MOTOMAN-GP225,GP180,GP180-120

SUPPLEMENTAL INSTRUCTIONS
TYPE:
YR-1-06VX225-C00 (Drip-proof Specification)
YR-1-06VX180-C00 (Drip-proof Specification)
YR-1-06VX180-120-C00 (Drip-proof Specification)

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

MOTOMAN INSTRUCTIONS
MOTOMAN-GP225,GP180,GP180-120 INSTRUCTIONS
MOTOMAN-GP225,GP180,GP180-120 SUPPLEMENTAL INSTRUCTIONS
YRC1000 INSTRUCTIONS
YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)
YRC1000 MAINTENANCE MANUAL
YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)

187518-1CD MANUAL NO.

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Introduction
This supplemental instruction manual describes MOTOMAN-GP225 for
drip proof specifications (YR-1-06VX225-C00), MOTOMAN-GP180 for
drip proof specifications (YR-1-06VX180-C00), and MOTOMAN-GP180-
120 for drip proof specifications (YR-1-06VX180-120-C00).

Point of Difference
The YR-1-06VX225-C00, YR-1-06VX180-C00, and YR-1-06VX180-120-
C00 differ from the YR-1-06VX225-A00, YR-1-06VX180-A00, and YR-1-
06VX180-120-A00 in the following points:

• Grease for gear and each axis speed reducer

• IP65 for the IEC protection class of the manipulator
This manual differs from “MOTOMAN-GP225,GP180,GP180-120
INSTRUCTIONS” (Manual No. HW1484398) in the following points.

• 3.4 Location
• 3.5 Notes on Dust-Proof/Water-Proof Specifications
• 5.1 Basic Specifications
• 7.2 Internal User I/O Wiring Harness and Air Line
• 8.3 Internal Connections
• 9.1 Inspection Schedule
• 9.4 Notes on Grease Replenishment/Exchange Procedures
• 10 Recommended Spare Parts

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3.4 Location

3.4 Location
When installing a manipulator, it is necessary to satisfy the following
environmental conditions:
Table 3-1: Ambient Conditions
Type YR-1-06VX225-C00
YR-1-06VX180-C00
Item YR-1-06VX180-120-C00
Ambient 0°C - +45°C
temperature during
operation
Humidity 20%RH - 80%RH
Vibration 4.9 m/s2 (0.5G) or less
Altitude 1000 m or less
Flatness for 0.5 mm or less
installation
Others Free from oil soot
Free from explosive and corrosive gas or liquid
Free from excessive electrical noise (plasma)
Free from strong magnetic field

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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3.5 Notes on Dust-Proof/Water-Proof Specifications

3.5 Notes on Dust-Proof/Water-Proof Specifications

The YR-1-06VX225-C00, YR-1-06VX180-C00, and YR-1-06VX180-120-C00

conform to:
IP67 for the wrist part
IP65 for the main part of the manipulator

< Definition of IP (protection class) >

• Definition of IP67
IP6□: Protection from the entry of dust.
IP□7: Protection from immersion in water with being
NOTE submerged for a specified duration and pressure.
• Definition of IP65
IP6□: Protection from the entry of dust.
IP□5: Protection from water that is directly sprayed from
any direction.

Body Wrist part

Note: The illustration above shows a typical model.

However, the following precautions must be observed:

• Do not use the following liquids, because the rubber parts of the
manipulator (gasket, oil seal, O-ring, etc.) may be deteriorated or
corroded:
• Organic solvent
• Chlorine-based cutting fluid
• Amine-based cleaning fluid
• Corrosive substances such as acids, alkalis, or liquids/solutions
causing rust
• Other liquids/solutions to which nitrile-butadiene rubber (NBR) is
not resistant
• After removing a gasket for parts replacement or maintenance/
inspection, make sure to replace the gasket with a new one.
• Do not use cutting fluid or cleaning fluid which contains unknown
chemical substances.

