YAMAHA SINGLE-AXIS ROBOT FLIP-X series

F8/F8L/F8LH
User’s Manual ENGLISH
E

YAMAHA MOTOR CO., LTD.

IM Operations
882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054.Japan
URL http://www.yamaha-motor.jp/robot/index.html E43-Ver. 2.02
Before using the F8/F8L/F8LH single-axis robots
(Be sure to read the following notes.)

Before using the F8/F8L/F8LH single-axis robots (Be sure to read the following notes.)
Thank you for purchasing this YAMAHA single-axis robot F8/F8L/F8LH.
Before using this robot, read the following notes and set the origin position.

The F8/F8L/F8LH single-axis robots use absolute position detectors that do not require
return-to-origin after turning on the controller power. However, when the controller
power is turned on in the following cases, return-to-origin must be performed just the very
first time.
(1) When robot cable was first connected after delivery from YAMAHA.
(2) When robot cable was disconnected from the controller and then reconnected.
(3) When no absolute battery is connected.
(4) When a motor or cable was replaced.

At this point, any of the following errors is issued immediately after controller power
is turned on, but this is not a malfunction. The controller will operate normally by
restarting.

When using an SR1 controller:

15 : FEEDBACK ERROR 2
23 : ABS.BAT.L-VOLTAGE
24 : ABS.DATA.ERROR
… etc.

When using an RCX240, RCX222 controller:

17.81 : D?.ABS.battery wire breakage
17.92 : D?.Resolver disconnected during power off
17.93 : D?.Position backup counter overflow
… etc.

When using an TS-X controller:

82 ENCODER ERROR
83 ABS. ENCODER ERR.
8A ABS. BATTERY ERR.
8B ABS. COUNT ERROR
8D ABS. OVERFLOW ERR.
… etc.
 Setting the origin position
Set the origin position by referring to the following section in the robot controller user's
manual.
Before using the F8/F8L/F8LH single-axis robots (Be sure to read the following notes.)

When using an SR1 controller:

See "9.1.1 Return-to-origin by the search method" in Chapter 9 of the "HPB
Operation Guide" section.

When using an RCX240 controller:

See "11.9 Absolute reset" in Chapter 4.

When using an RCX222 controller:

See "11.8 Absolute reset" in Chapter 4.

When using an TS-X controller:

See "6.2 Origin search (return-to-origin)" in "6. Operating the robot" of the "HT1
Operation Guide" section.

c CAUTION
Changing the origin position to the opposite side of the initial position may
cause a position shift or robot breakdowns, so use caution.
Avoid changing the origin detection method since it is dangerous in some
cases. If the origin position must be changed, please consult our sales office
or dealer.
 General Contents

General Contents
Introduction

Chapter 1 Using the Robot Safely

1-1 Safety information 1-1

1-2 Essential precautions 1-3

1-3 Industrial robot operating and maintenance personnel 1-10

1-4 Robot safety functions 1-10

1-5 Safety measures for the system 1-11

1-6 Trial operation 1-11

1-7 Work within the safety enclosure 1-12

1-8 Automatic operation 1-13

1-9 Warranty 1-14

Chapter 2 Product Overview

2-1 Checking the product 2-1

2-2 Robot part names 2-1

Chapter 3 Installation and Connections

3-1 Carrying the robot 3-1

3-2 Robot installation conditions 3-2

3-2-1 Installation environments 3-2
3-2-2 Installation base 3-3

3-3 Installing the robot 3-5

3-4 Connecting the robot to the controller 3-7

3-5 Setting the operating conditions 3-10

3-5-1 Payload 3-10
3-5-2 Maximum speed setting 3-11
3-5-3 Duty 3-11

i
 Chapter 4 Periodic Inspection and Maintenance
4-1 Before beginning work 4-1
General Contents

4-2 Periodic inspection 4-3

4-2-1 Daily inspection 4-3
4-2-2 Three-month inspection 4-3
4-2-3 Six-month inspection 4-4
4-2-4 Three-year inspection 4-4

4-3 Applying grease 4-5

4-4 Replacing the motor 4-6

Chapter 5 Troubleshooting
5-1 If you suspect trouble 5-1
5-1-1 Positioning error 5-1
5-1-2 Feedback error 5-2

Chapter 6 Specifications
6-1 Main unit specifications 6-1
6-1-1 F8 6-1
6-1-2 F8L 6-4
6-1-3 F8LH 6-9

6-2 AC servo motor specifications 6-12

6-2-1 AC servo motor termination 6-12
6-2-2 Brake cable specifications 6-13

6-3 Robot cables 6-14

6-3-1 Robot cables (SR1) 6-14
6-3-2 Robot cables (TS-X) 6-15
6-3-3 Robot cables (RCX222/240) 6-16
6-3-4 Robot cables (RDX) 6-18

Appendix
About machine reference i

Moment of inertia calculation ii

ii
Introduction
The YAMAHA single-axis robots F8/F8L/F8LH is an industrial robot that uses the absolute

Introduction
positioning method as standard and has improved ease of use, resistance to environmental
conditions, and maintenance work. A wide varaiety of product lineup allows you to select
the desired robot model that best matches your application.
This user's manual describes the safety measures, handling, adjustment and maintenance
of the F8/F8L/F8LH robots for correct, safe and effective use.
Be sure to read this manual carefully before installing the F8/F8L/F8LH robots. Even after
you have read this manual, keep it in a safe and convenient place for future reference.

• This user's manual should be used with the robot and considered an integral part of
it. When the robot is moved, transferred or sold, send this manual to the new user
along with the robot. Be sure to explain to the new user the need to read through this
manual.
• Specifications of robot models other than standard models may be omitted in this
manual if they are common to those of standard models. In this case, refer to the
specifications of standard models.
• For details on specific operation of the robot, refer to the separate user’s manual for the
robot controller being used.

NOTES

◆ The contents of this manual are subject to change without prior notice.

◆ While every effort has been made to ensure the contents of this manual are
correct, please contact us if you find any part of this manual to be unclear,
confusing or inaccurate.

YAMAHA MOTOR CO., LTD.

IM Operations
MEMO
Chapter 1 Using the Robot Safely

Contents

1-1 Safety information 1-1

1-2 Essential precautions 1-3

1-3 Industrial robot operating and maintenance personnel 1-10

1-4 Robot safety functions 1-10

1-5 Safety measures for the system 1-11

1-6 Trial operation 1-11

1-7 Work within the safety enclosure 1-12

1-8 Automatic operation 1-13

1-9 Warranty 1-14

 1-1 Safety information

1-1 Safety information

Industrial robots are highly programmable, mechanical devices that provide a large degree
of freedom when performing various manipulative tasks. To ensure correct and safe use of
YAMAHA industrial robots, carefully read this manual and make yourself well acquainted
1

Using the Robot Safely

with the contents. FOLLOW THE WARNINGS, CAUTIONS AND INSTRUCTIONS included
in this manual. Failure to take necessary safety measures or mishandling due to not
following the instructions in this manual may result in trouble or damage to the robot and
injury to personnel (robot operator or service personnel) including fatal accidents.

Warning symbols and signal words used in this manual are classified as explained below.
Make sure that you fully understand the meaning of each symbol and comply with the
instructions.

w DANGER
FAILURE TO FOLLOW DANGER INSTRUCTIONS WILL RESULT IN SEVERE INJURY OR
DEATH TO THE ROBOT OPERATOR, BYSTANDERS OR PERSONS INSPECTING OR
REPAIRING THE ROBOT.

w WARNING
FAILURE TO FOLLOW WARNING INSTRUCTIONS COULD RESULT IN SEVERE INJURY
OR DEATH TO THE ROBOT OPERATOR, BYSTANDERS OR PERSONS INSPECTING
OR REPAIRING THE ROBOT.

c CAUTION
Failure to follow CAUTION instructions may result in injury to the robot
operator, bystanders or persons inspecting or repairing the robot, or
damage to the robot and/or robot controller.

n NOTE
Explains the key point in the operation in a simple and clear manner.

Reference
Gives useful information related to the robot operation.

1-1
 1-1 Safety information

Refer to the user's manual by any of the following methods to operate or adjust the robot
safely and correctly.

1 1. Operate or adjust the robot while referring to the printed version of the user's
manual (available for an additional fee).
2. Operate or adjust the robot while viewing the CD-ROM version of the user's
Using the Robot Safely

manual on your computer screen.

3. Operate or adjust the robot while referring to a printout of the necessary pages
from the CD-ROM version of the user's manual.

It is not possible to list all safety items in detail within the limited space of
this manual. 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 specific safety information and standards, refer to the applicable local
regulations and comply with the instructions. This manual and warning labels
supplied with or attached to the robot are written in English. Unless the
robot operators or service personnel understand English, do not permit them
to handle the robot.

* Cautions regarding the official language of EU countries

For equipment that will be installed in EU countries, the language used for the
user's manuals, CE declarations, and operation screen characters is English only.
Warning labels only have pictograms or else include warning messages in English.
In the latter case, Japanese messages might be added.

1-2
 1-2 Essential precautions

1-2 Essential precautions

Particularly important cautions for handling or operating the robot 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 use of
1

Using the Robot Safely

the robot.

(1) Obser ve the following cautions during automatic operation.

• Install a safeguard (safety enclosure) to keep any person from entering within the
movement range of the robot and suffering injury due to being struck by moving
parts.
• Install a safety interlock that triggers emergency stop when the door or panel is
opened.
• Install a safety enclosure so that no one can enter inside except from doors or
panels equipped with safety interlocks.
• Warning labels 1 are supplied with the robot and should be affixed to conspicuous
spots on doors or panels equipped with safety interlocks.

w DANGER
SERIOUS INJURY OR DEATH WILL RESULT FROM IMPACT WITH MOVING ROBOT.
• KEEP OUTSIDE OF GUARD DURING OPERATION.
• LOCK OUT POWER BEFORE APPROACHING ROBOT.

Warning label 1

DANGER
Serious injury or death
will result from impact
with moving robot.
• Keep outside of guard
during operation.
• Lock out power before
approaching robot.

(2) Use caution to prevent hands or fingers from being pinched or crushed.
Warning label 2 is affixed to the robot.
Use caution to prevent hands or fingers from being pinched or crushed by the moving
parts when carrying the robot or during teaching.

w WARNING
MOVING PARTS CAN PINCH OR CRUSH.
KEEP HANDS AWAY FROM ROBOT ARMS.

1-3
 1-2 Essential precautions

Warning label 2

1 WARNING
Moving parts can
Using the Robot Safely

pinch or crush.
Keep hands away
from robot arms.

(3) Follow the instructions on warning labels and in this manual.

