OM0103017E03 YA-1NAR81 RobotManipulator

Industrial Robot
Robot Manipulator
Operating Instructions
Model No. YA-1NAR81***
VR-008,VR-006L
(G2 controller applicable) Contents
1. Safety
2. Check items before installing the

manipulator
3. Transportation
4. Installation
5. Connection
6. Technical data
(VR-008) 7. Specifications of electrical component
8. Maintenance and inspection manual
9. Spare parts list
* Label arrangement
(VR-006L)
Before operating this product, please read the instructions carefully and save this manual for
future use.
OM0103017E03
0112
This document explains installation, safety and periodical inspection of Panasonic Industrial Robot
Manipulator, VR-008 and VR-006L.
■ About safety
Please read “SAFETY MANUAL” and “Operating instructions” of the applied Robot Controller prior to start
installation and operation of the robot.
The contents of this document are subject to change without further notice.
i
Systems of “Operating Instructions” of Panasonic Robot VR series
Name Description and remarks Usage

Safety manual Panasonic robots are designed and manufactured on Use this document for training
the premise that contents of this manual are programs at installation and also
conformed to by users. Personnel who use any periodic training on safe
other operating instructions listed in this table must operation of the robot, which
read and understand the contents of this manual first. must be taken by all personnel
This manual explains laws and regulations related to who handle Panasonic robots.
the industrial robots and also basic safety instructions
from installation, maintenance and repair all the way
down to disposal step by step.
Robot system The document explains configuration and installation Use this document to understand
Operating instructions of standard robot systems, such as CO2 welding robot robot system configuration and
system in general. connection system at installation
in general.
Robot manipulator The document explains transportation, installation, This document is for personnel
Operating instructions connection, initial settings and maintenance and who are in charge of installation
repair of the robot manipulator. and/or maintenance.
The contents of the document are limited to hardware
of the equipment.
Robot controller The document explains transportation, installation, This document is for personnel
Operating instructions connection, initial settings and maintenance and who are in charge of installation
repair of the robot controller. and/or maintenance.
The contents of the document are limited to hardware
of the equipment.
Note)
Initial settings of software at robot installation are
shown in “Operating instructions, Advanced
operation”.
Optional equipment The document explains installation, connection and The document is provided for
Operating instructions repair of the optional equipment applicable to G optional equipment.
series. The contents of the document are limited to Each document is for personnel
hardware of the equipment. who are in charge of installation
Note) and/or maintenance.
Initial settings of software at robot installation are
shown in “Operating instructions, Advanced
operation”.
Operating instructions The document is for operators who operate This is a guide for beginners of G
Basic operation Panasonic robots G for the first time. The series
document explains basic robot functions and basic
robot welding operation.
Operating instructions The document explains settings of robot, basic Refer to the document and try
Advanced operation parameters, I/O settings for AUTO play and initial operating the robot for better
settings of all optional equipment including welding understanding.
power source and external axis.
It explains robot commands in detail.
ii
■ About Model No.:
Model No. Symbol Basic design policy

YA-1NA***T** T The robot is designed as standard specification for the use in T for the Japanese market
and Y for overseas markets in general.
YA-1NA***Y** Y
This product does not meet the requirements specified in the EC Directives which are the
EU safety ordinance. Please bear in mind that this product may not be brought as is into
the EU. The same restriction also applies to any country which has singed the EEA
accord.
Please be absolutely sure to consult with us before attempting to relocate or resell this
product to or in any EU member state or any other country which has signed the EEA
accord.
<Note>
If you are intended to use the robots in US, Canada or EU member states (including
countries signed the EEA accord), please purchase the robots designed for those
countries. (See the following models.)
YA-1NA***E** The robot is designed in accordance with the applicable European directive: Machine
E Directive 98/37/EC, Low Voltage Directive 73/23/EEC (as last amended) and EMC
Directive 89/336/EEC (as last amended).
Before put into service the Robot manipulator in the European market the Robot system
shall be designed in accordance with the manufactures specification described in this
manual and Instruction manual.
Remodeling and/or modifying this product not in accordance with the manufacturers
specification then this declaration will loose its validity.
YA-1NA***U** The robot is basically designed in accordance with safety regulations and standard applied
U in the US and Canadian markets.
This product does not meet the requirements specified in the EC Directives which are the
EU safety ordinance. Please bear in mind that this product may not be brought as is into
the EU. The same restriction also applies to any country which has singed the EEA
accord.
Please be absolutely sure to consult with us before attempting to relocate or resell this
product to or in any EU member state or any other country which has signed the EEA
accord.
The installation shall be made by qualified installation personnel and should conform to all
national and local codes.
Notice: Exporting the machine into Canada
Please bear in mind that exporting this product to Quebec, Canada requires all name
plates and manuals of the product shall be written in French.
Differences in regard to the external appearance of each model are as follows.
Servo-ON Brake
Indicator release Limit switches
light switches
Model 1
T X X X ○
3
Y X X X ○
E X ○ X ○ 2
U ○ ○ ○ ○
○…Standard, X…Optional 4
* Figures in this document are the external appearnance of U model.
iii
Table of Contents
Chapter 1. SAFETY
6-3. Maximum payload.......................................... 6-10
Safety Precaution ................................................... 1-1 6-4. Usage and mount plane of mechanical fuse.. 6-13
6-5. Setting welding torch ..................................... 6-13
6-6. Tool center point ............................................ 6-14
Chapter 2. Check items before installing the
manipulator 6-7. Tool offset (for welding system) ..................... 6-15
6-8. Set-up ............................................................ 6-15
2-1. Model type of your manipulator ....................... 2-1 6-9. Work envelope drawings ............................... 6-16
2-2. Equipment supplied ......................................... 2-1 a) VR-008........................................................... 6-16
2-3. Manufacturing date.......................................... 2-1 b) VR-006L......................................................... 6-18
Chapter 3. Transportation Chapter 7. Specifications of electrical

component
3-1. Transportation method..................................... 3-1
7-1. Location of limit switch..................................... 7-1
Chapter 4. Installation 7-2. User cables and piping .................................... 7-2
7-3. Internal wiring .................................................. 7-3
4-1. Choosing an installation site ............................ 4-1 7-4. Brake release switch ( T Y: OPTION).............. 7-6
4-2. Installation ....................................................... 4-1 7-5. Servo-ON indicator lamp ( T Y E: OPTION) .. 7-6
4-3. Safety fence..................................................... 4-3
4-4. Adjustment....................................................... 4-4
Chapter 8. Maintenance and inspection manual
Chapter 5. Connection 8-1. Daily check ...................................................... 8-1

8-2. Periodical check .............................................. 8-2
5-1. Connecting the manipulator to the controller ... 5-1 8-3. Encoder battery replacement........................... 8-3
5-2. Gounding ......................................................... 5-3
5-3. Connecting user cable connector .................... 5-5
Chapter 9. Spare parts list
Chapter 6. Technical data 9-1. YA-1NAR81Y**/YA-1NAR81T** ....................... 9-2

