

1. Remove a cap attached to the battery backup connectors of the motor.

2. Connect a battery pack (HW9470932-A) to the battery backup
connectors (BAT and OBT are marked) located at the end point of an
encoder cable. With the battery pack connected to the battery backup
connectors, perform maintenance check.

3. After the maintenance check, confirm all connectors are connected
and remove the battery pack. Reinstall the cap onto the battery
backup connectors of the motor.

Do not remove battery pack in the connector base.

Fig. 9-10: Encoder Connector Diagram

Motor

Motor power connector

Encoder connector

0B T

BAT

b

a

Connector for battery back-up

9-22

a

b

0BT*

BAT*

HW9470932-A

(Battery pack)

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

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10 Recommended Spare Parts

10 Recommended Spare Parts

It is recommended to keep the parts and components in the following table
in stock as spare parts for the MOTOMAN-VS100. Product performance
can not be guaranteed when using spare parts from any company other
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

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

Table 10-1: Spare Parts for the MOTOMAN-VS100 (Sheet 1 of 2)

Rank Parts

A 1 Grease Molywhite RE. No.00 YASKAWA

A 2 Liquid Gasket Three Bond 1206C ThreeBond Co., Ltd. - -

A 3 Battery Pack HW9470932-A YASKAWA

A 4 Battery Pack HW0470360-A YASKAWA

B5 S-axis

B 6 L-axis

B7 E-axis

B 8 U-axis

B 9 R-axis

B 10 B-axis

Name Type Manufacturer Qty Qty

No.

Electric
Corporation

Electric
Corporation

Electric
Corporation

Speed Reducer
Replacement Kit

Speed Reducer
Replacement Kit

Speed Reducer
Replacement Kit

Speed Reducer
Replacement Kit

Speed Reducer
Replacement Kit

Speed Reducer
Replacement Kit

Y005C­VS00100A00S

Y005C­VS00100A00L

Y005C­VS00100A00E

Y005C­VS00100A00U

Y005C­VS00100A00R

Y005C­VS00100A00B

YASKAWA
Electric
Corporation

YASKAWA
Electric
Corporation

YASKAWA
Electric
Corporation

YASKAWA
Electric
Corporation

YASKAWA
Electric
Corporation

YASKAWA
Electric
Corporation

16 kg - For all axes

1 1 For replacing

1 1 For inside the

11

11

11

11

11

11

Remarks
per
Unit

speed reducers

the wire

harness in the

manipulator

connector base

10-1

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10 Recommended Spare Parts

Table 10-1: Spare Parts for the MOTOMAN-VS100 (Sheet 2 of 2)

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Rank Parts

B 11 T-axis

C 12 AC Servomotor for

C 13 AC Servomotor for

C 14 AC Servomotor for

C 15 AC Servomotor for

C 16 AC Servomotors

C 17 Wire Harness in

C 18 Connector Base

C 19 Circuit Board SGDR-EFBA02A YASKAWA

Name Type Manufacturer Qty Qty

No.

