Yamaha YK-X Series User Manual
  1. Manuals
  2. Brands
  3. Yamaha Manuals
  4. Robotics
  5. YK-X Series
  6. User manual
Yamaha YK-X Series User Manual

Yamaha YK-X Series User Manual

Scara robot
Hide thumbs Also See for YK-X Series:
Table of Contents

Advertisement

Quick Links

Download this manual
YAMAHA SCARA ROBOT
YK-X/XH Series
Userʼs Manual
YK250X(H)/YK350X(H)/YK400X(H)
YK500X/YK550X/YK600X
YK700X/YK800X/YK1000X/YK1200X
EUFL127527
Ver. 5.27
E22

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the YK-X Series and is the answer not in the manual?

Questions and answers

Related Manuals for Yamaha YK-X Series

Summary of Contents for Yamaha YK-X Series

  • Page 1 YAMAHA SCARA ROBOT YK-X/XH Series Userʼs Manual YK250X(H)/YK350X(H)/YK400X(H) YK500X/YK550X/YK600X YK700X/YK800X/YK1000X/YK1200X EUFL127527 Ver. 5.27...

  • Page 3: Absolute Reset

    Robot malfunctions (vibration, noise) may also occur. The origin position of the YK-X series robots is adjusted to the robot arm ex- tended position at the factory prior to shipment, so the reference or standard coor- dinates are temporarily set.
  • Page 4 1. Absolute reset The YK-X series robots only require the absolute reset to be performed once when the robot is introduced. Once the absolute reset is performed, you do not need to reperform it when the power is turned on next time.
  • Page 5 Y-axis arm, and are further equipped with a vertical axis (Z-axis) and a rotating axis (R-axis) at the tip of the manipulator. The YK-X series robots can be used for a wide range of assembly applications such as installation and insertion of various parts, application of sealant, and packing operations.
  • Page 6 MEMO...

  • Page 7: Table Of Contents

    CONTENTS CHAPTER 1 Using the Robot Safely 1 Safety Information ............1-1 2 Essential Caution Items ..........1-2 3 Industrial Robot Operating and Maintenance Personnel ..1-10 4 Robot Safety Functions ..........1-11 5 Safety Measures for the System ......... 1-12 6 Trial Operation .............
  • Page 8 6-1-5 Acceleration coefficient vs. moment of inertia (YK600X) ..3-28 6-1-6 Acceleration coefficient vs. moment of inertia (YK700X) ..3-31 6-1-7 Acceleration coefficient vs. moment of inertia (YK800X) ..3-34 6-1-8 Acceleration coefficient vs. moment of inertia (YK1000X) ..3-37 6-1-9 Acceleration coefficient vs.
  • Page 9 CHAPTER 4 Adjustment 1 Overview ................ 4-1 2 Safety Precautions ............4-1 3 Adjusting the origin ............4-2 3-1 Absolute reset method ............. 4-3 3-1-1 Sensor method (X-axis, Y-axis, and R-axis) ......4-3 3-1-2 Mark method (X-axis, Y-axis, and R-axis) ........ 4-4 3-1-3 Stroke end method (Z-axis) .............
  • Page 10 3 Daily Inspection ............. 5-3 4 Six-Month Inspection ............. 5-5 5 Replacing the Harmonic Drive ........5-8 5-1 Replacement period ..............5-8 5-2 Basic replacement procedure for harmonic drive and precautions .. 5-10 5-2-1 YK250X(H), YK350X(H), YK400X(H) ........5-12 5-2-2 YK500X, YK600X ..............5-29 5-2-3 YK700X, YK800X, YK1000X ..........
  • Page 11 CHAPTER Using the Robot Safely 1 Safety Information ..............1-1 2 Essential Caution Items ............1-2 3 Industrial Robot Operating and Maintenance Personnel ..1-10 4 Robot Safety Functions ............1-11 5 Safety Measures for the System ..........1-12 6 Trial Operation ..............1-13 7 Work Within the Safeguard Enclosure ........1-14 8 Automatic Operation .............1-15 9 Warranty ................1-16...
  • Page 12 MEMO...

  • Page 13: Chapter 1 Using The Robot Safely

    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 WARN- INGS, CAUTIONS AND INSTRUCTIONS INCLUDED IN THIS MANUAL.

  • Page 14: Essential Caution Items

    CHAPTER 1 Using the Robot Safely Essential Caution Items Particularly important cautions for handling or operating the robot are described below. In addition, safety information about installation, operation, inspection and maintenance is provided in each chapter. Be sure to comply with these in- structions to ensure safe use of the robot.
  • Page 15 CHAPTER 1 Using the Robot Safely (3) Follow the instructions on warning labels and in this manual. Warning label 3 (Fig. 1-3) is affixed to the robot. See Fig. 2-2 to Fig. 2-6 for the locations of warning labels. • Be sure to read the warning label and this manual carefully and make you thoroughly understand the contents before attempting installation and op- eration of the robot.
  • Page 16 CHAPTER 1 Using the Robot Safely (6) Use caution when releasing the Z-axis (vertical axis) brake. WARNING The Z-axis will slide down when the Z-axis brake is released, causing a hazard- ous situation. • Press the emergency stop button and prop up the Z-axis with a support stand before releasing the brake.
  • Page 17 • Never touch any internal parts of the controller. For precautions on handling the controller, refer to the "YAMAHA Robot Con- troller User's Manual".
  • Page 18 (14) Consult us for corrective action when the robot is damaged or malfunction occurs. WARNING If any part of the robot is damaged or any malfunction occurs, continuous op- eration may be very dangerous. Please consult YAMAHA dealer for corrective action. Damage or Trouble Possible Danger...
  • Page 19 (21) Do not use the robot for tasks requiring motor thrust. CAUTION Avoid using the YK-X series robots for tasks which make use of motor thrust (press-fitting, burr removal, etc.). These tasks may cause malfunctions of the robot.
  • Page 20 CHAPTER 1 Using the Robot Safely (23) Follow the specified procedures when installing, adjusting or inspecting the robot. WARNING Always follow the specified procedures when installing, adjusting or inspecting the robot. Never attempt any procedure not described in this manual. (24) Do not attempt any repair, parts replacement and modification.

  • Page 21: Make Daily And Periodic Inspections

    CHAPTER 1 Using the Robot Safely (1) Robot operating procedures needed for tasks such as startup procedures and handling switches (2) Robot speeds used during tasks such as teaching (3) Methods for workers to signal each other when two or more workers per- form tasks (4) Steps that the worker should take when a problem or emergency occurs (5) Steps to take after the robot has come to a stop when the emergency stop...

  • Page 22: Industrial Robot Operating And Maintenance Personnel

    CHAPTER 1 Using the Robot Safely Industrial Robot Operating and Maintenance Personnel Operators or persons who handle the robot such as for teaching, programming, movement check, inspection, adjustment, and repair must receive appropriate train- ing and also have the skills needed to perform the job correctly and safely. They must read the user's manual carefully to understand its contents before attempt- ing the robot operation.

  • Page 23: Robot Safety Functions

    CHAPTER 1 Using the Robot Safely Robot Safety Functions (1) Overload detection This function detects an overload applied to the motor and shuts off the servo power. If an overload error occurs, take the following measures. 1. Insert a timer in the program. 2.

  • Page 24: Safety Measures For The System

    CHAPTER 1 Using the Robot Safely WARNING The Z-axis will slide down when the Z-axis brake is released, creating a haz- ardous situation. • Press the emergency stop button and prop the Z-axis with a support stand before releasing the brake. •...

  • Page 25: Trial Operation

    CHAPTER 1 Using the Robot Safely Trial Operation After making installations, adjustments, inspections, maintenance or repairs to the robot, make a trial run using the following procedures. (1) If a safeguard enclosure has not yet been provided right after installation of the robot, rope off or chain off around the movement area of the manipulator in place of the safeguard enclosure, and observe the following points.

  • Page 26: Work Within The Safeguard Enclosure

    CHAPTER 1 Using the Robot Safely Work Within the Safeguard Enclosure (1) 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 serv- iced in order to keep any other person from touching the controller switch or operation panel, except for the following cases.

  • Page 27: Automatic Operation

    CHAPTER 1 Using the Robot Safely Automatic Operation Automatic operation described here includes all operations in AUTO mode. (1) Check the following before starting automatic operation. 1. No one is within the safeguard enclosure. 2. The programming box and tools are in their specified locations. 3.

  • Page 28: Warranty

    2. Changes in software or internal data such as programs or points that were created or changed by the customer. 3. Products whose trouble cannot be reproduced or identified by YAMAHA. 4. Products utilized, for example, in radiological equipment, biological test equip- ment applications or for other purposes whose warranty repairs are judged as hazardous by YAMAHA.

  • Page 29: Chapter 2 Functions

    CHAPTER Functions 1 Robot Manipulator ..............2-1 2 Robot Controller ..............2-7 3 Robot initialization number list ..........2-8...
  • Page 30 MEMO...

  • Page 31: Robot Manipulator

    (equivalent to human arm) and a Z/R-axis (equivalent to human wrist). With these 4 axes, the YK-X series robots can move as shown in Fig. 2-1. By attaching different types of end effector (gripper) to the end of the arm, a wide range of tasks can be performed with high precision at high speeds.
  • Page 32 CHAPTER 2 Functions D-sub connector for user wiring (No.1 to 10) User tubing 1 (φ4 black) User tubing 2 (φ4 red) User tubing 3 (φ4 blue) Ball screw Machine harness Warning label 1 Warning label 2 Z-axis motor R-axis motor Z-axis,R-axis pulley, belt Y-axis speed reduction gear...
  • Page 33 CHAPTER 2 Functions X-axis movable mechanical stopper Eyebolt installation position User tubing 1 (φ6 black) User tubing 2 (φ6 red) D-sub connector for user wiring (No.1 to 20) Y-axis mechanical stopper User tubing 3 (φ6 blue) Warning label 1 (Same on opposite side) Machine harness Ball screw Warning label 2 (Same on opposite side)
  • Page 34 CHAPTER 2 Functions User tubing 1 (φ6 black) X-axis movable mechanical stopper Eyebolt installation position User tubing 2 (φ6 red) User tubing 3 (φ6 blue) D-sub connector for user wiring (No.1 to 20) Y-axis mechanical stopper Machine harness Ball screw Warning label 1 (Same on opposite side) Warning label 2 (Same on opposite side) R-axis motor...
  • Page 35 CHAPTER 2 Functions X-axis movable mechanical stopper Eyebolt installation position D-sub connector for user wiring (No.1 to 20) User tubing 1 (φ6 black) User tubing 2 (φ6 red) User tubing 3 (φ6 blue) Y-axis mechanical stopper Ball screw Machine harness Warning label 1 (Same on opposite side) Warning label 2 (Same on opposite side)
  • Page 36 CHAPTER 2 Functions Eyebolt installation position Window for X-axis origin adjustment (inside of cover) mechanical stopper Window for Y-axis origin adjustment User tubing 1 (φ6 black) X-axis movable mechanical stopper User tubing 2 (φ6 blue) D-sub connector for user wiring (No.1 to 20) machine harness Ball screw Y-axis arm...

  • Page 37: Robot Controller

    CHAPTER 2 Functions Robot Controller The YK-X series robot comes supplied with a robot controller RCX142 or RCX240. For more details, refer to the separate "YAMAHA Robot Controller User's Manual". RCX240 RCX142 MOTOR OP.1 OP.3 MOTOR OP.1 OP.3 MODEL. SER. NO.

  • Page 38: Robot Initialization Number List

    CHAPTER 2 Functions Robot initialization number list The YK-X series robots are initialized for optimum setting (default setting) ac- cording to the robot model prior to shipping. The robot controllers do not have to be reinitialized during normal operation. However, if for some reason the con- troller must be reinitialized, proceed while referring to the list below.
  • Page 39 CHAPTER Installation 1 Robot Installation Conditions ..........3-1 Installation environments ..............3-1 Installation base ................3-3 2 Installation ................3-5 Unpacking ..................3-5 Checking the product ............... 3-6 Moving the robot ................3-7 2-3-1 Moving the YK250X(H), YK350X(H), YK400X(H) ......3-7 2-3-2 Moving the YK500X, YK600X, YK700X, YK800X, YK1000X, YK1200X, YK550X ................
  • Page 40 7 Limiting the Movement Range with X-Axis Mechanical Stoppers (YK500X, YK600X, YK700X, YK800X, YK1000X, YK1200X) ... 3-57 YK500X, YK600X, YK700X, YK800X, YK1000X, YK1200X ..3-58 YK550X ..................3-61 8 Limiting the Movement Range with Y-Axis Mechanical Stoppers ... 3-63 YK550X ..................3-63 YK1200X ..................

  • Page 41: Chapter 3 Installation

    Working space repair, etc.) For detailed information on how to install the robot controller, refer to the sepa- rate "YAMAHA Robot Controller User's Manual". WARNING Avoid installing the robot in locations where the ambient conditions may ex- ceed the allowable temperature or humidity, or in environments where water, corrosive gases, metallic powder or dust are generated.
  • Page 42 CHAPTER 3 Installation WARNING Do not use the robot in locations subject to excessive vibration. Robot installa- tion bolts may otherwise become loose causing the manipulator to fall over.

  • Page 43: Installation Base

    CHAPTER 3 Installation Installation base 1) Prepare a sufficiently rigid and stable installation base, taking account of the robot weight including the end effector (gripper), workpiece and reaction force while the robot is operating. The maximum reaction force (see Fig. 3- 1) applied to the X-axis and Z-axis of each robot during operation is shown in the table below.
  • Page 44 CHAPTER 3 Installation 4) Securely fix the installation base on the floor with anchor bolts. WARNING Do not place the robot on a moving installation base. Excessive loads will be applied to the robot arm by movement of the installation base, resulting in dam- age to the robot.

  • Page 45: Installation

    The equipment and tools used for moving the robot should be serviced daily. The YK-X series robot comes packed with a robot controller and accessories, according to the order specifications. Using a carrying cart (dolly) or forklift, move the package to near the installation base.

  • Page 46: Checking The Product

    × 2, small × 2) RCX240controller Eyebolts are not supplied with the YK250X, YK350X and YK400X Option RPB programming box, etc. * Refer to the "YAMAHA Robot Controller User's Manual" for details on the controller accessories and options. Fig. 3-3 Product configurations...

  • Page 47: Moving The Robot

    CHAPTER 3 Installation Moving the robot WARNING Serious injury may occur if the robot falls and pins someone under it. • Do not allow any part of your body to enter the area beneath the robot during work. • Always wear a helmet, safety shoes and gloves during work. To check the mass of each robot, refer to "1-1 Basic specifications"...

  • Page 48: Moving The Yk500X, Yk600X, Yk700X, Yk800X, Yk1000X, Yk1200X, Yk550X

    CHAPTER 3 Installation 2-3-2 Moving the YK500X, YK600X, YK700X, YK800X, YK1000X, YK1200X, YK550X WARNING Serious injury may occur if the robot falls and pins someone under it. • Check that there are no cracks and corrosion on the eyebolt installation. If found, do not use eyebolts to move the robot.
  • Page 49 CHAPTER 3 Installation 6) Prepare two looped ropes with the same length to allow a good lifting bal- ance, then pass each rope through each eyebolt and catch it on the hoist hook. (3 looped ropes are needed for the YK550X.) 7) Slightly lift the hoist so that each rope has light tension to hold the robot.
  • Page 50 CHAPTER 3 Installation Set screw Eyebolt (2 pieces supplied with the robot) Bearing surface for eyebolt Arm clamping stay (supplied with the robot) Bolt (2 pieces supplied with the robot) YK500X,YK600X Tightening toeque 4.5N•m (46kgf•cm) X-axis arm cover Hoist hook Bearing surface for eyebolt Rope YK700X-YK1000X...

