Download MR Type User`s Manual

YAMAHA LINEAR MOTOR ROBOTS
MRType
User’s Manual
PHASER series
ENGLISH
E
YAMAHA MOTOR CO., LTD.
IM Operations
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan
URL http://www.yamaha-motor.jp/robot/index.html
E39-Ver. 2.07
General Contents
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 safeguard enclosure
1-12
1-8
Automatic operation
1-13
1-9
Warranty
1-13
Chapter 2 Product Overview
2-1
Checking the product
2-1
2-2
Robot part names
2-1
2-3
Robot internal structure
2-2
Chapter 3 Installation and connections
3-1
Carrying the robot
3-1
3-2
Robot Installation Conditions
3-3
3-2-1
3-2-2
Installation environments
Installation base
3-3
3-4
3-3
Installing the robot
3-4
Installing an external leakage breaker and circuit protector 3-8
3-4-1
3-4-2
3-4-3
3-4-4
Power
Power
Power
Power
cable
cable
cable
cable
wiring
wiring
wiring
wiring
3-6
for
for
for
for
SRCP
SR1
RCX141
RCX221
3-8
3-9
3-10
3-10
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General Contents
3-5
Protective bonding
3-11
3-6
Connecting the robot to the controller
3-13
3-7
Precautions during user wiring and hose installation 3-16
Chapter 4 Robot operation
4-1
4-1-1
4-1-2
4-1-3
4-2
4-2-1
4-2-2
4-2-3
4-2-4
4-3
4-3-1
4-3-2
Notes on robot operation
Magnetic pole estimation action
Absolute search (semi-absolute specification)
Return to origin (incremental specification)
Setting operating conditions
Process flow for setting operating conditions
Duty monitor
Maximum speed setting
Acceleration setting
Pulse train control (SRCP)
4-1
4-1
4-1
4-2
4-4
4-4
4-5
4-6
4-7
4-9
Acceleration/Deceleration and position proportional gain 4-9
Setting the maximum speed
4-13
Chapter 5 Periodic inspection and maintenance
5-1
Before beginning work
5-1
5-2
Periodic inspection
5-3
Daily inspection
Six-month inspection
Annual inspection
5-3
5-3
5-4
5-2-1
5-2-2
5-2-3
5-3
5-3-1
5-3-2
5-3-3
5-4
5-4-1
5-4-2
5-4-3
5-5
5-5-1
5-5-2
ii
Greasing to the linear guides
MR12
MR16/MR16H
MR20/MR25
Adjusting shutter slack
MR12
MR16/MR16H
MR20/MR25
5-5
5-5
5-7
5-9
5-12
5-12
5-14
5-16
Replacing the shutter
5-19
MR12/MR16/MR16H
MR20/MR25
5-19
5-21
Chapter 6 Troubleshooting
If you suspect trouble
6-1
6-2
Feedback error
6-1
6-3
Magnetic pole detection error
6-3
6-4
Overload
6-4
General Contents
6-1
Chapter 7 Specifications
7-1
7-1-1
7-1-2
7-1-3
7-1-4
7-1-5
Main unit
MR12/MR12D
MR16/MR16D
MR16H/MR16HD
MR20/MR20D
MR25/MR25D
7-1
7-1
7-6
7-11
7-16
7-21
7-2
Robot connector (I/O signal connector)
7-26
7-3
Robot connector (motor connector)
7-27
7-4
Robot cable (I/O signal wires)
7-28
7-5
Robot cable (motor wires)
7-28
iii
MEMO
iv
Introduction
• 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 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
the robot controller being used.
NOTES
◆ 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
Introduction
Thank you for purchasing this YAMAHA linear single-axis robot MR Type.
This user's manual describes the safety measures, handling, adjustment and maintenance
of the MR type robots for correct, safe and effective use.
Be sure to read this manual carefully before installing the MR type robots. Even after you
have read this manual, keep it in a safe and convenient place for future reference.
MEMO
Chapter 1
Using the Robot Safely
Contents
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 safeguard enclosure
1-12
1-8 Automatic operation
1-13
1-9 Warranty
1-13
1-1 Safety information
1-1
Safety information
1
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.
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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 SEVERE INJURY
OR DEATH TO THE ROBOT OPERATOR, BYSTANDERS OR PERSONS INSPECTING
OR REPAIRING THE ROBOT.
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.
NOTE
Explains the key point in the operation in a simple and clear manner.
Reference
Gives useful information related to the robot operation.
1-1
Using the Robot Safely
Industrial robots are highly programmable, mechanical devices that provide a large
degree 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.
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.
1
1. Operate or adjust the robot while referring to the printed version of the user's
manual (available for an additional fee).
Using the Robot Safely
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 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
1-2 Essential precautions
1-2
Essential precautions
(1)
Obser ve the following cautions during automatic operation.
• Install a safeguard (protective 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 safeguards so that no one can enter inside except from doors or panels
equipped with safety interlocks.
• Warning labels 1 are supplied with the robot and should be affixed to conspicuous
spots on doors or panels equipped with safety interlocks.
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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.
Warning label 2 is affixed to the robot.
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WARNING
MOVING PARTS CAN PINCH OR CRUSH.
KEEP HANDS AWAY FROM ROBOT ARMS.
1-3
1
Using the Robot Safely
Particularly important cautions for handling or operating the robot are described below.
In addition, precautions during installation, operation, inspection and maintenance are
also provided in each chapter. Be sure to comply with these instructions to ensure safe
use of the robot.
1-2 Essential precautions
Warning label 2
1
WARNING
Using the Robot Safely
Moving parts can
pinch or crush.
Keep hands away
from robot arms.
(3)
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 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.
· The warning labels 3 are supplied with the robot and should be affixed to the robot
or conspicuous spots near the robot.
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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.
(4)
Be aware of strong magnets inside the robot.
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1-4
WARNING
POWERFUL MAGNETS ARE INSTALLED INSIDE THE ROBOT. DO NOT DISASSEMBLE
THE ROBOT SINCE THIS MAY CAUSE INJURY. DEVICES THAT MIGHT
MALFUNCTION DUE TO MAGNETIC FIELDS MUST BE KEPT AWAY FROM THIS
ROBOT.
1-2 Essential precautions
(5)
Do not remove, alter or stain the warning labels.
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Do not use the robot in environments containing inflammable gas, etc.
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(7)
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 MIGHT OTHERWISE RESULT.
Do not use the robot in locations possibly subject to electromagnetic interference, etc.
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(8)
1
Using the Robot Safely
(6)
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 WARN ING LABELS CAN BE CLEARLY SEEN EVEN FROM OUTSIDE THE
SAFEGUARD ENCLOSURE.
WARNING
AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC
INTERFERENCE, ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY
INTERFERENCE. MALFUNCTIONS MIGHT OTHERWISE OCCUR.
Provide safety measures for end effector (gripper, etc.).
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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.
1-5
1-2 Essential precautions
(9)
1
Be careful not to touch the motor and peripheral parts when hot.
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Using the Robot Safely
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.
(10) Take the following safety precautions during inspection of controller.
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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.
• DO NOT DISASSEMBLE THE CONTROLLER. NEVER TOUCH ANY PART INSIDE
THE CONTROLLER. DOING SO MAY CAUSE BREAKDOWN, MALFUNCTION,
INJURY OR FIRE. IF ANY PART OF THE CONTROLLER NEEDS TO BE REPLACED,
ALWAYS FOLLOW THE INSTRUCTIONS GIVEN BY YAMAHA.
• REFER TO THE YAMAHA ROBOT CONTROLLER USER'S MANUAL FOR
PRECAUTIONS ON HANDLING THE CONTROLLER.
(11) Consult us for corrective action when the robot is damaged or malfunctions occur.
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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
Damage to exterior of robot
Flying outwards of damaged parts
during robot operation
Abnormal operation of robot
(positioning error, excessive vibration, etc.)
Malfunction of robot
(12) Protective bonding
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1-6
WARNING
BE SURE TO GROUND THE ROBOT AND CONTROLLER TO PREVENT ELECTRICAL
SHOCK.
1-2 Essential precautions
(13) Be sure to make correct parameter settings.
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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.
1
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WARNING
ALWAYS FOLLOW THE SPECIFIED PROCEDURES WHEN INSTALLING, ADJUSTING
OR INSPECTING THE ROBOT. NEVER ATTEMPT ANY PROCEDURE NOT DESCRIBED
IN THIS MANUAL.
(15) Do not attempt any repair, parts replacement and modification.
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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.
(16) Do not use the robot in locations where strong magnetic sources are present.
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WARNING
DO NOT USE THE ROBOT NEAR A STRONG MAGNETIC SOURCE. THE ROBOT
MIGHT OTHERWISE BREAK DOWN OR MALFUNCTION.
(17) Precautions when disposing of the robot
When disposing of the robot, handle it as industrial waste.
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WARNING
HANDLE THE ROBOT CAREFULLY WHEN DISPOSING OF IT SINCE POWERFUL
MAGNETS ARE INSTALLED INSIDE.
(18) Location for installing the controller and the programming box
The robot controller and programming box 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.
(19) 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.
1-7
Using the Robot Safely
(14) Follow the specified procedures when installing, adjusting or inspecting the robot.
1-2 Essential precautions
(20) 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.
1
Using the Robot Safely
(21) 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.
(22) Provide adequate lighting.
Make sure to provide enough lighting to ensure safety during work.
(23) 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.
(24) 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
(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 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 error has occurred and identify the type of error
1-8
1-3 Industrial robot operating and maintenance personnel
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.
1
Display an easy to understand sign or message on the programming box 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.
1-3
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
carefully 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
Using the Robot Safely
(25) Display a sign on operation panel during work
1-4 Robot safety functions
1-4
1
(1)
Robot safety functions
Overload detection
This function detects an overload applied to the motor and shuts off the servo power.
Using the Robot Safely
(2)
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.
(3)
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.
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(4)
WARNING
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
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. The movement range is the area limited by mechanical
stoppers.
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1-10
WARNING
ROBOT MOVEMENT WILL NOT STOP IMMEDIATELY AFTER THE SERVO POWER
SUPPLY IS SHUT OFF BY EMERGENCY STOP OR OTHER SAFETY FUNCTIONS.
WARNING
WHEN THE SLIDER (CARRIAGE) COLLIDES WITH THE MECHANICAL STOPPER,
THIS MIGHT DAMAGE THE PARTS OF THE ROBOT. AFTER A COLLISION, CHECK
THAT NO PARTS OF THE ROBOT ARE DAMAGED.
1-5 Safety measures for the system
1-5
Safety measures for 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 safeguard 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 safeguard, and obser ve 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. Is 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. Is the robot correctly connected to peripheral equipment?
5. Have safety measures (safeguard enclosure, etc.) been taken?
6. Does the installation environment meet the specified standards.
(3)
After the controller is turned on, check the following points from outside the
safeguard enclosure.
1. Does the robot start and stop as intended? Can the operation mode be selected
correctly?
2. Does each axis move as intended within the soft limits?
3. Does the end effector move as intended?
4. Are the signal transmissions to the end effector and peripheral equipment correct?
5. Does emergency stop work?
6. Are the teaching and playback functions normal?
7. Are the safeguard enclosure and interlock working as intended?
8. Does the robot move correctly during automatic operation?
1-11
1
Using the Robot Safely
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.
1-7 Work within the safeguard enclosure
Reference
When starting the PHASER series robots, the slider always moves a few
millimeters right after the servo is turned on and emits a high pitched noise.
This is just the routine pre-action for finding the magnetic pole and is not a
problem.
1
Using the Robot Safely
1-7
(1)
Work within the safeguard enclosure
Work within the safeguard enclosure
When work is required inside the safeguard 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.
(2)
Teaching
When performing teaching within the safeguard enclosure, comply with the
instructions listed below.
1) Check or perform the following points from outside the safeguard enclosure.
1. Make sure that no hazards are present within the safeguard enclosure by a visual
check.
2. Check that the programming box HPB (option) operates correctly.
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 safeguard
enclosure.
1-12
1-8 Automatic operation
1-8
Automatic operation
1
Automatic operation described here includes all operations in AUTO mode.
(1)
Check the following before starting automatic operation.
2. The programming box and tools are in their specified locations.
3. The alarm or error lamps on the robot and peripheral equipment do not flash.
4. The safeguard enclosure is securely installed with safety interlocks actuated.
(2)
Obser ve 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 safeguard enclosure during automatic operation.
3) If an error occurs in the robot or peripheral equipment, observe the following
procedure before entering the safeguard 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.
■
This warranty 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;
5. Damage due to improper shipping or shipping methods;
6. Accident or collision damage;
7. Installation of other than genuine YAMAHA parts and/or accessories;
8. 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
Using the Robot Safely
1. No one is within the safeguard enclosure.
1-9 Warranty
9. Pollution, salt damage, condensation;
10. Fires or natural disasters such as earthquakes, tsunamis, lightning strikes, wind and
flood damage, etc;
1
Using the Robot Safely
11. Breakdown due to causes other than the above that are not the fault or
responsibility of YAMAHA;
■
The following cases are not covered under the warranty:
1. Products whose serial number or production date (month & 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 identified by YAMAHA.
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
Chapter 2
Product Over view
Contents
2-1 Checking the product
2-1
2-2 Robot part names
2-1
2-3 Robot internal structure
2-2
2-1 Checking the product
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.
2-2
Product Overview
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WARNING
• ALWAYS USE 2 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.
Robot part names
Robot part names
External components
〈MR12〉
End cover
Slider
Slider cover
Shutter
End cover
Cable carrier
Robot cable (I/O signal wires)
Ground wire
2
Robot cable (motor wires)
Side cover
Reference
The direction of the cables coming out of the cable carrier depends on the
specifications you ordered. The above illustration shows an example of RH
(right and horizontal) type.
2-1
2-3 Robot internal structure
2-3
Robot internal structure
The YAMAHA linear single-axis robot PHASER series is a truly innovative single-axis
robot using a shaft motor as its drive source. The internal robot structure and features are
described here.
