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SSC User`s Manual

1. 4 13 MEMO 14 Troubleshooting 5 1 Positioning error 5 1 Positioning error If a positioning 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 Position deviates Operation was correct but position deviates The position deviates after moving the robot or set up of workpiece tool Robot bumped into something or there are traces of bumping 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 Check wiring and connectors Are the robot tools and workpiece correctly installed Does the position return after return to origin operation Mechanical cause Check installation method 1 Check for looseness of mechanical parts Retighten Electrical cause if necessary 2 Replace mechanical parts Check for looseness of robot mechanical parts Is there a large source of noise nearby Take measures against noise Chec
2. I I ne A 4 A 9 8 uideq LXOW d 08 0 YUM e Let 0y 1 99 21 7 9 g a SS 8 SE z E y amp e ui fe uo mE 02 sel a 90 2 2 a 8 1 Le 58 epis uo SI USYM SMEIQ 812 2 Bs 5 epis 1oloui uo SI ueuM Z 812 sem T 5 1 081 i IO 2 NX 2 d L T J IND 5 Elm E L 810N 8 udad 0 ve 5 9 uld q ZHv z L SION LFOYL 2 uonisod Buunoes qeo EL epis 1 uo 1 ueuM zxzG epis uo si USYM 821 906 epis uo s u uAA ZS 5 911909443 epis uo SI USYM 282 u16ue 0 002 suoisuawiq 60255 Specifications 4 1 Main unit specifications 4 1 3 SSCO5H Basic specifications 1 Positioning repeatability in one direction 2 When the stroke is longer than 650mm 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 3 Numerical values
3. pue 3 3 Applying grease Follow these steps when applying grease to the robot ball screws and linear guides according to periodic maintenance 1 Remove the robot s end cover then pull off the side cover 2 Coat the ball screw and linear guides with grease by hand and move the slider back Applying grease to the ball screw Applying grease to the linear guide 3 Reattach the side covers 3 6 3 4 Replacing the shutter 3 4 Replacing the shutter Use the following procedure when the shutter must be replaced Make sure that the controller power switch is off before beginning work 1 Remove the four screws on the sides of the top cover 2 each on each side then remove the plates Top cover 2 Remove the top cover pue 0 3 Remove the screws 4 locations which secure the roller then remove the roller Roller 3 7 3 4 Replacing the shutter 4 Remove a screw that secures motor cover 1 then remove motor cover 1 by sliding it toward the rear Motor cover 1 5 Remove the two screws which secure the end cover shutter End cover A 6 Remove the shutter 7 7 Pass the new shutter through it 8 Reinstall the shutter motor cover 1 and slide cover by reversing their removal pro
4. pue uonejje suj 2 8 Ah WARNING TS S controller 4 9 TRANSERVO series SSC04 SSC05 SSC05H After making connections Robot cable signal cable fasten the hoods securely Robot cable power cable BEFORE CONNECTING THE CABLES CHECK THAT THERE ARE NO BENDS OR BREAKS IN THE ROBOT CABLE CONNECTOR PINS AND THAT THE CABLES ARE NOT DAMAGED BENT OR BROKEN PINS OR CABLE DAMAGE MAY CAUSE ROBOT MALFUNCTIONS 2 7 3 Robot system configuration drawing TS S controller RS 232C communication control Handy Terminal HT1 RS 232C or communication control communication cable Resolver signal Motor power Power supply Suormoauuo pue uonejje suj N I O control 24V power supply built in Input 16 general purpose pins Output 16 general purpose pins Qe TS Manager communication software gt gt j TRANSERVO series The robot positioner is provided with the SSC04 SSC05 SSC05H machine unit as standard equipment The Handy Terminal HT1 is an optional item 2 9 2 8 Setting the operating conditions 2 8 Setting the operating conditions 2 8 1 Payload Optimal acceleration for the YAMAHA single axis robots is automatically dete
5. 4 Install a new coupling Secure the coupling at a position which is 3mm from the end face of the motor flange Make sure to fix the set screw at the flat portion cutout portion of the shaft 3 18 3 7 Replacing the coupling 5 Mount the plate motor and tighten its mounting screws 6 Mount the motor For details regarding how to mount a motor refer to 3 6 Replacing the motor in Chapter 3 m Replacing the coupling on the ball screw side 1 Remove the motor For details regarding how to remove a motor refer to 3 6 Replacing the motor in Chapter 3 2 Loosen the set screw M4 on the ball screw side then remove the coupling Set screw 3 Install a new coupling Push the coupling against the end face of the ball screw Make sure to fix the set screw at the flat portion cutout portion of the shaft 92ueugjurew pue IPod 0 Flat portion Push the coupling against the end face to fix it 4 Mount the motor For details regarding how to mount a motor refer to 3 6 Replacing the motor in Chapter 3 3 19 3 8 Replacing the brake 3 8 Replacing the brake AX WARNING THE SLIDER WILL SLIDE DOWN WHEN THE BRAKE IS REMOVED CAUSING A HAZARDOUS SITUATION TURN OFF THE CONTROLLER AND PROP UP THE SLIDER WITH A SUPPORT STAND BEFORE STARTING THE REPLACEMENT OF THE BRAKES 1 Turn off the robot controller 2 Disconnect the connecto
6. 9oueugjurew pue 3 4 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 F TAKEN INTERNALLY DO NOT INDUCE VOMITING BUT PROMPTLY CONSULT A PHYSICIAN FOR PROPER TREATMENT Checkpoints Check items Ball screw and linear Check for dirt or grime If dirt or See 3 3 in this guide grime is found clean the part chapter Apply grease after cleaning Apply grease if the items checked are dry or do not have enough grease Recommended grease is as follows Standard model Use Alvania No Showa Shell Daphne Eponex No 2 Idemitsu Clean room model Use LG 2 NSK Shutter Check for slack Adjust if See 3 5 in this necessary chapter Coupling Check if the bolts are loose Tighten See 3 7 in this if necessary chapter CAUTION Failing to use YAMAHA recommended grease can shorten the life of the ball screw and the linear guide 3 2 Periodic inspection 3 2 3 Six month inspection Take the following precautions when performing 6 month inspection Ah 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 Check the following point