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5.1 Basic Specifications

5.1 Basic Specifications

Table 5-1: Basic Specifications (YR-1-06VX225-C00)1)
Type
YR-1-06VX225-C00
Item
Structure Vertically articulated
Degree of freedom 6
Payload Wrist part 225 kg
U-arm 30 kg
Repeatability2) 0.05 mm
Range of Motion S-Axis (turning) -180° - +180°
L-Axis (lower arm) -60° - +76°
U-Axis (upper arm) -86° - +90°
R-Axis (wrist roll) -360° - +360°
B-Axis (wrist pitch/yaw) -125° - +125°
T-Axis (wrist twist) -360° - +360°
Maximum Speed S-Axis 2.09 rad/s, 120°/s
L-Axis 1.69 rad/s, 97°/s
U-Axis 2.01 rad/s, 115°/s
R-Axis 2.53 rad/s, 145°/s
B-Axis 2.53 rad/s, 145°/s
T-Axis 3.84 rad/s, 220°/s
Allowable Moment3) R-Axis 1372 N•m (140 kgf•m)
B-Axis 1372 N•m (140 kgf•m)
T-Axis 735 N•m (75 kgf•m)
Allowable Inertia3) R-Axis 145 kg•m2
(GD2/4) B-Axis 145 kg•m2
T-Axis 84 kg•m2
Approx. Mass 1080 kg
Protective enclosure Body: IP65 Wrist part: IP67
Mounting method Floor-mounted
Power Capacity 5.0 kVA
Applicable controller: YRC10004) ERAR-1000-06VX280-□ *□: Depends on the specification.
Equivalent continuous sound pressure level5) 73 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 6.1 “Allowable Wrist Load” for details on the allowable moment and the allowable inertia.
4 The last digit of the type number differs depending on the specification. Refer to “YRC1000 INSTRUCTIONS
(RE-CTO-A221)” and YRC1000 supplementary instructions for details.
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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5.1 Basic Specifications

Table 5-2: Basic Specifications (YR-1-06VX180-C00)1)

Type
YR-1-06VX180-C00
Item
Structure Vertically articulated
Degree of freedom 6
Payload Wrist part 180 kg
U-arm 30 kg
Repeatability2) 0.05 mm
Range of Motion S-Axis (turning) -180° - +180°
L-Axis (lower arm) -60° - +76°
U-Axis (upper arm) -86° - +90°
R-Axis (wrist roll) -360° - +360°
B-Axis (wrist pitch/yaw) -130° - +130°
T-Axis (wrist twist) -360° - +360°
Maximum Speed S-Axis 2.18 rad/s, 125°/s
L-Axis 2.01 rad/s, 115°/s
U-Axis 2.18 rad/s, 125°/s
R-Axis 3.18 rad/s, 182°/s
B-Axis 3.05 rad/s, 175°/s
T-Axis 4.63 rad/s, 265°/s
Allowable Moment3) R-Axis 1000 N•m (102 kgf•m)
B-Axis 1000 N•m (102 kgf•m)
T-Axis 618 N•m (63 kgf•m)
Allowable Inertia3) R-Axis 90 kg•m2
(GD2/4) B-Axis 90 kg•m2
T-Axis 46.3 kg•m2
Approx. Mass 1020 kg
Protective enclosure Body: IP65 Wrist part: IP67
Mounting method Floor-mounted
Power Capacity 5.0 kVA
Applicable controller: YRC10004) ERAR-1000-06VX280-□ *□: Depends on the specification.
Equivalent continuous sound pressure level5) 73 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 6.1 “Allowable Wrist Load” for details on the allowable moment and the allowable inertia.
4 The last digit of the type number differs depending on the specification. Refer to “YRC1000 INSTRUCTIONS
(RE-CTO-A221)” and YRC1000 supplementary instructions for details.
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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5.1 Basic Specifications

Table 5-3: Basic Specifications (YR-1-06VX180-120-C00)1)

Type
YR-1-06VX180-120-C00
Item
Structure Vertically articulated
Degree of freedom 6
Payload Wrist part 120 kg
U-arm 30 kg
Repeatability2) 0.05 mm
Range of Motion S-Axis (turning) -180° - +180°
L-Axis (lower arm) -60° - +76°
U-Axis (upper arm) -86° - +90°
R-Axis (wrist roll) -360° - +360°
B-Axis (wrist pitch/yaw) -130° - +130°
T-Axis (wrist twist) -360° - +360°
Maximum Speed S-Axis 2.18 rad/s, 125°/s
L-Axis 2.01 rad/s, 115°/s
U-Axis 2.18 rad/s, 125°/s
R-Axis 3.18 rad/s, 182°/s
B-Axis 3.05 rad/s, 175°/s
T-Axis 4.63 rad/s, 265°/s
Allowable Moment3) R-Axis 883 N•m (90 kgf•m)
B-Axis 883 N•m (90 kgf•m)
T-Axis 520 N•m (53 kgf•m)
Allowable Inertia3) R-Axis 79 kg•m2
(GD2/4) B-Axis 79 kg•m2
T-Axis 40 kg•m2
Approx. Mass 1090 kg
Protective enclosure Body: IP65 Wrist part: IP67
Mounting method Floor-mounted
Power Capacity 5.0 kVA
Applicable controller: YRC10004) ERAR-1000-06VX280-□ *□: Depends on the specification.
Equivalent continuous sound pressure level5) 73 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 6.1 “Allowable Wrist Load” for details on the allowable moment and the allowable inertia.
4 The last digit of the type number differs depending on the specification. Refer to “YRC1000 INSTRUCTIONS
(RE-CTO-A221)” and YRC1000 supplementary instructions for details.
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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7.2 Internal User I/O Wiring Harness and Air Line

7.2 Internal User I/O Wiring Harness and Air Line

The number of the air hose has been changed from 1 to 2.

Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line

Connector for the internal user I/O

wiring harness and the external axis
Position of the main key (upper side)
Connector for the power supply
of the external axis Air outlet 1
JL05-2A18-1SC Rc3/8
(socket connector with a cap) with a pipe plug
Prepare pin connector:
JL05-6A18-1P
Connector for the signal of
the external axis
JL05-2A20-29SC
(socket connector with a cap) Air outlet 2
Prepare pin connector: Rc3/8
JL05-6A20-29P with a pipe plug

Connector for the internal user

I/O wiring harness A
JL05-2A24-28SC
(socket connector with a cap)
Prepare pin connector:
JL05-6A24-28P
Air inlet 1
Rc3/8 Air inlet 2
with a pipe plug Rc3/8
with a pipe plug
Connector for the internal user
I/O wiring harness S1
AIR1

Position of the main key AIR2

(upper side)
1BC

Connector for the internal user

I/O wiring harness
JL05-2A24-28PC
(pin connector with a cap)
Prepare socket connector: View A
JL05-6A24-28S

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8.3 Internal Connections

8.3 Internal Connections

As shown in the following figures, diagrams for internal connections of the
manipulator are changed.

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8.3 Internal Connections

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

Multi-port Connector( )
7 2Slot(T-PG) T-PG
Note) 1. For the limit switch specification, the part A and the part B are different. -1
-4
S+(OUT)
S-(OUT)
-1
-4
S+(OUT)
S-(OUT) P
-4
-5
S+(OUT)
S-(OUT) T-AXIS
2. When performing the wiring of the overrun limit switch, pay attention to lead wires. -9
-8
S+(IN)
S-(IN)
-9
-8
S+(IN)
S-(IN) P
-2
-7
S+(IN)
S-(IN)
-3 +5V -3 +5V -6 +5V PG
The letter marked on the marker tube at * point (LB1 and LD1) are the same. -6 0V -6 0V -3 0V
-2 OBT -2 OBT -8 OBT
-5 BAT -5 BAT P -9 BAT
LA1 LA1 -7 FG -7 FG -1 FG
BAT( )
LB1 LB1 S-AXIS OVERRUN L.S. Connected to A1 0BT -2
LB1 LA2 LA2 BAT -1
LB2 LB2 LB2 L-AXIS OVERRUN L.S. Connected to A2
LB2
Signal in( ) 1Slot(B-PG) B-PG
LA3 LA3 -1 S+(OUT) -1 S+(OUT) -4 S+(OUT)
LB1 LB3 LB3 L AND U-AXIS INTERFERENCE L.S. Connected to A3 -4 S-(OUT) -4 S-(OUT) P -5 S-(OUT) B-AXIS
-9 S+(IN) -9 S+(IN) -2 S+(IN)
P -8 S-(IN) -8 S-(IN) P -7 S-(IN)
LC1 LC1 -3 +5V -3 +5V -6 +5V PG
LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1 P -6 0V -6 0V -3 0V
-2 OBT -2 OBT -8 OBT
LD1 LC2 LC2 -5 BAT -5 BAT P -9 BAT
LD2 LD2 LD2 L-AXIS OVERRUN L.S. Connected to B2 -7 FG -7 FG -1 FG
LC3 LC3
LD1 LD3 LD3 L AND U-AXIS INTERFERENCE L.S. Connected to B3
Multi-port Connector( )
S-, L-, and U-axes with Limit Switch Specification Signal out( ) 2Slot(R-PG) R-PG
-1 S+(OUT) -1 S+(OUT) -4 S+(OUT)
-4 S-(OUT) -4 S-(OUT) P -5 S-(OUT) R-AXIS
-9 S+(IN) -9 S+(IN) -2 S+(IN)
LA1 LA1 -8 S-(IN) -8 S-(IN) P -7 S-(IN)
LB1 LB1 S-AXIS OVERRUN L.S. Connected to A1 -3 +5V -3 +5V -6 +5V PG
-6 0V -6 0V -3 0V
LB1 LA2 LA2 -2 OBT -2 OBT -8 OBT
LB2 LB2 L-AXIS OVERRUN L.S. Connected to A2 -5 BAT -5 BAT P -9 BAT
FG
-7 FG -7 FG -1
LC1 LC1 BAT( )
LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1 0BT -2
BAT -1
LD1 LC2 LC2
Signal in( ) 1Slot(U-PG) U-PG
LD2 LD2 LD2 L-AXIS OVERRUN L.S. Connected to B2 -1 S+(OUT) -1 S+(OUT) -4 S+(OUT)
-4 S-(OUT) -4 S-(OUT) P -5 S-(OUT) U-AXIS
S+(IN) S+(IN) -2 S+(IN)
S- and L-axes with Limit Switch Specification P
-9
-8
-3
S-(IN)
-9
-8
-3
S-(IN)
+5V
P -7
-6
S-(IN)
+5V PG
+5V
P -6 0V -6 0V -3 0V
LA1 LA1 -2 OBT -2 OBT -8 OBT
LB1 LB1 S-AXIS OVERRUN L.S. Connected to A1 -5 BAT -5 BAT P -9 BAT
-7 FG -7 FG -1 FG
LC1 LC1
LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1
S-axis with Limit Switch Specification
Multi-port Connector( )
Signal out( ) 2Slot(L-PG) L-PG
-1 S+(OUT) -1 S+(OUT) -4 S+(OUT)
Board for encorder power -4 S-(OUT) -4 S-(OUT) P -5 S-(OUT) L-AXIS
-9 S+(IN) -9 S+(IN) -2 S+(IN)
CN1 CN2 CN3 -8 S-(IN) -8 S-(IN) P -7 S-(IN)
- -1 -1 S+(OUT) -1 S+(OUT) -3 +5V -3 +5V -6 +5V PG
- -2 -4 S-(OUT) P -4 S-(OUT) -6 0V -6 0V -3 0V
- -4 -9 S+(IN) -9 S+(IN) -2 OBT -2 OBT -8 OBT
- -5 -8 S-(IN) -8 S-(IN) -5 BAT -5 BAT P -9 BAT
DC/DC

