ENGLISH. IM Operations 882 Soude, Naka-ku, Hamamatsu, Shizuoka , Japan Tel Fax

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1 ENGLISH Specifications and appearance are subject to change without prior notice. IM Operations Soude, Nakaku, Hamamatsu, Shizuoka 0, Japan Tel 13 Fax 111 URL DE

2 YMH ROBOT History and approach T RNSER V O Series LOSED LOOP STEPPING SINGLEXIS ROBOTS P1 MOTOR years of proven reliability. YMH s robot development started as it was introduced in our motorcycle production line more than years ago. Since then, YMH s industrial robots have supported production equipment in a wide variety of industries, such as assembly of electronic products, transfer of invehicle components, and manufacture of largescale LD panels. Over the years YMH has striven to develop and improve the market and this is a testament to YMH s reliability. ompact & economical singleaxis with cost of the stepping motor and SS Slide Inline model robot, TRNSERVO series, function of servo motor. (Slide ) SG Slide The position detector is a resolver The position detector is a resolver. The resolver has a simple yet strong structure using not electronic components or elements and so has great features such as being extremely tough in harsh environments as well as a low breakdown rate. The resolver structure has none of the detection problems that occur in other detectors such as optical encoders whose electronic components breakdown or suffer from moisture or oil that sticks to the disk. SR Rod Standard model with support guide Technical development based on the originally developed technologies and focusing on the needs of the market Motor control technology absolutely necessary for precise and highspeed operation ontroller development technology is based on the highest evaluation standards and Signal processing technology allowing stable operation even under extreme environmental conditions. Rigidity, durability, and operability are features of YMH s products base on oretechnologies*. *ontrol boards, linear motors, and linear scales (position detectors), etc. Evaluation system provides high reliability YMH continues to evaluate technology to assure product reliability. In the product development phase, the evaluation test at anechoic chamber * (YMH s equipment) was developed to ensure the high reliability and quality. *nechoic chamber: This equipment is intended to synthetically develop the EM (Electro Magnetic ompatibility) technologies for YMH Group products and to share the developed technologies. This equipment can evaluate the compliance with each country's regulation in conformity with the international standards. YMH quality ensuring safety Manufacturing, sales, and technology integrated system is utilized at its maximum level to establish a system that consistently performs a series of processes: inspection manufacture assembly inspection shipping. This can provide the customers with high quality, low price, and short delivery time. Key components are manufactured through inhouse processing and machining. YMH as a robot manufacturer builds the components to the highest quality level. Furthermore, the quality control based on the severe standards achieves the craftsmanship with high quality. STH losedloop control for position feedback Stepping motors provide great features such as low cost, yet they have a drastic drop in torque at high speeds and heavy current consumption when stopped. The TRNSERVO by YMH eliminates all these problems by adopting an innovative vector control method. In effect, the TRNSERVO delivers the same functions of a servo motor while using a lower cost stepping motor. Stepping Motors Servo Motors SS0HS Slide table Inline model STH0S STH0S Simple design & low cost No vibration when it stops Smooth movement onstant torque at all speed range Energy saver Highpitched operating noise Drop in torque at highspeed heavy current consumption when stopped. Dithering ost is high STH0R(L) STH0R(L) TRNSERVO is combines the best features of both s Dynamic payload capacity of kg (horizontal) and kg (vertical) s rigid table slide and motor are adopted, the payload is increased greatly. maximum payload of kg is achieved. Up to kg can be transferred even with the vertical specifications. SS0H Maximum payload of mm/sec. The maximum speed is made 1. times faster than that of the current model SS0H. The tactup of the equipment can be achieved. SS0S SG (Slider ) Features & Benefits kg current model SS0H SG07 Payload is increased about times. Maximum payload mm/sec SG07 mm/sec kg Maximum speed of the current model is increased 1. times. RF Rotary Standard model High rigidity model Optimizing vector control method, the TRNSERVO maintains a constant payload even in the highspeed range. This helps to drastically cut down on the tact time. By combining this feature with highlead ball screws, the TRNSRERVO has achieved a maximum speed of 1 meter per second Note which is as fast as singleaxis servo motors in the same categoly. Note : SS0/SS0H/SS0/SS0H (Leadmm) The guide maintains a satisfactory rolling movement with minimal ball differential slip, even if a large momentum load is applied or the installation surface accuracy (flatness) is bad. The rugged design ensures that breakdowns from problems like abnormal wear will seldom occur. Payload 0 Ordinary Must use only small payloads during high speeds Ideal row circulargroove point contact guide provides longer service life SR (Rod ) Features & Benefits Longterm maintenance free lubricator used in the ball screw and a contact scraper provides longlife and maintenancefree operation.maintenance free operation. Needs no maintenance for long periods Greasesaving lubrication system Prevents contaminant particles Layered contact scraper The duallayer scraper prevents microcontaminants adhering to the rod from penetrating to the inside. This is also effective in suppressing looseness or vibration in the rod. RF0 RF03 RF0 SS (Slide ) Features & Benefits Highspeed operation slashes production time BD Highspeed operation slashes production time! Payload is always constant! TRNSERVO Uses highly reliable resolver rugged and sturdy resolver is usedas the position sensor. ll models are selectable with a brake. SR0 SR0 SRD0 SRD0 SR0R SRD0U Speed(mm/s) Ball screw lubricator The lubricator contains grease in a highdensity fiber net so that it supplies just the right amount of grease where needed with no waste. Belt Inline model STH (Slider table ) Features & Benefits