Motomanes200rn PDF

MOTOMAN-ES200RN
INSTRUCTIONS
TYPE: YR-ES200RN-A00 (STANDARD SPECIFICATION)
YR-ES200RN-A01 (SLU-AXES WITH L.S. SPECIFICATION)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-ES200RN INSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATOR’S MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number: 149539-1CD

Revision: 2
YASKAWA ELECTRIC CORPORATION
MANUAL NO.
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MANDATORY
• This instruction manual is intended to explain operating instructions
and maintenance procedures primarily for the MOTOMAN-ES200RN.
• General items related to safety are listed in Section 1: Safety of the

NX100 Instructions. To ensure correct and safe operation, carefully
read the NX100 instructions before reading this manual.
CAUTION
• 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 rep-

resentative 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 prod-
uct’s warranty.
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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or inspection of the
NX100.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”, or “PROHIBITED”.
Indicates a potentially hazardous situation which, if not avoided,

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

CAUTION could result in minor or moderate injury to personnel and dam-
age to equipment. It may also be used to alert against unsafe
practices.
Always be sure to follow explicitly the items listed under this

MANDATORY heading.
PROHIBITED 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.
NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
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WARNING
• Before operating the manipulator, check that servo power is turned off
when the emergency stop buttons on the front door of the NX100 and
programming pendant are pressed.
When the servo power is turned off, the SERVO ON LED on the program-
ming pendant is turned off.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.

TURN
Release of Emergency Stop
• Observe the following precautions when performing teaching operations

within the P-point maximum envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the P-point maximum envelope of

the manipulator and that you are in a safe location before:
- Turning on the NX100 power
- Moving the manipulator with the programming pendant
- Running check operations
- Performing automatic operations
Injury may result if anyone enters the P-point maximum envelope of the manipulator dur-
ing operation. Always press an emergency stop button immediately if there are prob-
lems.The emergency stop button is located on the right of front door of the NX100 and the
programming pendant.
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CAUTION
• Perform the following inspection procedures prior to conducting manip-
ulator teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the NX100 cabi-
net 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 NX100

instructions before operating the manipulator.
Definition of Terms Used Often in This Manual

The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the programming pendant, and supply
cables.
In this manual, the equipment is designated as follows:
Equipment Manual Designation
NX100 Controller NX100
NX100 Programming Pendant Programming Pendant
Cable between the manipulator and the controller Manipulator cable
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Explanation of Warning Labels

The following warning labels are attached to the manipulator.
Always follow the warnings on the labels.
Also, an identification label with important information is placed on the body of the manipula-
tor. Prior to operating the manipulator, confirm the contents.
WARNING label A
Nameplate WARNING label A
MOTOMAN
TYPE
PAYLOAD MASS
kg kg
ORDER NO.
WARNINGDATE
label B
SERIAL NO.
YASKAWA ELECTRIC CORPORATION JAPAN
Nameplate:
WARNING label A WARNING label B
MOTOMAN
TYPE
WARNING WARNING
PAYLOAD MASS
kg kg
ORDER NO. DATE
SERIAL NO.
YASKAWA ELECTRIC CORPORATION JAPAN
Moving parts Do not enter

may cause robot
injury work area.
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1 Product Confirmation
1.1 Contents Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Order Number Confirmation . . . . . . . . . . . . . . . . . . . . . . . 1-2
2 Transporting
2.1 Transporting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.1 Using a Crane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.2 Shipping Bolts and Brackets . . . . . . . . . . . . . . . . . . . . . . . 2-3
3 Installation
3.1 Installation of the Safeguarding . . . . . . . . . . . . . . . . . . . . 3-2
3.2 Mounting Procedures for Manipulator Base . . . . . . . . 3-2
3.2.1 Mounting Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
3.3 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
4 Wiring
4.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Manipulator Cable Connection . . . . . . . . . . . . . . . . . . . . . 4-2
4.2.1 Connection to the Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.2.2 Connection to the NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
5 Basic Specifications
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 Alterable Operating Range . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.5.1 Components for Altering Operating Range . . . . . . . . . . . . . . . .5-5
5.5.2 Notes on the Mechanical Stopper Installation . . . . . . . . . . . . . .5-6
5.5.3 Adjustment to the Pulse Limitation of S-Axis. . . . . . . . . . . . . . .5-7
Mounting the S-Axis Stopper by Settable Angles . . . . . . . . .5-9
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6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
7 System Application
7.1 Peripheral Equipment Mounts . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Internal User I/O Wiring Harness and Air Lines . . . . . 7-2
8 Motoman Construction
8.1 Position of S-Axis Limit Switch . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
9 Maintenance and Inspection

9.1 Inspection Schedule
(Manipulator in the Home Position: Refer to “Fig.21.”) . . . . . . . . . . 9-1
9.2 Notes on Maintenance Procedures . . . . . . . . . . . . . . . . . 9-6
9.2.1 Battery Pack Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
9.2.2 Grease Replenishment/Exchange for S-Axis Speed Reducer . . . . . . 9-8
Grease Replenishment
(Refer to " Fig. 24 S-Axis Speed Reducer and Gear Diagram ".) . . 9-8
Grease Exchange
(Refer to " Fig. 24 S-Axis Speed Reducer and Gear Diagram ".) . . 9-9
9.2.3 Grease Replenishment/Exchange for L-Axis Speed Reducer 9-10
(Refer to " Fig. 25 L-Axis Speed Reducer Diagram ".) . . . . 9-10
Grease Exchange
(Refer to " Fig. 25 L-Axis Speed Reducer Diagram ".) . . . . 9-11
9.2.4 Grease Replenishment/Exchange for U-Axis Speed Reducer 9-12
(Refer to " Fig. 26 U-Axis Speed Reducer Diagram ".). . . . 9-12
Grease Exchange
(Refer to " Fig. 26 U-Axis Speed Reducer Diagram ".). . . . 9-13
Grease Replenishment for R-, B-, T- Gears in the Casing
(Refer to " Fig. 27 U-Arm Diagram ".) . . . . . . . . . . . . . . . . . 9-15
Grease Replenishment for R-Axis Speed Reducer
Grease Replenishment for B-Axis Speed Reducer
Grease Replenishment for T-Axis Speed Reducer
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Grease Exchange for R-, B- T-Axis Gears in the Casing

(Refer to " Fig. 27 U-Arm Diagram ".) . . . . . . . . . . . . . . . . .9-17
Grease Exchange for R-Axis Speed Reducer
Grease Exchange for B-Axis Speed Reducer
Grease Exchange for T-Axis Speed Reducer
9.2.5 Grease Replenishment for Balancer Connection Part. . . . . . .9-20
9.2.6 Notes for Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-22
Battery Pack Connections . . . . . . . . . . . . . . . . . . . . . . . . . .9-22
10 Recommended Spare Parts
11 Parts List
11.1 S-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.2 L-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.3 URBT-Axis Link Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
11.4 Wrist Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-7
11.5 Balancer Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9
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1.1 Contents Confirmation
1 Product Confirmation
CAUTION
• Confirm that the manipulator and the NX100 have the same order num-
ber. 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):
• Manipulator
• NX100
• Programming Pendant
• Manipulator cables (3 cables, between the NX100 and the manipulator)
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1.2 Order Number Confirmation
1.2 Order Number Confirmation
Check that the order number of the manipulator corresponds to the NX100. The order number
is located on a label as shown below.
Label (Enlarged view)
THE MANIPULATOR AND THE CONTROLLER

SHOULD HAVE SAME ORDER NUMBER. Check that the manipulator
and the NX100 have the
ORDER. No. same order number.
NX100
TYPE ERCR-
******
POWER SUPPLY
200V 50Hz
220V 50/60Hz 3PHASE kVA GE N
ER
EM
SERIAL No.
Y
DATE
MADE IN JAPAN NJ2484-1
THE MANIPULATOR AND THE CONTROLLER S

SHOULD HAVE SAME ORDER NUMBER. T O P
ORDER NO.
NJ1529
WARNING
Do not open the door
REMOTE TEACH
PLAY
ON
ED
IPP
TR
OFF
ET
RES
MULTI
COORD. SERVO
DISPLAY
SWITCH POWER
SELECT
MAIN SHORTCUT ASSIST
MENU MENU
X- X+ x x
S- S+ R- R+
Y- Y+ y y
L- L+ B- B+
- + z z
R- R+ T- T+
SHIFT INTER
LOCK
7 WEAVING
8WELD
9 TEST RUN SHIFT
START START FEED
ROBOT 4 5 6
RETRUCT BACK NEXT
AUXILIARY WEAVING WELD
SWITCH COMPLETE COMPLETE
EX-AXIS 1 2 3CURRENT DELETE INSERT

SWITCH AUXILIARY TIMER VOLTAGE
CABCEK 0 . -CURRENT ENTER

INTER. REF.
POINT VOLTAGE MODIFY
(a) NX100 (Front View) (b) Manipulator (Side View)
Fig. 1 Location of Order Number Labels
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2.1 Transporting Method
2 Transporting
CAUTION
• 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 transporting.
The system consists of precision components, so failure to observe this caution may
adversely affect performance.
• The weight of the manipulator is approximately 1620kg including the shipping bolts and
NOTE brackets. Use a wire rope strong enough to withstand the weight.
• Shipping bolts and brackets are designed to support the manipulator weight. Do not use
them for anything other than transporting the manipulator.
• Mount the shipping bolts and brackets for transporting the manipulator.
• Avoid exerting force on the arm or motor unit when transporting, use caution when using
transporting equipment other than a crane or forklift, as injury may occur.
2.1.1 Using a Crane

As a rule, when removing the manipulator from the package and moving it, a crane should be
used. The manipulator should be lifted using wire rope threaded through shipping bolts and
brackets. Be sure the manipulator is fixed with the shipping bolts and brackets before trans-
porting, and lift it in the posture as shown in " Fig. 2 Transporting Position ".
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Details of shipping bolt

