Download N15/N18 User`s Manual

YAMAHA SINGLE-AXIS ROBOT
FLIP-X series
N15/N18
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
E38-Ver. 1.05
Thank you for purchasing this YAMAHA single-axis robot N15/N18.
Before using this robot, read the following notes and set the origin position.
The N15/N18 single-axis robots use absolute position detectors that do not require returnto-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.
Before using the N15/N18 single-axis robots (Be sure to read the following notes.)
Before using the N15/N18 single-axis robots
(Be sure to read the following notes.)
Setting the origin position
Before using the N15/N18 single-axis robots (Be sure to read the following notes.)
Set the origin position by 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.
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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.
After setting the origin position, affix the stickers (triangular stickers supplied with the
robot) to both the tool side and workpiece side so that they can be used as the alignment
marks. Use these marks as the reference position the next time the origin position must be
set.
General Contents
General Contents
Introduction
Chapter 1 Using the Robot Safely
1-1
Safety information
1-1
1-2
Essential precautions
1-3
1-3
Industrial robot operating and maintenance personnel
1-9
1-4
Robot safety functions
1-10
1-5
Safety measures for the system
1-11
1-6
Trial operation
1-11
1-7
Work within the safety enclosure
1-12
1-8
Automatic operation
1-13
1-9
Warranty
1-14
Chapter 2 Product Overview
2-1
Checking the product
2-1
2-2
Robot part names
2-2
2-3
Robot internal structure
2-3
Chapter 3 Installation and connections
3-1
Carrying the robot
3-1
3-2
Robot Installation Conditions
3-2
3-2-1
3-2-2
Installation environments
Installation base
3-3
Installing the robot
3-5
3-4
Connecting the robot to the controller
3-9
3-5
Precautions during user wiring and hose installation 3-12
3-2
3-3
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Chapter 4 Periodic inspection and maintenance
General Contents
4-1
Before beginning work
4-1
4-2
Periodic inspection
4-3
4-2-1
4-2-2
4-2-3
4-2-4
Daily inspection
Three-month inspection
Six-month inspection
Three-year inspection
4-3
4-3
4-4
4-4
4-3
Applying grease
4-5
4-4
Replacing the motor
4-7
Chapter 5 Troubleshooting
5-1
If you suspect trouble
5-1-1
5-1-2
Positioning error
Feedback error
5-1
5-1
5-2
Chapter 6 Specifications
6-1
Main unit specifications
6-1
6-1-1
6-1-2
N15/N15D
N18/N18D
6-1
6-11
6-2
Robot connector (I/O signal connector)
6-21
6-3
Robot connector (motor connector)
6-21
Appendix
ii
About machine reference
i
Moment of inertia calculation
ii
Introduction
• This user's manual should be used with the robot and considered an integral part of
it. When the robot is moved, transferred or sold, send this manual to the new user
along with the robot. Be sure to explain to the new user the need to read through this
manual.
• Specifications of robot models other than standard models may be omitted in this
manual if they are common to those of standard models. In this case, refer to the
specifications of standard models.
• For details on specific operation of the robot, refer to the separate user’s manual for the
robot controller being used.
NOTES
◆ The contents of this manual are subject to change without prior notice.
◆ While every effort has been made to ensure the contents of this manual are
correct, please contact us if you find any part of this manual to be unclear,
confusing or inaccurate.
YAMAHA MOTOR CO., LTD.
IM Operations
Introduction
The YAMAHA single-axis robots N15/N18 is an industrial robot that uses the absolute
positioning method as standard and has improved 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 the N15/N18 robots for correct, safe and effective use.
Be sure to read this manual carefully before installing the N15/N18 robots. Even after you
have read this manual, keep it in a safe and convenient place for future reference.
MEMO
Chapter 1
Using the Robot Safely
Contents
1-1 Safety information
1-1
1-2 Essential precautions
1-3
1-3 Industrial robot operating and maintenance personnel
1-9
1-4 Robot safety functions
1-10
1-5 Safety measures for the system
1-11
1-6 Trial operation
1-11
1-7 Work within the safety enclosure
1-12
1-8 Automatic operation
1-13
1-9 Warranty
1-14
1-1 Safety information
1-1
Safety information
Warning symbols and signal words used in this manual are classified as explained below.
Make sure that you fully understand the meaning of each symbol and comply with the
instructions.
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DANGER
FAILURE TO FOLLOW DANGER INSTRUCTIONS WILL RESULT IN SEVERE INJURY OR
DEATH TO THE ROBOT OPERATOR, BYSTANDERS OR PERSONS INSPECTING OR
REPAIRING THE ROBOT.
WARNING
FAILURE TO FOLLOW WARNING INSTRUCTIONS COULD RESULT IN SEVERE INJURY
OR DEATH TO THE ROBOT OPERATOR, BYSTANDERS OR PERSONS INSPECTING
OR REPAIRING THE ROBOT.
CAUTION
Failure to follow CAUTION instructions may result in injury to the robot
operator, bystanders or persons inspecting or repairing the robot, or
damage to the robot and/or robot controller.
NOTE
Explains the key point in the operation in a simple and clear manner.
Reference
Gives useful information related to the robot operation.
1-1
1
Using the Robot Safely
Industrial robots are highly programmable, mechanical devices that provide a large degree
of freedom when performing various manipulative tasks. To ensure correct and safe use of
YAMAHA industrial robots, carefully read this manual and make yourself well acquainted
with the contents. FOLLOW THE WARNINGS, CAUTIONS AND INSTRUCTIONS included
in this manual. Failure to take necessary safety measures or mishandling due to not
following the instructions in this manual may result in trouble or damage to the robot and
injury to personnel (robot operator or service personnel) including fatal accidents.
1-1 Safety information
Refer to the user's manual by any of the following methods to operate or adjust the robot
safely and correctly.
1
1. Operate or adjust the robot while referring to the printed version of the user's
manual (available for an additional fee).
Using the Robot Safely
2. Operate or adjust the robot while viewing the CD-ROM version of the user's
manual on your computer screen.
3. Operate or adjust the robot while referring to a printout of the necessary pages
from the CD-ROM version of the user's manual.
It is not possible to list all safety items in detail within the limited space of
this manual. So it is essential that the user have a full knowledge of basic
safety rules and also that the operator makes correct judgments on safety
procedures during operation.
For specific safety information and standards, refer to the applicable local
regulations and comply with the instructions. This manual and warning labels
supplied with or attached to the robot are written in English. Unless the
robot operators or service personnel understand English, do not permit them
to handle the robot.
* Cautions regarding the official language of EU countries
For equipment that will be installed in EU countries, the language used for the
user's manuals, CE declarations, and operation screen characters is English only.
Warning labels only have pictograms or else include warning messages in English.
In the latter case, Japanese messages might be added.
1-2
1-2 Essential precautions
1-2
Essential precautions
(1)
Obser ve the following cautions during automatic operation.
• Install a safeguard (safety 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 a safety enclosure so that no one can enter inside except from doors or
panels equipped with safety interlocks.
• Warning labels 1 are supplied with the robot and should be affixed to conspicuous
spots on doors or panels equipped with safety interlocks.
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DANGER
SERIOUS INJURY OR DEATH WILL RESULT FROM IMPACT WITH MOVING ROBOT.
• KEEP OUTSIDE OF GUARD DURING OPERATION.
• LOCK OUT POWER BEFORE APPROACHING ROBOT.
Warning label 1
DANGER
Serious injury or death
will result from impact
with moving robot.
• Keep outside of guard
during operation.
• Lock out power before
approaching robot.
(2)
Use caution to prevent hands or fingers from being pinched or crushed.
Warning label 2 is affixed to the robot.
Use caution to prevent hands or fingers from being pinched or crushed by the moving
parts when carrying the robot or during teaching.
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WARNING
MOVING PARTS CAN PINCH OR CRUSH.
KEEP HANDS AWAY FROM ROBOT ARMS.
1-3
1
Using the Robot Safely
Particularly important cautions for handling or operating the robot are described below. In
addition, precautions during installation, operation, inspection and maintenance are also
provided in each chapter. Be sure to comply with these instructions to ensure safe use of
the robot.
1-2 Essential precautions
Warning label 2
1
WARNING
Using the Robot Safely
Moving parts can
pinch or crush.
Keep hands away
from robot arms.
(3)
Follow the instructions on warning labels and in this manual.
• Be sure to read the warning labels and this manual carefully and make sure you
thoroughly understand their contents before attempting installation and operation
of the robot.
• Before starting robot operation, be sure to reread the procedures and cautions
relating to your work as well as descriptions in this chapter (Chapter 1, "Using the
Robot Safely").
• Never install, adjust, inspect or service the robot in any manner that does not
comply with the instructions in this manual.
• The warning labels 3 are supplied with the robot and should be affixed to the robot
or conspicuous spots near the robot.
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WARNING
IMPROPER INSTALLATION OR OPERATION CAN RESULT IN SERIOUS INJURY OR
DEATH.
READ THE USER'S MANUAL AND ALL WARNING LABELS BEFORE OPERATION.
Warning label 3
WARNING
Improper installation or operation
can result in serious injury or
death.
Read user's(owner’s)
manual and all warning labels
before operation.
1-4
1-2 Essential precautions
(4)
Do not remove, alter or stain the warning labels.
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Do not use the robot in environments containing inflammable gas, etc.
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(6)
WARNING
• THIS ROBOT WAS NOT DESIGNED FOR OPERATION IN ENVIRONMENTS WHERE
INFLAMMABLE OR EXPLOSIVE SUBSTANCES ARE PRESENT.
• DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING INFLAMMABLE
GAS, DUST OR LIQUIDS. EXPLOSIONS OR FIRE MIGHT OTHERWISE RESULT.
Do not use the robot in locations possibly subject to electromagnetic interference,
etc.
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(7)
1
WARNING
AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC
INTERFERENCE, ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY
INTERFERENCE. MALFUNCTIONS MIGHT OTHERWISE OCCUR.
Provide safety measures for end effector (gripper, etc.).
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WARNING
• END EFFECTORS MUST BE DESIGNED AND MANUFACTURED SO THAT THEY
CREATE NO HAZARDS (FOR EXAMPLE, A WORKPIECE THAT COMES LOOSE)
EVEN IF POWER (ELECTRICITY, AIR PRESSURE, ETC.) IS SHUT OFF OR POWER
FLUCTUATIONS OCCUR.
• IF THERE IS A POSSIBLE DANGER THAT THE OBJECT GRIPPED BY THE END
EFFECTOR MAY FLY OFF OR DROP, THEN PROVIDE APPROPRIATE SAFETY
PROTECTION TAKING INTO ACCOUNT THE OBJECT SIZE, WEIGHT,
TEMPERATURE AND CHEMICAL PROPERTIES.
