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Yamaha YP-X Series Owner's Manual
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Yamaha YP-X Series Owner's Manual

Yamaha YP-X Series Owner's Manual

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  • Page 1 OWNER'S MANUAL...
  • Page 3 Before using the “YP-X” series robot (Be sure to read the following notes.) At this time, our thanks for your purchase of this YAMAHA “YP-X” series robot. The “YP-X” series robot use absolute position detectors that do not require return-to-origin after turning on the controller power.
  • Page 4 R axis On the above robots, the customer should set the origin at the desired position. Move the robot to the desired position and set it as the origin while referring to the following section in the robot controller instruction manual. When using DRCX or TRCX controllers: See “9-1-1 Return-to-origin by the search method”...
  • Page 5 Place (P&P) robots. This manual contains important information on items such as an overview, han- dling, adjustment, and service of YP-X Series robots to ensure correct and effi- cient use. Please be sure to read this manual before installing the equipment.
  • Page 6 MEMO...

  • Page 7: Table Of Contents

    CONTENTS CHAPTER 1 Using the Robot Safely 1 Safety Information........... 1-1 2 Essential Caution Items ........... 1-2 3 Special Training for Industrial Robot Operation ..1-8 4 Robot Safety Functions ..........1-9 5 Safety Measures for the System ......1-10 6 Trial Operation ............
  • Page 8 CHAPTER 4 Adjustment 1 Outline ..............4-1 Robot parameter settings ..............4-2 2 Setting the origin position ........4-3 Mark method (R-axis) ..............4-4 Stroke end method (X, Z, Y axes) ........... 4-5 3 Adjustment of the belt tension ........ 4-6 Adjustment of X,Y, Z axis motor belt tension ........
  • Page 9 CHAPTER 6 Specifications 1 P & P robot unit............6-1 Basic specifications ................ 6-1 Robot External Views ..............6-2 Table of robot control signals ............6-8 Piping and wiring of robot ............6-14 2 R axis allowable moment/inertia moment ..... 6-18 R axis allowable moment/inertia moment ........
  • Page 10 MEMO...
  • Page 11 CHAPTER Using the Robot Safely Safety Information ......... 1-1 Essential Caution Items ........1-2 Special Training for Industrial Robot Operation ..1-8 Robot Safety Functions ........1-9 Safety Measures for the System ....1-10 Trial Operation ..........1-11 Work Within The Safeguards ....... 1-12 Automatic Operation ........
  • Page 12 MEMO...

  • Page 13: Safety Information

    Industrial robots are highly programmable, mechanical devices that provide a large degree of freedom when performing various manipulative tasks. To ensure correct and safe use of YAMAHA industrial robots, carefully read this manual and make yourself well acquainted with the contents. FOLLOW THE WARNINGS, CAUTIONS AND INSTRUCTIONS INCLUDED IN THIS MANUAL.

  • Page 14: Essential Caution Items

    CHAPTER 1 Using the Robot Safely Essential Caution Items Particularly important cautions for handling or operating the robot are described below. In addition, safety information about installation, operation, inspection and maintenance is provided in each chapter. Be sure to comply with these in- structions to ensure safe use of the robot.
  • Page 15 CHAPTER 1 Using the Robot Safely (3) Follow the instructions on warning labels and in this manual. Warning label 3 (see Fig. 1-3) is supplied with the robot and should be af- fixed to the robot or a conspicuous spot near the robot. •...
  • Page 16 CHAPTER 1 Using the Robot Safely (4) Do not use the robot in environments containing inflammable gas, etc. WARNING • This robot was not designed for operation in environments where inflammable or explosive substances are present. • Do not use the robot in environments containing inflammable gas, dust or liquids.
  • Page 17 (10) Consult us for corrective action when the robot is damaged or malfunc- tion occurs. WARNING If any part of the robot is damaged or any malfunction occurs, con- tinuous operation may be very dangerous. Please consult YAMAHA dealer for corrective action. Damage or Trouble Possible Danger...
  • Page 18 CHAPTER 1 Using the Robot Safely (11) Use caution not to touch the cooling fan on the controller rear panel. WARNING • Bodily injury may occur from coming into contact with the cool- ing fan while it is rotating. • When removing the fan cover for inspection, first turn off the con- troller and make sure the fan has stopped.
  • Page 19 CHAPTER 1 Using the Robot Safely (15) Be sure to make correct parameter settings. CAUTION The robot must be operated with correct tolerable moment of inertia and acceleration coefficients according to the manipulator tip mass and mo- ment 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.

