Home

N15/N18 User`s Manual

Contents

1. E Wall installation Wall installation Unit mm Lead 20 suo reo ads o gt 6 12 Specifications 99 9 c9 09 99 75 zS c 0S92 0982 OSE 0922 os z OSOZ 0961 2 82 92 92 vo zz 22 2 el el el 1 LE LE 01 01 uz LEL 18 LEL LEL 18 rer 18 T 2982 29 2 2992 2992 9 2922 2922 2912 2902 0092 00rz 0022 00ZZ 0012 0002 0061 0081 002 pen e qe1 y UMOYS ou uey Jainesy s jo ay ou ul 1 ages y 1ue aJd pej ejsur si J9 OJ exXouis 001 2 ULY 9JOUJ JOGO y 104 BuimeJp eui Ul umoys se ugy 1edeep JOU seop uid ay 1ey yew ajoy HOL e ueuM c gt SON eui siu epis ye ey uo y seu ay pue epis SION uo sy seu jejuozuou eui AJOJOe y peddius SION G SION sasoy ul O18 VSN
2. ueewjeq eouejsip 052 UOIJO9S JO IEIOQ Y 1910 9420 JO 101995 55010 1911109 2405 81 L9JON AY AY L9JON 8Z 061 01 dad 7H90 c 01 uideq 7H99 z 061 97 3 3 004 05 85019 091 LX8IN 8 Gc udad 9 LX8IN 8 091 JO WWF JO peeu 1epun 86 96 oq peeu 194908 XgJN esf 641 991 20 0 9 ueeweg 891 20 02 2 9 89 1015 JO 0 5 880 0 Ica Jesn JO 1 PUNOIS tc ON 33 00095 99010 888 51 26012 t specif c gt amp 10N 3 3 0 095 85010 ees oe uideq 60 2 v V 6 1 Ma 1911109 2495 puondo 81 Specifications 6 20 To controller Encoder 52 54 oo P 1 R 1 D G 6 2 Robot connector I O signal connector 6 2 Robot connector I O signal connector To robot White Green 0 3sq White twisted pair Yellow White Drain wire 6 3 Robot connector motor connector To controller To robot q _ po CLA SIGNAL Comnector No Motor wire NOTE 0 75mm2 Red 2 M 3 0 75 lt White 0 75mm Bl
3. 4 1 4 1 Before beginning work When applying grease to the ball screw and linear guide take the following precautions PRECAUTIONS WHEN HANDLING GREASE INFLAMMATION MAY OCCUR IF THIS GETS IN THE EYES BEFORE HANDLING THE GREASE WEAR YOUR SAFETY GOGGLES TO ENSURE THE GREASE WILL NOT COME IN CONTACT WITH THE EYES INFLAMMATION MAY OCCUR IF THE GREASE COMES INTO CONTACT WITH SKIN BE SURE TO WEAR PROTECTIVE GLOVES TO PREVENT CONTACT WITH SKIN e DO NOT TAKE ORALLY OR EAT EATING WILL CAUSE DIARRHEA AND VOMITING HANDS AND FINGERS MIGHT BE CUT WHEN OPENING THE GREASE CONTAINER SO USE PROTECTIVE GLOVES e KEEP OUT OF THE REACH OF CHILDREN e DO NOT HEAT THE GREASE OR PLACE NEAR AN OPEN FLAME SINCE THIS COULD LEAD TO SPARKS AND FIRES EMERGENCY TREATMENT F GREASE GETS IN THE EYES WASH LIBERALLY WITH PURE WATER FOR ABOUT 15 MINUTES AND CONSULT A PHYSICIAN FOR TREATMENT F GREASE COMES IN CONTACT WITH THE SKIN WASH AWAY COMPLETELY WITH SOAP AND WATER e IF TAKEN INTERNALLY DO NOT INDUCE VOMITING BUT PROMPTLY CONSULT A PHYSICIAN FOR PROPER TREATMENT pue uomnoodsur JIPOLIIA 4 2 4 2 Periodic inspection 4 2 Periodic inspection 4 2 1 Daily inspection Check the following points on a daily basis before and after robot operation Checkpoints Check items Check for damage dent Replace if needed and excessively tight bends Ball screw bearing Check for unus
4. 8 uiuo epis 11e ueuw 181 epis y Je 181 epis 63 191 9111994473 5 uonisod epis 7 2 19 1914102 2402 puonudo pjuoziuoQ 8 Specifications 6 14 e e e Specifications O Neo O U 75 c pp De Ay L JON L 9Z 061 9104 82 3 3 00095 55017 0 yideq 290 2 091 9 1 JO JO peeu jepun uide 8 8 96 uiBue y oq peay eee SL L4 1 19205 8 esf 2 DD La D 5 I E y o a E Y epis 11e ueuMw 181 SG SOL epis y ueuw 181 uonisod epis 181 uogsoduBuosps 00 07 uonoes o rejeq Y 1911189 e qeo JO 00095 55017 Z8 0N 029 48 04 Jo 4 3 3 uonoes ssojo eeg oe uideq 60 9 1911102 9402 BLN e IONS Q Q Q N u in uni 6 1 Ma Ay 3 3 0409 85010 L9J0N 182 01 9 061 L9JON 84 uideg LXgiN 8 09 86 e eee 0 I NN D D 2 S I N COMO di epis 7 ueyM 181 SG 901 epis y Je ueuw 181 epi
5. Hex socket head bolt Strength 8 8T Length 50mm or more 9 8Nm to 12 7Nm Tightening torque 9 9 torque 100kg cm to 130kg M6 hex wrench WARNING SuOmouuoo pue uorej ejsu 7 27 N18 22 5Nm to 36 7Nm 230kg cm to 370kg cm M8 hex wrench TIGHTEN THE BOLTS SECURELY TO THE CORRECT TORQUE FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE POSITIONING ERRORS AND SERIOUS ACCIDENTS 3 After installing the robot reattach the top cover and end covers 1 upper end covers 3 0 3 4 Connecting the robot to the controller 3 4 Connecting the robot to the controller Connect the robot cables to the mating connectors on the controller as shown Refer to the robot controller user s manual for the controller connectors WARNING e BEFORE CONNECTING THE CABLES CHECK THAT THERE ARE NO BENDS OR BREAKS IN THE ROBOT CABLE CONNECTOR PINS AND THAT THE CABLES ARE NOT DAMAGED CONTACT FAILURE MAY CAUSE ROBOT MALFUNCTIONS e ALWAYS MAKE SURE THAT THE POWER TO THE ROBOT CONTROLLER IS OFF BEFORE CONNECTING THE ROBOT CABLES TO THE CONTROLLER CAUTION After connecting the robot cable intermediate connectors together fit the connector hoods together securely Intermediate connector motor wire pue uonejje suj 5 Intermediate connector signal wire 1 Connect the robot cables motor and signal wires to the mating conn
6. YAMAHA MOTOR CO LTD YAMAHA SINGLE AXIS ROBOT FLIP X series NI5 NIS User s Manual TETE YAMAHA MOTOR CO LTD IM Operations 882 Soude Naka ku Hamamatsu Shizuoka 435 0054 Japan URL http www yamaha motor jp robot index html E38 Ver 1 05 Before using the N15 N18 single axis robots Be sure to read the following notes Thank you for purchasing this YAMAHA single axis robot N15 N18 Before using this robot read the following notes and set the origin position The N15 N18 single axis robots use absolute position detectors that do not require return to origin after turning on the controller power However when the controller power is turned on in the following cases return to origin must be performed just the very first time 1 When robot cable was first connected after delivery from YAMAHA 2 When robot cable was disconnected from the controller and then reconnected 3 When no absolute battery is connected 4 When a motor or cable was replaced At this point any of the following errors is issued immediately after controller power is turned on but this is not a malfunction The controller will operate normally by restarting When using an SR1 controller 15 FEEDBACK ERROR 2 23 ABS BAT L VOLTAGE 24 ABS DATA ERROR ser ETC When using an RCX240 RCX222 controller 17 81 D ABS battery wire breakage 17 92 D Resolver disconnected during power off 17 93 D Position backup counte
7. punog 200 0 901 e3oN H H uonoes ssoJo Zi uide 29010 2 1911109 2405 puondo e Specifications 6 10 6 1 2 N18 N18D Basic specifications Motor output AC W 6 1 Main unit specifications 400 Repeatability mm x1 0 01 Deceleration mechanism Ball screw 20 Class C7 Ball screw lead mm 20 Maximum speed mm sec x2 1200 Maximum paylord kg 80 Rated thrust N 339 Single carrier 500 to 2500 pitch 100 Stroke mm Double carrier 250 to 2250 pitch 100 Total length mm Stroke length 362 Width Height mm 1907 115 Cable length m 3 5 Standard 5 10 Single carrier SR1 X TS X Controller Double carrier RCX222HP DRCX SR1 X TS X Hobot driver 1 Positioning repeatability in one direction RDX 20 RBR1 2 Maximum speed may not be obtained depending on operating conditions O Static loading moment Unit Nem ___ _____ MB 1161 1163 1021 6 11 6 1 Main unit specifications O Allowable overhang Distance from the center on the top face of slider to the gravity center of the item being carried This is calculated assuming that the service life of the guide is 10 000km Horizontal installation Horizontal installation Unit mm Lead 20
8. 5 55017 co JO JO peeu Japun uiBue y m oq peeu 19 005 x8u Q LX9 N esf a e E E gt Tg ssi 12 99 Y 2 9 PON 86 la T 90 ZH90 c 06 69 E 061 8 1900 EFG9L 191 110 9402 PJUOZIIOY GGLN Specifications 7 Specifications 6 9 m c O e v D m in uni 6 1 Ma y y H H 01095 80 0 q9 061 061 910 JO 02 10 peeu Japun 061 01 9 2 9 2 001 29100099 96 0 1X9 8 p dad 0 LXOW 8 8 194905 0 951 o z lt Le 9 Yo sd 9 _ 9 9911 D TE IAEA 9 c an Ye e 0 3 SGT 601 gt L JON EFG9 L uonoes oj ejeqf 101129 QLI jo 01095 55070 05 OL japow 1911105 9499 puppupis junour D GGLN ications t specif gt 6 1 0L uideq 7 H90 z 01 udeq H90 2 yl udad o LX9IN 8 p udad 0 LX9IN 8 H H 00095 55017 aJou JO JO peau apun y Bua y oq peeu 193205 0 X9 N esf 20 0 9 ueejeg re 0 99 uonoesoj ejeq 1euJeo e qeo JO 00095 55017 sn
9. Refer to 3 3 Installation method B for how to remove the end covers 3 Remove the top cover Remove the screws 4 places holding the top cover and remove the top cover 4 Remove the end covers 2 lower end covers from both ends of the robot Remove the screws 2 places holding each end cover and remove the end covers On the N15 robot first remove the side moldings and then remove the screws holding each end cover The end cover will come off Top cover Se O a O e e Y O e gt eJ o E Pma O gt eJ gt O 4 7 Hin ts n Ec m EUN a qe E um roo E i P di ee Molding 4 4 Replacing motor 5 Remove the cable cover After removing the cable cover cut the cable tie securing the motor cable with a wire cutter or scissors and then disconnect the motor wire and signal wire connectors Cable cover 6 Loosen the screw securing the side cover and slide the side cover in the direction of arrow to a position that allows access to the motor unit The N18 robot has no side cover so skip this step e 77 c Side cover 5 3 e Side cover mounting screw 4 4 Replacing motor 7 Free the table slider and motor coupling by loosenin
