Yk500Xc, Yk600Xc - Yamaha YK-X Series User Manual

7.1
w
WARNING
If the Z-axis pulley comes off the Z-axis belt, the Z-axis drops causing a hazardous situation. Turn off the controller
and be sure to prop the Z-axis with a support stand before beginning adjustment.
The Z and R-axis belt adjustment procedure is given below.
Prepare the following required tools.
• Push-pull scale
• Stay (see the figure in Step 6 "Stay (example)", provided by user)
• Hex wrench set
3
• Phillips-head screwdriver
• Scale
Turn off the controller.
1
Place a sign indicating the robot is
2
being adjusted.
Place a sign indicating the robot is being
adjusted, to keep others from operating the
controller or operation panel.
Enter the safety enclosure.
3
Remove the Y-axis arm upper and
4
under covers.
For details on detaching or attaching the
cover, refer to "6. Detaching or attaching
the covers" in this Chapter.
Place the upper cover on the base with the
machine harness left passed through it.
Prop the spline or end effector with
5
a support stand to prevent the
Z-axis from dropping (when
adjusting the Z-axis belt tension).
Adjust the belt tension by two people as follows.
Using the push-pull scale, one
6
person applies a load perpendicular
to the middle of the belt. The other
person checks the slack of the belt.
If the measured value is within the range shown in
the table at right, adjustment is not necessary.
If it is not within the range, perform the adjustment
using the following procedure.
3-46

YK500XC, YK600XC

Step 6
Belt tension adjustment
Pulley
Step 6
Stay (example)
Push-pull scale
63321-FR-00
63322-FR-00
Z-axis belt specifications
R-axis belt specifications
Push-pull scale
Slack
Load
Belt Pulley
Belt
Nut
Hole
Stay
Nut
15
Metal plate 3.2mm
thickness
Load (N) Load (kgf) Slack (mm)
5.7 to 6.3 0.58 to 0.64
2.1 to 2.9 0.22 to 0.30
5
1.6
1.9