2
w
Product Overview
WARNING
THE FOLLOWING DRAWINGS AND DESCRIPTIONS ARE GIVEN TO ASSIST IN
UNDERSTANDING AND SAFELY USING THE PHASER SERIES ROBOTS. DO NOT
ATTEMPT TO DISASSEMBLE THE ROBOT. POWERFUL PERMANENT MAGNETS ARE
FIXED BY ADHESIVE TO THE MAGNETIC PLATE SO DISASSEMBLY WITHOUT
PROPER PREPARATION IS HAZARDOUS. ALSO, THE REQUIRED PERFORMANCE
MAY NOT BE OBTAINED.
PHASER series internal layout
〈MR12〉
Magnetic shaft
Moving coil (internal)
Linear guide
Magnetic scale
Magnetic head
Magnetic shaft
The interior of the shaft contains powerful permanent magnets laid out at equally
spaced intervals. The magnetic field generated by these permanent magnets is
utilized as propulsive power by the robot. The material of the pipe on the shaft
surface is stainless steel.
Moving coil
The lower slider contains an internal coil. Passing current through this coil changes
the magnetic force into a propulsive force. Passing current through the coil also
generates heat but heat sink fins efficiently dissipate this heat. An insulation layer is
installed between the upper slider and work piece clamp surface to prevent heat from
propagating to the work clamp surface.
2-2
2-3 Robot internal structure
Heat insulating structure
〈MR12〉
Heat insulating material
Upper slider
Moving coil
2
Heat sink fins
Magnet shaft
Linear guide
The MR12 uses a linear guide assembled with a ball retainer that efficiently
eliminates friction between adjacent balls. This achieves low noise, long service life
and long maintenance-free operation.
Magnetic scale and magnetic head
The magnetic scale utilizes YAMAHA's superb magnetic signal detection technology
developed in-house. The scale is made of a special alloy that retains a high-strength
magnetic field with virtually no weakening over time. Integrating it with a magnetic
head yields an astonishingly high resolution of one micrometer. Fully closed control
directly detects the table (slider) position for stable and highly precise positioning.
c
CAUTION
Do not bring a strong magnet close to the magnetic scale. A strong magnet
may erase the information recorded on the scale and cause the robot to
malfunction. A magnetic force of about 10mT (100 Gauss) does not cause
any problem.
As shown in the photos below, for example, bringing the magnetized side of
a magnetic base close to the side of the robot may erase the information on
the magnetic scale, so use caution.
Magnetized side of magnetic base
Magnetized side of magnetic base
2-3
Product Overview
Lower slider
MEMO
2-4
Chapter 3
Installation and connections
Contents
3-1 Carrying the robot
3-1
3-2 Robot Installation Conditions
3-3
3-2-1 Installation environments
3-2-2 Installation base
3-3 Installing the robot
3-3
3-4
3-6
3-4 Installing an external leakage breaker
3-4-1
3-4-2
3-4-3
3-4-4
and circuit protector
3-8
Power
Power
Power
Power
3-8
3-9
3-10
3-10
cable
cable
cable
cable
wiring
wiring
wiring
wiring
for
for
for
for
SRCP
SR1
RCX141
RCX221
3-5 Protective bonding
3-11
3-6 Connecting the robot to the controller 3-13
3-7 Precautions during user wiring and
hose installation
3-16
3-1 Carr ying the robot
3-1
Carr ying the robot
Always use two people to carry the robot unit. Each person should grip the robot unit near
one end from the lower side as shown and carry with the load well balanced. Carry with
the robot facing upward (slider side upwards).
Hold and carry as shown
3
Installation and connections
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WARNING
ALWAYS OBSERVE THE FOLLOWING PRECAUTIONS WHEN CARRYING THE
ROBOT.
• REMOVE ANY AND ALL OBJECTS SUCH AS HANDS AND GRIPPERS
ATTACHED TO THE ROBOT SLIDER BEFORE MOVING THE ROBOT. THE SLIDER
WILL LOSE BALANCE IF MOVED WITH OBJECTS STILL ATTACHED AND CAUSE
INJURIES.
• 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.
• NEVER ATTEMPT TO HOLD THE ROBOT BY ANY OF THE WRONG EXAMPLES
SHOWN IN THE PHOTOS IN THE NEXT PAGE.
3-1
3-1 Carr ying the robot
Never try this when moving!
3
Installation and connections
3-2
Do not carry by holding the slider.
Do not carry by holding the cable.
Do not carry by holding
the cable carrier.
Do not carry by gripping
the end cover.
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
temperature
10 to 40°C
Allowable ambient humidity
35 to 85% RH (no condensation)
Altitude
0 to 1000 meters above sea level
3
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.
Working space
Allow sufficient space margin to perform jobs (teaching,
inspection, repair, etc.)
For detailed information on how to install the robot controller, refer to the separate
"YAMAHA Robot Controller User's Manual".
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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.
3-3
Installation and connections
Avoid installing near water, cutting water, oil, dust,
metallic chips and organic solvent.
3-2 Robot Installation Conditions
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3
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 TO FALL OVER.
Installation and connections
3-2-2 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.
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WARNING
IF THE INSTALLATION BASE IS NOT SUFFICIENTLY RIGID AND STABLE, VIBRATION
(RESONANCE) MAY OCCUR DURING OPERATION, CAUSING ADVERSE EFFECTS
ON THE ROBOT WORK.
2) The installation base surface must be machined within a flatness of ±0.05mm/500mm.
c
3-4
CAUTION
The robot positioning accuracy, acceleration and duty might not satisfy the
required performance or the service life might be reduced if the installation
surface precision is insufficient. In worst cases, the coil inside the robot might
burn out.
3-2 Robot Installation Conditions
3) 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
3
Good example
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n
Installation base
Bad example
WARNING
WHEN INSTALLING THE ROBOT, ALWAYS USE ALL THE TAPPED HOLES ON THE
BOTTOM OF THE ROBOT FRAME. 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.
NOTE
Refer to the external view and dimensions for each robot model shown in
Chapter 7, "Specifications", for machining dimensions and positions of holes.
3-5
Installation and connections
Installation base
3-3 Installing the robot
3-3
Installing the robot
To install the robot, drill holes through the installation base and secure the robot to the
base with M4 bolts from the bottom. (M4 tapped holes are already machined on the
bottom of the robot frame.)
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3
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 MIGHT OCCUR IF THE ROBOT STARTS
TO OPERATE DURING INSTALLATION.
MR12/MR16/MR16H
MR20/MR25
Bolt
Hex socket-head M4 bolt,
Strength: 8.8T
Length: installation base
+0
thickness+9 −2 mm
Hex socket-head M6 bolt,
Strength: 8.8T
Length: installation base
+0
thickness+10 −2 mm
Tightening torque
30kgf•cm to 45kgf•cm
100kgf•cm to 130kgf•cm
Tapped hole depth: 10mm
Installation and connections
After drilling the holes through the installation base where the robot is to be secured,
secure the robot with the specified bolts from the bottom. The bolts and tightening torque
are shown below.
M4 bolt
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3-6
Installation base
WARNING
BE SURE TO USE THE BOLTS OF THE CORRECT LENGTH AND TIGHTEN THEM
SECURELY TO THE CORRECT TORQUE. FAILURE TO FOLLOW THIS INSTRUCTION
MAY CAUSE ROBOT VIBRATIONS, POSITION ERRORS AND SERIOUS ACCIDENTS.
3-3 Installing the robot
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WARNING
BE SURE TO INSTALL THE ROBOT JUST AS LISTED IN THE PURCHASE
SPECIFICATIONS (CABLE CARRIER DIRECTION AND INSTALLATION POSITION)
ON THE ORDER FORM WE RECEIVED. INSTALLING THE ROBOT CONTRARY TO
THOSE SPECIFICATIONS WILL CAUSE PROBLEMS SO USE CAUTION.
IF INSTALLING THE ROBOT IN A DIRECTION OR POSITION DIFFERENT FROM
THOSE IN THE PURCHASE SPECIFICATIONS, YOU MUST PLACE A SPECIAL
ORDER. PLEASE CONSULT YAMAHA WHEN THIS IS NEEDED.
3
Installation and connections
3-7
3-4 Installing an external leakage breaker and circuit protector
3-4
Installing an external leakage breaker and circuit protector
To ensure safety, a leakage breaker and circuit protector must be installed in the power
supply connection section of the robot controller. Make correct connections by referring
to the marks on the controller and the power supply connections shown below.
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3
Installation and connections
c
WARNING
• ELECTRICAL SHOCKS, INJURIES OR FIRES MIGHT OCCUR IF THE MOTOR
BREAKS DOWN WHILE THE ROBOT CONTROLLER IS USED WITHOUT
INSTALLING A LEAKAGE BREAKER IN THE POWER SUPPLY SECTION.
• ELECTRICAL SHOCKS, INJURIES OR FIRES MIGHT OCCUR IF THE MOTOR
BREAKS DOWN WHILE THE ROBOT CONTROLLER IS USED WITHOUT MAKING
CORRECT CONNECTIONS TO THE POWER SUPPLY.
USE A WIRE THICKER THAN 2.0 SQUARE MILLIMETERS.
CAUTION
Be careful not to make the wrong connections. Otherwise malfunctions may
result.
3-4-1 Power cable wiring for SRCP
L
1. L (AC IN)
N
2. N (AC IN)
3.
(Ground)
L
N
1. L (AC IN)
2. N (AC IN)
3.
(Ground)
NC
NC
Do not connect.
T1
T2
SRCP-05
SRCP-10, 20
1.L (AC IN)
2.N (AC IN)
3. (Ground)
L
N
NC
NC
Do not connect.
T1
T2
4.Short T1 and T2
when input voltage
is AC100 to 115V.
2
0.75 mm or more
(equivalent to AWG18)
AC 100V-115V
L
N
NC
NC
T1
T2
AC 200V-230V
SRCP-05A, SRCP-10A, SRCP-20A
3-8
1.L (AC IN)
2.N (AC IN)
3. (Ground)
Do not connect.
4.Leave T1 and T2 open
when input voltage is
AC200 to 230V.
3-4 Installing an external leakage breaker and circuit protector
3-4-2 Power cable wiring for SR1
■ AC 200V power supply voltage
SR1 controller
Wiring breaker
Noise filter
Electromagnetic
contactor
AC IN
L
AC200V
N
3
L1
Installation and connections
N1
SHORT:
AC100V
OPEN:
AC200V
■ AC 100V power supply voltage
SR1 controller
Wiring breaker
Noise filter
Electromagnetic
contactor
AC IN
L
AC100V
N
L1
N1
SHORT:
(NOTE 1)
AC100V
OPEN:
AC200V
(NOTE) 1. The input voltage select terminals must be shorted when using AC 100V.
2. AC 100V power can be used only when the driver type is "-05" or "-10".
Terminal
symbol
Name
L, N
Main power input
terminal
-05, -10
AC100 to 115 / 200 to 230V±10%, single phase, 50/60Hz
-20
AC200 to 230V±10%, single phase, 50/60Hz
Control power
input terminal
-05, -10
AC100 to 115 / 200 to 230V±10%, single phase, 50/60Hz
L1, N1
Ground terminal
Driver
Function
-20
AC200 to 230V±10%, single phase, 50/60Hz
-05, -10, -20
Connect to power supply terminal to provide proper
grounding.
3-9
3-4 Installing an external leakage breaker and circuit protector
3-4-3 Power cable wiring for RCX141
L
L (AC IN)
N
N (AC IN)
Ground
3-4-4 Power cable wiring for RCX221
3
Installation and connections
ACIN
L
N
RPB
Power supply terminal
L1
OP.2
N1
YM
!
SAFETY
EXT.E-STOP
PIN11-12
SD/COM
Ground terminal
3-10
Symbol
Wiring
Remarks
L
200 to 230V
Live
N
200 to 230V
Neutral
L1
200 to 230V
Live
N1
200 to 230V
Neutral
Ground
Class D grounding
(100 ohms or less)
Main power supply
(for motor power)
Wire cross-section
2.0 sq mm or more
Power for control
Wire cross-section
1.25 sq mm or more
Tightening torque
1.4Nm
3-5 Protective bonding
3-5
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Protective bonding
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.
3
Ground terminal
Installation and connections
〈MR12〉
〈MR16/MR16H〉
Ground terminal (M4 screw)
for protective bonding
Ground terminal (M4 screw)
for robot cable
Ground terminal (M4 screw)
for protective bonding
Ground terminal (M4 screw)
for robot cable
〈MR20/MR25〉
Ground terminal (M4 screw)
for protective bonding
Ground terminal (M4 screw)
for protective bonding
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CAUTION
• A secure ground connection (less than 100-ohm resistance to ground) is
recommended.
• Use electrical wire thicker than AWG14 (2mm2) as the ground wire.
3-11
3-5 Protective bonding
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WARNING
BEFORE MAKING THE GROUND CONNECTION, MAKE SURE THAT THE
CONTROLLER IS NOT CONNECTED TO THE ROBOT OR THE POWER TO THE
CONTROLLER IS OFF.
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.
3
Installation and connections
(Symbol 417-IEC5019)
3-12
3-6 Connecting the robot to the controller
3-6
Connecting the robot to the controller
Connect the robot cables to the mating connectors on the controller as instructed below.
Refer to the robot controller user's manual for the connectors on the controller.
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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. BENT OR BROKEN PINS OR CABLE DAMAGE MAY CAUSE
ROBOT MALFUNCTIONS.
• ALWAYS MAKE SURE THAT THE POWER TO THE ROBOT CONTROLLER IS OFF
BEFORE CONNECTING THE CABLES OR GROUND WIRES.
Robot cable
connector
(signal wires)
Robot cable
connector
(motor wires)
2) After making the connections, fit the connector hoods together securely.
Hood
c
CAUTION
After making the connections, fit the connector hoods together securely.
3-13
Installation and connections
1) Connect the robot cables (motor and I/O signal wires) to the mating connectors coming
out from the robot.
3
3-6 Connecting the robot to the controller
3) Connect the robot cable ground terminal to the ground terminal on the robot frame.
〈MR12〉
Connect to this
ground terminal.
3
Installation and connections
Robot cable
connector
(motor wires)
〈MR16/MR16H〉
Connect to this
ground terminal.