Speed Reducer
Replacement Kit

S-axis

L-axis

E-axis

U-axis

for R-, B- and
T-axes

Manipulator

Unit

Y005C­VS00100A00T

SGMRV-30ANA-YR1*
HW0388669-A

SGMRV-44ANA-YR2*
HW0388671-A

SGMRV-37ANA-YR1*
HW0388670-A

SGMRV-30ANA-YR1*
HW0388669-A

SGMRV-13ANA-YR2*
HW0388667-A

HW1172076-A YASKAWA

HW1372046-A YASKAWA

YASKAWA
Electric
Corporation

YASKAWA
Electric
Corporation

YASKAWA
Electric
Corporation

YASKAWA
Electric
Corporation

YASKAWA
Electric
Corporation

YASKAWA
Electric
Corporation

Electric
Corporation

Electric
Corporation

Electric
Corporation

Remarks
per
Unit

11

11

11

11

11

13

11

11

11

10-2

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11 Parts List

11 Parts List

11.1S-Axis Unit

11.1 S-Axis Unit

Fig. 11-1: S-Axis Unit

1018

1017

1019

1020

1021

1016

1005

1004

1003

1004

1022

1011

1010

1017

1015

1010

1012

1013

1014

1009

1006

1002

1023

11-1

1008

1007

1001

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11.1S-Axis Unit

Table 11-1: S-Axis Unit

No. DWG No. Name Pcs

1001 HW0102236-1 Base 1

1002 HW0400405-3 Stopper 1

1003 HW9404486-1 Shaft 1

1004 2L-8 Conical spring washer 2

1005 M8×45 Hexagon socket head cap

screw

1006 HW1382898-A Speed reducer 1

1007 KQ2L10-01S Union 1

1008 NB-1075-0.43 Nylon tube 1

1009 MSTH10-25 Pin 1

1010 2H-12 Conical spring washer 28

1011 M12×55 Hexagon socket head cap

screw

1012 HW1100622-1 S head 1

1013 HW9405875-1 Collar 1

1014 M20×40 Hexagon socket head cap

screw

1015 M12×50 Hexagon socket head cap

screw

1016 PT3/8 (STAINLESS) Hexagon socket head

plug

1017 M12×35 GT-SA bolt 6

1018 SGMRV-30ANA-YR1* Motor 1

1019 HW0312836-1 Gear 1

1020 STW-50 Retaining ring 1

1021 6310 Bearing 1

1022 M8×85 Hexagon socket head cap

screw

1023 C-30-SG-22A Grommet 1

1

12

1

16

1

1

11-2

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Fig. 11-2: L-Axis Unit

11 Parts List

11.2L-Axis Unit

11.2 L-Axis Unit

2015

2011

2012

2021

2020

2016

2017

2013

2018

2019

2014

2010

1012

2005

2003

2004

2006

2001

2008

2007

11-3

2009

2002

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11.2L-Axis Unit

Table 11-2: L-Axis Unit

No. DWG No. Name Pcs

2001 HW1100754-1 L-arm A 1

2002 HW1382456-B Speed reducer 1

2003 M12×35 GT-SA bolt 18

2004 2H-16 Conical spring washer 9

2005 M16×40 Hexagon socket head cap

screw

2006 PT1/8 (STAINLESS) Hexagon socket head

plug

2007 SW-2H-12 Conical spring washer 32

2008 M12×75 Hexagon socket head cap

screw

2009 AS568-275 O-ring 1

2010 PT3/8 (STAINLESS) Hexagon socket head

plug

2011 HW9482447-A Oil seal 1

2012 HW1404909-1 Plate 1

2013 M4×10 GT-SA bolt 4

2014 SGMRV-44ANA-YR2* Motor 1

2015 M12×35 GT-SA bolt 4

2016 HW1404911-1 Collar 1

2017 HW1303989-1 Gear 1

2018 HW1404554-1 Shaft 1

2019 HW1303991-1 Shaft 1

2020 2L-8 Conical spring washer 1

2021 M8×130 Hexagon socket head cap

screw

1012 HW1100622-1 S head 1

9

1

32

1

1

11-4

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Fig. 11-3: E-Axis Unit

11 Parts List

11.3E-Axis Unit

11.3 E-Axis Unit

3021

3022

3020

3014

3017

3019

3016

3018

3015

3013

3012

3011

3003

3001

3009

3005

3006

3004

3010

2001

11-5

3002

3007

3008

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11.3E-Axis Unit

Table 11-3: E-Axis Unit

No. DWG No. Name Pcs

3001 HW1100755-1 L-arm B 1

3002 HW0388209-F Speed reducer 1

3003 PT3/8 (STAINLESS) Hexagon socket head

plug

3004 2H-16 Conical spring washer 9

3005 M16×40 Hexagon socket head cap

screw

3006 M10x30 GT-SA bolt 18

3007 SW2H-12 Conical spring washer 16

3008 M12×55 Hexagon socket head cap

screw

3009 G270 O-ring 1

