OWNER'S MANUAL
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 ......................1-9 4 Robot Safety Functions ........................................................1-10 5 Safety Measures for the System .......................................... 1-11 6 Trial Run ...................................
10 Setting the Robot ..................................................................3-22 10-1 Setting the payload ........................................................................ 3-22 10-2 Setting the maximum speed .......................................................... 3-23 10-3 Setting the acceleration ................................................................. 3-24 11 Absolute Reset .....................................................................
CHAPTER 7 FXYX 1 Installation ..............................................................................7-1 1-1 1-2 1-3 1-4 Installation bolt types ....................................................................... Installation bolt nominal length......................................................... Tightening torque ............................................................................. Installation methods .........................................................................
3-6 3-7 ZFH (Arm type, gantry type, moving arm type 3rd-axis option) XZ 2nd-axis option ......................................................................... 8-17 ZFL (Arm type, moving arm type, 3rd-axis option/XZ type 2-axis model) ... 8-18 4 User Wiring and User Piping ................................................8-19 4-1 4-2 Cable carrier type........................................................................... 8-19 4-1-1 Example of wiring and piping methods using cable carrier ........
4 User Wiring and User Piping ................................................9-14 4-1 4-2 Cable carrier type........................................................................... 9-14 4-1-1 Example of wiring and piping methods using cable carrier ........... 9-14 4-1-2 Cable carrier specifications ........................................................... 9-17 4-1-3 User I/O cable specifications ......................................................... 9-18 Whipover cable type ...............
5 Periodic Inspections ...........................................................10-24 5-1 5-2 Replenishing grease to the linear guide ....................................... 10-24 Replenishing grease to the ball screw ......................................... 10-25 CHAPTER 11 FXYBX/SXYBX 1 Installation ............................................................................ 11-1 1-1 1-2 1-3 1-4 Installation bolt types ......................................................................
8-6 Periodic inspection of the ZS/ZRS unit ......................................... 11-36 8-6-1 Replenishing grease to the Z-axis ball screw and ball spline ...... 11-36 8-6-2 Adjusting the R-axis belt tension (ZRS) ...................................... 11-37 8-6-3 Replacing the R-axis harmonic drive (ZRS) ................................ 11-38 CHAPTER 12 HXYLX 1 Installation ............................................................................
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CHAPTER 1 Using the Robot Safely 1 Safety Information ..................................................................1-1 2 Essential Caution Items ..........................................................1-2 3 Special Training for Industrial Robot Operation ......................1-9 4 Robot Safety Functions ........................................................1-10 5 Safety Measures for the System .......................................... 1-11 6 Trial Run ............................................
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Chapter 1 Using the Robot Safely 1 Safety Information Industrial robots are highly programmable machines that provide a large degree of freedom in movement. To ensure correct and safe use of YAMAHA robots, carefully read this manual to 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 DANGER Serious injury will result from impact with moving robot.
Chapter 1 Using the Robot Safely (3) Follow the instructions listed on warning labels and in this manual. WARNING Improper installation or operation can result in serious injury. Read the Instruction Manual and all warning labels before operation. The warning label 3 (Fig. 1-3) is attached to the robot. • Be sure to read the warning labels and this manual carefully and make sure to thoroughly understand the contents before attempting installation and operation of the robot.
Chapter 1 Using the Robot Safely (4) Do not use the robot in environments containing inflammable gas, etc. WARNING • This robot is not designed for operation in environments where inflammable of explosive substances are present. • Do not use the robot in environments containing inflammable gas, dust or liquids. Explosions or fire might otherwise result. (5) Do not use the robot in locations possible subject to electromagnetic interference, etc.
Chapter 1 Using the Robot Safely (8) Movement of Z-axis at controller power shut off and emergency stop (for ZAS) WARNING The Z-axis will start to rise when the controller power is shut off, the PLC power is shut off, the program is reset, emergency stop is applied, and when the supply of air to the Z-axis air cylinder’s solenoid valve is started. • Take care not to pinch or crush hands, etc., in the Z-axis moving sections.
Chapter 1 Using the Robot Safely (12) Use caution when disassembling and replacing the motor WARNING When disassembling or assembling the motor for a ball-screw drive type robot, a strong magnetic attraction force will be present between the motor stator (fixed coil) and rotor (rotating magnet), causing a risk of pinching hands, etc. A YAMAHA-trained operator must carry out this work using the YAMAHArecommended jigs.
Chapter 1 Using the Robot Safely (16) Use caution not to touch the controller rear panel cooling fan WARNING • Injury may occur from coming into contact with the cooling fan while it is rotating. • When removing the fan cover for inspection, first turn OFF the controller and make sure that the fan has stopped. (17) Be careful not to touch the motor or speed reduction gear casing when hot.
Chapter 1 Using the Robot Safely (21) Be sure to make correct parameter settings - Part 2 ! CAUTION When using a rotary axis (RF, RH, etc.) the robot must be operated with the tolerable moment of inertia and correct acceleration coefficients according to the tip mass and moment of inertia. If these are not correct, the drive unit service life may end prematurely, and damage to robot parts or residual vibration during positioning may result. (22) Do not use the robot for tasks requiring motor thrust.
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 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. (2) Overheat detection This detects an abnormal rise in the controller driver temperature and shuts off the servo power. If an overload or overheat error occurs, take the following measuring. 1. Insert a timer in the program. 2. Reduce the acceleration coefficient.
Chapter 1 Using the Robot Safely 5 Safety Measures for the System When 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. Appropriate safety measures must be taken on the part of the system manufacturer according to the individual system. The system manufacture should provide a proper instruction manual for safe, correct operation and servicing of the system.
Chapter 1 Using the Robot Safely 6 Trial Run After making installations, adjustments, inspections, maintenance or repairs to the robot, carry out 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 the movable range in place of the safeguard enclosure, and observe the following points. 1. Use sturdy, stable posts that will not fall over easily. 2.
Chapter 1 Using the Robot Safely 7 Work Within the Safeguard Enclosure (1) When work is required in the safeguard enclosure, always turn the controller power OFF and place a sign indicating that the robot is being adjusted or serviced in order to keep any other personnel from touching the controller power switch or operation panel, except for the following cases. 1) Soft limit settings 2) Teaching For item 1), follow the precautions and procedure for each section.
Chapter 1 Using the Robot Safely 8 Automatic Operation (1) Check the following before starting automatic operation. 1. No one is within the safeguard enclosure. 2. The programming unit or tools, etc., are in their specified location. 3. The alarm or error lamps, etc., on the robot and peripheral devices do not flash. 4. The safeguard enclosure is securely installed with safety interlocks, etc., actuated. (2) Observe the following during automatic operation or in cases where an error occurs.
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 2 Product Outline 1 Robot ......................................................................................2-1 2 Names of each part ................................................................2-2 3 Robot Controller .....................................................................
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Chapter 2 Product Outline 1 Robot The robot is configured of the standard function X/Y axes (horizontal cartesian slide) and optional function Z-axis (vertical slide) and R-axis (rotation). These configuration axes can move in the following manner. High-accuracy and high-speed work can be carried out over a wide range by installing work tools. (+) and (-) indicate the jog key movement directions.
Chapter 2 Product Outline 2 Names of each part ■ Arm type with cable carrier Y-axis Y-axis stroke cover Frame bracket Y-axis motor X-axis stroke cover X-axis motor X-axis Robot cable Cable carrier between XY (The machine harness between XY is wired inside) Y-axis wiring box Y-axis slider (tool installation section) X-axis slider X-axis wiring box ■ Arm type with whipover cable Y-axis Y-axis stroke cover Frame bracket Y-axis motor X-axis stroke cover X-axis motor X-axis Robot cable whipover
Chapter 2 Product Outline ■ Gantry type Support axis Support axis installation bracket Y-axis Y-axis stroke cover Y-axis motor X-axis motor X-axis stroke cover X-axis Robot cable Cable carrier between XY (The machine harness between XY is wired inside) Y-axis wiring box Frame bracket X-axis slider X-axis wiring box 2-3 Y-axis slider (tool installation section)
Chapter 2 Product Outline ■ Moving arm type (with cable carrier) Y-axis whipover cable Y-axis wiring box Cable carrier between XY (The machine harness between XY is wired inside) Y-axis wiring box Y-axis bracket (tool installation section) X-axis stroke cover X-axis Y-axis Y-axis stroke cover X-axis slider Y-axis motor X-axis wiring box X-axis motor ■ Moving arm type (with whipover cable) whipover cable between XY Y-axis wiring box Y-axis bracket (tool installation section) X-axis stroke cover
Chapter 2 Product Outline ■ Pole-type with cable carrier Y-axis motor Y-axis relay harness Y-axis Y-axis wiring box Y-axis slider (tool installation section) Cable carrier between XY (The machine harness between XY is wired inside) Y-axis stroke cover X-axis stroke cover Robot cable X-axis X-axis slider X-axis wiring box X-axis motor ■ Pole-type with whipover cable Independent cable between XY Y-axis motor Y-axis Y-axis slider (tool installation section) X-axis stroke cover Robot cable X-axis
Chapter 2 Product Outline ■ XZ-type with cable carrier Z-axis Z-axis wiring box Z-axis motor Cable carrier between XY (The machine harness between XZ is wired inside) X-axis wiring box Robot cable Z-axis slider Z-axis cover stroke X-axis motor X-axis X-axis stroke cover ■ XZ-type with whipover cable whipover cable between XY Z-axis Z-axis motor X-axis wiring box Robot cable Z-axis slider X-axis X-axis motor 2-6 X-axis stroke cover
Chapter 2 Product Outline 3 Robot Controller A RCX40, QRCX, TRCX or DRCX Series robot controller is enclosed with the XY-X Series according to the user’s order. Refer to the separate “YAMAHA Robot Controller Instruction Manual” for details on the robot controller. DRCX TRCX MOTOR OP.1 OP.3 MPB PWR RCX40 SRV XM ERR ROB I/O XY YM BATT COM X ROB I/O Y Z ZR R OP.2 OP.4 RGEN ZM STD.
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CHAPTER 3 Preparing the Robot 1 Robot Installation Environment ...............................................3-1 2 Unpacking the Robot ..............................................................3-2 3 Checking the Product .............................................................3-3 4 Transporting the Robot ...........................................................3-5 5 Installation ..............................................................................3-7 5-1 5-2 Installation base .........
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Chapter 3 Preparing the Robot 1 Robot Installation Environment WARNING Avoid installing the robot in locations where the ambient conditions may exceed the allowable ambient temperature or relative humidity, or in environments where excessive moisture, corrosive gas, metallic powder or dust is generated. Malfunctions, failures or short circuits may otherwise result. WARNING • This robot is not designed for operation in environments where inflammable of explosive substances are present.
Chapter 3 Preparing the Robot 2 Unpacking the Robot WARNING The robot and robot controller are heavy. Take care not to drop these parts or damage the devices while unpacking the packages. The packages are divided into the robot (XY-X Series), robot controller (RCX40, QRCX, TRCX or DRCX Series) and accessories according to the items ordered by the user. Carefully unpack the packages while taking care not to damage the devices.
Chapter 3 Preparing the Robot 3 Checking the Product ! CAUTION Contact your YAMAHA dealer immediately if any parts are missing or have been damaged during transportation. After unpacking, check the state of the components and the product. An example of the common combination of components is shown below. Check the products according to the actual order.
Chapter 3 Preparing the Robot Example of combination with TRCX controller Z-axis unit (option) Robot (XY-X Series) I/O connector set for user OWNER'S MANUAL Robot cable Controller power connector TRCX controller STD I/O connector OP DI, OP DO connector (option) Terminator YAM YA TPB programming unit (option) MA HA MO TO R CO .
Chapter 3 Preparing the Robot 4 Transporting the Robot WARNING Serious injury may occur if the robot being transported falls and pins someone under it. • Use a hoist and rope with transporting capacity strong enough to support the robot weight. • Make sure the rope stays securely on the hoist hook. • Remove all loads attached to the robot end. If any load is still attached, the robot balance may shift while being transported, and the robot may topple over causing accidents.
Chapter 3 Preparing the Robot Use of a hoist, dolly or forklift is recommended for transporting the robot or controller. Use sufficient caution when transporting robots with a long stroke or large payload as they are heavy.
