Home

MF Type User`s Manual

1. 19141e2 9 qe edA1auSu ejuoziou y moys 510 uo 58 941 BION 8 Aq 9pis 01 pasueyd 3 1ueuldius JO epis 7 y UO 195 SI 18110 Y BION 001XV 200708 0L uideq 8 8 1 2404 0L udad 08 119100 0 OLL LFOY uonisod epis Ort eyoils uonisod uiuo epis 3 1 B Specifications 20 0 ueewjeg 3 3 10 01295 55019 1999045 21 y 0 y0q o2uejsI BION 4914429 JO UONI S SS019 N S 921191 7 kg ve jo IN adA ejqeo jeuondo ejqeo jeuondo Lvl uonejeisu RD ILLI ri Eu 62 Jepi s jo 00 08 H13 ejqeo adAy 5 74W i B Specifications By 10619M
2. 2 ajqeo 3 y moys ased siy uo 991 DION y JO y WO1 y e2uejsip 99 sr UOISNIJOJd VION Sunes Aq 80188605 WOJ 2 ajqeo 5 01 pasueyd ued 3 jo JWI epis 7 99 UO 1495 SI 94 BION y JUBAIIC si 19 04 92 0 45 JABUO JO LULUQOO E 104 p AION 1999045 21 y 0 o2uejsI BION lt 0p OOLXY o 3 3 10 uonoes sso19 q 0 95 40 1311189 e qeo 01295 5501 6 2 2009 3 9 JO 88010 0 HOLO Z 280 9 62 01 8 0 9 8 SION 01 deg Laon S LFO Or S uonisod epis GFOY 01 Ort uonisod epis 3 05 1 di 1914405 9 qp5 ed A 1 104 puppupnig pjuoziuoq 5 JW
3. JN punog 15 9 L o adA 3 Jaleo euondo S 981 Sa a 8 1 CJ E S d at Bee eo HyS d c _ 198 XOIN ida XON edA WN S ejqeo jeuondo 50105 0 9 yaaq 0 00 08 3 S 0 OL yaaq 0 4 90 0Ludeq 0 ZH90 p 04 T i 10 0 10 0 uondo W 061 ik n 6 6 2 S je gt ueewjeq eouejsip 06 5 810N GFGG L x at 7 jopow poyUOZIIOY q0 JW e e e Specifications 7 24 Specifications By 7 25 exo1ls 80188605 WOJ 19111e2 ajqeod y s L adAj 1 J euondo ue pue 45 10 WWQGO E 104 p BION Jaddojs ay 0 BdUeISIG AION pesn aq A uo lt add q 950 45 10 WWQGO Z 104 BION JY UBYM 15 9 q 1 94 JO UONISOd D
4. op c 910 9404 m 1366 168 2 3 INE zi dod 0 TXIN cL udad 0 LXOW P 20 0106 amp o rudeg 0 21967 0 090 0 2197 OZ lt j 210 0 210 0 061 061 x e ale S 1 810N SFOEL SONS OASYS S eouejsip 002 GFOEL 7 Specifications D 5 5 jo 98 8 BN E qc 961 929 1 jeuondo d N S 1 jeuondo uondo S uondo Je 0J JO Jejeureiq 0 pjuoziuou GOTIW q Specifications 7 19 exo1ls pesn si 2 ed jeuondo ue UIYM HUN JO y y e2ueisip JY S UOISNIJOIg DION 8 5 WOJ 2 y si Jaleo o qe 1 ue pue 0 45 1e8u0 0 YUM 104 p BION pesn A uo ued ad 1 950 45 JASUO 10
5. 9011S pesn ad 1 yeuondo ue un 191JJe2 y y SI UOISNIJOJg BION 1999015 21 y 0 spu Y OG o2uejsI BION sed s pue edA N edA 7 Jepiis jo 908 do 4914489 ejqeo jeuondo ejqeo jeuondo 08 01 udad 99 01 udad 99 76 161 1 H90 ueemjeg 7g 20 0FZH90 ueeweg 20 0 GFOS 59 QOZ 45 E amp 10N 09 1 09 sadA S pue puepuels 0 uideq 0 LX9W 2 V JOM qS LJW 7 13 N 7 1 3 MF20 Basic specifications Model name MF20 MF20D Driving method Steel cored linear motor flat magnet Repeated positioning accuracy um 5 Scale um Magnetic method resolution 1 Maximum speed mm sec x2 2500 Maximum carrying weight kg 1 40 Rated thrust N 86 Maximum stroke mm 4050 3850 Bearing method 2 guide rails and 6 blocks with retainer aaa W150xH80 excluding
6. exo1ls 1999045 21 y 01 o2uejsI BION JY UBYM 15 9 q 1 94 JO UONISOd DION 3 3 JO 0195 8500 01095 40 1e 9q T 2 g ge 1 wd ZHOLO S ajqed jeuondo 1911129 914 2 JO UOI 28S SSOJ2 5 s Vc adA 191489 ajqed jeuondo 01 uideg 8 0XSIN 8 Jepi s 10 00 08 G9 62 He 2106 101 08 2106 9041s 9 1129J43 OLL 07 eouejsip 00 FAON SFOPE 1 20 0 ed puppupjs junoui bjuoziuou q 4W 7 5 By 90415 y JO y 9 qeo y e2uejsip 99 SI UOISNIJOJg p AION 1999045 21 y 0 o2uejsI BION SUISSES WOJ 1911162 9 qe5 y 5 si 950 45 19
7. epis ueuM 991 1 N S gt J gt oy TN ape o Tek B sr k sodA pue 0 99 ed WW 191482 ajqed jeuondo 7 ejqeo jeuondo sodA 7 pue N punoJc el 0 ydoq 0 20102 910 0 966 JO JO1 JO 1 V 060 junoui OLIW By exo1ls 8 5 WOJ 19111e2 ajqeo y 51 ales add 1 J euondo ue pue 0 45 10 WWQGO E 104 p BION 1999045 y spu u10q BION pesn adA 1 euondo 950 45 10 YUM 104 DION y UBYM 15 y JO 19068 0 29010 1 910 0 e _______ _____ 99 0L uideq 0 LXON D v V t Jo 10190
8. Jo 118190 uideq PONT 20 0 9 021 9 pjuoziuou GOS4IW N 7 1 6 MF75 Basic specifications Model name MF75 MF75D Driving method Steel cored linear motor flat magnet Repeated positioning accuracy um 5 Scale um Magnetic method resolution 1 Maximum speed mm sec x2 2500 Maximum carrying weight kg 1 160 Rated thrust N 260 Maximum stroke mm 4000 3680 Bearing method 2 guide rails and 6 blocks with retainer aaa W210xH100 excluding cable carrier Overall length mm Stroke length 360 Stroke length 680 Cable length m Standard 3 5 Option 5 10 Controller SR1 P TS P RDP RCX221 RDP 1 Weight per one carrier 2 See the maximum speed table below Payload kg Maximum speed m s 75 or less 2 5 90 100 110 120 130 1 140 0 50 60 70 80 90 100 110 120 130 140 150 160 150 Payload kg Static load moment vy MB Unit Nem 7 30 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 Unit mm 7 31
9. 158 14 ____ T oe or J 5 6 2 eoepns Lvl GL 5 A 2 o a D 0 09 2 HIN 101 L 07 9505 9 1294 Obl L 07 T 1 30N ueewjeq eouejsip 002 204 n2 adAy junoui pjuoziuou q 41W 7 7 eoypoads SUOI 7 1 2 15 7 8 Basic specifications Model name Driving method MF15 MFISD MFISD W Steel cored linear motor flat magnet Hepeated positioning accuracy um 5 Scale um Magnetic method resolution 1 Maximum speed mm sec 2 2500 Maximum carrying weight kg 1 30 Rated thrust N 54 Maximum stroke mm 4000 2000 3800 1800 Bearing method 2 guide rails and 4 blocks with retainer Maximum cross section outside dimensions mm W100xH80 excluding cable carrier Overall length mm Stroke length 260 Stroke length 460 Cable length m Standard 3 5 Option 5 10 Controller 1 Weight per one carrier 2 See the maximum speed table below Payload kg Maximum speed m s 15 or less SH
10. ue pue 90 45 198u0 10 00 6 104 p BION 01 2990 0 9 2 v V eio eioN 06 eura punoJt PIN 06 GS Ss Do Nu 48 e ig Q 4 5 wd Di Qh 06 SOOT acoge si UTE A gt E zaon cn T 16 3 diis uideg 0 LX9I v 21 dad 0 1X9WV Y Po 0L 99 OF 990 2 981 981 T FIN SONS eouejsip 002 30N GFOEL le gt J Specifications 191101 JO 1 1999045 21 y 0 y0q o2uejsI 7 BION UIdI10 JY UBYM 15 9 q 1 94 JO UONISOd XON 1911129 914 JO 011095 55015 Jo 12190 901 08 Gy cL LE c JOPI S JO 899 7 ajqed jeuondo ad WW S ejqeo jeuondo LY Y 881 78 pjuoziuou 16 7 12 B Specifications
11. 805 A 1 7 gt ge pain A g Un 20 21 22 23 24 1 8 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 startup 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
12. 2 y U A 1d po eisur si 0166 0186 000 0100 exo1ls pesn A uo pesn si 2 ajqeo ed jeuondo ued s l adj 1 950 45 10 WWQOGO Z 104 BION Jaleo ajqeo 1 ue pue 0 45 1e8u0 10 0 104 p BION do 0 elo 0 0 21997 1 30N 1 62 eu 1990 0 LX9IA v LL 9 8 1 195 Aq apis 1 01 pasueyd aq ued 1ueuidius jo BWI BY 1 opis Y 9u1 UO 195 SI 18110 991 NON 1999045 21 y 0 spu o2uejsI BION Jepi s Jo 2221 do Jo igaaaaaaaaaaaaaaaaaaGao SN Sy 67 99 5 ejqeo jeuondo epis 7 ye ueuM 08 L uonisod epis 1 SFOS jeuondo jo 01295 55015 epis H 97061 B 90115 ueuM 061 J N 6 S10N 06 1 ey ape EY Ld SEP sed S pue peo 6r vc 99 do 0 0
13. 7 104 BION 1999045 y 0 spu u10q BION BY UBYM 15 y JO uonisog AION gt gt 1 62 061 0L 0 ZH90 p uideq 0 061 10 6 0 0 10 0 cL udad o LXOW 7 cL udad o LXOW 19 15 Jo 998 do m Jo 2 11 4911129 1 jeuorndo Jo 04295 65019 IN 5 6v Vc 20 0 9 ueemjeg 20 0 ueeweg D gt o S a n T f 061 94 283 usemjeg eouejSip 002 9 240 06 edA 3 ejqeo jeuondo adA 1311183 ejqeo jeuondo peur e euru f ji NE den 9 901 20 0 01 Ul eigo 2 019 091 Goce 066 Je 0J JO Jejeuuelq 0 0 9pouu JOM qoc JW N 7 1 4 MF30 Basic specifications Model name MF30 MF30D Driving method Steel cored linear motor flat magnet Repeated
14. y 0 spu u10q e2uejsI sed S pue ad ed 1 alo 1311189 jeuondo 1 e1oN 9 I N ee 7 0 LXI _ I 5 Li d 5 6 ed 5 uoyisod epis 7 Lis 602 epis SFOEL 061 E 310N 09 1 99 1 S pue pI punog 0 uideq 0 LX9W 9 1944129 ejqeo jeuondo jo 095 5501 SZ NNI m Ne Sit co E LOS or 7 99 67 junoui eBpuupo e Buis 7 11 By pesn si 18111e2 d 1 jeuondo exo1ls pesn aq A uo ue U3UM JO y 9 q 2 y S BION ued 2 add q 45 JO 104 DION 80188605 WOJ 2 2 y si Jaleo ajqeo 1
15. q ue pue 0 45 1e8u0 10 00 6 104 p VION Aq apis pesn aq 99 0 pasueyd aq ued 5 jo 991 1 opis 1 y UO 195 sr UISIIO 941 BION ued ajqed add 1 jeuondo ayons JaBUO 10 104 BION 1994045 y 01 y0q BDURISIG BION 4911129 ejqeo jeuondo Jo 0 295 565019 orudeq 0 019 910 0 i 0S 67 99 JO v 002X8 V 9 jo RIN C1 n5 FZE L 190 1 edA 7 ajqed jeuondo 862 2 n q 1 muc cn 1 01 JO Jejeureiq 1 91ON Laon Siw 0 0 PONY 6 I 01 99 ed WW S ejqeo jeuondo uondo S uonisod epis Y 999 1 uiuo epis y 12 991 uondo WW 0 uiuo epis 7 ye ueuM 991 BAF uonisod epis 7 9991 E 1 6 junoui pjuoziuou 2 2 216 OE 4w N N Specifications Specifications 7 23 I Ov 86 00 0 06 61 8l 0 6 9
16. 5005 29010 2 0 udad 0 LXOW 9 V edA 7 Jaleo ajqed euondo 9974 1 ejqeo jeuondo Te ly cim COZI J9 O1 JO 02 junoui OZIW By pesn si 2 ed 1 jeuondo 80188605 WOJ 2 2 y po eisur 5 Jaleo ajqeo 1 jeuondo ue pue 0 45 198u0 10 0 104 p BION OL udad ZHOLO 910 0 0L uideq OLXOW O v V G 30N 30N exo1ls pesn A uo ue U3UM JO y 9 qe2 y S 5 BION ued 2 add q 9 45 JO LULUQGO Z 104 DION 1999045 21 y 0 spu y0q o2uejsI NON y UBYM 15 9 q 1 99 JO UONISOd XON 9189 e qeo jeuondo jo 5 5504 IN S E dw 6t Ve gt
17. 1ueuidius jo Sunes Aq opis ay 01 aq ued y UMOUS s opis 71 y UO 195 SI UISIIO 941 BION 1999045 y spu u10q 20N 20 0 sigo ZH010 Gt uideq Se LX8IN 4 96 H H jo 2 55012 0 Jejeu v uideq 69 00 9 V 01 01295 JO H H JO 0295 5013 0295 Jo 1 4 G 60 00 yore gt deo N SIXE apis 22918 pem 109 Wasu 9jou 100 76 ud 7 sdeo do om ____ 55 BS SS asa 1 EJ 5 7 7 uojjsod UIBUO SOR epis US 081 epis 7 ueuM 081 uonisod epis 7 9081 B Specifications jo 802 do 001 40 18190 029 ejeureip 19 104 0 udad LX8IN r Z0 0FZH9 051 junoui pjuoziuou 2 2 26 04 7 28 B Specifications exo1ls
18. 2 Make a protective sheet for prevention of bolt fall down Bend a 1cm portion of 5cm square sheet 90 as shown below WELLS yyy TI J 2 50 th 2 8 068 nuu 11 Mil ii il M TI pue uornoadsur 21 o 5 12 5 4 Replacing the shutter roller 3 Insert the protective sheet into the clearance remove the two screws one on each side that secure the shutter roller and remove the shutter roller Protective sheet Shutter roller 4 With the protective sheet kept inserted into the clearance install a new shutter roller When installing the new shutter roller place its metal plate against the slider Place the shutter roller against the slider 5 Reattach the slider cover and cap For MF75 gt 1 Remove the cap on the side cover D mom o 6 un 6 oe gt Q gt c gt gemi D gt Q gt e 5 13 5 4 Replacing the shutter roller 2 Remove the eight screws four on each side holding the slider cover and remove the slider cover Slider cover 3 Remove the two screws one on each side holding the shutter roller and remove the shutter roller E e 72 C e gt Q gt 3 E gt S 5 Reattach the slider cover and 5 14
