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YKX250 / YKX400 / YKX600 / YKX800 / YKX1000
SCARA Robots
YKX series
YKX250 YKX400 YKX600 YKX800 YKX1000
Motion range
Maximum horizontal reach (mm)
250 400 600 800 1000
Maximum operating angle of horizontal axis (°)*1 332 340 342
+/-360
346 326
Vertical stroke (mm) 200 200 / 450Tip axis rotation angle (°)
Motor output (W) X-axis / Y-axis / Z-axis / R-axis 750 / 400 / 400 / 320
Maximum speed
XY axis synthesis (m/s)
4.9 6.2 8.8 10.7 12.9Z-axis (m/s) 2.8R-axis (°/s) 1020
Repeatability*2
XY axis (mm)
Z-axis (mm)
R-axis (°)
Maximum payload (kg) 8 21Standard cycle time (s) *3 0.28 0.28 0.33 0.34 0.38R-axis tolerable moment of inertia (kgm2)*4 1.05
Wiring
IO1*5 0.15 sq × 12 wires (no shield, straight) 0.2 sq × 6 wires (no shield, straight)IO2*62
IO3*6 0.15 sq × 8 wires (shielded, twisted pair)EtherNet cable*5 0.15 sq × 8 wires (shielded, twisted pair)Light cable*5 0.5 sq × 4 wires (no shield, straight)
Tubing (Outer diameter)ф 4 × 2 *5
ф 6 × 2 *5
Travel limit 1. Soft limit 2. Mechanical stopper (X, Y, Z axis)Motor/Encoder cable 3 m, 6 m, 15 mWeight (kg) *7 25 26 33 34 36
CONTROLLER YHX series
YAMAHA ROBOT Automation system
Specification
*1. Excludes the installation area for the motor/encoder cable.*2. This is the value at a constant ambient temperature.*3. At horizontal direction 300 mm, vertical direction 25 mm reciprocation, 2 kg transfer, rough positioning arch motion.*4. The parameters for acceleration, etc., must be limited according to the moment of inertia.
* 5. Connect to rear side of body and plate on rear side of Y arm.* 6. Connect to rear side of body and stay inside Y arm.* 7. Does not include the weight of the motor/encoder cable.
+/-0.01 +/-0.02+/-0.01
+/-0.004
Synchronously control all robots in production line by Universal Controller YHX series.
Cooperative and Synchronous ControlTotal system control by Universal Controller YHX series CONTROLLER YHX series
YAMAHA ROBOT Automation system
ENGLISH
IM Operations FA Section127 Toyooka, Kita-ku, Hamamatsu, Shizuoka 433-8103, JapanTel. +81-53-525-8350 Fax. +81-53-525-8378
https://global.yamaha-motor.com/business/robot/URLE-mail [email protected]
201708-AE
Specifications and appearance are subject to change without prior notice.
IoT
CONTROLLER YHX series
Internet of Things
IT devices
Machine control
YAMAHA ROBOT Automation system
YAMAHAROBOTseries
02 YAMAHA YKX series 03YAMAHA YKX series
The new universal control robot system that sharpens your competitive edge
Yamaha's own unique univerersal robot control concept offers Total Optimization of your production line.Helps building fully automated production line efficiently at lower cost in a short period of time. YAMAHA's
Advanced Robotics Automation Platform in the product lineup is a good match with IoT.
Full range of robotic products used for various automated processes including transport, handling, assembly, and
image recognition have been completely renewed. The newly released Universal Controller YHX series enables
cooperative and synchronous control of the Yamaha robotic products. In addition, the linear conveyor module
LCM-X series, new SCARA robot YKX series, single-axis robot GX and YLE series, and robot vision system
YFAEYE are being released.
Yamaha is proud to offer this new product lineup providing solutions to the challenges in today's manufacturing
scenes, and dramatically accelerate automated production to maximize your return of investment.
Industry’s fastest* operation performance
Maintenance free with complete elimination of belt
Maintenance free reduction gears
YAMAHA’s original complete belt-less structure
Connection cable completely separated from body
Compatible with absolute position system without battery replacement
Easy drive system replacement
Consideration to safety, installation and adjustments
Standard utility tap
Standard internal wiring and piping
Options for running wiring and piping inside can be selected
04 YAMAHA YKX series 05YAMAHA YKX series
Direct drive (no belt) design and reinforced drive mechanismenabled industry’s shortest* cycle time.
* YAMAHA comparison Arm length 400 mm model standard cycle time 0.28 sec.
High speed and high precision
Hollow structure motor
Reduction gears (harmonic drive)
The standard wiring and piping are designed for a variety of applications so the installation and introduction time can be shortened.
Minimizing installation and start-up time
Wiring and piping that support a variety of peripheral devices such as cameras, Ethernet devices, and compact motors, etc., are provided as a standard in the robot.
The standard wiring and piping can be extended to the top of the R-axis as an option.
High repeatability and stability are achieved by eliminating the belt and adopting direct drive for all axes.