  • Page 51: Installing The Robot

    CHAPTER 3 Installation Installing the robot Install the robot securely with the four hex socket head bolts as shown in Fig. 3- WARNING When installing the robot, be sure to use the specified size and quantity of bolts that match the depth of tapped holes in the installation base, and securely tighten the bolts to the correct torque.

  • Page 52: Protective Bonding

    2) When the end effector uses an electrical device which, if it malfunctions, might make contact with the power supply, the user must provide proper grounding on his own responsibility. The YK-X series robots do not have a ground terminal for this purpose.
  • Page 53 CHAPTER 3 Installation Ground symbol M4 Ground terminal Fig. 3-7 Ground terminal 3-13...

  • Page 54: Robot Cable Connection

    CHAPTER 3 Installation Robot Cable Connection The robot cable is pre-connected to the YK-X series robot. For details on connec- tions to the robot controller, refer to Fig. 3-8 and the "YAMAHA Robot Control- ler User's Manual". After making connections, check the operation while refer- ring to "6 Trial operation"...
  • Page 55 CHAPTER 3 Installation Controller side connector Robot side connector RCX controller ROB I/O Robot cable ROB I/O Fig. 3-8 Robot cable connections 3-15...

  • Page 56: User Wiring And User Tubing

    If air or power is supplied during this work, the manipulator may move erroneously causing a hazardous situation. 1) The YK-X series robots are equipped with user wires and air tubes in the machine harness. The table below shows the number of wires and air tubes available for each robot model.
  • Page 57 CHAPTER 3 Installation 3) Signal wiring connections in the machine harness 1. YK250X(H), YK350X(H), YK400X(H) Connector pins 1 to 10 can be used. Pin 15 is connected to a shield wire and cannot be used as a signal wire. Connection Connector Color Signal...
  • Page 58 CHAPTER 3 Installation 4) As shown in Fig. 3-9, solder the user cable wires to the D-sub connector (supplied with the robot). Reattach the hood to the D-sub connector after soldering, then plug it into the user wiring connector. The connector pinouts as viewed from the solder side are shown below. Hood Soldering Cable to be...
  • Page 59 CHAPTER 3 Installation WARNING Make sure that the user cable attached to the D-sub connector for user wiring and the tube attached to the bulkhead union for user tubing will not interfere with the robot movement, entangle around the robot or flap around during op- eration.

  • Page 60: Attaching The End Effector

    To make settings for the tip mass and acceleration coefficient, refer to the separate "YAMAHA Robot Controller User's Manual". 3) Methods for calculating the moment of inertia of the load are shown in Sec- tion 6-2, however, it is not easy to precisely figure out these values.
  • Page 61 CHAPTER 3 Installation CAUTION Depending on the Z-axis position, vibration may occur when the X, Y or R-axis moves. If this happens, reduce the X, Y or R-axis acceleration to an appropri- ate level. CAUTION If the moment of inertia is too large, vibration may occur on the Z-axis depend- ing on its operation position.

  • Page 62: Acceleration Coefficient Vs. Moment Of Inertia (Yk250X(H))

    CHAPTER 3 Installation 6-1-1 Acceleration coefficient vs. moment of inertia (YK250X(H)) 0.01 ( 0.1 ) 0.01 0.02 0.03 0.04 0.05 (kgm (kgf • • Fig. 3-10 m=1kg 0.01 ( 0.1 ) 0.01 0.02 0.03 0.04 0.05 (kgm (kgf • • Fig.

  • Page 63: Acceleration Coefficient Vs. Moment Of Inertia (Yk350X(H))

    CHAPTER 3 Installation 6-1-2 Acceleration coefficient vs. moment of inertia (YK350X(H)) 0.005 ( 0.05 ) 0.01 0.02 0.03 0.04 0.05 (kgm (kgf • • Fig. 3-13 m=1kg 0.004 ( 0.04 ) 0.01 0.02 0.03 0.04 0.05 (kgm (kgf • • Fig.

  • Page 64: Acceleration Coefficient Vs. Moment Of Inertia (Yk400X(H))

    CHAPTER 3 Installation 6-1-3 Acceleration coefficient vs. moment of inertia (YK400X(H)) 0.01 0.02 0.03 0.04 0.05 (kgm (kgf • • Fig. 3-16 m=1kg 0.01 0.02 0.03 0.04 0.05 (kgm (kgf • • Fig. 3-17 m=2kg 0.01 0.02 0.03 0.04 0.05 (kgm (kgf •...

  • Page 65: Acceleration Coefficient Vs. Moment Of Inertia (Yk500X)

    CHAPTER 3 Installation 6-1-4 Acceleration coefficient vs. moment of inertia (YK500X) 0.005 ( 0.05 ) 0.04 0.08 0.12 (kgm (kgf • • Fig. 3-19 m=1kg 0.005 ( 0.05 ) 0.04 0.08 0.12 (kgm (kgf • • Fig. 3-20 m=2kg 0.005 ( 0.05 ) 0.04 0.08 0.12...
  • Page 66 CHAPTER 3 Installation 0.005 ( 0.05 ) 0.04 0.08 0.12 (kgm (kgf • • Fig. 3-22 m=4kg 0.005 ( 0.05 ) 0.04 0.08 0.12 (kgm (kgf • • Fig. 3-23 m=5kg 0.007 ( 0.07 ) 0.04 0.08 0.12 (kgm (kgf •...
  • Page 67 CHAPTER 3 Installation 0.007 ( 0.07 ) 0.04 0.08 0.12 (kgm (kgf • • Fig. 3-25 m=8, 9kg 0.03 ( 0.3 ) 0.04 0.08 0.12 (kgm (kgf • • Fig. 3-26 m=10kg 3-27...

  • Page 68: Acceleration Coefficient Vs. Moment Of Inertia (Yk600X)

    CHAPTER 3 Installation 6-1-5 Acceleration coefficient vs. moment of inertia (YK600X) 0.005(0.05) 0.04 0.08 0.12 (kgm (kgf • • Fig. 3-27 m=1kg 0.005(0.05) 0.04 0.08 0.12 (kgm (kgf • • Fig. 3-28 m=2kg 0.01(0.1) 0.04 0.08 0.12 (kgm (kgf • •...
  • Page 69 CHAPTER 3 Installation 0.005(0.05) 0.04 0.08 0.12 (kgm (kgf • • Fig. 3-30 m=4kg 0.01(0.1) 0.04 0.08 0.12 (kgm (kgf • • Fig. 3-31 m=5kg 0.005(0.05) 0.04 0.08 0.12 (kgm (kgf • • Fig. 3-32 m=6, 7kg 3-29...
  • Page 70 CHAPTER 3 Installation 0.005(0.05) 0.04 0.08 0.12 (kgm (kgf • • Fig. 3-33 m=8, 9kg 0.015(0.15) 0.04 0.08 0.12 (kgm (kgf • • Fig. 3-34 m=10kg 3-30...

  • Page 71: Acceleration Coefficient Vs. Moment Of Inertia (Yk700X)

    CHAPTER 3 Installation 6-1-6 Acceleration coefficient vs. moment of inertia (YK700X) 0.02(0.2) (kgm (kgf • • Fig. 3-35 m=1kg 0.01(0.1) (kgm (kgf • • Fig. 3-36 m=2kg 0.03(0.3) (kgm (kgf • • Fig. 3-37 m=3, 4kg 3-31...
  • Page 72 CHAPTER 3 Installation 0.01(0.1) (kgm (kgf • • Fig. 3-38 m=5, 6kg 0.01(0.1) (kgm (kgf • • Fig. 3-39 m=7, 8kg 0.01(0.1) (kgm (kgf • • Fig. 3-40 m=9, 10kg 3-32...
  • Page 73 CHAPTER 3 Installation 0.01(0.1) (kgm (kgf • • Fig. 3-41 m=11 to 13kg 0.01(0.1) (kgm (kgf • • Fig. 3-42 m=14 to 16kg 0.01(0.1) (kgm (kgf • • Fig. 3-43 m=17 to 20kg 3-33...

  • Page 74: Acceleration Coefficient Vs. Moment Of Inertia (Yk800X)

    CHAPTER 3 Installation 6-1-7 Acceleration coefficient vs. moment of inertia (YK800X) 0.02 ( 0.2 ) (kgm (kgf • • Fig. 3-44 m=1kg 0.03 ( 0.3 ) (kgm (kgf • • Fig. 3-45 m=2kg 0.03 ( 0.3 ) (kgm (kgf • •...
  • Page 75 CHAPTER 3 Installation 0.02 ( 0.2 ) (kgm (kgf • • Fig. 3-47 m=5, 6kg 0.01 ( 0.1 ) (kgm (kgf • • Fig. 3-48 m=7, 8kg 0.01 ( 0.1 ) (kgm (kgf • • Fig. 3-49 m=9, 10kg 3-35...
  • Page 76 CHAPTER 3 Installation 0.02 ( 0.2 ) (kgm (kgf • • Fig. 3-50 m=11 to 13kg 0.02 ( 0.2 ) (kgm (kgf • • Fig. 3-51 m=14 to 16kg 0.02 ( 0.2 ) (kgm (kgf • • Fig. 3-52 m=17 to 20kg 3-36...

  • Page 77: Acceleration Coefficient Vs. Moment Of Inertia (Yk1000X)

    CHAPTER 3 Installation 6-1-8 Acceleration coefficient vs. moment of inertia (YK1000X) 0.02 ( 0.2 ) (kgm (kgf • • Fig. 3-53 m=1kg 0.01 ( 0.1 ) (kgm (kgf • • Fig. 3-54 m=2kg 0.01 ( 0.1 ) (kgm (kgf • •...
  • Page 78 CHAPTER 3 Installation 0.01 ( 0.1 ) (kgm (kgf • • Fig. 3-56 m=5, 6kg 0.01 ( 0.1 ) (kgm (kgf • • Fig. 3-57 m=7, 8kg 0.015 ( 0.15 ) (kgm (kgf • • Fig. 3-58 m=9, 10kg 3-38...
  • Page 79 CHAPTER 3 Installation 0.02 ( 0.2 ) (kgm (kgf • • Fig. 3-59 m=11 to 13kg 0.025 ( 0.25 ) (kgm (kgf • • Fig. 3-60 m=14 to 16kg 0.030 ( 0.30 ) (kgm (kgf • • Fig. 3-61 m=17 to 20kg 3-39...

  • Page 80: Acceleration Coefficient Vs. Moment Of Inertia (Yk1200X)

    CHAPTER 3 Installation 6-1-9 Acceleration coefficient vs. moment of inertia (YK1200X) 0.1 ( 1.0 ) 0.1 ( 1.0 ) (kgm (kgm (kgf (kgf • • • • Fig. 3-62 m=0 to 5kg 0.1 ( 1.0 ) 0.1 ( 1.0 ) (kgm (kgm (kgf...
  • Page 81 CHAPTER 3 Installation 0.1 ( 1.0 ) 0.1 ( 1.0 ) (kgm (kgm (kgf (kgf • • • • Fig. 3-65 m=16 to 20kg 0.15 ( 1.5 ) 0.15 ( 1.5 ) (kgm (kgm (kgf (kgf • • • • Fig.
  • Page 82 CHAPTER 3 Installation 0.3 ( 3.0 ) 0.5 ( 5.0 ) (kgm (kgm (kgf (kgf • • • • Fig. 3-68 m=31 to 35kg 0.3 ( 3.0 ) 1.2 ( 12.0 ) (kgm (kgm (kgf (kgf • • • • Fig.

  • Page 83: Acceleration Coefficient Vs. Moment Of Inertia (Yk550X With Standard R-Axis Specifications)

    CHAPTER 3 Installation 6-1-10 Acceleration coefficient vs. moment of inertia (YK550X with standard R-axis specifications) For YK550X with high-speed R-axis specifications, refer to Section 6-1-11. 0.001 (0.01) (Kgm 0.04 0.08 0.12 (Kgf • • Fig. 3-71 m=1, 2kg 0.0025 (0.025) (Kgm 0.04 0.08...

  • Page 84: Acceleration Coefficient Vs. Moment Of Inertia (Yk550X With High-Speed R-Axis Specifications)

    CHAPTER 3 Installation 6-1-11 Acceleration coefficient vs. moment of inertia (YK550X with high-speed R-axis specifications) CAUTION If the acceleration on the X, Y or R axis is too high compared to the moment of inertia of the load, feedback error 2 or over-current error may occur. If this happens, reduce the acceleration.
  • Page 85 CHAPTER 3 Installation 0.001 (0.01) 0.04 0.05 0.08 0.12 (Kgm (Kgf • • Fig. 3-76 m=3kg 0.001 (0.01) 0.04 0.05 0.08 0.12 (Kgm (Kgf • • Fig. 3-77 m=4kg 0.001 (0.01) (Kgm 0.04 0.05 0.08 0.12 (Kgf • • Fig. 3-78 m=5kg 3-45...

  • Page 86: Equation For Moment Of Inertia Calculation

    CHAPTER 3 Installation Equation for moment of inertia calculation Usually the R axis load is not a simple form, and the calculation of the moment of inertia is not easy. As a method, the load is replaced with several factors that resemble a simple form for which the moment of inertia can be calculated.
  • Page 87 CHAPTER 3 Installation 3) Moment of inertia for cylinder (part 2) The equation for the moment of inertia for a cylinder that has a rotation center such as shown in Fig. 3-81 is given below. ρπ D h (kgm ρπ D h (kgf ·...
  • Page 88 CHAPTER 3 Installation 5) When the object's center line is offset from the rotation center. The equation for the moment of inertia, when the center of the cylinder is offset by the distance "x" from the rotation center as shown in Fig. 3-83, is given as follows.

  • Page 89: Example Of Moment Of Inertia Calculation

    CHAPTER 3 Installation Example of moment of inertia calculation Let's discuss an example in which the chuck and workpiece are at a position offset by 10cm from the R-axis by a stay, as shown in Fig. 3-86. The moment of inertia is calculated with the following three factors, assuming that the load material is steel and its density ρ...

  • Page 90: Total Weight

    CHAPTER 3 Installation 2) Moment of inertia of the chuck R-axis When the chuck form resem- bles that shown in Fig. 3-88, the weight of the chuck (Wc) Wc = 0.0078 × 2 × 4 × 6 = 0.37 (kgf) The moment of inertia of the chuck (Jc) is then calculated from Eq.

  • Page 91: Attaching The End Effector

    CHAPTER 3 Installation Attaching the end effector WARNING Before attaching the end effector, be sure to turn off the controller. The manipulator part to which an end effector is attached must have adequate strength and rigidity, as well as gripping force to prevent positioning errors. Table 3-1 shows the maximum load that can be applied to the end effector attachment of each robot model.
  • Page 92 CHAPTER 3 Installation φ8 +0.2 (Hole for attaching user tool or R-axis rotation during direct teaching) Z-axis mechanical stopper Retaining ring to set the user tool (See cautions on page 3-55.) O-ring groove for clean room models Spline shaft (hollow): hollow diameter φ10 φ22 -0.021 M12×1.75, depth 20...
  • Page 93 CHAPTER 3 Installation Table 3-1 Mmax Robot Model kgfm kgfm YK250X(H) YK350X(H) YK400X(H) YK500X YK600X YK700X YK800X YK1000X YK1200X 1215 10.0 YK550X End effector Stay Mmax Fzmax Fig. 3-91 Maximum load applied to end effector attachment 3-53...
  • Page 94 CHAPTER 3 Installation Table 3-2 Tightening torque Number of Bolts Used Hole diameter(mm) bolts Robot Model kgf·cm +0.018 M4 or lager YK250X (H) 2 or more +0.018 M4 or lager 2 or more YK350X (H) +0.018 YK400X (H) M4 or lager 2 or more +0.018 YK500X...
  • Page 95 CHAPTER 3 Installation WARNING The end effector attachment must have adequate strength to withstand the loads listed in Table 3-1. If too weak, the attachment may break during robot operation and fragments fly off causing accidents or injuries. WARNING The end effector attachment must have sufficient rigidity versus the loads listed in Table 3-1.