irculation linear guide for high rigidity and accuracy Maximum. pressing force 1N, Repeatability ±0.0mm.Integration of the guide rail and slider, this ensures less deflection. The circulation linear guide makes it possible to provide high rigidity and accuracy. STH0 provides an allowable overhang that exceeds T9 of the FLIPX series. lso, foldback models with the side mounted motor built into the body. The STH is optimal for precise assembly. BD0 BD0 BD07 RF (Rotary ) Features & Benefits First rotation axis model in TRNSERVO series /sec, Repeatability±0.0.The RF is a thin and electric rotary actuator. The two model s, standard and high rigidity, can be selected as the optimal applications. The RF has very easytouse specifications that allow easy installation of the workpiece on the table and installation on the base frame. This can be used for the rotation transfer after chucking or the vertical rotation operation by combining it with the gripper. BD (Belt ) Features & Benefits For long stroke applications Maximum stroke 00mm, mm/sec.this is applicable to a long stroke of up to 00 mm. The maximum transfer speed is mm/sec., ensuring highspeed operation. The main body can be conviniently installed without removing exterior parts, such as the cover. dditionally, the shutter is provided as standard accessory. It cover the guide and belt securely to prevent grease from scattering and to block entry to external foreign objects. This is optimal for workpiece positioning or longdistance transfer. Dowel pin for positioning Workpiece installation tap Body installation throughhole Guide rail and slider are integrated. High rigidity bearing reduces the free play in the radial and thrust directions of the table. High rigidity model The shutter, provided as standard accessory, protects the internal mechanisms. 0 YMH ROBOT LINE UP SS0HR(L) YMH ROBOT LINE UP 03 SS0R(L) SG07

3 F LIPX Series SINGLEXIS ROBOTS P19 P HSER Series LINER MOTOR SINGLEXIS ROBOTS P1 Singleaxis robot series include s and 9 variations for a wide range of selections. No speed deration needed up to m long stroke. Delivers superb performance in long distance transport. T ompact model TL/TLH, TL/TLH, TL, T9/T9H N Nut rotation model N1/N1D, N1/N1D F GF High rigidity model F/FL/FLH, F/FH, F1/F1H, F17/F17L, F/FN, GF1XL/GF17XL MF Long stroke & highpower using flat motor with core Double arriges Standard on all Modules Maximum stroke : 00mm : 00mm/s Repeated positioning accuracy :±µm Maximum payload : 7 to 10kg MF7 MF7D MF1 MF1D MF/D MF/D MF7/7D Double appeal of a compact body and low price. Ideal in applications as an actuator directly installed on a mount. The operation can be made even at a long stroke while keeping the maximum speed without being affected by the critical speed. Double carrier specifications are also available as a standard. Highly rigid aluminum frame is used, allowable load moment is large, and resistance to the offset load is provided. This model is suitable for the artesian robot that needs the rigidity for the arm and the moving arm that moves the overall axis. MR Shaft motor drive with the advantages of a lightweight compact body minimal cogging Double arriges Standard on all Modules B Timing belt drive model B, B1/B1H Maximum stroke length of 0mm. llows long distance transport between job processes. Position repeatability accuracy of +/seconds (0.003 ). The R can be used as the rotation axis when combined with other robots, or utilized for a wide range of applications such as index tables. Harmonic drive delivers highstrength and highaccuracy. Resolver with excellent environmental resistance capability Resolver with high reliability is adopted to detect the motor position. This enables stable position detection even in a harsh environment where powder particles or oil mists exist. dditionally, a high resolution of pulses per revolution is provided. Optical encoder Resolver R Rotary axis model R, R, R row circulargroove point contact guide to support large moment load. row circulargroove point contact guide with less differential slip is adopted. ccording to its structure, the differential slip of the ball is small when compared to the row gothicarchgroove point contact guide. This guide maintains excellent rolling motion even when a large moment load is applied or the installation surface accuracy is poor, and has characteristics that are difficult to produce a malfunction, such as unusual wear. onventional row gothic arch groove point contact guide YMH s row circular arc groove point contact guide Maximum stroke : 0mm : 00mm/s Repeated positioning accuracy : ±µm Maximum payload : kg omparison of singleaxis robot models Note1 Unit ost (mm/sec) MF7 F1701 B10 MR/D Low cost by YMH's inhouse design components. YMH originally developed the magnetic scale and still manufactures it. s YMH also manufactures other major components, large cost reduction is achieved. Today is an era that the linear is not a special mechanism and can be appropriately selected in comparison to the ball screw. Particularly, when transferring a lightweight workpiece a long distance at a high speed, selecting the linear motor will reduce the cost. 00 Payload (kg) speed MF7 : Linear motor Stroke Size accuracy speed maintenance Repeatability (µm) F17 : Ball screws Stroke Size accuracy speed maintenance Maximum stroke (mm) 000 B : Belt Stroke Size accuracy maintenance Frame dimension Note (mm) W H 7 Note 0 ± 10 W1 H0 1 (7) Note3 ± ±0 0 W0 H1 Optical Electronics parts are required and structure is complicated. Electronics part trouble, disc dew condensation, or oil sticking occurs easily. Risk of detection failure Magnetic Simple structure with only the iron core and winding ensures less potential failure. Highly resistant to impact and electric noise. High reliability ustom order specifications for each model are available. We gladly accept special orders for all models such as for double sliders or wide sliders. Please consult with our sales office for more information. Large differential slip, and large friction resistance Very susceptible to effects from poor installation precision, friction and elastic deformation Might break even within the calculated service life. Small differential slip and good selfcentering Highly resistant to alignment fluctuations and moment loads Resistant to breakage Longservice life greatly reduces the maintenance and control costs. YMH s highly rigid ball screw or guide greatly contributes to reduction of the customer s maintenance