MotoMINI

INSTRUCTIONS
TYPE:
YR-1-06VX05-A00(STANDARD SPECIFICATION)
YR-1-06VX05-A01(WHITE SPECIFICATION)

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

MotoMINI INSTRUCTIONS
MotoMINI INSTRUCTIONS
YRC1000micro INSTRUCTIONS
YRC1000micro OPERATOR’S MANUAL
YRC1000micro MAINTENANCE MANUAL
YRC1000micro ALARM CODES

181277-1CD
2

MANUAL NO.

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DANGER
• This instruction manual is intended to explain mainly on the
mechanical part of the MotoMINI for the application to the actual
operation and for proper maintenance and inspection. It describes
on safety and handling, details on specifications, necessary items
on maintenance and inspection, to explain operating instructions
and maintenance procedures. Be sure to read and understand this
instruction manual thoroughly before installing and operating the
manipulator. Any matter not described in this manual must be
regarded as “prohibited” or “improper”.
• General information related to safety are described in “Chapter 1.
Safety” of the YRC1000micro INSTRUCTIONS. To ensure correct
and safe operation, carefully read “Chapter 1. Safety” of the
YRC1000micro INSTRUCTIONS.

CAUTION
• In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place 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 is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids the
product warranty.

NOTICE
• 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.

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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the MotoMINI.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.

Indicates an imminently hazardous

DANGER situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.
Indicates a potentially hazardous
WARNING situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.
Indicates a hazardous situation,
CAUTION which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.
NOTICE is the preferred signal word
NOTICE to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.

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

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

To ensure safe and efficient operation at all times, be sure

NOTE to follow all instructions, even if not designated as “DAN-
GER”, “WARNING”, and “CAUTION”.

WARNING
• For disassembly or repair not stated in table 9-1 “Inspection Items” ,
contact your YASKAWA representative listed in the table or on the
back cover of this instruction manual.

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DANGER
• Before operating the manipulator, make sure the servo power is
turned OFF by performing the following operations. When the servo
power is turned OFF, the SERVO ON LED on the programming
pendant is turned OFF.
– Press the emergency stop button on the programming pendant or
on the external control device, etc.
– Disconnect the safety plug of the safety fence.
(when in the play mode or in the remote mode)
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button

• Before releasing the emergency stop, make sure to remove the

obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may cause unintended movement of
the manipulator, which may result in personal injury.
Fig. : Release of Emergency Stop
TURN

• Observe the following precautions when performing a teaching

operation within the manipulator's operating range:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may cause improper or unintended
movement of the manipulator, which may result in personal injury.
• Confirm that no person is present in the manipulator's operating
range and that the operator is in a safe location before:
– Turning ON the YRC1000micro power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Personal injury may result if a person enters the manipulator's
operating range during operation. Immediately press an emergency
stop button whenever there is a problem. The emergency stop button
is located on the right of the programming pendant.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.

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WARNING
• Perform the following inspection procedures prior to conducting
manipulator teaching. If there is any problem, immediately take
necessary steps to solve it, such as maintenance and repair.
– Check for a problem in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to a safety place after use.
If the programming pendant is left unattended on the manipulator, on a
fixture, or on the floor, etc., the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.

Definition of Terms Used Often in This Manual

The MotoMINI is the YASKAWA industrial robot product.
The MotoMINI usually consists of the manipulator, the YRC1000micro
controller, the YRC1000micro programming pendant (optional), the
YRC1000micro programming pendant dummy connector (optional) and
manipulator cables.
In this manual, the equipment is designated as follows:
Equipment Manual Designation
YRC1000micro controller YRC1000micro
YRC1000micro programming pendant Programming pendant (optional)
YRC1000micro programming pendant Programming pendant
dummy connector dummy connector (optional)
Cable between the manipulator Manipulator cable
and the controller

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

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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 manipulator. Prior to operating the manipulator, confirm the
contents.
Fig. : Warning Label Locations
2
NJ4036
NJ4032

NJ4040

S1
1

Collision
hazard label
Crush hazard label
Fall down hazard label

Nameplate

TYPE

DATE PAYLOAD

kg

SERIAL NO. MASS

kg

YASKAWA ELECTRIC CORPORATION

2-1 Kurosakishiroishi, Yahatanishi-ku,

Kitakyushu 806-0004 Japan

MADE IN JAPAN

NJ4030

Name Plate

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Fall down hazard label

Description
Make sure to secure the manipulator base by using the bolts of the
specified sizes and by tightening the bolts with the specified tightening
torques. If the power is turned ON and the manipulator is operated
without securing the manipulator properly, the manipulator may fall down,
which may result in personal injury and/or equipment damage.
Collision hazard label

Description
Personal injury may result if a person enters the manipulator's operating
range during operation. Immediately press an emergency stop button
whenever there is a problem. Confirm that no person is present in the
manipulator's operating range and that the operator is in a safe location
before:
• Turning ON the YRC1000micro power
• Moving the manipulator by using the programming pendant
• Running the system in the check mode
• Performing automatic operations

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Crush hazard label

Description
Keep clear of moving parts when performing a teaching operation within
the manipulator's operating range. Failure to observe this instruction may
result in personal injury.

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

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

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

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

2.1 Transporting Method.......................................................................................................... 2-1

2.1.1 Transporting Posture ............................................................................................ 2-1

2.1.2 Notes on Transportation ....................................................................................... 2-2

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

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

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

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

3.3 Mounting method ............................................................................................................... 3-5

3.3.1 S-Axis Operating Range....................................................................................... 3-5

3.3.2 Precautions to Prevent the Manipulator from Falling............................................ 3-6

3.4 Location ............................................................................................................................. 3-7

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

4.1 Grounding .......................................................................................................................... 4-2

4.2 Cable Connection .............................................................................................................. 4-3

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

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

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

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

5.4 Stopping Distance and Time for S-, L-, and U-Axes.......................................................... 5-5

5.4.1 General Information.............................................................................................. 5-5

5.4.2 Definition of Use ................................................................................................... 5-5

5.4.3 Stopping Distance and Time for Stop Category 0: S-, L-, and U-Axes................. 5-5

5.4.4 Stopping Distance and Time for Stop Category 1: S-, L-, and U-Axes................. 5-6
5.4.4.1 Extension ................................................................................................ 5-6
5.4.4.2 Stopping Distance and Time for Stop Category 1: S-Axis....................... 5-8
5.4.4.3 Stopping Distance and Time for Stop Category 1: L-Axis ....................... 5-9
5.4.4.4 Stopping Distance and Time for Stop Category 1: U-Axis .................... 5-10

5.5 Alterable Operating Range .............................................................................................. 5-11

5.5.1 Components for Altering Operating Range ........................................................ 5-11

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5.5.2 S-Axis Stopper Installation Procedures .............................................................. 5-13

5.5.3 Adjustment to the Pulse Limitation of S-Axis ...................................................... 5-13

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

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

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

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

7.1 Internal User I/O Wiring Harness and Air Lines ................................................................. 7-1

7.2 S-, R-, B-, and T-Axes without Brake................................................................................. 7-3

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

8.1 Internal Connections .......................................................................................................... 8-1

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

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

9.2 Replacement of the Battery Pack ...................................................................................... 9-4

9.3 Home Position Calibration ................................................................................................. 9-6

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

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1 Product Confirmation
1.1 Contents Confirmation

1 Product Confirmation

CAUTION
• Confirm that the manipulator and the YRC1000micro have the
same order number. Special care must be taken when more than
one manipulator is to be installed.
If the numbers do not match, manipulators may not perform as
expected and cause injury or damage.