• Be sure to read the warning labels and this manual carefully and make sure you
thoroughly understand their contents before attempting installation and operation
of the robot.
• Before starting robot operation, be sure to reread the procedures and cautions
relating to your work as well as descriptions in this chapter (Chapter 1, "Using the
Robot Safely").
• Never install, adjust, inspect or service the robot in any manner that does not
comply with the instructions in this manual.
• The warning labels 3 are supplied with the robot and should be affixed to the robot
or conspicuous spots near the robot.

w WARNING
IMPROPER INSTALLATION OR OPERATION CAN RESULT IN SERIOUS INJURY OR
DEATH.
READ THE USER'S MANUAL AND ALL WARNING LABELS BEFORE OPERATION.

Warning label 3

WARNING
Improper installation or operation
can result in serious injury or
death. Read user's(owner’s)
manual and all warning labels
before operation.

1-4
 1-2 Essential precautions

(4) Do not remove, alter or stain the warning labels.

w WARNING
IF WARNING LABELS ARE REMOVED OR DIFFICULT TO SEE, THEN ESSENTIAL 1
PRECAUTIONS MIGHT NOT BE TAKEN, RESULTING IN ACCIDENTS.

Using the Robot Safely

• DO NOT REMOVE, ALTER OR STAIN THE WARNING LABELS ON THE ROBOT.
• DO NOT ALLOW THE WARNING LABELS TO BE HIDDEN BY DEVICES INSTALLED
ONTO THE ROBOT BY THE USER.
• PROVIDE PROPER LIGHTING SO THAT THE SYMBOLS AND INSTRUCTIONS ON
THE WARNING LABELS CAN BE CLEARLY SEEN EVEN FROM OUTSIDE THE
SAFETY ENCLOSURE.

(5) Do not use the robot in environments containing inflammable gas, etc.

w WARNING
• THIS ROBOT WAS NOT DESIGNED FOR OPERATION IN ENVIRONMENTS WHERE
INFLAMMABLE OR EXPLOSIVE SUBSTANCES ARE PRESENT.
• DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING INFLAMMABLE
GAS, DUST OR LIQUIDS. EXPLOSIONS OR FIRE MIGHT OTHERWISE RESULT.

(6) Do not use the robot in locations possibly subject to electromagnetic interference,
etc.

w WARNING
AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC
INTERFERENCE, ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY
INTERFERENCE. MALFUNCTIONS MIGHT OTHERWISE OCCUR.

(7) Use caution when releasing the brake of a vertical use robot.

w WARNING
THE VERTICAL AXIS WILL SLIDE DOWN WHEN THE BRAKE IS RELEASED, CAUSING
A HAZARDOUS SITUATION.
• PRESS THE EMERGENCY STOP BUTTON AND PROP UP THE VERTICAL AXIS
WITH A SUPPORT STAND BEFORE RELEASING THE BRAKE.
• BE CAREFUL NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE VERTICAL
AXIS AND INSTALLATION BASE WHEN RELEASING THE BRAKE TO PERFORM
DIRECT TEACH.

1-5
 1-2 Essential precautions

(8) Provide safety measures for end effector (gripper, etc.).

1 w WARNING
• END EFFECTORS MUST BE DESIGNED AND MANUFACTURED SO THAT THEY
CREATE NO HAZARDS (FOR EXAMPLE, A WORKPIECE THAT COMES LOOSE)
Using the Robot Safely

EVEN IF POWER (ELECTRICITY, AIR PRESSURE, ETC.) IS SHUT OFF OR POWER

FLUCTUATIONS OCCUR.
• IF THERE IS A POSSIBLE DANGER THAT THE OBJECT GRIPPED BY THE END
EFFECTOR MAY FLY OFF OR DROP, THEN PROVIDE APPROPRIATE SAFETY
PROTECTION TAKING INTO ACCOUNT THE OBJECT SIZE, WEIGHT,
TEMPERATURE AND CHEMICAL PROPERTIES.

(9) Use caution when removing the motor. (Vertical use robots)

w WARNING
THE VERTICAL AXIS WILL SLIDE DOWN WHEN THE MOTOR IS RELEASED,
CAUSING A HAZARDOUS SITUATION.
• TURN OFF THE ROBOT CONTROLLER AND PROP UP THE VERTICAL AXIS WITH
A SUPPORT STAND BEFORE REMOVING THE MOTOR.
• BE CAREFUL NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE VERTICAL
AXIS PARTS AND INSTALLATION BASE.

(10) Be careful not to touch the motor and peripheral parts when hot.

w WARNING
The motor and speed reduction gear casing are extremely hot after
automatic operation, so burns may occur if these are touched.
Before handling these parts during inspection or servicing, turn off the
controller, wait for a while and check that the parts have cooled.

(11) Take the following safety precautions during inspection of controller.

w WARNING
• WHEN YOU NEED TO TOUCH THE TERMINALS OR CONNECTORS ON THE
OUTSIDE OF THE CONTROLLER DURING INSPECTION, ALWAYS FIRST TURN OFF
THE CONTROLLER POWER SWITCH AND ALSO THE POWER SOURCE IN ORDER
TO PREVENT POSSIBLE ELECTRICAL SHOCK.
• NEVER TOUCH ANY INTERNAL PARTS OF THE CONTROLLER.
• REFER TO THE "YAMAHA ROBOT CONTROLLER USER'S MANUAL" FOR
PRECAUTIONS ON HANDLING THE CONTROLLER.

1-6
 1-2 Essential precautions

(12) Use caution not to touch the controller cooling fan.

w WARNING
• BODILY INJURY MAY OCCUR FROM COMING INTO CONTACT WITH THE 1
COOLING FAN WHILE IT IS ROTATING.

Using the Robot Safely

• WHEN REMOVING THE FAN COVER FOR INSPECTION, FIRST TURN OFF THE
CONTROLLER AND MAKE SURE THE FAN HAS STOPPED.

(13) Consult us for corrective action when the robot is damaged or malfunctions occur.

w WARNING
IF ANY PART OF THE ROBOT IS DAMAGED OR ANY MALFUNCTION OCCURS,
CONTINUING THE OPERATION MAY BE VERY DANGEROUS. PLEASE CONSULT
YOUR YAMAHA SALES OFFICE OR DEALER FOR CORRECTIVE ACTION.

Damage or Trouble Possible Danger

Damage to machine harness or robot cable Electrical shock, malfunction of robot
Flying outwards of damaged parts
Damage to exterior of robot
during robot operation
Abnormal operation of robot
Malfunction of robot
(positioning error, excessive vibration, etc.)
Z-axis brake trouble Dropping of load

(14) Protective bonding

w WARNING
BE SURE TO GROUND THE ROBOT AND CONTROLLER TO PREVENT ELECTRICAL
SHOCK.

(15) Be sure to make correct parameter settings.

c CAUTION
The robot must be operated with correct tolerable moment of inertia and
acceleration coefficients according to the manipulator tip mass and
moment of inertia. If these are not correct, drive unit service life may end
prematurely, and damage to robot parts or residual vibration during
positioning may result.

(16) Follow the specified procedures when installing, adjusting or inspecting the robot.

w WARNING
ALWAYS FOLLOW THE SPECIFIED PROCEDURES WHEN INSTALLING, ADJUSTING
OR INSPECTING THE ROBOT. NEVER ATTEMPT ANY PROCEDURE NOT DESCRIBED
IN THIS MANUAL.

1-7
 1-2 Essential precautions

(17) Do not attempt any repair, parts replacement and modification.

1 w WARNING
DO NOT ATTEMPT ANY REPAIR, PARTS REPLACEMENT AND MODIFICATION
UNLESS DESCRIBED IN THIS MANUAL.
Using the Robot Safely

THESE WORKS REQUIRE TECHNICAL KNOWLEDGE AND SKILL, AND MAY ALSO
INVOLVE WORK HAZARDS.

(18) Location for installing the controller and the programming box or Handy Terminal
The robot controller, programming box, and Handy Terminal should be installed at a
location that is outside the robot movement range yet where it is easy to operate and
view the robot performing tasks.

(19) Protect electrical wiring and hydraulic/pneumatic hoses as needed.

Install a cover or similar item to protect the electrical wring and hydraulic/pneumatic
hoses from possible damage.

(20) Install an operation status light.

Install an operation status light (signal light tower, etc.) at an easy-to-see position so
the operator will know whether the robot is merely stopped or is in emergency-error
stop.

(21) Clean work tools, etc.

Work tools such as welding guns and paint nozzles which are mounted in the robot
arm will preferably be cleaned automatically.

(22) Provide adequate lighting.

Make sure to provide enough lighting to ensure safety during work.

(23) Prevent the gripped object from flying outwards.

If the object or workpiece gripped by the robot might fly outward or drop and create
a hazard to the operator, then protective equipment should be installed by taking the
size, weight, temperature and chemical properties of the object into account.

(24) Draw up "work instructions" and makes sure the operator learns them well.
Decide on "work instructions" for the following items in cases where personnel
must work within the robot movement range to perform teaching, maintenance or
inspection. Make sure the workers know these "work instructions" well.
(1) Robot operating procedures needed for tasks such as startup procedures and
handling switches
(2) Robot speeds used during tasks such as teaching
(3) Methods for workers to signal each other when two or more workers perform
tasks
(4) Steps that the worker should take when a problem or emergency occurs

1-8
 1-2 Essential precautions

(5) Steps to take after the robot has come to a stop when the emergency stop device
was triggered, including checks for cancelling the problem or error state and
safety checks in order to restart the robot.
(6) In cases other than above, the following actions should be taken as needed to 1
prevent hazardous situations due to sudden or unexpected robot operation or

Using the Robot Safely

faulty robot operation, as listed below.
1. Show a display on the operator panel
2. Ensure the safety of workers performing tasks within the robot movement range
3. Clearly specify position and posture during work
Position and posture where worker can constantly check robot movements and
immediately move to avoid trouble if an error/problem occurs
4. Install noise prevention measures
5. Use methods for signaling operators of related equipment
6. Use methods to decide that an error has occurred and identify the type of error
Implement the "work instructions" according to the type of robot, installation
location, and type of work task.
When drawing up the "work instructions", make an effort to include opinions from
the workers involved, equipment manufacture's technicians, and workplace safety
consultants, etc.

(25) Display a sign on operation panel during work

Display an easy to understand sign or message on the programming box, Handy
Terminal, and operation panel during the job task, to prevent anyone other than the
operators for that job task from mistakenly operating a start or selector switch. If
needed, take other measures such as locking the cover on the operation panel.

(26) Make daily and periodic inspections.

(1) Always make sure that daily and periodic inspections are performed, and make
a pre-work check to ensure there are no problems with the robot or related
equipment. If a problem or abnormality is found, then promptly repair it or take
other measures as necessary.
(2) When you make periodic inspections or repairs, make a record and store it for at
least 3 years.

1-9
 1-3 Industrial robot operating and maintenance personnel

1-3 Industrial robot operating and maintenance personnel

1 Operators or persons who handle the robot such as for teaching, programming, movement
check, inspection, adjustment, and repair must receive appropriate training and also have
the skills needed to perform the job correctly and safely. They must read the user's manual
Using the Robot Safely

carefully to understand its contents before attempting the robot operation.

