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)		100
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	15	30	55	80
	Vertical	-	4	10	20
Rated thrust (N)		52	78	156	312
Stroke (mm)		150 to 1050 (50 pitch)
Cable length (m)		3.5 (Standard), 5, 10
Controller	Horizontal	SR1-X-05
	Vertical	SR1-X-05 Note 3
Robot driver	Horizontal	RDX-05-RBR1
	Vertical	RDX-05-RBR1

Note 1:	Repeatability for single oscillation.
Note 2:	When the stroke exceeds 700mm,although depending on the moving range, the ball screw may resonate (dangerous speed). If such resonance occurs, make an adjustment on the program to5 reduce the speed, using the maximum speed in the table on the right as a guide.
Note 3:	RG1 is required when the models used vertically and with 700mm or larger stroke.

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 6

		0°	45°	90°
	5kg	311	290	442
	15kg	127	141	274
	5kg	391	454	796
	15kg	139	169	366
	30kg	77	102	373
	20kg	100	130	364
	40kg	46	61	225
	55kg	31	42	205
	50kg	39	55	345
	60kg	31	43	304
	80kg	20	29	215

		0°	45°	90°
	5kg	494	247	265
	15kg	193	71	66
	5kg	581	324	320
	15kg	184	82	69
	30kg	0	0	0
	10kg	391	199	161
	20kg	202	53	38
	30kg	0	0	0
	10kg	1176	237	172
	20kg	420	58	41
	30kg	0	0	0

		0°	45°	90°
	1kg	1428	1010	1428
	2kg	715	505	715
	4kg	356	252	356
	4kg	500	354	500
	8kg	236	167	236
	10kg	183	129	183
	10kg	144	102	144
	15kg	85	60	85
	20kg	55	39	55

Note 6: Distance from center of slider top to center of gravity of object being transported.

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