1-5
Using the Robot Safely
(5)
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
SAFETY ENCLOSURE.
1-2 Essential precautions
(8)
Use caution when removing the motor. (Vertical use robots)
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1
Using the Robot Safely
(9)
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.
Be careful not to touch the motor and peripheral parts when hot.
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WARNING
The motor and speed reduction gear casing are extremely hot after
automatic operation, so burns may occur if these are touched.
Before handling these parts during inspection or servicing, turn off the
controller, wait for a while and check that the parts have cooled.
(10) Take the following safety precautions during inspection of controller.
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WARNING
• WHEN YOU NEED TO TOUCH THE TERMINALS OR CONNECTORS ON THE
OUTSIDE OF THE CONTROLLER DURING INSPECTION, ALWAYS FIRST TURN OFF
THE CONTROLLER POWER SWITCH AND ALSO THE POWER SOURCE IN ORDER
TO PREVENT POSSIBLE ELECTRICAL SHOCK.
• NEVER TOUCH ANY INTERNAL PARTS OF THE CONTROLLER.
• REFER TO THE "YAMAHA ROBOT CONTROLLER USER'S MANUAL" FOR
PRECAUTIONS ON HANDLING THE CONTROLLER.
(11) Use caution not to touch the controller cooling fan.
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1-6
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.
1-2 Essential precautions
(12) Consult us for corrective action when the robot is damaged or malfunctions occur.
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WARNING
IF ANY PART OF THE ROBOT IS DAMAGED OR ANY MALFUNCTION OCCURS,
CONTINUING THE OPERATION MAY BE VERY DANGEROUS. PLEASE CONSULT
YOUR YAMAHA SALES OFFICE OR DEALER FOR CORRECTIVE ACTION.
Using the Robot Safely
Damage or Trouble
1
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
(13) Protective bonding
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WARNING
BE SURE TO GROUND THE ROBOT AND CONTROLLER TO PREVENT ELECTRICAL
SHOCK.
(14) Be sure to make correct parameter settings.
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CAUTION
The robot must be operated with correct tolerable moment of inertia and
acceleration coefficients according to the manipulator tip mass and
moment of inertia. If these are not correct, drive unit service life may end
prematurely, and damage to robot parts or residual vibration during
positioning may result.
(15) Follow the specified procedures when installing, adjusting or inspecting the robot.
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WARNING
ALWAYS FOLLOW THE SPECIFIED PROCEDURES WHEN INSTALLING, ADJUSTING
OR INSPECTING THE ROBOT. NEVER ATTEMPT ANY PROCEDURE NOT DESCRIBED
IN THIS MANUAL.
(16) Do not attempt any repair, parts replacement and modification.
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WARNING
DO NOT ATTEMPT ANY REPAIR, PARTS REPLACEMENT AND MODIFICATION
UNLESS DESCRIBED IN THIS MANUAL.
THESE WORKS REQUIRE TECHNICAL KNOWLEDGE AND SKILL, AND MAY ALSO
INVOLVE WORK HAZARDS.
1-7
1-2 Essential precautions
(17) 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.
1
Using the Robot Safely
(18) 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.
(19) 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.
(20) 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.
(21) Provide adequate lighting.
Make sure to provide enough lighting to ensure safety during work.
(22) 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.
(23) 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
1-8
1-3 Industrial robot operating and maintenance personnel
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
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
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.
(24) 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.
(25) Make daily and periodic inspections.
(1) Always make sure that daily and periodic inspections are performed, and make
a pre-work check to ensure there are no problems with the robot or related
equipment. If a problem or abnormality is found, then promptly repair it or take
other measures as necessary.
(2) When you make periodic inspections or repairs, make a record and store it for at
least 3 years.
1-3
Industrial robot operating and maintenance personnel
Operators or persons who handle the robot such as for teaching, programming, movement
check, inspection, adjustment, and repair must receive appropriate training and also have
the skills needed to perform the job correctly and safely. They must read the user's manual
carefully to understand its contents before attempting the robot operation.
Tasks related to industrial robots (teaching, programming, movement check, inspection,
adjustment, repair, etc.) must be performed by qualified persons who meet requirements
established by local regulations and safety standards for industrial robots.
1-9
Using the Robot Safely
4. Install noise prevention measures
1
1-4 Robot safety functions
1-4
1
(1)
Robot safety functions
Overload detection
This function detects an overload applied to the motor and shuts off the servo power.
Using the Robot Safely
(2)
Overheat detection
This detects an abnormal temperature rise in the controller driver and shuts off the
servo power.
If an overload or overheat error occurs, take the following measures.
1. Insert a timer in the program.
2. Reduce the acceleration coefficient.
(3)
Soft limits
Soft limits can be set on each axis to limit the working envelope in manual operation
after return-to-origin and during automatic operation.
Note: The working envelope is the area limited by soft limits.
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(4)
WARNING
SOFT LIMITS MUST BE SET WITHIN THE MOVEMENT RANGE (MECHANICAL
STOPPER). IF THE SOFT LIMIT IS SET OUTSIDE THE MOVEMENT RANGE, THE ROBOT
AXIS MAY COLLIDE WITH THE MECHANICAL STOPPER AT HIGH SPEED, CAUSING
THE OBJECT GRIPPED BY THE END EFFECTOR TO FLY OR DROP AND THE ROBOT
TO MALFUNCTION.
Mechanical stoppers
If the servo power is suddenly shut off during high-speed operation by emergency
stop or safety functions, these mechanical stoppers prevent the axis from exceeding
the movement range.
Note: The movement range is the area limited by mechanical stoppers.
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1-10
WARNING
ROBOT MOVEMENT WILL NOT STOP IMMEDIATELY AFTER THE SERVO POWER
SUPPLY IS SHUT OFF BY EMERGENCY STOP OR OTHER SAFETY FUNCTIONS.
1-5 Safety measures for the system
1-5
Safety measures for the system
1-6
Trial operation
After making installations, adjustments, inspections, or maintenance or repairs to the
robot, make a trial run using the following procedures.
(1)
If a safety 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
safety enclosure, and obser ve the following points.
1. Use sturdy, stable posts which will not fall over easily.
2. The rope or chain should be easily visible by everyone around the robot.
3. Place a sign to keep the operator or other personnel from entering the movement
range of the manipulator.
(2)
Check the following points before turning on the controller.
1. Is the robot securely and correctly installed?
2. Are the electrical connections to the robot correct?
3. Are items such as air pressure correctly supplied?
4. Is the robot correctly connected to peripheral equipment?
5. Have safety measures (safety 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 safety
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 safety enclosure and interlock working as intended?
8. Does the robot move correctly during automatic operation?
1-11
1
Using the Robot Safely
Since the robot is commonly used in conjunction with an automated system, dangerous
situations are more likely to occur from the automated system than from the robot
itself. Accordingly, appropriate safety measures must be taken on the part of the system
manufacturer according to the individual system. The system manufacturer should provide
a proper instruction manual for safe, correct operation and servicing of the system.
1-7 Work within the safeguard enclosure
1-7
1
Work within the safety enclosure
(1) Work within the safety enclosure
Using the Robot Safely
When work is required inside the safety 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 safety enclosure, comply with the instructions
listed below.
1) Check or perform the following points from outside the safety enclosure.
1. Make sure that no hazards are present within the safety enclosure by a visual
check.
2. Check that the programming unit HPB (option) operates correctly.
3. Check that no failures are found in the robot.
4. Check that emergency stop works correctly.
5. Select teaching mode and prohibit automatic operation.
2) Never enter the movement range of the manipulator while within the safety
enclosure.
1-12
1-8 Automatic operation
1-8
Automatic operation
1
Automatic operation described here includes all operations in AUTO mode.
(1)
Check the following before starting automatic operation.
2. The programming unit and tools are in their specified locations.
3. The alarm or error lamps on the robot and peripheral equipment do not flash.
4. The safety enclosure is securely installed with safety interlocks actuated.
(2)
Obser ve the following during automatic operation or in cases where an error occurs.
1)After automatic operation has started, check the operation status and signal light to
ensure that the robot is in automatic operation.
2) Never enter the safety enclosure during automatic operation.
3) If an error occurs in the robot or peripheral equipment, observe the following
procedure before entering the safety 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.
1-13
Using the Robot Safely
1. No one is within the safety enclosure.
1-9 Warranty
1-9
1
Warranty
The YAMAHA robot and/or related product you have purchased are warranted against the
defects or malfunctions as described below.
Using the Robot Safely
Warranty description
: If a failure or breakdown occurs due to defects in materials
or workmanship in the genuine parts constituting this
YAMAHA robot and/or related product within the warranty
period, then YAMAHA will repair or replace those parts
free of charge (hereafter called "warranty repair").
Warranty Period
: The warranty period ends when any of the following
applies:
(1) After 18 months (one and a half year) have elapsed from
the date of shipment
(2) After one year has elapsed from the date of installation
(3) After 2,400 hours of operation
Exceptions to the Warranty : This warranty will not apply in the following cases:
(1) Fatigue arising due to the passage of time, natural
wear and tear occurring during operation (natural fading
of painted or plated surfaces, deterioration of parts
subject to wear, etc.)
(2) Minor natural phenomena that do not affect the
capabilities of the robot and/or related product (noise
from computers, motors, etc.).
(3) Programs, point data and other internal data that were
changed or created by the user.
Failures resulting from the following causes are not covered by warranty repair.
1) Damage due to earthquakes, storms, floods, thunderbolt, fire or any other natural
or man-made disasters.
2) Troubles caused by procedures prohibited in this manual.
3) Modifications to the robot and/or related product not approved by YAMAHA or
YAMAHA sales representatives.
4) Use of any other than genuine parts and specified grease and lubricants.
5) Incorrect or inadequate maintenance and inspection.
6) Repairs by other than authorized dealers.
1-14
1-9 Warranty
1-15
1
Using the Robot Safely
YAMAHA MOTOR CO., LTD. MAKES NO OTHER EXPRESS OR IMPLIED WARRANTIES,
INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY
PARTICULAR PURPOSE. THE WARRANTY SET FORTH ABOVE IS EXCLUSIVE AND IS
IN LIEU OF ALL EXPRESSED OR IMPLIED WARRANTIES, INCLUDING WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR WARRANTIES ARISING
FROM A COURSE OF DEALING OR USAGE OF TRADE.
