Yamaha 150Z- User Manual

CHAPTER 1 Functions 1 Robot Manipulator ................................................................. 1-1 2 Robot Parameters .................................................................. 1-4

1-1 CHAPTER 1 Functions 1 Robot Manipulator YK-XS series robots are grouped into the ceiling-mount models of Fig. 1-1 andthe inverted ceiling-mount models of Fig. 1-2. Jog key movement is in the direc-tions shown in Figs. 1-1 and 1-2.Robot part names and functions are shown in Fig. 1-3 and Fig. 1-4....

1-4 CHAPTER 1 Functions 2 Robot Parameters A portion of the robot parameters for ceiling-mount models and inverted ceiling-mount models are changed from the standard specifications when shipped.The following is a description of these changed parameters and precautions youshould take when using these...

1-5 CHAPTER 1 Functions (3) YK300XHS X-axis Z-axis Y-axis 125.00 R-axis 175.00 Axis parameters 11. Arm length [mm] Changes Parameter Axis settings Note that the model name “YK350X” is shown on the nameplate of the YK300XHS. Robot numbers used to initialize the parameters are as follows 2101 2102 210...

CHAPTER 2 Installation 1 Installation Base .................................................................... 2-1 2 Installation .............................................................................. 2-2 2-1 Unpacking ...........................................................................

2-1 CHAPTER 2 Installation 1 Installation Base 1) Please read the description of standard robot models for the installation base and comply with the caution items provided. WARNING The ceiling-mount robot models are hung from the ceiling so a dangerous situ-ation can occur if the robot support secti...

2-2 CHAPTER 2 Installation 2 Installation 2-1 Unpacking WARNING The robot and controller are heavy. Take sufficient care not to drop them duringmoving or unpacking as this may damage the equipment or cause bodily injury. ! CAUTION When moving the robot or controller by equipment such as a folk-lift ...

2-3 CHAPTER 2 Installation 2-2 Checking the product After unpacking, check the product configuration and conditions.The illustration below shows typical configurations for YK500XS to YK1000XSceiling-mount and inverted ceiling-mount models, which are different from stand-ard models. ! CAUTION If ther...

2-4 CHAPTER 2 Installation 2-3 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 r...

2-5 CHAPTER 2 Installation 2-3-2 Moving the YK500XS, YK600XS, YK700XS, YK800XS, YK1000XS 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. • Insert...

2-8 CHAPTER 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) Set the X- and Y-axis arms straight (See Fig. 2-5). If the robot is in the shipped state, remove the spline from the arm clamping stay, and set ...

2-10 CHAPTER 2 Installation 2-3-2-2 Moving the inverted ceiling-mount robot (1) When using eyebolts (See Fig. 2-6.) 1) Remove the X-axis and Y-axis upper covers and attach the robot carrying jigs. Remove all loads if attached to the Z-axis to set the servo free and re-lease the brake. Then fold the ...

CHAPTER 3 Periodic Inspection 1 Replacing the Harmonic Grease(Inverted ceiling-mount model R-axis) ................................... 3-1 1-1 Replacement period ................................................................................... 3-1

3-1 CHAPTER 3 Periodic Inspection 1 Replacing the Harmonic Grease(Inverted ceiling-mount model R-axis) Only the R-axis harmonic drive of the inverted ceiling-mount model uses harmonicgrease HC-1A. This grease must be replaced periodically. Use the guidelineexplained below to determine the appropriat...

CHAPTER 4 Specifications 1 Robot Manipulator ................................................................. 4-1 1-1 Basic specifications .................................................................................... 4-1 1-1-1 Ceiling-mount model ................................................

4-1 CHAPTER 4 Specifications 1 Robot Manipulator 1-1 Basic specifications 1-1-1 Ceiling-mount model Robot model Axis specifi- cations Motor Maximum speed Repeatability *1 Payload R-axis tolerable moment of inertia *2 User wiring User tubing Travel limit Robot cable Weight X-axis Y-axis Z-axis R-axis...

4-4 CHAPTER 4 Specifications 1-1-2 Inverted ceiling-mount model Robot model Axis specifi- cations Motor Maximum speed Repeatability *1 Payload R-axis tolerable moment of inertia *2 User wiring User tubing Travel limit Robot cable Weight X-axis Y-axis Z-axis R-axis Arm length Rotation angle Arm lengt...

4-6 CHAPTER 4 Specifications Fig. 4-1 YK300XHS User tubing 3 ( φ 4 blue) D-sub connector for user wiring (No.1 to 10) D-sub connector for user wiring (No.1 to 10) M4 ground terminal User tubing 1 ( φ 4 black) User tubing 2 ( φ 4 red) 290 230 168 381 0 15 36 62 142 ± 2 187 150 Z-axis stroke 52 120 25...