1.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following four items
(Information for the content of optional goods is given separately):
• Manipulator (accessories included)
• The YRC1000micro
• Manipulator cables
(between the YRC1000micro and the manipulator)
• Manuals (complete set of manuals)
Fig. 1-1: Four Items for Standard Delivery
YRC1000micro Manipulator

Ｒｏｂｏｔ
Ｒ ｂ Ｍ READ ｌ
Ｍａｎｕａｌ
ONLY MEMORY

(Data)

Ｒ ｂ
Ｒｏｂｏｔ Ｍ ｌ
Ｍａｎｕａｌ
READ ONLY MEMORY

CD-ROM which is connected to the USB connector

Complete Set of Manuals Manipulator Cable

(in the CD-ROM which is connected
to the USB connector)

Accessories of Manipulator Pcs Remarks

Hexagon socket head cap 4 For mountings the manipulator
screw M5 (length: 25 mm)
Conical spring washer M5 4

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1 Product Confirmation
1.2 Order Number Confirmation

1.2 Order Number Confirmation

Check that the order number of the manipulator corresponds to the
YRC1000micro. The order number is located on a label as shown below.

Fig. 1-2: Location of Order Number Labels

Label (Enlarged View)

ORDER NO.

NJ4061

ORDER NO.

NJ4061

PRM.DATA
O/#
PARAMETER DATA PARAMETER DATA
S1 AIR1

J
N

7
1 8

AIR2

ロボット本体とコントローラーは、下記オーダの
同一No.と接続して御使用ください。
THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER.

ORDER No.
NJ4014-1

1BC

(a) YRC1000micro (Top View) (b) Manipulator (Back View)

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2 Transport
2.1 Transporting Method

2 Transport

NOTICE
• Avoid excessive vibration or shock during transport.
The system consists of precision components. Failure to observe this
caution may adversely affect performance.

2.1 Transporting Method

2.1.1 Transporting Posture

As a rule, when transporting the manipulator, take the following posture.

Fig. 2-1: Transporting Position (factory setting)

U-arm: horizontal
273 134

90°

Center of gravity
°
45

347

°
45

3 214 57 101

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2 Transport
2.1 Transporting Method

2.1.2 Notes on Transportation

Fig. 2-2: Arm Axis Rotations When Transporting the MotoMINI

R-axis B-axis

T-axis

Manipulator base

S-axis

Basically, MotoMINI must be transported by hand. When transporting the

manipulator, wear non-slippery gloves, adjust the posture of the
manipulator as shown in chapter 2.1.1 “Transporting Posture” , and carry
it by holding the base section of the manipulator.
Please keep the followings when MotoMINI is transported since no brakes
are equipped on S-, R-, B- and T-axes.

• Be careful of the arm rotations and edges of the manipulator. Arm

rotation may cause the centroid deviation and the balance of the
manipulator may lost while it is being transported. Take sufficient
precautions to avoid the manipulator from falling when transporting.

• The mass of the manipulator is approximately 7 kg.

NOTE
• Make sure to avoid external force on the arm or motor unit
when transporting the manipulator.

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3 Installation

3 Installation

DANGER
• Install safety fences.
Failure to observe this warning may result in injury or damage.

WARNING
• Install the manipulator in a location where the tool or the workpiece
held by its fully extended arm will not reach the wall, the safety
fence, or the YRC1000micro, etc.
Failure to observe this warning may result in injury or damage.
• Make sure to firmly anchor the manipulator before turning ON the
power and operating the manipulator.
Failure to observe this instruction may cause overturning of the
manipulator, which may result in personal injury and/or equipment
damage.
• The base for the manipulator should have adequate strength and
rigidity.
Failure to observe this warning may result in injury or damage.
• Do not install or operate a damaged manipulator or a manipulator
any of whose components is missing.
Failure to observe this instruction may cause improper movement, etc.
of the manipulator, which may result in personal injury and/or
equipment damage.

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3 Installation
3.1 Installation of Safeguarding

3.1 Installation of Safeguarding

To insure safety, be sure to install the safeguarding.
They prevent unforeseen accidents with personnel and damage to
equipment.
The following is quoted for your information and guidance.

Responsibility for Safeguarding (ISO 10218)

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

3.2 Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a baseplate or foundation
strong enough to support the manipulator and withstand repulsion forces
during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand
maximum repulsion force of the manipulator. (Refer to table 3-1
“Manipulator Reaction Force and Torque” .)
A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness
of installation surface may deform the manipulator shape and affect its
functional abilities.
For installation, refer to chapter 3.2.1 “Mounting the Manipulator on the
Baseplate” .

Table 3-1: Manipulator Reaction Force and Torque

Horizontal rotation Vertical rotation
Reaction Torque MH Reaction Torque MH
force FH force FH
Emergency 316 N•m 96 N•m 354 N•m 96 N•m
stop (32.3 kgf•m) (9.8 kgf•m) (36.3 kgf•m) (9.8 kgf•m)
Acceleration/ 149 N•m 46 N•m 175 N•m 46 N•m
deceleration (15.1 kgf•m) (4.6 kgf•m) (17.8 kgf•m) (4.6 kgf•m)

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3 Installation
3.2 Mounting Procedures for Manipulator Base

Fig. 3-1: Manipulator Reaction Force and Torque

MV

FV
MH

FH

3.2.1 Mounting the Manipulator on the Baseplate

The box, connectors, and cables are located below the

base of MotoMINI. Secure the following space to embed
the box in the floor when installing the manipulator.
• Length: 390 mm or more.
NOTE Width: 102 mm (must be exact)
Depth: 70 mm or more.
For the base plate, provide the following hole.
• Length: 390 mm or more.
Width: 102 mm (must be exact)

Fix the baseplate on the floor first. The baseplate should be sufficiently
strong and rigid.
The thickness of the baseplate is 16 mm or more and anchor bolts of M6
or larger is recommended.
Then, fix the manipulator base to the baseplate. Four mounting holes are
provided on the manipulator base.
Fix the manipulator base to the baseplate using four hexagon socket head
cap screw M5 (tensile strength: 1200 N/mm2 or more) (length of 25 mm or
more is recommended) with a tightening torque of 6 N•m using four
mounting holes on the manipulator base.
Tighten the screws and anchor bolts securely so that they will not work
loose during operation. For details, refer to fig. 3-2 “Mounting the
Manipulator on the Baseplate”

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3 Installation
3.2 Mounting Procedures for Manipulator Base

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

Hexagon socket head cap screw M5
(4 screws)
Tightening torque: 6 N•m (0.6 kgf•m)
Conical spring washer

Manipulator base

10
or more
16 mm
Baseplate
Space to embed the box
Manipulator base
Anchor bolt (M6 or larger)
Box
Baseplate

70*

340* 50*
* These values indicate the minimum required dimensions.