19. By 005 099c 09Sc 0981 0971 00 c 00cc 009 LOOF L 91045 9 SUISSES WO Jaleo 801395 Aq opis 01 aq ued 9 qe2 y SI 0 o xo41s 198u0 10 LULIQOO E 104 p 3ueuidius jo euin y 5 se apis 1 y UO 18s S UISIIO 94 BION e M 1999045 y 0 spu u10q e2uejsI jou 1snui poq 10qo4 ay 10 peau 1e 20s xeu ZW peau 941 DION JepiJS Jo 1299 0 uideq 0L udeq E 0 100 29019 H H 40 1005 8010 0 1044 60 0 i 00 V 1911129 81429 JO 0 095 55013 S 4 E 3 og ie e E amp Jo H H JO 01095 55019 Jo Ie 601 00 gt deo n 9404 eBues ejqejunou SHE ODS 127908 m uonisod epis Sx0gl SIU INU EN uesu 02 UPIM 1016 apis
20. Sui8Ses WOJ 1911162 9 qe2 y 1uaA23Jd O 5 SI 19 OJ 35 198u0 10 104 BION 1999045 21 y 0 o2uejsI BION uey 198u0 aq JOU JsNW poq 10qo4J 99 5 10 s3 oq peau 19205 xou QW JO 8 DION UISIIO y UBYM J9pi S y Jo uonisog BION 0 001095 55010 0 1940H Y uideq 55 00 1 OAT CUNT 00cXg V JO JO uonoes ssoJ uomoes 40 1012 6 00 snowy amp i e 1 H JO epis 21918 i 1100 Hasu 1001 Us 7 sdeo do ow 7 i 4911129 ejqeo jeuondo Jo uoroes ssoJ2 2 eoN eBuei INN zaon inu uesu 0z PM 1015 LFLE 67081 SONS i eoueisip WNWIUIN 022 08 1 080 1ejeureip epis jo 928 901 001
21. 7 5 2 5 MF 95 MF 100 Contents Robot connector I O signal connector Robot connector motor connector Robot cable I O signal wires Robot cable motor wires 7 1 7 7 8 14 20 7 26 7 30 7 34 7 38 7 38 7 39 7 39 7 1 Main unit 7 1 1 7 Basic specifications Model name MF7 MF7D 5 Driving method Steel cored linear motor flat magnet d Repeated positioning accuracy um 5 Scale um Magnetic method resolution 1 Maximum speed mm sec 2 2500 6 Maximum carrying weight kg 1 10 Rated thrust N 37 Maximum stroke mm 4000 3800 Bearing method 1 guide rails and 2 blocks with retainer ani W85xH80 excluding cable carrier Overall length mm Stroke length 280 Stroke length 480 Cable length m Standard 3 5 Option 5 10 Controller SR1 P RCX221 RCX240 RDP TS P 1 Weight per one carrier 2 See the maximum speed table below Payload kg Maximum speed m s 7 or less 2 5 m 3 23 D Row x ow wow o SUE d SS C wd n medinm eccle obse eee ee oe ee ir cecus 22 012345678910 Payload kg Static load moment 156 156 194 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 000k
22. Controller Check if terminals are loose Check if connectors are loose Greasing to linear guide Apply recommended grease to linear guide every 6 months Shutter Check for slack gap Adjust if necessary Refer to 5 3 Replacing the shutter Shutter roller Check for wear and replace if necessary Refer to 5 4 Replacing the shutter roller Recommended grease lt MF7 MF15 gt CAUTION AFA THK lt MF20 MF30 MF50 MF75 MF100 gt Albania S 2 Shell The linear guide service life may be reduced if our recommended grease is not used Checkpoints Linear guide 5 2 4 Three year inspection Check items Check for backlash caused by air Check the following points every 3 years or more often if the robot is used frequently Contact us if any abnormal condition 15 found 5 2 5 Greasing to the linear guides When applying grease to the linear guide according to periodic inspection follow the procedure below CAUTION Using grease other than those recommended by YAMAHA might shorten the service life of the linear guide lt MF7 MF15 gt 1 Prepare the following tools required for replacement e Phillips screwdriver e Grease gun recommended grease gun THK MG70 with Type N nozzle 2 Turn off the controller power 3 Place a sign indicating the robot is being inspected to keep others from operating the controller power 4 Enter
23. Take the following precautions when performing 3 month inspection 1 Turn off the controller power 2 Place a sign indicating the robot is being inspected to keep others from operating the controller power 3 Enter the safety enclosure and check the following points Checkpoints Check items Check for dust buildup or debris Clean if necessary Apply grease after cleaning Check to see if linear guide is lubricated not dry Apply grease if necessary Check for slack Adjust if Shutter necessary Refer to 5 3 Replacing the shutter Linear guide Recommended grease lt MF7 MF15 gt AFA THK lt MF20 MF30 MF50 ME75 MF100 gt Albania S 2 Shell CAUTION The linear guide service life may be reduced if our recommended grease is not used pue Ipod 9 9 5 2 3 Six month inspection Take the following precautions when performing 6 month inspection pue 2 9 o 5 6 1 Turn off the controller power 2 Place a sign indicating the robot is being inspected to keep others from operating the controller power 3 Enter the safety enclosure and check the following points Checkpoints Bolts and screws on robot Linear guide Check items Check for looseness Tighten if loose Check for backlash caused by air Contact us if any abnormal condition is found
24. VAMAHA YAMAHA LINEAR MOTOR ROBOTS PHASER series EUCO127500 Ver 5 00 General Contents Chapter 1 Using the Robot Safely 1 1 Safety information 1 1 1 2 Essential precautions 1 3 1 3 Industrial robot operating and maintenance personnel 1 9 1 4 Robot safety functions 1 10 1 5 Safety measures for the system 1 11 1 6 Trial operation 1 11 1 7 Work within the safety enclosure 1 12 1 8 Automatic operation 1 13 1 9 Warranty 1 14 2 1 Checking the product 2 2 2 Robot names 2 2 2 3 Robot internal structure 2 3 3 1 Carrying the robot 3 1 3 2 Robot installation conditions 3 2 3 2 1 Installation environments 3 2 3 2 2 Installation base 3 3 3 3 Installing the robot 3 5 3 4 installing an external leakage breaker and circuit protector 3 7 3 5 Protective bonding 3 8 3 6 Connecting the robot to the controller 3 9 U9 UOZ U9 UOZ 3 7 Precautions during user wiring and air tube installation 3 12 Chapter 4 Robot operation 4 4 1 1 4 1 2 4 1 3 4 2 4 2 1 4 2 2 4 2 3 4 3 4 3 1 4 3 2 Notes on robot operation 4 1 Magnetic pole estimation action 4 Absolute search semi absolute specification 4 1 Return origin incremental specification 4 2 Setting operating conditions 4 4 Process flow for setting operating conditions 4 4 Duty monitor 4 5 Acceleration setting 4 6 Pulse train control SRCP SR
25. uey 198u0 aq JOU JsNW 1049041 y 10 s3 oq peau 19205 xou JO 8 DION y UBYM 1 5 y JO uonisog BION 2005 T 601 01 9 f uonoesjo ejeg 0 00995 55019 H uomoes Jo Iejeg 002X3 q 0 ZHOL9 2 Gi uideq sz LX8IWV 3 002 SANS 00 5 5 5 8 eioN V Se jo epis pI 7 109 2 100 H H jo 10295 55015 0 1949H v 1090 60 0 002 1 n v 00cXg V sdeo do SR tyre dyna ty 2 By L 1 09 ed 99 D amp 40 12 9q Or udad 0 ZH90 F 2 30N 1015 siut EN uesu 0 YIPIM 1016 LFG gt ION 9 60 5 9AIJ99J 4 eouejsip 068 SOS EL SION GZSZ 5122 junoui 0013 N 7 2 Robot connector I O signal connector Cabl
26. 002 aon E A NV is 00 F H H 40 95 55010 0 18494 Y dad 60 00 7 v V do j DX K Sai in d epis jo 902 901 001 punog 1 Jo 0 0 0 d q Sz gt OL 0 219 udad 8 gt 20 0 9 ueewjeg eBuei ajqeyunow INN LFO BZ 1015 SIU INU EW 0 1015 uonisod uiBuo epis H 6 62 epis ueuM opis ye ueuM 162 9304 S uonisod epis 1 002 1 Opp junoui 5 QOLIW B Specifications 7 36 B Specifications GEVE 0066 0922 8666 9921 0291 9701 8 WOJ 19111e2 9 qe2 y 5 si 19 OJ 910 45 198u0 10 104 p BION 1999045 21 y 0 y0q o2uejsI BION
27. 3 Check the following points from outside the safety enclosure Check item Description Check if the safety enclosure or fence is in place Check if emergency stop is triggered when the door is opened Check if warning labels are affixed at the entrance D 2 e un e gt Q gt c gt gt axe D gt Q gt e Safety enclosure fence Emergency stop device Press the emergency stop button to check if it works Check for abnormal movement and excessive vibration Robot movement and noise Contact us if any abnormal operation is found Check if the brake works to stop the Z axis from dropping Z axis brake operation 1 more than 3mm from the stationary point Contact us if any abnormal operation is found 1 Visually check the Z axis movement from outside the safety enclosure by pressing 5 4 the emergency stop button and also by turning off the controller AY WARNING THE CONTROLLER MUST BE INSTALLED OUTSIDE THE SAFETY ENCLOSURE WHEN INSPECTING THE CONTROLLER ENTERING THE SAFETY ENCLOSURE WHILE THE CONTROLLER POWER IS ON IS DANGEROUS AND MUST BE AVOIDED e Reference When starting the PHASER series robots the slider always moves a few millimeters right after the servo is turned on and emits a high pitched noise This is just the routine pre action for estimating the magnet pole and is not a problem 5 2 2 Three month inspection
28. The MF50 use a linear guide assembled with a ball retainer that efficiently eliminates friction between adjacent balls This achieves low noise long service life and long maintenance free operation MIIAIIDAC N 2 4 Magnetic scale and magnetic head The magnetic scale utilizes YAMAHA s superb magnetic signal detection technology developed in house The scale is made of a special alloy that retains a high strength magnetic field with virtually no weakening over time Integrating it with a magnetic head yields an astonishingly high resolution of one micrometer Fully closed control directly detects the table slider position for stable and highly precise positioning CAUTION Do not bring a strong magnet close to the magnetic scale A strong magnet may erase the information recorded on the scale and cause the robot to malfunction A magnetic force of about 10mT 100 Gauss does not cause any problem As shown in the photos below for example bringing the magnetized side of a magnetic base close fo the side of the robot may erase the information on the magnetic scale so use caution Magnetized side of magnetic base Magnetized side of magnetic base JAN CAUTION The magnetic flux slightly leaks from the robot surface Max 10mT When a device sensor that responds to the magnetism is installed it may respond incorrectly Install such device 100 mm or more apart from the robot make the fine adjustmen
