Download User`s Manual - Yamaha Robotics
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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? 1-12 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.