Chapter 3 Preparing the Robot 5 Installation 5-1 Installation base WARNING If the installation base is not sufficiently rigid and stable, vibration (resonance) may occur during operation and adversely affect the robot work. In worst cases the robot might even fall over causing a serious accident. ! CAUTION If the installation surface accuracy is insufficient, the robot positioning accuracy and machine life may drop, and noise may be generated.
Chapter 3 Preparing the Robot 5-2 Installing the Robot Always observe the safety precautions and the following procedures to ensure that the robot is correctly and safety installed. WARNING • Take care not to pinch hands, etc., when removing the hoist belt from the X-axis. • The robot could tilt over if the hoist belt comes undone and if the balance is lost. Prevent tilting by suspending the tilting section with a hoist or by using spacers, etc.
Chapter 3 Preparing the Robot 6 Protective connections WARNING Be sure to ground the robot and controller to prevent electrical shock. WARNING Turn the controller power OFF before starting connecting the ground. The ground terminal position differs for each robot. Refer to the explanation for each robot in Chapter 6 and following for details. 1) Provide a terminal marked “PE” as the protective conductor for the entire system, and connect to an external protective conductor.
Chapter 3 Preparing the Robot 7 Connecting the Robot Cables WARNING 1. The robot cable is the most important cable for controlling the robot. If the connector is insufficiently connected and there are pin contact faults, the robot could malfunction. Confirm that each connector is securely connected before turning the controller power ON. 2. Arrange the connected cables so that they will not get in the way of robot movements or the operator’s operations.
Chapter 3 Preparing the Robot WARNING Arrange the connected robot cable so that it will not get in the way of operator’s operations. The operator could trip on the robot cable and be injured. WARNING When connecting the robot cable, insert the robot cable connector straight into the mating connector on the controller. Inserting the connector while tilted might cause the pins to make poor contact, causing robot malfunction and the connector itself might even break.
Chapter 3 Preparing the Robot 7-1 Connecting with the DRCX controller WARNING When connecting the robot cable, insert the robot cable connector straight into the mating connector on the controller. Inserting the connector while tilted might cause the pins to make poor contact, causing robot malfunction and the connector itself might even break. ! CAUTION These connectors all work in only one direction. Take a good look at the connector shape before trying to attach it.
Chapter 3 Preparing the Robot MOTOR connector XM YM XY Robot cable ROBOT I/O connector DRCX controller To robot Fig.
Chapter 3 Preparing the Robot 7-2 Connecting with the TRCX controller 7-2-1 3-axis model WARNING When connecting the robot cable, insert the robot cable connector straight into the mating connector on the controller. Inserting the connector while tilted might cause the pins to make poor contact, causing robot malfunction and the connector itself might even break. ! CAUTION These connectors all work in only one direction. Take a good look at the connector shape before trying to attach it.
Chapter 3 Preparing the Robot MOTOR connector Z ZM XM YM XY ROBOT I/O connector MOTOR connector ROBOT I/O connector Robot cable To robot Fig.
Chapter 3 Preparing the Robot 7-2-2 4-axis model WARNING When connecting the robot cable, insert the robot cable connector straight into the mating connector on the controller. Inserting the connector while tilted might cause the pins to make poor contact, causing robot malfunction and the connector itself might even break. ! CAUTION These connectors all work in only one direction. Take a good look at the connector shape before trying to attach it. Connecting the wrong way may damage the connectors.
Chapter 3 Preparing the Robot MOTOR connector ZM M R YM XY ZR XM MOTOR connector ROBOT I/O connector ROBOT I/O connector Robot cable To robot Fig.
Chapter 3 Preparing the Robot 7-3 Connecting to the QRCX or RCX40 controller WARNING When connecting the robot cable, insert the robot cable connector straight into the mating connector on the controller. Inserting the connector while tilted might cause the pins to make poor contact, causing robot malfunction and the connector itself might even break. ! CAUTION These connectors all work in only one direction. Take a good look at the connector shape before trying to attach it.
Chapter 3 Preparing the Robot 1 XM YM ZM R 2 M XY ZR Connect to YAMAHA robot Robot cable Fig. 3-4 Connection to QRCX controller XM YM ZM XY ZR RM Connect to YAMAHA robot Fig.
Chapter 3 Preparing the Robot 8 Installing the Tool WARNING The user must responsibly determine the bolt type and tightening torque for the tool installation, and must accurately tighten these. Improper installation could cause the tool to dislocate during operation and lead to serious accidents. ! CAUTION Install the tool at the designated section. Avoid installing heavy objects on the other sections (Y-axis frame or X-axis slider, etc.).
Chapter 3 Preparing the Robot 9 User Wiring and User Piping ! CAUTION Do not clamp the wires or pipes to the outside of the whipover cable. The whipover cable could sag or break and ultimately be disconnected. After completing all work up to step 8, wires and pipes are laid from the user’s devices or robot controller to the tools and valves installed on the robot. ■ Cable carrier type Carry out wiring and piping using the attached cable carrier.
Chapter 3 Preparing the Robot 10 Setting the Robot 10-1 Setting the payload ! CAUTION Always input an accurate value as an incorrect value can lead to various trouble including vibration and a drop in machine life. ! CAUTION When installing a weight other than the tool or workpiece on the robot’s moving section, add that weight. (For example, if an air valve is fixed on the Y-axis frame, include that weight in the payload.) The optimum acceleration and servo gain, etc.
Chapter 3 Preparing the Robot 10-2 Setting the maximum speed When operating a ball screw driven robot, the ball screw's free length will increase as the movement stroke increases, and the resonance frequency will drop. Thus, the ball screw may resonate and generate vigorous vibration depending on the motor rotation speed. (The speed at which resonance occurs is called the whirling speed.
Chapter 3 Preparing the Robot 10-3 Setting the acceleration The acceleration is automatically set for the Cartesian robot XY-X Series when the payload parameter is set, so large vibration will not occur during operation. However, if the tool or workpiece is greatly offset from the robot, vibration may occur especially during positioning. In this case, lower the controller's acceleration setting. Lowering the acceleration is also effective if tool or workpiece vibration occurs due to a low tool rigidity.
Chapter 3 Preparing the Robot 11 Absolute Reset Refer to this section and set the origin position before using the robot. The Cartesian robot XY-X Series uses an absolute method position detector, and thus return-to-origin is not required when the controller power is turned ON again. However, the origin position must be set the first time the controller power is turned ON from any of the following states.
Chapter 3 Preparing the Robot ■ Setting the origin position [1] For robot configured of only linear movement axis The above type of robot uses a stroke end detection method as origin return. The motor side stroke end is set as the origin detection position before shipment from the factory. (Excluding ZH and the Z-axis of ZS, ZRS.) ! CAUTION Avoid changing the origin position to the non-motor side as the position could deviate, trouble could occur, and could be hazardous in some cases.
Chapter 3 Preparing the Robot When MANUAL > RST.ABS > ALL is selected on the MPB screen (see “11-93” in QRCX owner’s manual or “11-8-3” in RCX40 owner’s manual), first perform absolute reset for the rotating axis and then other linearmovement axes. When performing absolute reset for each axis one by one (see “11-9-2” in QRCX owner’s manual or “11-8-2” in RCX40 owner’s manual), you can begin in any order.
Chapter 3 Preparing the Robot After setting the origin position, attach the label enclosed with the robot so that it acts as a match mark on the tool side and Robot side. This match mark will be the reference for subsequent origin settings.
CHAPTER 4 Periodic Inspections 1 Outline ....................................................................................4-1 2 Precautions .............................................................................4-1 3 Daily inspection ......................................................................4-2 4 Three-month inspection ..........................................................4-2 5 Six-month inspection ..............................................................
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Chapter 4 Periodic Inspections 1 Outline Implementation of periodic inspections is essential to ensure safe and efficient operation of the YAMAHA robot. The periodic inspection items and procedures for the XY Series are described in this chapter. The periodic inspections include; • Daily inspection • Three-month inspection • Six-month inspection • Three-year inspection Thoroughly understand the details of the inspection and observe the precautions during this work.
Chapter 4 Periodic Inspections 3 Daily inspection Check the following points before and after robot operation every day. Make adjustments and replacements as necessary. Check point Safeguard enclosure Cables Motor, speed reduction gear Pneumatic devices 4 Check items Check that the safeguard enclosure is securely fixed at the designated position. Check for damages, dents and excessive bending. Check for the adherence of chemicals. Check for abnormal vibration or noise, and for abnormal temperature rise.
Chapter 4 Periodic Inspections 5 Six-month inspection Check the following points every six months, and make adjustments or replacements as required. Check point Robot's main bolts and screws X-axis, Y-axis and Z-axis drive sections (ball screw, linear guide) Z-axis ball spline and ball screw (for ZS, ZRS) R-axis timing belt (for ZRS) Wiring in robot Belt (for FXYBX, SXYBX, ZRS, HXYLX) Controller Controller rear panel cooling fan Check items Check for looseness, and tighten if necessary.
Chapter 4 Periodic Inspections 6 Three-year inspection Check the following points once every three years, and adjust or replenish grease as necessary. If the robot is used frequently, inspect the robot at an earlier stage. Check point R-axis speed reduction gear X-axis, Y-axis and Z-axis drive section (Ball screw nut section, motor section and linear guide) Check items Disassemble and check the harmonic drive. Replace the grease.* Check the ball screws, nuts and linear guide for looseness caused by wear.
Chapter 4 Periodic Inspections 7 Replenishing the grease WARNING Precautions for handling grease • Inflammation may occur if the grease gets into eyes. Always wear protective goggles, etc., to protect eyes when handling the grease. • Inflammation may occur if the grease gets on skin. Wear protective gloves, etc., to protect skin when handling the grease. • Do not consume the grease. (Consumption of grease will cause diarrhea and vomiting.
Chapter 4 Periodic Inspections 8 Maintenance and inspection of harmonic drives WARNING The motor and speed reduction gear casing are extremely hot after automatic operation, so burns may occur if these are touched. Before handling these parts during inspection or servicing, turn OFF the controller, wait for a while and check that the part has cooled. WARNING Precautions for handling harmonic grease and washing oil • Inflammation may occur if the grease gets into eyes. Always wear protective goggles, etc.
Chapter 4 Periodic Inspections ! CAUTION Harmonic drive • Do not apply strong impacts on any part with a hammer, etc. Do not damage or mark the parts by dropping. There is a risk of damage. • The specified performance cannot be attained if a damaged part is used. Continued use of a damaged part could lead to trouble such as rupture. Harmonic grease HC-1A (Harmonic Drive Systems) is used to lubricate the harmonic drive used for the R-axis (ZRL, ZRH, ZRF unit) speed reduction gear.
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CHAPTER 5 Specifications 1 Specifications .........................................................................5-1 1-1 1-2 Robot cable ...................................................................................... 5-1 User I/O cable ..................................................................................
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Chapter 5 Specifications 1 Specifications The specifications of each robot's common parts are shown below. 1-1 Robot cable This cable is used to connect the controller and robot. Connector Signal Resolver Color/No. Wire 0.3sq twisted pair 2 Orange 3 3 Green 4 4 Brown R1 5 5 Gray R2 6 6 Red 7 7 Green 0.3sq 1 14 Black Yellow 0.
Chapter 5 Specifications Signal Resolver Connector No S2 S4 S1 XP y S3 R1 R2 Blue 2 2 Orange 3 3 Green 4 4 Brown 5 5 Gray 6 6 Red Wire 0.3sq twisted pair R1 0.3sq Black 2 16 Yellow 0.
Chapter 5 Specifications Signal Resolver Connector S2 S4 S1 XP y S3 R1 R2 DG Brake XBK u MB- No Connector Color/No. 1 Blue 2 2 Orange 3 3 Green 4 4 Brown 5 5 Gray 6 6 Red Green 0.3sq 14 Black Yellow 0.
Chapter 5 Specifications Signal Connector Wire Signal 1 1 Blue 1 1 Blue 2 2 Orange 0.3sq twisted pair Resolver S2 S4 S4 2 2 Orange 3 3 Green 3 3 Green 4 Brown 0.3sq twisted pair S1 4 4 4 Brown 5 5 Gray 5 5 Gray 6 Red 0.3sq twisted pair R1 6 6 6 Red 7 7 Green 0.3sq 1 14 Black 2 16 0.
