Operating Instructions Welding Robot Manipulator PDF

Operating Instructions
Welding Robot Manipulator
Model No. YA-1VAR/YA-1WAR Series
Model numbers
YA-1VAR61*00
(TM-1400GIII)
YA-1VAR61*01
（TM-1100GIII）
YA-1VAR81*00
（TM-1800GIII）
YA-1WAR61*00
（TM-1400WGIII）
External torch cable type YA-1WAR61*01
（TM-1100WGIII）
YA-1WAR81*00
（TM-1800WGIII）
YA-1WAR61*H0
（TM-1400WGHIII）
YA-1WAR61*H1
（TM-1100WGHIII）
YA-1WAR81*H0
（TM-1800WGHIII）
Through-arm torch cable type (See section “2.1 About

Model No.”)
GIII/TAWERS WGIII/TAWERS WGHIII
Before operating this product, please read the instructions carefully and save this manual for future use.
 First of all, please read “Safety precautions”.
English version is the original instructions.

OM1304038E07
1405
Introduction
Introduction
This document explains installation, safety and periodical inspection of Panasonic welding robots “YA-1VAR/YA-1WAR series”.
Disclaimer
Panasonic Welding Systems Co., Ltd., (hereinafter called • Any problem arising out of, or directly or indirectly attributable to,
“PWS”) and its affiliates (including any subcontractor, sales user’s failure to strictly carry out or follow all of the conditions
company or agent) shall not assume or undertake any and instructions contained in this instruction manual, or user’s
responsibility or liability of the following: misusage, mishandle, operational miss or abnormal operation.
• Any problem arising out of this Product or the use of it, the
cause of which is other than the foregoing but is also not attrib-
• Any problem arising out of, or directly or indirectly attributable to,
utable to PWS.
the failure of user to carry out those normal installation, normal
• Any claim of a third party that this Product infringes the intellec-
maintenance, normal adjustment and periodical check of this
tual property rights of such third party that are directly or indi-
Product.
rectly caused by User’s use of this Product and relate to the
• Any problem arising out of any Force Majeure, including but not
method of production.
limited to, act of God.
• Any malfunction or defect of this Product that is directly or indi-
rectly the result of any malfunction or defect of one or more
ANY LOST PROFITS OR SPECIAL, INDIRECT, INCIDEN-
related parts or products that are not supplied by PWS. Or any TAL OR CONSEQUENTIAL DAMAGES IN CONNECTION
problem arising out of, or directly or indirectly attributable to, the WITH OR ARISING FROM ANY MALFUNCTION,
combination of this Product with any other product, equipment, DEFECT OR OTHER PROBLEM OF THIS PRODUCT.
devices or software that is not supplied by PWS.
 This operating instructions manual is based on the information as of May, 2014.

 The information in this operating instructions manual is subject to change without notice.
2 OM1304038E07
Table of Contents 5. Connection ....................................... 41
5.1 Connecting the manipulator to the control-
ler .............................................................. 41
Introduction ............................................2 5.2 Grounding ............................................... 41
5.3 Connecting wire feeder (for WGIII type)43
1. Safety Precautions .............................5 5.3.1 Floor installation type ................. 43
5.3.2 Ceiling installation type ................ 44
1.1 Observe the following for safe welding op- 5.3.3 Pull feeder type (active wire feed process)44
eration .........................................................5 5.4 Connecting wire feeder (for WGHIII type)
1.2 Observe the following for safe robot opera- 45
tion ..............................................................7 5.4.1 Floor installation type ................. 45
5.5 Connecting wire feeder (for GIII type) .. 46
2. Specifications .....................................8 5.6 User cable connector (for handling type)
2.1 About Model No. ..................... 8 46
2.1.1 Model group ............................................... 8 5.7 Using gas valve (for handling type) ...... 48
2.1.2 Manipulator type ......................................... 9 5.8 Installing feed rollers and a welding wire
2.1.3 Example: Model number: YA-1VAR61Y00. 9 48
2.2 Parts identification....................................9 5.9 Wire inching ............................................ 49
2.3 Standard specifications .........................10
2.3.1 Standard arm (TM-1400) .......................... 10 6. Electrical equipment and wiring parts
2.3.2 Short arm (TM-1100) ..................12 50
2.3.3 Long arm (TM-1800) ................................ 14
2.3.4 Wire feeder (WGIII, WGHIII type)............ 15 6.1 Location of the limit switches ............... 50
2.4 Accessories ........................ 16 6.2 Adjusting the limit switches .................. 51
2.5 Outer drawings........................................17 6.2.1 Adjusting the RT-axis limit switch ............. 51
2.5.1 Robots with standard arm (TM-1400)....... 17 6.2.2 Adjusting the limit switches of UA and FA axes
2.5.2 Robots with short arm (TM-1100)............. 18 52
2.5.3 Robots with long arm (TM-1800) .............. 19 6.3 Connecting cables and gas hoses ... 53
2.6 Work envelope drawings........................20 6.4 Internal wiring ......................................... 54
2.6.1 Standard arm (TM-1400) .......................... 20 6.5 Manual brake release switch ................. 57
2.6.2 Short arm (TM-1100) ................................ 22 6.6 Servo-ON indicator lamp ............ 57
2.6.3 Long arm (TM-1800) ............................... 24
2.7 Maximum payload...................................26 7. Settings............................................. 58
2.7.1 Limitation of the load on the wrist axis ..... 26
7.1 Installation and adjustment of welding
2.7.2 Mounting system accessories on the forearm
axis .............................................................. 27
torch ............................... 58
2.7.3 Limitation of the load on the forearm ........ 28 7.2 Arc point.................................................. 60
2.8 Collision detection..................................29 7.3 Tool offset ............................................... 60
2.9 Mounting plane of protective fixture .....29 7.4 Set-up ...................................................... 60
2.10 Stopping time and stopping angle ......30
2.10.1 Stopping time ......................................... 30 8. Maintenance and inspection........... 61
2.10.2 Stopping angle ....................................... 30 8.1 Daily check.............................................. 61
8.1.1 Inspections before turning on the power .. 61
3. Transportation .................................31 8.1.2 Inspections after turning on the power ..... 62
3.1 TM-1400, TM-1100 ...................................31 8.2 Origin match marks to be checked ....... 63
3.2 TM-1800....................................................31 8.2.1 TM-1400, TM-1100................................... 63
8.2.2 TM-1800 ................................................... 64
4. Installation.........................................32 8.3 Periodical inspection................ 65
8.4 Backup battery replacement ................. 66
4.1 Choosing an installation site .................32 8.5 On-site origin adjustment (How to use ad-
4.2 Strength requirement of the foundation32 justment pins) .......................................... 67
4.3 Floor type.................................................33 8.6 Checking bolt tightening torque for wire
4.4 Ceiling type..............................................34 feeder........................................................ 68
4.5 Safety fence.............................................35 8.7 Maintenance of wire feeder ................... 69
4.6 Adjustment ..............................................37 8.7.1 Maintenance and periodical check ........... 69
4.6.1 TM-1400, TM-1100................................... 37 8.7.2 Change of feed rollers, stainless tube and cen-
4.6.2 TM-1800..............................38 ter tube......................................................... 70
4.7 Mounting holes for zone monitoring jig39
4.7.1 TM-1400, TM-1100................................... 39 9. Repair parts lists.............................. 71
4.7.2 TM-1800..............................40
9.1 Robot manipulators................................ 71
OM1304038E07 3
9.2 Wire feeder (standard, WGIII model) .... 75 10. Appendix......................................... 80
9.2.1 Motor unit ................................................. 76
10.1 Location of the labels (TM-1400, TM-1100)
9.3 Wire feeder (high power for 450 A welder)
80
77
10.2 Location of the labels (TM-1800) .........81
9.3.1 Motor unit ................................................. 78
10.3 Details of the labels ..............................82
9.4 FA relay unit (for Active Wire type) ...... 79
4 OM1304038E07
Safety Precautions
1.Safety Precautions
Please read the “Safety manual” (separate volume) for detail safe handling.
To use the product in a system, please also read the operating instructions of peripheral equipment.
Signal Words and Safety Symbols

Signal Words Safety Symbols
Indicates a potentially hazardous
WARNING
Indicates a prohibited
situation, which, if not avoided, could
action.
result in death or serious injury.
Indicates a potentially hazardous
CAUTION situation, which, if not avoided, could

result in minor injury or property
damage.
Indicates a mandatory
action.
Indicates a hazard
alert.
1.1 Observe the following for safe welding operation
WARNING
Welding Power Unit box and wait for at least five minutes to discharge elec-
Observe the following cautions to pre- trical current from the capacitors. Check to make sure
vent accidents that can cause serious that no charged voltage present at capacitors before
injuries. touching any parts.
(1) Never use the welding power unit for other than weld- (3) Do not use undersized, worn, damaged or bare wired
ing purpose, such as for pipe thawing. cables.
(2) It is very important to comply with all instructions, (4) Connect cables firm and insulate the connected parts.
safety warnings, cautions and notes mentioned. Fail- (5) Do not use the product with a case and panel removed
ure to do so can result in serious injury or even death. or not in place.
(3) Work of driving source at the input side, selecting work (6) Do not handle the welding power unit with torn or wet
site, handling, storage and piping of high pressure gas, gloves.
storage of welded products and also disposal of waste (7) Wear safety harness in case of working above floor
should be performed according to the operating level.
instructions and national, state and local codes and (8) Perform periodic checks without fail. Repair or replace
regulations. any damaged parts as needed prior to use.
(4) Prevent any unauthorized personnel to enter in and (9) Turn off all equipment when not in use.
around the welding work area. (10) Do not touch any live parts.
(5) Only educated and/or skilled persons who well under- (11) The welding power unit must be grounded and the
stand this welding power unit should install, operate, work must be grounded in accordance with ANSI
maintain and repair the unit. Z49.1 (For North America).
(6) Only educated and/or skilled persons who well under- Electromagnetic Wave
stand the operating instructions of the unit and who are Observe the following cautions to pre-
capable of safe handling should perform operation of vent radio interference due to welding
the unit. current and high frequency for arc start.
Against Electric Shock (1) Electromagnetic wave generated during welding oper-
Observe the following instructions to ation may have adverse affects on medical equipment
prevent the hazard. in the periphery of the equipment in operation and the
welding work site. If you wear a pacemaker, consult
(1) Only educated and/or skilled persons should perform your physician before going near the welding work site.
grounding of the case of the welding power unit, the
base metal and jigs electrically connected to the base (2) Provide proper grounding work of all equipment includ-
metal. ing electronic devices and safety devices near the
(2) Before installation or maintenance work, turn off all welding work site. Conduct an additional electromag-
input power including power at the power distribution netic shielding work if needed.
OM1304038E07 5
Safety Precautions
WARNING
(3) Lay the welding cable as short as and as close to the near the area where any of these types of work is per-
floor or ground as possible. Lay the base metal cable formed can generate toxic gases.
and the torch cable along to each other to reduce gen- (6) When welding a coated steel plate, provide sufficient
eration of electromagnetic wave. ventilation or wear protective breathing gear. (Welding
(4) Never share the ground work of the base metal and of coated steel plates generates toxic fume and gas.)
welding power unit with other equipment. (7) Never ventilates with oxygen. Refer to ANSI Z49.1(For
(5) Provide measures against noise to the external equip- North America).
ment, such as sequencer of the jig, proximity switch Against Fire, Explosion or Blowout
and area sensor, if such equipment is affected by the
inverter noise from the robot or welding power unit. Observe the following cautions to pre-
For details of the measures, please refer to the operat- vent fires explosion or blowout.
ing instructions of the external equipment.
(1) Remove any flammable materials at and near the work
Ventilation and Protective Equipment site to prevent exposure of such flammable materials
to the spatter. If they cannot be relocated, cover them
Oxygen deficit, fume and gas generated with a fireproofing cover.
during welding can be hazardous. (2) Do not conduct welding near flammable gases.
(3) Do not bring the hot base metal near flammable mate-
(1) Provide sufficient ventilation or wear breathing equip- rials immediately after welding.
ment specified by the applicable law (occupational (4) When welding a ceiling, floor or wall, remove all flam-
safety and health regulation, ordinance on the preven- mables including ones located in hidden places.
tion of oxygen deficiency and the like). (5) Connect cables firm and insulate the connected parts.
(2) Use a local exhauster specified by the applicable law Improper cable connections or touching of cables to
(occupational safety and health regulation, rules on any electric current passage of the base metal, such
preventing injury by inhaled dust or etc.) or wear a pro- as steel beam, can cause fire.
tective breathing gear. (6) Connect the base metal cable as close as possible to
(3) When conducting welding in the bottom, such as tank, the welding section.
boiler and the hold of a ship, use a local exhauster or (7) Do not weld a sealed tank or a pipe that contains gas.
wear breathing equipment specified by the applicable (8) Keep a fire extinguisher near the welding site for an
laws and regulations. emergency.
(4) When conducting welding in a confined area, make No Disassembling/Modification
sure to provide sufficient ventilation or wear breathing Unauthorized disassembling or modifi-
equipment and have a trained supervisor observe the cation can cause fire, electric shock or
workers. breakdown.
(5) Do not conduct welding at a site where degreasing, (1) Contact Panasonic sales representatives for repair work.
cleaning or spraying is performed. Conducting welding (2) As for inspection of the inside the product if needed,
follow the instructions in the operating instructions.
CAUTION
Installing Shielding (Curtain etc.) Gas Cylinder and Gas Flow Regulator
Arc flash, flying spatter and slugs gener- Overturn of gas cylinder and blowout of
ated during welding can damage your gas flow regulator can cause injury.
eyes, skin and hearing.
(1) When welding or monitoring welding operation, wear (1) The gas cylinder must be handled properly according
safety glasses with sufficient light blocking structure or to the applicable law and in-house standards.
use a protective mask designed for welding operation. (2) Use the gas flow regulator that is supplied or recom-
(2) When welding or monitoring welding operation, wear mended by our company.
protective clothing designed for welding operation, (3) Read the operating instructions of the gas regulator
such as leather gloves, leg cover and leather apron, prior to use, and observe the cautions described in it.
and also wear long-sleeve shirts. (4) Secure the gas cylinder to a dedicated gas cylinder stand.
(3) Install a protective curtain around the welding opera- (5) Do not expose the gas cylinder to high temperature.
tion site to prevent exposure of eyes of people in the (6) When opening the valve of the gas cylinder, do not
surrounding area to the arc flash. bring your face close to the discharge outlet.
(4) Be sure to wear noise-proof protective equipment, such (7) When the gas cylinder is not in use, be sure to put the
as ear muffs and ear plugs, if the noise level is high. protective cap back on.
6 OM1304038E07
Safety Precautions
CAUTION
(8) Do not hang the welding torch on the gas cylinder. Do the welding torch. Wire extends out from the end of the
not allow the electrode to touch to the gas cylinder. welding torch and may stick into the eye, face or body.
(9) Only the specified contractor should perform disas- (2) In case of using a torch cable with the resin liner,
sembly or repair work on the gas flow regulator. Such straighten the torch cable and reduce the preset feed
works require some expertise. amount (current) to half or less before applying the
Rotating Parts wire inching.
(3) If the high speed wire inching is executed with the
Rotating parts can cause injury. torch cable extremely-bent, the welding wire may pass
through the resin liner and the cable.
(1) Keep away from rotating parts, such as cooling fans Replace any damaged liner/cable with a new one with-
and feed rollers of the wire feeder, or hand, finger(s), out fail. Never use a damaged liner/cable, or it can
hair or part of your clothes may be caught by the rotat- cause gas leak or insulation deterioration.
ing parts resulting in injury. Against Insulation Deterioration
(2) Do not use the product with a case and panel removed Insulation deterioration can cause fire
or not in place. of welding power unit.
(3) Only educated and/or skilled persons who well under-
stand welding machines should perform maintenance (1) Keep enough distance from welding power unit when
and repair work. During maintenance or repair work, performing welding or grinding operation so as to pre-
provide fence or the like around the welding machine vent such spatters or iron particles from getting into the
so that any unauthorized person can not come close to power unit.
the working area carelessly. (2) Perform inspection and maintenance work periodically
Welding Wire so as to prevent insulation deterioration due to accu-
mulated dust or dirt.
Welding wire, especially wire tip part (3) When spatters or iron particles get into the welding
can cause injury. power unit, turn off the power switches of the welding
power unit and power distribution box, and then use
(1) Do not perform inching operation or pull the torch dry air to blow them off.
switch with your eyes, face or body close to the end of
1.2 Observe the following for safe robot operation
WARNING
Installation and adjustment of welding torch
Observe the following cautions to