Rubber plate
Electrical tape
painted yellow
B Shipping bolt
(1 piece)
Shipping bracket (2 pieces)
Hexagon socket head

cap screw M20
(length: 50mm) (8 screws)
Fig. 2 Transporting Position
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2.2 Shipping Bolts and Brackets
2.2 Shipping Bolts and Brackets
The manipulator is provided with shipping bolts and brackets at position A and with the hexa-
gon socket head cap screws at point B. (" Fig. 2 Transporting Position ")
A Shipping bracket
Front View Side View
Rubber plate
B Shipping bolt
Electrical tape painted yellow
Fig. 3 Shipping Bolts and Brackets
• The shipping brackets are painted yellow.
Position Bolt Type Pcs
A Hexagon socket head cap bolt M20 X 50 mm 8

2
(Tensile strength: 1200 N/mm or more)
B Hexagon socket head cap bolt M16 X 20 mm 1

(Tensile strength: 1200 N/mm2 or more)
Before turning ON the power, check to be sure that the shipping bolts and brackets have
NOTE been removed. The shipping bolts and brackets then must be stored for future use, in the
event that the robot must be moved again.
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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 manipulator’s tool or the

workpiece held by the manipulator will not reach the wall, safeguarding,
or NX100 when the arm is fully extended.
Failure to observe this warning may result in injury or damage.
• Do not start the manipulator or even turn on the power before it is firmly
anchored.
The manipulator may overturn and cause injury or damage.
CAUTION
• Do not install or operate a manipulator that is damaged or lacking 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 “ Fig. 3 Shipping Bolts and Brackets ” are
removed.
Failure to observe this caution may result in damage to the driving parts.
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3.1 Installation of the Safeguarding
3.1 Installation of the Safeguarding
To insure safety, be sure to install the safeguarding. They prevent unforeseen accidents with
personnel and damage to equipment. The following is quoted for your information and guid-
ance.
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 safe-
guarding, 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 sup-
port the manipulator and withstand repulsion forces during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand maximum repulsion
forces of the manipulator. Refer to " Table. 1 Maximum Repulsion Forces of the Manipulator "
and " Table. 2 Endurance Torque in Operation ".
During installation, if the flatness is not right, the manipulator shape may change and its func-
tional ability may be compromised. Baseplate flatness must be kept at 0.5mm or less. Mount
the manipulator base as described in “ 3.2.1 Mounting Example “..
Table. 1 Maximum Repulsion Forces of the Manipulator
Horizontal rotating maximum torque 32000N • m

(S-axis moving direction) (3265kgf • m)
Vertical rotating maximum torque 78500N • m

(LU-axis moving direction) (8000kgf • m)
Table. 2 Endurance Torque in Operation
Horizontal acceleration and 9000N • m

deceleration maximum torque (918kgf • m)
Vertical acceleration and decel- 26150N • m

eration maximum torque (2664kgf • m)
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3.3 Location
3.2.1 Mounting Example

The baseplate should be rugged and durable to prevent shifting of the manipulator or the fix-
ture. The thickness of the baseplate is 50mm or more and an M20 size or larger anchor bolt is
recommended.
Fix the manipulator base onto the baseplate with the hexagon socket head cap screw M20 (8
screws, length: 80mm or more is recommended) as shown in " Fig. 4 Mounting the Manipula-
tor on Baseplate ". Tighten the hexagon socket head cap screws and anchor bolts securely
so that they will not work loose during operation.
Flatness:0.5mm or less
Hexagon socket head cap screw

M20 (8 screws)
Spring washer
Flat washer
Manipulator base
40mm
Baseplate
Fig. 4 Mounting the Manipulator on Baseplate
3.3 Location
When the manipulator is installed, it is necessary to satisfy the undermentioned environmental

conditions:
• Ambient temperature: 0° to 45°C

• Humidity: 20 to 80%RH at constant temperature
• Free from exposure to water, oil, or dust
• Free from corrosive gas or liquid, or explosive gas or liquid
• Free from excessive vibration (less than 4.9m/s2 [0.5G])
• Free from large electrical noise (plasma)
• Flatness for installation is 0.5mm or less
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4.1 Grounding
4 Wiring
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 the primary power supply off, 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.
CAUTION
• Wiring must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire or electric shock.
• Do not cover the cable or allow it to tangle. Keep the cable as straight
as possible.
Failure to observe this caution may result in preventing heat of the cable from being dis-
charged.
4.1 Grounding
Follow local regulations for grounding line size. A line of 5.5mm2 or more is recommended.
Refer to " Fig. 5 Grounding Method " to connect the ground line directly to the manipulator.
• Do not use this line in common with other ground lines or grounding electrodes for other
NOTE electric power, motor power, welding devices, etc.
• Where metal ducts, metallic conduits, or distributing racks are used for cable laying,
ground in accordance with Electric Equipment Technical Standards.
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4.2 Manipulator Cable Connection
A Bolt M8 (for grounding)

Delivered with the manipulator
2
View A
5.5mm or more
Fig. 5 Grounding Method
Three manipulator cables are delivered with the manipulator: an encoder cable for detection
(1BC) and two power cables (2BC and 3BC). Refer to " Fig. 6 Manipulator Cable Connections
". The cables are connected to manipulator base connectors and NX100.
4.2.1 Connection to the Manipulator

The manipulator cables and manipulator base connectors are numbered 1BC, 2BC, and 3BC.
Verify the numbers and connect these cables to the manipulator base connectors in the order
of 2BC first, 3BC second, and 1BC last. Refer to “ Fig. 7 (a) Details of the Manipulator Cable
Connectors (Manipulator Side) “. When connecting the cables, insert them adjusting cable
connector positions to main key positions of the manipulator, and set the lever until it clicks.
4.2.2 Connection to the NX100

The manipulator cables and NX100 board connectors are numbered 1BC, 2BC, and 3BC.
Verify the numbers and connect these cables to the NX100 board connectors in the order of
2BC first, 3BC second, and 1BC last. Refer to " Fig. 7 (b)) Manipulator Cable Connections to
the NX100 ". When connecting the cables, insert them adjusting cable connector positions to
main key positions of the NX100, and set the lever until it clicks.
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NX100 side Manipulator side

X11
1BC
X11
1BC
1BC
Encoder cable
X21 2BC
2BC
2BC
X21
Power cable
X22 3BC
3BC
3BC
X22
Power cable
Fig. 6) Manipulator Cable Connections
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1BC
AIR S1
2BC
molex
molex
3BC
1BC
AIR S1
2BC
molex
3BC
B
Key positions
Connector details
(Manipulator side)
Fig. 7 (a) Details of the Manipulator Cable Connectors (Manipulator Side)
X11
X21
X22
Fig. 7 (b) Manipulator Cable Connections to the NX100
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5.1 Basic Specifications
5 Basic Specifications
5.1 Basic Specifications

Table. 3 Basic Specifications*1
Item Model MOTOMAN-ES200RN
Operation Mode Vertically Articulated
Degree of Freedom 6
Payload 200kg
*2 ±0.2mm
Repeatability Positioning Accuracy
S-Axis (turning) ±180°
L-Axis (lower arm) +80°, -130°
Motion U-Axis (upper arm) +208°, -107°

Range R-Axis (wrist roll) ±360°
B-Axis (wrist pitch/yaw) ±125°
T-Axis (wrist twist) ±360°
S-Axis 1.57 rad/s, 90°/s
L-Axis 1.48 rad/s, 85°/s
Maximum U-Axis 1.48 rad/s, 85°/s

Speed R-Axis 2.01 rad/s, 115°/s
B-Axis 1.92 rad/s, 110°/s
T-Axis 3.32 rad/s, 190°/s
R-Axis 1274N•m (130kgf•m)
Allowable
B-Axis 1274N•m (130kgf•m)
Moment*3
T-Axis 686N•m (70kgf•m)
R-Axis 120kg•m2
Allowable
Inertia B-Axis 120kg•m2
(GD2/4)
T-Axis 70kg•m2
Mass 1570kg
Temperature 0° to 45C°
Humidity 20 to 80% RH (non-condensing)
Ambient Vibration acceleration Less than4.9m/s2 (0.5G)

Conditions • Free from corrosive gas or liquid, or explosive
gas
Others
• Free from exposure to water, oil, or dust
• Free from excessive electrical noise (plasma)
Power Capacity 10kVA
*1 SI units are used in this table. However, gravitational unit is used in ().
*2 Conformed to ISO9283
*3 Refer to " 6.1 Allowable Wrist Load " for details on the allowable moment of inertia.
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5.2 Part Names and Working Axes
5.2 Part Names and Working Axes
S+
Rotary head
(S-head)
L-
S-
U- U+
Upper arm
Lower arm (U-arm)
Base (L-arm)
L+
R- R+
Wrist
B- B+
Wrist flange
T- T+
Fig. 8 Part Names and Working Axes
5.3 Manipulator Base Dimensions
893
640
+0.021
Fitting surface 290 0.1 290 0.1 20 0 dia. (2 holes)
(Pin hole for manipulat
540 positioning)
350 0.1
290 0.1
735
640
540
Fitting surfac
40
290 0.1
290 0.1 290 0.1 +0.018

16 0 dia. (2 holes)
353 0.1 (Pin hole for manipulato
Units: mm
A 22 dia. (8 holes) positioning)
(For fixing the manipulator)
View A
Fig. 9 Manipulator Base Dimensions
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5.4 Dimensions and P-Point Maximum Envelope
5.4 Dimensions and P-Point Maximum Envelope
Fig. 10 Dimensions and P-Point Maximum Envelope
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5.5 Alterable Operating Range
The operating range of the S-Axis can be altered according to the operating conditions as
shown in " Table. 4 S-Axis Operating Range ". If alteration is necessary, contact your Yaskawa
representative in advance.
Table. 4 S-Axis Operating Range
Item Specifications
±180° (standard)
*(±165°)
±150°
±135°
±120°
S-Axis
±105°
Operating
±90°
Range
±75°
±60°
±45°
±30°
*(±15°)
* The interval between stoppers must be 60° or more.
When altering the operating range to ±15° or ±165°, please contact your Yaskawa
NOTE representative.
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5.5.1 Components for Altering Operating Range