A
Baseplate

191
87.5
35 35 10.5
Space to embed the box Drilled hole
6

(5.5 mm dia.) (4 holes)

(Mounting hole)

+0.01
3 0
102*

101

124
112
56 ±0.1

S-axis rotation center

20 ±0.1
6

340* 50* +0.010

Reamed hole 3 dia. 0
(Reference hole)

View A

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3 Installation
3.3 Mounting method

3.3 Mounting method

The MotoMINI can be mounted in four ways: floor-mounted way, wall-
mounted way, tilt-mounted way and ceiling-mounted way. For wall-
mounted, tilt-mounted and ceiling-mounted ways, the following points are
different from the floor-mounted way.
• S-axis operating range
• Precautions to prevent the manipulator from falling

3.3.1 S-Axis Operating Range

For wall-mounted way, the S-axis operating range is ±30°.
For the tilt-mounted way, the operating range of the S-axis varies as
shown in the following table.
Table 3-2: Installation Angle for Tilt-Mounted Way and Operating range of S-axis
Installation Angle (θ) Operating range of S-axis
0° ≤ θ ≤ 30° within ±170°(no limit)
30° < θ ≤ 40° within ±50°
40° < θ ≤ 50° within ±40°
50° < θ within ±30°

Fig. 3-3: Installation Angle for Tilt-Mounted Way

For the wall-, tilt-, and ceiling-mounted way, the installation

angle relative to the ground must be input by using the
programming pendant.
NOTE
For the input procedures, refer to chapter 8.4 “ARM Control”
in “YRC1000micro INSTRUCTIONS (RE-CTO-A222)”.
Also, the operating range of the S-axis must be altered by
referring to chapter 5.5 “Alterable Operating Range” .

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3 Installation
3.3 Mounting method

3.3.2 Precautions to Prevent the Manipulator from Falling

For the wall- or ceiling-mounted ways, take measures to the base part of
the manipulator to avoid it from falling in case of emergency. Refer to
fig. 3-4 “Precaution Against Falling” for details.
Fig. 3-4: Precaution Against Falling

87.5
124

Support for fall prevention

Manipulator base
Hexagon socket head cap screw
M5 (4 places)
(Tensile strength: 1200N/mm2 )

In case of using the wall/ceiling-mounted way, inform

YASKAWA of the matter when placing an order. Be sure to
NOTE contact your YASKAWA representative (listed on the back
cover of this instruction manual) to perform a wall/ceiling
installation on site.

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3 Installation
3.4 Location

3.4 Location
When installing the manipulator, satisfy the following environmental
conditions.

• Ambient temperature: 0°C to 40°C

• Humidity: 20% to 80%RH at constant temperature
• Free from dust, soot, oil, or water
• Free from corrosive gas or liquid, or explosive gas or liquid
• Free from excessive vibration
(Vibration acceleration: 4.9 m/s2 [0.5 G] or less)
• Free from large electrical noise (plasma)
• Free from the strong magnetic field
• Altitude: 1000 m or less
• Flatness for installation is 0.5 mm or less

When the operation is started after the manipulator has

been out of operation and left in the low temperature
NOTE (almost 0°C) for a long period, the alarm may occur since
the friction torque of the drive unit is large.
If the alarm occurs, perform the break-in for few minutes.

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4 Wiring

4 Wiring

WARNING
• Ground resistance must be 100 Ω or less.
Failure to observe this warning may result in fire and/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 electric shock and/or
personal injury.
• Wiring must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire and/or electric shock.
• When laying the cables from the manipulator to the YRC1000micro,
DO NOT cover the cable with heat insulating material and avoid
multiple cabling.
Failure to observe this caution may result in burn caused by cable heat
emission failure.

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4 Wiring
4.1 Grounding

4.1 Grounding
Follow electrical installation standards and wiring regulations for
grounding. Ground resistance must be 100 Ω or less. A ground wire of
5.5 mm2 or more is recommended.
Refer to fig. 4-1 “Grounding Method” to connect the ground line directly
to the manipulator.

• Never use this wire sharing with other ground lines or

grounding electrodes for other electric power, motor
power, welding devices, etc.
NOTE
• Where metal ducts, metallic conduits, or distributing racks
are used for cable laying, ground in accordance with elec-
trical installation standards.

Fig. 4-1: Grounding Method

Bolt M6 (for grounding)

Delivered with the manipulator

S1 AIR1 A

AIR2

1BC

View A A

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4 Wiring
4.2 Cable Connection

4.2 Cable Connection

Connect both edge of the manipulator cable to the connectors of the
manipulator base and of the YRC1000micro. Before connecting the
cable, verify the numbers on the connector as shown in fig. 4-3
“Manipulator Cables” .
For the connecting position, refer to fig. 4-4 “Manipulator Cable
Connection (Manipulator Side)” and fig. 4-5 “Manipulator Cable
Connection (YRC1000micro Side)” .
Refer to table 4-1 “Specifications of Manipulator Cable” and fig. 4-6
“Overhead View of Manipulator Cable Connection (Manipulator Side)” for
the outside diameter and the minimum bending radius (for fixed part and
moving part) of the manipulator cable and protruding amount of the
manipulator cable on the manipulator side.

 Procedures for inserting the connector

1. Confirm the connector lever of the manipulator cable is at the initial
position. Insert the cable straight into the connectors of the
manipulator and the YRC1000micro. When the manipulator cable is
inserted to a certain depth, the lever automatically rotates about 30
degree forward.
2. Push the lever manually and turn it (about 30 degree) until it clicks to
lock.

 Procedures for removing the connector

1. Release the lock by pushing the releasing part of the lever to unlock.
Turn the lever about 60 degree to the initial position.
2. Pull out the connector straight.
Fig. 4-2: Connection of Manipulator Cable
Inserting Removing

Initial position
of lever

Insert
(60
°)

Rotate Rotate
automatically manually
(30°)

Initial position
of lever

Rotate manually
Pull out
(60
°)

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4 Wiring
4.2 Cable Connection

Fig. 4-3: Manipulator Cables

The YRC1000micro side The Manipulator side

1BC

1BC
X1

X1

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

S1 AIR1

J
4
N

7
1 8

AIR2

J
N

7
1 8

1BC

1BC
Connector Details
(Manipulator side)

Fig. 4-5: Manipulator Cable Connection (YRC1000micro Side)

X1

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4 Wiring
4.2 Cable Connection

Table 4-1: Specifications of Manipulator Cable

Outside diameter Minimum bending Distance between Aand B
(mm) radius (mm) (mm)
Fixed Moving
part part
19 70 190 165

Fig. 4-6: Overhead View of Manipulator Cable Connection (Manipulator Side)

A B
165 mm or longer
0
R7

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5 Basic Specifications
5.1 Basic Specifications

5 Basic Specifications

5.1 Basic Specifications

Table 5-1: Basic Specifications1)

