YAMAHA SCARA ROBOT
YK-XG Series
Clean room models
YK250XGC / YK350XGC / YK400XGC / YK500XGLC / YK600XGLC
Dust/drip proof models
YK250XGP / YK350XGP / YK400XGP / YK500XGLP / YK600XGLP
EWHM127100
Ver. 1.00
E52

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  • Page 1

    YAMAHA SCARA ROBOT YK-XG Series Installation Manual Clean room models YK250XGC / YK350XGC / YK400XGC / YK500XGLC / YK600XGLC Dust/drip proof models YK250XGP / YK350XGP / YK400XGP / YK500XGLP / YK600XGLP EWHM127100 Ver. 1.00...

  • Page 3: Table Of Contents

    CONTENTS YK-XG Installation 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 3.1.2 Supplied warning labels 3.2 Warning symbols 4. Major precautions for each stage of use 4.1 Precautions for using robots and controllers 4.2 Design 4.2.1...

  • Page 4: Table Of Contents

    CONTENTS YK-XG Installation Manual Introduction Before using the robot (Be sure to read the following notes.) Introduction Chapter 1 Functions 1. Robot manipulator 1.1 Manipulator movement 1.2 Part names 2. Robot initialization number list Chapter 2 Installation 1. Robot installation conditions 1.1 Sucking from the base rear side of the clean room model 1.2 Protection ratings for moisture and dust on dust/drip proof models 2.

  • Page 5: Table Of Contents

    3. Standard coordinate setting using a standard coordinate setup jig Chapter 4 Periodic inspecition 1. List of inspection items Chapter 5 Specifications 1. Manipulator 1.1 Basic specification 1.2 External view and dimensions 1.2.1 YK250XGC(P) 1.2.2 YK350XGC(P) 1.2.3 YK400XGC(P) 1.2.4 YK500XGLC(P) 1.2.5 YK600XGLC(P) 5-10...

  • Page 7

    Safety Instructions Contents 1. Safety Information 2. Signal words used in this manual 3. Warning labels Warning labels 3.1.1 Warning label messages 3.1.2 Supplied warning labels Warning symbols 4. Major precautions for each stage of use Precautions for using robots and controllers Design 4.2.1 Precautions for robots...

  • Page 9: Safety Information

    The precautions listed in this manual relate to this product. To ensure safety of the user’s final system that includes 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 instructions. • For specific safety information and standards, refer to the applicable local regulations and comply with the instructions.

  • 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. 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 If WaRnIng labElS aRE REMOvED OR DIffICUlT TO SEE, ThEn ThE nECESSaRy PRECaUTIOnS May nOT bE TakEn, RESUlTIng In an aCIDEnT.

  • Page 12

    Warning label 3 (SCARA robots, Cartesian robots) 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 • Be sure to read the warning label and this manual carefully to make you completely understand the contents before attempting installation and operation of the robot.

  • Page 13: 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 14: Warning Symbols

    Warning symbols Warning symbols shown below are printed on the robot and controller 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 TOUChIng ThE TERMInal blOCk OR COnnECTOR May CaUSE ElECTRICal ShOCk, SO USE CaUTIOn.

  • Page 15: Major Precautions For Each Stage Of Use

    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. yaMaha RObOT COnTROllERS anD RObOTS aRE DESIgnED aS gEnERal-PURPOSE InDUSTRIal EqUIPMEnT anD CannOT bE USED fOR ThE fOllOWIng aPPlICaTIOnS.

  • Page 16: Design

    Design 4.2.1 Precautions for robots Provide safety measures for end effector (gripper, etc.) • enD effectors must be DesigneD anD manufactureD so that they cause no hazarDs (such as a loose worKPiece or loaD) even if Power (electricity, air Pressure, etc.) is shut off or Power fluctuations OCCUR.

  • Page 17: Moving And Installation

    SITUaTIOnS. Do not use in locations exposed to flammable gases • 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 18: Precautions For Robot Controllers

    ■ Installation environment yaMaha RObOTS anD RObOT COnTROllERS aRE nOT DESIgnED TO bE ExPlOSIOn-PROOf. DO nOT USE ThEM In lOCaTIOnS ExPOSED TO ExPlOSIvE OR InflaMMablE gaSES, gaSOlInE OR SOlvEnT. faIlURE TO fOllOW ThIS InSTRUCTIOn May CaUSE SERIOUS aCCIDEnTS InvOlvIng InjURy OR DEaTh, anD lEaD TO fIRE.