9-2. YA-1NAR81E** ................................................ 9-3
6-1. Specifications................................................... 6-1 9-3. YA-1NAR81U** ................................................ 9-4
a) VR-008............................................................. 6-1 9-4. Parts List.......................................................... 9-5
b) VR-006L........................................................... 6-3
6-2. Dimensions...................................................... 6-6
a) VR-008............................................................. 6-6
Appendix ( for U E Y ) ................................... 1
b) VR-006L........................................................... 6-8
iv
Chapter 1. SAFETY
Safety Precaution
This manual is also structured on the premise that any

personnel who handle industrial robots must finish the Panasonic robots are designed and manufactured on the
appropriate training programs, which is also a premise that contents of this manual are conformed to by
requirement of related regulation and standards. Some users. Personnel who use any other manuals must read
safety precautions are emphasized using the following and understand the contents of this manual first.
symbols for extra caution.
Warnings, Cautions, Mandatory Actions and Prohibitions ●Improper operation of the machine may lead to various
listed in this manual must be followed without fail. If levels of hazardous conditions or damage. This
directions are not followed carefully, potentials for document classifies all of these hazardous conditions
personal injury not only the operator(s) but also other and damages into three levels, Danger, Warning or
personnel and also for property damage to the Caution, and indicates using symbols.
equipment. The warning symbols and signal phrases are also used
It is also important to ensure that equipment functions on the warning labels attached on the machine.
correctly at all-times.
Warning
Signal phrase Description
symbol
When you see this symbol it means that a hazardous accident including death or
Danger serious personal injury is imminent, if directions are not followed carefully.
When you see this symbol it means that the potential for hazardous accident
Warning including death or serious personal injury is high, if directions are not followed
carefully.
When you see this symbol it means that the potential for hazardous accident
Caution including medium-level or light personal injury and/or the potential for property
damage to the equipment are high if directions are not followed carefully.
The above warning symbols are commonly used.
“Serious personal injury” refers to loss of eyesight, hospitalization or necessitate medical treatment for an
injuries, burns (high-temperature and low-temperature extended period of time. “Property damage” refers to
burn), electrical shock, bone fractures and gas poisoning, extensive damage to the surrounding items and
as well as those that leave after-effects, which require equipment.
hospitalization or necessitate medical treatment for an
extended period of time. ●Furthermore, the mandatory items or actions that must
be performed and those that are prohibited are indicated
“Medium-level and light personal injury” refers to burns, as follows.
electrical shock and injuries which do not require
Warning
Signal phrase Description
symbol
Mandatory
Action which MUST be performed without fail, such as grounding.
Action
Prohibition Action which MUST NOT be performed.
1-1
Chapter 2. Check items before installing the manipulator
2-1. Model type of your manipulator 2-3. Manufacturing date
Check the rating plate (see Fig. 2-1 for location) and A manipulator and a controller of the same production
make sure the model type of the manipulator you numbers should be used as a pair.
purchased. If any item in the document contains
Check the production number of both manipulator and
differences in instruction among model types, make sure
controller prior to use. Production number is indicated
to read the one for your model type. See section “About
on the rating plate placed at the arrowed ( ) position on
the model” for details of the model type.
each product in the following figure (Fig. 2-1).
2-2. Equipment supplied

Check if equipment is packed correctly upon delivery.
Refer to the followings for the equipment supplied as
standard specifications. As for any optional units,
please check separately.
• Manipulator –
(Including installation tools)
• Manual(s)
See the table back of the front page for details.
• Accessories
Name Abstruct Q’ty

Bolt M16 x 75 4
Washer For M16 8

Spring
For M16 4
washer
M12 –
Eye bolt (Installed into the 2
manipulator)
Fig. 2-1
2-1
Chapter 3. Transportation
3-1. Transportation method
I Caution
A crane or forklift to transport the manipulator shall be operated by a qualified person.
Prohibition
Any transportation method that may apply any force to robot arm or motor part shall be avoided.
In principle, use a crane to transport a robot controller for robot arm or motor part shall be avoided.
installation or re-installation. When a crane is used,
Make sure to remove the fixing angle prior to operation
hang the robot controller with double-wire through the
after transportation. Operating the robot with the fixing
attached two eyebolts as illustrated in the following
angle on may damage the robot. Store the removed
figure.
fixing angle in proper place for the next use.
Any transportation method that may apply any force to
VR-008: α=45°
VR-006L: α=35°
3-1
Chapter 4. Installation
4-1. Choosing an installation site
(1) Equipment not supplied (customers procured (3) International protection code (IP grade) of the
equipment) machine
a) Base for the robot The environmental protection class of the manipulators is
b) Foundation for the robot installation, concrete IP42 or equivalents.
and coating, piping and piping pit
c) Primary power wiring
d) Grounding 4-2. Installation
e) (Provide 100Ω or less grounding exclusively)
f) Piping for shield gas outside of the system Floor type
g) Interface and connection between jig and robot The robot manipulator shall be installed firmly and
controller securely.
(1) If the thickness of the concrete part of the floor is
(2) Installation site 150 mm or more, the floor can be used as the
a) A site where ambient temperature ranging foundation for the installation.
0-45°C and free from exposure directly to the (2) If the thickness of the concrete part of the floor is
sun. less than 150 mm, the following foundation shall be
b) Be sure to locate the controller close to but performed after digging out the intended part of the
outside of the work envelope of a manipulator. floor where the robot are to be installed.
c) A site relatively free of dust or lamp black. (3) If the floor flatness is not sufficient, apply shim
d) A site free of combustible or corrosive gas. plates of □100 mm or more to four corners of the
e) A site where no obstructions present within the robot base (See Fig. 4-1. Example of base)
work envelope of the manipulator. (4) Attach eyebolts to the UA body of the robot
f) A site easily accessible in case of inspection or manipulator and hook the wires to them to lift and
disassembly. transport the robot manipulator to the installation
g) A site relatively free of shock and vibration. site.
h) A site where no electrical noise source exists. Care should be exercised so that the wires do not
* If a significant noise source (plasma or high hit any part of the robot manipulator.
frequency etc.) exists at or around the installation
site, please consult us in advance.
‡ C ‡ E
: Concrete
‡ D : Boulder
: 150 mm or more
: □450mm or more
: □300mm
‡ @ ‡ B : 4-M16, depth 60 or more
‡ A
(Note)
Installation hole for TIG system will be
Fig. 4-1 Example of base 4-M12, depth 40 or more.
4-1
5 Fix the provided mount holes (4-φ18) in the * As for TIG system, apply fixing bolts M12x70
four corners of the base to anchor the robot instead.
manipulator on a specified place. Use the
holes (2-φ12H7) for positioning if necessary.
CO2 / MAG / Handling
4-M12x70
SW
Insulation unit W
(AZU11601)
included in Insulating washer
TIG specifications Insulating sleeve
Insulated base
TIG / Plasma
<Ceiling type> (Option)

The robot manipulator shall be installed firmly and transport the robot manipulator to the installation
securely. site.
(1) If the thickness of the iron plate part of the ceiling is Care should be exercised so that the wires do not
25 mm or more, the ceiling can be used as the hit any part of the robot manipulator.
foundation for the installation. (4) Use the holes provided in the four corners of the
(2) If the ceiling is not completely leveled, shim plates base to anchor the robot manipulator at a specified
of 100 mm or thicker should be laid beneath the place.
four corners of the robot base. (See Fig. 4-2 (5) Attach the safety metal fittings to prevent
Example of base) unexpected dropping.
(3) Attach eyebolts to the UA body of the robot * For TIG system, use M12x70.
manipulator and hook the wires to them to lift and
4-2
‡ B
‡ D
‡ C
: Safety fitting
‡ A : 25 mm or more
: □450mm or more
: □300mm
: 4-M16
‡ @ Screw torque
4-M16: 255 N·m or above.
Fig. 4-2 Example of base
Note
[Screw torque] 4-M16: 255 N·m or above, 4-M12: 102 N·m or above.
As for ceiling type, to prevent accidents, it is recommended to ask a contractor for installation.
4-3. Safety fence
The robot must be installed at such a place that the tip of following.
the tool attached to the robot arm does not touch the side · The size, capacity, speed and also application of
wall(s), safety fence, or controller when it is extended robots to be applied.
completely.
· Potential risks during the installation,
programming, operation, use, trouble shooting
The safety fence shall meet the following requirements;
and maintenance of the robot system.
(1) The safety fence shall have strength enough to · Especially in case of the need for close approach
endure vibration, impact, and other environmental to the robot when power is available at the
conditions caused during operation. machine actuators.
(2) The safety fence shall have such a structure that can · Attention should be paid to the fact that the final
be easily adjusted and removed, and that a person position of the robot after an emergency stop
cannot be adequately determined owing to the
cannot get over easily.
kinetic energy involved.
(3) The safety fence shall have strength enough to
Note
endure impact and other forces caused when a robot The robot system shall be designed, constructed, and
holding material, whose weight is within the implemented so that in case of a foreseeable failure of
maximum payload weight written in the instruction any single component, whether electrical, electronic,
mechanical, pneumatic, or hydraulic, safety functions
manual of the manipulator, comes off during
are not affected or when they are, the robot system is
operation at the maximum speed and hits the safety left in a safe condition.
fence.
Safety functions include but are not limited to
(4) The safety fence shall have no dangerous part such - limiting range of motion
as saw-tact or sharp edges or projections. - emergency and safety stopping
(5) A stationary type safety fence shall be adopted in - reduced speed, and
principle. - safeguard interlocking.
(6) Where whole-body access to the safeguarded (7) When installation of the safety fence is impossible,
space can be gained through an interlocking door, a prevent persons from entering by mounting an area
device which prevents inadvertent closing of the sensor and high-sensitive mat at every place within
door should be provided taking account of the the action range of the robot.
4-3
500 mm or more
Max. work envelope
of the manipulator
(including tools) Safety fence
End effector
Manipulator
500 mm or more 500 mm or more
500 mm or more
* Interlocked door Controller
4-4. Adjustment
In some application, in order to ensure safe area, it is Make sure to adjust other parameters to correspond to
necessary to limit the working range of the RT axis. the limited working range once the mechanical stopper is
Adjust the mechanical stopper to limit its working range. adjusted.
4-4
Chapter 5. Connection
5-1. Connecting the manipulator to the controller
Connect the connecting cables drawn from the controller to the manipulator.
1. Encoder cable (round-shape connector)
(1) Insert the male receptacle to the female plug. Gently rotate it by hand
Be sure to connect the correct side. (clockwise)
(2) Hold the cable with one hand and match the
locator pin, and then insert it.
(3) Rotate the screw part to connect. Push the

