Page 1 INSTRUCTIONS Upon receipt of the product and prior to initial operation, read these instructions thoroughly and retain for future reference YASKAWA INSTRUCTIONS MOTOMAN RM2-755/1255SL POSTIONER INSTRUCTIONS CONTROLLER INSTRUCTIONS CONTROLLER OPERATOR’S MANUAL CONTROLLER MAINTENANCE MANUAL The Controller operator’s manual above correspond to specific usage.
Page 2 Copyright © 2019, 2018, 2017, 2015, 2014 Yaskawa America, Inc. Terms of Use and Copyright Notice All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the operation of Motoman robots, related equipment and software This manual is copyrighted property of Yaskawa and may not be sold or redistributed in any way.
Page 3 It is important that users operate the equipment in accordance with this instruction manual and any additional information which may be provided by Yaskawa. Address any questions regarding the safe and proper operation of the equipment to Customer Support. Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the manipulator.
Page 4 166006-1CD RM2-755/1255SL Safety Positioner Notes for Safe Operation Even items described as “CAUTION” may result in a serious accident in some situations. WARNING • This instruction manual is intended to explain mainly on the mechanical part of the manipulator for the application to the actual operation and for proper maintenance and inspection.
Page 5 166006-1CD RM2-755/1255SL Safety Positioner Notes for Safe Operation WARNING • Before operating the manipulator, check that servo power is turned OFF pressing the emergency stop buttons. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
Page 6 The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product. Yaskawa is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids the product warranty.
Page 7 • Yaskawa may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised.
Page 8 166006-1CD RM2-755/1255SL Safety Positioner Explanation of Warning Labels Explanation of Warning Labels The following warning labels are attached to the Positioner (refer to Fig. : "Warning Labels Location"). Always follow the safety labels. Also, an identification label with important information is placed on the body of the Positioner.
Page 9 Do not make any modifications to the Controller unit. Making any changes without the written permission from Yaskawa will void the warranty. • Some operations require standard passwords and some require special passwords.
Page 10 166006-1CD RM2-755/1255SL Safety Positioner Safeguarding Tips Safeguarding Tips CAUTION All operators, programmers, maintenance personnel, supervisors, and anyone working near the system must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation.
Page 11 NEVER ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR REPAIR THE EQUIPMENT! We recommend approved Yaskawa training courses for all personnel involved with the operation, programming, or repair of the equipment. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC rules.
Page 12 Positioner Definition of Terms Used Often in This Manual Definition of Terms Used Often in This Manual The MOTOMAN is a Yaskawa industrial robot product. The MOTOMAN usually consists of the manipulator, the Controller, the programming pendant, and supply cables.
Page 13 166006-1CD RM2-755/1255SL Safety Positioner Registered Trademark Registered Trademark In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or bland names for each company or ® corporation. The indications of are omitted. 166006-1CD xiii 13 of 145...
Page 14 166006-1CD RM2-755/1255SL Safety Positioner Customer Support Information Customer Support Information If assistance is needed with any aspect of the system, please contact Customer Support at the following 24-hour telephone number: (937) 847-3200 Customer Support also has an e-mail address for routine technical...
Page 15: Table Of Contents
166006-1CD RM2-755/1255SL Table of Contents Positioner Table of Contents 1 Introduction ............................. 1-1 1.1 About This Document ......................1-1 1.2 System Overview....................... 1-2 1.3 Positioner Configuration ....................1-4 1.4 Welding Ground System....................1-4 1.5 Major Components ......................1-4 1.5.1 Optional Equipment ....................1-4 1.6 Reference Documentation ....................
Page 16 166006-1CD RM2-755/1255SL Table of Contents Positioner 3 Power Connections ......................... 3-1 3.1 Electrical Connections ....................... 3-1 3.1.1 Grounding ......................3-1 3.2 Cable Connection ......................3-2 3.2.1 Connection to the Positioner................. 3-2 3.2.2 Connection to the Controller ................. 3-2 3.2.3 Shop Air Connections ................... 3-3 4 Basic Specifications ........................
Page 17 166006-1CD RM2-755/1255SL Table of Contents Positioner 6.8 Tooling Axis Reduction Gear Units (RV–80E–X)............. 6-17 6.9 Main (Swing) Axis Hardstops................... 6-17 6.10 Welding Ground System....................6-18 6.10.1 Inspection and Cleaning of Carbon Brushes ............ 6-18 6.10.2 Ground Brush Replacement ................6-18 6.11 AC Servomotor Encoder Back-Up Battery..............
Page 18: Introduction
166006-1CD RM2-755/1255SL Introduction Positioner About This Document Introduction About This Document This manual provides the following information: Chapter 1 “Introduction”  Provides general information about the Manual, Positioner and its components. Chapter 2 “Installation”  This chapter provides installation procedures.
Page 19: System Overview
166006-1CD RM2-755/1255SL Introduction Positioner System Overview System Overview The Positioner can be used with a variety of applications that require precise parts movement. Typically, the Positioner is integrated with one or more Manipulators and Controllers in a work cell arrangement.
Page 20 Positioner base. These battery packs have a very long life. However, if they drop below a certain charge level, a “low battery” indication appears on the Programming Pendant LCD display screen. Refer to Table 4-1 “RM2-755/1255SL Positioner Technical Specifications” on page 4-1. 166006-1CD...
Page 21: Positioner Configuration
166006-1CD RM2-755/1255SL Introduction Positioner Positioner Configuration Positioner Configuration The Positioner assembly is available in two configurations (755 or 1255). The main (sweep) axis AC servomotor and tooling (orbital) axis AC servomotors are located on the headstock swingarm of the Positioner.
Page 22: Reference Documentation
• Manipulator – Manipulator Instructions – Manipulator Maintenance • Positioner – RM2-755/1255SL Positioner Manual (166006-1CD) – MHT-Series SIGMA 5 Positioner Manual (168961-1CD) • Controller Manual – READ FIRST Safety Requirements – Instructions – Controller Maintenance Manual –...
Page 23: Customer Support Information
Please use e-mail for routine inquiries only. If there is an urgent or emergency need for service, replacement parts, or information, contact Customer Support at the telephone number shown above. Please have the following information ready before calling: • Positioner RM2-755/1255SL Positioner • Manipulator • Controller • Application • Software Version Access this information on the Programming Pendant’s LCD display screen by selecting...