  • Page 19

    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 20: Safety Measures

    Safety measures 4.4.1 Safety measures Referring to warning labels and manual • 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 worK or oPeration unless DescribeD in this manual. •...

  • Page 21: Installing A Safety Enclosure

    • 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 22: 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. ChECk ThE fOllOWIng POInTS bEfORE STaRTIng RObOT OPERaTIOn. • no one is within the robot movement range. •...

  • Page 23

    Working inside safety enclosures Before starting work within the safety enclosure, always first confirm from outside the enclosure that each safety function is operating correctly (see the previous section 2.3). nEvER EnTER WIThIn ThE MOvEMEnT RangE WhIlE WIThIn ThE SafETy EnClOSURE. WhEn WORk IS REqUIRED WIThIn ThE SafETy EnClOSURE, PlaCE a SIgn "WORk In PROgRESS"...

  • Page 24: Automatic Operation

    4.5.2 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 25

    Use caution when releasing the Z-axis (vertical axis) brake ThE vERTICal axIS WIll SlIDE DOWnWaRD WhEn ThE bRakE IS RElEaSED, CaUSIng a hazaRDOUS SITUaTIOn. • Press the emergency stoP button anD Place a suPPort unDer the vertical axis before releasing the bRakE.

  • Page 26: Inspection And Maintenance

    Inspection and maintenance Always perform daily and periodic inspections and make a pre-operation check to ensure there are no problems 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 27: Precautions During Service Work

    4.6.2 Precautions during ser vice work Precautions when removing a motor (Cartesian robots and vertical mount single-axis robots) 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 28: 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 29: Emergency Action When A Person Is Caught By Robot

    Emergency action when a person is caught by robot If a person should get caught between the robot and a mechanical part such as the installation base, then release the axis. Emergency action ■ Release the axis while referring to the following section in the manual for the robot controller. Controller Refer to: RCX240...

  • Page 30: Using The Robot Safely

    Using the robot safely Robot safety functions Safety functions for YAMAHA robots are described below. Overload detection This function detects an overload applied to the motor and shuts off the servo power. If an overload error occurs, take the following measures to avoid such errors: 1.

  • Page 31: Special Training For Industrial Robot Operation

    This manual does not serve as a guarantee of any industrial property rights or any other rights and does not grant a license in any form. Please acknowledge that we bear no liability whatsoever for any problems involving industrial property rights which may arise from the contents of this manual. 2012 YAMAHA MOTOR CO., LTD. S-23...

  • Page 32

    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 33

    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 35

    Introduction Contents before using the robot (be sure to read the following notes.) Introduction...

  • Page 37

    If the Z-axis spline vibrates. The Z-axis spline of the YK250XGC(P), YK350XGC(P), YK400XGC(P), YK500XGLC(P), and YK600XGLC(P) tends to vibrate in a Z-axis operation speed range of 20% to 40%. If the Z-axis spline vibrates, operate it beyond this operation speed range.

  • Page 38

    Put timer during Z-axis operation. If the tip load attached to the spline tip of the YK250XGC(P), YK350XGC(P), YK400XGC(P), YK500XGLC(P), or YK600XGLC(P) exceeds 2kg, the Z-axis may be overloaded depending on the operation pattern. In this case, put a timer during operation as shown in the Fig. below to prevent overload of the Z-axis. The reference timer values are shown below.

  • Page 39

    • 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, if you find any part unclear or inaccurate in this manual, please contact your distributor.

  • Page 41: Robot Manipulator

    Chapter 1 Functions Contents 1. Robot manipulator Manipulator movement Part names 2. Robot initialization number list...

  • Page 43

    Robot manipulator This Chapter describes only the points that are different from the standard models. For details about other explanations, see the Installation Manual for YK-XG series standard models. Manipulator movement The YK-XG series robots are available in 4-axis models having an X/Y-axis arm (equivalent to human arm) and a Z/R-axis (equivalent to human wrist). With these 4 axes, the YK-XG series robots can move as shown in the Fig.

  • Page 44: Part Names

    Part names YK250XGC(P), YK350XGC(P), YK400XGC(P), YK500XGLC(P), YK600XGLC(P) User tubing 3 (φ4 blue) Connector for user wiring User tubing 4 (φ4 white) (No. 1 to 10 usable) User tubing 1 (φ4 black) User tubing 2 (φ4 red) Bellows Ball screw Machine harness...