Hold the cable and
cable some times and rotate it again to insert insert it to the end.
the cable to the end.
Note
Make sure that locator pin fits in place and male and female sides are set correctly.
If not, rotating the screw part tight can damage the connector part such as the locator pin.
Insert the cable to the end completely without fail.
2. Motor cable (Square-shape connector)
(1) Insert the cable connector at the controller ‡ @ ‡ A

side ( ○,2) to the connector of the manipulator
(○,3).
(2) Insert it by hand so that clearance between
the manipulator and the connector ( ○,4)
is 1 mm or less.
(The hook handle is positioned about
perpendicular to the cable.) ‡ B ‡ C
(3) Turn the hook handle ( ○,1) to the arrowed

direction in the above figure and then fix it.
Note
Prior to turn down the hook handle, make sure that the cable connector is inserted as explained in the above
procedure (2) (1 mm or less apart from each other). Otherwise, the joint of the connection may be removed
which, as a result, can damage the pin.
Insert the cable to the end completely without fail.
5-1
I Caution
Robot manipulator and controller
The absolute origin of the robot manipulator (robot position control origin), which forms a pair with the
controller, is stored in the memory element of the controller. For that reason, a production number of the
corresponding controller is labeled on the robot controller.
Make sure to use the designated pair.
Note
Bend radius of connecting cable
Use the connecting cable of min. 175 mm
bend radius if the cable cannot be drawn
straight. Especially for the cable connected Protective
fittings
to a manipulator which is placed on the
stand, it is necessary to apply a protective
fittings to the joint part as a sag carrier. The
protective fittings are available separately.
Please contact us.
R175 or more
5-2
5-2. Gounding
Provide required grounding (see the table on the right) to exclusively.

the protective earth terminal (PE) of the robot controller Check the grounding before operation.
Factory ground cable
Provide required grounding exclusively (separate grounding

200 VAC 200 VAC work near the controller). Note 1)
Protective grounding conductor
It is recommended to provide a
cable to connect this terminal to
improve anti-noise property if
‚ Q
necessary for system
‚ W
‡o or more configuration. Note 1)
(2 cables are provided)
Manipulator
Other unit Controller
Cable
Teach
pendant
TE terminal
CO2 / MAG / Handling
Note 1)
Model Grounding
EYT 100 Ω or less
U 0.1 Ω or less
5-3
Factory ground cable
Provide required grounding exclusively (separate

200 VAC 200 VAC grounding work near the controller). Note 1)
Protective grounding conductor

2
(8 mm , 4 m provided) It is recommended to provide a
cable to connect this terminal to
improve anti-noise property if
Function grounding conductor necessary for system
2
(8 mm , 4 m provided) configuration. Note 1)
Manipulator
Other unit Controller
Cable
Teach
pendant
TE terminal
TIG / Plasma
Note 1)
Model Grounding
EYT 100 Ω or less
U 0.1 Ω or less
I Caution
(1) Protective grounding conductor shall be 8 mm2 or more. (Two 8 mm2 (AWG8) green/yellow wires are
provided for grounding as accessory.
In Europe, standard sizes are 1.5, 2.5, 4, 6, 10,16 or 32 mm2. Be sure to use a 10 mm2- conductor if the
protective grounding conductor is applied.
(2) Size of the protective grounding conductors for other devices shall be according to the corresponding
instruction.
Example) Size of the protective grounding conductor for welding power supply is 16 mm2 or more.
* Grounding must be conducted by a qualified electrical contractor.
(3) Protective grounding conductor is to be provided to prevent electric shock by conducting leakage
current to the ground.
5-4
5-3. Connecting user cable connector
(1) For standard welding system

With standard specifications, the user cable connector #202 and #203 inside the manipulator and then
is factory connected inside the manipulator for the use directly to the SH terminal of the safety card
of standard welding. Details of the inside (ZUEP5702*.)
connections are as follows.
* Please be advised that it is not necessary to connect
Cables drawn from the safety holder to the pins “G” the user cable connector (b) located at the bottom of
and “H” (wire #407 and #408) of the user cable the robot (RT-axis) as cables #407 and #408 from the
connector (a) (located on the upper part (RW-axis) of user cable connector (a) are not connected to the user
the robot.) The cables are connected to the wires cable connector (b)
User cable connector (a)

Blue
EMG-IN
Safety holder
cable
SH1
10 9
407 202
SH2
SH terminal of the
408 203 White controller
Note)
Check polarity of SH1 and SH2 before
connection and connect correctly.
407
408
Use cable connector (b)
Safety card
Cables #407 and #408 from the user cable connector ZUEP5702*
(a) are not connected to the user cable connector (b)
located at the bottom of the robot (RT-axis).
Sequencer card: ZUEP5711
Note
As for standard specification, connections inside the manipulator are done for standard welding system.
5-5
(2) For handling system
In case of using the use cable for other than welding,

such as handling, it is necessary to change connection
of connector pins as follows.
Remove the cover of the RW axis part of the robot ( ) to

access.
User cable connector (a) Disconnect and

short them.
407 202
Î To SH terminal of
Safety holder the controller
cable 408
203
407
408
Use cable connector (b)
* Connect the cable #202 and #203 to the SH terminal of the safety card
(ZUEP5702*). Short those cables in order to disable the function without fail.
5-6
Chapter 6. Technical data
6-1. Specifications
a) VR-008
Item Specifications
YA-1NAR81Y00
Model No. YA-1NAR81E00 YA-1NAR81U00
/T00
YA-1NMR81Y00
Code No. YA-1NMR81E00 YA-1NMR81U00
/T00
Structure Independent articulated
Degree of freedom 6-axis
Rotation (RT)
±155°
(Referenced from front)
Robot movement range
Upper arm (UA)

Arm +150° to -100°
(Referenced from vertical)
Front arm (FA)
+270° to -190°
(Referenced from horizontal)
±270°(Floor type)
Rotating (RW)
+450° to -90°(Ceiling type)
Wrist Bending (BW)
+100° to -150°
(Referenced from front arm)
Twisting (TW) ±400°
Point P* 5.07m2 × 310°
Section area of arm motion
Point O* 4.47m2 × 310°
Robot working area
Lengthwise arm motion