S- -3 -3 +5V -3 +5V -7 FG -7 FG -1 FG
P S+ -6 -6 0V P -6 0V BAT( )
24V -8 -2 OBT -2 OBT 0BT -2
P 0V -9 -5 BAT -5 BAT
FG -7 -7 FG -7 FG BAT -1

Signal in( ) 1Slot(S-PG) S-PG

-1 S+(OUT) -1 S+(OUT) -4 S+(OUT)
-4 S-(OUT) -4 S-(OUT) P -5 S-(OUT) S-AXIS
-9 S+(IN) -9 S+(IN) -2 S+(IN)
P -8 S-(IN) -8 S-(IN) P -7 S-(IN)
-3 +5V -3 +5V -6 +5V PG
P -6 0V -6 0V -3 0V
-2 OBT -2 OBT -8 OBT
-5 BAT -5 BAT P -9 BAT
-7 FG -7 FG -1 FG

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8.3 Internal Connections

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

Controller DATA-
CN4-1 CN4-1 LB1 LA2
P CN4-2 DATA+ LB2 LA3
CN4-2 CN4-3 +24V(SS1) LA1 LB2 LB2
A2 A3
CN4-3
CN4-4 CN4-4 +24V(OT1-1+) LB1 A1 LB1 LB3
CN4-5 CN4-5 LB1
CN4-6 +24V(OT1-2+) LC1 LD1 LC2
CN4-6 CN4-7 LD1 LD1 B1 LD2 LC3
CN4-7
CN4-8 CN4-8 +24V LD2 LD2 B2 LD1 LD3 B3
CN4-9 CN4-9 0V LAMP
CN4-10 CN4-10 DATA7-
P CN4-11 DATA7+ -1 BC1
CN4-11 CN4-12 BC2(LAMP-) -2 BC2
CN4-12 FOR LAMP(OPTION)
CN4-13 CN4-13 SS2
CN4-14 CN4-14 +24V(LAMP+)
CN4-15 CN4-15
CN4-16 GUN CN7(20-29)
CN4-16 CN4-17 +5V
CN4-17 -1 1
CN4-18 CN4-18 0V P -2 P 2 SPG+7
SIG shield SPG-7
SIG shield FG
P
-4
-5 P
9
10 5V GUN
CN1-1 MU1 11 0V
CN1-1 CN1-2 MU1 BAT
CN1-2 P 12
0BAT
CN1-3 -6 15
FG7
CN1-4 CN1-5 MV1
CN1-5 CN1-6 MV1
CN1-6 CN1-7 MW1
CN1-7 CN1-8 MW1
CN1-8
CN1-9
CN1-10 CN1-11 ME1 S-PW
CN1-11 CN1-12 ME1 -A MU1
CN1-12 -B MV1
-C MW1 SM
ME1
-D BA1 S-AXIS
CN2-1 MW4 -E BB1
CN2-1 CN2-2 MU4
CN2-2 CN2-3 MV2
CN2-3 CN2-4 MV2
CN2-4 CN2-5 ME2
CN2-5 CN2-6 ME2
CN2-6 L-PW
CN2-7 CN2-7 MV4 -A MU2
CN2-8 CN2-8 ME4 -B MV2
CN2-9 CN2-9 MW2 -C MW2
CN2-10 MW2 SM
CN2-10 CN2-11 MU2 ME2
CN2-11 CN2-12 MU2 L-AXIS
CN2-12 -D BA2
-E BB2

