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Yamaha YK180X, YK120X owner manual Owners Manual, SCARA Robots

Models: YK120X YK180X

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OWNER'S MANUAL

OWNER'S MANUAL

SCARA Robots

Aug. 2006

Ver. 1.33

This manual is based on Ver. 1.33 of Japanese manual.

© YAMAHA MOTOR CO., LTD. IM Company

All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions. If you find any part unclear in this manual, please contact YAMAHA or YAMAHA sales representatives.

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Yamaha YK180X, YK120X owner manual Owners Manual, SCARA Robots

Contents

OWNERS MANUAL Page Before using the robot Be sure to read the following notes 1. Absolute Reset2. Setting the standard coordinates Error messages issued when robot & controller are connected RCX1422 Caution when turning off the robot controller 3 Connection to the controllerIntroduction IM CompanyClean Room Models YK120XC, YK150XC 1. Robot parameter has been changed. See section 4 in chapter2. Suction couplers have been added. See section 6 in chapter CHAPTER 1 Using the Robot Safely InstallationCHAPTER 2 Functions CHAPTERCHAPTER 4 Adjustment Specifications Periodic InspecitionIncreasing the robot operating speed CHAPTERMEMO Using the Robot Safely CHAPTERMEMO 1 Safety Information DANGER2 Essential Caution Items 1 Observe the following cautions during automatic operationFig. 1-1 Warning label Fig. 1-2 Warning label3 Follow the instructions on warning labels and in this manual Fig. 1-3 Warning labelRead owners manual and all warning labels before operation 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 labels22Be sure to make correct parameter settings 18Protective bonding19Always connect the robot to the specified controller 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 4 Robot Safety Functions 1 Overload detection2 Overheat detection 3 Soft limits5 Safety Measures for the System 6 Trial Operation 7 Work Within the Safeguard Enclosure 9 Adjustment and Inspection 8 Automatic Operation10 Repair and Modification 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 movementFig. 2-2 YK120X, YK150X Connector for user wiring No.1 toCHAPTER 2 Functions User tubing 2 φ3Fig. 2-3 YK120XC, YK150XC Connector for user wiring No.1 toBall screw Linear busing shaft CHAPTER 2 FunctionsFig. 2-4 YK180X, YK220X CHAPTER 2 FunctionsViewed from direction A 2 Robot Controller Fig. 2-5 Robot controller for YK120X series YK120X, YK150XRCX142 3 Robot initialization number list 4 Parameters for Clean Room Models YK120XC, YK150XC Precautions during useTo purchasers of this robot Parameter changesMEMO Installation CHAPTERMEMO 1 Robot Installation Conditions Installation environmentsCHAPTER 3 Installation Installation base The maximum reaction forceF 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 2 Installation 2-1 UnpackingFig. 3-2 Packed state Fig. 3-3 Product configurations 2-2 Checking the productStandard Option2-3 Moving the robot Installing the robot Fig. 3-5 Installing the robotSymbol 417-IEC-5019 3 Protective BondingFig. 3-6 Ground terminal CHAPTER 3 InstallationYK120X, YK150X YK180X, YK220X4 Robot Cable Connection Fig. 3-7 Robot cable connections CHAPTER 3 Installation5 User Wiring and User Tubing User wiringUser signal cable User tubing3 Signal wiring connections in the machine harness Connector pins 1 to 6 can be usedCHAPTER 3 Installation SM Connector SMR-6V-B Arm side and base side connector suppliedManufacture 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 7-1-1 Acceleration coefficient vs. moment of inertia YK120X CHAPTER 3 InstallationW=0.1kg W=0.2kgCHAPTER 3 Installation W=0.4kgW=0.5kg 7-1-2 Acceleration coefficient vs. moment of inertia YK150X CHAPTER 3 InstallationW=0.1kg W=0.2kgCHAPTER 3 Installation W=0.4kgW=0.5kg 7-1-3 Acceleration coefficient vs. moment of inertia YK180X, YK220XCHAPTER 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 4 Total weight 2 Moment of inertia of the chuck3 Moment of inertia of workpiece 5 Total moment of inertia7-4 Attaching the end effector Fig. 3-23 Z-axis tip shapeFXYmax FZmaxFig. 