Yamaha XY-X series User manual

User’s Manual ENGLISH E
E40-Ver. 1.02
NXY
YAMAHA CARTESIAN ROBOT XY-X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.

i
GENERAL CONTENTS
General Contents
Chapter 1 USING THE ROBOT SAFELY
1. Safety Information 1-1
2. Essential Caution Items 1-2
3.
Special Training for Industrial Robot Operation 1-8
4. Robot Safety Functions 1-9
5. Safety Measures for the System 1-10
6. Trial Run 1-10
7. Work Within the Safeguard Enclosure 1-11
8. Automatic Operation 1-11
9. Adjustment and Inspection 1-12
10. Repair and Modification 1-12
11. Warranty 1-13
12. CE Marking 1-14
Chapter 2 INSTALLATION
1. Installation bolt types 2-1
2. Installation bolt nominal length 2-1
3. Tightening torque 2-2
4. Installation methods 2-2
Chapter 3 PROTECTIVE CONNECTIONS
1. Ground terminal 3-1
2. Ground wire 3-2
3. Wiring methods 3-2
3-1 Grounding to the single arm robot 3-2
3-2 Grounding to the double arm robot 3-3

GENERAL CONTENTS
ii
Chapter 4 INSTALLING THE TOOL
1. Single arm type, double arm type, 2-axis model 4-1
2. ZFH (single arm type, double arm type) 4-2
3. ZFL (single arm type, double arm type) 4-3
Chapter 5 USER WIRING AND USER PIPING
1. Cable carrier type 5-1
1-1 Wiring/piping to the single arm robot 5-1
1-2 Wiring/piping to the double arm robot 5-3
1-3 Cable carrier specifications 5-6
Chapter 6 PERIODIC INSPECTIONS
1. Before beginning work 6-1
2. Periodic inspection 6-3
2-1 Daily inspection 6-3
2-2 Three-month inspection 6-3
2-3 Six-month inspection 6-4
2-4 Three-year inspection 6-4
3. Replenishing grease to the linear guide 6-5
4. Replenishing grease to the ball screw 6-6

Chapter 1 USING THE ROBOT SAFELY
Contents
1. Safety Information 1-1
2. Essential Caution Items 1-2
3.
Special Training for Industrial Robot Operation 1-8
4. Robot Safety Functions 1-9
5. Safety Measures for the System 1-10
6. Trial Run 1-10
7. Work Within the Safeguard Enclosure 1-11
8. Automatic Operation 1-11
9. Adjustment and Inspection 1-12
10. Repair and Modification 1-12
11. Warranty 1-13
12. CE Marking 1-14

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1. Safety Information
1. Safety Information
Industrial robots are highly programmable machines that provide a large degree of
freedom in movement. To ensure correct and safe use of YAMAHA robots, carefully
read this manual to 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 observing the instructions in
this manual may result in trouble or damage to the robot and injury to personnel (robot
installer, operator or service personnel) including fatal accidents.
Warning information in this manual is classified into the following items.
wDANGER
FAILURE TO FOLLOW DANGER INSTRUCTIONS WILL RESULT IN SEVERE INJURY OR
DEATH TO THE ROBOT OPERATOR, BYSTANDERS OR PERSONS SERVICING THE ROBOT.
wWARNING
FAILURE TO FOLLOW WARNING INSTRUCTIONS COULD RESULT IN SEVERE INJURY OR
DEATH TO THE ROBOT OPERATOR, BYSTANDERS OR PERSONS SERVICING THE ROBOT.
cCAUTION
Failure to follow CAUTION instructions may result in injury to the robot operator,
bystanders or persons servicing the robot, or damage to the robot and/or robot
controller.
nNOTE
Explains the keypoint in the operation in a simple and clear manner.
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 CD-ROM version of the user's manual.
It is not possible to list all safety items in detail within the limited space of this manual.
Thus, it is essential that the user have full knowledge of basic safety rules and that the
operator makes correct judgments on safety procedures during operation.
When exporting this robot, the warning labels and user's manuals must be changed to
export specifications.

