Robot: YK-X-LZ

User’s Manual ENGLISH E

YAMAHA SCARA ROBOT

E28-Ver. 2.03

LONG ZYK-X series

Before using the robot (Be sure to read the following)

Our sincere thanks for your purchase of YAMAHA YK-X Long Z series SCARArobot.

The YK-X Long Z series robot has a longer Z-axis stroke than the standard YK-X series and the Z-axis has greater rigidity so the Y-axis arm tip also has moreweight than the standard YK-X series.The following parameter settings must therefore be changed from the standardYK-X series. The payload is also smaller than the standard YK-X series. See “2Robot Parameters” in 1 Chapter for more details.

q Tip weight (Kg) Robot parameter No. 1

w Z-axis acceleration coefficient (%) Axis parameter No. 1

e + soft limit Axis parameter No. 2 (No. 3)

r Max. motor rotation (rpm) Axis parameter No. 35 (No. 37)

t stroke end origin torque (%) Axis parameter No. 47

Numbers in parentheses are parameter numbers used for the RCX40 robot con-troller.

! CAUTION

Setting the above parameters incorrectly may cause an early end to drive sec-tion service life or breakage, and lead to residual vibration during positioning.

MEMO

Introduction

This instruction manual is intended for the following models of YAMAHA YK-XLong Z series robots.

Model

YK250X, YK350X, YK400X

YK500X, YK600X

YK700X, YK800X, YK1000X

Maximum Z-axis stroke

300mm

600mm

800mm

This instruction manual describes the safety measures, handling, adjustment andmaintenance of YK-X Long Z series robots for correct, safe and effective use. Besure to read this manual carefully before installing the robot. Even after you haveread this manual, keep it in a safe and convenient place for future reference.

This instruction manual should be used with the robot and considered an integralpart of it. When the robot is moved, transferred or sold, send this manual to thenew user along with the robot. Be sure to explain to the new user the need to readthrough this manual.

For the operating or maintenance procedures not described in this manual, pleaserefer to the separate “YK-X Series User’s Manual”. Also refer to the “YK-XSeries User’s Manual” for precautions and warranty. If there are any obscurepoints in handling the robot, be sure to contact YAMAHA sales office or dealer.

For details on specific operation and programming of the robot, refer to the sepa-rate “YAMAHA Robot Controller User’s Manual”.

NOTES

• The contents of this manual are subject to change without prior notice.• Information furnished by YAMAHA in this manual is believed to be reliable.

However, if you find any part unclear or inaccurate in this manual, pleasecontact YAMAHA sales office or dealer.

YAMAHA MOTOR CO., LTD.IM Operations

MEMO

CONTENTS

CHAPTER 1 Functions

1 Robot Manipulator ..................................................................1-1

2 Robot Parameters ..................................................................1-32-1 Parameters when shipped ............................................................... 1-3

2-2 Other parameter settings ................................................................. 1-6

2-3 Cautions when using Long Z series robots ...................................... 1-8

CHAPTER 2 Installation

1 Moving the robot .....................................................................2-1

CHAPTER 3 Adjustment

1 Origin position sticker attachment position .............................3-1

2 Adjusting the Z-axis machine reference .................................3-2

3 Removing the robot covers .....................................................3-33-1 Removing the Y-axis arm upper cover (YK250X toYK400X) ........... 3-5

3-2 Removing the Y-axis arm upper cover (YK500X toYK1000X) ......... 3-7

CHAPTER 4 Periodic Inspecition

1 Greasing the Z-axis Balls Screws ...........................................4-1

CHAPTER 5 Specifications

1 Robot Manipulator ..................................................................5-11-1 Basic specifications.......................................................................... 5-1

1-2 External view and dimensions ......................................................... 5-4

MEMO

CHAPTER 1

Functions

1 Robot Manipulator ..................................................................1-1

2 Robot Parameters ..................................................................1-32-1 Parameters when shipped ............................................................... 1-3

2-2 Other parameter settings ................................................................. 1-6

2-3 Cautions when using Long Z series robots ...................................... 1-8

