Yamaha YK-XR Series Manuals

Manuals and User Guides for Yamaha YK-XR Series. We have 1 Yamaha YK-XR Series manual available for free PDF download: Installation Manual

Yamaha YK-XR Series Installation Manual (158 pages)

Brand: Yamaha | Category: Robotics | Size: 4.22 MB

Table of Contents
3
Safety Information

9
Signal Words Used in this Manual

10
Warning Labels

11
Important Precautions for each Stage of the Robot Life Cycle

18
- Precautions for Using Robots and Controllers
  
  18
- Essential Precautions for the Linear Conveyor Module
  
  19
- Design
  
  20
  - Precautions for Robots
    20
  - Precautions for Robot Controllers
    20
- Moving and Installation
  
  21
  - Precautions for Robots
    21
  - Precautions for Robot Controllers
    22
- Safety Measures
  
  24
  - Installing a Safety Enclosure
    25
- Operation
  
  26
  - Trial Operation
    26
  - Automatic Operation
    28
  - Precautions During Operation
    28
- Inspection and Maintenance
  
  30
  - Before Inspection and Maintenance Work
    30
  - Precautions During Service Work
    31
- Disposal
  
  32
Emergency Action When a Person Is Caught by Robot

33
Cautions Regarding Strong Magnetic Fields

33
Using the Robot Safely

34
- Movement Range
  
  34
- Robot Protective Functions
  
  35
- Residual Risk
  
  36
- Special Training for Industrial Robot Operation
  
  36
Warranty

39
Introduction

41
Chapter 1 Functions

47
Robot Manipulator

49
- Manipulator Movement
  
  49
- Part Names
  
  50
Robot Controller

51
Robot Initialization Number List

52
Chapter 2 Installation

55
Robot Installation Conditions

55
- Installation Environments
  
  55
- Installation Base
  
  56
Installation

57
- Unpacking
  
  57
- Checking the Product
  
  58
- Moving the Robot
  
  59
- Installing the Robot
  
  60
Protective Bonding

61
Robot Cable Connection

62
User Wiring and User Tubing

63
Attaching the End Effector

65
Limiting the Movement Range with X-Axis and Y-Axis Mechanical Stoppers

74
- Installing the X-Axis/Y-Axis Additional Mechanical Stoppers
  
  75
- Robot Overrun During Impacts with X-Axis or Y-Axis Mechanical Stopper
  
  77
Working Envelope

78
Stopping Time and Stopping Distance at Emergency Stop

81
10. Installing the User Wiring and Tubing Newly

84
Passing the Wiring and Tubing in the User Wiring/Tubing through Spline Type

85
12. Detaching or Attaching the Covers

86
Chapter 3 Robot Settings

89
Overview

89
Adjusting the Origin

90
- Return-To-Origin Method
  
  91
  - Stroke End Method
    91
  - Mark Method
    92
  - Sensor Method (X-Axis, Y-Axis)
    92
- Machine Reference
  
  93
- Return-To-Origin Procedures
  
  94
  - Stroke End Method
    94
  - Sensor Method (X-Axis, Y-Axis)
    95
- Adjusting the Machine Reference Value
  
  97
Setting the Soft Limits

115
- Setting the X-Axis and Y-Axis Soft Limits
  115
- Setting the Z-Axis Soft Limits
  
  116
  - Setting the R-Axis Soft Limits
    116
  - Relation between the X, Y, and R-Axis Movement Angle, the Z-Axis Movement Distance and the Number of Pulses
    116
Setting the Standard Coordinates

117
- Standard Coordinate Setting Using a Standard Coordinate Setup Jig
  
  118
Affixing the Stickers for Origin Positions, Movement Directions, and Axis Names

120
- Af Fixing the Stickers for Origin Positions, Movement Directions, and Axis Names
  120
Chapter 4 Periodic Inspecition

123
Overview

125
List of Inspection Items

126
Chapter 5 Harmonic Drive Replacement Period

129
Overview

131
Replacement Period

132
Chapter 6 Increasing the Robot Operating Speed

135
- Increasing the Robot Operating Speed
  135
Chapter 7 Torque Limit Designated Z-Axis Pushing Action

143
- Torque Limit Designated Z-Axis Pushing Action
  143
Chapter 8 Specifications

147
Manipulator

147
- Basic Specification
  147
- External View and Dimensions
  148
- Robot Inner Wiring Diagram
  150
- Wiring Table
  151

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Yamaha YK-XR Series Manuals

Yamaha YK-XR Series Installation Manual (158 pages)

Table of Contents

Safety Information

Signal Words Used in this Manual

Warning Labels

Warning Symbols

Important Precautions for each Stage of the Robot Life Cycle

Precautions for Using Robots and Controllers

Essential Precautions for the Linear Conveyor Module

Design

Moving and Installation

Safety Measures

Operation

Inspection and Maintenance

Disposal

Emergency Action When a Person Is Caught by Robot

Cautions Regarding Strong Magnetic Fields

Using the Robot Safely

Movement Range

Robot Protective Functions

Residual Risk

Special Training for Industrial Robot Operation

Warranty

Introduction

Chapter 1 Functions

Robot Manipulator

Manipulator Movement

Part Names

Robot Controller

Robot Initialization Number List

Chapter 2 Installation

Robot Installation Conditions

Installation Environments

Installation Base

Installation

Unpacking

Checking the Product

Moving the Robot

Installing the Robot

Protective Bonding

Robot Cable Connection

User Wiring and User Tubing

Attaching the End Effector

Acceleration Coefficient Vs. Moment of Inertia

Equation for Moment of Inertia Calculation

Attaching the End Effector

Gripping Force of End Effector

Limiting the Movement Range with X-Axis and Y-Axis Mechanical Stoppers

Installing the X-Axis/Y-Axis Additional Mechanical Stoppers

Robot Overrun During Impacts with X-Axis or Y-Axis Mechanical Stopper

Working Envelope

Stopping Time and Stopping Distance at Emergency Stop

10. Installing the User Wiring and Tubing Newly

Passing the Wiring and Tubing in the User Wiring/Tubing through Spline Type

12. Detaching or Attaching the Covers

Chapter 3 Robot Settings

Overview

Adjusting the Origin

Return-To-Origin Method

Machine Reference

Return-To-Origin Procedures

Adjusting the Machine Reference Value

Setting the Soft Limits

Setting the Z-Axis Soft Limits

Setting the Standard Coordinates

Standard Coordinate Setting Using a Standard Coordinate Setup Jig

Affixing the Stickers for Origin Positions, Movement Directions, and Axis Names

Chapter 4 Periodic Inspecition

Overview

List of Inspection Items

Chapter 5 Harmonic Drive Replacement Period

Overview

Replacement Period

Chapter 6 Increasing the Robot Operating Speed

Chapter 7 Torque Limit Designated Z-Axis Pushing Action

Chapter 8 Specifications

Manipulator

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