CN3-1 U-PW
CN3-2 CN3-2 BA1 -A MU3
CN3-3 CN3-3 BB1 -B MV3
CN3-4 BA2 -C MW3
CN3-4 CN3-5 BA3 SM
CN3-5 ME3
CN3-6
CN3-7 -D BA3 U-AXIS
CN3-8 -E BB3
CN3-9 CN3-10 BA4
CN3-10 CN3-11 BB4
CN3-11 CN3-12 BA5
CN3-12 CN3-13 BA6
CN3-13 CN3-14 BA7
R-PW
CN3-14 CN3-15 -A MU4
CN3-15 BB7
-B MV4
CN3-16 -C MW4 SM
CN3-17
CN3-18 ME4
-D BA4 R-AXIS
-E BB4

CN5-1 CN5-1 MV6 B-PW

CN5-2 CN5-2 MU6 -A
CN5-3 MW5 MU5
CN5-3 CN5-4 ME5 -B MV5
CN5-4 -C MW5 SM
CN5-5
CN5-6 CN5-7 MW6 ME5
CN5-7 CN5-8 ME6 -D BA5 B-AXIS
CN5-8 CN5-9 MU5 -E BB5
CN5-9 CN5-10 MV5
CN5-10
CN5-11 T-PW
CN5-12 -A MU6
-B MV6
-C MW6 SM
ME6
CN6-1 CN6-1 MV7 -D BA6 T-AXIS
CN6-2 ME7 -E BB6
CN6-2 CN6-3 ME3
CN6-3 CN6-4 ME3
CN6-4 CN6-5 MV3
CN6-5 CN6-6 MV3 EX-PW
CN6-6 CN6-7 MU7 1
CN6-7 CN6-8 MW7 2 MU7
CN6-8 CN6-9 MW3 MV7
3
CN6-9
CN6-10 CN6-10 MW3 4 MW7 GUN
CN6-11 MU3 5 ME7
CN6-11 CN6-12 MU3 BA7
CN6-12 BB7
E E E E E
Base MANIPULATOR
PE
E S1(24-28)
S1(24-28) 1
1 SP1
P 2 SP2
2 3
3 SP3
P 4 SP4
4 5
5 6 SP5
P SP6
6
7 SP7
7 P 8
8 SP8
9 9 SP9
P 10
10
11
11 SP10
SP11
Internal User I/O
P 12
12 SP12 Wiring Harness
13 13 SP13
14 14 SP14
15 SP15
15 16
16 17 SP16
17 18 SP17
18 19 SP18
19 20 SP19
20 21 SP20
21 22 SP21
22 23 SP22
23 SP23

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9.1 Inspection Schedule

9.1 Inspection Schedule

Replace the following table with table 9-2 "Inspection Parts and Grease
Used".

Table 9-2: Inspection Parts and Grease Used

Inspection number Grease used Items
7 Alvania EP Grease 2 Balancer link part
11, 12 RV grease LB00 Speed reducers for each axis
R-, B-, and T-axis gears

9.4 Notes on Grease Replenishment/Exchange Procedures

Where the following types of grease appear in the manual, they should be
replaced as follows:
Gear and each axis speed reducer
Molywhite RE No.00 to RV grease LB00

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10 Recommended Spare Parts

10 Recommended Spare Parts

It is recommended to keep the parts and components in the following table
in stock as spare parts for the YR-1-06VX225-C00,YR-1-06VX180-C00.
To purchase lead wires of the wire harness or etc., check the order/
manufacture no. and contact YASKAWA representative.
Product performance cannot be guaranteed when using spare parts from
any company other than YASKAWA. The spare parts are ranked as
follows:
• Rank A: Expendable and frequently replaced parts.
• Rank B: Parts for which replacement may be necessary as a result of
frequent operation.
• Rank C: Drive unit.

NOTE For replacing parts in Rank B or Rank C, contact your

YASKAWA representative.

