Yamaha FXYX Manuals

Manuals and User Guides for Yamaha FXYX. We have 1 Yamaha FXYX manual available for free PDF download: User Manual

Yamaha FXYX User Manual (266 pages)

CARTESIAN ROBOT

Brand: Yamaha | Category: Robotics | Size: 8 MB

Table of Contents
3
Safety Information
15
Signal Symbols
16
Warning Labels
16
Warning Label Messages on Robot and Controller
17
Supplied Warning Labels
24
Warning Symbols
25
Precautions for each Stage of Life Cycle
27
Precautions for Using Robots and Controllers
27
Essential Precautions for the Linear Conveyor Module
27
Motorless Type Single-Axis Actuator Robonity Series
28
Design
28
Precautions for Robots
28
Precautions for Controllers
29
Carrying and Installation
29
Precautions for Robots
29
Precautions for Robot Controllers
29
Precautions for Controllers
31
Safety Measures
32
Installing a Safety Enclosure
33
Safety Measures
33
Operation
34
Trial Operation
34
Automatic Operation
35
Precautions During Operation
36
Maintenance
37
Before Maintenance Work
37
Precautions During Service Work
38
Disposal
39
Action When a Person Is Caught by Robot
39
Emergency Action When a Person Is Caught by Robot
39
Cautions Regarding Strong Magnetic Fields
40
Using the Robot Safely
40
Movement Range
40
Robot Protective Functions
41
Residual Risk
42
Special Training for Industrial Robot Operation
42
KC Mark
42
EMC Standards
42
Examples of EMC Countermeasures
43
Safety Instructions
44
Warranty
45
Chapter 1 Product Outline
47
Robot
49
Names of each Part
50
Robot Controller
55
Robot Installation Environment
59
Unpacking the Robot
60
Checking the Product
61
Transporting the Robot
63
Installation
64
Installation Base
64
Installing the Robot
64
Protective Connections
65
Connecting the Robot Cables
66
Connecting with the RCX222 Controller (2 Axes)
67
Connecting with the RCX340 or RCX240 Controller (3 Axes/4 Axes)
68
3-Axis Model
68
4-Axis Model
69
Installing the Tool
70
User Wiring and User Piping
70
10. Setting the Robot
71
10.1 Setting the Payload
71
10.2 Setting the Maximum Speed
72
10.3 Setting the Acceleration
72
11. Absolute Reset
73
Chapter 3 Periodic Inspections
75
Before Beginning Work
77
Periodic Inspection
78
Daily Inspection
78
Three-Month Inspection
79
Six-Month Inspection
81
Three-Year Inspection
82
Applying the Grease
83
Pxyx
84
Fxyx/Sxyx/Nxy/Mxyx/Hxyx/Fxybx/Sxybx/Hxylx/Sxyxc
85
Adjusting Shutter Looseness
86
Maintenance and Inspection of Harmonic Drives
87
Harmonic Grease Replacement Period
88
Chapter 4 Specifications
89
Specifications
89
Robot Cable
91
User I/O Cable
94
Chapter 5 PXYX
95
Installation
97
Installation Bolt Types
97
Installation Bolt Nominal Length
97
Tightening Torque
97
Installation Methods
98
Protective Connections
99
Ground Terminal
99
Ground Wire
99
Wiring Method
99
Installing the Tool
100
User Wiring and User Piping
101
Chapter 6 FXYX
103
Installation
105
Installation Bolt Types
105
Installation Bolt Nominal Length
105
Tightening Torque
105
Installation Methods
106
Protective Connections
106
Ground Terminal
106
Ground Wire
107
Wiring Method
107
Installing the Tool
108
Arm Type 2-Axis Model
108
ZS (3-Axis Model)
109
ZT6 (3-Axis Model)
110
User Wiring and User Piping
111
Cable Carrier Specifications
111
Example of Wiring and Piping Methods Using Cable Carrier
111
Cable Carrier Specifications
114
User I/O Cable Specifications
114
Replenishing Grease to the Z-Axis (ZS) Ball Screw
115
Chapter 7 SXYX
117
Installation
119
Installation Bolt Types
