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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. If you find any part unclear in this manual,
please contact your distributor.

SCARA Robots

Installation Manual

YAMAHA MOTOR CO., LTD. IM Operations

YK-XG Series

Revision record

Manual version Issue date

Description

Ver. 1.00

Jul. 2012

First edition

Jul. 2012
Ver. 1.00

This manual is based on Ver. 1.00 of Japanese manual.

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Summary of Contents for YK250XGC

Page 1: ...127100 E52 Ver 1 00 YAMAHA SCARA ROBOT Installation Manual YK XG Series Clean room models YK250XGC YK350XGC YK400XGC YK500XGLC YK600XGLC Dust drip proof models YK250XGP YK350XGP YK400XGP YK500XGLP YK600XGLP ...

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Page 3: ...4 3 Moving and installation S 9 4 3 1 Precautions for robots S 9 4 3 2 Precautions for robot controllers S 10 4 4 Safety measures S 12 4 4 1 Safety measures S 12 4 4 2 Installing a safety enclosure S 13 4 5 Operation S 14 4 5 1 Trial operation S 14 4 5 2 Automatic operation S 16 4 5 3 Precautions during operation S 16 4 6 Inspection and maintenance S 18 4 6 1 Before inspection and maintenance work...

Page 4: ...proof models 2 2 2 Installation 2 3 2 1 Checking the product 2 3 2 2 Moving the robot 2 4 3 User wiring and user tubing 2 6 4 Limiting the movement range with X and Y axis mechanical stoppers 2 9 4 1 Installing the X axis Y axis additional mechanical stoppers 2 10 5 Limiting the movement range with Z axis mechanical stopper 2 13 6 Working envelope and mechanical stopper positions for maximum worki...

Page 5: ...ndard coordinate setup jig 3 3 Chapter 4 Periodic inspecition 1 List of inspection items 4 1 Chapter 5 Specifications 1 Manipulator 5 1 1 1 Basic specification 5 1 1 2 External view and dimensions 5 2 1 2 1 YK250XGC P 5 2 1 2 2 YK350XGC P 5 4 1 2 3 YK400XGC P 5 6 1 2 4 YK500XGLC P 5 8 1 2 5 YK600XGLC P 5 10 ...

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Page 7: ... 4 3 1 Precautions for robots S 9 4 3 2 Precautions for robot controllers S 10 4 4 Safety measures S 12 4 4 1 Safety measures S 12 4 4 2 Installing a safety enclosure S 13 4 5 Operation S 14 4 5 1 Trial operation S 14 4 5 2 Automatic operation S 16 4 5 3 Precautions during operation S 16 4 6 Inspection and maintenance S 18 4 6 1 Before inspection and maintenance work S 18 4 6 2 Precautions during ...

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Page 9: ...comply with the instructions This manual and warning labels supplied with or attached to the robot are written in English Unless the robot operators or service personnel understand English do not permit them to handle the robot Cautions regarding the official language of EU countries For equipment that will be installed in EU countries the language used for the manuals warning labels operation scr...

Page 10: ...meaning of each symbol and signal word and then read this manual This indicates an immediately hazardous situation which if not avoided will result in death or serious injury This indicates a potentially hazardous situation which if not avoided could result in death or serious injury This indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury or d...

Page 11: ...from contact with a moving robot Keep outside of the robot safety enclosure during operation Press the emergency stop button before entering the safety enclosure Instructions on this label Always install a safety enclosure to keep all persons away from the robot movement range and prevent injury from contacting the moving part of the robot Install an interlock that triggers emergency stop when the...

Page 12: ...0 Warning label 4 SCARA robots 444 Do not remove the parts on which Warning label 4 is attached Doing so may damage the ball screw Instructions on this label The Z axis ball screw will be damaged if the upper end mechanical stopper on the Z axis spline is removed or moved Never attempt to remove or move it 90K41 001520 Read instruction manual label Controller 555 Refer to the manual 取扱説明書参照 READ I...

Page 13: ...nd should be affixed to an easy to see location on the door or gate of the safety enclosure Warning label comes supplied with the robot and should be affixed to an easy to see location SCARA robots Cartesian robots Single axis robots Warning label 1 1 Warning label 2 1 2 Warning label 3 1 Warning label 4 1 1 For the label positions see the SCARA robot user s manual 1 2 Part names in Chapter 1 2 Th...

