Page
Page
 Contents
 Specifications
Setting the Robot
Absolute Reset
Installation
 Installing the Tool
Fxyx
 Mxyx
 User Wiring and User Piping 10-18
Installation 10-1
Installing the Tool 10-10
Protective Connections 10-7
 Installing the Cover
Installing the Tool 11-7
Changing the Motor Installation Position
Adjusting the Timing Belt Tension
 User Wiring and User Piping 12-15
Installation 12-1
Installing the Tool 12-8
Protective Connections 12-6
 Memo
 Chapter
 Memo
 Safety Information
 Essential Caution Items
Observe the following cautions during automatic operation
 Using 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 brake
 19Protective connections
20Be sure to make correct parameter settings Part
18Do not remove, alter or stain the warning labels
 21Be sure to make correct parameter settings Part
Do not use the robot for tasks requiring motor thrust
 Special Training for Industrial Robot Operation
 Robot Safety Functions
 Safety Measures for the System
 Trial Run
Check the following points before turning the controller on
 Work Within the Safeguard Enclosure
Teaching
 Repair and Modification
Adjustment and Inspection
Automatic Operation
Check the following before starting automatic operation
 Warranty Period
Warranty
Warranty description
 CE Marking
 Product Outline
 Memo
 Robot
 Arm type with whipover cable
Names of each part
Arm type with cable carrier
 Gantry type
 Moving arm type with cable carrier
Moving arm type with whipover cable
 Pole-type with cable carrier
Pole-type with whipover cable
 XZ-type with cable carrier
XZ-type with whipover cable
 Robot Controller
Robot Controller
 Memo
 Preparing the Robot
 Memo
 Robot Installation Environment
Specifications
 Unpacking the Robot
 Checking the Product
Example of combination with RCX40 controller
 Example of combination with Trcx controller
Example of combination with Drcx controller
 Transporting the Robot
 Preparing the Robot
 Installation
Installation base
 Installing the Robot
Fix the installation base at the specified position
 Symbol 417-IEC-5019
Protective connections
 Connecting the Robot Cables
 Preparing the Robot
 Connecting with the Drcx controller
Drcx
 Connection to Drcx controller
 Connecting with the Trcx controller 1 3-axis model
Trcx
 Connection 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, Qrcx
 Connection to Qrcx controller
 Installing the Tool
 Whipover cable carrier type
User Wiring and User Piping
Cable carrier type
 List of payload parameters
Setting the Robot
Setting the payload
For Drcx or Trcx controller
 For ERCX, SRCX, Drcx or Trcx controller
Setting the maximum speed
Models requiring lower maximum speed setting
 Controller Acceleration parameter
Setting the acceleration
List of acceleration parameters
 For RCX40 controller
Absolute Reset
For Qrcx controller
 When robot contains a rotary axis Target rotary axis
Setting the origin position
For robot configured of only linear movement axis
 Preparing the Robot
 Example ZRS
 Periodic Inspections
 Memo
 Precautions
Outline
 Check point Check items
Daily inspection
Three-month inspection
 Six-month inspection
ZRS, Hxylx
 Three-year inspection
 Replenishing the grease
 Maintenance and inspection of harmonic drives
 Harmonic grease replacement period
 Memo
 Specifications
 Memo
 Axis robot cable
Specifications
Robot cable
 Wire
Axis robot cable For Trcx controller
 Axis robot cable For RCX40 controller
MB+ ZBK
 YBK ZBK RBK ORG
 Recommended crimping tool
Maker Connector type
User I/O cable
 Memo
 Pxyx
 Memo
 Hexagon socket head Cap screw M4 Strength 8.8T
Installation bolt nominal length
Tightening torque
Recommended torque 9N·m to 4.4N·m 30kgf·cm to 45kgf·cm
 Installation methods
 Ground terminal
 Ground wire
Wiring method
 Installing the Tool
 User Wiring and User Piping
 Cable carrier specifications
 Periodic Inspections
Replenishing grease to the linear guide
 Replenishing grease to the ball screw
 Memo
 Fxyx
 Memo
 Recommended nominal length 35mm or more
Installation bolt types
Hexagon socket head cap screw M6 Strength 8.8T
Recommended torque
 Installation methods
 Axis Axis wiring box Ground terminal
 Ground wire
 Arm type 2-axis model
Arm type
 Fxyx
 Quantity
ZS 3rd-axis option
Example For split clamp Recommended bolt
Tightening torque
 Example of wiring and piping methods using cable carrier
Cable carrier type
 Loosen 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 B1575
 Axis
 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 carrier
 Ground terminal Ground wire
 Arm type with whipover cable, moving arm type, pole type
 XZ type
 Arm type, pole type 2-axis model
14 Arm type
 15 Pole type
 Moving arm type 2-axis model
16 Moving arm type
 17 ZF
 18 RF
 19 ZS/ZRS
Example For split clamp
 21 Tool installation ZFH
 22 ZFL
 Harness retainer
 Sxyx
 State with cover installed
State of X-axis wiring box when wiring is completed
 ZFH
 User I/O cable specifications
 Examples of wiring and piping with whipover cable
Whipover cable type
 Sxyx
 Periodic inspections
 Axis ZF
 Recommended grease
Recommended grease gun
 26 ZS
 Adjusting the R-axis belt tension ZRS
27 Adjusting the belt tension
 Replacing the R-axis harmonic drive ZRS
Specified torque
 Replacement period
Replacement period
Replacement period =8.4⋅108/n⋅60⋅h⋅D⋅N⋅θ years
 Mxyx
 Memo
 Hexagon socket head cap screw M8 Strength 8.8T
Recommended nominal length
 MXY X-axis
 MXY box position
 Installation methods Gantry type support axis
Adjustment of gantry type support rail
 Axis 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 ZF
 12 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
 Hexagon socket bolt M8 Strength 8.8T
Installation method 2 XZ type
Installation bolt
 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 type
 11 Hxyx moving arm type
 Pole type 2-axis model
12 Hxyx pole type
 13 Tool installation ZH
 14 ZL
 ZPH Pole type 3rd-axis option
15 ZPH
 16 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/SXYBX
 Replacing the speed reduction belt 11-31
 Hexagon socket head cap screw Strength 8.8T
Fxybx
 Sxybx
Recommended torque 60 to 90kgf .cm
 Cable carrier model
 Wiring methods Cable carrier type
Whipover cable type
 11-5
 Wiring methods Whipover cable type
 Fxybx arm type 2-axis model
Fxybx arm type
 Sxybx arm type 2-axis model
10 Sxybx arm type
 SXYBX-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 position
 11-20
 Installing the Cover
 Adjusting the Timing Belt Tension
19 Adjusting the speed reduction belt tension
 Fxybx Y-axis
Adjusting the drive belt tension
Fxybx X-axis, Sxybx X, Y axes
 Recommended tension meter U-505 Unitta
Measurement method
 Adjusting the speed reduction belt tension
 Reference
Recommended tension gauge U-505 Unitta
 Replacing 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 ZF
 Replenishing grease to the ball screw ZF
Alvania No Showa Shell Daphne Eponex No Idemitsu
 22 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 option
 ZL Arm type, gantry type
 10 ZPH
 RH Arm type, gantry type 4th-axis option
11 RH
 User 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
 Removing the stroke cover
Installing and removing the cover Stroke cover
Installing the stroke cover
 Installing the belt cover
Removing the belt cover
 Removing the motor cover
Installing the motor cover
Motor cover
 Cartesian robot