Home

wWARNING - Yamaha Robotics

1. 091 uix 8 sseuxolui ZHOL 9 L1 9E EW mu ezejd e E Ri 8 Ka P 0 y deq 9 OXSIW O 001 69 00L 001XV 0ZL En Eu uno Bujpunar 2 on 5 eet e 8 99 7 22 010 vl ES Or deg 2496 2 OL uideq 0 LX9IN 8 St 20 orsyoou 991489 aout Ja v9 08 t spec L eioN 91 OO epis JoJow uou uo s ueuM epis 10 0 uo s ueuM 1 9904 94 2943 epis Jojou uo ueuM exgpz uiBue JOJO Sez xouddy suoisuswig H189 e x epis uo SI ueuM EFpp 5 Lo Specifications 6 2 AC servo motor specifications 6 2 AC servo motor specifications 6 2 1 AC servo motor termination Connector specifications Servo motor Receptacle housing SMR 07V B CN1 7 polarities Pin contact BYM 001T P0 6 CN1 CN2 Plug housing 176273 1 4 polarities Receptacle 175156 2 CN3 Receptacle housing SMR 02V B CN2 2 polarities SMR 02V BC BHF 001T 0 8BS 1 25 M4 Plug housing CNA 2 polarities CN4 Socket contact Ww Round terminal
2. E Wall installation Wall installation Unit mm Lead 20 Lead 12 Vertical installation Vertical installation Unit mm Lead 12 tions Ica 5 N 6 1 Specifications 6 3 930418 91109413 ger BY U UMOYS aye q ou YPM 510401 Jo 1u819A ay WWOS OSA S snipes pueq 30N uey 840 51 510404 Jo 3481 Suipnjoxe 3481 MON 5 jes ueysou y Spua 4104 IDUPISIC SION 8 1 9 00JD jo 3 9 90 mu o gt 8 Sseuxpolui ZHOL ZHOL 8 sseu xpiui 01 uideg 8 OXSIW O eS eye q 88 29 08 OOLXY 08 PIN Buipunous o 8 mE 5 el Ey 091 1 zz yuiof ay OLO eye q Get epis 1 uo si ueuM BEZ 01 udad 2 99 pis UO S
3. pue uon gt adsuj 4 14 4 5 Replacing the shutter 11 Move the slider back and forth by hand a few times so that the shutter fits in the center of the cover 1 NOTE As a general guide shutter tension is appropriate when the shutter surface is approximately 1mm below The upper step in the slider IM Step Approx 1mm below step Slider 12 Move the slider to one end and while pressing down on the shutter in the center of the slider tighten the shutter clamp plate screws finger tightened in step 10 alternately a little at a time Kl n NOTE When securing the shutter clamp plate tighten the screws equally on left and right a little at a time so that the shutter surface does not protrude or bulge above slider 13 Use the same procedure to tighten the screws on the other shutter clamp plate alternately a little at a time After tightening check that the shutter does not protrud or bulge above the slider If the shutter is protruding loosen the screws on the shutter clamp plates on both ends and repeat the adjustment in steps 11 and 12 AN CAUTION If the shutter protrudes bulges above the slider the shutter surface might rub against the slider cover creating dust or grit This will also shorten the shutter service life pue uon gt adsuj A 14 While moving the slider back and forth by hand a few t
4. 3 3 Installing the robot O Protective bonding AX WARNING ALWAYS GROUND THE ROBOT AND CONTROLLER UNIT TO PREVENT ELECTRICAL SHOCK Always use the ground terminal M4 screw on the robot unit to make ground connection The ground terminal location is shown below ch GANAS Ground terminal Robot cable CAUTION 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 ALWAYS TURN OFF THE POWER TO THE CONTROLLER BEFORE MAKING THE GROUND CONNECTION Suormoauuo pue uonej ejsu 7 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 IEC 5019 3 6 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 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 ALWAYS MAKE SURE THAT THE POWER TO THE ROBOT CONTROLLER IS OFF BEFORE CONNECTING
5. 1 Positioning repeatability in one direction 2 Degree of cleanliness per 1 cf 0 1um base when suction blower is used 3 The required amount of suction air differs depending on the usage and environment so it is recommended to set the suction rate at the upper limit of the listed values However if for example the operation speed is determined and will not be changed after the robot operation has started you can set an appropriate suction rate by referring to the table suo eo oads below In that case refer to the suction rates which are higher than the rate applicable for the operation speed Speed mm s Amount of suction air N2 min 4 When the stroke is longer than 600mm the ball screw may resonate depending on the moving range critical speed In this case adjust to reduce the operating speed by referring to the maximum speeds shown in the table below Lead 20 Speed setting Maximum speed jLead 12 mm sec Lead 6 Speed setting 6 1 Main unit specifications suo eo oads Static loading moment Unit Nem 70 95 110 I lt 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 E Horizontal installation Horizontal installation Unit mm Lead 20 Lead 12
6. 8 SSOUYMOIU 01 8 OXSIW O z9 06 OOLXV 06 291 861 PIN Buipunouc M o 1 e 1 3 gt anys 5 n m xcci 2 g 091 8 99 22 016 vL ge 7 epis JO OW UOU uo si vaya 872 01 uideq 2 99 pis UO UeuM amp xeq eigeo 101011 002 xoiddy OL 0 LX9IA P LFe9L f E EEE EEE Ez q PE E E d m E a HS O LE a oi 18 1 Pee EJ 08 1 810N 1821 epis JOJOW UOU uo s uiuo UYM 65211 OZ uo 51 ueuM 212 epis uo si ueuM 211 9704 epis Jojou uo si EFELZ 1 ejqeo Sez suoisuauiq 185 O 6 7 6 1 Main unit specifications 6 suo eo oads 1 3 Basic specifications Motor output AC W 100 Repeated positioning accuracy mm 1 0 01 Deceleration mechanism Ball screw 15
7. Connector wiring Connector Wire Color Connection 52 54 51 53 H1 R2 Shield BK BK Yellow Blue Red Black White Green Black 1 suones1y19ads o Brown Gray Red White Black Yellow Green 1 Heat shrinkable tube CN1 CN2 CN3 CN4 dh 6 11 6 2 servo motor specifications 6 2 2 Brake cable specifications Connector specifications Brake parts Receptacle housing SMR 02V B Pin contact BYM 001T P0 6 Connector wiring Connector Pinno Suns wre Color 1 51 Yellow black 2 S2 Yellow black CN1 CN1 suo eo oads 6 12 6 3 Robot cables 6 3 Robot cables 6 3 1 Robot cables SR1 m Signal cable To controller To robot Controller CN1 Resolver 0 3sq Blue SPMCU 14K Orange Green Brown Grey Red Clear Pink White Blue Red suo eo oads o B Power cable To controller To robot Connection Motor wire Yellow Green Red White Black 6 13 6 3 Robot cables 6 3 2 Robot cables TS X Signal cable To
8. Avoid installation near objects causing electromagnetic interference electrostatic discharge and radio frequency interference Vibration Do not subject to impacts or vibrations Allow sufficient space margin to perform jobs teaching inspection repair etc Working space 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 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 pue uonejje suj 7 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 FALL OVER 3
9. D Position backup counter overflow etc When using an TS X controller 82 ENCODER ERROR 83 ABS ENCODER ERR 8A ABS BATTERY ERR 8B ABS COUNT ERROR 8D ABS OVERFLOW ERR rete JY pea4 0 BANS ag 10404 8 5 H192 192 92 99 8 5 940199 JY pea4 0 BANS ag 10404 8 5 H192 192 92 IY 8 5 940199 Setting the origin position Set the origin position by referring to the following section in the robot controller user s manual When using an SR1 controller See 9 1 1 Return to origin by the search method in Chapter 9 of the HPB Operation Guide section When using an RCX240 controller See 11 9 Absolute reset in Chapter 4 When using an RCX222 controller See 11 8 Absolute reset in Chapter 4 When using an TS X controller See 6 2 Origin search return to origin in 6 Operating the robot of the Operation Guide section 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 General Contents Introduction Chapter 1 Using the Robot Safely Chapter 2 Product Overview 2 1 2 2 Safety information 1 1 Essential precautions 1 3 Industrial robot operating a