Chapter 5 Specifications 1-2 User I/O cable The cartesian robot XY-X Series cable carrier type have a signal wire that can be used freely from the X-axis wiring box to the final axis wiring box. Part No. Part name Part No. Qty. 1 SM connector SMR-10V-B 1 2 SMconnector SMP-10V-BC 1 3 Contact SYM-001T-0.6 10 4 Contact SHF-001T-0.8BS 10 5 Cable 1 Signal Connector NO I/O 1 Generalpurpose I/O q 2 3 4 5 6 7 8 9 10 NO Connector Remarks Red 1 I/O 2 w White Green 3 0.
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CHAPTER 6 PXYX 1 Installation ..............................................................................6-1 1-1 1-2 1-3 1-4 Installation bolt types ....................................................................... Installation bolt nominal length ......................................................... Tightening torque ............................................................................. Installation methods .........................................................................
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Chapter 6 PXYX 1 Installation WARNING Always turn the controller power OFF before installing the robot. Serious accidents might occur if the robot starts to operate during installation. To install the PXYX robot, tap holes into the installation base and secure the robot to the base with M4 bolts from the inside of the robot. 1-1 Installation bolt types • Use the following type of installation bolt. Hexagon socket head Cap screw M4 Strength 8.
Chapter 6 PXYX 1-4 Installation methods WARNING Always use the designated bolt, and securely tighten it with the correct torque. Failure to observe this could cause the robot position to deviate, and could also lead to serious accidents. ! CAUTION Take care not to catch the shutter when installing the side covers. 1) Tap M4 coarse screw thread holes into the installation base where the robot is to be installed. Refer to the XY-X Series catalog for the hole positions.
Chapter 6 PXYX 2 Protective Connections WARNING Always ground the robot and controller to prevent electrical shocks. WARNING Always turn the controller power OFF before connecting the ground to prevent electrical shocks. WARNING When using a tool or workpiece having power which could contact the robot due to a failure or the specifications, the user must provide proper grounding since the robot does not have a ground terminal for those devices.
Chapter 6 PXYX 2-2 Ground wire Use an AWG14 (2.0mm2) or larger ground wire with a total length of 1m or less. Crimp an M4 ring-tongue terminal on the end of the wire connected to the robot. 2-3 Wiring method WARNING Accurately insert the lock washer between the ring-tongue terminal and robot. Proper continuity may not be secured if the lock washer is dislocated. Connect the ground wire to the ground terminal located on the end face of the Xaxis wiring box.
Chapter 6 PXYX Installing the Tool WARNING Always turn the controller power OFF before Installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tightening torque, and accurately installing the tool. Improper installation can cause the tool to dislocate during operation and lead to serious accidents.
Chapter 6 PXYX 4 User Wiring and User Piping WARNING Always turn off the controller before wiring and piping to prevent electrical shocks. The methods for leading the wiring and piping to the tool are described in this section. A cable carrier is provided as a standard between the X-Y axes. Carry out wiring and piping using this cable carrier. 1) Open the X-axis wiring box cover. 2) Rubber grommets are attached to the X-axis wiring box.
Chapter 6 PXYX 7) When completed with the wiring, reattach the cover to the wiring box. Cable carrier specifications ! CAUTION When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sectional area. The cross-sectional shape of the cable carrier, and the shape of the cable mounted initially by YAMAHA are shown below.
Chapter 6 PXYX 5 Periodic Inspections The inspection periods and general precautions are described in Chapter 4 Periodic Inspections. Always refer to that Chapter before starting this work. WARNING Always turn the controller power OFF before starting periodic inspections. Serious accidents could occur if the robot starts moving during the periodic inspection. 5-1 Replenishing grease to the linear guide Grease must be replenished to this linear guide periodically.
Chapter 6 PXYX 5-2 Replenishing grease to the ball screw The X and Y axes use a ball screw. Grease must be replenished to this ball screw periodically. Select the grease from the following recommended types. Recommended grease : Alvania No. 2 (Showa Shell) Daphne Eponex No. 2 (Idemitsu) ! CAUTION When designated by YAMAHA and the user, special grease, such as splatterproof grease, may be applied when the robot is delivered.
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CHAPTER 7 FXYX 1 Installation ..............................................................................7-1 1-1 1-2 1-3 1-4 Installation bolt types ....................................................................... Installation bolt nominal length ......................................................... Tightening torque ............................................................................. Installation methods .........................................................................
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Chapter 7 FXYX 1 Installation WARNING Always turn the controller power OFF before installing the robot. Serious accidents might occur if the robot starts to operate during installation. To install the FXYX robot, tap holes into the installation base and secure the robot to the base with M6 bolts from the inside of the robot. 1-1 Installation bolt types • Use the following type of installation bolt. Hexagon socket head cap screw M6 Strength 8.
Chapter 7 FXYX 1-4 Installation methods WARNING Always use the designated bolt, and securely tighten it with the correct torque. Failure to observe this could cause the robot position to deviate, and could also lead to serious accidents. 1) Tap M6 coarse screw thread holes into the installation base where the robot is to be installed. Refer to the XY-X Series catalog for the hole positions.
Chapter 7 FXYX 2 Protective Connections WARNING Always ground the robot and controller to prevent electrical shocks. WARNING Always turn the controller power OFF before connecting the ground to prevent electrical shocks. WARNING When using a tool or workpiece having power which could contact the robot due to a failure or the specifications, the user must provide proper grounding since the robot does not have a ground terminal for those devices.
Chapter 7 FXYX 2-2 Ground wire Use an AWG14 (2.0mm2) or larger ground wire with a total length of 1m or less. Crimp an M4 ring-tongue terminal on the end of the wire connected to the robot. 2-3 Wiring method WARNING Accurately insert the lock washer between the ring-tongue terminal and robot. Proper continuity may not be secured if the lock washer is dislocated. Connect the ground wire to the ground terminal located on the end face of the X-axis wiring box.
Chapter 7 FXYX 3 Installing the Tool WARNING Always turn the controller power OFF before Installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tightening torque, and accurately installing the tool. Improper installation can cause the tool to dislocate during operation and lead to serious accidents.
Chapter 7 FXYX ! CAUTION If the fitting length is less than 8mm, the threads could be damaged during tightening. If the fitting length exceeds 12mm, the bolt end could contact the bottom. NOTE There is a step on the top of the slider. The actual tool installation surface is the shaded section shown above. Select the nominal length of the tool fixing bolt so that the fitting length of the screw fixing the tool is 8mm or more, 12mm or less.
Chapter 7 FXYX ZS (3rd-axis option) WARNING Use the tap hole on the end of the shaft only to prevent the tool from dislocating. Do not use only this hole to install the tool. The tool could dislocate and fly off the installation section during robot operation. If the ZS unit is attached for the 3rd-axis, install the tool on the ZS shaft as shown below. Use the φ12 section on the shaft, and fix the tool with a bolt coupling or split clamp. φ5 Hole for rotation stop tool 36 41 3-2 12 0 -0.018 M8×1.
Chapter 7 FXYX 4 User Wiring and User Piping WARNING Always turn off the controller before wiring and piping to prevent electrical shocks. 4-1 Cable carrier type A cable carrier is mounted as a standard between the X and Y axes. When using three axes, a cable carrier is also provided between the Y and Z axes. Lay the wiring and piping to the tool using these ducts. A 0.3sq 10-core flexible cable is wired from the X-axis wiring box to the final axis' wiring box, and can be used freely.
Chapter 7 FXYX The cable carrier has an outer lid that can be opened and closed easily. Use a flat-tip screwdriver to open the lid. Press this lid in to close it. Open and close this lid as necessary. 4) Remove the two M4 small screws on the Y-axis wiring box, and loosen two places. Loosen (same on opposite side) Remove (same on opposite side) 5) Using the small screws loosened on the Y-axis wiring box cover as a support point, turn and open the box.
Chapter 7 FXYX 6) Remove the harness retainer from the Y-axis wiring box. (Two hexagon socket bolts M5) Harness retainer 7) ! CAUTION 1. The wires could be damaged if the harness retainer is tightened too much. 2. Manually move the robot by the full stroke before fixing to confirm that the harness and air tube, etc., are not pulled in the cable carrier. These could be damaged if pulled during operation. Lay the required harness and air tubes, etc., in the Y-axis box, and fix with the harness retainer.
Chapter 7 FXYX Cable carrier specifications ! CAUTION When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sectional area. The cross-sectional shape of the cable carrier, and the shape of the cable mounted initially by YAMAHA are shown below. Cable carrier between X-Y User I/O wire φ10.
Chapter 7 FXYX 4-1-3 User I/O cable specifications ! CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied correctly, and may prevent the device from operating correctly. With the cable carrier models, signal wires (0.3mm2 × 10 wires) that can be used freely by the user are laid as a standard between the X-axis wiring box and final axis' wiring box.
Chapter 7 FXYX 5 Periodic Inspections WARNING Always turn the controller power OFF before starting periodic inspections. Serious accidents could occur if the robot starts moving during the 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 handling these parts, turn OFF the controller, wait for a while and check that the part has cooled.
Chapter 7 FXYX 4) Using a grease gun, replenish grease from the grease nipple installed on the linear guide bearings. Sufficient grease has been replenished when new grease starts to seep out from the clearance between the linear guide bearings and rail. The X-axis has four bearings, and the Y-axis has two bearings. Replenish grease to all bearings. Wipe off any excessive grease that has seeped out to the rail.
Chapter 7 FXYX 2) Turn the controller power OFF. 3) Place a sign indicating "Work In Progress" so that other operators do not turn the controller power ON. 4) Remove the stroke cover. 5) Install the grease nipple onto the ball screw flange. 6) Replenish the grease using the grease gun. Sufficient grease has been replenished when new grease starts to seep out from the clearance between the ball screw nut and screw. Wipe off any excessive grease.
Chapter 7 FXYX Z-axis (ZS) 1) Turn the controller power OFF. 2) Place a sign indicating "Work In Progress" so that other operators do not turn the controller power ON. 3) Remove the screws (M4, 6 screws) fixing the cover, and pull the cover upward and off. M4 screw M4 screw Fig. 7-9 ZS 4) Wipe off any excessive grease adhered on the ball screw shaft and ball spline shaft. 5) Apply a thin coat of grease on the screw shaft with a finger. 6) Return the cover to the original position.
CHAPTER 8 SXYX 1 Installation ..............................................................................8-1 1-1 1-2 1-3 1-4 Installation bolt types ....................................................................... Installation bolt nominal length......................................................... Tightening torque ............................................................................. Installation methods .........................................................................
5-3 Periodic inspection of the ZS/ZRS unit .......................................... 8-29 5-3-1 Replenishing grease to the Z-axis ball screw and ball spline ........ 8-29 5-3-2 Adjusting the R-axis belt tension (ZRS) ........................................ 8-30 5-3-3 Replacing the R-axis harmonic drive (ZRS) ..................................
Chapter 8 SXYX 1 Installation WARNING Always turn the controller power OFF before installing the robot. Serious accidents might occur if the robot starts to operate during installation. The SXYX is installed with one of the following two methods. Method A : Open through holes on the installation base and install with M6 bolts from below. (M6 tap holes are opened on the bottom of the robot.) Method B : Tap holes into the installation base and secure the robot with M6 bolts from the inside of the robot.
Chapter 8 SXYX 1-3 Tightening torque • The accurate tightening torque will differ according to the seating face frictional coefficient and the female screw material, etc. The following tightening torque is recommended as a guide. Recommended torque 9.8N.m to 12.7N.m (100kgf.cm to 130kgf.cm) 1-4 Installation methods WARNING Always use the designated bolt, and securely tighten it with the correct torque.
Chapter 8 SXYX ■ Method B 1) Tap M6 coarse screw thread holes into the installation base where the robot is to be installed. Refer to the XY-X Series catalog for the hole positions. 2) Remove the countersunk head screws (M4, 5 screws) fixing the X-axis stroke cover. When using the whipover cable for the arm type, pole type or moving arm type, first loosen the small screws (M5, 2 screws) fixing the X-axis wiring box. Then, slide the X-axis wiring box back and forth, and remove the countersunk head screws.
Chapter 8 SXYX 3) Remove the X-axis stroke cover. If the cover is difficult to remove, manually move the Y-axis to the motor side stroke end. The cover will be easier to remove. 4) Fix the robot onto the installation base with the designated bolts. 5) After installing, return the stroke cover and X-axis wiring box to the original positions. ! CAUTION If the X-axis wiring box was slid in step 2), install so that the end face of the X-axis wiring box and end face of the X-axis are on the same plane.