10. The YAMAHA N15 N18 single axis robots are truly innovative single axis robot using a hollow motor as its drive source The internal robot structure and features are described here N15 4 Slider Linear guide M9IAJ9AQ N Hollow motor 2 3 MEMO 2 4 Installation and connections 3 Carrying the robot 3 1 Carrying the robot Always use two people to carry the robot unit Each person should grip the robot unit near one end from the lower side and carry with the load well balanced Carry with the robot facing upward slider side upwards WARNING ALWAYS OBSERVE THE FOLLOWING PRECAUTIONS WHEN CARRYING THE ROBOT e REMOVE ANY AND ALL OBJECTS SUCH AS HANDS AND GRIPPERS ATTACHED E TO THE ROBOT SLIDER BEFORE MOVING THE ROBOT THE SLIDER WILL LOSE BALANCE IF MOVED WITH OBJECTS STILL ATTACHED AND CAUSE INJURIES e KEEP THE ROBOT BALANCED AND DON T LET IT TILT WHILE MOVING IT IF THE ROBOT TILTS THE SLIDER MAY MOVE UNDER ITS OWN WEIGHT CAUSING SERIOUS INJURIES SUCH AS CRUSHED FINGERS e MOVE THE SLIDER SO THAT BALL NUT SECTION IS POSITIONED IN THE NEAR CENTER OF THE ROBOT BEFORE CARRYING THE ROBOT FAILURE TO DO SO MAY CAUSE THE BALL SCREW TO SWING OR VIBRATE LARGELY WHILE CARRYING THE ROBCT Slider LL a T N NN un ma e c gt Q c e gt e gt un NEVER ATTEMPT TO HOLD THE ROBO
11. 6 99 HL 1911102 9402 junoui pb GIN e Specifications OLE H H 00098 85010 JO Jo peeu apun uim peeu 19205 Q LX9 N esf E LL E Specifications GV Ocle 0c0c 026 0 01 01 6 991 SEE 991 CG 01 99 Gl 99 0 c 0 cc DELE 0202 0921 0991 0991 9250456 91199443 ions t Q im UNI e qe1 y ui UMOYS OU ui uey Jei eeu s jo exeJq ou 1ybiam 9 SION BuiweJp ul O18 Buuds e esn jou op 5 JO Sajo Duisn ue 910 ui UMOUS Se ugy 1edeep jou seop eui ey eins yew e uayM 6 SION d d em ol a na E er sasoy sueylaln y x 96 JO ssed 9916509 ou SI 5 e qeo e SI J SION euk or pedo ies ED k SON 6 1 Ma 20020 00 X3 GejoN H HuOonoes ssoj eeg Uonoesjoj ejeq 1920 9480 JO 04
12. A and B NO Replace motor since motor has shorted or burnt out c Y 5 O p gt Take noise reduction measures Is motor encoder NO Replace motor OK Yes 1 Check position shift by repetitive accuracy measurement 2 If replacement motor is available check by exchanging the motors Yes No Yes Is controller ardware OK Is external noise large 1 If replacement controller is available check by exchanging the controllers 5 2 Specifications 6 1 Main unit specifications 6 1 Main unit specifications 6 1 1 N15 N15D O Basic specifications Motor output AC W 400 Repeatability mm x1 0 01 Deceleration mechanism Ball screw 415 Class C7 Ball screw lead mm 20 Maximum speed mm sec 2 1200 Maximum paylord kg 50 Rated thrust N 339 Stroke mm Single carrier 500 to 2000 pitch 100 Double carrier 250 to 1750 pitch 100 Total length mm Stroke length 330 Width Height mm Cable length m 145 120 3 5 Standard 5 10 Controller Hobot driver 1 Positioning repeatability in one direction Single carrier SH1 X TS X Double carrier RDX 2 Maximum speed may not be obtained depending on operating conditions O Static loading moment Unit N m D IEEE EE __ 691 692 608 RCX222HP DRCX SR1 X TS
13. e qeo o 01995 55009 esn JO Jeutuue punoJc 3 3 01095 55010 EE agi Joa ___ qe ____ Sr a O Y a EE wi ue v e Ss Hu JO jo peeu 1epun a LL N jog o_o E 165 E 194205 LX8 N 9Sf a Ss en a J E a E 6 0 _ _ _ 65 70 7 9 LLL gt prem 86 N Ws 86 E 9 091 0 2899 2 0 uice 2899 2 091 za10N S 82 06 06 8 8e T i 5 ueewjaq eoueisip 062 3 LOION EF18 1 1911102 9402 puodo PJUOZIIOY 81 Specifications 6 18 e e e Specifications ms e SO dea Q Q gt c pp Z8 0N Ay Ay Z8 0N 3 3 00095 55010 8Z 061 061 8Z 061 0L udad H90 z 0L udad 99 051 JO aus Jo peeu Japun 109008 xg SN Tu m UJ UJ D D 5 Co 9 fe 1 m E 99 940115 911109113 CLAON 2 81 22181
14. esn jou op uonejeisur 10 sajoy eo SION BuiweJp 1999045 au SOUS eouelsi SION UMOUS se 1edeep jou y eins yew ejou HOL Buisn 20N eui peuoJees JO SION 6 1 20 070 c e1oN 3 3 04095 58010 ees c yidag H01L0 z Y Ww Y uonoesjo rejeg Y eue e qeo JO 0409 85010 3 3 01095 55010 ees oe uideq 60 9 V TER Ce Ell 3 3 00095 55010 JO JO y Bua ui peeu 5 95 E 194205 LX8 N 951 S J S n wo gl me EE TELLE gu 3 a a D k E 86 N Vez dec Sz Dene I 86 E 091 01 udeq 7H96 2 01 7H96 2 091 zaon 8 8 061 061 8 KLOON 6181 OS eoueisip 0 90JIS exiel 9pouu 1911105 91402 P ppupys jDJUOZIIOY 81 e IONS Q Q Q Y u in uni 6 1 Ma z0 0 4H96 ueewjeg 991 zoo d Y Y eJoN 3 3 00095 55010 ees yidag 60 9 Y SION 3 3 004095 88010 eeg s uideq ZHOLO z j LUOIND9S JO EIOQ 4
15. position the next time the origin position must be set General Contents Introduction Chapter 1 Using the Robot Safely Chapter 2 Product Overview 2 2 2 2 3 Chapter 3 Installation and connections 3 1 3 2 3 2 1 3 2 2 3 3 3 4 3 5 Safety information 1 1 Essential precautions 1 3 Industrial robot operating and maintenance personnel 1 9 Robot safety functions 1 10 Safety measures for the system 1 11 Trial operation 1 11 Work within the safety enclosure 1 12 Automatic operation 1 13 Warranty 1 14 Checking the product 2 1 Robot part names 2 2 Robot internal structure 2 3 Carrying the robot 3 1 Robot Installation Conditions 3 2 Installation environments 3 2 Installation base 3 3 Installing the robot 3 5 Connecting the robot to the controller 3 9 Precautions during user wiring and hose installation 3 12 U9 U07 U9 U07 Chapter 4 Periodic inspection and maintenance 4 1 Before beginning work 4 1 4 2 Periodic inspection 4 3 4 2 1 Daily inspection 4 3 4 2 2 Three month inspection 4 3 4 2 3 Six month inspection 4 4 4 2 4 Three year inspection 4 4 4 3 Applying grease 4 5 4 4 Replacing the motor 4 7 Chapter 5 Troubleshooting 5 1 If you suspect trouble 5 1 9 1 1 Positioning error o 5 1 2 Feedback error 5 2 Chapter 6 Specifications 6 1 Main unit specifications 6 1 6 1 1 N15 N15D 6 1 6 1 2 N18 N18D 6 1 6 2 Robot connector I O signal connector 6
16. robot correct 3 Are items such as air pressure correctly supplied 4 15 the robot correctly connected to peripheral equipment 5 Have safety measures safety enclosure etc been taken 6 Does the installation environment meet the specified standards 3 After the controller is turned on check the following points from outside the safety enclosure 1 Does the robot start and stop as intended Can the operation mode be selected correctly Does each axis move as intended within the soft limits Does the end effector move as intended Are the signal transmissions to the end effector and peripheral equipment correct Does emergency stop work Are the teaching and playback functions normal Are the safety enclosure and interlock working as intended CON FD A W N Does the robot move correctly during automatic operation 1 11 1 7 Work within the safeguard enclosure 1 7 Work within the safety enclosure 1 Work within the safety enclosure When work is required inside the safety enclosure always turn off the controller and place a sign indicating that the robot is being adjusted or serviced in order to keep any other person from touching the controller switch or operation panel except for the following cases 1 Soft limit settings 2 Teaching For item 1 follow the precautions and procedure for each section To perform item 2 refer to the description in 2 below 2 Teaching When pe
17. shaft to come out of the nut gt lt N18 gt Ball screw Nut section Ball screw Nut section Allow a space of Do not pull out 300mm or more 13 Install a new motor Tighten the bolts to the following torque Bolt M5 M6 Tightening torque 60kg cm to 90kg cm 100kg cm to 130kg cm 2 o e un C e c gt gt E gt gud gt Q gt O 4 12 4 4 Replacing motor 14 Assemble in the reverse order of disassembly Proceed while making sure the positional relation and assembly order of the parts are correct CAUTION When installing the ball screw apply the proper amount of molyodenum grease to the clamp portion see photo below lt N15 gt Apply molybdenum grease here 15 After replacing the motor adjust the coupling position so that the grid position is within 50 20 which is displayed by performing return to origin 32ueugjureui pue 21 A 4 13 4 4 Replacing motor 2 e e 72 e O gt eJ gt o E gt ui eJ gt O 4 14 Checking the grid position Press F2 OPRT on the initial screen Press F1 Press F1 YES to perform return to origin If you want to cancel return to origin press 2 The screen on right appears dur