prevent accidents while operating
near the robot.
(1) Prior to turning on the servo power switch, check and
confirm no personnel is in the robot work envelope.
(2) Prior to operating the robot, make sure that there is no
personnel and no obstacle in the robot work envelope.
(3) Prior to working close to the robot, turn off the servo
power switch.
OM1304038E07 7
Specifications
2. Specifications
2.1 About Model No.
Manipulator
Model number Specifications
model number
YA-1VAR61*** YA-1VMR61*** (TM-1400, TM-1100) For GIII type controllers (With separate welding power
YA-1VAR81*** YA-1VMR81*** (TM-1800) source)
YA-1WAR61*** YA-1WMR61*** (TM-1400, TM-1100) For TAWERS (WGIII , WGHIII type) controllers
YA-1WAR81*** YA-1WMR81*** (TM-1800) (Fused with welding power source)
* Of the model number, ”***” consists of one-letter “Model group” code followed by a “Manipulator type” code of two alpha-
numeric characters.
2.1.1 Model group

Code Specifications
Robots for Japanese market
T
The robot is designed to be used in the Japanese market.
Robots for general overseas markets
Y
The robot is designed to be used in the general overseas markets.
Standard model for EU member states
The model E is designed in accordance with the following European directives and harmonized standards:
EU directives: 2006/42/EC, 2006/95/EC and 2004/108/EC.
EN standards: EN ISO 10218-1:2011, EN 60204-1:2006+A1:2009, EN 60974-1:2012, EN 60974-5:2008,
EN 61000-6-4:2007+A1:2011, EN 61000-6-2:2005 and EN 60974-10:2007.
The robot system must be made in accordance with the manufacturer’s specification described in this
E manual and instruction manual.
Remodeling and/or modifying this product not in accordance with the manufacturer’s specification will
invalidate this declaration.
Authorised Representatives:
Panasonic Testing Centre
Panasonic Marketing Europe GmbH
Winsbergring 15, 22525 Hamburg, Germany
The robot is designed in accordance with the following safety regulations and standard applied in the US
and Canadian markets.
UL1740:2007
ANSI/RIA R15.06-2012
U CAN/CSA Z434-03
Notice: Exporting the machine into Canada

Please bear in mind that exporting this product to Quebec, Canada requires all name plates and manuals
of the product shall be written in French.
Robots for US market
R
The robot is designed in accordance with RIA (Robotic Industries Association) standards.
Robots for Chinese market
H
The robots are designed to be used in the Chinese (simplified Chinese characters) market.
Attention to the export of the product to EU member states
This product does not meet the requirements specified in the EC Directives which are the EU safety ordinance. Please
bear in mind that this product may not be brought as is into the EU. The same restriction also applies to any country
which has singed the EEA accord. Please be absolutely sure to consult with us before attempting to relocate or resell this
product to or in any EU member state or any other country which has signed the EEA accord.
If you are intended to use the robot in US, Canada or EU member states (including countries signed the EEA accord),
please purchase the robot designed for those countries. (See the following models.)
8 OM1304038E07
Specifications
2.1.2 Manipulator type

Two alphanumeric characters Specifications
Standard arm (TM-1400)
00
Long arm (TM-1800) Floor installation
01 Short arm (TM-1100)
Standard arm (TM-1400) ・High current type
H0
Long arm (TM-1800) Floor installation ・TAWERS is equipped with high
H1 Short arm (TM-1100) power feeder.
2.1.3 Example: Model number: YA-1VAR61Y00

It is a floor installation type robot manipulator for welding operation with standard arm (TM-1400GIII) for general overseas
markets.
2.2 Parts identification

Operation box
(Standard equipment or optional depends on model.) Teach pendant
Axis name Definition
BW RW
Wire feeder RT Rotating Trunk
UA Upper arm
Enabling switches
TW FA Forearm
FA RW Rotating wrist
BW Bending wrist
UA
Controller TW Twisting wrist
(For details, refer to
RT Connection operating instruction of
cable controller.)
Manipulator
<The arrow indcates the “+” direction of each axis movement for floor installation type.>
OM1304038E07 9
Specifications
2.3 Standard specifications

2.3.1 Standard arm (TM-1400)
Items Specifications (TM-1400)
Structure Independent articulated
Degree of freedom 6
(Referenced from
RT axis (Rotating Trunk) ±170°
front)
(Referenced from
UA axis (Upper Arm) -90° to +155°
vertical)
(Referenced
from horizontal) -195° to +240° (-240° to +195°) *1
FA axis (Forearm)
(Referenced
from upper arm) -85° to +180° (-180° to +85°) *1
Robot movement range
RW axis (Rotating Wrist) ±190° (-10° to +370°) *1

(Referenced from
BW axis (Bending Wrist) -130° to +110°
forearm)
External torch cable type: ±400°
TW axis (Twisting Wrist) Through-arm torch cable type: ±220° (Default setting)
Separate type: ±220°
Point P *2 3.80 m2
Section area of arm motion
Point O *2 3.52 m2
Lengthwise arm motion (Distance
Robot working area
Point P *2 -1 117 mm to +1 437 mm

from
the center of RT-axis to the center of Point O *2 -1 093 mm +1 413 mm
BW-axis.)
Vertical arm motion (Distance from Point P *2 -803 mm +1 697 mm
the lower surface of the robot to the
center of BW-axis.) Point O* -779 mm +1 673 mm
RT axis (Rotating Trunk) 3.93 rad/s (225°/s)
UA axis (Upper Arm) 3.93 rad/s (225°/s)
FA axis (Forearm) 3.93 rad/s (225°/s)
Max. speed
Momentary
RW axis (Rotating Wrist) 7.42 rad/s (425°/s)

BW axis (Bending Wrist) 7.42 rad/s (425°/s)
TW axis (Twisting Wrist) 10.98 rad/s (629°/s)
Maximum payload 6 kg
RW axis (Rotating Wrist) 12.2 N•m (1.24 kgf•m)
Moment BW axis (Bending Wrist) 12.2 N•m (1.24 kgf•m)
TW axis (Twisting Wrist) 5.29 N•m (0.54 kgf•m)
Allowable load
RW axis (Rotating Wrist) 0.283 kg•m2 (0.028 kgf•m•s2)

on wrist
Inertia BW axis (Bending Wrist) 0.283 kg•m2 (0.028 kgf•m•s2)

TW axis (Twisting Wrist) 0.057 kg•m2 (0.005 8 kgf•m•s2)
Repeatability ±0.08 mm or less
Position feedback Multi rotational encoder with backup data
10 OM1304038E07
Specifications

RT axis (Rotating Trunk) 750 W (AC servo motor)
UA axis (Upper Arm) 1 600 W (AC servo motor)
FA axis (Forearm) 750 W (AC servo motor)
Drive power
RW axis (Rotating Wrist) 100 W (AC servo motor)

BW axis (Bending Wrist) 100 W (AC servo motor)
TW axis (Twisting Wrist) 100 W (AC servo motor)
Brake All axes are provided with brakes
Brake releasing Standard equipment or optional depends on model.
Soft limit (Software limit) Provided
RT: Standard equipment
Operation limit protection Hard limit (Hardware limit)
UA, FA: Standard equipment or optional depends on model.
Mechanical stopper Main 3 axes
Stop at full speed Stopping time See section “2.10.1 Stopping time”.
(main 3 axes) Stopping angle See section “2.10.2 Stopping angle”.
Grounding Required
Sound power level 78.9 dB(A)
RT: Munsell color system N3.5 or the equivalent
Body color
The others: Munsell color system N7.5 or the equivalent
Protection rating Equal to IP40
Installation position Floor type (Ceiling type) *1
Outer dimensions See outer drawings
0 °C to 45°C, 20 % RH to 90% RH
Ambient temperature, humidity (50 % or less at 40 °C, 90 % or less at 20 °C)
(No dew condensation)
Shipping and storage temperature - 25 °C to 60 °C
Weight (Wire feeder is not included.) About 170 kg (374.8 lb.)
*1 : Values in parentheses are for ceiling type and factory set.
*2 : For details of point O and P, see the "WORK ENVELOPE".
OM1304038E07 11
Specifications
2.3.2 Short arm (TM-1100)

Degree of freedom 6
(Referenced from
front)
(Referenced from
vertical)
(Referenced
FA axis (Forearm)
(Referenced

(Referenced from
forearm)
Point P *2 2.03 m2
Point O *2 1.83 m2
Robot working area
Lengthwise arm motion (Dis- Point P *2 -824 mm to +1 163 mm

tance from the center of RT-axis
to the center of BW-axis.) Point O *2 -800 mm to +1 139 mm
Vertical arm motion (Distance Point P *2 -545 mm to +1 423 mm
from the lower surface of the
robot to the center of BW-axis.) Point O *2 -521 mm to +1 399 mm
Max. speed
Momentary

Allowable load

on wrist

Positioning repeatability ±0.08 mm or less
RT axis (Rotating Trunk) 750 W (AC servo motor)
Drive power

12 OM1304038E07
Specifications

Soft limit (Software limit) Provided
Operation limit protection Hard limit (Hardware limit)
Grounding Required
Body color
0 °C to 45°C, 20 % RH to 90% RH
Weight (Wire feeder is not included.) About 156 kg (344 lb.)
1
* : Values in parentheses are for ceiling type and factory set.
OM1304038E07 13
Specifications
2.3.3 Long arm (TM-1800)

