Yamaha TRANSERVO SSC04 User Manual
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Yamaha TRANSERVO SSC04 User Manual

Yamaha TRANSERVO SSC04 User Manual

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TRANSERVO series
YAMAHA SINGLE-AXIS ROBOT
H
SSC04/SSC05/SSC05
E
User's Manual
ENGLISH
YAMAHA MOTOR CO., LTD.
IM Operations
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan
URL http://www.yamaha-motor.jp/robot/index.html
E46-Ver. 1.02

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  • Page 1 TRANSERVO series YAMAHA SINGLE-AXIS ROBOT SSC04/SSC05/SSC05 User’s Manual ENGLISH YAMAHA MOTOR CO., LTD. IM Operations 882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan URL http://www.yamaha-motor.jp/robot/index.html E46-Ver. 1.02...
  • Page 3 Thank you for purchasing the YAMAHA single-axis robot TRANSERVO series. This manual describes the safety measures, handling, adjustment and maintenance of YAMAHA TRANSERVO series robots for correct, safe and effective use. Be sure to read this manual carefully before installing the TRANSERVO series robot. Even after you have read this manual, keep it in a safe and convenient place for future reference when needed.
  • Page 4 MEMO...

  • Page 5: Table Of Contents

    General Contents Chapter 1 Using the Robot Safely Safety information Essential precautions Special training for industrial robot operation Robot safety functions 1-10 Safety measures for the system 1-11 Trial operation 1-11 Work within the safety enclosure 1-12 Automatic operation 1-13 Warranty 1-14 Chapter 2 Product Overview...
  • Page 6 Chapter 3 Periodic Inspection and Maintenance Before beginning work Periodic inspection 3-2-1 Daily inspection 3-2-2 Three-month inspection 3-2-3 Six-month inspection 3-2-4 Three-year inspection Applying grease Replacing the shutter Adjusting shutter looseness Replacing the motor 3-6-1 SSC04 3-6-2 SSC05, SSC05H 3-11 3-6-3 Verifying the machine reference 3-13...
  • Page 7 Chapter 1 Using the Robot Safely Contents 1-1 Safety information 1-2 Essential precautions 1-3 Special training for industrial robot operation 1-9 1-4 Robot safety functions 1-10 1-5 Safety measures for the system 1-11 1-6 Trial operation 1-11 1-7 Work within the safety enclosure 1-12 1-8 Automatic operation 1-13...

  • Page 9: Safety Information

    1-1 Safety information Safety information 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. Failure to take necessary...
  • Page 10 1-1 Safety information Refer to the user's manual by any of the following methods to operate or adjust the robot safely and correctly. 1. Operate or adjust the robot while referring to the printed version of the user's manual (available for an additional fee). 2.

  • Page 11: Essential Precautions

    1-2 Essential precautions Essential precautions Particularly important cautions for handling or operating the robot are described below. In addition, precautions during installation, operation, inspection and maintenance are also provided in each chapter. Be sure to comply with these instructions to ensure safe use of the robot.
  • Page 12 1-2 Essential precautions Warning label 2 WARNING Moving parts can pinch or crush. Keep hands away from robot arms. Follow the instructions on warning labels and in this manual. • Be sure to read the warning labels and this manual carefully and make sure you thoroughly understand their contents before attempting installation and operation of the robot.
  • Page 13 1-2 Essential precautions Do not remove, alter or stain the warning labels. WARNING IF WARNING LABELS ARE REMOVED OR DIFFICULT TO SEE, THEN ESSENTIAL PRECAUTIONS MIGHT NOT BE TAKEN, RESULTING IN ACCIDENTS. • DO NOT REMOVE, ALTER OR STAIN THE WARNING LABELS ON THE ROBOT. •...
  • Page 14 WARNING IF ANY PART OF THE ROBOT IS DAMAGED OR ANY MALFUNCTION OCCURS, CONTINUING THE OPERATION MAY BE VERY DANGEROUS. PLEASE CONSULT YOUR YAMAHA SALES OFFICE OR DEALER FOR CORRECTIVE ACTION. Damage or Trouble Possible Danger Damage to machine harness or robot cable...
  • Page 15 TO PREVENT POSSIBLE ELECTRICAL SHOCK. • NEVER TOUCH ANY INTERNAL PARTS OF THE CONTROLLER. • REFER TO THE "YAMAHA ROBOT CONTROLLER USER'S MANUAL" FOR PRECAUTIONS ON HANDLING THE CONTROLLER. (15) Follow the specified procedures when installing, adjusting or inspecting the robot.
  • Page 16 1-2 Essential precautions (17) Location for installing the controller and the Handy Terminal The robot controller and the Handy Terminal should be installed at a location that is outside the robot movement range yet where it is easy to operate and view the robot performing tasks.