  • Page 96: Gripping Force Of End Effector

    CHAPTER 3 Installation Gripping force of end effector The gripping force of the end effector must have a sufficient extra margin of strength versus the workpiece weight and reaction force applied to the workpiece during robot operation. The reaction force applied to the workpiece during operation can be calculated from the acceleration applied to the end effector attachment.

  • Page 97: Limiting The Movement Range With X-Axis Mechanical Stoppers (Yk500X, Yk600X, Yk700X, Yk800X, Yk1000X, Yk1200X)

    Mechanical Stoppers (YK500X, YK600X, YK700X, YK800X, YK1000X, YK1200X) In the YK-X series (YK500X, YK600X, YK700X, YK800X, YK1000X, YK1200X), the movement range can be limited by changing the X-axis mechani- cal stopper positions. (The Y-axis mechanical stopper positions are fixed and cannot be changed.)

  • Page 98: Yk500X, Yk600X, Yk700X, Yk800X, Yk1000X, Yk1200X

    CHAPTER 3 Installation YK500X, YK600X, YK700X, YK800X, YK1000X, YK1200X To change the X-axis mechanical stopper positions, use the procedure below. 1) Prepare the necessary tools. Hex wrench set 2) Turn off the robot controller. 3) Place a sign indicating the robot is being adjusted, to keep others from touch- ing the controller switch.

  • Page 99: Chapter 3 Installation

    CHAPTER 3 Installation Y-axis mechanical stopper(fixation) Tapped hole for stopper installation X-axis mechanical stopper Fig. 3-94 Mechanical stopper positions and movement range (YK500X, YK600X) Y-axis mechanical stopper(fixation) Tapped hole for stopper installation X-axis mechanical stopper Fig. 3-95 Mechanical stopper positions and movement range (YK700X, YK800X, YK1000X) 3-59...
  • Page 100 CHAPTER 3 Installation 128° Y-axis mechanical stopper Tapped hole for stopper installation X-axis mechanical stopper Fig. 3-96 Mechanical stopper positions and movement range (YK1200X) 3-60...

  • Page 101: Yk550X

    CHAPTER 3 Installation YK550X To change the X-axis mechanical stopper positions, use the procedure below while referring to Fig. 3-97. 1) Turn the robot X-axis arm so that it faces the machine front. 2) Remove the cover on the X-axis. 3) The mechanical stoppers are not installed at the time of shipment, but the robot has fixed stoppers cast integrally with the arm.
  • Page 102 CHAPTER 3 Installation Installation position of X-axis mechanical stoppers (Remove the cover.) Urethane damper (When installing the mechanical stoppers, use caution not to allow the mechanical stoppers to make contact with the urethane dampers.) Tapped hole for stopper installation Stopper for maximum working envelope X-axis arm Stopper Fig.

  • Page 103: Limiting The Movement Range With Y-Axis Mechanical Stoppers

    CHAPTER 3 Installation Limiting the Movement Range with Y-Axis Mechanical Stoppers YK550X To change the Y-axis mechanical stopper positions, use the procedure below while referring to Fig. 3-98. 1) Turn the robot X and Y-axis arms so that they are nearly straight. 2) The mechanical stoppers are not installed at the time of shipment, but the robot has fixed stoppers cast integrally with the arm.

  • Page 104: Yk1200X

    CHAPTER 3 Installation YK1200X To limit the movement range of the Y-axis of the YK1200X, the user must pre- pare and assemble the shock absorber shown below and the shock absorber clamp parts shown in Fig. 3-99. Use of these parts makes it possible to limit the movement range of the Y-axis from ±150 degrees (standard) to ±110 degrees .
  • Page 105 CHAPTER 3 Installation 1) Prepare a hex wrench set. 2) Turn off the robot controller. 3) Place a sign indicating the robot is being adjusted, to keep others from touch- ing the controller switch. 4) Enter the safeguard enclosure. 5) Remove the Y-axis mechanical stopper clamp bolts and then remove the me- chanical stopper.
  • Page 106 CHAPTER 3 Installation Shock absorber Clamp nut Fig. 3-102 ● Overrun amounts during impacts with Y-axis mechanical stopper The robot overruns the mechanical stopper position when it strikes the mechani- cal stopper. Use caution and take overrun into account since the end effector may interfere with the robot body and peripheral equipment or the robot body may interfere with the peripheral equipment.

  • Page 107: Limiting The Movement Range With Z-Axis Mechanical Stoppers (Yk1200X)

    CHAPTER 3 Installation Limiting the Movement Range with Z-Axis Mechanical Stoppers (YK1200X) To limit the movement range of the Z-axis of the YK1200X, the user must pre- pare and assemble the mechanical stopper parts shown in Fig. 3-103. Use of these parts makes it possible to narrow the movement range of the Z-axis. WARNING Always turn off the controller before changing the movement range with me- chanical stoppers.

  • Page 108: Installing The Minus Direction Stopper

    CHAPTER 3 Installation Installing the minus direction stopper Install the additional mechanical stopper in the Z-axis minus direction by follow- ing the instructions shown in Fig. 3-104. 1) Prepare a hex wrench set. 2) Turn off the robot controller. 3) Place a sign indicating the robot is being adjusted, to keep others from touch- ing the controller switch.
  • Page 109 CHAPTER 3 Installation When the machine reference is within the allowable range (between 26 and 74%), proceed to step 16). If the machine reference is outside the allowable range, adjust it as described in step 11) onward. 11) Turn off the controller and enter the safeguard enclosure. 12) Put a mark at the added stopper position and loosen the bolt for the added stopper.
  • Page 110 CHAPTER 3 Installation Minus direction standard stopper Added minus direction stopper Added plus direction stopper Plus direction standard stopper Fig. 3-104 3-70...

  • Page 111: Installing The Plus Direction Stopper

    CHAPTER 3 Installation Installing the plus direction stopper Install the additional mechanical stopper in the Z-axis plus direction by follow- ing the instructions shown in Fig. 3-104. 1) Prepare a hex wrench set. 2) Turn off the robot controller. 3) Place a sign indicating the robot is being adjusted, to keep others from touch- ing the controller switch.

  • Page 112: Overrun Amounts During Impacts With Z-Axis Mechanical Stopper

    CHAPTER 3 Installation Overrun amounts during impacts with Z-axis mechanical stopper The robot overruns the mechanical stopper position when it strikes the mechani- cal stopper. Use caution and take overrun into account since the end effector may interfere with the robot body and peripheral equipment or the robot body may interfere with the peripheral equipment.

  • Page 113: Limiting The Movement Range With X-, Y- And Z-Axis Mechanical Stoppers (Yk250X, Yk350X, Yk400X, Yk250Xh, Yk350Xh, Yk400Xh)

    CHAPTER 3 Installation Limiting the Movement Range with X-, Y- and Z-Axis Mechanical Stoppers (YK250X, YK350X, YK400X, YK250XH, YK350XH, YK400XH) 10-1 Installing the X-, Y- and Z-axis additional mechanical stoppers The X-, Y- and Z-axis movement ranges can be narrowed as shown in Table 3-6 by ordering and installing additional optional parts listed in Table 3-5.
  • Page 114 CHAPTER 3 Installation YK250X(H), YK350X(H), YK400X(H) Part No. Remarks KBE-M1780-000 Stopper block Additional mechanical stopper parts in KN3-M1789-000 Damper Z-axis plus direction 91312-04012 Bolt YK250X,YK350X,YK400X Part No. Remarks Stopper block Additional mechanical stopper parts in KN3-M183A-000 (supplied with bolt) Z-axis minus direction YK250XH,YK350XH,YK400XH Part No.
  • Page 115 CHAPTER 3 Installation Soft limits after installing additional stoppers YK250X(H), YK350X(H), YK400X(H) Soft limit (pulses) Working envelope X-axis working envelope in plus direction 232107 102° X-axis working envelope in minus direction -232107 -102° YK250X(H), YK350X(H), YK400X(H) Soft limit (pulses) Working envelope Y-axis working envelope in plus direction 193422 85°...

  • Page 116: Installing The X- And Y-Axis Additional Mechanical Stoppers

    CHAPTER 3 Installation 10-2 Installing the X- and Y-axis additional mechanical stoppers Install the X- and Y-axis additional mechanical stoppers by following the instruc- tions shown in Fig. 3-106. The X- and Y-axis mechanical stoppers can be installed separately in the plus and minus directions.
  • Page 117 CHAPTER 3 Installation Tightening torque: 42Nm (425kgf•cm) Place the damper between the bolt head and nut, and then tighten the nut to secure the parts to the arm side. Minus direction Plus direction Added Y-axis stopper Added Y-axis stopper Remove the tapped-hole Remove the tapped-hole plug screw.

  • Page 118: Installing The Z-Axis Additional Mechanical Stopper

    CHAPTER 3 Installation 10-3 Installing the Z-axis additional mechanical stopper 10-3-1 Installing the minus direction stopper Install the additional mechanical stopper in the Z-axis minus direction by follow- ing the instructions shown in Fig. 3-107. 1) Prepare the hex wrench set and torque wrench. 2) Turn off the robot controller.
  • Page 119 CHAPTER 3 Installation When the machine reference is within the allowable range (between 26 and 74%), proceed to step 16). If the machine reference is outside the allowable range, adjust it as described in step 11) onward. 11) Turn off the controller and enter the safeguard enclosure. 12) Put a mark at the added stopper position and loosen the bolt for the added stopper.

  • Page 120: Chapter 3 Installation

    CHAPTER 3 Installation Apply adhesive to the upper Plus direction stopper surface of q and bond w to eTightening torque: 4.5Nm (46Kgf•cm) Minus direction Minus direction Minus direction stopper Move up the urethane damper. rTightening bolt Tightening torque: Plus direction 9Nm (92Kgf･cm) Fig.

  • Page 121: Installing The Plus Direction Stopper

    CHAPTER 3 Installation 10-3-2 Installing the plus direction stopper Install the additional mechanical stopper in the Z-axis plus direction by follow- ing the instructions shown in Fig. 3-107. 1) Prepare the hex wrench set and torque wrench. 2) Turn off the robot controller. 3) Place a sign indicating the robot is being adjusted, to keep others from touch- ing the controller switch.

  • Page 122: Overrun Amounts During Impacts With X, Y And Z-Axis Additional Mechanical Stoppers

    CHAPTER 3 Installation WARNING The plus direction stopper will become a load, and so the Z-axis acceleration must be reduced as shown below. If not reduced, the service life of the Z-axis drive unit will decrease. Tip load Z-axis acceleration 10-4 Overrun amounts during impacts with X, Y and Z-axis ad- ditional mechanical stoppers...

  • Page 123: Working Envelope And Mechanical Stopper Positions For Maximum Working Envelope

    CHAPTER 3 Installation Working Envelope and Mechanical Stopper Positions for Maximum Working Envelope Working envelope of each robot and mechanical stopper positions for the maxi- mum working envelope are shown in Fig. 3-108 to Fig. 3-120. Z-axis upper end mechanical stopper position 152±2 Z-axis lower end...
  • Page 124 CHAPTER 3 Installation Z-axis upper end mechanical stopper position 144.5±2 Z-axis lower end mechanical stopper YK250XH (Z-axis mechanical stopper position) position Manipulator interference area Manipulator interference area Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) Fig. 3-109 YK250XH 3-84...
  • Page 125 CHAPTER 3 Installation Z-axis upper end mechanical stopper position 152±2 Z-axis lower end mechanical stopper position YK350X (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side Manipulator interference area Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) Fig.
  • Page 126 CHAPTER 3 Installation Z-axis upper end mechanical stopper position 144.5±2 Z-axis lower end mechanical stopper position YK350XH (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side Manipulator interference area Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) Fig.
  • Page 127 CHAPTER 3 Installation Z-axis upper end mechanical stopper position 152±2 Z-axis lower end mechanical stopper position YK400X (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side Manipulator Manipulator interference area interference area Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) Fig.
  • Page 128 CHAPTER 3 Installation Z-axis upper end mechanical stopper position 144.5±2 Z-axis lower end mechanical stopper position YK400XH (Z-axis mechanical stopper position) R145 Manipulator interference area Manipulator interference area Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) Fig. 3-113 YK400XH 3-88...
  • Page 129 CHAPTER 3 Installation Z-axis 300mm stroke 876 Z-axis 200mm stroke 741 Z-axis upper end mechanical stopper position 237±2 Z-axis stroke 200mm Working envelope Z-axis stroke 300mm Working envelope Z-axis lower end mechanical stopper position YK500X (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side (c) Base...
  • Page 130 CHAPTER 3 Installation Z-axis 300mm stroke 876 Z-axis 200mm stroke 741 Z-axis upper end mechanical stopper position 237±2 Z-axis stroke 200mm Working envelope Z-axis stroke 300mm Working envelope Z-axis lower end mechanical stopper position YK600X (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side (c) Base...
  • Page 131 CHAPTER 3 Installation Z-axis 400mm stroke 956 Z-axis 200mm stroke 756 Z-axis upper end mechanical stopper position 236±2 Z-axis stroke 200mm Working envelope Z-axis stroke 400mm Working envelope Z-axis lower end mechanical stopper position YK700X (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side (c) Base...
  • Page 132 CHAPTER 3 Installation Z-axis 400mm stroke 956 Z-axis 200mm stroke 756 Z-axis upper end mechanical stopper position 236±2 Z-axis stroke 200mm Working envelope Z-axis stroke 400mm Working envelope Z-axis lower end mechanical stopper position YK800X (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side (c) Base...
  • Page 133 CHAPTER 3 Installation Z-axis 400mm stroke 956 Z-axis 200mm stroke 756 Z-axis upper end mechanical stopper position 236±2 Z-axis lower end mechanical stopper position YK1000X (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side (c) Base Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) Fig.
  • Page 134 CHAPTER 3 Installation Z-axis upper end mechanical stopper position 381±2 Z-axis lower end mechanical stopper position YK1200X (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side (c) Base Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) Fig.
  • Page 135 CHAPTER 3 Installation Z-axis upper end mechanical stopper position 326±2 Fan position Z-axis lower end mechanical stopper position Area to mechanical stopper (cannot be used) M4 ground terminal YK550X (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear side (c) Base 145°...
  • Page 136 CHAPTER 3 Installation Here, working envelope and mechanical stopper positions for the maximum work- ing envelope of a robot are described using the YK500X as an example. Refer to Fig. 3-114 YK500X. Other robot models are the same. 1) X and Y axes 1.
  • Page 137 CHAPTER 3 Installation 4) Robot overrun during impacts with mechanical stopper A urethane damper is installed to absorb the shock when an impact occurs with the mechanical stopper, so a certain amount of overrun occurs when the robot strikes the mechanical stopper. Use caution and take overrun into ac- count since the end effector may interfere with the robot body and peripheral equipment or the robot body may interfere with the peripheral equipment.

