YAMAHA MOTOR CO., LTD.
Before using the robot (Be sure to read the following notes.) At this time, our thanks for your purchase of this YAMAHA YK-X series SCARA robot. (1) Please be sure to perform the following tasks before using the robot. Note that the robot may operate abnormally (abnormal vibration or noise) if the following work is not carried out.
(2) Caution when turning off the robot controller On the YK120X and YK180X series robots, the harness exerts a large reaction force on the X and Y axis arms. When the power to the robot controller is turned off, the arm positions might move slightly due to the harness reaction force, depending on where the arms are positioned. If the arms moved a large distance in this case, the correct position data may not be backed up.
Introduction The YAMAHA YK120X and YK180 series robots are SCARA type industrial robots developed based on years of YAMAHA experience and achievements in the automation field as well as efforts to streamline our in-house manufacturing systems. The SCARA robots have a two-joint manipulator consisting of an X-axis arm and a Y-axis arm, and are further equipped with a vertical axis (Z-axis) and a rotating axis (R-axis) at the tip of the manipulator.
Clean Room Models YK120XC, YK150XC Compared to standard YX120X and YK150X, clean room models differ in the following points. 1. Robot parameter has been changed. (See section 4 in chapter 2.) The Z-axis speed is lowered to maintain the degree of cleanliness and the bellows durability. (This is preset prior to shipment.) 2. Suction couplers have been added. (See section 6 in chapter 3.) For the suction amount versus degree of cleanliness, see "1-1 Basic specifications" in chapter 7.
CONTENTS CHAPTER 1 Using the Robot Safely 1 Safety Information ...................................................................................1-1 2 Essential Caution Items ...........................................................................1-2 3 Special Training for Industrial Robot Operation .....................................1-10 4 Robot Safety Functions ......................................................................... 1-11 5 Safety Measures for the System ...................
5 User Wiring and User Tubing ................................................................3-13 6 Connecting a suction hose (YK120XC, YK150XC) ...............................3-16 7 Attaching The End Effector ....................................................................3-17 7-1 7-2 7-3 7-4 7-5 8 R-axis tolerable moment of inertia and acceleration coefficient ......................... 3-17 7-1-1 Acceleration coefficient vs. moment of inertia (YK120X) .....................................
3-4-2 YK180X series (YK180X, YK220X) ...................................................................... 4-30 3-4-2-1 Adjusting the R-axis machine reference (YK180X, YK220X) ............................. 4-30 3-4-2-2 Adjusting the X-axis machine reference ............................................................. 4-32 3-4-2-3 Adjusting the Y-axis machine reference .............................................................. 4-34 3-4-2-4 Adjusting the Z-axis machine reference ................
MEMO
CHAPTER 1 Using the Robot Safely 1 Safety Information ...................................................................................1-1 2 Essential Caution Items ...........................................................................1-2 3 Special Training for Industrial Robot Operation .....................................1-10 4 Robot Safety Functions ......................................................................... 1-11 5 Safety Measures for the System ...........................
MEMO
CHAPTER 1 Using the Robot Safely 1 Safety Information Industrial robots are highly programmable, mechanical devices that provide a large degree of freedom when performing various manipulative tasks. To ensure correct and safe use of YAMAHA industrial robots, carefully read this manual and make yourself well acquainted with the contents. FOLLOW THE WARNINGS, CAUTIONS AND INSTRUCTIONS INCLUDED IN THIS MANUAL.
CHAPTER 1 Using the Robot Safely 2 Essential Caution Items Particularly important cautions for handling or operating the robot are described below. In addition, safety information about installation, operation, inspection and maintenance is provided in each chapter. Be sure to comply with these instructions to ensure safe use of the robot. (1) Observe the following cautions during automatic operation. Warning labels 1 (Fig. 1-1) are affixed to the robot. Refer to Fig. 2-2 to Fig.
CHAPTER 1 Using the Robot Safely (3) Follow the instructions on warning labels and in this manual. Warning label 3 (Fig. 1-3) is affixed to the robot. Refer to Fig. 2-2 to Fig. 2-4 in Chapter 2 for the position. • Be sure to read the warning label and this manual carefully and make your thoroughly understand the contents before attempting installation and operation of the robot.
CHAPTER 1 Using the Robot Safely (6) Use caution when releasing the Z-axis (vertical axis) brake. WARNING The Z-axis will slide down when the Z-axis brake is released, causing a hazardous situation. • Press the emergency stop button and prop up the Z-axis with a support stand before releasing the brake. • Use caution not to let your body get caught between the Z-axis and installation base when releasing the brake to perform direct teach. (7) Provide safety measures for end effector (gripper, etc.).
CHAPTER 1 Using the Robot Safely (10) Use caution on Z-axis movement when air supply is stopped. (2axis robots with air-driven Z-axis) WARNING The Z-axis may suddenly drop when the air pressure to the Z-axis air cylinder solenoid valve is reduced, creating a hazardous situation. Turn off the controller and place a prop or support under the Z-axis before cutting off the air supply. (11) Use the following caution items when disassembling or replacing the pneumatic equipment.
CHAPTER 1 Using the Robot Safely (14) Consult us for corrective action when the robot is damaged or malfunction occurs. WARNING If any part of the robot is damaged or any malfunction occurs, continuous operation may be very dangerous. Please consult YAMAHA dealer for corrective action.
CHAPTER 1 Using the Robot Safely (18) Protective bonding WARNING Be sure to ground the robot and controller to prevent electrical shock. (19) Always connect the robot to the specified controller. WARNING The controller for the YK120X series robots (YK120X, YK150X) is designed to provide 24V output and the model name "RCX142-T" is shown on the serial number label (see Fig. 2-5). Do not connect other controllers to the YK120X series robot.
CHAPTER 1 Using the Robot Safely (24) Do not apply excessive force to each section. ! CAUTION The YK120X series (YK120X, YK150X) and YK180X series (YK180X, YK220X) are designed to be compact, so the joints could be damaged if excessive force is applied, for example, during installation of an end effector. Make sure that excessive force is not applied to the joints. YK120X, YK150X Axis Tolerable radial load Tolerable thrust load Tolerable moment load Tolerable torque X-axis 100N (10.2kgf) 100N (10.
CHAPTER 1 Using the Robot Safely (28) Take the following precautions when transporting the robot. ! CAUTION If the robot is transported long distances by truck while mounted on an installation base or packed in a case other than the dedicated carton box in which the robot was shipped, the bolts installing the robot or the bolts on the robot body itself might come loose due to vibration. The robot might then topple over or the parts fall off.
CHAPTER 1 Using the Robot Safely 3 Special Training for Industrial Robot Operation Companies or factories using industrial robots must make sure that every person, who operates or handles the robot such as for teaching, programming, movement check, inspection, adjustment and repair, has received appropriate training and also has the skills needed to perform the job correctly and safely.
CHAPTER 1 Using the Robot Safely 4 Robot Safety Functions (1) Overload detection This function detects an overload applied to the motor and shuts off the servo power. If an overload error occurs, take the following measures. 1. Insert a timer in the program. 2. Reduce the acceleration coefficient. (2) Overheat detection This function detects an abnormal temperature rise in the driver inside the controller and shuts off the servo power. If an overheat error occurs, take the following measures. 1.
CHAPTER 1 Using the Robot Safely 5 Safety Measures for the System Since the robot is commonly used in conjunction with an automated system, dangerous situations are more likely to occur from the automated system than from the robot itself. Accordingly, appropriate safety measures must be taken on the part of the system manufacturer according to the individual system. The system manufacturer should provide a proper owner's manual for safe, correct operation and servicing of the system.
