Yamaha PHASER MF User Manual
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Yamaha PHASER MF User Manual

Yamaha PHASER MF User Manual

Linear motor robots
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YAMAHA LINEAR MOTOR ROBOTS   PHASER series 
MF Type
Userʼs Manual
EUC021A540
Ver. 5.40
E37

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Summary of Contents for Yamaha PHASER MF

  • Page 1 YAMAHA LINEAR MOTOR ROBOTS   PHASER series  MF Type Userʼs Manual EUC021A540 Ver. 5.40...

  • Page 3: Table Of Contents

    General Contents Introduction Available Manuals Safety Alert Symbols in This Manual Warranty Warranty Chapter 1 Product Overview Checking the product Robot part names Robot internal structure Chapter 2 Installation and connections Carrying the robot Robot installation conditions Installation environments Installation base Installing the robot Installing leakage breaker / circuit protector 2-7 Protective bonding...
  • Page 4 Setting operating conditions Process flow for setting operating conditions Duty monitor Acceleration setting Pulse train control (SRCP, SRCP30) Acceleration/deceleration and position proportional gain 3-8 Setting the maximum speed 3-10 Chapter 4 Periodic inspection and maintenance Before beginning work Periodic inspection Daily inspection Three-month inspection Six-month inspection...
  • Page 5 MF15 MF20 6-12 MF30 6-16 MF75 6-20 Robot connector (I/O signal connector) 6-23 Robot connector (motor connector) 6-23 Robot cable (I/O signal wires) 6-24 Robot cable (motor wires) 6-24...

  • Page 7: Available Manuals I

    Introduction The YAMAHA single-axis robots MF type is an industrial robot that uses the semi-absolute positioning method as standard and has improved ease of use, resistance to environmental conditions, and maintenance work. A wide variety of product lineup allows you to select the desired robot model that best matches your application.

  • Page 8: Safety Alert Symbols In This Manual

    Warning The adjustment and maintenance work with the cover removed needs the special knowledge and skill. If unskilled work person performs such work, this may involve risk.Read “2. Qualification of opera- tors/workers” in section 4.1 of the Safety Instructions and allow only qualified engineers to perform this work while referring to the separate Maintenance Manual.

  • Page 9: Warranty

    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 11 Chapter 1 Product Over view Contents Checking the product Robot part names Robot internal structure...

  • Page 13: 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. Product name...

  • Page 14: Robot Part Names

    Robot part names Robot part names Robot part names <MF50> External components Ground wire End cover Slider cover Slider Cable carrier Robot cable (motor wires) Robot cable (I/O signal wires) End cover Shutter Side cover Reference The direction of the cables coming out of the cable carrier depends on the specifications you ordered.

  • Page 15: Robot Internal Structure

    Robot internal structure Robot internal structure The YAMAHA linear single-axis robot PHASER series MF type is a truly innovative single- axis robot using a linear motor as its drive source. The internal robot structure and features are described here. WARNING The following drawings and descriptions are given to assist in understanding and safely using the PHASER series robots.
  • Page 16 Magnetic scale and magnetic head The magnetic scale utilizes YAMAHA's superb magnetic signal detection technology developed in-house. The scale is made of a special alloy that retains a high-strength magnetic field with virtually no weakening over time. Integrating it with a magnetic head yields an astonishingly high resolution of one micrometer.
  • Page 17 Chapter 2 Installation and connections Contents Carrying the robot Robot installation conditions Installation environments Installation base Installing the robot Installing leakage breaker / circuit protector 2-7 Protective bonding Connecting the robot to the controller Precautions for user wiring and tubing 2-12...

  • Page 19: Carrying The Robot

    Carr ying the robot Carr ying the robot Always use 2 people to carry the robot unit. Each person should grip the robot unit near one end from the lower side as shown and carry with the load well balanced. Carry with the robot facing upward (slider side upwards).

