wWARNING - Yamaha Robotics
Contents
1. 2 2 12 mx kgm C W Weight of prism kgf m Mass of prism kg 29 Revision record Manual version Issue date Description Ver 1 00 Sep 2006 English manual Ver 1 00 is based on Japanese manual Ver Ver 1 01 Oct 2006 English manual Ver 1 01 is based on Japanese manual Ver Ver 1 02 Feb 2007 English manual Ver 1 02 is based on Japanese manual Ver Ver 1 03 May 2007 English manual Ver 1 03 is based on Japanese manual Ver Ver 1 04 Dec 2009 English manual Ver 1 04 is based on Japanese manual Ver User s Manual FLIP X series YAMAHA N15 N18 Dec 2009 Ver 1 04 This manual is based on Ver 1 05 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 YAMAHA or YAMAHA sales representatives2. 10 Consult us for corrective action when the robot is damaged or malfunctions occur WARNING IF ANY PART OF THE ROBOT IS DAMAGED OR ANY MALFUNCTION OCCURS CONTINUING THE OPERATION MAY BE VERY DANGEROUS PLEASE CONSULT YOUR YAMAHA SALES OFFICE OR DEALER FOR CORRECTIVE ACTION Damage or Trouble Possible Danger Electrical shock malfunction of Damage to machine harness or robot cable robot Flying outwards of damaged Damage to exterior of robot parts during robot operation Abnormal operation of robot MEN Malfunction of robot positioning error excessive vibration etc 1 2 Essential precautions 11 Protective bonding WARNING BE SURE TO GROUND THE ROBOT AND CONTROLLER TO PREVENT ELECTRICAL SHOCK 12 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 result C um ge pla Ay g a Un c m 13 Take the following safety precautions during inspection of controller WARNING e WHEN YOU NEED TO TOUCH THE TERMINALS OR CONNECTORS ON THE OUTSIDE OF THE CONTROLLER DURING INSPECTION ALWAYS FIRST TURN OFF THE CONTROLLER POWER SWITCH AND ALSO
3. YAMAHA MOTOR CO LTD YAMAHA SINGLE AXIS ROBOT FLIP X series NI5 NIS User s Manual TETE YAMAHA MOTOR CO LTD IM Operations 882 Soude Naka ku Hamamatsu Shizuoka 435 0054 Japan URL http www yamaha motor jp robot index html E38 Ver 1 04 Before using the N15 N18 single axis robots Be sure to read the following notes Thank you for purchasing this YAMAHA single axis robot N15 N18 Before using this robot read the following notes and set the origin position The N15 N18 single axis robots use absolute position detectors that do not require return to origin after turning on the controller power However when the controller power is turned on in the following cases return to origin must be performed just the very first time 1 When robot cable was first connected after delivery from YAMAHA 2 When robot cable was disconnected from the controller and then reconnected 3 When no absolute battery is connected 4 When a motor or cable was replaced At this point any of the following errors is issued immediately after controller power is turned on but this is not a malfunction The controller will operate normally by restarting When using an SRCX controller 15 FEEDBACK ERROR 2 23 ABS BAT L VOLTAGE 24 ABS DATA ERROR etc When using an RCX142 controller 17 81 D ABS battery wire breakage 17 92 D Resolver disconnected during power off 17 93 D Position backup counter ov
4. The YAMAHA robot and or related product you have purchased are warranted against the defects or malfunctions as described below Warranty description failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this YAMAHA robot and or related product within the warranty period then YAMAHA will repair or replace those parts free of charge hereafter called warranty repair Warranty Period The warranty period ends when any of the following applies Ajayes ay SUISN A 1 After 18 months one and a half year have elapsed from the date of shipment 2 After one year has elapsed from the date of installation 3 After 2 400 hours of operation Exceptions to the Warranty This warranty will not apply in the following cases 1 Fatigue arising due to the passage of time natural wear and tear occurring during operation natural fading of painted or plated surfaces deterioration of parts subject to wear etc 2 Minor natural phenomena that do not affect the capabilities of the robot and or related product noise from computers motors etc 3 Programs point data and other internal data that were changed or created by the user Failures resulting from the following causes are not covered by warranty repair 1 Damage due to earthquakes storms floods thunderbolt fire or any other natural or man made disasters 2 Troubles caused by procedures prohibited
5. While holding ball screw shaft with a wrench by placing it to the thread groove loosen and remove the U nut and washer U nut Thread groove on ball screw qe 7 9 Loosen mounting bolts 4 places the other end of the ball screw ap O e Y O C e c J E gud gt amp e O 4 10 Ball screw mounting bolts 4 4 Replacing the motor 10 Remove the bolts 3 places securing the ball screw holder and then remove the ball screw tensioner bolt 1 place Ball screw holder mounting bolt Ball screw tensioner bolt 11 Remove the screws 2 places securing the damper Skip this step for the N18 robot lt N15 gt a O e e Y O e c amp o E en e e O 4 11 4 4 Replacing the motor 12 Remove the bolts 4 places securing the motor and remove the motor At this time be careful not to allow the ball screw shaft to come out of the nut gt lt N18 gt Pu Ball screw Nut section Ball screw Nut section Allow a space of Do not pull out 300mm or more 13 Install a new motor Tighten the bolts to the following torque Bolt M5 M6 Tightening torque 60kg cm to 90kg cm 100kg cm to 130kg cm 2 o e Y O C e c J E gt en Q e O 4 12 4
6. 4 Replacing the motor 14 Assemble in the reverse order of disassembly Proceed while making sure the positional relation and assembly order of the parts are correct CAUTION When installing the ball screw apply the proper amount of molybdenum grease to the clamp portion see photo below lt N15 gt Apply molybdenum grease here 15 After replacing the motor adjust the coupling position so that the grid position is within 50 20 which is displayed by performing return to origin JJueua urew pue 21 A 4 13 4 4 Replacing the motor 2 O e e 72 6 c O eJ o E ma gt eJ e O 4 14 Checking the grid position Press F2 OPRT on the initial screen Press F1 ORG Press F1 YES to perform return to origin If you want to cancel return to origin press 2 The screen right appears during return to origin If you want to interrupt return to origin before completed press The robot will stop and a message will appear Then pressing Esc will return to the screen in step 2 When return to origin is complete the machine reference value is displayed on the bottom right of the screen Press to display the grid position MENU select menu ZEDITZOPRTSSYS AMON OPRT select menu BORG 2STEPBAUTO OPRT ORG SEARCH ORG search OK BYES BNO O
