Page 1 OWNER'S MANUAL Get other manuals https://www.bkmanuals.com...
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Page 3: 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 ......1-9 4 Robot Safety Functions ............1-10 5 Safety Measures for the System .......... 1-11 6 Trial Run ................1-12 7 Work Within the Safeguard Enclosure ........1-13 8 Automatic Operation .............1-14 9 Adjustment and Inspection ...........1-14...
Page 4 10 Setting the Robot ..............3-22 10-1 Setting the payload ................ 3-22 10-2 Setting the maximum speed ............3-23 10-3 Setting the acceleration ..............3-24 11 Absolute Reset ..............3-25 CHAPTER 4 Periodic Inspections 1 Outline ..................4-1 2 Precautions ................4-1 3 Daily inspection ..............4-2 4 Three-month inspection ............4-2 5 Six-month inspection ..............4-3 6 Three-year inspection .............4-4...
Page 5 CHAPTER 7 FXYX 1 Installation ................7-1 Installation bolt types ............... 7-1 Installation bolt nominal length............7-1 Tightening torque ................7-1 Installation methods ................. 7-2 2 Protective Connections ............7-3 Ground terminal ................7-3 Ground wire ..................7-4 Wiring method .................. 7-4 3 Installing the Tool ..............7-5 Arm type 2-axis model ..............
Page 6 ZFH (Arm type, gantry type, moving arm type 3rd-axis option) XZ 2nd-axis option ................. 8-17 (Arm type, moving arm type, 3rd-axis option/XZ type 2-axis model) ... 8-18 4 User Wiring and User Piping ..........8-19 Cable carrier type ................8-19 4-1-1 Example of wiring and piping methods using cable carrier ...
Page 7 4 User Wiring and User Piping ..........9-14 Cable carrier type................9-14 4-1-1 Example of wiring and piping methods using cable carrier ... 9-14 4-1-2 Cable carrier specifications ............9-17 4-1-3 User I/O cable specifications ............9-18 Whipover cable type ..............9-19 4-2-1 Examples of wiring and piping with Whipover cable .....
Page 8 5 Periodic Inspections ............10-24 Replenishing grease to the linear guide ........10-24 Replenishing grease to the ball screw ......... 10-25 CHAPTER 11 FXYBX/SXYBX 1 Installation ................11-1 Installation bolt types ..............11-1 Installation bolt nominal length............11-1 Tightening torque ................11-2 Installation methods ................
Page 9 Periodic inspection of the ZS/ZRS unit ......... 11-36 8-6-1 Replenishing grease to the Z-axis ball screw and ball spline ..11-36 8-6-2 Adjusting the R-axis belt tension (ZRS) ........11-37 8-6-3 Replacing the R-axis harmonic drive (ZRS) ........ 11-38 CHAPTER 12 HXYLX 1 Installation ................12-1 Installation method 1 (Arm type, moving arm type, pole type, gantry type X-axis) ..
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Page 11: Using The Robot Safely
CHAPTER Using the Robot Safely 1 Safety Information ..............1-1 2 Essential Caution Items ............1-2 3 Special Training for Industrial Robot Operation ......1-9 4 Robot Safety Functions ............1-10 5 Safety Measures for the System .......... 1-11 6 Trial Run ................1-12 7 Work Within the Safeguard Enclosure ........1-13 8 Automatic Operation .............1-14 9 Adjustment and Inspection ...........1-14 10 Repair and Modification ............1-14...
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Page 13: Safety Information
Safety Information Industrial robots are highly programmable machines that provide a large degree of freedom in movement. To ensure correct and safe use of YAMAHA robots, carefully read this manual to 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 listed on warning labels and in this manual. WARNING Improper installation or operation can result in serious injury. Read the Instruction Manual and all warning labels before operation. The warning label 3 (Fig. 1-3) is attached to 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 is not designed for operation in environments where inflam- mable of explosive substances are present. • Do not use the robot in environments containing inflammable gas, dust or liquids.
Page 17 Chapter 1 Using the Robot Safely (8) Movement of Z-axis at controller power shut off and emergency stop (for ZAS) WARNING The Z-axis will start to rise when the controller power is shut off, the PLC power is shut off, the program is reset, emergency stop is applied, and when the supply of air to the Z-axis air cylinder’s solenoid valve is started.
Page 18 (fixed coil) and rotor (rotating magnet), causing a risk of pinching hands, etc. A YAMAHA-trained operator must carry out this work using the YAMAHA- recommended jigs. (13) Use caution when removing the Z-axis brake...
Page 19 Chapter 1 Using the Robot Safely (16) Use caution not to touch the controller rear panel cooling fan WARNING • Injury may occur from coming into contact with the cooling fan while it is rotating. • When removing the fan cover for inspection, first turn OFF the control- ler and make sure that the fan has stopped.
Page 20 Chapter 1 Using the Robot Safely (21) Be sure to make correct parameter settings - Part 2 CAUTION When using a rotary axis (RF, RH, etc.) the robot must be operated with the tolerable moment of inertia and correct acceleration coefficients according to the tip mass and moment of inertia.
Page 21: Special Training For Industrial Robot Operation
Since YAMAHA Cartesian Robot XY Series falls under the industrial robot cat- egory, the user must observe local regulations and safety standards for industrial...
Page 22: 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 rise in the controller driver temperature and shuts off the servo power.
Page 23: Safety Measures For The System
Chapter 1 Using the Robot Safely Safety Measures for the System When the robot is commonly used in conjunction with an automated system, dangerous situations are more likely to occur from the automated system than from the robot itself. Appropriate safety measures must be taken on the part of the system manufacturer according to the individual system.
Page 24: Trial Run
Chapter 1 Using the Robot Safely Trial Run After making installations, adjustments, inspections, maintenance or repairs to the robot, carry out trial run using the following procedures. (1) If a safeguard enclosure has not yet been provided right after installa- tion of the robot, rope off or chain off the movable range in place of the safeguard enclosure, and observe the following points.
Page 25: Work Within The Safeguard Enclosure
Chapter 1 Using the Robot Safely Work Within the Safeguard Enclosure (1) When work is required in the safeguard enclosure, always turn the controller power OFF and place a sign indicating that the robot is being adjusted or serviced in order to keep any other personnel from touching the controller power switch or operation panel, except for the following cases.
Page 26: Automatic Operation
Chapter 1 Using the Robot Safely Automatic Operation (1) Check the following before starting automatic operation. 1. No one is within the safeguard enclosure. 2. The programming unit or tools, etc., are in their specified location. 3. The alarm or error lamps, etc., on the robot and peripheral devices do not flash.
Page 27: 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 parts...
Page 28: Ce Marking
OR WARRANTIES ARISING FROM A COURSE OF DEALING OR USAGE OF TRADE. YAMAHA MOTOR CO., LTD. SOLE LIABILITY SHALL BE FOR THE DE- LIVERY OF THE EQUIPMENT AND YAMAHA MOTOR CO., LTD. SHALL NOT BE LIABLE FOR ANY CONSEQUENTIAL DAMAGES (WHETHER ARISING FROM CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY).
Page 29: Product Outline
CHAPTER Product Outline 1 Robot ..................2-1 2 Names of each part ..............2-2 3 Robot Controller ..............2-7 Get other manuals https://www.bkmanuals.com...
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Page 31: Robot
Chapter 2 Product Outline Robot The robot is configured of the standard function X/Y axes (horizontal cartesian slide) and optional function Z-axis (vertical slide) and R-axis (rotation). These configuration axes can move in the following manner. High-accuracy and high-speed work can be carried out over a wide range by installing work tools. (+) and (-) indicate the jog key movement directions.
Page 32: Names Of Each Part
Chapter 2 Product Outline Names of each part ■ Arm type with cable carrier Y-axis Y-axis stroke cover Frame bracket Y-axis motor X-axis stroke cover X-axis motor X-axis Robot cable Y-axis slider (tool installation section) Cable carrier between XY (The machine harness between XY is wired inside) Y-axis wiring box X-axis slider...
Page 33 Chapter 2 Product Outline ■ Gantry type Support axis Support axis installation bracket Y-axis Y-axis stroke cover Y-axis motor X-axis stroke cover X-axis motor X-axis Robot cable Cable carrier between XY (The machine harness between XY Y-axis slider (tool installation section) is wired inside) Y-axis wiring box Frame bracket...
Page 34 Chapter 2 Product Outline ■ Moving arm type (with cable carrier) Y-axis whipover cable Y-axis wiring box Cable carrier between XY Y-axis bracket (The machine harness between XY is wired inside) Y-axis wiring box (tool installation section) X-axis stroke cover X-axis Y-axis Y-axis stroke cover...
Page 35 Chapter 2 Product Outline ■ Pole-type with cable carrier Y-axis motor Y-axis relay harness Y-axis Y-axis wiring box Y-axis slider Cable carrier between XY (tool installation section) (The machine harness between XY is wired inside) Y-axis stroke cover X-axis stroke cover Robot cable X-axis X-axis slider...
Page 36 Chapter 2 Product Outline ■ XZ-type with cable carrier Z-axis Z-axis wiring box Z-axis motor Cable carrier between XY (The machine harness between XZ is wired inside) X-axis wiring box Robot cable Z-axis slider Z-axis cover stroke X-axis motor X-axis X-axis stroke cover ■...
Page 37: Robot Controller
Robot Controller A RCX40, QRCX, TRCX or DRCX Series robot controller is enclosed with the XY-X Series according to the user’s order. Refer to the separate “YAMAHA Robot Controller Instruction Manual” for de- tails on the robot controller. DRCX TRCX...