3010 PT1/8 (STAINLESS) Hexagon socket head

plug

3011 HW9482447-A Oil seal 1

3012 HW1404909-1 Plate 1

3013 M4×10 GT-SA bolt 4

3014 ISTW-12 Retaining ring 1

3015 HW1303890-1 Gear 4

3016 HW0481083-A Bolt 1

3017 HW0408806-1 Washer 1

3018 HW9481343-A Shaft 1

3019 HW9482306-E Shaft 1

3020 SGMRV-37ANA-YR1* Motor 1

3021 M12×45 Hexagon socket head cap

screw

3022 2H-12 Conical spring washer 4

2001 HW1100754-1 L-arm A 1

1

6

16

1

4

11-6

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Fig. 11-4: U-Axis Unit

11 Parts List

11.4U-Axis Unit

11.4 U-Axis Unit

4016

4014

4012

4011

4021

4020

4018

4019

4017

4015

4013

4002

4003

4004

4005

4007

4006

4001

4002

4010

4010

4009

4008

11-7

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11.4U-Axis Unit

Table 11-4: U-Axis Unit

No. DWG No. Name Pcs

4001 HW1382715-A Speed reducer 1

4002 PT3/8 (STAINLESS) Hexagon socket head

plug

4003 2H-16 Conical spring washer 6

4004 M16×35 Hexagon socket head cap

screw

4005 M8×30 GT-SA bolt 15

4006 SW-2H-12 Conical spring washer 12

4007 M12×45 Hexagon socket head cap

screw

4008 AS568-269 O-ring 1

4009 HW1100624-1 Casing 1

4010 PT1/8 (STAINLESS) Hexagon socket head

plug

4011 Y426012.5 Oil seal 1

4012 HW1404910-1 Plate 1

4013 M4×10 GT-SA bolt 4

4014 STW-9 Retaining ring 1

4015 HW0409102-1 Gear 1

4016 HW9481648-A Shaft 1

4017 HW0483473-A Bolt 1

4018 HW0408806-2 Washer 1

4019 HW1304212-1 Shaft 1

4020 SGMRV-30ANA-YR1* Motor 1

4021 M12×35 GT-SA bolt 4

3001 HW1100755-1 L-arm B 1

2

6

12

2

11-8

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11.5 R-,B-,T-Axes Unit

Fig. 11-5: R-,B-,T-Axes Unit

11 Parts List

11.5R-,B-,T-Axes Unit

T-axis

5007

5006

5007

5006

B-axis

5004

5002

5028

5003

5005

5017

5002

5004

5008

5011

5030

5009

5018

R-axis

5007

5006

5003

5005

5008

5011

5029

5004

5009

5016

5031

5002

5015

4009

5005

5001

5003

5008

5011

5009

5010

5014

5021

5012

5013

5019

5023

5025

5020

5022

5024

5006

4526

5026

5027

5030

5036

5037

5038

5039

5040

5041

5043

5042

5030

5032

5030

5044

5033

5045

5034

5046

5035

5047

5048

5049

5050

11-9

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11.5R-,B-,T-Axes Unit

Table 11-5: R-,B-,T-Axes Unit (Sheet 1 of 2)

No. DWG No. Name Pcs

5001 PT3/8 (STAINLESS) Hexagon socket head

plug

5002 SGMRV-13ANA-YR2* Motor 3

5003 HW1301148-1 Housing 3

5004 2L-4 Conical spring washer 6

5005 M4×14 Hexagon socket head cap

screw

5006 2L-8 Conical spring washer 10

5007 M8×35 Hexagon socket head cap

screw

5008 Y426012.5 Oil seal 3

5009 HW9405257-1 Collar 3

5010 HW1303993-1 Gear 1

5011 2L-6 Conical spring washer 3

5012 M6×65 Hexagon socket head cap

screw

5013 6003 Bearing 1

5014 ISTW-17 Retaining ring 1

5015 HW1303992-1 Gear 1

5016 M6×35 Hexagon socket head cap

screw

5017 HW1301229-1 Gear 1

5018 M6×30 Hexagon socket head cap

screw

5019 MSTH8-20 Pin 1

5020 HW0312837-1 Housing 1

5021 M6×20 GT-SA bolt 6

5022 HW0412720-1 B nut 1

5023 M4×6 H set screw 1

5024 M8×25 Hexagon socket head cap

screw

5025 HW0404196-8 Washer 1

5026 HR32005XJ Bearing 2

5027 HW0312826-1 Gear 1

5028 HW1303997-1 Shaft 1

5029 HW0312824-1 Gear 1

5030 M5×16 GT-SA bolt 18

5031 HW1303996-1 Shaft 1

5032 HW1304017-1 Shaft 1

5033 HW0312822-1 Gear 1

5034 HR32910J Bearing 1

5035 HW1303994-1 Shaft 1

5036 HW1303998-1 Gear 1

5037 6910DDU Bearing 1

5038 ISTW-50 Retaining ring 1

5039 AE2864J1 Oil seal 1

1

6

9

1

1

1

1

11-10

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11.5R-,B-,T-Axes Unit

Table 11-5: R-,B-,T-Axes Unit (Sheet 2 of 2)