  • Page 20: Robot Installation Conditions

    Working space 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 21: Installation Base

    Robot installation conditions WARNING Do not use the robot in locations subject to excessive vibration. Robot installation bolts may otherwise become loose causing the robot to fall over. 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.
  • Page 22 Robot installation conditions 3) Use an installation base of sufficient size to match the robot body so that the robot can be installed with the specified number of bolts. Avoid installing the robot with less than the specified number of bolts or installing the robot closer to one end as shown at the lower right.

  • Page 23: Installing The Robot

    Installing the robot 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. Serious accidents might occur if the robot starts to operate during installation. •...
  • Page 24 Installing the robot φ9 Hex socket-head bolt: M8×1.25 Installation base (Length under head: 25 to 30mm) Robot Bolt Tightening torque M4 hex socket-head bolt, Strength: 8.8T 30kgf•cm to 45kgf•cm Length: installation base thickness +9 M6 hex socket-head bolt, Strength: 8.8T MF15/MF20/MF30 100kgf•cm to 130kgf•cm Length: installation base thickness +10...

  • Page 25: Installing Leakage Breaker / Circuit Protector

    Installing leakage breaker / circuit protector Installing leakage breaker / circuit protector To ensure safety, an external leakage breaker and circuit protector must be installed in the power supply connection section of the robot controller. Make power connections to the controller by following the instructions in the controller user's manual.

  • Page 26: Protective Bonding

    Protective bonding Protective 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 Ground terminal (M4 screw) for protective bonding Ground terminal (M4 screw) for robot cable CAUTION...

  • Page 27: Connecting The Robot To The Controller

    Connecting the robot to the controller Connecting the robot to the controller Connect the robot cables to the mating connectors on the controller as shown. For the connectors on the controller, refer to the user's manual of the YAMAHA robot controller being used. WARNING •...
  • Page 28 Connecting the robot to the controller Robot cable Robot cable connector connector (motor wires) (signal wires) 2) After making the connections, fit the connector hoods together securely. Hood 3) Connect the robot cable ground terminal (power and signal lines) to the ground terminal on the robot frame.
  • Page 29 Connecting the robot to the controller ■ Robot cable connections Refer to "4. Robot cable (I/O signal wires)" and "5. Robot cable (motor wires)" when wiring the cables. Robot cable connections (when connecting to SR1) Programming box HPB SD memory card SR1-P controller RS-232C...

  • Page 30: Precautions For User Wiring And Tubing

    Precautions for user wiring and tubing Precautions for user wiring and tubing Cable carries (plastic chain for cable guide) ● User cables and air tubes can be routed in the cable carrier of the MF type robots. Observe the following precautions when routing user cables and air tubes in the cable carrier.
  • Page 31 Chapter 3 Robot operation Contents Notes on robot operation Magnetic pole estimation action Absolute search (semi-absolute specification) 3-1 Return to origin (incremental specification) Setting operating conditions Process flow for setting operating conditions Duty monitor Acceleration setting Pulse train control (SRCP, SRCP30) Acceleration/deceleration and position proportional gain 3-8 Setting the maximum speed 3-10...

  • Page 33: Notes On Robot Operation

    Notes on robot operation Notes on robot operation On the MF7/MF15/MF20/MF30/MF50/MF75, two linear scale specifications are provided: incremental specification and semi-absolute specification. The MF100 is available only in incremental specification. Action after power-on differs depending on the linear scale specifications. Keep the following points in mind. Magnetic pole estimation action •...

  • Page 34: Return To Origin (Incremental Specification)

    Notes on robot operation Return to origin (incremental specification) Origin position ■ • On the incremental specification, return-to-origin must be performed after turning power on before starting operation. Magnetic poles are also detected during return- to-origin. Once return-to-origin is completed, there is no need to perform it again unless the controller power is turned off or an error occurs.
  • Page 35 Notes on robot operation (2) Slider moves in reverse direction after contacting the mechanical stopper (stroke end detected). CAUTION If the magnetic pole was not detected in the operation above in (1), in other words, if return-to-origin started from a position on the left of the magnetic pole detection point), then the slider returns to the magnetic pole detection point (▲).