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Page 39: Preparing The Robot
CHAPTER Preparing the Robot 1 Robot Installation Environment ..........3-1 2 Unpacking the Robot ..............3-2 3 Checking the Product .............3-3 4 Transporting the Robot ............3-5 5 Installation ................3-7 Installation base ................3-7 Installing the Robot ................3-8 6 Protective connections ............3-9 7 Connecting the Robot Cables ..........3-10 Connecting with the DRCX controller ..........
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Page 41: Robot Installation Environment
The air filter filtering degree must be 40µm or less. Working space Allow sufficient space so that work (teaching, inspection, repairs, etc.) can be carried out safely. Refer to the “YAMAHA Robot Controller Instruction Manual” for details on the controller installation conditions. Get other manuals https://www.bkmanuals.com...
Page 42: Unpacking The Robot
The robot and robot controller are heavy. Take care not to drop these parts or damage the devices while unpacking the packages. The packages are divided into the robot (XY-X Series), robot controller (RCX40, QRCX, TRCX or DRCX Series) and accessories according to the items ordered by the user.
Page 43: Checking The Product
Chapter 3 Preparing the Robot Checking the Product CAUTION Contact your YAMAHA dealer immediately if any parts are missing or have been damaged during transportation. After unpacking, check the state of the components and the product. An example of the common combination of components is shown below. Check the products according to the actual order.
Page 44 Chapter 3 Preparing the Robot Example of combination with TRCX controller Z-axis unit (option) Robot (XY-X Series) I/O connector set for user OWNER'S MANUAL Robot cable Controller power STD I/O connector connector TRCX controller Terminator OP DI, OP DO connector...
Page 45: Transporting The Robot
Chapter 3 Preparing the Robot Transporting the Robot WARNING Serious injury may occur if the robot being transported falls and pins someone under it. • Use a hoist and rope with transporting capacity strong enough to sup- port the robot weight. •...
Page 46 Chapter 3 Preparing the Robot Use of a hoist, dolly or forklift is recommended for transporting the robot or controller. Use sufficient caution when transporting robots with a long stroke or large payload as they are heavy. Get other manuals https://www.bkmanuals.com...
Page 47: Installation
Chapter 3 Preparing the Robot Installation Installation base WARNING If the installation base is not sufficiently rigid and stable, vibration (reso- nance) may occur during operation and adversely affect the robot work. In worst cases the robot might even fall over causing a serious accident. CAUTION If the installation surface accuracy is insufficient, the robot positioning accuracy and machine life may drop, and noise may be generated.
Page 48: Installing The Robot
1) Tap or hole is machined into the installation base where the robot is to be secured. Refer to the XY-X Series catalog for the machining dimensions and posi- tions. 2) Fix the installation base at the specified position.
Page 49: Protective Connections
2) 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 XY-X series robots do not have a ground terminal for this purpose.
Page 50: Connecting The Robot Cables
Chapter 3 Preparing the Robot Connecting the Robot Cables WARNING 1. The robot cable is the most important cable for controlling the robot. If the connector is insufficiently connected and there are pin contact faults, the robot could malfunction. Confirm that each connector is securely connected before turning the controller power ON.
Page 51 Chapter 3 Preparing the Robot WARNING Arrange the connected robot cable so that it will not get in the way of operator’s operations. The operator could trip on the robot cable and be injured. WARNING When connecting the robot cable, insert the robot cable connector straight into the mating connector on the controller.
Page 52: Connecting With The Drcx Controller
Chapter 3 Preparing the Robot Connecting with the DRCX controller WARNING When connecting the robot cable, insert the robot cable connector straight into the mating connector on the controller. Inserting the connector while tilted might cause the pins to make poor contact, causing robot malfunc- tion and the connector itself might even break.
Page 53 Chapter 3 Preparing the Robot MOTOR connector Robot cable ROBOT I/O connector DRCX controller To robot Fig. 3-1 Connection to DRCX controller 3-13 Get other manuals https://www.bkmanuals.com...
Page 54: Connecting With The Trcx Controller
Chapter 3 Preparing the Robot Connecting with the TRCX controller 7-2-1 3-axis model WARNING When connecting the robot cable, insert the robot cable connector straight into the mating connector on the controller. Inserting the connector while tilted might cause the pins to make poor contact, causing robot malfunc- tion and the connector itself might even break.
Page 55 Chapter 3 Preparing the Robot MOTOR connector ROBOT MOTOR ROBOT I/O connector connector I/O connector Robot cable To robot Fig. 3-2 Connection to TRCX controller (3-axis model) 3-15 Get other manuals https://www.bkmanuals.com...
Page 56: 4-Axis Model
Chapter 3 Preparing the Robot 7-2-2 4-axis model WARNING When connecting the robot cable, insert the robot cable connector straight into the mating connector on the controller. Inserting the connector while tilted might cause the pins to make poor contact, causing robot malfunc- tion and the connector itself might even break.
Page 57 Chapter 3 Preparing the Robot MOTOR connector MOTOR ROBOT connector ROBOT I/O connector I/O connector Robot cable To robot Fig. 3-3 Connection to TRCX controller (4-axis model) 3-17 Get other manuals https://www.bkmanuals.com...
Page 58: Connecting To The Qrcx Or Rcx40 Controller
Chapter 3 Preparing the Robot Connecting to the QRCX or RCX40 controller WARNING When connecting the robot cable, insert the robot cable connector straight into the mating connector on the controller. Inserting the connector while tilted might cause the pins to make poor contact, causing robot malfunc- tion and the connector itself might even break.
Page 59 Chapter 3 Preparing the Robot Connect to YAMAHA robot Robot cable Fig. 3-4 Connection to QRCX controller Connect to YAMAHA robot Fig. 3-5 Connection to RCX40 controller 3-19 Get other manuals https://www.bkmanuals.com...
Page 60: Installing The Tool
Chapter 3 Preparing the Robot Installing the Tool WARNING The user must responsibly determine the bolt type and tightening torque for the tool installation, and must accurately tighten these. Improper in- stallation could cause the tool to dislocate during operation and lead to serious accidents.
Page 61: User Wiring And User Piping
Chapter 3 Preparing the Robot User Wiring and User Piping CAUTION Do not clamp the wires or pipes to the outside of the whipover cable. The whipover cable could sag or break and ultimately be disconnected. After completing all work up to step 8, wires and pipes are laid from the user’s devices or robot controller to the tools and valves installed on the robot.
Page 62: Setting The Robot
The optimum acceleration and servo gain, etc., are automatically set for the cartesian robot XY-X Series by inputting the controller payload parameters. Set the total value of the tool weight and workpiece weight as a kg unit in the payload parameter.
Page 63: Setting The Maximum Speed
Chapter 3 Preparing the Robot 10-2 Setting the maximum speed When operating a ball screw driven robot, the ball screw's free length will in- crease as the movement stroke increases, and the resonance frequency will drop. Thus, the ball screw may resonate and generate vigorous vibration depending on the motor rotation speed.
Page 64: Setting The Acceleration
10-3 Setting the acceleration The acceleration is automatically set for the Cartesian robot XY-X Series when the payload parameter is set, so large vibration will not occur during operation. However, if the tool or workpiece is greatly offset from the robot, vibration may occur especially during positioning.
Page 65: Absolute Reset
Absolute Reset Refer to this section and set the origin position before using the robot. The Cartesian robot XY-X Series uses an absolute method position detector, and thus return-to-origin is not required when the controller power is turned ON again.
Page 66 Avoid changing the origin position to the non-motor side as the position could deviate, trouble could occur, and could be hazardous in some cases. Always consult with YAMAHA when the origin position must be changed. Refer to the following sections in the Robot Controller Instruction Manual and set the origin.
Page 67 Chapter 3 Preparing the Robot When MANUAL > RST.ABS > ALL is selected on the MPB screen (see “11-9- 3” in QRCX owner’s manual or “11-8-3” in RCX40 owner’s manual), first per- form absolute reset for the rotating axis and then other linearmovement axes. When performing absolute reset for each axis one by one (see “11-9-2”...
Page 68 Chapter 3 Preparing the Robot After setting the origin position, attach the label enclosed with the robot so that it acts as a match mark on the tool side and Robot side. This match mark will be the reference for subsequent origin settings. Figure Slit Origin position label...
Page 69 CHAPTER Periodic Inspections 1 Outline ..................4-1 2 Precautions ................4-1 3 Daily inspection ..............4-2 4 Three-month inspection ............4-2 5 Six-month inspection ..............4-3 6 Three-year inspection .............4-4 7 Replenishing the grease ............4-5 8 Maintenance and inspection of harmonic drives ....4-6 Harmonic grease replacement period ..........4-7 Get other manuals https://www.bkmanuals.com...
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Page 71: Outline
• Use only lubricant designated by YAMAHA or your dealer. • Use only parts designated by YAMAHA or your dealer when replacing parts. Make sure that foreign matter does not enter the robot during adjustment, part replacement or reassembly.
Page 72: Daily Inspection
Clean room specifications: LG-2 (NSK) CAUTION Use of grease not recommended by YAMAHA may lead to a drop in the ball screw, linear guide, ball spline and linear bushing shaft life. When using the clean room specifications, the degree of cleanliness may drop.
Page 73: Six-Month Inspection
YAMAHA if any abnormality is found. Z-axis ball spline and Check for looseness. ball screw (for ZS, ZRS) (Contact YAMAHA if any abnormality is found.) R-axis timing belt • Check the timing belt tension. (for ZRS) • Check the timing belt for abnormalities (cracks or cuts).
