Yamaha FLIP-X Series Maintenance Manual
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Yamaha FLIP-X Series Maintenance Manual

Yamaha FLIP-X Series Maintenance Manual

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YAMAHA SINGLE-AXIS ROBOT
FLIP-X Series
Maintenance Manual
T4L/T4LH/T5L/T5LH/T6L/T9/T9H
F8/F8L/F8LH/F10/F10H/F14/F14H/F17/F17L/F20/F20N
GF14XL/GF17XL
N15/N15D/N18/N18D
B10/B14/B14H
R5/R10/R20
EMA0185150
Ver. 1.50
E51

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Summary of Contents for Yamaha FLIP-X Series

  • Page 1 YAMAHA SINGLE-AXIS ROBOT FLIP-X Series Maintenance Manual T4L/T4LH/T5L/T5LH/T6L/T9/T9H F8/F8L/F8LH/F10/F10H/F14/F14H/F17/F17L/F20/F20N GF14XL/GF17XL N15/N15D/N18/N18D B10/B14/B14H R5/R10/R20 EMA0185150 Ver. 1.50...

  • Page 3: Table Of Contents

    CONTENTS FLIP-X Maintenance Manual Safety Instructions 1. Safety Information 2. Signal words used in this manual 3. Warning labels 3.1 Warning labels 3.1.1 Warning label messages on robot and controller 3.1.2 Supplied warning labels 3.2 Warning symbols 4. Important precautions for each stage of the robot life cycle S-10 4.1 Precautions for using robots and controllers S-10...
  • Page 4 CONTENTS FLIP-X Maintenance Manual 7.5.1 EMC standards S-29 7.5.2 Examples of EMC countermeasures S-29 Warranty Chapter 1 Overview 1. Overview Chapter 2 Periodic inspection 1. Before beginning work 2. Periodic inspection 2.1 Daily inspection 2.2 Three-month inspection 2.3 Six-month inspection 2.4 Three-year inspection 3.
  • Page 5 CONTENTS FLIP-X Maintenance Manual Chapter 4 Replacement 1. Replacing the shutter (T4L/T4LH/T5L/T5LH/T6L) 2. Replacing the motor 2.1 T4L/T4LH/T5L/T5LH/T6L 2.2 F8/F8L/F8LH 2.3 B10/B14/B14H 2.4 F20N 2.5 N15/N15D/N18/N18D 4-11 2.6 GF14XL/GF17XL 4-15 2.6 Checking the grid position 4-17 3. Replacing the insert (T4L/T4LH/T5L/T5LH/T6L) 4-18 4.
  • Page 6 CONTENTS FLIP-X Maintenance Manual 3 . Robot cables (200V specifications) (T4LH/T5LH/T6L/T9/T9H/F8/F8L/F8LH/F10/F10H/F14/F14H/F17/F17L/F20/B10/B14/B14H/R5/R10/R20) 3.1 Single-axis robot cables 3.1.1 Cables for TS-X 3.1.2 Cables for SR1-X 3.1.3 Cables for RDV-X (robot with brake and sensor) 5-10 3.1.4 Cables for RDV-X (robot without brake) 5-12 3.2 Multi-robot cables 5-13 3.2.1 Cables for single-axis multi-robot...

  • Page 7: Safety Instructions

    Safety Instructions Contents 1. Safety Information 2. Signal words used in this manual 3. Warning labels Warning labels 3.1.1 Warning label messages on robot and controller 3.1.2 Supplied warning labels Warning symbols 4. Important precautions for each stage of the robot life cycle S-10 Precautions for using robots and controllers S-10 Essential precautions for the linear conveyor module...
  • Page 8 KC mark S-29 7.5.1 EMC standards S-29 7.5.2 Examples of EMC countermeasures S-29...

  • Page 9: Safety Information

    The precautions listed in this manual relate to this product. To ensure safety of the user’s final system that in- cludes YAMAHA robots, please take appropriate safety measures as required by the user’s individual system. To use YAMAHA robots and controllers safely and correctly, always comply with the safety rules and instruc- tions.

  • Page 10: Signal Words Used In This Manual

    Signal words used in this manual This manual uses the following safety alert symbols and signal words to provide safety instructions that must be observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure you understand the meaning of each symbol and signal word and then read this manual. DANGER This indicates an immediately hazardous situation which, if not avoided, will result in death or serious injury.

  • Page 11: Warning Labels

    Warning labels Warning labels shown below are attached to the robot body and controller to alert the operator to potential hazards. To ensure correct use, read the warning labels and comply with the instructions. Warning labels WARNING If warning labels are removed or difficult to see, then the necessary precautions may not be taken, resulting in an accident.
  • Page 12 Warning label 3 (SCARA robots, Cartesian robots, controllers*) ■ * Some models WARNING Improper installation or operation may cause serious injury. Before installing or operating the robot, read the manual and instructions on the warning labels and understand the contents. Instructions on this label •...
  • Page 13 Warming label 6 (Robot drivers RDV-X/RDV-P) ■ WARNING • Before touching the terminals or connectors on the outside of the robot driver, turn off the power and wait for 10 minutes or longer to prevent electrical shock. Otherwise, burn or electrical shock may result. •...
  • Page 14 To avoid hazard Wait at least 100 seconds after power-off before opening the covers (*). * These are precautions for YAMAHA and distributors' service personnel. Customers must not attempt to open the covers. 90K41-001390 Warning label 9 (single-axis linear motor robots) ■...
  • Page 15 Warning label 11 (Controller)* ■ * This label is attached to the front panel. CAUTION Refer to the manual. Instructions on this label This indicates important information that you must know and is described in the manual. Before using the controller, be sure to read the manual 取扱説明書参照...

  • Page 16: Supplied Warning Labels

    3.1.2 Supplied warning labels Some warning labels are not affixed to robots but included in the packing box. These warning labels should be affixed to an easy-to-see location. Warning label is attached to the robot body. Warning label comes supplied with the robot and should be affixed to an easy-to-see location on the door or gate of the safety enclosure.