10. UeUM 852 eiqeo 10101 002 xo1ddy OL 0 LX9W 7 L 9JON 29 a 1 P o o EC Ep Job x x T zii T B x m T T 1s Rh a NI 1 cr 458 0 LFLE __ 05 L ION LFZLL epis JOJOW UOU uo s ueuM 2211 OZ epis uo si uiuo ueuM 202 epis JO OW uo si ueuM 21 5 epis uo 2202 u1Bue ejqeo Sez suoisuauig 85 O 6 1 Main unit specifications 6 1 2 C8L Basic specifications suo eo oads Motor output AC W 100 Repeated positioning accuracy mm 1 0 01 Deceleration mechanism Ball screw 15 Class C7 Ball screw lead mm 20 10 5 Maximum speed mm sec x4 1000 600 300 Maximum payload Horizontal installation 20 40 50 kg Vertical installation 4 8 16 Rated thrust N 84 169 339 Stroke mm 150 to 1050 50 pitch Horizontal installation Stroke length 325 Total length mm Vertical installation Stroke length 360 Maximum cross section outside dimensions mm W80xH75 Cable length m Standard 3 5 Option 5 10 Horizontal installation SR1 X TS X RCX222 RCX240 Controller Vertical installation SR1 X TS X RCX222 RCX240 Horizontal installati
11. 6 3 2 Robot cables TS X 6 14 6 3 3 Robot cables RCX222 240 6 15 6 3 4 Robot cables RDX 6 17 Appendix About machine reference i Moment of inertia calculation ii 5 05 249499 Introduction The YAMAHA single axis robots C8 C8L C8LH is an industrial robot that uses the absolute positioning method as standard and has improved ease of use resistance to environmental conditions and maintenance work A wide varaiety of product lineup allows you to select the desired robot model that best matches your application This user s manual describes the safety measures handling adjustment and maintenance of the C8 C8L C8LH robots for correct safe and effective use Be sure to read this manual carefully before installing the C8 C8L C8LH robots Even after you have read this manual keep it in a safe and convenient place for future reference This user s manual should be used with the robot and considered an integral part of it When the robot is moved transferred or sold send this manual to the new user along with the robot Be sure to explain to the new user the need to read through this manual e Specifications of robot models other than standard models may be omitted in this manual if they are common to those of standard models In this case refer to the specifications of standard models For details on specific operation of the robot refer to the separate user s manual for
12. 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 pue uon gt adsuj IPod A 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 pue uon gt adsuj IPod 4 2 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 SP
13. shown by the marks is omitted f TS X gt RST ABS 50 MG SOHO J Machine reference 9 M1 32 M2 40 M3 49 M4 40 TN RCX Series Multiple FLIP X control Moment of inertia calculation CAUTION The robot must be operated with correct tolerable moment of inertia and acceleration coefficients according to the manipulator tip mass and moment of inertia If this is not observed premature end to the life of the drive units damage to the robot parts or residual vibration during positioning may result Usually the R axis load is not a simple form and the calculation of the moment of inertia is not easy As a method the load is replaced with several factors that resemble a simple form for which the moment of inertia can be calculated The total of the moment of inertia for these factors is then obtained The objects and equations often used for the calculation of the moment of inertia are shown below 1 Moment of inertia for cylinder The moment of inertia J for a cylinder having a rotation center such as shown below is given by 4 2 _prD h WD kgf cm sec 32g 8g mD k m kg Density kg cm Gravitational acceleration cm sec Weight of cylinder kgf Mass of cylinder kg 3300 Moment of inertia for rectangular parallelepiped The moment of inertia J for a rectangular parallelopiped having a rotation center as sh
14. 10 Check that no one is inside the safety enclosure and then turn on the controller Neely n NOTE When securing the shutter clamp plate tighten the screws equally on left and right a little at a time so that the shutter surface does not protrude or bulge above the slider 9oueugjurew pue uon gt adsuj A 4 9 4 4 Applying grease 4 4 Applying grease When applying grease to the ball screw according to periodic inspection follow the procedure below Grease can be applied to the ball screw nut section using the grease nipples Prepare a grease gun in this case 1 Prepare the required tools and grease Phillips head screwdriver Grease gun Recommended grease NSK 102 2 Turn off the controller 3 Place a sign indicating that the robot is being inspected to keep others from operating the controller switch 4 Enter the safety enclosure 5 Apply grease using the following procedures O Greasing the ball screw 1 Remove the two screws securing the shutter clamp plate on one side of the robot pue uon gt adsuj IPod 2 Open the shutter by pulling it up from the side where the screws were removed CAUTION When opening the shutter be careful not to scratch the shutter surface 4 10 4 4 Applying grease 3 Wipe away old grease with a clean cloth Then apply grease by hand to the ball screw threads and move the slider back and forth to s
15. 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 Suomoauuo pue uonejje suj 0 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 3 SUONIIUUO pue uonejje suj 7 3 4 Use an installation base of sufficient size to match the robot body so that the robot can be installed with the specified number of bolts Avoid installing the robot with less than the specified number of bolts or installing the robot closer to one end as shown at the lower right Robot installation example Good example Bad example WARNING WHEN INSTALLING THE ROBOT ALWAYS USE ALL M5 TAPPED HOLES DRILLED IN THE BOTTOM OF THE ROBOT USING LESS THAN THE SPECIFIED NUMBER OF BOLTS TO INSTALL THE ROBOT MAY CAUSE VIBRATION AND POOR POSITIONING ACCURA
16. NOT DESCRIBED IN THIS MANUAL 1 7 1 2 Essential precautions 17 Do not attempt any repair parts replacement and modification 18 19 Ajayes 10q03 ay 80 8 20 21 22 23 24 1 8 AX 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 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 Protect electrical wiring and hydraulic pneumatic hoses as needed Install a cover or similar item to protect the electrical wring and hydraulic pneumatic hoses from possible damage Install an operation status light Install an operation status light signal light tower etc at an easy to see position so the operator will know whether the robot is merely stopped or is in emergency error stop Clean work tools etc Work tools such as welding guns and paint nozzles which are mounted in the robot arm will preferably be cleaned automatically Provide adequate lighting Make sure to provide enough lighting to ensure safety during work Prevent the gripped object from flying outwards If the object or workpiece gripped
17. Twisted pair Yellow Drain wire 0 3sq Twisted pair 0 3sq Twisted pair 0 3sq Twisted pair 0 3sq Twisted pair 0 3sq Twisted pair White 0 3sq Twisted pair Yellow Drain wire 0 3sq Twisted pair 0 3sq Twisted pair 0 3sq Twisted pair Red White Black Yellow Green Red White Black Yellow Green 6 3 Robot cables 6 3 A Robot cables RDX m Signal cable To controller To robot BM Connector Connection Connector Encoder 0 3sq Twisted pair Drain wire 0 3sq Twisted pair suo eo oads o B Power cable Connector Connection Connector Wire Color Motor wire Round terminal White Black Yellow Green 6 17 6 18 About machine reference The position detector built into the motor issues 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 i
18. USE ROBOT WILL SLIDE DOWN WHEN THE BRAKE IS RELEASED CAUSING A HAZARDOUS SITUATION DO NOT RELEASE THE BRAKE WHEN LUBRICATING VERTICAL USE ROBOT PARTS 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 NOTTAKE ORALLY OR EAT EATING WILL CAUSE DIARRHEA AND VOMITING HANDS AND FINGERS MIGHT BE CUT WHEN OPENING THE 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 F GREASE GETS IN THE EYES WASH LIBERALLY WITH PURE WATER FOR ABOUT 15 MINUTES AND CONSULT A PHYSICIAN FOR TREATMENT F GREASE COMES IN CONTACT WITH THE SKIN WASH AWAY COMPLETELY WITH SOAP AND WATER e IF TAKEN INTERNALLY DO NOT INDUCE VOMITING BUT PROMPTLY CONSULT A PHYSICIAN FOR PROPER TREATMENT WARNING DISPOSING OF GREASE AND THE CONTAINER PROPER DISPOSAL IS COMPULSORY UNDER FEDERAL STATE AND LOCAL REGULATIONS TAKE APPROPRIATE MEASURES IN COMPLIANCE WITH LEGAL REGULATIONS IN YOUR COUNTRY DO NOT PRESSURIZE THE EMPTY CONTAINER PRESSURIZING MAY CAUSE THE CONTAINER TO RUPTURE DO NOT ATTEMPT TO WELD H