Page 74: Three-Year Inspection
Chapter 4 Periodic Inspections Three-year inspection Check the following points once every three years, and adjust or replenish grease as necessary. If the robot is used frequently, inspect the robot at an earlier stage. Check point Check items R-axis speed Disassemble and check the harmonic drive.
Page 75: Replenishing The Grease
CAUTION Use of grease not recommended by YAMAHA may lead to a drop in the ball screw, linear guide, ball spline and linear bushing shaft life. When using the clean room specifications, the degree of cleanliness may drop.
Page 76: Maintenance And Inspection Of Harmonic Drives
• Do not weld, heat, open a hole or cut this container. Failure to observe this could lead to an explosion and igniting of the residual matter. CAUTION Use of grease not recommended by YAMAHA could lead to a drop in the har- monic drive life. Get other manuals https://www.bkmanuals.com...
Page 77: Harmonic Grease Replacement Period
Chapter 4 Periodic Inspections CAUTION Harmonic drive • Do not apply strong impacts on any part with a hammer, etc. Do not damage or mark the parts by dropping. There is a risk of damage. • The specified performance cannot be attained if a damaged part is used. Continued use of a damaged part could lead to trouble such as rupture.
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Page 79: Specifications
CHAPTER Specifications 1 Specifications .................5-1 Robot cable ..................5-1 User I/O cable .................. 5-5 Get other manuals https://www.bkmanuals.com...
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Page 81: Robot Cable
Chapter 5 Specifications Specifications The specifications of each robot's common parts are shown below. Robot cable This cable is used to connect the controller and robot. Signal Connector Connection Connector Color/No. Wire Resolver Blue 0.3sq twisted pair Orange 0.3sq Green twisted pair Brown Gray...
Page 82 Chapter 5 Specifications Signal Connector Connection Connector Color/No. Wire Signal Connector Connection Connector Color/No. Wire Blue 0.3sq Resolver Blue 0.3sq Resolver twisted pair twisted pair Orange Orange 0.3sq 0.3sq Green Green twisted pair twisted pair Brown Brown Gray 0.3sq Gray 0.3sq twisted pair twisted pair...
Page 83 Chapter 5 Specifications Signal Connector Connection Connector Color/No. Wire Signal Connector Connection Connector Color/No. Wire Resolver Blue 0.3sq Resolver Blue 0.3sq twisted pair twisted pair Orange Orange Green 0.3sq Green 0.3sq twisted pair twisted pair Brown Brown (RP) Gray 0.3sq Gray 0.3sq twisted pair...
Page 84 Chapter 5 Specifications Signal Connector Connection Connector Color/No. Wire Signal Connector Connection Connector Color/No. Wire Resolver Blue 0.3sq Resolver Blue 0.3sq twisted pair twisted pair Orange Orange Green 0.3sq Green 0.3sq twisted pair twisted pair Brown Brown Gray 0.3sq Gray 0.3sq twisted pair twisted pair...
Page 85: User I/O Cable
Chapter 5 Specifications User I/O cable The cartesian robot XY-X Series cable carrier type have a signal wire that can be used freely from the X-axis wiring box to the final axis wiring box. Signal Connector Connector Remarks Part No.
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Page 87: Pxyx
CHAPTER PXYX 1 Installation ................6-1 Installation bolt types ............... 6-1 Installation bolt nominal length ............6-1 Tightening torque ................6-1 Installation methods ................. 6-2 2 Protective Connections ............6-3 Ground terminal ................6-3 Ground wire ..................6-4 Wiring method .................. 6-4 3 Installing the Tool ..............6-5 4 User Wiring and User Piping ..........6-6 5 Periodic Inspections ...............6-8...
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Page 89: Installation
Chapter 6 PXYX Installation WARNING Always turn the controller power OFF before installing the robot. Serious accidents might occur if the robot starts to operate during installation. To install the PXYX robot, tap holes into the installation base and secure the robot to the base with M4 bolts from the inside of the robot.
Page 90: Installation Methods
1) Tap M4 coarse screw thread holes into the installation base where the robot is to be installed. Refer to the XY-X Series catalog for the hole positions. 2) Remove the M3 small screw fixing the X-axis side cover, and remove the side cover.
Page 91: Protective Connections
Chapter 6 PXYX Protective Connections WARNING Always ground the robot and controller to prevent electrical shocks. WARNING Always turn the controller power OFF before connecting the ground to prevent electrical shocks. WARNING When using a tool or workpiece having power which could contact the robot due to a failure or the specifications, the user must provide proper grounding since the robot does not have a ground terminal for those devices.
Page 92: Ground Wire
Chapter 6 PXYX Ground wire Use an AWG14 (2.0mm ) or larger ground wire with a total length of 1m or less. Crimp an M4 ring-tongue terminal on the end of the wire connected to the robot. Wiring method WARNING Accurately insert the lock washer between the ring-tongue terminal and robot.
Page 93: Installing The Tool
Chapter 6 PXYX Installing the Tool WARNING Always turn the controller power OFF before Installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tight- ening torque, and accurately installing the tool.
Page 94: User Wiring And User Piping
Chapter 6 PXYX User Wiring and User Piping WARNING Always turn off the controller before wiring and piping to prevent electri- cal shocks. The methods for leading the wiring and piping to the tool are described in this section. A cable carrier is provided as a standard between the X-Y axes. Carry out wiring and piping using this cable carrier.
Page 95 When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sectional area.
Page 96: Periodic Inspections
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter- proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 97: Replenishing Grease To The Ball Screw
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter- proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
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Page 99 CHAPTER FXYX 1 Installation ................7-1 Installation bolt types ............... 7-1 Installation bolt nominal length ............7-1 Tightening torque ................7-1 Installation methods ................. 7-2 2 Protective Connections ............7-3 Ground terminal ................7-3 Ground wire ..................7-4 Wiring method .................. 7-4 3 Installing the Tool ..............7-5 Arm type 2-axis model ..............
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Page 101: Tightening Torque
Chapter 7 FXYX Installation WARNING Always turn the controller power OFF before installing the robot. Serious accidents might occur if the robot starts to operate during installation. To install the FXYX robot, tap holes into the installation base and secure the robot to the base with M6 bolts from the inside of the robot.
Page 102: Installation Methods
1) Tap M6 coarse screw thread holes into the installation base where the robot is to be installed. Refer to the XY-X Series catalog for the hole positions. 2) Fix the robot onto the installation base with the designated bolt from within the clearance between the X-axis stroke cover and frame.
Page 103: Protective Connections
Chapter 7 FXYX Protective Connections WARNING Always ground the robot and controller to prevent electrical shocks. WARNING Always turn the controller power OFF before connecting the ground to prevent electrical shocks. WARNING When using a tool or workpiece having power which could contact the robot due to a failure or the specifications, the user must provide proper grounding since the robot does not have a ground terminal for those devices.
Page 104: Ground Wire
Chapter 7 FXYX Ground wire Use an AWG14 (2.0mm ) or larger ground wire with a total length of 1m or less. Crimp an M4 ring-tongue terminal on the end of the wire connected to the robot. Wiring method WARNING Accurately insert the lock washer between the ring-tongue terminal and robot.
Page 105: Arm Type 2-Axis Model
Chapter 7 FXYX Installing the Tool WARNING Always turn the controller power OFF before Installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tight- ening torque, and accurately installing the tool.
Page 106 Chapter 7 FXYX CAUTION If the fitting length is less than 8mm, the threads could be damaged during tightening. If the fitting length exceeds 12mm, the bolt end could contact the bottom. NOTE There is a step on the top of the slider. The actual tool installation surface is the shaded section shown above.
Page 107: Zs (3Rd-Axis Option)
Chapter 7 FXYX ZS (3rd-axis option) WARNING Use the tap hole on the end of the shaft only to prevent the tool from dislocating. Do not use only this hole to install the tool. The tool could dislocate and fly off the installation section during robot operation. If the ZS unit is attached for the 3rd-axis, install the tool on the ZS shaft as shown below.
Page 108: User Wiring And User Piping
Chapter 7 FXYX User Wiring and User Piping WARNING Always turn off the controller before wiring and piping to prevent electri- cal shocks. Cable carrier type A cable carrier is mounted as a standard between the X and Y axes. When using three axes, a cable carrier is also provided between the Y and Z axes.
Page 109 Chapter 7 FXYX The cable carrier has an outer lid that can be opened and closed easily. Use a flat-tip screwdriver to open the lid. Press this lid in to close it. Open and close this lid as necessary. 4) Remove the two M4 small screws on the Y-axis wiring box, and loosen two places.
Page 110 Chapter 7 FXYX 6) Remove the harness retainer from the Y-axis wiring box. (Two hexagon socket bolts M5) Harness retainer CAUTION 1. The wires could be damaged if the harness retainer is tightened too much. 2. Manually move the robot by the full stroke before fixing to confirm that the harness and air tube, etc., are not pulled in the cable carrier.
Page 111: Cable Carrier Specifications
When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sectional area.
Page 112: User I/O Cable Specifications
Chapter 7 FXYX 4-1-3 User I/O cable specifications CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied cor- rectly, and may prevent the device from operating correctly. ×...
Page 113: Periodic Inspections
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter- proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 114: Replenishing Grease To The Ball Screw
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter- proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 115 Chapter 7 FXYX 2) Turn the controller power OFF. 3) Place a sign indicating "Work In Progress" so that other operators do not turn the controller power ON. 4) Remove the stroke cover. 5) Install the grease nipple onto the ball screw flange. 6) Replenish the grease using the grease gun.
Page 116 Chapter 7 FXYX Z-axis (ZS) 1) Turn the controller power OFF. 2) Place a sign indicating "Work In Progress" so that other operators do not turn the controller power ON. 3) Remove the screws (M4, 6 screws) fixing the cover, and pull the cover up- ward and off.
