Transcript
YK900XG
Standard type: Medium type Arm length 900mm
Maximum payload 20kg
Ordering method
YK900XG
RCX240 Z axis stroke
Cable length
200: 200mm 400: 400mm
3L: 3.5m (Standard) 5L: 5m 10L: 10m
Model
R3 Usable for CE
Controller
No ent r y: Standard E: CE marking Note 1. Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected. Note 2. Available only for the master.
BB
Regenerative unit
Expansion I/O Note 1
Network option
R3: RGU-3
N, P: Standard I/O 16/8 N1, P1: 40/24 N2, P2: 64/40 N3, P3: 88/56 N4, P4: 112/72
No entry: None CC: CC-Link DN: DeviceNet PB: Profibus EN: Ethernet YC: YC-Link
Battery BB: 4 pcs
Specifications
Controller Controller
Available only for the master.
X-axis Arm length (mm) Axis specifications Rotation angle (°) AC servo motor output (W) Speed reducer
Y-axis
500
400
+/-130
+/-150
750
400
Z-axis 200
400
Controller Power capacity (VA) Operation method
–
–
Harmonic drive Harmonic drive
Deceleration Motor to speed reducer mechanism Transmission method Speed reducer to output
R-axis
Programming / I/O point trace (BCD) / Remote command / Operation using RS-232C communication
+/-360 RCX240-R3
400
200
Ball screw
Harmonic drive
2500
Direct-coupled Direct-coupled
Repeatability Note 1 (XYZ: mm) (R: °)
+/-0.02
Maximum speed (XYZ: m/sec) (R: °/sec)
+/-0.01 2.3
9.9
Maximum payload (kg)
+/-0.004
1.7
920
20
Standard cycle time: with 2kg payload Note 2 (sec)
0.49
R-axis tolerable moment of inertia Note 3 (kgm2)
1.0
User wiring (sq × wires)
0.2 × 20 ϕ6 × 3
User tubing (Outer diameter) Travel limit
1.Soft limit 2.Mechanical stopper (X,Y,Z axis)
Robot cable length (m)
Standard: 3.5 Option: 5,10
Weight (kg) (Excluding robot cable)
Z axis200mm: 54 Z axis400mm: 56
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. Note. Please consult YAMAHA when connecting other tubes and cables to the self-supporting machine harness.
YK900XG
220
130 189 99 220 99
128
R4
R4
00
4-14 4 M12 bolt for installation
150 ° Working envelope of left-handed system
130
2
Width across flats: 24
Hollow diameter : 18
53
6mm rise during Z-axis return-to-origin
0
74 54 47 34 19 0 M4 ground terminal
45 14
° 150 Working envelope of D-sub connector for right-handed system user wiring (No.1 to 20 usable) X-axis mechanical stopper position: 132° Y-axis mechanical stopper position: 152°
25
21 46
Cross section A-A
12
400 Z axis stroke 12 200 Z axis stroke
There is no phase relationship between flat face and origin of R axis.
Z-axis lower end mechanical stopper position
00
55
R4
R4
User tool
00
R25
339.5 User tubing 1 (6 Black) User tubing 2 (6 Red) 254.5 219 User tubing 3 (6 Blue)
installation range 0 25h7 -0.021
°
98 99
A
00
R9
476
A
130
711 Maximum 770 during arm rotation 86
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. 48 48
0
°
990 Z400mm Stroke 790 Z200mm Stroke
R252 00
150°
120
145 170 245 (base size)
°
63
50 75
130
00
User tubing 1 (6 Black) User tubing 2 (6 Red) User tubing 3 (6 Blue)
440 368 333.5 319.5 278 273 208.7+/-2
150°
°
500
R9
400 D-sub connector for user wiring (No.1 to 20 usable)
161
80
15
36 M20 x 2.5 Depth20 (Bottom of spline)
YK900XG Z200mm Stroke specification
www.yamaharobotics.com
YK900XG Z400mm Stroke specification
SCARA Catalog- 21
