Yamaha TRANSERVO SSC04 Manual de usuario

User’s Manual ENGLISH E

E46-Ver. 1.02

SSC04/SSC05/SSC05

YAMAHA SINGLE-AXIS ROBOT TRANSERVOseries

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

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

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

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

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 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.

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