  • Page 17: Special Training For Industrial Robot Operation

    1-3 Special training for industrial robot operation Position and posture where worker can constantly check robot movements and immediately move to avoid trouble if an error/problem occurs 4. Install noise prevention measures 5. Use methods for signaling operators of related equipment 6.

  • Page 18: Robot Safety Functions

    1-4 Robot safety functions Robot safety functions Overload detection Detects motor overload conditions and shuts off the power. Abnormal temperature detection This function detects abnormally high temperatures at the controller's driver, and shuts off the power. The following measures should be taken when an error (overload error, abnormal temperature error) occurs.

  • Page 19: Safety Measures For The System

    1-5 Safety measures for the system WARNING THE VERTICAL AXIS WILL SLIDE DOWN WHEN THE BRAKE IS RELEASED, CREATING A HAZARDOUS SITUATION. • PRESS THE EMERGENCY STOP BUTTON AND PROP THE VERTICAL AXIS WITH A SUPPORT STAND BEFORE RELEASING THE BRAKE. •...

  • Page 20: Work Within The Safety Enclosure

    1-7 Work within the safety enclosure After the controller is turned on, check the following points from outside the safety enclosure. 1. Does the robot start and stop as intended? Can the operation mode be selected correctly? 2. Does each axis move as intended within the soft limits? 3.

  • Page 21: Automatic Operation

    1-8 Automatic operation Automatic operation Automatic operation described here includes all operations in AUTO mode. Check the following before starting automatic operation. 1. No one is within the safety enclosure. 2. The handy terminal and tools, etc., are in their prescribed positions. 3.

  • Page 22: Warranty

    1-9 Warranty Warranty The YAMAHA robot and/or related product you have purchased are warranted against the defects or malfunctions as described below. Warranty description : If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this...
  • Page 23 MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR WARRANTIES ARISING FROM A COURSE OF DEALING OR USAGE OF TRADE. YAMAHA MOTOR CO., LTD. SOLE LIABILITY SHALL BE FOR THE DELIVERY OF THE EQUIPMENT AND YAMAHA MOTOR CO., LTD. SHALL NOT BE LIABLE FOR ANY CONSEQUENTIAL DAMAGES (WHETHER ARISING FROM CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY).
  • Page 24 MEMO 1-16...
  • Page 25 Chapter 2 Product Over view Contents 2-1 Checking the product 2-2 Robot part names 2-3 Robot installation conditions 2-4 Installation base 2-5 Installing the robot 2-6 The "Emergency Stop" stopping distance 2-6 2-7 Connections 2-7-1 Connecting the robot to the controller 2-7-2 Robot cable connections 2-7-3 Robot system configuration drawing 2-8 Setting the operating conditions...

  • Page 27: Checking The Product

    Also check the product for any damage on the exterior which might have occurred during shipping. If there are any missing parts or damage due to shipping, please notify your YAMAHA sales office or representative immediately. WARNING •...

  • Page 28: Robot Part Names

    2-2 Robot part names Robot part names SSC04 End cover Slider cover Shutter Motor cover 1 Suction air joint Side cover Slider Suction air joint Motor cover 2 SSC05 End cover Shutter Slider cover Motor cover 1 Suction air joint Side cover Slider Suction air joint...

  • Page 29: Robot Installation Conditions

    2-3 Robot installation conditions Robot installation conditions Be sure to install the robot in the following environments. Items Specifications Allowable ambient 0 to 40°C temperature Allowable ambient humidity 35 to 85% RH (no condensation) Altitude 0 to 1000 meters above sea level Avoid installing near water, cutting water, oil, dust, metallic chips and organic solvent.

  • Page 30: Installation Base

    2-4 Installation base Installation base To mount the robot, use an installation base that satisfies the following conditions. 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

    2-5 Installing the robot NOTE Positions of robot mounting holes differ according to the stroke length of each robot. Refer to the dimensional outlines shown in Chapter 4 "4-1 Main unit specifi cations". Installing the robot WARNING • BEFORE INSTALLING THE ROBOT, ALWAYS MAKE SURE THAT THE ROBOT CONTROLLER IS NOT CONNECTED TO THE ROBOT OR THE POWER TO THE CONTROLLER IS OFF.

