Page 3 - (1) When robot cable was first connected after delivery from YAMAHA.; but this is not a malfunction; . The controller will operate normally by; When using an SR1 controller:; 5 : FEEDBACK ERROR 2
Before using the F8/F8L/F8LH single-axis robots (Be sure to read the following notes.) Before using the F8/F8L/F8LH single-axis robots (Be sure to read the following notes.) Thank you for purchasing this YAMAHA single-axis robot F8/F8L/F8LH.Before using this robot, read the following notes and set t...
Page 5 - environments
i General Contents General Contents I n t r o d u c t i o n C h a p t e r 1 U s i n g t h e R o b o t S a f e l y 1-1 Safety information 1-1 1-2 Essential precautions 1-3 1-3 Industrial robot operating and maintenance personnel 1-10 1-4 Robot safety functions 1-10 1-5 Safety measures for the system ...
Page 6 - General Contents; ii; C h a p t e r 4 P e r i o d i c I n s p e c t i o n a n d M a i n t e n a n c e
General Contents ii C h a p t e r 4 P e r i o d i c I n s p e c t i o n a n d M a i n t e n a n c e 4-1 Before beginning work 4-1 4-2 Periodic inspection 4-3 4-2-1 Daily inspection 4-3 4-2-2 Three-month inspection 4-3 4-2-3 Six-month inspection 4-4 4-2-4 Three-year inspection 4-4 4-3 Applying grease...
Page 7 - Introduction; robot controller being used.
Introduction Introduction The YAMAHA single-axis robots F8/F8L/F8LH is an industrial robot that uses the absolute positioning method as standard and has improved ease of use, resistance to environmental conditions, and maintenance work. A wide varaiety of product lineup allows you to select the desi...
Page 8 - MEMO
Page 9 - Contents
Chapter 1 Using the Robot Safely Contents 1-1 Safety information 1-1 1-2 Essential precautions 1-3 1-3 Industrial robot operating and maintenance personnel 1-10 1-4 Robot safety functions 1-10 1-5 Safety measures for the system 1-11 1-6 Trial operation 1-11 1-7 Work within the safety enclosure 1-12 ...
Page 11 - Using the Robot Safely; -1 Safety information; information; DANGER; NOTE
1 Using the Robot Safely 1-1 Safety information 1-1 1-1 Safety information Industrial robots are highly programmable, mechanical devices that provide a large degree of freedom when performing various manipulative tasks. To ensure correct and safe use of YAMAHA industrial robots, carefully read this ...
Page 12 - manual on your computer screen.
Using the Robot Safely 1 1-1 Safety information 1-2 Refer to the user's manual by any of the following methods to operate or adjust the robot safely and correctly. 1. Operate or adjust the robot while referring to the printed version of the user's manual (available for an additional fee). 2. Operate...
Page 13 - -2 Essential precautions; precautions; (1) Obser ve the following cautions during automatic operation.; panels equipped with safety interlocks.; Warning label 1
1 Using the Robot Safely 1-2 Essential precautions 1-3 1-2 Essential precautions Particularly important cautions for handling or operating the robot are described below. In addition, precautions during installation, operation, inspection and maintenance are also provided in each chapter. Be sure to ...
Page 14 - Warning label 2; (3) Follow the instr uctions on warning labels and in this manual.; comply with the instructions in this manual.; WARNING; WARNING
Using the Robot Safely 1 1-2 Essential precautions 1-4 Warning label 2 Moving parts can pinch or crush.Keep hands away from robot arms. WARNING (3) Follow the instr uctions on warning labels and in this manual. • Be sure to read the warning labels and this manual carefully and make sure you thorough...
Page 15 - (7) Use caution when releasing the brake of a ver tical use robot.
1 Using the Robot Safely 1-2 Essential precautions 1-5 (4) Do not remove, alter or stain the warning labels. w WARNING IF WARNING LABELS ARE REMOVED OR DIFFICULT TO SEE, THEN ESSENTIAL PRECAUTIONS MIGHT NOT BE TAKEN, RESULTING IN ACCIDENTS. • DO NOT REMOVE, ALTER OR STAIN THE WARNING LABELS ON THE R...
Page 16 - (10) Be careful not to touch the motor and peripheral par ts when hot.
