Motoman SK45

MOTOMAN-SK45 /-SK45-30
Service manual, Robot
MOTOMAN
ROBOTICS AB
a subsidiary of YASKAWA Electric Corporation
MOTOMAN
ROBOTICS
AB
Service manual SK45/ SK45-30

Page: 1
1. About this manual .................................. 3

2. Machine description ............................... 3
Technical data
Identification
Working area - radial range
Alterable working envelope
3
3
4
4
3. Precautions for allowable wrist load ....... 5

Allowable wrist load
Allowable U-load
5
6
4. Lifting instruction .................................... 7

Handling of the robot
Shipping bolts and jigs
7
8
5. Mounting ................................................ 9
General
Safety
Robot placed on a common base
Robot mounted directly on the floor
Connection to wrist flange
9
9
9
10
11
6. Connection ........................................... 11
General
Connection customer application
ConnectionYASNAC MRC
11
12
12
7. Construction ......................................... 13
Limit switch
Internal connectors
13
13
8. Remodelling SK45 to SK45-30 ............ 15

Disassmble
Assembly
Surfaces to seal
Finishing
15
16
17
17
9. Maintenance ........................................ 18
General
Inspection schedule
Replacement procedures for battery unit
S-axis speed reducer
Speed reducer L-axis
Speed reducer U-axis
Speed reducer R-axis
B- and T-axes speed reducers
L-axis cross roller bearing
Link arms for L- and U-axes
18
18
19
20
21
22
23
24
25
26
10. Spare parts .......................................... 27

11. Specification ......................................... 27
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Service manual SK45/ SK45-30

Page: 2
MOTOMAN
ROBOTICS
AB
Revision
980914
MOTOMAN Spareparts no. added for bearings.
(Book-format for framemaker documents).
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MOTOMAN
ROBOTICS
AB
Service manual SK45 / SK45-30

About this manual
Page: 3
MOTOMAN SK45 / SK45-30

Electric Industrial Robot
YR-SK45-C000, YR-SK45-C001
YR-SK45-D000, YR-SK45-D001
European version of English manual TOE-C945-185B.
1. About this manual

Yaskawas electric industrial robot consist of robot
Motoman-SK45 /-SK45-30 and controller YASNAC MRC.
The working station can be completed with external axis, tools,
fixtures, other machins, safety guards etc.
This manual gives instruction about:
-Technical specification
-Installation
-Maintenance
For the control system YASNAC MRC, see separate instruction.
Instruction for handling of robot and sourrounding equipment, see
separate instruction.
This servicemanual must not be copied without our written permission
and the content thereof must not be imparted to a third party nor be
used for any unauthorized purpose. Contravention will be prosecuted.
2. Machine description
2.1 Technical data
For technical data, see separate table in the end of this manual.
2.2 Identification
The robot MOTOMAN-SK45 /-SK45-30 as well as the controller
YASNAC MRC are provided with machine signs where the robotnumber is stated, check that these signs has the same number. If not,
contact Motoman Robotics AB.
This check is very important if more than one robot will be installed at
the same time.
The designations of the different axis are general for MOTOMANrobots and are found in maintenance schedule, spare part list and
instruction.
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Machine description
MOTOMAN
ROBOTICS
AB
Upper arm U
B+
T+
R+
U+
TR-
B-
UL-
Lower arm L
L+
S+
Rotary head S
Fig.1 Name on the

robot axes
S-
2.3 Working area - radial range

For description of working area and dimensions, see separate drawing.
MOTOMAN-SK45 drawing No. HW9180849.
MOTOMAN-SK45-30 drawing No. HW9180865.
2.4 Alterable working envelope

The working envelopes of S-axis can be altered according to the
operation conditions. If alteration is necessary, contact Motoman
Robotics AB.
Working range
Axes
max.
min.
S-axis
+180
-180
L-axis
+150
-90
U-axis
+145
-120
R-axis
+350
-350
B-axis
+125
-125
T-axis
+350
-350
Note1
(limitations)
180, 150, 120, 90, 60, 30
For SK45-30, +145 / -110
1. If limitations of the S-axis working area is necessary, contact Motoman Robotics AB.
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ROBOTICS
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Precautions for allowable wrist load
Page: 5
3. Precautions for allowable wrist load

3.1 Allowable wrist load
The maximum allowable wrist load for the MOTOMAN-SK45/SK45-30
including brackets, tools and handling article. The following wrist load
are allowable.
YR-SK45
Axis
R
B
T
Moment Nm
176,4 Nm
176,4 Nm
98 Nm
Total intertia kg x m2
10,8 kg x m
10,8 kg x m
5 kg x m
YR-SK45-30
Axis
R
B
T
Moment Nm
176,4 Nm
176,4 Nm
98 Nm
Total intertia kg x m2
10,8 kg x m
10,8 kg x m
5 kg x m
Following picture shows mounting limits (LB and LT) for the wrists unit,
with respective of the total inertia. Total inertia is valid at maximum
moment. For other circumstances, for example just moment or just
inertia other values can be allowed, contact Motoman Robotics AB.
T- and R-axis rotation

center line
Fig.2 Allowable inertia to

SK45 for wrist unit (B-axis).
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Page: 6
Precautions for allowable wrist load
MOTOMAN
ROBOTICS
AB
T- and R-axis rotation

center line
Fig.3 Allowable inertia to

SK45-30 for wrist unit (B-axis).
3.2 Allowable U-load

The tapped holes on the top of the U-arm are adapted to attachment of
equipment to the robot, see picture.
Max. load on the U-axis (W1 incl. W2) = 45 kg for SK45.
Max. load on the U-axis (W1 incl. W2) = 30kg for SK45-30.
Max. load on the U-axis (W3) = 10 kg (max. 49 Nm)1.
Max. load on the S-axis (W4) = 30kg.
W3
W2
W1
W2 = place for valve or similar.
W3 = place for valve or similar.
W4 = place for serviceunit or similar.
W4
Fig.4 Allowable load on

robotarm.
1. For ceiling mounted robot max. 5 kg (max. 49 Nm) are allowed on W3.
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ROBOTICS
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Lifting instruction
Page: 7
4. Lifting instruction
4.1 Handling of the robot
The MOTOMAN-SK45 robot should be lifted using straps threaded
through attached eyebolts, see figure. The weight of the MOTOMANSK45 robot is without any equipment about 600 kg (including the
shipping bolts and jigs).
Avoid expose motors, arms and links to force from the straps.
Attached eyebolts are designed to support the robot weight!
Avoide expose the equipment to strong vibration or bumps during
handling.
Note!
Crane operation, sling application, and forklift truck operation should
be performed only by licenced personnel. In handling the positioner,
extra care must be taken regarding the following:
- Never place any part of your body under a suspended load or move
a suspended load over any part of another persons body. Careless
handling may result in servere personal injury or death.
If the robot should be moved on a pallet using a forklift, the robot
should be attached by shipping bolts. Be sure that the pallet is of good
quality.
The straps shall be certificated for at least 1000 kg.
Eyebolts
are supplied
Fig.5 Lifting instructions

for MOTOMAN-SK45
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Page: 8
Lifting instruction
MOTOMAN
ROBOTICS
AB
4.2 Shipping bolts and jigs