MEMO

1-1

CHAPTER 1 Functions

1 Robot ManipulatorFig.1-1 and Fig.1-2 on the subsequent pages show part names and functions ofeach robot model.

Fig. 1-1 YK250X to YK400X Long Z model

User tubing 2 (φ4 red)

User tubing 3 (φ4 blue)

D-sub connector for user wiring (No. 1 to 10 usable)


User tubing 1 (φ4 black)



M4 Ground terminal


Ball screw

Warning label 1

Warning label 2

Machine harness

R-axis motor

Y-axis motor

Y-axis speed reduction gear

Y-axis mechanical stopper

Z-axis motor

Z-axis, R-axispulley, belt

Y-axis arm

Linear bushing

Linear shaft

End effector attachment

X-axis arm

X-axis mechanical stopper

X-axis speed reduction gear

Warning label 3

X-axis motor

Robot cable

Serial No. label

R-axis speed reduction gear

1-2

CHAPTER 1 Functions

Fig. 1-2 YK500X to YK1000X Long Z model





User tubing 3 (φ6 blue)User tubing 2 (φ6 red)User tubing 1 (φ6 black)


M4 Ground terminal

Robot cable

Serial No. label

X-axis mechanical stopper X-axis adjustable

mechanical stopper

Eye bole installation threaded hole

Machine harness

Ball screw

Warning label 1 (same on opposite side)

Warning label 2 (same on oppsite side)

Z-axis, R-axispulley, belt

R-axis speed reduction gear

End effector attachment

Leaner bushing

Linear shaft

Y-axis arm

X-axis arm

Y-axis speed reduction gear

Z-axis motor

R-axis motor

Y-axis motor

X-axis speed reduction gear

X-axis motor

Warning label 3

1-3

CHAPTER 1 Functions

2 Robot Parameters

2-1 Parameters when shipped

Some parameters on the Long Z series robot have been changed from the stand-ard specifications prior to shipping.Information on parameter changes and cautions when using the robot with thesechanged robot parameters are listed below.

To purchasers of this robotAt this time our sincere thanks for your purchase of our robot. This robot is cus-tom-manufactured so some parameter settings are different from the standardrobot. Be sure to check the following points before attempting to use the robot.

Operating precautionsMake a backup of the parameters. (When using YAMAHA communication soft-ware VIP, POPCOM or optional memory card (S-DRCX) or FDD unit (QRCX).For further information, see the instruction manual that comes with the unit.

! CAUTION

Resetting the parameters deletes previous parameter entries. If necessarydownload the backup parameters again.

Parameter changesParameters have been changed as follows. Blank portions indicate standard speci-fications are used.

(1) YK250X to YK400X (300mm Z-axis stroke models)

Robot No.

2100

2101

2102

q Robot No.

Robot model

YK250X

YK350X

YK400X

Set to the following robot No. of the standard robots with the same arm length.

Parameter No. Name

PRM2 (PRM3)

PRM35 (PRM37)

w Axis setting changes

+ soft limit

Max. motor rotation

PRM47 Stroke end origin torque

Changes

X-axis Y-axis Z-axis R-axis

409600

3000

75Numbers in parentheses are parameter numbers used for the RCX40 robot controller.

1-4

CHAPTER 1 Functions

(2) YK500X, YK600X (600mm Z-axis stroke models)

Robot No.

2110

2111

q Robot No.

Robot model

YK500X Z300

YK600X Z300

Set to the following robot No. of the standard robots of Z300 stroke with the same arm length.

Parameter No. Name

PRM2 (PRM3)

PRM35 (PRM37)

PRM47


+ soft limit

Max. motor rotation

stroke end origin torque

Changes


491520

3000


(3) YK700X, YK800X, YK1000X (800mm Z-axis stroke models)

Robot No.

2112

2113

2114

q Robot No.

Robot model

YK700X Z400

YK800X Z400

YK1000X Z400

Set to the following robot No. of the standard robots of Z400 stroke with the same arm length.

Parameter No. Name

PRM2 (PRM3)

PRM35 (PRM37)

PRM47


+ soft limit

Max. motor rotation

stroke end origin torque

Changes


655360

3000


NOTE

(1) When the Z-axis stroke is shorter than the maximum stroke, change the Z axis +software limit to a figure matching the shorter stroke.