Degree of freedom 6
(Referenced from
front)
(Referenced from
vertical)
(Referenced
FA axis (Forearm)
(Referenced

(Referenced from
forearm)
Point P *2 6.10 m2
Point O *2 6.47 m2
Lengthwise arm motion (Distance
Robot working area
Point P *2 -1 489 mm to +1 809 mm

from
the center of RT-axis to the center of Point O *2 -1 465 mm to +1 785 mm
BW-axis.)
Vertical arm motion (Distance from Point P *2 -1 204 mm to +2 069 mm
the lower surface of the robot to the
center of BW-axis.) Point O* -1 180 mm to +2 045 mm
Max. speed
Momentary

Allowable load

on wrist

Repeatability ±0.08 mm or less
RT axis (Rotating Trunk) 1 600 W (AC servo motor)
Drive power

14 OM1304038E07
Specifications

Soft limit Provided
Operation limit protection Hard limit
Grounding Required
Body color
0 °C to 45°C, 20 % RH to 90% RH
Weight (Wire feeder is not included.) About 215 kg (474.8 lb.)
1
* : Values in parentheses are for ceiling type and factory set.
2.3.4 Wire feeder (WGIII, WGHIII type)

Unit model No. APU01238 APU01255
High power
Wire feeder type Standard
(For 450A welder)
Motor capacity 50 W, AC servo motor 100 W, AC servo motor
Control method Digital servo position control
Wire feed control signal Digital
Applicable wires Mild steel and stainless steel wires
0.9 mm, 1.2 mm
Applicable wire diameter 1.2 mm, 1.4 mm
(1.0 mm, 1.2 mm for E type)
Maximum feed rate 23 m/min
Weight About 3 kg (7 lb.) About 8 kg (18 lb.)
OM1304038E07 15
Specifications
2.4 Accessories
Spare part order
Name Image Model number Q’ty Note
number
Hexagon bolt XVH16C75-75 YZA235 4
Spring washer XWB16BFJ YZA236 4 For installation of manip-
Washer XWF16FJ YZA237 4 ulator
Nut XNH16GFJ XNH16G 4
RT dog base ASB41002 ASB41002 1 Supplied with TM-1400

and TM-1100.
For scope limitation of
Hexagon socket head bolt XVE10C20FP YZA238 1 RT axis movement.
Flat-head spring washer XWR10CFR XWR10CFR 1
RT Stopper
ABQ41038 ABQ41038 1
Supplied with TM-1800.
For scope limitation of
Hexagon socket head bolt XVE12C20FP YAW199 1 RT axis movement.
Flat-head spring washer XWR12CFR XWR12CFR 1
Positioning block AAG41026 AAG41026 1 For torch adjustment

(Not supplied with TM-
1800.)
Hexagon socket head bolt XVE4C10FPS XVE4C10FPS 2
For on-site origin adjust-
Parallel pin AMP42740 AMP42740 1
ment of TW axis
Supplied with WGIII
Bracket for external torch models
AFP41314TB AFP41314TB 1
cable type (WGIII) (Not supplied with the
ceiling type.)
Bracket for external torch Supplied with WGHIII

AFP41338TB AFP41338TB 1 models
cable type (WGHIII)
(Not supplied with the
ceiling type.)
Upset head bolt XVGZ6+F15FJ YZA208 4
16 OM1304038E07
Specifications
2.5 Outer drawings

2.5.1 Robots with standard arm (TM-1400)
● Floor type
Wire feeder
Standard type
External
Through-arm
torch cable type
torch cable type
Separate type
.4
R364
.4
83
R3
362.3
Wire feeder
311.9
High power type
215.5 268.6
Through-arm External
torch cable type torch cable type
Separate type
Separate type
4 x M8 x 1.25, Depth 20
(Unit: mm)
OM1304038E07 17
Specifications
2.5.2 Robots with short arm (TM-1100)
● Floor type
Wire feeder
Standard type
External
Through-arm Separate
torch cable type
317.5 370.6
.4
83
Wire feeder .2
R3
33
R4
High power type
6
62.
362.3
R4
315.1
364.8
268.6
External
Through-arm Separate torch cable type
4 x M8 x 1.25, Depth 20
(Unit: mm)
18 OM1304038E07
Specifications
2.5.3 Robots with long arm (TM-1800)
● Floor type
48 69
R3 R3
Wire feeder
Standard type
Through-arm Separate, External

単位：
［mm］
OM1304038E07 19
Specifications
2.6 Work envelope drawings

2.6.1 Standard arm (TM-1400)
Point P (Work envelope): Point O (Work envelope):

Sectional area: 5.69 m2 Sectional area: 5.38 m2
(* For positions of “Point P” and “Point O”, please refer to the drawing of “Work envelop (2)”.)
(Unit: mm)
TM-1400 Work envelop (1)
20 OM1304038E07
Specifications
Point O (Work envelope):

Sectional area: 3.52 m2
Point P (Work envelope):
(Unit: mm)
OM1304038E07 21
Specifications
2.6.2 Short arm (TM-1100)
Point P (Work envelope): Point O (Work envelope):

Sectional area: 3.53 m2 Sectional area: 3.27 m2

(Unit: mm)
22 OM1304038E07
Specifications


TM-1100 Work envelop (2) (Unit: mm)
OM1304038E07 23
Specifications
2.6.3 Long arm (TM-1800)


(Unit: mm)
24 OM1304038E07
Specifications
Point P
Point O

TM-1800 Work envelop (2) (Unit: mm)
OM1304038E07 25
Specifications
2.7 Maximum payload

2.7.1 Limitation of the load on the wrist axis
(1) The maximum payload is 6 kg including the weight of
the bracket to transfer the load.
(2) To use the robot for other than arc welding such as
handling, follow the restrictions in table
below.
Axes Eccentric load Load inertia

Rotation (RW) 12.2 N•m (1.24 kgf•m) or less 0.283 kg•m2 (0.028 kgf•m•s2) or less
Bending (BW) 12.2 N•m (1.24 kgf•m) or less 0.283 kg•m2 (0.028 kgf•m•s2) or less
Twist (TW) 5.29 N•m (0.54 kgf•m) or less 0.057 kg•m2 (0.005 8 kgf•m•s2) or less
Assuming the load is concentrated at the load center, the

limits of mounting dimensions are as follows.
(2) (1): BW rotation center

(1) (2): Load center
(3): TW rotation center
(3)
TM-1400, TM-1100, TM-1800
W=1.5 kg
W=3.0 kg
W=4.5 kg
W=6.0 kg
TW origin
26 OM1304038E07
Specifications
2.7.2 Mounting system accessories on the forearm axis

The forearm axis has the space to mount system accesso-
ries. (See the figures below.)
Note
Mount the cable hanger and bracket and so on carefully
not to interfere with the arm.
B A
A B
TM-1400
38 160.7
TM-1100
TM-1800 13 185.75
4 x M5 x 0.8, Depth10.5
6 x M6 x 1, Depth12
2 x M6 x 1
Depth12
2 x M6 x 1
Depth14
(Unit: mm)
OM1304038E07 27
Specifications
2.7.3 Limitation of the load on the forearm

The maximum weight (W2) of the system accesso-
ries installed on the forearm axis must be within the
range shown in the graph below including the load on
the wrist axis (W1).
W2
(1)
W1
(1): Distance from FA rotation center (L)

(2): FA rotation center
(2)
(The above is the figure of TM-1400.)
TM-1400, TM-1100, TM-1800
W1=0 kg
W1=3.0 kg W1=1.5 kg
W1=4.5 kg
W1=6.0 kg
28 OM1304038E07
Specifications
2.8 Collision detection

The welding robots “TAWERS” are equipped with highly-
sensitive collision detection function.
Note
The function stops the robot instantaneously by our new The following can result in false collision detection:
collision detection method based on kinematics. At the • Incorrectly set load parameters
same time, the robot becomes flexible (flex mode). • In cold climates, false collision detection may occur on
In these ways, impact and property damage by a collision the initial start-up of the day. Although the ambient tem-
can be minimized. perature gets warmer if the temperature inside the robot
is low, the grease viscosity is high. The thick grease
Refer to the operating instructions [Operation] for details. causes to put an extra load on the motor, resulting in
false collision detection. If occurred, either execute
warm-up operation or decrease the sensitivity.
• This function is provided to reduce the impact of colli-
sion. It does not guarantee troubleproof.
2.9 Mounting plane of protective fixture

To use the robot for handling operation, mount a protective the system accessories when they interfere with each other
fixture (mechanical fuse) instead of shock-type torch holder by wrong operation.
for welding operation.This prevents damage to the robot or The following figures show dimensions of the robot wrist
flange. Use 4-M5 screws to mount the protective fixture.
View from A C-C cross-section

2.5 (Max. length of fitting: 1.5)
4dia. H7 Depth 4
4 x M5 x 0.8 Depth 10
P.C.D.60 equipartition
(Unit: mm)
OM1304038E07 29
Specifications
2.10 Stopping time and stopping angle

The following graphs show the stopping time*1) and stop-
ping angle*2) of each axis when a stop signal is turned on
during operation. The stop signal includes a signal from an
emergency stop switch, a limit switch and so on.
*1)The stopping time: the time from when a stop is pressed

till when the each axis comes to a stop.
*2)
The stopping angle: the angle of each axis rotates during
stopping time.
2.10.1 Stopping time 2.10.2 Stopping angle

（1）RT axis (at max. loaded position) （1）RT axis (at max. loaded position)
25
300
Wrist load: 33%, 66%, 100%
250 20
Stopping time (ms)
Stopping angle (°)

200 15
10
100
5
Wrist load: 33%, 66%, 100%
0
0
0 50 100 150 200 225 0 50 100 150 200 225
Speed (°/s) Speed (°/s)
（2）UA axis (at max. loaded position) （2）UA axis (at max. loaded position)
300 25
Wrist load: 33%, 66%, 100%
250
20
Stopping time (ms)
Stopping angle (°)
200
15
10
100
5
Wrist load: 33%, 66%, 100%
0 0
0 50 100 150 200 225 0 50 100 150 200 225
（3）FA axis (at max. loaded position) （3）FA axis (at max. loaded position)
300
25
250 Wrist load: 33%, 66%, 100%
Stopping time (ms)
20
Stopping angle (°)
200
15
10
100
5
Wrist load: 33%, 66%, 100%
0 0
0 50 100 150 200 225 0 50 100 150 200 225
30 OM1304038E07
Transportation
3. Transportation
CAUTION
Only qualified personnel should operate a crane or a forklift to transport the manipulator.
When transporting the manipulator, follow the instructions contained in this document.
Applying undue force to the robot arms or motors can cause the manipulator to malfunction.
Note
• Use a crane to transport the manipulator for installation or re-installation.
• Prior to transportation, remove accessories, such as welding torch to avoid damage to the equipment.
• At the time of transportation, take measures to avoid arm’s fall, for example, provide support for the arm.
3.1 TM-1400, TM-1100

Hang the manipulator with wires through the two eyebolts
as illustrated in the figure on the right.
Axes position at transportation

Axis name Angle
RT 0°
UA -60°
60°
FA -60°
RW +90°
BW -90°
TW 0°
(For floor installation type.)
Note
If you lose or break the eyebolt, purchase Panasonic
genuine one for safe transportation.
3.2 TM-1800
Position the manipulator for transportation and then hang it
with wires through the two holes for lifting as illustrated in
the figure on the right.
Axes position at transportation

Axis name Angle
RT 0°
UA -45°
FA -45° 45°
RW 0°
Hole for lifting
BW -90°
TW 0°
(For floor installation type.)
OM1304038E07 31
Installation
4. Installation
CAUTION
Only qualified personnel should perform installation work.
Installation work involves risk and is important for safe work environment.
4.1 Choosing an installation site

(1) What you need to prepare (c) A site relatively free of humidity, dust, or lamp-
(a) Base for the robot black.
(b) Foundation for the robot installation, concrete and (d) A site free of combustible or corrosive gas.
coating, piping and piping pit (e) A site where no obstructions present within the
(c) Primary power wiring work envelope of the manipulator.
(d) Grounding (f) A site easily accessible in case of inspection or
(e) (Provide 100  or less grounding exclusively) disassembly.
(f) Piping for shield gas outside of the system (g) A site relatively free of shock and vibration.
(g) Interface and connection between jig and robot (h) A site where no electrical noise source exists.
controller *If a significant noise source such as plasma or
high frequency exists at or around the installation
(2) Installation site
site, please consult us in advance.
(a) A site where ambient temperatures are as follows
(i) Install indoors
and away from direct sunshine.
(j) Avoid installing at sites where water or rain is
• In operation: 0 ℃ to 45 ℃ around.
• In transit or in storage: -25 ℃ to 60 ℃
(k) 1 000 m ASL or less
(b) Be sure to locate the controller close to but outside
of the work envelope of a manipulator. (3) International protection code (IP rating)
• Manipulator: Equal to IP40
• Wire feeder: Equal to IP20
4.2 Strength requirement of the foundation

