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1 07738

2 YAMAHA ROBOT History and approach years of proven reliability YAMAHA s robot development was introduced as a motorcycle production line more than years ago. Since then, YAMAHA 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 YAMAHA has focused to develop and improve the market. This is a testament to YAMAHA s reliability. T RANSER STEPPING MOTOR SINGLEAXIS ROBOTS Quick selection table ompact & economical singleaxis rob having excellent characteristics of both SS Slide Inline model P1 Technical development based on the original technologies and focused on the needs of the market ontrol technology is 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 YAMAHA s products base on oretechnologies*. *ontrol boards, linear motors, and linear scales (position detectors), etc. Evaluation system provides high reliability YAMAHA continues to evaluate technology to assure product reliability. In the product development phase the evaluation test at anechoic chamber* (YAMAHA s equipment) was developed to ensure the high reliability and quality. *Anechoic chamber: This equipment is intended to synthetically develop the EM (Electro Magnetic ompatibility) technologies for YAMAHA 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. STH SS0HS SS0S SS0S New control method combines the best features of servo and stepping motors Stepping motors provide great benefits such as low cost, yet they have a drastic drop in torque at high speeds and heavy current consumption when stopped. The TRANSERVO by YAMAHA eliminates all these problems by adopting an innovative vector control method. In effect, the TRANSERVO delivers the same functions of a servo motor while using a lower cost stepping motor. Stepping Motors Servo Motors 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 Foldback model STH0R(L) STH0R(L) Highpitched operating noise Drop in torque at highspeed Heavy current consumption when stopped. Tiny vibrations when it stops ost is high YAMAHA 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, and shipping. This can provide the customers with high quality, low price, and short delivery time. Key components are manufactured through inhouse processing and machining. YAMAHA as a robot manufacturer builds the components to the highest quality level. Furthermore, the quality control based on the highest standards achieves superior craftsmanship. TRANSERVO combines the best features of both s The position detector is a 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. 0 YAMAHA ROBOT LINE UP 07738

3 VO Series ots, TRANSERVO series, the stepping motor and servo motor. Foldback model (Slide ) SR Rod Standard model Model with support guide SS0HR(L) SS0R(L) SS0R(L) SR0 SR0 SR03 SRD0 SRD0 SRD03 RF Rotary BD Belt Standard model High rigidity model Inline model RF0 RF03 RF0 BD0 BD0 BD07 SS Features & Benefits Highspeed operation slashes production time Making maximum use of advantages offered by the vector control method, the TRANSERVO 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 TRANSERVO has achieved a maximum speed of 1 meter per second Note which is as fast as singleaxis servo motors in the same category. Note : SS0/SS0H/SS0/SS0H (Leadmm) SR Features & Benefits Longterm maintenance free A 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 Payload Highspeed operation slashes production time! 0 Ordinary Must use only small payloads during high speeds Ideal row circulargroove point contact guide provides longer service life 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. 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. Highly reliable resolver A rugged and sturdy resolver is used as the position sensor. All models are selectable with a brake. TRANSERVO Payload is always constant! 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. STH Features & Benefits Use of a circulation linear guide makes it possible to provide high rigidity and accuracy Maximum. pressing force 180N, Repeatability±0.0mm. Integration of the guide rail and slide 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. Also available in foldback models with the side mounted motor built into the body. The STH is optimal for precise assembly. RF Features & Benefits TRANSERVO series first rotation axis model Maximum speed /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 Features & Benefits Belt applicable to long stroke Maximum stroke 00mm, Maximum speed 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 conveniently installed without removing exterior parts, such as the cover. Additionally, the shutter is provided as standard accessory. It covers 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 slide are integrated. Use of high rigidity bearing makes it possible to reduce the movement amount in the radial and thrust directions of the table. High rigidity model The shutter, provided as standard accessory, protects the internal mechanisms. YAMAHA ROBOT LINE UP 03