and control costs. The service life can be calculated based on the grounds at YMH s website. Note1 : omparisons when using the strokes shown above Note : No flexible cable guide is included. Note3 : This value becomes 7kg when the maximum speed is 00mm/s (0mm/s when transferring kg). Note : This value considers the critical speed when the stroke is 10mm. High speed, Long Travel The ultimate appeal of linear motor singleaxis robots is that there is no critical speed limits such as with ball screws. There is no reduction in the maximum speed even when traveling long distances. Moreover, the maximum stroke is a standard setting of up to m on the MR and to m on the MF. The cycle time in particular for long distance conveyance has been drastically improved Speed (m/s) Movement at fixed speed of. m/sec PHSER 00st/0kg PHSER (MF7) FLIPX (FN) Movement at fixed speed of 1. m/sec FLIPX Time (sec) Move profile of linear singleaxis PHSER and singleaxis robot FLIPX Standard double carrier setup for space saving and high efficiency. ost and space are reduced when compared to the use of two singleaxis robots. dditionally, the axis alignment is not needed and the tools can also be made common. This shortens the setup time. (When using the RX series controller, the anticollision control function can be used.) 10 kg maximum payload capacity of MF Series The MF series robot adopts the flat magnet. It can transfers a heavy object at a high speed with a high accuracy. Layout using units of ball screw single axis robots Space saving layout using a double carriage Lower noise level and longer life omparing with ball screw robots, there are few sliding and rotating sections so the operation is amazingly quiet. Moreover the coil and magnet do not make contact so there is no wear and the robot can be used for extended periods. 0 YMH ROBOT LINE UP YMH ROBOT LINE UP 0

4 X YX Series RTESIN ROBOTS P19 M ULTIFLIP / M ULTIPHSER MULTIXIS ROBOT Wide variety of preconfigured multiaxis systems to choose from. From compact economical light duty to Large heavy duty systems. rm Gantry Moving arm XZ Pole Dualsynchronous drive Various variations Equipped with the dual drive function to control axis in synchronization, which is of effective use for carrying heavy items and long stroke operation with the artesian robot. Note. For the dual drive function, custom order arrangement is required. ustom orders ustom designed multiaxis system is available. Please consult nearby YMH representatives. One controller for multiple singleaxis robots. The advantage of multiaxis controller operation Sequence control is simple. System upgrades are inexpensive. More compact and saves more space than when operating multiple singleaxis controllers. llows more sophisticated control. Multiaxis controllers RX1/RX0 provide mixed control of the (linear singleaxis) PHSER series and FLIPX series. [Example] axes controller 1st axis / MF1 nd axis / F1 3rd axis / 1 th axis / R Robot setup unit robot setting: Using a multitask program along with this unit setting allows asynchronous independent operation. Using this along with an auxiliary axis setting allows even more freedom in assigning axes to tasks. Synchronized double carrier: This setting allows adding motors to 1 axis on robot s where the motor unit runs separately such as the linear motor singleaxis PHSER series or the N (nut rotation ) FLIPX series. Main auxiliary axis setting: Use this auxiliary axis setting when simultaneous movement with the MOVE command is impossible. n axis set for the mainauxiliary axis moves only by the DRIVE command (axis separate movement command) and cannot operate from the MOVE command. Using this setting is recommended for operating on an axis that is not synchronized with the main robot. Synchronized dual setting: Make this setting when operating dual drive (axis simultaneous control). Use this dualdrive setting on gantry artesian robots having a long Y axis stroke when stabilizing at high acceleration/deceleration or when highthrust is needed with high loads. PXYx FXYx FXYBx SXYx MXYx SXYBx NXY NXYW Durable and Reliable Position Detection: Resolver The position detector is a resolver. The resolver has a simple yet strong structure using nonelectronic components or elements and so has great features such as being extremely tough in harsh environments as well as a low breakdown rate. The resolver structure has none of the detection problems that occur in other detectors such as optical encoders whose electronic components breakdown or suffer from moisture or oil that sticks to the disk. Moreover, mechanical specifications for both absolute and incremental are common to all controllers so one can switch to either absolute or incremental specifications just by setting a parameter. lso, even if the absolute battery is completely worn down, the XYX can operate on incremental specifications so in the unlikely event of trouble one can feel secure knowing that there will be no need to stop the production line. The backup circuit has been completely renovated and now has a backup period extending to 1 year. Economy Solution We achieved an even lower price by cutting down the number of parts while boosting basic performance. Using a resolver in the structure helped to finally eliminate the absolute units are expensive idea. Moreover, the mechanical components are the same regardless of whether incremental or absolute unit specifications are used. Field Serviceable Structure Even though it uses a builtin structure, components such as the motor and ball screw can be replaced individually so maintenance tasks are smooth and simple. HXYx HXYLx s with 3 or more axes can be selected from: Zaxis clamped base and moving table Zaxis clamped table and moving base row point groove guide rail for superb durability. row circulararcgroove point contact guide with less differential slip is adopted. When compared to the row gothicarchgroove point contact guide, the row circulararcgroove point contact guide has characteristics that the differential slip of the ball is small due to its structure and excellent rolling motion is maintained even when a large moment load is applied or the installation surface accuracy is poor. So this guide is difficult to produce a malfunction, such as unusual wear. row gothic arch groove point contact guide Large differential slip, and large friction resistance Very susceptible to effects from poor installation precision, friction and elastic deformation Might break even within