Page 1 Original instructions YAMAHA SCARA ROBOT YK-X Series Userʼs Manual Standard & Large model YK1200X Clean models YK500XC/YK600XC/YK700XC/YK800XC/YK1000XC EUFR217111 Ver. 1.11 E226...
Page 3: Table Of Contents
CONTENTS YK-X User’s Manual Warranty Introduction Introduction Available manuals Signal symbols Before using the robot (Be sure to read the following notes.) Chapter 1 Functions 1. Robot manipulator 1.1 Manipulator movement 1.2 Part names 2. Robot controller 3. Robot initialization number list Chapter 2 Installation 1.
Page 4 CONTENTS YK-X User’s Manual 6.1.1 R-axis tolerable moment of inertia and acceleration coefficient 2-20 6.1.2 Parameter setting according to R-axis moment of inertial of load 2-20 6.1.3 Acceleration coefficient vs. moment of inertia 2-21 6.1.3.1 Acceleration coefficient vs. moment of inertia (YK500XC) 2-21 6.1.3.2 Acceleration coefficient vs.
Page 5 CONTENTS YK-X User’s Manual 2.3.1 Sensor method (X, Y, and R-axis) 2.3.2 Mark method (X, Y, and R-axis) 2.3.2.1 Absolute reset in servo on state (re-reset) 2.3.2.2 Absolute reset in servo off state (re-reset) 3-10 2.3.2.3 Absolute reset in servo on state (new reset) 3-13 2.3.2.4 Absolute reset in servo off state (new reset) 3-16...
Page 6 CONTENTS YK-X User’s Manual Chapter 5 Harmonic drive replacement period 1. Overview 2. Replacement period 3. Cautions on replacement of the harmonic drive 4. Replacement procedure for harmonic drive 4.1 YK500XC, YK600XC 4.1.1 Replacing the X-axis harmonic drive 4.1.2 Replacing the Y-axis harmonic drive 4.1.3 Replacing the R-axis harmonic drive 5-14...
Page 7 CONTENTS YK-X User’s Manual Chapter 9 Torque limit designated Z-axis pushing action ( YK1200X ) 1. Torque limit designated Z-axis pushing action Chapter 10 Specifications 1. Manipulator 10-1 1.1 Basic specification 10-1 1.2 Regarding the noise level 10-4 1.3 External view and dimensions 10-5 1.3.1 YK500XC 10-5 1.3.2 YK600XC 10-7 1.3.3 YK700XC 10-9 1.3.4 YK800XC 10-11...
Page 9: Warranty
10. Fires or natural disasters such as earthquakes, tsunamis, lightning strikes, wind and flood damage, etc; 11. Breakdown due to causes other than the above that are not the fault or responsibility of YAMAHA; The following cases are not covered under the warranty: ■...
Page 11: Introduction
Introduction Contents Introduction Available manuals Signal symbols Before using the robot (Be sure to read the following notes.) iii...
Page 13: Introduction
The YK-X series robots have a two-joint manipulator consisting of an X-axis arm and a Y-axis arm, and are further equipped with a vertical axis (Z-axis) and a rotating axis (R-axis) at the tip of the manipulator. The YK-X series robots can be used for a wide range of assembly applications such as installation and insertion of various parts, application of sealant, and packing operations.
Page 14: Signal Symbols
This user's manual describes the safety measures, handling, adjustment and maintenance of YK-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.
Page 15: Before Using The Robot (Be Sure To Read The Following Notes.)
Before using the robot (Be sure to read the following notes.) At this time, our thanks for your purchase of this YAMAHA YK-X series SCARA robot. NOTE In the RCX340 controller, axis names are called using numeric values, like axis-1, axis-2, axis-3, and so on. In this manual, axis names are called using alphabetic characters, like X-axis, Y-axis, Z-axis, and so on.
Page 16 Robot malfunctions (vibration, noise) may also occur. The origin position of the YK-X series robots is adjusted to the robot arm extended position at the factory prior to shipment, so the reference or standard coordinates are temporarily set. The customer should set the origin position before any other job.
Page 17 Repetitive positioning accuracy Accuracies under the following conditions are not guaranteed in "Repetitive positioning accuracy". [1] Factors related to absolute accuracy • If the accuracy between the coordinate positions (command positions) inside the robot controller and the real space positions (moving positions) is required. [2] Motion pattern factors •...
Page 19: Chapter 1 Functions
Chapter 1 Functions Contents Robot manipulator Manipulator movement Part names Robot controller Robot initialization number list...
Page 21: Robot Manipulator
The YK-X series robots are available in 4-axis models having an X/Y-axis arm (equivalent to human arm) and a Z/R-axis (equivalent to human wrist). With these 4 axes, the YK-X series robots can move as shown in the figure below. By attaching different types of end effector (gripper) to the end of the arm, a wide range of tasks can be performed with high precision at high speeds.
Page 22: Part Names
Part names YK500XC, YK600XC ■ X-axis movable mechanical stopper Eyebolt User tubing 2 (φ6 red) installation position User tubing 3 (φ6 blue) D-sub connector for user wiring (No.1 to 20) User tubing 1 (φ6 black) Y-axis mechanical stopper Machine harness Warning label 1 Warning label 1 Ball screw...
Page 23 YK700XC, YK800XC, YK1000XC ■ User tubing 1 (φ6 black) Eyebolt X-axis movable User tubing 2 (φ6 red) mechanical stopper installation position User tubing 3 (φ6 blue) Y-axis mechanical stopper D-sub connector for user wiring (No.1 to 20) Machine harness Ball screw Warning label 2 (Same on opposite side) Warning label 1...
Page 24 YK1200X ■ X-axis movable mechanical stopper Eyebolt installation position D-sub connector for user wiring Electrical shock (No.1 to 20) hazard symbol Electrical shock hazard symbol User tubing 1 (φ6 black) User tubing 2 (φ6 red) User tubing 3 (φ6 blue) Y-axis mechanical stopper Ball screw Machine harness...
Page 25: Robot Controller
Robot controller The YK-X series robot comes supplied with a robot controller RCX340. For more details, refer to the separate "YAMAHA Robot Controller User's Manual". Robot controller RCX340 23103-FK-00...
Page 26: Robot Initialization Number List
Robot initialization number list The YK-X series robots are initialized for optimum setting (default setting) according to the robot model prior to shipping. The robot controllers do not have to be reinitialized during normal operation. However, if for some reason the controller must be reinitialized, proceed while referring to the list below.
Page 27: Chapter 2 Installation
Chapter 2 Installation Contents Robot installation conditions Installation environments Installation base Installation Unpacking Checking the product Carrying the robot 2.3.1 YK500XC, YK600XC, YK700XC, YK800XC, YK1000XC 2.3.2 YK1200X Installing the robot 2-10 Protective bonding 2-11 Robot cable connection 2-12 User wiring and user tubing 2-13 YK500XC, YK600XC, YK700XC, YK800XC, YK1000XC 2-13...
Page 28 Changing the Y-axis mechanical stopper position 2-52 Overrun amounts during impacts with Y-axis mechanical stopper 2-52 Limiting the movement range with Z-axis mechanical stoppers (YK1200X) 2-53 Installing the minus direction stopper 2-53 Installing the plus direction stopper 2-55 Overrun amounts during impacts with Z-axis additional mechanical stoppers 2-56 10.
Page 29: Robot Installation Conditions
40μm or less 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 water, corrosive gases, metallic powder or dust are generated.
Page 30: Installation Base
Installation base Prepare a sufficiently rigid and stable installation base, taking account of the robot weight including the end effector (gripper), workpiece and reaction force while the robot is operating. WARNING • Be sure to install the robot on a horizontal surface with the base mount section facing down. If the orientation of the base mount section is not observed when installing the robot, the grease of the speed reduction unit may leak.
Page 31: Installation
The equipment and tools used for moving the robot should be checked daily. The YK-X series robot comes packed with a robot controller and accessories, according to the order specifications. Using a carrying cart (dolly) or forklift, move the package to near the installation base. Take sufficient care not to apply shocks to the equipment when unpacking it.
Page 32: Checking The Product
Checking the product After unpacking, check the product configuration and conditions. The following configurations are typical examples, so please check that the product is as specified in your order. CAUTION If there is any damage due to transportation or insufficient parts, please notify your distributor immediately. ●...
Page 33: Carrying The Robot
Carr ying the robot WARNING Serious injury may occur if the robot falls and pins someone under it. • Do not allow any part of your body to enter the area beneath the robot during work. • Always wear a helmet, safety shoes and gloves during work. •...
Page 34 Hold the robot and remove the mounting bolts. Slightly lift the hoist so that the tension is lightly applied to each rope to hold the robot. In this state, remove the mounting bolts from the supplied pallet or installation base (if the robot is moved to another installation base).
Page 35 Moving the robot ■ Set screw Eyebolt (2 pieces supplied with the robot) Bearing surface for eyebolt Arm clamping stay (supplied with the robot) Bolt (2 pieces supplied with the robot) Tightening torque 4.5Nm (46kgfcm) X-axis arm upper cover YK500XC,YK600XC Hoist hook Bearing surface for eyebolt Rope...
Page 36: Yk1200X
2.3.2 YK1200X WARNING Serious injury may occur if the robot falls and pins someone under it. • Check that there are no cracks and corrosion on the eyebolts and eyebolt installation positions. If found, do not use eyebolts to move the robot. •...
Page 37 Attach the cover and set screws to the upper part of the X-axis arm. NOTE The set screws must be attached in order to protect the eyebolt taps. Be sure to keep the eyebolts, arm clamping stay, bolts, and pallet since they may be used to move the robot again. Moving the robot ■...
Page 38: Installing The Robot
Installing the robot Install the robot securely with the four hex socket head bolts as shown in the figure below. WARNING When installing the robot, be sure to use the specified size and quantity of bolts that match the depth of tapped holes in the installation base, and securely tighten the bolts to the correct torque.