19. robot To controller L f 7 EHE i Controller CN1 Resolver 0 3sq Blue SPMCU 14 K Orange Green Brown Grey Red Drain wire Black Yellow Pink White Blue Red suo eo oads B Power cable To controller To robot Connection Motor wire Yellow Green Red White Black 6 14 6 3 Robot cables 6 3 3 Robot cables RCX222 240 suo eo oads o 6 15 6 3 Robot cables Resolver S2 S4 S1 S3 H1 R2 DG Connector Brake MB MB M Sensor 24V ORG GND24 Resolver S2 S4 S1 S3 R1 R2 DG suo eo oads 6 16 Connection Connector 0 3sq Twisted pair 0 3sq Twisted pair White 0 3sq
20. robot duty is too high an error such as overload or overheat may occur In this case increase the stop time to reduce the duty 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 C8 C8L C8LH Before beginning work read the precautions below and also in Chapter 1 Using the Robot Safely and follow the instructions DANGER IF THE INSPECTION OR MAINTENANCE PROCEDURE CALLS FOR OPERATION OF TH E ROBCT STAY OUT OF THE WORKING AREA OF THE ROBOT DURING OPERATION DO NOT TOUCH ANY PARTS INSIDE THE CONTROLLER KEEP WATCHING THE ROBOT MOVEMENT AND SURROUNDING AREA SO THAT TH OCCURS E OPERATOR CAN PRESS THE EMERGENCY STOP BUTTON IF ANY DANGER di e 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
21. robot slider in the payload parameter as shown below AN CAUTION Be sure to enter an accurate value when making this setting since a mistake will cause troubles such as vibration or a shorter machine service life span To set the payload parameter Use the following method when setting the payload parameter on a single axis robot controller SR1 If other controllers RCX240 RCX222 TS X are used refer to their respective user s manual 1 Connect the HPB to the SR1 controller and turn on the controller power The initial menu then appears on the HPB Press rs SYS on the initial menu screen The SYS system mode screen appears Press r to enter the parameter setting mode The SYS PRM mode screen appears Select the parameter group Press 1 AXIS to select the axis parameter The current setting for PRM100 Robot type appears on the screen Suormoauuo pue uonejje suj 0 MENU select menu l cbpirHoPRTHSYS Amon SY S select menu BPRM SYS PRM select menu SMDATABSYSIMSYS2 575 15 PRM100 4150 robot type read only The robot type No displayed on the screen shows an example of model C6 3 11 3 6 Setting the operating conditions pue uonej ejsuj 7 5 Display PRM112 payload SYS PRM AX I S Press the lt a gt gt key
22. shutter 9oueugjurew pue uon gt adsuj IPod 6 Remove the screws securing the side covers 5 screws on each side and remove both side covers For how to remove the side covers refer to 4 4 Applying grease 4 16 4 6 Replacing the motor 7 Remove the ground wire 9 Remove the wave washer and flat washer AN CAUTION When removing the motor the flat washer might be left in the bearing inside the motor so use caution Wave washer 92ueugjurew pue uon gt adsuj IPod A Flat washer 4 17 4 6 Replacing the motor 10 Remove the 4 bolts securing the rotor and pull out the rotor 11 Install the new rotor 12 Install the wave washer and flat washer in the correct order 13 Install the new motor 14 Reassemble in the reverse order steps 12 to 4 92ueugjurew pue uon gt adsuj IPod 4 18 4 6 Replacing the motor Checking the grid position for SR1 1 Press r2 screen Press F1 Press F1 origin To cancel the operation press r2 no This screen appears during return to origin searching Pressing sr during operation stops the robot and displays a message Then pressing esc returns to the screen of 2 When return to origin ends normally OPRT ORG SEARCH the machine reference value appears origin complete on the bottom right of the screen Press 8s t
23. 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 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 Does the robot move correctly during automatic operation 1 7 Work within the safety enclosure 1 Work within the safety enclosure 2 1 12 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 Teaching When performing teaching within the safety enclosure comply with the instructions listed below
24. the robot controller being used The contents of this manual are subject to change without prior notice 4 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 Using the Robot Safely 1 1 Safety information Industrial robots are highly programmable mechanical devices that provide a large degree 1 1 Safety information of freedom when performing various manipulative tasks To ensure correct and safe use of YAMAHA industrial robots carefully read this manual and make yourself well acquainted with the contents FOLLOW THE WARNINGS CAUTIONS AND INSTRUCTIONS included in this manual Failure to take necessary safety measures or mishandling due to not following the instructions in this manual may result in trouble or damage to the robot and injury to personnel robot operator or service personnel including fatal accidents Warning symbols and signal words used in this manual are classified as explained below Make sure that you fully understand the meaning of each symbol and comply with the instructions 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 SEVE
25. 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 operates correctly 1 8 Automatic operation 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 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 Handy Terminal and tools are placed in their specified Ajayes Jogoy ay Suis A 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 2 Never enter the safety enclosure during automatic operation 3 If an 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
26. 2 YAMAHA YAMAHA MOTOR CO LTD YAMAHA SINGLE AXIS ROBOT FLIP X series CS CSL CSLH User s Manual enous YAMAHA MOTOR CO LTD IM Operations 882 Soude Naka ku Hamamatsu Shizuoka 435 0054 Japan URL http www yamaha motor p robot index html E44 Ver 2 03 Before using the C8 C8L C8LH single axis robots Be sure to read the following notes Thank you for purchasing this YAMAHA single axis robot C8 C8L C8LH Before using this robot read the following notes and set the origin position The C8 C8L C8LH single axis robots use absolute position detectors that do not require return to origin after turning on the controller power However when the controller power is turned on in the following cases return to origin must be performed just the very first time 1 When robot cable was first connected after delivery from YAMAHA 2 When robot cable was disconnected from the controller and then reconnected 3 When no absolute battery is connected 4 When a motor or cable was replaced At this point any of the following errors is issued immediately after controller power is turned on but this is not a malfunction The controller will operate normally by restarting When using an SR1 controller 15 FEEDBACK ERROR 2 23 ABS BAT L VOLTAGE 24 ABS DATA ERROR etc When using an RCX240 RCX222 controller 17 81 D ABS battery wire breakage 17 92 D Resolver disconnected during power off 17 93