Page 117 CHAPTER SXYX 1 Installation ................8-1 Installation bolt types ............... 8-1 Installation bolt nominal length............8-1 Tightening torque ................8-2 Installation methods ................. 8-2 2 Protective Connections ............8-5 Ground terminal ................8-5 Ground wire ..................8-6 Wiring methods ................8-6 2-3-1 Arm type with cable carrier ..............
Page 118 Periodic inspection of the ZS/ZRS unit .......... 8-29 5-3-1 Replenishing grease to the Z-axis ball screw and ball spline ..8-29 5-3-2 Adjusting the R-axis belt tension (ZRS) ........8-30 5-3-3 Replacing the R-axis harmonic drive (ZRS) ........8-31 Get other manuals https://www.bkmanuals.com...
Page 119: Installation
Chapter 8 SXYX Installation WARNING Always turn the controller power OFF before installing the robot. Serious accidents might occur if the robot starts to operate during installation. The SXYX is installed with one of the following two methods. Method A : Open through holes on the installation base and install with M6 bolts from below.
Page 120: Tightening Torque
Chapter 8 SXYX Tightening torque • The accurate tightening torque will differ according to the seating face fric- tional coefficient and the female screw material, etc. The following tightening torque is recommended as a guide. 9.8N . m to 12.7N . m (100kgf . cm to 130kgf . cm) Recommended torque Installation methods WARNING...
Page 121 1) Tap M6 coarse screw thread holes into the installation base where the robot is to be installed. Refer to the XY-X Series catalog for the hole positions. 2) Remove the countersunk head screws (M4, 5 screws) fixing the X-axis stroke cover.
Page 122 Chapter 8 SXYX 3) Remove the X-axis stroke cover. If the cover is difficult to remove, manually move the Y-axis to the motor side stroke end. The cover will be easier to remove. 4) Fix the robot onto the installation base with the designated bolts. 5) After installing, return the stroke cover and X-axis wiring box to the original positions.
Page 123: Protective Connections
Chapter 8 SXYX Protective Connections WARNING Always ground the robot and controller to prevent electrical shocks. WARNING Always turn the controller power OFF before connecting the ground to prevent electrical shocks. WARNING When using a tool or workpiece having power which could contact the robot due to a failure or the specifications, the user must provide proper grounding since the robot does not have a ground terminal for those devices.
Page 124: Ground Wire
Chapter 8 SXYX X-axis wiring box Ground terminal Fig. 8-6 Arm type, moving arm type, gantry type with whipover cable specifications Ground wire Use an AWG14 (2.0mm ) or larger ground wire with a total length of 1m or less. Crimp an M4 ring-tongue terminal on the end of the wire connected to the robot.
Page 125: Arm Type With Cable Carrier
Chapter 8 SXYX 2-3-1 Arm type with cable carrier 1) Remove the four M4 small screws on the top of the X-axis wiring box, and loosen the M4 small screw on the end face. Remove X-axis wiring box Loosen Fig. 8-7 2) Open the X-axis wiring box cover.
Page 126 Chapter 8 SXYX 3) Connect the ground wire to the ground terminal attached to the top of the X-axis wiring box. Ground terminal Ground wire An M4 small screw with spring washer and lock washer are attached to the ground terminal. Arrange the parts in the order of the lock washer, ring-tongue terminal and M4 small screw with spring washer, and then tighten.
Page 127: Arm Type With Whipover Cable, Moving Arm Type, Pole Type
Chapter 8 SXYX 2-3-2 Arm type with whipover cable, moving arm type, pole type 1) Remove the small screws (M4, 4 screws) fixing the X-axis wiring box cover, and remove the cover. (Refer to Fig. 8-10.) Remove the four M4 screws Fig.
Page 128: Xz Type
Chapter 8 SXYX 2-3-3 XZ type 1) Remove the small screws (M4, 4 screws) fixing the X-axis wiring box cover, and remove the cover. (Refer to Fig. 8-12.) Fig. 8-12 2) Fix the ring-tongue terminal of the ground wire to the ground terminal in the X-axis wiring box.
Page 129: Installing The Tool
Chapter 8 SXYX Installing the Tool WARNING Always turn the controller power OFF before Installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tight- ening torque, and accurately installing the tool.
Page 130 Chapter 8 SXYX 23.5 2-φ6H7 Depth8 8-M6×1.0 Depth8 4-M5×0.8 Depth7 (Tolerance between knock (0.02) Fig. 8-15 Pole type CAUTION If the fitting length is less than 6mm, the threads could be damaged during tightening. If the fitting length exceeds 8mm, the bolt end could contact the bottom.
Page 131: Moving Arm Type 2-Axis Model
Chapter 8 SXYX Moving arm type 2-axis model For the moving arm type, an aluminum bracket is attached to the end of the Y-axis. Install the tool on this bracket. Twelve M6 coarse thread tap holes and two φ6 reamer holes are opened on the bracket.
Page 132: (Arm Type, Moving Arm Type, 3Rd-Axis Option/Xz Type 2-Axis Model)
Select the maximum nominal length of the tool fixing bolt so that the screw fit- ting length is 12mm or less. YAMAHA recommends a screw fitting length of 8mm or more. 8-14 Get other manuals https://www.bkmanuals.com...
Page 133: (Arm Type, Moving Arm Type, 4Th-Axis Option/Xz Type 3Rd-Axis Option)
Chapter 8 SXYX (Arm type, moving arm type, 4th-axis option/XZ type 3rd-axis option) CAUTION Use the tap hole on the end face of the shaft only to prevent the tool from dislocating. Do not use only this hole to install the tool. The tool could dislocate and fly off the installation section during robot operation.
Page 134: Zs/Zrs (Arm Type 3/4-Axis Option, Xz Type 2/3-Axis Model)
Chapter 8 SXYX ZS/ZRS (Arm type 3/4-axis option, XZ type 2/3-axis model) WARNING Use the tap hole on the end of the shaft only to prevent the tool from dislocating. Do not use only this hole to install the tool. The tool could dislocate and fly off the installation section during robot operation.
Page 135: Zfh (Arm Type, Gantry Type, Moving Arm Type 3Rd-Axis Option)
Chapter 8 SXYX (Arm type, gantry type, moving arm type 3rd-axis option) XZ 2nd-axis option When using the 3rd-axis model with ZFH for the 3rd-axis, install the workpiece onto the ZFH frame in the following manner. Four M5 coarse thread tap holes and a φ5 reamer hole are opened on the frame's workpiece installation surface.
Page 136: Zfl
Select the maximum nominal length of the tool fixing bolt so that the screw fit- ting length is 12mm or less. YAMAHA recommends a screw fitting length of 8mm or more. CAUTION If the bolt fitting length is 12mm or more from the installation surface, the bolt will contact the bottom.
Page 137: User Wiring And User Piping
Chapter 8 SXYX User Wiring and User Piping WARNING Always turn off the controller before wiring and piping to prevent electri- cal shocks. Cable carrier type A cable carrier is mounted as a standard between the X and Y axes. When 3rd- axis are used, a cable carrier is also provided between the Y and Z axes, and when using 4th-axis, a cable carrier is also provided between the Z and R axes.
Page 138 Chapter 8 SXYX 3) Pass the cables and air tubes through the cable carrier. The cable carrier has an outer lid that can be opened and closed easily. Use a flat-tip screwdriver to open the lid. Press this lid in to close it. Open and close this lid as necessary. 4) Open the Y-axis wiring box cover.
Page 139 Chapter 8 SXYX CAUTION Take care not to catch the harness or air tube with the cover when installing the covers. Assemble the wiring box cover at the original position. Wire lead-out port Wire protection material State with cover installed Pass the X-axis wiring Lay out the wires on through this notch.
Page 140: Cable Carrier Specifications
When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sec- tional area.
Page 141: User I/O Cable Specifications
Chapter 8 SXYX 4-1-3 User I/O cable specifications CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied cor- rectly, and may prevent the device from operating correctly. ×...
Page 142: Whipover Cable Type
Chapter 8 SXYX Whipover cable type CAUTION Do not clamp the wires or tubes to the outside of the independent cable. The independent cable could sag or break and ultimately be disconnected. × 7 wires) and air tubes (4 × 2.5, 2 tubes) are incorpo- The signal wires (0.3mm rated in the whipover cable.
Page 143 Chapter 8 SXYX 2) When using an air tube, prepare an air coupler for connecting the user air tube with the YAMAHA air tube. 3) Open the X-axis wiring box cover. Fig. 8-25 4) Place the required cables and air tubes, etc., in the X-axis wiring box. Crimp the enclosed connectors onto the cable beforehand.
Page 144: Replenishing Grease To The Linear Guide
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter- proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 145: Replenishing Grease To The Ball Screw
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter- proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 146 Chapter 8 SXYX CAUTION Always remove the grease nipple after completing the work. Damage or positional deviation could occur if the robot is operated with the grease nipple installed. 1) Prepare the following recommended grease nipple beforehand. Recommended grease nipple A-M6X1 type (JIS B1575) 2) Turn the controller power OFF.
Page 147: Periodic Inspection Of The Zs/Zrs Unit
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter- proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 148: Adjusting The R-Axis Belt Tension (Zrs)
Chapter 8 SXYX 5-3-2 Adjusting the R-axis belt tension (ZRS) With the ZRS model, a timing belt is used for the R-axis. If the timing belt tension is week, adjust the belt tension with the following pro- cedures. WARNING There is a risk of injury if fingers, etc., are caught between the drive sec- tion pulley and belt section.