29. This user s manual describes the safety measures handling adjustment and maintenance of the MF type robots for correct safe and effective use Be sure to read this manual carefully before installing the MF type 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 e 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 effort has been made to ensure the contents of this manual are 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 Chapter 1 Using the Robot Safely 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 Contents Safety information Essential precautions Industrial robot operating and maintenance personnel Robot safety functions Saf
30. 001 PION 5 UdeMjeq WNWIUIN OZE 5 unes jo H H JO 0295 5801 60 5 Jo 9 0 00 y2L gt de 30N M Se jo Opis 1 101 1 AN OQ 951 P 00 Us L sdeo do om pjuoziuou 4 N 7 1 7 MF100 Basic specifications Model name MF100 MF100D Driving method Steel cored linear motor flat magnet Repeated positioning accuracy um 5 Scale Magnetic method resolution 1 Maximum speed mm sec x2 2500 Maximum carrying weight kg 1 250 Rated thrust N 400 Maximum stroke mm 4000 3510 Bearing method 2 guide rails and 6 blocks with retainer aaa W210xH100 excluding cable carrier Overall length mm Stroke length 515 Stroke length 1005 Cable length m Standard 3 5 Option 5 10 Controller SRCP30 1 Weight per one carrier X2 If the payload exceeds 100kg then adjust to reduce the speed by referring to the table below Payload kg Maximum speed m s _ 3 0 100 or less 2 5 ee m m eee uu TON eue ee TES NEMINEM MER 1 5 MON
31. 21 o Fasten with tape CAUTION Attach the tape strongly enough so it will not come loose during the pull in task If the tape is too thick the shutter will be impossible to pull in so use tape with the right thickness such as insulating tape 5 10 5 3 Replacing the shutter 3 Pull gently on the old shutter as shown in the photo so that it will not come loose from the groove in the stroke cover and draw in the new shutter Be careful at this time not to let the new shutter twist warp or hang up lt MF50 gt 4 After finished installing the new shutter adjust its position Then reinstall the shutter clamp plate so that there is no looseness or play in the shutter lt MF50 gt Shutter clamp plate D mom o 6 un 6 oe gt Q gt c gt gemi D gt Q gt e 5 11 5 4 Replacing the shutter roller 5 4 Replacing the shutter roller WARNING BE CAREFUL NOT DROP THE TOOLS AND BOLTS ONTO THE SHUTTER OR INTO THE ROBOT BODY DURING SHUTTER ROLLER REPLACEMENT THIS COULD CAUSE BREAKDOWNS OR DAMAGE IN BOTH THE SHUTTER AND THE ROBOT CAUTION This procedure applies only to the MF7 and MF75 To replace the shutter roller for the other MF series robots the carried object must be removed For MF7 gt 1 Remove the eight screws four on each side holding the slider cover and remove the slider cover Slider cover
32. GG GS 60 S01 01 GG OLLY 01660196 000 0100 exo1ls 80188605 19111420 ajqed ay Sunijes Aq opis 1 y aq 104 p BION 5 JO y 1 9pis y uo 195 sr UISIIO 941 NON 5 s 19141862 4 d 1 euondo ue pue ayxOJ s 1 10 000 104 BION 1999045 21 y 0 o2uejsI ION pesn aq A uo ajqed add 1 exous 10 00 1915 Jo 9984 do TAON 061 lt 199 0 I 0 uideq M LH90 p 1 FYS cL udad o LXOW Jo 092 O L Kololo o l JB dl udi Sd Sd di ed Vd edi Sd Vd eli 61 sale 80 PLLE DOMUM RPM epis 7 je ueuM 991 uibuo epis 1 GGG 1911123 2 jeuondo jo uonoes sso12 uonisod epis SxS6L
33. YES Robot number parameter is incorrect Initialize parameters YES Controller is defective Replace the controller J LNo YES External noise is large gt Take noise reduction measures NO Consult us c un 5 c gt Requires repair or parts replacement Contact us 6 5 Position deviation 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 15 cable broken Are cables correctly wired Are connectors correctly fitted Check wiring and connectors Are the robot tools and workpiece correctly installed method mechanical 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 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 MEMO 6 6 Chapter 7 Specifications 7 1 1 1 7 1 2 7 1 3 7 1 4 7 1 5 7 1 6 7 1 7 7 2 7 3 7 4 7 5 Main unit
34. e2ueisip JY S 5 DION 80188605 2 2 y po eisur si Jaleo 1 ue pue 90 45 198u0 10 WWYQGO E 104 p BION 0Ludeq 0 2 019 1 10 295 5501 10 0 ve 8 7 gt sr 0S 6 Ye uideq 9 2 99 V e1oN pW euw JO O 1 981 gt L 1W S 191189 ajqeo jeuondo uondo S E uondo S02 48 66 7 01709900 ZAIF 20 06 210 0 S 07 061 uonisod epis H SFOS uiuo ye 021 T apis 7 ueuM 061 lt uonisod uibuo apis 3 6 0 ke 7 gt j pow pjuoziuou OZIW Specifications 7 16 Specifications 7 17 07 86 00 0 06 6l 8l 0 6 GS GG 01 01 01 OLLY ue UIYM HUN JO y 5 1911129 y DULJSIP y S UOISNIJOJd BION 80188605 WOJ 2
35. ueuM 081 2165 oC ES epis 7 1e ueuw 081 uonisod epis 7 6408 Us 1 1 sdeo do ev junoui pjuoziuou ZIW e B Specifications N B Specifications By 00vc 00 c 2 0992 0992 0861 0881 8 88 WOJ 1911162 2 y 4 5 s 19 OJ 950 45 198u0 10 80 YUM 104 p BION uey aq JOU JOGO y S OG peau 1954205 xau Jo peay 91 DION 20 0 79 0 uideq 0 100 29010 2 H H jo 095 85010 0 1949H uideq 60 2 002 1 00cXg UC UC UO UO UO A zi N 09810921 081110801 9701 1999045 21 y 0 y0q o2uejsI BION y uauM 15 9 q 1 y JO UOIIISOd DION Jo 118190 01 uideq 1911129 914 JO 0 085 55013 Jejeureip 19 0 jo 2e 001
36. 2 Feedback error 4 wiring connection E77 nd connect wires and connector is E77 nd YES Wiring or cable is broken Replace the cable Electrical discontinuity Check signal wire if feedback error 2 occurs Check motor wire if feedback error 4 occurs Check resistance between wires U V V W W U MF7 MF15 6 50 MF20 7 5Q 8 30 MF50 360 Motor resistance is abnormal Repair MF75 310 MF100 1 02 Enter teaching mode in emergency stop and check current position display YES Repair YES Robot number parameter is incorrect Initialize parameters YES Controller is defective Replace the controller J LNo YES External noise is large Take noise reduction measures NO Consult us Current position fluctuates Current reading varies even though slider is Check robot number HPB screen while referring to SR1 controller user s manual If replacement controller is available check by exchanging the controllers c un c Requires repair or parts replacement Contact us 6 3 Magnetic pole detection error Magnetic pole detection error Motor wire is dlscomected wire is disconnected Motor wre is disconnected secu make connections Securely Securely make connections connections Ext
37. 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 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 technicians and workplace safety consultants etc 25 Display a 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 t
38. 5 5 Maintenance parts lt MF7 gt Part name Part No Remarks Shutter KCT M229J X00 MF7 MF7D up to serial No 300051 KCT M22LK X00 MF7 MF7D serial No 3000st and up Shutter roller lt MF15 gt KC T M224M 000 Part name Part No Remarks Shutter lt MF20 MF30 gt Part name Part No Remarks Shutter lt MF50 MF100 gt Part name Shutter lt MF75 gt Part name Shutter KBW M229J X00 MF 15 up to serial No 300051 KBW M22LK X00 MF15 serial No 3100st and up KBW M225M X00 KBW M225N X00 KBS M229J X01 MF15D up to serial No 2800st MF 150 serial No 2900st and up MF20 up to serial No 3050st up to serial No 300051 KBS M22LK X01 MF20 serial No 3150st and up MF30 serial No 3100st and up KBS M225M X03 MF20D up to serial No 3050st up to serial No 2950st KBS M225N X03 Part No KBD M229J X03 MF20D serial No 3150st and up MF30D serial No 3050st and up Remarks MF50 MF100 KBD M22LK X01 Part No KCN M229J X00 MF50D MF100D Remarks pue 21 KCN M22LK X00 Shutter roller KCN M224M 000 5 15 MEMO 5 16 Chapter 6 Troubleshooting 6 1 6 2 6 3 6 4 6 5 Contents If you suspect trouble Feedback error Magnetic pole detection error Overload Posi
39. CATCH FIRE pue Ipod 9 9 5 2 Periodic inspection The PHASER series robots use a linear motor and a linear guide with ball retainer and require little user maintenance However perform the following daily and periodic Inspections 5 2 1 Daily inspection The following inspections must be performed every day before and after operating the robot 1 Inspection to be performed with the controller power turned off 1 Turn off the controller power 2 Place a sign indicating the robot is being inspected to keep others from operating the controller power 3 Enter the safety enclosure and check the following points Check item Description Consult us if damages or abnormal conditions are found Cables and Check for scratches damages and connectors excessively tight bends Check scratches and dents Refer to shutter 5 3 Replacing the shutter Using the duty Check for unusual vibration and noise monitor check that and for abnormal temperature rise the duty ratio is less than 100 2 Inspection to be performed with the controller power turned on 1 Check that no one is inside the safety enclosure and then turn on the controller power 2 Place a sign indicating that the robot is being adjusted or serviced in order to keep any other person from operating the controller programming box or Handy Terminal and the operation panel etc
40. MEL GM DEL 00 50 100 150 200 250 300 Static load moment Unit Nem M MP MR 1971 1975 1734 7 34 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 m The service life may be reduced if a collision occurs while the overhang is large Horizontal installation Unit mm o h A e o 77 7 35 0066 09 6 0262 8826 Olle BONS SUISSES WO Jaleo 9 qe2 ay po eisur si 19 O4 9 0 45 10 WWGGO E 104 VION uey 198 0 aq jou 15 poq 10402 y 5 104 09 peau 1954205 xau JO Peay JapUN 991 BION 801395 Aq opis Y y 01 aq ued 3ueuudius jo euin y 5 se apis 1 y UO 1495 S UISIIO 99 BION 1949045 y spu u10q JION 00079 GOL OLuideq ead 0 00995 55019 5 01205 Jo Ie aq 0 7 ZHOLO 2 91 090 sz
41. cable carrier Overall length mm Stroke length 260 Stroke length 460 Cable length m Standard 3 5 Option 5 10 Controller SR1 P RCX221 RCX240 RDP TS P 1 Weight per one carrier 2 See the maximum speed table below Payload kg Maximum speed m s 20 or less 2 5 S 00 51015202530 3540 45 Payload kg Static load moment Unit Nem MY MR 373 373 328 7 14 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 Unit mm m E Vertical installation Unit mm 7 15 exo1ls pesn A uo ued s l adj 1 950 45 JASUO 104 BION Sunges Aq opis y 0 pasueyd aq 5 jo 991 1 opis 1 y uo 195 sr UISIIO 941 NON 1999045 y spu u10q pesn si 18111e2 ajqeo d ue HUN JO y WO1 y