Robot cable
connector
(motor wires)
〈MR20/MR25〉
Connect to this
ground terminal.
Robot cable
connector
(motor wires)
3-14
3-6 Connecting the robot to the controller
■ Robot cable connections
Refer to "7-4 Robot cable (I/O signal wires)" and "7-5 Robot cable (motor wires)" when
wiring the cables.
Robot cable connections
SD
MEMORY
CARD
Programming box HPB
3
SD memory card
SR1-P
controller
RS-232C
communication
control
Robot cable (signal wires)
Robot cable (motor wires)
I/O control
Personal computer
Support software
POPCOM
General-purpose input: 8 points, custom input: 8 points
General-purpose output: 5 points, custom output: 3 points
Power AC100/200V for
supply
I/O devices
Gripper, limit switches, etc.
After making connections,
fasten the hoods securely.
Hood
External control
(PLC and similar units)
Linear Single-axis Robot (PHASER series)
* Programming box HPB and support software POPCOM are sold
3-15
Installation and connections
or
3-7 Precautions during user wiring and hose installation
3-7
●
Precautions during user wiring and hose installation
Cable carries (plastic chain for cable guide)
The PHASER series has cable carriers available as options used to manage user cables
and air hoses as they move. Always observe the following precautions when using
these optional cable carriers.
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3
Optional cable carriers for user cables and air hoses consist of a wide M type and a
narrow S type. Install them by using the brackets as shown in the drawing below.
Optional cable carrier for user cables and air hoses (horizontal installation)
〈MR12〉
145
(units: mm)
40
89
14
● M type
Optional cable carrier for user cables and air hoses
Robot standard cable carrier
120
● S type
15
89
14
Installation and connections
CAUTION
• The cable and air hoses should take up less than 30% of the space when
storing them inside the cable carrier. Lay out the cables and air hoses in
rows inside the cable carrier so they do not cross each other.
• The cables and air hoses inside the cable carrier will shift while the robot
is operating, becoming taut and placing a strain on the connectors at
both ends. To prevent this loosely fasten the cables and air hose to the
cable carrier with cable ties to prevent strain from being applied. (Fasten
them lightly since the cables and hoses might break if secured too
tightly.)
• Do not remove or mount brackets installed on the cable carrier or
attempt to modify them.
• The user should not install cables or hoses in the robot standard cable
carrier.
Optional cable carrier for user cables and air hoses
Robot standard cable carrier
3-16
3-7 Precautions during user wiring and hose installation
〈MR16/MR16H〉
● M type
(units: mm)
165
99
14
40
Optional cable carrier for user cables and air hoses
Robot standard cable carrier
3
140
15
99
Installation and connections
14
● S type
Optional cable carrier for user cables and air hoses
Robot standard cable carrier
〈MR20/MR25〉
244
● M type
(units: mm)
119.5
14
40
Optional cable carrier for user cables and air hoses
Robot standard cable carrier
219
119.5
15
14
● S type
Optional cable carrier for user cables and air hoses
Robot standard cable carrier
3-17
MEMO
3-18
Chapter 4
Robot operation
Contents
4-1 Notes on robot operation
4-1-1 Magnetic pole estimation action
4-1-2 Absolute search (semi-absolute specification)
4-1-3 Return to origin (incremental specification)
4-2 Setting operating conditions
4-2-1
4-2-2
4-2-3
4-2-4
Process flow for setting operating conditions
Duty monitor
Maximum speed setting
Acceleration setting
4-3 Pulse train control (SRCP)
4-1
4-1
4-1
4-2
4-4
4-4
4-5
4-6
4-7
4-9
4-3-1 Acceleration/Deceleration and position proportional gain 4-9
4-3-2 Setting the maximum speed
4-13
4-1 Notes on robot operation
4-1
Notes on robot operation
On the PHASER series MR type robots, two linear scale specifications are provided:
incremental specification and semi-absolute specification. Action after power-on differs
depending on the linear scale specifications. Keep the following points in mind.
4-1-1 Magnetic pole estimation action
• When starting the PHASER series robots, the slider always moves a few millimeters
right after the servo is turned on and emits a high pitched noise. This is just the
routine pre-action for estimating the magnetic pole and is not a problem.
• Do not apply any external force or impact on the robot during the magnetic pole
estimation action. Doing so may cause a failure in the magnetic pole estimation
action.
4-1-2 Absolute search (semi-absolute specification)
On the semi-absolute specification, absolute search (absolute position detection) must be
performed after turning power on before starting operation. Current position is found by
reading the signal recorded on the linear scale during absolute search. The slider (carriage)
moves a maximum of 76mm while reading the signal. (The distance that the slider moves
can be shortened by allowing the slider to move back and force for signal read.
■ Absolute search motion
• Absolute reset speed is set to 20 (mm per second) prior to shipment. This speed
can be reduced by parameter entry.
• Absolute search sequence: When an absolute search (return-to-origin) command
is input or the HPB is used to perform absolute
search, the slider moves in the direction specified by
parameter and then stops when the origin position is
found, allowing automatic operation.
4-1
4
Robot operation
• Both in the incremental and semi-absolute specifications, the magnetic pole
estimation action is performed at servo-on immediately after turning the power on.
4-1 Notes on robot operation
4-1-3 Return to origin (incremental specification)
■ Origin position
• On the incremental specification, return-to-origin must be performed after turning
power on before starting operation. Magnetic poles are also detected during returnto-origin. Once return-to-origin is completed, there is no need to perform it again
unless the controller power is turned off or an error occurs.
• There are two positions at which the origin can be set. These are located one
each on both ends of the stroke. Refer to the outline dimension drawings shown
in Chapter 7, "Specifications". Unless specified otherwise, the origin position is
set on the L side prior to shipment. The origin position can be set on the R side
by changing the parameter. (See the separate "SR1 Controller User's Manual" for
information on changing the parameter.)
4
Return-to-origin direction
Robot operation
L side
R side
: Magnetic pole detection point
Slider
Cable carrier
L side
R side
: Magnetic pole detection point
■ Return-to-origin operation
• Return-to-origin speed is set at 20 (mm per second) prior to shipment. This speed
can be changed in increments of 1 to 100 (mm per second) by parameter entry.
• Return-to-origin sequence: Robot moves as follows by entering a return- to-origin
command or a return-to-origin operation from the HPB.
(1) Slider moves in the specified return-to-origin direction at a speed set by the
parameter.
Return-to-origin direction
L side
R side
: Magnetic pole detection point
4-2
4-1 Notes on robot operation
(2) Slider moves in reverse direction after contacting the mechanical stopper (stroke
end detected).
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CAUTION
If the magnetic pole was not detected in the operation above in (1), in other
words, if return-to-origin started from a position on the left of the magnetic
pole detection point), then the slider returns to the magnetic pole detection
point (▲). There, the slider moves in the reverse direction and re-performs
the operation in (1). (This is not an equipment problem.)
Direction of movement
4
R side
Robot operation
L side
(3) Slider (carriage) moves from the stroke end to the origin position and then stops
to complete return-to-origin. Refer to the outline dimension drawings shown in
Chapter 7, "Specifications".
Origin position
L side
R side
Reference
See the separate "SR1 Controller User's Manual" for more information on
return-to-origin operation.
4-3
4-2 Setting operating conditions
4-2
Setting operating conditions
You must set operating parameters such as the payload, speed and acceleration in order to
obtain maximum performance from the PHASER series robot.
4-2-1 Process flow for setting operating conditions
Set optimum parameters using the flow chart below as a reference.
Reference
See the separate "SR1 Controller User's Manual" for more information on
setting parameters.
Process flow for setting operating conditions
4
Set payload parameter
Robot operation
Check actual operation
(duty check)
NO
Does overload appear?
NO
Setting is appropriate
Change the robot speed
and/or acceleration
YES
Lower robot speed and/or
acceleration.
Increase stop time.
4-4
NO
YES
YES
Any margin in cycle time to
allow shortening it?
Is total cycle time
appropriate?
After lowering the robot
speed and/or acceleration,
reduce cycle time with
tasks other than robot
operation.
4-2 Setting operating conditions
4-2-2 Duty monitor
An overload error appears to warn the motor is working too hard during tough robot
operation. In these cases, either the robot acceleration or maximum speed must be
lowered, or the robot stop time increased (lower the duty). On the other hand, if you want
to shorten the cycle time even further, when there is currently no overload, you can raise
the acceleration or maximum speed, or shorten the robot stop time (raise the duty).
Viewing the duty monitor allows you to easily check the current robot operating status to
find out how hard the robot can still work versus overload criteria. By checking the duty
monitor, you can repeatedly change the settings and view the available duty to obtain
ideal operating conditions.
● How to monitor the operation duty
To monitor the operation duty using the programming box (HPB), follow these steps.
2) Press
(MON) on the initial
menu to enter MONITOR mode.
［ＭＥＮＵ］
ｓｅｌｅｃｔ ｍｅｎｕ
１ＥＤＩＴ２ＯＰＲＴ３ＳＹＳ ４ＭＯＮ
3) Press
(DUTY).
［ＭＯＮ］
ｓｅｌｅｃｔ ｍｅｎｕ
１ＤＩ０ ２ＤＵＴＹ
4) Press
(RUN) to start
measuring the operation duty.
5) Press the
［ＭＯＮ−ＤＵＴＹ］
ｓｅｌｅｃｔ ｍｅｎｕ
ｍｅａｓｕｒｉｎｇ ．．．
１ＲＵＮ ２ＳＴＯＰ３ＲＳＬＴ
(STOP) key to quit
measurement.
Pressing the
4
Robot operation
1) Connect the HPB to the SR1
controller and turn on the
controller power.
The initial menu then appears on
the HPB.
(STOP) key
retains the measurement data.
4-5
4-2 Setting operating conditions
6) Press the
(RSLT) key to
display the measurement data.
The operation duty value in the
period from pressing
up to pressing the
(RUN)
(STOP)
［ＭＯＮ−ＤＵＴＹ］
ｍｅａｓｕｒｅｍｅｎｔ ｄａｔａ
Ｘ ＝ ５０％
then appears as a percentage.
Reference
The operation duty can also be monitored while the program is running by
using a program command. See the "SR1 Controller User's Manual" for more
information.
4
4-2-3 Maximum speed setting
Robot operation
The initial maximum speed setting for standard PHASER series robots is 2000 mm/sec,
although they are capable of operating at up to 2500 mm/sec.
As the robot speed increases, the effective current value becomes large so the duty
needs to be reduced. It will be most effective to use the robot at 2000 mm/sec in normal
operation and at 2500mm/sec only when the robot moves a long distance. (The maximum
speed might not be obtained depending on the operating conditions.)
● Changing the maximum speed setting
To change the maximum speed setting by using the programming box (HPB), follow
these steps.
1) Connect the HPB to the SR1
controller and turn on the
controller power.
The initial menu then appears on
the HPB.
2) Press
(SYS) on the initial
menu to enter SYSTEM mode.
［ＭＥＮＵ］
ｓｅｌｅｃｔ ｍｅｎｕ
１ＥＤＩＴ２ＯＰＲＴ３ＳＹＳ ４ＭＯＮ
3) Press
(PRM).
The parameter setting mode is
entered.
4) Select the parameter group.
Press
(AXIS) to select the
axis parameters.
4-6
［ＳＹＳ］
ｓｅｌｅｃｔ ｍｅｎｕ
１ＰＲＭ ２Ｂ．ＵＰ３ＩＮＩＴ４ｎｅｘｔ
［ＳＹＳ−ＰＲＭ］
ｓｅｌｅｃｔ ｍｅｎｕ
１ＡＸＩＳ２ＤＡＴＡ３ＳＹＳ１４ＳＹＳ２
4-2 Setting operating conditions
The current setting for PRM100
(robot type) appears on the
screen.
Press the
keys to scroll
［ＳＹＳ−ＰＲＭ−ＡＸＩＳ］
ＰＲＭ１００ ＝ ４２１５
ｒｏｂｏｔ ｔｙｐｅ
ｒｅａｄ ｏｎｌｙ
up or down the parameters
until PRM129 (Max. speed) is
displayed.
5) When PRM129 (Max. speed) is
displayed, use the number keys
to enter the maximum speed
2500 (mm/sec) and press
.
［ＳＹＳ−ＰＲＭ−ＡＸＩＳ］
ＰＲＭ１２９＝ ２５００［ｍｍ／ｓｅｃ］
Ｍａｘ． ｓｐｅｅｄ
ｒａｎｇｅ １→２５００
4
6) The cursor returns to the top of
data when the parameter has
been set correctly.
［ＳＹＳ−ＰＲＭ−ＡＸＩＳ］
ＰＲＭ１２９＝ ２５００［ｍｍ／ｓｅｃ］
Ｍａｘ． ｓｐｅｅｄ
ｒａｎｇｅ １→２５００
4-2-4 Acceleration setting
Optimal acceleration for the PHASER series robots is automatically set by entering the
payload parameter value. In the payload parameter, set the total weight of the workpiece
and the end effectors such as hands or grippers attached to the robot slider. (Acceleration
can also be changed by parameter.)
c
CAUTION
Be sure to enter an accurate value when making this setting, since a
mistake will cause troubles such as vibration or a shorter service life span.
● Setting the payload parameter
To set the payload parameter by using the programming box (HPB), follow these steps.
1) Connect the HPB to the SR1
controller and turn on the
controller power.
The initial menu then appears on
the HPB.
4-7
Robot operation
This parameter setting changes
the 100% operation speed to
2500mm/sec from 2000mm/
sec. (After this change, the 80%
of the operation speed equals
2000mm/sec.)
4-2 Setting operating conditions
2) Press
(SYS) on the initial
［ＭＥＮＵ］
ｓｅｌｅｃｔ ｍｅｎｕ
menu to enter SYSTEM mode.
１ＥＤＩＴ２ＯＰＲＴ３ＳＹＳ ４ＭＯＮ
3) Press
(PRM).
［ＳＹＳ］
ｓｅｌｅｃｔ ｍｅｎｕ
The parameter setting mode is
entered.
