Page 1 YAMAHA CARTESIAN ROBOT XY-X Series Userʼs Manual EUE0224123 Ver. 1.23...
Page 3: Table Of Contents
CONTENTS XY-X Series User’s Manual Safety Instructions 1. Safety information 2. Signal symbols 3. Warning labels Warning labels Warning label messages on robot and controller Supplied warning labels S-10 Warning symbols S-11 4. Precautions for each stage of life cycle...
Page 4 CONTENTS XY-X Series User’s Manual KC mark S-28 EMC standards S-28 Examples of EMC countermeasures S-29 Warranty Chapter 1 Product Outline 1. Robot 2. Names of each part 3. Robot Controller Chapter 2 Preparing the Robot 1. Robot Installation Environment 2.
Page 5 CONTENTS XY-X Series User’s Manual 11. Absolute Reset 2-15 Chapter 3 Periodic Inspections 1. Before beginning work 2. Periodic inspection 2.1 Daily inspection 2.2 Three-month inspection 2.3 Six-month inspection 2.4 Three-year inspection 3. Applying the grease 3.1 PXYX 3.2 FXYX/SXYX/NXY/MXYX/HXYX/FXYBX/SXYBX/HXYLX/SXYXC 4.
Page 6 CONTENTS XY-X Series User’s Manual Chapter 6 FXYX 1. Installation 1.1 Installation bolt types 1.2 Installation bolt nominal length 1.3 Tightening torque 1.4 Installation methods 1.5 Protective Connections 1.5.1 Ground terminal 1.5.2 Ground wire 1.5.3 Wiring method 2. Installing the Tool 2.1 Arm type 2-axis model...
Page 7 CONTENTS XY-X Series User’s Manual 2.3 ZF (Arm type, moving arm type, 3-axis model/XZ type 2-axis model) 7-11 2.4 RF (Arm type, moving arm type, 4-axis model/XZ type 3-axis model) 7-12 2.5 ZS/ZRS (Arm type 3/4-axis model, XZ type 2/3-axis model) 7-13 2.6 ZFH (Arm type, gantry type, moving arm type 3-axis model) XZ type 2-axis model...
Page 8 CONTENTS XY-X Series User’s Manual 4.1.2 Wiring/piping to the double arm robot 8-11 4.1.3 Cable carrier specifications 8-12 Chapter 9 MXYX 1. Installation 1.1 Installation bolt types 1.2 Installation bolt nominal length 1.3 Tightening torque 1.4 Installation methods (Arm type, moving arm type, pole type, gantry type X-axis) 1.5 Installation methods (Gantry type support axis)
Page 9 CONTENTS XY-X Series User’s Manual 1.2.2 Installation bolt nominal length 10-4 1.2.3 Tightening torque 10-4 1.2.4 Installation methods 10-4 1.3 Installation method 3 (Gantry type support axis) 10-5 2. Protective Connections 10-6 2.1 Ground terminal 10-6 2.2 Ground wire 10-7 2.3 Wiring methods...
Page 10 CONTENTS XY-X Series User’s Manual 3.2 SXYBX arm type 2-axis model 11-7 3.3 SXYBX-ZF (XZ type 2-axis model, arm type 3-axis model) 11-8 3.4 ZS/ZRS (XZ type 2-axis model, arm type 3/4-axis model) 11-9 3.5 ZFH (Arm type, gantry type, moving arm type 3-axis model/ XZ type 2-axis model) 11-10 3.6 ZFL (Arm type, moving arm type, 2-axis model/XZ type 2-axis model)
Page 11 CONTENTS XY-X Series User’s Manual 2. Protective Connections 12-5 2.1 Ground terminal 12-5 2.2 Ground wire 12-5 2.3 Wiring methods 12-6 3. Installing the Tool 12-7 3.1 Arm type, gantry type 2-axis model 12-7 3.2 Moving arm type 2-axis model 12-8 3.3 Pole type 2-axis model...
Page 13 Safety Instructions Contents 1. Safety Information 2. Signal words used in this manual 3. Warning labels Warning labels 3.1.1 Warning label messages on robot and controller 3.1.2 Supplied warning labels Warning symbols 4. Important precautions for each stage of the robot life cycle S-10 Precautions for using robots and controllers S-10...
Page 14 KC mark S-29 7.5.1 EMC standards S-29 7.5.2 Examples of EMC countermeasures S-29...
Page 15: Safety Information
Industrial robots are highly programmable, mechanical devices that provide a large degree of freedom when performing various manipulative tasks. To ensure safe and correct use of YAMAHA industrial robots and con- trollers*, carefully read and comply with the safety instructions and precautions in this "Safety Instructions"...
Page 16: Signal Symbols
2. Signal symbols The following safety alert symbols and signal words are used to provide safety instructions that must be observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure to understand the meaning of each symbol and signal word and then read this manual. DANGER This indicates an immediately hazardous situation which, if not avoided, will result in death or serious injury.
Page 17: Warning Label Messages On Robot And Controller
Warning label messages on robot and controller Messages on the danger, warning and caution labels are concise and brief instructions. For more specific instructions, read and follow the "Instructions on this label" described on the right of each label shown below. "7.1 Movement range"...
Page 18 Warning label 3 (SCARA robot, Cartesian robot, controller*, single-axis robot*, linear motor ■ single-axis robot*, linear conveyor module*) * Warning label 3 is attached without being pasted on the robots. WARNING Improper installation or operation may cause serious injury. Before installing and operating the robot, read the manual and instructions on the warning labels to understand the contents.
Page 19 Warning label 5 (Cartesian robots*, Single-axis robots*) ■ * Some robot models WARNING Ground the controller to prevent electrical shock. Ground terminal is located inside this cover. Read the manual for details. Instructions on this label • High voltage section inside •...
Page 20 Potential hazard to human body Electrical shock To avoid hazard Wait at least 100 seconds after power-off before opening the covers (*). * These are precautions for YAMAHA and distributors' service personnel. Customers must not attempt to open the covers. 90K41-001900...
Page 21 Warning label 9 (Linear motor single-axis robot, linear conveyor module*) ■ *Some models have the same warning with a warning mark. (Refer to 3.2 Warning mark) CAUTION A magnetic scale is located inside this cover. Bringing a magnet close to it may cause malfunction. Instructions on this label •...
Page 22 Warning label 12 (Single-axis robots, Cartesian robots*) ■ * Some robot models WARNING Applying a load to the motor cover may cause breakage. The robot may drop at installation, causing personal injury. Instructions on this label • Do not carry the robot by holding the motor cover.
Page 23 Warming label 14 (Controllers EP-01 Series) ■ WARNING • Be sure to ground the terminal. • Before touching the terminals or connectors on the outside of the controller, turn off the power and wait at least 10 minutes to avoid burns and electrical shock. •...
Page 24: Supplied Warning Labels
Supplied warning labels Some warning labels are not affixed to robots but included in the packing box. These warning labels should be affixed to an easy-to-see location. Warning label is attached to the robot body. Warning label comes supplied with the robot and should be affixed to an easy-to-see location on the door or gate of the safety enclosure.
Page 25: Warning Symbols
Warning symbols Warning symbols shown below are indicated on the robots and controllers to alert the operator to potential hazards. To use the robot safely and correctly, always follow the instructions and cautions indicated by the symbols. Electrical shock hazard symbol WARNING Touching the terminal block or connector may cause electrical shock, so use caution.
Page 26 Built-in strong magnet symbol WARNING Powerful magnets are installed in the robot. Do not bring any device that may malfunction due to magnetic fields close to the robot. Do not attempt to disassemble the robot to avoid possible injury. Instructions on this symbol Be sure to read "6.
Page 27: Precautions For Each Stage Of Life Cycle
Otherwise, an accident resulting in serious injury or death may occur. Essential precautions for the linear conveyor module The linear conveyor module is one of YAMAHA robot series, so safety measures must be followed and safety equipment must be installed just as required for other robots.
Page 28: Motorless Type Single-Axis Actuator Robonity Series
Preventing electrical shock DANGER Always comply with the contents of this instruction when installing, operating and inspecting the linear conveyor module. Otherwise, electrical shock, serious injury or even death may result. • Read and follow the contents of this instruction when grounding the linear conveyor module and installing the termination module.
Page 29: Precautions For Controllers
option), the robot may be damaged. Provide safety measures for end effector (such as gripper) WARNING • End effectors must be designed and manufactured so that they do not cause any hazards (such as releasing the workpiece) even if power (electricity, air pressure, and so on) is shut off or power fluctuations occur. •...
Page 30 Do not use in locations exposed to flammable gases WARNING The robots are not designed to be explosion-proof. Do not use the robots in locations exposed to explosive or inflammable gases, dust particles or liquid. Otherwise, serious accidents involving death or serious injury, or fire may result.