Tasks related to industrial robots (teaching, programming, movement check, inspection,

adjustment, repair, etc.) must be performed by qualified persons who meet requirements
established by local regulations and safety standards for industrial robots.

1-4 Robot safety functions

(1) Overload detection
This function detects an overload applied to the motor and shuts off the servo power.

(2) Overheat detection

This detects an abnormal temperature rise in the controller driver and shuts off the
servo power.
If an overload or overheat error occurs, take the following measures.
1. Insert a timer in the program.
2. Reduce the acceleration coefficient.

(3) Soft limits

Soft limits can be set on each axis to limit the working envelope in manual operation
after return-to-origin and during automatic operation.
Note: The working envelope is the area limited by soft limits.

w WARNING
SOFT LIMITS MUST BE SET WITHIN THE MOVEMENT RANGE (MECHANICAL
STOPPER). IF THE SOFT LIMIT IS SET OUTSIDE THE MOVEMENT RANGE, THE ROBOT
AXIS MAY COLLIDE WITH THE MECHANICAL STOPPER AT HIGH SPEED, CAUSING
THE OBJECT GRIPPED BY THE END EFFECTOR TO FLY OR DROP AND THE ROBOT
TO MALFUNCTION.

(4) Mechanical stoppers

If the servo power is suddenly shut off during high-speed operation by emergency
stop or safety functions, these mechanical stoppers prevent the axis from exceeding
the movement range.
Note: The movement range is the area limited by mechanical stoppers.

1-10
 1-5 Safety measures for the system

w WARNING
ROBOT MOVEMENT WILL NOT STOP IMMEDIATELY AFTER THE SERVO POWER
SUPPLY IS SHUT OFF BY EMERGENCY STOP OR OTHER SAFETY FUNCTIONS.
1
(5) Vertical axis brake

Using the Robot Safely

An electromagnetic brake is installed on the vertical use robot to prevent the vertical
axis from sliding down when servo power is turned off. This brake is working when
the controller is off or the vertical axis servo power is off even when the controller is
on.
The vertical axis brake can be released with the programming box or Handy Terminal
or in the program when the controller power is turned on.

w WARNING
THE VERTICAL AXIS WILL SLIDE DOWN WHEN THE BRAKE IS RELEASED, CREATING
A HAZARDOUS SITUATION.
• PRESS THE EMERGENCY STOP BUTTON AND PROP THE VERTICAL AXIS WITH A
SUPPORT STAND BEFORE RELEASING THE BRAKE.
• USE CAUTION NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE VERTICAL
AXIS AND INSTALLATION BASE WHEN RELEASING THE BRAKE TO PERFORM
DIRECT TEACH.

1-5 Safety measures for the system

Since the robot is commonly used in conjunction with an automated system, dangerous
situations are more likely to occur from the automated system than from the robot
itself. Accordingly, appropriate safety measures must be taken on the part of the system
manufacturer according to the individual system. The system manufacturer should provide
a proper instruction manual for safe, correct operation and servicing of the system.

1-6 Trial operation

After making installations, adjustments, inspections, or maintenance or repairs to the
robot, make a trial run using the following procedures.

(1) If a safety enclosure has not yet been provided right after installation of the robot,
rope off or chain off around the movement area of the manipulator in place of the
safety enclosure, and obser ve the following points.
1. Use sturdy, stable posts which will not fall over easily.
2. The rope or chain should be easily visible by everyone around the robot.
3. Place a sign to keep the operator or other personnel from entering the movement
range of the manipulator.

1-11
 1-7 Work within the safety enclosure

(2) Check the following points before turning on the controller.

1. Is the robot securely and correctly installed?

1 2. Are the electrical connections to the robot correct?

3. Are items such as air pressure correctly supplied?
Using the Robot Safely

4. Is the robot correctly connected to peripheral equipment?

5. Have safety measures (safety enclosure, etc.) been taken?
6. Does the installation environment meet the specified standards.

(3) After the controller is turned on, check the following points from outside the safety
enclosure.
1. Does the robot start and stop as intended? Can the operation mode be selected
correctly?
2. Does each axis move as intended within the soft limits?
3. Does the end effector move as intended?
4. Are the signal transmissions to the end effector and peripheral equipment correct?
5. Does emergency stop work?
6. Are the teaching and playback functions normal?
7. Are the safety enclosure and interlock working as intended?
8. Does the robot move correctly during automatic operation?

1-7 Work within the safety enclosure

(1) Work within the safety enclosure
When work is required inside the safety enclosure, always turn off the controller and
place a sign indicating that the robot is being adjusted or serviced in order to keep
any other person from touching the controller switch or operation panel, except for
the following cases.
1) Soft limit settings
2) Teaching
For item 1), follow the precautions and procedure for each section. To perform item 2),
refer to the description in (2) below.

(2) Teaching
When performing teaching within the safety enclosure, comply with the instructions
listed below.
1) Check or perform the following points from outside the safety enclosure.
1. Make sure that no hazards are present within the safety enclosure by a visual
check.
2. Check that the programming box or Handy Terminal operates correctly.

1-12
 1-8 Automatic operation

3. Check that no failures are found in the robot.

4. Check that emergency stop works correctly.
5. Select teaching mode and prohibit automatic operation.
2) Never enter the movement range of the manipulator while within the safety
1

Using the Robot Safely

enclosure.

1-8 Automatic operation

Automatic operation described here includes all operations in AUTO mode.

(1) Check the following before starting automatic operation.

1. No one is within the safety enclosure.
2. The programming box, Handy Terminal and tools are placed in their specified
positions.
3. The alarm or error lamps on the robot and peripheral equipment do not flash.
4. The safety enclosure is securely installed with safety interlocks actuated.

(2) Obser ve the following during automatic operation or in cases where an error occurs.
1)After automatic operation has started, check the operation status and signal light to
ensure that the robot is in automatic operation.
2) Never enter the safety enclosure during automatic operation.
3) If an error occurs in the robot or peripheral equipment, observe the following
procedure before entering the safety enclosure.
1. Press the emergency stop button to set the robot to emergency stop.
2. Place a sign on the start switch, indicating that the robot is being inspected in
order to keep any other person from touching the start switch and restarting the
robot.

1-13
 1-9 Warranty

1-9 Warranty

1 The YAMAHA robot and/or related product you have purchased are warranted against the
defects or malfunctions as described below.
Using the Robot Safely

Warranty description : If a failure or breakdown occurs due to defects in materials

or workmanship in the genuine parts constituting this
YAMAHA robot and/or related product within the warranty
period, then YAMAHA will repair or replace those parts
free of charge (hereafter called "warranty repair").

Warranty Period : The warranty period ends when any of the following
applies:
(1) After 18 months (one and a half year) have elapsed from
the date of shipment
(2) After one year has elapsed from the date of installation
(3) After 2,400 hours of operation

Exceptions to the Warranty : This warranty will not apply in the following cases:
(1) Fatigue arising due to the passage of time, natural
wear and tear occurring during operation (natural fading
of painted or plated surfaces, deterioration of parts
subject to wear, etc.)
(2) Minor natural phenomena that do not affect the
capabilities of the robot and/or related product (noise
from computers, motors, etc.).
(3) Programs, point data and other internal data that were
changed or created by the user.

Failures resulting from the following causes are not covered by warranty repair.
1) Damage due to earthquakes, storms, floods, thunderbolt, fire or any other natural
or man-made disasters.
2) Troubles caused by procedures prohibited in this manual.
3) Modifications to the robot and/or related product not approved by YAMAHA or
YAMAHA sales representatives.
4) Use of any other than genuine parts and specified grease and lubricants.
5) Incorrect or inadequate maintenance and inspection.
6) Repairs by other than authorized dealers.

1-14
 1-9 Warranty

YAMAHA MOTOR CO., LTD. MAKES NO OTHER EXPRESS OR IMPLIED WARRANTIES,

INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY
PARTICULAR PURPOSE. THE WARRANTY SET FORTH ABOVE IS EXCLUSIVE AND IS
IN LIEU OF ALL EXPRESSED OR IMPLIED WARRANTIES, INCLUDING WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, OR WARRANTIES ARISING
1

Using the Robot Safely

FROM A COURSE OF DEALING OR USAGE OF TRADE.
YAMAHA MOTOR CO., LTD. SOLE LIABILITY SHALL BE FOR THE DELIVERY OF THE
EQUIPMENT AND YAMAHA MOTOR CO., LTD. SHALL NOT BE LIABLE FOR ANY
CONSEQUENTIAL DAMAGES (WHETHER ARISING FROM CONTRACT, WARRANTY,
NEGLIGENCE OR STRICT LIABILITY). YAMAHA MOTOR CO., LTD. MAKES NO
WARRANTY WHATSOEVER WITH REGARD TO ACCESSORIES OR PARTS NOT SUPPLIED
BY YAMAHA MOTOR CO., LTD.

1-15
 MEMO

1-16
Chapter 2 Product Over view

Contents

2-1 Checking the product 2-1

2-2 Robot part names 2-1

 2-1 Checking the product

2-1 Checking the product

After unpacking, make sure that all components and accessories are included (as specified
in your order). Also check the product for any damage on the exterior which might have
occurred during shipping.
If there are any missing parts or damage due to shipping, please notify your YAMAHA
sales office or representative immediately. 2
w

Product Overview
WARNING
• ALWAYS USE TWO OR MORE PEOPLE TO TAKE THE ROBOT UNIT OUT OF THE
PACKAGE. EACH PERSON SHOULD GRIP THE ROBOT UNIT NEAR ONE END
FROM THE LOWER SIDE. CARRY WITH THE ROBOT FACING UPWARD (SLIDER
SIDE UPWARDS).
• WHEN UNPACKING, CAREFULLY HOLD THE ROBOT NOT TO DROP IT. IF THE
ROBOT FALLS, SERIOUS INJURY MAY OCCUR OR THE ROBOT MAY BE
DAMAGED.

