Service manual

Positioner Unit for Industrial Robots

Rotation/Tilt positioner
ＹＡ−１ＲＪＣ６□
ＹＡ−１ＲＪＣ７□

202007

1
■ Applicable models
This service manual is applicable to the following external axes for G3 series and TAWERS type robot
controllers.

Applicable model numbers Description

ＹＡ−１ＲＪＣ６１ Maximum 300 kg-payload type
ＹＡ−１ＲＪＣ７１ Maximum 500 kg-payload type
ＹＡ−１ＲＪＣ６２ Maximum 300 kg-payload type
ＹＡ−１ＲＪＣ７２ Maximum 500 kg-payload type

◎ Refer to the instruction manual of each external axis controller for the harness connection
with the controller.

<Disclaimer>
We make every reasonable effort to present accurate information in this document,
however, it is the responsibility of the practitioner(s) of the maintenance or repair
work to execute in accordance with the contents of this document. Therefore, we
assume no responsibility for any damages resulting from the use of this document.

● The description of this manual is based on the contents as of Jan, 2011.

● The contents of this manual are subject to change without further notice.
● We prohibit unannounced disclosure of information in this document to a third
party and the use of information in this document except for the maintenance or
repair work of our products.
● All rights reserved.

2
Table of Contents
１．Specifications .............................................................................................................................................. 5
① Specifications: Positioner Unit ＹＡ－１ＲＪＣ６１／１ＲＪＣ７１ ................................................................... 5
★ Differences between YA-1RJC61 and YA-1RJC71 ................................................................................... 5
② Specifications: Positioner Unit ＹＡ－１ＲＪＣ６２／１ＲＪＣ７２ ................................................................... 6
★ Differences between YA-1RJC62 and YA-1RJC72 ................................................................................... 6
２．Safety precaution......................................................................................................................................... 7
3. Parts composition and assembly drawing ..................................................................................................... 8
Parts configuration and assembly drawing of YA-1RJC61/71 Tilt axis unit [ADU01594] ..................................... 8
Parts list of YA-1RJC61/71 Tilt axis unit [ADU01594]...................................................................................... 9
Parts configuration and assembly drawing of YA-1RJC61/71 Rotational axis unit [ADU01595] ................. 10
Parts list of YA-1RJC61/71 Rotational axis unit [ADU01595] ..................................................................... 11
Parts configuration and assembly drawing of YA-1RJC61/71 Harness unit [AWU03621] ........................... 12
Harness unit [AWU03621] .......................................................................................................................... 12
Parts configuration and assembly drawing of YA-1RJC62/72 Tilt axis unit [ADU01716] ............................ 13
Parts list of YA-1RJC62/72 Tilt axis unit [ADU01716] ................................................................................ 14
Parts configuration and assembly drawing of YA-1RJC62/72 Rotational axis unit [ADU01717] ................. 15
Parts list of YA-1RJC62/72 Rotational axis unit [ADU01717]................................................................... 16
Parts configuration and assembly drawing of YA-1RJC62/72 Harness unit [AWU03878] ........................... 17
Harness unit [AWU03878] .......................................................................................................................... 17
４．Parameter settings and adjustment ............................................................................................................ 18
1. Setting procedure .................................................................................................................................... 18
2.Servo parameter ...................................................................................................................................... 19
3. Motion parameter ................................................................................................................................... 19
５．Origin point setting ................................................................................................................................... 20
Type１（ＹＡ－１ＲＪＣ□１ series） ................................................................................................................... 20
Type 2 （YA-1RJC□2 series） ....................................................................................................................... 22
6. How to replace the reduction gear of the tilt unit ........................................................................................ 25
7. How to install the reduction gear of the tilt unit .......................................................................................... 33
8. How to replace the reduction gear of the rotation unit ................................................................................ 40
9. How to install the reduction gear of the rotation unit ................................................................................... 46
10. How to exchange Carbon brush ................................................................................................................ 53
11. How to injection and replenishment grease ............................................................................................... 56
12. How to check Carbon brush ..................................................................................................................... 57
13. How to replacement Lithium battery ........................................................................................................ 58
14. Wiring diagram ........................................................................................................................................... 60
Harness (AWC33014) "Rotational axis side." ................................................................................................. 60
Harness (AWC33015) "Tilt axis side." ........................................................................................................... 61
Metal outlet harness common items ............................................................................................................... 62
Relay cable (AWC32994) ............................................................................................................................. 63

3
 VFB Harness （AWC42447） ......................................................................................................................... 64
15. RE power card (ZUEP5461*) ..................................................................................................................... 65
EXTRE card (ZUEP5864) ............................................................................................................................ 66
16. Assembly drawing ..................................................................................................................................... 67
YA-1RJC6□ Rotation axis assembly drawing ................................................................................................. 67
YA-1RJC6□ Tilt axis assembly drawing ......................................................................................................... 68
YA-1RJC7□ Rotation axis assembly drawing ................................................................................................. 69
YA-1RJC7□ Tilt axis assembly drawing ...................................................................................................... 70

4
１．Specifications
① Specifications: Positioner Unit ＹＡ－１ＲＪＣ６１／１ＲＪＣ７１
Item Specifications
Name Positioner unit
Model number YA-1RJC61 YA-1RJC71

Applicable robots Panasonic robot systems applying G2 series controllers and onwards

Motor / Encoder AC servo motor / Absolute encoder

Maximum payload 300 kg 500 kg
Tilt 125.5 °/s (20 r/min) 90.0 °/s (15 r/min)
Maximum output speed
Rotational 190.0 °/s (31 r/min) 165.0 °/s (27 r/min)
Tilt -135° to +135°
Operating range
Rotational -3600° to +3600°
Allowable moment Tilt 882.0 N•m 1274.0 N•m
(Allowable torque) Rotational 323.0 N•m 392.0 N•m
Tilt 71.3 kg•m2 119.7 kg•m2
Allowable load inertia
Rotational 18.3 kg•m2 22.2 kg•m2
Repeatability ±0.05 mm (R=250 mm)
Diameter of hollow shaft 55 mm (diameter)
Brake Provided
Ambient temperature / humidity 0 to 45°C / 20 to 90%RH (Free from dew condensation)
Vibration 0.5 G or less
Tilt part Dark gray (H67)
Body color
Rotational part Gray (H14)

Installation posture No restriction

Dimensions See section ”Dimensions”
Allowable welding current 500 A (Duty cycle: 60%)
Body weight 285 kg
Applicable welding methods CO2 / MAG / MIG / TIG
Tilt 2 kW
Motor output
Rotational 2 kW
External axis controller types External type

★ Differences between YA-1RJC61 and YA-1RJC71

Model Tilt unit Rotation unit Pulley unit Harness unit

YA-1RJC61 ＡＤＵ０１５９６
ＡＤＵ０１５９４ ＡＤＵ０１５９５ ＡＷＵ０３６２１
YA-1RJC71 ＡＤＵ０１５９７

5
② Specifications: Positioner Unit ＹＡ－１ＲＪＣ６２／１ＲＪＣ７２

Item Specifications
Name Positioner unit
YA-1RJC62 YA-1RJC72
Model number
YA-1RJC62T02 *1) YA-1RJC72T02 *1)

