LCM-X LINEAR CONVEYOR MODULES ENGLISH

Transcription

1 LINER CONVEYOR MODULES Specifications and appearance are subject to change without prior notice. 8-DE Robotics Operations F Section 7 Toyooka, Kita-ku, Hamamatsu, Shizuoka -8, Japan Tel Fax URL robotn@yamaha-motor.co.jp ENGLISH

2 Yamaha's own unique universal robot control concept offers Total Optimization of your production line. Yamaha Motor s dvanced Robotics utomation Platform is a new integrated-type robot system that unites robots, conveyance systems, peripheral devices, and operations into a single platform. Robotizing both the conveyance process series and the robots that perform operations reduces any time that is wasted for conveying work and paves the way for full digital production. Moreover, structuring the production line itself as a robot system centering on Universal Controller YHX series helps exploit the optimal value in terms of time, human resources, and cost and will maximize the return on investment for customers. With robot conveyance To full digital production. Internet of Things Zero value-free time Without limit. IoT CONTROLLER YHX series IT devices Machine control YMH ROBOTseries YMH ROBOT utomation system The new universal control robot system that increases your competitive edge YMH YMH

3 Next generation of linear conveyor module. Introducing Faster, more accurate, and easier to use Improve space efficiency, transport accuracy, and acceleration / deceleration performance. Taking the place of the predecessor model "LCM" while employing module structures and high speed direct drive by linear motors, the "" enables to build up high value-added yet general-purpose transport systems between processes. Significantly improved space efficiency, higher transport accuracy and increased acceleration and deceleration performance, the linear conveyor modules realize higher level transport automatization ever before. Stop position repeatability ±5 μm Span between sliders mm Low profile H85 mm Built-in driver YMH YMH 5

4 From ordinary passive flow to active position transport. By converting conveyor flow into active production process improves profitability. Dramatically increase production line efficiency with the high-speed pitch operation, assembly work on the slider, and the reverse feed of the slider, etc. Eliminate wasted time and space in the transport process and increase profitability. High speed, high acceleration transport No origin process needed production line using linear conveyor modules Reduce transport time. Module structure Improve productivity. Cut back on costs. Save space. Step-by-step investment Highly accurate transport improves product quality. Individual ID recognition Single device stop position repeatability Error width (machine difference) between sliders +/-5 μm +/- μm Smoothly slow down to stop High efficiency in production Maximum speed * m/sec * m/sec when the payload is kg or more. Span between sliders mm Direct positioning Bi-directional move Operation directly on slider Reduce transport time. <Comparison between and a conventional conveyor> Capable of circulating / cycling motion Note. SCR robots and rticulated robots are currently not supported. Transfer Stop Work Transfer Linear motor drive for high-speed transfer High-speed movement Direct positioning ccurate stop Optimum acceleration/ deceleration ensures a smooth deceleration and stop Work on the slider is possible Slider is supported directly by a highly rigid guide High-speed movement Finished Transfer time is reduced by seconds from 6 to seconds 6% reduction in tact time Finished Increased yield Increased by approx. % Conventional conveyor Transfer Deceleration Stop Retraction Work Returning Transfer Collides Conventional conveyor Slow transport due to frictional resistance Requires some distance for deceleration ll stop positions require a sensor and stopper Workpiece retraction is required because the system does not have rigidity Returned back to the line (Yield per min.) Note. May vary depending on conditions Note. May vary depending on conditions 6 YMH YMH 7