the calculated service life. row circular arc groove point contact guide Small differential slip and good selfcentering Highly resistant to alignment fluctuations and moment loads Resistant to breakage Y PX Series PIK & PLE ROBOTS Ideal for highspeed pick & place tasks of small parts. Positioning by servo control to eliminate mechanical adjustment. axes 3 axes axes YPBX YP3X High speed High speed pick & place operation contributes largely to higher productivity.ypbx under operation conditions of 0mm in vertical direction, 10mm in longitudinal direction, 0 in arch volume and 1kg load can achieve a total cycle time or. seconds. YPBXR YP3XR YP3X 0. second for 1 stroke 10mm 0mm P YPX High repeatability Both extremely highspeed performance and high repeatability of +/0.0mm (YP3X, YP3XR, YP3X, YPX) are assured. ompact size ompact size with an overall length of 9mm (YPBX) and moving arm mechanism enable construction of a space saving production line with less interference with surroundings. 0 YMH ROBOT LINE UP YMH ROBOT LINE UP 07

5 Y KX Series SR ROBOTS rm length of 1mm to mm. Widest selection in industry. Highspeed highprecision operation contributes to increased productivity. Tiny SR model YK1XG, YK10XG YK1XG, YK1X YKX rm length : 1mm to mm Maximum payload : 1kg Medium YK0XG YKXG YK00XG rm length : 0mm to 00mm Maximum payload : kg Wallmount / inverse model YK0XGS, YK00XGS YK00XGS, YK00XGS YK700XGS, YK0XGS YK900XGS, YKXGS rm length : 0mm to mm Maximum payload : kg Years of history P The first robot YMH released was SR robot. Since that first SR robot called ME was produced in 1979, some years of SR robot innovations have been developed. These SR robots have undergone countless modifications in an everchanging marketplace and amassed a hefty record of successful products making them an essential part of the YMH robot lineup. Using a completely beltless structure exclusively this class, even ultrasmall model achieves the high rigidity and high accuracy. By increasing the maximum motor rpm, the maximum speed is improved remarkably when compared to the conventional model. 3%UP 1.m/s X Yaxis 3.3m/s Z axis YK00XR 0.7 Wallmount Type where the robot body is installed in the wall. YKXG YKXR YKXGS YKXGP 0.9 9%UP Existing models(yk1x) YK1XG rm length : 00mm Maximum payload : 3kg 1979 <YK7000> Inverse Type where wallmount is mounted upside down. Direct Drive beltless model Low cost high performance model Wall mount/inverse model Dustproof & dripproof model Medium YK00XGL / XG YK00XGL / XG/XGH Large YK700XGL YK700XG YK0XG YK900XG YKXG YKX rm length : 700mm to mm Maximum payload : kg to 0kg Note : YK700XGL is a custom order model. Please consult YMH representative for details. Dustproof & dripproof model YK0XGP, YKXGP YK00XGP, YK00XGP YK00XGLP, YK00XGP YK00XGLP, YK700XGP YK0XGP, YK900XGP YKXGP, rm length : 0mm to mm Maximum payload : kg Designed for applications in environment with water splash and dust (protection class equivalent to IP). Please consult us for antidroplet moisture protection for anything other than water. Note : YK700XGP/YK0XGP/YKXGP is a custom order model. Please consult YMH representative for details. Note : Example shown is YK00XG. High rigidity Independent spline shaft Specially developed hollow motor rm length : 00mm to 00mm Maximum payload : kg to kg Internal structure designed for optimal operation Harmonic gear used for rotary axis assures high rigidity and high accuracy Ball screw directly connected structure passed on from the single axis robot Builtin user wiring Builtin user tubing ompletely beltless structure totally beltless structure was achieved by using a ZR axis direct coupling structure. This direct drive structure drastically reduces wasted motion. It also maintains high accuracy over a long period of time. It ensures maintenancefree usage for extended periods with no worries about belt breakage, stretching or deterioration with age (feature applies to all XG series models and the YK1X/YKX). onventional model Vertical shaft motor Drive by pulley and timing belt Rotary shaft moto Rotary shaft hollow motor YKXG series Environmentally rugged resolver provides closed loop control Vertical shaft ball screw Vertical shaft motor (directly connected) Rotary shaft hollow speed reducer The position detector is a resolver. The resolver has a simple yet strong structure using not electronic components or elements so these features make the structure extremely tough in harsh environments with a low breakdown rate. The resolver structure has none of the detection problems that occur in other detectors such as optical encoders whose electronic components breakdown or suffer from moisture or oil that sticks to the disk. Moreover, mechanical specifications for both absolute and incremental are common to all controllers so one can switch to either absolute or incremental just by setting a parameter. lso if the absolute battery is completely worn down, the SR can operate on incremental. In the unlikely event of trouble one can feel secure knowing that there will be no need to stop the production line. The backup circuit has been completely renovated and now has a backup period extending to 1 year. Note : The resolver has a simple structure not using electronic components at all. It is highly resistant to low and high temperatures, impacts, electrical noise, dust particles, oil, etc. and is used in automobiles, trains, and airplanes. Optical encoder Optical Electronics parts are required and structure is complicated. Electronics part share trouble, with disc condensation, oil sticking. Risk of detection failure Resolver Magnetic Simple structure with only the iron core and winding ensures less potential failure. Highly resistant to impact and electric noise. High reliability Superior rotary axis inertia moment capacity SR robot performance is not limited to just standard cycle time. ctual work situations include a diverse range of heavy work pieces as well as work with large offsets. Using a low R axis inertia moment in those cases will help drastically cut the cycle time. ll YMH SR robots have a speed reducer directly coupled to the tip of the rotating axis. The R axis produces an extremely high allowable inertia moment which delivers high speed operation compared to structures where positioning is usually done by a belt after decelerating. YK1XG (R axis allowable moment inertia : 0.1kgfcm ) If the tip load weight is 1kg, it is possible to operate at about 0mm offset. R axis allowable inertia