Page 24: Installation
166006-1CD RM2-755/1255SL Installation Positioner Installation WARNING • Sling applications and crane or forklift operations must be performed by authorized personnel only. Failure to observe this caution may result in injury or damage. • Never place any part of your body under a suspended load or move a suspended load over any part of another person’s body.
Page 25: Contents Confirmation
166006-1CD RM2-755/1255SL Installation Positioner Contents Confirmation NOTICE • These installation procedures are specifically developed for specially machine surfaces that enable these procedures to be successful. • All anchoring hardware for the Positioner must be supplied by the customer. Refer to “Robotic Equipment Installation and Lagging Requirements”...
Page 26: Materials Required
166006-1CD RM2-755/1255SL Installation Positioner Materials Required Materials Required This section identifies customer-supplied items and tools required to complete installation. 2.2.1 Customer-Supplied Items • Servo motion control unit • Incoming power supply • Two earth ground cables with two earth ground stakes 2.2.2 Customer-Supplied Items...
Page 27: Positioner Installation
166006-1CD RM2-755/1255SL Installation Positioner Positioner Installation Positioner Installation CAUTION • Do not start operating the Positioner or turn ON power before firmly anchoring. The Positioner may overturn and cause injury or damage if Positioner is not firmly anchored. 2.3.1 Site Preparation CAUTION •...
Page 28: Location
166006-1CD RM2-755/1255SL Installation Positioner Positioner Installation 2.3.1.1 Location CAUTION • Install the Positioner in a location where the Positioner with a jig does not hit against anything such as the wall or any safeguards. Failure to observe this warning may result in damage.
Page 29 Fig. 2-1: Mounting the Positioner to the Floor (330) (550) 280.0 500.0 450.0 230.0 250.0 140.0 50.0 50.0 25.0 25.0 25.0 1190.0 (1240) ONLY INCLUDED “B” DIMENSIONS WITH MULTIPORT PLAN VIEW POSITIONER +0.7 LUBRICATOR 12X Ø20.0 THRU MOUNTING DIMENSIONS 2.0M 2993mm -0.0 SWINGARMS REMOVED...
Page 30: Shipping Bolts And Bracket
166006-1CD RM2-755/1255SL Installation Positioner Positioner Installation 2.3.2 Shipping Bolts and Bracket The Positioner is attached to a wooden shipping skid at the factory, prior to shipment to the customer. The customer is responsible for removing the Positioner from the shipping skid and inspecting for shipping damage.
Page 31: Transporting Method
166006-1CD RM2-755/1255SL Installation Positioner Positioner Installation 2.3.3 Transporting Method WARNING • Sling applications and crane or forklift operations must be performed by authorized personnel only. Failure to observe this WARNING may result in injury or damage. • Never place any part of your body under a suspended load or move a suspended load over any part of another person’s body.
Page 32: Using An Overhead Crane
166006-1CD RM2-755/1255SL Installation Positioner Positioner Installation 2.3.3.1 Using an Overhead Crane CAUTION • Check that the eyebolts are securely fastened on Positioner. • The weight of the Positioner is approximately 2200kg including the shipping bolts and bracket. Use a wire rope strong enough to withstand this weight.
Page 33: Using Forklifts
166006-1CD RM2-755/1255SL Installation Positioner Positioner Installation 2.3.3.2 Using Forklifts Two forklifts can be used with the forklift pockets when the Positioner is in the shipping position and with the shipping brackets installed. Make sure the Positioner is in the fixed position with the shipping brackets before transporting per Fig.
Page 34: Mounting Positioner
166006-1CD RM2-755/1255SL Installation Positioner Positioner Installation 2.3.4 Mounting Positioner CAUTION • The floor should be strong enough to support the Positioner. Construct a solid foundation with the appropriate thickness to withstand maximum repulsion forces of the Positioner. Make sure the thickness of the floor is 200mm or more because any thickness less than 200mm is insufficient for mounting, even if the floor is concrete.
Page 35: Setting Headstock
166006-1CD RM2-755/1255SL Installation Positioner Positioner Installation 2.3.4.1 Setting Headstock 1. Place leveling bolt plates under each M20 leveling bolt so that the leveling bolts do not rest on the concrete. • There should be approximately 6.35mm between the top of the leveling bolt plate and the underside of the headstock.
Page 36: Setting Tailstock
166006-1CD RM2-755/1255SL Installation Positioner Positioner Installation 3. Adjust the leveling bolts so the top of the headstock frame is level in both the “X” and “Y” direction within 0.5°. • It is best to use three leveling bolts with the fourth leveling bolt retracted to adjust the level.
Page 37 Fig. 2-9: Distance between points on Tailstock and Headstock 1050 SECTION A-A SECTION B-B 37 of 145...
Page 38: Mounting The Positioner On The Floor
166006-1CD RM2-755/1255SL Installation Positioner Positioner Installation 6. Check the elevation of the headstock to tailstock using a self leveling laser. NOTICE The Z-beam dowel pin is the recommended reference. The laser should hit both dowel pins at the same elevation 7.
Page 39 166006-1CD RM2-755/1255SL Installation Positioner Positioner Installation Robotic Equipment Installation and Lagging Requirements  • The customer is responsible for reviewing the data in “Equipment Anchoring” to determine all equipment lagging requirements. • The customer is responsible for determining the adequacy of the foundation in the area where the proposed Motoman equipment will be located.
Page 40: Customer-Supplied Tooling Fixtures
Customer Support. (Refer to section 1.7 “Customer Support Information” on page 1-6). NOTICE The customer shall supply all tooling fixtures for the Positioner. Yaskawa recommends application of a corrosion/rust preventive compound to tooling fixtures located in a high-humidity environment. 166006-1CD 2-17...
Page 41: Installation Of Safeguarding
166006-1CD RM2-755/1255SL Installation Positioner Installation of Safeguarding Installation of Safeguarding WARNING • Install all safeguarding. Failure to observe this warning may result in injury or damage. • Install the Positioner in a location where the Positioner with a jig does not hit against anything such as the wall or the safeguarding.
Page 42: Adjusting The Hardstops
166006-1CD RM2-755/1255SL Installation Positioner Adjusting the Hardstops Adjusting the Hardstops Shock absorbing hardstops located on the head and tailstocks, prevent ° the Positioner from rotating a full 360 . The head and tailstocks are equipped with spring-loaded shock absorbers to absorb some of the Positioner swingarm impact.