Applicable robots Panasonic robot systems applying G3/WG3 series controllers and onwards

Motor / Encoder AC servo motor / Absolute encoder

Maximum payload 300 kg 500 kg
Maximum output Tilt 125.5 °/s (20 r/min) 90.0 °/s (15 r/min)
speed Rotational 190.0 °/s (31 r/min) 165.0 °/s (27 r/min)
Tilt -135° to +135°
Operating range
Rotational -3600° to +3600°
Allowable moment Tilt 882.0 N•m 1274.0 N•m
(Allowable torque) Rotational 323.0 N•m 392.0 N•m
Allowable load Tilt 71.3 kg•m2 119.7 kg•m2
inertia Rotational 18.3 kg•m2 22.2 kg•m2
Repeatability ±0.05 mm (R=250 mm)
Diameter of hollow shaft 55 mm (diameter)
Brake Provided
Ambient temperature / humidity 0 to 45°C / 20 to 90%RH (Free from dew condensation)
Vibration 4.9 m/s2 or less
Tilt part Dark gray (H67)
Body color Rotational
Gray (H14)
part
Installation posture No restriction
Dimensions See section ”Dimensions”
Allowable welding current 500 A (Duty cycle: 60%)
Body weight 285 kg
Applicable welding methods CO2 / MAG / MIG / TIG
Tilt 2 kW
Motor output
Rotational 2 kW
External axis controller types Built-in type, External type
*1) The YA-1RJC62T02 and YA-1RJC72T02 are curled cables.

★ Differences between YA-1RJC62 and YA-1RJC72

Model Tilt unit Rotation unit Pulley unit Harness unit

YA-1RJC62 ＡＤＵ０１７１８
ＡＤＵ０１７１６ ＡＤＵ０１７１７ ＡＷＵ０３８７８
YA-1RJC72 ＡＤＵ０１７１９
6
２．Safety precaution

When performing maintenance work according to this manual, pay attention to the following items.

1.1 Preparation
(1) Personnel who perform maintenance and inspection work must have finished the special safety education of
Panasonic industrial robot.
(2) Personnel who perform maintenance and inspection work must understand safety precaution explained in
individual manuals and must prevent any accidents.

1.2 Advance maintenance of work environment

(1) Isolate the working area by put up warning signs such as “Now under maintenance work” or rope out to
prevent unauthorized person to enter into the working area.
(2) Put up warning signs such as “No Power-ON” or “Do not Turn ON Power” at the primary power side (circuit
breaker), controller or any related control panel to prevent unauthorized person to turn on the power switch.
(3) Prior to do maintenance work of pneumatic system, turn off supply pressure and then check and make sure
that pipe pressure is zero “0”.

1.3 During maintenance work

(1) Do not perform maintenance work while power to the robot or system is ON as much as possible.
If absolutely necessary, keep an emergency stop switch pressed while working as much as possible.
(2) While replacing parts, make sure to read and understand procedures thoroughly before performing replacement.
Failure to follow the instructions may lead to personal injury or damage to robot.
(3) Never attempt to put your foot against the robot or never attempt to climb the robot.
Such behavior may not only cause malfunction of the robot but also lead to personal injury.
(4) Handle any electric heating parts, such as regenerative resistance in the servo motor or controller, with caution.
If it is not possible to cool it down, wear protective equipment such as heat-resistant gloves.
(5) During the replacement work, make sure to reassemble all disassembled parts in place without fail.
(6) During the replacement work, avoid any dust or lamp black to enter into the robot body, or contact.
Failure caused by such dust may result in abnormal operation.

1.4 At the end of maintenance work

(1) At the end of maintenance work, clean the robot and the area around the robot.
Wipe oil, water or any debris off the floor.
(2) Whenever you replace a part, make sure to perform a test run according to the specified procedure after
completion of the replacement.
During the test run, the operator should operate the controller outside the safety fenced area.

7
3. Parts composition and assembly drawing
Parts configuration and assembly drawing of YA-1RJC61/71 Tilt axis unit [ADU01594]

8
Parts list of YA-1RJC61/71 Tilt axis unit [ADU01594]
* "YA-1RJC61" and "YA-1RJC71" differ only in "No. 17/18 pulleys" and "No. 24/25 Timing belts", and are shared otherwise.
№ Part Name Part Number Qty. Remarks
1 Rear cover AKK41171TB 1
2 Side cover 1 AKK32065TB 1
3 Bearing holder 2 ADH32031 1
4 Rubber sheet AFQ41264 1
5 Fixing bracket AFM41657 1
6 Harness plate AFP32039 1
7 Stopper ABQ41029 1
8 Bearing 6020ZZ 1
9 Output flange ADH32032 1
10 Cycro reduction gear YAC41 1 PW2PU4510301
11 Plug YAB49 1 CP30HP5
12 O ring YAC44 1 AS568-171
13 Bearing YAC43 1 6907LLU
14 Snap ring YAC46 1 RTW55
15 Bearing MTNB000951AA 1 6206LLU (2018.7 changed part number)
16 Snap ring YAC45 1 RTW62
19 Key YAC47 1 XPA8B7F32,Parallel key
20 Motor collar AFM40326 2
21 Input gear ADG32023 1
22 Spacer SBB415 8
23 EXT RE power card ZUEP5461 1
27 Motor YAAD84 1 TSM1308N8033
28 Bearing holder 1 ADH32030 1
29 Motor cover ADK25008 1
30 Motor plate AFP32038 1
31 Radiator sheet AFQ41266 2
32 Connector mounting plate AFP32044TB 1
33 Connector cover ADK40038TB 4
34 Inlet cover AKK41167TB 1
35 Nylon clamp NK9N 1
36 Lithium battery ER6VCT 1
37 Joint KQE08-00 4
38 Terminal KET09001 1
39 Terminal T375-16B 1
40 Bottom cover 1 AKK32067 1
41 Bottom cover 2 AKK32068 1
42 OT dog ASM31005 2
43 Harness cover AKK32069 1
44 PCB mounting plate AGK40007 1
45 Terminal cap YAA78 1 VC14X15
46 Base ADB12005 1
47 Plug screw YAAD50 2 SP1/8B
【 Pulley unit 】 ADU01596： for YA-1RJC61 ・ ADU01597： for YA-1RJC71
17 Pulley ADW41078 1 for YA-1RJC61
18 Pulley ADW41072 1 for YA-1RJC71
24 Timing belt YAC49 1 250S8M888， for YA-1RJC61
25 Timing belt YAC17 1 250S8M944， for YA-1RJC71
26 Pulley ADW40053 1

9
Parts configuration and assembly drawing of YA-1RJC61/71 Rotational axis unit [ADU01595]

10
Parts list of YA-1RJC61/71 Rotational axis unit [ADU01595]
* "YA-1RJC61" and "YA-1RJC71" differ only in "No. 29/30 pulleys" and "No. 31/32 Timing belts", and are shared otherwise.