4 F LIPX Series SINGLEAXIS ROBOTS Quick selection table P17 This singleaxis robot series includes many models, s and 7 variations for a wide range of applications. T Frameless structure model N Nut rotation model F High rigidity frame model TL/TLH, TL/TLH, TL, T9/T9H N1/N1D, N18/N18D F8/F8L/F8LH, F, F1/F1H, F17/F17L, F/FN 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. B Timing belt drive model R Rotation axis model B, B1/B1H R, R, R Maximum stroke length of mm. Allows long distance transport between job processes. Position repeatability accuracy of +/ seconds ( ). 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 is adopted. Resolver with high reliability is adopted to detect the motor position. This enables stable position detection even in a poor environment where powder particles or oil mists exist. Additionally, a high resolution of 80 pulses per revolution is provided. Optical encoder Resolver row circulargroove point contact guide to support larger moment loads row circulargroove point contact guide with less differential slip is adopted. According 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. row gothic arch groove point contact guide row circular arc groove point contact guide 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 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 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. Longservice life reduces the maintenance and control costs greatly. As YAMAHA s robot adopts the highly rigid ball screw or guide, it has excellent durability. This can greatly contribute to reduction of the customer s maintenance and control costs. 0 YAMAHA ROBOT LINE UP 07738

5 P HASER Series LINEAR MOTOR SINGLEAXIS ROBOTS Quick selection table P1 No limit on critical speed even when using a maximum of m long stroke. Delivers superb performance during long distance conveyance. MF Long stroke & highpower using flat motor with core Double arriges Standard on all Modules Maximum stroke : 00mm Maximum speed : 00mm/s Repeated positioning accuracy :±μm Maximum payload : 7 to 10kg MF7 MF7D MF1 MF1D MF/D MF/D MF7/7D MR Shaft motor drive with the advantages of a lightweight compact body minimal cogging Double arriges Standard on all Modules Maximum stroke : 0mm Maximum speed : 00mm/s Repeated positioning accuracy : ±μm Maximum payload : kg MR1/1D Low cost is achieved as YAMAHA manufactures major components. YAMAHA originally developed the magnetic scale and still manufactures it. As YAMAHA 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. MF7 : Linear motor Stroke speed accuracy speed F17 : Ball screws Stroke accuracy speed B : Belt Stroke accuracy omparison of singleaxis robot models Size maintenance Size maintenance Size maintenance Note1 Model Appl ication ost Maximum speed (mm/sec) Payload (kg) Repeated positioning accuracy (μm) Maximum stroke (mm) Size Note (mm) MF7 00 (7) Note3 ± 000 W8 H80 F Note 0 ± 10 W18 H0 B ±0 0 W0 H81 Note 1 : omparisons when using the strokes shown above Note : No flexible cable guide is included. Note 3 : 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 PHASER 00st/0kg PHASER (MF7) FLIPX (FN) Movement at fixed speed of 1. m/sec FLIPX Time (sec) Movement time comparison of linear singleaxis PHASER and singleaxis robot FLIPX Double carrier is available as a standard that enables a system configuration with space saving and high efficiency. ost and space are reduced when compared to the use of two singleaxis robots. Additionally, 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.) High Payload on MF Maximum payload : 10kg The MF series robot adopts the flat magnet. It 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 Quiet with a long service life Unlike 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. YAMAHA ROBOT LINE UP 0

6 X YX Series ARTESIAN ROBOTS Quick selection table P1 Offering a full lineup of artesian robots that come with just the right performance and size to match user needs & ideal for diverse spectrum of job tasks. Arm Gantry Moving arm XZ Pole Dualsynchronous drive 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. Multiple variations PXYx FXYx FXYBx SXYx MXYx SXYBx NXY NXYW HXYx HXYLx Models with 3 or more axes can be selected from: Zaxis clamped base and moving table Zaxis clamped table and moving base Tough & highly reliable resolver The position detector is a resolver. The resolver has a simple yet strong structure using nonelectronic components or elements and has great benefits 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. Also 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. Uses a 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 row circular arc groove point contact guide Lower price 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. Streamlined maintenance tasks 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. 0 YAMAHA ROBOT LINE UP 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

