Yamaha TRANSERVO SSC04 User Manual Download Page 4

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Summary of Contents for TRANSERVO SSC04

Page 1: ...ENGLISH E E46 Ver 1 02 SSC04 SSC05 SSC05H YAMAHA SINGLE AXIS ROBOT TRANSERVO series IM Operations 882 Soude Naka ku Hamamatsu Shizuoka 435 0054 Japan URL http www yamaha motor jp robot index html YAMAHA MOTOR CO LTD ...

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Page 3: ...the robot is moved transferred or sold send this manual to the new user along with the robot Be sure to explain to the new user the need to read through this manual Specifications of robot models other than standard models may be omitted in this manual if they are common to those of standard models In this case refer to the specifications of standard models For details on specific operation of the...

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Page 5: ...1 9 Warranty 1 14 Chapter 2 Product Overview 2 1 Checking the product 2 1 2 2 Robot part names 2 2 2 3 Robot installation conditions 2 3 2 4 Installation base 2 4 2 5 Installing the robot 2 5 2 6 The Emergency Stop stopping distance 2 6 2 7 Connections 2 6 2 7 1 Connecting the robot to the controller 2 6 2 7 2 Robot cable connections 2 8 2 7 3 Robot system configuration drawing 2 9 2 8 Setting the...

Page 6: ...ing shutter looseness 3 8 3 6 Replacing the motor 3 9 3 6 1 SSC04 3 9 3 6 2 SSC05 SSC05H 3 11 3 6 3 Verifying the machine reference 3 13 3 7 Replacing the coupling 3 15 3 7 1 SSC04 3 15 3 7 2 SSC05 SSC05H 3 17 Chapter 4 Specifications 4 1 Main unit specifications 4 1 4 1 1 SSC04 4 1 4 1 2 SSC05 4 4 4 1 3 SSC05H 4 7 4 1 4 About noise level 4 10 4 2 Motor specifications 4 10 4 2 1 Motor termination ...

Page 7: ...1 2 Essential precautions 1 3 1 3 Special training for industrial robot operation 1 9 1 4 Robot safety functions 1 10 1 5 Safety measures for the system 1 11 1 6 Trial operation 1 11 1 7 Work within the safety enclosure 1 12 1 8 Automatic operation 1 13 1 9 Warranty 1 14 ...

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Page 9: ...assified as explained below Make sure that you fully understand the meaning of each symbol and comply with the instructions wDANGER FAILURE TO FOLLOW DANGER INSTRUCTIONS WILL RESULT IN SEVERE INJURY OR DEATH TO THE ROBOT OPERATOR BYSTANDERS OR PERSONS INSPECTING OR REPAIRING THE ROBOT wWARNING FAILURE TO FOLLOW WARNING INSTRUCTIONS COULD RESULT IN SEVERE INJURY OR DEATH TO THE ROBOT OPERATOR BYSTA...

Page 10: ... essential that the user have a full knowledge of basic safety rules and also that the operator makes correct judgments on safety procedures during operation For specific safety information and standards refer to the applicable local regulations and comply with the instructions This manual and warning labels supplied with or attached to the robot are written in English Unless the robot operators o...

Page 11: ...nter inside except from doors or panels equipped with safety interlocks Warning labels 1 are supplied with the robot and should be affixed to conspicuous spots on doors or panels of the safety enclosure wDANGER SERIOUS INJURY OR DEATH WILL RESULT FROM IMPACT WITH MOVING ROBOT KEEP OUTSIDE OF GUARD DURING OPERATION LOCK OUT POWER BEFORE APPROACHING ROBOT Warning label 1 DANGER Serious injury or dea...

Page 12: ...cautions relating to your work as well as descriptions in this chapter Chapter 1 Using the Robot Safely Never install adjust inspect or service the robot in any manner that does not comply with the instructions in this manual Warning labels 3 are supplied with the robot and should be affixed to the robot or conspicuous spots near the robot wWARNING IMPROPER INSTALLATION OR OPERATION CAN RESULT IN ...