27. AL STOPPER IF THE SOFT LIMIT IS SET OUTSIDE THE MOVEMENT RANGE THE ROBOT AXIS MAY COLLIDE WITH THE MECHANICAL STOPPER AT HIGH SPEED CAUSING THE OBJECT GRIPPED BY THE END EFFECTOR TO FLY OR DROP AND THE ROBOT TO MALFUNCTION Mechanical stoppers If the servo power is suddenly shut off during high speed operation by emergency stop or safety functions these mechanical stoppers prevent the axis from exceeding the movement range Note The movement range is the area limited by mechanical stoppers 1 5 Safety measures for the system AX WARNING ROBOT MOVEMENT WILL NOT STOP IMMEDIATELY AFTER THE SERVO POWER SUPPLY IS SHUT OFF BY EMERGENCY STOP OR OTHER SAFETY FUNCTIONS 5 Vertical axis brake An electromagnetic brake is installed on the vertical use robot to prevent the vertical axis from sliding down when servo power is turned off This brake is working when the controller is off or the vertical axis servo power is off even when the controller is on The vertical axis brake can be released with the programming box or Handy Terminal or in the program when the controller power is turned on AA WARNING THE VERTICAL AXIS WILL SLIDE DOWN WHEN THE BRAKE IS RELEASED CREATING A HAZARDOUS SITUATION PRESS THE EMERGENCY STOP BUTTON AND PROP THE VERTICAL AXIS WITH A SUPPORT STAND BEFORE RELEASING THE BRAKE USE CAUTION NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE VERTICAL AXIS AND INSTALLATION BASE WHEN RELEASING THE BRAKE T
28. ARKS 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 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 Cables and shutter Check items Check for scratches dents and excessively tight bends Stain or grime on the shutter surface 1 Replace if necessary Ball screws and bearings Check for unusual vibration and noise Motor 1 Depending on robot operating conditions stain or grime may appear in a stripe pattern near the slider stop point on the shutter surface If this is found use cloth moistened with alcohol or detergent to wipe away the stain or grime Check for unusual vibration and noise and for abnormal temperature rise 92ueugjurew pue uon gt adsuj IPod A 4 3 4 2 Periodic inspection 4 2 2 Three month inspection Take the following precautions when performing 3 month inspection When applying grease to the ball screws and linear guide take the following precautions 92ueugjurew pue uon gt adsuj IPod 4 4 WARNING THE SLIDER OF VERTICAL
29. CY THIS MAY ALSO RESULT IN POSITIONING ERRORS AND REDUCED SERVICE LIFE IN THE WORST CASES 3 NOTE Positions of robot mounting holes differ according to the stroke length of each robot Refer to the dimensional outlines shown in 6 1 Main unit specifications IM 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 MAY OCCUR IF THE ROBOT STARTS TO OPERATE DURING INSTALLATION 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 DO USE A BOLT LONGER THAN THE SPECIFIED LENGTH SINCE IT MAY INTERFERE WITH THE INTERNAL PARTS OF THE ROBOT AND CAUSE MALFUNCTIONS Drill holes through the installation base where the robot is to be secured Then secure the robot with the specified bolts from the bottom The bolts and tightening torque are shown below Hex socket head M5 bolt strength 8 8T Bolt length installation base thickness 9mm maximum Tightening torque to 90kgf cm Suomoauuo pue uonejje suj 0 AN CAUTION The robot frame is made of aluminum so be careful not to damage the screw threads when tightening the bolts 3 5
30. Class C7 Ball screw lead mm 20 10 5 Maximum speed mm sec x4 1000 600 300 payload Horizontal installation 30 60 80 Rated thrust N 84 169 339 Stroke mm 150 to 1050 50 pitch Total length mm Stroke length 389 Maximum cross section outside dimensions mm W80xH75 Cable length m Standard 3 5 Option 5 10 Horizontal installation SR1 X TS X RCX222 RCX240 Controller Vertical installation SR1 X TS X RCX222 RCX240 Horizontal installation RDX 05 RBR1 Robot driver Vertical installation RDX 05 RBR1 Cleanliness class Class 10 x2 Amount of suction air NZ min 30 to 90 1 Positioning repeatability in one direction 2 Degree of cleanliness per 1 cf 0 1um base when suction blower is used 3 The required amount of suction air differs depending on the usage and environment so it is recommended to set the suction rate at the upper limit of the listed values However if for example the operation speed is determined and will not be changed after the robot operation has started you can set an appropriate suction rate by referring to the table below In that case refer to the suction rates which are higher than the rate applicable for the operation speed Speed mm s Amount of suction air N min 4 When the stroke is longer than 650mm the ball screw may resonate depending on the moving range critical speed In
31. D GRIPPERS ATTACHED 3 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 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 e DO NOT CARRY BY GRIPPING THE END COVER e DO NOT CARRY BY HOLDING THE SLIDER COVER Suomoauuo pue uogejjezsul 3 1 3 2 Robot installation conditions 3 2 Robot installation conditions 3 2 1 Installation environments Be sure to install the robot in the following environments Items Specifications Allowable ambient 0 to 45 C temperature Allowable ambient humidity 35 to 8596 RH no condensation Altitude 0 to 1000 meters above sea level Avoid installing near water cutting water oil dust metallic chips and organic solvent Avoid installation near corrosive gas and corrosive materials Ambient environments Avoid installation in atmosphere containing inflammable gas dust and liquid
32. EAT UP DRILL HOLES OR CUT THIS CONTAINER THIS MIGHT CAUSE THE CONTAINER TO EXPLODE AND THE REMAINING MATERIALS INSIDE IT TO IGNITE 4 2 Periodic 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 4 in this guide ball bushing Clean if necessary Apply grease chapter after cleaning Check to see if the ball screw linear guide and ball bushing are lubricated not dry Apply grease if necessary Clean room robots LG2 NSK Shutter Check for looseness or slack Adjust See 4 3 in this if necessary chapter CAUTION Failing to use YAMAHA recommended grease can shorten the life of the ball screw and the linear guide pue uon gt adsuj IPod 4 5 4 2 Periodic inspection 4 2 3 Six month inspection Take the following precautions when performing 6 month inspection When applying grease to the ball screws and linear guide take the following precautions WARNING pue uon gt adsuj IPod 4 6 WARNING THE SLIDER OF VERTICAL USE ROBOT WILL SLIDE DOWN WHEN THE BRAKE IS RELEASED CAUSING A HAZARDOUS SITUATION DO NOT RELEASE THE BRAKE WHEN LUBRICATING THE VERTICAL USE ROBOT PARTS PRECAUTIONS WHEN HANDLING GREASE INFLAMMATION MAY OCCUR IF THIS GETS IN THE EYES BEFORE HANDLING THE GREASE WEAR YOUR SAFE
33. F THE CONTROLLER AND MAKE SURE THE FAN HAS STOPPED 13 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 Damage to machine harness or robot cable Electrical shock malfunction of robot Ajayes Jogoy ay Suis A Flying outwards of damaged parts Damage to exterior of robot during robot operation Abnormal operation of robot aries Malfunction of robot positioning error excessive vibration etc Z axis brake trouble Dropping of load 14 Protective bonding WARNING BE SURE TO GROUND THE ROBOT AND CONTROLLER TO PREVENT ELECTRICAL SHOCK 15 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 16 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
34. NING INFLAMMABLE GAS DUST OR LIQUIDS EXPLOSIONS OR FIRE MIGHT OTHERWISE RESULT Ajayes Jogoy ay 80 8 A 6 Do not use the robot in locations possibly subject to electromagnetic interference etc WARNING AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC INTERFERENCE ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY INTERFERENCE MALFUNCTIONS MIGHT OTHERWISE OCCUR 7 Use caution when releasing the brake of a vertical use robot WARNING THE VERTICAL AXIS WILL SLIDE DOWN WHEN THE BRAKE IS RELEASED CAUSING A HAZARDOUS SITUATION e PRESS THE EMERGENCY STOP BUTTON AND PROP UP THE VERTICAL AXIS WITH A SUPPORT STAND BEFORE RELEASING THE BRAKE e BE CAREFUL NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE VERTICAL AXIS AND INSTALLATION BASE WHEN RELEASING THE BRAKE TO PERFORM DIRECT TEACH 1 5 1 2 Essential precautions 8 Provide safety measures for end effector gripper etc WARNING END EFFECTORS MUST BE DESIGNED AND MANUFACTURED SO THAT THEY CREATE NO HAZARDS FOR EXAMPLE A WORKPIECE THAT COMES LOOSE EVEN IF POWER ELECTRICITY AIR PRESSURE ETC IS SHUT OFF OR POWER FLUCTUATIONS OCCUR IF THERE IS A POSSIBLE DANGER THAT THE OBJECT GRIPPED BY THE END EFFECTOR MAY FLY OFF OR DROP THEN PROVIDE APPROPRIATE SAFETY PROTECTION TAKING INTO ACCOUNT THE OBJECT SIZE WEIGHT TEMPERATURE AND CHEMICAL PROPERTIES 9 Use caution when removing the motor Vertical use robo