Point P* +1,547 mm to -1,237 mm
(Distance from the center of
RT-axis to the center of
Point O* +1,482 mm to -1,172 mm
BW-axis.)
Vertical arm motion
Point P* +1,812 mm to -889 mm
(Distance from the lower
surface of the robot to the
Point O* +1,747 mm to -824 mm
center of BW-axis.)
Rotation (RT) 2.09 rad/s (120°/s)
Momentary Max. speed
Arm Upper arm (UA) 2.09 rad/s (120°/s)

Front arm (FA) 2.09 rad/s (120°/s)
Rotating (RW) 5.23 rad/s (300°/s)
Wrist Bending (BW) 5.23 rad/s (300°/s)
Twisting (TW) 6.54 rad/s (375°/s)
Maximum allowable payload 8 kg
Rotating (RW) 23.5 N·m (2.4 kgf·m)
Allowable load on wrist
Moment Bending (BW) 23.5 N·m (2.4 kgf·m)

Twisting (TW) 11.8 N·m (1.2 kgf·m)
Rotating (RW) 0.72 kg·m2 (0.074 kgf·m·s2)
Inertia Bending (BW) 0.72 kg·m2 (0.074 kgf·m·s2)
Twisting (TW) 0.18 kg·m2 (0.018 kgf·m·s2)
6-1
Item Specifications
YA-1NAR81Y00
/T00
YA-1NMR81Y00
/T00
Positioning repetition precision ±0.1 mm or less
Position detector Electronic absolute encoder
Rotation (RT) 1000 W (AC servo motor)
Arm Upper arm (UA) 1000 W (AC servo motor)
Drive power
Front arm (FA) 750 W (AC servo motor)

Rotating (RW) 200 W (AC servo motor)
Wrist Bending (BW) 200 W (AC servo motor)
Twisting (TW) 100 W (AC servo motor)
Brake All axes are provided with brakes
Ambient temperature, humidity 0-45 , 20-90%RH (No due condensation)
For RT-, UA- and FA-axis and wrist axes are
Brake releasing ⎯
attached to the body.
Soft limit Provided
RT-axis, RT-axis, RT-axis,
Operation limit
Hard limit UA-axis (optional) UA-axis (optional) UA-axis,
protection
FA-axis (optional) FA-axis (optional) FA-axis
Mechanical stopper Main 3 axes
Stop at full speed Stopping time Max. 0.35 s 1

(main 3 axes) Stopping angle Max. 15 degrees 1
100Ωor less 100Ωor less 0.1Ωor less
Grounding
exclusively exclusively exclusively
Sound power level ⎯ 80dB (A) 80dB (A)
IP54 or the equivalents 2
Environmental protection rating
(Option: IP65 or the equivalents)
RT: Munsell color system N3.5 or the equivalents
Body color
Others: Munsell color system N7.5 or the equivalents
Installation position Floor type / Ceiling type 3
Outer dimensions See outer drawings
Mass about 220 kg
1: Values are measured when the robot was operating at maximum speed and maximum load with axes at their
maximum extension (creating the max. work envelope).
2: Controller, any joint parts for extension cables used for options and any devices attaching to the manipulator
are not included in the environmental protection rating.
3: Ceiling specifications is an option at shipment.
6-2
b) VR-006L
Item Specifications
YA-1NAR81Y01
/T01
YA-1NMR81Y01
/T01
Structure Independent articulated
Degree of freedom 6-axis
Rotation (RT)
±155°
(Referenced from front)
Robot movement range
Upper arm (UA)

Arm +150° to -100°
(Referenced from vertical)
Front arm (FA)
+270° to -190°
(Referenced from horizontal)
±270°(Floor type)
Rotating (RW)
+450° to -90°(Ceiling type)
Wrist Bending (BW)
+100° to -150°
(Referenced from front arm)
Twisting (TW) ±400°
Point P* 6.73m2 × 310°
Section area of arm motion
Point O* 5.79m2 × 310°
Robot working area
Lengthwise arm motion

Point P* +1,745 mm to –1,435 mm
(Distance from the center of
RT-axis to the center of
Point O* +1,680 mm to –1,370 mm
BW-axis.)
Vertical arm motion
Point P* +2,010 mm to –1,087 mm
(Distance from the lower
surface of the robot to the
Point O* +1,945 mm to –1,022 mm
center of BW-axis.)
Rotation (RT) 2.09 rad/s (120°/s)
Momentary Max. speed
Arm Upper arm (UA) 2.09 rad/s (120°/s)

Front arm (FA) 2.09 rad/s (120°/s)
Rotating (RW) 5.23 rad/s (300°/s)
Wrist Bending (BW) 5.23 rad/s (300°/s)
Twisting (TW) 6.54 rad/s (375°/s)
Maximum allowable payload 6 kg
Rotating (RW) 17.6N·m (1.8 kgf·m)
Allowable load on wrist
Moment Bending (BW) 17.6 N·m (1.8 kgf·m)

Twisting (TW) 8.8 N·m (0.9 kgf·m)
Rotating (RW) 0.54 kg·m2 (0.055 kgf·m·s2)
Inertia Bending (BW) 0.54 kg·m2 (0.055 kgf·m·s2)
Twisting (TW) 0.14 kg·m2 (0.014 kgf·m·s2)
6-3
Item Specifications
YA-1NAR81Y01
/T01
YA-1NMR81Y01
/T01
Positioning repetition precision ±0.15 mm or less
Position detector Electronic absolute encoder
Rotation (RT) 1000 W (AC servo motor)
Arm Upper arm (UA) 1000 W (AC servo motor)
Drive power
Front arm (FA) 750 W (AC servo motor)

Rotating (RW) 200 W (AC servo motor)
Wrist Bending (BW) 200 W (AC servo motor)
Twisting (TW) 100 W (AC servo motor)
Brake All axes are provided with brakes
For RT-, UA- and FA-axis and wrist axes are
Brake releasing ⎯
attached to the body.
Soft limit Provided
RT-axis, RT-axis, RT-axis,
Operation limit
Hard limit UA-axis (optional) UA-axis (optional) UA-axis,
protection
FA-axis (optional) FA-axis (optional) FA-axis
Mechanical stopper Main 3 axes
Stop at full speed Stopping time Max. 0.35 s 1

(main 3 axes) Stopping angle Max. 15 degrees 1
100Ωor less 100Ωor less 0.1Ωor less
Grounding
exclusively exclusively exclusively
Sound power level ⎯ Less than 80dB (A) Less than 80dB (A)
IP54 or the equivalents 2
Environmental protection rating (Option: IP65 or the equivalents)
RT: Munsell color system N3.5 or the equivalents
Body color
Others: Munsell color system N7.5 or the equivalents
Installation position Floor type / Ceiling type 3
Outer dimensions See outer drawings
Mass about 220 kg
1: Values are measured when the robot was operating at maximum speed and maximum load with axes at their
maximum extension (creating the max. work envelope).
2: Controller, any joint parts for extension cables used for options and any devices attaching to the manipulator
are not included in the environmental protection rating.
3: Ceiling specifications is an option at shipment.
6-4
Environmental protection rating
A machine protection code based on International Electro technical Commission (IEC529).
I P - □□
IP stands for “international protection”.
Protection class against human body and/or solid foreign matter
Class Degree of protection
5 Machine is protected against infiltration of dust which may affect the operation.
Dust proof type
6 Machine is protected against infiltration of any kind of dust.
Protection class against water infiltration
Class Degree of protection
Protection against water drip
4 Machine is not affected by water drip from any direction.
Protection against water jet
5 Machine is not affected by direct water jet from any direction.
6-5
6-2. Dimensions
a) VR-008
(Scale: 1/15)
6-6
(Scale: 1/15)
6-7
b) VR-006L
(Scale: 1/15)
6-8
(Scale: 1/15)
6-9
6-3. Maximum payload
(1) Limitation of the payload on the wrist axis

(1)-1 VR-008
a) Maximum payload used for handling and other purposes, the

The maximum payload weight is 8 kg including following restrictions must be observed.
the weight of the brackets which transfer the
b) Eccentric load and load inertia
load.
The eccentric load and the load inertia shall be
In general, there will be no problem when the
regulated within the ranges shown in the
robot is used for arc welding, however, if it is
following table.
Axis Eccentric load Load inertia