Page 31: Precautions For Controllers
Precautions for controllers Installation environment ■ Installation environment WARNING The robots are not designed to be explosion-proof. Do not use the robots and controllers in locations exposed to explosive or inflammable gases, dust particles or liquid such as gasoline and solvents. Otherwise, serious accidents involving death or injury,or fire may result.
Page 32: Safety Measures
Wiring method WARNING Securely install the connectors into the controller and, when wiring the connectors, make the crimp, press-con- tact or solder connections correctly using the tool specified by the connector manufacturer. CAUTION When disconnecting the cable from the controller, detach by gripping the connector itself and not by tugging on the cable.
Page 33: Installing A Safety Enclosure
• Taking noise prevention measures • Using methods for signaling operators of related equipment • Using methods to decide that an error has occurred and identify the type of error Implement the "Work instructions" according to the type of robot, installation location, and type of work task. When drawing up the "Work instructions", make an effort to include opinions from the workers involved, equipment manufacturer technicians, and industrial safety consultants, and so on.
Page 34: Operation
WARNING • Install an interlock that triggers emergency stop when the door or gate of the safety enclosure is opened. • The safety enclosure should be designed so that no one can enter inside except from the door or gate equipped with an interlock device.
Page 35: Automatic Operation
WARNING When work within the safety enclosure is required, always turn off the controller power except for the following cases: Exception Work with power turned on, but robot in emergency stop Follow the precautions and procedure described in "Adjusting the Origin position setting SCARA robots origin".
Page 36: Precautions During Operation
WARNING If an error occurs in the robot or peripheral devices, observe the following procedure before entering the safety enclosure. 1) Press the emergency stop button to set the robot to emergency stop. 2) Place a sign on the start switch, indicating that the robot is being inspected in order to keep others from restarting the robot.
Page 37: Maintenance
Precautions of Z-axis movement when air supply is stopped (air-driven Z-axis) WARNING The Z-axis will slide downward when the air pressure to the Z-axis air cylinder solenoid valve is reduced, creating a hazardous situation. Turn off the controller and place a support under the Z-axis before cutting off air supply. Correct parameter settings CAUTION The robot must be operated with the correct tolerable moment of inertia and acceleration coefficients that...
Page 38: Precautions During Service Work
WARNING • When carrying out maintenance work of the controller under your distributor's instructions, wait at least the time (*) specified for each controller after turning the power off. Some components in the controller are very hot or still retain a high voltage shortly after operation to cause burns and electrical shock by touching those parts. •...
Page 39: Disposal
Precautions to avoid contact with the controller cooling fan WARNING • Touching the rotating fan may cause injury. • If removing the fan cover, first turn off the controller and make sure the fan has stopped. Precautions for controllers CAUTION •...
Page 40: Cautions Regarding Strong Magnetic Fields
6. Cautions regarding strong magnetic fields Some YAMAHA robots contain parts generating strong magnetic fields which may cause death, bodily injury, or device malfunction. Always comply with the following instructions. • Those who are wearing medical electronic devices such as cardiac pacemakers or hearing aids must keep away from the linear single-axis robot and linear conveyor module.
Page 41: Robot Protective Functions
Robot protective functions Protective functions for YAMAHA robots are described below. Overload detection This function detects overload if the robot collides or interferes, and then turns off the servo. Overheat detection Detects an abnormal rise in driver temperature and turns off the servo.
Page 42: Residual Risk
We decide models by single robot product (controller, robot and peripheral device) and conform them to the EMC standards. This does not therefore guarantee that the YAMAHA robot-series product conforms to the EMC standards if only the robot is used independently. The customer who incorporates YAMAHA robot products into the customer's final system, which will be shipped to or used in Korea, should verify that the overall system conforms to the EMC standards.
Page 43: Examples Of Emc Countermeasures
It is not necessary to take measures for ERCD and robots connecting to ERCD. Examples of EMC countermeasures for single YAMAHA robot product are the same as those of CE marks. Refer to countermeasures described in the related user's manual.
Page 44: Safety Instructions
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 45: Warranty
10. Fires or natural disasters such as earthquakes, tsunamis, lightning strikes, wind and flood damage, etc; 11. Breakdown due to causes other than the above that are not the fault or responsibility of YAMAHA; The following cases are not covered under the warranty: ■...
Page 47: Chapter 1 Product Outline
Chapter 1 Product Outline 1. Robot 2. Names of each part 3. Robot Controller...
Page 49: Robot
Robot The robot is configured of the standard function X/Y axes (horizontal Cartesian slide) and optional function Z-axis (vertical slide) and R-axis (rotation). These configuration axes can move in the following manner. High-accuracy and high-speed work can be carried out over a wide range by installing work tools. (+) and (-) indicate the jog key movement directions.
Page 50: Names Of Each Part
Names of each par t Arm type with cable carrier specifications ■ Y-axis Y-axis stroke cover Frame bracket Y-axis motor X-axis stroke cover X-axis motor X-axis Y-axis slider (tool installation section) Robot cable Cable carrier between XY (The machine harness between XY is wired inside) Y-axis wiring box X-axis slider...
Page 51 Gantr y type ■ Support axis Support axis installation bracket Y-axis Y-axis stroke cover Y-axis motor X-axis stroke cover X-axis motor X-axis Robot cable Cable carrier between XY (The machine harness between XY Y-axis slider (tool installation section) is wired inside) Y-axis wiring box Frame bracket X-axis slider...
Page 52 Moving arm type (with cable carrier specifications) ■ Y-axis independent cable Y-axis wiring box Cable carrier between XY Y-axis bracket (The machine harness between XY is wired inside) Y-axis wiring box (tool installation section) X-axis stroke cover X-axis Y-axis Y-axis stroke cover X-axis slider Y-axis motor X-axis wiring box...
Page 53 Pole-type with cable carrier specifications ■ Y-axis motor Y-axis relay harness Y-axis Y-axis wiring box Y-axis slider Cable carrier between XY (tool installation section) (The machine harness between XY is wired inside) Y-axis stroke cover X-axis stroke cover Robot cable X-axis X-axis slider X-axis wiring box...
Page 54 XZ-type with cable carrier specifications ■ Z-axis Z-axis wiring box Z-axis motor Cable carrier between XY (The machine harness between XZ is wired inside) X-axis wiring box Robot cable Z-axis slider Z-axis cover stroke X-axis X-axis motor X-axis stroke cover XZ-type with whipover specifications ■...
Page 55: Robot Controller
Robot Controller A RCX222, RCX240, RCX240S or RCX340 robot controller is enclosed with the XY-X series according to the user's order. For details about robot controller, refer to the separate "YAMAHA Robot Controller User's Manual". Robot Controller ■ OP.1 RGEN...
Page 57 Chapter 2 Preparing the Robot 1. Robot Installation Environment 2. Unpacking the Robot 3. Checking the Product 4. Transporting the Robot 5. Installation Installation base Installing the Robot 6. Protective connections 7. Connecting the Robot Cables Connecting with the RCX222 controller (2 axes) Connecting with the RCX340 or RCX240 controller (3 axes/4 axes) 2-10 7.2.1...
Page 59: Robot Installation Environment
The air filter filtering degree must be 40μm or less. Working space Allow sufficient space so that work (teaching, inspection, repairs, etc.) can be carried out safely. For details about controller installation conditions, refer to the separate "YAMAHA Robot Controller User's Manual".
Page 60: Unpacking The Robot
The robot and robot controller are heavy. Take care not to drop these parts or damage the devices while unpacking the packages. The packages are divided into the robot (XY-X series), robot controller (RCX222, RCX240, RCX240S or RCX340) and accessories according to the items ordered by the user.
Page 61: Checking The Product
An example of the common combination of components is shown below. Check the products according to the actual order. CAUTION If there is any damage due to transportation or insufficient parts, please notify your distributor immediately. Controller : RCX340 ■ Robot : XY-X series Product configurations Standard Robot Disc version of the User’s Manual (XY-X series)
Page 62 Controller : RCX240 ■ Robot : XY-X series Product configurations Standard Robot (XY-X series) Disc version of the User’s Manual User's Manual Warning label I/O connector set for user RCX240 controller Option RPB programming box, etc.
Page 63: Transporting The Robot
Transpor ting the Robot WARNING Serious injury may occur if the robot being transported falls and pins someone under it. • Use a hoist and rope with transporting capacity strong enough to support the robot weight. • Make sure the rope stays securely on the hoist hook. •...
Page 64: Installation
Tap or hole is machined into the installation base where the robot is to be secured. Refer to the XY-X series catalog for the machining dimensions and positions. Fix the installation base at the specified position.
Page 65: Protective Connections
• No ground terminal is provided on the robot main body. When there is an electrical device that may be in contact with the power supply, ground this device securely at the customer's own risk. • For details about protective bonding of CE Marking compliant robot main body, refer to the "YAMAHA ROBOT CONTROLLER Safety standards application guide Reference Manual".
Page 66: Connecting The Robot Cables
Connecting the wrong way may damage the connectors. The robot cable is connected beforehand to the XY-X series robot side. Correctly install the other end of the robot cable to the robot controller. For details on connections to the robot...