CHAPTER 1 Using the Robot Safely 6 Trial Operation After making installations, adjustments, inspections, maintenance or repairs to the robot, make a trial run using the following procedures. (1) If a safeguard enclosure has not yet been provided right after installation of the robot, rope off or chain off around the movement area of the manipulator in place of the safeguard enclosure, and observe the following points. 1. Use sturdy, stable posts which will not fall over easily. 2.
CHAPTER 1 Using the Robot Safely 7 Work Within the Safeguard Enclosure (1) When work is required inside the safeguard enclosure, always turn off the controller and place a sign indicating that the robot is being adjusted or serviced in order to keep any other person from touching the controller switch or operation panel, except for the following cases. 1) Adjusting the Z-axis machine reference (See Section 3-4-1-5 in Chapter 4.) 2) Setting the Soft Limits (See Section 4 in Chapter 4.
CHAPTER 1 Using the Robot Safely 8 Automatic Operation Automatic operation described here includes all operations in AUTO mode. (1) Check the following before starting automatic operation. 1. No one is within the safeguard enclosure. 2. The programming unit and tools are in their specified locations. 3. The alarm or error lamps on the robot and peripheral equipment do not flash. 4. The safeguard enclosure is securely installed with safety interlocks actuated.
CHAPTER 1 Using the Robot Safely 11 Warranty The YAMAHA robot and/or related product you have purchased are warranted against the defects or malfunctions as described below. Warranty description : If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this YAMAHA robot and/or related product within the warranty period, then YAMAHA will repair or replace those parts free of charge (hereafter called "warranty repair").
CHAPTER 1 Using the Robot Safely YAMAHA MOTOR CO., LTD. MAKES NO OTHER EXPRESS OR IMPLIED WARRANTIES, INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE. THE WARRANTY SET FORTH ABOVE IS EXCLUSIVE AND IS IN LIEU OF ALL EXPRESSED OR IMPLIED WARRANTIES, INCLUDING WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR WARRANTIES ARISING FROM A COURSE OF DEALING OR USAGE OF TRADE. YAMAHA MOTOR CO., LTD.
CHAPTER 1 Using the Robot Safely 12 CE Marking When the YAMAHA robots are exported to or used in EU (European Union) countries, refer to the separate "YAMAHA robot controller owner's manual" or "CE marking manual" for related information about CE marking.
CHAPTER 2 Functions 1 Robot Manipulator ...................................................................................2-1 2 Robot Controller ......................................................................................2-5 3 Robot initialization number list .................................................................2-6 4 Parameters for Clean Room Models YK120XC, YK150XC .....................
MEMO
CHAPTER 2 Functions 1 Robot Manipulator The YK-X series robots are available in 4-axis models having an X/Y-axis arm (equivalent to human arm) and a Z/R-axis (equivalent to human wrist). With these 4 axes, the YK-X series robots can move as shown in Fig. 2-1. By attaching different types of end effector (gripper) to the end of the arm, a wide range of tasks can be performed with high precision at high speeds.
CHAPTER 2 Functions Connector for user wiring (No.
CHAPTER 2 Functions Connector for user wiring (No.
CHAPTER 2 Functions Connector for user wiring (No.
CHAPTER 2 Functions 2 Robot Controller The YK120X series robots (YK120X, YK150X) come with a robot controller (RCX142-T). The YK180X series robots (YK180X, YK220X) come with a robot controller (RCX142). Refer to the separate "YAMAHA robot controller owner's manual" for details on the robot controller. WARNING For the YK120X series robots (YK120X, YK150X), always use the RCX142-T controller that is designed to provide 24V output. The model name "RCX142-T" is shown on the serial number label (see Fig. 2-5).
CHAPTER 2 Functions 3 Robot initialization number list The YK-X series robots are initialized for optimum setting (default setting) according to the robot model prior to shipping. The robot controllers do not have to be reinitialized during normal operation. However, if for some reason the controller must be reinitialized, proceed while referring to the list below. ! CAUTION Absolute reset must be performed after reinitializing the controller.
CHAPTER 2 Functions 4 Parameters for Clean Room Models YK120XC, YK150XC Part of robot parameters on clean room models has been changed to maintain the degree of cleanliness and the Z-axis bellows durability. Along with this robot parameter change shown below, you must take the following precautions. To purchasers of this robot At this time our sincere thanks for your purchase of our robot.
MEMO 2-8
CHAPTER 3 Installation 1 Robot Installation Conditions ...................................................................3-1 1-1 1-2 2 Installation environments ...................................................................................... 3-1 Installation base ................................................................................................... 3-3 Installation ...............................................................................................
MEMO
CHAPTER 3 Installation 1 Robot Installation Conditions 1-1 Installation environments Be sure to install the robot in the following environments. Items Specifications Allowable ambient temperature 0 to 40°C Allowable ambient humidity 35 to 85% RH (non condensation) Altitude 0 to 1000 meters above sea level Ambient environments Avoid installing near water, cutting water, oil, dust, metallic chips and organic solvent. Avoid installation near corrosive gas and corrosive materials.
CHAPTER 3 Installation WARNING Do not operate the robot in locations subject to strong vibrations. The robot installation bolts might work loose and the robot topple over. The bolts on the robot body itself might also loosen, causing parts to fall off, etc. ! CAUTION A positioning error may occur if the machine harness, user signal cables or air tubes have deteriorated due to improper installation environment.
CHAPTER 3 Installation 1-2 Installation base 1) Prepare a sufficiently rigid and stable installation base, taking account of the robot weight including the end effector (gripper), workpiece and reaction force while the robot is operating. The maximum reaction force (see Fig. 31) applied to the X-axis and Z-axis of each robot during operation is shown in the table below. These values are an instantaneous force applied to the robot during operation and do not indicate the maximum load capacity.
CHAPTER 3 Installation WARNING Do not place the robot on a moving installation base. Excessive loads will be applied to the robot arm by movement of the installation base, resulting in damage to the robot. ! CAUTION The manipulator positioning might decrease if the installation surface precision is insufficient.
CHAPTER 3 Installation 2 Installation 2-1 Unpacking WARNING The robot and controller are heavy. Take sufficient care not to drop them during moving or unpacking as this may damage the equipment or cause bodily injury. ! CAUTION When moving the robot or controller by equipment such as a folk-lift that require a license, only properly qualified personnel may operate it. The equipment and tools used for moving the robot should be serviced daily.
CHAPTER 3 Installation 2-2 Checking the product After unpacking, check the product configuration and conditions. The following configurations are typical examples, so please check that the product is as specified in your order. ! CAUTION If there is any damage due to transportation or insufficient parts, please notify your YAMAHA sales office or dealer immediately.
CHAPTER 3 Installation 2-3 Moving the robot 1) Fold in the arm and wind the robot cable as shown in Fig. 3-4. 2) The robot must be carried by two workers. One worker must hold the support sections shown in the drawing with both hands, and the other worker must carry the robot cable. Place the robot on the installation base, and temporarily tighten with the bolts. (Refer to section "2-4 Installing the robot" for the bolt tightening torque values.
CHAPTER 3 Installation 2-4 Installing the robot Install the robot securely with the four hex socket head bolts as shown in Fig. 35. WARNING Be sure to use the specified type and number of bolts, and securely tighten them to the correct torque. If the bolts are not tightened correctly, the robot may cause positioning errors or fall over during operation, causing a serious accident. Tightening torque Robot Mode Bolts Used YK120X, YK150X M3 2.0Nm (20kgfcm) YK180X, YK220X M6 15.
CHAPTER 3 Installation 3 Protective Bonding WARNING Be sure to ground the robot and controller to prevent electrical shock. WARNING Turn off the controller before grounding the robot. The robot must be grounded as follows: 1) Provide a terminal marked "PE" for the protective conductor of the entire system and connect it to an external protective conductor. In addition, securely connect the ground terminal on the robot pedestal to the same protective conductor. (See Fig. 3-6.