No. DWG No. Name Pcs

5040 HR32916J Bearing 1

5041 SC8010010*FKM* Oil seal 1

5042 HW1100625-1 U-arm 1

5043 M12×35 GA-SA bolt 8

5044 G110 O-ring 1

5045 HW1303999-1 Housing 1

5046 M6×15 GT-SA bolt 6

5047 ARP568-258 O-ring 1

5048 HW1382808-A Speed reducer 1

5049 G105 O-ring 1

5050 M6×40 GT-SA bolt 28

4009 HW1100624-1 Casing 1

11-11

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Fig. 11-6: Wrist Unit

175873-1CD

11 Parts List

11.6Wrist Unit

11.6 Wrist Unit

6018

5042

6019

6008

6001

5048

6017

6020

6009

6015

6009

6016

6014

6007

6006

6021

6011

6004

6041

6012
6040

6035

6019

6023

6024

6014

6005

6027

6010

6002

6022

6002

6003

6028

6012

6009

6026

6029

6033

6013

6025

6042

6069

6035

6019

6034

6054

6031

6030

6068

6051

6052

6052

6029

6053

6046

6055

6057

6059

6064

6048

6047

6058

6045

6060

6056

6062

6044

6061

6052

6049

6052

6043

6067

6066

6060

6061

6065

6009

6063

6050

6019

6051

6018

6039

6038

6037

6036

6032

11-12

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11.6Wrist Unit

Table 11-6: Wrist Unit (Sheet 1 of 2)

No. DWG No. Name Pcs

6001 HW1304009-1 Shaft 1

6002 6808LLU Bearing 2

6003 ISTW-40 Retaining ring 1

6004 HW9405445-1 B nut 1

6005 M4x6 H set screw 1

6006 HW9481234-A Bearing 1

6007 HW9405880-1 B cover 1

6008 HW1100626-1 Wrist base 1

6009 M4x12 GT-SA bolt 22

6010 HW1304004-1 Shaft 1

6011 HW1404932-1 Shaft 1

6012 2L-4 Conical spring washer 12

6013 M4x15 Hexagon socket head cap

screw

6014 60/22 Bearing 2

6015 HW1405046-1 B nut 1

6016 M5x6 H set screw 1

6017 HW1404912-1 Shaft 1

6018 PT1/8 (STAINLESS) Hexagon socket head

plug

6019 2L-8 Conical spring washer 61

6020 M8x60 Hexagon socket head cap

screw

6021 HW1404914-* Shim 1

6022 HW1304005-1 Gear 1

6023 HW9405883-2 Collar 1

6024 HW0412696-* Shim 1

6025 HW1304000-1 Gear 1

6026 6905 Bearing 1

6027 STW-25 Retaining ring 1

6028 HW1400695-2 Washer 1

6029 FU00SC Fine U nut 2

6030 HW1405049-1 Cover 1

6031 M4x10 GT-SA bolt 4

6032 HW1382809-A Speed reducer 1

6033 HW0401517-* Shim 1

6034 HW1304006-1 Gear 1

6035 M8x18 Hexagon socket head cap

screw

6036 ARP568-258 O-ring 1

6037 HW1405047-1 Cover 1

6038 2L-6 Conical spring washer 19

6039 M6x55 Hexagon socket head cap

screw

6040 HW1405050-1 Cover 1

8

2

21

22

19

11-13

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11 Parts List

11.6Wrist Unit

Table 11-6: Wrist Unit (Sheet 2 of 2)

No. DWG No. Name Pcs

6041 M4x8 Hexagon socket head cap

screw

6042 HW1100627-1 Wrist 1

6043 HW1382810-A Speed reducer 1

6044 M6x6 Hexagon socket head cap

screw

6045 APR568-161 O-ring 1

6046 HW1405048-* Shim 1

6047 HW1304008-1 Gear 1

6048 HW0404196-13 Washer 1

6049 M6x35 GT-SA bolt 16

6050 HW1304011-1 Flange 1

6051 HW1304012-1 Housing 1

6052 HR32004XJ Bearing 4

6053 TC72888 Oil seal 1

6054 HW1304001-1 Gear 1

6055 6814ZZ Bearing 1

6056 WR70 Circlip 1

6057 2L-5 Conical spring washer 6

6058 M5x35 Hexagon socket head cap

screw

6059 HW1304003-1 Gear 1

6060 HW0401514-1 B nut 2

6061 M5x7 Magic screw 4

6062 HW1404913-1 Housing 1

6063 HW1404916-* Shim 1

6064 HW1304007-1 Gear 1

6065 HW1304002-1 Gear 1

6066 HW1200308-1 Cover 1

6067 M5x16 GT-SA bolt 6

6068 S45 O ring 1

6069 HW1404915-* Shim 1

5042 HW1100625-1 U-arm 1

5048 HW1382808-A Speed reducer 1

4

1

6

11-14

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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

Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden

Phone [phone] Fax [phone]

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

YASKAWA 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 Corporation

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

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.
59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone [phone] Fax [phone]

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

Fax [phone]Phone [phone]

Fax [phone]Phone [phone]

Fax [phone]Phone [phone]

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

MANUAL NO.

HW1483557

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