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Yamaha 4-axis model, 3-axis model owner manual Memo

Models: 3-axis model 4-axis model

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Specification Install Replacement period Warranty Connecting the Robot Cables Absolute Reset Adjustment and Inspection Setting the Robot Symbol 417-IEC-5019 Precautions

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MEMO

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Yamaha 4-axis model, 3-axis model owner manual Memo

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Manual 276 pages 9.59 Kb

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Contents

Page Page Contents Setting the Robot Absolute ResetSpecifications InstallationInstalling the Tool FxyxMxyx Installation 10-1 Installing the Tool 10-10User Wiring and User Piping 10-18 Protective Connections 10-7Installing the Tool 11-7 Changing the Motor Installation PositionInstalling the Cover Adjusting the Timing Belt TensionInstallation 12-1 Installing the Tool 12-8User Wiring and User Piping 12-15 Protective Connections 12-6Memo Chapter Memo Safety Information Essential Caution Items Observe the following cautions during automatic operationUsing the Robot Safely Provide safety measures for end effector gripper, etc 10Z-axis movement when air supply is stopped 12Use caution when disassembling and replacing the motor 13Use caution when removing the Z-axis brake20Be sure to make correct parameter settings Part 18Do not remove, alter or stain the warning labels19Protective connections 21Be sure to make correct parameter settings Part Do not use the robot for tasks requiring motor thrustSpecial Training for Industrial Robot Operation Robot Safety Functions Safety Measures for the System Trial Run Check the following points before turning the controller onWork Within the Safeguard Enclosure TeachingAdjustment and Inspection Automatic OperationRepair and Modification Check the following before starting automatic operationWarranty Warranty descriptionWarranty Period CE Marking Product Outline Memo Robot Names of each part Arm type with cable carrierArm type with whipover cable Gantry type Moving arm type with cable carrier Moving arm type with whipover cablePole-type with cable carrier Pole-type with whipover cableXZ-type with cable carrier XZ-type with whipover cableRobot Controller Robot ControllerMemo Preparing the Robot Memo Robot Installation Environment SpecificationsUnpacking the Robot Checking the Product Example of combination with RCX40 controllerExample of combination with Trcx controller Example of combination with Drcx controllerTransporting the Robot Preparing the Robot Installation Installation baseInstalling the Robot Fix the installation base at the specified positionSymbol 417-IEC-5019 Protective connectionsConnecting the Robot Cables Preparing the Robot Connecting with the Drcx controller DrcxConnection to Drcx controller Connecting with the Trcx controller 1 3-axis model TrcxConnection to Trcx controller 3-axis model 2 4-axis model Connection to Trcx controller 4-axis model Connecting to the Qrcx or RCX40 controller RCX40, QrcxConnection to Qrcx controller Installing the Tool User Wiring and User Piping Cable carrier typeWhipover cable carrier type Setting the Robot Setting the payloadList of payload parameters For Drcx or Trcx controllerSetting the maximum speed Models requiring lower maximum speed settingFor ERCX, SRCX, Drcx or Trcx controller Setting the acceleration List of acceleration parametersController Acceleration parameter Absolute Reset For Qrcx controllerFor RCX40 controller Setting the origin position For robot configured of only linear movement axisWhen robot contains a rotary axis Target rotary axis Preparing the Robot Example ZRS Periodic Inspections Memo Precautions OutlineDaily inspection Three-month inspectionCheck point Check items Six-month inspection ZRS, HxylxThree-year inspection Replenishing the grease Maintenance and inspection of harmonic drives Harmonic grease replacement period Memo Specifications Memo Specifications Robot cableAxis robot cable Wire Axis robot cable For Trcx controllerAxis robot cable For RCX40 controller MB+ ZBKYBK ZBK RBK ORG Maker Connector type User I/O cableRecommended crimping tool Memo Pxyx Memo Installation bolt nominal length Tightening torqueHexagon socket head Cap screw M4 Strength 8.8T Recommended torque 9N·m to 4.4N·m 30kgf·cm to 45kgf·cmInstallation methods Ground terminal Ground wire Wiring methodInstalling the Tool User Wiring and User Piping Cable carrier specifications Periodic Inspections Replenishing grease to the linear guideReplenishing grease to the ball screw Memo Fxyx Memo Installation bolt types Hexagon socket head cap screw M6 Strength 8.8TRecommended nominal length 35mm or more Recommended torqueInstallation methods Axis Axis wiring box Ground terminal Ground wire Arm type 2-axis model Arm typeFxyx ZS 3rd-axis