Page 39: Protective Bonding
When the end effector uses an electrical device which, if it malfunctions, might make contact with the power supply, the user must provide proper grounding on his own responsibility. The YK-X series robots do not have a ground terminal for this purpose.
Page 40: Robot Cable Connection
Robot cable connection The robot cable is pre-connected to the YK-X series robot. For details on connections to the robot controller, refer to the figure below and the "YAMAHA Robot Controller User's Manual". After making connections, check the operation while referring to "4.6.1 Trial Operation" of "Safety Instructions" in this manual.
Page 41: User Wiring And User Tubing
Robot cable YK700XC, YK800XC, YK1000XC 63208-FR-00 The YK-X series robots are equipped with user signal wires and air tubes in the machine harness. The table below shows the number of wires and air tubes available for each robot model. Robot Model...
Page 42 Exhaust and suction air joints ■ Exhaust and suction air joints are provided on the rear side of the base. The uppermost joint is the exhaust joint, and the two lower joints are the suction air joints. NOTE • Exhaust joint handling The outlet of the exhaust tube connected to the exhaust joint must be lower than the workpiece's bottom face, and must be pointed toward a clean space which is a constant distance from the floor.
Page 43 As shown in the figure below, solder the user cable wires to the D-sub connector (supplied with the robot). Reattach the hood to the D-sub connector after soldering, then plug it into the user wiring connector. The connector pinouts as viewed from the solder side are shown below. Wiring example Connector (supplied) SCARA robot internal wiring...
Page 44: Yk1200X
The YK-X series robots are equipped with user signal wires and air tubes in the machine harness. The table below shows the number of wires and air tubes available for each robot model.
Page 45 Signal wiring connections in the machine harness ■ Connector pins 1 to 20 can be used. Pin 25 is connected to a shield wire and cannot be used as a signal wire. Signal Connector Connection Connector Color Brown Orange Blue Violet Grey White...
Page 46 As shown in the figure below, solder the user cable wires to the D-sub connector (supplied with the robot). Reattach the hood to the D-sub connector after soldering, then plug it into the user wiring connector. The connector pinouts as viewed from the solder side are shown below. Wiring example Connector (supplied) SCARA robot internal wiring...
Page 47 • Be sure to use the D-sub connector and hood which are supplied with the robot. Using other types may result in contact failure. D-sub connectors (supplied with robot) Part Name YAMAHA Part No. Part No. Quantity Base side D-sub connector...
Page 48: Attaching The End Effector
Parameter setting according to R-axis moment of inertial of load In the YK-X series robots, it is necessary to set the parameter according to the moment of inertia of the load around the R-axis. Set the moment of inertia around the R-axis of the load for the "R axis inertia for SCARA...
Page 49: Acceleration Coefficient Vs. Moment Of Inertia (Yk500Xc)
6.1.3 Acceleration coefficient vs. moment of inertia 6.1.3.1 Acceleration coefficient vs. moment of inertia (YK500XC) m=1kg ■ 0.005 ( 0.05 ) 0.04 0.08 0.12 (kgm (kgf • • m=2kg ■ 0.005 ( 0.05 ) 0.04 0.08 0.12 (kgm (kgf • •...
Page 50 m=4kg ■ 0.005 ( 0.05 ) 0.04 0.08 0.12 (kgm (kgf • • m=5kg ■ 0.005 ( 0.05 ) 0.04 0.08 0.12 (kgm (kgf • • m=6, 7kg ■ 0.007 ( 0.07 ) 0.04 0.08 0.12 (kgm (kgf • • 2-22...
Page 51 m=8, 9kg ■ 0.007 ( 0.07 ) 0.04 0.08 0.12 (kgm (kgf • • m=10kg ■ 0.03 ( 0.3 ) 0.04 0.08 0.12 (kgm (kgf • • 2-23...
Page 52: Acceleration Coefficient Vs. Moment Of Inertia (Yk600Xc)
6.1.3.2 Acceleration coefficient vs. moment of inertia (YK600XC) m=1kg ■ 0.005(0.05) 0.04 0.08 0.12 (kgm (kgf • • m=2kg ■ 0.005(0.05) 0.04 0.08 0.12 (kgm (kgf • • m=3kg ■ 0.01(0.1) 0.04 0.08 0.12 (kgm (kgf • • 2-24...
Page 53 m=4kg ■ 0.005(0.05) 0.04 0.08 0.12 (kgm (kgf • • m=5kg ■ 0.01(0.1) 0.04 0.08 0.12 (kgm (kgf • • m=6, 7kg ■ 0.005(0.05) 0.04 0.08 0.12 (kgm (kgf • • 2-25...
Page 54 m=8, 9kg ■ 0.005(0.05) 0.04 0.08 0.12 (kgm (kgf • • m=10kg ■ 0.015(0.15) 0.04 0.08 0.12 (kgm (kgf • • 2-26...
Page 55: Acceleration Coefficient Vs. Moment Of Inertia (Yk700Xc)
6.1.3.3 Acceleration coefficient vs. moment of inertia (YK700XC) m=1kg ■ 0.02(0.2) (kgm (kgf • • m=2kg ■ 0.01(0.1) (kgm (kgf • • m=3, 4kg ■ 0.03(0.3) (kgm (kgf • • 2-27...
Page 56 m=5, 6kg ■ 0.01(0.1) (kgm (kgf • • m=7, 8kg ■ 0.01(0.1) (kgm (kgf • • m=9, 10kg ■ 0.01(0.1) (kgm (kgf • • 2-28...
Page 57 m=11, 12, 13kg ■ 0.01(0.1) (kgm (kgf • • m=14, 15, 16kg ■ 0.01(0.1) (kgm (kgf • • m=17, 18, 19, 20kg ■ 0.01(0.1) (kgm (kgf • • 2-29...
Page 58: Acceleration Coefficient Vs. Moment Of Inertia (Yk800Xc)
6.1.3.4 Acceleration coefficient vs. moment of inertia (YK800XC) m=1kg ■ 0.02 ( 0.2 ) (kgm (kgf • • m=2kg ■ 0.03 ( 0.3 ) (kgm (kgf • • m=3, 4kg ■ 0.03 ( 0.3 ) (kgm (kgf • • 2-30...
Page 59 m=5, 6kg ■ 0.02 ( 0.2 ) (kgm (kgf • • m=7, 8kg ■ 0.01 ( 0.1 ) (kgm (kgf • • m=9, 10kg ■ 0.01 ( 0.1 ) (kgm (kgf • • 2-31...
Page 60 m=11, 12, 13kg ■ 0.02 ( 0.2 ) (kgm (kgf • • m=14, 15, 16kg ■ 0.02 ( 0.2 ) (kgm (kgf • • m=17, 18, 19, 20kg ■ 0.02 ( 0.2 ) (kgm (kgf • • 2-32...
Page 61: Acceleration Coefficient Vs. Moment Of Inertia (Yk1000Xc)
6.1.3.5 Acceleration coefficient vs. moment of inertia (YK1000XC) m=1kg ■ 0.02 ( 0.2 ) (kgm (kgf • • m=2kg ■ 0.01 ( 0.1 ) (kgm (kgf • • m=3, 4kg ■ 0.01 ( 0.1 ) (kgm (kgf • • 2-33...
Page 62 m=5, 6kg ■ 0.01 ( 0.1 ) (kgm (kgf • • m=7, 8kg ■ 0.01 ( 0.1 ) (kgm (kgf • • m=9, 10kg ■ 0.015 ( 0.15 ) (kgm (kgf • • 2-34...
Page 63 m=11, 12, 13kg ■ 0.02 ( 0.2 ) (kgm (kgf • • m=14, 15, 16kg ■ 0.025 ( 0.25 ) (kgm (kgf • • m=17, 18, 19, 20kg ■ 0.030 ( 0.30 ) (kgm (kgf • • 2-35...
Page 64: Acceleration Coefficient Vs. Moment Of Inertia (Yk1200X)
6.1.3.6 Acceleration coefficient vs. moment of inertia (YK1200X) m=0 to 5kg ■ 0.1 ( 1.0 ) 0.1 ( 1.0 ) (kgm (kgm (kgf (kgf • • • • m=6 to 10kg ■ 0.1 ( 1.0 ) 0.1 ( 1.0 ) (kgm (kgm (kgf...
Page 65 m=16 to 20kg ■ 0.1 ( 1.0 ) 0.1 ( 1.0 ) (kgm (kgm (kgf (kgf • • • • m=21 to 25kg ■ 0.15 ( 1.5 ) 0.15 ( 1.5 ) (kgm (kgm (kgf (kgf • • • • m=26 to 30kg ■...
Page 66 m=31 to 35kg ■ 0.3 ( 3.0 ) 0.5 ( 5.0 ) (kgm (kgm (kgf (kgf • • • • m=36 to 40kg ■ 0.3 ( 3.0 ) 1.2 ( 12.0 ) (kgm (kgm (kgf (kgf • • • • m=41 to 50kg ■...
Page 67: Equation For Moment Of Inertia Calculation
Equation for moment of inertia calculation 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.
Page 68 3) Moment of inertia for cylinder (part 2) The equation for the moment of inertia for a cylinder that has a rotation center such as shown in the figure below is given as follows. Moment of inertia for cylinder (part 2) ρπ...
Page 69 In the same manner, the moment of inertia of a cylinder as shown in the figure below is given by Moment of inertia of a cylinder ρπD ρπD Center line ) + mx (kgm ρπD ρπD (kgfcmsec ... (6) 23208-F0-00 In the same manner, the moment of inertia of a prism as shown in the figure below is given by Moment of inertia of a prism Center line...