№ Part Name Part Number Qty. Remarks

1 Motor YAAD84 1 TSM1308N8033
2 Harness plate AFP41250TA 1
3 Rear cover AKK41171TA 1
4 Cord bush MTNK006306AA 2 【2019.10 change】Old part ）YAC50
5 Cord bush MTNK006310AA 1 【2019.10 change】Old part ）YAC51
6 CAL pin M8 AAG41004 2
7 Stopper collar AMK41060 2
8 Stopper rubber H22 ABQ41007 2
9 Nylon clamp YAW90 1 NK6N
10 Packing AFQ41261 1
11 Front cover AKK41170TA 1
12 CAL pin M8 AKK41169TA 1
13 Stopper collar ADW22005 1
14 Stopper rubber H22 ADA11113 1
15 Nylon clamp ADK25009 1
16 Packing AET40031 2
17 Front cover AEM40012 1
18 Set ring ADM31053 1
20 Ｖ ring YAA169 2 V80A
21 Hollow shaft ADS32014 1
22 Ｏ ring YAC52 1 P110NBR
23 reduction gear YAC40 1 PW2PC3504701
24 Ｏ ring AS568-267 1
25 RE power card ZUEP5461 1
26 PCB support SBB415 8
27 PCB cover AGK40007 1
28 Motor collar AFM40326 1
33 Guide pin JMP00801 4
34 Spring JBP01802 4
35 Guide flange AZP41061 1
36 Connecting plate AEM40011 2
37 Nylon clamp NK9N 2
38 Lithium battery ER6VCT 1
39 Limit switch AEB31007 1
40 Terminal cap YAA78 1 VC14X15
41 Rubber sheet AFQ41265 2
42 Presser clasp AFP32042TA 1
43 Motor plate AFP32040 1
44 Cable clamp AFP32043 1
45 Plug screw YAAD50 2 SP1/8B
【 Pulley unit 】 ADU01596：for YA-1RJC61 ・ ADU01597：for YA-1RJC71
19 Pulley 48 ADW41075 1
29 Pulley 30 ADW41077 1 for YA-1RJC61
30 Pulley ADW40053 1 for YA-1RJC71
31 Timing belt YAA284 1 150HPS8M712，for YA-1RJC61
32 Timing belt YAC48 1 150HPS8M680，for YA-1RJC71

11
Parts configuration and assembly drawing of YA-1RJC61/71 Harness unit [AWU03621]

2 6
1

Harness unit [AWU03621]

部品名 部品コード 使用数 備 考
№
Part Name Part Number Qty. Remarks
1 メタコンハーネス Harness AWC32851 1 回転軸側 / For Rotaional axis side.

2 メタコンハーネス Harness AWC30316 1 傾斜軸側 / For Tilt axis side.

3 中継ケーブル Relay cable AWC32844 1

4 ＶＦＢハーネス VFB Harness AWC42447 1
5 中継ケーブル Relay cable AWC42451 1 リミットスイッチ用 / For Limit switch.

6 溶接ケーブル Power cable AWC42457 2

12
Parts configuration and assembly drawing of YA-1RJC62/72 Tilt axis unit [ADU01716]

13
Parts list of YA-1RJC62/72 Tilt axis unit [ADU01716]

部品名 部品コード 使⽤数 備 考

№
Part Name Part Number Qty. Remarks
1 背⾯カバー Rear cover AKK41171TB 1
2 側⾯カバー１ Side cover 1 AKK32065TB 1
3 ベアリングホルダ２ Bearing holder 2 ADH32031 1
4 ゴムシート Rubber sheet AFQ41264 1
5 旋回Ｈ固定⾦具 Fixing bracket AFM41657 1
6 ハーネスプレート Harness plate AFP32039 1
7 ストッパー Stopper ABQ41029 1
8 ベアリング Bearing 6020ZZ 1
9 出⼒フランジ Output flange ADH32032 1
10 減速機 Cycro reduction gear YAC41 1 PW2PU4510301
11 ホールプラグ Plug YAB49 1 CP30HP5
12 Ｏリング O ring YAC44 1 AS568-171
13 ベアリング Bearing YAC43 1 6907LLU
14 ⽌め輪 Snap ring YAC46 1 RTW55
15 ベアリング Bearing MTNB000951AA 1 6206LLU 【2018.7 changed number】
16 ⽌め輪 Snap ring YAC45 1 RTW62
17 ADW41078 1 For YA-1RJC62.
プーリー Pulley
18 ADW41072 1 For YA-1RJC72.
19 キー Key YAC47 1 XPA8B7F32
20 モータカラー Motor collar AFM40326 2
21 インプットギヤ Input gear ADG32023 1
22 カードスペーサ Spacer YAA196 4 KGLS8RT
23 EXTREカード EXTRE card ZUEP5864 1
24 YAC49 1 250S8M888, For YA-1RJC62.
タイミングベルト Timing belt
25 YAC17 1 250S8M944, For YA-1RJC72.
26 駆動プーリー Pulley ADW41098 1
27 モータ Motor YAC97 1 TSM1308N8232
28 ベアリングホルダ１ Bearing holder 1 ADH32030 1
29 モータカバー Motor cover ADK25008 1
30 モータプレート Motor plate AFP32038 1
31 放熱シート Radiator sheet AFQ41266 2
Connector mounting
32 コネクタ取付板 AFP32044TB 1
plate
33 コネクタメクラ板 Connector cover ADK40038TB 4
34 Ｈ⼊⼝カバー Inlet cover AKK41167TB 1
35 ナイロンクランプ Nylon clamp NK9N 1
36 リチウム電池 Lithium battery YAAD103 1 ER6BWK67PT
37 隔壁ユニオン Joint YAA433 4 KQ2E08-00A
38 端⼦ Terminal KET09001 1
39 端⼦ Terminal T375-16B 1
40 底カバー１ Bottom cover 1 AKK32067 1
41 底カバー２ Bottom cover 2 AKK32068 1
42 ＯＴドグ OT dog ASM31005 2
43 ハーネスカバー Harness cover AKK32069 1
44 Ｐ板取付板 PCB mounting plate AFP41332 1
45 端末キャップ Terminal cap YAA78 1 VC14X15
46 ベース Base ADB12005 1
47 シズミプラグ Plug screw YAAD50 2 SP1/8B
48 タイラップ Banding band YWA28 2 PLT3S0
49 タイラップ Banding band YTD36 2 PLT21M0
50 メタコンハーネス Harness
P16 ﾊｰﾈｽﾕﾆｯﾄを参照してください。 / Please refer to P.16 Harness u
51 メタコンハーネス Harness

