Main
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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
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CHAPTER 1
Using the Robot Safely
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1 Safety Information
2 Essential Caution Items
DANGER
Moving parts can pinch or crush. Keep hands away from robot arms.
WARNING
WARNING
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(21)Be sure to make correct parameter settings - Part 2
(22) Do not use the robot for tasks requiring motor thrust.
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4 Robot Safety Functions
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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
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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
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CHAPTER 3
Preparing the Robot
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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
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5 Installation
5-1 Installation base
5-2 Installing the Robot
6 Protective connections
7 Connecting the Robot Cables
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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
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CHAPTER 4
Periodic Inspections
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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
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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
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CHAPTER 6
PXYX
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2-3 Wiring method
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CHAPTER 7
FXYX
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2-3 Wiring method
3-1 Arm type 2-axis model
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3-2 ZS (3rd-axis option)
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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
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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
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2-3-1 Arm type with cable carrier
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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
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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
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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
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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.
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X-axis, Y-axis
Z-axis (ZF)
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5-3-2 Adjusting the R-axis belt tension (ZRS)
5-3-3 Replacing the R-axis harmonic drive (ZRS)
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CHAPTER 9
MXYX
1 Installation ..............................................................................9-1
2 Protective Connections........................................................... 9-5
3 Installing the Tool....................................................................9-7
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1-5 Installation methods (Gantry type support axis)
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3-1 Arm type, pole type 2-axis model
9-8
Fig. 9-8 Arm type, gantry type
Fig. 9-9 MXYX pole type
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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
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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
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9-18
Fig. 9-16 Whipover cable user-wire specifications
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CHAPTER 10
HXYX
1 Installation ............................................................................10-1
2 Protective Connections......................................................... 10-7
3 Installing the Tool................................................................10-10
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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
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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)
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3-1 Arm type, gantry type 2-axis model
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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)
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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
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10-22
Chapter 10 HXYX
Fig. 10-18 Whipover cable user-wire specifications
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CHAPTER 11
FXYBX/SXYBX
7 Adjusting the Timing Belt Tension.......................................11-22
8 Periodic inspections............................................................ 11-27
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2-3 Wiring methods (Cable carrier type)
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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
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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
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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
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6 Installing the Cover
7 Adjusting the Timing Belt Tension
7-1 Adjusting the drive belt tension
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7-2 Adjusting the speed reduction belt tension
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8 Periodic inspections
8-1 Replacing the motor
8-2 Replacing the drive belt
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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
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8-5-2 Replenishing grease to the ball screw (ZF)
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8-6-2 Adjusting the R-axis belt tension (ZRS)
8-6-3 Replacing the R-axis harmonic drive (ZRS)
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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
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1-2 Installation method 3 (Gantry type support axis)
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3-1 Arm type, gantry type 2-axis model
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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)
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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
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12-19
Chapter 12 HXYLX
(moving arm type/pole type 3-axis)
Fig. 12-14 Whipover cable user-wire specifications
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5-3 Adjusting the timing belt tension (X-axis)
5-4 Replacing the motor (X-axis)
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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