7. Lead 20 Lead 12 B Wall installation Wall installation Unit mm Lead 20 A Lead 12 suone2iiadg A Bi Vertical installation Vertical installation Unit mm Lead 12 Lead 6 gt 4 5 y lou 995 940115 311199143 ayeiq e paddinba usym JalAeay Speo pajoa qns Bulaq WOA ay BAZO SIYSISM 941 e SIYSIDM ay 9591 p NON 1lu A 4d 0 Bde Dua ss JO pueq an 3 89 ay 3INIIS DION OCH SI snipes s a qeo 991 MON spue oq siaddo s jesiueysaw ay Aq ase suonisod dols 6 991 9921 9 udad 6 9 x Ex zu 5 1 QUE ap F
8. dsu oO 3 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 SPARKS AND FIRES EMERGENCY TREATMENT IF GREASE GETS IN THE EYES WASH LIBERALLY WITH PURE WATER FOR ABOUT 15 MINUTES AND CONSULT A PHYSICIAN FOR TREATMENT IF GREASE COMES IN CONTACT WITH THE SKIN WASH AWAY COMPLETELY WITH SOAP AND WATER IF TAKEN INTERNALLY DO NOT INDUCE VOMITING BUT PROMPTLY CONSULT A PHYSICIAN FOR PROPER TREATMENT 3 2 Periodic inspection 3 2 Periodic inspection 3 2 1 Daily inspection Check the following points on a daily basis before and after robot operation Checkpoints Check items Cables and shutter Check for scratches dents and Replace if necessary excessively tight bends See 3 4 in this chapter Stain or grime on the shutter surface 1 Ball screws and Check for unusual vibration and bearings noise Motor Check for unusual vibration and noise and for abnormal temperature r
9. Cc N 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 8 Automatic operation 1 Check the following before starting automatic operation 1 No one is within the safety enclosure 2 The Handy Terminal and tools etc are in their prescribed positions 3 The alarm or error lamps on the robot and peripheral equipment do not flash 4 The safety enclosure is securely installed with safety interlocks actuated 2 Observe the following during automatic operation or in cases where an error occurs 1 After automatic operation has started check the operation status and signal light to ensure that the robot is in automatic operation 2 Never enter the safety enclosure during automatic operation Ajayes Jogoy ay Suis A 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 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 For information on the warranty period and terms please contact our distributor where you purchased the product B This war
10. YAMAHA YAMAHA MOTOR CO LTD YAMAHA SINGLE AXIS ROBOT TRANSERVO series SSC04 SSC05 SSC05H User s Manual enous YAMAHA MOTOR CO LTD IM Operations 882 Soude Naka ku Hamamatsu Shizuoka 435 0054 Japan URL http www yamaha motor jp robot index html E46 Ver 1 05 General Contents Introduction Chapter 1 Using the Robot Safely 1 1 Safety information 1 1 1 2 Essential precautions 1 3 1 3 Industrial robot operating and maintenance personnel 1 9 1 4 Robot safety functions 1 10 1 5 Safety measures for the system 1 11 1 6 Trial operation 1 11 1 7 Work within the safety enclosure 1 12 1 8 Automatic operation 1 13 1 9 Warranty 1 13 Chapter 2 Installation and Connections 2 1 Checking the product 2 1 2 2 Robot part names 2 2 2 3 Robot installation conditions 2 3 2 4 Installation base 2 4 2 5 Installing the robot 2 5 2 6 The Emergency Stop stopping distance 2 6 2 7 Connections 2 6 2 7 1 Connecting the robot to the controller 2 6 2 7 2 Robot cable connections 2 8 2 7 3 Robot system configuration drawing 2 9 2 8 Setting the operating conditions 2 10 2 8 1 Payload 2 10 2 8 2 Duty 2 10 2 8 3 Push force vs current limit value during stop 2 11 U9 U07 P19UIN U9 U07 2 9 Suction hoses connection 2 13 Chapter 3 Periodic Inspection and Maintenance 3 1 3 2 3 2 1 3 2 2 3 2 3 3 2 4 Before beginning work Periodic inspection Daily inspection Three month inspection Six mon
11. 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 A C N Does the robot move correctly during automatic operation 1 7 Work within the safety enclosure 1 Work within the safety enclosure 2 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 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 Check that the Handy Terminal is operating normally Check that no failures are found in the robot Check that emergency stop works correctly
12. 6 Mount a new motor and secure it with the screws Reattach motor covers 1 and 2 by reversing their removal procedures Use care to avoid over tightening the screws which secure motor covers 1 and 2 AN CAUTION When attaching motor cover 2 be sure that it is correctly aligned with the grooves Be careful not to let the motor cable get caught 0 7 While pulling lightly on the shutter with the fingers secure it by tightening the screw until there is no looseness CAUTION Do not press down on the shutter with excessive force Pressing down hard on the shutter may cause the shutter to warp 3 11 3 Replacing the motor 3 6 2 SSC05 SSC05H 1 Turn off the robot controller 2 Remove a screw that secures motor cover 1 then remove motor cover 1 3 Remove the lower side motor cover 2 by sliding it toward the rear Motor cover 2 JJueuajurew pue oO 4 Remove the two screws which secure the motor 3 12 3 Replacing the motor 5 Remove the motor 6 Mount a new motor and secure it with the screws Reattach motor covers 1 and 2 by reversing their removal procedures Use care to avoid over tightening the screws which secure motor covers 1 and 2 AN CAUTION When attaching motor cover 2 be sure that it is correctly aligned with the grooves Be careful not to let the motor cable g
13. Protective bonding A WARNING BE SURE TO GROUND THE ROBOT AND CONTROLLER TO PREVENT ELECTRICAL SHOCK 13 Be sure to make correct parameter settings AN 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 Ajayes Jogoy ay Suijsn A 14 Take the following safety precautions during inspection of controller A WARNING e WHEN YOU NEED TO TOUCH THE TERMINALS OR CONNECTORS ON THE OUTSIDE OF THE CONTROLLER DURING INSPECTION ALWAYS FIRST TURN OFF THE CONTROLLER POWER SWITCH AND ALSO THE POWER SOURCE IN ORDER TO PREVENT POSSIBLE ELECTRICAL SHOCK e NEVER TOUCH ANY INTERNAL PARTS OF THE CONTROLLER REFER TO THE YAMAHA ROBOT CONTROLLER USER S MANUAL FOR PRECAUTIONS ON HANDLING THE CONTROLLER 15 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 16 Do not attempt any repair parts replacement and modification WARNING DO NOT ATTEMPT ANY REPAIR PARTS REPLACEMENT AND MODIFICATION UNLESS DESCRIBED IN THIS MANUAL THESE WORKS REQUIRE TECH