(2) Change the stroke end origin point torque after performing the following opera-tions. These parameters cannot be changed unless the robot is in emergency stop.

! CAUTION

To ensure safety, most RCX40 controller or QRCX controller parameters listedin this manual cannot be changed or referred to by normal operating proce-dures. So changing these parameters by mistake could have major catastrophiceffects on robot operation and place the operator in dangerous situations. Useplenty of caution when you must change these parameters. Change these pa-rameters by either of two methods listed next.

1-5

CHAPTER 1 Functions

[Operation]

Operating from the MPB1) Press the F 1 key (Parameter) while in SYSTEM mode.

The parameter mode screen appears.

Parameter mode

2) While holding down the UPPER key, simultaneously press the F 10 key (Pass-

word) and then the P key.

3) Press the key to finish entries.

The above procedure allows you to change the special parameters just as in nor-mal parameter setting.

Changing the parameter backup fileYou can change parameters by directly entering figures in the parameter backupfile with an editor and then loading these figures into the controller.A minimum of safety protective functions (such as disabling entry on certainrobot types or setting upper/lower limits on entries) are in effect when operatingfrom the MPB to ensure safety, but there are no such restrictions when changingfrom the parameter backup file so use caution.

! CAUTION

Please acknowledge beforehand that YAMAHA can accept no liability from prob-lems arising due to changes made to parameters that are not specified in thismanual.

SYSTEM>PARAM V7.01X

Robot = YK250X

D1=M1: a YK250X D5=M5:no axis

D2=M2: a YK250X D6=M6:no axis

D3=M3: a YK250X

D4=M4: a YK250X

ROBOT AXIS

1-6

CHAPTER 1 Functions

2-2 Other parameter settings

The Long Z series robot has a longer Z-axis stroke than the standard YK-X seriesso the Y-axis arm tip has greater weight. Therefore, the following parameter set-tings must be changed from the standard YK-X series settings. The payload forthe Long Z series is also smaller than the standard YK-X series.

(1)YK250X to YK400X

Parameter No. Name

PRM1

q Axis setting changes

Tip weight Load mass +1

Setting (Kg)

Parameter No. Name

PRM1

w Z-axis setting change

Acceleration coefficient M3Make settings as shown in the table below according to Z-axis stroke and load mass.

Setting (%)

100

80

70

100

70

60

Load mass (Kg)Acceleration coefficient M3 (%)

200mm Z-axis 250mm Z-axis 300mm Z-axis

0

1

2

100

80

70

(2)YK500X, YK600X

Parameter No. Name

PRM1


Tip weight Load mass +5

Setting (Kg)

Parameter No. Name

PRM1



Setting (%)



0

1

2

3

4

5

70

70

70

70

70

80

70

70

70

70

60

70

70

70

70

70

50

40

1-7

CHAPTER 1 Functions

(3)YK700X to YK1000X

Parameter No.

PRM1


Tip weightMake settings as shown in the table below according to Z-axis storke.

Name Setting (Kg)

Z-axis storke

500mm

600mm

700mm

800mm

Tip weight (kg)

Load mass +5

Load mass +5

Load mass +6

Load mass +7

PRM1


Parameter No. Name


Setting (%)



0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

100

90

70

70

60

60

60

70

70

80

80

80

80

100

100

100

100

80

60

50

50

60

60

50

70

70

80

70

70

80

100

100

80

60

60

50

40

40

40

40

50

50

60

60

70

80

100

Not usable

800mm Z-axis

70

60

60

50

40

40

30

30

40

40

50

60

60

80

Not usable

Not usable

! CAUTION

Setting the above parameters incorrectly may cause an early end to drive sec-tion service life or breakage, and lead to residual vibration during positioning.