Page 14: ... become hot so do not touch them Instructions by this symbol This indicates the area around this symbol may become very hot Motors heatsinks and regenerative units become hot during and shortly after operation To avoid burns be careful not to touch those sections 93008 X0 00 Caution symbol 333 Always read the manual carefully before using the controller Instructions by this symbol This indicates i...

Page 15: ... and vehicles Qualification of operators workers 222 Operators or persons who handle the robot such as for teaching programming movement check inspection adjustment and repair must receive appropriate training and also have the skills needed to perform the job correctly and safely They must read the manual carefully to understand its contents before attempting the robot operation or maintenance Ta...

Page 16: ...p status temporarily stopped emergency stop error stop etc Do not use robots for tasks requiring motor thrust 444 Avoid using the belt driven robots for tasks which make use of motor thrust press fitting burr removal etc These tasks may cause the robot to malfunction Clean work tools 555 Work tools such as welding guns and paint nozzles mounted on the robot manipulator tip should preferably be cle...

Page 17: ...o follow this instruction may cause serious accidents involving injury or death or lead to fire Moving Use caution to prevent pinching or crushing of hands or fingers 111 Moving parts can pinch or crush hands or fingers Keep hands away from the movable parts of the robot As instructed in Warning label 2 use caution to prevent hands or fingers from being pinched or crushed by movable parts when tra...

Page 18: ...is easy to operate and view robot movement Install the robot controller in locations with enough space to perform work teaching inspection etc safely Limited space not only makes it difficult to perform work but can also cause injury Install the robot controller in a stable level location and secure it firmly Avoid installing the controller upside down or in a tilted position Provide sufficient cl...

Page 19: ...using the tool specified by the connector manufacturer When disconnecting the cable from the robot controller detach by gripping the connector itself and not by tugging on the cable Loosen the screws on the connector if fastened with the screws and then disconnect the cable Trying to detach by pulling on the cable itself may damage the connector or cables and poor cable contact will cause the cont...

Page 20: ...s for cancelling the problem or error state and safety checks in order to restart the robot 6 In cases other than above the following actions should be taken as needed to prevent hazardous situations due to sudden or unexpected robot operation or faulty robot operation as listed below Place a display sign on the operator panel Ensure the safety of workers performing tasks within the robot movement...

Page 21: ...se terminals may cause electrical shock equipment damage and malfunction Do not touch or operate the robot controller or programming box with wet hands Touching or operating them with wet hands may result in electrical shock or breakdown Do not disassemble and modify 666 Never disassemble and modify any part in the robot controller and programming box Do not open any cover Doing so may cause elect...

Page 22: ...from entering within the movement range of the robot Use sturdy stable posts which will not fall over easily The rope or chain should be easily visible to everyone around the robot Check the following points before turning on the controller 222 Is the robot securely and correctly installed Are the electrical connections to the robot wired correctly Are items such as air pressure correctly supplied...

Page 23: ...robots Follow the precautions and procedure described in 4 Setting the reference coordinates in Chapter 3 Soft limit settings SCARA robots Follow the precautions and procedure described in 3 Setting the soft limits in Chapter 3 Cartesian robots Single axis robots Follow the precautions and procedure described in Soft limit in each controller manual Work with power turned on Teaching SCARA robots C...

Page 24: ...tart switch indicating that the robot is being inspected in order to keep other persons from restarting the robot 4 5 3 Precautions during operation When the robot is damaged or an abnormal condition occurs 111 If unusual odors noise or smoke occur during operation immediately turn off power to prevent possible electrical shock fire or breakdown Stop using the robot and contact your distributor If...

Page 25: ...enly after the obstruction is removed causing injury such as pinched or crushed hands Turn off the controller and reduce the air pressure before attempting to remove the obstruction Before reducing the air pressure place a support under the Z axis because the Z axis will drop under its own weight Be careful of Z axis movement when air supply is stopped air driven Z axis 666 The Z axis will slide d...

Page 26: ...gh ability and qualifications required by local laws and regulations Adjustment and maintenance by removing a cover require specialized technical knowledge and skills and may also involve hazards if attempted by an unskilled person For detailed information please contact your distributor where you purchased the product Shut off all phases of power supply 333 Always shut off all phases of the power...

