PICK & PLACE ROBOTS. Full line-up of 6 models in all from 2 axes type to 4 axes type. Structure X axis Y axis Z axis R axis

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1 Product Lineup YP-X Series PICK & PLACE ROBOTS Ideal for high-speed pick & place tasks using small parts! Positioning is by servo control so no complex mechanical adjustments are needed! Full line-up of 6 models in all from 2 axes type to 4 axes type 2 axes type P axes P axes P.345 type type YP220BX/YP320X YP220BXR/YP320XR/YP330X YP340X Model Axes Structure X axis Y axis Z axis R axis Maximum payload (kg) Cycle time (sec) Detailed info page YP220BX Belt - Belt P axes YP320X Ball screw - Belt P.341 YP220BXR Belt - Belt Rotation axis P.342 YP320XR 3 axes Ball screw - Belt Rotation axis 1 0. P.343 YP330X Ball screw Ball screw Belt P.344 YP340X 4 axes Ball screw Ball screw Belt Rotation axis 1 0. P.345 Point 1 High speed High speed pick & place operation contributes largely to higher productivity. YP220BX under operation conditions of 50mm in vertical direction, 150mm in longitudinal direction, 50 in arch volume and 1kg load can achieve a total cycle time or.45 seconds. Since it is possible to output a signal to turn ON/OFF any external equipment from any position while the axis is moving, the actual production cycle time is further reduced second for 1 stroke 150mm 50mm 28

2 Point 2 size With a width of 109mm in width (YP220BX), it is possible to make the production line small and simple. The moving arm structure with less interference area in periphery contributes to saving space. Reference example of comparison of robot layouts Comparison of space occupied by the YP-X series to the small-sized robot and robot allows you to realize the compactness of the YP-X series when they are installed on an assembly line. An assembly line using the pick & place excellent in space saving property An assembly line using the PXYx, Yamaha s compact size robot. Stroke of X axis: 250mm Stroke of Y axis: 250mm An assembly line usingthe YK250X, Yamaha s compact size robot. 574 Point 3 Point 4 High precision Complete absolute position system Both extremely high-speed performance and high precision of +/-0.02mm (YP320X, YP320XR, YP330X, YP340X) are assured. The complete absolute position system is standard, eliminating the need for origin return operation. Point 5 General use Due to YAMAHA's unique servo system, stop point setting and operation pattern can be programmed easily. Compared with cam type robot, this compact size provides outstanding applicability to production of multiple number of items in a small area. 29

3 APPLICATION single-axis Single-axis PICK & PLACE ROBOTS YP-X SERIES CONTENTS YP-X SPECIFICATION SHEET 338 Robot ordering method description 338 Robot ordering method terminology AXES YP220BX 340 YP320X AXES YP220BXR 342 YP320XR 343 YP330X AXES YP340X 345 single-axis Main functions P

4 APPLICATION single-axis Single-axis single-axis YP-X SPECIFICATION SHEET Type Model Maximum payload (kg) Cycle time (sec) Note 1 Structure Moving range Detailed info page 2-axes 3-axes YP220BX YP320X YP220BXR YP320XR 1 0. YP330X axes YP340X 1 0. X-axis Belt 200mm X-axis Ball screw 330mm X-axis Belt 200mm R-axis Rotation axis +/-180 X-axis Ball screw 330mm R-axis Rotation axis +/-180 X-axis Ball screw 330mm Y-axis Ball screw 150mm X-axis Ball screw 330mm Y-axis Ball screw 150mm R-axis Rotation axis +/-180 Note 1. Cycle time is the time required for moving back and forth 150mm (arch 50) and vertically 50mm (during rough positioning motion with 1kg load). P.340 P.341 P.342 P.343 P.344 P.345 Robot ordering method description In the order format for the YAMAHA pick & place YP-X series, the notation (letters/numbers) for the mechanical section is shown linked to the controller section notation. [Example] 2-axis specifications Mechanical YP220BX Robot cable length 3.5m YP220BX YP320X 3L 5L 10L YP340X 3.5m 5m 10m Mechanical section 5L Mechanical YP340X Robot cable length 5m RCX222 RCX240S Model Cable length Usable for CE Note 1. With the CE marking, it is not possible to select NPN or Ethernet. Note 2. Available only for the master. Note 3. Only when CC-Link or DeviceNet or Profibus was selected for I/O select 1 above. Ethenet can be selected in I/O select 2. 3 / 4 axis specifications Model Cable length YP220BXR YP320XR YP330X YP340X 3L 5L 10L 3.5m 5m 10m Note 1. Available only for the master. RCX240S Usable for CE Not required Expansion I/O NPN Standard I/O 16/8 RCX240S section No entry Standard E CE marking N CC BB Usable for CE No entry Standard E CE marking N N1 N2 N3 N4 P P1 P2 P3 P4 RCX222 Usable for CE Input/Output selection 1 Input/Output selection 2 Input/Output selection 1 N NPN Note 1 P PNP CC CC-Link DN DeviceNet PB Profibus EN Ethernet YC YC-Link Note 2 Expansion I/O Note 1 Standard I/O 16/8 (NPN) 40/24 (NPN) 64/40 (NPN) 88/55 (NPN) 112/72 (NPN) Standard I/O 16/8 (PNP) 40/24 (PNP) 64/40 (PNP) 88/55 (PNP) 112/72 (PNP) No entry N1 P1 EN Network option Battery No entry CC DN PB EN EP YC Not required NPN None Input/Output selection 2 None OP.DIO 24/16 (NPN) Note 1 OP.DIO 24/17 (PNP) EtherNet Note 3 Network option None CC-Link DeviceNet Profibus Ethernet EtherNet/IP YC-Link Note1 CC-Link 4 pcs No entry GR Gripper None Gripper BB Battery To find detailed controller information see the controller page. RCX222 P.431, RCX240 P

