Yamaha F8 Manuel d'utilisateur

User’s ManualENGLISHEF8/F8L/F8LHYAMAHA SINGLE-AXIS ROBOTFLIP-X seriesIM Operations882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.JapanURL http://www

1Using the Robot Safely1-1 Safety information1-11-1 Safety informationIndustrial robots are highly programmable, mechanical devices that provide a lar

Using the Robot Safely11-1 Safety information1-2Refer to the user's manual by any of the following methods to operate or adjust the robot safely

1Using the Robot Safely1-2 Essential precautions1-31-2 Essential precautionsParticularly important cautions for handling or operating the robot are de

Using the Robot Safely11-2 Essential precautions1-4Warning label 2Moving parts can pinch or crush.Keep hands away from robot arms.WARNING(3) Follow t

1Using the Robot Safely1-2 Essential precautions1-5(4) Do not remove, alter or stain the warning labels.wWARNINGIF WARNING LABELS ARE REMOVED OR DIFF

Using the Robot Safely11-2 Essential precautions1-6(8) Provide safety measures for end effector (gripper, etc.).wWARNING• END EFFECTORS MUST BE DESI

1Using the Robot Safely1-2 Essential precautions1-7(12) Use caution not to touch the controller cooling fan.wWARNING• BODILY INJURY MAY OCCUR FROM CO

Using the Robot Safely11-2 Essential precautions1-8(17) Do not attempt any repair, parts replacement and modification.wWARNINGDO NOT ATTEMPT ANY REPAI

1Using the Robot Safely1-2 Essential precautions1-9(5) Steps to take after the robot has come to a stop when the emergency stop device was triggered,

Using the Robot Safely11-3 Industrial robot operating and maintenance personnel1-101-3 Industrial robot operating and maintenance personnelOperators o

1Using the Robot Safely1-5 Safety measures for the system1-11wWARNINGROBOT MOVEMENT WILL NOT STOP IMMEDIATELY AFTER THE SERVO POWER SUPPLY IS SHUT OFF

Using the Robot Safely11-7 Work within the safety enclosure1-12(2) Check the following points before turning on the controller.1. Is the robot secure

1Using the Robot Safely1-8 Automatic operation1-13 3. Check that no failures are found in the robot. 4. Check that emergency stop works correctly.

Using the Robot Safely11-9 Warranty1-141-9 WarrantyThe YAMAHA robot and/or related product you have purchased are warranted against the defects or mal

1Using the Robot Safely1-9 Warranty1-15YAMAHA MOTOR CO., LTD. MAKES NO OTHER EXPRESS OR IMPLIED WARRANTIES, INCLUDING ANY IMPLIED WARRANTY OF MERCHANT

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Chapter 2 Product OverviewContents2-1 Checking the product 2-12-2 Robot part names 2-1

2Product Overview2-1 Checking the product2-12-1 Checking the productAfter unpacking, make sure that all components and accessories are included (as s

Before using the F8/F8L/F8LH single-axis robots (Be sure to read the following notes.)Before using the F8/F8L/F8LH single-axis robots (Be sure to read

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Chapter 3 Installation and ConnectionsContents3-1 Carrying the robot 3-13-2 Robot installation conditions 3-23-2-1 Installation environments 3-2

3Installation and Connections3-1 Carrying the robot3-13-1 Carrying the robotAlways use two people to carry the robot unit. Each person should grip th

Installation and Connections33-2 Robot installation conditions3-23-2 Robot installation conditions3-2-1 Installation environmentsBe sure to install t

3Installation and Connections3-2 Robot installation conditions3-3wWARNINGAVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC INTERFERENCE, E

Installation and Connections33-2 Robot installation conditions3-4(3) Use an installation base of sufficient size to match the robot body so that the

3Installation and Connections3-3 Installing the robot3-53-3 Installing the robotwWARNING• BEFORE INSTALLING THE ROBOT, ALWAYS MAKE SURE THAT THE ROB