Table 10-1: Recommend Spare Parts for the YR-1-06VX225-C00 (Sheet 1 of 3)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
A 1 Grease RV grease LB00 YASKAWA 16 kg -
Electric
Corporation
A 2 Grease Alvania EP Showa Oil 16 kg -
Grease 2 Co., Ltd.
A 3 Liquid Gasket TB1206C ThreeBond - -
Co., Ltd.
A 4 Adhesive LOCTITE 243 Henkel Japan - -
Ltd
A 5 Seal Tape TB4501 ThreeBond - -
Co., Ltd.
A 6 Battery Pack HW1483880-A YASKAWA 1 3
Electric
Corporation
A 7 Lead Wire for HW1471281-A YASKAWA 1 -
Battery Electric
Replacement Corporation
B 8 Replacement Kit HW1485865-A YASKAWA 1 1 Speed reducer:
for S-Axis Speed Electric HW0388208-B
Reducer 1) Corporation Input gear:
HW1303369-1
B 9 Replacement Kit HW1485043-A YASKAWA 1 1 Speed reducer:
for L-Axis Speed Electric HW1382455-B
Reducer 1) Corporation Input gear:
HW1303372-1
B 10 Replacement Kit HW1485044-A YASKAWA 1 1 Speed reducer:
for U-Axis Speed Electric HW1382456-A
Reducer 1) Corporation Input gear:
HW1303631-1

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10 Recommended Spare Parts

Table 10-1: Recommend Spare Parts for the YR-1-06VX225-C00 (Sheet 2 of 3)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
B 11 Replacement Kit HW1485045-A YASKAWA 1 1 Speed reducer:
for R-Axis Speed Electric HW0390046-A
Reducer 1) Corporation
B 12 Replacement Kit HW1485046-A YASKAWA 1 1 Speed reducer:
for B-Axis Speed Electric HW0390047-B
Reducer 1) Corporation
B 13 Replacement Kit HW1485047-A YASKAWA 1 1 Speed reducer:
for T-Axis Speed Electric HW1382458-A
Reducer 1) Corporation
B 14 Gas Balancer HW1382567-A YASKAWA 1 1
Electric
Corporation
B 15 Wrist Unit HW1172986-B YASKAWA 1 1
Electric
Corporation
B 16 Internal Wiring HW1173875-A YASKAWA 1 1
Harness Electric
Corporation
B 17 Lead Wire for HW1372910-A YASKAWA 1 1 Lead wire between the
S-Axis Signal Electric S-axis motor and the
Corporation multi-port connector
B 18 Lead Wire for HW1372910-B YASKAWA 1 1 Lead wire between the
L-Axis Signal Electric L-axis motor and the
Corporation multi-port connector
B 19 Lead Wire for HW1372597-G YASKAWA 1 1 Lead wire between the
U-Axis Signal Electric U-axis motor and the
Corporation multi-port connector
B 20 Lead Wire for HW1372597-H YASKAWA 1 1 Lead wire between the
R-Axis Signal Electric R-axis motor and the
Corporation multi-port connector
B 21 Lead Wire for HW1372597-I YASKAWA 1 1 Lead wire between the
B-Axis Signal Electric B-axis motor and the
Corporation multi-port connector
B 22 Lead Wire for HW1372597-J YASKAWA 1 1 Lead wire between the
T-Axis Signal Electric T-axis motor and the
Corporation multi-port connector
B 23 Lead Wire HW1471359-B YASKAWA 1 1 Lead wire between the
Electric multi-port in the casing
Corporation and the multi-port
connector
C 24 Bypass Cable HW1471212-C YASKAWA 1 - Signal lead wires for
Electric tentative recovery from
Corporation failure
C 25 S-, L-, and SGM7G-37APK-YR1* YASKAWA 1 3
U-Axes HW1385397-A Electric
AC Servomotor Corporation
C 26 R-, B-, and SGM7G-13APK-YR1* YASKAWA 1 3
T-Axes HW1385395-A Electric
AC Servomotor Corporation

14 HW1485870 14/20
 HW1485870

10 Recommended Spare Parts

Table 10-1: Recommend Spare Parts for the YR-1-06VX225-C00 (Sheet 3 of 3)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
C 27 Multi-port HW1384619-A YASKAWA 1 3
Connector Electric
Corporation
C 28 Power Supply HW1372943-A YASKAWA 1 -
Board Box Electric
Corporation
C 29 Dummy HW1471285-A YASKAWA 1 - For dismounting
Connector Electric function of the axis
Corporation
1 The replacement kit for the speed reducer includes the following parts.
•Speed reducer and gear (described in Remarks)
•Required parts to change speed reducer (oil seals, bolts, or other parts)
For details of the replacement kit for the speed reducer, contact your YASKAWA representative.