Using the Robot Safely 1 1-2 Essential precautions 1-6 (8) Provide safety measures for end ef fector (gripper, etc.). w WARNING • END EFFECTORS MUST BE DESIGNED AND MANUFACTURED SO THAT THEY CREATE NO HAZARDS (FOR EXAMPLE, A WORKPIECE THAT COMES LOOSE) EVEN IF POWER (ELECTRICITY, AIR PRESSURE, ETC.)...
Page 17 - Damage or Trouble; CAUTION
1 Using the Robot Safely 1-2 Essential precautions 1-7 (12) Use caution not to touch the controller cooling fan. w WARNING • BODILY INJURY MAY OCCUR FROM COMING INTO CONTACT WITH THE COOLING FAN WHILE IT IS ROTATING. • WHEN REMOVING THE FAN COVER FOR INSPECTION, FIRST TURN OFF THE CONTROLLER AND MAK...
Page 18 - Make sure to provide enough lighting to ensure safety during work.
Using the Robot Safely 1 1-2 Essential precautions 1-8 (17) Do not attempt any repair, par ts replacement and modification. w WARNING DO NOT ATTEMPT ANY REPAIR, PARTS REPLACEMENT AND MODIFICATION UNLESS DESCRIBED IN THIS MANUAL. THESE WORKS REQUIRE TECHNICAL KNOWLEDGE AND SKILL, AND MAY ALSO INVOLVE...
Page 19 - Show a display on the operator panel; (25) Display a sign on operation panel during work
1 Using the Robot Safely 1-2 Essential precautions 1-9 (5) Steps to take after the robot has come to a stop when the emergency stop device was triggered, including checks for cancelling the problem or error state and safety checks in order to restart the robot. (6) In cases other than above, the fol...
Page 20 - -3 Industrial robot operating and maintenance personnel; detection
Using the Robot Safely 1 1-3 Industrial robot operating and maintenance personnel 1-10 1-3 Industrial robot operating and maintenance personnel Operators or persons who handle the robot such as for teaching, programming, movement check, inspection, adjustment, and repair must receive appropriate tra...
Page 21 - -5 Safety measures for the system; safety enclosure, and obser ve the following points.; range of the manipulator.
1 Using the Robot Safely 1-5 Safety measures for the system 1-11 w WARNING ROBOT MOVEMENT WILL NOT STOP IMMEDIATELY AFTER THE SERVO POWER SUPPLY IS SHUT OFF BY EMERGENCY STOP OR OTHER SAFETY FUNCTIONS. (5) Ver tical axis brake An electromagnetic brake is installed on the vertical use robot to preven...
Page 22 - (2) Check the following points before turning on the controller.; -7 Work within the safety enclosure
Using the Robot Safely 1 1-7 Work within the safety enclosure 1-12 (2) Check the following points before turning on the controller. 1. Is the robot securely and correctly installed? 2. Are the electrical connections to the robot correct? 3. Are items such as air pressure correctly supplied? 4. Is th...
Page 23 - -8 Automatic operation; operation; (1) Check the following before star ting automatic operation.
1 Using the Robot Safely 1-8 Automatic operation 1-13 3. Check that no failures are found in the robot. 4. Check that emergency stop works correctly. 5. Select teaching mode and prohibit automatic operation. 2) Never enter the movement range of the manipulator while within the safety enclosure. 1-8 ...
Page 24 - Warranty description
Using the Robot Safely 1 1-9 Warranty 1-14 1-9 Warranty The YAMAHA robot and/or related product you have purchased are warranted against the defects or malfunctions as described below. Warranty description : If a failure or breakdown occurs due to defects in materials or workmanship in the genuine p...
Page 27 - -1 Checking the product
Chapter 2 Product Over view Contents 2-1 Checking the product 2-1 2-2 Robot part names 2-1
Page 29 - Product Overview; -1 Checking the product; Robot part names
2 Product Overview 2-1 Checking the product 2-1 2-1 Checking the product After unpacking, make sure that all components and accessories are included (as specified in your order). Also check the product for any damage on the exterior which might have occurred during shipping.If there are any missing ...