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2. Essential Caution Items
Particularly important cautions for handling or operating the robot are described below. In
addition, safety information about installation, operation, inspection and maintenance is
provided in each chapter. Be sure to comply with these instructions to ensure safe use of
the robot.
(1) Observe the following cautions during automatic operation
wDANGER
SERIOUS INJURY WILL RESULT FROM IMPACT WITH MOVING ROBOT.
• KEEP OUTSIDE SAFEGUARD ENCLOSURE DURING AUTOMATIC OPERATION.
• PRESS THE EMERGENCY STOP BUTTON BEFORE ENTERING THE SAFEGUARD
ENCLOSURE.
The warning label 1 is attached to the robot.
• Install a safeguard enclosure to keep all personnel from entering within the movable
range of the robot and suffering injury due to being struck by moving parts.
• Install a safety interlock that triggers emergency stop when the door or panel is
opened.
• Install safeguards so that no one can enter inside except from doors or panels
equipped with safety interlocks.
• The warning label 1 are supplied with the robot and should be affixed to
conspicuous places on doors or panels equipped with safety interlocks.
DANGER
Serious injury or death
will result from impact
with moving robot.
•Keep outside of guard
during operation.
•Lock out power before
approaching robot.
Warning label 1
(2) Use caution to prevent hands or fingers from being pinched or crushed.
wWARNING
MOVING PARTS CAN PINCH OR CRUSH.
KEEP HANDS AWAY FROM ROBOT ARMS.
2. Essential Caution Items

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Warning label 2 is affixed to the robot.
Use caution to prevent hands or fingers from being pinched or crushed in the robot’s
moving parts during transporting the robot or teaching, etc.
Moving parts can
pinch or crush.
Keep hands away
from robot arms.
WARNING
Warning label 2
(3) Follow the instructions listed on warning labels and in this manual.
wWARNING
IMPROPER INSTALLATION OR OPERATION CAN RESULT IN SERIOUS INJURY. READ THE
USER'S MANUAL AND ALL WARNING LABELS BEFORE OPERATION.
The warning label 3 is attached to the robot.
• Be sure to read the warning labels and this manual carefully and make sure to
thoroughly understand the contents before attempting installation and operation of
the robot.
• Before starting robot operation, be sure to reread the procedures and cautions
related to the work as well as the descriptions in this chapter (Chapter 1. “Using the
Robot Safely”).
• Never install, adjust, inspect, service or operate the robot in any manner that does
not comply with the instructions in this manual.
Improper installation or operation
can result in serious injury or
death.
Read user's manual and all
warning labels before operation.
WARNING
Warning label 3
(4) Do not use the robot in environments containing inflammable gas, etc.
wWARNIG
THIS ROBOT IS NOT DESIGNED FOR OPERATION IN ENVIRONMENTS WHERE
INFLAMMABLE OF EXPLOSIVE SUBSTANCES ARE PRESENT.DO NOT USE THE ROBOT IN
ENVIRONMENTS CONTAINING INFLAMMABLE GAS, DUST OR LIQUIDS. EXPLOSIONS
OR FIRE MIGHT OTHERWISE RESULT.
2. Essential Caution Items

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(5) Do not use the robot in locations possible subject to electromagnetic interference, etc.
wWARNING
AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC
INTERFERENCE, ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY INTERFERENCE.
MALFUNCTIONS MIGHT OTHERWISE OCCUR.
(6) Use caution when releasing the brake for the Z-axis (vertical axis).
wWARNING
THE Z-AXIS WILL DROP WHEN THE BRAKE IS RELEASED, CREATING A HAZARDOUS
SITUATION.
• PRESS THE EMERGENCY STOP BUTTON AND PROP UP THE Z-AXIS WITH A SUPPORT
STAND, ETC., BEFORE RELEASING THE BRAKE.
• BE CAREFUL NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE Z-AXIS AND
INSTALLATION BASE, ETC., WHEN RELEASING THE BRAKE TO PERFORM DIRECT
TEACHING.
(7) Provide safety measures for end effector (gripper, etc.)
wWARNING
• END EFFECTORS MUST BE DESIGNED AND MANUFACTURED SO THAT THEY CREATE
NO HAZARDS (FOR EXAMPLE, A WORKPIECE THAT COMES LOOSE) EVEN IF POWER
(ELECTRICITY, AIR PRESSURE, ETC.) IS SHUT OFF OR A POWER FLUCTUATION
OCCURS.
• IF THERE IS A POSSIBLE DANGER THAT THE OBJECT GRIPPED BY THE END EFFECTOR
MAY FLY OFF OR DROP, THEN PROVIDE APPROPRIATE SAFETY PROTECTION TAKING
INTO ACCOUNT THE OBJECT SIZE, WEIGHT, TEMPERATURE AND CHEMICAL
PROPERTIES.
(8) Movement of Z-axis at controller power shut off and emergency stop (for ZAS)
wWARNING
THE Z-AXIS WILL START TO RISE WHEN THE CONTROLLER POWER IS SHUT OFF, THE PLC
POWER IS SHUT OFF, THE PROGRAM IS RESET, EMERGENCY STOP IS APPLIED, AND
WHEN THE SUPPLY OF AIR TO THE Z-AXIS AIR CYLINDER’S SOLENOID VALVE IS
STARTED.
• TAKE CARE NOT TO PINCH OR CRUSH HANDS, ETC., IN THE Z-AXIS MOVING
SECTIONS.
• IF THERE ARE ANY INTERFERENCES IN THE Z-AXIS' UPWARD TRAVEL PATH,
REEVALUATE THE ROBOT POSITION, EXCEPT FOR EMERGENCIES.
2. Essential Caution Items