14
Parts configuration and assembly drawing of YA-1RJC62/72 Rotational axis unit [ADU01717]

15
Parts list of YA-1RJC62/72 Rotational axis unit [ADU01717]

部品名 部品コード 使⽤数 備 考

№
Part Name Part Number Qty. Remarks
1 モータ Motor YAC97 1 TSM1308N8232
2 ハーネスプレート2 Harness plate 2 AFP41337TA 1
3 背⾯カバー Rear cover AKK41171TA 1
4 コードブッシュ Cord bush MTNK006306AA 3 旧）YAC50
5 ハーネスプレート1 Harness plate 1 AFP41336TA 1
6 ＣＡＬピン Ｍ８ CAL pin M8 AAG41004 2
7 ストッパカラー Stopper collar AMK41060 2
8 ストッパゴム Ｈ２２ Stopper rubber H22 ABQ41007 2
9 ナイロンクランプ Nylon clamp YAW90 1 NK6N
10 パッキン Packing AFQ41261 1
11 正⾯カバー Front cover AKK41170TA 1
12 グリスメンテカバー Maintenance cover AKK41169TB 1
13 テーブル Table ADW22005 1
14 ボディ Body ADA11113 1
15 底フランジカバー Base-flange cover ADK25009 1
16 カーボンブラシ Carbon brush AET40031 2
17 スリップリング Slip ring AEM40012 1
18 セットリング Set ring ADM31053 1
19 プーリ４８ Pulley 48 ADW41075 1
20 Ｖリング V ring YAA169 2 V80A
21 中空シャフト Hollow shaft ADS32014 1
22 Ｏリング O ring YAC52 1 P110NBR
23 減速機 Cycro reduction gear YAC40 1 PW2PC3504701
24 Ｏリング O ring AS568-267 1
25 EXTREカード EXTRE card ZUEP5864 1
26 カードスペーサ Spacer YAA196 4 KGLS8RT
27 P板取付板R PCB mounting plate R AFP41333 1
28 モータカラー Motor collar AFM40326 1
29 ADW41099 1 For YA-1RJC62
プーリー Pulley
30 ADW41098 1 For YA-1RJC72
31 YAA284 1 150HPS8M712 For YA-1RJC62
タイミングベルト Timing belt
32 YAC48 1 150HPS8M680 For YA-1RJC72
33 ガイドピン Guide pin JMP00801 4
34 スプリング Spring JBP01802 4
35 ガイドフランジ Guide flange AZP41061 1
36 連結板 Connecting plate AEM40011 2
37 ナイロンクランプ Nylon clamp NK9N 2
38 リチウム電池 Lithium battery YAAD103 1 ER6BWK67PT
39 リミットスイッチ Limit switch AEB31007 1
40 端末キャップ Terminal cap YAA78 1 VC14X15
41 ゴムシート Rubber sheet AFQ41265 2
42 ハーネス押え⾦具 Presser clasp AFP32042TA 1
43 モータプレート Motor plate AFP32040 1
44 ケーブル固定⾦具 Cable clamp AFP32043 1
45 シズミプラグ Plug screw YAAD50 2 SP1/8B
46 Ｐ板サポート PCB support SBB415 4
47 タイラップ Banding band YWA28 6 PLT3S0
48 リングプレート Ring plate AGK41030 1

16
Parts configuration and assembly drawing of YA-1RJC62/72 Harness unit [AWU03878]

2 6
1

Harness unit [AWU03878]

部品名 部品コード 使用数 備 考
№
Part Name Part Number Qty. Remarks

1 メタコンハーネス Harness AWC33014 1 回転軸側 / Rotaional axis side.

2 メタコンハーネス Harness AWC33015 1 傾斜軸側 / Tilt axis side.

3 中継ケーブル Relay cable AWC32994 1

4 ＶＦＢハーネス VFB Harness AWC42447 1

5 中継ケーブル Relay cable AWC42451 1 リミットスイッチ用 / For Limit switch.

6 溶接ケーブル Power cable AWC42457 2

17
４．Parameter settings and adjustment
After setting the parameters, the settings will not be changed unless the power is turned off.

1. Setting procedure (Setting dialog box for G2 and WG controller)

For G3 and WG3 controllers, on the “System” screen, click

the “Edit” under the external axis to display the “External
axis” setting dialog box.
Then set parameters.
[ID] Identification number of the external axis.
(Up to 8 alphanumeric characters.)
[Type] Select “Rotation/Tilt”
[Servo parameter] See the "Servo parameter”.
[Reverse direction] Reverse the motion direction (+ / -).
[Detail setting] Click it for motion parameter settings.
See “Motion parameter” for details.

<Note>
For “Sub parameter”, “Origin data” and other set items, refer to the operating instructions of the external axis controller.

(Setting dialog box for G2 and WG controller)

For WG and G2 controllers, on the “System” screen, click the
“Edit” under the external axis to display the “External axis”
setting dialog box.
Then set parameters.
[ID] Identification number of the external axis.
(Up to 8 alphanumeric characters.)
[Type] Select “Rotation/Tilt”
[Base Axis] Specifies the external axis on which this external
axis is mounted.
[Servo parameter] See “Servo parameter”.
[Reverse direction] Reverse the motion direction (+ / -).
[Motion parameter] See “Motion parameter”.

<Note>
As for “Sub parameter”, “Origin data” and other set items, please refer to the operating instructions of the external axis
controller.

18
2.Servo parameter
Servo parameter

Model number Type Type 1

G3(Main software G3(Main software Type 2
Ｇ２
ver.14.02 or lower) ver.14.03 or higher)

YA-1RJC6□ Tilt 2 kW－RJC－300 tilt RJC－300－2 kW tilt RJC61－300－2 kW tilt RJC62-300-2kw tilt
（□：type 1、type 2） Rotate 2 kW－RJC－300 rotation RJC－300－2 kW rotation RJC61－300－2 kW rotation RJC62-300-2kw rotation

YA-1RJC7□ Tilt 2 kW－RJC－500 tilt RJC－500－2 kW tilt RJC71－500－2 kW tilt RJC62-500-2kw tilt
（□：type 1、type 2） Rotate 2 kW－RJC－500 rotation RJC－500－2 kW rotation RJC71－500－2 kW rotation RJC62-500-2kw rotation

Note
At the time of installation of the external axis, if the external axis
is activated with jigs, works and so on, mounted on, the external
axis may oscillate (produce vibration or abnormal noise).
In that case, adjust the speed proportion gain in the following way
within the range of 50 % to 150 % (Default: 100 %)
• WG and G2 controllers:
Click the “Adjust” button of the “Servo parameter” to adjust.
• WG3 and G3 controllers:
Click “Detail setting” button of the “External axis” setting dialog
box to adjust.

3. Motion parameter

On the “External axis” setting dialog box, click the “Motion

parameter” to display the parameter setting dialog box.
Refer to the below table and set parameters.

* Parameters
The following table shows standard values.

YA-1RJC6▢ YA-1RJC7▢
Model Number
Tilt Rotation Tilt Rotation
Encoder pulse ［P / REV］ 2048 2048 2048 2048
Valid pulse ratio 1/1 1/1 1/1 1/1
Deceleration ratio 598 / 85 500 30 / 2256 598 / 118 750 26 / 2256
Maximum speed［ ° / s ］ 125.5 190 90 165
Maximum acceleration［ ° / s2 ］ 500 500 500 500
Loop gain［1 / s ］ 15 15 15 15
speed proportion gain［% ］ 100 100 100 100
Motion range（−） ［ °］ -135 -3600 -135 -3600
Motion range（＋） ［ °］ 135 3600 135 3600

19
５．Origin point setting
Type１（ＹＡ－１ＲＪＣ□１ series）

１．Servo motor encoder reset

If you want to set the number of rotations of the motor to "0", or if you have left it without connecting
the battery, you need to reset the motor. (The capacitor inside the encoder may have a halfway potential
and the internal circuits may not operate normally.)