Chapter 8 SXYX 2 Protective Connections WARNING Always ground the robot and controller to prevent electrical shocks. WARNING Always turn the controller power OFF before connecting the ground to prevent electrical shocks. WARNING When using a tool or workpiece having power which could contact the robot due to a failure or the specifications, the user must provide proper grounding since the robot does not have a ground terminal for those devices.
Chapter 8 SXYX X-axis wiring box Ground terminal Fig. 8-6 Arm type, moving arm type, gantry type with whipover cable specifications 2-2 Ground wire Use an AWG14 (2.0mm2) or larger ground wire with a total length of 1m or less. Crimp an M4 ring-tongue terminal on the end of the wire connected to the robot. 2-3 Wiring methods WARNING Accurately insert the lock washer between the ring-tongue terminal and robot. Proper continuity may not be secured if the lock washer is dislocated.
Chapter 8 SXYX 2-3-1 Arm type with cable carrier 1) Remove the four M4 small screws on the top of the X-axis wiring box, and loosen the M4 small screw on the end face. Remove X-axis wiring box Loosen Fig. 8-7 2) Open the X-axis wiring box cover. Lift up the back of the wiring box, push it forward and then pull it upward and off. (Refer to Fig. 8-8.) Fig.
Chapter 8 SXYX 3) Connect the ground wire to the ground terminal attached to the top of the X-axis wiring box. Ground terminal Ground wire An M4 small screw with spring washer and lock washer are attached to the ground terminal. Arrange the parts in the order of the lock washer, ring-tongue terminal and M4 small screw with spring washer, and then tighten. (Refer to Fig. 8-9.) M4 small screw with spring washer Ring-tongue terminal Lock washer Fig.
Chapter 8 SXYX 2-3-2 Arm type with whipover cable, moving arm type, pole type 1) Remove the small screws (M4, 4 screws) fixing the X-axis wiring box cover, and remove the cover. (Refer to Fig. 8-10.) Remove the four M4 screws Fig. 8-10 2) Fix the ring-tongue terminal of the ground wire to the ground terminal in the X-axis wiring box. An M4 small screw with spring washer and lock washer are attached to the ground terminal.
Chapter 8 SXYX 2-3-3 XZ type 1) Remove the small screws (M4, 4 screws) fixing the X-axis wiring box cover, and remove the cover. (Refer to Fig. 8-12.) Fig. 8-12 2) Fix the ring-tongue terminal of the ground wire to the ground terminal in the X-axis wiring box. An M4 small screw with spring washer and lock washer are attached to the ground terminal. Arrange the parts in the order of the lock washer, ring-tongue terminal and M4 small screw with spring washer, and then tighten. (Refer to Fig. 8-13.
Chapter 8 SXYX 3 Installing the Tool WARNING Always turn the controller power OFF before Installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tightening torque, and accurately installing the tool. Improper installation can cause the tool to dislocate during operation and lead to serious accidents.
Chapter 8 SXYX 23.5 50 90 70 32 20 19 2-φ6H7 Depth8 8-M6×1.0 Depth8 4-M5×0.8 Depth7 110 (Tolerance between knock (0.02) 135 90 20 6 (Thread insert depth) 8 (Allowable screw depth) 20 Fig. 8-15 Pole type ! CAUTION If the fitting length is less than 6mm, the threads could be damaged during tightening. If the fitting length exceeds 8mm, the bolt end could contact the bottom. NOTE There is a step on the top of the slider. The actual tool installation surface is the shaded section shown above.
Chapter 8 SXYX Moving arm type 2-axis model For the moving arm type, an aluminum bracket is attached to the end of the Y-axis. Install the tool on this bracket. Twelve M6 coarse thread tap holes and two φ6 reamer holes are opened on the bracket. 100 12-M6×1.0 through hole 70 5 34 32 44 60 29 50 17 35 10 15 110(Tolerance between knock (0.02) 3-2 2-φ6H7 Depth6 (Tap hole penetration) 10 (Plate thickness) Fig.
Chapter 8 SXYX ZF (Arm type, moving arm type, 3rd-axis option/XZ type 2axis model) When using the 3rd-axis model with ZF for the 3rd-axis, install the workpiece onto the ZF slider in the following manner. Four M5 coarse thread tap holes and a φ5 reamer hole are opened on the slider's workpiece installation surface. Install the tool using these holes. Four M5 coarse thread tap holes are opened on the slider side. Use these as required to fix light loads other than the tool, such as the wiring retainer.
Chapter 8 SXYX RF (Arm type, moving arm type, 4th-axis option/XZ type 3rd-axis option) ! CAUTION Use the tap hole on the end face of the shaft only to prevent the tool from dislocating. Do not use only this hole to install the tool. The tool could dislocate and fly off the installation section during robot operation. 20 8 13 When using the 4th-axis model with RF (rotary axis unit) for the 4th-axis, install the tool onto the RF shaft in the following manner.
Chapter 8 SXYX ZS/ZRS (Arm type 3/4-axis option, XZ type 2/3-axis model) WARNING Use the tap hole on the end of the shaft only to prevent the tool from dislocating. Do not use only this hole to install the tool. The tool could dislocate and fly off the installation section during robot operation. When the ZS or ZRS unit is attached to the 3rd or 4th-axis, install the tool onto the ZS or ZRS shaft in the following manner. (The ZS and ZRS shaft have the same shape.
Chapter 8 SXYX ZFH (Arm type, gantry type, moving arm type 3rd-axis option) XZ 2nd-axis option When using the 3rd-axis model with ZFH for the 3rd-axis, install the workpiece onto the ZFH frame in the following manner. Four M5 coarse thread tap holes and a φ5 reamer hole are opened on the frame's workpiece installation surface. Install the tool using these holes. The tap depth is 9mm. 4-M5×0.8 Depth9 100 2-φ5H7 Depth8 A 62 112 A 70 (Tolerance between knock (0.02) 31 10.
Chapter 8 SXYX ZFL (Arm type, moving arm type, 3rd-axis option/XZ type 2axis model) When using the 3rd-axis model with ZFL for the 3rd-axis, install the workpiece onto the ZFL slider in the following manner. Six M5 coarse thread tap holes and a φ5 reamer hole are opened on the slider's workpiece installation surface. Install the tool using these holes. Six M5 coarse thread tap holes are opened on the slider side. Use these as required to fix light loads other than the tool, such as the wiring retainer.
Chapter 8 SXYX 4 User Wiring and User Piping WARNING Always turn off the controller before wiring and piping to prevent electrical shocks. 4-1 Cable carrier type A cable carrier is mounted as a standard between the X and Y axes. When 3rdaxis are used, a cable carrier is also provided between the Y and Z axes, and when using 4th-axis, a cable carrier is also provided between the Z and R axes. Lay the wiring and piping to the tool using these ducts. A 0.
Chapter 8 SXYX 3) Pass the cables and air tubes through the cable carrier. The cable carrier has an outer lid that can be opened and closed easily. Use a flat-tip screwdriver to open the lid. Press this lid in to close it. Open and close this lid as necessary. 4) Open the Y-axis wiring box cover. 5) There is a harness retainer also in the Y-axis box. Remove this, and lay out the wires in the Y-axis box. 6) ! CAUTION 1. The wires could be damaged if the harness retainer is tightened too much. 2.
Chapter 8 SXYX 7) ! CAUTION Take care not to catch the harness or air tube with the cover when installing the covers. Assemble the wiring box cover at the original position. Wire lead-out port Wire protection material State with cover installed Lay out the wires on the protection material. Pass the X-axis wiring through this notch.
Chapter 8 SXYX 4-1-2 Cable carrier specifications ! CAUTION When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sectional area. The cross-sectional shape of the cable carrier, and the shape of the cable mounted initially by YAMAHA are shown below.
Chapter 8 SXYX 4-1-3 User I/O cable specifications ! CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied correctly, and may prevent the device from operating correctly. With the cable carrier model, signal wires (0.3mm2 × 10 wires) that can be used freely by the user are laid as a standard between the X-axis wiring box and final axis' wiring box.
Chapter 8 SXYX 4-2 Whipover cable type ! CAUTION Do not clamp the wires or tubes to the outside of the independent cable. The independent cable could sag or break and ultimately be disconnected. The signal wires (0.3mm2 × 7 wires) and air tubes (4 × 2.5, 2 tubes) are incorporated in the whipover cable. Use these to wire and pipe to the tool. Part No. Part name Part No. Qty. 1 SM connector SMR-10V-B 1 2 SM connector SMP-10V-BC 1 3 Contact SYM-001T-0.6 7 4 Contact SHF-001T-0.
Chapter 8 SXYX 2) When using an air tube, prepare an air coupler for connecting the user air tube with the YAMAHA air tube. 3) Open the X-axis wiring box cover. Fig. 8-25 4) Place the required cables and air tubes, etc., in the X-axis wiring box. Crimp the enclosed connectors onto the cable beforehand. 5) Connect the connectors, and connect the air tubes with the air couplers. 6) Open the Y-axis wiring box cover.
Chapter 8 SXYX 5 Periodic inspections The inspection periods and general precautions are described in Chapter 4 Periodic Inspections. Always refer to that Chapter before starting this work. WARNING Always turn the controller power OFF before starting periodic inspections. Serious accidents could occur if the robot starts moving during the periodic inspection. WARNING The motor and speed reduction gear casing are extremely hot after automatic operation, so burns may occur if these are touched.
Chapter 8 SXYX 4) Using a grease gun, replenish grease from the grease nipple installed on the linear guide bearings. Sufficient grease has been replenished when new grease starts to seep out from the clearance between the linear guide bearings and rail. X-axis, Y-axis The X-axis and Y-axis each have four linear guide bearings. Replenish grease to all four bearings. Wipe off any excessive grease that has seeped out to the rail. Z-axis (ZF) One linear guide bearing is attached.
Chapter 8 SXYX ! CAUTION Always remove the grease nipple after completing the work. Damage or positional deviation could occur if the robot is operated with the grease nipple installed. 1) Prepare the following recommended grease nipple beforehand. Recommended grease nipple A-M6X1 type (JIS B1575) 2) Turn the controller power OFF.
Chapter 8 SXYX 5-3 Periodic inspection of the ZS/ZRS unit 5-3-1 Replenishing grease to the Z-axis ball screw and ball spline A ball screw drive is used for the ZS and ZRS vertical axis. Grease must be replenished to this ball screw periodically. Select the grease from the following recommended types. Recommended grease : Alvania No. 2 (Showa Shell) Daphne Eponex No.
Chapter 8 SXYX 5-3-2 Adjusting the R-axis belt tension (ZRS) With the ZRS model, a timing belt is used for the R-axis. If the timing belt tension is week, adjust the belt tension with the following procedures. WARNING There is a risk of injury if fingers, etc., are caught between the drive section pulley and belt section. Always turn the controller power OFF and carefully carry out the work if these parts may be contacted. ! CAUTION The position will deviate when the belt tension is adjusted.
Chapter 8 SXYX 7) If the value measured in step 4) is smaller than the value given in Table 8-1, move the R-axis motor so that the tension increases. If larger than the value in Table 8-1, move the R-axis motor so that the tension decreases. Then, fix the bolts. 8) Measure the belt tension again with the procedure given in step 4). If the measured value is within the range shown in Table 8-1, adjustment of the R-axis belt tension is completed.
Chapter 8 SXYX Replacement period The harmonic drive replacement period is determined by the total number of wave generator rotations. A calculation example is shown below. The recommended harmonic drive replacement period is 8.4×108 rotations (at usage atmospheric temperature range 0°C to +40°C). The harmonic drive should be replaced earlier if the robot operation duty is high or if the temperature conditions are poor. [Replacement period] =8.
CHAPTER 9 MXYX 1 Installation ..............................................................................9-1 1-1 1-2 1-3 1-4 1-5 Installation bolt types ....................................................................... Installation bolt nominal length......................................................... Tightening torque ............................................................................. Installation methods (Arm type, moving arm type, pole type, gantry type X-axis) ............
MEMO
Chapter 9 MXYX 1 Installation WARNING Always turn the controller power OFF before installing the robot. Serious accidents might occur if the robot starts to operate during installation. Install the MXYX by tapping holes into the installation base and securing the robot to the base with M8 bolts from the inside of the robot. 1-1 Installation bolt types • Use the following type of installation bolt. Hexagon socket head cap screw M8 Strength 8.
