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CHAPTER 4

Adjustment

1 Outline .................................................................... 4-1

1-1

Robot parameter settings ................................................................ 4-2

2 Setting the origin position ....................................... 4-3

2-1

Mark method (R-axis) ..................................................................... 4-4

2-2

Stroke end method (X, Z, Y axes) ................................................... 4-5

3 Adjustment of the belt tension ................................ 4-6

3-1

Adjustment of X,Y, Z axis motor belt tension .................................. 4-6

3-2

Adjustment of Z axis tip belt tension
(YP320X, YP320XR, YP330X, YP340X) .......................................... 4-7

3-3

Adjustment of Z axis tip belt tension (YP220BX, YP220BXR) .......... 4-8

3-4

Adjust the X-axis belt tension (YP220BX, YP220BXR) ..................... 4-9

CHAPTER 5

Periodic Inspecition

1 Introduction ............................................................ 5-1
2 Inspection ............................................................... 5-3

2-1

Daily Checklist .............................................................................. 5-3

2-2

Six Month Inspection ..................................................................... 5-4

3 Replacement of Motor ............................................ 5-5

3-1

Replacement of X, Y, Z axis motors
(YP320X, YP330X, YP340X, YP320XR) .......................................... 5-5

3-2

Replacement of X and Z axis motor (YP220BX, YP220BXR) ........... 5-7

3-3

Replacement of R axis motor (YP220BXR, YP320XR, YP340X) ....... 5-8

4 Belt replacement method ........................................ 5-9

4-1

Replacement of the X and Z axis belts
(YP320X, YP330X, YP340X, YP320XR) .......................................... 5-9

4-2

Replacement of Y axis belt (YP330X, YP340X) ............................. 5-10

4-3

Replacement of Z axis belt (YP220BX, YP220BXR) ....................... 5-11

4-4

Replacement of X axis belt (YP220BX, YP220BXR) ...................... 5-12

4-5

Replacement of Z axis tip section belt
(YP320X, YP330X, YP340X, YP320XR) ........................................ 5-13

4-6

Replacement of Z axis tip section belt (YP220BX, YP220BXR) ..... 5-14

5 Sample troubleshooting......................................... 5-15
6 Spare parts list ....................................................... 5-17

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Содержание YP-X Series

Страница 1: ...OWNER S MANUAL ...

Страница 2: ......

Страница 3: ...troller will operate normally by restarting When using DRCX or TRCX controllers 15 FEEDBACK ERROR 2 23 ABS BAT L VOLTAGE 24 ABS DATA ERROR When using a QRCX controller 17 80 D ABS encoder backup error 17 81 D ABS encoder battery alarm 17 85 D ABS encoder system error 17 92 D ABS cable disconnected 17 93 D ABS data overflow 17 94 D ABS Battery degradation 1 X Y Z axes X Y Z axes use the stroke end ...

Страница 4: ...nual When using DRCX or TRCX controllers See 9 1 1 Return to origin by the search method in Chapter 9 When using a QRCX controller See 11 9 Absolute Reset in Chapter 11 After setting the origin position affix the stickers triangular stickers supplied with the robot to both the tool side and workpiece side so that they can be used as the alignment marks Use these marks as the reference position the...

Страница 5: ...X Series robots to ensure correct and effi cient use Please be sure to read this manual before installing the equipment Please refer to the YAMAHA Robot Controller DRCX TRCX QRCX Instruc tion and Owner s Manual for detailed information on operation and program ming NOTES We reserve the right to make future product changes that might not be incorpo rated into this manual We request the customer con...

Страница 6: ...MEMO ...

Страница 7: ... Safeguards 1 12 8 Automatic Operation 1 13 9 Adjustment and Inspection 1 13 10 Repair and Modification 1 13 11 Warranty 1 14 12 CE Markings 1 15 13 Precautions 1 16 CHAPTER 2 Functions 1 P P robot unit 2 1 2 P P robot controller 2 2 CHAPTER 3 Installation 1 Robot Installation Conditions 3 1 1 1 Installation environments 3 1 2 Installation 3 3 2 1 Installation frame 3 3 2 2 Installing the robot 3 ...

Страница 8: ...Daily Checklist 5 3 2 2 Six Month Inspection 5 4 3 Replacement of Motor 5 5 3 1 Replacement of X Y Z axis motors YP320X YP330X YP340X YP320XR 5 5 3 2 Replacement of X and Z axis motor YP220BX YP220BXR 5 7 3 3 Replacement of R axis motor YP220BXR YP320XR YP340X 5 8 4 Belt replacement method 5 9 4 1 Replacement of the X and Z axis belts YP320X YP330X YP340X YP320XR 5 9 4 2 Replacement of Y axis belt...

Страница 9: ...ls 6 8 1 4 Piping and wiring of robot 6 14 2 R axis allowable moment inertia moment 6 18 2 1 R axis allowable moment inertia moment 6 18 2 2 Equation for moment of inertia calculation 6 19 2 3 Example of moment of inertia calculation 6 21 3 Robot allowable duty 6 23 4 Allowable overhang 6 24 5 X axis droop 6 25 6 Mechanical stopper 6 26 ...

Страница 10: ...MEMO ...