  • Page 32: The "Emergency Stop" Stopping Distance

    2-6 The "Emergency Stop" stopping distance • SSC05/SSC05H Robot Bolt Tightening torque Hex socket-head M6 bolt, Strength: 8.8T SSC05/ Length: Installation base width + 8mm 100kgf•cm 〜 130kgf•cm SSC05H or less M6 bolt The "Emergency Stop" stopping distance The maximum stopping distance is 195mm (SSC05H: payload of 6kg, operation speed of 1m/sec) when the "emergency stop"...
  • Page 33 2-7 Connections Intermediate connector (motor wire) Intermediate connector (signal wire) 1) Connect the robot cables (motor and signal wires) to the mating connectors coming out from the robot. Robot cable Robot cable connector connector (signal wire) (motor wire) 2) After making the connections, fit the connector hoods together securely. Hood...

  • Page 34: Robot Cable Connections

    2-7 Connections 2-7-2 Robot cable connections Connect the robot unit's robot cable to the TS-S controller connector as shown in the figure below. For details regarding the controller-side connector, refer to the TS-S Controller User's Manual. controller TS-S FUNC STOP COM2 COM1 MP24V...

  • Page 35: Robot System Configuration Drawing

    2-7 Connections 2-7-3 Robot system configuration drawing TS-S controller COM2 RS-232C communication control COM1 Handy terminal RS-232C or FUNC Resolver signal communication control Motor power (communication cable) STOP Power supply DC24V MP24V CP24V Input 16 general-purpose pins Output 16 general-purpose pins TS-Manager communication software External control...

  • Page 36: Setting The Operating Conditions

    2-8-2 Duty To achieve maximum service life for the YAMAHA single-axis robots, the robot must be operated within the allowable duty (50%). The duty is calculated as follows: Operation time...

  • Page 37: Push Force Vs. Current Limit Value During Stop

    2-8 Setting the operating conditions 2-8-3 Push force vs. current limit value during stop ■ SSC04 push thrust Lead 2 Lead 6 Lead 12 Current limit value (%) ■ SSC05 push thrust Lead 6 Lead 12 Lead 20 Current limit value (%) 2-11...
  • Page 38 2-8 Setting the operating conditions ■ SSC05H push thrust Lead 6 Lead 12 Lead 20 Current limit value (%) The values in the above graph are not a guarantee of the push force accuracy during stop. Use these values for reference. •...

  • Page 39: Suction Hoses Connection

    2-9 Suction hoses connection Suction hoses connection The YAMAHA SSC04/SSC05/SSC05H robots are designed to connect to an air unit that suctions air inside the robot to maintain cleanliness. When using the robot in a clean room, adjust the suction air to the following flow rate.
  • Page 40 MEMO 2-14...
  • Page 41 Chapter 3 Periodic Inspection and Maintenance Contents 3-1 Before beginning work 3-2 Periodic inspection 3-2-1 Daily inspection 3-2-2 Three-month inspection 3-2-3 Six-month inspection 3-2-4 Three-year inspection 3-3 Applying grease 3-4 Replacing the shutter 3-5 Adjusting shutter looseness 3-6 Replacing the motor 3-6-1 SSC04 3-6-2 SSC05, SSC05H 3-11...

  • Page 43: Before Beginning Work

    Before beginning work Periodic inspection and maintenance are essential to ensure safe and efficient operation of YAMAHA robots. This chapter describes periodic inspection items and procedures for the YAMAHA TRANSERVO series robots. Before beginning work, read the precautions below and also in Chapter 1, "Using the Robot Safety", and always follow the instructions.
  • Page 44 3-1 Before beginning work When applying grease to the ball screw 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 45: Periodic Inspection

    Check for slack. Adjust if See "3-5" in this necessary. chapter. Coupling Check if the bolts are loose. Tighten See "3-7" in this if necessary. chapter. CAUTION Failing to use YAMAHA-recommended grease can shorten the life of the ball  screw and the linear guide.

  • Page 46: Six-Month Inspection

    See "3-7" in this chapter Tighten if necessary. CAUTION Failing to use YAMAHA-recommended grease can shorten the life of the ball screw and the linear guide. 3-2-4 Three-year inspection Check the following points every 3 years or more often if the robot is used frequently.

  • Page 47: Applying Grease

    3-3 Applying grease Applying grease Follow these steps when applying grease to the robot ball screws and linear guides according to periodic maintenance. 1) Remove the robot's end cover, then pull off the side cover. 2) Coat the ball screw and linear guides with grease by hand and move the slider back and forth to spread the grease.