Installation and Connections33-3 Installing the robot3-6● Protective bondingwWARNINGALWAYS GROUND THE ROBOT AND CONTROLLER UNIT TO PREVENT ELECTRICAL

3Installation and Connections3-4 Connecting the robot to the controller3-73-4 Connecting the robot to the controllerConnect the robot cables to the m

Before using the F8/F8L/F8LH single-axis robots (Be sure to read the following notes.)Setting the origin positionSet the origin position by referring

Installation and Connections33-4 Connecting the robot to the controller3-82) After making the connections, fit the connector hoods together securely.H

3Installation and Connections3-4 Connecting the robot to the controller3-9● Robot cable connections (when connected to SR1)BATPWRERRHPBMOTORUVWI/OAC I

Installation and Connections33-5 Setting the operating conditions3-103-5 Setting the operating conditions3-5-1 PayloadOptimal acceleration for the YA

3Installation and Connections3-5 Setting the operating conditions3-11［ＳＹＳ−ＰＲＭ−ＡＸＩＳ］ＰＲＭ１１２ ＝ １０＿［Ｋｇ］ ｐａｙｌｏａｄｒａｎｇｅ ０→ＭＡＸ5) Display PRM112 (payload). P

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Chapter 4 Periodic Inspection and MaintenanceContents4-1 Before beginning work 4-14-2 Periodic inspection 4-34-2-1 Daily inspection 4-34-2-2 Three

4Periodic Inspection and Maintenance4-1 Before beginning work4-14-1 Before beginning workPeriodic inspection and maintenance are essential to ensure

Periodic Inspection and Maintenance44-1 Before beginning work4-2When applying grease to the ball screw and linear guide, take the following precaution

4Periodic Inspection and Maintenance4-2 Periodic inspection4-34-2 Periodic inspection4-2-1 Daily inspectionCheck the following points on a daily basis

iGeneral ContentsGeneral ContentsIntroductionChapter 1 Using the Robot Safely1-1 Safety information 1-11-2 Essential precautions 1-31-3 Industrial

Periodic Inspection and Maintenance44-2 Periodic inspection4-44-2-3 Six-month inspectionTake the following precautions when performing 6-month inspect

4Periodic Inspection and Maintenance4-3 Applying grease4-54-3 Applying greaseWhen applying grease to the ball screw according to periodic inspection,

Periodic Inspection and Maintenance44-4 Replacing the motor4-64-4 Replacing the motorcCAUTIONA positional shift occurs by replacing the motor. It is

4Periodic Inspection and Maintenance4-4 Replacing the motor4-75) Remove the four screws securing the motor cover and remove the motor cover.Motor cove

Periodic Inspection and Maintenance44-4 Replacing the motor4-89) Remove the four bolts securing the rotor and pull out the rotor.Rotor Rotor10) Instal

4Periodic Inspection and Maintenance4-4 Replacing the motor4-9● Checking the grid position (for SR1)［ＭＥＮＵ］ｓｅｌｅｃｔ ｍｅｎｕ１ＥＤＩＴ２ＯＰＲＴ３ＳＹＳ ４ＭＯＮ1) Press (OP

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Chapter 5 TroubleshootingContents5-1 If you suspect trouble 5-15-1-1 Positioning error 5-15-1-2 Feedback error 5-2

5Troubleshooting5-1 If you suspect trouble5-15-1 If you suspect troubleIf an error such as a positioning error or feedback error occurs, check the fo

General ContentsiiChapter 4 Periodic Inspection and Maintenance4-1 Before beginning work 4-14-2 Periodic inspection 4-34-2-1 Daily inspection 4-34

Troubleshooting55-1 If you suspect trouble5-25-1-2 Feedback errorMuch mechanical friction?Are wiring and connectorsecurely connected?Is wiring live?Is

Chapter 6 SpecificationsContents6-1 Main unit specifications 6-16-1-1 F8 6-16-1-2 F8L 6-46-1-3 F8LH 6-96-2 AC servo motor specifications 6-126

