Download User`s Manual - Yamaha Robotics

YAMAHA SINGLE-AXIS ROBOT
FLIP-X series
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
E21-Ver. 1.19
Before using the single-axis robot FLIP-X series
(Be sure to read the following notes.)
Thanks for your purchasing YAMAHA single-axis robot FLIP-X series.
Before using this robot, read the following notes and set the origin position.
The "X" series single-axis and XY robots use absolute position detectors that do not require
return-to-origin after turning on the controller power. However, when the controller power is
turned on in the following cases, return-to-origin must be performed just the very first time.
(1) When robot cable was first connected after delivery from YAMAHA.
(2) When robot cable was disconnected from the controller and then reconnected.
(3) When no absolute battery is connected.
(4) When a motor or cable was replaced.
At this point, any of the following errors is issued immediately after controller power is turned
on, but this is not a malfunction. The controller will operate normally by restarting.
When using an SR1 controller:
15 : FEEDBACK ERROR 2
23 : ABS.BAT.L-VOLTAGE
24 : ABS.DATA.ERROR
...etc.
When using an RCX240, RCX222 controller:
17.81 : D?.ABS.battery wire breakage
17.92 : D?.Resolver disconnected during power off
17.93 : D?.Position backup counter overflow
...etc.
When using an TS-X controller:
82 ENCODER ERROR
83 ABS. ENCODER ERR.
8A ABS. BATTERY ERR.
8B ABS. COUNT ERROR
8D ABS. OVERFLOW ERR.
...etc.
Setting the origin position
Set the origin position while referring to the following section in the robot controller user's
manual.
When using an SR1 controller:
See "9.1.1 Return-to-origin by the search method" in Chapter 9 of the "HPB
Operation Guide" section.
When using an RCX240 controller:
See "11.9 Absolute reset" in Chapter 4.
When using an RCX222 controller:
See "11.8 Absolute reset" in Chapter 4.
When using an TS-X controller:
See "6.2 Origin search (return-to-origin)" in "6. Operating the robot" of the "HT1
Operation Guide" section.
CAUTION
Changing the origin position to the opposite side of the initial position may cause
a position shift or robot breakdowns, so use caution.
Avoid changing the origin detection method since it is dangerous in some cases.
If the origin position must be changed, please consult our sales office or dealer.
Contents
Introduction
Chapter 1
About Safety
1-1
1-2
Safety Information ............................................................... 1-3
Essential Caution Items ...................................................... 1-5
1-3
1-4
Industrial Robot Operating and Maintenance Personnel ... 1-10
Robot Safety Functions .................................................... 1-11
1-5
1-6
Safety Measures for the System ...................................... 1-12
Trial Operation ................................................................... 1-12
1-7
1-8
Work Within the Safeguard Enclosure ............................ 1-13
Automatic Operation ......................................................... 1-13
1-9
Warranty ............................................................................. 1-13
Chapter 2
2-1
2-2
2-3
Installation and Connections
Checking the product ......................................................... 2-3
Moving the robot ................................................................. 2-4
Robot Installation Conditions ............................................ 2-5
2-3-1 Installation environments ............................................................................. 2-5
2-3-2 Installation base ............................................................................................ 2-6
2-4
Installing the robot .............................................................. 2-7
2-4-1 T6 ................................................................................................................. 2-7
2-4-2 T7 ................................................................................................................. 2-9
2-4-3 T9/T9H ....................................................................................................... 2-11
2-4-4 F10 .............................................................................................................. 2-14
2-4-5 F14/F14H ................................................................................................... 2-17
2-4-6 F17/F20 ...................................................................................................... 2-21
2-4-7 R5/R10/R20 ................................................................................................ 2-23
2-4-8 B10/B14/B14H ........................................................................................... 2-26
2-4-9 F20N ........................................................................................................... 2-27
2-5
2-6
Protective bonding ............................................................ 2-29
Connections ...................................................................... 2-30
2-6-1 Connecting the robot cables ....................................................................... 2-30
2-6-2 Changing the cable routing direction (F Type) .......................................... 2-32
2-6-3 Changing the cable routing direction (B Type) .......................................... 2-33
2-6-4 Changing the motor orientation (B type) ................................................... 2-35
2-6-5 User wiring ................................................................................................. 2-38
2-7
Setting the operating conditions ..................................... 2-39
2-7-1 Payload ....................................................................................................... 2-39
2-7-2 Maximum speed setting ............................................................................. 2-40
2-7-3 Duty ............................................................................................................ 2-40
Chapter 3
3-1
3-2
Adjusting the robot
Attaching the upper cover (B10/B14/B14H) ...................... 3-3
Adjusting the timing belt tension (B10/B14/B14H) .......... 3-4
3-2-1 Adjusting the drive belt tension .................................................................... 3-5
Reference: Adjusting drive belt tension with a tension meter ...................... 3-6
3-2-2 Adjusting the speed reduction belt tension .................................................. 3-7
Reference: Adjusting speed reduction belt tension with a tension meter ..... 3-8
3-3
Installing and removing the cover (F20N) ......................... 3-9
3-3-1 Stroke cover .................................................................................................. 3-9
3-3-2 Belt cover ................................................................................................... 3-10
3-3-3 Motor cover ................................................................................................ 3-11
3-4
Chapter 4
4-1
4-2
Adjusting the timing belt tension (F20N) ........................ 3-12
Periodic Inspection
Before beginning work ....................................................... 4-3
Periodic inspection ............................................................. 4-5
4-2-1 Daily inspection ........................................................................................... 4-5
4-2-2 Three-month inspection ............................................................................... 4-5
4-2-3 Six-month inspection ................................................................................... 4-6
4-2-4 Three-year inspection ................................................................................... 4-6
4-3
Applying grease .................................................................. 4-7
4-3-1 Applying grease (T6/T7 type) ...................................................................... 4-7
4-3-2 Applying grease (T9/F types) ....................................................................... 4-8
4-3-3 Applying grease (B type) ............................................................................. 4-8
4-4
Adjusting and replacing a loose shutter ........................... 4-9
4-4-1 Replacing the shutter (T6) ............................................................................ 4-9
4-4-2 Adjusting shutter looseness (T6) ................................................................ 4-10
4-5
Replacing the motor ......................................................... 4-11
4-5-1 Replacing the motor (B10/B14/B14H) ...................................................... 4-11
4-5-2 Replacing the motor (F20N) ...................................................................... 4-13
4-6
4-7
Replacing the drive belt (B10/B14/B14H) ........................ 4-15
Replacing the speed reduction belt (B10/B14/B14H) ..... 4-18
4-8
Replacing the slider .......................................................... 4-20
4-8-1 Replacing the slider (B10/B14/B14H) ....................................................... 4-20
4-8-2 Replacing the slider (F20N) ....................................................................... 4-21
Chapter 5
5-1
Specifications
Robot specifications ........................................................... 5-3
5-1-1 T6 ................................................................................................................. 5-3
5-1-2 T7 ................................................................................................................. 5-4
5-1-3 T9 ................................................................................................................. 5-5
5-1-4 T9H .............................................................................................................. 5-6
5-1-5 F10 ................................................................................................................ 5-7
5-1-6 F14 ................................................................................................................ 5-8
5-1-7 F14H ............................................................................................................. 5-9
5-1-8 F17 .............................................................................................................. 5-10
5-1-9 F20 .............................................................................................................. 5-11
5-1-10 F20N ........................................................................................................... 5-12
5-1-11 R5 ............................................................................................................... 5-13
5-1-12 R10 ............................................................................................................. 5-14
5-1-13 R20 ............................................................................................................. 5-15
5-1-14 B10 ............................................................................................................. 5-16
5-1-15 B14 ............................................................................................................. 5-17
5-1-16 B14H .......................................................................................................... 5-18
5-2
5-3
AC servo motor termination (T/F Type) ........................... 5-19
AC servo motor termination (R/B Type, F20N) ............... 5-20
5-4
Robot cables ...................................................................... 5-21
Chapter 6
Troubleshooting
6-1
Positioning error ................................................................. 6-3
6-2
Feedback error .................................................................... 6-4
Appendix
About machine reference .............................................................. iii
Equation of moment of inertia calculation ................................... iv
MEMO
Introduction
The YAMAHA FLIP-X series is a family of single-axis industrial robots that use the absolute
positioning method as a standard feature to improve ease of use, resistance to environmental
conditions and maintenance work. A wide varaiety of product lineup allows you to select the
desired robot model that best matches your application.
This user's manual describes the safety measures, handling, adjustment and maintenance of
FLIP-X 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.
•
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
MEMO
Chapter 1
About Safety
1-1
Safety Information ............................................................... 1-3
1-2
1-3
Essential Caution Items ...................................................... 1-5
Industrial Robot Operating and Maintenance Personnel ... 1-10
1-4
1-5
Robot Safety Functions ..................................................... 1-11
Safety Measures for the System ....................................... 1-12
1-6
1-7
Trial Operation .................................................................... 1-12
Work Within the Safeguard Enclosure ............................. 1-13
1-8
1-9
Automatic Operation ......................................................... 1-13
Warranty .............................................................................. 1-13
MEMO
1-2
Chapter 1 About Safety
1-1
Safety Information
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.
Warning information in this manual is shown classified into the following items.
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.
1-3
Chapter 1 About Safety
Refer to the user's manual by any of the following methods to operate or adjust the robot safely
and correctly.
1. Operate or adjust the robot while referring to the printed version of the user's manual (available for an additional fee).
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 CDROM 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.
1-4
Chapter 1 About Safety
1-2
Essential Caution Items
Particularly important cautions for handling or operating the robot are described below. In addition, safety information about installation, operation, inspection and maintenance is provided in
each chapter. Be sure to comply with these instructions to ensure safe use of the robot.
(1) Observe 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.
· The warning labels 1 (Fig. 1-1) are supplied with the robot and should be affixed to
conspicuous spots on doors or/ panels equipped with safety interlocks.
DANGER
Serious injury or death will result from impact with moving robot.
· Keep outside of guard during operation.
· Lock out power before approaching robot.
DANGER
Serious injury or death
will result from impact
with moving robot.
• Keep outside of guard
during operation.
• Lock out power before
approaching robot.
Fig. 1-1 Warning label 1
(2) Use caution to prevent hands or fingers from being pinched or crushed.
Warning labels 2 (Fig. 1-2) are affixed to the robot.
WARNING
Moving parts can pinch or crush.
Keep hands away from robot arms.
WARNING
Moving parts can
pinch or crush.
Keep hands away
from robot arms.
Fig. 1-2 Warning label 2
1-5
Chapter 1 About Safety
(3) Follow the instructions on listed 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 (Fig. 1-3) are supplied with the robot and should be affixed to the
robot or conspicuous spots near the robot.
WARNING
Improper installation or operation can result in serious injury or death.
Read the user’s manual and all warning labels before operation.
WARNING
Improper Installation or operation
can result in serious injury or
death.
Read user's(owner's)
manual and all warning labels
before operation.
Fig. 1-3 Warning label 3
(4) Do not remove, alter or stain the warning labels.
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 warning labels
can be clearly seen even from outside the safeguard enclosure.
(5) Do not use the robot in environments containing inflammable gas, etc.
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.
(6) Do not use the robot in locations possibly subject to electromagnetic interference, etc.
WARNING
Avoid using the robot in locations subject to electromagnetic interference, electrostatic discharge or radio frequency interference. Malfunctions might otherwise occur.
1-6
Chapter 1 About Safety
(7) Use caution when releasing the brake of a vertical use robot.
WARNING
The vertical axis will slide down when the brake is released, causing a hazardous
situation.
· Press the emergency stop button and prop up the vertical axis with a support stand
before releasing the brake.
· Be careful not to let your body get caught between the vertical axis and installation
base when releasing the brake to perform direct teach.
(8) Provide safety measures for end effector (gripper, etc.).
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.
(9) Use caution when removing the motor. (Vertical use robots)
WARNING
The vertical axis will slide down when the motor is released, causing a hazardous
situation.
· Turn off the robot controller and prop up the vertical axis with a support stand
before removing the motor.
· Be careful not to let your body get caught between the vertical axis parts and
installation base.
(10) Be careful not to touch the motor or speed reduction gear casing when hot.
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 part has cooled.
(11) Take the following safety precautions during inspection of controller.
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.
· Never touch any internal parts of the controller.
· Refer to the “YAMAHA Robot Controller User’s Manual” for precautions on handling
the controller.
1-7
Chapter 1 About Safety
(12) Use caution not to touch the controller cooling fan.
WARNING
· Bodily injury may occur from coming into contact with the cooling fan while it is
rotating.
· When removing the fan cover for inspection, first turn off the controller and make
sure the fan has stopped.
(13) Consult us for corrective action when the robot is damaged or malfunctions occur.
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
Z-axis brake trouble
Dropping of load
(14) Protective bonding
WARNING
Be sure to ground the robot and controller to prevent electrical shock.
(15) Be sure to make correct parameter settings.
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.
(16) Do not use the robot for tasks requiring motor thrust.
CAUTION
Avoid using the belt-driven type robots for tasks which utilize motor thrust (pressfitting, burr removal, etc.). These tasks may cause malfunctions in the robot.
(17) Follow the specified procedures when installing, adjusting or inspecting the robot.
WARNING
Always follow the specified procedures when installing, adjusting or inspecting the
robot. Never attempt any procedure not described in this manual.
1-8
Chapter 1 About Safety
(18) Do not attempt any repair, parts replacement and modification.
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.
(19) Location for installing the controller and the programming box or Handy Terminal
The robot controller, programming box, and Handy Terminal 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.
(20) 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.
(21) 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.
(22) 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.
(23) Provide adequate lighting.
Make sure to provide enough lighting to ensure safety during work.
(24) 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.
(25) 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
1-9
Chapter 1 About Safety
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.
(26) Display a sign on operation panel during work
Display an easy to understand sign or message on the programming box, Handy Terminal,
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.
(27) Make daily and periodic inspections.
(1) Always make sure that daily and periodic inspections are performed, and make a prework 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.
1-10
Chapter 1 About Safety
1-4
Robot Safety Functions
(1) Overload detection
This function detects an overload applied to the motor and shuts off the servo power.
(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.
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.
(4) 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.
No mechanical stopper is provided on the rotating axis.
Note: The movement range is the area limited by mechanical stoppers.
WARNING
Axis movement will not stop immediately after the servo power supply is shut off by
emergency stop or other safety functions.
(5) Vertical axis brake
An electromagnetic brake is installed on the vertical use robot to prevent the vertical axis
from sliding down when servo power is turned off. This brake is working when the controller is off or the vertical axis servo power is off even when the controller is on.
The vertical axis brake can be released by means of the programming box or by a command
in the program when the controller is on.
WARNING
The vertical axis will slide down when the brake is released, creating a hazardous
situation.
· Press the emergency stop button and prop the vertical axis with a support stand
before releasing the brake.
· Use caution not to let your body get caught between the vertical axis and installation base when releasing the brake to perform direct teach.
1-11
Chapter 1 About Safety
1-5
Safety Measures for the System
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.
1-6
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 observe 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?
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Chapter 1 About Safety
1-7
Work Within the Safeguard Enclosure
(1) 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/Handy Terminal 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.
1-8
Automatic Operation
Automatic operation described here includes all operations in AUTO mode.
(1) Check the following before starting automatic operation.
1. No one is within the safeguard enclosure.
2. The programming box/Handy Terminal 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) Observe the following during automatic operation or in cases where an error occurs.
1) After automatic operation has started, check the operation status and warning lamp 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 product warranty, please contact your local agent where you purchased
your product.
1-13
MEMO
1-14
Chapter 2
Installation and Connections
2-1
Checking the product .......................................................... 2-3
2-2
2-3
Moving the robot .................................................................. 2-4
Robot Installation Conditions ............................................. 2-5
2-3-1 Installation environments .............................................................................. 2-5
2-3-2 Installation base ............................................................................................. 2-6
2-4
Installing the robot ............................................................... 2-7
2-4-1 T6 ................................................................................................................... 2-7
2-4-2 T7 ................................................................................................................... 2-9
2-4-3 T9/T9H ........................................................................................................ 2-11
2-4-4 F10 ............................................................................................................... 2-14
2-4-5 F14/F14H ..................................................................................................... 2-17
2-4-6 F17/F20 ....................................................................................................... 2-21
2-4-7 R5/R10/R20 ................................................................................................. 2-23
2-4-8 B10/B14/B14H ............................................................................................ 2-26
2-4-9 F20N ............................................................................................................ 2-27
2-5
2-6
Protective bonding ............................................................ 2-29
Connections ....................................................................... 2-30
2-6-1 Connecting the robot cables ........................................................................ 2-30
2-6-2 Changing the cable routing direction (F Type) ............................................ 2-32
2-6-3 Changing the cable routing direction (B Type) ........................................... 2-33
2-6-4 Changing the motor orientation (B type) ..................................................... 2-35
2-6-5 User wiring .................................................................................................. 2-38
2-7
Setting the operating conditions ...................................... 2-39
2-7-1 Payload ........................................................................................................ 2-39
2-7-2 Maximum speed setting ............................................................................... 2-40
2-7-3 Duty ............................................................................................................. 2-40
MEMO
2-2
Chapter 2 Installation and Connections
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
transportation.