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(9) Pay attention to interference of Z-axis with peripheral devices (for ZAS)
wWARNING
IF THE Z-AXIS INTERFERES WITH A PERIPHERAL DEVICE AND STOPS, THERE IS A RISK OF
PINCHING HANDS, ETC., WHEN THE INTERFERING OBJECT IS REMOVED AS THE Z-AXIS
WILL SUDDENLY MOVE.
• TURN THE CONTROLLER POWER OFF AND STOP THE AIR SUPPLY BEFORE REMOVING
THE INTERFERING OBJECT.
• THE Z-AXIS WILL NATURALLY DROP, SO PROP IT UP WITH A SUPPORT STAND, ETC.,
BEFORE STOPPING THE AIR SUPPLY.
(10) Z-axis movement when air supply is stopped
wWARNING
THE Z-AXIS WILL DROP WHEN THE AIR SUPPLY IS STOPPED, CREATING A HAZARDOUS
SITUATION. PROP UP THE Z-AXIS WITH A SUPPORT STAND, ETC., BEFORE TURNING THE
CONTROLLER POWER OFF AND STOPPING THE AIR SUPPLY.
(11) Use caution when disassembling and replacing the pneumatic devices
wWARNING
IF THE PNEUMATIC DEVICES ARE DISASSEMBLED OR REPLACED WHILE THE AIR IS
SUPPLIED, THE PARTS OR AIR COULD SCATTER.
• TURN THE CONTROLLER POWER OFF, STOP THE AIR SUPPLY AND RELEASE ALL
RESIDUAL PRESSURE FROM THE PNEUMATIC DEVICES BEFORE STARTING WORK.
• THE Z-AXIS WILL NATURALLY DROP, SO PROP IT UP WITH A SUPPORT STAND, ETC.,
BEFORE STOPPING THE AIR SUPPLY.
(12) Use caution when disassembling and replacing the motor
wWARNING
WHEN DISASSEMBLING OR ASSEMBLING THE MOTOR FOR A BALL-SCREW DRIVE TYPE
ROBOT, A STRONG MAGNETIC ATTRACTION FORCE WILL BE PRESENT BETWEEN THE
MOTOR STATOR (FIXED COIL) AND ROTOR (ROTATING MAGNET), CAUSING A RISK
OF PINCHING HANDS, ETC. A YAMAHA-TRAINED OPERATOR MUST CARRY OUT THIS
WORK USING THE YAMAHA-RECOMMENDED JIGS.
(13) Use caution when removing the Z-axis brake
wWARNING
THE Z-AXIS WILL NATURALLY DROP WHEN THE BRAKE IS REMOVED, CAUSING A
HAZARDOUS SITUATION.
• PROP UP THE Z-AXIS WITH A SUPPORT STAND, ETC., BEFORE TURNING THE CONTROL
POWER OFF AND REMOVING THE BRAKE.
• BE CAREFUL NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE Z-AXIS DRIVE
SECTION AND Z-AXIS INSTALLATION BASE, ETC.
2. Essential Caution Items

