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Yamaha FLIP-X Series User Manual

Single-axis robot
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YAMAHA SINGLE-AXIS ROBOT
FLIP-X 
series
E
User's Manual
ENGLISH
E21-Ver. 1.15

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Summary of Contents for Yamaha FLIP-X Series

  • Page 1 YAMAHA SINGLE-AXIS ROBOT FLIP-X  series User’s Manual ENGLISH E21-Ver. 1.15...
  • Page 3 Before using the “X” series single-axis robot or XY robot (Be sure to read the following notes.) At this time, our thanks for your purchase of this YAMAHA “X” series robot. The “X” series single-axis and XY robots use absolute position detectors that do not require return-to-origin after turning on the controller power.
  • Page 4 [1] When using a linear movement robot Applicable robots: All “X” series single-axis robots except single-axis rotary movement robots (see [2]) Linear movement axes (X, Y, Z axes) of “X” series Cartesian robots The above robots use the stroke end origin detection method. The motor side stroke end is set as the origin at the factory prior to shipping Set the origin position while referring to the following section in the robot controller instruction manual.
  • Page 5 Introduction The YAMAHA FLIP-X series is a family of single-axis industrial robots that use the absolute positioning method as a standard feature to improve ease of use, resistance to environmental conditions and maintenance work. A wide varaiety of product lineup allows you to select the desired robot model that best matches your application.
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  • Page 7: Table Of Contents

    Contents Chapter 1 About Safety Safety Information............... 1-3 Essential Caution Items ............1-4 Special Training for Industrial Robot Operation ....1-9 Robot Safety Functions ............ 1-10 Safety Measures for the System ........1-11 Trial Operation ..............1-11 Work Within the Safeguard Enclosure ......1-12 Automatic Operation ............
  • Page 8 Setting the operating conditions ........2-39 2-7-1 Payload ....................... 2-39 2-7-2 Maximum speed setting ................2-40 2-7-3 Duty ......................2-40 Chapter 3 Adjusting the robot Attaching the upper cover (B10/B14/B14H) ...... 3-3 Adjusting the timing belt tension (B10/B14/B14H) ..3-4 3-2-1 Adjusting the drive belt tension ..............
  • Page 9 Chapter 5 Specifications Robot specifications ............5-3 5-1-1 T6 ......................... 5-3 5-1-2 T7 ......................... 5-4 5-1-3 T9 ......................... 5-5 5-1-4 T9H ......................5-6 5-1-5 F10 ........................ 5-7 5-1-6 F14 ........................ 5-8 5-1-7 F14H ......................5-9 5-1-8 F17 ......................5-10 5-1-9 F20 ......................5-11 5-1-10 F20N ......................
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  • Page 11 Chapter About Safety Safety Information ............... 1-3 Essential Caution Items ............1-4 Special Training for Industrial Robot Operation ....1-9 Robot Safety Functions ............. 1-10 Safety Measures for the System ........1-11 Trial Operation ..............1-11 Work Within the Safeguard Enclosure ......1-12 Automatic Operation ............
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  • Page 13: Chapter 1 About Safety

    Industrial robots are highly programmable, mechanical devices that provide a large degree of freedom when performing various manipulative tasks. To ensure correct and safe use of YAMAHA industrial robots, carefully read this manual and make yourself well acquainted with the contents. FOLLOW THE WARNINGS, CAUTIONS AND INSTRUCTIONS INCLUDED IN THIS MANUAL.

  • Page 14: Essential Caution Items

    Chapter 1 About Safety Essential Caution Items Particularly important cautions for handling or operating the robot are described below. In addi- tion, 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.
  • Page 15 Chapter 1 About Safety (3) Follow the instructions on listed on warning labels and in this manual. · Be sure to read the warning labels and this manual carefully and make sure you thor- oughly understand their contents before attempting installation and operation of the ro- bot.
  • Page 16 · Never touch any internal parts of the controller. · Refer to the “YAMAHA Robot Controller User’s Manual” for precautions on handling the controller.
  • Page 17 (10) Consult us for corrective action when the robot is damaged or malfunctions occur. WARNING If any part of the robot is damaged or any malfunction occurs, continuing the opera- tion may be very dangerous. Please consult your YAMAHA sales office or dealer for corrective action. Damage or Trouble...
  • Page 18 Chapter 1 About Safety (14) Protective bonding WARNING Be sure to ground the robot and controller to prevent electrical shock. (15) Be sure to make correct parameter settings. CAUTION The robot must be operated with correct tolerable moment of inertia and acceleration coefficients according to the manipulator tip mass and moment of inertia.