35. O PERFORM DIRECT TEACH Ajayes 10403 ay 80 8 A 1 5 Safety measures for the system Since the robot is commonly used in conjunction with an automated system dangerous situations are more likely to occur from the automated system than from the robot itself Accordingly appropriate safety measures must be taken on the part of the system manufacturer according to the individual system The system manufacturer should provide a proper instruction manual for safe correct operation and servicing of the system 1 6 Trial operation After making installations adjustments inspections or maintenance or repairs to the robot make a trial run using the following procedures 1 If a safety enclosure has not yet been provided right after installation of the robot rope off or chain off around the movement area of the manipulator in place of the 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 1 11 1 7 Work within the safety enclosure 2 3 Ajayes 10q03 ay 80 18 N A U N 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
36. Product Overview 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 2 1 Checking the product If there are any missing parts or damage due to shipping please notify your YAMAHA sales office or representative immediately 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 WHEN UNPACKING CAREFULLY HOLD THE ROBOT NOT TO DROP IT IF THE ROBOT FALLS SERIOUS INJURY MAY OCCUR OR THE ROBOT MAY BE DAMAGED N 2 2 Robot part names Robot part names Slider cover Shutter Side cover End cover Robot cable motor wires Robot cable I O signal wires 2 1 2 2 Installation and Connections 3 1 Carrying the robot Always use two people to carry the robot unit Each person should grip the robot unit near 3 1 Carrying the robot 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 REMOVE ANY AND ALL OBJECTS SUCH AS HANDS AN
37. RE INJURY OR DEATH TO THE ROBOT OPERATOR BYSTANDERS OR PERSONS INSPECTING OR REPAIRING THE ROBOT C s ga p on lt 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 1 Explains the key point in the operation in a simple and clear manner Reference Gives useful information related to the robot operation 1 1 1 1 Safety information Refer to the user s manual by any of the following methods to operate or adjust the robot safely and correctly ga ma o a o UN 2 2 lt 1 2 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 a
38. TD 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 representatives
39. THE ROBOT CABLES TO THE CONTROLLER CAUTION After connecting the robot cable intermediate connectors together fit the connector hoods together securely pue uonej ejsu 0 Intermediate connector motor wire Intermediate connector signal wire 1 Connect the robot cables motor and signal wires to the mating connectors coming jJ Robot cable out from the robot Robot cable connector connector signal wire motor wire 3 7 3 4 Connecting the robot to the controller 2 After making the connections fit the connector hoods together securely Hood Suornoouuo pue 5 3 8 3 4 Connecting the robot to the controller O Robot cable connections when connected to 81 SR1 HPB SRI X I Robot cable power cable Robot cable signal cable Single axis robot C8 C8L C8LH After making connections fasten the hoods securely Hood System Configurations Robot controller 581 RS9 232C _ communication control Suomoauuo pue uonejje suj SRI X RS 232C or communication control H Resolver signal u communication cable s SD memory card Motor power option Ej Programming box HPB option Input 16 general purpose pins 7 custom purpose pins Output 16 general purpose pins 3 custom purpose pins POPCOM commun
40. TY 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 NOTTAKE ORALLY OR EAT EATING WILL CAUSE DIARRHEA AND VOMITING HANDS AND FINGERS MIGHT BE CUT WHEN OPENING THE 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 F GREASE GETS IN THE EYES WASH LIBERALLY WITH PURE WATER FOR ABOUT 15 MINUTES AND CONSULT A PHYSICIAN FOR TREATMENT F GREASE COMES IN CONTACT WITH THE SKIN WASH AWAY COMPLETELY WITH SOAP AND WATER e IF TAKEN INTERNALLY DO NOT INDUCE VOMITING BUT PROMPTLY CONSULT A PHYSICIAN FOR PROPER TREATMENT WARNING DISPOSING OF GREASE AND THE CONTAINER PROPER DISPOSAL IS COMPULSORY UNDER FEDERAL STATE AND LOCAL REGULATIONS TAKE APPROPRIATE MEASURES IN COMPLIANCE WITH LEGAL REGULATIONS IN YOUR COUNTRY DO NOT PRESSURIZE THE EMPTY CONTAINER PRESSURIZING MAY CAUSE THE CONTAINER TO RUPTURE DO NOT ATTEMPT TO WELD HEAT UP DRILL HOLES OR CUT THIS CONTAINER THIS MIGHT CAUSE THE CONTAINER TO EXPLODE AND THE REMAINING MATERIALS INSIDE IT TO IGNITE Checkpoints Major bolts and screws on robot 4 2 Periodic inspection Check the following points every 6 months and adjust or replace parts if neede
41. 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 4 Steps that the worker should take when a problem or emergency occurs 1 2 Essential precautions 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 w
42. by the user Failures resulting from the following causes are not covered by warranty repair 1 Damage due to earthquakes storms floods thunderbolt fire or any other natural or man made disasters 2 Troubles caused by procedures prohibited in this manual 3 Modifications to the robot and or related product not approved by YAMAHA or YAMAHA sales representatives 4 Use of any other than genuine parts and specified grease and lubricants 5 Incorrect or inadequate maintenance and inspection 6 Repairs by other than authorized dealers 1 14 1 9 Warranty YAMAHA MOTOR LTD MAKES NO OTHER EXPRESS OR IMPLIED WARRANTIES INCLUDING ANY IMPLIED WARRANTY OF OR FITNESS FOR ANY PARTICULAR PURPOSE THE WARRANTY SET FORTH ABOVE IS EXCLUSIVE AND IS IN LIEU OF ALL EXPRESSED OR IMPLIED WARRANTIES INCLUDING WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE OR WARRANTIES ARISING FROM A COURSE OF DEALING OR USAGE OF TRADE YAMAHA MOTOR 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 LTD MAKES NO WARRANTY WHATSOEVER WITH REGARD TO ACCESSORIES OR PARTS NOT SUPPLIED BY YAMAHA MOTOR CO LTD C s ga ma A o emt on D ch lt 1 15 1 16
43. ch after long term use Continuous operation with a stretched shutter may cause a slack or a gap between the shutter and the cover of the robot and degrade the degree of cleanliness In such cases adjust looseness in the shutter as explained below 1 Prepare the required tools and grease Phillips head screwdriver 2 Turn off the controller 3 Place a sign indicating that the robot is being inspected to keep others from operating the controller switch 4 Enter the safety enclosure 5 While moving the slider back and forth by hand find the position where the shutter is loosest When a vertical installation model is used slowly move the robot in jog before entering the safety enclosure and find the position of maximum shutter looseness 6 Loosen the screws 2 places securing the shutter clamp plate on the side where the shutter is loose pue uon gt adsuj IPod 7 While pulling pressing down on both ends of the shutter with your fingers tighten the two screws to secure the shutter clamp plate At this point alternately tighten the two screws a little at a time 4 8 4 3 Adjusting shutter looseness 8 While moving the slider back and forth by hand a few times check that no looseness or slack occurs in the shutter and also that the shutter does not sway right or left If any abnormality is found repeat the adjustment in steps 6 and 7 9 Go outside the safety enclosure