7. GREASE COMES INTO CONTACT WITH SKIN BE SURE TO WEAR PROTECTIVE GLOVES TO PREVENT CONTACT WITH SKIN e DO NOT TAKE ORALLY OR EAT EATING WILL CAUSE DIARRHEA AND VOMITING e HANDS AND FINGERS MIGHT BE CUT WHEN OPENING THE GREASE CONTAINER SO USE PROTECTIVE GLOVES e KEEP OUT OF THE REACH OF CHILDREN e DO NOT HEAT THE GREASE OR PLACE NEAR AN OPEN FLAME SINCE THIS COULD LEAD TO SPARKS AND FIRES EMERGENCY TREATMENT e IF GREASE GETS IN THE EYES WASH LIBERALLY WITH PURE WATER FOR ABOUT 15 MINUTES AND CONSULT A PHYSICIAN FOR TREATMENT e IF GREASE COMES IN CONTACT WITH THE SKIN WASH AWAY COMPLETELY WITH SOAP AND WATER e FTAKEN INTERNALLY DO NOT INDUCE VOMITING BUT PROMPTLY CONSULT A PHYSICIAN FOR PROPER TREATMENT pue JIPOLIIA 4 2 4 2 Periodic inspection 4 2 Periodic inspection 4 2 1 Daily inspection Check the following points on a daily basis before and after robot operation Checkpoints Check items Check for damage dent Replace if needed and excessively tight bends Ball screw bearing Check for unusual vibration and noise Motor Check for unusual vibration and noise and for abnormal temperature rise 4 2 2 Three month inspection Check the following points every 3 months and apply grease if needed Checkpoints Check items Ball screw linear Check for dust buildup or debris See 4 3 in this guide ball bushing Clean if necessary Ap
8. affixed to the robot or conspicuous spots near the robot WARNING IMPROPER INSTALLATION OR OPERATION CAN RESULT IN SERIOUS INJURY OR DEATH READ THE USER S MANUAL AND ALL WARNING LABELS BEFORE OPERATION 1 3 1 2 Essential precautions 4 Ajayes ay SUISN 5 6 1 4 Warning label 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 Do not remove alter or stain the warning labels WARNING IF WARNING LABELS ARE REMOVED OR DIFFICULT TO SEE THEN ESSENTIAL PRECAUTIONS MIGHT NOT BE TAKEN RESULTING IN ACCIDENTS e DO NOT REMOVE ALTER OR STAIN THE WARNING LABELS ON THE ROBOT e DO NOT ALLOW THE WARNING LABELS TO BE HIDDEN BY DEVICES INSTALLED ONTO THE ROBOT BY THE USER e PROVIDE PROPER LIGHTING SO THAT THE SYMBOLS AND INSTRUCTIONS ON THE WARNING LABELS CAN BE CLEARLY SEEN EVEN FROM OUTSIDE THE SAFETY ENCLOSURE Do not use the robot in environments containing inflammable gas etc WARNING e THIS ROBOT WAS NOT DESIGNED FOR OPERATION IN ENVIRONMENTS WHERE INFLAMMABLE OR EXPLOSIVE SUBSTANCES ARE PRESENT e DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING INFLAMMABLE GAS DUST OR LIQUIDS EXPLOSIONS OR FIRE MIGHT OTHERWISE RESULT Do not use the robot in locations possibly subject to electromagnetic interference etc WARNING AVOID US
9. connector I O signal connector 6 2 Robot connector I O signal connector To controller To robot 0 3sq twisted pair Yellow Drain wire 6 3 Robot connector motor connector To controller To robot cc E gt gel EEE C IL SIGNAL Comnector No Comnector No NOTE Motor wire 0 75mm 0 75mm 0 75mm 6 5 MEMO 6 6 About machine reference The position detector built into the motor issues a 0 pulse each time the motor rotates 1 4th of one turn When return to origin is performed a difference in distance occurs between the position where the origin signal is detected and the point at which the next 0 pulse is received This is called the machine reference and is xipuaddy usually expressed as a percent with 100 being equal to 1 4th of one turn of the motor See the figure below The machine reference value must be within the allowable range 25 to 75 to maintain axis movement repeatability To check the machine reference value an optional programming unit HPB or MPB is needed The machine reference value is displayed on the LCD screen of the programming unit when return to origin is complete See the figure below A S gf m NOTE The N15 N18 robots use an absolute type position detector There is no need to in perform return to origin each time the robot contr
10. controller No 1 5 1 If you suspect trouble 5 1 2 Feedback error Feedback error No Any foreign matter caught inside No Adjust mechanical alignment Is brake installed Yes Turn power off and Much mechanical check for friction friction by moving manually No Is there electrical discontinuity Replace motor with brake Initialize parameters Replace power supply unit or repair defective parts Are parameters for controller and robot OK No No No Yes Is there electrical discontinuity No Yes Are wiring and connector securely connected Securely connect wiring and connector When feedback error is occurring perform Are connector pins continuity check securely inserted No Securely insert pins or repair defective pins 1 Check motor power supply lines U V and W 2 Check encoder signal lines for phases A and B No Replace motor since motor has shorted or burnt out O c 2 5 O p Take noise reduction measures Is motor encoder No Replace motor OK Yes 1 Check position shift by repetitive accuracy measurement 2 If replacement motor is available check by exchanging the motors Yes No Yes 15 controller ardware OK Is external noise large 1 If replacement controller is available check by exchanging the c
11. each end cover The end cover will come off Top cover Se O a O e e Y O 6 c O eJ o E Pma O eJ e O 4 7 a _ n Ec EUN a qe ots E um roo BE E i A _ _ ee Molding 4 4 Replacing the motor 5 Remove the cable cover After removing the cable cover cut the cable tie securing the motor cable with a wire cutter or scissors and then disconnect the motor wire and signal wire connectors Cable cover 6 Loosen screw securing the side cover and slide the side cover in the direction of arrow to a position that allows access to the motor unit The N18 robot has no side cover so skip this step e 77 O c Side cover m 5 3 Dd m e Side cover mounting screw 4 4 Replacing the motor 7 Free the table slider and motor coupling by loosening the screw that clamps the coupling to the motor shaft as shown below When workpiece is on table slider lt N15 gt I Hole for motor and coupling clamp screw Hole for motor and coupling clamp screw When no workpiece is on table slider c m a e un c e 5 3 E en 5 E e 4 4 Replacing the motor 8
