MOTOMAN-EPX2750

INSTRUCTIONS
TYPE:YR-EPX2750-A300(-A310)

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

MOTOMAN INSTRUCTIONS
MOTOMAN-EPX2750 INSTRUCTIONS
NX100 INSTRUCTIONS
NX100 INSTRUCTIONS (EPX INSTRUCTIONS SUPPLEMENTS)
NX100 OPERATOR’S MANUAL FOR PAINTING
The NX100 operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.

Part Number: 164707-1CD

Revision: 1

MANUAL NO.

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MANDATORY

• This manual describes the specifications, precautions for operation and

required items for maintenance or inspections, for proper application of
the MOTOMAN-EPX2750. Read this manual carefully and be sure to
understand its contents before handling the MOTOMAN.

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

Setup Manual. To ensure correct and safe operation, carefully read the
Setup Manual before reading this manual.

• Refer to NX100 Operator’s Manual for the operation methods.

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

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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Notes for Safe Operation

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

could result in minor or moderate injury to personnel and dam-
CAUTION 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.

Must never be performed.

PROHIBITED

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”.

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 the manipulator cables.
In this manual, the equipment is designated as follows:.

Equipment Manual Definition

NX100 controller NX100

NX100 programming pendant Programming pendant

Cable between the manipulator and the control- Manipulator cable

ler

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1 Safety Precautions

2 Features
2.1 Methods of Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

3 Installation
3.1 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Installation Site . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

4 Handling and Installation

4.1 Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Receiving and Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.3 Installation of MOTOMAN . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.3.1 Safeguard Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.3.2 Installation of Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.3.3 When the Manipulator and Mounting Fixture are
Installed on a Base Plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.3.4 Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.3.5 Controller and Programming Pendant . . . . . . . . . . . . . . . . . . . 4-5
4.3.6 Safety Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

5 Connection
5.1 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.2 Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2.1 Connection to the Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2.2 Connection to the NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.3 Internal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

6 System Configuration
6.1 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Robot Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

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6.3 Pneumatic Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

6.4 Tubes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.5 O-ring in the Wrist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

7 Basic Specifications
7.1 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Wrist Flange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.3 System Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

8 Frequent Inspections
8.1 Frequent Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 Daily Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.2.1 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3
 Visual inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3
 Dried paint, dust, and dirt . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3
 Tubes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3
 Air leakage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-4
 Noise and vibration during operation. . . . . . . . . . . . . . . . . . .8-4
8.2.2 Pneumatic Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-4
 Drained water from air filter . . . . . . . . . . . . . . . . . . . . . . . . . .8-4
 Pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-4
8.2.3 Safety Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
 Emergency stop button and safety plug . . . . . . . . . . . . . . . .8-5
 Photoelectric intrusion detecting switch . . . . . . . . . . . . . . . .8-5
 Limit switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
8.2.4 Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
 Gun tilt switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
 Shear pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5

9 Maintenance and Inspection

9.1 Inspection Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.2 Maintenance for Manipulator. . . . . . . . . . . . . . . . . . . . . . . 9-4
9.2.1 Grease Replenishment/Replacement . . . . . . . . . . . . . . . . . . . .9-4
 Gears. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-5
 Harmonic Drive speed reducer . . . . . . . . . . . . . . . . . . . . . . .9-6
 RV speed reducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-7
9.2.2 Lubricating Oil Replacement for R-, B- and T-axes
Speed Reducers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-10
9.2.3 Tightening Bolts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-10
9.2.4 Wrist Speed Reducer and Bearing . . . . . . . . . . . . . . . . . . . . .9-11

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9.2.5 Air Sealing for Internal Air Pressure . . . . . . . . . . . . . . . . . . . . 9-12

 Gasket on the motor case. . . . . . . . . . . . . . . . . . . . . . . . . . 9-12
 Manipulator Base Box Cover Gasket . . . . . . . . . . . . . . . . . 9-14
9.2.6 Battery Board Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . 9-15
9.3 Inspection of the Pneumatic Unit . . . . . . . . . . . . . . . . . . 9-16
9.3.1 Solenoid Valve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16
9.3.2 Pressure Reducing Valve . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16
9.4 Inspection of Explosion-proof Devices . . . . . . . . . . . . . 9-17
9.4.1 Pressure Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-17
9.4.2 Master Valve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-17
9.4.3 Pressurized Explosion-proof Barrier . . . . . . . . . . . . . . . . . . . . 9-17

10 Recommended Spare Parts

11 Parts List
11.1 S-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.2 LU-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.3 Switch Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
11.4 RBT-Axis Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-7
11.5 Wrist Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9

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1 Safety Precautions

1. Respect the law, local regulations, and safety codes for connecting the painting robot.

2. Specify the working regulations and the person in charge for the following operations:

a) Turning the power to the robot ON/OFF, and RUN/STOP operations To avoid
any faulty operation, take measures such as putting up a notice to remind
operators of procedures and precautions explained in the instruction manual.

b) Warning sign or signal to inform operator of the robot operation status

Starting an operation while someone is in the manipulator’s working envelope
or while someone is doing maintenance checks or repairs may cause a
serious accident. When on standby, the manipulator can be moved by an
external signal.
To avoid these accidents caused by a lack of information, put up a board or
indicator lamp to show the robot operation status.

c) Action to be taken in case of a failure or an accident

Appoint a person to be contacted and the action to be taken in case of a
failure or an accident.

d) Safety standards and the supervisor for safe operation

Appoint a supervisor for the safe operation of the manipulator and establish
the working regulations.

e) Appoint a person to be in charge of teaching, maintenance and inspections

and provide training or lectures on safety and the actions to be taken in case
of an emergency.

WARNING
Select a location for the MOTOMAN-EPX2750, a “Division 1 area” or “Division 2 area”. Do
not select a location which can be classified as a “Division 0 area” or a more hazardous
location.
These divisions are prescribed in “Recommended Practice for Explosion-Protected?
Electrical Installations in General Industries 1979” in the “TECHNICAL
RECOMMENDATIONS OF THE RESEARCH INSTITUTE OF INDUSTRIAL SAFETY” by
the “Technical Institution of Industrial Safety”

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WARNING
• Take the following measures when teaching, correcting, inspecting, or
adjusting the manipulator when the motor power supply is ON:
(a) Appoint a personnel to stay beside the emergency stop button of the NX100. And
perform the operations holding the programming pendant with the emergency stop
button.
(b) Before the operation, verify the correct robot motion and that the emergency stop
works.

• Observe the following precautions during an automatic operation:

(c) Do not enter inside the safeguards during operation.
(d) Confirm the following before starting the operation:
• No person is inside the manipulator working envelope
• No obstacles such as unnecessary workpieces and tools are inside the
manipulator working envelope
• The manipulator is in its standby position
(e) When any abnormality occurs, immediately press the emergency stop button to stop
the manipulator.
(f) Before entering inside the manipulator working envelope, be sure to stop the
manipulator and turn OFF the main power supply to the NX100.

• Brake release (Option)

A braking system is provided on each axis of the manipulator to hold the arm in its
position when a failure or fault occurs. When the brake is activated, the manipulator
cannot be moved manually even if the power is OFF. To change the posture of the
manipulator after a failure or fault, the brake can be released by the operation from the
controller.
When the brake is released with the manipulator’s power OFF, each axis falls down
because of the arm weight. While two or more people are holding the arm in position
before releasing the brake, change the posture of the manipulator within the minimum
motion range.
Use the brake release function only when absolutely necessary.

PROHIBITED
Any modification of the MOTOMAN-EPX2750, and the followings are strictly prohibited:
1. Explosion-proof devices and system installation
2. Safeguards and the safety devices mounted on these safeguards
3. Emergency stop button, and other safety devices
4. Robot control system such as the NX100 robot controller, the manipulator drive
section and the power transmission section

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2.1 Methods of Protection

2 Features

The MOTOMAN-EPX2750 is designed for easy-handling and to consider safety first in

operation.

2.1 Methods of Protection

The MOTOMAN-EPX2750 is evaluated as Type X Purged for use in Class I, Division 1,

Groups A, B, C and D indoor hazardous (classified) locations T4, and appear in the Factory
Mutual (FM) Research Approval Guide.They have the construction of protection as follows:
Metod of Protection;
• The pressurized explosion-proof method prevents explosive gas from entering the
manipulator by supplying a protective gas, such as clean air or an inert gas, to keep the
internal air pressure constant.
• The Intrinsic-safety explosion-proof method prevents explosive gas from igniting by
electric spark and heat.

WARNING
Install the MOTOMAN-EPX2750 in a location that meets the requirements of Area
Classification “Division 1 area” or “Division 2 area” prescribed in FM Approval Standard.
Do not select a location which can be classified as a “Division 0 area” or a more
hazardous location.

2.2 Teaching

The target positions, the motion speed, and the ON/OFF timing of the spray can be taught
with the programming pendant while moving the manipulator, which shortens the time
required for teaching. And, the data can be corrected at any time.
Because the teaching function and the correction function are integrated, the operations such
as forward/reverse run, position modification, addition/deletion of points can be performed
during teaching. And the management function, which manages the parameter settings,
enables you to monitor the actual status during teaching. The on-screen guidance and the
interactive system on the pull-down menus lead the operator through the operation
procedures.
(1) Large-capacity backup as a standard feature
The large-capacity drive for PC cards is provided as a standard feature of backup
unit and enables data to be transmitted easily.

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2.2 Teaching

CAUTION
Be sure to save the backup data for the controller, such as the data for jobs and
constants, on a PC card. If not, the necessary data for the manipulator may be lost if an
internal memory fault occurs in the controller.

(2) High reliability

a) The built-in microcomputer continuously checks the I/O data and the
manipulator motion to ensure high-reliability.
b) Can detect power supply faults and software faults with its self-diagnosis
functions.
(3) When an error such as an operation error or a controller fault occurs, the alarm code
and message are displayed, and the date and time of the error occurrence with its
explanation are stored in the alarm history to help you take a quick, corrective
action.

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3.1 Requirements

3 Installation

3.1 Requirements

Prepare the power supply, the air supply, and the grounding according to the following
specifications.