Item Model MotoMINI
Configuration Vertically Articulated
Degree of Freedom 6
Payload 0.5 kg
Repeatability2) ±0.02 mm
Range of Motion S-axis (turning) -170° - +170°
L-axis (lower arm) -85° - +90°
U-axis (upper arm) -50° - +90°
R-axis (wrist roll) -140° - +140°
B-axis (wrist pitch/yaw) -30° - +210°
T-axis (wrist twist) -360° - +360°
Maximum S-axis 5.5 rad/s, 315 °/s
Speed L-axis 5.5 rad/s, 315 °/s
U-axis 7.3 rad/s, 420 °/s
R-axis 10.5 rad/s, 600 °/s
B-axis 10.5 rad/s, 600 °/s
T-axis 10.5 rad/s, 600 °/s
Allowable R-axis 0.42 N•m (0.043 kgf•m)
Moment3) B-axis 0.42 N•m (0.043 kgf•m)
T-axis 0.37 N•m (0.038 kgf•m)
Allowable R-axis 0.00378 kg•m2
Inertia (GD2/4) B-axis 0.00378 kg•m2
T-axis 0.00299 kg•m2
Approx. Mass 7 kg
Protective enclosure All axes: IP30
Mounting method4) Floor-, wall-, tilt-, ceiling-mounted,
Ambient Temperature 0°C - 40°C
Conditions Humidity 20% - 80% RH at constant temperature
Vibration Acceleration Less than 4.9 m/s2 (0.5 G)
Altitude 1000 m or less
Others • Free from corrosive gas or liquid, or explosive gas.
• Free from water, oil, or dust.
• Free from excessive electrical noise (plasma).
• Free from strong magnetic field.
Power Capacity 0.5 kVA
Applicable controller YRC1000micro
Equivalent continuous sound pressure level5) 65 dB or less
1 SI units are used in this table. However, gravitational unit is used in ().
2 Conformed to ISO9283.
3 Refer to chapter 6 “Allowable Load for Wrist Axis and Wrist Flange” for details on the allowable
moment of inertia.
4 For the tilt-, and the wall-mounted ways, S-axis has the limited operating range. For details, refer to
chapter 3.3.1 “S-Axis Operating Range” .
5 Conformed to equivalent continuous A-weighted sound pressure level measured in accordance with
ISO11201(EN31201).
1. Measurement is carried out when the maximum load is mounted to the manipulator and operated
in the maximum speed.
2. Measurement is carried out:
-between 1.2 m and 1.5 m above the ground.
-400 mm away from the P-point maximum envelope

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5 Basic Specifications
5.2 Part Names and Working Axes

5.2 Part Names and Working Axes

Fig. 5-1: Part Names and Working Axes
U-arm

U+ Wrist flange
U-

R+
B+
T+
L-arm

R- T-
L- L+ B-
S-head
S+

S-

Manipulator base

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5 Basic Specifications
5.3 Dimensions and P-Point Maximum Envelope

5.3 Dimensions and P-Point Maximum Envelope

Fig. 5-2: Dimensions and P-Point Maximum Envelope

170

R3
50

R133

170

P-point maximum envelope

433

20 165 (40)
90

61

40

10

50

P-point
165

175
212

90
85
397

65
133
103

0
11
0
53
68

62
168
126 129 133 350
309

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5 Basic Specifications
5.3 Dimensions and P-Point Maximum Envelope

Fig. 5-3: Home Position and Operating Range of Each Axis

5

+9
-8

0
+170

0

-170

(1) S-axis (2) L-axis

0°
+9
0

+14
°
-140

0°


(4) R-axis
-50

(3) U-axis

0°
210

+3

0°
-36
60
°

30

0
(6) T-axis
(5) B-axis

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5 Basic Specifications
5.4 Stopping Distance and Time for S-, L-, and U-Axes

5.4 Stopping Distance and Time for S-, L-, and U-Axes

5.4.1 General Information

• The stopping distance is an angle traveled by the manipulator from
the moment when the stop signal is activated until the manipulator
comes to a complete standstill.
• The stopping time is a time elapsed from the moment that the stop
signal is activated until the manipulator comes to a complete stand-
still.
• The data that are given for the main axes S, L, and U are the maxi-
mum displacement.
• Superposed axes motions may result in longer stopping distance.
• Stopping distance and stopping time are measured in accordance
with ISO 10218-1, Annex B.
• Stop categories: According to IEC60204-1
• Stop category 0
• Stop category 1
• The values specified for Stop category 0 are the reference values
that are determined by tests and simulations. The actual stopping
distance and stopping time may differ. Stopping distance and stop-
ping time are measured by the measurement function inside the
manipulator.

5.4.2 Definition of Use

Load: Rated load weight and load on an arm
Speed: Operating speed of the manipulator
Extension: Distance between the rotation center and the P-point of
each axis

5.4.3 Stopping Distance and Time for Stop Category 0: S-, L-, and U-Axes
Measurement Conditions
• Load: Maximum load
• Speed: Maximum speed
• Posture: Maximum inertia generation posture

Axis Stopping distance Stopping time

(deg) (sec)
S-axis 20.2 0.121
L-axis 15.1 0.074
U-axis 17.1 0.059

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5 Basic Specifications
5.4 Stopping Distance and Time for S-, L-, and U-Axes

5.4.4 Stopping Distance and Time for Stop Category 1: S-, L-, and U-Axes

5.4.4.1 Extension
Refer to fig. 5-4 “S-Axis Extension” , fig. 5-5 “L-Axis Extension” , and
fig. 5-6 “U-Axis Extension” for each axis arm extension.
Fig. 5-4: S-Axis Extension
L-axis U-axis B-axis

Load

100% = 350 mm

U-axis

L-axis B-axis

Load

66%

U-axis

L-axis B-axis

Load

33%

Fig. 5-5: L-Axis Extension

L-axis U-axis B-axis

Load

100% = 330 mm

U-axis

L-axis B-axis

Load

66%

U-axis

L-axis B-axis

Load

33%

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5 Basic Specifications
5.4 Stopping Distance and Time for S-, L-, and U-Axes

Fig. 5-6: U-Axis Extension

100% = 165 mm

U-axis B-axis

Load

L-axis

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5 Basic Specifications
5.4 Stopping Distance and Time for S-, L-, and U-Axes

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

Extension 100% Extension 100%

30 0.3

25
Stopping angle [deg]

Stopping time [sec]

20 0.2

15

10 0.1

0 0.0
0 100 200 300 400 0 100 200 300 400
Speed [deg/s] Speed [deg/s]
Load100% Load66% Load33% Load100% Load66% Load33%

Extension 66% Extension 66%

35 0.3

30

25
Stopping angle [deg]

Stopping time [sec]

0.2
20

15
0.1
10

0 0.0
0 100 200 300 400 0 100 200 300 400
Speed [deg/s] Speed [deg/s]
Load100% Load66% Load33% Load100% Load66% Load33%

Extension 33% Extension 33%

35 0.3

30

25
Stopping angle[deg]

0.2
Stopping time[sec]

20

15
0.1
10

0 0.0
0 100 200 300 400 0 100 200 300 400
Speed[deg/s] Speed[deg/s]
Load100% Load66% Load33% Load100% Load66% Load33%

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5 Basic Specifications
5.4 Stopping Distance and Time for S-, L-, and U-Axes

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

Extension 100% Extension 100%

35 0.3

30

25
Stopping angle [deg]

Stopping time [sec]

20
0.2
15

10

0 0.1
0 100 200 300 400 0 100 200 300 400
Speed [deg/s] Speed [deg/s]
Load100% Load66% Load33% Load100% Load66% Load33%

Extension 66% Extension 66%

35 0.3

30

25
Stopping angle [deg]

Stopping time [sec]

20
0.2
15

10

0 0.1
0 100 200 300 400 0 100 200 300 400
Speed [deg/s] Speed [deg/s]
Load100% Load66% Load33% Load100% Load66% Load33%

Extension 33% Extension 33%

35 0.3

30

25
Stopping angle [deg]

Stopping time [sec]

20

15

10

0 0.2
0 100 200 300 400 0 100 200 300 400
Speed [deg/s] Speed [deg/s]
Load100% Load66% Load33% Load100% Load66% Load33%

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5 Basic Specifications
5.4 Stopping Distance and Time for S-, L-, and U-Axes

5.4.4.4 Stopping Distance and Time for Stop Category 1: U-Axis

Extension 100% Extension 100%

45 0.3
40
35
Stopping angle [deg]

Stopping time [sec]