Страница 11: ... 8 4 Robot Safety Functions 1 9 5 Safety Measures for the System 1 10 6 Trial Operation 1 11 7 Work Within The Safeguards 1 12 8 Automatic Operation 1 13 9 Adjustment and Inspection 1 13 10 Repair and Modification 1 13 11 Warranty 1 14 12 CE Markings 1 15 13 Precautions 1 16 CHAPTER 1 Using the Robot Safely ...

Страница 12: ...MEMO ...

Страница 13: ...tructions will result in severe injury or death to the robot operator a bystander or a person inspecting or repairing the robot Failure to follow WARNING instructions could result in severe in jury or death to the robot operator a bystander or a person inspect ing or repairing the robot Failure to follow CAUTION instructions may result in injury to the robot operator a bystander or a person inspec...

Страница 14: ... is opened Install safeguards so that no one can enter inside except from doors or panels equipped with safety interlocks The warning labels 1 shown in Fig 1 1 are supplied with the robot and should be affixed to a conspicuous spot on doors or panels equipped with safety interlocks DANGER Serious injury or death will result from impact with moving robot Keep outside of guard during operation Lock ...

Страница 15: ...eration even after you have read through this manual read again the corresponding procedures and cautions in this manual as well as descriptions in the 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 Improper installation or operation can result in serious injury or death...

Страница 16: ...e Z axis vertical axis brake WARNING The Z axis will slide down when the Z axis brake is released caus ing a hazardous situation Press the emergency stop button and prop up the Z axis with a support stand before releasing the brake Use caution not to let your body get caught between the Z axis and installation base when releasing the brake to perform direct teach 7 Provide safety measures for end ...

Страница 17: ...he controller power switch and also the power source in order to prevent possible electrical shock Never touch any internal parts of the controller For more specific safety items on the controller refer to the YAMAHA Robot Controller Owner s Manual 10 Consult us for corrective action when the robot is damaged or malfunc tion occurs WARNING If any part of the robot is damaged or any malfunction occ...

Страница 18: ...ing the motor during inspections or servicing turn off the controller wait for a while and check that the temperature has cooled 13 Do not remove alter or stain the warning labels WARNING If warning labels are removed or difficult to see necessary cau tions may not be taken resulting in an accident Do not remove alter or stain the warning labels on the robot Do not allow the warning labels to be h...

Страница 19: ...the manipulator tip mass and mo ment of inertia If this is not observed premature end to the life of the drive units damage to the robot parts or residual vibration during positioning may result 16 Do not use the robot for tasks requiring motor thrust CAUTION Avoid using the robots for tasks which make use of motor thrust press fitting burr removal etc These tasks may cause malfunctions of the ro ...

Страница 20: ... adjustment and repair has received appropriate training and also has the skills needed to perform the job correctly and safely Since the YAMAHA YP X Series pick and place robots fall under the industrial robot category the user must observe local regulations and safety standards for industrial robots and provide special training for every person involved in robot related tasks teaching programmin...

Страница 21: ...er The movement range is the area limited by mechanical stoppers WARNING Axis movement does not stop immediately after the servo power supply is shut off by emergency stop or other safety functions 5 Z axis vertical axis brake Option An electromagnetic brake can be installed to the Z axis as an option to prevent the Z axis from sliding down when the servo power is turned off This brake is working ...

Страница 22: ...dangerous situation is more likely to occur from the automated system than from the robot itself Accordingly appropriate safety measures must be taken on the part of the system manufacturer according to the individual system The system manufacturer should provide a proper instruction manual for safe correct opera tion and servicing of the system ...

Страница 23: ...the controller q Is the robot securely and correctly installed w Are the electrical connections to the robot correct e Are items such as air pressure correctly supplied r Is the robot correctly connected to peripheral equipment t Have safety measures safeguard enclosure etc been taken y Does the installation environment meet the specified standards 3 After the controller is turned on check the fol...

Страница 24: ...or each section To per form item 2 refer to the description in 2 below 2 Teaching When performing teaching within the safeguard enclosure comply with the instructions listed below 1 Check or perform the following points from outside the safeguard enclo sure q Make sure that no hazards are present within the safeguard enclosure by visual check w Check that the programming unit MPB or TPB operates c...

Страница 25: ...o ensure that the robot is in automatic operation 2 Never enter the safeguard during automatic operation 3 If an error occurs in the robot or peripheral equipment observe the fol lowing procedure before entering the safeguard enclosure q Press the emergency stop button to set the robot to emergency stop w Place a sign on the start switch indicating that the robot is being in spected in order to ke...

Страница 26: ...ty will not apply in the following cases 1 Fatigue arising due to the passage of time natural wear and tear occurring during op eration 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 data ...

Страница 27: ... A COURSE OF DEALING OR USAGE OF TRADE YAMAHA MOTOR CO LTD SOLE LIABILITY SHALL BE FOR THE DE LIVERY OF THE EQUIPMENT ANDYAMAHA 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 NOWARRANTYWHAT SOEVER WITH REGARD TO ACCESSORIES OR PARTS NOT SUPPLIED BY YAMAHA MOTOR CO LTD 12 CE Markings For ...

Страница 28: ...e 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 r...