5 Further advanced usability for centralized control with one Universal Controller. The module profile and pitch between sliders are approximately half the conventional sizes by incorporating the newly developed linear motor, sensor module, and integrated motor driver built into the body. t the same time, the acceleration/deceleration rate and stopping accuracy are both increased. Universal Controller YHX series Centrally control all sliders on the transport process, including the circulation operation, and the peripheral robots. Controllable line length Number of simultaneous controllable sliders Max. 5.5 m * Max. 6 units * * It may differ depending on the system configuration. Centralized control with the Universal Controller single Universal Controller can control all the sliders in a centralized manner including slider circulation. Use of the motor driver integrated into and put together with the main body saves electrical wiring. The unitized electro-mechanical structure with a motor driver built in the module controls entire. Connecting with the Universal Controller via one YQ Link cable is all you have to do. It surely contributes to saving space in the control panel. LCM Centralized control Complete absolute position system No origin process needed The bridge pier structure enables speedy setup. Robot cable YQLink Built-in driver NEW Installation work, including coupling of each module, can be completed in a very easily in a short time using the connection unit that enables quick mechanical high-precision positioning and electrical connection of each model. LCC LCC LCC LINK cable Recognize slider s individual IDs YHX Reduced wiring Save space. Mechanical tolerance between sliders +/- µm Maximum payload 5 kg Individual ID recognition The multi-track magnetic sensor enables to identify a slider ID at any point in the transport process. Even if you have unintentionally changed sliders, the system correctly identifies the ID of each slider. When stopping two or more sliders at a point one after another, the actual stop positions are inevitably different because each slider has its own error width (machine difference). The minimizes the width error among the sliders within as little as +/- µm to best suit high accuracy processes. Costs can be reduced as there is no need for RFID, etc. Span between sliders mm Maximum speed m/sec * * m/sec when the payload is kg or more. Slider width 5 mm No origin process needed Top cover incorporated cover to protect the guide rail, motor, and sensors is attached to the top face to prevent faults caused by falling objects in each work process. Newly developed high-precision full-range absolute server eliminates the need for return-to-origin. The operation can be started and stopped easily, so there is no time loss even when starting or restarting. Low profile structure High acceleration rate High speed motion between an extremely short distance is possible even in a high density process or pitch feed. Mechanical tolerance between sliders +/- μm Top cover Use of the newly developed linear motor makes the module height approximately half compared with the previous model. You can also use a space under the frame. LCM Single device stop position repeatability +/-5 μm bout 5% down ll the sliders can be operated / programmed independently Note. SCR robots and rticulated robots are currently not supported. 8 YMH YMH 9

6 Realizing universal and high value-added transport between processes. Reduce transport cycle time, and save equipment space. Increase production ability, and contribute a stronger cost competitiveness. Meanings of icons Reduce Improve transport time. productivity. Cut back on costs. Save space. Process sharing Direct drive Slider backward travel Workpieces do not need to be retracted Highly rigid guide Module support Because the slider motion is bi-directional, the same processes can be shared, costs can be reduced, and the transport line can be downsized. Flexible operations including high-speed reciprocation and retracting just part of the slider are possible. The highly rigid guide enables assembly and processing on the transport line. There s no need to pull the part from the transport line to the work table, the system can be downsized, and costs can be reduced. Conventional method Two units of the same process are on one line. B <Process order> B The same process C Same processes are made common as one shared process. Same processes are made common <Process order> B C B Same processes are made common C Conventional method Have to retract the work from the pallet to the work table. Retracting the work Process C Process B Process No need to provide space for a work table. Process C Can perform work on the slider Process B Process C The slider moves in both directions to make the same processes common. Numerical values are used for setting transfer distance and stop positions Downsized Equipment space Equipment space Downsized Can be moved efficiently between processes with different tacts Direct drive with the servo control eliminates the need to install mechanical stoppers and sensors for stopping. Set the stop position in a short time just by changing the program. Flexibly handle frequent setup required when changing part types. Narrow pitch operation Narrow pitch movement makes it possible to perform pitch feed within the same process for short time processes. In long time processes, three workpieces can be moved together at a high-speed so the movement time can be reduced. Narrow pitch movement High-speed movement Direct drive Sleek and simple configuration. Easy to design transport system with high degree of freedom. ll slider operations in the transport process and control of the peripheral robots can be completed with a single Universal Controller. Efficiently and easily build an automated production line. Freedom and flexibility in line layout design Narrow pitch movement Layout examples by combining modules with circulation mechanisms Circulation example Circulation mechanism Easily serviceability = Easy troubleshooting Linear conveyor Prevention of penetration of falling objects (foreign objects) with the top-face cover. The environment-resistant magnetic sensor is resilient to contamination. One-touch positioning eliminates the need for bothersome precision setting. Motors and scales do not make contact and are free from abrasion. s only the rails are sliding parts, dust generation is low. Standardized components reduce spare parts SKU. Parts can be replaced easily. Operation can be restored just by replacing the slider or linear module, and the manufacturing line down time can be kept to a minimum. YMH YMH

