Transcript
APPLICATION
Electric gripper
LCM100
Linear conveyor modules
YRG Series Main functions P.72
Compact single-axis robots
TRANSERVO
Simple gripper operation and control via the YAMAHA robot language! Just install a gripper control board into the RCX240 controller and set the electrical gripper as an additional robot axis. YRG-4220W YRG-2810W
FLIP-X
Single-axis robots
YRG-2005W YRG-2020FS/YRG-2840FS
YRG-2020FT/YRG-2840FT
PHASER
Linear motor single-axis robots
YRG-2815S
XY-X
Cartesian robots
YRG-2005SS
YRG-4225S
YRG-2010S
YRG-2004T
YRG-2013T
YRG-2820T
YRG-4230T
Structure Double cam structure
Ball screw structure
Compact ball guide structure
Unique cam structure is simple and compact. The fingers work due to external force since no self-locking is used.
Unique double cam structure with gear. Simple design gives high gripping power yet body is compact.
Belt-driven ground ball screw delivers a long stroke with high efficiency and high precision.
Use of special cams provides light weight and compactness. Ideal for grasping and moving a round workpiece made of glass or similar material.
SCARA robots
YK-X
Single cam structure
YP-X
Pick & place robots
CLEAN
Features
CONTROLLER INFORMATION
1 Electric gripper for high-precision gripping power, positioning, and speed control YRG delivers gripping power control, speed and acceleration control, multi-point positioning, and measuring of workpieces, which have been difficult for air-driven devices. The YRG proves a flexible fit for a wide range of applications.
Robot positioner
2 Just one RXC240 controller can run it all
Pulse string driver
One multi-axis controller RCX240 unit can control all robot operations including a gripper. Needs no data exchange with the host device such as PLC, so set-up and start-up are amazingly simple.
6 Multi-point Control A maximum of 10,000 positioning points can be set.
7 Workpiece check function Utilizes the HOLD output signal to check if the gripper fails to grip a workpiece or drops it, without using a sensor.
8 Combination with a vision system supports wide ranging applications Even sophisticated systems can be easily configured by using the YRG series gripper in combination with a controller-integrated robot vision “iVY system”. Connection example Robot vision system: iVY System
Robot controller
3 Gripping power control Settable in 1% units from 30 to 100%.
Electric gripper
4 Measuring
Camera Lighting
Measures a workpiece by position sensing.
5 Speed control Option
Settable as needed in 1% units from 20 to 100% for speed and 1 to 100% for acceleration.
514
Electric gripper: YRG series
RCX240
APPLICATION
Compact single cam type
YRG-2005SS 8 7 Gripping power (N)
Compact single-axis robots
6 5 4
S
05S
2
FLIP-X
G YR
Single-axis robots
-20
3
1 0 30
100
• Graph shows a general guide to gripping power versus gripping power setting (%). Variations will appear in the actual gripping power.
PHASER
Cartesian robots
XY-X
• Hoding power control : 30 to 100% (1% steps) • Speed control : 20 to 100% (1% steps) • Acceleration control : 1 to 100% (1% steps) • Multipoint position control : 10,000 max. Note. Design the finger as short and lightweight as possible. Note. Set the parameters and holding power (%) of the holding movement command so that any excessive shock is not applied to the finger during operation. Note. When installing or uninstalling the finger, tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block. Note. Workpiece weight that is able to be held may greatly vary depending on the material, shape, and/or holding surface conditions of the finger.
40 50 60 70 80 90 Gripping power setting (%)
Linear motor single-axis robots
YRG-2005SS 5 30 (1.5) 1 (0.05) 3.2 100 20 (20) 1 (1) 50 +/-0.02 Linear guide 0.05 90
TRANSERVO
Model name Max. continuous rating (N) Holding Min. setting (% (N)) power Resolution (% (N)) Open/close stroke (mm) Max. rating (mm/sec) Min. setting (% (mm/sec)) Speed Resolution (% (mm/sec)) Holding speed (Max.) (%) Repetitive positioning accuracy (mm) Guide mechanism Max. holding weight Note 1 (kg) Weight (g)
Linear conveyor modules
Gripping power vs. gripping power setting (%)
LCM100
Basic specifications
Note 1. Design the weight of a workpiece to be held so that it is approximately 1/10 to 1/20 of the holding power. (Consider further allowance when moving and swinging the gripper that keeps holding a workpiece.)
