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Yamaha YK120X Manipulator, Basic specification, Specifications, 69.5mm, 99.5mm, 71mm, 111mm

Models: YK120X YK180X

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CHAPTER 7 Specifications

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Maximum value – Minimum value

CHAPTER 7 Specifications

1 Manipulator

1-1	Basic specification

	Robot model			YK120X		YK150X	YK120XC	YK150XC	YK180X		YK220X

		X-axis	Arm length	69.5mm		99.5mm	69.5mm	99.5mm	71mm		111mm

			Rotation angle	±113°		±113°	±113°	±113°	±120°		±120°
			Rotation angle	±113°		±113°	±113°	±113°	±120°		±120°
	Axis
	Axis		Arm length	50.5mm		50.5mm	50.5mm	50.5mm	109mm		109mm
	specifi-	Y-axis	Arm length	50.5mm		50.5mm	50.5mm	50.5mm	109mm		109mm

			Rotation angle	±139°		±139°	±139°	±139°	±140°		±140°
	cations		Rotation angle	±139°		±139°	±139°	±139°	±140°		±140°
		Z-axis	Stroke	30mm		30mm	30mm	30mm	100mm		100mm

		R-axis	Rotation angle	±360°		±360°	±360°	±360°	±360°		±360°

			X-axis	15W		15W	15W	15W	50W		50W

	Motor		Y-axis	13W		13W	13W	13W	30W		30W

			Z-axis	13W		13W	13W	13W	30W		30W
			Z-axis	13W		13W	13W	13W	30W		30W

			R-axis	13W		13W	13W	13W	30W		30W

			XY resultant	1.8m/s		2.1m/s	1.8m/s	2.1m/s	3.3m/s		3.4m/s
	Maximum speed
	Maximum speed		Z-axis	0.7m/s		0.7m/s	0.5m/s	0.5m/s	0.7m/s		0.7m/s

			R-axis	1700°/s		1700°/s	1700°/s	1700°/s	1700°/s		1700°/s

			XY-axes	±0.005mm		±0.005mm	±0.01mm	±0.01mm	±0.01mm		±0.01mm

	Repeatability *1		Z-axis	±0.01mm		±0.01mm	±0.01mm	±0.01mm	±0.01mm		±0.01mm

			R-axis	±0.006°		±0.006°	±0.006°	±0.006°	±0.01°		±0.01°

	Payload					0.5kg			1.0kg

	R-axis tolerable moment of inertia *2					0.002kgm2 (0.02kgfcms2)			0.0098kgm2 (0.1kgfcms2)

	User wiring						6 cables

	User tubing						φ3⋅2

	Travel limit					1.Soft limit 2.Mechanical limit (XYZ-axes)

	Robot cable						3.5m (option: 5m, 10m)

	Weight			3kg		3.1kg	3kg	3.1kg	7kg

	Degree of cleanliness				–		Class 10 (0.1∫ level during suction)			–
	Suction amount				–		25N /min			–

*1 At constant ambient temperature, measured when the robot arm was moved 7 times in the same direction.

Repeatable positioning accuracy = ±

*2 There are limits to acceleration coefficient settings.

7-1

Image 149

Yamaha YK120X, YK180X Manipulator, Basic specification, Specifications, 69.5mm, 99.5mm, 71mm, 111mm, 1700 /s, 25N /min