30 0.2
25
20
15 0.1
10
5
0 0.0
0 100 200 300 400 500 0 100 200 300 400 500
Speed [deg/s] Speed [deg/s]
Load100% Load66% Load33% Load100% Load66% Load33%

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5 Basic Specifications
5.5 Alterable Operating Range

5.5 Alterable Operating Range

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

Table 5-2: S-Axis Operating Range

Item Specifications
S-Axis Operating Range -170° - +170° (standard)
-150° - +150°
-120° - +120°
-90° - +90°
-60° - +60°
-50° - +50°
-40° - +40°
-30° - +30°

5.5.1 Components for Altering Operating Range

When modifying the angle of S-axis, prepare the components listed in
fig. 5-7 “Components of the S-Axis Stopper and Stopper Mounting
Position” .
• Plate (HW1408939-1) (1 plate)
• Stopper (HW1408940-1) (2 stoppers)
• Hexagon socket head cap screw M4 (length: 16 mm) (2 screws)
(Tensile strength: 1200 N/mm2 or more)
• Conical spring washer M4 (2 washers)
• Hexagon socket head cap screw M3 (length: 12 mm) (4 screws)
(Tensile strength: 1200 N/mm2 or more)
• Conical spring washer M3 (4 washers)

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5 Basic Specifications
5.5 Alterable Operating Range

Fig. 5-7: Components of the S-Axis Stopper and Stopper Mounting Position

Details for Z part

Plate (HW1408939-1) (1 plate)

Hexagon socket head cap screw M3

(length: 12 mm) (4 screws) 30°
10°
(tensile strength: 1200 N/mm2 or more) 30° 10
Conical spring washer M3 (4 washers) °
d e
Tightening torque: 2.25 N•m (0.23 kgf•m) f g

°
30
c

20°
Stopper (HW1408940-1)

A
(2 stoppers)

20°
B
b
Hexagon socket head cap screw M4

30
(length: 16 mm) (2 screws) c g

°
(tensile strength: 1200 N/mm2 or more)
d e f
Conical spring washer M4 (2 washers) °
30° 10
Tightening torque: 4.8 N•m (0.49 kgf•m)
30° 10°

Section A-A
Stopper Mounting Position
(plate-mounting hole A)

Collar (HW1407627-1) (1 collar)

S-head Hexagon socket head cap screw M4
Spacer (length: 25 mm) (1 screw)
Tightening torque: 2.8 N•m (0.29 kgf•m)
h
Z
A A A
B

Base S-axis Operating Stopper Mounting hole

Range position for plate
Section A-A
-150 - +150 b Stopper Mounting Position
-120 - +120 c (plate-mounting hole B)
-90 - +90 d A
-60 - +60 e
-50 - +50 f
-40 - +40 g
-30 - +30 h B

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5 Basic Specifications
5.5 Alterable Operating Range

5.5.2 S-Axis Stopper Installation Procedures

The mechanical stoppers for the S-axis must be installed with a
combination of parts as shown in fig. 5-7 “Components of the S-Axis
Stopper and Stopper Mounting Position” .
Mount the mechanical stoppers for the S-axis by following procedures.
1. Unscrew the hexagon socket head cap screw M4 (length: 25 mm) and
remove the collar (HW1407627-1) from the base.
2. Mount the plate (HW1408939-1) from the side of the spacer. Be sure
that the letters marked on the plate faces up.
3. Mount the stoppers (HW1408940-1) on the stopper-position of the
plate with the hexagon socket head cap screws M3 (length: 12 mm)
and four conical spring washers M3. (Appropriate torque management
is required.) When installing, by turning the plate, make sure that
there is no interference with tools.
(The rear side of S-head is recommended.)
4. Turn the plate to confirm the mounting-hole A or B of the plate and the
hole of the spacer are aligned.
5. Fix the plate to the spacer with the hexagon socket head cap screws
M4 (length: 16 mm) and two conical spring washers M4.
(Appropriate torque management is required.)
6. Mount the collar on the base and secure them with the hexagon socket
head cap screw M4 (length: 25 mm).
(Appropriate torque management is required.)
The S-axis stopper can be set within the operating range shown in
table 5-3 “The Settable Angle for S-Axis Stopper” .
For the operating range of -30° to +30°, the positions of the plate-
mounting holes are different from those holes for the operating ranges
other than -30° to +30°. Be sure to use the appropriate plate-mounting
holes.

 When the operating range is set to other than -30° to +30°

Use plate-mounting hole A to fix the plate to the spacer.

 When the operating range is set to the range of -30° to +30°

Use plate-mounting hole B to fix the plate to the spacer.

1. Be sure to use the specified screw when mounting the

NOTE S-Axis mechanical stopper.
2. Turn OFF the power supply before mounting.

5.5.3 Adjustment to the Pulse Limitation of S-Axis

For limiting the range of motion of S-Axis, modify the parameter as shown
in the following table using the programming pendant by referring to
“YRC1000micro GENERAL OPERATOR'S MANUAL chapter 6.13
Softlimit Setting Function (manual No. RE-CSO-A058)”.

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5 Basic Specifications
5.5 Alterable Operating Range

Degree ±30° ±40° ±50° ±60° ±90°

Number of ±34816 ±46422 ±58027 ±69632 ±104448
Pulse

Degree ±120° ±150° ±170°

Number of ±139264 ±174080 ±197291
Pulse

Adjust both of the pulse limitation and the angle of S-Axis

NOTE mechanical stopper as modifying the range of motion for
machinery.

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5
5.5

+Direction
170° 150° 120° 90° 60° 50° 40° 30° 0° -30° -40° -50° -60° -90° -120° -150° -170°
-170°
-150°
-120°

5-15
Basic Specifications

-90°
-60°
-50°
-40°
Alterable Operating Range

-30°
Settable Angle for S-Axis Stopper” .

0°
30°

- Direction
40°
50°
60°
90°
120°
150°
Table 5-3: The Settable Angle for S-Axis Stopper

170°

…Settable angle "Table 5-3 The Settable Angle for S-Axis Stopper" indicates the angle range which
…Non settable angle
allows S-axis to be set for + direction and - direction angles.
(Ex. -150° to +150° is settable, however 0° to +120° is not settable)

HW1484782
The settable angles for S-axis stopper are shown in a table 5-3 “The

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6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

The allowable payload of the wrist axis is 0.5 kg. However,

the requirements listed in table 6-1 “Allowable Total
Moment of Wrist” must be satisfied regarding the moment
and the inertia.
NOTE
Even if the load is not applied as mass but applied as force,
the values in table 6-1 must not be kept.
In case it exceeded the values shown in table 6-1, the
manipulator may broke earlier than expected.

Table 6-1: Allowable Total Moment of Wrist

Axis Moment N•m (kgf•m)1) Allowable moment of inertia (GD2/4)
kg•m2
R-axis 0.42 (0.043) 0.00378
B-axis 0.42 (0.043) 0.00378
T-axis 0.37 (0.038) 0.00299
1 ( ): Gravitational unit

When the volume of the load is relatively small, refer to the moment arm
rating (LB, LT) shown in fig. 6-1 “Moment Arm Rating” .
Each value of the allowable inertia above is calculated assuming that the
moment load is at the maximum. Thus, in the case when only the inertia
load is applied, when the moment load is small while the inertia load is
large, or when the load is not applied as mass but applied as force, etc.,
contact your YASKAWA representative in advance.
When a tool is installed, the tool information and the load information must
be set. For the setting, refer to “Chapter 8.3 Tool Data Setting” and
“Chapter 8.4 ARM Control” of YRC1000micro INSTRUCTIONS (RE-CTO-
A222).