Install the manipulator to the foundation that can resist
weight of the jig and the manipulator and the following
maximum reaction force of the moving manipulator.
Note
Do not install the manipulator to a poor strength founda-
tion.
If the foundation is not strong enough to support the manip-
ulator, make sure to reinforce it.
Maximum reaction force of the manipulator

TA series Models TM-1400 TM-1100 TM-1800
Vertical moment (N•m)
4 000 3 000 5 100
Maximum reaction (In the direction of UA axis rotation)
force in operation Horizontal moment (N•m)
3 000 2 100 3 900
(In the direction of RT axis rotation)
32 OM1304038E07
Installation
4.3 Floor type

Install the robot manipulator firmly and securely.
(4) (6)
About foundation:
• If the concrete part of the floor is 150 mm or more thick,
the floor can be used as the foundation for the installa- (5)
tion.
• If the concrete part of the floor is less than 150 mm thick,
(1) (3)
dig out the installation site for foundation.
• If the floor is not flat, apply shim plates of 100 mm- (2)
square or more to four corners of the robot base.
(1): Concrete (2): Boulder
(3): 150mm or more (4): 450mm or more
How to transport the manipulator to the installation site: (5): 300mm-square (6): 4-M16,depth 60mm or more
(1) Hook the wires through the eyebolts or holes on the
UA body. 300-square
(2) Lift and transport the robot manipulator to the installa- 115±0.05 18 dia. (4 holes)
tion site.
Note
160±0.05
Prevent the wires from touching any part of the manipula-
tor.
How to install the manipulator:
160±0.05
(1) To fix the manipulator, use the four holes at the cor-
ners.
(2) Use the two holes (12 dia. H7) for positioning if neces-
sary.
115±0.05 2 dia. H7 (2 holes)
(Unit: mm)
<CO2 / MAG / Handling> <TIG / Air plasma cutting>

Hexagon bolt
Spring washer Hexagon socket head cap screw
Washer
Spring washer
Insulating tube
Washer
Insulating washer
Insulating base
Note Note
Use the supplied four hexagon bolts (M16x75) to install the • For TIG, plasma welding or air plasma cutting
base. (Tightening torque: 106 N•m). which use insulating unit to block high-frequency
noise, prepare the installing holes of 40 mm depth
or more.
• Use the supplied four hexagon socket head screws
(M12x75) to install the base. (Tightening torque: 90
N•m)
OM1304038E07 33
Installation
4.4 Ceiling type
CAUTION
Only qualified personnel should perform installation to ceiling to prevent the robot from falling.
Install the robot manipulator firmly and securely.
(3) (5)
About foundation:
• Use the steel sheet of 25 mm thick or more for mounting (4)
surface.
• If the mounting surface is not flat, apply shim plates of (2)
100 mm-square or more to four corners of the robot
base.
(1)
How to transport the manipulator to the installation site:
(1) Hook the wires through the eyebolts or holes on the
UA body. (1): Safety fitting (2): 25 mm or more (3): 450 mm or more
(2) Lift and transport the robot manipulator to the installa- (4): 300 mm-square (5): M16, 60 mm deep or more (4 holes)
tion site. 300-square
Note 115±0.05 18 dia. (4 holes)
Prevent the wires from touching any part of the manipula-
tor.
160±0.05
How to install the manipulator:

(1) To fix the manipulator, use the four holes at the cor-
ners.
(2) Use the two holes (12 dia. H7) for positioning if neces-
160±0.05
sary.
(3) Make sure to set the safety fitting to prevent falling.
Note
Take away an unused manipulator to prevent falling.
Do not leave it hanged. 115±0.05 12 dia. H7 (2 holes)
(Unit: mm)
<CO2 / MAG / Handling> <TIG / Air plasma cutting>
Insulating base
Insulating washer
Washer
Insulating tube
Washer Spring washer

Spring washer
Hexagon bolt Hexagon socket head cap screw
Note Note
Use the supplied four hexagon bolts (M16x75) to install the • For TIG, plasma welding or air plasma cutting which use
base. (Tightening torque: 106 N•m) insulating unit to block high-frequency noise, prepare
four M12 installing holes of 40 mm depth or more.
• Use the supplied four hexagon socket head cap screws
(M12x75) to install the base. (Tightening torque: 90 N•m)
34 OM1304038E07
Installation
4.5 Safety fence

Install the robot where the end effector attached to the (c) Close approach to the robot when the power is
robot arm does not touch the side wall(s), safety fence, or available at the robot actuators.
controller when it extended completely. (d) The robot cannot control its emergency stop posi-
The safety fence must meet the following requirements: tion precisely because it depends on the energy of
(1) The safety fence must be strong enough to resist the robot motion.
vibration, impact, and other conditions caused by oper-
ation. Note
(2) The safety fence must be strong enough to resist max- The robot system must be designed, constructed, and
imum possible impact of the clash within the maximum installed so that the failure of any single component,
payload weight of the robot. whether electrical, electronic, mechanical, pneumatic, or
(3) The safety fence must be easily adjustable and remov- hydraulic, does not affect the safety functions. Even if
able, and difficult to get over. some of the safety functions are affected, the robot system
must be kept in a safe condition.
(4) The safety fence must have no dangerous part such
Safety functions must include, but are not limited to, the fol-
as sharp edges or projections.
lowing:
(5) The safety fence must be secured to the ground. • Limitation of range of motion
(6) The safety fence with a door must be provided with
interlocking system between the door and the robot.
• Emergency or safety stop
The interlocking system must take the following into • Reduced speed operation
consideration:
• Safeguard interlocking.
(a) The size, capacity, and speed of the robot.
(b) Potential risks during the installation, program-
ming, operation, trouble shooting and mainte-
nance of the robot system.
 Interlocked door
500 mm or more
Safety fence
End effectorー
Manipulator
500 mm or more 500 mm or more
Max. work envelope of the

manipulator including
attached end effector
500 mm or more
Interlocked door Robot controller
OM1304038E07 35
Installation
(7) When installation of safety fence is impossible and an requirements of standard EN ISO 13855. Failure to
operator is within the working work envelope of the install the safety fence can create additional risks.
robot, stop the robot system by installing area sensor
or high-sensitive mat at every place within reach of the
robot system. The system integrator must meet the
 Shading curtain (or pressure sensitive mats)
Robot controller Interlocked door
Safety fence 500 mm or more
Manipulator
Shading curtain
The minimum distance from the danger zone can be calculated by the following formula.
S=(K x T) + C
where:
S is the minimum distance in millimeters, from the danger zone to the detection point, line, plane or zone;
K is a parameter in millimeters per second, derived from data on approach speeds of the body or parts of the body;
T is the overall system stopping time in seconds (see also stopping time in section “4.1 Specifications” of this document);
C is an additional distance in millimeters, based on intrusion towards the danger zone prior to actuation of the protective
equipment.
For more details, see standard EN ISO 13855.
 Safety fence is not a rectangle, but an asymmetric shape

500 mm or more
Safety fence
Manipulator
500 mm or more
500 mm or more
500 mm or more
Robot controller
Interlocked door
36 OM1304038E07
Installation
4.6 Adjustment
To ensure a safe area, limit the working range of the RT
axis.
4.6.1 TM-1400, TM-1100

Adjust the position of the stopper bolt for appropriate operating instructions [Operation].) The stopper bolt is pre-
limitation, and then adjust the parameters of the soft-limit positioned for the working range of ±170° as the figure
accordingly. (Refer to the section “Soft limit settings” of the below.
RT cushion
RT dog base
Limit dog
Flat-head
spring washer
Stopper bolt
(M10x20)
Factory settings at shipment

RT axis is provided with 11 holes equally spaced (i.e. 30° (RT axis: top view)
intervals) for the stopper bolt. (See the figure on the right.) -170°
Front 30°
To adjust working range, change positions of the pre-
installed stopper bolt (M10x20). Then the work envelope of
the RT axis will be limited to the range between the stopper
bolt and RT cushion. (See the figure on the right.)
* A set of stopper bolt, flat-head spring washer, RT dog

+170°
base is provided as accessory in addition to the factory-
(Example) Set the work envelope of RT axis to ±80°
installed ones.
Also see section 6.2 Adjusting the limit switches for details. -80°
Front
+80°
OM1304038E07 37
Installation
4.6.2 TM-1800
Adjust the position of the RT stopper for appropriate
limitation, and then adjust the parameters of the soft-limit
accordingly. (Refer to the section “Soft limit settings” of the
operating instructions [Operation].) The RT stopper is pre-
positioned for the working range of ±170° as the figure
below.
Stopper bolt
RT stopper
M4 bolt
Limit dog
Flat-head
spring washer
M12 bolt
Factory settings at shipment

RT axis is provided with 11 holes equally spaced (i.e. 30° (RT axis: top view)
intervals) for the RT stopper. (See the figure on the right.) -170°
30 °
Front
A set of stopper bolt, flat-head spring washer, RT dog base
is provided as accessory in addition to the factory-installed
ones.
To adjust working range, change positions of the pre-

installed stopper bolt. Then the work envelope of the RT
axis will be limited to the range between the stopper bolt +170°
and the RT stopper. (See the figure on the right.)
(Example) Set the work envelope of RT axis to ±80°
-80°
Also see section 6.2 Adjusting the limit switches for details.
Front
+80°
38 OM1304038E07
Installation
4.7 Mounting holes for zone monitoring jig

4.7.1 TM-1400, TM-1100
The manipulator is provided with four mounting holes for
customer designed “zone (work envelope) monitoring jig”
for RT axis.
UA body
RT base
4xM6, 18 depth
A-A
(Unit: mm)
OM1304038E07 39
Installation
4.7.2 TM-1800
The manipulator is provided with four mounting holes for
customer designed “zone (work envelope) monitoring jig”
for RT axis.
UA body
RT base
4xM6 Through-hole
A-A
(Unit: mm)
40 OM1304038E07
Connection
5. Connection
5.1 Connecting the manipulator to the controller
The production number of the manipulator and the control-
ler must be the same. Check the production numbers first. Fixing lever Cable connector (controller side)
(1) Connect the cable connector of the controller to the
connector of the manipulator.
(2) Push in the cable connector until the gap between the
connectors becomes 1 mm or less.
(3) Push down the fixing lever in the direction of the arrow
to fix the connection.
(4) Check that the connector is fixed securely. Insert the cable connector
until the space between
Note connectors becomes
Push in the connector completely. If the gap between the 1 mm or less.
connector is more than 1 mm and the fixing lever is pushed
down forcibly, the joint of the connector could be shifted, Fixing lever
Cable connector (manipulator side)
which can damage the pins.
The allowable bending radius of connecting cable is 185
mm or more.
5.2 Grounding
CAUTION
To avoid electric shock, provide grounding to the protective earth terminal (PE) of the robot con-
troller exclusively. Check the grounding before operation.
Two 14 mm2 (AWG6) Green/yellow wires are provided for

grounding as accessory. Grounding Additional protective
Countries
resistance conductor
Note
Japan 100 ohm or less 14 mm2 or more
For sizes of the protective conductors for other devices, fol- EU 100 ohm or less 14 mm2 or more
low the instructions of the each device. USA 0.1 ohm or less AWG6 or more
The others Conform to all national and local codes
OM1304038E07 41
Connection
<CO2 / MAG / Handling>

Factory ground cable
Provide required grounding exclusively

200 VAC 200 VAC (Separate grounding work near the controller.)
Protective grounding conductor
For safety, connect ground

14 mm2 or more* cable without fail.
(Two cables are provided.)
Other unit Controller Manipulator

* For the size of the protective
ground conductor, follow the
local codes where the product
Cable is installed.
Teach
pendant PE terminal FE terminal
<TIG / Air plasma cutting>

Factory ground cable
Provide required grounding exclusively
AC200 V AC200 V (Separate grounding work near the controller.)
Protective grounding conductor

14 mm2 or more*
14 mm2 or more* Provide required grounding exclusively

(Separate grounding work near the manipulator.)
●
Manipulatorー
Other unit Controller
Cable
Teach
pendant FE terminal
PE terminal
42 OM1304038E07
Connection
5.3 Connecting wire feeder (for WGIII type)

5.3.1 Floor installation type
CAUTION
When mounting or removing the feeder bracket, be careful not to drop the bracket off the
manipulator, which causes injury or damage to the equipment.
• Before connecting the welding torch, remove the stopper
plate (AFP41217).
• Keep the removed stopper plate for future use.
The manipulator is applicable to both external torch cable

type and through-arm torch cable by changing the feeder
bracket.
The feeder bracket for through-arm torch cable type is fac- Bracket for through-arm Bracket for external
tory-installed to the manipulator. To use the manipulator as torch cable type torch cable type
the external torch cable type, replace the attached bracket (Factory-installed) (Accessory)
with the one for external torch cable (provided as an acces-
sory).
Set the torch cable settings based on the torch cable rout-
Flexible conduit
ing type. For details, refer to the operating instructions Stopper plate
[Operation].
Fixing screw
(1) Connect the welding torch to the wire feeder and fix it. (M5x10)
Flexible conduit fitting
(2) Connect the signal cable of the welding torch to the
user cable connector of the wire feeder.
Flexible conduit socket part
(3) Connect one end of the gas hose (AWG41018) to the
gas outlet of the manipulator and the other end to the
gas inlet of the welding torch. Signal cable
<Note> User cable connector
Connect the torch so that gas inlet and user cable are
placed on the upper side.
(4) Install socket of the flexible conduit to the “Flexible

conduit fitting”. When “Flexible conduit fitting” rotates Torch
together with the socket, tighten the fixing screw fixing bolt
(M5x10) more.
Note How to lock and unlock flexible conduit Gas hose
To lock or unlock the flexible conduit, turn the socket.