CHAPTER 3 Installation Ground symbol Ground symbol M3 Ground terminal M3 Ground terminal YK120X, YK150X YK180X, YK220X Fig.
CHAPTER 3 Installation 4 Robot Cable Connection The robot cable is pre-connected to each robot. Correctly install the other end of the robot cable to the robot controller. For details on connections to the robot controller, refer to Fig. 3-7 and the "YAMAHA RCX142 robot controller owner's manual". After making connections, check the operation while referring to "6 Trial operation" in Chapter 1.
CHAPTER 3 Installation WARNING For the YK120X series robots (YK120X, YK150X), always use the RCX142-T controller that is designed to provide 24V output. The model name "RCX142-T" is shown on the serial number label (see Fig. 2-5). Do not connect other robot controllers to the YK120X series robots. If operated from a controller other than the RCX142-T, the robot's motors may be damaged. Controller side connector Robot side connector Robot cable XM XM YM YM ZM ZM RM RM XY XY ZR ZR Fig.
CHAPTER 3 Installation 5 User Wiring and User Tubing WARNING Always turn off the controller and shut off air supply before attempting wiring and piping work. If air or power is supplied during this work, the manipulator may move erroneously causing a hazardous situation. 1) The robot has a user signal wire and air tube laid in parallel with the robot body's machine harness. The signal wires and air tubes that can be used are shown below.
CHAPTER 3 Installation 3) Signal wiring connections in the machine harness Connector pins 1 to 6 can be used. Signal User signal line Connector No Connection No Connector 1 1 2 2 IO IO 3 3 (Arm side) 4 4 (Base side) 5 5 6 6 Color Orange Orange Orange Orange Orange Orange (Robots models with non-standard specifications may have different wiring colors.) 4) Crimp the user wiring to the connector (supplied) using a crimping tool (J.S.T. Mfg Co., Ltd. YC12) or solder as shown in Fig. 3-8.
CHAPTER 3 Installation WARNING Arrange the user wiring and piping installed with the user wiring connector and user piping joint not to pose hazards for the operators. The operators could trip on these parts and be injured. ! CAUTION Always use the supplied connectors and pins. Contact faults could occur if other types are used. Arm side and base side connector (supplied) SM Connector SMR-6V-B Pin BYM-001T-0.6 or SYM-001T-P0.6 Manufacture J.S.T. Mfg Co., Ltd.
CHAPTER 3 Installation 6 Connecting a suction hose (YK120XC, YK150XC) WARNING Always turn off the robot controller and shut off air supply before connecting a suction hose. Clean room models have two suction couplers (φ6) on the rear of the manipulator base for air suction from the base interior and from the X, Y, R axis joints, and also have one bellows type suction coupler (φ3) for the R-axis. The required degree of cleanliness can be maintained by sucking air through these suction couplers.
CHAPTER 3 Installation 7 Attaching The End Effector 7-1 R-axis tolerable moment of inertia and acceleration coefficient 1) The moment of inertia of a load (end effector and workpiece) that can be attached to the R-axis is limited by the strength of the robot drive unit and residual vibration during positioning. It is therefore necessary to reduce the acceleration coefficient in accordance with the moment of inertia.
CHAPTER 3 Installation ! CAUTION Depending on the Z-axis position, vibration may occur when the X, Y or R-axis moves. If this happens, reduce the X, Y or R-axis acceleration to an appropriate level. ! CAUTION If the moment of inertia is too large, vibration may occur on the Z-axis depending on its operation position. If this happens, reduce the Z-axis acceleration to an approriate level.
CHAPTER 3 Installation 7-1-1 Acceleration coefficient vs. moment of inertia (YK120X) AX, AY, AR (%) 100 0.00025 (0.0025) 80 60 40 20 0 0 0.0005 0.005 0.0010 0.010 0.0015 0.015 0.0020 Ir (kgm2) 0.020 Jr (kgfcmsec2) 0.0015 0.015 0.0020 Ir (kgm2) 0.020 Jr (kgfcmsec2) W=0.1kg AX, AY, AR (%) 100 0.0008 (0.00008) 80 60 40 20 0 0 0.0005 0.005 0.0010 0.010 W=0.2kg AX, AY, AR (%) 100 0.0005 (0.00005) 80 60 40 20 0.0011 (0.011) 0 0 0.0005 0.005 0.0010 0.010 W=0.3kg 3-19 0.0015 0.015 0.
CHAPTER 3 Installation AX, AY, AR (%) 100 0.00002 (0.0002) 80 60 40 20 0 0 0.0005 0.005 0.0010 0.010 0.0015 0.015 0.0020 Ir (kgm2) 0.020 Jr (kgfcmsec2) 0.0015 0.015 0.0020 Ir (kgm2) 0.020 Jr (kgfcmsec2) W=0.4kg AX, AY, AR (%) 100 0.00002 (0.0002) 80 60 40 20 0 0 0.0005 0.005 0.0010 0.010 W=0.5kg Fig.
CHAPTER 3 Installation 7-1-2 Acceleration coefficient vs. moment of inertia (YK150X) AX, AY, AR (%) 100 0.00004 (0.0004) 80 60 40 20 0.00025(0.0025) 0 0 0.0005 0.005 0.0010 0.010 0.0015 0.015 0.0020 Ir (kgm2) 0.020 Jr (kgfcmsec2) 0.0015 0.015 0.0020 Ir (kgm2) 0.020 Jr (kgfcmsec2) W=0.1kg AX, AY, AR (%) 100 0.00018 (0.0018) 80 60 40 20 0 0 0.0005 0.005 0.0010 0.010 W=0.2kg AX, AY, AR (%) 100 80 60 40 20 0.0011 (0.011) 0 0 0.0005 0.005 0.0010 0.010 W=0.3kg 3-21 0.0015 0.015 0.
CHAPTER 3 Installation AX, AY, AR (%) 100 0.00016 (0.0016) 80 60 40 20 0 0 0.0005 0.005 0.0010 0.010 0.0015 0.015 0.0020 Ir (kgm2) 0.020 Jr (kgfcmsec2) 0.0015 0.015 0.0020 Ir (kgm2) 0.020 Jr (kgfcmsec2) W=0.4kg AX, AY, AR (%) 100 0.00005 (0.0005) 80 60 40 20 0 0 0.0005 0.005 0.0010 0.010 W=0.5kg Fig.
CHAPTER 3 Installation 7-1-3 Acceleration coefficient vs. moment of inertia (YK180X, YK220X) AX, AY, AR (%) 100 0.0005 (0.005) 80 60 40 20 0 0.005 0.05 0 0.01 Ir (kgm2) 0.1 Jr (kgfcmsec2) W=0.1 to 0.4kg AX, AY, AR (%) 100 0.0005 (0.005) 80 60 40 20 0 0.005 0.05 0 0.01 Ir (kgm2) 0.1 Jr (kgfcmsec2) W=0.5 to 0.8kg AX, AY, AR (%) 100 0.0005 (0.005) 80 60 40 20 0 0.005 0.05 0 W=0.9, 1.0kg Fig. 3-11 3-23 0.01 Ir (kgm2) 0.
CHAPTER 3 Installation 7-2 Equation for moment of inertia calculation Usually the R axis load is not a simple form, and the calculation of the moment of inertia is not easy. As a method, the load is replaced with several factors that resemble a simple form for which the moment of inertia can be calculated. The total of the moment of inertia for these factors is then obtained. The objects and equations often used for the calculation of the moment of inertia are shown below.