If there are any missing parts or damage due to transportation, please notify your YAMAHA sales
office or dealer immediately.
Example
Controller: SR1
Robot:
B10, B14 or B14H
Product name
Qty
Single-axis robot
1
SR1
1
Robot cable
1
I/O connector
1
Battery
1
Battery attachment
1set
Warning label 1 (Danger label)
1
Affix to a conspicuous spot in the system.
Warning label 3 (Warning label)
1
Affix to a conspicuous spot in the system.
Belt tension adjusting bolt
1
See page 3-5.
Cover seal (long stroke model only)
3
See page 4-20.
HPB
1
Option
POPCOM
1
Option
SD memory card
1
Option
2-3
Chapter 2 Installation and Connections
2-2
Moving the robot
Using a hoist, carrying cart (dolly) or forklift is recommended for moving a single-axis robot or
controller. Use sufficient caution when moving robot models with a long stroke or designed for
large payload, since they are heavy.
Moving the robot
RCX14
2
WARNING
Serious injury may occur if the robot falls and pins someone under it.
• 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 balance might shift while being carried, and the robot topple over causing
accidents.
• Always wear a safety helmet, shoes and gloves during work.
• When moving the robot by equipment such as a forklift that requires a license, only
properly qualified personnel may operate such equipment. The equipment and
tools used for moving the robot should be serviced daily.
CAUTION
When moving or carrying the robot by hand, avoid placing the hand and fingers on
the shutter of the robot. Pressing down on the shutter, even by a little force, may
cause the shutter to warp or deform, resulting in a premature life end of the related
parts.
2-4
Chapter 2 Installation and Connections
2-3
Robot Installation Conditions
2-3-1
Installation environments
Be sure to install the robot in the following environments.
Specifications
Items
Allowable ambient temperature 0 to 45°C
Allowable ambient humidity
35 to 85% RH (non condensation)
Altitude
0 to 1000 meters above sea level
Ambient environments
Avoid installing near water, cutting water, oil, dust, metallic chips and
organic solvent.
Avoid installation near corrosive gas and corrosive materials.
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”.
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.
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 manipulator to fall over.
2-5
Chapter 2 Installation and Connections
2-3-2
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.
CAUTION
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.
CAUTION
The robot positioning accuracy might decrease if the installation surface precision is
insufficient.
Installation
base
Installation
base
Good example
Bad example
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.
CAUTION
Using less than the specified number of bolts to install the robot may cause vibration
and poor positioning accuracy.
NOTE
Refer to the external view and dimensions for each robot model shown in “4.1 Robot
specifications” for machining dimensions and positions of screw holes.
• Ensure that the controller is off before connecting the robot cable to the controller.
2-6
Chapter 2 Installation and Connections
2-4
Installing the robot
2-4-1
T6
To install the T6 robot, tap holes into the installation base and secure the robot to the base with
M4 bolts from inside of the robot frame.
WARNING
Always turn off the power to the controller before installing the robot. Serious accidents might occur if the robot starts to operate during installation.
Installation method
1) Tap M4 holes into the installation base where the robot is to be secured.
For hole pitch, see the external view and dimensions in “5.1 Robot Specifications” of Chapter 5.)
2) Remove the screws securing the side covers of the robot and remove the side covers (on both sides).
If necessary, move the slider to a location where it does not block the installation holes on the
bottom of the robot frame.
Shutter
Slider
Side cover
2-7
Chapter 2 Installation and Connections
3) Secure the robot to the base with the specified bolts and torque.
The bolts and tightening torque are shown below.
Bolt
Hex socket-head M4 bolt, strength: 8.8T,
length: longer than 20mm
Tightening torque 30kg-cm to 45kg-cm
M4 hex wrench
Shutter
CAUTION
Be careful not to damage the shutter when tightening the bolts.
WARNING
Be sure to tighten the bolt to the correct torque. The wrong torque may not only
cause robot position errors but also lead to serious accidents.
4) Reattach the side covers after installing the robot.
2-8
Chapter 2 Installation and Connections
2-4-2
T7
To install the T7 robot, tap holes into the installation base and secure the robot to the base with
M4 bolts from inside of the robot frame.
WARNING
Always turn off the power to the controller before installing the robot. Serious accidents might occur if the robot starts to operate during installation.
●Installation method
1) Tap M4 holes into the installation base where the robot is to be secured.
For hole pitch, see the external view and dimensions in “5.1 Robot Specifications” of Chapter 5.)
2) Remove the screws securing the side cover of the robot and remove the side cover (on one side).
If necessary, move the slider to a location where it does not block the installation holes on the
bottom of the robot frame.
Side cover
Slider
3) Secure the robot to the base with the specified bolts and torque.
The bolts and tightening torque are shown below.
Bolt
Hex socket-head M4 bolt, strength: 8.8T,
length: longer than 20mm
Tightening torque 30kg-cm to 45kg-cm
M4 hex wrench
2-9
Chapter 2 Installation and Connections
WARNING
Be sure to tighten the bolt to the correct torque. The wrong torque may not only
cause robot position errors but also lead to serious accidents.
4) Reattach the side cover after installing the robot.
●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.
Ground terminal
Robot cable
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.
WARNING
Always turn off the power to the controller before making the ground connection.
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.
(Symbol 417-IEC5019)
2-10
Chapter 2 Installation and Connections
2-4-3
T9/T9H
To install the T9/T9H robot, use either of the following two methods.
Method A : Drill holes through the installation base and secure the robot to the base with M8
bolts from the bottom.
(M8 tapped holes are already machined on the bottom of the robot frame.)
Method B : Tap holes into the installation base and secure the robot to the base with M8 bolts
from inside of the robot frame.
WARNING
Always turn off the power to the controller before installing the robot. Serious accidents might occur if the robot starts to operate during installation.
●Installation method A
Drill holes through the installation base where the robot is to be secured. Then secure the robot
with the specified bolts from the bottom. The bolts and tightening torque are shown below.
Bolt
Hex socket-head M8 bolt, strength: 8.8T,
length: installation base thickness + 12mm (maximum)
Tightening torque 230kg·cm to 370kg·cm
Installation base
M8 bolt
WARNING
• Be sure to tighten the bolt to the correct torque. The wrong torque may not only
cause robot position errors but also lead to serious accidents.
• Do not use a bolt longer than the specified length. A bolt that is too long will penetrate inside the robot frame and cause operating defects or malfunctions.
2-11
Chapter 2 Installation and Connections
●Installation method B
1) Tap M6 holes into the installation base where the robot is to be secured.
For hole pitch, see the external view and dimensions in “5.1 Robot Specifications” of Chapter 5.)
2) Remove the screws securing the side cover of the robot and remove the side cover (on one side).
If necessary, move the slider to a location where it does not block the installation holes on the
bottom of the robot frame, or else remove the upper cover.
Slider
Side cover
3) Secure the robot to the base with the specified bolts and torque.
The bolts and tightening torque are shown below.
Bolt
Hex socket-head M6 bolt, strength: 8.8T,
length: longer than 25mm
Tightening torque 100kg·cm to 130kg·cm
M6 hex wrench
WARNING
Be sure to tighten the bolt to the correct torque. The wrong torque may not only
cause robot position errors but also lead to serious accidents.
4) Reattach the side cover (and upper cover if removed) after installing the robot.
2-12
Chapter 2 Installation and Connections
●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.
Ground terminal
Robot cable
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.
WARNING
Always turn off the power to the controller before making the ground connection.
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.
(Symbol 417-IEC5019)
2-13
Chapter 2 Installation and Connections
2-4-4
F10
To install the F10 robot, use either of the following two methods.
Method A : Drill holes through the installation base and secure the robot to the base with M5
bolts from the bottom.
(M5 tapped holes are already machined on the bottom of the robot frame.)
Method B : Tap holes into the installation base and secure the robot to the base with M5 bolts
from inside of the robot frame.
WARNING
Always turn off the power to the controller before installing the robot. Serious accidents might occur if the robot starts to operate during installation.
●Installation method A
Drill holes through the installation base where the robot is to be secured. Then secure the robot
with the specified bolts from the bottom. The bolts and tightening torque are shown below.
Bolt
Hex socket-head M5 bolt, strength: 8.8T,
length: installation base thickness + 9mm (maximum)
Tightening torque 60kg·cm to 90kg·cm
M5 bolt
WARNING
• Be sure to tighten the bolt to the correct torque. The wrong torque may not only
cause robot position errors but also lead to serious accidents.
• Do not use a bolt longer than the specified length. A bolt that is too long will penetrate inside the robot frame and cause operating defects or malfunctions.
CAUTION
The robot frame is made of aluminum so be careful not to damage the screw threads
when tightening the bolt.
2-14
Chapter 2 Installation and Connections
●Installation method B
1) Tap M5 holes into the installation base where the robot is to be secured.
For hole pitch, see the external view and dimensions in “5.1 Robot Specifications” of Chapter 5.)
2) Remove the screws securing the upper cover of the robot and remove the upper cover.
If necessary, move the slider to a location where it does not block the installation holes on the
bottom of the robot frame.
Slider
Upper cover
3) Secure the robot to the base with the specified bolts and torque.
The bolts and tightening torque are shown below.
Bolt
Hex socket-head M5 bolt, strength: 8.8T,
length: longer than 20mm
Tightening torque 60kg·cm to 90kg·cm
M5 hex wrench
WARNING
Be sure to tighten the bolt to the correct torque. The wrong torque may not only
cause robot position errors but also lead to serious accidents.
4) Reattach the upper cover after installing the robot.
2-15
Chapter 2 Installation and Connections
●Protective bonding
WARNING
Always ground the robot and controller unit to prevent electrical shock.
Always use the ground terminal (M4 screw) inside the robot unit to make ground connection. The
ground terminal location is shown below. (When you remove the upper and lower covers for the
motor and also the end plate, you will see the ground terminal as shown.)
End plate
Motor upper cover
Ground terminal
Motor lower cover
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.
WARNING
Always turn off the power to the controller before making the ground connection.
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.
(Symbol 417-IEC5019)
2-16
Chapter 2 Installation and Connections
2-4-5
F14/F14H
To install the F14/F14H robot, use either of the following two methods.
Method A: Drill holes through the installation base and secure the robot to the base with M6
bolts from the bottom.
(M6 tapped holes are already machined on the bottom of the robot frame.)
Method B: Tap holes into the installation base and secure the robot to the base with M6 bolts
from inside of the robot frame.
WARNING
Always turn off the power to the controller before installing the robot. Serious accidents might occur if the robot starts to operate during installation.
●Installation method A
Drill holes through the installation base where the robot is to be secured. Then secure the robot
with the specified bolts from the bottom. The bolts and tightening torque are shown below.
Bolt
Hex socket-head M6 bolt, strength: 8.8T,
length: installation base thickness + 10mm (maximum) is recommended*
Tightening torque 100kg·cm to 130kg·cm
* A bolt size of installation base thickness +20mm (maximum) can be used since the robot frame interior is
hollow. Even in this case, the screw thread length that actually engages is 10mm.
Installation base
M6 bolt
2-17
Chapter 2 Installation and Connections
WARNING
• Be sure to tighten the bolt to the correct torque. The wrong torque may not only
cause robot position errors but also lead to serious accidents.
• Do not use a bolt longer than the specified length. A bolt that is too long will penetrate inside the robot frame and cause operating defects or malfunctions.
CAUTION
The robot frame is made of aluminum so be careful not to damage the screw threads
when tightening the bolt.
●Installation method B
1) Tap M6 holes into the installation base where the robot is to be secured.
For hole pitch, see the external view and dimensions in “5.1 Robot Specifications” of Chapter 5.)
2) Remove the screws securing the upper cover of the robot and remove the upper cover.
If necessary, move the slider to a location where it does not block the installation holes on the
bottom of the robot frame.
Upper cover
2-18
Slider
Chapter 2 Installation and Connections
3) Secure the robot to the base with the specified bolts and torque.
The bolts and tightening torque are shown below.
Bolt
Hex socket-head M6 bolt, strength: 8.8T,
length: longer than 20mm
Tightening torque 100kg·cm to 130kg·cm
M6 hex wrench
WARNING
Be sure to tighten the bolt to the correct torque. The wrong torque may not only
cause robot position errors but also lead to serious accidents.
4) Reattach the upper cover after installing the robot.
2-19
Chapter 2 Installation and Connections
●Protective bonding
WARNING
Always ground the robot and controller unit to prevent electrical shock.
Always use the ground terminal (M4 screw) inside the robot unit to make ground connection. The
ground terminal location is shown below.
Ground terminal
End plate
Motor cable
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.
WARNING
Always turn off the power to the controller before making the ground connection.
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.
(Symbol 417-IEC5019)
2-20
Chapter 2 Installation and Connections
2-4-6
F17/F20
To install the F17/F20 robot, tap holes into the installation base and secure the robot to the base
with M8 bolts from inside of the robot frame.
WARNING
Always turn off the power to the controller before installing the robot. Serious accidents might occur if the robot starts to operate during installation.
●Installation method
1) Tap M8 holes into the installation base where the robot is to be secured.
For hole pitch, see the external view and dimensions in “5.1 Robot Specifications” of Chapter 5.)
2) Remove the screws securing the upper cover of the robot and remove the upper cover.
If necessary, move the slider to a location where it does not block the installation holes on the
bottom of the robot frame.
Upper cover
3) Secure the robot to the base with the specified bolts and torque.
The bolts and tightening torque are shown below.
Bolt
Hex socket-head M8 bolt, strength: 8.8T,
length: longer than 45mm (F17), longer than 50mm (F20)
Tightening torque 230kg-cm to 370kg-cm
M8 hex wrench
2-21
Chapter 2 Installation and Connections
WARNING
Be sure to tighten the bolt to the correct torque. The wrong torque may not only
cause robot position errors but also lead to serious accidents.
4) Reattach the upper cover after installing the robot.
●Protective bonding
WARNING
Always ground the robot and controller unit to prevent electrical shock.
Always use the ground terminal (M4 screw) inside the robot unit to make ground connection. The
ground terminal location is shown below.
Ground terminal
End plate
Motor cable
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.
WARNING
Always turn off the power to the controller before making the ground connection.
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.
(Symbol 417-IEC5019)
2-22
Chapter 2 Installation and Connections
2-4-7
R5/R10/R20
To install the R5/R10/R20 robot, tap holes into the installation base and secure the robot to the
base as shown below.
WARNING
Always turn off the power to the controller before installing the robot. Serious accidents might occur if the robot starts to operate during installation.
●Installation method
Tap holes into the installation base where the robot is to be secured.
For hole diameter and pitch, see the external view and dimensions in “5.1 Robot Specifications”
of Chapter 5.)
M6 bolt
Installation base
M6 bolt
Installation base
2-23
Chapter 2 Installation and Connections
M5 or M6 bolt
Installation base
Bolt
Hex socket-head M5 or M6 bolt, strength: 8.8T,
length: installation base thickness + 12mm (maximum)
Tightening torque M5: 60kg-cm to 90kg-cm
M6: 100kg-cm to 130kg-cm
●Protective bonding
WARNING
Always ground the robot and controller unit to prevent electrical shock.
Always use the ground terminal (M4 screw) inside the robot unit to make ground connection. The
ground terminal location is shown below.
Ground terminal (M4 screw)
WARNING
• A secure ground connection (less than 100-ohm resistance to ground) is recommended.
• Use electrical wire thicker than AWG14 (2mm2) as the ground wire.
2-24
Chapter 2 Installation and Connections
WARNING
Always turn off the power to the controller before making the ground connection.
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.