119
Installation Bolt Nominal Length
119
Tightening Torque
119
Installation Methods
120
Protective Connections
122
Ground Terminal
122
Ground Wire
123
Wiring Methods
123
Arm Type with Cable Carrier Specifications
123
Arm Type, Moving Arm Type, Pole Type with Whipover Specifications
124
XZ Type
125
Installing the Tool
126
Arm Type, Pole Type 2-Axis Model
126
Moving Arm Type 2-Axis Model
128
ZF (Arm Type, Moving Arm Type, 3-Axis Model/Xz Type 2-Axis Model)
129
RF (Arm Type, Moving Arm Type, 4-Axis Model/Xz Type 3-Axis Model)
130
ZS/ZRS (Arm Type 3/4-Axis Model, XZ Type 2/3-Axis Model)
131
ZFH (Arm Type, Gantry Type, Moving Arm Type 3-Axis Model) XZ Type 2-Axis Model
132
ZFL (Arm Type, Moving Arm Type, 3-Axis Model/Xz Type 2-Axis Model)
133
User Wiring and User Piping
134
Cable Carrier Specifications
134
Example of Wiring and Piping Methods Using Cable Carrier
134
Cable Carrier Specifications
137
User I/O Cable Specifications
138
Whipover Specifications
138
Examples of Wiring and Piping with Whipover Specifications
138
Periodic Inspection of the ZS/ZRS Unit
140
Replenishing Grease to the Z-Axis Ball Screw and Ball Spline
140
Adjusting the R-Axis Belt Tension (ZRS)
141
Replacing the R-Axis Harmonic Drive (ZRS)
142
Chapter 8 NXY
143
Installation
145
Installation Bolt Types
145
Installation Bolt Nominal Length
145
Tightening Torque
146
Installation Methods
146
Protective Connections
148
Ground Terminal
148
Ground Wire
148
Wiring Methods
149
Grounding to the Single Arm Robot
149
Grounding to the Double Arm Robot
149
Installing the Tool
150
Single Arm Type, Double Arm Type 2-Axis Model
150
ZFH (Single Arm Type, Double Arm Type)
151
ZFL (Single Arm Type, Double Arm Type)
152
User Wiring and User Piping
153
Cable Carrier Specifications
153
Wiring/Piping to the Single Arm Robot
153
Wiring/Piping to the Double Arm Robot
155
Installation
159
Installation Bolt Types
159
Installation Bolt Nominal Length
159
Tightening Torque
159
Installation Methods (Arm Type, Moving Arm Type, Pole Type, Gantry Type X-Axis)
160
Installation Methods (Gantry Type Support Axis)
162
Protective Connections
163
Ground Terminal
163
Ground Wire
163
Wiring Methods
164
Installing the Tool
165
Arm Type, Pole Type 2-Axis Model
165
Moving Arm Type 2-Axis Model
166
ZF (Arm Type, Moving Arm Type, Gantry Type 3-Axis Model)
167
RF (Arm Type, Moving Arm Type, 4-Axis Model/Xz Type 3-Axis Model)
168
ZFH (Arm Type, Gantry Type, Moving Arm Type 3-Axis Model) XZ Type 2-Axis Model
169
ZFL (Arm Type, Moving Arm Type, 3-Axis Model/Xz Type 2-Axis Model)
170
User Wiring and User Piping
171
Cable Carrier Specifications
171
Example of Wiring and Piping Methods Using Cable Carrier
171
User I/O Cable Specifications
174
Whipover Specifications
174
Examples of Wiring and Piping with Whipover Specifications
175
Installation
179
Installation Bolt Types
179
Installation Bolt Nominal Length
179
Tightening Torque
179
Installation Method 1 (Arm Type, Moving Arm Type, Pole Type, Gantry Type X-Axis)
179
Installation Methods (Arm Type, Moving Arm Type, Pole Type, Gantry Type X-Axis)
180
Installation Methods (Gantry Type Support Axis)
180
Installation Methods
182
Installation Method 2 (XZ Type)
182
Installation Bolt
182
Installation Bolt Nominal Length
182
Tightening Torque
182
Installation Method 3 (Gantry Type Support Axis)
183
Protective Connections
184
Ground Terminal
184
Ground Wire
185
Wiring Methods
185
Installing the Tool
186