Gas outlet
Be sure the conduit is locked when the robot is moving.
Unlock the conduit when you connect or disconnect the
conduit.
LOCK
UNLOCK
OM1304038E07 43
Connection
5.3.2 Ceiling installation type
CAUTION
This section explains the connection procedure for using the wire feeder of the external torch cable type for Ceiling installation
type.
To use the wire feeder of the through-arm torch cable type, the connection procedure is the same as that of floor installation
type.
Please refer to the previous section, ”5.3.1 Floor installation type”.
Note
Set the torch cable settings based on the torch cable rout- Flexible conduit socket part
ing type. For details, refer to the operating instructions Flexible conduit fitting
Gas inlet
[Operation].
(1) Connect the welding torch to the wire feeder and fix it.
Flexible
(2) Connect the signal cable of the welding torch to the
conduit
user cable connector of the wire feeder.
(3) Connect one end of the gas hose (AWG41018) to the

Gas outlet
Bracket for ceiling
gas inlet of the welding torch. installation type G1
<Note> Bracket for ceiling
Connect the torch so that gas inlet and user cable are installation type G2 Torch fixing
Bracket RW bolt
Fixing screw（M5x10）

conduit fitting”. When “Flexible conduit fitting” rotates User cable connector
together with the socket, tighten the fixing screw
(M5x10) more.
Note How to lock and unlock flexible conduit

Flexible conduit can be locked by rotating its socket to
prevent coming off when the robot is moving.
Select “UNLOCK” when you install or uninstall the flexi-
ble conduit.
LOCK
UNLOCK
5.3.3 Pull feeder type (active wire feed process)

For connection, refer to the operating instructions of the
applied torch.
44 OM1304038E07
Connection
5.4 Connecting wire feeder (for WGHIII type)

5.4.1 Floor installation type
CAUTION
• Before connecting the welding torch, remove the stopper
plate (AFP41217).
• Keep the removed stopper plate for future use.
The feeder is factory installed for the through-arm torch

cable application.
Bracket for external
It is possible to switch to the external or separate torch torch cable type
cable application by changing bracket for the applied torch (Accessory)
application.
Set the torch cable settings based on the torch cable rout-
ing type. For details, refer to the operating instructions 4-M6x15 (Accessory)
[Operation].
(For TM-1800, the external torch cable type is not applica-
ble.)
(1) Connect the welding torch to the wire feeder and fix it. Stacking order from above:.
Insulation cap
M6x25 bolt
(2) Connect the signal cable of the welding torch to the Insulation bush
user cable connector of the wire feeder. Flat washer
Bracket
Insulation sheet (red) Do not use these
(3) Connect one end of the gas hose (AWG41018) to the two holes.
Insulation sheet (clear)
gas inlet of the welding torch.
<Note>
Connect the torch so that gas inlet and user cable are

User cable
conduit fitting”. When “Flexible conduit fitting” rotates
connector
together with the socket, tighten the fixing screw
(M5x10) more.
Gas outlet
Note How to lock and unlock flexible conduit

Flexible conduit can be locked by rotating its socket to Flexible conduit socket part
prevent coming off when the robot is moving. Flexible conduit fitting
Select “UNLOCK” when you install or uninstall the flexi-
ble conduit. Flexible conduit
LOCK
UNLOCK
Fixing screw (M5x10)
Torch Stopper plate

fixing bolt
OM1304038E07 45
Connection
5.5 Connecting wire feeder (for GIII type)

Remove the CG cover at the rear side of the RW body, and
then connect the cable of the applied wire feeder.
For details, please refer to the operating instructions of the CG cover
wire feeder.
RW body
5.6 User cable connector (for handling type)

• The manipulator is equipped with D/MS3102A22-14S
user cable connector.
• Prepare D/MS3106B22-14P counter connector and
also prepare cable clamps.
Note
• Recommended counter connector manufacturer: Dai-
Ichi Electric Co., Ltd
• For connection specifications, see the table in the next
page.
User cable connector
46 OM1304038E07
Connection
Specifications of user cable connection
　Connectors of the controller side

Connectors of the manipulator side
(D/MS3102A22-14S) (A：D/MS3102A20-29P)
(B：D/MS3102A16-8P)
Pin Signal name Allowable Remarks Connector Pin

value
A FD- E (NC) (Note 1) 100 VAC / 3 A - -
Feeder motor power (FD-M)
B FD- U phase (+) 100 VAC / 3 A A M
( ) is a signal name used when full
C FD- V phase (-) 100 VAC / 3 A A A
digital welding power source is used.
D FD- W phase (NC) 100 VAC / 3 A A B
E - - - -
F FD- R1 (NC)　 (Note 2) 24 VDC / 1 A A T
G FD- R2 (NC)　 (Note 2) 24 VDC / 1 A A N
H FD- S2 (5V) (Note 2) 24 VDC / 1 A A J

Feeder motor encoder (FD-RS)
J FD- S4 (GND) 　(Note 2) 24 VDC / 1 A A G
( ) is a signal name used when full
digital welding power source is used.
K FD-S1 (Sig1)　 (Note 2) 24 VDC / 1 A A K
L FD- S3 (Sig2) 　(Note 2) 24 VDC / 1 A A H
M FD shield (Note 1) 24 VDC / 1 A - -
N Safety holder (+) 24 VDC / 1 A - -

Safety holder signal（SH)
U Safety holder (-) 24 VDC / 1 A - -
R Auxiliary 1 (+) 24 VDC / 1 A B (Note 3) C

Auxiliary (SH)
S Auxiliary 1 (-) 24 VDC / 1 A B (Note 3) D
V Gas valve 2 ＋ 24 VDC / 1 A B (Note 3) A

Gas valve (GV2)
T Gas valve 2 － 24 VDC / 1 A B (Note 3) B
P FD FB1 100 VAC / 3 A Voltage feedback (FB) A D
- Gas valve 1 ＋ - Built-in gas valve A E
- Gas valve 1 － - Built-in gas valve A F

(Note 1) These pins are for flame ground (FG) and connected to the flame of the controller.
(Note 2) These pins are connected to full digital welding source and also available for handling robot.
(Note 3) These connectors are sold separately. For details, refer to the “Operating Instructions [Operation]”.
OM1304038E07 47
Connection
5.7 Using gas valve (for handling type)

• The gas hoses of the handling robot are not factory-
connected to the gas valve. Quick connect joint
φ6 gas hose
• To use the gas valve equipped in the manipulator, φ8 gas hose
disconnect the gas hoses connected to each other by
quick-connect joint, and then connect the gas hoses to
the gas valve.
Factory-connected gas hoses in manipulator
φ8 gas hose
φ6 gas hose
5.8 Installing feed rollers and a welding wire

(1) Install feed rollers on the wire feeder.
< Note > Pressure nut Pressure nut

Pressure arms
Each feed roller has two grooves for each wire size.
Install the feed rollers so that chosen wire size is dis-
ＡＡ
played on outside face of the feed rollers. Ａ
(2) Install a welding wire.

(a) Lift up the pressure arms and insert the wire into
the CC fitting by 20 mm to 80 mm.
Conduit
(b) Return the pressure arms and lock them with the
cable fitting
pressure nuts. Stainless tube
Feed roller
(3) Adjust wire pressure to the wire with the pressure nuts.
Match the bottom face of the pressure nut with the indi-
cation of the applied wire size.
Pressure nut
Indication of wire sizes
48 OM1304038E07
Connection
5.9 Wire inching

(1) Turn on the robot controller.
(2) Select the TEACH mode.
(3) On the user function menu bar, turn on the (Wire/

gas check) key for wire/inching gas check.
(4) Turn on the servo power of the robot
(5) Press the wire (Wire feed forward) key of the func-
tion key. Hold down the key until the wire comes out 1
cm to 2 cm from the tip. Then release the key.
Note
Refer to the operating instructions [Operation] of the teach
pendant for how to change the wire feed speed.
OM1304038E07 49
Electrical equipment and wiring parts
6. Electrical equipment and wiring parts

6.1 Location of the limit switches
For each of RT-axis, UA-axis and FA-axis of the manipula-
tor, the limit switch that detects over-travel is pre-installed
or is mountable after shipment.
Model
RT-axis UA-axis FA-axis
group
T/Y/H Pre-installed Optional Optional
FA-axis: UA-axis:
R/E Pre-installed Pre-installed Pre-installed Limit switch Limit switch
RT-axis:
Limit switch
50 OM1304038E07
6.2 Adjusting the limit switches

To limit the working range of each axis, adjust the limit At the same time, contact Panasonic authorized service
switches as the following procedure. personnel and adjust the parameters of the soft-limit (soft-
ware limit).
6.2.1 Adjusting the RT-axis limit switch

<TM-1400,TM-1100> <TM-1800>
RTstopper, Limit dog

mounting position at shipment
RT dog base, Limit dog

mounting position at shipment
(1) Remove one of the pre-installed limit dogs.
(2) Change the position of the installed RT dog base or RT < TM-1400, TM-1100 >
stopper to a desired position. Then install the limit dog
back in place.
RT dog base
Note (Factory installed)
• Readjust the limit dog so that its gliding surface turns on
the limit switch.
• Also see section 4.6 Adjustment.
Limit dog Remove
(Factory installed) one side
Limit dog mounting bolt
Direction of movement
Gliding surface
Limit switch
< TM-1800 >

RT Stopper
(Factory installed)
Limit dog
(Factory installed) Remove
one side
Limit dog mounting bolt
Direction of movement
Limit switch Gliding surface
OM1304038E07 51
6.2.2 Adjusting the limit switches of UA and FA axes

Adjust the position of the limit dog of each axis for
the preset working range of the axis.
TM-1400, TM-1100 TM-1800
FA axis: total 12 holds Limit dog FA axis: total 22 holds Limit dog
(Factory-installed position) (Factory-installed position)
Location of limit switch Location of limit switch
UA axis: total 13 holds UA axis: total 13 holds
Location of
limit switch
Location of
limit switch
Limit dog (Factory-installed position) Limit dog (Factory-installed position)
52 OM1304038E07
6.3 Connecting cables and gas hoses
CAUTION
• Mishandling of compressed air is dangerous. Follow the product specifications and have experienced personnel
who understand compressors to perform maintenance.
• When removing air or gas equipment, make sure measures have been taken to ensure the equipment does not fall
or run unexpectedly. Then stop air and power supply, and exhaust compressed air in the system.
Signal cables and a gas hose are incorporated in the manipulator,

which makes the welding system more compact.
(1) Incorporated gas hose:

(a) Maximum working pressure: 0.58 MPa
User cable connector
(84.1 PSI, 5.8 bar)
2 1
(b) Hose inner diameter: 5 mm
(2) Gas outlet connector: 4
The gas hose connector KQ2LE06-00A is attached to the
manipulator.
(a) Connectable hose diameter: 6 mm
(b) Manufacturer: SMC
(3) Gas inlet connector:
The gas inlet connector PMF8-02 is attached to the manipulator. 3 5
(a) Connecting hose diameter: Rc1/4(PT1/4)
(b) Manufacturer: NIHON PISCO Gas outlet connector
Air outlet connector
(4) Incorporated air hose (only for TM-1800): (Only for TM-1800)
(a) Maximum working pressure: 0.58 MPa
(84.1 PSI, 5.8 bar)
(b) Hose inner diameter: 5 mm
(5) Air outlet connector:
The air outlet connector KQ2LE08-00A is attached to the
manipulator.
(a) Connecting hose diameter: 8 mm
(b) Manufacturer: SMC
(6) Air inlet connector:
The air inlet connector PMF8-02 is attached to the manipulator.
(a) Connecting hose diameter: Rc1/4(PT1/4)
(b) Manufacturer: NIHON PISCO Power cable terminal Rubber cover
(7) User cable connector:
The user cable connector CM02-8DR5P(D3) is attached to
the wire feeder.
(a) Corresponding female connector:
CM02A-8DP5S(02)D2 or equivalent.
(b) Recommended manufacturer: DDK Ltd.
.
Pin No. Signal Current/Voltage
M8 bolt
1 OPT1+
2 OPT1- Power cable
24 VDC,1 A or less
3 OPT2+
RT axis grease inlet
4 OPT2-
Gas inlet connector
5 OPT3 100 VAC, 3 A or less
Air inlet connector
(8) Power cable:

(a) Pass the power cable through rubber cover AWK41018 Note
and bind them together with a nylon tie or the like. • Fix the rubber cover to the power cable with the nylon tie or the
(b) Connect the power cable to the terminal with the pro- like so that the live electrical part is not exposed.
vided M8 bolt. • The maximum applicable current to the terminal is as follows:
( Recommended tightening torque: - Standard type: 350 A
10.1 N•m to 13.4 N•m.) - High current type: 500 A (at 80 % duty cycle)
(c) Insulate the terminal with the robber cover. • Do not connect the gas hose or air hose to the RT axis grease
Use a nylon tie or the like to fix them.
inlet.
OM1304038E07 53
6.4 Internal wiring
(4)
Lamp harness
(3)
Swiveling harness
Power cable
BAT harness
(2)
(1) (5)
When replacing harnesses, apply grease to new ones according to the following table.
No. Application areas Application quantity Grease name
(1) RT-axis rotation part 20 g- 25 g Alvania S2
(2) UA-axis rotation part Grease applied
(3) FA-axis rotation part Grease applied
(4) RW-axis rotation part 2 pushes SUMIGREASE SPRAY 259664
(5) Power cable 20 g- 25 g Alvania S2

(Note) - The “Lamp harness” is for servo ON indicator lamp. For details, please refer to section “6.6 Servo-ON
indicator lamp”.
54 OM1304038E07
For motor power
Harting
Housing
Insert (Male)
OM1304038E07
Singal Color
Phase U Red
Phase V White
(Phase)
Phase W Black
U Red
G/Y V White White
W Black Black
Note: Only for CE or UL (RIA)
Phase U Red compliant unit
Phase V White
Phase W Black (Phase)
G/Y U Red
V White
W Black
Phase U Red
Phase V White
(Phase)
Phase W Black U Red
G/Y V White
W Black
Phase U Brown
Phase V Gray
Phase W Purple (Phase)
G/Y U Brown
V Gray
W Purple
Phase U Red
Phase V White
G/Y U Red
V White
W Black
Phase U Brown
Phase V Gray
Phase W Purple (Phase)
G/Y U Brown
V Gray
W Purple
White
Black
White White
Black Black
Red Red
Black Black
Blue FD-FB Blue

Phase U Red
Phase V White
Yellow (U Red Black
Yellow (V White
Gray
Gray W Black
Mechanical grearth Yellow

55
56
Blue
Black
Blue Brown
White
Blue
White White
Battery
(6pcs.)
White
Gray
White
For encoder
Harting
Housing Blue
Insert (Male)
PIN# Signal name Color
Blue Blue Blue
Blue
White White White
White
Gray Gray Blue
White White White
Blue Blue
White White
Gray Gray
Gray Gray
White White White White Blue
Blue Blue
White Black
White
Gray Gray
White White
Blue
Black
Blue Blue
White White
Blue
White
Gray Gray
Blue
White White
Black
Blue Blue
White White
Gray Gray
White White
Yellow
White White
Gray Gray
White White
Yellow
White White
White
Blue Blue
White White
Red
Black Limit switch
Gray (UA axis)
Limit switch
Limit switch
(UA axis)
* Optional * Optional
(Connect standard connect) (Connect standard connect)
OM1304038E07
6.5 Manual brake release switch

T/Y/H Sold separately
R/E Standard equipment
CAUTION
When releasing a brake, do not stay under the robot arm.
Descending robot arm due to gravity drop can cause serious injury or damage to the equip-
ment.
The manual brake release switch is installed on RT- body.
(See the right figure.) Take the following steps to release
brake of each axis manually:
RELEASE-SW
(1) Make sure to press the emergency stop switch.
(2) Turn ON the breaker of the controller.
(3) Turn the axis select switch to the axis name and then
press the RELEASE-SW (release switch) on the side
of the UA arm body together to release the brake.
Note
• RT, UA and FA axes brakes can be released individually.
• RW, BW and TW-axes brakes are released all together. RT・WRIST UA・FA
Axis switch Axis switch
6.6 Servo-ON indicator lamp

T/Y/H Sold separately
R/E Standard equipment
The servo-ON indicator lamp lights up when the servo

power for the manipulator it turned on.
The lamp indicates that the manipulator has the potential to
move, therefore, the manipulator is not necessarily in
motion when the lamp is on.
Servo ON
indicator lamp
OM1304038E07 57
Settings
7. Settings
7.1 Installation and adjustment of welding torch
WARNING
In case of working near the robot, observe the following instructions to prevent an acci-
dent.
• Prior to turning on the servo power switch, check and confirm no personnel is in the robot work enve-
lope.
• Prior to operating the robot, make sure that there is no personnel and no obstacle in the robot work
envelope.
• Prior to working close to the robot, turn off the servo power switch.
Note
For TM-1800, use gauge to adjust the torch position. For
details of adjustment procedure, please refer to the operat-
ing instructions of the applied torch.
Note Torch holder

Factory settings of the robot at shipment are for “Through-
arm” type torch. In case of applying “External”, “Separate”
type torch, it is necessary to change the settings. For Torch
details of settings, please refer to section “Torch cable set-
tings” of the operating instructions [Operation]. Nozzle
Refer to the following procedure (and figures on the right)

and install the welding torch and then adjust the position of Tip
the torch.
(1) Set the torch holder and the welding torch to the “Through-arm” type torch “External” type torch
manipulator.
(2) Set the attached “Positioning block” to the UA body. UA body

Tighten the bolts so that the block is tight on the cutout
surface of the UA body.
(3) With the “Torch positioning” function, move the robot to

an escape position.
Positioning block
(Accessory, black)
Bolts (Accessory)
M4×10
58 OM1304038E07
Settings
(4) Loosen the adjustment bolts (for horizontal, vertical

and rotation) of the torch holder, and then move the “Thgouth-arm” type torch
torch in the direction of the arrows in the figure on the
right (directions to avoid a collision). Then tighten the
Direction to
adjustment bolts temporarily. avoid a collision
(5) Remove the torch nozzle. Adjustment bolt

(Horizontal)
positioning position.
Direction to
(7) Feed the wire to the preset wire extension. As the avoid a collision
proper wire extension varies with torch type, please
check the operating instructions of the torch for details Adjustment bolt
of the wire extension. (Vertical - height)
(8) Loosen the adjustment bolt of the torch holder, and Adjustment bolt
then match the end of the wire and the hole for the (Rotation)
positioning block. Adjust vertical direction, rotation
direction and then horizontal direction in this order to
facilitate the positioning work.
(9) With the end of wire and the hole for the positioning “External”, “Separate” type torch
block matched, tighten all adjustment bolts tight.

an escape position. Direction to
avoid a collision
(11) Reinstall the torch nozzle and remove the positioning Adjustment bolt
block. (Horizontal)
Store the positioning block in safe place and keep it
Direction to
clean. avoid a collision
Note
• Make sure to perform the positioning of the welding Adjustment bolt
torch. If not, the trajectory of the torch tip when rotating (Vertical - height)
the wrist part of the torch body won’t be a true circle,
which can cause deviation from target points.
Adjustment bolt
• For torch installation procedure, please refer to the oper-
(Rotation)
ating instructions of the torch.
• For “Torch positioning” function, please refer to the oper-
ating instruction [Operation].
• Prior to performing torch positioning work, remove the
torch nozzle to avoid collision between torch and manip- * To use a torch other than the above two types,
ulator. refer to the operation instructions of the applied torch.
• If the “torch positioning” function is not applicable due to
installation environment, use the positioning gauge (sold
separately). For more information, please refer to the
operating instructions of the torch.
OM1304038E07 59
Settings
7.2 Arc point

The arc point at the end of torch shifts depending on the
torch position to the position and shape of the workpiece.
Determine the position of the workpiece in consideration of
the torch position.
Positioning the workpiece inside the robot work envelope
doesn’t guarantee the position is within the range of arc
point. For details of the work envelope of the manipulator,
please refer to section “
7.3 Tool offset

This robot controls its movements so that the torch tip inter-
polates the registered teach points. Point P
(The torch tip does linear or circular interpolation to move Point O
at a constant linear velocity.)
The following table shows the registered standard offset

values. For the actual offset values, please refer to the
operating instructions of the safety holder. For how to set
offset values, please refer to the operating instruction
[Operation].
Measure the dimensions shown in the figure on the right

accurately and input them to the controller.
Arc point
Standard value
“External”
“Through-arm” Setting range
“Separate”
type torch
type torch
(Short torch)
(Long torch)
L1 (mm) 560 510 0 to 999.99
L2 (mm) 0 -120 -999.99 to 999.99
L3 (mm) 365.01 265 0.01 to 999.99
L4 (mm) 0 0 -999.99 to 999.99
TW (°) 0 0 -400 to 400
(Unit: mm) TW
7.4 Set-up
After the completion of grounding and connection of manip-
ulator, it is necessary to store the setting conditions includ-
ing tool offset on the controller. Refer to the operating
instructions of the controller and store them properly.
60 OM1304038E07
Maintenance and inspection
8.Maintenance and inspection

Perform maintenance and inspection of the robot to ensure Inspections and intervals
performance and to prevent breakdown. Daily inspection Before operation
Every 500 hours or 3 months
Maintenance and inspection intervals are different depend-
ing on maintenance and inspection items (see the right Every 2 000 hours or 1 year
table). Apply either total operating hours (when the control- Periodic Every 4 000 hours or 2 years
ler power is on) or period after the first use, whichever inspections Every 6 000 hours or 3 years
comes first.
Every 8 000 hours or 4 years
From 2 000-hour inspection or annual inspection onwards,
it is recommended to have our comprehensive diagnosis Every 10 000 hours or 5 years
including overhaul.
If you enter into a periodical inspection contract with us,

Note
inspection starts from the 2 000-hour (or annual) inspec- The intervals above are for welding operations.
tion.
8.1 Daily check

8.1.1 Inspections before turning on the power
Parts Items Service Remarks
Ground cable Looseness Re-tightening.
Cables Breaking or damage of wire Replacement
Rubber sheets
Deterioration such as crack Replacement
around cables
Do not clean the robot with compressed air or
Removal of spatter or
Attachment of spatter or dust. cleaning water. Spatters, dust, or water may
dust
get inside the robot and damage it.
Grease may be discharged from the release
valve of the UA body. It is to keep the inner
Manipulator pressure constant, which is not unusual condi-
Discharged grease from UA axis Wipe off
tion for floor installation specification.
For ceiling installation specification, discharge
of the grease won’t occur.
Consult our service section if causes are not
Looseness Re-tightening
clear.
Do not use compressed air or cleaning water
Removal of spatter or to clean the feeder. Or spatter, dirt or water
Wire feeder Attachment of spatter or dust.
dust may get in the manipulator, which can damage
the manipulator and feeder.
Safety fence Damage Repair
Working area Tidiness
Clean this part thoroughly.

Earth failure of this part can
damage the equipment.
OM1304038E07 61
8.1.2 Inspections after turning on the power

Parts Items Service Remarks
Repair
Emergency Turn off the servo power immedi- Do not use the robot unless the switch is
Consult us if causes are
stop switch ately. repaired.
not clear.
When the home return is com-
pleted, the origin matchmarks To approach the robot to check the match-
Origin Consult us if they do not
coincide with each other. marks, press the emergency stop switch and
match marks match.
(Refer to “8.2 Origin match marks turn off the servo power.
to be checked”)
Each axis makes steady and
smooth motions (no abnormal Consult us if causes are Do not use the robot unless the manipulator
Manipulator
vibration, noise or looseness) in not clear. is repaired.
manual and operation mode.
Cooling air inlet fan of the control-
Turn off the power to the controller before
Fan ler rotates. Clean the fan.
cleaning the fan.
Attachment of dust on the fan.
Center tube and stainless tube for
WIre feeder Remove dusts or dirt.
dusts and dirt.
62 OM1304038E07
8.2 Origin match marks to be checked

8.2.1 TM-1400, TM-1100
BW axis
RW axis
TW axis FA axis
UA axis
RT axis
RT axis RW axis
UA axis BW axis
FA axis TW axis
OM1304038E07 63
8.2.2 TM-1800
BW axis
RW axis TW axis
FA axis
UA axis
RT axis
RT axis RW axis
UA axis BW axis
FA axis TW axis
64 OM1304038E07
8.3 Periodical inspection