44. d Check items Check for looseness Tighten if loose Ball screw linear guide Check the ball screw and linear guide for backlash Tighten if necessary Check for vibration during operation Tighten bolts if necessary to secure drive unit and or shaft Check for backlash due to wear Consult us if problem cannot be solved or there is backlash due to wear Controller Check if terminals are loose Check if connectors are loose Greasing to ball screw nut section and linear guide Apply LG2 grease NSK to the ball screw nut section and linear guide every 6 months See 4 4 in this chapter Slider On long stroke 750mm or more robots check the slider inside the top cover for wear or damage every 6 months Shutter CAUTION Failing to use YAMAHA recommended grease can shorten the life of the ball Check for looseness or slack Adjust if necessary screw and the linear guide 4 2 4 Three year inspection Check the following points every 3 years or more often if the robot is used frequently Ball screw nut section and linear guide Check ball screw nut and linear guide for backlash due to wear See 4 3 in this chapter Consult us if abnormal condition is found pue uonoadsu IPod A 4 7 4 3 Adjusting shutter looseness 4 3 Adjusting shutter looseness The shutter may elongate or develop a slight stret
45. d maintenance personnel 1 3 Industrial robot operating and maintenance personnel Task Ajayes 10q03 ay Suis 1 2 3 WARNING 4 1 10 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 s 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 1 4 Robot safety functions Overload detection This function detects an overload applied to the motor and shuts off the servo power Overheat detection This detects an abnormal temperature rise in the controller driver and shuts off the servo power If an overload or overheat error occurs take the following measures 1 Insert a timer in the program 2 Reduce the acceleration coefficient Soft limits Soft limits can be set on each axis to limit the working envelope in manual operation after return to origin and during automatic operation Note The working envelope is the area limited by soft limits SOFT LIMITS MUST BE SET WITHIN THE MOVEMENT RANGE MECHANIC
46. els 1 are supplied with the robot and should be affixed to conspicuous spots on doors or panels equipped with safety interlocks DANGER 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 DANGER Serious injury or death will result from 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 e Use caution to prevent hands or fingers from being pinched or crushed by the moving parts when carrying the robot or during teaching Affix the 2 warning labels packed with the robot on or near the robot in conspicuous locations AX WARNING MOVING PARTS CAN PINCH OR CRUSH KEEP HANDS AWAY FROM ROBOT ARMS 1 3 1 2 Essential precautions 3 Ajayes 10q03 ay Suis 1 4 Warning label 2 A WARNING Moving parts can A pinch or crush Keep hands away from robot arms Follow the instructions on warning labels and in this manual Be sure to read the warning labels and this manual carefully and make sure you thoroughly understand their contents before attempting installation and operation of the robot Before starting robot operation be sure to reread the procedures and cautions relating to your work as well a
47. ication software I O control 24V power supply built in gt Power supply AC100 115 200 230V 10 ae The controller is supplied with the robot as a standard unit The programming box HPB is optional 3 9 3 5 Suction hoses connection 3 5 Suction hoses connection The FLIP X Type C series robots are designed to connect to an air unit that suctions air inside the robot to maintain cleanliness When using the robot in a clean room adjust the suction air to the following flow rate Hose outside diameter 10 Number of hoses SENI Suction rate 90 NZ min CAUTON Avoid excessive bends in the air hoses Lay out the air hoses to keep the hose length to the air unit as short as possible Too long of a hose may prevent obtaining the specified suction flow rate Uy PORNO An effective flow rate can be obtained by using a 8mm inner diameter hose from the suction source and then connecting that hose to a 10mm outer diameter hose at a position 50mm away from the robot M su0 934U0 pue uogejjezsul 3 10 3 6 Setting the operating conditions 3 6 Setting the operating conditions 3 6 1 Payload Optimal acceleration for the C8 C8L and C8LH single axis robots is automatically determined by setting the controller payload parameters Set the total weight of the workpiece and the end effectors such as grippers attached to the
48. imes check that the shutter does not slacken or sway right or left If slack or sway occurs in the shutter repeat the adjustment from step 11 to step 13 When a vertical installation model is used go outside the safety enclosure check no one is inside the safety enclosure and turn on the controller Then slowly move the slider back and forth a few times in MANUAL mode to check the movement After checking turn off the controller and re enter the safety enclosure to continue the job 15 Reattach the slider cover 16 Go outside the safety enclosure 17 Check no one is inside the safety enclosure and thee turn on the controller 4 15 4 6 Replacing the motor 4 6 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 1 Turn off the controller 2 Place a sign indicating that the robot is being inspected to keep others from operating the controller switch 3 Enter the safety enclosure 4 Remove the 6 screws 2 screws on the sides and 4 screws for the cable securing the end cover on the motor side and remove the end cover Likewise remove the 2 screws securing the end cover on the non motor side and remove the end cover 5 Remove the shutter For how to remove the shutter refer to 4 5 Replacing the
49. motor power supply lines U V and W 2 Check encoder signal lines for phases A and B Is motor resistance OK Yes Replace motor since motor has shorted or burnt out No Is motor encoder OK Yes 1 Check position shift by repetitive accuracy measurement 2 If replacement motor is available check by exchanging the motors exchanging the controllers Specifications 6 1 Main unit specifications 6 1 Main unit specifications 6 1 1 C8 Basic specifications Motor output AC W 100 Repeated positioning accuracy mm x1 0 02 Deceleration mechanism Ball screw 12 Class C10 Ball screw lead mm 20 12 6 Maximum speed mm sec x4 1000 720 360 Maximum payload Horizontal installation 12 20 40 kg Vertical installation 4 8 Rated thrust N 84 141 283 Stroke mm 150 to 800 50 pitch Horizontal installation Stroke length 320 Total length mm Vertical installation Stroke length 355 Maximum cross section outside dimensions mm W80xH75 Cable length m Standard 3 5 Option 5 10 Horizontal installation SR1 X TS X RCX222 RCX240 Controller Vertical installation SR1 X TS X RCX222 RCX240 Horizontal installation RDX 05 RBR1 Robot driver Vertical installation RDX 05 RBR1 Cleanliness class Class 10 2 Amount of suction air NZ min 30 to 90 x3
50. nd 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 will be installed in EU countries the language used for the user s manuals CE declarations and operation screen characters is English only Warning labels only have pictograms or else include warning messages in English In the latter case Japanese messages might be added 1 2 Essential precautions Particularly important cautions for handling or operating the robot are described below In addition precautions during installation operation inspection and maintenance are also 1 2 Essential precautions provided in each chapter Be sure to comply with these instructions to ensure safe use of the robot 1 Observe the following cautions during automatic operation Install a safeguard safety enclosure to keep any person from entering within the movement range of the robot and suffering injury due to being struck by moving parts Install a safety interlock that triggers emergency stop when the door or panel is opened Install a safety enclosure so that no one can enter inside except from doors or panels equipped with safety interlocks C s ga ma A o c emt on 2 c lt Warning lab