Страница 29: ...CHAPTER 2 Functions 1 P P robot unit 2 1 2 P P robot controller 2 2 ...

Страница 30: ...MEMO ...

Страница 31: ... andYP220BXR have 3 axes X Z and R TheYP340X has 4 axes X Y Z and R They move along the axes as shown in Fig 2 1 and by adding custom tools can perform work over a wide range with high accuracy and speed These robots are ideal for high speed pick and place operations using small parts X Z YP320X Z X Y R YP340X Fig 2 1 P P robots ...

Страница 32: ...ot controller NOTE The Y displayed on the programming unit of the YP320X and YP220BX re fers to the robot main unit axis vertical movement If data is input to Y the Z axis will move Likewise on theYP320XR andYP220BXR the Y displayed on the program ming unit is the Z axis up down operation of the robot unit and the Z is the R axis swivel operation of the robot unit DRCX TRCX QRCX POWER CPU OK SERVO...

Страница 33: ...stallation 1 Robot Installation Conditions 3 1 1 1 Installation environments 3 1 2 Installation 3 3 2 1 Installation frame 3 3 2 2 Installing the robot 3 4 3 Connection of robot cables 3 7 4 Protective Bonding 3 9 ...

Страница 34: ...MEMO ...

Страница 35: ...6 0kgf cm2 clean dry air not containing deteriorated compressor oil filtration 40µm or less Allow sufficient space margin to perform jobs teaching inspection repair etc For detailed information on how to install the robot controller refer to the sepa rate YAMAHA Robot Controller Owner s Manual WARNING Avoid installing the robot in locations where the ambient condi tions may exceed the allowable te...

Страница 36: ...CHAPTER 3 Installation 3 2 WARNING Do not use the robot in locations subject to excessive vibration Robot installation bolts may otherwise become loose causing the manipulator to fall over ...

Страница 37: ...obot operation CAUTION Vibration resonance may adversely affect robot operation if this frame is not rigid 2 The levelness and parallelism of the robot installation surface on the frame must be manufactured to within a precision of 0 1mm or more CAUTION If the installation surface level precision is deficient the robot will have poor positioning precision Strictly observe all safety precautions an...

Страница 38: ... frame through the holes The M8 bolt tightening torque is 230 to 370 kgcm Depth 20 A B C D H F E G 70 135 80 8 120 7 5 301 9 123 8 M8 1 25 20 105 Fig 3 1 YP320X YP320XR installation Installation to the frame can also be done by removing the unit cover and install ing four M6 bolts from the robot side intoA C E and G as shown in Fig 3 1 into the frame The M6 bolt tightening torque is 100 to 160 kgc...

Страница 39: ...l holes approx 10 dia into the frame installation surface as shown 2 Tighten with a hex head bolts from the rear side of the frame through the holes The M8 bolt tightening torque is 230 to 370 kgcm YAMAHA YP SERIES Depth 20 12 60 175 60 8 M8 1 25 319 12 5 255 280 Fig 3 2 YP330X YP340X installation WARNING Be sure to use the specified type and number of bolts and securely tighten them to the correc...

Страница 40: ... installation base 2 Secure the robot to the base with M8 hex socket head bolts tightening torque 230 to 370kgcm from inside of the robot frame YAMAHA 4 φ10 10 490 510 11 67 89 20 Fig 3 3 YP220BX YP220BXR installation WARNING Be sure to use the specified type and number of bolts and securely tighten them to the correct torque If the bolts are not tightened correctly the robot may cause positioning...

Страница 41: ...ries robot side Refer to the YAMAHA Robot Controller DRCX TRCX or QRCX Instruction and Owner s Manuals for connecting to the controller side DRIVER DRIVER XY XY P1 P1 1 2 M2 M2 M1 M1 DRIVER DRIVER ZR ZR P1 P1 1 2 M2 M2 M1 M1 1 2 X MO CN Y MO CN Z MO CN R MO CN ZR PI CN XY PI CN Fig 3 4 Robot cable connections ...

Страница 42: ...CHAPTER 3 Installation 3 8 Robot Cable DRCX YP320X Fig 3 5 Robot cable connections ...

Страница 43: ...ly connect the ground terminal on the robot to the same protective con ductor Symbol 417 IEC 5019 2 The Z axis ground terminal can also be used when the end effector uses an electrical device which if it malfunctions might make contact with the power supply To check the ground terminal locations refer to Chapter 6 Specifi cations 3 For details on protective bonding on the robot body to comply with...

Страница 44: ...te or if there are contact failures in the pins the robot may malfunction causing a hazard ous situation Reconfirm that each connector is securely installed before turning on the controller To attach the PI connector securely tighten the screws supplied with the robot Take caution not to apply an excessive load to the connectors due to stress or tension on the cables WARNING Lay out the cables so ...

Страница 45: ...s 4 4 2 2 Stroke end method X Z Y axes 4 5 3 Adjustment of the belt tension 4 6 3 1 Adjustment of X Y Z axis motor belt tension 4 6 3 2 Adjustment of Z axis tip belt tension YP320X YP320XR YP330X YP340X 4 7 3 3 Adjustment of Z axis tip belt tension YP220BX YP220BXR 4 8 3 4 Adjust the X axis belt tension YP220BX YP220BXR 4 9 ...