12. into the four grease nipples two each on both sides of the ball guide bearing Then move the table slider back and forth to help spread the grease around Grease nipple Ball screw Apply grease by hand to the ball screw and move the table slider back and forth to help spread the grease around Ball screw Reattach the top cover and end covers 4 4 Replacing the motor 4 4 Replacing the motor CAUTION A positional shift occurs by replacing the motor It is therefore necessary to perform return to origin and set point data again after replacing the motor When removing the parts note their positional relation and assembly order Provide a space of at least 300mm between each end of the robot and the wall Do not pull out the ball screw nut section from the ball screw FI Pl 7 U m Wal d MANNN ANN NAN NAAN Ball screw Nut section Allow a space of Do not pull out 300mm or more 1 Turn off the controller power 2 Remove the end covers 1 upper end covers from both ends of the robot Refer to 3 3 Installation method B for how to remove the end covers 3 Remove the top cover Remove the screws 4 places holding the top cover and remove the top cover 4 Remove the end covers 2 lower end covers from both ends of the robot Remove the screws 2 places holding each end cover and remove the end covers On the N15 robot first remove the side moldings and then remove the screws holding
13. there are any missing parts or damage due to shipping please notify your YAMAHA sales office or representative immediately WARNING e ALWAYS USE TWO OR MORE PEOPLE TO TAKE THE ROBOT UNIT OUT OF THE PACKAGE EACH PERSON SHOULD GRIP THE ROBOT UNIT NEAR ONE END FROM THE LOWER SIDE CARRY WITH THE ROBOT FACING UPWARD SLIDER SIDE UPWARDS e WHEN UNPACKING CAREFULLY HOLD THE ROBOT NOT TO DROP IT IF THE ROBOT FALLS SERIOUS INJURY MAY OCCUR OR THE ROBOT MAY BE DAMAGED MOIIAIIAO N 2 1 2 2 Robot part names 2 2 Robot part names Robot part names External components Robot cable motor wires 12 4 Y Cable cover Cable carrier Y End cover 1 Reference The direction of the cables coming out of the cable carrier depends on the specifications you ordered The above illustration shows an example of RH right and horizontal type 2 2 2 3 Robot internal structure 2 3 Robot internal structure The YAMAHA N15 N18 single axis robots are truly innovative single axis robot using a hollow motor as its drive source The internal robot structure and features are described here lt N15 gt 4 Slider Linear guide M9IAJ9AQ 12 44 N Hollow motor 2 3 MEMO 2 4 Installation and connections 3 1 Carrying the robot 3 1 Carrying the robot Always use two people to carry the robot unit Each person s
14. 0 1 9 Warranty 1 11 2 1 Checking the product 2 1 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 Connecting the robot to the controller 3 9 3 5 Precautions during user wiring and hose installation 3 12 U9 U07 P19UIN U9 U07 Chapter 4 Periodic inspection and maintenance 4 1 Before beginning work 4 1 4 2 Periodic inspection 4 3 4 2 1 Daily inspection 4 3 4 2 2 Three month inspection 4 3 4 2 3 Six month inspection 4 4 4 2 4 Three year inspection 4 4 4 3 Applying grease 4 5 4 4 Replacing the motor 4 7 Chapter 5 Troubleshooting 5 1 If you suspect trouble 5 1 9 1 1 Positioning error 5 1 5 1 2 Feedback error 5 2 Chapter 6 Specifications 6 1 Main unit specifications 6 1 6 2 Robot connector I O signal connector 6 5 6 3 Robot connector motor connector 6 5 Appendix About machine reference Moment of inertia calculation li About this manual This manual consists of the following chapters Chapter 1 Chapter 2 Chapter 3 Chapter 4 Chapter 5 Chapter 6 Using the Robot Safely Product Overview Installation and Connections Periodic Inspection and Maintenance Troubleshooting Specifications This manual should be used with the robot and considered an integral part of it When the robot is moved transferred or
15. CORRECT TORQUE FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE POSITIONING ERRORS AND SERIOUS ACCIDENTS 3 After installing the robot reattach the top cover and end covers 1 upper end covers 3 0 3 4 Connecting the robot to the controller 3 4 Connecting the robot to the controller Connect the robot cables to the mating connectors on the controller as shown Refer to the robot controller user s manual for the controller connectors WARNING e BEFORE CONNECTING THE CABLES CHECK THAT THERE ARE NO BENDS OR BREAKS IN THE ROBOT CABLE CONNECTOR PINS AND THAT THE CABLES ARE NOT DAMAGED CONTACT FAILURE MAY CAUSE ROBOT MALFUNCTIONS e ALWAYS MAKE SURE THAT THE POWER TO THE ROBOT CONTROLLER IS OFF BEFORE CONNECTING THE ROBOT CABLES TO THE CONTROLLER CAUTION After connecting the robot cable intermediate connectors together fit the connector hoods together securely Intermediate connector motor wire pue uonejje suj 5 Intermediate connector signal wire 1 Connect the robot cables motor and signal wires to the mating connectors coming out from the robot Robot cable connector signal wire Robot cable connector motor wire 3 9 3 4 Connecting the robot to the controller 2 pue uorjej ejsu 7 3 10 After making the connections fit the connector hoods together securely Hood 3 4 Connecting the robot to th
16. ENANCE ALWAYS TURN OFF THE CONTROLLER AND THE EXTERNAL SWITCH BOARD DO NOT TOUCH INTERNAL PARTS OF THE CONTROLLER FOR 5 SECONDS AFTER THE CONTROLLER HAS BEEN TURNED OFF WHEN ONLY MAKING ELECTRICAL INSPECTIONS AND REQUIRING NO MECHANICAL MOVEMENT OF THE ROBOT KEEP THE EMERGENCY STOP BUTTON PRESSED USE ONLY LUBRICANT AND GREASES SPECIFIED BY YAMAHA SALES OFFICE OR REPRESENTATIVE USE ONLY PARTS SPECIFIED BY YAMAHA SALES OFFICE OR REPRESENTATIVE TAKE SUFFICIENT CARE NOT TO ALLOW ANY FOREIGN MATTER TO CONTAMINATE THEM DURING ADJUSTMENT PARTS REPLACEMENT OR REASSEMBLY DO NOT MODIFY ANY PARTS ON THE ROBOT OR CONTROLLER MODIFICATION MAY RESULT IN UNSATISFACTORY SPECIFICATIONS OR THREATEN OPERATOR SAFETY WHEN ADJUSTMENT OR MAINTENANCE IS COMPLETE RETIGHTEN THE BOLTS AND SCREWS SECURELY DURING ROBOT ADJUSTMENT OR MAINTENANCE PLACE A SIGN INDICATING THAT THE ROBOT IS BEING ADJUSTED OR SERVICED TO PREVENT OTHERS FROM TOUCHING THE CONTROL KEYS OR SWITCHES PROVIDE A 32ueugjureui pue Ipod A LOCK ON THE SWITCH KEYS OR ASK SOMEONE TO KEEP WATCH AS NEEDED 4 1 4 1 Before beginning work When applying grease to the ball screw and linear guide take the following precautions PRECAUTIONS WHEN HANDLING GREASE INFLAMMATION MAY OCCUR IF THIS GETS IN THE EYES BEFORE HANDLING THE GREASE WEAR YOUR SAFETY GOGGLES TO ENSURE THE GREASE WILL NOT COME IN CONTACT WITH THE EYES e INFLAMMATION MAY OCCUR IF THE
