Yamaha 4-axis model User Manuals

Table of Contents

• CONTENTS

  3
• CHAPTER 1 Using the Robot Safely

  11
  • 1 Safety Information

    13
  • 2 Essential Caution Items

    14
  • 3 Special Training for Industrial Robot Operation

    21
  • 4 Robot Safety Functions

    22
  • 5 Safety Measures for the System

    23
  • 6 Trial Run

    24
  • 7 Work Within the Safeguard Enclosure

    25
  • 8 Automatic Operation

    26
  • 9 Adjustment and Inspection

    26
  • 10 Repair and Modification

    26
  • 11 Warranty

    27
  • 12 CE Marking

    28
• CHAPTER 2 Product Outline

  29
  • 1 Robot

    31
  • 2 Names of each part

    32
  • 3 Robot Controller

    37
• CHAPTER 3 Preparing the Robot

  39
  • 1 Robot Installation Environment

    41
  • 2 Unpacking the Robot

    42
  • 3 Checking the Product

    43
  • 4 Transporting the Robot

    45
  • 5 Installation

    47
    • 5-1 Installation base

      47
    • 5-2 Installing the Robot

      48
  • 6 Protective connections

    49
  • 7 Connecting the Robot Cables

    50
    • 7-1 Connecting with the DRCX controller

      52
    • 7-2 Connecting with the TRCX controller

      54
      • 7-2-1 3-axis model

        54
      • 7-2-2 4-axis model

        56
    • 7-3 Connecting to the QRCX or RCX40 controller

      58
  • 8 Installing the Tool

    60
  • 9 User Wiring and User Piping

    61
  • 10 Setting the Robot

    62
    • 10-1 Setting the payload

      62
    • 10-2 Setting the maximum speed

      63
    • 10-3 Setting the acceleration

      64
  • 11 Absolute Reset

    65
• CHAPTER 4 Periodic Inspections

  69
  • 1 Outline

    71
  • 2 Precautions

    71
  • 3 Daily inspection

    72
  • 4 Three-month inspection

    72
  • 5 Six-month inspection

    73
  • 6 Three-year inspection

    74
  • 7 Replenishing the grease

    75
  • 8 Maintenance and inspection of harmonic drives

    76
    • 8-1 Harmonic grease replacement period

      77
• CHAPTER 5 Specifications

  79
  • 1 Specifications

    81
    • 1-1 Robot cable

      81
    • 1-2 User I/O cable

      85
• CHAPTER 6 PXYX

  87
  • 1 Installation

    89
    • 1-1 Installation bolt types

      89
    • 1-2 Installation bolt nominal length

      89
    • 1-3 Tightening torque

      89
    • 1-4 Installation methods

      90
  • 2 Protective Connections

    91
    • 2-1 Ground terminal

      91
    • 2-2 Ground wire

      92
    • 2-3 Wiring method

      92
  • 3 Installing the Tool

    93
  • 4 User Wiring and User Piping

    94
  • 5 Periodic Inspections

    96
    • 5-1 Replenishing grease to the linear guide

      96
    • 5-2 Replenishing grease to the ball screw

      97
• CHAPTER 7 FXYX

  99
  • 1 Installation

    101
    • 1-1 Installation bolt types

      101
    • 1-2 Installation bolt nominal length

      101
    • 1-3 Tightening torque

      101
    • 1-4 Installation methods

      102
  • 2 Protective Connections

    103
    • 2-1 Ground terminal

      103
    • 2-2 Ground wire

      104
    • 2-3 Wiring method

      104
  • 3 Installing the Tool

    105
    • 3-1 Arm type 2-axis model

      105
    • 3-2 ZS (3rd-axis option)

      107
  • 4 User Wiring and User Piping

    108
    • 4-1 Cable carrier type

      108
      • 4-1-1 Example of wiring and piping methods using cable carrier

        108
      • 4-1-2 Cable carrier specifications

        111
      • 4-1-3 User I/O cable specifications

        112
  • 5 Periodic Inspections

    113
    • 5-1 Replenishing grease to the linear guide

      113
    • 5-2 Replenishing grease to the ball screw

      114
• CHAPTER 8 SXYX

  117
  • 1 Installation

    119
    • 1-1 Installation bolt types

      119
    • 1-2 Installation bolt nominal length

      119
    • 1-3 Tightening torque

      120
    • 1-4 Installation methods

      120
  • 2 Protective Connections

    123
    • 2-1 Ground terminal

      123
    • 2-2 Ground wire

      124
    • 2-3 Wiring methods

      124
      • 2-3-1 Arm type with cable carrier

        125
      • 2-3-2 Arm type with whipover cable, moving arm type, pole type

        127
      • 2-3-3 XZ type

        128
  • 3 Installing the Tool

    129
    • 3-1 Arm type, pole type 2-axis model

      129
    • 3-2 Moving arm type 2-axis model

      131
    • 3-3 ZF (Arm type, moving arm type, 3rd-axis option/XZ type 2-axis model)