２．How to reset servo motor encoder

(1) Connect the motor encoder connector to the RE power card.
(2) Turn on the power key switch.
（CAUTION!! Don’t turn servo power on.）
(3) Short circuit the "RE1" pin and "RST" pin of the "J 2" connector
on the RE power card for 20 seconds or more.
< Note >
• For the external axis, connect the lithium battery only to the
"BAT1" side (X1) connector of the RE power card (ZUEP5461*).
(Use only one axis.)

In case of type Ｇ２／ＧＸ／ＧＸＰ／ＴＡＷＥＲＳ series controller

Standard position settings (External axis)

（1）Login as “System administrator” level. From the

menu bar, click (set) and then
(Management tool) icons to display Management
tool screen.

20
 （2）On the “Management tool” box, click (origin
position) icon to enter into the origin adjust mode.
(See the figure on the right.)

（3）On the “Origin adjust” box, click (Standard

(G1-G6)).

（4）Select an axis for setting and click OK.

（5）With the Right shift key (on the back side of TP),
move the cursor to the figure position you would like to
change.
Scroll the jog dial to indicate the intended number and
then click the jog switch.

（6）After completion of entering set value of the angle

pulse, push the ENTER key to complete the settings.

Note
• When an external axis is set this way (through management tool), (Standard position (G1-G6)) icon is displayed on
the “Origin adjust” screen.
• Usage of this “Standard position (G1-G6) icon is the same as the “Standard (Main axis) icon.

21
Type 2 （YA-1RJC□2 series）
The "type 2" uses a smart absolute encoder, so the encoder reset is performed by operating the TP.

１．How to reset servo motor encoder

When the lithium battery is exhausted, the right

display shown on the TP screen.
Replace the lithium battery according to the
instructions.
(The lithium battery is in the robot
manipulator.)
Perform the reset operation according to the
following operation.

(1) Press the reset button at the

bottom right of the screen of
the teach pendant shown in the
right figure.

(2) As the encoder resetting will be

completed, and the displayed axis
name will disappear from the TP
screen.

(3) Turn off and on the power

supply.

22
4) The “Origin adjust” mode selection screen is
displayed as shown in the right figure.

(5) Select "Teach (G1-6)" for up to 6 external axes and

"Teach (G7-12)" for 7 or more external axes.

(6) Put a check mark on the axis for which the encoder
has been reset and click the 'next' button.

(7) The TP screen is showned on the right figure, so

select "Yes".

(8) Select the teaching mode and select the external axis
operation "Teach (G1-6)".

23
(9) Move each axis to the position where the origin 【Figure A】

alignment marks match. (Figure A)

(10) This screen (Figure B) shows the original 【Figure B】

correction data and the new correction data.

(11) Press the "Enter" key.

The correction data to be newly registered moves to
the original correction data.

Original external axis correction data

To be newly registered external axis correction data

（12）Move the cursor to "File" and then "Close"

icons.

（13）Click “Yes” to save the data before finish the

origin adjustment.

* While sending the origin data to the main CPU, the

screen on the right is displayed.

24
6. How to replace the reduction gear of the tilt unit
★ Common contents of mechanical system
< Screw bolt and tighten torque (Standard applied for mild steel) >

Screw bolt and tighten torque

Screw bolt size Tighten torque
Application amount of screw
N・m kgf・cm
lock 1344
3 2.0 ±0.02 20 ±0.2 Do not apply to the 1'st & 2'nd threads
4 4.5 ±0.05 46 ±0.5 Apply a small amount to 3 threads from 5th to 7th piles.

5 9.8 ±0.10 100 ±1

6 18.5 ±0.20 188 ±2
8 37 ±0.40 380 ±4
10 74 ±0.70 750 ±8
12 128 ±1.30 1310 ±13
14 205 ±2.10 2090 ±21
16 319 ±3.20 3250 ±33
20 622 ±6.20 6350 ±64
CP bolt JIS B 1176
Strength JIS B 1051 12.9
Screw JIS B 0205 6g or 2nd class

Rotation/Tilt positioner grease (g)

added at
axis model reduction gear enclosed
periodical
RJC6□
Tilt PW2PU4510301 470 330
RJC7□
PW2PC3504701 253 212
RJC6□
MTNK005311AA 150 90
Rotate
PW2PC3504701 253 212
RJC7□
MTNK005311AA 150 90
grease VIGOGREASE RE0

< Washer type >

Washer symbol Name Standard
SW Spring lock Washers Spring lock Washers / JIS B1251-1995
CW Conical Spring Washers Conical Spring Washers / JIS B1251-1995
PW Plain Washers Plain Washers / JIS B1251-1995

25
① Remove the Motor cover of the tilt unit.
・Remove the 5-M5*20 (with SW) cap bolt, and remove the Motor cover (ADK25008).
・Remove the 7-M4*10 upset bolt, and remove Side cover 1 (AKK32065).

Cap bolt

Side cover 1 Motor cover

② Remove the 4-M6×20 Cap bolt on the bottom of the

rotating unit and remove the guide flange (AZP41061).
At this time, remove four Spring (JBP01802) attached Cap bolt
to the guide pin (JMP00801).

Spring

Guide flange

③ Remove the 4-M6×20 (18.5N・m / screw/with CW)

Cap bolt
cap bolt and remove the Base-flange cover
(ADK25009).

Base-flange cover

26
④ Remove the M8 x 20 upset bolts, and remove the Cabtyre cable
cabtyre cable (WR60 x 100DD) at each 2 points.

upset bolt

⑤ Remove the guide pin (JMP00801) and the Carbon Carbon brush
brush (AET40031).

guide pin

⑥ Mark the position of the cable ties fixing the cabtyre Rubber sheet

cable and the mounting position of the rubbing

prevention rubber sheet (AFQ41265) with a marker
pen.

Cable Ties

27
⑦ Cut the cable ties and pull out the cabtyre cable to
the tilt axis side.

⑧ Loosen 4-M5×12 Cap bolt, remove M8×30 (18.5N・m) Cap

bolt, and remove Set ring and Slip ring from Hollow shaft. Slip ring

Do not wipe it off because this surface is

coated with electrical corrosion protection
inhibitor. If wiped off, apply electrical
corrosion protection inhibitor again.

Slip ring

Cap bolt
Set ring

If you keep the cap bolt on one side that has been split is left attached,

Cap bolt the Set ring and Slip ring will not come apart.

⑨ 4-M5×10(9.8N・m) flat head screw is removed and

Cable clamp (AFP32043) is removed.

Cable clamp

Flat head screw

Note: During assembly, this flat head screw should be temporarily tightened until the M8×30 cap bolt of the Hollow
shaft set ring is tightened. After fully tightening the cap bolt, align the center of the Cable clamp and Hollow shaft
and then fully tighten.
28
 ⑩ Remove the 6-M6×15 (18.5N・m / screw lock/CW) Cap bolt from the
top of the table and pull out the Hollow shaft (ADS32014).