Allowable load and load moment
My H
Pick & place robots
L
Mp
Mr
YP-X
L H
SCARA robots
F Mp My Mr
YK-X
Allowable load Allowable pitching moment Guide Allowable yawing moment Allowable rolling moment Max. weight (1 pair) Finger Max. holding position Max. overhang
F
YRG-2005SS N 12 N•m 0.04 N•m 0.04 N•m 0.08 g 10 mm 20 mm 20
• Mount the finger so that the allowable load and load moment of the guide do not exceed the values stated in the table above. • Make the adjustment so that the finger weight, holding length (L) from the installation surface to the holding point, and overhang (H) do not exceed the values stated in the table above. • Please contact your YAMAHA sales dealer for further information on combination of L and H.
CLEAN
YRG-2005SS
) 2- φ1H7 ( +0.010 0 Effective depth, 1.5
A
Wiring port and encoder cover (Heat shrinkable tube)
2-M3 Effective depth, 3 For installation
(12)
20.5±0.1 16
(16.5)
2-M2 Effective depth, 3.5 (For finger installation)
(29.3) (61.8)
B
11±0.1
10
8.5
2.5
9.5
14.5
11±0.1
6 1.5
(Positioning pin) (5.8) to 9
20
1.5 3.5
5±0.025 12 20.5±0.1
5 1
5
12 20.5±0.1
2.5 3
3
8
8 (0) to 4
View of A
2-M3 Effective depth, 3 For installation ) 2- φ1H7 ( +0.010 0 Effective depth, 1.5
Option
Note. Avoid extreme winding of the cable and fix the cable securely so that it does not move. Take appropriate measures so that any excessive force is not applied to the root of the cable.
Electric gripper
View of B
Robot controller
0 2- φ 1.5 -0.01
3.2st
8±0.03 6±0.03
4±0.03
Pulse string driver
3.5
Robot positioner
16 20.5±0.1
(44.2)
CONTROLLER INFORMATION
Connector
180±10 (Overall length of cable and connector)
515
APPLICATION
Single cam type
YRG-2010S/2815S/4225S Gripping power vs. gripping power setting (%) 60
Compact single-axis robots
TRANSERVO FLIP-X
Single-axis robots
PHASER
Linear motor single-axis robots
Model name YRG-2010S YRG-2815S YRG-4225S Max. continuous rating (N) 6 22 40 Holding Min. setting (% (N)) 30 (1.8) 30 (6.6) 30 (12) power Resolution (% (N)) 1 (0.06) 1 (0.22) 1 (0.4) Open/close stroke (mm) 7.6 14.3 23.5 Max. rating (mm/sec) 100 Min. setting (% (mm/sec)) 20 (20) Speed Resolution (% (mm/sec)) 1 (1) Holding speed (Max.) (%) 50 Repetitive positioning accuracy (mm) +/-0.02 Guide mechanism Linear guide Max. holding weight Note 1 (kg) 0.06 0.22 0.4 Weight (g) 160 300 580
50 Gripping power (N)
LCM100
Linear conveyor modules
Basic specifications
40 30
225
G-4
YR
20
S
S
-2815
YRG
10
YRG-2010S 0
XY-X
Cartesian robots
• Hoding power control : 30 to 100% (1% steps) • Speed control : 20 to 100% (1% steps) • Acceleration control : 1 to 100% (1% steps) • Multipoint position control : 10,000 max. Note. Design the finger as short and lightweight as possible. Note. Set the parameters and holding power (%) of the holding movement command so that any excessive shock is not applied to the finger during operation. Note. When installing or uninstalling the finger, tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block. Note. Workpiece weight that is able to be held may greatly vary depending on the material, shape, and/or holding surface conditions of the finger.
30
40 50 60 70 80 90 Gripping power setting (%)
100
• Graph shows a general guide to gripping power versus gripping power setting (%). Variations will appear in the actual gripping power.
Note 1. Design the weight of a workpiece to be held so that it is approximately 1/10 to 1/20 of the holding power. (Consider further allowance when moving and swinging the gripper that keeps holding a workpiece.)
Allowable load and load moment
SCARA robots
YK-X YP-X
Pick & place robots
Allowable load Allowable pitching moment Guide Allowable yawing moment Allowable rolling moment Max. weight (1 pair) Finger Max. holding position Max. overhang
F Mp My Mr
YRG-2010S 450 0.7 0.8 2.3 15 20 20
N N•m N•m N•m g mm mm
L H
YRG-2815S 350 0.5 0.6 2.8 30 20 25
F
YRG-4225S 600 1.1 1.3 8.6 50 25 30
My H
L
Mp
Mr
• Mount the finger so that the allowable load and load moment of the guide do not exceed the values stated in the table above. • Make the adjustment so that the finger weight, holding length (L) from the installation surface to the holding point, and overhang (H) do not exceed the values stated in the table above. • Please contact your YAMAHA sales dealer for further information on combination of L and H.