3-24 Maximum load applied to end effector attachment CHAPTER 3 Installationkgfcm Hole diameterMake sure that excessive force is not applied to the joints 7-5 Gripping force of end effector Table 3-3 Maximum acceleration during robot operationFig. 3-26 Maximum acceleration on end effector attachment 1 X and Y axes MEMO Adjustment CHAPTERMEMO 2 Safety Precautions 1 Overview3 Adjusting the origin 3-1 Absolute reset method 3-1-1 YK120X series YK120X, YK150X 3-1-1-1 Sensor method R-axisFig. 4-1 View of R-axis from below 3-1-1-2 Stroke end method X-axis, Y-axis Fig. 4-2 Default origin position YK120X, YK150X, YK120XC, YK150XC CHAPTER 4 Adjustment139 ± 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-axis3-1-2-3 Stroke end method Z-axis Never enter within the robot movement range during absolute resetCHAPTER 4 Adjustment 3-2 Machine reference Machine reference value = B/A ⋅ 100%Machine 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 3-4-1-1 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 Fig. 4-10 Adjustment of Y-axis machine reference Y-axis moveable mechanical stopper BA X-axis armBolt On back side of 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 CHAPTER 4 Adjustment Lower end urethane damper Ball screw Bolt Z-axis motor Spline nutZ-axis upper-end mechanical stopper 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 RFig. 4-17 Positions for affixing the stickers CHAPTER 4 Adjustment+ Y - + R 7 Removing the Robot Covers CHAPTER 4 Adjustment YK120X, YK150XYK120XC, YK150XC same on opposite sideCHAPTER 4 Adjustment YK180X, YK220XY-axis arm upper cover qM3⋅6 ⋅4 wM3⋅6 ⋅4 eM3⋅6 ⋅4 Base front coverMEMO Periodic Inspecition 5-1 Replacement periodCHAPTER MEMO 1 Overview Periodic inspection includes Daily inspection 6-month inspection2 Precautions 3 Daily Inspection 1 Inspection to be performed with the controller turned off2 Inspection to be performed with the controller turned on 3 Adjustment and parts replacement 4 Six-Month Inspection Take the following precautions when performing 6-month inspectionProcedure 1 Inspection to be performed with the controller turned offCHAPTER 5 Periodic Inspection 1 Bolt tightening torque3 Adjustment and parts replacement Check for dust on the fan cover. Remove and clean if necessary2 Inspection to be performed with the controller turned on Check if the fan rotates normally5-1 Replacement period 5 Replacing the Harmonic Drive GreaseTable 5-1 Harmonic drive speed reduction ratio Page Recommended grease Use the following harmonic drive greaseSK-2 made by Harmonic Drive Systems Inc Increasing the robot operating speed CHAPTERMEMO 1 Increasing the robot operating speed 1 Increasing speed by arch motionq 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 4 Increasing the speed by the OUT effective position parameter OUTPOS 1 = 10000 ... X-axis OUT effective position pulsesOUTPOS 2 = 10000 ... Y-axis OUT effective position pulses OUTPOS 3 = 10000 ... Z-axis OUT effective position pulsesMEMO Specifications CHAPTERMEMO Basic specification 1 ManipulatorCHAPTER 7 Specifications 69.5mm1-2 External view and dimensions Fig. 7-1 YK120XCHAPTER 7 Specifications CHAPTER 7 Specifications 139 113139 ± R120Fig. 7-2 YK150X CHAPTER 7 SpecificationsUser tool installation range CHAPTER 7 Specifications 13 9 ±Fig. 7-3 YK120XC CHAPTER 7 SpecificationsCHAPTER 7 Specifications Fig. 7-4 YK150XC CHAPTER 7 SpecificationsCHAPTER 7 Specifications 139 113Fig. 7-5 YK180X CHAPTER 7 Specifications7-10 CHAPTER 7 Specifications R75.7Fig. 7-6 YK220X CHAPTER 7 Specifications7-12 Viewed from direction CCHAPTER 7 Specifications R1091-3 Robot inner wiring diagram CHAPTER 7 SpecificationsY-axis motor Z-axis brake1-4 Wiring table Robot cable wiring tableCHAPTER 7 Specifications 7-15Machine harness wiring table CHAPTER 7 SpecificationsYellow Green Motor wiring table Origin sensor wiring tableBrake wiring table CHAPTER 7 SpecificationsCHAPTER 7 Specifications ConnectorBlue MEMO OWNERS MANUAL SCARA Robots