51. nd maintenance personnel 1 10 Robot safety functions 1 10 Safety measures for the system 1 11 Trial operation 1 11 Work within the safety enclosure 1 12 Automatic operation 1 13 Warranty 1 14 Checking the product 2 1 Robot part names 2 1 Chapter 3 Installation and Connections 3 1 3 2 3 2 1 3 2 2 3 3 3 4 3 5 3 6 3 6 1 Carrying the robot 3 1 Robot installation conditions 3 2 Installation environments 3 2 Installation base 3 3 Installing the robot 3 5 Connecting the robot to the controller 3 7 Suction hoses connection 3 10 Setting the operating conditions 3 11 Payload 3 11 U9 U07 ju3 uo 3 6 2 Maximum speed setting 3 12 3 6 3 Duty 3 12 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 4 4 2 3 Six month inspection 4 6 4 2 4 Three year inspection 4 7 4 3 Adjusting shutter looseness 4 8 4 4 Applying grease 4 10 4 5 Replacing the shutter 4 13 4 6 Replacing the motor 4 16 Chapter 5 Troubleshooting 5 1 If you suspect trouble 5 1 5 1 1 Positioning error 5 1 5 1 2 Feedback error 5 2 Chapter 6 Specifications 6 1 Main unit specifications 6 1 6 1 1 C8 6 1 6 1 2 C 8L 6 4 6 1 3 6 8 6 2 AC servo motor specifications 6 11 6 2 1 AC servo motor termination 6 11 6 2 2 Brake cable specifications 6 12 6 3 Robot cables 6 13 6 3 1 Robot cables SR1 6 13
52. o ORG yes to perform return to OPRT on the initial menu MENU select menu 5 5 OPRT select menu Morc BsrEPHAUTO OPRT ORG SEARCH ORG search OK yes OPRT ORG SEARCH grid position 50 display the grid position pue uon gt adsuj IPod A 4 19 4 20 Troubleshooting 5 1 5 1 If you suspect trouble 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 Check wiring and Check installation 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 Replace the cable 1 Check tool and workpiece for warping 2 Check robot alignment connectors Are the robot tools and workpiece correctly installed Does the position re
53. on RDX 05 RBR1 Robot driver Vertical installation RDX 05 RBR1 Cleanliness class Class 10 2 Amount of suction air NZ min 30 to 90 1 Positioning repeatability in one direction 2 Degree of cleanliness per 1 cf 0 1um base when suction blower is used 3 The required amount of suction air differs depending on the usage and environment so it is recommended to set the suction rate at the upper limit of the listed values However if for example the operation speed is determined and will not be changed after the robot operation has started you can set an appropriate suction rate by referring to the table below In that case refer to the suction rates which are higher than the rate applicable for the operation speed Speed mm s Amount of suction air N min 4 When the stroke is longer than 700mm the ball screw may resonate depending on the moving range critical speed In this case adjust to reduce the operating speed by referring to the maximum speeds shown in the table below Lead 20 800 700 650 600 550 Speed Maximum setting 80 70 65 60 55 speed Lead 10 390 360 330 300 270 mm sec heads Speed setting Static loading moment 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
54. orker can constantly check robot movements and immediately move to avoid trouble if an error problem occurs 4 Install noise prevention measures C s ga ma A o emt on 2 c lt 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 than the operators for that job task from mistakenly operating a start or selector switch If needed take other measures such as locking the cover on the operation panel 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 9 1 3 Industrial robot operating an
55. own below is given by pabc a b _ W b J kgf cm sec 129 129 cT m a b 2 T kgm p Density kg cm 9 Gravitational acceleration cm sec W Weight of prism kgf N m Mass of prism kg 3 When the object s center line is offset from the rotation center The moment of inertia J when the center of the cylinder is offset by a distance x from the rotation center as shown below is given by gt hx center line J h N prD hx mn 2 329 49 rotation a center 2 2 og kgf cm sec 8g g 2 2 mx 8 Weight of cylinder kgf Mass of cylinder kg Density kg cm Gravitational acceleration cm sec E In the same manner the moment of inertia J of a prism as shown below is given by J pabc a b pabcx m ne Wie 9 center line C gt NICE T kgf cm sec 12g g 2 2 mest mx C W Weight of prism kgf m Mass of prism kg o Revision record Manual version Ver 2 01 Ver 2 03 Issue date Description Jun 2009 Clerical error corrections Some explanations were corrected or added in Chapter 1 Using the Robot Safely Aug 2010 Clerical error corrections etc User s Manual YAMAHA C8 C8L C8LH Aug 2010 Ver 2 03 This manual is based on Ver 2 03 of Japanese manual O YAMAHA MOTOR CO L
56. pread the grease O Greasing the linear guide There are two methods of greasing the linear guide 1 Remove only the end cover to grease the linear guide 2 Open the cover by pulling it up to grease the linear guide Method 1 Remove only the end cover to grease the linear guide 1 Remove the 2 screws securing the end cover on the motor side and remove the end cover For how to remove the end cover refer to 4 6 Replacing the motor 2 Wipe away old grease with a clean cloth Then use a grease gun to inject new grease into the two grease nipples on the right and left of the ball guide bearing Grease nipple Grease gun Nozzle outside diameter 9mm or less pue uon gt adsuj A 4 11 4 4 Applying grease Method 2 When opening the shutter by pulling it up to grease the linear guide 1 Remove the 2 screws securing the shutter clamp plate on the non motor side 2 Open the shutter by pulling it up from the side where the screws were removed AN CAUTION When opening the shutter be careful not to scratch the shutter surface 3 Wipe away old grease with a clean cloth Then use a grease gun to inject new grease into the two grease nipples on the right and left of the ball guide bearing In this case use a grease gun with a bent nozzle as shown Grease nipple Grease gun pue uon gt adsuj IPod 6 Wipe away excess grea
57. s 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 USER S MANUAL AND ALL WARNING LABELS BEFORE OPERATION Warning label 3 WARNING Improper installation or operation can result in serious injury or death Read user s owner s manual and all warning labels before operation 1 2 Essential precautions 4 Do not remove alter or stain the warning labels WARNING IF WARNING LABELS ARE REMOVED OR DIFFICULT TO SEE THEN ESSENTIAL PRECAUTIONS MIGHT NOT BE TAKEN RESULTING IN ACCIDENTS DO NOT REMOVE ALTER OR STAIN THE WARNING LABELS ON THE ROBCT DO 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 ON THE WARNING LABELS CAN BE CLEARLY SEEN EVEN FROM OUTSIDE THE SAFETY ENCLOSURE 5 Do not use the robot in environments containing inflammable gas etc WARNING THIS ROBOT WAS NOT DESIGNED FOR OPERATION IN ENVIRONMENTS WHERE INFLAMMABLE OR EXPLOSIVE SUBSTANCES ARE PRESENT DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAI
58. s received This is called the machine reference and is usually expressed as a percent with 10096 being equal to 1 Ath of one turn of the xipuaddy motor See the figure below The machine reference value must be within the allowable range 25 to 7596 to maintain axis movement repeatability The optional programming box HPB or RPB or Handy Terminal HT1 is needed to check the machine reference value The machine reference value is displayed on the LCD screen of the programming box or Handy Terminal when return to origin is complete See the figure below n NOTE The C8 C8L C8LH robots use an absolute type position detector There is no need to c perform return to origin each time the robot controller is turned on and readjust the machine reference value If for some reason the machine reference adjustment becomes necessary please contact YAMAHA sales office or dealer Machine reference Origin icc Origin detection signal Machine reference Machine reference Stroke end detection x pt Origin dog detection Zero signal Pulse 1 4th of one turn of motor Machine reference value display examples Origin search OW 01 OPRT ORG SEARCH Method TORQUE RI Method origin complete Coordin machine ref 50 Ref 50 X SR1 RUN Origin search start n the screen illustration below a section of the screen Current pos 128 00 mm