  • Page 17: Warning Symbols

    Warning symbols Warning symbols shown below are indicated on the robots and controllers to alert the operator to potential hazards. To use the YAMAHA robot safely and correctly always follow the instructions and cautions indicated by the symbols. Electrical shock hazard symbol WARNING Touching the terminal block or connector may cause electrical shock, so use caution.

  • Page 18: Important Precautions For Each Stage Of The Robot Life Cycle

    Precautions for using robots and controllers General precautions for using robots and controllers are described below. Applications where robots cannot be used YAMAHA robots and robot controllers are designed as general-purpose industrial equipment and cannot be used for the following applications. DANGER YAMAHA robot controllers and robots are designed as general-purpose industrial equipment and cannot be used for the following applications.

  • Page 19: Essential Precautions For The Linear Conveyor Module

    Essential precautions for the linear conveyor module The linear conveyor module is a YAMAHA robot so safety measures must be followed and safety equipment must be installed just as required for other YAMAHA robots. This section describes essential precautions for handling the linear conveyor module. Precautions for each stage in the robot life cycle are listed from the next section, so be sure to read the whole section of this "Safety...

  • Page 20: Design

    Design 4.3.1 Precautions for robots Restricting the robot moving speed WARNING Restriction on the robot moving speed is not a safety-related function. To reduce the risk of collision between the robot and workers, the user must take the necessary protective measures such as enable devices according to risk assessment by the user.

  • Page 21: Moving And Installation

    Do not use in locations exposed to flammable gases WARNING • YAMAHA robots are not designed to be explosion-proof. • Do not use the robots in locations exposed to explosive or inflammable gases, dust particles or liquid. Failure to follow this instruction may cause serious accidents involving injury or death, or lead to fire.

  • Page 22: Precautions For Robot Controllers

    Installation environment WARNING YAMAHA robots are not designed to be explosion-proof. Do not use the robots and controllers in locations exposed to explosive or inflammable gases, dust particles or liquid such as gasoline and solvents. Failure to follow this instruction may cause serious accidents involving injury or death, and lead to fire.
  • Page 23 Wiring ■ Connection to robot controller The controller parameters are preset at the factory before shipping to match the robot model. Check the specified robot and controller combination, and connect them in the correct combination. Since the software detects abnormal operation such as motor overloads, the controller parameters must be set correctly to match the motor type used in the robot connected to the controller.

  • Page 24: Safety Measures

    Safety measures 4.5.1 Safety measures Referring to warning labels and manual WARNING • Before starting installation or operation of the robot, be sure to read the warning labels and this manual, and comply with the instructions. • Never attempt any repair, parts replacement and modification unless described in this manual. These tasks require specialized technical knowledge and skills and may also involve hazards.

  • Page 25: Installing A Safety Enclosure

    WARNING • During startup or maintenance tasks, display a sign "WORK IN PROGRESS" on the programming box and operation panel in order to prevent anyone other than the person for that task from mistakenly operating the start or selector switch. If needed, take other measures such as locking the cover on the operation panel. •...

  • Page 26: Operation

    Operation When operating a robot, ignoring safety measures and checks may lead to serious accidents. Always take the following safety measures and checks to ensure safe operation. DANGER Check the following points before starting robot operation. • No one is within the robot safety enclosure. •...
  • Page 27 Working inside safety enclosures Before starting work within the safety enclosure, always confirm from outside the enclosure that each protective function is operating correctly (see the previous section 2.3). DANGER Never enter within the movement range while within the safety enclosure. See “7.1 Movement range”...

  • Page 28: Automatic Operation

    4.6.2 Automatic operation Check the following points when operating the robot in AUTO mode. Observe the instructions below in cases where an error occurs during automatic operation. Automatic operation described here includes all operations in AUTO mode. Checkpoints before starting automatic operation Check the following points before starting automatic operation.
  • Page 29 Use caution when releasing the Z-axis (vertical axis) brake WARNING The vertical axis will slide downward when the brake is released, causing a hazardous situation. Take adequate safety measures in consideration by taking the weight and shape into account. • Before releasing the brake after pressing the emergency stop button, place a support under the vertical axis so that it will not slide down.

  • Page 30: Inspection And Maintenance

    Inspection and maintenance Always perform daily and periodic inspections and make a pre-operation check to ensure there are no prob- lems with the robot and related equipment. If a problem or abnormality is found, then promptly repair it or take other measures as necessary. Keep a record of periodic inspections or repairs and store this record for at least 3 years.

  • Page 31: Precautions During Service Work

    4.7.2 Precautions during ser vice work Precautions when removing a motor (Cartesian robots and vertical mount single-axis robots) WARNING The vertical axis will slide down when the motor is removed, causing a hazardous situation. • Turn off the controller and place a support under the vertical axis before removing the motor. •...

  • Page 32: Disposal

    Disposal When disposing of robots and related items, handle them carefully as industrial wastes. Use the correct disposal method in compliance with your local regulations, or entrust disposal to a licensed industrial waste disposal company. Disposal of lithium batteries When disposing of lithium batteries, use the correct disposal method in compliance with your local regulations, or entrust disposal to a licensed industrial waste disposal company.

  • Page 33: Emergency Action When A Person Is Caught By Robot

    Make a printout of the relevant page in the manual and post it a conspicuous location near the controller. Cautions regarding strong magnetic fields Some YAMAHA robots contain parts generating strong magnetic fields which may cause bodily injury, death, or device malfunction. Always comply with the following instructions.

  • Page 34: Using The Robot Safely

    Using the robot safely Movement range When a tool or workpiece is attached to the robot manipulator tip, the actual movement range enlarges from the movement range of the robot itself (Figure A) to include the areas taken up by movement of the tool and workpiece attached to the manipulator tip (Figure B).

  • Page 35: Robot Protective Functions

    Robot protective functions Protective functions for YAMAHA robots are described below. Overload detection This function detects an overload applied to the motor and turns off the servo. If an overload error occurs, take the following measures to avoid such errors: 1.