7 M ULTIFLIP / M ULTIPHASER MULTI ROBOT Operation where one controller runs 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. Allows more sophisticated control. Multiaxis controllers RX1/RX0 provide mixed control of the (linear singleaxis) PHASER series and FLIPX series. [Example] axes controller 1st axis / MF1 nd axis / F1 3rd axis / 1 th axis / R Robot settings 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. 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 PHASER 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. An axis set for the main auxiliary 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. 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. Y PX Series PIK & PLAE ROBOTS Quick selection table P17 Ideal for highspeed pick & place tasks using small parts. Positioning is by servo control so no complex mechanical adjustments are needed. axes 3 axes axes YPBX YP3X YPBXR YP3XR YP3X YPX 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. 0. second for 1 stroke 10mm 0mm High precision Both extremely highspeed performance and high precision 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 YAMAHA ROBOT LINE UP 07

8 Y KXG Series SARA ROBOTS Quick selection table P18 Arm length of 1mm to mm. Fullselection lineup is top in the world. ompletely beltless structure pushing the SARA robot to its limits. Extra small SARA model Medium YK1XG, YK10XG YK180XG, YK180X YKX Arm length : 1mm to mm Maximum payload : 1kg Utilizing a completely beltless structure exclusively in this class, even our ultrasmall model achieves high rigidity and high accuracy. By increasing the maximum motor rpm, the maximum speed is improved remarkably when compared to the conventional model. YK00XGL / XG YKXGL / XG/XGH YK700XG, YK800XG YK900XG YKXG Arm length : 00mm to mm Maximum payload : kg to kg X Yaxis 1.8m/s 83%UP 3.3m/s Z axis %UP Existing models(yk1x) YK1XG Medium YK0XG YKXG YK00XG Arm length : 0mm to 00mm Maximum payload : kg Large YKX Arm length : mm Maximum payload : 0kg Wallmount / inverse model YKXGS, YK00XGS YK00XGS, YKXGS YK700XGS, YK800XGS YK900XGS, YKXGS Arm length : mm to mm Maximum payload : kg Dustproof & dripproof model YK0XGP, YKXGP YK00XGP, YK00XGP YK00XGLP, YKXGP YKXGLP, YK700XGP YK800XGP, YK900XGP YKXGP, Arm length : 0mm to mm Maximum payload : kg Wallmount Type where the robot body is installed in the wall. Inverse Type where wallmount is mounted upside down. Plays active part in an environment with much water or dust (protection class equivalent to IP). Please consult us for antidroplet moisture protection for anything other than water. Note: YK700XGP/YK800XGP/YKXGP will be manufactured on order. So, contact YAMAHA for further information on delivery time. History of years The first YAMAHA robots were SARA robots. Since the first SARA robot called AME was produced in 1979, some years of SARA robot innovations have continually appeared. These SARA robots have undergone countless modifications in an everchanging marketplace and amassed a hefty record of successful products making them an essential part of the YAMAHA robot lineup. 08 YAMAHA ROBOT LINE UP 1979 <YK7000> Internal structure designed for optimal operation Note : Example shown is YK00XG. High rigidity Independent spline shaft Specially developed hollow motor Harmonic gear used also for the tip rotary shaft ensures high rigidity and high accuracy Ball screw directly connected structure passed on from the single axis robot Builtin user wiring Builtin user tubing

