Moving The Robot; Moving The Yk500Xg, Yk600Xg, Yk600Xgh, Yk700Xg, Yk800Xg, Yk900Xg, Yk1000Xg - Yamaha YK-X Series User Manual

CHAPTER 3 Installation
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Moving the robot

WARNING
Serious injury may occur if the robot falls and pins someone under it.
• Do not allow any part of your body to enter the area beneath the robot during
work.
• Always wear a helmet, safety shoes and gloves during work.
To check the mass of each robot, refer to "1-1 Basic specifications" in Chapter 7.
Moving the YK500XG, YK600XG, YK600XGH, YK700XG,
YK800XG, YK900XG, YK1000XG
WARNING
Serious injury may occur if the robot falls and pins someone under it.
• Check that there are no cracks and corrosion on the eyebolt installation. If
found, do not use eyebolts to move the robot.
• Screw the eyebolts securely into the tapped holes until the bearing surface of
eyebolt makes tight contact with the bearing surface on the arm.
• Use a hoist and rope with carrying capacity strong enough to support the
robot weight.
• Make sure the rope stays securely on the hoist hook.
• Remove all loads attached to the robot manipulator end. If any load is still
attached, the robot may lose balance while being carried, and topple over
causing accidents.
! CAUTION
• When moving the robot by equipment such as cranes that require a license,
only properly qualified personnel may operate it.
• The equipment and tools used for moving the robot should be serviced daily.
To move a robot (for example, the YK500XG) correctly and safely, follow the
procedure below. (See Fig. 3-4.) Use the same procedure to move other robots.
1) Lower the Z-axis to a point approximately 24mm (35mm for YK600XGH or
longer arm robots) lower than the origin position. Then turn off the controller
and unplug the robot cable from the controller. (The Z-axis is fixed to the
base with an arm clamp stay at the factory prior to shipment.)
2) Remove the bolts on the X-axis arm.
3) Fold the X and Y-axis arms as shown in the drawing, and clamp the Y axis
arm to the robot base by using the stay, bolts and washers (2 washers for
YK500XG and YK600XG; 1 washer for YK600XGH or longer arm robots)
that come with the robot.
If the arms cannot be folded in the carrying position due to the X-axis
mechanical stoppers, then remove them. (When the robot is shipped, the
mechanical stoppers are installed to provide the maximum movement range.)
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