Download Yamaha 150Z User`s manual

YAMAHA SCARA ROBOT
YK-X series
YK-XS
User’s Manual
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
E24-Ver. 2.14
Introduction
This user’s manual was prepared for YK-XS series ceiling-mount models
(YK300XHS to YK1000XS) of the YAMAHA industrial robots.
This user’s manual describes the safety measures, handling, adjustment and maintenance of YK-XS series robots for correct, safe and effective use. Be sure to read
this manual carefully before installing the robot. Even after you have read this
manual, keep it in a safe and convenient place for future reference.
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.
For the operating or maintenance procedures not described in this manual, please
refer to the separate “YK-X Series User’s Manual”. Also refer to the “YK-X
Series User’s Manual” for precautions and warranty. If there are any obscure
points in handling the robot, be sure to contact YAMAHA sales office or dealer.
For details on specific operation and programming of the robot, refer to the separate “YAMAHA Robot Controller User’s Manual”.
NOTES
• The contents of this manual are subject to change without prior notice.
• Information furnished by YAMAHA in this manual is believed to be reliable.
However, if you find any part unclear or inaccurate in this manual, please
contact YAMAHA sales office or dealer.
YAMAHA MOTOR CO., LTD.
IM Operations
MEMO
CONTENTS
CHAPTER 1
Functions
1 Robot Manipulator ..................................................... 1-1
2 Robot Parameters ..................................................... 1-4
CHAPTER 2
Installation
1 Installation Base ........................................................ 2-1
2 Installation ................................................................. 2-2
2-1 Unpacking ............................................................................................ 2-2
2-2 Checking the product ........................................................................... 2-3
2-3 Moving the robot .................................................................................. 2-4
2-3-1 Moving the YK300XHS, YK400XHS ...................................................... 2-4
2-3-2 Moving the YK500XS, YK600XS, YK700XS, YK800XS, YK1000XS ..... 2-5
CHAPTER 3
2-3-2-1
Moving the ceiling-mount robot .............................................. 2-5
2-3-2-2
Moving the inverted ceiling-mount robot .............................. 2-10
Periodic Inspection
1 Replacing the Harmonic Grease
(Inverted ceiling-mount model R-axis) ...................... 3-1
1-1 Replacement period ............................................................................. 3-1
CHAPTER 4
Specifications
1 Robot Manipulator ..................................................... 4-1
1-1 Basic specifications .............................................................................. 4-1
1-1-1 Ceiling-mount model .............................................................................. 4-1
1-1-2 Inverted ceiling-mount model ................................................................. 4-4
1-2 External view and dimensions ............................................................. 4-6
MEMO
CHAPTER 1
Functions
1 Robot Manipulator ................................................................. 1-1
2 Robot Parameters .................................................................. 1-4
MEMO
CHAPTER 1 Functions
1
Robot Manipulator
YK-XS series robots are grouped into the ceiling-mount models of Fig. 1-1 and
the inverted ceiling-mount models of Fig. 1-2. Jog key movement is in the directions shown in Figs. 1-1 and 1-2.
Robot part names and functions are shown in Fig. 1-3 and Fig. 1-4.
Y-axis arm
X-axis arm
(+)
(-)
(+)
(-)
(-)
Z-axis
(+)
Y-axis
X-axis
(-) R-axis (+)
Fig. 1-1 Ceiling-mount model
(-) R-axis (+)
X-axis arm
(+)
Z-axis
X-axis
Y-axis
(-)
(+)
(-)
(-)
(+)
Y-axis arm
Fig. 1-2 Inverted ceiling -mount model
1-1
CHAPTER 1 Functions
D-sub connector for user wiring
(No.1 to 10)
M4 ground terminal
D-sub connector for user wiring
(No.1 to 10)
Serial label
User tubing 1 (φ 4 black)
User tubing 2 (φ 4 red)
User tubing 1 (φ4 black)
User tubing 3 (φ 4 blue)
User tubing 2 (φ4 red)
Machine harness
User tubing 3 (φ4 blue)
Ball screw
Robot cable
Warning label 1
Warning label 3
Warning label 2
R-axis motor
X-axis motor
Z-axis motor
Y-axis motor
X-axis speed
reduction gear
Y-axis arm
R-axis speed
reduction gear
Z-axis spline
End effector attachment
Y-axis speed
reduction gear
Y-axis mechanical stopper
X-axis mechanical stopper
X-axis arm
Z-axis,R-axis pulley, belt
Fig. 1-3 YK300XHS, YK400XHS ceiling-mount robots
In the case of the inverted ceiling-mount models, the robot base up/down installation directions in the figure are reversed.
1-2
CHAPTER 1 Functions
Y-axis mechanical stopper
User tubing 2 (φ6 red)
User tubing 3 (φ6 blue)
D-sub connector for user wiring (No.1 to 20)
User tubing 1 (φ6 black)
Robot cable
Warning label 2 (Same on opposite side)
Warning label 1 (Same on opposite side)
User tubing 3 (φ6 blue)
Ball screw
User tubing 2 (φ6 red)
User tubing 1 (φ6 black)
D-sub connector for user wiring
(No.1 to 20)
M4 ground terminal
Machine harness
Serial label
R-axis motor
Z-axis motor
Y-axis motor
Warning label 3
X-axis motor
Y-axis speed
reduction gear
R-axis speed reduction gear
Z-axis spline
X-axis speed
reduction gear
Y-axis arm
Z-axis,R-axis pulley, belt
End effector attachment
X-axis arm
Carrying jig installation position
Machine harness
X-axis movable mechanical stopper
Fig. 1-4 YK500XS to YK1000XS ceiling-mount robots
In the case of the inverted ceiling-mount models, the robot base up/down installation directions in the figure are reversed.