9 ompletely beltless structure A 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 without concern of belt breakage, stretching or deterioration with age (feature applies to all XG series models and the YK180X/YKX). onventional model Vertical shaft motor Rotary shaft moto Rotary shaft hollow motor YKXG series Vertical shaft ball screw High speed cycle The standard cycle time is fast of course but the YAMAHA design also stresses tact time in the actual usage region. A drastic improvement in maximum speed was made by changing the gear ratio and maximum motor rpm. This also resulted in a better tact time during long distance movement. XY axis Z axis R axis.9m/s 7.m/s 1.7m/s.3m/s 87 /s Existing models YK00XG 1700 /s %UP 3%UP Hollow shaft and tool flange options 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/YKXGL 90%UP Vertical shaft motor (directly connected) Drive by pulley and timing belt Rotary shaft hollow speed reducer Environmentally rugged resolver provides closed loop control The position detector is a resolver. The resolver has a simple yet strong structure using nonelectronic components or elements. So these great features make the structure 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. If the absolute battery is completely worn down, the SARA can operate on incremental specifications. 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 Electronic parts are required and structure is complicated. Electronic part 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 Robot R axis inertia moment capacity SARA robot performance is not limited to just standard cycle time. Actual 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. All YAMAHA SARA 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 A orp. Hollow shaft option for easy routing of air tubes and harness wires R axis allowable inertia moment: YK1XG kgfcms A orp kgfcms Tool flange option for easy mounting of a tool to the tip Improved maintenance features The covers on the YAMAHA SARA 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 YAMAHA SARA robots however the harmonic gear is the greasesealed so no grease replacement is needed (YK 00XG to YKXG). Features of wallmount / inverse ompletely beltless structure ensures high rigidity As the conventional ceilingmount was changed to the wallmount, the flexibility of the system design is improved. This enables downsizing of the production equipment. Additionally, as the inverse allowing upward operation is added to the lineup, the flexibility of the work direction becomes wide. The 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. A large hand offset can also be installed. This robot is suitable for heavy load work. Note: YK700XGS to YKXGS Features of dustproof and dripproof Up/down bellows structure improves the dustproof and dripproof performance. The conventional robot was renewed to a dustproof and dripproof. It s 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. The use of up/down bellows structure makes it possible to improve the dustproof and dripproof performance. Note: YK0XGP to YKXGLP Equivalent to protection grade IP(IE09) Dustproof and dripproof connector for user wiring is available as a standard. YAMAHA ROBOT LINE UP 09

10 10 Y K00XR EONOMY SARA ROBOT New YK00XR SARA robot gives the high quality, high performance and superior value. Fastest cycle time in this class A standard cycle time of 0. sec. is achieved by drawing out the robot performance at its maximum level. Superior cost performance The robot is provided at the least expensive price in YAMAHA s similar robot class without changing its conventional functions. Versatile and high performance controls can be made by combining with a new controller. When connecting the robot to a new controller that has features, such as a link function, that can control up to 1 axes and improvement of connectability with various field networks. Basic specification Axis Arm length Rotation angle Maximum speed Xaxis mm ±13 m/s Yaxis 17mm ±10 m/s Zaxis 10mm 1.1m/s Raxis ± /s Payload Standard cycle time Tolerable moment of inertia 3kg 0.sec 0.0kgm (without offset) Repeatability ±0.01mm ±0.01mm ±0.01mm 0.01 User wiring User tubing Travel limit Robot cable 0.sq x φx3 1. Soft limit. Mechanical stopper (X, Y, Zaxis) Standard: 3.m Option: m, m External view 3 ϕ7 10 F User wiring connector (Numbers 1 to are usable.) J.S.T. onnector SM connector: SMR11VB Pin: SYM001TP0. is attached. Use APKN for the crimping machine. 1 H (Base size). (1.) 1 R 8 XYaxis origin position (Sensor specification) When performing returntoorigin, move both the Xaxis and Yaxis counterclockwise in advance from the position shown above R Option User wiring and tubing routed through spline shaft. As this hole is intended for the wiring/tubing clamp, do not attach a large load to it. M3 0. throughhole (No phase relation to Raxis origin.) 7.8 User tubing 1 (ϕ black) User tubing (ϕ red) User tubing 3 (ϕ blue) ϕ H ϕ9 M8 bolt for installation, bolts used 131 Maximum 370 during arm rotation 80 Maximum during arm rotation Working envelope Xaxis mechanical stopper position : 13 Yaxis mechanical stopper position : View of F / ± (Zaxis origin position) Zaxis upper end mechanical stopper position mm rise during returntoorigin 0 Zaxis lower end mechanical stopper position 17 +/3 XYaxis origin position (Stroke end specification) When performing returntoorigin, move the Xaxis and Yaxis counterclockwise and clockwise, respectively in advance from the position shown above () 10 Z axis stroke (7) A Width across flat 1 A ross section AA ϕ1 h ϕ3 Hollow diameter ϕ11 (Width across flats) User tool installation range Standard Tapped hole for user wiring M3 0. Depth The weight of the tool attached here should be added to the tip mass. 1 1 ϕ User tubing 1 (ϕ black) 181 User tubing (ϕ red) 17 User tubing 3 (ϕ blue) Keep enough space for the maintenance work at the rear of the base. R7 (Min. cable bending radius) Do not move the cable. M ground terminal 19. User wiring connector (Numbers 1 to are usable.) J.S.T. onnector SM connector: SMR11VB Pin: SYM001TP0. is attached. Use APKN for the crimping machine. 73 YAMAHA ROBOT LINE UP 07738

