Yk1200X - Yamaha YK-X Series User Manual

2.3.2
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WARNING
Serious injury may occur if the robot falls and pins someone under it.
• Check that there are no cracks and corrosion on the eyebolts and eyebolt installation positions. If found, do
not use eyebolts to move the robot.
• Screw the eyebolts securely into the tapped holes until the bearing surface of eyebolt makes tight contact with
the bearing surface on the arm.
2
• 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.
• Remove all loads attached to the robot manipulator end. If any load is still attached, the robot may lose
balance while being carried, and topple over causing accidents.
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CAUTION
• When moving the robot by equipment such as a crane that requires a license, only properly qualified
personnel may operate it.
• The equipment and tools used for moving the robot should be serviced daily.
When moving the robot, refer also to the "Movement procedure" illustration provided at the end of this section.
Return the Z-axis to the origin position.
1
If the Z-axis is not at the origin position, return the Z-axis to the origin position from outside the safety
enclosure.
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NOTE
The Z-axis is fixed at the origin position prior to shipping.
Turn off the controller.
2
Disconnect the robot cable from the controller.
3
Remove the cover and set screws from the upper portion of the X-axis arm.
4
Fasten the arm.
5
Fasten the arm using the included arm clamping stay and bolts.
If the arm position shown in the figure "Moving the robot" cannot be achieved using the X-axis
mechanical stopper, remove the stopper from the X-axis mechanical stopper.
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NOTE
When the robot is shipped, the mechanical stoppers are installed to provide the maximum movement range.
Fasten two eyebolts.
6
Fasten two eyebolts into the bearing surface on the upper part of the X-axis arm.
Fasten the robot cable.
7
Wind the robot cable around the upper portion of the robot base so that it does not hinder the base
mount, and then fasten the cable end with adhesive tapes.
Pass two ropes through the eyebolts and hang them on the hoist.
8
Use looped ropes with the same length to allow a good lifting balance.
Hold the robot and remove the mounting bolts.
9
Slightly lift the hoist so that the tension is lightly applied to each rope to hold the robot. In this state,
remove the mounting bolts from the supplied pallet or installation base (if the robot is moved to another
installation base).
Move the robot.
0
Using caution to keep the balance of the robot and avoid subjecting it to any strong vibrations and
shocks, operate the hoist carefully to gently move the robot to the installation base. At this time, the
angle between each rope and the arm surface should be kept at 45° or more.
Temporarily secure the robot to the base by tightening the bolts.
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NOTE
For details about tightening torque to secure the robot firmly, see "2.4 Installing the robot".
Remove the ropes, eyebolts, and arm clamping stay.
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YK1200X