Kawasak

UX120-E921 (HQ VERSION)

MECHANICAL PARTS MANUAL
MPMPUX120E921HQ106E

Kawasak
Kawasaki Robotics (USA), Inc.
This publication contains proprietary information of Kawasaki Robotics (USA), Inc. and
is furnished solely for customer use only. No other uses are authorized or permitted
without the express written permission of Kawasaki Robotics (USA), Inc. The contents
of this manual cannot be reproduced, nor transmitted by any means, e.g., mechanical,
electrical, photocopy, facsimile, or electronic data media, without the express written per-
mission of Kawasaki Robotics (USA), Inc.

All Rights Reserved.

Copyright © 1999, Kawasaki Robotics (USA), Inc.

Wixom, Michigan 48393

The descriptions and specifications in this manual were in effect when it was submitted
for publishing. Kawasaki Robotics (USA), Inc. reserves the right to change or discon-
tinue specific robot models and associated hardware and software, designs, descrip-
tions, specifications, or performance parameters at any time and without notice, without
incurring any obligation whatsoever.

This manual presents information specific to the robot model listed on the title page of
this document. Before performing maintenance, operation, or programming procedures,
all personnel are recommended to attend an approved Kawasaki Robotics (USA), Inc.
training course.

KAWASAKI ROBOTICS (USA), INC. TRAINING

Training is available from Kawasaki Robotics (USA), Inc. on courses covering operation,
programming, electrical maintenance and mechanical maintenance. These courses are
conducted both on-site at the customer’s location, or at our training facility in Wixom,
Michigan.

For additional information contact:

Kawasaki Robotics (USA), Inc.

Training and Documentation Dept.
28059 Center Oaks Court
Wixom, Michigan 48393
 UX120-E921 (HQ VERSION)
Kawasak MECHANICAL PARTS MANUAL

REVISION HISTORY

Revision Release
Number Date Description of Change Initials
-0 4/30/99 Initial release - created for PDF export HR
 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

INTRODUCTION

I.0 INTRODUCTION ..................................................................................................... I-2

April 30, 1999 I-1

 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

INTRODUCTION

I.0 INTRODUCTION

This parts manual is designed to assist individuals responsible for performing

mechanical maintenance on the UX120-E921 mechanical unit, and for the ordering
and stocking of its mechanical parts.

The parts listings contained within this manual provide the user with the following
information:

• Part number

• Part name

• Reference number

• Description/Remarks

• Quantity required

• Figure drawings illustrating all parts for easy location

To ensure accurate identification when ordering parts, specify both the reference and
part numbers.

All part orders and inquiries should be directed to:

Kawasaki Robotics (USA), Inc.

Customer Service Department
28059 Center Oaks Court
Wixom, Michigan 48393
Phone: (248) 305-7610
Fax: (248) 305-7618

I-2 April 30, 1999

 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

INTRODUCTION

The following is a list of additional training courses and associated documents that
support the UX120-E921 robot system.

1. A/AD Controller Operations and Programming Course (COA/ADCON)

A/AD Controller Operations and Programming Manual (MROA/ADCONTO57E)

2. C Controller Operations and Programming Course (COCCON)

C Controller Operations and Programming Manual (MROCCONTO87E)

3. AS Language Course (CPASCON)

AS Language Manual (MRPAS57E)

4. AD/AD HQ Controller Electrical Maintenance Course (CEADCON)

AD Controller Electrical Maintenance and Troubleshooting Manual
(MREADCON67E)
AD Controller (HQ Version) Electrical Schematics (MRESADHQCON57E1)

5. C Controller Electrical Maintenance Course (CECCON)

C Controller Electrical Maintenance and Troubleshooting Manual (MRECCON118E)
C Controller Electrical Schematics (MRESCCON128E)

6. UX Mechanical Maintenance Course (CMUX120)

UX100/120/150 HQ Version Mechanical Maintenance Manual (MRMUX10057E)

For specific information on attending any of the above courses, or for manual stock
numbers and prices, please contact the following:

Kawasaki Robotics (USA), Inc.

Training and Documentation Department
28059 Center Oaks Court
Wixom, Michigan 48393
Phone: (248) 305-7610
Fax: (248) 305-7618

April 30, 1999 I-3

 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

ROBOT COVERS AND MAJOR ASSEMBLIES

1.0 ROBOT COVERS AND MAJOR ASSEMBLIES .................................................. 1-2

1.1 Robot Covers, Hard Stops, and Labels ................................................................. 1-2
1.2 Robot Wire/Cable Guides and Miscellaneous Hardware ....................................... 1-6
1.3 Robot Major Assemblies ....................................................................................... 1-8

April 30, 1999 1-1

1-2

1.1 ROBOT COVERS, HARD STOPS, AND LABELS

1.0 ROBOT COVERS AND MAJOR ASSEMBLIES

Q1A-003

P0A-306 Q1A-309
P0A-008

Kawasak
Q1A-305

Q1A-202
K0A-012
Q1A-004
P0A-306
P0A-008 B1E-000
Q1A-306
K0A-324
K0A-017
Figure 1 Robot Covers, Hard Stops, and Labels

ROBOT COVERS AND MAJOR ASSEMBLIES

P0A-007 K0A-224 K0A-313

P0A-308

K0A-313

P0A-309 K0A-325
B P0A-206

A K0A-329
K0A-224
K0A-328
B K0A-324
K0A-029
K0A-026
A P0A-206 K0A-025
K0A-322
K0A-313
P0A-306 K0A-027
P0A-008 K0A-323 K0A-316