CHAPTER 3 Installation 3) Moment of inertia for cylinder (part 2) The equation for the moment of inertia for a cylinder that has a rotation center such as shown in Fig. 3-14 is given below. I= J= D2 D2 h2 h2 ρπ D 2 h ( ) = m ( ) (kgm2) + + 4 4 3 3 16 4 D2 D2 h2 h2 ρπ D 2 h ) = W ( ) (kgfcmsec2) ( + + 4 4 3 3 16g 4g ... (Eq. 3.3) ρ : Density (kg/m3, kg/cm3) g : Gravitational acceleration (cm/sec2) m : Mass of cylinder (kg) W : Weight of cylinder (kgf) D h 2 h Fig.
CHAPTER 3 Installation 5) When the object's center line is offset from the rotation center. The equation for the moment of inertia, when the center of the cylinder is offset by the distance "x" from the rotation center as shown in Fig. 3-16, is given as follows. 2 ρπD 4 h ρπD 2 hx2 = mD + mx2 (kgm2) + 32 4 8 ρπD 2 hx 2 ρπD 4 h J= + 4g 32g I= 2 = WD Wx + 8g g Center line Rotation center 2 (kgfcmsec2) h ... (Eq. 3.
CHAPTER 3 Installation 7-3 Example of moment of inertia calculation Let's discuss an example in which the chuck and workpiece are at a position offset by 10cm from the R-axis by a stay, as shown in Fig. 3-19. The moment of inertia is calculated with the following three factors, assuming that the load material is steel and its density ρ is 0.0078kg/cm3. R-axis 2cm Stay 2cm 2cm 1cm 10cm 4cm 1cm 6cm Chuck Workpiece 4cm 2cm Fig. 3-19 1) Moment of inertia of the stay From Fig.
CHAPTER 3 Installation 2) Moment of inertia of the chuck When the chuck form resembles that shown in Fig. 3-21, the weight of the chuck (Wc) is Wc = 0.0078 × 2 × 4 × 6 6cm = 0.37 (kgf) The moment of inertia of the chuck (Jc) is then calculated from Eq. 3-7. 10cm 2cm R-axis 4cm 0.37 × (22+42) 12 × 980 0.37 × 102 + 980 = 0.038 (kgfcmsec2) Jc = Fig. 3-21 3) Moment of inertia of workpiece 10cm When the workpiece form resembles that shown in Fig. 3-22, the weight of the workpiece (Ww) is ρπD2h 0.
CHAPTER 3 Installation 7-4 Attaching the end effector WARNING Before attaching the end effector, be sure to turn off the controller. The manipulator part to which an end effector is attached must have adequate strength and rigidity, as well as gripping force to prevent positioning errors. Table 3-1 shows the maximum load that can be applied to the end effector attachment of each robot model. Recommended methods for attaching end effectors are shown in Table 3-2 and Fig. 3-25. Refer to Fig.
CHAPTER 3 Installation End effector Stay Frmax Mmax Mrmax Fxymax Fzmax Fig. 3-24 Maximum load applied to end effector attachment Table 3-2 Robot Mode Bolts Used Number of bolts Tightening torque Nm kgfcm diameter(mm) YK120X, YK150X M3 or lager 2 or more 2.0 20 6 YK180X, YK220X M4 or lager 2 or more 4.5 46 10 Hole diameter Bolt Slot Spline shaft End effector or stay Fig. 3-25 3-30 +0.012 0 +0.
CHAPTER 3 Installation WARNING The end effector attachment must have adequate strength to withstand the loads listed in Table 3-1. If too weak, the attachment may break during robot operation and fragments fly off causing accidents or injuries. WARNING The end effector attachment must have sufficient rigidity versus the loads listed in Table 3-1. If this rigidity is inadequate, the end effector may vibrate during robot operation causing bad effects on the manipulator operation.
CHAPTER 3 Installation 7-5 Gripping force of end effector The gripping force of the end effector must have a sufficient extra margin of strength versus the workpiece weight and reaction force applied to the workpiece during robot operation. The reaction force applied to the workpiece during operation can be calculated from the acceleration applied to the end effector attachment. The maximum acceleration on the end effector attachment of each robot model is listed in the table below.
CHAPTER 3 Installation 8 Working Envelope and Mechanical Stopper Positions for Maximum Working Envelope Working envelope and mechanical stopper positions for the maximum working envelope of each robot are shown in "1-2 External view and dimensions" in Chapter 7. An example using the YK120X is described below. (Refer to Fig. 7-1.) Other robot models are the same. 1) X and Y axes Do not attempt operation outside the working envelope.
MEMO 3-34
CHAPTER 4 Adjustment 1 Overview ..................................................................................................4-1 2 Safety Precautions ..................................................................................4-1 3 Adjusting the origin ..................................................................................4-2 3-1 Absolute reset method .........................................................................................
MEMO
CHAPTER 4 Adjustment 1 Overview YAMAHA robots have been completely adjusted at the factory or by the sales representative before shipment, including the origin position adjustment. If the operating conditions are changed and the robot must be adjusted, then follow the procedures described in this chapter. 2 Safety Precautions (1) Read and understand the contents of this chapter completely before attempting to adjust the robot.
CHAPTER 4 Adjustment 3 Adjusting the origin All models of the YK120X series and YK180X series robots use an absolute type position detector. The origin position (zero pulse point) can be determined by absolute reset. Once absolute reset is performed, you do not have to repeat absolute reset when turning the power on next time. However, absolute reset is required if any of the following cases occur.
CHAPTER 4 Adjustment 3-1 Absolute reset method 3-1-1 YK120X series (YK120X, YK150X) 3-1-1-1 Sensor method (R-axis) In the sensor method, the target axis is automatically operated for the absolute reset, and the absolute reset is performed at the position where the proximity sensor provided on the target axis detects the detection area (dog). The absolute reset in the sensor method can be executed with the teaching pendant (MPB), RS-232C communication, and dedicated input.
CHAPTER 4 Adjustment 3-1-1-2 Stroke end method (X-axis, Y-axis) With the stroke end method, the X and Y-axes are pushed against the mechanical stopper, and after the axis end is detected, absolute reset is performed from a position slightly back from the axis end. WARNING Serious injury might occur from physical contact with the robot during operation. Never enter within the robot movement range during absolute reset.
CHAPTER 4 Adjustment Plus side ° ±4 3° 11 Plus side 13 9° ± 4° Minus side Minus side Fig. 4-2 Default origin position (YK120X, YK150X, YK120XC, YK150XC) 1° 12 1° 12 7° 14 ) 3° YK150X (YK150XC) YK120X (YK120XC) Fig.
CHAPTER 4 Adjustment 3-1-1-3 Stroke end method (Z-axis) With this method, the Z-axis is pushed against the mechanical stopper, and after the axis end is detected, absolute reset is performed from a position slightly back from the axis end. WARNING Serious injury might occur from physical contact with the robot during operation. Never enter within the robot movement range during absolute reset.
CHAPTER 4 Adjustment 3-1-2 YK180X series (YK180X, YK220X) 3-1-2-1 Sensor method (R-axis) In the sensor method, the target axis is automatically operated for the absolute reset, and the absolute reset is performed at the position where the proximity sensor provided on the target axis detects the detection area (dog). The absolute reset in the sensor method can be executed with the teaching pendant (MPB), RS-232C communication, and dedicated input.
CHAPTER 4 Adjustment 3-1-2-2 Sensor method (X-axis, Y-axis) WARNING Serious injury might occur from physical contact with the robot during operation. Never enter within the robot movement range during absolute reset. ! CAUTION The origin cannot be detected in any axis which is not positioned on the plus side from the origin (See Fig. 4-5.) before starting the return-to-origin operation. (Factory setting at shipment.