Page 67: Connecting With The Rcx222 Controller (2 Axes)
Connecting with the RCX222 controller (2 axes) WARNING When connecting the robot cable, insert the robot cable connector straight into the mating connector on the controller. Inserting the connector while tilted might cause the pins to make poor contact, causing robot malfunction and the connector itself might even break.
Page 68: Connecting With The Rcx340 Or Rcx240 Controller (3 Axes/4 Axes)
Connecting with the RCX340 or RCX240 controller (3 axes/4 axes) 7.2.1 3-axis model WARNING When connecting the robot cable, insert the robot cable connector straight into the mating connector on the controller. Inserting the connector while tilted might cause the pins to make poor contact, causing robot malfunction and the connector itself might even break.
Page 69: 4-Axis Model
7.2.2 4-axis model WARNING When connecting the robot cable, insert the robot cable connector straight into the mating connector on the controller. Inserting the connector while tilted might cause the pins to make poor contact, causing robot malfunction and the connector itself might even break. CAUTION These connectors all work in only one direction.
Page 70: Installing The Tool
Installing the Tool WARNING The user must responsibly determine the bolt type and tightening torque for the tool installation, and must accurately tighten these. Improper installation could cause the tool to dislocate during operation and lead to serious accidents. CAUTION Install the tool at the designated section.
Page 71: 10. Setting The Robot
When installing some weight other than the tool or workpiece on the robot's moving section, add that weight. (For example, if an air valve is fixed on the Y-axis frame, include that weight in the payload.) The optimum acceleration and servo gain, etc., are automatically set for the Cartesian robot XY-X series by inputting the controller payload parameters.
Page 72: 10.2 Setting The Maximum Speed
RCX340 Operator’s Manual Chapter 3 "4.7 Changing the automatic movement speed" 10.3 Setting the acceleration The acceleration is automatically set for the Cartesian robot XY-X series when the payload parameter is set, so large vibration will not occur during operation.
Page 73: 11. Absolute Reset
Refer to this section and set the origin position before using the robot. The Cartesian robot XY-X series uses an absolute method position detector, and thus return-to-origin is not required when the controller power is turned ON again. However, the origin position must be set the first time the controller power is turned ON from any of the following states.
Page 75: Chapter 3 Periodic Inspections
Chapter 3 Periodic Inspections 1. Before beginning work 2. Periodic inspection Daily inspection Three-month inspection Six-month inspection Three-year inspection 3. Applying the grease PXYX FXYX/SXYX/NXY/MXYX/HXYX/FXYBX/SXYBX/HXYLX/SXYXC 4. Adjusting shutter looseness 3-10 5. Maintenance and inspection of harmonic drives 3-11 Harmonic grease replacement period 3-12...
Page 77: Before Beginning Work
Before beginning work Periodic inspection and maintenance are essential to ensure safe and efficient operation of YAMAHA robots. This Chapter describes the periodic inspection of the XY series. Before beginning the work, thoroughly read the safety precautions described below and the "Safety Instructions" to strictly observe the instructions.
Page 78: Periodic Inspection
Periodic inspection The periodic inspection is composed as follows. • Daily inspection • Three-month inspection • Six-month inspection • Three-year inspection After you have understood the inspection contents fully, perform the inspection work while referring to the safety precautions. Daily inspection The following is an inspection list that must be performed every day before and after operating the robot.
Page 79: Three-Month Inspection
*1: Bolt tightening torque Bolt size Tightening torque (kgfcm) Tightening torque (Nm) M3 button head bolt 15.3 1310 CAUTION If the grease recommended by YAMAHA is not used, this may cause the service life of the ball screw or linear guide to shorten.
Page 80 Inspection to be performed with the controller turned on ■ WARNING The robot controller must be installed outside the safety enclosure, to prevent a hazardous situation in which you or anyone enter the safety enclosure to inspect the controller while it is turned on. WARNING •...
Page 81: Six-Month Inspection
*1: Bolt tightening torque Bolt size Tightening torque (kgfcm) Tightening torque (Nm) M3 button head bolt 15.3 1310 CAUTION If the grease recommended by YAMAHA is not used, this may cause the service life of the ball screw or linear guide to shorten.
Page 82: Three-Year Inspection
Inspection to be performed with the controller turned on ■ WARNING The robot controller must be installed outside the safety enclosure, to prevent a hazardous situation in which you or anyone enter the safety enclosure to inspect the controller while it is turned on. WARNING •...
Page 83: Applying The Grease
Applying the grease To apply the grease in accordance with the periodic inspection, follow the steps below. Before applying the grease, thoroughly read the cautions stated in "Safety Instructions" and "1. Before beginning work" in this Chapter to strictly observe the instructions. When applying grease to the ball screws and linear guide, take the following precautions.
Page 84: Pxyx
PXYX Prepare appropriate Phillips screwdriver and brush (for grease application). Turn off the controller power. Place a sign indicating the robot is being adjusted. Place a sign indicating the robot is being adjusted, to keep others from operating the controller or operation panel.
Page 85: Fxyx/Sxyx/Nxy/Mxyx/Hxyx/Fxybx/Sxybx/Hxylx/Sxyxc
FXYX/SXYX/NXY/MXYX/HXYX/FXYBX/SXYBX/HXYLX/SXYXC Prepare the tools necessary for the replacement work. • Phillips screwdriver • Grease gun • Brush (for grease application) CAUTION • Select a grease gun suitable for the cartridge grease you have purchased. • Tip nozzle, φ10 (Inside diameter, φ7) Turn off the controller power.
Page 86: Adjusting Shutter Looseness
Adjusting shutter looseness The shutter may elongate with continued use. In such cases, adjust as follows. CAUTION Be sure to wear safety gloves before starting the work. If you touch any steel material part with bare hands, this may cause rust. Prepare an appropriate Phillips screwdriver.
Page 87: Maintenance And Inspection Of Harmonic Drives
• Do not weld, heat, open a hole or cut this container. Failure to observe this could lead to an explosion and igniting of the residual matter. CAUTION Use of grease not recommended by YAMAHA could lead to a drop in the harmonic drive life. CAUTION Harmonic drive: •...
Page 88: Harmonic Grease Replacement Period
Harmonic grease replacement period The harmonic grease should be replaced when the total number of wave generator rotations reaches 1.5 × 10 times (at -10ºC to +40ºC). Thus, the replacement period will differ according to the following usage conditions. : Number of arm movements in one minute : Average arm rotation in one movement : 1/deceleration rate : Number of operation hours per day...
Page 89: Chapter 4 Specifications
Chapter 4 Specifications 1. Specifications Robot cable User I/O cable...
Page 91: Robot Cable
Specifications The specifications of each robot's common parts are shown below. Robot cable This cable is used to connect the controller and robot. 2-axis robot cable ■ Signal Connector Connection Connector Color/No. Wire Resolver Blue 0.3sq twisted pair Orange 0.3sq Green twisted pair Brown...
Page 92 3-axis robot cable ■ Signal Connector Connection Connector Color/No. Wire Signal Connector Connection Connector Color/No. Wire Blue 0.3sq Resolver Blue 0.3sq Resolver twisted pair twisted pair Orange Orange Green 0.3sq Green 0.3sq twisted pair twisted pair Brown Brown Gray 0.3sq Gray 0.3sq twisted pair...
Page 93 4-axis robot cable ■ Signal Connector Connection Connector Color/No. Wire Signal Connector Connection Connector Color/No. Wire Resolver Blue 0.3sq Resolver Blue 0.3sq twisted pair twisted pair Orange Orange Green 0.3sq Green 0.3sq twisted pair twisted pair Brown Brown Gray 0.3sq Gray 0.3sq twisted pair...
Page 94: User I/O Cable
User I/O cable The Cartesian robot XY-X series cable carrier specifications have a signal wire that can be used freely from the X-axis wiring box to the final axis wiring box. Signal Connector Connector Remarks Part No. Part name Part No.
Page 95: Chapter 5 Pxyx
Chapter 5 PXYX 1. Installation Installation bolt types Installation bolt nominal length Tightening torque Installation methods Protective Connections 1.5.1 Ground terminal 1.5.2 Ground wire 1.5.3 Wiring method 2. Installing the Tool 3. User Wiring and User Piping...
Page 97: Installation
Installation WARNING The installation work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the installation work. WARNING •...
Page 98: Installation Methods
Tap M4 coarse screw thread holes into the installation base where the robot is to be installed. NOTE Refer to the XY-X series catalog for the hole positions. Remove the side cover. Remove the M3 small screw fixing the X-axis side cover.
Page 99: Protective Connections
Protective Connections WARNING The adjustment work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the adjustment work. WARNING Always ground the robot and controller to prevent electrical shocks.
Page 100: Installing The Tool
Installing the Tool WARNING Always turn the controller power OFF before installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tightening torque, and accurately installing the tool.