Rotation (RW) 23.5 N m (2.4 kgf m) or less 0.72 kg m2 (0.074 kgf m s2) or less
Bending (BW) 23.5 N m (2.4 kgf m) or less 0.72 kg m2 (0.074 kgf m s2) or less
Twist (TW) 11.8 N m (1.2 kgf m) or less 0.18 kg m2 (0.018 kgf m s2) or less
c) The limits on mounting dimensions in case of

material point load are shown in the figure on
the right. ‡ A
BW rotation center ‡ @
Payload center
TW rotation center
‡ B
6-10
(1)-2 VR-006L
a) Maximum payload used for handling and other purposes, the

The maximum payload weight is 6 kg including following restrictions must be observed.
the weight of the brackets which transfer the
b) Eccentric load and load inertia
load.
The eccentric load and the load inertia shall be
In general, there will be no problem when the
regulated within the ranges shown in the
robot is used for arc welding, however, if it is
following table.
Axis Eccentric load Load inertia

Rotation (RW) 17.6 N m (1.8 kgf m) or less 0.54 kg m2 (0.055 kgf m s2) or less
Bending (BW) 17.6 N m (1.8 kgf m) or less 0.54 kg m2 (0.055 kgf m s2) or less
Twist (TW) 8.8 N m (0.9 kgf m) or less 0.14 kg m2 (0.014 kgf m s2) or less
c) The limits on mounting dimensions in case of

material point load are shown in the figure on
the right.
‡ A
‡ @
‡ B
BW rotation center
Payload center
TW rotation center
(2) Jig mounting on the front arm axis
Note
Make sure to mount the cable hanger, bracket on the accessories so as to keep it and the arm from
interfering with one another.
Spaces ( : 2x4-M8 (Pitch1.25), Depth 15) for

mounting system accessories are provided at the
front arm axis of the robot manipulator for
conveniences, such as for handling and so on (see
figures to the right)
6-11
(3) Limitation of front arm axis load
The maximum weight (W2) of the jigs mounted on the
front arm axis should be within the range shown in the
graph below including the allowable payload on the wrist
axis (W1).
: Distance from FA rotation center

: FA rotation center
(3)-1. VR-008
(3)-2. VR-006L
6-12
6-4. Usage and mount plane of mechanical fuse
For welding operation, use a shock-sensor type torch shock-type torch holder.
holder in order not to damage robot or jigs when they The following figures show dimensions of the wrist flange
interfere with each other due to wrong operation. If the of the robot manipulator. Use 4-M5 and 4-M6 screws to
robot is used for handling operation, it is necessary to use mount the protective fixture.
a protective fixture (mechanical fuse) instead of
‡ @
‡ A
: φ4H7, depth 10
‡ B : 4-M5, depth 8
: 4-M6, depth 12
View from A
6-5. Setting welding torch

Hex. bolt M4 ~
12
1. Set a torch holder and a
welding torch to the B
C: Torch position Bottom cover
manipulator.
2. Attach the provided centering

gauge to the torch holder.
3. Loosen the bolts A and B so A Hex. bolt

that the wire end is positioned M4 ~ 8
at the center hole of the
centering gauge (tool center
‚T j
point).
‚T‚ O
Centering
Load vector i
gauge
4. Fasten the bolts A and B tight.
Tool center
*Also read the instruction manual point
of torch holder.
Center hole
End part of the centering gauge
Note
Make sure to perform torch positioning for welding operation. Failure to do so may cause a positioning
error as locus of the torch tip may be out of round when the wrist of the torch is rotated.
6-13
6-6. Tool center point
The following figure shows the robot work

envelopes of point O (BW (bending wrist) axis Point O”
Point P
center point). If a standard torch is used, the tool
center point (welding point) is offset from the point
O about 55 mm horizontally. In this case, the tool
center point when the BW-axis is positioned
downward is indicated as the point O’ in the figure
on the right (L mm down and D mm out from the
Point O
point O. The tool center point when the BW-axis
is positioned horizontally is shown as the point O” Point O’
in the figure on the right. The horizontal reach is L
mm out and D mm up from the point O.
As mentioned, the work envelope of the tool
center point varies with the BW-axis position,
therefore, be sure to take into account of the torch
position to decide
Point P
Point O
Point P: Work envelope
Point O: Work envelope
6-14
6-7. Tool offset (for welding system)
The robot is controlled so that the tip of the torch

interpolates. (The torch tip performs linear or
circular interpolation so as to keep the linear
velocity constant.)
It is necessary to measure accurately and input
the following dimensions as system set-up data
to the controller when mounting the torch.
Standard Applicable set range

L1 505 130 to 600
L2 0 -100 to 100
L3 350 1 to 999.99
Í View from the bottom
TW 0° -185°to 185°
(Turn clockwise for position (+))
*The torch offsets are factory set to standard at
shipment.
6-8. Set-up
After completion of installation and connection of the

manipulator, it is necessary to perform conditions
settings (including tool offset) on the controller side.
Refer to the operating instructions of the controller for
detail set-up.
6-15
6-9. Work envelope drawings
a) VR-008
Note)
For points O and P,
see “WORK ENVELOPE 2”
WORK ENVELOPE 1 (Scale: 1/25)
6-16
Point P
Point O
WORK ENVELOPE 2 Scale: 1/25
6-17
b) VR-006L
Note)
For points O and P,
see “WORK ENVELOPE 2”
WORK ENVELOPE 1 (Scale: 1/25)
6-18
Point P
Point O
Point P:
Work envelope
Point O:
Work envelope
WORK ENVELOPE 2 Scale: 1/25
6-19
Chapter 7. Specifications of electrical component
7-1. Location of limit switch
Limit switches to detect over-travel are provided as

standard or option at the following locations.
UA-axis limit switch
FA-axis limit switch

RT-axis limit switch
Model RT-axis UA-axis FA-axis

EYT ○ X X
U ○ ○ ○
○… Standard, X… Optional
Note
Limit switches for UA-axis and FA-axis: remove the covers to access.
7-1
7-2. User cables and piping
8 cables and one gas hose for applications other than
welding are incorporated into the manipulator. (Use -Allowable current/voltage of cables:100 VAC or less
these cables to compress the system into much compact - Max. working pressure of gas hose:
construction.) 0.49 MPa (5 kgf/cm2, 70 PSI)
(Air can be supplied. Hose diameter : 5mmφ)
Gas outlet
A union joint PM8 is installed into the
manipulator
A Manufacturer: Nippon Pisco
Connection port diameter F
ƒÓ8
View from A User cable connector

MS3102A18-8S is installed into the
manipulator.
(Supply a MS3106B18-8P or equivalent
counter connector.)
Recommended manufacturers:
- Japan aviation electronic Industry Ltd.
- DDK Ltd.
B
Gas inlet
A union joint PME8-02 is installed
into the manipulator
Manufacturer: Nippon Pisco
View from B
Connection port diameter: PT1/4
User cable connector

MS3106B18-8P is installed into the manipulator.
(Supply MS3106B18-8S or the equivalent counter
component)
Manufacturers:
- Japan aviation electronic Industry Ltd.
- DDK Ltd.
PIN Signal Wire No. Allowable current Remarks

*A OPT1 401 3A or less
*B OPT2 402 3A or less
*C OPT3 403 1A or less
*D OPT4 404 1A or less
For users
*E OPT5 405 1A or less
F OPT6 406 1A or less
*G OPT7 407 1A or less
*H OPT8 408 1A or less
18-8
User cable connector Pins marked with * are used for welding system
7-2
7-3. Internal wiring
The Fig. 7-1 shows the harness wiring inside of 3› 2› 6›

*
the manipulator.
The Fig. 7-2 shows the wiring inside of the
manipulator and between connecting connectors.
Note)
The figure on the right is of YA-1NAR81U**.
4›
Location of each harnesses is the same position
for all three models.
See the table below for the details.
○,5*...See Note 1) in Fig.7-2