18. 098 85019 21 daq 019 H H 00095 55017 aee An e FE JO Jo peeu apun oq peeu 1994905 0 LX9W 981 9 PESTS eee os 54 T gt c tZ E Eu LLL 4 Jesn 10 jeuiuue T 11 as i a 9 20 L a aO AA E 18 set 5 E Fo 1 __________________________0 ui 99 99 e Ye ______ nt 9 LLLA 5 2 86 y 0 Ix9W 8 uideq 0 Lx9IV 8 86 Z9 0N 0 E 01 01 OS zaon IS 59 061 061 09 2 1810N 8 69 NOS eoueisip 0 911 9947 62991 7 gt j pow 1911102 9 qp5 pappupnjs pjuoziuoq 6 7 ifications t specificat c gt 6 1 Ma 20 0 9 ueewjeg re H H U0198S 55010 88S 9 1990 9 EEEE 001 90 4 ete eee 0 uiceq 2899 2 y 0 HX9IN 8 eyoris BANOO v aq 01 ya uSamiaq eoueisip BANOO H H 2
19. 21 6 3 Robot connector motor connector 6 21 Appendix About machine reference Moment of inertia calculation li Introduction The YAMAHA single axis robots N15 N18 is an industrial robot that uses the absolute positioning method as standard and has improved ease of use resistance to environmental conditions and maintenance work A wide varaiety of product lineup allows you to select the desired robot model that best matches your application This user s manual describes the safety measures handling adjustment and maintenance of the N15 N18 robots for correct safe and effective use Be sure to read this manual carefully before installing the N15 N18 robots Even after you have read this manual keep it in a safe and convenient place for future reference e This user s manual should be used with the robot and considered an integral part of it When the robot is moved transferred or sold send this manual to the new user along with the robot Be sure to explain to the new user the need to read through this manual e Specifications of robot models other than standard models may be omitted in this manual if they are common to those of standard models In this case refer to the specifications of standard models For details on specific operation of the robot refer to the separate user s manual for the robot controller being used The contents of this manual are subject to change without prior notice While every ef
20. Before handling these parts during inspection or servicing turn off the controller wait for a while and check that the parts have cooled 10 Take the following safety precautions during inspection of controller WARNING e WHEN YOU NEED TO TOUCH THE TERMINALS OR CONNECTORS ON THE OUTSIDE OF THE CONTROLLER DURING INSPECTION ALWAYS FIRST TURN OFF THE CONTROLLER POWER SWITCH AND ALSO THE POWER SOURCE IN ORDER TO PREVENT POSSIBLE ELECTRICAL SHOCK e NEVER TOUCH ANY INTERNAL PARTS OF THE CONTROLLER e REFER TO THE YAMAHA ROBOT CONTROLLER USER S MANUAL FOR PRECAUTIONS ON HANDLING THE CONTROLLER 11 Use caution not to touch the controller cooling fan 1 6 AX WARNING e BODILY INJURY MAY OCCUR FROM COMING INTO CONTACT WITH THE COOLING FAN WHILE IT IS ROTATING e WHEN REMOVING THE FAN COVER FOR INSPECTION FIRST TURN OFF THE CONTROLLER AND MAKE SURE THE FAN HAS STOPPED 1 2 Essential precautions 12 Consult us for corrective action when the robot is damaged or malfunctions occur WARNING IF ANY PART OF THE ROBOT IS DAMAGED OR ANY MALFUNCTION OCCURS CONTINUING THE OPERATION MAY BE VERY DANGEROUS PLEASE CONSULT YOUR YAMAHA SALES OFFICE OR DEALER FOR CORRECTIVE ACTION Damage or Trouble Possible Danger Electrical shock malfunction of Damage to machine harness or robot cable robot Flying outwards of damaged parts during robot operation Damage to exterior of robot Abnor
21. CESSORIES OR PARTS NOT SUPPLIED BY YAMAHA MOTOR CO LTD 4 gt ge EN Ad o o pia Un lt 1 15 MEMO 1 16 Product Overview 2 1 Checking the product 2 1 Checking the product After unpacking make sure that all components and accessories are included as specified in your order Also check the product for any damage on the exterior which might have occurred during shipping If there are any missing parts or damage due to shipping please notify your YAMAHA sales office or representative immediately WARNING e ALWAYS USE TWO OR MORE PEOPLE TO TAKE THE ROBOT UNIT OUT OF THE PACKAGE EACH PERSON SHOULD GRIP THE ROBOT UNIT NEAR ONE END FROM THE LOWER SIDE CARRY WITH THE ROBOT FACING UPWARD SLIDER SIDE UPWARDS e WHEN UNPACKING CAREFULLY HOLD THE ROBOT NOT TO DROP IT IF THE ROBOT FALLS SERIOUS INJURY MAY OCCUR OR THE ROBOT MAY BE DAMAGED MOIIAIIAO J npO4d N 2 1 2 2 Robot part names 2 2 Robot part names Robot part names External components Robot cable motor wires 12 4 Y Cable cover Cable carrier Y End cover 1 Reference The direction of the cables coming out of the cable carrier depends on the specifications you ordered The above illustration shows an example of RH right and horizontal type 2 2 2 3 Robot internal structure 2 3 Robot internal structure
22. LING THE ROBOT IN LOCATIONS WHERE THE AMBIENT CONDITIONS MAY EXCEED THE ALLOWABLE TEMPERATURE OR HUMIDITY OR IN ENVIRONMENTS WHERE EXCESSIVE MOISTURE CORROSIVE GASES METALLIC POWDER OR DUST ARE GENERATED MALFUNCTIONS FAILURES OR SHORT CIRCUITS MAY OTHERWISE RESULT AY WARNING THIS ROBOT WAS NOT DESIGNED FOR OPERATION IN ENVIRONMENTS WHERE INFLAMMABLE OR EXPLOSIVE SUBSTANCES ARE PRESENT e DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING INFLAMMABLE GAS DUST OR LIQUIDS EXPLOSIONS OR FIRE COULD OTHERWISE RESULT 3 2 3 2 Robot Installation Conditions WARNING AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC INTERFERENCE ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY INTERFERENCE MALFUNCTIONS MAY OTHERWISE OCCUR WARNING DO NOT USE THE ROBOT IN LOCATIONS SUBJECT TO EXCESSIVE VIBRATION ROBOT INSTALLATION BOLTS MAY OTHERWISE BECOME LOOSE CAUSING THE ROBOT TO FALL OVER 3 2 2 Installation base To mount the robot use an installation base that satisfies the following conditions 1 The installation base is subjected to a great deal of stress while the robot is in operation Prepare a sufficiently rigid and stable installation base taking into account the robot weight including the end effector gripper and workpiece WARNING IF THE INSTALLATION BASE IS NOT SUFFICIENTLY RIGID AND STABLE VIBRATION RESONANCE MAY OCCUR DURING OPERATION CAU
23. OPERATION OF E ROBOT STAY OUT OF THE WORKING AREA OF THE ROBOT DURING OPERATION DO NOT TOUCH ANY PARTS INSIDE THE CONTROLLER KEEP WATCHING THE ROBOT MOVEMENT AND SURROUNDING AREA SO THAT TH OCCURS E OPERATOR CAN PRESS THE EMERGENCY STOP BUTTON IF ANY DANGER RNING WHEN THE ROBOT DOES NOT NEED TO BE OPERATED DURING ADJUSTMENT OR MAINTENANCE ALWAYS TURN OFF THE CONTROLLER AND THE EXTERNAL SWITCH BOARD DO NOT TOUCH INTERNAL PARTS OF THE CONTROLLER FOR 10 MINUTES AFTER THE CONTROLLER HAS BEEN TURNED OFF WHEN ONLY MAKING ELECTRICAL INSPECTIONS AND REQUIRING NO MECHANICAL MOVEMENT OF THE ROBOT KEEP THE EMERGENCY STOP BUTTON PRESSED USE ONLY LUBRICANT AND GREASES SPECIFIED BY YAMAHA SALES OFFICE OR REPRESENTATIVE USE ONLY PARTS SPECIFIED BY YAMAHA SALES OFFICE OR REPRESENTATIVE TAKE SUFFICIENT CARE NOT TO ALLOW ANY FOREIGN MATTER TO CONTAMINATE THEM DURING ADJUSTMENT PARTS REPLACEMENT OR REASSEMBLY DO NOT MODIFY ANY PARTS ON THE ROBOT OR CONTROLLER MODIFICATION MAY RESULT IN UNSATISFACTORY SPECIFICATIONS OR THREATEN OPERATOR SAFETY WHEN ADJUSTMENT OR MAINTENANCE IS COMPLETE RETIGHTEN THE BOLTS AND SCREWS SECURELY DURING ROBOT ADJUSTMENT OR MAINTENANCE PLACE A SIGN INDICATING THAT THE ROBOT IS BEING ADJUSTED OR SERVICED TO PREVENT OTHERS FROM TOUCHING THE CONTROL KEYS OR SWITCHES PROVIDE A 32ueugjureui pue Ipod A LOCK ON THE SWITCH KEYS OR ASK SOMEONE TO KEEP WATCH AS NEEDED
24. SING ADVERSE EFFECTS ON THE ROBOT WORK suomoouuoo pue 5 2 The installation base surface must be machined within a flatness of 0 05mm 500mm CAUTION The robot positioning accuracy or the service life might be reduced if the installation surface precision is insufficient 3 3 3 2 Robot Installation Conditions SUOIjO9UUO pue uore ejsu 7 Use an installation base of sufficient size to match the robot body so that the robot can be installed with the specified number of bolts Avoid installing the robot with less than the specified number of bolts or installing the robot closer to one end as shown at the lower right Robot installation example Good example Bad example A WARNING WHEN INSTALLING THE ROBOT ALWAYS USE ALL THE INSTALLTION HOLES OR M6 TAPPED HOLES IN THE BOTTOM OF THE ROBOT FRAME USING LESS THAN THE SPECIFIED NUMBER OF BOLTS TO INSTALL THE ROBOT MAY CAUSE VIBRATION AND POOR POSITIONING ACCURACY THIS MAY ALSO RESULT IN POSITIONING ERRORS AND REDUCED SERVICE LIFE IN THE WORST CASES M NOTE Positions of robot mounting holes differ according to the stroke length of each robot Refer to the dimensional outlines shown in 6 1 Main unit specifications Du 3 3 Installing the robot 3 3 Installing the robot There are two methods for installing the robot Installation method A Use this method for installing the N15 Installation method B Use this met