5 Model Cable length Usable for CE Input/Output selection 1 Input/Output selection 2 Expansion I/O Network option Gripper Battery Robot ordering method terminology Enter the robot unit model. Select the length of the robot cable connecting the robot and controller. 3L : 3.5m 5L : 5m 10L : 10m 2-axis specifications: Select the RCX / 4 axis specifications: RCX240S. CE marking is selectable. This is an RCX222 controller option. It allows selecting an expansion I/O board and network board adding to the standard I/O board. This is an RCX240S controller option. It allows selecting an expansion I/O board adding to the standard I/O board. This is an RCX240S controller option. It allows selecting a network board adding to the standard I/O board. You can select whether or not required you need the gripper. Absolute data backup battery (not required if using incremental specifications). APPLICATION single-axis Single-axis single-axis 339

6 APPLICATION YP220BX 2 axes single-axis Single-axis single-axis YP220BX RCX222 Model Cable length Usable for CE Inputs/Outputs selection 1 Inputs/Outputs selection 2 3L: 3.5m RCX222 No entry: Standard N: NPN Note 2 No entry: None 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16 10L: 10m CC: CC-Link (NPN) Note 2 DN: DeviceNet P1: OP.DIO24/17 PB: Profibus (PNP) EN: Ethernet EN: Ethernet Note 3 Note 1. Available only for the master. YC: YC-Link Note 1 Note 2. NPN cannot be selected if using CE marking. Note 3. Only when you have selected CC, DN or PB for Input/Output selection 1, you can select EN for Input/Output selection 2. Specifications X axis AC servo motor output (W) Z axis Repeatability Note 1 (mm) +/ /-0.05 Drive system Timing belt Timing belt Deceleration ratio (mm) Equivalent to lead 24 Equivalent to lead 20 Maximum speed Note 2 (mm/sec) Moving range (mm) Cycle time (sec) 0.45 Note 3 Maximum payload (kg) 3 Weight (kg) 17 RCX YP220BX M4 x 0.7 (for user installation) Coupling for air (ϕ6) (same four places on opposite side) Coupling for air (ϕ4) +X Robot cable Grounding terminal (M4) MAX ϕ (Note 1) /-2 (583) 490 (Installation side) (Note 1) Z stroke: 100 (57) 2 (Note 1) X stroke: (Note 1) Air tube detachable connection Tool plate 4-M5 x Note 1. Distance to mechanical stopper. Note 2. Return-to-origin on the YP220BX is by absolute reset. So the origin position must be set the first time (making initial settings) but after that is not required. 340 RCX222 u 431