(Symbol 417-IEC5019)
●Origin position
The Flip-X series uses the absolute method so performing return-to-origin is not necessary after
the power is turned on. However, data containing the origin position may be lost if the absolute
battery is removed from the controller or the battery dies. When this happens, origin return (or
origin reset) must be performed after the battery is reconnected. The R5, R10 and R20 robots
utilize the mark method (refer to controller manual) that does not use sensors. Use a triangular
seal enclosed in the package to affix it at the desired position, and perform origin return (or origin
reset). When the next time origin return is required, this seal can be used as the matching mark to
ensure reproducibility. We recommend affixing the seal as far away from the R5, R10 and R20
shaft center as possible to achieve high reproducibility.
2-25
Chapter 2 Installation and Connections
2-4-8
B10/B14/B14H
WARNING
Always turn off the controller before installing the robot. Serious accidents might
occur if the robot starts to operate during installation.
Drill holes through the installation base where the robot is to be secured. Then secure the robot
with the specified bolts from the bottom. The bolts and tightening torque are shown below.
Robot model
B10
Bolt
Tightening torque
Hex socket-head M5 bolt
60kg . cm to 90kg . cm
Strength: 8.8T
Length: installation base thickness + 10mm (maximum)
B14, B14H Hex socket-head M6 bolt
100kg . cm to 130kg . cm
Strength: 8.8T
Length: installation base thickness + 10mm (maximum)
Installation base
M5 bolt (B10),
M6 bolt (B14, B14H)
WARNING
• Be sure to tighten the bolt to the correct torque. The wrong torque may not only
cause robot position errors but also lead to serious accidents.
• Do not use a bolt longer than the specified length. A bolt that is too long will penetrate inside the robot frame and cause operating defects or malfunctions.
CAUTION
The robot frame is made of aluminum so be careful not to damage the screw threads
when tightening the bolt.
2-26
Chapter 2 Installation and Connections
2-4-9
F20N
To install the F17/F20 robot, tap holes into the installation base and secure the robot to the base
with M8 bolts from inside of the robot frame.
WARNING
Always turn off the power to the controller before installing the robot. Serious accidents might occur if the robot starts to operate during installation.
●Installation method
1) Tap M8 holes into the installation base where the robot is to be secured.
For hole pitch, see the external view and dimensions in “5.1 Robot Specifications” of Chapter 5.)
2) Remove the screws securing the upper cover of the robot and remove the upper cover.
If necessary, move the slider to a location where it does not block the installation holes on the
bottom of the robot frame.
3) Secure the robot to the base with the specified bolts and torque.
The bolts and tightening torque are shown below.
Bolt
Hex socket-head M8 bolt, strength: 8.8T,
length: longer than 45mm (F17), longer than 50mm (F20)
Tightening torque 230kg-cm to 370kg-cm
2-27
Chapter 2 Installation and Connections
WARNING
Be sure to tighten the bolt to the correct torque. The wrong torque may not only
cause robot position errors but also lead to serious accidents.
4) Reattach the upper cover after installing the robot.
Refer to Chapter 3 “3-3 Installing and removing the cover (F20N)”, and install the cover.
●Protective bonding
WARNING
Always ground the robot and controller unit to prevent electrical shock.
A grounding terminal (M4 screw) is provided inside the cable box, so always ground the unit. The
position of the grounding terminal is shown below.
Cable box
Cable carrier
Robot cable
Ground terminal
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.
WARNING
Always turn off the power to the controller before making the ground connection.
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.
(Symbol 417-IEC5019)
2-28
Chapter 2 Installation and Connections
2-5
Protective bonding
WARNING
Always ground the robot and controller unit to prevent electrical shock.
Always use the ground terminal (M4 screw) of the robot unit to make ground connection. The
ground terminal location is shown below.
Robot cable
Ground terminal
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.
WARNING
Always turn off the controller before making the ground connection.
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.
(Symbol 417-IEC5019)
2-29
Chapter 2 Installation and Connections
2-6
Connections
2-6-1
Connecting the robot cables
Connect the robot cables to the mating connectors on the controller as shown. Refer to the SR1
robot controller user’s manual for the controller connectors.
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.
CAUTION
After connecting the relay connectors on the robot cables, fit the connector hoods
together securely.
2-30
Chapter 2 Installation and Connections
● Robot cable connections
Refer to “5-2 AC servo motor cable termination” and “5-3 Robot cable” when wiring the cables.
HPB
SR1
ERR
PWR
MOTOR
HPB
U
V
W
I/O
BAT
AC IN
ROB I/O
L
N
L1
N1
RGEN
P
Robot cable (power cable)
SAFETY
N
SHORT:
AC100V
OPEN:
AC200V
MO connector ... Motor wire
Robot cable (signal cable)
ORG connector ... Origin sensor wire (only robots with
origin sensor)
BK connector....... Brake wire (only robots with brake)
Single-axis robot
FLIP-X series
P connector.......... Resolver signal wire
*After making connections,
fasten the hoods securely.
Hood
System Configurations
ERR
PWR
MOTOR
HPB
U
V
W
Resolver signal
Motor power
RS-232C
communication control
RS-232C or
communication control
(communication cable)
SD memory card
(option)
I/O
BAT
AC IN
ROB I/O
L1
N1
RGEN
P
SAFETY
N
SHORT:
AC100V
OPEN:
AC200V
Input
16 general-purpose pins
7 custom-purpose pins
Output 16 general-purpose pins
3 custom-purpose pins
I/O control
(24V power
supply built-in)
L
N
Servo control
SD
MEMORY
CARD
Robot controller SR1
Programming box
HPB (option)
PC
POPCOM
communication software
(option)
Power supply
AC100~115/200~230V
±10%
External control
(PLC)
The controller is supplied with the robot as
a standard unit.
The programming box HPB is optional.
Single-axis robot
FLIP-X series
2-31
Chapter 2 Installation and Connections
2-6-2
Changing the cable routing direction (F Type)
The cable in F type robots (F10, F14, F17, F20 series) can be run out (extracted) in any direction.
Limits on wiring directions have been eliminated and vertical or horizontal installations are made
possible for efficient use of space. Methods for changing the cable routing (extraction) direction
are shown below. (The standard cable extraction slot is on the rear side when shipped from the
factory.)
Standard cable extraction direction
1) Remove the upper cover and motor endplate. (On the F10, remove both upper and lower
motor covers and endplate.)
2) Remove the robot cable from the endplate.
3) Change the cable extraction (routing) direction.
Top extraction : Clip the endplate cable installation slot with wire nippers or similar tool, fit
a robot cable grommet into that slot and route the cable out through that slot.
Side extraction : Fit a robot cable grommet into the side routing bracket and route the cable
out through that slot. (Side extraction is not possible on the F10.)
Cable routing bracket
Top extraction
Side extraction
NOTE
When routing the cable from the opposite side, you must change the clamping
position of the cable routing bracket. (Change the ground wire installation position to
the opposite side at this time.)
4) Reattach the endplate and upper cover (or motor upper and lower covers) back to their original positions.
2-32
Chapter 2 Installation and Connections
2-6-3
Changing the cable routing direction (B Type)
The cables in B type robots (B10, B14, B14H series) can be run out (extracted) in any direction.
Limits on wiring directions have been eliminated so available space can be efficiently used. Methods
for changing the cable routing (extraction) direction are shown below.
When rotating 180 degrees
1) Remove the four screws securing the motor cover.
2) Remove the motor cover and rotate it 180 degrees.
Rotate 180
degrees.
Motor cover
3) Reattach the motor cover and tighten the four screws to secure the motor cover and cables.
2-33
Chapter 2 Installation and Connections
When rotating 90 degrees
1) Remove the four screws securing the motor cover and remove the motor cover.
2) Remove the cables from the motor cover and trim the unused cable extraction slots with wire
nippers or similar tool.
3) Fit the robot cable grommets into the new cable extraction slots and route the cables out
through those slots.
Grommet
Motor cover
4) Reattach the motor cover and tighten the four screws to secure the motor cover and cables.
2-34
Chapter 2 Installation and Connections
2-6-4
Changing the motor orientation (B type)
WARNING
Always turn off the controller before beginning work. Serious accidents might occur if
the robot starts to operate during work.
Motor orientation in B type robots (B10, B14, B14H series) can be changed to use space more
efficiently. If the motor case is hanging up on an object and hampers installation of the robot, use
the following method to change the motor orientation.
1) Remove the screws securing the belt cover and remove the belt cover.
2) Remove the motor plate bolts (4 pieces).
Motor plate
Motor plate bolt
2-35
Chapter 2 Installation and Connections
3) Detach the belt from the pulleys, change the motor orientation as desired and lightly tighten
the motor plate bolts (4 pieces). Now shift the motor case towards the large pulley as shown
by the arrow.
Motor plate
Motor plate bolt
4) First fit the belt onto the (small) motor pulley and then onto the large pulley.
2-36
Chapter 2 Installation and Connections
5) Pull the motor in the direction that increases tension on the belt, and lightly tighten the motor
plate bolts.
Motor case
Motor plate bolt
6) Adjust the belt tension.
See “3-2-2 Adjusting the speed reduction belt tension” in Chapter 3.
7) Reattach the belt cover.
CAUTION
Check that the belt teeth correctly mesh with the large pulley teeth. A poor intermesh
may cause positioning errors or shorten the belt service life.
CAUTION
Since a positional shift occurs after adjusting the belt tension, absolute reset, and
the point data.
2-37
Chapter 2 Installation and Connections
2-6-5
User wiring
Cable carrier
Observe the following precautions when using a cable carrier with the FLIP-X series.
CAUTION
• Use a cable carrier that maintains an R50 or larger cable bend diameter.
• When fitting the robot cables into the cable carrier, keep the space used within
30 percent of the total space including other cables and air hoses. Lay the cables
and air hoses in rows inside the cable carrier so they do not cross each other.
• The cables and tubes inside the cable carrier will move during robot operation
applying tension to both ends. Gently secure the cables to allow for some slack so
a large amount of force is not applied to cable connector during robot movement.
• Breaks or electrical discontinuity may occur if the cables are fastened too tightly
with snap bands or fastening ties so allow for some slack and gently secure the
cables.
NOTE
Separating the robot cables from the user cables in the cable carrier with plate
partitions (see drawing below) improves reliability and makes maintenance easier.
Partitions
Cross section view inside cable carrier
Cable carrier
Typical single-axis robot using cable carrier
2-38
Chapter 2 Installation and Connections
2-7
Setting the operating conditions
2-7-1
Payload
Optimal acceleration for the YAMAHA Single-axis robot FLIP-X series is automatically determined by setting the controller payload parameters. Set the total weight of the workpiece and the
end effectors such as grippers attached to the robot slider in the payload parameter as shown
below.
CAUTION
Be sure to enter an accurate value when making this setting, since a mistake will
cause troubles such as vibration or a shorter machine service life span.
● To set the payload parameter
Use the following method when setting the payload parameter on a single-axis robot controller
(SR1). When setting this parameter on other controllers (RCX142, RCX222) refer to their
controller user's manuals.
1) Press F 3 (SYS) on the initial menu
screen.
The SYS (system) mode screen appears.
［ＭＥＮＵ］
ｓｅｌｅｃｔ ｍｅｎｕ
１ＥＤＩＴ２ＯＰＲＴ３ＳＹＳ ４ＭＯＮ
2) Press F 1 (PRM) to enter the parameter
setting mode.
The SYS-PRM mode screen appears.
［ＳＹＳ］
ｓｅｌｅｃｔ ｍｅｎｕ
１ＰＲＭ ２Ｂ．ＵＰ３ＩＮＩＴ４ｎｅｘｔ
3) Select the parameter group.
Press F 1 (AXIS) to select the axis parameter.
The current setting for PRM100 (Robot
type) appears on the screen.
［ＳＹＳ−ＰＲＭ］
ｓｅｌｅｃｔ ｍｅｎｕ
１ＡＸＩＳ２ＤＡＴＡ３ＳＹＳ１４ＳＹＳ２
［ＳＹＳ−ＰＲＭ−ＡＸＩＳ］
ＰＲＭ１００ ＝ ＿
４０４０
ｒｏｂｏｔ ｔｙｐｅ
ｒｅａｄ ｏｎｌｙ
2-39
Chapter 2 Installation and Connections
4) Display PRM112 (payload).
Press the
keys to scroll up or down
the parameter list and select the parameter
you want to set.
5) Set the parameter.
Enter the parameter value with the number
keys and press .
The parameter setting range is shown on the
bottom line of the screen. When setting is
complete, the cursor moves back to the beginning of the parameter data.
2-7-2
［ＳＹＳ−ＰＲＭ−ＡＸＩＳ］
ＰＲＭ１１２ ＝ １０＿［Ｋｇ］
ｐａｙｌｏａｄ
ｒａｎｇｅ ０→ＭＡＸ
［ＳＹＳ−ＰＲＭ−ＡＸＩＳ］
ＰＲＭ１１２ ＝ ＿
１０ ［Ｋｇ］
ｐａｙｌｏａｄ
ｒａｎｇｅ ０→ＭＡＸ
Maximum speed setting
In operation of a single-axis robot with a long stroke ball screw, resonance of the ball screw may
occur. In this case, the maximum speed must be reduced to an appropriate level. The maximum
speed can be reduced by lowering the SPEED setting in automatic operation or by programming.
Use the desired method that matches your application. For maximum speed setting versus the
robot stroke length, see Chapter 4, "Specifications"
If the maximum speed does not reach a hazardous level, reducing the speed is unnecessary even
when a robot has a long stroke axis.
CAUTION
Do not operate the robot if the ball screw is vibrating. The ball screw may otherwise
wear out prematurely.
2-7-3
Duty
To achieve maximum service life for the YAMAHA single-axis robots, the robot must be operated within the allowable duty (50%).
The duty is calculated as follows:
Duty (%) =
Operation time
Operation time + Non-operation time
×100
If the robot duty is too high, an error such as "overload" or "overheat" occurs. In this case, increase the stop time to reduce the duty.
2-40
Chapter 3
Adjusting the robot
3-1
Attaching the upper cover (B10/B14/B14H) ....................... 3-3
3-2
Adjusting the timing belt tension (B10/B14/B14H) ........... 3-4
3-2-1 Adjusting the drive belt tension ..................................................................... 3-5
Reference: Adjusting drive belt tension with a tension meter ....................... 3-6
3-2-2 Adjusting the speed reduction belt tension .................................................... 3-7
Reference: Adjusting speed reduction belt tension with a tension meter ...... 3-8
3-3
Installing and removing the cover (F20N) ......................... 3-9
3-3-1 Stroke cover ................................................................................................... 3-9
3-3-2 Belt cover ..................................................................................................... 3-10
3-3-3 Motor cover ................................................................................................. 3-11
3-4
Adjusting the timing belt tension (F20N) ......................... 3-12
MEMO
3-2
Chapter 3 Adjusting the robot
3-1
Attaching the upper cover (B10/B14/B14H)
On robot models having a long stroke, a slider travel guide (U groove) is provided inside the
upper cover. The slider must be aligned with this U groove when attaching the upper cover.
CAUTION
If the slider and upper cover alignment is poor, the slider may wear out prematurely.
Insert the slider into the U groove correctly so that the slider is not worn away or
damaged by the edge of the upper cover.
1) Turn off the controller.
2) Insert the slider into the U groove provided along the center of the upper cover, while holding
the upper cover in parallel with the robot movement axis.
Slider travel guide
(U groove)
Slider
3) Lightly tighten the four screws to temporarily secure the upper cover, move the slider table
from the motor side all the way to the non-motor side, and fully tighten the screws on the nonmotor side. Then move the slider table back to the motor side and fully tighten the two screws
on the motor side to secure the upper cover.
4) Move the slider table by hand to check that it travels along the upper cover smoothly.
3-3
Chapter 3 Adjusting the robot
Adjusting the timing belt tension (B10/B14/B14H)
The B10, B14 and B14H series robots use a timing belt to move the slider table. If the belt
becomes slack, use the following procedure to apply belt tension.
WARNING
The motor and speed reduction gear casing are extremely hot after automatic operation, so burns may occur if these are touched. Before touching these parts, turn off
the controller, wait for a while and check that the parts have cooled.
WARNING
Injury can occur if hands or fingers are squeezed between the drive pulley and belt.
Always turn off the controller and use caution when handling these parts.
CAUTION
Since a positional shift occurs after adjusting the belt tension, absolute reset, and
the point data.