Page 70: Example Of Moment Of Inertia Calculation
Example of moment of inertia calculation Let's discuss an example in which the chuck and workpiece are at a position offset by 10 cm from the R-axis by the stay, as shown in the figure below. The moment of inertia is calculated with the following three factors, assuming that the load material is steel and its density ρ...
Page 71 2. Moment of inertia of the chuck Moment of inertia of the chuck When the chuck form resembles R-axis that shown in figure, the weight of the chuck (Wc) is = 0.0078 × 2 × 4 × 6 = 0.37 (kgf) The moment of inertia of the chuck (Jc) is then calculated from Eq.
Page 72: Attaching The End Effector
Attaching the end effector It is necessary to prepare the user's end effector attaching part to the robot that has adequate strength and rigidity, as well as gripping force to prevent positioning errors. WARNING • Before attaching the end effector, be sure to turn off the controller. •...
Page 73 Next, the following shows the recommended end effector attaching method. WARNING • The tapped hole (shown in the figure below) provided at the lower portion of the end effector attachment should be used only for preventing the end effector from coming loose. •...
Page 74 The following shows the details of the end effector attachment of each robot. WARNING • The tapped hole (shown in the figure below) provided at the lower portion of the end effector attachment should be used only for preventing the end effector from coming loose. •...
Page 75: Gripping Force Of End Effector
Gripping force of end effector The gripping force of the end effector must have a sufficient extra margin of strength versus the workpiece weight and reaction force applied to the workpiece during robot operation. The reaction force applied to the workpiece during operation can be calculated from the acceleration applied to the end effector attachment.
Page 76: Limiting Movement Range With X-Axis Mechanical Stoppers
7. Limiting movement range with X-axis mechanical stoppers In the YK-X series the movement range can be limited by changing the X-axis mechanical stopper positions. (The Y-axis mechanical stopper positions are fixed and cannot be changed.) When the robot is shipped from the factory, the movement range is set to the maximum. If the maximum movement range is too large compared to the actual work range, or the manipulator might interfere with peripheral units, then the movement range can be limited as outlined below.
Page 77 The following shows the mechanical stopper positions and movement range. Mechanical stopper positions and movement range Y-axis Mechanical stopper (fixed) X-axis Mechanical stopper Tapped hole for stopper installation YK500XC, YK600XC Y-axis Mechanical Tapped hole for stopper (fixed) stopper installation X-axis Mechanical stopper YK700XC, YK800XC, YK1000XC 128°...
Page 78: Limiting The Movement Range With X-Axis Mechanical Stoppers (Yk1200X)
Limiting the movement range with X-axis mechanical stoppers (YK1200X) By using and installing the following shock absorber and shock absorber clamp parts, the Y-axis movement range of the YK1200X can be limited. By using these parts, the Y-axis movement range can be limited from ±150° (standard) to ±110°. (Control position using mechanical stoppers is ±125°.) WARNING Always turn off the controller before changing the movement range with mechanical stoppers.
Page 79: Changing The Y-Axis Mechanical Stopper Position
Changing the Y-axis mechanical stopper position Prepare a set of hex wrenches. Turn off the controller. Place a sign indicating the robot is being adjusted. Step 4 Removing the mechanical stopper Place a sign indicating the robot is being adjusted, to keep others from touching the Y-axis mechanical stopper clamp bolts controller switch.
Page 80: Limiting The Movement Range With Z-Axis Mechanical Stoppers (Yk1200X)
Limiting the movement range with Z-axis mechanical stoppers (YK1200X) The following stopper parts can be attached to limit the Z-axis movement range of the YK1200X. WARNING Read "6. Detaching or attaching the covers" in Chapter 3 before performing this operation. WARNING Always turn off the controller before changing the movement range with mechanical stoppers.
Page 81 Place a sign indicating the robot is being adjusted. Place a sign indicating the robot is being adjusted, to keep others from touching the controller switch. Perform the Z-axis return-to-origin. NOTE To perform the Z-axis return-to-origin, see "2.3 Return-to-origin procedures" in Chapter 3. Make a note of the Z-axis machine reference value.
Page 82: Installing The Plus Direction Stopper
Installing the plus direction stopper Proceed as follows to install the Z-axis plus direction mechanical stopper. Prepare a set of hex wrenches. Turn off the controller. Place a sign indicating the robot is being adjusted. Place a sign indicating the robot is being adjusted, to keep others from touching the controller switch. Enter the safety enclosure.
Page 83: Overrun Amounts During Impacts With Z-Axis Additional Mechanical Stoppers
Overrun amounts during impacts with Z-axis additional mechanical stoppers The robot overruns the mechanical stopper position when it strikes the mechanical stopper. Use caution and take overrun into account since the end effector may interfere with the robot body and peripheral equipment or the robot body may interfere with the peripheral equipment.
Page 84: Working Envelope And Mechanical Stopper Positions For Maximum Working Envelope
■ 1. Do not attempt operation outside the working envelope. On the YK-X series, the origin can be set at a discrete position. The working envelope described in this manual is an area with the robot frontal reference when no load is applied.
Page 85 Z-axis ■ Do not attempt work outside the working envelope. In particular, do not attempt work in the area between the working envelope and mechanical stopper position. Mechanical stoppers are installed at both the upper and lower ends of the movement range.
Page 86 Robot overrun during impacts with mechanical stopper ■ A urethane damper is installed to absorb the shock when an impact occurs with the mechanical stopper, so a certain amount of overrun occurs when the robot strikes the mechanical stopper. Use caution and take overrun into account since the end effector may interfere with the robot body and peripheral equipment or the robot body may interfere with the peripheral equipment.
Page 87 YK500XC ■ Z300mm stroke 876 Z200mm stroke 741 Z-axis upper end mechanical stopper position 223±2 Z-axis lower end mechanical stopper position YK500XC (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear panel (c) Base Working envelope X and Y-axis mechanical stopper positions 63226-FR-00 2-59...
Page 88 YK600XC ■ Z300mm stroke 876 Z200mm stroke 741 Z-axis upper end mechanical stopper position 223±2 Z-axis lower end mechanical stopper position YK600XC (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear panel (c) Base Working envelope X and Y-axis mechanical stopper positions 63227-FR-00 2-60...
Page 89 YK700XC ■ Z400mm stroke 956 Z200mm stroke 756 Z-axis upper end mechanical stopper position 224±2 Z-axis lower end mechanical stopper position YK700XC (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear panel (c) Base X and Y-axis mechanical stopper positions Working envelope 63228-FR-00 2-61...
Page 90 YK800XC ■ Z400mm stroke 956 Z200mm stroke 756 Z-axis upper end mechanical stopper position 224±2 Z-axis lower end mechanical stopper position YK800XC (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear panel (c) Base X and Y-axis mechanical stopper positions Working envelope 63228-FR-00 2-62...
Page 91 YK1000XC ■ Z400mm stroke 956 Z200mm stroke 756 Z-axis upper end mechanical stopper position 224±2 Z-axis lower end mechanical stopper position YK1000XC (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear panel (c) Base Working envelope Maximum working envelop 63229-FR-00 2-63...
Page 92 YK1200X ■ Z-axis upper end mechanical stopper position 381±2 Z-axis lower end mechanical stopper position YK1200X (Z-axis mechanical stopper position) Interference position (a) Base flange (b) Base rear panel (c) Base Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) 63230-FR-00 2-64...
Page 93: Stopping Time And Stopping Distance At Emergency Stop (Yk1200X)
11. Stopping time and stopping distance at emergency stop (YK1200X) 11.1 Stopping time and distance after turning stop signal ON When the emergency stop button is pressed during robot operation or the power supply to the controller is turned off, the stopping time and stopping distance or angle of the main 3 axes change depending on the operation speed as shown below.
Page 94 Z-axis stopping time for YK1200X ■ 0.07 16.5kg Z-axis 33kg Z-axis 50kg Z-axis 0.06 0.05 0.04 0.03 0.02 0.01 Operation speed (%) 63233-FR-00 Z-axis stopping distance for YK1200X ■ 16.5kg 33kg 50kg Operation speed (%) 63234-FR-00 2-66...
Page 95: Stopping Time And Distance Conformed With Category
11.2 Stopping time and distance conformed with categor y 0 Max. load: 50 kg, Operation speed: 100% Stopping distance/ Axis Stopping time Angle 86° 1770msec 44° 96mm 160msec 2-67...
Page 97: Chapter 3 Robot Settings
Chapter 3 Robot settings Contents Overview Adjusting the origin Return-to-origin method 2.1.1 Sensor method (X, Y, and R-axis) 2.1.2 Mark method (X, Y, and R-axis) 2.1.3 Stroke end method (Z-axis) Machine reference value Return-to-origin procedures 2.3.1 Sensor method (X, Y, and R-axis) 2.3.2 Mark method (X, Y, and R-axis) 2.3.3...
Page 99: Overview
Over view Various settings have been completely made at the factory or by your distributor before shipment, including the origin position setting. If the operating conditions are changed and the robot needs to be set again, then follow the procedures described in this Chapter. The following describes the safety precautions to be observed when making various settings.
Page 100: Adjusting The Origin
Adjusting the origin The YK-X series robots use an absolute type position detector. The origin position (zero pulse point) can be determined by return-to-origin. Once return-to-origin is performed, you do not have to repeat return-to-origin when turning the power on next time. However, return-to-origin is required if any of the following cases occur.
Page 101: Mark Method (X, Y, And R-Axis)
2.1.2 Mark method (X, Y, and R-axis) In the mark method, the robot is moved to a position beforehand where the return-to-origin is performed and this position is determined to the return-to-origin position. The origin position reset by means of the mark method is called "absolute reset".
Page 102: Machine Reference Value
Machine reference value The position detector of the YK-X series uses a resolver that has four positions where the return-to-origin can be performed per motor revolution. The machine reference value means the position relationship of the position where the robot detects the origin signal to the position where the reset can be performed soon after detection (see the figure below).
