Estratto Catalogo Yamaha Robot SCARA (Serie YK) A.T.T.I. Srl ENGLISH

Transcription

1 ENGLISH Estratto Catalogo Yamaha Robot SCR (Serie YK).T.T.I. Srl Via F.lli Cervi,3-263 Cernusco S/N (MI) Tel Fax Web:

2 Series Product Lineup YK-TW Omni directional model G/ Completely beltless model Note R Low cost high performance model GS Wall mount/inverse model GP model Note. Except for YKX SCR ROOTS rm length of mm to mm, full-selection of lineup is top in the world. Completely beltless structure pursues the features of SCR to their utmost limits. NEW Low cost high performance model YKXR History of 3 years The first YMH were SCR. Since the first SCR robot called "CME" was produced in 1979, some 3 years of SCR robot innovations have continually appeared. These SCR have undergone countless modifications in an ever changing marketplace and amassed a hefty record of successful products making them an essential part of the YMH robot lineup <YK7> 3

3 Comprehensive line of YMH SCR Orbit P.338 rm length 5 mm Maximum payload kg Large P.361 rm length 7 mm to mm Maximum payload 2 kg to 5 kg YK5TW Extra small P.32 rm length mm to 22 mm Maximum payload 1 kg YK7XG YK8XG YK9XG YK1XG YKXG/YK15XG/YK18XG YK18X/YK22X Small P.37 rm length 25 mm to mm Maximum payload 5 kg Low cost high performance model YKXR NEW YKX Wall mount/inverse model P.367 YK3XGS to YK1XGS YKXR YK25XG/YK35XG/YKXG Wall mount Inverse Medium P.3 rm length 5 mm to 6 mm Maximum payload 5 kg to 2 kg Wall mount Type where the robot body is installed in the wall. Inverse Type where the wall-mount is installed upside down. model P.377 YK5XGL YK5XG YK25XGP/YK35XGP/YKXGP YK5XGLP/YK6XGLP YK5XGP to YK1XGP YK6XGL YK6XG/XGH Plays active part in the working environment with a large amount of water or dust (protection class equivalent to IP65). Please consult YMH for anti-droplet protection for fluids other than water. 35

4 Series Product Lineup YK-TW Orbit YK-TW POINT 1 ccessible to 36 -whole area under equipment 36 -whole area under the equipment is covered by the hanging installation and wide arm turning angle. The plane working envelope is improved approx. % when compared to YMH's conventional model with an arm length of 5 mm. There is no dead space at the center of the working envelope. This ensures an operation range of ф 1, mm x 13 mm. s the working envelope is cylindrical, the pallet or conveyor installation direction is not restricted and the flexibility of the system design is improved. YK-TW POINT 3 Tact is shortened by high-speed movement. Use of a horizontal articulated structure, in which the Y-axis (2nd arm) can pass under the X-axis (1st arm) makes it possible to move between the points through the optimum route at a high speed. This greatly contributes to shortening of the tact time in the light load transfer process, such as electrical or food industry. Standard cycle time is.29 sec. When performing a reciprocation operation with a load of 1 kg, a horizontal movement of 3 mm, and a vertical movement of 25 mm, the cycle time is shortened about 36 % when compared to YMH s conventional model. YK5TW YMH s conventional model Shortened about 36 % Cycle time YK-TW POINT Movement range C C C C High speed and highly accurate positioning by high mechanical rigidity Repeated positioning accuracy +/-.15 mm High accuracy and high load transferable by parallel link robot The internal structure of the robot was reviewed strictly to optimize the weight balance. dditionally, a motor tuned optimally for the lightweight and highly rigid arm was incorporated to achieve the high speed and highly accurate positioning. Y-motor Speed reducer Orbit SCR robot YK5TW Standard SCR robot YK5XG Comparison of robot tact times robot FXYx R-motor Z-motor YK5TW SCR robot YK5XG robot FXYx Shortened greatly. structure is used. Y-motor and speed reducer have a hollow structure, the harnesses can be stored inside the arm. Heavy components are arranged at the center. R-motor and Z-motor are arranged on the left and right, respectively to optimize the weight balance. Tact time 36 Rotation Inertia is reduced to make the high-speed operation possible YK-TW POINT 2 Low overall height makes the equipment compact. The overall height is as low as 2 mm. This can lower the center of gravity of the overall equipment. Therefore, the equipment can be downsized without needing any rigid frame. s the production equipment is made compact, this shortens a period of time necessary for the workpiece transfer. YK-TW POINT 5 Resolver is used for position detector. Resolver is a magnetic position detector. The resolver features a simple structure without using electronic components and optical elements, and less potential failure factors when compared to general optical encoders. The resolver has high environment resistance and low failure ratio, and is used in a wide variety of fields aiming at reliability such as automobile or aircraft industry. 36