Arrange the components listed in " Fig. 11 The Components of the S-Axis Stopper ", when
modifying the angle of S-axis.
Pin (drawing No. HW0402104-1, 1 pin)

Stopper (drawing No. HW0302424-2, 1 stopper)
Hexagon socket head cap screw M20
(length: 45mm) (3 screws) (tensile strength: 1200 N/ mm2 or more)
Flat washer M20 (3 flat washers)
Hexagon socket head cap screws M20 (3 screws)

(length: 45) (tensile strength: 1200 N/mm2)
Flat washer M20
Stopper
HW0302424-2
Section A-A
Pin
HW0402104-1
Fig. 11 The Components of the S-Axis Stopper
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5.5.2 Notes on the Mechanical Stopper Installation

• For S-axis mechanical stopper, install the stopper (drawing No. HW0302424-2) with the
pin which is used bottom up (drawing No. HW0402104-1) as in " Fig. 11 The Components
of the S-Axis Stopper ".
• Apply the locktite 242 to screwed parts of the pin when fitting it into the stopper.
• Install the stopper to the S head with the hexagon socket head cap screw M20 (length:
45mm, 3 screws). Tighten the screws to the tightening torque 402 N m (tensile
strength: 1200 N/mm2 or more).
• The stopper can be installed by every 15 degree pitch, however, to avoid the mechanical
troubles caused by interference between stoppers (ex. ±15°, ±165°), install the S-axis
mechanical stopper referring to " Table. 5 Settable Angle for S-Axis Stopper ".
• Confirm to stabilize both sides of the protrusion with the hexagon socket head cap screws
as in " Fig. 12 Properly-Mounted Image " on account of the limitation of strength to the
unit.
• Refer to the figures: “Fig.13” as adjusting the setting angle of the S-axis mechanical stop-
per. When installing the S-axis mechanical stopper by inverse angle to the examples in
the figures: “Fig.13”, settle the machinery symmetrical to those models.
• As in the figures: “Fig.13”, the component is reversible that both sides of the machinery
can be attached to the stopper, except for the angles of ±30, ±60, ±120, ±150 degrees.
Flip side and retry installing the S-axis mechanical stopper if finding any difficulty to set
the machinery to the stopper based on " Fig. 11 The Components of the S-Axis Stopper ".
.
Hexagon socket Hexagon socket

head cap scerws head cap scerws
Improperly-mounted Properly-mounted
Fig. 12 Properly-Mounted Image
• Apply the specified components when installing the S-axis mechanical stopper.
NOTE • TURN OFF the electric power supply before installation.
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5.5.3 Adjustment to the Pulse Limitation of S-Axis

Apply the Instruction for NX100 Concurrent I/O Parameter (Manual No. RE-CKI-A442) as
part of reference materials for adjusting the programming pendant when modifying the range
of motion of S-Axis.
The limitation to the pulse (Pulse Soft Limit + 1st Axis ) : SICxG200
The limitation to the pulse (Pulse Soft Limit - 1st Axis ) : SICxG208
Degree ±0° ∗ ±15° ±30° ±45° ±60° ±75° ±90°
Number
±0 ±35109 ±70217 ±105326 ±140434 ±175543 ±210651
of Pulse
Degree ±105° ±120° ±135° ±150° ∗ ±165° ±180° (Standard)
Number
±245760 ±280869 ±315977 ±351086 ±386194 ±421303
of Pulse
* Refer to 5.5(p5-4).
NOTE Adjust both of the pulse limitation and the angle of S-axis mechanical stopper as
modifying the range of motion for machinery.
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Table 5. The settable angle for S-Axis Stopper
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The Angle of S-Axis Stopper for + Direction

180 165 150 135 120 105 90 75 60 45 30 15 0 -15 -30 -45 -60 -75 -90 -105 -120 -135 -150 -165 -180
-180
-165
-150
-135
-120
-105
-90
-75
-60
-45
-30
-15
0
15
30
5-8
45
60
75
90
105
The Angle of S-Axis Stopper for - Direction

120
135
150
165
180
"Table. 5 The Settable Angle for S-Axis Stopper" indicates the angle range
…Settable angle which allows S-axis to be set at + direction and - direction angles.
…Non settable angle
Note: Horizontal axis of the table indicates set angles in + direction for S-axis.
Vertical axis of the table indicates set angles in - direction for S-axis.
(e.g. S-axis can be set within the angle range between +180° and -180°,
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but cannot be set within the angle range between +180° and -165°.)
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Mounting the S-Axis Stopper by Settable Angles

　
Hexagon socket
head cap screws
The stopper could be

utlized by either side.
The Settled Model of +180 Degree
Hexagon socket head cap screws
The stopper could be

utlized by either side.
Fig. 13 (a) The Properly-Mounted Models for S-Axis Stopper
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The stopper only utlized by one side with this angle.
Hexagon socket
head cap screws
The stopper could be utlized by either side.
Hexagon socket
head cap screws
Fig. 13 (b) The Properly-Mounted Models for S-Axis Stopper
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The stopper is only utlized by one side with this angle.
Hexagon socket
head cap screws
Hexagon socket head cap screws The stopper could

be utlized by either side.
Fig. 13 (c) The Properly-Mounted Models for S-Axis Stopper
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Hexagon socket
head cap screws
The Settled Model of + 90 Degree
Hexagon socket
head cap screws
Fig. 13 (d) The Properly-Mounted Models for S-Axis Stopper
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Hexagon socket head cap screws
The stopper could be utilized by either side.
Hexagon socket
head cap screws
Fig. 13 (e) The Properly-Mounted Models for S-Axis Stopper
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Hexagon socket
head cap screws
Hexagon socket
head cap screws
Fig. 13 (f) The Properly-Mounted Models for S-Axis Stopper
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Hexagon socket
head cap screws
The Settled Model of 0 Degree
Fig. 13 (g) The Properly-Mounted Models for S-Axis Stopper
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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:
• YR-ES200RN-A00, A01 : 200kg maximum
If force is applied to the wrist instead of the load, force on R-, B-, and T-axes should be within
the value shown in " Table. 6 Allowable Total Moment and Total Inertia ". Contact your
Yaskawa representative for further information or assistance.
Table. 6 Allowable Total Moment and Total Inertia
Moment N•m
Model Axis GD2/4 Inertia kg•m2
(kgf•m)*1
R-Axis 1274(130) 120
YR-ES200RN-A00, A01 B-Axis 1274 (130) 120
T-Axis 686 (70) 70
*1 ( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in " Fig. 14 Moment
Arm Rating ".
The allowable total inertia is calculated when the moment is at the maximum. Contact your
Yaskawa representative when only inertia, or load moment is small and inertia is large. Also,
when the load mass is combined with an outside force, contact your Yaskawa representative.
LT(mm)
1000 60kg
800 80kg
600 100kg
400
P-point
200kg
200 T-, R-axis
165kg center of rotation
130kg
400 600 800 1000 1200 1400 LB(mm)
200
400
600
800
1000
LT(mm)
B-axis center of rotation
Fig. 14 Moment Arm Rating
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6.2 Wrist Flange
6.2 Wrist Flange
The wrist flange dimensions are shown in " Fig. 15 Wrist Flange ". In order to see the align-
ment marks, it is recommended that the attachment be mounted inside the fitting. Fitting depth
of inside and outside fittings must be 8mm or less.
+0.015
10 dia. 0 (2 holes) (depth: 8mm)
Tapped hole M10 (6 holes) +0.015
(depth: 12mm) 9 dia. 0 (2holes) (depth: 8mm)
25
D.1
C.
P.
.92
P.C.D
8
+0.030
160 dia. -0.025

0
0 63 dia.
Tapped hole M10 (6holes),

(depth: 12mm)
Units: mm
8
Fig. 15 Wrist Flange
NOTE Wash off anti-corrosive paint (Yellow) on the wrist flange surface with thinner or light oil
before mounting the tools.
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7.1 Peripheral Equipment Mounts
7 System Application
7.1 Peripheral Equipment Mounts
When peripheral equipment is attached to the manipulator, the following conditions should be
observed.
B Tapped hole M12

255
(8 holes) (depth: 24mm)

40
555 365
120
120
85
100
133
255
255
120
450
120
40
40
205 75
85
100
205 75
120 A2 Tapped hole M8

255
(4 holes)
(depth: 15mm)
40
A1 Tapped hole M6
(4 holes) (depth: 15mm)
Units: mm
Fig. 16 Installing Peripheral Equipment
Table. 7 Constraint for Attaching
Application Note
A1, Cable Processing and 30 kg max.

