YAMAHA SCARA ROBOT YK-X series YK-XS User’s Manual ENGLISH E YAMAHA MOTOR CO., LTD. IM Operations 882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan URL http://www.yamaha-motor.jp/robot/index.html E24-Ver. 2.
Introduction This user’s manual was prepared for YK-XS series ceiling-mount models (YK300XHS to YK1000XS) of the YAMAHA industrial robots. This user’s manual describes the safety measures, handling, adjustment and maintenance of YK-XS series robots for correct, safe and effective use. Be sure to read this manual carefully before installing the robot. Even after you have read this manual, keep it in a safe and convenient place for future reference.
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CONTENTS CHAPTER 1 Functions 1 Robot Manipulator ..................................................... 1-1 2 Robot Parameters ..................................................... 1-4 CHAPTER 2 Installation 1 Installation Base ........................................................ 2-1 2 Installation ................................................................. 2-2 2-1 Unpacking ............................................................................................
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CHAPTER 1 Functions 1 Robot Manipulator ................................................................. 1-1 2 Robot Parameters ..................................................................
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CHAPTER 1 Functions 1 Robot Manipulator YK-XS series robots are grouped into the ceiling-mount models of Fig. 1-1 and the inverted ceiling-mount models of Fig. 1-2. Jog key movement is in the directions shown in Figs. 1-1 and 1-2. Robot part names and functions are shown in Fig. 1-3 and Fig. 1-4. Y-axis arm X-axis arm (+) (-) (+) (-) (-) Z-axis (+) Y-axis X-axis (-) R-axis (+) Fig.
CHAPTER 1 Functions D-sub connector for user wiring (No.1 to 10) M4 ground terminal D-sub connector for user wiring (No.
CHAPTER 1 Functions Y-axis mechanical stopper User tubing 2 (φ6 red) User tubing 3 (φ6 blue) D-sub connector for user wiring (No.1 to 20) User tubing 1 (φ6 black) Robot cable Warning label 2 (Same on opposite side) Warning label 1 (Same on opposite side) User tubing 3 (φ6 blue) Ball screw User tubing 2 (φ6 red) User tubing 1 (φ6 black) D-sub connector for user wiring (No.
CHAPTER 1 Functions 2 Robot Parameters A portion of the robot parameters for ceiling-mount models and inverted ceilingmount models are changed from the standard specifications when shipped. The following is a description of these changed parameters and precautions you should take when using these robots. To purchasers of this robot At this time our sincere thanks for your purchase of this robot. This robot is made to custom specifications so some parameters are different from standard robots.
CHAPTER 1 Functions (3) YK300XHS Axis settings Parameter Axis parameters 11. Arm length [mm] X-axis 175.00 Changes Y-axis Z-axis 125.00 Note that the model name “YK350X” is shown on the nameplate of the YK300XHS.
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CHAPTER 2 Installation 1 Installation Base .................................................................... 2-1 2 Installation .............................................................................. 2-2 2-1 2-2 2-3 Unpacking .................................................................................................. 2-2 Checking the product ................................................................................. 2-3 Moving the robot ...............................................
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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 situation can occur if the robot support section breaks and the robot falls. Make sure the robot support section has sufficient strength, rigidity and safety.
CHAPTER 2 Installation 2 Installation 2-1 Unpacking WARNING The robot and controller are heavy. Take sufficient care not to drop them during moving 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 that requires a license, only properly qualified personnel may operate it. The equipment and tools used for moving the robot should be serviced daily.
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 YK1000XS ceiling-mount and inverted ceiling-mount models, which are different from standard models. ! CAUTION If there is any damage due to transportation or insufficient parts, please notify your YAMAHA sales office or dealer immediately. Controller : RCX240 Robot : YK500XS, YK600XS, YK700XS, YK800XS, YK1000XS STD.
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 robot, refer to “1-1 Basic specifications” in Chapter 4. 2-3-1 Moving the YK300XHS, YK400XHS 1) Fold the X and Y axis arms as shown in Fig.
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 the eyebolts into the holes of the carrying jig so that their bearing surfaces make tight contact with each other, and securely fasten the eyebolts with the nuts.
CHAPTER 2 Installation 5) Prepare 4 looped ropes with the same length to allow a good lifting balance, then pass each rope through each eyebolt and catch it on the hoist hook. 6) Slightly lift the hoist so that each rope has light tension to hold the robot. In this state, remove the bolts securing the robot base to the pallet supplied or installation base (if robot is to be moved to another installation base).