2-2 Robot part names

Robot part names

Top cover
Side cover

Slider

End cover

Robot cable (motor wires)

Robot cable (I/O signal wires)

2-1
 MEMO

2-2
Chapter 3 Installation and Connections

Contents

3-1 Carrying the robot 3-1

3-2 Robot installation conditions 3-2

3-2-1 Installation environments 3-2
3-2-2 Installation base 3-3

3-3 Installing the robot 3-5

3-4 Connecting the robot to the controller 3-7

3-5 Setting the operating conditions 3-10

3-5-1 Payload 3-10
3-5-2 Maximum speed setting 3-11
3-5-3 Duty 3-11
 3-1 Carr ying the robot

3-1 Carr ying the robot

Always use two people to carry the robot unit. Each person should grip the robot unit near
one end from the lower side and carry with the load well balanced. Carry with the robot
facing upward (slider side upwards).

w WARNING
ALWAYS OBSERVE THE FOLLOWING PRECAUTIONS WHEN CARRYING THE
ROBOT.
• REMOVE ANY AND ALL OBJECTS SUCH AS HANDS AND GRIPPERS ATTACHED
TO THE ROBOT SLIDER BEFORE MOVING THE ROBOT. THE SLIDER WILL LOSE
BALANCE IF MOVED WITH OBJECTS STILL ATTACHED AND CAUSE INJURIES.
3

Installation and Connections

• KEEP THE ROBOT BALANCED AND DON'T LET IT TILT WHILE MOVING IT. IF THE
ROBOT TILTS, THE SLIDER MAY MOVE UNDER ITS OWN WEIGHT CAUSING
SERIOUS INJURIES SUCH AS CRUSHED FINGERS.
• MOVE THE SLIDER SO THAT BALL NUT SECTION IS POSITIONED IN THE NEAR
CENTER OF THE ROBOT BEFORE CARRYING THE ROBOT. FAILURE TO DO SO
MAY CAUSE THE BALL SCREW TO SWING OR VIBRATE LARGELY WHILE
CARRYING THE ROBOT.
• NEVER ATTEMPT TO HOLD THE ROBOT IN ANY OF THE FOLLOWING MANNERS.
[Never try this when moving!]
• DO NOT CARRY BY HOLDING THE SLIDER.
• DO NOT CARRY BY HOLDING THE CABLE.
• DO NOT CARRY BY GRIPPING THE END COVER.
• DO NOT CARRY BY HOLDING THE TOP COVER.

3-1
 3-2 Robot installation conditions

3-2 Robot installation conditions

3-2-1 Installation environments

Be sure to install the robot in the following environments.
Items Specifications
Allowable ambient
0 to 45°C
temperature
Allowable ambient humidity 35 to 85% RH (no condensation)

3 Altitude 0 to 1000 meters above sea level

Avoid installing near water, cutting water, oil, dust,
metallic chips and organic solvent.
Installation and Connections

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.
Vibration Do not subject to impacts or vibrations.
Allow sufficient space margin to perform jobs (teaching,
Working space
inspection, repair, etc.)

For detailed information on how to install the robot controller, refer to the separate
"YAMAHA Robot Controller User's Manual".

w WARNING
AVOID INSTALLING THE ROBOT IN LOCATIONS WHERE THE AMBIENT
CONDITIONS MAY EXCEED THE ALLOWABLE TEMPERATURE OR HUMIDITY, OR IN
ENVIRONMENTS WHERE EXCESSIVE MOISTURE, CORROSIVE GASES, METALLIC
POWDER OR DUST ARE GENERATED. MALFUNCTIONS, FAILURES OR SHORT
CIRCUITS MAY OTHERWISE RESULT.

w WARNING
• THIS ROBOT WAS NOT DESIGNED FOR OPERATION IN ENVIRONMENTS
WHERE INFLAMMABLE OR EXPLOSIVE SUBSTANCES ARE PRESENT.
• DO NOT USE THE ROBOT IN ENVIRONMENTS CONTAINING INFLAMMABLE
GAS, DUST OR LIQUIDS.
EXPLOSIONS OR FIRE COULD OTHERWISE RESULT.

3-2
 3-2 Robot installation conditions

w WARNING
AVOID USING THE ROBOT IN LOCATIONS SUBJECT TO ELECTROMAGNETIC
INTERFERENCE, ELECTROSTATIC DISCHARGE OR RADIO FREQUENCY
INTERFERENCE. MALFUNCTIONS MAY OTHERWISE OCCUR.

w WARNING
DO NOT USE THE ROBOT IN LOCATIONS SUBJECT TO EXCESSIVE VIBRATION.
ROBOT INSTALLATION BOLTS MAY OTHERWISE BECOME LOOSE CAUSING THE
ROBOT TO FALL OVER.

3
3-2-2 Installation base

Installation and Connections

To mount the robot, use an installation base that satisfies the following conditions.

(1) The installation base is subjected to a great deal of stress while the robot is in
operation. Prepare a sufficiently rigid and stable installation base, taking into account
the robot weight including the end effector (gripper) and workpiece.

w WARNING
IF THE INSTALLATION BASE IS NOT SUFFICIENTLY RIGID AND STABLE, VIBRATION
(RESONANCE) MAY OCCUR DURING OPERATION, CAUSING ADVERSE EFFECTS
ON THE ROBOT WORK.

(2) The installation base surface must be machined within a flatness of ±0.05mm/500mm.

c CAUTION
The robot positioning accuracy or the service life might be reduced if the
installation surface precision is insufficient.

3-3
 3-2 Robot installation conditions

(3) Use an installation base of sufficient size to match the robot body so that the robot
can be installed with the specified number of bolts. Avoid installing the robot with
less than the specified number of bolts or installing the robot closer to one end as
shown at the lower right.

Robot installation example

3
Installation and Connections

Installation base
Installation base

Good example Bad example

w WARNING
WHEN INSTALLING THE ROBOT, ALWAYS USE ALL THE MOUNTING HOLES DRILLED
IN THE BOTTOM OF THE ROBOT. USING LESS THAN THE SPECIFIED NUMBER OF
BOLTS TO INSTALL THE ROBOT MAY CAUSE VIBRATION AND POOR POSITIONING
ACCURACY. THIS MAY ALSO RESULT IN POSITIONING ERRORS AND REDUCED
SERVICE LIFE IN THE WORST CASES.

n NOTE
Positions of robot mounting holes differ according to the stroke length of
each robot. Refer to the dimensional outlines shown in "6-1 Main unit
specifications".

3-4
 3-3 Installing the robot

3-3 Installing the robot

w WARNING
• BEFORE INSTALLING THE ROBOT, ALWAYS MAKE SURE THAT THE ROBOT
CONTROLLER IS NOT CONNECTED TO THE ROBOT OR THE POWER TO THE
CONTROLLER IS OFF. SERIOUS ACCIDENTS MAY OCCUR IF THE ROBOT
STARTS TO OPERATE DURING INSTALLATION.
• BE SURE TO USE THE BOLTS OF THE SPECIFIED SIZE AND LENGTH AND TIGHTEN
THEM SECURELY TO THE CORRECT TORQUE IN THE CORRECT POSITIONS.
FAILURE TO FOLLOW THIS INSTRUCTION MAY CAUSE ROBOT VIBRATIONS,
POSITION ERRORS AND SERIOUS ACCIDENTS.
• DO NOT USE A BOLT LONGER THAN THE SPECIFIED LENGTH SINCE IT MAY
3

Installation and Connections

INTERFERE WITH THE INTERNAL PARTS OF THE ROBOT AND CAUSE
MALFUNCTIONS.

1) Drill and tap M5 holes into the surface of the installation base.
Refer to the dimensional outlines shown in "6-1 Main unit specifications" in Chapter
6 for drilling positions.
2) Remove the three screws securing the robot top cover and remove the top cover.
Move the slider to a position where the mounting holes in the bottom of the robot are
not hidden under the slider.

Top cover
3) Secure the robot to the installation base with the specified bolts. The specified bolts
and tightening torque are shown below.

Hex socket-head M5
Bolt bolt, Strength: 8.8T
Length: 20mm or more
Tightening torque 60kgf•cm to 90kgf•cm

M5 hex wrench
4) After installing the robot, reattach the top cover.

3-5
 3-3 Installing the robot

● Protective bonding

w WARNING
ALWAYS GROUND THE ROBOT AND CONTROLLER UNIT TO PREVENT ELECTRICAL
SHOCK.

Always use the ground terminal (M4 screw) on the robot unit to make ground connection.
The ground terminal location is shown below.

3
Installation and Connections

Ground terminal
Robot cable

c CAUTION
• A secure ground connection (less than 100-ohm resistance to ground) is
recommended.
• Use electrical wire thicker than AWG14 (2mm2) as the ground wire.

w WARNING
ALWAYS TURN OFF THE POWER TO THE CONTROLLER BEFORE MAKING THE
GROUND CONNECTION.

Provide a terminal marked "PE" as the protective conductor for the entire system, and
connect it to an external protective conductor. Also securely connect the ground terminal
on the robot frame to the protective conductor.

(Symbol 417-IEC-5019)

3-6
 3-4 Connecting the robot to the controller

3-4 Connecting the robot to the controller

Connect the robot cables to the mating connectors on the controller as shown. Refer to
the robot controller user's manual for the controller connectors.

w WARNING
• BEFORE CONNECTING THE CABLES, CHECK THAT THERE ARE NO BENDS OR
BREAKS IN THE ROBOT CABLE CONNECTOR PINS AND THAT THE CABLES ARE
NOT DAMAGED. CONTACT FAILURE MAY CAUSE ROBOT MALFUNCTIONS.
• ALWAYS MAKE SURE THAT THE POWER TO THE ROBOT CONTROLLER IS OFF
BEFORE CONNECTING THE ROBOT CABLES TO THE CONTROLLER. 3
c

Installation and Connections

CAUTION
After connecting the robot cable intermediate connectors together, fit the
connector hoods together securely.

Intermediate connector (motor wire)

Intermediate connector (signal wire)

1) Connect the robot cables (motor and signal wires) to the mating connectors coming
out from the robot.

Robot cable Robot cable

connector connector
(signal wire) (motor wire)

3-7
 3-4 Connecting the robot to the controller

2) After making the connections, fit the connector hoods together securely.

Hood

3
Installation and Connections

3-8
 3-4 Connecting the robot to the controller

● Robot cable connections (when connected to SR1)

SR1 HPB
PWR ERR

MOTOR

HPB
U
V

I/O

BAT
AC IN
ROB I/O
L

L1

N1

RGEN
SAFETY
P

Robot cable (power cable) N

SHORT:
AC100V
OPEN:
AC200V

Robot cable (signal cable)

3
Single-axis robot

Installation and Connections

F8/F8L/F8LH

* After making connections,

Hood fasten the hoods securely.

System Configurations

Robot controller SR1 RS-232C

communication control
MEMORY
CARD
SD

PWR ERR

MOTOR

U
HPB RS-232C or
V
communication control
W

(communication cable) SD memory card

Resolver signal
Motor power I/O (option)
AC IN
BAT

ROB I/O
Programming box
L

N
HPB (option)
supply built-in)

L1

N1

RGEN
(24V power

SAFETY
P
I/O control

SHORT:
Servo control

AC100V
OPEN:
AC200V

Input 16 general-purpose pins

7 custom-purpose pins
Output 16 general-purpose pins
3 custom-purpose pins POPCOM
PC communication software
Power supply
AC100~115/200~230V
p10%

External control
(PLC)
Single-axis robot
F8/F8L/F8LH The controller is supplied with the robot as
a standard unit.
The programming box HPB is optional.

3-9
 3-5 Setting the operating conditions

3-5 Setting the operating conditions

3-5-1 Payload
Optimal acceleration for the YAMAHA single-axis robots is automatically determined by
setting the controller payload parameters. Set the total weight of the workpiece and the
end effectors such as grippers attached to the robot slider in the payload parameter as
shown below.