A2 Valve Load 49N•m (5kgf•m) max. for increased
moment amount of upper arm
B Others 200 kg or less
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7.2 Internal User I/O Wiring Harness and Air Lines
3 cables for valves (0.75mm2), 18 internal user I/O wires (0.5mm2 x 6 wires, 0.75mm2 x 12
wires), the cables for the external axis (1.0mm2 x 4 cables, 0.5mm2 x 2 cables, 0.2mm2 x 4
cables), and an air line are used in the manipulator for the drives of the peripheral devices
mounted on the upper arm as shown in " Fig. 17 (a) Connectors for internal user I/O wiring
harness and air lines ".
The connector pins, and the terminals are assigned as shown in " Fig. 17 (b) Connectors for
Internal User I/O Wiring Harness and Air Line (Pin Details) ". Wiring must be performed by
user.
• The allowable current for wires : 8.0A or less / wire. (1.25mm2)
: 7.0A or less / wire. (1.0mm2)
• The maximum pressure for the air line is 490kPa (5kgf/cm2) or less
(The air line inside diameter: 8mm dia.)
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Key positions
Exhaust port (air flow)

Tapped hole PT3/8 with pipe plug
Connector for internal user I/O wiring harness (Casing):

JL05-2A22-14SC (socket connector with cap).
Prepare pin connector: JL05-6A22-14P.
Connector for the external axis (Encoder cable):

Connector for the external axis (Power cable):

Air inlet (air flow) 1BC
Tapped hole PT3/8 with pipe plug A

S1
AIR
2BC
molex
3BC
Connector for internal user I/O wiring harness (Base):

JL05-2A28-21PC (pin connector with cap).
Prepare socket connector JL-05-6A28-21S.
View A
Fig. 17 (a) Connectors for internal user I/O wiring harness and air lines
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P
1
2
3 2 P
1
P 0.5mm (6 pins) 2
4 3 2
P
5 P 4 0.5mm (6 pins)
6 5
7 P 6
8 7
9 8
10 9
11 Pins used 10
12 2 11
13 0.75mm (12 pins) 12 2
14 13 0.75mm (12 pins)
15 14
Pins used 16 15
17 16
17
18 18
19
20 2
0.75mm (3 pins)
21
1 2 3
4 5 6 7
1 2 3 4 8 9 10 11 12
13 14 15 16
5 6 7 8 9
17 18
10 11 12 13 14 15
16 17 18 19 20 21 22
Pin details for internal user I/O wiring harness
23 24 25 26 27 28 (Casing side)
29 30 31 32 33
34 35 36
Pin details for internal user I/O wiring harness 1

(Base side) 2 2
3 1.0mm (4 pins)
Pins used
4
5 2
0.5mm (2 pins)
6
P
1 1 2
2 2
0.2mm (4 pins) 3 4 5
Pins used P 9
10 6 7 8
15 Shielded wire 9
1
2 3 Pin details for external axis power cable
4 5 6
7 8
9 10
13 11 12 14
15 16
Pin details for external axis encoder cable

(~RH9550-4077)
Fig. 17 (b) Connectors for Internal User I/O Wiring Harness and Air Line (Pin Details)
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P
1
2
3 2 P
1
P 0.5mm (6 pins) 2
4 3 2
P
5 P 4 0.5mm (6 pins)
6 5
7 P 6
8 7
9 8
10 9
11 Pins used 10
12 2 11
13 0.3mm (12 pins) 12 2
14 13 0.3mm (12 pins)
15 14
Pins used 16 15
17 16
17
18 18
19
20 2
0.75mm (6 pins)
21
22 1 2 3
23 4 5 6 7
24 8 9 10 11 12
13 14 15 16
17 18
1 2 3 4
5 6 7 8 9
Pin details for internal user I/O wiring harness
10 11 12 13 14 15 (Casing side)
16 17 18 19 20 21 22
23 24 25 26 27 28
29 30 31 32 33
34 35 36
1
2 2
3 1.25mm (4 pins)
Pin details for internal user I/O wiring harness Pins used
4
(Base side) 5 2
0.75mm (2 pins)
6
7 2
8 1.25mm (3 pins)
9
P
1
2 2
0.2mm (4 pins)
Pins used P 9 1 2
10
15 Shielded wire 3 4 5
6 7 8
9
2 1 3
4 5 6
7 8
9 10 Pin details for external axis power cable
13 11 12 14
15 16
Pin details for external axis encoder cable

(RH9550-4077~)
Fig. 17 (c) Connectors for Internal User I/O Wiring Harness and Air Line (Pin Details)
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8.1 Position of S-Axis Limit Switch
8 Motoman Construction
8.1 Position of S-Axis Limit Switch
Limit switches are optional. For axes with limit switch specifications, limit switches are located
on S-axis, L-axis, and U-axis. Refer to " Fig. 18 Location of Limit Switches " for the location.
L-axis overrun limit switch
S-axis overrun limit switch L-and U-axes Interference limit switch
Fig. 18 Location of Limit Switches
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8.2 Internal Connections
High reliability connectors which can be easily put on and removed are used with each con-
nector part.
For the numbers, types, and locations of connectors, see " Fig. 19 Location of Connectors "
and " Table. 8 List of Connector Types ".
1BC
A
AIR S1
2BC
molex
3BC
B
Connector for internal user

I/O wiring harness (Casing side)
Connector for external axis

(Encoder cable)
Connector for external axis

(Power cable) 1BC
A
AIR S1
2BC
molex
3BC
B
1BC
Connector for internal
user I/O wiring harness
(Base side)
3BC
2BC
Fig. 19 Location of Connectors
Table. 8 List of Connector Types
Name Type of Connector
Connector Base for internal user I/O JL05-2A28-21PC

wiring harness (JL05-6A28-21S: Optional)
for internal user I/O JL05-2A22-14SC

wiring harness (JL05-6A22-14P: Optional)
U-arm Connector for external axis JL05-2A20-29SC

(Encoder cable) (JL05-6A20-29P: Optional)
for external axis JL05-2A18-1SC

(Power cable) (JL05-6A18-1P: Optional)
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0BT 1 0BAT11 17 0BAT1

K R P BAT 2 BAT11 18 BAT1
0BT 3 0BAT12 19 0BAT2
K R P BAT 4 BAT12 20
21
BAT2
0BAT3 Note)
22 BAT3
23
0BT 5 0BAT21
24
25 0BAT4
1. This diagram is for the MOTOMAN-ES200RN.
K R P BAT
0BT
6
7
BAT21
0BAT22
26
27
BAT4
0BAT5 For the limit switch specification, the connection of the section A was changed.
K R P BAT 8 BAT22 28 BAT5
29 0BAT6
30 BAT6
1 31
2
3
32
1 PG0V1
2. For RH9550-4077 and over, the connections of the sections X , Y , Z were changed.
4 2 PG5V1
5 3 PG0V2
6 4 PG5V2
7 5 PG0V3
8 6 PG5V3
DC/DC
7 PG0V4
8 PG5V4
1BC(10Px4) 9 PG0V5
NX100 No.22CN X 10 PG5V5
CN1-5 +24V CN1-5 +24V -1 +24V 1 11 PG0V6
0V P CN1-4 0V -3 0V 3 12 PG5V6
CN1-4
13
CN1-10 +24V CN1-10 +24V -2 +24V 2 14
0V P CN1-9 0V -4 0V 4 15
CN1-9
16 No.1CN
CN1-1 SPG+1 CN1-1 SPG+1 1CN-1 DATA+1
SPG-1 P CN1-2 SPG-1 No.16CN S P -2 DATA-1
CN1-2
-1 BAT1 -6 BAT
-2
-3
0BAT1
PG5V1
P -5
-4
OBT
+5V
PG S-AXIS
-4 PG0V1 P -9 0V
CN1-3 FG1 CN1-3 FG1 -7 FG1
OBT
BAT
No.2CN
SPG-2 P CN1-7 SPG-2 No.17CN L P -2 DATA-2
CN1-7
-1 BAT2 -6 BAT
-2
-3
0BAT2
PG5V2
P -5
-4
OBT
+5V
PG L-AXIS
-4 PG0V2 P -9 0V
CN1-8 FG2 CN1-8 FG2 -7 FG2
OBT
BAT
No.3CN
SPG-3 P CN2-2 SPG-3 No.18CN U P -2 DATA-3
CN2-2
-1 BAT3 -6 BAT
-2
-3
0BAT3
PG5V3
P -5
-4
OBT
+5V
PG U-AXIS
-4 PG0V3 P -9 0V
CN2-3 FG3 CN2-3 FG3 -7 FG3
OBT
BAT
No.4CN
SPG-4 P CN2-7 SPG-4 No.19CN R P -2 DATA-4
CN2-7
-1 BAT4 -6 BAT
-2 0BAT4 P -5 OBT PG R-AXIS
-3 PG5V4 -4 +5V
-4 PG0V4 P -9 0V
CN2-8 FG4 CN2-8 FG4 -7 FG4
OBT
BAT
No.5CN
SPG-5 P CN3-2 SPG-5 No.20CN B P -2 DATA-5
CN3-2
-1 BAT5 -6 BAT
-2 0BAT5 P -5 OBT PG B-AXIS
-3 PG5V5 -4 +5V
-4 PG0V5 P -9 0V
CN3-3 FG5 CN3-3 FG5 -7 FG5
OBT
BAT
No.6CN
SPG-6 P CN3-7 SPG-6 No.21CN T P -2 DATA-6
CN3-7
-1 BAT6 -6 BAT
-2
-3
0BAT6
PG5V6
P -5
-4
OBT
+5V
PG T-AXIS
-4 PG0V6 P -9 0V
CN3-8 FG6 CN3-8 FG6 -7 FG6
SS1 OBT
BAT
CN4-1 +24V CN4-1 +24V LA1 LB1
CN4-6 LB1 P CN4-6 LB1
LA2
LB2
LA3
LA2
LB2
LA3
A
LB3 LB3
CN4-2 SS2 CN4-2 SS2 SS2

CN4-7 AL1 P CN4-7
BC1
CN4-3 BC2
AL2 P
CN4-3
CN4-8
BC2 BC2 FOR LAMP(OPTION)
CN4-8
No.7CN(20-29)
SPG+7 CN4-4 SPG+7 1
CN4-4 SPG-7 P CN4-5 SPG-7 P 2
SPG+7
CN4-5 FG7 CN4-9 FG7 10
SPG-7
CN4-9 0V P CN2-4 0V P 9
0V
CN2-4 5V CN2-5 5V 15
5V
CN2-5 0V P CN2-9 0V FG7
CN2-9 5V CN2-10 5V E
CN2-10 0V P CN3-4 0V
CN3-4 5V CN3-5 5V
CN3-5 0V P CN3-9 0V
CN3-9 5V CN3-10 5V
CN3-10
E
E E
Base MANIPULATOR Casing

S1(28-21)
E E E E E E
19 SP19
20 SP20
21 SP21
22 SP22
23 SP23 No.8CN(22-14)
24 SP24
E
RH9550-4077~ X
1 1 SP1
P 2 SP2
2 3
3 SP3
P 4
4 5 SP4
5 SP5
6
P 6
SP6 Y
7 SP7
7 P 8
8 9 SP8
9 P 10 SP9
10 11 SP10
11 P 12 SP11
12 13 SP12
13 P 14 SP13
14 15 SP14
15 P 16 SP15
16 17 SP16
17 P 18 SP17
18 SP18
RH9550-4077~ ~RH9550-4077
Y
Fig. 20 (a) Internal Connection Diagram
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S-AXIS OVERRUN L.S.