1-8

CHAPTER 1 Functions

2-3 Cautions when using Long Z series robots

q When the center-of-gravity of the load is offset from the R-axis center, theacceleration on the X-axis, Y-axis and R-axis must be lowered according tothe description of “6-1 R-axis tolerable moment of inertia and accelerationcoefficient” in Chapter 6 in the standard YAMAHA YK-X series SCARArobot user’s manual.

w Residual vibration may sometimes occur in Z-axis operation when the X-axis, Y-axis or R-axis rotates while the Z-axis is lowered or when load center-of-gravity is offset. If such vibration occurs, lower the acceleration coeffi-cients on each axis.

e Vibration may occur during movement at low speed due to the Z-axis posi-tion. Change the speed and acceleration to suppress this vibration.

r Residual vibration may occur when the arch position is increased by archmotion.

CHAPTER 2

Installation

1 Moving the robot .....................................................................2-1

MEMO

2-1

CHAPTER 2 Installation

1 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.To move the Long Z series robots safely, follow the description of “2-3 Movingthe robot” in the standard YAMAHA YK-X series SCARA robot user’s manual.Since the Z-axis is longer and heavier than the standard models, be careful tokeep balance when moving the robot.

2-2

MEMO

CHAPTER 3

Adjustment1 Origin position sticker attachment position .............................3-1

2 Adjusting the Z-axis machine reference .................................3-2

3 Removing the robot covers .....................................................3-33-1 Removing the Y-axis arm upper cover (YK250X toYK400X) ........... 3-5

3-2 Removing the Y-axis arm upper cover (YK500X toYK1000X) ......... 3-7

MEMO

3-1


1 Origin position sticker attachment position

Refer to the origin sticker locations below only when the mark method is used forabsolute reset.An origin position sticker is attached to the robot arm joint sections when shippedfrom the factory. The R-axis origin sticker positions for the YK500X to YK1000Xare different from standard models as shown in Fig. 3-1. Refer to this drawingwhen performing absolute reset or when changing the origin position and attach-ing a new origin position sticker. The attachment position for the X-axis and theY-axis origin position stickers is the same as for standard models, so refer to Figs.4-5 to 4-7 in Chapter 4 of the standard YAMAHA YK-X series SCARA robotuser’s manual.

Fig. 3-1

Details of part B

Origin position

Origin position

B

3-2


2 Adjusting the Z-axis machine reference

Refer to the caution items and procedures for standard models in “3-3 Adjustingthe Z-axis machine reference” of the standard YAMAHA YK-X series SCARArobot user’s manual. Adjustment position L is shown in Fig. 3-2. Dimension L islisted in Table 3-1.See “4 3 Removing the robot covers” for details on detaching and reinstalling therobot covers.

L

10mm

15mm

Robot model

YK250X, YK350X, YK400X

YK500X, YK600X

YK700X, YK800X, YK1000X 15mm

Table 3-1

Fig. 3-2

Linear bushing

Linear shaft

L

3-3


3 Removing the robot covers

Use the following procedure when detaching and reinstalling the robot coversduring maintenance of the robot.

1) Prepare the required tools• Hex wrench set• Phillips-head screwdrivers

2) Turn off the controller.

3) Place a sign showing “Work in progress!” to prevent others from operatingthe controller switch.

4) Enter the safeguard enclosure.

5) Remove the particular covers while referring to Figs. 3-3 to 3-5. The screwsused to attach each cover are shown in Tables 3-2 to 3-4. (When using maxi-mum Z stroke specs.)

6) See Sections 3-1 and 3-2 for instructions on removing the Y-axis arm uppercover.

Cover name

Base rear cover

Base front cover

Y-axis arm upper cover

Cover 1

Cover 2

Screw No.

q

w

e

r

t

y

u

Screw size

M4×6

M4×6

M3×6

M3 washer

M3×10

M3×16

M4×6

M4×6

Q'ty

4

4

2

2

2

4

6

Table 3-2 YK250X, YK350X, YK400X (See Fig 3-3.)

Cover name

Base rear cover 1

Base rear cover 2

Base front cover

Y-axis arm top cover


Y-axis arm under cover

Cover 1

Cover 2

Cover 3

Screw No.

q

w

e

r

t

y

u

i

o

!0

Screw size

M4×6

M4×6

M4×6

M4×6

M3×6

M3 Washer

M3×50

M4×6

M4×6

M4×6

M4×6

Q'ty

8

4

8

2

4

4

4

3

2

6

Table 3-3 YK500X, YK600X (See Fig 3-4.)