Page 43 166006-1CD RM2-755/1255SL Installation Positioner Adjusting the Hardstops 3. If there is a gap, loosen the adjustable bolt hardstop so it just touching the plunger bolt. If it is compressing the plunger bolt, rotate the adjustable bolt hardstop so it is only touching the plunger bolt and tighten the lock nut on the adjustable bolt hardstop to 250Nm.
Page 44: Power Connections
166006-1CD RM2-755/1255SL Power Connections Positioner Electrical Connections Power Connections Electrical Connections WARNING • Ground resistance must be 100Ω or less. Failure to observe this warning may result in fire or electric shock. • Before wiring, make sure to turn OFF the primary power supply, and put up a warning sign.
Page 45: Cable Connection
166006-1CD RM2-755/1255SL Power Connections Positioner Cable Connection Cable Connection There are two cables used to connect the Positioner to the Controller; a power cable and an encoder cable. Connect these cables to the Positioner base connectors and the Controller respectively. Refer to Fig.
Page 46: Shop Air Connections
166006-1CD RM2-755/1255SL Power Connections Positioner Cable Connection Fig. 3-3: Connection between Positioner and Controller (Positioner Side) (Before August 2018) I/O CABLE (OPTIONAL) DEVICENET CABLE (OPTIONAL) ENCODER CABLE MULTIPORT LUBRICATOR CABLE (OPTIONAL) POWER CABLE Fig. 3-4: Connection between Positioner and Controller (Positioner Side)
Page 47: Basic Specifications
Basic Specifications List Basic Specifications Basic Specifications List CAUTION • Do not operate outside the standard setup, without Yaskawa approval. Working outside the standard setup may change E-Stop performance and void the warranty. Table 4-1: RM2-755/1255SL Positioner Technical Specifications SPECIFICATION...
Page 48 166006-1CD RM2-755/1255SL Basic Specifications Positioner Basic Specifications List SPECIFICATION UNITS RM2-755SL RM2-1255SL Repeatability mm/in. ±0.1/.004 ±0.1/.004 Tooling Shaft to Shaft 2.0M 1943±4 (mm) 3.0M 2943±4 +4.0 Tooling Pin to Pin 2.0M 2000 -9.0 (mm) +4.0 3.0M 3000 -9.0 Max. Tooling Length 2.0M...
Page 49: Part Names And Working Axes
166006-1CD RM2-755/1255SL Basic Specifications Positioner Part Names and Working Axes Part Names and Working Axes Fig. 4-1: Part Names and Working Axes ARC SCREEN ASSY SWINGARM ASSEMBLY TAILSTOCK TOOLING PLATE MOTOMOUNT HEADSTOCK FORKLIFT POCKETS Mounting Dimensions Fig. 4-2: Mounting Dimensions (swingarms removed for clarity) “B”...
Page 50: Dimensions And Working Envelope
Dimensions and Working Envelope Fig. 4-3: Dimensions and Working Envelope Ø2675 MAX. TOOLING SWEEP Ø1300 MAX. TOOLING ENVELOPE 2522 ROBOT SIDE 25° 1476 1446 WORK 475 MAX TOOLING 1185 SWEEP SWEEP CENTER OPERATOR SIDE LOAD 50 of 145...
Page 51: Load Specifications And Jig Mounting
166006-1CD RM2-755/1255SL Load Specifications and Jig Mounting Positioner Details of Fixture Mounting Load Specifications and Jig Mounting Details of Fixture Mounting The fixture mounting dimensions are shown in the figures below. It is a requirement that the fixture be located with the 16mm dowel and attached with 4 x M12 bolts (10.9 or 8.8 grade)
Page 52: Maintenance And Inspection
Failure to observe this caution may result in electric shock or injury. • For disassembly or repair, contact a Yaskawa representative. • Do not remove the motor or release the brake. Failure to observe this caution may result in injury from unexpected turning of the table.
Page 53: Inspection Interval
2. MultiPort Lubricator (IF EQUIPPED) Inspect and fill the reservoir as required with Yaskawa P/N 180144-1, Mobil CM-P, Lithium Complex grease. Weld Brushes Weekly Check for dirt and ensure full contact with faceplate.
Page 54 Inspection Item Frequency Inspection Operation Motomount Bearing Monthly Grease with Yaskawa P/N 180144-1, Mobil CM-P, Lithium Complex. Apply grease with a grease gun thru the grease fitting. Apply 10 squeezes of the grease gun lever (approximately 1.25g x 10). Slewing Bearing Raceway...
Page 55: Battery Pack Replacement
166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner Battery Pack Replacement Battery Pack Replacement If a battery alarm occurs in the Controller, replace the battery according to the following procedure. CAUTION • Do not remove power from the main power supply. Removing the main power while removing the battery pack in the Positioner will cause the encoder to lose its memory.
Page 56: Grease Replenishment/Exchange For Speed Reducers
166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner Grease Replenishment/Exchange for Speed Reducers Grease Replenishment/Exchange for Speed Reducers WARNING • Follow all necessary safety procedures as described in this manual and all state and federal procedures and regulations. Not following all necessary safety procedures may result in serious injury.
Page 57: Slewing Bearing Raceway
Grease Replenishment/Exchange for Speed Reducers 6.3.1.2 Slewing Bearing Raceway 1. Remove the Headstock upper column cover. 2. Locate the grease fitting shown in Fig and grease with Yaskawa P/N 132177-1, Gadus S2 V220 2 Fig. 6-4: Slewing Bearing Raceway Grease Fittings...
Page 58 166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner Grease Replenishment/Exchange for Speed Reducers • Lubricating for the First Time 1. Turn the Positioner so the S1 gear and pinion cover is pointing down. 2. Remove the S1-axis motor cover, by removing four M6 screws, washers, and lock washers.
Page 59 166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner Grease Replenishment/Exchange for Speed Reducers NOTICE Grease hose outlets are located 180 degrees apart from each other. 4. Tighten the hose clamp screws and inspect hoses for kinks or damages. 5. Insert Mobil CM-P, Lithium Complex (part number 180144-1) into the two grease fittings by squeezing the lever of a standard grease gun until grease comes out the hose outlets at the gears.
Page 60 Allowing grease to go below the fill line can cause air bubbles in the grease line causing the gear and pinion to wear out prematurely. If using the Multiport Lubricator system, weekly inspect and fill the reservoir as required using Yaskawa P/N 180144-1, Mobil CM-P, Lithium Complex grease. Fig. 6-9: Multiport Lubricator...
