Yamaha DRCX User Manual

User’s ManualENGLISHEYAMAHA PICK&PLACE ROBOTYP-X seriesIM Operations882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.JapanURL http://www.yamaha-mo

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CHAPTER 6 Specifications6-182 R axis allowable moment/inertia moment2-1 R axis allowable moment/inertia momentDue to the robot R axis motor and speed

CHAPTER 6 Specifications6-192-2 Equation for moment of inertia calculationUsually the R axis load is not a simple form, and the calculation of the mom

CHAPTER 6 Specifications6-203. When the object's center line is offset from the rotation center.The equation for the moment of inertia, when the

CHAPTER 6 Specifications6-212-3 Example of moment of inertia calculationIt will be assumed that the chuck and workpiece are at a position offset by 10

CHAPTER 6 Specifications6-222. Moment of inertia of the chuckWhen the chuck form resembles that shown in Fig. 6-24:Ws = 0.0026×1×4×6= 0.06 (kg)Fig. 6-

CHAPTER 6 Specifications6-233 Robot allowable dutyTo prolong the YP-X series robot service life, operate the robot within 80% of theallowable duty rat

CHAPTER 6 Specifications6-244 Allowable overhangThe table below shows the allowable overhang for the YP320X, YP330X,YP220BX robots. This is calculated

CHAPTER 6 Specifications6-255 X-axis droopBecause of the one-sided support structure, the YP-X series manipulator armdroops downward slightly when it

CHAPTER 6 Specifications6-266 Mechanical stopperA urethane damper is installed to absorb the shock when an impact occurs withthe mechanical stopper, s

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1 Safety Information ... 1-12 Essential Caution Items ... 1-23Special Training fo

PICK&PLACE RobotUser's ManualAll rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA

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CHAPTER 1 Using the Robot Safely1-11 Safety InformationIndustrial robots are highly programmable, mechanical devices that provide alarge degree of fre

CHAPTER 1 Using the Robot Safely1-22 Essential Caution ItemsParticularly important cautions for handling or operating the robot are describedbelow. In

CHAPTER 1 Using the Robot Safely1-3(3) Follow the instructions on warning labels and in this manual.Warning label 3 (see Fig. 1-3) is supplied with th

CHAPTER 1 Using the Robot Safely1-4(4) Do not use the robot in environments containing inflammable gas, etc.WARNING• This robot was not designed for o

CHAPTER 1 Using the Robot Safely1-5(8) Use the following caution items when removing the Z-axis motor.WARNINGThe Z-axis will drop when the Z-axis moto

CHAPTER 1 Using the Robot Safely1-6(11) Use caution not to touch the cooling fan on the controller rear panel.WARNING• Bodily injury may occur from co

CHAPTER 1 Using the Robot Safely1-7(15) Be sure to make correct parameter settings.!CAUTIONThe robot must be operated with correct tolerable moment of

CHAPTER 1 Using the Robot Safely1-83 Special Training for Industrial Robot OperationCompanies or factories using industrial robots must make sure that

CHAPTER 1 Using the Robot Safely1-94 Robot Safety Functions(1) Overload detectionThis function detects an overload applied to the motor and shuts off

CHAPTER 1 Using the Robot Safely1-105 Safety Measures for the SystemSince the robot is commonly used in conjunction with an automated system, adangero

CHAPTER 1 Using the Robot Safely1-116 Trial OperationAfter installation, adjustment, inspection, maintenance or repair of the robot hasbeen done, perf

CHAPTER 1 Using the Robot Safely1-127 Work Within The Safeguards(1) When work is required inside the safeguard enclosure, always turn off thecontrolle

CHAPTER 1 Using the Robot Safely1-138 Automatic OperationAutomatic operation described here includes all operations in AUTO mode.(1) Check the followi

CHAPTER 1 Using the Robot Safely1-1411 WarrantyFor information on the product warranty, please contact your local agent whereyou purchased your produc

CHAPTER 1 Using the Robot Safely1-1513 Precautions1) Accuracy may deteriorate due to external causes such as temperature andhumidity and may result in

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CHAPTER 2Functions1 P & P robot unit ... 2-12 P & P robot controller...