Page 13: ...ONMENTS WHERE INFLAMMABLE OR EXPLOSIVE SUBSTANCES ARE PRESENT DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING INFLAMMABLE GAS DUST OR LIQUIDS EXPLOSIONS OR FIRE MIGHT OTHERWISE RESULT 6 Do not use the robot in locations possibly subject to electromagnetic interference etc wWARNING AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC INTERFERENCE ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY ...

Page 14: ...TO LET YOUR BODY GET CAUGHT BETWEEN THE VERTICAL AXIS PARTS AND INSTALLATION BASE 10 Be careful not to touch the motor and peripheral parts when hot wWARNING The motor and speed reduction gear casing are extremely hot after automatic operation so burns may occur if these are touched Before handling these parts during inspection or servicing turn off the controller wait for a while and check that t...

Page 15: ...ERMINALS OR CONNECTORS ON THE OUTSIDE OF THE CONTROLLER DURING INSPECTION ALWAYS FIRST TURN OFF THE CONTROLLER POWER SWITCH AND ALSO THE POWER SOURCE IN ORDER TO PREVENT POSSIBLE ELECTRICAL SHOCK NEVER TOUCH ANY INTERNAL PARTS OF THE CONTROLLER REFER TO THE YAMAHA ROBOT CONTROLLER USER S MANUAL FOR PRECAUTIONS ON HANDLING THE CONTROLLER 15 Follow the specified procedures when installing adjusting ...

Page 16: ...operator then protective equipment should be installed by taking the size weight temperature and chemical properties of the object into account 23 Draw up work instructions and makes sure the operator learns them well Decide on work instructions for the following items in cases where personnel must work within the robot movement range to perform teaching maintenance or inspection Make sure the wor...

Page 17: ...t or selector switch If needed take other measures such as locking the cover on the operation panel 25 Make daily and periodic inspections 1 Always make sure that daily and periodic inspections are performed and make a pre work check to ensure there are no problems with the robot or related equipment If a problem or abnormality is found then promptly repair it or take other measures as necessary 2...

Page 18: ...FT LIMIT IS SET OUTSIDE THE MOVEMENT RANGE THE ROBOT AXIS MAY COLLIDE WITH THE MECHANICAL STOPPER AT HIGH SPEED CAUSING THE OBJECT GRIPPED BY THE END EFFECTOR TO FLY OR DROP AND THE ROBOT TO MALFUNCTION 4 Mechanical stoppers The mechanical stoppers prevent axis motion from exceeding the permissible motion range when the power is shut off by an emergency stop or by a safety function during high spe...

Page 19: ...on and servicing of the system 1 6 Trial operation After making installations adjustments inspections or maintenance or repairs to the robot make a trial run using the following procedures 1 If a safety enclosure has not yet been provided right after installation of the robot rope off or chain off around the movement area of the manipulator in place of the safety enclosure and observe the followin...

Page 20: ...ty enclosure always turn off the controller and place a sign indicating that the robot is being adjusted or serviced in order to keep any other person from touching the controller switch or operation panel except for the following cases 1 Soft limit settings 2 Teaching For item 1 follow the precautions and procedure for each section To perform item 2 refer to the description in 2 below 2 Teaching ...

Page 21: ...cks actuated 2 Observe the following during automatic operation or in cases where an error occurs 1 After automatic operation has started check the operation status and signal light to ensure that the robot is in automatic operation 2 Never enter the safety enclosure during automatic operation 3 If an error occurs in the robot or peripheral equipment observe the following procedure before entering...

Page 22: ...ranty will not apply in the following cases 1 Fatigue arising due to the passage of time natural wear and tear occurring during operation natural fading of painted or plated surfaces deterioration of parts subject to wear etc 2 Minor natural phenomena that do not affect the capabilities of the robot and or related product noise from computers motors etc 3 Programs point data and other internal dat...