1-3
CHAPTER 1 Functions
2
Robot Parameters
A portion of the robot parameters for ceiling-mount models and inverted ceilingmount models are changed from the standard specifications when shipped.
The following is a description of these changed parameters and precautions you
should take when using these robots.
To purchasers of this robot
At this time our sincere thanks for your purchase of this robot.
This robot is made to custom specifications so some parameters are different
from standard robots. Please be aware of the following points before attempting
to use the robot.
Cautions regarding use
Always make a backup of parameters.
Initializing the parameters voids all parameters that were entered. When initialized, load the backup parameters.
Parameter changes
A description of parameter changes is given below. Boxes left blank indicate
standard specifications.
(1) Ceiling-mount model
Axis settings
Parameter
Axis parameters
16. Motor direction
Changes
Y-axis Z-axis
R-axis
X-axis
Changes
Y-axis Z-axis
+++
R-axis
---
Axis settings (YK300XHS, YK400XHS)
Parameter
X-axis
Axis parameters
37. Max. motor rotation
Changes
Y-axis Z-axis
X-axis
+++
(2) Inverted ceiling-mount models
Axis settings
Parameter
Axis parameters
16. Motor direction
Axis settings (YK500XS, YK600XS, YK700XS, YK800XS, YK1000XS)
Parameter
Changes
X-axis Y-axis Z-axis
Axis parameters
37. Max. motor rotation
1-4
R-axis
6000
R-axis
4000
CHAPTER 1 Functions
(3) YK300XHS
Axis settings
Parameter
Axis parameters
11. Arm length [mm]
X-axis
175.00
Changes
Y-axis Z-axis
125.00
Note that the model name “YK350X” is shown on the nameplate of the YK300XHS.
Robot numbers used to initialize the parameters are as follows
Robot numbers
2101
2102
2103
2104
2105
2106
2107
2110
2111
2112
2113
2114
Robot model
YK300XHS
YK400XHS
YK500XS
Z200
YK600XS
Z200
YK700XS
Z200
YK800XS
Z200
YK1000XS
Z200
YK500XS
Z300
YK600XS
Z300
YK700XS
Z400
YK800XS
Z400
YK1000XS
Z400
Manufacturer serial No.
Controller serial No.
1-5
R-axis
MEMO
1-6
CHAPTER 2
Installation
1 Installation Base .................................................................... 2-1
2 Installation .............................................................................. 2-2
2-1
2-2
2-3
Unpacking .................................................................................................. 2-2
Checking the product ................................................................................. 2-3
Moving the robot ........................................................................................ 2-4
2-3-1
Moving the YK300XHS, YK400XHS ........................................................... 2-4
2-3-2
Moving the YK500XS, YK600XS, YK700XS, YK800XS, YK1000XS .......... 2-5
2-3-2-1 Moving the ceiling-mount robot ..................................................... 2-5
2-3-2-2 Moving the inverted ceiling-mount robot ..................................... 2-10
MEMO
CHAPTER 2 Installation
1
Installation Base
1)
Please read the description of standard robot models for the installation base
and comply with the caution items provided.
WARNING
The ceiling-mount robot models are hung from the ceiling so a dangerous situation can occur if the robot support section breaks and the robot falls.
Make sure the robot support section has sufficient strength, rigidity and safety.
! CAUTION
• When using the YK300XHS and YK400XHS, make sure that the arm does
not interfere with the base installation section.
• When using the YK500XS to YK1000XS, make sure that the machine harness and Y-axis arm upper cover do not interfere with the base installation
section.
See “1-2 External view and dimensions” in Chapter 4.
2) Tap the required holes into the surface of the installation base. See “1-2 External view and dimensions” in Chapter 4 for how to tap the holes.
2-1
CHAPTER 2 Installation
2
Installation
2-1
Unpacking
WARNING
The robot and controller are heavy. Take sufficient care not to drop them during
moving or unpacking as this may damage the equipment or cause bodily injury.
! CAUTION
When moving the robot or controller by equipment such as a folk-lift that requires a license, only properly qualified personnel may operate it. The equipment and tools used for moving the robot should be serviced daily.
The YK-X series robot comes packed with a robot controller and accessories,
according to the order specifications. Using a carrying cart (dolly) or forklift,
move the package to near the installation base. Take sufficient care not to apply
shocks to the equipment when unpacking it.
Robot manipulator
YK500XS, YK600XS, YK700XS,
YK800XS, YK1000XS Ceiling-mount models
Case
Robot manipulator
YK300XHS,
YK400XHS
Arm clamping stay
(Remove after installation.)
Robot carrying jig
Arm clamping stay
(Remove after installation.)
Robot controller
and accessories
Robot manipulator
Fig. 2-1 Packed state
2-2
YK500XS, YK600XS, YK700XS,
YK800XS,YK1000XS
Inverted ceiling-mount models
CHAPTER 2 Installation
2-2
Checking the product
After unpacking, check the product configuration and conditions.
The illustration below shows typical configurations for YK500XS to YK1000XS
ceiling-mount and inverted ceiling-mount models, which are different from standard models.
! CAUTION
If there is any damage due to transportation or insufficient parts, please notify
your YAMAHA sales office or dealer immediately.