  • Page 36: Setting Operating Conditions

    Set optimum parameters using the flow chart below as a reference. Reference For details on the parameter setting method, refer to the user's manual of the YAMAHA robot controller being used. Process flow for setting operating conditions Set payload parameter...

  • Page 37: Duty Monitor

    Setting operating conditions Duty monitor An overload error appears to warn the motor is working too hard during tough robot operation. In these cases, either the robot acceleration or maximum speed must be lowered, or the robot stop time increased (lower the duty). On the other hand, if you want to shorten the cycle time even further, when there is currently no overload, you can raise the acceleration or maximum speed, or shorten the robot stop time (raise the duty).

  • Page 38: Acceleration Setting

    Setting operating conditions 6) Press the (RSLT) key to display the measurement data. The operation duty value in the ［ＭＯＮ−ＤＵＴＹ］ period from pressing (RUN) ｍｅａｓｕｒｅｍｅｎｔ ｄａｔａ Ｘ ＝ ５０％ up to pressing the (STOP) then appears as a percentage. Reference The operation duty can also be monitored while the program is running by using a program command.
  • Page 39 Setting operating conditions 4) Select the parameter group. ［ＳＹＳ−ＰＲＭ−ＡＸＩＳ］ Press (AXIS) to select the ＰＲＭ１００ ＝ ４２１０ ｒｏｂｏｔ ｔｙｐｅ axis parameters. ｒｅａｄ ｏｎｌｙ       The current setting for PRM100 (robot type) appears on the screen. Press the keys to scroll up or down the parameters until PRM112 (payload) is displayed.

  • Page 40: Pulse Train Control (Srcp, Srcp30)

    Pulse train control (SRCP, SRCP30) Pulse train control (SRCP, SRCP30) When you control the robot movement by pulse train input, read the following description and comply with the precautions. For detailed information on pulse train control and specifications, refer to the separate "SRCP controller: Pulse train mode" supplementary manual.
  • Page 41 Pulse train control (SRCP, SRCP30) Combination of MF100 and SRCP30 Payload (kg) Acceleration/deceleration (G) Position proportional gain Kpp (PRM19) 1.74 1.59 1.00 0.73 0.57 0.47 Note: Acceleration/deceleration values apply to linear acceleration/deceleration. Position proportional gain Kpp Acceleration (G) Payload (kg) CAUTION If the acceleration is too high, the robot might not follow the instructions or overloads occur.

  • Page 42: Setting The Maximum Speed

    Pulse train control (SRCP, SRCP30) Setting the maximum speed In the case of pulse train control, the robot moves 1 micrometer per pulse. To operate the robot at a maximum speed (2500 mm/sec), a pulse train at 2.5Mpps must be input. (The maximum speed might not be obtained depending on the operating conditions.) As the speed increases, the sliding resistance also increases and overloads tend to occur.
  • Page 43 Chapter 4 Periodic inspection and maintenance Contents Before beginning work Periodic inspection Daily inspection Three-month inspection Six-month inspection Three-year inspection Greasing to the linear guides Replacing the shutter 4-10 Replacing the shutter roller 4-12 How to remove and replace the shutter roller <For MF7> 4-12 Attaching the shutter roller <For MF7>...

