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(Electric Gripper) User`s Manual

1. 16 5 44 2 29 3 61 8 3 5 4 0 03 iik 14 5 1120 1 0 6 2 1 5 Bot 15 Positioning pin E 5 8 tog 3 2st For installation Wiring port and encoder cover Heat shrinkable tube 16 20 5 0 1 2 M2 Effective depth 3 5 For finger installation im 2 5 33 ds 8 8 0 to 4 510 025 oO View of A 2 M3 Effective depth 3 View of B For installation 2 01H7 10010 Effective depth 1 5 Note Avoid extreme winding of the cable and fix the cable securely so that it does not move Take appropriate measures so that any excessive force is not applied to the root of the cable Chapter 11 Specifications l 11 3 S 2 Single cam type YRG 2010S YRG 2815S YRG 4225S E Basic specifications Model name Max continuous Holding ating YRG 2010S YRG 2815S
2. Figure when viewed from the front of the controller Function ACT Connector to be connected to the gripper main body POWER Board drive power input connector GE STOP GE STOP Emergency stop input terminal Four LEDs show the status of the gripper control board Status LEDs For details about LED indications see 4 3 Status LEDs on the gripper control board E Electric gripper main body Part names and functions Screw type 4 3 finger type HT Se 2 1 Finger installation tap hole 2 Guide block open close slider 3 Finger positioning pin 4 Cable Chapter 2 Overview of electric gripper l 2 3 2 4 Installation conditions Be sure to strictly observe the following environmental conditions when installing the electric gripper Items Specifications Working temperature 0 to 40 C Working humidity 35 to 90 RH no condensation Altitude 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 Ambient environments Avoid installation in atmosphere containing inflammable gas dust and liquid Avoid installation near objects causing electromagnetic interference electrostatic discharge and radio frequency interference Vibra
3. TE y A A H 12 5 03H7 8 Depth 2 6H7 8 Depth 2 View of B 2x4 U Effective depth VA Installation surface ALAIN For installation Q 54 i Effective depth VB je gt BA m lt A For installation Also lt CB es ELA ept installable on the opposite For attachment installationN L J side FTT L J lt e Ep SA SB fM Es ei Installation rtace Installation surface AB i lt gt Fee 14 ol h n sur F o 4 stallation surface o e n Installation surface M 2x1 N Effective depth P T T For attachment installation View of A M ELA Ter YRG 2010S YRG 4225S Z D 2 H YRG 2815S E G gt lt ED Note Avoid extreme winding of the cable and fix the cable securely so that it does not move Take appropriate measures so that any excessive force is not applied to the root of the cable Dimension table Symbol Model name YRG 2010S YRG 2815S YRG 4225S Symbol Model name YRG 2010S 165 10 YRG 2815S 140 10 YRG 4225S 235410 Chapter 11 Specifications l 11 5 3 Double cam type YRG 2005W YRG 2810W YRG 4220W E Basic specifications Note 1 Design the finger as short Model name Max continuous Holding ating YRG 2005W YRG 2810W YR
4. Drive power supply for electric gripper DC24V Relay cable YAMAHA robot SCARA Cartesian robot XY X Single axis robot Electric gripper Chapter 2 Overview of electric gripper l 2 5 2 6 Preparations for electric gripper use This section explains the basic preparation procedures until the robot is operated with the YAMAHA electric gripper For details about how to install or operate the robot main body and robot controller see relevant manuals published separately Basic procedure Refer to Note 1 Note 2 Install the Install the gripper on the robot This manual 3 1 Installing the electric gripper gripper Install the finger on the gripper This manual 3 2 Installing the finger Chapter3 1 Unpacking i Install the controller J 11 Precautions for cable routing and installation Make cable and connector connections Ground the controller This manual 3 3 Connection and wiring Configure an emergency stop circuit Chapter4 Parallel I O interface Chapter 5 SAFETY I O interface When a serial I O board is added Set the station number communication speed etc Setup See the serial I O instruction depends on the seri
5. Figure when viewed from the front of the controller Functions of status LEDs LEDs Function Lit green when the motor drive power 24V is turned on Lit green when the gripper is in operation Lit yellow during correct operation Lit red if an alarm occurs Chapter 4 Verification and preparation l 4 3 4 4 Weight parameters 4 4 1 Robot parameters The tip weight workpiece weight tool weight of the robot is set for the Tip weight kg WEIGHT parameter in kg units At this time the weight of the electric gripper see the table below is also added to the tool weight Weight of electric gripper main unit Electric gripper model Weight YRG 2005SS YRG 20108 YRG 2815S YRG 42258 YRG 2005W YRG 2810W YRG 4220W YRG 2020FS YRG 2840FS YRG 2020FT YRG 2840FT YRG 2004T YRG 2013T YRG 2820T YRG 4230T For details about Tip weight kg WEIGHT parameter see the user s manual for robot controller 4 4 2 Axis parameters The electric gripper does not use the Axis tip weight kg AXSTIP parameter So even when this parameter is changed the acceleration does not change automatically For details about Axis tip weight kg AXSTIP parameter see the user s manual for robot controller 4 4 l Chapter 4 Verification and preparation 5 Operation 5 1 Turning the power o
6. 2 2 N Effective depth P For attachment installation Note Avoid extreme winding of the cable and fix the cable securely so that it does not move Take appropriate measures so that any excessive force is not applied to the root of the cable Dimension table YRG 2020FS YRG 2840FS Symbol y pj qi rR RA S SA SBI T TA TB TC U Model name YRG 2020FS M3 76 175410 27 27 4 9 24 24 30 125 M4 6 M4 110 135 10 40 40 5 14 M5 7 5 YRG 2840FS 12 28 28 36 YRG 2020FS 60 YRG 2840FS 72 Chapter 11 Specifications l 11 9 5 Screw type T style YRG 2020FT YRG 2840FT E Basic specifications Model name Max continuous Holding ating YRG 2020FT YRG 2840FT N power Min setting N Resolution N Open close stroke 19 mm Max rating 50 mm sec Min setting 20 10 96 mm sec Speed Resolution 1 0 5 mm sec Holding speed Max 50 Repeated positioning accuracy 0 01 0 01 mm Guide mechanism Linear guide Max holding weight Note 4 10 0 5 10 1 5 Operating temperature range 0 to 40 Operating humidity range RH35 to 90 Storage temperature 10 to 60 Weight 420 Bi Relationship between
7. 26 13 Gripper System fault 2 Code amp H1AOD Meaning Cause Action Contact our company with details of this problem The software entered the runaway status due to external noise 26 14 Gripper Feedback error 3 Code amp H1AOE Meaning Cause Action The motor cable had faulty wiring or Check the motor cable connections incorrect wiring 27 Error messages occurred in electric gripper main body 27 32 Gripper Soft limit over Code amp H1B20 Meaning Cause Action 1 Change the operation position to put it within a software limit area 2 Change the software limit value 3 Change the limit width The operation position exceeded the software limit set by the parameter Chapter 9 Troubleshooting l 9 7 27 35 Gripper Origin incomplete Code amp H1B23 Action Meaning Cause The return to origin was not performed Perform the return to origin to put the gripper in the return to origin completion status 27 36 Gripper Servo off Code amp H1B24 Meaning Cause A movement command was executed in the Turn on the servo servo off status 27 37 Gripper Interlock Code amp H1B25 Action Meaning Cause Reset the interlock and execute the program or move the axis It was attempted to execute a program or move an axis in the interlock status 27 50 Gripper Data error Code amp H1B32
8. Meaning Cause Action The option data such as movement command to be sent to the gripper control board exceeded the input range Restart the system generation 27 51 Gripper type error Code amp H1B33 Meaning Cause Enter a correct value for the gripper axis number It was attempted to initialize with an unspecified actuator type 27 52 Gripper Internal failure Code amp H1B34 Action 1 Check the DC24V power 2 Contact our company with details of this problem Meaning Cause a The DC24V power was not turned on b An error occurred in the gripper control board 9 8 l Chapter 9 Troubleshooting 10 Periodic inspection and maintenance 10 1 Before beginning work Periodic inspection and maintenance are essential to ensure safe and efficient operation of YAMAHA robots This chapter describes periodic inspection items and procedures for the electric gripper Before beginning work read the precautions below and also in Chapter 1 Using the Robot Safely and follow the instructions A WARNING IF THE ADJUSTMENT OR INSPECTION PROCEDURE CALLS FOR OPERATION OF THE ELECTRIC GRIPPER STAY OUT OF THE MOVABLE AREA OF THE ELECTRIC GRIPPER DURING OPERATION ADDITIONALLY KEEP WATCHING THE ELECTRIC GRIPPER MOVEMENT AND SURROUNDING AREA SO THAT THE OPERATOR CAN STOP THE OPERATION IMMEDIATELY IF ANY DANGER OCCURS A WARNING BEFORE STARTING THE ADJUSTMENT OR INSPEC
9. 22 YRG 4225S N power Min setting 30 6 6 N Resolution 1 0 22 N Open close stroke 14 3 mm Max rating 100 mm sec Min setting 20 20 mm sec Speed Resolution 1 1 mm sec Holding speed Max 50 Repeated positioning accuracy 0 02 Guide mechanism Linear guide Max holding weight Note 4 0 22 Operating temperature range 0 to 40 Operating humidity range RH35 to 90 No dew condensation allowed Storage temperature 10 to 60 Weight Bi Relationship between holding 300 power and power designation Note 1 Design the finger as short and lightweight as possible Note 2 Set the parameters and holding power of the holding movement command so that any excessive shock is not applied to the finger during operation Note 3 When installing or uninstalling the finger tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block Note 4 Design the weight of a workpiece to be held so that it is approximately 1 10 to 1 20 of the holding power Consider further allowance when moving and swinging the gripper that keeps holding a workpiece Note 5 Workpiece weight that is able to be held may greatly vary depending on the material shape and or holding
10. This section explains each robot language command 8 2 1 Dedicated commands for gripper axis GDRIVE GDRIVE Gripper number Position Point expression Position Point expression Gripper number L Option Gripper number Range 1 to 2 Function This command moves the electric gripper axis to an absolute position Explanation After the operations of all gripper axes specified by Gripper number have been complete the specified gripper axis starts moving When the gripper axis reaches the target position the command is terminated The axis can also be specified by the variable When multiple axes are specified these axes do not reach their target positions at the same time Example GDRIVE 1 P10 Gripper 1 moves from the current position to a position specified by P10 Point data setting Direct coordinate data input Directly specify coordinate data in Position When the coordinate data is an integer the movement units are viewed as pulses When the coordinate data is a real number containing a decimal point the units are viewed as mm According to these units the gripper axis will move When the units are viewed as mm the gripper axis moves to the position converted for each axis relative to the 0 pulse position Example GDRIVE 1 500 Gripper 1 moves from the current position to the 500 pulse position GDRIVE 2 10 0 Gripper 2
11. RESULTING IN SERIOUS PERSONAL INJURY mE 1 4 l Chapter 1 Safety IF A POWER FAILURE OCCURS DURING OPERATION TURN OFF THE POWER IF NOT TURNED OFF THE PRODUCT MAY MOVE SUDDENLY AFTER THE ELECTRIC POWER IS RECOVERED THIS MAY CAUSE DAMAGE TO THE MACHINE UNIT OR SERIOUS PERSONAL INJURY BEFORE MOVING MOVABLE PARTS OF THE PRODUCT MANUALLY FOR THE DIRECT TEACHING MAKE SURE THAT THE SERVO IS TURNED OFF SERIOUS PERSONAL INJURY MAY OTHERWISE RESULT e IF UNUSUAL HEAT SMOKE OR ODOR IS FOUND IN THE PRODUCT TURN OFF THE POWER IMMEDIATELY DAMAGE TO THE PRODUCT OR FIRE MAY OTHERWISE RESULT e IF A FATAL ERROR OCCURS IN THE PRODUCT TURN OFF THE POWER IMMEDIATELY PERSONAL INJURY OR DAMAGE OR BREAKAGE OF THE MACHINE UNIT CAUSED BY PRODUCTION MALFUNCTION MAY OTHERWISE RESULT AFTER THE POWER HAS BEEN TURNED OFF DO NOT TURN IT ON AGAIN UNLESS THE CAUSE OF THE ERROR IS LOCATED AND REMOVED COMPLETELY TURN ON THE POWER TO THE UNITS FROM THE HOST UNIT IN ORDER IF NOT THE PRODUCT MAY MOVE SUDDENLY CAUSING SERIOUS PERSONAL INJURY OR DAMAGE TO THE MACHINE UNIT e DO NOT PUT YOUR FINGER OR ANY OBJECT IN THE OPENING OF THE PRODUCT FIRE ELECTRICAL SHOCK OR SERIOUS PERSONAL INJURY MAY OTHERWISE RESULT CAUTION The motor is heated up and the product surface is hot during operation Take appropriate measures so that the heat does not adversely affect workpieces around the product Chapter 1 Safety l 1 5 1 4 Warranty For inform
12. YAMAHA YAMAHA Electric Gripper YRG Series com EUT2127200 Ver 2 00 Introduction Thank you for purchasing this electric gripper for YAMAHA robots This manual explains the safety precautions handling adjustment inspection and maintenance work procedures in order to correctly and safely operate the electric gripper at its optimal operation level Please thoroughly read this manual before installing the electric gripper After reading this manual store it in a safe place where all concerned personnel can refer to it immediately This manual and electric gripper should be handled as a set When the electric gripper is relocated transferred or sold please explain a new manager or owner to thoroughly read this manual For electric gripper with specifications other than the standard specifications if the explanation is not particularly stated in this manual please refer to the explanation of the standard specifications For details about actual operation of the electric gripper please refer to the user s manual for the controller to be used For details about YAMAHA robot or controller operations and cautions please read the user s manual supplied with the robot or controller you are using and follow the instructions stated in such manual Introduction Il 1 52c MEMO 2 l Introduction General contents 1 Safety 1 1 1 1 Safety 1 1 1 2 Essential precautions 1 2 1 3 Operation 1 4 1 4 W
13. YRG 2020FS YRG 2020FT YRG 2840FS YRG 2840FT YRG 2004T YRG 2013T YRG 2820T YRG 4230T 3 4 l Chapter 3 Installation and wiring 3 2 Installing the finger Ah WARNING STRICTLY OBSERVE THE ABOVE INSTRUCTIONS ABOUT INSTALLATION BOLT TO SECURELY FIX A TOOL SUCH AS FINGER FAILURE TO FOLLOW THE INSTRUCTIONS MAY CAUSE THE FINGER OR WORKPIECE TO BE LOOSE OR FALLEN DOWN RESULTING IN EQUIPMENT BREAKAGE OR PERSONAL INJURY CAUTION When installing the finger tighten the installation bolt at a tightening torque level suitable for the finger material 2 Positioning pin Use of positioning pins provided on the guide block makes it possible to maintain the finger installation accuracy and installation reproducibility Positioning pin Positioning pin NU pm NOTE For details about positioning pin position and size of each gripper see 11 3 Electric gripper specifications Chapter 3 Installation and wiring B 3 5 3 3 Connection and wiring This section explains the cable connection and wiring necessary to operate and control the electric gripper A WARNING AN APPROPRIATE SAFETY CIRCUIT OR DEVICE SHOULD BE SO DESIGNED THAT SYSTEM BREAKAGE OR PERSONAL INJURY DOES NOT OCCUR IF THE PRODUCT STOPS IN CASE OF A SYSTEM TROUBLE SUCH AS AN EMERGENCY STOP OR A POWER FAILURE e PERFORM THE PRODUCT WIRING WHILE REFERRING TO THE WIRING PROCEDURES STATED IN THE USER S MANUAL TO
14. YRG 2020FS YRG 2840FS YRG 2020FT YRG 2840FT YRG 2004T YRG 2013T YRG 2820T and YRG 4230T were added The description regarding Warranty was changed User s Manual Electric Gripper Y RG Series Jul 2012 Ver 2 00 This manual is based on Ver 2 00 of Japanese manual YAMAHA MOTOR CO LTD IM Operations All rights reserved No part of this publication may be reproduced in any form without the permission of YAMAHA MOTOR CO LTD Information furnished by YAMAHA in this manual is believed to be reliable However no responsibility is assumed for possible inaccuracies or omissions If you find any part unclear in this manual please contact your distributor IM Operations 882 Soude Nakaku Hamamatsu Shizuoka 435 0054 Japan Tel 81 53 460 6103 Fax 81 53 460 681 1 Instruction manuals can be downloaded from our company website Please use the following for more detailed information http www yamaha motor co jp global industrial robot YAMAHA YAMAHA MOTOR CO LTD
15. constant movement distance or limit width parameter set for one finger is 1 2 of its set value Example When the limit width is set at 2 00 mm The limit width for each finger is 1 00 mm The total of values set for two fingers is 2 00 mm 6 6 l Chapter 6 Parameter settings 12 Limit width mm for Gripper LMTWDH This parameter sets the limit width during absolute position or relative position holding movement or constant speed movement of the holding operation of the gripper axis The gripper moves only the limit width at the speed specified by the Holding speed 96 for Gripper parameter after it has exceeded the target position holding position See the figure explaining Holding speed Constant movement distance and Limit width parameters on the following page NC a p NOTE f the gripper axis exceeds the effective holding area it stops at a position of movement amount limit width At this time the HOLD signal is OFF and the INPOS signal is ON When the gripper axis stops within the effective holding area the ZON signal is also ON The set value of the data related to the distance such as point data constant movement distance or limit width parameter is the total of values set for two fingers As the electric gripper is operated two fingers function at the same time The value of the point data constant movement distance or limit width parameter set for one finger is 1 2 of its set value Example Wh
16. holding surface conditions of the finger B Allowable load and load moment 200 180 160 amp 140 a 120 E 100 gt 80 YRG 2020FS YRG 2840FS BB Allowable load FI IN 1000 1300 40 C Allowable pitching moment Mp N m 3 5 5 20 E Allowable yawing moment My N m 4 2 6 0 Allowable rolling moment Mr N m 7 3 12 7 30 40 50 60 70 80 90 100 n Max weight 1 pair ig 40 80 Power designation amp Max holding position L mm 30 30 oO T Max overhang H mm 20 20 The graph stating the relationship between the holding power and power designation 96 is used for your reference The actual holding power may vary extremely ES 1 1 8 l Chapter 11 Specifications Mount the finger so that the allowable load and load moment of the guide do not exceed the values stated in the table above Additionally make the adjustment so that the finger weight holding length L from the installation surface to the holding point and overhang H do not exceed the values stated in the table above Moreover please contact your YAMAHA sales dealer for further information on combination of L and H E Dimensional outline drawing Unit mm 4 U Effective depth V S A S Connector For installation ii j DDK DK 2100D 12R T T Lr g a C Hrg m e 3H7 Depth 2 B 010H7 Depth 3 4 M4 Effective depth 6 For installation