CLEAN
YRG-2010S/2815S/4225S A
CONTROLLER INFORMATION
4-U Effective depth,V For installation
7.5 TE
SC
12.5
A 5.5
) Depth 2 φ 3H7 ( +0.010 0
φ 6H7 ( +00.012 ) Depth 2
B
View of B
Installation surface
R
Q
2×4-U Effective depth VA For installation
A
RA 2×2-N Effective depthP For attachment installation
CB
2×4-U Effective depth VB For installation (Also installable on the opposite side.)
SA
Robot positioner
F
W
SB
AA
AB
Installation surface
Installation surface
L
14
Installation surface
M
2×1-N Effective depthP For attachment installation
Pulse string driver
Z
J
B
Installation surface
D
L
J
M YRG-2010S YRG-2815S
2-H
E
YRG-4225S View of A
G ED
Robot controller
A
YRG-2010S
Electric gripper Option
516
A
AA
AB
B
CB
D
17
17
17
12
27
2
E 0 9 -0.05
ED
F
G
20
71
8.4 to 16
H 0 ф3 -0.01
J
L
5
3.5
YRG-2815S
24
24
14
15
38
2
0 14 -0.05
25
78
9.6 to 23.9
0 ф3 -0.01
6
4.3
YRG-4225S
36
25
13
20
50
3
0 24 -0.05
40
86
12 to 35.5
0 ф4 -0.012
6.5
5.5
M
N
P
Q
R
RA
SA
SB
SC
TE
U
V
VA
VB
W
Z
YRG-2010S
12.1
M3
5
24
34
165+/-10
13
17
8.3
5
M3
5
6
6
61
2.2
YRG-2815S
15
M4
5
32
46
140+/-10
16
21
9.3
6
M4
6
8
8
69
2
YRG-4225S
17.4
M5
8
46
60
235+/-10
18
24
10.8
7.5
M5
7.5
8
10
72
3
APPLICATION
Double cam type
YRG-2005W/2810W/4220W
Linear conveyor modules
Gripping power vs. gripping power setting (%)
LCM100
Basic specifications
300
Model name YRG-2005W YRG-2810W YRG-4220W Max. continuous rating (N) 50 150 250 Holding Min. setting (% (N)) 30 (15) 30 (45) 30 (75) power Resolution (% (N)) 1 (0.5) 1 (1.5) 1 (2.5) Open/close stroke (mm) 5 10 19.3 Max. rating (mm/sec) 60 60 45 Min. setting (% (mm/sec)) 20 (12) 20 (12) 20 (9) Speed Resolution (% (mm/sec)) 1 (0.6) 1 (0.7) 1 (0.45) Holding speed (Max.) (%) 50 Repetitive positioning accuracy (mm) +/-0.03 Guide mechanism Linear guide Max. holding weight Note 1 (kg) 0.5 1.5 2.5 Weight (g) 200 350 800
Compact single-axis robots
200
Y
W
FLIP-X
810
G-2
YR
Single-axis robots
100
0
W
20
42
RG
150
50
5W
YRG-200
30
100
• Graph shows a general guide to gripping power versus gripping power setting (%). Variations will appear in the actual gripping power.
PHASER
40 50 60 70 80 90 Gripping power setting (%)
Linear motor single-axis robots
• Hoding power control : 30 to 100% (1% steps) • Speed control : 20 to 100% (1% steps) • Acceleration control : 1 to 100% (1% steps) • Multipoint position control : 10,000 max. Note. Design the finger as short and lightweight as possible. Note. Set the parameters and holding power (%) of the holding movement command so that any excessive shock is not applied to the finger during operation. Note. When installing or uninstalling the finger, tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block. Note. Workpiece weight that is able to be held may greatly vary depending on the material, shape, and/or holding surface conditions of the finger.
TRANSERVO
Gripping power (N)
250
Cartesian robots
XY-X
Note 1. Design the weight of a workpiece to be held so that it is approximately 1/10 to 1/20 of the holding power. (Consider further allowance when moving and swinging the gripper that keeps holding a workpiece.)
Allowable load and load moment
My H
Pick & place robots
L
Mp
YP-X
L H
N N•m N•m N•m g mm mm
F
YRG-4220W 2000 20.1 12 25.9 200 50 30
SCARA robots
F Mp My Mr
YRG-2810W 1000 8.1 4.8 7.8 80 30 20
YK-X
Allowable load Allowable pitching moment Guide Allowable yawing moment Allowable rolling moment Max. weight (1 pair) Finger Max. holding position Max. overhang
YRG-2005W 1000 6.7 4 5.1 40 30 20
Mr
• Mount the finger so that the allowable load and load moment of the guide do not exceed the values stated in the table above. • Make the adjustment so that the finger weight, holding length (L) from the installation surface to the holding point, and overhang (H) do not exceed the values stated in the table above. • Please contact your YAMAHA sales dealer for further information on combination of L and H.