Table 1 Specifications

No. Item Specifications Remarks

Power supply 3-phase 200/220 VAC (±10%)

1 50/60 Hz (±2 Hz)
5 kVA (at peak)

Air supply Required pressure: 0.35 MPa to 0.65

Pressurized MPa (3.5 kgf/cm2 to 6.5 kgf/cm2) Use dry air for the
explosion-proof Capacity: pressurized explosion-
enclosure For the pressurized explosion- proof enclosure.
2
proof
50 NI/min usually
1000 NI/min when purging
Dryness: Freezing at -18 C

Grounding Grounding resistance: For the robot controller

3 100ohm or less (Non I.S. GND)
10ohm or less (I.S. GND)

CAUTION
Use dry air for the pressurized explosion-proof enclosure. Moisture in the air supply may
damage the electronic parts.

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3.2 Installation Site

3.2 Installation Site

This section describes the conditions of the installation site for the robot system. Only devices
that are approved as explosion-proof can be installed in hazardous locations. Refer to the
local regulations and safety codes for the definition of a hazardous location. Install the
controller and control panels in a location free from water drops, dust, and dirt.

Table 2 Installation Site

Hazardous Non-hazardous
Ambient Maximum
Location Location
System Components Tempera- Ambient
(Inside Painting (Outside Painting
ture Humidity
Booth) Booth)
Manipulator (explosion-proof)  - 0 to 40 C 80 %RH
Controller
  0 to 45 C 90 %RH
(not explosion-proof)
Pneumatic unit
  0 to 45 C 85 %RH
(not explosion-proof)
Programming pendant
  0 to 40 C 85 %RH
(not explosion-proof)
Programming pendant
  0 to 40 C 85 %RH
(explosion-proof) (Option)
Conveyer speed detector
  0 to 50 C 90 %RH
(not explosion-proof)
Conveyer speed detector
 - 0 to 50 C 90 %RH
(explosion-proof)
Conveyer switch
 - 0 to 50 C 90 %RH
(explosion-proof)
Workpiece supplier
  0 to 50 C 85 %RH
(explosion-proof)
Control panel for workpiece
supplier   0 to 45 C 90 %RH
(not explosion-proof)
Safety devices
Box for emergency stop
Selected according to the requirements of the customer. Refer
switches
to the appropriate instruction manual provided separately.
Safety plugs
Limit switches
 : Not acceptable
Flashing light
 : Acceptable
Indicator lamps
Photoelectric switches

WARNING
Devices that are not explosion-proof must not be installed in hazardous locations. Failure
to observe this warning may result in a fire.

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4.1 Preparation

4 Handling and Installation

Read “MOTOMAN Setup Manual”thoroughly before handling and installing the MOTOMAN
system , and then carry out the operation safely observing the following precautions.
1) Signs indicating prohibitions such as, “The lighting of fires is prohibited”
2) Clean working place that is clearly defined and free of obstacles
3) Appointment of personnel in charge
4) Company working regulations for safe operation

4.1 Preparation

Before installing the MOTOMAN, do the following:

1) Confirm the installation layout and the dimensions of each device to ensure the
transportation route and the installation space.
2) Check if the transportation route can support the weight of each device. If
necessary, reinforce the route.
3) To lift the manipulator, use the appropriate machinery such as a forklift.

4.2 Receiving and Handling

1) When the package arrives, check the contents.

Are the items and quantities in accordance with your order sheet?
Was any damage incurred during shipment?
2) Use a forklift, a pallet truck to carry the manipulator. Take measures to prevent
the manipulator from falling down.
3) Some devices such as the controller are mounted on casters, so be careful when
handling them.

CAUTION
• Confirm that the manipulator and the NX100 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.

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4.3 Installation of MOTOMAN

4.3 Installation of MOTOMAN

WARNING
• Install safeguards.

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

• Install the manipulator in a location where the fully extended arm and
tool will not reach the wall, safeguards, and the NX100.

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

• Do not turn ON the power before the manipulator is firmly anchored.

The manipulator may turn over, and cause injury or damage.

• Lifting the manipulator

The manipulator must be lifted only by qualified and authorized personnel. The
manipulator weighs approximately 370 kg (EPX2750). Use a wire, belt, or chain block
strong enough to support the weight.
Carefully check the length and the tension of the wire and belt to maintain the equilibrium
of the manipulator while lifting.
<Lifting method>
Attach the eyebolts in two locations on the turning section of the S-axis and in one
location on the top of the U-arm of the manipulator. Slowly lift the manipulator to form the
posture shown in Fig 1. using wire or a belt threaded through the eyebolts.
Use the eyebolt on the top of the U-arm for adjusting the posture of the manipulator and
the two eyebolts on the S-axis for lifting.
Crane

Chain block

Eyebolt M16
Provided with the manipulator

Manipulator

Fig. 1 Lifting EPX2750

When the manipulator is lifted to the desired height, adjust the posture of the manipulator
by adjusting the length of the chain block and then install the manipulator.

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4.3 Installation of MOTOMAN

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

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

• Do not install the painting gun and the gun brackets until the
manipulator is firmly anchored. Any contact to the unstable
manipulator may cause injury or damage.
• Be sure to remove the shipping jigs before turning ON the power supply.

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

4.3.1 Safeguard Installation

To ensure safe, be sure to install safeguards. They prevent unforeseen accidents with
personnel and damage to equipment. The following is quoted for your information and
guidance (ISO 10218).

Responsibility for Safeguarding

The user of a manipulator or robot system shall ensure that safeguards are provided and used
in accordance with Section 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.

4.3.2 Installation of Manipulator

The manipulator should be firmly mounted on a base or foundation strong enough to support
the manipulator and jigs, and withstand repulsion forces during acceleration and deceleration.
During installation, if the flatness is not right, the manipulator shape may change and its
functional ability may be compromised. The flatness for installation must be kept at 0.5 mm or
less. Mount the manipulator base in the ways shown in " 4.3.3 When the Manipulator and
Mounting Fixture are Installed on a Base Plate ".

Table 3 Maximum Repulsion Forces of the EPX2750

Horizontal rotating maximum torque 11000N • m

(S-axis moving direction) (1100kgf• m)

Vertical rotating maximum torque 21400N • m

(L- and U-axis moving direction) (2140kgf• m)

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4.3 Installation of MOTOMAN

4.3.3 When the Manipulator and Mounting Fixture are

Installed on a Base Plate
The base plate should be rugged and durable to prevent shifting of the manipulator or the
mounting fixture. It is recommended that the thickness of the base plate is 40 mm or more,
the anchor bolt is M16 or more.
There are four mounting holes in the manipulator base. Affix the manipulator securely with
hexagon socket head bolts M16 (70 mm long recommended). Tighten the bolts securely so
that they will not work loose during operation. See " Fig. 2 Mounting on the Base Plate "for
the method. The flatness for the manipulator installation face must be 0.5 mm or less.

Hexagon socket head bolt M16 (4 bolts)

Spring washer
Washer
or more 35mm

Manipulator base
40mm

Base plate

Manipulator base

Anchor bolt

Base plate

Fig. 2 Mounting on the Base Plate

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4.3 Installation of MOTOMAN

4.3.4 Location
Install the manipulator in a location that has the following environmental conditions:
• Ambient operating temperature: 0 to +40C
• 20 to 80 %RH (no moisture, non-condensation)
• Free from dust, dirt, oil mist, and water drop
• Free from excessive impact or vibration (less than 4.9 m/s2 (0.5 G))
• Free from large electrical noise (TIG welder, etc.)
• The flatness for installation is 0.5 mm or less.

4.3.5 Controller and Programming Pendant

• The controller and the programming pendant are not explosion-proof (the explosion-
proof programming pendant is available as an option). Never install the controller and the
programming pendant that are not explosion-proof in a hazardous location.
• Keep a minimum space of 60cm around the controller for maintenance. When the
sufficient space is not available, provide equipment for maintenance such as a drawing-
out system.
• An exhaust fan is provided on the back of the controller. Keep enough space behind the
controller so that air can be exhausted properly.
• Do not install the controller and programming pendant close to any noise source such as
the power supply for other devices.
• Install the controller in a location where the optimum atmosphere, temperature, and
humidity are assured and provide protection against water drops or thinner. If necessary,
install a control room to supply clean and temperature-controlled air.

4.3.6 Safety Devices

The standard safety devices are listed below. Refer to the instructions for connectng safety
devices required for your system application.
Install each device considering each function.
• Emergency stop switches
• Safety plugs
• Limit switches
• Flashing lights
• Indicator lamps
• Photoelectric intrusion detecting switches

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5.1 Wiring

5 Connection

5.1 Wiring

WARNING
• Ground resistance must be 100 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 power cable between the manipulator and the NX100
with heat insulating material, and avoid multiple cabling.

Failure to observe this caution may result in burn due to undisputed heat of the cable.

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5.1 Wiring

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

• Do not use this line in common with other ground lines or grounding electrodes for other
NOTE electric power, motor power, welding devices, etc.
• When metal ducts, metallic conduits, or distributing racks are used for cable laying,
ground in accordance with Electric Equipment Technical Standards.

The grounding methods differ depending on the system application. Refer to the connection
instructions that are provided separately.

