Specification Model name Repeated positioning accuracy Rated thrust force Maximum carrying weight Maximum speed (Note 1) Stroke (Note 2) Applicable controller (Note 3) & robot driver Single carriage MR type MR12 +/-5μm 18N 5kg 2500mm/sec 50 to 1050mm SR1-P-05 RCX221 RCX143 /RDP-05 MR16 +/-5μm 27N 7kg 2500mm/sec 50 to 1550mm SR1-P-05 RCX221 RCX143 / RDP-05-RBR1 MR16H +/-5μm 37N 9kg 2500mm/sec 100 to 1500mm SR1-P-10 RCX221 RCX143 / RDP-10-RBR1 MR20 +/-5μm 70N 17kg 2500mm/sec 100 to 2000mm SR1-P-20 RCX221 RCX143 / RDP-20 MR25 +/-5μm 90N 23kg 2500mm/sec 100 to 2000mm SR1-P-10 RCX221 RCX143 / RDP-10-RBR1 MF type MF20 +/-5μm 86N 20kg 2500mm/sec 150 to 4050mm SR1-P-10 RCX221 RCX143 / RDP-10-RBR1 MF30 +/-5μm 125N 30kg 2500mm/sec 100 to 4000mm SR1-P-20 RCX221 RCX143 / RDP-20-RBR1 MF50 +/-5μm 200N 50kg 2500mm/sec 1050 to 4020mm SR1-P-20 RCX221 RCX143 / RDP-20-RBR1 MF100 +/-5μm 400N 100kg 2500mm/sec 895 to 4000mm SRCP-30 / - Double carriage MR type MR12D +/-5μm 18N 5kg 2500mm/sec 50 to 1050mm SR1-P-05 (Note 4) RCX221 RCX143 / RDP-05 (Note 4) MR16D +/-5μm 27N 7kg 2500mm/sec 50 to 1450mm SR1-P-05 (Note 4) RCX221 RCX143 / RDP-05-RBR1 (Note 4) MR16HD +/-5μm 37N 9kg 2500mm/sec 100 to 1300mm SR1-P-10 (Note 4) RCX221 RCX143 / RDP-10-RBR1 (Note 4) MR20D +/-5μm 70N 17kg 2500mm/sec 100 to 1700mm SR1-P-20 (Note 4) RCX221 RCX143 / RDP-20 (Note 4) MR25D +/-5μm 90N 23kg 2500mm/sec 100 to 1700mm SR1-P-10 (Note 4) RCX221 RCX143 / RDP-10-RBR1 (Note 4) MF type MF20D +/-5μm 86N 20kg 2500mm/sec 150 to 3850mm SR1-P-10 (Note 4) RCX221 RCX143 / RDP-10-RBR1 (Note 4) MF30D +/-5μm 125N 30kg 2500mm/sec 15 to 3750mm SR1-P-20 (Note 4) RCX221HP RCX143 / RDP-20-RBR1 (Note 4) MF50D +/-5μm 200N 50kg 2500mm/sec 730 to 3700mm SR1-P-20 (Note 4) RCX221HP RCX143 / RDP-20-RBR1 (Note 4) MF100D +/-5μm 400N 100kg 2500mm/sec 405 to 3510mm SRCP-30 (Note 4) / -

Note 1 :	Depending on the operation conditions, it may not be possible to use the unit at the maximum speed.
Note 2 :	The stroke is 100mm for all MR type models, MF20 / 20D /30 / 30D and 135mm pitch for MF50 / 50D /100 / 100D.
Note 3 :	2 units are required when using SR1-P or RDP based on the double carrier specifications.
Note 4 :	2 units are required when using SR1-P, SRCP-30 or RDP based on the double carrier specifications.

At present, installation for MF20 / MF20D / MF30 / MF30D is horizontal style. If wall or ceiling installation is desired, consult YAMAHA.
Note 5 :	It will be a customer’s choice.
Note 6 :	Optional regenerative unit is required for YAMAHA-designated models and when operating a load with a large inertia.
Note 7 :	Only the "L" model has longer than 2,000mm stroke.
Note 8 :	Reference for tubes and cables S :φ8 flexible cable x 1,φ4 air tube x 1 / M :φ8 flexible cable x 2,φ6 air tube x 2 / L :φ8 flexible cable x 2,φ8 air tube x 3 2,000mm stroke.
Note 9 :	Available for SR1-P, RCX221 and RCX143.
Note :	2 units are required when using SR1-P or RDP based on the double carrier specifications.

1	Cable carrier take out direction	:	RH, LH, RW or LW can be selected according to the installation direction (horizontal, wall mounting) and cable output direction (right, left). Either H or W can be selected according to the installation direction (horizontal, wall mounting).
2	Installation method	:	It is possible to add the cable carrier as an option.
3	Optional cable carrier for users	:	Either the S type, M type or L type can be selected. When addition is not necessary, select the one with no mark indicated. Also, for wiring and piping, refer to the following information as a guide because the number of cables and air tubes that users use may affect the operation duty. S type:φ8 bending cable x 1,φ4 air tube x 1 M type:φ8 bending cable x 2,φ6 air tube x 2 L type: φ8 bending cable x 2,φ8 air tube x 3
4	Stroke	:	The stroke is 100mm for all MR type models, MF20 / 20D / 30 / 30D and selectable at 135mm pitch for MF50 / 50D / 100 / 100D but the maximum stroke varies depending on models.
5	Cable length	:	The standard length of the connection cable between the main unit and controller is 3.5m (3L). 5m (5L) and 10m (10L) are also available as selectable options.
6	Controller	:	Single carrier specification : SR1-P, RCX221, RCX143, RDP, Double carrier specification: RCX221, 2 units of SR1-P, RCX143, 2 units of RDP.
7	Driver	:	Automatically selected depending on models 05 driver : MR12, MR16 / 10 driver : MR16H, MR25, MF20 / 20 driver : MR20, MF50, MF30 / 30 driver : MF100
8	Regenerative unit	:	It is necessary when operating a model specified by Yamaha or a load with a large inertia.
9	Inputs / Outputs selection	:	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) Ethernet (EN), YC-Link (YC).
10	Usable for CE	:	It is possible to select CE rated controller.
11	Network option	:	The board supporting the network can be selected as a controller's option. It supports : CC-Link (CC), DeviceNet (DN), Profibus (PB) Ethernet (EN).
12	I/O connector specification	:	Either "CN1" I/O flat cable 1m (standard ) or "CN2" twisted pair cable can be selected.

CAUTION		Be sure to install in the direction as specified (in cable bear take-out direction drawing and various specification drawings) individually. Installation in any other way will cause a failure. For requirement of installation in any way other than the above standard installation, please consult YAMAHA as special arrangement will be available.