11 Y K 0 0 T W ORBIT TYPE SARA ROBOT Quick selection table P18 Achieving highspeed cycle time, optimum movement with ceilingmount structure and rotating arm. Fully accesses the entire area below the robot unit eiling (overhead) mount installation and wide arm rotation angle cover the full area below the robot unit. This delivers a 1% improvement in the operating surface area compared to our current SARA robot models with 00mm arm length. Dead space in the center of the motion range has been eliminated to achieve a cylindrical working envelope of mm in diameter 1mm in height. The cylindrical working envelope ensures there are no restrictions on pallet and conveyor installation directions and also increases the degree of freedom for the system layout design. Highspeed operation reduces cycle time Delivers highspeed movement between points along optimum movement since the horizontally articulated structure allows the secondary arm (Yaxis) to pass below the primary arm (Xaxis). This drastically reduces cycle time on lowload conveyor processes such as on electronic assembly or foodstuff production lines. Standard cycle time of 0.9 seconds The YK00TW shrinks the standard cycle time 3% compared to our current robot models when moving a 1 kg load back and forth mm horizontally and mm vertically. YK00TW uts by about 3% Our other models ycle time Movement range A B High mechanical rigidity ensures highspeed and highly accurate positioning Optimal weight balance was achieved by meticulous redesign of the internal robot structure. The mounted motors are optimally tuned for the lightweight yet highly rigid arms of the YK00TW, allowing both highspeed and highlyaccurate positioning. Y motor Speed reduction A B A B A B R motor Z motor Orbit SARA robot YK00TW ycle time compared by robot YK00TW SARA robot YK00XG artesian robot FXYx Standard SARA robot YK00XG artesian robot FXYx Huge cut in cycle time! ycle time ompact unit with low overall height The overall height is also low as 39mm and the center of gravity position of the overall equipment can be lowered. Therefore, it is possible to downsize the equipment without using rigid frames. As the production equipment is made small, a period of time necessary to transfer a workpiece can be shortened. Harness can be routed through hollow The Y motor and speed reduction gear have a hollow structure that allows the harness to be routed through it. Gives a full rotation!! Uses resolver as position sensor The resolver is a magnetic position sensor. Its structure is simple since no electronic and optical components are used. One great feature is that there are few parts to fail or break down compared to ordinary optical encoders. Because of its ruggedness, durability, and low failure rate, a large number of resolvers are used in fields where reliability is important such as airplanes and cars Heavy parts are arranged near center The R motor and Z motor are arranged on the left and right near the center to ensure optimum weight balance. Lowers the inertia for highspeed operation!! YAMAHA ROBOT LINE UP 11