Page 101: User Wiring And User Piping
User Wiring and User Piping WARNING The adjustment work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the adjustment work.
Page 102 Cable carrier specifications CAUTION • Harness and air tube must be laid in the unoccupied area. Do not set the user wiring/piping in the YAMAHA robot cable domain. • When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sectional area.
Page 103: Chapter 6 Fxyx
Chapter 6 FXYX 1. Installation Installation bolt types Installation bolt nominal length Tightening torque Installation methods Protective Connections 1.5.1 Ground terminal 1.5.2 Ground wire 1.5.3 Wiring method 2. Installing the Tool Arm type 2-axis model ZS (3-axis model) ZT6 (3-axis model) 3.
Page 105: Installation
Installation WARNING The installation work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the installation work. WARNING •...
Page 106: Installation Methods
Tap M6 coarse screw thread holes into the installation base where the robot is to be installed. Refer to the XY-X series catalog for the hole positions. Secure the robot main body to the installation base. Secure the robot main body to the installation base with the specified bolts from the clearance between the X-axis stroke cover and frame.
Page 107: Ground Wire
1.5.2 Ground wire Use an AWG14 (2.0mm ) or larger ground wire with a total length of 1m or less. Crimp an M4 ring-tongue terminal on the end of the wire connected to the robot. 1.5.3 Wiring method WARNING Accurately insert the lock washer between the ring-tongue terminal and robot. Proper continuity may not be secured if the lock washer is dislocated.
Page 108: Installing The Tool
Installing the Tool WARNING Always turn the controller power OFF before installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tightening torque, and accurately installing the tool.
Page 109: Zs (3-Axis Model)
ZS (3-axis model) WARNING Use the tap hole on the end of the shaft only to prevent the tool from dislocating. Do not use only this hole to install the tool. The tool could dislocate and fly off the installation section during robot operation.
Page 110: Zt6 (3-Axis Model)
ZT6 (3-axis model) If the ZT6 unit is attached for the 3rd-axis of a 3-axis model, install the tool on the ZT6 slider in the following manner. Four M5 coarse thread tap holes and 3 reamer holes are opened on the slider's tool installation surface. Install the tool using these holes.
Page 111: User Wiring And User Piping
User Wiring and User Piping WARNING The adjustment work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the adjustment work.
Page 112 Pass the cables and air tubes, etc., through the X-axis wiring box. Rubber grommets are attached to the end face of X-axis wiring box. Open holes (or notches) in these grommets, and pass the required cables and air tubes, etc., through. Grommet Pass the cables and air tubes through the cable carrier.
Page 113 Open the Y-axis wiring box. Using the small screws loosened on the Y-axis wiring box cover as a support point, turn and open the box. Remove the harness retainer from the Y-axis wiring box. (Two M5 hex socket head bolts). Harness retainer CAUTION •...
Page 114: Cable Carrier Specifications
Cable carrier specifications CAUTION • Harness and air tube must be laid in the unoccupied area. Do not set the user wiring/piping in the YAMAHA robot cable domain. • When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sectional area.
Page 115: Replenishing Grease To The Z-Axis (Zs) Ball Screw
Replenishing Grease to the Z-axis (ZS) Ball Screw WARNING The periodic inspection is very important to operate the YAMAHA robot safely and efficiently. Before starting the work, be sure to thoroughly read this Chapter, general safety precautions, "Safety Instructions" describing the periodic inspection methods common to each robot, and Chapter 3 "Periodic Inspections".
Page 117: Chapter 7 Sxyx
Chapter 7 SXYX 1. Installation Installation bolt types Installation bolt nominal length Tightening torque Installation methods Protective Connections 1.5.1 Ground terminal 1.5.2 Ground wire 1.5.3 Wiring methods 1.5.3.1 Arm type with cable carrier specifications 1.5.3.2 Arm type, moving arm type, pole type with whipover specifications 1.5.3.3 XZ type 2.
Page 119: Installation
Installation WARNING The installation work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the installation work. WARNING •...
Page 120: Installation Methods
Tap M6 coarse screw thread holes into the installation base where the robot is to be installed. Refer to the XY-X series catalog for the hole positions. Remove the head screws (M4, 5 screws) fixing the X-axis stroke cover. When using the arm type, pole type or moving arm type with the whipover specifications, first loosen the screws (M5, 2 screws) fixing the X-axis wiring box.
Page 121 Fig. 7-3 ■ Loosen (M5 × 2 screws) Remove the X-axis stroke cover. If it is difficult to remove the cover, manually move the Y-axis to the motor side stroke end. The cover will be easier to remove. Fix the robot onto the installation base with the designated bolts. After installing, return the stroke cover and X-axis wiring box to the original positions.
Page 122: Protective Connections
Protective Connections WARNING The adjustment work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the adjustment work. WARNING Always ground the robot and controller to prevent electrical shocks.
Page 123: Ground Wire
1.5.2 Ground wire Use an AWG14 (2.0mm ) or larger ground wire with a total length of 1m or less. Crimp an M4 ring-tongue terminal on the end of the wire connected to the robot. 1.5.3 Wiring methods CAUTION Accurately insert the lock washer between the ring-tongue terminal and robot. Proper continuity may not be secured if the lock washer is dislocated.
Page 124: Arm Type, Moving Arm Type, Pole Type With Whipover Specifications
Connect the ground wire to the ground terminal attached to the top of the X-axis wiring box. Ground terminal Ground wire An M4 small screw with spring washer and lock washer are attached to the ground terminal. Arrange the parts in the order of the lock washer, ring-tongue terminal and M4 small screw with spring washer, and then tighten.
Page 125: Xz Type
Fix the ring-tongue terminal of the ground wire to the ground terminal in the X-axis wiring box. An M4 small screw with spring washer and lock washer are attached to the ground terminal. Arrange the parts in the order of the lock washer, ring-tongue terminal and M4 small screw with spring washer, and then tighten.
Page 126: Installing The Tool
Installing the Tool WARNING Always turn the controller power OFF before installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tightening torque, and accurately installing the tool.
Page 127 Fig. 7-15 Pole type ■ 23.5 2-φ6H7 Depth8 8-M6�1.0 Depth8 4-M5�0.8 Depth7 (Tolerance between knock ±0.02) NOTE There is a step on the top of the slider. The actual tool installation surface is the shaded section shown above. Select the nominal length of the tool fixing bolt so that the fitting length of the screw fixing the tool is 6mm or more, 8mm or less.
Page 128: Moving Arm Type 2-Axis Model
Moving arm type 2-axis model For the moving arm type, an aluminum bracket is attached to the end of the Y-axis. Install the tool on this bracket. 12 M6 coarse thread tap holes and two 6 reamer holes are opened on the bracket. Fig.
Page 129: Zf (Arm Type, Moving Arm Type, 3-Axis Model/Xz Type 2-Axis Model)
Stroke cover Select the maximum nominal length of the tool fixing bolt so that the screw fitting length is 12mm or less. YAMAHA recommends a screw fitting length of 8mm or more. CAUTION If the bolt fitting length is 12mm or more from the installation surface, the bolt will contact the bottom.
Page 130: Rf (Arm Type, Moving Arm Type, 4-Axis Model/Xz Type 3-Axis Model)
RF (Arm type, moving arm type, 4-axis model/XZ type 3-axis model) CAUTION Use the tap hole on the end face of the shaft only to prevent the tool from dislocating. Do not use only this hole to install the tool. The tool could dislocate and fly off the installation section during robot operation.
Page 131: Zs/Zrs (Arm Type 3/4-Axis Model, Xz Type 2/3-Axis Model)
ZS/ZRS (Arm type 3/4-axis model, XZ type 2/3-axis model) WARNING Use the tap hole on the end of the shaft only to prevent the tool from dislocating. Do not use only this hole to install the tool. The tool could dislocate and fly off the installation section during robot operation.
Page 132: Zfh (Arm Type, Gantry Type, Moving Arm Type 3-Axis Model) Xz Type 2-Axis Model
ZFH (Arm type, gantry type, moving arm type 3-axis model) XZ type 2-axis model When using the 3-axis model with ZFH for the 3rd-axis, install the tool to the ZFH frame in the following manner. Four M5 coarse thread tap holes and 5 reamer holes are opened on the frame's tool installation surface. Install the tool using these holes.
Page 133: Zfl (Arm Type, Moving Arm Type, 3-Axis Model/Xz Type 2-Axis Model)
Stroke cover Select the maximum nominal length of the tool fixing bolt so that the screw fitting length is 12mm or less. YAMAHA recommends a screw fitting length of 8mm or more. CAUTION If the bolt fitting length is 12mm or more from the installation surface, the bolt will contact the bottom.
Page 134: User Wiring And User Piping
User Wiring and User Piping WARNING The adjustment work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the adjustment work.
Page 135 Remove the harness retainer located at the cable carrier outlet. (Two M5 hex socket head bolts) Harness retainer Pass the cables and air tubes through the cable carrier. The cable carrier has an outer lid that can be opened and closed easily. Use a flat-tip screwdriver to open the lid.