14. ga ma A o c on 2 CH lt Warning labels 1 are supplied with the robot and should be affixed to conspicuous spots on doors or panels of the safety enclosure 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 AA 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 Warning labels 2 are supplied with the robot and should be affixed to the robot or conspicuous spots near the robot A WARNING MOVING PARTS CAN PINCH OR CRUSH KEEP HANDS AWAY FROM ROBOT ARMS 1 3 1 2 Essential precautions 3 Ajayes Jogoy ay Suijsn 1 4 Warning label 2 A WARNING B Moving parts can 2 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
15. mm Lead 12 c Lead 6 A 4 8 Specifications y e1ou ees c d Lo ded 5 3O11S A1139JJ3 e exeiq e paddinba u uA speo 155 2 5 8 WO 9 qe oui BAZO AY e S1USI A Y ale 95941 p MON 998 Dua sillun ss JO 00 3 89 y 9INIIS ION SI SNIpes pu q wnwi ulw 5 941 NON spu siaddojs jes ueyssw ay Aq suonisod do s 1 SION c eye q 8 98 On q 9991 Siw o SS 9 uld q 2 094 e gt 4 1 Ma 8 uideq 1 9 9 06 DG 9191 o2 1 6 T UD o
16. 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 Warning labels 3 are supplied with the robot and should be affixed to the robot or conspicuous spots near the robot A WARNING IMPROPER INSTALLATION OR OPERATION CAN RESULT IN SERIOUS INJURY OR DEATH READ THE USER S MANUAL AND ALL WARNING LABELS BEFORE OPERATION Warning label 3 A WARNING Improper installation or operation can result in serious injury or death Read user s owner s manual and all warning labels before operation 1 2 Essential precautions 4 Do not remove alter or stain the warning labels WARNING IF WARNING LABELS ARE REMOVED OR DIFFICULT TO SEE THEN ESSENTIAL PRECAUTIONS MIGHT NOT BE TAKEN RESULTING IN ACCIDENTS DO NOT REMOVE ALTER OR STAIN THE WARNING LABELS ON THE ROBOT DO NOT ALLOW THE WARNING LABELS TO BE HIDDEN BY DEVICES INSTALLED ONTO THE ROBOT BY THE USER 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 A
17. shown in parentheses apply to vertical installation Motor 0 42 Step motor Repeated positioning accuracy mm x1 0 02 Deceleration mechanism Ball screw 12 Class C10 Maximum motor torque Nem 0 47 Ball screw lead mm 6 12 20 Maximum speed mm sec x2 300 250 x3 600 500 x3 1000 Maximum payload Horizontal installation 12 8 6 kg Vertical installation 4 2 Max pressing force N 120 60 36 Stroke mm 50 to 800 50 pitch Overall length Horizontal installation Stroke 286 mm Vertical installation Stroke 306 re i of body W55xH56 Y Cable length m Standard 1 Option 3 5 10 2 Controller TS S Cleanliness class Meets CLASS 10 0 1 um base 5 2 Stroke Lead 6 Lead 12 Lead 20 Maximum speed mm sec Speed setting Numerical values shown in parentheses apply to vertical installation O Static loading moment Unit Nem 4 7 4 1 Main unit specifications O Allowable overhang Distance from center of slider upper surface to carrier center of gravity at a guide service life of 10 000 km Service life is calculated for 600mm stroke models E Horizontal installation Horizontal installation Unit mm Lead 20 Lead 12 Wall installation Wall installation Unit mm Lead 20 B n Lead 12 C E Vertical installation suone2iiadg Vertical installation Unit
18. space Refer to the TS S Controller User s Manual for details regarding the controller installation Suomoauuo pue uonejje suj N conditions A 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 A 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 A WARNING AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC INTERFERENCE ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY INTERFERENCE MALFUNCTIONS MAY OTHERWISE OCCUR A 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 2 3 2 4 Installation base 2 4 Installation base To 1 2 su0 93U4U0 pue uonejje suj UY 2 4 mount the robot use an installation base that satisfies the following conditions 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
19. 01T P0 6 CN2 CN3 Receptacle housing SMR 02V B CN3 2 poles suone2iiadg Plug housing SMP 02V BC CN4 2 poles 4 10 Socket contact BHF 001T 0 8BS or SHF 001T 0 8BS CN4 B Connector wiring Connector Wire Color Black 4 2 Motor specifications Connection Red Yellow White Green Blue Motor wire Blue Orange Green Brown Gray Red Drain wire Transparent shrinkable tube Signal wire BK Black BK Yellow Brake wire CN4 suone2iiadg A 4 11 4 2 Motor specifications 4 2 2 Brake cable termination Connector specifications BRAKE Receptacle housing SMR 02V B 2 poles Pin contact B Connector wiring Wire Color 001 6 or SYM 001T P0 6 Connection Yellow Manual tool YC 12 suone2iiadg 4 12 Yellow 4 3 Robot cables To controller To robot Connection Controller CN1 u Resolver Drain wire 0 15sq Blue Orange Green Brown Grey Red Black Yellow suone2iiadg A 0 3sq White 1 White 2 White 3 White 4 White 5 White 6
20. 1 ve i _ Q E in 3 x J 8 D Je a mi 3 A i PES i Ei aa Lee Le L 5 9 SN eYoN ra BulunoW ve gt S MT uonoaup Buyunoyy qulof uonons 96 z eS 06 99 2 v6L 2 v LZ 30 88 epis JO OW UOU uo s USYM exeJq G EpZ Bar 5 5 epis uo 5 ueuM ZFS EHZ sa A A 1 loN exeiq ui Le S61 i E Ben ao i 8 e m aer emi L SION 19991 01 uicea 8 ev L 9 uld q Hr9 z 1 SION LFS SZL 2 1oN uonisod Buunoes qeo el epis JO OW UOU uo SI ueuM ZFS Z9 epis 1o ouu uou uo s ueuM G EZZ ER uo sI USYM S Z9 yo11s All99JJ3 epis uo SI USYM ZFG eec y Bua qeSO 002 suoisueuiq 0255 O 4 2 Motor specifications 4 1 4 About noise level The maximum sound pressure level is less than 70dB when the TRANSERVO series robot moves at its maximum speed 1m s Maximum sound pressure level is measured in accordance with EN 292 2 4 2 Motor specifications 4 2 1 Motor termination Connector specifications Motor Plug housing 176274 1 CN1 6 poles Receptacle 175155 1 or 175151 1 CN1 Receptacle housing SMR 07V B CN2 7 poles Pin contact BYM 001T P0 6 or SYM 0