Hollow shaft

Table
Cap bolt

⑪ Remove the 12-M10×35 (74N・m / screw

lock/CW) cap bolts and pull out the table
(ADW22005). Cap bolt

Table
⑫ Remove the motor armature wire and encoder
wire from the relay cable (AWC32994) and pull out
to the tilt axis side.

Relay cable

29
⑬ Loosen the 4-M8*4 (37N・m) cap bolt of the Timing belt
motor plate (AFP32038) and move the motor plate to
the upper side, or remove the cap bolt on the lower
side of the motor plate and pull it from the bottom to
the front to make it diagonal, then remove the timing
belt (6□: MTNK004109/7□: MTNK004110).

Motor plate

⑭Remove 2-M4*10 upset bolt and remove

Motor plate (AKK32069).

⑮ Remove the 1-M5*15 (9.8N ・ screw Motor plate

lock/CW) Cap bolt that holds the Pulley, and
remove the Motor collar (AFM40326) and Pulley
(6□: ADW41078/7□: ADW41072).

Motor collar

Pulley

Cap bolt

30
 ⑯ Install the eye bolts for 2-M10 with the diagonal bolts for
table mounting of the reduction gear, and maintains a
suspended condition while maintaining balance.

eye bolt

⑰ Remove 8-M6×15 (18.5N ・ m / screw lock / CW) on

"Bearing holder 2" (ADH32031).
Note: At this time, apply tension from the top so that the
rotation unit does not shift.

Bearing holder 2

⑱ Remove 12-M10×35 (74N・m / CW) and remove the rotation unit from the base.

31
⑲ Remove 15-M12×30 (128N・m / CW) and remove Output flange (ADH32032).

Cycro reduction gear Output flange

⑳ Remove the 16-M10×55 (74N・m / screw lock / CW) and remove the Bearing holder 1 (WSADH00018).
At this time, remove the input gear (WSADG00016) with the key (XPA8B7F32), snap ring (RTW62), and
bearing (MTNB00095AA) attached.

Bearing holder 1

㉑ Attach a cap bolt, etc. to Removal tap of the reduction gear and
Removal tap
use that bolt to remove the Cycro reduction gear (PW2PU4510301)
from the base.
Removal tap

Cycro reduction gear

32
7. How to install the reduction gear of the tilt unit

① Prepare a new reduction gear.

Remove the Plug screw attached to the new reduction gear,
remove the attached sealing tape, apply 1211 and tighten. (9.8N・m)
Also, apply grease (VIGOGREASE RE0) to the O-ring (AS568-171)
and attach it to the side groove of the reduction gear.
After that, put a mark on the grease hole with a marker pen.

Plug screw

O-ring coated with grease

Mark the position of

the grease hole
② Attach cap bolts, etc. to the Removal tap of the
reduction gear, and attach the reduction gear to the base
using said bolts.
Install the reduction gear so that
the grease hole is at the position
Removal tap of the arrow.

Cycro reduction gear

33
③ Install the Bearing holder 1 (WSADH00018) with 16-M10×55 (74N・m / screw lock / CW).
First fix each cap bolt with temporary fixing, and then finally tighten diagonally.
At this time, install the input gear (WSADG00016) with the key (XPA8B7F32), snap ring (RTW62), and bearing
(MTNB000951AA) attached.

Before mounting the bearing (MTNB000951AA)

on the pulley side of the bearing holder 1, apply the
sealing material (1211) to the surface that comes
into contact when the bearing is inserted.

Install the reduction gear with the side aligned

with the grease injection hole (top) and the
removal tap (bottom) facing down.

④ Install the Output flange (ADH32032) with 15-M12×30 (128N・m / screw lock / CW).
First fix each cap bolt with temporary fixing, then tighten the screws diagonally.

Cycro reduction gear Output flange

34
⑤ Mount the rotation unit on the base with 12-M10×35 (74N・m / screw lock / CW).
First fix each cap bolt with temporary fixing, then tighten the screws diagonally.

⑥ Mount the Bearing holder 2 (ADH32031) on the Side cover 1 side with 8-M6×15 (18.5N・m / screw lock
/ CW).
Note: At this time, apply tension from the top so that the rotation unit does not shift.

Bearing holder 2

⑦ Fix the Pulley (6□: ADW41078 / 7□: ADW41072) with the Motor collar (AFM40326) and install it with
1-M5*15 (9.8N・m / screw lock / CW).

Motor collar

Pulley

Cap bolt

35
⑧ Remove the 2-M4×10 upset bolt and remove the Harness cover (AKK32069).

⑨ Loosen 4-M8×4 (37N・m / SW and W) Cap bolt

of Motor plate (AFP32038). Harness cover
Mount the Timing belt (6□: MTNK004109 / 7□:
MTNK004110) by shifting the motor plate to the
upper side or removing the cap bolt on the lower side Timing belt
of the Motor plate and pulling it up from the bottom
to the front.
At this time, the tension of the timing belt is adjusted.
Prepare a tension meter (tension meter: U-508).

Motor plate

⑩ Route the relay cable (AWC32994) from the tilt axis side to the rotary axis to connect the motor armature
wire and encoder wire.

Relay cable

36
⑪ Mount the Table (ADW22005) with 12-M10*35 (74N・m / screw lock / CW) cap bolt.
At this time, fix it with a cap bolt after adjust the origin of the rotation axis.

Cap bolt

the origin alignment marks

Table

⑫ Insert the Hollow shaft (ADS32014) from the top of the table and mount it with 6-M6×15 (18.5N・m /
screw lock / CW) Cap bolt.

Hollow shaft

Cap bolt
Table

⑬ Pass the Cable Ties through the Cable clamp (AFP32043) and mount it to the rotating axis with 4-M5×10
(9.8N・m) Flat head screw.
Cable clamp Flat head screw

Note: At the time of assembly, this Flat head screw is temporarily tightened until the Set-ring M8×30
Cap bolt of the Hollow shaft is tightened, and after the Cap bolt is fully tightened, the center of the
Cable clamp and Hollow shaft are aligned. Then tighten Cap bolt.
37
⑭ Insert the Set ring and Slip ring into the Hollow shaft, temporarily fix the 4-M5×12 Cap bolt, tighten the M8×30
(18.5N・m) Cap bolt, and then remove them. Then, tighten the set ring and Slip ring 4-M5×12 cap bolts.

Set ring Slip ring

Cap bolt
Cap bolt

⑮ Insert the Cabtyre cables from the tilt axis side and wire them. (Return to the condition before removal.)
Attach a Cabtyre cables (WR60×100DD) to each Carbon brush with an M8×20 upset bolt.
Fix the Cabtyre cables with Cable Ties and wire them.

Center of inclination

Fixed cable

Cable outlet direction

38
 ⑯ Mount the Base-flange cover (ADK25009) with cap bolt
4-M6×20 (18.5N・m / screw lock / CW) cap bolt.

Base-flange cover

⑰ Attach 4 sets of Spring (JBP00801) to Guide pin (JMP00801) and then mount Guide flange (AZP41061) with
4-M6×20 Cap bolt.