Page 103: Return-To-Origin Procedures
• When pressing the key on the execution confirmation screen, the execution of the return-to-origin is canceled. • For details about how to operate the robot controller, see the "YAMAHA Robot Controller User's Manual". Turn on the controller. Check that no one is inside the safety enclosure, and then turn on the controller.
Page 104: Mark Method (X, Y, And R-Axis)
Perform the return-to-origin. Step 6 Return-to-origin The return-to-origin execution confirmation screen pops up. Check that there are no obstacles within the movement range, and then press . To cancel the return-to-origin, press . After the return-to-origin has been completed, press to return to the "ORIGIN RTN (TRQ/ SENS)"...
Page 105: Absolute Reset In Servo On State (Re-Reset)
• When pressing the key on the execution confirmation screen, the execution of the absolute reset is canceled. • For details about how to operate the robot controller, see the "YAMAHA Robot Controller User's Manual". Turn on the controller. Check that no one is inside the safety enclosure, and then turn on the controller.
Page 106 Move to an absolute resettable position. 1. Use the jog keys to move the robot until the origin position marks align. CAUTION Multiple absolute resettable positions exist discretely. When moving the robot using the jog key, all robot stop positions become absolute resettable positions. Before performing the absolute reset, press the jog key again to move the axis left or right to check that the origin position marks are matched with each other correctly.
Page 107 Positional relationship between origin position stickers Repeatability tolerance value Origin position sticker Repeatability tolerance value Origin position sticker Repeatability tolerance value Origin position sticker Repeatability tolerance value Origin position sticker 63302-FR-00 2. When the robot has moved to the absolute reset position, verify that the number for the selected axis in the PBX screen is in the range of 26 to 74.
Page 108: Absolute Reset In Servo Off State (Re-Reset)
• When pressing the key on the execution confirmation screen, the execution of the absolute reset is canceled. • For details about how to operate the robot controller, see the "YAMAHA Robot Controller User's Manual". Turn on the controller. Check that no one is inside the safety enclosure, and then turn on the controller.
Page 109 Origin position repeatability tolerance value. YK500XC, YK600XC axis Origin position repeatability tolerance value (° ) Origin position repeatability tolerance value (mm) ±0.56 ±0.58 ±0.56 ±0.47 ±0.90 ±0.65 YK700XC, YK800XC axis Origin position repeatability tolerance value (° ) Origin position repeatability tolerance value (mm) ±0.56 ±0.76 ±0.56...
Page 110 Select an axis whose absolute reset is performed. Use the cursor keys ( ) to select an axis number whose absolute reset is performed, and then press The execution confirmation screen will pop up. CAUTION • There are multiple discrete positions where the absolute reset can be performed. Move the robot step-by-step while referring to the PBX screen.
Page 111: Absolute Reset In Servo On State (New Reset)
• When pressing the key on the execution confirmation screen, the execution of the absolute reset is canceled. • For details about how to operate the robot controller, see the "YAMAHA Robot Controller User's Manual". Turn on the controller. Check that no one is inside the safety enclosure, and then turn on the controller.
Page 112 Move to the all axes "0" pulse position. When the absolute reset has been completed, move the robot to the all-axis "0" pulse position. For details about how to move to the "0" pulse position, refer to the "YAMAHA Robot Controller User's Manual".
Page 113 Positional relationship between origin position stickers Repeatability tolerance value Origin position sticker Repeatability tolerance value Origin position sticker Repeatability tolerance value Origin position sticker Repeatability tolerance value Origin position sticker 63302-FR-00 CAUTION When affixing the origin position stickers, be careful not to move the joint of the robot. When the servo is turned off, the joint may move due to the harness reaction force depending on the arm position.
Page 114: Absolute Reset In Servo Off State (New Reset)
• When pressing the key on the execution confirmation screen, the execution of the absolute reset is canceled. • For details about how to operate the robot controller, see the "YAMAHA Robot Controller User's Manual". Turn on the controller. Check that no one is inside the safety enclosure, and then turn on the controller.
Page 115 Affix the origin position stickers. After all axes of the robot have moved to the "0" pulse position, press the emergency stop button and affix the included origin position stickers to an easily-distinguishable location such as above or below the joint area of the X, Y, and R-axis, and use them when performing an absolute reset to the same position.
Page 116 Positional relationship between origin position stickers Repeatability tolerance value Origin position sticker Repeatability tolerance value Origin position sticker Repeatability tolerance value Origin position sticker Repeatability tolerance value Origin position sticker 63302-FR-00 CAUTION When affixing the origin position stickers, be careful not to move the joint of the robot. When the servo is turned off, the joint may move due to the harness reaction force depending on the arm position.
Page 117 Origin position mark setting example YK500XC, YK600XC Origin position mark (Setting on the user side) Origin position mark (Setting on the user side) 63303-FR-00 3-19...
Page 118 Origin position mark setting example YK700XC, YK800XC, YK1000XC Origin position mark (Setting on the user side) Origin position mark (Setting on the user side) 63304-FR-00 3-20...
Page 119 Origin position mark setting example YK1200X Origin position mark (Setting on the user side) Origin position mark (Setting on the user side) 63305-FR-00 3-21...
Page 120: Stroke End Method (Z-Axis)
• When pressing the key on the execution confirmation screen, the execution of the return-to-origin is canceled. • For details about how to operate the robot controller, see the "YAMAHA Robot Controller User's Manual". Turn on the controller. Check that no one is inside the safety enclosure, and then turn on the controller.
Page 121 Check the status and machine Step 6 Machine reference value reference value. "Status" and "Ref." (machine reference) are displayed on the "ORIGIN RTN (TRQ/SENS)" screen. Verify that the status is "OK" and that the machine reference value is within the return- to-origin tolerance range (26 to 74%).
Page 122: Changing The Origin Position And Adjusting The Machine Reference Value
Changing the origin position and adjusting the machine reference value This section describes how to change the origin position and adjust the machine reference. WARNING Before starting the work, thoroughly read "6. Detaching or attaching the covers" in this Chapter. CAUTION •...
Page 123 Loosen the dog plate fastening. Step 8-9 Adjusting the X-axis machine reference value Using a hex wrench, loosen the two M4 bolts that fasten the dog plate of the X-axis joint area. 63306-FR-00 CAUTION It is sufficient to loosen the M4 bolts; they do not need to be removed completely.
Page 124 Changing the X-axis origin position ■ CAUTION If the origin position has been changed, then the return-to-origin must be performed, the machine reference value must be adjusted, and the standard coordinates and point data must be reset. Change the X-axis origin position as follows. Provide a set of hex wrenches.
Page 125 Adjusting the Y-axis machine reference value ■ CAUTION The origin position may change due to machine reference value adjustment. If it occurs, set point data again. Follow the steps below to adjust the X-axis machine reference value. Prepare a hex wrench set. Turn on the controller.
Page 126 Fix the dog ring. Tighten the set screws to fixing the dog ring. CAUTION Depending on the origin position, it may not be possible to use two set screws to fix the dog ring. In this case, use one set screw to fix the dog ring. Turn on the controller.
Page 127 Changing the Y-axis origin position ■ CAUTION When the origin position has been changed, it is necessary to perform the return-to-origin, adjust the machine reference value, and set the standard coordinates and point data again. Change the Y-axis origin position as follows. Provide a set of hex screw.
Page 128 Adjusting the R-axis machine reference value ■ CAUTION The origin position may change due to machine reference adjustment. If it occurs, you must set point data again. Adjust the R-axis machine reference value as follows. Provide a hex wrench. Turn on the controller. Check that no one is inside the safety Step 8-9 Adjusting the R-axis machine reference value...
Page 129: Mark Method
Turn on the controller. Check that no one is inside the safety enclosure, and then turn on the controller. Perform the return-to-origin. Perform the return-to-origin from outside the safety enclosure. Check the machine reference value. 1. After the return-to-origin has been completed, read the machine reference value displayed on the PBX. 2.
Page 130: Adjusting The Machine Reference Value Of The Stroke End Method (Z-Axis)
Adjusting the machine reference value of the stroke end method (Z-axis) The stroke end method is employed on the YK-X series robots for the return-to-origin of the Z-axis. The origin position of the Z-axis is fixed at the upper end of the Z-axis stroke, and it cannot be changed. The machine reference value is factory-adjusted at shipment, and readjustment is not necessary for normal use.
Page 131 Remove the Z-axis motor. Remove the bolts securing the Z-axis motor and then remove the Z-axis motor. Z-axis motor Z-axis motor installation bolt M5×14 YK500XC, YK600XC Z-axis motor Z-axis motor installation bolt M5×12 YK700XC, YK800XC, YK1000XC YK1200X Z-axis motor Z-axis motor installation bolt M6×20 63314-FR-00 WARNING If the Z-axis motor comes off the Z-axis belt, the Z-axis drops causing a hazardous situation. Be sure to prop the Z-axis with a support stand.
Page 132 Attach the Z-axis motor. Step 10 Attaching the Z-axis motor Adjust the distance (L) from the Z-axis mechanical stopper to the stroke end to the dimension shown in the table at right, and Z-axis mechanical stopper tighten the four bolts that fasten the Z-axis motor to attach the Z-axis motor.
Page 133: Setting The Soft Limits
Setting the soft limits On the YK-X series, the working envelope for jog operation and automatic operation can be limited for each axis by specifying a "+" soft limit [pulse] and a "-" soft limit [pulse]. The reference for the soft limit is the origin position (zero pulse), and the working envelope is limited by the number of pulses from the "0"...
Page 134: Setting The Z-Axis Soft Limits
Setting the Z-axis soft limits CAUTION Set the Z-axis soft limits from outside the safety enclosure. The Z-axis has mechanical stoppers fixed at the upper and lower ends of the Z-axis movement range. When the actual working envelope of the robot is smaller than the maximum working envelope or the manipulator interferes with the peripheral equipment, reduce the Z-axis plus (+) soft limit [pulses] to narrow the working envelope.