CHAPTER 4 Adjustment 3-1-2-3 Stroke end method (Z-axis) With this method, the Z-axis is pushed against the mechanical stopper, and after the axis end is detected, absolute reset is performed from a position slightly back from the axis end. WARNING Serious injury might occur from physical contact with the robot during operation. Never enter within the robot movement range during absolute reset.
CHAPTER 4 Adjustment 3-2 Machine reference The YK-X Series position detector uses a resolver having one position that can perform absolute reset in respect to one motor rotation. When absolute reset is performed with the sensor method or stroke end method, the origin position will be set to a position where it can be reset immediately after the origin sensor reacts to the dog (where the origin signal is detected) or the stroke end (mechanical stopper) is detected.
CHAPTER 4 Adjustment 3-3 Absolute reset procedures 3-3-1 Sensor method (R-axis) WARNING Serious injury might occur from physical contact with the robot during operation. Never enter within the robot movement range during absolute reset. The operation procedure using the MPB is described next. (Press the ESC key on the MPB if you want to return to the preceding step.) See the "YAMAHA robot controller owner's manual" for information on operating the robot controller.
CHAPTER 4 Adjustment 7) Since the message "Reset ABS encoder OK?" is displayed, check that there are not any obstacles in the robot movement range, and press the F4 key (YES). 8) After the absolute reset is completed, check that the R-axis machine reference value displayed on the MPB is between 40 and 60 (recommended range). If the machine reference value is outside the recommended range, then the next absolute reset may not be properly performed.
CHAPTER 4 Adjustment 3-3-2 Stroke end method (X and Y axes of YK120X, YK150X) WARNING Serious injury might occur from physical contact with the robot during operation. Never enter within the robot movement range during absolute reset. The operation procedure using the MPB is described next. (Press the ESC key on the MPB if you want to return to the preceding step.) See the "YAMAHA robot controller owner's manual" for information on operating the robot controller.
CHAPTER 4 Adjustment 8) After the absolute reset is completed, check that the X-axis and Y-axis machine reference value displayed on the MPB is within the absolute reset tolerance range (40 to 60). If the machine reference value is outside the absolute reset tolerance range, then the next absolute reset may not be properly performed. In this case, refer to "Chapter 4, 3-4 Adjusting the machine reference" and make the necessary adjustments.
CHAPTER 4 Adjustment 3-3-3 Stroke end method (Z-axis) WARNING Serious injury might occur from physical contact with the robot during operation. Never enter within the robot movement range during absolute reset. The operation procedure using the MPB is described next. (Press the ESC key on the MPB if you want to return to the preceding step.) See the "YAMAHA robot controller owner's manual" for information on operating the robot controller.
CHAPTER 4 Adjustment 3-3-4 Sensor method (X and Y axes of YK180X, YK220X) WARNING Serious injury might occur from physical contact with the robot during operation. Never enter within the robot movement range during absolute reset. The operation procedure using the MPB is described next. (Press the ESC key on the MPB if you want to return to the preceding step.) See the "YAMAHA robot controller owner's manual" for information on operating the robot controller.
CHAPTER 4 Adjustment 8) After the absolute reset is completed, check that the X-axis and Y-axis machine reference value displayed on the MPB is within the absolute reset tolerance range (40 to 60). If the machine reference value is outside the absolute reset tolerance range, then the next absolute reset may not be properly performed. In this case, refer to "Chapter 4, 3-4 Adjusting the machine reference" and make the necessary adjustments.
CHAPTER 4 Adjustment 3-4 Adjusting the machine reference ! CAUTION If any machine reference is adjusted, the origin position may change. Before the adjustment, mark off the reference mark at the current origin position on the main body of the robot. After the machine reference is adjusted, be sure to check that the origin position has not deviated. If the origin position changes after the machine reference has been adjusted, then the standard coordinate and point data must be reset.
CHAPTER 4 Adjustment 3-4-1 YK120X series (YK120X, YK150X) 3-4-1-1 Adjusting the R-axis machine reference (YK120X, YK150X) The adjustment method for the R-axis machine reference is as follows. 1) Prepare the necessary tools. • Phillips-head screwdriver 2) Check that no one is inside the safeguard enclosure, and then turn on the controller. 3) Perform the absolute reset from outside the safeguard enclosure. Refer to "3-3 Absolute reset procedures" for information about the absolute reset method.
CHAPTER 4 Adjustment 11) Go out of the safeguard enclosure, and check that no one is inside the safeguard enclosure. Then turn on the controller. 12) Perform the absolute reset from outside the safeguard enclosure. 13) After the absolute reset is completed, read the machine reference value displayed on the MPB. 14) If the machine reference value is in the range between 40 and 60 (recommended range), then the machine reference has been completely adjusted.
CHAPTER 4 Adjustment 3-4-1-2 Adjusting the R-axis machine reference (YK120XC, YK150XC) The adjustment method for the R-axis machine reference is as follows. 1) Prepare the necessary tools. • Hex wrench set 2) Check that no one is inside the safeguard enclosure, and then turn on the controller. 3) Perform the absolute reset from outside the safeguard enclosure. Refer to "3-3 Absolute reset procedures" for information about the absolute reset method.
CHAPTER 4 Adjustment 11) Go out of the safeguard enclosure, and check that no one is inside the safeguard enclosure. Then turn on the controller. 12) Perform the absolute reset from outside the safeguard enclosure. 13) After the absolute reset is completed, read the machine reference value displayed on the MPB. 14) If the machine reference value is in the range between 40 and 60 (recommended range), then the machine reference has been completely adjusted.
CHAPTER 4 Adjustment 3-4-1-3 Adjusting the X-axis machine reference The adjustment method for the X-axis machine reference is as follows. 1) Prepare the necessary tools. • Hex wrench set 2) Check that no one is inside the safeguard enclosure, and then turn on the controller. 3) Perform the absolute reset from outside the safeguard enclosure. Refer to "3-3 Absolute reset procedures" for information about the absolute reset method.
CHAPTER 4 Adjustment 11) Go out of the safeguard enclosure, and check that no one is inside the safeguard enclosure. Then turn on the controller. 12) Perform the absolute reset from outside the safeguard enclosure. 13) After completing absolute reset, check the machine reference value. 14) If the machine reference value is in the range between 40 and 60 (recommended range), then the machine reference has been completely adjusted.
CHAPTER 4 Adjustment 3-4-1-4 Adjusting the Y-axis machine reference The adjustment method for the Y-axis machine reference is as follows. 1) Prepare the necessary tools. • Hex wrench set 2) Check that no one is inside the safeguard enclosure, and then turn on the controller. 3) Perform the absolute reset from outside the safeguard enclosure. Refer to "3-3 Absolute reset procedures" for information about the absolute reset method.
CHAPTER 4 Adjustment 11) Go out of the safeguard enclosure, and check that no one is inside the safeguard enclosure. Then turn on the controller. 12) Perform the absolute reset from outside the safeguard enclosure. 13) After completing absolute reset, check the machine reference value. 14) If the machine reference value is in the range between 40 and 60 (recommended range), then the machine reference has been completely adjusted.
CHAPTER 4 Adjustment 3-4-1-5 Adjusting the Z-axis machine reference The stroke end method is employed on the YK120X series robots for the absolute reset of the Z-axis. The origin position of the Z-axis is fixed at the upper end of the Z-axis stroke, and it cannot be changed. The machine reference is factory-adjusted at shipment, and readjustment is not necessary for normal use.
CHAPTER 4 Adjustment 8) If the machine reference value is not within the tolerance range (26 to 74%) perform the following steps. WARNING The Z-axis will slide down when the Z-axis brake is released, causing a hazardous situation. • Press the emergency stop button and prop up the Z-axis with a support stand before releasing the brake. 9) With the robot controller's power ON, apply emergency stop on the controller and release the Z-axis brakes.