  • Page 19: Special Training For Industrial Robot Operation

    FLIP-X series robots fall under the industrial robot category, the user must ob- serve local regulations and safety standards for industrial robots, and provide special training for every person involved in robot-related tasks (teaching, programming, movement check, inspec- tion, adjustment, repair, etc.).

  • Page 20: Robot Safety Functions

    Chapter 1 About Safety 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 temperature rise in the controller driver and shuts off the servo power.

  • Page 21: Safety Measures For The System

    Chapter 1 About Safety Safety Measures for the System Since the robot is commonly used in conjunction with an automated system, dangerous situations are more likely to occur from the automated system than from the robot itself. Accordingly, appropriate safety measures must be taken on the part of the system manufacturer according to the individual system.

  • Page 22: Work Within The Safeguard Enclosure

    Chapter 1 About Safety Work Within the Safeguard Enclosure (1) Work within the safeguard enclosure When work is required inside the safeguard enclosure, always turn off the controller and place a sign indicating that the robot is being adjusted or serviced in order to keep any other person from touching the controller switch or operation panel, except for the following cases.

  • Page 23: Warranty

    Chapter 1 About Safety 1-11 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...
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  • Page 25: Chapter 2 Installation And Connections

    Chapter Installation and Connections Checking the product ............2-3 Moving the robot ..............2-3 Robot Installation Conditions ..........2-5 2-3-1 Installation environments ................2-5 2-3-2 Installation base ..................... 2-6 Installing the robot ............... 2-7 2-4-1 T6 ........................2-7 2-4-2 T7 ........................2-9 2-4-3 T9/T9H ......................
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  • Page 27: Checking The Product

    After unpacking, make sure that all components and accessories are included (as specified in your order). Also check the product for any damage on the exterior which might have occurred during transportation. If there are any missing parts or damage due to transportation, please notify your YAMAHA sales office or dealer immediately. Example...
  • Page 28 Chapter 2 Installation and Connections WARNING Serious injury may occur if the robot falls and pins someone under it. • Use a hoist and rope with carrying capacity strong enough to support the robot weight. • Make sure the rope stays securely on the hoist hook. •...

  • Page 29: Robot Installation Conditions

    Working space Allow sufficient space margin to perform jobs (teaching, inspection, repair, etc.) For detailed information on how to install the robot controller, refer to the separate “YAMAHA Robot Controller User’s Manual”. WARNING Avoid installing the robot in locations where the ambient conditions may exceed the allowable temperature or humidity, or in environments where excessive moisture, corrosive gases, metallic powder or dust are generated.

  • Page 30: Installation Base

    Chapter 2 Installation and Connections 2-3-2 Installation base To mount the robot, use an installation base that satisfies the following conditions. 1) The installation base is subjected to a great deal of stress while the robot is in operation. Prepare a sufficiently rigid and stable installation base, taking into account the robot weight including the end effector (gripper) and workpiece.

  • Page 31: Installing The Robot

    Chapter 2 Installation and Connections Installing the robot 2-4-1 To install the T6 robot, tap holes into the installation base and secure the robot to the base with M4 bolts from inside of the robot frame. WARNING Always turn off the power to the controller before installing the robot. Serious acci- dents might occur if the robot starts to operate during installation.
  • Page 32 Chapter 2 Installation and Connections 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 M4 bolt, strength: 8.8T, length: longer than 20mm Tightening torque 30kg-cm to 45kg-cm M4 hex wrench Shutter CAUTION...
  • Page 33 Chapter 2 Installation and Connections 2-4-2 To install the T7 robot, tap holes into the installation base and secure the robot to the base with M4 bolts from inside of the robot frame. WARNING Always turn off the power to the controller before installing the robot. Serious acci- dents might occur if the robot starts to operate during installation.
  • Page 34 Chapter 2 Installation and Connections 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 side cover after installing the robot. GProtective bonding WARNING Always ground the robot and controller unit to prevent electrical shock.

  • Page 35: T9/T9H

    Chapter 2 Installation and Connections 2-4-3 T9/T9H To install the T9/T9H robot, use either of the following two methods. Method A : Drill holes through the installation base and secure the robot to the base with M8 bolts from the bottom. (M8 tapped holes are already machined on the bottom of the robot frame.) Method B : Tap holes into the installation base and secure the robot to the base with M8 bolts from inside of the robot frame.
  • Page 36 Chapter 2 Installation and Connections GInstallation method B 1) Tap M6 holes into the installation base where the robot is to be secured. For hole pitch, see the external view and dimensions in “5.1 Robot Specifications” of Chapter 5.) 2) Remove the screws securing the side cover of the robot and remove the side cover (on one side). If necessary, move the slider to a location where it does not block the installation holes on the bottom of the robot frame, or else remove the upper cover.
  • Page 37 Chapter 2 Installation and Connections GProtective bonding WARNING Always ground the robot and controller unit to prevent electrical shock. Always use the ground terminal (M4 screw) on the robot unit to make ground connection. The ground terminal location is shown below. Ground terminal Robot cable CAUTION...