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(14) Take the following safety precautions during inspection of the controller
wWARNING
• IF THE TERMINALS OR CONNECTORS ON THE OUTSIDE OF THE CONTROLLER MUST
BE TOUCHED DURING INSPECTION, ETC., ALWAYS FIRST TURN THE CONTROLLER
POWER OFF AND THE POWER SOURCE TO PREVENT POSSIBLE ELECTRICAL SHOCK.
• REFER TO THE "YAMAHA ROBOT CONTROLLER USER'S MANUAL" FOR PRECAUTIONS
ON HANDLING THE CONTROLLER. NEVER TOUCH ANY INTERNAL PARTS OF THE
CONTROLLER.
(15) Consult YAMAHA for corrective action when the robot is damaged or malfunctions
occur.
wWARNING
IF ANY PART OF THE ROBOT IS DAMAGED OR ANY MALFUNCTION OCCURS,
CONTINUING THE OPERATION MAY BE VERY DANGEROUS. PLEASE CONSULT YOUR
YAMAHA SALES OFFICE OR DEALER FOR CORRECTIVE ACTION.
Damage or Trouble Possible Danger
Damage to machine harness or robot cable Electrical shock, malfunction of robot
Damage to exterior of robot Flying outward of damaged parts during robot
operation
Abnormal operation of robot (positioning error,
excessive vibration, etc.) Malfunction of robot
Z-axis brake trouble Dropping of load
(16) Use caution not to touch the controller rear panel cooling fan
wWARNING
• INJURY MAY OCCUR FROM COMING INTO CONTACT WITH THE COOLING FAN
WHILE IT IS ROTATING.
• WHEN REMOVING THE FAN COVER FOR INSPECTION, FIRST TURN OFF THE
CONTROLLER AND MAKE SURE THAT THE FAN HAS STOPPED.
(17) Be careful not to touch the motor or speed reduction gear casing when hot.
wWARNING
THE MOTOR AND SPEED REDUCTION GEAR CASING ARE EXTREMELY HOT AFTER
AUTOMATIC OPERATION, SO BURNS MAY OCCUR IF THESE ARE TOUCHED.
• BEFORE HANDLING THESE PARTS DURING INSPECTION OR SERVICING, TURN THE
CONTROLLER POWER OFF, WAIT FOR A WHILE AND CHECK THAT THE PART HAS
COOLED.
2. Essential Caution Items

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(18) Do not remove, alter or stain the warning labels
wWARNING
IF THE WARNING LABELS ARE REMOVED OR DIFFICULT TO SEE, THEN ESSENTIAL
PRECAUTIONS MIGHT NOT BE TAKEN RESULTING IN ACCIDENTS.
• DO NOT REMOVE, ALTER OR STAIN THE WARNING LABELS ON THE ROBOT.
• DO NOT ALLOW THE WARNING LABELS TO BE HIDDEN BY DEVICES INSTALLED ONTO
THE ROBOT BY THE USER.
• PROVIDE PROPER LIGHTING SO THAT THE SYMBOLS AND INSTRUCTIONS ON THE
WARNING LABELS CAN BE CLEARLY SEEN EVEN FROM OUTSIDE THE SAFEGUARD
ENCLOSURE.
(19) Protective connections
wWARNING
BE SURE TO GROUND THE ROBOT AND CONTROLLER TO PREVENT ELECTRICAL
SHOCK.
(20) Be sure to make correct parameter settings - Part 1
cCAUTION
Always input the correct parameters matching the payload and stroke (working
envelope) before operating the robot.
(21) Be sure to make correct parameter settings - Part 2
cCAUTION
When using a rotary axis (RF, RH, etc.) the robot must be operated with the
tolerable moment of inertia and correct acceleration coefficients according to
the tip mass and moment of inertia. If these are not correct, the drive unit service
life may end prematurely, and damage to robot parts or residual vibration during
positioning may result.
(22) Do not use the robot for tasks requiring motor thrust.
cCAUTION
Avoid using the belt-driven type robots for tasks that utilize motor thrust (press
fitting, burr removal, etc.). These tasks may cause malfunctions in the robot.
2. Essential Caution Items

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3. Special Training for Industrial Robot Operation
Companies or factories using industrial robots must make sure that every person, who
handles the robot such as for teaching, programming, movement check, inspection,
adjustment and repair, has received appropriate training and also has the skills needed to
perform the job correctly and safely. Since YAMAHA Cartesian robot XY series falls under
the industrial robot category, the user must observe local regulations and safety standards
for industrial robots, and provide special training for every person involved in robot-
related tasks (teaching, programming, movement check, inspection, adjustment, repair,
etc.).
3. Special Training for Industrial Robot Operation