12 LEANROOM Type LEANROOM ROBOTS Quick selection table P1819 Suitable for electronic part, food or medical device related work inside clean rooms. Highly sealed structure achieves dust prevention and airintake efficiency improvement to establish both high cleanliness and high performance. YKXG/X leanroom SARA robots Arm length: 180mm to mm Intake air: to 0N/min Degree of cleanliness: LASS ISO3 (ISO11) LASS (FEDSTD9D) Maximum payload: kg 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. Up/down bellows structure improves the reliability of the clean performance. ompletely beltless structure improves the rigidity. FLIPX leanroom Singleaxis robots SS leanroom Singleaxis robots (TRANSERVO) Stroke: 0 to 0mm Intake air: 1 to 90N/min Degree of cleanliness: LASS Maximum payload: 1kg (Horizontal installation) Note: L/LH, L/LH, and L conform to LASS ISO3 (ISO11). Stroke: 0 to 800mm Intake air: 1 to 80N /min Degree of cleanliness: LASS Maximum payload: 1kg (Horizontal installation) L L L SS0 SS0 SS0H lean room specifications of FLIPX series. An 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. A 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 TRANSERVO 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. A 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. Improved maintenance features XYX leanroom cartesian robots Intake air: 0 to 90N/min Degree of cleanliness: LASS Maximum payload: kg Maximum speed: mm/sec Note: User cable DSub pin connector conductors, 0.3 sq. Note: User tube three air tubes. SXYx 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 LASS with less suction amount. Furthermore, as a superhigh speed unit of the SARA robot is used for the ZRaxis of SXYx, the cycle time is greatly shortened. 1 YAMAHA ROBOT LINE UP 07738

13 ONTROLLERS ONTROLLERS, POSITIONERS & DRIVES High performance controller supporting YAMAHA robots. Select the ideal controller from various command input formats. Servo parameters and acceleration patterns optimized for each robot are prestored, so you can start operating the robot right away without troublesome setups. 1 axis I/O point trace Remote command Pulse train Program (YAMAHA SR language) I/O point trace Remote command Online instructions TRANSERVO Stepping motor TSS TSSD P P P D FLIPX TL/TL Small servo (V W) ERD TSX RDX SR1X D PHASER Generalpurpose servo Linear motor ( to W) TSP RDP SR1P D P Robot positioner TSX TSP TSS D Robot driver RDX/RDP Robot controllers 1 axis TSSD 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 START 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 As 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. In addition to the RDX and RDP drivers that are applicable to the conventional singleaxis FLIPX series and PHASER series, the TSSD driver applicable to the TRANSERVO series is also added to the lineup. axes Program (YAMAHA BASI language) I/O point trace Remote command Online instructions RX RX1 ERD SR1X SR1P axes 3 / axes RX1 RX RX0/RX0S RX 3, axes to 8 axes Program (YAMAHA BASI language) I/O point trace Remote command Online instructions YLINK couples singleaxis controllers to a axis controller Note: Up to four SR1 series controllers can be connected to the RX series controller. 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 YAMAHA SR language resembling BASI. 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 axis robot 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. TSManager VIP+ ivy Studio YAMAHA ROBOT LINE UP 13

14 i VY System ROBOT VISION Simple to use and cuts the number of job steps. Finds and Takes without teaching tasks. 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 locate workpieces, find deviations in workpiece position and make corrections even in the case of large errors, expanding the range of applications. Robot onnects to up to cameras and lighting units ivy board Vision board connects directly to bus Multiaxis controller Programming box RPB Options Lighting control board Tracking board D camera LAN cable (Shield crossing) amera cable Lens loseup ring cameras lights Lighting control board Tracking board P D camera Encoder Encoder Lens Software ivy Studio onnects to up to encoders Select an optional tracking board or lighting control board (tracking board comes with lighting control function) Tracking board Unified operation with integrated 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 easytounderstand operation that reduces the manhours needed for equipment startup. Ordinary robot vision Difficult to handle and work with Troublesome to actually use Expensive to install and startup Knowing where to ask for help is a problem Requires getting expert knowledge which is a hassle amera cable Vision processor RS3 data transfer If using the ivy system Everything is easy and simple! Lower cost with fewer manhours needed Simple to use & so effective for diverse applications YAMAHA gives you total support Easy for anyone to use and has an expanding range of applications! amera cable 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! ameras Lights ameras RX0 Lights ivy board Lighting power supply Robot Lighting control board 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 Data transfer with image processing device Program in host PL ontrols with just one robot program MOVE P, P9 VSEARH 1,,0 P=VGETPOS(0) MOVE P, P MERITS 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 1 YAMAHA ROBOT LINE UP 07738

