1：为了能够使 YAMAHA 机器人更加安全高效的运行，进行定期点检非常重要。在本PPT中，将向您介绍 YK－XG 系列的定期点检项目及步骤。 1: It is very important to perform periodic inspection in order to make YAMAHA robots operate more safely and efficiently. In this PPT, we will introduce the periodic inspection items and procedures for YK-XG series.
日常检点 routine inventory
六个月检点 Six-month inventory.
补充润滑油（如果不使用本公司推荐的润滑油，滚珠丝杜及滚珠花键轴的寿命会下降） Lubrication oil replenishment (the life of ball screws and ball spline shafts will be reduced if the lubrication oil recommended by us is not used)
（1）对花键轴补充润滑油 (1) Replenish lubricant for spline shafts
（2）对滚珠丝杜补充润滑 (2) Supplemental lubrication of ball screws
谐波传动的更换时期 Replacement period for harmonic drives
－注意： -Note:
－必要时，请在切断控制器电源及外部配电柜开关后，再进行点检。 -If necessary, perform the spot check after disconnecting the controller power supply and the switch of the external power distribution cabinet.
日常检点内容 Contents of Daily Inspection
1，关闭控制器电源检点内容，参照下图； 1, turn off the controller power checkpoint content, refer to the following figure;
是否存在损伤，凹痕或强行弯折（如果机器线束，机器人电㷋存在损伤，请联系本公司。） Are there any damages, dents, or forced bends (If there are damages to the machine harness, robot electrics, please contact our company.)
气湖 air lake
- Whether the air pressure is normal - Whether there is gas - Whether the water is drained - Whether the air vent is contaminated, damaged, etc.
2，控制器上电检点内容，如下表： 2, Controller power-up checkpoint content, the following table:
点枚位置 point location
点鈔内容 Content of notes
安全防护栏 safety bar
是否位于指定位置打开安全门时是否紧急信止入口处是否贴着警告标贴 Is it located in the designated position Is there an emergency stop when the safety door is opened Is there a warning sticker at the entrance?
紧急停止装置 Emergency stop
按下紧急信止按钮后，是否紧急停止 Emergency stop or not after pressing the emergency stop button
机器人的动作 Robot movements
是否存在动作异常，振动或异晌（发生异常时，清联系本公司。） Is there any abnormal operation, vibration or noise (If there is any abnormality, contact us.)
Z 轴制动器的动作确认＊ Confirmation of Z-axis brake operation*
zz 轴从静止状态下落量在 3 mm 以内（异常时，请联系本公司。） zz Shaft drop from rest is within 3 mm (Contact us if this is abnormal).
点枚位置 点鈔内容
安全防护栏 是否位于指定位置打开安全门时是否紧急信止入口处是否贴着警告标贴
紧急停止装置 按下紧急信止按钮后，是否紧急停止
机器人的动作 是否存在动作异常，振动或异晌（发生异常时，清联系本公司。）
Z 轴制动器的动作确认＊ z 轴从静止状态下落量在 3 mm 以内（异常时，请联系本公司。）| 点枚位置 | 点鈔内容 |
| :---: | :---: |
| 安全防护栏 | 是否位于指定位置打开安全门时是否紧急信止入口处是否贴着警告标贴 |
| 紧急停止装置 | 按下紧急信止按钮后，是否紧急停止 |
| 机器人的动作 | 是否存在动作异常，振动或异晌（发生异常时，清联系本公司。） |
| Z 轴制动器的动作确认＊ | $z$ 轴从静止状态下落量在 3 mm 以内（异常时，请联系本公司。） |
＊在安全防护栏之外按下紧急停止按钮及关闭控制器电源时，请目㭠进行点检。 ＊When pressing the emergency stop button and turning off the power to the controller from outside the safety barrier, perform a spot check with your eyes.
六个月检点内容 Content of the six-month review
1，关闭控制器电源检点内容，参照下图； 1, turn off the controller power checkpoint content, refer to the following figure;
点检位置 Spot check location
点椊内容 fit a handle into a socket
（仅限暴霉在外部的部分） (Only the part of the mold that is on the outside)
检查是否存在松动，如果存在松动，请再次浐紧 Check for looseness, if so, tighten again.