Controller : RCX240
Robot
: YK500XS, YK600XS, YK700XS, YK800XS, YK1000XS
STD. DIO
connector ( × 1)
RPB
terminator ( × 1)
CD-ROM manual
Warning label ( × 1)
Robot manipulator
YK-XS series
D-sub connector/hood ( × 2)
40
OP.3
OP.1
MO
TOR
RCX2
RPB
R
PW
SRV
ERR
XM
RO
I/O
YM
BATT
XY
B
XY
SEL
RO
I/O
CO
M
A
X
Z
B
OP.4
OP.2
P
N
ZR
STD.D
ACIN
IO
L
ZM
BATT
ZR
N
SAFE
TY
B
Y
R
Origin position stickers ( × 2)
(YK500XS,YK600XS × 3)
L1
N1
RM
Covers ( × 2)
OP
E-ST 14
EXT. 13−
ＰＩＮ
Screws ( × 4)
RCX240
Fig. 2-2 Product configurations
2-3
CHAPTER 2 Installation
2-3
Moving the robot
WARNING
Serious injury may occur if the robot falls and pins someone under it.
• Do not allow any part of your body to enter the area beneath the robot during
work.
• Always wear a helmet, safety shoes and gloves during work.
To check the mass of each robot, refer to “1-1 Basic specifications” in Chapter 4.
2-3-1
Moving the YK300XHS, YK400XHS
1) Fold the X and Y axis arms as shown in Fig. 2-3, and wind the robot cable
around the machine harness, then fasten the robot cable with adhesive tape so
as not to cover the bolt installation holes.
When moving an inverted ceiling mount robot, wind the robot cable around
the spline shaft as shown and fasten the cable with adhesive tape.
2) Holding the support parts as shown in the figure with both hands, place the
robot on the installation base and secure it temporarily by tightening the bolts.
(For tightening torque to secure the robot firmly, see “2-4 Installing the robot” in the YK-X standard model user’s manual.)
Robot cable
Robot cable
Bolt installation hole
Support part
Support part
Support part
Bolt installation hole
Support part
Fig. 2-3
2-4
CHAPTER 2 Installation
2-3-2
Moving the YK500XS, YK600XS, YK700XS, YK800XS, YK1000XS
WARNING
Serious injury may occur if the robot falls and pins someone under it.
• Check that there are no cracks and corrosion on the eyebolt installation. If
found, do not use eyebolts to move the robot.
• Insert the eyebolts into the holes of the carrying jig so that their bearing
surfaces make tight contact with each other, and securely fasten the eyebolts
with the nuts.
• Use a hoist and rope with carrying capacity strong enough to support the
robot weight.
• Make sure the rope stays securely on the hoist hook.
• Remove all loads attached to the robot manipulator end. If any load is still
attached, the robot may lose balance while being carried, and topple over
causing accidents.
! CAUTION
• When moving the robot by equipment such as cranes that require a license,
only properly qualified personnel may operate it.
• The equipment and tools used for moving the robot should be serviced daily.
To move a robot (for example, the YK500XS) correctly and safely, follow the
procedure below. Use the same procedure to move other robots.
2-3-2-1
Moving the ceiling-mount robot
(1) When using eyebolts (See Fig. 2-4.)
1) Remove the X-axis and Y-axis under covers and attach the carrying jigs as
shown in Fig. 2-4. Remove all loads if attached to the Z-axis to set the servo
free and release the brake. Then fold the Z-axis to a position where it can be
fastened to the arm clamping stay
2) Insert the eyebolts into the holes on the carrying jig and securely fasten the
eyebolts with the nuts. Then attach the arm clamping stay to the carrying jig.
3) Clamp the Y-axis arm by using the stay and bolts that come with the robot. If
the arms cannot be folded in the carrying position (see Fig. 2-4) due to the Xaxis mechanical stoppers, then remove them. (When the robot is shipped, the
mechanical stoppers are installed to provide the maximum movement range.)
4) Wind the robot cable around the robot base while keeping the cable from
hanging up on the base mount, then fasten the cable end with adhesive tape.
2-5
CHAPTER 2 Installation
5) Prepare 4 looped ropes with the same length to allow a good lifting balance,
then pass each rope through each eyebolt and catch it on the hoist hook.
6) Slightly lift the hoist so that each rope has light tension to hold the robot. In
this state, remove the bolts securing the robot base to the pallet supplied or
installation base (if robot is to be moved to another installation base).
7) Using caution to keep the balance of the robot and avoid subjecting it to any
strong vibrations and shocks, operate the hoist carefully to move to the installation base. The angle between each rope and the arm surface should be
kept at 45 degrees or more.
8) Temporarily secure the robot to the installation base by tightening the bolts.
(Use the same tightening torque as specified to secure the standard model
robots.)
9) Remove the ropes and carrying jigs, then reattach the X-axis and Y-axis under covers. Be sure to keep the carrying jigs, eyebolts, arm clamping stay,
bolts and pallet for future use in case the robot needs to be moved or transported.
2-6
CHAPTER 2 Installation
Arm clamping stay
(supplied with robot)
Eyebolts (4 pieces supplied with the robot)
Arm clamped position
Bolts (M12×20) supplied with robot
Tightening torque 71N•m (720kgf•cm)
Hoist hook
Rope
Robot cable
Use bolts and nuts or screws
(4 pcs) supplied with robot
4 bolts (supplied with robot)
Tightening torque
71N•m (720kgf•cm)
Robot carrying jig
Pallet (supplied with the robot)
Bolts (2 pcs) supplied with robot
Tightening torque 4.5N•m (46kgf•cm)
Y-axis under cover
Fig. 2-4
2-7
Screw
X-axis under cover
CHAPTER 2 Installation
(2) When using the hand forklift (See Fig. 2-5)
1) Remove the X- and Y-axis under covers and install the robot carrying jigs.