１ＰＲＭ ２Ｂ．ＵＰ３ＩＮＩＴ４ｎｅｘｔ
4) Select the parameter group.
Press
［ＳＹＳ−ＰＲＭ］
ｓｅｌｅｃｔ ｍｅｎｕ
(AXIS) to select the
axis parameters.
１ＡＸＩＳ２ＤＡＴＡ３ＳＹＳ１４ＳＹＳ２
The current setting for PRM100
(robot type) appears on the
screen.
4
Robot operation
Press the
［ＳＹＳ−ＰＲＭ−ＡＸＩＳ］
ＰＲＭ１００ ＝ ４２１５
ｒｏｂｏｔ ｔｙｐｅ
ｒｅａｄ ｏｎｌｙ
keys to scroll
up or down the parameters until
PRM112 (payload) is displayed.
5) When PRM112 (payload) is
displayed, use the number keys
to enter the payload and press
6) The cursor returns to the top of
data when the parameter has
been set correctly.
4-8
.
［ＳＹＳ−ＰＲＭ−ＡＸＩＳ］
ＰＲＭ１１２ ＝ １０ ［ｋｇ］
ｐａｙｌｏａｄ
ｒａｎｇｅ ０→ＭＡＸ
［ＳＹＳ−ＰＲＭ−ＡＸＩＳ］
ＰＲＭ１１２ ＝ １０ ［ｋｇ］
ｐａｙｌｏａｄ
ｒａｎｇｅ ０→ＭＡＸ
4-3 Pulse train control (SRCP)
4-3
Pulse train control (SRCP)
When you control the robot movement by pulse train input, read the following description
and comply with the precautions. For detailed information on pulse train control and
specifications, refer to the separate "SRCP controller: Pulse train mode" supplementary
manual.
4-3-1 Acceleration/Deceleration and position proportional gain
● Acceleration/Deceleration waveforms
Use sinusoidal acceleration/deceleration to issue acceleration/deceleration
instructions. Using other waveforms might adversely affect positioning accuracy and
current value stability.
● Acceleration/Deceleration and position proportional gain
4
Acceleration/Deceleration and position proportional gain at different payloads are
MR12
Payload
(kg)
Average acceleration/
deceleration (G)
Peak value during
sinusoidal acceleration/
deceleration (G)
Kpp
(PRM19)
0
1.38
2.17
80
1
0.80
1.26
70
2
0.50
0.79
60
3
0.40
0.63
55
Note: Acceleration/Deceleration values apply to linear acceleration/deceleration.
90
1.60
Acceleration (G)
80
Kpp
70
1.20
60
1.00
50
0.80
40
0.60
Kpp
Acceleration/Deceleration (G)
1.40
30
0.40
20
0.20
10
0
0.00
0
0.5
1
1.5
Payload (kg)
2
2.5
3
4-9
Robot operation
shown in the tables and graphs below. Select the desired parameter values by referring
to these tables and graphs.
4-3 Pulse train control (SRCP)
MR16/MR16H
Payload
(kg)
4
Peak value during
sinusoidal
acceleration/
deceleration (G)
Average
acceleration/
deceleration (G)
Position
proportional gain
(PRM19)
MR16
MR16H
MR16
MR16H
MR16
MR16H
0
1.33
2.36
2.10
3.00
80
109
1
0.93
1.72
1.47
2.71
80
102
2
0.69
1.32
1.08
2.07
80
95
3
0.55
1.09
0.87
1.72
70
88
4
0.46
–
0.72
–
60
–
5
0.38
0.84
0.60
1.33
50
74
7
–
0.70
–
1.10
–
60
Robot operation
Note: Acceleration/Deceleration values apply to linear acceleration/deceleration.
90
Acceleration (G)
80
Kpp
1.4
1.2
70
1.0
60
0.8
50
0.6
40
30
0.4
20
0.2
10
0
0
0
1
2
3
Payload (kg)
4-10
4
5
Kpp
Average acceleration/deceleration (G)
LMR16
4-3 Pulse train control (SRCP)
120
Acceleration (G)
Kpp
100
2.0
80
1.5
60
Kpp
Average acceleration/deceleration (G)
LMR16H
2.5
1.0
40
0.5
20
4
0
0
0
1
2
3
4
5
6
7
Robot operation
Payload (kg)
MR20/MR25
Payload
(kg)
Acceleration/
Deceleration (G)
Peak value during
sinusoidal
acceleration/
deceleration (G)
Position
proportional gain
Kpp (PRM19)
MR20
MR25
MR20
MR25
MR20
MR25
0
1.91
1.91
3.00
3.00
100
102
1
1.84
1.91
2.89
3.00
95
98
2
1.60
1.80
2.51
2.83
90
94
3
1.39
1.56
2.18
2.45
85
90
5
1.09
1.23
1.71
1.93
75
82
7
0.90
1.02
1.41
1.60
65
73
9
0.83
0.87
1.30
1.37
55
65
11
0.74
0.76
1.16
1.19
45
57
13
0.67
0.68
1.05
1.07
35
48
15
0.60
0.62
0.94
0.97
25
40
17
0.54
0.57
0.85
0.90
15
32
19
–
0.53
–
0.83
–
23
20
–
0.51
–
0.80
–
19
Note: Acceleration/Deceleration values apply to linear acceleration/deceleration.
4-11
4-3 Pulse train control (SRCP)
L MR20
2.50
120
Acceleration (G)
Kpp
100
4
80
1.50
60
Kpp
Acceleration/Deceleration (G)
2.00
1.00
40
0.50
0.00
20
0
3
5
Robot operation
7
9
11
Payload (kg)
13
15
L MR25
2.50
17
0
120
Acceleration (G)
Kpp
100
80
1.50
60
Kpp
Acceleration/Deceleration (G)
2.00
1.00
40
0.50
0.00
20
0
5
10
15
0
20
Payload (kg)
c
CAUTION
If the acceleration is too high, the robot might not follow the instructions or
overloads occur.
Reference
The Position proportional gain parameter (PRM19) is a hidden parameter.
For detailed information on how to display and change hidden parameters,
see the "SRCP Series Controller User's Manual".
4-12
4-3 Pulse train control (SRCP)
4-3-2 Setting the maximum speed
In the case of pulse train control, the robot moves 1 micrometer per pulse.
To operate the robot at a maximum speed (2500 mm/sec), a pulse train at 2.5Mpps must
be input. (The maximum speed might not be obtained depending on the operating
conditions.)
As the speed increases, the sliding resistance also increases and overloads tend to occur.
We recommend you first check the robot operation at 2000 mm/sec (2Mpps input).
4
Robot operation
4-13
MEMO
4-14
Chapter 5
Periodic inspection and maintenance
Contents
5-1 Before beginning work
5-1
5-2 Periodic inspection
5-3
5-2-1 Daily inspection
5-2-2 Six-month inspection
5-2-3 Annual inspection
5-3 Greasing to the linear guides
5-3-1 MR12
5-3-2 MR16/MR16H
5-3-3 MR20/MR25
5-4 Adjusting shutter slack
5-4-1 MR12
5-4-2 MR16/MR16H
5-4-3 MR20/MR25
5-5 Replacing the shutter
5-5-1 MR12/MR16/MR16H
5-5-2 MR20/MR25
5-3
5-3
5-4
5-5
5-5
5-7
5-9
5-12
5-12
5-14
5-16
5-19
5-19
5-21
5-1 Before beginning work
5-1
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
PHASER series. Before beginning work, read the precautions below and also in Chapter 1
"Using the Robot Safely" and follow the instructions.
w
w
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 EMERGENCY STOP BUTTON IF ANY DANGER
OCCURS.
5-1
5
Periodic inspection and maintenance
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 SOME ONE TO KEEP WATCH AS NEEDED.
5-1 Before beginning work
w
WARNING
DO NOT DISASSEMBLE THE ROBOT. THE INTERNAL MAGNETIC SHAFT CONTAINS
POWERFUL PERMANENT MAGNETS SO DISASSEMBLY WITHOUT PROPER
PREPARATION IS HAZARDOUS. ATTEMPTING TO DISASSEMBLE IT MIGHT ALSO
PREVENT OBTAINING THE SPECIFIED PERFORMANCE.
When applying grease to the internal linear guide, take the following precautions.
w
5
Periodic inspection and maintenance
5-2
WARNING
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 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.
5-2 Periodic inspection
5-2
Periodic inspection
The PHASER series robots use a linear motor and a linear guide with ball retainer, and
require little user maintenance. However, perform the following daily and periodic
inspections.
5-2-1 Daily inspection
Check the following points on a daily basis, before and after robot operation.
Checkpoints
Check items
Cables and
connectors
Check for scratches, damages and excessively
tight bends.
Shutter
Check scratches and dents.
Motor
Check for unusual vibration and noise, and for
abnormal temperature rise.
Notes
Consult us if
damages or
abnormal
conditions are
found.
Reference
When starting the PHASER series robots, the slider always moves a few
millimeters right after the servo is turned on and emits a high pitched noise.
This is just the routine pre-action for finding the magnet pole and is not a
problem.
5
Check the following points every 6 months and apply grease if needed.
Checkpoints
c
Check items
Notes
Shutter
Check for slack. Adjust if necessary.
See "5-4" in this
chapter.
Linear guide
When the robot is operated 16 hours a day,
lubricate with the recommended grease.
Standard robots:
<MR16/16H>
Alvania No. 2 (Shell)
Daphne Eponex No. 2 (Idemitsu)
<MR12/20/25> AFA (THK)
Clean room robots:
<MR16/16H>
LG-2 (NSK)
<MR12/20/25> AFF (THK)
See "5-3" in this
chapter.
CAUTION
Using grease other than those recommended by YAMAHA might shorten the
service life of the linear guide.
5-3
Periodic inspection and maintenance
5-2-2 Six-month inspection
5-2 Periodic inspection
5-2-3 Annual inspection
Inspect the following points once every year and make adjustments or perform
maintenance if needed.
Checkpoints
5
Periodic inspection and maintenance
5-4
Check items
Notes
Shutter
Check for slack. Adjust if
necessary.
See "5-4" in this chapter.
Bolts and screws on robot
Check for looseness. If loose,
tighten.
Robot installation bolts
Check for looseness. If loose,
tighten.
Linear guide
Check for vibration during
operation.
Contact us if vibration or
abnormality occurs.
Lubrication of linear guide
Apply the recommended
grease to the linear guide.
See "5-3" in this chapter.
5-3 Greasing to the linear guides
5-3
Greasing to the linear guides
When applying grease to the linear guides of the robot according to periodic inspection,
follow the procedure below.
w
WARNING
• ENSURE ADEQUATE SAFETY IN THE WORK AREA BEFORE STARTING WORK.
• ALWAYS TURN OFF THE CONTROLLER POWER BEFORE STARTING WORK.
• POWERFUL MAGNETS ARE INSTALLED INSIDE THE ROBOT. THERE IS A RISK OF
INJURY DUE TO MAGNETIC ATTRACTION. TAKE EXTRA CAUTION.
• DEVICES SUCH AS CARDIAC PACEMAKERS THAT MAY MALFUNCTION DUE
TO MAGNETIC FIELDS MUST BE KEPT AWAY FROM THE ROBOT.
5-3-1 MR12
When applying grease to the MR12, remove the end covers of the robot unit and use the
grease nipple located inside each end cover. Before starting, prepare the specified grease
(See 5-2) and grease gun.
Recommended grease
: AFA (THK)
1) Check that the controller power is off.
2) Remove the end cover diagonally upward.
Remove the end covers from both ends of the robot unit. If difficult to remove the
end cover, remove it while slightly twisting it right and left.
Remove end cover.
3) Move the slider all the way to either of the stroke ends.
The grease nipple is located in the lower part of the slider.
5-5
Periodic inspection and maintenance
Recommended grease gun : MG70 (THK) with N-type nozzle
5
5-3 Greasing to the linear guides
4) Insert the tip of the grease gun into the grease nipple inside the robot and fill with
grease.
Grease quantity: 10cc
Slider should be positioned at stroke end.
Grease nipple
Grease gun
5
5) Move the slider all the way to the opposite stroke end.
Periodic inspection and maintenance
6) As in step 4), fill with grease through the grease nipple inside the robot.
7) Move the slider back and forth several times to help to spread the grease around.
8) Reattach the end covers.
5-6
5-3 Greasing to the linear guides
5-3-2 MR16/MR16H
When applying grease to the MR16, use the grease hole (covered with rubber cap) on the
side cover of the robot unit.
Before starting work, prepare the specified grease (See 5-2) and grease gun.
Recommended grease
: Alvania No.2 (Shell), Daphne Eponex No.2 (Idemitsu)
Recommended grease gun : MG70 (THK) with N-type nozzle
1) Check that the controller power is off.
2) Move the slider all the way to the stroke end where the grease hole is located.
Slider
5
3) Remove the grease hole rubber cap on the side cover of the robot.
4) Insert the tip of the grease gun into the grease hole until it contacts the guide rail
and fill with grease.
Grease quantity: 10cc
Grease gun
5-7
Periodic inspection and maintenance
Grease hole rubber cap
5-3 Greasing to the linear guides
c
CAUTION
Insert the tip of the grease gun into the grease hole until it contacts the
guide rail and then fill with grease. If the gun is not inserted far enough
inward, points other than the linear guide will be coated with grease.
5) Reattach the rubber cap to the grease hole.
6) Move the slider back and forth several times to help to spread the grease around.
5
Periodic inspection and maintenance
5-8
5-3 Greasing to the linear guides
5-3-3 MR20/MR25
When greasing the MR20/MR25, open the shutter and apply grease by hand to the guide
rail. Before starting work, prepare the following grease and tools.
• Recommended grease: AFA (THK)
• Phillips screwdriver
• Precision slotted screwdriver
1) Check that the controller power is off.
2) Remove the side moldings.
Insert the precision screwdriver or a similar tool into the gap between the cover
and the side molding, and separate the side molding from the cover.
5
Side molding
c
CAUTION
Only loosen the screws, and do not remove them.
If the screws are removed, the square nuts that hold the screws may drop
and be lost.