Page 61: Tooling Axes Reducer
166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner Grease Replenishment/Exchange for Speed Reducers 6.3.2 Tooling Axes Reducer 1. Remove the button head screws in the vent located in the flat surface at the top of the drive assembly. Fig. 6-10: Tooling Greasing...
Page 62: Tailstock Lubrication
166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner Grease Replenishment/Exchange for Speed Reducers 6.3.3 Tailstock Lubrication The lubrication of the swingarm main axis bearing and the motomount axis bearing are required to be lubricated monthly. 6.3.3.1 Swingarm Main Swing Axis Apply Mobil CM-P grease to the grease fitting by using a standard grease gun and pressing the lever 10 times (1.25 g x 10).
Page 63: General Cleaning
Maintenance and Inspection Positioner General Cleaning General Cleaning The RM2-755/1255SL Positioner requires only occasional cleaning to remove dust and welding by-products. Use compressed air or vacuum, and a bristle brush (if required). NOTICE Yaskawa recommends application of a corrosion/rust preventive compound to tooling fixtures located in a high-humidity environment.
Page 64: Main (Sweep) Axis Reduction Gear Unit (Rv-320E-X)
Customer Support (refer to section 1.7 “Customer Support Information” on page 1-6). 6.7.1 Setting (Sweep) Axis Backlash Yaskawa has two different ways to set the Axis Backlash. The older Positioners require adding and removing shims while the newer Positioners use a backlash tool.
Page 65 166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner Main (Sweep) Axis Reduction Gear Unit (RV–320E–X) 1. Locate the three dots on the drive pinion and the three ring gear teeth and mark. See Fig. 6-13 Fig. 6-13: Marking Dots and Teeth Three dots on pinion...
Page 66 166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner Main (Sweep) Axis Reduction Gear Unit (RV–320E–X) 3. Install two M12 guide pins onto the ring gear. Fig. 6-15: Installing Guide Pins 4. Wipe grease off the gear teeth. 5. Attach the test indicator ensuring the tip of the test indicator is parallel to the ring gear.
Page 67 166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner Main (Sweep) Axis Reduction Gear Unit (RV–320E–X) 6. Retract the bottom bolt of the backlash adjustment tool and place inside the headstock with either “755” or “OTHER” in the up position and tighten the upper bolt till it stays in place.
Page 68: Positioner Production Prior To October 2018
166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner Tooling Axis Reduction Gear Units (RV–80E–X) 10. Install the rest of the M16 screws for the ring gear and torque to 255Nm. 11. Repeat step 7. NOTICE If the reading of the test indicator is not between 0.110mm and 0.140mm remove the M16 EXCEPT FOR the original four screws...
Page 69: Welding Ground System
166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner 6.10 Welding Ground System 6.10 Welding Ground System 6.10.1 Inspection and Cleaning of Carbon Brushes Inspect the ground brushes where they contact the rear of tooling drive plates. Make sure that the contact area is clean and free of dust and welding by-products.
Page 70 166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner 6.10 Welding Ground System 5. Slide the old brush out of the housing and replace it with the new one. Fig. 6-19: Brush Assembly BRUSH SQUEEZE LEVERS and ROTATE UPWARD BRUSH HOLDER 6. Squeeze the brush retaining spring and push the brush against the faceplate then release.
Page 71: Ac Servomotor Encoder Back-Up Battery
166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner 6.11 AC Servomotor Encoder Back-Up Battery 6.11 AC Servomotor Encoder Back-Up Battery The main (sweep) axis and tooling (orbital) axes Sigma-5 servomotors all incorporate an external Lithium-Ion “keep alive” battery pack that maintains encoder positioning data in system memory, should the main cables between the Positioner and Controller be disconnected.
Page 72: Positioner Home Position
166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner 6.12 Positioner Home Position 6.12 Positioner Home Position Home Position Definition:  • S1 with Side B at Manipulator and Side A at Operator • S2 Tooling Down (At Operator Side) • S3 Tooling Up (At Manipulator Side) 6.12.1 RM2-755 Headstock...
Page 73 166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner 6.12 Positioner Home Position Table 6-3: RM2-755 Headstocks Position Variables Variable Value Descriptions Variable Name EX040 -180.000° S1 A-Side At Manipulator S1 A-Side @Robot EX041 0.000° S2 Tooling At Manipulator S2 @Robot EX042 -180.000°...
Page 74: Rm2-1255 Headstock
166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner 6.12 Positioner Home Position 6.12.2 RM2-1255 Headstock 6.12.2.1 Setting the Main Axis (S1) to Home (Zero) Position CAUTION • Make sure the machine is operating temperature before setting the Main Axis (S1) to the Home (Zero) position.
Page 75 166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner 6.12 Positioner Home Position 11. Adjust the headstock hardstop adjustment screw compressing conical spring in the main drive hardstop completely. 12. Back swingarm off of hardstop and tighten jam nut. 13. Rotate Positioner back to B-side position, torque should be 40-45%.
Page 76: Setting The Tooling Axis (S2 & S3) To Home (Zero) Position
166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner 6.12 Positioner Home Position Variable Value Descriptions Variable Name EX063 -90.000° S2 “Level Home” to Homing Pin S2 Level Home to Home Pin a EX40 variable value will vary from Positioner-to-Positioner and results of homing routine. It should be between -179.5°...
Page 77: Re-Homing" Tooling Axes S2 & S3 To Flat At The Manipulator And Operator
166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner 6.12 Positioner Home Position CAUTION • Do not go too far with the tooling plate rotation, The plastic alignment pin will bend and result in an inaccurate adjustment. If this happens, slowly reverse the tooling plate rotation until the pin returns to a straight position.
Page 78: Troubleshooting
166006-1CD RM2-755/1255SL Maintenance and Inspection Positioner 6.13 Troubleshooting 6.13 Troubleshooting 6.13.1 Positioner Table 6-5: Troubleshooting Symptom Probable Cause Corrective Action Motor does not start Loose connection Check all wire connections. Incorrect wiring Check that system has been wired correctly. Overload Reduce load or reduce unbalanced load.
Page 79: Recommended Spare Parts
Brush Holder Brush For Positioner 144371-1 Battery Pack Backup 479348-2 Switch,Pressure Lubricator 182169-1 ,75-300psi,1/8 NOTICE The motor and reducer are not recommended for field service. The unit should be returned to Yaskawa for repairs to these components. 166006-1CD 79 of 145...