2) Set the X- and Y-axis arms straight (See Fig. 2-5). If the robot is in the shipped
state, remove the spline from the arm clamping stay, and set the X- and Yaxis arms straight. If the arms cannot be folded in the carrying position (see
Fig. 2-5) due to the X-axis mechanical stoppers, then remove them.
3) Wind the robot cable around the robot base while keeping the cable from
hanging up on the base mount, then fasten the cable end with adhesive tape.
4) Insert the prongs of the hand forklift into the robot carrying jigs and raise the
hand forklift supporting the robot. Remove the bolts securing the pallet supplied or installation base (if moving the robot to another installation base).
5) Using caution to keep the balance of the robot and avoid subjecting it to
vibrations and shocks, slowly move to the installation base.
6) Temporarily secure the robot to the installation base by tightening the bolts.
(Bolt tightening torque is the same as the standard model robots.)
7) Remove the carrying jigs, and reattach the X- and Y-axis under covers. Be
sure to keep the carrying jigs, bolts, arm clamping stay and pallet for future
use in case the robot needs to be moved or transported.
2-8
CHAPTER 2 Installation
Set the arms out straight.
Arm clamping stay (supplied with robot)
Arm clamped position
Bolts (M12×20) supplied with robot
Robot cable
4 bolts (supplied with robot)
Tightening torque
71N•m (720Kgf•cm)
Use bolts and nuts or screws
(4 pcs) supplied with robot
Robot carrying jig
Insert the prongs of
the hand forklift there.
Pallet (supplied with the robot)
Bolts (2 pcs) supplied with robot
Y-axis under cover
Fig. 2-5
2-9
Screw
X-axis under cover
CHAPTER 2 Installation
2-3-2-2
Moving the inverted ceiling-mount robot
(1) When using eyebolts (See Fig. 2-6.)
1) Remove the X-axis and Y-axis upper covers and attach the robot carrying
jigs. Remove all loads if attached to the Z-axis to set the servo free and release the brake. Then fold the Z-axis to a position where it can be fastened to
the arm clamping stay
2) Insert the eyebolts into the holes on the carrying jigs and securely fasten the
eyebolts with the nuts. Then attach the arm clamping stay to the carrying jigs.
3) Clamp the Y-axis arm by using the stay and bolts that come with the robot. If
the arms cannot be folded in the carrying position (see Fig. 2-4) due to the Xaxis mechanical stoppers, then remove them. (When the robot is shipped, the
mechanical stoppers are installed to provide the maximum movement range.)
4) Wind the robot cable around the robot base while keeping the cable from
hanging up on the base mount, then fasten the cable end with adhesive tape.
5) Prepare 4 looped ropes with the same length to allow a good lifting balance,
then pass each rope through each eyebolt and catch it on the hoist hook.
6) Slightly lift the hoist so that each rope has light tension to hold the robot. In
this state, remove the bolts securing the robot base to the pallet supplied or
installation base (if moving the robot to another installation base).
7) Using caution to keep the balance of the robot and avoid subjecting it to any
strong vibrations and shocks, operate the hoist carefully to move to the installation base. The angle between each rope and the arm surface should be
kept at 45 degrees or more.
8) Temporarily secure the robot to the installation base by tightening the bolts.
(Bolt tightening torque is the same as the standard model robots.)
9) Remove the ropes and carrying jigs, then reattach the X-axis and Y-axis upper covers. Be sure to keep the carrying jigs, eyebolts, arm clamping stay,
bolts and pallet for future use in case the robot needs to be moved or transported.
2-10
CHAPTER 2 Installation
Hoist hook
X-axis upper cover
Y-axis upper cover
Rope
Screw
Eyebolts (4 pieces supplied with the robot)
2 bolts (supplied with robot)
Tightening torque
4.5N•m (46kgf•cm)
Robot carrying jig
4 bolts (supplied with robot)
Tightening torque
71N•m (720kgf•cm)
Robot cable
Use bolts and nuts or screws
supplied with robot
Pallet (supplied with the robot)
Bolts (M12×20) supplied with robot
Tightening torque 71N•m (720kgf•cm)
Arm clamping stay (supplied with robot)
Arm clamped position
Fig. 2-6
2-11
CHAPTER 2 Installation
(2) When using the hand forklift (See Fig. 2-7)
1)
Remove the X- and Y-axis upper covers and install the robot carrying jigs.
2) Set the X- and Y-axis arms straight (See Fig. 2-5). If the robot is in the shipped
state, remove the spline from the arm clamping stay, and set the X- and Yaxis arms straight. If the arms cannot be folded in the carrying position (see
Fig. 2-5) due to the X-axis mechanical stoppers, then remove them. (When
the robot is shipped, the mechanical stoppers are installed to provide the
maximum movement range.)
3) Wind the robot cable around the robot base while keeping the cable from
hanging up on the base mount, then fasten the cable end with adhesive tape.
4) Insert the prongs of the hand forklift into the robot carrying jigs and raise the
hand forklift supporting the robot. Remove the bolts securing the pallet supplied or installation base (if moving the robot to another installation base).
5) Using caution to keep the balance of the robot and avoid subjecting it to
vibrations and shocks, slowly move to the installation base.
6) Temporarily secure the robot to the installation base by tightening the bolts.
(Bolt tightening torque is the same as the standard model robots.)
7) Remove the carrying jigs, and reattach the X- and Y-axis upper covers. Be
sure to keep the carrying jigs, bolts, arm clamping stay and pallet for future
use in case the robot needs to be moved or transported.
2-12
CHAPTER 2 Installation
X-axis upper cover
Y-axis upper cover
Screw
Eyebolts (4 pieces supplied with the robot)
2 bolts (supplied with robot)
Insert the prongs of the hand forklift there.
Insert the prongs of the hand forklift there.
