Yamaha 150Z User Manual

User’s ManualENGLISHEYK-XSYAMAHA SCARA ROBOTYK-X seriesIM Operations882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.JapanURL http://www.yamaha-motor.

1-2CHAPTER 1 FunctionsFig. 1-3 YK300XHS, YK400XHS ceiling-mount robotsIn the case of the inverted ceiling-mount models, the robot base up/down instal

1-3CHAPTER 1 FunctionsFig. 1-4 YK500XS to YK1000XS ceiling-mount robotsIn the case of the inverted ceiling-mount models, the robot base up/down instal

1-4CHAPTER 1 Functions2 Robot ParametersA portion of the robot parameters for ceiling-mount models and inverted ceiling-mount models are changed from

1-5CHAPTER 1 Functions(3) YK300XHSX-axis Z-axisY-axis125.00R-axis 175.00Axis parameters 11. Arm length [mm]ChangesParameterAxis settingsNote that t

1-6MEMO

CHAPTER 2Installation1 Installation Base ... 2-12 Installation...

MEMO

2-1CHAPTER 2 Installation1 Installation Base1) Please read the description of standard robot models for the installation baseand comply with the caut

2-2CHAPTER 2 Installation2Installation2-1 UnpackingWARNINGThe robot and controller are heavy. Take sufficient care not to drop them duringmoving or un

2-3CHAPTER 2 Installation2-2 Checking the productAfter unpacking, check the product configuration and conditions.The illustration below shows typical

2-4CHAPTER 2 Installation2-3 Moving the robotWARNINGSerious injury may occur if the robot falls and pins someone under it.•Do not allow any part of yo

2-5CHAPTER 2 Installation2-3-2Moving the YK500XS, YK600XS, YK700XS, YK800XS, YK1000XSWARNINGSerious injury may occur if the robot falls and pins someo

2-6CHAPTER 2 Installation5) Prepare 4 looped ropes with the same length to allow a good lifting balance,then pass each rope through each eyebolt and c

2-7CHAPTER 2 InstallationFig. 2-4Arm clamped positionScrewRobot carrying jigHoist hookRopeRobot cableArm clamping stay (supplied with robot)Bolts (M12

2-8CHAPTER 2 Installation(2) When using the hand forklift (See Fig. 2-5)1) Remove the X- and Y-axis under covers and install the robot carrying jigs.2

2-9CHAPTER 2 InstallationFig. 2-5Arm clamped positionSet the arms out straight.4 bolts (supplied with robot)Tightening torque 71N•m (720Kgf•cm)Robot c

2-10CHAPTER 2 Installation2-3-2-2 Moving the inverted ceiling-mount robot(1) When using eyebolts (See Fig. 2-6.)1) Remove the X-axis and Y-axis upper

2-11CHAPTER 2 InstallationFig. 2-6Arm clamped positionX-axis upper coverRobot carrying jigArm clamping stay (supplied with robot)Y-axis upper coverScr

2-12CHAPTER 2 Installation(2) When using the hand forklift (See Fig. 2-7)1) Remove the X- and Y-axis upper covers and install the robot carrying jigs

2-13CHAPTER 2 InstallationArm clamped positionSet the arms out straight.Insert the prongs of the hand forklift there.Insert the prongs of the hand for

IntroductionThis user’s manual was prepared for YK-XS series ceiling-mount models(YK300XHS to YK1000XS) of the YAMAHA industrial robots.This user’s ma

2-14MEMO

CHAPTER 3Periodic Inspection1 Replacing the Harmonic Grease(Inverted ceiling-mount model R-axis) ... 3-11-1 Replaceme

MEMO

3-1CHAPTER 3 Periodic Inspection1 Replacing the Harmonic Grease(Inverted ceiling-mount model R-axis)Only the R-axis harmonic drive of the inverted cei

3-2MEMO

CHAPTER 4Specifications1 Robot Manipulator ... 4-11-1 Basic specifications ...