  • Page 138: Stopping Time And Stopping Distance At Emergency Stop

    CHAPTER 3 Installation Stopping Time and Stopping Distance at Emergency Stop When the emergency stop button is pressed during robot operation or the power supply to the controller is turned off, the stopping time and stopping distance or angle of the main 3 axes change depending on the operation speed as shown below.
  • Page 139 CHAPTER 3 Installation 1kg XY-axis 2kg XY-axis 3kg XY-axis 0.25 0.15 0.05 Operation speed (%) Fig. 3-123 XY-axis minus direction stopping time for YK250X(H) 1kg X-axis 1kg Y-axis 2kg X-axis 2kg Y-axis 3kg X-axis 3kg Y-axis Operation speed (%) Fig. 3-124 XY-arm minus direction stopping rotation angle for YK250X(H) 3-99...
  • Page 140 CHAPTER 3 Installation 1kg XY-axis 2kg XY-axis 0.35 3kg XY-axis 0.25 0.15 0.05 Operation speed (%) Fig. 3-125 XY-axis plus direction stopping time for YK350X(H) 1kg X-axis 1kg Y-axis 2kg X-axis 2kg Y-axis 3kg X-axis 3kg Y-axis Operation speed (%) Fig.
  • Page 141 CHAPTER 3 Installation 1kg XY-axis 2kg XY-axis 0.35 3kg XY-axis 0.25 0.15 0.05 Operation speed (%) Fig. 3-127 XY-axis minus direction stopping time for YK350X(H) 1kg X-axis 1kg Y-axis 2kg X-axis 2kg Y-axis 3kg X-axis 3kg Y-axis Operation speed (%) Fig.
  • Page 142 CHAPTER 3 Installation 0.45 1kg XY-axis 2kg XY-axis 3kg XY-axis 0.35 0.25 0.15 0.05 Operation speed (%) Fig. 3-129 XY-axis plus direction stopping time for YK400X(H) 1kg X-axis 1kg Y-axis 2kg X-axis 2kg Y-axis 3kg X-axis 3kg Y-axis Operation speed (%) Fig.
  • Page 143 CHAPTER 3 Installation 0.45 1kg XY-axis 2kg XY-axis 3kg XY-axis 0.35 0.25 0.15 0.05 Operation speed (%) Fig. 3-131 XY-axis minus direction stopping time for YK400X(H) 1kg X-axis 1kg Y-axis 2kg X-axis 2kg Y-axis 3kg X-axis 3kg Y-axis Operation speed (%) Fig.
  • Page 144 CHAPTER 3 Installation 0.05 1kg Z-axis 2kg Z-axis 0.045 3kg Z-axis 0.04 0.035 0.03 0.025 0.02 0.015 0.01 0.005 Operation speed (%) Fig. 3-133 Z-axis stopping time for YK250X(H) and YK350X(H) Operation speed (%) Fig. 3-134 Z-axis stopping distance for YK250X(H) and YK350X(H) 3-104...
  • Page 145 CHAPTER 3 Installation 0.05 1kg Z-axis 2kg Z-axis 0.045 3kg Z-axis 0.04 0.035 0.03 0.025 0.02 0.015 0.01 0.005 Operation speed (%) Fig. 3-135 Z-axis stopping time for YK400X(H) Operation speed (%) Fig. 3-136 Z-axis stopping distance for YK400X(H) 3-105...

  • Page 146: Yk1200X

    CHAPTER 3 Installation 12-2 YK1200X 16.5kg XY-axis 33kg XY-axis 50kg XY-axis Operation speed (%) Fig. 3-137 XY-axis stopping time for YK1200X 16.5kg X-axis 33kg X-axis 50kg X-axis 16.5kg Y-axis 33kg Y-axis 50kg Y-axis Operation speed (%) Fig. 3-138 XY-arm stopping rotation angle for YK1200X 3-106...
  • Page 147 CHAPTER 3 Installation 0.07 16.5kg Z-axis 33kg Z-axis 50kg Z-axis 0.06 0.05 0.04 0.03 0.02 0.01 Operation speed (%) Fig. 3-139 Z-axis stopping time for YK1200X 16.5kg 33kg 50kg Operation speed (%) Fig. 3-140 Z-axis stopping distance for YK1200X 3-107...
  • Page 148 MEMO 3-108...
  • Page 149 CHAPTER Adjustment 1 Overview .................4-1 2 Safety Precautions ..............4-1 3 Adjusting the origin ..............4-2 Absolute reset method ..............4-3 3-1-1 Sensor method (X-axis, Y-axis, and R-axis) ........4-3 3-1-2 Mark method (X-axis, Y-axis, and R-axis) ........4-4 3-1-3 Stroke end method (Z-axis) ............. 4-4 Machine reference ................
  • Page 150 8 Adjusting the Timing Belt Tension .........4-70 Adjusting the belt tension (YK250X(H), YK350X(H), YK400X(H)) ..4-71 Adjusting the belt tension (YK500X, YK600X) ....... 4-73 Adjusting the belt tension (YK700X, YK800X, YK1000X) ....4-75 Adjusting the belt tension (YK1200X) ..........4-77 Adjusting the Z-axis and R-axis belts (YK550X) ......

  • Page 151: Chapter 4 Adjustment

    CHAPTER 4 Adjustment Overview YAMAHA robots have been completely adjusted at the factory or by the sales representative before shipment, including the origin position adjustment. If the operating conditions are changed and the robot must be adjusted, then follow the procedures described in this chapter.

  • Page 152: Adjusting The Origin

    CHAPTER 4 Adjustment Adjusting the origin All models of the YK-X series robots use an absolute type position detector. The origin position (zero pulse point) can be determined by absolute reset. Once ab- solute reset is performed, you do not have to repeat absolute reset when turning the power on next time.

  • Page 153: Absolute Reset Method

    CHAPTER 4 Adjustment There are three absolute reset methods for the YK-X series: the sensor method, mark method, and stroke end method. The X-axis, Y-axis, and R-axis use the sensor method as the initial setting, while the Z-axis uses the stroke end method.

  • Page 154: Mark Method (X-Axis, Y-Axis, And R-Axis)

    CHAPTER 4 Adjustment 3-1-2 Mark method (X-axis, Y-axis, and R-axis) In the mark method, you move the robot beforehand, to the position where you want to perform absolute reset and then perform absolute reset there. Use either of the following 2 methods to move the robot to the position where you want to perform absolute reset.

  • Page 155: Machine Reference

    CHAPTER 4 Adjustment Machine reference The YK-X series position detectors are resolvers that have four positions where absolute reset can be performed per motor revolution. If the sensor method is used for the absolute reset, the origin position will be set at the positions where absolute reset can be performed soon after the origin sensor reacts to the dog (the origin signal is detected).

  • Page 156: Absolute Reset Procedures

    The operation procedure using the MPB/RPB is described next. (Press the ESC key on the MPB/RPB if you want to return to the preceding step.) See the "YAMAHA Robot Controller User's Manual" for information on operat- ing the robot controller.
  • Page 157 CHAPTER 4 Adjustment 8) After the absolute reset is completed, check that the machine reference value displayed on the MPB/RPB is between 40 and 60 (recommended range). If the machine reference value is outside the recommended range, then the next absolute reset may not be properly performed. In this case, refer to "3-4 Changing the origin position and adjusting the ma- chine reference", and make the necessary adjustments.

  • Page 158: Mark Method (X-Axis, Y-Axis, And R-Axis)

    CHAPTER 4 Adjustment 3-3-2 Mark method (X-axis, Y-axis, and R-axis) The absolute reset in the mark method is divided into four types according to the conditions as shown in Fig. 4-3. Since each operating procedure is different, refer to the corresponding section in this manual.

  • Page 159: Absolute Reset With Servo On (Re-Reset)

    The operation procedure using the MPB/RPB is described next. (Press the ESC key on the MPB/RPB if you want to return to the preceding step.) See the "YAMAHA Robot Controller User's Manual" for information on operat- ing the robot controller.
  • Page 160 CHAPTER 4 Adjustment 7) Do as follows according to the axis that was selected. (1) X, Y and R axes 1. Jog the robot in steps using the F1 or F2 key so the origin position marks align with each other. (Robot movement speed can be adjusted with the F4 or F5 key.) CAUTION There are several dispersed positions where absolute reset can be performed.

  • Page 161: Absolute Reset With Servo Off (Re-Reset)

    The operation procedure using the MPB/RPB is described next. (Press the ESC key on the MPB/RPB if you want to return to the preceding step.) See the "YAMAHA Robot Controller User's Manual" for information on operat- ing the robot controller.
  • Page 162 CHAPTER 4 Adjustment 8) After moving the robot to a position for absolute reset, check that the figure of the selected axis displayed on the MPB/RPB screen is within 26 to 74 and press the ENTER key. CAUTION There are several dispersed positions where absolute reset can be performed. Move the robot a little bit at a time while viewing the MPB/RPB screen so that the origin position marks match each other.

  • Page 163: Absolute Reset With Servo On (New Reset)

    The operation procedure using the MPB/RPB is described next. (Press the ESC key on the MPB/RPB if you want to return to the preceding step.) See the "YAMAHA Robot Controller User's Manual" for information on operat- ing the robot controller.
  • Page 164 8) After absolute reset is complete, move all robot axes to their "0" pulse posi- tions. To move axes to their "0" pulse positions, see Chapter 4, "Point trace function" in the "YAMAHA Robot Controller User's Manual". CAUTION Before affixing the origin position stickers, be sure to move all robot axes back to their "0"...
  • Page 165 CHAPTER 4 Adjustment 9) After moving all the axes back to their "0" pulse positions, press the emer- gency stop button and affix the supplied origin position stickers to the upper and lower areas of the X-axis, Y-axis, and R-axis. Use these marked positions to perform an absolute reset if it is needed in the future.

  • Page 166: Absolute Reset With Servo Off (New Reset)

    The operation procedure using the MPB/RPB is described next. (Press the ESC key on the MPB/RPB if you want to return to the preceding step.) See the "YAMAHA Robot Controller User's Manual" for information on operat- ing the robot controller.
  • Page 167 10) After absolute reset is complete, set the robot to servo-on and move all robot axes to their "0" pulse positions. To move axes to their "0" pulse positions, see Chapter 4, "Point trace function" in the "YAMAHA Robot Controller User's Manual".
  • Page 168 CHAPTER 4 Adjustment CAUTION Be careful not to let the robot joints move while attaching the origin stickers. When the servo is off, the robot joints may sometimes move due to tension in the harness from the arm position. If this is the case, the origin should be set to another position where the joints will not move.
  • Page 169 CHAPTER 4 Adjustment Table 4-1 Origin position repeatability tolerance YK250X(H), YK350X(H), YK400X(H) Origin position repeatability tolerance (° ) Axis Origin position repeatability tolerance (mm) ±0.90 ±0.78 X-axis ±0.90 ±0.78 Y-axis ±0.90 ±0.58 R-axis YK500X, YK600X Axis Origin position repeatability tolerance (° ) Origin position repeatability tolerance (mm) ±0.56 ±0.58...
  • Page 170 CHAPTER 4 Adjustment Origin position mark (Setting on the user side) Fig. 4-5 Origin position mark setting example YK250X(H), YK350X(H), YK400X(H) 4-20...
  • Page 171 CHAPTER 4 Adjustment Origin position mark (Setting on the user side) Origin position mark (Setting on the user side) Fig. 4-6 Origin position mark setting example YK500X, YK600X 4-21...
  • Page 172 CHAPTER 4 Adjustment Origin position mark (Setting on the user side) Origin position mark (Setting on the user side) Fig. 4-7 Origin position mark setting example YK700X, YK800X, YK1000X 4-22...
  • Page 173 CHAPTER 4 Adjustment Origin position sticker (Setting on the user side) Origin position sticker (Setting on the user side) Fig. 4-8 Origin position mark setting example YK1200X 4-23...

  • Page 174: Stroke End Method (Z-Axis)

    The operation procedure using the MPB/RPB is described next. (Press the ESC key on the MPB/RPB if you want to return to the preceding step.) See the "YAMAHA Robot Controller User's Manual" for information on operat- ing the robot controller.

  • Page 175: Changing The Origin Position And Adjusting The Machine Reference

    CHAPTER 4 Adjustment Changing the origin position and adjusting the machine reference CAUTION If the origin position has been changed, then the absolute reset must be per- formed, the machine reference must be adjusted, and the standard coordinate and point data must be reset. CAUTION If any machine reference is adjusted, the origin position may change.

  • Page 176: Sensor Method

    CHAPTER 4 Adjustment 3-4-1 Sensor method 3-4-1-1 YK250X(H), YK350X(H), YK400X(H) 1-1 Adjusting the X-axis machine reference The adjustment method for the X-axis machine reference is as follows. 1) Prepare the necessary tools. • Hex wrench set 2) Check that no one is inside the safeguard enclosure and then turn on the controller.
  • Page 177 CHAPTER 4 Adjustment 13) After the absolute reset is completed, read the machine reference value dis- played on the MPB/RPB. 14) If the machine reference value is in the range between 40 and 60 (recom- mended range), then the machine reference has been completely adjusted. If it is outside the recommended range, then repeat the procedure that starts in 5) to readjust it.
  • Page 178 CHAPTER 4 Adjustment 1-2 Changing the X-axis origin position CAUTION If the origin position has been changed, then the absolute reset must be per- formed, the machine reference must be adjusted, and the standard coordinate and point data must be reset. The method to change the X-axis origin position is as follows.
  • Page 179 CHAPTER 4 Adjustment 2-1 Adjusting the Y-axis machine reference The adjustment method for the Y-axis machine reference is as follows. 1) Prepare the necessary tools. • Hex wrench set 2) Check that no one is inside the safeguard enclosure and then turn on the controller.
  • Page 180 CHAPTER 4 Adjustment 2-2 Changing the Y-axis origin position CAUTION If the origin position has been changed, then the absolute reset must be per- formed, the machine reference must be adjusted, and the standard coordinate and point data must be reset. The method to change the Y-axis origin position is as follows.
  • Page 181 CHAPTER 4 Adjustment 3-1 Adjusting the R-axis machine reference The adjustment method for the R-axis machine reference is as follows. 1) Prepare the necessary tools. • Hex wrench set 2) Check that no one is inside the safeguard enclosure and then turn on the controller.
  • Page 182 CHAPTER 4 Adjustment 3-2 Changing the R-axis origin position CAUTION If the origin position has been changed, then the absolute reset must be per- formed, the machine reference must be adjusted, and point data must be reset. The method to change the R-axis origin position is as follows. 1) Prepare the necessary tools.
  • Page 183 CHAPTER 4 Adjustment X-axis dog ring X-axis dog X-axis origin sensor Set screw (One each on opposite sides) R-axis origin sensor Y-axis origin sensor R-axis dog R-axis dog ring Y-axis dog Y-axis dog ring Table 4-2 Axis Movement amount (mm) for 100% of machine reference 1.88 1.54 1.38...