Interval Items Method /Tool Inspection and service
Check for tightness and
Robot fixing bolts Wrench
re-tighten if necessary.
Driver Check for tightness and
Screws at covers
Wrench re-tighten if necessary.
Every 500 hours
or 3 months Connecting cable connectors Tactile
Check for wear or deformation of the
Feed roller of the wire feeder, feed gear and Tactile,
groove and gear, and replace it if dam-
drive gear Visual
age is significant.
Motor mount bolts Wrench
Torque wrench
Check tightening torque.
Swivel / drive parts Tactile,
Check for looseness.
Visual
Torque wrench Check tightening torque.
Reduction gears
Visual Check visual appearance
Torque wrench Check tightening torque.
Wire feeder fixing parts
Visual Check visual appearance
Every 2 000 hours Conductivity test
Power cable Tester,
or 1 year Check visual appearance
Internal power cable Visual
Apply grease
Conductivity test
Check visual appearance
Inner wiring and Tester,
Apply grease
connectors of the manipulator Visual
(Do not disconnect encoder. Just check
the appearance.
Worm gear, worm wheel and spiral bevel gear Apply grease
Grease
inside of wire feeder (About 5 g)
Timing belts of the wire feeder Tactile Adjust
Batteries (Manipulator) Replace Replace with new one
Every 4 000 hours
Replace with new one
or 2 years Timing belts of the wire feeder Replace
Adjust tension
Reduction gears Grease Apply grease
Every 6 000 hours
Check tensile force and
or 3 years Timing belts of the manipulator Tension meter
adjust if necessary
Power cable Replace with new one
Replace
Every 8 000 hours Internal power cable Apply grease
or 4 years Replace with new one
Inner wiring of the manipulator Replace
Apply grease
Timing belts of the manipulator Replace
Adjust tensile force
Limit switch
Every 10 000 hours Brake release switch
or 5 years Inner printed circuit board Tester,
Rubber cover Visual
Adjust
Nylon clamp
Rubber sheet
Note
• Consult our service section for details.
• If you enter into a periodical inspection contract with us, inspection starts from the annual (or 2 000-hour) inspection. Replacement parts
will be charged.
• To replenish grease, refer to the following and apply proper grease:
- BW axis (Harmonic drive reduction gear): Harmonic grease SK-1A
- FA, UA, RT axes (RV reduction gear or cyclo-speed reducer), TW, RW axes (gear): VIGOGREASE RE0
- Worm gear and worm wheel of wire feeder: Alvania S2
• Refer to the operating instructions of the controller for check items for the controller.
• Before opening the cover for UA body or RT base, clean the cover surface to prevent dusts or spatters from getting inside the manipulator.
• Before using the grease, be sure to read its instruction manual for appropriate use.
• Be sure to wear eye protector and thick gloves when refilling the grease.
• In case of grease in your eyes or mouth, rinse out your eyes with water immediately and receive medical treatment.
OM1304038E07 65
8.4 Backup battery replacement

The manipulator is provided with batteries to retain
Note
encoder’s backup data.
• When the battery is weakened, the position data of the
The following cases require battery replacement. Contact
encoder can be lost and on-site origin adjustment
Panasonic authorized service personnel.
becomes necessary again. Replace the battery before
(1) When the following error message (battery error mes-
this happens.
sage) appears.
• Handle the removed battery with caution and dispose it
E8000 Encoder battery is consumed:
in accordance with the local public authorities.
The battery in the manipulator. If the removed battery carries residual electirc charge,
short circuiting its positive pole and negative pole causes
(2) After storing the manipulator for 2 years or more with- the flow of short-circuit current, and produces heat.
out electric connection. • While the battery error message is displayed, the robot
cannot be turned on. Clear the error message to start the
robot.
66 OM1304038E07
8.5 On-site origin adjustment (How to use adjustment pins)

To adjust the origin, follow the instructions displayed on the
teaching pendant and set the adjustment pins. Adjustment pin for RT, UA and FA axes
Marked with marker
(1) Pull out the adjustment pins to the line mark. mm
< Note >

•Make sure that setting surfaces are free from foreign
substances.
•At the initial adjustment, remove the seals stuck on top Adjustment pin for RW and BW axes
of the adjustment pins. Marked with marker
mm
(2) Perform on-site origin adjustment according to the
operating instructions [Operation].
(3) Retract all the adjustment pins except one for TW axis (Adjust UA axis)
back to the original position.
(4) Remove the adjustment pin for TW axis.
< Note >

In normal operation, make sure that the adjustment
pins except one for TW axis are completely retracted
and the pin for TW axis is removed. If the adjustment
pins crash occurs during operation, origin adjustment Adjustment pin
will be inaccurate. Setting surface
Locations of adjustment pins and setting surfaces
Setting surface
Adjustment pin
RW axis
Adjustment pin
BW axis Setting surface
TW axis
Setting surface
FA axis
Setting surface
Setting surface
Adjustment pin Adjustment pin
TM-1400,TM-1100 TM-1800
Parallel pin for adjustment UA axis RT axis

(Accessory)
Adjustment pin Setting surface
Setting surface
Adjustment pin
OM1304038E07 67
8.6 Checking bolt tightening torque for wire feeder

Check the bolt tightening torque for wire feeder every
2 000 operating hours or annually. See the following
figures for proper tightening torque for each bolt. CAUTION
Tighten all the bolts properly as the figures below.
Failure to do so may cause the wire feeder to fall
down or the welding cable connection part to gen-
erate excess heat or fire.
1)With standard wire feeder
M8x15 (1 pc.)
23 N•m ±0.2 N•m
(The same to the opposite side)
M6x15 (4 pcs.)
7.3 N•m ±0.07 N•m
M5x55 （3 pcs.） M6x15 (4 pcs.)

5.5 N•m ±0.05 N•m 7.3 N•m ±0.07 N•m
2)With high power (for 450 A welder) wire feeder

M8x15 (1 pc.)
23 N•m ±0.2 N•m
(The same to the opposite side)
M5x15 (2 pcs.) M6x15 (2 pcs.)

5.5 N•m ±0.05 N•m 7.3 N•m ±0.07 N•m
M6x25 (4 pcs.)
7.3 N•m ±0.07 N•m
68 OM1304038E07
8.7 Maintenance of wire feeder
CAUTION
Prior to starting maintenance work, make sure to turn off all power including power distribution
box. Performing maintenance work with power on can cause electric shock.
8.7.1 Maintenance and periodical check

1) Stainless steel tube
Check the following points weekly.
Check items Notes
Check if the entrance of the stainless tube and the center tube, and around • Remove wire shavings.
the feed rollers are clean. • Clean those parts once a week.
Check if the stainless tube and the center tube are compatible with the wire Using wrong tubes or wire creates
diameter or vice versa. more wire shavings, and causes clog-
ging of the liner and unstable arc.
Check if the holes of the stainless Align them precisely. Improper align-
tube and the center tube are aligned ment causes unstable arc and creates
with the center of the feed roller more wire shavings.
groove.
2)Feed roller
Check the following points every 2 or 3 months.
Check items Notes
Check if the feed rollers are compatible with the wire diam- Using wrong rollers or wire creates more wire shavings,
eter or vice versa. and causes clogging of the liner and unstable arc.
Check the condition of the feed roller groove. If worn or cracked, replace it with a new one.
3) Worm gears and worm wheels (standard), spiral bevel gear (high-powered)
Apply 5 g of Albania S2 grease to the worm gears and the
worm wheels through the “GREASE INLET” every year.
OM1304038E07 69
8.7.2 Change of feed rollers, stainless tube and center tube

Change feed rollers, stainless tube and center tube
depending on the wire diameter. (See the table on the Wire Stainless
right.) Feed roller Center tube
size tube
Follow the following steps:
(1) Pull the pressure nuts (1) toward to unlock the pres- 0.9 / 1.2 MDR00051
sure arms (2), and then lift the pressure arms. MGT00004 MGW00012
1.0 / 1.2 MDR00053
(2) Unscrew the setscrews (3) of the feed rollers. 1.2 / 1.4 MDR00055 MGT00011 MGW00010
(3) Remove the feed rollers (4).
(4) Pull out the stainless tube (5) rightward, and then ②
②
insert appropriate one.
① ⑥
(5) Attach the feed rollers to the shafts so that the imprints
of the wire diameter are on the front side.
⑤ ⑧
(6) Unscrew the sems screws (6) and remove the wire
guide metal (7). ①
③ ③
(7) Loosen the sems screw (8), pull out the center tube (9)
from wire guide metal (7) and insert appropriate one. ⑨ ④
④ ⑦
(8) To reassemble it, reverse the above disassemble pro-
cedure.
70 OM1304038E07
Repair parts lists
9. Repair parts lists

See the recommended repair parts lists and have parts in stock if needed.
9.1 Robot manipulators
10 9
4 19
29
30
23 24
28
<Rear view> 18
11 7 8
20 25
17 29
12
13
14 12 27
21 3 31 32
26 16 12
15
22
<Front view>
OM1304038E07 71
Repair parts lists
The repair parts are classified as follows:

A: Consumables or frequently replaced parts
B: Frequently moving parts or mechanical elements
C: Important mechanical elements or electric parts
Stock Qty.
No. Description Part number Order number Class Remarks
needed used
1 Grease SK-1A SK1A-05K A 2g ― Harmonic (BW axis)
V1G0GRE0-2K YAA322 RV reduction gear, Wrist gear

2 VIGOGREASE RE0 A 2g ―
(RW-, TW-axis)
For backup (*1)
3 Lithium battery ER6BWK67PT YAAD103 A 6 6
Compatible part: ER6VCT
ACC01026 ACC01026 A 1 1 TM-1400(Standard)
ACC01027 ACC01027 A 1 1 TM-1100(Standard)
ACC01028 ACC01028 A 1 1 TM-1400 (For high power)
4 Power cable ACC01029 ACC01029 A 1 1 TM-1100(For high power)
ACC01030 ACC01030 A 1 1 TM-1400 (Ceiling)
ACC01031 ACC01031 A 1 1 TM-1800 (Standard)
ACC01033 ACC01033 A 1 1 TM-1800 (For high power)
Included in No.4
AFQ40005 AFQ40005 A 2 2 (Standard, Ceiling)
4-1 Rubber sheet
Included in No.4
AFQ41236 AFQ41236 A 2 2
(High power, Handling)
AWC32964 AWC32964 A 1 1 (Standard)
5 Power cable
AWC33000 AWC33000 A 1 1 (For high power)
Swiveling harness AWC12831 AWC12831 A 1 1 TM-1400
6 Swiveling harness AWC12832 AWC12832 A 1 1 TM-1100
Swiveling harness AWC12833 AWC12833 A 1 1 TM-1800
7 Lamp harness AWC32996 AWC32996 A (1) (1) Sold separately (*2)
8 Lamp DM22K0LE03Y YABD55 A (1) (2) Sold separately (*2)

TM-1400, TM-1800
060S3M882 YAA383 A 1 1
9 Timing belt TW axis
060S3M681 YAA384 A 1 1 TM-1100, TW axis
TM-1400, TM-1800
060S3M789 YAA385 A 1 1
10 Timing belt BW axis
060S3M597 YAA386 A 1 1 TM-1100, BW axis
11 Timing belt 100S3M258 YAA387 A 1 1 RW axis
1 1 RT axis
12 Limit switch D4N8B32 YAA388 B UA axis, FA axis
(2) (2)
Sold separately (*2)
72 OM1304038E07
Repair parts lists
Stock Qty.
needed used
TM-1400, TM-1100
Input gear F16 ADG32034 ADG32034 B 1 1
13 FA axis
Input gear F12 ADG32037 ADG32037 B 1 1 TM-1800, FA axis
TM-1400, TM-1100
Input gear U16 ADG32033 ADG32033 B 1 1
14 UA axis
Input gear U15 ADG32036 ADG32036 B 1 1 TM-1800, UA axis
TM-1400, TM-1100
Input gear 27 ADG32032 ADG32032 B 1 1
15 RT axis
Input gear 40 ADG32035 ADG32035 B 1 1 TM-1800, RT axis
TM-1400, TM-1100
Pinion gear 27 ADG41111 ADG41111 B 1 1
16 RT axis
Pinion gear 40 ADG41113 ADG41113 B 1 1 TM-1800, RT axis
17 TW unit ADU01714 ADU01714 B 1 1
ADU01715 ADU01715 B 1 1 TM-1400, TM-1100

18 RW unit
ADU01738 ADU01738 B 1 1 TM-1800
19 Harmonic drive HG1780VR61B YAA389 B 1 1 BW axis
20AN028 YAA390 B 1 1 TM-1400, TM-1100

20 RV reduction gear FA axis
40AN072 YAA455 B 1 1 TM-1800, FA axis
RV reduction gear 40AN045 YAA391 B 1 1 TM-1400, TM-1100

21 UA axis
Cyclo-speed regulator PWUUA3515200 YAA456 B 1 1 TM-1800, UA axis
RV reduction gear 40AN046 YAA392 B 1 1 TM-1400, TM-1100

22 RT axis
Cyclo-speed regulator PWRUA3504300 YAA457 B 1 1 TM-1800, RT axis
23 Servo motor unit TS4603N7065 YAA393 C 1 2 TW, BW axis
TS4603N7065 YAA393 C 1 1 TM-1400, TM-1100

Servo motor unit RW axis
24
TS4604N7095 YAA462 C 1 1 TM-1800, RW axis
25 Servo motor unit TS4614N7065 YAA394 C 1 2 FA axis
TS4833N8223 YAA395 C 1 1
TM-1400, TM-1100
26 Servo motor unit UA axis
TSM1306N8223 YAA463 C 1 1 TM-1800, UA axis
TS4614N7065 YAA394 C 1 1
TM-1400, TM-1100
27 Servo motor unit RT axis
TS4833N8223 YAA395 C 1 1 TM-1800, RT axis
Brake card T/Y spec. ZUEP5858 ZUEP5858 C
28 1 1
BK release
R/E spec. AEU01685 AEU01685 C With brake release switch
unit
29 Connector card ZUEP5848 ZUEP5848 C 1 3
30 REPWR card ZUEP5846 ZUEP5846 C 1 1
OM1304038E07 73
Repair parts lists
Stock Qty.
needed used
31 REBAT card ZUEP5847 ZUEP5847 C 1 1
32 BAT harness AWC42736 AWC42736 B 1 1
Grease
SUMIGREASE
YAA311 A 1 ― For inner wiring (*3)
― SPLAY 259664 (330-ml canned splay)
YWA45 For worm gear, work

― Grease Alvania S2 A 100 g ―
(400 g) wheel and inner wiring (*3)
― Eyebolt (*4) XVN12 XVN12 ― 2 2 TM-1400, TM-1100

Safety component
― Fuse SS2-3AN1 YZAD276 C 1 1 (In RW body)
(Only WGIII models)
(*1): Average lifetime is approximately 2 years.
(*2): Included in the motor unit of the wire feeder.
(*3): See “Internal wiring” section.
(*4): If you lose or break the eyebolt, purchase Panasonic genuine one for safe transportation.
74 OM1304038E07
Repair parts lists
9.2 Wire feeder (standard, WGIII model)
⑥ ③ ⑤ ④ ⑪
　⑬
⑩
⑨ ⑧
②
① ⑭
(The above figure is for standard floor system.)

