GP225 drip proof specifications (-C00) – differences from the standard type
The drip proof specifications are offered for the MOTOMAN-GP225 (YR-1-06VX225-C00), GP180 (YR-1-06VX180-C00) and GP180-120 (YR-1-06VX180-120-C00). The supplemental instruction manual describes only the parts that differ from the standard -A00 instructions (HW1484398). Everything else is the same as the standard type.
There are two points of difference from the standard type:
- The grease for the gear and each axis speed reducer is different.
- The IEC protection class of the manipulator body is IP65 (the standard body is IP54).
Protection class
| Part | Class | Meaning |
|---|---|---|
| Wrist part | IP67 | Protected from the entry of dust, and from immersion in water for a specified duration and pressure |
| Main part of the manipulator | IP65 | Protected from the entry of dust, and from water sprayed directly from any direction |
The following liquids can deteriorate or corrode the rubber parts of the manipulator (gasket, oil seal, O-ring, etc.). Do not use:
- Organic solvent
- Chlorine-based cutting fluid
- Amine-based cleaning fluid
- Corrosive substances such as acids, alkalis, or liquids/solutions causing rust
- Other liquids/solutions to which nitrile-butadiene rubber (NBR) is not resistant
Also do not use cutting fluid or cleaning fluid with unknown chemical substances. After you remove a gasket for parts replacement or maintenance/inspection, always replace it with a new one.
Location (ambient conditions)
| Item | Condition |
|---|---|
| Ambient temperature during operation | 0°C to +45°C |
| Humidity | 20%RH to 80%RH |
| Vibration | 4.9 m/s² (0.5G) or less |
| Altitude | 1000 m or less |
| Flatness for installation | 0.5 mm or less |
| Others | Free from oil soot; free from explosive and corrosive gas or liquid; free from excessive electrical noise (plasma); free from strong magnetic field |
If the manipulator has been left out of operation at a low temperature (around 0°C) for a long time, the friction torque of the drive unit is large and an alarm may occur when you start. In that case, perform the break-in for a few minutes.
Basic specifications
All three types are vertically articulated with 6 degrees of freedom, floor-mounted, repeatability 0.05 mm, U-arm payload 30 kg, power requirement 5.0 kVA, controller YRC1000 (ERAR-1000-06VX280-□), sound pressure level 73 dB or less. The S-, L-, U-, R- and T-axis range of motion is the same for all three: S-axis ±180°, L-axis −60° to +76°, U-axis −86° to +90°, R- and T-axis ±360°.
| Item | GP225 (VX225-C00) | GP180 (VX180-C00) | GP180-120 (VX180-120-C00) |
|---|---|---|---|
| Payload (wrist part) | 225 kg | 180 kg | 120 kg |
| B-axis range of motion | ±125° | ±130° | ±130° |
| Maximum speed S/L/U/R/B/T (°/s) | 120/97/115/145/145/220 | 125/115/125/182/175/265 | 125/115/125/182/175/265 |
| Allowable moment R/B/T (N·m) | 1372/1372/735 | 1000/1000/618 | 883/883/520 |
| Allowable inertia R/B/T (kg·m²) | 145/145/84 | 90/90/46.3 | 79/79/40 |
| Approx. mass | 1080 kg | 1020 kg | 1090 kg |
Grease used
| Inspection number | Items | Grease used |
|---|---|---|
| 7 | Balancer link part | Alvania EP Grease 2 (Showa Oil Co., Ltd.) |
| 11, 12 | Speed reducers for each axis; R-, B-, and T-axis gears | RV grease LB00 |
Wherever the standard instructions say Molywhite RE No.00 for the gear and each axis speed reducer, read it as RV grease LB00. The supplement gives no grease amounts or cycles; follow the maintenance page. (The Japanese manual names the Alvania maker as Showa Shell Sekiyu.)
Air line and connectors
- The number of air hoses changed from 1 to 2. Air inlet 1/2 and air outlet 1/2 are Rc3/8 with a pipe plug.
- The connectors have caps. Prepare the mating connectors yourself.
| Connector | On the manipulator | Prepare |
|---|---|---|
| Connector for the internal user I/O wiring harness (arm) | JL05-2A24-28SC (socket connector with a cap) | Pin connector JL05-6A24-28P |
| Connector for the signal of the external axis | JL05-2A20-29SC | Pin connector JL05-6A20-29P |
| Connector for the power supply of the external axis | JL05-2A18-1SC | Pin connector JL05-6A18-1P |
| Connector for the internal user I/O wiring harness (base) | JL05-2A24-28PC (pin connector with a cap) | Socket connector JL05-6A24-28S |
The internal connections also differ from the standard type. When wiring the overrun limit switch, pay attention to the lead wires: the letters on the marker tube are the same at two points (LB1 and LD1).
Related articles
- SP210 / GP225 specifications
- SP210 / GP225 inspection, grease exchange and battery replacement
- SP210 / GP225 zeroing function
Source: based on YASKAWA manual HW1485869 (Japanese). English terms follow HW1485870.