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	30	55	80
	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:	100mm pich when the high lead specification (Lead 30) is used.

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	509	541	986
	15kg	250	292	648
	5kg	776	786	1537
	15kg	319	339	726
	30kg	217	280	747
	20kg	273	337	579
	40kg	159	200	370
	55kg	128	166	378
	50kg	167	230	587
	60kg	145	200	517
	80kg	103	144	420

		0°	45°	90°
	5kg	728	505	618
	15kg	424	224	240
	5kg	934	585	871
	15kg	436	233	245
	30kg	368	128	111
	20kg	540	231	206
	40kg	258	64	42
	55kg	0	0	0
	30kg	953	148	103
	40kg	576	52	37
	60kg	0	0	0

		0°	45°	90°
	1kg	1029	1233	2118
	2kg	530	626	1066
	4kg	280	320	538
	4kg	361	504	995
	8kg	179	246	479
	10kg	143	195	377
	10kg	105	150	312
	15kg	66	94	194
	20kg	47	66	135

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

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