Yamaha FLIP-X Series User manual

User’s Manual ENGLISH E
YAMAHA SINGLE-AXIS ROBOT
E21-Ver. 1.15
FLIP-Xseries

Before using the “X” series single-axis robot or
XY robot (Be sure to read the following notes.)
At this time, our thanks for your purchase of this YAMAHA “X” series robot.
The “X” series single-axis and XY robots use absolute position detectors that do not require
return-to-origin after turning on the controller power. However, when the controller power is
turned on in the following cases, return-to-origin must be performed just the very first time.
(1) When robot cable was first connected after delivery from YAMAHA.
(2) When robot cable was disconnected from the controller and then reconnected.
(3) When no absolute battery is connected.
(4) When a motor or cable was replaced.
At this point, any of the following errors is issued immediately after controller power is turned
on, but this is not a malfunction. The controller will operate normally by restarting.
When using ERCX, SRCX, DRCX or TRCX controllers:
15 : FEEDBACK ERROR 2
23 : ABS.BAT.L-VOLTAGE
24 : ABS.DATA.ERROR
When using a QRCX controller:
17.80 : D?.ABS.encoder backup error
17.81 : D?.ABS.encoder battery alarm
17.85 : D?.ABS.encoder system error
17.92 : D?.ABS.cable disconnected
17.93 : D?.ABS.data overflow
17.94 : D?.ABS.Battery degradation
When using a RCX40 controller:
17.27 : D?.ABS. backup failed (CPU)
17.80 : D?.ABS. backup failed (DRIVER)
17.81 : D?.ABS.battery wire breakage
17.92 : D?.Resolver disconnected during power off
17.93 : D?.Position backup counter overflow
17.94 : D?.ABS.battery low voltage
etc

[1] When using a linear movement robot
Applicable robots:
All “X” series single-axis robots except single-axis rotary movement robots (see [2])
Linear movement axes (X, Y, Z axes) of “X” series Cartesian robots
The above robots use the stroke end origin detection method. The motor side stroke end
is set as the origin at the factory prior to shipping
Set the origin position while referring to the following section in the robot controller
instruction manual.
When using ERCX, SRCX, DRCX or TRCX controllers:
See “9-1-1 Return-to-origin by the search method” in Chapter 9.
When using a QRCX controller:
See “11-9 Absolute Reset” in Chapter 11.
When using a RCX40 controller:
See “11-8 Absolute Reset” in Chapter 11.
CAUTION
Avoid changing the origin position to the non-motor side. Changing the origin position
to the non-motor side may cause a positional shift or robot breakdowns, and is also
dangerous in some cases. If the origin position must be changed, please consult our
sales office or dealer.
[2] When using a rotary movement robot
Applicable robots:
R5/R10/R20 (“X” series single-axis robots)
RF (R axis of “X” series Cartesian robots SXYx/MXYx)
RL/RH (R axis of “X” series Cartesian robots HXYx)
RM/RS (R axis of “X” series Cartesian robots ZRM/ZRS)
On the above robots, the customer should set the origin at the desired position.
Move the robot to the desired position and set it as the origin while referring to the
following section in the robot controller instruction manual.
When using ERCX, SRCX, DRCX or TRCX controllers:
See “9-1-1 Return-to-origin by the search method” in Chapter 9.
When using a QRCX controller:
See “11-9 Absolute Reset” in Chapter 11.
When using a RCX40 controller:
See “11-8 Absolute Reset” in Chapter 11.
After setting the origin position, affix the stickers (triangular stickers supplied with the
robot) to both the tool side and workpiece side so that they can be used as the alignment
marks. Use these marks as the reference position the next time the origin must be set.

Introduction
The YAMAHA FLIP-X series is a family of single-axis industrial robots that use the
absolute positioning method as a standard feature to improve ease of use, resistance
to environmental conditions and maintenance work. A wide varaiety of product lineup
allows you to select the desired robot model that best matches your application.
This instruction manual describes the safety measures, handling, adjustment and
maintenance of FLIP-X series robots for correct, safe and effective use. Be sure to
read this manual carefully before installing the robot. Even after you have read 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 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 and programming of the robot, refer to the separate
“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, please contact YAMAHA sales
office or dealer.
YAMAHA MOTOR CO., LTD.
IM Company