17. ING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC INTERFERENCE ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY INTERFERENCE MALFUNCTIONS MIGHT OTHERWISE OCCUR 1 2 Essential precautions 7 Provide safety measures for end effector gripper etc WARNING END EFFECTORS MUST BE DESIGNED AND MANUFACTURED SO THAT THEY CREATE NO HAZARDS FOR EXAMPLE A WORKPIECE THAT COMES LOOSE EVEN IF POWER ELECTRICITY AIR PRESSURE ETC 15 SHUT OFF OR POWER FLUCTUATIONS OCCUR e IF THERE IS A POSSIBLE DANGER THAT THE OBJECT GRIPPED BY THE END EFFECTOR MAY FLY OFF OR DROP THEN PROVIDE APPROPRIATE SAFETY PROTECTION TAKING INTO ACCOUNT THE OBJECT SIZE WEIGHT TEMPERATURE AND CHEMICAL PROPERTIES 8 Use caution when removing the motor WARNING THE VERTICAL AXIS WILL SLIDE DOWN WHEN THE MOTOR IS RELEASED CAUSING A HAZARDOUS SITUATION e TURN OFF THE ROBOT CONTROLLER AND PROP UP THE VERTICAL AXIS WITH A SUPPORT STAND BEFORE REMOVING THE MOTOR e BE CAREFUL NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE VERTICAL AXIS PARTS AND INSTALLATION BASE Ajayes ay SUISN A 9 Be careful not to touch the motor and peripheral parts when hot WARNING The motor and speed reduction gear casing are extremely hot after automatic operation so burns may occur if these are touched Before handling these parts during inspection or servicing turn off the controller wait for a while and check that the parts have cooled
18. ISE RESULT 3 2 3 2 Robot Installation Conditions WARNING AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC INTERFERENCE ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY INTERFERENCE MALFUNCTIONS MAY OTHERWISE OCCUR WARNING DO NOT USE THE ROBOT IN LOCATIONS SUBJECT TO EXCESSIVE VIBRATION ROBOT INSTALLATION BOLTS MAY OTHERWISE BECOME LOOSE CAUSING THE ROBOT TO FALL OVER 3 2 2 Installation base To mount the robot use an installation base that satisfies the following conditions 1 The installation base is subjected to a great deal of stress while the robot is in operation Prepare a sufficiently rigid and stable installation base taking into account the robot weight including the end effector gripper and workpiece WARNING IF THE INSTALLATION BASE IS NOT SUFFICIENTLY RIGID AND STABLE VIBRATION RESONANCE MAY OCCUR DURING OPERATION CAUSING ADVERSE EFFECTS ON THE ROBOT WORK SUONIJUUOI pue uonejjejsuj 5 2 The installation base surface must be machined within a flatness of 0 05mm 500mm CAUTION The robot positioning accuracy or the service life might be reduced if the installation surface precision is insufficient 3 3 3 2 Robot Installation Conditions SUONIYUUOD pue UONEI EJSU 7 Use an installation base of sufficient size to match the robot body so that the robot can be installed with the specified number of bolts Avoid installing the r
19. NING EE e BEFORE INSTALLING THE ROBOT ALWAYS MAKE SURE THAT THE ROBOT CONTROLLER IS NOT CONNECTED TO THE ROBOT OR THE POWER TO THE CONTROLLER IS OFF SERIOUS ACCIDENTS MAY OCCUR IF THE ROBOT STARTS TO OPERATE DURING INSTALLATION e BE SURE TO USE THE BOLTS OF THE SPECIFIED SIZE AND LENGTH AND TIGHTEN THEM SECURELY TO THE CORRECT TORQUE IN THE CORRECT POSITIONS FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE ROBOT VIBRATIONS POSITION ERRORS AND SERIOUS ACCIDENTS e DO NOT USE A BOLT LONGER THAN THE SPECIFIED LENGTH SINCE IT MAY INTERFERE WITH THE INTERNAL PARTS OF THE ROBOT AND CAUSE MALFUNCTIONS suomoouuoo pue uonejje suj 5 3 5 3 3 Installing the robot O Installation method A N15 only Drill holes through the installation base where the robot is secured Then secure the robot to the base with specified bolts from below the base For machining positions of the through holes refer to the robot external view and dimensions shown in the catalog or website www yamaha motor co jp global industrial robot The bolts and tightening torque are shown below Hex socket head M6 bolt Strength 8 8 Length installation base thickness 10 mm Bolt Tightening torque 9 8Nm to 12 7Nm 100kg cm to 130kg cm SUOIjO9UUO pue uore ejsu 7 Installation base M6 bolt Because the robot frame has a cavity inside the tapped holes it is possible to use bolts whose length is up to the installation
20. On long stroke robots check the slider inside the top cover for wear or damage every 6 months Using grease other than those recommended by YAMAHA might shorten the service life of the ball screw and linear guide 4 2 4 Three year inspection Check the following points every 3 years or more often if the robot is used frequently 4 4 Checkpoints Ball screw nut section and linear guide Check items Check ball screw nut and linear guide for backlash due to wear Consult us if abnormal condition is found 4 3 Applying grease When applying grease to the ball screw according to periodic inspection follow the 4 3 Applying grease procedure below Grease can be applied to the ball screw nut section using the grease nipples Prepare a grease gun in this case 1 Make sure that the power to the controller is off 2 Remove the end covers 1 upper end covers from both ends of the robot Refer to 3 3 Installation method B for how to remove the end covers 3 Remove the screws holding the top cover and remove the top cover Refer to 3 3 Installation method B for how to remove the end covers JJueua urew pue 21 A 4 5 4 3 Applying grease 4 a o e Y O C e c J E N e O 5 Apply grease by either of the following methods Linear guide When using a grease gun apply grease
21. PRT ORG SEARCH searching OPRT ORG SEARCH origin complete grid position Troubleshooting 5 1 If you suspect trouble 5 1 If you suspect trouble If an error such as a positioning error or feedback error occurs check the following points to find the solution before you determine the robot or controller has malfunctioned If the trouble still exists even after checking these points please contact us with a detailed description of the trouble 5 1 1 Positioning error Position deviates The position deviates after Robot bumped into something Operation was correct moving the robot or set up or there are traces of bumping but position deviates of workpiece tool into rubbing against something Is cable broken Are cables correctly wired Are connectors correctly fitted Check wiring and connectors Are the robot tools and workpiece correctly installed method 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 O c un 5 O O ar 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