Страница 46: ...MEMO ...

Страница 47: ...ss the emergency stop button if any danger occurs WARNING When the robot does not need to be operated during adjustment or maintenance always turn off the controller and the external power distribution panel Do not touch the internal parts of the controller for several sec onds after the power to the controller has been turned off When performing electrical maintenance which does not require manip...

Страница 48: ...the specifications This could cause the axis to strike the mechanical stopper and upset the alignment Always be sure to make the payload settings Failing to make these set tings or making the wrong settings could cause early equipment break downs Typical setting Set a figure of 2kg when the total weight of tool work is 1 4kg The direction of origin return cannot be changed during absolute reset Us...

Страница 49: ... were initialized f When a change was made to a parameter relating to the origin return method origin return direction axis polarity or origin shift g When the motor was replaced when motor cable connector was removed h When the parameter data or all the data was sent to the controller via the RS 232C The method for performing absolute reset is shown in this chapter CAUTION After installing the ro...

Страница 50: ... Move the robot manually while in servo off CAUTION Absolute reset by the mark method is also possible by using a teaching pendant or data sent through an RS 232C However absolute reset is not possible with custom inputs CAUTION TheYP320XR YP340X andYP220BXR come supplied with alignment mark seals for the R axis Perform absolute reset by the mark method and then attach these seals or stickers afte...

Страница 51: ...NG Making physical contact with the robot during operation can cause severe injuries Never enter within the movement range of the robot during abso lute reset CAUTION The stroke end method is used for the X Z and Y axes An ideal position to end absolute reset is approximately 4 to 5mm away from the mechanical stopper If the position obtained is not 4 to 5mm away then change the position where the ...

Страница 52: ...d apply tension to the belt by pulling on the motor When loads as shown in the table below are applied to the center section of the belt a slack amount as shown in the lower part of the table is satisfactory 4 Retighten the bolts securing the motor and reinstall the axis covers Load Slack Pulley Pulley Belt Robot Model YP320X YP320XR Load Kg Slack mm X axis 1 1 0 5 1 1 1 1 2 0 5 1 0 5 1 0 5 1 Z ax...

Страница 53: ...ver into the clearance between the X axis plate and the belt tensioner and then lever the screwdriver to apply tension to the belt 5 Apply a load of 0 5 kgf to the center section of the belt for fixing the belt tension A slack of approximately 2mm is satisfactory 6 If the belt tension in now satisfactory tighten the bolts securing the belt tensioner 7 Install the Z axis cover for the robot Approx ...

Страница 54: ... M6 bolt into the hole located beneath the belt tensioner L shaped metal plate to apply tension to the belt 5 Apply a load of 0 5 kgf to the center section of the belt for fixing the belt tension A slack of approximately 2mm is satisfactory 6 If the belt tension in now satisfactory tighten the bolts securing the belt tensioner 7 Install the Z axis cover for the robot Approx 2mm Load 0 5kg M6 bolt ...

Страница 55: ...Loosen the belt tensioner L shaped metal plate M5 bolts and apply tension to the belt 5 As a guide for setting belt tension check a slack in the belt of about 5mm when a 1kg load is applied to the center of the belt 6 If the belt tension in now satisfactory tighten the bolts securing the belt tensioner 7 Reattach the side cover on the robot unit Driven pulley Securing bolt Belt tensioner M5 bolt F...

Страница 56: ...4 10 MEMO ...

Страница 57: ...R axis motor YP220BXR YP320XR YP340X 5 8 4 Belt replacement method 5 9 4 1 Replacement of the X and Z axis belts YP320X YP330X YP340X YP320XR 5 9 4 2 Replacement of Y axis belt YP330X YP340X 5 10 4 3 Replacement of Z axis belt YP220BX YP220BXR 5 11 4 4 Replacement of X axis belt YP220BX YP220BXR 5 12 4 5 Replacement of Z axis tip section belt YP320X YP330X YP340X YP320XR 5 13 4 6 Replacement of Z ...

Страница 58: ...MEMO ...

Страница 59: ...ch board Do not touch the internal parts of the controller for several sec onds after the power to the controller has been turned off When performing electrical maintenance which does not require manipulator movement keep the emergency stop button pressed Use only the lubricants or grease specified by YAMAHA or the YAMAHA sales dealer Use only the parts specified by YAMAHA or the YAMAHA sales deal...

Страница 60: ...y or eat Eating will cause diarrhea and vomit ing Hands and fingers might be cut when opening the container so use protective gloves Keep out of the reach of children Do not heat them or place near an open flame since this could lead to sparks and fires Emergency Treatment If they get in the eyes wash liberally with pure water for about 15 minutes and consult a physician for treatment If they come...

Страница 61: ...heck for excessive vibration noise and overheating etc Remove all dirt and dust and apply a thin coat of grease Use Alvania No 2 Showa Shell or Daphney Kuronex Idemitsu Kosan grease Maintain the parts so that they never dry out CAUTION Avoid using the sliding parts such as ball screws ball splines ball bushings and linear guides while they are in a dry state A premature wear or dam age to the slid...

