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

Models: 3-axis model 4-axis model

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Specs Install Symbol 417-IEC-5019 Connecting the Robot Cables Warranty Absolute Reset Maker Connector type Adjustment and Inspection Setting the Robot Replacement period

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CHAPTER 5

Specifications

1 Specifications		5-1
1-1	Robot cable	5-1
1-2	User I/O cable	5-5

Page 78 Page 80

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

Page 78 Page 80

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Contents

Page Page Contents Installation Setting the RobotAbsolute Reset Specifications Fxyx Installing the Tool Mxyx Protective Connections 10-7 Installation 10-1Installing the Tool 10-10 User Wiring and User Piping 10-18 Adjusting the Timing Belt Tension Installing the Tool 11-7Changing the Motor Installation Position Installing the Cover Protective Connections 12-6 Installation 12-1Installing the Tool 12-8 User Wiring and User Piping 12-15 Memo Chapter Memo Safety Information Observe the following cautions during automatic operation Essential Caution Items Using the Robot Safely Provide safety measures for end effector gripper, etc 10Z-axis movement when air supply is stopped 13Use caution when removing the Z-axis brake 12Use caution when disassembling and replacing the motor 18Do not remove, alter or stain the warning labels 20Be sure to make correct parameter settings Part19Protective connections Do not use the robot for tasks requiring motor thrust 21Be sure to make correct parameter settings Part Special Training for Industrial Robot Operation Robot Safety Functions Safety Measures for the System Check the following points before turning the controller on Trial Run Teaching Work Within the Safeguard Enclosure Check the following before starting automatic operation Adjustment and InspectionAutomatic Operation Repair and Modification Warranty description WarrantyWarranty Period CE Marking Product Outline Memo Robot Arm type with cable carrier Names of each partArm type with whipover cable Gantry type Moving arm type with whipover cable Moving arm type with cable carrier Pole-type with whipover cable Pole-type with cable carrier XZ-type with whipover cable XZ-type with cable carrier Robot Controller Robot Controller Memo Preparing the Robot Memo Specifications Robot Installation Environment Unpacking the Robot Example of combination with RCX40 controller Checking the Product Example of combination with Drcx controller Example of combination with Trcx controller Transporting the Robot Preparing the Robot Installation base Installation Fix the installation base at the specified position Installing the Robot Protective connections Symbol 417-IEC-5019 Connecting the Robot Cables Preparing the Robot Drcx Connecting with the Drcx controller Connection to Drcx controller Trcx Connecting with the Trcx controller 1 3-axis model Connection to Trcx controller 3-axis model 2 4-axis model Connection to Trcx controller 4-axis model RCX40, Qrcx Connecting to the Qrcx or RCX40 controller Connection to Qrcx controller Installing the Tool Cable carrier type User Wiring and User PipingWhipover cable carrier type For Drcx or Trcx controller Setting the RobotSetting the payload List of payload parameters Models requiring lower maximum speed setting Setting the maximum speedFor ERCX, SRCX, Drcx or Trcx controller List of acceleration parameters Setting the accelerationController Acceleration parameter For Qrcx controller Absolute ResetFor RCX40 controller For robot configured of only linear movement axis Setting the origin positionWhen robot contains a rotary axis Target rotary axis Preparing the Robot Example ZRS Periodic Inspections Memo Outline Precautions Three-month inspection Daily inspectionCheck point Check items ZRS, Hxylx Six-month inspection Three-year inspection Replenishing the grease Maintenance and inspection of harmonic drives Harmonic grease replacement period Memo Specifications Memo Robot cable SpecificationsAxis robot cable Axis robot cable For Trcx controller Wire MB+ ZBK Axis robot cable For RCX40 controller YBK ZBK RBK ORG User I/O cable Maker