Before using the “YP-X” series robot(Be sure to read the following notes.)At this time, our thanks for your purchase of this YAMAHA “YP-X” series robo

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CHAPTER 2 Functions2-11 P & P robot unitThe YP320X and YP220BX each have 2 axes: X and Z. The YP330X has 3 axes:X, Y and Z. The YP320XR and YP220B

CHAPTER 2 Functions2-22 P & P robot controllerThe YP-X series robots use the QRCX, TRCX, DRCX as their robot controllers.Please refer to the "

CHAPTER 3Installation1 Robot Installation Conditions ... 3-11-1 Installation environments ...

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CHAPTER 3 Installation3-11 Robot Installation Conditions1-1 Installation environmentsBe sure to install the robot in the following environments.ItemsA

CHAPTER 3 Installation3-2WARNINGDo not use the robot in locations subject to excessive vibration.Robot installation bolts may otherwise become loose c

CHAPTER 3 Installation3-32 InstallationStrictly observe all safety precautions and procedures inorder to install the robotcorrectly and safely.2-1 Ins

CHAPTER 3 Installation3-42-2 Installing the robot(1) YP320X, YP320XR installationEight M8 screw holes (pitch 1.25 mm) are provided in the base section

CHAPTER 3 Installation3-5(2) YP330X, YP340X installationEight M8 screw holes (pitch 1.25 mm) are provided in the base section of theYP330X and YP340X

[2] R axisOn the above robots, the customer should set the origin at the desired position.Move the robot to the desired position and set it as the ori

CHAPTER 3 Installation3-6(3) YP220BX, YP220BXRFour through-holes of 10mm diameter are provided on the bottom plate ofthe YP220BX and YP220BXR robots.

CHAPTER 3 Installation3-73 Connection of robot cablesThe robot cables are already attached to the YP-X series robot side.Refer to the "YAMAHA Rob

CHAPTER 3 Installation3-8Robot CableDRCXYP320XFig. 3-5 Robot cable connections

CHAPTER 3 Installation3-94 Protective BondingWARNINGBe sure to ground the robot and controller to prevent electricalshock.WARNINGTurn off the controll

CHAPTER 3 Installation3-10WARNING• Before connecting the cables, check that there are no bends orbreaks in the connector pins of the robot cable and t

CHAPTER 4Adjustment1 Outline ... 4-11-1 Robot parameter settings ...

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CHAPTER 4 Installation4-11 OutlineVarious adjustments, including the origin adjustment, have been completely per-formed by YAMAHA or the dealer at shi

CHAPTER 4 Installation4-21-1 Robot parameter settingsPlease take note of the following points when setting parameter data on the ro-bots. (Refer to th

CHAPTER 4 Installation4-32 Setting the origin positionAll models of the YP-X series use a position detector for absolute reset. Theorigin position (“0

IntroductionOur sincere thanks for your purchase of this YAMAHA robot and controller.The YP-X series were designed and developed as compact and highsp

CHAPTER 4 Installation4-4The mark method or the stroke end method can be used to perform absolute resetfor the YP-X series. The mark method is used fo

CHAPTER 4 Installation4-52-2 Stroke end method (X, Z, Y axes)In absolute reset by the stroke end method, the position where the axis tip strikesthe me

CHAPTER 4 Installation4-63 Adjustment of the belt tensionEach axis of the YP-X series robots has a belt-driven structure. When this belt isreplaced or

CHAPTER 4 Installation4-73-2 Adjustment of Z axis tip belt tension (YP320X, YP320XR, YP330X,YP340X)1) Turn off the controller power.2) Remove the robo

CHAPTER 4 Installation4-83-3 Adjustment of Z axis tip belt tension (YP220BX, YP220BXR)1) Turn off the controller power.2) Remove the robot Z axis cove

CHAPTER 4 Installation4-93-4 Adjust the X-axis belt tension (YP220BX, YP220BXR)1) Turn off the controller power.2) Remove the side cover on the robot

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CHAPTER 5Periodic Inspecition1 Introduction ... 5-12 Inspection ...