YAMAHA MOTOR CO., LTD. SOLE LIABILITY SHALL BE FOR THE DELIVERY OF THE
EQUIPMENT AND YAMAHA MOTOR CO., LTD. SHALL NOT BE LIABLE FOR ANY
CONSEQUENTIAL DAMAGES (WHETHER ARISING FROM CONTRACT, WARRANTY,
NEGLIGENCE OR STRICT LIABILITY). YAMAHA MOTOR CO., LTD. MAKES NO
WARRANTY WHATSOEVER WITH REGARD TO ACCESSORIES OR PARTS NOT SUPPLIED
BY YAMAHA MOTOR CO., LTD.
MEMO
1-16
Chapter 2
Product Over view
Contents
2-1 Checking the product
2-1
2-2 Robot part names
2-2
2-3 Robot internal structure
2-3
2-1 Checking the product
2-1
Checking the product
After unpacking, make sure that all components and accessories are included (as specified
in your order). Also check the product for any damage on the exterior which might have
occurred during shipping.
If there are any missing parts or damage due to shipping, please notify your YAMAHA
sales office or representative immediately.
Product Overview
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2
WARNING
• ALWAYS USE TWO OR MORE PEOPLE TO TAKE THE ROBOT UNIT OUT OF THE
PACKAGE. EACH PERSON SHOULD GRIP THE ROBOT UNIT NEAR ONE END
FROM THE LOWER SIDE. CARRY WITH THE ROBOT FACING UPWARD (SLIDER
SIDE UPWARDS).
• WHEN UNPACKING, CAREFULLY HOLD THE ROBOT NOT TO DROP IT. IF THE
ROBOT FALLS, SERIOUS INJURY MAY OCCUR OR THE ROBOT MAY BE
DAMAGED.
2-1
2-2 Robot part names
2-2
Robot part names
Robot part names
External components
2
Robot cable (motor wires)
Product Overview
Robot cable (I/O signal wires)
Cable cover
Slider
Cable carrier
End cover 1
End cover 2
Reference
The direction of the cables coming out of the cable carrier depends on the
specifications you ordered. The above illustration shows an example of RH
(right and horizontal) type.
2-2
2-3 Robot internal structure
2-3
Robot internal structure
The YAMAHA N15/N18 single-axis robots are truly innovative single-axis robot using a
hollow motor as its drive source. The internal robot structure and features are described
here.
2
＜N15＞
Product Overview
Slider
Linear guide
Hollow motor
2-3
MEMO
2-4
Chapter 3
Installation and connections
Contents
3-1 Carrying the robot
3-1
3-2 Robot Installation Conditions
3-2
3-2-1 Installation environments
3-2-2 Installation base
3-2
3-3
3-3 Installing the robot
3-5
3-4 Connecting the robot to the controller
3-9
3-5
Precautions during user wiring and hose
installation
3-12
3-1 Carr ying the robot
3-1
Carr ying the robot
Always use two people to carry the robot unit. Each person should grip the robot unit near
one end from the lower side and carry with the load well balanced. Carry with the robot
facing upward (slider side upwards).
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Slider
/2
L
L
• NEVER ATTEMPT TO HOLD THE ROBOT IN ANY OF THE FOLLOWING MANNERS.
[Never tr y this when moving!]
• DO NOT CARRY BY HOLDING THE SLIDER.
• DO NOT CARRY BY HOLDING THE CABLE.
• DO NOT CARRY BY HOLDING THE CABLE CARRIER.
• DO NOT CARRY BY GRIPPING THE END COVER.
• DO NOT CARRY BY HOLDING THE TOP COVER.
3-1
3
Installation and connections
WARNING
ALWAYS OBSERVE THE FOLLOWING PRECAUTIONS WHEN CARRYING THE
ROBOT.
• REMOVE ANY AND ALL OBJECTS SUCH AS HANDS AND GRIPPERS ATTACHED
TO THE ROBOT SLIDER BEFORE MOVING THE ROBOT. THE SLIDER WILL LOSE
BALANCE IF MOVED WITH OBJECTS STILL ATTACHED AND CAUSE INJURIES.
• KEEP THE ROBOT BALANCED AND DON'T LET IT TILT WHILE MOVING IT. IF THE
ROBOT TILTS, THE SLIDER MAY MOVE UNDER ITS OWN WEIGHT CAUSING
SERIOUS INJURIES SUCH AS CRUSHED FINGERS.
• MOVE THE SLIDER SO THAT BALL NUT SECTION IS POSITIONED IN THE NEAR
CENTER OF THE ROBOT BEFORE CARRYING THE ROBOT. FAILURE TO DO SO
MAY CAUSE THE BALL SCREW TO SWING OR VIBRATE LARGELY WHILE
CARRYING THE ROBOT.
3-2 Robot Installation Conditions
3-2
Robot Installation Conditions
3-2-1 Installation environments
Be sure to install the robot in the following environments.
Items
3
Specifications
Allowable ambient
temperature
10 to 45°C
Allowable ambient humidity
35 to 85% RH (no condensation)
Altitude
0 to 1000 meters above sea level
Installation and connections
Avoid installing near water, cutting water, oil, dust,
metallic chips and organic solvent.
Avoid installation near corrosive gas and corrosive
materials.
Ambient environments
Avoid installation in atmosphere containing inflammable
gas, dust and liquid.
Avoid installation near objects causing electromagnetic
interference, electrostatic discharge and radio frequency
interference.
Vibration
Do not subject to impacts or vibrations.
Working space
Allow sufficient space margin to perform jobs (teaching,
inspection, repair, etc.)
For detailed information on how to install the robot controller, refer to the separate
"YAMAHA Robot Controller User's Manual".
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3-2
WARNING
AVOID INSTALLING THE ROBOT IN LOCATIONS WHERE THE AMBIENT
CONDITIONS MAY EXCEED THE ALLOWABLE TEMPERATURE OR HUMIDITY, OR IN
ENVIRONMENTS WHERE EXCESSIVE MOISTURE, CORROSIVE GASES, METALLIC
POWDER OR DUST ARE GENERATED. MALFUNCTIONS, FAILURES OR SHORT
CIRCUITS MAY OTHERWISE RESULT.
WARNING
• THIS ROBOT WAS NOT DESIGNED FOR OPERATION IN ENVIRONMENTS
WHERE INFLAMMABLE OR EXPLOSIVE SUBSTANCES ARE PRESENT.
• DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING INFLAMMABLE
GAS, DUST OR LIQUIDS.
EXPLOSIONS OR FIRE COULD OTHERWISE RESULT.
3-2 Robot Installation Conditions
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WARNING
AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC
INTERFERENCE, ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY
INTERFERENCE. MALFUNCTIONS MAY OTHERWISE OCCUR.
WARNING
DO NOT USE THE ROBOT IN LOCATIONS SUBJECT TO EXCESSIVE VIBRATION.
ROBOT INSTALLATION BOLTS MAY OTHERWISE BECOME LOOSE CAUSING THE
ROBOT TO FALL OVER.
3
To mount the robot, use an installation base that satisfies the following conditions.
1)
The installation base is subjected to a great deal of stress while the robot is in
operation. Prepare a sufficiently rigid and stable installation base, taking into account
the robot weight including the end effector (gripper) and workpiece.
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2)
WARNING
IF THE INSTALLATION BASE IS NOT SUFFICIENTLY RIGID AND STABLE, VIBRATION
(RESONANCE) MAY OCCUR DURING OPERATION, CAUSING ADVERSE EFFECTS
ON THE ROBOT WORK.
The installation base surface must be machined within a flatness of ±0.05mm/500mm.
c
CAUTION
The robot positioning accuracy or the service life might be reduced if the
installation surface precision is insufficient.
3-3
Installation and connections
3-2-2 Installation base
3-2 Robot Installation Conditions
3)
Use an installation base of sufficient size to match the robot body so that the robot
can be installed with the specified number of bolts. Avoid installing the robot with
less than the specified number of bolts or installing the robot closer to one end as
shown at the lower right.
Robot installation example
3
Installation and connections
Installation base
Installation base
Good example
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n
3-4
Bad example
WARNING
WHEN INSTALLING THE ROBOT, ALWAYS USE ALL THE INSTALLTION HOLES OR M6
TAPPED HOLES IN THE BOTTOM OF THE ROBOT FRAME. USING LESS THAN THE
SPECIFIED NUMBER OF BOLTS TO INSTALL THE ROBOT MAY CAUSE VIBRATION
AND POOR POSITIONING ACCURACY. THIS MAY ALSO RESULT IN POSITIONING
ERRORS AND REDUCED SERVICE LIFE IN THE WORST CASES.
NOTE
Positions of robot mounting holes differ according to the stroke length of
each robot. Refer to the dimensional outlines shown in "6-1 Main unit
specifications".
3-3 Installing the robot
3-3
Installing the robot
There are two methods for installing the robot.
Installation method A: Use this method for installing the N15.
Installation method B: Use this method for installing the N15/N18.
• Installation method A (N15 only)
Drill holes through the installation base and secure the robot to the base with M6
bolts from below the base. (M6 tapped holes are already machined in the bottom
of the robot frame.)
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WARNING
• BEFORE INSTALLING THE ROBOT, ALWAYS MAKE SURE THAT THE ROBOT
CONTROLLER IS NOT CONNECTED TO THE ROBOT OR THE POWER TO THE
CONTROLLER IS OFF. SERIOUS ACCIDENTS MAY OCCUR IF THE ROBOT
STARTS TO OPERATE DURING INSTALLATION.
• BE SURE TO USE THE BOLTS OF THE SPECIFIED SIZE AND LENGTH AND TIGHTEN
THEM SECURELY TO THE CORRECT TORQUE IN THE CORRECT POSITIONS.
FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE ROBOT VIBRATIONS,
POSITION ERRORS AND SERIOUS ACCIDENTS.
• DO NOT USE A BOLT LONGER THAN THE SPECIFIED LENGTH SINCE IT MAY
INTERFERE WITH THE INTERNAL PARTS OF THE ROBOT AND CAUSE
MALFUNCTIONS.
3-5
3
Installation and connections
• Installation method B (N15/N18)
Drill and tap M6 holes (for N15) or M8 holes (for N18) into the installation base
and secure the robot to the base with M6 bolts (for N15) or M8 bolts (for N18) from
above the robot frame.
3-3 Installing the robot
●
Installation method A (N15 only)
Drill holes through the installation base where the robot is secured. Then secure the
robot to the base with specified bolts from below the base. For machining positions of
holes, refer to the dimensional outlines in "6-1 Main unit specifications" in Chapter 6.
The bolts and tightening torque are shown below.
N15
Bolt
Tightening torque
3
Hex socket-head M6 bolt, Strength: 8.8T
+0
Length: installation base thickness +10 −2 mm
9.8Nm to 12.7Nm (100kg • cm to 130kg • cm)
Installation and connections
Installation base
M6 bolt
* Because the robot frame has a cavity inside the tapped holes, it is possible to use
bolts whose length is up to the installation base thickness + 20mm. Even in this
case, the length of the bolt thread engagement is 10mm.