L/2
L/2
Slider table
Push-pull scale
Push-pull scale
Slack
Load
Slack
Load
Pulley
Belt
Belt
Pulley
Pulley
Fig. 2-1 Adjustment of speed reduction belt tension
Fig. 2-2 Adjustment of drive belt tension
5
Belt
Push-pull scale
55
25
Nut
Stay
Hole
Nut
10
3-2
15
Fig. 2-3 Stay (example)
3-4
Metal plate of 3.2mm thick
Chapter 3 Adjusting the robot
3-2-1
Adjusting the drive belt tension
1) Turn off the controller.
2) Take off the end cover.
3) Remove the screws securing the upper cover and remove the upper cover.
CAUTION
On robot models having a long stroke, the slider is fitted in the travel guide (U groove)
inside the upper cover, so remove the upper cover by sliding it along the direction the
robot moves.
4) Attach the belt tension adjusting bolt (supplied) as shown and loosen the eight bolts (4 bolts
on each side) securing the belt stays. Then turn the belt tension adjusting bolt to apply tension.
Tension adjusting bolt
Belt stay bolt
Belt stay
5) Move the slider by hand to a position at which the distance from the slider edge to the base
block edge is 150mm. Apply a load to the belt at a position 115mm (B10) or 129mm (B14 ,
B14H) away from the slider edge.
150mm
L
3-5
Chapter 3 Adjusting the robot
6) Lightly tighten the belt stay bolts and check the belt tension. The correct load and resulting
slack to be applied to each robot are shown in Tables 2-1. When the load producing the specified slack is within this range, no adjustment is required. If not within this range, adjust the
tension by repeating steps 4) and 5).
Table 2-1 Load and slack for drive belt tension
Robot model
Load (N)
Load (kgf)
Slack (mm)
B10
4.9 to 5.9
0.5 to 0.6
2
B14, B14H
5.9 to 6.9
0.6 to 0.7
2
7) Tighten the belt stay bolts and remove the belt tension adjusting bolt.
8) Reattach the upper cover and then the end cover.
See “3-1 Attaching the upper cover” in Chapter 3.
Reference: Adjusting drive belt tension with a tension meter
We recommend using a tension meter to adjust the belt tension more accurately.
Recommended tension meter: U-505 (Made by UNITTA)
Measurement method
To make the drive belt tension adjustment of step 5), pull the belt to a position where a load is to
be applied and adjust the belt tension by measuring the frequency with the tension meter while
referring to the table below.
For details on how to use the tension meter, refer to the tension meter instruction manual.
Robot model Tension (N) Frequency Span length
(Hz)
(mm)
Belt width
(mm)
(g/width [mm] _ length [m])
Unit mass
B10
127 to 147
86 to 93
230
20
4.0
B14, B14H
169 to 188
79 to 84
258
25
4.0
3-6
Chapter 3 Adjusting the robot
3-2-2
Adjusting the speed reduction belt tension
1) Turn off the controller.
2) Remove the belt cover.
3) Apply a load shown in Table 2-2 at the center between the two pulleys and measure the slack
(or tension). When the slack is within the allowable range, no adjustment is required. If not
within allowable range, adjust the tension (or slack) with the procedure below.
Table 2-2 Load and slack for speed reduction belt tension
Robot model
Load (N)
Load (kgf)
Slack (mm)
B10
5.9 to 6.9
0.6 to 0.7
3
B14,B14H
5.9 to 6.9
0.6 to 0.7
3
4) If the belt tension must be adjusted, loosen the motor plate bolts.
3-7
Chapter 3 Adjusting the robot
5) If the slack (or tension) measured in step 3 is smaller than the range specified in Table 2-2,
move the motor case in the direction that increases belt tension. If the slack or tension is
greater than the range in Table 2-2, move in the direction that reduces belt tension. Then,
temporarily retighten the motor plate bolts.
Tension
ension increases
Tension
ension reduces
Motor plate bolts
6) Measure the belt tension again as in step 3).
When the load producing the specified slack (or tension) is within the allowable range in
Table 2-2, no adjustment is required. If not within that range, adjust the tension (or slack) by
repeating steps 3) to 5).
7) Tighten the motor plate bolts securely.
8) Reattach the belt cover.
Reference: Adjusting speed reduction belt tension with a tension meter
We recommend using a tension meter to adjust the belt tension more accurately.
Recommended tension meter: U-505 (Made by UNITTA)
Measurement method
To make the drive belt tension adjustment of step 3), pull the belt to a position where a load is to
be applied and adjust the belt tension by measuring the frequency with the tension meter while
referring to the table below.
For details on how to use the tension meter, refer to the tension meter instruction manual.
Robot model Tension (N) Frequency Span length
(Hz)
(mm)
Belt width
(mm)
(g/width [mm] _ length [m])
Unit mass
B10
44 to 49
180 to 190
82
20
2.5
B14, B14H
44 to 49
180 to 190
82
20
2.5
3-8
Chapter 3 Adjusting the robot
3-3
Installing and removing the cover (F20N)
3-3-1
Stroke cover
Removing the stroke cover
1) Remove the fixing screws (M4, pan-head) on both ends.
2) Place the table slide near the stroke end, and pull off the cover.
Side cover
Center cover
Motor block
Table slide
End block
Installing the stroke cover
1) Place the table slide near the stroke end, and pass the cover between the table slide and motor
block.
2) Fix the cover to the end block. At this time, move the table slide to the stroke center, and
confirm that it does not interfere with the cover. If the table slide interferes with the cover,
adjust by tightening the fixing screw. (Refer to following photographs.)
When cover contacts table slide
⇒Tighten the cover fixing screw
3-9
When cover contacts motor block
⇒Loosen the cover fixing screw
Chapter 3 Adjusting the robot
3-3-2
Belt cover
Removing the belt cover
1) Loosen the hexagon bolts (M4, two bolts) on the front with a spanner or socket wrench. After
removing the M4 screws on the top, pull the cover upward and off. (Refer to the following
photograph.)
M4 screw (two screws)
M4 hexagon bolt (two bolts)
Installing the belt cover
1) Fit the cover so that the notch on the cover passes between the hexagon bolts. Tighten the
hexagon bolts with a spanner or socket wrench, and then fix from above with the M4 screws.
3-10
Chapter 3 Adjusting the robot
3-3-3
Motor cover
Removing the motor cover
1) Cut the Insulock-tie binding the motor cable with a pair of nippers, and remove.
2) Remove the two M6 hexagon bolts, and pull the motor cover upward and off. (Refer to the
following photograph.)
Installing the motor cover
1) Insert the motor cover into the installation hole, and fix with two M6 hexagon bolts.
2) Using the o5 hole open on the motor cover, fix the motor cable with an Insulock-tie.
3-11
Chapter 3 Adjusting the robot
3-4
Adjusting the timing belt tension (F20N)
1) Temporarily tighten the motor installation bolt.
2) Remove the belt cover, and install the adjustment bolt (M5). Apply belt tension. (Refer to the
following photograph.)
3) Tighten the motor fixing bolt.
4) Place the measuring head of the tension meter near the belt, and flip the belt at the middle of
the belt span with a hex wrench or similar tool.
5) Adjust the belt tension by measuring the frequency with the tension meter while referring to
the table below.
Recommended tension meter: U505 (made by UNITTA)
Frequency
(Hz)
207 to 219
Tension (N) Tension (kg)
88 to 98
9 to 10
Span length Belt unit weight
(mm)
(kg/m)
100
0.051
6) When the appropriate tension has been set, tighten the motor installation bolt, and measure
the tension again.
(Note that the tension will increase as the bolt is tightened.)
7) Remove the adjustment bolt, and install the belt cover.
3-12
Chapter 4
Periodic Inspection
4-1
Before beginning work ........................................................ 4-3
4-2
Periodic inspection .............................................................. 4-5
4-2-1 Daily inspection ............................................................................................. 4-5
4-2-2 Three-month inspection ................................................................................. 4-5
4-2-3 Six-month inspection ..................................................................................... 4-6
4-2-4 Three-year inspection .................................................................................... 4-6
4-3
Applying grease ................................................................... 4-7
4-3-1 Applying grease (T6/T7 type) ....................................................................... 4-7
4-3-2 Applying grease (T9/F types) ........................................................................ 4-8
4-3-3 Applying grease (B type) ............................................................................... 4-8
4-4
Adjusting and replacing a loose shutter ........................... 4-9
4-4-1 Replacing the shutter (T6) ............................................................................. 4-9
4-4-2 Adjusting shutter looseness (T6) ................................................................. 4-10
4-5
Replacing the motor .......................................................... 4-11
4-5-1 Replacing the motor (B10/B14/B14H) ........................................................ 4-11
4-5-2 Replacing the motor (F20N) ........................................................................ 4-13
4-6
Replacing the drive belt (B10/B14/B14H) ......................... 4-15
4-7
4-8
Replacing the speed reduction belt (B10/B14/B14H) ..... 4-18
Replacing the slider ........................................................... 4-20
4-8-1 Replacing the slider (B10/B14/B14H) ........................................................ 4-20
4-8-2 Replacing the slider (F20N) ........................................................................ 4-21
MEMO
4-2
Chapter 4 Periodic Inspection
4-1
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 FLIPX series. Before beginning work, read the precautions below and also in Chapter 1 “About Safety”
and follow the instructions.
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.
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.
· Use only lubricant and greases specified by YAMAHA sales office or dealer.
· Use only parts specified by YAMAHA sales office or dealer. 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 someone to keep watch as
needed.
4-3
Chapter 4 Periodic Inspection
When applying grease to the ball screws and linear guide, take the following precautions.
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 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.
4-4
Chapter 4 Periodic Inspection
4-2
Periodic inspection
4-2-1
Daily inspection
Check the following points on a daily basis, before and after robot operation.
Checkpoints
4-2-2
Check items
Notes
Cables and shutter
Check for scratches, dents, and excessively tight bends.
Ball screws and bearings
Check for unusual vibration and noise.
Motor
Check for unusual vibration and noise, and for abnormal
temperature rise.
Replace if
necessary.
See "4-4" in this
chapter.
Three-month inspection
Check the following points every 3 months and apply grease if needed.
Checkpoints
Check items
Ball screw, linear guide and ball
bushing
Check for dirt or grime. If dirt or grime is found, clean
the part. Apply grease after cleaning.
Apply grease if the items checked are dry or do not
have enough grease.
Recommended grease is as follows:
Standard model: Use Alvania No. (Showa Shell),
Daphne Eponex No.2 (Idemitsu)
Clean room model: Use LG-2 (NSK)
Shutter
Check for slack. Adjust if necessary.
Notes
See "4-3" in
this chapter.
See "4-3-3" in
this chapter.
See "4-4-2" in
this chapter.
CAUTION
Using a grease other than recommended by YAMAHA may shorten the service life of
the ball screw, linear guide and linear bushing shaft.
4-5
Chapter 4 Periodic Inspection
4-2-3
Six-month inspection
Check the following points every six months, and make adjustments or apply grease if necessary.
Checkpoints
Main bolts and screws
Check items
Notes
Check for looseness. If loose, tighten.
on robot
Ball screw and linear guide
Check for looseness in the ball screw and linear guide.
If problem is
Tighten if necessary.
not solved
Check for vibration during operation.
or wear and
Tighten drive section, and X and Y axis installation bolts
backlash are
if necessary.
found, please
Check for wear and backlash. If any abnormality is found,
contact us.
contact YAMAHA sales office or dealer.
Controller
Lubrication of ball screw nut
and linear guides
Check for loose terminals.
See "4-3" in
Check for loose connectors.
this chapter
Apply Alvania No.2 (Showa Shell),
Daphne Eponex No.2 (Idemitsu Sekiyu) to the ball
screw nut and linear guides.
Check the timing belt for wear, cracks or cuts.
Belt
Check the timing belt tension.
(See “3-2 Adjusting the timing belt tension” in chapter 3.)
On robot models using a long stroke, check the slider
Slider
inside the upper cover for abnormal wear or damage.
(Belt type or F20N)
(See “3-1 Attaching the upper cover” in Chapter 3.)
CAUTION
Using a grease other than recommended by YAMAHA may shorten the service life of
the ball screw, linear guide and linear bushing shaft.
4-2-4
Three-year inspection
Inspect the following points once every three years, and contact us if any problem is found. Set an
earlier inspection interval if parts are subject to long-term or frequent usage.
Checkpoints
Check items
Notes
Ball screw nut sections and
linear guides
Check for wear and looseness in the ball screw, nut and
linear guide.
Contact us if
trouble is found.
4-6
Chapter 4 Periodic Inspection
4-3
Applying grease
4-3-1
Applying grease (T6/T7 type)
Follow these instructions when applying grease to the T6/T7 robot ball screws and linear guides
during periodic maintenance.
1) Check that the controller power switch is turned off.
2) Remove the screw securing the robot side covers and remove the side covers.
3) Coat the ball screw and linear guides with grease by hand and move the slider back and forth
to spread the grease.
Ball screw
Applying grease to the ball screw
Linear guide
Applying grease to the linear guide
4) Reattach the side covers.
4-7
Chapter 4 Periodic Inspection
4-3-2
Applying grease (T9/F types)
Follow these instructions when applying grease to the ball screws and linear guides during periodic maintenance.
On the T9 and F7 types, the grease can be applied to the nut of the ball screw by using the grease
nipple. In this case, prepare a grease nipple (M6) before starting work.
1) Check that the controller power switch is turned off.
2) Remove the screws securing the robot upper cover and remove the upper cover.
3) Apply grease using either of the following methods.
Method A: Coat the ball screw and linear guides with grease by hand and move the slider
back and forth to spread the grease.
Method B: Fit the grease nipple into the M6 tap hole on the flange of the ball screw nut.
Supply grease to the grease nipple and move the slider back and forth to spread
the grease.
Flange of ball screw nut
Slider
M6 tap hole for grease nipple
CAUTION
Be sure to always remove the grease nipple after applying grease with method B.
4) Reattach the upper cover.
4-3-3
Applying grease (B type)
Apply grease to the linear guide every 3 months.
Using the following grease gun and grease will ensure correct refills of grease.
Grease gun model
: MG70 (made by THK) or equivalent
Nozzle type
: N type (made by THK) or equivalent
Grease
: AFB grease (made by THK, 70 g cartridge) or equivalent
4-8
Chapter 4 Periodic Inspection
4-4
Adjusting and replacing a loose shutter
4-4-1
Replacing the shutter (T6)
Use the following procedure when the T6 shutter must be replaced.
1) Check that the controller power switch is turned off.
2) Remove the 4 screws securing the slider cover and take off the slider cover.
M3 hex wrench
3) Remove the screws securing the shutter.
Remove the 2 screws on the endplate side and the 2 screws on the motor side.
Endplate
4) Remove the shutter from the shutter guide and pass the new shutter through it.
Shutter guide
Shutter
4-9
Chapter 4 Periodic Inspection
5) Reinstall the shutter and the slider cover using the reverse of the above procedure.
NOTE
Do not fully tighten the screws to secure the shutter on the endplate side at this time.
Fully tighten these screws after adjusting for shutter looseness in step 6.
6) Tighten the screws while pulling on the shutter with your fingers so that there is no looseness
in the shutter.
CAUTION
Do not press down on the shutter with excessive force.
Pressing down hard on the shutter may cause the shutter to warp.
4-4-2
Adjusting shutter looseness (T6)
The shutter may elongate with continued use. In such cases, adjust as follows.
1) Slightly loosen the two screws securing the endplate side of the shutter. (Do not remove.)
2) While pulling on the shutter with your fingers, tighten the screws so that there is no looseness.
See step 6 of “4-4-1 Replacing the shutter (T6)”.
4-10
Chapter 4 Periodic Inspection
4-5
Replacing the motor
4-5-1
Replacing the motor (B10/B14/B14H)
CAUTION
Since a positional shift occurs after replacing the motor, return-to-origin must be
performed again and the point data re-specified. When removing the parts, check
and mark the part positions versus each other so you can correctly reassemble the
parts later.
1) Turn off the controller.
2) Remove the belt cover.
3) Remove the motor case and motor cover.
Motor cover
Motor case
4) Remove the four bolts installing the motor to the motor plate and remove the motor.
4-11
Chapter 4 Periodic Inspection
5) Loosen the two motor pulley set screws and remove the pulley from the motor shaft.
6) Fit the pulley onto the shaft of the new motor.
The motor shaft has two flat faces. Insert the pulley so that the set screws make perpendicular
contact with the flat faces of the motor shaft. (To make sure this is correct, tighten each set
screw so their tips slightly protrude inwards about 0.1 to 0.2mm and then insert the pulley
onto the motor shaft.)