Page 27: ... Devices that may malfunction due to magnetic fields must be kept away from this robot Use the following caution items when disassembling or replacing the pneumatic equipment 555 Air or parts may fly outward if pneumatic equipment is disassembled or parts replaced while air is still supplied Do service work after turning off the controller reducing the air pressure and exhausting the residual air ...

Page 28: ...eries use the correct disposal method in compliance with your local regulations or entrust disposal to a licensed industrial waste disposal company We do not collect and dispose of the used batteries Disposal of packing boxes and materials 222 When disposing of packing boxes and materials use the correct disposal method in compliance with your local regulations We do not collect and dispose of the...

Page 29: ...as the installation base then release the axis Emergency action Release the axis while referring to the following section in the manual for the robot controller Controller Refer to RCX240 Section 8 Freeing a person caught by the robot in Chapter 1 Make a printout of the relevant page in the manual and post it a conspicuous location near the controller ...

Page 30: ...anical stoppers prevent the axis from exceeding the movement range No mechanical stopper is provided on the rotational axis The movement range is the area limited by the mechanical stoppers The X and Y axes have mechanical stoppers that are installed at both ends of the maximum movement range Some robot models have a standard feature that allows changing the mechanical stopper positions On some ot...

Page 31: ...pting the robot operation or maintenance Tasks related to industrial robots teaching programming movement check inspection adjustment repair etc must be performed by qualified persons who meet requirements established by local regulations and safety standards for industrial robots This manual does not serve as a guarantee of any industrial property rights or any other rights and does not grant a l...

Page 32: ... possible inaccuracies or omissions If you find any part unclear in this manual please contact your distributor Safety Instructions Jun 2012 Ver 1 01 This manual is based on Ver 1 01 of Japanese manual Revision record Manual version Issue date Description Ver 1 00 May 2012 First edition Ver 1 01 Jun 2012 Description of Emergency action when a person is caught by robot was added the work sequence f...

Page 33: ...tion salt damage condensation 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 1 Products whose serial number or production date month year cannot be verified 2 Changes in software or internal...

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Page 35: ...Contents Before using the robot Be sure to read the following notes i Introduction iii Introduction ...

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Page 37: ...P YK400XGC P YK500XGLC P and YK600XGLC P the machine harness may project toward the base rear side according to the arm position The maximum projection amount is described in 1 2 External view and dimensions in Chapter 5 So refer to this section for further information Projection of the machine harness toward the base rear side Example YK250XGC P 100 150 56 117 Projection amount Machine harness 15...

Page 38: ...load the Z axis may be overloaded easily So do not operate the robot with a tip load exceeding 4kg Putting timer during Z axis operation Only Z axis operates Upper end Lower end Total timer 1 0 sec All axes operate Timer 0 5 sec Timer 0 5 sec 23002 HM 00 Z axis additional mechanical stopper 444 The Z axis additional mechanical stopper cannot be installed in the YK250XGC P YK350XGC P YK400XGC P YK5...

Page 39: ...lation Manual and Maintenance Manual for YK XG series Additionally for details about safety instructions see also these manuals If you have any questions contact your distributor For details about actual robot operation and programming refer to the YAMAHA Robot Controller User s Manual The adjustment and maintenance work with the cover removed needs the special knowledge and skill If unskilled wor...

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Page 41: ...Chapter 1 Functions Contents 1 Robot manipulator 1 1 1 1 Manipulator movement 1 1 1 2 Part names 1 2 2 Robot initialization number list 1 3 ...

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Page 43: ...is arm equivalent to human arm and a Z R axis equivalent to human wrist With these 4 axes the YK XG series robots can move as shown in the Fig below By attaching different types of end effector gripper to the end of the arm a wide range of tasks can be performed with high precision at high speeds The and signs show the direction of axis movement when the jog keys on the programming box are pressed...

Page 44: ...nt End effector attachment Z axis spline Y axis mechanical stopper X axis motor User tubing 1 φ4 black User tubing 2 φ4 red Serial label Warning label 1 Warning label 2 Warning label 3 Tapped hole for user Y axis speed reduction gear X axis arm X axis speed reduction gear X axis mechanical stopper User tubing 1 φ4 black User tubing 2 φ4 red M4 ground terminal User tubing 3 φ4 blue User tubing 4 φ4...