42. from the robot Robot cable connector signal wires _ Robot cable connector motor wires Hood 3 Connect the robot cable ground terminal power and signal lines to the ground terminal on the robot frame za Un per o gt Q gt c e gt 6 gt un 3 10 du L lt MF20 30 gt MF50 MF75 MF100 CAUTION _ Be sure fo connect the ground terminal Failure to do so may cause malfunctions B Robot cable connections Refer to 7 4 Robot cable I O signal wires and 7 5 Robot cable motor wires when wiring the cables Robot cable connections when connecting to SR1 Programming box HPB lt gt oz LLI SD memory card SR1 P controller SR P OYAMAHA ews Vv u d PES Or communication control I O control Support software Personal computer POPCOM un gui e gt Q gt c e gt gt e on gt un Robot cable signal wires Robot cable motor wires AC100 200V for devices Power supply After making connections f fasten the hoods securely e Hood CNN a External control PLC and similar units 4 y Linear Single axis Robot PHASER series Prog
43. not carry by holding the slider Do not carry by holding the cable Do not carry by holding the cable carrier Do not carry by gripping the end cover pue 5 3 1 3 2 Robot installation conditions 3 2 1 Installation environments Be sure to install the robot in the following environments Items Specifications 5 pue uorjej ejsu 7 3 2 Allowable ambient temperature 0 to 40 C Allowable ambient humidity 35 to 85 RH no condensation Altitude 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 or liquid Avoid installation near objects causing electromagnetic interference electrostatic discharge or radio frequency interference Vibration Do not subject to impacts or vibrations Working space AX WARNING Allow sufficient 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 AVOID INSTALLING THE ROBOT IN LOCATIONS WHERE THE AMBIENT CONDITIONS MAY EXCEED THE ALLOWABLE TEMPERATURE OR HUMIDITY OR IN ENVIRONMENTS WHERE EX
44. robot speed acceleration and or acceleration reduce or increase stop time cycle time with tasks other than robot operation 4 4 4 2 2 Duty monitor An overload error appears to warn the motor is working too hard during tough robot operation In these cases either the robot acceleration or maximum speed must be lowered or the robot stop time increased lower the duty On the other hand if you want to shorten the cycle time even further when there is currently no overload you can raise the acceleration or maximum speed or shorten the robot stop time raise the duty Viewing the duty monitor allows you to easily check the current robot operating status to find out how hard the robot can still work versus overload criteria By checking the duty monitor you can repeatedly change the settings and view the available duty to obtain ideal operating conditions to monitor the operation duty To monitor the operation duty using the programming box HPB follow these steps 1 Connect the HPB to the SR1 controller and turn on the controller power The initial menu then appears on the HPB 2 Press MON on the initial menu to enter MONITOR mode 3 Press DUTY 4 Press RUN to start measuring the operation duty 5 Press the STOP key to quit measurement Pressing the STOP key retains the measurement data 1 MENU select menu
45. satisfy the required performance or the service life might be reduced if the installation surface precision is insufficient In worst cases the coil inside the robot might burn out 3 3 suomoouuoo pue 3 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 5 pue 7 Robot installation example Installation base Good example Bad example AX WARNING WHEN INSTALLING THE ROBOT ALWAYS USE ALL THE INSTALLTION HOLES OR 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 NOTE Positions of robot mounting holes differ according to the stroke length of each robot Refer to the outline dimension drawings shown in Chapter 7 Specifications nu 3 3 Installing the robot 3 3 Installing the robot WARNING 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 MIGHT OCCUR IF THE ROBOT STARTS TO OPERATE DURING IN
46. the contents of this chapter completely before attempting to adjust the robot 2 Place a sign indicating that the robot is being adjusted or serviced in order to keep any other person from operating the controller power switch programming box or Handy Terminal and the operation panel etc If a safety enclosure or fence has not yet been provided right after installation of the WwW robot rope off or chain off the movement area around the robot in place of a safety enclosure or fence and observe the following points 1 Use 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 conspicuous sign prohibiting anyone other than the person who is adjusting the robot from entering the movement area of the robot 4 To check operation after adjustment refer to 1 6 Trial Operation in Chapter 1 5 For precautions on handling the controller refer to the controller user s manual IF THE INSPECTION OR MAINTENANCE PROCEDURE CALLS FOR OPERATION OF THE 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 THE OPERATOR CAN PRESS THE EMERGENCY STOP BUTTON IF ANY DANGER OCCURS 32ueugjureui pue Ipod 5 1 pue 2 9 o 5 2
47. the safety enclosure 5 Apply grease by either of the following methods 1 Remove the two screws on the end face of the robot and remove the end cover 2 Move the slider carriage all the way to one end of the robot 3 Using a grease gun inject grease into the grease nipple in the grease hole 4 Supply grease to the other end of the robot in the same way 5 Reattach the end cover 2 Move the slider to one end of the robot pue Ipod End cover 1 Remove the screws and remove the end cover 3 Using a grease gun inject grease into the grease nipple in the greasing hole 5 7 5 2 Periodic inspection lt MF20 MF30 gt 1 Prepare the following tools required for replacement e Phillips screwdriver e Grease gun recommended grease gun THK MG70 with Type L nozzle 2 Turn off the controller power 3 Place a sign indicating the robot is being inspected to keep others from operating the controller power 4 Enter the safety enclosure 5 Apply grease by either of the following methods 1 Insert a grease gun into the grease supply hole provided on the side of the robot 2 Inject grease into the grease hole in the guide bearing It is recommended to open the shutter as shown and to perform work while visually checking pue 21 o 5 8 5 2 Periodic inspection lt MF50 MF7
48. 1 53 460 681 1 Robot manuals can be downloaded from our company website Please use the following for more detailed information e YAMAHA YAMAHA MOTOR CO LTD http www yamaha motor co jp global industrial robot
49. 1 P RCX221 RCX240 RDP TS P 20 25 30 Static load moment 290 291 Unit Nem M MP MR 256 S 5 10 15 20 25 30 35 Payload kg 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 Unit mm A m Vertical installation Unit mm 7 9 904 pesn aq A uo pesn si 2 o qe ed 1 jeuondo ued s l adj 1 950 45 JASUO uiuo 104 BION ue UIYM un y WO1 y e2ueisip JY S 5 BION Sunnes Aq opis 80188605 1914129 2 y po eisur 5 y 0 aq ued 5 JO 1 epis 1 y uo 195 SI UISIIO 941 7 AON Jaded ajqeo 1 ue pue 50 45 10 000 104 p BION 9449045 y 01 spua e uejsI SION 08 4
50. 5 MF100 gt 1 Prepare the following tools required for replacement e Phillips screwdriver e Grease gun recommended grease gun THK MG70 with Type N nozzle 2 Turn off the controller power 3 Place a sign indicating the robot is being inspected to keep others from operating the controller power 4 Enter the safety enclosure 5 Apply grease by either of the following methods 1 Remove the four screws on the end face of the robot and remove the end cover 2 Move the slider carriage all the way to one end of the robot 3 Using a grease gun inject grease into the grease nipple 4 Supply grease to the other end of the robot in the same way 5 Reattach the end cover 2 Move the slider to one end of the robot 3 Using a grease gun inject grease into the grease nipple y 1 Remove the screws and remove the end cover End cover pue 21 5 3 Replacing the shutter 5 3 Replacing the shutter AA WARNING BE CAREFUL NOT TO LET THE SHUTTER DROP INSIDE THE ROBOT BODY DURING SHUTTER REPLACEMENT THIS COULD CAUSE BREAKDOWNS OR DAMAGE IN BOTH THE SHUTTER AND THE ROBOT 1 Remove both shutter clamp plates located at the ends of the robot body lt MF50 gt Shutter clamp plate 2 Fasten the new shutter onto the old shutter for replacement with tape as shown in the photo Old shutter New shutter pue
51. 8u0 10 00 YUM 104 paUIN as UIYM 5 y JO AION o zT 00D or 3 3 JO uonoes sso12 01 295 0 Jeune x JO 0295 55017 L9 E NO N 9 9c 5 GI 0S 99 CD d 5 I WEN Y F o no oo o O D 9 Y f o oo E Y i 9 7 01 uideq 8 8 T o 2 0 087 1 SION exuejsip 002 SON GxOP L SION 09 1 os S 1914405 9 qp5 ed 1 104 adAy gt q 41W Ri Specifications Specifications By exo1ls 1999045 21 y 0 spu Y OG o2uejsI BION JY UBYM 15 9 q 1 y JO UONISOd AION lt 3910 00109555019 001095018190 9 9qeo JO 00195 55010 06 2000 3 3 JO 01005 55010 0 H010 2 N S
52. 911189 2422 JO UOI J99S SSOJ2 S SS me C cR Z H0L9 z 09 6v Vc 0 udad 0 1X9IN 2 v 002Xg V JO rejeg au 5 do 08 Gy ol LE c 908 ad 1 ajqed jeuondg ad JN S 2 ejqeo jeuondo 881 76 aN zie Zi 4060 O OWE aote 06 E ___ 0985 2190 uonisod epis SFOEL ueuM 061 edA N 981 epis ueuM OSL uonisod epis 7 6 0 1 9101 JO junoui pjuoziuou 2 2 216 Specifications 7 10 B Specifications 0081 OOZ H 9 d V 0961 0981 0021 0091 9701 pesn si Jaleo 4 add 1 jeuondo ue y WO1 191JJe2 au aui sr UOISNIJOJd BION Aq opis 1 y aq 1uauldius JO euin APIS uo S SI UISIIO 941 NON 1949015
53. CESSIVE 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 DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING INFLAMMABLE GAS DUST OR LIQUIDS EXPLOSIONS OR FIRE COULD OTHERWISE RESULT AX WARNING AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC INTERFERENCE ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY INTERFERENCE MALFUNCTIONS MAY OTHERWISE OCCUR AX 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 3 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 CAUSING ADVERSE EFFECTS ON THE ROBOT WORK 2 The installation base surface must be machined within a flatness of 0 05mm 500mm CAUTION The robot positioning accuracy acceleration and duty might not