The industry’s top operation performance is achieved by employing a motor having more than twice the capacity of conventional motors, reduction gears, and control with an Universal Controller.
Highly reliable and maintenance free
As a motor reduction gear coupling structure is adopted for all joints, no belts, etc., are used. This eliminates the need for periodic adjustment of the belt tension, and ensures a high precision for a long time.
Long-life, high-performance grease is used to lubricate the reduction gears. There’s no need to replenish or replace the grease periodically.
The motor is made to the specification of complete absolute position system. You do not have to return the units to their origins after the trans-installation or startup, contributing to significantly decreasing man-hours. Equipped with the absolute position system requiring no battery replacement, you do not have to replace the battery.
A brake release switch is provided on the top of the arm for safety and for use during installation and adjustment. The vertical axis brakes can be released by pressing the switch.
The drive system for the joints has been completely designed as a unit. Even when the drive system needs to be replaced such as when the reduction gear has reached its life, the system can be replaced easily in a short-time.
The detachable cable makes it easy to install the robot body and change the cable length, etc.
The robot arm is equipped with a standard utility tap for mounting peripheral devices such as user tools. This makes introduction of the robot smooth.
The improved ease-of-use greatly reduces the installation and implementation time.
Further advanced usability
Z-axis raised Z-axis lowered
Greatly contributing to
higher productivity
Separated from body
SCARA Robots
YKXseries
Utility tap
Screw hole for fixing solenoid valve
Ethernet cableLight cable
Motor/Encoder cable
Motor/Encoder cable
250 mm
mm1000
Supported arm length
High speed, high accuracy, and high rigidity leading industry
Six M5 tap holesFour ф5H7 knock holes
Four M4 tap holes
0.28 sStandard cycle time:
Air piping (standard)
Wiring (standard)
Air piping (option)
Wiring (option)
Internal running option
Wiring and piping● 6-core (for electric hand drive)
● 8-core (for electric hand signals, can also be used for Ethernet cable)
Inside Y arm
Air piping
● ф 6 × 2
● ф 4 × 2
Wiring
● 12-core (for solenoid valve, etc.) ● Ethernet cable (for camera) ● 4-core (for power cable)
Rear side of body
Standard mounting
Kit with built-in extension cable
YKX250
YKX600
YKX400
YKX800
YKX1000
1
2 4
3
Hollow structure motor
coupled directly with
reduction gears
Hollow structure motor
coupled directly with
reduction gears
YAMAHA’s original internal struc-ture makes it possible to maintain a high precision for a long time, and enables a maintenance free structure.
Ordering method
Specifi cations
YKX250 200Model Z-axis stroke Tool adapter Extension cable built-in Cable length
200: 200mm No entry: None No entry: None 3L: 3mF: With tool adapter S: Extension cable built-in 6L: 6m
15L: 15m
Standard type: Small type
X-axis Y-axis Z-axis R-axisAxis specifi cations
Arm length 75 mm 175 mm 200 mm -Rotation angle +/-130 ° +/-150 ° - +/-360 °
AC servo motor output 750 W 400 W 400 W 320 WMaximum speed 4.9 m/sec 2.8 m/sec 1020 °/secRepeatability Note 1 +/-0.01 mm +/-0.01 mm +/-0.004 °Maximum payload 8 kgStandard cycle time Note 2 0.28 secR-axis tolerable moment of inertia Note 3 1.05 kgm2
Wiring
IO1 Note 4 0.15 sq × 12 wires (no shield, straight)IO2 Note 5 0.2 sq × 6 wires (no shield, straight)IO3 Note 5 0.15 sq × 8 wires (shielded, twisted pair)EtherNet cable Note 4 0.15 sq × 8 wires (shielded, twisted pair)Light cable Note 4 0.5 sq × 4 wires (no shield, straight)
Tubing (Outer diameter)ф 4 × 2 Note 4
ф 6 × 2 Note 4
Travel limit 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Motor/Encoder cable 3 m, 6 m, 15 mWeight Note 6 25 kgController YHX series
Note 1. This is the value at a constant ambient temperature. Note 2. At horizontal direction 300 mm, vertical direction 25 mm reciprocation, 2 kg transfer, rough positioning arch motion.Note 3. The parameters for acceleration, etc., must be limited according to the moment of inertia.Note 4. Connect to rear side of body and plate on rear side of Y arm.Note 5. Connect to rear side of body and stay inside Y arm.Note 6. Does not include the weight of the motor/encoder cable.