The MOTOMAN-SK45 is provided with shipping bolts and jigs to protect
the robot from movements and forces during shipment. The jigs are
yellow.
Note!
Before turning on the power, check to be sure that the shipping bolts and
jigs have been removed.
Save these shipping bolts and jigs for furture use in the event of moving
or carrying the robot.
.
A
E
B
C
F
Fig.6 Position of shipping

bolts and jigs
Pos.
Skapad: 95-04-24
Detail
Dimension
Bolt / clamp
M6 x 4
Bolt / clamp
M10 x 4
Bolt / clamp
M10 x 4
Eyebolts
M20 x 2
Rubberplate
Mounting bolts
ndrad: 98-09-22
M20 x 4
MOTOMAN
ROBOTICS
AB
Mounting
Page: 9
5. Mounting
5.1 General
The robot can be delivered in three different performance: floor-, walland ceiling mounting.
For mounting the robot should be mounted with four M20 hexagon
socket head cap bolts with tensile strenght of 1200N/mm. The
tightening torque should be 210 Nm.
For wall-mounted types, S-axis working range is restricted to 30.
For wall- and ceiling-mounted types, it is necessary to insure that the
mounting can support the weight of the manipulator.
Since installation environment has an effect on the positioning
accuracy and the life of robot, the robot should be installed under the
following prace.
-0C to +45C (ambient temperature).
-Free from corrosive gases or liquid, or explosive gases.
-Free from excessive vibration (less than 0,5g).
-Free from large electrical noise (plasma).
5.2 Safety
The MOTOMAN-SK45 should be firmly mounted on a baseplate or foundation strong enough to support the robot and withstand repulsion force
during acceleration and deceleration. See also chapter 2.3.
Install the safety guards before operating the machin.
Dont start the robot without it is firmly mounted on the floor.
Install the robot in a place where the robot with full arm length wont
reach walls, safety guards or the controller.
Dont install a robot which is damaged or where parts are missing.
Check that the shipping bolts and jigs have been removed.
The safety fencing shall fulfill the demands in the EC-directive.
5.3 Robot placed on a common base

The common base should be in good quality and resistance. The surface shall be rugged to increase the friction between robot and baseplate, this to avoid the robot to move during operation. The thickness of
the common base should be at least 50 mm. Mount the baseplate to the
floor with M20-anchor bolt.
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Page: 10
Mounting
MOTOMAN
ROBOTICS
AB
Bolt M20 x 70
Spring washer
Washer
Base
Baseplate
Fig.7 Mounting on a
baseplate.
5.4 Robot mounted directly on the floor

The floor has to be strong enough to support the robot and the
equipment, see following specification.
5.4.A Where the concrete thickness (floor) is

200 mm or more
a) The surface of the floor should be level and even. If it is uneven, grind
the swell and flatten the surface.
b) Check for cracks on the floor. If any cracks are found, remove the
material around the cracks and rebuild the floor with concrete. Place
the robot by fastening the plate with M20 anchor bolts. The plate is
tapped for M16 bolts.
5.4.B Where the concrete thickness (floor) is less

than 200 mm
a) Dig a footing in the floor area.
b) Spread stone in the excavated area and tamp them sufficiently to
make a solid stone bed.
c) Fill the empty space of the stone bed with grout, and lay the concrete
foundation. It should be more than 200 mm thick, and the surface
must be level and even.
d) The concrete should be cured for more than a week before installing
the robot.
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ROBOTICS
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Connection
Page: 11
5.5 Connection to wrist flange

a) Wash out anticorrosive paint (solid colour) on wrist flange surface
with thinner or light oil before mounting the tools.
b) The T-axis tram marks are placed on the wrist flange. Too be able
to see them, it is recommended that the attachment be mounted
inside the fitting.
-Inside fitting, max. 6 mm deep.
-Outside fitting, max. 6 mm deep.
Outside 100h6
free hight 6 mm
6 tapped hole
M8 x 1,25
deep 14 mm
Fig.8 Flange dimensions
Pitch diameter 80
Inside 50H7
free deep 6 mm
Mating hole
8H7
deep 8 mm
6. Connection
6.1 General
Execute grounding of class 3 (ground resistance maximum 100 ohm).
Break and lock the feeder before connecting.
High voltage work have to be done by qualified personnel.
Note! Separate earth connection for external tools has to be
done (welding, motors etc.).
Note! Separate earth connection for external cabling has to be
done. ( flutes, channels, ladders etc.).
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Connection
MOTOMAN
ROBOTICS
AB
6.2 Connection customer application

a) Allowable cables and pressure pipes for customer application.
3BC = Customer application.
Power limit for internal cables: cable 1-23 = 0,75 mm, max.
6,6A / cable, the sum for cables 1-23 < 60A.
b) Pressure limit for air: max. 0,49 MPa (5 kg/cm).
c) Connection specification according to the table.
Pos.
For
Type
Cable connection of U-axis.

Mating plug
JL05-2A24-28SC
JL05-6A24-28P
Air connection 8 mm.
PT 3/8 tapped hole
Cable connection of S-axis.

Mating plug
JL05-2A24-28PC
JL05-6A24-28S
Air connection 8 mm.
PT 3/8 tapped hole
Earth connection
Screw terminal
Fig.9 Cable connection for

electric and air
5
4
6.3 ConnectionYASNAC MRC

a) Ground MOTOMAN-SK45 min. 5,5 mm
On the robot there are two connector to connection the YASNAC
MRC.
1BC = Signal cable to the absolute encorder, drawingno: 341975-xx.
2BC = Power cable to the servo motors, drawingno: 341976-xx.
b) The connection on the robot and the cable are both marked.
Insert the cable and fasten the retaining nut.
c) Voltage feed MRC, see MRC service manual.
d) Grounding MRC. Use third class grounding (resistance between
chassi and earth max 100 ohm). Grounding control system MRC
min. 8 mm.
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ROBOTICS
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Construction
Page: 13
7. Construction
7.1 Limit switch
Limit switch (LS) for the S-axis is placed according to the figure.
Inspection and adjusting of this switch can be done from the back of
the robot, after the lower cover has removed.
Limit switch
S-axis
1BC
2BC
3BC
Fig.10 Position for limit

switch S-axis.
7.2 Internal connectors

Connectors which easy can be devided are placed in the machine.
According to the electrical diagram these are marked with symbols
like
See electrical schedule showing internal cable.