7 YP320X 2 axes APPLICATION YP320X RCX222 Model Cable length Usable for CE Inputs/Outputs selection 1 Inputs/Outputs selection 2 3L: 3.5m RCX222 No entry: Standard N: NPN Note 2 No entry: None 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16 10L: 10m CC: CC-Link (NPN) Note 2 DN: DeviceNet P1: OP.DIO24/17 PB: Profibus (PNP) EN: Ethernet EN: Ethernet Note 3 Note1. Available only for the master. YC: YC-Link Note 1 Note2. NPN cannot be selected if using CE marking. Note3. Only when you have selected CC, DN or PB for Input/Output selection 1, you can select EN for Input/Output selection 2. Specifications X axis Z axis AC servo motor output (W) Repeatability Note 1 (mm) +/ /-0.05 Drive system Ball screw (C7 class) Timing belt Deceleration ratio (mm) Equivalent to lead 20 Equivalent to lead 25 Maximum speed Note 2 (mm/sec) Moving range (mm) Cycle time (sec) 0.57 Note 3, 0.78 Note 4 Maximum payload (kg) 3 Weight (kg) 21 Note 4. Reciprocating time in vertical direction (25mm) and longitudinal direction (300mm) with the arch amount of 25 (when executing rough YP320X 4-Coupling for air ϕ4 325 (650) (Note 1) Z stroke: 100 (57) 2 (Note 1) RCX X Warning Air tube detachable connection single-axis Single-axis single-axis Grounding 5 terminal (M4) (301) M8 x 1.25 Depth20 (Note 3) (123) 5 (Note 1) X stroke: (Note 1) M5 x Note 1. Distance to mechanical stopper. Note 2. Return-to-origin on the YP320X is by absolute reset. So the origin position must be set the first time (making initial settings) but after that is not required. Note 3. Do not use bolts longer than 20mm (robot bottom plate thickness). RCX222 u

8 APPLICATION YP220BXR 3 axes single-axis Single-axis YP220BXR RCX240S BB Model Cable length Usable for CE Expansion I/O Note 1 Network option Gripper Battery 3L: 3.5m No entry: Standard N, P: Standard I/O 16/8 No entry: None No entry: BB: 4 pcs 5L: 5m E: CE marking N1, P1: 40/24 CC: CC-Link None 10L: 10m N2, P2: 64/40 DN: DeviceNet GR: N3, P3: 88/56 PB: Profibus Gripper N4, P4: 112/72 EN: Ethernet EP: EtherNet/IP Note 1. Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected. YC: YC-Link Note 2 Note 2. Available only for the master. See P.39 for details on YC-Link system. single-axis Specifications X axis Z axis R axis AC servo motor output (W) Repeatability Note1 (mm) +/ / /-0.1 Drive system Timing belt Timing belt Ball Reducer Deceleration ratio (mm) Equivalent to lead 24 Equivalent to lead 20 1/18 Maximum speed Note 2 (XZ: mm/sec) (R: /sec) Moving range (XZ: mm) (R: ) /-180 Cycle time (sec) 0.62 Note 3 Maximum payload (kg) 1 R-axis allowable moment inertia (kgm 2 [kgfcms 2 ]) [0.01] Weight (kg) 19 YP220BXR 2-Coupling for air ϕ4 Grounding terminal (M4) ϕ (Note 1) / Z stroke: (Note 1) 2 (Note 1) X stroke: 200 RCX240S X 3 (Note 1) Air tube detachable connection 17.5 MAX. 700 Bottom plate Width across flat 7 C1 ϕ8h7 ϕ22 M5 x 0.8 Depth13 Note1. Distance to mechanical stopper. Note2. Return-to-origin on the YP220BXR is by absolute reset. So the origin position must be set the first time (making initial settings) but after that is not required. 342 RCX240S u 438

9 YP320XR 3 axes APPLICATION YP320XR RCX240S BB Model Cable length Usable for CE Expansion I/O Note 1 Network option Gripper Battery 3L: 3.5m No entry: Standard N, P: Standard I/O 16/8 No entry: None No entry: BB: 4 pcs 5L: 5m E: CE marking N1, P1: 40/24 CC: CC-Link None 10L: 10m N2, P2: 64/40 DN: DeviceNet GR: N3, P3: 88/56 PB: Profibus Gripper N4, P4: 112/72 EN: Ethernet EP: EtherNet/IP Note 1. Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected. YC: YC-Link Note 2 Note 2. Available only for the master. See P.39 for details on YC-Link system. single-axis Single-axis Specifications X axis Z axis R axis AC servo motor output (W) Repeatability Note 1 (XZ: mm) (R: ) +/ / /-0.1 Drive system Ball screw (C7 class) Timing belt Ball Reducer Deceleration ratio (mm) Equivalent to lead 20 Equivalent to lead 25 1/18 Maximum speed Note 2 (XZ: mm/sec) (R: /sec) Moving range (XZ: mm) (R: ) /-180 Cycle time (sec) 0. Note 3, 0.87 Note 4 Maximum payload (kg) 1 R-axis allowable moment inertia (kgm 2 [kgfcms 2 ]) [0.01] Weight (kg) 23 Note 4. Reciprocating time in vertical direction (25mm) and longitudinal direction (300mm) with the arch amount of 25 (when executing rough YP320XR 4-Coupling for air ϕ4 325 Grounding terminal (M4) (700) (301) (Note 1) (Note 1) Z stroke: (Note 1) RCX240S X X stroke: (Note 1) Warning MAX single-axis M8 x 1.25 Depth20 (Note 3) (123) 5 20 Width across flat 7 C1 ϕ8h7 ϕ M5 x 0.8 Depth13 Note1. Distance to mechanical stopper. Note2. Return-to-origin on the YP320XR is by absolute reset. So the origin position must be set the first time (making initial settings) but after that is not required. Note3. Do not use bolts longer than 20mm (robot bottom plate thickness). RCX240S u