  • Page 38: F10

    Chapter 2 Installation and Connections 2-4-4 To install the F10 robot, use either of the following two methods. Method A : Drill holes through the installation base and secure the robot to the base with M5 bolts from the bottom. (M5 tapped holes are already machined on the bottom of the robot frame.) Method B : Tap holes into the installation base and secure the robot to the base with M5 bolts from inside of the robot frame.
  • Page 39 Chapter 2 Installation and Connections GInstallation method B 1) Tap M5 holes into the installation base where the robot is to be secured. For hole pitch, see the external view and dimensions in “5.1 Robot Specifications” of Chapter 5.) 2) Remove the screws securing the upper cover of the robot and remove the upper cover. If necessary, move the slider to a location where it does not block the installation holes on the bottom of the robot frame.
  • Page 40 Chapter 2 Installation and Connections GProtective bonding WARNING Always ground the robot and controller unit to prevent electrical shock. Always use the ground terminal (M4 screw) inside the robot unit to make ground connection. The ground terminal location is shown below. (When you remove the upper and lower covers for the motor and also the end plate, you will see the ground terminal as shown.) End plate Motor upper cover...

  • Page 41: F14/F14H

    Chapter 2 Installation and Connections 2-4-5 F14/F14H To install the F14/F14H robot, use either of the following two methods. Method A: Drill holes through the installation base and secure the robot to the base with M6 bolts from the bottom. (M6 tapped holes are already machined on the bottom of the robot frame.) Method B: Tap holes into the installation base and secure the robot to the base with M6 bolts from inside of the robot frame.
  • Page 42 Chapter 2 Installation and Connections 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. • Do not use a bolt longer than the specified length. A bolt that is too long will pen- etrate inside the robot frame and cause operating defects or malfunctions.
  • Page 43 Chapter 2 Installation and Connections 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 M6 bolt, strength: 8.8T, length: longer than 20mm Tightening torque 100kg·cm to 130kg·cm M6 hex wrench WARNING Be sure to tighten the bolt to the correct torque.
  • Page 44 Chapter 2 Installation and Connections GProtective bonding WARNING Always ground the robot and controller unit to prevent electrical shock. Always use the ground terminal (M4 screw) inside the robot unit to make ground connection. The ground terminal location is shown below. Ground terminal End plate Motor cable...

  • Page 45: F17/F20

    Chapter 2 Installation and Connections 2-4-6 F17/F20 To install the F17/F20 robot, tap holes into the installation base and secure the robot to the base with M8 bolts from inside of the robot frame. WARNING Always turn off the power to the controller before installing the robot. Serious acci- dents might occur if the robot starts to operate during installation.
  • Page 46 Chapter 2 Installation and Connections 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. GProtective bonding WARNING Always ground the robot and controller unit to prevent electrical shock.

  • Page 47: R5/R10/R20

    Chapter 2 Installation and Connections 2-4-7 R5/R10/R20 To install the R5/R10/R20 robot, tap holes into the installation base and secure the robot to the base as shown below. WARNING Always turn off the power to the controller before installing the robot. Serious acci- dents might occur if the robot starts to operate during installation.
  • Page 48 Chapter 2 Installation and Connections M5 or M6 bolt Installation base Bolt Hex socket-head M5 or M6 bolt, strength: 8.8T, length: installation base thickness + 12mm (maximum) Tightening torque M5: 60kg-cm to 90kg-cm M6: 100kg-cm to 130kg-cm GProtective bonding WARNING Always ground the robot and controller unit to prevent electrical shock.
  • Page 49 (Symbol 417-IEC5019) GOrigin position The Flip-X series uses the absolute method so performing return-to-origin is not necessary after the power is turned on. However, data containing the origin position may be lost if the absolute battery is removed from the controller or the battery dies. When this happens, origin return (or origin reset) must be performed after the battery is reconnected.

  • Page 50: B10/B14/B14H

    Chapter 2 Installation and Connections 2-4-8 B10/B14/B14H WARNING Always turn off the controller before installing the robot. Serious accidents might occur if the robot starts to operate during installation. Drill holes through the installation base where the robot is to be secured. Then secure the robot with the specified bolts from the bottom.

  • Page 51: F20N

    Chapter 2 Installation and Connections 2-4-9 F20N To install the F17/F20 robot, tap holes into the installation base and secure the robot to the base with M8 bolts from inside of the robot frame. WARNING Always turn off the power to the controller before installing the robot. Serious acci- dents might occur if the robot starts to operate during installation.
  • Page 52 Chapter 2 Installation and Connections 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. Refer to Chapter 3 “3-3 Installing and removing the cover (F20N)”, and install the cover.