Motor/Encoder cable
Tool adapter
Kit with built-in extension cable
Cable length Model3 m YKX-YHX-M3M6 m YKX-YHX-M6M15 m YKX-YHX-M15M
ModelYKX-OP-ZTA
Z-axis stroke Model200 mm YKX-OP-EXHNS-200
Maximum payload 8kg Arm length 250mm
YKX250
3 (N
ote
3)3
(Not
e 3)
015
174181184226
442
600
0
185+/-2
236.5
750.5
Z: 2
00 s
troke
Maximum 610during arm rotation
Standard type (no options)
B
A
17569.4
164
75 157 150 or more(Note 1)
Signal wire ф13.4 (Note 2) (minimum bending radius R54)
Motor wire ф15.3 (Note 2) (minimum bending radius R92)
017+/
-0.0
2
52 25 45
54+/-0.02
0560 ( *
Not
e 5)
25 45 60
0
5068
5068
040
65+/-0.02
40
130+
/-0.0
2
6-M5×0.8 Depth 10 (Note 4)
10H7
2
R
4-M6×1.0
25+/-0.0568+/
-0.05
No.2No.4No.6No.9
07.5
27.547.548.866.585.5
105.5
2419
4-M4×0.7(Board thickness t1.5)
No.5
No.3
No.1
No.6
No.4
No.9
No.8
View of A
3310
45To
ol m
ount
ing
rang
e
Detail of section B Wid
th a
cros
s fla
ts: 2
4
Hollow
diamete
r: ф18
0
178.5+/-2195229
(236.5)
3 (N
ote
3)3
(Not
e 3)
Z:20
0 st
roke
6.5
ф95
ф50h7
ф65
2
130°130° 150°
150°
50°115
R175
R250
R99
R175R116
ф25h7 0- 0.021 0
- 0.025
4-ф5H7 Depth 6
+ 0.012 0
65
+ 0.015 0
6-ф14 (Note 5)
ф10H7+ 0.015 0
Across widths and R-axis origin position are irrelevant
ф25h7 0- 0.021
Working envelope for standard type
X-axis mechanical stopper position: +/-131°Y-axis mechanical stopper position: +/-152°
035.57494114140
4152
No.1No.3No.5No.7
No.8No.10
Option: Tool adapter type
C
Hollow diameter ф18
12+/-
0.02
P.C.D.80
90°38+/-0.02
View of C
(300
)
(300
)
Tubing: ф4 Black
Tubing: ф4 Blue
Tubing: ф6 RedTubing: ф6 Black
For user wiring(0.2sq* 6-core): ф4.2
Option: Specifications with built-in extension cable
* Extends approx. 300 mm from end of spline that is passed through inside.* Does not rotate together with spline during R-axis rotation.
50°
EtherNet cable: ф6.8
4-ф6.6 through-hole
ф6H7 through-hole
+ 0.012 0
[Wiring and piping specifications]No.No.1No.2No.3No.4No.5No.6No.7No.8No.9
No.10
Names of each part (specifications)EtherNet cable (0.15 sq 4-pair)User wiring IO3 (0.15 sq 4-pair)User tubing (ф6 Red)User tubing (ф6 Black)User tubing (ф4 Blue)User tubing (ф4 Black)User wiring IO2 (0.2sq 6-core)Lighting power connector (0.5 sq 4-core)User wiring IO1 (0.15 sq 12-core)Ground terminal (M4)
Other party connector (Note 6)RJ45 connectorRJ45 connector
----
DF62C-6S-2.2C (HIROSE)1-1827864-2 (TE AMP)
DF62C-13S-2.2C (HIROSE)-
Remarks
Y arm side: Inside cover
Y arm side: Inside cover
250m
m o
r mor
e (N
ote
1)
**
M20×2.5 Depth 20(Bottom of spline)
(Base installation surface)
Note 1. Provide suffi cient space for maintenance behind and above the base.Note 2. Motor/Encoder cable must be secured on stationary surface.Note 3. Position to mechanical stopper at Z-axis up end and down end.Note 4. When mounting tools using the user tap on the base of the Y-axis, include the tool weight
in the tip weight.
Note 5. Hole for mounting body. Fix with four or more M12 hex socket head bolts (points marked with * are mandatory). Bolts are not enclosed.
Note 6. The other party connector is an option. * Contact the YAMAHA Sales Offi ce for details.
Ordering method
Specifi cations
Standard type: Small type
YKX400
Working envelope for standard typeX-axis mechanical stopper position: +/-141°Y-axis mechanical stopper position: +/-152°
3 (N
ote
3)3
(Not
e 3)
015
174181191226
442
610
0
185+/-2
236.5
750.5
Z:20
0 st
roke
ф25h7
257.5
17569.4 225 157 150 or more
164
(Note 1)
Signal wire ф13.4 (Note 2) (minimum bending radius R54)
Motor wire ф15.3 (Note 2) (minimum bending radius R92)
040
65+/-0.02
400
5068
5068
0560 ( *
Not
e 5)
25 45 60
017+/
-0.0
2
52 25 4554+/-0.02
225+/-0.05
68+/
-0.0
5
R10H7 + 0.015
0
130+
/-0.0
26-M5×0.8 Depth 10 (Note 4)
4-ф5H7 Depth 6
ф10H7+ 0.015 0
6-ф14 (Note 5)4-M6×1.0
035.57494114140
4152
No.1No.3
No.2No.4
No.5No.6No.7
No.8
No.9
No.10
07.5
27.547.548.866.585.5
105.5
2419
4-M4×0.7(Board thickness t1.5)
View of A
No.5
No.3
No.1
No.6
No.4
No.9
No.8
3310
45To
ol m
ount
ing
rang
e
Detail of section B
Wid
th a
cros
s fla
ts: 2
4Hollow
diamete
r: ф18
0(Base installation surface)
178.5+/-2195229
(236.5)
3 (N
ote
3)3
(Not
e 3)
Z:20
0 st
roke
6.5
ф95ф50h7 0
- 0.025
ф65
2
12+/-
0.02
Hollow diameter ф18
P.C.D.80
90°38+/-0.02
4-ф6.6 through-hole
ф6H7through-hole
View of C
(300
)
(300
)
Tubing: ф4 BlackTubing: ф4 Blue
Tubing: ф6 RedTubing: ф6 Black
EtherNet cable:ф6.8
70°
150°
150°
140°
140°
70°
R175
115
R400
R175
R114
R99
+0.012 0
65
C
ф25h7
0- 0.021
+ 0.012 0
0- 0.021 For user wiring
(0.2sq* 6-core):ф4.2
Option: Tool adapter typeOption: Specifications with built-in extension cable
A
B
Standard type (no options)
250m
m o
r mor
e (N
ote
1)
**
M20×2.5 Depth 20(Bottom of spline)
Maximum 630during arm rotation
[Wiring and piping specifications]No.