Connector typeRecommended crimping tool Memo Pxyx Memo Recommended torque 9N·m to 4.4N·m 30kgf·cm to 45kgf·cm Installation bolt nominal lengthTightening torque Hexagon socket head Cap screw M4 Strength 8.8T Installation methods Ground terminal Wiring method Ground wire Installing the Tool User Wiring and User Piping Cable carrier specifications Replenishing grease to the linear guide Periodic Inspections Replenishing grease to the ball screw Memo Fxyx Memo Recommended torque Installation bolt typesHexagon socket head cap screw M6 Strength 8.8T Recommended nominal length 35mm or more Installation methods Axis Axis wiring box Ground terminal Ground wire Arm type Arm type 2-axis model Fxyx Tightening torque ZS 3rd-axis optionExample For split clamp Recommended bolt Quantity Cable carrier type Example of wiring and piping methods using cable carrier Loosen Remove Same on opposite side Harness retainer Cable carrier specifications User I/O cable specifications Axis, Y-axis Recommended grease nipple A-M6X1 type JIS B1575 Axis Axis Axis ZS Sxyx Periodic inspection of the ZS/ZRS unit Sxyx Method a Method B Sxyx XZ type with cable carrier Wiring methods Arm type with cable carrier Opening the wiring box Ground terminal Ground wire Arm type with whipover cable, moving arm type, pole type XZ type 14 Arm type Arm type, pole type 2-axis model 15 Pole type 16 Moving arm type Moving arm type 2-axis model 17 ZF 18 RF Example For split clamp 19 ZS/ZRS 21 Tool installation ZFH 22 ZFL Harness retainer Sxyx State of X-axis wiring box when wiring is completed State with cover installed ZFH User I/O cable specifications Whipover cable type Examples of wiring and piping with whipover cable Sxyx Periodic inspections Axis ZF Recommended grease gun Recommended grease 26 ZS 27 Adjusting the belt tension Adjusting the R-axis belt tension ZRS Specified torque Replacing the R-axis harmonic drive ZRS Replacement period =8.4⋅108/n⋅60⋅h⋅D⋅N⋅θ years Replacement periodReplacement period Mxyx Memo Recommended nominal length Hexagon socket head cap screw M8 Strength 8.8T MXY X-axis MXY box position Adjustment of gantry type support rail Installation methods Gantry type support axis 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 11 ZF Arm type, moving arm type, gantry type 3rd-axis option 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 Installation bolt Installation method 2 XZ typeHexagon socket bolt M8 Strength 8.8T 10-5 Installation method 3 Gantry type support axis Protective Connections XZ type 10-9 10-10 10 Hxyx arm type, gantry type Arm type, gantry type 2-axis model 11 Hxyx moving arm type 12 Hxyx pole type Pole type 2-axis model 13 Tool installation ZH 14 ZL 15 ZPH ZPH Pole type 3rd-axis option 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 FXYBX/SXYBX Installing the Cover 11-21 Replacing the speed reduction belt 11-31 Fxybx Hexagon socket head cap screw Strength 8.8T Recommended torque 60 to 90kgf .cm Sxybx Cable carrier model Whipover cable type Wiring methods Cable carrier type 11-5 Wiring methods Whipover cable type Fxybx arm type Fxybx arm type 2-axis model 10 Sxybx arm type Sxybx arm type 2-axis model 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 19 Adjusting the speed reduction belt tension Adjusting the Timing Belt Tension Fxybx X-axis, Sxybx X, Y axes Adjusting the drive belt tensionFxybx Y-axis Measurement method Recommended tension meter U-505 Unitta Adjusting the speed reduction belt tension Recommended tension gauge U-505 Unitta Reference 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 ZF Axis, Y-axis Alvania No Showa Shell Daphne Eponex No Idemitsu Replenishing grease to the ball screw ZF 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 Arm type, gantry type, moving arm type 3rd-axis option Tool installation ZH ZL Arm type, gantry type 10 ZPH 11 RH RH Arm type, gantry type 4th-axis option 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 Installing the stroke cover Installing and removing the cover Stroke coverRemoving the stroke cover Removing the belt cover Installing the belt cover Motor cover Installing the motor coverRemoving the motor cover Cartesian robot

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