OWNERS MANUAL
Page
Before using the robot Be sure to read the following notes
1. Absolute Reset
2. Setting the standard coordinates
Error messages issued when robot & controller are connected RCX142
2 Caution when turning off the robot controller
3 Connection to the controller
Introduction
IM Company
2. Suction couplers have been added. See section 6 in chapter
Clean Room Models YK120XC, YK150XC
1. Robot parameter has been changed. See section 4 in chapter
CHAPTER 1 Using the Robot Safely
Installation
CHAPTER 2 Functions
CHAPTER
CHAPTER 4 Adjustment
Specifications
Periodic Inspecition
Increasing the robot operating speed
CHAPTER
MEMO
Using the Robot Safely
CHAPTER
MEMO
1 Safety Information
DANGER
2 Essential Caution Items
1 Observe the following cautions during automatic operation
Fig. 1-1 Warning label
Fig. 1-2 Warning label
Read owners manual and all warning labels before operation
3 Follow the instructions on warning labels and in this manual
Fig. 1-3 Warning label
6 Use caution when releasing the Z-axis vertical axis brake
7 Provide safety measures for end effector gripper, etc
12Cautions for removing Z-axis brake or Z-axis motor
13Use the following caution during inspection of controller
15Use caution not to touch the controller rear panel cooling fan
17Do not remove, alter or stain the warning labels
22Be sure to make correct parameter settings
18Protective bonding
19Always connect the robot to the specified controller
21Do not use the robot in locations subject to strong vibrations
27Caution when turning off the robot controller
24Do not apply excessive force to each section
28Take the following precautions when transporting the robot
3 Special Training for Industrial Robot Opera- tion
4 Robot Safety Functions
1 Overload detection
2 Overheat detection
3 Soft limits
5 Safety Measures for the System
6 Trial Operation
7 Work Within the Safeguard Enclosure
10 Repair and Modification
9 Adjustment and Inspection
8 Automatic Operation
11 Warranty
CHAPTER 1 Using the Robot Safely
12 CE Marking
CHAPTER 1 Using the Robot Safely
Functions
CHAPTER
MEMO
1 Robot Manipulator
Fig. 2-1 Manipulator movement
Fig. 2-2 YK120X, YK150X
Connector for user wiring No.1 to
CHAPTER 2 Functions
User tubing 2 φ3
Fig. 2-3 YK120XC, YK150XC
Connector for user wiring No.1 to
Ball screw Linear busing shaft
CHAPTER 2 Functions
Viewed from direction A
Fig. 2-4 YK180X, YK220X
CHAPTER 2 Functions
RCX142
2 Robot Controller
Fig. 2-5 Robot controller for YK120X series YK120X, YK150X
3 Robot initialization number list
4 Parameters for Clean Room Models YK120XC, YK150XC
Precautions during use
To purchasers of this robot
Parameter changes
MEMO
Installation
CHAPTER
MEMO
1 Robot Installation Conditions
Installation environments
CHAPTER 3 Installation
Installation base
The maximum reaction force
F Xmax
M Xmax
Do 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 Installation
2-1 Unpacking
Fig. 3-3 Product configurations
2-2 Checking the product
Standard
Option
2-3 Moving the robot
Installing the robot
Fig. 3-5 Installing the robot
Symbol 417-IEC-5019
3 Protective Bonding
Fig. 3-6 Ground terminal
CHAPTER 3 Installation
YK120X, YK150X
YK180X, YK220X
4 Robot Cable Connection
Fig. 3-7 Robot cable connections
CHAPTER 3 Installation
5 User Wiring and User Tubing
User wiring
User signal cable
User tubing
CHAPTER 3 Installation
3 Signal wiring connections in the machine harness
Connector pins 1 to 6 can be used
SM Connector SMR-6V-B
Arm side and base side connector supplied
Manufacture
BYM-001T-0.6
Connecting a suction hose YK120XC, YK150XC
7 Attaching The End Effector
7-1 R-axis tolerable moment of inertia and acceleration coeffi- cient
Depending 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 Installation
W=0.1kg
W=0.2kg
W=0.5kg
CHAPTER 3 Installation
W=0.4kg
7-1-2 Acceleration coefficient vs. moment of inertia YK150X
CHAPTER 3 Installation
W=0.1kg
W=0.2kg
W=0.5kg
CHAPTER 3 Installation
W=0.4kg
7-1-3
Acceleration coefficient vs. moment of inertia YK180X, YK220X
CHAPTER 3 Installation
W=0.1 to 0.4kg
7-2 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 chuck
3 Moment of inertia of workpiece
5 Total moment of inertia
7-4 Attaching the end effector
