Yamaha 3-axis model, 4-axis model Gantry type

2-3

Chapter 2 Product Outline

■ Gantry type

X-axis stroke cover

Y-axis stroke cover

Y-axis motor

Y-axis

Support axis

installation bracket

X-axis motor X-axis

Frame bracket

Robot cable

Y-axis slider (tool installation section)

X-axis wiring box

Cable carrier between XY

(The machine harness between XY

is wired inside)

Y-axis wiring box

X-axis slider

Contents

Main Page CONTENTS CHAPTER 1 Using the Robot Safely CHAPTER 2 Product Outline CHAPTER 3 Preparing the Robot CHAPTER 4 Periodic Inspections CHAPTER 5 Specifications CHAPTER 6 PXYX CHAPTER 7 FXYX 1 Installation ..............................................................................7-1 2 Protective Connections........................................................... 7-3 3 Installing the Tool....................................................................7-5 4 User Wiring and User Piping ..................................................7-8 CHAPTER 9 MXYX 1 Installation ..............................................................................9-1 2 Protective Connections........................................................... 9-5 3 Installing the Tool....................................................................9-7 4 User Wiring and User Piping ................................................9-14 CHAPTER 10 HXYX 1 Installation ............................................................................10-1 2 Protective Connections......................................................... 10-7 3 Installing the Tool................................................................10-10 4 User Wiring and User Piping ..............................................10-18 CHAPTER 11 FXYBX/SXYBX CHAPTER 12 HXYLX 1 Installation ............................................................................12-1 2 Protective Connections.........................................................12-6 3 Installing the Tool..................................................................12-8 4 User Wiring and User Piping ..............................................12-15 Page CHAPTER 1 Using the Robot Safely Page 1 Safety Information 2 Essential Caution Items DANGER Moving parts can pinch or crush. Keep hands away from robot arms. WARNING WARNING Page Page Page Page (21)Be sure to make correct parameter settings - Part 2 (22) Do not use the robot for tasks requiring motor thrust. Page 4 Robot Safety Functions Page 6 Trial Run 7 Work Within the Safeguard Enclosure 8 Automatic Operation 9 Adjustment and Inspection 10 Repair and Modification 11 Warranty 12 CE Marking Page Page 1 Robot 2-2 2 Names of each part Arm type with cable carrier Arm type with whipover cable 2-3 Gantry type 2-4 Moving arm type (with cable carrier) Moving arm type (with whipover cable) Pole -type with whipover cable Pole 2-5 -type with cable carrier 2-6 XZ-type with cable carrier XZ-type with whipover cable 3 Robot Controller RCX40 Page CHAPTER 3 Preparing the Robot Page 1 Robot Installation Environment CAUTION Always install the robot in the following type of environment. 2 Unpacking the Robot 3 Checking the Product 3-4 Example of combination with TRCX controller Example of combination with DRCX controller 4 Transporting the Robot Page 5 Installation 5-1 Installation base 5-2 Installing the Robot 6 Protective connections 7 Connecting the Robot Cables Page 7-1 Connecting with the DRCX controller Fig. 3-1 Connection to DRCX controller 7-2 Connecting with the TRCX controller 7-2-1 3-axis model Fig. 3-2 Connection to TRCX controller (3-axis model) 3-15 7-2-2 4-axis model Fig. 3-3 Connection to TRCX controller (4-axis model) 3-17 7-3 Connecting to the QRCX or RCX40 controller 3-19 Connect to YAMAHA robot Robot cable Fig. 3-4 Connection to QRCX controller Connect to YAMAHA robot Fig. 3-5 Connection to RCX40 controller 8 Installing