Yamaha TRANSERVO SSC04 Manual de usuario
User’s Manual ENGLISH E
E46-Ver. 1.02
SSC04/SSC05/SSC05
H
YAMAHA SINGLE-AXIS ROBOT TRANSERVOseries
IM Operations
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan
URL http://www.yamaha-motor.jp/robot/index.html
YAMAHA MOTOR CO., LTD.
Introduction
Introduction
Thank you for purchasing the YAMAHA single-axis robot TRANSERVO series.
This manual describes the safety measures, handling, adjustment and maintenance of
YAMAHA TRANSERVO series robots for correct, safe and effective use. Be sure to read
this manual carefully before installing the TRANSERVO series robot. Even after you have
read this manual, keep it in a safe and convenient place for future reference when needed.
• This user's manual should be used with the robot and considered an integral part of
it. When the robot is moved, transferred or sold, send this manual to the new user
along with the robot. Be sure to explain to the new user the need to read through this
manual.
• Specifications of robot models other than standard models may be omitted in this
manual if they are common to those of standard models. In this case, refer to the
specifications of standard models.
• For details on specific operation of the robot, refer to the separate user’s manual for the
robot controller being used.
NOTES
◆
The contents of this manual are subject to change without prior notice.
◆
While every effort has been made to ensure the contents of this manual are
correct, please contact us if you find any part of this manual to be unclear,
confusing or inaccurate.
MEMO
i
General Contents
General Contents
Chapter 1 Using the Robot Safely
1-1 Safety information 1-1
1-2 Essential precautions 1-3
1-3
Special training for industrial robot operation
1-9
1-4 Robot safety functions 1-10
1-5 Safety measures for the system 1-11
1-6 Trial operation 1-11
1-7 Work within the safety enclosure 1-12
1-8 Automatic operation 1-13
1-9 Warranty 1-14
Chapter 2 Product Overview
2-1 Checking the product 2-1
2-2 Robot part names 2-2
2-3 Robot installation conditions 2-3
2-4 Installation base 2-4
2-5 Installing the robot 2-5
2-6 The "Emergency Stop" stopping distance 2-6
2-7 Connections 2-6
2-7-1 Connecting the robot to the controller 2-6
2-7-2 Robot cable connections 2-8
2-7-3 Robot system configuration drawing 2-9
2-8 Setting the operating conditions 2-10
2-8-1 Payload 2-10
2-8-2 Duty 2-10
2-8-3 Push force vs. current limit value during stop 2-11
2-9 Suction hoses connection 2-13
General Contents
ii
Chapter 3
Periodic Inspection and Maintenance
3-1 Before beginning work 3-1
3-2 Periodic inspection 3-3
3-2-1 Daily inspection 3-3
3-2-2 Three-month inspection 3-3
3-2-3 Six-month inspection 3-4
3-2-4 Three-year inspection 3-4
3-3 Applying grease 3-5
3-4 Replacing the shutter 3-6
3-5 Adjusting shutter looseness 3-8
3-6 Replacing the motor 3-9
3-6-1 SSC04 3-9
3-6-2 SSC05, SSC05H 3-11
3-6-3 Verifying the machine reference 3-13
3-7 Replacing the coupling 3-15
3-7-1 SSC04 3-15
3-7-2 SSC05, SSC05H 3-17
Chapter 4 Specifications
4-1 Main unit specifications 4-1
4-1-1 SSC04 4-1
4-1-2 SSC05 4-4
4-1-3 SSC05H 4-7
4-1-4 About noise level 4-10
4-2 Motor specifications 4-10
4-2-1 Motor termination 4-10
4-2-2 Brake cable termination 4-12
4-3 Robot cables 4-13
Chapter 5 Troubleshooting
5-1 Positioning error 5-1
Chapter 1 Using the Robot Safely
Contents
1-1 Safety information 1-1
1-2 Essential precautions 1-3
1-3
Special training for industrial robot operation
1-9
1-4 Robot safety functions 1-10
1-5 Safety measures for the system 1-11
1-6 Trial operation 1-11
1-7 Work within the safety enclosure 1-12
1-8 Automatic operation 1-13
1-9 Warranty 1-14
1
Using the Robot Safely
1-1 Safety information
1-1
1-1 Safety information
To ensure correct and safe use of YAMAHA industrial robots, carefully read this manual
and make yourself well acquainted with the contents. FOLLOW THE WARNINGS,
CAUTIONS AND INSTRUCTIONS included in this manual. Failure to take necessary
safety measures or mishandling due to not following the instructions in this manual may
result in trouble or damage to the robot and injury to personnel (robot operator or service
personnel) including fatal accidents.
Warning symbols and signal words used in this manual are classified as explained below.
Make sure that you fully understand the meaning of each symbol and comply with the
instructions.
wDANGER
FAILURE TO FOLLOW DANGER INSTRUCTIONS WILL RESULT IN SEVERE INJURY OR
DEATH TO THE ROBOT OPERATOR, BYSTANDERS OR PERSONS INSPECTING OR
REPAIRING THE ROBOT.
wWARNING
FAILURE TO FOLLOW WARNING INSTRUCTIONS COULD RESULT IN SEVERE INJURY
OR DEATH TO THE ROBOT OPERATOR, BYSTANDERS OR PERSONS INSPECTING
OR REPAIRING THE ROBOT.
cCAUTION
Failure to follow CAUTION instructions may result in injury to the robot
operator, bystanders or persons inspecting or repairing the robot, or
damage to the robot and/or robot controller.
nNOTE
Explains the key point in the operation in a simple and clear manner.
Reference
Gives useful information related to the robot operation.
Using the Robot Safely
1
1-1 Safety information
1-2
Refer to the user's manual by any of the following methods to operate or adjust the robot
safely and correctly.
1.Operate or adjust the robot while referring to the printed version of the user's
manual (available for an additional fee).
2.Operate or adjust the robot while viewing the CD-ROM version of the user's
manual on your computer screen.
3.Operate or adjust the robot while referring to a printout of the necessary pages
from the CDROM version of the user's manual.
It is not possible to list all safety items in detail within the limited space of
this manual. So it is essential that the user have a full knowledge of basic
safety rules and also that the operator makes correct judgments on safety
procedures during operation.
For specific safety information and standards, refer to the applicable local
regulations and comply with the instructions. This manual and warning labels
supplied with or attached to the robot are written in English. Unless the
robot operators or service personnel understand English, do not permit them
to handle the robot.
* Cautions regarding the official language of EU countries
For equipment that will be installed in EU countries, the language used for the
user's manuals, CE declarations, and operation screen characters is English only.
Warning labels only have pictograms or else include warning messages in English.
In the latter case, Japanese messages might be added.
Este manual sirve para los siguientes modelos
2
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