Fig. 3-23 Z-axis tip shape
FXYmax
FZmax
Fig. 3-24 Maximum load applied to end effector attachment
CHAPTER 3 Installation
kgfcm
Hole diameter
Make 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 effector
Table 3-3 Maximum acceleration during robot operation
1 X and Y axes
MEMO
Adjustment
CHAPTER
MEMO
2 Safety Precautions
1 Overview
3 Adjusting the origin
Fig. 4-1 View of R-axis from below
3-1 Absolute reset method 3-1-1 YK120X series YK120X, YK150X
3-1-1-1 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, YK150XC
CHAPTER 4 Adjustment
3-1-1-3 Stroke end method Z-axis
CHAPTER 4 Adjustment
3-1-2 YK180X series YK180X, YK220X 3-1-2-1 Sensor method R-axis
side
Fig. 4-5 Default origin position
3-1-2-2 Sensor method X-axis, Y-axis
CHAPTER 4 Adjustment
3-1-2-3 Stroke end method Z-axis
Never enter within the robot movement range during absolute reset
3-2 Machine reference
Machine reference value = B/A ⋅ 100%
Machine reference
Machine reference display on MPB screen
3-3 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, YK150X
Fig. 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 Bolt
3-4-1-4 Adjusting the Y-axis machine reference
Bolt On back side of arm
Fig. 4-10 Adjustment of Y-axis machine reference
Y-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 reference
When machine reference5%
Section
CHAPTER 4 Adjustment
3-4-2-1 Adjusting the R-axis machine reference YK180X, YK220X
3-4-2 YK180X series YK180X, YK220X
12 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 Sensor
3-4-2-3 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 nut
Z-axis upper-end mechanical stopper
Bolt Upper end urethane damper
4 Setting the Soft Limits
1 Setting the X-axis and Y-axis soft limits
7 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 stickers
CHAPTER 4 Adjustment
7 Removing the Robot Covers
CHAPTER 4 Adjustment
YK120X, YK150X
YK120XC, YK150XC
same on opposite side
CHAPTER 4 Adjustment
YK180X, YK220X
Y-axis arm upper cover qM3⋅6 ⋅4 wM3⋅6 ⋅4 eM3⋅6 ⋅4
Base front cover
MEMO
CHAPTER
Periodic Inspecition
5-1 Replacement period
MEMO
1 Overview
Periodic inspection includes Daily inspection 6-month inspection
2 Precautions
2 Inspection to be performed with the controller turned on
3 Daily Inspection
1 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 inspection
Procedure
1 Inspection to be performed with the controller turned off
CHAPTER 5 Periodic Inspection
1 Bolt tightening torque
3 Adjustment and parts replacement
Check for dust on the fan cover. Remove and clean if necessary
2 Inspection to be performed with the controller turned on
Check if the fan rotates normally
Table 5-1 Harmonic drive speed reduction ratio
5-1 Replacement period
5 Replacing the Harmonic Drive Grease
Page
SK-2 made by Harmonic Drive Systems Inc
Recommended grease
Use the following harmonic drive grease
Increasing the robot operating speed
CHAPTER
MEMO
1 Increasing the robot operating speed
1 Increasing speed by arch motion
q Gate motion
Axis parameters - Arch position
e 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 pulses
OUTPOS 2 = 10000 ... Y-axis OUT effective position pulses
OUTPOS 3 = 10000 ... Z-axis OUT effective position pulses
MEMO
Specifications
CHAPTER
MEMO
Basic specification
1 Manipulator
CHAPTER 7 Specifications
69.5mm
CHAPTER 7 Specifications
1-2 External view and dimensions
Fig. 7-1 YK120X
CHAPTER 7 Specifications
139 113
139 ±
R120
User tool installation range
Fig. 7-2 YK150X
CHAPTER 7 Specifications
CHAPTER 7 Specifications
13 9 ±
Fig. 7-3 YK120XC
CHAPTER 7 Specifications
CHAPTER 7 Specifications
Fig. 7-4 YK150XC
CHAPTER 7 Specifications
CHAPTER 7 Specifications
139 113
7-10
Fig. 7-5 YK180X
CHAPTER 7 Specifications
CHAPTER 7 Specifications
R75.7
Fig. 7-6 YK220X
CHAPTER 7 Specifications
7-12
Viewed from direction C
CHAPTER 7 Specifications
R109
1-3 Robot inner wiring diagram
CHAPTER 7 Specifications
Y-axis motor
Z-axis brake
1-4 Wiring table
Robot cable wiring table
CHAPTER 7 Specifications
7-15
Yellow Green
Machine harness wiring table
CHAPTER 7 Specifications
Motor wiring table
Origin sensor wiring table
Brake wiring table
CHAPTER 7 Specifications
Blue
CHAPTER 7 Specifications
Connector
MEMO
OWNERS MANUAL
SCARA Robots