the Tool 9 User Wiring and User Piping 10 Setting the Robot 10-1 Setting the payload 10-2 Setting the maximum speed 10-3 Setting the acceleration 11 Absolute Reset Page Page Page CHAPTER 4 Periodic Inspections Page 1 Outline 2 Precautions 3 Daily inspection 4 Three-month inspection 5 Six-month inspection 6 Three-year inspection 7 Replenishing the grease 8 Maintenance and inspection of harmonic drives 8-1 Harmonic grease replacement period Page Page Page 5-1 1 Specifications i !0 !1 YM 3-axis robot cable (For TRCX controller) ZP ORG !6 !2 !3 3-axis robot cable (For RCX40 controller) or RP or RBK ORG ZBK XBK YBK 4-axis robot cable ZBK RBK RP ZP XBK YBK 1-2 User I/O cable SMR-10-V-B SHF-001T-0.8BS SYM-001T-0.6 SMP-10-V-BC Page CHAPTER 6 PXYX Page Page Page Page 2-3 Wiring method Page Page Page Page Page Page CHAPTER 7 FXYX Page Page Page Page 2-3 Wiring method 3-1 Arm type 2-axis model Page 3-2 ZS (3rd-axis option) Page Page Page 7-11 Chapter 7 FXYX 3-axis specifications ZS inside the cable carrier does not exceed 30% of the cable carriers cross-sectional area. Fig. 7-8 Cable carrier between X-Y Cable carrier between Y-Z 2-axis specifications 2-axis I/O specifications Page X-axis, Y-axis X-axis Y-axis Z-axis (ZS) CHAPTER 8 SXYX 1 Installation ..............................................................................8-1 2 Protective Connections........................................................... 8-5 3 Installing the Tool.................................................................. 8-11 Page Page Page Page Page Page Page 2-3-1 Arm type with cable carrier Page 2-3-2 Arm type with whipover cable, moving arm type, pole type 2-3-3 XZ type 3-1 Arm type, pole type 2-axis model Page Page 3-3 ZF 3-4 RF (Arm type, moving arm type, 4th-axis option/XZ type 3rd-axis option) 3-5 ZS/ZRS (Arm type 3/4-axis option, XZ type 2/3-axis model) 3-6 ZFH 3-7 ZFL Page Page Page 8-22 Chapter 8 SXYX 4-axis specifications X-Y cable carrier tional area. Fig. 8-23 2-axis specifications X-Y cable carrier 3-axis specifications X-Y cable carrier 2-axis I/O specifications Y-axis cable carrier XZ type 2-axis specifications X-Z cable carrier 3-axis specifications Y-Z cable carrier Page 8-24 Chapter 8 SXYX The signal wires (0.3mm2 7 wires) and air tubes (4 2.5, 2 tubes) are incorpo- Fig. 8-24 Whipover cable user-wire specifications 1) Crimp the enclosed connector onto the user cable. Page Page X-axis, Y-axis Z-axis (ZF) Page Page 5-3-2 Adjusting the R-axis belt tension (ZRS) 5-3-3 Replacing the R-axis harmonic drive (ZRS) Page CHAPTER 9 MXYX 1 Installation ..............................................................................9-1 2 Protective Connections........................................................... 9-5 3 Installing the Tool....................................................................9-7 Page Page Page Page 1-5 Installation methods (Gantry type support axis) Page Page 3-1 Arm type, pole type 2-axis model 9-8 Fig. 9-8 Arm type, gantry type Fig. 9-9 MXYX pole type Page 3-3 ZF (Arm type, moving arm type, gantry type 3rd-axis option) 3-4 RF (Arm type, moving arm type, 4th-axis option/XZ type 3rd-axis option) 3-5 ZFH 3-6 ZFL Page Page 9-16 Fig. 9-15 2-axis specifications X-Y cable carrier 4-axis specifications X-Y cable carrier 3-axis specifications X-Y cable carrier 2-axis I/O specifications Y-axis cable carrier Page 9-18 Fig. 9-16 Whipover cable user-wire specifications Page Page Page Page CHAPTER 10 HXYX 1 Installation ............................................................................10-1 2 Protective Connections......................................................... 