  • Page 184: Yk500X, Yk600X, Yk700X,Yk800X, Yk1000X

    CHAPTER 4 Adjustment 3-4-1-2 YK500X, YK600X, YK700X,YK800X, YK1000X 1-1 Adjusting the X-axis machine reference The adjustment method for the X-axis machine reference is as follows. 1) Prepare the necessary tools. • Hex wrench set 2) Check that no one is inside the safeguard enclosure and then turn on the controller.
  • Page 185 CHAPTER 4 Adjustment 14) If the machine reference value is in the range between 40 and 60 (recom- mended range), then the machine reference has been completely adjusted. If it is outside the recommended range, then repeat the procedure that starts in 5) to readjust it.
  • Page 186 CHAPTER 4 Adjustment 1-2 Changing the X-axis origin position CAUTION If the origin position has been changed, then the absolute reset must be per- formed, the machine reference must be adjusted, and the standard coordinate and point data must be reset. The method to change the X-axis origin position is as follows.
  • Page 187 CHAPTER 4 Adjustment 2-1 Adjusting the Y-axis machine reference The adjustment method for the Y-axis machine reference is as follows. 1) Prepare the necessary tools. • Hex wrench set 2) Check that no one is inside the safeguard enclosure and then turn on the controller.
  • Page 188 CHAPTER 4 Adjustment 12) Perform the absolute reset from outside the safeguard enclosure. 13) After the absolute reset is completed, read the machine reference value dis- played on the MPB/RPB. 14) If the machine reference value is in the range between 40 and 60 (recom- mended range), then the machine reference has been completely adjusted.
  • Page 189 CHAPTER 4 Adjustment 2-2 Changing the Y-axis origin position CAUTION If the origin position has been changed, then the absolute reset must be per- formed, the machine reference must be adjusted, and the standard coordinate and point data must be reset. The method to change the Y-axis origin position is as follows.
  • Page 190 CHAPTER 4 Adjustment 11) After the absolute reset is completed, read the machine reference value dis- played on the MPB/RPB. 12) If the machine reference value is between 40 and 60 (recommended range), then the origin position has been completely changed. If it is outside the recommended range, then adjust the machine reference by referring to "2-1 Adjusting the Y-axis machine reference".
  • Page 191 CHAPTER 4 Adjustment 3-1 Adjusting the R-axis machine reference The adjustment method for the R-axis machine reference is as follows. 1) Prepare the necessary tools. • Hex wrench set 2) Check that no one is inside the safeguard enclosure and then turn on the controller.
  • Page 192 CHAPTER 4 Adjustment 3-2 R-axis origin position change The R-axis origin position cannot be changed on the YK500X, YK600X, YK700X, YK800X, and YK1000X. 4-42...
  • Page 193 CHAPTER 4 Adjustment X-axis dog plate M4 bolts (2 places) X-axis dog X-axis origin sensor Table 4-3 Movement amount (mm) for 100% of machine reference Axis YK500X, YK600X YK700X, YK800X, YK1000X 1.23 1.63 (YK1000X : 1.31) 1.17 1.48 1.58 1.71 * Machine reference <...

  • Page 194: Yk550X

    CHAPTER 4 Adjustment 3-4-1-3 YK550X Changing the X-axis origin position and adjusting the machine reference value 1) Prepare the necessary tools. • Slotted screwdriver • Hex wrench set • Plastic hammer 2) Check that no one is inside the safeguard enclosure, and then turn on the controller.
  • Page 195 CHAPTER 4 Adjustment Set screw Rear cover X-axis origin dog Right Left Adjustment window Rubber cap Fig. 4-11 X-axis origin dog 13) Go outside the safeguard enclosure, check that no one is inside the safeguard enclosure, and turn on the controller. Then perform absolute reset and check the X-axis origin position when return-to-origin is complete.
  • Page 196 CHAPTER 4 Adjustment Changing the Y-axis origin position and adjusting the machine reference value 1) Prepare the necessary tools. • Hex wrench set 2) Check that no one is inside the safeguard enclosure, and then turn on the controller. 3) Perform the absolute reset from outside the safeguard enclosure. Refer to "3-3 Absolute reset procedures"...
  • Page 197 CHAPTER 4 Adjustment Set screw Y-axis origin dog Left Right Adjustment window M16 set screw Fig. 4-12 Y-axis origin dog 13) Go outside the safeguard enclosure, check that no one is inside the safeguard enclosure, and turn on the controller. Then perform absolute reset and check the Y-axis origin position when return-to-origin is complete.
  • Page 198 CHAPTER 4 Adjustment Changing the R-axis origin position and adjusting the machine reference value The R-axis origin position is fixed and cannot be changed. The R-axis machine reference value is preadjusted before shipment and does not deviate from the allowable range (40 to 60%) during normal operation. However, if for some reason the machine reference value goes outside the allowable range, adjust as needed with the procedure below.
  • Page 199 CHAPTER 4 Adjustment 9) Put a mark on the current position of the R-axis origin sensor, then loosen the bolts (M4, 1 piece) securing the installation plate of the R-axis origin sensor. (See Fig. 4-14.) M4 Bolt Fig. 4-14 Adjusting the R-axis origin sensor 10) Move the R-axis origin sensor as indicated in NOTE below.

  • Page 200: Mark Method

    CHAPTER 4 Adjustment 3-4-2 Mark method In the mark method, the origin position can be changed with the absolute reset at the desired position. It is not necessary to adjust the machine reference. Refer to "Chapter 4, 3-3 Absolute reset procedures" for information about the absolute reset method with the mark method.

  • Page 201: Stroke End Method

    CHAPTER 4 Adjustment 3-4-3 Stroke end method The stroke end method is employed on the YK-X series robots for the absolute reset of the Z-axis. The origin position of the Z-axis is fixed at the upper end of the Z-axis stroke, and it cannot be changed.
  • Page 202 CHAPTER 4 Adjustment 8) Remove the bolts securing the Z-axis motor (See Figs. 4-15 to 4-18) and then remove the Z-axis motor. WARNING If the Z-axis motor comes off the Z-axis belt, the Z-axis drops causing a hazard- ous situation. Be sure to prop the Z-axis with a support stand. 9) Adjust the distance (L) between the Z-axis mechanical stopper and the axis end so it is set to the value shown in Table 4-4.

  • Page 203: Chapter 4. After Absolute Reset Is Complete, Use The Following Procedure To Check If The Adjustment Machine Reference Value Is Within The Tolerance Range

    CHAPTER 4 Adjustment 14) Perform the Z-axis absolute reset. To perform the Z-axis absolute reset, see "3-3 Absolute reset procedures" in Chapter 4. After absolute reset is complete, use the following procedure to check if the adjustment machine reference value is within the tolerance range (26 and 74).
  • Page 204 CHAPTER 4 Adjustment Z-axis motor Z-axis motor installation bolt M3×6 Fig. 4-15 YK250X(H), YK350X(H), YK400X(H) Z-axis motor Z-axis motor installation bolt M5×14 Fig. 4-16 YK500X, YK600X Z-axis motor Z-axis motor installation bolt M5×12 Fig. 4-17 YK700X, YK800X, YK1000X Z-axis motor Z-axis motor installation bolt M6×20 Fig.

  • Page 205: Yk550X

    CHAPTER 4 Adjustment 3-4-3-2 YK550X 1) Prepare the necessary tools. • Hex wrench set • Phillips screwdriver • Support stand • Ruler 2) Check that no one is inside the safeguard enclosure, and then turn on the controller. 3) Perform the absolute reset from outside the safeguard enclosure. Refer to "3-3 Absolute reset procedures"...
  • Page 206 CHAPTER 4 Adjustment plate M4 bolt Upper cover Machine harness Z-axis motor plate Scribed line Screw Screw R-axis speed reduction gear Screw Screw Y-axis arm Z-axis spline Under cover Scribed line Under cover Stand Fig. 4-21 4-56...
  • Page 207 CHAPTER 4 Adjustment 10) Adjust the height of the support stand so that the distance between the urethane damper and the upper face of the ball screw nut is 12mm as shown in Fig. 4- 22. Then, fit the Z-axis belt on the Z-axis motor pulley. 11) Lightly tighten the bolts to temporarily fasten the Z-axis motor underplate until it has no play in the vertical direction.
  • Page 208 CHAPTER 4 Adjustment Pull Urethane damper Ball screw nut M4 bolt Y-axis arm Pulley Spline Pulley Z-axis belt Stand Fig. 4-22 4-58...

  • Page 209: Setting The Soft Limits

    CHAPTER 4 Adjustment Setting the Soft Limits In the YK-X series, the working envelope during manual and automatic operation can be limited by setting the plus soft limit [pulse] and minus soft limit [pulse] on each axis. The origin point ( 0 [pulse] )is used as the reference to set the soft limits. The working envelope can be limited by specifying the number of pulses from the 0 pulse position.
  • Page 210 CHAPTER 4 Adjustment CAUTION The origin position factory-adjusted at shipment is not completely aligned with the front face position of the robot. When introducing the robot, be sure to set the soft limits with the number of pulses from the origin position (0 pulse position). 4-60...
  • Page 211 CHAPTER 4 Adjustment (2) Setting the Z-axis soft limits Make this setting from outside the safeguard enclosure. The Z-axis has mechanical stoppers fixed at the upper and lower ends of the Z-axis movement range. When the actual working range of the robot is smaller than the maximum working envelope or the manipulator interferes with the peripheral equipment, reduce the Z-axis plus (+) soft limit [pulses] to narrow the working envelope.

  • Page 212: Setting The Standard Coordinates

    5) Make the standard coordinate settings while referring to methods for "Set- ting the Standard Coordinates" as explained in the "YAMAHA Robot Con- troller User's Manual". Never enter within the robot movement range. 6) When the standard coordinate settings are complete, check the following points from outside the safeguard enclosure.

  • Page 213: Affixing Stickers For Origin Positions, Movement Directions And Axis Names

    2) Move the robot to the 0 pulse position. To move the axes to their "0" pulse positions, see "Chapter 4 Point trace function" in the "YAMAHA Robot Controller User's Manual". 3) Turn off the controller. 4) Place a sign indicating the robot is being adjusted, to keep others from oper- ating the controller switch.
  • Page 214 CHAPTER 4 Adjustment End effector Fig. 4-24 Positions for affixing the stickers (YK500X) 4-64...

  • Page 215: Removing The Robot Covers

    CHAPTER 4 Adjustment Removing the Robot Covers To remove the robot cover, follow the procedure below. 1) Prepare the necessary tools. • Hex wrench set • Phillips-head screwdriver 2) Turn off the controller. 3) Place a sign indicating the robot is being adjusted, to keep others from oper- ating the controller switch.
  • Page 216 CHAPTER 4 Adjustment eM3×6 (with washer) Y-axis upper cover Base rear cover wM4×6 Base front cover qM4×6 rM3×10 tM3×16 Fig. 4-25 4-66...
  • Page 217 CHAPTER 4 Adjustment tM3×6 (with washer) rM4×6 Y-axis upper cover X-axis upper cover eM4×6 Y-axis under cover qM4×6 Base rear cover 1 Base front cover yM3×50 Base rear cover 2 wM4×6 uM4×6 Fig. 4-26 4-67...
  • Page 218 CHAPTER 4 Adjustment tM4×6 (with washer) rM4×8 Y-axis upper cover X-axis upper cover eM4×6 Y-axis under cover Base front cover yM4×50 uM4×6 qM4×6 Base rear cover 1 wM4×6 Base rear cover 2 Fig. 4-27 4-68...
  • Page 219 CHAPTER 4 Adjustment rM4×6 y M4×6 Y-axis arm front cover uM4×6 Y-axis arm side cover X-axis arm upper cover X-axis arm under cover tM4×6 qM4×6 Base rear cover 1 Base front cover Base rear cover 2 wM4×6 eM4×6 Fig. 4-28 4-69...

  • Page 220: Adjusting The Timing Belt Tension

    CHAPTER 4 Adjustment Adjusting the Timing Belt Tension The YK-X series robots use a timing belt for controlling the movement of the Z and R axes. If the belt becomes slack, use the following procedure to give proper tension to the belt.

  • Page 221: Adjusting The Belt Tension (Yk250X(H), Yk350X(H), Yk400X(H))

    CHAPTER 4 Adjustment Adjusting the belt tension (YK250X(H), YK350X(H), YK400X(H)) WARNING If the Z-axis pulley comes off the Z-axis belt, the Z-axis drops causing a hazard- ous situation. Turn off the controller and be sure to prop the Z-axis with a sup- port stand before beginning adjustment.
  • Page 222 CHAPTER 4 Adjustment (2) R-axis belt adjustment 1. Loosen the bolt w shown in Fig. 4-31. 2. If the load producing the slack specified in Table 4-10 (step 7) above) is smaller than the specified range, move the R-axis motor in the direction increasing the tension.

  • Page 223: Adjusting The Belt Tension (Yk500X, Yk600X)

    CHAPTER 4 Adjustment Adjusting the belt tension (YK500X, YK600X) WARNING If the Z-axis pulley comes off the Z-axis belt, the Z-axis drops causing a hazard- ous situation. Turn off the controller and be sure to prop the Z-axis with a sup- port stand before beginning adjustment.
  • Page 224 CHAPTER 4 Adjustment (2) R-axis belt adjustment 1. Loosen the bolt w shown in Fig. 4-32. 2. If the load producing the slack specified in Table 4-10 (step 7) above) is smaller than the specified range, move the R-axis motor in the direction increasing the tension.

  • Page 225: Adjusting The Belt Tension (Yk700X, Yk800X, Yk1000X)

    CHAPTER 4 Adjustment Adjusting the belt tension (YK700X, YK800X, YK1000X) WARNING If the Z-axis pulley comes off the Z-axis belt, the Z-axis drops causing a hazard- ous situation. Turn off the controller and be sure to prop the Z-axis with a sup- port stand before beginning adjustment.
  • Page 226 CHAPTER 4 Adjustment (2) R-axis belt adjustment 1. Loosen the bolt w shown in Fig. 4-33. 2. If the load producing the slack specified in Table 4-10 (step 7) above) is smaller than the specified range, move the R-axis motor in the direction increasing the tension.

  • Page 227: Adjusting The Belt Tension (Yk1200X)

    CHAPTER 4 Adjustment Adjusting the belt tension (YK1200X) WARNING If the Z-axis pulley comes off the Z-axis belt, the Z-axis drops causing a hazard- ous situation. Turn off the controller and be sure to prop the Z-axis with a sup- port stand before beginning adjustment.
  • Page 228 CHAPTER 4 Adjustment (2) R-axis belt adjustment 1. Loosen the bolt w shown in Fig. 4-34. 2. If the load producing the slack specified in Table 4-10 (step 7) above) is smaller than the specified range, move the R-axis motor in the direction increasing the tension.
  • Page 229 CHAPTER 4 Adjustment Table 4-9 Z-axis belt specifications Robot model Load(N) Load(kgf) Slack (mm) (Ref.) Belt vibration frequency(Hz) YK250X(H), YK350X(H) 2.7 to 2.9 0.28 to 0.30 430 to 453 2.8 to 3.1 0.29 to 0.32 YK400X(H) 215 to 226 9.5 to 10.1 0.97 to 1.03 YK500X, YK600X 213 to 225...

  • Page 230: Adjusting The Z-Axis And R-Axis Belts (Yk550X)

    CHAPTER 4 Adjustment Adjusting the Z-axis and R-axis belts (YK550X) The Z-axis and R-axis timing belts of the YK550X use a material that will not stretch under normal operation. The proper belt tension will be maintained unless otherwise the position of the Z-axis motor or R-axis speed reduction gear unit is moved.
  • Page 231 CHAPTER 4 Adjustment 10) Pull the Z-axis motor in the direction of arrow and align the scribed lines (on both sides of the X-axis motor underplate) with the reference scribed lines. While maintaining this position, tighten the four M4 bolts to 4.5Nm (46kgf·cm) to secure the Z-axis motor underplate.
  • Page 232 CHAPTER 4 Adjustment Tension adjust bolt Pull Pull and then move back Flange end surface M4 bolt Scribed line M4 bolt Z-axis motor Ball screw Scribed line Spline R-axis speed reduction gear unit plate Y-axis arm Scribed line Pulley Spline Z-axis belt R-axis belt Stand...