Page 31 - -1 Carrying the robot
Chapter 3 Installation and Connections Contents 3-1 Carrying the robot 3-1 3-2 Robot installation conditions 3-2 3-2-1 Installation environments 3-2 3-2-2 Installation base 3-3 3-3 Installing the robot 3-5 3-4 Connecting the robot to the controller 3-7 3-5 Setting the operating conditions 3-10 3-5-1...
Page 33 - Installation and Connections; -1 Carr ying the robot
3 Installation and Connections 3-1 Carr ying the robot 3-1 3-1 Carr ying the robot Always use two people to carry the robot unit. Each person should grip the robot unit near one end from the lower side and carry with the load well balanced. Carry with the robot facing upward (slider side upwards). w...
Page 34 - -2 Robot installation conditions; Be sure to install the robot in the following environments.; Items
Installation and Connections 3 3-2 Robot installation conditions 3-2 3-2 Robot installation conditions 3-2-1 Installation environments Be sure to install the robot in the following environments. Items Specifications Allowable ambient temperature 0 to 45°C Allowable ambient humidity 35 to 85% RH (no ...
Page 36 - Robot installation example; Good example
Installation and Connections 3 3-2 Robot installation conditions 3-4 (3) Use an installation base of sufficient size to match the robot body so that the robot can be installed with the specified number of bolts. Avoid installing the robot with less than the specified number of bolts or installing th...
Page 37 - -3 Installing the robot; ) Drill and tap M5 holes into the surface of the installation base.; and tightening torque are shown below.; Bolt
3 Installation and Connections 3-3 Installing the robot 3-5 3-3 Installing the robot w WARNING • BEFORE INSTALLING THE ROBOT, ALWAYS MAKE SURE THAT THE ROBOT CONTROLLER IS NOT CONNECTED TO THE ROBOT OR THE POWER TO THE CONTROLLER IS OFF. SERIOUS ACCIDENTS MAY OCCUR IF THE ROBOT STARTS TO OPERATE DUR...
Page 38 - Protective bonding
Installation and Connections 3 3-3 Installing the robot 3-6 ● Protective bonding w WARNING ALWAYS GROUND THE ROBOT AND CONTROLLER UNIT TO PREVENT ELECTRICAL SHOCK. Always use the ground terminal (M4 screw) on the robot unit to make ground connection. The ground terminal location is shown below. Grou...
Page 39 - -4 Connecting the robot to the controller
3 Installation and Connections 3-4 Connecting the robot to the controller 3-7 3-4 Connecting the robot to the controller Connect the robot cables to the mating connectors on the controller as shown. Refer to the robot controller user's manual for the controller connectors. w WARNING • BEFORE CONNECT...
Page 41 - Robot cable connections (when connected to SR1); HPB; System Configurations
3 Installation and Connections 3-4 Connecting the robot to the controller 3-9 ● Robot cable connections (when connected to SR1) BAT PWR ERR HPB MOTOR U V W I/O AC IN ROB I/O L N L1 N1 RGEN SAFETY P N SHORT: AC100V OPEN: AC200V Single-axis robotF8/F8L/F8LH SR1 HPB Hood Robot cable (signal cable) Robo...
Page 42 - -5 Setting the operating conditions; ) Connect the HPB to the SR1 controller
Installation and Connections 3 3-5 Setting the operating conditions 3-10 3-5 Setting the operating conditions 3-5-1 Payload Optimal acceleration for the YAMAHA single-axis robots is automatically determined by setting the controller payload parameters. Set the total weight of the workpiece and the e...
Page 43 - Press the
3 Installation and Connections 3-5 Setting the operating conditions 3-11 ［ＳＹＳ−ＰＲＭ−ＡＸＩＳ］ＰＲＭ１１２ ＝ １０＿［Ｋｇ］ ｐａｙｌｏａｄｒａｎｇｅ ０→ＭＡＸ 5) Display PRM112 (payload). Press the keys to scroll up or down the parameter list and select the parameter you want to set. ［ＳＹＳ−ＰＲＭ−ＡＸＩＳ］ＰＲＭ１１２ ＝ ＿ １０ ［Ｋｇ］ ｐａｙｌｏａｄｒａｎｇｅ ０...