7 System configuration diagram Basic specifications of linear conveyor module Configuration example One way 7 m, vertical circulation transport line * mm linear model and single-axis robot are used for circulation section (traverser) Universal Controller YHX series Power unit Driver unit Host controller Single-axis robot cable XBOT XBOT XBOT XBOT XBOT X X X5 X XCUF XCUF XCUF XCUF XCUF XCUF XBOT X XCUF XCUF Drive method Position Search Maximum payload Maximum speed Repeatability Mechanical tolerance between robot sliders Total stroke limit Maximum number of robot sliders Minimum spacing between robot sliders Linear motor with moving magnet type core Full range absolute position detection sensor and full range slider ID detection 5 kg, mm/sec * +/-5 µm +/- µm pprox. 5 m * 6 units * mm Main frame dimensions Max. external size of frame cross-section W H85 mm (Including robot slider) Linear module length mm / mm / 5 mm / mm Robot slider length 98 mm Weight Linear module kg [Per m of linear module] Robot slider. kg Connection unit.6 kg Power supply Control power supply 8 VDC +5%, -%, 75 W [Per m of linear module] Motor power supply * 8 VDC +/-%, W at maximum (at max. acceleration) Maximum current capacity * Total [Control power supply: 5 max., Motor power supply: max] Cable carrier Single-axis robots 8 VDC XBOT X X5 X XCUF XCUF XCUF XCUF Single-axis robots Cable carrier Operating environment Controller *. m/sec when the payload is kg or more. *. It may differ depending on the system configuration. *. Different from one motion pattern to another Operating temperature C - C *6 Storage temperature - C - 65 C Operating humidity 5% - 85%RH [No condensation] YHX series *5 8 VDC 8 VDC 8 VDC *. Maximum current capacity for one input section (one connection unit). Where the electrical power demand exceeds the input capacity, supply electrical power through multiple input sections. *5. The YHX controller requires a separate electrical power supply. *6. Operate in the temperature environment (±5 C) that installation and adjustment were performed. Name Icon Description Linear module The arrangement of each stroke variation can be selected freely. The modules of the circulation section are also common. llowable Load Note. Values when the center-of-gravity of transfered object is at the center of slider. llowable load in the moving direction of slider is always 8 N regardless of the loading position. Connection unit XCUF Required quantity: Number of connection modules + When connecting a mm, 5 mm, and mm linear module as shown above, a total of four units are required. When only one linear module is used, such as shown at the circulation section, two units are required. Z X X Y Robot slider XBOT Length: 98 mm Minimum pitch: at distance between centers If the jig pallet mounted on the robot slider is longer, the pitch will be the jig pallet length + mm. Load: Horizontal Direction Load: Vertical Direction YQ Line terminating connector Connect to the terminal end of the linear conveyor module that is connected with the Universal Controller. Module drive power supply connector Module drive power jumper connector -pin 6-pin Payload: 5 kg Z [mm] Payload: 5 kg 7 66 Y [mm] VDC power supply YQ Link cable Module power cable 8 VDC The control power source and motor power source are prepared separately. The required number differs depending on the line length and number of sliders. s shown above, the Universal Controller and each line of the linear conveyor module are connected from left to right with a single stroke. The user must prepare a wire with diameter corresponding to the required power capacity. 6 8 Payload: kg Payload: kg Flexible power cable for movable module This power cable is a flexible cable that is especially connected within the cable conduit for the circulation section, etc. Z [mm] 6 8 Y [mm] llowable Loading Moment / llowable Overhang mount llowable Loading Moment M Y llowable Overhang mount Payload: 5 kg Payload: 5 kg llowable Loading Moment [Nm] MP MY MR M R M P Payload [kg] 5 5 llowable Overhang mount [mm] B C Note. Distance from the center of slider top surface to the center-of-gravity of transfered object at a guide service life of,km. B C Z [mm] Y [mm] Unit: [N] Unit: [N] YMH YMH