Chapter 9 MXYX 1-4 Installation methods (Arm type, moving arm type, pole type, gantry type X-axis) WARNING Always use the designated bolt, and securely tighten it with the correct torque. Failure to observe this could cause the robot position to deviate, and could also lead to serious accidents. 1) Tap M8 coarse screw thread holes into the installation base where the robot is to be installed. Refer to the XY-X Series catalog for the hole positions.
Chapter 9 MXYX 4) Remove the stroke cover. If the cover is difficult to remove, manually move the Y-axis to the motor side stroke end. The cover will be easier to remove. If the X-axis stroke is 550mm or less, remove the X-axis wiring box before removing the stroke cover. 5) Fix the robot onto the installation base with the designated bolts. 6) After installing, return the stroke cover and X-axis wiring box to the original positions.
Chapter 9 MXYX 1-5 Installation methods (Gantry type support axis) The MXYX and HXYX gantry types have a guide rail for support on the Y-axis end so that heavy loads can be handled. When installing, take care to the parallelism of the X-axis and guide rail and to the difference in height from the installation surface. If the distance between the X-axis and guide rail is within ±5mm, it can be changed or adjusted. The procedures are given below.
Chapter 9 MXYX 2 Protective Connections WARNING Always ground the robot and controller to prevent electrical shocks. WARNING Always turn the controller power OFF before connecting the ground to prevent electrical shocks. WARNING When using a tool or workpiece having power which could contact the robot due to a failure or the specifications, the user must provide proper grounding since the robot does not have a ground terminal for those devices.
Chapter 9 MXYX 2-3 Wiring methods ! CAUTION Be sure to insert the lock washer between the ring-tongue terminal and robot in step3 below. Proper continuity may not be secured if the lock washer is dislocated. 1) Loosen the four M4 small screws, and open the X-axis wiring box cover. 2) Open holes (or notches) in the grommets on the end face of the X-axis wiring box, and pass the ground wire through. Ground wire 3) Connect the ring-tongue terminal of the ground wire to the ground terminal on the robot.
Chapter 9 MXYX 3 Installing the Tool Install the user tool onto the robot’s tool installation surface in the following manner. WARNING Always turn the controller power OFF before Installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tightening torque, and accurately installing the tool.
Chapter 9 MXYX 140 8 (Allowable screw depth) 124 6 (Thread insert depth) 20 20 90 110 (Tolerance between knock (0.02) 135 70 2-φ6H7 Depth8 50 45 23.5 4-M5×0.8 Depth7 19 8-M6×1.0 Depth8 Fig. 9-8 Arm type, gantry type 23.5 50 140 124 70 45 19 2-φ6H7 Depth8 4-M5×0.8 Depth7 8-M6×1.0 Depth8 110 (Tolerance between knock (0.02) 135 90 20 6 (Thread insert depth) 8(Allowable screw depth) 20 Fig.
Chapter 9 MXYX Moving arm type 2-axis model For the moving arm type, an aluminum bracket is attached to the end of the Y-axis. Install the tool on this bracket. Twelve M6 coarse thread tap holes and two φ6 reamer holes are opened on the bracket. 100 70 44 20 10 32 2-φ6H7 Depth6 60 12-M6×1.0 110 (Tolerance between knock (0.02) 130 3-2 Fig. 9-10 Moving arm type ! CAUTION If the fitting length is less than 9mm, the threads could be damaged during tightening.
Chapter 9 MXYX ZF (Arm type, moving arm type, gantry type 3rd-axis option) When using the 3rd-axis model with ZF for the 3rd-axis, install the workpiece onto the ZF slider in the following manner. Four M5 coarse thread tap holes and a φ5 reamer hole are opened on the slider's workpiece installation surface. Install the tool using these holes. Four M5 coarse thread tap holes are opened on the slider side. Use these as required to fix light loads other than the tool, such as the wiring retainer.
Chapter 9 MXYX RF (Arm type, moving arm type, 4th-axis option/XZ type 3rd-axis option) ! CAUTION Use the tap hole on the end face of the shaft only to prevent the tool from dislocating. Do not use only this hole to install the tool. The tool could dislocate and fly off the installation section during robot operation. 20 8 13 When using the 4th-axis model with RF (rotary axis unit) for the 4th-axis, install the tool onto the RF shaft in the following manner.
Chapter 9 MXYX ZFH (Arm type, gantry type, moving arm type 3rd-axis option) XZ 2nd-axis option When using the 3rd-axis model with ZFH for the 3rd-axis, install the workpiece onto the ZFH frame in the following manner. Four M5 coarse thread tap holes and a φ5 reamer hole are opened on the frame's workpiece installation surface. Install the tool using these holes. The tap depth is 9mm. 4-M5×0.8 Depth9 100 2-φ5H7 Depth8 A 62 112 A 70 (Tolerance between knock (0.02) 31 10.
Chapter 9 MXYX ZFL (Arm type, moving arm type, 3rd-axis option/XZ type 2axis model) When using the 3rd-axis model with ZFL for the 3rd-axis, install the workpiece onto the ZFL slider in the following manner. Six M5 coarse thread tap holes and a φ5 reamer hole are opened on the slider's workpiece installation surface. Install the tool using these holes. Six M5 coarse thread tap holes are opened on the slider side. Use these as required to fix light loads other than the tool, such as the wiring retainer.
Chapter 9 MXYX 4 User Wiring and User Piping WARNING Always turn off the controller before wiring and piping to prevent electrical shocks. 4-1 Cable carrier type A cable carrier is mounted as a standard between the X and Y axes. When 3rdaxis are used, a cable carrier is also provided between the Y and Z axes, and when using 4th-axis, a cable carrier is also provided between the Z and R axes. Lay the wiring and piping to the tool using these ducts. A 0.
Chapter 9 MXYX 3) Remove the harness retainer located at the cable carrier outlet. (Hexagon socket bolt M5, 2 bolts) Harness retainer 4) Pass the required wires and pipes through the cable carrier. The cable carrier has an outer lid that can be opened and closed easily. Use a flat-tip screwdriver to open the lid. Press this lid in to close it. 5) Open the Y-axis wiring box cover, and lay the required wiring and piping. 6) ! CAUTION 1.
Chapter 9 MXYX 4-1-2 Cable carrier specifications ! CAUTION When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sectional area. (This ratio is called the cable carrier space factor.) The cross-sectional shape of the cable carrier, and the shape of the cable mounted initially by YAMAHA are shown below.
Chapter 9 MXYX 4-1-3 User I/O cable specifications ! CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied correctly, and may prevent the device from operating correctly. With the cable carrier model, signal wires (0.3mm2 × 10 wires) that can be used freely by the user are laid as a standard between the X-axis wiring box and final axis' wiring box.
Chapter 9 MXYX 4-2 Whipover cable type ! CAUTION Do not clamp the wires or tubes to the outside of the independent cable. The independent cable could sag or break and ultimately be disconnected. The signal wires (0.3mm2 × 7 wires) and air tubes (4 × 2.5, 2 tubes) are incorporated in the Whipover cable. Use these to wire and pipe to the tool. Part No. Part name Part No. Qty. 1 SM connector SMR-10V-B 1 2 SM connector SMP-10V-BC 1 3 Contact SYM-001T-0.6 7 4 Contact SHF-001T-0.
Chapter 9 MXYX 2) When using an air tube, prepare an air coupler for connecting the user air tube with the YAMAHA air tube. 3) Open the X-axis wiring box cover. Fig. 9-17 4) Rubber grommets are attached to the X-axis wiring box. Open holes (or notches) in these grommets, and pass the required cables and air tubes, etc., through. Crimp the enclosed connectors onto the cables. 5) Connect the connectors, and connect the air tubes using the air couplers. 6) Open the Y-axis wiring box cover.
Chapter 9 MXYX 5 Periodic Inspections WARNING Always turn the controller power OFF before starting periodic inspections. Serious accidents could occur if the robot starts moving during the 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 handling these parts, turn OFF the controller, wait for a while and check that the part has cooled.
Chapter 9 MXYX 4) Using a grease gun, replenish grease from the grease nipple installed on the linear guide bearings. Sufficient grease has been replenished when new grease starts to seep out from the clearance between the linear guide bearings and rail. The X-axis and Y-axis each have four linear guide bearings. Replenish grease to all four bearings. Wipe off any excessive grease that has seeped out to the rail.
Chapter 9 MXYX 2) Turn the controller power OFF. NOTE When the ZF unit is attached for the 3rd-axis, the replenishment work can be carried out easier by moving the Z-axis slider to near the motor (near the origin) and turning the controller power OFF. 3) Place a sign indicating "Work In Progress" so that other operators do not turn the controller power ON. 4) Remove the stroke cover of the axis to which grease is to be replenished.
CHAPTER 10 HXYX 1 Installation ............................................................................10-1 1-1 1-2 1-3 Installation method 1 (Arm type, moving arm type, pole type, gantry type X-axis) .......... 10-1 1-1-1 Installation bolt types ..................................................................... 10-1 1-1-2 Installation bolt nominal length ...................................................... 10-1 1-1-3 Tightening torque ......................................................
4-2 Whipover cable type .................................................................... 10-22 4-2-1 Examples of wiring and piping with Whipover cable ................... 10-22 5 Periodic Inspections ...........................................................10-24 5-1 5-2 Replenishing grease to the linear guide ....................................... 10-24 Replenishing grease to the ball screw .........................................
Chapter 10 HXYX 1 Installation WARNING Always turn the controller power OFF before installing the robot. Serious accidents might occur if the robot starts to operate during installation. Install the HXYX by tapping holes into the installation base and securing the robot to the base with M8 bolts from the inside of the robot. The installation method is the same for the arm type, pole type, moving arm type and gantry type X-axis.
Chapter 10 HXYX 1-1-3 Tightening torque • The accurate tightening torque will differ according to the seating face frictional coefficient and the female screw material, etc. The following tightening torque is recommended as a guide. Recommended torque 22.5N.m to 36.3N.m (230kgf.cm to 370kgf.cm) 1-1-4 Installation methods WARNING Always use the designated bolt, and securely tighten it with the correct torque.
Chapter 10 HXYX Fig. 10-4 ! CAUTION Decorative plates are attached to both ends of the stroke cover. Take care not to lose these plates. 4) Remove the stroke cover. If the cover is difficult to remove, manually move the Y-axis to the motor side stroke end. The cover will be easier to remove. 5) Fix the robot onto the installation base with the designated bolts.
Chapter 10 HXYX 6) After installing, return the stroke cover and X-axis wiring box to the original positions. ! CAUTION Always install the X-axis wiring box at the original position. The amount of projection from the cable carrier's stroke end could change, or the cable carrier and Y-axis bracket could contact. 21 Fig. 10-5 MXY box position 1-2 Installation method 2 (XZ type) Install the XZ type in the following manner. 1-2-1 Installation bolt • Use the following type of installation bolt.
26.5 Chapter 10 HXYX Fig. 10-6 1-2-3 Tightening torque • The accurate tightening torque will differ according to the seating face frictional coefficient and the female screw material, etc. The following tightening torque is recommended as a guide. Recommended torque 22.5N.m to 36.3N.m (230kgf.cm to 370kgf.cm) 1-2-4 Installation methods WARNING Always use the designated bolt, and securely tighten it with the correct torque.
Chapter 10 HXYX 1-3 Installation method 3 (Gantry type support axis) Install the gantry type support axis in the following manner. ! CAUTION Move the X-axis as much as possible, and tighten the bolts where the movement is the lightest. Set the X-axis and guide rail parallelism during installation. Make sure that there is no difference in the height direction of the X-axis and guide rail installation surface. 1) Fix the robot onto the specified position of the installation base with bolts.
Chapter 10 HXYX 2 Protective Connections WARNING Always ground the robot and controller to prevent electrical shocks. WARNING Always turn the controller power OFF before connecting the ground to prevent electrical shocks. WARNING When using a tool or workpiece having power which could contact the robot due to a failure or the specifications, the user must provide proper grounding since the robot does not have a ground terminal for those devices.
Chapter 10 HXYX Ground terminal X-axis wiring box Fig. 10-8 XZ type 2-2 Ground wire Use an AWG14 (2.0mm2) or larger ground wire with a total length of 1m or less. Crimp an M4 ring-tongue terminal on the end of the wire connected to the robot. 2-3 Wiring methods ! CAUTION Accurately insert the lock washer between the ring-tongue terminal and robot. Proper continuity may not be secured if the lock washer is dislocated. 1) Loosen the four M4 small screws, and open the X-axis wiring box cover.