CLEAN
YRG-2005W/2810W/4220W A
CONTROLLER INFORMATION
4-U Effective depthV For installation
7.5 TE
SC
A
12.5
φ 3H7
+0.010 0
) Depth 2
4-U Effective depth VA Installation surface For installation R Q 2×4-U Effective depth VB For installation CB A (Also installable on the opposite side.) SA Installation surface
View of B RA
SB
AA
X1 AB
Installation surface
2×4-N Effective depth P For attachment installation L
B
J
L
J
K
K
Robot positioner
F
W
5.5
) Depth 2 φ 6H7 ( +0.012 0
B
Installation surface
14
Installation surface
Pulse string driver
M Z
D
2-H
2×2-N Effective depth P For attachment installation
G
E ED
M YRG-4220W View of A
A
YRG-2005W
A
AA
AB
B
CB
D
17
17
17
12
27
2
E 0 9 -0.05
ED
F
G
20
74
10.6 to 15.6
J
K
L
0 ф4 -0.012
H
6
8
4.6
24
14
15
38
2
0 14 -0.05
25
80
12.6 to 22.6
0 ф5 -0.012
7
10
5.65
25
13
20
50
3
0 24 -0.05
40
90
17.0 to 36.3
0 ф6 -0.012
8
15
7.5
M
N
P
Q
R
RA
SA
SB
SC
TE
U
V
VA
VB
W
X
X1
Z
YRG-2005W
22.5
M3
5
24
34
165+/-10
13
17
8.3
5
M3
5
6
6
64
52
54
2.2
YRG-2810W
27.5
M4
5
32
46
140+/-10
16
21
9.3
6
M4
6
8
8
71
67
61
2
YRG-4220W
37
M5
8
46
60
235+/-10
18
24
10.8
7.5
M5
7.5
8
10
76
96
63
3
Option
24 36
Electric gripper
YRG-2810W YRG-4220W
Robot controller
YRG-2005W YRG-2810W
X
517
APPLICATION
Screw type strait style
YRG-2020FS/2840FS Gripping power vs. gripping power setting (%)
Compact single-axis robots
TRANSERVO FLIP-X
Single-axis robots
PHASER
Linear motor single-axis robots
Model name Max. continuous rating (N) Holding Min. setting (% (N)) power Resolution (% (N)) Open/close stroke (mm) Max. rating (mm/sec) Min. setting (% (mm/sec)) Speed Resolution (% (mm/sec)) Holding speed (Max.) (%) Repetitive positioning accuracy (mm) Guide mechanism Max. holding weight Note 1 (kg) Weight (g)
200
YRG-2020FS YRG-2840FS 50 150 30 (15) 30 (45) 1 (0.5) 1 (1.5) 19 38 50 50 20 (10) 20 (10) 1 (0.5) 1 (0.5) 50 50 +/-0.01 +/-0.01 Linear guide 0.5 1.5 420 880
180 160 Gripping power (N)
LCM100
Linear conveyor modules
Basic specifications
140 120 8 G-2
YR
80 60 40
020FS
YRG-2
20 0 30
XY-X
Cartesian robots
• Hoding power control : 30 to 100% (1% steps) • Speed control : 20 to 100% (1% steps) • Acceleration control : 1 to 100% (1% steps) • Multipoint position control : 10,000 max. Note. Design the finger as short and lightweight as possible. Note. Set the parameters and holding power (%) of the holding movement command so that any excessive shock is not applied to the finger during operation. Note. When installing or uninstalling the finger, tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block. Note. Workpiece weight that is able to be held may greatly vary depending on the material, shape, and/or holding surface conditions of the finger.
S
40F
100
40 50 60 70 80 90 Gripping power setting (%)
100
• Graph shows a general guide to gripping power versus gripping power setting (%). Variations will appear in the actual gripping power.
Note 1. Design the weight of a workpiece to be held so that it is approximately 1/10 to 1/20 of the holding power. (Consider further allowance when moving and swinging the gripper that keeps holding a workpiece.)
Allowable load and load moment
SCARA robots
YK-X YP-X
Pick & place robots
Allowable load Allowable pitching moment Guide Allowable yawing moment Allowable rolling moment Max. weight (1 pair) Finger Max. holding position Max. overhang
F Mp My Mr L H
N N•m N•m N•m g mm mm
F
YRG-2020FS YRG-2840FS 1000 1300 3.5 5 4.2 6 7.3 12.7 40 80 30 30 20 20
My H
L
Mp
Mr
• Mount the finger so that the allowable load and load moment of the guide do not exceed the values stated in the table above. • Make the adjustment so that the finger weight, holding length (L) from the installation surface to the holding point, and overhang (H) do not exceed the values stated in the table above. • Please contact your YAMAHA sales dealer for further information on combination of L and H.