5-9
Periodic inspection and maintenance
3) Remove the end cover.
Loosen the screws (M4×2 pcs) holding each end cover and pull the end cover in
the stroke direction (outward) to remove it.
5-3 Greasing to the linear guides
4) Remove the shutter clamp plate.
Loosen the screws (M4×2 pcs) holding the shutter clamp plate and remove the
shutter clamp plate.
Shutter clamp plate
c
CAUTION
The shutter clamp plate consists of an aluminum plate and a rubber busing.
5
Periodic inspection and maintenance
Aluminum plate
Rubber busing
5) Peel back the shutter as shown and grease the guide rail by hand.
5-10
5-3 Greasing to the linear guides
c
CAUTION
• Apply grease by hand. Using a metal tool such as a grease gun is dangerous
because it will be attracted to the magnet.
• During work, the shutter must be kept open (pulled upward).
Releasing the shutter or moving it right or left is very dangerous because it
will be attracted to the magnet.
If the shutter is attracted by the magnet, carefully pull it upward to separate
from the magnet.
6) Carefully return the shutter to the original position and clamp it.
7) Insert the square nut for holding the end cover into the T-slot in the frame.
5
Periodic inspection and maintenance
8) Reattach the end cover.
9) Reattach the side moldings.
5-11
5-4 Adjusting shutter slack
5-4
Adjusting shutter slack
The shutter might sometimes elongate after long term use. If that happens adjust it as
shown below.
5-4-1 MR12
1) Check that the controller power is off.
2) Remove the end cover diagonally upwards.
Remove the end cover from either end of the robot unit. If difficult to remove the
end cover, remove it while slightly twisting it right and left.
You will see two screws securing the shutter.
5
Periodic inspection and maintenance
Remove end cover.
3) Loosen the two screws securing the shutter. (Do not remove.)
c
CAUTION
Do not remove the screws securing the shutter. The shutter might stick itself
to the magnet shaft or parts might drop inside the robot unit.
Phillips screwdriver
5-12
5-4 Adjusting shutter slack
4) While pushing the shutter towards the screw side with your fingers, tighten with
the Phillips screwdriver and check it is not loose.
Shutter
c
CAUTION
Do not press down strongly on the shutter. Pressing strongly might warp the
shutter.
6) Fit the end cover back on from the lower side and install it back in its original
position.
5-13
Periodic inspection and maintenance
5) Move the slider back and forth several times and check for any slack or looseness
in parts. Also check if any parts are binding during movement.
5
5-4 Adjusting shutter slack
5-4-2 MR16/MR16H
1) Check that the controller power is off.
2) Insert precision screwdrivers or similar tools into the slots on both edges of the
end cover as shown. While pressing inwards on the end cover from left and right,
remove the end cover upwards. You will see two screws securing the shutter.
5
End cover
Periodic inspection and maintenance
3) Loosen the two screws securing the shutter. (Do not remove.)
c
CAUTION
Do not remove the screws securing the shutter. The shutter might stick itself
to the magnet shaft or parts might drop inside the robot unit.
Phillips screwdriver
5-14
5-4 Adjusting shutter slack
4) While pushing the shutter towards the screw side with your fingers, tighten with
the Phillips screwdriver and check it is not loose.
Shutter
c
CAUTION
Do not press down strongly on the shutter. Pressing strongly might warp the
shutter.
6) Fit the end cover back on from the lower side and install it back in its original
position.
5-15
5
Periodic inspection and maintenance
5) Move the slider back and forth several times and check for any slack or looseness
in parts. Also check if any parts are binding during movement.
5-4 Adjusting shutter slack
5-4-3 MR20/MR25
1) Check that the controller power is off.
2) Remove the side moldings as shown by using the tip of a precision screwdriver or
similar tool. You can remove the side moldings from either end. You will see the
screw securing the end cover to the robot body.
5
Side molding
Periodic inspection and maintenance
3) Remove the screws securing the end cover. Two screws are aligned on one side of
the robot body. Remove the screw on the outer side (nearer the end cover). Also
remove the screw in the same position on the opposite side.
5-16
5-4 Adjusting shutter slack
4) Remove the end cover. You will see two screws securing the shutter.
End cover
5) Loosen the two screws securing the shutter. (Do not remove.)
Phillips screwdriver
5
CAUTION
Do not remove the screws securing the shutter. The shutter might stick itself
to the magnet shaft or parts might drop inside the robot unit.
5-17
Periodic inspection and maintenance
c
5-4 Adjusting shutter slack
6) While pushing the shutter towards the screw side with your fingers, tighten with
the Phillips screwdriver and check it is not loose.
Shutter
c
5
CAUTION
Do not press down strongly on the shutter. Pressing strongly might warp the
shutter.
Periodic inspection and maintenance
7) Move the slider back and forth several times and check for any slack or looseness
in parts. Also check if any parts are binding during movement.
8) Attach the end cover and side moldings back in their original positions.
5-18
5-5 Replacing the shutter
5-5
Replacing the shutter
5-5-1 MR12/MR16/MR16H
w
WARNING
BE CAREFUL NOT TO LET THE SHUTTER DROP INSIDE THE ROBOT BODY DURING
SHUTTER REPLACEMENT. THIS COULD CAUSE BREAKDOWNS OR DAMAGE IN
BOTH THE SHUTTER AND THE ROBOT.
1) Make sure that the controller power is off.
2) Insert precision screwdrivers or similar tools into the slots on both edges of an
end cover as shown. While pressing inwards on the end cover from left and right,
remove the end cover upwards. Remove the two end covers since another end
cover is located at the other end of the robot body.
5
Periodic inspection and maintenance
End cover
3) Remove both shutter clamp plates located at the ends of the robot body.
Shutter clamp plate
5-19
5-5 Replacing the shutter
4) Fasten the new shutter onto the old shutter (for replacement) with tape as shown in
the photo.
New shutter
Old shutter
5
Fasten with tape
Periodic inspection and maintenance
c
CAUTION
Attach the tape strongly enough so it will not come loose during the pull-in
task. If the tape is too thick the shutter will be impossible to pull in, so use
tape with the right thickness such as insulating tape.
5) Pull gently on the old shutter as shown in the photo so that it will not come loose
from the groove in the stroke cover, and draw in the new shutter.Be careful at this
time not to let the new shutter twist, warp or hang up.
5-20
5-5 Replacing the shutter
6) After finished installing the new shutter, adjust its position. Make sure that there
is no looseness or slack in the shutter and then reinstall the shutter clamp plate.
When adjusting the shutter slack, refer to "5-4 Adjusting shutter slack".
7) Reattach the end covers.
5
5-5-2 MR20/MR25
WARNING
BE CAREFUL NOT TO LET THE SHUTTER DROP INSIDE THE ROBOT BODY DURING
SHUTTER REPLACEMENT. THIS COULD CAUSE BREAKDOWNS OR DAMAGE IN
BOTH THE SHUTTER AND THE ROBOT.
1) Make sure that the controller power is off.
2) Remove the side moldings as shown by using the tip of a precision screwdriver or
similar tool. You can remove the side moldings from either end.
Side molding
5-21
Periodic inspection and maintenance
w
5-5 Replacing the shutter
3) Remove the screws securing the end covers at both ends of the robot body.
4) Remove the end covers from both ends of the robot body.
5
End cover
Periodic inspection and maintenance
5) Remove both shutter clamp plates located at the ends of the robot body.
Shutter clamp plate
5-22
5-5 Replacing the shutter
6) Fasten the new shutter onto the old shutter (for replacement) with tape as shown in
the photo.
New shutter
Old shutter
5
Fasten with tape
CAUTION
Attach the tape strongly enough so it will not come loose during the pull-in
task. If the tape is too thick the shutter will be impossible to pull in, so use
tape with the right thickness such as insulating tape.
5-23
Periodic inspection and maintenance
c
5-5 Replacing the shutter
7) Pull gently on the old shutter as shown in the photo so that it will not come loose
from the groove in the stroke cover, and draw in the new shutter. Be careful at this
time not to let the new shutter twist, warp or hang up.
5
Periodic inspection and maintenance
8) After finished installing the new shutter, adjust its position. Make sure that there
is no looseness or slack in the shutter and then reinstall the shutter clamp plate.
When adjusting the shutter slack, refer to "5-4 Adjusting shutter slack".
9) Reattach the end covers and side moldings.
5-24
Chapter 6
Troubleshooting
Contents
6-1 If you suspect trouble
6-1
6-2 Feedback error
6-1
6-3 Magnetic pole detection error
6-3
6-4 Overload
6-4
6-1 If you suspect trouble
6-1
If you suspect trouble
If an error such as a feedback error and overload 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.
6-2
Feedback error
Feedback error 1
External force or friction is applied
to slider when power is turned on.
YES
Remove external force and
friction and restart the robot.
NO
Turn power off and check
slider movement by moving
it by hand.
Check wiring by
referring to robot
manual.
If replacement controller
is available, check by
exchanging the controllers.
YES
Repair the robot. *
* Try to turn on power in another
place to check whether the robot
operates normally.
NO
YES
Connector wiring is incorrect.
6
Correct wiring or replace
defective connector pins.
Troubleshooting
Check robot number on
HPB screen while referring
to SRCP controller user's
manual.
Robot mechanical movement is
heavy at point where power is
turned on.
NO
Robot number parameter is
incorrect.
YES
Initialize parameters.
NO
Controller is defective.
YES
Replace the controller.
NO
External noise is large.
YES
Take noise reduction
measures.
NO
Consult us.
Requires repair or parts replacement.
Contact us.
6-1
6-2 Feedback error
Feedback error 2
Feedback error 4
Poor wiring connection or
connector is disconnected.
• Check signal wire if
feedback error 2 occurs.
• Check motor wire if
feedback error 4 occurs.
Check resistance
between phases
(U-V, V-W, W-U).
MR12: 867
MR16: 507
MR16H: 197
MR20: 12.57
MR25: 147
Enter teaching mode
in emergency stop
and check current
position display.
6
Check robot number
on HPB screen while
referring to SRCP
controller user's
manual.
Troubleshooting
If replacement controller
is available, check by
exchanging the controllers.
YES
Securely connect wires and
connectors.
NO
Wiring or cable is broken.
(Electrical discontinuity)
YES
Replace the cable.
NO
YES
Motor resistance is abnormal.
Repair
NO
Current position display on HPB
fluctuates. *
YES
Repair
* Current reading varies even though
slider is stopped.
NO
Robot number parameter is
incorrect.
YES
Initialize parameters.
NO
YES
Controller is defective.
Replace the controller.
NO
External noise is large.
YES
Take noise reduction
measures.
NO
Consult us.
Requires repair or parts replacement.
Contact us.
6-2
6-3 Magnetic pole detection error
6-3
Magnetic pole detection error
Magnetic pole detection error
YES
Securely make connections.
Motor wire is disconnected.
NO
External force or friction is
applied to slider when power
is turned on.
Turn power off and check
slider movement by
moving it by hand.
Remove external force and
friction and restart the robot.
NO
Robot mechanical movement
is heavy at point where power
is turned on.
NO
Check wiring by referring
to robot manual.
YES
Connector wiring is incorrect.
YES
Repair the robot. *
* Try to turn on power in another
place to check whether the robot
operates normally.
YES
Correct wiring or replace
defective connector pins.
NO
6
Consult us.
6-3
Troubleshooting
Requires repair or parts replacement.
Contact us.
6-4 Overload
6-4
Overload
Overload
Check with duty
monitor.
YES
Operation duty is too high.
Check operating conditions
by referring to the manual.
NO
External force or friction is
applied to slider.
Turn power off and check
slider movement by
moving it by hand.
YES
Remove external force and
friction.
NO
Robot mechanical movement
is heavy.
YES
Repair
NO
YES
Motor cable is broken or frayed.
Check resistance
between phases
(U-V, V-W, W-U).
MR12: 867
MR16: 507
MR16H: 197
MR20: 12.57
MR25: 147
6
Troubleshooting
Check robot number
on HPB screen while
referring to SRCP
controller user's
manual.
If replacement controller
is available, check by
exchanging the controllers.
Replace the cable.
NO
Motor resistance is abnormal.
YES
Repair
NO
Robot number parameter is
incorrect.
YES
Initialize parameters.
NO
Controller is defective.
YES
Replace the controller.
NO
External noise is large.
YES
Take noise reduction
measures.
NO
Consult us.
Requires repair or parts replacement.
Contact us.
6-4
Chapter 7
Specifications
Contents
7-1 Main unit
7-1
7-1-1
7-1-2
7-1-3
7-1-4
7-1-5
7-1
7-6
7-11
7-16
7-21
MR12/MR12D
MR16/MR16D
MR16H/MR16HD
MR20/MR20D
MR25/MR25D
7-2 Robot connector (I/O signal connector) 7-26
7-3 Robot connector (motor connector)
7-27
7-4 Robot cable (I/O signal wires)
7-28
7-5 Robot cable (motor wires)
7-28
7-1 Main unit
7-1
Main unit
7
7-1-1 MR12/MR12D
Robot model
MR12
Specifications
● Basic specifications
MR12D
Repeatability
(positioning accuracy)
Within ±5μm
Maximum cross-section
outside dimensions
W60×H90mm (excluding cable carrier)
Total length
Stroke length +288mm
Bearing method
Stroke length +488mm
Single guide rail with 2 bearing blocks (with built-in retainer)
Drive system / shaft
diameter
Shaft motor / 12mm diameter
Scale
Magnetic method: resolution 1μm
Rated thrust
18N
Maximum payload
5kg
Maximum speed
2500mm/sec * 1
Maximum stroke
1050mm
Controller
SRCP, SR1-P, RCX221, RDP
* 1: Maximum speed may not be obtained depending on operating conditions.
● Static loading moment
MY
(Unit: N•m)
MY
MP
MR
107
107
89
MP
MR
● Tolerable overhang amount * 2
(Unit: mm)
Horizontal installation
Wall installation
A
B
C
A
B
C
1kg
600
600
600
600
600
600
2kg
1200
1200
598
529
1200
1200
3kg
1800
1800
406
323
1450
1800
5kg
3000
1561
241
162
589
3000
* : Distance from center of slider top to center of gravity of object being carried.
