Yamaha DRCX Manual de usuario descargar pdf (Pagina 19)

CHAPTER 1 Using the Robot Safely

1-7

(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 tasks which make use of motor thrust (press-

fitting, burr removal, etc.). These tasks may cause malfunctions of the ro-

bot.

1 2 ... 14 15 16 17 18 19 20 21 22 23 24 ... 109 110

YP-X series 1
When using a QRCX controller: 3
[1] X, Y, Z axes 3
[2] R axis 4
Introduction 5
CONTENTS 7
CHAPTER 4 Adjustment 8
CHAPTER 6 Specifications 9
CHAPTER 1 11
Using the Robot Safely 11
1 Safety Information 13
2 Essential Caution Items 14
4 Robot Safety Functions 21
6 Trial Operation 23
7 Work Within The Safeguards 24
8 Automatic Operation 25
9 Adjustment and Inspection 25
10 Repair and Modification 25
11 Warranty 26
12 CE Markings 26
13 Precautions 27
CHAPTER 2 29
Functions 29
1 P & P robot unit 31
2 P & P robot controller 32
CHAPTER 3 33
Installation 33
1-1 Installation environments 35
CHAPTER 3 Installation 36
2 Installation 37
2-2 Installing the robot 38
3 Connection of robot cables 41
4 Protective Bonding 43
CHAPTER 4 45
Adjustment 45
1 Outline 47
1-1 Robot parameter settings 48
2 Setting the origin position 49
Center of rotation 50
Alignment mark seals 50
Seals (supplied) 50
CHAPTER 4 Installation 51
Approx.2mm 53
Load 0.5kg 53
Belt tensioner 53
Z-axis plate 53
Securing bolt 53
Approx. 2mm 54
Driven pulley 55
CHAPTER 5 57
Periodic Inspecition 57
1 Introduction 59
CHAPTER 5 Installation 60
2 Inspection 61
2-2 Six Month Inspection 62
3 Replacement of Motor 63
Fig. 5-1 Motor replacement 64
Z-axis motor 65
Bearing block 65
Rotor plate 66
M2.6 bolt 66
4 Belt replacement method 67
Metal bracket 69
Metal plate 71
5 Sample troubleshooting 73
6 Spare parts list 75
CHAPTER 6 81
Specifications 81
1-2 Robot External Views 84
1) YP340X, TRCX4, QRCX4 90
(Controller side) 93
(Robot side) 93
Air coupling 99
Cable extraction port 99
CHAPTER 6 Specifications 100
From equation (6.4): 104
3 Robot allowable duty 105
YAMAHA YP SERIES 106
5 X-axis droop 107
6 Mechanical stopper 108
YP-XSeries 110

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Yamaha DRCX Manual de usuario Pagina 19

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