CHAPTER 2 Installation Arm clamping stay (supplied with robot) Eyebolts (4 pieces supplied with the robot) Arm clamped position Bolts (M12×20) supplied with robot Tightening torque 71N•m (720kgf•cm) Hoist hook Rope Robot cable Use bolts and nuts or screws (4 pcs) supplied with robot 4 bolts (supplied with robot) Tightening torque 71N•m (720kgf•cm) Robot carrying jig Pallet (supplied with the robot) Bolts (2 pcs) supplied with robot Tightening torque 4.5N•m (46kgf•cm) Y-axis under cover Fig.
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 the X- and Yaxis arms straight. If the arms cannot be folded in the carrying position (see Fig. 2-5) due to the X-axis mechanical stoppers, then remove them.
CHAPTER 2 Installation Set the arms out straight. Arm clamping stay (supplied with robot) Arm clamped position Bolts (M12×20) supplied with robot Robot cable 4 bolts (supplied with robot) Tightening torque 71N•m (720Kgf•cm) Use bolts and nuts or screws (4 pcs) supplied with robot Robot carrying jig Insert the prongs of the hand forklift there. Pallet (supplied with the robot) Bolts (2 pcs) supplied with robot Y-axis under cover Fig.
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 release the brake. Then fold the Z-axis to a position where it can be fastened to the arm clamping stay 2) Insert the eyebolts into the holes on the carrying jigs and securely fasten the eyebolts with the nuts.
CHAPTER 2 Installation Hoist hook X-axis upper cover Y-axis upper cover Rope Screw Eyebolts (4 pieces supplied with the robot) 2 bolts (supplied with robot) Tightening torque 4.
CHAPTER 2 Installation (2) When using the hand forklift (See Fig. 2-7) 1) Remove the X- and Y-axis upper 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 the X- and Yaxis arms straight. If the arms cannot be folded in the carrying position (see Fig. 2-5) due to the X-axis mechanical stoppers, then remove them.
CHAPTER 2 Installation X-axis upper cover Y-axis upper cover Screw Eyebolts (4 pieces supplied with the robot) 2 bolts (supplied with robot) Insert the prongs of the hand forklift there. Insert the prongs of the hand forklift there.
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CHAPTER 3 Periodic Inspection 1 Replacing the Harmonic Grease (Inverted ceiling-mount model R-axis) ................................... 3-1 1-1 Replacement period ...................................................................................
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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 harmonic grease HC-1A. This grease must be replaced periodically. Use the guideline explained below to determine the appropriate replacement period and replace the grease. 1-1 Replacement period The harmonic drive grease replacement period is determined by the total number of turns of the wave generator used in the harmonic drive.
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CHAPTER 4 Specifications 1 Robot Manipulator ................................................................. 4-1 1-1 1-2 Basic specifications .................................................................................... 4-1 1-1-1 Ceiling-mount model ................................................................................... 4-1 1-1-2 Inverted ceiling-mount model ...................................................................... 4-4 External view and dimensions ...................
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CHAPTER 4 Specifications 1 Robot Manipulator 1-1 Basic specifications 1-1-1 Ceiling-mount model Robot model X-axis Axis specifications Y-axis Z-axis YK300XHS YK400XHS Arm length 175mm 225mm Rotation angle ±115° ±115° Arm length 125mm 175mm Rotation angle ±140° ±140° Stroke 150mm 150mm ±360° ±360° X-axis 200W 200W Y-axis 100W 100W Z-axis 100W 100W R-axis Rotation angle Motor Maximum speed Repeatability *1 R-axis 100W 100W XY resultant 4.4m/s 6.0m/s Z-axis 1.
CHAPTER 4 Specifications Robot model X-axis Axis specifications Y-axis Z-axis YK500XS YK600XS Arm length 250mm 350mm Rotation angle ±120° ±120° Arm length 250mm 250mm Rotation angle ±135° ±145° Stroke 200, 300mm 200, 300mm ±360° ±360° X-axis 400W 400W Y-axis 200W 200W R-axis Rotation angle Motor Maximum speed Repeatability *1 Z-axis 200W 200W R-axis 100W 100W XY resultant 4.9m/s 5.6m/s Z-axis 1.7m/s 1.7m/s R-axis 876°/s 876°/s XY-axes ±0.02mm ±0.
CHAPTER 4 Specifications Robot Model X-axis Axis specifications Y-axis Z-axis Arm length Maximum speed Repeatability *1 YK800XS YK1000XS 350mm 450mm 550mm Rotation angle ±120° ±120° ±120° Arm length 350mm 350mm 450mm Rotation angle ±145° ±145° ±145° Stroke 200, 400mm 200, 400mm 200, 400mm ±360° ±360° ±360° X-axis 800W 800W 800W Y-axis 400W 400W 400W Z-axis 400W 400W 400W R-axis Rotation angle Motor YK700XS R-axis 200W 200W 200W XY resultant 6.7m/s 7.