Contents

OWNERS MANUAL Page 1. Absolute Reset Before using the robot Be sure to read the following notes2. Setting the standard coordinates Error messages issued when robot & controller are connected RCX1423 Connection to the controller 2 Caution when turning off the robot controllerIM Company Introduction2. 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 Installation CHAPTER 1 Using the Robot SafelyCHAPTER 2 Functions CHAPTERCHAPTER 4 Adjustment Periodic Inspecition SpecificationsIncreasing the robot operating speed CHAPTERMEMO CHAPTER Using the Robot SafelyMEMO DANGER 1 Safety Information1 Observe the following cautions during automatic operation 2 Essential Caution ItemsFig. 1-1 Warning label 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 7 Provide safety measures for end effector gripper, etc 6 Use caution when releasing the Z-axis vertical axis brake13Use the following caution during inspection of controller 12Cautions for removing Z-axis brake or Z-axis motor17Do not remove, alter or stain the warning labels 15Use caution not to touch the controller rear panel cooling fan18Protective bonding 22Be sure to make correct parameter settings19Always connect the robot to the specified controller 21Do not use the robot in locations subject to strong vibrations24Do not apply excessive force to each section 27Caution when turning off the robot controller28Take the following precautions when transporting the robot 3 Special Training for Industrial Robot Opera- tion 1 Overload detection 4 Robot Safety Functions2 Overheat 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 CHAPTER 1 Using the Robot Safely 12 CE MarkingCHAPTER FunctionsMEMO Fig. 2-1 Manipulator movement 1 Robot ManipulatorConnector for user wiring No.1 to Fig. 2-2 YK120X, YK150XCHAPTER 2 Functions User tubing 2 φ3Connector for user wiring No.1 to Fig. 2-3 YK120XC, YK150XCBall screw Linear busing shaft 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 Precautions during use 4 Parameters for Clean Room Models YK120XC, YK150XCTo purchasers of this robot Parameter changesMEMO CHAPTER InstallationMEMO Installation environments 1 Robot Installation ConditionsCHAPTER 3 Installation The maximum reaction force Installation baseF Xmax 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 2-2 Checking the product Fig. 3-3 Product configurationsStandard Option2-3 Moving the robot Fig. 3-5 Installing the robot Installing the robot3 Protective Bonding Symbol 417-IEC-5019CHAPTER 3 Installation Fig. 3-6 Ground terminalYK120X, YK150X YK180X, YK220X4 Robot Cable Connection CHAPTER 3 Installation Fig. 3-7 Robot cable connectionsUser wiring 5 User Wiring and User TubingUser signal cable User tubingCHAPTER 3 Installation 3 Signal wiring connections in the machine harnessConnector pins 1 to 6 can be used Arm side and base side connector supplied SM Connector SMR-6V-BManufacture BYM-001T-0.6Connecting a suction hose YK120XC, YK150XC 7-1 R-axis tolerable moment of inertia and acceleration coeffi- cient 7 Attaching The End EffectorDepending 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 CHAPTER 3 Installation 7-1-1 Acceleration coefficient vs. moment of inertia YK120XW=0.1kg W=0.2kgW=0.5kg CHAPTER 3 InstallationW=0.4kg CHAPTER 3 Installation 7-1-2 Acceleration coefficient vs. moment of inertia YK150XW=0.1kg W=0.2kgW=0.5kg CHAPTER 3 InstallationW=0.4kg Acceleration coefficient vs. moment of inertia YK180X, YK220X 7-1-3CHAPTER 3 Installation 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 2 Moment of inertia of the chuck 4 Total weight3 Moment of inertia of workpiece 5 Total moment of inertiaFig. 