17. value of the point data constant movement distance or limit width parameter set for one finger is 1 2 of its set value Example When the limit width is set at 2 00 mm The limit width for each finger is 1 00 mm The total of values set for two fingers is 2 00 mm M 6 4 l Chapter 6 Parameter settings CAUTION This parameter is very important since it determines the robot position So it is absolutely necessary to set an accurate value Additionally change this parameter value only when required If this parameter is changed the gripper enters the return to origin incomplete status This parameter is valid after the return to origin has been complete Do not set a value larger than the software limit for the origin shift parameter If the origin shift is changed change also the software limits according to the shift amount Example When A pulse is set for the origin shift parameter assuming that software limit is B pulse and software limit is C pulse change each software limit as follows software limit B A pulse software limit C A pulse 6 Origin method ORGSNS This parameter sets a method used for the return to origin of the gripper axis SENSOR Sensor method Stroke end Z phase signal detection method is used for the gripper axis Default value TORQUE Torque method Origin detection method by mechanical stroke end MARK Mark method Torque method is set y V NOTE When this pa
18. 100 9 Origin speed for Gripper GORGVL This parameter sets the return to origin speed in the range of 20 to 50 X E d NOTE Forthe RCX240 with a software version of earlier than Ver 10 18 the setting range is 1 to 50 10 Manual holding power for Gripper GMHLPW This parameter sets the holding power during manual movement in the range of 30 to 100 NOU NOTE This parameter is valid only when a software version shown below is installed RCX240 Ver 10 19 or later For details about holding operation during manual movement see the Manual Holding of Gripper parameter of other parameters M 11 Const move dist mm for Gripper CMVDST This parameter sets the constant movement distance during absolute position or relative position holding movement or holding movement of the gripper axis The gripper moves from a position where is the constant movement distance back from the target position holding position at the speed specified by the Holding speed for Gripper parameter See the figure explaining Holding speed Constant movement distance and Limit width parameters on the following page N NOTE The set value of the data related to the distance such as point data constant movement distance or limit width parameter is the total of values set for two fingers As the electric gripper is operated two fingers function at the same time The value of the point data
19. 2840FT See RA 8 SB T TA TBI nee TD TE UIV Model name YRG 2020FT 17510 27 4 24 9 24 30 12 5 12 5 M4 6 YRG 2840FT 135410 40 5 28 12 28 36 14 14 M5 7 5 YRG 2020FT 60 2 YRG 2840FT 72 3 Chapter 11 Specifications l 11 11 6 Three fingers type YRG 2004T YRG 2013T YRG 2820T YRG 4230T E Basic specifications Model name YRG 2004T YRG 2013T YRG 2820T YRG 4230T Max continuous Holding ating power Min setting 30 0 75 N Resolution 1 0 025 N Open close stroke 3 5 mm 2 5 N Max rating mm sec Min setting 96 mm sec Speed Resolution mm sec Holding speed Max Repeated positioning accuracy 0 03 Guide mechanism Linear guide Max holding weight Note 4 10 0 02 10 0 1 Operating temperature range 0 to 40 Operating humidity range RH35 to 90 Storage temperature 10 to 60 Weight Note 1 Design the finger as short and lightweight as possible Note 2 Set the parameters and holding power of the holding movement command so that any excessive shock is not applied to the finger during operation Note 3 When installing or uninstalling the finger tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block Note 4 Design the weight of a workpi
20. Beyond area Complete Complete Cancel Correct Within area Within area Ready signal This signal becomes 1 when the gripper is put in the preparation completion status ZON signal within the predetermined area HOLD signal INPOS signal Running This signal becomes 1 when the gripper holds a workpiece This signal becomes 1 when the gripper holds a workpiece This signal shows that the gripper reaches the target position after completion of the return to origin or positioning operation The signal also becomes 1 when the gripper reaches the target position without holding of a workpiece by the gripper movement operation command BUSY signal Error No Indicates relevant error No if an error occurs in the gripper e Alarm No Indicates relevant alarm No if an alarm occurs in the gripper NU d p NOTE This signal becomes 1 during operation of the gripper Each status of the gripper can be output to the general purpose DO SO when the G1 status output DO amp SO and G2 status DO amp SO parameters are set 5 1 2 l Chapter 5 Operation 6 Parameter settings This section explains the parameters used for the electric gripper There are two kinds of parameters available parameters to be set for each axis axis parameters and common parameters other parameters 6 1 Parameter list E Axis parameter
21. CONNECT ALL CABLES CORRECTLY CONNECT THE CABLES AND CONNECTORS SECURELY SO THAT ANY CABLE OR CONNECTOR IS NOT LOOSE OR DISCONNECTED PRODUCT MALFUNCTION OR FIRE MAY OTHERWISE RESULT CAUTION Before connecting the cables make sure that the controller and electric gripper are powered off completely If the cable is connected or disconnected with the power turned on this may cause the electric gripper to break 3 3 1 Connecting to the controller gripper control board Connect the 10 pin connector female of the robot for gripper cable supplied with the electric gripper to the 10 pin connector male of the gripper control board installed in the controller To connect the connector make the connector orientations matched with each other and insert the connector securely until a click sounds Connector male of controller Connector female of connection cable Nel 3 6 l Chapter 3 Installation and wiring List of controller connector signals Terminal No Function Encoder signal input A phase Encoder signal input Z phase Encoder OV power output Lu Motor output B phase Motor output B phase Encoder signal input B phase A5 B5 A1 B1 Encoder 5V power output Shielding line Motor output A phase Connector for gripper connection Motor output A phase
22. Controller side FON ur A WARNING AVOID DAMAGE TO THE ROBOT FOR GRIPPER CABLE OR RELAY CABLE DAMAGED CABLE EXCESSIVE BENDING PULLING WINDING OR WEDGING MAY CAUSE FIRE ELECTRICAL SHOCK OR MALFUNCTION DUE TO EARTH LEAKAGE OR FAULTY CONDUCTING CAUTION The accessory connection cable consists of two harnesses that separate the encoder lines from the motor lines To connect the electric gripper to the controller this connection cable should be used This cable has excellent flexibility However do not store the cable in a movable wiring duct cable guide etc with a radius of 66 mm or less 3 3 2 Connecting the robot for gripper cable and relay cable Connect the robot for gripper cable and relay cable As shown in the table below the cable model number may vary depending on the cable length Each cable consists of two harnesses that separate the encoder lines from the motor lines To connect the connector make the connector orientations matched with each other and insert the connector securely until a click sounds CAUTION Be sure to adjust the total length of the robot for gripper cable and relay cable to 14m or less If the total length exceeds this level this may cause malfunction due to noise Chapter 3 Installation and wiring l 3 7 Cable model number Robot for gripper cable model number Length Relay cable model number Length KCF M4751 3 KCF M4811 1 KCF M4751 5 KCF M481
23. Limit width mm for Gripper LMTWDH 0 01 to 99 99 Robot type Chapter 6 Parameter settings l 6 1 B Other parameters Gripper servo when emergency stop RPB display Gripper servo when E stop Identifier GEMGMD Setting range Default setting ON OFF ON Remarks Include Gripper in Origin Include Gripper in Origin GORGMD NO YES YES Manual Holding of Gripper Manual Holding of Gripper GMHLMD INVALID VALID INVALID This parameter is supported by controller earlier than Ver 10 30 INVALID VALID VALID This parameter is supported by controller Ver 10 30 and later G1 status output G1 status output DO amp SO G1STAT Off 2 to 7 10 to 15 off This parameter is supported by controller Ver 10 18 and later G2 status output G2 status output DO amp SO 6 2 l Chapter 6 Parameter settings G2STAT Off 2 to 7 10 to 15 off This parameter is supported by controller Ver 10 18 and later 6 2 Axis parameter details CAUTION Set the parameters correctly so that any excessive impact or moment is not applied to the finger during operation If applied this may cause damage to the product or service life to be shortened 1 Accel coefficient ACCEL The accelerat
24. When this parameter is set to INVALID the movement distance during inching operation interlocks with the manual movement speed For details see 5 2 Manual movement Nob NOTE d This parameter is valid only when a software version shown below is installed RCX240 Ver 10 19 or later The holding power during manual movement can be set using the axis parameter Manual holding power 96 for Gripper G1 status output DO amp SO GISTAT 5 G2 status output DO amp SO G2STAT These parameters set whether or not the eclectic gripper dedicated signals status signals are output to general purpose DO SO The set values are as follows Setting Meaning Off Default value The electric gripper status is not output 2 to 7 10 to 15 The electric gripper status is output to the DO and SO of the specified port For example when 10 is specified the electric gripper status information is output to DO10 and SO10 The bit assignments are shown in the table below The electric gripper status information is output to a specified port as described in the table below For details about each status see 5 5 Status monitor Signal name Servo status OFF ON Return to origin status Incomplete Complete Emergency stop status Emergency stop Cancel READY signal Preparing Correct ZON signal Beyond area Within area HOLD signal Release Holding INPOS signal Beyond area Within area BUSY signal Comple
25. a software version of Ver 10 18 or later the power is then set to 30 This option is enabled only for the specified GHOLD statement Example GHOLD 1 5 0 T 40 Gripper 1 moves from the current position to the 5 0mm position The holding power is 40 8 6 l Chapter 8 Robot language commands Example software limit 0 00 mm software limit 14 3 mm Limit width 0 4 mm When the parameters are set as shown above GHOLD 1 0 0 27 32 Gripper Soft limit over occurs and the operation cannot be performed GHOLD 1 14 3 27 32 Gripper Soft limit over occurs and the operation cannot be performed GHOLD 1 0 4 If the gripper does not hold a workpiece it stops at the 0 0mm position GHOLD 1 13 9 If the gripper does not hold a workpiece it stops at the 14 3mm position CAUTION Set an appropriate workpiece holding force for the gripper movement command so that any excessive impact or moment is not applied to the finger during operation If applied this may cause damage to the product or service life to be shortened GHOLDI GDRIVEI lt Gripper numbers Movement amount Point expression Gripper numbers Movement amount Option Point expression Gripper number Range 1 to 2 Function This command moves the gripper axis to a position close to the specified movement amount at a trapezoidal acceleration de
26. conditions can be checked using GSTATUS Example GHOLD 1 P10 Gripper 1 moves from the current position to a position specified by P10 Point data setting Direct coordinate data input Directly specify coordinate data in Position When the coordinate data is an integer the movement units are viewed as pulses When the coordinate data is a real number containing a decimal point the units are viewed as mm According to these units the gripper axis will move When the units are viewed as mm the gripper axis moves to the position converted for each axis relative to the 0 pulse position Example GHOLD 1 500 Gripper 1 moves from the current position to the 500 pulse position GHOLD 2 10 0 Gripper 2 moves from the current position to the 10 0mm position Point definition Specify a movement position in lt Point expression gt Axis number data to which the gripper specified by lt Gripper number gt is assigned is used The gripper moves to the position determined by the units used for the point expression When the units are viewed as mm the gripper axis moves to the position converted for each axis relative to the O pulse position Example GHOLD 1 P10 Gripper 1 moves from the current position to the position specified by P10 Chapter 8 Robot language commands Il 8 5 p NOTE Set a workpiece holding position target position so that it does not exceed the value that
27. data input and editing 7 1 7 2 Point data input by teaching 7 3 7 3 Point data input by direct teaching 7 5 7 4 Point data trace 7 5 8 Robotlanguage commands 8 1 8 1 Robot language command list 8 1 8 2 Robot language command details 8 2 8 2 1 Dedicated commands for gripper axis 8 2 GDRIVE 8 2 GDRIVEI 8 3 GHOLD 8 5 GHOLDI 8 7 GOPEN 8 9 GCLOSE 8 11 GORIGIN 8 12 GSTATUS 8 12 8 2 2 Other commands for gripper axis 8 14 ORIGIN 8 14 WHERE WHERE2 8 14 WHRXY WHRXY2 8 14 8 3 Operation chart of electric gripper 8 15 9 Troubleshooting 9 1 9 Error messages 9 10 Periodic inspection and maintenance 10 1 10 1 Before beginning work 10 1 10 2 Periodic inspection 10 3 10 2 1 Daily inspection 10 3 10 2 2 Six month inspection 10 3 10 3 Applying grease 10 4 11 Specifications 11 1 11 1 Electric gripper basic specifications 11 1 11 2 Gripper control board specifications 11 1 11 3 Electric gripper specifications 11 2 General contents l Safety 1 1 Safety Before using this electric gripper be sure to follow the safety precautions and instructions to operate the electric gripper safely and correctly Also bear in mind that not all safety items can be listed in detail so that accurate judgment by the operator or service personnel is essential for operating the robot and controller safely Furthermore please carefully read the user s manual for the robot and or controller and strictly Observe the safety instructions and caut
28. end has been detected as the guide block has been lightly in contact with the stroke end the axis moves in the reverse direction until the Z phase of the rotary encoder is detected When the Z phase is detected the axis moves again in the return to origin direction to determine the origin position 2 Return to origin using the stroke end detection method CT Return to origin direction gt Return to origin start position Stroke end D The return to origin can start from any position 2 Upon starting the return to origin the axis starts moving in the return to origin direction 3 After the stroke end has been detected as the guide block has been lightly in contact with the stroke end the axis moves slightly in the reverse direction to determine the origin position AN CAUTION During stroke end detection if the guide block interferes with a foreign object or if a load is applied to the guide block during return to origin the stroke end may not be detected correctly and the return to origin may be completed at an incorrect position The stroke end detection method is used only when the Z phase detection operation has a problem during return to origin using the stroke end Z phase detection method Chapter 5 Operation l 5 7 5 3 2 Overall return to origin The following explains how to perform the return to origin of all axes with the incremental specifications including the gripper axis Fo
29. force application m Fa External force N Fb External force N W Workpiece weight Kg g Gravity acceleration m s H Distance of holding point m Chapter 11 Specifications l 11 1 3 E Dimensional outline drawing Unit mm 2 91H7 29 L13 Effective depth1 5 2x2 M3 Effective depth 3 3 M2 Effective depth 4 For installation For finger installation The same size also applies to 1 3 the opposite side 2x2 01H7 9210 Effective depth1 5 The same size also applies to the opposite side 13 1 5 9 0 05 1 5h7 jj L lt B 15 d 44 9 3 HE a 13 5 j eh 180 L 61 4 Connector DDK DK 2100D 12R 2 p1H7 900 Effective depth1 5 For installation Note Avoid extreme winding of the cable and fix the cable securely so that it does not move Take appropriate measures so that any excessive force is not applied to the root of the cable ES 1 1 1 4 l Chapter 11 Specifications Bl Dimensional outline drawing Unit mm 4 U Effective depth V 2x4 Q Effective depth R For installation Alsoinstallable on the opposite side 4 K Effective depth L J For installation 4 K Effective depth L For installation 3x2 M3 Effective depth 6 For attachment installation Note Avoid extreme
30. gripper reaches the stroke end the Distance INPOS bit turns on Stroke end e If the gripper holds a workpiece during stroke movement the HOLD bit turns on Chapter 8 Robot language commands Il 6 1 5 MEMO ES 8 1 6 l Chapter 8 Robot language commands 9 Troubleshooting 9 Error messages This section explains the gripper error messages For details about other errors see the user s manual for the robot controller you are using If an error or alarm occurs relevant error message appears on the message line 2nd line of the RPB screen The error messages and their explanations are given below Nod NOTE Please contact your YAMAHA representative if the recommended countermeasures fail to prevent a given error from recurring Error message display format Error messages display at the top of the screen Error group number Error category number Error message Eror number 22 70 Gripper disconnect Code Kk xx Error codes are expressed as hexadecimal values Meaning Cause Action KKK KK ch OK KKK KK CR cR OK ch K K KOKK kK CK ck cR ck kK cR ch cR k ch kK ch cR k kK KK Aoc KK Indicates the error meaning and cause Indicates how to cancel the error status and countermeasures for preventing the error from recurring In some cases information about the error occurrence location axis optional unit etc is inserted at the beginning of the error message Error numbe
31. movement is changed to the holding movement the movement distance with the inching operation becomes manual movement speed x 0 01 limit width mm Additionally the inching distance may not be constant due to the conversion accuracy inside the gripper IF board Chapter 5 Operation l 5 5 Example When the manual movement speed is 20 and the limit width is 2 00 mm the inching distance in mm units 0 20 2 00 mm 2 20 mm When you press the JOG key to move each axis to a position over software limit of each axis the message 2 1 Software limit over appears and the axis cannot be moved 5 3 Return to origin Before starting the operation of the robot by turning on the power it is necessary to perform the return to origin The return to origin operation adjusts the position of each robot axis to its mechanical origin position to reset the position data in the controller The return to origin needs to be performed for the axes with the incremental specifications Since the gripper axis has the incremental specifications perform the return to origin in either way described in 5 3 2 Overall return to origin or 5 3 3 Gripper return to origin The parameters related to the return to origin are described below For details about each parameter see 6 Parameter settings and each parameter item described in the user s manual for robot controller Category Parameter name Contents Origin sequence Sets the order of ret