  • Page 36: Residual Risk

    Residual risk To ensure safe and correct use of YAMAHA robots and controllers, System integrators and/or end users imple- ment machinery safety design that conforms to ISO12100. Residual risks for YAMAHA robots and controllers are described in the DANGER or WARNING instructions pro- vided in each chapter and section.

  • Page 37: Kc Mark

    We decide models by single robot product (controller, robot and peripheral device) and conform them to the EMC standards. This does not therefore guarantee that the YAMAHA robot-series product conforms to the EMC standards if only the robot is used independently. The customer who incorporates YAMAHA robot products into the customer's final system, which will be shipped to or used in Korea, should verify that the overall system conforms to the EMC standards.
  • Page 38 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.

  • Page 39: Warranty

    10. Fires or natural disasters such as earthquakes, tsunamis, lightning strikes, wind and flood damage, etc; 11. Breakdown due to causes other than the above that are not the fault or responsibility of YAMAHA; The following cases are not covered under the warranty: ■...
  • Page 41 Chapter 1 Overview Contents 1. Overview...
  • Page 43 Over view Before beginning the work, thoroughly read the safety precautions described below and the Safety Instructions to strictly observe the instructions. WARNING THE ADjUSTMENT AND MAINTENANCE WORK WITH THE COvER REMOvED NEEDS THE SPECIAL KNOWLEDGE AND SKILL. IF UNSKILLED WORK PERSON PERFORMS SUCH WORK, THIS MAY INvOLvE RISK. THE ADjUSTMENT AND MAINTENANCE WORK MUST BE PERFORMED ONLY BY PERSONS WHO HAvE THE REQUIRED QUALIFICATIONS DESCRIBED IN “2.
  • Page 45 Chapter 2 Periodic inspection Contents 1. Before beginning work 2. Periodic inspection Daily inspection Three-month inspection Six-month inspection Three-year inspection 3. Applying the grease T4L/T4LH/T5L/T5LH/T6L T9/T9H/F10/F10H/F14/F14H/F17/F17L/F20/F20N/GF14xL/GF17xL F8/F8L/F8LH 2-10 N15/N15D/N18/N18D 2-11 B10/B14/B14H 2-12...

  • Page 47: Before Beginning Work

    Before beginning work Periodic inspection and maintenance are essential to ensure safe and efficient operation of YAMAHA robots. This Chapter describes the periodic inspection of the FLIP-X series. Before beginning the work, thoroughly read the safety precautions described below and the Safety Instructions to strictly observe the instructions. Safety precautions ■ DANGER IF THE INSPECTION OR MAINTENANCE PROCEDURE CALLS FOR OPERATION OF THE ROBOT, STAY OUT OF THE WORKING AREA OF THE ROBOT DURING OPERATION.

  • Page 48: Periodic Inspection

    Periodic inspection Daily inspection The following is an inspection list that must be performed every day before and after operating the robot. Inspection to be performed with the controller turned off ■ Turn off the controller. Place a sign indicating the robot is being adjusted. Place a sign indicating the robot is being inspected, to keep others from operating the controller switch.

  • Page 49: Three-Month Inspection

    *1: Bolt tightening torque Bolt size Tightening torque (kgfcm) Tightening torque (Nm) M3 button head bolt 15.3 1310 CAUTION If the grease recommended by YAMAHA is not used, this may cause the service life of the ball screw or linear guide to shorten.
  • Page 50 Inspection to be performed with the controller turned on ■ WARNING THE ROBOT CONTROLLER MUST BE INSTALLED OUTSIDE THE SAFETY ENCLOSURE, TO PREvENT A HAzARDOUS SITUATION IN WHICH YOU OR ANYONE ENTER THE SAFETY ENCLOSURE TO INSPECT THE CONTROLLER WHILE IT IS TURNED ON. WARNING •...

  • Page 51: Six-Month Inspection

    See "3. Replacing the insert" in Chapter 4. • Check for unusual noise during operation. CAUTION If the grease recommended by YAMAHA is not used, this may cause the service life of the ball screw or linear guide to shorten.

  • Page 52: Three-Year Inspection

    *1: Bolt tightening torque Bolt size Tightening torque (kgfcm) Tightening torque (Nm) M3 button head bolt 15.3 1310 Inspection to be performed with the controller turned on ■ WARNING THE ROBOT CONTROLLER MUST BE INSTALLED OUTSIDE THE SAFETY ENCLOSURE, TO PREvENT A HAzARDOUS SITUATION IN WHICH YOU OR ANYONE ENTER THE SAFETY ENCLOSURE TO INSPECT THE CONTROLLER WHILE IT IS TURNED ON.

  • Page 53: Applying The Grease

    Applying the grease To apply the grease in accordance with the periodic inspection, follow the steps below. Before applying the grease, thoroughly read the cautions stated in the Safety Guide and "Before beginning work" in this Chapter to strictly observe the instructions. When applying grease to the ball screws and linear guide, take the following precautions. WARNING PRECAUTIONS WHEN HANDLING GREASE: •...

  • Page 54: T4L/T4Lh/T5L/T5Lh/T6L

    T4L/T4LH/T5L/T5LH/T6L Prepare appropriate Phillips screwdriver and brush (for grease application). Turn off the controller power. Place a sign indicating the robot is being adjusted. Place a sign indicating the robot is being adjusted, to keep others from operating the controller or operation panel. Enter the safety enclosure.

  • Page 55: T9/T9H/F10/F10H/F14/F14H/F17/F17L/F20/F20N/Gf14Xl/Gf17Xl

    T9/T9H/F10/F10H/F14/F14H/F17/F17L/F20/F20N/GF14XL/GF17XL Prepare the tools necessary for the replacement work. • Phillips screwdriver • Grease gun • Brush (for grease application). CAUTION Select a grease gun suitable for the cartridge grease you have purchased. • Tip nozzle, φ10 (Inside diameter, φ7) Turn off the controller power.