8 SIG Configuration parts External view Linear module mm mm 5 mm mm Robot slider BOT Connection unit Type Front type Bottom type Linear module support MS 5 CUF CUB KF-M67- Use this unit to fix the modules to the frame, or to connect modules together. Required quantity: Number of connection modules + Use this support to suppress linear module deformation under the transport weight or applied load. The guide for use is shown below. KF-K- KF-K- KF-K-5 KF-K- KF-M-H KF-M-V Linear module 5 Payload 5 kg or more pplied load N or more 5 N or more Installation place Near applied load Center of module and near applied load KF-M- YQ Link terminating connector Connect to the terminal end of the linear conveyor module that is connected with the Universal Controller. Refer to the system configuration drawing for a connection example. YHX-YQL-TC Module electric power supply jumper connector (6 pins) This connector supplies power from module to module. This is a 6-pin jumper connector with wire for power bypass. CU-PJC Module electric power supply connector ( pins) This is a -pin connector for power input that supplies power from the external power unit to the module. The applicable wire diameter is WG-. CU-PSC Module electric power supply (8 VDC- W) This general-purpose 8 VDC power supply unit can be used for both module control and motor drive. Rated output, peak output rating (within 5 sec.) Unit type general-purpose power, efficiency > 8%, power factor > 9% CU-PS-W.5 8+/-.5 5+/-.5 -M Mounting Hole KF-M56- KF-M- KF-M- KF-M SIG S8B-XSK- B.SIG (JST) BTT VB CB BP-XL-HDB (JST) Module connection and installation.: Clearance between modules (Note 7).: Clearance between modules (Note 7) L L L 7.8 LB LC LB 8-ф7 through-hole 99 (Note ) (Min. distance between robot sliders: ) (Note 9) 5.8 (Note 8) -ф7.5 through-hole 8 99 (Note) ф spot facing Grounding terminal (M) From module end face ф spot facing depth depth (8) 76. CU-PSC Module electric power supply connector ( pins) (Note 5) YHX-YQL-RxM (Flexible cable x= or ) YQ Link cable (Note 5) CUF Connection unit (front type) Module type L LB LC BOT Robot slider (Note 6) LD 9 Note. robot slider is unable to stop in an area 99 mm from both ends of the line. The robot slider stopper juts out from the ends, which could cause collision. (The dimensions refer to the robot slider center.) Note. The linear module support (optional) may be necessary depending on the module type and payload. Installable with or longer (Refer to the Table). Note. ny module types are freely combined within the same line. Note. The jumper cable connector can bridge the electrical power supply (depending on the number of controlled sliders within the same power supply system). Refer to the manual for more details. Note 5. Be sure to connect the YQ Link cable and supply the YQ Link cable with electrical power from the connection unit at the extreme left end viewed from the connector. Installation of single module ф7 through-hole ф spot facing depth L LD Grounding terminal (M) 9+/-. No. of installable MS CU-PJC Module electric power supply jumper connector (6 pins) (Optional) (Note ) 85+/-. 9 MS Linear module support (Optional) (Note ). YHX-YQL-TC YQ Link termination connector (Note 5) For signal communication between the lines, be sure to connect the YQ Link cable with connection unit at the extreme right end and then connect with the connection unit at the extreme left end of the other line. Where the YQ Link cable is not connected from the line end to another line, install the YQ Link end connector. Note 6. Sixty-four robot sliders can be installed in a system connected by the YQ Link cables (depending on the number of robots that are controlled by the same controller). Note 7. Where modules are connected on the connection unit, the clearance between the adjacent modules is. mm. Note 8. Linear module support can be installed every mm. Note 9. The minimum pitch of each slider at the stopping state is mm; however, when they start at the same time, they may collide due to operation conditions, and conditions such as command timing from the upper PLC, programming with YHX, etc. In the case, it is necessary to adjust by securing more distance (pitch) between the sliders, changing the start timing (sequential start), etc. Note. When the base is frame structure, place a rigid plate across the entire length on the base, and install on the plate. Install the circulation mechanism on the base part that position does not change with the plate the line is installed. Note. There is no mechanical stopper due to the nature of the product. Please install a mechanical stopper by the customer as needed. 5 BOT robot slider 8-M5.8 Depth ф6h7 Depth 8 Note. It may differ depending on the system configuration /-. +/-. 5 (ф6h7 Position tolerance +/-.) YQ Link movable cable This cable connects the controller (YHX) and linear conveyor module. Refer to the system configuration drawing for a connection example. Cable length 8 6 FN BLOW (5) 5 Serial No. Label 5 5+/-.5 Name Plate -M Mounting Hole max +/ VB.CB B.SIG BTT DJ C(L) C(N) FG M MS Linear module support 6 -ф7.5 through-hole ф spot facing depth 6 CUF Connection unit (Front type) 8-ф7 through-hole ф spot facing depth Grounding terminal (M) CUB Connection unit (Bottom type) 8-ф7 through-hole ф spot facing depth Grounding terminal (M) When the CUB connection unit bottom type is used, make a hole to avoid interference in the installation stand and structure, and connector (See the Figure below)..m m m YHX-YQL-R.M YHX-YQL-RM YHX-YQL-RM KF-M56-P KF-M56- KF-M56-8+/ M Mounting Hole 5+/ (6: Connector interference area) (.5: Connector interference area) (.5).5 or more or more or more (.5) (.8) 9 or more YMH YMH 5