3-4


Cover name

Base rear cover 1

Base rear cover 2

Base front cover

Y-axis arm top cover



Cover 1

Cover 2

Cover 3

Screw No.

q

w

e

r

t

y

u

i

o

!0

Screw size

M4×6

M4×6

M4×6

M4×8

M4×6

M4 Washer

M4×50

M4×6

M4×6

M4×6

M4×6

Q'ty

8

4

4

2

4

4

4

5

8

8

Table 3-4 YK700X to YK1000X (See Fig 3-5.)

3-5


3-1 Removing the Y-axis arm upper cover (YK250X toYK400X)

While referring to Fig. 3-3, remove the Y-axis upper cover as follows.



3) Remove the base front cover and the base rear cover.

4) Remove the machine harness FG wire round terminals. (2 pcs)

5) Detach the user air tubes 1 to 3 from the air coupler.The color of the air tube matches the air coupler color.

6) Remove the YM, ZM, YP, ZP, RP, ZBK, FG and IO connectors. Remove theD-sub connector from the cover.

7) Loosen the cap connector on the base and remove it from the base.

8) Draw out the machine harness from the hole in the base.Take special care at this time not to damage the connectors, wiring and tub-ing.

9) Remove the screws securing the Y-axis arm upper cover.

10) Remove the Y-axis arm upper cover and perform the necessary maintenance.

11) Use the reverse of the above procedure when reinstalling the cover.Be sure not to forget to reinstall the FG wire, reconnect the air tubes andclamp the harness. The cap connector that clamps the harness should be tightproperly so that the harness will not slide around even if twisted.

3-6


Fig. 3-3

One FG connector is installed.

wM4×6qM4×6

rM3×10

tM3×16

eM3×6

yM4×6

uM4×6

M3 Washer


User tubing 1 (φ4 black)D-sub connector for user wiring


Machine harness

YM, ZM, RM connector

YP, ZP, RP, ZBK,FG, IO connector

Base rear coverBase front cover

FG wire round terminals

Cap connector


Cover 2

Cover 1

DO not remove these bolts.

Cover 3

Viewed front direction A

3-7


3-2 Removing the Y-axis arm upper cover (YK500X toYK1000X)

While referring to Figs. 3-4 and 3-5, remove the Y-axis upper cover as follows.



3) Remove the base front cover and base rear cover 1.

4) Remove the machine harness FG wire round terminals. (2 pcs)

5) Detach the user air tubes 1 to 3 from the air coupler.The color of the air tube matches the air coupler color.

6) Remove the YM, ZM, YP, ZP, RP, ZBK, FG and IO connectors. Remove theD-sub connector from the cover.

7) Loosen the cap connector on the base and remove it from the base.

8) Draw out the machine harness from the hole in the base.Take special care at this time not to damage the connectors, wiring and tub-ing.

9) Remove the screws securing the Y-axis arm upper cover.

10) Remove the Y-axis arm upper cover and perform the necessary maintenance.

11) Use the reverse of the above procedure when reinstalling the cover.Be sure not to forget to reinstall the FG wire, reconnect the air tubes andclamp the harness. The cap connector that clamps the harness should be tightproperly so that the harness will not slide around even if twisted.

3-8


Fig. 3-4

yM3×50

uM4×6

wM4×6

qM4×6

tM3×6M3 Washer

oM4×6

!0M4×6

iM4×6


rM4×6

eM4×6


User tubing 2 (φ6 red)User tubing 1 (φ6 black)

D-sub connector for user wiring

Machine harness

Base rear cover 1


Base rear cover 2Do not remove these bolts.

Cover 3

Cover 1

Cover 2


Cap connector

YM, ZM, RM, FG, IO connector

YP,ZP, RP, ZBK connector

FG wire round terminalsBase front cover

X-axis arm top cover


3-9


Fig. 3-5

tM4×6

oM4×6

!0M4×6

rM4×8

yM4×50uM4×6

qM4×6

M4 Washer

iM4×6




D-sub connector for user wiring

Machine harness

Base rear cover 1


Base rear cover 2

Do not remove these bolts.