Page 80: Performance Charts
166006-1CD RM2-755/1255SL Appendix A Positioner Performance Charts Appendix A Performance Charts A.1.1 Positioner Assembly Rated Peak Holding Torque (N*m)= Load CG Offcenter from Tooling Plate r (mm) Rated W (kgf) Max W (kgf) Holding Torque; Load CG Offcenter (from Tooling Plate)
Page 81: Illustrated Parts List
The Illustrated Parts Lists (IPL) identifies, describes, and illustrates detail parts of the RM2-755/1255SL Positioners Included in this manual is an illustration and table for each of the different Positioners. The illustrations included are: •...
Page 82: Illustrated Parts List Layout
166006-1CD Appendix B RM2-755/1255SL Illustrated Parts List Positioner B.1.1 Illustrated Parts List Layout The Illustrated Parts List (IPL) is arranged so that the illustration (exploded view) for an assembly appears directly above the parts list table for that illustration. When this is not possible, due to a large illustration or an extensive parts list table, the parts list table is listed on the facing page.
Page 83: Illustrated Parts List For Rm2-755Sl And 1255Sl With Grease Fittings
B.1.3 Illustrated Parts List for RM2-755SL and 1255SL with Grease Fittings (Prior to August 2018) Fig. B-1: Major Assemblies — RM2-755SL and 1255SL, 2.0M, with Grease Fittings (Prior to August 2018) DETAIL T 20 21 83 of 145...
Page 84 166006-1CD Appendix B RM2-755/1255SL Illustrated Parts List Positioner Table B-1: Major Assemblies — RM2-755 and 1255SL, 2.0M with Grease Fittings ITEM NO. RM2-755SL, RM2-1255SL, DESCRIPTION 1255 2.0M PART NO. 2.0M PART NO. 172986-1 173481-1 POSITIONER ASSY 173479-1 173479-2 HOUSING ASSY,HEADSTOCK...
Page 85 166006-1CD RM2-755/1255SL Appendix B Positioner Illustrated Parts List ITEM NO. RM2-755SL, RM2-1255SL, DESCRIPTION 1255 2.0M PART NO. 2.0M PART NO. 158277-1 CABLE ASSY,P/ TENCODER,DX100,3 EXT AXIS,MALE,SLIM LINE 176281-1 COVER,GLAND PLATE,RM2 POSITIONERS,I/O CABLE ASSY.DX200 137146-3 SCREW, PPH, M4 X 10, JIS B 1188,W/CAPTIVE LOCK &...
Page 86 Fig. B-2: Major Assemblies — RM2-755SL and 1255SL, 3.0M with Grease Fittings (Prior to August 2018) 20 21 DETAIL T 22 23 86 of 145...
Page 87 175289-1 STRAP, Z-BEAM ARC SHIELD 166426-3 SHIELD, ARC, Z-BEAM, 1563mm, RM2-755/1255SL 175287-1 COVER, Z-BEAM, END, RH 166721-1 COVER, CABLES, TAILSTOCK SWINGARM, RM2-755/1255SL 152364-2 SCREW, HHC, M5 X 12 175285-1 175286-1 COVER, Z-BEAM, END, LH, MAIN DRIVE 164532-1 164532-2 LABEL, PRODUCT,...
Page 88 166006-1CD Appendix B RM2-755/1255SL Illustrated Parts List Positioner ITEM NO. RM2-755SL 3.0M RM2-1255SL 3.0M DESCRIPTION 1255 PART NO. PART NO. 137146-4 SCREW,PPH, 158277-1 CABLE ASSY,P/ T,ENCODER,DX100,3 EXT AXIS,MALE,SLIM LINE 176281-1 COVER,GLAND PLATE,RM2 POSITIONERS,I/O CABLE ASSY.DX200 137146-3 SCREW, PPH, M4 X 10, JIS B 1188,W/CAPTIVE LOCK &...
Page 89 Fig. B-3: Main Drive Headstock Swing Arm Assembly with Grease Fittings (Prior to August 2018) ONLY USED ON RM2-1255SL 89 of 145...
Page 90 166006-1CD Appendix B RM2-755/1255SL Illustrated Parts List Positioner Table B-3: Main Drive Headstock Swing Arm Assembly with Grease Fittings ITEM NO. RM2-755SL, RM2-1255SL, DESCRIPTION 1255 PART NO. PART NO. 163896-1 163897-1 MAIN DRIVE HEADSTOCK SWING ARM ASSEMBLY 163834-1 163834-2 HOUSING, HEADSTOCK...
Page 91 166006-1CD RM2-755/1255SL Appendix B Positioner Illustrated Parts List ITEM NO. RM2-755SL, RM2-1255SL, DESCRIPTION 1255 PART NO. PART NO. 130431-3 CLAMP, WIRE, PLASTIC, P- STYLE, 1/4” 137147-2 SCREW,PPH,M5X8,JIS B 1188,W/ CAPTIVE LOCK & FLAT WASHERS 472303-3 SCREW, SHC, M12x20, CLASS 12.9...
Page 92 Fig. B-4: Main Drive Assembly with Grease Fittings (Prior to August 2018) RM2-1255SL ONLY RM2-755SL ONLY 92 of 145...
Page 93 166006-1CD RM2-755/1255SL Appendix B Positioner Illustrated Parts List Table B-4: Main Drive Assembly with Grease Fittings (Prior to August 2018) ITEM NO. RM2-755SL, RM2-1255SL, DESCRIPTION 1255 PART NO. PART NO. 163888-1 163889-1 MAIN DRIVE MAIN SWEEP AXIS 163837-1 BRACKET, MAIN DRIVE...
Page 94: Illustrated Parts List For Rm2-755Sl With Multiport Lubricator (August 2018 Or Later
B.1.4 Illustrated Parts List for RM2-755SL with MultiPort Lubricator (August 2018 or Later) Fig. B-5(a): Major Assemblies — RM2-755SL, 2.0M with MultiPort Lubricator (August 2018 or Later) DETAIL T DETAIL W 94 of 145...
Page 95 Fig. B-5(b): Major Assemblies — RM2-755SL, 3.0M with MultiPort Lubricator (August 2018 or Later) DETAIL T DETAIL W 19 20 95 of 145...
Page 96 SHIELD, ARC, Z-BEAM, 2057mm, 166426-2 166426-3 RM2-755/1255SL COVER,Z-BEAM,END,RH,W/ 175287-1 STUDS,RM2-755/1255SL COVER, CABLES, TAILSTOCK 166721-1 SWINGARM, RM2-755/1255SL 152364-2 SCREW, HHC, M5 X 12 143047-7 PLATE,GLAND,XRC/MRC,BLANK PLATE, GLAND, SPLIT FOAM, 152310-5 XRC/NX/DX,12MM CBL, 25X48 PASS-THRU,ZINC PLATE SCREW, PPH, M4 X 10, JIS B 137146-3 1188,W/CAPTIVE LOCK &FLAT...
