Yamaha Robotics Industrial Robots and Controllers

Note 1 :	It will be a customerfs choice.
Note 2 :	Optional regenerative unit is required for YAMAHA-designated models and when operating a load with a large inertia.
Note 3 :	Available only for the slave. Note 4 : Available only for the master.
Note :	2 units are required when using SR1-P or RDP based on the double carrier specifications.

Model	MR20
Repeated positioning accuracy	+/-5μm or less
Maximum dimensions of cross section of main unit	W145×H120mm (except the cable carrier section)
Shaft bearing method	2 guide rail, 4 blocks (with retainer)
Driving method	Shaft motor
shaft diameter	φ20
Scale	Magnetic type: resolution of 1μm
Rated thrusting force	70N
Maximum carrying weight	17kg
Maximum speed	2500mm/sec (Note)
Maximum stroke	2000mm
Operating temperature	10°C to 40°C
Controller	SR1-P-20
Robot driver	RDP-20

Note : Depending on the operation conditions, it may not be possible to use the unit at the maximum speed.

Allowable static load moment (N·m)	MY	MP	MR
Allowable static load moment (N·m)	335	390	274

Note : Distance from the center of the top face of the carriage to the gravity center of the item being carried.


Note : Be sure to install in the direction as specified (in cable bear take-out direction drawing and various specification drawings) individually. Installation in any other way will cause a failure. For requirement of installation in any way other than the above standard installation, please consult YAMAHA as special arrangement will be available.

Drawing PDF Data. File Name: "catalog.pdf" Approx.246kbyte