Connection of internal cable
No. 1, 2, 3
No. 4, 5, 6
No. 8, 11
No. 12, 9
Fig.11 Placing of
connectors
No. 7, 10
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Page: 14
Construction
Name
Base
connectors
Intermediate
connectors
Feedback
unit
connector
Connector for
internal wire
Skapad: 95-04-24
MOTOMAN
ROBOTICS
AB
No.
Receptacle type
Plug type
1BC
JL05-2A36-74PC-A66
JL05-6A36-74SC-A66
2BC
JL05-2A36-74PCW
JL05-6A36-74SCW
3BC
JL05-2A24-28PC
JL05-6A24-28S (Optional)
10, 11, 12
JL04V-2E24-10PE-B
JL04V-8A24-10SE-EB
172168-1
172160-1
5, 6
350715-1
350781-1
1, 2, 3
172170-1
172162-1
7, 8, 9
97F3102E20-29P
MS3106A20-29S (D190)
JL05-6A24-28P
(Optional)
JL05-2A24-28SC
ndrad: 98-09-22
MOTOMAN
ROBOTICS
AB

Remodelling SK45 to SK45-30
Page: 15
8. Remodelling SK45 to SK45-30

Read through and follow this instruction to rebuild a SK45-C000 robot
to a SK45-C010 (SK45-30). (To undo, follow the instruction in opposite direction.)
8.1 Disassmble
1 st housing
1 st shaft
12 st M8x50
12 st washer (GT-LH-8)
4 st M5x12
4 st spring washer (2H-5)
a) Check all parts.

b) Remove rustprotection oil by using a cloth.
Note! Do not use solvent!
c) Attach a crane or similar to the outer part of the U-arm to hold the
loose arm (weight about 35 kg).
d) Untighten the twelve M8-bolts of the flange of the U-arm.
Disassemble hole
Untighten
M8-bolts
Untighten
M8-bolts
Disassemble hole
e) The threaded holes can be used to push the U-arm out from the
R-axis housing.
f) Pull the loose U-arm straight out! If the arm is bent the B- and
T-axis shaft may be damaged.
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Page: 16
MOTOMAN
ROBOTICS
AB
8.2 Assembly
a) Check that the extension shaft fit in the R-axis housing.
b) Lubricate the spline part of the extension shaft, use ALVANIA EP2.
c) Attach the extension shaft to the loose U-arm. Use the M5-bolts and
the spring washers. Tightening torque shall be 7,5 Nm (0.75 kgfm).
4 st M5x12
4 st Spring washers
Splines
d) Remove all old sealant from the flange of the loose U-arm.
e) Apply new sealant, type 1211.
f) Attach the extension housing to the loose U-arm.
Note! position of the housing! Use the twelve new M8x50-bolts and
the washers.
Tightening torque shall be 25 Nm (2,5 kgfm).
g) Remove all old sealant from the flange of the R-axis housing.
h) Apply new sealant, type 1211.
i) Attach the extended U-arm to the R-axis housing. Keep the loose Uarm in a straight line with the R-axis housing to avoid damages on the
internal axis.
Note! position of the housing! Use the twelve old M8x50-bolts and
washers.
Tightening torque shall be 25 Nm (2,5 kgfm).
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MOTOMAN
ROBOTICS
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Page: 17
8.3 Surfaces to seal

New sealant shall be applied to marked surfaces.
Use type 1211
Extension
8.4 Finishing
Remember, maximum payload is now 30 kg!
The reach has been increased by 200 mm.
Set Absolute data in MRC (see separate manual).
Change parameter settings for SK45-C010. (Shall be carried out by
MOTOMAN Service staff.).
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Page: 18
Maintenance
MOTOMAN
ROBOTICS
AB
9. Maintenance
9.1 General
Before maintenance or inspection, make sure to turn the primary power
supply OFF. Maintenance and inspection must be performed by specified personnel.
For disassembly or repair, contact MOTOMAN-service.
9.2 Inspection schedule

Overhaul inspections are classified into three types:
-Periodical (daily, every 1.000H and 6.000H)
-Primary (12.000H)
-Secondary (24.000H)
Maintenance schedule is devided in time interval. Follow the 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.
The inspection interval is based on the servo power ON time.
For axes which are used very frequently (in handling application, etc.) it
is recommended that inspections are constructed at approximately onehalf of the normal schedules.
See separate schedule in this documentation!
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Maintenance
Page: 19
9.3 Replacement procedures for battery unit

If the battery charge becomes too low or is depleted, replace it
according to the following procedures.
a) When changing battery unit the power must be ON between
YASNAC MRC and MOTOMAN-SK45.
b) Remove the side cover (U-axis motor side) of rotary bed.
c) Remove the battery unit mounting screw (M4).
d) Remove the pins on the both sides of battery.
e) Remove the old battery and mount the new battery. Be sure to
insert the pins in correct direction.
Cover
Battery
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Fig.12 Change of battery

Page: 20
Maintenance
MOTOMAN
ROBOTICS
AB
9.4 S-axis speed reducer

Grease - outlet
nipple A-PT1/8
Grease - inlet
nipple A-PT1/8
Fig.13 Speed reducer to

S-axis.
Note! In ceiling mounted
the in- and outlet will be
inverted.
Speed reducer
9.4.A Grease replenishment

a) Be sure to remove SO exhaust plug. (If the grease is added with
exhaust plug in place, the grease will infiltrate into the motor).
b) Inject grease into SI grease inlet by using a grease gun.
c) Move the S-axis for 30 minutes to discharge the extra grease.
d) Wipe SO exhaust port with a cloth and reinstall the plug.
9.4.B Grease replacement

a) Be sure to remove SO exhaust plug. (If the grease is added with
exhaust plug in place, the grease will infiltrate into the motor).
b) Inject grease into SI grease inlet by using a grease gun.
c) The grease replacement is completed when new grease appears
from SO exhaust port. The new grease is distinguished from old
grease by colour.
d) Move the S-axis for 30 minutes to discharge the extra grease.
e) Wipe SO exhaust port with a cloth and reinstall the plug.
S-axis
Qua.
Grease
Replenishment (first time)
1400 cc
Molywhite RE No. 00
Replenishment
700 cc
Molywhite RE No. 00
Replacement
ca 3400 cc
Molywhite RE No. 00
Note!
If the robot will be mounted upside down, the in- and outlet
nipples should change places.
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MOTOMAN
ROBOTICS
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Maintenance
Page: 21
9.5 Speed reducer L-axis

LO Outlet
magic plug M6
LI Inlet
nipple A-PT1/8
Fig.14 Speed reducer for L-axis.
The robot seen from behind. The U-arm in
upright position.

a) Move the L-axis to upright position.
b) Be sure to remove LO, (If grease is added with exhaust plugs in
place, the grease will infiltrate into the motor).
c) Inject grease into LI, grease inlets by using a grease gun.
d) Move L-axis for 30 minutes to discharge the extra grease.
e) Wipe LO and LI exhaust ports with a cloth and reinstall the plugs.