32. surface conditions of the finger B Allowable load and load moment 70 60 50 I o 2 40 2 a o 2 30 S YRG 20108 YRG 2816S YRG 4225S Z 20 Allowable load F N 450 350 600 D Allowable pitching moment Mp N m 0 7 0 5 1 1 10 amp Allowable yawing moment My N m 0 8 0 6 1 3 Allowable rolling moment Mr N m 2 3 2 8 8 6 30 40 50 60 70 80 90 100 4 Max weight 1 pair o 15 30 50 Power designation Max holding position L mm 20 20 25 o Max overhang H mm 20 25 30 The graph stating the relationship between the holding power and power designation 96 is used for your reference The actual holding power may vary extremely Mount the finger so that the allowable load and load moment of the guide do not exceed the values stated in the table above Additionally make the adjustment so that the finger weight holding length L from the installation surface to the holding point and overhang H do not exceed the values stated in the table above Moreover please contact your YAMAHA sales dealer for further information on combination of L and H ES 1 1 4 l Chapter 11 Specifications E Dimensional outline drawing Unit mm A 4 U Effective depth V For installation
33. the power capacity If the power capacity is insufficient adjust the power voltage to its correct range 4 Check the movable part of the mechanical part for heavy motion If the motion is excessively heavy make the readjustment Action 1 Inspect the electric continuity of the motor cable If any fault is found replace the motor 2 Replace the gripper control board 3 Initialize the parameters Action 1 Perform the return to origin again 2 Remove the obstacle and perform the return to origin again 3 Replace the gripper main body Chapter 9 Troubleshooting l 9 5 26 4 Gripper Power supply voltage low Code amp H1A04 Action Meaning Cause The DC power voltage dropped to 80 or less of the rated value Check the power capacity If the power capacity is insufficient adjust the power voltage to its correct range 26 6 Gripper P E Counter over Code amp H1A06 Meaning Cause Action a Mechanical lock occurred in the gripper 1 Check the gripper drive part for drive part mechanical lock b The motor cable had faulty wiring or 2 Check the motor and encoder cable incorrect wiring connections c The parameter was faulty 3 Initialize the parameters 26 7 Gripper Internal fault Code amp H1A07 Meaning Cause Action Error occurred inside the gripper control board Contact our company with details of this problem 26 8 Gripper 24V Power of
34. value is limited to 20 to 100 If the value is less than 20 it is then set to 2096 This option is enabled only for the specified GHOLDI statement 6 8 l Chapter 8 Robot language commands Example GHOLDI 1 5 0 230 Gripper 1 moves from the current position to the 5 0mm position with the program speed set at 30 Power setting T Power Range 30 to 100 Unit 96 Specify a workpiece holding force in Power If not specified the power becomes 100 If a value less than 3096 is set in the RCX240 with a software version of Ver 10 18 or later the power is then set to 3096 This option is enabled only for the specified GHOLDI statement Example GHOLDI 1 5 0 T240 Gripper 1 moves from the current position to the 5 0mm position The holding power is 40 Example software limit 0 00 mm software limit 14 3 mm Limit width 0 4 mm When the parameters are set as shown above and the gripper current position is 0 00 mm GHOLDI 1 14 3 27 32 Gripper Soft limit over occurs and the operation cannot be performed GHOLDI 1 13 9 If the gripper does not hold a workpiece it stops at the 14 3mm position CAUTION Set an appropriate workpiece holding force for the gripper movement command so that any excessive impact or moment is not applied to the finger during operation If applied this may cause damage to the product or service life to be shortened GOPEN GOPEN Gripp
35. viewed as mm According to these units the gripper axis will move When the units are viewed as mm the gripper axis moves the movement amount converted for each axis relative to the 0 pulse position Example GDRIVEI 1 500 Gripper 1 moves from the current position to the 500 pulse position GDRIVEI 2 10 0 Gripper 2 moves from the current position to the 10 0mm position Point definition Specify a movement amount in Point expression Axis number data to which the gripper specified by Gripper number is assigned is used The gripper moves the movement amount by the units used for the point expression When the units are viewed as mm the gripper axis moves the movement amount converted for each axis relative to the 0 pulse position Example GDRIVEI 1 P10 Gripper 1 moves the movement amount specified by P10 from the current position 9 NOTE H The coordinate data specified as movement destination is the total of values set for two fingers As the electric gripper is operated two fingers function at the same time The coordinate value of the point data set for one finger is 1 2 of its set value Example When the gripper axis moves to the 10 00mm position from the current position using the relative position movement 5 00 mm is specified for each finger and the total movement of both fingers is 10 00 mm Option types Speed setting p Speed S Range 1 to 100 Unit 96
36. 00 COMNT POS 150 00 115 00 90 00 6 86 Overwrite point OK NO After teaching the point data number designation automatically moves to the next line 7 4 l Chapter 7 Gripper point data creation 7 3 Point data input by direct teaching As the robot servo is turned off the point data of a position where you have moved the gripper manually can be taken A WARNING TO PERFORM THE DIRECT TEACHING IN THE EMERGENCY STOP STATUS IT IS NECESSARY TO SET THE GRIPPER SERVO WHEN E STOP PARAMETER TO OFF FOR DETAILS SEE 6 3 OTHER PARAMETER DETAILS BEFORE STARTING THE DIRECT TEACHING ALWAYS PUT THE EMERGENCY STOP BUTTON IN THE PRESSED STATUS step Put in the emergency stop status Press the emergency stop button on the RPB sep Perform the point teaching in the MANUAL POINT mode For details about teaching see 7 2 Point data input by teaching At this time however since the JOG key cannot be used move the gripper manually 7 4 Point data trace You can check the point data position you have entered by moving the gripper actually Before starting the point data trace press the F11 TRACE key in the MANUAL gt POINT mode to change to the AUTO gt POINT gt TRACE mode After that use the point trace function to check the point data position For details see the user s manual for the robot controller you are using Vy lt 7 Cr When pressing the F11 MODIFY key
37. 000 DI3 0 amp B00000101 DI7 0 amp B00000000 DISPLAY KEY NEXT PAGE LOWER DISPLAY KEY gt PREV PAGE Os a RNEHHHRENI Step Press the key again Every time the key is pressed the monitor indication is changed sequentially as shown below DI monitor 2 DO monitor 2 MO monitor LO TO monitor gt SI monitor SO monitor SIW monitor 2 SOW monitor gt Variable monitor gt Task monitor gt Gripper gt Gripper2 Current monitor 2 Normal screen NU p NOTE The status monitor for the Gripperl and or Gripper2 is indicated only when the electric gripper options are set M Every time the town keys are pressed the monitor indication is changed in The reverse order of that shown above Chapter 5 Operation l 5 11 step Press the fi key several times until the gripper status monitor is indicated TIP Pressing the LOWER monitor quickly Example of gripper status monitor indication MANUAL 50 MG SOHOJ Gripper Servo 1 ZON 1 Error No Origin 1 HOLD 1 0x0000 Emg Stop 1 INPOS 0 Alarm No Ready 1 BUSY 0 0x0000 DISPLAY KEY gt NEXT PAGE LOWER DISPLAY KEY gt PREV PAGE JN a NNHHHHENI Meaning of each status Servo Origin Emg Stop t keys on the normal screen will indicate the gripper status Return to origin status Servo status Incomplete Emergency stop status Emergency stop Preparing Beyond area
38. 1 2 KCF M4751 A KCF M4811 3 KCF M4811 4 KCF M4811 5 KCF M4811 6 KCF M4811 7 KCF M4811 8 Robot for gripper cable Relay cable A WARNING AVOID DAMAGE TO THE ROBOT FOR GRIPPER CABLE OR RELAY CABLE DAMAGED CABLE EXCESSIVE BENDING PULLING WINDING OR WEDGING MAY CAUSE FIRE ELECTRICAL SHOCK OR MALFUNCTION DUE TO EARTH LEAKAGE OR FAULTY CONDUCTING 3 3 3 Connecting to the electric gripper main body Connect the connector male of the harness that comes from the electric gripper main body to the connector female of the relay cable To connect the connector make the connector orientations matched with each other and insert the connector securely until a click sounds After the connection has been complete put the connector hood Be Connector female of relay cable Connector male of electric gripper Connector hood A WARNING AVOID DAMAGE TO THE ROBOT FOR GRIPPER CABLE OR RELAY CABLE DAMAGED CABLE EXCESSIVE BENDING PULLING WINDING OR WEDGING MAY CAUSE FIRE ELECTRICAL SHOCK OR MALFUNCTION DUE TO EARTH LEAKAGE OR FAULTY CONDUCTING 3 8 l Chapter 3 Installation and wiring 3 3 Connection and wiring 3 3 4 Wiring to the DC24V power supply The following shows the terminal layout of the power connector on the controller side gripper control board Power connector 8 l 1 Motor power su
39. 1 4 l Chapter 8 Robot language commands 8 3 Operation chart of electric gripper The following shows the operation chart of the movement commands for the electric gripper GDRIVE GDRIVEI Speed The gripper moves to the Met Speca specified position GDRIVE or by the specified movement amount GDRIVEI using the trapezoidal speed control If the gripper is stopped by an Movement distance external force during movement l to the specified position relevant Distance alarm occurs Specified position GHOLD GHOLDI Constant The gripper moves to a position movement 7 E distance Limit width close to the specified position Max speed Speed using the trapezoidal speed control moves at a constant Effective holding area speed immediately before holding and holds a workpiece Holding speed If the gripper holds a workpiece Distance in the area determined by the Movement distance limit width and constant movement distance parameters the HOLD bit and ZON bit turn on A Holding position If the gripper stops at a position beyond the effective holding area only the INPOS bit turns on If the gripper holds a workpiece before the effective holding area only the HOLD bit turns on GOPEN GCLOSE Speed The gripper moves to the stroke end at a constant speed in the open GOPEN or close GCLOSE Holding speed variable direction When the
40. 1 Specifications l 11 1 11 3 Electric gripper specifications 1 Compact signal cam type YRG 2005SS E Basic specifications Model name YRG 2005SS Note 1 Design the finger as short and lightweight as possible Max continuous 5 N Note 2 Set the parameters and Holding rating holding power 95 of the power Min setting 30 1 5 N holding movement command So that any excessive shock Resolution 1 0 05 N is not applied to the finger Open close stroke 3 2 mm during operation Max rating 100 mm sec Note3 When installing or 5 uninstalling the finger Min setting 20 20 mm sec tighten the bolts while the Speed Resolution 1 1 mm sec finger is being held securely so that any excessive force Holding speed 50 or shock is not applied to Max the guide block Repeated positioning accuracy 0 02 Note 4 Design the weight of a Guide mechanism Linear guide workpiece to be held so that it is approximately 1 10 to Max holding weight Note 4 0 05 1 20 of the holding power Operating temperature 0 to 40 ee el eli i when moving ana swinging range No freezing allowed thi amp qHuberthiab Keeps Operating humidity range MESo 10 90 holdinga workpiece No dew condensation allowed Note 5 Workpiece weight that is S 10 to 60 able to be held may greatly ORB que No fre
41. 4 years in the controller After the robot controller has been turned off wait at least 5 sec before turning the power on again If the power is turned on again too quickly after it has been turned off the controller may not start up correctly M step Turn on the servo When the SAFE mode setting or serial I O setting is enabled the controller always starts with the robot servo turned off So be sure to turn on the servo For details about how to turn on the servo see the user s manual for YAMAHA robot controller RCX240 q NOTE z f the Servo on when power on parameter is set at NO the controller always starts with the robot servo turned off when power is turned on regardless of SAFE mode and serial I O settings For details see the user s manual for YAMAHA robot controller RCX240 t takes a maximum of 5 sec per gripper to complete the gripper servo on So when two grippers are used it takes a maximum of 10 sec Chapter 5 Operation l 5 1 5 1 2 Turning the power off stepl Turn off the main power power for motor drive and control power of the controller step Turn off the DC 24V power NU m NOTE Do not turn the power off while the program is running Doing so may cause internal system data conflict to occur In this case when the power is turned on again the program may not restart correctly Before turning the power off be sure to exit or stop the program 5 1 3 Power on timing chart o
42. DROPS IF A POWER FAILURE OCCURS CONSTRUCT A CONTROL THAT PREVENTS WORKPIECE DROP IF A POWER FAILURE OCCURS IN THE MACHINE UNIT OR IF THE EMERGENCY STOP IS ACTIVATED PERSONAL INJURY MAY OTHERWISE RESULT The following describes the terminal pin assignments of the gripper emergency stop connector on the controller side gripper control board Connector for gripper emergency stop D Symbol Function rg 1 GE STOP Gripper emergency stop input 1 x l 2 2 GE STOP Gripper emergency stop input 2 fo Connector for gripper emergency stop Controller side Gripper control board Deady i Robot for gripper cable Driver circuit NC contact status of gripper emergency stop Electric gripper status NC contact of the gripper emergency stop is closed terminal numbers 1 and 2 are short circuited Gripper is put in the emergency stop cancel status NC contact of the gripper emergency stop Gripper is put in the emergency stop status is open terminal numbers 1 and 2 are the servo of the electric gripper is turned off open and the power to the gripper is shut down Chapter 3 Installation and wiring l 3 1 1 AN CAUTION The gripper emergency stop is not interlocked with the emergency stop of the controller The servo status of the gripper axis can be set using Gripper servo when E stop of other parameters For details see 6 3 Other parameter details 1 Wiri
43. EO DEN DIAGNOS TIP When two gripper control boards are installed Gripper 1 and Gripper 2 are indicated In a screen example shown above one gripper is set as an auxiliary axis of the scalar robot YK250X Chapter 4 Verification and preparation l 4 1 4 2 Verifying the gripper control board status To operate the electric gripper it is absolutely necessary that the gripper control board is ready for operation Verify the gripper control board status with the RPB sepl Select the SYSTEM gt PARAM gt OP BRD mode The list of option boaras installed in the robot controller is indicated SYSTEM gt PARAM gt OP BRD mode EVER P ARAM gt OP BRD V10 02 AL ID 2 4 SIG NENNEN RENNES NND ee sep Verify that Gripper 1 is set at VALID TIP When two gripper control boards are installed verify the settings of Gripper 1 and Gripper 2 4 2 l Chapter 4 Verification and preparation 4 3 Status LEDs on the gripper control board Four status LEDs are provided at the location on the gripper control board as shown in the figure below These LEDs show the board status The meaning of each LED indication is described in the table below Status LEDs 6j o D lt o z T D H Status LEDs E POWER E JE
44. G 4220W N power Min setting N Resolution N Open close stroke 10 mm Max rating 60 mm sec Min setting 20 12 mm sec Speed Resolution 1 0 7 mm sec Holding speed Max 50 Repeated positioning accuracy 0 03 Guide mechanism Linear guide Max holding weight Note 4 1 5 Operating temperature range 0 to 40 Operating humidity range No dew condensation allowed RH35 to 90 Storage temperature 10 to 60 Weight Bi Relationship between holding 350 power and power designation and lightweight as possible Note 2 Set the parameters and holding power 96 of the holding movement command So that any excessive shock is not applied to the finger during operation Note 3 When installing or uninstalling the finger tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block Note 4 Design the weight of a workpiece to be held so that it is approximately 1 10 to 1 20 of the holding power Consider further allowance when moving and swinging the gripper that keeps holding a workpiece Note 5 Workpiece weight that is able to be held may greatly vary depending on the material shape and or holding surface conditions of the finger B Allowable load and load momen
45. R SUPPLY DO NOT CONDUCT THE WITHSTAND VOLTAGE TEST When applying grease to the electric gripper take the following precautions A WARNING PRECAUTIONS WHEN HANDLING GREASE INFLAMMATION MAY OCCUR IF THIS GETS IN THE EYES BEFORE HANDLING THE GREASE WEAR YOUR SAFETY GOGGLES TO ENSURE THE GREASE WILL NOT COME IN CONTACT WITH THE EYES INFLAMMATION MAY OCCUR IF THE GREASE COMES 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 GREASE CONTAINER SO USE PROTECTIVE GLOVES KEEP OUT OF THE REACH OF CHILDREN DO NOT HEAT THE GREASE OR PLACE NEAR AN OPEN FLAME SINCE THIS COULD LEAD TO SPARKS AND FIRES EMERGENCY TREATMENT IF GREASE GETS IN THE EYES WASH LIBERALLY WITH PURE WATER FOR ABOUT 15 MINUTES AND CONSULT A PHYSICIAN FOR TREATMENT IF GREASE COMES 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 PROPER TREATMENT 1 0 2 l Chapter 10 Periodic inspection and maintenance 10 2 Periodic inspection 10 2 1 Check the following points on a daily basis before and after system operation Daily inspection Checkpoints Electric gripper main body Check items Check for loose bolt Check for loose finger mounting If any loose part is found retigh
46. RSONAL INJURY ELECTRICAL SHOCK OR FIRE MAY OTHERWISE RESULT Chapter 10 Periodic inspection and maintenance ll 1 0 1 10 1 Before beginning work DO NOT MODIFY THE ELECTRIC GRIPPER MAIN BODY OR CONTROLLER IF MODIFIED NOT ONLY DESIGNATED SPECIFICATIONS ARE NOT SATISFIED BUT ALSO THE MODIFICATION MAY ADVERSELY AFFECT THE OPERATOR S SAFETY ADDITIONALLY NEVER CUT OR RECONNECT THE PRODUCT CABLE TO EXTEND OR SHORTEN THE CABLE LENGTH FIRE MAY OTHERWISE RESULT BEFORE STARTING THE MAINTENANCE INSPECTION OR REPAIR WORK OF THE PRODUCT BE SURE TO SHUT DOWN THE ELECTRIC POWER SUPPLY COMPLETELY AND STRICTLY OBSERVE THE CAUTIONS BELOW 1 POST A SIGN STATING UNDER WORK POWER ON PROHIBITED AT A LEGIBLE LOCATION TO PREVENT A THIRD PERSON FROM POWERING ON CARELESSLY 2 WHEN MULTIPLE WORK PERSONNEL PERFORM THE MAINTENANCE AND INSPECTION WORK KEEP CLOSE COMMUNICATION AMONG THEM TO CONFIRM THE SAFETY WHEN TURNING ON OR OFF THE POWER OR WHEN MOVING MOVABLE PARTS DO NOT START THE INSPECTION WORK WITHOUT FULLY UNDERSTANDING OF THE WORK CONTENTS ADDITIONALLY PERFORM THE INSPECTION AT SPECIFIED INTERVALS NEGLIGENCE OF THE INSPECTION MAY CAUSE THE SERVICE LIFE OF THE DRIVE PART TO BE SHORTENED RESULTING IN MALFUNCTIONS IF ANY TROUBLE IS FOUND DURING THE INSPECTION IMMEDIATELY STOP THE OPERATION NEVER TOUCH TERMINALS DURING THE INSULATION RESISTANCE TEST ELECTRICAL SHOCK MAY OTHERWISE RESULT SINCE THE ELECTRIC GRIPPER USES THE DC POWE
47. SE FLUOROCHEMICAL GREASE IF FLUOROCHEMICAL GREASE IS MIXED WITH LITHIUM GREASE THE LUBRICATION PERFORMANCE LOWERS CAUSING DAMAGE TO THE ELECTRIC GRIPPER 1 0 4 l Chapter 10 Periodic inspection and maintenance 11 Specifications 11 1 Electric gripper basic specifications Item Specifications Basic specifications Applicable controller RCX240 Number of connection grippers Max 2 units Axis control Control method PTP motion Min setting unit 0 01mm Position indication unit Pulses mm millimeters Speed setting 20 to 10096 in 196 steps Changeable by the program Acceleration setting 1 to 10096 in 196 steps Setting by the acceleration parameter Programming Teaching MDI coordinate data input direct teaching teaching playback offline teaching data input from external unit 11 2 Gripper control board specifications Item Specifications Axis control No of axes 1 axis Position detection method Optical rotary encoder Min setting distance 0 01mm Speed setting Set in the range of 20 to 100 to the max parameter speed Protective alarm Overcurrent overload voltage failure system failure position deviation over feedback error etc LED status indication POWER Green RUN Green READY Yellow ALARM Red Power supply Drive power DC 24V 10 1 0A Max Chapter 1
