Yamaha YP-X Series, Owner'S Manual

Page: 28 / 110

CHAPTER 1 Using the Robot Safely
1-16
13 Precautions
1) Accuracy may deteriorate due to external causes such as temperature and
humidity and may result in equipment breakdowns. Use of the robot in air-
conditioned facilities is recommended. Do not use in environments exposed
to items such as oil, water, corrosive gases and metal powder etc.
2) When using the robot after an extended period of non-use, warmup the robot
for about a 10 minute period with no workpiece installed. This will improved
the sliding operation of the mechanism.
3) If the work (including the gripper or tool) is heavier than the maximum pay-
load listed in the catalog or the robots own basic settings are changed, this
may cause the robot itself to breakdown. Do not use the robot under such
conditions.
4) Because of the one-sided support structure, the YP-X series manipulator arm
droops downward slightly when it moves to the X-axis stroke end (forward
end). For example, the manipulator arm will droop a maximum of 1.5
millimeters with a payload of 3kg, so take this into consideration during the
application design stage.
5) If the robot movement duty is too high, errors such as "Overload" and "Over-
heat" may occur. In this case, increase the time that the robot axis is stopped
by inserting a timer in the program, etc.
6) The YAMAHA pick and place robot uses the stroke-end origin detection
method. In this method, a large electrical current flows through the motor, so
avoid performing absolute reset frequently to prolong the controller and mo-
tor service life.
7) The axes on the YP-X series are belt-driven (see specifications). Using the
motor to apply thrust (press-fit, etc.) may sometimes cause the teeth on the
belt to jump free. So use caution not to apply a large force greater than the
maximum payload listed in the specs for the Z-axis.
8) On the YP-X series, a slight residual vibration may sometimes occur during
positioning of each axis due to the one-sided support structure and the belt
drive. So install a timer if precise positioning is required.