No.1No.2No.3No.4No.5No.6No.7No.8No.9No.10
Names of each part (specifications)EtherNet cable (0.15 sq 4-pair)User wiring IO3 (0.15 sq 4-pair)User tubing (ф6 Red)User tubing (ф6 Black)User tubing (ф4 Blue)User tubing (ф4 Black)User wiring IO2 (0.2sq 6-core)Lighting power connector (0.5 sq 4-core)User wiring IO1 (0.15 sq 12-core)Ground terminal (M4)
Other party connector (Note 6)RJ45 connectorRJ45 connector
----
DF62C-6S-2.2C (HIROSE)1-1827864-2 (TE AMP)
DF62C-13S-2.2C (HIROSE)-
Remarks
Y arm side: Inside cover
Y arm side: Inside cover
Across widths and R-axis origin position are irrelevant
* Extends approx. 300 mm from end of spline that is passed through inside.* Does not rotate together with spline during R-axis rotation.
YKX400 200Model Z-axis stroke Tool adapter Extension cable built-in Cable length
200: 200mm No entry: None No entry: None 3L: 3mF: With tool adapter S: Extension cable built-in 6L: 6m
15L: 15m
X-axis Y-axis Z-axis R-axisAxis specifi cations
Arm length 225 mm 175 mm 200 mm -Rotation angle +/-140 ° +/-150 ° - +/-360 °
AC servo motor output 750 W 400 W 400 W 320 WMaximum speed 6.2 m/sec 2.8 m/sec 1020 °/secRepeatability Note 1 +/-0.01 mm +/-0.01 mm +/-0.004 °Maximum payload 8 kgStandard cycle time Note 2 0.28 secR-axis tolerable moment of inertia Note 3 1.05 kgm2
Wiring
IO1 Note 4 0.15 sq × 12 wires (no shield, straight)IO2 Note 5 0.2 sq × 6 wires (no shield, straight)IO3 Note 5 0.15 sq × 8 wires (shielded, twisted pair)EtherNet cable Note 4 0.15 sq × 8 wires (shielded, twisted pair)Lighting cable Note 4 0.5 sq × 4 wires (no shield, straight)
Tubing (Outer diameter)ф 4 × 2 Note 4
ф 6 × 2 Note 4
Travel limit 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Motor/Encoder cable 3 m, 6 m, 15 mWeight Note 6 26 kgController YHX series
Note 1. This is the value at a constant ambient temperature. Note 2. At horizontal direction 300 mm, vertical direction 25 mm reciprocation, 2 kg transfer, rough positioning arch motion.Note 3. The parameters for acceleration, etc., must be limited according to the moment of inertia.Note 4. Connect to rear side of body and plate on rear side of Y arm.Note 5. Connect to rear side of body and stay inside Y arm.Note 6. Does not include the weight of the motor/encoder cable.
Motor/Encoder cable
Tool adapter
Kit with built-in extension cable
Cable length Model3 m YKX-YHX-M3M6 m YKX-YHX-M6M15 m YKX-YHX-M15M
ModelYKX-OP-ZTA
Z-axis stroke Model200 mm YKX-OP-EXHNS-200
Maximum payload 8kg Arm length 400mm
Note 1. Provide suffi cient space for maintenance behind and above the base.
Note 2. Motor/Encoder cable must be secured on stationary surface.Note 3. Position to mechanical stopper at Z-axis up end and down end.Note 4. When mounting tools using the user tap on the base of the Y-axis,
include the tool weight in the tip weight.
Note 5. Hole for mounting body. Fix with four or more M12 hex socket head bolts (points marked with * are mandatory). Bolts are not enclosed.
Note 6. The other party connector is an option. * Contact the YAMAHA Sales Offi ce for details.