K0A-319 K0A-330 K0A-309

K0A-317
K0A-225 P0A-306 K0A-016
K0A-228
P0A-307
P0A-008 K0A-310 K0A-019
K0A-024 K0A-315
P0A-207

K1D-301 K0A-222

K1D-201
K0A-015
K1D-003
K0A-018

K0A-314
K1D-004
KOA-319
K0A-313
K0A-318
K0A-225 K0A-321
K1D-302 K0A-326
K0A-024
K0A-020

MECHANICAL PARTS MANUAL

Q0A-205
K0A-317 K0A-014

UX120-E921 (HQ VERSION)

K0A-314
K1D-201 K1D-301
K0A-215 K0A-220
K0A-006
K1D-302
K0A-216
K1D-004 K0A-216
April 30, 1999

K0A-017 K0A-313 K1D-002

K0A-313 K0A-221
K0A-219

K0A-218
 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

ROBOT COVERS AND MAJOR SUB-ASSEMBLIES

REF. NO. PART NO. FIG. NO. PART NAME QTY REMARKS

B1E-000 49819-1035 1 PLATE-NAME-SET 1

K0A-006 60813-1043 1 GUIDE, HARNESS R2 1
K0A-012 60375-1339 1 COVER, ARM BASE 1 1
K0A-014 60375-1318 1 COVER, ARM BASE 3 1
K0A-015 60375-1317 1 COVER, ARM BASE 4 1
K0A-016 60375-1563 1 COVER, ARM BASE 2 1
K0A-017 60375-1576 1 COVER, R 1
K0A-018 60375-1562 1 COVER, ARM BASE 1 1
K0A-019 60330-1361 1 BRACKET, CLAMP 2 1
K0A-020 60330-1205 1 BRACKET, HARNESS 8
K0A-024 60330-1214 1 BRACKET, LS 2
K0A-025 60391-1016 1 SCALE, R 1
K0A-026 60391-1006 1 SCALE 1
K0A-027 60375-1564 1 COVER, ARM BASE 3 1
K0A-029 60330-1366 1 BRACKET, COVER BA 1
K0A-215 60415-1043 1 FITTING, UNION 1
K0A-216 60405-1092 1 TUBE, U1 3
K0A-218 60415-1114 1 FITTING 1
K0A-219 60661-1004 1 GROMMET 1
K0A-220 60819-1273 1 PLATE-NAME, K/D 1
K0A-221 10313E1 1 RIVET 4
K0A-222 RHTWM623 1 WASHER-HIGH TENSION 2
K0A-224 PPWM4A 1 WASHER-PLAIN 4
K0A-225 PPWM6A 1 WASHER-PLAIN 4
K0A-228 60373-1111 1 CLAMP, BASE 2
K0A-309 0SBM650 1 BOLT-HEXAGON SOCKET HEAD 4
K0A-310 0SBM612 1 BOLT-HEXAGON SOCKET HEAD 2
K0A-313 PTSM610C 1 SCREW-TRUSS HEAD 7
K0A-314 PHBM610SA 1 BOLT-HEXAGON HEAD 2
K0A-315 0SBM616 1 BOLT-HEXAGON SOCKET HEAD 2
K0A-316 PTSM612C 1 SCREW-TRUSS HEAD 3
K0A-317 OSBM312 1 BOLT-HEXAGON SOCKET HEAD 4
K0A-318 PHBM610SA 1 BOLT-HEXAGON HEAD 8
K0A-319 OSBM610 1 BOLT-HEXAGON SOCKET HEAD 4
K0A-321 PTSM612C 1 SCREW-TRUSS HEAD 4
K0A-322 PTSM612C 1 SCREW-TRUSS HEAD 3
K0A-323 PTSM68C 1 SCREW-TRUSS HEAD 2
K0A-324 PTSM46C 1 SCREW-TRUSS HEAD 4
K0A-325 PTSM612C 1 SCREW-TRUSS HEAD 4
K0A-326 OSBM610 1 BOLT-HEXAGON SOCKET HEAD 2
K0A-328 PTSM46C 1 SCREW-TRUSS HEAD 2
K0A-329 0SBM612 1 BOLT-HEXAGON SOCKET HEAD 2
K0A-330 OSBM1216 1 BOLT-HEXAGON SOCKET HEAD 4
K1D-002 60382-1036 1 STOPPER, R2 1
K1D-003 60382-1037 1 STOPPER, R3 1
K1D-004 60330-1206 1 BRACKET, STOPPER 2
K1D-201 60346-1032 1 RUBBER, CUSHION R 2

April 30, 1999 1-3

1-4

Q1A-003

P0A-306 Q1A-309
P0A-008

Kawasak
Q1A-305

Q1A-202
Figure 1 Robot Covers, Hard Stops, and Labels (continued)

K0A-012
Q1A-004
P0A-306
P0A-008 B1E-000
Q1A-306
K0A-324
P0A-007 K0A-017 K0A-313
K0A-224

ROBOT COVERS AND MAJOR ASSEMBLIES

P0A-308

K0A-313

P0A-309 K0A-325
B P0A-206

A K0A-329
K0A-224
K0A-328
B K0A-324
K0A-029
K0A-026
A P0A-206 K0A-025
K0A-322
K0A-313
P0A-306 K0A-027
P0A-008 K0A-323 K0A-316

K0A-319 K0A-330 K0A-309

K0A-317
K0A-225 P0A-306 K0A-016
K0A-228
P0A-307
P0A-008 K0A-310 K0A-019
K0A-024 K0A-315
P0A-207

K1D-301 K0A-222

K1D-201
K0A-015
K1D-003
K0A-018

K0A-314
K1D-004
KOA-319
K0A-313
K0A-318
K0A-225 K0A-321
K1D-302 K0A-326
K0A-024
K0A-020
Q0A-205

MECHANICAL PARTS MANUAL

K0A-317 K0A-014

UX120-E921 (HQ VERSION)