Page 45: ...r YK XG series standard models and make sure you thoroughly understand the procedure When the controller is initialized the ARM LENGTH and OFFSET PULSE settings in the axis parameters will be erased making the standard coordinate settings invalid For details about standard coordinates see 4 Setting the standard coordinates in Chapter 3 of the Installation Manual for YK XG series standard models If...

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Page 47: ...d user tubing 2 6 4 Limiting the movement range with x and y axis mechanical stoppers 2 9 4 1 Installing the X axis Y axis additional mechanical stoppers 2 10 5 Limiting the movement range with Z axis mechanical stopper 2 13 6 Working envelope and mechanical stopper positions for maximum working envelope 2 13 7 Installing the user wiring and tubing newly 2 14 8 Passing the user wiring and tubing t...

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Page 49: ...pter describes only the points that are different from the standard models For details about other explanations see the Installation Manual for YK XG series standard models 1 1 Sucking from the base rear side of the clean room model Suck from the suction air joint on the base rear side at a suction air flow of 30N min as shown in the Fig below If the Z axis bellows become dented when sucking reduc...

Page 50: ...rformance for fluid other than water contact your distributor IP 6 5 Degree of protection versus solid debris 6 At level 6 there is no dust penetration Degree of protection versus water penetration 5 At level 5 water injected from an optional angle does not exert a harmful effect Water injection pressure per the standards is 30kPa 30kN m2 0 3kgf cm2 Injection speed is 12 5 liters per minute at a t...

Page 51: ...r immediately Controller RCX240 Robot YK250XGC P YK350XGC P YK400XGC P YK500XGLC P YK600XGLC P RPB MO TOR XM YM ZM RM PW R SRV SAFETY RPB CO M STD D IO RO B I O ZR OP 1 OP 3 OP 2 OP 4 ACIN N P N1 L1 L N SEL BATT ZR XY BATT RO B XY I O ERR RCX240 A B X Y Z R Product configurations RPB programming box etc Robot manipulator CD ROM User s Manual or User s Manual RCX240 controller Warning label 1 Stand...

Page 52: ...ing work To check the mass of each robot refer to 1 1 Basic specifications in Chapter 5 1 Fold the arms while referring to the Fig below Moving the robot Support Robot cable Support Robot main body 23205 HM 00 2 Place the robot on the base One work person holds the support of the robot main body with both hands and other work person holds the robot cable to place the robot on the base 3 Temporaril...

Page 53: ...lts are not tightened correctly the robot might fall over during operation causing a serious accident Tightening torque Robot Model Bolts Used Tightening torque YK250XGC P YK350XGC P YK400XGC P YK500XGLC P YK600XGLC P M8 37Nm 380kgfcm Depth of tapped holes in installation base Iron installation base Bolt diameter 1 5 or more Aluminum installation base Bolt diameter 3 0 or more Recommended bolt JIS...

Page 54: ...d air tubes are shown below Always observe the specifications User Wiring Rated voltage 30V Allowable current 1 5A Nominal cross section area of conductor 0 2mm2 Shield Yes User Tubing Maximum pressure 0 58MPa 6Kgf cm2 Outer diameter inner diameter φ4mm φ2 5mm Fluid Dry clean air not containing deteriorated compressor oil filtration 40μm or less Connector for the user wiring and joint for the user...

Page 55: ...ake the wiring to the connector supplied with the robot Solder the user signal wires to the connector as shown in Fig below and assemble the connector Then connect it to the user wiring connector Tighten each connector screw to its specified torque If the outer diameter of the cable is small use tape or an equivalent item to thicken the cable clamp Otherwise moisture and dust may penetrate inside ...

Page 56: ...on the arm side while socket contacts are connected to the connector on the base side Pay special attention to this instruction when performing the soldering Be sure to use the connector for the user wiring supplied with the robot If other connector is used contact fault may occur Connector for user wiring Y axis arm side Mounting bracket Bolt Use the bolt shown in the Fig on the left Connector fo...

Page 57: ...ipheral units the movement range is limited When the robot is shipped from factory the movement range is set to the maximum level The movement range can be limited by shifting the X axis and Y axis mechanical stopper positions Follow the steps below to limit the movement range The following shows the mechanical stopper positions and movement range 136 108 Mechanical stopper position and maximum mo...

