Yamaha YK250XGC User manual

Ver.1.09
EWHM127100
E52
Ver. 1.00
YAMAHASCARAROBOT
InstallationManual
YK-XG Series
Clean room models
YK250XGC / YK350XGC / YK400XGC / YK500XGLC / YK600XGLC
Dust/drip proof models
YK250XGP / YK350XGP / YK400XGP / YK500XGLP / YK600XGLP

CONTENTS YK-XG
Installation Manual
T-1
Safety Instructions
1. Safety Information S-1
2. Signal words used in this manual S-2
3. Warning labels S-3
3.1 Warning labels S-3
3.1.1 Warning label messages S-3
3.1.2 Supplied warning labels S-5
3.2 Warning symbols S-6
4. Major precautions for each stage of use S-7
4.1 Precautions for using robots and controllers S-7
4.2 Design S-8
4.2.1 Precautions for robots S-8
4.2.2 Precautions for robot controllers S-8
4.3 Moving and installation S-9
4.3.1 Precautions for robots S-9
4.3.2 Precautions for robot controllers S-10
4.4 Safety measures S-12
4.4.1 Safety measures S-12
4.4.2 Installing a safety enclosure S-13
4.5 Operation S-14
4.5.1 Trial operation S-14
4.5.2 Automatic operation S-16
4.5.3 Precautions during operation S-16
4.6 Inspection and maintenance S-18
4.6.1 Before inspection and maintenance work S-18
4.6.2 Precautions during service work S-19
4.7 Disposal S-20
5. Emergency action when a person is caught by robot S-21
6. Using the robot safely S-22
6.1 Robot safety functions S-22
6.2 Special training for industrial robot operation S-23
Warranty

CONTENTS YK-XG
Installation Manual
T-2
T-3
Introduction
Before using the robot (Be sure to read the following notes.) i
Introduction iii
Chapter 1 Functions
1. Robot manipulator 1-1
1.1 Manipulator movement 1-1
1.2 Part names 1-2
2. Robot initialization number list 1-3
Chapter 2 Installation
1. Robot installation conditions 2-1
1.1 Sucking from the base rear side of the clean room model 2-1
1.2
Protection ratings for moisture and dust on dust/drip proof models 2-2
2. Installation 2-3
2.1 Checking the product 2-3
2.2 Moving the robot 2-4
3. User wiring and user tubing 2-6
4. Limiting the movement range with X- and Y-axis mechanical stoppers 2-9
4.1 Installing the X-axis/Y-axis additional mechanical stoppers 2-10
5. Limiting the movement range with Z-axis mechanical stopper 2-13
6.
Working envelope and mechanical stopper positions for maximum working envelope 2-13
7. Installing the user wiring and tubing newly 2-14
8. Passing the user wiring and tubing through the spline 2-15
9. Detaching or attaching the covers 2-16
10. Installingthetoolange 2-21
Chapter 3 Robot settings
1. Overview 3-1

T-2
CONTENTS YK-XG
Installation Manual
T-3
2. Adjusting the origin 3-2
3. Standard coordinate setting using a standard coordinate setup jig 3-3
Chapter 4 Periodic inspecition
1. List of inspection items 4-1
Chapter 5 Specications
1. Manipulator 5-1
1.1 Basicspecication 5-1
1.2 External view and dimensions 5-2
1.2.1 YK250XGC(P) 5-2
1.2.2 YK350XGC(P) 5-4
1.2.3 YK400XGC(P) 5-6
1.2.4 YK500XGLC(P) 5-8
1.2.5 YK600XGLC(P) 5-10

Contents
1. Safety Information S-1
2. Signal words used in this manual S-2
3. Warning labels S-3
3.1 Warning labels S-3
3.1.1 Warning label messages S-3
3.1.2 Supplied warning labels S-5
3.2 Warning symbols S-6
4. Major precautions for each stage of use S-7
4.1 Precautions for using robots and controllers S-7
4.2 Design S-8
4.2.1 Precautions for robots S-8
4.2.2 Precautions for robot controllers S-8
4.3 Moving and installation S-9
4.3.1 Precautions for robots S-9
4.3.2 Precautions for robot controllers S-10
4.4 Safety measures S-12
4.4.1 Safety measures S-12
4.4.2 Installing a safety enclosure S-13
4.5 Operation S-14
4.5.1 Trial operation S-14
4.5.2 Automatic operation S-16
4.5.3 Precautions during operation S-16
4.6 Inspection and maintenance S-18
4.6.1 Before inspection and maintenance work S-18
4.6.2 Precautions during service work S-19
4.7 Disposal S-20
5. Emergency action when a person is caught by robot S-21
6. Using the robot safely S-22
6.1 Robot safety functions S-22
6.2 Special training for industrial robot operation S-23
Safety Instructions

Safety Instructions
S-1
1. Safety Information
Industrial robots are highly programmable, mechanical devices that provide a large degree of freedom when
performing various manipulative tasks. To ensure safe and correct use of YAMAHA industrial robots and
controllers, carefully read and comply with the safety instructions and precautions in this "Safety Instructions"
guide. Failure to take necessary safety measures or incorrect handling may result in trouble or damage to the
robot and controller, and also may cause personal injury (to installation personnel, robot operator or service
personnel) including fatal accidents.
Before using this product, read this manual and related manuals and take safety precautions to ensure correct
handling.
The precautions listed in this manual relate to this product. To ensure safety of the user’s final system that
includes YAMAHA robots, please take appropriate safety measures as required by the user’s individual
system.
To use YAMAHA robots and controllers safely and correctly, always comply with the safety rules and
instructions.
• 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manuals,warninglabels,
 operationscreencharacters,andCEdeclarationsisEnglishonly.
 WarninglabelsonlyhavepictogramsorelseincludewarningmessagesinEnglish.Inthelattercase, 
messages in Japanese or other languages might be added.
It is not possible to list all safety items in detail within the limited space of this manual. So please note
that it is essential that the user have a full knowledge of safety and also make correct judgments on safety
procedures.
Refer to the manual by any of the following methods when installing, operating or adjusting the robot
and controller.
1. Install, operate or adjust the robot and controller while referring to the printed version of the
manual (available for an additional fee).
2. Install,operateoradjusttherobotandcontrollerwhileviewingtheCD-ROMversionofthe
manual on your computer screen.
3. Install, operate or adjust the robot and controller while referring to a printout of the necessary
pagesfromtheCD-ROMversionofthemanual.

Safety Instructions
S-2
2. Signal words used in this manual
This manual uses the following safety alert symbols and signal words to provide safety instructions that must
be observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure
you understand the meaning of each symbol and signal word and then read this manual.
THIS INDICATES AN IMMEDIATELY HAZARDOUS SITUATION WHICH, IF NOT AVOIDED, WILL RESULT IN DEATH OR
SERIOUS INJURY.
THIS INDICATES A POTENTIALLY HAZARDOUS SITUATION WHICH, IF NOT AVOIDED, COULD RESULT IN DEATH OR
SERIOUS INJURY.
This indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury, or
damage to the equipment.
Explains the key point in the operation in a simple and clear manner.