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OWNER'S MANUAL
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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 robot. The “YP-X” series robot use absolute position detectors that do not require return-to-origin after turning on the controller power. However, when the controller power is turned on in the following cases, return-to-origin must be performed just the very first time. (1) When robot cable was first connected after delivery from YAMAHA. (2) When ro
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[2] R axis On 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 origin while referring to the following section in the robot controller instruction manual. When using DRCX or TRCX controllers: See “9-1-1 Return-to-origin by the search method” in Chapter 9. When using a QRCX controller: See “11-9 Absolute Reset” in Chapter 11. After setting the origin position, affix the stickers (triangular stickers supplied wit
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Introduction Our sincere thanks for your purchase of this YAMAHA robot and controller. The YP-X Series were designed and developed as compact and highspeed Pick and Place (P&P) robots. This manual contains important information on items such as an overview, han- dling, adjustment, and service of YP-X Series robots to ensure correct and effi- cient use. Please be sure to read this manual before installing the equipment. Please refer to the "YAMAHA Robot Controller DRCX, TRCX, QRCX Instruc- tion a
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MEMO
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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...... 1-8 4 Robot Safety Functions............................................ 1-9 5 Safety Measures for the System ............................. 1-10 6 Trial Operation...................................................... 1-11 7 Work Within The Safeguards.
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CHAPTER 4 Adjustment 1 Outline .................................................................... 4-1 1-1 Robot parameter settings ................................................................ 4-2 2 Setting the origin position ....................................... 4-3 2-1 Mark method (R-axis) ..................................................................... 4-4 2-2 Stroke end method (X, Z, Y axes) ................................................... 4-5 3 Adjustment of the belt tensio
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CHAPTER 6 Specifications 1 P & P robot unit....................................................... 6-1 1-1 Basic specifications ........................................................................ 6-1 1-2 Robot External Views ..................................................................... 6-2 1-3 Table of robot control signals ......................................................... 6-8 1-4 Piping and wiring of robot ........................................................... 6-14 2
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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 .... 1-8 4 Robot Safety Functions .................................. 1-9 5 Safety Measures for the System ................... 1-10 6 Trial Operation ............................................ 1-11 7 Work Within The Safeguards ....................... 1-12 8 Automatic Operation......
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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 WARNINGS, CAUTIONS AND INSTRUCTIONS INCLUDED IN THIS MANUAL. Failure to take necessary safety measures or mishandling due to not following the instruc
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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. • Install a safeguard (protective enclo
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CHAPTER 1 Using the Robot Safely (3) Follow the instructions on warning labels and in this manual. Warning label 3 (see Fig. 1-3) is supplied with the robot and should be af- fixed to the robot or a conspicuous spot near the robot. • 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
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CHAPTER 1 Using the Robot Safely (4) Do not use the robot in environments containing inflammable gas, etc. WARNING • This robot was not designed for operation in environments where inflammable or explosive substances are present. • Do not use the robot in environments containing inflammable gas, dust or liquids. Explosions or fire could otherwise result. (5) Do not use the robot in locations possibly subject to electromagnetic interference, etc. WARNING Avoid using the robot in locations subject
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CHAPTER 1 Using the Robot Safely (8) Use the following caution items when removing the Z-axis motor. WARNING The Z-axis will drop when the Z-axis motor is removed, possibly resulting in injury. • Turn off the controller and set a support stand under the Z-axis before removing the motor. • Use caution not to allow hands or body to be squeezed or crushed by moving parts on the Z-axis or between the Z-axis and the in- stallation base. (9) Use the following caution during inspection of controller. W
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CHAPTER 1 Using the Robot Safely (11) Use caution not to touch the cooling fan on the controller rear panel. WARNING • Bodily injury may occur from coming into contact with the cool- ing fan while it is rotating. • When removing the fan cover for inspection, first turn off the con- troller and make sure the fan has stopped. (12) Use caution not to touch the high temperature part of the motor. WARNING The motor is extremely hot after automatic operation, so burns may occur if it is touched. Befor
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CHAPTER 1 Using the Robot Safely (15) Be sure to make correct parameter settings. ! CAUTION The robot must be operated with correct tolerable moment of inertia and acceleration coefficients according to the manipulator tip mass and mo- ment of inertia. If this is not observed, premature end to the life of the drive units, damage to the robot parts or residual vibration during positioning may result. (16) Do not use the robot for tasks requiring motor thrust. ! CAUTION Avoid using the robots for
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CHAPTER 1 Using the Robot Safely 3 Special Training for Industrial Robot Operation Companies or factories using industrial robots must make sure that every person, who handles the robot such as for teaching, programming, movement check, in- spection, adjustment and repair, has received appropriate training and also has the skills needed to perform the job correctly and safely. Since the YAMAHA YP-X Series pick-and-place robots fall under the industrial robot category, the user must observe local