  • Page 45: 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 PHASER series. Before beginning work, read the precautions below and also in Chapter 1 "Safety Instructions"...
  • Page 46 • When only making electrical inspections and requiring no mechanical movement of the robot, keep the emergency stop button pressed. • Use only lubricant and greases specified by YAMAHA sales office or representative. • Use only parts specified by YAMAHA sales office or representative. Take sufficient care not to allow any foreign matter to contaminate them during adjustment, parts replacement or reassembly.
  • Page 47 Before beginning work When applying grease to the internal 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 48: Periodic Inspection

    Periodic inspection Periodic inspection The PHASER series robots use a linear motor and a linear guide with ball retainer, and require little user maintenance. However, perform the following daily and periodic inspections. Daily inspection The following inspections must be performed every day before and after operating the robot. Inspection to be performed with the controller power turned off 1) Turn off the controller power.

  • Page 49: Three-Month Inspection

    Periodic inspection WARNING The controller must be installed outside the safety enclosure. When inspecting the controller, entering the safety enclosure while the controller power is on is dangerous and must be avoided. Reference When starting the PHASER series robots, the slider always moves a few millimeters right after the servo is turned on and emits a high pitched noise.

  • Page 50: Six-Month Inspection

    Periodic inspection Six-month inspection Take the following precautions when performing 6-month inspection. 1) Turn off the controller power. 2) Place a sign indicating the robot is being inspected, to keep others from operating the controller power. 3) Enter the safety enclosure and check the following points. Checkpoints Check items Notes...

  • Page 51: Greasing To The Linear Guides

    When applying grease to the linear guide according to periodic inspection, follow the procedure below. CAUTION Using grease other than those recommended by YAMAHA might shorten the service life of the linear guide. <MF7/MF15> 1) Prepare the following tools required for replacement.
  • Page 52 Periodic inspection <MF20/MF30> 1) Prepare the following tools required for replacement. • Phillips screwdriver • Grease gun (recommended grease gun: THK MG70 with Type L nozzle) 2) Turn off the controller power. 3) Place a sign indicating the robot is being inspected, to keep others from operating the controller power.
  • Page 53 Periodic inspection <MF50/MF75/MF100> 1) Prepare the following tools required for replacement. • Phillips screwdriver • Grease gun (recommended grease gun: THK MG70 with Type N nozzle) 2) Turn off the controller power. 3) Place a sign indicating the robot is being inspected, to keep others from operating the controller power.

  • Page 54: Replacing The Shutter

    Replacing the shutter Replacing the shutter WARNING Be careful not to let the shutter drop inside the robot body during shutter replacement. This could cause breakdowns or damage in both the shutter and the robot. 1) Remove both shutter clamp plates located at the ends of the robot body. <MF50>...
  • Page 55 Replacing the shutter 3) Pull gently on the old shutter as shown in the photo so that it will not come loose from the groove in the stroke cover, and draw in the new shutter. Be careful at this time not to let the new shutter twist, warp or hang up. <MF50>...

  • Page 56: Replacing The Shutter Roller

    Replacing the shutter roller Replacing the shutter roller WARNING Be careful not to drop the tools and bolts onto the shutter or into the robot body during shutter roller replacement. This could cause breakdowns or damage in both the shutter and the robot. CAUTION •...

  • Page 57: Attaching The Shutter Roller

    Replacing the shutter roller (3) Move the shutter roller in the direction indicated by the Roller assembly arrow. [For shutter roller KCT-M224M-00] As the shutter roller will be removed int this step, work (4) is not required. Shutter (4) [For shutter roller KCT-M224K-00] Separate the shutter roller in two parts with removing the M3 flat head screws.

  • Page 58: Adjusting Shutter Tension

    Replacing the shutter roller (3) Attach the slider cover on one side and make sure that the shutter and the slider cover do not touch each other. Clearance CAUTION When they touch each other, carry out "4.3 Adjusting shutter tension <For MF7>".
  • Page 59 Replacing the shutter roller (2) Remove the eight screws (four on each side) holding the slider cover, and remove the slider cover. Slider cover (3) Remove the two screws (one on each side) holding the shutter roller, and remove the shutter roller. (4) Install the new shutter roller and place its metal plate against the slider.