  • Page 20: Special Training For Industrial Robot Operation

    Since the YAMAHA YP-X Series pick-and-place robots fall under the industrial robot category, the user must observe local regulations and safety standards for...

  • Page 21: Robot Safety Functions

    CHAPTER 1 Using the Robot Safely Robot Safety Functions (1) Overload detection This function detects an overload applied to the motor and shuts off the servo power. (2) Overheat detection This detects an abnormal temperature rise in the controller’s driver and shuts off the servo power.

  • Page 22: Safety Measures For The System

    CHAPTER 1 Using the Robot Safely Safety Measures for the System Since the robot is commonly used in conjunction with an automated system, a dangerous situation is 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.

  • Page 23: Trial Operation

    CHAPTER 1 Using the Robot Safely Trial Operation After installation, adjustment, inspection, maintenance or repair of the robot has been done, perform a trial operation using the following procedures. (1) If a safeguard has not yet been provided right after installation of the robot, rope off or chain off around the movement area of the manipulator in place of the safeguard, and observe the following points.

  • Page 24: Work Within The Safeguards

    CHAPTER 1 Using the Robot Safely Work Within The Safeguards (1) When work is required inside the safeguard enclosure, always turn off the controller and place a sign indicating that the robot is being adjusted or serv- iced in order to keep any other person from inadvertently touching the con- troller switch or operation panel, except for the following cases.

  • Page 25: Automatic Operation

    CHAPTER 1 Using the Robot Safely Automatic Operation Automatic operation described here includes all operations in AUTO mode. (1) Check the following before starting automatic operation. q No one is within the safeguard enclosure. w The programming unit and tools are in their specified locations. e The alarm or error lamps on the robot and peripheral equipment do not flash.

  • Page 26: Warranty

    CHAPTER 1 Using the Robot Safely Warranty The YAMAHA robot and/or related product you have purchased are warranted against the defects or malfunctions as described below. Warranty description : If a failure or breakdown occurs due to defects in materials or workmanship in the genuine...

  • Page 27: Ce Markings

    SOEVER WITH REGARD TO ACCESSORIES OR PARTS NOT SUPPLIED BY YAMAHA MOTOR CO., LTD. CE Markings For information about CE markings relating to cases in which the YAMAHA robot is exported to or used in European countries, refer to the separate “YAMAHA QRCX-E Robot Controller Owner’s Manual”. 1-15...

  • Page 28: Precautions

    7) The axes on the YP-X series are belt-driven (see specifications). Using the motor to apply thrust (press-fit, etc.) may sometimes cause the teeth on the belt to jump free.

  • Page 29: Chapter 2 Functions

    CHAPTER Functions P & P robot unit ..........2-1 P & P robot controller........2-2...
  • Page 30 MEMO...

  • Page 31: P Robot Unit

    CHAPTER 2 Functions P & P robot unit The YP320X and YP220BX each have 2 axes: X and Z. The YP330X has 3 axes: X, Y and Z. The YP320XR and YP220BXR have 3 axes: X, Z and R. The YP340X has 4 axes: X, Y, Z and R.

  • Page 32: P Robot Controller

    CHAPTER 2 Functions P & P robot controller The YP-X series robots use the QRCX, TRCX, DRCX as their robot controllers. Please refer to the "YAMAHA Robot Controller QRCX, TRCX, DRCX Instruc- tion and Owner's Manual" for detailed information on each robot controller.
  • Page 33 CHAPTER Installation Robot Installation Conditions ......3-1 Installation environments ..........3-1 Installation ............. 3-3 Installation frame ............3-3 Installing the robot ............3-4 Connection of robot cables......3-7 Protective Bonding ........3-9...
  • Page 34 MEMO...