K0A-314
K1D-201 K1D-301
K0A-215 K0A-220
K0A-006
K1D-302
K0A-216
K1D-004 K0A-216
K0A-017 K0A-313 K1D-002
April 30, 1999

K0A-313 K0A-221
K0A-219

K0A-218
 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

ROBOT COVERS AND MAJOR SUB-ASSEMBLIES

REF. NO. PART NO. FIG. NO. PART NAME QTY REMARKS

K1D-301 OSBM610 1 BOLT-HEXAGON SOCKET HEAD 2

K1D-302 PHBM610SA 1 BOLT-HEXAGON HEAD 2
P0A-007 60375-1162 1 COVER, LINK V 1
P0A-008 60375-1161 1 COVER, LOWER ARM 4
P0A-206 60346-1010 1 RUBBER, CUSHION 01 2
P0A-207 60346-1011 1 RUBBER, CUSHION 02 1
P0A-306 PTSM68C 1 SCREW-TRUSS HEAD 12
P0A-307 0SBM616 1 BOLT-HEXAGON SOCKET HEAD 2
P0A-308 PTSM68C 1 SCREW-TRUSS HEAD 4
P0A-309 PTSM68C 1 SCREW-TRUSS HEAD 4
Q0A-205 60405-1092 1 TUBE, U1 5
Q1A-003 60391-1006 1 SCALE 1
Q1A-004 60381-1011 1 STOPPER, D 1
Q1A-202 60346-1013 1 RUBBER, CUSHION D 1
Q1A-305 0SBM616 1 BOLT-HEXAGON SOCKET HEAD 2
Q1A-306 0SBM1620 1 BOLT-HEXAGON SOCKET HEAD 2
Q1A-309 PTSM46C 1 SCREW-TRUSS HEAD 2

April 30, 1999 1-5

1-6

1.2 ROBOT WIRE/CABLE GUIDES AND MISCELLANEOUS HARDWARE

Q2B-301

Kawasak
Figure 2 Robot Wire/Cable Guides and Miscellaneous Hardware

P0A-304 Q2B-004

Q1A-303 P0A-305 Q2B-306

Q2B-305
P0A-208 Q2B-307
Q1A-203 Q2B-201 Q2B-307 Q2B-306
Q2B-304

ROBOT COVERS AND MAJOR ASSEMBLIES

Q2B-201 Q2B-201
Q1A-304 P0A-005 Q2B-201
Q2B-203
Q2B-202 Q2B-003
Q2B-204
Q1A-002 Q0A-205

Q0A-203
Q2B-302
Q0A-204

P0A-304
Q2B-203

P0A-208
Q2A-301 Q2B-204

Q2B-002

Q2B-001

K0A-023
K0A-223
K0A-214
K0A-214 Q2B-303

K0A-223
K0A-311

K0A-229

K0A-312

MECHANICAL PARTS MANUAL

Q2A-001 Q2B-001

UX120-E921 (HQ VERSION)

April 30, 1999

Q2B-303
 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

ROBOT COVERS AND MAJOR SUB-ASSEMBLIES

REF. NO. PART NO. FIG. NO. PART NAME QTY REMARKS

K0A-023 60363-1020 2 HARNESS 1

K0A-214 ODU1020 2 BUSHING, DU 2
K0A-223 60303-1012 2 WASHER, THRUST 2
K0A-229 60373-1112 2 CLAMP, HARNESS 1 1
K0A-311 60300-1016 2 BOLT, SHOULDER 1
K0A-312 0SBM630 2 BOLT-HEXAGON SOCKET HEAD 2
P0A-005 60333-1281 2 PLATE, HARNESS 1 1
P0A-208 60373-1112 2 CLAMP, HARNESS 1 2
P0A-304 0SBM630 2 BOLT-HEXAGON SOCKET HEAD 4
P0A-305 OSBM612 2 BOLT-HEXAGON SOCKET HEAD 2
Q0A-203 60415-1043 2 FITTING, UNION 1
Q0A-204 60419-1017 2 PLUG, STOP 1
Q0A-205 60405-1092 2 TUBE, U1 5
Q1A-002 60333-1282 2 PLATE, HARNESS 2 1
Q1A-203 60373-1112 2 CLAMP, HARNESS 1 1
Q1A-303 0SBM630 2 BOLT-HEXAGON SOCKET HEAD 2
Q1A-304 0SBM812 2 BOLT-HEXAGON SOCKET HEAD 2
Q2A-001 60225-1032 2 LINK, H 1
Q2A-301 0SBM812 2 BOLT-HEXAGON SOCKET HEAD 4
Q2B-001 60330-1167 2 BRACKET, COMPOSE B 1
Q2B-002 60330-1166 2 BRACKET, COMPOSE A 1
Q2B-003 60375-1313 2 COVER, COMPOSE B 1
Q2B-004 60375-1312 2 COVER, COMPOSE A 1
Q2B-201 PPWM8A 2 WASHER, PLAIN 8
Q2B-202 60756-1058 2 CABLE CARRIER, UX 1
Q2B-203 60373-1113 2 CLAMP, HARNESS A 2
Q2B-204 60373-1039 2 CLAMP, SPACER 2
Q2B-301 0SBM58 2 BOLT-HEXAGON SOCKET HEAD 2
Q2B-302 0SBM645 2 BOLT-HEXAGON SOCKET HEAD 4
Q2B-303 0SBM816 2 BOLT-HEXAGON SOCKET HEAD 4
Q2B-304 0SBM645 2 BOLT-HEXAGON SOCKET HEAD 4
Q2B-305 0SBM58 2 BOLT-HEXAGON SOCKET HEAD 2
Q2B-306 0SBM825 2 BOLT-HEXAGON SOCKET HEAD 4
Q2B-307 0SBM816 2 BOLT-HEXAGON SOCKET HEAD 4