YKX250 YKX400
06 YAMAHA YKX series 07YAMAHA YKX series
Ordering method
Specifi cations
YKX600Model Z-axis stroke Tool adapter Extension cable built-in Cable length
200: 200mm No entry: None No entry: None 3L: 3m450: 450mm F: With tool adapter S: Extension cable built-in 6L: 6m
15L: 15m
Standard type: Medium type
YKX600
B
(Note 1)
View of C
A
View of A
(Base installation surface)
250m
m o
r mor
e (N
ote
1)
15735025071.4
175
150 or more
166
0
255+/-2306.5
828(Z200)
1096(Z450)
250m
m o
r mor
e (N
ote
1)
015
174198
296301
512.5
780
ф25h7
Z: 4
50 s
troke
3 (N
ote
3)
Signal wire ф13.4 (Note 2) (minimum bending radius R54)
Motor wire ф15.3 (Note 2) (minimum bending radius R92)
10H7
060 ( *
Not
e 5)
5 25 45 60
25+/-0.05
68+/
-0.0
52
ф10H7
017+/
-0.0
2
2552 45
54+/-0.02
04065
4065+/-0.02
130+
/-0.0
2
6-M5×0.8Depth 10 (Note 4)
4-ф5H7Depth 6
0
248.5+/-2265299
(306.5)
Z: 4
50 s
troke
Z: 2
00 st
roke
3(N
ote
3)3 (N
ote
3)
6.5
3 (Not
e 3)
ф95ф50h7
2
90°38+/-0.02
P.C.D.80
Hollow diameter ф184-ф6.6 through-hole
ф6H7through-hole
(300
)
(300
)
4-M6×1.06-ф14 (Note 5)
1924
No.1No.9No.3
No.6
No.4
No.8
No.5
0103050
6988
108
51.3
500
6850
68
3 (N
ote
3)3
(Not
e 3)
Z: 2
00 s
troke
No.8No.10
No.3No.5
1401149474
41
No.1
No.7
No.2No.4
No.9
35.50
52
No.6
Tubing: ф4 BlueTubing: ф4 Black
Tubing: ф6 RedTubing: ф6 Black
For user wiring(0.2sq* 6-core):ф4.2
EtherNet cable: ф6.8
Detail of section B Wid
th a
cros
s fla
ts: 2
4Hollow
dia
meter: ф
18
ф25h7
33 45To
ol m
ount
ing
rang
e
10
X-axis mechanical stopper position: +/-131°Y-axis mechanical stopper position: +/-152°
130°
130°
150°150°
R250
115
R183
R250 R250
R104
R600
107° 107°
12+/-0.02
+ 0.012 0
0- 0.021
0- 0.025
+ 0.012 0
+ 0.015 0
+ 0.015 0
0- 0.021
Working envelope for standard type
**
M20×2.5 Depth 20(Bottom of spline)
4-M4×0.7(Board thickness t1.5)
Maximum 790during arm rotation
[Wiring and piping specifications]No.
No.1No.2No.3No.4No.5No.6No.7No.8No.9No.10
Names of each part (specifications)EtherNet cable (0.15 sq 4-pair)User wiring IO3 (0.15 sq 4-pair)User tubing (ф6 Red)User tubing (ф6 Black)User tubing (ф4 Blue)User tubing (ф4 Black)User wiring IO2 (0.2sq 6-core)Lighting power connector (0.5 sq 4-core)User wiring IO1 (0.15 sq 12-core)Ground terminal (M4)
Other party connector (Note 6)RJ45 connectorRJ45 connector
----
DF62C-6S-2.2C (HIROSE)1-1827864-2 (TE AMP)
DF62C-13S-2.2C (HIROSE)-
Remarks
Y arm side: Inside cover
Y arm side: Inside cover
Standard type (no options)
Across widths and R-axis origin position are irrelevant
* Extends approx. 300 mm from end of spline that is passed through inside.* Does not rotate together with spline during R-axis rotation.
Option: Specifications with built-in extension cableOption: Tool adapter type
X-axis Y-axis Z-axis R-axisAxis specifi cations
Arm length 350 mm 250 mm 200/450 mm -Rotation angle +/-130 ° +/-150 ° - +/-360 °
AC servo motor output 750 W 400 W 400 W 320 WMaximum speed 8.8 m/sec 2.8 m/sec 1020 °/secRepeatability Note 1 +/-0.01 mm +/-0.01 mm +/-0.004 °Maximum payload 21 kgStandard cycle time Note 2 0.33 secR-axis tolerable moment of inertia Note 3 1.05 kgm2
Wiring
IO1 Note 4 0.15 sq × 12 wires (no shield, straight)IO2 Note 5 0.2 sq × 6 wires (no shield, straight)IO3 Note 5 0.15 sq × 8 wires (shielded, twisted pair)EtherNet cable Note 4 0.15 sq × 8 wires (shielded, twisted pair)Lighting cable Note 4 0.5 sq × 4 wires (no shield, straight)
Tubing (Outer diameter)ф 4 × 2 Note 4
ф 6 × 2 Note 4
Travel limit 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Motor/Encoder cable 3 m, 6 m, 15 mWeight Note 6 33 kgController YHX series
Note 1. This is the value at a constant ambient temperature. Note 2. At horizontal direction 300 mm, vertical direction 25 mm reciprocation, 2 kg transfer, rough positioning arch motion.Note 3. The parameters for acceleration, etc., must be limited according to the moment of inertia.Note 4. Connect to rear side of body and plate on rear side of Y arm.Note 5. Connect to rear side of body and stay inside Y arm.Note 6. Does not include the weight of the motor/encoder cable.
