Manuals / Yamaha / Computer Equipment / Robotics

Yamaha YK180X Inspection to be performed with the controller turned off, Periodic Inspection

Models: YK120X YK180X

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Page 134

Checkpoint

CHAPTER 5 Periodic Inspection

(1)Inspection to be performed with the controller turned off

1)Turn off the controller.

2)Place a sign showing that the robot is being inspected, to keep others from operating the controller switch.

3)Enter the safeguard enclosure and check the following points.

	Checkpoint	Procedure
	Manipulator bolts and screws (Only for
	major bolts and screws exposed	Check for looseness and tighten if necessary.*1
	externally)

	Detection areas of the origin sensors of	Clean if it is dirty.
	the R-axis	Clean if it is dirty.
	the R-axis

	Controller	Check for looseness at each terminal and connector on the
	Controller	panel. (See 4 in Chapter 3.)
		panel. (See 4 in Chapter 3.)

	Grease lubrication of Z-axis ball screw,	After removing the old grease with a cloth or paper towel,
	spline, linear shaft	apply new grease to the Z-axis linear bushing shaft, spline
		shaft, ball screw shaft and ball screw nut.
		Recommended grease:
		YK120K, YK150X, YK180X, YK220X: Alvania No.2
		(Showa Shell Sekiyu K.K.)
		YK120XC, YK150XC: LG2 (NSK)
		Always use the LG2 grease for the YK120XC and YX150XC
		clean room models.

	Z-axis ball spline, ball screw	Check for backlash. (If any abnormality is found, contact
	Z-axis ball spline, ball screw	YAMAHA dealer.)
		YAMAHA dealer.)

*1 Bolt tightening torque

Bolt size	Tightening torque (kgfcm)	Tightening torque (Nm)

M3 button head bolt	14	1.4

M3 set screw	7	0.69

M4 set screw	20	2.0

M2 bolt installation hole	4.4	0.43

M2.5 bolt installation hole	12	1.2

M3 bolt installation hole	20	2.0

M4 bolt installation hole	46	4.5

M5 bolt installation hole	92	9.0

M6 bolt installation hole	156	15.3

M8 bolt installation hole	380	37

M10 bolt installation hole	720	71

M12 bolt installation hole	1310	128

M14 bolt installation hole	2090	205

5-6

Image 134

Yamaha YK180X Inspection to be performed with the controller turned off, Periodic Inspection, Bolt tightening torque