Spring Cap bolt

Guide flange

⑱ Install the covers on both sides of the tilt unit.

・Attach the Motor cover (ADK25008) with the 5-M5*20 (SW) Cap bolt.
・Attach Side cover 1 (AKK32065) with 7-M4*10 upset bolt.

Cap bolt

Side cover 1 Motor cover

39
8. How to replace the reduction gear of the rotation unit
★ Common contents of mechanical system
< Screw bolt and tighten torque (Standard applied for mild steel) >

Screw bolt and tighten torque

Screw bolt size Tighten torque Application amount of screw

N・m kgf・cm lock 1344

3 2.0 ±0.02 20 ±0.2 Do not apply to the 1'st & 2'nd threads

4 4.5 ±0.05 46 ±0.5 Apply a small amount to 3 threads from 5th to 7th piles.

5 9.8 ±0.10 100 ±1

6 18.5 ±0.20 188 ±2
8 37 ±0.40 380 ±4
10 74 ±0.70 750 ±8
12 128 ±1.30 1310 ±13
14 205 ±2.10 2090 ±21
16 319 ±3.20 3250 ±33
20 622 ±6.20 6350 ±64
CP bolt JIS B 1176
Strength JIS B 1051 12.9
Screw JIS B 0205 6g or 2nd class

Rotation/Tilt positioner grease (g)

added at
axis model reduction gear enclosed
periodical
RJC6□
Tilt PW2PU4510301 470 330
RJC7□

PW2PC3504701 253 212

RJC6□
MTNK005311AA 150 90
Rotate
PW2PC3504701 253 212
RJC7□
MTNK005311AA 150 90

grease VIGOGREASE RE0

< Washer type >

Washer symbol Name Standard

SW Spring lock Washers Spring lock Washers / JIS B1251-1995
CW Conical Spring Washers Conical Spring Washers / JIS B1251-1995
PW Plain Washers Plain Washers / JIS B1251-1995

40
① From the upper surface of the table, take a 6-M6×15 (18.5N・m / screw lock / CW) cap bolt and remove
the Hollow shaft (ADS32014).

Hollow shaft

Cap bolt Table

② Take the cap bolt of 12-M10*35 (74N・m /

Cap bolt
screw lock / CW) and remove the table
(ADW22005).

Table

③ Remove the motor armature wire and encoder wire from the relay cable
(AWC32994) and pull out the relay cable to the tilt axis side.

Relay cable

41
④ Take the 4-M6×20 Cap bolt on the bottom of the rotating unit and remove the guide flange (AZP41061).
At this time, remove four Spring (JBP00801) attached to the guide pin (JMP00801).

Cap bolt
Spring

guide flange

⑤ Take the cap bolt of 4-M6×20 (18.5N・m / screw lock / CW) and remove the Base-flange cover (ADK25009).

Cap bolt

Base-flange cover

⑥ Take the M8×20 (18.5N·m) upset bolt and remove the Cabtyre cable (WR60×100DD) at each of two places.

Cabtyre cable

upset bolt

42
 ⑦ Remove the Guide pin (JMP00801) and the
Carbon brush (AET40031). Carbon brush

Guide pin

⑧ Make a mark with a marker pen etc. on the

Rubber sheet
attachment position of the Cable Ties fixing the
Cabtyre cable and the rubbing prevention Rubber sheet
(AFQ41265).

If the Cabtyre cable can be pulled out with the

rubber sheet attached, leave the rubber sheet
attached. Cable Ties

⑨ Take the 4-M4×10 upset bolt and remove the

Presser clasp.

43
⑩ Cut the Cable Ties and pull out the Cabtyre cable to the tilt axis side.

⑪ Loosen the 4-M5×12 Cap bolt and take the M8×30

(18.5N・m) Cap bolt to remove the Set ring and Slip ring
from the Hollow shaft.
Do not wipe it off because this
surface is coated with electrical Slip ring
corrosion protection inhibitor. If
wiped off, apply electrical
corrosion protection inhibitor
again.

Slip ring

Cap bolt
Set ring

If you keep the cap bolt on one side that has been split is left
Cap bolt attached, the Set ring and Slip ring will not come apart.

44
⑫ Take the 4-M5×10 (9.8N・m) Flat head screw and remove the Cable clamp (AFP32043).

Flat head screw

Cable clamp

Note: During assembly, this flat head screw should be temporarily tightened until the M8×30 cap bolt of the
Hollow shaft set ring is tightened. After fully tightening the cap bolt, align the center of the Cable clamp and
Hollow shaft and then fully tighten.

⑬ Take 8-M4×20 (4.5N・m / screw lock / CW) Cap bolt and pull out Pulley48 (ADW41075).

Pulley４８

⑭ Take 8-M10×40 (74N・m / screw lock / CW) and pull out the Cycro reduction gear for the rotation axis.

Cap bolt

45
9. How to install the reduction gear of the rotation unit
① Prepare a replacement reduction gear.
At this time, two V-rings (V80A), one O-ring (P110NER) and one O-ring (attached to the reduction gear: AS568-
267) are prepared. "If there are nothing, select a scratch-free one from the replacement reduction gear."

② Wipe off the oil on the pipe flange when attaching the V ring to the pipe flange on the bottom of the cyclo
reduction gear (Type 1: PW2PC3504701/2: MTNK005311AA). A sealant 1211 is applied and a V ring is mounted
on the sealant. Attach the O ring (AS568-267). (Be sure to apply (VIGOGREASE RE0) to the O ring.)
Take the Plug screw on the side of the reduction gear.

（Bottom of view） （Top of view）

（V ring：Ｖ８０Ａ）

(Note)

Refer to the figure above

for the direction of V ring. O ring : P110NER

O ring : AS568-267

⑤ Cleanly remove the sealing material on the positioner body's surface of the arrow. Apply new "1211" sealant
evenly over the entire surface. Mount the Ring plate (AGK41030) with 4-M4×10 flat head screws.
(Apply "1211" of the sealing material on the tip of the screw part of the flat head screw.)

Ring plate（AGK41030）

Apply "1211" to the whole.

⑥ Lift the reduction gear with 8-M10×40 (74N・m / screw lock / CW) and mount it to the positioner body.

note : Grease injection hole direction

46
⑦ Install V-ring (V80A) and O-ring (P110NER).
(Apply grease V1G0GRE00 to the space between the V-ring and the bearing by applying about 30-50%. Also,
apply thinly grease on the V-ring lip. )

V-ring lip

⑧ Pass the Relay cable inside the body.

Relay cable

⑨ Mount table. (12-M10X35, CW, 74N・m (screw lock))

(Align the position where the origin mark is attached on the table and the body.)

Origin mark

47
⑩ Inclining the tilt axis and set the rotation axis at 90 degrees so that the Pulley for the rotation axis can be easily
mounted. Mount "Pulley48" to the rotation reduction gear with 8-M4×20 (4.5N・m / screw lock / CW) Cap bolt,
and then attach the timing belt (150S8M712).

⑪ Mount the motor (with Pulley, motor plate (AFP32040) attached).