Page 135: Setting The Standard Coordinates
CAUTION Never enter the robot movement range. Set the standard coordinates. See "Setting the standard coordinates" stated in the "YAMAHA Robot Controller User's Manual". Go out of the safety enclosure. Check that the standard coordinates are set correctly. 1. Does jog operation (millimeter coordinate system) move the tip of the robot arm at right angles? 2.
Page 136: Affixing The Stickers For Origin Positions, Movement Directions, And Axis Names
Check that no one is inside the safety enclosure, and then turn on the controller. Move the robot to the "0" pulse position. NOTE For details about how to move the axes to their "0" pulse positions, see "Point trace" in the "YAMAHA Robot Controller User's Manual". Turn off the controller.
Page 137 Positions for affixing the stickers (YK500XC) End effector 63317-FR-00 3-39...
Page 138: Detaching Or Attaching The Covers
Detaching or attaching the covers WARNING Detach the front-face/and/side-face cover of Y-axis, and top-face/and/side-face cover of motor. To remove the robot cover, follow the procedure below. Prepare the following required tools. • Set of hex wrenches • Phillips-head screwdriver Turn off the controller. Place a sign indicating the robot is being adjusted.
Page 139 Refer to the following figures (YK500XC, YK600XC, YK700XC, YK800XC, YK1000XC, and YK1200X) to detach and attach the appropriate cover. YK500XC, YK600XC 5 Y-axis arm upper cover (with washer) 4X-axis arm upper cover 1Base rear cover 1 2Base rear cover 2 3Base front cover 6 Y-axis arm upper cover 8 Y-axis arm under cover 7X-axis arm under cover...
Page 140 YK700XC, YK800XC, YK1000XC 5Y-axis arm upper cover (with washer) 4 X-axis arm upper cover 1 Base rear cover 1 2 Base rear cover 2 X-axis arm under cover 3Base front cover 6Y-axis arm upper cover 7Y-axis arm under cover 63319-FR-01 Cover name Screw size Base (robot pedestal) rear cover 1...
Page 141 YK1200X (Products shipped before April 2021) 6 Y-axis arm upper cover 7 Y-axis arm side cover 4 X-axis arm upper cover 5 X-axis arm under cover 1 Base rear cover 1 3 Base front cover 2 Base rear cover 2 63320-FR-11 Cover name Screw size...
Page 142 YK1200X 6Y-axis arm upper cover 7 Y-axis arm side cover 8Motor upper cover 9Motor side cover 4X-axis arm upper cover 5X-axis arm under cover 1 Base rear cover 1 3 Base front cover 2 Base rear cover 2 63320-FR-00 Cover name Screw size Part No.
Page 143: Adjusting The Timing Belt Tension
Adjusting the timing belt tension The YK-X series robots use a timing belt for controlling the movement of the Z and R-axis. If the belt becomes slack, use the following procedure to give proper tension to the belt. WARNING The motor and speed reduction gear casing are extremely hot after automatic operation, so burns may occur if these are touched.
Page 144: Yk500Xc, Yk600Xc
YK500XC, YK600XC WARNING If the Z-axis pulley comes off the Z-axis belt, the Z-axis drops causing a hazardous situation. Turn off the controller and be sure to prop the Z-axis with a support stand before beginning adjustment. The Z and R-axis belt adjustment procedure is given below. Prepare the following required tools.
Page 145 Z-axis belt adjustment ■ Loosen the bolt (1) Z-axis belt adjustment Z-axis motor (1) M5×14 Z-axis belt Tension increases Tension reduces 63323-FR-00 Move the Z-axis motor in the Load (N) Load (kgf) Slack (mm) direction that increases the tension if the value measured in Step 6 is Z-axis belt specifications 5.7 to 6.3 0.58 to 0.64...
Page 146 R-axis belt adjustment ■ Loosen the bolt (2) R-axis belt adjustment R-axis belt R-axis motor Z-axis motor (2) M4×10 (1) M5×14 Tension increases Tension reduces 63324-FR-00 Move the R-axis motor in the Load (N) Load (kgf) Slack (mm) direction that increases the tension if the value measured in Step 6 is R-axis belt specifications 2.1 to 2.9...
Page 147: Yk700Xc, Yk800Xc, Yk1000Xc
YK700XC, YK800XC, YK1000XC WARNING If the Z-axis pulley comes off the Z-axis belt, the Z-axis drops causing a hazardous situation. Turn off the controller and be sure to prop the Z-axis with a support stand before beginning adjustment. The Z-axis and R-axis belt adjustment procedure is given below. Prepare the following required tools.
Page 148 Z-axis belt adjustment ■ Loosen the bolt (1) Z-axis belt adjustment Z-axis motor (1) M5×12 Z-axis belt Tension increases Tension reduces 63325-FR-00 Move the Z-axis motor in the Load (N) Load (kgf) Slack (mm) direction that increases the tension YK700XC, if the value measured in Step 6 is 5.7 to 6.3 0.58 to 0.64...
Page 149 R-axis belt adjustment ■ Loosen the bolt (2) R-axis belt adjustment R-axis belt R-axis motor Z-axis motor (2) M4×15 (1) M5×12 Tension increases Tension reduces 63326-FR-00 Move the R-axis motor in the Load (N) Load (kgf) Slack (mm) direction that increases the tension YK700XC, if the value measured in Step 6 is 3.6 to 5.0...
Page 150: Yk1200X
YK1200X WARNING If the Z-axis pulley comes off the Z-axis belt, the Z-axis drops causing a hazardous situation. Turn off the controller and be sure to prop the Z-axis with a support stand before beginning adjustment. The Z-axis and R-axis belt adjustment procedure is given below. Prepare the following required tools.
Page 151 Adjust the belt tension by two people as follows. Using the push-pull scale, one Step 7 Belt tension adjustment person applies a load perpendicular to the middle of the belt. The other Push-pull scale person checks the slack of the belt. If the measured value is within the range shown in the table at right, adjustment is not Slack...
Page 152 Z-axis belt adjustment ■ Loosen the bolt (1) Z-axis belt adjustment Z-axis motor (1) M6×20 Z-axis belt Tension increases Tension reduces 63328-FR-00 Move the Z-axis motor in the (Ref.) Belt Load Slack direction that increases the tension Load (N) vibration (kgf) (mm) frequency(Hz)
Page 153 R-axis belt adjustment ■ Loosen the bolt (2) R-axis belt adjustment M4×10 Z-axis motor Harness clamp stay R-axis belt (1) M6×20 R-axis motor (2) M6×20 Install the harness clamp stay so that the R-axis belt and the harness do not make contact with each other. Tension increases Tension reduces 63329-FR-00...
Page 155: Chapter 4 Periodic Inspection
Chapter 4 Periodic inspection Contents Overview Daily inspection Six-month inspection Origin sensor of X, Y and R-axis Applying the grease for YK1200X Z-axis...
Page 157: Overview
Over view Daily and periodic inspection of the YAMAHA robot is essential in order to ensure safe and efficient operation. This Chapter describes the periodic inspection items and procedures for the YAMAHA YK-X series robots. Periodic inspection includes: • Daily inspection •...
Page 158: Daily Inspection
Daily inspection The following is an inspection list that must be performed every day before and after operating the robot. Inspection to be performed with the controller turned off ■ Turn off the controller. Place a sign indicating the robot is being adjusted. Place a sign indicating the robot is being inspected, to keep others from operating the controller switch.
Page 159: Six-Month Inspection
• Do not attempt to weld, heat up, drill holes or cut this container. This might cause the container to explode and the remaining materials inside it to ignite. CAUTION Unless grease specified by YAMAHA is used, the service life of the ball screw and ball spline will shorten. CAUTION Storage of grease •...
Page 160 Inspection to be performed with the controller turned off ■ Turn off the controller. Place a sign indicating the robot is being adjusted. Place a sign showing that the robot is being inspected, to keep others from operating the controller switch.
Page 161 Inspection to be performed with the controller turned on ■ Warning • The robot controller must be installed outside the safety enclosure, to prevent a hazardous situation in which you or anyone enter the safety enclosure to inspect the controller while it is turned on. •...
Page 162: Origin Sensor Of X, Y And R-Axis
Origin sensor of X, Y and R-axis An example is YK1200X. YK1200X Y-axis origin sensor X-axis origin sensor R-axis origin sensor 63484-FR-01...
Page 163: Applying The Grease For Yk1200X Z-Axis
Applying the grease for YK1200X Z-axis Turn off the controller. Place a sign indicating the robot is Step 4 Applying the grease being adjusted. Place a sign indicating the robot is being adjusted, to keep others from operating the controller or operation panel. Enter the safeguard fence.
Page 165: Chapter 5 Harmonic Drive Replacement Period
Chapter 5 Harmonic drive replacement period Contents Overview Replacement period Cautions on replacement of the harmonic drive Replacement procedure for harmonic drive YK500XC, YK600XC 4.1.1 Replacing the X-axis harmonic drive 4.1.2 Replacing the Y-axis harmonic drive 4.1.3 Replacing the R-axis harmonic drive 5-14 YK700XC, YK800XC, YK1000XC 5-21...
Page 167: Overview
Over view The YK-X series robots use a harmonic drive as the speed reduction gear for the X, Y, and R-axis. Harmonic drives must be replaced after a specific operation time. Follow the guidelines below to determine the harmonic drive replacement period, and perform the replacement accordingly. Since long-life harmonic grease is used, it is not necessary to replace the grease.
Page 168: Cautions On Replacement Of The Harmonic Drive
• Do not attempt to weld, heat up, drill holes or cut this container. This might cause the container to explode and the remaining materials inside it to ignite. CAUTION The harmonic drive service life may shorten if the grease recommended by YAMAHA is not used. Recommended grease ■...