Страница 62: ... replacement details Check for looseness If loose tighten Check the X Y and Z axis timing belts for tension scratches and wear Perform absolute reset and check that the machine reference is within the specified range 45 to 55 Check for scratches on the cables etc Check for looseness in the relay connectors etc Check that the relay contact point operates properly Check for looseness in the terminal...

Страница 63: ...aft with setscrews 1 Turn off the controller power 2 Remove each of the covers 3 Disconnect the motor power cable and signal cable connectors 4 Loosen the tautness of the belt and remove the motor from the bracket Make a note of how the motor is facing and the bracket position 5 Remove the motor from the pulley 6 Install the new motor using the above procedure in reverse Coat the set screws with S...

Страница 64: ...CHAPTER 5 Installation 5 6 Connector X and Z axes motor Motor shaft Bracket Securing bolt Pulley Set screw X axis motor Metal bracket Belt Fig 5 1 Motor replacement ...

Страница 65: ...cket 5 Remove the bearing block placed between the metal bracket and the motor 6 Remove the pulley from the motor Using the pulley removal tap will make it easier to remove the pulley 7 Install the new motor in the opposite of the order that the motor was just removed 8 Apply tension to the belt Make sure the belt is not too loose and not too tight See Chapter 4 9 Perform absolute reset to set the...

Страница 66: ...tor and extract the stator upwards 4 Remove the plate securing the rotor to the motor shaft The plate is fastened with four M2 6 bolts 5 Extract the rotor upwards and replace with a new rotor 6 Install the rotor and stator in the opposite order that the old parts were re moved Tighten the bolts alternately at the diagonal positions 7 Reattach the motor connectors and reinstall the cover 8 Set the ...

Страница 67: ...cement to limit deviations in point data occurring due to the belt replacement Fig 5 4 4 Loosen the M6 bolts securing the metal bracket for the X and Z axis motors 5 Remove the M8 or M5 bolts shown in Fig 5 5 and remove the plate securing each plate 6 Remove the old belt and replace with the new belt 7 Place the new belt on the pulley lining it up with the marks for synchroniz ing the positions of...

Страница 68: ...t data occurring due to the belt replacement Fig 5 4 4 Loosen the tension on the belt and remove the belt 5 Place the new belt on the pulley lining it up with the marks for synchroniz ing the positions of the two pulleys you made in step 3 above 6 Adjust the belt tension and set the origin position again by absolute reset See Chapter 4 7 Make corrections if any point data has deviated Pulley belt ...

Страница 69: ...securing the Z axis motor metal bracket and remove the belt from the pulley 5 Remove the M6 bolts shown in Fig 5 8 and remove the plate securing each shaft 6 Replace the old belts with new belts 7 Place the new belt on the pulley lining it up with the marks for synchroniz ing the positions of the two pulleys you made in step 3 above 8 Adjust the belt tension and set the origin position again by ab...

Страница 70: ...oner L shaped metal plate and loosen the long belt tension put slack in the belt 7 The long belt is fastened to the plate with two M5 bolts so loosen these bolts and remove the belt 8 After the long belt has been removed remove the short belt 9 Replace the old belts with new belts 10 Place the new belt on the pulley lining it up with the marks for synchroniz ing the positions of the two pulleys yo...

Страница 71: ...y 5 Remove the plate gripping the belt in Fig 5 9 6 Prepare a new belt and grip the new belt with the plate removed in step 4 Apply a coating of Screw lock or equivalent to the M5 bolts and tighten them 7 Place the new belt on the pulley lining it up with the marks for synchroniz ing the positions of the two pulleys you made in step 3 above Next install the belt tensioner 8 Adjust the belt tension...

Страница 72: ...e plate gripping the belt in Fig 5 10 6 Prepare a new belt and grip the new belt with the plate removed in step 4 Apply a coating of Screw lock or equivalent to the M5 bolts and tighten them 7 Place the new belt on the pulley lining it up with the marks for synchroniz ing the positions of the two pulleys you made in step 3 above Next install the belt tensioner 8 Adjust the belt tension and set the...

Страница 73: ... warping 2 Check robot coupling for slipping and belt for teeth skipping 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 looseness of robot mechanical parts No Check or replace the motor cable and controller No Take measures against noise Yes Is cable broken N...

Страница 74: ...es U V and W 2 Check encoder signal lines for phases A and B 1 Check position shift by repetitive accuracy measurement 2 If replacement motor is available check by exchanging the motors Replace motor Is external noise large Take noise reduction measures Yes No No No No No No No Yes Yes Yes Yes Yes Yes No Yes Feedback error Any foreign matter caught inside Adjust mechanical alignment No No Is 24V s...

Страница 75: ...0 62213Z AC SERVO MOTOR 1 200W Z KC5 M2256 200 BELT 1 1 219UP3M KC5 M2257 100 BELT 2 1 635UP5M KC5 M2256 100 BELT 1 1 252UP3M KC5 M173H 000 BELT 2 1 S3M369 90K80 S15RW0 LM BLOCK 1 SSR15W 90K71 0L0167 LM RAIL 1 KC5 M4752 X00 1 CABLE ROBOT 1 3 4 2 5 6 8 7 NO PART NO PART NAME Q TY REMARKS 6 Spare parts list ...