48. Set Include Gripper in Origin to target axis was specified for the gripper YES axis when the other parameter Include 2 For ORGRTN and ORGRTN2 Gripper in Origin was set at NO and commands execute an axis other any of the following commands was than the gripper axis individually executed D ORIGIN command 2 ORGRTN command 3 ORGRTN2 command 9 Memory errors 9 51 Gripper origin data destroyed Code amp H0933 Meaning Cause Action Perform the return to origin of the electric gripper Part or all of the data saved after completion of the return to origin of the electric gripper was destroyed 9 2 l Chapter 9 Troubleshooting 10 System environment and hardware errors 10 17 Cannot set Gripper Code amp HOAT1 Meaning Cause Action a It was attempted to set the gripper for 1 Do not set the gripper for such axis the YC Link set axis b It was attempted to set the gripper for the dual drive set axis c It was attempted to set the gripper for 2 Change the setting axis an axis number exceeding the number of boards installed 10 18 Cannot change auxiliary axis Code amp HOA12 Meaning Cause It was attempted to reset the auxiliary Do not reset the auxiliary axis setting axis setting of the gripper set axis 12 I O input output information and option board errors 12 85 Bad Gripper status setting Code amp HOC55 Mea
49. Specify a program movement speed in Speed If not specified the program movement speed uses the current set value Default value 100 The program movement speed can be set in the range of 1 to 10096 by the SPEED statement SPEED2 statement The movement speed is determined by multiplying the auto movement speed by the program movement speed This value is limited to 20 to 100 If the value is less than 20 it is then set to 2096 This option is enabled only for the specified GDRIVEI statement Example GDRIVEI 1 5 0 S230 Gripper 1 moves from the current position to the 5 0mm position with the program speed set at 30 8 4 l Chapter 8 Robot language commands GHOLD GHOLD Gripper numbers Position Point expression Position Point expression Gripper numbers L Option Gripper number Range 1 to 2 Function This command moves the gripper axis to a position close to the specified position at a trapezoidal acceleration deceleration and moves it at a holding speed specified by the parameter immediately before holding In this motion the holding power can be specified by the command option Power Explanation After the operations of all gripper axes specified by Gripper number have been complete the specified gripper starts moving When it is judged that the gripper reaches the target position or holds a workpiece the command is terminated The operation completion
50. TION WITHOUT OPERATION OF THE ELECTRIC GRIPPER BE SURE TO TURN OFF THE POWER SWITCH ON THE CONTROLLER AND THE SWITCH ON THE EXTERNAL POWER DISTRIBUTION PANEL WHEN THE MAINTENANCE OR INSPECTION OF THE ROBOT CONTROLLER IS PERFORMED UNDER YAMAHA S DIRECTION START THE WORK 30 MIN AFTER THE POWER HAS BEEN SHUT DOWN IF ANY HOT OR HIGH VOLTAGE REMAINING PORTION EXISTS IN THE ROBOT CONTROLLER THIS MAY CAUSE BURN OR ELECTRICAL SHOCK WHEN MAKING ONLY ELECTRICAL INSPECTIONS AND REQUIRING NO MECHANICAL MOVEMENT OF THE ELECTRIC GRIPPER PRESS THE EMERGENCY STOP BUTTON USE ONLY LUBRICANT AND GREASES SPECIFIED BY YAMAHA SALES OFFICE OR REPRESENTATIVE USE ONLY PARTS SPECIFIED BY YAMAHA SALES OFFICE OR REPRESENTATIVE TAKE SUFFICIENT CARE NOT TO ALLOW ANY FOREIGN MATTER TO CONTAMINATE THEM DURING ADJUSTMENT PARTS REPLACEMENT OR REASSEMBLY WHEN ADJUSTMENT OR MAINTENANCE IS COMPLETE RETIGHTEN THE BOLTS AND SCREWS SECURELY POST A SIGN STATING UNDER ADJUSTMENT INSPECTION ON THE ELECTRIC GRIPPER SO THAT OTHER PERSONNEL DO NOT OPERATE ANY SWITCH CARELESSLY AS NEEDED INSTALL AN APPROPRIATE SWITCH KEY LOCK MECHANISM OR ASK SOMEONE TO KEEP WATCH IF THE ELECTRIC GRIPPER IS INCORPORATED INTO THE SYSTEM MACHINE UNIT OR ROBOT STRICTLY OBSERVE THE LAWS AND REGULATIONS RELATED TO THE SAFETY MEASURES OF THE SYSTEM AND PERFORM THE INSPECTION OR MAINTENANCE WORK IN A SAFE MANNER DO NOT DISASSEMBLE OR ASSEMBLE PRODUCT PARTS OTHER THAN THOSE SPECIFIED PE
51. al I O type manuals for detailed information Verify that the wiring and power voltage are correct Turn on the power and servo Chapter 1 3 Turning power on and off EY EI o El E D o amp o 3 23 2 1 o 2 o 23 gm El a 2 a 0 o z g o zZ Check that no alarm is issued after turning power on Chapter 3 12 Checking the robot controller operation r Check that the rob h j nas Chapter 7 1 SYSTEM mode eck that the robot type setting in the controller matches Robot type can be Robot type check the robot that is actually connected checked on the initial screen in SYSTEM mode Verify the gripper Verify that the gripper control board is installed in the This manual 4 1 Verifying the robot controller settings board controller and that it is set valid This manual 4 2 Verifying the gripper control 3 board status Set the following parameters to optimize the robot operation Chapter 7 2 3 Robot parameters o Tip weight workpiece weight tool weight Tip weight 2 Parameter initial Soft limits movement range Chapter7 2 4 Axis parameters 3 setting Before determining soft limit positions by jog movement Soft limit c return to origin must first be complete Soft limit Setthe Axis tip weight parameter if the robot is set to i e Axis tip weight MULTI or has an auxiliary axis J This manual 6 2 Axis parameter details Always set this par
52. ameter when using the robot for the t Sont ra first time After that change it as needed OP Absolute reset Perform the absolute reset or return to origin to teach the Chapter5 9 Return to origin return to origin origin position J Always perform absolute reset when using the robot for apter 5 ADSOMI eS the first time After that reperform it only when the origin This manual 5 3 Return to origin position becomes indefinite return to origin incomplete Chapter7 2 Parameters Parameter setting Set parameters according to the operation conditions J This manual 6 Parameter settings g Mu Chapter 5 3 Displaying and editing point data S Point data editing Create or edit point data according to the robot operation This manual 7 Gripper point data creation 2 eer Chapter 5 4 Displaying editing and a 3 setting pallet definitions Programming Create programs according to the robot operation J Chapter4 1 PROGRAM mode Programming is unnecessary if not using a program See Hy programming manual such as in operation with I O commands NEUE ae This manual 8 Robot language commands mm E Check that the safety devices such as an emergency stop circuit function correctly E n R Chapter 3 3 Stopping the program m Make a trial run using step operation and make adjustment as needed 2 9 13 Executing the next step 9 OP 2 Automatic operati
53. arranty 1 6 2 Overview of electric gripper 2 1 2 1 Features and functions 2 1 2 2 Product check 2 2 2 3 Part names and functions 2 3 2 4 Installation conditions 2 4 2 5 System configuration 2 5 2 6 Preparations for electric gripper use 2 6 3 Installation and wiring 3 1 3 1 Installing the electric gripper 3 1 3 2 Installing the finger 3 4 3 3 Connection and wiring 3 6 3 3 1 Connecting to the controller gripper control board 3 6 3 3 2 Connecting the robot for gripper cable and relay cable 3 7 3 3 3 Connecting to the electric gripper main body 3 8 3 3 4 Wiring to the DC24V power supply 3 9 3 3 5 Wiring to the gripper emergency stop 3 11 4 Verification and preparation 4 1 4 1 Verifying the robot controller settings 4 4 2 Verifying the gripper control board status 4 2 4 3 Status LEDs on the gripper control board 4 3 4 4 Weight parameters 4 4 4 4 1 Robot parameters 4 4 4 4 2 Axis parameters 4 4 5 Operation 5 1 5 1 Turning the power on and off 5 1 5 1 1 Turning the power on 5 1 5 1 2 Turning the power off 5 2 5 1 3 Power on timing chart 5 2 5 2 Manual movement 5 3 5 3 Return to origin 5 6 5 3 1 Return to origin operation 5 6 5 83 2 Overall return to origin 5 8 5 3 3 Gripper return to origin 5 9 5 4 Emergency stop 5 10 e General contents l 5 5 Status monitor 5 11 6 Parameter settings 6 1 6 1 Parameter list 6 1 6 2 Axis parameter details 6 3 6 3 Other parameter details 6 8 7 Gripper point data creation 7 1 7 1 Point
54. ation on the warranty period and terms please contact our distributor where you purchased the product E This warranty does not cover any failure caused by 1 Installation wiring connection to other control devices operating methods inspection or maintenance that does not comply with industry standards or instructions specified in the YAMAHA manual 2 Usage that exceeded the specifications or standard performance shown in the YAMAHA manual Product usage other than intended by YAMAHA Storage operating conditions and utilities that are outside the range specified in the manual Damage due to improper shipping or shipping methods Accident or collision damage Installation of other than genuine YAMAHA parts and or accessories per S M PUDE Modification to original parts or modifications not conforming to standard specifications designated by YAMAHA including customizing performed by YAMAHA in compliance with distributor or customer requests 9 Pollution salt damage condensation 10 Fires or natural disasters such as earthquakes tsunamis lightning strikes wind and flood damage etc 11 Breakdown due to causes other than the above that are not the fault or responsibility of YAMAHA E The following cases are not covered under the warranty 1 Products whose serial number or production date month amp year cannot be verified 2 Changes in software or internal data such as programs or points that were creat
55. ay digits is set to 8 in the SYSTEM gt PARAM mode 8 digit data is indicated on the screen To enter data in units of millimeters enter a numeric value consisting of 5 digit or less integer and 2 digit or less decimal When the number of display digits is set to 8 in the SYSTEM gt PARAM mode 8 digit data is indicated on the screen NOD NOTE e O zero is automatically entered for an axis without data input The error message Digit number error appears when the data format is wrong Enter it in the correct format M Stp Set the data you have entered Press the 5 cursor up down key ZEBRA or page up down key XY 10o set the point data you have entered Press if you want to cancel the point data input 7 2 l Chapter 7 Gripper point data creation 7 2 Point data input by teaching You can take the current gripper position to the point data in the MANUAL gt POINT mode SLF p NOTE Point data teaching cannot be performed when return to origin is incomplete Perform point teaching after performing return to origin stepl Move the cursor to a point number you want to input data Point data teaching 1 MNPO INT 100 MG SOHOX X y Z r P7 100 00 250 00 15 00 30 00 ZME 220 00 150 00 115 00 90 00 P9 400 00 200 00 15 00 30 00 COMNT POS 50 00 150 00 115 00 90 00 EMEN GSN LD step Select a point for the gripper axis Use the cursor ke
56. celeration and moves it at a holding speed specified by the parameter immediately before holding In this motion the holding power can be specified by the command option Power Explanation After the operations of all gripper axes specified by Gripper number have been complete the specified gripper axis starts moving When it is judged that the gripper reaches the specified movement amount or holds a workpiece the command is terminated The operation completion conditions can be checked using GSTATUS Example GHOLDI 1 P10 Gripper 1 moves the movement amount specified by P10 from the current position Chapter 8 Robot language commands Il 6 7 Point data setting Direct coordinate data input Directly specify coordinate data in Movement amount When the coordinate data is an integer the movement units are viewed as pulses When the coordinate data is a real number containing a decimal point the units are viewed as mm According to these units the gripper axis will move When the units are viewed as mm the gripper axis moves the movement amount converted for each axis relative to the 0 pulse position Example GHOLDI 1 500 Gripper 1 moves from the current position to the 500 pulse position GHOLDI 2 10 0 Gripper 2 moves from the current position to the 10 0mm position Point definition Specify a movement amount in Point expression Axis number data to which the gripper spec
57. d the power becomes 100 If a value less than 3096 is set in the RCX240 with a software version of Ver 10 18 or later the power is then set to 3096 This option is enabled only for the specified GCLOSE statement Example GCLOSE 1 T 40 Gripper 1 moves from the current position in the close direction The holding power is 40 CAUTION Set an appropriate workpiece holding force for the gripper movement command so that any excessive impact or moment is not applied to the finger during operation If applied this may cause damage to the product or service life to be shortened GORIGIN GORIGIN lt Gripper number gt lt Gripper number gt Range 1 to 2 Function This command executes the return to origin of the gripper with the specified number or all grippers all grippers in the main and sub groups If the command execution is stopped halfway the return to origin is incomplete If lt Gripper number gt is not specified the return to origin of all grippers is executed Example GORIGIN Starts the return to origin of all grippers GORIGIN 1 Starts the return to origin of gripper 1 GSTATUS GSTATUS Gripper number Gripper number Range 1 to 2 Function This command obtains the status information on gripper with the specified number The obtained result is a value that each status is assigned to relevant bit The meaning of each bit is described in the table below For detai
58. determined by the motor UE NOTE The set value of the data related to the distance such as point data constant movement distance or limit width parameter is the total of values set for two fingers As the electric gripper is operated two fingers function at the same time The value of the point data constant movement distance or limit width parameter set for one finger is 1 2 of its set value Example When the limit width is set at 2 00 mm The limit width for each finger is 1 00 mm The total of values set for two fingers is 2 00 mm M 5 Origin shift pulse SHIFT The position after completion of the return to origin shifts only a value specified by this parameter When the parameters are initialized 0 is set for this parameter Regardless of the origin shift set value the current position at completion of the return to origin is 0 pulse NU d m NOTE This parameter is set to correct the deviation amount if the work position deviates for some reason Note that the origin shift parameter setting procedures for the gripper axis are different from those for an axis other than the gripper axis The set value of the data related to the distance such as point data constant movement distance or limit width parameter is the total of values set for two fingers As the electric gripper is operated two fingers function at the same time The
59. down the key will continuously move the axis to the software limit position as a target When the JOG key is released or when the axis reaches the software limit the axis movement will stop The movement distance with the inching operation is the number of pulses that equals the numeric value of the manual movement speed Example When the manual movement speed is 20 the inching distance in pulse units is 20 pulses When you press the JOG key to move each axis to a position over software limit of each axis the message 2 1 Software limit over appears and the axis cannot be moved 2 Manual Holding of Gripper parameter is set at VALID The manual movement operation changes to the holding movement In this setting the electric gripper can hold a workpiece Pressing the JOG key will perform the inching operation of the axis corresponding to the key constant amount movement every time the key is pressed Subsequently holding down the key will continuously move the axis to the software limit position as a target When the JOG key is released or when the axis reaches the software limit the axis movement will stop As the manual movement is changed to the holding movement the movement distance with the inching operation is the number of pulses that equals numeric value of the manual movement speed limit width pulse conversion value Additionally the inching distance may not be constant due to the conversion accuracy inside th
60. e gripper IF board Example When the manual movement speed is 100 the electric gripper model is YRG 2815S and the limit width is 2 00 mm 189 pulses the inching distance in pulse units 100 189 pulses 289 pulses When you press the JOG key to move each axis to a position over software limit of each axis the message 2 1 Software limit over appears and the axis cannot be moved 2 Current position display in mm units X is shown in the right portion of the RPB screen T is shown in the Tool coordinate mode Example of display in mm units X MANUAL 50 MG SOHOX Machine reference Mx 151 05xMy 3 27 Mz 49 23 Mr 32 51 ma 5 03 ZELLE RR ee HEGNNN 5 4 l Chapter 5 Operation Example of display in mm units Tool coordinate mode T MANUAL 50 MG SOHO T Machine reference Mx 151 05xMy 3 27 Mz 49 23 Mr 32 51 ma 5 03 LL ER NENNEN JEN The operation contents may vary depending on the set contents of the Manual Holding of Gripper parameter of other parameters as described below For details see 6 3 Other parameter details The Manual Holding of Gripper parameter is valid only when the software version is Ver 10 19 or later When the software version is earlier than Ver 10 19 the operation is the same as that with the Manual Holding of Gripper parameter set at INVALID 1 Manual Holding of Gripper parameter is set at INVALID The ho
61. ece to be held so that it is approximately 1 10 to 1 20 of the holding power Consider further allowance when moving and swinging the gripper that keeps holding a workpiece Note 5 Workpiece weight that is able to be held may greatly vary depending on the material shape and or holding surface conditions of the finger ES 1 1 1 2 l Chapter 11 Specifications Bi Relationship between holding power and power designation 25 20 15 10 N eod BuipjoH 0 30 40 50 60 70 80 90 100 Power designation 96 N 16 od BuipjoH 0 30 40 50 60 70 80 90 100 Power designation 96 The graph stating the relationship between the holding power and power designation 96 is used for your reference The actual holding power may vary extremely B Allowable load and load moment External force Fb Distance of holding External force Fa Work W YRG 2004T YRG 2013T YRG 2820T YRG 4230T Allowable load N 6 20 30 50 Allowable moment N m 0 02 0 1 0 2 0 4 Max weight 1 pair g 10 20 30 50 Max holding position L mm 15 20 30 40 When the external forces Fa and Fb are applied to a potion the distance L apart from the finger installation surface the load F and moment M are calculated from the formulas shown below JeBui4 F Fa Wxg M FbxL F Load N M Moment Nem L Distance of point of external