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6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load

Fig. 6-1: Moment Arm Rating

LB
Load gravity position
40

LT
R-, T-axis
rotation center

B-axis rotation center

150
500 g
400 g
100

LT (mm)
300 g
50 200 g

0 50 100 150
LB (mm)

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6 Allowable Load for Wrist Axis and Wrist Flange

6.2 Wrist Flange

6.2 Wrist Flange

The wrist flange dimensions are shown in fig. 6-2 “Wrist Flange” .
The fitting depth must be 2.2 mm or less when the attachment is mounted.

Fig. 6-2: Wrist Flange

2.2 (fitting depth)

0.5
+0.015
9 dia. 0

20 dia.

Tapped holes M3 (4 holes)

(depth: 4 mm)

+0.18
Holes 3 0 dia.
0.25
(2 holes)
15
(depth: 3 mm) .5
dia
.

45°

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7 System Application
7.1 Internal User I/O Wiring Harness and Air Lines

7 System Application

7.1 Internal User I/O Wiring Harness and Air Lines

Internal user I/O wiring harness (0.05 mm2: 8 wires) and two air lines are
incorporated in the manipulator for the drive of peripheral devices as
shown in fig. 7-1 “Connectors for Internal User I/O Wiring Harness and Air
Lines” .
The connector pins 1 to 8 are assigned as shown in fig. 7-2 “Details of the
Connector Pin Numbers” . Wiring must be performed by users.
Items Conditions
The allowable current for internal user 1.4 A or less per a wire.
I/O wiring harness
The maximum pressure for the air line 490 kPa (5.0 kgf/cm2) or less
(The air line inside diameter: 2 mm.)

Fig. 7-1: Connectors for Internal User I/O Wiring Harness and Air Lines

Exhaust port (for air supply):

Tapped hole M5 (pitch: 0.8) (2 holes)
LP-M5 plug (with a pipe plug) (2 plugs)

1 2
Connector for internal user
B I/O wiring harness: DE-9SF-N
Prepare pin connector DE-9PF-N.

View B

Connector for internal user I/O wiring harness:

DE-9PF-N
Prepare pin connector DE-9SF-N.

S1 AIR1

J
4
N

7
1 8
Inlet port (for air supply):
Tapped hole M5
AIR2 (pitch: 0.8) (2 holes)
LP-M5 plug
(with a pipe plug) (2 plugs)
A

1BC

View A

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7 System Application
7.1 Internal User I/O Wiring Harness and Air Lines

Fig. 7-2: Details of the Connector Pin Numbers

Connector for Internal

User I/O Wiring Harness
(For the connector base: View A)

1 2 3 4 5

6 7 8
1 (0.05mm2)
A 2 (0.05mm22)
3 (0.05mm2)
4 (0.05mm2)
Pins used 5 (0.05mm2)
6 (0.05mm2)
7 (0.05mm2)
8 (0.05mm )
Details of the Connector Pin Numbers

Connector for Internal

B User I/O Wiring Harness
(For the U-arm: View B)
8 7 6

5 4 3 2 1

1 (0.05mm2)
2 (0.05mm22)
3 (0.05mm2)
4 (0.05mm2)
Pins used
5 (0.05mm2)
6 (0.05mm2)
7 (0.05mm2)
8 (0.05mm )

Details of the Connector Pin Numbers

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7 System Application
7.2 S-, R-, B-, and T-Axes without Brake

7.2 S-, R-, B-, and T-Axes without Brake

CAUTION
• Brakes are not equipped to S-, R-, B-, and T-axes of MotoMINI.
• The manipulator’s posture may change if the SERVO or the power
supply is turned OFF when the gravity load is applied to the axes to
which a brake is not equipped.
Handle the manipulator carefully to avoid injury or damage to
workpieces.

Fig. 7-3: Axes without Brake and Locations

R-axis B-axis

T-axis

S-axis

Brakes are not equipped to S-, R-, B-, and T-axes of MotoMINI. When the
servo or the power supply is turned OFF while the gravity load is applied
to these axes, the manipulator’s posture may change. And it may contact
with a person, pinch parts of the body, or cause damage to workpiece.
Be careful with the manipulator's operation.

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7 System Application
7.2 S-, R-, B-, and T-Axes without Brake

Following alarms may occur when the servo or the power supply is turned
ON while the gravity load is applied to the axes to which the brake is not
equipped.
It is recommended to keep the manipulator halting in a posture without a
gravity load applied to these axes.

• DROP-VALUE OUT OF RANGE (AL-4511)

This alarm occurs when the difference in the manipulator’s position
pulse between the last time the servo was turned OFF and this time
the servo is turned ON is more than 100 pulses.
Reset the alarm and turn ON the SERVO again.

Table 7-1: Angle Equivalent to 100 Pulses for Axis without a

Brake

Axis Angle equivalent to 100 pulses (°)

S 0.086
R 0.293
B 0.293
T 0.293

• SERVO ON SPEED ERROR (AL-4307)

This alarm occurs when the motor is moving while the SERVO is
turned ON.
Confirm that the manipulator is completely stopped, then turn ON the
SERVO again.

• ABSOLUTE DATA OUT OF RANGE (AL-4107)

This alarm occurs when the difference in the manipulator's position
pulse between the las time the power was shut down and this time
the power is turned ON is more than 4096 pulses.
Reset the alarm and move the manipulator to the home position,
then confirm the position.

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8 Electrical Equipment Specification
8.1 Internal Connections

8 Electrical Equipment Specification

8.1 Internal Connections

Diagram for internal connections of the manipulator are shown in
fig. 8-1(a) “Internal Connection Diagram” and fig. 8-1(b) “Internal
Connection Diagram”

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8 Electrical Equipment Specification

8.1 Internal Connections

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8 Electrical Equipment Specification
8.3 Internal Connections

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

Signal out 2Slot
2-1 S+(OUT) 2-1 S+(OUT)
-2 BAT 0V -2 BAT 0V
-3 +5V -3 +5V
-4 S-(OUT) -4 S-(OUT) T-AXIS
-5 BAT +5V -5 BAT +5V
PG
-6 0V -6 0V
-7 FG -7 FG
-8 S-(IN) -8 S-(IN)
-9 S+(IN) -9 S+(IN)
No.2CN
-1 BAT
-2 0BT

Signal in 1Slot
1-1 S+(OUT) 1-1 S+(OUT)
-2 BAT 0V -2 BAT 0V
-3 +5V -3 +5V
-4 S-(OUT) -4 S-(OUT) B-AXIS
-5 BAT +5V -5 BAT +5V
PG
-6 0V -6 0V
BAT -7 FG -7 FG
0BT -8 S-(IN) -8 S-(IN)
-9 S+(IN) -9 S+(IN)
BAT
K R 0BT No.1CN
BAT BAT BAT BAT -1 BAT
0BT 0BT 0BT 0BT -2 0BT
BAT
K R 0BT