Page 136 Assemble the wiring box cover at the original position. State of X-axis wiring box with wiring completed ■ Lay out the wires on Pass the X-axis wiring through this notch. the protection material. State with cover installed ■ Wire lead-out port Wire protection material 7-18...
Page 137: Cable Carrier Specifications
Cable carrier specifications CAUTION • Harness and air tube must be laid in the unoccupied area. Do not set the user wiring/piping in the YAMAHA robot cable domain. • When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sectional area.
Page 138: User I/O Cable Specifications
3.1.3 User I/O cable specifications CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied correctly, and may prevent the device from operating correctly. With the cable carrier specifications, signal wires (0.3mm 10 wires) that can be used freely by the user are laid as a standard between the X-axis wiring box and final axis' wiring box (the Z-axis wiring box when using 3-axis model).
Page 139 Recommended crimping tool YC-122R (J.S.T. Mfg Co., Ltd.) When using an air tube, prepare an air coupler for connecting the user air tube with the YAMAHA air tube. Open the X-axis wiring box cover. Fig. 7-25 ■ Place the required cables and air tubes, etc., in the X-axis wiring box.
Page 140: Periodic Inspection Of The Zs/Zrs Unit
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter-proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 141: Adjusting The R-Axis Belt Tension (Zrs)
Wipe off any excessive grease adhered on the ball screw shaft and ball spline shaft. Apply the grease. Apply a sufficient amount of grease with a brush so that no grease scatters around the ball screw. Return the cover to the original position. Adjusting the R-axis belt tension (ZRS) With the ZRS model, a timing belt is used for the R-axis.
Page 142: Replacing The R-Axis Harmonic Drive (Zrs)
Return the cover to the original position. Fig. 7-28 ZRS belt tension ■ Tension decreases qR-axis motor fixing bolt (M4) Tension increases R-axis motor Replacing the R-axis harmonic drive (ZRS) The ZRS R-axis speed reduction gear uses a harmonic drive. The ZRS uses a harmonic drive as the R-axis speed reduction gear, which must be replaced after using for a set period.
Page 143: Chapter 8 Nxy
Chapter 8 NXY 1. Installation Installation bolt types Installation bolt nominal length Tightening torque Installation methods 2. Protective connections Ground terminal Ground wire Wiring methods 2.3.1 Grounding to the single arm robot 2.3.2 Grounding to the double arm robot 3. Installing the tool Single arm type, double arm type 2-axis model ZFH (single arm type, double arm type) ZFL (single arm type, double arm type)
Page 145: Installation
Installation WARNING The installation work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the installation work. WARNING •...
Page 146: Tightening Torque
Method A ■ Open a 6.5 through hole on the installation base's robot installation surface. Refer to the XY-X series catalog for the hole positions. Set the robot on the installation base and fix with M6 bolts from below.
Page 147 Tap M6 coarse screw thread holes into the installation base where the robot is to be installed. Refer to the XY-X series catalog for the hole positions. Remove the end cover 1 (upper end cover) from each end of the robot. Then remove the screws (4 pcs) holding the top cover and remove the top cover.
Page 148: Protective Connections
Protective connections Connect the robot side ground terminal with the external protective conductor's ground terminal using a ground wire. WARNING The adjustment work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the adjustment work.
Page 149: Wiring Methods
Wiring methods An M4 small screw with spring washer and lock washer are attached to the ground terminal. Arrange the parts in the order of the lock washer, ring-tongue terminal and M4 small screw with spring washer, and then tighten. M4 small screw with spring washer Ring-tongue terminal Lock washer...
Page 150: Installing The Tool
Installing the tool WARNING • Always turn the controller power OFF before installing a tool to prevent an accident. • Before installing a tool, check that the robot is securely fixed to the base. • The user is responsible for determining the required bolt type and tightening torque, and accurately installing the tool.
Page 151: Zfh (Single Arm Type, Double Arm Type)
ZFH (single arm type, double arm type) When using the 3-axis model with ZFH for the 3rd-axis, install the workpiece onto the ZFH slider by using four M5 coarse thread tap holes and a 5 reamer hole opened on the slider's workpiece installation surface. The tap depth is 9mm.
Page 152: Zfl (Single Arm Type, Double Arm Type)
ZFL (single arm type, double arm type) When using the 3-axis model with ZFL for the 3rd-axis, install the workpiece onto the ZFL slider by using six M5 coarse thread tap holes and a 5 reamer hole opened on the slider's workpiece installation surface. Use six M5 coarse thread tap holes on the side of slider to fix light loads other than the tool, such as a wiring retainer.
Page 153: User Wiring And User Piping
User wiring and user piping WARNING The adjustment work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the adjustment work.
Page 154 Set the outer lids back in the original position after finishing the wiring layout. Fix the wiring materials with cable ties as necessary (cable tie base must be attached). See the photograph below for the machining position. Make sure that the clamp part does not move by the wiring tension during axis operation.
Page 155: Wiring/Piping To The Double Arm Robot
4.1.2 Wiring/piping to the double arm robot CAUTION Wiring layout must be designed in the unoccupied area. Remove the outer lids on the cable carrier by using a flat-tip screwdriver. The outer lids do not have to be removed if the connectors are not attached to the wiring materials. Set the outer lids back in the original position after finishing the wiring layout.
Page 156 Power wire φ9.8 CAUTION • Harness and air tube must be laid in the unoccupied area. Do not set the user wiring/piping in the YAMAHA robot cable domain. • When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sectional area.
Page 157 Chapter 9 MXYX 1. Installation Installation bolt types Installation bolt nominal length Tightening torque Installation methods (Arm type, moving arm type, pole type, gantry type X-axis) Installation methods (Gantry type support axis) 2. Protective Connections Ground terminal Ground wire Wiring methods 3.
Page 159: Installation
Installation WARNING The installation work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the installation work. WARNING •...
Page 160: Installation Methods (Arm Type, Moving Arm Type, Pole Type, Gantry Type X-Axis)
Tap M8 coarse screw thread holes into the installation base where the robot is to be installed. Refer to the XY-X series catalog for the hole positions. Loosen the screws (M5, 4 screws) fixing the X-axis wiring box. The wiring box can be slid along the T slot when these screws are loosened. (Refer to Fig. 9-2.) Fig.
Page 161 Remove the stroke cover. If it is difficult to remove the cover, manually move the Y-axis to the motor side stroke end. The cover will be easier to remove. If the X-axis stroke is 550mm or less, remove the X-axis wiring box before removing the stroke cover. Fix the robot onto the installation base with the designated bolts.
Page 162: Installation Methods (Gantry Type Support Axis)
Installation methods (Gantr y type support axis) The MXYX and HXYX gantry types have a guide rail for support on the Y-axis end so that heavy loads can be handled. When installing, take care of the parallelism of the X-axis and guide rail and to the difference in height from the installation surface.
Page 163: Protective Connections
Protective Connections WARNING The adjustment work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the adjustment work. WARNING Always ground the robot and controller to prevent electrical shocks.
Page 164: Wiring Methods
Wiring methods WARNING The adjustment work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the adjustment work. CAUTION Be sure to insert the lock washer between the ring-tongue terminal and robot in step3 below.
Page 165: Installing The Tool
Installing the Tool Install the user tool onto the robot surface in the following manner. WARNING Always turn the controller power OFF before installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tightening torque, and accurately installing the tool.
Page 166: Moving Arm Type 2-Axis Model
Fig. 9-9 MXYX pole type ■ 23.5 2-φ6H7 Depth8 4-M5�0.8 Depth7 8-M6�1.0 Depth8 (Tolerance between knock ±0.02) Moving arm type 2-axis model For the moving arm type, an aluminum bracket is attached to the end of the Y-axis. Install the tool on this bracket.
Page 167: Zf (Arm Type, Moving Arm Type, Gantry Type 3-Axis Model)
Stroke cover Select the maximum nominal length of the tool fixing bolt so that the screw fitting length is 12mm or less. YAMAHA recommends a screw fitting length of 8mm or more. CAUTION If the bolt fitting length is 12mm or more from the installation surface, the bolt will contact the bottom.
Page 168: Rf (Arm Type, Moving Arm Type, 4-Axis Model/Xz Type 3-Axis Model)
RF (Arm type, moving arm type, 4-axis model/XZ type 3-axis model) WARNING Use the tap hole on the end face of the shaft only to prevent the tool from dislocating. Do not use only this hole to install the tool. The tool could dislocate and fly off the installation section during robot operation.
Page 169: Zfh (Arm Type, Gantry Type, Moving Arm Type 3-Axis Model) Xz Type 2-Axis Model
ZFH (Arm type, gantry type, moving arm type 3-axis model) XZ type 2-axis model When using the 3-axis model with ZFH for the 3rd-axis, install the tool to the ZFH frame in the following manner. Four M5 coarse thread tap holes and 5 reamer holes are opened on the frame's tool installation surface. Install the tool using these holes.