2
Wall installation
Horizontal installation
A
B
C
B
A
C
7-1
5.7
3.2
2.6
24
15
49
40
A
3
8
2
6
3.9
M
N
Weight (kg)
4.4
438
338
L
150
50
Effective stroke
5.0
10
4
538
250
60
53
5.6
12
5
638
350
M
S
Cross-section of optional cable carrier
20.5
14
Detail of section A
2
39
With optional cable carrier attached
145 (M option)
120 (S option)
89
6.1
14
6
738
450
35
35
31.5
1
MR12 single-carriage horizontal mount model
6.7
16
7
838
550
87
58
25.5
(Tolerance between
knocks±0.02)
45
750
850
69
100
(160)
100
80
+0.012
N-M4x0.7 Depth 8
Mx100
2-F4H7 0
Depth 6
4-M4x0.7 Depth 8
Grounding terminal (M4)
60
80
65 ±0.02
L
Movable range
(Effective stroke+2)
(69)
56±1
(Note 1)
(142 : When at L side origin)
142±2 (R side origin position)
950 1050 Note 1. Distance from both ends to the mechanical stopper.
4-M3x0.5 Depth 6
58±1
(Note 1)
144±2 (L side origin position)
(144 : When at R side origin)
(84.5)
7.3
18
8
7.9
20
9
8.4
22
10
9.0
24
11
9.5
26
12
side by parameter setting.
938 1038 1138 1238 1338 * The origin is set on the L side at the time of shipment. It can be changed to the R
650
90
(88.1)
83
7-2
20.5
14
7
30
Specifications
● Dimensions
7-1 Main unit
20.5
14
(160)
49
40
3
8
2
6
3.9
M
N
Weight (kg)
4.4
438
L
150
50
338
Effective stroke
Detail of section A
3.2
5.7
5.0
10
4
538
250
5.6
12
5
638
350
M
S
51
Cross-section of optional cable carrier
14
24
15
6.1
14
6
738
450
39
6.7
16
7
838
550
A
60
(160)
53
30
100
56±1
(Note 1)
(142 : When at R side origin)
142±2 : L side origin position
69
+0.012
2-F4H7 0
Depth 6
4-M4x0.7 Depth 8
(69)
144±2 : R side origin position
(144 : When at L side origin)
58±1
(Note 1)
65 ±0.02
80
100
(160)
(106)
80
Grounding terminal (M4)
L
Movable range
(Effective stroke+2)
N-M4x0.7 Depth 8
Mx100
7.3
18
8
7.9
20
9
8.4
22
10
9.0
24
11
9.5
26
12
side by parameter setting.
750 850 950 1050 Note 1. Distance from both ends to the mechanical stopper.
938 1038 1138 1238 1338 * The origin is set on the R side at the time of shipment. It can be changed to the L
650
160
With optional cable carrier S attached With optional cable carrier M attached
20.5
2.6
2
83
45 (Tolerance between knocks±0.02)
24
(88.1)
89
90
Specifications
MR12 single-carriage wall mount model
7-1 Main unit
7
7-3
2
2.6
89
A
39
31.5
1
M
49
40
5
12
4
10
5.7
M
N
Weight (kg)
6.3
638
538
L
150
50
Effective stroke
6.8
14
6
738
250
7.3
16
7
838
350
Cross-section of optional cable carrier
S
24
15
53
35
14
60
20.5
With optional cable carrier attached
145 (M option)
120 (S option)
Detail of section A
5.7
3.2
20.5
87
(Tolerance between
knocks±0.02)
58
45
25.5
90
(88.1)
83
7-4
14
550
650
750
100
(160)
100
80
60
850
65 ±0.02
80
+0.012
Depth 6
0
Mx100
Movable range
(Effective stroke+2)
65 ±0.02
80
(200 : Minimum distance between carriages)
8.0
18
8
8.6
20
9
9.1
22
10
9.7
24
11
28
13
30
14
10.2 10.8 11.3
26
12
(69)
56±1
(Note 2)
142±2 (Note 1)
950 1050 Note 1. Position of the table slider when returned to the origin.
N-M4x0.7 Depth 8
L
Grounding terminal (M4)
4-M4x0.7 Depth 8
2-F4H7
Movable range
(Effective stroke+2)
938 1038 1138 1238 1338 1438 1538 Note 2. Distance from both ends to the mechanical stopper.
450
69
4-M3x0.5 Depth 6
58±1
(Note 2)
144±2 (Note 1)
7
30
Specifications
MR12D double-carriage horizontal mount model
7-1 Main unit
(84.5)
30
2.6
(160)
20.5
14
3.2
5.7
50
538
4
10
5.7
Effective stroke
L
M
N
Weight (kg)
6.3
12
5
638
150
6.8
14
6
738
250
39
51
7.3
16
7
838
350
A
550
650
750
56±1
(Note 2)
850
N-M4x0.7 Depth 8
(106)
80
L
Mx100
8.0
18
8
8.6
20
9
9.1
22
10
9.7
24
11
28
13
30
14
10.2 10.8 11.3
26
12
(69)
+0.012
2-F4H7 0
Depth 6
4-M4x0.7 Depth 8
Movable range
(Effective stroke+2)
65 ±0.02
80
100
(160)
58±1
(Note 2)
(200 : Minimum distance between carriages) 144±2 (Note 1)
Grounding terminal (M4)
950 1050 Note 1. Position of the table slider when returned to the origin.
+0.012
Depth 6
2-F4H7 0
4-M4x0.7 Depth 8
Movable range
(Effective stroke+2)
Grounding terminal (M4)
65 ±0.02
80
100
(160)
142±2 (Note 1)
100
938 1038 1138 1238 1338 1438 1538 Note 2. Distance from both ends to the mechanical stopper.
450
160
S
M
Cross-section of optional cable carrier
20.5
14
Detail of section A
2
49
40
(Tolerance between knocks±0.02)
45
24
15
53
60
90
89
(88.1)
83
With optional cable carrier S attached With optional cable carrier M attached
69
Specifications
24
(160)
MR12D double-carriage wall mount model
7-1 Main unit
7
7-5
7-1 Main unit
7-1-2 MR16/MR16D
7
● Basic specifications
Robot model
MR16
MR16D
Specifications
Repeatability
(positioning accuracy)
Within ±5μm
Maximum cross-section
outside dimensions
W80×H100mm (excluding cable carrier)
Total length
Stroke length +288mm
Bearing method
Stroke length +488mm
Thin, wide linear guide (with lubricant seals)
Drive system / shaft
diameter
Shaft motor / 16mm diameter
Scale
Magnetic method: resolution 1μm
Rated thrust
27N
Maximum payload
7kg
Maximum speed
2500mm/sec * 1
Maximum stroke
1550mm
Controller
1450mm
SRCP, SR1-P, RCX221, RDP
* : Maximum speed may not be obtained depending on operating conditions.
1
● Static loading moment
MY
(Unit: N•m)
MY
MP
MR
148
148
113
MP
MR
● Tolerable overhang amount * 2
(Unit: mm)
Horizontal installation
A
B
Wall installation
C
A
B
C
1kg
600
600
600
600
600
600
3kg
1800
1800
274
208
1800
1800
5kg
3000
1601
163
94
779
2570
7kg
3411
1156
115
45
0
1525
* 2: Distance from center of slider top to center of gravity of object being carried.
Horizontal installation
A
Wall installation
B
C
B
7-6
A
C
7-7
2
99
A
1.6
2.6
50
338
2
6
5.8
Effective stroke
L
M
N
Weight (kg)
6.7
8
3
438
150
80
(75)
68
1
49
40
7.6
10
4
538
250
8.6
12
5
638
350
9.5
14
6
738
450
750
850
Grease hole F9
N-M4x0.7 Depth 10
Mx100
8
18
9
20
22
10
144 (Note 2)
(69)
(138 : When at L side origin)
138±2 (R side origin position)
52±1
(Note 1)
11
24
26
12
28
13
30
14
32
15
34
16
36
17
stopper.
Note 2. Position of grease hole.
* The origin is set on the L side at the time of
shipment. It can be changed to the R side by
parameter setting.
950 1050 1150 1250 1350 1450 1550 Note 1. Distance from both ends to the mechanical
144 (Note 2)
100
+0.012
2-F4H7 0
Depth 6
4-M5x0.8 Depth 10
L
Movable range (Effective stroke+10)
938 1038 1138 1238 1338 1438 1538 1638 1738 1838
650
69
(160)
100
80
60
Grounding terminal (M4)
4-M3x0.5 Depth 6
140±2 (L side origin position)
(140 : When at R side origin)
54±1
80
(Note 1)
65 ±0.02
10.4 11.4 12.3 13.2 14.2 15.1 16.0 16.9 17.9 18.8 19.8
16
7
838
550
M
S
Cross-section of optional cable carrier
24
15
31
35
34
With optional cable carrier attached
60
165 (M option)
140 (S option)
20.5
14
73
28
100
(98)
93
50
27
39
28.7
(Note 2)
(F13)
Detail of section A
5.7
3.2
97
20.5
14
(Tolerance between
knocks±0.02)
MR16 single-carriage horizontal mount model
(87.5)
Specifications
● Dimensions
7-1 Main unit
7
(180)
50
338
2
6
5.8
Effective stroke
L
M
N
Weight (kg)
6.7
8
3
438
150
Detail of section A
3.2
5.7
24
15
49
40
7.6
10
4
538
250
(F13)
28.7
8.6
12
5
638
350
39
52
9.5
14
6
738
450
27
(180)
750
850
Mx100
8
18
9
20
22
10
65 ±0.02
80
100
(160)
140±2 : R side origin position
(140 : When at L side origin)
54±1
100
(Note 1)
80
(69)
144 (Note 2)
11
24
26
12
28
13
30
14
32
15
34
16
36
17
stopper.
Note 2. Position of grease hole.
* The origin is set on the R side at the time of
shipment. It can be changed to the L side by
parameter setting.
950 1050 1150 1250 1350 1450 1550 Note 1. Distance from both ends to the mechanical
+0.012
2-F4H7 0
Depth 6
4-M5x0.8 Depth 10
L
Movable range
(Effective stroke+10)
Grounding terminal (M4)
N-M4x0.7 Depth 10
938 1038 1138 1238 1338 1438 1538 1638 1738 1838
650
100
(138 : When at R side origin)
138±2 : L side origin position
52±1
(Note 1)
69
Grease hole F9
10.4 11.4 12.3 13.2 14.2 15.1 16.0 16.9 17.9 18.8 19.8
16
7
838
550
A
M
S
Cross-section of optional cable carrier
2.6
50
With optional cable carrier M attached
20.5
14
With optional cable carrier S attached
180
144 (Note 2)
(Tolerance between knocks±0.02)
25
20.5
14
2
93
(98)
99
100
60
7-8
68
(75)
80
7
1.6
Specifications
MR16 single-carriage wall mount model
7-1 Main unit
5.7
3.2
99
A
27
39
49
40
31
35
34
1
50
538
4
10
8.7
Effective stroke
L
M
N
Weight (kg)
9.7
12
5
638
150
16
7
838
350
550
650
144 (Note 3)
750
100
(160)
100
80
60
80
65 ±0.02
850
Mx100
18
8
20
9
22
10
24
11
26
12
Depth 6
2-F4H7 0
4-M3x0.5 Depth 6
+0.012
4-M5x0.8 Depth 10
60
144 (Note 3)
(69)
(200 : Minimum distance between carriages)
Movable range
138±2 (Note 1)
(Effective stroke+10)
52±1
80
(Note 2)
65 ±0.02
28
13
30
14
32
15
34
16
36
17
38
18
origin.
Note 2. Distance from both ends to the mechanical stopper.
Note 3. Position of grease hole.
950 1050 1150 1250 1350 1450 Note 1. Position of the table slider when returned to the
Grease hole F9
N-M4x0.7 Depth 10
Grounding terminal (M4)
4-M5x0.8 Depth 10
+0.012
Depth 6
2-F4H7 0
L
Movable range (Effective stroke+10)
938 1038 1138 1238 1338 1438 1538 1638 1738 1838 1938
450
69
4-M3x0.5 Depth 6
54±1
(Note 2)
140±2 (Note 1)
10.6 11.5 12.5 13.4 14.3 15.3 16.2 17.1 18.0 19.0 19.9 20.9 21.8
14
6
738
250
M
S
Cross-section of optional cable carrier
24
15
80
(75)
68
97
1.6
(F13)
20.5
14
28.7 (Note 3)
With optional cable carrier attached
165 (M option)
140 (S option)
Detail of section A
2.6
20.5
14
60
(Tolerance between
knocks±0.02)
73
28
100
(98)
93
50
2
Specifications
MR16D double-carriage horizontal mount model
7-1 Main unit
7
7-9
(180)
49
40
20.5
14
2.6
2
(180)
50
538
4
10
8.7
Effective stroke
L
M
N
Weight (kg)
(F13)
9.7
12
5
638
150
39
69
16
7
838
350
27
A
550
650
750
850
65 ±0.02
80
100
(160)
100
80
Depth 6
18
8
20
9
22
10
24
11
26
12
(69)
65 ±0.02
80
100
(160)
100
80
Depth 6
4-M5x0.8 Depth 10
+0.012
2-F4H7 0
140±2 (Note 1)
54±1
(Note 2)
(200 : Minimum distance between carriages)
Grounding terminal (M4)
Movable range
(Effective stroke+10)
L
Mx100
144 (Note 3)
(Tolerance between knocks±0.02)
28
13
30
14
32
15
34
16
36
17
38
18
origin.
Note 2. Distance from both ends to the mechanical stopper.
Note 3. Position of grease hole.