Page 97 166006-1CD RM2-755/1255SL Appendix B Positioner Illustrated Parts List ITEM NO. RM2-755SL PART NUMBERS DESCRIPTION 2.0M 3.0M 2.0M 3.0M COVER,Z-BEAM,END,LH,MAIN 184215-1 DRIVE W/LUBE,W-STUDS,RM2- 755SL 155235-2 LABEL, PATENT IDENTIFICATION LABEL, PRODUCT, 164532-1 IDENTIFICATION, THREE AXIS POSITIONER 166006-1CD MANUAL, RM2-SL, DX200 COVER, CABLES, HEADSTOCK...
Page 98 166006-1CD Appendix B RM2-755/1255SL Illustrated Parts List Positioner ITEM NO. RM2-755SL PART NUMBERS DESCRIPTION 2.0M 3.0M 2.0M 3.0M TUBING,NYLON,14 OD, SEMIRIGID HIGH STRENGTH, 179885-1 4000 0.050 WALL, 625 PSI (WORKING), BLACK 182172-1 FITTING,1/4 IN MALE,HEX NIPPLE FITTING,ELBOW,M/F,90DEGREE, 145787-2 1/4BSPT WASHER,CONICAL SPRING,...
Page 99 No. 2 LABEL, MOVING PARTS, 471376-1 HORIZONTAL LABEL, ROBOT WARNING, 471359-1 HORIZONTAL 471378-1 LABEL,ARC FLASH,HORIZONTAL, 159257-1 LABEL,ARCWORLD, LABEL,YASKAWA, 110 X 675, 173483-1 WHITE LABEL, CAPACITY, WEIGHT, 472268-18 755kg 173463-1 FITTING,PLUG,37° FLARED,3/8" 145790-3 FITTING_SWIVEL_FEMALE-PIPE HOSE, 1/2 ID, 250 PSI, BLACK, 145759-3...
Page 100 Fig. B-6: RM2-755 Drive Assembly, MH555 Headstock, with Motomount (August 2018 or Later) 100 of 145...
Page 101 166006-1CD RM2-755/1255SL Appendix B Positioner Illustrated Parts List Table B-6: RM2-755 Drive Assembly, MH555 Headstock with Motomount ITEM PART DESCRIPTION NUMBER 163892-1 DRIVE ASSY,MH555 HEADSTOCK,W/MOTOMOUNT 163838-1 HOUSING, HEADSTOCK, TOOLING DRIVE 163879-1 PLATE, FACE, TOOLING DRIVE W/MOTOMOUNT 164116-1 BLOCK ASSY, HEADSTOCK, MOTOMOUNT...
Page 102 Fig. B-7: Arm Assembly, Swing, Headstock Main Drive with Lube, RM2-755SL (August 2018 or Later) 102 of 145...
Page 103 166006-1CD RM2-755/1255SL Appendix B Positioner Illustrated Parts List Table B-7: Arm Assembly, Swing, Headstock Main Drive with Lube, RM2-755SL ITEM PART DESCRIPTION NUMBER 184300-1 ARM ASSY,SWING,HEADSTOCK MAIN DRIVE W/LUBE,RM2- 755SL 180286-1 HOUSING,HEADSTOCK SWINGARM,RM2-755,RDR 140786-5 BEARING.SLEWING,EXTERNAL GEAR,M3XHD/MR300, CONTOUR HARDENED 130532-24 SCREW, SHC, M16x2 X 55, CLASS12.9...
Page 104: Illustrated Parts List For Rm2-1255Sl With Multiport Lubricator (August 2018 Or Later
B.1.5 Illustrated Parts List for RM2-1255SL with MultiPort Lubricator (August 2018 or Later) Fig. B-8: Major Assemblies — RM2-1255SL, 2.0M with MultiPort Lubricator (August 2018 or Later) 18 19 DETAIL T 55 56 20 21 25 26 DETAIL Z 104 of 145...
Page 105 175284-1 COVER,Z-BEAM,END,LH,W/STUDS,RM2-755/1255SL 166426-2 SHIELD, ARC, Z-BEAM, RM2-755/1255SL 148102-5 SCREW, SHC, M6X20, W/CAPTIVE FLAT & LOCK WASHER 175287-1 COVER,Z-BEAM,END,RH,W/STUDS,RM2-755/1255SL 166721-1 COVER, CABLES, TAILSTOCK SWINGARM, RM2-755/1255SL 152364-2 SCREW, HHC, M5 X 12 131275-4 SCREW,HHC,M20X55,ZP,CLASS 8.8 184290-1 COVER,Z-BEAM,END,LH,MAIN DRIVE,W/STUDS,RM2-1255SL, W/PINION LUBE 164532-2 LABEL, PRODUCT, IDENTIFICATION, THREE AXIS...
Page 106 COVER, TAILSTOCK HOUSING, ROUND HOLE 471376-1 LABEL, MOVING PARTS, HORIZONTAL 471359-1 LABEL, ROBOT WARNING, HORIZONTAL 471378-1 LABEL,ARC FLASH,HORIZONTAL, 159257-1 LABEL,ARCWORLD, 173483-1 LABEL,YASKAWA, 110 X 675, WHITE 149053-1 LABEL,A/B,POSITIONER SIDE, 472268-21 LABEL, CAPACITY, WEIGHT, 1255kg 479348-2 BATTERY ASSY,ERC BACKUP 149053-4 LABEL, S3 149053-3...
Page 107 166006-1CD RM2-755/1255SL Appendix B Positioner Illustrated Parts List ITEM NO. PART NUMBER DESCRIPTION 470617-1 WASHER,CONICAL SPRING, GTS8 182172-1 FITTING,1/4 IN MALE,HEX NIPPLE 182165-1 ADAPTER,STRAIGHT TUBING, 1/4 IN 182171-1 FITTING,CROSS TUBE,1/4 IN NFPT FEMALE 184367-1 GROMMET,RUBBER,STYLE 1,1.25 ID,1.75 OD,.25 PANEL THK, FOR 1.5 DIA HOLE...