15 HW1485870 15/20
HW1485870
10 Recommended Spare Parts

Table 10-2: Recommend Spare Parts for the YR-1-06VX180-C00 (Sheet 1 of 2)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
A 1 Grease RV grease LB00 YASKAWA 16 kg -
Electric
Corporation
A 2 Grease Alvania EP Showa Oil 16 kg -
Grease 2 Co., Ltd.
A 3 Liquid Gasket TB1206C ThreeBond - -
Co., Ltd.
A 4 Adhesive LOCTITE 243 Henkel Japan - -
Ltd
A 5 Sealing bond LOCTITE 518 Henkel Japan - -
Ltd
A 6 Seal Tape TB4501 ThreeBond - -
Co., Ltd.
A 7 Battery Pack HW1483880-A YASKAWA 1 3
Electric
Corporation
A 8 Lead Wire for HW1471281-A YASKAWA 1 -
Battery Electric
Replacement Corporation
B 9 Replacement Kit HW1485865-A YASKAWA 1 1 Speed reducer:
for S-Axis Speed Electric HW0388208-B
Reducer1) Corporation Input gear:
HW1303369-1
B 10 Replacement Kit HW1485153-A YASKAWA 1 1 Speed reducer:
for L-Axis Speed Electric HW1382455-C
Reducer1) Corporation Input gear:
HW1304057-1
B 11 Replacement Kit HW1485154-A YASKAWA 1 1 Speed reducer:
for U-Axis Electric HW0388209-F
Speed Corporation Input gear:
Reducer1) HW1303890-1
B 12 Replacement Kit HW1485155-A YASKAWA 1 1 Speed reducer:
for R-Axis Electric HW1382917-A
Speed Corporation
Reducer1)
B 13 Replacement Kit HW1485866-A YASKAWA 1 1 Speed reducer:
for B-Axis Speed Electric HW9380961-J
Reducer1) Corporation
B 14 Replacement Kit HW1485157-A YASKAWA 1 1 Speed reducer:
for T-Axis Speed Electric HW0389174-C
Reducer1) Corporation
B 15 Gas Balancer HW1382567-A YASKAWA 1 1
Electric
Corporation
B 16 Wrist Unit HW1172990-C YASKAWA 1 1
Electric
Corporation
B 17 Internal Wiring HW1173875-A YASKAWA 1 1
Harness Electric
Corporation

16 HW1485870 16/20
 HW1485870

10 Recommended Spare Parts

Table 10-2: Recommend Spare Parts for the YR-1-06VX180-C00 (Sheet 2 of 2)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
B 18 Lead Wire for HW1372910-A YASKAWA 1 1 Lead wire between the
S-Axis Signal Electric S-axis motor and the
Corporation multi-port connector
B 19 Lead Wire for HW1372910-B YASKAWA 1 1 Lead wire between the
L-Axis Signal Electric L-axis motor and the
Corporation multi-port connector
B 20 Lead Wire for HW1372597-G YASKAWA 1 1 Lead wire between the
U-Axis Signal Electric U-axis motor and the
Corporation multi-port connector
B 21 Lead Wire for HW1372597-H YASKAWA 1 1 Lead wire between the
R-Axis Signal Electric R-axis motor and the
Corporation multi-port connector
B 22 Lead Wire for HW1372597-I YASKAWA 1 1 Lead wire between the
B-Axis Signal Electric B-axis motor and the
Corporation multi-port connector
B 23 Lead Wire for HW1372597-J YASKAWA 1 1 Lead wire between the
T-Axis Signal Electric T-axis motor and the
Corporation multi-port connector
B 24 Lead Wire HW1471359-B YASKAWA 1 1 Lead wire between the
Electric multi-port in the casing
Corporation and the multi-port
connector
C 25 Bypass Cable HW1471212-C YASKAWA 1 - Signal lead wires for
Electric tentative recovery from
Corporation failure
C 26 S-, L-, and SGM7G-37APK-YR1* YASKAWA 1 3
U-Axes HW1385397-A Electric
AC Servomotor Corporation
C 27 R-, B-, and SGM7G-13APK-YR1* YASKAWA 1 3
T-Axes HW1385395-A Electric
AC Servomotor Corporation
C 28 Multi-port HW1384619-A YASKAWA 1 3
Connector Electric
Corporation
C 29 Power Supply HW1372943-A YASKAWA 1 1
Board Box Electric
Corporation
C 30 Dummy HW1471285-A YASKAWA 1 - For dismounting
Connector Electric function of the axis
Corporation
1 The replacement kit for the speed reducer includes the following parts.
•Speed reducer and gear (described in Remarks)
•Required parts to change speed reducer (oil seals, bolts, or other parts)
For details of the replacement kit for the speed reducer, contact your YASKAWA representative.

