Transcript
Arm length 800mm
APPLICATION
YK800XG
Standard type: Large type
Maximum payload 20kg
Linear conveyor modules
RCX340-4
YK800XG Tool flange
Controller / Number of controllable axes
3L: 3.5m 5L: 5m 10L: 10m
Safety standard
Option A (OP.A)
Option B (OP.B)
Option C (OP.C)
R3
Controller
CE Marking
Regeneratizve unit
Expansion I/O
Network option
BB
iVY System
Gripper
Battery
P.495
Arm length Axis specifications Rotation angle
Deceleration Motor to speed reducer mechanism Transmission method Speed reducer to output
400 mm
400 mm
200 mm 400 mm
–
+/-130 °
+/-150 °
–
+/-360 °
750 W
400 W
400 W
200 W
Ball screw
Harmonic drive
Harmonic drive Harmonic drive
R-axis
Controller Power capacity (VA) Operation method
RCX340 RCX240-R3
Programming / I/O point trace / Remote command / Operation using RS-232C communication
2500
Direct-coupled Direct-coupled
Repeatability Note 1
+/-0.02 mm
+/-0.01 mm
+/-0.004 °
9.2 m/sec
2.3 m/sec 1.7 m/sec
920 °/sec
Maximum speed Maximum payload
20 kg 1.0 kgm2
User wiring
0.2 sq × 20 wires ϕ6×3
User tubing (Outer diameter) Travel limit
1.Soft limit 2.Mechanical stopper (X,Y,Z axis)
Our robot manuals (installation manuals) can be downloaded from our website at the address below: http://global.yamaha-motor.com/business/robot/
Weight
Z axis 200 mm: 52 kg Z axis 400 mm: 54 kg
SCARA robots
Standard: 3.5 m Option: 5 m, 10 m
YK-X
Robot cable length
Note 1. This is the value at a constant ambient temperature. (X,Y axes) Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.539. Note. Please consult YAMAHA when connecting other tubes and cables to the self-supporting machine harness.
If the robot enters the inside of R30 and corner of dimensions 100 and 250, the Z-axis upper end stopper or tool flange may be in contact with the base or the arm may be in contact with the machine harness. So, do not perform such motion.
220
189 99 99 220
°
Standard type Z-axis lower end mechanical stopper position
0 Hollow diameter: ϕ18
21 25 46 M4 ground terminal D-sub connector for user wiring (No.1 to 20 usable)
12 48 48
36 M20 x 2.5 Depth20 (Bottom of spline)
R27 (Min. cable bending radius) Do not move the cable.
4-ϕ9
Controller
YK800XG Z200mm Stroke specification
00 R8
X-axis mechanical stopper position: 132° Y-axis mechanical stopper position: 152°
Keep enough space for the maintenance work at the rear of the base. 15
R4
140(150) Values shown in ( ) For tool flange specifications
141° Working envelope of right-handed system
Option: Tool flange mount type
54
00
100
202 (225)
2
0 (Base installation surface)
Cross section A-A 4-M4 x 0.7 through-hole for tool attachment Four M4 x 10L binding screws are supplied. Do not screw the screws in deeper than 10mm from bottom surface of arm.
202 (225)
° 150 74 54 47 34 19 0
07
R40 0 R30
6.5 ϕ50
ϕ95
400
200
45 14
ϕ55 Flat surface has no phase relation to R-axis origin. Width across flats: 24
400 Z axis stroke 12 200 Z axis stroke 6mm rise during Z-axis return-to-origin
User tool installation range
0 h7 - 0.025
R2
YK800XG Z400mm Stroke specification
RCX340 u 508 RCX240 u 495
Dust-proof Small / Orbit / Tiny Wall-mount / & drip-proof type type Medium type Large type inverse type
0 ϕ25h7 -0.021
↑ B
User tubing 1 (ϕ6 Black) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 Blue)
°
A
339.5 219 202.2 254.5 219
130
268
99
A
ϕ65
476
53
98
250
130 90°
40
2 .0
40
±0
12
If the robot enters the inside of R30 and corner of dimensions 100 and 250, the Z-axis upper end stopper or tool flange may be in contact with the base or the arm may be in contact with the machine harness. So, do not perform such motion.
°
120
View of B
CONTROLLER INFORMATION
Values 141° shown in ( ) For tool flange Working envelope of specifications left-handed system
711 Maximum 770 during arm rotation 86
°
Machine harness
130
0
140(150)
02
. ±0
790 Z200mm Stroke
+0.012 0 through-hole
R40 R30
38
ϕ6 H7
CLEAN
0°
15
00
100
40
r ϕ18
128
07 R2
R4
4-ϕ6.6 through-hole
Hollo diamew te
990 Z400mm Stroke
00
4-ϕ14 M12 bolt for installation, 4bolts used
40
63
50 145 75 170 245 (base size)
R8
User tubing 1 (ϕ6 Black) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 Blue)
130
400
250
400 D-sub connector for user wiring (No. 1 to 20 usable)
161
80
0
Pick & place robots
YP-X
YK800XG
440 368 333.5 319.5 278 273 208.7±2
Cartesian robots
0.48 sec
R-axis tolerable moment of inertia Note 3
XY-X
Standard cycle time: with 2kg payload Note 2
Note. "Harmonic" and "Harmonic drive" are the registered trademarks of Harmonic Drive Systems Inc. Note. The movement range can be limited by changing the positions of X and Y axis mechanical stoppers. (The movement range is set to the maximum at the time of shipment.) See our robot manuals (installation manuals) for detailed information. Note. To set the standard coordinates with high accuracy, use a standard coordinate setting jig (option). Refer to the user’s manual (installation manual) for more details.
PHASER
Speed reducer
Z-axis
Linear motor single-axis robots
AC servo motor output
Y-axis
FLIP-X
Controller X-axis
Single-axis robots
Specify various controller setting items. RCX 240/RCX 240 S
Specifications
Absolute battery
P.508
Specify various controller setting items. RCX340
RCX240
Option E (OP.E)
Option D (OP.D)
Compact single-axis robots
No entry: None F: With tool flange
Cable
TRANSERVO
Z axis stroke 200: 200mm 400: 400mm
Model
LCM100
Ordering method
363