April 30, 1999 1-7

 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

ROBOT COVERS AND MAJOR ASSEMBLIES

1.3 ROBOT MAJOR ASSEMBLIES

Q0A-001

Q0A-304
Q0A-202

Q1A-101
P0A-003
QOA-002
P0A-302 P0A-205 Q0A-303

P0A-203
P0A-102
R0A-301
P0A-202

R0A-302
R0A-303

R00-000

P0A-301

P0A-204 P0A-006

P0A-202
P1A-101
P0A-102
P1A-001

P0A-203
P1A-201 P0A-003

P0A-201

P0A-302
P0A-201

P1A-101 P0A-301
P1A-201

P1A-001
K0A-308

K0A-230
K0A-101

K0A-307

K0A-231

K0A-001

Figure 3 Robot Major Assemblies

1-8 April 30, 1999

 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

ROBOT COVERS AND MAJOR SUB-ASSEMBLIES

REF. NO. PART NO. FIG. NO. PART NAME QTY REMARKS

K0A-001 50601-5005 3 MOTOR-ASSY-ELECTRIC 1

K0A-101 60216-1049 3 REDUCTION GEAR-CYCLO 1
K0A-230 10303DQ1 3 WASHER 1
K0A-231 10342CA1 3 PACKING, MOTOR 1
K0A-307 0SBM1230 3 BOLT-HEXAGON SOCKET HEAD 4
K0A-308 0SBM1095 3 BOLT-HEXAGON SOCKET HEAD 1
P0A-003 10124LJ1 3 BEARING RETAINER V 2
P0A-006 10101WL1 3 SHAFT, LINK V 1
P0A-102 10120RH1 3 BEARING, TAPER ROLLER 2
P0A-201 10132EC1 3 RING, NILOS 2
P0A-202 10132EN1 3 RING, NILOS 2
P0A-203 0SR40 3 RING-RETAINING 2
P0A-204 60331-1082 3 SHIM, LAMINATE UL 1
P0A-205 PSL70X80 3 SHIM-LAMINATE 1
P0A-301 0SBM830 3 BOLT-HEXAGON SOCKET HEAD 24
P0A-302 0SBM820 3 BOLT-HEXAGON SOCKET HEAD 8
P1A-001 60101-1095 3 SHAFT, UL 2
P1A-101 10120QM1 3 BEARING, TAPER ROLLER 2
P1A-201 10132DA1 3 RING, NILOS 2
Q0A-001 50601-5005 3 MOTOR-ASSY-ELECTRIC 1
Q0A-002 10303DQ1 3 WASHER 1
Q0A-202 10342CA1 3 PACKING, MOTOR 1
Q0A-303 0SBM1095 3 BOLT-HEXAGON SOCKET HEAD 1
Q0A-304 0SBM1230 3 BOLT-HEXAGON SOCKET HEAD 4
Q1A-101 60216-1049 3 REDUCTION GEAR-CYCLO 1
R00-000 40946-1047 3 DRIVE UNIT, UX, UT 1
R0A-301 0SBM1230 3 BOLT-HEXAGON SOCKET HEAD 4
R0A-302 0SBM16105 3 BOLT-HEXAGON SOCKET HEAD 6
R0A-303 0SBM16140 3 BOLT-HEXAGON SOCKET HEAD 3

April 30, 1999 1-9

 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

MINOR AXES PARTS

2.0 MINOR AXES PARTS .......................................................................................... 2-2

2.1 Upper Arm and Minor Axes (S,B,T) Major Components ....................................... 2-2
2.2 Wrist, Hand Gear Train Assembly, Exploded View ................................................ 2-4
2.3 Upper Arm Assembly, Exploded View ................................................................... 2-8

April 30, 1999 2-1

2-2

2.1 UPPER ARM AND MINOR AXES (S,B,T) MAJOR COMPONENTS

2.0 MINOR AXES PARTS

Q2A-302

Kawasak
Figure 4 Upper Arm and Minor Axes (S,B,T) Major Components

Q2A-002

Q1A-308
Q1A-101
Q0A-302 Q0A-301
Q0A-201

Q1A-301

B0A-303

B0A-001

MINOR AXES PARTS

K0A-204
Q1A-308 K0A-205
K0A-206 Q2A-202

B0A-303
Q2A-201
Q2A-001
Q1A-302
B0A-203 B0A-002
Q1A-101 B0A-204
B0A-203
B0A-006

B0A-204
B0A-001 B0A-001

Q1A-103 B0A-203

B0A-004

B0A-204

B1A-203
A0A-301 B0A-303

MECHANICAL PARTS MANUAL

B1A-305

A0A-201

UX120-E921 (HQ VERSION)