Signal out 2Slot

2-1 S+(OUT) 2-1 S+(OUT)
1 0BAT11 17 -2 BAT 0V -2 BAT 0V
2 BAT11 18 -3 +5V -3 +5V
3 0BAT12 19 -4 S-(OUT) -4 S-(OUT) R-AXIS
4 BAT12 20 -5 BAT +5V -5 BAT +5V PG
21 -6 0V -6 0V
22 -7 FG -7 FG
23
24 -8 S-(IN) -8 S-(IN)
5 0BAT21 25 -9 S+(IN) -9 S+(IN)
No.3CN
6 BAT21 26 -1 BAT
7 0BAT22 27
8 BAT22 28 -2 0BT
29
30 Signal in 1Slot
1 31 1-1 S+(OUT) 1-1 S+(OUT)
2 32 -2 BAT 0V -2 BAT 0V
3 1 PG0V1 -3 +5V -3 +5V
4 2 PG5V1
5 3 PG0V2 -4 S-(OUT) -4 S-(OUT) U-AXIS
6 4 PG5V2 -5 BAT +5V -5 BAT +5V
PG
7 5 PG0V3 -6 0V -6 0V
8 6 PG5V3 -7 FG -7 FG
7 PG0V4 -8 S-(IN) -8 S-(IN)
8 PG5V4 -9 S+(IN) -9 S+(IN)
9 PG0V5
DC/DC

10 PG5V5
1 11 PG0V6
3 12 PG5V6
13
2 14
4 15
16

Signal out 2Slot

2-1 S+(OUT) 2-1 S+(OUT)
-2 BAT 0V -2 BAT 0V
-3 +5V -3 +5V
-4 S-(OUT) -4 S-(OUT) L-AXIS
-5 BAT +5V -5 BAT +5V
-6 0V -6 0V PG
-7 FG -7 FG
-8 S-(IN) -8 S-(IN)
-9 S+(IN) -9 S+(IN)
No.4CN
-1 BAT
CN3 CN1 -2 0BT
-1 -4 DATA-
-2 -5 DATA+
Signal in 1Slot
-4 -11 +24V LA1 LB1 1-1 S+(OUT) 1-1 S+(OUT)
-5 -12 LB1 -2 BAT 0V -2 BAT 0V
-6 -13 +24V LC1 LD1 -3 +5V -3 +5V
-7 -14 LD1 -4 S-(OUT) -4 S-(OUT) S-AXIS
-5 BAT +5V -5 BAT +5V
-6 0V -6 0V PG
-7 FG -7 FG
-8 -3 +24V -8 S-(IN) -8 S-(IN)
-9 -6 0V -9 S+(IN) -9 S+(IN)

Controller Power Supply Part Base Part Arm Part

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 HW1484782
8 Electrical Equipment Specification
8.3 Internal Connections

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

CN1 CN2
-1 -1 ME1 No.5CN
-2 -7 MU1 -1 MU1
-3 -13 MV1 -2 MV1 S-AXIS
-4 -19 MW1 -3 MW1 SM
-4 ME1

-6 -2 ME2 No.6CN No.13CN

-7 -8 MU2 -1 MU2 -1 MU2
-8 -14 MV2 -2 MV2 -2 MV2 L-AXIS
-9 -20 MW2 -3 MW2 -3 MW2 SM
-4 ME2 -4 ME2

No.14CN
-1 BA2
-2 BB2 YB

-13 -3 ME3 No.7CN No.15CN

-14 -9 MU3 -1 MU3 -1 MU3
-16 -15 MV3 -2 MV3 -2 MV3 U-AXIS
-15 -21 MW3 -3 MW3 -3 MW3 SM
-4 ME3 -4 ME3

No.16CN
-1 BA3
-2 BB3 YB
CN2
-1 -4 ME4 No.8CN No.17CN
-3 -10 MU4 -1 MU4 -1 MU4
-4 -16 MV4 -2 MV4 -2 MV4 R-AXIS
-5 -22 MW4 -3 MW4 -3 MW4 SM
-4 ME4 -4 ME4

-2 -5 ME5 No.9CN No.18CN

-6 -11 MU5 -1 MU5 -1 MU5
-7 -17 MV5 -2 MV5 -2 MV5 B-AXIS
-8 -23 MW5 -3 MW5 -3 MW5 SM
-4 ME5 -4 ME5

-9 -6 ME6 No.10CN No.19CN

-11 -12 MU6 -1 MU6 -1 MU6
-12 -18 MV6 -2 MV6 -2 MV6 T-AXIS
-13 -24 MW6 -3 MW6 -3 MW6 SM
-4 ME6 -4 ME6

CN4 No.11CN
-4 -C BA2 -1 BA2
-3 -D BB2 -2 BB2

No.12CN
-5 -E BA3 -1 BA3
-6 -F BB3 -2 BB3

E E
E E

E
PE
Base
E

S1
No.20CN
-1 1 -1 1 1 -1
-2 2 -2 2 2 -2
-3 3 -3 3 3 -3
-4 4 -4 4 4 -4
FOR SPARE
-5 5 -1 5 5 -5
-6 6 -2 6 6 -6
-7 7 -3 7 7 -7
-8 8 -4 8 8 -8
No.21CN

Controller Power Supply Part Base Part Arm Part

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HW1484782
9 Maintenance and Inspection
9.1 Inspection Schedule

9 Maintenance and Inspection

WARNING
• For disassembly or repair not stated in table 9-1 “Inspection Items” ,
contact your YASKAWA representative listed in the table or on the
back cover of this instruction manual.
• Before maintenance, inspection or wiring, be sure to turn the main
power supply OFF, and put up a warning sign. (ex. DO NOT TURN
THE POWER ON.)
Failure to observe this warning may result in electric shock or injury.

NOTICE
• Do not perform the maintenance operation which is not stated in
fig. 9-1.

9.1 Inspection Schedule

Proper inspections are essential not only to assure that the mechanism
will be able to function for a long period, but also to prevent malfunctions
and assure safe operation. Inspection intervals are classified into six
levels as shown in table 9-1.
In table 9-1, the inspection items are categorized by three types of
operations: operations which can be performed by personnel authorized
by the user, operations to be performed by trained personnel, and
operations to be performed by service company personnel. Only specified
personnel shall perform the inspection work.

• The inspection interval depends on the total servo opera-

NOTE tion time.
• Replace the manipulator when it operates abnormally.

9-1 HW1484782 53/61

 Table 9-1: Inspection Items
Items1) Schedule Method Operation Inspection
Charge

Daily
1000HCycle
5000HCycle
15000HCycle
Specified
Personnel
Licensee
Service
Company
1 Whole exterior of manipulator Visual Clean the work area if dust or spatter is present.
9

• • • •
9.1

Check for damage and outside cracks.

2 All axes joint parts • Visual Check for grease leakage. • • •
3 Baseplate mounting bolts • Spanner Check for lost or loose bolts. • • •
Wrench Tighten loose bolts.
4 Cover mounting screws • Screwdriver, Check for lost or loose bolts. • • •
Wrench
5 Connector base • Manual Check for loose connectors. • • •

9-2
6 Battery pack in manipulator • Tester Replace the battery pack when the battery alarm occurs or when the • •
Inspection Schedule

manipulator has been operated for 15000H.

7 Overhaul • •
Maintenance and Inspection

1 Inspection No. correspond to the numbers in fig. 9-1 “Inspection Items” .

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HW1484782
9 Maintenance and Inspection
9.1 Inspection Schedule

The numbers in fig. 9-1 “Inspection Items” correspond to the numbers in

table 9-1 “Inspection Items” .

Fig. 9-1: Inspection Items

4
2

3 2

5
6

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 HW1484782

9 Maintenance and Inspection

9.2 Replacement of the Battery Pack

9.2 Replacement of the Battery Pack

A battery pack is installed in the position shown in fig. 9-2 “Location of the
Battery” .
Refer to fig. 9-2 and fig. 9-3 “Battery Connection” to replace the battery
according to the following procedures.

