Yamaha Robotics Industrial Robots and Controllers

Robot ordering method

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 2		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)
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 an adjustment on the program to reduce the speed, using the maximum speed in the table on the right as a guide.

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	575	654	1308
	25kg	314	394	1055
	10kg	833	881	1836
	20kg	454	490	1067
	40kg	258	317	691
	30kg	363	479	1106
	50kg	235	315	822
	80kg	164	224	706
	60kg	237	331	1630
	80kg	187	262	1396
	100kg	157	220	1228

		0°	45°	90°
	10kg	958	602	680
	25kg	689	309	303
	10kg	943	517	557
	20kg	531	290	298
	40kg	307	134	126
	30kg	1040	342	282
	50kg	690	167	120
	80kg	401	43	30
	60kg	734	62	43
	80kg	359	12	8
	100kg	0	0	0

		0°	45°	90°
	4kg	704	840	1439
	6kg	473	562	962
	8kg	357	422	723
	10kg	418	578	1122
	15kg	276	380	734
	20kg	206	281	541
	20kg	151	218	451
	25kg	119	171	353
	30kg	98	140	286

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

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