X,Y,RX, Y, R 轴原点传感品的检出郎 X,Y,RX, Y, R Detection of shaft origin sensors
说明：对上图第四项内容：对 Z 轴滚珠丝杠部及花键轴补充润滑油。此操作非常关键，切记润滑油非普通润滑油，严格遵照本公司指定的品牌－－－－Alvania S2（昭和壳牌石油（株），即正品壳牌润滑油。具体步骤PPT后续有讲解。 Note: For the fourth item in the above figure: replenish the lubricant for the Z-axis ball screw section and spline shaft. This operation is very critical, remember that the lubricant is not ordinary lubricants, strictly in accordance with the company's designated brand ----Alvania S2 (Showa Shell Petroleum (Co., Ltd.), that is, genuine Shell lubricants. Specific steps are explained in the following PPT.
2，控制器上电检点内容，如下表： 2, Controller power-up checkpoint content, the following table:
点栓位置 pointing device position
点惟内容 Point but content
－梌查风扉是否液渚住 -Check if the air flap is stuck.
物，清联䋣公司。 Things, Clearlink䋣 Inc.
－格查风翩外罩是否腑污，如果胜污，则将其析下井进行清洁 -Check if the outer cover of the wind flutter is dirty, if it is dirty, then analyze it down the well for cleaning.
1：对花键轴补充润滑油（YK400XR除外） 1: Supplemental lubricant for spline shafts (except YK400XR)
（1）切断控制器电源 (1) Disconnect the power supply to the controller
（2）进入安全防护栏内 (2) Entering the security fence
（3）用废棉纱头等除去旧的润滑油。 （4）补充润滑油。 (3) Remove the old lubricant with a used cotton yarn head, etc. (4) Replenish the lubricant.
请将 Alvania S2（昭和壳牌石油（株））加到 Z 轴花键轴部（参阅下图）。 Add Alvania S2 (Showa Shell Oil Co., Ltd.) to the Z-axis spline shaft section (see the figure below).
2：对滚珠丝杠补充润滑油（YK400XR除外） 2: Supplemental lubrication for ball screws (except YK400XR)
（1）切断控制器电源 (1) Disconnect the power supply to the controller
（2）进入安全防护栏内 (2) Entering the security fence
（3）拆下 Y 轴机械臂的外盖。 (3) Remove the cover of the Y-axis arm.
（4）用废棉纱头等除去旧的润滑油。 (4) Remove old lubricants with used cotton gauze heads, etc.
（4）补充润滑油。 (4) Replenish lubricating oil.
请将 ALVANIAS2（昭和壳牌石油（株））加到滚 Add ALVANIAS2 (Showa Shell Petroleum Co., Ltd.) to the roll.
珠丝杠的螺母部（参照下图）。 Nut part of the bead screw (refer to the figure below).
3：对YK400XR机型补充润滑油时注意一请务必使用LG2（日本精工株式会社）品牌润滑油 3: When replenishing the lubricating oil for YK400XR model, please make sure to use LG2 (Nippon Seiko Co., Ltd.) brand lubricating oil.
（1）对花键轴补充润滑油 (1) Replenish lubricant for spline shafts
（1）切断控制器电源 (1) Disconnect the power supply to the controller
（2）进入安全防护栏内 (2) Entering the security fence
（3）用废棉纱头等除去旧的润滑油。 (3) Remove old lubricants with used cotton gauze heads, etc.
（4）补充润滑油。 (4) Replenish lubricating oil.
请将 LG2（日本精工株式会社）加注至 Z 轴花键轴的槽部（参照下图）。 Fill LG2 (NIPPON SEIKO CO., LTD.) into the groove of the Z-axis spline shaft (refer to the following figure).
YK400XR
补充润滑油 Lubrication oil replenishment
4：对YK400XR机型补充润滑油时注意一请务必使用LG2（日本精工株式会社）品牌润滑油 4: When replenishing the lubricating oil for YK400XR model, please make sure to use LG2 (Nippon Seiko Co., Ltd.) brand lubricating oil.
（2）对藙珠丝杆补充润滑油 (2) Addition of lubrication oil to Zanthoxylum jeweler's screws.
（1）切断控制器电源 (1) Disconnect the power supply to the controller
（2）进入安全防护栏内 (2) Entering the security fence
（3）拆下 y 轴机械臂的外盖。 (3) Remove the cover of the y-axis arm.
（4）用废棉纱头等除去旧的润滑油。 (4) Remove old lubricants with used cotton gauze heads, etc.
（5）补充润滑油。 (5) Replenish lubricating oil.