25. T IN ANY OF THE FOLLOWING MANNERS Never try this when moving e DO NOT CARRY BY HOLDING THE SLIDER e DO NOT CARRY BY HOLDING THE CABLE DO NOT CARRY BY HOLDING THE CABLE CARRIER e DO NOT CARRY BY GRIPPING THE END COVER e DO NOT CARRY BY HOLDING THE TOP COVER 3 1 3 2 Robot Installation Conditions 3 2 Robot Installation Conditions 3 2 1 Installation environments Be sure to install the robot in the following environments Items Specifications Allowable ambient temperature 10 to 45 C Allowable ambient humidity 35 to 8596 RH no condensation Altitude O to 1000 meters above sea level Ambient environments Avoid installing near water cutting water oil dust metallic chips and organic solvent Avoid installation near corrosive gas and corrosive materials Avoid installation in atmosphere containing inflammable gas dust and liquid Avoid installation near objects causing electromagnetic interference electrostatic discharge and radio frequency interference Vibration Do not subject to impacts or vibrations Working space 5 pue uore ejsu 7 Allow sufficient space margin to perform jobs teaching inspection repair etc For detailed information on how to install the robot controller refer to the separate YAMAHA Robot Controller User s Manual WARNING AVOID INSTAL
26. TELY AFTER THE SERVO POWER SUPPLY IS SHUT OFF BY EMERGENCY STOP OR OTHER SAFETY FUNCTIONS 1 5 Safety measures for the system 1 5 Safety measures for the system Since the robot is commonly used in conjunction with an automated system dangerous situations are more likely to occur from the automated system than from the robot itself Accordingly appropriate safety measures must be taken on the part of the system manufacturer according to the individual system The system manufacturer should provide a proper instruction manual for safe correct operation and servicing of the system 1 6 Trial operation After making installations adjustments inspections or maintenance or repairs to the robot make a trial run using the following procedures 1 If a safety enclosure has not yet been provided right after installation of the robot rope off or chain off around the movement area of the manipulator in place of the C um ge J o o paja Un 4 Ne safety enclosure and observe the following points 1 Use sturdy stable posts which will not fall over easily 2 The rope or chain should be easily visible by everyone around the robot 3 Place a sign to keep the operator or other personnel from entering the movement range of the manipulator 2 Check the following points before turning on the controller 1 15 the robot securely and correctly installed 2 Are the electrical connections to the
27. X 6 1 6 1 Main unit specifications O Allowable overhang Distance from the center on the top face of slider to the gravity center of the item being carried This is calculated assuming that the service life of the guide is 10 000km Horizontal installation Horizontal installation Unit mm Lead 20 E Wall installation Wall installation Unit mm Lead 20 suo reo ads o gt 6 2 Specifications Or 6 0212 0202 E Ze ZZ 9 01 01 a GOL SLL F vC o LL LL 2 G9 GI 0222 0222 0212 0202 2 0002 006 0081 00 1 91199443 5 uMOUS 1uBu Jaleo esouM y uey Jainesy si sIEPOW jo 1ybiam ay eyesg ou jo 1ybiam 9 SION ey smoys siy epis ya uo ay seu pue epis uo eui seu jejuozuou eui 1026 eui peddius SION a ui UMOUS se ugy jou seop au jeu ains ajoy ZHOL e Buisn 20N pun y sasoy sueyjaln ul O18 Buds e zo
28. a M ge EN Ad g r Un 4 m CAUTION Failure to follow CAUTION instructions may result in injury to the robot operator bystanders or persons inspecting or repairing the robot or damage to the robot and or robot controller M NOTE Explains the key point in the operation a simple and clear manner Reference Gives useful information related to the robot operation 1 1 1 1 Safety information C i gt ge pla A g a Un al m Refer to the user s manual by any of the following methods to operate or adjust the robot safely and correctly 1 Operate or adjust the robot while referring to the printed version of the user s manual available for an additional fee 2 Operate or adjust the robot while viewing the CD ROM version of the user s manual on your computer screen 3 Operate or adjust the robot while referring to a printout of the necessary pages from the CD ROM version of the user s manual It is not possible to list all safety items in detail within the limited space of this manual So it is essential that the user have a full knowledge of basic safety rules and also that the operator makes correct judgments on safety procedures during operation For specific safety information and standards refer to the applicable local regulations and comply with the instructions This manual and warning labels supplied with or attached to the robot
29. ack 0 75mm Green 6 21 MEMO 6 22 About machine reference The position detector built into the motor issues a 0 pulse each time the motor rotates 1 4th of one turn When return to origin is performed a difference in distance occurs between the position where the origin signal is detected and the point at which the next 0 pulse is received This is called the machine reference and is xipuaddy usually expressed as a percent with 100 being equal to 1 4th of one turn of the motor See the figure below The machine reference value must be within the allowable range 25 to 75 to maintain axis movement repeatability To check the machine reference value an optional programming unit HPB or MPB is needed The machine reference value is displayed on the LCD screen of the programming unit when return to origin is complete See the figure below A m NOTE The N15 N18 robots use an absolute type position detector There is no need to M perform return to origin each time the robot controller is turned on and readjust the machine reference value If for some reason the machine reference adjustment becomes necessary please contact YAMAHA sales office or dealer Origin signal Origin detection signal 9 Machine reference N JA Machine reference Stroke end method Mark method Zero signal Pulse 1 4th of one turn of motor Machi
30. anels equipped with safety interlocks Ak DANGER SERIOUS INJURY OR DEATH WILL RESULT FROM IMPACT WITH MOVING ROBCT e KEEP OUTSIDE OF GUARD DURING OPERATION e LOCK OUT POWER BEFORE APPROACHING ROBOT Warning label 1 A DANGER Serious injury or death will result from impact with moving robot e Keep outside of guard during operation Lock out power before approaching robot 2 Use caution to prevent hands or fingers from being pinched or crushed Warning label 2 is affixed to the robot Use caution to prevent hands or fingers from being pinched or crushed by the moving parts when carrying the robot or during teaching AX WARNING MOVING PARTS CAN PINCH OR CRUSH KEEP HANDS AWAY FROM ROBOT ARMS 1 3 1 2 Essential precautions 3 Ajayes SUISN 1 4 Warning label 2 A WARNING Moving parts can d pinch or crush Keep hands away from robot arms Follow the instructions on warning labels and in this manual Be sure to read the warning labels and this manual carefully and make sure you thoroughly understand their contents before attempting installation and operation of the robot Before starting robot operation be sure to reread the procedures and cautions relating to your work as well as descriptions in this chapter Chapter 1 Using the Robot Safely Never install adjust inspect or service the robot in any manner that does not comply with t
31. ans and workplace safety consultants etc C M ge EN Ad o paja Un 4 lt 24 Display sign on operation panel during work Display an easy to understand sign or message on the programming box Handy Terminal and operation panel during the job task to prevent anyone other than the operators for that job task from mistakenly operating a start or selector switch If needed take other measures such as locking the cover on the operation panel 25 Make daily and periodic inspections 1 Always make sure that daily and periodic inspections are performed and make a pre work check to ensure there are no problems with the robot or related equipment If a problem or abnormality is found then promptly repair it or take other measures as necessary 2 When you make periodic inspections or repairs make a record and store it for at least 3 years 1 3 Industrial robot operating and maintenance personnel Operators or persons who handle the robot such as for teaching programming movement check inspection adjustment and repair must receive appropriate training and also have the skills needed to perform the job correctly and safely They must read the user s manual carefully to understand its contents before attempting the robot operation Tasks related to industrial robots teaching programming movement check inspection adjustment repair etc must be performed by qualified persons who meet requirem
