Yamaha Robotics YK120X User Manuals

Table of Contents

• Before using the robot (Be sure to read the following notes.)

  3
• Introduction

  5
• Clean Room Models YK120XC, YK150XC

  6
• CONTENTS

  7
• CHAPTER 1 Using the Robot Safely

  11
  • 1 Safety Information

    13
  • 2 Essential Caution Items

    14
  • 3 Special Training for Industrial Robot Operation

    22
  • 4 Robot Safety Functions

    23
  • 5 Safety Measures for the System

    24
  • 6 Trial Operation

    25
  • 7 Work Within the Safeguard Enclosure

    26
  • 8 Automatic Operation

    27
  • 9 Adjustment and Inspection

    27
  • 10 Repair and Modification

    27
  • 11 Warranty

    28
  • 12 CE Marking

    30
• CHAPTER 2 Functions

  31
  • 1 Robot Manipulator

    33
  • 2 Robot Controller

    37
  • 3 Robot initialization number list

    38
  • 4 Parameters for Clean Room Models YK120XC, YK150XC

    39
• CHAPTER 3 Installation

  41
  • 1 Robot Installation Conditions

    43
    • 1-1 Installation environments

      43
    • 1-2 Installation base

      45
  • 2 Installation

    47
    • 2-1 Unpacking

      47
    • 2-2 Checking the product

      48
    • 2-3 Moving the robot

      49
    • 2-4 Installing the robot

      50
  • 3 Protective Bonding

    51
  • 4 Robot Cable Connection

    53
  • 5 User Wiring and User Tubing

    55
  • 6 Connecting a suction hose (YK120XC, YK150XC)

    58
  • 7 Attaching The End Effector

    59
    • 7-1 R-axis tolerable moment of inertia and acceleration coefficient

      59
      • 7-1-1 Acceleration coefficient vs. moment of inertia (YK120X)

        61
      • 7-1-2 Acceleration coefficient vs. moment of inertia (YK150X)

        63
      • 7-1-3 Acceleration coefficient vs. moment of inertia (YK180X, YK220X)

        65
    • 7-2 Equation for moment of inertia calculation

      66
    • 7-3 Example of moment of inertia calculation

      69
    • 7-4 Attaching the end effector

      71
    • 7-5 Gripping force of end effector

      74
  • 8 Working Envelope and Mechanical Stopper Positions for Maximum Working Envelope

    75
• CHAPTER 4 Adjustment

  77
  • 1 Overview

    79
  • 2 Safety Precautions

    79
  • 3 Adjusting the origin

    80
    • 3-1 Absolute reset method

      81
      • 3-1-1 YK120X series (YK120X, YK150X)

        81
        • 3-1-1-1 Sensor method (R-axis)

          81
        • 3-1-1-2 Stroke end method (X-axis, Y-axis)

          82
        • 3-1-1-3 Stroke end method (Z-axis)

          84
      • 3-1-2 YK180X series (YK180X, YK220X)

        85
        • 3-1-2-1 Sensor method (R-axis)

          85
        • 3-1-2-2 Sensor method (X-axis, Y-axis)

          86
        • 3-1-2-3 Stroke end method (Z-axis)

          87
    • 3-2 Machine reference

      88
    • 3-3 Absolute reset procedures

      89
      • 3-3-1 Sensor method (R-axis)

        89
      • 3-3-2 Stroke end method (X and Y axes of YK120X, YK150X)

        91
      • 3-3-3 Stroke end method (Z-axis)

        93
      • 3-3-4 Sensor method (X and Y axes of YK180X, YK220X)

        94
    • 3-4 Adjusting the machine reference

      96
      • 3-4-1 YK120X series (YK120X, YK150X)

        97
        • 3-4-1-1 Adjusting the R-axis machine reference (YK120X, YK150X)

          97
        • 3-4-1-2 Adjusting the R-axis machine reference (YK120XC, YK150XC)

          99
        • 3-4-1-3 Adjusting the X-axis machine reference

          101
        • 3-4-1-4 Adjusting the Y-axis machine reference

          103
        • 3-4-1-5 Adjusting the Z-axis machine reference

          105
      • 3-4-2 YK180X series (YK180X, YK220X)

        108
        • 3-4-2-1 Adjusting the R-axis machine reference (YK180X, YK220X)

          108
        • 3-4-2-2 Adjusting the X-axis machine reference

          110
        • 3-4-2-3 Adjusting the Y-axis machine reference

          112
        • 3-4-2-4 Adjusting the Z-axis machine reference

          114
  • 4 Setting the Soft Limits

    117
  • 5 Setting the Standard Coordinates

    120
  • 6 Affixing Stickers for Movement Directions and Axis Names

    121
  • 7 Removing the Robot Covers

    123
• CHAPTER 5 Periodic Inspecition

  127
  • 1 Overview

    129
  • 2 Precautions

    130
  • 3 Daily Inspection

    131
  • 4 Six-Month Inspection

    133
  • 5 Replacing the Harmonic Drive Grease

    136
    • 5-1 Replacement period

      136
• CHAPTER 6 Increasing the robot operating speed

  139
  • 1 Increasing the robot operating speed

    141
• CHAPTER 7 Specifications

  147
  • 1 Manipulator

    149
    • 1-1 Basic specification

      149
    • 1-2 External view and dimensions

      150
    • 1-3 Robot inner wiring diagram

      162
    • 1-4 Wiring table

      163