CLEAN
YRG-2020FS/2840FS A
Connector DDK (DK-2100D-12R)
S
BD
S
T
CONTROLLER INFORMATION
C T
4-U Effective depth V For installation
4-U Effective depth V For installation
Q
RA SB
A
SB 4-M4 Effective depth 6 For installation
C
F
W
C
(3.5)
TA TC
B
TB
ф10H7 Depth 3 SA (20) Y
B A
SA
(12.5)
ф3H7 Depth 3
Robot positioner
2
WA
ф3H7 Depth 3
ф10H7 Depth 3
H
Z
H
Pulse string driver
G
K J
L
L
K
2×2-N Effective depth P For attachment installation
Robot controller
Note. Avoid extreme winding of the cable and fix the cable securely so that it does not move. Take appropriate measures so that any excessive force is not applied to the root of the cable.
M
M
Electric gripper Option
518
J
E ED
R
A
B
BD
C
D
ED
F
YRG-2020FS
22
12
15
12
2
14
E 0 -0.05
25
69
YRG-2840FS
30
15
20
16
2
18
0 -0.05
30
84
G
H
10.5 to 29.5 ф3 13 to 51
ф4
J
K
L
M
N
0 -0.01
6
12
4.5
27.5
M3
0 -0.012
8
14
5.5
34.5
M4
P
Q
R
RA
S
SA
SB
T
TA
TB
TC
TD
U
V
W
WA
Y
YRG-2020FS
5
30
76
175+/-10
27
27
4
9
24
24
30
12.5
M4
6
60
9
38
Z 2
YRG-2840FS
7.5
40
110
135+/-10
40
40
5
12
28
28
36
14
M5
7.5
72
12
55
3
APPLICATION
Screw type “T” style
YRG-2020FT/2840FT 200 180 140 120 100
YR
80
28 G-
40
FT
Single-axis robots
FLIP-X
60 40
020FT YRG-2
20 0 30
40 50 60 70 80 90 Gripping power setting (%)
100
• Graph shows a general guide to gripping power versus gripping power setting (%). Variations will appear in the actual gripping power.
PHASER
• Hoding power control : 30 to 100% (1% steps) • Speed control : 20 to 100% (1% steps) • Acceleration control : 1 to 100% (1% steps) • Multipoint position control : 10,000 max. Note. Design the finger as short and lightweight as possible. Note. Set the parameters and holding power (%) of the holding movement command so that any excessive shock is not applied to the finger during operation. Note. When installing or uninstalling the finger, tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block. Note. Workpiece weight that is able to be held may greatly vary depending on the material, shape, and/or holding surface conditions of the finger.
Compact single-axis robots
Gripping power (N)
160
Linear motor single-axis robots
YRG-2020FT YRG-2840FT 50 150 30 (15) 30 (45) 1 (0.5) 1 (1.5) 19 38 50 50 20 (10) 20 (10) 1 (0.5) 1 (0.5) 50 50 +/-0.01 +/-0.01 Linear guide 0.5 1.5 420 890
TRANSERVO
Model name Max. continuous rating (N) Holding Min. setting (% (N)) power Resolution (% (N)) Open/close stroke (mm) Max. rating (mm/sec) Min. setting (% (mm/sec)) Speed Resolution (% (mm/sec)) Holding speed (Max.) (%) Repetitive positioning accuracy (mm) Guide mechanism Max. holding weight Note 1 (kg) Weight (g)
Linear conveyor modules
Gripping power vs. gripping power setting (%)
LCM100
Basic specifications
Cartesian robots
XY-X
Note 1. Design the weight of a workpiece to be held so that it is approximately 1/10 to 1/20 of the holding power. (Consider further allowance when moving and swinging the gripper that keeps holding a workpiece.)
Allowable load and load moment
L
Mp
Pick & place robots
L H
My H
YP-X
N N•m N•m N•m g mm mm
SCARA robots
F Mp My Mr
YK-X
Allowable load Allowable pitching moment Guide Allowable yawing moment Allowable rolling moment Max. weight (1 pair) Finger Max. holding position Max. overhang
F
YRG-2020FT YRG-2840FT 1000 1300 3.5 5 4.2 6 7.3 12.7 40 80 30 30 20 20
Mr
• Mount the finger so that the allowable load and load moment of the guide do not exceed the values stated in the table above. • Make the adjustment so that the finger weight, holding length (L) from the installation surface to the holding point, and overhang (H) do not exceed the values stated in the table above. • Please contact your YAMAHA sales dealer for further information on combination of L and H.