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CHAPTER 5 Installation5-11 IntroductionPeriodic inspections and maintenance are extremely important in assuring thatthe YAMAHA robot will perform safe

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CHAPTER 5 Installation5-2WARNINGPrecautions when handling grease:• Inflammation may occur if they get in the eyes.Before handling them, wear your safe

CHAPTER 5 Installation5-32 Inspection2-1 Daily ChecklistThe following is a list of maintenance operations that must be performed everyday before and a

CHAPTER 5 Installation5-42-2 Six Month InspectionInspect the following for the six month inspection, and replace parts if necessary.Inspection or repl

CHAPTER 5 Installation5-53 Replacement of MotorReplace the motor if it generates abnormal sounds or vibrations, causes errors orcannot be positioned c

CHAPTER 5 Installation5-6ConnectorX and Z axes motorMotor shaftBracketSecuring boltPulleySet screwX-axis motorMetal bracketBeltFig. 5-1 Motor replacem

CHAPTER 5 Installation5-73-2 Replacement of X and Z axis motor (YP220BX, YP220BXR)The X and Z axis motors of the YP220BX and YP220BXR are both attache

CHAPTER 5 Installation5-83-3 Replacement of R axis motor (YP220BXR, YP320XR, YP340X)The R-axis motor on the YP220BXR, YP320XR, YP340X is a built-in st

CHAPTER 5 Installation5-94 Belt replacement methodReplace the belt if it is damaged, worn or might otherwise interfere with machineoperation.!CAUTIONA

CHAPTER 5 Installation5-104-2 Replacement of Y axis belt (YP330X, YP340X)1) Turn off the controller power.2) Remove the robot Y axis cover.3) Place ma

CHAPTER 5 Installation5-114-3 Replacement of Z axis belt (YP220BX, YP220BXR)1) Turn off the controller power.2) Remove the side cover on the robot uni

CONTENTSCHAPTER 1 Using the Robot Safely1 Safety Information... 1-12 Essential Caution Items ...

CHAPTER 5 Installation5-124-4 Replacement of X axis belt (YP220BX, YP220BXR)1) Turn off the controller power.2) Remove the side cover on the robot uni

CHAPTER 5 Installation5-134-5 Replacement of Z axis tip section belt (YP320X, YP330X, YP340X,YP320XR)1) Turn off the controller power.2) Remove the ro

CHAPTER 5 Installation5-144-6 Replacement of Z axis tip section belt (YP220BX, YP220BXR)1) Turn off the controller power.2) Remove the robot Z axis co

CHAPTER 5 Installation5-15Robot bumped into something, or there are traces of bumping into (rubbing against) something.The position deviates after mov

CHAPTER 5 Installation5-16Much mechanical friction?Are wiring and connectorsecurely connected?Is wiring live?Is motor resistance OK?Is motor encoder O

CHAPTER 5 Installation5-17YP220BX Spare Parts1234567890K90-62012X AC SERVO MOTOR 1 200W (X)90K90-62213Z AC SERVO MOTOR 1 200W (Z)KC5-M2256-200 BELT, 1

CHAPTER 5 Installation5-181234567890K90-62012X AC SERVO MOTOR 1 200W (X)90K90-62213Z 1 200W (Z)KC5-M2256-200 BELT, 1 1 219UP3MKC5-M2257-100 BELT, 2 1

CHAPTER 5 Installation5-19YP320X Spare Parts1234567AC SERVO MOTOR 1 200W (X)90K90-62212Z AC SERVO MOTOR 1 200W (Z)KC0-M2256-100 BELT, 1 1 S5M255KC0-M2

CHAPTER 5 Installation5-20YP320XR Spare Parts1234567AC SERVO MOTOR 1 200W (X)90K90-62212Z AC SERVO MOTOR 1 200W (Z)KC0-M2256-100 BELT, 1 1 S5M255KC0-M

CHAPTER 5 Installation5-21YP330X Spare Parts1234567AC SERVO MOTOR 1 200W (X)90K90-62212Z AC SERVO MOTOR 1 200W (Z)KC0-M2256-100 BELT, 1 1 S5M255KC0-M2

CHAPTER 4 Adjustment1 Outline ... 4-11-1 Robot parameter settings ...