Remove the Cover

5.5mm2 or more
(Prepare by the customer)

Fig. 3 Grounding Method

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5.2 Cable Connection

5.2 Cable Connection

5.2.1 Connection to the Manipulator

Before connecting the cables to the manipulator, verify the connectors named 1BC-1, -2, -3,
-4, -5, -6, -7 and 2BC-1, -2, -3, -4, -5, -6 on both cables and manipulator. Then connect each
connector of cables to same-named connector of Manipulator. Fix the plate of cables 6 bolts
M6 (4 bolts 12mm long and 2 bolts 20mm long recommended) with spring washers and
washers. The air hose for the pressure switch, the intrinsically safe cable, and the crimped
terminals should be prepared by the customer.
Notes. 4) Intrinsically safe cables and air lines
1) Intrinsically Safe Cable Wire/Lay the intrinsically safe cables and air tubes
which are connected to the pressure switch, outside the box,
1. Cable Type (or CVV-S) 1.25 mm 2 Core and pass the cables and air tubes through the cutout of the
2. Cable Connection front cover to connect them to the pressure switch in the box.
front cover
(Note 1) (Note 4)
Intrinsically Safe Controller
terminal box (NX100) Intrinsically safe cable
(Prepared by the customer)
309 A1
310 B1
Intrinsically safe terminal box
G G
cutout
2) Crimped Terminals (Note 2)
For connecting the intrinsically Climped Terminals
safe cable to the intrinsically 309
safe terminal box 310
E

3.4 min 5.6 max

Pressure switch
6.5 max

3.2 dia. min (Note 4)

Nylon air tube of 6/4 dia.
(Note 3) (Prepared by the customer)
3) Crimped Terminals Power Cables Climped Terminals
For connecting the intrinsically (7 cables)
A1
safe cable to the controller internal B1
contact barrier Signal Cables E
(6 cables) To the Controller (NX100)
5.3 min 4.4 max
To the Pneumatic Unit
6 max

3.2 dia. min Coupling (attached) Nylon air tube of 12/9 dia
(Prepare by the customer)
To
the Po
Co we
ntr ra
olle nd
r Sig
na
lC
ab
ke

Fig. 4 Manipulator Internal Cable Connection

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5.3 Internal Wiring

5.2.2 Connection to the NX100

Connect two cables (X21 and X11) to the back side of the NX100..

Nylon Air Tube

(Prepared by the customer)

6/4 dia. 12/9 dia.

ß
Operate air for Pressurized air
air-purge valve outlet

ALARM
GE N
ER
EM

C
Y

S
T O P

PROGRAMMING PENDANT
X?@8?@1

Cable connecting part

Front View Back View

Fig. 5 Connection to the NX100

5.3 Internal Wiring

Figs. 6 (a) and (b) show the internal wiring.

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5.3 Internal Wiring

NX100 Power cable Internal lead wires

Internal pressure case Internal pressure case

X11 1BC-1 No.2CN

CN1-1 -1 DATA+1 CN-1 DATA+1

CN1-2 P -2 DATA-1 P -2 DATA-1
BAT -6 BAT
OBT P -5 OBT PG S-AXIS
-3 +5V-1 -4 +5V
CN1-3
CN1-4 P -4 0V-1 P -9 0V
P -5 FG1 -7 FG1

OBT
CN1-5 BAT

1BC-2 No.1CN No.3CN

CN2-1 -1 DATA+2 CN-1 DATA+2 CN-1 DATA+2

CN2-2 P -2 DATA-2 P -2 DATA-2 P -2 DATA-2
BAT -6 BAT
OBT P P -5 OBT PG L-AXIS
CN2-3 -3 +5V-2 -3 +5V -4 +5V
CN2-4 P -4 0V-2 P -4 0V P -9 0V
P -5 FG2 -5 FG2 -7 FG2
-6 E
OBT
CN2-5 BAT
BAT
OBT
Internal pressure case
1BC-3
No.5CN
CN3-1 -1 DATA+3 CN-1 DATA+3
CN3-2 P -2 DATA-3 P -2 DATA-3
BAT -6 BAT
OBT P -5 OBT PG
CN3-3
-3 +5V-3 -4 +5V U-AXIS
CN3-4 P -4 0V-3 P -9 0V
P -5 FG3 -7 FG3

OBT
CN3-5
BAT

No.6CN
1BC-4
CN4-1 -1 DATA+4 CN-1 DATA+4
CN4-2 P -2 DATA-4 P -2 DATA-4
BAT -3 BAT
OBT P -4 OBT PG R-AXIS
CN4-3
CN4-4 P -3 +5V-4 CN-1 +5V
P -4 0V-4 P -2 0V
-5 FG4 -3 FG4
CN4-5 No.7CN
OBT
BAT

1BC-5 No.8CN

CN5-1 -1 DATA+5 CN-1 DATA+5

CN5-2 P -2 DATA-5 P -2 DATA-5
-3 BAT
P -4 OBT PG B-AXIS
CN5-3
CN5-4 P -3 +5V-5 CN-1 +5V
P -4 0V-5 P -2 0V
-5 FG5 -3 FG5
CN5-5 No.9CN
OBT
BAT

1BC-6 No.10CN

CN6-1 -1 DATA+6 CN-1 DATA+6

CN6-2 P -2 DATA-6 P -2 DATA-6
-3 BAT
P P -4 OBT PG T-AXIS
CN6-3
CN6-4 P -3 +5V-6 CN-1 +5V
P -4 0V-6 P -2 0V
-5 FG6 -3 FG6
CN6-5 No.11CN
OBT
E BAT
BATTERY BAT1 R
K 0BT1
K 0BT1 BAT1 R

Internal pressure case

P

P
P
0BT-RBT BATTERY BAT-RBT
R
K BAT-RBT
0BT-RBT R

E E BASE
E E E E E E
MANIPULATOR

Fig. 6 (a) Internal Cable Connection

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5.3 Internal Wiring

E MANIPULATOR
NX100

Power cable

Internal pressure case Internal pressure case

X21 2BC-1 No.30CN

CN1-1 -1 MU1 CN-1 MU1
-2 MV1 -2 MV1
CN1-2
-3 MW1 -3 MW1 SM S-AXIS
CN1-3
CN1-4 -4 ME1 -4 ME1
-5 BA1 -5 BA1
-6 BB1 -6 BB1 YB
-7 BA2
-8 BB2

2BC-3
CN2-1 -1 MU2 No.12CN
CN2-2 -2 MU2
-1 MU2
CN2-3 -3 MU2
CN2-4 -4 MU2
CN2-5 -5 MV2
CN2-6 -6 MV2
-2 MV2
CN2-7 -7 MV2
CN2-8 -8 MV2

2BC-4 No.15CN
-1 MW2 CN-A MU2
CN3-1 -B MV2
CN3-2 -2 MW2 -3 MW2 -C MW2 SM L-AXIS
CN3-3 -3 MW2
-4 MW2 -D ME2
CN3-4 -E BA2
CN3-5 -5 ME2
-6 ME2 -F BB2 YB
CN3-6 -4 ME2
CN3-7 -7 ME2
CN3-8 -8 ME2

No.13CN
-1 BA2
-2 BB2

Internal pressure case

2BC-6 No.16CN
CN4-1 -1 MU3 CN-1 MU3
-2 MV3 -2 MV3
CN4-2
-3 MW3 -3 MW3 SM U-AXIS
CN4-3
CN4-4 -4 ME3 -4 ME3
-5 BA3 -5 BA3
-6 BB3 -6 BB3 YB

3BC-1 No.17CN
CN4-5 -1 MU4 CN-1 MU4
-2 MV4 -2 MV4
CN4-6
-3 MW4 -3 MW4 SM R-AXIS
CN4-7
CN4-8 -4 ME4 -4 ME4
-5 BA4
No.31CN
-6 BB4 -1 BA4 YB
-2 BB4
3BC-2 No.18CN
CN5-1 -1 MU5 CN-1 MU5
-2 MV5 -2 MV5
CN5-2
-3 MW5 -3 MW5 SM B-AXIS
CN5-3
CN5-4 -4 ME5 -4 ME5
-5 BA5
-6 BB5 No.32CN YB
-1 BA5
-2 BB5

3BC-3 No.19CN
CN5-5 -1 MU6 CN-1 MU6
-2 MV6 -2 MV6
CN5-6
-3 MW6 -3 MW6 SM T-AXIS
CN5-7
CN5-8 -4 ME6 -4 ME6
-5 BA6
-6 BB6 No.33CN YB
-1 BA6
-2 BB6
CN6-1
CN6-2
CN6-3
CN6-4
CN6-5
CN6-6
CN6-7
CN6-8

PE

Fig. 6 (b) Internal Cable Connection

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6.1 Manipulator

6 System Configuration

" Fig. 7 System Configuration "shows the system configuration of the the MOTOMAN-
EPX2750.

6.1 Manipulator

The explosion-proof manipulator can be installed in hazardous locations such as in the

painting booth. For painting, a spray gun is mounted on the end of the wrist with special
fixtures.
" Fig. 8 Dimensions and P-point Maximum Envelope " shows the dimensions and the working
envelopes of the EPX2750.The manipulator is driven by the servo motor in vertically
articulated operation mode with 6 degrees of freedom on the manipulator base. The motion of
the manipulator is made by 6 axes:
The three main axes are used for positioning the spray gun: the S-axis which turns the arm,
the L-axis which moves the arm left and right, and the U-axis which moves the arm up and
down.
The three wrist axes are used for changing the direction of the spray gun: the R-, B-, and T-
axes.
The working envelope shown in " Fig. 8 Dimensions and P-point Maximum Envelope ", and
are that of the wrist axis center point P that is made by the combination of the motions of the
three main axes.

WARNING
When taking safety precautions, consider the working envelope of the manipulator shown in
" Fig. 8 Dimensions and P-point Maximum Envelope " .

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6.1 Manipulator

Hazardous location Non-hazardous location

Conveyor speed detector
5 7
(optional)
Program
Conveyor switch selector

4
(optional)
(optional)

Air tube (2)

3 AIR SUP.
(0.35 - 0.65MPa)
1 Manipulator Pneumatic
unit (3.5 - 6.5kg/cm2 )
Programming Pendant
2 (PP)
Robot
controller POWER SUP.
(NX100) (3-Phase 200/220 VAC
50/60 Hz)

6 Workpiece supplier

(optional) Power Supply

cable
(2)

6 Controller for the

workpiece supplier
(optional)

Fig. 7 System Configuration

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6.1 Manipulator

9
72
R2

8
R63
R822

300
P-point

165
P-point maximum
working envelope
300 1298 93

3029
168
2772

2455
P-point
80
A
285

P-point maximum
– 260
141.5
working envelope
78

– 270

3758
40
1100

40
90

10

827
609
8
108 16
600

176.5
0

B 667
729
1269

2729
0

770.5
604

822
998

3997.5
250 250
580

18 dia. mounting hole

100 265 265 (6 holes)
750

View B

Note
Operate the manipulator within the following range of motion.
Intereference may occur if the arm exceeds the range.
R-axis -145 to -20 , +215 to +260 : B-axis -215 to 15
Fig. 8 Dimensions and P-point Maximum Envelope

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6.2 Robot Controller

6.2 Robot Controller

The robot controller has a built-in microcomputer that controls all motion of the robot by saving
motion signals when teaching and sending these signals to the manipulator. The power unit
that supplies power to the manipulator is also built into the robot controller.

