YASKAWA HW9381633-A Robot Track Control Board)

YASKAWA HW9381633-A Product Details
I. Basic Information
Original part number: HW9381633-A
Product type: RV precision harmonic reducer for the Anson Motoman UP20/HP20 industrial robot B-axis
Applicable robot models: Anson UP20, HP20, HP20D six-axis industrial robots, used with NX100 controller
Installation location: The 2nd axis (B-axis) of the robot wrist, controlling the up and down pitching movements of the wrist

Core Function
Match B-axis servo motor, significantly reduce rotational speed, increase output torque, and ensure high-precision repetitive positioning and smooth start-stop of the robot wrist.
Can withstand frequent reciprocating impact loads in handling, welding, and spraying conditions, being the core precision component for the robot’s repetitive positioning accuracy.
Built-in high-precision harmonic gear structure, with extremely small backlash, meeting the requirements for high-precision operations such as welding and assembly.

Key Parameters
Reduction type: RV precision harmonic reducer
Adapted axis position: Robot B-axis (pitch axis)
Adapted models: Motoman UP20, HP20, HP20D
Working temperature: -20℃ to +60℃, no condensation
Protection level: IP65 (sealed installation on the robot body)
Weight: Approximately 0.16kg
Repetitive positioning accuracy: ±0.01mm grade

Typical Application Scenarios
Automated welding and handling of automotive parts
Machine tool automation, assembly line mechanical hands
Spraying, grinding, and assembly-type Yaskawa UP20 series robot equipment

Common Fault Phenomena (Characteristics of Reducer Damage)
Abnormal noise or vibration during robot B-axis operation, stalling during movement, gear friction noise
Deviation in repetitive positioning accuracy, offset in welding trajectory, inaccurate positioning of workpiece assembly
Normal under no-load condition, but reports servo overload and excessive following error alarm when under load
Oil seal leakage of the reducer, lubricating oil leakage contaminating the workpiece, and accelerated internal gear wear

Axial Position Replacement and Supporting Spare Parts
The same model HW9381633-A can be directly replaced with original equipment, and R-axis, T-axis, and L-axis reducers of different models cannot be mixed.
When replacing, it is necessary to replace the corresponding oil seal and lubricating grease simultaneously. After installation, the robot zero-point calibration must be performed.
Other axis position spare parts for the same series of robots:
S-axis: HW9381611-B
L-axis: HW9381611-A
U-axis: HW9280880-A
R-axis: HW9380623-A
T-axis: HW9381631