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)		600
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	60	120	-
	Vertical	-	25	45
Rated thrust (N)		234	468	936
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	928	1899	1674
	20kg	577	1439	1397
	60kg	426	754	1314
	50kg	877	1085	2267
	80kg	566	721	1769
	120kg	407	544	1869

		0°	45°	90°
	10kg	1669	1875	1121
	20kg	1357	1417	680
	60kg	1236	731	482
	50kg	1403	658	642
	80kg	1056	425	396
	120kg	1049	311	259

		0°	45°	90°
	5kg	1331	941	1331
	10kg	993	702	993
	15kg	816	577	816
	15kg	2043	1444	2043
	25kg	1352	956	1352
	35kg	887	627	887

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

Drawing PDF Data. File Name: "catalog.pdf" Approx.70kbyte

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