CHAPTER 4 Adjustment Z-axis upper end mechanical stopper position 6 Bolt Upper end mechanical stopper Linear shaft Ball screw Set screw Ball screw Sleeve (a) (b) Set screw Ball screw Section (c) Fig.
CHAPTER 4 Adjustment 3-4-2 YK180X series (YK180X, YK220X) 3-4-2-1 Adjusting the R-axis machine reference (YK180X, YK220X) The adjustment method for the R-axis machine reference is as follows. 1) Prepare the necessary tools. • Phillips-head screwdriver 2) Check that no one is inside the safeguard enclosure, and then turn on the controller. 3) Perform the absolute reset from outside the safeguard enclosure. Refer to "3-3 Absolute reset procedures" for information about the absolute reset method.
CHAPTER 4 Adjustment 11) Go out of the safeguard enclosure, and check that no one is inside the safeguard enclosure. Then turn on the controller. 12) Perform the absolute reset from outside the safeguard enclosure. 13) After the absolute reset is completed, read the machine reference value displayed on the MPB. 14) If the machine reference value is in the range between 40 and 60 (recommended range), then the machine reference has been completely adjusted.
CHAPTER 4 Adjustment 3-4-2-2 Adjusting the X-axis machine reference The adjustment method for the X-axis machine reference is as follows. 1) Prepare the necessary tools. • Hex wrench set 2) Check that no one is inside the safeguard enclosure, and then turn on the controller. 3) Perform the absolute reset from outside the safeguard enclosure. Refer to "3-3 Absolute reset procedures" for information about the absolute reset method.
CHAPTER 4 Adjustment 11) Go out of the safeguard enclosure, and check that no one is inside the safeguard enclosure. Then turn on the controller. 12) Perform the absolute reset from outside the safeguard enclosure. 13) After completing absolute reset, check the machine reference value. 14) If the machine reference value is in the range between 40 and 60 (recommended range), then the machine reference has been completely adjusted.
CHAPTER 4 Adjustment 3-4-2-3 Adjusting the Y-axis machine reference The adjustment method for the Y-axis machine reference is as follows. 1) Prepare the necessary tools. • Hex wrench set 2) Check that no one is inside the safeguard enclosure, and then turn on the controller. 3) Perform the absolute reset from outside the safeguard enclosure. Refer to "3-3 Absolute reset procedures" for information about the absolute reset method.
CHAPTER 4 Adjustment 11) Go out of the safeguard enclosure, and check that no one is inside the safeguard enclosure. Then turn on the controller. 12) Perform the absolute reset from outside the safeguard enclosure. 13) After completing absolute reset, check the machine reference value. 14) If the machine reference value is in the range between 40 and 60 (recommended range), then the machine reference has been completely adjusted.
CHAPTER 4 Adjustment 3-4-2-4 Adjusting the Z-axis machine reference The stroke end method is employed on the YK180X series robots for the absolute reset of the Z-axis. The origin position of the Z-axis is fixed at the upper end of the Z-axis stroke, and it cannot be changed. The machine reference is factory-adjusted at shipment, and readjustment is not necessary for normal use.
CHAPTER 4 Adjustment 9) Remove the Y-axis upper cover. To remove the covers, see "7 Removing the Robot Covers" in Chapter 4. Place the upper cover on the robot base (pedestal) side with the machine harness still connected. WARNING The Z-axis will slide down during the following work, causing a hazardous situation. Prop up the Z-axis with a support stand before beginning the work. 10) Lift up the lower end urethane damper and loosen the bolts (6 pieces) securing the ball screw shown in Fig. 4-15.
CHAPTER 4 Adjustment Lower end urethane damper Ball screw Bolt Z-axis motor Spline nut 15 5 Z-axis upper-end mechanical stopper Bolt Upper end urethane damper Fig.
CHAPTER 4 Adjustment 4 Setting the Soft Limits In the YK120X and YK180 series, the working envelope during manual and automatic operation can be limited by setting the plus soft limit [pulses] and minus soft limit [pulses] on each axis. The origin point ( 0 [pulses] ) is used as the reference to set the soft limits. The working envelope can be limited by specifying the number of pulses from the 0 pulse position. Refer to the "YAMAHA robot controller owner's manual" for further details.
CHAPTER 4 Adjustment 7) Set the soft limits to within the figure for the X-axis and Y-axis encoder pulses that you noted above in step 5). This software limit setting must be made from outside the safeguard enclosure. Refer to the "YAMAHA robot controller owner's manual" for further details on soft limit settings. ! CAUTION The origin position adjusted before shipment may vary as shown in "Chapter 7, 1-2 External view and dimensions".
CHAPTER 4 Adjustment (2) Setting the Z-axis soft limits Make this setting from outside the safeguard enclosure. The Z-axis has mechanical stoppers fixed at the upper and lower ends of the Z-axis movement range. When the actual working range of the robot is smaller than the maximum working envelope or the manipulator interferes with the peripheral equipment, reduce the Z-axis plus (+) soft limit [pulses] to narrow the working envelope.
CHAPTER 4 Adjustment 5 Setting the Standard Coordinates ! CAUTION If the standard coordinate settings are incorrect, the acceleration cannot be optimized to match the arm position. This results in too short a service life, damage to the drive unit, or residual vibration during positioning. In addition, the cartesian coordinate accuracy will be impaired. Setting the standard coordinates enables the following operations and functions. 1.
CHAPTER 4 Adjustment 6 Affixing Stickers for Movement Directions and Axis Names The movement direction and axis name label shown in Fig. 4-16 is supplied with the robot. After installing the peripheral devices, attach these labels at an easy-tosee position on the robot. 1) Turn off the controller. 2) Place a sign indicating the robot is being adjusted, to keep others from operating the controller switch. 3) Enter the safeguard enclosure.
CHAPTER 4 Adjustment - Z + Y - + R - + X Fig.
CHAPTER 4 Adjustment 7 Removing the Robot Covers To remove the robot cover, follow the procedure below. 1) Prepare the necessary tools. • Phillips-head screwdriver 2) Turn off the controller. 3) Place a sign indicating the robot is being adjusted, to keep others from operating the controller switch. 4) Enter the safeguard enclosure. 5) Remove the covers while referring to Fig. 4-18, Fig. 4-19. ! CAUTION The Z-axis might be locked depending on how the Y-axis upper cover is reattached.
CHAPTER 4 Adjustment qM2×5 (×4) Y-axis arm upper cover wM2×5 (×4) (same on opposite side) Base (robot pedestal) side cover YK120X, YK150X Y-axis arm upper cover qM2×4 (×4) eM2×6 (×2) (this side) M2×4 (×2) (opposite side) Y-axis arm side cover rM2×4 (×2) (same on opposite side) wM2×4 (×4) (same on opposite side) Base (robot pedestal) side cover YK120XC, YK150XC Fig.
CHAPTER 4 Adjustment Y-axis arm upper cover qM3×6 (×4) wM3×6 (×4) eM3×6 (×4) Base front cover YK180X, YK220X Fig.
MEMO 4-48
CHAPTER 5 Periodic Inspecition 1 Overview ..................................................................................................5-1 2 Precautions ..............................................................................................5-2 3 Daily Inspection .......................................................................................5-3 4 Six-Month Inspection ...............................................................................
MEMO
CHAPTER 5 Periodic Inspection 1 Overview Daily and periodic inspection of the YAMAHA robot is essential in order to ensure safe and efficient operation. This chapter describes the periodic inspection items and procedures for the YAMAHA YK120X series and YK180 series robots.