Cover 3

Cover 1

Cover 2


Cap connector

YM, ZM, RM, FG, IO connector

YP,ZP, RP, ZBK connector FG wire round terminalsBase front cover

X-axis arm top cover


wM4×6

eM4×6

3-10

MEMO

CHAPTER 4

Periodic Inspecition

1 Greasing the Z-axis Balls Screws ...........................................4-1

MEMO

4-1

CHAPTER 4 Periodic Inspecition

1 Greasing the Z-axis Balls Screws

Long Z-axis series robots have a longer Z-axis stroke than the standard robots.This means a long section on the Z-axis is subjected to movement at maximumspeed, making for rough operating conditions. The Z-axis ball screws thereforehave to be greased every 2 months.Always use LRL3 grease (NSK) when greasing long Z-axis ball screws of theYK500 to YK1000X long Z-axis series robots.See “4. 6 Month Inspections” in the YK-X series robot user’s manual when greasingother sections.

WARNING

Grease the Z-axis ball screws every 2 months using the specified grease.Failure to apply grease might drastically shorten the ball screw servicelife.

4-2

MEMO

CHAPTER 5

Specifications

1 Robot Manipulator ..................................................................5-11-1 Basic specifications.......................................................................... 5-1

1-2 External view and dimensions ......................................................... 5-4

MEMO

5-1


1 Robot Manipulator

1-1 Basic specifications

YK250X

125mm

±115°125mm

±99°300mm

±180°200W

100W

100W

100W

4.0m/s

0.6m/s

1020°/s±0.01mm

±0.01mm

±0.005°2kg

10

φ4×3

16kg 16kg 16kg

YK350X

225mm

±115°125mm

±140°300mm

±180°200W

100W

100W

100W

5.0m/s

0.6m/s

1020°/s±0.01mm

±0.01mm

±0.005°2kg

10

φ4×3

YK400X

225mm

±115°175mm

±134°300mm

±180°200W

100W

100W

100W

5.7m/s

0.6m/s

1020°/s±0.01mm

±0.01mm

±0.005°2kg

10

φ4×3

Arm length

Rotation angle

Arm length

Rotation angle

Stroke

Rotation angle

X-axis

Y-axis

Z-axis

R-axis

XY resultant

Z-axis

R-axis

XY-axis

Z-axis

R-axis

X-axis

Y-axis

Z-axis

R-axis

Axis specifi-cation

Motor

Maximum speed

Repeatability *1

Payload *3

R-axis tolerable moment of inertia *2

User wiring

User tubing

Travel limit

Robot cable

Weight

1. Soft limit 2. Mechanical limit (XYZ axes)

3.5m (option: 5m, 10m )

Robot model

*1 At constant ambient temperature (XY)*2 There are limits to acceleration coefficient settings.*3 There are limits to manipulator tip mass and Z-axis acceleration settings.

0.05kgm2 (0.5kgfcms2)

5-2


YK500X

250mm

±120°250mm

±139°600mm

±180°400W

200W

200W

100W

4.9m/s

1.0m/s

876°/s±0.02mm

±0.01mm

±0.005°5kg

20

φ6×3

33kg 33kg

YK600X

350mm

±120°250mm

±145°600mm

±180°400W

200W

200W

100W

5.6m/s

1.0m/s

876°/s±0.02mm

±0.01mm

±0.005°5kg

20

φ6×3

Arm length

Rotation angle

Arm length

Rotation angle

Stroke

Rotation angle

X-axis

Y-axis

Z-axis

R-axis

XY resultant

Z-axis

R-axis

XY-axis

Z-axis

R-axis

Axis specifi-cation

Motor

Maximum speed

Repeatability *1

Payload *3


User wiring

User tubing

Travel limit

Robot cable

Weight


3.5m (option: 5m, 10m )