a) Move the L-axis to upright position.
b) Be sure to remove LO exhaust plugs. (If grease is added with
exhaust plugs in place, the grease will infiltrate into the motor).
c) Inject grease into LI grease inlets by using a grease gun.
d) The grease replacement is completed when new grease appears
from exhaust ports. The new grease is distinguished from old
grease by colour.
e) Move L-axis for 30 minutes to discharge the extra grease.
f) Wipe LO and LI exhaust ports with a cloth and reinstall the plugs.
L-axis
Qua.
Grease
340 cc
Molywhite RE No. 00
Replenishment
170 cc
Molywhite RE No. 00
Replacement
850 cc
Molywhite RE No. 00
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Page: 22
Maintenance
MOTOMAN
ROBOTICS
AB
9.6 Speed reducer U-axis

UO Outlet
magic plug
UI Inlet
nipple A-PT1/8
Fig.15 Speed reducer for

U-axis.
The robot seen from the
front.

a) Move the U-axis forward about 60. Now the inlet nipple is visible
from the backside.
b) Be sure to remove UO, (If grease is added with exhaust plugs in
c) Inject grease into UI, grease inlets by using a grease gun.
d) Move U-axis for 30 minutes to discharge the extra grease.
e) Wipe UO and UI exhaust ports with a cloth and reinstall the plugs.

a) Move the U-axis forward about 60. Now the inlet nipple is visible
from the backside.
b) Be sure to remove UO, (If grease is added with exhaust plugs in
c) Inject grease into UI, grease inlets by using a grease gun.
from exhaust ports. The new grease is distinguished from old grease
by colour.
e) Move U-axis for 30 minutes to discharge the extra grease.
f) Wipe UO and UI exhaust ports with a cloth and reinstall the plugs.
U-axis
Qua.
Grease
340 cc
Molywhite RE No. 00
Replenishment
170 cc
Molywhite RE No. 00
Replacement
850 cc
Molywhite RE No. 00
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MOTOMAN
ROBOTICS
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Maintenance
Page: 23
9.7 Speed reducer R-axis
RO Plug for air flow

hexagon socket head PT1/8
RI Inlet
G-nipple A-PT1/8
Fig.16 R-axis speed reducer.

a) Remove RO plug for air flow.
b) Inject grease into RI grease inlet by using a grease gun.
c) Reinstall RO plug.
d) Move R-axis for 30 minutes to discharge the extra grease.
e) Reinstall the plug for air flow.
9.7.B Replacement
a) Remove RO plug for air flow.
b) Inject grease into RI grease inlet by using a grease gun.
c) Reinstall RO.
from exhaust ports. The new grease is distinguished from old
grease by colour.
e) Move R-axis for 30 minutes to discharge the extra grease.
f) Reinstall the plug for air flow.
R-axis
Qua.
Grease
180 cc
Molywhite RE No. 00
Replenishment
90 cc
Molywhite RE No. 00
Replacement
410 cc
Molywhite RE No. 00
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Page: 24
Maintenance
MOTOMAN
ROBOTICS
AB
9.8 B- and T-axes speed reducers

BO Plug for air flow
magic screw M6
Flange
BI Inlet
nipple A-MT6x1
Fig.17 Speed reducer B-axis.
9.8.A Replenishment
a) Remove BO plug for air flow (magic screws M6).
b) Inject grease into BI grease inlets by using a grease gun.
c) Wipe BO exhaust ports with a cloth and reinstall the plugs.
9.8.B Replacement
a) Remove BO plugs for air flow (magic screws M6).
b) Inject grease into BI grease inlets by using a grease gun.
c) The grease replacement is completed when new grease appears
from exhaust ports. The new grease is distinguished from old grease
by colour.
d) Wipe BO exhaust ports with a cloth and reinstall the plugs.
B-axis
Qua.
Grease
Replenishment (first time) B
600 cc
Molywhite RE No. 00
Replenishment B
300 cc
Molywhite RE No. 00
Replacement B
1500 cc
Molywhite RE No. 00
Skapad: 95-04-24
ndrad: 98-09-22
MOTOMAN
ROBOTICS
AB
Maintenance
Page: 25
9.9 L-axis cross roller bearing

LO Plug for air flow
hexagon socket head PT1/8
LI Inlet
nipple A-PT1/8
Fig.18 L-axis cross roller
bearing.
The robot seen from behind.
9.9.A Replenishment
a) Move the L-arm to upright position or little forward. The nipples are
within reach from the backside.
b) Remove LO plug for air flow (magic screw PT1/8 placed in the
back-side of the storage).
c) Inject grease into LI grease inlets by using a grease gun, no overfill
protection exist.
d) Wipe LO exhaust ports with a cloth and reinstall the plug.
L-axis cross roller bearing
Replenishment L
Skapad: 95-04-24
ndrad: 98-09-22
Qua.
30 cc
Grease
Alvania EP grease 2

Page: 26
Maintenance
MOTOMAN
ROBOTICS
AB
9.10 Link arms for L- and U-axes

Plug for air flow
Link 2
Plug for air flow

Link 1
Link 2 Inlet
G-nipple A-MT6x1
Link 1 Inlet
G-nipple A-PT1/8
Note! Both sides
Plug for air flow

Link 3
Fig.19 Link taper
roller bearing.
Link 3 Inlet
G-nipple A-MT6x1
a) Remove 1, 2 and 3 plugs for air flow.

b) Inject grease into link 1, 2 and 3.
c) Reinstall 1, 2 and 3 plugs for air flow.
Link
Link work
Qua.
Grease
32 cc
Alvania EP grease 2
Replenishment
16 cc
Alvania EP grease 2
2 and 3
24 cc
Alvania EP grease 2
2 and 3
Replenishment
12 cc
Alvania EP grease 2
Skapad: 95-04-24
ndrad: 98-09-22
MOTOMAN
ROBOTICS
AB
Spare parts
Page: 27
10. Spare parts

It is recommended that the following parts and components be kept in
stock as spare parts for the MOTOMAN-SK45 robot. The list are
ranked in three categories as follows:
Rank A: Consumables
Rank B: Parts for which replacement may be necessary as a result
of frequent operation.
Rank C: Drive units
See separate list.
Send your spare part order to:

Address:
Telephone:
Telefax:
MOTOMAN ROBOTICS AB
BOX 504, 385 25 Torss,
Sweden
+46 486 488 00
+46 486 414 10
... or to nearest distributor.
11. Specification
-Technical specifications
-Spare parts
-Service schedule
Skapad: 95-04-24
ndrad: 98-09-22