3-23 Z-axis tip shape 7-4 Attaching the end effectorFXYmax FZmaxCHAPTER 3 Installation Fig. 3-24 Maximum load applied to end effector attachmentkgfcm 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 CHAPTER AdjustmentMEMO 1 Overview 2 Safety Precautions3 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 CHAPTER 4 Adjustment 3-1-1-3 Stroke end method Z-axisside 3-1-2 YK180X series YK180X, YK220X 3-1-2-1 Sensor method R-axis3-1-2-2 Sensor method X-axis, Y-axis Fig. 4-5 Default origin positionCHAPTER 4 Adjustment 3-1-2-3 Stroke end method Z-axisNever enter within the robot movement range during absolute reset Machine reference value = B/A ⋅ 100% 3-2 Machine referenceMachine reference 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 YK120X series YK120X, YK150X 3-4-1-1 Adjusting the R-axis machine reference 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 X-axis arm X-axis fixed mechanical stopper B A Bolt Fig. 4-9 Adjustment of X-axis machine reference3-4-1-4 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 The point data must be reset after adjusting the machine reference 3-4-1-5 Adjusting the Z-axis machine referenceWhen machine reference5% CHAPTER 4 Adjustment Section3-4-2 YK180X series YK180X, YK220X 3-4-2-1 Adjusting the R-axis machine reference YK180X, YK220X12 Perform the absolute reset from outside the safeguard enclosure 3-4-2-2 Adjusting the X-axis machine reference B A Bolt X-axis dog X-axis Sensor Fig. 4-13 Adjustment of X-axis machine reference3-4-2-3 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 Lower end urethane damper Ball screw Bolt Z-axis motor Spline nut CHAPTER 4 AdjustmentZ-axis upper-end mechanical stopper Bolt Upper end urethane damper1 Setting the X-axis and Y-axis soft limits 4 Setting the 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 A B X Y Z R 6 Affixing Stickers for Movement Directions and Axis Names+ Y - + R Fig. 4-17 Positions for affixing the stickersCHAPTER 4 Adjustment 7 Removing the Robot Covers YK120X, YK150X CHAPTER 4 AdjustmentYK120XC, YK150XC same on opposite sideYK180X, YK220X CHAPTER 4 AdjustmentY-axis arm upper cover qM3⋅6 ⋅4 wM3⋅6 ⋅4 eM3⋅6 ⋅4 Base front coverMEMO CHAPTER Periodic Inspecition5-1 Replacement period MEMO Periodic inspection includes Daily inspection 6-month inspection 1 Overview2 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 Take the following precautions when performing 6-month inspection 4 Six-Month Inspection1 Inspection to be performed with the controller turned off ProcedureCHAPTER 5 Periodic Inspection 1 Bolt tightening torqueCheck for dust on the fan cover. Remove and clean if necessary 3 Adjustment and parts replacement2 Inspection to be performed with the controller turned on 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 CHAPTER Increasing the robot operating speedMEMO 1 Increasing speed by arch motion 1 Increasing the robot operating speedq Gate 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 1 = 10000 ... X-axis OUT effective position pulses 4 Increasing the speed by the OUT effective position parameterOUTPOS 2 = 10000 ... Y-axis OUT effective position pulses OUTPOS 3 = 10000 ... Z-axis OUT effective position pulsesMEMO CHAPTER SpecificationsMEMO 1 Manipulator Basic specificationCHAPTER 7 Specifications 69.5mmCHAPTER 7 Specifications 1-2 External view and dimensionsFig. 7-1 YK120X 139 113 CHAPTER 7 Specifications139 ± R120User tool installation range Fig. 7-2 YK150XCHAPTER 7 Specifications 13 9 ± CHAPTER 7 SpecificationsCHAPTER 7 Specifications Fig. 7-3 YK120XCCHAPTER 7 Specifications CHAPTER 7 Specifications Fig. 7-4 YK150XC139 113 CHAPTER 7 Specifications7-10 Fig. 7-5 YK180XCHAPTER 7 Specifications R75.7 CHAPTER 7 SpecificationsCHAPTER 7 Specifications Fig. 7-6 YK220X7-12 Viewed from direction CR109 CHAPTER 7 SpecificationsCHAPTER 7 Specifications 1-3 Robot inner wiring diagramY-axis motor Z-axis brakeRobot cable wiring table 1-4 Wiring tableCHAPTER 7 Specifications 7-15Yellow Green Machine harness wiring tableCHAPTER 7 Specifications Origin sensor wiring table Motor wiring tableBrake wiring table CHAPTER 7 SpecificationsBlue CHAPTER 7 SpecificationsConnector MEMO SCARA Robots OWNERS MANUAL