Page 149: Replacing The R-Axis Harmonic Drive (Zrs)
Chapter 8 SXYX 7) If the value measured in step 4) is smaller than the value given in Table 8-1, move the R-axis motor so that the tension increases. If larger than the value in Table 8-1, move the R-axis motor so that the tension decreases. Then, fix the bolts.
Page 150 (Operation hours: 24 hours/day, number of operation days: 240 days/year) : 10 θ : 0.25 : 50 : 24 : 240 [Replacement period] =8.4×10 /(n×60×h×D×N×θ) =8.4×10 /(10×60×24×240×50×0.25) =19.4 years Consult with YAMAHA when actually replacing the harmonic drive. 8-32 Get other manuals https://www.bkmanuals.com...
Page 151: Replenishing Grease To The Ball Screw
CHAPTER MXYX 1 Installation ................9-1 Installation bolt types ............... 9-1 Installation bolt nominal length............9-1 Tightening torque ................9-1 Installation methods (Arm type, moving arm type, pole type, gantry type X-axis) .... 9-2 Installation methods (Gantry type support axis)....... 9-4 2 Protective Connections ............9-5 Ground terminal ................
Page 152 MEMO Get other manuals https://www.bkmanuals.com...
Page 153: Installation
Chapter 9 MXYX Installation WARNING Always turn the controller power OFF before installing the robot. Serious accidents might occur if the robot starts to operate during installation. Install the MXYX by tapping holes into the installation base and securing the robot to the base with M8 bolts from the inside of the robot.
Page 154: Installation Methods
1) Tap M8 coarse screw thread holes into the installation base where the robot is to be installed. Refer to the XY-X Series catalog for the hole positions. 2) Loosen the small screws (M5, 4 screws) fixing the X-axis wiring box. The wiring box can be slid along the T slot when these screws are loosened.
Page 155 Chapter 9 MXYX 4) Remove the stroke cover. If the cover is difficult to remove, manually move the Y-axis to the motor side stroke end. The cover will be easier to remove. If the X-axis stroke is 550mm or less, remove the X-axis wiring box before removing the stroke cover.
Page 156 Chapter 9 MXYX Installation methods (Gantry type support axis) The MXYX and HXYX gantry types have a guide rail for support on the Y-axis end so that heavy loads can be handled. When installing, take care to the parallel- ism of the X-axis and guide rail and to the difference in height from the installa- tion surface.
Page 157: Protective Connections
Chapter 9 MXYX Protective Connections WARNING Always ground the robot and controller to prevent electrical shocks. WARNING Always turn the controller power OFF before connecting the ground to prevent electrical shocks. WARNING When using a tool or workpiece having power which could contact the robot due to a failure or the specifications, the user must provide proper grounding since the robot does not have a ground terminal for those devices.
Page 158: Wiring Methods (Cable Carrier Type)
Chapter 9 MXYX Wiring methods CAUTION Be sure to insert the lock washer between the ring-tongue terminal and robot in step3 below. Proper continuity may not be secured if the lock washer is dislocated. 1) Loosen the four M4 small screws, and open the X-axis wiring box cover. 2) Open holes (or notches) in the grommets on the end face of the X-axis wiring box, and pass the ground wire through.
Page 159: Installing The Tool
Chapter 9 MXYX Installing the Tool Install the user tool onto the robot’s tool installation surface in the following manner. WARNING Always turn the controller power OFF before Installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tight- ening torque, and accurately installing the tool.
Page 160 Chapter 9 MXYX 8 (Allowable screw depth) 6 (Thread insert depth) 2-φ6H7 Depth8 8-M6×1.0 Depth8 4-M5×0.8 Depth7 Fig. 9-8 Arm type, gantry type 23.5 2-φ6H7 Depth8 4-M5×0.8 Depth7 8-M6×1.0 Depth8 (Tolerance between knock (0.02) Fig. 9-9 MXYX pole type Get other manuals https://www.bkmanuals.com...
Page 161 Chapter 9 MXYX Moving arm type 2-axis model For the moving arm type, an aluminum bracket is attached to the end of the Y-axis. Install the tool on this bracket. Twelve M6 coarse thread tap holes and two φ6 reamer holes are opened on the bracket.
Page 162 Select the maximum nominal length of the tool fixing bolt so that the screw fit- ting length is 12mm or less. YAMAHA recommends a screw fitting length of 8mm or more. 9-10 Get other manuals https://www.bkmanuals.com...
Page 163 Chapter 9 MXYX (Arm type, moving arm type, 4th-axis option/XZ type 3rd-axis option) CAUTION Use the tap hole on the end face of the shaft only to prevent the tool from dislocating. Do not use only this hole to install the tool. The tool could dislocate and fly off the installation section during robot operation.
Page 164: Xz 2Nd-Axis Option
Chapter 9 MXYX (Arm type, gantry type, moving arm type 3rd-axis option) XZ 2nd-axis option When using the 3rd-axis model with ZFH for the 3rd-axis, install the workpiece onto the ZFH frame in the following manner. Four M5 coarse thread tap holes and a φ5 reamer hole are opened on the frame's workpiece installation surface.
Page 165: Zfl
Select the maximum nominal length of the tool fixing bolt so that the screw fit- ting length is 12mm or less. YAMAHA recommends a screw fitting length of 8mm or more. CAUTION If the bolt fitting length is 12mm or more from the installation surface, the bolt will contact the bottom.
Page 166: User Wiring And User Piping
Chapter 9 MXYX User Wiring and User Piping WARNING Always turn off the controller before wiring and piping to prevent electri- cal shocks. Cable carrier type A cable carrier is mounted as a standard between the X and Y axes. When 3rd- axis are used, a cable carrier is also provided between the Y and Z axes, and when using 4th-axis, a cable carrier is also provided between the Z and R axes.
Page 167 Chapter 9 MXYX 3) Remove the harness retainer located at the cable carrier outlet. (Hexagon socket bolt M5, 2 bolts) Harness retainer 4) Pass the required wires and pipes through the cable carrier. The cable carrier has an outer lid that can be opened and closed easily. Use a flat-tip screwdriver to open the lid.
Page 168: Cable Carrier Specifications
When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sec- tional area.
Page 169: User I/O Cable Specifications
Chapter 9 MXYX 4-1-3 User I/O cable specifications CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied cor- rectly, and may prevent the device from operating correctly. ×...
Page 170: Whipover Cable Type
Chapter 9 MXYX Whipover cable type CAUTION Do not clamp the wires or tubes to the outside of the independent cable. The independent cable could sag or break and ultimately be disconnected. × 7 wires) and air tubes (4 × 2.5, 2 tubes) are incorpo- The signal wires (0.3mm rated in the Whipover cable.
Page 171 Chapter 9 MXYX 2) When using an air tube, prepare an air coupler for connecting the user air tube with the YAMAHA air tube. 3) Open the X-axis wiring box cover. Fig. 9-17 4) Rubber grommets are attached to the X-axis wiring box.
Page 172 Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter- proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 173: Replenishing Grease To The Ball Screw (Zf)
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter- proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 174 Chapter 9 MXYX 2) Turn the controller power OFF. NOTE When the ZF unit is attached for the 3rd-axis, the replenishment work can be carried out easier by moving the Z-axis slider to near the motor (near the origin) and turning the controller power OFF. 3) Place a sign indicating "Work In Progress"...
Page 175 CHAPTER HXYX 1 Installation ................10-1 Installation method 1 (Arm type, moving arm type, pole type, gantry type X-axis) ..10-1 1-1-1 Installation bolt types ..............10-1 1-1-2 Installation bolt nominal length ............10-1 1-1-3 Tightening torque ................10-2 1-1-4 Installation methods ..............10-2 Installation method 2 (XZ type) ............
Page 176 Whipover cable type ..............10-22 4-2-1 Examples of wiring and piping with Whipover cable ....10-22 5 Periodic Inspections ............10-24 Replenishing grease to the linear guide ........10-24 Replenishing grease to the ball screw ......... 10-25 Get other manuals https://www.bkmanuals.com...
Page 177: Installation Bolt Types
Chapter 10 HXYX Installation WARNING Always turn the controller power OFF before installing the robot. Serious accidents might occur if the robot starts to operate during installation. Install the HXYX by tapping holes into the installation base and securing the robot to the base with M8 bolts from the inside of the robot.
Page 178: Tightening Torque
1) Tap M8 coares screw thread holes into the installation base where the robot is to be installed. Refer to the XY-X Series catalog for the hole positions. 2) Loosen the small screws (M5, 4 screws) fixing the X-axis wiring box. The wiring box can be slid along the T slot when these screws are loosened.
Page 179 Chapter 10 HXYX Fig. 10-4 CAUTION Decorative plates are attached to both ends of the stroke cover. Take care not to lose these plates. 4) Remove the stroke cover. If the cover is difficult to remove, manually move the Y-axis to the motor side stroke end.
Page 180 Chapter 10 HXYX 6) After installing, return the stroke cover and X-axis wiring box to the original positions. CAUTION Always install the X-axis wiring box at the original position. The amount of pro- jection from the cable carrier's stroke end could change, or the cable carrier and Y-axis bracket could contact.
Page 181: Installation Methods (Gantry Type Support Axis)
1) Tap M8 holes into the installation base where the robot is to be installed. Refer to the XY-X Series catalog for the hole positions. 2) Remove the screws fixing the X-axis stroke cover. (M4 countersunk head screw, 6 screws) 3) Remove the stroke cover.