moment : omparing YK1XG with competitor s models Operation OK Figures when using 1kg load Offset (mm) Inertia (kgfcm ) Operation deviates from allowable range of catalog values Operation YK1XG orp R axis allowable inertia moment : YK1XG kgfcms orp kgfcms High speed The standard cycle time is fast of course but the YMH design also stresses cycle time in the actual usage region. drastic improvement in maximum speed was made by changing the gear ratio and maximum motor rpm. This also resulted in a better cycle time during long distance movement. XY axis Z axis R axis Hollow shaft option for easy routing of air tubes and harness wires.9m/s 7.m/s 1.7m/s.3m/s 7 /s Existing models YK00XG 1700 /s %UP 3%UP Hollow shaft and tool flange options are selectable Useful options include a hollow shaft for easy wiring to the tip tool and a tool flange for tool clamping. Note : YK0XG/YKXG/YK00XG/YK00XGL/YK00XGL 90%UP Tool flange option for easy mounting of a tool to the tip Improved maintenance features The covers on the YMH SR robot YKXG series can be removed from the front or upwards. The cover is separate from the cable so maintenance tasks are easy. On ordinary robots replacing the grease on the harmonic gear takes a great deal of time and trouble because the gear must be disassembled and position deviations might occur. On YMH SR robots however the harmonic gear is the greasesealed so no grease replacement is needed (YK 00XG to YKXG). Superior performance at low cost Earlier models are provided at YMH's lowest price without changing specifications. Features of wallmount / inverse ompletely beltless structure ensures high rigidity. s the conventional ceilingmount was changed to the wallmount, the flexibility of the system design is improved. This enables downsizing of the production equipment. dditionally, as the inverse allowing upward operation is added to the lineup, the flexibility of the work direction becomes wide. dditionally, completely beltless structure achieves a maximum payload of kg and a Raxis allowable inertia moment of 1kgm²* that is the maximum level in this class. large hand can also be installed. This robot is suitable for heavy load work. Note : YK700XGS to YKXGS Dustproof and Dripproof Bellows improved dust/drip proofing capability The conventional robot was renewed to a dustproof and dripproof completely beltless structure that can be used in a work environment where water droplets or dust particles scatter. Belt deterioration is eliminated and the robot is highly resistant to harsh environments. dditionally, using up/down bellows structure makes it possible to improve the dustproof and dripproof performance. Note : YK0XGP to YK00XGLP Equivalent to protection grade IP(IE09) Dustproof and dripproof connector for user wiring is available as a standard. YKXR YKXGS YKXGP 0 YMH ROBOT LINE UP YMH ROBOT LINE UP 09

6 Y K T W Series ORBIT TYPE SR ROBOT P YK T W YK 0 0T W LEN ROOM Type LEN ROBOTS P1 Superior Positioning ccuracy and High Speed Enables a smaller equipment footprint by eliminating the dead space at the center of the movement range. lass rating sealed structure reduces particle generation, and airintake efficiency improvement to establish both high cleanliness and high performance. YKTW can move anywhere through the full ϕ mm * work envelope. Featuring a ceilingmount configuration with a wide arm rotation angle, the YKTW can access any point within the full ϕ mm downward range. This eliminates all motionrelated restrictions with regard to pallet and conveyor placement operations, while dramatically reducing the equipment footprint. YKTW offers a repeated positioning accuracy of ±0.01 mm *1 (XY axes). Higher repeated posi t ioning accuracy than that of fered by a parallellink robot. This was accomplished by optimizing the robot's weight balance through an extensive redesign of its internal construction. The lightweight yet highly rigid arm has also been fitted with optimally tuned motors to enable high accuracy positioning. Y motor YKXG/X lean room SR robots rm length : 1mm to mm Intake air : to 0N /min Degree of cleanliness : LSS ISO3 (ISO11) LSS (FEDSTD9D) Maximum payload : kg B Speed reduction Movement range Ideal for narrow space applications Minimum installation width B 9mm Orbit SR robot B Standard SR robot R motor Hollow construction Ymotor and reduction gear feature a hollow construction which allows them to be housed inside the harness arm. Rotation. Z motor Optimized rotation center of gravity moment Weight balance was optimized by placing the Rmotor and Zmotor at the left and right sides respectively. Reduced inertia enables highspeed motion. Bellows on vertical axis improves reliability of the clean performance. YK0XG YK00XG The Zaxis spline is covered with bellows made of materials with lower dust emission and other sliding parts are sealed completely. The harness is also completely builtin and the suction inside the robot is performed from the rear of the base to prevent dust emission. FLIPX lean room Singleaxis robots Stroke : 0 to 0mm Intake air : 1 to 90N /min Note leanliness rating : LSS Maximum payload : 1kg (Horizontal installation) Note : L/LH, L/LH, and L conform to LSS ISO3 (ISO11). ompletely beltless structure improves rigidity. SS lean room Singleaxis robots (TRNSERVO) Stroke : 0 to 0mm Intake air : 1 to N /min leanliness rating : LSS Maximum payload : kg (Horizontal installation) 9mm Underpass motion Optimize use of the space right below the main unit YKTW offers both a lower profile and a smaller footprint. YKTW height is only 39 mm. This compact size enables more freedom in the equipment layout design. YK00TW YD11 L L L SS0 SS0 SS0H Perfect in narrow spaces between stations The tip (Raxis) is able to pass right below the main unit 39mm mm lean room specifications of FLIPX series. n appropriate model suitable for the application can be selected from 1 models ranging from lightweight and compact model to large model with a maximum payload of 1 kg. suction air joint is available as a standard, low dust emission grease is used, and stainless steel sheet with excellent durability is mounted on the slide table surface to achieve high cleanliness. lean room specifications of TRNSERVO series. Use of a newly developed vector control system with adoption of stepping motor makes it possible to achieve the functions and performances similar to the servomotor at a low cost. suction air joint is available as a standard, low dust emission grease is used, and stainless steel sheet with excellent durability is mounted on the slide table surface to achieve high cleanliness. Standard cycle time of 0.9 secs. * Yaxis (arm ) passes beneath the Xaxis (arm 1) and it has a horizontal articulated structure, allowing it to move along the optimal path between points. Moreover, the optimized weight balance of the internal components reduces the cycle time by 3 % as compared to previous models. YK00TW Previous YMH model Standard cycle time of 0.9 secs. Reduced by approx. 