Page 170: Zfl (Arm Type, Moving Arm Type, 3-Axis Model/Xz Type 2-Axis Model)
Stroke cover Select the maximum nominal length of the tool fixing bolt so that the screw fitting length is 12mm or less. YAMAHA recommends a screw fitting length of 8mm or more. CAUTION If the bolt fitting length is 12mm or more from the installation surface, the bolt will contact the bottom.
Page 171: User Wiring And User Piping
User Wiring and User Piping WARNING The adjustment work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the adjustment work.
Page 172 Remove the harness retainer located at the cable carrier outlet (Two M5 hex socket head bolts). Harness retainer Pass the required wires and pipes through the cable carrier. The cable carrier has an outer lid that can be opened and closed easily. Use a flat-tip screwdriver to open the lid.
Page 173 Cable carrier specifications CAUTION • Harness and air tube must be laid in the unoccupied area. Do not set the user wiring/piping in the YAMAHA robot cable domain. • When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sectional area.
Page 174: User I/O Cable Specifications
4.1.3 User I/O cable specifications CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied correctly, and may prevent the device from operating correctly. With the cable carrier specifications, signal wires (0.3mm 10 wires) that can be used freely by the user are laid as a standard between the X-axis wiring box and final axis' wiring box (the Z-axis wiring box when using 3-axis model).
Page 175: Examples Of Wiring And Piping With Whipover Specifications
Refer to "1.2 User I/O cable" in Chapter 4 for details on the enclosed connector and pin specifications. Recommended crimping tool YC-122R (J.S.T. Mfg Co., Ltd.) CAUTION When using an air tube, prepare an air coupler for connecting the user air tube with the YAMAHA air tube. Open the X-axis wiring box cover. Fig. 9-17 ■...
Page 177 Chapter 10 HXYX 1. Installation 10-1 Installation method 1 (Arm type, moving arm type, pole type, gantry type X-axis) 10-1 1.1.1 Installation bolt types 10-1 1.1.2 Installation bolt nominal length 10-1 1.1.3 Tightening torque 10-1 1.1.4 Installation methods 10-2 Installation method 2 (XZ type) 10-4 1.2.1 Installation bolt...
Page 179: Installation
Installation WARNING The installation work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the installation work. WARNING •...
Page 180: Installation Methods (Arm Type, Moving Arm Type, Pole Type, Gantry Type X-Axis)
Tap M8 coares screw thread holes into the installation base where the robot is to be installed. Refer to the XY-X series catalog for the hole positions. Loosen the screws (M5, 4 screws) fixing the X-axis wiring box. The wiring box can be slid along the T slot when these screws are loosened.
Page 181 Remove the stroke cover. If it is difficult to remove the cover, manually move the Y-axis to the motor side stroke end. The cover will be easier to remove. Fix the robot onto the installation base with the designated bolts. After installing, return the stroke cover and X-axis wiring box to the original positions.
Page 182: Installation Methods
Installation methods Tap M8 holes into the installation base where the robot is to be installed. Refer to the XY-X series catalog for the hole positions. Remove the screws fixing the X-axis stroke cover. (M4, 6 screws) Remove the stroke cover.
Page 183: Installation Method 3 (Gantry Type Support Axis)
Installation method 3 (Gantr y type support axis) Install the gantry type support axis in the following manner. CAUTION When installing, the parallelism of the guide rail and X-axis must be set. Set the X-axis and guide rail parallelism during installation. Make sure that there is no difference in the height direction of the X-axis and guide rail installation surface.
Page 184: Protective Connections
Protective Connections WARNING The adjustment work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the adjustment work. WARNING Always ground the robot and controller to prevent electrical shocks.
Page 185: Ground Wire
Ground wire Use an AWG14 (2.0mm ) or larger ground wire with a total length of 1m or less. Crimp an M4 ring-tongue terminal on the end of the wire connected to the robot. Wiring methods CAUTION Accurately insert the lock washer between the ring-tongue terminal and robot. Proper continuity may not be secured if the lock washer is dislocated.
Page 186: Installing The Tool
Installing the Tool Install the user tool onto the robot's tool installation surface in the following manner. WARNING Always turn the controller power OFF before installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tightening torque, and accurately installing the tool.
Page 187: Moving Arm Type 2-Axis Model
Moving arm type 2-axis model The moving arm type has an aluminum-cast bracket on the end of the Y-axis. Install the tool on this bracket. 12 M8 coarse thread tap holes and two 6 reamer holes are opened on the bracket. Fig.
Page 188: Installation
Pole type 2-axis model Four M8 coarse thread tap holes and two 8 reamer holes are opened on the tool installation surface of the Y-axis slider. (Refer to Fig. 10-12.) Install the user tool onto the Y-axis slider using these holes. Four M5 coarse thread tap holes are also opened on the slider side.
Page 189: Zh (Arm Type, Gantry Type, Moving Arm Type 3-Axis Model/Xz Type 2-Axis Model)
Select the under head length of the installation bolt so that the screw length from the installation surface is 9mm or more, 27mm or less. Fig. 10-13 Tool installation ZH ■ Refer to the XY-X series catalog for the installation position. NOTE There is a step on the ZH frame.
Page 190: Zl (Arm Type, Gantry Type, Moving Arm Type 3-Axis Model/Xz Type 2-Axis Model)
ZL (Arm type, gantry type, moving arm type 3-axis model/XZ type 2-axis model) When using the 3-axis model with ZL for the 3rd-axis, install the tool to the ZL slider in the following manner. Eight M6 coarse thread tap holes and two 6 reamer holes are opened on the Y-axis slider. (Refer to Fig. 10-14.) Install the user tool onto the ZL slider using these holes.
Page 191: Zph (Pole Type 3-Axis Model)
ZPH (Pole type 3-axis model) When ZPH is attached for the 3rd-axis of the pole type, install the tool onto the aluminum bracket at the end of the ZP-axis. 12 M6 coarse thread tap holes and two 6 reamer holes are opened on the bracket. Fig.
Page 192: Rh (Arm Type, Moving Arm Type, Gantry Type 4-Axis Model/Xz Type 3-Axis Model)
RH (Arm type, moving arm type, gantry type 4-axis model/XZ type 3-axis model) CAUTION When fixing with the tap holes, always fix at several holes. If fixed with only one hole, the loosening torque could act during operation can cause loosening. If the rotary axis RH is attached to the 4th-axis, install the tool onto the shaft at the end of RH.
Page 193: User Wiring And User Piping
User Wiring and User Piping WARNING The adjustment work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the adjustment work.
Page 194 Remove the harness retainer located at the cable carrier outlet. (Two M5 hex socket head bolts). Harness retainer Pass the required wires and pipes through the cable carrier. The cable carrier has an outer lid that can be opened and closed easily. Use a flat-tip screwdriver to open the lid.
Page 195: Cable Carrier Specifications
Cable carrier specifications CAUTION • Harness and air tube must be laid in the unoccupied area. Do not set the user wiring/piping in the YAMAHA robot cable domain. • When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sectional area.
Page 196: User I/O Cable Specifications
4.1.3 User I/O cable specifications CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied correctly, and may prevent the device from operating correctly. With the cable carrier specifications, signal wires (0.3mm 10 wires) that can be used freely by the user are laid as a standard between the X-axis wiring box and final axis' wiring box (the Z-axis wiring box when using 3-axis model).
Page 197: Examples Of Wiring And Piping With Whipover Specifications
Refer to "1.2 User I/O cable" in Chapter 4 for details on the enclosed connector and pin specifications. Recommended crimping tool YC-122R (J.S.T. Mfg Co., Ltd.) CAUTION When using an air tube, prepare an air coupler for connecting the user air tube with the YAMAHA air tube. Open the X-axis wiring box cover. Fig. 10-19 ■...
Page 199 Chapter 11 FXYBX/SXYBX 1. Installation 11-1 Installation bolt types 11-1 Installation bolt nominal length 11-1 Tightening torque 11-2 Installation methods 11-2 2. Protective connections 11-3 Ground terminal 11-3 Ground wire 11-4 Wiring methods (Cable carrier specifications) 11-4 Wiring methods (Whipover specifications) 11-5 3.
Page 200 Chapter 11 FXYBX/SXYBX Replacing the drive belt 11-25 Replacing the speed reduction belt 11-27 Replacing the slider 11-28 Periodic inspection of the ZS/ZRS unit 11-29 8.5.1 Replenishing grease to the Z-axis ball screw and ball spline 11-29 8.5.2 Adjusting the R-axis belt tension (ZRS) 11-30 8.5.3 Replacing the R-axis harmonic drive (ZRS)
Page 201: Installation
Installation WARNING The installation work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the installation work. WARNING •...
Page 202: Tightening Torque
Open a through hole on the installation base's robot installation surface. Refer to the XY-X series catalog for the hole positions. Set the robot on the installation base and fix with the designated bolts from below.