  • Page 53: Protective Bonding

    Chapter 2 Installation and Connections Protective bonding WARNING Always ground the robot and controller unit to prevent electrical shock. Always use the ground terminal (M4 screw) of the robot unit to make ground connection. The ground terminal location is shown below. Robot cable Ground terminal CAUTION...

  • Page 54: Connections

    Chapter 2 Installation and Connections Connections 2-6-1 Connecting the robot cables Connect the robot cables to the mating connectors on the controller as shown. Refer to the SRCX robot controller user’s manual for the controller connectors. WARNING Before connecting the cables, check that there are no bends or breaks in the robot cable connector pins and that the cables are not damaged.
  • Page 55 Chapter 2 Installation and Connections Robot cable connections Refer to “5-2 AC servo motor cable termination” and “5-3 Robot cable” when wiring the cables. SRCX Robot cable (power line) Robot cable (signal line) After making connections, fasten the hoods securely. Hood FLIP-X System Configurations...

  • Page 56: Changing The Cable Routing Direction (F Type)

    Chapter 2 Installation and Connections 2-6-2 Changing the cable routing direction (F Type) The cable in F type robots (F10, F14, F17, F20 series) can be run out (extracted) in any direction. Limits on wiring directions have been eliminated and vertical or horizontal installations are made possible for efficient use of space.

  • Page 57: Changing The Cable Routing Direction (B Type)

    Chapter 2 Installation and Connections 2-6-3 Changing the cable routing direction (B Type) The cables in B type robots (B10, B14, B14H series) can be run out (extracted) in any direction. Limits on wiring directions have been eliminated so available space can be efficiently used. Methods for changing the cable routing (extraction) direction are shown below.
  • Page 58 Chapter 2 Installation and Connections When rotating 90 degrees 1) Remove the four screws securing the motor cover and remove the motor cover. 2) Remove the cables from the motor cover and trim the unused cable extraction slots with wire nippers or similar tool.

  • Page 59: Changing The Motor Orientation (B Type)

    Chapter 2 Installation and Connections 2-6-4 Changing the motor orientation (B type) WARNING Always turn off the controller before beginning work. Serious accidents might occur if the robot starts to operate during work. Motor orientation in B type robots (B10, B14, B14H series) can be changed to use space more efficiently.
  • Page 60 Chapter 2 Installation and Connections 3) Detach the belt from the pulleys, change the motor orientation as desired and lightly tighten the motor plate bolts (4 pieces). Now shift the motor case towards the large pulley as shown by the arrow. Motor plate Motor plate bolt 4) First fit the belt onto the (small) motor pulley and then onto the large pulley.
  • Page 61 Chapter 2 Installation and Connections 5) Pull the motor in the direction that increases tension on the belt, and lightly tighten the motor plate bolts. Motor case Motor plate bolt 6) Adjust the belt tension. See “3-2-2 Adjusting the speed reduction belt tension” in Chapter 3. 7) Reattach the belt cover.

  • Page 62: User Wiring

    2-6-5 User wiring Cable carrier Observe the following precautions when using a cable carrier with the FLIP-X series. CAUTION • Use a cable carrier that maintains an R50 or larger cable bend diameter. • When fitting the robot cables into the cable carrier, keep the space used within 30 percent of the total space including other cables and air hoses.

  • Page 63: Setting The Operating Conditions

    2-7-1 Payload Optimal robot acceleration is automatically set in YAMAHA single-axis robots by setting the controller payload parameters. Set the total weight of the workpiece and the end effectors such as grippers attached to the robot slider in the payload parameter as shown below.

  • Page 64: Maximum Speed Setting

    Do not operate the robot if the ball screw is vibrating. The ball screw may otherwise wear out prematurely. 2-7-3 Duty To achieve maximum service life for the YAMAHA single-axis robots, the robot must be oper- ated within the allowable duty (50%). The duty is calculated as follows: Operation time ×100...
  • Page 65 Chapter Adjusting the robot Attaching the upper cover (B10/B14/B14H) ....... 3-3 Adjusting the timing belt tension (B10/B14/B14H) ... 3-4 3-2-1 Adjusting the drive belt tension ..............3-5 Reference: Adjusting drive belt tension with a tension meter ....... 3-6 3-2-2 Adjusting the speed reduction belt tension ............ 3-7 Reference: Adjusting speed reduction belt tension with a tension meter ..
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  • Page 67: Chapter 3 Adjusting The Robot

    Chapter 3 Adjusting the robot Attaching the upper cover (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. CAUTION If the slider and upper cover alignment is poor, the slider may wear out prematurely.