3 % ycle time The standard cycle time for moving a 1kg load horizontally 0 mm and up/down mm is shortened by approximately 3 % compared to existing YMH models. YKTW has a total height of only 39 mm, and weighs only 7 kg *. Lower inertia = Lighter frame YK00TW YD11 Weighs only 7 kg pprox. 7 % lighter 7kg n optional dedicated installation frame is available for the YKTW. For details, contact a YMH sales representative. Improved maintenance features XYX lean room cartesian robots Intake air : 0 to 90N /min Note leanliness rating : LSS Maximum payload : kg : mm/sec Note : User cable DSub pin connector conductors, 0.3 sq Note : User tube three air tubes. lean room applicable of artesian robot. Use of stainless steel sheets with excellent durability makes it possible to design the opening at its minimum level. The robot is applicable to LSS with less suction amount. Furthermore, as a superhigh speed unit of the SR robot is used for the ZRaxis of SXYx, the cycle time is greatly shortened. SXYx *1. pplies to the YKTW *. pplies to the YK00TW YMH ROBOT LINE UP YMH ROBOT LINE UP 11

7 ONTROLLERS ONTROLLERS i VY System ROBOT VISION FOR THE RX0 Wide range of control systems to choose from. From single axis positioner to multiaxis comprehensive absolute controller covering D Stepping Motor, Servo Motor, and Linear Motor. 1 axis axes 3, axes to axes up to 1 axes I/O point trace Remote command Pulse train Program (YMH SR language) I/O point trace Remote command Online instructions Program (YMH BSI language) I/O point trace Remote command Online instructions Program (YMH BSI language) I/O point trace Remote command Online instructions TRNSERVO Stepping motor TSS TSSD TSSH YLINK couples singleaxis controllers to a axis controller Note : Up to four SR1 series controllers can be connected to the RX series controller. Up to four RX controllers (up to 1 controllable axes) can be connected. D P ERD ll programs and settings are managed using the master. PL Master FLIPX TL/TL Small servo (V W) onnectable using LN cable. YLink/E Slave TSX RDVX SR1X RX P D ontrollers without program settings PHSER Generalpurpose servo Linear motor ( to 00W) Slave TSP RDVP SR1P RX1 P D RX0 RX0S RX Slave P TSX TSP D RX1 Robot positioner TSManager TSS TSSH Robot driver RDVX/RDVP Robot controllers 1 axis ERD RX TSSD SR1X axes 3 / axes VIP+ Simple operation only by specifying point number data The TS series are robot positioners that operate just by specifying a point No. and entering a STRT signal.these can do positioning or push operations without having to write a program. Speed changes can be made during movement by carrying out linked operation. Pulse train input driver for singleaxis robot s the operation with the robot language is omitted and the driver is dedicated to the pulse train input, the driver can be easily built into the automatic machine unit as a compact control unit. SR1P RX0/RX0S RX Diverse command methods Select an optimal method from the different command methods including program operation, point trace, remote command, and online command. Program uses the YMH SR language resembling BSI. Use it to execute a variety of operations ranging from simple tasks to I/O output and conditional branching, etc. Powerful support software The lowcost and highperformance TSManager was newly developed for the TS series. This single software performs all operations such as point data settings, editing, backup and teaching tasks. It also comes loaded with realtime trace functions such as current values, speed, load factors, current values, and voltage values. RXStudio Simple "plugandplay" set up with conveyor tracking features in one ivy system layout Gives you a readytogo robot controller equipped with an image processing function by just setting an ivy board in your axis robot controller RX0 or RX0S. Putting eyes in your robot allows you to search and take workpieces, find deviations in workpiece position and make corrections even in the case of large errors, expanding the range of applications. Ordinary robot vision omplicated troubleshooting Set up time and cost Requires expert vision knowledge amera cable ameras Robot Vision processor Lights Lighting power supply RS3 data transfer Robot ontrols using different programs MOVE P, P9 OFF LINE SEND (* *) TO MU SEND MU TO P ON LINE MOVE P, P RS3 Program in image processing device onnects to up to cameras and lighting units cameras Data transfer with image processing device Program in host PL lights onnects to up to encoders ivy board Vision board connects directly to bus Lighting control board Tracking board Encoder Encoder If using the ivy system ameras RX0 ivy board Lighting control board Simple plugandplay Reduced start up time Total system support by YMH amera cable Easy operation Lights Robot ontrols with just one robot program MOVE P, P9 VSERH 1,,0 P=VGETPOS(0) MOVE P, P dvantages: RX0 make a work search load the points move to that point No data communication time lag ontrollable with just the robot program Needs only a few lines of commands Simple and easy to understand Programming box RPB Software ivy Studio Select an optional tracking board or lighting control board (tracking board comes with lighting control function) Seamlessly integrated vision system in robot controller Other machine vision products on the market use different formats, so a coordinate conversion program had to be written into the controller. The ivy system has an integrated controller so robot point data is stored in one easy step. amera control and lighting control are handled by an integrated operation within the robot controller with an easy to understand operation that reduces the manhours needed for equipment startup. P Options Lighting control board Tracking board D camera LN cable (Shield crossing) amera cable Lens loseup ring Lens Tracking board D camera Super simple calibration (oordinate matching alignment tasks) onventional equipment combining image processing equipment + robot requires an extreme amount of time and trouble due to the task of calibration that aligns the camera coordinates with the robot coordinates. On the ivy system however the operator only has to follow conversation instructions from the programming box so operation is simple and finishes in a short time. The ivy system also automatically corrects these coordinates even if the robot installation position has changed during tasks such as clamping upward, clamping downward, clamping robot Z axis, and clamping the Scara robot Y arm. Just follow instructions on the Wizard! YMH ROBOT LINE UP YMH ROBOT LINE UP 13

