Serious injury or death will result from impact with moving robot. Keep outside of guard during operation. Lock out power before approaching robot. (2) Use caution to prevent hands or fingers from being pinched or crushed. Warning labels 2 (Fig. 1-2) are affixed to the robot. WARNING Moving parts can pinch or crush. Keep hands away from robot arms.

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

Moving parts can pinch or crush. Keep hands away from robot arms.
IFig. 1-2 Warning label 2
IFig. 1-1 Warning label 1
(3) Follow the instructions on warning labels and in this manual. Warning label 3 (see Fig. 1-3) is supplied with the robot and should be affixed to the robot or a conspicuous spot near the robot. Be sure to read the warning label and this manual carefully and make your thoroughly understand the contents before attempting installation and operation of the robot. Before starting the robot operation, even after you have read through this manual, read again the corresponding procedures and cautions in this manual as well as descriptions in the this chapter (Chapter 1, Using the Robot Safely). Never install, adjust, inspect or service the robot in any manner that does not comply with the instructions in this manual. WARNING Improper installation or operation can result in serious injury or death. Read users manual and all warning labels before operation.
Improper Installation or operation can result in serious injury or death. Read user's(owner's) manual and all warning labels before operation.

Fig. 1-3 Warning label 3

(4) Do not use the robot in environments containing inflammable gas, etc. WARNING This robot was not designed for operation in environments where inflammable or explosive substances are present. Do not use the robot in environments containing inflammable gas, dust or liquids. Explosions or fire could otherwise result. (5) Do not use the robot in locations possibly subject to electromagnetic interference, etc. WARNING Avoid using the robot in locations subject to electromagnetic interference, electrostatic discharge or radio frequency interference. Malfunction may otherwise occur. (6) Use caution when releasing the Z-axis (vertical axis) brake. WARNING The Z-axis will slide down when the Z-axis brake is released, causing a hazardous situation. Press the emergency stop button and prop up the Z-axis with a support stand before releasing the brake. Use caution not to let your body get caught between the Z-axis and installation base when releasing the brake to perform direct teach. (7) Provide safety measures for end effector (gripper, etc.). WARNING End effectors must be designed and manufactured so that they cause no hazards (for example, loosening of workpiece) even if power (electricity, air pressure, etc.) is shut off or power fluctuations occur. 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.

P & P robot unit.. 2-1 P & P robot controller. 2-2

CHAPTER 2 Functions

P & P robot unit
The YP320X and YP220BX each have 2 axes: X and Z. The YP330X has 3 axes: X, Y and Z. The YP320XR and YP220BXR have 3 axes: X, Z and R. The YP340X has 4 axes: X, Y, Z and R. They move along the axes as shown in Fig. 2-1 and by adding custom tools, can perform work over a wide range with high accuracy and speed. These robots are ideal for high speed pick and place operations using small parts.

(YP320X)

(YP340X)
Fig. 2-1 P & P robots
P & P robot controller
The YP-X series robots use the QRCX, TRCX, DRCX as their robot controllers. Please refer to the "YAMAHA Robot Controller QRCX, TRCX, DRCX Instruction and User's Manual" for detailed information on each robot controller.
The Y displayed on the programming unit of the YP320X and YP220BX refers to the robot main unit axis (vertical movement). If data is input to Y, the Z axis will move. Likewise, on the YP320XR and YP220BXR, the Y displayed on the programming unit is the Z-axis (up/down operation) of the robot unit, and the Z is the R-axis (swivel operation) of the robot unit.

Q R C X

YAMAHA

POWER CPU OK SERVO ALARM

Fig. 2-2 Robot controllers
Robot Installation Conditions. 3-1
1-1 Installation environments.. 3-1

Installation... 3-3

2-1 2-2 Installation frame.. 3-3 Installing the robot... 3-4

CHAPTER 3 Installation

Robot Installation Conditions
Installation environments
Be sure to install the robot in the following environments.
Items Allowable ambient temperature 0 to 40C Allowable ambient humidity Height Ambient environments 35 to 85% RH (non condensation) 0 to 1000 meters above sea level Avoid installing near water, cutting water, oil, dust, metallic chips and organic solvent. Avoid installation near corrosive gas and corrosive materials. Avoid installation in atmosphere containing inflammable gas, dust and liquid. Avoid installation near objects causing electromagnetic interference, electrostatic discharge and radio frequency interference. Vibration Air supply pressure, etc. Working space Do not subject to impacts or vibrations. Below 0.58MPa (6.0kgf/cm2); clean dry air not containing deteriorated compressor oil; filtration 40m or less Allow sufficient space margin to perform jobs (teaching, inspection, repair, etc.) Specifications

For detailed information on how to install the robot controller, refer to the separate YAMAHA Robot Controller Users Manual. WARNING Avoid installing the robot in locations where the ambient conditions may exceed the allowable temperature or humidity, or in environments where water, corrosive gases, metallic powder or dust are generated. Malfunction, failure or short circuits may otherwise result. WARNING This robot was not designed for operation in environments where inflammable or explosive substances are present. Do not use the robot in environments containing inflammable gas, dust or liquids. Explosions or fire could otherwise result. WARNING Avoid using the robot in locations subject to electromagnetic interference, electrostatic discharge or radio frequency interference. Malfunction may otherwise occur.
WARNING Do not use the robot in locations subject to excessive vibration. Robot installation bolts may otherwise become loose causing the manipulator to fall over.
Strictly observe all safety precautions and procedures inorder to install the robot correctly and safely.