22. S INJURY OR DEATH WILL RESULT FROM IMPACT WITH MOVING ROBOT e KEEP OUTSIDE OF GUARD DURING OPERATION e 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 WARNING MOVING PARTS CAN PINCH OR CRUSH KEEP HANDS AWAY FROM ROBOT ARMS 1 2 1 2 Essential precautions Warning label 1 Serious injury or death will result from impact with moving robot e Keep outside of guard during operation e Lock out power before approaching robot Warning label 2 A WARNING Moving parts can d pinch or crush Keep hands away from robot arms Ajayes ay SUISN A 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
23. THE POWER SOURCE IN ORDER TO PREVENT POSSIBLE ELECTRICAL SHOCK e NEVER TOUCH ANY INTERNAL PARTS OF THE CONTROLLER e REFER TO THE YAMAHA ROBOT CONTROLLER USER S MANUAL FOR PRECAUTIONS ON HANDLING THE CONTROLLER 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 AY WARNING DO NOT ATTEMPT ANY REPAIR PARTS REPLACEMENT AND MODIFICATION UNLESS DESCRIBED IN THIS MANUAL THESE WORKS REQUIRE TECHNICAL KNOWLEDGE AND SKILL AND MAY ALSO INVOLVE WORK HAZARDS 1 6 1 3 Special training for industrial robot operation 1 3 Special training for industrial robot operation Companies or factories using industrial robots must make sure that every person who handles the robot such as for teaching programming movement check inspection adjustment and repair has received appropriate training and also has the skills needed to perform the job correctly and safely Since the YAMAHA N15 N18 robots fall under the industrial robot category the user must observe local regulations and safety standards for industrial robots and provide special training for every person involved in robot related tasks teaching programming movement check inspection adjust
24. aken 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 i ge pla Ad g a Un c m safety enclosure and observe the following points 1 Use sturdy stable posts which will not fall over easily 2 The rope or chain should be easily visible by everyone around the robot 3 Place a sign to keep the operator or other personnel from entering the movement range of the manipulator 2 Check the following points before turning on the controller 1 15 the robot securely and correctly installed 2 Are the electrical connections to the robot correct 3 Are items such as air pressure correctly supplied 4 15 the robot correctly connected to peripheral equipment 5 Have safety measures safety enclosure etc been taken 6 Does the installation environment meet the specified standards 3 After the controller is turned on check the following points from outside the safety enclosure 1 Does the robot start and stop as intende
25. base thickness 20mm Even in this case the length of the bolt thread engagement is 10mm 3 6 3 3 Installing the robot O Installation method B N15 N18 Drill and tap M6 holes for N15 or M8 holes for N18 into the installation base For machining positions of the tapped holes refer to the robot external view and dimensions shown in the catalog or website www yamaha motor co jp global industrial robot The bolt tightening method and torque are explained below 1 Remove the end cover 1 upper end cover from each end of the robot Then remove the screws total of 4 holding the top cover and remove the top cover End cover 1 End cover 1 Top cover lt N18 gt pue uonejje suj 5 3 7 3 3 Installing the robot 2 Secure the robot to the base with the specified bolts utilizing the mounting holes in the bottom of the robot frame While moving the table slider secure the robot to the base using all the mounting holes in the bottom of the robot frame Hex socket head M6 bolt Strength 8 81 Length 16mm or more Hex socket head bolt Strength 8 8T Length 50mm or more 9 8Nm to 12 7Nm Tightening torque 9 g torque 100kg to 130kg cm M6 hex wrench WARNING SUOND9UUO pue uorej ejsu 7 N55 TERN N18 22 5Nm to 36 7Nm 230kg cm to 370kg cm M8 hex wrench TIGHTEN THE BOLTS SECURELY TO THE
26. cifications Allowable ambient temperature 10 to 45 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 and liquid Avoid installation near objects causing electromagnetic interference electrostatic discharge and radio frequency interference Vibration Do not subject to impacts or vibrations Working space SUONIYUUOI pue uore ejsu 7 Allow sufficient space margin to perform jobs teaching inspection repair etc For detailed information on how to install the robot controller refer to the separate YAMAHA Robot Controller User s Manual WARNING AVOID INSTALLING THE ROBOT IN LOCATIONS WHERE THE AMBIENT CONDITIONS MAY EXCEED THE ALLOWABLE TEMPERATURE OR HUMIDITY OR IN ENVIRONMENTS WHERE EXCESSIVE MOISTURE CORROSIVE GASES METALLIC POWDER OR DUST ARE GENERATED MALFUNCTIONS FAILURES OR SHORT CIRCUITS MAY OTHERWISE RESULT WARNING e THIS ROBOT WAS NOT DESIGNED FOR OPERATION IN ENVIRONMENTS WHERE INFLAMMABLE OR EXPLOSIVE SUBSTANCES ARE PRESENT e DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING INFLAMMABLE GAS DUST OR LIQUIDS EXPLOSIONS OR FIRE COULD OTHERW
27. d Can the operation mode be selected correctly Does each axis move as intended within the soft limits Does the end effector move as intended Are the signal transmissions to the end effector and peripheral equipment correct Does emergency stop work Are the teaching and playback functions normal Are the safety enclosure and interlock working as intended CON A U N Does the robot move correctly during automatic operation 1 8 1 7 Work within the safeguard enclosure 1 7 Work within the safety enclosure 1 Work within the safety enclosure When work is required inside the safety enclosure always turn off the controller and place a sign indicating that the robot is being adjusted or serviced in order to keep any other person from touching the controller switch or operation panel except for the following cases 1 Soft limit settings 2 Teaching For item 1 follow the precautions and procedure for each section To perform item 2 refer to the description in 2 below 2 Teaching When performing teaching within the safety enclosure comply with the instructions listed below Ajayes ay SUISN A 1 Check or perform the following points from outside the safety enclosure 1 Make sure that no hazards are present within the safety enclosure by a visual check 2 Check that the programming unit HPB option operates correctly 3 Check that no failures are found in th
