Adjustment Of The Belt Tension; Adjustment Of X,Y, Z Axis Motor Belt Tension - Yamaha YP-X Series Owner's Manual

CHAPTER 4 Installation
3
3-1

Adjustment of the belt tension

Each axis of the YP-X series robots has a belt-driven structure. When this belt is
replaced or when it is stretched due to strong external forces (bumping etc.),
adjust the belt tension with the following procedure.

Adjustment of X,Y, Z axis motor belt tension

1) Turn off the controller power.
2) Remove the cover for each axis.
3) Loosen the bolts securing each motor and apply tension to the belt by pulling
on the motor. When loads as shown in the table below are applied to the
center section of the belt, a slack amount as shown in the lower part of the
table is satisfactory.
4) Retighten the bolts securing the motor and reinstall the axis covers.
Pulley
CAUTION
!
Belt tension that is too strong will damage the motor shaft.
! CAUTION
The robot position may change depending on the belt tension.
Robot Model
Load
Load (Kg)
Slack
Slack (mm)
Belt
Fig. 4-2 Belt tension
4-6
YP320X YP330X
YP320XR YP340X
X-axis Z-axis X-axis Y-axis Z-axis
1 0.5 1 1
1 1 1 2
Pulley
YP220BX
YP220BXR
X-axis Z-axis
0.5 0.5 0.5
1 1 1