54. CP30 4 8 Acceleration deceleration and position proportional gain 4 8 setting the maximum speed 4 10 Chapter 5 Periodic inspection maintenance 5 1 5 2 5 2 1 5 2 2 5 2 3 5 2 4 5 2 5 5 3 5 4 5 5 Chapter 6 Troubleshooting 6 6 2 6 3 6 4 6 5 Before beginning work 5 Periodic inspection 5 4 Daily inspection 5 4 Three month inspection 5 95 Six month inspection 5 6 Three year inspection 5 6 Greasing to the linear guides 5 Replacing the shutter 5 10 Replacing the shutter roller 5 12 Maintenance parts 5 15 If you suspect trouble 6 Feedback error 6 1 Magnetic pole detection error 6 3 Overload 6 4 Position deviation error 6 5 Chapter 7 Specifications 7 7 1 1 1 2 7 1 3 7 1 4 7 1 9 7 1 6 7 1 7 7 2 7 3 7 4 7 5 Main unit MF MFIS MF20 5 75 Robot connector I O signal connector Robot connector motor connector Robot cable I O signal wires Robot cable motor wires 7 7 8 7 14 7 20 7 20 7 30 7 34 7 38 7 38 7 39 7 39 U9 UO07 MEMO IV Introduction The YAMAHA single axis robots MF type is an industrial robot that uses the semi 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
55. E ROBOT CONTROLLER IS OFF BEFORE CONNECTING THE CABLES OR GROUND WIRES CAUTION After connecting the robot cable intermediate connectors together fit the connector hoods together securely Standard robot cables do not permit much movement so attach the robot cable securely to prevent unwanted movement of motor power and signal wires Ad WARNING IF THE CONNECTORS ARE NOT SECURELY INSERTED AND THE CONNECTOR PINS MAKE POOR CONTACT THE ROBOT MAY MALFUNCTION CAUSING HAZARDOUS SITUATIONS BEFORE TURNING ON POWER TO THE ROBOT ALWAYS MAKE SURE THAT EACH CONNECTOR IS CORRECTLY AND SECURELY INSERTED DO NOT PLACE A STRAIN OR LOAD ON THE CONNECTOR BY PULLING ON THE ROBOT CABLE ITSELF AY WARNING INSTALL THE ROBOT CABLE SO THAT IT WILL NOT INTERFERE WITH THE ROBOT MOVEMENT DO NOT USE AN AREA WHERE INTERFERENCE MIGHT OCCUR BETWEEN THE ROBOT CABLE AND LOAD ATTACHED TO THE TIP OF THE ROBOT AS A WORK AREA THE ROBOT CABLE MIGHT BREAK IF IT HANGS UP ON THE MOVING PARTS OF THE ROBOT AND CAUSE HAZARDOUS SITUATIONS DUE TO MALFUNCTION WARNING INSTALL THE CONNECTED ROBOT CABLE IN A POSITION WHERE IT WILL NOT INTERFERE WITH OTHER WORKERS OR OPERATORS PEOPLE MIGHT TRIP OVER THE CABLE AND FALL CAUSING INJURIES pue 5 3 9 3 6 Connecting the robot to the controller 1 Connect the robot cables motor and I O signal wires to the mating connectors coming out
56. ION IFVS 0 udad 0 2 90 7 0 0 2197 0 cL dad o XIW 30N LFpG Japi s jo ade do d Jo 5 2 5 5 wW 5 P 801 801 lf 62 edA S ejqeo jeuondo 1 2989 aqeo 9 10 101285 55029 S e10N SANOFI eouejsip 052 lt 1 gt xL EE H a La IND 2 sed S pue Ov edA e qeo jeuondo edA 7 ajqed jeuondo sad 7 pue i e ord de 501 20 0 OLY oS nemus um 1910 JO 1 0 0 JOM 92 11109 24 q0 JW N 7 1 5 MF50 Basic specifications Model name MF50 MF50D Driving method Steel cored linear motor flat magnet Repeated positioning accuracy um 5 Scale Magnetic metho
57. LECTRICAL SHOCK Always use the ground terminal M4 screw on the robot unit to make ground connection The ground terminal location is shown below E Ground terminal Ground terminal M4 screw for protective bonding Ground terminal M4 screw for robot cable za un perm e m gt Q gt c gt e mi gt un CAUTION e A secure ground connection less than 100 ohm resistance to ground is recommended e Use electrical wire thicker than AWG14 2mm as the ground wire WARNING BEFORE MAKING THE GROUND CONNECTION MAKE SURE THAT THE CONTROLLER IS NOT CONNECTED TO THE ROBOT OR THE POWER TO THE CONTROLLER IS OFF Provide a terminal marked PE as the protective conductor for the entire system and connect it to an external protective conductor Also securely connect the ground terminal on the robot frame to the protective conductor Symbol 417 IEC5019 3 8 3 6 Connecting the robot to the controller Connect the robot cables to the mating connectors on the controller as shown For the connectors on the controller refer to the user s manual of the YAMAHA robot controller being used AY WARNING 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 BENT OR BROKEN PINS OR CABLE DAMAGE MAY CAUSE ROBOT MALFUNCTIONS ALWAYS MAKE SURE THAT THE POWER TO TH
58. LER NEVER TOUCH ANY INTERNAL PARTS OF THE CONTROLLER DOING SO MIGHT CAUSE BREAKDOWNS MALFUNCTIONS INJURY OR FIRE IF ANY PARTS OF THE CONTROLLER NEED TO BE REPLACED FOLLOW THE SPECIFIED INSTRUCTIONS REFER TO THE CONTROLLER USER S MANUAL FOR PRECAUTIONS ON HANDLING THE CONTROLLER Ajayes ay 805 11 Consult us for corrective action when the robot is damaged or malfunctions occur AY WARNING IF ANY PART OF THE ROBOT IS DAMAGED OR ANY MALFUNCTION OCCURS CONTINUING THE OPERATION MAY BE VERY DANGEROUS PLEASE CONSULT US FOR CORRECTIVE ACTION Damage or Trouble Possible Danger Damage to machine harness or robot cable Electrical shock malfunction of robot Flying outwards of damaged parts Damage to exterior of robot during robot operation Abnormal operation of robot ee Malfunction of robot positioning error excessive vibration etc Z axis vertical axis brake trouble Dropping of load 12 Protective bonding WARNING BE SURE TO GROUND THE ROBOT AND CONTROLLER TO PREVENT ELECTRICAL SHOCK 1 6 13 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 to robot parts or residual vibration during positioning may res
59. 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 LOCK ON THE SWITCH KEYS OR ASK SOMEONE TO KEEP WATCH AS NEEDED A WARNING DO NOT DISASSEMBLE THE ROBOT THE INTERNAL MAGNETIC PLATE USES POWERFUL PERMANENT MAGNETS SO DISASSEMBLY WITHOUT PROPER PREPARATION IS HAZARDOUS ATTEMPTING TO DISASSEMBLE IT MIGHT ALSO PREVENT OBTAINING THE SPECIFIED PERFORMANCE When applying grease to the internal linear guide take th
60. SER S MANUAL AND ALL WARNING LABELS BEFORE INSTALLATION AND 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 Be aware of strong magnets inside the robot WARNING POWERFUL MAGNETS ARE INSTALLED INSIDE THE ROBOT DO NOT DISASSEMBLE THE ROBOT SINCE THIS MAY CAUSE INJURY DEVICES THAT MIGHT MALFUNCTION DUE TO MAGNETIC FIELDS MUST BE KEPT AWAY FROM THIS ROBOT 5 Do not remove alter or stain the warning labels Ad 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 PROVIDE PROPER LIGHTING SO THAT THE SYMBOLS AND INSTRUCTIONS THE WARNING LABELS CAN BE CLEARLY SEEN EVEN FROM OUTSIDE THE SAFETY ENCLOSURE 6 Do not use the robot in environments containing inflammable gas etc AA 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 MIGHT OTHERWISE RESULT Ajayes ay 805 A 7 Do not use the robot in locations possibly subject to elect
61. STALLATION BE SURE TO USE THE BOLTS OF THE CORRECT LENGTH AND TIGHTEN THEM SECURELY TO THE CORRECT TORQUE FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE ROBOT VIBRATIONS POSITION ERRORS AND SERIOUS ACCIDENTS Use the following method to install the MF7 robot 1 Drill holes through the installation base and secure the robot to the base with M4 bolts from the bottom M4 tapped holes are already machined in the bottom of the robot frame Use the following method to install the MF15 MF20 MF30 robot 1 Drill holes through the installation base and secure the robot to the base with M6 bolts from the bottom M6 tapped holes are already machined in the bottom of the robot frame There are two methods for installing the MF50 MF75 MF100 robot 1 Drill and tap M8 holes into the installation base and secure the robot to the base with M8 bolts from the top of the robot frame Use the mounting holes provided in the robot frame pue 5 2 Drill holes through the installation base and secure the robot to the base with M8 bolts from the bottom M8 tapped holes are already machined in the bottom of the robot frame When installing the MF50 MF75 MF100 from the top gt 3 5 3 3 Installing the robot Hex socket head bolt M8x1 25 Length under head 25 to 30mm Installation base Tightening torque M4 hex socket head bolt Strength 8 8 Length installation b
62. THOPRTBISYS MON select menu MON DUT Y select menu measuring ARUN BSTOPRIRSLT 4 5 6 Press the RSLT key to display the measurement data pe operation BUS value in the IMON DUT Y period from pressing F1 RUN measurement data up to pressing the STOP X 50 then appears as a percentage Reference The operation duty can also be monitored while the program 15 running by using program Command See the SRI Controller User s Manual for more information 4 2 3 Acceleration setting Optimal acceleration for the PHASER series robots is automatically set by entering the payload parameter value In the payload parameter set the total weight of the workpiece and the end effectors such as hands or grippers attached to the robot slider Acceleration can also be changed by parameter JAN CAUTION Be sure to enter an accurate value when making this setting since a mistake will cause troubles such as vibration or a shorter service life span 10803 Setting the payload parameter To set the payload parameter by using the programming box HPB follow these steps 1 Connect the HPB to the SR1 MENU controller and turn on the power select menu to the controller 5 5 The initial menu screen appears on the HPB 2 Press SYS on the initial SYS menu screen to enter SYSTEM select menu de mod
63. 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 Reduce the speed 2 Insert a stop period in the operation 3 Reduce the acceleration coefficient 3 Soft limits Soft limits can be set on each axis to limit the working envelope in manual operation Ajayes ay 805 after return to origin and during automatic operation Note The working envelope is the area limited by soft limits AX 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 4 Mechanical stoppers If the servo power is shut off during robot operation by emergency stop or safety functions the mechanical stoppers prevent the axis from exceeding the movement range Note The movement range is the area limited by mechanical stoppers AY WARNING ROBOT MOVEMENT WILL NOT STOP IMMEDIATELY AFTER THE SERVO POWER SUPPLY IS SHUT OFF BY EMERGENCY STOP OR OTHER SAFETY FUNCTIONS WARNING WHEN THE SLIDER CARRIAGE COLLIDES WITH THE MECHANICAL STOPPER THIS MIGHT DAMAGE THE PARTS OF THE ROBOT AFTER A COLLISION CHECK THAT NO PARTS OF THE ROBOT ARE DAMAGED 1 10 1 5 Safety measures for the syst
64. airing the robot or damage to the robot and or robot controller 1 E Explains the key point in the operation in a simple and clear manner e Reference Gives useful information related to the robot operation 1 1 gt ge pain A g Un 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 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 w