7) Install the motor to the motor plate.
8) Fit the belt onto the pulleys.
9) Adjust the belt tension.
See “3-2 Adjusting the timing belt tension” in Chapter 3.
10)Reattach the motor case and cover.
11)Reattach the belt cover.
4-12
Chapter 4 Periodic Inspection
4-5-2
Replacing the motor (F20N)
CAUTION
Since a positional shift occurs after replacing the motor, return-to-origin must be
performed again and the point data re-specified. When removing the parts, check
and mark the part positions versus each other so you can correctly reassemble the
parts later.
1) Turn the controller power OFF.
2) Remove the belt cover and motor cover. (Refer to Chapter 3 “3-3-3 Installing and removing
the cover”.)
3) Open the cover of the box fixed onto the table slide, and disconnect the motor wiring connector.
4) Remove the motor installation bolts (M6: 4 bolts).
Wiring box
Motor cable
Motor cover
5) Pull the belt off the pulley. (Refer to the following photograph.)
Pulley
Belt
6) Remove the motor.
4-13
Motor installation bolt
Chapter 4 Periodic Inspection
7) Remove the fixing bolts (M6: four bolts) from the pulley connection boss, and pull the pulley
off the motor.
(Loosen the bolts while fixing the surface machined section of the boss with a pair of pliers,
etc.)
4-M6
Hexagon bolt
Ring
Boss
Pulley
38
Motor
8) Replace the motor, and install the pulley onto the motor. (Refer to the drawing above.) Take
care to the orientation and order of the rings at this time.
9) Install the motor onto the block. Temporarily tighten the fixing bolts.
10)Install the belt.
Refer to Chapter 3 “3-3-4 Adjusting the timing belt (F20N)”, and adjust the belt tension.
11)Install the motor cover and belt cover.
12)Connect the motor wiring connector, store inside the box, and install the cover.
4-14
Chapter 4 Periodic Inspection
4-6
Replacing the drive belt (B10/B14/B14H)
CAUTION
Since a positional shift occurs after replacing the belt, return-to-origin must be performed again and the point data re-specified. When removing the parts, check and
mark the part positions versus each other so you can correctly reassemble the parts
later.
1) Remove the end cover on the non-motor side and then remove the upper cover. (On robot
models having a long stroke, remove the upper cover by sliding it along the axis of robot
movement. This is required because the slider is fitted in the travel guide (U groove) inside the
upper cover.)
2) Remove the motor. (See the procedure in “4-5 Replacing the motor” in Chapter 4.) It is unnecessary to remove the motor if installed horizontally or downwards.
3) Remove the cover 1 shown in the photo.
Cover 1
4) Remove the eight bolts (4 bolts on each side) securing the belt stays and remove the belt stays
from the slider table.
Slider table
Belt stay bolt
Belt stay
4-15
Chapter 4 Periodic Inspection
5) Remove the two center bolts on each of the belt stays and remove the belt from the stays.
6) Set the new belt along the robot axis as instructed below.
7) First route the belt edge onto the idle pulley and use a narrow rod or similar tool to push out
the belt edge as shown.
8) Pass the belt through from the lower side of the slider table and route the belt edge under the
drive pulley. Then, use a narrow rod or similar tool to make the belt edge face upwards.
4-16
Chapter 4 Periodic Inspection
9) Finally, while making the belt mesh between the drive pulley and drive pulley idler, turn the
drive pulley so the belt comes out upwards.
10)Attach the belt stays to both ends of the belt.
11)Install the belt stays onto the slider table and lightly tighten the bolts to temporarily secure the
stays.
12)Adjust the belt tension. (See the procedure explained in “3-2 Adjusting the timing belt tension” in Chapter 3.)
13)Reattach the upper cover. (See the procedure explained in “3-1 Attaching the upper cover” in
Chapter 3.)
14)Reattach the end cover.
4-17
Chapter 4 Periodic Inspection
4-7
Replacing the speed reduction belt (B10/B14/B14H)
CAUTION
Since a positional shift occurs after replacing the belt, return-to-origin must be
performed again and the point data re-specified. When removing the parts, check
and mark the part positions versus each other so you can correctly reassemble the
parts later.
1) Remove the belt cover.
2) Remove the motor plate bolts (4 pieces).
Motor plate bolt
4-18
Chapter 4 Periodic Inspection
3) Bring the motor plate close to the large pulley and detach the belt from the pulleys.
4) First fit the new belt onto the motor pulley (small pulley) and then onto the large pulley.
5) Adjust the belt tension. (See the procedure explained in “3-2-2 Adjusting the speed reduction
belt tension” in Chapter 3.
6) Reattach the belt cover.
4-19
Chapter 4 Periodic Inspection
4-8
Replacing the slider
4-8-1
Replacing the slider (B10/B14/B14H)
1) Turn off the controller.
2) Remove the screws securing the upper cover and remove the upper cover by sliding it along
the direction the robot moves.
3) Remove the slider mounting bolts (2 pieces).
Slider mounting bolt
4) Replace the slider and lightly tighten the two bolts on the new slider.
5) Reattach the upper cover. (See the procedure explained in “3-1 Attaching the upper cover” in
Chapter 3.
6) Move the slider table back and forth along the axis a few times.
7) Remove the cover seal (12mm diameter) affixed to the upper cover on the non-motor side. (A
hole appears under the cover seal.) Move the slider to the point where you can see the slider
mounting bolt through this hole.
Cover seal
Bolt tightening hole
8) Tighten the slider mounting bolts fully, then again shift the slider table 20mm to align the
other bolt with the hole and fully tighten to secure the slider table.
9) Affix the new seal (supplied) to cover the hole.
4-20
Chapter 4 Periodic Inspection
4-8-2
Replacing the slider (F20N)
1) Turn the controller power OFF.
2) Remove the top center cover.
3) Remove the two slider installation bolts.
Slider
Installation bolt
4) Replace the slider and fix with the installation bolt.
5) Install the top center cover. Refer to Chapter 3 “3-3-3 Installing the cover”.
4-21
MEMO
4-22
Chapter 5
Specifications
5-1
Robot specifications ............................................................ 5-3
5-1-1 T6 ................................................................................................................... 5-3
5-1-2 T7 ................................................................................................................... 5-4
5-1-3 T9 ................................................................................................................... 5-5
5-1-4 T9H ................................................................................................................ 5-6
5-1-5 F10 ................................................................................................................. 5-7
5-1-6 F14 ................................................................................................................. 5-8
5-1-7 F14H .............................................................................................................. 5-9
5-1-8 F17 ............................................................................................................... 5-10
5-1-9 F20 ............................................................................................................... 5-11
5-1-10 F20N ............................................................................................................ 5-12
5-1-11 R5 ................................................................................................................ 5-13
5-1-12 R10 .............................................................................................................. 5-14
5-1-13 R20 .............................................................................................................. 5-15
5-1-14 B10 .............................................................................................................. 5-16
5-1-15 B14 .............................................................................................................. 5-17
5-1-16 B14H ........................................................................................................... 5-18
5-2
5-3
AC servo motor termination (T/F Type) ............................ 5-19
AC servo motor termination (R/B Type, F20N) ................ 5-20
5-4
Robot cables ...................................................................... 5-21
MEMO
5-2
Chapter 5 Specifications
5-1
Robot specifications
5-1-1
T6
Mechanical unit specifications
Tolerable overhang amount *2
60
AC servo motor output (W)
Maximum speed
(mm/sec)*1
90°
±0.02
45°
Deceleration mechanism Ball screw (Class C10)
Ball screw lead (mm)
6
12
Maximum speed (mm/sec)
800
400
Maximum Horizontal
payload(kg) Vertical
12
30
4
8
Continuous rated thrust(N)
78
156
Stroke(mm)
90°
0°
•During horizontal use
•During wall installation use
(Unit: mm)
45°
90°
3kg
220
295
600
*1 Repeatability for single oscillation
130
290
70
110
210
5kg
270
390
650
10kg
95
115
280
30kg
40
106
220
45°
90°
3kg
280
170
200
8kg
95
50
50
12kg
55
21
20
5kg
550
230
145
15kg
135
35
25
30kg
0
0
0
(Unit: mm)
Lead6
95
Lead6
Lead6
8kg
12kg
0°
Lead12
0°
•During vertical use
(Unit: mm)
Lead12
SRCX-05
45°
0°
Lead12
SRCX-05
Vertical
45°
90°
3.5(Standard),5,10
Horizontal
0°
L
L
50-600(50 pitch)
Cable length(m)
Controller
L
0°
45°
90°
1kg
220
168
260
2kg
100
70
120
3kg
60
45
70
2kg
140
105
215
4kg
60
55
70
6kg
32
25
40
*
2 *2 Distance from center of slider top to center of gravity of object being transported.
156.5±2
Effective stroke
92.5(Note1)
(91)
116
2-φ3+7 Depth6
8
32
8
27
(Note1)
4-M4×0.7 Depth11
40
(Between knocks±0.02)
45
30±0.02
57.2
Approx.250
(Motor cable length)
130.5(with brakes)(Note1)
194.5(with brakes)
53
Y
38
(with brakes)
L(Between knocks+247.5)
113.5
40
Installation hole:N- rear surface φ4.5,φ8counter bore depth 4.5
A
49
M×50
42
42
B
φ4.5
25
2-M4×0.7
Depth10
φ8
1.8
15
56
44
23
B
65
Hexagon socket bolt
M4×0.7
VIEW Y
4.5
9.5
SECT BB
Effective stroke 50
297.5
L
95
A
0
M
6
N
2.5
Weight (kg)
100
347.5
145
1
8
2.7
150
397.5
195
2
10
3.1
200
447.5
245
3
12
3.3
250
497.5
295
4
14
3.5
300
547.5
345
5
16
3.7
350
597.5
395
0
6
4.0
400
647.5
445
1
8
4.2
450
697.5
495
2
10
4.5
5-3
500
747.5
545
3
12
4.7
550
797.5
590
4
14
5.0
600
847.5
645
5
16
5.2
Note 1: This is the position at which the slider is stopped
by mechanical stoppers at both ends.
Chapter 5 Specifications
5-1-2
T7
Mechanical unit specifications
Tolerable overhang amount *2
60
AC servo motor output (W)
Repeatability
(mm)
90°
±0.02
Deceleration mechanism
Ball screw lead (mm)
12
Maximum speed (mm/sec)
600
Horizontal
Maximum
payload (kg) Vertical
8
Continuous rated thrust(N)
78
L
0°
L
L
45°
90°
90°
0°
45°
0°
3
•During horizontal use
Stroke(mm)
150-550(100 pitch)
Cable length(m)
3.5(Standard),5,10
Vertical
SRCX-05
*1 Repeatability for single oscillation
45°
90°
3kg
206
245
813
5kg
118
141
504
8kg
68
83
344
0°
45°
90°
3kg
317
123
109
5kg
146
47
40
8kg
0
0
0
(Unit: mm)
Lead12
SRCX-05
0°
•During vertical use
(Unit: mm)
Lead12
Horizontal
•During wall installation use
(Unit: mm)
Lead12
Controller
45°
Ball screw (Class C10)
0°
45°
90°
1kg
807
570
807
2kg
369
261
369
3kg
224
158
224
*2 Distance from center of slider top to center of gravity of object
Approx.250
(Motor cable length)
200±2
Effective stroke
154(Note1)
68
2-φ5H7 Depth6
40
4-M5×0.8 Depth11
(75)
25
(Note1)
75
50
9
4-M5×0.8 depth 8
75
11
5
67(Between knocks±0.02)
(M5,φ5H7Position)
L(Effective stroke+275)
1.5
15
66
70
157.5
φ7.5
60×(N-1)
A
Z(Note2)
14
8.7
60
N-φ4.5
Z section detailed chart (Note 2)
Effective stroke 150
425
L
27.5
A
5
N
3.2
Weight (kg)
250
525
67.5
6
3.7
350
625
47.5
8
4.1
450
725
27.5
10
4.5
550
825
67.5
11
4.9
Note 1: This is the position at which the slider is stopped by mechanical stoppers at both ends.
Note 2: When installing the unit, washers, etc., cannot be used in the counter bore hole.
Note 3: This is the weight of models without a break. The models equipped with a brake are 0.5kg heavier than these values.
5-4
Chapter 5 Specifications
5-1-3
T9
Mechanical unit specifications
100
AC servo motor output (W)
Repeatability
(mm)*1
45°
Ball screw (Class C7)
20
5
10
Ball screw lead (mm)
Maximum speed (mm/sec)*3
L
600
300
Horizontal
30
55
80
Vertical
4
10
20
78
156
312
Stroke(mm)
0°
•During horizontal use
•During wall installation use
(Unit: mm)
454
796
SRCX-05*2
15kg
139
169
366
30kg
77
102
373
20kg
100
130
364
40kg
46
61
225
55kg
31
42
205
50kg
39
55
345
960/480/240
850
780/390/195
65%
950
600/300/150
50%
1050
540/270/135
45%
Lead5
750
80%
Lead10
Maximum speed (mm/sec) SPEED setting
Stroke (mm)
60kg
31
43
304
80kg
20
29
215
90°
5kg
581
324
320
15kg
184
82
69
30kg
0
0
0
10kg
391
199
161
20kg
202
53
38
30kg
0
0
0
10kg 1176
237
172
20kg
420
58
41
30kg
0
0
0
(Unit: mm)
0°
45°
90°
1kg
1428 1010 1428
2kg
715
505
715
4kg
356
252
356
4kg
500
354
500
8kg
236
167
236
10kg
183
129
183
10kg
144
102
144
15kg
85
60
85
20kg
55
39
55
Lead5
391
45°
Lead10
5kg
0°
Lead20
90°
Lead5
45°
Lead10
0°
•During vertical use
(Unit: mm)
Lead20
Vertical
*1. Repeatability for single oscillation
*2. The regenerative control RGU2 is required when using in the vertical
position.
*3. If the stroke exceeds 750mm, resonance of the ball screw may occur
depending on the motion range (hazardous speed). In this case,
adjust the speed in the program using the following maximum speeds
as a guideline. This is not required if resonance does not occur.
Lead20
SRCX-05
45°
0°
3.5(Standard),5,10
Horizontal
45°
90°
150-1050(100 pitch)
Cable length(m)
0°
L
L
90°
1200
Continuous rated thrust(N)
Controller
90°
±0.01
Deceleration mechanism
Maximum
payload (kg)
Tolerable overhang amount *4
*4 Distance from center of slider top to center of gravity of object being transported.
165±2
Approx.250
(Motor cable length)
Effective stroke
90
2-φ6H7 Depth8
60
4-M6×1.0 Depth18
(94)
44(Note1)
82(Between
knocks±0.02)
115(Note1)
145(with brakes)
4-M5×0.8 Depth4
(The same position on the opposite surface at two (2) locations)
50
20
2.5
17.5
13
98
95.5
20
94
10
195±2(with brakes)
23
43
L(Effective stroke+259)
30
(with brakes)
Grounding terminal
87.7
165
60×(N-1)
22
13
φ11
A
60
Z(Note2)
N-M8×1.25
195(with brakes)
Z section detailed chart (Note 2)
Effective stroke
L
A
N
Weight (kg)(Note 3)
150
409
64
4
5.5
250
509
44
6
6.2
350
609
84
7
6.9
450
709
64
9
7.6
550
809
44
11
8.3
650
909
84
12
9.0
750
1009
64
14
9.7
850
1109
44
16
10.3
950
1209
84
17
11.0
5-5
1050
1309
64
19
11.7
Note 1: This is the position at which the slider is stopped by mechanical
stoppers at both ends.
Note 2: When installing the unit, washers, etc., cannot be used in the counter
bore hole.
Note 3: This is the weight of models without a break. The models equipped with
a brake are 0.5kg heavier than these values.