CHAPTER 5 Installation5-22YP340X Spare Parts1234567AC SERVO MOTOR 1 200W (X)90K90-62212Z AC SERVO MOTOR 1 200W (Z)KC0-M2256-100 BELT, 1 1 S5M255KC0-M2

CHAPTER 6Specifications1 P & P robot unit ... 6-11-1 Basic specifications ...

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CHAPTER 6 Specifications6-11 P & P robot unit1-1 Basic specificationsX-axis (fwd/rev)Y-axis (rt/lt.)Z -axis (up/down)R-axis (rotation)X-axisY-axis

CHAPTER 6 Specifications6-21-2 Robot External ViewsFig. 6-1 YP220BX robot external viewBottom plate+Z+X( Details of tool plate )YAMAHAX stroke : 200Z

CHAPTER 6 Specifications6-3Fig. 6-2 YP220BXR robot external view+Z+XYAMAHA(Details of tool attachment 1: 1) (φ4)2871049011674-φ1089510Grounding termin

CHAPTER 6 Specifications6-4Fig. 6-3 YP320X robot external viewWarningYAMAHAYAMAHA YP SERIES+X+ZDepth 20 (Note3)253414.55725104-M5×0.8301127(57)19343

CHAPTER 6 Specifications6-5Fig. 6-4 YP330X robot external viewYAMAHA YP SERIESYAMAHADepth 20 (Note3)+X+ZAABB253414.55725 104-M5×0.834381027860175608

CHAPTER 6 Specifications6-6Fig. 6-5 YP340X robot external viewYAMAHA YP SERIESYAMAHA+X+ZAABB7860175608-M8X1.25664314121628012.5255(280)12(319)319824

CHAPTER 6 Specifications6-7Fig. 6-6 YP320XR robot external viewYAMAHAYAMAHA YP SERIES+X+ZBBAA301135708-M8X1.2578325(301)7.512080 89(123)φ8h720φ2226

CHAPTER 6 Specifications1P & P robot unit... 6-11-1 Basic specifications ...

CHAPTER 6 Specifications6-81-3 Table of robot control signals1) YP340X, TRCX4, QRCX4YP330X, YP320XR, YP220BXR and QRCX3Signal Connector ConnectorConne

CHAPTER 6 Specifications6-9Fig. 6-7 Wiring between robot and controllerXPXBKYPYBKZPZBKRPRBKXMYMZMRMZRXYXMYMZMRM(Controller side)(Robot side)

CHAPTER 6 Specifications6-102) YP330X, YP320XR, YP220BXR and TRCX3Signal Connector ConnectorConnectionNo NoBrakeBrakeS2XPYPXBKYBKXMYMXMYMXYS1S3R1R2DGM

CHAPTER 6 Specifications6-11Fig. 6-8 Wiring between robot and controllerXPXBKYPYBKZPZBKXMYMZMZRXYXMYMZM(Controller side)(Robot side)

CHAPTER 6 Specifications6-123) YP320X, YP220BX and DRCX, QRCX2Signal Connector ConnectorColor/No.ConnectionNo NoResolverBrakeBrakeResolverS2P1P2BK1BK2

CHAPTER 6 Specifications6-13Fig. 6-9 Wiring between robot and controllerP1BK1P2BK2M1M2M1M2(Controller side)(Robot side)

CHAPTER 6 Specifications6-141-4 Piping and wiring of robotUser air tubing and wiring have been provided on the YP-X series robots.Use these user air t

CHAPTER 6 Specifications6-152) YP330X, YP340XDANGERYAMAHAAir coupling(φ4×4)Cable extraction portCable and air tube extraction portFig. 6-12 User wirin

CHAPTER 6 Specifications6-163) YP220BXAir coupling(φ4×2)Air coupling(φ6×1)Cable extraction portCable and air tube extraction portFig. 6-14 User wiring

CHAPTER 6 Specifications6-174) YP220BXRAir coupling(φ4×2)Cable extraction portCable and air tube extraction portFig. 6-16 User wiring and piping conne