Robot carrying jig
4 bolts (supplied with robot)
Tightening torque
71N•m (720kgf•cm)
Robot cable
Use bolts and nuts or
screws supplied with robot
Pallet (supplied with the robot)
Bolts (M12×20) supplied with robot
Arm clamping stay (supplied with robot)
Set the arms out straight.
Arm clamped position
Fig. 2-7
2-13
MEMO
2-14
CHAPTER 3
Periodic Inspection
1 Replacing the Harmonic Grease
(Inverted ceiling-mount model R-axis) ................................... 3-1
1-1
Replacement period ................................................................................... 3-1
MEMO
CHAPTER 3 Periodic Inspection
1
Replacing the Harmonic Grease
(Inverted ceiling-mount model R-axis)
Only the R-axis harmonic drive of the inverted ceiling-mount model uses harmonic
grease HC-1A. This grease must be replaced periodically. Use the guideline
explained below to determine the appropriate replacement period and replace the
grease.
1-1
Replacement period
The harmonic drive grease replacement period is determined by the total number
of turns of the wave generator used in the harmonic drive. It is recommended to
replace the harmonic drive grease when the total number of turns has reached
1.5×108 (at ambient operating temperatures of 0°C to +40°C). This means that
the replacement period will differ depending on the following operating conditions.
If the robot operation duty ratio is high or the robot is operated in environments at
higher temperatures, the harmonic drive should be replaced earlier.
Replacement period =
where
n
:
θ
:
N
:
h
:
D
:
1.5×108/(n×60×h×D×N×θ) years
Number of axis movements per minute
Average turn per axis movement
Speed reduction ratio
Operation time per day
Operation days per year
For example, when the robot is used under the following conditions, the replacement
period for the R-axis harmonic drive grease of the YK500X can be calculated as
follows.
n
: 10
θ
: 0.25
N
: 80
h
: 24 hours per day
D
: 240 days per year
Replacement period = 1.5×108/(n×60×h×D×N×θ)
= 1.5×108/(10×60×24×240×80×0.25)
= 2.17 years
Table 3-1 Harmonic drive speed reduction ratio
Robot model
R-axis
YK300XHS,YK400XHS
50
YK500XS,YK600XS
50
YK700XS,YK800XS
50
YK1000XS
50
3-1
MEMO
3-2
CHAPTER 4
Specifications
1 Robot Manipulator ................................................................. 4-1
1-1
1-2
Basic specifications .................................................................................... 4-1
1-1-1
Ceiling-mount model ................................................................................... 4-1
1-1-2
Inverted ceiling-mount model ...................................................................... 4-4
External view and dimensions .................................................................... 4-6
MEMO
CHAPTER 4 Specifications
1
Robot Manipulator
1-1
Basic specifications
1-1-1
Ceiling-mount model
Robot model
X-axis
Axis
specifications
Y-axis
Z-axis
YK300XHS
YK400XHS
Arm length
175mm
225mm
Rotation angle
±115°
±115°
Arm length
125mm
175mm
Rotation angle
±140°
±140°
Stroke
150mm
150mm
±360°
±360°
X-axis
200W
200W
Y-axis
100W
100W
Z-axis
100W
100W
R-axis Rotation angle
Motor
Maximum speed
Repeatability *1
R-axis
100W
100W
XY resultant
4.4m/s
6.0m/s
Z-axis
1.0m/s
1.0m/s
R-axis
1020°/s
1020°/s
XY-axes
±0.01mm
±0.01mm
Z-axis
±0.01mm
±0.01mm
R-axis
±0.005°
±0.005°
3kg
3kg
Payload
R-axis tolerable moment of inertia *2
0.05kgm2 (0.5kgfcms2)
User wiring
0.2sq×10cables
User tubing
φ4×3
Travel limit
1.Soft limit 2.Mechanical limit (XYZ-axes)
Robot cable
Standard: 3.5m Option: 5m, 10m
Weight
15kg
*1 At constant ambient temperature (XY)
*2 There are limits to acceleration coefficient settings.
4-1
15kg
CHAPTER 4 Specifications
Robot model
X-axis
Axis
specifications
Y-axis
Z-axis
YK500XS
YK600XS
Arm length
250mm
350mm
Rotation angle
±120°
±120°
Arm length
250mm
250mm
Rotation angle
±135°
±145°
Stroke
200, 300mm
200, 300mm
±360°
±360°
X-axis
400W
400W
Y-axis
200W
200W
R-axis Rotation angle
Motor
Maximum speed
Repeatability *1
Z-axis
200W
200W
R-axis
100W
100W
XY resultant
4.9m/s
5.6m/s
Z-axis
1.7m/s
1.7m/s
R-axis
876°/s
876°/s
XY-axes
±0.02mm
±0.02mm
Z-axis
±0.01mm
±0.01mm
R-axis
±0.005°
±0.005°
Payload
10kg
R-axis tolerable moment of inertia *2
10kg
0.12kgm (1.2kgfcms2)
2
User wiring
0.2sq×20cables
User tubing
φ6×3
Travel limit
1.Soft limit 2.Mechanical limit (XYZ-axes)
Robot cable
Standard: 3.5m Option: 5m, 10m
Weight
30kg
*1 At constant ambient temperature (XY)
*2 There are limits to acceleration coefficient settings.