CHAPTER 4 Specifications 1-1-2 Inverted ceiling-mount model YK300XHS YK400XHS YK500XS YK600XS Arm length 175mm 225mm 250mm 350mm Rotation angle ±115° ±115° ±120° ±120° Arm length 125mm 175mm 250mm 250mm Rotation angle ±140° ±140° ±135° ±145° Stroke 150mm 150mm ±360° ±360° ±360° ±360° X-axis 200W 200W 400W 400W Y-axis 100W 100W 200W 200W Robot model X-axis Axis specifications Y-axis Z-axis R-axis Rotation angle Motor Maximum speed Repeatability *1 Z-axis 100W
CHAPTER 4 Specifications Robot Model X-axis Axis specifications Y-axis Z-axis Arm length Maximum speed Repeatability *1 YK800XS YK1000XS 350mm 450mm 550mm Rotation angle ±120° ±120° ±120° Arm length 350mm 350mm 450mm Rotation angle ±145° ±145° ±145° Stroke 200, 400mm 200, 400mm 200, 400mm ±360° ±360° ±360° X-axis 800W 800W 800W Y-axis 400W 400W 400W Z-axis 400W 400W 400W R-axis Rotation angle Motor YK700XS R-axis 200W 200W 200W XY resultant 6.7m/s 7.
CHAPTER 4 Specifications 1-2 External view and dimensions The drawing below is for the ceiling-mount robots. The inverted ceiling-mount robots also have the same dimensions. 112.2 78.7 70 D-sub connector for user wiring 42 M4 ground terminal 131 D-sub connector for user wiring 38 (No.1 to 10) (No.1 to 10) R5 13 52 74 55 140 0 65 125 175 100 37 12 .
CHAPTER 4 Specifications (Use this when tightening M8 φ3 +0.2 0 screw at lower part.) Z-axis mechanical stopper 36(φ16 Range) 41 Circlip for user tool positioning Spline shaft (hollow) Hollow diameter φ7 0 φ16h7 -0.018 M8×1.25 Depth15 Z-axis tip shape 140 ° 5° 11 5° 11 ° 140 R3 00 13 R1 R1 25 86° 86° 226 Base interference range Working envelope Use caution to prevent interference with installation wall Inverse type is installed upside down.
CHAPTER 4 Specifications 166.1 225 85.3 72 M4 ground terminal 131 D-sub connector for user wiring (No.1 to 10) 38 R5 13 55 74 60 140 0 65 175 42 D-sub connector for user wiring (No.1 to 10) 100 37 R3 9 .
CHAPTER 4 Specifications (Use this when tightening M8 φ3 +0.2 0 screw at lower part.) Z-axis mechanical stopper 41 36(φ16 Range) Circlip for user tool positioning Spline shaft (hollow) Hollow diameter φ7 0 φ16h7 -0.018 M8×1.25 Depth15 Z-axis tip shape 45 R1 11 5° 11 5° 14 0° 0° 14 R4 00 96° 226 96° Base interference range Working envelope Use caution to prevent interference with installation wall Inverse type is installed upside down.
CHAPTER 4 Specifications 47 120 250 90 94 User tubing 3 (φ6 blue) R5 User tubing 2 (φ6 red) 5 250 D-sub connector for user wiring (No.1 to 20) User tubing 1 (φ6 black) φ205 (Installation base of larger than φ205mm may interfere with harness.) 228 Z300mm stroke Recommended user installation base 93 Z200mm stroke 60 8 0 15 91 36 2X2-M4X0.7 Depth10 (Same on opposite side) 284 Z-axis upper end mechanical stopper position 54 20 319 φ7 8 41 48 364 411±2 0 φ18 -0.018 A 200 M12×1.
CHAPTER 4 Specifications 0° 12 R1 91 0° 00 Interference position (a) Base flange (b) Base rear side (c) Base R5 12 R93( R111(c) a) 50 R2 (b) R67 135° 135° 3 R1 8 12 3(c) a) 5( R8 2° 0 R10 12 R50 2° Working envelope R250 R59(b) 137° 137° X and Y-axis mechanical stopper positions (maximum working envelope) 2 0 0 35 55 73 53 User tubing 3(φ6 blue) D-sub connector for user wiring (No.