  • Page 56: F8/F8L/F8Lh

    F8/F8L/F8LH Prepare the tools necessary for the replacement work. • Phillips screwdriver • Grease gun • Brush (for grease application) CAUTION Select a grease gun suitable for the cartridge grease you have purchased. • Tip nozzle, φ10 (Inside diameter, φ7) Turn off the controller power.

  • Page 57: N15/N15D/N18/N18D

    N15/N15D/N18/N18D Prepare the tools necessary for the replacement work. • Phillips screwdriver • Grease gun • Brush (for grease application) CAUTION Select a grease gun suitable for the cartridge grease you have purchased. • Tip nozzle, φ10 (Inside diameter, φ7) Turn off the controller power.

  • Page 58: B10/B14/B14H

    B10/B14/B14H Apply grease to the linear guide every 3 months. Prepare the tools necessary for the replacement work. • Phillips screwdriver • Grease gun • Brush (for grease application) CAUTION Select a grease gun suitable for the cartridge grease you have purchased. •...
  • Page 59 Chapter 3 Adjustment Contents 1. Adjusting the alignment (B10/B14/B14H) 2. Adjusting the timing belt tension (B10/B14/B14H) 3-2 Adjusting the drive belt tension Adjusting the speed reduction belt tension 3. Adjusting the timing belt tension (F20N) Installing and removing the cover 3.1.1 Stroke cover 3.1.2...

  • Page 61: Adjusting The Alignment (B10/B14/B14H)

    Adjusting the alignment (B10/B14/B14H) On robot models having a long stroke, a slider travel guide (U groove) is provided inside the upper cover. The slider must be aligned with this U groove when attaching the upper cover. WARNING • BEFORE STARTING THE WORK, BE SURE TO DISCONNECT THE ROBOT FROM THE CONTROLLER OR TURN OFF THE CONTROLLER POWER. IF THE ROBOT OPERATES DURING WORK, THIS MAY CAUSE SERIOUS ACCIDENT. • THE ADjUSTMENT WORK WITH THE COvER REMOvED MUST BE PERFORMED ONLY BY PERSONS WHO HAvE THE REQUIRED QUALIFICATIONS DESCRIBED IN “2.

  • Page 62: Adjusting The Timing Belt Tension (B10/B14/B14H)

    Adjusting the timing belt tension (B10/B14/B14H) The B10, B14 and B14H series robots use a timing belt to move the table slider. If the tension of the timing belt is weak, follow the steps below to adjust the belt tension. WARNING •...

  • Page 63: Adjusting The Drive Belt Tension

    Adjusting the drive belt tension Turn off the controller power. Place a sign indicating the robot is being adjusted. Place a sign indicating the robot is being adjusted, to keep others from operating the controller or operation panel. Enter the safety enclosure. Take off the end cover.

  • Page 64: Adjusting The Speed Reduction Belt Tension

    Remove the belt tension adjustment bolt. Reattach the upper cover and end cover. NOTE See also "3.1 Installing and removing the cover" in this Chapter. Reference: Adjusting drive belt tension with a tension meter ■ We recommend using a tension meter to adjust the belt tension more accurately. Recommended tension meter : U-505 (Made by UNITTA) Measurement method Pluck the belt at the load application position in Step 7 to adjust the belt tension to the value shown below.
  • Page 65 Loosen the motor plate mounting Step 6 Loosening the motor plate mounting bolts bolts. 53309-AC-00 Move the motor case to adjust the slack. If the value that has been measured in Step 5 is smaller than the value shown in the table, move the motor case in the tension increase direction.

  • Page 66: Adjusting The Timing Belt Tension (F20N)

    Adjusting the timing belt tension (F20N) The F20N robot uses a timing belt. If the tension of the timing belt is weak, follow the steps below to adjust the belt tension. First, the following describes how to install and remove the cover. WARNING • BEFORE STARTING THE WORK, BE SURE TO DISCONNECT THE ROBOT FROM THE CONTROLLER OR TURN OFF THE CONTROLLER POWER.
  • Page 67 Installing the stroke cover ■ Turn off the controller power. Place a sign indicating the robot is being adjusted. Place a sign indicating the robot is being adjusted, to keep others from operating the controller or operation panel. Enter the safety enclosure. Measures to be taken if the cover is in Pass the cover through the portion Step 5...

  • Page 68: Belt Cover

    3.1.2 Belt cover Removing the belt cover ■ Turn off the controller power. Place a sign indicating the robot is being adjusted. Place a sign indicating the robot is being adjusted, to keep others from operating the controller or operation panel. Enter the safety enclosure.

  • Page 69: Motor Cover

    3.1.3 Motor cover Removing the motor cover ■ Step 4 Cutting the insulock-tie Turn off the controller power. Place a sign indicating the robot is being adjusted. Place a sign indicating the robot is being adjusted, to keep others from operating the controller or operation panel.

  • Page 70: Adjusting The Timing Belt Tension

    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 TOUCHING THESE PARTS, TURN OFF THE CONTROLLER, WAIT FOR A WHILE AND CHECK THAT THE PARTS HAvE COOLED. WARNING INjURY CAN OCCUR IF HANDS OR FINGERS ARE SQUEEzED BETWEEN THE DRIvE PULLEY AND BELT.

  • Page 71: Adjusting Shutter Looseness (T4L/T4Lh/T5L/T5Lh/T6L)

    Adjusting shutter looseness (T4L/T4LH/T5L/T5LH/T6L) The shutter may elongate with continued use. In such cases, adjust as follows. CAUTION Be sure to wear safety gloves before starting the work. If you touch any steel material part with bare hands, this may cause rust. Prepare an appropriate Phillips screwdriver.
  • Page 73 Chapter 4 Replacement Contents 1. Replacing the shutter (T4L/T4LH/T5L/T5LH/T6L) 2. Replacing the motor T4L/T4LH/T5L/T5LH/T6L F8/F8L/F8LH B10/B14/B14H F20N N15/N15D/N18/N18D 4-11 GF14xL/GF17xL 4-15 Checking the grid position 4-17 3. Replacing the insert (T4L/T4LH/T5L/T5LH/T6L) 4-18 4. Replacing the drive and speed reduction belts (B10/B14/B14H) 4-20 Replacing the drive belt 4-20 Replacing the speed reduction belt...