Page: 28
Skapad: 95-04-24
Specification
ndrad: 98-09-22
MOTOMAN
ROBOTICS
AB
MOTOMAN
ROBOTICS
AB
Skapad: 96-08-07
MOTOMAN-SK45
YR-SK45-C000 / YR-SK45-C010
ndrad: 98-10-14
Page: 29
Filnamn: T:\M-ROBOT\ENGELSK\SK45-RES.FM
MOTOMAN-SK45
Page: 30
Pos.
YR-SK45-C000 / YR-SK45-C010
No.
Part name
YEC No.
MOTOMAN
ROBOTICS
AB
Motoman No.
1001
Robot base
HW9100779-
1002
S-axis base
HW9200794-1
1003
S-axis head
HW9100777-1
1004
Servo motor
SGMD-32AWA-YR11
HW9381136-A
9130720
1005
Reducer
HW9380736-A
9130710
1006
Shaft
HW9381161-A
1007
Shaft
HW9481647-A
1008
Shaft
HW9381163-A
1009
Oils sealing
Y426012.5
1010
Tube
NB-0860
1011
Coupling
PH8-01
1012
Support
HW9301730-1
1012AA
Bolt
M6x16
1012AB
Spring washer
2H-6
1012AC
Washer
M6
1013
Support
HW9301730-2
1013AA
Bolt
M6x16
1013AB
Spring washer
2H-6
1013AC
Washer
M6
1014
Saddle
CD-31
1015
Bolt
M5x10
1015AA
Spring washer
2H-5
1016
Bolt
M6x14
1016AA
Spring washer
2H-6
1017
Cover
HW9404379-1
1018
Bolt
M6x12
1020
Cover
HW9404215-1
1021
Bolt
M6x12
1023
Coupling
POC8-01
1024
Coupling
PMF8-01
1025
Greas nipple
A-PT1/8
Skapad: 96-08-07
ndrad: 98-10-14
MOTOMAN-SK45
MOTOMAN
ROBOTICS
AB
Pos.
YR-SK45-C000 / YR-SK45-C010
No.
Part name
YEC No.
1026
Cover
HW9404247-1
1027
Cover
HW9404384-1
1028
Clip
TA1-S10
1028AA
Clip
T50R
1028AB
Bolt
M5x8
1029
Bracket
HW9404380-1
1030
12
Bolt
M6x12
1032
Bolt
M6x10
1033
Spring washer
2H-6
1034
Stopper
HW9481652-A
1035
Bolt
M6x70
1036
Bolt
M16x20
1037
Spring washer
2H-16
1038
Bolt
M12x50
1039
Spring washer
SW-2H-12
1040
Bolt
M8x100
1041
Spring washer
GT-LH-8
1042
Tube
HW9404207-1
1043
Bolt
M16x40
1044
Spring washer
2H-16
1045
14
Bolt
M10x35
1046
14
Spring washer
2H-10
1047
12
Bolt
M12x35
1048
12
Spring washer
2H-12
Skapad: 96-08-07
ndrad: 98-10-14
Page: 31
Motoman No.
MOTOMAN-SK45
Page: 32
Skapad: 96-08-07
YR-SK45-C000 / YR-SK45-C010
ndrad: 98-10-14
MOTOMAN
ROBOTICS
AB
MOTOMAN-SK45
MOTOMAN
ROBOTICS
AB
Pos.
YR-SK45-C000 / YR-SK45-C010
No.
Part name
YEC No.
Page: 33
Motoman No.
1003
S-axis head
HW9100777-1
2001
Reducer-L
HW9380616-A
9130711
2002
Reducer-U
HW9380616-B
9130712
2003
Shaft
HW9381152-A
2004
Shaft
HW9481648-A
2005
Bolt
HW9481645-A
2005AA
Spring washer
2H-6
2006
Shaft
HW9481649-A
2007
Shaft
HW9481650-A
2008
Link B
HW9200793-1
2009
Link A
HW9200792-1
2010
Bearing
HW9481646-A
9125120
2011
Bearing
HW9481320-A
9125121
2012
L-arm
HW9100780-1
2013
Motor base
HW9200791-1
2014
Shaft
HW9200816-1
2014AA
Bolt
M16x45
2014AB
Spring washer
2H-16
2014AC
12
Bolt
M12x40
2014AD
12
Spring washer
SW-2H-12
2015
Oil sealing
AG3217A4
2016
O-ring
S240
2017
O-ring
S32
2018
O-ring
G190
2019
Oil sealing
VC1952207
2020
Oil sealing
Y426012.5
2021
Clip
STW-9
2022
Servo motor
SGMD-22AWA-YR13
HW9381137-A
2023
Shaft
HW9301654-1
2024
Washer
HW9404205-1
2025
Bolt
M10x25
Skapad: 96-08-07
ndrad: 98-10-14
9130721
MOTOMAN-SK45
Page: 34
Pos.
YR-SK45-C000 / YR-SK45-C010
No.
Part name
YEC No.
2026
Spring washer
2H-10
2027
Bearing cover
HW9301653-1
2028
Bolt
M8x20
2029
Spring washer
2H-8
2030
Bearing cover
HW9404361-1
2031
Bolt
M6x16
2032
Spring washer
2H-6
2033
Plug
LP-M5
2034
Grease nipple
A-MT6x1
2035
Grease nipple
A-P1/8
2036
Coupling
POC6-01M
2037
Tube
UB-0640-0.1C
2038
Plug
PT1/8
2039
Set screw
M6x8
2039AA
Air bleeder
EZ0094-EO
2040
Cup
EZ52002AO
2041
Bolt
M12x40
2042
Spring washer
2H-12
2043
24
Bolt
M10x50
2044
24
Spring washer
2H-10
2045
12
Bolt
M12x35
2046
12
Spring washer
SW-2H-12
2047
Bolt
M16x45
2048
Spring washer
2H-16
2049
Bolt
M8x35
2050
Spring washer
2H-8
2051
Stopp
HW9881688-A
2052
Bolt
M10x20
3011
Grease nipple
A-PT1/8
3033
Cover
HW9404202-1
3034
Bolt
M6x12
3036
Bracket
HW9404259-1
Skapad: 96-08-07
ndrad: 98-10-14
MOTOMAN
ROBOTICS
AB
Motoman No.
MOTOMAN-SK45
MOTOMAN
ROBOTICS
AB
Pos.
YR-SK45-C000 / YR-SK45-C010
No.
Part name
YEC No.
3037
Bolt
M6x12
4003
Housing
HW9100778-1
6018
Clip
MB5
6019
Bolt
M4x8
6020
Clip
T20S
Skapad: 96-08-07
ndrad: 98-10-14