3-6
3-3 Installing the robot
●
Installation method B (N15/N18)
Drill and tap M6 holes (for N15) or M8 holes (for N18) into the installation base.
For machining positions of holes, refer to the dimensional outlines in "6-1 Main unit
specifications" in Chapter 6. The bolt tightening method and torque are explained
below.
1)
Remove the end cover 1 (upper end cover) from each end of the robot. Then remove
the screws (total of 4) holding the top cover and remove the top cover.
End cover 1
End cover 1
＜N15＞
Installation and connections
Top cover
＜N15＞
3
＜N18＞
Top cover
＜N18＞
3-7
3-3 Installing the robot
2)
Secure the robot to the base with the specified bolts utilizing the mounting holes in
the bottom of the robot frame.
While moving the table slider, secure the robot to the base using all the mounting
holes in the bottom of the robot frame.
N15
3
N18
Bolt
Hex socket-head M6 bolt,
Strength: 8.8T
Length: 16mm or more
Hex socket-head M8 bolt,
Strength: 8.8T
Length: 50mm or more
Tightening torque
9.8Nm to 12.7Nm
(100kg • cm to 130kg • cm)
22.5Nm to 36.7Nm
(230kg • cm to 370kg • cm)
Installation and connections
M6 hex wrench
＜N15＞
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3)
3-8
M8 hex wrench
＜N18＞
WARNING
TIGHTEN THE BOLTS SECURELY TO THE CORRECT TORQUE. FAILURE TO FOLLOW
THIS INSTRUCTION MAY CAUSE POSITIONING ERRORS AND SERIOUS
ACCIDENTS.
After installing the robot, reattach the top cover and end covers 1 (upper end covers).
3-4 Connecting the robot to the controller
3-4
Connecting the robot to the controller
Connect the robot cables to the mating connectors on the controller as shown. Refer to
the robot controller user's manual for the controller connectors.
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3
Installation and connections
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WARNING
• BEFORE CONNECTING THE CABLES, CHECK THAT THERE ARE NO BENDS OR
BREAKS IN THE ROBOT CABLE CONNECTOR PINS AND THAT THE CABLES ARE
NOT DAMAGED. CONTACT FAILURE MAY CAUSE ROBOT MALFUNCTIONS.
• ALWAYS MAKE SURE THAT THE POWER TO THE ROBOT CONTROLLER IS OFF
BEFORE CONNECTING THE ROBOT CABLES TO THE CONTROLLER.
CAUTION
After connecting the robot cable intermediate connectors together, fit the
connector hoods together securely.
Intermediate connector (motor wire)
Intermediate connector (signal wire)
1)
Connect the robot cables (motor and signal wires) to the mating connectors coming
out from the robot.
Robot cable
connector
(signal wire)
Robot cable
connector
(motor wire)
3-9
3-4 Connecting the robot to the controller
2)
After making the connections, fit the connector hoods together securely.
Hood
3
Installation and connections
3-10
3-4 Connecting the robot to the controller
■
Robot cable connections
Robot controller
Programming unit
3
Robot cable (motor wires)
Installation and connections
Robot cable (signal wires)
After making connections,
fasten the hoods securely.
Hood
Single-axis robot
N15/N18
Single-axis robot system diagram RS-232C
communication
control
Robot controller
RS-232C or
communication
control
(communication cable)
Power supply
AC100∼115/
200∼230V±10%
Single-axis robot
N15/N18
I/O control
(Internal 24V power supply)
Servo control
ME SD
M
CA ORY
RD
Encoder signal
Motor power supply
HPB
SD memory card
Computer
Support software
POPCOM
External control
(PLC and similar units)
Controller is supplied
with the robot.
Programming box HPB
is sold separately.
3-11
3-5 Precautions during user wiring and hose installation
3-5
●
Precautions during user wiring and hose installation
Cable carries (plastic chain for cable guide)
User cables and air hoses can be routed in the cable carrier of the N15/N18. Observe
the following precautions when routing user cables and air hoses in the cable carrier.
3
c
Installation and connections
3-12
CAUTION
• The cable and air hoses should take up less than 30% of the space when
storing them inside the cable carrier. Lay out the cables and air hoses in
rows inside the cable carrier so they do not cross each other.
• The cables and air hoses inside the cable carrier will shift while the robot
is operating, becoming taut and placing a strain on the connectors at
both ends. To prevent this loosely fasten the cables and air hose to the
cable carrier with cable ties to prevent strain from being applied. (Fasten
them lightly since the cables and hoses might break if secured too
tightly.)
• Do not remove or mount brackets installed on the cable carrier or
attempt to modify them.
Chapter 4
Periodic inspection and maintenance
Contents
4-1 Before beginning work
4-1
4-2 Periodic inspection
4-3
4-2-1
4-2-2
4-2-3
4-2-4
Daily inspection
Three-month inspection
Six-month inspection
Three-year inspection
4-3
4-3
4-4
4-4
4-3 Applying grease
4-5
4-4 Replacing the motor
4-7
4-1 Before beginning work
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 N15/N18. Before beginning work, read the precautions below and also in Chapter 1
"Using the Robot Safely" and follow the instructions.
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4
WARNING
• WHEN THE ROBOT DOES NOT NEED TO BE OPERATED DURING ADJUSTMENT
OR MAINTENANCE, ALWAYS TURN OFF THE CONTROLLER AND THE
EXTERNAL SWITCH BOARD.
• DO NOT TOUCH INTERNAL PARTS OF THE CONTROLLER FOR 10 MINUTES
AFTER THE CONTROLLER HAS BEEN TURNED OFF.
• WHEN ONLY MAKING ELECTRICAL INSPECTIONS AND REQUIRING NO
MECHANICAL MOVEMENT OF THE ROBOT, KEEP THE EMERGENCY STOP
BUTTON PRESSED.
• USE ONLY LUBRICANT AND GREASES SPECIFIED BY YAMAHA SALES OFFICE
OR REPRESENTATIVE.
• USE ONLY PARTS SPECIFIED BY YAMAHA SALES OFFICE OR REPRESENTATIVE.
TAKE SUFFICIENT CARE NOT TO ALLOW ANY FOREIGN MATTER TO
CONTAMINATE THEM DURING ADJUSTMENT, PARTS REPLACEMENT OR
REASSEMBLY.
• DO NOT MODIFY ANY PARTS ON THE ROBOT OR CONTROLLER.
MODIFICATION MAY RESULT IN UNSATISFACTORY SPECIFICATIONS OR
THREATEN OPERATOR SAFETY.
• WHEN ADJUSTMENT OR MAINTENANCE IS COMPLETE, RETIGHTEN THE BOLTS
AND SCREWS SECURELY.
• DURING ROBOT ADJUSTMENT OR MAINTENANCE, PLACE A SIGN
INDICATING THAT THE ROBOT IS BEING ADJUSTED OR SERVICED TO PREVENT
OTHERS FROM TOUCHING THE CONTROL KEYS OR SWITCHES. PROVIDE A
LOCK ON THE SWITCH KEYS OR ASK SOMEONE TO KEEP WATCH AS NEEDED.
4-1
Periodic inspection and maintenance
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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.
4-1 Before beginning work
When applying grease to the ball screw and linear guide, take the following precautions.
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4
Periodic inspection and maintenance
4-2
WARNING
PRECAUTIONS WHEN HANDLING GREASE:
• INFLAMMATION MAY OCCUR IF THIS GETS IN THE EYES.
BEFORE HANDLING THE GREASE, WEAR YOUR SAFETY GOGGLES TO ENSURE
THE GREASE WILL NOT COME IN CONTACT WITH THE EYES.
• INFLAMMATION MAY OCCUR IF THE GREASE COMES INTO CONTACT WITH
SKIN. BE SURE TO WEAR PROTECTIVE GLOVES TO PREVENT CONTACT WITH
SKIN.
• DO NOT TAKE ORALLY OR EAT. (EATING WILL CAUSE DIARRHEA AND
VOMITING.)
• HANDS AND FINGERS MIGHT BE CUT WHEN OPENING THE GREASE
CONTAINER, SO USE PROTECTIVE GLOVES.
• KEEP OUT OF THE REACH OF CHILDREN.
• DO NOT HEAT THE GREASE OR PLACE NEAR AN OPEN FLAME SINCE THIS
COULD LEAD TO SPARKS AND FIRES.
EMERGENCY TREATMENT:
• IF GREASE GETS IN THE EYES, WASH LIBERALLY WITH PURE WATER FOR ABOUT
15 MINUTES AND CONSULT A PHYSICIAN FOR TREATMENT.
• IF GREASE COMES IN CONTACT WITH THE SKIN, WASH AWAY COMPLETELY
WITH SOAP AND WATER.
• IF TAKEN INTERNALLY, DO NOT INDUCE VOMITING BUT PROMPTLY CONSULT
A PHYSICIAN FOR PROPER TREATMENT.
4-2 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
Check items
Cables
Check for damage, dent
and excessively tight
bends.
Ball screw, bearing
Check for unusual vibration
and noise.
Motor
Check for unusual vibration
and noise, and for
abnormal temperature rise.
Notes
Replace if needed.
4
Check the following points every 3 months and apply grease if needed.
Checkpoints
Ball screw, linear
guide, ball bushing
Check items
• Check for dust buildup or debris.
Clean if necessary. Apply grease
after cleaning.
Notes
See "4-3" in this
chapter.
• Check to see if the ball screw,
linear guide and ball bushing are
lubricated (not dry). Apply grease
if necessary.
Standard robots:
Albania No. 2 (Shell)
Daphne Eponex No. 2 (Idemitsu)
Clean room robots:
LG-2 (NSK)
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CAUTION
Using grease other than those recommended by YAMAHA might shorten the
service life of the ball screw, linear guide and linear bushing shaft.
4-3
Periodic inspection and maintenance
4-2-2 Three-month inspection
4-2 Periodic inspection
4-2-3 Six-month inspection
Check the following points every 6 months and adjust or replace parts if needed.
Checkpoints
Check items
Major bolts and
screws on robot
Check for looseness. Tighten
if loose.
Ball screw, linear
guide
• Check the ball screw and
linear guide for backlash.
Tighten if necessary.
• Check for vibration during
operation. Tighten bolts if
necessary to secure drive
unit and/or shaft.
4
Notes
Consult us if problem
cannot be solved or
there is backlash due to
wear.
• Check for backlash due to
wear.
Periodic inspection and maintenance
Controller
• Check if terminals are loose.