WARNING
The power supply of the robot controller is 200/220 VAC. Be sure to turn OFF the primary
power supply of the controller before starting maintenance.
Failure to observe this warning may result in electric shock.

6.3 Pneumatic Unit

The pneumatic unit supplies protective air or gas to the manipulator to prevent explosive gas
from entering the manipulator. Usually, the unit is attached to the side of the robot controller.
The circuit diagram and dimensions of the unit are shown in " Fig. 9 Pneumatic Unit Air Circuit
" and " Fig. 10 Pneumatic Unit External View ". Set the air pressure so that the pressure
shown on the pressure gauge of each pressure reducing valve will be within the pressure
ranges shown in " Fig. 9 Pneumatic Unit Air Circuit ".

CAUTION
The pneumatic unit is used to provide a pressurized explosion-proof barrier for the
manipulator. Because the barrier is only ensured when the air supply is within the
recommended pressure range, a lower air pressure will reduce the barrier’s efficiency,
and a higher air pressure will damage the pneumatic unit. Be sure to keep the air
pressure within the specified range.

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6.3 Pneumatic Unit

Pressure reducing valve P1(Setting Pressure)

for setting 0.01~0.03MPa(0.20~0.30 kgf/cm2)

Supply Pressure
P2(Purge Air Pressure)
0.35~0.65MPa Pressure reducing valve 0.15~0.35MPa
(3.5~6.5 kgf/cm2 ) for Purge Air (3.0~4.5 kgf/cm2)
SV1 Manipulator
Air in

Filter
Pressure reducing valve
for setting
PO(Pressure) Manipulator
0.35~0.65MPa (3.5~6.5 kgf/cm2 ) SV2 to MV

Fig. 9 Pneumatic Unit Air Circuit

Setting Pressure
0.01~0.03MPa
(0.20~0.30 kgf/cm2)

Purge air pressure

0.15~0.35MPa
(3.0~4.5 kgf/cm2)

Controling pressure
0.35~0.65MPa Pressurised air outlet
(3.5~6.5 kgf/cm2) Operate air
for air-purge valve

ALARM
GE N
ER
EM

C
Y

S
T O P

PROGRAMMING PENDANT
X?@8?@1

Front View Back View

Fig. 10 Pneumatic Unit External View

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6.4 Tubes

6.4 Tubes

Daily inspection is requested for the tubes used for supplying paints, thinner, and air (not the
tube for supplying protective gas into the manipulator). Replace them periodically.

6.5 O-ring in the Wrist

Periodically replace the O-rings in the wrist. Contact your Yaskawa representative to replace
the rings. When the wrist is cleaned 2 or 3 times a week with the recovered thinner, the
O-rings may become deformed, which causes malfunctions. Contact your Yaskawa
representative for more information about the O-ring made of special material (option).

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7.1 Basic Specifications

7 Basic Specifications

7.1 Basic Specifications

Table 4 EPX2750 Basic Specifications *1

Item Type MOTOMAN-EPX2750-A300

Operation Mode Vertically Articulated
Degree of Freedom 6
Payload 10 kg
Repetitive Positioning Accuracy*2 ± 0.5 mm
Motion Range S-axis (turning) -150° - +150°
L-axis (lower arm) -40° - +90°
U-axis (upper arm) +10° - +168°
R-axis(wrist roll) -260° - -145°, -20° - +215° (B-axis: -270° - +270°)
-145° - -20°, +215° - +260° *3 (B-axis: -195° - +15°)
B-axis(wrist yaw/ roll) -270° - +270°
T-axis (wrist twist) -260° - +260°
Maximum Speed S-axis 2.16 rad/s (124°/s)
L-axis 2.21 rad/s (127°/s)
U-axis 1.95 rad/s (112°/s)
R-axis 6.28 rad/s (360°/s)
B-axis 6.28 rad/s (360°/s)
T-axis 6.28 rad/s (360°/s)
Allowable Moment R-axis 30.4 N•m(3.1 kgf•m)
B-axis 19.6 N•m(2.0 kgf•m)
T-axis 9.8 N•m(1.0 kgf•m)
Allowable Moment R-axis 0.97 kg•m2
of Inertia
B-axis 0.40 kg•m2
(GD2/4)
T-axis 0.10 kg•m2
Mass 560 kg
Ambient Conditions Temperature 0 to + 40 C
Humidity 20 to 80 %RH (non-condensing)
Vibration 4.9 m/s2 (0.5 G) or less
Others Free from excessive electrical noise
Power Capacity 5 kVA

*1 SI units are used in the table are also described in parentheses.

*2 Conformed to ISO9283.
*3 Interefere may occur if the arm exceeds this range of motion.

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7.2 Wrist Flange

7.2 Wrist Flange

The wrist flange dimension is shown in " Fig. 11 Wrist Flange ". Fitting depth of inside fittings
must be 6mm or less.

O-ring
Tapped hole 8-M6 x 1 (attached to the manipulator)
(depth: 9 mm)

0.5
45 dia. Roatating part)
.32
(Outer dia. of

P.C.D
14 dia.+0.018
70 dia.

Fig. 11 Wrist Flange

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7.3 System Application

7.3 System Application

The device required for the system application can be mounted on the horizontal arm.
Observe the following restrictions.
• Maximum allowable load: 20 kg
• Mounting position: refer to " Fig. 12 Device Mounting Position "

Allowable load : 20 kg or less

700mm or less

Fig. 12 Device Mounting Position

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8.1 Frequent Inspections

8 Frequent Inspections

8.1 Frequent Inspections

The painting robot is a precision device using advanced technology. It is important to

frequently inspect the robot and remove any dried paint.
Conduct the daily and weekly inspections listed in " Table. 5 Frequent Inspections " to ensure
the long life of the robot and its performance.

Table 5 Frequent Inspections

No. Items to be Inspected Inspection Daily Weekly Remarks

Motion Smooth tuning, WARNING

horizontal, and vertical
motions of each arm. Do not enter the robot
1  working envelope.
The robot’s standby
position does not
change.

Noise and vibration No abnormal noise WARNING

2 during operation and vibration during 
robot operation. Do not enter the robot
working envelope.

Tubes No severe wear and CAUTION

3 tear on paint and air  
supply tubes. Use a pair of protective
glasses to protect your
Air leakage No excessive air leak- eyes against paint or
Manipulator
age from the fitting of thinner that is being
the motor case. removed.
CAUTION
4   Make sure that the air
tube is firmly inserted
in the joint. Accidental
disconnection of the air
tube may cause injury.

Dried paint Remove the dried Replace the sheet.

paint on the robot. WARNING

5   When removing the

paint with a tool, be
careful not to damage
the robot.

Water drained from No need for the

1 
the air filter automatic system
Pneumatic
Pressure set value The pressure of the
Unit
pressure reducing
2 
valve is within the
specified range

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8.1 Frequent Inspections

Table 5 Frequent Inspections

No. Items to be Inspected Inspection Daily Weekly Remarks

Operation of emer- 1. The manipulator CAUTION

gency stop button stops immediately
and safety plug. when the Inspect the robot while
 it is in its standby
Dried paint emergency stop
button is pressed. position and not in
motion.

2. The manipulator
stops immediately
1 
when the safety
plug is pulled out.

3. Remove the
dried paint on
the emergency

stop
button and the
Safety
safety plug.
Devices
Operation of the 1. The manipulator
photoelectric intru- stops when the
sion detecting photoelectric 
switch switch is turned
2 Dried paint OFF.

2. Remove the dried

paint on the light 
beam detector.

Operation of limit 1. Normal operation

 
switch. of the limit switch
Dried paint
3
2. Remove the
dried paint on  
the limit switch.

Operation of the The gun tilt changes

1 gun tilt switching correctly when air is  
supplied.

Operation of the 1. The manipulator

shear pin system stops immediately
when the shear  
Options
pin
is sheared.
2
2. The test valve is
closed and the
 
tube
is not broken.

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8.2 Daily Inspections

8.2 Daily Inspections

Inspect the robot daily to ensure its high performance and early detection of any
abnormalities.

8.2.1 Manipulator
 Visual inspection
Before turning ON the power to the manipulator, check if any abnormality can be found on the
manipulator. Remove the jacket if it is attached.

 Dried paint, dust, and dirt

Remove any dried paint on the manipulator and other devices.
Replace the vinyl sheet if any.
Replace the jacket if it is dirty.

WARNING
When using a tool to remove the paint, be careful not to damage the manipulator.

CAUTION
Paint stuck on the manipulator rotating parts prevents them from turning normally and
smoothly. Periodically remove the paint on the manipulator.
A cloth that is soaked in paint thinner can be used for cleaning the inside of the wrist,
because an anti-thinner enclosure is provided. But, be careful not to remove the original
coat of paint on the manipulator.

 Tubes
Check for wear and tear on the air supply tubes and the paint supply tubes connected to the
motor on each axis. Also, make sure that the tubes are not bent from the weight of the vinyl
sheet or the robot cover.

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8.2 Daily Inspections

CAUTION
• Remove the adhered paint on the manipulator periodically.

The paint deposited on the rotating parts of the manipulator may cause a malfunction.

• The wrist part structurally can be cleaned with a cloth with some
thinner, preventing thinner goes inside the wrist. However, use caution
not to remove the original coat of the manipulator.

 Air leakage
Check for excessive air leakage from the tubes, the couplings, and the joint fittings of the
motor on each axis when the air is supllied in the manipulator to form the explosion-proof
barrier.
The actual amount of air leakage is not important if a fault in the internal air pressure does not
occur. However, if internal air pressure faults occur frequently, check if the pressure of the air
source and the pressure setting of the pressure reducing valve are correct and if excessive air
is leaking.

 Noise and vibration during operation

Check if the manipulator standby posture does not change when turning ON the power supply.
Also, check for abnormal noise or vibration during operation.

WARNING
Never enter inside the safeguards and the manipulator working envelope after turning ON
the power supply.

8.2.2 Pneumatic Unit

 Drained water from air filter
Empty the water drained from the air filter on the pneumatic unit.
Where the automatic drainage system is provided, check the water level.