3 c CAUTION
Be sure to enter an accurate value when making this setting, since a
mistake will cause troubles such as vibration or a shorter machine service
Installation and Connections

life span.

● To set the payload parameter

Use the following method when setting the payload parameter on a single-axis robot
controller (SR1). If other controllers (RCX240, RCX222, TS-X) are used, refer to their
respective user's manual.

1) Connect the HPB to the SR1 controller

and turn on the controller power. The
initial menu then appears on the HPB.

2) Press (SYS) on the initial menu

［ＭＥＮＵ］
screen. ｓｅｌｅｃｔ ｍｅｎｕ
The SYS (system) mode screen
１ＥＤＩＴ２ＯＰＲＴ３ＳＹＳ ４ＭＯＮ
appears.

3) Press (PRM) to enter the

［ＳＹＳ］
parameter setting mode. ｓｅｌｅｃｔ ｍｅｎｕ
The SYS-PRM mode screen appears.
１ＰＲＭ ２Ｂ．ＵＰ３ＩＮＩＴ４ｎｅｘｔ

4) Select the parameter group.

［ＳＹＳ−ＰＲＭ］
Press (AXIS) to select the axis ｓｅｌｅｃｔ ｍｅｎｕ
parameter.
１ＡＸＩＳ２ＤＡＴＡ３ＳＹＳ１４ＳＹＳ２
The current setting for PRM100 (Robot
type) appears on the screen.
［ＳＹＳ−ＰＲＭ−ＡＸＩＳ］
ＰＲＭ１００ ＝ ＿４０４０
ｒｏｂｏｔ ｔｙｐｅ
ｒｅａｄ ｏｎｌｙ
The robot type No. displayed on the
screen shows an example of model F10.

3-10
 3-5 Setting the operating conditions

5) Display PRM112 (payload). ［ＳＹＳ−ＰＲＭ−ＡＸＩＳ］

Press the keys to scroll up or ＰＲＭ１１２ ＝ １０＿［Ｋｇ］
ｐａｙｌｏａｄ
down the parameter list and select the ｒａｎｇｅ ０→ＭＡＸ
parameter you want to set.

6) Set the parameter.

［ＳＹＳ−ＰＲＭ−ＡＸＩＳ］
Enter the parameter value with the ＰＲＭ１１２ ＝ ＿
１０ ［Ｋｇ］
number keys and press . ｐａｙｌｏａｄ
ｒａｎｇｅ ０→ＭＡＸ
The parameter setting range is shown
on the bottom line of the screen. 3
When setting is complete, the cursor

Installation and Connections

moves back to the beginning of the
parameter data.

3-5-2 Maximum speed setting

In operation of a single-axis robot with a long stroke ball screw, resonance of the ball
screw may occur. In this case, the maximum speed must be reduced to an appropriate
level. The maximum speed can be reduced by lowering the SPEED setting in automatic
operation or by programming. Use the desired method that matches your application.
Refer to Chapter 6, "Specifications" for information on how to set the maximum speed
according to the stroke length.
If the maximum speed does not reach a hazardous level, reducing the speed is
unnecessary even when a robot has a long stroke axis.

c CAUTION
Do not operate the robot if the ball screw is vibrating. The ball screw may
otherwise wear out prematurely.

3-5-3 Duty
To achieve maximum service life for the YAMAHA single-axis robots, the robot must be
operated within the allowable duty (50%). The duty is calculated as follows:
Operation time
Duty (%) = s100
Operation time + Non-operation time
If the robot duty is too high, an error such as "overload" or "overheat" occurs. In this case,
increase the stop time to reduce the duty.

3-11
 MEMO

3-12
Chapter 4 Periodic Inspection and Maintenance

Contents

4-1 Before beginning work 4-1

4-2 Periodic inspection 4-3

4-2-1 Daily inspection 4-3
4-2-2 Three-month inspection 4-3
4-2-3 Six-month inspection 4-4
4-2-4 Three-year inspection 4-4

4-3 Applying grease 4-5

4-4 Replacing the motor 4-6

 4-1 Before beginning work

4-1 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 F8/F8L/F8LH. Before beginning work, read the precautions below and also in Chapter
1 "Using the Robot Safely" and follow the instructions.

w DANGER
IF THE INSPECTION OR MAINTENANCE PROCEDURE CALLS FOR OPERATION OF
THE ROBOT, STAY OUT OF THE WORKING AREA OF THE ROBOT DURING
OPERATION. DO NOT TOUCH ANY PARTS INSIDE THE CONTROLLER.
KEEP WATCHING THE ROBOT MOVEMENT AND SURROUNDING AREA SO THAT
THE OPERATOR CAN PRESS THE EMERGENCY STOP BUTTON IF ANY DANGER
OCCURS.
4
w WARNING

Periodic Inspection and Maintenance

• WHEN THE ROBOT DOES NOT NEED TO BE OPERATED DURING ADJUSTMENT
OR MAINTENANCE, ALWAYS TURN OFF THE CONTROLLER AND THE
EXTERNAL SWITCH BOARD.
• DO NOT TOUCH INTERNAL PARTS OF THE CONTROLLER FOR 10 MINUTES
AFTER THE CONTROLLER HAS BEEN TURNED OFF.
• WHEN ONLY MAKING ELECTRICAL INSPECTIONS AND REQUIRING NO
MECHANICAL MOVEMENT OF THE ROBOT, KEEP THE EMERGENCY STOP
BUTTON PRESSED.
• 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.
• DO NOT MODIFY ANY PARTS ON THE ROBOT OR CONTROLLER.
MODIFICATION MAY RESULT IN UNSATISFACTORY SPECIFICATIONS OR
THREATEN OPERATOR SAFETY.
• WHEN ADJUSTMENT OR MAINTENANCE IS COMPLETE, RETIGHTEN THE BOLTS
AND SCREWS SECURELY.
• DURING ROBOT ADJUSTMENT OR MAINTENANCE, PLACE A SIGN
INDICATING THAT THE ROBOT IS BEING ADJUSTED OR SERVICED TO PREVENT
OTHERS FROM TOUCHING THE CONTROL KEYS OR SWITCHES. PROVIDE A
LOCK ON THE SWITCH KEYS OR ASK SOMEONE TO KEEP WATCH AS NEEDED.

4-1
 4-1 Before beginning work

When applying grease to the ball screw and linear guide, take the following precautions.

w 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.
4 • KEEP OUT OF THE REACH OF CHILDREN.
• DO NOT HEAT THE GREASE OR PLACE NEAR AN OPEN FLAME SINCE THIS
Periodic Inspection and Maintenance

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.

4-2
 4-2 Periodic inspection

4-2 Periodic inspection

4-2-1 Daily inspection

Check the following points on a daily basis, before and after robot operation.
Checkpoints Check items Notes
Cables Check for damage, dent Replace if needed.
and excessively tight
bends.
Ball screw, bearing Check for unusual vibration
and noise.
Motor Check for unusual vibration
and noise, and for
abnormal temperature rise.

4-2-2 Three-month inspection 4

Take the following precautions when performing 3-month inspection.

Periodic Inspection and Maintenance

w WARNING
THE SLIDER OF VERTICAL USE ROBOT WILL SLIDE DOWN WHEN THE BRAKE IS
RELEASED, CAUSING A HAZARDOUS SITUATION. DO NOT RELEASE THE BRAKE
WHEN LUBRICATING VERTICAL USE ROBOT PARTS.

Check the following points every 3 months and apply grease if needed.
Checkpoints Check items Notes
Ball screw, linear • Check for dust buildup or debris. See "4-3" in this
guide, ball bushing Clean if necessary. Apply grease chapter.
after cleaning.
• Check to see if the ball screw,
linear guide and ball bushing are
lubricated (not dry). Apply grease
if necessary.
Standard robots:
Albania No. 2 (Shell)
Daphne Eponex No. 2 (Idemitsu)
Clean room robots:
LG-2 (NSK)

c CAUTION
Using grease other than those recommended by YAMAHA might shorten the
service life of the ball screw, linear guide and linear bushing shaft.

4-3
 4-2 Periodic inspection

4-2-3 Six-month inspection

Take the following precautions when performing 6-month inspection.

w WARNING
THE SLIDER OF VERTICAL USE ROBOT WILL SLIDE DOWN WHEN THE BRAKE IS
RELEASED, CAUSING A HAZARDOUS SITUATION. DO NOT RELEASE THE BRAKE
WHEN LUBRICATING THE VERTICAL USE ROBOT PARTS.

Check the following points every 6 months and adjust or replace parts if needed.
Checkpoints Check items Notes
Major bolts and Check for looseness. Tighten
screws on robot if loose.

4 Ball screw, linear

guide
• Check the ball screw and
linear guide for backlash.
Tighten if necessary.
Consult us if problem
cannot be solved or
there is backlash due to
wear.
Periodic Inspection and Maintenance

• Check for vibration during

operation. Tighten bolts if
necessary to secure drive
unit and/or shaft.
• Check for backlash due to
wear.
Controller • Check if terminals are loose.
• Check if connectors are
loose
Greasing to ball Apply grease every 6 months See "4-3" in this
screw/nut section to ball screw/nut and linear chapter.
and linear guide guide.
Recommended grease
Albania No. 2 (Shell)
Daphne Eponex No. 2
(Idemitsu)
Slider On long-stroke (750mm or
more) robots, check the slider
inside the top cover for wear
or damage every 6 months.

c CAUTION
Using grease other than those recommended by YAMAHA might shorten the
service life of the ball screw and linear guide.

4-2-4 Three-year inspection

Check the following points every 3 years or more often if the robot is used frequently.
Checkpoints Check items Notes
Ball screw/nut Check ball screw/nut and Consult us if abnormal
section and linear linear guide for backlash due condition is found.
guide to wear.

4-4
 4-3 Applying grease

4-3 Applying grease

When applying grease to the ball screw according to periodic inspection, follow the
procedure below. Grease can be applied to the guide sliding section using the grease
nipples. Prepare a grease gun in this case.

1) Make sure that the power to the controller is off.

2) Apply grease by either of the following methods.

● Linear guide
When using the grease nipples, apply grease into the two grease nipples on the left
and right side of the slider (4 grease nipples for F8LH). Then move the table slider
back and forth to help spread the grease around.

Grease gun
4

Periodic Inspection and Maintenance

Grease nipple

● Ball screw
1) Remove the screws securing the robot top cover and remove the top cover.
(For how to remove the top cover, refer to "3-3 Installing the robot".)

2) Apply grease by hand to the ball screw and move the table slider back and forth
to help spread the grease around.

Ball screw

3) Reattach the top cover and end covers.

4-5
 4-4 Replacing the motor

4-4 Replacing the motor

c CAUTION
A positional shift occurs by replacing the motor. It is therefore necessary to
perform return-to-origin and set point data again after replacing the motor.
When removing the parts, note their positional relation and assembly order.