• Check if connectors are
loose
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Greasing to ball
Apply grease every 6 months
screw/nut section
and linear guide
to ball screw/nut and linear
guide.
Recommended grease
Albania No. 2 (Shell)
Daphne Eponex No. 2
(Idemitsu)
Slider
On long-stroke robots, check
the slider inside the top cover
for wear or damage every 6
months.
See "4-3" in this
chapter.
CAUTION
Using grease other than those recommended by YAMAHA might shorten the
service life of the ball screw and linear guide.
4-2-4 Three-year inspection
Check the following points every 3 years or more often if the robot is used frequently.
Checkpoints
Ball screw/nut
section and linear
guide
4-4
Check items
Check ball screw/nut and
linear guide for backlash due
to wear.
Notes
Consult us if abnormal
condition is found.
4-3 Applying grease
4-3
Applying grease
When applying grease to the ball screw according to periodic inspection, follow the
procedure below. Grease can be applied to the ball screw nut section using the grease
nipples. Prepare a grease gun in this case.
1)
Make sure that the power to the controller is off.
2)
Remove the end covers 1 (upper end covers) from both ends of the robot.
Refer to "3-3 Installation method B" for how to remove the end covers.
3)
Remove the screws holding the top cover and remove the top cover.
Refer to "3-3 Installation method B" for how to remove the end covers.
4
Periodic inspection and maintenance
4-5
4-3 Applying grease
4)
Apply grease by either of the following methods.
Linear guide:
When using a grease gun, apply grease into the four grease nipples (two each on
both sides of the ball guide bearing. Then move the table slider back and forth to
help spread the grease around.
Grease nipple
4
Periodic inspection and maintenance
Ball screw:
Apply grease by hand to the ball screw and move the table slider back and forth to
help spread the grease around.
Ball screw
5)
4-6
Reattach the top cover and end covers.
4-4 Replacing the motor
4-4
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Replacing the motor
CAUTION
A positional shift occurs by replacing the motor. It is therefore necessary to
perform return-to-origin and set point data again after replacing the motor.
When removing the parts, note their positional relation and assembly order.
Provide a space of at least 300mm between each end of the robot and the
wall. Do not pull out the ball screw nut section from the ball screw.
Wall
4
Nut section
Allow a space of
300mm or more.
1)
Turn off the controller power.
2)
Remove the end covers 1 (upper end covers) from both ends of the robot.
Refer to "3-3 Installation method B" for how to remove the end covers.
3)
Remove the top cover.
Remove the screws (4 places) holding the top cover and remove the top cover.
4)
Remove the end covers 2 (lower end covers) from both ends of the robot.
Remove the screws (2 places) holding each end cover and remove the end covers.
(On the N15 robot, first remove the side moldings and then remove the screws
holding each end cover. The end cover will come off.)
Periodic inspection and maintenance
Ball screw
(Do not pull out.)
Top cover
Molding
4-7
4-4 Replacing the motor
5)
Remove the cable cover.
After removing the cable cover, cut the cable tie securing the motor cable with a wire
cutter or scissors, and then disconnect the motor wire and signal wire connectors.
Cable cover
4
Periodic inspection and maintenance
6)
Loosen the screw securing the side cover and slide the side cover in the direction of
arrow to a position that allows access to the motor unit.
(The N18 robot has no side cover, so skip this step.)
Side cover
＜N15＞
Side cover mounting screw
4-8
4-4 Replacing the motor
7)
Free the table slider and motor coupling by loosening the screw that clamps the
coupling to the motor shaft as shown below.
• When workpiece is on table slider
＜N15＞
＜N18＞
4
Periodic inspection and maintenance
Hole for motor-and-coupling
clamp screw
Hole for motor-and-coupling
clamp screw
• When no workpiece is on table slider
4-9
4-4 Replacing the motor
8)
While holding the ball screw shaft with a wrench by placing it to the thread groove,
loosen and remove the U-nut and washer.
U-nut
Thread groove on ball screw
4
Periodic inspection and maintenance
9)
Loosen the mounting bolts (4 places) at the other end of the ball screw.
Ball screw mounting bolts
4-10
4-4 Replacing the motor
10) Remove the bolts (3 places) securing the ball screw holder and then remove the ball
screw tensioner bolt (1 place).
Ball screw
holder mounting bolt
Ball screw
tensioner bolt
4
Periodic inspection and maintenance
11) Remove the screws (2 places) securing the damper.
Skip this step for the N18 robot.
＜N15＞
4-11
4-4 Replacing the motor
12) Remove the bolts (4 places) securing the motor and remove the motor. At this time,
be careful not to allow the ball screw shaft to come out of the nut.
＜N15＞
＜N18＞
Ball screw
Nut section
4
Periodic inspection and maintenance
Wall
Ball screw
(Do not pull out.)
Nut section
Allow a space of
300mm or more.
13) Install a new motor. Tighten the bolts to the following torque.
Bolt
Tightening torque
4-12
N15
N18
M5
M6
60kg • cm to 90kg • cm
100kg • cm to 130kg • cm
4-4 Replacing the motor
14) Assemble in the reverse order of disassembly. Proceed while making sure the
positional relation and assembly order of the parts are correct.
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CAUTION
When installing the ball screw, apply the proper amount of molybdenum
grease to the clamp portion (see photo below).
＜N15＞
4
15) After replacing the motor, adjust the coupling position so that the grid position is
within 50±20%, which is displayed by performing return-to-origin.
4-13
Periodic inspection and maintenance
Apply molybdenum grease here.
4-4 Replacing the motor
●
Checking the grid position
1)
Press F2
(OPRT) on the initial
[MENU]
screen.
select menu
1EDIT2OPRT3SYS 4MON
2)
Press F1
(ORG).
[OPRT]
select menu
1ORG 2STEP3AUTO
4
3)
Press F1
(YES) to perform return-
Periodic inspection and maintenance
to-origin.
If you want to cancel return-toorigin, press F2
[OPRT-ORG-SEARCH]
ORG search OK ?
(NO).
1YES 2NO
4)
The screen on the right appears
during return-to-origin.
If you want to interrupt return-toorigin before completed, press
STOP
[OPRT-ORG-SEARCH]
searching ...
.
The robot will stop and a message
will appear. Then pressing
ESC
will return to the screen in step 2.
5)
When return-to-origin is complete,
the machine reference value is
displayed on the bottom right of the
screen.
[OPRT-ORG-SEARCH]
origin complete
grid position
6)
Press
BS
position.
4-14
to display the grid
50%
Chapter 5
Troubleshooting
Contents
5-1 If you suspect trouble
5-1-1 Positioning error
5-1-2 Feedback error
5-1
5-1
5-2
5-1 If you suspect trouble
5-1
If you suspect trouble
If an error such as a positioning error or feedback error occurs, check the following points
to find the solution before you determine the robot or controller has malfunctioned. If
the trouble still exists even after checking these points, please contact us with a detailed
description of the trouble.
5-1-1 Positioning error
Position deviates.
The position deviates after
moving the robot or set up
of workpiece tool.
Operation was correct,
but position deviates.
Robot bumped into something,
or there are traces of bumping
into (rubbing against) something.
5
Are cables correctly wired?
Are connectors correctly fitted?
No
No
Troubleshooting
Yes
Is cable broken?
Replace
the cable
Yes
(1) Check tool and workpiece for warping.
(2) Check robot alignment.
Check wiring and
connectors.
No
Are the robot, tools and
workpiece correctly installed?
Mechanical
cause
No
Yes
Check installation
method.
Check for looseness of
robot mechanical parts.
Does the position return
after return-to-origin operation?
Yes
(1) Check for looseness of
mechanical parts. Retighten
if necessary.
(2) Replace mechanical parts.
Yes
Electrical cause
Is there a large source of
noise nearby?
No
Take measures
against noise.
Check or replace the motor, cable and controller.
5-1
5-1 If you suspect trouble
5-1-2 Feedback error
Feedback error
No
Any foreign matter
caught inside?
No
Much mechanical
friction?
Turn power off and
check for friction
by moving manually
Yes
No
Adjust mechanical alignment
Is brake installed?
Yes
Is brake sound
heard when turning power
on and off?
Yes
Recheck
No
Replace motor (with brake)
Repair
No
Replace power supply unit or
repair defective parts
Initialize parameters
No
Yes
Is there electrical
discontinuity?
5
No
Repair
Is 24V supplied to
brake?
Yes
Are parameters for
controller and robot OK?
Yes
Is there electrical
discontinuity?
Are wiring and connector
securely connected?
No
No
Securely connect wiring and connector
Yes
Troubleshooting
Are connector pins
securely inserted?
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
Is wiring live?
No
Yes
Securely insert pins or
repair defective pins
Is motor resistance
OK?
No
Replace motor since motor has shorted or burnt out
Yes
Take noise reduction
measures
Is motor encoder
OK?
Yes
Yes
No
5-2
Is external
noise large?
Yes
Is controller
hardware OK?
No
Replace motor
(1) Check position shift by repetitive accuracy
measurement
(2) If replacement motor is available, check by
exchanging the motors
(1) If replacement controller is available, check by
exchanging the controllers
Chapter 6
Specifications
Contents
6-1 Main unit specifications
6-1
6-1-1 N15/N15D
6-1-2 N18/N18D
6-1
6-11
6-2 Robot connector (I/O signal connector) 6-21
6-3 Robot connector (motor connector)
6-21
6-1 Main unit specifications
6-1
Main unit specifications
6-1-1 N15/N15D
● Basic specifications
Motor output AC (W)
Repeatability (mm)
400
± 0.01
1
Ball screw φ15 (Class C7)
Deceleration mechanism
Ball screw lead (mm)
20
Maximum speed (mm/sec)
1200
2
Maximum paylord (kg)
50
Rated thrust (N)
339
Single carrier
500 to 2000 (pitch: 100)
Double carrier
250 to 1750 (pitch: 100)
Stroke (mm)
Total length (mm)
Stroke length +330
Width/Height (mm)
145 / 120
Cable length (m)
3.5 (Standard), 5, 10
Single carrier
SR1-X/TS-X
Double carrier
RCX222HP/DRCX/SR1-X/TS-X
Controller
RDX
Specifications
Robot driver
1: Positioning repeatability in one direction.
2: Maximum speed may not be obtained depending on operating conditions.
● Static loading moment
MY
(Unit: N•m)
MY
MP
MR
691
692
608
6
MP
MR
6-1
6-1 Main unit specifications
● Allowable overhang*
* Distance from the center on the top face of slider to the gravity center of the item being
carried. (This is calculated assuming that the service life of the guide is 10,000km.)