  • Page 35: Chapter 3 Installation

    Allow sufficient space margin to perform jobs (teaching, inspection, repair, etc.) For detailed information on how to install the robot controller, refer to the sepa- rate “YAMAHA Robot Controller Owner’s Manual”. WARNING Avoid installing the robot in locations where the ambient condi-...
  • Page 36 CHAPTER 3 Installation WARNING Do not use the robot in locations subject to excessive vibration. Robot installation bolts may otherwise become loose causing the manipulator to fall over.

  • Page 37: Installation

    CHAPTER 3 Installation Installation Strictly observe all safety precautions and procedures inorder to install the robot correctly and safely. Installation frame 1) Prepare a strong, rigid installation frame to absorb large reactive forces that occur during robot operation. CAUTION Vibration (resonance) may adversely affect robot operation if this frame is not rigid.

  • Page 38: Installing The Robot

    CHAPTER 3 Installation Installing the robot (1) YP320X, YP320XR installation Eight M8 screw holes (pitch 1.25 mm) are provided in the base section of the YP320X and YP320XR unit. Use four of these holes for the installation. CAUTION The plate thickness of the base is 20 mm so make sure the bolts do not exceed this distance and protrude into the robot interior.
  • Page 39 1) Drill holes (approx. 10 dia.) into the frame installation surface as shown. 2) Tighten with a hex head bolts from the rear side of the frame through the holes. The M8 bolt tightening torque is 230 to 370 kgcm. YAMAHA YP SERIES 8-M8×1.25 Depth 20 Fig. 3-2 YP330X, YP340X installation...
  • Page 40 1) Tap four M8 (thread pitch 1.25mm) holes into the installation base. 2) Secure the robot to the base with M8 hex socket head bolts (tightening torque: 230 to 370kgcm) from inside of the robot frame. YAMAHA 4-φ10 Fig. 3-3 YP220BX, YP220BXR installation...

  • Page 41: Connection Of Robot Cables

    CHAPTER 3 Installation Connection of robot cables The robot cables are already attached to the YP-X series robot side. Refer to the "YAMAHA Robot Controller DRCX, TRCX or QRCX Instruction and Owner's Manuals" for connecting to the controller side. X MO CN...
  • Page 42 CHAPTER 3 Installation DRCX Robot Cable YP320X Fig. 3-5 Robot cable connections...

  • Page 43: Protective Bonding

    To check the ground terminal locations, refer to Chapter 6, “Specifi- cations”. 3) For details on protective bonding on the robot body to comply with CE mark- ings, follow the instructions on protective bonding explained in the YAMAHA Robot Controller Owner's Manual. CAUTION •...
  • Page 44 CHAPTER 3 Installation WARNING • Before connecting the cables, check that there are no bends or breaks in the connector pins of the robot cable and that the ca- bles are not damaged. Bent or broken pins or cable damage may cause malfunction of the robot.

  • Page 45: Adjustment

    CHAPTER Adjustment Outline ............4-1 Robot parameter settings ..........4-2 Setting the origin position ......4-3 Mark method (R-axis) ............4-4 Stroke end method (X, Z, Y axes) ........4-5 Adjustment of the belt tension ....... 4-6 Adjustment of X,Y, Z axis motor belt tension ....4-6 Adjustment of Z axis tip belt tension (YP320X, YP320XR, YP330X, YP340X) ......
  • Page 46 MEMO...

  • Page 47: Outline

    Various adjustments, including the origin adjustment, have been completely per- formed by YAMAHA or the dealer at shipment. If the usage conditions are changed (changes of tools such as the hand) and the P & P robot must be adjusted for this, follow the procedure given in this chapter.

  • Page 48: Robot Parameter Settings

    CHAPTER 4 Installation Robot parameter settings Please take note of the following points when setting parameter data on the ro- bots. (Refer to the DRCX, TRCX or QRCX controller instruction manual.) • Do not set the plus and minus software limits larger than the default set- tings (operating range as listed in the specifications).