Page 23: ...ANTIES INCLUDING WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE OR WARRANTIES ARISING FROM A COURSE OF DEALING OR USAGE OF TRADE YAMAHA MOTOR CO LTD SOLE LIABILITY SHALL BE FOR THE DELIVERY OF THE EQUIPMENT AND YAMAHA MOTOR CO LTD SHALL NOT BE LIABLE FOR ANY CONSEQUENTIAL DAMAGES WHETHER ARISING FROM CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY YAMAHA MOTOR CO LTD MAKES NO WARR...

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Page 25: ... robot 2 5 2 6 The Emergency Stop stopping distance 2 6 2 7 Connections 2 6 2 7 1 Connecting the robot to the controller 2 6 2 7 2 Robot cable connections 2 8 2 7 3 Robot system configuration drawing 2 9 2 8 Setting the operating conditions 2 10 2 8 1 Payload 2 10 2 8 2 Duty 2 10 2 8 3 Pushing force vs current limit value during stop 2 11 2 9 Suction hoses connection 2 13 ...

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Page 27: ...during shipping If there are any missing parts or damage due to shipping please notify your YAMAHA sales office or representative immediately wWARNING TO REMOVE THE ROBOT UNIT FROM THE PACKING CASE GRASP THE UNIT WITH BOTH HANDS AT THE BOTTOM FACE NEAR THE TWO ENDS THE ROBOT SHOULD BE CARRIED IN AN UPRIGHT SLIDER AT TOP POSTURE WHEN UNPACKING CAREFULLY HOLD THE ROBOT NOT TO DROP IT IF THE ROBOT FA...

Page 28: ...tion air joint Motor cover 2 Slider cover End cover Shutter Motor cover 1 SSC05 Side cover Suction air joint Slider Suction air joint Motor cover 2 Slider cover End cover Shutter Motor cover 1 SSC05H Side cover Suction air joint Slider Suction air joint Motor cover 2 Slider cover End cover Shutter Motor cover 1 ...

Page 29: ...eaching inspection repair etc Refer to the TS S Controller User s Manual for details regarding the controller installation conditions wWARNING AVOID INSTALLING THE ROBOT IN LOCATIONS WHERE THE AMBIENT CONDITIONS MAY EXCEED THE ALLOWABLE TEMPERATURE OR HUMIDITY OR IN ENVIRONMENTS WHERE EXCESSIVE MOISTURE CORROSIVE GASES METALLIC POWDER OR DUST ARE GENERATED MALFUNCTIONS FAILURES OR SHORT CIRCUITS M...

Page 30: ...0 05mm 500mm cCAUTION The robot positioning accuracy or the service life might be reduced if the installation surface precision is insufficient 3 Use an installation base of sufficient size to match the robot body so that the robot can be installed with the specified number of bolts Avoid installing the robot with less than the specified number of bolts or installing the robot closer to one end as...

Page 31: ...ED SIZE AND LENGTH AND TIGHTEN THEM SECURELY TO THE CORRECT TORQUE IN THE CORRECT POSITIONS FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE ROBOT VIBRATIONS POSITION ERRORS AND SERIOUS ACCIDENTS DO NOT USE A BOLT LONGER THAN THE SPECIFIED LENGTH SINCE IT MAY INTERFERE WITH THE INTERNAL PARTS OF THE ROBOT AND CAUSE MALFUNCTIONS Drill holes into the surface of the installation base as shown in the figu...

Page 32: ...1 Connecting the robot to the controller Connect the robot unit s robot cable to the robot positioner s connector as shown in the figure below For details regarding the controller side connector refer to the TS S Controller User s Manual wWARNING BEFORE CONNECTING THE CABLES CHECK THAT THERE ARE NO BENDS OR BREAKS IN THE ROBOT CABLE CONNECTOR PINS AND THAT THE CABLES ARE NOT DAMAGED CONTACT FAILUR...