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4. Robot Safety Functions
(1) Overload detection
This function detects an overload applied to the motor and shuts off the servo power.
(2) Overheat detection
This detects an abnormal rise in the controller driver temperature and shuts off the
servo power.
If an overload or overheat error occurs, take the following measuring.
q
Insert a timer in the program.
wReduce the acceleration coefficient.
(3) Soft limits
Soft limits can be set on each axis to limit the working envelope in manual operation
after return-to-origin and during automatic operation. Note that the working envelope
is the area limited by soft limits.
(4) Mechanical stoppers
If the servo power is suddenly shut off during high-speed operation by emergency
stop or safety functions, these mechanical stoppers prevent the axis from exceeding
the movable range. Note that the movable range is the area limited by the mechanical
stoppers. No mechanical stopper is provided on the R-axis.
(5) Z-axis (vertical axis) brake
An electromagnetic brake is installed on the Z-axis to prevent the Z-axis from dropping
when the servo power is shut off. This brake is working when the controller power is
OFF or if the Z-axis servo is OFF even when the controller power is ON. The Z-axis
brake can be released by means of the programming unit or by a command in the
program when the controller power is ON.
wWARNING
THE Z-AXIS WILL DROP WHEN THE BRAKES ARE RELEASED, CREATING A HAZARDOUS
SITUATION.
• PRESS THE EMERGENCY STOP BUTTON AND PROP UP THE Z-AXIS WITH A SUPPORT
STAND, ETC., BEFORE RELEASING THE BRAKE.
• BE CAREFUL NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE Z-AXIS AND
INSTALLATION BASE, ETC., WHEN RELEASING THE BRAKE TO PERFORM DIRECT
TEACHING.
4. Robot Safety Functions

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5. Safety Measures for the System
When the robot is commonly used in conjunction with an automated system, dangerous
situations are more likely to occur from the automated system than from the robot itself.
Appropriate safety measures must be taken on the part of the system manufacturer
according to the individual system. The system manufacture should provide a proper
user's manual for safe, correct operation and servicing of the system.
6. Trial Run
After making installations, adjustments, inspections, maintenance or repairs to the robot,
carry out trial run using the following procedures.
(1)If a safeguard enclosure has not yet been provided right after installation of the
robot, rope off or chain off the movable range in place of the safeguard enclosure,
and observe the following points.
qUse sturdy, stable posts that will not fall over easily.
wThe rope or chain should be easily visible by everyone around the robot.
ePlace a sign to keep the operator or other personnel from entering the movable
range.
(2)Check the following points before turning the controller ON.
qIs the robot securely and correctly installed?
wAre the electrical connections to the robot correct?
eAre items such as air pressure correctly supplied?
rIs the robot correctly connected to peripheral devices?
tHave safety measures (safeguard enclosure, etc.) been taken?
yDoes the installation environment meet the specified standards?
(3)After the controller power is turned ON, check the following points from outside the
safeguard enclosure.
qDoes the robot start and stop as intended? Can the operation mode be selected
correctly?
wDoes each axis move as intended within the soft limits?
eDoes the end effector move as intended?
rAre the signal transmissions to the end effector and peripheral devices correct?
tDoes emergency stop work?
yAre the teaching and playback functions normal?
uAre the safeguard enclosure and interlock working as intended?
iDoes the robot move correctly during automatic operation?
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7. Work Within the Safeguard Enclosure
When work is required in the safeguard enclosure, always turn the controller power OFF
and place a sign indicating that the robot is being adjusted or serviced in order to keep
any other personnel from touching the controller power switch or operation panel, except
for the time during soft limit setting and teaching operation. Follow the applicable parts
of cautions and procedures in the user’s manual for soft limit setting. Read the below for
teaching operation.
Teaching operation within a safety enclosure
(1)Check or perform the following points from outside the safeguard enclosure.
qMake sure that no hazards are present within the safeguard enclosure by a visual
check.
wCheck that the programming unit MPB or RPB operates correctly.
eCheck that no failures are found in the robot.
rCheck that emergency stop works correctly.
tSelect teaching mode and prohibit automatic operation.
(2)Never enter the movable range of the robot while within the safeguard enclosure.
8. Automatic Operation
(1)Check the following before starting automatic operation.
qNo one is within the safeguard enclosure.
wThe programming unit or tools, etc., are in their specified location.
eThe alarm or error lamps, etc., on the robot and peripheral devices do not flash.
rThe safeguard enclosure is securely installed with safety interlocks, etc.,
actuated.
(2)Observe the following during automatic operation or in cases where an error occurs.
1) After automatic operation has started, check the operation status and warning
lamps to ensure that the robot is in automatic operation.
2) Never enter the safeguard enclosure during automatic operation.
3) If an error occurs in the robot or peripheral devices, observe the following
procedures before entering the safeguard enclosure.
qPress the emergency stop button to set the robot to emergency stop.
wPlace a sign on the start switch indicating that the robot is being inspected in
order to keep any other person from touching the start switch and restarting
the robot.
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9. Adjustment and Inspection
wWARNING
DO NOT ATTEMPT ANY INSTALLATION, ADJUSTMENT, INSPECTION OR MAINTENANCE
UNLESS DESCRIBED IN THIS MANUAL. UNEXPECTED ACCIDENTS OR TROUBLES MAY
OTHERWISE RESULT.
10. Repair and Modification
wWARNING
DO NOT ATTEMPT ANY REPAIR, PART REPLACEMENT OR MODIFICATION UNLESS
DESCRIBED IN THIS MANUAL. THESE MATTERS REQUIRE TECHNICAL KNOWLEDGE AND
SKILLS, AND MAY ALSO INVOLVE WORK HAZARDS.
9. Adjustment and Inspection