62. ed or changed by the customer 3 Products whose trouble cannot be reproduced or identified by YAMAHA 4 Products utilized for example in radiological equipment biological test equipment applications or for other purposes whose warranty repairs are judged as hazardous by YAMAHA THE WARRANTY STATED HEREIN PROVIDED BY YAMAHA ONLY COVERS DEFECTS IN PRODUCTS AND PARTS SOLD BY YAMAHA TO DISTRIBUTORS UNDER THIS AGREEMENT ANY AND ALL OTHER WARRANTIES OR LIABILITIES EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ARE HEREBY EXPRESSLY DISCLAIMED BY YAMAHA MOREOVER YAMAHA SHALL NOT BE HELD RESPONSIBLE FOR CONSEQUENT OR INDIRECT DAMAGES IN ANY MANNER RELATING TO THE PRODUCT Ver 1 00 201205 1 6 l Chapter 1 Safety 2 Overview of electric gripper 2 1 Features and functions This YAMAHA electric gripper for robots is so designed that it achieves highly accurate holding power position and speed controls through the closed loop control using the stepping motor and rotary encoder As a dedicated option board is assembled into the YAMAHA robot controller RCX240 and the electric gripper is set as an auxiliary axis of the robot the electric gripper can be controlled easily Use of a special cam structure ensures lightweight and compact electric gripper main body even with high holding power E Features Holding power control The holding power of the g
63. en OK is indicated on the screen this means that the return to origin is complete MANUAL GORIGIN mode screen UI AN GORIGIN 50 MG SOHO J Gripper origin result G1 0K G2 0K T C Co NND NNI 5 4 Emergency stop The operation when the emergency stop button on the RPB is pressed may vary depending on the set value of the Gripper servo when E stop parameter as described below For details see 6 3 Other parameter details Make an appropriate setting suitable for the application Setvale Function Only the electric gripper axis remains servo on Other axes are servo off When the emergency stop button is pressed the gripper continues holding the workpiece since the servo is not turned off All axes including the electric gripper axis are servo off For details about how to use the emergency stop button on the RPB see the user s manual for robot controller 5 1 0 l Chapter 5 Operation 5 5 Status monitor You can verify the gripper status through the status monitor of the RPB To verify the gripper status follow the steps below stp Ml Press the button on the RPB The current input status is indicated in the data area 8rd to 7th lines on the RPB screen Example of input status indication MANUAL 50 MG SOHOJ DI monitor DIO 0 amp B00000101 DI4 0 amp B00000000 DI1 0 amp B00000010 DI5 0 amp B00000000 DI2 0 amp B00000101 DI6 0 amp B00000
64. en the limit width is set at 2 00 mm The limit width for each finger is 1 00 mm The total of values set for two fingers is 2 00 mm Holding speed Constant movement distance and Limit width parameters Constant movement distance Limit width Speed Max speed Effective holding area Holding speed Movement distance Distance Holding position Chapter 6 Parameter settings l 6 7 6 3 Other parameter details 1 Gripper servo when E stop GEMGMD This parameter sets the servo status of the gripper axis when the emergency stop button is pressed ON The servo of the gripper axis does not turn off when the emergency stop button is pressed Since the servo does not turn off even when the emergency stop button is pressed the gripper continues to hold the workpiece OEE vos The servo of the gripper axis turns off when the emergency stop button is pressed 2 Include Gripper in Origin GORGMD This parameter sets whether or not the gripper axis is included in the overall robot return to origin operation INO ass The gripper axis is not included in the return to origin that is started by pressing the F3 ORIGIN key in the MANUAL mode YES peons The gripper axis is included in the return to origin that is started by pressing the F3 ORIGIN key in the MANUAL mode p NOTE z f there are no axes with the incremental specifications other than the gripper ax
65. er number Gripper number Option Gripper number Range 1 to 2 Function This command moves the gripper axis to the stroke end at a constant speed in the open direction In this motion the holding power is specified by the command option Power Explanation After the operations of all gripper axes specified by Gripper number have been complete the specified gripper axis starts moving When it is judged that the gripper reaches the target position or holds a workpiece the command is terminated The operation completion conditions can be checked using GSTATUS Chapter 8 Robot language commands Il 6 9 Example GOPEN 1 Gripper 1 moves from the current position in the open direction Option types Speed setting p Speed S Range 1 to 100 Unit 96 Specify a program movement speed in Speed If not specified the program movement speed uses the current set value Default value 10096 The program movement speed can be set in the range of 1 to 10096 by the SPEED statement SPEED2 statement The movement speed is determined by multiplying the auto movement speed by the program movement speed This value is limited as follows RCX240 Software version earlier than Ver 10 18 The multiplication value is limited to 20 to 100 If the value is less than 20 it is set to 20 Software version Ver 10 18 or later The multiplication value is limited to 20 to 50 If the value
66. essed can be set using the Gripper servo when E stop parameter of other parameters For details see 6 3 Other parameter details If the power to the controller and electric gripper is interlocking shut down with the emergency stop the customer takes safety measures suitable for the customer s system while referring to the circuit examples shown below A WARNING DO NOT CONFIGURE THE CONTROL THAT ALLOWS THE WORKPIECE TO DROP WHEN STOPPED TAKE APPROPRIATE WORKPIECE DROP PREVENTION MEASURES WHEN A POWER FAILURE OCCURS IN THE MACHINE UNIT OR THE EMERGENCY STOP IS ACTIVATED THOROUGHLY READ THIS USER S MANUAL USER S MANUAL FOR RCX240 CONTROLLER AND USER S MANUAL FOR ROBOT WITH GREAT CARE TO TAKE APPROPRIATE SAFETY MEASURES SUITABLE FOR THE CUSTOMER S SYSTEM Circuit example 1 Gripper emergency stop is not interlocked with the controller emergency stop and external emergency stop Controller Gripper control board cable Electric gripper Robot for gripper ACT AI L DRIVER circuit YRG 24V_GND YRG 24V Gripper emergency stop B 7 GE STOP 4 1 Q GE STOP bd 2 CA YRG 24V_GND Q 513 E STOPIN1 Ba Internal 24V E STOP status Chapter 3 Installation and wiring l 3 1 3 Circuit example 2 Gripper emergency stop is not interlocked with the controller emergency stop but is interlocked with the external emergency stop Controller Gripper control boa
67. ezing allowed vary depending on the material shape and or Weight 90 holding surface conditions f of the finger Bi Relationship between holding E Allowable load and load moment power and power designation 9 8 7 i 6 2 a 5 E 2 4 Pu ee Z 3 ge YRG 2005SS yee Allowable load Fi N 12 2 E e Allowable pitching moment Mp N m 0 04 1 amp Allowable yawing moment My N m 0 04 0 Allowable rolling moment Mr N m 0 08 30 40 50 60 70 80 90 100 4 Max weight 1 pair ol 10 Power designation Max holding position L mm 20 oO Max overhang H mm 20 i Steg me ralationehip aan Mount the finger so that the allowable load and load moment of the the nolding power and power designation guide do not exceed the values stated in the table above is used for your reference The actual Additionally make the adjustment so that the finger weight holding i y holding power may vary extremely length L from the installation surface to the holding point and overhang H do not exceed the values stated in the table above Moreover please contact your YAMAHA sales dealer for further information on combination of L and H ES 1 1 2 l Chapter 11 Specifications E Dimensional outline drawing Unit mm 2 1 H7 9010 Effective depth 1 5 Overall length of cable and connector Connector aI Pa 2 M3 Effective depth 3 L
68. f Code amp H1A08 Action 1 Check the DC24V power cable connection 2 Check the DC24V power 3 Check the DC24V power cable Meaning Cause a DC24V power cable was not connected b DC24V power was not supplied c DC24V power cable had faulty wiring 26 9 Gripper System fault 1 Code amp H1A09 Meaning Cause Action The software entered the runaway status due to external noise Contact our company with details of this problem 26 10 Gripper Feedback error 1 Code amp H1A0A Meaning Cause Action a The finger overrun the software limit 1 Turn on the power to check that no due to external force external force is applied After that perform the return to origin b The encoder counting was incorrect 2 Contact our company with details of due to external noise this problem 9 6 l Chapter 9 Troubleshooting 26 11 Gripper Feedback error 2 Code amp H1AOB Action Meaning Cause Check the encoder cable connections Unlock the guide block a The encoder cable has faulty wiring b The guide block was locked 26 12 Gripper Abnormal voltage Code amp H1AOC Meaning Cause Action a The power voltage increased by 1 Decrease the duty of the mechanism regeneration part b The DC24V power voltage was 2 Check the capacity of the DC24V incorrect power supply If the capacity is insufficient adjust the power voltage to its correct range
69. gt l p NOTE For details about positioning pin hole position and size of each gripper see 11 3 Electric gripper specifications Chapter 3 Installation and wiring l 3 3 3 2 Installing the finger Tap holes have been made in the guide block of each electric gripper to install a tool such as finger Follow the instructions below to install a tool such as finger on the electric gripper For details about tap hole positions see 11 3 Electric gripper specifications 1 Installation bolt When installing the finger tighten the bolt while holding the finger firmly so that any excessive force or shock is not applied to the guide block The installation tap hole in the guide block is a through hole If a bolt to be screwed in beyond the effective depth of the guide block is used this may cause the gripper to malfunction or break Never use a bolt with a screw in length exceeding the effective depth On the other hand if the length of the installation bolt is too short this may cause insufficient clamping force Finger installation bolt Gripper main body Gripper main body Guide rail Effective depth Finger installation part Y Installation bolt Guide block Positioning pin Tap hole and effective depth Effective depth mm Model name Tap hole YRG 2005SS YRG 2010S YRG 2005W YRG 2815S YRG 2810W YRG 42258 YRG 4220W
70. h 2 Q For installation Also gt lt A installable on the opposite CB side Vy nstallation V 1 SA SB it surface He 9 3 B AA Xt H7 Oa 4 dr oral telo s rface Ww surface nstallation su F e 1 Installation surface Tl Y pen 1 Um eu ou i 0e p z 2H Ji E 8 ED X ha Dimension table YRG 2005W 75 SC TE 1125 5 5 View of B 2x4 N Effective depth P L For attachment installation J K 14 2x2 N Effective depth P For attachment installation YRG 2005W YRG 2810W YRG 4220W View of A Note Avoid extreme winding of the cable and fix the cable securely so that it does not move Take appropriate measures so that any excessive force is not applied to the root of the cable 10 6 15 6 YRG 2810W 12 6 22 6 YRG 4220W Symbol Model name YRG 2005W 16510 17 0 36 3 YRG 2810W 14010 YRG 4220W 235410 Chapter 11 Specifications l 11 7 4 Screw type strait style YRG 2020FS YRG 2840FS E Basic specifications Note 1 Desig
71. he message line this means that there is an axis with the absolute specifications and the absolute reset of this axis is incomplete If this occurs perform the absolute reset of the target axis 5 3 3 Gripper return to origin The following explains how to perform the return to origin of only the gripper axis sepl Select the MANUAL gt GORIGIN mode Select the MANUAL mode and press the F14 GORIGIN key The WANUAL gt GORIGIN mode screen will appear The figure below shows the screen when two grippers are used MANUAL GORIGIN mode screen ASIA gt GOR IGIN 50 MG SOHO J Press F Key to gripper for origin G1 NG SENSOR G2 NG SENSOR EN C co NND NNI sep Select an axis you want to perform the return to origin To start the return to origin of the gripper 1 press the F2 G1 key Accoraingly to start the return to origin of the gripper 2 press the F3 G2 key When you want to perform the return to origin of both the grippers 1 and 2 press the F1 ALL key sep Confirm the message and press the F4 YES key The return to origin of the gripper axis you have selected is then started RETURN TO ORIGIN CONFIRMATION screen Ave gt GOR GIN 50 MG SOHO J Starting origin search Origin return again HEN oll Chapter 5 Operation l 5 9 stepfd Verify that the return to origin is complete Wh
72. holding power and power designation 200 180 160 140 120 100 80 60 N 16 od BuipjoH 40 0 30 40 50 60 70 80 90 100 Power designation 96 The graph stating the relationship between the holding power and power designation 96 is used for your reference The actual holding power may vary extremely ES 1 1 1 0 l Chapter 11 Specifications 890 Note 1 Design the finger as short and lightweight as possible Note 2 Set the parameters and holding power of the holding movement command so that any excessive shock is not applied to the finger during operation Note 3 When installing or uninstalling the finger tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block Note 4 Design the weight of a workpiece to be held so that it is approximately 1 10 to 1 20 of the holding power Consider further allowance when moving and swinging the gripper that keeps holding a workpiece Note 5 Workpiece weight that is able to be held may greatly vary depending on the material shape and or holding surface conditions of the finger B Allowable load and load moment YRG 2020FT YRG 2840FT Allowable load FI IN 1000 1300 Allowable pitching moment Mp N m 3 5 5 Allowable yawing moment My N m 4 2 6 Allowable rol
73. ic wire into one electric insertion port of the gripper emergency stop connector Wheninserting the electric wire pay special attention so that frayed wire leads are not in contact with other conductor If the electric wire insertion portion deteriorates for some reason strip the electric wire and connect it again 2 Preventive measures for malfunction caused by noise If the gripper operation may become unstable due to noise it is recommended to insert a ferrite core or noise filter into the power supply line CAUTION Locate the ferrite core or noise filler as close to the controller as possible Connecting the power connector Controller side Ferrite core etc 3 1 0 l Chapter 3 Installation and wiring 3 3 5 Wiring to the gripper emergency stop An emergency stop input dedicated to the electric gripper is provided on the gripper control board The customer performs the wiring to this emergency stop input as needed A WARNING AN EXTERNAL EMERGENCY STOP CIRCUIT MUST BE CONSTRUCTED SO THAT THE DRIVE POWER CAN BE SHUT DOWN IMMEDIATELY IN CASE OF AN EMERGENCY STOP INSTALL AN EMERGENCY STOP DEVICE IN A PLACE WHERE ALL CONCERNED PERSONNEL CAN ACTIVATE IT IF ANY DANGER OCCURS DURING OPERATION PERSONAL INJURY MAY OTHERWISE RESULT e DO NOT CONSTRUCT A CONTROL SO THAT THE WORKPIECE
74. ified by Gripper number is assigned is used The gripper moves the movement amount by the units used for the point expression When the units are viewed as mm the gripper axis moves the movement amount converted for each axis relative to the 0 pulse position Example GHOLDI 1 P10 Gripper 1 moves the movement amount specified by P10 from the current position 9 NOTE Set a workpiece holding position target position so that it does not exceed the value that the limit width is subtracted from the software limit The coordinate data specified as movement destination is the total of values set for two fingers As the electric gripper is operated two fingers function at the same time The coordinate value of the point data set for one finger is 1 2 of its set value Example When the gripper axis moves to the 10 00mm position from the current position using the relative position movement 5 00 mm is specified for each finger and the total movement of both fingers is 10 00 mm M Option types e Speed setting Fia lt Speed gt S Range 1 to 100 Unit 96 Specify a program movement speed in Speed If not specified the program movement speed uses the current set value Default value 100 The program movement speed can be set in the range of 1 to 10096 by the SPEED statement SPEED2 statement The movement speed is determined by multiplying the auto movement speed by the program movement speed This
75. imited by the software limit S Are the signal exchanges with auxiliary units correct Are the teaching and playback functions correct 5 Do the safety protection fence and interlock function correctly as intended 6 Does the auto operation function correctly A WARNING WHEN STARTING THE OPERATION OR ADJUSTMENT AFTER THE GRIPPER HAS BEEN INSTALLED IN THE SYSTEM STRICTLY OBSERVE THE SAFETY MEASURES OF THE SYSTEM FAILURE TO DO SO MAY CAUSE SERIOUS PERSONAL INJURY BEFORE SUPPLYING THE ELECTRIC POWER TO THE PRODUCT OR OPERATING THE PRODUCT BE SURE TO CONFIRM THE SAFETY IN THE WORKING AREA OF THE PRODUCT IF THE ELECTRIC POWER IS SUPPLIED CARELESSLY THE OPERATOR MAY BE IN CONTACT WITH MOVABLE PARTS CAUSING ELECTRICAL SHOCK OR PERSONAL INJURY e DO NOT TOUCH CONNECTORS WITH THE ELECTRIC POWER SUPPLIED ELECTRICAL SHOCK OR MALFUNCTION MAY OTHERWISE RESULT DO NOTTOUCH EXPOSED TERMINALS OF THE CONTROLLER ELECTRICAL SHOCK MAY OTHERWISE RESULT e DO NOT ALLOW PERSONNEL WHO USE A PACEMAKER TO GET ACCESS TO AN AREA WITHIN 1 M OF THE PRODUCT THE STRONG MAGNETISM OF THE MAGNET INSIDE THE PRODUCT MAY CAUSE THE PACEMAKER TO MALFUNCTION DO NOT SPLASH THE WATER ONTO THE PRODUCT WASH IT OR OPERATE IT UNDER THE WATER PERSONAL INJURY ELECTRICAL SHOCK OR FIRE CAUSED BY PRODUCTION MALFUNCTION MAY OTHERWISE RESULT e DO NOT TOUCH THE PRODUCT DURING OPERATION DOING SO MAY CAUSE YOUR FINGER TO BE PINCHED OR ENTANGLED INTO OTHER DEVICE
76. in the AUTO gt POINT mode the mode is returned to the mode hierarchy before trace MANUAL gt POINT mode When the MANUAL gt POINT mode is changed to the AUTO gt POINT mode pressing the key will return to the MANUAL gt POINT mode IN Chapter 7 Gripper point data creation I 7 5 MEMO 7 6 l Chapter 7 Gripper point data creation 8 Robot language commands This section explains the dedicated robot language commands used for YAMAHA electric gripper Refer to the YAMAHA Robot Controller RCX Series Programming Manual for robot language information beyond basic items such as the robot language command statement format variables and constants Always refer to the above programming manual when performing programming operations 8 1 Robot language command list Language Function command name Format Moves to an absolute position GDRIVE Gripper numbers Position Gripper numbers Position L Option Point expression Point expression Moves to a relative position GDRIVEI Gripper number Movement amount Gripper numbers Movement amount Option Point expression Point expression Moves to an absolute position with holding of a workpiece GHOLD lt Gripper number Position Gripper numbers Position Option Point expression Point expression Moves to a relative position with holding
77. ion for the gripper movement by the movement command is set in the range of 1 to 100 When the parameters are initialized 100 is set for this parameter Ne m NOTE If the top end swings when the gripper movement is accelerated decreasing this parameter value will suppress this swinging symptom CAUTION When the acceleration coefficient is decreased a period of time necessary to stop the gripper in response to the stop command by the STOP key or interlock signal becomes longer So do not decrease this acceleration coefficient extremely 2 Soft limit pulse PLMT 3 Soft limit pulse PLMT An area where the gripper axis is able to move is set using the software limit and software limit Before starting the point teaching or auto operation make sure that the specified point data is within the software limit range The set value of the selected axis is indicated on the 3rd line of the RPB display after its unit has been converted CAUTION These parameters are very important since they determine the movable area of the gripper axis So it is absolutely necessary to set accurate values If the return to origin operation is not completed the JOG operation of the gripper axis cannot be performed 9 NOTE IM M M The set value of the data related to the distance such as point data constant movement d