请将 LG2（日本精工株式会社）加注至滚珠丝杆的槽部（参照下图）。 Fill LG2 (NIPPON SEIKO CO., LTD.) into the groove of the ball screw (refer to the following figure).
YK400XR
谐波传动的更换时期 Replacement period for harmonic drives
1：概要： 1: Summary:
下述机型的轴将谐波传动用作 X 轴，Y 轴及 R 轴的减速器。经过一定时间的使用后，必须更换谐波传动。此外，以下机型的轴采用长效型谐波润滑油，无需更换润滑油。 The following model shafts use the harmonic drive as a reducer for the X-axis, Y-axis and R-axis. After a certain period of time, the harmonic drive must be replaced. In addition, the shafts of the following models utilize a long-lasting harmonic lubricant, which eliminates the need to change the lubricant.
适用机型 ：YK250XG，YK350XG，YK400XG，YK500XGL，YK600XGL， YK500XG，YK600XG，YK600XGH，YK700XG，YK800XG，YK900XG，YK1000XG YK300XGS，YK400XGS，YK500XGS，YK600XGS，YK700XGS，YK800XGS，YK900XGS， YK1000XGS Applicable models : YK250XG, YK350XG, YK400XG, YK500XGL, YK600XGL, YK500XG, YK600XG, YK600XGH, YK700XG, YK800XG, YK900XG, YK1000XG YK300XGS, YK400XGS, YK500XGS YK300XGS, YK400XGS, YK500XGS, YK600XGS, YK700XGS, YK800XGS, YK900XGS, YK1000XGS
除此外机型或者根据情况必要时，谐波减速机建议4年更换一次润滑油。 In addition to this model or if necessary depending on the situation, the harmonic reducer is recommended to change the lubricant once every 4 years.
谐波传动的更换时期 Replacement period for harmonic drives
2：更换时期 2: Replacement period
谐波传动的更换时期取决于波发生器的总转数。当机器人动作负载较高或温度条件恶劣时，建议您提前进行更换。具体时间参照，以下所示为计算示例 The replacement period of the harmonic drive depends on the total number of revolutions of the wave generator. It is recommended to replace the harmonic drive earlier when the robot is subjected to high motion loads or severe temperature conditions. The following is an example of a calculation for a specific time reference.
nn ： 1 分钟的机器人动作次数 nn : Number of robot actions in 1 minute theta:1\theta: 1 次动作时轴的平均转数 theta:1\theta: 1 Average rotation of the shaft at each action
N ：减速比 N : Reduction ratio hh ： 1 天的运行时间 hh : 1 day of runtime
D ： 1 年的运行天数 D: Number of days of operation in 1 year
（示例） 1 次动作中轴平均旋转 1//41 / 4 圈且机器人在 1 分钟动作 10 次时，YK 500 xxG500 \times \mathrm{G} 的 xx\times 轴谐波传动更换时期（运行时间： 24 小时／天．运行天数： 240 天／年） (Example) When the axis rotates an average of 1//41 / 4 revolutions in one maneuver and the robot makes 10 maneuvers in one minute, the xx\times axis harmonic drive of YK 500 xxG500 \times \mathrm{G} is replaced during the period of time (operating time: 24 hours/day.). Days of operation: 240 days/year)
n ： 10 n: 10 theta\theta ： 0.25 theta\theta : 0.25 NN ： 80 NN : 80 hh ： 24 小时／天 hh : 24 hours/day
D ： 240 天／年 D: 240 days/year
【更换时期】 =8.4 xx10^(8)//(n xx60 xx h xx D xx N xx theta)=8.4 \times 10^{8} /(n \times 60 \times h \times D \times N \times \theta) [Replacement period] =8.4 xx10^(8)//(n xx60 xx h xx D xx N xx theta)=8.4 \times 10^{8} /(n \times 60 \times h \times D \times N \times \theta) =8.4 xx10^(8)//(10 xx60 xx24 xx240 xx80 xx0.25)=8.4 \times 10^{8} /(10 \times 60 \times 24 \times 240 \times 80 \times 0.25) =12.2=12.2 年
更换控制器编码器电池（建议控制器上电换，这样不会丢失原点）（只有在控制器断电状态下，才会消耗此电池）（控制器数码管提示C73或者丢失原点时要更换此电池） Replace the controller encoder battery (it is recommended to change it when the controller is powered on so that the home position will not be lost) (this battery is only consumed when the controller is powered off) (replace this battery when the controller digital tube indicates C73 or the home position is lost)