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11. Warranty
The YAMAHA robot and/or related product you have purchased are warranted against the
defects or malfunctions as described below.
Warranty description:
If a failure or breakdown occurs due to defects in materials or workmanship in the
genuine parts constituting this YAMAHA robot and/or related product within the warranty
period, then YAMAHA will repair or replace those parts free of charge (hereafter called
"warranty repair").
Warranty Period:
The warranty period ends when any of the following applies:
(1)After 18 months (one and a half year) have elapsed from the date of shipment
(2)After one year has elapsed from the date of installation
(3)After 2,400 hours of operation
Exceptions to the Warranty:
This warranty will not apply in the following cases:
(1)Fatigue arising due to the passage of time, natural wear and tear occurring during
operation (natural fading of painted or plated surfaces, deterioration of parts subject
to wear, etc.)
(2)Minor natural phenomena that do not affect the capabilities of the robot and/or
related product (noise from computers, motors, etc.).
(3)Programs, point data and other internal data that were changed or created by the
user.
Failures resulting from the following causes are not covered by warranty repair.
1) Damage due to earthquakes, storms, floods, thunderbolt, fire or any other natural or
man-made disasters.
2) Troubles caused by procedures prohibited in this manual.
3) Modifications to the robot and/or related product not approved by YAMAHA or
YAMAHA sales representatives.
4) Use of any other than genuine parts and specified grease and lubricants.
5) Incorrect or inadequate maintenance and inspection.
6) Repairs by other than authorized dealers.
YAMAHA MOTOR CO., LTD. MAKES NO OTHER EXPRESS OR IMPLIED WARRANTIES,
INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY
PARTICULAR PURPOSE. THE WARRANTY SET FORTH ABOVE IS EXCLUSIVE AND IS
IN LIEU OF ALL EXPRESSED OR IMPLIED WARRANTIES, INCLUDING WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR WARRANTIES ARISING
FROM A COURSE OF DEALING OR USAGE OF TRADE.
YAMAHA MOTOR CO., LTD. SOLE LIABILITY SHALL BE FOR THE DELIVERY OF THE
EQUIPMENT AND YAMAHA MOTOR CO., LTD. SHALL NOT BE LIABLE FOR ANY
CONSEQUENTIAL DAMAGES (WHETHER ARISING FROM CONTRACT, WARRANTY,
NEGLIGENCE OR STRICT LIABILITY). YAMAHA MOTOR CO., LTD. MAKES NO
WARRANTY WHATSOEVER WITH REGARD TO ACCESSORIES OR PARTS NOT SUPPLIED
BY YAMAHA MOTOR CO., LTD.
11. Warranty

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12. CE Marking
Refer to the following YAMAHA robot controller user's manuals for details on the related
CE Marking for export to or use in EU regions.
• CE marking supplement manual for RCX series
12. CE Marking