Installation frame

1) Prepare a strong, rigid installation frame to absorb large reactive forces that occur during robot operation.
Vibration (resonance) may adversely affect robot operation if this frame is not rigid. 2) The levelness and parallelism of the robot installation surface on the frame must be manufactured to within a precision of 0.1mm or more.
If the installation surface (level) precision is deficient the robot will have poor positioning precision. Strictly observe all safety precautions and procedures to ensure the robot is installed safely and correctly.

Installing the robot

(1) YP320X, YP320XR installation Eight M8 screw holes (pitch 1.25 mm) are provided in the base section of the YP320X and YP320XR unit. Use four of these holes for the installation.
The plate thickness of the base is 20 mm so make sure the bolts do not exceed this distance and protrude into the robot interior. 1) Drill holes (approx. 10 dia.) into the frame installation surface as shown. 2) Tighten with hex head bolts from the rear side of the frame through the holes. The M8 bolt tightening torque is 230 to 370 kgcm.

301 135

120 105

B F 8-M81.25 Depth 20

Fig. 3-1 YP320X, YP320XR installation Installation to the frame can also be done by removing the unit cover and installing four M6 bolts from the robot side into A, C, E and G as shown in Fig. 3-1 into the frame. The M6 bolt tightening torque is 100 to 160 kgcm. The D and H holes are not used at this time. WARNING Be sure to use the specified type and number of bolts, and securely tighten them to the correct torque. If the bolts are not tightened correctly, the robot may cause positioning errors or fall over during operation, causing a serious accident.

After installing the robot, absolute reset must be performed again in the case of a through h above. The robot must be moved to the origin position before absolute reset can be performed. After the robot setup is complete, select an origin position that will not interfere with the peripheral equipment.
After performing absolute reset, move the robot to a point already known and verify that the origin position was set correctly. In such cases, keep the robot movement at low speed, as much as possible.
The point data must be set again when the origin position was changed.
If the origin position was changed, then you must make new point data. Do not attempt to use point data that was made before the origin position was changed.
The mark method or the stroke end method can be used to perform absolute reset for the YP-X series. The mark method is used for the R-axis default setting and the stroke end method is used for the X, Y and Z axis default settings.

Mark method (R-axis)

In the mark method, the robot is moved beforehand to the position where you want to perform absolute reset. That position will be the absolute reset position. (1) Move the robot in jog mode while in servo-on. (2) Move the robot manually while in servo-off.
Absolute reset by the mark method is also possible by using a teaching pendant or data sent through an RS-232C. However, absolute reset is not possible with custom inputs.
The YP320XR, YP340X and YP220BXR come supplied with alignment mark seals for the R-axis. Perform absolute reset by the mark method, and then attach these seals (or stickers) after finding the origin position. If you attach the seal as far away from the center of rotation as possible, then the repeatability is higher when the next time absolute reset is needed. (See Fig. 4-1.)

Center of rotation

Seals (supplied)

Alignment mark seals

Fig. 4-1 Seals supplied with robot
Stroke end method (X, Z, Y axes)
In absolute reset by the stroke end method, the position where the axis tip strikes the mechanical stopper is detected, and absolute reset performed at a position backed off slightly from the stroke end.
WARNING Making physical contact with the robot during operation can cause severe injuries. Never enter within the movement range of the robot during absolute reset.
The stroke end method is used for the X, Z and Y axes. An ideal position to end absolute reset is approximately 4 to 5mm away from the mechanical stopper. If the position obtained is not 4 to 5mm away, then change the position where the belt teeth engage the pulley and try performing absolute reset again.
Adjustment of the belt tension

Each axis of the YP-X series robots has a belt-driven structure. When this belt is replaced or when it is stretched due to strong external forces (bumping etc.), adjust the belt tension with the following procedure.
Adjustment of X,Y, Z axis motor belt tension
1) Turn off the controller power. 2) Remove the cover for each axis. 3) Loosen the bolts securing each motor and apply tension to the belt by pulling on the motor. When loads as shown in the table below are applied to the center section of the belt, a slack amount as shown in the lower part of the table is satisfactory. 4) Retighten the bolts securing the motor and reinstall the axis covers.
Robot Model Load Slack YP320X YP330X YP220BX YP320XR YP340X YP220BXR X-axis Z-axis X-axis Y-axis Z-axis X-axis Z-axis Load (Kg) 1 0.1 0.5 0.5 0.Slack (mm)

Pulley

Fig. 4-2 Belt tension
Belt tension that is too strong will damage the motor shaft.
The robot position may change depending on the belt tension.
Adjustment of Z axis tip belt tension (YP320X, YP320XR, YP330X, YP340X)
1) Turn off the controller power. 2) Remove the robot Z axis cover. 3) Loosen the bolt securing the belt tensioner as shown in Fig. 4-3 and loosen the belt. 4) Insert a slotted screwdriver into the clearance between the X axis plate and the belt tensioner, and then lever the screwdriver to apply tension to the belt. 5) Apply a load of 0.5 kgf to the center section of the belt for fixing the belt tension. A slack of approximately 2mm is satisfactory. 6) If the belt tension in now satisfactory, tighten the bolts securing the belt tensioner. 7) Install the Z axis cover for the robot.