  • Page 45: Robot Initialization Number List

    "aRM lEngTh" and "OffSET PUlSE" settings before initializing, and re-enter their settings after initialization is complete. Robot initialization number Model name 2300 YK250XGC, YK250XGP 2301 YK350XGC, YK350XGP 2302 YK400XGC, YK400XGP...

  • Page 47

    Chapter 2 Installation Contents 1. Robot installation conditions Sucking from the base rear side of the clean room model Protection ratings for moisture and dust on dust/drip proof models 2. Installation Checking the product Moving the robot 3. User wiring and user tubing 4.

  • Page 49: Robot Installation Conditions

    Robot installation conditions The installation conditions for the clean room models are identical to the standard models. The installation conditions for the dust/drip proof models are identical to the standard models except for the moisture and dust conditions. This Chapter describes only the points that are different from the standard models. For details about other explanations, see the Installation Manual for YK-XG series standard models. Sucking from the base rear side of the clean room model Suck from the suction air joint on the base rear side at a suction air flow of 30N /min.

  • Page 50: Protection Ratings For Moisture And Dust On Dust/drip Proof Models

    Protection ratings for moisture and dust on dust/drip proof models The protection ratings for moisture and dust on the YK250XGP, YK350XGP, YK400XGP, YK500XGLP, and YK600XGLP dust/drip proof models are equivalent to IP65. • Do not immerse anD use the robot or any Part of the robot in water. otherwise, water may Penetrate InSIDE ThE RObOT.

  • Page 51: Installation

    The following configurations are typical examples, so please check that the product is as specified in your order. if there is any damage due to transportation or insufficient parts, please notify your distributor immediately. ● Controller : RCX240 Robot : YK250XGC(P), YK350XGC(P), YK400XGC(P), YK500XGLC(P), YK600XGLC(P) Product configurations Standard Robot manipulator CD-ROM User’s Manual User's Manual Warning label (×1)

  • Page 52: Moving The Robot

    Moving the robot SERIOUS InjURy May OCCUR If ThE RObOT fallS anD PInS SOMEOnE UnDER IT. • Do not allow any Part of your boDy to enter the area beneath the robot During worK. • always wear a helmet, safety shoes anD gloves During worK. To check the mass of each robot, refer to "1.1 Basic specifications"...

  • Page 53

    TIghTEnED CORRECTly, ThE RObOT MIghT fall OvER DURIng OPERaTIOn CaUSIng a SERIOUS aCCIDEnT. Tightening torque Robot Model Bolts Used Tightening torque YK250XGC(P), YK350XGC(P), YK400XGC(P), YK500XGLC(P), YK600XGLC(P) 37Nm (380kgfcm) Depth of tapped holes in installation base: Iron installation base : Bolt diameter × 1.5 or more Aluminum installation base Bolt diameter ×...

  • Page 54: User Wiring And User Tubing

    "1.2 External view and dimensions" in Chapter 5. If the connector for the user wiring and the joint for the user tubing of the YK250XGC(P), YK350XGC(P), YK400XGC(P), YK500XGLC(P), or YK600XGLC(P) are not used, attach the cap and plug, respectively.

  • Page 55

    Signal wiring connections in the machine harness ■ • YK250XGC(P), YK350XGC(P), YK400XGC(P), YK500XGLC(P), YK600XGLC(P) Connector pins 1 to 10 can be used. Signal Connector Connection Connector Color Brown Orange Blue Violet Grey White User signal line (Base side) Brown (Arm side)

  • Page 56: Yk400xgc(p)

    23209-HM-00 Connector for user wiring supplied with the robot at shipment Robot Model Connector for user wiring on arm side Connector for user wiring on base side YK250XGC(P), YK350XGC(P), YK400XGC(P), YK500XGLC(P), NJW-24-16-PM-15 NJW-24-16-PF-15 YK600XGLC(P) Manufacturer: MISUMI or NANABOSHI ELECTRIC MFG To check the operation and signal transmission between the end effector and the controller or peripheral equipment after making connections, refer to the section "4.5.1 Trial Operation"...