MEMO

Contents
Chapter 1 About Safety
1-1 Safety Information............................................................... 1-3
1-2 Essential Caution Items...................................................... 1-4
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 Safeguard Enclosure ............................ 1-12
1-8 Automatic Operation......................................................... 1-12
1-9 Adjustment and Inspection .............................................. 1-12
1-10 Repair and Modification ................................................... 1-12
1-11 Warranty ............................................................................. 1-13
Chapter 2 Installation and Connections ........................ 2-1
2-1 Checking the product ......................................................... 2-3
2-2 Moving the robot ................................................................. 2-3
2-3 Robot Installation Conditions ............................................ 2-5
2-3-1 Installation environments ............................................................................. 2-5
2-3-2 Installation base ............................................................................................ 2-6
2-4 Installing the robot .............................................................. 2-7
2-4-1 T6 ................................................................................................................. 2-7
2-4-2 T7 ................................................................................................................. 2-9
2-4-3 T9/T9H ....................................................................................................... 2-11
2-4-4 F10 .............................................................................................................. 2-14
2-4-5 F14/F14H ................................................................................................... 2-17
2-4-6 F17/F20 ...................................................................................................... 2-21
2-4-7 R5/R10/R20 ................................................................................................ 2-23
2-4-8 B10/B14/B14H ........................................................................................... 2-26
2-4-9 F20N ........................................................................................................... 2-27
2-5 Protective bonding............................................................ 2-29
2-6 Connections ...................................................................... 2-30
2-6-1 Connecting the robot cables ....................................................................... 2-30
2-6-2 Changing the cable routing direction (F Type) .......................................... 2-32
2-6-3 Changing the cable routing direction (B Type) .......................................... 2-33
2-6-4 Changing the motor orientation (B type) ................................................... 2-35
2-6-5 User wiring ................................................................................................. 2-38

2-7 Setting the operating conditions ..................................... 2-39
2-7-1 Payload ....................................................................................................... 2-39
2-7-2 Maximum speed setting ............................................................................. 2-40
2-7-3 Duty ............................................................................................................ 2-40
Chapter 3 Adjusting the robot
3-1 Attaching the upper cover (B10/B14/B14H) ...................... 3-3
3-2 Adjusting the timing belt tension (B10/B14/B14H) .......... 3-4
3-2-1 Adjusting the drive belt tension .................................................................... 3-5
Reference: Adjusting drive belt tension with a tension meter ...................... 3-6
3-2-2 Adjusting the speed reduction belt tension .................................................. 3-7
Reference: Adjusting speed reduction belt tension with a tension meter ..... 3-8
3-3 Installing and removing the cover (F20N)......................... 3-9
3-3-1 Stroke cover .................................................................................................. 3-9
3-3-2 Belt cover ................................................................................................... 3-10
3-3-3 Motor cover ................................................................................................ 3-11
3-4 Adjusting the timing belt tension (F20N) ........................ 3-12
Chapter 4 Periodic Inspection
4-1 Before beginning work ....................................................... 4-3
4-2 Periodic inspection ............................................................. 4-5
4-2-1 Daily inspection ........................................................................................... 4-5
4-2-2 Three-month inspection ............................................................................... 4-5
4-2-3 Six-month inspection ................................................................................... 4-6
4-2-4 Three-year inspection ................................................................................... 4-6
4-3 Applying grease .................................................................. 4-7
4-3-1 Applying grease (T6/T7 type) ...................................................................... 4-7
4-3-2 Applying grease (T9/F types) ....................................................................... 4-8
4-3-3 Applying grease (B type) ............................................................................. 4-8
4-4 Adjusting and replacing a loose shutter........................... 4-9
4-4-1 Replacing the shutter (T6) ............................................................................ 4-9
4-4-2 Adjusting shutter looseness (T6) ................................................................ 4-10
4-5 Replacing the motor ......................................................... 4-11
4-5-1 Replacing the motor (B10/B14/B14H) ...................................................... 4-11
4-5-2 Replacing the motor (F20N) ...................................................................... 4-13
4-6 Replacing the drive belt (B10/B14/B14H) ........................ 4-15
4-7 Replacing the speed reduction belt (B10/B14/B14H)..... 4-18
4-8 Replacing the slider .......................................................... 4-20
4-8-1 Replacing the slider (B10/B14/B14H) ....................................................... 4-20
4-8-2 Replacing the slider (F20N) ....................................................................... 4-21

Chapter 5 Specifications
5-1 Robot specifications ........................................................... 5-3
5-1-1 T6 ................................................................................................................. 5-3
5-1-2 T7 ................................................................................................................. 5-4
5-1-3 T9 ................................................................................................................. 5-5
5-1-4 T9H .............................................................................................................. 5-6
5-1-5 F10 ................................................................................................................ 5-7
5-1-6 F14 ................................................................................................................ 5-8
5-1-7 F14H ............................................................................................................. 5-9
5-1-8 F17 .............................................................................................................. 5-10
5-1-9 F20 .............................................................................................................. 5-11
5-1-10 F20N ........................................................................................................... 5-12
5-1-11 R5 ............................................................................................................... 5-13
5-1-12 R10 ............................................................................................................. 5-14
5-1-13 R20 ............................................................................................................. 5-15
5-1-14 B10 ............................................................................................................. 5-16
5-1-15 B14 ............................................................................................................. 5-17
5-1-16 B14H .......................................................................................................... 5-18
5-2 AC servo motor termination (T/F Type) ........................... 5-19
5-3 AC servo motor termination (R/B Type, F20N) ............... 5-20
5-4 Robot cables...................................................................... 5-21
Chapter 6 Troubleshooting
6-1 Positioning error ................................................................. 6-3
6-2 Feedback error .................................................................... 6-4
Appendix
About machine reference .............................................................. iii
Equation of moment of inertia calculation................................... iv

MEMO