Page 58: ...s Follow the steps below to install the X axis Y axis additional mechanical stoppers Install the X axis additional mechanical stopper by moving only the existing stopper Use the optional bolts and nuts listed below to install the Y axis additional mechanical stopper No Part No Q ty Remarks Additional mechanical stopper parts in either one direction of Y axis plus or minus direction or both directi...

Page 59: ...e Y axis do not remove the standard stopper If this stopper is removed the stopper on the opposite side is lost 6 Install the bolt and washer in the blank tapped hole in the standard stopper To protect the blank tapered hole in the standard stopper tighten the bolt and washer to the specified torque 16Nm 163kgfcm Installing the bolt in the standard stopper Step 6 Y axis plus direction additional s...

Page 60: ...toppers in both the plus and minus directions Install the additional stoppers in both the plus and minus directions while referring to the Fig below Installing the additional stoppers in both the plus and minus directions Y axis plus direction additional stopper 2 X axis plus direction additional stopper 2 Use the bolt and seal washer to protect the tapped hole 1 Y axis minus direction additional ...

Page 61: ...aximum working envelope Working envelope of each robot and mechanical stopper positions for the maximum working envelope are shown in 1 2 External view and dimensions in Chapter 5 For details about cautions see the Installation Manual for YK XG standard models For the YK250XGC P YK350XGC P YK400XGC P YK500XGLC P and YK600XGLC P operate the robot carefully since there are positions where the base f...

Page 62: ...and quantities that can be added by considering the durability of the machine harness Installing the user wiring and tubing newly Clamp the user wiring and tubing with minimal cable tie quantity so that the additional signal lines and tubes do not deviate If the clamp is too strong the machine harness may have faulty wiring φ D φ d Machine harness Signal line Air tube Cable tie 23215 HM 00 Robot m...

Page 63: ...peed reduction unit or R axis motor Use an appropriate connector that passes through the spline with an inside diameter of φ11 Example of how to pass the wiring and tubing Clamp using nylon clamp etc Stay Clamp using nylon clamp etc Stay Junkosha s mechatro flat tube MF1 06 working length cm 10 0 1 0 1sq wire materials 10 pcs are included in the air tube outside diameter φ6 inside diameter φ4 air ...

Page 64: ...e may occur the cover may drop and fly out your hand may be entangled in the drive unit during teaching or your hand may be in contact the hot drive unit causing burn To prevent such troubles strictly observe this instruction The Y axis arm cover cannot be detached or attached unless the Z axis is moved down to its lower end If any seal loses its strength when detaching the cover it is recommended...

Page 65: ...he rolling mechanism part and O ring Removing the rolling mechanism part Step 8 O ring 2 Rolling mechanism part Hex socket head bolt M3 length 10 4 pcs YAMAHA s part No 91312 03010 23219 HM 00 9 To prevent the Z axis from dropping be sure to prop the spline or end effector with a support stand 0 Release the Z axis brake Make sure that dropping of the Z axis is prevented Then carefully move down th...

Page 66: ...part No 91380 03018 Seal washer 3 Plate Mounting bracket 23221 HM 00 e Remove the cover seal 6 and seal 7 Since the seal 7 is affixed to the Y axis arm peel off the adhesive agent completely Removing the cover and seal Step 13 Boss inside Cover Seal 6 YAMAHA s part No 98980 03012 Y axis arm cover clamping screw Binding head screw M3 length 12 4 pcs Y axis arm Seal washer 8 Stay Seal 7 Adhesion sur...

Page 67: ...proof performance or the degree of cleanliness may lower For details about the bellows clamp position see the Fig on the right 3 12 1 5 Clamp Step 15 The bellows end face is flush with the clamp ring end face Clamp ring Clamp ring Rubber Rubber Bellows end face Install the bellows and clamp at the positions shown in the Fig above Tolerance 0 5 mm Almost this orientation Rubber Reattach the clamp s...

Page 68: ...e of cleanliness may lower Removing the base front cover Seal 9 Base front cover Base front cover clamping bolt Hex socket head bolt M4 length 12 stainless 4 pcs YAMAHA s part No 91380 04012 23226 HM 00 Removing the base rear cover Seal 9 Base rear cover Base rear cover clamping bolt Hex socket head bolt M4 length 18 stainless 4 pcs YAMAHA s part No 91380 04018 23227 HM 00 ...

