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Yamaha 3-axis model, 4-axis model 6 Three-year inspection

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4-4

Chapter 4 Periodic Inspections

6 Three-year inspection

Check the following points once every three years, and adjust or replenish grease

as necessary.

If the robot is used frequently, inspect the robot at an earlier stage.

Check items

Disassemble and check the harmonic drive.

Replace the grease.*

Check the ball screws, nuts and linear guide for

looseness caused by wear.

Check point

R-axis speed

reduction gear

X-axis, Y-axis and

Z-axis drive section

(Ball screw nut

section, motor section

and linear guide)

*To replace harmonic drive

rease, see "8 Maintenance and inspection".

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