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)		200
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 3		1800	1200	600	300
Maximum payload (kg)	Horizontal	25	40	80	100
	Vertical	-	8	20	30
Rated thrust (N)		104	156	312	625
Stroke (mm)		150 to 1050 (50 pitch Note 3)
Cable length (m)		3.5 (Standard), 5, 10
Controller	Horizontal	SR1-X-10
	Vertical	SR1-X-10-R
Robot driver	Horizontal	RDX-10-RBR1
	Vertical	RDX-10-RBR1

Note 1:	Repeatability for single oscillation.
Note 2:	When the stroke exceeds 750mm,although depending on the moving range, the ball screw may resonate (dangerous speed). If such resonance occurs, make and adjustment on the program to5 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 4

		0°	45°	90°
	10kg	146	132	191
	20kg	72	80	142
	10kg	194	224	404
	20kg	94	106	199
	40kg	43	48	101
	30kg	63	81	230
	50kg	34	44	160
	80kg	18	24	126
	60kg	31	43	240
	80kg	20	28	198
	100kg	14	19	165

		0°	45°	90°
	10kg	181	91	98
	20kg	31	10	8
	10kg	259	137	128
	20kg	81	38	29
	40kg	0	0	0
	20kg	186	52	38
	25kg	95	19	13
	30kg	0	0	0
	20kg	508	58	40
	25kg	268	20	14
	30kg	0	0	0

		0°	45°	90°
	4kg	324	229	324
	6kg	208	147	208
	8kg	150	106	150
	10kg	182	129	182
	15kg	111	78	111
	20kg	75	53	75
	15kg	85	60	85
	20kg	55	39	55
	30kg	26	18	26

Note 4: Distance from center of slider top to center of gravity of object being transported.

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