21. 140 120 60 Lead 12 40 Lead 20 10 15 20 25 30 35 40 45 Current limit value The values in the above graph are not a guarantee of the push force accuracy during stop Use these values for reference 2 12 If the push force is too small or the push speed is too low the push operation may become unstable so use caution Up to 20mm s can be set for the speed during pushing However it is recommended to set the speed during pushing to a level of 10mm s or less by taking the shock during pushing or load stability into consideration The sliding resistance tool weight or pushing position may affect the pushing load So when an accurate pushing load is required it is absolutely necessary to actually measure and check the pushing load under conditions to be used Determine an offset amount and thrust so that the pushing moment will be smaller than the allowable static load of each model The values shown in the above graphs are for horizontal use robots For vertical use robots the push force values vary according to the weight of the tool and workpiece Static loading moment Unit Nem SSC04 SSCO05 SSCO5H 2 9 Suction hoses connection 2 9 Suction hoses connection The YAMAHA SSC04 SSC05 SSCO5H 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 sucti
22. AMAGED suo nj3 uuoo pue uonejje suj N 2 1 2 2 Robot part names 2 2 Robot port names SSC04 Slider cover End cove Slider Suction air joint Motor cover 2 SSC05 Shutter End cover Slider cover pue Y Motor cover 1 NSide cover EN Slider Suction air joint Motor cover 2 Suction air joint SSC05H End cover Shutter Slider cover g Side cover Slider Motor cover 1 Suction air joint Suction air joint Motor cover 2 2 2 2 3 Robot installation conditions 2 3 Robot installation conditions Be sure to install the robot in the following environments Items Specifications Allowable ambient 0 to 40 C temperature Allowable ambient humidity 35 to 85 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 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
23. BOT A WARNING FAILURE TO FOLLOW WARNING INSTRUCTIONS COULD RESULT IN SEVERE INJURY OR DEATH TO THE ROBOT OPERATOR BYSTANDERS OR PERSONS INSPECTING OR REPAIRING THE ROBOT Ajayes Jogoy ay Suijsn A 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 x 1 7 S Explains the key point in the operation in q 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 p A o a o aa 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 informatio
24. CY STOP BUTTON IF ANY DANGER OCCURS Ah WARNING WHEN THE ROBOT DOES NOT NEED TO BE OPERATED DURING ADJUSTMENT OR MAINTENANCE ALWAYS TURN OFF THE CONTROLLER AND THE EXTERNAL SWITCH BOARD DO NOT TOUCH INTERNAL PARTS OF THE CONTROLLER FOR 10 MINUTES AFTER THE CONTROLLER HAS BEEN TURNED OFF WHEN ONLY MAKING ELECTRICAL INSPECTIONS AND REQUIRING NO MECHANICAL MOVEMENT OF THE ROBOT KEEP THE EMERGENCY STOP BUTTON PRESSED USE ONLY LUBRICANT AND GREASES SPECIFIED BY YAMAHA SALES OFFICE OR REPRESENTATIVE USE ONLY PARTS SPECIFIED BY YAMAHA SALES OFFICE OR REPRESENTATIVE TAKE SUFFICIENT CARE NOT TO ALLOW ANY FOREIGN MATTER TO CONTAMINATE THEM DURING ADJUSTMENT PARTS REPLACEMENT OR REASSEMBLY DO NOT MODIFY ANY PARTS ON THE ROBOT OR CONTROLLER MODIFICATION MAY RESULT IN UNSATISFACTORY SPECIFICATIONS OR THREATEN OPERATOR SAFETY WHEN ADJUSTMENT OR MAINTENANCE IS COMPLETE RETIGHTEN THE BOLTS AND SCREWS SECURELY DURING ROBOT ADJUSTMENT OR MAINTENANCE PLACE A SIGN INDICATING THAT THE ROBOT IS BEING ADJUSTED OR SERVICED TO PREVENT OTHERS FROM TOUCHING THE CONTROL KEYS OR SWITCHES PROVIDE A LOCK ON THE SWITCH KEYS OR ASK SOMEONE TO KEEP WATCH AS NEEDED 92ueugjurew 0 3 1 3 1 Before beginning work When applying grease to the ball screw and linear guide take the following precautions A PRECAUTIONS WHEN HANDLING GREASE pue uo
25. LLER 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 NOT USE A BOLT LONGER THAN THE SPECIFIED LENGTH SINCE IT MAY INTERFERE WITH THE INTERNAL PARTS OF THE ROBOT AND CAUSE MALFUNCTIONS su0 934U0 pue uonejje suj N CAUTION Do not pull the motor cable Doing so might cause faulty wiring Drill holes into the surface of the installation base as shown in the figure below and secure the robot with the prescribed bolts which are inserted from the installation base s bottom face The bolts and tightening torques are shown below SSCOA Hex socket head cap M5 bolt Strength 8 8T Length Installation base thickness 8mm or less 60kgf cm to 90kgf cm SSC04 2 5 2 6 The Emergency Stop stopping distance e SSCO5 SSCO5H SSC05 Hex socket head cap M6 bolt Strength 8 8T 100kgf cm to SSCO5H Length Installation base thickness 8mm or less 130kgf cm 2 6 The Emergency Stop stopping distance The maximum stopping distance is 195mm SSCO5H payload of 6kg operation speed of 1m sec when the emergency stop button is pressed or when power to the controller is shut of
26. NICAL KNOWLEDGE AND SKILL AND MAY ALSO INVOLVE WORK HAZARDS 1 7 1 2 Essential precautions 17 Location for installing the controller and the Handy Terminal 18 19 20 Ajayes Jogoy ay Suijsn 21 22 23 1 8 The robot controller and the 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 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 t
27. RE PRESENT DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING 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 A 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 A 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 A 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 c
28. anical stoppers prevent axis motion from exceeding the permissible motion range when the power is shut off by an emergency stop or by a safety function during high speed robot movement Note The movement range is the area limited by mechanical stoppers AXIS MOVEMENT WILL NOT STOP IMMEDIATELY AFTER THE POWER IS SHUT OFF BY EMERGENCY STOP OR OTHER SAFETY FUNCTIONS Vertical axis brake Vertical axis is equipped with an electromagnetic brake to prevent the vertical axis from falling when a power shut off occurs This brake is engaged when the robot positioner power is OFF and when the robot positioner power is ON while the vertical axis servo is OFF The vertical axis brake can be released from the Handy Terminal HT1 when the robot positioner power is ON 1 5 Safety measures for the system A 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 TO PERFORM DIRECT TEACH 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 t