Contents

OWNERS MANUAL Page 2. Setting the standard coordinates Before using the robot Be sure to read the following notes1. Absolute Reset Error messages issued when robot & controller are connected RCX1422 Caution when turning off the robot controller 3 Connection to the controllerIntroduction IM Company2. Suction couplers have been added. See section 6 in chapter Clean Room Models YK120XC, YK150XC1. Robot parameter has been changed. See section 4 in chapter CHAPTER 2 Functions CHAPTER 1 Using the Robot SafelyInstallation CHAPTERCHAPTER 4 Adjustment Increasing the robot operating speed SpecificationsPeriodic Inspecition CHAPTERMEMO Using the Robot Safely CHAPTERMEMO 1 Safety Information DANGERFig. 1-1 Warning label 2 Essential Caution Items1 Observe the following cautions during automatic operation Fig. 1-2 Warning labelRead owners manual and all warning labels before operation 3 Follow the instructions on warning labels and in this manualFig. 1-3 Warning label 6 Use caution when releasing the Z-axis vertical axis brake 7 Provide safety measures for end effector gripper, etc12Cautions for removing Z-axis brake or Z-axis motor 13Use the following caution during inspection of controller15Use caution not to touch the controller rear panel cooling fan 17Do not remove, alter or stain the warning labels19Always connect the robot to the specified controller 22Be sure to make correct parameter settings18Protective bonding 21Do not use the robot in locations subject to strong vibrations27Caution when turning off the robot controller 24Do not apply excessive force to each section28Take the following precautions when transporting the robot 3 Special Training for Industrial Robot Opera- tion 2 Overheat detection 4 Robot Safety Functions1 Overload detection 3 Soft limits5 Safety Measures for the System 6 Trial Operation 7 Work Within the Safeguard Enclosure 10 Repair and Modification 9 Adjustment and Inspection8 Automatic Operation 11 Warranty CHAPTER 1 Using the Robot Safely 12 CE Marking CHAPTER 1 Using the Robot SafelyFunctions CHAPTERMEMO 1 Robot Manipulator Fig. 2-1 Manipulator movementCHAPTER 2 Functions Fig. 2-2 YK120X, YK150XConnector for user wiring No.1 to User tubing 2 φ3Ball screw Linear busing shaft Fig. 2-3 YK120XC, YK150XCConnector for user wiring No.1 to CHAPTER 2 FunctionsViewed from direction A Fig. 2-4 YK180X, YK220XCHAPTER 2 Functions RCX142 2 Robot ControllerFig. 2-5 Robot controller for YK120X series YK120X, YK150X 3 Robot initialization number list To purchasers of this robot 4 Parameters for Clean Room Models YK120XC, YK150XCPrecautions during use Parameter changesMEMO Installation CHAPTERMEMO 1 Robot Installation Conditions Installation environmentsCHAPTER 3 Installation F Xmax Installation baseThe maximum reaction force M XmaxDo not place the robot on a moving installation base. Excessive loads will be applied to the robot arm by movement of the installation base, resulting in dam- age to the robot Fig. 3-2 Packed state 2 Installation2-1 Unpacking Standard Fig. 3-3 Product configurations2-2 Checking the product Option2-3 Moving the robot Installing the robot Fig. 3-5 Installing the robotSymbol 417-IEC-5019 3 Protective BondingYK120X, YK150X Fig. 3-6 Ground terminalCHAPTER 3 Installation YK180X, YK220X4 Robot Cable Connection Fig. 3-7 Robot cable connections CHAPTER 3 InstallationUser signal cable 5 User Wiring and User TubingUser wiring User tubingCHAPTER 3 Installation 3 Signal wiring connections in the machine harnessConnector pins 1 to 6 can be used Manufacture SM Connector SMR-6V-BArm side and base side connector supplied BYM-001T-0.6Connecting a suction hose YK120XC, YK150XC 7 Attaching The End Effector 7-1 R-axis tolerable moment of inertia and acceleration coeffi- cientDepending on the Z-axis position, vibration may occur when the X, Y or R-axis moves. If this happens, reduce the X, Y or R-axis acceleration to an appropri- ate level W=0.1kg 7-1-1 Acceleration coefficient vs. moment of inertia YK120XCHAPTER 3 Installation W=0.2kgW=0.5kg CHAPTER 3 InstallationW=0.4kg W=0.1kg 7-1-2 Acceleration coefficient vs. moment of inertia YK150XCHAPTER 3 Installation W=0.2kgW=0.5kg CHAPTER 3 InstallationW=0.4kg CHAPTER 3 Installation 7-1-3Acceleration coefficient vs. moment of inertia YK180X, YK220X W=0.1 to 0.4kg7-2 Equation for moment of inertia calculation 3 Moment of inertia for cylinder part 5 When the objects center line is offset from the rotation center 7-3 Example of moment of inertia calculation 3 Moment of inertia of workpiece 4 Total weight2 Moment of inertia of the chuck 5 Total moment of inertiaFXYmax 7-4 Attaching the end effectorFig. 3-23 Z-axis tip shape FZmaxkgfcm Fig. 3-24 Maximum load applied to end effector attachmentCHAPTER 3 Installation Hole diameterMake sure that excessive force is not applied to the joints Fig. 3-26 Maximum acceleration on end effector attachment 7-5 Gripping force of end effectorTable 3-3 Maximum acceleration during robot operation 1 X and Y axes MEMO Adjustment CHAPTERMEMO 2 Safety Precautions 1 Overview3 Adjusting the origin Fig. 4-1 View of R-axis from below 3-1 Absolute reset method 3-1-1 YK120X series YK120X, YK150X3-1-1-1 Sensor method R-axis 3-1-1-2 Stroke end method X-axis, Y-axis 139 ± Fig. 4-2 Default origin position YK120X, YK150X, YK120XC, YK150XCCHAPTER 4 Adjustment 3-1-1-3 Stroke end method Z-axis CHAPTER 4 Adjustment3-1-2 YK180X series YK180X, YK220X 3-1-2-1 Sensor method R-axis sideFig. 