Arm Type, Gantry Type 2-Axis Model
186
Moving Arm Type 2-Axis Model
187
Installation
188
Pole Type 2-Axis Model
188
ZH (Arm Type, Gantry Type, Moving Arm Type 3-Axis Model/Xz Type 2-Axis Model)
189
ZL (Arm Type, Gantry Type, Moving Arm Type 3-Axis Model/Xz Type 2-Axis Model)
190
ZPH (Pole Type 3-Axis Model)
191
RH (Arm Type, Moving Arm Type, Gantry Type 4-Axis Model/Xz Type 3-Axis Model)
192
User Wiring and User Piping
193
Cable Carrier Specifications
193
Example of Wiring and Piping Methods Using Cable Carrier
193
Cable Carrier Specifications
195
User I/O Cable Specifications
196
Whipover Specifications
196
Examples of Wiring and Piping with Whipover Specifications
197
Installation
201
Installation Bolt Types
201
Installation Bolt Nominal Length
201
Tightening Torque
202
Installation Methods
202
Protective Connections
203
Ground Terminal
203
Ground Wire
204
Wiring Methods (Cable Carrier Specifications)
204
Wiring Methods (Whipover Specifications)
205
Wiring Methods (Whipover Specifications)
205
Installing the Tool
206
FXYBX Arm Type 2-Axis Model
206
SXYBX Arm Type 2-Axis Model
207
SXYBX-ZF (XZ Type 2-Axis Model, Arm Type 3-Axis Model)
208
ZS/ZRS (XZ Type 2-Axis Model, Arm Type 3/4-Axis Model)
209
ZFH (Arm Type, Gantry Type, Moving Arm Type 3-Axis Model/ XZ Type 2-Axis Model)
210
ZFL (Arm Type, Moving Arm Type, 2-Axis Model/Xz Type 2-Axis Model)
211
User Wiring and User Piping
212
Cable Carrier Specifications
212
Example of Wiring and Piping Methods Using Cable Carrier
212
User I/O Cable Specifications
215
Whipover Specifications
215
Examples of Wiring and Piping with Whipover Specifications
216
Changing the Motor Installation Position
217
Installing the Cover
219
Adjusting the Timing Belt Tension
220
Adjusting the Drive Belt Tension
221
Adjusting the Speed Reduction Belt Tension
222
Periodic Inspections
224
Replacing the Motor
224
Replacing the Drive Belt
225
Replacing the Speed Reduction Belt
227
Replacing the Slider
228
Periodic Inspection of the ZS/ZRS Unit
229
Replenishing Grease to the Z-Axis Ball Screw and Ball Spline
229
Adjusting the R-Axis Belt Tension (ZRS)
230
Replacing the R-Axis Harmonic Drive (ZRS)
231
Installation
235
Installation Method 1 (Arm Type, Moving Arm Type, Pole Type, Gantry Type X-Axis)
235
Installation Bolt Types
235
Installation Bolt Nominal Length
235
Tightening Torque
235
Installation Methods
236
Installation Method 3 (Gantry Type Support Axis)
238
Protective Connections
239
Ground Terminal
239
Ground Wire
239
Wiring Methods
240
Installing the Tool
241
Arm Type, Gantry Type 2-Axis Model
241
Moving Arm Type 2-Axis Model
242
Pole Type 2-Axis Model
243
ZH (Arm Type, Gantry Type, Moving Arm Type 3-Axis Model)
244
ZL (Arm Type, Gantry Type)
245
ZPH (Pole Type 3-Axis Model)
246
RH (Arm Type, Gantry Type 4-Axis Model)
247
User Wiring and User Piping
248
Cable Carrier Specifications
248
Example of Wiring and Piping Methods Using Cable Carrier
248
Cable Carrier Specifications
250
User I/O Cable Specifications
251
Whipover Specifications (Moving Arm Type/Pole Type 3-Axis Model)
251
Examples of Wiring and Piping with Whipover Specifications
252
Periodic Inspections
253
Adjusting the Timing Belt Tension (X-Axis)
253
Replacing the Motor (X-Axis)
254
Installing and Removing the Cover
256
Stroke Cover
256
Belt Cover
257
Motor Cover
257
Installation
261
Installation Method
261
Protective Bonding
262
Suction Hoses Connection
262

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