28. e controller Robot cable connections Programming unit Robot controller Robot cable motor wires Robot cable signal wires After making connections fasten the hoods securely Hood Single axis robot N15 N18 un ma e c e Q c e D un Single axis robot system diagram HS 232C communication Robot controller control RS 232C or communication control ee n communication cable Motor power supply I O control Internal 24V power supply O O gt o Support software Computer POPCOM Power supply AC100 115 200 230V 10 Controller is supplied with the robot External control 1 Programming box HPB A robot PLC and similar units a is sold separately ag mm va um mm um um 3 11 3 5 Precautions during user wiring and hose installation 3 5 Precautions during user wiring and hose installation O Cable carries plastic chain for cable guide User cables and air hoses can be routed in the cable carrier of the N15 N18 Observe the following precautions when routing user cables and air hoses in the cable carrier AN CAUTION e The cable and air hoses should take up less than 30 of the space when storing them inside the cable carrier Lay out the cable
29. e 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 9 1 8 Automatic operation 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 unit and tools are in their specified locations 3 The alarm or error lamps on the robot and peripheral equipment do not flash 4 The safety enclosure is securely installed with safety interlocks actuated 2 Observe the following during automatic operation or in cases where an error occurs 1 After automatic operation has started check the operation status and signal light to ensure that the robot is in automatic operation C i ge pla Ad g a Un c m 1 10 2 Never enter the safety enclosure during automatic operation 3 error occurs in the robot or peripheral equipment observe the following procedure before entering the safety enclosure 1 Press the emergency stop button to set the robot to emergency stop 2 Place a sign on the start switch indicating that the robot is being inspected in order to keep any other person from touching the start switch and restarting the robot 1 9 Warranty 1 9 Warranty
30. ect being carried o 6 2 N18 specifications Basic specifications Motor output AC W 6 1 Main unit specifications 400 Repeatability mm 0 01 Deceleration mechanism Ball screw 920 Ball screw lead mm 20 Maximum speed mm sec 1200 Maximum paylord Horizontal 80 kg installation Vertical installation Rated thrust N 312 Single carrier 500 to 2500 pitch 100 Stroke mm Double carrier 250 to 2250 pitch 100 Total length mm Stroke length 362 Width Height mm 180 115 Cable length m 3 5 Standard 5 10 Single carrier SRCX 20 R SRCD 20 R SR1 X Horizontal SRCX 20 R SRCD 20 R DRCX installation i Controller Double carrier RCX222HP Vertical installation Horizontal RDX 20 RBR1 installation Robot driver Vertical installation Maximum speed may not be obtained depending on operating conditions 6 3 6 1 Main unit specifications Tolerable overhang amount 90 O Horizontal installation O Wall installation Unit mm Unit mm 0 45 90 90 30kg 1498 1666 2508 o 913 50kg 897 1037 1736 zi 541 S 80kg 552 665 1277 326 2 Distance from center of slider top to center of gravity of object being carried o 6 4 6 2 Robot
31. erflow etc S9 OU SUIMO OJ JY 0 JNS sjoqoa sixe o Suis gLN SLN SUISN 9 0199 S9 OU SUIMO OJ JY peaJ 0 9415 9 sjoqoa SIXP 3 SUIS gLN SLN SUISN 910199 Setting the origin position Set the origin position by referring to the following section in the robot controller user s manual When using an SRCX controller See 9 1 1 Performing return to origin in Chapter 9 When using an RCX142 controller See 11 8 Absolute Reset in Chapter 4 AN CAUTION Changing the origin position to the opposite side of the initial position may cause a position shift or robot breakdowns so use caution Avoid changing the origin detection method since it is dangerous in some cases If the origin position must be changed please consult our sales office or dealer After setting the origin position affix the stickers triangular stickers supplied with the robot to both the tool side and workpiece side so that they can be used as the alignment marks Use these marks as the reference position the next time the origin position must be set General Contents About this manual Chapter 1 Using the Robot Safely 1 1 Safety information 1 1 1 2 Essential precautions 1 2 1 3 Special training for industrial robot operation 1 7 1 4 Robot safety functions 1 7 1 5 Safety measures for the system 1 8 1 6 Trial operation 1 8 1 7 Work within the safety enclosure 1 9 1 8 Automatic operation 1 1
32. hould grip the robot unit near one end from the lower side and carry with the load well balanced Carry with the robot facing upward slider side upwards WARNING ALWAYS OBSERVE THE FOLLOWING PRECAUTIONS WHEN CARRYING THE ROBOT e REMOVE ANY AND ALL OBJECTS SUCH AS HANDS AND GRIPPERS ATTACHED E TO THE ROBOT SLIDER BEFORE MOVING THE ROBOT THE SLIDER WILL LOSE BALANCE IF MOVED WITH OBJECTS STILL ATTACHED AND CAUSE INJURIES e KEEP THE ROBOT BALANCED AND DON T LET IT TILT WHILE MOVING IT IF THE ROBOT TILTS THE SLIDER MAY MOVE UNDER ITS OWN WEIGHT CAUSING SERIOUS INJURIES SUCH AS CRUSHED FINGERS e MOVE THE SLIDER SO THAT BALL NUT SECTION IS POSITIONED IN THE NEAR CENTER OF THE ROBOT BEFORE CARRYING THE ROBOT FAILURE TO DO SO MAY CAUSE THE BALL SCREW TO SWING OR VIBRATE LARGELY WHILE CARRYING THE ROBOT Slider LL a T N NN z N ma e c e Q c e e un L e NEVER ATTEMPT TO HOLD THE ROBOT IN ANY OF THE FOLLOWING MANNERS Never try this when moving e DO NOT CARRY BY HOLDING THE SLIDER e DO NOT CARRY BY HOLDING THE CABLE DO NOT CARRY BY HOLDING THE CABLE CARRIER e DO NOT CARRY BY GRIPPING THE END COVER e DO NOT CARRY BY HOLDING THE TOP COVER 3 1 3 2 Robot Installation Conditions 3 2 Robot Installation Conditions 3 2 1 Installation environments Be sure to install the robot in the following environments ltems Spe
33. in this manual 3 Modifications to the robot and or related product not approved by YAMAHA or YAMAHA sales representatives 4 Use of any other than genuine parts and specified grease and lubricants 5 Incorrect or inadequate maintenance and inspection 6 Repairs by other than authorized dealers 1 11 1 9 Warranty YAMAHA MOTOR CO LTD MAKES NO OTHER EXPRESS OR IMPLIED WARRANTIES INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE THE WARRANTY SET FORTH ABOVE 15 EXCLUSIVE AND 15 IN LIEU OF ALL EXPRESSED OR IMPLIED WARRANTIES INCLUDING WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE OR WARRANTIES ARISING FROM A COURSE OF DEALING OR USAGE OF TRADE YAMAHA MOTOR LTD SOLE LIABILITY SHALL BE FOR THE DELIVERY OF THE EQUIPMENT AND YAMAHA MOTOR CO LTD SHALL NOT BE LIABLE FOR ANY CONSEQUENTIAL DAMAGES WHETHER ARISING FROM CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY YAMAHA MOTOR CO LTD MAKES NO WARRANTY WHATSOEVER WITH REGARD TO ACCESSORIES OR PARTS NOT SUPPLIED BY YAMAHA MOTOR LTD C i ge pla Ay g a Un c lt 1 12 Product Overview 2 1 Checking the product 2 1 Checking the product After unpacking make sure that all components and accessories are included as specified in your order Also check the product for any damage on the exterior which might have occurred during shipping If