Belt tensioner

Z-axis plate

Securing bolt

Load 0.5kg

Approx.2mm

Fig. 4-3 Belt tension
Adjustment of Z axis tip belt tension (YP220BX, YP220BXR)
1) Turn off the controller power. 2) Remove the robot Z axis cover. 3) Loosen the bolt securing the belt tensioner as shown in Fig. 4-4 and loosen the belt. 4) Screw the M6 bolt into the hole located beneath the belt tensioner (L-shaped metal plate) to apply tension to the belt. 5) Apply a load of 0.5 kgf to the center section of the belt for fixing the belt tension. A slack of approximately 2mm is satisfactory. 6) If the belt tension in now satisfactory, tighten the bolts securing the belt tensioner. 7) Install the Z axis cover for the robot.

Approx. 2mm

M6 bolt

Fig. 4-4 Belt tension

Adjust the X-axis belt tension (YP220BX, YP220BXR)
1) 2) 3) 4) Turn off the controller power. Remove the side cover on the robot unit. Loosen the bolts securing the driven pulley shown in Fig. 4-5. Loosen the belt tensioner (L-shaped metal plate) M5 bolts and apply tension to the belt. 5) As a guide for setting belt tension, check a slack in the belt of about 5mm when a 1kg load is applied to the center of the belt. 6) If the belt tension in now satisfactory, tighten the bolts securing the belt tensioner. 7) Reattach the side cover on the robot unit.

Driven pulley

Securing bolt Belt tensioner

M5 bolt

Fig. 4-5 Belt tension
Introduction.. 5-1 Inspection.. 5-3
2-1 2-2 Daily Checklist... 5-3 Six Month Inspection.. 5-4
3-1 3-2 3-3 Replacement of X, Y, Z axis motors (YP320X, YP330X, YP340X, YP320XR).. 5-5 Replacement of X and Z axis motor (YP220BX, YP220BXR)... 5-7 Replacement of R axis motor (YP220BXR, YP320XR, YP340X).. 5-8
4-1 4-2 4-3 4-4 4-5 4-6 Replacement of the X and Z axis belts (YP320X, YP330X, YP340X, YP320XR).. 5-9 Replacement of Y axis belt (YP330X, YP340X). 5-10 Replacement of Z axis belt (YP220BX, YP220BXR). 5-11 Replacement of X axis belt (YP220BX, YP220BXR). 5-12 Replacement of Z axis tip section belt (YP320X, YP330X, YP340X, YP320XR).. 5-13 Replacement of Z axis tip section belt (YP220BX, YP220BXR).. 5-14
Sample troubleshooting. 5-15 Spare parts list.. 5-17

CHAPTER 5 Installation

Periodic inspections and maintenance are extremely important in assuring that the YAMAHA robot will perform safely and efficiently. This chapter covers the procedures by which periodic inspections of the YAMAHA YP-X series are carried out, as well as the items to be inspected and information on maintenance.
If the adjustment or maintenance procedure calls for operation of the robot, stay out of the working area of the manipulator while it is operating. Do not touch any parts inside the controller. Keep watching the manipulator movement and surrounding area so that the operator can press the emergency stop button if any danger occurs. WARNING When the robot does not need to be operated during adjustment or maintenance, always turn off the controller and the external switch board. Do not touch the internal parts of the controller for several seconds after the power to the controller has been turned off. When performing electrical maintenance which does not require manipulator movement, keep the emergency stop button pressed. Use only the lubricants or grease specified by YAMAHA or the YAMAHA sales dealer. Use only the parts specified by YAMAHA or the YAMAHA sales dealer. Take sufficient care not to allow any foreign matter to contaminate them during adjustment, parts replacement or reassembly. Do not alter any part of the manipulator or controller. Doing so may result in unsatisfactory specifications or may threaten the safety of the operator. When adjustment or maintenance is complete, retighten the bolts and screws securely. During robot adjustment or maintenance, place a sign indicating that the robot is being adjusted or inspected, to prevent other persons from inadvertently touching the control keys or switches. Provide a lock on the switch keys or ask someone to keep watch as needed.

WARNING Precautions when handling grease: Inflammation may occur if they get in the eyes. Before handling them, wear your safety goggles to ensure they will not come in contact with the eyes. Inflammation may occur if they come into contact with skin. Be sure to wear protective gloves to prevent contact with skin. Do not take orally or eat. (Eating will cause diarrhea and vomiting.) Hands and fingers might be cut when opening the container, so use protective gloves. Keep out of the reach of children. Do not heat them or place near an open flame since this could lead to sparks and fires. Emergency Treatment: If they get in the eyes, wash liberally with pure water for about 15 minutes and consult a physician for treatment. If they come in contact with the skin, wash away completely with soap and water. If taken internally, do not induce vomiting but promptly consult a physician for treatment.

Inspection

Daily Checklist
The following is a list of maintenance operations that must be performed every day before and after operating the robot.
CHECK POINT Cables Motor, Encoder, Deceleration, Ball screw, Bearing (X axis) Ball screw, ball spline, ball bush section (Y, Z axes) Linear guide section * Maintain the parts so that they never dry out. PROCEDURE Check for scratches, dents, holes and kinks. Check for excessive vibration, noise and, overheating, etc. Remove all dirt and dust, and apply a thin coat of grease. Use Alvania No. 2 (Showa Shell) or Daphney Kuronex (Idemitsu Kosan) grease.
Avoid using the sliding parts such as ball screws, ball splines, ball bushings and linear guides while they are in a dry state. A premature wear or damage to the sliding surface may otherwise result.
Using a grease other than recommended by YAMAHA may shorten the service life of the ball screw, ball spline, ball bushing and linear guide.