32. are written in English Unless the robot operators or service personnel understand English do not permit them to handle the robot Cautions regarding the official language of EU countries For equipment that will be installed in EU countries the language used for the user s manuals CE declarations and operation screen characters is English only Warning labels only have pictograms or else include warning messages in English In the latter case Japanese messages might be added 1 2 Essential precautions 1 2 Essential precautions Particularly important cautions for handling or operating the robot are described below In addition precautions during installation operation inspection and maintenance are also provided in each chapter Be sure to comply with these instructions to ensure safe use of the robot 1 Observe the following cautions during automatic operation Install a safeguard safety enclosure to keep any person from entering within the movement range of the robot and suffering injury due to being struck by moving parts Install a safety interlock that triggers emergency stop when the door or panel is opened Install a safety enclosure so that no one can enter inside except from doors or M ge Ad o o pia Un 4 m panels equipped with safety interlocks Warning labels 1 are supplied with the robot and should be affixed to conspicuous spots on doors or p
33. carries plastic chain for cable guide User cables and air hoses can be routed in the cable carrier of the N15 N18 Observe the following precautions when routing user cables and air hoses in the cable carrier CAUTION e The cable and air hoses should take up less than 30 of the space when storing them inside the cable carrier Lay out the cables and air hoses in rows inside the cable carrier so they do not cross each other The cables and air hoses inside the cable carrier will shift while the robot is operating becoming taut and placing a strain on the connectors at both ends To prevent this loosely fasten the cables and air hose to the cable carrier with cable ties to prevent strain from being applied Fasten them lightly since the cables and hoses might break if secured too tightly e Do not remove or mount brackets installed on the cable carrier or attempt to modify them 5 pue uore ejsu 7 3 12 Periodic inspection and maintenance 4 1 Before beginning work 4 1 Before beginning work Periodic inspection and maintenance are essential to ensure safe and efficient operation of YAMAHA robots This chapter describes periodic inspection items and procedures for the N15 N1 8 Before beginning work read the precautions below and also in Chapter 1 Using the Robot Safely and follow the instructions TH AD DANGER IF THE INSPECTION OR MAINTENANCE PROCEDURE CALLS FOR
34. ectors coming out from the robot cable connector signal wire Robot cable connector motor wire 3 9 3 4 Connecting the robot to the controller 2 SuOmouuoo pue uorjej ejsu 7 3 10 After making the connections fit the connector hoods together securely Hood 3 4 Connecting the robot to the controller B Robot cable connections Programming unit Robot controller Robot cable motor wires Robot cable signal wires After making connections fasten the hoods securely Hood Single axis robot N15 N18 un ma e c gt gt Q c e D gt un Single axis robot system diagram HS 232C communication Robot controller control RS 232C or communication control ee ae communication cable Motor power supply control Internal 24V power supply O O gt dp Support software Computer POPCOM Power supply AC100 115 200 230V 10 Controller is supplied with the robot External control 1 Programming box HPB A robot PLC and similar units a is sold separately ag mm A um oum um mm um um um um 3 11 3 5 Precautions during user wiring and hose installation 3 5 Precautions during user wiring and hose installation O Cable
35. ents established by local regulations and safety standards for industrial robots 1 9 1 4 Robot safety functions 1 4 Robot safety functions D 2 3 Ajayes 8051 4 1 10 Overload detection This function detects an overload applied to the motor and shuts off the servo power Overheat detection This detects an abnormal temperature rise in the controller driver and shuts off the servo power If an overload or overheat error occurs take the following measures 1 Insert a timer in the program 2 Reduce the acceleration coefficient Soft limits Soft limits can be set on each axis to limit the working envelope in manual operation after return to origin and during automatic operation Note The working envelope is the area limited by soft limits WARNING SOFT LIMITS MUST BE SET WITHIN THE MOVEMENT RANGE MECHANICAL STOPPER IF THE SOFT LIMIT IS SET OUTSIDE THE MOVEMENT RANGE THE ROBOT AXIS MAY COLLIDE WITH THE MECHANICAL STOPPER AT HIGH SPEED CAUSING THE OBJECT GRIPPED BY THE END EFFECTOR TO FLY OR DROP AND THE ROBOT TO MALFUNCTION Mechanical stoppers If the servo power is suddenly shut off during high speed operation by emergency stop or safety functions these mechanical stoppers prevent the axis from exceeding the movement range Note The movement range is the area limited by mechanical stoppers AA WARNING ROBOT MOVEMENT WILL NOT STOP IMMEDIA
36. ffect the capabilities of the robot and or related product noise from computers motors etc 3 Programs point data and other internal data that were changed or created by the user Failures resulting from the following causes are not covered by warranty repair 1 Damage due to earthquakes storms floods thunderbolt fire or any other natural or man made disasters 2 Troubles caused by procedures prohibited in this manual 3 Modifications to the robot and or related product not approved by YAMAHA or YAMAHA sales representatives 4 Use of any other than genuine parts and specified grease and lubricants 5 Incorrect or inadequate maintenance and inspection 6 Repairs by other than authorized dealers 1 14 1 9 Warranty YAMAHA MOTOR CO LTD MAKES NO OTHER EXPRESS OR IMPLIED WARRANTIES INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE THE WARRANTY SET FORTH ABOVE IS EXCLUSIVE AND IS IN LIEU OF ALL EXPRESSED OR IMPLIED WARRANTIES INCLUDING WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE OR WARRANTIES ARISING FROM A COURSE OF DEALING OR USAGE OF TRADE YAMAHA MOTOR CO LTD SOLE LIABILITY SHALL BE FOR THE DELIVERY OF THE EQUIPMENT AND YAMAHA MOTOR CO LTD SHALL NOT BE LIABLE FOR ANY CONSEQUENTIAL DAMAGES WHETHER ARISING FROM CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY YAMAHA MOTOR CO LTD MAKES NO WARRANTY WHATSOEVER WITH REGARD TO AC
37. fort has been made to ensure the contents of this manual correct please contact us if you find any part of this manual to be unclear confusing or inaccurate YAMAHA MOTOR CO LTD IM Operations MEMO Using the Robot Safely 1 1 Safety information Industrial robots are highly programmable mechanical devices that provide a large degree 1 1 Safety information of freedom when performing various manipulative tasks To ensure correct and safe use of YAMAHA industrial robots carefully read this manual and make yourself well acquainted with the contents FOLLOW THE WARNINGS CAUTIONS AND INSTRUCTIONS included in this manual Failure to take necessary safety measures or mishandling due to not following the instructions in this manual may result in trouble or damage to the robot and injury to personnel robot operator or service personnel including fatal accidents Warning symbols and signal words used in this manual are classified as explained below Make sure that you fully understand the meaning of each symbol and comply with the instructions AD DANGER FAILURE TO FOLLOW DANGER INSTRUCTIONS WILL RESULT IN SEVERE INJURY OR DEATH TO THE ROBOT OPERATOR BYSTANDERS OR PERSONS INSPECTING OR REPAIRING THE ROBOT WARNING FAILURE TO FOLLOW WARNING INSTRUCTIONS COULD RESULT IN SEVERE INJURY OR DEATH TO THE ROBOT OPERATOR BYSTANDERS OR PERSONS INSPECTING OR REPAIRING THE ROBOT
38. g the screw that clamps the coupling to the motor shaft as shown below When workpiece is on table slider lt N15 gt I Hole for motor and coupling clamp screw Hole for motor and coupling clamp screw When no workpiece is on table slider c m a e un c e 5 E en 5 eJ e 4 4 Replacing motor 8 While holding the ball screw shaft with a wrench by placing it to the thread groove loosen and remove the U nut and washer U nut Thread groove on ball screw rd 7 9 Loosen the mounting bolts 4 places at the other end of the ball screw ap o e un C e c gt gt E gt gud gt O 4 10 Ball screw mounting bolts 4 4 Replacing motor 10 Remove the bolts 3 places securing the ball screw holder and then remove the ball screw tensioner bolt 1 place Ball screw holder mounting bolt Ball screw tensioner bolt 11 Remove the screws 2 places securing the damper Skip this step for the N18 robot lt N15 gt a O e e 72 e c gt gt o E en gt e gt O 4 11 4 4 Replacing motor 12 Remove the bolts 4 places securing the motor and remove the motor At this time be careful not to allow the ball screw
