Yamaha Robotics Industrial Robots and Controllers

Note 1 : It will be a customer’s choice.

Note 2 : Available only for the slave.

AC servo motor output (W)	200
Maximum speed (deg/sec)	360
Repeatability (sec)	+/-30
Maximum Allowable Moment lnertia (kgf, cm, sec²)	18.7 (1.83kg, m²)
Rated torque (kg, m)	2.19
Speed reduction ratio	1/50
Rotation range (deg)	360
Cable length (m)	3.5 (Standard), 5, 10
Controller	SR1-X-10
Robot driver	RDX-10-RBR1

Weight paramerter W (kg)	1	2	3	4	5	6	7	8	9	10
Maximum allowable moment inertia J(kgf, cm, sec2)	0.93	1.8	2.8	3.7	4.6	5.6	6.5	7.4	8.4	9.3

Weight paramerter W (kg)	11	12	13	14	15	16	17	18	19	20
Maximum allowable moment inertia J (kgf, cm, sec2)	10.2	11.2	12.1	13.1	14.0	14.9	15.9	16.8	17.7	18.7

Note :
When the weight of the tool and work installed to the shaft of R20 is Wkg, adjust so that its inertia moment value J is smaller than that in the above table. If it exceeds that value, enter the corresponding value in the above table.
(Example: When W is 3kg and J is 0.48kgf, cm, sec², enter 4kg.)

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