 Pressure
Before moving the manipulator, check if the gauges of the pressure reducing valves on the
pneumatic unit show the pressure to be within the specified range.

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8.2 Daily Inspections

8.2.3 Safety Devices

 Emergency stop button and safety plug
Before operating the manipulator, check the following to make sure that the emergency stop
button and the safety plug operate correctly:
The manipulator stops immediately when the emergency stop button is pressed.
The manipulator stops immediately when the safety plug is pulled out.
Inspect the manipulator while it is in the standby posture and not in motion with the power
supply turned ON. Repeated sudden stops while the manipulator is in motion will damage the
braking system.
Remove any paint on the emergency stop button and the safety plug.

 Photoelectric intrusion detecting switch

Make sure that the photoelectric intrusion detecting switch operates correctly.
Remove any dried paint on the light beam receiving section on the switch.
When the air is purging, check the air for purging.

 Limit switch
Make sure that the limit switches for positioning workpieces, starting the robot, and return the
robot to home operate correctly.
Remove any dried paint that may obstruct the robot motion.

8.2.4 Options
 Gun tilt switching
Check if the gun changes its tilt smoothly when compressed air is supplied.
If excessive shock is applied on both ends, reduce the pressure supplied to the actuator.

 Shear pin
Disconnect the air supply tube, and check if the shear pin breaks immediately to shut off the
power supply to the manipulator.
Also, make sure that the air tube is not bent or crushed.

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9.1 Inspection Schedule

9 Maintenance and Inspection

WARNING
• Before maintenance or inspection, be sure to turn the main power
supply OFF, and put up a warning sign such as “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 the specified
personnel.

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

• For disassembly or repair, contact your Yaskawa representative.

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

Unexpected arm motion may cause injury or damage to the equipment.

• Be sure to connect the battery board before disconnecting the

connectors for detection at maintenance and inspection.

Failure to observe this caution may result in 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 displayed in the levels shown in "Table 6 Inspection Schedule". Conduct
periodical inspections according to the inspection schedule in "Table 6 Inspection Schedule".
In "Table 6 Inspection Schedule", the inspection items are classified into three types of
operation: operations which can be performed by personnel authorized of 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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9.1 Inspection Schedule

NOTE The inspection interval must be based on the servo power supply ON time.

Table 6 Inspection Schedule

Inspection
Schedule
charge
Maintenance and
Item Operation
Inspection 1000 6000 12000
24000 36000 Specified Service
Hr Hr Hr Licensee
Hr Hr person-nel com-pany
cycle cycle cycle

 Replace the gear

Reple if any abnormality
nish is found.  
greas Use Alvania EP
(1) e grease 2.
Gear inside 
the wrist Adjust
Contact your Yas-
ment
kawa representa- 
gear
tive.
(7500
Hr)
Replace the

(2) speed reducer if
Reple
Inspection, Harmonic any abnormality is
nish  
replacement, drive speed found.
greas
and grease reducer Use Harmonic
e
replenishment/ grease 4B-No.2.
replacement of Replace the
1 
speed reducers  speed reducer if
and gears (3) Reple
Replac any abnormality is
(*1) RV speed nish  
e found.
Refer to 9.2. reducer greas
grease Use Molywhite RE
e
No. 00 grease.

(4) Replac
R-and B-axes ement
Contact your Yas-
speed reducer of lubri-
kawa representa- 
made by Alpha cating
tive.
Getriebebau oil
GmbH (15000
H)

(5) 
Reple Contact your Yas-
Conical spring Repla
nish kawa representa-  
washer inside ce
greas tive.
the wrist spring
e
(1)
Tighten the
bolts that
Tightening of loosed from
2    
bolts vibration and
an exces-
sively swinging
load.
(1) Replace if any
  
O-ring abnormality is
found.
Inspection of (2
3 Contact your Yas-
wrist )Presence
 kawa representa-   
check of tive.
abnormality

(1)
Inspection of
  
Inspection of air the gasket of
the motor case Replace the gas-
sealing parts for
4 ket if excessive
internal pres- (2) wear is found.
sure Inspection of
  
the gasket of
the box

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9.1 Inspection Schedule

Table 6 Inspection Schedule

Inspection
Schedule
charge
Maintenance and
Item Operation
Inspection 1000 6000 12000
24000 36000 Specified Service
Hr Hr Hr Licensee
Hr Hr person-nel com-pany
cycle cycle cycle

(1)
Replace the
  
pneumatic unit
filter.
(2)
Check the
Replacement of operation of   
5 pneumatic unit the solenoid
filter valve.
(3)
Check the
operation of
  
the pressure
reducing
valve.
(1)
Check the
operation of   
the pressure
switch.
(2)
Check the
Inspection of
operation of   
6 explosion-proof
the master
devices
valve.
(3)
Check the
operation of
  
the explosion-
proof enclo-
sure.
Swinging the lead
wire, check the
(1)
conduction of the
Check the
 main connector
Inspection of conduction.
 Replac and the intermedi-
7 internal Check for the  
Inspect e ate connector of
cables(*2) wears on the
(*3) the box.
protective
Check for the
spring.
wears on the pro-
tective spring.
(1)
Check if the Insert the connec-
8 Motor connector connectors are  tor securely if it is   
securely loose.
inserted.
Replace the bat-
(1)  tery when the bat-
Battery in
9 Replacement Replac tery alarm is  
manipulator
of the battery e displayed on the
NX100.
Contact your Yas-
10 Overhaul  kawa representa- 
tive.

*1 When replenishing or replacing the grease, be careful not to let any grease into the
motor. Grease in the motor may cause motor failure. When any grease enters in the
motor, contact your Yaskawa representative.
*2 When checking the conduction with multimeter, connect the battery to “BAT” and “0BT”
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 data may be lost.
*3 Replace the internal cables of S-, L-, U-, R-, B-, and T-axes at 24,000H inspection.

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9.2 Maintenance for Manipulator

9.2 Maintenance for Manipulator

9.2.1 Grease Replenishment/Replacement

"Fig. 13 Locations of Components" shows the location of the components of the
manipulator.Replenish or replace the grease for the following:

1) Gears on the wrist and the end of the U-arm

2) Harmonic Drive speed reducers for the U- and T-axes
3) RV speed reducers for the S- and L-axes
4) Gear part

U-arm Motors for R-, B- and T-axes

Wrist R- and B-axes speed reducers

U-axis motor and speed reducer

T-axis speed reducer

L-arm

S-axis motor and speed reducer

Turning head

Box
(Manipulator base)
L-axis motor and speed reducer

Fig. 13 Locations of Components

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9.2 Maintenance for Manipulator

 Gears
Remove the cover and the plug. Inject Alvania EP grease 2 by using a grease gun to the gear
teeth. See "Fig. 14 Injecting Grease at Wrist and End of U-arm".

Cover Plug

Plug

Grease gun

Cover

Cover

Fig. 14 Injecting Grease at Wrist and End of U-arm

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9.2 Maintenance for Manipulator

 Harmonic Drive speed reducer

For the U-Axis Harmonic Drive speed reducer, the customer is responsible for replenishing
the grease. But for the T-Axis speed reducer, contact your Yaskawa representative.

Grease Replenishment
Refer to "Fig. 15 U-axis Harmonic Drive Speed Reducer".
1. Remove the plug in the Uo air flow.

NOTE The grease is not exhausted from the Uo air flow. Do not inject excessive grease.

2. Remove the plug 1/8 from the Ui grease inlet, and install the G nipple A-PT1/8 to inject
grease.

Grease type: Harmonic grease 4B No.2

Amount of grease: 90 cc
(180 cc for 1st supply)

3. Reinstall the plugs on the Ui grease inlet and the Uo air outlet. Apply Three Bond 1104
on screwed part.

Uo: Air flow

(with hexagon socket head plug PT1/8)

U-axis
speed reducer

Ui: Grease inlet

(with hexagon socket head plug PT1/8)

Fig. 15 U-axis Harmonic Drive Speed Reducer

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9.2 Maintenance for Manipulator

 RV speed reducer
Grease Replenishment
Refer to "Fig. 16 S-axis RV Speed Reducer" and "Fig. 17 L-axis RV Speed Reducer".
1. Remove the plug in the So (Lo) grease exhaust port. Remove the cover on the L-axis
motor side.

• If grease is added without removing the plug, the internal pressure will be higher and may
NOTE damage it. It is absolutely necessary to remove the plug.
• When injecting grease into the L-axis speed reducer, grease may come out from the air
flow on the motor base. Remove the cover on the motor side to check if excessive
grease is coming out. If there is any grease, wipe it off.

2. Inject grease into the Si (Li) grease inlet. Before injecting grease in the Li port, remove
the plug on Li and install a G nipple A-PT1/8.

Grease type: VIGO Grease RE No.0

Amount of grease: 800 cc for S-axis; 700 cc for L-axis

3. Move the S-axis (L-axis) for a few minutes to discharge the excessive grease.
4. Wipe the So (Lo) exhaust port with a cloth and reinstall plugs in So (Li and Lo) exhaust
port. Apply Three Bond 1104 on screwed parts.Reinstall the cover on the L-axis motor
side.

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9.2 Maintenance for Manipulator

Grease Replacement
Refer to "Fig. 16 S-axis RV Speed Reducer" and "Fig. 17 L-axis RV Speed Reducer".

1. Remove the plug in the So (Lo) grease exhaust port. Remove the cover on the L-axis
motor side.

• If grease is added without removing the plug, the internal pressure will be higher and may
NOTE damage it. It is absolutely necessary to remove the plug.
• When injecting grease into the L-axis speed reducer, grease may come out from the air
flow on the motor base. Remove the cover on the motor side to check if excessive
grease is coming out. If there is any grease, wipe it off.

2. Inject grease into the Si (Li) grease inlet. Before injecting grease in the Li port, remove
the plug on Li and install a G nipple A-PT1/8.

Grease type: VIGO Grease RE No.0

Amount of grease: 2000 cc for S-axis; 2300 cc for L-axis

3. The grease replacement is complete when new grease appears in the So (Lo) exhaust
port. The new grease can be distinguished from the old grease by color.
4. Move the S-axis (L-axis) for a few minutes to discharge the excessive grease.
5. Wipe the So (Lo) exhaust port with a cloth and reinstall the plugs in the So (Li and Lo)
exhaust port. Apply Three Bond 1104 on screwed parts.
Reinstall the cover on the L-axis motor side.