Six Month Inspection

Inspect the following for the six month inspection, and replace parts if necessary.
Inspection or replacement place Main bolts and screws on the P & P robot X, Y and Z axis timing belt Machine reference after absolute reset Wiring in P & P robot Inside controller Check the X, Y, and Z axis timing belts for tension, scratches and wear. Perform absolute reset and check that the machine reference is within the specified range (45 to 55%). Check for scratches on the cables, etc. Check for looseness in the relay connectors, etc. Check that the relay contact point operates properly Check for looseness in the terminals Check for looseness in the connectors Fan for air-cooling on rear of controller Check that the fan rotates Check for abnormal sounds during rotation Check for dirt on the fan cover. Remove and clean if dirty. Inspection or replacement details Check for looseness. If loose, tighten.

1) Turn off the controller power. 2) Remove the robot Z axis cover. 3) Place marks(with a marker etc.) on the pulleys before replacement to limit deviations in point data occurring due to the belt replacement. (Fig. 5-4) 4) Remove the bolts securing the belt tensioner in Fig. 5-9 and remove the belt from the pulley. 5) Remove the plate gripping the belt in Fig. 5-9. 6) Prepare a new belt and grip the new belt with the plate removed in step 4). Apply a coating of Screw-lock (or equivalent) to the M5 bolts and tighten them. 7) Place the new belt on the pulley lining it up with the marks (for synchronizing the positions of the two pulleys) you made in step 3) above. Next install the belt tensioner. 8) Adjust the belt tension and set the origin position again by absolute reset as explained in the previous section. (See Chapter 4) 9) Make corrections if any point data has deviated.

M5 bolt Metal plate

Fig. 5-9 Belt replacement
Replacement of Z axis tip section belt (YP220BX, YP220BXR)
1) Turn off the controller power. 2) Remove the robot Z axis cover. 3) Place marks(with a marker etc.) on the pulleys before replacement to limit deviations in point data occurring due to the belt replacement. (Fig. 5-4) 4) Remove the bolts securing the belt tensioner in Fig. 5-10 and remove the belt from the pulley. 5) Remove the plate gripping the belt in Fig. 5-10. 6) Prepare a new belt and grip the new belt with the plate removed in step 4). Apply a coating of Screw-lock (or equivalent) to the M5 bolts and tighten them. 7) Place the new belt on the pulley lining it up with the marks (for synchronizing the positions of the two pulleys) you made in step 3) above. Next install the belt tensioner. 8) Adjust the belt tension and set the origin position again by absolute reset as explained in the previous section. (See Chapter 4) 9) Make corrections if any point data has deviated.
M5 bolt Metal plate Securing bolt
Fig. 5-10 Belt replacement

Position deviates.

The position deviates after moving the robot or set up of workpiece tool. Robot bumped into something, or there are traces of bumping into (rubbing against) something.
Operation was correct, but position deviates.

No Mechanical cause

Does the position return after return to origin? Is cable broken? Yes Yes

Sample troubleshooting

No Replace the cable Electrical cause (1) Check tool and workpiece for warping. (2) Check robot coupling for slipping and belt for teeth skipping. Yes No Take measures against noise.
Are cables correctly wired? Are connectors correctly fitted?
(1) Check for looseness of mechanical parts. Retighten if necessary. (2) Replace mechanical parts.
Check wiring and connectors.
Are the robot, tools and workpiece correctly installed?
Is there a large source of noise nearby?
Check installation method.
Check for looseness of robot mechanical parts.
Check or replace the motor, cable and controller.

Feedback error

No Adjust mechanical alignment Is there electrical discontinuity? Is brake installed? Recheck Yes Repair Is brake sound heard when turning power on and off? No Initialize parameters Yes No Is 24V supplied to brake? No Yes Yes Yes
Any foreign matter caught inside? No
Much mechanical friction?
Turn power off and check for friction by moving manually
Repair No Replace motor (with brake)
Are parameters for controller and robot OK? No
Replace power supply unit or repair defective parts
Yes No Securely connect wiring and connector
Is there electrical discontinuity? Yes
Are wiring and connector securely connected?
Are connector pins securely inserted? Is wiring live? Yes
When feedback error is occurring, perform continuity check (1) Check motor power supply lines U, V and W (2) Check encoder signal lines for phases A and B
No Replace motor since motor has shorted or burnt out Yes No Replace motor Yes (1) Check position shift by repetitive accuracy measurement (2) If replacement motor is available, check by exchanging the motors (1) If replacement controller is available, check by exchanging the controllers
Securely insert pins or repair defective pins

Is motor resistance OK?

Take noise reduction measures

Is motor encoder OK?

Is external noise large?
Is controller hardware OK?
YP220BX Spare Parts PART NAME Q'TY 1 200W (X) 200W (Z) 219UP3M 635UP5M 252UP3M S3M369 SSR15W REMARKS AC SERVO MOTOR AC SERVO MOTOR BELT, 1 BELT, 2 BELT, 1 BELT, 2 LM, BLOCK LM, RAIL CABLE, ROBOT

PART NO.

