Yamaha Robotics Industrial Robots and Controllers

Robot ordering method

Note 1 :	It will be a customer’s 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.

AC servo motor output (W)		100
Repeatability (mm) Note 1		+/-0.01
Deceleration mechanism		Ball screw (Class C7)
Ball screw lead (mm)		30	20	10	5
Maximum speed (mm/sec) Note 2		1800	1200	600	300
Maximum payload (kg)	Horizontal	15	20	40	60
	Vertical	-	4	10	20
Rated thrust (N)		52	78	156	312
Stroke (mm)		150 to 1050 (50 pitch)
Cable length (m)		3.5 (Standard), 5, 10
Controller	Horizontal	SR1-X-05
	Vertical	SR1-X-05 Note 3
Robot driver	Horizontal	RDX-05-RBR1
	Vertical	RDX-05-RBR1

Note 1:	Repeatability for single oscillation.
Note 2:	When the stroke exceeds 700mm,although depending on the moving range, the ball screw may resonate (dangerous speed). If such resonance occurs, make an adjustment on the program to reduce the speed, using the maximum speed in the table on the right as a guide.
Note 3:	RG1 is required when the models used vertically and with 700mm or larger stroke.

Stroke (mm)	Maximum speed(mm/sec)				Speed setting
Stroke (mm)	Lead 30	Lead 20	Lead 10	Lead 5	Speed setting
750	1440	960	480	240	80%
850	1170	780	390	195	65%
950	900	600	300	150	50%
1050	810	540	270	135	45%

Note 6

		0°	45°	90°
	5kg	295	263	400
	15kg	100	122	190
	5kg	242	291	547
	10kg	120	146	302
	20kg	55	70	181
	15kg	67	87	227
	30kg	22	29	89
	40kg	7	9	40
	30kg	23	33	319
	50kg	1	2	52
	60kg	0	0	0

		0°	45°	90°
	5kg	510	244	255
	15kg	210	91	65
	5kg	445	223	195
	10kg	237	106	78
	20kg	116	32	18
	10kg	247	127	94
	20kg	151	35	22
	30kg	0	0	0
	10kg	610	149	106
	20kg	283	38	27
	30kg	0	0	0

		0°	45°	90°
	1kg	835	590	793
	2kg	423	299	381
	4kg	216	152	174
	4kg	302	214	260
	8kg	147	104	105
	10kg	116	82	74
	10kg	93	66	51
	15kg	59	41	17
	20kg	42	29	0

Note 6: Distance from center of slider top to center of gravity of object being transported.

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