Page: 35
Motoman No.
MOTOMAN-SK45
Page: 36
Skapad: 96-08-07
YR-SK45-C000 / YR-SK45-C010
ndrad: 98-10-14
MOTOMAN
ROBOTICS
AB
MOTOMAN-SK45
MOTOMAN
ROBOTICS
AB
Pos.
YR-SK45-C000 / YR-SK45-C010
No.
Part name
YEC No.
Page: 37
Motoman No.
3002
Bearing
HR32012XJ
9117046
3003
Bearing
HW9481646-A
9125120
3004
Oil sealing
AG3584AO
3005
Bearing cover
HW9404383-1
3006
Bolt
M8x20
3007
Spring washer
2H-8
3008
Shaft
HW9404245-1
3009
Bolt
M8x60
3010
Spring washer
2H-8
3012
Plug
LP-M5
3013
Grease nipple
A-MT6x1
3014
Bearing cover
HW9404361-1
3015
Bolt
M6x16
3016
Spring washer
2H-6
3017
Washer
HW9404205-1
3018
Bolt
M10x25
3019
Spring washer
2H-10
3020
Shaft
HW9301654-1
3021
Shims
HW9404246-1
3022
Shims
HW9404246-2
3023
Shims
HW9404246-3
3024
Shims
HW9404246-4
3025
Shims
HW9404246-5
3026
Shims
HW9404246-6
3027
Cover
HW9404381-1
3028
Bolt
M6x12
3030
Cover
HW9404382-1
3031
Bolt
Mx12
3039
Plate
HW9404262-1
3039AA
Bolt
M6x14
3039AB
Spring washer
2H-6
Skapad: 96-08-07
ndrad: 98-10-14
MOTOMAN-SK45
Page: 38
Pos.
YR-SK45-C000 / YR-SK45-C010
No.
Part name
YEC No.
MOTOMAN
ROBOTICS
AB
Motoman No.
3040
Saddle
CD-31
3040AA
Bolt
M5x10
3040AB
Spring washer
2H-5
3040AC
Clip
TAI-S10
3040AD
Clip
T50R
3040AE
Bolt
M5x8
3041
Oil sealing
AG3217A4
3042
Gasket
HW9481087-E
4000
Servo motor
SGMP-15AW-YR11
HW9380768-A
9130620
4001
Servo motor
SGMP-08AW-YR11
HW9380635-A
9130621
4002
Reducer
HW9280679-A
9130713
4003
Housing
HW9100778-1
4003AA
Bolt
M6x8
4003AB
Bolt
M6x10
4003AC
Spring washer
2H-6
4003AD
Bolt
M5x8
4004
Housing
HW9200797-1
4005
Shaft
HW9381147-A
4006
Shaft
HW9381165-A
4007
Ring
PLO17X021E
4008
O-ring
ARP568-258
4009
Shaft
HW9381146-A
4010
Ball bearing
6002DDU*NS7*
9125122
4011
Bearing
HW9481232-A
9125123
4012
Bearing
HW9481656-A
9125124
4013
Oil sealing
AE1314J1
4014
Oil sealing
AE2651F4
4015
Kuggskiva
HW9481751-A
4016
Coupling
HW9381150-A
4017
Cog disc
HW9481654-A
4018
Cog disc
HW9481655-A
Skapad: 96-08-07
ndrad: 98-10-14
MOTOMAN-SK45
MOTOMAN
ROBOTICS
AB
Pos.
YR-SK45-C000 / YR-SK45-C010
No.
Part name
YEC No.
4019
Cog disc
HW9381164-A
4020
Cog belt
250S5M525
4021
Cog belt
250S5M475
4022
Housing
HW9200815-1
4023
Bolt
M14x30
4024
Washer
GT-SH-M14
4025
16
Bolt
M8x70
4026
16
Spring washer
2H-8
4027
Plug
PT1/8
4028
12
Bolt
M8x50
4029
12
Spring washer
GT-LH-8
4030
Bolt
M5x30
4031
Spring washer
2H-5
4032
Shaft
HW9404359-1
4032AA
Bolt
M4x20
4032AB
Spring washer
2H-4
4033
Grease nipple
A-PT1/8
4034
Bearing cover
HW9404221-1
4035
Bolt
M4x12
4036
Spring washer
2H-4
4037
Clip
WR25
4038
Washer
HW9404218-1
4039
Bolt
M6x20
4040
Spring washer
2H-6
4041
Cup
EZ2228AO
4042
Cup
EZ5013AO
4043
Cup
EZ2228AO
4044
Sleeve
HW9404219-1
4045
Bolt
M4x12
4046
Spring washer
2H-4
4047
Sleeve
HW9404224-1
4048
Sleeve
HW9404224-2
Skapad: 96-08-07
ndrad: 98-10-14
Page: 39
Motoman No.
MOTOMAN-SK45
Page: 40
Pos.
YR-SK45-C000 / YR-SK45-C010
No.
Part name
YEC No.
4049
Bearing cover
HW9404221-1
4050
Bolt
M4x12
4051
Spring washer
2H-4
4052
Sleeve
HW9404224-3
4053
Sleeve
HW9404224-4
4054
Sleeve
HW9404231-1
4055
Bolt
M6x30
4056
Spring washer
2H-6
4056AA
Bolt
M8x30
4056AB
Spring washer
2H-8
4057
Bearing nut
HW9404227-1
4058
Bolt
M5x7
4059
Housing
HW9404226-1
4060
Bolt
M4x25
4061
Spring washer
2H-4
4062
Clip
IRTW-32
4063
Clip
ISTW-15
4064
Sleeve
HW9404217-1
6034
Coupling
KQE12-03
6074
Bolt
M4x16
6075
Nut
M4
Skapad: 96-08-07
ndrad: 98-10-14
MOTOMAN
ROBOTICS
AB
Motoman No.
MOTOMAN
ROBOTICS
AB
Skapad: 96-08-07
MOTOMAN-SK45
YR-SK45-C000 / YR-SK45-C010
ndrad: 98-10-14
Page: 41
MOTOMAN-SK45
Page: 42
Pos.
YR-SK45-C000 / YR-SK45-C010
No.
Part name
YEC No.
MOTOMAN
ROBOTICS
AB
Motoman No.
5002
Housing
HW9100782-1
5003
U-arm
HW9100811-1
5004
Reducer-B
HW9381139-A
9130714
5005
Reducer-T
HW9280651-A
9130715
5006
Gear wheel
HW9381156-A
5007
Gear wheel
HW9381158-A
5008
Gear wheel
HW9381157-A
5009
Gear wheel
HW9381155-A
5010
Gear wheel
HW9381154-A
5011
Gear wheel
HW9381153-A