Страница 76: ... 1 635UP5M KC5 M2256 100 BELT 1 1 252UP3M KC5 M173H 000 BELT 2 1 S3M369 90K80 S15RW0 LM BLOCK 1 SSR15W 90K71 0L0167 LM RAIL 1 KC4 M4752 X00 1 AC SERVO MOTOR YP220BXR Spare Parts KC4 M4753 X00 1 1 KC4 M2284 B00 1 KC5 M4845 000 HARNESS MACHINE 4 QRCX3 TRCX3 9 10 MOTOR COMP CABLE ROBOT CABLE ROBOT 60W R 1 3 4 2 5 8 6 7 9 10 PART NO PART NAME Q TY REMARKS NO ...

Страница 77: ... 200W X 90K90 62212Z AC SERVO MOTOR 1 200W Z KC0 M2256 100 BELT 1 1 S5M255 KC0 M2256 000 BELT 1 1 S3M252 KC5 M173H 000 BELT 2 1 S3M369 90K80 S15RW0 LM BLOCK 1 SSR15W 90K71 0L0167 LM RAIL 1 KC4 M4751 X00 1 CABLE ROBOT KC4 M4881 000 1 2 3 4 5 7 6 PART NO PART NAME Q TY REMARKS NO ...

Страница 78: ...ELT 1 1 S5M255 KC0 M2256 000 BELT 1 1 S3M252 KC5 M173H 000 BELT 2 1 S3M369 90K80 S15RW0 LM BLOCK 1 SSR15W 90K71 0L0167 LM RAIL 1 KC4 M2284 B00 1 MOTOR COMP KC4 M4881 000 8 KC4 M4845 200 1 HARNESS MACHINE 4 9 KC4 M4752 X00 1 CABLE ROBOT KC4 M4753 X00 1 CABLE ROBOT 60W R SSR15W QRCX TRCX3 1 3 2 4 5 6 7 8 9 PART NO PART NAME Q TY REMARKS NO ...

Страница 79: ...M252 KC5 M173H 000 BELT 2 1 S3M369 90K80 S15RW0 LM BLOCK 1 SSR15W 90K71 OL0167 LM RAIL 1 90K90 62012Y 1 AC SERVO MOTOR KC4 M4881 000 8 KC1 M2256 000 1 BELT 1 9 KC4 M4843 100 1 HARNESS MACHINE 2 KC4 M4844 100 1 HARNESS MACHINE 3 10 KC4 M4752 X00 1 CABLE ROBOT KC4 M4753 X00 1 CABLE ROBOT 200W Y S5M350 Power Signal QRCX TRCX 5 2 4 6 7 8 9 10 1 3 PART NO PART NAME Q TY REMARKS NO ...

Страница 80: ... 1 S3M369 90K80 S15RW0 LM BLOCK 1 SSR15W 90K71 0L0167 LM RAIL 1 90K90 62012Y 1 AC SERVO MOTOR KC4 M4881 000 8 KC1 M2256 000 1 BELT 1 9 KC4 M4843 100 1 HARNESS MACHINE 2 KC4 M4844 100 1 HARNESS MACHINE 3 10 KC4 M4752 X00 1 CABLE ROBOT 200W Y S5M350 Power Signal QRCX TRCX 11 KC4 M2284 B00 1 MOTOR COMP 60W R 12 HARNESS MACHINE 4 KC4 M4845 100 1 5 2 4 6 7 8 9 10 1 3 11 12 PART NO PART NAME Q TY REMARK...

Страница 81: ...ls 6 8 1 4 Piping and wiring of robot 6 14 2 R axis allowable moment inertia moment 6 18 2 1 R axis allowable moment inertia moment 6 18 2 2 Equation for moment of inertia calculation 6 19 2 3 Example of moment of inertia calculation 6 21 3 Robot allowable duty 6 23 4 Allowable overhang 6 24 5 X axis droop 6 25 6 Mechanical stopper 6 26 ...

Страница 82: ...MEMO ...

Страница 83: ...100mm 17kg DRCX QRCX2 2 200W 200W ball screw lead 20 or equiv belt lead 25 or equiv 3kg 0 02mm 0 05mm 330mm 100mm 21kg DRCX QRCX2 3 200W 200W 60W belt lead 24 or equiv belt lead 20 or equiv transmission 1 18 1kg 0 05mm 0 05mm 0 1 200mm 100mm 180 19kg TRCX3 QRCX3 YP220BX YP220BXR YP320X 3 200W 200W 60W ball screw lead 20 or equiv belt lead 25 or equiv transmission 1 18 1kg 0 02mm 0 05mm 0 1 330mm 1...

Страница 84: ...0 8 M4 0 7 for user installation 21 69 231 57 Tool plate 510 13 Robot cable 5 Note1 3 Note1 4 Note1 2 Note1 185 Note Tool plate is detachable The tool plate is made of aluminum alloy same four places on opposite side Note 1 Distance to mechanical stopper Note 2 Return to origin on the YP220BX is by absolute reset So the origin position must be set the first time making initial settings but after t...