10 APPLICATION YP330X 3 axes single-axis Single-axis YP330X RCX240S BB Model Cable length Usable for CE Expansion I/O Note 1 Network option Gripper Battery 3L: 3.5m No entry: Standard N, P: Standard I/O 16/8 No entry: None No entry: BB: 4 pcs 5L: 5m E: CE marking N1, P1: 40/24 CC: CC-Link None 10L: 10m N2, P2: 64/40 DN: DeviceNet GR: N3, P3: 88/56 PB: Profibus Gripper N4, P4: 112/72 EN: Ethernet EP: EtherNet/IP Note 1. Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected. YC: YC-Link Note 2 Note 2. Available only for the master. See P.39 for details on YC-Link system. single-axis Specifications X axis Y axis Z axis AC servo motor output (W) Repeatability Note 1 (mm) +/ / /-0.05 Drive system Ball screw (C7 class) Ball screw (C7 class) Timing belt Deceleration ratio (mm) Equivalent to lead 20 Equivalent to lead 20 Equivalent to lead 25 Maximum speed Note 2 (mm/sec) Moving range (mm) Cycle time (sec) 0.57 Note 3, 0.78 Note 4 Maximum payload (kg) 3 Weight (kg) 32 Note 4. Reciprocating time in vertical direction (25mm) and longitudinal direction (300mm) with the arch amount of 25 (when executing rough YP330X 4-Coupling for airϕ4 412 (650) (Note 1) 2 (Note 1) Z stroke: 100 (57) RCX240S X Warning Grounding terminal (M4) (319) (Note 1) X stroke: (Note 1) 16 5 (Note 1) Y stroke: (Note 1) (280) M5 x M8 x 1.25 Depth20 (Note 3) Note1. Distance to mechanical stopper. Note2. Return-to-origin on the YP330X is by absolute reset. So the origin position must be set the first time (making initial settings) but after that is not required. Note3. Do not use bolts longer than 20mm (robot bottom plate thickness). 344 RCX240S u 438

11 YP340X 4 axes APPLICATION YP340X RCX240S BB Model Cable length Usable for CE Expansion I/O Note 1 Network option Gripper Battery 3L: 3.5m No entry: Standard N, P: Standard I/O 16/8 No entry: None No entry: BB: 4 pcs 5L: 5m E: CE marking N1, P1: 40/24 CC: CC-Link None 10L: 10m N2, P2: 64/40 DN: DeviceNet GR: N3, P3: 88/56 PB: Profibus Gripper N4, P4: 112/72 EN: Ethernet EP: EtherNet/IP Note 1. Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected. YC: YC-Link Note 2 Note 2. Available only for the master. See P.39 for details on YC-Link system. single-axis Single-axis Specifications X axis Y axis Z axis R axis AC servo motor output (W) Repeatability Note 1 (XYZ: mm)(r: ) +/ / / /-0.1 Drive system Ball screw (C7 class) Ball screw (C7 class) Timing belt Ball Reducer Deceleration ratio (mm) Equivalent to lead 20 Equivalent to lead 20 Equivalent to lead 25 1/18 Maximum spee Note 2 (XYZ: mm/sec) (R: /sec) Moving range (XYZ: mm) (R: ) /-180 Cycle time (sec) 0. Note 3, 0.87 Note 4 Maximum payload (kg) 1 R-axis allowable moment inertia (kgm 2 [kgfcms 2 ]) [0.01] Weight (kg) 34 Note 4. Reciprocating time in vertical direction (25mm) and longitudinal direction (300mm) with the arch amount of 25 (when executing rough YP340X 4-Coupling for air ϕ (700) (Note 1) Z stroke: (Note 1) RCX240S X Warning 70 8 MAX. 750 single-axis Grounding terminal (M4) (Note 1) (319) X stroke: (Note 1) 16 5 (Note 1) Y stroke: (Note 1) 40 (280) M8 x 1.25 Depth20 (Note 3) 20 5 Width across flat 7 C1 ϕ8h7 ϕ M5 x 0.8 Depth13 Note1. Distance to mechanical stopper. Note2. Return-to-origin on the YP340X is by absolute reset. So the origin position must be set the first time (making initial settings) but after that is not required. Note3. Do not use bolts longer than 20mm (robot bottom plate thickness). RCX240S u