  • Page 57: Limiting The Movement Range With X- And Y-axis Mechanical Stoppers

    Mechanical stopper position and maximum movement position X-axis standard stopper position X-axis additional stopper position Y-axis standard stopper position Y-axis additional stopper position (YK250XGC(P), YK350XGC(P)) (YK250XGC(P), YK350XGC(P)) Y-axis additional stopper position Y-axis standard stopper position (YK400XGC(P), YK500XGLC(P), YK600XGLC(P)) (YK400XGC(P), YK500XGLC(P), YK600XGLC(P))

  • Page 58: Installing The X-axis/y-axis Additional Mechanical Stoppers

    Stopper position in X-axis plus or minus direction 131° 119° Maximum movement position in X-axis plus or 129° 117° minus direction 136°(YK250XGC(P), YK350XGC(P)) Stopper position in Y-axis plus or minus direction 108° 146°(YK400XGC(P), YK500XGLC(P), YK600XGLC(P)) Maximum movement position in Y-axis plus or 134°(YK250XGC(P), YK350XGC(P)) 106°...

  • Page 59

    Enter the safety enclosure. Step 4 Removing the tapped-hole plug bolts and seal washer Remove the bolts, seal washers, and Seal washer washers. Remove the tapped-hole plug bolts, seal washers, and washers. Additionally, remove the stopper from the plus side of the X-axis. 23211-HM-00 Washer Bolt...

  • Page 60

    Check that the X-axis and Y-axis stop firmly. Whether or not the X-axis stops at a position before the stopper limited by the maximum soft limit must be checked from the outside of the safety enclosure. The X-axis may not stop at a position before the stopper due to the stopper part accuracy or position.

  • Page 61: Limiting The Movement Range With Z-axis Mechanical Stopper

    Limiting the movement range with Z-axis mechanical stopper The Z-axis additional mechanical stopper cannot be installed in the YK250XGC(P), YK350XGC(P), YK400XGC(P), YK500XGLC(P), and YK600XGLC(P) as they are equipped with bellows. Working envelope and mechanical stopper positions for maximum working envelope Working envelope of each robot and mechanical stopper positions for the maximum working envelope are shown in "1.2 External view and dimensions" in Chapter 5. For details about cautions, see the Installation Manual for YK-XG standard models. For the YK250XGC(P), YK350XGC(P), YK400XGC(P), YK500XGLC(P), and YK600XGLC(P), operate the robot carefully since there are positions where the base flange or robot cable interferes with the spline, bellows, or tool flange even within the working envelope.

  • Page 62: Installing The User Wiring And Tubing Newly

    Machine harness Air tube Signal line 23215-HM-00 Signal line outside diameter Tube outside diameter Robot model φ D (mm) × quantity φ d (mm) × quantity YK250XGC(P), YK350XGC(P), YK400XGC(P), φ6 × 1 pc. φ4 × 3 pcs. YK500XGLC(P), YK600XGLC(P) 2-14...

  • Page 63: Passing The User Wiring And Tubing Through The Spline

    Passing the user wiring and tubing through the spline In the YK250XGC(P), YK350XGC(P), YK400XGC(P), YK500XGLC(P), and YK600XGLC(P), the user wiring and tubing can be passed through the spline. The following Fig. shows a reference example. The wiring at the top end of the spline can be detached or attached easily when replacing the spline, R-axis speed reduction unit, or R-axis motor.

  • Page 64: Detaching Or Attaching The Covers

    O-ring 90200-01J350 O-ring 90990-17J025 Seal washer 90990-36J008 Seal KDM-M1328-000 Seal KDM-M1329-000 KDM-M1567-000 (YK250XGC(P), YK350XGC(P), YK400XGC(P)) Seal KDM-M1567-100 (YK500XGLC(P), YK600XGLC(P)) KDM-M1568-000 (YK250XGC(P), YK350XGC(P), YK400XGC(P)) Seal KDM-M1568-100 (YK500XGLC(P), YK600XGLC(P)) Seal washer 90990-36J008 Seal KDM-M1315-000 WhEn ThE COvERS havE bEEn REMOvED fOR ThE MaInTEnanCE WORk, bE SURE TO RETURn ThE COvERS TO ThEIR ORIgInal POSITIOnS USIng ThE SCREWS anD bOlTS ThaT havE SECURED ThEM.

  • Page 65

    Z-axis to a position close to the lower end of O-ring (1) the Z-axis. 23220-HM-00 For details about how to release the Z-axis brake, see the "YAMAHA Robot Controller User's Manual". Step 8 Removing the rolling mechanism part Rolling mechanism part Hex socket head bolt M3, length 10, 4 pcs.