CHAPTER 5 Periodic Inspection 2 Precautions (1) Periodic inspection must be performed by or in the presence of personnel who have received the Robot Training given by YAMAHA or YAMAHA dealers. (2) Do not attempt any inspection, adjustment, repair and parts replacement not described in this manual. This work requires specialized technical knowledge and skill, and may also involve work hazards.
CHAPTER 5 Periodic Inspection 3 Daily Inspection The following is an inspection list that must be performed every day before and after operating the robot. (1) Inspection to be performed with the controller turned off 1) Turn off the controller. 2) Place a sign indicating the robot is being inspected, to keep others from operating the controller switch. 3) Enter the safeguard enclosure and check the following points.
CHAPTER 5 Periodic Inspection (3) Adjustment and parts replacement 1) After inspection, if you notice any adjustment or parts replacement is needed, first turn off the controller and then enter the safeguard enclosure to perform the necessary work. After adjustment or replacement is finished, again review the checkpoints outlined in (1) and (2) above. 2) If repair or parts replacement is required for the robot or controller, please contact your YAMAHA dealer.
CHAPTER 5 Periodic Inspection 4 Six-Month Inspection Take the following precautions when performing 6-month inspection. WARNING Injury can occur if hands or fingers are squeezed between the drive pulley and belt. Always turn off the controller and use caution when handling these parts. WARNING The Z-axis will slide down when the Z-axis brake is released, causing a hazardous situation. Do not release the brake when lubricating the Z-axis parts.
CHAPTER 5 Periodic Inspection (1) Inspection to be performed with the controller turned off 1) Turn off the controller. 2) Place a sign showing that the robot is being inspected, to keep others from operating the controller switch. 3) Enter the safeguard enclosure and check the following points. Checkpoint Procedure Manipulator bolts and screws (Only for major bolts and screws exposed Check for looseness and tighten if necessary.
CHAPTER 5 Periodic Inspection (2) Inspection to be performed with the controller turned on WARNING The robot controller must be installed outside the safeguard enclosure, to prevent a hazardous situation in which you or anyone enter the safeguard enclosure to inspect the controller while it is turned on. WARNING • Bodily injury may occur from coming into contact with the fan while it is rotating. • When removing the fan cover for inspection, first turn off the controller and make sure the fan has stopped.
CHAPTER 5 Periodic Inspection 5 Replacing the Harmonic Drive Grease The YK120X series and YK180X series robots use a harmonic drive as the speed reduction gear for the X-axis, Y-axis and R-axis. The harmonic drive grease (SK2) must be replaced periodically. Determine the harmonic grease replacement period with the following procedures. Each axis must be disassembled when replacing the harmonic drive grease, so contact YAMAHA for servicing.
CHAPTER 5 Periodic Inspection WARNING The motor and speed reduction gear casing are extremely hot after automatic operation, so burns may occur if these are touched. Before touching these parts, turn off the controller, wait for a while and check that the temperature has cooled. WARNING Precautions when handling harmonic grease, cleaning oil: • Inflammation may occur if they get in the eyes. Before handling them, wear your safety goggles to ensure they will not come in contact with the eyes.
CHAPTER 5 Periodic Inspection ! CAUTION The harmonic drive service life may shorten if the grease recommended by YAMAHA is not used. Recommended grease Use the following harmonic drive grease. SK-2 (made by Harmonic Drive Systems Inc.) ! CAUTION Harmonic drive • Do not apply strong shocks or impacts to these parts such as with a hammer. Also, do not scratch, scar or dent these parts by dropping, etc. Such actions will damage the harmonic drive.
CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed ......................................................
MEMO
CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed The robot operating speed can be increased by the following methods. Use these methods as needed when programming. (1) Increasing speed by arch motion [Also refer to:] Robot controller owner's manual ("Axis parameters" – "Arch position" in Chapter 4) Programming manual (ARCH statement in "11. Command statements".
CHAPTER 6 Increasing the robot operating speed e Arch motion: Making the arch position value larger In the arch motion w, making the arch position value larger can further shorten the cycle time. Since the robot arm moves along a larger arc, use caution to avoid obstacles if they are located near the arm movement path. The arch position parameter can be set for each axis. r Arch motion: changing the arch positions in the program From point P1 to P2 and then to P3: ARCH (1) = 10000 ...
CHAPTER 6 Increasing the robot operating speed (2) Increasing the speed with the WEIGHT statement [Also refer to:] Robot controller owner's manual ("Robot parameters" – "Axis tip weight" in Chapter 4) Programming manual (WEIGHT statement in "11. Command statements".) [Example] From P1 when chuck is open: WEIGHT 5 ........ Changes the axis tip weight parameter to 5kg (no workpiece). MOVE P, P2, Z=0 DO3 (0) = 1 ....... Chuck closes. WEIGHT 10 ......
CHAPTER 6 Increasing the robot operating speed (3) Increasing the speed by the tolerance parameter [Also refer to:] Robot controller owner's manual ("Axis parameters" – "Tolerance" in Chapter 4) Programming manual (TOLE statement in "11. Command statements".) P2 [Example] P3 From P1 to P3 via P2 P1 TOLE (1) = 2048 ... X-axis tolerance (pulses) : Increases the tolerance. Tolerance can be set for each axis. TOLE (2) = 2048 ...
CHAPTER 6 Increasing the robot operating speed (4) Increasing the speed by the OUT effective position parameter [Also refer to:] Robot controller owner's manual ("Axis parameters" – "Out effective Position" in Chapter 4) Programming manual (OUTPOS statement in "11. Command statements".) [Example] From P1 when chuck is open: OUTPOS (1) = 10000 ... X-axis OUT effective position (pulses) : Increases the OUT effective position. The OUT effective position can OUTPOS (2) = 10000 ...
MEMO 6-6
CHAPTER 7 Specifications 1 Manipulator ..............................................................................................7-1 1-1 1-2 1-3 1-4 Basic specification ................................................................................................ 7-1 External view and dimensions .............................................................................. 7-2 Robot inner wiring diagram ................................................................................
MEMO
CHAPTER 7 Specifications 1 Manipulator 1-1 Basic specification Robot model X-axis Axis specifications Y-axis YK120X YK150X YK120XC YK150XC YK180X YK220X Arm length 69.5mm 99.5mm 69.5mm 99.5mm 71mm 111mm Rotation angle ±113° ±113° ±113° ±113° ±120° ±120° Arm length 50.5mm 50.5mm 50.5mm 50.
CHAPTER 7 Specifications 1-2 External view and dimensions 96.5 Connector for user wiring (No. 1 to 6 usable, socket contact) J.S.T. Mfg Co., Ltd. SM connector SMR-6V-B, pin BYM-001T-0.6 or SYM-001T-P0.6 (supplied) Use the YC12 crimping machine 31 58.5 40 3 0 R2 50.5 69.5 123 95 (Maximum 120 during arm rotation) 346 (Maximum 355 during arm rotation) 316 Do not attach any wire or tube to these cables. Doing so may reduce positioning accuracy.
CHAPTER 7 Specifications 13 11 3° 3° 11 9° 9° 13 R120 R46 0.5 R5 111° 111° 58 Working envelope 3° 11 ° ±4 13 9° ±4 ° User tubing 2 (φ3) User tubing 1 (φ3) Viewed from direction A User tubing 1 (φ3) User tubing 2 (φ3) X, Y-axis origin position * When carrying out X, Y-axis absolute reset stopper origin setting, move the X-axis to a position counterclockwise from this position and the Y-axis to a position clockwise. M3 ground terminal 7° 14 36 22 46 65 ° 1 12 4.5 4.