  • Page 75: Replacing The Shutter (T4L/T4Lh/T5L/T5Lh/T6L)

    Replacing the shutter (T4L/T4LH/T5L/T5LH/T6L) When the shutter needs to be replaced, follow the steps below. WARNING • BEFORE STARTING THE REPLACEMENT WORK, BE SURE TO DISCONNECT THE ROBOT FROM THE CONTROLLER OR TURN OFF THE CONTROLLER POWER. IF THE ROBOT OPERATES DURING THE REPLACEMENT WORK, THIS MAY CAUSE SERIOUS ACCIDENT. •...
  • Page 76 Pass a new shutter. Step 7 Replacing the shutter 53403-A1-00 Reinstall the shutter and the slider Shutter passing portion cover using the reverse of the above procedure. NOTE Do not fully tighten the screws to secure the Shutter shutter on the end block side at this time. Fully tighten these screws after adjusting for shutter looseness in Step 9.

  • Page 77: Replacing The Motor

    Replacing the motor T4L/T4LH/T5L/T5LH/T6L WARNING • BEFORE STARTING THE REPLACEMENT WORK, BE SURE TO DISCONNECT THE ROBOT FROM THE CONTROLLER OR TURN OFF THE CONTROLLER POWER. IF THE ROBOT OPERATES DURING THE REPLACEMENT WORK, THIS MAY CAUSE SERIOUS ACCIDENT. • THE REPLACEMENT WORK WITH THE COvER REMOvED MUST BE PERFORMED ONLY BY PERSONS WHO HAvE THE REQUIRED QUALIFICATIONS DESCRIBED IN “2.
  • Page 78 Remove the bolts securing the Step 6 Removing the bolts securing the motor motor. Remove the M5 bolts (2) bolts securing the motor. 53415-A1-00 Remove the motor. 53416-A1-00 Install a new motor. Assemble in the reverse order of disassembly (Step 6 g Step 4). M5 bolt, 2 pcs.

  • Page 79: F8/F8L/F8Lh

    F8/F8L/F8LH WARNING • BEFORE STARTING THE REPLACEMENT WORK, BE SURE TO DISCONNECT THE ROBOT FROM THE CONTROLLER OR TURN OFF THE CONTROLLER POWER. IF THE ROBOT OPERATES DURING THE REPLACEMENT WORK, THIS MAY CAUSE SERIOUS ACCIDENT. • THE REPLACEMENT WORK WITH THE COvER REMOvED MUST BE PERFORMED ONLY BY PERSONS WHO HAvE THE REQUIRED QUALIFICATIONS DESCRIBED IN “2.
  • Page 80 Remove the side cover. Step 5 Removing the side cover Remove the screws (2) securing each side cover and remove the side covers. 53402-A5-00 Remove the end cover on the motor side. Remove the screws (4) securing the end cover on the motor side and remove the cover.
  • Page 81 Remove the motor. Step 9 Removing the motor Remove the bolts (4) securing the motor and remove the motor. 53405-A5-00 Remove the wave washer and flat washer. Motor CAUTION When removing the motor, the flat washer might be left in the bearing inside the motor, so use caution.

  • Page 82: B10/B14/B14H

    B10/B14/B14H WARNING • BEFORE STARTING THE REPLACEMENT WORK, BE SURE TO DISCONNECT THE ROBOT FROM THE CONTROLLER OR TURN OFF THE CONTROLLER POWER. IF THE ROBOT OPERATES DURING THE REPLACEMENT WORK, THIS MAY CAUSE SERIOUS ACCIDENT. • THE REPLACEMENT WORK WITH THE COvER REMOvED MUST BE PERFORMED ONLY BY PERSONS WHO HAvE THE REQUIRED QUALIFICATIONS DESCRIBED IN “2.
  • Page 83 F20N WARNING • BEFORE STARTING THE REPLACEMENT WORK, BE SURE TO DISCONNECT THE ROBOT FROM THE CONTROLLER OR TURN OFF THE CONTROLLER POWER. IF THE ROBOT OPERATES DURING THE REPLACEMENT WORK, THIS MAY CAUSE SERIOUS ACCIDENT. • THE REPLACEMENT WORK WITH THE COvER REMOvED MUST BE PERFORMED ONLY BY PERSONS WHO HAvE THE REQUIRED QUALIFICATIONS DESCRIBED IN “2.
  • Page 84 Pull out the pulley from the motor. Step 9 Removing the mounting bolts Remove the bolts (M6) (4) securing the pulley fastening boss and pull out the pulley 4-M6 from the motor. Hexagon bolt Loosen the bolts while securing the machined surface of the boss with pliers.

  • Page 85: N15/N15D/N18/N18D

    N15/N15D/N18/N18D WARNING • BEFORE STARTING THE REPLACEMENT WORK, BE SURE TO DISCONNECT THE ROBOT FROM THE CONTROLLER OR TURN OFF THE CONTROLLER POWER. IF THE ROBOT OPERATES DURING THE REPLACEMENT WORK, THIS MAY CAUSE SERIOUS ACCIDENT. • THE REPLACEMENT WORK WITH THE COvER REMOvED MUST BE PERFORMED ONLY BY PERSONS WHO HAvE THE REQUIRED QUALIFICATIONS DESCRIBED IN “2.
  • Page 86 Disconnect the power cable and signal cable. Use diagonal cutters to cut the insulock-ties securing the motor cable and disconnect the power cable and signal cable. Step 9 Moving the side cover Move the side cover. Loosen the screw securing the side cover and slide the side cover in the direction of arrow to a position that allows access to the Side cover...
  • Page 87 Remove the U-nut and washer. Step 11 Removing the U-nut and washer Secure the notched portion of the ball screw with a spanner and remove the U-nut and washer. 53406-AA-00 Thread groove on ball screw Loosen the bolts securing the ball screw.
  • Page 88 Remove the motor. Step 15 Removing the motor Remove the screws (4) securing the motor and remove the motor. At this time, be <N15> careful not to allow the ball screw shaft to come out of the nut. 53410-AA-00 53411-AA-00 Install a new motor.

