User's Manual

5-6
CHAPTER 5 Periodic Inspection
(1) Inspection to be performed with the controller turned off
1) Turn off the controller.
2) Place a sign showing that the robot is being inspected, to keep others from
operating the controller switch.
3) Enter the safeguard enclosure and check the following points.
Checkpoint Procedure
Manipulator bolts and screws (Only for
major bolts and screws exposed
externally)
Detection areas of the origin sensors of
the R-axis
Controller
Grease lubrication of Z-axis ball screw,
spline, linear shaft
Z-axis ball spline, ball screw
Check for looseness and tighten if necessary.*1
Clean if it is dirty.
Check for looseness at each terminal and connector on the
panel. (See 4 in Chapter 3.)
After removing the old grease with a cloth or paper towel,
apply new grease to the Z-axis linear bushing shaft, spline
shaft, ball screw shaft and ball screw nut.
Recommended grease:
YK120K, YK150X, YK180X, YK220X: Alvania No.2
(Showa Shell Sekiyu K.K.)
YK120XC, YK150XC: LG2 (NSK)
Always use the LG2 grease for the YK120XC and YX150XC
clean room models.
Check for backlash. (If any abnormality is found, contact
YAMAHA dealer.)
*1 Bolt tightening torque
Bolt size Tightening torque (kgfcm) Tightening torque (Nm)
M3 button head bolt 14 1.4
M3 set screw 7 0.69
M3 bolt installation hole 20 2.0
M4 set screw 20 2.0
M2 bolt installation hole 4.4 0.43
M2.5 bolt installation hole 12 1.2
M4 bolt installation hole 46 4.5
M5 bolt installation hole 92 9.0
M6 bolt installation hole 156 15.3
M8 bolt installation hole 380
37
M10 bolt installation hole 720 71
M12 bolt installation hole
M14 bolt installation hole
1310 128
2090
205