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 warranty period and terms, please contact our distributorwhere you purchased the
CHAPTER 1 Using the Robot Safely1-1512 CE MarkingsFor information about CE markings relating to cases in which the YAMAHArobot is exported to or used
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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
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 Adjustment4-11 OutlineVarious adjustments, including the origin adjustment, have been completely per-formed by YAMAHA or the dealer at shipm
CHAPTER 4 Adjustment4-21-1 Robot parameter settingsPlease take note of the following points when setting parameter data on the ro-bots. (Refer to the
CHAPTER 4 Adjustment4-32 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 Adjustment4-4The mark method or the stroke end method can be used to perform absolute resetfor the YP-X series. The mark method is used for
CHAPTER 4 Adjustment4-52-2 Stroke end method (X, Z, Y axes)In absolute reset by the stroke end method, the position where the axis tip strikesthe mech
CHAPTER 4 Adjustment4-63 Adjustment of the belt tensionEach axis of the YP-X series robots has a belt-driven structure. When this belt isreplaced or w
CHAPTER 4 Adjustment4-73-2 Adjustment of Z axis tip belt tension (YP320X, YP320XR, YP330X,YP340X)1) Turn off the controller power.2) Remove the robot
CHAPTER 4 Adjustment4-83-3 Adjustment of Z axis tip belt tension (YP220BX, YP220BXR)1) Turn off the controller power.2) Remove the robot Z axis cover.
CHAPTER 4 Adjustment4-93-4 Adjust the X-axis belt tension (YP220BX, YP220BXR)1) Turn off the controller power.2) Remove the side cover on the robot un
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CHAPTER 5Periodic Inspection1 Introduction ... 5-12 Inspection ...
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CHAPTER 5 Periodic Inspection5-11 IntroductionPeriodic inspections and maintenance are extremely important in assuring thatthe YAMAHA robot will perfo
CHAPTER 5 Periodic Inspection5-2WARNINGPrecautions when handling grease:• Inflammation may occur if they get in the eyes.Before handling them, wear yo
CHAPTER 5 Periodic Inspection5-32Inspection2-1 Daily ChecklistThe following is a list of maintenance operations that must be performed everyday before
CHAPTER 5 Periodic Inspection5-42-2 Six Month InspectionInspect the following for the six month inspection, and replace parts if necessary.Inspection
CHAPTER 5 Periodic Inspection5-53 Replacement of MotorReplace the motor if it generates abnormal sounds or vibrations, causes errors orcannot be posit
CHAPTER 5 Periodic Inspection5-6ConnectorX and Z axes motorMotor shaftBracketSecuring boltPulleySet screwX-axis motorMetal bracketBeltFig. 5-1 Motor r
CHAPTER 5 Periodic Inspection5-73-2 Replacement of X and Z axis motor (YP220BX, YP220BXR)The X and Z axis motors of the YP220BX and YP220BXR are both
CHAPTER 5 Periodic Inspection5-83-3 Replacement of R axis motor (YP220BXR, YP320XR, YP340X)The R-axis motor on the YP220BXR, YP320XR, YP340X is a buil
CHAPTER 5 Periodic Inspection5-94 Belt replacement methodReplace the belt if it is damaged, worn or might otherwise interfere with machineoperation.!C
CHAPTER 5 Periodic Inspection5-104-2 Replacement of Y axis belt (YP330X, YP340X)1) Turn off the controller power.2) Remove the robot Y axis cover.3) P
CHAPTER 5 Periodic Inspection5-114-3 Replacement of Z axis belt (YP220BX, YP220BXR)1) Turn off the controller power.2) Remove the side cover on the ro
CHAPTERCHAPTER 1 Using the Robot Safely1 Safety Information... 1-12 Essential Caution Items ...
CHAPTER 5 Periodic Inspection5-124-4 Replacement of X axis belt (YP220BX, YP220BXR)1) Turn off the controller power.2) Remove the side cover on the ro
CHAPTER 5 Periodic Inspection5-134-5 Replacement of Z axis tip section belt (YP320X, YP330X, YP340X,YP320XR)1) Turn off the controller power.2) Remove
CHAPTER 5 Periodic Inspection5-144-6 Replacement of Z axis tip section belt (YP220BX, YP220BXR)1) Turn off the controller power.2) Remove the robot Z
CHAPTER 5 Periodic Inspection5-15Robot bumped into something, or there are traces of bumping into (rubbing against) something.The position deviates af
CHAPTER 5 Periodic Inspection5-16Much mechanical friction?Are wiring and connectorsecurely connected?Is wiring live?Is motor resistance OK?Is motor en
CHAPTER 5 Periodic Inspection5-17YP220BX Spare Parts1234567890K90-62012X AC SERVO MOTOR 1 200W (X)90K90-62213Z AC SERVO MOTOR 1 200W (Z)KC5-M2256-200
CHAPTER 5 Periodic Inspection5-181234567890K90-62012X AC SERVO MOTOR 1 200W (X)90K90-62213Z 1 200W (Z)KC5-M2256-200 BELT, 1 1 219UP3MKC5-M2257-100 BEL
CHAPTER 5 Periodic Inspection5-19YP320X Spare Parts1234567AC SERVO MOTOR 1 200W (X)90K90-62212Z AC SERVO MOTOR 1 200W (Z)KC0-M2256-100 BELT, 1 1 S5M25
CHAPTER 5 Periodic Inspection5-20YP320XR Spare Parts1234567AC SERVO MOTOR 1 200W (X)90K90-62212Z AC SERVO MOTOR 1 200W (Z)KC0-M2256-100 BELT, 1 1 S5M2
CHAPTER 5 Periodic Inspection5-21YP330X Spare Parts1234567AC SERVO MOTOR 1 200W (X)90K90-62212Z AC SERVO MOTOR 1 200W (Z)KC0-M2256-100 BELT, 1 1 S5M25
CHAPTER 4 Adjustment1 Outline ... 4-11-1 Robot parameter settings ...
CHAPTER 5 Periodic Inspection5-22YP340X Spare Parts1234567AC SERVO MOTOR 1 200W (X)90K90-62212Z AC SERVO MOTOR 1 200W (Z)KC0-M2256-100 BELT, 1 1 S5M25
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
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