  • Page 233: Adjusting The R-Axis Belt Tension

    CHAPTER 4 Adjustment Adjusting the R-axis belt tension 1) Prepare the necessary tools. • Hex wrench set • Phillips screwdriver 2) Turn off the controller. 3) Place a sign indicating the robot is being adjusted, to keep others from operating the controller switch. 4) Enter the safeguard enclosure.
  • Page 234 MEMO 4-84...
  • Page 235 CHAPTER Periodic Inspecition 1 Overview .................5-1 2 Precautions ................5-2 3 Daily Inspection ..............5-3 4 Six-Month Inspection ..............5-5 5 Replacing the Harmonic Drive ..........5-8 Replacement period ................. 5-8 Basic replacement procedure for harmonic drive and precautions ..5-10 5-2-1 YK250X(H), YK350X(H), YK400X(H) ..........5-12 5-2-2 YK500X, YK600X ................
  • Page 236 MEMO...

  • Page 237: Chapter 5 Periodic Inspecition

    CHAPTER 5 Periodic Inspection Overview Daily and periodic inspection of the YAMAHA robot is essential in order to en- sure safe and efficient operation. This chapter describes the periodic inspection items and procedures for the YAMAHA YK-X series robots. Periodic inspection includes: •...

  • Page 238: Precautions

    • Never touch any internal parts of the controller. For precautions on handling the controller, refer to the "YAMAHA Robot Con- troller User's Manual".

  • Page 239: Daily Inspection

    Checkpoint Procedure Machine harness Check for scratches, dents and excessive bend and kinks. Robot cable (If the machine harness or robot cable is damaged, contact YAMAHA User cable and wiring dealer.) Check air pressure. Regulator, joints, air tube, Check for air leaks.
  • Page 240 (1) and (2) above. 2) If repair or parts replacement is required for the robot or controller, please contact your YAMAHA dealer. This work requires specialized technical knowledge and skill, so do not attempt it by yourself.

  • Page 241: Six-Month Inspection

    • Do not attempt to weld, heat up, drill holes or cut this container. This might cause the container to explode and the remaining materials inside it to ignite. CAUTION Unless grease specified by YAMAHA is used, the service life of the ball screw, ball spline and linear bushing shaft will shorten.
  • Page 242 The specified grease is Alvania No.2 (SHOWA SHELL SEKIYU KK). Check for backlash. (If any abnormality is found, contact Z-axis ball spline, ball screw YAMAHA dealer.) *1 Bolt tightening torque Bolt size Tightening torque (kgf·cm) Tightening torque (N·m)
  • Page 243 (pedestal) abnormal noise is heard, visually check and remove the (YK550X only; see Fig. 5-63) *1 cause. If no cause is found, contact YAMAHA dealer. • Check for dust on the fan cover. Remove and clean if necessary. *1 After pressing the emergency stop button, enter the safeguard enclosure and make checks.

  • Page 244: Replacing The Harmonic Drive

    CHAPTER 5 Periodic Inspection Replacing the Harmonic Drive The YK-X series robots listed in Table 5-1 use a harmonic drive as the speed reduction gear for the X, Y and R axes. Harmonic drives need to be replaced after a specified operation time. Use the guideline explained below to determine the replacement period and replace the harmonic drive periodically.
  • Page 245 CHAPTER 5 Periodic Inspection Table 5-2 Bolt tightening torque Bolt size Tightening torque (kgf·cm) Tightening torque (N·m) M3 button head bolt M4 set screw 15.3...

  • Page 246: Basic Replacement Procedure For Harmonic Drive And Precautions

    CHAPTER 5 Periodic Inspection Basic replacement procedure for harmonic drive and precautions Basic procedures and precautions for replacing the harmonic drive are described below. Before beginning the replacement work, always be sure to read these re- placement procedures and caution. WARNING The motor and speed reduction gear casing are extremely hot after automatic operation, so burns may occur if these are touched.
  • Page 247 CHAPTER 5 Periodic Inspection CAUTION The harmonic drive service life may shorten if the grease recommended by YAMAHA is not used. Recommended grease Use the following harmonic drive grease. 4B No.2 (made by Harmonic Drive Systems Inc.) CAUTION Harmonic drive •...

  • Page 248: Yk250X(H), Yk350X(H), Yk400X(H)

    • Hexagonal socket set • Extension bar • Torque-limiting wrench • Replacement parts (See table below.) Replacement parts Parts name Type No. YAMAHA Parts No. Note Harmonic drive SHF-20-50 KN3-M2110-001 S71(JIS) KN3-M2159-000 Top of harmonic drive Cross section diameter: 1.50mm × Inner diameter: 49.00mm KN3-M2143-000...
  • Page 249 CHAPTER 5 Periodic Inspection 6) Remove the X-axis arm installation bolts (M3×40L, 8 pieces). (See Fig. 5-1.) M3×40 M6×14 Fig. 5-1 CAUTION An O-ring is fitted to the X-axis arm, so be careful not to let it drop into the peripheral unit.
  • Page 250 CHAPTER 5 Periodic Inspection 8) Remove the base assembly bolts (M6×14L, 6 pieces) to separate base 1 and base 2. (See Fig. 5-1 and Fig. 5-3.) M6×14 Base 1 M5×12 Base 2 Fig. 5-3 9) Remove the bolts (M5×12L, 4 pieces) securing the motor and remove the motor from base 1.
  • Page 251 CHAPTER 5 Periodic Inspection 10) Remove the wave generator from the motor shaft. The wave generator is secured with an M3 set screw. (See Fig. 5-6.) 11) Remove the X-axis harmonic drive installation bolts (M3×20L, 16 pieces) M3×20 Fig. 5-5 12) Remove the X-axis harmonic drive from the top of base 1.
  • Page 252 CHAPTER 5 Periodic Inspection 14) Apply harmonic grease to the new wave generator and flexspline. See Fig. 5-6 for applying grease properly. Fit O-ring (supplied) into this groove Harmonic drive willl be damaged if O-ring is caught out of groove. O-ring : KN3-M2144-000 M3 set screw Apply grease to entire oldham coupling.
  • Page 253 CHAPTER 5 Periodic Inspection 20) Reattach the base (robot pedestal) front and rear covers. 21) Go outside the safeguard enclosure. 22) Check that no one is inside the safeguard enclosure, and then turn on the controller. CAUTION After the Harmonic drive is replaced, an absolute reset must be performed, and the standard coordinate and point data must be reset.
  • Page 254 • Hex wrench set • Screw Lock (thread sealant) • Torque-limiting wrench • Replacement parts (See table below.) Replacement parts Parts name Type No. YAMAHA Parts No. Note Harmonic drive SHF-17-50 KN3-M2510-002 S63(JIS) KN3-M2519-000 Lower part of harmonic drive Cross section diameter: 1.00mm × Inner diameter: 29.50mm KN3-M257K-000...
  • Page 255 CHAPTER 5 Periodic Inspection 6) Remove the Y-axis arm installation bolts (M3×20L, 8 pieces). (See Fig. 5-7.) M3×20 Fig. 5-7 7) Remove the Y-axis arm and place it where it will not obstruct the work. CAUTION An O-ring is fitted to the upper surface of the harmonic drive, so be careful not to let it drop into the peripheral unit.
  • Page 256 CHAPTER 5 Periodic Inspection CAUTION The dog ring is used for reassembly. Store it where the work will not be dis- turbed. The dog ring is provided with the setscrews. Be careful to avoid losing them. 11) Remove the Y-axis harmonic drive from the top of the X-axis arm. CAUTION An O-ring is fitted to the X-axis harmonic drive, so be careful not to let it drop into the peripheral unit.
  • Page 257 CHAPTER 5 Periodic Inspection 15) Fasten the dog ring on the Harmonic drive. 16) Fit an O-ring (supplied with the harmonic drive) coated with harmonic grease into the O-ring groove on the new harmonic drive 17) Apply harmonic grease to the new wave generator and flexspline. See Fig.
  • Page 258 CHAPTER 5 Periodic Inspection 20) Reattach the Y-axis arm upper cover. 21) Go outside the safeguard enclosure. 22) Check that no one is inside the safeguard enclosure, and then turn on the controller. CAUTION After the Harmonic drive is replaced, an absolute reset must be performed, and the standard coordinate and point data must be reset.
  • Page 259 • Screw Lock (thread sealant) • Torque-limiting wrench • Adjustable wrench or spanner • Replacement parts (See table below.) Replacement parts Parts name Type No. YAMAHA Parts No. Note Harmonic drive SHF-14-50 KN3-M1821-001 S53(JIS) KN3-M1895-000 Lower part of harmonic drive Cross section diameter: 0.80mm ×...
  • Page 260 CHAPTER 5 Periodic Inspection WARNING The Z-axis will slide down when the U-nut is removed in the next step, causing a hazardous situation. Prop the Z-axis with a support stand before loosening the U-nut. 7) While placing a steel rod or similar tool through the 5mm diameter hole at the lower part of the spline, loosen the U-nut at the top of the spline with the wrench, and remove the bearing.
  • Page 261 CHAPTER 5 Periodic Inspection CAUTION An O-ring is fitted to the fastening plate, so be careful not to let it drop into the peripheral unit. (See Fig. 5-14.) O-ring (S53 : KN3-M1895-000) Fig. 5-14 9) Remove the R-axis dog ring from the R-axis Harmonic drive. The dog ring is fastened with M4 setscrews (2 pieces).
  • Page 262 CHAPTER 5 Periodic Inspection 11) Loosen the pulley set screw (M4, 2 pieces) and remove the pulley from the wave generator. (See Fig. 5-15.) 12) Remove the harmonic drive installation bolts (M3×18L, 8 pieces) and pull out the harmonic drive from the bottom of the Y-axis arm. (See Fig. 5-15.) CAUTION An O-ring is fitted to the harmonic drive, so be careful not to let it drop into the peripheral unit.
  • Page 263 CHAPTER 5 Periodic Inspection 18) Remove the four bolts temporarily tightened to the new harmonic drive. CAUTION Remove only the four bolts shown in Fig. 5-16 at this point. Never remove the bolts on the opposite side. If they are removed, the harmonic drive axis may deviate from the center causing trouble.
  • Page 264 CHAPTER 5 Periodic Inspection Edge seal O-ring : KN3-M1895-000 Fastening plate Spline nut Spline shaft Fig. 5-17 24) Insert the spline into the holder, fit the bearing onto the spline and tighten the U-nut to secure the bearing. (Utilize the φ5 through-hole when tightening the U-nut like you did to loosen it.) (See Fig.

  • Page 265: Yk500X, Yk600X

    • Ratchet handle • Hexagonal socket set • Extension bar • Torque-limiting wrench • Replacement parts (See table below.) Replacement parts Parts name Type No. YAMAHA Parts No. Note Harmonic drive SHF-25-80 KN4-M2110-001 S90(JIS) KN4-M2143-000 Top of harmonic drive Cross section diameter: 1.78mm × Inner diameter: 85.00mm...
  • Page 266 CHAPTER 5 Periodic Inspection 7) Remove the bolts (M6×20L, 4 pieces) securing the motor holder by using the ratchet handle, M6 hexagonal socket, socket adapter and extension bar. (See Fig. 5-18.) M6×14 M6×20 Fig. 5-18 8) With the motor still attached to the motor holder, pull out the motor by sway- ing it gently right and left.
  • Page 267 CHAPTER 5 Periodic Inspection WARNING When you remove the X-axis arm installation bolts (M4×40L, 8 pieces) in the next step, the X-axis arm may come off causing a hazardous situation. Be es- pecially careful to keep the arm from falling when a heavy tool is attached to the arm tip.
  • Page 268 CHAPTER 5 Periodic Inspection 13) Remove the bolts (M4×20L, 12 pieces) securing the X-axis harmonic drive. (See Fig. 5-21.) M4×20 Fig. 5-21 14) Remove the X-axis harmonic drive from the top of the base. CAUTION An O-ring is fitted to the X-axis harmonic drive, so be careful not to let it drop into the base or peripheral unit.
  • Page 269 CHAPTER 5 Periodic Inspection 18) Fit the spacer and wave generator onto the motor shaft, and fully insert them against the motor. Then, apply small amounts of "Screw Lock" to the M4 set screw (1 piece) you removed earlier and tighten it to secure the wave genera- tor onto the motor shaft.
  • Page 270 CHAPTER 5 Periodic Inspection 24) Go outside the safeguard enclosure. 25) Check that no one is inside the safeguard enclosure, and then turn on the controller. CAUTION After the Harmonic drive is replaced, an absolute reset must be performed, and the standard coordinate and point data must be reset.
  • Page 271 • Screw Lock (thread sealant) • Torque-limiting wrench • Replacement parts (See table below.) Replacement parts Parts name Type No. YAMAHA Parts No. Note Harmonic drive SHF-20-80 KN4-M2510-001 Cross section diameter: 1.78mm × Inner diameter: 72.75mm KN4-M257K-000 Lower part of harmonic drive Cross section diameter: 1.50mm ×...
  • Page 272 CHAPTER 5 Periodic Inspection 8) Remove the wave generator from the motor shaft. The wave generator is secured with an M4 set screws. (See Fig. 5-27.) WARNING When you remove the Y-axis arm installation bolts (M3×20L, 12 pieces) in the next step, the Y-axis arm may come off causing a hazardous situation.
  • Page 273 CHAPTER 5 Periodic Inspection CAUTION An O-ring is fitted to the upper surface of the X-axis, so be careful not to let it drop into the peripheral unit. (See Fig. 5-26.) O-ring (KN4-M257K-000) Fig. 5-26 13) Fit a new O-ring coated with harmonic grease into the O-ring groove on the X-axis arm.
  • Page 274 CHAPTER 5 Periodic Inspection 18) Fit the wave generator onto the motor shaft, and fully insert it against the motor. Then, apply small amounts of "Screw Lock" to the M4 set screw (1 piece) you removed earlier and tighten it to secure the wave generator. (See Fig.
  • Page 275 • Torque-limiting wrench • Hook wrench • Replacement parts (See table below.) Replacement parts Parts name Type No. YAMAHA Parts No. Note Harmonic drive SHF-17-50 KN4-M1821-000 Cross section diameter: 1.78mm × Inner diameter: 63.22mm KN4-M1896-000 Lower part of harmonic drive O-ring Cross section diameter: 0.80mm ×...
  • Page 276 CHAPTER 5 Periodic Inspection 7) While placing a steel rod or similar tool through the 7mm diameter hole at the lower part of the spline, loosen the U-nut at the top of the spline with the wrench, and remove the bearing and bearing mount plate. (See Fig. 5-29.) Use a round steel rod with a diameter slightly smaller than 7mm.
  • Page 277 CHAPTER 5 Periodic Inspection CAUTION An O-ring is fitted to the fastening plate, so be careful not to let it drop into the peripheral unit. (See Fig. 5-31.) O-ring : KN4-M1896-000 Fig. 5-31 10) Remove the bolts (M4×10L, 4 pieces) securing the R-axis motor plate at the top of the Y-axis arm.
  • Page 278 CHAPTER 5 Periodic Inspection 14) Apply harmonic grease to the new wave generator. See Fig. 5-33 for apply- ing grease properly. Wave generator Retaining ring groove Apply grease to sufficiently fill in the ball space. Fit O-ring (supplied) into this groove Harmonic drive will be damaged if O-ring is caught out of groove.
  • Page 279 CHAPTER 5 Periodic Inspection CAUTION It is necessary to apply correct tension to the timing belt during reassembly. Refer to "8 Adjusting the Timing Belt Tension" in Chapter 4. 21) Fit a new O-ring into the O-ring groove on the fastening plate and also re- place the edge seal with new one.