Page 33: ...ermediate connector signal wire 1 Connect the robot cables motor and signal wires to the mating connectors coming out from the robot Robot cable connector signal wire Robot cable connector motor wire 2 After making the connections fit the connector hoods together securely Hood ...

Page 34: ...s Manual FUNC CLR RUN STOP PWR SRV COM2 COM1 ROB I O I O ES1 ES2 ES MP24V CP24V 0V After making connections fasten the hoods securely Hood Robot cable power cable Robot cable signal cable TRANSERVO series SSC04 SSC05 SSC05H TS S controller HT1 wWARNING BEFORE CONNECTING THE CABLES CHECK THAT THERE ARE NO BENDS OR BREAKS IN THE ROBOT CABLE CONNECTOR PINS AND THAT THE CABLES ARE NOT DAMAGED BENT OR ...

Page 35: ...l communication cable Resolver signal Motor power Power supply DC24V TRANSERVO series SSC04 SSC05 SSC05H TS S controller External control PLC PC Handy terminal HT1 I O control 24V power supply built in TS Manager communication software The robot positioner is provided with the machine unit as standard equipment The handy terminal HT1 is an optional item Input 16 general purpose pins Output 16 gene...

Page 36: ...ppers attached to the robot slider cCAUTION Be sure to enter an accurate value when making this setting since a mistake will cause troubles such as vibration or a shorter machine service life span 2 8 2 Duty To achieve maximum service life for the YAMAHA single axis robots the robot must be operated within the allowable duty 50 The duty is calculated as follows Duty Operation time Operation time N...

Page 37: ...rce vs current limit value during stop SSC04 push thrust 0 20 40 60 80 100 120 140 160 10 15 20 25 30 35 Thrust N Current limit value Lead 2 Lead 6 Lead 12 SSC05 push thrust 0 10 20 30 40 50 60 70 80 90 100 10 15 20 25 30 35 Thrust N Current limit value Lead 6 Lead 12 Lead 20 ...

Page 38: ...e accuracy during stop Use these values for reference If the push force is too small or the push speed is too low the push operation may become unstable so use caution Set the maximum speed during pushing to 20mm s or less Determine an offset amount and thrust so that the pushing moment will be smaller than the allowable static load of each model Static loading moment Unit N m Model MY MP MR SSC04...

Page 39: ...er φ6 Number of hoses 2 Suction rate See the table below Lead Speed Suction rate Lead 20 1000mm sec 80 Nℓ min Lead 12 600mm sec 50 Nℓ min Lead 6 300mm sec 30 Nℓ min Lead 2 100mm sec 15 Nℓ min cCAUTON Avoid excessive bends in the air hoses Lay out the air hoses to keep the hose length to the air unit as short as possible Too long of a hose may prevent obtaining the specified suction flow rate Mount...

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Page 41: ...nth inspection 3 3 3 2 3 Six month inspection 3 4 3 2 4 Three year inspection 3 4 3 3 Applying grease 3 5 3 4 Replacing the shutter 3 6 3 5 Adjusting shutter looseness 3 8 3 6 Replacing the motor 3 9 3 6 1 SSC04 3 9 3 6 2 SSC05 SSC05H 3 11 3 6 3 Verifying the machine reference 3 13 3 7 Replacing the coupling 3 15 3 7 1 SSC04 3 15 3 7 2 SSC05 SSC05H 3 17 ...

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Page 43: ...NTENANCE ALWAYS TURN OFF THE CONTROLLER AND THE EXTERNAL SWITCH BOARD DO NOT TOUCH INTERNAL PARTS OF THE CONTROLLER FOR 5 SECONDS AFTER THE CONTROLLER HAS BEEN TURNED OFF WHEN ONLY MAKING ELECTRICAL INSPECTIONS AND REQUIRING NO MECHANICAL MOVEMENT OF THE ROBOT KEEP THE EMERGENCY STOP BUTTON PRESSED USE ONLY LUBRICANT AND GREASES SPECIFIED BY YAMAHA SALES OFFICE OR REPRESENTATIVE USE ONLY PARTS SPE...