78. ion is found replace the defective cable as needed Operation status Check for unusual noise vibration or unsmooth operation Check that the emergency stop functions correctly Chapter 10 Periodic inspection and maintenance ll 1 0 3 10 3 Applying grease 10 3 Applying grease When applying grease to the linear guide according to periodic inspection follow the procedure below Recommended grease Multemp PS No 2 Kyodo Yushi or its equivalent Lithium grease 1 Make sure that the power to the controller is off 2 Use a syringe to apply the recommended grease to the clearance between the guide block and guide rail of the finger ball part at 4 locations After the grease has been applied wipe off excess grease or grease sticking to surrounding parts A WARNING APPLY AN ADEQUATE AMOUNT OF GREASE TO SPECIFIED LOCATIONS ELECTRONICS DEVICES SUCH AS STEPPING MOTOR OR ROTARY ENCODER ARE INCORPORATED INTO THE ELECTRIC GRIPPER MAIN BODY IF GREASE STICKS TO SUCH DEVICE NOT ONLY THE ELECTRIC GRIPPER CANNOT BE OPERATED AT ITS MAXIMUM PERFORMANCE LEVEL BUT ALSO DAMAGE TO THE MACHINE UNIT OR PERSONAL INJURY DUE TO MALFUNCTIONS MAY RESULT e DO NOT USE SPRAY GREASE IF USED GREASE SCATTERS AND MAY STICK TO THE ENCODER e DO NOT USE SPRAY OIL IF USED GREASE FLOWS BY OILY CONTENT CAUSING LUBRICATION TROUBLE ADDITIONALLY OIL ENTERS UNEXPECTED LOCATIONS CAUSING OPERATION TROUBLE NEVER U
79. ions Negligence of necessary safety measures or improper handling may cause not only fault or damage to the electric gripper robot and or controller but also a serious accident including injury of work personnel installation engineers operators and adjustment and inspection engineers or even death This manual classifies safety caution items and operating points into the following levels along with symbols for signal words WARNING CAUTION and NOTE A WARNING WARNING INDICATES A POTENTIALLY HAZARDOUS SITUATION WHICH IF NOT AVOIDED COULD RESULT IN DEATH OR SERIOUS INJURY CAUTION CAUTION indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury or damage to the equipment or software N ee m NOTE Explains key points in the operation or helpful operation information Refer to the user s manual by any of the following methods to operate or adjust the electric gripper safely and correctly 1 Operate or adjust the electric gripper while referring to the printed version of the user s manual available for an additional fee 2 Operate or adjust the electric gripper while viewing the CD ROM version of the user s manual on your computer screen 3 Operate or adjust the electric gripper 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
80. ipper can be performed by setting the parameters If the command execution is stopped halfway the return to origin is incomplete When two robots are set the return to origin and absolute search operations of the sub robot group are performed after the return to origin and absolute search operations of the main group have been complete Example ORIGIN sirasi eee Starts the return to origin of the axis with the incremental specifications For the axis with the semi absolute specifications the absolute search operation is performed WHERE WHERE2 WHERE WHERE2 Function This command reads out the current position of the main sub group arm in joint coordinates pulses Example P10 WHERE Reads the current position of the main group robot and registers it into P10 P10 is defined in joint coordinates pulses P10 WHERE2 Reads the current position of the sub group robot and registers it into P10 P10 is defined in joint coordinates pulses WHRXY WHRXY2 WHRXY WHRXY2 Function This command reads out the current position of the main sub group arm in Cartesian coordinates mm or degrees Example P10 WHRXY Reads the current position of the main group robot and registers it into P10 P10 is defined in Cartesian coordinates mm degrees P10 WHRXY2 Reads the current position of the sub group robot and registers it into P10 P10 is defined in Cartesian coordinates mm degrees 6
81. is less than 20 it is set to 20 If the value is 50 or more it is set to 50 This option is valid only for the specified GOPEN statement Example GOPEN 1 S230 Gripper 1 moves from the current position in the open direction with the program speed set at 30 Power setting T Power Range 30 to 100 Unit 96 Specify a workpiece holding force in Power If not specified the power becomes 100 If a value less than 3096 is set in the RCX240 with a software version of Ver 10 18 or later the power is then set to 30 This option is enabled only for the specified GOPEN statement Example GOPEN 1 T240 Gripper 1 moves from the current position in the open direction The holding power is 40 CAUTION Set an appropriate workpiece holding force for the gripper movement command so that any excessive impact or moment is not applied to the finger during operation If applied this may cause damage to the product or service life to be shortened 6 1 0 l Chapter 8 Robot language commands GCLOSE GCLOSE Gripper number Gripper number Option Gripper number Range 1 to 2 Function This command moves the gripper axis to the stroke end at a constant speed in the close direction In this motion the holding power is specified by the command option Power Explanation After the operations of all gripper axes specified by Gripper number have been complete the specified gripper a
82. is when this parameter is set at NO the F3 ORIGIN key menu is not indicated in the MANUAL mode At this time press the F14 G ORIGIN key in the MANUAL mode to perform the return to origin of the gripper axis This parameter setting is valid even when the return to origin is started from a command other than the RPB as described below e Return to origin by DI14 or DI17 Return to origin by online command ORIGIN ORGRIN or ORGRIN2 Return to origin by robot language ORIGIN Return to origin by return to origin command of IO commands Return to origin by return to origin command of remote commands 3 Manual Holding of Gripper GMHLMD This parameter sets whether or not a workpiece is held during manual movement INVALID The holding operation is invalid during manual movement If the gripper holds a workpiece during manual movement 26 1 Gripper Over load occurs and the gripper cannot hold a workpiece VALID The holding operation is valid during manual movement The gripper can hold a workpiece during manual movement 6 8 l Chapter 6 Parameter settings AN CAUTION When this parameter is set to VALID the operation mode of the manual movement changes to the holding movement So the movement distance during inching operation does not interlock with the manual movement speed The inching operation with the holding operation set at INVALID is the same as the axes other than the electric gripper
83. istance or limit width parameter is the total of values set for two fingers As the electric gripper is operated two fingers function at the same time The value of the point data constant movement distance or limit width parameter set for one finger is 1 2 of its set value Example When the limit width is set at 2 00 mm The limit width for each finger is 1 00 mm The total of values set for two fingers is 2 00 mm Chapter 6 Parameter settings l 6 3 4 Tolerance pulse TOLE A tolerance range of the positioning completion is set for the target position when the movement of the gripper axis is complete This parameter is set to a value unique to each axis when initialized When the gripper axis enters an area specified by the tolerance this is determined as positioning complete So when PTP operation commands are instructed continuously on the program the positioning completion time can be shortened as this value is made larger The set value of the selected axis is indicated on the 3rd line of the RPB display after its unit has been converted CAUTION o This parameter is very important since it determines the axis behavior near the target position So it is absolutely necessary to set an accurate value f the tolerance range was reduced to a drastically small value then the time needed for robot positioning might vary The maximum tolerance value is
84. l name Tap hole YRG 2005SS YRG 2010S YRG 2005W YRG 2815S YRG 2810W YRG 42258 YRG 4220W YRG 2020FS YRG 2020FT YRG 2840FS YRG 2840FT 0 56 to 0 69 1 35 to 1 65 2 7 to 3 3 1 35 to 1 65 2 7 to 3 3 YRG 2004T 0 56 to 0 69 YRG 2013T 0 56 to 0 69 YRG 2820T 1 35 to 1 65 YRG 4230T 2 7 to 3 3 A numeric value stated in shows the effective depth for installation of the electric gripper on the top surface A WARNING STRICTLY OBSERVE THE ABOVE INSTRUCTIONS ABOUT INSTALLATION BOLT TO SECURELY FIX THE GRIPPER FAILURE TO FOLLOW THE INSTRUCTIONS MAY CAUSE THE GRIPPER OR WORKPIECE TO BE LOOSE OR FALLEN DOWN RESULTING IN EQUIPMENT BREAKAGE OR PERSONAL INJURY CAUTION The recommended tightening torque shows a general value You should determine an appropriate level by taking the installation bolt you are using and or the material of the seating surface into consideration 3 2 l Chapter 3 Installation and wiring 3 1 Installing the electric gripper A positioning pin hole that is aligned with the center axis of the finger is provided on the surface opposite to the finger installation surface 2 Positioning pin hole Use of this positioning pin hole makes it possible to maintain the gripper installation accuracy and installation reproducibility However the YRG 2005SS and YRG 2004T is excepted Positioning pin hole Positioning pin hole
85. lding operation of the manual movement becomes invalid In the same manner as the robot axis operation the manual movement is as follows When the JOG key is pressed the inching operation constant amount movement every time the key is pressed is performed first Subsequently holding down the key will perform the continuous movement When the JOG key is released or when the axis reaches the software limit the axis movement will stop The movement distance with the inching operation is manual movement speed x 0 01 mm The inching distance may not be constant due to the conversion accuracy inside the gripper IF board Example When the manual movement speed is 20 the inching distance in mm units is 0 20 mm When you press the JOG key to move each axis to a position over software limit of each axis the message 2 1 Software limit over appears and the axis cannot be moved 2 Manual Holding of Gripper parameter is set at VALID The manual movement operation changes to the holding movement In this setting the electric gripper can hold a workpiece Pressing the JOG key will perform the inching operation of the axis corresponding to the key constant amount movement every time the key is pressed Subsequently holding down the key will continuously move the axis to the software limit position as a target When the JOG key is released or when the axis reaches the software limit the axis movement will stop As the manual
86. ling moment Mr N m 7 3 12 7 41 Max weight 1 pair g 40 80 Max holding position L mm 30 30 S Max overhang H mm 20 20 Mount the finger so that the allowable load and load moment of the guide do not exceed the values stated in the table above Additionally make the adjustment so that the finger weight holding length L from the installation surface to the holding point and overhang H do not exceed the values stated in the table above Moreover please contact your YAMAHA sales dealer for further information on combination of L and H E Dimensional outline drawing Unit mm Connector 4 U Effective depth V SA A SA DDK DK 2100D 12R For installation Es TALC TA 4 U Effective depth V For installation Q ZA 20 J R SRA i S lui L_ JJA i ak i Ww 1 o a a o 4 9 LU 4 U Effective depth V For installation zb 2 2 N Effective depth P LM 10H7 Depth 3 F D For attachment installation Note Avoid extreme winding of the cable and fix the cable securely so that it does not move Take appropriate measures so that any excessive force is not applied to the root of the cable Dimension table Symbol Model name YRG 2020FT YRG
87. low Code amp H164A Action Check the DC24V power voltage Meaning Cause The DC24V power voltage of the gripper dropped 9 4 l Chapter 9 Troubleshooting Gripper Over load Code amp H1A01 Meaning Cause The motor overload occurred a The motor was faulty b The parameter was faulty c The capacity of the power line was insufficient d The friction of the machine main body was large Gripper Over current Code amp H1A02 Meaning Cause The motor overcurrent occurred a The motor cable was short circuited b The gripper control board was faulty c The parameter was faulty Gripper Machine reference over Code amp H1A03 Meaning Cause The encoder Z phase position deviated from the initial value stored in the controller a The gripper main body was replaced b The finger with the setting on the origin close side was replaced c The CPU board in the RCX240 controller was replaced d The CPU software version for the RCX240 controller was changed e Struck an obstacle while returning to the origin point f The encoder Z phase had faulty wiring or malfunctioned g The gripper drive section or transmission section malfunctioned 26 Alarm messages occurred in electric gripper main body Fatal error Action 1 If a symptom such as excessively heavy motion is found when the motor is moved manually replace the motor 2 Initialize the parameters 3 Check
88. ls about each status see 5 5 Status monitor 6 1 2 l Chapter 8 Robot language commands Bit6 Bit5 Return to origin status Emergency stop status Emergency Beyond Releas Beyond stop area area Within Holding Within area area Servo OFF Incomplete Preparing Complete Servo ON Complete Cancel Correct Running Example Operation branch after completion of gripper operation GHOLD 1 10 0 esse Moves gripper 1 from the current position to the 10 0mm position STS GSTATUS 1 AND amp B110 Obtains the status information on gripper 1 INP STS AND amp B10 Obtains the status of the INPOS bit HLD STS AND amp B100 Obtains the status of the HOLD bit IF INP lt gt O THEN eI Checks the status of the INPOS bit Operation completion as the gripper reaches the target position ELSEIF HLD lt gt 0 THEN s Checks the status of the HOLD bit Operation completion as the gripper holds a workpiece ENDIF Chapter 8 Robot language commands Il 6 1 3 8 2 2 Other commands for gripper axis ORIGIN ORIGIN Function This command executes the return to origin of the axis with the incremental specifications The command also executes the absolute search operation for the axis with the semi absolute specifications If there is an electric gripper axis the return to origin of the electric gr
89. moves from the current position to the 10 0mm position Point definition Specify a movement position in Point expression Axis number data to which the gripper specified by Gripper number is assigned is used The gripper moves to the position determined by the units used for the point expression When the units are viewed as mm the gripper axis moves to the position converted for each axis relative to the 0 pulse position Example GDRIVE 1 P10 Gripper 1 moves from the current position to the position specified by P10 6 2 l Chapter 8 Robot language commands NOTE The coordinate data specified as movement destination is the total of values set for two fingers As the electric gripper is operated two fingers function at the same time The coordinate value of the point data set for one finger is 1 2 of its set value Example When the gripper current position is 0 00 mm and the gripper axis moves to the 10 00mm position using the absolute position movement Each finger moves 5 00 mm and the total movement of both fingers is 10 00 mm Option types Speed setting le Speed S Range 1 to 100 Unit 96 Specify a program movement speed in Speed If not specified the program movement speed uses the current set value Default value 10096 The program movement speed can be set in the range of 1 to 100 by the SPEED statement SPEED2 statement The movement speed is determined by multiplying
90. n Controller control power off on Controller main power Power for motor drive off i on DC 24V power off 1 Be sure to turn on the DC 24V power at the same time or before the controller control power and main power are turned on It is recommended to turn on the controller control power and main power 100 ms or longer after the DC 24V power has been turned on 5 2 l Chapter 5 Operation 5 2 Manual movement The robot can be operated with the JOG manual movement key In a similar manner to the robot axis the electric gripper can also be operated with the JOG manual movement key The manual movement with the JOG manual movement key is described as follows A WARNING PRESSING THE JOG KEY WILL MOVE THE ROBOT TO PREVENT HAZARDS DO NOT ENTER THE ROBOT OPERATION AREA N 7 NOE The electric gripper cannot be moved unless the return to origin has been completed Before starting the manual movement be sure to perform the return to origin The movement speed is always 20 when the electric gripper is manually moved continuously regardless of the RPB speed display The maximum movement speed in the MANUAL mode is 20 of the movement speed in the AUTO mode and the minimum speed of the electric gripper is 20 of the maximum speed When two robots are set check the group selection display and perform the manual movement If the target group is different press the ROBOT LOWER MODE key to change the ta
91. n and off This section explains how to turn on and off the power assuming that the electric gripper has been connected completely according to the instructions stated in 3 Installation and wiring and the controller operates correctly 5 1 1 Turning the power on sep Connect the RPB programming box to the controller Connect the RPB connector to the RPB connector terminal RPB on the front panel of the controller sep Supply the power from the DC 24V power connector The POWER LED on the gripper control board lights up For details see 4 3 Status LEDs on the gripper control boara sepd Supply the main power power for motor drive and control power from the power terminal on the front panel of the controller The PWR LED lights up and the MANUAL mode screen will appear After the PWR LED has been lit it takes a maximum of 5 sec per gripper for the controller to operate normally So when two grippers are used it takes a maximum of 10 sec M d NOE f the error message Parameter destroyed or Memory destroyed appears on the screen when the power is turned on be sure to initialize the parameters and memory in the SYSTEM mode before performing the absolute reset or return to origin For details see the user s manual for YAMAHA robot controller RCX240 If the error message 10 21 Sys backup battery low voltage appears when the power is turned on replace the lithium battery service life is about
