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YAMAHA MOTOR CO., LTD.
OWNER'S MANUAL
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Before using the robot (Be sure to read the following notes.) At this time, our thanks for your purchase of this YAMAHA YK-X series SCARA robot. (1) Please be sure to perform the following tasks before using the robot. Note that the robot may operate abnormally (abnormal vibration or noise) if the following work is not carried out. Before the YK-X Series is shipped, the position shown in "Chapter 7, 1-2 Exter- nal view and dimensions" is adjusted as the origin position, and the standard coordina
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(2) Caution when turning off the robot controller On the YK120X and YK180X series robots, the harness exerts a large reaction force on the X and Y axis arms. When the power to the robot controller is turned off, the arm positions might move slightly due to the harness reaction force, depending on where the arms are positioned. If the arms moved a large distance in this case, the correct position data may not be backed up. To avoid this, before turning off the power to the robot controller, press
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Introduction The YAMAHA YK120X and YK180 series robots are SCARA type industrial robots developed based on years of YAMAHA experience and achievements in the automation field as well as efforts to streamline our in-house manufacturing systems. The SCARA robots have a two-joint manipulator consisting of an X-axis arm and a Y-axis arm, and are further equipped with a vertical axis (Z-axis) and a rotating axis (R-axis) at the tip of the manipulator. The YK120X and YK180 series robots can be used fo
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Clean Room Models YK120XC, YK150XC Compared to standard YX120X and YK150X, clean room models differ in the following points. 1. Robot parameter has been changed. (See section 4 in chapter 2.) The Z-axis speed is lowered to maintain the degree of cleanliness and the bellows durability. (This is preset prior to shipment.) 2. Suction couplers have been added. (See section 6 in chapter 3.) For the suction amount versus degree of cleanliness, see "1-1 Basic specifications" in chapter 7. For the locat
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CONTENTS CHAPTER 1 Using the Robot Safely 1 Safety Information ...................................................................................1-1 2 Essential Caution Items ...........................................................................1-2 3 Special Training for Industrial Robot Operation .....................................1-10 4 Robot Safety Functions ......................................................................... 1-11 5 Safety Measures for the System ...............
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5 User Wiring and User Tubing ................................................................3-13 6 Connecting a suction hose (YK120XC, YK150XC) ...............................3-16 7 Attaching The End Effector ....................................................................3-17 7-1 R-axis tolerable moment of inertia and acceleration coefficient ......................... 3-17 7-1-1 Acceleration coefficient vs. moment of inertia (YK120X) ..................................... 3-19 7-1-2 Accele
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3-4-2 YK180X series (YK180X, YK220X) ......................................................................4-30 3-4-2-1 Adjusting the R-axis machine reference (YK180X, YK220X) ............................. 4-30 3-4-2-2 Adjusting the X-axis machine reference ............................................................. 4-32 3-4-2-3 Adjusting the Y-axis machine reference .............................................................. 4-34 3-4-2-4 Adjusting the Z-axis machine reference .............
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MEMO
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CHAPTER 1 Using the Robot Safely 1 Safety Information ...................................................................................1-1 2 Essential Caution Items ...........................................................................1-2 3 Special Training for Industrial Robot Operation .....................................1-10 4 Robot Safety Functions ......................................................................... 1-11 5 Safety Measures for the System ........................
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MEMO
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CHAPTER 1 Using the Robot Safely 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 manual and make yourself well acquainted with the contents. FOLLOW THE WARN- INGS, CAUTIONS AND INSTRUCTIONS INCLUDED IN THIS MANUAL. Failure to take necessary safety measures or mishandling due to not following the instr
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CHAPTER 1 Using the Robot Safely 2 Essential Caution Items Particularly important cautions for handling or operating the robot are described below. In addition, safety information about installation, operation, inspection and maintenance is provided in each chapter. Be sure to comply with these in- structions to ensure safe use of the robot. (1) Observe the following cautions during automatic operation. Warning labels 1 (Fig. 1-1) are affixed to the robot. Refer to Fig. 2-2 to Fig. 2-4 in Chapte
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CHAPTER 1 Using the Robot Safely (3) Follow the instructions on warning labels and in this manual. Warning label 3 (Fig. 1-3) is affixed to the robot. Refer to Fig. 2-2 to Fig. 2-4 in Chapter 2 for the position. • Be sure to read the warning label and this manual carefully and make your thoroughly understand the contents before attempting installation and op- eration of the robot. • Before starting the robot operation, even after you have read through this manual, read again the corresponding pr
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CHAPTER 1 Using the Robot Safely (6) Use caution when releasing the Z-axis (vertical axis) brake. WARNING The Z-axis will slide down when the Z-axis brake is released, causing a hazard- ous situation. • Press the emergency stop button and prop up the Z-axis with a support stand before releasing the brake. •Use caution not to let your body get caught between the Z-axis and installa- tion base when releasing the brake to perform direct teach. (7) Provide safety measures for end effector (gripper,
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CHAPTER 1 Using the Robot Safely (10)Use caution on Z-axis movement when air supply is stopped. (2- axis robots with air-driven Z-axis) WARNING The Z-axis may suddenly drop when the air pressure to the Z-axis air cylinder solenoid valve is reduced, creating a hazardous situation. Turn off the controller and place a prop or support under the Z-axis before cutting off the air supply. (11) Use the following caution items when disassembling or replac- ing the pneumatic equipment. WARNING Air or part
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CHAPTER 1 Using the Robot Safely (14)Consult us for corrective action when the robot is damaged or malfunction occurs. WARNING If any part of the robot is damaged or any malfunction occurs, continuous op- eration may be very dangerous. Please consult YAMAHA dealer for corrective action. Damage or Trouble Possible Danger Damage to machine harness or robot cable Electrical shock, malfunction of robot Flying outwards of damaged parts during robot Damage to exterior of robot operation Abnormal ope
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CHAPTER 1 Using the Robot Safely (18)Protective bonding WARNING Be sure to ground the robot and controller to prevent electrical shock. (19)Always connect the robot to the specified controller. WARNING The controller for the YK120X series robots (YK120X, YK150X) is designed to provide 24V output and the model name "RCX142-T" is shown on the serial number label (see Fig. 2-5). Do not connect other controllers to the YK120X series robot. If operated from a controller other than the RCX142-T, the r
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CHAPTER 1 Using the Robot Safely (24)Do not apply excessive force to each section. ! CAUTION The YK120X series (YK120X, YK150X) and YK180X series (YK180X, YK220X) are designed to be compact, so the joints could be damaged if excessive force is applied, for example, during installation of an end effector. Make sure that excessive force is not applied to the joints. YK120X, YK150X Axis Tolerable radial load Tolerable thrust load Tolerable moment load Tolerable torque X-axis 100N (10.2kgf) 100N (10