Page 44: ...OTECTIVE GLOVES TO PREVENT CONTACT WITH SKIN DO NOT TAKE ORALLY OR EAT EATING WILL CAUSE DIARRHEA AND VOMITING HANDS AND FINGERS MIGHT BE CUT WHEN OPENING THE GREASE CONTAINER SO USE PROTECTIVE GLOVES KEEP OUT OF THE REACH OF CHILDREN DO NOT HEAT THE GREASE OR PLACE NEAR AN OPEN FLAME SINCE THIS COULD LEAD TO SPARKS AND FIRES EMERGENCY TREATMENT IF GREASE GETS IN THE EYES WASH LIBERALLY WITH PURE ...

Page 45: ... WHEN THE BRAKE IS RELEASED CAUSING A HAZARDOUS SITUATION DO NOT RELEASE THE BRAKE WHEN LUBRICATING VERTICAL USE ROBOT PARTS Check the following points every 3 months and apply grease if needed Checkpoints Check items Notes Ball screw and linear guide Check for dirt or grime If dirt or grime is found clean the part Apply grease after cleaning Apply grease if the items checked are dry or do not hav...

Page 46: ...ecure drive unit and or shaft Check for backlash due to wear Consult us if problem cannot be solved or there is backlash due to wear Controller Check if terminals are loose Check if connectors are loose Greasing to ball screw nut section and linear guide Apply grease every 6 months to ball screw nut and linear guide Recommended grease Albania No 2 Shell Daphne Eponex No 2 Idemitsu See 3 3 in this ...

Page 47: ...ball screws and linear guides according to periodic maintenance 1 Remove the robot s end cover then pull off the side cover 2 Coat the ball screw and linear guides with grease by hand and move the slider back and forth to spread the grease Applying grease to the ball screw Applying grease to the linear guide 3 Reattach the side covers ...

Page 48: ...hutter must be replaced Make sure that the controller power switch is off before beginning work 1 Remove the four screws on the sides of the top cover 2 each on each side then remove the plates Plate Plate Top cover Top cover 2 Remove the top cover 3 Remove the screws 4 locations which secure the roller then remove the roller Roller ...

Page 49: ... 1 Motor cover 1 5 Remove the two screws which secure the end cover shutter End cover 6 Remove the shutter 7 Pass the new shutter through it 8 Reinstall the shutter motor cover 1 and slide cover by reversing their removal procedures nNOTE Do not fully tighten the screws to secure the shutter at this time Fully tighten these screws after adjusting for shutter looseness in step 9 ...

Page 50: ...ive force Pressing down hard on the shutter may cause the shutter to warp 3 5 Adjusting shutter looseness The shutter may elongate with continued use In such cases adjust as follows 1 Slightly loosen the screws 2 locations which secure the shutter at the end cover side Do not remove them 2 While pulling lightly on the shutter with the fingers secure it by tightening the screw until there is no loo...

Page 51: ...otor 3 6 1 SSC04 1 Remove a screw that secures motor cover 1 then remove motor cover 1 by sliding it toward the rear Motor cover 1 Motor cover 1 2 Remove the lower side motor cover 2 by sliding it toward the rear Motor cover 2 Motor cover 2 3 Remove the two screws which secure the motor ...

Page 52: ... care to avoid over tightening the screws which secure motor covers 1 and 2 cCAUTION When attaching motor cover 2 be sure that it is correctly aligned with the grooves 6 While pulling lightly on the shutter with the fingers secure it by tightening the screw until there is no looseness cCAUTION Do not press down on the shutter with excessive force Pressing down hard on the shutter may cause the shu...