■ Horizontal installation
Horizontal installation
A
Lead 20
(Unit: mm)
A
B
C
10kg
3048
2322
1259
30kg
1489
841
500
50kg
1278
544
344
C
B
■ Wall installation
Wall installation
(Unit: mm)
A
Lead 20
B
A
6
C
Specifications
6-2
B
C
10kg
1258
1823
2449
30kg
428
545
1039
50kg
248
289
749
(F11)
(17)
(6)
F6.5
F8.2
7
R0.3
3.7
R0.3
J Detail of section
2.5
120
Top face of slider
25
24
J
145
145
123
View K
A
D
2-F10H7 Depth 17
105
See cross-section H-H.(Note 5)
(61)
58
2-M5s0.8 Depth 10
119
50
H
H
200
200
Bs200
L
Effective stroke
2-F6H7 Depth 10
8-M6s1.0 Depth 14
F-F7 Depth 6 (See cross-section H-H.)(Note 2)
Es200
G ±0.02
C-M6s1.0 Depth 10
Ground terminal (M4) for user
165±3:L side origin position
(165:When at R side origin)
65±1
(Note1)
(D)
(A)
165±3:R side origin position
190 (165:When at L side origin)
150
65
(Note1)
98
134
(Between F6H7±0.02)
6-3
L
A
B
C
D
E
F
G
Weight (kg) Note 6
500
830
15
4
10
115
3
8
620
19
600
930
65
4
10
165
3
8
720
20
700
1030
15
5
12
115
4
10
820
22
800
1130
65
5
12
165
4
10
920
23
900
1230
15
6
14
115
5
12
1020
24
1000
1330
65
6
14
165
5
12
1120
26
1100
1430
15
7
16
115
6
14
1220
27
1200
1530
65
7
16
165
6
14
1320
29
1300
1630
15
8
18
115
7
16
1420
30
1400
1730
65
8
18
165
7
16
1520
32
Specifications
Effective stroke
1500
1830
15
9
20
115
8
18
1620
33
1600
1930
65
9
20
165
8
18
1720
35
1700
2030
15
10
22
115
9
20
1820
36
1800
2130
65
10
22
165
9
20
1920
38
1900
2230
15
11
24
115
10
22
2020
39
2000
2330
65
11
24
165
10
22
2120
40
Note 1. Distance from both ends to the mechanical stopper.
Note 4. If the model is a standard cable carrier specification, it is not possible to pass 3 or more φ6 × 4
Note 2. When using φ7 holes for installation, do not use a washer, spring washer, etc. in
urethane air hoses.
the main unit.
Note 5. When using a φ10H7 hole, make sure that the pin does not go into deeper than as shown in the
Note 3. When shipped from the factory, the horizontal model has the origin on the right
drawing.
side and the wall model has the origin on the left side. (This diagram shows the Note 6. Weight of models with no brake. The weight of brake-attached models is 1kg heavier than the
machine whose cable carrier taken out from right.)
models with no brake shown in the table.
Cross-section of cable carrier
40
Cross-section H-H
K
7.2
4.5
(F7)
(F10H7)
Use M6s1.0 hex socket
head bolt with length
(under head) of 20mm or more.
14
118
100
56
12
● Dimensions
• N15 horizontal/standard cable carrier model
6-1 Main unit specifications
6
(17)
(6)
View K
12
F6.5
F8.2
Cross-section of cable carrier
73
57
Cross-section H-H
K
2-M5s0.8 Depth 10
7
3.7
R0.3
145
R0.3
J Detail of section
2.5
J
145
123
168
A
D
65±1
(Note1)
H
H
2-F10H7 Depth 17
105
See cross-section H-H.(Note 5)
86
165±3:L side origin position
(165:When at R side origin)
118
50
(F7)
(F10H7)
Use M6s1.0 hex socket
head bolt with length
(under head) of 20mm or more.
(F11)
35
25
120
Top face of slider
25
24
7.2
4.5
200
200
Bs200
L
Effective stroke
2-F6H7 Depth 10
8-M6s1.0 Depth 14
F-F7Depth 6 (See cross-section H-H.)(Note 2)
Es200
G ±0.02
C-M6s1.0 Depth 10
Ground terminal (M4) for user
6
100
56
6-4
190
150
98
(D)
(A)
65
(Note1)
165±3:R side origin position
(165:When at L side origin)
134
(Between F6H7±0.02)
Specifications
• N15 horizontal/optional cable carrier model
6-1 Main unit specifications
14
(17)
(6)
(F7)
Cross-section H-H
Use M6s1.0 hex socket
head bolt with length
(under head) of 20mm or more.
(F11)
F6.5
F8.2
Cross-section of cable carrier
(F10H7)
3.7
4.5
7.2
.3
R0
R
0.3
2-F10H7 Depth 17
See cross-section H-H.(Note 5)
J
25
120
34 85
J Detail of section
2.5
12
40
View K
7
2-M5s0.8 Depth 10
165±3:L side origin position
(165:When at R side origin)
24
123
145
50
260
118
65(Note1)
134(Between F6H7±0.02)
105
A
H
105
D
H
98
150
190
K
55
200
Specifications
145
100
56
• N15 wall-mount/standard cable carrier model
200
Bs200
8-M6s1.0 Depth 14
2-F6H7 Depth 10
L
Effective stroke
Ground terminal (M4) for user
F-F7Depth 6 (See cross-section H-H.)(Note 2)
Es200
G ±0.02
C-M6s1.0 Depth 10
65±1(Note1)
(D)
(A)
165±3:R side origin position
(165:When at L side origin)
6-1 Main unit specifications
6
6-5
7
12
73
57
View K
3.7
2.5
(F11)
Use M6s1.0 hex socket
head bolt with length
(under head) of 20mm or more.
Cross-section H-H
(F7)
(F10H7)
(17)
(6)
J
310
R0
.3
.3
R0
9
25
120
110
4.5
F6.5
7.2
F8.2
Cross-section of cable carrier J Detail of section
35
25
2-M5s0.8 Depth 10
165±3:L side origin position
(165:When at R side origin)
24
A
D
65(Note1)
H
105
105
2-F10H7 Depth 17
See cross-section H-H.(Note 5)
123
145
50
145
100
56
6-6
118
98
150
190
K
55
200
Bs200
8-M6s1.0 Depth 14
2-F6H7 Depth 10
L
Effective stroke
F-F7Depth 6(See cross-section H-H.)(Note 2)
Es200
G ±0.02
Ground terminal (M4) for user
200
C-M6s1.0 Depth 10
6
134(Between F6H7±0.02)
H
Specifications
• N15 wall-mount/optional cable carrier model
65±1(Note1)
(D)
(A)
165±3:R side origin position
(165:When at L side origin)
6-1 Main unit specifications
(17)
(6)
(F7)
(F10H7)
K
7
R0.3
3.7
R0.3
50
(61)
58
119
12
2-F10H7 Depth 17
See cross-section H-H.(Note 5)
145
145
123
View K
J Detail of section
2.5
J
120
Top face of slider
25
24
105
A
D
65
(Note2)
H
H
200
190
150
98
165±3
(Note1)
200
Bs200
G ±0.02
(D)
(A)
(250:Minimum distance between carriages)
Effective stroke
165±3
(Note1)
190
65
2-F6H7 Depth 10
(Note2)
150
8-M6s1.0 Depth 14
98
F-F7Depth 6 (See cross-section H-H.)(Note 3)
Es200
C-M6s1.0 Depth 10
Ground terminal (M4) for user
2-F6H7 Depth 10
8-M6s1.0 Depth 14
L
Effective stroke
134
(Between F6H7±0.02)
6-7
L
A
B
C
D
E
F
G
Weight (kg) Note 6
250
830
15
4
10
115
3
8
620
24
350
930
65
4
10
165
3
8
720
26
450
1030
15
5
12
115
4
10
820
27
550
1130
65
5
12
165
4
10
920
29
650
1230
15
6
14
115
5
12
1020
30
750
1330
65
6
14
165
5
12
1120
32
850
1430
15
7
16
115
6
14
1220
33
950
1530
65
7
16
165
6
14
1320
35
1050
1630
15
8
18
115
7
16
1420
36
1150
1730
65
8
18
165
7
16
1520
38
Specifications
Effective stroke
1250
1830
15
9
20
115
8
18
1620
39
1350
1930
65
9
20
165
8
18
1720
40
1450
2030
15
10
22
115
9
20
1820
42
1550
2130
65
10
22
165
9
20
1920
43
1650
2230
15
11
24
115
10
22
2020
45
1750
2330
65
11
24
165
10
22
2120
46
Note 4. If the model is a standard cable carrier specification, it is not possible to pass 3 or more φ6 × 4
Note 1. Position of table carriage when searched to the origin.
urethane air hoses.
Note 2. Distance from both ends to the mechanical stopper.
Note 5. When using a φ10H7 hole, make sure that the pin does not go into deeper than as shown in the
Note 3. When using φ7 holes for installation, do not use a washer, spring washer, etc. in
drawing.
the main unit.
Note 6. Weight of models with no brake. The weight of brake-attached models is 1kg heavier than the
models with no brake shown in the table.
F6.5
F8.2
Cross-section of cable carrier
40
Cross-section H-H
Use M6s1.0 hex socket
head bolt with length
(under head) of 20mm or more.
(F11)
14
118
100
56
2-M5s0.8 Depth 10
7.2
4.5
134(Between F6H7±0.02)
• N15D horizontal/standard cable carrier model
6-1 Main unit specifications
6
(F11)
F6.5
F8.2
Cross-section of cable carrier
73
57
Cross-section H-H
Use M6s1.0 hex socket
K
head bolt with length
(under head) of 20mm or more.
(F7)
(F10H7)
(17)
(6)
2-M5s0.8 Depth 10
2.5
7
J
50
R0.3
12
86
168
2-F10H7 Depth 17
See cross-section H-H.(Note 5)
145
145
123
View K
3.7
R0.3
120
Top face of slider
25
24
J Detail of section
7.2
4.5
134(Between F6H7±0.02)
118
6-8
100
56
105
A
D
H
H
200
200
Effective stroke
Bs200
L
G ±0.02
(D)
(A)
(250:Minimum distance between carriages)
165±3
190 (Note1)
2-F6H7 Depth 10
150
65
(Note2)
8-M6s1.0 Depth 14
98
Effective stroke
F-F7Depth 6 (See cross-section H-H.)(Note 3)
Es200
C-M6s1.0 Depth 10
Ground terminal (M4) for user
2-F6H7 Depth 10
8-M6s1.0 Depth 14
6
35
25
165±3
(Note1)
190
65
150
98
(Note)
Specifications
• N15D horizontal/optional cable carrier model
6-1 Main unit specifications
134(Between F6H7±0.02)
(17)
(6)
Cross-section of cable carrier
F6.5
F8.2
40
Use M6s1.0 hex socket
head bolt with length
(under head) of 20mm or more.