950 1050 1150 1250 1350 1450 Note 1. Position of the table slider when returned to the
4-M5x0.8 Depth 10
+0.012
2-F4H7 0
Movable range
(Effective stroke+10)
N-M4x0.7 Depth 10
Grease hole F9
938 1038 1138 1238 1338 1438 1538 1638 1738 1838 1938
450
52±1
(Note 2)
138±2 (Note 1)
100
144 (Note 3)
10.6 11.5 12.5 13.4 14.3 15.3 16.2 17.1 18.0 19.0 19.9 20.9 21.8
14
6
738
250
28.7 (Note 2)
Detail of section A
3.2
5.7
52
68
(75)
80
S
M
Cross-section of optional cable carrier
24
15
180
1.6
20.5
14
With optional cable carrier S attached With optional cable carrier M attached
27
50
100
99
(98)
93
(Tolerance between knocks±0.02)
7-10
60
7
60
Specifications
MR16D double-carriage wall mount model
7-1 Main unit
7-1 Main unit
7-1-3 MR16H/MR16HD
● Basic specifications
Robot model
MR16H
7
MR16HD
Specifications
Repeatability
(positioning accuracy)
Within ±5μm
Maximum cross-section
outside dimensions
W80×H100mm (excluding cable carrier)
Total length
Stroke length +338mm
Bearing method
Stroke length +588mm
Thin, wide linear guide (with lubricant seals)
Drive system / shaft
diameter
Shaft motor / 16mm diameter
Scale
Magnetic method: resolution 1μm
Rated thrust
37N
Maximum payload
9kg
Maximum speed
2500mm/sec * 1
Maximum stroke
1500mm
Controller
1300mm
SRCP, SR1-P, RCX221, RDP
* : Maximum speed may not be obtained depending on operating conditions.
1
● Static loading moment
MY
(Unit: N•m)
MY
MP
MR
189
190
113
MP
MR
● Tolerable overhang amount * 2
(Unit: mm)
Horizontal installation
Wall installation
A
B
C
A
B
C
3kg
1800
1800
272
208
1800
1800
5kg
2901
2391
162
94
1171
1745
7kg
2541
1726
114
45
0
1130
9kg
2846
1366
88
18
0
840
* : Distance from center of slider top to center of gravity of object being carried.
2
Wall installation
Horizontal installation
A
B
C
B
A
C
7-11
2
39
27
165 (M option)
140 (S option)
A
(F13)
2.6
438
3
8
7.1
L
M
N
Weight (kg)
8.0
10
4
538
200
35
1
49
40
9.0
12
5
638
300
9.9
14
6
738
400
700
800
8
18
9
20
10
22
144 (Note 2)
(69)
(169 : When at L side origin)
169±2 (R side origin position)
83±1
(Note 1)
(87.5)
11
24
12
26
13
28
14
30
15
32
16
34
17
36
Note 2. Position of grease hole.
* The origin is set on the L side at the time of shipment. It
can be changed to the R side by parameter setting.
900 1000 1100 1200 1300 1400 1500 Note 1. Distance from both ends to the mechanical stopper.
Grease hole F9
M s 100
N-M4 s 0.7 Depth 10
938 1038 1138 1238 1338 1438 1538 1638 1738 1838
600
100
144 (Note 2)
69
Grounding terminal (M4)
(160)
100
80
60
6
4-M5 s 0.8 Depth 10
+0.012
2-F4H7 0
Depth
L
Effective stroke
10.8 11.8 12.7 13.6 14.6 15.5 16.4 17.3 18.3 19.2 20.2
16
7
838
500
S
M
Cross-section of optional cable carrier
24
15
31
34
4-M3 s 0.5 Depth 6
169±2(L side origin position)
(169 : When at R side origin)
83±1
80
(Note 1)
65±0.02
7
Effective stroke 100
80
(75)
68
20.5
14
1.6
With optional cable carrier attached
28.7 (Note 2)
Detail of section A
5.7
3.2
99
97
20.5
14
(Tolerance between
knocks±0.02)
73
60
28
100
(98)
93
7-12
50
Specifications
MR16H single-carriage horizontal mount model
7-1 Main unit
(180)
20.5
14
438
3
8
7.1
L
M
N
Weight (kg)
Effective stroke 100
8.0
10
4
538
9.0
12
5
638
300
(F13)
28.7 (Note 2)
200
Detail of section A
3.2
5.7
2
2.6
50
49
40
9.9
14
6
738
400
39
52
L
Mx100
+0.012
2-F4H7 0
Depth 6
4-M5x0.8 Depth 10
Effective stroke
N-M4x0.7 Depth 10
65 ±0.02
80
100
(160)
100
80
169±2 : R side origin position
(169 : When at L side origin)
83±1
(Note 1)
(69)
144 (Note 2)
18
8
20
9
22
10
24
11
26
12
28
13
30
14
32
15
34
16
36
17
* The origin is set on the R side at the time of shipment. It
can be changed to the L side by parameter setting.
700 800 900 1000 1100 1200 1300 1400 1500 Note 1. Distance from both ends to the mechanical stopper.
938 1038 1138 1238 1338 1438 1538 1638 1738 1838 Note 2. Position of grease hole.
600
100
(169 : When at R side origin)
169±2 : L side origin position
83±1
(Note 1)
69
Grease hole F9
10.8 11.8 12.7 13.6 14.6 15.5 16.4 17.3 18.3 19.2 20.2
16
7
838
500
27
A
With optional cable carrier M attached
M
S
Cross-section of optional cable carrier
24
15
20.5
14
With optional cable carrier S attached
68
(75)
80
144 (Note 2)
Specifications
25
(Tolerance between knocks±0.02)
(180)
180
1.6
93
(98)
99
100
60
MR16H single-carriage wall mount model
7-1 Main unit
7
7-13
2
2.6
A
1
14
12
Weight (kg)
16
7
888
300
+0.012
Grease hole F9
N-M4x0.7 Depth 10
Grounding terminal (M4)
2-F4H7 0
Depth 6
4-M5x0.8 Depth 10
2-F4H7 0
Depth 6
4-M3x0.5 Depth 6
+0.012
4-M5x0.8 Depth 10
60
169 (Note 3)
(94)
(250 : Minimum distance between carriages)
169±2 (Note 1)
Effective stroke
80
83±1
(Note 2)
65 ±0.02
Note 3. Position of grease hole.
Mx100
L
18
8
400
20
9
22
10
24
11
26
12
28
13
30
14
32
15
34
16
36
17
500 600 700 800 900 1000 1100 1200 1300 Note 1. Position of the table slider when returned to the origin.
988 1088 1188 1288 1388 1488 1588 1688 1788 1888 Note 2. Distance from both ends to the mechanical stopper.
169 (Note 3)
100
(160)
100
80
60
80
65 ±0.02
Effective stroke
10.9 11.8 12.7 13.7 14.6 15.3 16.3 17.4 18.3 19.2 20.2 21.1 22.1
6
5
M
788
200
688
L
Effective stroke 100
94
4-M3x0.5 Depth 6
83±1
(Note 2)
169±2
(Note 1)
7
N
49
40
31
35
34
M
S
Cross-section of optional cable carrier
15
24
80
(75)
68
20.5
14
1.6
28.7 (Note 3)
(F13)
20.5
14
39
27
Detail of section A
5.7
3.2
With optional cable carrier attached
165 (M option)
140 (S option)
99
97
(Tolerance between
knocks±0.02)
73
60
28
100
(98)
93
7-14
50
Specifications
MR16HD double-carriage horizontal mount model
7-1 Main unit
(180)
24
15
2.6
49
40
12
N
14
6
788
200
27
16
7
888
300
39
52
83±1
(Note 2)
65±0.02
80
100
(160)
(100)
80
+0.012
2-F4H7 0
Depth 6
4-M5 s 0.8 Depth 10
L
Mx100
(94)
169 (Note 3)
65 ±0.02
80
100
(160)
+0.012
2-F4H7 0
Depth 6
4-M5 s 0.8 Depth 10
(250 : Minimum distance between carriages)
Effective stroke
169±2 (Note 1)
(100)
83±1
(Note 2)
80
Grounding terminal (M4)
Note 3. Position of grease hole.
Effective stroke
N-M4 s 0.7 Depth 10
Grease hole F9
18
8
20
9
22
10
24
11
26
12
28
13
30
14
32
15
34
16
36
17
500 600 700 800 900 1000 1100 1200 1300 Note 1. Position of the table slider when returned to the origin.
988 1088 1188 1288 1388 1488 1588 1688 1788 1888 Note 2. Distance from both ends to the mechanical stopper.
400
A
100
169±2 (Note 1)
94
169 (Note 3)
10.9 11.8 12.7 13.7 14.6 15.3 16.3 17.4 18.3 19.2 20.2 21.1 22.1
5
M
Weight (kg)
688
L
Effective stroke 100
(F13)
28.7 (Note 3)
Detail of section A
3.2
5.7
2
50
With optional cable carrier M attached
68
(75)
80
S
M
Cross-section of optional cable carrier
20.5
14
With optional cable carrier S attached
180
1.6
27
Specifications
20.5
14
(180)
100
99
(98)
93
(Tolerance between knocks±0.02)
60
(Tolerance between knocks±0.02)
60
MR16HD double-carriage wall mount model
7-1 Main unit
7
7-15
7-1 Main unit
7-1-4 MR20/MR20D
7
● Basic specifications
Robot model
MR20
MR20D
Specifications
Repeatability
(positioning accuracy)
Within ±5μm
Maximum cross-section
outside dimensions
W145×H120mm (excluding cable carrier)
Total length
Stroke length +350mm
Bearing method
Stroke length +650mm
2 guide rails and 4 bearing blocks (with retainers)
Drive system / shaft
diameter
Shaft motor / 20mm diameter
Scale
Magnetic method: resolution 1μm
Rated thrust
70N
Maximum payload
17kg
Maximum speed
2500mm/sec * 1
Maximum stroke
2000mm
Controller
1700mm
SRCP, SR1-P, RCX221, RDP
* : Maximum speed may not be obtained depending on operating conditions.
1
● Static loading moment
MY
(Unit: N•m)
MY
MP
MR
306
306
269
MP
MR
● Tolerable overhang amount * 2
(Unit: mm)
Horizontal installation
Wall installation
A
B
C
A
B
C
5kg
3000
3000
1326
1328
2650
2736
10kg
2458
1744
748
702
1202
1876
17kg
1979
1055
463
389
605
1355
* 2: Distance from center of slider top to center of gravity of object being carried.
Wall installation
Horizontal installation
A
B
C
B
7-16
A
C
7-17
T
49
40
20.5
14
7.2
4.5
7
3.7
R0.3
39
32.5
2-F6H7 0
+0.012
A
Depth 10
4-M6 s 1.0 Depth 12
200
(190)
100
175±2 (L side origin position)
(175 : When at R side origin)
74±1
(注1)
Mx200
N-M6 s 1.0 Depth 10
Grounding terminal (M4)
70
50±0.02
N
Weight (kg)
6
6
8
3
25
650
300
8
3
75
750
400
10
4
25
850
500
700
800
900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000
10
4
75
12
5
25
12
5
75
14
6
25
14
6
75
16
7
25
16
7
75
18
8
25
18
8
75
20
9
25
20
9
75
22
10
25
22
10
75
24
11
25
24
11
75
950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350
600
(A)
(175 : When at L side origin)
175±2 (R side origin position)
74±1
(Note 1)
11.5 13.0 14.5 16.0 17.5 19.0 20.5 22.0 23.5 25.0 26.5 28.0 29.5 31.0 32.5 34.0 35.5 37.0 38.5 40.0
2
75
550
200
2
25
A
M
450
L
Effective stroke 100
L
Effective stroke
Note 1. Distance from both ends to the mechanical stopper.
* The origin is set on the L side at the time of shipment. It can be changed to the R side by parameter setting.
With optional cable carrier attached
244 (M option)
219 (S option)
145
(110)
105
R0.3
Detail of section T
2.5
119.5
S
M
Cross-section of optional cable carrier
24
15
120
(118.5)
110
101.5
100
20.5
14
25
90 (Tolerance between knocks±0.02)
MR20 single-carriage horizontal mount model
Specifications
● Dimensions
7-1 Main unit
7
20.5
14
4.5
7.2
R0.3
20.5
14
14.5 (M option)
42.5 (S option)
M
49
40
25
T
105
(110)
145
100
200
74±1
(Note 1)
(175 : When at R side origin)
175±2 (L side origin position)
A
2
6
N
Weight (kg)
75
25
A
M
8
3
25
650
300
8
3
75
750
400
10
4
25
850
500
700
800
10
4
75
12
5
25
12
5
75
900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000
14
6
25
14
6
75
16
7
25
16
7
75
18
8
25
18
8
75
20
9
25
20
9
75
25
22
10
75
22
10
(A)
50±0.02
74±1
(Note 1)
70
175±2 (R side origin position)
(175 : When at L side origin)
24
11
25
24
11
75
950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350
600
Depth 10
(190)
100
11.5 13.0 14.5 16.0 17.5 19.0 20.5 22.0 23.5 25.0 26.5 28.0 29.5 31.0 32.5 34.0 35.5 37.0 38.5 40.0
6
2
550
200
450
L
Effective stroke 100
+0.012
Effective stroke 2-F6H7 0
L
4-M6 s 1.0 Depth 12
Grounding terminal (M4)
Mx200
N-M6 s 1.0 Depth 10
Note 1. Distance from both ends to the mechanical stopper.
* The origin is set on the R side at the time of shipment. It can be changed to the L side by parameter setting.
With optional cable carrier attached
67.5
Detail of section T
7
Cross-section of optional cable carrier
S
24
15
3.7
2.5
(245)
7
101.5
110
(118.5)
120
90
(Tolerance between knocks±0.02)
7-18
245
Specifications
MR20 single-carriage wall mount model
7-1 Main unit
T
20.5
14
2.5
7
3.7
R0.3
32.5
39
49
40
With optional cable carrier attached
244 (M option)
219 (S option)
145
(110)
105
R0.3
Detail of section T
7.2
4.5
20.5
14
S
M
Cross-section of optional cable carrier
119.5
A
74±1
(Note 2)
4
10
3
8
Weight (kg)
400
500
600
700
800
Depth 10
900 1000 1100 1200 1300 1400 1500 1600 1700
Mx200
+0.012
2-F6H7 0
10
4
75
12
5
25
12
5
75
14
6
25
14
6
75
16
7
25
16
7
75
18
8
25
18
8
75
20
9
25
20
9
75
25
22
10
75
22
10
24
11
25
24
11
75
(190)
100
(A)
(300 : Minimum distance between carriages)
175±2 (Note 1)
Effective stroke
74±1
70
(Note 2)
50±0.02
4-M6 s 1.0 Depth 12
950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350
300
L
Grounding terminal (M4)
N-M6 s 1.0 Depth 10
4-M6 s 1.0 Depth 12
+0.012
2-F6H7 0
Depth 10
Effective stroke
20.0 21.6 23.1 24.7 26.2 27.8 29.3 30.9 32.4 34.0 35.5 37.1 38.6 40.2 41.7 43.3 44.8
25
75
A
M
N
850
200
750
L
Effective stroke 100
200
(190)
100
70
50±0.02
175±2 (Note 1)
Note 1. Position of the table slider when returned to the origin.