Fig. 9-2: Location of the Battery

Bracket for battery

Bracket for multi-port

Base cover

Multi-port connector
for S- and L-axes
Cable tie
Cover fixing bolt Base box
Ultra low head socket Braket for multi-port fixing bolt
Battery pack cap screw M3 Truss head machine screw M3
(length: 8 mm) (2 bolts) (length: 5 mm) (2 bolts)
Tightening torque: 0.5 N•m Tightening torque: 0.5 N•m
Without Cover

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HW1484782
9 Maintenance and Inspection
9.2 Replacement of the Battery Pack

Fig. 9-3: Battery Connection

Battery pack before replacement

OBT b a OBT a: Insertion-type pin terminal (pin)

BAT a b BAT b: Insertion-type pin terminal (socket)

OBT b a OBT

BAT a b BAT

New battery pack

1. Loosen the base cover mounting bolts and remove the base cover.
2. From the base box, remove the bracket for the multi-port, which is
fixed.
3. The old battery pack is fixed to the battery bracket with the cable tie.
Cut the cable tie to remove the old battery pack.
4. Remove the plastic tape (insulating tape) which is protecting the
connection part of the battery pack inside the manipulator.
5. Connect the new battery pack.
6. Remove the old battery pack.

• Before removing the old battery pack, make sure to con-

nect the new battery pack to prevent the encoder absolute
NOTE data from disappearing.
• Do not disconnect the connectors between the motor and
the multi-port. The home position data may disappear.

7. Protect the connection part of the battery pack inside the manipulator
with the plastic tape (insulating tape).
8. Fix the new battery pack to the battery bracket with the T30L cable tie.
9. Mount the multi-port bracket using its mounting bolts with the
tightening torque shown in fig. 9-2 “Location of the Battery” .
10. Reinstall the cover using the base cover mounting bolts with the
tightening torque shown in fig. 9-2.

NOTE When reinstalling the cover, be careful not to get caught the
cable.

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 HW1484782

9 Maintenance and Inspection

9.3 Home Position Calibration

9.3 Home Position Calibration

Home position calibration is necessary when the home position is lost due
to out of battery while the manipulator is not connected to the
YRC1000micro. The parts shown in table 9-2 “Parts for Home Position
Calibration” must be prepared beforehand.
Table 9-2: Parts for Home Position Calibration
Name Type Manufactur Qty Remarks
er
Bracket HW1307150-1 YASKAWA 1 Recommended
Electric spare parts
Corporation
Bracket HW1408771-1 YASKAWA 1 Recommended
Electric spare parts
Corporation
Pin dia.3 (0/-0.025 recommended) - 3
Screw Hexagon socket head cap screw M5 - 2
(length: 16 mm)
Feeler gauge 0.5 mm - 1

Refer to fig. 9-4 “Home Position Calibration” and perform home position
calibration in accordance with the following procedures.
1. Unscrew the cover-mounting screw, and remove the base cover.
2. Align the hole of the base with the pin (dia.3), and mount the bracket
(HW1307150-1) by tightening the hexagon socket head cap screws
M5 (length:16 mm).
3. By moving each axis, align the hole of the bracket (HW1307150-1)
with the hole of T-axis flange (dia.9) to install the bracket
(HW140877-1).
4. When performing home position calibration for the S,L,U,R,B-axes, by
using 0.5 mm feeler gauge, confirm there is the gap between the face
of T-axis flange.(The home position must satisfy the step 3 and 4.)
5. After the home position calibration for S,L,U,R,B-axes is completed,
perform the home position calibration for T-axis by turning the T-axis
only until the pin (dia.3) can be installed. The phase angle must be
confirmed when calibrating the home position for the T-axis.
6. When home position calibration is completed, remove the home-
position bracket and reinstall the base cover. (Tighten the mounting
screw for the base cover by using the tightening bolt shown in fig. 9-4
“Home Position Calibration” )

When performing this operation, refer to “YRC1000 INSTRUCTIONS

Chapter 8.1 Home Position Calibration”.

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HW1484782
9 Maintenance and Inspection
9.3 Home Position Calibration

Fig. 9-4: Home Position Calibration

Base cover

45°

Bracket (HW1307150-1)
Hexagon socket head cap screw (1.5 kg)
M5 (length: 16 mm)(2 screws) Base
Tightening torque: 6 N・m Cover mounting screw
Ultra-low head hexagon socket head cap screw
M3 (length: 8 mm)(4 screws)
Tightening torque: 0.5 N・m

C C

Bracket (HW1408771-1)
a

Enclosure for
bracket and mouting screw

0
Dia. 3 Pin ( -0.025 recommended)
(2 pins) Dia.9
Bracket (HW1307150-1) T-axis flange
Bracket (HW1307150-1)

Dia. 3 Pin
0
45°
Bracket (HW1408771-1)
Base ( -0.025 recommended)
(2 pins)
Detail for part a Detail for part b Section C-C

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 HW1484782

10 Recommended Spare Parts

10 Recommended Spare Parts

As our basic policy, malfunctioning manipulators are replaced.
Companies that provide technical services (listed on the back cover)
usually have replacements in stock. However, we recommend you to
purchase a replacement in advance as they may not have any
manipulators in stock.
The technical service companies will collect, diagnose, and repair
malfunctioning manipulators, and then deliver it to customers. (On-site
repair is not provided.)
We may ask customers to replace a battery unit when the battery alarm is
displayed on the YRC1000micro.

Table 10-1: Spare Parts for the YR-1-06VX05-A00

Parts Name Type Manufacturer Qty Remarks
No.
1 MotoMINI YR-1-06VX05-A00 YASKAWA Electric 1
Corporation
2 Battery Pack HW9470917-F YASKAWA Electric 1
Corporation
3 Bracket HW1307150-1 YASKAWA Electric 1
Corporation
4 Bracket HW1408771-1 YASKAWA Electric 1
Corporation

Table 10-2: Spare Parts for the YR-1-06VX05-A01

Parts Name Type Manufacturer Qty Remarks
No.
1 MotoMINI YR-1-06VX05-A01 YASKAWA Electric 1
Corporation
2 Battery Pack HW9470917-F YASKAWA Electric 1
Corporation
3 Bracket HW1307150-1 YASKAWA Electric 1
Corporation
4 Bracket HW1408771-1 YASKAWA Electric 1
Corporation

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MotoMINI
INSTRUCTIONS

HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703 Fax +81-93-645-7802

YASKAWA America Inc. (Motoman Robotics Division)

100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277

YASKAWA Europe GmbHRobotics Divsion )

Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103

YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone +46-480-417-800 Fax +46-486-414-10

YASKAWA Electric (China) Co., Ltd.

22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200 Fax 㸩86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878

YASKAWA India Private Ltd. (Robotics Division)

#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Phone +91-124-475-8500 Fax +91-124-475-8542

YASKAWA Electric Korea Corporation

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326
Phone +82-2-784-7844 Fax +82-2-784-8495

YASKAWA Electric Taiwan Corporation

12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333 Fax +886-2-8913-1513

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.

59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone +66-2-017-0099 Fax +66-2-017-0199

PT. YASKAWA Electric Indonesia

Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470 Fax +62-21-2982-6741

C 2017 YASKAWA ELECTRIC CORPORATION

Published by YASKAWA

February 2019 17-07

MANUAL NO.

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