Cross-section H-H
3.7
7
.3
4.5
7.2
.3
R0
J
25
A
120
34 85
24
65(Note2)
H
H
200
200
Bs200
K
98
150
190
8-M6s1.0 Depth 14
2-F6H7 Depth 10
L
8-M6s1.0 Depth 14
2-F6H7 Depth 10
Effective stroke
Ground terminal (M4) for user
F-F7Depth 6 See cross-section H-H.(Note 3)
Es200
G ±0.02
C-M6s1.0 Depth 10
(250:Minimum distance between carriages)
165±3(Note1)
Effective stroke
105
55
2-F10H7 Depth 17
D
See cross-section H-H.(Note 5) 105
J Detail of section
2.5
12
R0
View K
260
14
(F11)
50
123
145
2-M5s0.8 Depth 10
(F7)
(F10H7)
118
134 (Between F6H7±0.02)
Specifications
145
100
56
• N15D wall-mount/standard cable carrier model
K
98
150
190
55
105
65
(Note2)
165±3(Note1)
(D)
(A)
6-1 Main unit specifications
6
6-9
134(Between F6H7±0.02)
F6.5
F8.2
(17)
(6)
(F7)
35
25
.3
4.5
7.2
R0
.3
R0
J Detail of section
12
7
Use M6s1.0 hex socket
head bolt with length
(under head) of 20mm or more.
Cross-section H-H
(F11)
Cross-section of cable carrier
73
57
View K
(F10H7)
3.7
2.5
50
J
145
25
9
120
110
2-F10H7 Depth 17
See cross-section H-H.(Note 5)
24
123
145
2-M5s0.8 Depth 10
310
100
56
6-10
118
65(Note2)
H
200
200
Bs200
98
150
190
8-M6s1.0 Depth 14
2-F6H7 Depth 10
L
Ground terminal (M4) for user
8-M6s1.0 Depth 14
2-F6H7 Depth 10
Effective stroke
F-F7Depth 6 See cross-section H-H.(Note 3)
Es200
G ±0.02
C-M6s1.0 Depth 10
(250:Minimum distance between carriages)
165±3(Note1)
Effective stroke
105
55
105
D
H
6
134(Between F6H7±0.02)
A
Specifications
• N15D wall-mount/optional cable carrier model
98
150
190
55
105
165±3(Note1)
(D)
(A)
134(Between F6H7±0.02)
65(Note2)
6-1 Main unit specifications
6-1 Main unit specifications
6-1-2 N18/N18D
● Basic specifications
Motor output AC (W)
Repeatability (mm)
400
± 0.01
1
Ball screw φ20 (Class C7)
Deceleration mechanism
Ball screw lead (mm)
20
Maximum speed (mm/sec)
1200
2
Maximum paylord (kg)
80
Rated thrust (N)
339
Single carrier
500 to 2500 (pitch: 100)
Double carrier
250 to 2250 (pitch: 100)
Stroke (mm)
Total length (mm)
Stroke length +362
Width/Height (mm)
180 / 115
Cable length (m)
3.5 (Standard), 5, 10
Single carrier
SR1-X/TS-X
Double carrier
RCX222HP/DRCX/SR1-X/TS-X
Controller
Robot driver
6
RDX-20-RBR1
1: Positioning repeatability in one direction.
● Static loading moment
Specifications
2: Maximum speed may not be obtained depending on operating conditions.
MY
(Unit: N•m)
MY
MP
MR
1161
1163
1021
MP
MR
6-11
6-1 Main unit specifications
● Allowable overhang*
* Distance from the center on the top face of slider to the gravity center of the item being
carried. (This is calculated assuming that the service life of the guide is 10,000km.)
■ Horizontal installation
Horizontal installation
A
Lead 20
(Unit: mm)
A
B
C
30kg
3045
1629
1902
50kg
2602
961
1150
80kg
2193
586
716
C
B
■ Wall installation
Wall installation
(Unit: mm)
A
Lead 20
B
A
6
C
Specifications
6-12
B
C
30kg
1928
1553
3045
50kg
1157
885
2602
80kg
707
509
2193
F6.5
F8.2
40
F
180
179
156
7
3.7
F14
E
106
E
A
6-13
L
A
B
C
D
Weight (kg) Note 7
500
862
131
3
8
650
27
600
962
81
4
10
750
29
700
1062
131
4
10
850
31
800
1162
81
5
12
950
33
900
1262
131
5
12
1050
35
1000
1362
81
6
14
1150
37
1100
1462
131
6
14
1250
39
1200
1562
81
7
16
1350
41
1300
1662
131
7
16
1450
43
1400
1762
81
8
18
1550
45
Specifications
Effective stroke
Bs200
C-F9 Depth 30(See cross-section E-E.)(Note 2)
Note7
Ground terminal (M4) for user
L
Effective stroke
2-F6H7 Depth 10
8-M8s1.25 Depth 25
(A)
181±3:R side origin position
(181:When at L side origin)
190
78
(Note1)
150
98
168
(Between F6H7±0.02)
1500
1862
131
8
18
1650
47
1600
1962
81
9
20
1750
48
1700
2062
131
9
20
1850
50
1800
2162
81
10
22
1950
52
1900
2262
131
10
22
2050
54
2000
2362
81
11
24
2150
56
2100
2462
131
11
24
2250
58
2200
2562
81
12
26
2350
60
2300
2662
131
12
26
2450
62
2400
2762
81
13
28
2550
64
2500
2862
131
13
28
2650
66
Note 4. If the model is a standard cable carrier specification, it is not possible to pass 3 or more φ6 × 4
urethane air hoses.
Note 5. When using a φ10H7 hole, make sure that the pin does not go into deeper than as shown in the drawing.
Note 6. For the robot with more than 2,100 stroke, a roller is installed to prevent the cable carrier hanging.
Note 7. Weight of models with no brake. The weight of brake-attached models is 1kg heavier than the
models with no brake shown in the table.
2-F10H7 Depth 15(See cross-section E-E.)(Note 5)
D ±0.02
200
Note 1. Distance from both ends to the mechanical stopper.
Note 2. When using φ9 holes for installation, do not use a washer, spring washer, etc. in
the main unit.
Note 3. When shipped from the factory, the horizontal model has the origin on the right
side and the wall model has the origin on the left side. (This diagram shows the
machine whose cable carrier taken out from right.)
R1
R0.3
F Detail of section
2.5
(61)
58
View K
(Diameter of roller:F20)
50
181±3:L side origin position
2-M5s0.8 Depth 11 (181:When at R side origin)
78±1
(Note1)
(65)
114
(F9)
(F10H7)
115
Cross-section of cable carrier
K
36
22
Cross-section E-E
7.2
4.5
Use M8s1.25 hex socket
head bolt with length
(under head) of 40mm or more.
14
113
149
(30)
12
● Dimensions
• N18 horizontal/standard cable carrier model
6-1 Main unit specifications
6
Specifications
F9)
F10H7)
F6.5
F8.2
Cross-section of cable carrier
73
57
K
Cross-section E-E
Use M8s1.25 hex socket
head bolt with length
(under head) of 40mm or more.
12
36
7
R0.3
3.7
180
179
156
View K
50
F Detail of section
R1
2.5
F
22
(30)
86
2-M5s0.8 Depth 11
165
F14
35
25
115
7.2
4.5
E
106
E
A
D
±0.02
Bs200
C-F9 Depth 30(See cross-section E-E.)(Note 2)
Ground terminal (M4) for user
L
Effective stroke
2-F10H7 Depth 15(See cross-section E-E.)(Note 5)
200
181±3:L side origin position
(181:When at R side origin)
78±1
(Note1)
6
149
6-14
113
• N18 horizontal/optional cable carrier model
2-F6H7 Depth 10
8-M8s1.25 Depth 25
(A)
181±3:R side origin position
(181:When at L side origin)
190
78
(Note1)
150
98
6-1 Main unit specifications
168(Between F6H7±0.02)
F6.5
F8.2
R1
4.5
7.2
R0.3
(F9)
(F10H7)
F14
Use M8s1.25 hex socket
head bolt with length
(under head) of 40mm or more.
Cross-section E-E
(30)
72
300
Cross-section of cable carrier F Detail of section
14
View K
7
12
40
3.7
2.5
2-M5s0.8 Depth 11
(Diameter of roller:F20)(Note7)
F
22
115
14 100
181±3:L side origin position
(181:When at R side origin)
36
156
179
50
78 (Note1)
168(Between F6H7±0.02)
E
106
E
A
Specifications
180
149
113
• N18 wall-mount/standard cable carrier model
105
Bs200
C-F9 Depth 30(See cross-section E-E.)(Note 2)
K
98
150
190
55
8-M8s1.25 Depth 25
2-F6H7 Depth 10
L
Effective stroke
2-F10H7 Depth 15(See cross-section E-E.)(Note 5) ±0.02
D
Ground terminal (M4) for user
200
78±1 (Note1)
181±3:R side origin position
(181:When at L side origin)
(A)
6-1 Main unit specifications
6
6-15
F6.5
F8.2
R1
4.5
7.2
R0.3
Cross-section E-E
Use M8s1.25 hex socket
head bolt with length
(under head) of 40mm or more.