○,6*…See Note 2a) and 2b) in Fig. 7-2 5›
*
Fig. 7-1
1›
Y/T E U
○ ,1 Swiveling harness
○ ,2 TWBW harness
○ ,3 TW harness
○ ,4 OPT harness
○,5* By-pass harness Brake release Brake release
harness harness
○,6* (Optional) (Optional) Lamp harness
7-3
Note 1)
*1
*2
*3
*4
*5
*6
*7
*8
*9
*10
7-4
PG : Encoder signal
M : Motor power
BK-PWR : Brake power
BK : Motor brake power
OT : Over-travel signal
SH : Safety holder signal
OPT : User cable signal
LMP : Lamp power
BAT : Lithium battery
Note 2b) U
*1
*2
Note 2a) Lamp harness
*3 TYE
*4
*5
*6
*7
*8
*9
*10
Fig. 7-2
7-5
7-4. Brake release switch ( T Y: OPTION)
I Caution
Be attentive when to execute the brake release especially for basic axes. Gravity-drop at high speed maybe
the case which causes serious accident and damage.
The manipulator is provided with a brake release

switch. It is placed on the side of the connector
connecting part located on the rear side of RT
axis.
[Manual brake release]

Each axis is provided with manual brake release
switch.
(1) First, press the Emergency stop switch.
(2) Turn ON the breaker of the controller.
(3) Press the axis select switch and the
RELEASE-SW (release switch) at the
bottom part of the manipulator together to
release the axis from the brake state.
Note
For RT-, UA- and FA-axis, brakes can be released individually, however, brakes of RW-, BW- and TW-axis are
released all together.
7-5. Servo-ON indicator lamp ( T Y E: OPTION)
The servo-ON indicator lamp lights up when drive

power is applied to the manipulator. The
manipulator may not be moving, but the servo-ON
indicator lamp indicates that the manipulator has
the potential to move.
7-6
Chapter 8. Maintenance and inspection manual
Note
The inspection explained in this section is for the application of arc welding. For the use of other applications,
items for the inspection must be reviewed for each application. Especially for handling application, inspection
twice as frequent as the one for welding operation is recommended.
Maintenance and inspection are inevitable to ensure full hours whichever is shorter as the standard.
functions and performance of the robot and at the same • In case of operation on two shifts, the every 500-hour
time to ensure safety during operation. inspection shall normally be performed every 1.5
(1) Daily inspections months.
(2) Inspections every 500 hours (every 3 month) • Hours correspond to time while the controller is in
(3) Inspections every 2,000 hours (every year) ON state.
(4) Inspections every 4,000 hours (every 2 year) • It is recommended to have the overall inspection
(5) Inspections every 6,000 hours (every 3 year) including overhauls specified by us at the time of
(6) Inspections every 8,000 hours (every 4 year) every 2000-hour inspection.
(7) Inspections every 10,000 hours (every 5 year) • If you enter into a periodical inspection contract with
our company, our periodical inspections will start
• Since the inspection intervals are set according to with a 2000-hour (yearly) inspection.
standard operation hours, apply either months or
8-1. Daily check

Inspections before turning on the power
Parts Item Service Remarks

Ground cable Looseness Re-tightening.
Cables Breaking or damage of wire Replacement
Manipulator Attachment of spatter or Removal of Do not blow them off with compressed air. Or
dust. spatter or dust dust or spatter may enter the clearance or
inside of the cover, resulting in damage to the
robot.
Looseness Re-tightening Consult our service section if causes are not
clear.
Safety fence Damage Repair
Working area Tidiness
Inspections after turning on the power
Note Check that no personnel are present within the robot

work envelope before turning on the power.
Parts Item Service Remarks

Emergency Turn off the servo power Repair Do not use the robot unless the switch is
stop switch immediately. Consult us if causes repaired.
are not clear.
Origin When the home return is Consult us if they do To approach the robot to check the
matchmarks completed, the origin not match. matchmarks, press the emergency stop
matchmarks coincide with switch and turn off the servo power.
each other.
Manipulator Each axis makes steady Consult us if causes Do not use the robot unless the
and smooth motions (no are not clear. manipulator is repaired.
abnormal vibration, noise or
looseness) in manual and
operation mode.
Fan Cooling air inlet fan of the Clean the fan. Turn off the power to the controller
controller rotates. before cleaning the fan.
Attachment of dust on the fan.
8-1
8-2. Periodical check
Interval
Method
3 mth 1 yr. 2 yr. 3 yr. 4 yr. 5 yr. Item Inspection and service
/Tool
(500hr.) (2000hr) (400hr.) (6000hr.) (8000hr.) (10000hr.)
Check for tightness and
○ Robot fixing bolts Wrench
re-tighten if necessary.
Driver Check for tightness and
○ Screws at covers
Wrench re-tighten if necessary.
Connecting cable Check for tightness and
○ Feeling
connectors re-tighten if necessary.
Check for tightness and
○ Motor mount bolts Wrench
re-tighten if necessary.
Torque
Rotation / drive wrench, Check fastening torque.
○
parts Feeling, Check for looseness.
Visual
Torque
Check fastening torque.
○ Reduction gears wrench,
Check visual appearance
Visual
Inner wiring and Conductivity test
Tester,
○ connectors of the Check visual appearance
Visual
manipulator Apply grease
Batteries
○ Exchange Exchange with new one
(Manipulator)
○ Reduction gears Grease Apply grease
Tension Check tensile force and

○ Timing belts
meter adjust if necessary
Inner wiring of the Exchange with new one
○ Exchange
manipulator Apply grease
Exchange with new one
○ Timing belts Exchange
Adjust tensile force
Batteries
○ Exchange Exchange with new one
(controller)
• For details, please consult our service section.
• If you have a periodical inspection contract with our company, our periodical inspections will start with a
2000-hour (yearly) inspection.
• Replacement of parts found to be replaced at the inspection will be charged.
Note
Harmonic grease HC-1A for TW-, BW- and RW-axis (Harmonic reduction gear), and
Mori White RE00 for FA-, UA- and RT-axis (RV reduction gear)
8-2
8-3. Encoder battery replacement
The manipulator is provided with batteries to

retain encoder absolute data.
Service life of battery varies with work
environment, however, please exchange it with a
new one every two years. If not, the encoder
absolute data cannot be retained, as a result, the
origin adjustment may become necessary. Any
change of system or teaching data should be
(Product of Japan Aviation
backed up after each operation. Failure to do so
Electronic Industry Ltd.)
may cause to lose such teaching data or
parameters while replacing batteries.
Terminal rubber (-)
Shut down the power to the robot system before
the replacement.
Lithium battery ER6VCT (Product of Toshiba)

Procedures to replace batteries Fig. 8-1
(1) Check the servicing years of each battery.
If the servicing year exceeds two years,
replace it with a new one.
(2) Remove the box covers “A” shown in the
Fig. 8-2 (three covers). Disconnect the
cable from each battery and replace it with
new one. (Untie the binding band or nylon
clamp to free the battery).
Or replace the battery when the message
“Check the lithium battery.” Appears.
(3) After the replacement or battery check,
connect the cable completely and bind the
battery with binding band and nylon clamp
tight, and then attach the covers A in place.
Fig. 8-2
Note
Apply the rubber used at the minus (-) terminal of the old battery to the new one.
For the details, please consult our service section.
Service life of the battery may be shortened.
Please be advised that continuous use of the robot (keep the control power ON for a long period of time) may
cause create passive state film in the lithium battery, which as a result reduces its service life.
8-3
Chapter 9. Spare parts list
The recommended spare parts of Panasonic industrial
manipulator VR-008 and VR-006L are listed in the table.
Please purchase them so as to ensure enough stock
according to your needs.
Fig. 9-1
Note)
The figure is of U model.
Locations of parts listed in the table are
the same for all three models.
9-1
9-1. YA-1NAR81Y**/YA-1NAR81T**
The spare parts are classified as follows
A : Consumable parts, rather short replacement cycle.
B : Assemblies and parts which are fervently in motion.
C : Important assemblies.
Qty in No. of use