Page 45 - -1 Before beginning work
Chapter 4 Periodic Inspection and Maintenance Contents 4-1 Before beginning work 4-1 4-2 Periodic inspection 4-3 4-2-1 Daily inspection 4-3 4-2-2 Three-month inspection 4-3 4-2-3 Six-month inspection 4-4 4-2-4 Three-year inspection 4-4 4-3 Applying grease 4-5 4-4 Replacing the motor 4-6
Page 47 - Periodic Inspection and Maintenance; -1 Before beginning work
4 Periodic Inspection and Maintenance 4-1 Before beginning work 4-1 4-1 Before beginning work Periodic inspection and maintenance are essential to ensure safe and efficient operation of YAMAHA robots. This chapter describes periodic inspection items and procedures for the F8/F8L/F8LH. Before beginni...
Page 49 - -2 Periodic inspection; inspection
4 Periodic Inspection and Maintenance 4-2 Periodic inspection 4-3 4-2 Periodic inspection 4-2-1 Daily inspection Check the following points on a daily basis, before and after robot operation. Checkpoints Check items Notes Cables Check for damage, dent and excessively tight bends. Replace if needed. ...
Page 51 - grease; ) Make sure that the power to the controller is off.; Linear guide; to help spread the grease around.; ) Reattach the top cover and end covers.
4 Periodic Inspection and Maintenance 4-3 Applying grease 4-5 4-3 Applying grease When applying grease to the ball screw according to periodic inspection, follow the procedure below. Grease can be applied to the guide sliding section using the grease nipples. Prepare a grease gun in this case. 1) Ma...
Page 52 - -4 Replacing the motor
Periodic Inspection and Maintenance 4 4-4 Replacing the motor 4-6 4-4 Replacing the motor c CAUTION A positional shift occurs by replacing the motor. It is therefore necessary to perform return-to-origin and set point data again after replacing the motor. When removing the parts, note their position...
Page 53 - ) Remove the four bolts securing the motor and remove the motor.
4 Periodic Inspection and Maintenance 4-4 Replacing the motor 4-7 5) Remove the four screws securing the motor cover and remove the motor cover. Motor cover Motor cover 6) Remove the ground wire. 7) Remove the four bolts securing the motor and remove the motor. Motor Motor 8) Remove the wave washer ...
Page 54 - ) Remove the four bolts securing the rotor and pull out the rotor.; 1) Install the wave washer and flat washer in the correct order.
Periodic Inspection and Maintenance 4 4-4 Replacing the motor 4-8 9) Remove the four bolts securing the rotor and pull out the rotor. Rotor Rotor 10) Install the new rotor. 11) Install the wave washer and flat washer in the correct order. 12) Install the new motor. 13) Reassemble in the reverse orde...
Page 57 - -1 If you suspect trouble
Chapter 5 Troubleshooting Contents 5-1 If you suspect trouble 5-1 5-1-1 Positioning error 5-1 5-1-2 Feedback error 5-2
Page 59 - Troubleshooting; -1 If you suspect trouble
5 Troubleshooting 5-1 If you suspect trouble 5-1 5-1 If you suspect trouble If an error such as a positioning error or feedback error occurs, check the following points to find the solution before you determine the robot or controller has malfunctioned. If the trouble still exists even after checkin...
Page 60 - Feedback error
Troubleshooting 5 5-1 If you suspect trouble 5-2 5-1-2 Feedback error Much mechanical friction? Are wiring and connector securely connected? Is wiring live? Is motor resistance OK? Is motor encoder OK? Is controller hardware OK? Turn power off and check for frictionby moving manually Is brake instal...
Page 61 - -1 Main unit specifications
Chapter 6 Specifications Contents 6-1 Main unit specifications 6-1 6-1-1 F8 6-1 6-1-2 F8L 6-4 6-1-3 F8LH 6-9 6-2 AC servo motor specifications 6-12 6-2-1 AC servo motor ter mination 6-12 6-2-2 Brake cable specifications 6-13 6-3 Robot cables 6-14 6-3-1 Robot cables (SR1) 6-14 6-3-2 Robot cables (TS-...
Page 63 - -1 Main unit specifications; Basic specifications; Static loading moment; M P
6 Specifi cations 6-1 Main unit specifications 6-1 6-1 Main unit specifications 6-1-1 F8 ● Basic specifications Motor output AC (W) 100 Repeated positioning accuracy (mm) 1 ±0.02 Deceleration mechanism Ball screw φ 12 (Class C10) Ball screw lead (mm) 20 12 6 Maximum speed (mm/sec) 2 1200 720 360 Max...