10-7 3 Installing the Tool................................................................10-10 Page 1-1 Installation method 1 1-1-1 Installation bolt types 1-1-2 Installation bolt nominal length 1-1-3 Tightening torque 1-1-4 Installation methods Page 1-2 Installation method 2 (XZ type) 1-2-1 Installation bolt 1-2-2 Installation bolt nominal length 1-2-3 Tightening torque 1-2-4 Installation methods 1-3 Installation method 3 (Gantry type support axis) Page Page Page Page 3-1 Arm type, gantry type 2-axis model Page 3-3 Pole type 2-axis model 3-4 ZH (Arm type, gantry type, moving arm type 3rd-axis option/ XZ type 2-axis model) 3-5 ZL (Arm type, gantry type, moving arm type 3rd-axis option/ XZ type 2-axis model) 3-6 ZPH (Pole type 3rd-axis option) 3-7 RH (Arm type, moving arm type, gantry type 4th-axis option/ XZ type 3rd-axis option) Page Page 10-20 Chapter 10 HXYX 4-axis specifications X-Y cable carrier Fig. 10-17 2-axis specifications X-Y cable carrier 3-axis specifications X-Y cable carrier 2-axis I/O specifications Y-axis cable carrier XZ type 2-axis specifications X-Z cable carrier 3-axis specifications Y-Z cable carrier Page 10-22 Chapter 10 HXYX Fig. 10-18 Whipover cable user-wire specifications Page Page Page Page CHAPTER 11 FXYBX/SXYBX 7 Adjusting the Timing Belt Tension.......................................11-22 8 Periodic inspections............................................................ 11-27 Page Page Page 2-3 Wiring methods (Cable carrier type) Page 2-4 Wiring methods (Whipover cable type) 3-1 FXYBX arm type 2-axis model 3-2 SXYBX arm type 2-axis model 3-3 SXYBX-ZF (XZ type 2-axis, arm type 3rd-axis option) 3-4 ZS/ZRS 3/4-axis option (FXYBX, SXYBX ) 3-5 ZFH 3-6 ZFL Page Page 11-15 Fig. 11-16 X-Y cable carrier 4-axis specifications 3-axis specifications Y-Z cable carrier 2-axis specifications 2-axis I/O specifications Fig. 11-17 Whipover cable user-wire specifications Page 11-18 Take care not to catch the wiring or air couplers when installing the covers. Fig. 11-18 5 Changing the Motor Installation Position 5-1 Changing the motor installation position Page 6 Installing the Cover 7 Adjusting the Timing Belt Tension 7-1 Adjusting the drive belt tension Page 7-2 Adjusting the speed reduction belt tension Page 8 Periodic inspections 8-1 Replacing the motor 8-2 Replacing the drive belt Page Page 8-3 Replacing the speed reduction belt 8-4 Replacing the slider 8-5 Replenishing the grease 8-5-1 Replenishing grease to the linear guide Page 8-5-2 Replenishing grease to the ball screw (ZF) Page 8-6-2 Adjusting the R-axis belt tension (ZRS) 8-6-3 Replacing the R-axis harmonic drive (ZRS) Page Page CHAPTER 12 HXYLX 1 Installation ............................................................................12-1 2 Protective Connections......................................................... 12-6 3 Installing the Tool..................................................................12-8 4 User Wiring and User Piping ..............................................12-15 5 Periodic Inspections ...........................................................12-21 1-1 Installation method 1 1-1-1 Installation bolt types 1-1-2 Installation bolt nominal length 1-1-3 Tightening torque 1-1-4 Installation methods Page Page 1-2 Installation method 3 (Gantry type support axis) Page Page 3-1 Arm type, gantry type 2-axis model Page 3-3 Pole type 2-axis model 3-4 ZH 3-5 ZL (Arm type, gantry type) 3-6 ZPH (Pole type 3rd-axis option) 3-7 RH (Arm type, gantry type 4th-axis option) Page Page 12-17 Chapter 12 HXYLX 4-axis specifications X-Y cable carrier Fig. 12-13 2-axis specifications X-Y cable carrier 3-axis specifications X-Y cable carrier 2-axis I/O specifications Y-axis cable carrier 3-axis specifications Y-Z cable carrier Page 12-19 Chapter 12 HXYLX (moving arm type/pole type 3-axis) Fig. 12-14 Whipover cable user-wire specifications Page Page Page Page 5-3 Adjusting the timing belt tension (X-axis) 5-4 Replacing the motor (X-axis) Page 5-5 Installing and removing the cover 5-5-1 Stroke cover 5-5-2 Belt cover 5-5-3 Motor cover OWNER'S MANUAL Cartesian robot