15 Y R G Series ELETRI GRIPPER Quick selection table P18 Electric grippers for the RX0 controller. Easy to operate since YAMAHA robot language gives unified control. Gripping power control Measuring Speed control Multipoint ontrol Workpiece check function Adjustable in 1% units from to 0%. Measures a workpiece by position sensing. Adjustable as needed in 1% units from to 0% for speed and 1 to 0% for acceleration. A maximum of,000 positioning points can be set. Utilizes the HOLD output signal to check if the gripper fails to grip a workpiece or drops it, without using a sensor. S Single cam W Double cam Lightweight, compact, highspeed High gripping force YRG0SS YRGS YRG81S YRGS YRG0W YRG8W YRGW Screw Three fingers Strait style High precision, long stroke T style ompact, high rigidity, long stroke YRGFS/YRG80FS YRGFT/YRG80FT YRG0T YRG13T YRG8T YRGT Electric gripper for highprecision gripping power, 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 to be a flexible solution for a wide range of applications. Gripping power control The gripping force can be set in 1% increments. A 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. Multipoint ontrol 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. Workpiece presence check function 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 Electric control Pneumatic control Electric control Pneumatic control Electric control Fine adjustment of the regulator is difficult. Gripping force can be set in a range of % to 0% in 1% increments. Stroke loss is produced. Stroke loss is not produced due to optimal positioning accuracy. Workpiece missgripping or drop is judged by the sensor or image processing. Workpiece drop can be judged. No external sensor is needed. ontributes to tactup. Single ontroller One multiaxis controller RX0 unit can control all robot operations including a gripper (using a control board installed in the RX0). Needs no data exchange with the host device such as PL, so setup and startup are amazingly simple. ombination with a vision system supports a wide range of applications Even sophisticated systems can be easily configured by using the YRG series gripper in combination with a controllerintegrated robot vision ivy system". amera Lighting Electric gripper: YRG series Robot vision system: ivy System RX YAMAHA ROBOT LINE UP 1