65. ase thickness 9 30kgfecm to 4 M6 hex socket head bolt Strength 8 8T Length installation base thickness 10 2mm MF50 MF75 M8 hex socket head bolt Strength 8 8T MF100 Length installation base thickness 15 100kgf cm to 130kgf cm 230kgfecm to 370kgf cm SUOHOVUUOD pue uorjej ejsu 7 3 6 3 4 Installing an external leakage breaker and circuit protector To ensure safety a leakage breaker and circuit protector must be installed in the power supply connection section of the robot controller Make power connections to the controller by following the instructions in the controller user s manual AX WARNING ELECTRICAL SHOCKS INJURIES OR FIRES MIGHT OCCUR IF THE MOTOR BREAKS DOWN WHILE THE ROBOT CONTROLLER IS USED WITHOUT INSTALLING A LEAKAGE BREAKER IN THE POWER SUPPLY SECTION ELECTRICAL SHOCKS INJURIES OR FIRES MIGHT OCCUR IF THE MOTOR BREAKS DOWN WHILE THE ROBOT CONTROLLER IS USED WITHOUT MAKING CORRECT CONNECTIONS TO THE POWER SUPPLY USE A WIRE THICKER THAN 2 0 SQUARE MILLIMETERS CAUTION Be sure that the power supply voltage and the terminal connections are correct Incorrect voltage and connections could cause an equipment failure Shut the control power off while in a servo off condition suomoouuoo pue 5 3 7 3 5 Protective bonding Ad WARNING ALWAYS GROUND THE ROBOT AND CONTROLLER UNIT TO PREVENT E
66. bove illustration shows an example of RH right and horizontal type 2 2 2 3 Robot internal structure The YAMAHA linear single axis robot PHASER series MF type is a truly innovative single axis robot using a linear motor as its drive source The internal robot structure and features are described here AY WARNING THE FOLLOWING DRAWINGS AND DESCRIPTIONS ARE GIVEN TO ASSIST IN UNDERSTANDING AND SAFELY USING THE PHASER SERIES ROBOTS DO NOT ATTEMPT TO DISASSEMBLE THE ROBOT POWERFUL PERMANENT MAGNETS ARE FIXED BY ADHESIVE TO THE MAGNETIC PLATE SO DISASSEMBLY WITHOUT PROPER PREPARATION IS HAZARDOUS ALSO THE REQUIRED PERFORMANCE MAY NOT BE OBTAINED PHASER series internal layout lt MF50 gt MIIAIIDAC N Moving coil internal Magnet plate 2 lt 2 Magnetic head 2 FD Magnetic scale Ya Linear motion guide Magnet plate The robot contains powerful permanent magnets laid out at equally spaced intervals The magnetic field generated by these permanent magnets is utilized as propulsive power by the robot Moving coil The slider contains an internal moving coil Passing current through this coil changes the magnetic flux from the magnetic plate into a propulsive force Passing current through the coil also generates heat but heat sink fins efficiently dissipate this heat Structure lt MF50 gt Moving coil Magnet Magnetic scale 210 2 3 Linear guide
67. d resolution 1 Maximum speed mm sec x2 2500 Maximum carrying weight kg 1 150 Rated thrust N 200 Maximum stroke mm 4020 3700 Bearing method 2 guide rails and 6 blocks with retainer aaa W210xH100 excluding cable carrier Overall length mm Stroke length 360 Stroke length 680 Cable length m Standard 3 5 Option 5 10 Controller SR1 P RCX221 RCX240 RDP TS P 1 Weight per one carrier 2 See the maximum speed table below Payload kg Maximum speed m s 50 or less 2 5 Maximum speed m s 0 50 60 70 80 90 100 110 120 130 140 150 Payload kg Static load moment Unit Nem MY 830 831 730 7 26 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 Unit mm m 7 27 By 8018805 WO Jaleo 9 qe2 y SI 01 9250 45 8 10 uiuiG 0 104 p WWUQE uey 198 0 aq jou poq 10qo4 ay 10 peau 1 205 xeu ZW peau 8 94 DION
68. e HB TMnext 3 Press PRM SYS PRM The parameter setting mode is select menu entered 5 1 5 5 2 4 6 4 Select the parameter group Press AXIS to select the axis parameters The current setting for PRM100 robot type appears on the screen Press the D e keys to scroll up or down the parameters until PRM112 payload is displayed When PRM112 payload is displayed use the number keys to enter the payload and press amp The cursor returns to the top of data when the parameter has been set correctly 5 5 5 PRM100 robot read o 4210 type nly SYS PRM AXIS 112 payloa range d 0 2MAX k g SYS PRM AXIS PRM112 payloa range 10 d 02MAX k g 10q03 A 4 7 4 3 Pulse train control SRCP SRCP30 When you control the robot movement by pulse train input read the following description and comply with the precautions For detailed information on pulse train control and specifications refer to the separate SRCP controller Pulse train mode supplementary manual 4 3 1 Acceleration deceleration and position proportional gain Acceleration deceleration waveforms Use sinusoidal acceleration deceleration to issue acceleration deceleration instructions Using other waveforms might adversely affect positioning accuracy and curr
69. e 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 O N CFO A W N Does the robot move correctly during automatic operation 1 11 e Reference When starting the PHASER series robots the slider always moves a few millimeters right after the servo is turned on and emits a high pitched noise This is just the routine pre action for estimating the magnetic pole and is not a problem 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 soft limit setting and teaching For soft limit setting follow the suitable cautions notes etc in this manual For teaching follow the procedure shown belo
70. e carrier Hood on robot To robot cable __ I O signal wires Connection 0 15mm twisted pair Black Yellow Shield Internally connected 7 3 Robot connector motor connector A Cable carrier Hood Ground wire robot To robot cable motor wires 0 5 1 25 Green 0 5 1 25 mm Red 0 5 1 25 mm White 0 5 1 25 Black Internally connected 7 38 7 4 Robot cable I O signal wires Hood To controller To robot Ground wire 23 Connect to i Connection Pin No Signal Connectto Remarks S C __2 Gray Z Red DG Fe Pound terminal 0 3 mm Gray 7 5 Robot cable motor wires lt Controller CN1 N O Hood To controller N To robot ni Ground wire Round terminal 0 75 mm Yellow Green 0 75 mm Red 2 0 75 mm White 3 0 75 mm Black BH RCX Connection Pin No Remarks Motor wire FG Round terminal 0 75 mm Yellow Green 1 0 75 mm Red 2 0 75 mm White 3 0 75 mm Black 39 Revision record Manual version V
71. e 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 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 KEEP OUT OF THE REACH OF CHILDREN DO NOT HEAT THE GREASE OR PLACE NEAR AN OPEN FLAME SINCE THIS COULD LEAD TO SPARKS AND FIRES EMERGENCY TREATMENT IF GREASE GETS IN THE EYES WASH LIBERALLY WITH PURE WATER FOR ABOUT 15 MINUTES AND CONSULT A PHYSICIAN FOR TREATMENT IF GREASE COMES IN CONTACT WITH THE SKIN WASH AWAY COMPLETELY WITH SOAP AND WATER IF TAKEN INTERNALLY DO NOT INDUCE VOMITING BUT PROMPTLY CONSULT A PHYSICIAN FOR PROPER TREATMENT WARNING DISPOSAL OF GREASE AND WASTE CONTAINERS DISPOSAL METHODS ARE SUBJECT TO LEGAL REGULATIONS BE SURE THAT DISPOSAL METHODS COMPLY WITH THE ESTABLISHED LEGAL REGULATIONS DO NOT APPLY PRESSURE TO EMPTY CONTAINERS PRESSURE MIGHT CAUSE THE CONTAINERS TO RUPTURE DO NOT ATTEMPT TO WELD HEAT DRILL HOLES OR CUT THESE CONTAINERS BESIDES A POTENTIAL EXPLOSION THE REMAINING CONTENTS OF THE CONTAINER MIGHT IGNITE AND
72. em 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 gt ga gin A g gemi Un E cA lt safeguard 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 robot correct 3 Are air tubes correctly and securely connected 4 s the robot correctly connected to peripheral equipment 5 Have safety measures safety enclosur
73. ent value stability Acceleration deceleration and position proportional gain Acceleration deceleration and position proportional gain at different payloads are shown in the tables and graphs below Select the desired parameter values by referring to these tables and graphs Combination of MF50 and SRCP Payload kg Acceleration deceleration G Position proportional gain Kopp PRM19 0 80 10 76 20 72 30 68 40 64 50 60 Note Acceleration deceleration values apply to linear acceleration deceleration O 1 40 gt Position proportional gain Kpp Acceleration 80 _ 1 20 70 o 1 00 2 60 3 0 80 50 3 2 5 0 60 S 30 0 40 20 lt 0 20 10 0 00 0 10 20 30 40 90 Payload kg 4 8 Combination of MF100 and SRCP30 Payload kg Acceleration deceleration G Position proportional gain PRM19 0 1 74 80 20 1 59 50 40 30 60 20 80 15 13 Note Acceleration deceleration values apply to linear acceleration deceleration 100 s Z 16 1 4 S 12 PE 50 8 5 0 8 5 0 6 9 0 4 29 0 2 b 0 Payload kg CAUTION If the acceleration is too high the robot might not follow the instructions overloads occur e Reference The Position proportional gain parameter PRM 19 is a hidden pa
74. er 2 05 Oct 2009 Addition and correction of explanations in Chapter 1 Using the Robot Safely Addition and correction of Chapter 5 Periodic inspection and maintenance Clerical error corrections etc Dec 2008 Addition of descriptions regarding the addition of MF75 Addition and correction of Chapter 5 Periodic inspection and maintenance Clerical error corrections Aug 2010 Addition of descriptions regarding the addition of MF7 Clerical error corrections Jan 2011 External view of MF7 in 7 1 Specifications was modified added The description regarding Warranty was changed Clerical error corrections etc Jun 2011 Clerical error corrections Jul 2012 Wall mount model was added to MF15 The description regarding Warranty was changed Clerical errors were corrected etc User s Manual LINEAR MOTOR ROBOTS PHASER series ME Ivpe Jul 2012 Ver 5 00 This manual is based on Ver 5 00 of Japanese manual YAMAHA MOTOR CO LTD IM Operations All rights reserved No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO LTD Information furnished by YAMAHA in this manual is believed to be reliable However no responsibility is assumed for possible inaccuracies or omissions If you find any part unclear in this manual please contact your distributor IM Operations 882 Soude Nakaku Hamamatsu Shizuoka 435 0054 Japan Tel 81 53 460 6103 Fax 8