4-2
32kg
CHAPTER 4 Specifications
Robot Model
X-axis
Axis
specifications
Y-axis
Z-axis
Arm length
Maximum speed
Repeatability *1
YK800XS
YK1000XS
350mm
450mm
550mm
Rotation angle
±120°
±120°
±120°
Arm length
350mm
350mm
450mm
Rotation angle
±145°
±145°
±145°
Stroke
200, 400mm
200, 400mm
200, 400mm
±360°
±360°
±360°
X-axis
800W
800W
800W
Y-axis
400W
400W
400W
Z-axis
400W
400W
400W
R-axis Rotation angle
Motor
YK700XS
R-axis
200W
200W
200W
XY resultant
6.7m/s
7.3m/s
8.0m/s
Z-axis
1.7m/s
1.7m/s
1.7m/s
R-axis
600°/s
600°/s
600°/s
X,Y-axes
±0.02mm
±0.02mm
±0.02mm
Z-axis
±0.01mm
±0.01mm
±0.01mm
R-axis
±0.005°
±0.005°
±0.005°
20kg
20kg
Payload
20kg
R-axis tolerable moment of inertia *2
0.32kgm2 (3.2kgfcms2)
User wiring
0.2sq×20cables
User tubing
φ6×3
Travel limit
1.Soft limit 2.Mechanical limit (XYZ-axes)
Robot cable
Standard: 3.5m Option: 5m, 10m
Weight
56kg
57kg
*1 At constant ambient temperature (XY)
*2 There are limits to acceleration coefficient settings.
4-3
58kg
CHAPTER 4 Specifications
1-1-2
Inverted ceiling-mount model
YK300XHS
YK400XHS
YK500XS
YK600XS
Arm length
175mm
225mm
250mm
350mm
Rotation angle
±115°
±115°
±120°
±120°
Arm length
125mm
175mm
250mm
250mm
Rotation angle
±140°
±140°
±135°
±145°
Stroke
150mm
150mm
±360°
±360°
±360°
±360°
X-axis
200W
200W
400W
400W
Y-axis
100W
100W
200W
200W
Robot model
X-axis
Axis
specifications
Y-axis
Z-axis
R-axis Rotation angle
Motor
Maximum speed
Repeatability *1
Z-axis
100W
100W
200W
200W
R-axis
100W
100W
100W
100W
XY resultant
4.4m/s
6.0m/s
4.9m/s
5.6m/s
Z-axis
1.0m/s
1.0m/s
1.7m/s
1.7m/s
R-axis
720°/s
720°/s
480°/s
480°/s
XY-axes
±0.01mm
±0.01mm
±0.02mm
±0.02mm
Z-axis
±0.01mm
±0.01mm
±0.01mm
±0.01mm
R-axis
±0.005°
±0.005°
±0.005°
±0.005°
3kg
3kg
10kg
Payload
R-axis tolerable moment of inertia *2
User wiring
200, 300mm 200, 300mm
10kg
0.05kgm (0.5kgfcms )
0.12kgm (1.2kgfcms2)
0.2sq×10cables
0.2sq×20cables
φ4×3
φ6×3
2
User tubing
2
2
Travel limit
1.Soft limit 2.Mechanical limit (XYZ-axes)
Robot cable
Standard: 3.5m Option: 5m, 10m
Weight
15kg
15kg
*1 At constant ambient temperature (XY)
*2 There are limits to acceleration coefficient settings.
4-4
30kg
32kg
CHAPTER 4 Specifications
Robot Model
X-axis
Axis
specifications
Y-axis
Z-axis
Arm length
Maximum speed
Repeatability *1
YK800XS
YK1000XS
350mm
450mm
550mm
Rotation angle
±120°
±120°
±120°
Arm length
350mm
350mm
450mm
Rotation angle
±145°
±145°
±145°
Stroke
200, 400mm
200, 400mm
200, 400mm
±360°
±360°
±360°
X-axis
800W
800W
800W
Y-axis
400W
400W
400W
Z-axis
400W
400W
400W
R-axis Rotation angle
Motor
YK700XS
R-axis
200W
200W
200W
XY resultant
6.7m/s
7.3m/s
8.0m/s
Z-axis
1.7m/s
1.7m/s
1.7m/s
R-axis
480°/s
480°/s
480°/s
X,Y-axes
±0.02mm
±0.02mm
±0.02mm
Z-axis
±0.01mm
±0.01mm
±0.01mm
R-axis
±0.005°
±0.005°
±0.005°
20kg
20kg
Payload
20kg
R-axis tolerable moment of inertia *2
0.32kgm2 (3.2kgfcms2)
User wiring
0.2sq×20cables
User tubing
φ6×3
Travel limit
1.Soft limit 2.Mechanical limit (XYZ-axes)
Robot cable
Standard: 3.5m Option: 5m, 10m
Weight
56kg
57kg
*1 At constant ambient temperature (XY)
*2 There are limits to acceleration coefficient settings.
4-5
58kg
CHAPTER 4 Specifications
1-2
External view and dimensions
The drawing below is for the ceiling-mount robots. The inverted ceiling-mount
robots also have the same dimensions.
112.2
78.7
70
D-sub connector for
user wiring
42
M4 ground terminal
131
D-sub connector for user wiring
38
(No.1 to 10)
(No.1 to 10)
R5
13
52
74
55
140
0
65
125
175
100
37
12
.5 User tubing 1 (φ4 black)
39
R
User tubing 2 (φ4 red)
User tubing 3 (φ4 blue)
User tubing 1 (φ4 black)
User tubing 2 (φ4 red)
User tubing 3 (φ4 blue)
40
72
103
381
290
230
187
135
25
185.5
168
0
15
36
φ54
Z-axis upper end
mechanical stopper
position
4-φ9
Use M8 bolt
for installation
62
52
φ31
Z-axis lower end
mechanical stopper
position
φ16h7
M8×1.25 Depth 15
7
150 Z-axis stroke
5
142±2
0
-0.018
Fig. 4-1 YK300XHS
4-6
120
CHAPTER 4 Specifications
(Use this when tightening M8
φ3 +0.2
0
screw at lower part.)