Cross-section of cable carrier F Detail of section
35
25
12
73
57
3.7
2.5
View K
7
2-M5s0.8 Depth 11
180
F
22
115
114
36
106
181±3:L side origin position
(181:When at R side origin)
156
179
50
113
6-16
78 (Note1)
168(Between F6H7±0.02)
A
E
E
105
98
150
190
8-M8s1.25 Depth 25
2-F6H7 Depth 10
Ground terminal (M4) for user
L
Effective stroke
D
±0.02
Bs200
C-F9 Depth 30(See cross-section E-E.)(Note 2)
2-F10H7 Depth 15(See cross-section E-E.)(Note 5)
55
200
6
345
149
Specifications
• N18 wall-mount/optional cable carrier model
78±1 (Note1)
181±3:R side origin position
(181:When at L side origin)
(A)
6-1 Main unit specifications
(F9)
(F10H7)
F14
Cross-section E-E
40
F
7
R0.3
3.7
(61)
58
F Detail of section
R1
2.5
180
179
156
View K
E
106
E
A
78
(Note2)
Note7
L
D ±0.02
190
150
98
(A)
78
(Note2)
(250:Minimum distance between carriages)
181±3 (Note1)
2-F6H7 Depth 10
8-M8s1.25 Depth 25
Effective stroke
Bs200
C-F9 Depth 30(See cross-section E-E.)(Note 3)
Ground terminal (M4) for user
2-F6H7 Depth 10
8-M8s1.25 Depth 25
Effective stroke
2-F10H7 Depth 15(See cross-section E-E.)(Note 5)
200
190
150
98
181±3 (Note1)
168(Between F6H7±0.02)
(Diameter of roller:F20)
6-17
L
A
B
C
D
Weight (kg) Note 7
250
862
131
3
8
650
35
350
962
81
4
10
750
37
450
1062
131
4
10
850
39
550
1162
81
5
12
950
41
650
1262
131
5
12
1050
43
750
1362
81
6
14
1150
45
850
1462
131
6
14
1250
47
950
1562
81
7
16
1350
48
1050
1662
131
7
16
1450
50
1150
1762
81
8
18
1550
52
Specifications
Effective stroke
1250
1862
131
8
18
1650
54
1350
1962
81
9
20
1750
56
1450
2062
131
9
20
1850
58
1550
2162
81
10
22
1950
60
1650
2262
131
10
22
2050
62
1750
2362
81
11
24
2150
64
1850
2462
131
11
24
2250
66
1950
2562
81
12
26
2350
68
2050
2662
131
12
26
2450
70
2150
2762
81
13
28
2550
72
2250
2862
131
13
28
2650
74
Note 1. Position of table carriage when searched to the origin.
Note 5. When using a φ10H7 hole, make sure that the pin does not go into deeper than as shown in the
Note 2. Distance from both ends to the mechanical stopper.
drawing.
Note 3. When using φ9 holes for installation, do not use a washer, spring washer, etc. in Note 6. For the robot with more than 2,050 stroke, a roller to prevent the cable carrier from hanging is
the main unit.
provided.
Note 4. If the model is a standard cable carrier specification, it is not possible to pass 3 or Note 7. Weight of models with no brake. The weight of brake-attached models is 1kg heavier than the
more φ6 × 4 urethane air hoses.
models with no brake shown in the table.
F6.5
F8.2
Cross-section of cable carrier
K
115
Use M8s1.25 hex socket
head bolt with length
(under head) of 40mm or more.
14
36
22
12
(65)
114
2-M5s0.8 Depth 11 50
113
149
(30)
7.2
4.5
168(Between F6H7±0.02)
• N18D horizontal/standard cable carrier model
6-1 Main unit specifications
6
(F9)
(F10H7)
F14
F6.5
F8.2
Cross-section of cable carrier
73
57
K
F
7
R0.3
3.7
F Detail of section
R1
2.5
180
179
156
View K
2-M5s0.8 Depth 11 50
115
Use M8s1.25 hex socket
head bolt with length
(under head) of 40mm or more.
Cross-section E-E
35
25
36
22
(30)
7.2
4.5
12
86
168(Between F6H7±0.02)
165
6-18
113
E
106
A
E
78
(Note2)
L
D
±0.02
(A)
(250:Minimum distance between carriages)
181±3
190 (Note1) 78
(Note2)
2-F6H7 Depth 10
150
8-M8s1.25 Depth 25
98
Effective stroke
Bs200
C-F9 Depth (See cross-section E-E.)(Note 3)
Ground terminal (M4) for user
2-F6H7 Depth 10
8-M8s1.25 Depth 25
Effective stroke
2-F10H7 Depth 15(See cross-section E-E.)(Note 5)
200
190
150
98
6
149
181±3(Note1)
Specifications
• N18D horizontal/optional cable carrier model
6-1 Main unit specifications
168(Between F6H7±0.02)
R0.3
2.5
F14
14
Cross-section E-E
Use M8s1.25 hex socket
head bolt with length
(under head) of 40mm or more.
(30)
300
12
R1
4.5
F6.5
7.2
F8.2
Cross-section of cable carrier F Detail of section
40
3.7
View K
7
(F9)
(F10H7)
(Diameter of roller:F20)(Note7)
72
2-M5s0.8 Depth 11 50
F
22
14
115
100
36
168(Between F6H7±0.02)
156
179
A
78
(Note2)
98
150
190
8-M8s1.25 Depth 25
2-F6H7 Depth 10
Note7
L
Ground terminal (M4) for user
±0.02
8-M8s1.25 Depth 25
2-F6H7 Depth 10
Effective stroke
D
Bs200
C-F9 Depth 30(See cross-section E-E.)(Note 3)
2-F10H7 Depth 15(See cross-section E-E.)(Note 5)
200
(250:Minimum distance between carriages)
181±3 (Note1)
Effective stroke
E
106
E
Specifications
180
149
• N18D wall-mount/standard cable carrier model
98
150
190
55
78
(Note2)
181±3 (Note1)
105
(A)
6-1 Main unit specifications
6
6-19
168(Between F6H7±0.02)
35
25
Use M8s1.25 hex socket
head bolt with length
(under head) of 40mm or more.
Cross-section E-E
F6.5
F8.2
Cross-section of cable carrier
73
57
View K
12
3.7
2.5
4.5
7.2
R0.3
F
22
115
114
F Detail of section
R1
345
2-M5s0.8 Depth 11 50
180
7
6-20
36
149
113
156
179
A
78
(Note1)
98
150
190
8-M8s1.25 Depth 25
2-F6H7 Depth 10
L
Ground terminal (M4) for user
D
±0.02
8-M8s1.25 Depth 25
2-F6H7 Depth 10
Effective stroke
2-F10H7 Depth 15(See cross-section E-E.)(Note 5)
Bs200
C-F9 Depth 30(See cross-section E-E.)(Note 3)
(250:Minimum distance between carriages)
181±3 (Note1)
Effective stroke
E
106
E
6
168(Between F6H7±0.02)
200
Specifications
• N18D wall-mount/optional cable carrier model
98
150
190
55
78
(Note1)
181±3 (Note1)
105
(A)
6-1 Main unit specifications
168(Between F6H7±0.02)
6-2 Robot connector (I/O signal connector)
6-2
Robot connector (I/O signal connector)
To robot
To controller
P12
P12
Connector No. Connection
Signal
Ｓ２
Encoder
1
Ｓ４
2
Ｓ１
3
Ｓ３ Ｐ 1
4
Ｒ１
5
Ｒ２
6
Ｄ，Ｇ
6-3
7
Remarks
No. Connector
1
2
3
4
Ｐ 3
5
6
Red
White
Green 0.3sq
White twisted pair
Yellow
White
Drain wire
7
Robot connector (motor connector)
To controller
To robot
M12
6
M12
Connector No.
Motor wire Ｕ
Ｖ
Ｗ
ＦＧ
Ｍ 1
Connector No.
1
1
2
2
3
3
4
4
NOTE
Specifications
SIGNAL
0.75mm2 Red
Ｍ 3
0.75mm2 White
0.75mm2 Black
0.75mm2 Green
6-21
MEMO
6-22
Appendix
Contents
About machine reference
i
Moment of inertia calculation
ii
About machine reference
n
Appendix
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. (See the figure below.)
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 unit (HPB or MPB)
is needed. The machine reference value is displayed on the LCD screen of the
programming unit when return-to-origin is complete. (See the figure below.)
NOTE
The N15/N18 robots use an absolute type position detector. There is no need 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.
Origin signal
Origin detection
signal
Machine reference
(Mark method)
Machine reference
(Stroke end method)
Zero signal
Pulse
1/4th of one turn of motor
Machine reference value display examples
［ＯＰＲＴ−ＯＲＧ］
［ＯＰＲＴ−ＯＲＧ］
o r i g i n c o m p l e t e
o r i g i n c o m p l e t e
m a c h i n e r e f .
m a c h i n e r e f .
50％
Ｘ=50％
Ｙ=50％
SRCX
DRCX (Two FLIP-X control)
MANUAL ５０％ ［ＭＧ］［Ｓ０Ｈ０J ］
＞ABS RESET
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
Machine Reference (%)
Ｍ １＝ ３２
Ｍ ２＝ ４０
Ｍ ３＝ ４９
Ｍ ４＝ ４０
Ｍ１
Ｍ２
Ｍ３
Ｍ４
Ｍ５
RCX142 (Multiple FLIP control)
i
Moment of inertia calculation
Appendix
c
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=
RPD4 h
32g
R
g
W
m
2.
WD2
8g
2
mD
=
8
=
(kgf.cm.sec2)
(kgm2)
h
: Density (kg/cm3)
: Gravitational acceleration (cm/sec2)
: Weight of cylinder (kgf)
: Mass of cylinder (kg)
D
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=
Rabc (a2 + b2) W (a2 + b2)
2
=
(kgf.cm.sec )
12g
12g
m (a2 + b2)
=
(kgm2)
12
R : Density (kg/cm3)
g : Gravitational
acceleration (cm/sec2)
W : Weight of prism (kgf)
m : Mass of prism (kg)
ii
c
1/2a
b
a
3.
When the object’s center line is offset from the rotation center.
J=
RPD4 h
32g
2
2
RPD hx2
4g
+
Wx
g
WD
8g
=
mD2
2
2
+ mx (kgm )
8
W
m
e
g
+
center line
rotation
center
2
=
Appendix
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
(kgf.cm.sec2)
h
: Weight of cylinder (kgf)
: Mass of cylinder (kg)
: Density (kg/cm3)
: Gravitational acceleration (cm/sec2)
D
x
In the same manner, the moment of inertia (J) of a prism as shown below is given by
J=
Rabc (a2 + b2)
12g
W (a2 + b2)
=
+
12g
=
+
Rabcx2
g
Wx2
g
center line
2
(kgf.cm.sec )
m (a2 + b2)
2
2
+ mx (kgm )
12
c
W : Weight of prism (kgf)
m : Mass of prism (kg)
x
b
a
iii
Revision record
Manual version Issue date
Description
Ver. 1.00
Sep. 2006
English manual Ver. 1.00 is based on Japanese manual Ver. 1.01.
Ver. 1.01
Oct. 2006
English manual Ver. 1.01 is based on Japanese manual Ver. 1.02.
Ver. 1.02
Feb. 2007
English manual Ver. 1.02 is based on Japanese manual Ver. 1.03.
Ver. 1.03
May 2007
English manual Ver. 1.03 is based on Japanese manual Ver. 1.03.
Ver. 1.04
Dec. 2009
English manual Ver. 1.04 is based on Japanese manual Ver. 1.05.
Ver. 1.05
Feb. 2010
English manual Ver. 1.05 is based on Japanese manual Ver. 1.06.
User's Manual
FLIP-X series
Single-axis Robot
N15/N18
Feb. 2010
Ver. 1.05
This manual is based on Ver. 1.06 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.