  • Page 48: Replacing The Shutter

    3-4 Replacing the shutter Replacing the shutter Use the following procedure when the shutter must be replaced. Make sure that the controller power switch is off before beginning work. 1) Remove the four screws on the sides of the top cover (2 each on each side), then remove the plates.
  • Page 49 3-4 Replacing the shutter 4) Remove a screw that secures motor cover 1, then remove motor cover 1 by sliding it toward the rear. Motor cover 1 Motor cover 1 5) Remove the two screws which secure the end-cover shutter. End cover 6) Remove the shutter.

  • Page 50: Adjusting Shutter Looseness

    3-5 Adjusting shutter looseness 9) While pulling lightly on the shutter with the fingers, secure it by tightening the screw until there is no looseness. CAUTION Do not press down on the shutter with excessive force. Pressing down hard on the shutter may cause the shutter to warp. Adjusting shutter looseness The shutter may elongate with continued use.

  • Page 51: Replacing The Motor

    3-6 Replacing the motor Replacing the motor 3-6-1 SSC04 1) Remove a screw that secures motor cover 1, then remove motor cover 1 by sliding it toward the rear. Motor cover 1 Motor cover 1 2) Remove the lower-side motor cover 2 by sliding it toward the rear. Motor cover 2 Motor cover 2 3) Remove the two screws which secure the motor.
  • Page 52 3-6 Replacing the motor 4) Remove the motor. 5) Install the new motor and secure it with the screws. Reattach motor covers 1 and 2 by reversing their removal procedures. Use care to avoid over-tightening the screws which secure motor covers 1 and 2. CAUTION When attaching motor cover 2, be sure that it is correctly aligned with the grooves.

  • Page 53: Ssc05, Ssc05H

    3-6 Replacing the motor 3-6-2 SSC05, SSC05H 1) Remove a screw which secures motor cover 1, then remove motor cover 1. Motor cover 1 Motor cover 1 2) Remove the lower-side motor cover 2 by sliding it toward the rear. Motor cover 2 Motor cover 2 3) Remove the two screws which secure the motor.
  • Page 54 3-6 Replacing the motor 4) Remove the motor. 5) Install the new motor and secure it with the screws. Reattach motor covers 1 and 2 by reversing their removal procedures. Use care to avoid over-tightening the screws which secure motor covers 1 and 2. CAUTION When attaching motor cover 2, be sure that it is correctly aligned with the grooves.

  • Page 55: Verifying The Machine Reference

    3-6 Replacing the motor 3-6-3 Verifying the machine reference The method for verifying the machine reference is shown below. For details regarding Handy Terminal operation procedures, refer to the HT1 Operation Guide section of the TS-S Controller User's Manual. 1) At the main menu screen, select Operation. The operation mode screen then opens, displaying operations which can be selected.
  • Page 56 3-6 Replacing the motor 4) A message displays when the return-to-origin operation is completed. If ended without error, "OK" and the machine reference (Ref. = xx%) displays. CAUTION Adjust the machine reference as shown below when it is outside the permissible machine reference range (20 to 80%).

  • Page 57: Replacing The Coupling

    3-7 Replacing the coupling Replacing the coupling 3-7-1 SSC04 1) Remove the motor. (See section 3-6 "Replacing the motor" for this procedure.) 2) Remove the four screws which secure the plate motor. Plate motor 3) Loosen the set screw (M4), then remove the coupling. Coupling Coupling 4) Loosen the set screw (M4) at the ballscrew side, then remove the coupling.
  • Page 58 3-7 Replacing the coupling 5) Install a new coupling, and push the ballscrew side against the end-face. Secure the motor side at a position which is 7mm from the end-face. 6) Mount the plate motor and tighten its mounting screws. 7) Mount the motor and secure it with the screws.

  • Page 59: Ssc05, Ssc05H

    3-7 Replacing the coupling 3-7-2 SSC05, SSC05H 1) Remove the motor. (See section 3-6 "Replacing the motor" for this procedure.) 2) Remove the screws (4 locations) which secure the plate motor. Plate motor 3) Remove the set screw (M4), then remove the coupling. Set screw Set screw 4) Remove one of the side covers by sliding it in the direction indicated by the arrow...
  • Page 60 3-7 Replacing the coupling 5) Loosen the set screw (M4) at the ballscrew side, then remove the coupling. Set screw 6) Install a new coupling, and push the ballscrew side against the end-face. Secure the motor side at a position which is 3mm from the end-face. 7) Mount the plate motor and secure it with the screws.
  • Page 61 Chapter 4 Specifications Contents 4-1 Main unit specifications 4-1-1 SSC04 4-1-2 SSC05 4-1-3 SSC05H 4-1-4 About noise level 4-10 4-2 Motor specifications 4-10 4-2-1 Motor termination 4-10 4-2-2 Brake cable termination 4-12 4-3 Robot cables 4-13...