1) Turn off the controller power.

2) Remove the three screws securing the robot top cover and remove the top cover.
(For how to remove the top cover, refer to "3-3 Installing the robot".)

3) Remove the two screws securing each side cover and remove the side covers.
4
Periodic Inspection and Maintenance

Side cover

4) Remove the four screws securing the end cover on the motor side and remove the
end cover.

End cover

4-6
 4-4 Replacing the motor

5) Remove the four screws securing the motor cover and remove the motor cover.

Motor cover Motor cover

6) Remove the ground wire.

7) Remove the four bolts securing the motor and remove the motor. 4

Periodic Inspection and Maintenance

Motor

Motor

8) Remove the wave washer and flat washer.

c CAUTION
When removing the motor, the flat washer might be left in the bearing inside
the motor, so use caution.

Wave washer Flat washer

4-7
 4-4 Replacing the motor

9) Remove the four bolts securing the rotor and pull out the rotor.

Rotor Rotor

10) Install the new rotor.

4 11) Install the wave washer and flat washer in the correct order.
Periodic Inspection and Maintenance

12) Install the new motor.

13) Reassemble in the reverse order (steps 11 to 2).

4-8
 4-4 Replacing the motor

● Checking the grid position (for SR1)

1) Press (OPRT) on the initial menu ［ＭＥＮＵ］

screen. ｓｅｌｅｃｔ ｍｅｎｕ

１ＥＤＩＴ２ＯＰＲＴ３ＳＹＳ ４ＭＯＮ

2) Press (ORG).
［ＯＰＲＴ］
ｓｅｌｅｃｔ ｍｅｎｕ

１ＯＲＧ ２ＳＴＥＰ３ＡＵＴＯ

3) Press (yes) to perform return-to-

［ＯＰＲＴ−ＯＲＧ−ＳＥＡＲＣＨ］
origin.
To cancel the operation, press
ＯＲＧ ｓｅａｒｃｈ ＯＫ ？

１ｙｅｓ ２ｎｏ
4

Periodic Inspection and Maintenance

(no).

4) This screen appears during return-to-

［ＯＰＲＴ−ＯＲＧ−ＳＥＡＲＣＨ］
origin. ｓｅａｒｃｈｉｎｇ ．．．
Pressing during operation stops the
robot and displays a message. Then
pressing returns to the screen of 2).

5) When return-to-origin ends normally, ［ＯＰＲＴ−ＯＲＧ−ＳＥＡＲＣＨ］

the machine reference value appears ｏｒｉｇｉｎ ｃｏｍｐｌｅｔｅ
on the bottom right of the screen.
ｇｒｉｄ ｐｏｓｉｔｉｏｎ   ５０％

6) Press to display the grid position.

4-9
 MEMO

4-10
Chapter 5 Troubleshooting

Contents

5-1 If you suspect trouble 5-1

5-1-1 Positioning error 5-1
5-1-2 Feedback error 5-2
 5-1 If you suspect trouble

5-1 If you suspect trouble

If an error such as a positioning error or feedback error occurs, check the following points
to find the solution before you determine the robot or controller has malfunctioned. If
the trouble still exists even after checking these points, please contact us with a detailed
description of the trouble.

5-1-1 Positioning error

Position deviates.

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

5
Yes

Troubleshooting
Is cable broken?

Are cables correctly wired? No

Are connectors correctly fitted? Replace
No the cable

Yes
Check wiring and (1) Check tool and workpiece for warping.
connectors. (2) Check robot alignment.

Are the robot, tools and

workpiece correctly installed? Mechanical No Does the position return
No cause after return-to-origin operation?

Yes
Yes
Check installation
method. (1) Check for looseness of
mechanical parts. Retighten Electrical cause
Check for looseness of if necessary.
robot mechanical parts. (2) Replace mechanical parts.

Is there a large source of

Yes noise nearby?

No
Take measures
against noise.

Check or replace the motor, cable and controller.

5-1
 5-1 If you suspect trouble

5-1-2 Feedback error

Feedback error
Any foreign matter No
caught inside?
No Adjust mechanical alignment
Yes
Turn power off and Much mechanical Is brake installed? Is there electrical Yes
check for friction friction? discontinuity?
by moving manually No Yes
Recheck Yes
Repair
Is brake sound No Is 24V supplied to
heard when turning power
on and off? brake?
Yes No
Replace motor (with brake) Replace power supply unit or
repair defective parts

Are parameters for No

controller and robot OK? Initialize parameters
Repair
No
Yes
Is there electrical Are wiring and connector No

5 discontinuity?
No
securely connected?

Yes
Securely connect wiring and connector

When feedback error is occurring, perform

Troubleshooting

Are connector pins continuity check

securely inserted? Is wiring live?
(1) Check motor power supply lines U, V and W
(2) Check encoder signal lines for phases A and B
No Yes
Securely insert pins or
repair defective pins Is motor resistance
No
Replace motor since motor has shorted or burnt out
OK?
Yes

Take noise reduction

measures
No
Is motor encoder Replace motor
OK?
Yes (1) Check position shift by repetitive accuracy
measurement
(2) If replacement motor is available, check by
Yes exchanging the motors
No Is external Yes Is controller
noise large? hardware OK? (1) If replacement controller is available, check by
exchanging the controllers

5-2
Chapter 6 Specifications

Contents

6-1 Main unit specifications 6-1

6-1-1 F8 6-1
6-1-2 F8L 6-4
6-1-3 F8LH 6-9

6-2 AC servo motor specifications 6-12

6-2-1 AC servo motor termination 6-12
6-2-2 Brake cable specifications 6-13

6-3 Robot cables 6-14

6-3-1 Robot cables (SR1) 6-14
6-3-2 Robot cables (TS-X) 6-15
6-3-3 Robot cables (RCX222/240) 6-16
6-3-4 Robot cables (RDX) 6-18
 6-1 Main unit specifications

6-1 Main unit specifications

6-1-1 F8
● Basic specifications
Motor output AC (W) 100
Repeated positioning accuracy (mm) 1 ±0.02
Deceleration mechanism Ball screw φ12 (Class C10)
Ball screw lead (mm) 20 12 6
Maximum speed (mm/sec) 2 1200 720 360
Horizontal
12 20 40
installation
Maximum payload (kg)
Vertical
– 4 8
installation
Rated thrust (N) 84 141 283
Stroke (mm) 150 to 800 (50 pitch)
Cable length (m) Standard : 3.5 / 5 / 10
Horizontal
SR1-X, TS-X, RCX222, RCX240
installation
Controller
Vertical
SR1-X, TS-X, RCX222, RCX240
installation
Horizontal
Robot driver
installation
Vertical
RDX-05-RBR1

RDX-05-RBR1
6
installation

Specifications
1: Positioning repeatability in one direction.
2: When the stroke is longer than 600mm, resonance of the ball screw may occur depending on the
operation conditions (hazardous speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.

Stroke 600 650 700 750 800

Lead 20 1080 900 780 720 600
Maximum speed
Lead 12 648 540 468 432 360
(mm/sec)
Lead 6 324 270 234 216 180
SPEED setting 90% 75% 65% 60% 50%

● Static loading moment

MY
(Unit: N•m)
MY MP MR
70 95 110
MP

MR

6-1
 6-1 Main unit specifications

● Allowable overhang*
* Service life is calculated for 600mm stroke models.

■ Horizontal installation
Horizontal installation (Unit: mm)
A B C

A 5kg 197 76 120

Lead 20 10kg 100 32 54
12kg 85 25 43
5kg 364 89 188
C 10kg 203 39 87
Lead 12
15kg 139 22 51
B 20kg 103 14 33
10kg 403 43 113
20kg 214 16 43
Lead 6
30kg 140 6 20
40kg 113 0 8

■ Wall installation
Wall installation (Unit: mm)
A B C
5kg 104 67 174

6 Lead 20 10kg
12kg
37
27
23
15
72
55
B 5kg 171 81 340
Specifications

A 10kg 69 32 172
Lead 12
C 15kg 33 15 100
20kg 15 6 55
10kg 94 36 369
20kg 25 9 157
Lead 6
30kg 0 0 14
40kg 0 0 0

■ Vertical installation
Vertical installation (Unit: mm)
A C
1kg 447 448
2kg 214 216
Lead 12
3kg 137 138
C 4kg 98 99
2kg 244 245
A
4kg 113 113
Lead 6
6kg 69 69
8kg 46 46

6-2
 ● Dimensions
Approx. 240 (Motor cable length) 193±3 : When origin is on motor side Effective stroke (93) : When origin is on motor side
(193) : When origin is on non-motor side 50 93±3 : When origin is on
non-motor side
148±1 (Note 1) 30 ±0.02 48±1
(Note1)

警告

70
はさんでケガ...

80
knocks±0.02)
(Tolerance between
178±1 (with brake) (Note 1) 4-M6 s 1.0 Depth 12
Approx. 210 (Motor cable length) 223±3 (with brake) : When origin is on motor side 2-F5H7 Depth 10
(223) : When origin is on non-motor side
L+30 (with brake)
80 L
60 78 Greasing hole
F

65
63.5

34
Grounding terminal (M4)
198 (with brake)
5 168 50 Ax100 B 50 (68)
C-F5.5 See cross-section E-E. E 100
5

F9.5
F5.5
1.5 2
R

40

3.5
6.4
Use M5 s0.8 hex socket
(Note 4)

E
10H7

head bolt with length *Recommended plate nut: M3 (%6＊t1.6) F10H7 Plate thickness 10
(under head) of 16mm or more. 145 (Note 4) D 2
Cross-section E-E F: Detail of T-groove 175 (with brake)

Note 1. Distance from both ends to the mechanical stopper. Note 3. Minimum bend radius of motor cable is R50 (50mm).
Note 2. When installing the robot, do not use washers inside the robot body. Note 4. When using this φ10 knock-pin hole to position the robot body, the knock-
pin must not protrude more than 10mm inside the robot body.
Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800
L 436 486 536 586 636 686 736 786 836 886 936 986 1036 1086
A 0 0 1 1 2 2 3 3 4 4 5 5 6 6
B 100 150 100 150 100 150 100 150 100 150 100 150 100 150
C 8 8 10 10 12 12 14 14 16 16 18 18 20 20
D 240 290 340 390 440 490 540 590 640 690 740 790 840 890
6-1 Main unit specifications

6-3
Specifications
6
 6-1 Main unit specifications

6-1-2 F8L
● Basic specifications
Motor output AC (W) 100
Repeated positioning accuracy (mm) 1 ±0.01
Deceleration mechanism Ball screw φ15 (Class C7)
Ball screw lead (mm) 30 20 10 5
Maximum speed (mm/sec) 2 1800 1200 600 300
Horizontal
7 20 40 50
installation
Maximum payload (kg)
Vertical
– 4 8 16
installation
Rated thrust (N) 56 84 169 339
Stroke (mm) 150 to 1050 (50 pitch)
Cable length (m) Standard : 3.5 / 5 / 10
Horizontal
SR1-X, TS-X, RCX222, RCX240
installation
Controller
Vertical
SR1-X, TS-X, RCX222, RCX240
installation
Horizontal
RDX-05-RBR1
installation
Robot driver
Vertical
RDX-05-RBR1
installation

6 1: Positioning repeatability in one direction.