75. ernal force or friction is ea P external force and to ea when power is turned on P and restart the robot Robot mL movement is gt Repair the robot heavy at point where power is Try to turn on power in another turned on place to check whether the robot NO operates normally Connector wiring is incorrect NO YES eS Correct wiring or replace defective connector pins Consult us Turn power off and check slider movement by moving by hand Check wiring by referring to robot manual Requires repair or parts replacement Contact us 6 4 Overload YES Operation duty is too high mum conde by ecto rat aa oe o aa force or friction Remove enteral tores and tn external force and friction IS o aa to slider YES Robot mechanical movement is heavy Repair Motor cable is broken or frayed cable is broken or frayed Motor cable broken or E gt Replace the cable Check with duty monitor Turn power off and check slider movement by moving it by hand Check resistance between wires U V V W W U MF7 MF15 6 50 MF20 7 50 MF30 8 3Q YES MF50 360 Motor resistance is abnormal Repair MF75 3 10 MF100 1 02 Check robot number on HPB screen while referring to 581 controller user s manual If replacement controller is available check by exchanging the controllers
76. ety measures for the system Trial operation Work within the safety enclosure Automatic operation Warranty 1 1 1 3 1 9 1 10 1 11 1 1 Safety information Industrial robots are highly programmable mechanical devices that provide a large degree 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 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 Ajayes 805 e CAUTION Failure to follow CAUTION instructions may result in injury to the robot operator bystanders or persons inspecting or rep
77. gin can be set These are located one each on both ends of the stroke Refer to the outline dimension drawings shown in Chapter 7 Specifications Unless specified otherwise the origin position is set on the L side prior to shipment The origin position can be set on the R side by changing the parameter See the separate SR1 Controller User s Manual for information on changing the parameter O Return to origin direction oqoy L side R side A Magnetic pole detection point Slider Cable carrier LL A pM eee ee RN 7 L side R side A Magnetic pole detection point B Return to origin operation Return to origin speed is set at 20 mm per second prior to shipment This speed can be changed in increments of 1 to 100 mm per second by parameter entry Return to origin sequence Robot moves as follows by entering a return to origin command or a return to origin operation from the HPB 1 Slider moves in the specified return to origin direction at a speed set by the parameter iM Return to origin direction L side R side A Magnetic pole detection point 4 2 2 Slider moves in reverse direction after contacting the mechanical stopper stroke end detected CAUTION If the magnetic pole was not detected in the operation above in 1 in other words if return to origin started from a position on the left of the magnetic pole detection point then the s
78. han 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 26 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 requirements established by local regulations and safety standards for industrial robots Ajayes ay SUISN A 1 9 1 4 Robot safety functions 1 1 Overload detection This function detects an overload applied to the motor and shuts off the servo power 2 Overheat detection This detects an
79. hat 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 Product name Single axis robot Controller Robot cable I O connector Warning label 1 English and Stick the label at easy to see position DANGER label Japanese one each of system MIIAIIJAC N Warning label 3 English and Stick the label at easy to see position WARNING label Japanese one each of system WARNING 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 2 1 2 2 Robot part names 2 2 Robot part names Robot part names lt MF50 gt External components Ground wire End cover Slider cover ww Slider Robot cable 1 motor wires 4 Robot cable I O signal wires N End cover pest Reference The direction of the cables coming out of the cable carrier depends on the specifications you ordered The a
80. ible cable x2 06 air tube x3 Chapter 4 Robot operation 4 1 As AaB 4 1 3 4 2 4 2 1 1 22 4 2 3 4 3 4 3 1 4 3 2 Contents Notes on robot operation 4 1 Magnetic pole estimation action 4 1 Absolute search semi absolute specification 4 1 Return fo origin incremental specification 4 2 Setting operating conditions 4 4 Process flow for setting operating conditions 4 4 Duty monitor 4 5 Acceleration setting 4 6 Pulse train control SRCP SRCP30 4 8 Acceleration deceleration and position proportional gain 4 8 setting the maximum speed 4 10 4 1 Notes on robot operation On the MF7 MF15 MF20 MF30 MF50 MF75 two linear scale specifications are provided incremental specification and semi absolute specification The MF100 is available only in incremental specification Action after power on differs depending on the linear scale specifications Keep the following points in mind 4 1 1 Magnetic pole estimation action e When starting the PHASER series robots the slider always moves a few millimeters right after the servo is turned on and emits a high pitched noise This is just the routine pre action for estimating the magnetic pole and is not a problem Do not apply any external force or impact on the robot during the magnetic pole estimation action Doing so may cause a failure in the magnetic pole estimation action Both in the incremental and semi absolute specifications the magnetic pole estima
81. ill 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 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 e Install a safeguard protective enclosure to keep any person from entering within the movement range of the robot and suffering injury due to being struck by moving parts e Install a safety interlock that triggers emergency stop when the door or panel is opened e Install safeguards so that no one can enter inside except from doors or panels Ajayes JOqOY 5 A equipped with safety interlocks e Warning labels 1 are supplied with the robot and should be affixed to conspicuous spots on doors or panels equipped with safety interlocks SERIOUS INJURY OR DEATH WILL RESULT FROM IMPACT WITH MOVING ROBOT KEEP OUTSIDE OF GUARD DURING OPERATION LOCK OUT POWER BEFORE APPROACHING ROBOT Warning label 1 A DANGER Serious injury or death will result fr
82. ion salt damage condensation 10 Fires or natural disasters such as earthquakes tsunamis lightning strikes wind and flood damage etc 11 Breakdown due to causes other than the above that are not the fault or responsibility of YAMAHA E The following cases are not covered under the warranty 1 Products whose serial number or production date month amp year cannot be verified 2 Changes in software or internal data such as programs or points that were created or changed by the customer 3 Products whose trouble cannot be reproduced or identified by YAMAHA 4 Products utilized for example in radiological equipment biological test equipment applications or for other purposes whose warranty repairs are judged as hazardous by YAMAHA THE WARRANTY STATED HEREIN PROVIDED BY YAMAHA ONLY COVERS DEFECTS IN PRODUCTS AND PARTS SOLD BY YAMAHA TO DISTRIBUTORS UNDER THIS AGREEMENT ANY AND ALL OTHER WARRANTIES OR LIABILITIES EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ARE HEREBY EXPRESSLY DISCLAIMED BY YAMAHA MOREOVER YAMAHA SHALL NOT BE HELD RESPONSIBLE FOR CONSEQUENT OR INDIRECT DAMAGES IN ANY MANNER RELATING TO THE PRODUCT Ver 1 00 201205 1 14 Chapter 2 Product Overview Contents 2 1 Checking the product 2 2 2 Robot names 2 2 2 3 Robot internal structure 2 3 2 1 Checking the product After unpacking make sure t
83. lider returns to the magnetic pole detection point A There the slider moves in the reverse direction and re performs the operation in 1 This is not an equipment problem Direction of movement 5 L side H side 3 Slider carriage moves from the stroke end to the origin position and then stops to complete return to origin Refer to the outline dimension drawings shown in Chapter 7 Specifications Origin position 10q03 gt L side R side Reference see the separate SRI Controller User s Manual for more information on return to origin operation 4 3 4 2 Setting operating conditions You must set operating parameters such as the payload speed and acceleration in order to obtain maximum performance from the PHASER series robot 4 2 1 Process flow for setting operating conditions Set optimum parameters using the flow chart below as a reference Reference For details on the parameter setting method refer the users manual of the YAMAHA robot controller being used Process flow for setting operating conditions Set payload parameter Check actual operation duty check NO NO Does overload appear Is total cycle time appropriate YES Setting is appropriate Change robot speed and or acceleration Any margin in total cycle time to allow shortening it Lower robot speed and or After lowering
84. m Horizontal installation Unit 7 1 By 2 ajqeo 3 y moys ased siy uo 991 DION 8 Aq 9pis 4 991 aq ueo 3 5 jo w BY 1 opis 1 JY uo 385 SI UISIIO BION 1999045 21 y 04 BION 3 3 0 01295 5501 _ 10295 Jo 1882 1911129 14 0 JO UOI 28S SSOJ2 06 zoor 3 3 10 00295 55010 0 19J8H 019 2 5 AIS x g 92 Toy Ov vc NJ 001XV Ov Japl s 10 2281 do 08 94 1 62 9 01 uideg 8 0 8 Laon 01 udeq 08 2 1207 OLL Hop uonisod epis SFOYL L 0 1 uonisod epis 7 1 a puppupjs junoui bjuoziuou 5 ZIW N B Specifications Specifications 7 3 By
85. n 3 an error occurs 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 For information on the warranty period and terms please contact our distributor where you purchased the product E This warranty does not cover any failure caused by 1 Installation wiring connection to other control devices operating methods inspection or maintenance that does not comply with industry standards or instructions specified in the YAMAHA manual 2 Usage that exceeded the specifications or standard performance shown in the YAMAHA manual Product usage other than intended by YAMAHA 4 Storage operating conditions and utilities that are outside the range specified in the manual UJ Ajayes ay 805 Damage due improper shipping or shipping methods Accident or collision damage Installation of other than genuine YAMAHA parts and or accessories Modification to original parts or modifications not conforming to standard specifications designated by YAMAHA including customizing performed by YAMAHA in compliance with distributor or customer requests 9 Pollut