  • Page 68: Adjusting The Timing Belt Tension (B10/B14/B14H)

    Chapter 3 Adjusting the robot Adjusting the timing belt tension (B10/B14/B14H) The B10, B14 and B14H series robots use a timing belt to move the slider table. If the belt becomes slack, use the following procedure to apply belt tension. WARNING The motor and speed reduction gear casing are extremely hot after automatic opera- tion, so burns may occur if these are touched.

  • Page 69: Adjusting The Drive Belt Tension

    Chapter 3 Adjusting the robot 3-2-1 Adjusting the drive belt tension 1) Turn off the controller. 2) Take off the end cover. 3) Remove the screws securing the upper cover and remove the upper cover. CAUTION On robot models having a long stroke, the slider is fitted in the travel guide (U groove) inside the upper cover, so remove the upper cover by sliding it along the direction the robot moves.

  • Page 70: Reference: Adjusting Drive Belt Tension With A Tension Meter

    Chapter 3 Adjusting the robot 6) Lightly tighten the belt stay bolts and check the belt tension. The correct load and resulting slack to be applied to each robot are shown in Tables 2-1. When the load producing the speci- fied slack is within this range, no adjustment is required.

  • Page 71: Adjusting The Speed Reduction Belt Tension

    Chapter 3 Adjusting the robot 3-2-2 Adjusting the speed reduction belt tension 1) Turn off the controller. 2) Remove the belt cover. 3) Apply a load shown in Table 2-2 at the center between the two pulleys and measure the slack (or tension).

  • Page 72: Reference: Adjusting Speed Reduction Belt Tension With A Tension Meter

    Chapter 3 Adjusting the robot 5) If the slack (or tension) measured in step 3 is smaller than the range specified in Table 2-2, move the motor case in the direction that increases belt tension. If the slack or tension is greater than the range in Table 2-2, move in the direction that reduces belt tension.

  • Page 73: Installing And Removing The Cover (F20N)

    Chapter 3 Adjusting the robot Installing and removing the cover (F20N) 3-3-1 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...

  • Page 74: Belt Cover

    Chapter 3 Adjusting the robot 3-3-2 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)

  • Page 75: Motor Cover

    Chapter 3 Adjusting the robot 3-3-3 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.

  • Page 76: Adjusting The Timing Belt Tension (F20N)

    Chapter 3 Adjusting the robot Adjusting the timing belt tension (F20N) 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) Place the measuring head of the tension meter near the belt, and flip the belt at the middle of the belt span with a hex wrench or similar tool.
  • Page 77 Chapter Periodic Inspection Before beginning work ............4-3 Periodic inspection .............. 4-5 4-2-1 Daily inspection ..................... 4-5 4-2-2 Three-month inspection ................. 4-5 4-2-3 Six-month inspection ..................4-6 4-2-4 Three-year inspection ..................4-6 Applying grease ..............4-7 4-3-1 Applying grease (T6/T7 type) ............... 4-7 4-3-2 Applying grease (T9/F types) ................
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  • Page 79: Chapter 4 Periodic Inspection

    · Use only lubricant and greases specified by YAMAHA sales office or dealer. · Use only parts specified by YAMAHA sales office or dealer. Take sufficient care not to allow any foreign matter to contaminate them during adjustment, parts replace- ment or reassembly.
  • Page 80 Chapter 4 Periodic Inspection When applying grease to the ball screws and linear guide, take the following precautions. WARNING Precautions when handling grease: · Inflammation may occur if this gets in the eyes. Before handling the grease, wear your safety goggles to ensure the grease will not come in contact with the eyes.

  • Page 81: Periodic Inspection

    Clean room model: Use LG-2 (NSK) See "4-4-2" in Shutter Check for slack. Adjust if necessary. this chapter. CAUTION Using a grease other than recommended by YAMAHA may shorten the service life of the ball screw, linear guide and linear bushing shaft.

  • Page 82: Six-Month Inspection

    (Belt type or F20N) (See “3-1 Attaching the upper cover” in Chapter 3.) CAUTION Using a grease other than recommended by YAMAHA may shorten the service life of the ball screw, linear guide and linear bushing shaft. 4-2-4 Three-year inspection Inspect the following points once every three years, and contact us if any problem is found.

  • Page 83: Applying Grease

    Chapter 4 Periodic Inspection Applying grease 4-3-1 Applying grease (T6/T7 type) Follow these instructions when applying grease to the T6/T7 robot ball screws and linear guides during periodic maintenance. 1) Check that the controller power switch is turned off. 2) Remove the screw securing the robot side covers and remove the side covers. 3) Coat the ball screw and linear guides with grease by hand and move the slider back and forth to spread the grease.