29. aution when removing the motor Vertical use robots Ah 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 Jogoy ay Suis 10 Be careful not to touch the motor and peripheral parts when hot Ah 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 Consult us for corrective action when the robot is damaged or malfunctions occur A 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 Flying outwards of damaged parts Damage to exterior of robot during robot operation Abnormal operation of robot I Malfunction of robot positioning error excessive vibration etc Z axis brake trouble Dropping of load 1 6 1 2 Essential precautions 12
30. cedures Neh gf NOTE Donot fully tighten the screws to secure the shutter at this time Fully tighten these screws after adjusting for shutter looseness in step 9 3 8 3 5 Adjusting shutter looseness 9 While pulling lightly on the shutter with the fingers secure it by tightening the screw until there is no looseness CAUTION Do not press down on the shutter with excessive force Pressing down hard on the shutter may cause the shutter to warp 3 5 Adjusting shutter looseness The shutter may elongate with continued use In such cases adjust as follows 1 Slightly loosen the screws 2 locations which secure the shutter at the end cover side Do not remove them 2 While pulling lightly on the shutter with the fingers secure it by tightening the screw until there is no looseness See step 9 of 3 4 Replacing the shutter pue 3 9 3 Replacing the motor 3 6 Replacing the motor 3 6 1 SSC04 1 Turn off the robot controller 2 Remove a screw that secures motor cover 1 then remove motor cover 1 by sliding it toward the rear Motor cover 1 3 Remove the lower side motor cover 2 by sliding it toward the rear Motor cover 2 pue 7 4 Remove the two screws which secure the motor 3 10 3 Replacing the motor 5 Remove the motor
31. e suonisod do s 1 SION E D exea S 0Z E q S Z91 2 9 udad Gei Hr0 D 8 uided 8 OXSIA d 06 0Sxv 925 yum 281 SH 5 1 uu far a 2 kr Ld E p L J be E 8 se ES 2 SION ry uonoeup Bununoyy Ip 89 1 Bununoyy uonons 96 2 9 LEL o 32 um 971 3 g epis 1o ouu uou uo 1 u uA 9xeJq 902 epis uo SI u uA zx90z zit 4 a 1 10N uu 15691 gt 2 l eee K x a M S E Lp S LES N mm 8 1 30N LF8L 9 uld q 7He z L 1 90N 1 7 g e1oN uonisod Buunoes qeo ti opis JO OW UOU uo SI u8uM 266 epis iolouu uou uo s ueuM 191 apis uo si Ueu SS yo1ls APIs uo S L t uiBuej 002 0 0265 O 4 1 Main u
32. et caught Motor cover 2 0 7 While pulling lightly on the shutter with the fingers secure it by tightening the screw until there is no looseness CAUTION Do not press down on the shutter with excessive force Pressing down hard on the shutter may cause the shutter to warp 3 13 3 Replacing the motor 3 6 3 Verifying the machine reference The method for verifying the machine reference is shown below For details regarding Handy Terminal operation procedures refer to the HT1 Operation Guide section of the TS S Controller User s Manual 1 At the main menu screen select Operation The operation mode screen then opens displaying operations which can be selected Menu Point Operation Parameter Monitor Run mode Connection Terminal 2 Position the cursor at the Origin search item then press MI The Origin search screen then opens displaying the return to origin method and return to origin direction items Operation MEN 01 Origin search Servo status Method TORQUE Direction CCW Coordinates Normal RUN Origin search start Current pos 128 00 mm Current pos 128 00 mm pue 3 After verifying that the area is safe for operation press RUN to perform a return to origin operation Running displays during the return to origin operation To st
33. f suo nj3 uuoo pue uonejje suj N 2 7 Connections 2 7 1 Connecting the robot to the controller Connect the robot unit s robot cable to the robot positioner s connector as shown in the figure below For details regarding the controller side connector refer to the TS S Controller User s Manual A 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 2 6 2 7 Connections Intermediate connector signal wire Intermediate connector motor wire 1 Connect the robot cables motor and signal wires to the mating connectors coming out from the robot Robot cable Robot cable connector connector signal wire motor wire 2 After making the connections fit the connector hoods together securely pue 5 Hood 2 7 2 7 2 Robot cable connections Connect the robot unit s robot cable to the TS S controller connector as shown in the figure below For details regarding the controller side connector refer to the TS S Controller User s Manual
34. he 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 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 Ajayes Jogoy ay Suijsn A 1 11 1 7 Work within the safety enclosure Ajayes Jogoy ay Suijsn 1 12 3 After the controller is turned on check the following points from outside the safety enclosure
35. hem 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 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 1 3 Industrial robot operating and maintenance personnel Position and posture where worker can constantly check robot movements and immediately move to avoid trouble if an error problem occurs 4 Install noise prevention measures 5 Use methods for signaling operators of related equipment 6 Use methods to decide that an err
36. ise 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 3 2 2 Three monih inspection Take the following precautions when performing 3 month inspection 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 VERTICAL USE ROBOT PARTS When applying grease to the ball screws and linear guide take the following precautions A PRECAUTIONS WHEN HANDLING GREASE INFLAMMATION MAY OCCUR IF THIS GETS IN THE EYES BEFORE HANDLING THE GREASE WEAR YOUR SAFETY GOGGLES TO ENSURE THE GREASE WILL NOT COME IN CONTACT WITH THE EYES INFLAMMATION MAY OCCUR IF THE GREASE COMES INTO CONTACT WITH SKIN BE SURE TO WEAR PROTECTIVE GLOVES TO PREVENT CONTACT WITH SKIN e DO NOT TAKE ORALLY OR EAT EATING WILL CAUSE DIARRHEA AND VOMITING HANDS AND FINGERS MIGHT BE CUT WHEN OPENING THE 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 3 3 3 2 Periodic inspection ES Check the following points every 3 months and apply grease if needed