B1A-204
April 30, 1999

A00-000
 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

MINOR AXES PARTS

REF. NO. PART NO. FIG. NO. PART NAME QTY REMARKS

A00-000 40911-1056 4 WRIST-UNIT, U 1

A0A-201 ODP1036C 4 PIN-PARALLEL 2
A0A-301 OSBM1040 4 BOLT-HEXAGON SOCKET HEAD 10
B0A-001 50601-5003 4 MOTOR-ASSY-ELECTRIC 3
B0A-002 60210-1089 4 GEAR-SPUR, T1 1
B0A-004 60210-1088 4 GEAR-SPUR, B1 1
B0A-006 60210-1087 4 GEAR-SPUR, S1 1
B0A-203 60340-1019 4 RING-O, AS568-049 3
B0A-204 0SRE15 4 RING-RETAINING E 3
B0A-303 60300-1035 4 BOLT 12
B1A-203 PGN168B 4 NIPPLE-GREASE 1
B1A-204 60418-1017 4 CAP, GREASE NIPPLE 1
B1A-305 60300-1033 4 BOLT 1
K0A-204 60331-1019 4 SHIM, 1 2
K0A-205 60331-1020 4 SHIM, 2 1
K0A-206 60331-1021 4 SHIM, 3 4
Q0A-201 10311JT1 4 PIN 2
Q0A-301 0SBM1240 4 BOLT-HEXAGON SOCKET HEAD 10
Q0A-302 0SBM812 4 BOLT-HEXAGON SOCKET HEAD 4
Q1A-101 60216-1049 4 REDUCTION GEAR - CYCLO 1
Q1A-103 60127-1020 4 BEARING-ROLLER 1
Q1A-301 0SBM1280 4 BOLT-HEXAGON SOCKET HEAD 12
Q1A-302 0SBM1265 4 BOLT-HEXAGON SOCKET HEAD 12
Q1A-308 0BP18 4 PLUG-PRESSURE 2
Q2A-001 60225-1032 4 LINK, H 1
Q2A-002 60375-1561 4 COVER, LINK H 1
Q2A-201 0GN18 4 NIPPLE, GREASE 1
Q2A-202 60418-1017 4 CAP, GREASE NIPPLE 1
Q2A-302 PTSM612C 4 SCREW-TRUSS HEAD 3

April 30, 1999 2-3

2-4

2.2 WRIST, HAND GEAR TRAIN ASSEMBLY, EXPLODED VIEW

A1A-007 A1A-301
A2A-201

Kawasak
A1A-201 A2A-203
A1A-101
A1A-203 A2A-101
Figure 5 Wrist, Hand Gear Train Assembly, Exploded View

A1A-006
A1A-302 A2A-005

A1A-102 A1A-005 A2A-101

A2A-002
A1A-210

A2A-202

A2A-206
A1A-101 A2A-302 A2A-103 A2A-102

A1A-202 A2A-205 A2A-003

A1A-207 A2A-204
A2A-302

MINOR AXES PARTS

A2A-205 A2A-103 A2G-101
A2A-004
A1A-208 A1A-206
A2B-002 A2A-301 A2A-001 A1A-304

A2C-305
A2B-101 A2G-101
A2B-001
A2C-201 A2E-101

A2B-201 A1A-002
A2E-201
A2A-205

A2B-201 A2A-302 A2A-206

A1A-103
A2A-205 A2E-001
A1A-205 A1A-209
A2C-001 A2A-302 A1A-003 A1A-303
A2A-205

A2C-101 A2A-302
A2C-202 A2D-101
A2C-203
A2C-002
A2D-001
A1A-001

MECHANICAL PARTS MANUAL

A2C-201
A2D-101 A1A-204
A2F-201 A2G-001

UX120-E921 (HQ VERSION)

A2C-305 A1A-206
A1A-004
A2F-101
A2C-004
A2C-301 A1A-004

A2C-003
A1A-304
April 30, 1999

A2C-303
A2F-001 A1A-305
A1A-209

A2C-304
 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

MINOR AXES PARTS

REF. NO. PART NO. FIG. NO. PART NAME QTY REMARKS

A1A-001 60124-1041 5 RETAINER, BEARING T1 1

A1A-002 60124-1043 5 RETAINER, BEARING T2 1
A1A-003 60124-1042 5 RETAINER, BEARING B 1
A1A-004 60375-1156 5 COVER, T 1
A1A-005 60333-1082 5 PLATE, B1 1
A1A-006 60333-1450 5 PLATE, B4 1
A1A-007 60334-1272 5 SPACER, HAND B 1
A1A-101 60216-1048 5 REDUCTION GEAR-CYCLO, FA35 1
A1A-102 60120-1016 5 BEARING (BALL) 1
A1A-103 60120-1015 5 BEARING (BALL) 1
A1A-201 60341-1149 5 SEAL, OIL 1
A1A-202 ODP1025C 5 PIN-PARALLEL 2
A1A-203 ODP832C 5 PIN-PARALLEL 2
A1A-204 60341-1014 5 SEAL, OIL 1
A1A-205 PSL105X115 5 SHIM-LAMINATE 1
A1A-206 PSL45X52 5 SHIM-LAMINATE 2
A1A-207 PSL60X68 5 SHIM-LAMINATE 1
A1A-208 0RR68 5 RING, RETAINING 1
A1A-209 OSR20 5 RING-RETAINING 2
A1A-210 60340-1021 5 RING-O 1
A1A-301 0SBM830 5 BOLT-HEXAGON SOCKET HEAD 8
A1A-302 0SBM830 5 BOLT-HEXAGON SOCKET HEAD 10
A1A-303 0SBM616 5 BOLT-HEXAGON SOCKET HEAD 7
A1A-304 0SBM516 5 BOLT-HEXAGON SOCKET HEAD 15
A1A-305 0SBM510 5 BOLT-HEXAGON SOCKET HEAD 6
A2A-001 60320-1031 5 HOUSING, HAND 1 1
A2A-002 60212-1040 5 GEAR-BEVEL, B1 1
A2A-003 60212-1036 5 GEAR-BEVEL, T1 1
A2A-004 10391BG1 5 SCALE 2 1
A2A-005 60334-1054 5 SPACER, B 1
A2A-101 60120-1014 5 BEARING (BALL) 2
A2A-102 60120-1012 5 BEARING (BALL) 1
A2A-103 10120HS1 5 BEARING, BALL 2
A2A-201 0RR65 5 RING-RETAINING 1
A2A-202 0RR35 5 RING-RETAINING 1
A2A-203 PSL60X65 5 SHIM-LAMINATE 1
A2A-204 38X4240X47 5 SHIM-LAMINATE 1
A2A-205 00RBP11 5 RING-O 5
A2A-206 10382BL1 5 STOPPER 2
A2A-301 PTSM46C 5 SCREW-TRUSS HEAD 2
A2A-302 60419-1014 5 PLUG, RO 5
A2B-001 60212-1041 5 GEAR-BEVEL, B2 1
A2B-002 60101-1094 5 SHAFT, SPLINE B 1
A2B-101 10120BJ1 5 BEARING 1
A2B-201 0SR17 5 RING-RETAINING 2
A2C-001 60320-1067 5 HOUSING, HAND 2 1
A2C-002 60212-1039 5 GEAR-BEVEL, T4 1