8 i VY System ROBOT VISION FOR THE RX Y R G Series ELETRI GRIPPER P robotintegrated vision system means simplicity, high functionality, and reliability. Ease of original ivy, with greatly improved performance. Supporting fivemegapixel cameras (hoose from 0,000 pixel, 1.3 megapixel, megapixel and megapixel) Detailed edge detection is possible even if workpieces are even for a large workpiece, single search allows detection touching each other or have a improving takt. complex shape. Previous: 0,000 pixel camera New: 1.3 megapixel camera Previous: 0,000 pixel camera * New: twomegapixel camera System configuration illustration ivy Programming box PBX Monitor ivy unit Easy operation by YMH's robot language. Gripping power control djustable in 1% increment from to 0%. S Single cam Lightweight, compact, highspeed Measuring Measures a workpiece by position detection. Speed control djustable in 1% increment from to 0% for speed and 1 to 0% for acceleration. W Double cam High gripping force Multipoint ontrol Up to,000 points 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. Software ivy Studio (partial detail illustration) (partial detail illustration) * megapixel camera: Support is expected in March 1 s can be registered alculate the workpiece position and move directly Tracking start position ontinuous movement from up to down onveyor direction Workpiece pickup location Minimize movement distance Field of vision pproximately double the search speed (compared to previous model) The search speed is approximately double that of the previous model. Even a large number of workpieces can be detected at high speed.this can be used for a wide variety of applications, including molded plastic parts or food items. Setup changes require only that part numbers be changed. s (0 to 3) can be registered onveyor tracking capability up to 0 PM. The vision camera detects the position and orientation of parts on moving conveyor for pick & place application. Previous RX0 controller Example program (RX0) MOVE P,P1 TMOVE (1) TDRIVE(.0) Requires multiple operation commands With monitor output Moveup command, track workpiece command, and movedown command, in one. Operating conditions: YK00XG / Payload mass 1 kg (total of tool and workpiece) / Horizontal movement 0 mm / Vertical movement 1 mm / onveyer speed 0 mm/sec 1 YMH ROBOT LINE UP Unify of movement commandsds Sample workpiece Monitor the search status while making calibration settings or during automatic operation. onnectorshaped workpiece New RX controller Example program (RX0) TMOVE (1),Z=0.0,TZ=.0 Executed with a single command Workpiece position when tracking starts RX0+iVY 1.7ms RX+iVY 3.ms Robot Tracking board (when installed in option slot ) VD power supply Photoelectric or proximity sensor, etc. Encoder amera * The illustration above shows an example system with the tracking board and an ivy unit (when the lighting control board option is selected). * onnections to the STD.DIO, IN, and SFETY connectors are not shown in the above illustration. Lighting ontrol multiple robots for additional increase in productivity. RX+iVY Tracking board Information from one camera can be shared by multiple robots RX onveyor direction Program can differentiate by model, further increasing productivity Up to four units can be connected 0 PM / 1 unit x units (maximum 00 PM) Two robots can be controlled, allowing the downstream robot to deal with remnants YRG0SS YRGS YRG1S YRGS Screw Straight style High precision, long stroke YRGFS/YRGFS Pneumatic control Fine adjustment of the regulator is difficult. Electric control T style Gripping force can be set in a range of % to 0% in 1% increments. YRGFT/YRGFT The finger position can be set to a desired position corresponding to the workpiece size. This contributes to efficiency improvement of the line with workpiece size and material mixed or the line needing frequent setup. Pneumatic control Stroke loss is produced. Three fingers Electric control Stroke loss is not produced due to optimal positioning accuracy. ontributes to tactup. YRG0W YRGW YRGW ompact, high rigidity, long stroke YRG0T YRG13T YRGT YRGT Electric gripper for highprecision gripping force, positioning, and speed control YRG delivers gripping power control, speed and acceleration control, multipoint positioning, and measuring of workpieces, which have been difficult for airdriven devices. The YRG proves a flexible fit for a wide range of applications. Gripping force control Multipoint ontrol Workpiece presence check function The gripping force can be set in 1% increments. fragile or deformable workpiece, such as glass or spring can also be gripped. The gripping force is constant even when the finger position is changed. ontrollable with a single controller The gripper can be controlled with a single controller. Since there's no need for interchange with a PL or other host device, setup and startup is dramatically simpler. ombination with a vision system supports a wide range of applications s the YRG series is combined with controller integrated robot vision "ivy System", the operations from the positioning using the camera to workpiece handling can be controlled in the batch mode using the RX controller. Sophisticated systems can be easily configured. * an also be used with the RX0 controller The electric gripper outputs the HOLD signal. Missing workpiece gripping and workpiece drop during transfer can be checked. No external sensor is needed. Pneumatic control Workpiece missgripping or drop is judged by the sensor or image processing. Electric gripper: YRG series Electric control Workpiece drop can be judged. No external sensor is needed. Robot vision system: ivy System amera Lighting YMH ROBOT LINE UP 1