option Example For split clamp Recommended boltQuantity Tightening torqueExample of wiring and piping methods using cable carrier Cable carrier typeLoosen Remove Same on opposite side Harness retainer Cable carrier specifications User I/O cable specifications Axis, Y-axis Axis Recommended grease nipple A-M6X1 type JIS B1575Axis Axis ZS Sxyx Periodic inspection of the ZS/ZRS unit Sxyx Method a Method B Sxyx XZ type with cable carrier Wiring methods Opening the wiring box Arm type with cable carrierGround terminal Ground wire Arm type with whipover cable, moving arm type, pole type XZ type Arm type, pole type 2-axis model 14 Arm type15 Pole type Moving arm type 2-axis model 16 Moving arm type17 ZF 18 RF 19 ZS/ZRS Example For split clamp21 Tool installation ZFH 22 ZFL Harness retainer Sxyx State with cover installed State of X-axis wiring box when wiring is completedZFH User I/O cable specifications Examples of wiring and piping with whipover cable Whipover cable typeSxyx Periodic inspections Axis ZF Recommended grease Recommended grease gun26 ZS Adjusting the R-axis belt tension ZRS 27 Adjusting the belt tensionReplacing the R-axis harmonic drive ZRS Specified torqueReplacement period Replacement period =8.4⋅108/n⋅60⋅h⋅D⋅N⋅θ yearsReplacement period Mxyx Memo Hexagon socket head cap screw M8 Strength 8.8T Recommended nominal lengthMXY X-axis MXY box position Installation methods Gantry type support axis Adjustment of gantry type support railAxis wiring box Ground terminal Return the X-axis wiring box cover to the original position Installing the Tool Arm type, gantry type 10 Moving arm type Arm type, moving arm type, gantry type 3rd-axis option 11 ZF12 RF 13 Tool installation ZFH 14 ZFL User Wiring and User Piping Return each wiring box cover to the original position Power wire φ7.6 User I/O wire φ10.1 Signal wire φ8.2 User I/O cable specifications 16 Whipover cable user-wire specifications Mxyx Periodic Inspections Recommended grease gun MG70 THK H-type nozzle Recommended grease gun MG70 THK H-type nozzle Hxyx Whipover cable type 10-22 Hxyx 22.5N .m to 36.3N .m 230kgf .cm to 370kgf .cm 10-3 Installation method 2 XZ type Installation boltHexagon socket bolt M8 Strength 8.8T 10-5 Installation method 3 Gantry type support axis Protective Connections XZ type 10-9 10-10 Arm type, gantry type 2-axis model 10 Hxyx arm type, gantry type11 Hxyx moving arm type Pole type 2-axis model 12 Hxyx pole type13 Tool installation ZH 14 ZL ZPH Pole type 3rd-axis option 15 ZPH16 RH User Wiring and User Piping 10-19 ZRH 10-21 18 Whipover cable user-wire specifications 10-23 Periodic Inspections Recommended grease nipple Replenishment methods Installing the Cover 11-21 FXYBX/SXYBXReplacing the speed reduction belt 11-31 Hexagon socket head cap screw Strength 8.8T FxybxSxybx Recommended torque 60 to 90kgf .cmCable carrier model Wiring methods Cable carrier type Whipover cable type11-5 Wiring methods Whipover cable type Fxybx arm type 2-axis model Fxybx arm typeSxybx arm type 2-axis model 10 Sxybx arm typeSXYBX-ZF XZ type 2-axis, arm type 3rd-axis option ZS/ZRS FXYBX, Sxybx 3/4-axis option 14 Tool installation ZFH 15 ZFL User Wiring and User Piping 11-14 Cable carrier Axis specifications Axis I/O specifications 17 Whipover cable user-wire specifications 11-17 11-18 Changing the Motor Installation Position Changing the motor installation position11-20 Installing the Cover Adjusting the Timing Belt Tension 19 Adjusting the speed reduction belt tensionAdjusting the drive belt tension Fxybx X-axis, Sxybx X, Y axesFxybx Y-axis Recommended tension meter U-505 Unitta Measurement methodAdjusting the speed reduction belt tension Reference Recommended tension gauge U-505 UnittaReplacing the motor Replacing the drive belt Fxybx X-axis, Sxyb X, Y axes 11-30 Replacing the speed reduction belt Replacing the slider 11-33 Axis, Y-axis Axis ZFReplenishing grease to the ball screw ZF Alvania No Showa Shell Daphne Eponex No Idemitsu22 ZS 23 Adjusting the belt tension 24 ZRS belt tension 11-39 11-40 Hxylx User Wiring and User Piping 12-15 Hxylx 12-2 12-3 Protective bonding Installation method 3 Gantry type support axis Cable box Ground terminal Robot cable Cable carrier Cable lead-out port Hxylx arm type, gantry type Hxylx moving arm type Hxylx pole type Tool installation ZH Arm type, gantry type, moving arm type 3rd-axis optionZL Arm type, gantry type 10 ZPH RH Arm type, gantry type 4th-axis option 11 RHUser Wiring and User Piping 12-16 12-17 12-18 Whipover cable type moving arm type/pole type 3-axis Open the X-axis wiring box movable cover Periodic Inspections Replenishing grease to the ball screw 12-23 Adjusting the timing belt tension X-axis Replacing the motor X-axis 12-26 Installing and removing the cover Stroke cover Installing the stroke coverRemoving the stroke cover Installing the belt cover Removing the belt coverInstalling the motor cover Motor coverRemoving the motor cover Cartesian robot