Page 203: Protective Connections
Protective connections WARNING The adjustment work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the adjustment work. WARNING Always ground the robot and controller to prevent electrical shocks.
Page 204: Ground Wire
Ground wire Use an AWG14 (2.0mm ) or larger ground wire with a total length of 1m or less. Crimp an M4 ring-tongue terminal on the end of the wire connected to the robot. Wiring methods (Cable carrier specifications) CAUTION Accurately insert the lock washer between the ring-tongue terminal and robot.
Page 205: Wiring Methods (Whipover Specifications)
Connect the ground wire to the ground terminal attached to the top of the X-axis wiring box. An M4 small screw with spring washer and lock washer are attached to the ground terminal. Arrange the parts in the order of the lock washer, ring-tongue terminal and M4 small screw with spring washer, and then tighten.
Page 206: Installing The Tool
Installing the Tool WARNING Always turn the controller power OFF before installing a tool to prerent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tightening torque, and accurately installing the tool.
Page 207: Sxybx Arm Type 2-Axis Model
SXYBX arm type 2-axis model Eight M6 coarse thread tap holes and two 6 reamer holes are opened on the Y-axis slider. (Refer to Fig. 11-10.) Install the user tool onto the Y-axis slider using these holes. Four M5 coarse thread tap holes are also opened on the slider side. Use these as required. Fig.
Page 208: Sxybx-Zf (Xz Type 2-Axis Model, Arm Type 3-Axis Model)
SXYBX-ZF (XZ type 2-axis model, arm type 3-axis model) When using the XZ type 2-axis model or if ZF is attached for the arm type 3-axis model, install the tool to the ZF slider in the following manner. Four M5 coarse thread tap holes and 5 reamer holes are opened on the slider's tool installation surface. Use these to install the tool.
Page 209: Zs/Zrs (Xz Type 2-Axis Model, Arm Type 3/4-Axis Model)
ZS/ZRS (XZ type 2-axis model, arm type 3/4-axis model) WARNING Use the tap hole on the end of the shaft only to prevent the tool from dislocating. Do not use only this hole to install the tool. The tool could dislocate and fly off the installation section during robot operation.
Page 210: Zfh (Arm Type, Gantry Type, Moving Arm Type 3-Axis Model/ Xz Type 2-Axis Model)
ZFH (Arm type, gantry type, moving arm type 3-axis model/ XZ type 2-axis model) When using the 3-axis model with ZFH for the 3rd-axis, install the tool to the ZFH frame in the following manner. Four M5 coarse thread tap holes and 5 reamer holes are opened on the frame's tool installation surface. Install the tool using these holes.
Page 211: Zfl (Arm Type, Moving Arm Type, 2-Axis Model/Xz Type 2-Axis Model)
Stroke cover Select the maximum nominal length of the tool fixing bolt so that the screw fitting length is 12mm or less. YAMAHA recommends a screw fitting length of 8mm or more. CAUTION If the bolt fitting length is 12mm or more from the installation surface, the bolt will contact the bottom.
Page 212: User Wiring And User Piping
User Wiring and User Piping WARNING Always turn off the controller before wiring and piping to prevent electrical shocks. Cable carrier specifications A cable carrier is mounted as a standard between the X and Y axes. When using 3-axes, a cable carrier is also provided between the Y and Z axes.
Page 213 Open the Y-axis wiring box cover. Lay out the wiring in the Y-axis box as necessary. CAUTION • The wires could be damaged if the harness retainer is tightened too much. • Manually move the robot by the full stroke before fixing to confirm that the harness and air tube, etc., are not pulled in the cable carrier.
Page 214 Cable carrier specifications CAUTION • Harness and air tube must be laid in the unoccupied area. Do not set the user wiring/piping in the YAMAHA robot cable domain. • When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier's cross-sectional area.
Page 215: User I/O Cable Specifications
4.1.3 User I/O cable specifications CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied correctly, and may prevent the device from operating correctly. With the cable carrier specifications, signal wires (0.3mm 10 wires) that can be used freely by the user are laid as a standard between the X-axis wiring box and final axis' wiring box (the Z-axis wiring box when using 3-axis model).
Page 216: Examples Of Wiring And Piping With Whipover Specifications
When using an air tube, prepare an air coupler for connecting the user air tube with the YAMAHA air tube. Remove the resin cover from the end face of the X-axis wiring box. (M4, 4 screws) Rubber grommets are attached to the X-axis wiring box. Open holes (or notches) in these grommets, and pass the required cables and air tubes, etc., through.
Page 217: Changing The Motor Installation Position
Changing the Motor Installation Position Changing the motor installation position WARNING Always turn the controller power OFF before starting this work. Serious accidents could occur if the robot starts moving during this work. The position for installing the FXYBX and SXYBX axis on the motor can be freely selected. Interference with the motor case can be suppressed to a minimum and space can be used effectively.
Page 218 First attach the belt to the small pulley, and then fit it onto the large pulley. Temporarily fix the motor plate installation bolts while pulling on the motor case. Motor case Motor plate installation bolt Adjust the belt tension while referring to "7.2 Adjusting the speed reduction belt tension"...
Page 219: Installing The Cover
Installing the Cover If the X-axis stroke is long, a slider mechanism is provided in the X-axis stroke cover. The alignment of the slider and upper cover must be adjusted when installing the cover. Target FXYBX X stroke 2150mm or more SXYBX X stroke 2450mm or more CAUTION If the slider and upper cover are not correctly adjusted, the slider could be damaged prematurely.
Page 220: Adjusting The Timing Belt Tension
Adjusting the Timing Belt Tension The X-axis and the Y-axis for the FXYBX and SXYBX use a timing belt to drive the slider. If the timing belt tension is week, adjust the belt tension with the following procedures. WARNING The motor and speed reduction gear casing are extremely hot after automatic operation, so burns may occur if these are touched.
Page 221: Adjusting The Drive Belt Tension
Adjusting the drive belt tension CAUTION On robot models having a long stroke, a slider is provided in the upper cover. Pull off the upper cover with a parallel movement in the axis movement direction. Turn the controller power OFF. Remove the end cover.
Page 222: Adjusting The Speed Reduction Belt Tension
Temporarily tighten the belt stay installation bolt. If the deflection is within the range shown in Table 11-1 when the belt is pressed with the designated load, the tension is appropriate. If the deflection is not within the range of Table 11-1, repeat Steps 4 and 5 to adjust the tension. Table 11-1 Drive belt load and deflection Model Load (N)
Page 223 Apply the load listed in Table 11-2 at the center of both pulleys, and measure the deflection at that point. If the results are within the range given in Table 11-2, the tension is suitable. Table 11-2 Speed reduction belt load and deflection Model Load (N) Load (kgf)
Page 224: Periodic Inspections
Periodic inspections WARNING The periodic inspection is very important to operate the YAMAHA robot safely and efficiently. Before starting the work, be sure to thoroughly read this Chapter, general safety precautions, "Safety Instructions" describing the periodic inspection methods common to each robot, and Chapter 3 "Periodic Inspections".
Page 225: Replacing The Drive Belt
Loosen the two pulley set screws, and remove the pulley. Replace the motor, and attach the pulley to the motor. Insert so that the two set screws perpendicularly contact the D face of the motor shaft. NOTE The parts can be correctly assembled by projecting the set screws by approx. 0.1 to 0.2mm from the inner diameter.
Page 226 Remove the belt stays from the table. FXYBX X-axis, SXYB X and Y-axis Remove the belt stay installation bolts (4 bolts, 2 stays), and remove the belt stays from the table. Belt stay installation bolt Table Belt stay FXYBX Y-axis Remove the two belt stay installation bolts, and remove the belt stay from the table.
Page 227: Replacing The Speed Reduction Belt
Replacing the speed reduction belt CAUTION The position will deviate when the belt is replaced. After replacing the belt, return-to-origin must be carried out and the point data must be reset. Remember the relation of the installation positions when removing any parts. Remove the belt cover.
Page 228: Replacing The Slider
Replacing the slider If the X stroke is 2150mm or more for the FXYBX, or 2450mm or more for the SXYBX, a slider mechanism is provided in the X-axis stroke cover. Use the following procedure if the slider needs to be replaced due to wear or damage.
Page 229: Periodic Inspection Of The Zs/Zrs Unit
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter-proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 230: Adjusting The R-Axis Belt Tension (Zrs)
8.5.2 Adjusting the R-axis belt tension (ZRS) With the ZRS model, a timing belt is used for the R-axis. If the timing belt tension is week, adjust the belt tension with the following procedures. WARNING There is a risk of injury if fingers, etc., are caught between the drive section pulley and belt section. Always turn the controller power OFF and carefully carry out the work if these parts may be contacted.