Page 169: Replacement Procedure For Harmonic Drive
For the bolt tightening torque in the harmonic drive replacement work, see the Table below. However, when tightening the mounting bolts for the harmonic drive, observe the tightening torque specified in each replacement procedure. Use only YAMAHA genuine bolts. Bolt tightening torque ■...
Page 170 Removal ■ Follow the Steps below to remove the X-axis parts. Turn off the controller. Place a sign indicating the robot is being adjusted. Place a sign indicating the robot is being adjusted, to keep others from operating the controller or operation panel.
Page 171 CAUTION A spacer is inserted between the wave generator and the motor, so be careful not to lose it. WARNING When removing the X-axis arm installation bolts (M4×40, 8 pieces) in the next Step, the X-axis arm may come off causing a hazardous situation. Be Step 10 Removing the X-axis arm installation bolts especially careful to keep the arm from falling...
Page 172 Replacement and reassembly ■ Follow the steps below to replace the harmonic drive with a new one and reassemble it. Install the O-ring. Replacing the harmonic drive Step 1, 3 Install an O-ring (supplied with the harmonic Fit O-ring (supplied) into this groove. drive) with harmonic grease applied into the Harmonic drive will be damaged O-ring groove of the new harmonic drive.
Page 173 Installing the new O-ring Fit a new O-ring into the O-ring Step 4 groove on the X-axis arm and O-ring secure it to the harmonic drive. (S90 : KN4-M2143-00) Apply a small amount of "Screw Lock" to the clamp bolts (M4 x 40), and tighten the eight bolts evenly.
Page 174 Fasten the motor and motor holder. Step 6-7 Motor and motor holder installation bolts Install the O-ring on the motor, and use the M6×14 installation bolts (M6 x 14, 4 pieces) to fasten the motor and motor holder. M6×20 63412-FR-00 CAUTION Do not allow the O-ring to get caught out of the groove during reassembly.
Page 175: Replacing The Y-Axis Harmonic Drive
Read "6. Detaching or attaching the covers" in Chapter 3 before performing the replacement. The following shows the parts and tools necessary for the Y-axis harmonic drive replacement work. Replacement parts Part Name YAMAHA Part No. Part No. / Specs Q'ty Remarks...
Page 176 Removal ■ Follow the steps below to remove the Y-axis parts. Turn off the controller. Place a sign indicating the robot is being adjusted. Place a sign indicating the robot is being adjusted, to keep others from operating the controller or operation panel.
Page 177 Remove the Y-axis arm. Remove the Y-axis arm and place it where it will not obstruct the work. CAUTION An O-ring is fitted to the upper surface of the harmonic drive, so be careful not to let it drop into the peripheral unit.
Page 178 Replacement and reassembly ■ Follow the steps below to replace the harmonic drive with a new one and reassemble it. Fit a new O-ring coated with X-axis arm O-ring Step 1 harmonic grease into the O-ring groove on the X-axis arm. O-ring (KN4-M257K-00) 63480-FR-00...
Page 179 Applying the harmonic grease Apply harmonic grease to the new Step 5-7 wave generator and flexspline. Fit O-ring (supplied) into this groove. For the grease application area, refer to the Harmonic drive will be damaged if O-ring is caught out of groove. figure at right.
Page 180: Replacing The R-Axis Harmonic Drive
Read "6. Detaching or attaching the covers" in Chapter 3 before performing the replacement. The following shows the parts and tools necessary for the R-axis harmonic drive replacement work. Replacement parts Part Name YAMAHA Part No. Part No. / Specs Q'ty Remarks...
Page 181 Pull out the spline and bearing Step 5 Pulling out the spline from the holder. Remove the bearing locking bolts (M5 x 16, 4 pieces) from the upper end of the spline, Holder and pull the spline and bearing out of the holder.
Page 182 Remove the bolts (M4×10, 4 pieces) securing the R-axis motor plate at the top of the Y-axis arm. Remove the pulley. Loosen the pulley set screw (M4, 2 pieces) and remove the pulley from the wave generator. Pull the harmonic drive out of the Y-axis arm. Remove the harmonic drive installation bolts (M3 x 16, 9 pieces), and pull the harmonic drive out from the bottom of the Y-axis arm.
Page 183 Replacement and reassembly ■ Follow the Steps below to replace the harmonic drive with a new one and reassemble it. Apply harmonic grease to the new wave generator. For the grease application area, refer to the figure below. Applying the harmonic grease Step 1 Wave generator Retaining ring groove...
Page 184 Secure the harmonic drive to the Y-axis arm. From the top of the Y-axis arm, secure the harmonic drive to the Y-axis arm using bolts (M3 x 16, 9 pieces) with a small amount of "Screw Lock" applied. (See the figure below.) CAUTION Do not allow the O-ring to get caught out of the groove during reassembly.
Page 185 Spline fastening Install the spline and harmonic Step 9 drive fastening plate. End face seal Fit a new O-ring into the O-ring groove on O-ring : KN4-M1896-00 the fastening plate and also replace the Fastening plate end face seal with new one. Then secure the fastening plate to the harmonic drive with the bolts (M3×25, 8 pieces) you removed earlier.
Page 186 Insert the spline and bearing into Step 11 Inserting the spline and bearing the holder. Insert the spline and bearing into the holder, and use the bolts (M5 x 16, 4 pieces) to Holder secure it. 63431-FR-00 Bearing Reattach the Y-axis arm upper cover. M5×16 Spline Aging...
Page 187: Yk700Xc, Yk800Xc, Yk1000Xc
Read "6. Detaching or attaching the covers" in Chapter 3 before performing the replacement. The following shows the parts and tools necessary for the X-axis harmonic drive replacement work. Replacement parts Part Name YAMAHA Part No. Part No. / Specs Q'ty Remarks...
Page 188 Detach the connectors of the X-axis motor power cable XM and resolver cable XP in the base. Remove the motor installation Step 6 Removing the motor installation bolts bolts. M5×25 Remove the bolts (M6×20, 4 pieces) securing the motor by using the ratchet handle, M6 M6×20 hexagonal socket, socket adapter and extension bar.
Page 189 Remove the X-axis arm installation Step 9 X-axis arm installation bolts bolts (M5×55, 8 pieces). 63435-FR-00 M5×55 Remove the X-axis arm and place it where it will not obstruct the work. 63436-FR-00 CAUTION An O-ring is fitted to the X-axis arm, so be careful not to let it drop into the peripheral unit.
Page 190 Replacement and reassembly ■ Follow the Steps below to replace the harmonic drive with a new one and reassemble it. Fit the O-ring into the new Applying the harmonic grease Step 1, 3 harmonic drive. Fit O-ring (supplied) into this groove. Fit an O-ring (supplied with the harmonic Harmonic drive will be damaged if drive) coated with harmonic grease into the...
Page 191 Securing the harmonic drive Secure the new harmonic drive to Step 4 the X-axis arm. Fit a new O-ring into the O-ring groove on M5×55 the X-axis arm and secure it to the harmonic drive. Then apply small amounts of "Screw Lock"...
Page 192 Temporarily fasten the motor to the Step 6 Installing the X-axis motor base. Fit a new O-ring to the motor and temporarily fasten the motor and spacer to the base with the bolts (M6×20, 4 pieces) you removed earlier. Insert a new O-ring between the spacer and the base at this point.
Page 193: Replacing The Y-Axis Harmonic Drive
Read "6. Detaching or attaching the covers" in Chapter 3 before performing the replacement. The following shows the parts and tools necessary for the Y-axis harmonic drive replacement work. Replacement parts Part Name YAMAHA Part No. Part No. / Specs Q'ty Remarks...
Page 194 Remove the wave generator from Step 7 Removing the wave generator the motor shaft. The wave generator is held in place by a key and one M4 set screw 63443-FR-00 M4 set screw WARNING When removing the Y-axis arm installation bolts (M4×20, 16 pieces) in the next step, the Y-axis arm may come off causing a hazardous situation.
Page 195 O-ring on top of the X-axis arm Remove the Y-axis harmonic drive Step 11 from the top of the X-axis arm. O-ring (S90 : KN4-M2143-00) CAUTION An O-ring is fitted to the upper surface of the X-axis, so be careful not to let it drop into the peripheral unit.
Page 196 Apply harmonic grease to the new Applying the harmonic grease Step 3-6 wave generator and flexspline. Fit O-ring (supplied) into this groove. For the grease application area, refer to the Harmonic drive will be damaged if figure at right. O-ring is caught out of groove. O-ring : KN5-M257L-00 Apply grease to entire Oldham coupling.
Page 197: Replacing The R-Axis Harmonic Drive
Read "6. Detaching or attaching the covers" in Chapter 3 before performing the replacement. The following shows the parts and tools necessary for the R-axis harmonic drive replacement work. Replacement parts Part Name YAMAHA Part No. Part No. / Specs Q'ty Remarks...
Page 198 Remove the bearing and the Step 6 Removing the bearing bearing mounting plate. U-nut Insert a steel rod or similar tool through the 8 mm diameter hole in the lower part of the spline, use a hook wrench to remove the U-nut from the top of the spline, and remove the bearing and the bearing mounting plate.
Page 199 Remove the bolts (M4×15, 4 pieces) securing the R-axis motor plate at the top of the Y-axis arm. Remove the pulley. Loosen the pulley set screw (M4, 2 pieces) and remove the pulley from the wave generator. Pull the harmonic drive out of the Y-axis arm. Remove the harmonic drive installation bolts (M3×30, 13 pieces) and pull the harmonic drive out from the bottom of the Y-axis arm.
Page 200 Replacement and reassembly ■ Follow the Steps below to replace the harmonic drive with a new one and reassemble it. Apply harmonic grease to the new wave generator. For the grease application area, refer to the figure below. Fit the O-ring into the new harmonic drive. Insert the new wave generator into the Y-axis arm from the bottom, and secure it with the retaining ring.
