Yamaha YK1200X Manuals

Manuals and User Guides for Yamaha YK1200X. We have 1 Yamaha YK1200X manual available for free PDF download: User Manual

Yamaha YK1200X User Manual (268 pages)

Brand: Yamaha | Category: Robotics | Size: 3.79 MB

Table of Contents
3
Warranty
9
Introduction
11
Introduction
13
Signal Symbols
14
Before Using the Robot (be Sure to Read the Following Notes.)
15
Chapter 1 Functions
19
Robot Manipulator
21
Manipulator Movement
21
Part Names
22
Robot Controller
25
Robot Initialization Number List
26
Chapter 2 Installation
27
Robot Installation Conditions
29
Installation Environments
29
Installation Base
30
Installation
31
Unpacking
31
Checking the Product
32
Carrying the Robot
33
Yk500Xc, Yk600Xc, Yk700Xc, Yk800Xc, Yk1000Xc
33
Yk1200X
36
Installing the Robot
38
Protective Bonding
39
Robot Cable Connection
40
User Wiring and User Tubing
41
Yk500Xc, Yk600Xc, Yk700Xc, Yk800Xc, Yk1000Xc
41
Yk1200X
44
Attaching the End Effector
48
Acceleration Coefficient Vs. Moment of Inertia
48
R-Axis Tolerable Moment of Inertia and Acceleration Coefficient
48
Parameter Setting According to R-Axis Moment of Inertial of Load
48
Acceleration Coefficient Vs. Moment of Inertia (YK500XC)
49
Acceleration Coefficient Vs. Moment of Inertia (YK600XC)
52
Acceleration Coefficient Vs. Moment of Inertia (YK700XC)
55
Acceleration Coefficient Vs. Moment of Inertia (YK800XC)
58
Acceleration Coefficient Vs. Moment of Inertia (YK1000XC)
61
Acceleration Coefficient Vs. Moment of Inertia (YK1200X)
64
Equation for Moment of Inertia Calculation
67
Example of Moment of Inertia Calculation
70
Attaching The End Effector
72
Gripping Force of End Effector
75
Limiting Movement Range with X-Axis Mechanical Stoppers
76
Changing the X-Axis Mechanical Stopper Position
76
Limiting the Movement Range with X-Axis Mechanical Stoppers (YK1200X)
78
Changing the Y-Axis Mechanical Stopper Position
79
Overrun Amounts During Impacts with Y-Axis Mechanical Stopper
79
Limiting the Movement Range with Z-Axis Mechanical Stoppers (YK1200X)
80
Installing the Minus Direction Stopper
80
Installing the Plus Direction Stopper
82
Overrun Amounts During Impacts with Z-Axis Additional Mechanical Stoppers
83
Working Envelope And Mechanical Stopper Positions For Maximum Working Envelope
84
Stopping Time and Stopping Distance at Emergency Stop (YK1200X)
93
11.1 Stopping Time and Distance after Turning Stop Signal on
93
Stopping Time And Distance Conformed With Category
95
Chapter 3 Robot Settings
97
Overview
99
Adjusting the Origin
100
Return-To-Origin Method
100
Sensor Method (X, Y, and R-Axis)
100
Mark Method (X, Y, and R-Axis)
101
Stroke End Method (Z-Axis)
101
Machine Reference Value
102
Return-To-Origin Procedures
103
Sensor Method (X, Y, and R-Axis)
103
Mark Method (X, Y, and R-Axis)
104
Absolute Reset in Servo on State (Re-Reset)
105
Absolute Reset in Servo off State (Re-Reset)
108
Absolute Reset in Servo on State (New Reset)
111
Absolute Reset in Servo off State (New Reset)
114
Stroke End Method (Z-Axis)
120
Changing the Origin Position and Adjusting the Machine Reference Value
122
Sensor Method (YK500XC, YK600XC, YK700XC, YK800XC, YK1000XC, YK1200X)
122
Mark Method
129
Adjusting the Machine Reference Value of the Stroke End Method (Z-Axis)
130
Setting the Soft Limits
133
Setting the X and Y-Axis Soft Limits
133
Setting the Z-Axis Soft Limits
134
Setting the R-Axis Soft Limit
134
Relation between the X, Y, and R-Axis Movement Angle, the Z-Axis Movement Distance and the Number of Pulses
134
Setting the Standard Coordinates
135
Affixing the Stickers for Origin Positions, Movement Directions, and Axis Names
136
Detaching or Attaching the Covers
138
Adjusting the Timing Belt Tension
143
Yk500Xc, Yk600Xc
144
Yk700Xc, Yk800Xc, Yk1000Xc
147
Yk1200X
150
Chapter 4 Periodic Inspection
155
Overview
157
Daily Inspection
158
Six-Month Inspection
159
Origin Sensor of X, y and R-Axis
162
Applying the Grease for YK1200X Z-Axis
163
Chapter 5 Harmonic Drive Replacement Period
165
Overview
167
Replacement Period
167
Cautions on Replacement of the Harmonic Drive
168
Replacement Procedure for Harmonic Drive
169
Yk500Xc, Yk600Xc
169
Replacing the X-Axis Harmonic Drive
169
Replacing the Y-Axis Harmonic Drive
175
Replacing the R-Axis Harmonic Drive
180
Yk700Xc, Yk800Xc, Yk1000Xc
187
Replacing the X-Axis Harmonic Drive
187
Replacing the Y-Axis Harmonic Drive
193
Replacing the R-Axis Harmonic Drive
197
Yk1200X
204
Yk500Xc, Yk600Xc
214
Yk700Xc, Yk800Xc, Yk1000Xc
216
Chapter 7 Replacing The Grease For Rv Speed Reduction Gears (YK1200X)
219
Replacement Period
221
Recommended Grease
221
Replacement Procedure
221
Replacing the X-Axis Grease (Products Manufactured from October 2009 Onward)
222
Replacing the Y-Axis Grease (Products Manufactured from October 2009 Onward)
224
Increasing the Robot Operating Speed
229
Increasing Speed by Arch Motion
229
Increasing the Speed with the WEIGHT Statement
231
Increasing the Speed by the Tolerance Parameter
232
Increasing the Speed by the out Valid Position Parameter
233

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Yamaha YK1200X User Manual (268 pages)

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