37. k or replace the motor cable and controller Revision record Manual version Issue date Description Apr 2009 Some explanations were corrected or added in Chapter 1 Using the Robot Safely Clerical error corrections etc The description regarding Warranty was changed Addition and correction of explanations in 3 6 Replacing the motor 3 7 Replacing the coupling Addition of 3 8 Replacing the brake Clerical error corrections etc Jul 2012 The description regarding Warranty was changed User s Manual SERVO series YAMAHA SSC04 SSC05 SSCO5H Single axis Robot Jul 2012 Ver 1 05 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 your distributor
38. motor flange Make sure to fix the set screw at the flat portion cutout portion of the shaft 3 16 3 7 Replacing the coupling 5 Mount the plate motor and tighten its mounting screws 6 Mount the motor For details regarding how to mount a motor refer to 3 6 Replacing the motor in Chapter 3 m Replacing the coupling on the ball screw side 1 Remove the motor For details regarding how to remove a motor refer to 3 6 Replacing the motor in Chapter 3 2 Loosen the set screw M4 at the ball screw side then remove the coupling Set screw 3 Install a new coupling Push the coupling against the end face of the ball screw Make sure to fix the set screw at the flat portion cutout portion of the shaft 0 Flat portion Push the coupling against the end face to fix it 4 Mount the motor For details regarding how to mount a motor refer to 3 6 Replacing the motor in Chapter 3 3 17 3 7 Replacing the coupling 3 7 2 SSC05 SSC05H m Replacing the coupling on the motor side 1 Remove the motor For details regarding how to remove a motor refer to 3 6 Replacing the motor in Chapter 3 2 Remove the four screws which secure the plate motor 3 Loosen the set screw M4 then remove the coupling pue uon gt adsuj 7 Set screw
39. n and standards refer to the applicable local regulations and comply with the instructions This manual and warning labels supplied with or attached to the robot are written in English Unless the robot operators or service personnel understand English do not permit them to handle the robot Cautions regarding the official language of EU countries For equipment that 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
40. nit specifications 4 1 2 SSC05 Basic specifications suone2iiadg O Static loading moment 4 4 Motor 0 42 Step motor Repeated positioning accuracy mm 1 0 02 Deceleration mechanism Ball screw 12 Class C10 Maximum motor torque Nem 0 27 Ball screw lead mm 6 12 20 Maximum speed mm sec 300 600 1000 Maximum payload Horizontal installation 10 6 4 kg Vertical installation 2 1 Max pressing force 90 45 27 Stroke mm 50 to 800 50 pitch Overall length Horizontal installation Stroke 230 mm Vertical installation Stroke 270 acum PM of body W55xH56 Cable length m Standard 1 Option 3 5 10 Controller TS S Cleanliness class Meets CLASS 10 0 1 um base 1 Positioning repeatability in one direction 2 When the stroke is longer than 650mm 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 Stroke Lead 6 Lead 12 Lead 20 Maximum speed mm sec Speed setting Unit Nem 4 1 Main unit specifications Distance from center of slider upper surface to carrier center of gravity at a guide service O Allowable overhang life of 10 000 km Service life is calculated for 600mm stroke models E Horizontal installation Horizontal installation Unit mm
41. ntified by YAMAHA Ajayes Jogoy ay Suijsn 4 Products utilized for example in radiological equipment biological test equipment applications or for other purposes whose warranty repairs are judged as hazardous by YAMAHA THE WARRANTY STATED HEREIN PROVIDED BY YAMAHA ONLY COVERS DEFECTS IN PRODUCTS AND PARTS SOLD BY YAMAHA TO DISTRIBUTORS UNDER THIS AGREEMENT ANY AND ALL OTHER WARRANTIES OR LIABILITIES EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ARE HEREBY EXPRESSLY DISCLAIMED BY YAMAHA MOREOVER YAMAHA SHALL NOT BE HELD RESPONSIBLE FOR CONSEQUENT OR INDIRECT DAMAGES IN ANY MANNER RELATING TO THE PRODUCT Ver 1 00_201205 1 14 Installation and Connections 2 1 Checking the product After unpacking make sure that all components and accessories are included as specified in your order Also check the product for any damage on the exterior which might have occurred during shipping If there are any missing parts or damage due to shipping please notify your YAMAHA sales office or representative immediately A WARNING TO REMOVE THE ROBOT UNIT FROM THE PACKING CASE GRASP THE UNIT WITH BOTH HANDS AT THE BOTTOM FACE NEAR THE TWO ENDS THE ROBOT SHOULD BE CARRIED IN AN UPRIGHT SLIDER AT TOP POSTURE WHEN UNPACKING CAREFULLY HOLD THE ROBOT NOT TO DROP IT IF THE ROBOT FALLS SERIOUS INJURY MAY OCCUR OR THE ROBOT MAY BE D
42. on air to the following flow rate Hose outside diameter 06 Number of hoses 2 Suction rate See the table below Lead 20 1000mm sec Suction rate 80 N 0 min Lead 12 600mm sec 50 N2 min Lead 6 300mm sec 30 N2 min Lead 2 AN CAUTION 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 100mm sec 15 N2 min prevent obtaining the specified suction flow rate Mounting the robot on an installation base with a width larger than the su0 93U4U0 pue uonejje suj N robot width allows obtaining cleanliness more effectively 2 13 MEMO 2 14 Periodic Inspection and Maintenance 3 1 Before beginning work Periodic inspection and maintenance are essential to ensure safe and efficient operation of 3 1 Before beginning work YAMAHA robots This chapter describes periodic inspection items and procedures for the YAMAHA TRANSERVO series robots Before beginning work read the precautions below and also in Chapter 1 Using the Robot Safety and always follow the instructions DANGER IF THE INSPECTION OR MAINTENANCE PROCEDURE CALLS FOR OPERATION OF THE ROBOT STAY OUT OF THE WORKING AREA OF THE ROBOT DURING OPERATION DO NOT TOUCH ANY PARTS INSIDE THE CONTROLLER KEEP WATCHING THE ROBOT MOVEMENT AND SURROUNDING AREA SO THAT THE OPERATOR CAN PRESS THE EMERGEN