Stock Qty.
needed used
1 Motor unit ADU01702 ADU01702 ― ― 1
2 UF base ADB12002 ADB12002 ― ― 1
3 MDA00004 MDA00004 A 1 1
Pressure arm
4 MDA00005 MDA00005 A 1 1
5 pressure roller ass’y MDR00060 MDR00060 A 2 2
6 Pressure nut MDX00008 MDX00008 A 2 2
7 C.C. fitting MFC00011 MFC00011 A 1 1
8 Feed roller MDR00051 MDR00051 A 2 2
9 Feed roller gear ass’y MDG00010 MDG00010 A 2 2
10 Stainless steel tube MGT00004 MGT00004 A 1 1
11 Center tube MGW00012 MGW00012 A 1 1
12 Flexible conduit metal MGW00016 MGW00016 A 1 1
13 Flat-head screw XSS35+16V YZA95 A 4 4
14 Bracket unit WG AFU01355 AFU01355 ― ― 1

Bracket for through-arm
― AFP41315TB AFP41315TB ― ― 1
torch cable type
Bracket unit for ceiling
installation type
Refer to “5.3.2 Ceiling
― (Bracket for ceiling AXU01721 AXU01721 ― ― 1
installation type”
installation type G1, G2,
Bracket RW)
OM1304038E07 75
Repair parts lists
9.2.1 Motor unit
⑤ ④ ③ ⑨ ② ①
⑩
⑪
⑧
⑥
⑦
(The above figure is for standard floor system.)

Stock Qty.
needed used
1 Servo motor TS4602N3030 YAA242 C 1 1
2 Coupling ASJHZ17-8-8 YAW129 A 1 1
3 Worm gear ADW41068 ADW41068 A 1 1
4 Worm wheel ADW41064 ADW41064 A 1 1
5 Drive gear ADR41006 ADR41006 A 1 1
6 Bulkhead elbow KQ2LE06-00 YWC24 A 1 1
7 Elbow plate AKC41081 AKC41081 A 1 1
8 Fixing plate AFP41194 AFP41194 A 1 1
9 Bearing 6000ZZ 6000ZZ A 2 2
10 Connector plate AKK41148 AKK41148 A 1 1
11 Connector harness AWC42313 AWC42313 A 1 1
76 OM1304038E07
Repair parts lists
9.3 Wire feeder (high power for 450 A welder)

⑥ ③ ⑤ ④ ⑫
①
⑪
　⑬
⑦
⑭
②
⑩ ⑨

Stock Qty.
needed used
1 Motor unit ADU01721 ADU01721 1
2 UF base ADB12002 ADB12002 1
3 MDA00004 MDA00004 A 1 1
Pressure arm
4 MDA00005 MDA00005 A 1 1
5 pressure roller ass’y MDR00060 MDR00060 A 2 2
6 Pressure adjust MDX00008 MDX00008 A 2 2
7 CC fitting MFC00011 MFC00011 A 1 1
9 Feed roller MDR00055 MDR00055 A 2 2
10 Feed roller gear MDG00010 MDG00010 A 2 2
11 Stainless tube MGT00011 MGT00011 A 1 1
12 Center tube MGW00010 MGW00010 A 1 1
13 Flexible conduit metal MGW00016 MGW00016 A 1 1
14 Conical machine screw XSS35+16V YZA95 A 4 4
- Feeder cover unit AKU01235 AKU01235 - - 1
OM1304038E07 77
Repair parts lists
9.3.1 Motor unit
①
②
⑥ ⑤ ④ ③

Stock Qty.
needed used
1 Servo motor TS4606N3337 YAA301 C 1 1
2 Reduction gear TRGF-11B60-MY YAA293 B 1 1
3 Timing belt 060S3M312UG YAA290 B 1 1
4 Spiral bevel gear MMSA2-20L YAA292 B 1 1
5 Spiral bevel gear MMSA2-20R YAA291 B 1 1
6 Drive gear ADR41006 ADR41006 A 1 1
78 OM1304038E07
Repair parts lists
9.4 FA relay unit (for Active Wire type)
② ① ⑤
③
⑪
⑥
⑧ ⑩
④ ⑨

Stock Qty.
needed used
1 Stainless steel tube MGT00011 MGT00011 A 1 1
2 Fitting holder AFM41786 AFM41786 －－ 1
3 Flexible conduit fitting MGW00016 MGW00016 A 1 1
4 Grommet C30SG26A C30SG26A A 1 1
5 CC fitting MFC00011 MFC00011 A 1 1
6 FA relay cover AKK41238TB AKK41238TB －－ 1
7 FA relay base AFB32031TB AFB32031TB －－ 1
8 CKS13H YZA331 A 2 2
9 CKS clamp CKS20H YZA332 A 1 1
10 CKS05H YZA330 A 1 1
11 Insulating cap NCAPM6-20GY YWA12 A 4 4
OM1304038E07 79
Appendix
10.Appendix
10.1 Location of the labels (TM-1400, TM-1100)
Caution label Caution label (Q)
(Be sure to..) (Pay special..)
ANT40145 ANT40159
Caution label
(HOT SURFACE)
ANT41219
Type label Caution label(U)

ANMxxxxx (Carefully read..)
ANT32059 Trade mark Label BW
WSANT00058AA (UL type) ANNxxxxx ANH42844
Label TW
ANH42845
Warning label Warning label (A)

(Electric shock) (Do not enter..)
UNT00002 ANT40113
ANT41707 (UL type)
Label FA
Label RW ANH42842
ANH42843
Warning label Label UA
(Electric shock) ANH42841 Warning label
UNT00002 (Electric shock)
UNT00002
Label RT
ANH42840 Caution label
RANGE label (..rotating section)
ANH42824 Caution label WSANT00001
(HOT SURFACE)
ANT41706
Caution label
(HOT SURFACE..)
ANT41706
High power feeder

Warning label
(Electric shock) Caution label
UNT00002
(..rotating section)
WSANT00001
Warning label
(Electric shock)
UNT00002 Warning label
(Electric shock)
UNT00002
80 OM1304038E07
Appendix
10.2 Location of the labels (TM-1800)

Caution label
Caution label Caution label (Q) (HOT SURFACE)
(Be sure to..) (Pay special..)
ANT40159 ANT41219
ANT40145
Type label
ANMxxxxx
Caution label (U) Trade mark Label BW
ANNxxxxx ANH42844
(Carefully read..)
WSANT00060AA (UL type)
ANT32067
Label TW
ANH42845
Warning label
(Electric shock)
UNT00002 Label (A)
(Do not enter..)
ANT41707 (UL type)
Label RW ANT40113
ANH42843
Label FA
ANH42842
Warning label Label UA

(Electric shock) ANH42841
UNT00002
RANGE label Label RT

ANH42887 ANH42840
Warning label
(Electric shock)
UNT00002
Caution label Warning label

(..rotating section) (Electric shock)
WSANT00001 UNT00002
Caution label
(HOT SURFACE)
ANT41706
OM1304038E07 81
Appendix
10.3 Details of the labels
< WSANT00001 >
< Type label >
< ANT40159 >
< ANT40113 > < ANT41219 > < ANT41706 >
CAUTION ■ Carefully read operation manual before installtion.

■ Do not modify or alter the product by any means.
<UNT00002 >
< ANT32059 (TM-1400,TM-1100)>
< ANT32067 (TM-1800)>
82 OM1304038E07
Appendix
< WSANT00058AA (UL type)>
OM1304038E07 83
パナソニック溶接システム株式会社 Panasonic Welding Systems Co., Ltd.
〒 561-0854　大阪府豊中市稲津町 3 丁目 1 番 1 号 1-1, 3-chome, Inazu-cho, Toyonaka, Osaka 561-0854, Japan
TEL: 81-6-6866-8505
TEL: (06)-6866-8556（代表）
FAX: 81-6-6866-0709
FAX: (06)-6862-1441
URL: http://panasonic.net/pws/
ホームページ : http://panasonic.co.jp/pws/>
© Panasonic Welding Systems Co., Ltd. 2013

<
Printed in Japan.
OM1304038E07

Operating Instructions Welding Robot Manipulator PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Operating Instructions Welding Robot Manipulator PDF

Uploaded by

Copyright:

Available Formats

Operating Instructions

Welding Robot Manipulator

Model No. YA-1VAR/YA-1WAR Series

Through-arm torch cable type (See section “2.1 About

GIII/TAWERS WGIII/TAWERS WGHIII

English version is the original instructions.

 This operating instructions manual is based on the information as of May, 2014.

Signal Words and Safety Symbols

CAUTION situation, which, if not avoided, could

1.1 Observe the following for safe welding operation

1.2 Observe the following for safe robot operation

Observe the following cautions to

2.1.1 Model group

Notice: Exporting the machine into Canada

2.1.2 Manipulator type

2.1.3 Example: Model number: YA-1VAR61Y00

2.2 Parts identification

2.3 Standard specifications

RW axis (Rotating Wrist) ±190° (-10° to +370°) *1

Point P *2 -1 117 mm to +1 437 mm

RW axis (Rotating Wrist) 7.42 rad/s (425°/s)

RW axis (Rotating Wrist) 0.283 kg•m2 (0.028 kgf•m•s2)

Inertia BW axis (Bending Wrist) 0.283 kg•m2 (0.028 kgf•m•s2)

Items Specifications (TM-1400)

RW axis (Rotating Wrist) 100 W (AC servo motor)

2.3.2 Short arm (TM-1100)

RW axis (Rotating Wrist) ±190° (-10° to +370°) *1

Lengthwise arm motion (Dis- Point P *2 -824 mm to +1 163 mm

RW axis (Rotating Wrist) 7.42 rad/s (425°/s)

RW axis (Rotating Wrist) 0.283 kg•m2 (0.028 kgf•m•s2)

Inertia BW axis (Bending Wrist) 0.283 kg•m2 (0.028 kgf•m•s2)

RW axis (Rotating Wrist) 100 W (AC servo motor)

Items Specifications (TM-1100)

2.3.3 Long arm (TM-1800)

RW axis (Rotating Wrist) ±190° (-10° to +370°) *1

Point P *2 -1 489 mm to +1 809 mm

RW axis (Rotating Wrist) 7.42 rad/s (425°/s)

RW axis (Rotating Wrist) 0.283 kg•m2 (0.028 kgf•m•s2)

Inertia BW axis (Bending Wrist) 0.283 kg•m2 (0.028 kgf•m•s2)

RW axis (Rotating Wrist) 150 W (AC servo motor)

Items Specifications (TM-1800)

2.3.4 Wire feeder (WGIII, WGHIII type)

RT dog base ASB41002 ASB41002 1 Supplied with TM-1400

Flat-head spring washer XWR12CFR XWR12CFR 1

Positioning block AAG41026 AAG41026 1 For torch adjustment

Bracket for external torch Supplied with WGHIII

2.5 Outer drawings

High power type

2.5.2 Robots with short arm (TM-1100)

2.5.3 Robots with long arm (TM-1800)

Through-arm Separate, External

2.6 Work envelope drawings

Point P (Work envelope): Point O (Work envelope):

Point O (Work envelope):

TM-1400 Work envelop (2)

2.6.2 Short arm (TM-1100)

Point P (Work envelope): Point O (Work envelope):

TM-1100 Work envelop (1)

Point P (Work envelope):

Point O (Work envelope):

TM-1100 Work envelop (2) (Unit: mm)

2.6.3 Long arm (TM-1800)

Point O (Work envelope):