Note 2. Distance from both ends to the mechanical stopper.
25
90 (Tolerance between knocks±0.02)
120
(118.5)
110
101.5
100
24
15
Specifications
MR20D double-carriage horizontal mount model
7-1 Main unit
7
7-19
20.5
14
3.7
2.5
4.5
7.2
R0.3
20.5
14
25
67.5
T
3
8
N
Weight (kg)
25
75
A
M
400
500
600
700
200
800
N-M6 s 1.0 Depth 10
Depth 10
L
Mx200
10
4
75
12
5
25
12
5
75
14
6
25
14
6
75
16
7
25
16
7
75
18
8
25
18
8
75
20
9
25
20
9
75
25
22
10
75
22
10
24
11
25
+0.012
4-M6 s 1.0 Depth 12
(190)
100
Grounding terminal (M4)
2-F6H7 0
Depth 10
Effective stroke
(300 : Minimum distance between carriages)
900 1000 1100 1200 1300 1400 1500 1600 1700
Effective stroke
2-F6H7 0
+0.012
4-M6 s 1.0 Depth 12
Grounding terminal (M4)
(190)
100
175±2 (Note 1)
74±1
50±0.02
(Note 2)
70
A
24
11
75
950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350
300
100
20.0 21.6 23.1 24.7 26.2 27.8 29.3 30.9 32.4 34.0 35.5 37.1 38.6 40.2 41.7 43.3 44.8
10
4
850
200
750
L
Effective stroke 100
Note 1. Position of the table slider when returned to the origin.
Note 2. Distance from both ends to the mechanical stopper.
With optional cable carrier attached
(245)
14.5 (M option)
42.5 (S option)
Detail of section T
7
S
M
Cross-section of optional cable carrier
49
40
245
24
15
105
(110)
145
7-20
120
(118.5)
110
101.5
175±2 (Note 1)
74±1
50±0.02
(Note 2)
70
(A)
7
90 (Tolerance between knocks±0.02)
Specifications
MR20D double-carriage wall mount model
7-1 Main unit
7-1 Main unit
7-1-5 MR25/MR25D
● Basic specifications
Robot model
MR25
7
MR25D
Specifications
Repeatability
(positioning accuracy)
Within ±5μm
Maximum cross-section
outside dimensions
W145×H120mm (excluding cable carrier)
Total length
Stroke length +350mm
Bearing method
Stroke length +650mm
2 guide rails and 4 bearing blocks (with retainers)
Drive system / shaft
diameter
Shaft motor / 25mm diameter
Scale
Magnetic method: resolution 1μm
Rated thrust
90N
Maximum payload
23kg
Maximum speed
2500mm/sec * 1
Maximum stroke
2000mm
Maximum stroke
1700mm
SRCP, SR1-P, RCX221, RDP
* : Maximum speed may not be obtained depending on operating conditions.
1
● Static loading moment
MY
(Unit: N•m)
MY
MP
MR
306
306
269
MP
MR
● Tolerable overhang amount * 2
(Unit: mm)
Horizontal installation
A
Wall installation
B
C
A
B
C
5kg
3000
3000
1286
1288
2650
2556
10kg
2478
1745
749
703
1202
1886
17kg
1943
1056
426
394
606
1444
23kg
2248
801
379
279
385
1409
* 2: Distance from center of slider top to center of gravity of object being carried.
Wall installation
Horizontal installation
A
B
C
B
A
C
7-21
24
15
49
40
20.5
14
T
7.2
4.5
7
3.7
R0.3
32.5
39
+0.012
200
70
50±0.02
N-M6 s 1.0 Depth 10
25
2
6
M
N
Weight (kg)
550
450
L
A
8
3
25
650
300
8
3
75
750
400
10
4
25
850
500
700
800
900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000
10
4
75
12
5
25
12
5
75
14
6
25
14
6
75
16
7
25
16
7
75
18
8
25
18
8
75
20
9
25
20
9
75
22
10
25
22
10
75
24
11
25
24
11
75
(A)
(175 : When at L side origin)
175±2 (R side origin position)
74±1
(Note 1)
950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350
600
Mx200
L
Effective stroke
11.6 13.5 15.3 17.2 19.0 20.9 22.7 24.6 26.4 28.3 30.1 32.0 33.8 35.7 37.5 39.4 41.2 43.1 44.9 46.8
6
2
75
200
Effective stroke 100
Note 1. Distance from both ends to the mechanical stopper.
* The origin is set on the L side at the time of shipment. It can be changed to the R side by parameter setting.
A
Depth 10
(190)
100
175±2 (L side origin position)
(175 : When at R side origin)
74±1
(Note 1)
4-M6 s 1.0 Depth 12
2-F6H7 0
With optional cable carrier attached
244 (M option)
219 (S option)
145
(110)
105
R0.3
Detail of section T
2.5
119.5
S
M
Cross-section of optional cable carrier
20.5
14
25
90 (Tolerance between knocks±0.02)
7-22
120
(118.5)
110
101.5
7
100
Specifications
MR25 single-carriage horizontal mount model
7-1 Main unit
20.5
14
7
20.5
14
14.5 (M option)
42.5 (S option)
25
T
200
74±1
(Note 1)
(175 : When at R side origin)
175±2 (L side origin position)
A
Effective stroke
L
7-23
2
6
2
6
Weight (kg)
8
3
25
650
300
8
3
75
750
400
10
4
25
850
500
700
800
900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000
10
4
75
12
5
25
12
5
75
14
6
25
14
6
75
16
7
25
16
7
75
18
8
25
18
8
75
20
9
25
20
9
75
22
10
25
22
10
75
24
11
25
24
11
75
950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350
600
74±1
50±0.02
(Note 1)
70
175±2 (R side origin position)
(175 : When at L side origin)
11.6 13.5 15.3 17.2 19.0 20.9 22.7 24.6 26.4 28.3 30.1 32.0 33.8 35.7 37.5 39.4 41.2 43.1 44.9 46.8
75
25
A
M
N
550
200
450
Depth 10
(190)
100
(A)
Specifications
L
Effective stroke 100
2-F6H7 0
+0.012
4-M6 s 1.0 Depth 12
Grounding terminal (M4)
Mx200
N-M6 s 1.0 Depth 10
Note 1. Distance from both ends to the mechanical stopper.
* The origin is set on the R side at the time of shipment. It can be changed to the L side by parameter setting.
With optional cable carrier attached
67.5
Detail of section T
4.5
7.2
R0.3
105
(110)
145
S
M
Cross-section of optional cable carrier
49
40
100
245
24
15
3.7
2.5
(245)
101.5
110
(118.5)
120
90 (Tolerance between knocks±0.02)
MR25 single-carriage wall mount model
7-1 Main unit
7
T
20.5
14
2.5
7
3.7
R0.3
32.5
39
20.5
14
49
40
With optional cable carrier attached
244 (M option)
219 (S option)
145
(110)
105
R0.3
Detail of section T
7.2
4.5
M
S
Cross-section of optional cable carrier
24
15
119.5
A
74±1
(Note 2)
75
3
8
M
N
Weight (kg)
850
750
L
A
400
500
600
700
800
900 1000 1100 1200 1300 1400 1500 1600 1700
Mx200
Depth 10
10
4
75
12
5
25
12
5
75
14
6
25
14
6
75
16
7
25
16
7
75
18
8
25
18
8
75
20
9
25
20
9
75
22
10
25
22
10
75
24
11
25
24
11
75
950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350
300
N-M6 s 1.0 Depth 10
+0.012
2-F6H7 0
4-M6 s 1.0 Depth 12
(190)
100
70
50±0.02
(300 : Minimum distance between carriages)
Effective stroke
Grounding terminal (M4)
L
21.3 23.2 25.1 27.0 28.9 30.8 32.7 34.6 36.5 38.4 40.3 42.2 44.1 46.0 47.9 49.8 51.7
10
4
25
200
Effective stroke 100
200
50±0.02
(190)
100
4-M6 s 1.0 Depth 12
70
Effective stroke
+0.012
2-F6H7 0
Depth 10
175±2 (Note 1)
Note 1. Position of the table slider when returned to the origin.
Note 2. Distance from both ends to the mechanical stopper.
25
90 (Tolerance between knocks±0.02)
7-24
120
(118.5)
110
101.5
175±2
(A)
74±1
(Note 2)
7
100
Specifications
MR25D double-carriage horizontal mount model
7-1 Main unit
20.5
14
7
3.7
20.5
14
14.5 (M option)
42.5 (S option)
25
T
Weight (kg)
10
400
500
600
700
800
+0.012
Effective stroke
Depth 10
4-M6 s 1.0 Depth 12
2-F6H7 0
L
Mx200
+0.012
4-M6 s 1.0 Depth 12
2-F6H7 0
Depth 10
Effective stroke
(300:Minimum distance between carriages)
10
4
75
12
5
25
12
5
75
14
6
25
14
6
75
16
7
25
16
7
75
18
8
25
18
8
75
20
9
25
20
9
75
25
22
10
75
22
10
(190)
100
Grounding terminal (M4)
900 1000 1100 1200 1300 1400 1500 1600 1700
175±2 (Note 1)
(190)
100
Grounding terminal (M4)
N-M6 s 1.0 Depth 10
24
11
25
24
11
75
950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350
300
200
74±1 50±0.02
(Note 2)
70
A
21.3 23.2 25.1 27.0 28.9 30.8 32.7 34.6 36.5 38.4 40.3 42.2 44.1 46.0 47.9 49.8 51.7
8
3
N
25
75
A
M
4
850
200
750
L
Effective stroke 100
Note 1. Position of the table slider when returned to the origin.
Note 2. Distance from both ends to the mechanical stopper.
With optional cable carrier attached
67.5
Detail of section T
4.5
7.2
R0.3
105
(110)
145
S
M
Cross-section of optional cable carrier
49
40
245
2.5
(245)
100
120
(118.5)
110
101.5
90 (Tolerance between knocks±0.02)
24
15
(Note 2)
74±1
(A)
175±2 (Note 1)
50±0.02
70
Specifications
MR25D double-carriage wall mount model
7-1 Main unit
7
7-25
7-2 Robot connector (I/O signal connector)
7-2
Robot connector (I/O signal connector)
7
Cable carrier
on robot
Hood
Specifications
To robot cable
(I/O signal wires)
Signal
Pin No.
Connection
Pin No.*
Remarks
S+
1
1
Blue
S-
2
2
Orange
C+
3
3
Green
C-
4
4
Brown
0.15mm 2
Z+
5
5
Gray
Z-
6
6
Red
twisted
pair
+5 V
7
7
Black
D.G
8
8
Yellow
F.G
9
9
Shield
*Internally connected
7-26
7-3 Robot connector (motor connector)
7-3
Robot connector (motor connector)
Hood
7
Cable carrier
Ground wire on robot
Specifications
To robot cable
(motor wires)
Signal
Pin No.
Motor wire FG
Connection
Pin No.*
Remarks
Round terminal
4
0.5 mm 2 Green
U
1
1
0.5 mm 2 Red
V
2
2
0.5 mm 2 White
W
3
3
0.5 mm 2 Black
*Internally connected
7-27
7-4 Robot cable (I/O signal wires)
7-4
Robot cable (I/O signal wires)
7
Hood
To controller
Specifications
Controller
connector
To robot
Pin No. Connection Pin No.
ROB I/O
7-5
1
2
3
4
5
6
7
8
9
1
2
3
4
7
8
5
6
20
Signal
Remarks
S+
SC+
CZ+
Z+5V
D.G.
FG
0.15 mm 2 Blue
0.15 mm 2 Orange
0.15 mm 2 Green
0.15 mm 2 Brown
0.15 mm 2 Gray
0.15 mm 2 Red
0.15 mm 2 Black
0.15 mm 2 Yellow
Robot cable (motor wires)
Hood
To controller
To robot
Ground wire
● SRCP
Controller
connector
Signal
Pin No.
Motor wire FG
Connection
Pin No.
Remarks
1
Round terminal
0.75 mm 2 Yellow/Green
U
2
1
0.75 mm 2 Red
V
4
2
0.75 mm 2 White
W
3
3
0.75 mm 2 Black
Signal
Pin No.
Pin No.
Remarks
Motor wire FG
1
Round terminal
0.75 mm 2 Yellow/Green
U
2
1
0.75 mm 2 Red
V
3
2
0.75 mm 2 White
W
4
3
0.75 mm 2 Black
MOTOR
● RCX
Controller
connector
Connection
MOTOR
7-28
MEMO
Revision record
Manual version Issue date
Description
Ver. 2.02
Jun. 2009
Addition of cautions about the magnetic scale.
Ver. 2.03
Oct. 2009
Clerical error corrections.
Ver. 2.04
Dec. 2009
The address and other information were added to the front cover.
Ver. 2.05
Mar. 2010
Some explanations were corrected or added in "Chapter 1 Using
the Robot Safely". Addition of procedure for applying grease to
MR20/25. Clerical error corrections, etc.
Ver. 2.06
Jun. 2011
The description regarding "Warranty" was changed.
Ver. 2.07
Jul. 2012
The description regarding "Warranty" was changed.
User's Manual
PHASER series
Linear Single-axis Robots
MRType
Jul. 2012
Ver. 2.07
This manual is based on Ver. 2.07 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.