Z-axis mechanical stopper
36(φ16 Range)
41
Circlip for user tool positioning
Spline shaft (hollow) Hollow diameter φ7
0
φ16h7 -0.018
M8×1.25 Depth15
Z-axis tip shape
140
°
5°
11
5°
11
°
140
R3
00
13
R1
R1
25
86°
86°
226
Base interference range
Working envelope
Use caution to prevent interference with installation wall
Inverse type is installed upside down.
4-7
CHAPTER 4 Specifications
166.1
225
85.3
72
M4 ground terminal
131
D-sub connector for user wiring
(No.1 to 10)
38
R5
13
55
74
60
140
0
65
175
42
D-sub connector for user wiring
(No.1 to 10)
100
37
R3
9
.5
12
User tubing 1 (φ4 black)
User tubing 1 (φ4 black)
User tubing 2 (φ4 red)
40
User tubing 2 (φ4 red)
User tubing 3 (φ4 blue)
72
103
User tubing 3 (φ4 blue)
381
290
230
187
0
15
36 4-φ9
Use M8 bolt
62 for installation
φ54
5
52
φ 31
Z-axis upper end
mechanical stopper
position
150 Z-axis stroke
25
185.5
135
168
142±2
φ16h7
0
-0.018
M8×1.25 Depth 15
7
Z-axis lower end
mechanical stopper
position
Fig. 4-2 YK400XHS
4-8
120
CHAPTER 4 Specifications
(Use this when tightening M8
φ3 +0.2
0
screw at lower part.)
Z-axis mechanical stopper
41
36(φ16 Range)
Circlip for user tool positioning
Spline shaft (hollow) Hollow diameter φ7
0
φ16h7 -0.018
M8×1.25 Depth15
Z-axis tip shape
45
R1
11
5°
11
5°
14
0°
0°
14
R4
00
96°
226
96°
Base interference range
Working envelope
Use caution to prevent interference with installation wall
Inverse type is installed upside down.
4-9
CHAPTER 4 Specifications
47
120
250
90
94
User tubing 3 (φ6 blue)
R5
User tubing 2 (φ6 red)
5
250
D-sub connector for user wiring (No.1 to 20)
User tubing 1 (φ6 black)
φ205
(Installation base of larger than
φ205mm may interfere with harness.)
228 Z300mm stroke
Recommended user
installation base
93 Z200mm stroke
60
8
0
15
91
36
2X2-M4X0.7
Depth10
(Same on opposite side)
284
Z-axis upper end
mechanical stopper position
54
20
319
φ7
8
41
48
364
411±2
0
φ18 -0.018
A
200
M12×1.75 Depth 20
12
0
Z-axis 300mm stroke
Working envelope
0
R8
R2
Center of recommended
user installation base
65
70
12
110
R200
65
86
Z-axis 200mm stroke
Working envelope
Z-axis lower end
mechanical
stopper position
160
300
517
8
57
73
166 (Base size)
View from direction A
Fig. 4-3 YK500XS
4-10
4-φ11
Use M10 bolt for installation
CHAPTER 4 Specifications
0°
12
R1
91
0°
00
Interference position
(a) Base flange
(b) Base rear side
(c) Base
R5
12
R93(
R111(c)
a)
50
R2
(b)
R67
135°
135°
3
R1
8
12
3(c)
a)
5(
R8
2°
0
R10
12
R50
2°
Working envelope
R250
R59(b)
137°
137°
X and Y-axis mechanical stopper positions (maximum working envelope)
2
0
0
35
55
73
53
User tubing 3(φ6 blue)
D-sub connector for user wiring
(No.1 to 20)
User tubing 2(φ6 red)
User tubing 1(φ6 black)
M4 ground terminal
4-11
CHAPTER 4 Specifications
User tubing 2 (φ6 red)
120
94
User tubing 3 (φ6 blue)
350
90
250
R55
47
D-sub connector for user wiring
(No. 1 to 20 usable)
User tubing 1 (φ6 black)
φ205
(Installation base of larger than
φ205mm may interfere with harness.)
228 Z-axis 300mm stroke
Recommended user
installation base
Z-axis 200mm stroke
93
60
8
0
15
91
36
2X2-M4X0.7
Depth10
(Same on
opposite side)
Z-axis upper end
mechanical stopper position
54
φ7
20
319
8
48
41
364
411±2
φ18 -0.018
0
A
527
Center of recommended
user installation base
70
12
R200
Z-axis lower end
mechanical stopper position
160
Z-axis stroke 300mm
Working envelope
86
110
65
12
0
0
R2
R8
Z-axis stroke 200mm
Working envelope
65
300
200
M12X1.75 Depth20
8
57
73
166(Base size)
View from direction A
Fig. 4-4 YK600XS
4-12
4-φ11
Use M10 bolt for installation
R106(a)
R
60
0
12
R1
24
(c)
0°
12
Interference position
(a) Base flange
(b) Base rear side
(c) Base
0°
CHAPTER 4 Specifications
04
R2
50
R2
R8
0(b
)
°
145
145°
2°
12
00
6(c)
96
2°
R11
R6
12
R116(a)
Working envelope
R1
R2
50
)
2(b
R7
147°
147°
X and Y-axis mechanical stopper positions (maximum working envelope)
2
0
0
35
55
73
53
User tubing 3 (φ6 blue)
D-sub connector for user wiring
(No. 1 to 20 usable, pin contact)
User tubing 2 (φ6 red)
User tubing 1 (φ6 black)
M4 ground terminal
4-13
CHAPTER 4 Specifications
User tubing 1 (φ6 black)
User tubing 2 (φ6 red)
D-sub connector for user wiring(No. 1 to 20 usable)
User tubing 3 (φ6 blue)
350
350
147
R76
106
126
58
φ232
(Installation base of larger than
φ232mm may interfere with harness.)