No. Name Code Class Remarks
stock per unit
Harmonic gear (for TW, BW
1 Grease HC-1A A 2 kg ― and RW axes)
Gear (RW and BW axes)
RV reduction gear
2 Grease MORI WHITE RE00 A 2 kg ―
(RT,UA,FA-axis)
3 Lithium battery ER6VCT A 1 6 For backup (*1)
4 Swiveling harness AWC12808 A 1 1 (*2)
AWC32709 (VR-008)
5 TWBW harness A 1 1 (*2)
AWC32710 (VR-006L)
6 TW harness AWC32698 A 1 1 (*2)
7 OPT harness AWC30250 A 1 1 (*2)
8 By-pass harness AWC32710 A 1 1 (*2)
9 Lamp harness AWC32700 A (1) (1) (Optional) (*2)
10 Lamp DM22KOLE03Y A (1) (2) (Optional)
11 Timing belt 100S3M447 A 1 1 BW-axis
12 Limit switch AEB31003 B 1 2 RT-axis
13 Limit switch AEB31003 B (1) (2) FA, UA-axis (Optional)
14 Gear 1 ADG40040 B 1 1 BW-axis
16 Pinion gear 25 ADG40061 B 1 1 RW-axis
17 Input gear 25 ADG40060 B 1 1 RW-axis
18 Pinion gear 20 ADG40062 B 1 1 FA-axis
19 Input gear 20 ADG30016 B 1 1 FA-axis
20 Pinion gear 40 ADG40063 B 1 2 UA, RT axes
21 Input gear 40 ADG30017 B 1 2 UA, RT axes
22 Harmonic drive SF1780FR81T B 1 1 TW-axis
23 Harmonic drive SF20A0FR81B B 1 1 BW-axis
24 Harmonic drive HF25AOFR81R B 1 1 RW-axis
25 RV reduction gear 20L028-0 B 1 1 FA-axis
26 RV reduction gear 30L044-0 B 1 2 UA, RT axes
27 Servo motor unit MSM012QBV C 1 1 TW-axis
28 Servo motor unit MSM022QBV C 1 2 BW, RW axes
29 Servo motor unit MDM082Q3V C 1 1 FA-axis
30 Servo motor unit MDM102Q3V C 1 2 UA, RT axes
31 Power PCB ZUEP5461 C 1 3
32 Connector PCB ZUEP5466 C 1 1
(*1) … The service life of the battery is about two (2) years for normal use. It becomes shorter with longer power-off
time.
(*2) … See section 7-3 Internal wiring for location of the harnesses.
* See Fig 9-1 for parts location
9-2
9-2. YA-1NAR81E**
Qty in No. of use

stock per unit
RV reduction gear
(RT,UA,FA-axis)
AWC32709 (VR-008)
AWC32710 (VR-006L)
8 Brake release harness AWC32699 A 1 1 (*2)
9 Lamp harness AWC32700 A (1) (1) (Optional) (*2)
10 Lamp DM22KOLE03Y A (1) (2) (Optional)
13 Limit switch AEB31003 B (1) (2) FA, UA-axis (Optional)
time.
9-3
9-3. YA-1NAR81U**
Qty in No. of use

stock per unit
RV reduction gear
(RT,UA,FA-axis)
AWC32709 (VR-008)
AWC32710 (VR-006L)
8 Brake release harness AWC32699 A 1 1 (*2)
9 Lamp harness AWC32700 A 1 1 (*2)
10 Lamp DM22KOLE03Y A 1 2
13 Limit switch AEB31003 B 1 2 FA, UA-axis
time.
9-4
9-4. Parts List
TW, BW unit
No. Part name Part number Q’ty Remarks No. Part name Part number Q’ty Remarks
1 TW body ADA20025 1 46 U nut FU00SS 2
2 BW body ADA20026 1 47 Spring BDS32 4
3 Pulley H ADW40032 1 48 Spring MDS101 4
4 Pulley A ADW40030 1 49 Spring BDS16 2
5 Pulley M ADW40031 1 50 P.C. Board support SBB415 4
6 HDC housing ADH30035 1 51 P.C. Board support SBB410 4
7 HDC cover AGK40006 1 52 Lithium battery ER6VCT 2
8 HDC shaft ADS40038 1 53 Nylon clamp KCA64 2
9 Key AFK40015 3 54 Nylon clamp NK9N 2
10 Pulley shaft ADS40036 1 55 Tube VC14X15 2
11 Tension base AFB40011 1 56 Spacer 4EP-3 2
12 Gear 2 ADG40041 1 57 Grease nipple WA675 2
13 Gear 1 ADG40040 1 58 Snap ring STW8 1
14 TWBW cover ADK30060 2 59 O-ring S100 1
15 Packing 1 AFQ31408 2
16 Bearing fixing ADH30034 1 Model symbol(s) indicates that the part is
17 BW shaft ADS40037 1 *
equipped only with the model(s) as remarked.
18 Motor plate AFP30032 1
19 TW output flange ADH40018 1
20 TW harness holder AFM40279 1
21 Guard plate AGP40006 1
22 TW cover ADK40033 1
24 Flange cover ADK30070 1
25 P.C. Board cover AGK40007 1
26 P.C. Board with ZUEP5461 1 Power
components
27 Grease nipple WA675 4
28 Motor collar 022 AFM40217 1
29 P.C. Board with ZUEP5466 1 Connection
components
30 Servo motor MSM012QBV 1 TW
31 Servo motor MSM022QBV 1 BW
32 Harmonic drive SF1780FR81T 1 TW
33 Harmonic drive SF20A0FR81B 1 BW
34 O-ring G80 2
35 O-ring S80 1
36 Ring STW10 1
37 Motor collar 012 AFM40411 1
38 Bearing 6900ZZ 1
39 Bearing 698ZZ 2
40 Bearing 6904ZZ 2
41 Bearing 6812LU 2
42 Bearing 688ZZ 1
43 Bearing 6000ZZ 1
44 V-ring V75A 2
45 Timing belt 100S3M447 1
9-5
TW, BW unit
(Exploded view)
9-6
FA, RW unit
1 Pinion gear 20 ADG40062 1 46 Nylon clamp NK6N 1
2 Motor collar 082 AFM40218 1 47 Insulation 15SHT3.0KKA1 1 U
3 Output flange ADH30036 1 48 Indicator lamp DM22KOLE03Y 2 U
4 Gear box 25 ADH20038 1 49 Hole plug CP30HP11 2 Y, E
5 Motor collar 022 AFM40217 1 50 OT plate R20 AGK31021 1
6 Pinion gear 25 ADG40061 1 51 Limit dog R20 ASM41019 2 U
7 RW body ADA11069 1 52 Edging CE016 2
8 Input gear 20 ADG30016 1
9 Motor cover ADK30059 1
10 Input gear 25 ADG40060 1
* Model symbol(s) indicates that the part is
11 Inner tube 25 AGG40015 1
12 Joint arm ADA20030 1 VR-008 equipped only with the model(s) as remarked.
(12) Joint arm ADA20036 1 VR-006L
13 Inner tube 20 AGG40016 1
14 Tube holder 20 AFM40253 1
15 P. C. Board cover AGK40007 1
16 P. C. Board with ZUEP5461 1 Power
components
18 Harness guide 20 AGG40020 1
19 P.C. board plate 2 AKK41109 1
20 Tube VC14X15 3
21 R Gasket P100842-18 1
22 O-ring S16 1
23 O-ring plate AGP40016 1
24 O-ring S100 2
25 O-ring AS568-166 1
26 O-ring AS568-163 1
27 Servo motor MSM022Q8V 1 RW
28 Servo motor MDM082Q3V 1 FA
29 Harmonic drive HF25A0FR81R 1 RW
30 RV reduction gear 20L028-0 1 FA
31 Bearing 6808ZZ 2
32 Bearing 6810ZZ 1
33 V-ring V110A 1
34 V-ring V25A 1
35 V-ring V40A 1
36 Bulkhead union PM8 1
37 P.C. Board support SBB415 4
39 Lithium battery ER6VCT 2
40 Nylon clamp NK9N 3
41 Plug SP1/8SL 3
42 O-ring S44 1
43 O-ring G105 1
44 Nylon washer OSLW-M6 1
45 Rubber sheet AFQ40090 1
9-7
FA, RW unit
(Exploded view)
9-8
RT, UA unit
1 UA arm ADA11075 1 46 Saddle SP24N 2
2 RT base ADA11071 1 47 O-ring G105 2
3 UA body ADA11086 1 48 Limit switch fitting ASK41023 2 U
4 Limit switch holder ASK30002 1 49 Inner sleeve AGG40024 1
5 Limit switch plate ASK41028 2 50 Nylon washer OSLW-M6 1
6 Packing 3 AFQ31410 1 51 Hole plug CP30HP1 4
7 P.C. Board plate AKK41109 1 52 Lock nut 1420/11 2
8 P.C. Board cover AGK40007 1 53 Limit dog R20 ASM41019 2 U
9 RT cover AKK20021 1 54 OT plate R40 AGK31022 1
10 Input gear 40 ADG30017 2 55 OT cover AKK41113 2 U
11 Pinion gear 40 ADG40063 2 56 OT cover AKK41114 2 Y, T, E
12 Inner tube 41 AGG40019 1 57 Packing AFQ41148 2
13 Inner tube 40 AGG40014 1 58 BK release harness AWC32699 1 U, E
14 Harness pipe plate AFS40006 1 59 Packing AFQ41146 1
15 Harness guide 40 AGG40021 2 60 Motor cover ADK32006 1 U, E
16 M box flange AKK32009 1 61 Motor cover ADK30059 1 Y, T
17 Metal plug box AKK32007 1 62 Packing 2 AFQ31409 1
18 Harness pipe plate AGG30007 1 63 Edging CE016 2
19 Stopper 1 ABQ41003 1 64 Cable grand EOPG0811 2 U
20 Tube holder 40 AFM30088 2
21 Ring plate AGK30008 1
* Model symbol(s) indicates that the part is
22 Limit dog ASM41036 1
Motor cover ADK30059 3 equipped only with the model(s) as remarked.
23
25 Stopper 2 ABQ41002 1
26 Stopper 4 ABQ40015 2
27 P.C. Board with ZUEP5461 1 Power
components
28 O-ring AS568-169 2
29 Tube VC14X15 2
30 Plug SP1/8SL 3
31 Servo motor (RT, MDM102Q3V 2
UA)
32 RV reduction gear 30L044-0 2
35 V-ring V50A 2
36 O-ring S63 2
37 Bearing 6813ZZ 2
38 Limit switch AEB31003 2
39 Elbow pipe VPLL40 1
40 Cable grand EOPG0811 2
41 Lithium battery ER6VCT 2
44 Limit switch AEB31003 2 U
45 Eyebolt XVN12 2
9-9
RT, UA unit
(Exploded view)
9-10
Appendix ( for U E Y )
Note
For T model, refer to Japanese version of the operating instructions.
App-1
Appendix 1. Label arrangement
App-2
< Type label (VR-008) – ANM36015 >
< Type label (VR-006L) – ANM36016 >
< Warning label – ANT40113> < Caution label – ANT40157>
Appendix 2. Details of labels (1 of 2)
App-3
< Caution label – ANT41174 >
< Caution label – ANT40123 > < Caution label – ANT40159 >
DNH0 0 1 0 9
< CE mark – DNH00109 > <UL mark – ANH30011>
Appendix 2. Details of labels (2 of 2)
App-4
Continental Europe Panasonic Factory Automation Europe GmbH (PFAE)
Harkortstrasse 9-13
40880 Ratingen
Germany
TEL: 49-(0)2102-400-169 or 165
FAX: 49-(0)2102-400-163
United Kingdom Panasonic Industrial Europe Ltd. (PIEL)