  • Page 49: Setting The Origin Position

    CHAPTER 4 Installation Setting the origin position All models of the YP-X series use a position detector for absolute reset. The origin position (“0” pulse position) is set by performing absolute reset. Once absolute reset is performed, it is not needed when the power is turned on again.

  • Page 50: Mark Method (R-Axis)

    The mark method or the stroke end method can be used to perform absolute reset for the YP-X series. The mark method is used for the R-axis default setting and the stroke end method is used for the X, Y and Z axis default settings.

  • Page 51: Stroke End Method (X, Z, Y Axes)

    CHAPTER 4 Installation Stroke end method (X, Z, Y axes) In absolute reset by the stroke end method, the position where the axis tip strikes the mechanical stopper is detected, and absolute reset performed at a position backed off slightly from the stroke end. WARNING Making physical contact with the robot during operation can cause severe injuries.

  • Page 52: Adjustment Of The Belt Tension

    CHAPTER 4 Installation Adjustment of the belt tension Each axis of the YP-X series robots has a belt-driven structure. When this belt is replaced or when it is stretched due to strong external forces (bumping etc.), adjust the belt tension with the following procedure.

  • Page 53: Adjustment Of Z Axis Tip Belt Tension (Yp320X, Yp320Xr, Yp330X, Yp340X)

    CHAPTER 4 Installation Adjustment of Z axis tip belt tension (YP320X, YP320XR, YP330X, YP340X) 1) Turn off the controller power. 2) Remove the robot Z axis cover. 3) Loosen the bolt securing the belt tensioner as shown in Fig. 4-3 and loosen the belt.

  • Page 54: Adjustment Of Z Axis Tip Belt Tension (Yp220Bx, Yp220Bxr)

    CHAPTER 4 Installation Adjustment of Z axis tip belt tension (YP220BX, YP220BXR) 1) Turn off the controller power. 2) Remove the robot Z axis cover. 3) Loosen the bolt securing the belt tensioner as shown in Fig. 4-4 and loosen the belt.

  • Page 55: Adjust The X-Axis Belt Tension (Yp220Bx, Yp220Bxr)

    CHAPTER 4 Installation Adjust the X-axis belt tension (YP220BX, YP220BXR) 1) Turn off the controller power. 2) Remove the side cover on the robot unit. 3) Loosen the bolts securing the driven pulley shown in Fig. 4-5. 4) Loosen the belt tensioner (L-shaped metal plate) M5 bolts and apply tension to the belt.
  • Page 56 MEMO 4-10...
  • Page 57 CHAPTER Periodic Inspecition Introduction ..........5-1 Inspection ............5-3 Daily Checklist ............... 5-3 Six Month Inspection ............5-4 Replacement of Motor ........5-5 Replacement of X, Y, Z axis motors (YP320X, YP330X, YP340X, YP320XR) ......5-5 Replacement of X and Z axis motor (YP220BX, YP220BXR) ...........
  • Page 58 MEMO...

  • Page 59: Introduction

    Periodic inspections and maintenance are extremely important in assuring that the YAMAHA robot will perform safely and efficiently. This chapter covers the procedures by which periodic inspections of the YAMAHA YP-X Series are car- ried out, as well as the items to be inspected and information on maintenance.
  • Page 60 CHAPTER 5 Installation WARNING Precautions when handling grease: • Inflammation may occur if they get in the eyes. Before handling them, wear your safety goggles to ensure they will not come in contact with the eyes. • Inflammation may occur if they come into contact with skin. Be sure to wear protective gloves to prevent contact with skin.

  • Page 61: Inspection

    A premature wear or dam- age to the sliding surface may otherwise result. CAUTION Using a grease other than recommended by YAMAHA may shorten the service life of the ball screw, ball spline, ball bushing and linear guide.