Page 182: Installation Method 3 (Gantry Type Support Axis)
Chapter 10 HXYX Installation method 3 (Gantry type support axis) Install the gantry type support axis in the following manner. CAUTION Move the X-axis as much as possible, and tighten the bolts where the move- ment is the lightest. Set the X-axis and guide rail parallelism during installation. Make sure that there is no difference in the height direction of the X-axis and guide rail installa- tion surface.
Page 183: Protective Connections
Chapter 10 HXYX Protective Connections WARNING Always ground the robot and controller to prevent electrical shocks. WARNING Always turn the controller power OFF before connecting the ground to prevent electrical shocks. WARNING When using a tool or workpiece having power which could contact the robot due to a failure or the specifications, the user must provide proper grounding since the robot does not have a ground terminal for those devices.
Page 184: Ground Wire
Chapter 10 HXYX Ground terminal X-axis wiring box Fig. 10-8 XZ type Ground wire Use an AWG14 (2.0mm ) or larger ground wire with a total length of 1m or less. Crimp an M4 ring-tongue terminal on the end of the wire connected to the robot. Wiring methods CAUTION Accurately insert the lock washer between the ring-tongue terminal and robot.
Page 185 Chapter 10 HXYX 3) Connect the ring-tongue terminal of the ground wire to the ground terminal on the robot. An M4 small screw with spring washer and lock washer are attached to the ground terminal. Arrange the parts in the order of the lock washer, ring-tongue terminal and M4 small screw with spring washer, and then tighten.
Page 186: Installing The Tool
Chapter 10 HXYX Installing the Tool Install the user tool onto the robot’s tool installation surface in the following man- ner. WARNING Always turn the controller power OFF before Installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tight- ening torque, and accurately installing the tool.
Page 187: Arm Type, Gantry Type 2-Axis Model
Chapter 10 HXYX Arm type, gantry type 2-axis model Eight M8 coarse thread tap holes and two φ6 reamer holes are opened on the Y-axis slider installation surface. (Refer to Fig. 10-10.) Install the user tool onto the Y-axis slider using these holes. Four M5 coarse thread tap holes are also opened on the slider side.
Page 188: Moving Arm Type 2-Axis Model
Chapter 10 HXYX Moving arm type 2-axis model The moving arm type has an aluminum-cast bracket on the end of the Y-axis. Install the tool on this bracket. Twelve M8 coarse thread tap holes and two φ6 reamer holes are opened on the bracket.
Page 189: Pole Type 2-Axis Model
Chapter 10 HXYX Pole type 2-axis model Four M8 coarse thread tap holes and two $8 reamer holes are opened on the tool installation surface of the Y-axis slider. (Refer to Fig. 10-12.) Install the user tool onto the Y-axis slider using these holes. Four M5 coarse thread tap holes are also opened on the slider side.
Page 190 Select the under head length of the installation bolt so that the screw length from the installation surface is 9mm or more, 27mm or less. Refer to the XY-X Series catalog for the installation position. Fig. 10-13 Tool installation ZH NOTE There is a step on the ZH frame.
Page 191 Chapter 10 HXYX (Arm type, gantry type, moving arm type 3rd-axis option/ XZ type 2-axis model) When using the 3rd-axis model with ZL for the 3rd-axis, install the workpiece onto the ZL slider in the following manner. Eight M6 coarse thread tap holes and two φ6 reamer holes are opened on the Y-axis slider.
Page 192: Zph (Pole Type 3Rd-Axis Option)
Chapter 10 HXYX ZPH (Pole type 3rd-axis option) When ZPH is attached for the 3rd-axis of the pole type, install the tool onto the aluminum bracket at the end of the ZP-axis. Twelve M6 coarse thread tap holes and two φ6 reamer holes are opened on the bracket.
Page 193: Rh (Arm Type, Gantry Type 4Th-Axis Option)
Chapter 10 HXYX (Arm type, moving arm type, gantry type 4th-axis option/ XZ type 3rd-axis option) CAUTION When fixing with the tap holes, always fix at several holes. If fixed with only one hole, the loosening torque could act during operation can cause loosening. If the rotary axis RH is attached to the 4th-axis, install the tool onto the shaft at the end of RH.
Page 194: User Wiring And User Piping
Chapter 10 HXYX User Wiring and User Piping WARNING Always turn off the controller before wiring and piping to prevent electri- cal shocks. Cable carrier type A cable carrier is mounted as a standard between the X and Y axes. When 3rd- axis are used, a cable carrier is also provided between the Y and Z axes, and when using 4th-axis, a cable carrier is also provided between the Z and R axes.
Page 195 Chapter 10 HXYX 3) Remove the harness retainer located at the cable carrier outlet. (Hexagon socket bolt M5, 2 bolts) Harness retainer 4) Pass the required wires and pipes through the cable carrier. The cable carrier has an outer lid that can be opened and closed easily. Use a flat-tip screwdriver to open the lid.
Page 196: Cable Carrier Specifications
When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sectional area.
Page 197: User I/O Cable Specifications
Chapter 10 HXYX 4-1-3 User I/O cable specifications CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied cor- rectly, and may prevent the device from operating correctly. ×...
Page 198: Whipover Cable Type (Moving Arm Type/Pole Type 3-Axis)
Recommended crimping tool YC-122R (J.S.T. Mfg Co., Ltd.) 2) When using an air tube, prepare an air coupler for connecting the user air tube with the YAMAHA air tube. 10-22 Get other manuals https://www.bkmanuals.com...
Page 199 Chapter 10 HXYX 3) Open the X-axis wiring box cover. Fig. 10-19 4) Rubber grommets are attached to the X-axis wiring box. Open holes (or notches) in these grommets, and pass the required cables and air tubes, etc., through. Crimp the enclosed connectors onto the cables. 5) Connect the connectors, and connect the air tubes using the air couplers.
Page 200: Periodic Inspections
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter- proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 201: Replenishing Grease To The Ball Screw
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter- proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 202 Chapter 10 HXYX Replenishment methods Refer to the following procedures and replenish the grease. 1) Remove the stroke cover of the axis to which grease is to be replenished. 2) Replenish the grease with one of the following methods. CAUTION Always remove the grease nipple after replenishing the grease.
Page 203 CHAPTER FXYBX/SXYBX 1 Installation ................11-1 Installation bolt types ..............11-1 Installation bolt nominal length............11-1 Tightening torque ................11-2 Installation methods ................ 11-2 2 Protective connections ............11-3 Ground terminal ................11-3 Ground wire ..................11-4 Wiring methods (Cable carrier type) ..........11-4 Wiring methods (Whipover cable type) ...........
Page 204 7 Adjusting the Timing Belt Tension ........11-22 Adjusting the drive belt tension ............. 11-23 Adjusting the speed reduction belt tension ........11-25 8 Periodic inspections ............11-27 Replacing the motor ..............11-27 Replacing the drive belt ..............11-28 Replacing the speed reduction belt..........11-31 Replacing the slider ..............
Page 205 Chapter 11 FXYBX/SXYBX Installation WARNING Always turn the controller power OFF before installing the robot. Serious accidents might occur if the robot starts to operate during installation. Install the FXYBX by opening through holes on the installation base and secur- ing with M5 bolts from below.
Page 206 1) Open a through hole on the installation base’s robot installation surface. Re- fer to the XY-X Series catalog for the hole positions. 2) Set the robot on the installation base and fix with the designated bolts from below.
Page 207 Chapter 11 FXYBX/SXYBX Protective connections WARNING Always ground the robot and controller to prevent electrical shocks. WARNING Always turn the controller power OFF before connecting the ground to prevent electrical shocks. WARNING When using a tool or workpiece having power which could contact the robot due to a failure or the specifications, the user must provide proper grounding since the robot does not have a ground terminal for those devices.
Page 208 Chapter 11 FXYBX/SXYBX The ground terminal for the Whipover cable type is provided on the end face of the X-axis wiring box. (Refer to Fig. 11-5.) Ground terminal Fig. 11-5 Whipover cable type Ground wire Use an AWG14 (2.0mm ) or larger ground wire with a total length of 1m or less. Crimp an M4 ring-tongue terminal on the end of the wire connected to the robot.
Page 209 Chapter 11 FXYBX/SXYBX 1) Remove the four M4 screws from the top of the X-axis wiring box, and loosen the M4 screw on the end face. Remove X-axis wiring box Loosen Fig. 11-6 2) Open the X-axis wiring box cover. Lift up the back of the wiring box, push it forward and then pull it upward and off.
Page 210 Chapter 11 FXYBX/SXYBX 4) Return the wiring box cover to the original position following steps 1 and 2 in reverse. Lead out the ground wire from the user wiring outlet on the end face of the X-axis wiring box. Wiring methods (Whipover cable type) For the independent cable type, wire the ground wire to the ground terminal on the end face of the X-axis wiring box.
Page 211 Chapter 11 FXYBX/SXYBX Installing the Tool Install the user tool onto the robot's tool installation surface in the following manner. WARNING Always turn the controller power OFF before Installing a tool to prerent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tight- ening torque, and accurately installing the tool.
Page 212 Chapter 11 FXYBX/SXYBX Select the under head length of the bolt for fixing the tool so that the screw length from the slider installation surface is 6mm or less. CAUTION If the screw length from the installation surface is 8mm or more, the screw could interfere with the stroke cover.
Page 213: Sxybx-Zf (Xz Type 2-Axis, Arm Type 3Rd-Axis Option)
Chapter 11 FXYBX/SXYBX Select the under head length of the bolt for fixing the tool so that the screw length from the slider installation surface is 6mm or less. CAUTION Note that if the screw length from the installation surface is 16mm or more, the screw will contact the bottom.