6Specifi cations6-1 Main unit specifications6-16-1 Main unit specifications6-1-1 F8● Basic specificationsMotor output AC (W) 100Repeated positioning a

Specifi cations66-1 Main unit specifications6-2● Allowable overhang** Distance from the center on the top face of slider to the gravity center of the i

6Specifi cations6-1 Main unit specifications6-3● F8 DimensionsMoving parts can pinch or crush.Keep hands away from robot arms.WARNING(Tolerance between

Specifi cations66-1 Main unit specifications6-46-1-2 F8L● Basic specificationsMotor output AC (W) 100Repeated positioning accuracy (mm) 1±0.01Decelerat

6Specifi cations6-1 Main unit specifications6-5● Allowable overhang** Distance from the center on the top face of slider to the gravity center of the i

Specifi cations66-1 Main unit specifications6-6 Vertical installationACVertical installation (Unit: mm)ACLead 202kg 236 2404kg 106 110Lead 102kg 310

6Specifi cations6-1 Main unit specifications6-7● F8L DimensionsMoving parts can pinch or crush.Keep hands away from robot arms.WARNING(Tolerance betwee

IntroductionIntroductionThe YAMAHA single-axis robots F8/F8L/F8LH is an industrial robot that uses the absolute positioning method as standard and has

Specifi cations66-1 Main unit specifications6-8● F8L Dimensions (High lead type: Lead 30)Moving parts can pinch or crush.Keep hands away from robot ar

6Specifi cations6-1 Main unit specifications6-96-1-3 F8LH● Basic specificationsMotor output AC (W) 100Repeated positioning accuracy (mm) 1±0.01Decelera

Specifi cations66-1 Main unit specifications6-10● Allowable overhang** Distance from the center on the top face of slider to the gravity center of the

6Specifi cations6-1 Main unit specifications6-11● F8LH Dimensions Moving parts can pinch or crush.Keep hands away from robot arms.WARNING(Tolerance bet

Specifi cations66-2 AC servo motor specifications6-126-2 AC servo motor specifications6-2-1 AC servo motor termination Connector specificationsNo. Pa

6Specifi cations6-2 AC servo motor specifications6-136-2-2 Brake cable specifications Connector specificationsNo. Parts Type No. Maker Qty Note1 Brake

Specifi cations66-3 Robot cables6-146-3 Robot cables6-3-1 Robot cables (SR1) Signal cableTo controllerTo robotPORGBKParts SignalPINConnectionPINParts

6Specifi cations6-3 Robot cables6-156-3-2 Robot cables (TS-X) Signal cableTo controllerTo robotPORGBKParts SignalPIN ConnectionPINParts WireControlle

Specifi cations66-3 Robot cables6-166-3-3 Robot cables (RCX222/240)YM2M1ZRXORG1BK1P1M1ORG2BK2P2M2ZXRY

6Specifi cations6-3 Robot cables6-17SignalConnector No.ConnectionNo.Connector WireResolver S2 P1 110.3sqTwisted pairRedS4 2 2 WhiteS1 3 30.3sqTwisted p

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Specifi cations66-3 Robot cables6-186-3-4 Robot cables (RDX) Signal cableTo controllerTo robotPORGBKmolexmolexSignalConnector No.ConnectionNo.Connecto

AppendixContentsAbout machine reference iMoment of inertia calculation ii

iAppendixAbout machine referenceThe position detector built into the motor issues a "0" pulse each time the motor rotates 1/4th of one turn.

iiAppendixMoment of inertia calculationcCAUTIONThe robot must be operated with correct tolerable moment of inertia and acceleration coeffi cients accor

iiiAppendix3. When the object’s center line is offset from the rotation center.The moment of inertia (J) when the center of the cylinder is offset by

© YAMAHA MOTOR CO., LTD. IM OperationsAll rights reserved. No part of this publication may be reproduced in any form without the permission of YAMA

Chapter 1 Using the Robot SafelyContents1-1 Safety information 1-11-2 Essential precautions 1-31-3 Industrial robot operating and maintenance perso