CHAPTER 4 Specifications User tubing 2 (φ6 red) 120 94 User tubing 3 (φ6 blue) 350 90 250 R55 47 D-sub connector for user wiring (No. 1 to 20 usable) User tubing 1 (φ6 black) φ205 (Installation base of larger than φ205mm may interfere with harness.) 228 Z-axis 300mm stroke Recommended user installation base Z-axis 200mm stroke 93 60 8 0 15 91 36 2X2-M4X0.7 Depth10 (Same on opposite side) Z-axis upper end mechanical stopper position 54 φ7 20 319 8 48 41 364 411±2 φ18 -0.
R106(a) R 60 0 12 R1 24 (c) 0° 12 Interference position (a) Base flange (b) Base rear side (c) Base 0° CHAPTER 4 Specifications 04 R2 50 R2 R8 0(b ) ° 145 145° 2° 12 00 6(c) 96 2° R11 R6 12 R116(a) Working envelope R1 R2 50 ) 2(b R7 147° 147° X and Y-axis mechanical stopper positions (maximum working envelope) 2 0 0 35 55 73 53 User tubing 3 (φ6 blue) D-sub connector for user wiring (No.
CHAPTER 4 Specifications User tubing 1 (φ6 black) User tubing 2 (φ6 red) D-sub connector for user wiring(No. 1 to 20 usable) User tubing 3 (φ6 blue) 350 350 147 R76 106 126 58 φ232 (Installation base of larger than φ232mm may interfere with harness.) 301 Z-axis 400mm stroke Recommended user installation base 120 101 Z-axis 200mm stroke 5 0 20 2X2-M4X0.7 Depth10 (Same on opposite side) 41 97 279 54 φ8 20 328 45 375 8 419±2 0 φ22 -0.021 M12X1.
CHAPTER 4 Specifications ) 5(a R9 R3 5 0 12 R7 00 (c) 0° 04 12 R1 10 R2 0° Interference position (a) Base flange (b) Base rear side (c) Base R60(b ) 145° 145° 00 R7 12 ) 3(a R8 R3 50 ) 3° 3(c 99 R1 R9 12 3° Working envelope b) 8( R4 147° 147° X and Y-axis mechanical stopper positions (maximum working envelope) 4 0 0 41 61 79 59 D-sub connector for user wiring (No.
CHAPTER 4 Specifications User tubing 1 (φ6 black) User tubing 2 (φ6 red) User tubing 3 (φ6 blue) D-sub connector for user wiring (No. 1 to 20 usable) 350 450 147 R76 106 126 58 φ232 (Installation base of larger than φ232mm may interfere with harness.) 301 Z-axis 400mm stroke Recommended user installation base 120 101 Z-axis 200mm stroke 5 0 20 2X2-M4X0.7 Depth10 (Same on opposite side) 41 97 279 54 φ8 20 328 375 8 45 50.5 Z-axis upper end mechanical stopper position 419±2 0 φ22 -0.
CHAPTER 4 Specifications Interference position (a) Base flange (b) Base rear side (c) Base 12 00 R8 59 53 (c) 0° 0° 12 R2 R1 R143(a) 50 R3 ) 8(b 0 R1 145° 145° R131 12 3° 47 41 (c) R8 3° R2 R1 12 (a) Working envelope 00 50 R3 ) 6(b R9 147° 147° X and Y-axis mechanical stopper positions (maximum working envelope) 4 0 0 41 61 79 59 D-sub connector for user wiring (No.
CHAPTER 4 Specifications User tubing 1 (φ6 black) User tubing 2 (φ6 red) D-sub connector for user wiring (No. 1 to 20 usable) User tubing 3 (φ6 blue) 550 450 147 R76 106 126 58 φ232 (Installation base of larger than φ232mm may interfere with harness.) 301 Z-axis 400mm stroke Recommended user installation base 133 101 Z-axis 200mm stroke 5 0 20 2X2-M4X0.7 Depth10 (Same on opposite side) 41 97 279 54 φ8 20 328 375 45 8 50.5 Z-axis upper end mechanical stopper position 419±2 0 φ22-0.
) 00 R1 0 (c 0° 12 09 15 R2 R3 Interference position (a) Base flange (b) Base rear side (c) Base 12 0° CHAPTER 4 Specifications (a) R200 50 R4 (b) 65 R1 145° 145° R1 00 0 a) 84( R1 R4 50 12 (c) 3° 94 12 R1 00 R3 3° Working envelope (b) 49 R1 147° 147° X and Y-axis mechanical stopper positions (maximum working envelope) 4 0 0 41 61 79 59 D-sub connector for user wiring (No.
User's Manual YK-X series SCARA Robot YK-XS Mar. 2010 Ver. 2.14 This manual is based on Ver. 2.15 of Japanese manual. © 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 inaccuracies or omissions.