Page 108 Fig. B-9: Major Assemblies — RM2-1255SL, 3.0M with MultiPort Lubricator (August 2018 or Later) 20 21 22 23 27 28 DETAIL Z 108 of 145...
Page 109 169712-2 CABLE ASSY,PIGTAIL,SLIPRING,MA 164843-1 CABLE ASSY,PIGTAIL,POWER,3 AXI 137147-4 SCREW,PPH,M5X12,JIS B 1188,W/C 131274-8 SCREW,HHC,M16 X 60,ZP,CLASS 8. 166408-2 COVER,TAILSTOCK HOUSING,ROUND 471376-1 LABEL,MOVING PARTS,HORIZONTAL, 471359-1 LABEL,ROBOT WARNING,HORIZONTAL 471378-1 LABEL,ARC FLASH,HORIZONTAL, 159257-1 LABEL,ARCWORLD, 173483-1 LABEL,YASKAWA,110 X 675, WHITE 166006-1CD B-29 109 of 145...
Page 110 166006-1CD Appendix B RM2-755/1255SL Illustrated Parts List Positioner ITEM NO PART NUMBER DESCRIPTION 149053-1 LABEL,A/B,POSITIONER SIDE, 472268-21 LABEL,CAPACITY,WEIGHT,1255 479348-2 BATTERY ASSY 149053-4 LABEL,S3,SERVO MOTOR, 149053-3 LABEL,S2,SERVO MOTOR, 149053-2 LABEL,S1,SERVO MOTOR, 155235-2 LABEL,PATENT IDENTIFICATION,RM 166006-1CD MANUAL,RM2-755SL/1255SL,DX200 143047-7 PLATE,GLAND,BLANK 157171-1 PLATE,GLAND,POSITIONER,MRM2-25 170543-1...
Page 111 Fig. B-10: Drive Assy, MH1655 Headstock With Motomount (August 2018 or Later) 111 of 145...
Page 112 166006-1CD Appendix B RM2-755/1255SL Illustrated Parts List Positioner Table B-10: Drive Assembly, MH1655 Headstock with Motomount ITEM NO PART NUMBER DESCRIPTION 163893-1 DRIVE ASSY, MH1655 HEADSTOCK, W/MOTOMOUNT 163839-1 HOUSING, HEADSTOCK, TOOLING DRIVE 163880-1 PLATE, FACE, TOOLING DRIVE W/MOTOMOUNT 164116-1 BLOCK ASSY, HEADSTOCK, MOTOMOUNT 479297-4 SCREW, SHC, M10x1.5 X 25, CLASS 12.9...
Page 113 166006-1CD RM2-755/1255SL Appendix B Positioner Illustrated Parts List 168961-1CD MANUAL,DR ASSY,HS TOOLING,W/MOTOMOUNT, MH185, 555, 1655, DX200 130887-11 CABLE,WELD,4/0,1FT 180544-1 LABEL,GREASE,MOLY-WHITE RE 00 166006-1CD B-33 113 of 145...
Page 114 Fig. B-11: Arm Assembly, Swing, Headstock Main Drive, RM2-1255 (August 2018 or Later) 114 of 145...
Page 115 166006-1CD RM2-755/1255SL Appendix B Positioner Illustrated Parts List Table B-11: Arm Assembly, Swing, Headstock Main Drive, RM2-1255 ITEM DESCRIPTION 184620-1 ARM ASSY,SWING, HEADSTOCK MAIN DRIVE,RM2-1255 183817-1 HOUSING,HEADSTOCK SWINGARM,RM2-1255SL, SHIMLESS 140786-5 BEARING.SLEWING,EXTERNAL GEAR,M3XHD/MR300, CONTOUR HARDENED 132049-1 WASHER, CONICAL SPRING, GTS16 130532-24 SCREW, SHC, M16x2 X 55, CLASS12.9...
Page 116: Illustrated Parts List For Tailstock
B.1.6 Illustrated Parts List for Tailstock Fig. B-12: Tailstock Swing Arm Assembly 116 of 145...
Page 117 166006-1CD RM2-755/1255SL Appendix B Positioner Illustrated Parts List Table B-12: Tailstock Swing Arm Assembly ITEM NO. PART NO. DESCRIPTION 163900-1 Tailstock Swing Arm Assembly 163840-1 HOUSING,TAILSTOCK SWINGARM 164890-1 HOUSING ASSY, TAILSTOCK ADAPTER, MOTOMOUNT 165038-1 SHAFT, BEARING, TAILSTOCK SWINGARM 163886-1 BEARING,SPHERICAL,PILLOW BLOCK,2.437 ID...
Page 118: Glossary
166006-1CD RM2-755/1255SL Appendix C Positioner Appendix C Glossary 3D Graphic Display Function The 3D Graphic Display Function (this will be called 3D Display Function) is that, a 3D model of the Manipulator is displayed on the programming pendant window, and the current value of the Manipulator can be confirmed.
Page 119 166006-1CD RM2-755/1255SL Appendix C Positioner ANSI/RIA R15.06-2012 American National Standard for Industrial Robots and Robot Systems This standard provides guidelines for the manufacture and integration of Industrial Robots and Robot Systems with emphasis on their safe use, the importance of risk assessment and establishing personnel safety. This...
Page 120 166006-1CD RM2-755/1255SL Appendix C Positioner Computer Aided Design (CAD) Computer Aided Design (CAD). Computer graphic applications designed to allow engineering of objects (or parts), which are to be manufactured. A computer is used as a tool to design schematics and produce blueprints, which enable the accurate production of the object.
Page 121 166006-1CD RM2-755/1255SL Appendix C Positioner Centrifugal Force When a body rotates about an axis other than one at it's center of mass, it exerts an outward radial force called centrifugal force upon the axis, which restrains it from moving in a straight tangential line. To offset this force, the robot must exert an opposing torque at the joint of rotation.
Page 122 A Coordinate System (or Frame) defines a reference position and orientation from which a robot position can be measured. All robot positions are defined with reference to a Coordinate System. Yaskawa robots utilize the following Coordinate Systems: • "Base Coordinate System"...
Page 123 166006-1CD RM2-755/1255SL Appendix C Positioner Cubic Interference Area This area is a rectangular parallelepiped, which is parallel to the base coordinate, Manipulator coordinate or user coordinate. The Controller judges whether the current position of the Manipulator’s TCP is inside or outside this area, and outputs this status as a signal.
Page 124 166006-1CD RM2-755/1255SL Appendix C Positioner Drop Delivery A method of introducing an object to the workplace by gravity. Usually, a chute or container is so placed that, when work on the part is finished, it will fall or drop into a chute or onto a conveyor with little or no transport by the robot.