Page 214: Zs/Zrs (Fxybx, Sxybx 3/4-Axis Option)
Chapter 11 FXYBX/SXYBX ZS/ZRS (FXYBX, SXYBX 3/4-axis option) WARNING Use the tap hole on the end of the shaft only to prevent the tool from dislocating. Do not use only this hole to install the tool. The tool could dislocate and fly off the installation section during robot operation.
Page 215: Zfh (Arm Type, Gantry Type, Moving Arm Type 3Rd-Axis Option)
Chapter 11 FXYBX/SXYBX (Arm type, gantry type, moving arm type 3rd-axis option) XZ 2nd-axis option When using the 3rd-axis model with ZFH for the 3rd-axis, install the workpiece onto the ZFH frame in the following manner. Four M5 coarse thread tap holes and a φ5 reamer hole are opened on the frame's workpiece installation surface.
Page 216: Zfl
Select the maximum nominal length of the tool fixing bolt so that the screw fit- ting length is 12mm or less. YAMAHA recommends a screw fitting length of 8mm or more. CAUTION If the bolt fitting length is 12mm or more from the installation surface, the bolt will contact the bottom.
Page 217: User Wiring And User Piping
Chapter 11 FXYBX/SXYBX User Wiring and User Piping WARNING Always turn off the controller before wiring and piping to prevent electri- cal shocks. Cable carrier type A cable carrier is mounted as a standard between the X and Y axes. When using 3-axes, a cable carrier is also provided between the Y and Z axes.
Page 218 Chapter 11 FXYBX/SXYBX 4) Open the Y-axis wiring box cover. 5) Lay out the wiring in the Y-axis box as necessary. CAUTION 1. The wires could be damaged if the harness retainer is tightened too much. 2. Manually move the robot by the full stroke before fixing to confirm that the harness and air tube, etc., are not pulled in the cable carrier.
Page 219 When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sec- tional area.
Page 220: User I/O Cable Specifications
Chapter 11 FXYBX/SXYBX 4-1-3 User I/O cable specifications CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied cor- rectly, and may prevent the device from operating correctly. ×...
Page 221: Examples Of Wiring And Piping With Whipover Cable
2) When using an air tube, prepare an air coupler for connecting the user air tube with the YAMAHA air tube. 3) Remove the resin cover from the end face of the X-axis wiring box. (M4 screw, 4 screws) 4) Rubber grommets are attached to the X-axis wiring box.
Page 222 Chapter 11 FXYBX/SXYBX 10) When completed with all wiring work, return each wiring box cover to the original positions. Sandwich the X-axis wiring and air tube with the protec- tive material at the wire lead-out port of each wiring box. CAUTION Take care not to catch the wiring or air couplers when installing the covers.
Page 223: Changing The Motor Installation Position
Chapter 11 FXYBX/SXYBX Changing the Motor Installation Position Changing the motor installation position WARNING Always turn the controller power OFF before starting this work. Serious accidents could occur if the robot starts moving during this work. The position for installing the FXYBX and SXYBX axis on the motor can be freely selected.
Page 224 Chapter 11 FXYBX/SXYBX 4) First attach the belt to the small pulley, and then fit it onto the large pulley. 5) Temporarily fix the motor plate installation bolts while pulling on the motor case. Motor case Motor plate installation bolt 6) Refer to “Chapter 11 7-1-2.
Page 225: Installing The Cover
Chapter 11 FXYBX/SXYBX Installing the Cover If the X-axis stroke is long, a slider mechanism is provided in the X-axis stroke cover. The alignment of the slider and upper cover must be adjusted when install- ing the cover. Target FXYBX X stroke 2150mm or more SXYBX X stroke 2450mm or more CAUTION If the slider and upper cover are not correctly adjusted, the slider could be...
Page 226: Adjusting The Timing Belt Tension (X-Axis)
Chapter 11 FXYBX/SXYBX Adjusting the Timing Belt Tension WARNING The motor and speed reduction gear casing are extremely hot after auto- matic operation, so burns may occur if these are touched. Before han- dling these parts, turn the controller power OFF, wait for a while and check that the part has cooled.
Page 227: Adjusting The Drive Belt Tension
Chapter 11 FXYBX/SXYBX Adjusting the drive belt tension CAUTION On robot models having a long stroke, a slider is provided in the upper cover. Pull off the upper cover with a parallel movement in the axis movement direc- tion. 1) Turn the controller power OFF. 2) Remove the end cover.
Page 228 Chapter 11 FXYBX/SXYBX 5) Move the slider by hand so that the distance between the slider end face and base block end face is 150mm. Apply a load at the L = 115mm position from the base block end for the FXYBX X-axis, at L = 65mm for the FXYBX Y-axis, and L = 129mm for the SXYBX X and Y axes.
Page 229: Adjusting The Speed Reduction Belt Tension
Chapter 11 FXYBX/SXYBX Adjusting the speed reduction belt tension 1) Turn the controller power OFF. 2) Remove the end cover. 3) Apply the load listed in Table 11-2 at the center of both pulleys, and measure the deflection at that point. If the results are within the range given in Table 11-2, the tension is suitable.
Page 230 Chapter 11 FXYBX/SXYBX 6) Measure the belt tension again with the procedure given in step 3). The belt adjustment is completed if the measured value is within the range given in Table 11-2. If the measured value is not within the range of Table 11-2, re- peat steps 3) to 5).
Page 231: Periodic Inspections
Chapter 11 FXYBX/SXYBX Periodic inspections The inspection periods and general precautions are described in Chapter 4 Peri- odic Inspections. Always refer to that Chapter before starting this work. WARNING Always turn the controller power OFF before starting periodic inspec- tions. Serious accidents could occur if the robot starts moving during the periodic inspection.
Page 232: Replacing The Drive Belt
Chapter 11 FXYBX/SXYBX 5) Loosen the two pulley set screws, and remove the pulley. 6) Replace the motor, and attach the pulley to the motor. Insert so that the two set screws perpendicularly contact the D face of the motor shaft. NOTE The parts can be correctly assembled by projecting the set screws by approx.
Page 233 Chapter 11 FXYBX/SXYBX 3) Remove cover 1. Cover 1 4) FXYBX X-axis, SXYB X, Y axes Remove the belt stay installation bolts (4 bolts, 2 stays), and remove the belt stays from the table. Belt stay installation bolt Table Belt stay FXYBX Y-axis Remove the two belt stay installation bolts, and remove the belt stay from the table.
Page 234 Chapter 11 FXYBX/SXYBX 6) Attach the new belt. 7) First, lead the belt from the top of the idle pulley, and push it out with a narrow rod, etc. 8) Next, lead the belt through the lower side of the slider and lead it to below the drive pulley.
Page 235: Replacing The Speed Reduction Belt
Chapter 11 FXYBX/SXYBX Replacing the speed reduction belt CAUTION The position will deviate when the belt is replaced. After replacing the belt, return-to-origin must be carried out and the point data must be reset. Remem- ber the relation of the installation positions when removing any parts. 1) Remove the belt cover.
Page 236: Replacing The Slider
Chapter 11 FXYBX/SXYBX Replacing the slider If the X stroke is 2150mm or more for the FXYBX, or 2450mm or more for the SXYBX, a slider mechanism is provided in the X-axis stroke cover. Use the fol- lowing procedure if the slider needs to be replaced due to wear or damage. 1) Turn the controller power OFF.
Page 237: Replenishing The Grease
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter- proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 238 Chapter 11 FXYBX/SXYBX 4) Using a grease gun, replenish grease from the grease nipple installed on the linear guide bearings. Sufficient grease has been replenished when new grease starts to seep out from the clearance between the linear guide bearings and rail. FXYBX X-axis, Y-axis The X-axis has four bearings, and the Y-axis has two linear guide bearings.
Page 239: Replenishing Grease To The Ball Screw (Zf)
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter- proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 240: Periodic Inspection Of The Zs/Zrs Unit
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter- proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 241: Adjusting The R-Axis Belt Tension (Zrs)
Chapter 11 FXYBX/SXYBX 8-6-2 Adjusting the R-axis belt tension (ZRS) WARNING There is a risk of injury if fingers, etc., are caught between the drive sec- tion pulley and belt section. Always turn the controller power OFF and carefully carry out the work if these parts may be contacted. CAUTION The position will deviate when the belt tension is adjusted.
Page 242: Replacing The R-Axis Harmonic Drive (Zrs)
Chapter 11 FXYBX/SXYBX 7) If the value measured in step 4) is smaller than the value given in Table 11-3, move the R-axis motor so that the tension increases. If larger than the value in Table 11-3, move the R-axis motor so that the tension decreases. Then, fix the bolts.
Page 243 (Operation hours: 24 hours/day, number of operation days: 240 days/year) : 10 θ : 0.25 : 50 : 24 : 240 [Replacement period] =8.4×10 /(n×60×h×D×N×θ) =8.4×10 /(10×60×24×240×50×0.25) =19.4 years Consult with YAMAHA when actually replacing the harmonic drive. 11-39 Get other manuals https://www.bkmanuals.com...
Page 244 MEMO 11-40 Get other manuals https://www.bkmanuals.com...
Page 245 CHAPTER HXYLX 1 Installation ................12-1 Installation method 1 (Arm type, moving arm type, pole type, gantry type X-axis) ..12-1 1-1-1 Installation bolt types ..............12-1 1-1-2 Installation bolt nominal length ............12-1 1-1-3 Tightening torque ................12-2 1-1-4 Installation methods ..............12-2 Installation method 3 (Gantry type support axis) ......