39. he instructions in this manual The warning labels 3 are supplied with the robot and should be affixed to the robot or conspicuous spots near the robot AA WARNING IMPROPER INSTALLATION OR OPERATION CAN RESULT IN SERIOUS INJURY OR DEATH READ THE USER S MANUAL AND ALL WARNING LABELS BEFORE OPERATION Warning label 3 A WARNING Improper installation or operation can result in serious injury or death Read user s owner s manual and all warning labels before operation 1 2 Essential precautions 4 Do not remove alter or stain the warning labels WARNING IF WARNING LABELS ARE REMOVED OR DIFFICULT TO SEE THEN ESSENTIAL PRECAUTIONS MIGHT NOT BE TAKEN RESULTING IN ACCIDENTS DO NOT REMOVE ALTER OR STAIN THE WARNING LABELS ON THE ROBOT DO NOT ALLOW THE WARNING LABELS TO BE HIDDEN BY DEVICES INSTALLED ONTO THE ROBOT BY THE USER e PROVIDE PROPER LIGHTING SO THAT THE SYMBOLS AND INSTRUCTIONS ON THE WARNING LABELS CAN BE CLEARLY SEEN EVEN FROM OUTSIDE THE SAFETY ENCLOSURE 5 Do not use the robot in environments containing inflammable gas etc WARNING e THIS ROBOT WAS NOT DESIGNED FOR OPERATION IN ENVIRONMENTS WHERE INFLAMMABLE OR EXPLOSIVE SUBSTANCES ARE PRESENT e DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING INFLAMMABLE GAS DUST OR LIQUIDS EXPLOSIONS OR FIRE MIGHT OTHERWISE RESULT Ajayes SUISN A 6 Do not use the robot in locations possibly subject
40. hod for installing the N15 N18 Installation method A N15 only Drill holes through the installation base and secure the robot to the base with M6 bolts from below the base M6 tapped holes are already machined in the bottom of the robot frame Installation method N15 N18 Drill and tap M6 holes for N15 or M8 holes for N18 into the installation base and secure the robot to the base with M6 bolts for N15 or M8 bolts for N18 from above the robot frame WARNING p e BEFORE INSTALLING THE ROBOT ALWAYS MAKE SURE THAT THE ROBOT CONTROLLER IS NOT CONNECTED TO THE ROBOT OR THE POWER TO THE CONTROLLER IS OFF SERIOUS ACCIDENTS MAY OCCUR IF THE ROBOT STARTS TO OPERATE DURING INSTALLATION e SURE TO USE THE BOLTS OF THE SPECIFIED SIZE AND LENGTH AND TIGHTEN THEM SECURELY TO THE CORRECT TORQUE IN THE CORRECT POSITIONS FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE ROBOT VIBRATIONS POSITION ERRORS AND SERIOUS ACCIDENTS DO NOTUSE A BOLT LONGER THAN THE SPECIFIED LENGTH SINCE IT MAY INTERFERE WITH THE INTERNAL PARTS OF THE ROBOT AND CAUSE MALFUNCTIONS suomoouuoo pue 5 3 5 3 3 Installing the robot O Installation method A N15 only Drill holes through the installation base where the robot is secured Then secure the robot to the base with specified bolts from below the base For machining positions of holes refer to the dimensional outlines in 6 1 Main unit specifications in Chapte
41. ical parts Retighten Check for looseness of if necessary robot mechanical parts 2 Replace mechanical parts Is there a large source of noise nearby Replace the cable 1 Check tool and workpiece for warping 2 Check robot alignment cause c Y 5 O ar gt Does the position return after return to origin operation Yes Yes 1 Check for looseness of Yes Take measures against noise Check or replace the motor cable and controller No 1 5 1 If you suspect trouble 5 1 2 Feedback error Feedback error No Any foreign matter caught inside No Adjust mechanical alignment Is brake installed Yes Turn power off and Much mechanical check for friction friction by moving manually No Is there electrical discontinuity Replace motor with brake Initialize parameters Replace power supply unit or repair defective parts Are parameters for controller and robot OK No No No Yes Is there electrical discontinuity No Yes Are wiring and connector securely connected Securely connect wiring and connector When feedback error is occurring perform Are connector pins continuity check securely inserted No Securely insert pins or repair defective pins 1 Check motor power supply lines U V and W 2 Check encoder signal lines for phases
42. ing return to origin If you want to interrupt return to origin before completed press The robot will stop and a message will appear Then pressing Esc gt will return to the screen in step 2 When return to origin is complete the machine reference value is displayed on the bottom right of the screen Press to display the grid position MENU select menu ZEDITZOPRTSSYS AMON OPRT select menu BORG 25 OPRT ORG SEARCH ORG search OK BYES BNO OPRT ORG SEARCH searching OPRT ORG SEARCH origin complete grid position Troubleshooting 5 1 If you suspect trouble 5 1 If you suspect trouble If an error such as a positioning error or feedback error occurs check the following points to find the solution before you determine the robot or controller has malfunctioned If the trouble still exists even after checking these points please contact us with a detailed description of the trouble 5 1 1 Positioning error Position deviates The position deviates after Robot bumped into something Operation was correct moving the robot or set up or there are traces of bumping but position deviates of workpiece tool into rubbing against something Is cable broken Are cables correctly wired Are connectors correctly fitted Check wiring and connectors Are the robot tools and workpiece correctly installed method mechan
43. is 7 691 061 epis y Je 9 99 uonisod uiDuo epis H EFG9 91109113 uonisod uiDuo epis T EFGYL 3 6 1 Ma 1811105 2402 PJUOZIIOY ki Specifications ions t Q Q Y u in uni 6 1 Ma Specifications SION 59 061 L3JON G9 01 7H90 z H H 00095 55019 091 JO 0 JO peau Japun 0 TXON 8 oq peeu TONE u 1920 xeu 0 XIN esf S Sa AAA r Y 1 E e IN N SEEEEEEEEEEEEEEEEEELE DODODDUOD oan gt E gt 8 SG 601 isi epis 7 ye ueuw G9 uiuo epis y ueuw G9 L uonisod UIBLIO epis 6 69 9011s epis 7 2 991 uonoeso eje JeuJeo e qeo jo uonoes ssoJ2 002X3 Z e3oN C H H 01995 55010 ees 9 uideq 0 4 1911102 9402 pappupjs junoui D GIN e 6 5 N Y a Q Q N dem c O p I gt 1910 1 99 061 01 uideq 2 99 2 091 7 udad 0 LXOW 8 86 L9ION S9 epis 11e 9 epis H E G9 9y0JIS SAOSIN 3 20 07ZH90 epis y 9 epis 1
44. is based on Japanese manual Ver Dec 2009 English manual Ver 1 04 is based on Japanese manual Ver Feb 2010 English manual Ver 1 05 is based on Japanese manual Ver User s Manual FLIP X series YAMAHA N15 N18 Feb 2010 Ver 1 05 This manual is based on Ver 1 06 of Japanese manual YAMAHA MOTOR CO LTD IM Operations 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
45. mal operation of robot Malfunction of robot positioning error excessive vibration etc Ajayes SUISN A 13 Protective bonding WARNING BE SURE TO GROUND THE ROBOT AND CONTROLLER TO PREVENT ELECTRICAL SHOCK 14 Be sure to make correct parameter settings CAUTION The robot must be operated with correct tolerable moment of inertia and acceleration coefficients according to the manipulator tip mass and moment of inertia If these are not correct drive unit service life may end prematurely and damage robot parts or residual vibration during positioning may result 15 Follow the specified procedures when installing adjusting or inspecting the robot AX WARNING ALWAYS FOLLOW THE SPECIFIED PROCEDURES WHEN INSTALLING ADJUSTING OR INSPECTING THE ROBOT NEVER ATTEMPT ANY PROCEDURE NOT DESCRIBED IN THIS MANUAL 16 Do not attempt any repair parts replacement and modification AY WARNING DO NOT ATTEMPT ANY REPAIR PARTS REPLACEMENT AND MODIFICATION UNLESS DESCRIBED IN THIS MANUAL THESE WORKS REQUIRE TECHNICAL KNOWLEDGE AND SKILL AND MAY ALSO INVOLVE WORK HAZARDS 1 7 1 2 Essential precautions 17 C um ge pla g a Un c m 18 19 20 21 22 23 1 8 Location for installing the controller and the programming box or Handy Terminal The robot controller programming box and Handy Te
46. ne reference value display examples OPR T ORG OPRT ORG origin complete origin complete machine ref 5096 machine ref X 5096 Y 25026 SRCX DRCX Two FLIP X control WANG gt ABS RESET 50 MG SOHOJ Machine Reference M4 40 RCX142 Multiple FLIP control xipuadd y Moment of inertia calculation CAUTION The robot must be operated with correct tolerable moment of inertia and acceleration coefficients according to the manipulator tip mass and moment of inertia If this is not observed premature end to the life of the drive units damage to the robot parts or residual vibration during positioning may result Usually the R axis load is not a simple form and the calculation of the moment of inertia Is not easy As a method the load is replaced with several factors that resemble a simple form for which the moment of inertia can be calculated The total of the moment of inertia for these factors is then obtained The objects and equations often used for the calculation of the moment of inertia are shown below 1 Moment of inertia for cylinder The moment of inertia J for a cylinder having a rotation center such as shown below 15 given by 4 2 J __prD h WD kgf cm sec 32g 8g 2 h Density kg cm Gravitational acceleration cm sec Weight of cylinder kgf Mass of cylinder kg D gt j 20 2 Moment of inertia for rectangular parallelepiped The moment of ine