  • Page 84: Applying Grease (T9/F Types)

    Chapter 4 Periodic Inspection 4-3-2 Applying grease (T9/F types) Follow these instructions when applying grease to the ball screws and linear guides during peri- odic maintenance. On the T9 and F7 types, the grease can be applied to the nut of the ball screw by using the grease nipple.

  • Page 85: Adjusting And Replacing A Loose Shutter

    Chapter 4 Periodic Inspection Adjusting and replacing a loose shutter 4-4-1 Replacing the shutter (T6) Use the following procedure when the T6 shutter must be replaced. 1) Check that the controller power switch is turned off. 2) Remove the 4 screws securing the slider cover and take off the slider cover. M3 hex wrench 3) Remove the screws securing the shutter.

  • Page 86: Adjusting Shutter Looseness (T6)

    Chapter 4 Periodic Inspection 5) Reinstall the shutter and the slider cover using the reverse of the above procedure. NOTE Do not fully tighten the screws to secure the shutter on the endplate side at this time. Fully tighten these screws after adjusting for shutter looseness in step 6. 6) Tighten the screws while pulling on the shutter with your fingers so that there is no looseness in the shutter.

  • Page 87: Replacing The Motor

    Chapter 4 Periodic Inspection Replacing the motor 4-5-1 Replacing the motor (B10/B14/B14H) 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.
  • Page 88 Chapter 4 Periodic Inspection 5) Loosen the two motor pulley set screws and remove the pulley from the motor shaft. 6) Fit the pulley onto the shaft of the new motor. The motor shaft has two flat faces. Insert the pulley so that the set screws make perpendicular contact with the flat faces of the motor shaft.

  • Page 89: Replacing The Motor (F20N)

    Chapter 4 Periodic Inspection 4-5-2 Replacing the motor (F20N) 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.
  • Page 90 Chapter 4 Periodic Inspection 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...

  • Page 91: Replacing The Drive Belt (B10/B14/B14H)

    Chapter 4 Periodic Inspection Replacing the drive belt (B10/B14/B14H) CAUTION Since a positional shift occurs after replacing the belt, return-to-origin must be per- formed 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.
  • Page 92 Chapter 4 Periodic Inspection 5) Remove the two center bolts on each of the belt stays and remove the belt from the stays. 6) Set the new belt along the robot axis as instructed below. 7) First route the belt edge onto the idle pulley and use a narrow rod or similar tool to push out the belt edge as shown.
  • Page 93 Chapter 4 Periodic Inspection 9) Finally, while making the belt mesh between the drive pulley and drive pulley idler, turn the drive pulley so the belt comes out upwards. 10)Attach the belt stays to both ends of the belt. 11)Install the belt stays onto the slider table and lightly tighten the bolts to temporarily secure the stays.

  • Page 94: Replacing The Speed Reduction Belt (B10/B14/B14H)

    Chapter 4 Periodic Inspection Replacing the speed reduction belt (B10/B14/B14H) CAUTION Since a positional shift occurs after replacing the belt, 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.
  • Page 95 Chapter 4 Periodic Inspection 3) Bring the motor plate close to the large pulley and detach the belt from the pulleys. 4) First fit the new belt onto the motor pulley (small pulley) and then onto the large pulley. 5) Adjust the belt tension. (See the procedure explained in “3-2-2 Adjusting the speed reduction belt tension”...

  • Page 96: Replacing The Slider

    Chapter 4 Periodic Inspection Replacing the slider 4-8-1 Replacing the slider (B10/B14/B14H) 1) Turn off the controller. 2) Remove the screws securing the upper cover and remove the upper cover by sliding it along the direction the robot moves. 3) Remove the slider mounting bolts (2 pieces). Slider mounting bolt 4) Replace the slider and lightly tighten the two bolts on the new slider.

  • Page 97: Replacing The Slider (F20N)

    Chapter 4 Periodic Inspection 4-8-2 Replacing the slider (F20N) 1) Turn the controller power OFF. 2) Remove the top center cover. 3) Remove the two slider installation bolts. Slider Installation bolt 4) Replace the slider and fix with the installation bolt. 5) Install the top center cover.
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  • Page 99 Chapter Specifications Robot specifications ............5-3 5-1-1 T6 ........................5-3 5-1-2 T7 ........................5-4 5-1-3 T9 ........................5-5 5-1-4 T9H ........................ 5-6 5-1-5 F10 ......................... 5-7 5-1-6 F14 ......................... 5-8 5-1-7 F14H ......................5-9 5-1-8 F17 ....................... 5-10 5-1-9 F20 ....................... 5-11 5-1-10 F20N ......................
  • Page 100 MEMO...