April 30, 1999 2-5

2-6

A1A-007
Figure 5 Wrist, Hand Gear Train Assembly, Exploded View (continued)

A1A-301
A2A-201

Kawasak
A1A-201 A2A-203
A1A-101
A1A-203 A2A-101
A1A-006
A1A-302 A2A-005

A1A-102 A1A-005 A2A-101

A2A-002
A1A-210

A2A-202

A2A-206
A1A-101 A2A-302 A2A-103 A2A-102

A1A-202 A2A-205 A2A-003

A1A-207 A2A-204
A2A-302

MINOR AXES PARTS

A2A-205 A2A-103 A2G-101
A2A-004
A1A-208 A1A-206
A2B-002 A2A-301 A2A-001 A1A-304

A2C-305
A2B-101 A2G-101
A2B-001
A2C-201 A2E-101

A2B-201 A1A-002
A2E-201
A2A-205

A2B-201 A2A-302 A2A-206

A1A-103
A2A-205 A2E-001
A1A-205 A1A-209
A2C-001 A2A-302 A1A-003 A1A-303
A2A-205

A2C-101 A2A-302
A2C-202 A2D-101
A2C-203
A2C-002
A2D-001
A1A-001
A2C-201

MECHANICAL PARTS MANUAL

A2D-101 A1A-204
A2F-201 A2G-001

UX120-E921 (HQ VERSION)

A2C-305 A1A-206
A1A-004
A2F-101
A2C-004
A2C-301 A1A-004

A2C-003
A1A-304
A2C-303
April 30, 1999

A2F-001 A1A-305
A1A-209

A2C-304
 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

MINOR AXES PARTS

REF. NO. PART NO. FIG. NO. PART NAME QTY REMARKS

A2C-003 10391BF1 5 SCALE 1 1

A2C-004 60391-1006 5 SCALE 1
A2C-101 60216-1012 5 REDUCTION GEAR-CYCLO 1
A2C-201 00RBP11 5 RING-O 2
A2C-202 PSL17X24 5 SHIM-LAMINATE 1
A2C-203 0DP855C 5 PIN-PARALLEL 2
A2C-301 0SBM865 5 BOLT-HEXAGON SOCKET HEAD 12
A2C-303 PTSM46C 5 SCREW-TRUSS HEAD 2
A2C-304 PTSM46C 5 SCREW-TRUSS HEAD 2
A2C-305 60419-1014 5 PLUG, RO 2
A2D-001 60212-1038 5 GEAR-BEVEL, T3 1
A2D-101 60120-1013 5 BEARING (BALL) 2
A2E-001 60210-1032 5 GEAR-SPUR, T3 1
A2E-101 60120-1017 5 BEARING (BALL) 1
A2E-201 0SR35 5 RING-RETAINING 1
A2F-001 60210-1033 5 GEAR-SPUR, T44 1
A2F-101 60120-1017 5 BEARING (BALL) 1
A2F-201 OSR35 5 RING-RETAINING 1
A2G-001 60212-1037 5 GEAR-BEVEL, T2 1
A2G-101 60120-1013 5 BEARING (BALL) 2

April 30, 1999 2-7

2-8

2.3 UPPER ARM ASSEMBLY, EXPLODED VIEW

B1A-201

Kawasak
B1A-301
B1A-302

B1A-002
Figure 6 Upper Arm Assembly, Exploded View

B0A-007

B0A-301

B1A-001

MINOR AXES PARTS

B1A-201

B1A-301
B1A-201

B1A-101 B1A-301
B1C-001 B0A-202
B1A-303 B0A-003

B0A-302
B1A-202 B1C-201

B0A-202
B1C-101
B0A-201
B1A-003 B1D-101
B1A-304

B0A-201
B0A-005
B1D-201

MECHANICAL PARTS MANUAL

B1B-001 B1B-101 B1D-002

UX120-E921 (HQ VERSION)

B1B-002 B1D-001
B1B-201
B1B-202
April 30, 1999

B1B-102

B1B-301
 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

MINOR AXES PARTS

REF. NO. PART NO. FIG. NO. PART NAME QTY REMARKS

B0A-003 60210-1035 6 GEAR-SPUR, T2 1

B0A-005 60210-1037 6 GEAR-SPUR, B2 1
B0A-007 60210-1039 6 GEAR-SPUR, S2 1
B0A-201 0RR130 6 RING-RETAINING 2
B0A-202 0SR20 6 RING-RETAINING 2
B0A-301 0SBM616 6 BOLT-HEXAGON SOCKET HEAD 6
B0A-302 0SBM610 6 BOLT-HEXAGON SOCKET HEAD 8
B1A-001 60260-1039 6 ARM, UPPER 1 1
B1A-002 60260-1059 6 ARM, UPPER 2 1
B1A-003 60391-1006 6 SCALE 1
B1A-101 60216-1015 6 REDUCTION GEAR-CYCLO 1
B1A-201 00RBP14 6 RING-O 3
B1A-202 0DP1070C 6 PIN-PARALLEL 2
B1A-301 60419-1013 6 PLUG, RO 3
B1A-302 0SBM1240 6 BOLT-HEXAGON SOCKET HEAD 8
B1A-303 0SBM1080 6 BOLT-HEXAGON SOCKET HEAD 12
B1A-304 PTSM46C 6 SCREW-TRUSS HEAD 2
B1B-001 60405-1063 6 TUBE, TORQUE S 1
B1B-002 60100-1002 6 SHAFT (SPLINE), S 1
B1B-101 60120-1048 6 BEARING (BALL) 1
B1B-102 10120UK1 6 BEARING, BALL 1
B1B-201 0SR85 6 RING-RETAINING 1
B1B-202 0SR55 6 RING-RETAINING 2
B1B-301 0SBM516 6 BOLT-HEXAGON SOCKET HEAD 8
B1C-001 60405-1043 6 TUBE, TORQUE B 1
B1C-101 60120-1019 6 BEARING (BALL) 2
B1C-201 0SR50 6 RING, RETAINING 1
B1D-001 60405-1045 6 TUBE, TORQUE T 1
B1D-002 60334-1055 6 SPACER, T1 1
B1D-101 60120-1018 6 BEARING (BALL) 2
B1D-201 OSR20 6 RING-RETAINING 1