  • Page 89: Gf14Xl/Gf17Xl

    GF14XL/GF17XL WARNING • BEFORE STARTING THE REPLACEMENT WORK, BE SURE TO DISCONNECT THE ROBOT FROM THE CONTROLLER OR TURN OFF THE CONTROLLER POWER. IF THE ROBOT OPERATES DURING THE REPLACEMENT WORK, THIS MAY CAUSE SERIOUS ACCIDENT. • THE REPLACEMENT WORK WITH THE COvER REMOvED MUST BE PERFORMED ONLY BY PERSONS WHO HAvE THE REQUIRED QUALIFICATIONS DESCRIBED IN “2.
  • Page 90 Loosen the coupling mounting bolt. Step 6 Loosening the coupling mounting bolt Loosen the coupling mounting bolt (1). 53403-AN-00 NOTE Do not remove the coupling mounting bolt. (Just loosen the bolt.) Remove the motor. Step 7 Removing the motor Remove the screws (4) securing the motor and remove the motor.

  • Page 91: Checking The Grid Position

    Checking the grid position After the motor has been replaced, follow the steps below to perform the return-to-origin and check the grid position. The following describes how to check the grid position of the model SR1. For other controller models, see the manual for relevant controller model.

  • Page 92: Replacing The Insert (T4L/T4Lh/T5L/T5Lh/T6L)

    Replacing the inser t (T4L/T4LH/T5L/T5LH/T6L) WARNING • BEFORE STARTING THE REPLACEMENT WORK, BE SURE TO DISCONNECT THE ROBOT FROM THE CONTROLLER OR TURN OFF THE CONTROLLER POWER. IF THE ROBOT OPERATES DURING THE REPLACEMENT WORK, THIS MAY CAUSE SERIOUS ACCIDENT. •...
  • Page 93 Remove the insert. Step 7 Removing the insert 53420-A1-00 Install a new insert. Assemble in the reverse order of disassembly (Step 6 g Step 4). Insert (Consumable part) 4-19...

  • Page 94: Replacing The Drive And Speed Reduction Belts (B10/B14/B14H)

    Replacing the drive and speed reduction belts (B10/B14/B14H) Replacing the drive belt WARNING • BEFORE STARTING THE REPLACEMENT WORK, BE SURE TO DISCONNECT THE ROBOT FROM THE CONTROLLER OR TURN OFF THE CONTROLLER POWER. IF THE ROBOT OPERATES DURING THE REPLACEMENT WORK, THIS MAY CAUSE SERIOUS ACCIDENT.
  • Page 95 Detach the belt. Step 9 Removing the belt stay Remove the belt stay bolts (2 x 2) and detach the belt from the main unit. 53406-AC-00 Attach a new belt. Attach the belt. 1. First, attach the belt from the upper side of the driven pulley and push it out with a thin rod.

  • Page 96: Replacing The Speed Reduction Belt

    Replacing the speed reduction belt WARNING • BEFORE STARTING THE REPLACEMENT WORK, BE SURE TO DISCONNECT THE ROBOT FROM THE CONTROLLER OR TURN OFF THE CONTROLLER POWER. IF THE ROBOT OPERATES DURING THE REPLACEMENT WORK, THIS MAY CAUSE SERIOUS ACCIDENT. •...

  • Page 97: Replacing The Slider

    Replacing the slider B10/B14/B14H WARNING • BEFORE STARTING THE REPLACEMENT WORK, BE SURE TO DISCONNECT THE ROBOT FROM THE CONTROLLER OR TURN OFF THE CONTROLLER POWER. IF THE ROBOT OPERATES DURING THE REPLACEMENT WORK, THIS MAY CAUSE SERIOUS ACCIDENT. • THE REPLACEMENT WORK WITH THE COvER REMOvED MUST BE PERFORMED ONLY BY PERSONS WHO HAvE THE REQUIRED QUALIFICATIONS DESCRIBED IN “2.

  • Page 98: F20N

    F20N WARNING • BEFORE STARTING THE REPLACEMENT WORK, BE SURE TO DISCONNECT THE ROBOT FROM THE CONTROLLER OR TURN OFF THE CONTROLLER POWER. IF THE ROBOT OPERATES DURING THE REPLACEMENT WORK, THIS MAY CAUSE SERIOUS ACCIDENT. • THE REPLACEMENT WORK WITH THE COvER REMOvED MUST BE PERFORMED ONLY BY PERSONS WHO HAvE THE REQUIRED QUALIFICATIONS DESCRIBED IN “2.

  • Page 99: Replacing The Coupling (Gf14Xl/Gf17Xl)

    Replacing the coupling (GF14XL/GF17XL) WARNING • BEFORE STARTING THE REPLACEMENT WORK, BE SURE TO DISCONNECT THE ROBOT FROM THE CONTROLLER OR TURN OFF THE CONTROLLER POWER. IF THE ROBOT OPERATES DURING THE REPLACEMENT WORK, THIS MAY CAUSE SERIOUS ACCIDENT. • THE REPLACEMENT WORK WITH THE COvER REMOvED MUST BE PERFORMED ONLY BY PERSONS WHO HAvE THE REQUIRED QUALIFICATIONS DESCRIBED IN “2.
  • Page 100 Loosen the coupling mounting bolts. Step 6 Loosening the coupling mounting bolts Loosen the coupling mounting bolts (2). (Do not remove the bolts.) 53409-AN-00 Remove the motor unit. Step 7 Removing the motor unit Remove the screws (4) securing the motor unit and remove the motor unit.