      132
    • 3-4 RF (Arm type, moving arm type, 4th-axis option/XZ type 3rd-axis option)

      133
    • 3-5 ZS/ZRS (Arm type 3/4-axis option, XZ type 2/3-axis model)

      134
    • 3-6 ZFH(Arm type, gantry type, moving arm type 3rd-axis option)XZ 2nd-axis option

      135
    • 3-7 ZFL(Arm type, moving arm type, 3rd-axis option/XZ type 2-axis model)

      136
  • 4 User Wiring and User Piping

    137
    • 4-1 Cable carrier type

      137
      • 4-1-1 Example of wiring and piping methods using cable carrier

        137
      • 4-1-2 Cable carrier specifications

        140
      • 4-1-3 User I/O cable specifications

        141
    • 4-2 Whipover cable type

      142
      • 4-2-1 Examples of wiring and piping with whipover cable

        142
  • 5 Periodic inspections

    144
    • 5-1 Replenishing grease to the linear guide

      144
    • 5-2 Replenishing grease to the ball screw

      145
    • 5-3 Periodic inspection of the ZS/ZRS unit

      147
      • 5-3-1 Replenishing grease to the Z-axis ball screw and ball spline

        147
      • 5-3-2 Adjusting the R-axis belt tension (ZRS)

        148
      • 5-3-3 Replacing the R-axis harmonic drive (ZRS)

        149
• CHAPTER 9 MXYX

  151
  • 1 Installation

    153
    • 1-1 Installation bolt types

      153
    • 1-2 Installation bolt nominal length

      153
    • 1-3 Tightening torque

      153
    • 1-4 Installation methods (Arm type, moving arm type, pole type, gantry type X-axis)

      154
    • 1-5 Installation methods (Gantry type support axis)

      156
  • 2 Protective Connections

    157
    • 2-1 Ground terminal

      157
    • 2-2 Ground wire

      157
    • 2-3 Wiring methods

      158
  • 3 Installing the Tool

    159
    • 3-1 Arm type, pole type 2-axis model

      159
    • 3-2 Moving arm type 2-axis model

      161
    • 3-3 ZF (Arm type, moving arm type, gantry type 3rd-axis option)

      162
    • 3-4 RF (Arm type, moving arm type, 4th-axis option/XZ type 3rd-axis option)

      163
    • 3-5 ZFH (Arm type, gantry type, moving arm type 3rd-axis option) XZ 2nd-axis option

      164
    • 3-6 ZFL (Arm type, moving arm type, 3rd-axis option/XZ type 2- axis model)

      165
  • 4 User Wiring and User Piping

    166
    • 4-1 Cable carrier type

      166
      • 4-1-1 Example of wiring and piping methods using cable carrier

        166
      • 4-1-2 Cable carrier specifications

        168
      • 4-1-3 User I/O cable specifications

        169
    • 4-2 Whipover cable type

      170
      • 4-2-1 Examples of wiring and piping with Whipover cable

        170
  • 5 Periodic Inspections

    172
    • 5-1 Replenishing grease to the linear guide

      172
    • 5-2 Replenishing grease to the ball screw

      173
• CHAPTER 10 HXYX

  175
  • 1 Installation

    177
    • 1-1 Installation method 1 (Arm type, moving arm type, pole type, gantry type X-axis)

      177
      • 1-1-1 Installation bolt types

        177
      • 1-1-2 Installation bolt nominal length

        177
      • 1-1-3 Tightening torque

        178
      • 1-1-4 Installation methods

        178
    • 1-2 Installation method 2 (XZ type)

      180
      • 1-2-1 Installation bolt

        180
      • 1-2-2 Installation bolt nominal length

        180
      • 1-2-3 Tightening torque

        181
      • 1-2-4 Installation methods

        181
    • 1-3 Installation method 3 (Gantry type support axis)

      182
  • 2 Protective Connections

    183
    • 2-1 Ground terminal

      183
    • 2-2 Ground wire

      184
    • 2-3 Wiring methods

      184
  • 3 Installing the Tool

    186
    • 3-1 Arm type, gantry type 2-axis model

      187
    • 3-2 Moving arm type 2-axis model

      188
    • 3-3 Pole type 2-axis model

      189
    • 3-4 ZH (Arm type, gantry type, moving arm type 3rd-axis option/XZ type 2-axis model)

      190
    • 3-5 ZL (Arm type, gantry type, moving arm type 3rd-axis option/XZ type 2-axis model)

      191
    • 3-6 ZPH (Pole type 3rd-axis option)

      192
    • 3-7 RH (Arm type, moving arm type, gantry type 4th-axis option/XZ type 3rd-axis option)