Page 246 4 User Wiring and User Piping ..........12-15 Cable carrier type ................. 12-15 4-1-1 Example of wiring and piping methods using cable carrier ..12-15 4-1-2 Cable carrier specifications ............12-17 4-1-3 User I/O cable specifications ............12-18 Whipover cable type (moving arm type/pole type 3-axis) .... 12-19 4-2-1 Examples of wiring and piping with Whipover cable ....
Page 247: Installation
Chapter 12 HXYLX Installation WARNING Always turn the controller power OFF before installing the robot. Serious accidents might occur if the robot starts to operate during installation. Install the HXYLX by tapping holes into the installation base and securing the robot to the base with M8 bolts from the inside of the robot.
Page 248: Tightening Torque
1) Tap M8 coares screw thread holes into the installation base where the robot is to be installed. Refer to the XY-X Series catalog for the hole positions. 2) Remove the screws securing the upper cover of the robot and remove the upper cover.
Page 249 Chapter 12 HXYLX 3) Secure the robot to the base with the specified bolts and torque. The bolts and tightening torque are shown below. Bolt Hex socket-head M8 bolt, strength: 8.8T, length: longer than 45mm (F17), longer than 50mm (F20) Tightening torque 230kg-cm to 370kg-cm WARNING...
Page 250 Chapter 12 HXYLX ●Protective bonding WARNING Always ground the robot and controller unit to prevent electrical shock. A grounding terminal (M4 screw) is provided inside the cable box, so always ground the unit. The position of the grounding terminal is shown below. Cable box Cable carrier Robot cable...
Page 251: Installation Method 3 (Gantry Type Support Axis)
Chapter 12 HXYLX Installation method 3 (Gantry type support axis) Install the gantry type support axis in the following manner. CAUTION Move the X-axis as much as possible, and tighten the bolts where the move- ment is the lightest. Set the X-axis and guide rail parallelism during installation. Make sure that there is no difference in the height direction of the X-axis and guide rail installa- tion surface.
Page 252: Protective Connections
Chapter 12 HXYLX Protective Connections WARNING Always ground the robot and controller to prevent electrical shocks. WARNING Always turn the controller power OFF before connecting the ground to prevent electrical shocks. WARNING When using a tool or workpiece having power which could contact the robot due to a failure or the specifications, the user must provide proper grounding since the robot does not have a ground terminal for those devices.
Page 253: Ground Wire
Chapter 12 HXYLX Ground wire Use an AWG14 (2.0mm ) or larger ground wire with a total length of 1m or less. Crimp an M4 ring-tongue terminal on the end of the wire connected to the robot. Wiring methods CAUTION Accurately insert the lock washer between the ring-tongue terminal and robot.
Page 254: Installing The Tool
Chapter 12 HXYLX Installing the Tool Install the user tool onto the robot’s tool installation surface in the following man- ner. WARNING Always turn the controller power OFF before Installing a tool to prevent an accident. WARNING Before installing a tool, check that the robot is securely fixed to the base. WARNING The user is responsible for determining the required bolt type and tight- ening torque, and accurately installing the tool.
Page 255: Moving Arm Type 2-Axis Model
Chapter 12 HXYLX Select the nominal length of the tool fixing bolt so that the fitting length of the screw fixing the tool is 16mm or more, 25mm or less.(Refer to the cross-section drawings in Fig. 12-5.) CAUTION If the fitting length is less than 16mm, the threads could be damaged during tightening.
Page 256: Pole Type 2-Axis Model
Chapter 12 HXYLX Pole type 2-axis model Four M8 coarse thread tap holes and two $8 reamer holes are opened on the tool installation surface of the Y-axis slider. (Refer to Fig. 12-7.) Install the user tool onto the Y-axis slider using these holes. Four M5 coarse thread tap holes are also opened on the slider side.
Page 257: (Arm Type, Gantry Type, Moving Arm Type 3Rd-Axis Option)
Select the under head length of the installation bolt so that the screw length from the installation surface is 9mm or more, 27mm or less. Refer to the XY-X Series catalog for the M6 tap position. Fig. 12-8 Tool installation ZH NOTE There is a step on the ZH frame.
Page 258: Zl (Arm Type, Gantry Type)
Chapter 12 HXYLX ZL (Arm type, gantry type) When using the 3rd-axis model with ZL for the 3rd-axis, install the workpiece onto the ZL slider in the following manner. Eight M6 coarse thread tap holes and two φ6 reamer holes are opened on the Y-axis slider.
Page 259: Zph (Pole Type 3Rd-Axis Option)
Chapter 12 HXYLX ZPH (Pole type 3rd-axis option) When ZPH is attached for the 3rd-axis of the pole type, install the tool onto the aluminum bracket at the end of the ZP-axis. Twelve M6 coarse thread tap holes and two φ6 reamer holes are opened on the bracket.
Page 260: Rh (Arm Type, Gantry Type 4Th-Axis Option)
Chapter 12 HXYLX RH (Arm type, gantry type 4th-axis option) CAUTION When fixing with the tap holes, always fix at several holes. If fixed with only one hole, the loosening torque could act during operation can cause loosening. If the rotary axis RH is attached to the 4th-axis, install the tool onto the shaft at the end of RH.
Page 261: User Wiring And User Piping
Chapter 12 HXYLX User Wiring and User Piping WARNING Always turn off the controller before wiring and piping to prevent electri- cal shocks. Cable carrier type A cable carrier is mounted as a standard between the X and Y axes. When 3rd- axis are used, a cable carrier is also provided between the Y and Z axes, and when using 4th-axis, a cable carrier is also provided between the Z and R axes.
Page 262 Chapter 12 HXYLX 3) Remove the harness retainer located at the cable carrier outlet. (Hexagon socket bolt M5, 2 bolts) Harness retainer 4) Pass the required wires and pipes through the cable carrier. The cable carrier has an outer lid that can be opened and closed easily. Use a flat-tip screwdriver to open the lid.
Page 263 When setting the harness and air tube into the cable carrier, make sure that the total cross-sectional area of all wires and pipes, including the YAMAHA cable, inside the cable carrier does not exceed 30% of the cable carrier’s cross-sec- tional area.
Page 264: User I/O Cable Specifications
Chapter 12 HXYLX 4-1-3 User I/O cable specifications CAUTION Securely crimp the pin and insert into the pin connector. Failure to do so will prevent the signals and power from being supplied cor- rectly, and may prevent the device from operating correctly. ×...
Page 265 Recommended crimping tool YC-122R (J.S.T. Mfg Co., Ltd.) 2) When using an air tube, prepare an air coupler for connecting the user air tube with the YAMAHA air tube. 12-19 Get other manuals https://www.bkmanuals.com...
Page 266 Chapter 12 HXYLX 3) Open the X-axis wiring box (movable) cover. Y-axis wiring box X-axis wiring box (movable) Fig. 12-15 4) Pass the required cables and air tubes, etc., through the X-axis cable conduit. Crimp the enclosed connectors onto the cable. 5) Connect the connectors, and connect the air tubes using the air couplers.
Page 267: Periodic Inspections
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter- proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 268: Replenishing Grease To The Ball Screw
Daphne Eponex No. 2 (Idemitsu) CAUTION When designated by YAMAHA and the user, special grease, such as splatter- proof grease, may be applied when the robot is delivered. In this case, apply the appropriate grease as indicated in the delivery specification drawings, etc.
Page 269 Chapter 12 HXYLX Replenishment methods Refer to the following procedures and replenish the grease. 1) Remove the stroke cover of the axis to which grease is to be replenished. 2) Replenish the grease with one of the following methods. CAUTION Always remove the grease nipple after replenishing the grease.
Page 270: Adjusting The Timing Belt Tension (X-Axis)
Chapter 12 HXYLX Adjusting the timing belt tension (X-axis) 1) Temporarily tighten the motor installation bolt. 2) Remove the belt cover, and install the adjustment bolt (M5). Apply belt ten- sion. (Refer to the following photograph.) 3) Tighten the motor fixing bolt. 4) As shown below, place the measuring instrument's head near the belt, and pull the center of the belt span with a hexagon wrench, etc.
Page 271: Replacing The Motor (X-Axis)
Chapter 12 HXYLX Replacing the motor (X-axis) CAUTION Since a positional shift occurs after replacing the motor, return-to-origin must be performed again and the point data re-specified. When removing the parts, check and mark the part positions versus each other so you can correctly reas- semble the parts later.
Page 272 Chapter 12 HXYLX 7) Remove the fixing bolts (M6: four bolts) from the pulley connection boss, and pull the pulley off the motor. (Loosen the bolts while fixing the surface machined section of the boss with a pair of pliers, etc.) 4-M6 Hexagon bolt Boss...
Page 273: Installing And Removing The Cover
Chapter 12 HXYLX Installing and removing the cover 5-5-1 Stroke cover Removing the stroke cover 1) Remove the fixing screws (M4, pan-head) on both ends. 2) Place the table slide near the stroke end, and pull off the cover. Side cover Center cover Motor block Table slide...
Page 274: Belt Cover
Chapter 12 HXYLX 5-5-2 Belt cover Removing the belt cover 1) Loosen the hexagon bolts (M4, two bolts) on the front with a spanner or socket wrench. After removing the M4 screws on the top, pull the cover up- ward and off. (Refer to the following photograph.) M4 screw (two screws) M4 hexagon bolt (two bolts) Installing the belt cover...
Page 275: Motor Cover
Chapter 12 HXYLX 5-5-3 Motor cover Removing the motor cover 1) Cut the Insulock-tie binding the motor cable with a pair of nippers, and re- move. 2) Remove the two M6 hexagon bolts, and pull the motor cover upward and off. (Refer to the following photograph.) Installing the motor cover 1) Insert the motor cover into the installation hole, and fix with two M6 hexa-...
Page 276 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.

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