  • Page 101: Replacing The Bushings (Gf14Xl/Gf17Xl)

    Replacing the bushings (GF14XL/GF17XL) WARNING • BEFORE STARTING THE REPLACEMENT WORK, BE SURE TO DISCONNECT THE ROBOT FROM THE CONTROLLER OR TURN OFF THE CONTROLLER POWER. IF THE ROBOT OPERATES DURING THE REPLACEMENT WORK, THIS MAY CAUSE SERIOUS ACCIDENT. • THE REPLACEMENT WORK WITH THE COvER REMOvED MUST BE PERFORMED ONLY BY PERSONS WHO HAvE THE REQUIRED QUALIFICATIONS DESCRIBED IN “2.

  • Page 102: Maintenance Parts

    Maintenance par ts Consumable parts T4L/T4LH ■ Part name Part number Remarks Shutter KDC-M229J-xxx SHUTTER 1 50st to 400st Insert KDC-M2243-xxx INSERT Coupling resin part Slider KX1-M22L1-xxx SLIDER Slider resin part T5L/T5LH ■ Part name Part number Remarks Shutter KDD-M229J-xxx SHUTTER 1 50st to 800st Insert...
  • Page 103 Chapter 5 Wiring specifications Contents 1. AC servo motor specifications AC servo motor termination (T4L/T5L) AC servo motor termination (T4LH/T5LH/T6L) AC servo motor termination (F8/F8L/F8LH) AC servo motor termination (T9/T9H/F10/F10H/F14/F14H/F17/F17L/F20) AC servo motor termination (B10/B14/B14H/R5/R10/R20/F20N/N15/N18) Brake cable specifications 2. Robot cables (DC24v specifications) (T4L/T5L) Single-axis robot cables 2.1.1...

  • Page 105: Ac Servo Motor Specifications

    AC ser vo motor specifications AC ser vo motor termination (T4L/T5L) Connector specifications ■ Parts Type No. Maker Notes Servo motor Receptacle housing SMR-09V-B CN1 (9 polarities) Pin contact SYM-001T-P0.6 Receptacle housing 5557-04R MOLEX CN2 (4 polarities) Receptacle 5556T MOLEX Connector wiring ■...

  • Page 106: Ac Servo Motor Termination (T4Lh/T5Lh/T6L)

    AC ser vo motor termination (T4LH/T5LH/T6L) Connector specifications ■ Parts Type No. Maker Notes Servo motor Receptacle housing SMR-07V-B CN1 (7 polarities) Pin contact SYM-001T-P0.6 Receptacle housing 5557-04R MOLEX CN2 (4 polarities) Receptacle 5556T MOLEX Connector wiring ■ Connector Pin No. Signal Wire Color Connection...

  • Page 107: Ac Servo Motor Termination (F8/F8L/F8Lh)

    AC ser vo motor termination (F8/F8L/F8LH) Connector specifications ■ Parts Type No. Maker Notes Servo motor Receptacle housing SMR-07V-B CN1 (7 polarities) Pin contact SYM-001T-P0.6 CN1.CN2 Receptacle housing 176273-1 CN3 (4 polarities) Receptacle 175156-2 Receptacle housing SMR-02V-B CN2 (2 polarities) Plug housing SMP-02V-BC CN4 (2 polarities)

  • Page 108: Ac Servo Motor Termination (T9/T9H/F10/F10H/F14/F14H/F17/F17L/F20)

    AC ser vo motor termination (T9/T9H/F10/F10H/F14/F14H/F17/F17L/F20) Connector specifications ■ Parts Type No. Maker Notes Servo motor Receptacle housing SMR-07V-B CN1 (7 polarities) Pin contact SYM-001T-P0.6 CN1.CN2 Receptacle housing 176273-1 CN3 (4 polarities) Receptacle 175156-2 Receptacle housing SMR-02V-B CN2 (2 polarities) Plug housing SMP-02V-BC CN4 (2 polarities)

  • Page 109: Ac Servo Motor Termination (B10/B14/B14H/R5/R10/R20/F20N/N15/N18)

    AC ser vo motor termination (B10/B14/B14H/R5/R10/R20/F20N/N15/N18) Connector specifications ■ Parts Type No. Maker Notes Servo motor Receptacle housing SMR-07V-B CN1 (7 polarities) Pin contact SYM-001T-P0.6 Receptacle housing 176273-1 CN3 (4 polarities) Receptacle 175156-2 Connector wiring ■ Connector Pin No. Signal Wire Color Connection Yellow...

  • Page 110: Brake Cable Specifications

    Brake cable specifications Connector specifications ■ Parts Type No. Maker Notes Brake parts Receptacle housing SMR-02V-B Pin contact SYM-001T-P0.6 Connector wiring ■ Connector Pin No. Signal Wire Color Connection Yellow (Black) Yellow (Black) * The wire colors in ( ) show the motor wiring of the T9/T9H/F10/F10H/F14/F14H robots. T4L/T4LH/T5L/T5LH/T6L/F8/F8L/F8LH/F17/F20 2, 3 53502-A1-00...

  • Page 111: (T4L/T5L)

    Robot cables (DC24V specifications) (T4L/T5L) Single-axis robot cables 2.1.1 Cables for ERCD Composite cable To robot To controller 53501-Q3-00 Composite flexing cable To robot To controller 53503-Q3-00 Parts Signal Connection Parts Wire Controller CN1 Resolver Drain wire 0.3sq Black (Red) Yellow (White) Blue (Green) Orange (White)

  • Page 112: Robot Cables (200V Specifications)

    Robot cables (200V specifications) (T4LH/T5LH/T6L/T9/T9H/F8/F8L/F8LH/F10/F10H/F14/F14H/F17/F17L/ F20/B10/B14/B14H/R5/R10/R20) Single-axis robot cables 3.1.1 Cables for TS-X Signal cable ■ Signal cable To robot To controller 53501-M1-00 Parts Signal Connection Parts Wire Controller CN1 Resolver: P 0.3sq Blue (Red) Orange (White) Green Brown (White) Grey (Yellow) Red (White) Drain wire Grey (Heat shrinkable tube)