  • Page 66

    Hex socket head bolt seal (4)(5), and seal washer (3). M3, length 6, stainless, 2 pcs. (YAMAHA’s part No.: 91380-03006) 23221-HM-00 Y-axis arm cover clamping bolt Remove the cover, seal (6), and seal Hex socket head bolt (7).

  • Page 67

    Place the cover on the base side. Step 14 Placing the cover 23224-HM-00 Place the cover so that it is not damaged. Reattach the cover in the reverse order of detachment. It is recommended to replace the O-rings and seals with new ones. If these parts are not replaced or reattached, the dust/drip proof performance or the degree of cleanliness may lower.

  • Page 68

    Removing the base front cover Base front cover Seal (9) Base front cover clamping bolt Hex socket head bolt M4, length 12, stainless, 4 pcs. (YAMAHA’s part No.: 91380-04012) 23226-HM-00 Removing the base rear cover Base rear cover Seal (9) Base rear cover clamping bolt Hex socket head bolt M4, length 18, stainless, 4 pcs.

  • Page 69: Installing The Tool Flange

    10. Installing the tool flange The tool flange can be retrofitted. The following option parts are needed. Part No. Q'ty Remarks KCY-M1790-000 Tool flange 91312-05014 Bolt 92A08-05308 Set screw 90K41-001490 Warning label Turn off the controller. Place a sign indicating the robot is being adjusted.

  • Page 71

    Chapter 3 Robot settings Contents 1. Overview 2. adjusting the origin 3. Standard coordinate setting using a standard coordinate setup jig 3-3...

  • Page 73: Overview

    Over view Various settings have been completely made at the factory or by your distributor before shipment, including the origin position setting. If the operating conditions are changed and the robot needs to be set again, then follow the procedures described in this chapter. The following describes the safety precautions to be observed when making various settings. •...

  • Page 74: Adjusting The Origin

    This section describes only the origin adjustment points that are different from the standard models. For details about other explanations, see the Installation Manual for YK-XG series standard models. Adjusting the origin of the YK250XGC(P), YK350XGC(P), YK400XGC(P), YK500XGLC(P), or YK600XGLC(P) ■ • Since the joints of the X-, Y-, and R-axis are covered, it is difficult to understand the clearance between the sensor and dog.

  • Page 75: Standard Coordinate Setting Using A Standard Coordinate Setup Jig

    Press the emergency stop button on the RPB to put the robot in the emergency stop status. For details about emergency stop and how to cancel the emergency stop, see the "YAMAHA Robot Controller User's Manual". Place a sign indicating the robot is being adjusted.

  • Page 76

    +X direction Enter the "11. Arm length [mm]" values. Enter the following values in M1 and M2 for "11. Arm length [mm]" of axis parameters. M1 (X-axis arm length) M2 (Y-axis arm length) YK250XGC(P) 100.00 150.00 YK350XGC(P) 200.00 150.00 YK400XGC(P) 250.00...

  • Page 77: List Of Inspection Items

    Chapter 4 Periodic inspecition Contents 1. list of inspection items...

  • Page 79

    List of inspection items Only qUalIfIED EngInEERS WhO havE RECEIvED ThE RObOT TRaInIng COURSE COnDUCTED by yOUR DISTRIbUTOR aRE allOWED TO InSPECT ThE ITEMS nEEDIng ThE COvER REMOval WORk WhIlE REfERRIng TO ThE SEPaRaTE MaInTEnanCE ManUal fOR yk-xg SERIES. : Conduct. : Conduct if trouble is found as a result of inspection.

  • Page 80

    Bolt tightening torque Bolt size Tightening torque (kgfcm) Tightening torque (Nm) M3 button head bolt M4 set screw 15.3 45.0 1310 2090...

  • Page 81: Specifications

    Chapter 5 Specifications Contents 1. Manipulator basic specification external view and dimensions 1.2.1 YK250XGC(P) 1.2.2 YK350XGC(P) 1.2.3 YK400XGC(P) 1.2.4 YK500XGLC(P) 1.2.5 YK600XGLC(P) 5-10...

  • Page 83

    Manipulator Basic specification Robot model YK250XGC(P) YK350XGC(P) YK400XGC(P) YK500XGLC(P) YK600XGLC(P) Arm length 100mm 200mm 250mm 250mm 350mm X-axis Rotation angle ±129° Arm length 150mm 250mm Axis Y-axis specifications Rotation angle ±134° ±144° Z-axis Stroke 150mm R-axis Rotation angle ±360° X-axis...