Page 69: ...ole for the tool flange set screw with that of the width across flat part of the spline and then insert the tool flange all the way inside Tool flange 1 Set screw 3 Width across flat part Degrease these portions Bolt 2 Installing the tool flange Step 4 6 23228 HM 00 5 Install the tool flange with the bolt 2 Secure the tool flange after it has been inserted all the way inside Tightening torque 9Nm ...

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Page 71: ...Chapter 3 Robot settings Contents 1 Overview 3 1 2 Adjusting the origin 3 2 3 Standard coordinate setting using a standard coordinate setup jig 3 3 ...

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Page 73: ...g box or operation panel If a safety enclosure has not yet been provided right after installation of the robot rope off or chain off the movement area around the manipulator in place of a safety enclosure and observe the following points 1 Use stable posts which will not fall over easily 2 The rope or chain should be easily visible by everyone around the robot 3 Place a conspicuous sign prohibitin...

Page 74: ... origin has performed in the same manner as the standard model carefully adjust the machine reference so that the origin does not deviate even when you touch the arm etc accidentally during work After the machine reference has been adjusted turn the joint to check that the sensor does not collide with the dog Since the joints are covered the origin positions of the X axis and Y axis cannot be chan...

Page 75: ...ot is being adjusted Place a sign indicating the robot is being adjusted to keep others from operating the controller or operation panel 4 Enter the safety enclosure while holding the RPB 5 Remove the plug bolt and seal washer Put the robot in the posture with the positional relationship between the Y axis arm and the X axis arm as shown in the Fig on the right and then remove the plug bolt and se...

Page 76: ... Step 9 Y direction X direction 23303 F6 00 0 Enter the 11 Arm length mm values Enter the following values in M1 and M2 for 11 Arm length mm of axis parameters M1 X axis arm length M2 Y axis arm length YK250XGC P 100 00 150 00 YK350XGC P 200 00 150 00 YK400XGC P 250 00 150 00 YK500XGLC P 250 00 250 00 YK600XGLC P 350 00 250 00 q Enter the 12 Offset pulse values Enter the values shown on the right ...

Page 77: ...Chapter 4 Periodic inspecition Contents 1 List of inspection items 4 1 ...

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Page 79: ...rew 3 Remove the old grease with a cloth rag and apply the grease YK XG L C LG2 NSK YK XG L P Alvania grease S2 Showa Shell Z axis ball screw and ball spline Check for play Inspection with the controller turned on Safeguard enclosure Check that the safeguard enclosure is located at its specified position Check that the emergency stop turns on when the safeguard enclosure is open Check that the war...

Page 80: ...on 4 2 Bolt tightening torque Bolt size Tightening torque kgfcm Tightening torque Nm M3 button head bolt 14 1 4 M4 set screw 20 2 0 M3 20 2 0 M4 46 4 5 M5 92 9 0 M6 156 15 3 M8 380 37 M10 459 45 0 M12 1310 128 M14 2090 205 ...

Page 81: ...pecifications Contents 1 Manipulator 5 1 1 1 Basic specification 5 1 1 2 External view and dimensions 5 2 1 2 1 YK250XGC P 5 2 1 2 2 YK350XGC P 5 4 1 2 3 YK400XGC P 5 6 1 2 4 YK500XGLC P 5 8 1 2 5 YK600XGLC P 5 10 ...

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Page 83: ...in 3 Dust drip proof protection rating YK XG L P IP65 IEC60529 or its equivalent 4 1 At constant ambient temperature XY 2 There are limits to acceleration coefficient settings 3 Class 10 0 1μm FED STD 209D or its equivalent The required suction air flow may vary depending on the operating conditions or environment 4 Do not splash the jet flow onto the bellows directly For details about drip proof ...

Page 84: ... attach the plug supplied with the robot 70 50 20 39 10 10 39 The weight of the tool attached here should be added to the tip mass Width across flat 15 H o l l o w d i a m e t e r φ 1 1 Cross section A A Scale 1 1 Tapped hole for user 6 M3 0 5 Depth 6 4 φ9 0 12 32 45 58 71 93 0 32 61 98 6 31 26 22 5 10 Connector for user wiring No 1 to 10 usable Cable clamp size φ13 1 to 15 M4 ground terminal User...