  • Page 62: Six Month Inspection

    CHAPTER 5 Installation Six Month Inspection Inspect the following for the six month inspection, and replace parts if necessary. Inspection or replacement place Inspection or replacement details Main bolts and screws on the P & P Check for looseness. If loose, tighten. robot X, Y and Z axis timing belt Check the X, Y, and Z axis timing belts for tension,...

  • Page 63: Replacement Of Motor

    CHAPTER 5 Installation Replacement of Motor Replace the motor if it generates abnormal sounds or vibrations, causes errors or cannot be positioned correctly. CAUTION After the motor has been replaced, the origin position must be set again by absolute reset, point data setting rechecked, and belt tension readjusted Replacement of X, Y, Z axis motors (YP320X, YP330X, YP340X, YP320XR) The X axis motors for the YP320X, YP330X, YP340X, YP320XR;...
  • Page 64 CHAPTER 5 Installation Bracket Securing bolt Connector Motor shaft Pulley X and Z axes motor Set screw Metal bracket X-axis motor Belt Fig. 5-1 Motor replacement...

  • Page 65: Replacement Of X And Z Axis Motor (Yp220Bx, Yp220Bxr)

    CHAPTER 5 Installation Replacement of X and Z axis motor (YP220BX, YP220BXR) The X and Z axis motors of the YP220BX and YP220BXR are both attached to a metal bracket. A pulley is attached to the motor shaft by a setscrew. 1) Turn off the controller power.

  • Page 66: Replacement Of R Axis Motor (Yp220Bxr, Yp320Xr, Yp340X)

    CHAPTER 5 Installation Replacement of R axis motor (YP220BXR, YP320XR, YP340X) The R-axis motor on the YP220BXR, YP320XR, YP340X is a built-in structure and basically comprised of a stator and rotor. 1) Turn off the controller power. 2) Remove the cover on which a R-axis whip-over cable is attached, and dis- connect the motor power cable and signal cable connectors.

  • Page 67: Belt Replacement Method

    CHAPTER 5 Installation Belt replacement method Replace the belt if it is damaged, worn or might otherwise interfere with machine operation. CAUTION After the belt has been replaced, the origin position must be set again by absolute reset, point data setting rechecked, and belt tension readjusted. Replacement of the X and Z axis belts (YP320X, YP330X, YP340X, YP320XR) 1) Turn off the controller power.

  • Page 68: Replacement Of Y Axis Belt (Yp330X, Yp340X)

    CHAPTER 5 Installation Replacement of Y axis belt (YP330X, YP340X) 1) Turn off the controller power. 2) Remove the robot Y axis cover. 3) Place marks(with a marker etc.) on the pulleys before replacement to limit deviations in point data occurring due to the belt replacement. (Fig. 5-4) 4) Loosen the tension on the belt and remove the belt.

  • Page 69: Replacement Of Z Axis Belt (Yp220Bx, Yp220Bxr)

    CHAPTER 5 Installation Replacement of Z axis belt (YP220BX, YP220BXR) 1) Turn off the controller power. 2) Remove the side cover on the robot unit.4) 3) Place marks(with a marker etc.) on the pulleys before replacement to limit deviations in point data occurring due to the belt replacement. (Fig. 5-4) 4) Remove the M6 bolts securing the Z-axis motor metal bracket, and remove the belt from the pulley.

  • Page 70: Replacement Of X Axis Belt (Yp220Bx, Yp220Bxr)

    CHAPTER 5 Installation Replacement of X axis belt (YP220BX, YP220BXR) 1) Turn off the controller power. 2) Remove the side cover on the robot unit.4) 3) Place marks(with a marker etc.) on the pulleys before replacement to limit deviations in point data occurring due to the belt replacement. (Fig. 5-4) 4) Loosen the M6 bolts securing the X-axis motor metal bracket, and remove the belt from the pulley.

  • Page 71: Replacement Of Z Axis Tip Section Belt (Yp320X, Yp330X, Yp340X, Yp320Xr)

    CHAPTER 5 Installation Replacement of Z axis tip section belt (YP320X, YP330X, YP340X, YP320XR) 1) Turn off the controller power. 2) Remove the robot Z axis cover. 3) Place marks(with a marker etc.) on the pulleys before replacement to limit deviations in point data occurring due to the belt replacement.