  • Page 60: Maintenance Parts

    Maintenance parts Maintenance parts CAUTION Contact your distributor as the specifications can be changed without prior notice. <MF7> Part name Part No. Remarks Shutter KCT-M229J-X0 MF7/MF7D (Stroke: up to 3000) KCT-M22LK-X0 MF7/MF7D (Stroke: 3100 or longer) KCT-M224M-00 or Shutter roller KCT-M224K-00 <MF15>...
  • Page 61 Chapter 5 Troubleshooting Contents If you suspect trouble Feedback error Magnetic pole detection error Overload Position deviation error...

  • Page 63: If You Suspect Trouble

    If you suspect trouble If you suspect trouble If an error such as a feedback error and overload 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.
  • Page 64 Feedback error Feedback error 2 Feedback error 4 Securely connect wires and Poor wiring connection or connectors. connector is disconnected. • Check signal wire if feedback error 2 occurs. • Check motor wire if feedback error 4 occurs. Wiring or cable is broken. Replace the cable.

  • Page 65: Magnetic Pole Detection Error

    Magnetic pole detection error Magnetic pole detection error Magnetic pole detection error Motor wire is disconnected. Securely make connections. Remove external force and External force or friction is applied friction and restart the robot. to slider when power is turned on. Turn power off and check slider Robot mechanical movement is movement by moving it by hand.

  • Page 66: Overload

    Overload Overload Overload Check with duty monitor. Check operating conditions by Operation duty is too high. referring to the manual. External force or friction Remove external force and friction. is applied to slider. Turn power off and check slider movement by moving it by hand. Robot mechanical movement is heavy.

  • Page 67: Position Deviation Error

    Position deviation error Position deviation error Position deviates. Operation was correct, The position deviates after Robot bumped into something, but position deviates. moving the robot or set up or there are traces of bumping of workpiece tool. into (rubbing against) something. Is cable broken? Are cables correctly wired? Replace...
  • Page 68 MEMO...
  • Page 69 Chapter 6 Specifications Contents Main unit MF15 MF20 6-12 MF30 6-16 MF75 6-20 Robot connector (I/O signal connector) 6-23 Robot connector (motor connector) 6-23 Robot cable (I/O signal wires) 6-24 Robot cable (motor wires) 6-24...

  • Page 71: Main Unit

    Main unit Main unit ● Basic specifications Model name MF7-H MF7-W MF7D-H MF7D-W Carriage Single Double Installing direction Horizontal Wall mount Horizontal Wall mount Driving method Steel cored linear motor flat magnet Repeated positioning accuracy (µm) ±5 Scale (µm) Magnetic method, resolution: 1 Maximum speed (mm/sec) 2500 Maximum carrying weight (kg)
  • Page 72 Main unit ● Allowable overhang * * Distance from the center on the top face of slider to the gravity center of the item being carried. (This is calculated assuming that the service life of the guide is 10,000km.) ■ Horizontal installation (Unit: mm) 3000 3000...
  • Page 73 Main unit MF7 single carriage horizontal mount model 140+/-5 (L side origin position) (140) Effective stroke 140+/-5 (140) (R side origin position) 40+/-1 4- 4H7 Depth 10 40+/-1 (Note 1) (Note 1) 8-M5×0.8 Depth 12 +/-0.02 170.4 145.4 Optional cable carrier M type Optional cable carrier S type (190) 42.4...
  • Page 74 Main unit MF7 single carriage horizontal mount model Optional L-type cable carrier (50) 140+/-5 (L side origin position) (140) Effective stroke Note 5 (140) 140+/-5 (R side origin position) 40+/-1 40+/-1 4- 4H7 Depth 10 (Note 1) (Note 1) 8-M5×0.8 Depth 12 +/-0.02 Horizontal-left-type cable carrier (FLH) (190)
  • Page 75 Main unit MF7D double carriage horizontal mount model 140+/-5 (Note 1) 140+/-5 (Note 1) Effective stroke (200 : Minimum distance between carriages) 40+/-1 40+/-1 Effective stroke 4- 4H7 Depth 10 (Note 2) (Note 2) 8-M5×0.8 Depth 12 +/-0.02 170.4 145.4 Optional cable carrier M type Optional cable carrier S type (190)
  • Page 76 Main unit MF7D double carriage horizontal mount model Optional L-type cable carrier (50) (50) Note 4 Note 4 140+/-5 (Note 1) Effective stroke (200 : Minimum distance between carriages) 140+/-5 (Note 1) 40+/-1 Effective stroke 40+/-1 (Note 2) (Note 2) 4- 4H7 Depth 10 8-M5×0.8 Depth 12 +/-0.02...