LA1
2BC(8PX5+12PX1) LB1 L-AXIS OVERRUN L.S.(OPTION)
E E LA2
LB2
LA2 A
LB2
LA3 LA3
LB3 LB3
CN1-1 MU1 CN1-1 MU1
CN1-2 MU1 CN1-2 MU1
CN1-3 MU1 CN1-3 MU1
S-axis L.S.
CN1-5 MV1 CN1-5 MV1
CN1-6 MV1 CN1-6 MV1
CN1-7 MV1 CN1-7 MV1 No.9CN
9CN-A MU1
-B MV1 S-AXIS OVERRUN L.S.
CN2-1 MW1 CN2-1 MW1 LA1
CN2-2 MW1 CN2-2 MW1 -C MW1 SM S-AXIS LB1 L-AXIS OVERRUN L.S.(OPTION)
CN2-3 MW1 CN2-3 MW1 -D ME1
LA2 LA2
-E BA1 LB2 LB2 A
CN1-4 ME1 CN1-4 ME1 -F BB1 YB LB1 LA3 LA3
CN1-8 ME1 CN1-8 ME1 LB3 LB3
CN2-4 ME1 CN2-4 ME1
CN6-1 BA1 CN6-1 BA1
CN6-2 BB1 CN6-2 BB1 L-axis L.S.
S-AXIS OVERRUN L.S.

CN2-5 MU2 CN2-5 MU2 LA1
CN2-6 MU2 CN2-6 MU2 LB1 L-AXIS OVERRUN L.S.(OPTION)
CN2-7 MU2 CN2-7 MU2 LA2 LA2
LB2 LB2 A
CN3-1 MV2 CN3-1 MV2 LA3 LA3
CN3-2 MV2 CN3-2 MV2 LB3 LB3
10CN-A MU2 LB1 L AND U-AXIS INTERFERENCE L.S.
CN3-5 MW2 CN3-5 MW2 -B MV2
CN3-6 MW2 CN3-6 MW2 -C MW2 SM L-AXIS LU-axis L.S.
-E BA2
CN2-8 ME2 CN2-8 ME2 -F BB2 YB
CN3-4 ME2 CN3-4 ME2
CN3-8 ME2 CN3-8 ME2
CN6-3 BA2 CN6-3 BA2
CN6-4 BB2 CN6-4 BB2
CN4-1 MU3 CN4-1 MU3

CN4-2 MU3 CN4-2 MU3
CN4-3 MU3 CN4-3 MU3
CN4-5 MV3 CN4-5 MV3

CN4-6 MV3 CN4-6 MV3
11CN-A MU3
CN5-2 MW3 CN5-2 MW3 -C MW3 SM U-AXIS
-E BA3
CN4-4 ME3 CN4-4 ME3 -F BB3 YB
CN4-8 ME3 CN4-8 ME3
CN5-4 ME3 CN5-4 ME3
CN6-5 BA3 CN6-5 BA3
CN6-6 BB3 CN6-6 BB3
CN6-7 BA4 CN6-7 BA4
CN6-8 BB4 CN6-8 BB4
CN6-9 BA5 CN6-9 BA5
CN6-10 BB5 CN6-10 BB5
CN6-11 BA6 CN6-11 BA6

CN6-12 BB6 CN6-12 BB6
3BC(6PX6)
E E
CN1-1 MU4 CN1-1 MU4

CN1-2 MU4 CN1-2 MU4
CN1-5 MV4 CN1-5 MV4 12CN-A MU4
CN2-2 MW4 CN2-2 MW4 -C MW4 SM R-AXIS
CN1-3 ME4 CN1-3 ME4 -D ME4
CN1-6 ME4 CN1-6 ME4 -E BA4
-F BB4 YB
CN2-4 MU5 CN2-4 MU5

CN2-5 MU5 CN2-5 MU5
CN3-2 MW5 CN3-2 MW5 -C MW5 SM
CN3-3
CN3-6
ME5
ME5
CN3-3
CN3-6
ME5
ME5
-D
-E
ME5
BA5
B-AXIS
-F BB5 YB
CN3-4 MU6 CN3-4 MU6

CN3-5 MU6 CN3-5 MU6
CN4-3 MW6 CN4-3 MW6 -C MW6 SM
CN4-5
CN4-6
ME6
ME6
CN4-5
CN4-6
ME6
ME6
-D
-E
ME6
BA6
T-AXIS
-F BB6 YB
No.15CN No.15CN
E E
CN5-1 MU7 CN5-1 MU7 1
CN5-4 MU7 CN5-4 MU7 7
CN6-1 MV7 CN6-1 MV7 2
1
CN6-4 MV7 CN6-4 MV7 8 2
CN6-5 MW7 CN6-5 MW7 3 3
CN6-6 MW7 CN6-6 MW7 9 4
CN5-2 ME7 CN5-2 ME7 4
CN5-5 ME7 CN5-5 ME7
CN5-3 BA7 CN5-3 BA7 5 5

CN5-6 BB7 CN5-6 BB7 6 6
RH9550-4077~ ~RH9550-4077
PE Z Z
Fig. 20 (b) Internal Connection Diagram
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9 Maintenance and Inspection
WARNING
• Before maintenance or inspection, be sure to turn the main power sup-
ply 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.
CAUTION
• Maintenance and inspection must be performed by specified personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your Yaskawa representative.
• Do not remove the motor, and do not release the brake.
Failure to observe this caution may result in injury from unexpected turning of the manipu-
lator’s arm.
• The battery unit must be connected before removing detection connec-

tor when maintenance and inspection.
Failure to observe this caution may result in the loss of home position data.
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 inter-
vals are displayed in six levels. Conduct periodical inspections according to the inspection
schedule in " Table. 9 Inspection Items ".
In " Table. 9 Inspection Items ", the inspection items are classified into three types of opera-
tion: operations which can be performed by personnel authorized by the user, operations
which can be performed by personnel being trained, and operations which can be performed
by service company personnel. Only specified personnel are to do inspection work.
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• The inspection interval must be based on the servo power supply on time.
NOTE • For any different or special applications, the inspection process should be developed on
an case-by-case basis.
• For axes which are used very frequently (in handling applications, etc.), it is recom-
mended that inspections be conducted at shorter intervals. Contact your Yaskawa repre-
sentative.
Table. 9 Inspection Items
Schedule Inspection Charge
Items*4 1000 6000 12000 Method Operation

24000 36000 Specified Service
Daily H H H Person
Licensee
Company
H H
Cycle Cycle Cycle
Check alignment
Alignment mark accordance
Visual
mark and damage at the
home position.
Check for damage

External lead Visual and deterioration of
leads.
Clean the work area

Working area if dust or spatter is
and Visual present. Check for
manipulator damage and outside
cracks.
L-,U-axis Check for grease

Visual
motors leakage.*5
Baseplate Tighten loose bolts.

Spanner Replace if necessary.
mounting Wrench
bolts
Cover mount- Screw- Tighten loose bolts.

driver, Replace if necessary.
ing screws Wrench
SLU-axes Check for loose con-

motor Manual nectors and tighten if
necessary.
connector
Connector Check for loose con-

Manual nectors.
base
Grease Supply grease.

Balancer Gun See Par. 9.2.6
Check for conduc-

tion between the
main connector of
base and intermedi-
ate connector with
manually shaking the
Internal cable Multimeter
wire. Check for wear
of protective spring*1
Replace*2
See Par. 9.2.7
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Table. 9 Inspection Items
Schedule Inspection Charge
Items*4 1000 6000 12000 Method Operation

24000 36000 Specified Service
Daily H H H Person
Licensee
Company
H H
Cycle Cycle Cycle
Replace the battery

pack when the bat-
Battery pack tery alarm occurs or
11
in manipulator the manipulator
drove for 36000H.
See Par.9.2.1
Check for malfunc-

tion. (Replace if nec-
essary.) Supply
S-axis speed
Grease grease*3 (6000H
12 reducer, Gun cycle). See Par. 9.2.2
S-axis gear
Exchange grease*3.
(12000H cycle).
See Par. 9.2.2
Check for malfunc-

essary.) Supply
L-axis speed Grease grease*3 (6000H
13
reducer Gun cycle). See Par. 9.2.3
Exchange grease*3
(12000H cycle). See
Par. 9.2.3
Check for malfunc-

essary.) Supply
U-axis speed Grease grease*3 (6000H
14
Exchange grease*3
(12000H cycle). See
Par. 9.2.4
Check for malfunc-

essary.) Supply
R-axis speed Grease grease*3 (6000H
15
Exchange grease*3
(12000H cycle). See
Par. 9.2.5
Check for malfunc-

essary.) Supply
B-, T-axis
Grease grease*3 (6000H
16 speed Gun cycle). See Par. 9.2.5
reducer
Exchange grease*3
(12000H cycle). See
Par. 9.2.5
17 Overhaul
*1 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. Other-
wise, the home position may be lost. (Refer to 9.2.7)
*2 Wire harness in manipulator to be replaced at 24000H inspection.
*3 For the grease, refer to " Table. 10 Inspection Parts and Grease Used ".
*4 Inspection No. correspond to the numbers in “ Fig. 21 Inspection Parts and Inspection Numbers “.
*5 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.
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Table. 10 Inspection Parts and Grease Used
No. Grease Used Inspected Parts
Molywhite RE No. 00 Speed Reducers for all Axes

12 13 14
R-, B-, and T-Axes gears
15 16
Alvania EP Grease 2 L-Axis Balancer
Inspection numbers correspond to the numbers in " Table. 9 Inspection Items ".
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7
13 4 U-axis
7
5 4
1
L-axis
S-axis 2 Note: The manipulator is in the home position.
1
1
14 10
9
6
1BC
A
AIR S1
8 molex
B
2BC
3BC
12
6
11 6
1 R-axis
15
1 B-axis
16 1 T-axis
Fig. 21 Inspection Parts and Inspection Numbers
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9.2 Notes on Maintenance Procedures
9.2.1 Battery Pack Replacement

The battery packs are attached in the two positions as shown in " Fig. 22 (a) Battery Location
(Back View) " and “ Fig.22 (b) Battery Location (Top View) “.
If a battery alarm occurs in the NX100, replace the battery in accordance with the following
procedure:
Plate 1BC
Plate screw M4 AIR S1
2BC
Base 3BC
Connector base
Fig. 22 (a) Battery Location (Back View)
Battery pack
Board
Fig. 22 (b) Battery Location (Top View)
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Battery pack before replacement

See procedure 5
Connector
Board
See procedure 4
New battery pack

(HW0470360-A)
Fig. 23 Battery Connection
1. Turn the NX100 main power supply off.