Motor/Encoder cable
Tool adapter
Kit with built-in extension cable
Cable length Model3 m YKX-YHX-M3M6 m YKX-YHX-M6M15 m YKX-YHX-M15M
ModelYKX-OP-ZTA
Z-axis stroke Model200 mm YKX-OP-EXHNS-200450 mm YKX-OP-EXHNS-450
Maximum payload 21kg Arm length 600mm
Note 1. Provide suffi cient space for maintenance behind and above the base.Note 2. Motor/Encoder cable must be secured on stationary surface.Note 3. Position to mechanical stopper at Z-axis up end and down end.Note 4. When mounting tools using the user tap on the base of the Y-axis, include the tool weight
in the tip weight.
Note 5. Hole for mounting body. Fix with four or more M12 hex socket head bolts (points marked with * are mandatory). Bolts are not enclosed.
Note 6. The other party connector is an option. * Contact the YAMAHA Sales Offi ce for details.
Ordering method
Specifi cations
YKX800Model Z-axis stroke Tool adapter Extension cable built-in Cable length
200: 200mm No entry: None No entry: None 3L: 3m450: 450mm F: With tool adapter S: Extension cable built-in 6L: 6m
15L: 15m
Standard type: Large type
YKX800[Wiring and piping specifications]
No.No.1No.2No.3No.4No.5No.6No.7No.8No.9No.10
Names of each part (specifications)EtherNet cable (0.15 sq 4-pair)User wiring IO3 (0.15 sq 4-pair)User tubing (ф6 Red)User tubing (ф6 Black)User tubing (ф4 Blue)User tubing (ф4 Black)User wiring IO2 (0.2sq 6-core)Lighting power connector (0.5 sq 4-core)User wiring IO1 (0.15 sq 12-core)Ground terminal (M4)
Other party connector (Note 6)RJ45 connectorRJ45 connector
----
DF62C-6S-2.2C (HIROSE)1-1827864-2 (TE AMP)
DF62C-13S-2.2C (HIROSE)-
Remarks
Y arm side: Inside cover
Y arm side: Inside cover
Detail of section B
A
(Base installation surface)
C
B
Maximum 810during arm rotation
View of A
250m
mor
mor
e (N
ote
1)
Signal wire ф13.4 (Note 2) (minimum bending radius R54)Motor wire ф15.3 (Note 2) (minimum bending radius R92)
90°38+/-0.02
P.C.D.80
Hollow diameter ф18
4-ф6.6through-hole
ф6H7through-hole
(300
)
(300
)
175
164
80 350 450 157 150 or more(Note 1)
2
Z: 2
00 s
troke
Z: 4
50 s
troke3
(Not
e 3)
3 (N
ote
3)
(313.5)
306272
255.5+/-2
ф95ф50h7
3 (N
ote
3)
6.5
0
4-M6×1.06-ф14 (Note 5)
ф10H7
268
+/-0
.05
604525560 ( *
Not
e 5)
0
10H7
25+/-0.05
4-ф5H7Depth 66-M5×0.8Depth 10 (Note 4)
130+
/-0.0
2
65+/-0.0240
65400
54+/-0.02
4552 25 17+/
-0.0
20
3 (N
ote
3)
Z: 4
50 s
troke
ф25h7
0
262+/-2313.5
837(Z200)
1103(Z450)
250m
mor
mor
e (N
ote
1)
015
174190303308
519.5
800
Z: 2
00 s
troke
3 (N
ote
3)3
(Not
e 3)
No.1No.3No.5No.7
No.10No.841
52
No.4No.6
No.2
No.9
035.57494114140
No.5No.6
No.4No.3No.9No.1No.819
24
0103050
6988
51.3
108
05068
5068
Tubing: ф4 Blue
Tubing: ф4 Black
Tubing: ф6 RedTubing: ф6 Black
For user wiring(0.2sq* 6-core): ф4.2
EtherNet cable: ф6.8
Wid
th a
cros
s fla
ts: 2
4Hollow
dia
meter: ф
18
ф25h7
33 45To
ol m
ount
ing
rang
e
10
X-axis mechanical stopper position: +/-131°Y-axis mechanical stopper position: +/-167°
R144
R350R800
R35
0R350
115R103
105°
130°
165°
165°
130°
105°
4-M4×0.7(Board thickness t1.5)
0- 0.021
0- 0.025
Working envelope for standard type
View of C
12+/-0.02+ 0.012 0
0- 0.021
+ 0.015 0
+ 0.015 0
+ 0.012 0
**
M20×2.5 Depth 20(Bottom of spline)
Standard type (no options)
Across widths and R-axis origin position are irrelevant
Option: Tool adapter type Option: Specifications with built-in extension cable
* Extends approx. 300 mm from end of spline that is passed through inside.* Does not rotate together with spline during R-axis rotation.