Page 231: Replacing The R-Axis Harmonic Drive (Zrs)
Return the cover to the original position. Fig. 11-24 ZRS belt tension ■ Tension decreases q R-axis motor fixing bolt (M4) Tension increases R-axis motor 8.5.3 Replacing the R-axis harmonic drive (ZRS) The ZRS R-axis speed reduction gear uses a harmonic drive. The ZRS uses a harmonic drive as the R-axis speed reduction gear, which must be replaced after using for a set period.
Page 233 Chapter 12 HXYLX 1. Installation 12-1 Installation method 1 (Arm type, moving arm type, pole type, gantry type X-axis) 12-1 1.1.1 Installation bolt types 12-1 1.1.2 Installation bolt nominal length 12-1 1.1.3 Tightening torque 12-1 1.1.4 Installation methods 12-2 Installation method 3 (Gantry type support axis) 12-4 2.
Page 235: Installation
Installation WARNING The installation work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the installation work. WARNING •...
Page 236: Installation Methods
Tap M8 coares screw thread holes into the installation base where the robot is to be installed. Refer to the XY-X series catalog for the hole positions. Remove the screws securing the upper cover of the robot and remove the cover.
Page 237 Protective connections ■ WARNING Always ground the robot and controller unit to prevent electrical shock. A grounding terminal (M4 screw) is provided inside the cable box, so always ground the unit. The position of the grounding terminal is shown below. Fig.
Page 238: Installation Method 3 (Gantry Type Support Axis)
Installation method 3 (Gantr y type support axis) Install the gantry type support axis in the following manner. CAUTION Set the X-axis and guide rail parallelism during installation. Make sure that there is no difference in the height direction of the X-axis and guide rail installation surface. Fix the robot onto the specified position of the installation base with bolts.
Page 239: Protective Connections
Protective Connections WARNING The adjustment work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the adjustment work. WARNING Always ground the robot and controller to prevent electrical shocks.
Page 240: Wiring Methods
Wiring methods CAUTION Accurately insert the lock washer between the ring-tongue terminal and robot. Proper continuity may not be secured if the lock washer is dislocated. Loosen the four M4 small screws, and open the X-axis wiring box cover. Pass the ground wire through the cable lead-out port on the X-axis wiring box (fixed).
Page 241: Installing The Tool
Installing the Tool Install the user tool onto the robot's tool installation surface in the following manner. WARNING Always turn the controller power OFF before installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tightening torque, and accurately installing the tool.
Page 242: Moving Arm Type 2-Axis Model
Moving arm type 2-axis model The moving arm type has an aluminum-cast bracket on the end of the Y-axis. Install the tool on this bracket. 12 M8 coarse thread tap holes and two 6 reamer holes are opened on the bracket. Fig.
Page 243: Pole Type 2-Axis Model
Pole type 2-axis model Four M8 coarse thread tap holes and two 8 reamer holes are opened on the tool installation surface of the Y-axis slider. (Refer to Fig. 12-7.) Install the user tool onto the Y-axis slider using these holes. Four M5 coarse thread tap holes are also opened on the slider side.
Page 244: Zh (Arm Type, Gantry Type, Moving Arm Type 3-Axis Model)
Select the under head length of the installation bolt so that the screw length from the installation surface is 9mm or more, 27mm or less. Fig. 12-8 Tool installation ZH ■ Refer to the XY-X series catalog for the M6 tap position. NOTE There is a step on the ZH frame.
Page 245: Zl (Arm Type, Gantry Type)
ZL (Arm type, gantr y type) When using the 3-axis model with ZL for the 3rd-axis, install the tool to the ZL slider in the following manner. Eight M6 coarse thread tap holes and two 6 reamer holes are opened on the Y-axis slider. (Refer to Fig. 12-9.) Install the user tool onto the ZL slider using these holes.
Page 246: Zph (Pole Type 3-Axis Model)
ZPH (Pole type 3-axis model) When ZPH is attached for the 3rd-axis of the pole type, install the tool onto the aluminum bracket at the end of the ZP-axis. 12 M6 coarse thread tap holes and two 6 reamer holes are opened on the bracket. Fig.
Page 247: Rh (Arm Type, Gantry Type 4-Axis Model)
RH (Arm type, gantr y type 4-axis model) CAUTION When fixing with the tap holes, always fix at several holes. If fixed with only one hole, the loosening torque could act during operation can cause loosening. If the rotary axis RH is attached to the 4th-axis, install the tool onto the shaft at the end of RH. Five M8 coarse thread tap holes are opened on the end of the shaft.
Page 248: User Wiring And User Piping
User Wiring and User Piping WARNING Always turn off the controller before wiring and piping to prevent electrical shocks. Cable carrier specifications A cable carrier is mounted as a standard between the X and Y-axis. When using 3-axis, a cable carrier is also provided between the Y and Z-axis, and when using 4-axis, a cable carrier is also provided between the Z and R-axis.
Page 249 Remove the harness retainer located at the cable carrier outlet. (Hex socket head bolt M5, 2) Harness retainer Pass the required wires and pipes through the cable carrier. The cable carrier has an outer lid that can be opened and closed easily. Use a flat-tip screwdriver to open the lid.
Page 250: Cable Carrier Specifications
Cable carrier specifications CAUTION • Harness and air tube must be laid in the unoccupied area. Do not set the user wiring/piping in the YAMAHA robot cable domain. • When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier's cross-sectional area.
Page 251: User I/O Cable Specifications
4.1.3 User I/O cable specifications CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied correctly, and may prevent the device from operating correctly. With the cable carrier specifications, signal wires (0.3mm 10 wires) that can be used freely by the user are laid as a standard between the X-axis wiring box and final axis' wiring box.
Page 252: Examples Of Wiring And Piping With Whipover Specifications
Refer to "1.2 User I/O cable" in Chapter 4 for details on the enclosed connector and pin specifications. Recommended crimping tool YC-122R (J.S.T. Mfg Co., Ltd.) When using an air tube, prepare an air coupler for connecting the user air tube with the YAMAHA air tube. Open the X-axis wiring box (movable) cover. Fig. 12-15 ■...
Page 253: Periodic Inspections
Periodic Inspections WARNING The periodic inspection is very important to operate the YAMAHA robot safely and efficiently. Before starting the work, be sure to thoroughly read this Chapter, general safety precautions, "Safety Instructions" describing the periodic inspection methods common to each robot, and Chapter 3 "Periodic Inspections".
Page 254: Replacing The Motor (X-Axis)
Refer to the following table, and adjust the belt tension. Frequency (Hz) Tension (N) Tension (kg) Span length (mm) Belt unit weight (kg/m) 207 to 219 88 to 98 9 to 10 0.051 When the appropriate tension has been set, tighten the motor installation bolt, and measure the tension again.
Page 255 Remove the fixing bolts (M6, four bolts) from the pulley connection boss, and pull the pulley off the motor. Loosen the bolts while fixing the surface machined section of the boss with a pair of pliers, etc. 4-M6 Hexagon bolt Boss Ring Pulley...
Page 256: Installing And Removing The Cover
Installing and removing the cover 5.3.1 Stroke cover Removing the stroke cover Remove the fixing screws (M4, pan-head) on both ends. Place the table slide near the stroke end, and pull off the cover. Table slide Side cover Center cover Motor block End block Installing the stroke cover...
Page 257: Belt Cover
5.3.2 Belt cover Removing the belt cover Loosen the hexagon bolts (M4, two bolts) on the front with a spanner or socket wrench. After removing the M4 screws on the top, pull the cover upward and off. (Refer to the following photograph.) M4 screw (two) M4 hexagon bolt (two) Installing the belt cover...
Page 259 Chapter 13 SXYXC 1. Installation 13-1 Installation method 13-1 2. Protective bonding 13-2 3. Suction hoses connection 13-2...
Page 261: Installation
Installation WARNING The installation work with the cover removed needs the special knowledge and skill. If unskilled work person performs this work, this may involve risk. Only qualified engineers who have the skill and license in accordance with the laws and regulations in each country are allowed to carry out the installation work. WARNING •...
Page 262: Protective Bonding
Protective bonding WARNING Always ground the robot and controller unit to prevent electrical shock. Always use the ground terminal (M4 screw) on the robot unit to make ground connection. The ground terminal location is shown below. CAUTION • A secure ground connection (less than 100-ohm resistance to ground) is recommended. •...
Page 263 Manufacturer Y AMARA MOTOR CO., LTD. Robotics Operations 127 Toyooka, Kita-ku, Hamamatsu, Shizuoka 433-8103, Japan Representative Yamaha Motor Europe N.V., Niederlassung Deutschland, German Branch, IM Business Hansemannstrase 12, 41468 Neuss, Germany This declaration of conformity is issued under the sole responsibility of the manufacturer.
Page 264 YAMAHA MOTOR CO., LTD. The contents of this manual are subject to change without prior notice. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions.
Page 266 Robotics Operations 127 Toyooka, Kita-ku, Hamamatsu, Shizuoka, 433-8103, Japan https://global.yamaha-motor.com/business/robot/ YAMAHA MOTOR CO., LTD.

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