Yamaha Robotics Industrial Robots and Controllers

Indication of applicable specification

•Origin at opposite of motor
For the models with this indication, the specification with the origin at opposite of motor can be used in the standard state.
Without this indication, the specification with the origin at opposite of motor cannot be used in the standard state. When use of a special specification is necessary, consult YAMAHA Motor Co., Ltd.

•High lead
The models with this indication can handle the ball screw lead which exceeds the standard lead (12mm or 20mm). The standard lead for F17L and C17L is Lead 50. With the high lead specification, the intermediate stroke is considered as a special specification.

•Intermediate stroke
The models with this indication can handle the intermediate stroke in the standard state. In this case, the standard stroke is the stroke at 100mm intervals from 150mm and the stroke at 100mm intervals from 200mm is called the intermediate stroke. (Note that the shortest and longest strokes vary depending on models and lead types. For the specific data, refer to the basic specification table of each model.

Robot ordering method

Lead designation : The ball screws are available in such lead specifications as 2, 5, 6, 10, 12, 20, 30, 40 and 50mm.Which one to be used varies depending on models.
Brake : The horizontal or vertical specification can be selected.
Stroke : The stroke ranges from 50 to 3050mm. What stroke to be used varies depending on models.
Cable length : The standard cable connecting between the robot and controller is 3.5m (3L)
and optional ones are 5m (5L) and 10m (10L).
Applicable controller : Gives an example of connecting controllers. Although it is saying RDX,ERCX,ERCD,SR1-X, it depends on the model.
Driver : The driver is selected automatically according to models. (05, 10, 20)
Usable for CE : It is possible to select CE rated controller.
Regenerative unit : The horizontal or vertical specification can be selected.
Inputs/Outputs option :The board supporting the network can be selected as a controller's option.
It supports: NPN(N), PNP(P), CC-Link(CC), DeviceNet(DN), Profibus(PB), YC-Link(YC)
Battery : Indicates whether equipped with a battery for absolute data backup.

Repeatability

Repeatability is determined as follows; positioning operation to the specified point in one direction is repeated 30 times to obtain a standard deviation, which is then multiplied by 3.

Maximum speed

The maximum speed here means the maximum carrying speed. Yamaha's single axis robots can carry the work at this speed regardless of its weight as long as it is within the maximum load capacity. If the carrying distance is short, however, the maximum speed may not be reached because the heavier the work being carried is, the more lenient the acceleration /deceleration curve becomes.

Maximum load capacity

The maximum load capacity means the maximum weight that can be loaded on the slider and carried. When selecting the model for use, the total weight of tools being used (air cylinder, chuck, etc.) and the work should be less than this value. If the gravity center of the work is offset from the center of the slider, it is necessary to consider the permissible overhang as well. Also, it is so designed that optimum acceleration/deceleration speed and servo parameters are automatically set only by entering the total weight of tools and work for the load capacity parameter on the controller.

Rated thrus

The rated thrust means the force applied in the advancing direction of the slider while it is held stationary. During the vertical use (a force is applied downward from the top), reduce the weight of the load. When the slider moves and only at a slow speed (about 10% of the maximum speed), this value may become lower than the specification. Also, the type B which is driven by the timing belt cannot be used for the purpose where thrust is applied.

Caution for maximum speed

When the unit is a ball screw drive type and has a long stroke, operation at the maximum speed may be accompanied with abnormal noise and vibration because of resonance of the ball screw. In such a case, reduce the speed to the level described in the note section. (It is possible either to reduce the carrying speed in the entire program or to adjust it for each command for movement.)

Permissible overhang

The permissible overhang means how much the work may overhang. It is indicated as a specification by the distance from the center of the top face of the slider to the gravity center of the work to be carried by the weight. This value is determined on the basis of the service life of the linear guide. Under normal operation conditions (Note 1), the 90% service life of the linear guide is 10,000km (5,000km for T4, T5, C4 and C5) or more if gravity centers of the work and tools are kept within the permissible overhang. When using the unit with the overhang exceeding the specification data, add a separate support guide so that no load is applied to the linear guide of the single axis robot.

Note 1: Speed, acceleration 100% (The weight parameter must be set correctly). There should be no impact load or excessive vibration during operation. Alignment should be correct.