92. n the finger as short and lightweight as possible N Note 2 Set the parameters and holding power 96 of the holding movement command So that any excessive shock is not applied to the finger during operation Note 3 When installing or uninstalling the finger tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block Note 4 Design the weight of a workpiece to be held so that it is approximately 1 10 to 1 20 of the holding power Consider further allowance when moving and swinging the gripper that keeps Model name YRG 2020FS YRG 2840FS Max continuous Holding ating power Min setting N N mm Resolution 19 50 20 10 1 0 5 Open close stroke Max rating mm sec Min setting 96 mm sec Speed Resolution mm sec Holding speed Max Repeated positioning accuracy 50 0 01 0 01 Linear guide 10 0 5 10 1 5 mm Guide mechanism Max holding weight Note 4 Operating temperature range 0 to 40 Operating humidity range RH35 to 90 Storage temperature 10 to 60 Weight 420 Bi Relationship between holding power and power designation 880 holding a workpiece Note 5 Workpiece weight that is able to be held may greatly vary depending on the material shape and or
93. ng to the gripper emergency stop connector Prepare electric wires to be connected to the emergency stop circuit of the electric gripper and connect the wires to the gripper emergency stop connector supplied with the electric gripper Length of exposed wire lead Strip the wire to expose 8 mm of bare lead 9mm AWGsize 261020 Wiring Follow the steps below to insert the wire lead into the opening in the gripper emergency stop connector and make sure that the electric wire is not disconnected Insert the wire lead while pushing down the orange portion insert the correctly stripped wire lead until portion the wire lead is then connected it is in contact with the electric wire inser For confirmation lightly pull the wire lead tion port At this time do not pull the wire lead excessively CAUTION Take out the gripper emergency stop connector from the controller and perform the wiring work Insert one electric wire into one electric insertion port of the gripper emergency stop connector Wheninserting the electric wire pay special attention so that frayed wire leads are not in contact with other conductor If the electric wire insertion portion deteriorates for some reason strip the electric wire and connect it again EE 3 1 2 l Chapter 3 Installation and wiring 2 Interlocking with the RCX240 controller The servo status of the gripper axis when the emergency stop button on the controller is pr
94. ning Cause Set different port numbers for the other parameters G1 status output DO amp SO and G2 status output DO amp SO The same port number was set for the other parameters G1 status output DO amp SO and G2 status output DO amp SO 21 Major software errors 21 15 System error Gripper Code amp H150F Meaning Cause Action Contact our company with details of this problem Software error occurred Chapter 9 Troubleshooting l 9 3 22 Major hardware errors 22 70 22 71 22 72 22 73 22 74 Gripper disconnect Code amp H1646 Action Meaning Cause It was attempted to execute a gripper dedicated robot language command even though the gripper option was not set Set the gripper option Gripper timeout error Code amp H1647 Meaning Cause Action Execution of the command sent to the gripper control board ended due to timeout Contact our company with details of this problem Gripper cannot get error Code amp H1648 Meaning Cause It was failed to obtain the error that occurred in the gripper main body Contact our company with details of this problem Gripper not initialized Code amp H1649 Meaning Cause The gripper initial setting was not complete Execute the initial setting of the gripper axis using the generation Gripper DC24V power
95. of a workpiece GHOLDI lt Gripper number Movement amount Gripper numbers Movement amount Option Point expression Point expression Moves at a constant speed with holding of a workpiece Open GOPEN Gripper number Gripper number Option Moves at a constant speed with holding of a workpiece Close GCLOSE Gripper number lt Gripper number Option Returns the gripper axis to its origin GORIGIN Gripper number gt Obtains the status GSTATUS lt Gripper number gt Returns to the origin ORIGIN Obtains the current position of the main group Joint coordinates WHERE Obtains the current position of the sub group Joint coordinates WHERE2 Obtains the current position of the main group Cartesian coordinates WHRXY Obtains the current position of the sub group Cartesian coordinates WHRXY2 wy NOTE The gripper number is a serial number starting with 1 If multiple grippers are used a board with a smaller option slot number set on the gripper control board is 1 and a board with a larger option slot number is 2 Example When two gripper control boards are used Option slot Board setting Gripper number Gripper control board Gripper control board Chapter 8 Robot language commands Il 6 1 8 2 Robot language command details
96. 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 installation and operation of the electric gripper please refer to the applicable laws and regulations Note that the warning labels and user s manual are intended for the Japanese market If the electric gripper is exported outside Japan it is necessary to change warning labels and user s manual to those suitable for a destination country Ch 1 Saf 1 1 apter afety 1 2 Essential precautions Particularly important cautions for handling or operating the electric gripper are described below In addition precautions during installation operation inspection and maintenance are also provided in each chapter Be sure to comply with these instructions to ensure safe operation of the electric gripper The electric gripper is designed as components for general industrial machinery Only system designers or personnel who have enough knowledge or experience are allowed to select a product model and handle it The compatibility of the electric gripper with the customer s system must be determined and verified at the customer s risk When the electric gripper is incorporated into a system machine unit or robot it is absolutely required that the system satisfies applicable laws and regulations related to the safety precautions Make sure that the s
97. on s Start operation Chapter 3 7 Changing the automatic S movement speed Note 1 OP Chapter XX stated in the Refer to field shows a chapter No in the operation manual for RCX240 controller you need to refer to Note 2 Chapter XX stated in the Refer to field shows a chapter No in the user s manual for RCX240 controller you need to refer to P e l Chapter 2 Overview of electric grippe 3 Installation and wiring WARNING A e BEFORE STARTING THE INSTALLATION OR ADJUSTMENT WORK POST A SIGN STATING UNDER WORK POWER ON PROHIBITED TO PREVENT THE POWER FROM BEING TURNED ON UNINTENTIONALLY IF THE POWER IS TURNED ON UNINTENTIONALLY THIS MAY CAUSE ELECTRICAL SHOCK OR PERSONAL INJURY DUE TO SUDDEN MOVEMENT OF THE PRODUCT BEFORE HANDLING THE PRODUCT WEAR APPROPRIATE SAFETY GEARS TO ENSURE THE SAFETY DO NOT BUMP OR THROW AWAY THE PRODUCT PACKAGE BE SURE TO HANDLE THE PRODUCT PACKAGE WITH GREAT CARE SO THAT EXCESSIVE IMPACT IS NOT APPLIED TOIT DO NOT STAND OR PUT HEAVY OBJECT ON THE PRODUCT PACKAGE SO THAT EXCESSIVE FORCE IS NOT APPLIED TO IT AFTER UNPACKED HOLD THE GRIPPER MAIN BODY TO HANDLE IT DO NOT HOLD THE CABLE OR CONNECTOR TO TRANSPORT THE ELECTRIC GRIPPER 3 1 Installing the electric gripper Follow the instructions below to secure the electric gripper to the installation plate For details about tap hole positions see 11 3 Electric grippe
98. pply control power supply 3 Frame ground terminal for D grade grounding work Power connector Terminal No Connection Function Power supply OV Controller side CAUTION Do not connect the terminals incorrectly Doing so may cause a malfunction 1 Wiring to the power connector Prepare electric wires to be connected to the DC24V power supply and connect the wires to the power connector supplied with the electric gripper Length of exposed wire lead Strip the wire to expose 7 mm of bare lead 7mm AWG size 28to 16 Wiring Follow the steps below to insert the wire lead into the opening in the power connector and make sure that the electric wire is not disconnected m CDLoosen the screw onthe Insert the wire lead S Loosen the screw on the top with a small flat blade stripped into the electric top with a flat blade screwdriver wire insertion port screwdriver Lightly pull correctly until it is in the electric wire to make contact with the far side sure that it is not discon nected Tighten the screw on the top of the power connector with tightening torque shown below Tightening torque 0 22 to 0 25Nem A WARNING CONNECT THE GROUNDING LINE TO THE FRAME GROUND TERMINAL SECURELY TO PREVENT MALFUNCTION CAUSED BY NOISE Chapter 3 Installation and wiring B 3 9 AN CAUTION Take out the gripper emergency stop connector from the controller and perform the wiring work Insert one electr
99. r lt occurrence location gt Error message M Main group axis number S Sub group axis number D Driver axis number OP Optional unit slot number For example the 27 32 m5 Gripper Soft limit over error message indicates that a software limit over occurred in the auxiliary axis 1 gripper 1 of a main group robot In the same manner the 17 4 D2 Overload error message indicates that an overload error occurred at the 2nd axis of the driver unit Although the axis configuration is normally 1 to 1 as viewed from both the robot and the driver there are cases in a dual drive axis system etc where the axis configuration may appear as 1 axis when viewed from the robot but 2 axes when viewed from the driver Chapter 9 Troubleshooting l 9 1 I 26 Alarm messages occurred in electric gripper main body If an alarm message described in error group number 26 Alarm message occurred in electric gripper main body appears the electric gripper enters the status shown below Return to origin incomplete e Servo off To recover from the alarm status follow the steps below 1 Remove the cause of the alarm 2 Reset the emergency stop flag 3 Turn on the servo of all axes 4 Perform the return to origin of the electric gripper in which the alarm occurred 0 Warnings and messages 0 18 Gripper not included in Origin Code amp H0012 Meaning Cause Action A gripper axis other than the command 1
100. r details about return to origin operation and related cautions see the user s manual for the robot controller you are using CAUTION To include the gripper axis in the overall return to origin it is necessary to set the Include Gripper in Origin parameter to YES For details see 6 3 Other parameter details stepl Press the F3 ORIGIN key in the MANUAL mode The confirmation message will appear on the guide line To start the return to origin pres the F 4 YES key To cancel the return to origin press the F 5 NO key RETURN TO ORIGIN CONFIRMATION screen MANUAL 50 MG S0H0J Current position M1 21593 M2 8216 M3 68468 M4 9875 m5 728 m6 814 Origin return again HE ol Stp Verify the indication on the screen When all axes are put in the return to origin completion status the message line will change from the dotted line to the solid line Additionally the machine reference values for the axes other than the gripper axis are indicated Since the gripper axis has no machine reference value 0 is indicated After that press the axis movement key etc to indicate the current position of each axis on the screen RETURN TO ORIGIN COMPLETION screen MANUAL 50 MG SOHO J Machine reference X M1 50 M2 51 M3 48 M4 52 m5 0 m6 0 PO GSES Oak 5 8 l Chapter 5 Operation TIP If the dotted line remains on t
101. r specifications CAUTION Keep an adequate space for the maintenance work when installing the product If an adequate space is not kept the daily inspection or maintenance work cannot be performed correctly causing system stop or product breakage When installing the electric gripper avoid holding the movable part or cable of the product Product breakage may otherwise result 1 Installation bolt Fix the electric gripper securely using installation tap holes at four locations The installation tap hole part is made of aluminum So if the installation bolt is tightened at an excessive torque level this may cause the tap hole to break Be sure to tighten the bolts at an appropriate torque level The installation tap hole is a through hole If a bolt to be screwed in beyond the effective depth of the gripper main body is used this may cause damage to parts inside the gripper Never use a bolt with a screw in length exceeding the effective depth On the other hand if the length of the installation bolt is too short this may cause insufficient clamping force Chapter 3 Installation and wiring l 3 1 Max length of installation bolt Installation bolt Thickness of installation plate Max length Effective depth of i gripper main body Effective length and recommended tightening torque Effective Recommended tightening depth mm torque Nem 0 56 to 0 69 Mode
102. rameter is set to the Stroke end Z phase signal detection method the gripper axis moves backward until the Z phase signal is detected after the stroke end has been detected M 7 Origin direction ORGDIR This parameter sets a direction in which the gripper axis performs the return to origin Guide block open direction becomes the return to origin direction In the manual movement the guide block open direction is negative direction Guide block close direction becomes the return to origin direction In the manual movement the guide block close direction is negative direction CAUTION YAMAHA can accept no liability from problems arising due to changing the return to origin direction without consulting YAMAHA beforehand Return to origin will be incomplete if this parameter is changed Chapter 6 Parameter settings l 6 5 8 Holding speed for Gripper HLDVEL This parameter sets the speed within the effective holding area in the range of 20 to 5096 during absolute position or relative position holding movement or holding movement of the gripper axis See the figure explaining Holding speed Constant movement distance and Limit width parameters on the following page CAUTION If a value larger than the maximum speed is set for this parameter the holding speed equals the maximum speed NL uh NOTE dH Forthe RCX240 with a software version of earlier than Ver 10 18 the setting range is 1 to
103. rchased This cable is intended to connect the electric gripper main body and robot for gripper cable This connector is intended to connect the gripper control board and DC24V power supply This connector is intended to connect the gripper control board and the emergency stop circuit of the electric gripper era HS HY D Electric gripper 2 Gripper control board incorporated into the controller 3 Cable Robot for gripper cable Relay cable 5 4 Accessories Connector for 24V power supply Connector for gripper emergency stop Q Parts and components shown above are intended for one electric gripper set Make sure that the components you have received meet the contents of your order The cable model may vary depending on the cable length For details see 3 3 2 Connecting the robot for gripper cable and relay cable 2 2 l Chapter 2 Overview of electric gripper 2 3 Part names and functions This section explains the part names and functions of the gripper control board The gripper control board is an option to be assembled into the controller and has already been installed in an optimal slot of the controller before shipment E Part names and functions of gripper control board Part names and functions ej o 3 z o z E 3 oj So ln m m
104. rd Electric gripper Robot for grippe ACT 2 cable Gripper YRG 24V GND YRG 24V External emergency stop O 9r YRG 24V_GND RPB Emergency stop aD M 3 E STOPIN1 LO ba Internal 24V E STOP status Circuit example 3 Gripper emergency stop is interlocked with the controller emergency stop and external emergency stop Electric gripper Robot for gripper cable Gripper POWER DRIVER circuit GE STOP GE STOP 51 1 2 M YRG 24V GND RPB Emergency stop External 24V External emergency stop SAFETY C4 3 E STOPIN1 ofa E STOPNZ 13 E STOP24V Internal 24V E STOP status External 24V GND 3 1 4 l Chapter 3 Installation and wiring 4 Verification and preparation 4 1 Verifying the robot controller settings From the RPB programming box hereafter referred to as RPB you can verify whether or not the gripper control board is installed in the robot controller To verify the gripper control board follow the steps below sepl Select the SYSTEM mode step Verify that the board name is indicated at the Opt i f item The gripper control board is installed if Gripper 1 is indicated at the Opt i f item Example of SYSTEM mode screen SYSTEM V10 02 Robot YK250X Axes XYZR A Standard SRAM 364kB DIO N Opt i f Gripper1 PV GU C
105. rget group For details about software limit see 6 2 Axis parameter details f the current position is displayed in pulse units you can move the servo on axis manually even when the servo on and off axes are mixed f the current position is displayed in mm units you can move the axis only when the servo on is set for all axes MI 1 Current position display in pulse units J is shown in the right portion of the RPB screen Example of display in pulse units J MANUAL 50 MG SOHO J Machine reference M1 21593 M2 8216 M3 68468 M4 9875xm5 728 ZEN ER ee HEIN The operation contents may vary depending on the set contents of the Manual Holding of Gripper parameter of other parameters as described below For details see 6 3 Other parameter details The Manual Holding of Gripper parameter is valid only when the software version is Ver 10 19 or later When the software version is earlier than Ver 10 19 the operation is the same as that with the Manual Holding of Gripper parameter set at INVALID Chapter 5 Operation l 5 3 1 Manual Holding of Gripper parameter is set at INVALID The holding operation of the manual movement becomes invalid In the same manner as the robot axis operation the manual movement is as follows Pressing the JOG key will perform the inching operation of the axis corresponding to the key constant amount movement every time the key is pressed Holding
106. ripper can be set to a desired level ranging from 30 to 100 in 1 steps Speed control The movement speed 20 to 100 or acceleration 1 to 100 of the gripper can be set to a desired level in 196 steps Multi point position control The positioning points of the gripper can be set freely Easy parameter setup Both the YAMAHA robot common parameters and the parameters specially designed for the gripper can be used Programming using robot language commands Control programs for the electric gripper are easily created using YAMAHA robot language commands Chapter 2 Overview of electric gripper l 2 1 2 2 Product check 1 Packing box The robot controller is high precision equipment and is carefully packed in a cardboard box to avoid shocks and vibrations If a serious damage or dent is found on the package please contact your YAMAHA sales dealer without unpacking the box 2 Unpacking Make sure that you do not drop the package or give any shock to it during unpacking After unpacking carefully check the parts and components listed below E Parts and components D Main body Electric gripper 2 Option board Gripper control board Robot for gripper cable Relay cable Connector for 24V power supply Connector for gripper emergency stop 3 Cables 4 Accessories Note 1 Note 2 Note 3 Note 4 This board has already been installed in the controller you have pu