Spare parts list
90K90-62012X 90K90-62213Z KC5-M2256-200 KC5-M2257-100 KC5-M2256-100 KC5-M173H-000 90K80-S15RW0 90K71-0L0167 KC5-M4752-X00
5-CHAPTER 5 Installation 4

YP220BXR Spare Parts

Q'TY REMARKS PART NAME AC SERVO MOTOR 1 200W (X) AC SERVO MOTOR 1 200W (Z) BELT, 219UP3M BELT, 635UP5M BELT, 252UP3M BELT, S3M369 LM, BLOCK 1 SSR15W LM, RAIL 1 CABLE, ROBOT 1 QRCXTRCX3 CABLE, ROBOT 1 60W (R) MOTOR, COMP. HARNESS, MACHINE 4 1
PART NO. 90K90-62012X 90K90-62213Z KC5-M2256-200 KC5-M2257-100 KC5-M2256-100 KC5-M173H-000 90K80-S15RW0 90K71-0LKC4-M4752-X00 KC4-M4753-XKC4-M2284-BKC5-M4845-000
YP320X Spare Parts PART NAME Q'TY REMARKS AC SERVO MOTOR 1 200W (X) AC SERVO MOTOR 1 200W (Z) BELT, S5M255 BELT, S3M252 BELT, S3M369 LM, BLOCK 1 SSR15W LM, RAIL 1 CABLE, ROBOT 1
PART NO. KC4-M4881-000 90K90-62212Z KC0-M2256-100 KC0-M2256-000 KC5-M173H-000 90K80-S15RW0 90K71-0L0167 KC4-M4751-X00
5-6 CHAPTER 5 Installation 4

YP320XR Spare Parts

PART NAME Q'TY REMARKS
KC4-M4881-000 90K90-62212Z KC0-M2256-100 KC0-M2256-000 KC5-M173H-000 90K80-S15RW0 90K71-0LKC4-M2284-BKC4-M4845-KC4-M4752-X00 KC4-M4753-X00 AC SERVO MOTOR AC SERVO MOTOR BELT, 1 BELT, 1 BELT, 2 LM, BLOCK LM, RAIL MOTOR,COMP. HARNESS,MACHINE 4 CABLE, ROBOT CABLE, ROBOT 60W (R) SSR15W QRCX TRCX200W (X) 200W (Z) S5M255 S3M252 S3M369 SSR15W

YP330X Spare Parts

200W (X) 200W (Z) S5M255 S3M252 S3M369 SSR15W
200W (Y) S5M350 Power Signal QRCX TRCX
KC4-M4881-000 90K90-62212Z KC0-M2256-100 KC0-M2256-000 KC5-M173H-000 90K80-S15RW0 90K71-OL0167 90K90-62012Y KC1-M2256-000 KC4-M4843-100 KC4-M4844-100 KC4-M4752-X00 KC4-M4753-X00 AC SERVO MOTOR AC SERVO MOTOR BELT, 1 BELT, 1 BELT, 2 LM, BLOCK LM, RAIL AC SERVO MOTOR BELT,1 HARNESS,MACHINE 2 HARNESS,MACHINE 3 CABLE,ROBOT CABLE,ROBOT 1
YP340X Spare Parts PART NAME Q'TY 200W (X) 200W (Z) S5M255 S3M252 S3M369 SSR15W 200W (Y) S5M350 Power Signal QRCX/TRCX 60W (R) REMARKS
1 KC4-M4881-90K90-62212Z 3 KC0-M2256-KC0-M2256-KC5-M173H-90K80-S15RW0 90K71-0L90K90-62012Y 8 KC1-M2256-KC4-M4843-100 KC4-M4844-KC4-M4752-XKC4-M2284-BKC4-M4845-100
AC SERVO MOTOR AC SERVO MOTOR BELT, 1 BELT, 1 BELT, 2 LM, BLOCK LM, RAIL AC SERVO MOTOR BELT, 1 HARNESS,MACHINE 2 HARNESS,MACHINE 3 CABLE,ROBOT MOTOR,COMP. HARNESS,MACHINE 4

Bottom plate

Fig. 6-1 YP220BX robot external view
+Z (Note1) 510 X stroke : 4-10

Tool plate 22 78

Grounding terminal (M4)

Robot cable

3 (Note1)
Note 1: Distance to mechanical stopper Note 2: Return-to-origin on the YP220BX is by absolute reset. So the origin position must be set the first time (making initial settings) but after that is not required.
Width across flat 7 8hM50.8 Depth 469 +X 12 56
(Details of tool attachment 1: 1)

2-Coupling for air (4)

4 (Note1)
Grounding terminal (M4) 5 (Note1) 510 103

10 X stroke : (Note1)

67 (89)
Fig. 6-2 YP220BXR robot external view

+Z 490 10

Note 1: Distance to mechanical stopper Note 2: Return-to-origin on the YP220BXR is by absolute reset. So the origin position must be set the first time (making initial settings) but after that is not required.
8 Air tube detachable connection

MAX.700

Note: Tool plate is detachable. The tool plate is made of aluminum alloy. (Details of tool attachment 1:1)

(650) 14 +X

Z stroke:100

2 (Note1)

4-Coupling for air (4) 5 (Note1) 301 103
Fig. 6-3 YP320X robot external view

X stroke : 330 70

(301) 8 8-M81.25 Depth 20 (Note3)

Warning

Note 1: Distance to mechanical stopper Note 2: Return-to-origin on the YP320X is by absolute reset. So the origin position must be set the first time (making initial settings) but after that is not required. Note 3: Do not use bolts longer than 20mm (robot bottom plate thickness).