34. l and make yourself well acquainted with the contents FOLLOW THE WARNINGS CAUTIONS AND INSTRUCTIONS included in this manual Failure to take necessary safety measures or mishandling due to not following the instructions in this manual may result in trouble or damage to the robot and injury to personnel robot operator or service personnel including fatal accidents Warning symbols and signal words used in this manual are classified as explained below Make sure that you fully understand the meaning of each symbol and comply with the instructions AD DANGER FAILURE TO FOLLOW DANGER INSTRUCTIONS WILL RESULT IN SEVERE INJURY OR DEATH TO THE ROBOT OPERATOR BYSTANDERS OR PERSONS INSPECTING OR REPAIRING THE ROBOT WARNING FAILURE TO FOLLOW WARNING INSTRUCTIONS COULD RESULT IN SEVERE INJURY OR DEATH TO THE ROBOT OPERATOR BYSTANDERS OR PERSONS INSPECTING OR REPAIRING THE ROBOT C M ge aia Ad g r za m CAUTION Failure to follow CAUTION instructions may result in injury to the robot operator bystanders or persons inspecting or repairing the robot or damage to the robot and or robot controller M NOTE Explains the key point the operation a simple and clear manner E Reference Gives useful information related to the robot operation 1 1 1 2 Essential precautions It is not possible to list all safety items in detail within the limited space of this ma
35. ment repair etc 1 4 Robot safety functions 1 Overload detection C M ge aia Ad o pia m This function detects an overload applied to the motor and shuts off the servo power 2 Overheat detection This detects an abnormal temperature rise in the controller driver and shuts off the servo power If an overload or overheat error occurs take the following measures 1 Insert a timer in the program 2 Reduce the acceleration coefficient 3 Soft limits Soft limits can be set on each axis to limit the working envelope in manual operation after return to origin and during automatic operation Note The working envelope is the area limited by soft limits 4 Mechanical stoppers If the servo power is suddenly shut off during high speed operation by emergency stop or safety functions these mechanical stoppers prevent the axis from exceeding the movement range Note The movement range is the area limited by mechanical stoppers WARNING ROBOT MOVEMENT WILL NOT STOP IMMEDIATELY AFTER THE SERVO POWER SUPPLY IS SHUT OFF BY EMERGENCY STOP OR OTHER SAFETY FUNCTIONS 1 7 1 5 Safety measures for the system 1 5 Safety measures for the system Since the robot is commonly used in conjunction with an automated system dangerous situations are more likely to occur from the automated system than from the robot itself Accordingly appropriate safety measures must be t
36. ment of inertia for cylinder The moment of inertia for a cylinder having a rotation center such as shown below is given by 4 2 J __prD h WD kgf cm sec 32g 8g 1 2 h Density kg cm Gravitational acceleration cm sec Weight of cylinder kgf Mass of cylinder kg D 3 gQ 2 Moment of inertia for rectangular parallelepiped The moment of inertia for a rectangular parallelopiped having a rotation center as shown below is given by 2 2 2 2 J _ pabc b _W a b kgf cm sec 12g 12g TS m a b 2 kgm kgm p Density kg cm g Gravitational acceleration cm sec W Weight of prism kgf D m Mass of prism kg 3 When the object s center line is offset from the rotation center The moment of inertia when the center of the cylinder is offset a distance x from the rotation center as shown below is given by gt 2c prD h hx center line S 329 49 rotation gt 2 2 center BEL 8 kgf cm sec 89 9 2 MD me 8 h Weight of cylinder kgf W m Mass of cylinder kg e Density kg cm D g Gravitational acceleration cm sec A In the same manner the moment of inertia of a prism as shown below is given by _ pabc b pabcx J i 9 center line lt gt b 2 kgf cm sec 12g 9 m af
37. nual 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 affixed to the robot are written in English If the robot operator or service personnel do not understand English do not permit that person to handle the robot 1 2 Essential precautions Ajayes ay SUISN 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 safety enclosure to keep any person from entering within the movement range of the robot and suffering injury due to being struck by moving parts e Install a safety interlock that triggers emergency stop when the door or panel is opened e Install a safety enclosure so that no one can enter inside except from doors or panels 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 AD DANGER SERIOU
38. obot with less than the specified number of bolts or installing the robot closer to one end as shown at the lower right Robot installation example Good example Bad example WARNING WHEN INSTALLING THE ROBOT ALWAYS USE ALL THE INSTALLTION HOLES OR M6 TAPPED HOLES IN THE BOTTOM OF THE ROBOT FRAME USING LESS THAN THE SPECIFIED NUMBER OF BOLTS TO INSTALL THE ROBOT MAY CAUSE VIBRATION AND POOR POSITIONING ACCURACY THIS MAY ALSO RESULT IN POSITIONING ERRORS AND REDUCED SERVICE LIFE IN THE WORST CASES m NOTE Positions of robot mounting holes differ according to the stroke length of each robot Refer to the external view and dimensions for each robot model shown in the catalog or website www yamaha motor co jp global industrial robot Du 3 3 Installing the robot 3 3 Installing the robot There are two methods for installing the robot Installation method A Use this method for installing the 15 Installation method B Use this method for installing the N15 N18 e Installation method A N15 only Drill holes through the installation base and secure the robot to the base with M6 bolts from below the base M6 tapped holes are already machined in the bottom of the robot frame Installation method B N15 N18 Drill and tap M6 holes for N15 or M8 holes for N18 into the installation base and secure the robot to the base with M6 bolts for N15 or M8 bolts for N18 from above the robot frame WAR