  • Page 101: Chapter 5 Specifications

    Chapter 5 Specifications Robot specifications 5-1-1 Mechanical unit specifications Tolerable overhang amount AC servo motor output (W) Maximum speed 90° ±0.02 (mm/sec) 45° Deceleration mechanism 0° Ball screw (Class C10) Ball screw lead (mm) 45° 90° 90° Maximum speed ( mm/sec Horizontal 0°...
  • Page 102 Chapter 5 Specifications 5-1-2 Mechanical unit specifications Tolerable overhang amount * AC servo motor output (W) Repeatability 90° ±0.02 (mm) 45° Deceleration mechanism 0° Ball screw (Class C10) Ball screw lead (mm) 45° 90° 90° Maximum speed ( mm/sec Horizontal Maximum 0°...
  • Page 103 Chapter 5 Specifications 5-1-3 Mechanical unit specifications Tolerable overhang amount AC servo motor output (W) Repeatability 90° ±0.01 (mm)*1 45° Deceleration mechanism 0° Ball screw (Class C7) Ball screw lead (mm) 45° 90° 90° Maximum speed ( mm/sec 1200 Horizontal 0°...

  • Page 104: T9H

    Chapter 5 Specifications 5-1-4 Mechanical unit specifications Tolerable overhang amount AC servo motor output (W) Repeatability 90° ±0.01 (mm) 45° Deceleration mechanism Ball screw (Class C7) 0° Ball screw lead (mm) 45° 90° 90° Maximum speed ( mm/sec 1200 Horizontal 0°...

  • Page 105: F10

    Chapter 5 Specifications 5-1-5 Mechanical unit specifications Tolerable overhang amount AC servo motor output (W) Repeatability 90° ±0.01 (mm) 45° Ball screw (Class C7) Deceleration mechanism 0° Ball screw lead (mm) 45° 90° 90° Maximum speed ( mm/sec 1200 Horizontal 0°...

  • Page 106: F14

    Chapter 5 Specifications 5-1-6 Mechanical unit specifications Tolerable overhang amount AC servo motor output (W) Repeatability 90° ±0.01 (mm)*1 45° Ball screw (Class C7) Deceleration mechanism 0° Ball screw lead (mm) 45° 90° 90° Maximum speed ( mm/sec 1200 Horizontal 0°...

  • Page 107: F14H

    Chapter 5 Specifications 5-1-7 F14H Mechanical unit specifications Tolerable overhang amount * AC servo motor output (W) Repeatability 90° ±0.01 (mm)*1 45° Deceleration mechanism 0° Ball screw (Class C7) Ball screw lead (mm) 45° 90° 90° Maximum speed ( mm/sec 1200 Horizontal 0°...

  • Page 108: F17

    Chapter 5 Specifications 5-1-8 Mechanical unit specifications Tolerable overhang amount * AC servo motor output (W) Repeatability 90° ±0.01 (mm) 45° Deceleration mechanism 0° Ball screw (Class C7) Ball screw lead (mm) 45° 90° 90° Maximum speed ( mm/sec 1200 Horizontal 0°...

  • Page 109: F20

    Chapter 5 Specifications 5-1-9 Mechanical unit specifications Tolerable overhang amount AC servo motor output (W) Repeatability 90° ±0.01 (mm) 45° Deceleration mechanism Ball screw (Class C7) 0° Ball screw lead (mm) 45° 90° 90° Maximum speed ( mm/sec 1200 Horizontal Maximum 0°...

  • Page 110: F20N

    Chapter 5 Specifications 5-1-10 F20N Mechanical unit specifications AC servo motor output (W) Repeatability 90 ° ±0.04 (mm) 45 ° Deceleration mechanism Ball screw (Class C10) Ball screw lead (mm) 90 ° Maximum speed ( 1000 (1200 mm/sec Maximum payload ( 0 °...
  • Page 111 Chapter 5 Specifications 5-1-11 Mechanical unit specifications Allowable Moment Inertia payload parameters W(kg) AC servo motor output (W) Allowable Moment Inertia J Maximum speed (deg/sec) 0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20 (kgf·cm·sec ±30 Repeatability (sec) Maximum Allowable 1.2kgf ·...

  • Page 112: R10

    Chapter 5 Specifications 5-1-12 Mechanical unit specifications Allowable Moment Inertia payload parameters W(kg) AC servo motor output (W) Allowable Moment Inertia J Maximum speed (deg/sec) 0.25 0.49 0.74 0.99 1.24 1.48 1.73 1.98 2.23 2.47 (kgf·cm·sec ±30 Repeatability (sec) payload parameters W(kg) Maximum Allowable 3.71kgf ·...