(650) 431 15.+X 14

+Z (57) Z stroke:100 YAMAHA YP SERIES 193

B 319 78

5 (Note1) X stroke : 330

3 (Note1) 16

5 (Note1)

Y stroke : 9.10 2

2 (Note1) 7.5

60 12.5

(319) 12

(280) 255

Note: Tool plate is detachable. The tool plate is made of aluminum alloy. 14.34 (Details of tool attachment 1:1)
Fig. 6-4 YP330X robot external view
B 8-M81.25 Depth 20 (Note3)

4-Coupling for air (4)

Note 1: Distance to mechanical stopper Note 2: Return-to-origin on the YP330X is by absolute reset. So the origin position must be set the first time (making initial settings) but after that is not required. Note 3: Do not use bolts longer than 20mm (robot bottom plate thickness).

(700) +X 71 55

+Z 180 70

A 2 (Note1)

Fig. 6-5 YP340X robot external view
X stroke : (Note1) 82 B (Note1) (319) 12 8-M8X1.25 Depth 20 (Note3) B

4cm 10cm

Center line R Axis
From equation (6.4), the moment of inertia is:
Jc = 0.1(102+22) 12980 + 0.= 0.0025 (kg cm sec2)

Fig. 6-23

2. Moment of inertia of the chuck When the chuck form resembles that shown in Fig. 6-24: Ws = 0.0026146 = 0.06 (kg)

From equation (6.4):

Jc = 0.0682 0.06(12+42) + 6cm 4cm

= 0.004 (kg cm sec2)

Fig. 6-24 3. Moment of inertia of the workpiece

From Fig. 6-25:

D2h Ww = = 4 = 0.03 (kg) 0.0026224 4

From equation (6.3):

Jc = 0.+ 0.0382 980

= 0.002 (kg cm sec2)

Fig. 6-25 4. Total weight W = Ws+Wc+Ww=0.19 (kg) 5. Total moment of inertia W = Js+Jc+Jw=0.0085 (kgcmsec2) The allowable R-axis moment inertia is 0.01 (kgcmsec2), so there is no problem with the above point.

Robot allowable duty

To prolong the YP-X series robot service life, operate the robot within 80% of the allowable duty ratio

Duty (%)

Operating time Operating time+ OFF time
Service life may be shortened if the robot is used for longer than its allowable duty time.
For instance, if we set a job operation where work is gripped at point A, placed at point B and then again returned to point A, all as one cycle taking place in 1 second, then the allowable duty is 70% which we calculate as:
Time needed for round-trip between A and B of 0.8 sec. 0.8 sec. for round-trip between A and B + 0.2 sec. for work transfer at points A&B
Note that a time of at least 0.2 seconds is needed for stopping at points A and B.

Allowable overhang

The table below shows the allowable overhang for the YP320X, YP330X, YP220BX robots. This is calculated under the conditions that the Z-axis linear guide travel life is about 20000 km, acceleration is 100%, and maximum speed is 100%.
Payload W 0 W 1kg 1 W 2kg 2 W 3kg
Allowable Overhang L 140mm 50mm 30mm

YAMAHA YP SERIES W kg

Fig. 6-26
Although the robot can be operated with an overhang load exceeding the values listed in the above table, this will cause premature wear or damage to the drive unit (especially linear guide). In contrast, operating the robot with a smaller overhang load will extend the service life of the drive unit.

X-axis droop

Because of the one-sided support structure, the YP-X series manipulator arm droops downward slightly when it moves to the X-axis stroke end (forward end). The amount of droop during a maximum stroke on the X-axis is shown in the table below.

YFM400FWN BIG-BEAR YFM450 Kodiak 4WD YFM50 Raptor YFM600 Grizzly YFM600FWA GRIZZLY YFM600H HUNTING YFM660 Grizzly 2WD YFM660 Grizzly 4WD YFM660 Raptor YFM660R RAPTOR YFM80 YFM80 BADGER YFM80 Raptor YFP350 TERRAPRO YFS200 BLASTER YFU1 PRO HAULER YFZ350 BANSHEE YFZ450 YT125 YT175 YT60 TRIZINGER YTM200 YTM200E YTM225DR
BMW 500 & 600cc Twins ( R50 - R50/2 - R50S - R50US - R60 - R60/2 R60US - R69 - R69S - R69US ) BMW C1-CBMW F 650 CS BMW F 650 CS - Dakar - GS ---BMW F 650 GS-GS Dakar BMW F 650 GS BMW K 1100 LT-RS BMW K 1200 LT BMW K 1200 LT + ABS BMW K 1200 RS BMW K 1200 R-S ---BMW R 50 - R 50 S - R 60 - R 69 - Slash 5 BMW R 60 -R 75 - R 90 - R 90 S - Slash 6 BMW R 80 GS + R 100 R BMW R 850-1100 R-RT-RS-GS BMW R 850-1200 C BMW R 1100 S BMW R 1150 GS BMW R 1150 R + ABS BMW R 1150 RT BMW R 1200 CBMW R 1200 GS ---BMW R 1200 GS-RT-ST ----
Buell Lightning S1 Buell Lightning X1 Buell XB9R Firebolt