  • Page 113: Cables For Sr1-X

    3.1.2 Cables for SR1-X Signal cable ■ Signal cable To robot To controller 53501-Q6-00 Parts Signal Connection Parts Wire Controller CN1 Resolver: P 0.3sq Blue (Red) Orange (White) Green Brown (White) Grey (Yellow) Red (White) Grey (Heat shrinkable tube) Brake: BK Black (Blue) Yellow (White) Pink (Purple)
  • Page 114 3.1.3 Cables for RDV-X (robot with brake and sensor) Signal cable ■ Signal cable To robot To controller 53501-N1-00 Parts Signal Connection Parts Wire Controller ENC Resolver: P 0.3sq Blue (Red) Orange (White) Green Brown (White) Grey (Yellow) Red (White) Drain wire Grey (Heat shrinkable tube) Brake Brake: BK...
  • Page 115 ORG, BK wires ■ ORG, BK wires To robot To controller 53506-N1-00 Parts Signal Connection Parts Wire Controller I/O To robot 0.3sq Black Black Black Black GND24V Black 5-11...

  • Page 116: Cables For Rdv-X (Robot Without Brake)

    3.1.4 Cables for RDV-X (robot without brake) Signal cable ■ Signal cable To robot To controller 53509-N1-00 Parts Signal Connection Parts Wire Controller ENC Resolver: P 0.3sq Blue (Red) Orange (White) Green Brown (White) Grey (Yellow) Red (White) Drain wire Grey (Heat shrinkable tube) * The wire colors in ( ) show the flexing cable.

  • Page 117: Cables For Single-Axis Multi-Robot

    Multi-robot cables 3.2.1 Cables for single-axis multi-robot Connection controller : RCX221/222/240/340 ■ Cables for multi-robot To controller To robot 53501-Q0-00 Parts Signal Connection Parts Wire Controller ROB I/O Resolver: P3 0.3sq White Green White Yellow White Drain wire Brake: BK3 0.3sq Blue White...

  • Page 118: Cables For Two-Axis Multi-Robot

    3.2.2 Cables for two-axis multi-robot Robot combination: 1st axis is FLIP-X and 2nd axis is FLIP-X. Connection controller : RCX221/222/240/340 ■ Cables for multi-robot To controller To robot 53501-R2-00 5-14...
  • Page 119 Parts Signal Connection Parts Wire Controller ROB I/O Resolver: P1 0.3sq XY(ZR) White Green White Yellow White Drain wire Grey (Heat shrinkable tube) Brake: BK1 Blue White ORG1 Purple Blue GND24 Brown Resolver: P2 White Green White Yellow White Drain wire Grey (Heat shrinkable tube) Brake: BK2 Blue White...
  • Page 120 Robot combination: 1st axis is PHASER and 2nd axis is FLIP-X. Connection controller : RCX221/240/340 ■ Cables for multi-robot To controller To robot 53501-R0-00 5-16...
  • Page 121 Parts Signal Connection Parts Wire Controller ROB I/O Linear: P1 0.3sq XY(ZR) White Green White Yellow White Blue White Drain wire Grey (Heat shrinkable tube) 0.75sq Gray ORG1 0.3sq Purple Blue GND24 Brown Resolver: P2 White Green White Yellow White Drain wire Grey (Heat shrinkable tube) Brake: BK2 0.3sq...
  • Page 122 Robot combination: 1st axis is FLIP-X and 2nd axis is PHASER. Connection controller : RCX221/240/340 ■ Cables for multi-robot To controller To robot 53503-R0-00 5-18...
  • Page 123 Parts Signal Connection Parts Wire Controller ROB I/O Resolver: P1 0.3sq XY(ZR) White Green White Yellow White Drain wire Grey (Heat shrinkable tube) Brake: BK1 0.3sq Blue White ORG1 0.3sq Purple Blue GND24 Brown Linear: P2 0.3sq White Green White Yellow White Blue...
  • Page 124 Machine harness The following shows the wiring inside the cable carrier. N15/N15D/N18/N18D Signal cable ■ Signal cable To controller To robot 53501-AA-00 Parts Signal Connection Parts Wire Encoder P1 Resolver 0.3sq White Green White Yellow White D,G. Drain wire Grey (Heat shrinkable tube) Power cable ■...
  • Page 125 F20N Signal cable ■ Signal cable To controller To robot 53501-A9-00 Parts Signal Connection Parts Wire Encoder P Resolver 0.3sq White Green White Yellow White D,G. Drain wire Grey (Heat shrinkable tube) Brake BK Brake : BK 0.3sq Blue GND24 White Power cable ■...
  • Page 126 Cables models Single-axis robot cables Cables for ERCD ■ Cable type Set model number Individual part model number Standard cable – Composite cable KX1-M4751- Flexing cable – Composite cable KX1-M4752- Cables for TS-X ■ Cable type Set model number Individual part model number Signal cable KBY-M4751- Standard cable...
  • Page 127 Multi-robot cables Cables for single-axis multi-robot ■ Connection controller : RCX221/222/240/340 Cable type Cable model number Flexing cable KX7-M4754- Cables for two-axis multi-robot ■ Connection controller : RCX221/222/240/340 Robot combination Cable type Cable model number 1st axis 2nd axis Flexing cable FLIP-X FLIP-X KX7-M4753-...
  • Page 128 YAMAHA MOTOR CO., LTD. The contents of this manual are subject to change without prior notice. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions.
  • Page 130 127 Toyooka, Kitaku, Hamamatsu, Shizuoka, 433-8103, Japan Tel. 81-53-525 - 8250 Fax. 81 - 53 - 525 - 8378 Robot manuals can be downloaded from our company website. Please use the following for more detailed information. https://global.yamaha-motor.com/business/robot/ YAMAHA MOTOR CO., LTD.

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