  • Page 280: Chapter 5 Periodic Inspection

    • Screw Lock (thread sealant) • Ratchet handle • Hexagonal socket set • Extension bar • Torque-limiting wrench • Replacement parts (See table below.) Replacement parts Parts name Type No. YAMAHA Parts No. Note SHF-32-80 KN5-M2110-001 YK700X,YK800X Harmonic drive SHF-32-100 KN5-M2110-101 YK1000X...
  • Page 281 CHAPTER 5 Periodic Inspection 7) Remove the bolts (M6×20L, 4 pieces) securing the motor by using the ratchet handle, M6 hexagonal socket, socket adapter and extension bar. (See Fig. 5- 35.) M5×25 M6×20 Spacer Fig. 5-35 8) Slowly pull out the motor while holding it slantways. (See Fig. 5-36.) If it is difficult to remove the motor, slowly rotate the X-axis arm and again try removing the motor.
  • Page 282 CHAPTER 5 Periodic Inspection 9) Remove the wave generator from the motor shaft. The wave generator is secured with an M4 set screw and key. (See Fig. 5-40.) WARNING When you remove the X-axis arm installation bolts (M5×55L, 8 pieces) in the next step, the X-axis arm may come off causing a hazardous situation.
  • Page 283 CHAPTER 5 Periodic Inspection CAUTION An O-ring is fitted to the X-axis arm, so be careful not to let it drop into the peripheral unit. (See Fig. 5-38.) O-ring (S115 : KN5-M2159-000) Fig. 5-38 12) Remove the bolts (M5×25L 8 pieces and M5×35L 8 pieces) securing the X- axis harmonic drive.
  • Page 284 CHAPTER 5 Periodic Inspection 14) Fit an O-ring (supplied with the harmonic drive) coated with harmonic grease into the O-ring groove on the new harmonic drive. (See Fig. 5-40.) Apply small amounts of "Screw Lock" to the bolts (M5×25L 8 pieces and M5×35L 8 pieces) and tighten them to secure the harmonic drive from the backside of the base.
  • Page 285 CHAPTER 5 Periodic Inspection 18) Fit a new O-ring to the motor and temporarily fasten the motor and spacer to the base with the bolts (M6×20L, 4 pieces) you removed earlier. Insert a new O-ring between the spacer and the base at this point. Insert the motor with the wave generator into the harmonic drive while hold- ing the motor slantways.
  • Page 286 • Hex wrench set • Screw Lock (thread sealant) • Torque-limiting wrench • Replacement parts (See table below.) Replacement parts Parts name Type No. YAMAHA Parts No. Note Harmonic drive SHF-25-80 KN4-M2110-001 S90(JIS) KN4-M2143-000 Lower part of harmonic drive Cross section diameter: 1.78mm × Inner diameter: 69.57mm KN5-M2143-000...
  • Page 287 CHAPTER 5 Periodic Inspection CAUTION An O-ring is fitted to the motor, so be careful not to let it drop into the peripheral unit. 8) Remove the wave generator from the motor shaft. The wave generator is secured with an M4 set screws. (See Fig. 5-45.) WARNING When you remove the Y-axis arm installation bolts (M4×20L, 16 pieces) in the next step, the Y-axis arm may come off causing a hazardous situation.
  • Page 288 CHAPTER 5 Periodic Inspection 11) Remove the Y-axis harmonic drive installation bolts (M4×45L, 8 pieces). (See Fig. 5-43.) M4×45 Fig. 5-43 12) Remove the Y-axis harmonic drive from the top of the X-axis arm. CAUTION An O-ring is fitted to the upper surface of the X-axis, so be careful not to let it drop into the peripheral unit.
  • Page 289 CHAPTER 5 Periodic Inspection 14) Place the new harmonic drive on the X-axis arm, and secure it with the bolts (M4×45L, 8 pieces) you removed earlier. Apply small amounts of "Screw Lock" to the bolts and tighten them uniformly to secure the harmonic drive from the backside.
  • Page 290 CHAPTER 5 Periodic Inspection 19) Fit a new O-ring to the motor and tighten the bolts (M6×20L, 4 pieces) you removed earlier to temporarily secure the motor to the Y-axis arm. (See Fig. 5-41.) Insert a new O-ring between the spacer and the Y-axis arm at this point. CAUTION Do not allow the O-ring to get caught out of the groove during reassembly.
  • Page 291 • Hex wrench set • Screw Lock (thread sealant) • Torque-limiting wrench • Hook wrench • Replacement parts (See table below.) Replacement parts Parts name Type No. YAMAHA Parts No. Note Harmonic drive SHF-20-50 KN5-M1821-001 S71(JIS) KN3-M2159-000 Lower part of harmonic drive O-ring Cross section diameter: 0.99mm ×...
  • Page 292 CHAPTER 5 Periodic Inspection 7) While placing a steel rod or similar tool through the 8mm diameter hole at the lower part of the spline, loosen the U-nut at the top of the spline with the hook wrench, and remove the bearing and bearing mount plate. (See Fig. 5- 47.) Use a round steel rod with a diameter slightly smaller than 8mm.
  • Page 293 CHAPTER 5 Periodic Inspection CAUTION An O-ring is fitted to the fastening plate, so be careful not to let it drop into the peripheral unit. (See Fig. 5-49.) O-ring : KN3-M2159-000 Fig. 5-49 10) Remove the bolts (M4×15L, 4 pieces) securing the R-axis motor plate at the top of the Y-axis arm.
  • Page 294 CHAPTER 5 Periodic Inspection 14) Apply harmonic grease to the new wave generator. See Fig. 5-51 for apply- ing grease properly. Retaining ring groove Wave generator Apply grease to sufficiently fill in the ball space. Apply grease to entire oldham coupling. Fit O-ring (supplied) into this groove Harmonic drive will be damaged if O-ring is Apply grease to the thickness equal to the...
  • Page 295 CHAPTER 5 Periodic Inspection 20) Fit a new O-ring into the O-ring groove on the fastening plate and also re- place the edge seal with new one. Then secure the fastening plate to the har- monic drive with the bolts (M3×30L, 8 pieces) coated with small amounts of "Screw Lock".

  • Page 296: Chapter 5 Periodic Inspection

    • Hex wrench set • Screw Lock (thread sealant) • Torque-limiting wrench • Hook wrench • Replacement parts (See table below.) Replacement parts Parts name Type No. YAMAHA Parts No. Note Harmonic drive SHF-25-50 KN6-M1821-001 S90(JIS) KN4-M2143-000 Lower part of harmonic drive Cross section diameter: 1.30mm ×...
  • Page 297 CHAPTER 5 Periodic Inspection 7) Remove the bolts (M6×20L, 4 pieces) securing the bearing to the upper end of the spline and remove the bearing mount plate. (See Fig. 5-54.) M6×20 Bearing Holder Spline support shaft Fig. 5-54 WARNING The Z-axis will slide down when the U-nut is removed in the next step, causing a hazardous situation.
  • Page 298 CHAPTER 5 Periodic Inspection 9) Remove the bolts (M4×14L, 2 pieces) on the underside of the Y-axis arm and remove the R-axis dog ring from the fastening plate. 10) Remove the bolts (M4×30L, 8 pieces) on the underside of the Y-axis arm and remove the plate fastening the spline and the harmonic drive.
  • Page 299 CHAPTER 5 Periodic Inspection CAUTION An O-ring is fitted to the wave generator, so be careful not to drop it into the peripheral unit. 15) Apply harmonic grease to the new wave generator. See Fig. 5-58 for apply- ing grease properly. Wave generator O-ring groove Apply grease to entire oldham coupling.
  • Page 300 CHAPTER 5 Periodic Inspection CAUTION When securing the timing belt, the belt tension must be adjusted properly. See "8. Adjusting the Timing Belt Tension" in Chapter 4 for how to adjust the belt tension. 21) Fit a new O-ring into the O-ring groove on the fastening plate and also re- place the edge seal with new one.

  • Page 301: Yk550X With High-Speed R-Axis Specifications: R-Axis

    CHAPTER 5 Periodic Inspection 5-2-5 YK550X with high-speed R-axis specifications: R-axis The YK550X with high-speed R-axis specifications uses harmonic grease 4B No.2 only for the R-axis. For information on how to replace the speed reduction gear, refer to "6-4 Replacing the R-axis harmonic grease".

  • Page 302: Replacing The Harmonic Grease (Yk550X)

    CHAPTER 5 Periodic Inspection Replacing the Harmonic Grease (YK550X) The YK550X uses a harmonic drive as the speed reduction gear for the X, Y and R axes. Harmonic grease HC-1A (Harmonic Drive Systems Inc.) is used to lubricate the harmonic drive. When this grease deteriorates with operating time, the service life of the harmonic drive may shorten.

  • Page 303: Basic Replacement Procedure For Harmonic Grease And Precautions (Y-Axis)

    CHAPTER 5 Periodic Inspection Basic replacement procedure for harmonic grease and pre- cautions (Y-axis) Basic procedures and precautions for replacing the harmonic grease are described below using the Y-axis of the YK550X as an example. Use basically the same procedure when replacing the grease the X-axis and R-axis. WARNING The motor and speed reduction gear casing are extremely hot after automatic operation, so burns may occur if these are touched.
  • Page 304 CAUTION The harmonic drive service life may decline drastically if the grease recommended by YAMAHA is not used. CAUTION Harmonic drive • Do not apply strong shocks or impacts to these parts such as with a hammer.
  • Page 305 CHAPTER 5 Periodic Inspection 4) Enter the safeguard enclosure. 5) To make reassembly easier, put marks on the motor holder, circular spline, Y- axis arm and X-axis arm to indicate their relational positions before proceeding to the next step, as shown in Fig. 5-60. The circular spline can be seen after removing the motor holder.
  • Page 306 CHAPTER 5 Periodic Inspection 12) Remove the old grease from the washer, flexspline, circular spline and wave generator with a waste cloth, and then clean further with cleaning oil and by blow from an air gun. The harmonic drive components are precision parts so be careful not to drop them.
  • Page 307 CHAPTER 5 Periodic Inspection 18) Tighten the four M4 bolts on the motor holder gradually while gently mov- ing the Y-axis arm by hand 45 degrees left and right. If you feel any hang-ups or abnormalities, take apart and reassemble again. 19) Go outside the safeguard enclosure.

  • Page 308: Replacing The X-Axis Harmonic Grease

    CHAPTER 5 Periodic Inspection Replacing the X-axis harmonic grease The following steps explain the procedures for replacing the X-axis harmonic grease of the YK550X, which differ from the procedures detailed in Section 6-2. Before starting the replacement job, be sure to read the warning, caution and procedures described in Section 6-2.
  • Page 309 CHAPTER 5 Periodic Inspection 8) Remove the four M5 bolts for the motor holder, using the ratchet handle, hexagonal socket, extension bar, socket adapter and hex wrench. (See Fig. 5- 63 (c).) WARNING Carefully remove the motor so as not to let hands or fingers get pinched between the motor and the base.
  • Page 310 CHAPTER 5 Periodic Inspection X-axis arm Mark Base Cover Motor holder X-axis motor Rear cover M5 bolt X-axis motor Motor holder Mark Circular spline M5 bolt (c) Viewed from direction A Fig. 5-63 Harmonic drive grease replacement section and position markings 7.1mm (when fully inserted) M6 hole M4 set screw...

  • Page 311: Replacing The R-Axis Harmonic Grease

    CHAPTER 5 Periodic Inspection Replacing the R-axis harmonic grease The following steps explain the procedures for replacing the R-axis harmonic grease of the YK550X, which only differ from the procedures described in Sec- tion 6-2. Before starting the replacement job, be sure to read the warning, caution and procedures described in Section 6-2.
  • Page 312 CHAPTER 5 Periodic Inspection 3.5mm (when fully inserted) M4 set screw M6 hole Motor Wave generator Motor holder Fig. 5-66 Wave generator installation position 5-76...

  • Page 313: Replacing The Grease For Rv Speed Reduction Gears (Yk1200X)

    Replenishment grease amount (for new RV speed reduction gears) X-axis speed reduction gear 514 cc Y-axis speed reduction gear 192 cc CAUTION The RV speed reduction gear service life may shorten if the grease recom- mended by YAMAHA is not used. 5-77...

  • Page 314: Replacement Procedure

    CHAPTER 5 Periodic Inspection Replacement procedure WARNING The motor and speed reduction gear casing are extremely hot after automatic operation, so burns may occur if these are touched. Before touching these parts, turn off the controller, wait for a while and check that the temperature has cooled.

  • Page 315: Replacing The X-Axis Grease

    CHAPTER 5 Periodic Inspection 7-3-1 Replacing the X-axis grease (first product to products manufactured in September 2009) 1) Prepare the following tools and items. • Daphne Eponex grease EP-0 • Hex wrench set • Air tube coupler (PT1/8) • Air tube •...

  • Page 316: Replacing The X-Axis Grease (Products Manufactured From October 2009 Onward)

    CHAPTER 5 Periodic Inspection 7-3-2 Replacing the X-axis grease (products manufactured from October 2009 onward) 1) Prepare the following tools and items. • Daphne Eponex grease EP-0 • Hex wrench set • Air tube coupler (PT1/8) • Air tube • Grease nipple •...

  • Page 317: Replacing The Y-Axis Grease

    CHAPTER 5 Periodic Inspection 7-3-3 Replacing the Y-axis grease (first product to products manufactured in September 2009) 1) Prepare the following tools and items. • Daphne Eponex grease EP-0 • Hex wrench set • Air tube coupler (PT1/8) • Air tube •...

  • Page 318: Replacing The Y-Axis Grease (Products Manufactured From October 2009 Onward)

    CHAPTER 5 Periodic Inspection 7-3-4 Replacing the Y-axis grease (products manufactured from October 2009 onward) 1) Prepare the following tools and items. • Daphne Eponex grease EP-0 • Hex wrench set • Air tube coupler (PT1/8) • Air tube • Grease nipple (A-MT8×1) •...
  • Page 319 CHAPTER Increasing the robot operating speed 1 Increasing the robot operating speed ........6-1...
  • Page 320 MEMO...

  • Page 321: Chapter 6 Increasing The Robot Operating Speed

    CHAPTER 6 Increasing the robot operating speed Increasing the robot operating speed The robot operating speed can be increased by the following methods. Use these methods as needed when programming. (1) Increasing speed by arch motion [Also refer to:] Robot controller user's manual ("Axis parameters"...
  • Page 322 CHAPTER 6 Increasing the robot operating speed e Arch motion: Making the arch position value larger In the arch motion w, making the arch position value larger can further shorten the cycle time. Since the robot arm moves along a larger arc, use caution to avoid obstacles if they are located near the arm movement path.
  • Page 323 CHAPTER 6 Increasing the robot operating speed (2) Increasing the speed with the WEIGHT statement [Also refer to:] Robot controller user's manual ("Robot parameters" – "Axis tip weight" in Chapter 4) Programming manual (WEIGHT statement in "11. Command statements".) [Example] From P1 when chuck is open: WEIGHT 5 ..
  • Page 324 CHAPTER 6 Increasing the robot operating speed (3) Increasing the speed by the tolerance parameter [Also refer to:] Robot controller user's manual ("Axis parameters" – "Tolerance" in Chapter 4) Programming manual (TOLE statement in "11. Command statements".) [Example] From P1 to P3 via P2 TOLE (1) = 2048 ...
  • Page 325 CHAPTER 6 Increasing the robot operating speed (4) Increasing the speed by the OUT effective position parameter [Also refer to:] Robot controller user's manual ("Axis parameters" – "Out effective Position" in Chapter 4) Programming manual (OUTPOS statement in "11. Command statements".) [Example] From P1 when chuck is open: OUTPOS (1) = 10000 ...
  • Page 326 MEMO...