Страница 85: ...M5 0 8 Depth 13 67 70 469 69 180 120 103 10 40 89 67 56 70 8 620 78 12 17 5 MAX 700 2 Coupling for air Note 1 Distance to mechanical stopper Note 2 Return to origin on the YP220BXR is by absolute reset So the origin position must be set the first time making initial settings but after that is not required Air tube detachable connection 3 Note1 5 Note1 X stroke 200 2 Note1 Z stroke 100 4 Note1 Bott...

Страница 86: ...achable The tool plate is made of aluminum alloy Details of tool attachment 1 1 Air tube detachable connection Note 1 Distance to mechanical stopper Note 2 Return to origin on the YP320X is by absolute reset So the origin position must be set the first time making initial settings but after that is not required Note 3 Do not use bolts longer than 20mm robot bottom plate thickness 3 Note1 X stroke ...

Страница 87: ...chanical stopper Note 2 Return to origin on the YP330X is by absolute reset So the origin position must be set the first time making initial settings but after that is not required Note 3 Do not use bolts longer than 20mm robot bottom plate thickness Details of tool attachment 1 1 Note Tool plate is detachable The tool plate is made of aluminum alloy 3 Note1 5 Note1 2 Note1 Y stroke 150 Warning X ...

Страница 88: ...te 1 Distance to mechanical stopper Note 2 Return to origin on the YP340X is by absolute reset So the origin position must be set the first time making initial settings but after that is not required Note 3 Do not use bolts longer than 20mm robot bottom plate thickness Details of tool attachment 1 1 Width across flat 7 3 Note1 2 Note1 Y stroke 150 5 Note1 Warning X stroke 330 2 Note1 Z stroke 100 ...

Страница 89: ...5 67 105 Note 1 Distance to mechanical stopper Note 2 Return to origin on the YP320XR is by absolute reset So the origin position must be set the first time making initial settings but after that is not required Note 3 Do not use bolts longer than 20mm robot bottom plate thickness Details of tool attachment 1 1 Width across flat 7 Warning 3 Note1 X stroke 330 2 Note1 Z stroke 100 4 Note1 5 Note1 D...

Страница 90: ...tion No No Resolver Brake Brake Resolver Resolver Brake Brake Resolver S2 ZP RP ZBK RBK ZM RM ZM RM Round terminal Round terminal ZR S1 S3 R1 R2 DG MB MB S2 V W S4 S1 S3 R1 R2 DG MB MB HLIM GND24 HLIM GND24 U V W FG U 1 2 4 5 6 7 7 1 2 3 1 2 3 1 2 3 1 2 1 2 4 5 6 7 3 1 2 4 5 6 14 16 19 20 21 22 23 24 25 32 34 10 11 28 29 2 3 4 2 3 4 1 3 Green Blue Orange Brown Gray Red Black Yellow Pink Purple Whi...

Страница 91: ...CHAPTER 6 Specifications 6 9 Fig 6 7 Wiring between robot and controller XP XBK YP YBK ZP ZBK RP RBK XM YM ZM RM ZR XY XM YM ZM RM Controller side Robot side ...

Страница 92: ... 4 2 3 4 1 3 Green Blue Orange Brown Grey Red Black Yellow Pink Purple White Blue Red Orange White Green White Green Brown White Grey White Green Green 1 2 3 4 5 6 Yellow Green Green S4 Controller side Robot side Signal Connector Connector Connection No No Brake S2 ZP ZM ZBK ZM Z S1 S3 R1 R2 DG MB MB U V W FG 1 2 4 5 6 7 9 3 1 2 1 2 3 1 2 4 5 6 17 18 2 3 4 1 3 Green Blue Orange Brown Grey Red Blac...

Страница 93: ...CHAPTER 6 Specifications 6 11 Fig 6 8 Wiring between robot and controller XP XBK YP YBK ZP ZBK XM YM ZM ZR XY XM YM ZM Controller side Robot side ...

Страница 94: ...1 R2 DG MB MB S2 V W S4 S1 S3 R1 R2 DG MB MB HLIM GND24 HLIM GND24 U V W FG U 1 2 4 5 6 7 7 1 2 3 1 2 3 1 2 3 1 2 1 2 4 5 6 7 3 1 2 4 5 6 14 16 19 20 21 22 23 24 25 32 34 10 11 28 29 2 3 4 2 3 4 1 3 Green Blue Orange Brown Grey Red Black Yellow Pink Purple White Blue Red Orange White Green White Green Brown White Grey White Green Green 1 2 3 4 5 6 Yellow Green Green S4 Controller side Robot side ...

Страница 95: ...CHAPTER 6 Specifications 6 13 Fig 6 9 Wiring between robot and controller P1 BK1 P2 BK2 M1 M2 M1 M2 Controller side Robot side ...

Страница 96: ...m pads and other tools 1 YP320X YP320XR DANGER YAMAHA Air coupling φ4 4 Cable extraction port Cable and air tube extraction port Fig 6 10 User wiring and piping connections As standard features four air tubes 4mm dia and a cable 12 conductors 0 2 sg are routed through the robot unit as shown below These are provided for the user so utilize as needed YAMAHA YP SERIES Fig 6 11 User wiring and piping...

Страница 97: ...d air tube extraction port Fig 6 12 User wiring and piping connections As standard features four air tubes 4mm dia and a cable 12 conductors 0 2 sg are routed through the robot unit as shown below These are provided for the user so utilize as needed YAMAHA YP SERIES Fig 6 13 User wiring and piping connections ...