  • Page 63: Ssc04

    4-1 Main unit specifications Main unit specifications 4-1-1 SSC04 ● Basic specifications Motor Step motor Repeated positioning accuracy (mm) ±0.02 Ball screw φ8(Class C10) Deceleration mechanism Ball screw lead (mm) Maximum speed (mm/sec) Horizontal installation Maximum payload (kg) Vertical installation Max.
  • Page 64 4-1 Main unit specifications ● Allowable overhang* * Service life is calculated for 400mm stroke models. ■ Horizontal installation Horizontal installation (Unit: mm) Lead 12 Lead 6 Lead 2 ■ Wall installation Wall installation (Unit: mm) Lead 12 Lead 6 Lead 2 ■...
  • Page 65 4-1 Main unit specifications...

  • Page 66: Ssc05

    4-1 Main unit specifications 4-1-2 SSC05 ● Basic specifications Motor Step motor Repeated positioning accuracy (mm) ±0.02 Ball screw φ12(Class C10) Deceleration mechanism Ball screw lead (mm) Maximum speed (mm/sec) 1000 Horizontal installation Maximum payload (kg) Vertical installation – Max. pressing force (N) Stroke (mm) 50 to 800 (50 pitch) Cable length (m)
  • Page 67 4-1 Main unit specifications ● Allowable overhang* * Service life is calculated for 600mm stroke models. ■ Horizontal installation Horizontal installation (Unit: mm) Lead 20 Lead 12 Lead 6 10kg ■ Wall installation Wall installation (Unit: mm) Lead 20 Lead 12 Lead 6 ■...
  • Page 68 4-1 Main unit specifications...

  • Page 69: Ssc05H

    4-1 Main unit specifications 4-1-3 SSC05H ● Basic specifications Motor Step motor Repeated positioning accuracy (mm) ±0.02 Ball screw φ12(Class C10) Deceleration mechanism Ball screw lead (mm) Maximum speed (mm/sec) 300 (250) 600 (500) 1000 Horizontal installation Maximum payload (kg) Vertical installation –...
  • Page 70 4-1 Main unit specifications ● Allowable overhang* * Service life is calculated for 600mm stroke models. ■ Horizontal installation Horizontal installation (Unit: mm) Lead 20 Lead 12 Lead 6 10kg 12kg ■ Wall installation Wall installation (Unit: mm) Lead 20 Lead 12 Lead 6 10kg...
  • Page 71 4-1 Main unit specifications...

  • Page 72: About Noise Level

    4-2 Motor specifications 4-1-4 About noise level The maximum sound pressure level is less than 70dB when the TRANSERVO series robot moves at its maximum speed (1m/s). (Maximum sound pressure level is measured in accordance with EN 292-2.) Motor specifications 4-2-1 Motor termination ■...
  • Page 73 4-2 Motor specifications ■ Connector wiring Connector Pin No. Signal Wire Color Connection Black Motor wire ACOM Yellow BCOM White Green Blue Blue Signal wire Orange Green Brown Gray Transparent Drain wire shrinkable tube Black Brake wire Yellow 2, 3 4, 5 6, 5 7, 8...

  • Page 74: Brake Cable Termination

    4-2 Motor specifications 4-2-2 Brake cable termination ■ Connector specifications Parts Type No. Maker Note BRAKE Receptacle housing SMR-02V-B 2 poles BYM-001T-P0.6 or Manual tool: Pin contact SYM-001T-P0.6 YC-12 ■ Connector wiring Signal Wire Color Connection Yellow Yellow 2, 3 4-12...

  • Page 75: Robot Cables

    4-3 Robot cables Robot cables To robot To controller Parts Signal Connection Signal Parts Wire Controller CN1 Resolver Drain wire 0.15sq Blue Orange Green Brown Grey Brake Black Yellow Motor 0.3sq White 1 White 2 ACOM ACOM White 3 BCOM BCOM White 4 White 5...
  • Page 76 MEMO 4-14...
  • Page 77 Chapter 5 Troubleshooting Contents 5-1 Positioning error...
  • Page 79 5-1 Positioning error Positioning error If a positioning error occurs, check the following points to find the solution before you determine the robot or controller has malfunctioned. If the trouble still exists even after checking these points, please contact us with a detailed description of the trouble. Position deviates.
  • Page 80 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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