Page 201 Attach the harmonic drive to the Y-axis arm. Apply small amounts of "Screw Lock" to the bolts (M3×30, 13 pieces) and tighten them to secure the harmonic drive to the Y-axis arm from the top of the Y-axis arm. CAUTION Do not allow the O-ring to get caught out of the groove during reassembly.
Page 202 Installing the fastening plate Install the spline and harmonic Step 8 drive fastening plate. Fit a new O-ring into the O-ring groove on End face seal the fastening plate and also replace the end face seal with new one. Then secure O-ring the fastening plate to the harmonic drive (KN3-M2159-00)
Page 203 Insert the spline and bearing into Step 10 Inserting the spline and bearing the holder. Insert the spline and bearing into the holder, and use the bolts (M5 x 16, 4 pieces) to Holder secure it. 63461-FR-00 Bearing Reattach the Y-axis arm upper cover. M5×16 Spline Aging...
Page 204: Yk1200X
Read "6. Detaching or attaching the covers" in Chapter 3 before performing the replacement. The following shows the parts and tools necessary for the R-axis harmonic drive replacement work. Replacement parts Part Name YAMAHA Part No. Part No. / Specs Q'ty Remarks...
Page 205 Separate the spline support shafts (2 pieces) from the shaft fastening plate. Remove the bolts (M5 x 20, 4 pieces), and separate the spline support shafts (2 pieces) from the shaft fastening plate. Step 5 Separating the spline support shafts from the shaft fastening plate M4×30 Shaft fastening plate M5×20...
Page 206 Remove the R-axis dog ring from Removing the fastening plate Step 9 the fastening plate. O-ring : Remove the bolts (M4×14, 2 pieces) on the KN４-M2143-00 underside of the Y-axis arm and remove the R-axis dog ring from the fastening plate. Remove the plate fastening the spline and the harmonic drive.
Page 207 Replacement and reassembly ■ Follow the Steps below to replace the harmonic drive with a new one and reassemble it. Apply harmonic grease to the new wave generator. For the grease application area, refer to the figure below. Fit the new wave generator into the Y-axis arm. Fit the O-ring coated with harmonic grease into the O-ring groove on the new wave generator (wave generator support bearing section), and then insert the wave generator into position from the bottom of the Y-axis arm.
Page 208 Attach the harmonic drive to the Y-axis arm. From the top of the Y-axis arm, using bolts (M4 x 45, 12 pieces) with a small amount of "Screw Lock" applied, attach the harmonic drive to the Y-axis arm. (See the figure below.) CAUTION Do not allow the O-ring to get caught out of the groove during reassembly.
Page 209 Secure the dog ring to the fastening Step 10 Securing the spline shaft and bearing plate with the bolts (M4×14, 2 pieces). U-Nut Secure the bearing to the spline shaft. Pass the spline shaft through the holder and then through the bearing, and use the U-nut to secure the bearing.
Page 210 Aging ■ Go outside the safety enclosure. Turn on the controller. Check that no one is inside the safety enclosure, and then turn on the controller. CAUTION After replacing the harmonic drive, it is necessary to perform return-to-origin and reset the point data. Perform the adjustment as described in Chapter 3, "Robot settings".
Page 211 Chapter 6 Replacing the bellows Contents YK500XC, YK600XC YK700XC, YK800XC, YK1000XC...
Page 213 The YK-XC series uses bellows to prevent dust from being emitted from the spline axis. If the bellows requires replacement due to damage, replace it as described below. The following table shows the tightening torque for this procedure. WARNING • After reading "Qualification of operators/workers" of "Safety Instructions", the work in this chapter must be carried out only by the qualified personnel or with the qualified personnel attended.
Page 214: Yk500Xc, Yk600Xc
YK500XC, YK600XC Prepare the following items needed for the replacement procedure. • Hex wrench set • Phillips-head screwdriver Removal ■ Turn off the controller. Place a sign indicating the robot is being adjusted. Place a sign indicating the robot is being adjusted, to keep others from operating the controller or operation panel.
Page 215 Replacement and reassembly ■ Replace O-rings (6), fitted to the spline shaft with new ones. 63475-FR-00 Replace the O-rings at the bottom edge of the bellows. Fit new O-rings (5) to one of the bellows bottom clamp plates, insert the bellows end between the two clamp plates, and tighten bolts (2) to fasten them.
Page 216: Yk700Xc, Yk800Xc, Yk1000Xc
YK700XC, YK800XC, YK1000XC Prepare the following items needed for the replacement procedure. • Hex wrench set • Phillips-head screwdriver Removal ■ Turn off the controller. Place a sign indicating the robot is being adjusted. Place a sign indicating the robot is being adjusted, to keep others from operating the controller or operation panel.
Page 217 Replacement and reassembly ■ Replace O-rings (6), fitted to the spline shaft with new ones. 63480-FR-00 Replace the O-rings at the bottom edge of the bellows. Fit new O-rings (5) to one of the bellows bottom clamp plates, insert the bellows end between the two clamp plates, and tighten bolts (2) to fasten them.
Page 219: Chapter 7 Replacing The Grease For Rv Speed Reduction Gears (Yk1200X)
Chapter 7 Replacing the grease for RV speed reduction gears (YK1200X) Contents Replacement period Recommended grease Replacement procedure Replacing the X-axis grease (products manufactured from October 2009 onward) 7-2 Replacing the Y-axis grease (products manufactured from October 2009 onward) 7-4...
Page 221: Replacement Period
Y-axis speed reduction gear 192cc CAUTION The RV speed reduction gear service life may shorten if the grease recommended by YAMAHA is not used. Replacement procedure WARNING • The motor and speed reduction gear casing are extremely hot after automatic operation, so burns may occur if these are touched.
Page 222: Replacing The X-Axis Grease (Products Manufactured From October 2009 Onward)
Replacing the X-axis grease (products manufactured from October 2009 onward) The following items are required when replacing the X-axis grease. Tools ■ Name Part No. Manufacturer Remarks Daphne Eponex grease EP-0 Idemitsu Kosan Air tube joint (PT1/8) Hex wrench set Air tube Grease nipple A-MT6×1...
Page 223 Replacement and reassembly ■ Use the following procedure to replace the grease and reassemble the unit. Replace the grease. Using the grease gun, supply the specified grease into the grease nipple until the old grease is squeezed out from the upper tube. Install the plug.
Page 224: Replacing The Y-Axis Grease (Products Manufactured From October 2009 Onward)
Replacing the Y-axis grease (products manufactured from October 2009 onward) The following items are required when replacing the Y-axis grease. Tools ■ Name Part No. Manufacturer Remarks Daphne Grease MP-0 Idemitsu Kosan Air tube joint (PT1/8) Hex wrench set Air tube Grease nipple A-MT6×1 Supplied with the robot...
Page 225 Replacement and reassembly ■ Use the following procedure to replace the grease and reassemble the unit. Replace the grease. Using the grease gun, supply the specified grease into the grease nipple until the old grease is squeezed out from the upper tube. Install the plug.
Page 227 Chapter 8 Increasing the robot operating speed Contents Increasing the robot operating speed Increasing speed by arch motion Increasing the speed with the WEIGHT statement Increasing the speed by the tolerance parameter Increasing the speed by the OUT valid position parameter...
Page 229: Increasing The Robot Operating Speed
Increasing the robot operating speed The robot operating speed can be increased by the following methods. Use these methods as needed when programming. Increasing speed by arch motion [Also refer to:] Robot controller user’s manual (Controller system settings) (Axis parameters Arch pulse) Programming manual (Robot Language Lists) (ARCHP1/ARCHP2) Gate motion...
Page 230 Arch motion: Making the arch position value smaller In "2. Arch motion", as the arch pulse value is made further smaller, the tracking arc becomes large to further shorten the cycle time. Since the tracking draws an arc, use caution to avoid obstacles if they are located on the arm movement path. Arch motion: changing the arch positions in the program [Example 1] Arch position can be set for each axis.
Page 231: Increasing The Speed With The Weight Statement
Increasing the speed with the WEIGHT statement [Also refer to:] Robot controller user’s manual (Controller system settings) (Robot parameters Tip weight) Programming manual (Robot Language Lists) (WEIGHT) [Example] From P1 when chuck is open: WEIGHT 5 ....Changes the tip weight parameter to 5kg (no workpiece). MOVE P, P2, Z=0 DO3 (0) = 1 ....Chuck closes.
Page 232: Increasing The Speed By The Tolerance Parameter
Increasing the speed by the tolerance parameter [Also refer to:] Robot controller user’s manual (Controller system settings) (Axis parameters Tolerance) Programming manual (Robot Language Lists) (TOLE) Increasing the speed by the tolerance parameter 23605-F0 [Example] From P1 to P3 via P2 TOLE (1) = 2048 ...
Page 233: Increasing The Speed By The Out Valid Position Parameter
Increasing the speed by the OUT valid position parameter [Also refer to:] Robot controller user’s manual (Controller system settings) (Axis parameters Out valid position) Programming manual (Robot Language Lists) (OUTPOS) [Example] From P1 when chuck is open: OUTPOS (1) = 10000... X-axis OUT valid position (pulses) : Increases the OUT valid position. OUTPOS (2) = 10000...
Page 235 Chapter 9 Torque limit designated Z-axis pushing action ( YK1200X ) Contents Torque limit designated Z-axis pushing action...
Page 237 Torque limit designated Z-axis pushing action You can use the PUSH statement in a program to apply a Z-axis pushing action (in the direction of gravity). The torque limit value (%) and speed limit value (%) relative to the motor rated torque corresponding to the tip load weight are shown below.