X-axis Y-axis Z-axis R-axisAxis specifi cations
Arm length 450 mm 350 mm 200/450 mm -Rotation angle +/-130 ° +/-165 ° - +/-360 °
AC servo motor output 750 W 400 W 400 W 320 WMaximum speed 11.2 m/sec 2.8 m/sec 1020 °/secRepeatability Note 1 +/-0.02 mm +/-0.01 mm +/-0.004 °Maximum payload 21 kgStandard cycle time Note 2 0.34 secR-axis tolerable moment of inertia Note 3 1.05 kgm2
Wiring
IO1 Note 4 0.15 sq × 12 wires (no shield, straight)IO2 Note 5 0.2 sq × 6 wires (no shield, straight)IO3 Note 5 0.15 sq × 8 wires (shielded, twisted pair)EtherNet cable Note 4 0.15 sq × 8 wires (shielded, twisted pair)Lighting cable Note 4 0.5 sq × 4 wires (no shield, straight)
Tubing (Outer diameter)ф 4 × 2 Note 4
ф 6 × 2 Note 4
Travel limit 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Motor/Encoder cable 3 m, 6 m, 15 mWeight Note 6 34 kgController YHX series
Note 1. This is the value at a constant ambient temperature. Note 2. At horizontal direction 300 mm, vertical direction 25 mm reciprocation, 2 kg transfer, rough positioning arch motion.Note 3. The parameters for acceleration, etc., must be limited according to the moment of inertia.Note 4. Connect to rear side of body and plate on rear side of Y arm.Note 5. Connect to rear side of body and stay inside Y arm.Note 6. Does not include the weight of the motor/encoder cable.
Motor/Encoder cable
Tool adapter
Kit with built-in extension cable
Cable length Model3 m YKX-YHX-M3M6 m YKX-YHX-M6M15 m YKX-YHX-M15M
ModelYKX-OP-ZTA
Z-axis stroke Model200 mm YKX-OP-EXHNS-200450 mm YKX-OP-EXHNS-450
Maximum payload 21kg Arm length 800mm
Note 1. Provide suffi cient space for maintenance behind and above the base.Note 2. Motor/Encoder cable must be secured on stationary surface.Note 3. Position to mechanical stopper at Z-axis up end and down end.Note 4. When mounting tools using the user tap on the base of the Y-axis, include the tool weight
in the tip weight.
Note 5. Hole for mounting body. Fix with four or more M12 hex socket head bolts (points marked with * are mandatory). Bolts are not enclosed.
Note 6. The other party connector is an option. * Contact the YAMAHA Sales Offi ce for details.
YKX600 YKX800
08 YAMAHA YKX series 09YAMAHA YKX series
Ordering method
Specifi cations
YKX1000Model Z-axis stroke Tool adapter Extension cable built-in Cable length
200: 200mm No entry: None No entry: None 3L: 3m450: 450mm F: With tool adapter S: Extension cable built-in 6L: 6m
15L: 15m
Standard type: Large type
YKX1000[Wiring and piping specifications]
No.No.1No.2No.3No.4No.5No.6No.7No.8No.9No.10
Names of each part (specifications)EtherNet cable (0.15 sq 4-pair)User wiring IO3 (0.15 sq 4-pair)User tubing (ф6 Red)User tubing (ф6 Black)User tubing (ф4 Blue)User tubing (ф4 Black)User wiring IO2 (0.2sq 6-core)Lighting power connector (0.5 sq 4-core)User wiring IO1 (0.15 sq 12-core)Ground terminal (M4)
Other party connector (Note 6)RJ45 connectorRJ45 connector
----
DF62C-6S-2.2C (HIROSE)1-1827864-2 (TE AMP)
DF62C-13S-2.2C (HIROSE)-
Remarks
Y arm side: Inside cover
Y arm side: Inside cover
Detail of section B
Standard type (no options)
(Base installation surface)
C
A
Maximum 810during arm rotation
B
X-axis mechanical stopper position: +/-131°Y-axis mechanical stopper position: +/-167°
Signal wire ф13.4 (Note 2) (minimum bending radius R54)
Motor wire ф15.3 (Note 2) (minimum bending radius R92)
90°38+/-0.02
P.C.D.80
Hollow diameter ф18
4-ф6.6 through-hole
ф6H7through-hole
(300
)
(300
)
175
164
80 350 650 157 150 or more (Note 1)
2
Z: 2
00 s
troke
Z: 4
50 s
troke3
(Not
e 3)
3 (N
ote
3)
(313.5)306272
255.5+/-2
ф95
ф50h7
3 (N
ote
3)
6.5
0
No.1No.3No.5No.7
No.10No.8
4152
No.4No.6
No.2
No.9
035.57494114140
