Yamaha YK-XR Series User Manual (English)

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Ver.1.09

EWFK155120

E66

Ver. 1.20

YAMAHASCARAROBOT

InstallationManual

YK-XR Series

YK400XR

Default Chapter3
- Table of Contents3
Safety Information9
Signal Words Used in this Manual10
Warning Labels11
- Warning Label Messages on Robot and Controller11
- Supplied Warning Labels16
- Warning Symbols17
Important Precautions for each Stage of the Robot Life Cycle18
- Precautions for Using Robots and Controllers18
- Essential Precautions for the Linear Conveyor Module19
- Design20
  - Precautions for Robots20
  - Precautions for Robot Controllers20
- Moving and Installation21
  - Precautions for Robots21
  - Precautions for Robot Controllers22
- Safety Measures24
  - Installing a Safety Enclosure25
- Operation26
- Inspection and Maintenance30
  - Before Inspection and Maintenance Work30
  - Precautions During Service Work31
- Disposal32
Emergency Action When a Person Is Caught by Robot33
Cautions Regarding Strong Magnetic Fields33
Using the Robot Safely34
- Movement Range34
- Robot Protective Functions35
- Residual Risk36
- Special Training for Industrial Robot Operation36
Warranty39
Introduction41
Chapter 1 Functions47
Robot Manipulator49
- Manipulator Movement49
- Part Names50
Robot Controller51
Robot Initialization Number List52
Chapter 2 Installation55
Robot Installation Conditions55
- Installation Environments55
- Installation Base56
Installation57
- Unpacking57
- Checking the Product58
- Moving the Robot59
- Installing the Robot60
Protective Bonding61
Robot Cable Connection62
User Wiring and User Tubing63
Attaching the End Effector65
- Acceleration Coefficient Vs. Moment of Inertia65
  - R-Axis Tolerable Moment of Inertia and Acceleration Coefficient65
  - Parameter Setting According to R-Axis Moment of Inertial of Load65
- Equation for Moment of Inertia Calculation66
  - Example of Moment of Inertia Calculation69
- Attaching the End Effector71
- Gripping Force of End Effector73
Limiting the Movement Range with X-Axis and Y-Axis Mechanical Stoppers74
- Installing the X-Axis/Y-Axis Additional Mechanical Stoppers75
- Robot Overrun During Impacts with X-Axis or Y-Axis Mechanical Stopper77
Working Envelope78
Stopping Time and Stopping Distance at Emergency Stop81
10. Installing the User Wiring and Tubing Newly84
Passing the Wiring and Tubing in the User Wiring/Tubing through Spline Type85
12. Detaching or Attaching the Covers86
Chapter 3 Robot Settings89
Overview89
Adjusting the Origin90
- Return-To-Origin Method91
- Machine Reference93
- Return-To-Origin Procedures94
  - Stroke End Method94
  - Sensor Method (X-Axis, Y-Axis)95
- Adjusting the Machine Reference Value97
Setting the Soft Limits115
- Setting the X-Axis and Y-Axis Soft Limits115
- Setting the Z-Axis Soft Limits116
  - Setting the R-Axis Soft Limits116
  - Relation between the X, Y, and R-Axis Movement Angle, the Z-Axis Movement Distance and the Number of Pulses116
Setting the Standard Coordinates117
- Standard Coordinate Setting Using a Standard Coordinate Setup Jig118
Affixing the Stickers for Origin Positions, Movement Directions, and Axis Names120
- Af Fixing the Stickers for Origin Positions, Movement Directions, and Axis Names120
Chapter 4 Periodic Inspecition123
Overview125
List of Inspection Items126
Chapter 5 Harmonic Drive Replacement Period129
Overview131
Replacement Period132
Chapter 6 Increasing the Robot Operating Speed135
- Increasing the Robot Operating Speed135
Chapter 7 Torque Limit Designated Z-Axis Pushing Action143
- Torque Limit Designated Z-Axis Pushing Action143
Chapter 8 Specifications147
Manipulator147
- Basic Specification147
- External View and Dimensions148
- Robot Inner Wiring Diagram150
- Wiring Table151

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Yamaha YK-XR Series Specifications

General

Brand	Yamaha
Model	YK-XR Series
Category	Robotics
Language	English

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Yamaha YK-XR Series User Manual

Table of Contents

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