Chapter 10 HXYX 3) Connect the ring-tongue terminal of the ground wire to the ground terminal on the robot. An M4 small screw with spring washer and lock washer are attached to the ground terminal. Arrange the parts in the order of the lock washer, ring-tongue terminal and M4 small screw with spring washer, and then tighten. (Refer to Fig. 10-9.) M4 small screw with spring washer Ring-tongue terminal Lock washer Fig. 10-9 4) Return the X-axis wiring box cover to the original position.
Chapter 10 HXYX 3 Installing the Tool Install the user tool onto the robot’s tool installation surface in the following manner. WARNING Always turn the controller power OFF before Installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tightening torque, and accurately installing the tool.
Chapter 10 HXYX Arm type, gantry type 2-axis model 4-M5×0.8 Depth12 (The same position on the opposite surface at two locations) 50 52.5 12.5 Eight M8 coarse thread tap holes and two φ6 reamer holes are opened on the Y-axis slider installation surface. (Refer to Fig. 10-10.) Install the user tool onto the Y-axis slider using these holes. Four M5 coarse thread tap holes are also opened on the slider side. Use these to fix light loads other than the tool, such as a wiring retainer.
Chapter 10 HXYX Moving arm type 2-axis model The moving arm type has an aluminum-cast bracket on the end of the Y-axis. Install the tool on this bracket. Twelve M8 coarse thread tap holes and two φ6 reamer holes are opened on the bracket. 12.5 133 20 168 120 (Tolerance between knock (0.02) 3-2 4-M8×1.25 2-φ6H7 Depth8 63 78 Fig. 10-11 HXYX moving arm type ! CAUTION If the fitting length is less than 16mm, the threads could be damaged during tightening.
Chapter 10 HXYX Pole type 2-axis model Four M8 coarse thread tap holes and two $8 reamer holes are opened on the tool installation surface of the Y-axis slider. (Refer to Fig. 10-12.) Install the user tool onto the Y-axis slider using these holes. Four M5 coarse thread tap holes are also opened on the slider side. Use these to fix light loads other than the tool, such as a wiring retainer. 185 (Tolerance between knock (0.02) 30 (Effective female screw depth) 31 50 180 160 65 12.5 4-M5×0.
Chapter 10 HXYX ZH (Arm type, gantry type, moving arm type 3rd-axis option/ XZ type 2-axis model) ! CAUTION If the fitting length is less than 9mm, the threads could be damaged during tightening. If the screw length exceeds 27mm from the installation surface, the screw could contact the bottom. When using the 3rd-axis model with ZH for the 3rd-axis, install the workpiece onto the ZH frame in the following manner. M6 coarse thread tap holes are opened on the frame's workpiece installation surface.
Chapter 10 HXYX ZL (Arm type, gantry type, moving arm type 3rd-axis option/ XZ type 2-axis model) When using the 3rd-axis model with ZL for the 3rd-axis, install the workpiece onto the ZL slider in the following manner. Eight M6 coarse thread tap holes and two φ6 reamer holes are opened on the Y-axis slider. (Refer to Fig. 10-14.) Install the user tool onto the ZL slider using these holes. Four M5 coarse thread tap holes are opened on the side of the slider.
Chapter 10 HXYX ZPH (Pole type 3rd-axis option) When ZPH is attached for the 3rd-axis of the pole type, install the tool onto the aluminum bracket at the end of the ZP-axis. Twelve M6 coarse thread tap holes and two φ6 reamer holes are opened on the bracket. 100 70 44 20 10 32 2-φ6H7 Depth6 110 (Tolerance between knock (0.02) 130 12-M6×1.0 60 3-6 Fig. 10-15 ZPH ! CAUTION If the fitting length is less than 9mm, the threads could be damaged during tightening.
Chapter 10 HXYX RH (Arm type, moving arm type, gantry type 4th-axis option/ XZ type 3rd-axis option) ! CAUTION When fixing with the tap holes, always fix at several holes. If fixed with only one hole, the loosening torque could act during operation can cause loosening. 50 3 10 If the rotary axis RH is attached to the 4th-axis, install the tool onto the shaft at the end of RH. Five M8 coarse thread tap holes are opened on the end of the shaft. Install the tool using these holes.
Chapter 10 HXYX 4 User Wiring and User Piping WARNING Always turn off the controller before wiring and piping to prevent electrical shocks. 4-1 Cable carrier type A cable carrier is mounted as a standard between the X and Y axes. When 3rdaxis are used, a cable carrier is also provided between the Y and Z axes, and when using 4th-axis, a cable carrier is also provided between the Z and R axes. Lay the wiring and piping to the tool using these ducts. A 0.
Chapter 10 HXYX 3) Remove the harness retainer located at the cable carrier outlet. (Hexagon socket bolt M5, 2 bolts) Harness retainer 4) Pass the required wires and pipes through the cable carrier. The cable carrier has an outer lid that can be opened and closed easily. Use a flat-tip screwdriver to open the lid. Press this lid in to close it. 5) Open the Y-axis wiring box cover, and lay the required wiring and piping. 6) ! CAUTION 1.
Chapter 10 HXYX 4-1-2 Cable carrier specifications ! CAUTION When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sectional area. (This ratio is called the cable carrier space factor.) The cross-sectional shape of the cable carrier, and the shape of the cable mounted initially by YAMAHA are shown below.
Chapter 10 HXYX 4-1-3 User I/O cable specifications ! CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied correctly, and may prevent the device from operating correctly. With the cable carrier specifications, signal wires (0.3mm2 × 10 wires) that can be used freely by the user are laid as a standard between the X-axis wiring box and final axis' wiring box.
Chapter 10 HXYX 4-2 Whipover cable type ! CAUTION Do not clamp the wires or tubes to the outside of the independent cable. The independent cable could sag or break and ultimately be disconnected. The signal wires (0.3mm2 × 7 wires) and air tubes (4 × 2.5, 2 tubes) are incorporated in the Whipover cable. Use these to wire and pipe to the tool. Part name Part No. Part No. Qty. 1 SM connector SMR-10V-B 1 2 SM connector SMP-10V-BC 1 3 Contact SYM-001T-0.6 7 4 Contact SHF-001T-0.
Chapter 10 HXYX 3) Open the X-axis wiring box cover. Fig. 10-19 4) Rubber grommets are attached to the X-axis wiring box. Open holes (or notches) in these grommets, and pass the required cables and air tubes, etc., through. Crimp the enclosed connectors onto the cables. 5) Connect the connectors, and connect the air tubes using the air couplers. 6) Open the Y-axis wiring box cover. 7) Rubber grommets are also attached to the Y-axis wiring box.
Chapter 10 HXYX 5 Periodic Inspections WARNING Always turn the controller power OFF before starting periodic inspections. Serious accidents could occur if the robot starts moving during the 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 handling these parts, turn OFF the controller, wait for a while and check that the part has cooled.
Chapter 10 HXYX 4) Replenish the grease with one of the following methods. Method 1: Using a grease gun, replenish grease from the grease nipple installed on the linear guide bearings. Sufficient grease has been replenished when new grease starts to seep out from the clearance between the linear guide bearings and rail. The X-axis and Y-axis each have four linear guide bearings. Replenish grease to all four bearings. Wipe off any excessive grease that has seeped out to the rail.
Chapter 10 HXYX Replenishment methods Refer to the following procedures and replenish the grease. 1) Remove the stroke cover of the axis to which grease is to be replenished. 2) Replenish the grease with one of the following methods. ! CAUTION Always remove the grease nipple after replenishing the grease. Failure to do so could cause damage if the grease nipple and robot interfere.
CHAPTER 11 FXYBX/SXYBX 1 Installation ............................................................................ 11-1 1-1 1-2 1-3 1-4 Installation bolt types ...................................................................... 11-1 Installation bolt nominal length........................................................ 11-1 Tightening torque ............................................................................ 11-2 Installation methods ...........................................................
7 Adjusting the Timing Belt Tension ....................................... 11-22 7-1 7-2 Adjusting the drive belt tension ..................................................... 11-23 Adjusting the speed reduction belt tension ................................... 11-25 8 Periodic inspections ............................................................ 11-27 8-1 8-2 8-3 8-4 8-5 8-6 Replacing the motor ...................................................................... 11-27 Replacing the drive belt ....
Chapter 11 FXYBX/SXYBX 1 Installation WARNING Always turn the controller power OFF before installing the robot. Serious accidents might occur if the robot starts to operate during installation. Install the FXYBX by opening through holes on the installation base and securing with M5 bolts from below. (M5 tap holes are opened on the bottom of the robot.) Install the SXYBX by opening through holes on the installation base and securing with M6 bolts from below.
Chapter 11 FXYBX/SXYBX 10 17 SXYBX Select the under head length so that the screw length from the bottom of the robot is 9mm or more, 27mm or less. Fig. 11-2 ! CAUTION Note that the screw will contact the bottom if the screw length from the robot bottom is longer than 27mm. 1-3 Tightening torque • The accurate tightening torque will differ according to the seating face frictional coefficient and the female screw material, etc. The following tightening torque is recommended as a guide.
Chapter 11 FXYBX/SXYBX 2 Protective connections WARNING Always ground the robot and controller to prevent electrical shocks. WARNING Always turn the controller power OFF before connecting the ground to prevent electrical shocks. WARNING When using a tool or workpiece having power which could contact the robot due to a failure or the specifications, the user must provide proper grounding since the robot does not have a ground terminal for those devices.
Chapter 11 FXYBX/SXYBX The ground terminal for the Whipover cable type is provided on the end face of the X-axis wiring box. (Refer to Fig. 11-5.) Ground terminal Fig. 11-5 Whipover cable type 2-2 Ground wire Use an AWG14 (2.0mm2) or larger ground wire with a total length of 1m or less. Crimp an M4 ring-tongue terminal on the end of the wire connected to the robot. 2-3 Wiring methods (Cable carrier type) ! CAUTION Accurately insert the lock washer between the ring-tongue terminal and robot.
Chapter 11 FXYBX/SXYBX 1) Remove the four M4 screws from the top of the X-axis wiring box, and loosen the M4 screw on the end face. Remove X-axis wiring box Loosen Fig. 11-6 2) Open the X-axis wiring box cover. Lift up the back of the wiring box, push it forward and then pull it upward and off. Fig. 11-7 Opening the wiring box 3) Connect the ground wire to the ground terminal attached to the top of the X-axis wiring box.
Chapter 11 FXYBX/SXYBX 4) Return the wiring box cover to the original position following steps 1 and 2 in reverse. Lead out the ground wire from the user wiring outlet on the end face of the X-axis wiring box. 2-4 Wiring methods (Whipover cable type) For the independent cable type, wire the ground wire to the ground terminal on the end face of the X-axis wiring box. Refer to 3). in 2-3. Wiring methods (Cable carrier type) for details.
Chapter 11 FXYBX/SXYBX 3 Installing the Tool Install the user tool onto the robot's tool installation surface in the following manner. WARNING Always turn the controller power OFF before Installing a tool to prerent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tightening torque, and accurately installing the tool.
Chapter 11 FXYBX/SXYBX Select the under head length of the bolt for fixing the tool so that the screw length from the slider installation surface is 6mm or less. ! CAUTION If the screw length from the installation surface is 8mm or more, the screw could interfere with the stroke cover. NOTE There is a step on the top of the slider. The actual tool installation surface is the shaded section shown above.
Chapter 11 FXYBX/SXYBX Select the under head length of the bolt for fixing the tool so that the screw length from the slider installation surface is 6mm or less. ! CAUTION Note that if the screw length from the installation surface is 16mm or more, the screw will contact the bottom. SXYBX-ZF (XZ type 2-axis, arm type 3rd-axis option) When using the XZ type 2-axis model or if ZF is attached for the arm type 3rdaxis model, install the workpiece onto the ZF slider in the following manner.
Chapter 11 FXYBX/SXYBX ZS/ZRS (FXYBX, SXYBX 3/4-axis option) WARNING Use the tap hole on the end of the shaft only to prevent the tool from dislocating. Do not use only this hole to install the tool. The tool could dislocate and fly off the installation section during robot operation. When the ZS or ZRS unit is attached to the 3rd or 4th-axis, install the tool onto the ZS or ZRS shaft in the following manner. (The ZS and ZRS shaft have the same shape.