Cagiva

Cagiva T4 350-500 RE-E Cagiva TRE Cagiva Cruiser 125 Cagiva Freccia 125 C9 Cagiva Freccia 125 C10R - ANNIVERSARY - C12R Cagiva Cocis 50 Cagiva Cocis 50 /2 Cagiva Tamanaco 125 Cagiva 900ie Cagiva 900ie - GT Cagiva K7 Cagiva Mito Cagiva Mito Racing Cagiva Mito 2 - Mito Racing Cagiva Mito ev Cagiva Mito ev - Racing Cagiva N 90 Cagiva Navigator 1000 Cagiva K3 Cagiva Supercity 125
Cagiva Supercity 50 - 75 Cagiva City 50 Cagiva Prima 50 - 75 Cagiva Elefant 900 Cagiva Elefant 750 Cagiva W12 Cagiva Passing 105 Cagiva Roadster 521 Cagiva River - 600 Cagiva W16-600 - W16/T4-600emi Cagiva Canyon 600 Cagiva Fox 600 - Police Cagiva Planet Cagiva Gran Canyon

Daelim

Daelim Cordi 50cc Daelim History SL 125 Daelim NS 125 DLX Daelim S-Five 50cc Daelim E-Five 50cc Daelim Citi ACE 110cc Daelim SDaelim SDaelim VJ 125 Roadwin Daelim VL 125 Daystar

Gilera

Gilera 350-500-600 cc 4-Strokes Engine Models (Dakota-Saturno-XRTRC600-RC600R-Nordwest)

Harley Davidson

Harley Davidson WLA 45" Harley Davidson WLA Military Models '40s Harley Davidson WLA Harley Davidson WLA-Service-car Harley Davidson Rider's Handbook - 45" Twin & Single Models Harley Davidson Rider's Handbook 1950 61" & 74" O.H.V. Twin Models Harley Davidson Knucklehead Harley Davidson Panhead Harley Davidson Duo Glide 74" OHV Harley Davidson Electra Glide - Super Glide Harley Davidson SS-SX - 175-250 Harley Davidson XL-XLH-XLCH 883 Sportster Harley Davidson XLH-XLCH 1000 Sportster Harley Davidson XR 750 Harley Davidson FX - Softail Models Harley Davidson Softail Models Harley Davidson XLH 883 - 1100cc 4speed Models Harley Davidson XLH 883 - 1200 Sportster Harley Davidson XLH 883 - 1200 Sportster Models Harley Davidson Dyna Glide Models Harley Davidson VRSCA

Yamaha TDM 900 R Yamaha TDR 250 Yamaha TRX 850 H Yamaha TRX 850 H Yamaha TT 600 K Yamaha TT 600 RE Yamaha TTR 90 M Yamaha TTR 90 N Yamaha TTR 90 P Yamaha TTR 90 R Yamaha TTR 90 E(R) Yamaha TTR 90 T-E(T) Yamaha TTR 90 V-E(V) Yamaha TT-R 125 (T)-E(T)-LW(T)-LWE(T) Yamaha TTR 250 L-LC Yamaha TW 125 Yamaha TW 200 T-TC-EU-EUC Yamaha TW 200 N-NC Yamaha TY 350 N Yamaha TZ 125 Yamaha TZ 250 M1-(M) Yamaha TZR 125 Yamaha TZR 250 Yamaha VMX 1200 Yamaha VMX 1200 Yamaha VMX 1200 Yamaha VP 300 Versity Yamaha WR 200 R(E) Yamaha WR 250 FR Yamaha WR 400 F(K) Yamaha WR 400 - 426 F(N) Yamaha WR 400 - 426 F(P) Yamaha WR 450 FR Yamaha WR 450 F(T) Yamaha WR 450 FV Yamaha XC 125 N-NC Riva Yamaha XJ 550 RH Yamaha XJ 600 SD Seca II Yamaha XJ 600 S Diversion Yamaha XJ 600 S Diversion Yamaha XJ 600 S Diversion Yamaha XJ 600 S-N Diversion, Seca Yamaha XJ 650 Yamaha XJ 650 G Maxim Yamaha XJ 650 Yamaha XJ 650 Yamaha XJ 650 & 750 Fours ( Maxim - Midnight Maxim - Seca ) Yamaha XJ 700 N-NC Yamaha XJ 750 RH-RK Seca Yamaha XJ 750 K Yamaha XJ 900 S(G) Diversion Yamaha XJ 1100 J Maxim Yamaha XJR 1300 Yamaha XJR 1300 L Yamaha XJR 1300 P Yamaha XJR 1300 S
Yamaha XP 500 N Yamaha XP 500 N Yamaha XP 500 N Yamaha XS 360 - 400 Yamaha XS 400 Yamaha XS 400 Seca Yamaha XS 650 E-G Yamaha XS 650 S-SH Yamaha XS 1100 E Yamaha XT 225 Yamaha XT 225 C (D-G) Yamaha XT 225 N( C) Yamaha XT-TT 350 Yamaha XT-TT 350 Yamaha XT 500 C (Ver Yamaha SR 500) Yamaha XT 600 E (4MW) Yamaha XT 600 E Yamaha XT 660 R-X (S) Yamaha XT 660 R-X (S) Yamaha XTZ 125 Yamaha XTZ 600 Tenere (2TY) Yamaha XTZ 660 Yamaha XTZ 750 Super Tenere Yamaha XV 250 U-UC Route 66 Yamaha XV 250 W Yamaha XV 250 G-GC Yamaha XV 250 G-GC Yamaha XV 250 G-SG Yamaha XV 250 S Yamaha XV 500 K Yamaha XV 535 Yamaha XV 535 Virago Yamaha XV 535-700-750-920-1000-1100-TR1 Viragos Yamaha XV 535-700-750-920-1000-1100 Viragos Yamaha XV 700 CS-SS Yamaha XV 700-1100 L-LC Yamaha XV 700-750-1100 Yamaha XV 750 SE Yamaha XV 750 U-UC Yamaha XV 1000 Yamaha XV 1000 SE Yamaha XV 1100 S-SC Yamaha XV 1100 U-UC Yamaha XV 1600 Roadstar AL-ALC-ATL-ATLC Yamaha XV 1600 Roadstar AL Yamaha XV 1700 AS(C)-ASS(C)-ATS(C) Yamaha XV 1700 PCR-PCRC Yamaha XV 1700 P-PC Yamaha XVS 250 N Yamaha XVS 650 Yamaha XVS 650 AK(C) Yamaha XVS 650 AN(C) Yamaha XVS 1100 L Yamaha XVS 1100 N Yamaha XVZ 12 TK Yamaha XVZ 12 L-KCZ-DL-DKCZ