9 L M0 LINER ONVEYOR MODULES Basic specifications P Y Series VERTILLY RTIULTED ROBOTS P axis 7axis From "simple flow" to "controlled move" onstruct a rapidthroughput line for increased profitability. Smooth deceleration and stop Module system for easy line layout change transfer line is configured by connecting the number of necessary modules as required. Of course, new line configuration and line change can be started up speedily. dditionally, operations, such as shortening of the line, diversion of excess modules to other line, and storing of excess modules for the maintenance work can be performed. Transfer line is made shorter. Reduced transfer time Saves space Module is stored for maintenance. Production line using LM0 Vertical circulation mechanism Module is added. Increased yield Lower total costs Linear conveyor Belt conveyor Example of vertical circulation Direct positioning Workpiece on the slider is possible Highspeed movement Round corner move Removable slider Efficient move between tasks in line Narrow pitch movement is possible. Movement time can be reduced by combining the use of different move ments, such as using pitchfeed for the same processes inshorttime processes while transferring three workpieces at the same time at a high speed in longtime processes. Narrow pitch movement Highspeed movement Narrow pitch movement Increase productivity Ideal for constructing compact cells, moving and assembling small parts, or inspection processes. axis YRJ YR3F YRF YRLF YRF YUF YUF YUF Highspeed operation reduces cycle time Thanks to highspeed, lowinertia servo motors, an arm designed for light weight, and the latest control technology, these robots achieve an operating speed that is best in their class.from supply, assembly, inspection, and packing to palletization, all applications can enjoy shorter cycle time and improved productivity. Workpieces with a high wrist load are also supported With a wrist section that has the highest allowable moment of inertia in its class, these robots can support jobs involving a high wrist load, or simultaneous handling of multiple workpieces. 7axis Laxis rm Uaxis Body Raxis Baxis Taxis Saxis axis robots Saxis: Rotate the body horizontally Laxis: Move the body forward/backward Uaxis: Move the arm up/down Raxis: Rotate the arm Baxis: Move the tip of the arm up/down Taxis: Rotate the tip of the arm Transfer line is made longer. Highspeed movement and smooth deceleration stop using servo control prevent mechanical stopper collision. Smooth deceleration stop by servo control. Since workpiece deviation by stopper collision or damage is eliminated, the highspeed movement is possible. Highspeed movement Smooth deceleration stop ccurate stop Freedom in line configuration using flexible slider movement. LM0 can freely change the forward movement, backward movement, acceleration, and deceleration. s flexible operations, such as stopping at necessary location correctly. speed change, or moving only some sliders backward can be made, the line can be designed with a higher flexibility. Since the movement direction can be changed, the same processes are made common. ost reduction and compact equipment are achieved. B arriage is bidirectional. It eliminates duplicate process stations in line flow. Same processes are made common. Downsizing *The customer needs to manufacture return unit and circulation mechanism. <Process order> B Same processes are made common. Performing tasks directly on the conveyor Reduces operation time and work space = $$. onventional system Equipment space Equipment space Retracting the work Process Work space can be eliminated a work table an perform work on the slider Process Process B Have to retract the work from the pallet to the work table. Process B Downsized Process Process Dramatically reduce line setup time with a simulator We provide software that lets you use 3D D data to construct a production facility in virtual space in a personal computer, and easily perform engineering tasks such creating programs and checking for robot interference. Teaching can be performed even before the actual production line is completed, dramatically reducing line startup time. * Optional support 7axis Reduced space allows sophisticated system layouts Since these robots can be installed close to workpieces or other equipment, you can reduce the space required for your production facility. By locating multiple robots close to each other,processing can be integrated and shortened. 7axis 7axis "Elbow movement" unique to 7axis models allows optimal posture to be maintained The 7axis U robots allow "elbow movement," changing only the elbow angle without affecting the position or posture of the tool. This permits operation to avoid nearby obstructions. Interference checking program ccess the workpiece from the opposite side or from below Rotation of the seventh axis enables flexible movement with the same freedom of motion as a human arm, allowing the workpiece to be accessed from the opposite side or from below. This allows the robot to enter narrow locations that a person could not fit in, or to approach the workpiece in a way that avoids obstructions, giving you more freedom to design the layout for shorter cycle time and reduced space. Elbow movement with unchanged flange position Free arm movement further boosts productivity. 7axis robots Saxis: Rotate the body horizontally Body Laxis: Move the body forward/backward Laxis Eaxis: Twist the arm Uaxis: Move the arm up/down Raxis: Rotate the arm Baxis: Move the tip of the arm up/down Taxis: Rotate the tip of the arm ontroller Specifications Y0 onfiguration Dimensions Mass ooling System mbient Temperature Relative Humidity Power Supply * Grounding Digital l/os Positioning System Programming apacity Expansion Slots LN (onnection to Host) Interface ontrol Method Drive Units Painting olor * YRF: Threephase only. Uaxis rm Y0 ontroller Specifications Baxis Eaxis Saxis Raxis Taxis Standard: IP (open structure), Option: IP (dustproof housing) 70 (W) (D) 0 (H) mm (Protrusions are not included.) kg Direct cooling During operation: 0 to +0 During storage : to +0 90% max. (noncondensing) Singlephase 0/ V (+% to 1%), 0/0 Hz Threephase 0/ V (+% to 1%), 0/0 Hz Grounding resistance: 0 Ω or less Specialized signals: inputs and 1 output General signals : inputs and outputs Max. I/O (optional) : 1,0 inputs and 1,0 outputs By serial encoder JOB:,000 steps, 1,000 instructions IO ladder: 1,00 steps MP00 bus slots 1 (BSET/0BSETX) RS3: 1ch Software servo control Six axes for robots. Two more axes can be added as external axes. (an be installed in the controller.) Munsell notation Y7/1 (reference value) 1 YMH ROBOT LINE UP YMH ROBOT LINE UP 17