Robot model



X-axis

Y-axis

Z-axis

R-axis

5-3


YK700X

350mm

±120°350mm

±145°800mm

±180°800W

400W

400W

200W

6.2m/s

1.0m/s

600°/s±0.02mm

±0.01mm

±0.005°

20

φ6×3

63kg 64kg 65kg

YK800X

450mm

±120°350mm

±145°800mm

±180°800W

400W

400W

200W

6.6m/s

1.0m/s

600°/s±0.02mm

±0.01mm

±0.005°

20

φ6×3

YK1000X

550mm

±120°450mm

±145°800mm

±180°800W

400W

400W

200W

6.9m/s

1.0m/s

600°/s±0.02mm

±0.01mm

±0.005°

20

φ6×3

Arm length

Rotation angle

Arm length

Rotation angle

Stroke

Rotation angle

X-axis

Y-axis

Z-axis

R-axis

XY resultant

Z-axis

R-axis

XY-axis

Z-axis

R-axis

Axis specifi-cation

Motor

Maximum speed

Repeatability *1

Payload *3


User wiring

User tubing

Travel limit

Robot cable

Weight


3.5m (option: 5m, 10m )

Robot model



Z-axis 500mm Stroke : 15Kg




X-axis

Y-axis

Z-axis

R-axis

5-4


1-2 External view and dimensions

A maximum Z-axis stroke model is illustrated below.

Fig. 5-1 YK250X 300mm Z-axis stroke model

0

45

0

86

R28

300

75

Z-axis lower end mechanical stopper position

125112.237 165

D-sub connector for user wiring(No. 1 to 10 usable)

74

12555

R50

55

63




Use M8 bolt for installation

120

100

120

140

45

15135

165

4-φ9

456

559

720

φ10

454

250

203.5

644

244251

170184201210

258

276

φ5 10

10 R22 56

Z-axis upper end mechanical stopper position3641

φ12 0-0.018

124±2

5-5


Working envelope

X-axis mechanical stopper position

115°

115°

R250

R125

132°

132°

R250

48°48°

300

125

R80

99°

99°

Manipulator interference area

21° 21°

99°

99°

300

125

R80

R125






M4 ground terminal

30 120

15

55

11.5

M8×1.25 Depth15

29

1731

38

4747

124

R22

Viewed from direction A

Viewed from direction B

5-6




244251


74120

112.237 165

125

100

120

140

45

15135

165

4-φ9

55

R50



454

250

203.5

0

45

0

86

644


55

R28

63

124±2

170184201210

258276

456

559

720

3641

φ5 10

10 R22 56

300

φ12 0-0.018

φ10

225

75

Z-axis upper end mechanical stopper position


5-7


Working envelope



User tubing 1 (φ4 black) D-sub connector for user wiring (No. 1 to 10 usable)


M4 ground terminal

30 120

15

55

11.5

M8×1.25 Depth15

29

1731

38

4747

124

R22

115°

115°

R350R152

R125

132°

132° R

142 R350

R125

300

R80

R80

109° 109°

140°

140°


R80

R80

116° 116°

300


143°

143°



5-8




244251


74

12037 165

100

120

140

45

15135

165

4-φ9

55

R50



454

250

203.5

0

45

0

86

644


55

R28

63

124±2

170184201210

258276

456

559

720

3641

φ5 10

10 R22 56

300

φ12 0-0.018

φ10

225166.1

1757

5



5-9






M4 ground terminal

30 120

1555

11.5

M8×1.25 Depth15

29

1731

38

4747

124

R22

132°

132°

R400

115°

115°

R400

R145

R175

R175

134°

134°

118° 118°300

R80R80


300

R80

R80

120

202

125

134°

134°

86° 86°


Working envelope




5-10



561

790

0 0

282

91

364

166 (Base size)

110





73

65

57

65

4-φ11Use M10 bolt for installation

122.5

90

47 250 250

94R20

160

R80

R55

70

363

15

319

R200

54 20

36

2×2-M4×0.7Depth10 (Same on opposite side)