Chapter 5 Specifications
5-1-4
T9H
Mechanical unit specifications
Tolerable overhang amount *3
100
AC servo motor output (W)
Repeatability
(mm)*1
90°
±0.01
45°
Deceleration mechanism
Ball screw (Class C7)
Ball screw lead (mm)
20
10
5
1200
600
300
Horizontal
40
80
100
Vertical
8
20
30
78
156
312
Maximum speed (mm/sec)*2
Maximum
payload (kg)
Continuous rated thrust(N)
90°
0°
0°
•During horizontal use
•During wall installation use
(Unit: mm)
404
20kg
94
106
199
40kg
43
48
101
30kg
63
81
230
50kg
34
44
160
80kg
18
24
126
60kg
31
43
240
80kg
20
28
198
100kg
14
19
165
Maximum speed (mm/sec) SPEED setting
Stroke (mm)
960/480/240
80%
850
780/390/195
65%
950
600/300/150
50%
1050
540/270/135
45%
Lead5
750
10kg
259
137
128
20kg
81
38
29
40kg
0
0
0
30kg
186
52
38
50kg
95
19
13
80kg
0
0
0
60kg
508
58
40
80kg
268
20
14
100kg
0
0
0
(Unit: mm)
0°
45°
90°
4kg
324
229
324
6kg
208
147
208
8kg
150
106
150
10kg
182
129
182
15kg
111
78
111
20kg
75
53
75
15kg
85
60
85
20kg
55
39
55
30kg
26
18
26
Lead5
224
90°
Lead10
194
45°
Lead20
10kg
0°
Lead5
90°
Lead10
SRCX-10-R
45°
•During vertical use
(Unit: mm)
Lead20
Vertical
*1. Repeatability for single oscillation
*2. If the stroke exceeds 750mm, resonance of the ball screw may
occur depending on the motion range (hazardous speed). In this
case, adjust the speed in the program using the following maximum
speeds as a guideline. This is not required if resonance does not
occur.
0°
Lead10
SRCX-10
45°
Lead20
Horizontal
45°
90°
3.5(Standard),5,10
Cable length (m)
0°
L
L
150-1050(100 pitch)
Stroke(mm)
Controller
L
*3 Distance from center of slider top to center of gravity of object being transported.
179±2
Approx.250
(Motor cable length)
Effective stroke
90
2-φ6H7 Depth8
60
4-M6×1.0 Depth18
(94)
44(Note1)
82(Between
knocks±0.02)
129(Note1)
159(with brakes)
4-M5×0.8 Depth4
(The same position on the opposite surface at two (2) locations)
50
20
2.5
17.5
13
98
95.5
20
94
10
209±2(with brakes)
23
43
L(Effective stroke+273)
30
(with brakes)
Grounding terminal
87.7
209
179
60×(N-1)
Z(Note2)
22
13
φ11
A
60
N-M8×1.25
209(with brakes)
Z section detailed chart (Note 2)
Effective stroke
L
A
N
Weight (kg)(Note 3)
150
423
64
4
5.8
250
523
44
6
6.5
350
623
84
7
7.3
450
723
64
9
8.0
550
823
44
11
8.8
650
923
84
12
9.5
750
1023
64
14
10.2
850
1123
44
16
11.0
950
1223
84
17
11.7
5-6
1050
1323
64
19
12.5
Note 1: This is the position at which the slideris stopped by mechanical
stoppers at both ends.
Note 2: When installing the unit, washers, etc., cannot be used in the counter
bore hole.
Note 3: This is the weight of models without a break. The models equipped with
a brake are 0.5kg heavier than these values.
Chapter 5 Specifications
5-1-5
F10
Mechanical unit specifications
AC servo motor output (W)
100
Repeatability
(mm)*1
90°
±0.01
45°
Ball screw (Class C7)
Deceleration mechanism
Ball screw lead (mm)
20
Maximum speed (mm/sec)*3 1200
Horizontal
Maximum
payload (kg) Vertical
Continuous rated thrust(N)
Stroke(mm)
10
5
600
300
20
40
60
4
10
20
78
156
312
L
90°
0°
•During horizontal use
242
291
547
10kg
120
146
302
20kg
55
70
181
15kg
67
87
227
30kg
22
29
89
40kg
7
9
40
30kg
23
33
319
50kg
1
2
52
850
780/390/195
65%
950
600/300/150
50%
1050
540/270/135
45%
80%
60kg
0
0
0
12.5
5kg
445
223
195
10kg
237
106
78
20kg
116
32
18
10kg
247
127
94
20kg
151
35
22
30kg
0
0
0
10kg
610
149
106
20kg
283
38
27
30kg
0
0
0
165±2
(Unit: mm)
0°
45°
90°
1kg
835
590
793
2kg
423
299
381
4kg
216
152
174
4kg
302
214
260
8kg
147
104
105
10kg
116
82
74
10kg
93
66
51
15kg
59
41
17
20kg
42
29
0
Effective stroke
117(Note1)
17
97
86
(95)
45
(Note1)
2-φ5H7 Depth15
4-M5×0.8 Depth12
70
100(Between
knocks±0.02)
18.5
90°
*4 Distance from center of slider top to center of gravity of object being transported.
Approx.250
(Motor cable length)
Direction of robot cable connection
45°
Lead5
5kg
0°
Lead10
90°
Lead5
960/480/240
14
45°
Lead10
750
Lead5
Maximum speed (mm/sec) SPEED setting
Lead10
*1. Repeatability for single oscillation
*2. The regenerative control RGU2 is required when using in the
vertical position.
*3. If the stroke exceeds 750mm, resonance of the ball screw may occur
depending on the motion range (hazardous speed). In this case,
adjust the speed in the program using the following maximum speeds
as a guideline. This is not required if resonance does not occur.
Stroke (mm)
0°
•During vertical use
(Unit: mm)
Lead20
SRCX-05*2
•During wall installation use
(Unit: mm)
Lead20
Vertical
45°
0°
Lead20
SRCX-05
45°
90°
3.5(Standard),5,10
Horizontal
0°
L
L
150-1050(100 pitch)
Cable length(m)
Controller
Tolerable overhang amount *4
5
φ9.5
127(with brakes)
147(with brakes)
195±2(with brakes)
N-φ5.5
Z section detailed chart (Note 2)
50
18
10
4-M5×0.8 Depth9
(The same position on the opposite surface at two (2) locations)
69.5
Y
L(Effective stroke+260)
30
(with brakes)
109
195(with brakes)
M×200
200
165
A
45
Z(Note2)
80
68
71
26
110
102
175
205±2(with brakes)
VIEW Y
Effective stroke
L
A
M
N
Weight (kg)(Note 3)
150
410
200
0
4
5.0
250
510
100
1
6
5.8
350
610
200
1
6
6.5
450
710
100
2
8
7.3
550
810
200
2
8
8.1
650
910
100
3
10
8.8
750
1010
200
3
10
9.6
850
1110
100
4
12
10.4
200
N-M5×0.8 Depth10
M×200
950
1210
200
4
12
11.1
5-7
1050
1310
100
5
14
11.9
A
35
Note 1: This is the position at which the slider is stopped by mechanical
stoppers at both ends.
Note 2: When installing the unit, washers, etc., cannot be used in the counter
bore hole.
Note 3: This is the weight of models without a break. The models equipped with
a brake are 0.5kg heavier than these values.
Chapter 5 Specifications
5-1-6
F14
Mechanical unit specifications
AC servo motor output (W)
Tolerable overhang amount *4
100
Repeatability
(mm)*1
90°
±0.01
45°
Ball screw (Class C7)
Deceleration mechanism
Ball screw lead (mm)
20
Maximum speed (mm/sec)*3 1200
L
10
5
600
300
55
80
4
10
20
78
156
312
Stroke(mm)
150-1050(50 pitch)
Cable length(m)
3.5(Standard),5,10
780/390/195
65%
950
600/300/150
50%
1050
540/270/135
45%
5kg
776
786
1537
15kg
319
339
726
30kg
217
280
747
20kg
273
337
579
40kg
159
200
370
55kg
128
166
378
50kg
167
230
587
60kg
145
200
517
80kg
103
144
420
90°
5kg
934
585
871
15kg
436
233
245
30kg
368
128
111
20kg
540
231
206
40kg
258
64
42
55kg
0
0
0
30kg
953
148
103
40kg
576
52
37
60kg
0
0
0
(Unit: mm)
0°
45°
90°
1kg
1029 1233 2118
2kg
530
626
1066
4kg
280
320
538
4kg
361
504
995
8kg
179
246
479
10kg
143
195
377
10kg
105
150
312
15kg
66
94
194
20kg
47
66
135
170±2
120(Note1)
Effective stroke
90
70
32
(85)
35
(Note1)
2-φ6H7 Depth8
4-M6×1.0 Depth18
110(Between
knocks±0.02)
5.5
8.3
45°
*4 Distance from center of slider top to center of gravity of object being transported.
Approx.250
(Motor cable length)
3.5
1.5
0°
Lead5
850
90°
Lead10
80%
45°
Lead5
960/480/240
0°
•During vertical use
(Unit: mm)
Lead10
Lead5
Maximum speed (mm/sec) SPEED setting
750
1.5
Lead10
*1. Repeatability for single oscillation
*2. The regenerative control RGU2 is required when using in the
vertical position.
*3. If the stroke exceeds 750mm, resonance of the ball screw may
occur depending on the motion range (hazardous speed). In this
case, adjust the speed in the program using the following
maximum speeds as a guideline. This is not required if
resonance does not occur.
Stroke (mm)
•During wall installation use
(Unit: mm)
Lead20
SRCX-05*2
•During horizontal use
Lead20
Vertical
45°
0°
Lead20
SRCX-05
90°
0°
30
Horizontal
45°
90°
Horizontal
Maximum
payload (kg) Vertical
Continuous rated thrust(N)
Controller
0°
L
L
Z section detailed chart
150(with brakes)(Note1)
77.5
83
20
23.5
50
75
4-M5×0.8 Depth7
(The same position on the opposite surface at two (2) locations)
135
19
200±2(with brakes)
Z
30
(with brakes)
136
L(Effective stroke+255)
130(BK use)
100
M×200
200
A
105
N-M6×1.0 Depth10
Direction of robot cable connection
126
B
17
20
14
100
17
110
41.5
62
11.5
Effective stroke
L
A
M
N
B
Weight (kg)(Note 3)
150
405
200
0
4
240
6.2
250
505
100
1
6
240
7.5
350
605
200
1
6
420
8.8
450
705
100
2
8
420
10.1
550
805
200
2
8
600
11.4
650
905
100
3
10
600
12.6
750
1005
200
3
10
780
13.9
850
1105
100
4
12
780
15.2
N-φ7 Depth9(Note2)
200
125
155(with brakes)
M×200
950
1205
200
4
12
960
16.5
5-8
1050
1305
100
5
14
960
17.8
2-φ10H7 Depth4.5
A
80
Note 1: This is the position at which the slider is stopped by mechanical
stoppers at both ends.
Note 2: When installing the unit, washers, etc., cannot be used in the counter
bore hole.
Note 3: This is the weight of models without a break. The models equipped with
a brake are 0.5kg heavier than these values.
Chapter 5 Specifications
5-1-7
F14H
Mechanical unit specifications
Tolerable overhang amount *3
200
AC servo motor output (W)
Repeatability
(mm)*1
90°
±0.01
Deceleration mechanism
45°
Ball screw (Class C7)
Ball screw lead (mm)
20
L
10
5
Maximum speed (mm/sec)*2 1200
600
300
Horizontal
Maximum
payload (kg) Vertical
40
80
100
8
20
30
Continuous rated thrust(N)
156
312
625
Stroke(mm)
150-1050(100 pitch)
90°
0°
•During horizontal use
540/270/135
1050
3.5
1.5
454
490
1067
40kg
258
317
691
30kg
363
479
1106
50kg
235
315
822
80kg
164
224
706
60kg
237
331
1630
80kg
187
262
1396
100kg 157
220
1228
943
517
557
20kg
531
290
298
40kg
307
134
126
30kg 1040
342
282
50kg
690
167
120
80kg
401
43
30
60kg
734
62
43
80kg
359
12
8
100kg
0
0
0
90°
4kg
704
840
1439
6kg
473
562
962
8kg
357
422
723
10kg
418
578
1122
15kg
276
380
734
20kg
206
281
541
20kg
151
218
451
25kg
119
171
353
30kg
98
140
286
*3 Distance from center of slider top to center of gravity of object being transported.
45%
210±2
135(Note1)
Approx.250
(Motor cable length)
Effective stroke
140
124
70
(110)
35
(Note1)
2-φ6H7 Depth8
8-M6×1.0 Depth8
110(Between
knocks±0.02)
5.5
8.3
1.5
20kg
10kg
45°
Lead5
50%
1836
(Unit: mm)
0°
Lead10
600/300/150
881
90°
Lead20
950
833
45°
Lead5
65%
10kg
0°
Lead10
780/390/195
90°
•During vertical use
(Unit: mm)
Lead20
850
45°
Lead5
80%
0°
Lead10
Maximum speed (mm/sec) SPEED setting
960/480/240
•During wall installation use
(Unit: mm)
3.5(Standard),5,10
SRCX-10
SRCX-10-R
750
45°
0°
*1. Repeatability for single oscillation
*2. If the stroke exceeds 750mm, resonance of the ball screw may
occur depending on the motion range (hazardous speed). In
this case, adjust the speed in the program using the following
maximum speeds as a guideline. This is not required if
resonance does not occur.
Stroke (mm)
45°
90°
Lead20
Cable length(m)
Controller Horizontal
Vertical
0°
L
L
Z section detailed chart
165(with brakes)(Note1)
135
50
45
75
77.5
83
4-M5×0.8 Depth7
(The same position on the opposite surface at two (2) locations)
19
23.5
240±2(with brakes)
Z
L(Effective stroke+320)
30
(with brakes)
136
143(with brakes)
113
M×200
200
A
157
N-M6×1.0 Depth10
Direction of robot cable connection
151
B
20
17
110
14
100
40.5 17
62
11.5
200
138
Effective stroke
L
A
M
N
B
Weight (kg)(Note 3)
150
470
200
0
4
240
7.5
250
570
100
1
6
240
8.8
350
670
200
1
6
420
10.1
450
770
100
2
8
420
11.4
550
870
200
2
8
600
12.7
650
970
100
3
10
600
13.9
750
1070
200
3
10
780
15.2
N-φ7 Depth9
M×200
168(with brakes)
850
1170
100
4
12
780
16.5
950
1270
200
4
12
960
17.8
1050
1370
100
5
14
960
19.1
5-9
2-φ10H7 Depth4.5
A
132
Note 1: This is the position at which the slider is stopped by mechanical
stoppers at both ends.
Note 2: When installing the unit, washers, etc., cannot be used in the counter
bore hole.
Note 3: This is the weight of models without a break. The models equipped with
a brake are 0.5kg heavier than these values.
Chapter 5 Specifications
5-1-8
F17
Mechanical unit specifications
Tolerable overhang amount *3
400
AC servo motor output (W)
Repeatability
(mm)*1
90°
±0.01
Deceleration mechanism
Ball screw lead (mm)
Ball screw (Class C7)
20
10
Maximum speed (mm/sec)*2
1200
600
Horizontal
Maximum
payload (kg) Vertical
80
120
15
35
Continuous rated thrust(N)
312
625
Stroke(mm)
0°
45°
0°
•During horizontal use
1020/510/225
80%
950
840/420/210
70%
1050
720/360/180
60%
1150
600/300/150
50%
1250
480/240
40%
0°
30kg
775
932
1759
50kg
474
581
1216
80kg
308
395
1040
60kg
399
536
1403
100kg 229
313
1103
120kg 184
252
959
45°
90°
30kg 1098
566
564
50kg
735
339
328
80kg
586
218
197
60kg 1325
490
395
100kg 962
266
202
120kg 800
202
152
(Unit: mm)
0°
Lead10
850
90°
Lead20
SPEED setting
45°
Lead10
Maximum speed (mm/sec)
0°
•During vertical use
(Unit: mm)
Lead20
*1. Repeatability for single oscillation
*2. If the stroke exceeds 750mm, resonance of the ball screw may
occur depending on the motion range (hazardous speed). In
this case, adjust the speed in the program using the following
maximum speeds as a guideline. This is not required if
resonance does not occur.
Stroke (mm)
•During wall installation use
(Unit: mm)
Lead10
Vertical
45°
90°
Lead20
Horizontal
0°
L
L
90°
250-1250(100 pitch)
3.5(Standard),5,10
SRCX-20
SRCX-20-R
Cable length(m)
Controller
45°
L
5kg
45°
90°
2367 1674 2367
10kg 1214
858
1214
820
580
820
15kg
15kg 1624 1148 1624
25kg
962
680
962
35kg
676
478
676
*3 Distance from center of slider top to center of gravity of object being transported.
*3. A regenerative unit RGU2 is required.