59. s to scroll up or 10_ Ke down the parameter list and select the range 0 gt MAX parameter you want to set 6 Set the parameter 5 5 15 Enter the parameter value with the PRM112 10 Kg number keys and press amp payload range 0 gt MAX The parameter setting range is shown on the bottom line of the screen When setting is complete the cursor moves back to the beginning of the parameter data 3 6 2 Maximum speed setting In operation of a single axis robot with a long stroke ball screw resonance of the ball screw may occur In this case the maximum speed must be reduced to an appropriate level The maximum speed can be reduced by lowering the SPEED setting in automatic operation or by programming Use the desired method that matches your application Refer to Chapter 6 Specifications for information on how to set the maximum speed according to the stroke length If the maximum speed does not reach a hazardous level reducing the speed is unnecessary even when a robot has a long stroke axis AN CAUTION Do not operate the robot if the ball screw is vibrating The ball screw may otherwise wear out prematurely 3 6 3 Duty To achieve maximum service life for the C8 C8L and C8LH single axis robots it is recommended to operate the robot within the allowable duty 50 The duty is calculated as follows Operation time Duty 96 Operation time Non operation time 100 If the
60. se with a clean cloth When a vertical installation model is used go outside the safety enclosure check no one is inside the safety enclosure and turn on the controller Then slowly move the slider back and forth a few times in MANUAL mode to spread the grease Next turn off the controller and re enter the safety enclosure to continue the job 7 Reattach the end cover and shutter For how to adjust the shutter refer to 4 3 Adjusting shutter looseness 4 12 4 5 Replacing the shutter 4 5 Replacing the shutter 1 Turn off the controller 2 Place a sign indicating that the robot is being inspected to keep others from operating the controller switch 3 Enter the safety enclosure 4 Remove the 8 screws 4 screws on each side securing the slider cover and remove the cover 5 Remove the screws securing the shutter clamp plates 2 screws on each clamp plate a total of 4 screws at both ends of the robot pue uon gt adsuj IPod A 6 Remove the 4 screws securing the roller and remove the roller 4 13 4 5 Replacing the shutter 7 Remove the shutter 8 Attach the new shutter in place m NOTE Attach the shutter so it is positioned in the center of the cover M 9 Reattach the roller that was removed in step 6 10 Reattach the shutter clamp plates that were removed in step 5 Finger tighten the screws do not tighten securely
61. the guide is 10 000km Horizontal installation Wall installation 6 1 Main unit specifications Unit Nem Horizontal installation Unit mm Lead 20 Lead 10 Wall installation Unit mm 5kg 147 100 220 10kg 53 32 97 Lead 20 15kg 17 10 39 20kg 0 0 0 10kg 87 41 197 20kg 10 4 37 Lead 10 30kg 0 0 0 40kg 0 0 0 20kg 24 9 152 30kg 0 0 0 Lead 5 40kg 0 0 0 50kg 0 0 0 suones1y19ads o 6 1 Main unit specifications Vertical installation 2905 6 6 Vertical installation Unit mm Lead 20 Lead 10 tions Ica 5 N 6 1 Specifications 9011s CATIONS S qe1 y U UMOYS exejq ou 530404 Jo 14819 ay OGY S JO snipes puaq 30N uey Sxc 0 1 10404 Jo Surpnjoxe NON Jeddojs ay spud ujoq o2uejsi SON u 901 p esq Jo 19 suipn u u u pus y10q exe1q yum 881 jo 18190 3 551 9 90 EW u On 8 sseuxyolui HOL 09
62. 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 Ajayes 10q03 ay Suis 1 9 Warranty The YAMAHA robot and or related product you have purchased are warranted against the defects or malfunctions as described below Warranty description Warranty Period Exceptions to the Warranty If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this YAMAHA robot and or related product within the warranty period then YAMAHA will repair or replace those parts free of charge hereafter called warranty repair The warranty period ends when any of the following applies 1 After 18 months one and a half year have elapsed from the date of shipment 2 After one year has elapsed from the date of installation 3 After 2 400 hours of operation This warranty will not apply in the following cases 1 Fatigue arising due to the passage of time natural wear and tear occurring during operation natural fading of painted or plated surfaces deterioration of parts subject to wear etc 2 Minor natural phenomena that do not 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
63. this case adjust to reduce the operating speed by referring to the maximum speeds shown in the table below Lead 20 1000 900 800 700 650 600 550 500 450 Speed 90 80 70 65 60 55 50 45 setting Maximum speed Lead 10 600 510 450 390 360 330 300 270 240 210 mm sec sad 5 300 255 225 195 180 165 150 135 120 105 Speed 85 75 65 60 55 50 45 40 35 setting 6 1 Main unit specifications Static loading moment 128 163 143 Unit Nem lt Allowable overhang Distance from the center on the top face of slider to the gravity center of the item being carried This is calculated assuming that the service life of the guide is 10 000km Horizontal installation Horizontal installation Unit mm Wall installation Wall installation Unit mm Lead 20 suo eo oads o Lead 10 C 6 9 9X0JIS SATION OSH S jo snipes puaq LUNWIUIW 30N 35 ay 0 Spua 51 MON 9 00JD jo 3
64. ts WARNING THE VERTICAL AXIS WILL SLIDE DOWN WHEN THE MOTOR IS RELEASED CAUSING A HAZARDOUS SITUATION TURN OFF THE ROBOT CONTROLLER AND PROP UP THE VERTICAL AXIS WITH A SUPPORT STAND BEFORE REMOVING THE MOTOR BE CAREFUL NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE VERTICAL AXIS PARTS AND INSTALLATION BASE Ajayes 10q03 ay Suis 10 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 11 Take the following safety precautions during inspection of controller 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 NEVER TOUCH ANY INTERNAL PARTS OF THE CONTROLLER REFER TO THE YAMAHA ROBOT CONTROLLER USER S MANUAL FOR PRECAUTIONS ON HANDLING THE CONTROLLER 1 6 1 2 Essential precautions 12 Use caution not to touch the controller cooling fan WARNING BODILY INJURY MAY OCCUR FROM COMING INTO CONTACT WITH THE COOLING FAN WHILE IT IS ROTATING WHEN REMOVING THE FAN COVER FOR INSPECTION FIRST TURN OF
65. turn after return to origin operation Mechanical cause 1 Check for looseness of mechanical parts Retighten if necessary 2 Replace mechanical parts method Electrical cause Check for looseness of robot mechanical parts Is there a large source of noise nearby Take measures against noise Check or replace the moior cable and controller 1 5 1 If you suspect trouble 5 1 2 Feedback error Feedback error Any foreign matter No aught inside No Adjust mechanical alignment Turn power off and check for friction by moving manually Yes Much mechanical Is brake installed friction Yes No Is external Yes 5 controller noise large ardware OK replacement controller is available check by 5 2 Securely insert pins or repair defective pins ake noise reduction measures No Yes Vas s brake sound No 15 24V supplied to d brake heard when turning power i Replace power supply unit or Replace motor with brake CE dafecil Gm Initialize parameters Are parameters for ontroller and robot OK No en a nnect wiring an nn r _ T connected Seclielyiconnees giandiconnecio When feedback error is occurring perform Are connector pins continuity check en inserted 1 Check

wWARNING - Yamaha Robotics

Contents

Download Pdf Manuals

Related Search

Related Contents