5012
Gear wheel
HW9381151-A
5013
Gear wheel
HW9381162-A
5014
Shaft
HW9381160-A
5015
Shaft
HW9381159-A
5016
O-ring
S32
5017
Oil sealing
AE3092E2
5018
Clip
STW-60
5019
Oil sealing
AE0743-GOOQ8
5020
Oil sealing
AE1550JO
5021
Ball bearing
6912DU
9125125
5022
Ball bearing
HR30203J
9125072
5023
Ball bearing
HR32907J
9125126
5024
Bearing
HW9381114-A
9125127
5025
Bearing
HW9481643-A
9125128
5026
Ring
PLO15X019E
5027
Flange
HW9494220-1
5028
Clip
WR45
5029
Ball bearing
6909DDU*NS7*
5030
Shaft
HW9381208-A
5031
Shaft
HW9481644-A
5032
Bolt
M4x25
Skapad: 96-08-07
ndrad: 98-10-14
9125129
MOTOMAN-SK45
MOTOMAN
ROBOTICS
AB
Pos.
YR-SK45-C000 / YR-SK45-C010
No.
Part name
YEC No.
5033
Spring washer
2H-4
5034
Clip
ISTW-15
5035
Clip
IRTW-35
5036
Ball bearing
6202DDU
5037
Shaft
HW9381149-A
5038
Bolt
M4x12
5039
Spring washer
2H-4
5040
Shaft
HW9301659-A
5044
Bolt
M4x12
5045
Spring washer
2H-4
5046
Plug
PT1/8
5047
Ball bearing
6903DDU
5048
12
Bolt
M6x20
5049
Clip
WR30
5050
Clip
ISTW-17
5051
Shims
HW9404243-1
5052
Shims
HW9404243-2
5053
Shims
HW9404243-3
5054
Shims
HW9404243-4
5055
Shims
HW9404243-5
5056
12
Washer
GT-LH-6
5057
Sleeve
HW9404240-1
5058
Bolt
M4x12
5059
Spring washer
2H-4
5060
15
Bolt
M8x18
5061
15
Spring washer
2H-8
5062
Grease nipple
A-MT6X1
5063
12
Bolt
M8x25
5064
12
Spring washer
2H-8
5056
Shaft
HW9301656-1
5066
Bearing nut
HW9404235-1
5067
Bolt
M5x8
Skapad: 96-08-07
ndrad: 98-10-14
Page: 43
Motoman No.
9125130
9125131
MOTOMAN-SK45
Page: 44
Pos.
YR-SK45-C000 / YR-SK45-C010
No.
Part name
YEC No.
5068
Bolt
M4x10
5069
Spring washer
2H-4
5070
Set screw
M4x6
5071
Washer
HW9404292-1
5072
Plate
HW9404391-1
5073
Bolt
M6x16
5074
Spring washer
2H-6
5075
Cover
HW9301655-1
5076
Bolt
M5x16
5077
Spring washer
2H-5
5078
Bolt
M6x14
5079
Spring washer
2H-6
5080
Housing
HW9404242-1
5081
Bolt
M5x30
5082
Spring washer
2H-5
5083
Sleeve
HW9404232-1
5084
Sleeve
HW9404232-2
5085
Shims
HW9404239-1
5086
Shims
HW9404239-2
5087
Shims
HW9404239-3
5088
Shims
HW9404239-4
5089
Shims
HW9404239-5
5090
Bearing cover
HW9404236-1
5091
Bolt
M4x10
5092
Spring washer
2H-4
5093
Sleeve
HW9404232-3
5094
Shims
HW9404234-1
5095
Shims
HW9404234-2
5096
Shims
HW9404234-3
5097
Shims
HW9404234-4
5098
Shims
HW9404234-5
5099
Sleeve
HW9404232-4
Skapad: 96-08-07
ndrad: 98-10-14
MOTOMAN
ROBOTICS
AB
Motoman No.
MOTOMAN-SK45
MOTOMAN
ROBOTICS
AB
Pos.
YR-SK45-C000 / YR-SK45-C010
No.
Part name
YEC No.
5100
Bearing cover
HW9404237-1
5101
Shims
HW9404244-1
5102
Shims
HW9404244-2
5103
Shims
HW9404244-3
5104
Shims
HW9404244-4
5105
Shims
HW9404244-5
5106
Bolt
M4x8
5107
Spring washer
2H-4
5108
Housing
HW9404233-1
5109
Bolt
M5x20
5110
Spring washer
2H-5
5111
Bolt
M5x14
5112
Spring washer
2H-5
5113
Flange
HW9301660-1
5113AA
Bolt
M6x6
5114
Bolt
M8x20
5115
Spring washer
2H-8
5116
O-ring
G35
5117
12
Bolt
M6x60
5118
12
Spring washer
2H-6
5119
Cover
HW9404241-1
5120
Bolt
M4x12
5121
Spring washer
2H-4
5122
Plug
PT3/8
5123
Plug
PT1/8
5124
Clip
STW-17
5125
Ball bearing
6806DDU
Skapad: 96-08-07
ndrad: 98-10-14
Page: 45
Motoman No.
9125132
MOTOMAN-SK45
Page: 46
YR-SK45-C000 / YR-SK45-C010
MOTOMAN
ROBOTICS
AB
This page is left blank by purpose !
Skapad: 96-08-07
ndrad: 98-10-14
MOTOMAN
ROBOTICS
AB
Page: 47
Technical specifications
Data for MOTOMAN-SK45
Articel
Motion range
Operation mode
Maximum speed
Allowable
moment
Allowable inertia
Vertically
Degree of freedom
Payload
45 kg
Repetitive positioning accuracy
0,15 mm
S-axis (turning)
360
2,62 rad/s, 150/s
L-axis (lower arm)
240
2,09 rad/s, 120/s
U-axis (upper arm)
265
2,71 rad/s, 155/s
R-axis (wrist roll)
700
4,19 rad/s, 240/s
176,4 Nm
10,8 kgm
B-axis (wrist pitch/yaw)
250
4,19 rad/s, 240/s
176,4 Nm
10,8 kgm
T-axis (wrist twist)
700
5,93 rad/s, 340/s
98 Nm
5 kgm
Weight
600 kg
Colour
YASKAWA BLUE
Skapad: 95-04-24
ndrad: 98-09-22
Filnamn: T:\M-ROBOT\ENGELSK\SK45-TAB.FM
MOTOMAN
ROBOTICS
AB
Page: 48
Data for MOTOMAN-SK45-30