Page 53: ... 11 3 6 2 SSC05 SSC05H 1 Remove a screw which secures motor cover 1 then remove motor cover 1 Motor cover 1 Motor cover 1 2 Remove the lower side motor cover 2 by sliding it toward the rear Motor cover 2 Motor cover 2 3 Remove the two screws which secure the motor ...

Page 54: ... over tightening the screws which secure motor covers 1 and 2 cCAUTION When attaching motor cover 2 be sure that it is correctly aligned with the grooves Motor cover 2 Motor cover 2 6 While pulling lightly on the shutter with the fingers secure it by tightening the screw until there is no looseness cCAUTION Do not press down on the shutter with excessive force Pressing down hard on the shutter may...

Page 55: ...HFWLRQ 7HUPLQDO 150 2 Position the cursor at the Origin search item then press The Origin search screen then opens displaying the return to origin method and return to origin direction items 150 6HUYR VWDWXV 2ULJLQ VHDUFK 5XQ 5HVHW XUUHQW SRV PP 2SHUDWLRQ 0HWKRG 72548 LUHFWLRQ RRUGLQDWHV 1RUPDO 581 2ULJLQ VHDUFK VWDUW XUUHQW SRV PP 2ULJLQ VHDUFK 150 3 After verifying that the area is safe for oper...

Page 56: ...2548 LUHFWLRQ RRUGLQDWHV 581 2ULJLQ VHDUFK VWDUW XUUHQW SRV PP 2ULJLQ VHDUFK 150 2ULJLQ VHDUFK 2 5HI cCAUTION Adjust the machine reference as shown below when it is outside the permissible machine reference range 20 to 80 After removing the motor rotate the coupling 180 degrees to adjust the machine reference 5 Press CLR to return to the Origin search screen Press CLR again to return to the Operat...

Page 57: ...7 1 SSC04 1 Remove the motor See section 3 6 Replacing the motor for this procedure 2 Remove the four screws which secure the plate motor Plate motor 3 Loosen the set screw M4 then remove the coupling Coupling Coupling 4 Loosen the set screw M4 at the ballscrew side then remove the coupling Set screw ...

Page 58: ...unting screws 7 Mount the motor and secure it with the screws 8 Reattach motor covers 1 and 2 by reversing their removal procedures Use care to avoid over tightening the screws which secure motor covers 1 and 2 9 While pulling lightly on the shutter with the fingers secure it by tightening the screw until there is no looseness cCAUTION Do not press down on the shutter with excessive force Pressing...

Page 59: ...otor See section 3 6 Replacing the motor for this procedure 2 Remove the screws 4 locations which secure the plate motor Plate motor 3 Remove the set screw M4 then remove the coupling Set screw Set screw 4 Remove one of the side covers by sliding it in the direction indicated by the arrow mark Side cover ...

Page 60: ...7 Mount the plate motor and secure it with the screws 8 Mount the motor and secure it with the screws 9 Reattach motor covers 1 and 2 by reversing their removal procedures Use care to avoid over tightening the screws which secure motor covers 1 and 2 10 While pulling lightly on the shutter with the fingers secure it by tightening the screw until there is no looseness cCAUTION Do not press down on ...

Page 61: ...ents 4 1 Main unit specifications 4 1 4 1 1 SSC04 4 1 4 1 2 SSC05 4 4 4 1 3 SSC05H 4 7 4 1 4 About noise level 4 10 4 2 Motor specifications 4 10 4 2 1 Motor termination 4 10 4 2 2 Brake cable termination 4 12 4 3 Robot cables 4 13 ...

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Page 63: ...ew φ8 Class C10 Ball screw lead mm 2 6 12 Maximum speed mm sec 100 300 600 Maximum payload kg Horizontal installation 6 4 2 Vertical installation 4 2 1 Max pressing force N 150 90 45 Stroke mm 50 to 400 50 pitch Cable length m Standard 1 3 5 Controller TS S Cleanliness class Meets CLASS 10 0 1 μm base 1 Positioning repeatability in one direction Static loading moment Unit N m MY MP MR 16 19 17 MP ...