Chapter 11 FXYBX/SXYBX ZFH (Arm type, gantry type, moving arm type 3rd-axis option) XZ 2nd-axis option When using the 3rd-axis model with ZFH for the 3rd-axis, install the workpiece onto the ZFH frame in the following manner. Four M5 coarse thread tap holes and a φ5 reamer hole are opened on the frame's workpiece installation surface. Install the tool using these holes. The tap depth is 9mm. 4-M5×0.8 Depth9 100 2-φ5H7 Depth8 A 62 112 A 70 (Tolerance between knock (0.02) 31 10.
Chapter 11 FXYBX/SXYBX ZFL (Arm type, moving arm type, 3rd-axis option/XZ type 2axis model) When using the 3rd-axis model with ZFL for the 3rd-axis, install the workpiece onto the ZFL slider in the following manner. Six M5 coarse thread tap holes and a φ5 reamer hole are opened on the slider's workpiece installation surface. Install the tool using these holes. Six M5 coarse thread tap holes are opened on the slider side.
Chapter 11 FXYBX/SXYBX 4 User Wiring and User Piping WARNING Always turn off the controller before wiring and piping to prevent electrical shocks. 4-1 Cable carrier type A cable carrier is mounted as a standard between the X and Y axes. When using 3-axes, a cable carrier is also provided between the Y and Z axes. Lay the wiring and piping to the tool using these ducts. A 0.3sq 10-core flexible cable is wired from the X-axis wiring box to the final axis' wiring box, and can be used freely.
Chapter 11 FXYBX/SXYBX 4) Open the Y-axis wiring box cover. 5) Lay out the wiring in the Y-axis box as necessary. 6) ! CAUTION 1. The wires could be damaged if the harness retainer is tightened too much. 2. Manually move the robot by the full stroke before fixing to confirm that the harness and air tube, etc., are not pulled in the cable carrier. These could be damaged if pulled during operation. After leading all wires, fix the wires with the harness retainer.
Chapter 11 FXYBX/SXYBX Cable carrier specifications ! CAUTION When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sectional area. (This ratio is called the cable carrier space factor.) The cross-sectional shape of the cable carrier, and the shape of the cable mounted initially by YAMAHA are shown below.
Chapter 11 FXYBX/SXYBX 4-1-3 User I/O cable specifications ! CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied correctly, and may prevent the device from operating correctly. With the cable carrier model, signal wires (0.3mm2 × 10 wires) that can be used freely by the user are laid as a standard between the X-axis wiring box and final axis' wiring box (the Z-axis wiring box when using 3-axis specifications).
Chapter 11 FXYBX/SXYBX 4-2-1 Examples of wiring and piping with Whipover cable ! CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied correctly, and may prevent the device from operating correctly. 1) Crimp the user's cable and tool wiring onto the enclosed connector. Refer to section “1-2. User I/O cable” in Chapter 5 “Specifications” for details on the enclosed connector and pin specifications.
Chapter 11 FXYBX/SXYBX 10) When completed with all wiring work, return each wiring box cover to the original positions. Sandwich the X-axis wiring and air tube with the protective material at the wire lead-out port of each wiring box. ! CAUTION Take care not to catch the wiring or air couplers when installing the covers.
Chapter 11 FXYBX/SXYBX 5 Changing the Motor Installation Position 5-1 Changing the motor installation position WARNING Always turn the controller power OFF before starting this work. Serious accidents could occur if the robot starts moving during this work. The position for installing the FXYBX and SXYBX axis on the motor can be freely selected. Interference with the motor case can be suppressed to a minimum and space can be used effectively.
Chapter 11 FXYBX/SXYBX 4) First attach the belt to the small pulley, and then fit it onto the large pulley. 5) Temporarily fix the motor plate installation bolts while pulling on the motor case. Motor case Motor plate installation bolt 6) Refer to “Chapter 11 7-1-2. Adjusting the speed reduction belt tension” and adjust the belt tension. 7) Install the belt cover. ! CAUTION Confirm that the large pulley teeth and belt teeth are correctly engaged.
Chapter 11 FXYBX/SXYBX 6 Installing the Cover If the X-axis stroke is long, a slider mechanism is provided in the X-axis stroke cover. The alignment of the slider and upper cover must be adjusted when installing the cover. Target FXYBX X stroke 2150mm or more SXYBX X stroke 2450mm or more ! CAUTION If the slider and upper cover are not correctly adjusted, the slider could be damaged prematurely. When inserting into the U-character groove, take care not to cut the slider with the edge of the cover.
Chapter 11 FXYBX/SXYBX Adjusting the Timing Belt Tension WARNING The motor and speed reduction gear casing are extremely hot after automatic operation, so burns may occur if these are touched. Before handling these parts, turn the controller power OFF, wait for a while and check that the part has cooled. WARNING There is a risk of injury if fingers, etc., are caught between the drive section pulley and belt.
Chapter 11 FXYBX/SXYBX 7-1 Adjusting the drive belt tension ! CAUTION On robot models having a long stroke, a slider is provided in the upper cover. Pull off the upper cover with a parallel movement in the axis movement direction. 1) Turn the controller power OFF. 2) Remove the end cover. 3) Remove the upper cover installation screws, and remove the upper cover. 4) FXYBX X-axis, SXYBX X, Y axes Attach the enclosed belt tension adjustment bolt, and loosen the eight belt stay installation bolts.
Chapter 11 FXYBX/SXYBX 5) Move the slider by hand so that the distance between the slider end face and base block end face is 150mm. Apply a load at the L = 115mm position from the base block end for the FXYBX X-axis, at L = 65mm for the FXYBX Y-axis, and L = 129mm for the SXYBX X and Y axes. 150mm 150mm L 6) Temporarily tighten the belt stay installation bolt. If the deflection is within the range shown in Table 11-1 when the belt is pressed with the designated load, the tension is appropriate.
Chapter 11 FXYBX/SXYBX 7-2 Adjusting the speed reduction belt tension 1) Turn the controller power OFF. 2) Remove the end cover. 3) Apply the load listed in Table 11-2 at the center of both pulleys, and measure the deflection at that point. If the results are within the range given in Table 11-2, the tension is suitable. Table 11-2 Speed reduction belt load and deflection Model Load (N) Load (kgf) Deflection (mm) FXYBX X-axis 5.9 to 6.9 0.6 to 0.7 3 FXYBX Y-axis 3.9 to 4.6 0.4 to 0.
Chapter 11 FXYBX/SXYBX 6) Measure the belt tension again with the procedure given in step 3). The belt adjustment is completed if the measured value is within the range given in Table 11-2. If the measured value is not within the range of Table 11-2, repeat steps 3) to 5). 7) Tighten the motor plate installation bolt. 8) Install the belt cover.
Chapter 11 FXYBX/SXYBX 8 Periodic inspections The inspection periods and general precautions are described in Chapter 4 Periodic Inspections. Always refer to that Chapter before starting this work. WARNING Always turn the controller power OFF before starting periodic inspections. Serious accidents could occur if the robot starts moving during the periodic inspection. 8-1 Replacing the motor ! CAUTION The position will deviate when the motor is replaced.
Chapter 11 FXYBX/SXYBX 5) Loosen the two pulley set screws, and remove the pulley. 6) Replace the motor, and attach the pulley to the motor. Insert so that the two set screws perpendicularly contact the D face of the motor shaft. NOTE The parts can be correctly assembled by projecting the set screws by approx. 0.1 to 0.2mm from the inner diameter. 7) Install the motor onto the main body. 8) Attach the belt. 9) Refer to “Chapter 11 7. Adjusting the Timing Belt Tension” and adjust the belt tension.
Chapter 11 FXYBX/SXYBX 3) Remove cover 1. Cover 1 4) FXYBX X-axis, SXYB X, Y axes Remove the belt stay installation bolts (4 bolts, 2 stays), and remove the belt stays from the table. Belt stay installation bolt Table Belt stay FXYBX Y-axis Remove the two belt stay installation bolts, and remove the belt stay from the table. 5) Remove the belt stay bolts (2 bolts, 2 stays), and remove the belt.
Chapter 11 FXYBX/SXYBX 6) Attach the new belt. 7) First, lead the belt from the top of the idle pulley, and push it out with a narrow rod, etc. 8) Next, lead the belt through the lower side of the slider and lead it to below the drive pulley. Use a narrow rod, etc., to face the belt edge upwards. 9) Finally, mesh the belt between the drive pulley and drive pulley idler, and turn the drive pulley. 10) Attach the belt stays to the belt.
Chapter 11 FXYBX/SXYBX 8-3 Replacing the speed reduction belt ! CAUTION The position will deviate when the belt is replaced. After replacing the belt, return-to-origin must be carried out and the point data must be reset. Remember the relation of the installation positions when removing any parts. 1) Remove the belt cover. 2) Remove the four motor plate installation bolts. Motor plate installation bolt 3) Place the motor plate near the loose side, and remove the belt.
Chapter 11 FXYBX/SXYBX 8-4 Replacing the slider If the X stroke is 2150mm or more for the FXYBX, or 2450mm or more for the SXYBX, a slider mechanism is provided in the X-axis stroke cover. Use the following procedure if the slider needs to be replaced due to wear or damage. 1) Turn the controller power OFF. 2) Pull off the upper cover with a parallel movement in the axis movement direction. 3) Remove the two slider installation bolts.
Chapter 11 FXYBX/SXYBX 8-5 Replenishing the grease 8-5-1 Replenishing grease to the linear guide The X-axis, Y-axis and Z-axis (ZF) use a linear guide as the linear guide mechanism. Grease must be replenished to this linear guide periodically. Select the grease from the following recommended types. Recommended grease : Alvania No. 2 (Showa Shell) Daphne Eponex No.
Chapter 11 FXYBX/SXYBX 4) Using a grease gun, replenish grease from the grease nipple installed on the linear guide bearings. Sufficient grease has been replenished when new grease starts to seep out from the clearance between the linear guide bearings and rail. FXYBX X-axis, Y-axis The X-axis has four bearings, and the Y-axis has two linear guide bearings. Replenish grease to all bearings. Wipe off any excessive grease that has seeped out to the rail.
Chapter 11 FXYBX/SXYBX 8-5-2 Replenishing grease to the ball screw (ZF) The ZF uses a ball screw for drive. Grease must be periodically replenished to the ball screw. Refer to section 8-6. for details on replenishing grease to the ZS/ZRS unit ball screw. Select the grease from the following recommended types. Recommended grease : Alvania No. 2 (Showa Shell) Daphne Eponex No.
Chapter 11 FXYBX/SXYBX 8-6 Periodic inspection of the ZS/ZRS unit 8-6-1 Replenishing grease to the Z-axis ball screw and ball spline A ball screw drive is used for the ZS and ZRS vertical axis. Grease must be replenished to this ball screw periodically. Select the grease from the following recommended types. Recommended grease : Alvania No. 2 (Showa Shell) Daphne Eponex No.
Chapter 11 FXYBX/SXYBX 8-6-2 Adjusting the R-axis belt tension (ZRS) WARNING There is a risk of injury if fingers, etc., are caught between the drive section pulley and belt section. Always turn the controller power OFF and carefully carry out the work if these parts may be contacted. ! CAUTION The position will deviate when the belt tension is adjusted. Carry out absolute reset, and reset the basic coordinates and point data. With the ZRS model, a timing belt is used for the R-axis.
Chapter 11 FXYBX/SXYBX 7) If the value measured in step 4) is smaller than the value given in Table 11-3, move the R-axis motor so that the tension increases. If larger than the value in Table 11-3, move the R-axis motor so that the tension decreases. Then, fix the bolts. 8) Measure the belt tension again with the procedure given in step 4). If the measured value is within the range shown in Table 11-3, adjustment of the R-axis belt tension is completed.
Chapter 11 FXYBX/SXYBX Replacement period The harmonic drive replacement period is determined by the total number of wave generator rotations. A calculation example is shown below. The recommended harmonic drive replacement period is 8.4×108 rotations (at usage atmospheric temperature range 0°C to +40°C). The harmonic drive should be replaced earlier if the robot operation duty is high or if the temperature conditions are poor. [Replacement period] =8.
MEMO 11-40
CHAPTER 12 HXYLX 1 Installation ............................................................................12-1 1-1 1-2 Installation method 1 (Arm type, moving arm type, pole type, gantry type X-axis) .......... 12-1 1-1-1 Installation bolt types ..................................................................... 12-1 1-1-2 Installation bolt nominal length ...................................................... 12-1 1-1-3 Tightening torque ..........................................................