2: When the stroke is longer than 700mm, resonance of the ball screw may occur depending on the
operation conditions (hazardous speed). In this case, reduce the speed setting on the program
Specifications

by referring to the maximum speeds shown in the table below.

Stroke 700 750 800 850 900 950 1000 1050

Lead 30 1530 1350 1170 1080 990 900 810 720
Maximum speed Lead 20 1020 900 780 720 660 600 540 480
(mm/sec) Lead 10 510 450 390 360 330 300 270 240
Lead 5 255 225 195 180 165 150 135 120
SPEED setting 85% 75% 65% 60% 55% 50% 45% 40%

● Static loading moment MY

(Unit: N•m)
MY MP MR
70 95 110
MP

MR

6-4
 6-1 Main unit specifications

● Allowable overhang*
* Service life is calculated for 600mm stroke models.

■ Horizontal installation
Horizontal installation (Unit: mm)
A B C
5kg 112 80 80
Lead 30
7kg 78 43 49
A
5kg 211 108 147
10kg 116 45 69
Lead 20
15kg 76 24 39

C 20kg 58 14 26
10kg 251 56 122
B 20kg 121 20 46
Lead 10
30kg 74 8 20
40kg 35 0 6
20kg 249 23 62
30kg 170 10 29
Lead 5
40kg 138 4 12
50kg 51 0 0

■ Wall installation
Wall installation
A B
(Unit: mm)
C
6
5kg 55 57 77

Specifications
Lead 30
7kg 21 19 34
5kg 119 89 176
10kg 38 26 69
Lead 20
B 15kg 7 0 16
A 20kg 0 0 0
C 10kg 85 39 202
20kg 7 0 30
Lead 10
30kg 0 0 0
40kg 0 0 0
20kg 19 7 140
30kg 0 0 0
Lead 5
40kg 0 0 0
50kg 0 0 0

6-5
 6-1 Main unit specifications

■ Vertical installation
Vertical installation (Unit: mm)
A C
2kg 236 240
Lead 20
4kg 106 110
2kg 310 311
4kg 141 143
C Lead 10
6kg 85 86
A 8kg 57 58
5kg 123 124
10kg 47 48
Lead 5
15kg 22 22
16kg 19 19

6
Specifications

6-6
 ● Dimensions (F8L)
Approx. 240 (Motor cable length) 204±3 : When origin is on motor side Effective stroke (88) : When origin is on motor side
(204) : When origin is on non-motor side 50 88±3 : When origin is on
non-motor side
160±1 (Note 1) 30 ±0.02 44±1
(Note 1)

警告

70
はさんでケガ...

80
knocks±0.02)
(Tolerance between
190±1 (with brake) (Note 1) 4-M6 s 1.0 Depth 12
Approx. 210 (Motor cable length) 234±3 (with brake) : When origin is on motor side 2-F5H7 Depth 10
(234) : When origin is on non-motor side
L+30 (with brake)
80 L
60 78 Greasing hole
F

65
63.5

34
209 (with brake)
Grounding terminal (M4)
179 50 Ax100 B 50 (63)
5 C-F5.5 See cross-section E-E. E 100

9.5
5.5
1.5 2
R

40
(Note 4)
10H7

3.5
E

6.4
F10H7 Plate thickness 10
Use M5 s0.8 hex socket
head bolt with length *Recommended plate nut: M3 (%6＊t1.6) 156 (Note 4) D 2
(under head) of 16mm or more. 186 (with brake)
Cross-section E-E F: Detail of T-groove

Note 1. Distance from both ends to the mechanical stopper. Note 3. Minimum bend radius of motor cable is R50 (50mm).
Note 2. When installing the robot, do not use washers inside the robot body. Note 4. When using this φ10 knock-pin hole to position the robot body, the knock-
pin must not protrude more than 10mm inside the robot body.
Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050
L 442 492 542 592 642 692 742 792 842 892 942 992 1042 1092 1142 1192 1242 1292 1342
A 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9
B 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100
C 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26
D 240 290 340 390 440 490 540 590 640 690 740 790 840 890 940 990 1040 1090 1140
6-1 Main unit specifications

6-7
Specifications
6
 Specifications

6
● Dimensions (F8L High lead type: Lead 30)

6-8
Approx. 240 (Motor cable length) 212±4 : When origin is on motor side Effective stroke (88) : When origin is on motor side
(209.5) : When origin is on non-motor side 50 90.5±4: When origin is on
non-motor side
165.5±1 30 ±0.02 44±1

警告

70
はさんでケガ...

80
knocks±0.02)
(Tolerance between
4-M6 s 1.0 Depth 12
2-F5H7 Depth 10

80 L
6-1 Main unit specifications

60 78 Greasing hole
F

65
63.5

34
Grounding terminal (M4)
187 50 Ax100 B 50 (63)
5
C-F5.5 See cross-section E-E. E 100
5

9.5
5.5
1.5 2
R

40

3.5
(Note 4)

6.4
10H7

Use M5 s0.8 hex socket E F10H7 Plate thickness 10

head bolt with length *Recommended plate nut: M3 (%6＊t1.6)
164 (Note 4) D 2
(under head) of 16mm or more.

Cross-section E-E F: Detail of T-groove

Note 1. Distance from both ends to the mechanical stopper. Note 3. Minimum bend radius of motor cable is R50 (50mm).
Note 2. When installing the robot, do not use washers inside the robot body. Note 4. When using this φ10 knock-pin hole to position the robot body, the knock-
pin must not protrude more than 10mm inside the robot body.
Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050
L 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350
A 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9
B 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100
C 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26
D 240 290 340 390 440 490 540 590 640 690 740 790 840 890 940 990 1040 1090 1140
 6-1 Main unit specifications

6-1-3 F8LH
● Basic specifications
Motor output AC (W) 100
Repeated positioning accuracy (mm) 1 ±0.01
Deceleration mechanism Ball screw φ15 (Class C7)
Ball screw lead (mm) 20 10 5
Maximum speed (mm/sec) 2 1200 600 300
Horizontal
30 60 80
installation
Maximum payload (kg)
Vertical
– – –
installation
Rated thrust (N) 84 169 339
Stroke (mm) 150 to 1050 (50 pitch)
Cable length (m) Standard : 3.5 / 5 / 10
Horizontal
SR1-X, TS-X, RCX222, RCX240
installation
Controller
Vertical
SR1-X, TS-X, RCX222, RCX240
installation
Horizontal
RDX-05-RBR1
installation
Robot driver
Vertical
RDX-05-RBR1
installation
1: Positioning repeatability in one direction.
2: When the stroke is longer than 650mm, resonance of the ball screw may occur depending on the
6
operation conditions (hazardous speed). In this case, reduce the speed setting on the program

Specifications
by referring to the maximum speeds shown in the table below.

Stroke 650 700 750 800 850 900 950 1000 1050
Lead 20 1020 900 780 720 660 600 540 480 420
Maximum speed
Lead 10 510 450 390 360 330 300 270 240 210
(mm/sec)
Lead 5 255 225 195 180 165 150 135 120 105
SPEED setting 85% 75% 65% 60% 55% 50% 45% 40% 35%

● Static loading moment MY

(Unit: N•m)
MY MP MR
128 163 143
MP

MR

6-9
 6-1 Main unit specifications

● Allowable overhang*
* Service life is calculated for 600mm stroke models.

■ Horizontal installation
Horizontal installation (Unit: mm)
A B C
10kg 573 256 176
Lead 20 20kg 334 116 81
A
30kg 279 70 50
20kg 629 137 111
Lead 10 40kg 479 57 47

C 60kg 382 30 25
20kg 1094 148 127
B 40kg 851 63 54
Lead 5
60kg 714 34 29
80kg 601 20 17

■ Wall installation

6 Wall installation
A B
(Unit: mm)
C
10kg 147 215 515
Specifications

Lead 20 20kg 53 75 255

30kg 20 29 160
20kg 80 99 545
B Lead 10 40kg 15 19 270
A 60kg 0 0 0
C 20kg 96 112 1005
40kg 22 26 604
Lead 5
60kg 0 0 0
80kg 0 0 0

6-10
 ● Dimensions
Approx. 240 (Motor cable length) 242±3 : When origin is on motor side Effective stroke (126) : When origin is on motor side
(242) : When origin is on non-motor side 120 126±3 : When origin is on
50 non-motor side
160±1 (Note 1) 30 ±0.02 44±1
(Note 1)

警告

70
はさんでケガ...

80
knocks±0.02)
(Tolerance between
8-M6 s 1.0 Depth 12
2-F5H7 Depth 10

80 L
60 154 2-Greasing hole
F

65
63.5

34
Grounding terminal (M4)
5 192 50 Ax100 B 50 (76)
5 C-F5.5 See cross-section E-E. E 100

9.5
5.5
1.5 2
R

40

3.5
6.4
Use M5 s0.8 hex socket *Recommended plate nut: M3 (%6＊t1.6)
(Note 4)
10H7 

head bolt with length E F10H7 Plate thickness 10

(under head) of 16mm or more.
169 (Note 4) D 2
Cross-section E-E F: Detail of T-groove

Note 1. Distance from both ends to the mechanical stopper. Note 3. Minimum bend radius of motor cable is R50 (50mm).
Note 2. When installing the robot, do not use washers inside the robot body. Note 4. When using this φ10 knock-pin hole to position the robot body, the knock-
pin must not protrude more than 10mm inside the robot body.
Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050
L 518 568 618 668 718 768 818 868 918 968 1018 1068 1118 1168 1218 1268 1318 1368 1418
A 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9
B 150 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100 150
C 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26
D 290 340 390 440 490 540 590 640 690 740 790 840 890 940 990 1040 1090 1140 1190
6-1 Main unit specifications

6-11
Specifications
6
 6-2 AC servo motor specifications

6-2 AC ser vo motor specifications

6-2-1 AC ser vo motor termination
■ Connector specifications
No. Parts Type No. Maker Qty Notes
1 Servo motor 1
2 Receptacle housing SMR-07V-B JST 1 CN1 (7 polarities)
3 Pin contact BYM-001T-P0.6 JST 9 CN1, CN2
4 Plug housing 176273-1 AMP 1 CN3 (4 polarities)
5 Receptacle 175156-2 AMP 4 CN3
6 Receptacle housing SMR-02V-B JST 1 CN2 (2 polarities)
7 Plug housing SMR-02V-BC JST 1 CN4 (2 polarities)
8 Socket contact BHF-001T-0.8BS JST 2 CN4
9 Round terminal 1.25-M4 1

