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Yamaha YK180X owner manual 2 YK120X, YK150X, Functions, User tubing 2 φ3, User tubing 1 φ3

Models: YK120X YK180X

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User tubing 2 (φ3)

CHAPTER 2 Functions

Connector for user wiring (No.1 to 6)

Linear busing shaft

	Ball screw
		Machine harness	Warning label 2
Warning label 1		Machine harness
Z-axis motor	User tubing 2 (φ3)	User air tube
Z-axis motor		User air tube
	User tubing 1 (φ3)
R-axis motor	Viewed from direction A	User signal cable
	Viewed from direction A	User signal cable
	Y-axis motor	X-axis mechanical stopper
Y-axis arm	Y-axis
Y-axis arm	mechanical	User tubing 2 (φ3)
	stopper	User tubing 2 (φ3)
	stopper	User tubing 1 (φ3)
	X-axis arm	User tubing 1 (φ3)
	X-axis arm
		X-axis speed
		reduction gear
R-axis speed	Y-axis speed
R-axis speed	reduction gear
reduction gear	reduction gear
reduction gear
	Z-axis brake
Z-axis spline
End effector attachment		M3 ground terminal	Robot cable
		M3 ground terminal

	X-axis motor	Connector for user wiring (No.1 to 6)	Serial label
			Serial label

	Warning label 3

User tap (* four positions)

Fig. 2-2 YK120X, YK150X

2-2

Image 34

Yamaha YK180X 2 YK120X, YK150X, Functions, User tubing 2 φ3, User tubing 1 φ3, Connector for user wiring No.1 to

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 Company1. Robot parameter has been changed. See section 4 in chapter Clean Room Models YK120XC, YK150XC2. Suction couplers have been added. See section 6 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 labelFig. 1-3 Warning label 3 Follow the instructions on warning labels and in this manualRead 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 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 8 Automatic Operation 9 Adjustment and Inspection10 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 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 FunctionsCHAPTER 2 Functions Fig. 2-4 YK180X, YK220XViewed from direction A Fig. 2-5 Robot controller for YK120X series YK120X, YK150X 2 Robot ControllerRCX142 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 2-1 Unpacking 2 InstallationFig. 3-2 Packed state 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 tubingConnector pins 1 to 6 can be used 3 Signal wiring connections in the machine harnessCHAPTER 3 Installation 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=0.4kg CHAPTER 3 InstallationW=0.5kg W=0.1kg 7-1-2 Acceleration coefficient vs. moment of inertia YK150XCHAPTER 3 Installation W=0.2kgW=0.4kg CHAPTER 3 InstallationW=0.5kg 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 Table 3-3 Maximum acceleration during robot operation 7-5 Gripping force of end effectorFig. 3-26 Maximum acceleration on end effector attachment 1 X and Y axes MEMO Adjustment CHAPTERMEMO 2 Safety Precautions 1 Overview3 Adjusting the origin 3-1-1-1 Sensor method R-axis 3-1 Absolute reset method 3-1-1 YK120X series YK120X, YK150XFig. 4-1 View of R-axis from below 3-1-1-2 Stroke end method X-axis, Y-axis CHAPTER 4 Adjustment Fig. 4-2 Default origin position YK120X, YK150X, YK120XC, YK150XC139 ± 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-axisNever enter within the robot movement range during absolute reset 3-1-2-3 Stroke end method Z-axisCHAPTER 4 Adjustment 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 Y-axis moveable mechanical stopper BA X-axis arm Fig. 4-10 Adjustment of Y-axis machine referenceBolt 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 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 RCHAPTER 4 Adjustment Fig. 4-17 Positions for affixing the stickers+ Y - + R 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 5-1 Replacement period Periodic InspecitionCHAPTER MEMO 1 Overview Periodic inspection includes Daily inspection 6-month inspection2 Precautions 1 Inspection to be performed with the controller turned off 3 Daily Inspection2 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 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 normally5 Replacing the Harmonic Drive Grease 5-1 Replacement periodTable 5-1 Harmonic drive speed reduction ratio Page Use the following harmonic drive grease Recommended greaseSK-2 made by Harmonic Drive Systems Inc 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 69.5mmFig. 7-1 YK120X 1-2 External view and dimensionsCHAPTER 7 Specifications 139 ± CHAPTER 7 Specifications139 113 R120CHAPTER 7 Specifications Fig. 7-2 YK150XUser 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 113CHAPTER 7 Specifications Fig. 7-5 YK180X7-10 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 7-15CHAPTER 7 Specifications Machine harness wiring tableYellow Green Brake wiring table Motor wiring tableOrigin sensor wiring table CHAPTER 7 SpecificationsConnector CHAPTER 7 SpecificationsBlue MEMO OWNERS MANUAL SCARA Robots