Page 239 Chapter 10 Specifications Contents Manipulator 10-1 Basic specification 10-1 Regarding the noise level 10-4 External view and dimensions 10-5 1.3.1 YK500XC 10-5 1.3.2 YK600XC 10-7 1.3.3 YK700XC 10-9 1.3.4 YK800XC 10-11 1.3.5 YK1000XC 10-13 1.3.6 YK1200X 10-15 Robot inner wiring diagram 10-19 Wiring table 10-20...
Page 241 Manipulator Basic specification Robot model YK500XC YK600XC Arm length 250mm 350mm X-axis Rotation angle ±120° ±120° Arm length 250mm 250mm Axis Y-axis specifications Rotation angle ±142° ±145° Z-axis Stroke 200, 300mm 200, 300mm R-axis Rotation angle ±180° ±180° X-axis 400W 400W Y-axis 200W...
Page 242 Robot model YK700XC YK800XC YK1000XC Arm length 350mm 450mm 550mm X-axis Rotation angle ±120° ±120° ±120° Arm length 350mm 350mm 450mm Axis Y-axis specifications Rotation angle ±145° ±145° ±145° Z-axis Stroke 200, 400mm 200, 400mm 200, 400mm R-axis Rotation angle ±180°...
Page 243 Robot model YK1200X Arm length 600mm X-axis Rotation angle ±125° Arm length 600mm Axis Y-axis specifications Rotation angle ±150° Z-axis Stroke 400mm R-axis Rotation angle ±180° X-axis 900W Y-axis 800W Motor Z-axis 600W R-axis 400W XY resultant 7.4m/s Maximum speed Z-axis 0.75m/s R-axis...
Page 244 Regarding the noise level Equivalent sound level of robot, LAeq (A) Robot model (when there is 10dB or more difference Position where the noise level is measured from background sound pressure level) YK500XC, YK600XC 69.7dB 1.0m away from the rear of robot, 1.6m height YK700XC, YK800XC, YK1000XC 69.4dB 1.0m away from the rear of robot, 1.6m height...
Page 245 External view and dimensions 1.3.1 YK500XC 54.5 122.5 User tubes 2 (φ6 Red) R-axis rotating radius User tubes 3 (φ6 Blue) User tubes 1 D-sub connector for user wiring (φ6 Black) 4-φ11 (Adapted to No.1 to 20) Use M10 bolt for installation 166 (base dimensions) Z300mm stroke...
Page 246 Working envelope X,Y axis mechanical stopper position M4 grounding terminal D-sub connector for user wiring (Adapted to No.1 to 20) User tubes 1 (φ6 Black) User tubes 1 (φ6 Red) Joint (φ12x3 pcs.)* User tubes 1 (φ6 Blue) * For details on tubing methods, refer to "5. User wiring and user tubing" in Chapter 2. 63602-FR-00 10-6...
Page 247 1.3.2 YK600XC 54.5 122.5 User tubes 2 (φ6 Red) R-axis rotating radius User tubes 3 (φ6 Blue) D-sub connector for user wiring User tubes 1 (φ6 Black) 4- 11 (Adapted to No.1 to 20) Use M10 bolt 166 (base dimensions) for installation Z300mm stroke...
Page 248 Working envelope X,Y axis mechanical stopper position D-sub connector for user wiring (Adapted to No.1 to 20) M4 grounding terminal User tubes 1 (φ6 Black) Joint (φ12x3 pcs.)* User tubes 1 (φ6 Red) User tubes 1 (φ6 Blue) * For details on tubing methods, refer to "5. User wiring and user tubing" in Chapter 2. 63604-FR-00 10-8...
Page 249 1.3.3 YK700XC User tubes 1 (φ6 Black) D-sub connector for user wiring (Adapted to No.1 to 20) User tubes 2 (φ6 Red) User tubes 3 (φ6 Blue) R-axis rotating radius 4-φ14 Use M12 bolt for installation 1020 Z400mm stroke Z200mm stroke 226±2 R27 (Min.
Page 250 Working envelope X,Y axis mechanical stopper position User tubes 1 (φ6 Black) User tubes 1 (φ6 Red) User tubes 1 (φ6 Blue) Joint (φ12x3 pcs.)* M4 grounding terminal D-sub connector for user wiring (Adapted to No.1 to 20) * For details on tubing methods, refer to "5. User wiring and user tubing" in Chapter 2. 63606-FR-00 10-10...
Page 251 1.3.4 YK800XC User tubes 1 (φ6 Black) D-sub connector for user wiring User tubes 2 (φ6 Red) (Adapted to No.1 to 20) User tubes 3 (φ6 Blue) R-axis rotating radius 4-φ14 Use M12 bolt for installation 1020 Z400mm stroke Z200mm stroke 226±2 φ22...
Page 252 Working envelope X,Y axis mechanical stopper position User tubes 1 (φ6 Black) User tubes 1 (φ6 Red) User tubes 1 (φ6 Blue) M4 grounding terminal D-sub connector for user wiring Joint (φ12x3 pcs.)* (Adapted to No.1 to 20) * For details on tubing methods, refer to "5. User wiring and user tubing" in Chapter 2. 63608-FR-00 10-12...
Page 253 1.3.5 YK1000XC User tubes 1 (φ6 Black) D-sub connector for user wiring User tubes 2 (φ6 Red) (Adapted to No.1 to 20) User tubes 3 (φ6 Blue) R-axis rotating radius 4-φ14 Use M12 bolt for installation 1020 Z400mm stroke Z200mm stroke 226±2 φ22...
Page 254 Working envelope X,Y axis mechanical stopper position User tubes 1 (φ6 Black) User tubes 1 (φ6 Red) User tubes 1 (φ6 Blue) M4 grounding terminal D-sub connector for user wiring Joint (φ12x3 pcs.)* (Adapted to No.1 to 20) * For details on tubing methods, refer to "5. User wiring and user tubing" in Chapter 2. 63610-FR-00 10-14...
Page 255 1.3.6 YK1200X Products shipped before April 2021 ■ D-sub connector for user wiring (No. 1 to 20 usable, socket contact) User tubes 1 (φ6 Black) 4-φ14 User tubes 2 (φ6 Red) Use M10 bolt for User tubes 3 (φ6 Blue) installation 252 (base dimensions) 1168...
Page 256 Interference position (a) Base flange (b) Base rear side (c) Base Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) M4 grounding terminal D-sub connector for user wiring User tubes 1 (φ6 Black) (No. 1 to 20 usable, pin contact) User tubes 1 (φ6 Red) User tubes 1 (φ6 Blue) 63612-FR-00...
Page 257 Products shipped after May 2021 ■ D-sub connector for user wiring (No. 1 to 20 usable, socket contact) User tubes 1 (φ6 Black) 4-φ14 User tubes 2 (φ6 Red) Use M10 bolt for User tubes 3 (φ6 Blue) installation 252 (base dimensions) 1168 2×2-M4×0.7 Depth 10...
Page 258 Interference position (a) Base flange (b) Base rear side (c) Base Working envelope X and Y-axis mechanical stopper positions (maximum working envelope) M4 grounding terminal D-sub connector for user wiring User tubes 1 (φ6 Black) (No. 1 to 20 usable, pin contact) User tubes 1 (φ6 Red) User tubes 1 (φ6 Blue) 63612-FR-01...
Page 259 Robot inner wiring diagram Machine harness User IO connector User tubing RORG RORG YORG YORG R-axis resolver Round terminal R-axis motor Z-axis resolver Z-axis motor Y-axis resolver Z-axis brake Y-axis motor X-axis origin sensor R-axis origin sensor Y-axis arm X-axis arm Y-axis origin sensor X-axis motor X-axis resolver...
Page 260 Wiring table Robot cable wiring table ■ Color Signal Connector Connection Connector Wire Resolver Blue 0.15sq Twisted pair Orange Green 0.15sq Twisted pair Brown Gray 0.15sq Twisted pair Gray 0.3sq Resolver Black 0.15sq Twisted pair Yellow Pink 0.15sq Twisted pair Purple White 0.15sq...
Page 261 Connector Signal Connection Connector Color Wire Resolver 0.15sq Blue Twisted pair Orange 0.15sq Green Twisted pair Brown 0.15sq Gray Twisted pair 0.3sq Gray 0.15sq Brake Black Twisted pair Yellow 0.15sq Pink Twisted pair Purple Resolver White 0.15sq Twisted pair Blue/Red Orange/White 0.15sq Twisted pair...
Page 262 Machine harness wiring table ■ Y-axis arm side Base side Signal Connector Connection No Connector Color Connection Brown Y-axis Resolver 0.2mm Twisted pair White 0.2mm Twisted pair White Orange 0.2mm Twisted pair White Green Shield Brown Z-axis Resolver 0.2mm Twisted pair Black 0.2mm Twisted pair...
Page 263 Motor wiring table ■ Signal Color Connection Connector Yellow Blue Resolver XP,YP,ZP,RP Black White Green SHIELD Black XM, YM, ZM, RM White Motor Black Round terminal Yellow Green Yellow ZBK (Z-axis motor only) Brake Yellow 63617-FR-00 Origin sensor wiring table ■...
Page 265 Manufacturer Y AMARA MOTOR CO., LTD. Robotics Operations 127 Toyooka, Kita-ku, Hamamatsu, Shizuoka 433-8103, Japan Representative Yamaha Motor Europe N.V., Niederlassung Deutschland, German Branch, IM Business Hansemannstrase 12, 41468 Neuss, Germany This declaration of conformity is issued under the sole responsibility of the manufacturer.
Page 266 YAMAHA MOTOR CO., LTD. The contents of this manual are subject to change without prior notice. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccuracies or omissions.
Page 268 127 Toyooka, Kitaku, Hamamatsu, Shizuoka, 433-8103, Japan Tel. 81-53-525 - 8250 Fax. 81 - 53 - 525 - 8378 Robot manuals can be downloaded from our company website. Please use the following for more detailed information. https://global.yamaha-motor.com/business/robot/ YAMAHA MOTOR CO., LTD.

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