  • Page 72: Replacement Of Z Axis Tip Section Belt (Yp220Bx, Yp220Bxr)

    CHAPTER 5 Installation Replacement of Z axis tip section belt (YP220BX, YP220BXR) 1) Turn off the controller power. 2) Remove the robot Z axis cover. 3) Place marks(with a marker etc.) on the pulleys before replacement to limit deviations in point data occurring due to the belt replacement. (Fig. 5-4) 4) Remove the bolts securing the belt tensioner in Fig.

  • Page 73: Sample Troubleshooting

    CHAPTER 5 Installation Sample troubleshooting 5-15...
  • Page 74 CHAPTER 5 Installation 5-16...

  • Page 75: Spare Parts List

    CHAPTER 5 Installation Spare parts list 5-17...
  • Page 76 CHAPTER 5 Installation 5-18...
  • Page 77 CHAPTER 5 Installation 5-19...
  • Page 78 CHAPTER 5 Installation 5-20...
  • Page 79 CHAPTER 5 Installation 5-21...
  • Page 80 CHAPTER 5 Installation 5-22...
  • Page 81 CHAPTER Specifications P & P robot unit ..........6-1 Basic specifications ............6-1 Robot External Views ............6-2 Table of robot control signals .......... 6-8 Piping and wiring of robot ..........6-14 R axis allowable moment/inertia moment ... 6-18 R axis allowable moment/inertia moment ..... 6-18 Equation for moment of inertia calculation ....
  • Page 82 MEMO...

  • Page 83: Chapter 6 Specifications

    CHAPTER 6 Specifications P & P robot unit Basic specifications YP220BX YP220BXR YP320X YP320XR YP330X YP340X No. of axes X-axis (fwd/rev) 200W 200W 200W 200W 200W 200W Y-axis (rt/lt.) – – – – 200W 200W Z -axis (up/down) 200W 200W 200W 200W 200W...

  • Page 84: Robot External Views

    CHAPTER 6 Specifications Robot External Views Fig. 6-1 YP220BX robot external view...
  • Page 85 CHAPTER 6 Specifications Fig. 6-2 YP220BXR robot external view...
  • Page 86 CHAPTER 6 Specifications Fig. 6-3 YP320X robot external view...
  • Page 87 CHAPTER 6 Specifications Fig. 6-4 YP330X robot external view...
  • Page 88 CHAPTER 6 Specifications Fig. 6-5 YP340X robot external view...
  • Page 89 CHAPTER 6 Specifications Fig. 6-6 YP320XR robot external view...

  • Page 90: Table Of Robot Control Signals

    CHAPTER 6 Specifications Table of robot control signals 1) YP340X, TRCX4, QRCX4 YP330X, YP320XR, YP220BXR and QRCX3 Robot side Controller side Robot side Controller side Signal Connector Connection Connector Color/No. Signal Connector Connection Connector Color/No. Resolver Resolver Blue Blue Orange Orange Green Green...
  • Page 91 CHAPTER 6 Specifications (Controller side) (Robot side) Fig. 6-7 Wiring between robot and controller...
  • Page 92 CHAPTER 6 Specifications 2) YP330X, YP320XR, YP220BXR and TRCX3 Robot side Controller side Robot side Controller side Signal Connector Connection Connector Color/No. Signal Connector Connection Connector Color/No. Resolver Blue Resolver Blue Orange Orange Green Green Brown Brown Grey Grey Green Green Brake Black...
  • Page 93 CHAPTER 6 Specifications (Controller side) (Robot side) Fig. 6-8 Wiring between robot and controller 6-11...
  • Page 94 CHAPTER 6 Specifications 3) YP320X, YP220BX and DRCX, QRCX2 Robot side Controller side Signal Connector Connection Connector Color/No. Resolver Blue Orange Green Brown Grey Green Brake Black Yellow Pink Resolver Purple White Blue/Red Orange/White Green/White Green Brake Brown/White Grey/White HLIM Green GND24 HLIM...
  • Page 95 CHAPTER 6 Specifications (Controller side) (Robot side) Fig. 6-9 Wiring between robot and controller 6-13...