Yamaha XVZ 12 TDK Yamaha XVZ 1300 DS-DSC Royal Star Venture Yamaha XVZ 1300 TFL-TFLC Royal Star Venture Yamaha XZ 550 RJ Vision Yamaha YBR 125 Yamaha YH 50 Why Yamaha YJ 50 RN Vino Yamaha YL-1 Yamaha YP 250 Majestic Yamaha YP 250 Majestic Yamaha YP 400 S Yamaha YQ 50 Aerox Yamaha YW 50 AP Zuma Yamaha YZ 80 (F)-LC Yamaha YZ 80 (N)-LC - LW(N) Yamaha YZ 85 (P)-LC - LW(P) Yamaha YZ 85 (R)-LC - LW(R) Yamaha YZ 85 (T)-LW(T) Yamaha YZ 85 (V) - LW(V) Yamaha YZ 125 (M)-LC Yamaha YZ 125 (N)-LC Yamaha YZ 125 (P)-LC Yamaha YZ 125 (T)-T1 Yamaha YZ 125 T1 Yamaha YZ 250 (E)-LC Yamaha YZ 250 (F)-LC Yamaha YZ 250 (L)-LC Yamaha YZ 250 (N)-LC Yamaha YZ 250 (P)-LC Yamaha YZ 250 FR Yamaha YZ 250 F(S) Yamaha YZ 250 T1 Yamaha YZ 400 F (K)-LC Yamaha YZ 400 F (L)-LC Yamaha YZ 426 F Yamaha YZ 450 F Yamaha YZ 450 FT Yamaha YZF 600 R & FZS 600 Yamaha YZF 600 RJ Yamaha YZF 600 R6 Yamaha YZF 600 R6 (L) Yamaha YZF 600 R6 Yamaha YZF 600 R6 (L-CL) Yamaha YZF 600 R6 (R-SR-RC-SRC) Yamaha YZF 600 R6 (S-SC) Yamaha YZF 600 R6 (T-TC) Yamaha YZF 600 R6 (V) Yamaha YZF 750 R7 Yamaha YZF 750 R-SP & YZF 1000 R Thunderace Yamaha YZF 1000 R-RJ Yamaha YZF 1000 RJ-RJC Yamaha YZF 1000 R1 Yamaha YZF 1000 R1 M Yamaha YZF 1000 R1 P-PC Yamaha YZF 1000 R1 S-SC

ATV + Cuatriciclos

E-Ton AXL-TXL 50-90 Honda ATC 90 Honda ATC 110 - (ver ATC 90) Honda ATC 110 '81 a '84 Honda ATC 110 '85 Honda ATC 125 M '86 a '87 Honda ATC 200 E Big Red Honda ATC 200 ES Big Red Honda ATC 200 M Honda ATC 200 S Honda ATC 200 X Honda ATC 200 X Honda ATC 250 R Honda ATC 350 X Honda FL 250 Odissey Honda FL 350 R Odissey Honda FL 400 R Pilot Honda TRX 250 R Fourtrax Honda TRX 400 EX Fourtrax Honda TRX 450 R Honda TRX 500 FA Rubicon Honda TRX 650 FA Rincon Honda TRX 650 FGA Rincon Kawasaki KAF 400 Mule 600-610 4x4 Kawasaki KAF 620 Mule 3010 Trans 4x4 Kawasaki KAF 950 Mule 3010 Diesel Kawasaki KFX 700 V Force Kawasaki KLF 250 A1-3 Bayou-Workhorse Kawasaki KVF 360 4x4 A2 Linhai 250 Polaris Predator 500 Suzuki LT 250 R Suzuki LT 500 R Quadzilla Suzuki LT-Z400 Suzuki LT-A700 X K5 King Quad Yamaha YFA 1M(C) 125 Breeze Yamaha YFM 125 S Grizzly Yamaha YFM 50 S Yamaha YFM 250 XL Bear Tracker Yamaha YFM 350 UH Big Bear Yamaha YFM 350 XA Warrior Yamaha YFM 350 XE Warrior Yamaha YFM 350 XJ Warrior Yamaha YFM 350 XKC Warrior Yamaha YFM 350 XP Warrior Yamaha YFM 400 FWNM-C Big Bear Yamaha YFM 400 FAR Yamaha YFM 450 FAR Yamaha YFM 600 Grizzly Yamaha YFM 660 FP Grizzly Yamaha YFM 660 RN-RNC Raptor Yamaha YFS 200 P Blaster Yamaha YFS 200 U-A Blaster Yamaha YFZ 350 Banshee