  • Page 77: Mf15

    Main unit MF15 ● Basic specifications Model name MF15-H MF15-W MF15D-H MF15D-W Carriage Single Double Installing direction Horizontal Wall mount Horizontal Wall mount Driving method Steel cored linear motor flat magnet Repeated positioning accuracy (µm) ±5 Scale (µm) Magnetic method, resolution: 1 Maximum speed (mm/sec) 2500 Maximum carrying weight (kg)
  • Page 78 Main unit ● Allowable overhang * * Distance from the center on the top face of slider to the gravity center of the item being carried. (This is calculated assuming that the service life of the guide is 10,000km.) ■ Horizontal installation (Unit: mm) 3000 3000...
  • Page 79 Main unit MF15 single carriage horizontal mount model Note. For models with a 3,000mm or longer stroke and an optional L type cable carrier, a Note. Position of the table slider when returned to the origin. roller is installed to prevent the cable carrier from sagging. Note.
  • Page 80 Main unit MF15 single carriage wall mount model B×200 C-M6×1.0 Depth 10 2- 10H7 Depth 7 (Note 4) D+/-0.02 Ground terminal (M4) L type Ground terminal (M4) Cross-section of optional cable carrier M type Ground terminal (M4) Standard and S types (50:Note 3) 103.5 (130)
  • Page 81 Main unit MF15D double carriage wall mount model B×200 C-M6×1.0 Depth 10 2- 10H7 Depth 7 (Note 3) D+/-0.02 Ground terminal (M4) L type Ground terminal (M4) Cross-section of optional cable carrier M type Ground terminal (M4) Standard and S types (50:Note 3) (50:Note 3) (200 : Minimum distance between carriages)

  • Page 82: Mf20

    Main unit MF20 ● Basic specifications Model name MF20-H MF20-W MF20D-H MF20D-W Carriage Single Double Installing direction Horizontal Wall mount Horizontal Wall mount Driving method Steel cored linear motor flat magnet Repeated positioning accuracy (µm) ±5 Scale (µm) Magnetic method, resolution: 1 Maximum speed (mm/sec) 2500 Maximum carrying weight (kg)
  • Page 83 Main unit ● Allowable overhang * * Distance from the center on the top face of slider to the gravity center of the item being carried. (This is calculated assuming that the service life of the guide is 10,000km.) ■ Horizontal installation (Unit: mm) 10kg 3156...
  • Page 84 Main unit MF20 single carriage horizontal mount model 130+/-5 (L side origin position) Effective stroke (130: When at L side origin) (130: When at R side origin) 130+/-5 (R side origin position) +0.012 +/-0.02 4- 6H7 Depth 10 4-M6 x 1.0 Depth 12 29+/-1 29+/-1 (Note 1)
  • Page 85 Main unit MF20D double carriage horizontal mount model 130+/-5 (200: Minimum distance between carriages) Effective stroke Diameter of roller (Note 1) 130+/-5 Effective stroke (Note 1) +0.012 +0.012 4- 6H7 Depth 10 4- 6H7 Depth 10 +/-0.02 +/-0.02 4-M6 x 1.0 Depth 12 4-M6 x 1.0 Depth 12 29+/-1 29+/-1...

