Details about Devices Used in this Build
A SCARA robot stands for Selective Compliance Articulated Robot Arm.
It's a type of industrial robot prized for its speed, precision, and rigid movement in the vertical (up and down) direction, while being somewhat flexible in horizontal (side-to-side) movements.
This design makes SCARA robots excellent for tasks needing fast, accurate, and repeatable motions within a flat work area. Common uses include assembling small parts, quickly picking and placing items, packaging, and dispensing materials. They usually have four movement axes, allowing for precise control in X, Y, and Z directions, plus rotation. SCARA robots are generally compact, economical, and straightforward to program for their specific applications.
There are multiple videos in this lessons so read completely.
Installation Tips
This video provides important considerations and tips for installing a Yamaha SCARA robot, specifically focusing on its RCX 340 controller.
Circuit Protection: Ensure you select the correct circuit breaker and fuse sizing based on the robot's nameplate (e.g., if it specifies 6.5 amps maximum).
Heat Management & Spacing: Proper spacing around the controller is crucial for adequate airflow, as outlined in the installation manual. Even though the demo unit has tight spacing, the built-in fan aids cooling; however, for applications with a 100% duty cycle, optimal airflow is strongly recommended.
Initial Setup & Configuration Tips
This video provides essential tips for the initial setup and configuration of a Yamaha SCARA robot using RCX Studio software.
Network Connection: Connect your computer to the robot controller via Ethernet.
RCX Studio Software: Install RCX Studio (available from YRG's website) to program the robot.
Hardware Safety & Startup Sequence:
Clear all hardware emergency stops (E-stops) on the controller.
Reset any alarms.
Activate the robot's servo motors.
Origin the Robot: Perform the "origining" (homing) process for the first time to establish the zero position for each axis. This involves motors moving to find sensors.
Coordinate Systems & Jogging:
Understand the robot's standard coordinate system (e.g., 0,0 X and Y origin at the back, Z positive towards the table).
Jog individual motors in "pulse" or "joint jog" mode.
Jog the robot in X, Y, Z, and R directions relative to the tool center point (TCP) in "tool mode."
Payload Setup: While not detailed in this video, correctly setting up the robot's payload is crucial.
Communication: Note that a common setup uses two Ethernet connections: one for programming/configuration and a separate one for PLC fieldbus.
Robot Selection
key factors to consider when selecting a Yamaha SCARA robot, based on the video:
Payload is Paramount: This is the most critical parameter. Inputting the correct payload into the controller automatically optimizes performance and protects the robot's components.
Distance Matters: Know the required travel distance for your application.
Speed is Key: Determine the necessary speed based on your production requirements (e.g., parts per minute).
Integrated System Simplifies Selection: Yamaha offers complete, pre-engineered units, making selection straightforward. Providing the payload, distance, and speed allows YRG to specify the entire system.
Warranty & Longevity: Correct payload settings are vital for Yamaha's warranty and ensure the long-term reliability of the robot's motors, gearbox, and ball screw.
Focus on the Application: Yamaha systems are designed to simplify the selection process by integrating all components, unlike older methods requiring piecemeal component selection.
Maintenance
Two critical preventative maintenance tasks for your Yamaha SCARA robot:
Battery Replacement
Occasional Lubrication
Programming with AOIs
Add-On Instructions (AOIs) in Studio 5000 make programming Yamaha SCARA robots much simpler.
Solve Traditional Headaches: AOIs let maintenance techs adjust robot points directly from a panel view (HMI), cutting out the need for pendants or laptops.
PLC-Based Control: Robot position data is stored and managed within the PLC.
Easy Teaching & Movement: You can jog the robot and "teach" new points directly from the panel view, saving them to the PLC.
Streamlined Operations: This method significantly speeds up point touch-ups and allows easy replay of taught movements.
Programming with AOIs
Add-On Instructions (AOIs) in Studio 5000 make programming Yamaha SCARA robots much simpler.
Solve Traditional Headaches: AOIs let maintenance techs adjust robot points directly from a panel view (HMI), cutting out the need for pendants or laptops.
PLC-Based Control: Robot position data is stored and managed within the PLC.
Easy Teaching & Movement: You can jog the robot and "teach" new points directly from the panel view, saving them to the PLC.
Streamlined Operations: This method significantly speeds up point touch-ups and allows easy replay of taught movements.
Vision-Guided Robotics with Cognex & Yamaha
This video showcases a demonstration of vision-guided robotics in a pick-and-place application, integrating a Cognex camera with a Yamaha SCARA robot using add-on instructions.
Here's a breakdown of the key points:
Cognex Camera Functionality: The camera uses a "trans pattern to world" function to convert pixel coordinates into robot-compatible world coordinates (X, Y, R).
Simplified Robot Control: Add-on instructions from Cognex directly extract this X, Y, and R data, enabling simplified robot movement commands within the PLC, often requiring just two rungs of ladder logic for complex vision tasks.
Application Demo: The demonstration involves a robot searching for specific dice numbers. If the target dice aren't found, a "reroll" function is initiated; otherwise, the robot picks and unloads them.
Seamless Integration: The demo highlights how the integration of Cognex vision systems and Yamaha robots through add-on instructions significantly simplifies vision and robot programming for controls engineers.
Benefits: This approach simplifies complex vision-guided robotics, making it more accessible for controls engineers.