April 30, 1999 2-9

 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

MAJOR AXES PARTS

3.0 MAJOR AXES PARTS ......................................................................................... 3-2

3.1 Major Axes (R,O,D) Components and Arm Balancer ............................................ 3-2
3.1 R-Axis Reduction Unit, Exploded View .................................................................. 3-4
3.2 R-Axis Base Unit, Exploded View .......................................................................... 3-6

April 30, 1999 3-1

3-2

3.1 MAJOR AXES (R,O,D) COMPONENTS AND ARM BALANCER

3.0 MAJOR AXES PARTS

Kawasak
K0A-212
Figure 7 Major Axes (R,O,D) Components and Arm Balancer

K0A-303
K0A-209
K0A-005

K0A-208 K1C-201
K0A-010
P0A-002
K0A-204
K0A-011 K0A-205
K0A-206 K1C-101
K1C-202
P0A-001
K0A-304
K1C-001
K0A-210
P0A-303
K0A-102
K1C-102
P0A-303

MAJOR AXES PARTS

K0A-101

P0A-310

P0A-001
L0A-201

K0A-226
L0A-001
P0A-209
L0A-002 L0A-201 K0A-213

K0A-305
L0A-002

L1A-001
K0A-101

MECHANICAL PARTS MANUAL

K0A-306

UX120-E921 (HQ VERSION)

L0A-201

L0A-001
L0A-201
April 30, 1999
 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

MAJOR AXES PARTS

REF. NO. PART NO. FIG. NO. PART NAME QTY REMARKS

K0A-005 10124LJ1 7 BEARING, RETAINER V 1

K0A-010 60334-1057 7 SPACER, V 1
K0A-011 60375-1246 7 COVER, CYCLO 1
K0A-101 60216-1049 7 REDUCTION GEAR-CYCLO 1
K0A-102 60127-1020 7 BEARING-ROLLER 1
K0A-204 60331-1019 7 SHIM, 1 2
K0A-205 60331-1020 7 SHIM, 2 1
K0A-206 60331-1021 7 SHIM, 3 4
K0A-208 00RBG145 7 RING-O 1
K0A-209 10132GF1 7 RING, NILOS 1
K0A-210 60132-1010 7 RING, NILOS 1
K0A-212 PSL70X80 7 SHIM-LAMINATE 1
K0A-213 PGN168B 7 NIPPLE, GREASE 1
K0A-226 60418-1017 7 CAP, GREASE NIPPLE 1
K0A-303 OSBM820 7 BOLT-HEXAGON SOCKET HEAD 4
K0A-304 OSBM1265 7 BOLT-HEXAGON SOCKET HEAD 12
K0A-305 0SBM1280 7 BOLT-HEXAGON SOCKET HEAD 12
K0A-306 0BP18 7 PLUG-PRESSURE 1
K1C-001 60101-1021 7 SHAFT, V 1
K1C-101 10120RH1 7 BEARING, TAPER ROLLER 1
K1C-102 10120RK1 7 BEARING, TAPER ROLLER 1
K1C-201 10132EN1 7 RING-NILOS 1
K1C-202 60132-1009 7 RING-NILOS 1
L0A-001 60311-1019 7 PIN 2
L0A-002 60303-1011 7 WASHER, THRUST 2
L0A-201 0SR30 7 RING-RETAINING 4
L1A-001 50953-1010 7 BALANCER-ASSY 1
P0A-001 60260-1100 7 ARM, LOWER 1
P0A-002 60225-1016 7 LINK, V 1
P0A-209 10311JT1 7 PIN 2
P0A-303 0SBM825 7 BOLT-HEXAGON SOCKET HEAD 2
P0A-310 0SBM1240 7 BOLT-HEXAGON SOCKET HEAD 10