Page 125 166006-1CD RM2-755/1255SL Appendix C Positioner Expandability Being able to add resources to the system, such as memory, larger hard drive, new I/O card, etc. External Force Limit The threshold limit where the robot moves to or retains position, even when external forces are applied (provided that forces do not exceed limits that would cause an error).
Page 126 166006-1CD RM2-755/1255SL Appendix C Positioner Functional Safety Unit (FSU) The Functional Safety Unit (FSU) is a component of the Manipulator Controller that provides programmable safety functions that enable collaborative operation of the robot. As these safety functions are programmable, the FSU allows the minimization of nearby overall equipment footprint, as well as human accessible areas.
Page 127 Manipulator, and a computer Controller that gives detailed movement instructions. INFORM The robot programming language for Yaskawa robots is INFORM. INFORM language allows the robot user to: instruct the robot to use its basic capabilities to fulfill a defined set of expectations and also to describe to the robot, through a definition of parameters and conditions, what the expectations are in some given situations or scenarios.
Page 128 166006-1CD RM2-755/1255SL Appendix C Positioner Integrator A company that provides value added services that results in creation of automation solutions by combining a robot and other automation and controls equipment to create an automation solution for end users. Intelligent Robot A robot that can be programmed to make performance choices contingent on sensory inputs with little or no help from human intervention.
Page 129 166006-1CD RM2-755/1255SL Appendix C Positioner Joint A part of the Manipulator system, which allows a rotation and/or translational degree of freedom of a link of end-effector. Joint Interpolated Motion A method of coordinating the movement of the joints, such that all joints arrive at the desired location simultaneously.
Page 130 166006-1CD RM2-755/1255SL Appendix C Positioner Linear Motion Type Is a method of path interpolation that commands the movement of the robot by moving each joint in a coordinated motion so that all axis arrive to the position at the same time. The path of the Tool Control Point (TCP) is predictable and will be linear.
Page 131 Self-contained component of a package. This component may contain sub-components known as sub-modules. Motomount Yaskawa proprietary mounting block allowing for limited play on multiple axis Motion Axis The line defining the axis of motion either linear or rotary segment of a Manipulator.
Page 132 166006-1CD RM2-755/1255SL Appendix C Positioner Orientation The angle formed by the major axis of an object relative to a reference axis. It must be defined relative to a three dimensional coordinate system. Angular position of an object with respect to the robot's reference system.
Page 133 166006-1CD RM2-755/1255SL Appendix C Positioner Performance Level d (PLd) ISO Performance Level (PL) “d” means that the average probability of dangerous failure per hour of the safety related parts of the control system falls within = 10-7 to < 10-6. Additionally, other factors such as proper installation, maintenance and protection against environmental factors also apply.
Page 134 166006-1CD RM2-755/1255SL Appendix C Positioner Playback Operation Playback is the operation by which the taught job is played back. This function is used to decide where to resume the playback on the start operation after suspending the playback and moving the cursor or selecting other jobs.
Page 135 See "Inductive Sensor". Pulse Coordinates Yaskawa robots define robot joint axes position in degrees for revolute joints. Pulse is also another way to specify robot joint position, and it does so in robot motor encoder pulse counts.
Page 136 166006-1CD RM2-755/1255SL Appendix C Positioner Real-time System A computer system in which the computer is required to perform its tasks within the time restraints of some process simultaneously with the system it is assisting. The computer processes system data (input) from the...
Page 137 166006-1CD RM2-755/1255SL Appendix C Positioner Risk Assessment The process of evaluating the intended use of a machine or system for foreseeable hazards and then determining the level of risk involved for the tasks identified. Risk Mitigation A secondary step in the risk assessment process that involves reducing the level of risk for the identified tasks, by applying risk reduction measures in order to eliminate or mitigate the hazards.
Page 138 FSU generated signals. The safety logic circuit is programmed via an intuitive user interface that is supported on the Yaskawa programming pendant. It enables to set up the logical operations, such as stopping the Manipulator or outputting a signal if the servos are on.
Page 139 166006-1CD RM2-755/1255SL Appendix C Positioner Servo Motor An electrical power mechanism used to effect motion or maintains position of the robot (for example, a motor which converts electrical energy to effect motion of the robot) (R15.07). The motor responds to a signal received from the control system and often incorporates an encoder to provide feedback to the control loop.
Page 140 RM2-755/1255SL Appendix C Positioner SLURBT SLURBT are terms that Yaskawa Motoman uses to describe each axis of the robot for convenience. The definition of each value is as follows: S – Swing or Swivel L – Lower Arm U – Upper Arm R –...
Page 141 166006-1CD RM2-755/1255SL Appendix C Positioner Teach To program a Manipulator arm by manually guiding it through a series of motions and recording the position in the robot Controller memory for playback. Teach Lock While the Teach Lock is set, the mode of operation is tied to the Teach Mode and the machines cannot be played back using either [START] or external input.
Page 142 166006-1CD RM2-755/1255SL Appendix C Positioner Tool Center Point (TCP) The Tool Center Point (TCP) defines the tip of the current tool as defined relative to the tool flange. For example, for a welding robot, the TCP will generally be defined at the tip of the welding gun. After defining and configuring the TCP, the robot motion will be defined relative to this frame (i.e., rotation in the Rx direction would cause rotation around the X-axis...
Page 143 166006-1CD RM2-755/1255SL Appendix C Positioner User Coordinate Setting User coordinates are defined by three points that have been taught to the Manipulator through axis operations. These three defining points are ORG, XX, and XY, as shown in the diagram below. These three points of positional data are registered in a user coordinate file.
Page 144 166006-1CD RM2-755/1255SL Appendix C Positioner World Coordinates A reference coordinate system in which the Manipulator arm moves in linear motions along a set of Cartesian or rectangular axes in X, Y, and Z directions. The shape of the work envelope forms a rectangular figure.
Page 145 INSTRUCTIONS HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802 YASKAWA America Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Europe GmbH Robotics Divsion ) Yaskawastrasse 1, 85391 Allershausen, Germany...

YASKAWA RM2-755/1255SL Instructions Manual

1 Introduction

2 Installation

3 Power Connections

4 Basic Specifications

5 Load Specifications and Jig Mounting

6 Maintenance and Inspection

7 Recommended Spare Parts

Appendix A

Appendix B

Appendix C

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