  • Page 84

    If the user tubing is not used, attach the plug supplied with the robot. User tubing 2 (φ4 red) • Suction air joint φ12 (YK250XGC) • Since this joint is not used, attach the plug supplied with the robot to the joint (YK250XGP).

  • Page 85

    YK250XGC, YK250XGP Tool flange mount type 50.5 ±2 99.5 Clean room model, dust/drip proof model with tool flange φ35 4-φ4.5 through-hole ↑E φ30h7 - 0.021 φ55 0.012 φ4H7 through-hole Detailed drawing D Scale 1 : 1 View of E 23502-HM-00...

  • Page 86

    1.2.2 YK350XGC(P) User tubing 3 (φ4 blue) Connector for user wiring User tubing 4 (φ4 white) 4-M3×0.5 Depth 5 (No. 1 to 10 usable. Cable clamp size, (There is no phase relationship with the R-axis origin.) φ13.1 to 15) Since this tapped hole is used for the wiring or tubing If not used, cover the connectors with clamp, do not apply a large load.

  • Page 87

    YK350XGC, YK350XGP Tool flange mount type 50.5 ±2 99.5 Clean room model, dust/drip proof model with tool flange φ35 4-φ4.5 through-hole ↑E φ30h7 - 0.021 φ55 + 0.012 Detailed drawing D φ4H7 through-hole Scale 1 : 1 View of E 23502-HM-00 YK350XGC, YK350XGP Working envelope...

  • Page 88

    1.2.3 YK400XGC(P) Connector for user wiring 4-M3×0.5 Depth 5 User tubing 3 (φ4 blue) (No. 1 to 10 usable. Cable clamp size, (There is no phase relationship with the R-axis origin.) φ13.1 to 15) User tubing 4 (φ4 white) Since this tapped hole is used for the wiring or tubing If not used, cover the connectors with clamp, do not apply a large load.

  • Page 89

    YK400XGC, YK400XGP Tool flange mount type 50.5 ±2 99.5 Clean room model, dust/drip proof model with tool flange φ35 4-φ4.5 through-hole ↑E φ30h7 - 0.021 φ55 + 0.012 φ4H7 through-hole Detailed drawing D Scale 1 : 1 View of E 23508-HM-00 YK400XGC, YK400XGP Working envelope...

  • Page 90

    1.2.4 YK500XGLC(P) Connector for user wiring 4-M3×0.5 Depth 5 User tubing 3 (φ4 blue) (No. 1 to 10 usable. Cable clamp size, (There is no phase relationship with the R-axis origin.) φ13.1 to 15) User tubing 4 (φ4 white) Since this tapped hole is used for the wiring or tubing If not used, cover the connectors with clamp, do not apply a large load.

  • Page 91

    YK500XGLC, YK500XGLP Tool flange mount type 63.5 ±2 86.5 Clean room model, dust/drip proof model with tool flange φ35 ↑E φ30h7 - 0.021 φ55 φ4H7 + 0.012 through-hole Detailed drawing D Scale 1 : 1 View of E 23511-HM-00 YK500XGLC, YK500XGLP Working envelope Option : •...

  • Page 92

    1.2.5 YK600XGLC(P) Connector for user wiring 4-M3×0.5 Depth 5 User tubing 3 (φ4 blue) (No. 1 to 10 usable. Cable clamp size, (There is no phase relationship with the R-axis origin.) φ13.1 to 15) User tubing 4 (φ4 white) Since this tapped hole is used for the wiring or tubing If not used, cover the connectors with clamp, do not apply a large load.

  • Page 93

    YK600XGLC, YK600XGLP Tool flange mount type 63.5 ±2 86.5 Clean room model, dust/drip proof model with tool flange φ35 ↑E φ30h7 - 0.021 φ55 + 0.012 φ4H7 through-hole Detailed drawing D Scale 1 : 1 View of E 23514-HM-00 YK600XGLC, YK600XGLP Working envelope Option : •...

  • Page 94

    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 96

    882 Soude, Nakaku, Hamamatsu, Shizuoka, 435-0054, Japan Tel. 81-53-460 - 6103 Fax. 81 - 53 - 460 - 6811 Robot manuals can be downloaded from our company website. Please use the following for more detailed information. http://www.yamaha-motor.co.jp/global/industrial/robot/ YAMAHA MOTOR CO., LTD.

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