17 HW1485870 17/20
HW1485870
10 Recommended Spare Parts

Table 10-3: Recommend Spare Parts for the YR-1-06VX180-120-C00 (Sheet 1 of 2)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
A 1 Grease RV grease LB00 YASKAWA 16 kg -
Electric
Corporation
A 2 Grease Alvania EP Showa Oil 16 kg -
Grease 2 Co., Ltd.
A 3 Liquid Gasket TB1206C ThreeBond - -
Co., Ltd.
A 4 Adhesive LOCTITE 243 Henkel Japan - -
Ltd
A 5 Seal Tape TB4501 ThreeBond - -
Co., Ltd.
A 6 Battery Pack HW1483880-A YASKAWA 1 3
Electric
Corporation
A 7 Lead Wire for HW1471281-A YASKAWA 1 -
Battery Electric
Replacement Corporation
B 8 Replacement Kit HW1485865-A YASKAWA 1 1 Speed reducer:
for S-Axis Speed Electric HW0388208-B
Reducer1) Corporation Input gear:
HW1303369-1
B 9 Replacement Kit HW1485153-A YASKAWA 1 1 Speed reducer:
for L-Axis Speed Electric HW1382455-C
Reducer1) Corporation Input gear:
HW1304057-1
B 10 Replacement Kit HW1485154-A YASKAWA 1 1 Speed reducer:
for U-Axis Electric HW0388209-F
Speed Corporation Input gear:
Reducer1) HW1303890-1
B 11 Replacement Kit HW1485155-A YASKAWA 1 1 Speed reducer:
for R-Axis Electric HW1382917-A
Speed Corporation
Reducer1)
B 12 Replacement Kit HW1485866-A YASKAWA 1 1 Speed reducer:
for B-Axis Speed Electric HW9380961-J
Reducer1) Corporation
B 13 Replacement Kit HW1485157-A YASKAWA 1 1 Speed reducer:
for T-Axis Speed Electric HW0389174-C
Reducer1) Corporation
B 14 Gas Balancer HW1382567-A YASKAWA 1 1
Electric
Corporation
B 15 Wrist Unit HW1172990-C YASKAWA 1 1
Electric
Corporation
B 16 Internal Wiring HW1173875-A YASKAWA 1 1
Harness Electric
Corporation
B 17 Lead Wire for HW1372910-A YASKAWA 1 1 Lead wire between the
S-Axis Signal Electric S-axis motor and the
Corporation multi-port connector

18 HW1485870 18/20
 HW1485870

10 Recommended Spare Parts

Table 10-3: Recommend Spare Parts for the YR-1-06VX180-120-C00 (Sheet 2 of 2)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
B 18 Lead Wire for HW1372910-B YASKAWA 1 1 Lead wire between the
L-Axis Signal Electric L-axis motor and the
Corporation multi-port connector
B 19 Lead Wire for HW1372597-G YASKAWA 1 1 Lead wire between the
U-Axis Signal Electric U-axis motor and the
Corporation multi-port connector
B 20 Lead Wire for HW1372597-H YASKAWA 1 1 Lead wire between the
R-Axis Signal Electric R-axis motor and the
Corporation multi-port connector
B 21 Lead Wire for HW1372597-I YASKAWA 1 1 Lead wire between the
B-Axis Signal Electric B-axis motor and the
Corporation multi-port connector
B 22 Lead Wire for HW1372597-J YASKAWA 1 1 Lead wire between the
T-Axis Signal Electric T-axis motor and the
Corporation multi-port connector
B 23 Lead Wire HW1471359-B YASKAWA 1 1 Lead wire between the
Electric multi-port in the casing
Corporation and the multi-port
connector
C 24 Bypass Cable HW1471212-C YASKAWA 1 - Signal lead wires for
Electric tentative recovery from
Corporation failure
C 25 S-, L-, and SGM7G-37APK-YR1* YASKAWA 1 3
U-Axes HW1385397-A Electric
AC Servomotor Corporation
C 26 R-, B-, and SGM7G-13APK-YR1* YASKAWA 1 3
T-Axes HW1385395-A Electric
AC Servomotor Corporation
C 27 Multi-port HW1384619-A YASKAWA 1 3
Connector Electric
Corporation
C 28 Power Supply HW1372943-A YASKAWA 1 1
Board Box Electric
Corporation
C 29 Dummy HW1471285-A YASKAWA 1 - For dismounting
Connector Electric function of the axis
Corporation
1 The replacement kit for the speed reducer includes the following parts.
•Speed reducer and gear (described in Remarks)
•Required parts to change speed reducer (oil seals, bolts, or other parts)
For details of the replacement kit for the speed reducer, contact your YASKAWA representative.

19 HW1485870 19/20
MOTOMAN-GP225,GP180,GP180-120
SUPPLEMENTAL INSTRUCTIONS

C 2018 YASKAWA ELECTRIC CORPORATION

Published by YASKAWA

April 2020 18-11

MANUAL NO.

HW1485870 1
20/20