Wellington Crescent Fradley Park, Lichfield
Staffordshire WS13 8RZ
UK
TEL: 44-(0)1543-444-666
FAX: 44-(0)1543-444-747
North America Panasonic Factory Automation Company (PFA)

9377 West Grand Avenue,
Franklin Park, IL 60131
U.S.A.
TEL: 1-847-288-4400
FAX: 1-847-288-4430
Tangshan Tangshan Matsushita Industrial Equipment Co., Ltd.
Tangshan new & Hi-Tech Development Zone,
063020, Tangshan, Hebei,
China
TEL: 86-315-320-6060
FAX: 86-315-320-6070
Southeast Asia Panasonic Industrial (Thailand) Ltd.

252/133 Muang Thai-Phatra Complex Building,
31st Fl. Rachadaphisek Rd,
Huaykwang, Bangkok 10320
Thailand
TEL: 662-693-3421
FAX: 662-693-3427
Other area Matsushita Welding Systems Co., Ltd.
International Department
1-1, 3-chome, Inazu-cho, Toyonaka
Osaka 561-0854
Japan
TEL: 81-(0)6-6866-8505
FAX:81-(0)6-6866-0709
© Matsushita Electric Industrial Co., Ltd. All rights reserved.

Printed in Japan

OM0103017E03 YA-1NAR81 RobotManipulator

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Industrial Robot

Model No. YA-1NAR81***

2. Check items before installing the

8. Maintenance and inspection manual

9. Spare parts list

Name Description and remarks Usage

Model No. Symbol Basic design policy

Differences in regard to the external appearance of each model are as follows.

* Figures in this document are the external appearnance of U model.

Chapter 3. Transportation Chapter 7. Specifications of electrical

Chapter 5. Connection 8-1. Daily check ...................................................... 8-1

Chapter 6. Technical data 9-1. YA-1NAR81Y**/YA-1NAR81T** ....................... 9-2

This manual is also structured on the premise that any

Prohibition Action which MUST NOT be performed.

2-2. Equipment supplied

Name Abstruct Q’ty

Washer For M16 8

CO2 / MAG / Handling

<Ceiling type> (Option)

Fig. 4-2 Example of base

4-3. Safety fence

* Interlocked door Controller

1. Encoder cable (round-shape connector)

(3) Rotate the screw part to connect. Push the

2. Motor cable (Square-shape connector)

(1) Insert the cable connector at the controller ‡ @ ‡ A

(3) Turn the hook handle ( ○,1) to the arrowed

Provide required grounding (see the table on the right) to exclusively.

Factory ground cable

Provide required grounding exclusively (separate grounding

Protective grounding conductor

CO2 / MAG / Handling

Provide required grounding exclusively (separate

Protective grounding conductor

(1) For standard welding system

User cable connector (a)

Use cable connector (b)

Sequencer card: ZUEP5711

In case of using the use cable for other than welding,

Remove the cover of the RW axis part of the robot ( ) to

User cable connector (a) Disconnect and

Use cable connector (b)

Upper arm (UA)

Lengthwise arm motion

Arm Upper arm (UA) 2.09 rad/s (120°/s)

Moment Bending (BW) 23.5 N·m (2.4 kgf·m)

Front arm (FA) 750 W (AC servo motor)

Stop at full speed Stopping time Max. 0.35 s 1

Upper arm (UA)

Lengthwise arm motion

Arm Upper arm (UA) 2.09 rad/s (120°/s)

Moment Bending (BW) 17.6 N·m (1.8 kgf·m)

Front arm (FA) 750 W (AC servo motor)

Stop at full speed Stopping time Max. 0.35 s 1

(1) Limitation of the payload on the wrist axis

a) Maximum payload used for handling and other purposes, the

Axis Eccentric load Load inertia

c) The limits on mounting dimensions in case of

a) Maximum payload used for handling and other purposes, the

Axis Eccentric load Load inertia

c) The limits on mounting dimensions in case of

(2) Jig mounting on the front arm axis

Spaces ( : 2x4-M8 (Pitch1.25), Depth 15) for

: Distance from FA rotation center

Chapter 6. Technical data 9-1. YA-1NAR81Y/YA-1NAR81T ....................... 9-2