2. Uninstall the plate from the connector base and pull the battery pack out to replace with
a new battery pack.
3. Remove the 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.
NOTE 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 battery holder.

7. Reinstall the plate.
NOTE Do not pinch the cable when the plate is installed.
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9.2.2 Grease Replenishment/Exchange for S-Axis Speed

Reducer
Grease exhaust port

Hexagon socket head plug PT1/8
1BC
AIR S1
2BC
molex
B
3BC 1BC
A
AIR S1
2BC
molex
3BC
B
S-axis speed reducer Grease inlet

Fig. 24 S-Axis Speed Reducer and Gear Diagram
Grease Replenishment (Refer to " Fig. 24 S-Axis Speed Reducer

and Gear Diagram ".)
1. Remove the hexagon socket head plug PT1/8 from the grease exhaust port.
NOTE If grease is added with the plug on, the grease will go inside the motor and may damage it.
It is absolutely necessary to remove the plug.
2. Remove the hexagon socket head plug PT1/4 from the grease inlet and install the
grease zerk A-PT1/4. Inject grease into the grease inlet using a grease gun. (The
grease zerk is delivered with the manipulator.)
Grease type: Molywhite RE No.00

Amount of grease: 1200cc
(2400cc for 1st supply)
3. Move the S-axis for a few minutes to discharge excess grease.

4. Wipe the grease exhaust port with a cloth and reinstall the plug PT1/8. Tighten the
plug with a tightening torque of 4.9 N m (0.5 kgf m). (Apply Three Bond 1206C to the
thread part of the plug.)
5. Remove the grease zerk from the grease inlet and reinstall the plug PT1/4. Tighten the
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Grease Exchange (Refer to " Fig. 24 S-Axis Speed Reducer and

Gear Diagram ".)
1. Remove the hexagon socket head plug PT1/8 from the exhaust port.

3. 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.
4. Move the S-axis for a few minutes to discharge excess grease.
NOTE If the plug is installed when the grease is being exhausted, the grease will go inside the
motor and may damage it.
6. Remove the grease zerk from the grease inlet and reinstall the plug PT1/4. Tighten
the plug with a tightening torque of 4.9 N m (0.5 kgf m). (Apply Three Bond 1206C to
the thread part of the plug.)
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9.2.3 Grease Replenishment/Exchange for L-Axis Speed

Reducer
Grease exhaust port

Grease inlet
Fig. 25 L-Axis Speed Reducer Diagram
Grease Replenishment (Refer to " Fig. 25 L-Axis Speed Reducer

Diagram ".)
1. Tilt the L-arm vertical to ground.

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

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Grease Exchange (Refer to " Fig. 25 L-Axis Speed Reducer Dia-

gram ".)
1. Tilt the L-arm vertical to ground.
2. Remove the hexagon socket head plug PT1/8 from the grease exhaust port..
grease zerk A-PT1/8. Inject grease into the grease inlets using a grease gun. (The

Amount of grease: approx. 1400cc
4. 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.
5. Move the L-axis for a few minutes to discharge excess grease.
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9.2.4 Grease Replenishment/Exchange for U-Axis Speed

Reducer
Grease exhaust port

Grease inlet
Fig. 26 U-Axis Speed Reducer Diagram
Grease Replenishment (Refer to " Fig. 26 U-Axis Speed Reducer

Diagram ".)
1. Tilt the U-arm horizontal to ground.

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

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Grease Exchange (Refer to " Fig. 26 U-Axis Speed Reducer Dia-

gram ".)
1. Tilt the U-arm horizontal to ground.

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 U-axis for a few minutes to discharge excess grease.
If the plug is installed when the grease is being exhausted, the grease will go inside the
NOTE
motor and may damage it.
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Grease inlet (R-,B-, and T-gears in the casing)

T-axis speed reducer
Grease inlet (B-, and T-axis speed reducer)

Grease exhaust port
(T-axis speed reducer)
Hexagon socket head
plug PT1/16
R-axis speed reducer
B-axis speed reducer
Grease exhaust port (R-, and B-axis speed reducer)

Grease inlet (R-axis speed reducer)

Hexagon socket haed plug PT1/8
Grease exhaust port

(R-,B-, and T-gears in the casing)
View A Hexagon socket head plug PT1/8
Fig. 27 U-Arm Diagram
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Grease Replenishment for R-, B-, T- Gears in the Casing (Refer to "
Fig. 27 U-Arm Diagram ".)
NOTE If grease is added with the plug on, the grease will go outside the grease box and may
damage it. It is absolutely necessary to remove the plug.

3. Move the R-, B-, T-axes for a few minutes to discharge excess grease.
Grease Replenishment for R-Axis Speed Reducer (Refer to " Fig. 27

U-Arm Diagram ".)
If grease is added with the plug on, the grease will go outside the grease box and may
NOTE damage it. It is absolutely necessary to remove the plug.

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

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Grease Replenishment for B-Axis Speed Reducer (Refer to " Fig. 27

U-Arm Diagram ".)

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

Grease Replenishment for T-Axis Speed Reducer (Refer to " Fig. 27

U-Arm Diagram ".)

3. Move the T-axis for a few minutes to discharge excess grease.

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Grease Exchange for R-, B- T-Axis Gears in the Casing (Refer to "
Fig. 27 U-Arm Diagram ".)

3. 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.
4. Move the R-, B-, T-axes for a few minutes to discharge excess grease.
Grease Exchange for R-Axis Speed Reducer (Refer to " Fig. 27 U-

Arm Diagram ".)
1. Remove the hexagon socket head plug 1/8 from the grease exhaust port.

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Grease Exchange for B-Axis Speed Reducer (Refer to " Fig. 27 U-

Arm Diagram ".)

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Grease Exchange for T-Axis Speed Reducer (Refer to " Fig. 27 U-

Arm Diagram ".)
NOTE If grease is added with the plug on, the grease will go outside the grease box and may
damage it. It is absolutely necessary to remove the plugs.

4. Move the T-axis for a few minutes to discharge excess grease.
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9.2.5 Grease Replenishment for Balancer Connection Part
Exhaust port 2
Connection 2
Grease inlet
Hexagon socket head plug PT1/
Exhaust port 1
Hexagon socket head cap screw M6 (2 screws)
Connection 1
Tapered roller bearing (2 bearings)
Connection 1
Grease inlet
Hexagon socket head plug PT1/8 (2 plugs)
Connection 2
Needle bearing (2 bearings)
Fig. 28 Balancer Connection Part
1. Remove the hexagon socket head cap screw M6 and hexagon socket head plug PT1/8
from the grease inlets and exhaust ports of connection and . (Refer to " Fig. 28
Balancer Connection Part ".)
2. Install the grease zerk A-PT1/8 on the grease inlets of connection and and inject
grease into the grease inlets using a grease gun.
Grease type: Alvania EP grease 2

NOTE The exhaust ports and are used for air flow.
Do not inject excessive grease into the grease inlets.
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3. Reinstall the hexagon socket head plug PT1/8 and hexagon socket head cap screw M6
on the exhaust ports of connection and . Tighten the plug with a tightening torque
of 4.9 N m (0.5 kgf m). (Apply Three Bond 1206C to the thread parts of the plug and
screw.)
4. Remove the grease zerk from the grease inlets of connection and and reinstall
the plug PT1/8. Tighten the plug with a tightening torque of 4.9 N m (0.5 kgf m).
(Apply Three Bond 1206C to the thread part of the plug.)
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9.2.6 Notes for Maintenance

When performing maintenance such as replacement of a wire harness in the manipulator,
NOTE 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 disappear-
ance of the encoder absolute data.
For the battery pack connection, refer to " Fig. 29 Battery Pack Connection ".
Battery Pack Connections

The connectors (crimped contact-pin) for the battery backup are installed at the end point of
the motors (BAT and OBT are marked). Connect the battery packs according to the following
procedure.
1. Remove the caps attached to the battery backup connectors of the motors.
2. Connect battery packs (HW9470932-A) to the battery backup connectors (BAT and
OBT are marked) located at the end point of the cables for the encoder. (Remove the
encoder connector and carry out maintenance checks with the battery packs con-
nected to the battery backup connectors.)
3. Confirm all connectors are connected after the maintenance checks, and remove the
battery packs. Reinstall the caps onto the battery backup connectors of the motors.
NOTE Do not remove battery packs in the connector base.
Motor
Motor power connector
Connector for the encoder
0BT b a 0BT*
BAT a b BAT*
HW9470932-A (Battery pack)
Connector for the battery backup a: Insertion-type pin terminal (Pin)

b: Insertion-type pin terminal (Socket)
Fig. 29 Battery Pack Connection
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10 Recommended Spare Parts
It is recommended that the following parts and components be kept in stock as spare parts for
the Motoman-ES200RN. The spare parts list for the Motoman-ES200RN is shown below.
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
NOTE To replace parts in Rank B or Rank C, contact your Yaskawa representative.
Table. 11 Spare Parts for the MOTOMAN-ES200RN
Qty
Ran Parts
Name Type Manufacturer Qty per Remarks
k No.
Unit
Yaskawa for all axes speed

