Yamaha YK120X User Manual

5-6

1) Turn off the controller.

2) Place a sign showing that the robot is being inspected, to keep others from

operating the controller switch.

3) Enter the safeguard enclosure and check the following points.

Manipulator bolts and screws (Only for 

major bolts and screws exposed 

externally)

Detection areas of the origin sensors of 

the R-axis

Controller

Grease lubrication of Z-axis ball screw, 

spline, linear shaft

Z-axis ball spline, ball screw

Check for looseness and tighten if necessary.*1

Clean if it is dirty.

Check for looseness at each terminal and connector on the 

panel. (See 4 in Chapter 3.)

After removing the old grease with a cloth or paper towel, 

apply new grease to the Z-axis linear bushing shaft, spline 

shaft, ball screw shaft and ball screw nut.

Recommended grease:

YK120K, YK150X, YK180X, YK220X: Alvania No.2 

(Showa Shell Sekiyu K.K.)

YK120XC, YK150XC: LG2 (NSK)

Always use the LG2 grease for the YK120XC and YX150XC 

clean room models.

Check for backlash. (If any abnormality is found, contact 

YAMAHA dealer.)

*1 Bolt tightening torque

Bolt size

Tightening torque (kgfcm)

Tightening torque (Nm)

M3 button head bolt

14

1.4

M3 set screw

7

0.69

M3 bolt installation hole

20

2.0

M4 set screw

20

2.0

M2 bolt installation hole

4.4

0.43

M2.5 bolt installation hole

12

1.2

M4 bolt installation hole

46

4.5

M5 bolt installation hole

92

9.0

M6 bolt installation hole

156

15.3

M8 bolt installation hole

380

37

M10 bolt installation hole

720

71

M12 bolt installation hole

M14 bolt installation hole

1310

128

2090

205