CHAPTER 7 Specifications 96.5 Connector for user wiring (No. 1 to 6 usable, socket contact) J.S.T. Mfg Co., Ltd. SM connector SMR-6V-B, pin BYM-001T-0.6 or SYM-001T-P0.6 (supplied) Use the YC12 crimping machine 31 58.5 40 3 0 R2 50.5 123 70 (Maximum 130 during arm rotation) 99.5 346 (Maximum 355 during arm rotation) 316 307 Do not attach any wire or tube to these cables. Doing so may reduce positioning accuracy.
13 3° 11 11 3° 9° 13 9° CHAPTER 7 Specifications R70 0 R15 R50.5 Working envelope ° ±4 3° 11 13 9° ±4 ° User tubing 2 (φ3) User tubing 1 (φ3) Viewed from direction A User tubing 1 (φ3) User tubing 2 (φ3) X, Y-axis origin position * When carrying out X, Y-axis absolute reset stopper origin setting, move the X-axis to a position counterclockwise from this position and the Y-axis to a position clockwise. M3 ground terminal 36 22 46 65 1° 12 7° 14 4.5 4.
CHAPTER 7 Specifications 3 89 Connector for user wiring (No. 1 to 6 usable, socket contact) J.S.T. Mfg Co., Ltd. SM connector SMR-6V-B, pin BYM-001T-0.6 or SYM-001T-P0.6 (supplied) Use the YC12 crimping machine 12 44 42 40 58.5 R21 50.5 69.5 φ5 Use M4 bolt for installation 425 111 Do not attach any wire or tube to this cable. Doing so may reduce positioning accuracy.
24 30 35 CHAPTER 7 Specifications 93 99 4-φ4 Use M3 bolt for installation 13 ° 139 9° 3 113 ° ° 113 R120 R46 0.5 NOTE 1. Suction amount for suction coupler *1 : 25 Nl/min Suction amount lower than this level cannot maintain the degree of cleanliness and higher than this level may damage the Z-axis bellows. 2. Suction amount for suction couplers *2 : 25 Nl/min (Simultaneous suction through two φ6 couplers is possible.) Suction amount lower than this level cannot maintain the degree of cleanliness.
CHAPTER 7 Specifications 58.5 89 Connector for user wiring (No. 1 to 6 usable, socket contact) J.S.T. Mfg Co., Ltd. SM connector SMR-6V-B, pin BYM-001T-0.6 or SYM-001T-P0.6 (supplied) Use the YC12 crimping machine 12 44 42 40 3 R21 50.5 φ5 Use M4 bolt for installation 425 96 99.5 Do not attach any wire or tube to this cable. Doing so may reduce positioning accuracy.
24 30 35 CHAPTER 7 Specifications 93 99 4-φ4 Use M3 bolt for installation 13 ° 139 9° 3 113 ° ° 113 0 R15 R70 R50. 5 Working envelope NOTE 1. Suction amount for suction coupler *1 : 25 Nl/min Suction amount lower than this level cannot maintain the degree of cleanliness and higher than this level may damage the Z-axis bellows. 2. Suction amount for suction couplers *2 : 25 Nl/min (Simultaneous suction through two φ6 couplers is possible.
CHAPTER 7 Specifications Connector for user wiring (No. 1 to 6 usable, socket contact) J.S.T. Mfg Co., Ltd. SM connector SMR-6V-B, pin SYM-001T-P0.6 (supplied) Use the YC12 crimping machine. 130 39 5 90 60 0 105 27 44 R3 73 10 92 4-φ7 Use M6 bolt for installation 41 109 71 Do not attach any wire and tube to these cables. Doing so may reduce positioning accuracy. 44 463.
CHAPTER 7 Specifications 140° 120 ° 0° 12 0° 14 R180 R75 R1 09 .7 119 Working envelope X-axis origin is at 0°±5° with respect to front of robot base 133 ° °±5 X, Y-axis origin position When performing return-to-origin, move the axes counterclockwise in advance from the position shown above.
CHAPTER 7 Specifications Connector for user wiring (No. 1 to 6 usable, socket contact) J.S.T. Mfg Co., Ltd. SM connector SMR-6V-B, pin SYM-001T-P0.6 (supplied) Use the YC12 crimping machine. 130 105 5 60 90 44 R 30 73 27 39 10 92 4-φ7 Use M6 bolt for installation 41 109 111 Do not attach any wire and tube to these cables. Doing so may reduce positioning accuracy. 44 463.
CHAPTER 7 Specifications ° 120 0° 12 0° 14 0° 14 R220 R1 0 9 R75 .7 119 Working envelope X-axis origin is at 0°±5° with respect to front of robot base °±5 133 ° X, Y-axis origin position When performing return-to-origin, move the axes counterclockwise in advance from the position shown above.
CHAPTER 7 Specifications 1-3 Robot inner wiring diagram Machine harness User air tube User signal cable User wiring connector RORG RORG ZBK ZBK RM RM RP RP ZP ZP ZM ZM YP YP YM YM User tubing Y-axis resolver R-axis resolver Z-axis motor R-axis motor Z-axis resolver Y-axis motor Round terminal Z-axis brake User wiring connector User tubing R-axis sensor Round terminal X-axis motor X-axis resolver Brake is incorporated in Z-axis motor for YK180X and YK220X.
CHAPTER 7 Specifications 1-4 Wiring table Robot cable wiring table Signal Resolver S2 S4 S1 S3 R1 R2 FG Resolver S2 S4 S1 S3 R1 R2 FG FG Robot side Connector No 1 2 3 XP 4 5 6 7 1 2 YP 3 4 5 6 7 FG 1 Connection 10 11 28 29 HLIM GND24 HLIM GND24 Signal Resolver S2 S4 S1 S3 R1 R2 FG Resolver S2 S4 S1 S3 R1 R2 FG Brake MB+ Brake MB - Connector No 1 2 3 ZP 4 5 6 7 1 2 RP 3 4 5 6 7 1 ZBK 2 Origin position sensor 24V ORG GND HLIM GND24 HLIM GND24 Signal U W V FG U W V Signal U W V U W V Controller side
CHAPTER 7 Specifications Machine harness wiring table Signal Y-axis Resolver S2 S4 S1 S3 R1 R2 FG Z-axis Resolver S2 S4 S1 S3 R1 R2 FG R-axis Resolver S2 S4 S1 S3 R1 R2 FG Z-axis brake 1 Z-axis brake 2 Y-axis arm side Connector No Connection 1 2 3 YP 4 5 6 7 1 2 3 ZP 4 5 6 7 1 2 3 4 RP 5 6 7 1 ZBK 2 Origin position sensor 24V ORG GND Y-axis motor U W V Z-axis motor U W V R-axis motor U W V 1 RORG 2 3 YM ZM RM Base side No Connector Color Wire Brown 0.10mm2 1 2 White Twisted pair 0.
CHAPTER 7 Specifications Motor wiring table YK120X, YK150X Signal Resolver Motor Color Connection No. Connector S2 S4 S1 S3 R1 R2 SHIELD Yellow Blue Red Black White Green Black 1 2 3 4 5 6 7 XP, YP, ZP, RP U V W Red White Black 1 2 3 XM, YM, ZM, RM No. Connector 1 2 3 RORG No.
CHAPTER 7 Specifications Motor wiring table YK180X, YK220X Signal Resolver Motor No. Connector XP, YP, ZP, RP Red Black Black 1 2 3 4 5 6 7 Red White Black 1 2 3 XM, YM, ZM, RM No. Connector 1 2 3 RORG No.
MEMO
OWNER'S MANUAL SCARA Robots Aug. 2006 Ver. 1.33 This manual is based on Ver. 1.33 of Japanese manual. © YAMAHA MOTOR CO., LTD. IM Company All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions.