If the plug is installed when the grease is being exhausted, the grease will go inside the
NOTE motor and may damage it. Reinstall the plug after the excessive grease is completely dis-
charged.

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9.2 Maintenance for Manipulator

So: Grease exhaust port

(with hexagon socket head plug 1/8)

Cover

S-axis speed reducer

Si: Grease inlet

(with grease zark A-PT1/4)

Fig. 16 S-axis RV Speed Reducer

Lo: Grease exhaust port

(with hexagon socket head plug PT1/8)

L-axis speed reducer Cover on L-axis motor cover

Li: Grease inlet

(Note:Remove the hexagon socket head
plug and install a G nipple A-PT1/8 before
injecting grease)

Fig. 17 L-axis RV Speed Reducer

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9.2 Maintenance for Manipulator

9.2.2 Lubricating Oil Replacement for R-, B- and T-axes

Speed Reducers
Contact your Yaskawa representative because motors and drive shafts for the R- and B-axes
need to be removed to replace the lubricating oil.

9.2.3 Tightening Bolts

Tighten the bolts shown in "Fig. 18 Manipulator Base Box Fixing Bolts" to "Fig. 20 Terminal
Box in Manipulator Base Box".

Manipulator base fixing bolts

4-M16

Fig. 18 Manipulator Base Box Fixing Bolts

Hexagon socket head bolt 5-M6

Hexagon socket head bolt 6-M6 Tightening torque 11.5N m
Tightening torque 11.5N m (117Kg cm)
(117Kg cm)

Fig. 19 Wrist Fixing Bolts

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9.2 Maintenance for Manipulator

Terminal box fixing screws

Fig. 20 Terminal Box in Manipulator Base Box

9.2.4 Wrist Speed Reducer and Bearing

Check if the three wrist axes move smoothly or not. If the wrist does not move smoothly,
contact your Yaskawa representative. Removing and disassembling the wrist to find the faulty
axis will be needed for repair or replacement of the bearing, the speed reducer, or the sealing
compounds.

CAUTION
To remove the wrist from the U-arm, firmly hold the wrist and remove the fixing bolt. If not,
the wrist may fall down when the fixing bolt is removed.

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9.2 Maintenance for Manipulator

9.2.5 Air Sealing for Internal Air Pressure

 Gasket on the motor case
(a) S-, L-, and U-axes
Remove the mounting bolts on the motor case and check the gasket where the case is
mounted.
Remove the cover for the cable inlet in the motor case, and check the gasket where the
cover is attached. Excessive oil in the air that is used for the internal air pressure can
damage the gasket, which result in air leakage. Replace the gasket if air leakage is
found.
Refer to "Fig. 21 S- and L-axes Motor Gasket"to "Fig. 23 R-, B-, and T-axes Motor Gas-
ket" for more information on the gasket of each axis motor.

Motor case

Packing

L-axis motor

S-axis motor

Packing

Motor case

Fig. 21 S- and L-axes Motor Gasket

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9.2 Maintenance for Manipulator

U-axis motor

Packing

Cover
Packing

Motor case

Fig. 22 U-axis Motor Gasket

(b) R-, B-, and T-axes

The gasket is provided on the joint fittings between the back of the U-arm and the
motor case. Remove the mounting bolts to check for wear and tear on the gasket.
Refer to "Fig. 23 R-, B-, and T-axes Motor Gasket".

R-,B- and T-axis motors

Motor case

Packing

Fig. 23 R-, B-, and T-axes Motor Gasket

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9.2 Maintenance for Manipulator

 Manipulator Base Box Cover Gasket

Remove the two covers on the back side of the manipulator base box, and check the rubber
gasket. Refer to "Fig. 24 Manipulator Base Box Rubber Gasket".

Cover

Gasket Cover

Cover
Cover Gasket

Fig. 24 Manipulator Base Box Rubber Gasket

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9.2 Maintenance for Manipulator

9.2.6 Battery Board Replacement

Two battery boards are installed in the locations shown in "Fig. 25 Battery Board Location".
• Battery board: JARCR-XIS01
If a battery alarm occurs in the NX100, replace the battery board in the following procedure.

Battery board fixing bolt M3

Box

Battery board
(2 boards)
(JARCR-XIS01)
A
Top view of the battery board
B

A-A Details of B part

A
Fig. 25 Battery Board Location

See step 6 below Battery board for S-, L- and U-axes

before replacement
See step 7 below
a: crimped contact-pin (pin)
0BT1 a b 0BT1 b: crimped contact-pin (socket)
BAT1 b a BAT1

b 0BT1
0BT1 a
a BAT1
BAT1 b

See step 4 below

See step 6 below Battery board for
R-, B- and T-axes
See step 7 below before replacement See step 5 below New battery board

0BT4 a b 0BT4
BAT4 b a BAT4

0BT4 a b 0BT4
BAT4 b a BAT4
See step 4 below

Fig. 26 Battery Connection

1. Turn OFF the power to the NX100.

2. Detach and pull out the connector base from the base.
3. Remove the battery board mounting screws.
4. Remove the electrical tape protecting connection part of the battery board in the
manipulator.
5. Connect two new battery boards.
6. Remove the old battery boards.

NOTE Be sure to connect the new battery boards before disconnecting the old one so that the
data does not disappear.

7. Protect the connection part of the battery board in the manipulator with electrical tape.
8. Insert the battery board screws in the mounting holes on the connector base, and fix
the connector base on the base.

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9.3 Inspection of the Pneumatic Unit

9.3 Inspection of the Pneumatic Unit

9.3.1 Solenoid Valve

Check if the air purge starts a few seconds after turning ON the power to the NX100 and if it
ends approximately 3 minutes later.

9.3.2 Pressure Reducing Valve

Measure the explosion-proof air pressure supplied to the pneumatic unit with a pressure
gauge. Remove the test plug (or the relief valve) from the pneumatic unit and connect
pressure gauges to each of them, then check that the each gauge indicates the following
figures:

When purging Air-purge pressure 0.15 MPa to 0.35 MPa

Normal status Normal pressure 0.01 MPa to 0.03 MPa

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9.4 Inspection of Explosion-proof Devices

9.4 Inspection of Explosion-proof Devices

9.4.1 Pressure Switch

Remove the front cover of the pneumatic unit box and check the conduction of the pressure
switch. The pressure switch must be ON when the air is being supplied and OFF when the air
is not being supplied.

CAUTION
• Be sure to turn OFF the power to the NX100 before inspecting the
pressure switch.
• Do not touch the pressure setting dial on the pressure switch during an
inspection. Changing the setting prevents the correct pressure from
being detected.

9.4.2 Master Valve

While the air is being supplied from the pneumatic unit, check if the air purge starts a few
seconds after the power to the NX100 is turned ON. Also, check if the air goes out of the two
air outlets for the master valve during the air purge.

9.4.3 Pressurized Explosion-proof Barrier

While the air is being supplied from the pneumatic unit, check if the air purge starts a few
seconds after the power to the NX100 is turned ON and if it ends approximately 8.5 minutes
later. Also, check the following:
(a) The alarm “AIR PRESSURE ERROR” occurs immediately after the air supply from the
pneumatic unit is stopped and the power supply to the NX100 is turned ON.
(b) The alarm “AIR PRESSURE ERROR” occurs when the air supply from the pneumatic
unit is stopped during air purging.

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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-EPX2750. The spare parts list 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 units

NOTE To replace parts in Rank B or Rank C, contact your Yaskawa representative.

Table 7 Spare Parts for MOTOMAN-EPX2750

Qty
Part
Rank Name Type Manufacturer Qty per Remarks
No.
Unit
A 1 Battery board JARCR-XIS01 Yaskawa 1 2

Diabond Industries Co.,

A 2 Adhesive DB-1600 200ml - For gasket
Ltd.
Sealing tape
A 3 4501 Three Bond Co., Ltd. 1 - For plug seal
(for pipe work)
Alvania EP For the bevel gear in
A 4 Grease Showa Oil Co., Ltd. 16kg -
Grease 2 wrist
VIGO Grease
A 5 Grease Yaskawa 16kg - For RV speed reducer
RE No.
Harmonic Grease Harmonic Drive Sys- For Harmonic Drive
A 6 Grease 2.5kg -
A4B-No.2 tems Co., Ltd. speed reducer
Alpha Getriebebau speed
A 7 Lubricating oil Renolin PG220 Showa Oil Co., Ltd. 10 l -
reducer
Conical Iwatani Denko Corpora-
A 8 BD-19B 72 72
spring washer tion
S-axis
B 9 HW9482862-A Yaskawa 1 1
speed reducer
L-axis
B 10 HW9381465-A Yaskawa 1 1
speed reducer
U-axis
B 11 HW9482864-A Yaskawa 1 1
speed reducer
R- and B-axes
B 12 HW0485932-A Yaskawa 1 2
speed reducers
T-axis
B 13 HW0480040-A Yaskawa 1 1
speed reducer
B 14 Wrist unit HW0171974-D Yaskawa 1 1
AC servomtors for S- HW0380187-A
C 15 Yaskawa 1 2
and U-axes
AC servomotors
C 16 HW0380188-A Yaskawa 1 1
for L-axis
AC servomtors for
C 17 HW0380189-A Yaskawa 1 3
R-, B-, and T-axes

C 18 Switch unit HW9371225-A Yaskawa 1 1

C 19 Internal cable HW0272857-A Yaskawa 1 1 For S-axis

C 20 Internal cable HW0373190-A Yaskawa 1 1 For L-axis motor

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Table 7 Spare Parts for MOTOMAN-EPX2750

C 21 Internal cable HW0373191-A Yaskawa 1 1 For L-axis encoder

C 22 Internal cable HW0373189-B Yaskawa 1 1 For U-axis

C 23 Internal cable HW0272980-C Yaskawa 1 1 For R-, B-, and T-axis

C 24 Internal cable HW0472328-A Yaskawa 1 1 For battery

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11.1 S-Axis Unit

11 Parts List

11.1 S-Axis Unit

1090 1003 1055
1054
1053
1091 1004
1055 1054
1056
1101
1001 1058 1051
1106 1059 1052
1049
1057 1050
1047
1006 1045
1046 1048
1007 1043
1044
1005 1036