  • Page 96: Piping And Wiring Of Robot

    CHAPTER 6 Specifications Piping and wiring of robot User air tubing and wiring have been provided on the YP-X series robots. Use these user air tubing and wiring when installing air chucks (gripper), vacuum pads and other tools. 1) YP320X, YP320XR...
  • Page 97 As standard features, four air tubes (4mm dia.) and a cable (12 conductors, 0.2 sg.) are routed through the robot unit as shown below. These are provided for the user so utilize as needed. YAMAHA YP SERIES Fig. 6-13 User wiring and piping connections 6-15...
  • Page 98 CHAPTER 6 Specifications 3) YP220BX Air coupling (φ4×2) Cable and air tube extraction port Air coupling (φ6×1) Cable extraction port Fig. 6-14 User wiring and piping connections In the standard configuration, one air tube (6mm diameter), two air tubes (4mm diameter) and one cable (12 conductor wires, 0.2sg.) run through the robot unit as shown below.
  • Page 99 As standard features, two air tubes (4mm dia.) and a cable (10 conductors, 0.2 sg.) are routed through the robot unit as shown below. These are provided for the user so utilize as needed. YAMAHA Fig. 6-17 User wiring and piping connections 6-17...

  • Page 100: Axis Allowable Moment/Inertia Moment

    CHAPTER 6 Specifications R axis allowable moment/inertia moment R axis allowable moment/inertia moment Due to the robot R axis motor and speed reduction gear specifications, there is a limit to the load that can be applied to the R axis. If the robot is operated with this limit exceeded, the above drive parts' lives will decrease and may cause breakage.

  • Page 101: Equation For Moment Of Inertia Calculation

    CHAPTER 6 Specifications 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 102 CHAPTER 6 Specifications 3. When the object's center line is offset from the rotation center. The equation for the moment of inertia, when the center of the cylinder is offset the amount of “x” from the rotation center as shown in Fig. 6-20, is given below.

  • Page 103: Example Of Moment Of Inertia Calculation

    CHAPTER 6 Specifications Example of moment of inertia calculation It will be assumed that the chuck and workpiece are at a position offset by 10cm from the R axis by the stay, as shown in Fig. 6-22. The moment of inertia is calculated with the following three factors. However, the load material will be aluminum, and the density =0.0026kg/cm R Axis Stay...
  • Page 104 CHAPTER 6 Specifications 2. Moment of inertia of the chuck When the chuck form resembles that shown in Fig. 6-24: Ws = 0.0026×1×4×6 = 0.06 (kg) R Axis From equation (6.4): 0.06×(1 0.06×8 12×980 0.004 (kg · cm · sec Fig.

  • Page 105: Robot Allowable Duty

    CHAPTER 6 Specifications Robot allowable duty To prolong the YP-X series robot service life, operate the robot within 80% of the allowable duty ratio Operating time × 100 Duty (%) Operating time+ OFF time CAUTION Service life may be shortened if the robot is used for longer than its allow- able duty time.

  • Page 106: Allowable Overhang

    Allowable Overhang L 0 W 1kg 140mm 1 W 2kg 50mm W kg YAMAHA YP SERIES 2 W 3kg 30mm Fig. 6-26 CAUTION Although the robot can be operated with an overhang load exceeding the values listed in the above table, this will cause premature wear or damage to the drive unit (especially linear guide).

  • Page 107: Axis Droop

    CHAPTER 6 Specifications X-axis droop Because of the one-sided support structure, the YP-X series manipulator arm droops downward slightly when it moves to the X-axis stroke end (forward end). The amount of droop during a maximum stroke on the X-axis is shown in the table below.

  • Page 108: Mechanical Stopper

    CHAPTER 6 Specifications 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 109 MEMO...
  • Page 110 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.

This manual is also suitable for:

Yp320xYp320xrYp330xYp340xYp220bxYp220bxr

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