A 1 Grease Molywhite RE No.00 Electric 16kg - reducers and wrist
Corporation units
Alvania EP Showa Shell for balancer joint

A 2 Grease 16kg -
Grease 2 Sekiyu K.K. part
ThreeBond Co.,
A 3 Liquid Gasket Three Bond 1206C 1 1
Ltd.
Yaskawa
A 4 Battery Pack HW0470360-A Electric 1 1
Corporation
Yaskawa
A 5 Battery Pack HW9470932-A Electric - 1
Corporation
Yaskawa
S-Axis
B 6 HW0380936-A Electric 1 1
Speed Reducer
Corporation
Yaskawa
B 7 S-Axis Input Gear HW0304750-1 Electric 1 1
Corporation
Yaskawa
L-Axis
B 8 HW9381442-E Electric 1 1
Speed Reducer
Corporation
Yaskawa
B 9 L-Axis Input Gear HW0301778-1 Electric 1 1
Corporation
Yaskawa
U-Axis
Speed Reducer
Corporation
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Table. 11 Spare Parts for the MOTOMAN-ES200RN
Qty
Ran Parts
Name Type Manufacturer Qty per Remarks
k No.
Unit
Yaskawa
B 11 U-Axis Input Gear HW0301780-A Electric 1 1
Corporation
Yaskawa
R-Axis
Speed Reducer
Corporation
Yaskawa
B-Axis
B 13 HW9381453-B Electric 1 1
Speed Reducer
Corporation
Yaskawa
T-Axis
Speed Reducer
Corporation
Yaskawa
B 15 Wrist Unit HW0170621-A Electric 1 1
Corporation
Yaskawa
AC Servomotor for HW0382157-A
C 16 Electric 1 3
S-, L-, and U-Axes SGMRS-37A2A-YR1*
Corporation
Yaskawa
AC Servomotor for HW0382156-A
C 17 Electric 1 3
R-, B-, and T-Axes SGMRS-13A2A-YR1*
Corporation
Yaskawa
Wire Harness in
C 18 HW0170644-A Electric 1 1
Manipulator
Corporation
Yaskawa
Wire Harness in
C 19 HW0370954-D Electric 1 1
Manipulator
Corporation
Note: When the robot is equipped with the built-in external cable
Qty
Rank Name Type Manufacturer Qty per Remarks
Unit
Varies depending on Yaskawa
C External cable each user's specifi- Electric 1 1
cation Corporation
The built-in external cable of ES series is regarded as a spare part.

Please contact your Yaskawa representative after confirming the drawing number of the cable
when ordering.
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11.1 S-Axis Unit
11 Parts List
11.1 S-Axis Unit

1005
1012
1013
1054
1055
1072
1067
1063
1058 1014
1016 1015
1059
1068
1032
1033
1065
1006 1070
1069
1039
1064
1019
1020
1038 1062
1003
1066
1018
1040
1004
1008
1023 1017
1009
1024
1025
1021 1081 1026
1041
1022
1082 1082
1001
1011
1010
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11.1 S-Axis Unit
No. DWG No. Name Pcs

1001 HW0100193-2 Base 1
1003 HW0380936-A Speed reducer 1
1004 HW0306181-1 Pipe 1
1005 TC12015014 Oil seal 1
1006 MSTH12-30 Pin 1
1007 MSTH12-40 Pin 2
1008 M6X15 Socket screw 1
1009 2H-6 Spring washer 1
1010 KQ2L10-01S Union 1
1011 NB-10075-1.1 Tube 1
1013 GT-SH-16 Washer 12
1016 HW0100265-1 S-head 1
1018 HW0402104-1 Pin 1
1021 HW9404486-1 Shaft 1
1022 HW0402102-1 Stopper 1
1025 MSTH6-20 Pin 2
1026 HW0403418-1 Plate 1
1038 HW0302424-1 Stopper 1
1039 M20X45 Bolt 3
M20 Washer 3
1040 G415 O-ring 1
1041 G105 O-ring 1
1063 HW0404754-1 Fly wheel 1
1064 HW0304750-1 Gear 1
1065 HW0404755-1 Shaft 1
1067 HW0402627-1 Washer 1
1068 HW0302423-1 Spacer 1
1069 6310 Bearing 1
1070 STW-50 C-stopper 1
1072 SGMRS-37A2A-YR1* Motor 1
1081 EZ5002A0 Bag plug 1
1082 MSTH12-40 Pin 2
11-2
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11.2 L-Axis Unit
11.2 L-Axis Unit
2046
2047
2044
2039 2043 2055
2059
2042 2048 2002

2041 2003
2038 2001
2045
2009
2007
2013
2012
2010
2045 2008
2011
1006
2004
2055
2038
2043
2039 2042
2040
2048
2041
2044
2047
2046
2055
2023
2022
2028 2014
2027
2026
2050 2029
2021 2025
2020
2019 2017
2018 2016
2024
2058
2057
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11.2 L-Axis Unit