47. over Refer to 3 3 Installation method B for how to remove the end covers 32ueugjureui pue 21 A 4 5 4 3 Applying grease 4 a o e un C e c gt gt E gt N gt O 5 Apply grease by either of the following methods Linear guide When using a grease gun apply grease into the four grease nipples two each on both sides of the ball guide bearing Then move the table slider back and forth to help spread the grease around Grease nipple Ball screw Apply grease by hand to the ball screw and move the table slider back and forth to help spread the grease around Ball screw Reattach the top cover and end covers 4 4 Replacing motor 4 4 Replacing the motor CAUTION A positional shiff occurs by replacing the motor It is therefore necessary to perform return to origin and set point data again after replacing the motor When removing the parts nofe their positional relation and assembly order Provide a space of at least 300mm between each end of the robot and the wall Do not pull out the ball screw nut section from the ball screw on Pl 7 Wi U Wal d ANN NAN NAAN Ball screw Nut section Allow a space of Do not pull out 300mm or more 1 Turn off the controller power 2 Remove the end covers 1 upper end covers from both ends of the robot
48. r 6 The bolts and tightening torque are shown below Hex socket head M6 bolt Strength 8 8T Length installation base thickness 105 mm Bolt Tightening torque 9 8Nm to 12 7Nm 100kg cm to 130kg cm SUOIjO9UUO pue 7 Installation base M6 bolt Because the robot frame has a cavity inside the tapped holes it is possible to use bolts whose length is up to the installation base thickness 20mm Even in this case the length of the bolt thread engagement is 10mm 3 6 3 3 Installing the robot O Installation method B N15 N18 Drill and tap M6 holes for N15 or M8 holes for N18 into the installation base For machining positions of holes refer to the dimensional outlines in 6 1 Main unit specifications in Chapter 6 The bolt tightening method and torque are explained below 1 Remove the end cover 1 upper end cover from each end of the robot Then remove the screws total of 4 holding the top cover and remove the top cover End cover 1 End cover 1 Top cover N18 suornoauuoo pue uonejje suj 5 3 7 3 3 Installing the robot 2 Secure the robot to the base with the specified bolts utilizing the mounting holes in the bottom of the robot frame While moving the table slider secure the robot to the base using all the mounting holes in the bottom of the robot frame Hex socket head M6 bolt Strength 8 8T Length 16mm or more
49. r overflow etc When using an TS X controller 82 ENCODER ERROR 83 ABS ENCODER ERR 8A ABS BATTERY ERR 8B ABS COUNT ERROR 8D ABS OVERFLOW ERR etc S9 OU JY peaJ 0 2g sjoqoa sixe o Suis LN S LN SUISN 9 0199 S9 OU SUIMO OJ JY 0 9415 2g sjoqoa sixe o Suis gLN SLN SUISN Setting the origin position Set the origin position by referring to the following section in the robot controller user s manual When using an SR1 controller See 9 1 1 Return to origin by the search method in Chapter 9 of the HPB Operation Guide section When using an RCX240 controller See 11 9 Absolute reset in Chapter 4 When using an RCX222 controller See 11 8 Absolute reset in Chapter 4 When using an TS X controller See 6 2 Origin search return to origin in 6 Operating the robot of the HT1 Operation Guide section AN CAUTION Changing the origin position to the opposite side of the initial position may cause position shift or robot breakdowns so use caution Avoid changing the origin detection method since it is dangerous in some cases If the origin position must be changed please consult our sales office or dealer After setting the origin position affix the stickers triangular stickers supplied with the robot to both the tool side and workpiece side so that they can be used as the alignment marks Use these marks as the reference
50. re is backlash due to wear Controller Check if terminals are loose e Check if connectors loose Greasing to ball screw nut section and linear guide Apply grease every 6 months to ball screw nut and linear guide Recommended grease Albania No 2 Shell Daphne Eponex No 2 Idemitsu See 4 3 in this chapter Slider CAUTION On long stroke robots check the slider inside the top cover for wear or damage every 6 months Using grease other than those recommended by YAMAHA might shorten the service life of the ball screw and linear guide 4 2 4 Three year inspection Check the following points every 3 years or more often if the robot is used frequently 4 4 Checkpoints Ball screw nut section and linear guide Check items Check ball screw nut and linear guide for backlash due to wear Consult us if abnormal condition is found 4 3 Applying grease When applying grease to the ball screw according to periodic inspection follow the 4 3 Applying grease procedure below Grease can be applied to the ball screw nut section using the grease nipples Prepare a grease gun in this case 1 Make sure that the power to the controller is off 2 Remove the end covers 1 upper end covers from both ends of the robot Refer to 3 3 Installation method B for how to remove the end covers 3 Remove the screws holding the top cover and remove the top c
51. rforming teaching within the safety enclosure comply with the instructions listed below Ajayes SUIS 1 Check or perform the following points from outside the safety enclosure 1 Make sure that no hazards are present within the safety enclosure by a visual check 2 Check that the programming unit HPB option operates correctly 3 Check that no failures are found in the robot 4 Check that emergency stop works correctly 5 Select teaching mode and prohibit automatic operation 2 Never enter the movement range of the manipulator while within the safety enclosure 1 12 1 8 Automatic operation Automatic operation described here includes all operations in AUTO mode 1 8 Automatic operation 1 Check the following before starting automatic operation 1 No one is within the safety enclosure 2 The programming unit and tools are in their specified locations 3 The alarm or error lamps on the robot and peripheral equipment do not flash 4 The safety enclosure is securely installed with safety interlocks actuated 2 Observe the following during automatic operation or in cases where an error occurs 1 After automatic operation has started check the operation status and signal light to ensure that the robot is in automatic operation 2 Never enter the safety enclosure during automatic operation C um ge EN J g pia Un 4 lt 3 If an error occur
52. rminal should be installed at a location that is outside the robot movement range yet where it is easy to operate and view the robot performing tasks Protect electrical wiring and hydraulic pneumatic hoses as needed Install a cover or similar item to protect the electrical wring and hydraulic pneumatic hoses from possible damage Install an operation status light Install an operation status light signal light tower etc at an easy to see position so the operator will know whether the robot is merely stopped or is in emergency error stop Clean work tools etc Work tools such as welding guns and paint nozzles which are mounted in the robot arm will preferably be cleaned automatically Provide adequate lighting Make sure to provide enough lighting to ensure safety during work Prevent the gripped object from flying outwards If the object or workpiece gripped by the robot might fly outward or drop and create a hazard to the operator then protective equipment should be installed by taking the size weight temperature and chemical properties of the object into account Draw up work instructions and makes sure the operator learns them well Decide on work instructions for the following items in cases where personnel must work within the robot movement range to perform teaching maintenance or inspection Make sure the workers know these work instructions well 1 Robot operating procedures needed for tasks such as sta