Page 85: ...anical stopper position can be changed to 119 position working envelope 117 Y axis additional stopper Y axis mechanical stopper position can be changed to 108 position working envelope 106 Other option Standard coordinate setting jig 1 2 9 1 2 9 46 46 1 3 4 1 3 4 184 R108 R 1 5 0 213 63 52 R 4 0 Note that the robot cannot be used at a position where the base flange robot cable spline bellows and t...

Page 86: ...9 The weight of the tool attached here should be added to the tip mass 0 12 32 45 58 71 93 0 32 61 98 6 31 26 22 5 10 Connector for user wiring No 1 to 10 usable Cable clamp size φ13 1 to 15 M4 ground terminal User tubing 3 φ4 blue User tubing 2 φ4 red User tubing 1 φ4 black User tubing 4 φ4 white If the user tubing is not used attach the plug supplied with the robot If not used cover the connecto...

Page 87: ...5 0 R144 276 Option X axis additional stopper X axis mechanical stopper position can be changed to 119 position working envelope 117 Y axis additional stopper Y axis mechanical stopper position can be changed to 108 position working envelope 106 Other option Standard coordinate setting jig Note that the robot cannot be used at a position where the base flange robot cable spline bellows and tool fl...

Page 88: ...ector for user wiring No 1 to 10 usable Cable clamp size φ13 1 to 15 If not used cover the connectors with the caps supplied with the robot User tubing 1 φ4 black User tubing 2 φ4 red If the user tubing is not used attach the plug supplied with the robot The weight of the tool attached here should be added to the tip mass Tapped hole for user 6 M3 0 5 Depth 6 0 12 32 45 58 71 93 0 32 61 98 6 31 26...

Page 89: ...0 307 R 15 0 Option X axis additional stopper X axis mechanical stopper position can be changed to 119 position working envelope 117 Y axis additional stopper Y axis mechanical stopper position can be changed to 108 position working envelope 116 Other option Standard coordinate setting jig Note that the robot cannot be used at a position where the base flange robot cable spline bellows and tool fl...

Page 90: ... weight of the tool attached here should be added to the tip mass Width across flat 15 H o l l o w d i a m e t e r φ 1 1 Cross section A A Scale 1 1 7 8 7 8 13 4 13 4 View of F Scale 1 1 Since this tapped hole is used for the wiring or tubing clamp do not apply a large load 4 M3 0 5 Depth 5 There is no phase relationship with the R axis origin Tapped hole for user 4 M3 0 5 Depth 6 0 12 32 45 58 71...

Page 91: ... 5 0 Option X axis additional stopper X axis mechanical stopper position can be changed to 119 position working envelope 117 Y axis additional stopper Y axis mechanical stopper position can be changed to 108 position working envelope 116 Other option Standard coordinate setting jig Note that the robot cannot be used at a position where the base flange robot cable spline bellows and tool flange int...

Page 92: ... The weight of the tool attached here should be added to the tip mass Width across flat 15 H o l l o w d i a m e t e r φ 1 1 Cross section A A Scale 1 1 7 8 7 8 13 4 13 4 View of F Scale 1 1 Since this tapped hole is used for the wiring or tubing clamp do not apply a large load 4 M3 0 5 Depth 5 There is no phase relationship with the R axis origin Tapped hole for user 4 M3 0 5 Depth 6 0 12 32 45 5...

Page 93: ...tion X axis additional stopper X axis mechanical stopper position can be changed to 119 position working envelope 117 Y axis additional stopper Y axis mechanical stopper position can be changed to 108 position working envelope 116 Other option Standard coordinate setting jig Note that the robot cannot be used at a position where the base flange robot cable spline bellows and tool flange interfere ...

Page 94: ...iable However no responsibility is assumed for possible inaccuracies or omissions If you find any part unclear in this manual please contact your distributor SCARA Robots Installation Manual YAMAHA MOTOR CO LTD IM Operations YK XG Series Revision record Manual version Issue date Description Ver 1 00 Jul 2012 First edition Jul 2012 Ver 1 00 This manual is based on Ver 1 00 of Japanese manual ...

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Page 96: ...ial robot Robot manuals can be downloaded from our company website Please use the following for more detailed information YAMAHA MOTOR CO LTD IM Operations 882 Soude Nakaku Hamamatsu Shizuoka 435 0054 Japan Tel 81 53 460 6103 Fax 81 53 460 6811 ...

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