4 User Wiring and User Piping ..............................................12-15 4-1 4-2 Cable carrier type ......................................................................... 12-15 4-1-1 Example of wiring and piping methods using cable carrier ......... 12-15 4-1-2 Cable carrier specifications ......................................................... 12-17 4-1-3 User I/O cable specifications .......................................................
Chapter 12 HXYLX 1 Installation WARNING Always turn the controller power OFF before installing the robot. Serious accidents might occur if the robot starts to operate during installation. Install the HXYLX by tapping holes into the installation base and securing the robot to the base with M8 bolts from the inside of the robot. The installation method is the same for the arm type, pole type, moving arm type and gantry type X-axis. Note that the installation method differs for the gantry type support axis.
Chapter 12 HXYLX 1-1-3 Tightening torque • The accurate tightening torque will differ according to the seating face frictional coefficient and the female screw material, etc. The following tightening torque is recommended as a guide. Recommended torque 22.5N.m to 36.3N.m (230kgf.cm to 370kgf.cm) 1-1-4 Installation methods WARNING Always use the designated bolt, and securely tighten it with the correct torque.
Chapter 12 HXYLX 3) Secure the robot to the base with the specified bolts and torque. The bolts and tightening torque are shown below. Bolt Hex socket-head M8 bolt, strength: 8.8T, length: longer than 45mm (F17), longer than 50mm (F20) Tightening torque 230kg-cm to 370kg-cm WARNING Be sure to tighten the bolt to the correct torque. The wrong torque may not only cause robot position errors but also lead to serious accidents. 4) Reattach the upper cover after installing the robot.
Chapter 12 HXYLX ●Protective bonding WARNING Always ground the robot and controller unit to prevent electrical shock. A grounding terminal (M4 screw) is provided inside the cable box, so always ground the unit. The position of the grounding terminal is shown below. Cable box Cable carrier Robot cable Ground terminal ! CAUTION • A secure ground connection (less than 100-ohm resistance to ground) is recommended. • Use electrical wire thicker than AWG14 (2mm2) as the ground wire.
Chapter 12 HXYLX 1-2 Installation method 3 (Gantry type support axis) Install the gantry type support axis in the following manner. ! CAUTION Move the X-axis as much as possible, and tighten the bolts where the movement is the lightest. Set the X-axis and guide rail parallelism during installation. Make sure that there is no difference in the height direction of the X-axis and guide rail installation surface. 1) Fix the robot onto the specified position of the installation base with bolts.
Chapter 12 HXYLX 2 Protective Connections WARNING Always ground the robot and controller to prevent electrical shocks. WARNING Always turn the controller power OFF before connecting the ground to prevent electrical shocks. WARNING When using a tool or workpiece having power which could contact the robot due to a failure or the specifications, the user must provide proper grounding since the robot does not have a ground terminal for those devices.
Chapter 12 HXYLX 2-2 Ground wire Use an AWG14 (2.0mm2) or larger ground wire with a total length of 1m or less. Crimp an M4 ring-tongue terminal on the end of the wire connected to the robot. 2-3 Wiring methods ! CAUTION Accurately insert the lock washer between the ring-tongue terminal and robot. Proper continuity may not be secured if the lock washer is dislocated. 1) Loosen the four M4 small screws, and open the X-axis wiring box cover.
Chapter 12 HXYLX 3 Installing the Tool Install the user tool onto the robot’s tool installation surface in the following manner. WARNING Always turn the controller power OFF before Installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tightening torque, and accurately installing the tool.
Chapter 12 HXYLX Select the nominal length of the tool fixing bolt so that the fitting length of the screw fixing the tool is 16mm or more, 25mm or less.(Refer to the cross-section drawings in Fig. 12-5.) ! CAUTION If the fitting length is less than 16mm, the threads could be damaged during tightening. Note that if the fitting length exceeds 25mm, the bolt end could contact the cover. Moving arm type 2-axis model The moving arm type has an aluminum-cast bracket on the end of the Y-axis.
Chapter 12 HXYLX Pole type 2-axis model Four M8 coarse thread tap holes and two $8 reamer holes are opened on the tool installation surface of the Y-axis slider. (Refer to Fig. 12-7.) Install the user tool onto the Y-axis slider using these holes. Four M5 coarse thread tap holes are also opened on the slider side. Use these to fix light loads other than the tool, such as a wiring retainer. 185 (Tolerance between knock (0.02) 31 30 (Effective female screw depth) 50 180 160 65 12.
Chapter 12 HXYLX ZH (Arm type, gantry type, moving arm type 3rd-axis option) When using the 3rd-axis model with ZH for the 3rd-axis, install the workpiece onto the ZH frame in the following manner. M6 coarse thread tap holes are opened on the frame's workpiece installation surface. Install the tool using these holes. The tap depth is 10mm. Select the under head length of the installation bolt so that the screw length from the installation surface is 9mm or more, 27mm or less.
Chapter 12 HXYLX ZL (Arm type, gantry type) When using the 3rd-axis model with ZL for the 3rd-axis, install the workpiece onto the ZL slider in the following manner. Eight M6 coarse thread tap holes and two φ6 reamer holes are opened on the Y-axis slider. (Refer to Fig. 12-9.) Install the user tool onto the ZL slider using these holes. Four M5 coarse thread tap holes are opened on the side of the slider. Use these to fix loads other than the tool, such as the wire retainer. 50 140 70 124 45 23.
Chapter 12 HXYLX ZPH (Pole type 3rd-axis option) When ZPH is attached for the 3rd-axis of the pole type, install the tool onto the aluminum bracket at the end of the ZP-axis. Twelve M6 coarse thread tap holes and two φ6 reamer holes are opened on the bracket. 100 70 44 20 10 32 2-φ6H7 Depth6 60 12-M6×1.0 110 (Tolerance between knock (0.02) 130 3-6 Fig. 12-10 ZPH Select the minimum nominal length of the fixing bolt so that the length is 9mm or more from the tool installation surface.
Chapter 12 HXYLX RH (Arm type, gantry type 4th-axis option) ! CAUTION When fixing with the tap holes, always fix at several holes. If fixed with only one hole, the loosening torque could act during operation can cause loosening. 50 3 10 If the rotary axis RH is attached to the 4th-axis, install the tool onto the shaft at the end of RH. Five M8 coarse thread tap holes are opened on the end of the shaft. Install the tool using these holes.
Chapter 12 HXYLX 4 User Wiring and User Piping WARNING Always turn off the controller before wiring and piping to prevent electrical shocks. 4-1 Cable carrier type A cable carrier is mounted as a standard between the X and Y axes. When 3rdaxis are used, a cable carrier is also provided between the Y and Z axes, and when using 4th-axis, a cable carrier is also provided between the Z and R axes. Lay the wiring and piping to the tool using these ducts. A 0.
Chapter 12 HXYLX 3) Remove the harness retainer located at the cable carrier outlet. (Hexagon socket bolt M5, 2 bolts) Harness retainer 4) Pass the required wires and pipes through the cable carrier. The cable carrier has an outer lid that can be opened and closed easily. Use a flat-tip screwdriver to open the lid. Press this lid in to close it. 5) Open the cover of the X-axis wiring box (movable), and lay the required wiring and piping. 6) ! CAUTION 1.
Chapter 12 HXYLX 4-1-2 Cable carrier specifications ! CAUTION When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sectional area. (This ratio is called the cable carrier space factor.) The cross-sectional shape of the cable carrier, and the shape of the cable mounted initially by YAMAHA are shown below.
Chapter 12 HXYLX 4-1-3 User I/O cable specifications ! CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied correctly, and may prevent the device from operating correctly. With the cable carrier specifications, signal wires (0.3mm2 × 10 wires) that can be used freely by the user are laid as a standard between the X-axis wiring box and final axis' wiring box.
Chapter 12 HXYLX 4-2 Whipover cable type (moving arm type/pole type 3-axis) ! CAUTION Do not clamp the wires or tubes to the outside of the independent cable. The independent cable could sag or break and ultimately be disconnected. The signal wires (0.3mm2 × 7 wires) and air tubes (4 × 2.5, 2 tubes) are incorporated in the Whipover cable. Use these to wire and pipe to the tool. Part No. Part name Part No. Qty. 1 SM connector SMR-10V-B 1 2 SM connector SMP-10V-BC 1 3 Contact SYM-001T-0.
Chapter 12 HXYLX 3) Open the X-axis wiring box (movable) cover. Y-axis wiring box X-axis wiring box (movable) Fig. 12-15 4) Pass the required cables and air tubes, etc., through the X-axis cable conduit. Crimp the enclosed connectors onto the cable. 5) Connect the connectors, and connect the air tubes using the air couplers. 6) Open the Y-axis wiring box cover. 7) Rubber grommets are also attached to the Y-axis wiring box.
Chapter 12 HXYLX 5 Periodic Inspections WARNING Always turn the controller power OFF before starting periodic inspections. Serious accidents could occur if the robot starts moving during the 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 handling these parts, turn OFF the controller, wait for a while and check that the part has cooled.
Chapter 12 HXYLX 4) Replenish the grease with one of the following methods. Method 1: Using a grease gun, replenish grease from the grease nipple installed on the linear guide bearings. Sufficient grease has been replenished when new grease starts to seep out from the clearance between the linear guide bearings and rail. The X-axis and Y-axis each have four linear guide bearings. Replenish grease to all four bearings. Wipe off any excessive grease that has seeped out to the rail.
Chapter 12 HXYLX Replenishment methods Refer to the following procedures and replenish the grease. 1) Remove the stroke cover of the axis to which grease is to be replenished. 2) Replenish the grease with one of the following methods. ! CAUTION Always remove the grease nipple after replenishing the grease. Failure to do so could cause damage if the grease nipple and robot interfere.
Chapter 12 HXYLX 5-3 Adjusting the timing belt tension (X-axis) 1) Temporarily tighten the motor installation bolt. 2) Remove the belt cover, and install the adjustment bolt (M5). Apply belt tension. (Refer to the following photograph.) 3) Tighten the motor fixing bolt. 4) As shown below, place the measuring instrument's head near the belt, and pull the center of the belt span with a hexagon wrench, etc. 5) Refer to the following table, and adjust the belt tension.
Chapter 12 HXYLX 5-4 Replacing the motor (X-axis) ! CAUTION Since a positional shift occurs after replacing the motor, return-to-origin must be performed again and the point data re-specified. When removing the parts, check and mark the part positions versus each other so you can correctly reassemble the parts later. 1) Turn the controller power OFF. 2) Remove the belt cover and motor cover. 3) Open the cover of the box fixed onto the table slide, and disconnect the motor wiring connector.
Chapter 12 HXYLX 7) Remove the fixing bolts (M6: four bolts) from the pulley connection boss, and pull the pulley off the motor. (Loosen the bolts while fixing the surface machined section of the boss with a pair of pliers, etc.) 4-M6 Hexagon bolt Ring Boss Pulley 38 Motor 8) Replace the motor, and install the pulley onto the motor. (Refer to the photograph above.) Take care to the orientation and order of the rings at this time. 9) Install the motor onto the block. Temporarily tighten the fixing bolts.
Chapter 12 HXYLX 5-5 Installing and removing the cover 5-5-1 Stroke cover Removing the stroke cover 1) Remove the fixing screws (M4, pan-head) on both ends. 2) Place the table slide near the stroke end, and pull off the cover. Side cover Center cover Motor block Table slide End block Installing the stroke cover 1) Place the table slide near the stroke end, and pass the cover between the table slide and motor block. 2) Fix the cover to the end block.
Chapter 12 HXYLX 5-5-2 Belt cover Removing the belt cover 1) Loosen the hexagon bolts (M4, two bolts) on the front with a spanner or socket wrench. After removing the M4 screws on the top, pull the cover upward and off. (Refer to the following photograph.) M4 screw (two screws) M4 hexagon bolt (two bolts) Installing the belt cover 1) Fit the cover so that the notch on the cover passes between the hexagon bolts.
Chapter 12 HXYLX 5-5-3 Motor cover Removing the motor cover 1) Cut the Insulock-tie binding the motor cable with a pair of nippers, and remove. 2) Remove the two M6 hexagon bolts, and pull the motor cover upward and off. (Refer to the following photograph.) Installing the motor cover 1) Insert the motor cover into the installation hole, and fix with two M6 hexagon bolts. 2) Using the φ5 hole open on the motor cover, fix the motor cable with an Insulock-tie.
OWNER'S MANUAL Cartesian robot Oct. 2006 Ver. 1.08 This manual is based on Ver. 1.07 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.