Article
Motion range
Operation mode
Maximum speed
Allowable
moment
Allowable inertia
Vertically
Degree of freedom
Payload
30 kg
Repetitive positioning accuracy
0,15 mm
S-axis (turning)
360
2,62 rad/s, 150/s
L-axis (lower arm)
240
2,09 rad/s, 120/s
U-axis (upper arm)
255
2,71 rad/s, 155/s
R-axis (wrist roll)
700
4,19 rad/s, 240/s
176,4 Nm
10,8 kgm
B-axis (wrist pitch/yaw)
250
4,19 rad/s, 240/s
176,4 Nm
10,8 kgm
T-axis (wrist twist)
700
5,93 rad/s, 340/s
98 Nm
5 kgm
Weight
610 kg
Colour
YASKAWA BLUE
Skapad: 95-04-24
ndrad: 98-09-22
MOTOMAN
ROBOTICS
AB
Page: 49
Common data for MOTOMAN-SK45 and SK45-30

Article
Motion range
Ambient conditions
Temperature
Allowable
moment
0C to +45C
Humidity
20 to 80% RH, Non - condensing
Vibration
Less than 0,5 G
Others
Power capacity
Skapad: 95-04-24
Maximum speed
Free from corrosive gasses, liquids or explosive gasses.

Clean and dry.
Free from excessive electrical noise (plasma).
Top: 10 kVA, Common: 8 kVA
ndrad: 98-09-22
Allowable inertia
MOTOMAN
ROBOTICS
AB
Page: 50
Service schedule
24.000
20
12.000
6.000
1.000 1
Daglig
Skapad: 95-04-24
14
6 17
16 19 15 16
8 12
6 17
16 19 15 16
8 12
ndrad: 98-09-22
11
13
10
18
18
MOTOMAN
ROBOTICS
AB
Page: 51
Schedule (Daily / interval)

No.
Check point
D
1.000
6.000
12.000
Method
Operation
24.000
Tram mark
Visual
Check for tram mark.
External lead
Visual
Check for damage or deterioration.
Working area and

robot
Visual
Clean the working area if dust or spatter

exists.
Check for damage and outside cracks.
L- and U-axes
mounting baseplate
Visual
Check for leakage.
Baseplate mounting
screws
Wrench
Tighten loose bolts.

Replace if necessary.
Cover mounting
screws
Screw driver
Wrench
Tighten loose bolts.

Replace if necessary.
Motor connectors
Manual
Check for loose connector and tighten if

necessary.
Base connectors
Manual
Check for loose connector and tighten if

necessary.
Shield coil to
cablage
Visual
Remove the cover and check the wear of

the shield coil. Seal with new grease.
R- and B-axes
timing belt
Manual
Check for tension and wear of belt.
9
10
Skapad: 95-04-24
ndrad: 98-09-22
MOTOMAN
ROBOTICS
AB
Page: 52

No.
Check point
D
1.000
6.000
12.000
Method
Operation
24.000
Wire harness in
robot.
Visual
Multimeter
Check for conduction between the main

connector of base and intermediate
connector. Check for wear of protective
spring. Shall be carried out with
servomotors disconnected. Replace cable
lead after 24.000H.
S-, L- and U-axes

limit switch set.
Screw driver
Wrench key
Multimeter
Check for stain, damage and looseness.

Tighten and check the dog movement.
13
L- and U-axes link
Visual
Manual
Move the L- and U-axes forward, backward,

up and down to check for looseness of the
bearing.
Supply grease after 6.000H.
Replace grease after 12.000H.
14
Battery unit in robot
Multimeter
If the robot is 2.8V or less, replace the

battery unit.
11
12
15
S-axis speed
reducer
Grease gun
Check for malfunction.

16
L- and U-axes
speed reducer
Grease gun

Skapad: 95-04-24
ndrad: 98-09-22
MOTOMAN
ROBOTICS
AB
Page: 53

No.
Check point
D
1.000
Method
Operation
6.000
12.000
17
R-axis speed
reducer
Grease gun

18
B- and T-axes
speed reducers
Grease gun

19
L-axis cross roller

bearing
Grease gun

20
Skapad: 95-04-24
24.000
ndrad: 98-09-22
Overhaul
Contact MOTOMAN-service.
MOTOMAN
ROBOTICS
AB
Page: 54
Spare Parts MOTOMAN-SK45 / -SK45-30

Rank A: Consumables
Rank B: Parts for which replacement may be necessary as a result of frequent operation.
Rank C: Drive units.
Rank
No.
Parts Name
Type
Qty/
unit
Qty.
Remarks
Battery unit
HW8471030-A
YASKAWA ELECTRIC
CORPORATION
Grease
Molywhite RE
No. 00
YASKAWA ELECTRIC
CORPORATION
16 kg
Alvania EP
Grease 2
Shell
16 kg
Bando Chemical
Industries Ltd.
R-axis
B-axis
3
B
Manufacturer
S-axis
Timing belt
250S5M525
Timing belt
250S5M475
S-axis speed reducer
HW9380736-A
S-axis
L-axis speed reducer
HW9380616-A
L-axis
U-axis speed reducer
HW9380616-B
U-axis
R-axis speed reducer
HW9280679-A
R-axis
10
B-axis speed reducer
HW9381139-A
B-axis
11
T-axis speed reducer
HW9280651-A
T-axis
Skapad: 95-04-24
ndrad: 98-09-22
YASKAWA ELECTRIC
CORPORATION
MOTOMAN
ROBOTICS
AB
Rank
C
No.
Parts Name
12
13
14
15
14
Skapad: 95-04-24
AC
Servo
motor
Type
Manufacturer
Page: 55
Qty/
unit
Qty.
Remarks
S-axis
HW9381136-A
With brake
L- and
U-axes
HW9381137-A
With brake
R-axis
HW9380635-A
With brake
B- and
T-axes
HW9380768-A
With brake
HW9171248-A
Internal wiring
ndrad: 98-09-22
YASKAWA ELECTRIC
CORPORATION

Motoman SK45

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MOTOMAN-SK45 /-SK45-30

Service manual, Robot

Service manual SK45/ SK45-30

1. About this manual .................................. 3

3. Precautions for allowable wrist load ....... 5

4. Lifting instruction .................................... 7

8. Remodelling SK45 to SK45-30 ............ 15

10. Spare parts .......................................... 27

Service manual SK45/ SK45-30

Service manual SK45 / SK45-30

MOTOMAN SK45 / SK45-30

1. About this manual

Service manual SK45 / SK45-30

Fig.1 Name on the

2.3 Working area - radial range

2.4 Alterable working envelope

For SK45-30, +145 / -110

Service manual SK45 / SK45-30

Precautions for allowable wrist load

3. Precautions for allowable wrist load

T- and R-axis rotation

Fig.2 Allowable inertia to

Service manual SK45 / SK45-30

Precautions for allowable wrist load

T- and R-axis rotation

Fig.3 Allowable inertia to

3.2 Allowable U-load

Fig.4 Allowable load on

Service manual SK45 / SK45-30

Fig.5 Lifting instructions

Service manual SK45 / SK45-30

4.2 Shipping bolts and jigs

Fig.6 Position of shipping

Service manual SK45 / SK45-30

The safety fencing shall fulfill the demands in the EC-directive.

5.3 Robot placed on a common base

Service manual SK45 / SK45-30

5.4 Robot mounted directly on the floor

5.4.A Where the concrete thickness (floor) is

5.4.B Where the concrete thickness (floor) is less

Service manual SK45 / SK45-30

5.5 Connection to wrist flange

Service manual SK45 / SK45-30

6.2 Connection customer application

Cable connection of U-axis.

Air connection 8 mm.

PT 3/8 tapped hole

Cable connection of S-axis.

Air connection 8 mm.

PT 3/8 tapped hole

Fig.9 Cable connection for

6.3 ConnectionYASNAC MRC

Service manual SK45 / SK45-30

Fig.10 Position for limit

7.2 Internal connectors

See electrical schedule showing internal cable.

Service manual SK45 / SK45-30

Service manual SK45 / SK45-30

8. Remodelling SK45 to SK45-30

a) Check all parts.

Service manual SK45 / SK45-30

Remodelling SK45 to SK45-30

Service manual SK45 / SK45-30

Remodelling SK45 to SK45-30