43. op this operation while it is in progress press STOP Origin search MED 01 Method TORQUE Directi Origin search Coordini Running RUN Origin search start Current pos 128 00 mm 3 14 3 Replacing the motor 4 A message displays when the return to origin operation is completed If ended without error OK and the machine reference Ref xx displays Origin search MED 01 Method TORQUE Directi Origin search Coordin OK Ref 50 RUN Origin search start Current pos 128 00 mm CAUTION Adjust the machine reference as shown below when it is outside the permissible machine reference range 20 to 80 After removing the motor rotate the coupling 180 degrees to adjust the machine reference 5 Press CLR to return to the Origin search screen Press CLR again to return to the Operation Mode screen pue 0 3 15 3 7 Replacing the coupling 3 7 Replacing the coupling 3 7 1 SSC04 m Replacing the coupling on the motor side 1 Remove the motor For details regarding how to remove a motor refer to 3 6 Replacing the motor in Chapter 3 E 2 Remove the four screws which secure the plate motor uo dsu Coupling 4 Install a new coupling Secure the coupling at a position which is 7mm from the end face of the
44. or 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 24 Display a sign on operation panel during work Display an easy to understand sign or message on the Handy Terminal or operation Ajayes Jogoy ay Suijsn A panel during the job task to prevent anyone other than the operators for that job task from mistakenly operating a start or selector switch If needed take other measures such as locking the cover on the operation panel 25 Make daily and periodic inspections 1 Always make sure that daily and periodic inspections are performed and make a pre work check to ensure there are no problems with the robot or related equipment If a problem or abnormality is found then promptly repair it or take other measures as necessary 2 When you make periodic inspections or repairs make a record and store it for at least 3 years 1 3 Industrial robot operating and maintenance personnel Operators or persons who handle the robot such as for teaching programming movement check inspection adjustment and repair must receive appropriate training and also have the skills needed to perform the job correctly and safely They must read the user s manual carefull
45. r Connector 3 Remove the bolts 4 pcs that secure the brake to the motor and take out the brake pue uo dsu um LOG ere ame LOG _ 60 g ze e ze 4 Loosen the set screws 2 locations that secure the brake hub Brake hub Set screw 20 3 8 Replacing the brake 5 Remove the brake hub from the motor shaft 6 Mount a new brake hub Being careful about the orientation of the brake hub push it against the end face and fix it Make sure to locate the set screw at the flat portion cutout portion of the shaft 7 Mount a new brake by reversing the removal procedures pue 0 3 21 MEMO 3 22 Specifications 4 1 Main unit specifications 4 1 Main unit specifications 4 1 1 SSC04 Basic specifications Motor O 42 Step motor Repeated positioning accuracy mm x1 0 02 Deceleration mechanism Ball screw 8 Class C10 Maximum motor torque N m 0 27 Ball screw lead mm 2 6 12 Maximum speed mm sec 100 300 600 Maximum payload Horizontal installation 6 4 2 kg Vertical installation 4 2 1 Max pressing force N 150 90 45 Stroke mm 50 to 400 50 pitch Overall length Horizontal installation Stroke 216 mm Vertical installation Stroke 261 Maximum outside dimension of bod
46. ranty does not cover any failure caused by 1 Installation wiring connection to other control devices operating methods inspection or maintenance that does not comply with industry standards or instructions specified in the YAMAHA manual 2 Usage that exceeded the specifications or standard performance shown in the YAMAHA manual 3 Product usage other than intended by YAMAHA 4 Storage operating conditions and utilities that are outside the range specified in the manual Damage due to improper shipping or shipping methods Accident or collision damage Installation of other than genuine YAMAHA parts and or accessories Modification to original parts or modifications not conforming to standard specifications designated by YAMAHA including customizing performed by YAMAHA in compliance with distributor or customer requests 1 13 9 Pollution salt damage condensation 10 Fires or natural disasters such as earthquakes tsunamis lightning strikes wind and flood damage etc 11 Breakdown due to causes other than the above that are not the fault or responsibility of YAMAHA following cases are not covered under the warranty 1 Products whose serial number or production date month amp year cannot be verified 2 Changes in software or internal data such as programs or points that were created or changed by the customer 3 Products whose trouble cannot be reproduced or ide
47. rmined by setting the controller payload parameters In the payload parameter enter the total weight of the workpiece and the end effectors such as grippers attached to the robot slider 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 2 8 2 Duty To achieve maximum service life for the YAMAHA single axis robots it is recommended to operate the robot within the allowable duty 50 The duty is calculated as follows Operation time Duty Operation time Non operation time 100 suonj3 uuoo pue uonejje suj Y If the robot duty is too high an error such as overload may occur In this case increase the stop time to reduce the duty 2 10 2 8 Setting the operating conditions 2 8 3 Push force vs current limit value during stop m SSCO4 push thrust 160 120 un 100 y 5 80 eh 5 60 Lead 12 a 20 5 5 0 10 15 20 25 30 35 e un Current limit value 96 m SSCO5 push thrust 100 90 80 Lead 6 70 60 50 Lead 12 Thrust N 40 30 Lead 20 20 10 10 15 20 25 30 35 Current limit value 96 2 11 2 8 Setting the operating conditions su0 934U0 pue uonejje suj N m SSCO5H push thrust