4-5 Default origin position 3-1-2-2 Sensor method X-axis, Y-axisCHAPTER 4 Adjustment 3-1-2-3 Stroke end method Z-axisNever enter within the robot movement range during absolute reset Machine reference 3-2 Machine referenceMachine reference value = B/A ⋅ 100% Machine reference display on MPB screen3-3 Absolute reset procedures 3-3-1 Sensor method R-axis 7 Since the message Reset ABS encoder OK? is displayed, check that there are not any obstacles in the robot movement range, and press the F4 key YES 3-3-2 Stroke end method X and Y axes of YK120X, YK150X 8 After the absolute reset is completed, check that the X-axis and Y-axis ma- chine reference value displayed on the MPB is within the absolute reset tol- erance range 40 to 3-3-3 Stroke end method Z-axis 3-3-4 Sensor method X and Y axes of YK180X, YK220X CHAPTER 4 Adjustment 3-4 Adjusting the machine reference 3-4-1-1 Adjusting the R-axis machine reference YK120X, YK150X 3-4-1 YK120X series YK120X, YK150XFig. 4-7 Adjustment of R-axis machine reference View from below 3-4-1-2 Adjusting the R-axis machine reference YK120XC, YK150XC Fig. 4-8 Adjustment of R-axis machine reference 3-4-1-3 Adjusting the X-axis machine reference Fig. 4-9 Adjustment of X-axis machine reference X-axis arm X-axis fixed mechanical stopper B A Bolt3-4-1-4 Adjusting the Y-axis machine reference Bolt On back side of arm Fig. 4-10 Adjustment of Y-axis machine referenceY-axis moveable mechanical stopper BA X-axis arm 3-4-1-5 Adjusting the Z-axis machine reference The point data must be reset after adjusting the machine referenceWhen machine reference5% Section CHAPTER 4 Adjustment3-4-2-1 Adjusting the R-axis machine reference YK180X, YK220X 3-4-2 YK180X series YK180X, YK220X12 Perform the absolute reset from outside the safeguard enclosure 3-4-2-2 Adjusting the X-axis machine reference Fig. 4-13 Adjustment of X-axis machine reference B A Bolt X-axis dog X-axis Sensor3-4-2-3 Adjusting the Y-axis machine reference Fig. 4-14 Adjustment of Y-axis machine reference 3-4-2-4 Adjusting the Z-axis machine reference Prop up the Z-axis with a support stand before beginning the work Z-axis upper-end mechanical stopper CHAPTER 4 AdjustmentLower end urethane damper Ball screw Bolt Z-axis motor Spline nut Bolt Upper end urethane damper4 Setting the Soft Limits 1 Setting the X-axis and Y-axis soft limits7 Set the soft limits to within the figure for the X-axis andY-axis encoder pulses that you noted above in step 5. This software limit setting must be made from outside the safeguard enclosure Make this setting from outside the safeguard enclosure 5 Setting the Standard Coordinates 6 Affixing Stickers for Movement Directions and Axis Names A B X Y Z R+ Y - + R Fig. 4-17 Positions for affixing the stickersCHAPTER 4 Adjustment 7 Removing the Robot Covers YK120XC, YK150XC CHAPTER 4 AdjustmentYK120X, YK150X same on opposite sideY-axis arm upper cover qM3⋅6 ⋅4 wM3⋅6 ⋅4 eM3⋅6 ⋅4 CHAPTER 4 AdjustmentYK180X, YK220X Base front coverMEMO CHAPTER Periodic Inspecition5-1 Replacement period MEMO 1 Overview Periodic inspection includes Daily inspection 6-month inspection2 Precautions 2 Inspection to be performed with the controller turned on 3 Daily Inspection1 Inspection to be performed with the controller turned off 3 Adjustment and parts replacement 4 Six-Month Inspection Take the following precautions when performing 6-month inspectionCHAPTER 5 Periodic Inspection Procedure1 Inspection to be performed with the controller turned off 1 Bolt tightening torque2 Inspection to be performed with the controller turned on 3 Adjustment and parts replacementCheck for dust on the fan cover. Remove and clean if necessary Check if the fan rotates normallyTable 5-1 Harmonic drive speed reduction ratio 5-1 Replacement period5 Replacing the Harmonic Drive Grease Page SK-2 made by Harmonic Drive Systems Inc Recommended greaseUse the following harmonic drive grease Increasing the robot operating speed CHAPTERMEMO q Gate motion 1 Increasing the robot operating speed1 Increasing speed by arch motion Axis parameters - Arch positione Arch motion Making the arch position value larger Robot parameters - Axis tip weight in Chapter 4 Programming manual = 80 ....... Returns the tolerance to the default value OUTPOS 2 = 10000 ... Y-axis OUT effective position pulses 4 Increasing the speed by the OUT effective position parameterOUTPOS 1 = 10000 ... X-axis OUT effective position pulses OUTPOS 3 = 10000 ... Z-axis OUT effective position pulsesMEMO Specifications CHAPTERMEMO CHAPTER 7 Specifications Basic specification1 Manipulator 69.5mmCHAPTER 7 Specifications 1-2 External view and dimensionsFig. 7-1 YK120X 139 ± CHAPTER 7 Specifications139 113 R120User tool installation range Fig. 7-2 YK150XCHAPTER 7 Specifications CHAPTER 7 Specifications 13 9 ±Fig. 7-3 YK120XC CHAPTER 7 SpecificationsCHAPTER 7 Specifications Fig. 7-4 YK150XC CHAPTER 7 SpecificationsCHAPTER 7 Specifications 139 1137-10 Fig. 7-5 YK180XCHAPTER 7 Specifications CHAPTER 7 Specifications R75.77-12 Fig. 7-6 YK220XCHAPTER 7 Specifications Viewed from direction CCHAPTER 7 Specifications R109Y-axis motor 1-3 Robot inner wiring diagramCHAPTER 7 Specifications Z-axis brakeCHAPTER 7 Specifications 1-4 Wiring tableRobot cable wiring table 7-15Yellow Green Machine harness wiring tableCHAPTER 7 Specifications Brake wiring table Motor wiring tableOrigin sensor wiring table CHAPTER 7 SpecificationsBlue CHAPTER 7 SpecificationsConnector MEMO OWNERS MANUAL SCARA Robots