Page 64: ... 152 Lead 6 2kg 687 116 169 3kg 556 76 112 4kg 567 56 84 Lead 2 4kg 869 61 92 6kg 863 40 60 Wall installation C B A Wall installation Unit mm A B C Lead 12 1kg 274 204 776 2kg 133 93 611 Lead 6 2kg 149 102 656 3kg 92 62 516 4kg 63 43 507 Lead 2 4kg 72 48 829 6kg 39 26 789 Vertical installation A C Vertical installation Unit mm A C Lead 12 0 5kg 407 408 1kg 204 204 Lead 6 1kg 223 223 2kg 107 107 Le...

Page 65: ... L 45 with brake 15 49 59 15 2 F 6 Suction air joint Mounting direction RJ Note 2 Mounting direction LJ 34 5 Ax50 137 5 B M5x0 8 Depth 8 182 5 with brake 50 D 162 5 207 5 with brake F 4H7 Depth 6 0 012 0 4 Depth 6 0 02 0 2 Note 1 Stop positions are determined by the mechanical stoppers at both ends Note 2 Secure the cable with a tie band 100mm or less from unit s end face to prevent the cable from...

Page 66: ... payload kg Horizontal installation 10 6 4 Vertical installation 2 1 Max pressing force N 90 45 27 Stroke mm 50 to 800 50 pitch Cable length m Standard 1 3 5 Controller TS S Cleanliness class Meets CLASS 10 0 1 μm base 1 Positioning repeatability in one direction Stroke 650 700 750 800 Maximum speed mm sec Lead 6 280 250 220 190 Lead 12 560 500 440 380 Lead 20 933 833 733 633 Speed setting 93 83 7...

Page 67: ...18 4kg 334 67 120 Lead 12 4kg 347 72 139 6kg 335 47 95 Lead 6 4kg 503 78 165 8kg 332 37 79 10kg 344 29 62 Wall installation C B A Wall installation Unit mm A B C Lead 20 2kg 192 123 372 4kg 92 51 265 Lead 12 4kg 109 57 300 6kg 63 31 263 Lead 6 4kg 134 63 496 6kg 76 35 377 8kg 47 22 355 Vertical installation A C Vertical installation Unit mm A C Lead 12 0 5kg 578 579 1kg 286 286 Lead 6 1kg 312 312 ...

Page 68: ...51 L L 40 with brake 50 Ax50 101 5 141 5 with brake B M6x1 Depth 8 126 5 D 2 166 5 with brake F 4H7 Depth 6 0 012 0 4 Depth 6 0 02 0 Note 1 Stop positions are determined by the mechanical stoppers at both ends Note 2 Secure the cable with a tie band 100mm or less from unit s end face to prevent the cable from being subjected to excessive loads Note 3 The cable s minimum bend radius is R30 Note 4 T...

Page 69: ... Max pressing force N 120 60 36 Stroke mm 50 to 800 50 pitch Cable length m Standard 1 3 5 Controller TS S Cleanliness class Meets CLASS 10 0 1 μm base 1 Positioning repeatability in one direction 2 Numerical values shown in parentheses apply to vertical installation Stroke 650 700 750 800 Maximum speed mm sec Lead 6 280 250 250 220 190 Lead 12 560 500 500 440 380 Lead 20 933 833 733 633 Speed set...

Page 70: ... 500 118 179 6kg 399 76 118 8kg 403 56 88 Lead 6 6kg 573 83 136 8kg 480 61 100 10kg 442 47 78 12kg 465 39 64 Wall installation C B A Wall installation Unit mm A B C Lead 20 2kg 262 203 554 4kg 118 88 309 6kg 71 49 262 Lead 12 4kg 146 96 449 6kg 85 55 334 8kg 55 34 305 Lead 6 6kg 101 62 519 8kg 64 39 413 10kg 43 26 355 12kg 28 17 338 Vertical installation A C Vertical installation Unit mm A C Lead ...