4-ф5H7Depth 66-M5×0.8Depth 10 (Note 4)
130+
/-0.0
265+/-0.0240
65400
54+/-0.02
4552 25 17+/
-0.0
20 60250
6-ф14 (Note 5)
0
10H7
5
68
25+/-0.05
4-M6×1.0
50
45
ф10H7
260
( *N
ote
5)
68
50
68+/
-0.0
5
150
174190303308
519.5
800
250m
mor
mor
e (N
ote
1)
3 (N
ote
3)
1103(Z450)
837(Z200)
313.5262+/-2
0
3 (N
ote
3)3
(Not
e 3)
Z: 2
00 s
troke
ф25h7
Z: 4
50 s
troke
250m
m o
r mor
e (N
ote
1)
Tubing: ф4 Blue
Tubing: ф4 Black
Tubing: ф6 RedTubing: ф6 Black
For user wiring(0.2sq* 6-core): ф4.2
EtherNet cable: ф6.8
Wid
th
acro
ss
flats
: 24Holl
ow
diamete
r: ф18
ф25h7
33 45To
ol m
ount
ing ra
nge
10
R1000
R350
R325
R350
165°
130°
165°
165°13
0°
165°
R350
0- 0.021
No.5No.6
No.4No.3No.9No.1
No.81924
0103050
6988
51.3
108
4-M4×0.7(Board thickness t1.5)
View of A
Working envelope for standard type
+ 0.012 0
+ 0.015 0
+ 0.015 0 0
- 0.021
View of C
12+/-0.02
+ 0.012 0
0- 0.025
**
M20×2.5 Depth 20(Bottom of spline)
Across widths and R-axis origin position are irrelevant
Option: Tool adapter type Option: Specifications with built-in extension cable
* Extends approx. 300 mm from end of spline that is passed through inside.* Does not rotate together with spline during R-axis rotation.
X-axis Y-axis Z-axis R-axisAxis specifi cations
Arm length 650 mm 350 mm 200/450 mm -Rotation angle +/-130 ° +/-165 ° - +/-360 °
AC servo motor output 750 W 400 W 400 W 320 WMaximum speed 12.9 m/sec 2.8 m/sec 1020 °/secRepeatability Note 1 +/-0.02 mm +/-0.01 mm +/-0.004 °Maximum payload 21 kgStandard cycle time Note 2 0.38 secR-axis tolerable moment of inertia Note 3 1.05 kgm2
Wiring
IO1 Note 4 0.15 sq × 12 wires (no shield, straight)IO2 Note 5 0.2 sq × 6 wires (no shield, straight)IO3 Note 5 0.15 sq × 8 wires (shielded, twisted pair)EtherNet cable Note 4 0.15 sq × 8 wires (shielded, twisted pair)Lighting cable Note 4 0.5 sq × 4 wires (no shield, straight)
Tubing (Outer diameter)ф 4 × 2 Note 4
ф 6 × 2 Note 4
Travel limit 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Motor/Encoder cable 3 m, 6 m, 15 mWeight Note 6 36 kgController YHX series
Note 1. This is the value at a constant ambient temperature. Note 2. At horizontal direction 300 mm, vertical direction 25 mm reciprocation, 2 kg transfer, rough positioning arch motion.Note 3. The parameters for acceleration, etc., must be limited according to the moment of inertia.Note 4. Connect to rear side of body and plate on rear side of Y arm.Note 5. Connect to rear side of body and stay inside Y arm.Note 6. Does not include the weight of the motor/encoder cable.
Motor/Encoder cable
Tool adapter
Kit with built-in extension cable
Cable length Model3 m YKX-YHX-M3M6 m YKX-YHX-M6M15 m YKX-YHX-M15M
ModelYKX-OP-ZTA
Z-axis stroke Model200 mm YKX-OP-EXHNS-200450 mm YKX-OP-EXHNS-450
Maximum payload 21kg Arm length 1000mm
Note 1. Provide suffi cient space for maintenance behind and above the base.Note 2. Motor/Encoder cable must be secured on stationary surface.Note 3. Position to mechanical stopper at Z-axis up end and down end.Note 4. When mounting tools using the user tap on the base of the Y-axis, include the tool weight
in the tip weight.
Note 5. Hole for mounting body. Fix with four or more M12 hex socket head bolts (points marked with * are mandatory). Bolts are not enclosed.
Note 6. The other party connector is an option. * Contact the YAMAHA Sales Offi ce for details.
10 YAMAHA YKX series 11YAMAHA YKX series
YKX1000
[Controller side]
Cable length selection (3 m / 6 m / 15 m) (50) (7)(23)(23)
(44.
4)
(40.6)
(24.
2)
(8)
Outline dimensions of motor/encoder cable
[Mounted on robot body]
3 m
6 m
15 m
KEP-M6211-30
KEP-M6211-60
KEP-M6211-F0
YKX-YHX-M3M
YKX-YHX-M6M
YKX-YHX-M15M
Part No.Cable length Model
M E M O