48. s every 6 months and adjust or replace parts if needed Checkpoints Major bolts and screws on robot Check items Check for looseness Tighten if loose Ball screw linear guide Check the ball screw and linear guide for backlash Tighten if necessary Check for vibration during operation Tighten bolts if necessary to secure drive unit and or shaft Check for backlash due to wear Consult us if problem cannot be solved or 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 grease every 6 months to ball screw nut and linear guide Recommended grease Albania No 2 Shell Daphne Eponex No 2 Idemitsu See 3 3 in this chapter Coupling CAUTION Failing to use YAMAHA recommended grease can shorten the life of the ball Check if the bolts are loose Tighten if necessary screw and the linear guide 3 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 3 7 in this chapter Consult us if abnormal condition is found 3 5 3 3 Applying grease E and forth to spread the grease
49. s may be omitted in this manual if they are common to those of standard models In this case refer to the specifications of standard models For details on specific operation of the robot refer to the separate user s manual for the robot controller being used 4 The contents of this manual are subject to change without prior notice While every effort has been made to ensure the contents of this manual are correct please contact us if you find any part of this manual to be unclear confusing or inaccurate YAMAHA MOTOR CO LTD IM Operations MEMO Using the Robot Safely 1 1 Safety information 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 1 1 Safety information 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 RO
50. th inspection Three year inspection Applying grease Replacing the shutter Adjusting shutter looseness Replacing the motor 55 04 SSC05 SSC05H Verifying the machine reference Replacing the coupling 55 04 SSC05 SSC05H Replacing the brake 3 1 3 3 3 3 3 3 3 5 3 5 3 6 3 7 3 9 3 10 3 10 3 12 3 14 3 16 3 16 3 18 3 20 Chapter 4 Specifications 4 1 4 1 1 21 2 4 13 4 1 4 4 2 Ai ADD 4 3 Main unit specifications SSC04 SSC05 SSC05H About noise level Motor specifications Motor termination Brake cable termination Robot cables 4 1 4 1 4 4 4 7 4 10 4 13 Chapter 5 Troubleshooting 5 1 Positioning error 5 1 Introduction Thank you for purchasing the YAMAHA single axis robot IRANSERVO series This manual describes the safety measures handling adjustment and maintenance of YAMAHA TRANSERVO series robots for correct safe and effective use Be sure to read this manual carefully before installing the TRANSERVO series robot Even after you have read this manual keep it in a safe and convenient place for future reference when needed e This user s manual should be used with the robot and considered an integral part of it When the robot is moved transferred or sold send this manual to the new user along with the robot Be sure to explain to the new user the need to read through this manual Specifications of robot models other than standard model
51. the robot weight including the end effector gripper and workpiece A WARNING IF THE INSTALLATION BASE IS NOT SUFFICIENTLY RIGID AND STABLE VIBRATION RESONANCE MAY OCCUR DURING OPERATION CAUSING ADVERSE EFFECTS ON THE ROBOT WORK 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 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 AX WARNING WHEN INSTALLING THE ROBOT ALWAYS USE ALL THE MOUNTING 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 ACCURACY THIS MAY ALSO RESULT IN POSITIONING ERRORS AND REDUCED SERVICE LIFE IN THE WORST CASES 2 5 Installing the robot n NOTE Positions of robot mounting holes differ according to the stroke length of each robot Refer to the dimensional outlines shown in Chapter 4 4 1 Main unit specifications DI 2 5 Installing the robot A WARNING BEFORE INSTALLING THE ROBOT ALWAYS MAKE SURE THAT THE ROBOT CONTRO
52. y W49 x H59 cross section mm Cable length m Standard 1 Option 3 5 10 Controller TS S Cleanliness class 1 Positioning repeatability in one direction O Static loading moment Unit Nem SSS SSS SS SSeS Meets CLASS 10 0 1 um base suone2iiadg A 4 1 4 1 Main unit specifications O Allowable overhang Distance from center of slider upper surface to carrier center of gravity at a guide service life of 10 000 km Service life is calculated for 400mm stroke models E Horizontal installation Horizontal installation Unit mm Lead 12 4 E Wall installation Wall installation Unit mm Lead 12 suone2iiadg Bi Vertical installation Vertical installation Unit mm Lead 12 Lead 6 Lead 2 4 2 Specifications y ajou Lo 5 e 9X0J1S 9411293 d e p ddinb u uA Speo 155 2 pajoa qns 9 qe ay e 39Z 0 SIYSISM 9Y e S1USI A ay 9591 p NON 1lu A 4d 0 Bde Dua ss 10 utuu00 pueq an 3 89 ay 3INIIS Z DON DEN SI snipei pu q s a qeo 94 spu ye siaddojs jesiueyssw ay Aq as
53. y to understand its contents before attempting the robot operation Tasks related to industrial robots teaching programming movement check inspection adjustment repair etc must be performed by qualified persons who meet requirements established by local regulations and safety standards for industrial robots 1 9 1 4 Robot sdfety functions 1 4 Robot safety functions D 2 3 Ajayes 10q03 ay Suijsn WARNING 4 A WARNING 5 1 10 Overload detection Detects motor overload conditions and shuts off the power Abnormal temperature detection This function detects abnormally high temperatures at the controller s driver and shuts off the power The following measures should be taken when an error overload error abnormal temperature error occurs 1 Reduce the speed 2 Insert a stop period in the operation 3 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 MECHANICAL STOPPER IF THE SOFT LIMIT IS SET OUTSIDE THE MOVEMENT RANGE THE ROBOT AXIS MAY COLLIDE WITH THE MECHANICAL STOPPER AT HIGH SPEED CAUSING THE OBJECT GRIPPED BY THE END EFFECTOR TO FLY OR DROP AND THE ROBOT TO MALFUNCTION Mechanical stoppers The mech

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