Yamaha Robotics Industrial Robots and Controllers

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)		400
Repeatability (mm) Note 1		+/-0.01
Deceleration mechanism		Ball screw (Class C7)
Ball screw lead (mm)		40	20	10
Maximum speed (mm/sec) Note 2		2400	1000 (1200 Note 3)	600
Maximum payload (kg)	Horizontal	40	80	120
	Vertical	-	15	35
Rated thrust (N)		156	312	625
Stroke (mm)		200 to 1450 (50 pitch)Note 4
Cable length (m)		3.5 (Standard), 5, 10
Controller	Horizontal	SR1-X-20 Note 5
	Vertical	SR1-X-20-R
Robot driver	Horizontal	RDX-20-RBR1
	Vertical	RDX-20-RBR2

Note 1:	Repeatability for single oscillation.
Note 2:	When the stroke exceeds 850mm, 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:	To operate the unit at a speed exceeding 1,000mm/sec. (Max. speed) using a lead 20, a regeneration unit RG1 is required.
Note 4:	Longer than 1250mm stroke can be handled by the high lead specification (Lead 40) only.
Note 5:	SR1-X-20-R should be used when the high lead specification (Lead 40) is used.

Stroke (mm)	Maximum speed(mm/sec)			Speed setting
Stroke (mm)	Lead 40	Lead 20	Lead 10	Speed setting
850	1920	960	480	80%
950	1680	840	420	70%
1050	1440	720	360	60%
1150	1200	600	300	50%
1250	960	480	240	40%
1350	840	-	-	35%
1450	720	-	-	30%

Note 7

		0°	45°	90°
	10kg	1017	1907	1685
	20kg	536	1097	1022
	40kg	323	810	848
	30kg	775	932	1759
	50kg	474	581	1216
	80kg	308	395	1040
	60kg	399	536	1403
	100kg	229	313	1103
	120kg	184	252	959

		0°	45°	90°
	10kg	1683	1882	1222
	20kg	1012	1071	633
	40kg	799	785	363
	30kg	1098	566	564
	50kg	735	339	328
	80kg	586	218	197
	60kg	1325	490	395
	100kg	962	266	202
	120kg	800	202	152

		0°	45°	90°
	5kg	2367	1674	2367
	10kg	1214	858	1214
	15kg	820	580	820
	15kg	1624	1148	1624
	25kg	962	680	962
	35kg	676	478	676

Note 7: Distance from center of slider top to center of gravity of object being transported.

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