1059
1002
1110 1058
1094 1037

1018
1093
1016 1039
1016 1038
1095

1096
1017
1098
1020 1099
1054
1053 1097
1021 1053
1054 1100
1019 1025
1023 1026
1024
1014 1028

1010 1104 1029 1114 1068

1011 1008 1115
1105
1030
1031 1103
1116
1113 1027
1009 1112 1116
1115
1015 1114 1061
1066
1107
1108
1068

1062 1065 1067

1063 1072
1075
1071 1073
1074
1111

1109 1068 1084

1076
1068 1085 1084
1083

1088
1089
1102 1070

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11.1 S-Axis Unit

No. DWG No. Name Pcs No. DWG No. Name Pcs
1001 HW0200092-1 Cover 1 1074 HW0300628-1 Cover 1
1002 HW0400638-1 Packing 1 1075 HW9406056-2 Packing 1
1003 M6X20 Socket screw 5 1076 KQVD10-04S Joint 1
1004 2H-6 Spring washer 5 1083 M6X25 Socket screw 4
1005 SGMRS-12A2B-YRA1 Motor 1 1084 2H-6 Spring washer 6
1006 M8X25 Socket screw 4 1085 M6X16 Bolt 2
1007 2H-8 Spring washer 4 1088 SLE-062V Union 1
1008 HW0100098-1 M base 1 1089 PT1/4 G nipple 1
1009 PT1/8 Plug 1 1090 M6X20 Bolt 2
1010 M10X45 Socket screw 11 1091 2H-6 Spring washer 2
1011 2H-10 Spring washer 11 1093 HW0300700-1 Holder(A) 1
1014 M6X100 Bolt 1 1094 M8X35 Bolt 16
1015 AS568-274 O-ring 1 1095 HW9482861-E Bearing 1
1016 Y507212.5 Oil seal 2 1096 HW0300701-1 Holder(B) 1
1017 HW0400429-A Shaft 1 1097 M8X35 Bolt 14
1018 HW0400470-1 Collar 1 1098 2H-8 Spring washer 14
1019 HW0300199-1 Gear 1 1099 HW9302735-1 Stopper 1
1020 HW9481343-A Shaft 1 1100 M8X50 Bolt 3
1021 HW0400243-1 Pipe 1 1101 M6 Washer 3
1023 M6 Washer 1 1102 HW0400885-1 Cover 1
1024 HW9482862-A Speed reducer 1 1103 HW0400885-2 Cover 1
1025 M10X70 Bolt 8 1104 M10X25 Socket screw 10
1026 2H-10 Spring washer 12 1105 2H-10 Spring washer 10
1027 PT3/8 Plug 1 1106 HW1402271-2 Block 1
1028 M16 Nut 1 1107 2H-6 Spring washer 2
1029 HW9302740-2 Jig(1) 1 1108 M6 Washer 2
1030 HW0302326-A Support 1 1109 2H-6 Spring washer 14
1031 STW-15 Retaining Ring 1 1110 HW0302327-1 Support 1
C-type 1111 KR8G5 Suddle 1
1036 HW0100034-1 Base 1 1112 M6X40 Bolt 1
1037 HW9406052-1 Cover 1 1113 M6 Washer 1
1038 M6X10 Socket screw 4 1114 M6X55 Bolt 2
1039 2H-6 Spring washer 4 1115 2H-6 Spring washer 2
1043 HW0400422-1 Flange 1 1116 HW0402795-1 Support 2
1044 HW0400442-1 Packing 1
1045 M4X25 Socket screw 4
1046 2H-4 Spring washer 4
1047 HW9406054-1 Holder 4
1048 HW9406055-4 Packing 4
1049 M5X25 Socket screw 4
1050 2H-5 Spring washer 4
1051 KQLE10-00 Joint 2
1052 SW-16 Packing 2
1053 HW9406050-1 Block 3
1054 M6X20 Socket screw 8
1055 M16 Eye bolt 2
1056 HW9406114-1 Bolt 1
1057 HW9406053-1 Clamp 1
1058 M6X12 Socket screw 4
1059 2H-6 Spring washer 4
1061 HW9101045-1 Box 1
1062 HW9201046-1 Cover 1
1063 M6X10 Socket screw 4
1065 HW9371199-A Switch unit 1
1066 M6X15 Bolt 2
1067 HW0400886-2 Cover 1
1068 M6X10 Socket screw 14
1070 HW0400886-1 Cover 1
1071 NB-0640-0.3 Tube 1
1072 T30R Cable tie 1
1073 M5X10 APS bolt 1

11-2

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 164707-1CD

11.2 LU-Axis Unit

11.2 LU-Axis Unit

2012
2013
2011
2015
2014 2015

2016
2071 2004
2017
2082 2018
2020 2006
2019
2009 2007
2010
2027 2008
4001 2025
2082 2005
2076 2024
2029
2076 2030 2080 2079 2036

2029 2081 2032 2037

2028 2031
2027 2034
2072 2035
2026 2038
2081
2023 2080 2066
2079 2067
2021
2022 2070 2068
2075 2072 2069
2001 2077
2060
2061
2003 2074 2062
2002 2073

2082 2063
2065 2083 2064
2084
2058 2082

2059

2051
2052
2053
2049
2078
2050
2047 1036
2048 2047
2046
2043
2042
2045
2044

2041 2039
2040

2054

2055

2057
2056

11-3

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 164707-1CD

11.2 LU-Axis Unit

No. DWG No. Name Pcs No. DWG No. Name Pcs

2001 HW9201018-1 Cover 1 2063 M6X20 Bolt 2

2002 M6X20 Socket screw 3 2064 2H-6 Spring washer 2
2003 2H-6 Spring washer 3 2065 HW9406015-1 O-ring 1
2004 HW0200094-1 Cover 1 2066 M16X65 Socket screw 6
2005 HW9302786-1 Packing 1 2067 2H-16 Spring washer 6
2006 M6X20 Socket screw 10 2068 M10X55 Socket screw 18
2007 2H-6 Spring washer 10 2069 2H-10 Spring washer 18
2008 SGMRS-12A2B-YRA1 Motor 1 2070 HW0100036-1 Arm 1
2009 M8X25 Socket screw 4 2071 KES8-35 Key 1
2010 2H-8 Spring washer 4 2072 HW9406135-1 Cover 4
2011 HW0300367-1 Flange 1 2073 M16X55 Bolt 8
2012 M12X35 Socket screw 4 2074 GT-LH-16 Spring washer 8
2013 2H-12 Spring washer 4 2075 HW9100845-1 Arm 1
2014 AS568-172 O-ring 1 2076 M6X12 Socket screw 2
2015 Y355212.5 Oil seal 2 2077 M10 Washer 18
2016 HW0400470-1 Collar 1 2078 HW0400737-1 Pipe 1
2017 HW0300368-1 Shaft 1 2079 M5X20 Socket screw 4
2018 HW0400471-1 Washer 1 2080 2H-5 Spring washer 4
2019 M6X80 Socket screw 1 2081 M5 Washer 4
2020 2H-6 Spring washer 1 2082 PT1/8 Plug 4
2021 HW0400739-1 Plate 1 2083 M12X20 Socket screw 3
2022 M12X25 Socket screw 8 2084 2H-12 Spring washer 3
2023 2H-12 Spring washer 8 1036 HW0100034-1 Base 1
2024 HW9482864-A Reduction gear 1 4001 HW9101008-1 Arm 1
2025 M12X45 Socket screw 8
2026 M12 ÅL70 Socket screw 2
2027 2H-12 Spring washer 10
2028 HW9302787-1 Stopper 1
2029 HW9406016 Gum plate 2
2030 HW0400483-3 Plate 1
2031 HW0400483-4 Plate 1
2032 HW9302679-1 Cover 1
2034 M6X25 Socket screw 4
2035 2H-6 Spring washer 4
2036 KQLE10-00 Joint 1
2037 SW-16 Packing 1
2038 KQH10-02S H-union 1
2039 SGMRS-30A2A-YRA1 Motor 1
2040 M12X35 Socket screw 4
2041 2H-12 Spring washer 4
2042 HW0300363-1 Flange 1
2043 AS568-168 O-ring 1
2044 M12X50 Socket screw 4
2045 2H-12 Spring washer 4
2046 HW0400738-1 Collar 1
2047 Y507212.5 Oil seal 2
2048 HW0300360-1 Shaft 1
2049 HW9482318-A Gear 1
2050 HW9481343-A Shaft 1
2051 M8X150 Bolt 1
2052 2H-8 Spring washer 1
2053 M8 Washer 1
2054 HW9302730-1 Packing 1
2055 HW0200093-1 Cover 1
2056 M6X20 Socket screw 12
2057 2H-6 Spring washer 12
2058 HW9381465-A Speed reducer 1
2059 G270 O-ring 1
2060 M12X50 Socket screw 16
2061 2H-12 Spring washer 16
2062 HW9201044-1 Cover 1

11-4

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 164707-1CD

11.3 Switch Unit

11.3 Switch Unit

3004

3005
3004
3008

3006 3002

3007

3008
3005
3010

3006 3002
3014
3007

3009

3001

3011

3012

3003
3013 3012

11-5

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 164707-1CD

11.3 Switch Unit

No. DWG No. Name Pcs

3001 HW9302757-1 Plate 1
3002 VXA2260-04 Solenoid 2
3003 M5X10 Socket screw 4
3004 DG-50U Switch 2
3005 PT1/4 Nipple 2
3006 PT1/4 Tee 2
3007 1/2 X 1/4 Nipple 2
3008 KQL06-01S Joint 1
3009 KQVD06-01S Joint 1
3010 KQH10-02S Joint 2
3011 BD8-MB8 Terminal plate 1
3012 M4X12 Pan head screw with 2
washer
3013 HW9371212-A Cable assembly 1
3014 NB0640B Tube 1

11-6

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 164707-1CD

11.4 RBT-Axis Unit

11.4 RBT-Axis Unit

4015
4016 4018
4018
4013
4015 4017 4019
4011
4016
4017 4021
4013 4003
4012 4002
4011 4004
4012
4003
4004 4024 4023
4025
4022
4001