Page 71: ...0 5 55 L L 20 with brake 50 Ax50 141 5 161 5 with brake B M6x1 Depth 8 166 5 D 2 186 5 with brake R F 4H7 Depth 6 0 012 0 Depth 6 4 0 02 0 51 Note 1 Stop positions are determined by the mechanical stoppers at both ends Note 2 Secure the cable with a tie band 100mm or less from unit s end face to prevent the cable from being subjected to excessive loads Note 3 The cable s minimum bend radius is R30...

Page 72: ... Motor specifications 4 2 1 Motor termination Connector specifications No Parts Type No Maker Qty Notes 1 Motor 1 2 Plug housing 176274 1 AMP 1 CN1 6 poles 3 Receptacle 175155 1 or 175151 1 AMP 6 CN1 4 Receptacle housing SMR 07V B JST 1 CN2 7 poles 5 Pin contact BYM 001T P0 6 or SYM 001T P0 6 JST 9 CN2 CN3 6 Receptacle housing SMR 02V B JST 2 CN3 2 poles 7 Plug housing SMP 02V BC JST 1 CN4 2 poles...

Page 73: ...e Color Connection CN1 1 A Black Motor wire 2 B Red 3 ACOM Yellow 4 BCOM White 5 A Green 6 B Blue CN2 1 S2 Blue Signal wire 2 S4 Orange 3 S1 Green 4 S3 Brown 5 R1 Gray 6 R2 Red 7 Drain wire Transparent shrinkable tube CN3 1 BK Black Brake wire CN4 2 BK Yellow 1 7 8 2 3 CN1 CN3 CN2 4 5 6 5 CN4 ...

Page 74: ...termination Connector specifications No Parts Type No Qty Maker Note 1 BRAKE 1 2 Receptacle housing SMR 02V B 1 JST 2 poles 3 Pin contact BYM 001T P0 6 or SYM 001T P0 6 2 JST Manual tool YC 12 Connector wiring Signal Wire Color Connection BK Yellow 1 BK Yellow 2 2 3 1 ...

Page 75: ... Wire Controller CN1 D G 4A 7 D G Resolver Drain wire S2 1A 1 S2 0 15sq Blue S4 1B 2 S4 Orange S1 2A 3 S1 Green S3 2B 4 S3 Brown R1 3A 5 R1 Grey R2 3B 6 R2 Red BK 5A 1 BK Brake Black BK 5B 2 BK Yellow A 6A 1 A Motor 0 3sq White 1 B 6B 2 B White 2 ACOM 7A 3 ACOM White 3 BCOM 7B 4 BCOM White 4 A 8A 5 A White 5 B 8B 6 B White 6 ...

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Page 77: ...Chapter 5 Troubleshooting Contents 5 1 Positioning error 5 1 ...

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Page 79: ...ion was correct but position deviates Position deviates 1 Check for looseness of mechanical parts Retighten if necessary 2 Replace mechanical parts 1 Check tool and workpiece for warping 2 Check robot alignment Are cables correctly wired Are connectors correctly fitted Are the robot tools and workpiece correctly installed Yes Yes No Check installation method Check wiring and connectors Check for l...

Page 80: ...ponsibility is assumed for possible inaccuracies or omissions If you find any part unclear in this manual please contact YAMAHA or YAMAHA sales representatives Single axis Robot User s Manual SSC04 SSC05 SSC05H TRANSERVO series Revision record Manual version Issue date Description Ver 1 00 Ver 1 01 Ver 1 02 English manual Ver 1 00 is based on Japanese manual Ver 1 00 English manual Ver 1 01 is bas...

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