Страница 98: ...tion port Fig 6 14 User wiring and piping connections In the standard configuration one air tube 6mm diameter two air tubes 4mm diameter and one cable 12 conductor wires 0 2sg run through the robot unit as shown below These are provided for the user so feel free to use when needed Fig 6 15 User wiring and piping connections ...

Страница 99: ...r tube extraction port Fig 6 16 User wiring and piping connections As standard features two air tubes 4mm dia and a cable 10 conductors 0 2 sg are routed through the robot unit as shown below These are provided for the user so utilize as needed YAMAHA Fig 6 17 User wiring and piping connections ...

Страница 100: ...oment and tolerable inertia moment For theYP340X YP320XR YP220BXR the maximum end weight is 1kg and the R axis tolerance inertia moment is 0 01 kg cm sec2 Refer to the examples for calculating the inertia moment on the following page and confirm that the inertia moment of the R axis load does not exceed the toler ance value CAUTION The robot must be operated with correct tolerable moment of inerti...

Страница 101: ...t of inertia are shown below 1 Moment of inertia for cylinder The equation for the moment of inertia for a cylinder that has a rotation center such as shown in Fig 6 18 is given below D h ρ π D4h 32g WD2 8g J kg cm sec2 6 1 Density kg cm3 Gravitational acceration cm sec2 Weight of the cylinder kg ρ g W Fig 6 18 2 Moment of inertia for rectangular parallelopiped The equation for the moment of inert...

Страница 102: ...amount of x from the rotation center as shown in Fig 6 20 is given below D h x ρ π D4h 32g ρ π D2hx2 4g J W Weight of the cylinder kg WD2 8g Wx2 g kg cm sec2 6 3 Center line Rotation center Fig 6 20 In the same manner for the rectangular column in Fig 6 21 a c b x ρ abc a2 b2 12g ρ abcx2 g J W Weight of the rectangular column kg W a2 b2 12g Wx2 g kg cm sec2 6 4 Center line Fig 6 21 ...

Страница 103: ...rtia is calculated with the following three factors However the load material will be aluminum and the density 0 0026kg cm3 8cm 2cm 2cm R Axis 1cm 1cm 1cm 2cm 4cm 6cm 4cm Stay Chuck Work Fig 6 22 1 Moment of inertia of the stay From Fig 6 23 the weight is Ws ρ abc 0 0026 10 2 2 0 1 kg From equation 6 4 the moment of inertia is Fig 6 23 10cm 2cm 2cm 4cm 0 1 102 22 12 980 0 1 42 980 0 0025 kg cm sec...

Страница 104: ...m ρ π D2h 4 0 0026π 22 4 4 0 03 kg Ww 0 03 22 8 980 0 03 82 980 0 002 kg cm sec2 Jc From equation 6 3 From Fig 6 25 Fig 6 25 4 Total weight W Ws Wc Ww 0 19 kg 5 Total moment of inertia W Js Jc Jw 0 0085 kg cm sec2 The allowable R axis moment inertia is 0 01 kg cm sec2 so there is no prob lem with the above point 8cm 1cm 6cm 4cm R Axis 0 06 12 42 12 980 0 06 82 980 0 004 kg cm sec2 Jc From equation...

Страница 105: ...ger than its allow able duty time For instance if we set a job operation where work is gripped at point A placed at point B and then again returned to point A all as one cycle taking place in 1 second then the allowable duty is 70 which we calculate as Time needed for round trip between A and B of 0 8 sec 0 8 sec for round trip between A and B 0 2 sec for work transfer at points A B 80 Note that a...

Страница 106: ...on is 100 and maximum speed is 100 YAMAHA YP SERIES L mm W kg Payload W 0 W 1kg 1 W 2kg 2 W 3kg Allowable Overhang L 140mm 50mm 30mm Fig 6 26 CAUTION Although the robot can be operated with an overhang load exceeding the values listed in the above table this will cause premature wear or damage to the drive unit especially linear guide In contrast operating the robot with a smaller overhang load wi...

Страница 107: ... the X axis stroke end forward end The amount of droop during a maximum stroke on the X axis is shown in the table below Payload W 0 W 1kg 1 W 2kg 2 W 3kg YP320X 1 0 1 2 1 4 YP330X 1 1 1 3 1 5 YP340X 1 5 YP320XR 1 4 YP220BX 1 0 1 1 1 2 YP220BXR 1 1 X axis maximum stroke YP320X YP330X YP320XR 330mm YP220BX YP2220BXR YP320XR 200mm YAMAHA YP SERIES Droop Fig 6 27 ...

Страница 108: ... peripheral equipment Maximum overrun amounts are listed below for normal operation maximum load mass maximum speed YP320X YP330X YP340X 3 3 3 2 2 2 4 4 3 3 3 2 2 2 3 3 X axis Robot Model Y axis Z axis Origin side Opposite side Origin side Opposite side Origin side Opposite side mm CAUTION The mechanical stopper position cannot be changed so select the robot with the optimum movement range taking ...

Страница 109: ...MEMO ...

Страница 110: ...d 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 YAMAHA or YAMAHA sales representatives ...

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