April 30, 1999 3-3

 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

MAJOR AXES PARTS

3.1 R-AXIS REDUCTION UNIT, EXPLODED VIEW

R2C-101 R0A-301

R2C-002

R1B-001

R2C-001

R2B-101

R2A-201

R2B-001

R2A-101
R1A-206

R2A-201
R2B-102
R2C-201

R1A-203
R2A-002

R2C-102

R2A-102

R2D-001

R1A-207

R1A-201
R1B-002

R2D-203 R1B-301 R2D-302

R2D-207
R2D-204

R2D-001 R2D-201
R2D-001
R2D-206

R2D-202

R2D-205
R1A-204

R1A-202 R2D-301

R1A-003

R2D-001 R2D-001
R1A-002

R1A-301
R1A-302

Figure 8 R-Axis Reduction Unit, Exploded View

3-4 April 30, 1999

 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

MAJOR AXES PARTS

REF. NO. PART NO. FIG. NO. PART NAME QTY REMARKS

R0A-301 0SBM1230 8 BOLT-HEXAGON SOCKET HEAD 4

R1A-002 60124-1096 8 RETAINER, R2 1
R1A-003 60124-1051 8 RETAINER, R3 1
R1A-201 60342-1068 8 PACKING, U SERIES 1
R1A-202 00RBG70 8 RING-O 1
R1A-203 PSL50X62 8 SHIM-LAMINATE 1
R1A-204 PSL70X80 8 SHIM-LAMINATE 1
R1A-206 60341-1015 8 SEAL, OIL 1
R1A-207 60341-1016 8 SEAL, OIL 1
R1A-301 0SBM1230 8 BOLT-HEXAGON SOCKET HEAD 6
R1A-302 0SBM616 8 BOLT-HEXAGON SOCKET HEAD 6
R1B-001 50601-5005 8 MOTOR-ASSY-ELECTRIC 1
R1B-002 10303DQ1 8 WASHER 1
R1B-301 0SBM10100 8 BOLT-HEXAGON SOCKET HEAD 1
R2A-002 50210-1080 8 GEAR-ASSY, R 1
R2A-101 60120-1021 8 BEARING (BALL) 1
R2A-102 60120-1022 8 BEARING (BALL) 1
R2A-201 0SR60 8 RING-RETAINING 2
R2B-001 50210-1047 8 GEAR-ASSY, 1 1
R2B-101 60127-1014 8 BEARING-ROLLER, TAPER 1
R2B-102 10120RK1 8 BEARING, TAPER ROLLER 1
R2C-001 50210-1008 8 GEAR-ASSY, 2 1
R2C-002 60334-1058 8 SPACER, R 1
R2C-101 10120RH1 8 BEARING, TAPER ROLLER 1
R2C-102 60127-1015 8 BEARING-ROLLER, TAPER 1
R2C-201 60132-1011 8 RING, NILOS 1
R2D-001 60325-1014 8 BOX-GEAR, R 1
R2D-201 10407M1 8 GAUGE 1
R2D-202 0GN14 8 NIPPLE, GREASE 1
R2D-203 10419AY1 8 PLUG 1
R2D-204 00RBP18 8 RING-O 1
R2D-205 00RBP11 8 RING-O 1
R2D-206 60418-1017 8 CAP, GREASE NIPPLE 1
R2D-207 0BP14 8 PLUG-PRESSURE 1
R2D-301 60419-1014 8 PLUG, RO 1
R2D-302 60419-1015 8 PLUG, RO 1

April 30, 1999 3-5

 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

MAJOR AXES PARTS

3.2 R-AXIS BASE UNIT, EXPLODED VIEW

K1B-301
K1B-202

K1B-201

K1B-301

K0A-301

K1B-301

K0A-201
K1B-001

K1A-203

K0A-301
K1A-201
K1A-001

K1A-202
K0A-211

K1A-301

K1A-003
K0A-227

K1A-302

K0A-022
K1A-101

K0A-201

K1A-002

K0A-007

K1A-303
K0A-302

K0A-008 K0A-320

K0A-003
K0A-028
K0A-002

K0A-202

K0A-203

K0A-309

K0A-228
K0A-327 K0A-009

K0A-021

Figure 9 R-Axis Base Unit, Exploded View

3-6 April 30, 1999

 Kawasak UX120-E921 (HQ VERSION)
MECHANICAL PARTS MANUAL

MAJOR AXES PARTS

REF. NO. PART NO. FIG. NO. PART NAME QTY REMARKS

K0A-002 60360-1101 9 BASE 1

K0A-003 60213-1010 9 GEAR-HELICAL, R6 1
K0A-007 60813-1047 9 GUIDE, HARNESS R3 1
K0A-008 60813-1048 9 GUIDE, HARNESS R4 1
K0A-009 60334-1127 9 SPACER, GEAR R6 1
K0A-021 60330-1360 9 BRACKET, CLAMP 1 1
K0A-022 60333-1288 9 PLATE, SEAL 1
K0A-028 60375-1566 9 COVER, BASE 1
K0A-201 60133-1005 9 RING (SEAL), V 2
K0A-202 60331-1057 9 SHIM, R1 1
K0A-203 60331-1058 9 SHIM, R2 1
K0A-211 0DP1032C 9 PIN-PARALLEL 2
K0A-227 60342-1037 9 PACKING, R 1
K0A-228 60373-1111 9 CLAMP, BASE 2
K0A-301 0SBM1240 9 BOLT-HEXAGON SOCKET HEAD 17
K0A-302 0SBM1660 9 BOLT-HEXAGON SOCKET HEAD 18
K0A-309 OSBM650 9 BOLT-HEXAGON SOCKET HEAD 4
K0A-320 0SBM610 9 BOLT-HEXAGON SOCKET HEAD 3
K0A-327 OSBM616 9 BOLT-HEXAGON SOCKET HEAD 2
K1A-001 60360-1035 9 BASE, SPACER 1
K1A-002 60124-1097 9 RETAINER, CR1 1
K1A-003 60383-1012 9 DOG, LS 1
K1A-101 60127-1012 9 BEARING-ROLLER 1
K1A-201 PGN168B 9 NIPPLE, GREASE 1
K1A-202 00RBP16 9 RING-O 1
K1A-203 60418-1017 9 CAP, GREASE NIPPLE 1
K1A-301 0P014 9 PLUG-PO 1
K1A-302 0SBM510 9 BOLT-HEXAGON SOCKET HEAD 2
K1A-303 0SBM1240 9 BOLT-HEXAGON SOCKET HEAD 12
K1B-001 60360-1102 9 BASE, ARM 1
K1B-201 0GN18 9 NIPPLE, GREASE 1
K1B-202 60418-1017 9 CAP, GREASE NIPPLE 1
K1B-301 0EBM20 9 BOLT-EYE 3

April 30, 1999 3-7