  • Page 327: Specifications

    CHAPTER Specifications 1 Manipulator ................7-1 Basic specification ................7-1 External view and dimensions ............7-4 Robot inner wiring diagram ............7-30 Wiring table ..................7-33...
  • Page 328 MEMO...

  • Page 329: Chapter 7 Specifications

    CHAPTER 7 Specifications Manipulator Basic specification Robot model YK250X(H) YK350X(H) YK400X(H) Arm length 125mm 225mm 225mm X-axis ±115° ±115° ±115° Rotation angle Axis Arm length 125mm 125mm 175mm specifi- Y-axis ±140° ±140° ±140° Rotation angle cations Z-axis Stroke 150mm 150mm 150mm ±180°...
  • Page 330 CHAPTER 7 Specifications YK550X with high-speed Robot model YK500X YK600X YK550X R-axis specifications Arm length 250mm 350mm 300mm X-axis ±120° ±120° ±90° Rotation angle Axis Arm length 250mm 250mm 250mm specifi- Y-axis ±145° ±145° ±145° Rotation angle cations Z-axis Stroke 200,300mm 200,300mm 200mm...

  • Page 331: Sound Level

    CHAPTER 7 Specifications YK700X YK800X YK1000X YK1200X Robot Model 350mm 450mm Arm length 550mm 6000mm X-axis ±120° ±120° ±120° ±125° Rotation angle 350mm 350mm 450mm 600mm Axis Arm length Y-axis ±145° ±145° ±145° ±150° specifi- Rotation angle Z-axis cations Stroke 200,400mm 200,400mm 200,400mm...

  • Page 332: External View And Dimensions

    CHAPTER 7 Specifications External view and dimensions 112.2 D-sub connector for user wiring (No. 1 to 10 usable) 78.7 3-R5 4-φ9 Use M8 bolt for installation User tubing 1 (φ4 black) User tubing 2 (φ4 red) User tubing 3 (φ4 blue) φ5 203.5 152±2...
  • Page 333 CHAPTER 7 Specifications Manipulator interference area Working envelope (1 : 5) Manipulator interference area X and Y-axis mechanical stopper positions (1 : 5) D-sub connector for user wiring (No. 1 to 10 usable) User tubing 1 (φ4 black) User tubing 2 (φ4 red) User tubing 3 (φ4 blue) M4 ground terminal...
  • Page 334 CHAPTER 7 Specifications 112.2 D-sub connector for user wiring (No. 1 to 10 usable) 78.7 3-R3 4-φ9 Use M8 bolt for installation User tubing 1 (φ4 black) User tubing 2 (φ4 red) User tubing 3 (φ4 blue) 266.4 239.5 φ54 φ79 φ31 φ3...
  • Page 335 CHAPTER 7 Specifications Working envelope (1 : 5) X and Y-axis mechanical stopper positions (1 : 5) D-sub connector for user wiring (No. 1 to 10 usable) User tubing 1 (φ4 black) User tubing 2 (φ4 red) User tubing 3 (φ4 blue) M4 ground terminal...
  • Page 336 CHAPTER 7 Specifications 112.2 D-sub connector for user wiring (No. 1 to 10 usable) 78.7 3-R5 4-φ9 Use M8 bolt for installation User tubing 1 (φ4 black) User tubing 2 (φ4 red) User tubing 3 (φ4 blue) φ5 203.5 152±2 -0.018 Depth 15 M8Ｘ1.25...
  • Page 337 CHAPTER 7 Specifications Working envelope (1 : 5) X and Y-axis mechanical stopper positions (1 : 5) D-sub connector for user wiring (No. 1 to 10 usable) User tubing 1 (φ4 black) User tubing 2 (φ4 red) User tubing 3 (φ4 blue) M4 ground terminal...
  • Page 338 CHAPTER 7 Specifications 112.2 D-sub connector for user wiring (No. 1 to 10 usable) 78.7 3-R3 4-φ9 Use M8 bolt for installation User tubing 1 (φ4 black) User tubing 2 (φ4 red) User tubing 3 (φ4 blue) 266.4 239.5 φ54 φ79 φ31 φ3...
  • Page 339 CHAPTER 7 Specifications Working envelope (1 : 5) X and Y-axis mechanical stopper positions (1 : 5) D-sub connector for user wiring (No. 1 to 10 usable) User tubing 1 (φ4 black) User tubing 2 (φ4 red) User tubing 3 (φ4 blue) M4 ground terminal 7-11...
  • Page 340 CHAPTER 7 Specifications 166.1 D-sub connector for user wiring (No. 1 to 10 usable) 85.3 3-R5 4-φ9 Use M8 bolt for installation User tubing 1 (φ4 black) User tubing 2 (φ4 red) User tubing 3 (φ4 blue) φ5 203.5 152±2 -0.018 M8x1.25 Depth 15...
  • Page 341 CHAPTER 7 Specifications Working envelope (1 : 5) Manipulator interference area X and Y-axis mechanical stopper positions (1 : 5) D-sub connector for user wiring (No. 1 to 10 usable) User tubing 1 (φ4 black) User tubing 2 (φ4 red) User tubing 3 (φ4 blue) M4 ground terminal 7-13...
  • Page 342 CHAPTER 7 Specifications 166.1 D-sub connector for user wiring (No. 1 to 10 usable) 85.3 3-R3 4-φ9 Use M8 bolt for installation User tubing 1 (φ4 black) User tubing 2 (φ4 red) User tubing 3 (φ4 blue) 266.4 239.5 φ54 φ79 φ31 φ3...
  • Page 343 CHAPTER 7 Specifications Working envelope (1 : 5) X and Y-axis mechanical stopper positions (1 : 5) D-sub connector for user wiring (No. 1 to 10 usable) User tubing 1 (φ4 black) User tubing 2 (φ4 red) User tubing 3 (φ4 blue) M4 ground terminal 7-15...
  • Page 344 CHAPTER 7 Specifications Fan inlet 4-φ12 User tubing 1 (φ6 black) Fan outlet Use M10 bolt for installation User tubing 2 (φ6 blue) D-sub connector for user wiring (No. 1 to 20 usable) (When Y-axis maximum working envelope is set to 940mm.) M4 ground terminal Z-axis upper end 2-M4×0.7 Depth 6...
  • Page 345 CHAPTER 7 Specifications Interference position (a) Base flange (b) Base rear side (c) Base 145° 145° Working envelope Radius in which load in working envelope interferes with robot 148° 148° Radius in which load interferes with robot when X or Y-axis strikes mechanical stopper X and Y-axis mechanical stopper positions (maximum working envelope) *The area between working envelope and X or Y-axis mechanical stopper position cannot be used.
  • Page 346 CHAPTER 7 Specifications 54.5 122.5 User tubing 1 (φ6 black) User tubing 2 (φ6 red) D-sub connector for user wiring (No. 1 to 20 usable) User tubing 3 (φ6 blue) 4-φ11 Use M10 bolt for installation 166 (Base size) Z-axis 300mm stroke 876 Z-axis 200mm stroke 741 2×2-M4×0.7 Depth10...
  • Page 347 CHAPTER 7 Specifications Interference position (a) Base flange (b) Base rear side (c) Base Manipulator interference area Working envelope Manipulator interference area X and Y-axis mechanical stopper positions (maximum working envelope) M4 ground terminal User tubing 1 (φ6 black) User tubing 2 (φ6 red) User tubing 3 (φ6 blue) D-sub connector for user wiring (No.
  • Page 348 CHAPTER 7 Specifications 54.5 122.5 User tubing 1 (φ6 black) User tubing 2 (φ6 red) D-sub connector for user wiring (No. 1 to 20 usable) User tubing 3 (φ6 blue) 4-φ11 Use M10 bolt for installation 166(Base size) Z-axis 300mm stroke 876 Z-axis 200mm stroke 741 2×2-M4×0.7 Depth10...
  • Page 349 CHAPTER 7 Specifications Interference position (a) Base flange (b) Base rear side (c) Base Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) M4 ground terminal User tubing 1 (φ6 black) User tubing 2 (φ6 red) User tubing 3 (φ6 blue) D-sub connector for user wiring (No.
  • Page 350 CHAPTER 7 Specifications User tubing 1 (φ6 black) User tubing 2 (φ6 red) D-sub connector for user wiring (No. 1 to 20 usable) User tubing 3 (φ6 blue) 4-φ14 Use M12 bolt for installation Z-axis 400mm stroke 956 Z-axis 200mm stroke 756 2×2-M4×0.7 Depth10 (Same on opposite side)
  • Page 351 CHAPTER 7 Specifications Interference position (a) Base flange (b) Base rear side (c) Base Working envelope Manipulator interference area X and Y-axis mechanical stopper positions (maximum working envelope) M4 ground terminal User tubing 1 (φ6 black) D-sub connector for user wiring (No. 1 to 20 usable) User tubing 2 (φ6 red) User tubing 3 (φ6 blue) 7-23...
  • Page 352 CHAPTER 7 Specifications User tubing 1 (φ6 black) User tubing 2 (φ6 red) D-sub connector for user wiring (No. 1 to 20 usable) User tubing 3 (φ6 blue) 4-φ14 Use M12 bolt for installation Z-axis 400mm stroke 956 Z-axis 200mm stroke 756 2×2-M4×0.7 Depth10 (Same on opposite side)
  • Page 353 CHAPTER 7 Specifications Interference position (a) Base flange (b) Base rear side (c) Base Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) M4 ground terminal User tubing 1(φ6 black) D-sub connector for user wiring (No. 1 to 20 usable) User tubing 2(φ6 red) User tubing 3(φ6 blue) 7-25...
  • Page 354 CHAPTER 7 Specifications User tubing 1 (φ6 black) User tubing 2 (φ6 red) D-sub connector for user wiring (No. 1 to 20 usable) User tubing 3 (φ6 blue) 4-φ14 Use M12 bolt for installation Z-axis 400mm stroke 956 Z-axis 200mm stroke 756 2×2-M4×0.7 Depth10 (Same on opposite side)
  • Page 355 CHAPTER 7 Specifications Interference position (a) Base flange (b) Base rear side (c) Base Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) M4 ground terminal User tubing 1(φ6 black) D-sub connector for user wiring (No. 1 to 20 usable) User tubing 2(φ6 red) User tubing 3(φ6 blue) 7-27...
  • Page 356 CHAPTER 7 Specifications D-sub connector for user wiring (No. 1 to 20 usable, socket contact) User tubing 1 (φ6 black) 4-φ14 User tubing 2 (φ6 red) Use M12 bolt for installation User tubing 3 (φ6 blue) 252(Base size) 1168 2×2-M4×0.7 Depth10 (Same on opposite side)
  • Page 357 CHAPTER 7 Specifications Interference position (a) Base flange (b) Base rear side (c) Base Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) M4 ground terminal D-sub connector for user wiring User tubing 1(φ6 black) (No. 1 to 20 usable, pin contact) User tubing 2(φ6 red) User tubing 3(φ6 blue) 7-29...

  • Page 358: Robot Inner Wiring Diagram

    CHAPTER 7 Specifications Robot inner wiring diagram Machine harness User IO connector User tubing RORG RORG YORG YORG Y-axis resolver Y-axis motor Round terminal Z-axis resolver Z-axis motor R-axis resolver Y-axis arm Z-axis brake R-axis motor X-axis arm X-axis origin sensor X-axis motor User tubing X-axis resolver...
  • Page 359 CHAPTER 7 Specifications Machine harness User IO connector User tubing RORG RORG YORG YORG R-axis resolver R-axis motor Round terminal Z-axis resolver Z-axis motor Y-axis resolver Z-axis brake Y-axis motor X-axis origin sensor Y-axis arm R-axis origin sensor Y-axis origin sensor X-axis arm X-axis motor X-axis resolver...
  • Page 360 CHAPTER 7 Specifications Machine harness Round terminal User tubing User IO connector RORG RORG Round terminal YORG YORG R-axis resolver Y-axis resolver Z-axis resolver R-axis motor Z-axis Y-axis brake motor Z-axis motor Y-axis origin sensor R-axis origin sensor M4 ground terminal X-axis origin sensor X-axis motor X-axis resolver...

  • Page 361: Wiring Table

    CHAPTER 7 Specifications Wiring table Robot cable wiring table Connector No Color Signal Connection Connector Wire Resolver 0.15sq Blue Twisted pair Orange 0.15sq Green Twisted pair Brown 0.15sq Gray Twisted pair 0.3sq Gray Resolver 0.15sq Black Twisted pair Yellow 0.15sq Pink Twisted pair Purple...
  • Page 362 CHAPTER 7 Specifications Signal Connector Connection No Connector Color Wire Resolver 0.15sq Blue Twisted pair Orange 0.15sq Green Twisted pair Brown 0.15sq Gray Twisted pair 0.3sq Gray 0.15sq Brake Black Twisted pair Yellow 0.15sq Pink Twisted pair Purple Resolver 0.15sq White Twisted pair Blue/Red...
  • Page 363 CHAPTER 7 Specifications Machine harness wiring table (YK250X, YK350X, YK400X) Y-axis arm side Base side Connection No Connector Color Signal Connector Wire Brown Y-axis Resolver 0.2mm Twisted pair White 0.2mm White Twisted pair Orange 0.2mm Twisted pair White Green Shield Brown Z-axis Resolver 0.2mm...
  • Page 364 CHAPTER 7 Specifications Machine harness wiring table (YK500X, YK600X, YK700X, YK800X, YK1000X, YK1200X) Y-axis arm side Base side Signal Connector Connection No Connector Color Wire Brown Y-axis Resolver 0.2mm Twisted pair White 0.2mm Twisted pair White Orange 0.2mm Twisted pair White Green Shield...
  • Page 365 CHAPTER 7 Specifications 4-axis machine harness wiring table (YK550X) Y-axis arm side Base side Y-axis arm side Base side Signal Connector No Connection No Connector Color Signal Connector No Connection No Connector Color Y-axis Resolver Brown +24V Brown White Y-axis origin YORG YORG Orange...
  • Page 366 CHAPTER 7 Specifications Motor wiring table Signal Color Connection Connector Yellow Blue Black XP,YP,ZP,RP Resolver White Green SHIELD Black White XM, YM, ZM, RM Motor Black Yellow Round terminal Green Yellow ZBK (Z-axis motor only) Brake Yellow Origin sensor wiring table Signal Color Connection...
  • Page 367 MEMO...
  • Page 368 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.
  • Page 370 882 Soude, Nakaku, Hamamatsu, Shizuoka, 435-0054, Japan Tel. 81-53-460 - 6103 Fax. 81 - 53 - 460 - 6811 Robot manuals can be downloaded from our company website. Please use the following for more detailed information. http://www.yamaha-motor.co.jp/global/industrial/robot/ YAMAHA MOTOR CO., LTD.

This manual is also suitable for:

Yk-xh seriesYk250xYk350xYk400xYk500xYk550x ... Show all

Table of Contents