53. rtia J for a rectangular parallelopiped having a rotation center as shown below is given by 2 2 2 2 J _ pabc b _W a b kgf cm sec 12g 12g TS m a 6 2 kgm kgm p Density kg cm g Gravitational acceleration cm sec W Weight of prism kgf D m Mass of prism kg 3 When the object s center line is offset from the rotation center The moment of inertia J when the center of the cylinder is offset by a distance x from the rotation center as shown below is given by gt 2c pnD h hx center line S 32g 4g rotation gt 2 2 center SEL Ru 8 kgf cm sec 89 9 2 MD me 8 h Weight of cylinder kgf W m Mass of cylinder kg e Density kg cm D g Gravitational acceleration cm sec A In the same manner the moment of inertia J of a prism as shown below is given by _ pabc b pabcx J i 9 center line lt gt b 2 kgf cm sec 12g 9 m a T 2 2 12 mx C W Weight of prism kgf m Mass of prism kg eee Revision record Manual version Issue date Description Sep 2006 English manual 1 00 is based on Japanese manual Oct 2006 English manual Ver 1 01 is based on Japanese manual Ver Feb 2007 English manual Ver 1 02 is based on Japanese manual Ver May 2007 English manual 1 03
54. rtup procedures and handling switches 2 Robot speeds used during tasks such as teaching 3 Methods for workers to signal each other when two or more workers perform tasks 4 Steps that the worker should take when a problem or emergency occurs 5 Steps to take after the robot has come to a stop when the emergency stop device was triggered including checks for cancelling the problem or error state and safety checks in order to restart the robot 6 In cases other than above the following actions should be taken as needed to prevent hazardous situations due to sudden or unexpected robot operation or faulty robot operation as listed below 1 Show a display on the operator panel 1 3 Industrial robot operating and maintenance personnel 2 Ensure the safety of workers performing tasks within the robot movement range 3 Clearly specify position and posture during work Position and posture where worker can constantly check robot movements and immediately move to avoid trouble if an error problem occurs 4 Install noise prevention measures 5 Use methods for signaling operators of related equipment 6 Use methods to decide that an error has occurred and identify the type of error Implement the work instructions according to the type of robot installation location and type of work task When drawing up the work instructions make an effort to include opinions from the workers involved equipment manufacture s technici
55. s 3 9 epis TEF Lg JO WIWIOF Jo peeu Japun peeu 19205 xeu GZ xg N esf 910N C 3 3 04 9 5010 ees oe uideq 60 9 i J v 002xg V 1911102 9402 junoui pb BLN e Specifications 00105 jo jrejeq LL J91J89 Ged JO 00095 55017 09 6 16 Specifications vl 21 0L 89 99 79 c9 09 3 aon ON JUBIOM 0592 0952 0982 0922 os z OSOZ 0961 2 8c 8c 92 v2 vz uz el el el el 01 Ol LEL 18 LEL LEL 18 rer 18 o 2982 2912 2992 2992 9 2922 2922 2912 2902 OSZz 0912 0902 0561 0981 092 0591 0991 e qe1 eui ui UMOUS OU sasoy y x 90 eJouJ uey Jeineay SI jo jubiam ay ou 1u6I9M 1 SON JO ssed oi jq ssod JOU si 1i e qeo e si eui y SION c gt pepi oud pun y s BuiBueu JeuJeo eui juanald 1101 e exouis 0602 ULY 10901 y 104 9 9 0N Buuds e
56. s in the robot or peripheral equipment observe the following procedure before entering the safety enclosure 1 Press the emergency stop button to set the robot to emergency stop 2 Place a sign on the start switch indicating that the robot is being inspected in order to keep any other person from touching the start switch and restarting the robot 1 13 1 9 Warranty Ajayes SUISN 1 9 Warranty The YAMAHA robot and or related product you have purchased are warranted against the defects or malfunctions as described below Warranty description Warranty Period Exceptions to the Warranty If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this YAMAHA robot and or related product within the warranty period then YAMAHA will repair or replace those parts free of charge hereafter called warranty repair The warranty period ends when any of the following applies 1 After 18 months one and a half year have elapsed from the date of shipment 2 After one year has elapsed from the date of installation 3 After 2 400 hours of operation This warranty will not apply in the following cases 1 Fatigue arising due to the passage of time natural wear and tear occurring during operation natural fading of painted or plated surfaces deterioration of parts subject to wear etc 2 Minor natural phenomena that do not a
57. to electromagnetic interference etc WARNING AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC INTERFERENCE ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY INTERFERENCE MALFUNCTIONS MIGHT OTHERWISE OCCUR 7 Provide safety measures for end effector gripper etc WARNING END EFFECTORS MUST BE DESIGNED AND MANUFACTURED SO THAT THEY CREATE NO HAZARDS FOR EXAMPLE A WORKPIECE THAT COMES LOOSE EVEN IF POWER ELECTRICITY AIR PRESSURE ETC IS SHUT OFF OR POWER FLUCTUATIONS OCCUR IF THERE IS A POSSIBLE DANGER THAT THE OBJECT GRIPPED BY THE END EFFECTOR MAY FLY OFF OR DROP THEN PROVIDE APPROPRIATE SAFETY PROTECTION TAKING INTO ACCOUNT THE OBJECT SIZE WEIGHT TEMPERATURE AND CHEMICAL PROPERTIES 1 5 1 2 Essential precautions 8 Use caution when removing the motor Vertical use robots C um gt ge N Ay g a Un al m 9 Ad WARNING THE VERTICAL AXIS WILL SLIDE DOWN WHEN THE MOTOR IS RELEASED CAUSING A HAZARDOUS SITUATION e TURN OFF THE ROBOT CONTROLLER AND PROP UP THE VERTICAL AXIS WITH A SUPPORT STAND BEFORE REMOVING THE MOTOR BE CAREFUL NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE VERTICAL AXIS PARTS AND INSTALLATION BASE Be careful not to touch the motor and peripheral parts when hot WARNING The motor and speed reduction gear casing are extremely hot after automatic operation so burns may occur if these are touched
58. u op 101 sajoy SION y 90 JO ssed o ejqissod jou si y Jaleo ages 5 e SI y SION Jeddo s eo1ueyoau y SOUS eouelsiq SION G 9 0N H H 01295 55010 999 eee gt uide ZHoLo z 01205 JO 911129 9 Q89 JO UOIJ29S SSOJ 200 9 001 0L uideq 0 LX9IN 9 v e V H H 00095 55017 aow JO WLUQZ JO peeu mee U nm loq KT o gt E D a Fe N 5 2 e Oo Ic N uideq 0 9 LBJON 0L 7H96 2 69 epis 7 ueym s91 06 epis y ueyM S91 uonisod APIS Y EFG9 940115 91199147 1 uonsod epis 7 289 1911109 2402 puppunis pjuoziu0u GIN e suoisuouiq e 9 0N H H 10005 65010 996 JO 18190 1 2 ejqeo Jo uonoes sso12 H H 00095 55010 aow JO 0 JO peau oq peeu 194905 0 LX9W 981 ZO i 3 172 c 9 el 5 Y U set Q 5 5 i EL e 8 5 G9 86 yi udad 0 90 8 69 0 01 yidag 9 2 ep
59. ual vibration and noise Motor Check for unusual vibration and noise and for abnormal temperature rise 4 2 2 Three month inspection Check the following points every 3 months and apply grease if needed Checkpoints Check items Ball screw linear Check for dust buildup or debris See 4 3 in this guide ball bushing Clean if necessary Apply grease chapter after cleaning Check to see if the ball screw linear guide and ball bushing are lubricated not dry Apply grease if necessary Standard robots Albania No 2 Shell Daphne Eponex No 2 Idemitsu Clean room robots LG 2 NSK CAUTION pue Ipod A Using grease other than those recommended by YAMAHA might shorten the service life of the ball screw linear guide and linear bushing shaft 4 3 4 2 Periodic inspection 4 2 3 Six month inspection Check the following points every 6 months and adjust or replace parts if needed pue uomnoodsur JIPOLIIA Checkpoints Major bolts and screws on robot Check items Check for looseness Tighten if loose Ball screw linear guide Check the ball screw and linear guide for backlash Tighten if necessary Check for vibration during operation Tighten bolts if necessary to secure drive unit and or shaft Check for backlash due to wear Consult us if problem cannot be solved or the
60. zou op 101 sajoy 66 SION y x 96 JO ssed oj 9916509 ou SI e qeo 5 e SI y SION 1999048 eoiueuoeui ay SPUD B9UEISIQ SION 20074 c e10N 3 3 04095 850 0 88S G yidag H019 z 6 1 Ma uonoesjo leje 4 eue 9 qeo Jo 00095 55009 6r Z 9ION C3 3 00095 55010 ees oe uideq 60 9 002 d 002xg V BeBe Sede re lessee d GLH Jesn 10 jeuiue 910N 3 3 004998 85010 D yua ui 19205 esf I E 8 O E AE 5 86 ez ers 19100 091 0L 7H96 2 1910 87 061 8 epis 7 Je ueuw 181 epis y Je ue 181 uonisod UIBIJO epis 181 9 epis 12319 5 jopow 1914109 9214995 P ppupys D UOZIIOU QIN o suoisuouiq e ications t specif gt 6 1 Ma uonoesjo rejeq 190 e qeo JO 04098 85010 2 e10N 3 3 uornoes sso1o ees oe uideq 60 9 3 3 01295 55019 JO jo peeu Japun peeu 19205 Ge X8 N 951 gt L MM p lt 2 O L 8 LION 87 061

Download Pdf Manuals

Related Search

Related Contents

USING THE UNIT SAFELY IMPORTANT NOTES How to  User Manual 17” / 19” LCD - I  XX.Y Kuki User's Manual  MEDICAL SYSTEM GUIDANCE（PDF 5.7MB）    DeLOCK 65314      Guide d`utilisation pour le Modèle de plan d`apprentissage  Trust Galaxy Tab Screen Protector  

Copyright © All rights reserved. Failed to retrieve file