301 Z-axis 400mm stroke
Recommended user
installation base
120
101 Z-axis 200mm stroke
5
0
20
2X2-M4X0.7
Depth10
(Same on opposite side)
41
97
279
54
φ8
20
328
45
375
8
419±2
0
φ22 -0.021
M12X1.75 Depth20
562
Z-axis stroke 200mm
Working envelope
12
R1
0
R15
4-φ14
Use M12 bolt for installation
0
75
12
70
112
Z-axis stroke 400mm
Working envelope
5
06
R2
75
400
200
A
180
50.5
Z-axis upper end
mechanical stopper position
Z-axis lower end
mechanical stopper position
70
106
80
93
View from direction A
Fig. 4-5 YK700XS
4-14
Center of recommended
user installation base
CHAPTER 4 Specifications
)
5(a
R9
R3
5
0
12
R7
00
(c)
0°
04
12
R1
10
R2
0°
Interference position
(a) Base flange
(b) Base rear side
(c) Base
R60(b
)
145°
145°
00
R7
12
)
3(a
R8
R3
50
)
3°
3(c
99
R1
R9
12
3°
Working envelope
b)
8(
R4
147°
147°
X and Y-axis mechanical stopper positions (maximum working envelope)
4
0
0
41
61
79
59
D-sub connector for user wiring
(No. 1 to 20 usable, pin contact)
User tubing 3 (φ6 blue)
User tubing 2 (φ6 red)
User tubing 1 (φ6 black)
4-15
CHAPTER 4 Specifications
User tubing 1 (φ6 black)
User tubing 2 (φ6 red)
User tubing 3 (φ6 blue)
D-sub connector for user wiring
(No. 1 to 20 usable)
350
450
147
R76
106
126
58
φ232
(Installation base of larger than
φ232mm may interfere with harness.)
301 Z-axis 400mm stroke
Recommended user installation base
120
101 Z-axis 200mm stroke
5
0
20
2X2-M4X0.7
Depth10
(Same on
opposite side)
41
97
279
54
φ8
20
328
375
8
45
50.5
Z-axis upper end
mechanical stopper
position
419±2
0
φ22 -0.021
M12X1.75 Depth20
200
A
0
4-φ14
Use M12 bolt for installation
5
06
R2
75
R15
70
112
0
12
75
Z-axis stroke 300mm
Working envelope
180
12
R1
400
562
Z-axis stroke 200mm
Working envelope
Z-axis lower end
mechanical stopper
position
70
106
80
93
View from direction A
Fig. 4-6 YK800XS
4-16
Center of recommended
user installation base
CHAPTER 4 Specifications
Interference position
(a) Base flange
(b) Base rear side
(c) Base
12
00
R8
59
53
(c)
0°
0°
12
R2
R1
R143(a)
50
R3
)
8(b
0
R1
145°
145°
R131
12
3°
47
41
(c)
R8
3°
R2
R1
12
(a)
Working envelope
00
50
R3
)
6(b
R9
147°
147°
X and Y-axis mechanical stopper positions (maximum working envelope)
4
0
0
41
61
79
59
D-sub connector for user wiring
(No. 1 to 20 usable, pin contact)
User tubing 3 (φ6 blue)
User tubing 2 (φ6 red)
User tubing 1 (φ6 black)
4-17
CHAPTER 4 Specifications
User tubing 1 (φ6 black)
User tubing 2 (φ6 red)
D-sub connector for user wiring
(No. 1 to 20 usable)
User tubing 3 (φ6 blue)
550
450
147
R76
106
126
58
φ232
(Installation base of larger than
φ232mm may interfere with harness.)
301 Z-axis
400mm stroke
Recommended user installation base
133
101 Z-axis
200mm stroke
5
0
20
2X2-M4X0.7
Depth10
(Same on
opposite side)
41
97
279
54
φ8
20
328
375
45
8
50.5
Z-axis upper end
mechanical stopper
position
419±2
0
φ22-0.021
M12X1.75 Depth20
562
Z-axis stroke 200mm
Working envelope
75
R15
Z-axis stroke 300mm
Working envelope
0
75
12
06
0
4-φ14
Use M12 bolt for installation
5
180
R1
R2
70
112
12
400
200
A
Z-axis lower end
mechanical stopper position
70
106
80
93
View from direction A
Fig. 4-7 YK1000XS
4-18
Center of recommended
user installation base
)
00
R1
0
(c
0°
12
09
15
R2
R3
Interference position
(a) Base flange
(b) Base rear side
(c) Base
12
0°
CHAPTER 4 Specifications
(a)
R200
50
R4
(b)
65
R1
145°
145°
R1
00
0
a)
84(
R1
R4
50
12
(c)
3°
94
12
R1
00
R3
3°
Working envelope
(b)
49
R1
147°
147°
X and Y-axis mechanical stopper positions (maximum working envelope)
4
0
0
41
61
79
59
D-sub connector for user wiring
(No. 1 to 20 usable, pin contact)
User tubing 3 (φ6 blue)
User tubing 2 (φ6 red)
User tubing 1 (φ6 black)
4-19
User's Manual
YK-X series
SCARA Robot
YK-XS
Mar. 2010
Ver. 2.14
This manual is based on Ver. 2.15 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 YAMAHA or YAMAHA sales representatives.