      193
  • 4 User Wiring and User Piping

    194
    • 4-1 Cable carrier type

      194
      • 4-1-1 Example of wiring and piping methods using cable carrier

        194
      • 4-1-2 Cable carrier specifications

        196
      • 4-1-3 User I/O cable specifications

        197
    • 4-2 Whipover cable type

      198
      • 4-2-1 Examples of wiring and piping with Whipover cable

        198
  • 5 Periodic Inspections

    200
    • 5-1 Replenishing grease to the linear guide

      200
    • 5-2 Replenishing grease to the ball screw

      201
• CHAPTER 11 FXYBX/SXYBX

  203
  • 1 Installation

    205
    • 1-1 Installation bolt types

      205
    • 1-2 Installation bolt nominal length

      205
    • 1-3 Tightening torque

      206
    • 1-4 Installation methods

      206
  • 2 Protective connections

    207
    • 2-1 Ground terminal

      207
    • 2-2 Ground wire

      208
    • 2-3 Wiring methods (Cable carrier type)

      208
    • 2-4 Wiring methods (Whipover cable type)

      210
  • 3 Installing the Tool

    211
    • 3-1 FXYBX arm type 2-axis model

      211
    • 3-2 SXYBX arm type 2-axis model

      212
    • 3-3 SXYBX-ZF (XZ type 2-axis, arm type 3rd-axis option)

      213
    • 3-4 ZS/ZRS (FXYBX, SXYBX 3/4-axis option)

      214
    • 3-5 ZFH (Arm type, gantry type, moving arm type 3rd-axis option) XZ 2nd-axis option

      215
    • 3-6 ZFL (Arm type, moving arm type, 3rd-axis option/XZ type 2- axis model)

      216
  • 4 User Wiring and User Piping

    217
    • 4-1 Cable carrier type

      217
      • 4-1-1 Example of wiring and piping methods using cable carrier

        217
      • 4-1-2 Cable carrier specifications

        219
      • 4-1-3 User I/O cable specifications

        220
    • 4-2 Whipover cable type

      220
      • 4-2-1 Examples of wiring and piping with Whipover cable

        221
  • 5 Changing the Motor Installation Position

    223
    • 5-1 Changing the motor installation position

      223
  • 6 Installing the Cover

    225
  • 7 Adjusting the Timing Belt Tension

    226
    • 7-1 Adjusting the drive belt tension

      227
    • 7-2 Adjusting the speed reduction belt tension

      229
  • 8 Periodic inspections

    231
    • 8-1 Replacing the motor

      231
    • 8-2 Replacing the drive belt

      232
    • 8-3 Replacing the speed reduction belt

      235
    • 8-4 Replacing the slider

      236
    • 8-5 Replenishing the grease

      237
      • 8-5-1 Replenishing grease to the linear guide

        237
      • 8-5-2 Replenishing grease to the ball screw (ZF)

        239
    • 8-6 Periodic inspection of the ZS/ZRS unit

      240
      • 8-6-1 Replenishing grease to the Z-axis ball screw and ball spline

        240
      • 8-6-2 Adjusting the R-axis belt tension (ZRS)

        241
      • 8-6-3 Replacing the R-axis harmonic drive (ZRS)

        242
• CHAPTER 12 HXYLX

  245
  • 1 Installation

    247
    • 1-1 Installation method 1 (Arm type, moving arm type, pole type, gantry type X-axis)

      247
      • 1-1-1 Installation bolt types

        247
      • 1-1-2 Installation bolt nominal length

        247
      • 1-1-3 Tightening torque

        248
      • 1-1-4 Installation methods

        248
    • 1-2 Installation method 3 (Gantry type support axis)

      251
  • 2 Protective Connections

    252
    • 2-1 Ground terminal

      252
    • 2-2 Ground wire

      253
    • 2-3 Wiring methods

      253
  • 3 Installing the Tool

    254
    • 3-1 Arm type, gantry type 2-axis model

      254
    • 3-2 Moving arm type 2-axis model

      255
    • 3-3 Pole type 2-axis model

      256
    • 3-4 ZH (Arm type, gantry type, moving arm type 3rd-axis option)

      257
    • 3-5 ZL (Arm type, gantry type)

      258
    • 3-6 ZPH (Pole type 3rd-axis option)

      259
    • 3-7 RH (Arm type, gantry type 4th-axis option)

      260
  • 4 User Wiring and User Piping

    261
    • 4-1 Cable carrier type

      261
      • 4-1-1 Example of wiring and piping methods using cable carrier

        261
      • 4-1-2 Cable carrier specifications

        263
      • 4-1-3 User I/O cable specifications

        264
    • 4-2 Whipover cable type (moving arm type/pole type 3-axis)

      265
      • 4-2-1 Examples of wiring and piping with Whipover cable

        265
  • 5 Periodic Inspections

    267
    • 5-1 Replenishing grease to the linear guide

      267
    • 5-2 Replenishing grease to the ball screw

      268
    • 5-3 Adjusting the timing belt tension (X-axis)

      270
    • 5-4 Replacing the motor (X-axis)

      271
    • 5-5 Installing and removing the cover

      273
      • 5-5-1 Stroke cover

        273
      • 5-5-2 Belt cover

        274
      • 5-5-3 Motor cover

        275