Yamaha Robotics Industrial Robots and Controllers

Model		T5P
Repeatability (mm) Note 1		+/-0.02
Deceleration mechanism		Ball screw
Ball screw lead (mm)		12	6
Maximum speed (mm/sec) Note 2	Horizontal	750	375
	Vertical	600	300
Maximum payload(kg)	Horizontal	6	12
	Vertical	1.5	3
Stroke (mm)		150 to 600 (50 pitch increments)
Cable length (m)		3.5 (Standard), 5, 10
Controller		PRC 2

Note 1 :	Repeatability for single oscillation.
Note 2 :	Please refer to the correlation diagram of speed and payload.

			300mm move	600mm move
Horizontal	Lead 12	2kg	0.64	1.04
	Lead 12	6kg	0.76	1.26
	Lead 6	3kg	1.04	1.84
	Lead 6	12kg	1.18	2.07
Vertical	Lead 12	1kg	0.71	1.21
	Lead 12	1.5kg	0.82	1.49
	Lead 6	1kg	1.18	2.18
	Lead 6	8kg	1.47	2.80

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