2004 EZ0094-AO Air breather 1
2007 Y507212.5 Oil seal 1
2008 HW0301778-1 Gear 1
2009 HW9482306-E Shaft 1
2010 HW9481343-A Shaft 1
2011 ISTW-10 Stopper 1
2012 HW0481082-A Bolt 1
2014 HW9381442-E Speed reducer 1
2019 2H-16 Spring 6
2021 GT-SH-14 Washer 6
2022 G300 O-ring 1
2023 HW0100278-1 L-arm 1
2024 PT1/8 Plug 1
2025 HW0200259-1 Support 1
2026 HW0402106-1 Shaft 1
2029 6218LLU Bearing 1
2038 HW9405055-1 Shaft 2
2041 KE901107 Oil seal 2
2042 HR32916J Bearing 2
2043 S105 O-ring 2
2044 HW9405699-5 B-cover 2
2045 PT1/8 Plug 2
2048 HW9405195-* Shim -
2050 MSTH8-20 Pin 1
2055 PT1/8 Plug 2
2059 - Balancer unit 1
1016 HW0100265-1 S-head 1
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11.3 URBT-Axis Link Unit
R-axis
3016
3020 3055 3017
3021 3037 U-axis
3004
3053
B-axis 3019 3018
3002
3020
3021 3054
3008 3049
3055 3007
T-axis 3047
3009 3003 3045
3011 3006 3044
3019 3005
3010 3046
3053
3020 3055
3021 3012 3025 3048
3015
3019 3011 3022 3032 3030
3010 3033 3031
3053
3026 3034
3027 3052 3014
3051
3035 3036
3029
3001
3093
3094
3041 3050 3080
3040 3081
3063
3038 3087 3079 3082
3028
3086
3085
3086
3061 3084
3074
3091
3092
3078
3039
3043
3075 3088
3042
3089
3090 3083
3072
3066
3013
3073
3076
3060
3062
2023 3064
3024
3023 3065
3067
3071
3068
3077
3070
3069
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No. DWG No. Name Pcs No. DWG No. Name Pcs
3001 GS210 O-ring 1 3065 HW0402204-1 Collar 1
3002 HW0402391-1 Collar 1 3066 STW-60 C-stopper 1
3003 HW0402406-1 Cooler 1 3067 HW0380780-A Reduction gear 1
3004 HW0302099-1 Gear 1 3068 HW9302581-1 washer 1
3005 M6X60 Socket screw 1 3069 M12X115 Socket screw 12
3006 2H-6 Spring washer 1 3070 2H-12 Spring washer 12
3007 ISTW-30 Stopper 1 3071 AC3204-F3-FKM Oil seal 1
3008 HW0402544-1 Cooler 1 3072 HR32017XJ Bearing 1
3009 HW0301970-1 Gear 1 3073 AC3842-F1-FKM Oil seal 1
3010 M6X25 Socket screw 2 3074 HW0302260-A Shaft 1
3011 2H-6 Spring washer 2 3075 HW0301236-A Shaft 1
3012 HW0301968-1 Gear 1 3076 M4X12 Socket screw 6
3013 PT1/8 Plug 1 2H-4 Spring washer 6
3014 PT1/8 Plug 1 3077 PT1/8 Plug 1
3015 HW0401507-1 Plate 1 3078 HW0302261-A Shaft 1
3016 M12X40 Socket screw 4 3079 M4X6 H-set screw 1
3017 2H-12 Spring washer 4 3080 M8X20 Socket screw 1
3018 IRTW-55 Stopper 1 3081 2H-8 Spring washer 1
3019 SGMRS-13A2A-YR1* Motor 3 3082 HW0100173-2 Housing 1
3020 M8X25 Socket screw 12 3083 HR32013XJ Bearing 1
3021 2H-8 Spring washer 12 3084 HW0301971-1 Gear 1
3022 HW0100239-2 Casing 1 3085 HW0301969-1 Gear 1
3023 M12X35 Socket screw 18 3086 HR32006XJ Bearing 2
3024 2H-12 Spring washer 18 3087 HW0401505-1 B-nut 1
3025 HW9405703-1 Flange 1 3088 HW0302100-1 Gear 1
3028 MSTM8-20 Pin 1 3091 M5X12 Socket screw 3
3029 HW0402885-1 Cover 1 3092 2H-5 Spring washer 3
3032 HW9482447-A Oil Seal 1 2023 HW0100278-1 L-arm 1
3033 HW9405481-1 Collar 1 4001 HW0100241-1 U-arm 1
3034 IRTW-72 Stopper 1
3035 PT1/8 Plug 1
3036 PT1/8 Plug 1
3038 HW0380793-A Reduction gear 1
3039 HW0301779-1 Spacer 1
3044 HW0481083-A Bolt 1
3046 HW0301780-A Gear 1
3047 HW9481343-A Shaft 1
3048 ISTW-12 C-stopper 1
3049 HW9482306-E Shaft 1
3050 G280 O-ring 1
3051 TSH6-01M Union 2
3052 UB0605-0.1C Air tube 2
3053 Y507212.5 Oil seal 3
3054 TAFI405520 Needle bearing 1
3055 HW0401506-1 Plate 3
3060 HW0100241-1 U-arm 1
3061 NK25/20R Bearing 1
3062 HW0402202-1 Shaft 1
3063 HW0401508-1 Plate 1
3064 6812DD Bearing 1
11-6
HW0482143 70F/71
HW0482143
11.4 Wrist Unit
11.4 Wrist Unit
4017 4070
4052 3074
4018 4014
4013
4016
4081
4023
4031 4049
4019 4072
4071
4001 4015 4040 4042
4055
4043
4032
4025
4024 4036
4003 4027 4037
4002 4083 4035
4044 4082 4077
4045 4061
4056 4030
4050 4034 4032
4062 4033
4043
4026 4042
4041
4048 4032
4073 4069
4008 4032
4009
4057
4046
4021 4047 4038
4039
4022 4081 4054
4066
4023 4004 4068
4067
4012
4058
4007
4005
4006
4064
4063
4065
4020
4051
4060 4011
4059 4010
4053
4029
4028
11-7
HW0482143 70G/71
HW0482143
11.4 Wrist Unit
No. DWG No. Name Pcs No. DWG No. Name Pcs
4001 HW0100242-1 Wrist base 1 4056 M8X20 Socket screw 1
4002 M12X30 Socket screw 12 4057 HW0301226-2 Gear 1
4003 2H-12 Spring washer 12 4058 HW0380794-A Reduction gear 1
4004 HW0100243-1 Wrist 1 4059 M8X30 Socket screw 14
4005 HW9381453-B Reduction gear 1 4060 2H-8 Spring washer 14
4006 M14X115 Socket screw 6 4061 2H-8 Spring washer 1
4007 SW-2H-14 Spring washer 6 4062 M4X16 Socket screw 8
4008 M12X60 Socket screw 10 4063 HW0302422-1 Flange 1
4009 2H-12 Spring washer 10 4064 HW0301782-1 Spacer 1
4010 M8X20 Socket screw 18 4065 PT1/16 Plug 1
4011 2H-8 Spring washer 18 4066 HW0402206-* Shim
4012 ARP568-263 O-ring 1 4067 STW-30 C-stopper 1
4013 6908DB Bearing 1 4068 6006 Bearing 1
4014 HW0401511-1 B-holder 1 4069 M6X15 Socket screw 4
4015 HW0301775-1 Gear 1 2H-6 Spring washer 4
4016 HW0401509-1 Housing 1 4070 M4X12 Socket screw 4
4017 HW0401510-1 B-nut 1 2H-4 Spring washer 4
4018 M4X8 H-set screw 1 4071 EZ5036A0-1 Cap 2
4019 6909 Bearing 1 4072 PT1/8 Plug 1
4020 G220 O-ring 1 4073 HW9403621-* Shim -
4021 HW0301776-1 Gear 1 4077 HW9403622-* Shim -
4022 6009 Bearing 1 4078 HW0402205-* Shim -
4023 STW-45 C-stopper 2 4081 HW0401516-* Shim -
4024 ISTW-35 stopper 1 4082 HW0402199-1 Shaft 1
4025 HW0301222-1 Gear 1 4083 SP-009*** Shim -
4026 HW0301223-1 Gear 1 3074 HW0302260-A Shaft 1
4027 6007 Bearing 1
4030 HW0402203-1 Cover 1
4031 G140 O-ring 1
4032 HR32004XJ Bearing 4
4033 6911 Bearing 1
4034 AE3290E3 Oil seal 1
4035 S60 O-ring 1
4036 HW9403618-1 Housing 1
2H-6 Spring washer 5
4040 HW0301224-1 Gear 1
4041 HW0301225-1 Gear 1
4042 HW0401514-1 B-nut 2
4043 M5X7 Magic screw 4
4048 HW9403617-1 Housing 1
4049 HW0200180-1 Cover 1
4051 HW9302370-1 Cover 1
4053 PT1/8 Plug 1
4054 HW0301777-1 Gear 1
11-8
HW0482143 70H/71
HW0482143
11.5 Balancer Unit
11.5 Balancer Unit
5001
5017
5018
5012
5005
5014
5011
5006
5005 5009
5008
5007
5006
5008
5009
5009
5008
5002
2023
5008
5016
5009 2037
5010 2035
2032 5004
2031
5003 2033
5013
2034
2036
2030
11-9
HW0482143 70I/71
HW0482143
11.5 Balancer Unit

5001 HW0100267-1 Case 1
5002 HW0100268-1 Flange 1
5005 HW0481227-A Spring 2
5006 HW0481228-A Spring 2
5007 HW0302081-1 Spacer 1
5008 SOB607440 Oiles 4
5009 IRTW-75 Stopper 4
5010 FD3187AO Dust seal 1
5011 HW0302080-1 Flange 1
5012 HW0302082-1 Rod 1
5013 HW9405057-1 Clevis 1
5014 M6X6 Magic screw 1
5016 PT1/8 Plug 3
5018 2H-8 Washer 3
2023 HW0100278-1 L-arm 1
2030 HW9302054-1 Shaft 1
2033 NA6912 Needle bearing 1
2034 AR-85 Clip 1
2035 WR60 Circlip 1
2036 VB75X95X6 Oil seal 1
2037 VB60X78X9 Oil seal 1
11-10
HW0482143 70J/71
MOTOMAN-ES200RN
INSTRUCTIONS
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004 Japan
Phone +81-93-645-7745 Fax +81-93-645-7746
YASKAWA America Inc. MOTOMAN Robotics Division

805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277
YASKAWA Nordic AB
Franska vagen 10, Box 4004, 390 04 Kalmar, Sweden
Phone +46-480-417800 Fax +46-480-417999
YASKAWA Europe GmbH Robotics Division

Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA Electric Korea Co., Ltd.

7F, Doore Bldg.; 24, Yeoido-Dong Youngdungpo-ku, Seoul, KOREA
Phone +82-2-784-7844 Fax +82-2-784-8495
YASKAWA Electric (Singapore) PTE Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.

252/246, 4th Floor. Muang Thai-Phatra Office Tower II Rachadaphisek Road, Huaykwang Bangkok, 10320 Thailand
Phone +66-2-693-2200 Fax +66-2-693-4200
Shougang MOTOMAN Robot Co. Ltd.

No.7, Yongchang-North Road, Beijing E&T Development Area, China 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878
MOTOMAN Motherson Robotics Ltd.

Plot No.195-196, 1st Floor, Sec.4 IMT Manesar, Gurgaon 122050, Haryana
Phone +91-124-475-8500 Fax +91-124-414-8016
Specifications are subject to change without notice

for ongoing product modifications and improvements.
C Printed in Japan April 2011 04-03

YASKAWA ELECTRIC CORPORATION
MANUAL NO.
HW0482143 8 71/71

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MOTOMAN-ES200RN

Part Number: 149539-1CD

YASKAWA ELECTRIC CORPORATION

• General items related to safety are listed in Section 1: Safety of the

• The drawings and photos in this manual are representative examples

• If your copy of the manual is damaged or lost, contact a YASKAWA rep-

• YASKAWA is not responsible for incidents arising from unauthorized

Notes for Safe Operation

Indicates a potentially hazardous situation which, if not avoided,

Indicates a potentially hazardous situation which, if not avoided,

Always be sure to follow explicitly the items listed under this

PROHIBITED Must never be performed.

Emergency Stop Button

Injury may result from unintentional or unexpected manipulator motion.

Release of Emergency Stop

• Observe the following precautions when performing teaching operations

Improper or unintended manipulator operation may result in injury.

• Confirm that no persons are present in the P-point maximum envelope of

• Read and understand the Explanation of Warning Labels in the NX100

Definition of Terms Used Often in This Manual

Equipment Manual Designation

NX100 Controller NX100

NX100 Programming Pendant Programming Pendant

Cable between the manipulator and the controller Manipulator cable

Explanation of Warning Labels

Nameplate WARNING label A

YASKAWA ELECTRIC CORPORATION JAPAN

YASKAWA ELECTRIC CORPORATION JAPAN

Moving parts Do not enter

6 Allowable Load for Wrist Axis and Wrist Flange

9 Maintenance and Inspection

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

10 Recommended Spare Parts

1.1 Contents Confirmation

1.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.

1.2 Order Number Confirmation

Label (Enlarged view)

THE MANIPULATOR AND THE CONTROLLER

MADE IN JAPAN NJ2484-1

THE MANIPULATOR AND THE CONTROLLER S

EX-AXIS 1 2 3CURRENT DELETE INSERT

CABCEK 0 . -CURRENT ENTER

(a) NX100 (Front View) (b) Manipulator (Side View)

Fig. 1 Location of Order Number Labels

2.1 Transporting Method

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

• Avoid excessive vibration or shock during transporting.

2.1 Transporting Method

2.1.1 Using a Crane

Details of shipping bolt

Shipping bracket (2 pieces)

Hexagon socket head

Fig. 2 Transporting Position

2.2 Shipping Bolts and Brackets

2.2 Shipping Bolts and Brackets

Front View Side View

Electrical tape painted yellow

Fig. 3 Shipping Bolts and Brackets

• The shipping brackets are painted yellow.

Position Bolt Type Pcs

A Hexagon socket head cap bolt M20 X 50 mm 8