■ Connector wiring
Connector Pin No. Signal Wire Color Connection
1 S2 Yellow P Motor

6 2
3
S4
S1
Blue
Red
Specifications

CN1 4 S3 Black
5 R1 White
6 R2 Green
7 Shield Black *1
1 BK Brown 1
CN2
2 BK Gray 2
1 U Red M Motor
2 V White
CN3
3 W Black
4 CG Yellow/Green
*1: Heat shrinkable tube
PI

CN1
BK
CN2

MO
CN4 CN3

6-12
 6-2 AC servo motor specifications

6-2-2 Brake cable specifications

■ Connector specifications

No. Parts Type No. Maker Qty Note

1 Brake parts 1
2 Receptacle housing SMR-02V-B JST 1 CN1
3 Pin contact BYM-001T-P0.6 JST 9 CN1

■ Connector wiring

Connector Pin No. Signal Wire Color

1 S1 Yellow (black)
CN1
2 S2 Yellow (black)

BK CN1

Specifications

6-13
 6-3 Robot cables

6-3 Robot cables

6-3-1 Robot cables (SR1)
■ Signal cable
To controller To robot
P

BK

ORG

Parts Signal PIN Connection PIN Parts Wire

Controller CN1 S2 1 1 Resolver 0.3sq Blue SPMCU-14K

S4 2 2 Orange
S1 3 3 Green
S3 4 4 Brown
R1 5 5 Grey
R2 6 6 Red

6 D.G 9 7 Clear Shield

Specifications

BK+ 17 1 Brake Black

BK- 18 2 Yellow

ORG 12 2 ORG Pink

24V 13 1 White
GND24 15 3 Blue/Red

■ Power cable
To controller To robot

Parts Signal PIN Connection PIN Parts Wire

Motor wire FG 1 4 0.75sq Yellow/Green
U 2 1 0.75sq Red
V 4 2 0.75sq White
W 3 3 0.75sq Black

6-14
 6-3 Robot cables

6-3-2 Robot cables (TS-X)

■ Signal cable

To controller To robot
P

BK

ORG

Parts Signal PIN Connection PIN Parts Wire

Controller CN1 S2 1 1 Resolver 0.3sq Blue SPMCU-14(K)

S4 2 2 Orange
S1 3 3 Green
S3 4 4 Brown
R1 5 5 Grey
R2 6 6 Red
FG 7 7 Drain wire

BK+ 13 1 Brake Black

6

Specifications
BK- 14 2 Yellow

ORG 12 2 ORG Pink

24V 11 1 White
GND24 10 3 Blue/Red

■ Power cable
To controller To robot

Parts Signal PIN Connection PIN Parts Wire

Motor wire FG 1 4 0.75sq Yellow/Green
U 2 1 0.75sq Red
V 4 2 0.75sq White
W 3 3 0.75sq Black

6-15
 6-3 Robot cables

6-3-3 Robot cables (RCX222/240)

P1

BK1

ORG1

X Z
M1

P2

BK2
M1
ORG2
Y R

XZ
YR
M2

M2

6
Specifications

6-16
 6-3 Robot cables

Signal Connector No. Connection No. Connector Wire

Resolver S2 P1 1 1 0.3sq Red
S4 2 2 Twisted pair White
S1 3 3 0.3sq Green
S3 4 4 Twisted pair White
R1 5 5 0.3sq Yellow
R2 6 6 Twisted pair White
DG 7 7 Drain wire
Brake MB+ BK1 1 14 0.3sq Blue
MB- 2 16 Twisted pair White
ORG1 0.3sq
Sensor 24V 1 9 Twisted pair Purple
ORG 2 12 0.3sq Blue
GND24 3 13 Twisted pair Brown
Resolver S2 P2 1 19 0.3sq Red
S4 2 20 Twisted pair White
S1 3 21 0.3sq Green
S3 4 22 Twisted pair White
R1 5 23 0.3sq Yellow
R2 6 24 Twisted pair White

Brake
DG
MB+ BK2
7
1
25
32
Drain wire
0.3sq Blue
6

Specifications
MB- 2 34 Twisted pair White
ORG2 0.3sq
Sensor 24V 1 27 Twisted pair Purple
ORG 2 30 0.3sq Blue
GND24 3 31 Twisted pair Brown
HLIM 10 Green
GND24 11
HLIM 28 Green
GND24 29
U M1 1 2 M1 0.75sq Red
V 2 3 0.75sq White
W 3 4 0.75sq Black
Yellow/
FG 4 1 0.75sq
Green
U M2 1 2 M2 0.75sq Red
V 2 3 0.75sq White
W 3 4 0.75sq Black
Yellow/
FG 4 1 0.75sq
Green

6-17
 6-3 Robot cables

6-3-4 Robot cables (RDX)

■ Signal cable

To controller To robot
molex

BK

ORG

Signal Connector No. Connection No. Connector Wire

Encoder S2 5 1 P Blue
S4 6 2 Orange
S1 7 3 Green
0.3sq
S3 8 4 Brown
Twisted pair
R1 1 5 Grey
R2 2 6 Red

F.G. 7 Drain wire

Brake BK+ 1 1 BK Blue
6 BK- 2 2 Orange
ORG
Specifications

0.3sq
24V 3 1 Twisted pair Green
ORG 4 2 Grey
GND24 5 3 Red

■ Power cable
U

FG

Signal Connector No. Connection Connector Wire Color

Motor wire U M 1 Round Red
V 2 terminal White
W 4 Black
FG 3 Yellow/Green

6-18
Appendix

Contents

About machine reference i

Moment of inertia calculation ii

About machine reference
The position detector built into the motor issues a "0" pulse each time the motor

Appendix
rotates 1/4th of one turn. When return-to-origin is performed, a difference in distance
occurs between the position where the origin signal is detected and the point at
which the next "0" pulse is received. This is called the machine reference and is
usually expressed as a percent, with 100% being equal to 1/4th of one turn of the
motor. (See the figure below.)
The machine reference value must be within the allowable range (25 to 75%) to
maintain axis movement repeatability.
The optional programming box (HPB or RPB) or Handy Terminal (HT1) is needed
to check the machine reference value. The machine reference value is displayed on
the LCD screen of the programming box or Handy Terminal when return-to-origin is
complete. (See the figure below.)

n NOTE
The F8/F8L/F8LH robots use an absolute type position detector. There is no need to
perform return-to-origin each time the robot controller is turned on and readjust the
machine reference value. If for some reason the machine reference adjustment
becomes necessary, please contact YAMAHA sales office or dealer.

Machine reference
Origin signa

Origin detection
signal Machine reference Machine reference
(Stroke end detection) (Origin dog detection)

Zero signal

Pulse

1/4th of one turn of motor

Machine reference value display examples
2ULJLQVHDUFK 150 >@
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'LUHFWLRQ&&:
2ULJLQVHDUFK
ｏｒｉｇｉｎ ｃｏｍｐｌｅｔｅ &RRUGLQDWHV

2.
ｍａｃｈｉｎｅ ｒｅｆ． ５０％ 5HI 

5812ULJLQVHDUFKVWDUW
SR1 * In the screen illustration below, a section of the screen &XUUHQWSRV PP
shown by the ∼
∼ marks is omitted.
TS-X
ＭＡＮＵＡＬ＞ＲＳＴ．ＡＢＳ            ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］

 Ｍａｃｈｉｎｅ ｒｅｆｅｒｅｎｃｅ（％）
 Ｍ１＝       ３２ Ｍ２＝       ４０ Ｍ３＝       ４９
 Ｍ４＝       ４０ 

 Ｍ１      Ｍ２      Ｍ３      Ｍ４      Ｍ５

RCX Series (Multiple FLIP-X control) i

 Moment of inertia calculation

c
Appendix

CAUTION
The robot must be operated with correct tolerable moment of inertia and
acceleration coefficients according to the manipulator tip mass and
moment of inertia. If this is not observed, premature end to the life of the
drive units, damage to the robot parts or residual vibration during positioning
may result.

Usually the R axis load is not a simple form, and the calculation of the moment of inertia
is not easy.
As a method, the load is replaced with several factors that resemble a simple form for
which the moment of inertia can be calculated. The total of the moment of inertia for
these factors is then obtained.
The objects and equations often used for the calculation of the moment of inertia are
shown below.

1. Moment of inertia for cylinder

The moment of inertia (J) for a cylinder having a rotation center such as shown below
is given by

RPD4 h WD2
J= = (kgf.cm.sec2)
32g 8g
2
mD
= (kgm2)
8
h

R : Density (kg/cm3)
g : Gravitational acceleration (cm/sec2)
W : Weight of cylinder (kgf)
m : Mass of cylinder (kg)
D

2. Moment of inertia for rectangular parallelepiped

The moment of inertia (J) for a rectangular parallelopiped having a rotation center as
shown below is given by

Rabc (a2 + b2) W (a2 + b2) 2

J= = (kgf.cm.sec )
12g 12g
m (a2 + b2)
= (kgm2)
12

R : Density (kg/cm3)
g : Gravitational
c 1/2a
acceleration (cm/sec2)
W : Weight of prism (kgf) b a
m : Mass of prism (kg)

ii
3. When the object’s center line is offset from the rotation center.
The moment of inertia (J) when the center of the cylinder is offset by a distance "x"
from the rotation center as shown below is given by

Appendix
2
RPD4 h RPD hx2 center line
J= +
32g 4g rotation
2 2 center
WD Wx
= + (kgf.cm.sec2)
8g g
mD2 2 2
= + mx (kgm )
8 h

W : Weight of cylinder (kgf)

m : Mass of cylinder (kg)
e : Density (kg/cm3) D
x
g : Gravitational acceleration (cm/sec2)

In the same manner, the moment of inertia (J) of a prism as shown below is given by

Rabc (a2 + b2) Rabcx2

J= +
12g g
center line
W (a2 + b2) Wx2 2
= + (kgf.cm.sec )
12g g
m (a2 + b2) 2 2
= + mx (kgm )
12
c
W : Weight of prism (kgf) x
b
m : Mass of prism (kg)
a

iii
 Revision record

Manual version Issue date Description

Ver. 1.00 Nov. 2008 English manual Ver. 1.00 is based on Japanese manual Ver. 1.00.
Ver. 1.01 Dec. 2008 English manual Ver. 1.01 is based on Japanese manual Ver. 1.01.
Ver. 2.00 Apr. 2009 English manual Ver. 2.00 is based on Japanese manual Ver. 2.00.
Ver. 2.01 Jun. 2009 English manual Ver. 2.01 is based on Japanese manual Ver. 2.01.
Ver. 2.02 Dec. 2009 English manual Ver. 2.02 is based on Japanese manual Ver. 2.02.

User's Manual
FLIP-X series

Single-axis Robot F8/F8L/F8LH

Dec. 2009
Ver. 2.02
This manual is based on Ver. 2.02 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 YAMAHA or YAMAHA sales representatives.