CLEAN
YRG-2020FT/2840FT Connector DDK (DK-2100D-12R)
4-U Effective depth V For installation
A
SA
TA C
CONTROLLER INFORMATION
TA
SA
H
H G 4-U Effective depth V For installation
RA
A
S Q
ZA
A
SB
TE
(3.5)
L
J JA
E ED
TB
C
R
Pulse string driver
C
TC
(20)
Robot positioner
T
SB
W
S
4-U Effective depth V For installation 2×2-N Effective depth P For attachment installation
Z B
ф10H7 Depth 3
F
Y
M
Note. Avoid extreme winding of the cable and fix the cable securely so that it does not move. Take appropriate measures so that any excessive force is not applied to the root of the cable.
A
B
C
D
ED
F
YRG-2020FT
22
12
12
2
14
0 -0.05
25
39
G
H
YRG-2840FT
30
15
16
2
18
0 -0.05
30
52
Q
R
RA
S
SA
SB
T
TA
TB
TC
TD
TE
U
V
W
Y
Z
YRG-2020FT
30
76
175+/-10
27
27
4
24
9
24
30
12.5
12.5
M4
6
60
38
2
9
YRG-2840FT
40
110
135+/-10
40
40
5
28
12
28
36
14
14
M5
7.5
72
55
3
12
10.5 to 29.5 ф3 13 to 51
ф4
J
JA
K
L
M
N
0 -0.01
6
12
12
4.5
27.5
M3
P 5
0 -0.012
8
14
14
5.5
34.5
M4
7.5
Electric gripper
E
D
Robot controller
ф3H7 Depth 3
ZA
Option
519
APPLICATION
Three fingers type
YRG-2004T Gripping power vs. gripping power setting (%)
Compact single-axis robots
TRANSERVO FLIP-X
Single-axis robots
PHASER
Linear motor single-axis robots
Model name Max. continuous rating (N) Holding Min. setting (% (N)) power Resolution (% (N)) Open/close stroke (mm) Max. rating (mm/sec) Min. setting (% (mm/sec)) Speed Resolution (% (mm/sec)) Holding speed (Max.) (%) Repetitive positioning accuracy (mm) Guide mechanism Max. holding weight Note 1 (kg) Weight (g)
4
YRG-2004T 2.5 30 (0.75) 1 (0.025) 3.5 100 20 (20) 1 (1) 50 +/-0.03 Linear guide 0.02 90
3
Gripping power (N)
LCM100
Linear conveyor modules
Basic specifications
2 YRG
1
0
XY-X
Cartesian robots
• Hoding power control : 30 to 100% (1% steps) • Speed control : 20 to 100% (1% steps) • Acceleration control : 1 to 100% (1% steps) • Multipoint position control : 10,000 max. Note. Design the finger as short and lightweight as possible. Note. Set the parameters and holding power (%) of the holding movement command so that any excessive shock is not applied to the finger during operation. Note. When installing or uninstalling the finger, tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block. Note. Workpiece weight that is able to be held may greatly vary depending on the material, shape, and/or holding surface conditions of the finger.
04T -20
30
40 50 60 70 80 90 Gripping power setting (%)
100
• Graph shows a general guide to gripping power versus gripping power setting (%). Variations will appear in the actual gripping power.
Note 1. Design the weight of a workpiece to be held so that it is approximately 1/10 to 1/20 of the holding power. (Consider further allowance when moving and swinging the gripper that keeps holding a workpiece.)
Allowable load and load moment
SCARA robots
YK-X
Allowable load Allowable pitching moment Finger Max. weight (1 pair) Max. holding position
YRG-2004T N 6 N•m 0.02 g 10 mm 15
L
External force : Fb Distance of holding
External force : Fa Work : W
L
Finger
H
F = Fa + W × g M = Fb × L
Fa : Fb : W : g : H :
F : Load [N] M : Moment [N•m] L : Distance of point of external force application [m]
External force [N] External force [N] Workpiece weight [Kg] Gravity acceleration [m/s2] Distance of holding point [m]
CLEAN
2-M3 Effective depth 3 For installation
+0.010
2-ф1H7( 0 ) Effective depth1.5
5+/-0.05
9.5
13
2x2-M3 Effective depth 3 For installation The same size also applies to the opposite side.
3-M2 Effective depth 4 For finger installation 10 (1~)3 2.5
+0.010
9 +/-0.05
) Effective depth1.5 2x2-ф1H7( 0 The same size also applies to the opposite side. 13
6
Robot positioner
7
ф2
Pulse string driver
4+/-0.03
10
22
1.5
0° 12
1.5 ф1.5h7
22
6
4h7
CONTROLLER INFORMATION
8
6.5
YRG-2004T
1.5
1.5
12
0°
2st
3
44.9 13.5
Robot controller
(61.4)
180 +/-10 Connector DDK(DK-2100D-12R)
2-ф1H7( +0.010 ) 0 Effective depth1.5
6.5
8
9.5
Electric gripper Option
2-M3 Effective depth 3 For installation
520
13
5 +/-0.05
YP-X
Pick & place robots
• When the external forces Fa and Fb are applied to a potion the distance (L) apart from the finger installation surface, the load (F) and moment (M) are calculated from the formulas shown below.