  • Page 113: R20

    Chapter 5 Specifications 5-1-13 Mechanical unit specifications Allowable Moment Inertia payload parameters W(kg) AC servo motor output (W) Allowable Moment Inertia J Maximum speed (deg/sec) 0.93 (kgf·cm·sec ±30 Repeatability (sec) payload parameters W(kg) Maximum Allowable 18.7kgf · · Allowable Moment Inertia J Moment Inertia (1.83kgm 10.2 11.2 12.1 13.1 14.0 14.9 15.9 16.8 17.7 18.7...

  • Page 114: B10

    Chapter 5 Specifications 5-1-14 Mechanical unit specifications Tolerable overhang amount AC servo motor output (W) Repeatability 90° ±0.04 (mm)* 45° Deceleration mechanism Timing belt Lead (mm) 90° Maximum speed ( mm/sec 1875 Horizontal 0° Maximum 45° payload ( 0° Vertical Continuous rated thrust(N) •During horizontal use •During wall installation use...

  • Page 115: B14

    Chapter 5 Specifications 5-1-15 Mechanical unit specifications Tolerable overhang amount AC servo motor output (W) Repeatability 90° ±0.04 (mm)* 45° Deceleration mechanism Timing belt Lead (mm) 90° Maximum speed ( mm/sec 1875 Horizontal 0° Maximum 45° payload ( 0° Vertical Continuous rated thrust(N) •During horizontal use •During wall installation use...

  • Page 116: B14H

    Chapter 5 Specifications 5-1-16 B14H Mechanical unit specifications Tolerable overhang amount AC servo motor output (W) Repeatability 90° ±0.04 (mm)* 45° Deceleration mechanism Timing belt Lead (mm) 90° Maximum speed ( mm/sec 1875 Horizontal 0° Maximum 45° payload ( 0° Vertical Continuous rated thrust(N) •During horizontal use...

  • Page 117: Ac Servo Motor Termination (T/F Type)

    Chapter 5 Specifications AC servo motor termination (T/F Type) Connector specifications Parts Type No. Maker Notes Servo motor CN1 (7 polarities) SMR-07V-B Receptacle housing CN1, CN2 BYM-001T-P0.6 Pin contact CN3 (4 polarities) Plug housing 176273-1 175156-2 Receptacle CN2 (2 polarities) SMR-02V-B Receptacle housing CN4 (2 polarities)

  • Page 118: Ac Servo Motor Termination (R/B Type, F20N)

    Chapter 5 Specifications AC servo motor termination (R/B Type, F20N) Connector specifications Parts Type No. Maker Notes Servo motor CN1 (7 polarities) SMR-07V-B Receptacle housing CN1, CN2 Pin contact BYM-001T-P0.6 CN3 (4 polarities) 176273-1 Plug housing 175156-2 Receptacle CN2 (2 polarities) SMR-02V-B Receptacle housing Connector wiring...

  • Page 119: Robot Cables

    Chapter 5 Specifications Robot cables Signal line To controller To robot Parts Signal Connection Parts Wire Controller CN1 Resolver 0.3sq Blue Orange Green Brown Grey Drain wire Brake Black yellow Power line To controller To robot Parts Signal Connection Parts Wire 0.75sq Yellow/Green...
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  • Page 121: Chapter 6 Troubleshooting

    Chapter Troubleshooting Positioning error ..............6-3 Feedback error ..............6-4...
  • Page 122 MEMO...

  • Page 123: Positioning Error

    Chapter 6 Troubleshooting Positioning error...

  • Page 124: Feedback Error

    Chapter 6 Troubleshooting Feedback error...

  • Page 125: Appendix

    Appendix About machine reference ............... iii Equation of moment of inertia calculation ........iv...
  • Page 126 MEMO...

  • Page 127: About Machine Reference

    MPB) when return-to-origin is complete. (See the figure below.) NOTE The FLIP-X series uses an absolute type position detector. You do not have to per- form return-to-origin each time the robot controller is turned on and readjust the machine reference value. If for some reason the machine reference adjustment becomes necessary, please contact YAMAHA sales office or dealer.

  • Page 128: Equation Of Moment Of Inertia Calculation

    Appendix Equation of moment of inertia calculation CAUTION The robot must be operated with correct tolerable moment of inertia and acceleration coefficients according to the manipulator tip mass and moment of inertia. If this is not observed, premature end to the life of the drive units, damage to the robot parts or residual vibration during positioning may result.
  • Page 129 Appendix Moment of inertia for rectangular parallelepiped The moment of inertia (J) for a rectangular parallelopiped having a rotation center as shown below is given by ρabc (a W (a (kgf . cm . sec m (a (kgm ρ : Density (kg/cm : Gravitational 1/2a acceleration (cm/sec...
  • Page 130 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.

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