240±2
Approx.250
(Motor cable length)
3.7
(125)
2-φ6H7 Depth10
142
157.5(Note1)
2.5
42.5
(Note1)
8-M8×1.25 Depth25
154
(Between knocks±0.02)
120
5.5
8.6
1.5
Effective stroke
155
Z section detailed chart
187.5(with brakes)(Note1)
4-M5×0.8 Depth12
(The same position on the opposite surface at two (2) locations)
50
52.5
97.5
28 20
100
27
165
12.5
270±2(with brakes)
Z
168
70(with brakes)
Direction of robot cable connection
56.5
22
13
24
30
Effective stroke 250
L
615
A
100
M
2
N
8
Weight (kg)(Note 3) 15.3
M×200
200
40
17
A
75
N-φ9 Depth27(Note2)
132
76.5
L(Effective stroke+365)
30
(with brakes)
350
715
200
2
8
17.0
450
815
100
3
10
18.6
550
915
200
3
10
20.3
650
1015
100
4
12
21.9
750
1115
200
4
12
23.6
850
1215
100
5
14
25.2
950
1315
200
5
14
26.9
1050
1415
100
6
16
28.5
1150
1515
200
6
16
30.2
5-10
1250
1615
100
7
18
31.8
Note 1: This is the position at which the slider is stopped by mechanical
stoppers at both ends.
Note 2: When installing the unit, washers, etc., cannot be used in the
counter bore hole.
Note 3: This is the weight of models without a break. The models equipped
with a brake are 0.5kg heavier than these values.
Chapter 5 Specifications
5-1-9
F20
Mechanical unit specifications
AC servo motor output (W)
Tolerable overhang amount *3
600
Repeatability
(mm)*1
90°
±0.01
Deceleration mechanism
45°
Ball screw (Class C7)
Ball screw lead (mm)
20
10
Maximum speed (mm/sec)*2
1200
600
Horizontal
Maximum
payload (kg) Vertical
120
-
25
45
Continuous rated thrust(N)
468
936
Stroke(mm)
L
0°
•During horizontal use
SRCX-20-R
Stroke (mm)
Maximum speed (mm/sec)
SPEED setting
850
1020/510/225
80%
950
840/420/210
70%
1050
720/360/180
60%
1150
600/300/150
50%
1250
480/240
40%
90°
50kg
877
1085 2267
80kg
566
721
1769
120kg 407
544
1869
0°
45°
90°
50kg 1403
658
642
80kg 1056
425
396
120kg 1049
311
259
*4 Distance from center of slider top to center of gravity of object being transported.
(Unit: mm)
45°
90°
15kg 1331
941
1331
20kg
993
702
993
25kg
816
577
816
Lead10
Vertical
*1. Repeatability for single oscillation
*2. If the stroke exceeds 850mm, resonance of the ball screw may
occur depending on the motion range (hazardous speed). In
this case, adjust the speed in the program using the following
maximum speeds as a guideline. This is not required if
resonance does not occur.
45°
Lead20
0°
•During vertical use
(Unit: mm)
Lead20
SRCX-20
•During wall installation use
(Unit: mm)
3.5(Standard),5,10
Horizontal
45°
0°
Lead20
Controller
45°
90°
90°
250-1250(100 pitch)
Cable length(m)
0°
L
L
0°
20kg 2043 1444 2043
30kg 1352
956
1352
887
627
887
45kg
*3. A regenerative unit RGU2 is required.
Approx.250
(Motor cable length)
Effective stroke
(145)
2-φ8H7 Depth10
180
160
45
(Note1)
4-M6×1.25 Depth30
8.6
185
(Between knocks±0.02)
3.7
2.5
5.5
1.5
272±2
177(Note1)
Z section detailed chart
207(with brakes)(Note1)
50
65
114.1
28 20
115
31
4-M5×0.8 Depth15
(The same position on the opposite surface at two (2) locations)
12.5
302±2(with brakes)
Z
202
102(with brakes)
Direction of robot cable connection
90
27
39
L(Effective stroke+417)
30(with brakes)
72
17
M×200
200
A
95
N-φ9 Depth33.5(Note2)
30
81
20
13
Effective stroke 250
L
667
A
100
M
2
N
8
Weight (kg)(Note 3) 22.0
350
767
200
2
8
23.8
450
867
100
3
10
25.7
550
967
200
3
10
27.5
650
1067
100
4
12
29.4
750
1167
200
4
12
31.2
850
1267
100
5
14
33.0
950
1367
200
5
14
34.9
1050
1467
100
6
16
36.7
5-11
1150
1567
200
6
16
38.6
1250
1667
100
7
18
40.4
Note 1: This is the position at which the slider is stopped by mechanical
stoppers at both ends.
Note 2: When installing the unit, washers, etc., cannot be used in the
counter bore hole.
Note 3: This is the weight of models without a break. The models equipped
with a brake are 0.5kg heavier than these values.
Chapter 5 Specifications
5-1-10
F20N
Mechanical unit specifications
400
AC servo motor output (W)
Repeatability
90°
±0.04
(mm)*1
45°
Ball screw (Class C10)
Deceleration mechanism
L
L
20
Ball screw lead (mm)
Maximum speed (mm/sec)
Maximum payload (kg)
1000 (1200*2)
Continuous rated thrust(N)
312
90°
0°
80
45°
0°
1150 to 2050 (100 pitch) •During horizontal use
3 (Standard), 5,10
Stroke(mm)
Cable length(m)
SRCX-20
Controller
0°
•During wall installation use
(Unit: mm)
45°
(Unit: mm)
90°
0°
20kg 2209 2612 4576
40kg 1141 1401 2787
60kg
784
1000 2384
80kg
616
816
90°
20kg 3510 1998 2032
Lead20
Lead20
*1. Repeatability for single oscillation
*2. A regenerative unit RGU2 is required.
45°
2518
40kg 2108 1055 1026
60kg 1760
741
693
80kg 1797
601
529
3.7
1.5
122
4-M8 1.25 Depth16
5.5
0.5
8.6
57
2.5
2-φ8H7 Depth10
242
160
17
C section detailed chart
B
152
(50)
Effective stroke
L (Effective stroke+420)
219
140
202
34
20
120
23
219.5
53
(Between knocks±0.02)
23
201
185
199
(Note2)
101(Note1)
53
28
57 (Note1)
79
114
79
224.5
C
35
200
M×200
N-φ9 Thickness 33.5 (Note3)
A
35
162
35
25
93
77
Effective stroke 1150
1570
L
100
A
602
B
7
M
18
N
54
Weight (kg)
Cross section of cable guide
1250
1670
200
648
7
18
56.2
1350
1770
100
694
8
20
58.4
1450
1870
200
740
8
20
606
1550
1970
100
786
9
22
62.9
1650
2070
200
832
9
2.2
65.1
1750
2170
100
978
10
24
67.3
1850
2270
200
924
10
24
69.6
1950
2370
100
970
11
26
71.8
5-12
2050
2470
200
1016
11
26
74
Note 1: This is the position at which the slider is stopped by
mechanical stoppers at both ends.
Note 2: Shaded area indicates the user cable extraction slot.
Note 3: When installing the robot, do not use any washer inside
the robot frame.
Chapter 5 Specifications
5-1-11
R5
Mechanical unit specifications
Allowable Moment Inertia
AC servo motor output (W)
50
payload parameters W(kg)
Maximum speed (deg/sec)
360
Allowable Moment Inertia J
Repeatability (sec)
±30
(kgf·cm·sec2)
1
3
4
5
6
7
8
9
10
0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20
1.2kgf·cm·sec2
Maximum Allowable
(0.12kg·m2)
Moment Inertia
Rated torque (kg·m)
0.54
Speed reduction ratio
1/50
Rotation range (deg)
Note: When the weight of a tool or workpiece
attached to the shaft R5 is W (kg), its
W
moment of inertia (J) must be smaller
than the values shown in the table
above. (For example, enter 4kg if W is
3kg and J is 0.48kgf cm sec2.) Enter
the above mass parameter value for
the controller, and optimum acceleration is automatically set based on this
value.
J
360
Cable length (m)
3.5(Standard),5,10
Controller
SRCX-05
Approx.150
(Cable length)
4-ø6Through hole(Note1)
ø9.5 spot facing Depth25
35
57
ø65h7
20
M8×1.25
Depth20
13
4-M6×1.0
Depth16
9.5
242
Grounding
terminal(M4)
17
ø22
29.5
37.5
56.6
76
ø20h7
19 (width across flat)
2
9.5
8
102
7
70
4-M6×1.0 Depth16
14
53
41
60
20
56.6
72
77
Note2
5-13
Note1:Remove the cover when using
counterbored holes.
Note2:The cable extraction slots can
be changed.
Chapter 5 Specifications
5-1-12
R10
Mechanical unit specifications
Allowable Moment Inertia
AC servo motor output (W)
100
payload parameters W(kg)
Maximum speed (deg/sec)
360
Allowable Moment Inertia J
Repeatability (sec)
±30
(kgf·cm·sec2)
Maximum Allowable
Moment Inertia
3.71kgf·cm·sec2
payload parameters W(kg)
(0.36kgm2)
Allowable Moment Inertia J
Rated torque (kg·m)
1.10
Speed reduction ratio
1/50
Rotation range (deg)
360
Cable length (m)
(kgf·cm·sec2)
1
11
4
5
6
7
8
9
10
12
13
14
15
2.72 2.97 3.22 3.46 3.71
J
W
SRCX-05
Note: When the weight of a tool or workpiece
attached to the shaft R10 is W (kg), its
moment of inertia (J) must be smaller
than the values shown in the table
above. (For example, enter 4kg if W is
3kg and J is 0.99kgf cm sec2.) Enter
the above mass parameter value for
the controller, and optimum acceleration is automatically set based on this
value.
Approx.150
(Cable length)
4-ø6.5Through hole(Note1)
ø11 spot facing Depth35
50
66
ø66h7
16
M8×1.25
Depth 20
4-M6×1.0
Depth 16
11
262
9.5
Grounding
terminal(M4)
17
81
ø22
11
32
40
60
ø20h7
20 (width across flat)
3
0.25 0.49 0.74 0.99 1.24 1.48 1.73 1.98 2.23 2.47
3.5(Standard),5,10
Controller
2
8
39
106.5
70
4-M6×1.0 Depth16
14
61
6
66
20
50
80
85
Note1:Remove the cover when
using counterbored holes.
Note2:The cable extraction slots
Note2
can be changed.
5-14
Chapter 5 Specifications
5-1-13
R20
Mechanical unit specifications
Allowable Moment Inertia
AC servo motor output (W)
200
payload parameters W(kg)
Maximum speed (deg/sec)
360
Allowable Moment Inertia J
Repeatability (sec)
±30
(kgf·cm·sec2)
Maximum Allowable
Moment Inertia
18.7kgf·cm·sec2
payload parameters W(kg)
(1.83kgm2)
Allowable Moment Inertia J
Rated torque (kg·m)
2.19
Speed reduction ratio
1/50
Rotation range (deg)
360
Cable length (m)
(kgf·cm·sec2)
1
2
3
4
5
6
7
8
9
10
0.93
1.8
2.8
3.7
4.6
5.6
6.5
7.4
8.4
9.3
11
12
13
14
15
16
17
18
19
20
10.2 11.2 12.1 13.1 14.0 14.9 15.9 16.8 17.7 18.7
J
3.5(Standard),5,10
Controller
W
SRCX-10
35
Approx.150
(Cable length)
4-ø6.5
ø11 spot facing Depth40
80
ø75h8
30
Note: When the weight of a tool or workpiece
attached to the shaft R20 is W (kg), its
moment of inertia (J) must be smaller
than the values shown in the table
above. (For example, enter 4kg if W is
3kg and J is 3.7kgf cm sec2.) Enter the
above mass parameter value for the
controller, and optimum acceleration is
automatically set based on this value.
17
275
Grounding
terminal(M4)
17
9
16
50
56
ø38
ø35h7
80
102
5-M8×1.25
Depth20(PCD.20)
4-M6×1.0
Depth15
3
30
50
121.5
20
65
4-M6×1.0 Depth20
9
36
80
80
100
105
17 14
5-15
Note2
Note1:Remove the cover when using
counterbored holes.
Note2:The cable extraction slots can
be changed.
Chapter 5 Specifications
5-1-14
B10
Mechanical unit specifications
AC servo motor output (W)
Tolerable overhang amount *2
100
Repeatability
(mm)*1
90°
±0.04
Deceleration mechanism
45°
Timing belt
Lead (mm)
L
L
25
Maximum speed (mm/sec)
1875
Maximum Horizontal
payload (N) Vertical
98
90°
0°
0°
-
Continuous rated thrust(N)
•During horizontal use
150-2550(100 pitch)
Stroke(mm)
45°
-
Cable length(m)
3.5(Standard),5,10
Return to origin
- (stroke end)
*1. Repeatability for single oscillation
0°
45°
90°
3kg
598
589
1035
5kg
391
394
731
8kg
270
285
585
10kg
230
253
564
(Unit: mm)
Lead25
Lead25
SRCX-05
Controller
•During wall installation use
(Unit: mm)
0°
45°
90°
3kg
901
578
639
5kg
632
376
400
8kg
499
260
262
10kg
476
222
215
*2 Distance from center of slider top to center of gravity of object being transported.
Motor installation for R models
Motor installation for LU models
(125)
Effective stroke
185±3
2-φ5H7 Depth8
90
70
272.5±3
215(Note1)
67.5(Note1)
4-M5×0.8 Depth8
168
127.5(Note1)
89.5
167
85.5
78
1
79
175
(free)
Motor installation for RU models
4-M5×0.8 Depth10
(The same position on the opposite surface at two (2) locations)
100
16
73.5
35.5
86(Between knocks±0.02)
(M5,φ5H7Position)
81
20
5
168
50
85.5
1.5
89.5
78
G
100
L
175
85
40
M×200
100
Motor installation for RD models
A
N-M5×0.8 Depth10
85.5
89.5
185±3
88
80
1
2
167
4.3
7.3
79
200
3.5
D-φ10H7 Depth10
G section detailed chart
57
B
(free)
C
Grounding terminal
Note 1: Stop positions set by mechanical stoppers at both ends.
Note 2: Motor can be installed in upward, downward or horizontal positions versus the robot movement axis.
Note 3: Motor can be installed on the right or left side of the robot movement axis.
Note 4: Cables can be extracted in upward, downward, forward or rearward directions.
Effective stroke
L
A
B
C
D
M
N
150
460
200
240
2
6
250
560
100
240
2
1
8
350
660
200
420
2
1
8
450
760
100
600
2
2
10
550
860
200
600
2
2
10
650
960
100
780
2
3
12
750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350
1060 1160 1260 1360 1460 1560 1660 1760 1860 1960 2060 2160 2260 2360 2460 2560 2660
200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200
780 960 960 1140 1140 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320
240 240 420 420 600 780 780 960 960 1140
3
3
3
3
3
3
3
3
3
3
2
2
2
2
2
2
2
11
11
10
10
9
9
8
8
7
7
6
6
5
5
4
4
3
28
28
26
26
24
24
22
22
20
20
18
18
16
16
14
14
12
5-16
2450
2760
100
1320
1140
3
12
30
2550
2860
200
1320
1320
3
12
30
Chapter 5 Specifications
5-1-15
B14
Mechanical unit specifications
AC servo motor output (W)
Tolerable overhang amount *2
100
Repeatability
(mm)*1
90°
±0.04
Deceleration mechanism
45°
Timing belt
Lead (mm)
L
L
25
Maximum speed (mm/sec)
1875
Maximum Horizontal
payload (N) Vertical
196
90°
0°
0°
-
Continuous rated thrust(N)
•During horizontal use
150-3050(100 pitch)
Stroke(mm)
45°
-
Return to origin
- (stroke end)
SRCX-05
Controller
*1. Repeatability for single oscillation
45°
90°
5kg
511
456
799
10kg
334
316
601
20kg
201
198
402
Lead25
3.5(Standard),5,10
Lead25
Cable length(m)
•During wall installation use
0°
0°
45°
90°
5kg
686
417
516
10kg
473
261
304
20kg
260
132
145
*2 Distance from center of slider top to center of gravity of object being transported.
Motor installation for LU models
Motor installation for R models
2-φ6H7 Depth10
8-M6×1.0 Depth16
90
70
32
70.5(Note1)
167
92
83
11
90
175
78
11
178
167
152.5(Note1)
297.5±3
240(Note1)
(128)
Effective stroke
210±3
(free)
Motor installation for RU models
146
134
(Between knocks±0.02)
(M6,φ6H7Position)
4-M5×0.8 Depth12
(The same position on the opposite surface at two (2) locations)
20
11
22.5
94
90.5
34.5
167
178
12.5
50
83
92
1.5
G
78
136
L
175
85
60
B×200
100
200
1.5
A
M-M6×1.0 Depth10
Motor installation for RD models
92
210±3
89
78
167
100
5.5
8.3
83
(5)
3.5
1.5
F-φ10H7 Depth4.5
G section detailed chart
85
(free)
C
D
E
Grounding terminal
Note 1: Positions of mechanical stoppers at both ends.