Note. Avoid extreme winding of the cable and fix the cable securely so that it does not move. Take appropriate measures so that any excessive force is not applied to the root of the cable.
APPLICATION
Three fingers type
YRG-2013T/2820T/4230T 4 Gripping power (N)
3 2
T 013 G-2 R Y
1
15
G YR
10
-42
30T
-28 YRG
5
20T
• Graph shows a general guide to gripping power versus gripping power setting (%). Variations will appear in the actual gripping power.
FLIP-X
0 30 40 50 60 70 80 90 100 Gripping power setting (%)
Single-axis robots
0 30 40 50 60 70 80 90 100 Gripping power setting (%)
20
Compact single-axis robots
Gripping power (N)
25
TRANSERVO
Model name YRG-2013T YRG-2820T YRG-4230T Max. continuous rating (N) 2 10 20 Holding Min. setting (% (N)) 30 (0.6) 30 (3) 30 (6) power Resolution (% (N)) 1 (0.02) 1 (0.1) 1 (0.2) Open/close stroke (mm) 13 20 30 Max. rating (mm/sec) 100 Min. setting (% (mm/sec)) 20 (20) Speed Resolution (% (mm/sec)) 1 (1) 1 (1) 1 (1) Holding speed (Max.) (%) 50 50 50 Repetitive positioning accuracy (mm) +/-0.03 Guide mechanism Linear guide Max. holding weight Note 1 (kg) 0.02 0.1 0.2 Weight (g) 190 340 640
Linear conveyor modules
Gripping power vs. gripping power setting (%)
LCM100
Basic specifications
PHASER
Linear motor single-axis robots
XY-X
Cartesian robots
• Hoding power control : 30 to 100% (1% steps) • Speed control : 20 to 100% (1% steps) • Acceleration control : 1 to 100% (1% steps) • Multipoint position control : 10,000 max. Note. Design the finger as short and lightweight as possible. Note. Set the parameters and holding power (%) of the holding movement command so that any excessive shock is not applied to the finger during operation. Note. When installing or uninstalling the finger, tighten the bolts while the finger is being held securely so that any excessive force or shock is not applied to the guide block. Note. Workpiece weight that is able to be held may greatly vary depending on the material, shape, and/or holding surface conditions of the finger. Note 1. Design the weight of a workpiece to be held so that it is approximately 1/10 to 1/20 of the holding power. (Consider further allowance when moving and swinging the gripper that keeps holding a workpiece.)
Allowable load and load moment
Work : W L
Finger
H
F : Load [N] M : Moment [N•m] L : Distance of point of external force application [m]
YP-X
Fa : Fb : W : g : H :
Pick & place robots
• When the external forces Fa and Fb are applied to a potion the distance (L) apart from the finger installation surface, the load (F) and moment (M) are calculated from the formulas shown below. F = Fa + W × g M = Fb × L
External force [N] External force [N] Workpiece weight [Kg] Gravity acceleration [m/s2] Distance of holding point [m]
CLEAN
YRG-2013T/2820T/4230T S
4-U Effective depth V
SCARA robots
L
External force : Fb Distance of holding
External force : Fa
YK-X
Allowable load Allowable pitching moment Finger Max. weight (1 pair) Max. holding position
YRG-2013T YRG-2820T YRG-4230T N 20 30 50 N•m 0.1 0.2 0.4 g 20 30 50 mm 20 30 40
For installation T
CONTROLLER INFORMATION
ф3H7 Depth 2
ф6H7 Depth 2 AA BK
4-K Effective depth L For installation
H
A (5.5)
HB
NA
G
Connector DDK (DK-2100D-12R)
B BH
BJ WA W
BF Effective depth BG For attachment installation
(W)
E 50
F 19
G
H
HA
HB
J
K
L
N
42
17
13
13
17
M3
6
17
YRG-2820T
58
19
46
32
66
25
40
24
16
16
24
M4
8
14
59
25
60
46
86
34
45
25
18
18
36
M5
8
13
NA
NB
P
Q
R
S
T
U
V
W
WA
AA
YRG-2013T
17
72
27
M3
6
17
17
M3
5
11.4 to 4.6
6.8st
12
10
YRG-2820T
21
80
38
M4
8
24
24
M4
6
15.9 to 5.6
10.3st
15
10
0 -0.02
YRG-4230T
24
88
50
M5
10
36
36
M5
7.5
21.9 to 6.6
15.3st
20
14
0 -0.02
BA
BB
D 24
YRG-2013T
BB
BC
BD
BE
BF
BG
BH
16
2.5
10
3x1-M3
8
2
3x2-M3
6
3x2-M4
8
YRG-2820T
19.5
2.5
6
*** 8
YRG-4230T
22.5
2.5
6
10
BJ
BA 0 -0.02
BK
BL
165+/-10
8.3
ф3
0 -0.01
2
ф3
0 -0.01
140+/-10
9.3
3
ф4
0 -0.012
235+/-10
10.8
Option
0°
C 34
Electric gripper
12
BC
B 19
YRG-4230T
F E
A 50
Robot controller
0° 12 BE BD
YRG-2013T
Pulse string driver
Note. Avoid extreme winding of the cable and fix the cable securely so that it does not move. Take appropriate measures so that any excessive force is not applied to the root of the cable.