Page 64 - Horizontal installation; Wall installation; Ver tical installation; Vertical installation
Specifi cations 6 6-1 Main unit specifications 6-2 ● Allowable overhang* * Distance from the center on the top face of slider to the gravity center of the item being carried. (This is calculated assuming that the service life of the guide is 10,000km.) ■ Horizontal installation A C B Horizontal inst...
Page 65 - Dimensions
6 Specifi cations 6-1 Main unit specifications 6-3 ● F8 Dimensions Moving parts can pinch or crush. Keep hands away from robot arms. W ARNING (Tolerance between knocks±0.02) 193±3 : When origin is on motor side (193) : When origin is on non-motor side Effective stroke 50 30 ±0.02 70 (93) : When orig...
Page 66 - High lead type: Lead 30
Specifi cations 6 6-1 Main unit specifications 6-4 6-1-2 F8L ● Basic specifications Motor output AC (W) 100 Repeated positioning accuracy (mm) 1 ±0.01 Deceleration mechanism Ball screw φ 15 (Class C7) Ball screw lead (mm) 30 20 10 5 Maximum speed (mm/sec) 2 1800 1200 600 300 Maximum payload (kg) Hor...
Page 74 - -2 AC ser vo motor specifications; Connector specifications
Specifi cations 6 6-2 AC ser vo motor specifications 6-12 6-2 AC ser vo motor specifications 6-2-1 AC ser vo motor termination ■ Connector specifications No. Parts Type No. Maker Qty Notes 1 Servo motor 1 2 Receptacle housing SMR-07V-B JST 1 CN1 (7 polarities) 3 Pin contact BYM-001T-P0.6 JST 9 CN1, ...
Page 76 - cables; Signal cable; Power cable
Specifi cations 6 6-3 Robot cables 6-14 6-3 Robot cables 6-3-1 Robot cables (SR1) ■ Signal cable To controller To robot P ORG BK Parts Signal PIN Connection PIN Parts Wire Controller CN1 S2 1 1 Resolver 0.3sq Blue SPMCU-14K S4 2 2 Orange S1 3 3 Green S3 4 4 Brown R1 5 5 Grey R2 6 6 Red D.G 9 7 Clear...
Page 79 - Signal
6 Specifi cations 6-3 Robot cables 6-17 Signal Connector No. Connection No. Connector Wire Resolver S2 P1 1 1 0.3sqTwisted pair Red S4 2 2 White S1 3 3 0.3sqTwisted pair Green S3 4 4 White R1 5 5 0.3sqTwisted pair Yellow R2 6 6 White DG 7 7 Drain wire Brake MB+ BK1 1 14 0.3sqTwisted pair Blue MB- 2 ...
Page 81 - Appendix; About machine reference
Appendix Contents About machine reference i Moment of inertia calculation ii
Page 83 - Machine reference
i Appendix About machine reference The position detector built into the motor issues a "0" pulse each time the motor rotates 1/4th of one turn. When return-to-origin is performed, a difference in distance occurs between the position where the origin signal is detected and the point at which ...
Page 84 - Moment of iner tia calculation; Moment of iner tia for rectangular parallelepiped
ii Appendix Moment of iner tia calculation c CAUTION The robot must be operated with correct tolerable moment of inertia and acceleration coeffi cients according to the manipulator tip mass and moment of inertia. If this is not observed, premature end to the life of the drive units, damage to the ro...
Page 85 - iii; When the object’s center line is of fset from the rotation center.
iii Appendix 3. When the object’s center line is of fset from the rotation center. The moment of inertia (J) when the center of the cylinder is offset by a distance "x" from the rotation center as shown below is given by D h J = RP D 4 h 32g WD 2 8g = (kgf.cm.sec 2 ) W : Weight of cylinder (...
Page 86 - Revision record; Manual version Issue date
© YAMAHA MOTOR CO., LTD. IM Operations All rights reserved. No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO., LTD. Information furnished by YAMAHA in this manual is believed to be reliable. However, no responsibility is assumed for possible inaccur...