80 86

R31

9525

76

183±2

241

269

299310

350

675

974

1156

600

48 41

16

φ7

φ18 0-0.018

15

R32 57

φ16

12

8



5-11


20


355573

53

0

M4 ground terminal

120°

R500

R250

120°

122°

R500

122°

R250

R175

129° 129°201

277

107

215

139°

139°


R175

201

277

107

215


139°

139°

35

10.5

27

73

R32

6060

157

158

52

2667

25

M12×1.75 Depth20

R68(a)

R95(b)

R104(c)

R104(c)R

95(b

)

R68(a)

129° 129°



Working envelope

X-axis mechanical stopper positions (maximum working envelope)

Interference position(a) Base flange(b) Base rear side(c) Base



5-12



561

0 0

282

91

364

166 (Base size)

110





73

65

57

65

4-φ11Use M10 bolt for installation

122.5

90

47 250

94R20

160

R80

R55

70

363

15

319

R200

54 20

36

2×2-M4×0.7Depth10(Same on opposite side)

80 86

R31

9525

76

183±2

241

269

299310

350

675

974

1156

600

48 41

16

φ7

φ18 0-0.018

15

R32 57

φ16

350

800

12


8


5-13


20


355573

53

0

35

10.527

73

R32

6060

157

158

52

2667

25M12×1.75 Depth20

R250

R600120°

R204

120°

145°145°

R250

R600

122°

147°147°

122°

R196

R133(c)

R107(a)

R78(b)

R98(a)

R124(c)

R70(b)


Working envelope



M4 ground terminal



X and Y-axis mechanical stopper positions (maximum working envelope)

5-14




(Same on opposite side)

0 020

97

279

328

371

877

586

106

147350350

70 80

7575

93

180

106

R150

R20

4-φ14

126

58


70

R106

R76

112

119.5

41

2×2-M4×0.7 Depth10

1375

54 20

298310

376

673

339

800

φ22 0-0.021

4550.5

7620

16

28 131

R26

φ20

1188

244

184±2

272

R40 102

φ8

12

8






5-15


120°

120°

R210

R700

R350

123°

R700123°

R350R199

145°145°

250

245

147°147°

245

250138° 138°



138° 138°

R125(b)

R89(a)

R98(c)

R114(b)

R78(a)

R98(c)

0


5941

0

6179

4

M12×1.75 Depth20

6868

178

2910

R40

40

178

52

2670

25

83




M4 ground terminal



Working envelope


5-16





0 020

97

279

328

371

877

586

106

147350

70 80

7575

93

180

106

R150

R20

4-φ14

126

58


70

R76

112

119.5

41

2×2-M4×0.7 Depth10

1375

54 20

298310

376

673

339

800

φ22 0-0.021

4550.5

7620

16

28 131

R26

φ20

1188

244

184±2

272

R40 102

450

φ8Z-axis upper end mechanical stopper position


812



5-17


120°

120°

145°145°

R350

R800

R259

123° R

247

147°

123°

R800

147°

R350

R172(c)

R14

3(a)

R108(b)

R162(c)

R13

1(a)

96(b)

0


5941

0

6179

4

M12×1.75 Depth20

6868

178

2910

R40

4017

8

52

2670

25

83




M4 ground terminal



Working envelope


5-18





020

97

279

328

371

877

588

147550

70 80

7575

93

180

106

R150

4-φ14

126

58

70

R76

112

119.5

450

0

106

41

2×2-M4×0.7 Depth10

1375

54 20

376

76

28 131

R26

665

298310339

800

φ22 0-0.021

4550.5

20

16

1188

244

184±2

272

R40 102

φ8

128






5-19


4

7961

0

4159


0

M12×1.5 Depth20

6868

178

2910

R40

40

178

52

2670

25

83

Working envelope


145°

R1000120°

120°

145°R

315

R450

R450

147°

123°R300123°

R1000

147°

R230(c)

R165(b)

R20

5(a)

R187(a)

R149(b)

R215(c)




M4 ground terminal



User's Manual

May 2007Ver. 2.03 This manual is based on Ver. 2.03 of Japanese manual.

© YAMAHA MOTOR CO., LTD. IM Operations

SCARA Robot

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. If you find any part unclear in this manual, please contact YAMAHA or YAMAHA sales representatives.

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Robot: YK-X-LZ