Robot positioner
NB
H
D J
BL
C P
N
HA
2x4-Q Effective depth R For installation (Alsoinstallable on the opposite side.) 4-K Effective depth L J For installation
521
APPLICATION
YRG Series Robot language
LCM100
Linear conveyor modules Compact single-axis robots
TRANSERVO FLIP-X
Single-axis robots
The robot program can by itself perform tasks such as moving the gripper, controlling the speed, controlling the gripping power, measuring the workpiece, and acquiring each type of status without any data exchange with the host device such as PLC or I/O signals. It also makes device wiring work and debugging tasks more efficient since a sequence of all tasks involving conveying from robot axis movement to gripping the workpiece can be performed with a single program. Combining the YRG series gripper with the robot vision “iVY system” allows consistent control of all operations from image recognition to conveying workpieces. Other benefits are flexible usage in all types of applications as well as drastic reduction of the total number of required man-hours.
Command
Function Absolute GDRIVE movementposition position GDRIVEI Relative movement Absolute position GHOLD movement to grip workpiece Relative position GHOLDI movement to grip workpiece Constant speed GOPEN movement to grip workpiece (open) Constant speed GCLOSE movement to grip workpiece (close) return-toGORIGIN Gripper origin
PHASER
Linear motor single-axis robots
GSTATUS Acquire status
Electric gripper basic specifications
XY-X
Cartesian robots
Specifications Applicable controller RCX240 / RCX240S Basic specifications Number of connection grippers Max. 2 units (One unit per slot, max. 2 slots) Control method PTP motion
SCARA robots
YK-X
Axis control
0.01mm Pulses, mm (millimeters)
YP-X
Pick & place robots
20 to 100% (in 1% steps, Changeable by the program.) 1 to 100% Acceleration setting (in 1% steps, Setting by the acceleration parameter) MDI (coordinate data input), direct teaching, Programming Teaching teaching playback,offline teaching (data input from external unit) Speed setting
Moves at a constant speed to the stroke end in the open direction. Moves at a constant speed to the stroke end in the close direction. Returns the specified gripper to its origin position. Acquires status such as servo status, grip status, and status of current operation.
Gripper control board specifications
Item
Min. setting unit Position indication unit
Operation description Moves the gripper axis to an absolute position. Moves the gripper axis to a relative position. Moves to nearly the specified position, and then moves at the specified gripping speed to grip a workpiece. Moves to nearly the specified distance, and then moves at the specified gripping speed to grip a workpiece.
Item
Specifications No. of axes 1 axis Position detection Optical rotary encoder method Axis control Min. setting distance 0.01mm Set in the range of 20 to 100% to the max. Speed setting parameter speed. Overcurrent, overload, voltage failure, Protective alarm system failure, position deviation over, feedback error, etc. POWER (Green), RUN (Green), READY LED status indication (Yellow), ALARM (Red) Power supply Drive power DC 24V +/-10% 1.0A Max.
Accessories and part options CLEAN
Standard accessories
CONTROLLER INFORMATION
Gripper control board
Robot (for gripper) cable
Relay cable
Model
3.5m Model 5m 10m
0.5m 1m 1.5m 2m Model 2.5m 3m 3.5m 4m
KX0-M4400-F1
Note. This board includes a 24V supply connector and emergency stop connector.
Robot positioner
KCF-M4751-31 KCF-M4751-51 KCF-M4751-A1
Note. Be sure to adjust the total length of the robot (for gripper) cable and relay cable to 14m or less.
Pulse string driver Robot controller Electric gripper
Connector for 24V power supply
Connector for gripper emergency stop
Model
Model
Option
522
KCF-M5382-00
KCF-M5370-00
KCF-M4811-11 KCF-M4811-21 KCF-M4811-31 KCF-M4811-41 KCF-M4811-51 KCF-M4811-61 KCF-M4811-71 KCF-M4811-81