MEMO

4-1CHAPTER 4 Specifications1 Robot Manipulator1-1 Basic specifications1-1-1 Ceiling-mount modelRobot modelAxis specifi-cationsMotor Maximum speedRepea

4-2CHAPTER 4 SpecificationsRobot modelAxis specifi-cationsMotor Maximum speedRepeatability *1PayloadR-axis tolerable moment of inertia *2User wiringUs

4-3CHAPTER 4 SpecificationsYK700XS350mm±120°350mm±145°200, 400mm±360°800W400W400W200W6.7m/s1.7m/s600°/s±0.02mm±0.01mm±0.005°20kg56kg 57kg 58kgYK800XS4

MEMO

4-4CHAPTER 4 Specifications1-1-2 Inverted ceiling-mount modelRobot modelAxis specifi-cationsMotor Maximum speedRepeatability *1PayloadR-axis tolerable

4-5CHAPTER 4 SpecificationsYK700XS350mm±120°350mm±145°200, 400mm±360°800W400W400W200W6.7m/s1.7m/s480°/s±0.02mm±0.01mm±0.005°20kg56kg 57kg 58kgYK800XS4

4-6CHAPTER 4 SpecificationsFig. 4-1 YK300XHSUser tubing 3 (φ4 blue)D-sub connector for user wiring(No.1 to 10) D-sub connector for user wiring(No.1 to

4-7CHAPTER 4 SpecificationsInverse type is installed upside down.Working envelopeUse caution to prevent interference with installation wall140°115°115

4-8CHAPTER 4 SpecificationsFig. 4-2 YK400XHSM4 ground terminalD-sub connector for user wiring(No.1 to 10)D-sub connector for user wiring (No.1 to 10)φ

4-9CHAPTER 4 SpecificationsM8×1.25 Depth15Circlip for user tool positioningZ-axis mechanical stopper4136(φ16 Range)Spline shaft (hollow) Hollow diamet

4-10CHAPTER 4 SpecificationsFig. 4-3 YK500XSZ300mm strokeZ200mm stroke(Installation base of larger than φ205mm may interfere with harness.)Z-axis 200m

4-11CHAPTER 4 Specifications2User tubing 2(φ6 red)User tubing 3(φ6 blue)0User tubing 1(φ6 black)355573530R500120°120°135°135°R250R500R191122°122°137°1

4-12CHAPTER 4 SpecificationsFig. 4-4 YK600XSZ-axis 300mm strokeZ-axis 200mm stroke(Installation base of larger than φ205mm may interfere with harness.

4-13CHAPTER 4 SpecificationsX and Y-axis mechanical stopper positions (maximum working envelope)Working envelope2User tubing 2 (φ6 red)User tubing 3 (

CONTENTSCHAPTER 1 Functions1 Robot Manipulator ... 1-12 Robot Parameters ...

4-14CHAPTER 4 SpecificationsFig. 4-5 YK700XSZ-axis 200mm strokeZ-axis 400mm strokeUse M12 bolt for installation(Installation base of larger than φ232m

4-15CHAPTER 4 Specifications0User tubing 1 (φ6 black)User tubing 3 (φ6 blue)User tubing 2 (φ6 red)D-sub connector for user wiring(No. 1 to 20 usable,

4-16CHAPTER 4 SpecificationsFig. 4-6 YK800XSZ-axis 200mm strokeZ-axis 400mm strokeUse M12 bolt for installation(Installation base of larger than φ232m

4-17CHAPTER 4 Specifications0User tubing 1 (φ6 black)User tubing 3 (φ6 blue)User tubing 2 (φ6 red)D-sub connector for user wiring(No. 1 to 20 usable,

4-18CHAPTER 4 SpecificationsFig. 4-7 YK1000XSZ-axis 200mm strokeZ-axis 400mm strokeUse M12 bolt for installation(Installation base of larger than φ232

4-19CHAPTER 4 Specifications123°147°123°R450R1000147°R300R450145°R315120°120°R1000145°R200(a)R209(c)R165(b)06159794104R184(a)R194(c)R149(b)Interferenc

SCARA RobotUser's ManualAll rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO.

MEMO

CHAPTER 1Functions1 Robot Manipulator ... 1-12 Robot Parameters...

MEMO

1-1CHAPTER 1 Functions1 Robot ManipulatorYK-XS series robots are grouped into the ceiling-mount models of Fig. 1-1 andthe inverted ceiling-mount model