Note 2: Motor can be installed in upward, downward or horizontal positions versus the robot movement axis.
Note 3: Motor can be installed on the right or left side of the robot movement axis.
Note 4: Cables can be extracted in upward, downward, forward or rearward directions.
Effective stroke 150 250 350 450 550 650 750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450 2550 2650 2750 2850 2950 3050
488 588 688 788 888 988 1088 1188 1288 1388 1488 1588 1688 1788 1888 1988 2088 2188 2288 2388 2488 2588 2688 2788 2888 2988 3088 3188 3288 3388
L
M
A
B
C
D
E
F
10 10 12 12 14 14 16 16 18
8
8
6
200 100 200 100 200 100 200 100 200 100 200 100
6
5
5
4
4
3
3
2
2
1
1
240 240 420 600 600 780 780 960 960 1140 1140 1140
240
3
2
2
2
2
2
2
2
2
2
2
2
18
200
6
1140
240
3
20
100
7
1140
420
3
5-17
20
200
7
1140
420
3
22
100
8
1140
600
3
22
200
8
1140
600
3
24
100
9
1140
780
3
24
200
9
1140
780
3
26
100
10
1140
960
3
26
200
10
1140
1140
3
28
100
11
1140
1140
3
28
200
11
1140
1140
3
30
100
12
1140
1140
240
4
30
200
12
1140
1140
240
4
32
100
13
1140
1140
420
4
32
200
13
1140
1140
600
4
34
100
14
1140
1140
600
4
34
200
14
1140
1140
780
4
36
100
15
1140
1140
780
4
Chapter 5 Specifications
5-1-16
B14H
Mechanical unit specifications
AC servo motor output (W)
Tolerable overhang amount *3
200
Repeatability
(mm)*1
90°
±0.04
Deceleration mechanism
45°
Timing belt
Lead (mm)
L
L
25
Maximum speed (mm/sec)
1875
Maximum Horizontal
payload (N) Vertical
294
Continuous rated thrust(N)
-
90°
0°
45°
0°
•During horizontal use
150-3050(100 pitch)
Stroke(mm)
Cable length(m)
3.5(Standard),5,10
Return to origin
- (stroke end)
(Unit: mm)
90°
45°
5kg
1300 1284 2632
10kg
712
724
1561
20kg
434
480
1217
30kg
312
354
955
0°
Lead25
*1. Repeatability for single oscillation
*2. An RGU-2 is needed if the maximum speed is more than
1250mm/sec.
0°
Lead25
SRCX-05*2
Controller
•During wall installation use
(Unit: mm)
90°
45°
5kg
2342 1221 1368
10kg
1326
654
710
20kg
939
388
383
30kg
665
254
240
*3 Distance from center of slider top to center of gravity of object being transported.
Motor installation for LU models
Effective stroke
235±3
140
124
70
(153)
2-φ6H7 Depth10
8-M6×1.0 Depth16
Motor installation for R models
70.5(Note1)
322.5±3
240(Note1)
11
167
178
152.5(Note1)
92
103
167
78
11
90
195
(free)
Motor installation for RU models
146
134
4-M5×0.8 Depth12
(The same position on the opposite surface at two (2) locations)
45
(Between knocks±0.02)
(M6,φ6H7Position)
103
92
11
22.5
94
90.5
34.5
167
178
12.5
50
1.5
78
G
136
L
195
Motor installation for RD models
A
M-M6×1.0 Depth10
200
1.5
92
89
103
100
167
78
8.3
B×200
100
5.5
1.5
108
(5)
85
3.5
F-φ10H7 Depth4.5
G section detailed chart
85
C
D
E
Grounding terminal
Note 1: Positions of mechanical stoppers at both ends.
Note 2: Motor can be installed in upward, downward or horizontal positions versus the robot movement axis.
Note 3: Motor can be installed on the right or left side of the robot movement axis.
Note 4: Cables can be extracted in upward, downward, forward or rearward directions.
Effective stroke 150 250 350 450 550 650 750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450 2550 2650 2750 2850 2950 3050
L
538 638 738 838 938 1038 1138 1238 1338 1438 1538 1638 1738 1838 1938 2038 2138 2238 2338 2438 2538 2638 2738 2838 2938 3038 3138 3238 3338 3438
M
A
B
C
D
E
F
10 10 12 12 14 14 16 16 18
8
8
6
200 100 200 100 200 100 200 100 200 100 200 100
6
5
5
4
4
3
3
2
2
1
1
240 420 420 600 600 780 780 960 1140 1140 1140 1140
240
3
2
2
2
2
2
2
2
2
2
2
2
18
200
6
1140
240
3
20
100
7
1140
420
3
5-18
20
200
7
1140
600
3
22
100
8
1140
600
3
22
200
8
1140
780
3
24
100
9
1140
780
3
24
200
9
1140
960
3
26
100
10
1140
960
3
26
200
10
1140
1140
3
28
100
11
1140
1140
3
28
200
11
1140
1140
240
4
30
100
12
1140
1140
240
4
30
200
12
1140
1140
420
4
32
100
13
1140
1140
420
4
32
200
13
1140
1140
600
4
34
100
14
1140
1140
600
4
34
200
14
1140
1140
780
4
36
100
15
1140
1140
960
4
Chapter 5 Specifications
5-2
AC servo motor termination (T/F Type)
Connector specifications
No.
Parts
Type No.
Maker
Qty
Notes
1
Servo motor
2
Receptacle housing
SMR-07V-B
JST
1
CN1 (7 polarities)
3
Pin contact
BYM-001T-P0.6
JST
9
CN1, CN2
4
Plug housing
176273-1
AMP
1
CN3 (4 polarities)
5
Receptacle
175156-2
AMP
4
CN3
6
Receptacle housing
SMR-02V-B
JST
1
CN2 (2 polarities)
7
Plug housing
SMP-02V-BC
JST
1
CN4 (2 polarities)
8
Socket contact
BHF-001T-0.8BS
JST
2
CN4
9
Round terminal
1.25-M4
1
1
Connector wiring
Connector
Pin No.
Signal
Wire Color
CN1
1
S2
Yellow
2
S4
Blue
3
S1
Red
CN2
CN3
4
S3
Black
5
R1
White
6
R2
Green
7
Shield
Black *
1
BK
Gray
2
BK
Brown
1
U
Red
2
V
White
3
W
Black
4
PE
Yellow/green
Connection
P
Motor
1
2
M
Motor
Round terminal
* Heat shrinkable tube
7, 8
2, 3
CN4
1
CN1
3, 6
CN2
CN3
4, 5
9
5-19
Chapter 5 Specifications
5-3
AC servo motor termination (R/B Type, F20N)
Connector specifications
No.
Parts
Type No.
1
Servo motor
2
Receptacle housing
SMR-07V-B
3
Pin contact
4
Plug housing
5
Receptacle
6
Receptacle housing
Maker
Qty
Notes
1
JST
1
CN1 (7 polarities)
BYM-001T-P0.6
JST
9
CN1, CN2
176273-1
AMP
1
CN3 (4 polarities)
175156-2
AMP
4
CN3
SMR-02V-B
JST
1
CN2 (2 polarities)
Connector wiring
Connector
Pin No.
Signal
Wire Color
CN1
1
S2
Yellow
2
S4
Blue
3
S1
Red
4
S3
Black
5
R1
White
6
R2
Green
7
Shield
Black *
1
BK
Yellow
2
BK
Yellow
1
U
Red
2
V
White
CN2
CN3
3
W
Black
4
PE
Yellow/green
Connection
P
Motor
Motor with brake
M
Motor
* Heat shrinkable tube
2, 3
1
CN1
3, 6
CN2
CN3
4, 5
5-20
Chapter 5 Specifications
5-4
Robot cables
Signal cable
To controller
To robot
P
BK
ORG
Parts
Signal
PIN
Connection
PIN
Parts
Controller CN1
S2
S4
S1
S3
R1
R2
D.G
1
2
3
4
5
6
9
1
2
3
4
5
6
7
BK+
BK-
17
18
1
2
Brake
Black
Yellow
ORG
24V
GND24
12
13
15
2
1
3
ORG
Pink
White
Blue/Red
Wire
Resolver 0.3sq Blue SPMCU-14K
Orange
Green
Brown
Grey
Red
Shield
Clear
Power cable
To robot
To controller
Parts
Motor wire
Signal
FG
U
V
W
PIN
1
2
4
3
Connection
5-21
PIN
4
1
2
3
Parts
Wire
0.75sq Yellow/Green
0.75sq
Red
0.75sq
White
0.75sq
Black
MEMO
5-22
Chapter 6
Troubleshooting
6-1
Positioning error .................................................................. 6-3
6-2
Feedback error ..................................................................... 6-4
MEMO
6-2
6-3
Check installation method.
No
Check for looseness of
robot mechanical parts.
Yes
Are the robot, tools and
workpiece correctly installed?
Yes
Are cables correctly wired?
Are connectors correctly fitted?
Check wiring and connectors.
No
The position deviates after
moving the robot or set up of
workpiece tool.
(1) Check tool and workpiece for warping.
(2) Check robot alignment.
(3) Check robot coupling for slipping and
belt for teeth skipping.
No
Is cable broken?
Robot bumped into something,
or there are traces of bumping into
(rubbing against) something.
Yes
No
Is there a large source of
noise nearby?
Electrical cause
Yes
No
Check or replace the motor, cable and controller.
Take measures against noise.
Replace the cable
Yes
Does the position return
after return to origin?
Operation was correct,
but position deviates.
(1) Check for looseness of mechanical
parts. Retighten if necessary.
(2) Check and adjust belt tension.
(3) Replace mechanical parts.
Mechanical cause
6-1
Position deviates.
Chapter 6 Troubleshooting
Positioning error
6-4
No
Is external noise large?
Yes
Take noise reduction measures
Securely insert pins or repair defective pins
No
Are connector pins
securely inserted?
No
Is there electrical
discontinuity?
Yes
Repair
Yes
Is controller hardware OK?
Yes
Is motor encoder OK?
Yes
Is motor resistance OK?
Yes
Is wiring live?
Yes
Are wiring and connector
securely connected?
No
Are parameters
for controller and
robot OK?
Yes
Does coupling slip?
No
Much mechanical friction?
No
No
No
No
Yes
Yes
(1) If replacement controller is available, check by
exchanging the controllers
(1) Check position shift by repetitive accuracy measurement
(2) If replacement motor is available, check by exchanging the motors
Replace motor
Replace motor since motor has shorted or burnt out
Replace motor (with brake)
Yes
Is brake sound
heard when turning power
on and off?
Adjust mechanical alignment
No
When feedback error is occurring, perform
continuity check
(1) Check motor power supply lines U, V and W
(2) Check encoder signal lines for phases A and B
Securely connect wiring and connector
Initialize parameters
Tighten coupling screw
Yes
Is brake installed?
No
Any foreign matter
caught inside?
No
No
Is 24V supplied to brake?
Yes
Repair
Yes
Replace power supply unit or repair defective parts
Recheck
Is there electrical
discontinuity?
6-2
Turn power on and check to see if
coupling slips by applying force while
holding robot in place
Turn power off and check for friction
by moving manually
Feedback error
Chapter 6 Troubleshooting
Feedback error
Appendix
About machine reference ............................................................... iii
Equation of moment of inertia calculation .................................... iv
MEMO
ii
Appendix
About machine reference
The position detector built into the motor issues a "0" pulse each time the motor
rotates 1/4th of one turn. When return-to-origin is performed, a difference in distance occurs between the position where the origin signal is detected and the
point at which the next "0" pulse is received. This is called the machine reference
and is usually expressed as a percent, with 100% being equal to 1/4th of one turn
of the motor. The machine reference value must be within the allowable range
(25 to 75%) to maintain axis movement repeatability.
To check the machine reference value, an optional programming box (HPB, MPB
or RPB) is needed. The machine reference value is displayed on the LCD screen of
the programming box when return-to-origin is complete. (See the figure below.)
NOTE
The FLIP-X series uses an absolute type position detector. You do not have to
perform return-to-origin each time the robot controller is turned on and readjust the
machine reference value. If for some reason the machine reference adjustment
becomes necessary, please contact YAMAHA sales office or dealer.
Machine reference
Origin signal
Origin detection
signal
Machine reference
(Stroke end detection)
Machine reference
(Origin dog detection)
Zero signal
Pulse
1/4th of one turn of motor
Machine reference value display examples
［ＯＰＲＴ−ＯＲＧ−ＳＥＡＲＣＨ］
ｏｒｉｇｉｎ ｃｏｍｐｌｅｔｅ
ｍａｃｈｉｎｅ ｒｅｆ． ５０％
［ＯＰＲＴ−ＯＲＧ−ＳＥＡＲＣＨ］
ｏｒｉｇｉｎ ｃｏｍｐｌｅｔｅ
ｍａｃｈｉｎｅ ｒｅｆ． Ｘ＝５０％
Ｙ＝５０％
SR1
DRCX (Two FLIP-X control)
ＭＡＮＵＡＬ＞ＲＳＴ．ＡＢＳ
５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］
Ｍａｃｈｉｎｅ ｒｅｆｅｒｅｎｃｅ（％）
Ｍ１＝
３２ Ｍ２＝
Ｍ４＝
４０
Ｍ１
Ｍ２
Ｍ３
RCX142 (Multiple FLIP-X control)
iii
４０ Ｍ３＝
Ｍ４
４９
Ｍ５
Appendix
Equation of moment of inertia calculation
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 this is not
observed, premature end to the life of the drive units, damage to the robot parts or
residual vibration during positioning may result.
Usually the R axis load is not a simple form, and the calculation of the moment of inertia is not
easy.
As a method, the load is replaced with several factors that resemble a simple form for which the
moment of inertia can be calculated. The total of the moment of inertia for these factors is then
obtained.
The objects and equations often used for the calculation of the moment of inertia are shown
below.
1.
Moment of inertia for cylinder
The moment of inertia (J) for a cylinder having a rotation center such as shown below is
given by
J=
ρπD4 h
32g
2
WD
8g
mD2
=
8
=
2
(kgf.cm.sec )
2
(kgm )
ρ : Density (kg/cm3)
g : Gravitational acceleration (cm/sec2)
W : Weight of cylinder (kgf)
m : Mass of cylinder (kg)
iv
h
D
Appendix
2.
Moment of inertia for rectangular parallelepiped
The moment of inertia (J) for a rectangular parallelopiped having a rotation center as shown
below is given by
J=
ρabc (a2 + b2) W (a2 + b2)
2
=
(kgf.cm.sec )
12g
12g
m (a2 + b2)
=
(kgm2)
12
ρ : Density (kg/cm3)
g : Gravitational
acceleration (cm/sec2)
W : Weight of prism (kgf)
m : Mass of prism (kg)
3.
c
1/2a
b
a
When the object’s center line is offset from the rotation center.
The moment of inertia (J) when the center of the cylinder is offset by a distance “x” from the
rotation center as shown below is given by
J=
ρπD4 h
32g
2
ρπD2 hx2
4g
+
WD
8g
=
mD2
2
2
+ mx (kgm )
8
W
m
e
g
Wx
g
rotation
center
2
=
+
center line
(kgf.cm.sec2)
h
: Weight of cylinder (kgf)
: Mass of cylinder (kg)
: Density (kg/cm3)
2
: Gravitational acceleration (cm/sec )
D
x
In the same manner, the moment of inertia (J) of a prism as shown below is given by
J=
ρabc (a2 +b2)
12g
=
W(a2 +b2)
+
12g
=
m(a2 +b2)
2
2
+ mx (kgm ) c
12
+
ρabcx2
g
Wx2
g
center line
2
(kgf.cm.sec )
x
b
W : Weight of prism (kgf)
m : Mass of prism (kg)
v
a
Revision record
Manual version Issue date
Ver. 1.19
Jun. 2011
Description
The description regarding "Warranty" was changed. Clerical error
corrections.
User's Manual
Single-axis Robots
FLIP-X
series
Jun. 2011
Ver. 1.19
This manual is based on Ver. 1.19 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.