39. oller is turned on and readjust the machine reference value If for some reason the machine reference adjustment becomes necessary please contact YAMAHA sales office or dealer Origin signal Origin detection signal 9 Machine reference N A Machine reference Stroke end method Mark method Zero signal Pulse 1 4th of one turn of motor Machine reference value display examples OPR T ORG OPRT ORG origin complete origin complete machine ref 5096 machine ref X 5096 Y 25026 SRCX DRCX Two FLIP X control gt ABS RESET 50 MG SOHOJ Machine Reference M1 32 2 4 40 RCX142 Multiple FLIP control xipuadd y Moment of inertia calculation CAUTION The robot must be operated with correct tolerable moment of inertia and acceleration coefficients according to the manipulator tip mass and moment of inertia If this is not observed premature end to the life of the drive units damage to the robot parts or residual vibration during positioning may result Usually the R axis load is not a simple form and the calculation of the moment of inertia Is not easy As a method the load is replaced with several factors that resemble a simple form for which the moment of inertia can be calculated The total of the moment of inertia for these factors is then obtained The objects and equations often used for the calculation of the moment of nertia are shown below 1 Mo
40. ontrollers 5 2 Specifications 6 1 Main unit specifications 6 1 Main unit specifications N15 specifications Basic specifications Motor output AC W 400 Repeatability mm Deceleration mechanism 0 01 Ball screw 15 Ball screw lead mm 20 Maximum speed mm sec 1200 Maximum paylord Horizontal 50 kg installation Vertical installation Rated thrust N 312 Single carrier 500 to 2000 pitch 100 Stroke mm Double carrier 250 to 1750 pitch 100 Total length mm Stroke length 330 Width Height mm 145 120 Cable length m 3 5 Standard 5 10 Single carrier SRCX 20 R SRCD 20 R SR1 X Horizontal em EEG RCX 20 R SRCD 20 R DRCX installation i Controller Double carrier RCX222HP Vertical installation Horizontal RDX 20 RBR1 installation Robot driver Vertical installation Maximum speed may not be obtained depending on operating conditions 6 1 6 1 Main unit specifications Tolerable overhang amount O Horizontal installation O Wall installation Unit mm Unit mm 0 45 90 0 45 90 10kg 1082 1316 1855 10kg 1718 750 601 30kg 394 568 810 30kg 621 222 167 S 50kg 256 422 626 S 50kg 368 109 78 2 Distance from center of slider top to center of gravity of obj
41. ply grease chapter after cleaning Check to see if the ball screw linear guide and ball bushing are lubricated not dry Apply grease if necessary Standard robots Albania No 2 Shell Daphne Eponex No 2 Idemitsu Clean room robots LG 2 NSK CAUTION pue Ipod A Using grease other than those recommended by YAMAHA might shorten the service life of the ball screw linear guide and linear bushing shaft 4 3 4 2 Periodic inspection 4 2 3 Six month inspection Check the following points every 6 months and adjust or replace parts if needed pue uomnoodsur DIPOLIOG 3 Checkpoints Major bolts and screws on robot Check items Check for looseness Tighten if loose Ball screw linear guide Check the ball screw and linear guide for backlash Tighten if necessary Check for vibration during operation Tighten bolts if necessary to secure drive unit and or shaft e Check for backlash due to wear Consult us if problem cannot be solved or there is backlash due to wear Controller e Check if terminals are loose e Check if connectors are loose Greasing to ball screw nut section and linear guide Apply grease every 6 months to ball screw nut and linear guide Recommended grease Albania No 2 Shell Daphne Eponex No 2 Idemitsu See 4 3 in this chapter Slider CAUTION
42. s and air hoses in rows inside the cable carrier so they do not cross each other e The cables and air hoses inside the cable carrier will shift while the robot is operating becoming taut and placing a strain on the connectors at both ends To prevent this loosely fasten the cables and air hose to the cable carrier with cable ties to prevent strain from being applied Fasten them lightly since the cables and hoses might break if secured too tightly e Do not remove or mount brackets installed on the cable carrier or attempt to modify them SUOIJDVUUG pue UONEI EJSU 7 3 12 Periodic inspection and maintenance 4 1 Before beginning work 4 1 Before beginning work Periodic inspection and maintenance are essential to ensure safe and efficient operation of YAMAHA robots This chapter describes periodic inspection items and procedures for the N15 N1 8 Before beginning work read the precautions below and also in Chapter 1 Using the Robot Safely and follow the instructions TH AD DANGER IF THE INSPECTION OR MAINTENANCE PROCEDURE CALLS FOR OPERATION OF E ROBOT STAY OUT OF THE WORKING AREA OF THE ROBOT DURING OPERATION DO NOT TOUCH ANY PARTS INSIDE THE CONTROLLER KEEP WATCHING THE ROBOT MOVEMENT AND SURROUNDING AREA SO THAT TH OCCURS di E OPERATOR CAN PRESS THE EMERGENCY STOP BUTTON IF ANY DANGER RNING WHEN THE ROBOT DOES NOT NEED TO BE OPERATED DURING ADJUSTMENT OR MAINT
43. 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 Specifications of robot models other than standard models may be omitted in this manual if they are common to those of standard models In this case refer to the specifications of standard models For details on specific operation and programming of the robot refer to the separate YAMAHA Robot Controller User s Manual To operate or adjust the robot safely and correctly refer to the instruction manual by any of the following methods and comply with the instructions Refer to the printed version of the manual available for an additional fee View the contents of the CD ROM version of this manual on your computer screen Refer to a printout of the necessary pages from the CD ROM version of this manual 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 jenuew siy moqy MEMO Using the Robot Safely 1 1 Safety information Industrial robots are highly programmable mechanical devices that provide a large degree 1 1 Safety information of freedom when performing various manipulative tasks To ensure correct and safe use of YAMAHA industrial robots carefully read this manua
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