86. om impact with moving robot 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 The labels for the MF7 are supplied with the robot AY WARNING MOVING PARTS CAN PINCH OR CRUSH KEEP HANDS AWAY FROM ROBOT ARMS 1 3 Ajayes ay 805 4 1 4 Warning label 2 A WARNING a Moving parts can d pinch or crush Keep hands away from robot arms 3 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 the 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 WARNING IMPROPER INSTALLATION OR OPERATION CAN RESULT IN SERIOUS INJURY OR DEATH READ THE U
87. positioning accuracy um 5 Scale Magnetic method resolution 1 Maximum speed mm sec x2 2500 Maximum carrying weight kg 1 60 Rated thrust N 125 Maximum stroke mm 4000 3750 Bearing method 2 guide rails and 6 blocks with retainer aaa W150xH80 excluding cable carrier Overall length mm Stroke length 310 Stroke length 560 Cable length m Standard 3 5 Option 5 10 Controller SR1 P RCX221 RCX240 RDP TS P 1 Weight per one carrier 2 See the maximum speed table below Payload kg Maximum speed m s 30 or less 2 5 40 2 2 50 1 8 60 1 5 x a oe S 00 10 20 30 40 50 60 70 Payload kg Static load moment MB Unit N m 7 20 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 Unit mm m E Vertical installation Unit mm 7 21 07 0 00 6l 6 GG GG 01 S01 OLLY 0166018 01600180 000 0100 exo1ls SUISSES WOJ 2 y si Jaleo ajqeo
88. rameter For detailed information on how to display and change hidden parameters see the SRCP Series Controller User s Manual or SRCP30 Controller User s Manual 1 4 9 4 3 Pulse train control SRCP SRCP30 4 3 2 Setting the maximum speed In the case of pulse train control the robot moves 1 micrometer per pulse To operate the robot at a maximum speed 2500 mm sec a pulse train at 2 5Mpps must be input The maximum speed might not be obtained depending on the operating conditions As the speed increases the sliding resistance also increases and overloads tend to occur 1 4 10 Chapter 5 Periodic inspection and maintenance Contents 5 1 Before beginning work 5 5 2 Periodic inspection 5 4 5 2 1 Daily inspection 5 4 5 2 2 Three month inspection 9 9 5 2 3 Six month inspection 9 6 5 2 4 Three year inspection 9 6 5 2 5 Greasing the linear guides 5 5 3 Replacing the shutter 5 10 5 4 Replacing the shufter roller 5 12 5 5 Maintenance parts 5 15 5 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 PHASER series Before beginning work read the precautions below and also in Chapter 1 Using the Robot Safely and follow the instructions Safety precautions 1 Read and understand
89. ramming box HPB and support software POPCOM are sold separately 3 11 3 7 Precautions during user wiring and air tube installation Cable carries plastic chain for cable guide User cables and air tubes can be routed in the cable carrier of the MF type robots Observe the following precautions when routing user cables and air tubes in the cable carrier CAUTION suomoouuoo pue 7 3 12 The cable and air tubes should take up less than 30 of the space when storing them inside the cable carrier Lay out the cables and air tubes in rows inside the cable carrier so they do not cross each other Use the table below as a general guide for cable and air tube installation The cables and air tubes inside the cable carrier will shiff while the robot is operating becoming taut and placing a strain on the conneciors at both ends To prevent this loosely fasten the cables and air tube to the cable carrier with cable ties to prevent strain from being applied Fasten them lightly since the cables and air tubes might break if secured too tightly Do not remove or mount brackets installed on the cable carrier or attempt to modify them E Cable and air tube installation reference Optional Robot model Cable and air tube cable carrier type 08 flexible cable x1 04 air tube x1 MF7 15 20 30 08 flexible cable x2 06 air tube x2 08 flexible cable x2 06 air tube x3 MF50 75 100 08 flex
90. romagnetic interference etc Ad WARNING DO NOT USE THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC INTERFERENCE ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY INTERFERENCE MALFUNCTIONS MIGHT OTHERWISE OCCUR 8 Provide safety measures for end effector gripper etc AX 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 15 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 9 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 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 A WARNING 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 DO NOT DISASSEMBLE THE CONTROL
91. t to eliminate incorrect response or use a device designed for the strong magnetic field Magnetic flux leak range Robot Robot 1 v t A C Ei ___ f Chapter 3 Installation and connections 3 1 3 2 3 2 1 3 2 2 3 3 3 4 3 5 3 6 3 7 Contents Carrying the robot 3 1 Robot installation conditions 3 2 Installation environments 3 2 Installation base 3 3 Installing the robot 3 5 Installing an external leakage breaker and circuit protector 3 7 Protective bonding 3 8 Connecting the robot to the controller 3 9 Precautions during user wiring and tube installation 3 12 3 1 Carrying the robot Always use 2 people to carry the robot unit Each person should grip the robot unit near one end from the lower side as shown and carry with the load well balanced Carry with the robot facing upward slider side upwards AY WARNING ALWAYS OBSERVE THE FOLLOWING PRECAUTIONS WHEN CARRYING THE ROBOT e REMOVE AND ALL OBJECTS SUCH AS HANDS AND GRIPPERS ATTACHED TO THE ROBOT SLIDER BEFORE MOVING THE ROBOT THE SLIDER WILL LOSE BALANCE IF MOVED WITH OBJECTS STILL ATTACHED AND CAUSE INJURIES KEEP THE ROBOT BALANCED AND DON T LET IT TILT WHILE MOVING IT IF THE ROBOT THE SLIDER MAY MOVE UNDER ITS OWN WEIGHT CAUSING SERIOUS INJURIES SUCH AS CRUSHED FINGERS NEVER ATTEMPT TO HOLD THE ROBOT IN ANY OF THE FOLLOWING MANNERS Never try this when moving Do
92. tion action is performed at servo on immediately after turning the power on 4 1 2 Absolute search semi absolute specification On the semi absolute specification absolute search absolute position detection must be performed after turning power on before starting operation Current position is found by reading the signal recorded on the linear scale during absolute search The slider carriage 10q03 moves a maximum of 76mm while reading the signal The distance that the slider moves can be shortened by allowing the slider to move back and force for signal read B Absolute search motion e Absolute reset speed is set to 20 mm per second prior to shipment This speed can be reduced by parameter entry Absolute search sequence When an absolute search return to origin command is input or the HPB is used to perform absolute search the slider moves in the direction specified by parameter and then stops when the origin position is found allowing automatic operation 4 1 4 1 3 Return to origin incremental specification B Origin position On the incremental specification return to origin must be performed after turning power on before starting operation Magnetic poles are also detected during return to origin Once return to origin is completed there is no need to perform it again unless the controller power is turned off or an error occurs e There are two positions at which the ori
93. tion deviation error 6 1 6 1 6 3 6 4 6 5 6 1 If you suspect trouble If an error such as a feedback error and overload 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 6 2 Feedback error Feedback error 1 Um YES External force or friction is applied Remove external force and to slider when power 15 turned on friction and restart the robot YES Turn power off and check slider movement by moving it by hand Check wiring by referring to robot manual Check robot number on HPB screen while referring to 581 controller user s manual If replacement controller is available check by exchanging the controllers Robot mechanical movement is heavy at point where power is turned on Connector wiring is incorrect Repair the robot Try to turn on power in another place to check whether the robot operates normally YES zm Correct wiring or replace defective connector pins YES Robot number parameter is incorrect Initialize parameters YES Controller is defective Replace the controller J YES External noise is large Take noise reduction measures NO Consult us Requires repair or parts replacement Contact us Feedback error
94. ult 14 Follow the specified procedures when installing adjusting or inspecting the robot WARNING ALWAYS FOLLOW THE SPECIFIED PROCEDURES WHEN INSTALLING ADJUSTING OR INSPECTING THE ROBOT NEVER ATTEMPT ANY PROCEDURE NOT DESCRIBED IN THIS MANUAL 15 Do not attempt any repair parts replacement and modification 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 16 Do not use the robot in locations where strong magnetic sources are present WARNING DO NOT USE THE ROBOT NEAR A STRONG MAGNETIC SOURCE THE ROBOT MIGHT OTHERWISE BREAK DOWN OR MALFUNCTION 17 Precautions when disposing of the robot When disposing of the robot handle it as industrial waste WARNING HANDLE THE ROBOT CAREFULLY WHEN DISPOSING OF IT SINCE POWERFUL MAGNETS ARE INSTALLED INSIDE 18 Location for installing the controller and the programming box or Handy Terminal The robot controller programming box and Handy Terminal 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 19 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 Ajayes
95. w 2 Teaching When performing teaching within the safety enclosure comply with the instructions listed below Ajayes ay 805 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 box or Handy Terminal is operating normally 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 Check the following before starting automatic operation 1 No one is within the safety enclosure 2 The programming box or Handy Terminal tools etc are in their prescribed positions 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 um gt ga gin A g gemi Un E cA lt 2 Never enter the safety enclosure during automatic operatio

MF Type User`s Manual

Contents

Download Pdf Manuals

Related Search

Related Contents