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

Models: 3-axis model 4-axis model

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Specifications 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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MEMO

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

Page 97 Page 99

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Contents

Page Page Contents Specifications Setting the RobotAbsolute Reset Installation Installing the Tool Fxyx Mxyx User Wiring and User Piping 10-18 Installation 10-1Installing the Tool 10-10 Protective Connections 10-7 Installing the Cover Installing the Tool 11-7Changing the Motor Installation Position Adjusting the Timing Belt Tension User Wiring and User Piping 12-15 Installation 12-1Installing 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 Part18Do 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 InspectionAutomatic Operation Check the following before starting automatic operation Warranty Period WarrantyWarranty description CE Marking Product Outline Memo Robot Arm type with whipover cable Names of each partArm 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 PipingCable carrier type List of payload parameters Setting the RobotSetting the payload For Drcx or Trcx controller For ERCX, SRCX, Drcx or Trcx controller Setting the maximum speedModels requiring lower maximum speed setting Controller Acceleration parameter Setting the accelerationList of acceleration parameters For RCX40 controller Absolute ResetFor Qrcx controller When robot contains a rotary axis Target rotary axis Setting the origin positionFor robot configured of only linear movement axis Preparing the Robot Example ZRS Periodic Inspections Memo Precautions Outline Check point Check items Daily inspectionThree-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 SpecificationsRobot 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 typeUser I/O cable Memo Pxyx Memo Hexagon socket head Cap screw M4 Strength 8.8T Installation bolt nominal lengthTightening 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 typesHexagon 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 optionExample 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 periodReplacement 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 typeInstallation 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 tensionFxybx 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 coverInstalling the stroke cover Installing the belt cover Removing the belt cover Removing the motor cover Installing the motor coverMotor cover Cartesian robot

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