107. rkpiece or open the finger this may cause damage to the gripper Remove the workpiece from the gripper before stopping the operation of the electric gripper for an extended period of time If the electric gripper is stopped with the workpiece kept held for an extended period of time this may adversely affect movable parts The self lock is not activated in the single cam type You can move the finger manually even with the power turned off Chapter 1 Safety l 1 3 1 3 Operation After the installation adjustment inspection maintenance or repair work of the electric gripper has been carried out perform the operation checks described below 1 Check items before turning on the power to the controller Before turning on the power to the controller check the following items DIs the electric gripper installed securely and correctly Are the electrical connections to the electric gripper correct S Are the connections with auxiliary units correct Are the safety protection measures taken correctly Are the contentions for the installation environment observed strictly 2 Check items after turning on the power to the controller After the power to the controller has been turned on check the following items from a position outside the safety protection fence DIs the start stop or mode selection operated correctly as intended 2 Is the electric gripper operated as intended Is the motion of the electric gripper l
108. s Acceleration coefficient RPB display Accel coefficient 7o Identifier Setting range Default setting 1 to 100 100 Remarks 4 software limit Soft limit pulse 0 to Robot type Robot type The upper limit of the setting range may vary depending on the model software limit Soft limit pulse Robot type to O 0 The lower limit of the setting range may vary depending on the model Tolerance Tolerance pulse 1 to Robot type Robot type Positioning completion distance Origin position shift Origin shift pulse Robot type 0 Return to origin method Origin method ORGSNS SENSOR Stroke end and Z signal detection TORQUE Stroke end detection SENSOR Return to origin direction Origin direction ORGDIR i Open Close Holding speed Holding speed for Gripper HLDVEL Ver 10 18 and later 20 to 50 In earlier versions 1 to 100 Robot type Return to origin speed Origin speed for Gripper GORGVL Ver 10 18 and later 20 to 50 In earlier versions 1 to 50 Robot type Manual holding power Manual holding power for Gripper GMHLPW 30 to 100 30 This parameter is Supported by controller Ver 10 19 and later Constant move distance Const move dist mm for Gripper CMVDST 0 01 to 99 99 Robot type Limit width
109. t 350 300 250 I o o 5 200 a o 2 3 150 2 YRG 2005W YRG 2810W YRG 4220W 100 Allowable load F N 1000 1000 2000 50 D Allowable pitching moment Mp N m 6 7 8 1 20 1 E Allowable yawing moment My N m 4 4 8 12 0 Allowable rolling moment Mr N m 5 1 7 8 25 9 30 40 50 60 70 80 90 100 n Max weight 1 pair g 40 80 200 Power designation amp Max holding position L mm 30 30 50 D Max overhang H mm 20 20 30 The graph stating the relationship between the holding power and power designation is used for your reference The actual holding power may vary extremely _ 1 1 6 l Chapter 11 Specifications Mount the finger so that the allowable load and load moment of the guide do not exceed the values stated in the table above Additionally make the adjustment so that the finger weight holding length L from the installation surface to the holding point and overhang H do not exceed the values stated in the table above Moreover please contact your YAMAHA sales dealer for further information on combination of L and H E Dimensional outline drawing Unit mm 4 U Effective depth V For installation 3H7 8010 Depth 2 4 U Effective depth VA A T 9 ei For installation Installation surface 2x4 U Effective depth VB R SY OVO ard COO RA 6H7 Dept
110. te Running O NIIA AJOJN Chapter 6 Parameter settings l 6 9 NC f p NOTE M This parameter is valid only when a software version shown below is installed RCX240 Ver 10 18 or later When the same port as the area check output port is specified a logical OR of the area check information and status information is output When the same port as the error output port is specified a logical OR of the error and status information is output When the same port as the battery alarm output port is specified a logical OR of the battery alarm and status information is output When a serial board such as CC Link is added to the option board the status information is also output to SO of the same port as DO When the individual axis return to origin option by general purpose DI SI SYSTEM gt OPTION gt DI ORG is used and the same port as the return to origin completion output Done output port DO amp SO is specified the logical OR of the return to origin completion output and this status output is output For details see the user s manual for YAMAHA robot controller RCX240 6 1 0 l Chapter 6 Parameter settings 7 Gripper point data creation This section explains how to create positioning point data of the gripper Since the gripper is controlled as an auxiliary axis of the robot the point data for the auxiliary axis is set For details about how to display or edit the point data see
111. ten it with a specified torque Check for scratch or excessive bend Check for abrasion Check that connectors are connected securely If any scratch or abrasion is found replace the defective cable as needed Operation status Cleaning Check for unusual noise vibration or unsmooth operation Check that the emergency stop functions correctly Clean the electric gripper with a soft cloth rag that does not scatter thread craps to wipe off the contamination e If the electric gripper is contaminated extremely use neutral detergent It is prohibited to use solvent to clean the gripper When removing dirt or dust with the air blow it may enter the inside of the electric gripper Do not use the air blow for the cleaning work 10 2 2 Six month inspection Take the following precautions when performing 6 month inspection Check the following points every 6 months and adjust or replace parts if needed Checkpoints linear guide Check items If any dust or contamination is found clean it After cleaning apply grease If the linear guide movement part is dry or if the grease is insufficient apply grease Recommended grease Multemp PS No 2 Kyodo Yushi or its equivalent Lithium grease See section 10 3 in this Chapter Cables Check for scratch or excessive bend Check for abrasion Check that connectors are connected securely If any scratch or abras
112. the auto movement speed by the program movement speed This value is limited to 20 to 100 If the value is less than 20 it is then set to 20 This option is enabled only for the specified GDRIVE statement Example GDRIVE 1 5 0 S230 Gripper 1 moves from the current position to the 5 0mm position with the program speed set at 30 GDRIVEI GDRIVEI lt Gripper numbers Movement amount Point expression Movement amount Gripper number Option Point expression Gripper number Range 1 to 2 Function This command moves the electric gripper axis to a relative position Explanation After the operations of all gripper axes specified by Gripper number have been complete the specified gripper axis starts moving When the gripper axis reaches the specified movement amount the command is terminated The axis can also be specified by the variable When multiple axes are specified these axes do not reach their target positions at the same time Example GDRIVEI 1 P10 Gripper 1 moves the movement amount specified by P10 from the current position Chapter 8 Robot language commands Il 6 3 Point data setting Direct coordinate data input Directly specify coordinate data in Movement amount When the coordinate data is an integer the movement units are viewed as pulses When the coordinate data is a real number containing a decimal point the units are
113. the limit width is subtracted from the software limit The coordinate data specified as movement destination is the total of values set for two fingers As the electric gripper is operated two fingers function at the same time The coordinate value of the point data set for one finger is 1 2 of its set value Example When the gripper current position is 0 00 mm and the gripper axis moves to the 10 00mm position using the absolute position movement Each finger moves 5 00 mm and the total movement of both fingers is M 10 00 mm Option types Speed setting p Speed S Range 1 to 100 Unit 96 Specify a program movement speed in Speed If not specified the program movement speed uses the current set value Default value 100 The program movement speed can be set in the range of 1 to 10096 by the SPEED statement SPEED2 statement The movement speed is determined by multiplying the auto movement speed by the program movement speed This value is limited to 20 to 100 If the value is less than 20 it is then set to 2096 This option is enabled only for the specified GHOLD statement Example GHOLD 1 5 0 230 Gripper 1 moves from the current position to the 5 0mm position with the program speed set at 30 Power setting T Power Range 30 to 100 Unit 96 Specify a workpiece holding force in Power If not specified the power becomes 100 If a value less than 3096 is set in the RCX240 with
114. the user s manual for the robot controller you are using N Gp Nore The set value of the data related to the distance such as point data constant movement distance or limit width parameter is the total of values set for two fingers As the electric gripper is operated two fingers function at the same time The value of the point data constant movement distance or limit width parameter set for one finger is 1 2 of its set value Example When the gripper current position is 0 00 mm and the gripper axis moves to the 10 00mm position using the absolute position movement Each finger moves 5 00 mm and the total movement of both fingers is 10 00 mm d 7 1 Point data input and editing sep fl Select the MANUAL POINT mode sepa Use the cursor key KS amp A to select a point you want to input or edit Step Press the F1_ EDIT key The cursor is indicated at the left end of the data on the point line you have selected Editing point data XT PO NT EDIT 50 MG S0H0 J P7 100 00 250 00 15 00 30 00 2 Tansee 24654 2535 13711 p T COMNT T POS 0 0 0 0 UPON NENNEN up CG Chapter 7 Gripper point data creation I 7 1 7 1 Point data input and editing step Enter point data of the axis set as gripper The data x y z i a and b is separated by a space The data input format is as follows To enter data in units of pulses enter up to 8 digit integer When the number of displ
115. tion Do not subject to impacts or vibrations Allow sufficient space margin to perform jobs teaching inspection repair etc Working space A WARNING AVOID INSTALLING THE ELECTRIC GRIPPER IN LOCATIONS WHERE THE AMBIENT CONDITIONS MAY EXCEED THE WORKING TEMPERATURE OR HUMIDITY STATED ABOVE OR IN ENVIRONMENTS WHERE EXCESSIVE MOISTURE CORROSIVE GAS METALLIC POWDER OR DUST IS PRODUCED MALFUNCTIONS FAILURES OR SHORT CIRCUITS MAY OTHERWISE RESULT A WARNING THIS ELECTRIC GRIPPER DOES NOT COMPLY WITH THE EXPLOSION PROOF SPECIFICATIONS e DO NOT USE THE ELECTRIC GRIPPER IN ENVIRONMENTS CONTAINING INFLAMMABLE GAS DUST OR LIQUIDS EXPLOSIONS OR FIRE COULD OTHERWISE RESULT A WARNING AVOID USING THE ELECTRIC GRIPPER IN LOCATIONS SUBJECT TO ELECTROMAGNETIC INTERFERENCE ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY INTERFERENCE MALFUNCTIONS OF THE ELECTRIC GRIPPER MAY OTHERWISE RESULT A WARNING DO NOT USE THE ELECTRIC GRIPPER IN LOCATIONS SUBJECT TO EXCESSIVE VIBRATION GRIPPER MAIN BODY INSTALLATION BOLTS MAY OTHERWISE BECOME LOOSE CAUSING THE GRIPPER TO FALL DOWN 2 4 l Chapter 2 Overview of electric gripper 2 5 System configuration Use of YAMAHA electric gripper makes it possible to construct a system configuration shown 2 5 System configuration below System configuration illustration Programming box RPB Robot for gripper cable
116. urn to origin axes Robot parameter For details see the user s manual for robot controller Origin speed Sets the speed of the return to origin for Gripper operation For details see 6 Parameter settings Origin shift Sets the offset of the origin position data For details see 6 Parameter settings Origin method Sets the return to origin method For details see 6 Parameter settings Origin direction Sets the direction of the return to origin operation For details see 6 Parameter settings Axis parameter 5 3 1 Return to origin operation The return to origin methods include stroke end Z phase detection method and stroke end detection method In the stroke end Z phase detection method set the Origin method parameter to SENSOR In the stroke end detection method set the Origin method parameter to TORQUE Each return to origin operation is described as follows For details about return to origin operation see 5 3 2 Overall return to origin or 5 3 3 Gripper return to origin 5 6 l Chapter 5 Operation 1 Return to origin using the stroke end Z phase detection method Return to origin direction Return to origin start position Stroke end Z phase of rotary encoder The return to origin can start from any position Upon starting the return to origin the axis starts moving in the return to origin direction OOO After the stroke
117. waste 3 Cautions on use for applications particularly requiring safety CAUTION If the customer studies to operate this electric gripper under conditions or in an environment other than those not stated in the product catalog or user s manual or lo use it for applications particularly requiring the safety such as air craft facility combustion equipment amusement machinery inside of the clean room safety device or other unit that improper operation may greatly affect other person s life or property take appropriate safety measures into consideration such as operation with a sufficient allowance to the rating or performance or failsafe measures If such case arises always contact YAMAHA 4 Use of dedicated parts CAUTION Be sure to use YAMAHA s dedicated parts for the cables between the gripper main body and controller 5 Cautions on storage CAUTION Protect this electric gripper from the direct sunlight or moisture content and take dew condensation preventive measures and then store the electric gripper in a location with a height of 30 cm or more from the floor level inside a dark cold place Do not apply any vibration or impact to the electric gripper during storage 6 Cautions on workpiece removal CAUTION To remove the workpiece with the power turned off detach the finger and remove the workpiece since the double cam type incorporates a speed reduction mechanism If it is attempted to forcibly remove the wo
118. winding of the cable and fix the cable securely so that it does not move Take appropriate measures so that any excessive force is not applied to the root of the cable Dimension table Symbol Model name YRG 2013T YRG 2820T YRG 4230T Symbol Model name YRG 2013T 11 4 4 6 YRG 2820T 15 9 5 6 YRG 4230T 21 9 6 6 Symbol Model name YRG 2013T 3 165 10 YRG 2820T 14010 YRG 4230T 2352410 Chapter 11 Specifications l 11 1 5 Revision record Manual version Issue date Description Ver 1 00 Mar 2010 1 2 Essential precautions and 1 3 Operation were added and cautions were added to each chapter 9 Periodic inspection and maintenance was added 3 3 5 Wiring to the gripper emergency stop was added Clerical errors were corrected etc Ver 1 02 Jan 2011 The warning 1 Use caution to prevent hands or fingers from being pinched or crushed was added in 1 2 Essential precautions The description regarding Warranty was changed 2 Interlocking with the RCX240 controller was added in 3 3 5 Wiring to the gripper emergency stop 4 4 Weight parameters 5 1 Turning the power on and off 5 2 Manual movement and 5 4 Emergency stop were added 5 3 1 Return to origin operation was added to 5 3 Return to origin Clerical error corrections etc Ver 2 00 Jul 2012 New models
119. xis starts moving When it is judged that the gripper reaches the target position or holds a workpiece the command is terminated The operation completion conditions can be checked using GSTATUS Example GCLOSE 1 Gripper 1 moves from the current position in the close direction Option types Speed setting m i Speed S Range 1 to 100 Unit 96 Specify a program movement speed in Speed If not specified the program movement speed uses the current set value Default value 10096 The program movement speed can be set in the range of 1 to 10096 by the SPEED statement SPEED2 statement The movement speed is determined by multiplying the auto movement speed by the program movement speed This value is limited as follows RCX240 Software version earlier than Ver 10 18 The multiplication value is limited to 20 to 100 If the value is less than 20 it is set to 20 Software version Ver 10 18 or later The multiplication value is limited to 20 to 50 If the value is less than 20 it is set to 20 If the value is 50 or more it is set to 50 This option is valid only for the specified GCLOSE statement Example GCLOSE 1 5230 Gripper 1 moves from the current position in the close direction with the program speed set at 30 Chapter 8 Robot language commands Il 6 1 1 Power setting T Power Range 30 to 100 Unit 96 Specify a workpiece holding force in Power If not specifie
120. y ENBA or the F14 AXIS e or F15 AXIS 5 key to make the selection so that the point value of the auxiliary axis to which the gripper axis is assigned is highlighted Note that you can specify only a point number when no point data is set Point data teaching 2 W gt POINT 100 MG SOHOX y Z r a P7 250 00 15 00 30 00 2 00 P8 150 00 115 00 9000 BHI P9 200 00 15 00 30 00 10 00 COMNT POS 150 00 115 00 90 00 11 23 EDIT uZ WE ME step Use the JOG key to move the gripper axis The current position POS on the 14th line of the screen changes as the gripper moves Chapter 7 Gripper point data creation ll 7 3 step Press the F2 TEACH key when the gripper reaches the target point The current gripper position is taught to the specified point In the teaching by axis it is necessary to select the same coordinate system as that of the teaching point So when the point data is in units of millimeters the current position must also be in units of millimeters If the point data already exists at the specified point the message Overwrite point OK will appear on the guide line Press F 4 YES to perform the teaching Press F 5 NO if you want to cancel the teaching input Point data teaching 3 XB P0 NT TEACH 100 MG SOHOX y Z r a P7 250 00 15 00 30 00 2 00 P8 150 00 115 00 90 00 EAN P9 200 00 15 00 30 00 10
121. ystem satisfies applicable laws and regulations and operate the electric gripper in a safe and correct manner in conformity with the laws and regulations The electric gripper is exempted from the application of the compact robot Do not use the electric gripper for applications described below 1 Medical units or devices with life support system or their equivalents 2 Mechanisms or machine units for movement or transportation of personnel 3 Important safety components for machine units This product is not designed for applications that require a high level of safety 1 Use caution to prevent hands or fingers from being pinched or crushed e Strictly observe the caution to prevent hands or fingers from being pinched or crushed by the movable parts when carrying or teaching the robot or electric gripper e Attach the Warning labels supplied with the electric gripper to legible locations near the robot equipped with the electric gripper or the robot A WARNING MOVING PARTS CAN PINCH OR CRUSH KEEP HANDS AWAY FROM MOVABLE PARTS Warning label Pinch or crush hazard TEX BsIeIBl EACTTHETFSBNGO 90K41 001460 1 2 l Chapter 1 Safety 2 Cautions on disposal CAUTION Do not throw this product into a fire Doing so may cause the product to explode or toxic gas to produce If the product cannot be operated or if the product is no longer used dispose of it appropriately as industrial

(Electric Gripper) User`s Manual

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