4027
4024 4026
4023
4022
4006 4010
4005
4009

4008
4007

4055

4037 4056
4057

4039
4068
4061 4062
4034
4035 4063
4064 4060
4044 4069
4031 4054
4036 4052 4048
4048 4029
4052 4028
4043 4065 4028
4042
4039 4049 4059
4038 4050 4058
4046
6AXIS
4034 4051 4069
4035 4030
4045
4044
4029
4031 4028
4048 4047 4028
4033
4052 4043 4032
4042
4049
4050
5AXIS
4046 4051 4069
4045 4030
4029
4028
4047 4028
4033
4032
4AXIS

11-7

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 164707-1CD

11.4 RBT-Axis Unit

No. DWG No. Name Pcs No. DWG No. Name Pcs
4001 HW9101008-1 Arm 1 4066 M6 Washer 8
4002 T50R Cable tie 1 4067 M4 Washer 4
4003 KQLE10-00 Joint 2 4068 M4X35 Spring washer 6
4004 SW-36 Packing 2 4069 HW0411084-1 Collar 3
4005 M5X25 Bolt 8
4006 2H-6 Spring washer 8
4007 HW9201020-1 Cover 1
4008 HW9302785-1 Packing 1
4009 M6X20 Socket screw 8
4010 2H-6 Spring washer 8
4011 6907ZZ Bearing 2
4012 RTW-55 Retaining Ring 2
C-type
4013 HW9302682-1 Holder 2
4015 M6X25 Socket screw 4
4016 2H-6 Spring washer 4
4017 M6 Washer 4
4018 6906ZZ Bearing 2
4019 M4X8 Pan head 4
screw
4021 4MMX10 Pin 2
4022 HW9405702-1 Cover 2
4023 M4X10 Socket screw 12
4024 2H-4 Spring washer 12
4025 HW9406176-1 Plug 1
4026 HW0400588-1 Packing 1
4027 HW0400587-1 Flange 1
4028 HW9482404-1 Sheet 6
4029 HW9482408-1 Sheet 3
4030 SGMPH-04A2A-YR52 Motor 2
4031 HW9482863-A Speed reducer 2
4032 M5X55 Socket Screw 8
4033 2H-5 Spring washer 8
4034 HW0301827-1 Rod 2
4035 M5X6 H-set screw 12
4036 HW9302714-1 Gear 1
4037 HW9302715-1 Gear 1
4038 M4X30 Socket screw 6
4039 2H-4 Spring washer 12
4042 M5X16 Socket screw 8
4043 2H-5 Spring washer 8
4044 HW9406015-2 O-ring 2
4045 HW1401967-1 Shaft 2
4046 HW0301002-2 Flange 2
4047 M5 Washer 8
4048 HW0400326-1 Key process 3
4049 M4X45 Socket screw 2
4050 2H-4 Spring washer 2
4051 AD22327 Oil seal 2
4052 M6X8 Screw 3
4054 SGMPH-04A2A-YR52 Motor 1
4055 HW9302725-A Rod 1
4056 M4X8 H-set screw 1
4057 CO-0544A O-ring 1
4058 M5X45 Socket screw 4
4059 2H-5 Spring washer 4
4060 HW1401968-1 Shaft 1
4061 HW1301633-1 Flange 1
4062 Y234010.5 Oil seal 1
4063 M5X45 Socket screw 1
4064 2H-5 Spring washer 1
4065 M5 Washer 4

11-8

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 164707-1CD

11.5 Wrist Unit

11.5 Wrist Unit

5027
5015
5016
5014

5037 5017
5036 5018
5073 5019
5039
5038 5032 5043
5033 5024 5027
5034
5025 5028
5009 5026
5010
5025
5020
5023
5041
5012 5035
5021 5036
5005 5029
5037
5022 5073
5003 5030
5011 5031
5042

5078 5004
5079
5077 5074
5076
5064
5063
5061 5059
5005
5071 5013
5072 5002
5062 5075

5051 5008
5044
5061
5057 5050 5006
5007

5053 5066 5056

5057

5054 5071
5069
5058
5060
5049 5059
5052 5064 5007
5045 5065 5008 5006
5048 5077
5079
5067 5078

5070 5068

5046

5054 5047

5055

11-9

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 164707-1CD

11.5 Wrist Unit

No. DWG No. Name Pcs No. DWG No. Name Pcs
5002 HW9201014-1 Gear case 1 5063 RTW-22 Retaining Ring 1
5003 HW9406047-1 Holder 1 C-type

5004 M4X12 Socket screw 6 5064 HW0405926-* Shim 2

5005 PT3/8 Plug 4 5065 HW0306419-1 Gear 2

5006 HW9406067-1 Cover 2 5066 HW9302701-1 Flange 1

5007 HW9406068-1 Gasket 2 5067 HW9406031-1 Holder 1

5008 M4X8 Socket screw 8 5068 M6X35 Socket screw 6

5009 HW9101007-1 Case 1 5069 X428 X-ring 1

5010 HW9101006-1 Case 1 5070 M4X12 Socket screw 2

5011 M6X16 Socket screw 6 5071 HW0401105-1 Key 2

5012 S145 O-ring 1 5072 2H-6 Spring washer 5

5013 M6X25 Socket screw 5 5073 2H-5 Spring washer 2

5014 RA11008CUUCC0 Bearing 1 5074 6000ZZ Bearing 1

5015 HW9302707-2 Jig 1 5075 HW9302704-2 Gear 1

5016 HW9302709-2 Flange 1 5076 HW0306419-2 Gear 1

5017 HW9406033-1 Holder(1) 1 5077 HW0405928-1 Collar 2

5018 M4X12 Socket screw 6 5078 M5X16 Socket screw 2

5019 HW9302703-2 Gear 1 5079 2H-5 Spring washer

5020 M6X16 Socket screw 8

5021 HW9302705-1 Gear 1
5022 HW9406034-1 Nut 1
5023 HW9406035-1 Nut 1
5024 HW9406106-1 Key 1
5025 M4X6 H-set screw 2
5026 HW0401105-1 Key 1
5027 6809ZZ Bearing 2
5028 BD-72A Spring 4
5029 HW0306420-1 Gear 1
5030 M6X16 Socket screw 10
5031 HW0306424-1 Jig 1
5032 HW9302704-1 Gear 1
5033 HW9406030-1 Nut 1
5034 AN06 B-nut 1
5035 HW0405930-1 Gear 1
5036 HW0405928-1 Collar 2
5037 M5X16 Socket screw 2
5038 HW0306419-1 Gear 1
5039 HW0405926-* Shim 1
5040 6900ZZ Bearing 1
5041 HW0405929-1 Collar 1
5042 HW0306423-1 Jig 1
5043 M6X16 Socket screw 8
5044 HW9302688-2 Jig 1
5045 HW9482861-C Bearing 1
5046 HW9302698-2 Flange 1
5047 M6X12 Socket screw 12
5048 HW9406034-1 Nut 1
5049 HW9302705-2 Gear 1
5050 HW9406106-1 Key 1
5051 HW9406035-1 Nut 1
5052 M4X6 H-set screw 1
5053 HW0306425-1 Jig 1
5054 6809ZZ Bearing 2
5055 BD-72A Spring 4
5056 STW-45 Retaining Ring 1
C-type
5057 HW9406030-1 Nut 2
5058 HW9302704-1 Gear 1
5059 AN06 B-nut 2
5060 M4X6 H-set screw 1
5061 6900ZZ Bearing 2
5062 HW0306426-1 Jig 1

11-10

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 164707-1CD

11.5 Wrist Unit

6017

6016

6003
6001
6002
6018

6034

6027

6039
6030
6040
6041

6038

6033
6028 6036

6025
6020 6026
6021 6029
6023

6024
6035
6022

6021
6019

6031
6007

6036
6032
6037
6009 6008
6041
6040
6042 6010
6043 6039
6011
6045
6046
6004
6005
6044

6006
6015

6013

6014

11-11

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 164707-1CD

11.5 Wrist Unit

No. DWG No. Name Pcs

6001 HW9101014-1 Case 1
6002 HW9101012-1 Case 1
6003 M6X16 Socket screw 6
6004 HW0100873-1 Case 1
6005 HW9101013-1 Case 1
6006 M6X16 Socket screw 8
6007 HW0480040-A Speed reducer 1
6008 S67 O-ring 1
6009 M5X25 Socket screw 6
6010 HW0405926-* Shim 1
6011 HW0306419-2 Gear 1
6013 HW9406166-1 Cover 1
6014 M4X8 Socket screw 4
6015 HW9406101-1 Gasket 1
6016 HW9406102-2 Cover 1
6017 M4X8 Socket screw 4
6018 HW9406103-1 Gasket 1
6019 HW0306427-1 Shaft 1
6020 M4X12 Socket screw 2
6021 6900ZZ Bearing 2
6022 HW9406030-1 Nut 1
6023 HW9302704-2 Gear 1
6024 HW0401105-1 Key 1
6025 AN06 B-nut 1
6026 M4X6 H-set screw 1
6027 HW9302752-1 Flange 1
6028 HW9406085-1 Holder 1
6029 M6X30 Socket screw 6
6030 RB5013UUCC0 Bearing 1
6031 HW0306421-1 Flange 1
6032 M6X20 Socket screw 8
6033 RTW-22 Retaining Ring 1
C-type
6034 X345 X-ring 1
6035 HW0306428-1 Shaft 1
6036 HW0405926-* Shim 2
6037 HW0306419-1 Gear 1
6038 HW0306419-2 Gear 1
6039 M5X16 Socket screw 2
6040 2H-5 Spring washer 2
6041 HW0405928-1 Collar 2
6042 HW0306422-1 Shaft 1
6043 HW0406605-1 Collar 1
6044 M5X16 Socket screw 1
6045 2H-5 Spring washer 1
6046 HW0405928-1 Collar 1

11-12

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MOTOMAN-EPX2750
INSTRUCTIONS
TYPE:YR-EPX2750-A300(-A310)

Specifications are subject to change without notice

for ongoing product modifications and improvements.

MANUAL NO.

HW1481061 3 69/69