16 T RANSERVO STEPPING MOTOR SINGLEAXIS ROBOTS Type Size (mm) Note 1 Model SS (Slide ) Inline model/ Foldback model SR (Rod ) Standard model/ Model with support guide STH (Slide ) Inline model/ Foldback model Type STH (Rotary ) Standard/High rigidity Type BD (Belt ) W9 H9 W H W H W8 H. W H. W8 H8 W13 H8 W. H71 W17 H71 W H W73 H1 W1 H W H70 SS0S SS0R(L) SS0S SS0R(L) SS0HS SS0HR(L) SR03 SRD03 SR0 SRD0 SR0 SRD0 STH0S STH0R(L) STH0 STH0R(L) Lead (mm) Maximum payload(kg) Note Horizontal Vertical SR SRD 1 1 Maximum speed (mm/sec) Note 3 0 (Horizontal) 00 (Vertical) (Horizontal) 0 (Vertical) Stroke (mm) 0 to 00 0 to to to 0 0 to 0 to 0 to 0 0 to 10 High(mm) Model Torque Rotational torque Maximum pushing Maximum speed (N/m) torque (N/m) (mm/sec) Note 3 Rotation range ( ) (Standard) RF0N N:Standard (RF0N) 9(High rigidity) RF0S H:High torque (RF0S) 3(Standard) RF03N N:Standard (RF03N) (High rigidity) RF03S H:High torque (RF03S) 8(Standard) RF0N N:Standard (RF0N) 78(High rigidity) RF0S H:High torque 80 (RF0S) Size (mm) Note 1 Model Lead (mm) Maximum payload(kg) Note Maximum speed Horizontal Vertical (mm/sec) Note 3 Stroke (mm) W0 H0 BD ~ W8 H8 BD0 8 ~00 W70 H0 BD ~ Note 1. Size is the approximate cross sectional size. Note. Maximum speed varies with the payload. See the SR page for more details. Note 3. Maximum speed decreases due to ball screw critical speed when the stroke is long. See the SR page for more details. Note. STH0R (L) with 0st brake is not available. Allowable ambient temperature for robot installation SS/SR : 0 to 0 STH/RF/BD : to 0 P HASER LINEAR MOTOR SINGLEAXIS ROBOTS Type MF Steel cored linear motor with falt magnet MF Shaft linear Size (mm) Note 1 Model arriage Maximum payload(kg) W8 H80 W0 H80 W10 H80 W H0 W0 H90 Note Maximum speed (mm/sec) Stroke (mm) MF7 Single 0 to 000 (7) Note MF7D Double 0 to 3800 MF1 Single Note to 000 (1) MF1D Double 0 to 3800 MF Single Note 10 to 00 0 () MFD Double 10 to 380 MF Single 00 0 to 000 Note 0 () MFD Double 10 to 370 MF7 Single Note to (7) MF7D Double 80 to 380 MR1 Single 0 to 0 MR1D Double 0 to 0 Note 1. Size is the approximate cross sectional size. Note. If using at maximum speed then the payload will be as shown in the ( ). X YX ARTESIAN ROBOTS Model PXYx FXYx FXYBx SXYx SXYBx MXYx NXY NXYW HXYx HXYLx Arm variations Arm Gantry Moving arm Pole XZ Number of axes Note. The above maximum payloads are maximum stroke lengths are values when using arm /cable carrier specifications. 1 YAMAHA ROBOT LINE UP axes axes / 3 axes axes axes / 3 axes / axes axes / 3 axes / axes axes / 3 axes / axes axes / 3 axes axes / axes axes / 3 axes / axes axes Maximumpayload (kg) Maximum stroke (mm) X axis Y axis. 10 to 0 0 to 1 10 to 0 10 to to 0 10 to 0 10 to 0 10 to to 10 to 0 0 to to 0 00 to to 0 0 to to to 10 0 to to 0 0 to 0

17 Y PX PIK & PLAE ROBOTS Model Axes Structure X axis Y axis Y axis R axis Maximum payload (kg) ycle time (sec) YPBX Belt Belt 3 0. axes YP3X Ball screw Belt YPBXR Belt Belt Rotation axis 1 0. YP3XR 3 axes Ball screw Belt Rotation axis YP3X Ball screw Ball screw Belt YPX axes Ball screw Ball screw Belt Rotation axis F LIPX SINGLEAXIS ROBOTS Type Note 1 Size (mm) Model Lead (mm) 1 Maximum payload (kg) Horizontal Vertical. 1. Maximum speed (mm/sec) 7 Stroke (mm) W H3 TL/TLH. 0 to W H TL/TLH to T Frameless structure model W H TL T9 (Standard) to to 0 W9 H T9H (High thrust) to W80 H F to W80 H F8L to W80 H F8LH 0 10 to W1 H71 F 0 10 to 0 0 F High rigidity frame model F1 (Standard) W13 H to 0 F1H (High thrust) F17L to 0 W18 H0 F to 10 0 to to 10 W H11 F 1 0 to 10 N Nut rotation mode B Timing belt drive model W H1 W1 H1 W180 H11 W0 H81 W1 H9 FN N1 (Single carriage) N1D(Double carriage) N18 (Single carriage) N18D (Double carriage) B B1(Standard) B1H(High thrust) Belt drive Belt drive Belt drive to 0 00 to 00 0 to to 00 0 to to to 187 R Rotation axis model R R R 0.1kgm 0.3kgm 1.83kgm /sec Note 1. Size is the approximate cross sectional size YAMAHA ROBOT LINE UP 17