Prepare a tension meter (tension meter : U-508).
Put the belt on the motor and temporarily fix the 4-M8×25 (37N・m / screw lock / SW, W) adjusting bolt to the
motor plate. Adjust the tension of the timing belt and fully tighten the 4-M8×25 (37N・m / screw lock / SW, W)
adjustment bolt.

⑫ Mount the Hollow shaft (ADS32014) with 6-M6×15 (18.5N・m / screw lock / CW) Cap bolts.

6-M６×15CW

18.5N・m（screw lock）
48
⑬ Put 4 cable ties for harness fixing in the cable clamp (AFP32043) in advance.
Fix the cable clamp to the body with four 4-M5X10 flat head screws.

⑭ Put Set ring and Slip ring set on the Hollow shaft. Temporarily fix the Set ring and Slip ring with 4-M5×12
Cap bolt. Fix the Set ring to the Hollow shaft with an M8×30 (18.5N・m) Cap bolt and fix the Set ring and Slip
ring with 4-M5×12 Cap bolt.

Do not wipe it off because this

surface is coated with electrical Slip ring
corrosion protection inhibitor. If
wiped off, apply electrical
corrosion protection inhibitor
again.

Slip ring

Cap bolt
Set ring

If you keep the cap bolt on one side that has been split is left
attached, the Set ring and Slip ring will not come apart.
Cap bolt

49
⑮ Pull in the Cabtyre cable (WR60X100DD) and wire as shown.
Tie the "VFB" harness and cable with Cable Ties at the arrow.

⑯ Pull out the cable 320mm.

⑰ After pulling out the cable, fix the Rubber sheet on the end face of the cable clamp (AFP32043) with cable ties
so that the position of the mark is the center. (Place so that the mark is in the center of the Rubber sheet.)

Rubber sheet

mark

50
⑱ Mount the Base-flange cover (ADK25009) Cap bolt
with 4-M6×20 (18.5N・m / screw lock / CW) Cap
bolt.

Base-flange cover

⑲ Attach 4 springs (JBP01802) to the guide pin (JMP00801).

Mount the guide flange (AZP41061) with 4-M6×20 Cap bolt on the bottom of the rotating unit.

Cap bolt
Spring

Guide flange

⑳ Mount Presser clasp with 4-M4×10 upset bolt.

51
㉑ Return the rotary axis to the origin position and inject grease (V1G0GRE00/253g).

㉒ After injecting grease, apply "1211" to the Plug screw (9.8N・m) and tighten.
(2 places in the figure below)

After that, attach the removed one.

Finish when all are installed.

52
10. How to exchange Carbon brush

① Move the rotating axis to +90° or -90° and move it to a position where the Carbon brush can easily confirm.
Turn off the robot power.

② Take the 4-M6×20 Cap bolt and the guide flange (insulating bakelite : AZP41061).

Cap bolt (4-M6×20)

Guide flange（AZP41061）

53
③ Take Cap bolt of 4-M6×20 (18.5N・m / screw lock / CW) and remove Base-flange cover (ADK25009).

Cap bolt (4-M6×20)

Base-flange cover (ADK250090)

④ Take 4 Spring (JBP01802) from the guide pin (JMP00801).

・Guide pin（JMP00801）
・Spring（JBP01802）

⑤ Take the M8×20 (18.5N・m) upset bolts and remove the Cabtyre cable.

・Cabtyre cable（WR60×100DD）
・upset bolts（M8×20）

54
⑥ Take the guide pins and the Carbon brushes.

・guide pin（JMP00801-02）

・Carbon brush（AET40031）

Assemble in the reverse procedure.

55
11. How to injection and replenishment grease

Tilt axis
① Return to the origin position, inject grease (V1G0GRE00/470g), apply "1211" to the Plug screw (9.8N・m)
and tighten. (2 places)

Rotation axis
① Return the rotation axis to the origin position, inject grease (V1G0GRE00/253g), apply "1211" to the Plug
screw (9.8N・m) and tighten. (2 places)

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12. How to check Carbon brush
① Take the 4-M4×10 upset bolt and remove the front cover (AKK41170).

・Front cover（AKK41170）

② Measure the thickness of the Carbon brush. "The initial thickness is 17mm. Replace it if it is 13mm or less."

・Replace Carbon brush if it's

thickness is 13mm or less.

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13. How to replacement Lithium battery

In case of rotation axis :

① Take the 4-M4×10 upset bolt and remove the rear cover (AKK41171).

Rear cover（AKK41171）
② Turn ON the power of the controller,
and leave it for about three minutes, and
then turn it OFF.
* DO NOT turn on the servo power.

③ Remove the nylon clamp (NK9N) that is fixing the lithium battery.
Then disconnect the connector from the RE power card (ZUEP5461*) (EXTRE card (ZUEP5864)) to replace with
a new one.
* Replace the rubber cap (VC14X15) at the negative terminal of the battery at the same time.
After replacing and checking the replaced battery, connect the connector completely, and then bind the lithium battery
with the nylon clamp.
④ If necessary, reset the encoder and adjust the origin position. How to reset the encoder depends on the motor
specifications.
⑤ Turn ON the power of the controller and do operation check.

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In case of tilt axis :

① Take the 5-M5×20 (SW) Cap bolt, and remove the Motor cover (ADK25008).
② Take the 2-M4×10 upset bolt and remove the harness cover (AKK32069).

③ Turn ON the power of the controller,

Harness cover
and leave it for about three minutes, and
then turn it OFF.
Cap bolt
* DO NOT turn on the servo power.

Motor cover

Harness cover

④ Remove the nylon clamp (NK9N) that is fixing the lithium battery.
Then disconnect the connector from the RE power card (ZUEP5461*) (EXTRE card (ZUEP5864)) to replace with
a new one.
* Replace the rubber cap (VC14X15) at the negative terminal of the battery at the same time.
After replacing and checking the replaced battery, connect the connector completely, and then bind the lithium battery
with the nylon clamp.
⑤ If necessary, reset the encoder and adjust the origin position. How to reset the encoder depends on the motor
specifications.
⑥ Turn ON the power of the controller and do operation check.

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14. Wiring diagram

Harness (AWC33014) "Rotational axis side."

60
Harness (AWC33015) "Tilt axis side."

61
Metal outlet harness common items

62
Relay cable (AWC32994)

63
VFB Harness （AWC42447）

Power cable (AWC42457)

64
15. RE power card (ZUEP5461*)

When resetting the encoder, short the pin 1 and pin 2 of "RST J1(J2)" of "RE1(RE2)" of
RE power card (ZUEP5461*) for more than 20 seconds.

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EXTRE card (ZUEP5864)

The encoder reset of the motor

using the board ZUEP5864* is
performed by TP operation by serial
communication. Therefore, there is
no hardware reset operation.

Circuit diagram ZUEP5864*

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16. Assembly drawing
YA-1RJC6□ Rotation axis assembly drawing

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YA-1RJC6□ Tilt axis assembly drawing

68
YA-1RJC7□ Rotation axis assembly drawing

69
YA-1RJC7□ Tilt axis assembly drawing

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 Revise history

No. Day Detail

00 2020.09.07 Translation into English
01

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