  • Page 86: Mf30

    Main unit MF30 ● Basic specifications Model name MF30-H MF30-W MF30D-H MF30D-W Carriage Single Double Installing direction Horizontal Wall mount Horizontal Wall mount Driving method Steel cored linear motor flat magnet Repeated positioning accuracy (µm) ±5 Scale (µm) Magnetic method, resolution: 1 Maximum speed (mm/sec) 2500 Maximum carrying weight (kg)
  • Page 87 Main unit ● Allowable overhang * * Distance from the center on the top face of slider to the gravity center of the item being carried. (This is calculated assuming that the service life of the guide is 10,000km.) ■ Horizontal installation (Unit: mm) 10kg 3364...
  • Page 88 Main unit MF30 single carriage horizontal mount model 155+/-5 (L side origin position) (155: When at L side origin) Effective stroke 240.5 (M option) (155: When at R side origin) 155+/-5 (R side origin position) 215.5 (S option) +0.012 Optional cable carrier S / M type Depth 10 4- 6H7 +/-0.02...
  • Page 89 Main unit MF30D double carriage horizontal mount model (250: Minimum distance between carriages) 155+/-5 Effective stroke (Note 1) Effective stroke 155+/-5 (Note 1) 240.5 (M option) +0.012 +0.012 Depth 10 4- 6H7 4- 6H7 Depth 10 215.5 (S option) +/-0.02 +/-0.02 4-M6 x 1.0 Depth 12 4-M6 x 1.0 Depth 12...

  • Page 90: Mf75

    Main unit MF75 ● Basic specifications Model name MF75 MF75D Driving method Steel cored linear motor flat magnet Repeated positioning accuracy (µm) ±5 Scale (µm) Magnetic method, resolution: 1 Maximum speed (mm/sec) 2500 Maximum carrying weight (kg) Rated thrust (N) Maximum stroke (mm) 4000 3680...
  • Page 91 Main unit ● Allowable overhang * * Distance from the center on the top face of slider to the gravity center of the item being carried. (This is calculated assuming that the service life of the guide is 10,000km.) ■ Horizontal installation (Unit: mm) 20kg 3397...
  • Page 92 Main unit MF75 single carriage horizontal mount model Remove two top caps. (180 When at L side origin) 180+/-5 (L side origin position) Effective stroke Tool mounting hole (180 : When at R side origin) (180 : When at R side origin) Slot width 20: lnsert M3 nut through this slot. 180+/-5 (R side origin position) Insert bolt from 31 +/-2...

  • Page 93: Robot Connector (I/O Signal Connector)

    Robot connector (I/O signal connector) Robot connector (I/O signal connector) Cable carrier Hood on robot To robot cable (I/O signal wires) Signal Pin No. Connection Pin No.* Remarks Blue Orange Green 0.15mm Brown twisted pair Gray +5 V Black Yellow Shield *Internally connected Robot connector (motor connector)

  • Page 94: Robot Cable (I/O Signal Wires)

    Robot cable (I/O signal wires) Robot cable (I/O signal wires) Hood To controller To robot Ground wire Connect to: Pin No. Connection Pin No. Signal Connect to: Remarks Controller CN1 Robot Blue Orange Green Brown Gray Black Yellow D.G. Gray Round terminal Robot cable (motor wires) Hood...
  • Page 95 YAMAHA MOTOR CO., LTD. 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, no responsibility is assumed for possible inaccuracies or omissions.
  • Page 97 127 Toyooka, Kitaku, Hamamatsu, Shizuoka, 433-8103, Japan Tel. 81-53-525 - 8250 Fax. 81 - 53 - 525 - 8378 Robot manuals can be downloaded from our company website. Please use the following for more detailed information. https://global.yamaha-motor.com/business/robot/ YAMAHA MOTOR CO., LTD.

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