5 G Completely beltless Integral structure designed for optimal operation Note. The following shows an example of YK5XG. Highly rigid independent spline shaft all screw directly connected structure passed on from the single axis robot uilt-in user wiring/user tubing Specially developed hollow motor Tip rotation axis also uses the harmonic gear direct coupling structure to ensure the high rigidity and high accuracy. G POINT 1 Completely beltless structure completely beltless structure was achieved using a ZR-axis direct coupling structure. This completely beltless structure greatly reduces waste motion. This structure also maintains high accuracy for an extended period of time. dditionally, this structure ensures maintenance-free operation for an extended period of time without worrying about belt breakage, elongation, or secular deterioration (except for Orbit and large ). Conventional model Vertical axis motor Rotation axis motor Rotation axis hollow motor G series Vertical axis ball screw G POINT 2 High speed Drive by pulley and timing belt Rigidity and accuracy are determined by belt. Secular change, such as belt elongation occurs. Vertical shaft motor (direct coupling) Rotation axis hollow speed reducer High rigidity and high accuracy No worry about belt elongation and breakage Maintenance free The cycle time is fast. dditionally, YMH also places special emphasis on the tact time in the practical working area. The speed reduction ratio or maximum motor RPM was reviewed to greatly improve the maximum speed. This contributes to improvement of the tact time. XY-axis Z-axis R-axis.9 m/s 7.6 m/s 1.7 m/s 2.3 m/s 5 %UP 35 %UP 876 /s 17 /s 9 %UP YMH's conventional model YK5XG 37

6 Series Product Lineup G POINT 3 Resolver is used for position detector. s the resolver uses a simple and rigid structure without using electronic components and optical elements, it features high environment resistance and low failure ratio. Detection problems due to electronic component breakdown, dew condensation on or oil sticking to the disk that may occur in optical encoders do not occur in the resolver due to its structure. dditionally, as the absolute specifications and incremental specifications use the same mechanical specifications and common controller, the specifications can be changed only by setting parameters. Furthermore, even when the absolute is consumed completely, the robot can still operate as the incremental specifications. So, even if a trouble occurs, the line stop is not needed to ensure the safe production line. The backup circuit has been completely renovated and now has a backup period of one year in the non-energizing state. Note. The resolver has a simple structure without using electronic components. So, the resolver is highly resistant to low and high temperatures, impacts, electrical noise, dust particles, and oil, etc., and is used in automobiles, trains, and aircrafts that particularly require the reliability. Optical encoder Optical Electronic components are required and structure is complicated. Electronic component malfunction, or dew condensation on or oily content sticking to disk may occur easily. Detection failure Resolver Magnetic Simple structure only with iron core and winding has less potential failure factors. Immune to shock and electric noise. High reliability G POINT Excellent maintenance ability The covers of YMH SCR robot G series can be removed forward or upward. The cover is separated from the cable, so the maintenance work is easy. dditionally, the grease replacement of the harmonic gear needs many steps to disassemble the gear and may cause positional deviation. However, since the harmonic gear of the YMH SCR robot uses long-life grease, the grease replacement is not needed. G POINT 5 Surprising R-axis tolerable moment of inertia The SCR robot performance cannot be expressed only by the cycle time. In actual operating environments, there are various workpieces, such as heavy workpiece or workpiece with large offset. t this time, since the robot with low R-axis tolerable moment of inertia needs to decrease the speed during operation, the cycle time decreases greatly. ll YMH SCR robot G s have the tip rotation axis directly coupled to the speed reducer. Since the R-axis tolerable moment of inertia is very high when compared to a general structure in which the moment of inertia is transmitted by a belt after decelerating, the robot can operate at a high speed even with workpieces that have been offset. YKXG (R-axis tolerable moment of inertia:.1 kgfcm 2 ) When the tip load weight is 1 kg, it is possible to operate at approx. 1 mm offset. pprox. 1 mm R-axis tolerable moment of inertia: Comparison between YKXG and other company's model When the offset from the R- axis to the center of gravity of the load is large, the inertia becomes large and the acceleration during operation is restricted. The R-axis tolerable moment of inertia of Y- MH XG series is exceedingly large when compared to other company's SCR in the similar class, so it can operate at a high speed even in the offset state. When the load weight is 1 kg (refer to the right in the figure,) Offset (mm) Inertia (kgfcms 2 ) mm Offset ф 55 mm 1 kg YKXG Company : Operable : Out of catalog value tolerance range R-axis tolerable moment of inertia: YKXG....1 kgfcms 2 Company.... kgfcms 2 38

7 G POINT 6 s the cable layout is changed, the cable height becomes lower than the main body cover. dditionally, use of extruded material base and motor with low overall height achieves the lowest overall height in the same class. G POINT 7 shaft and tool flange options are selectable. shaft that allows easy wiring to the tip tool and tool flange for tool mounting are provided as options. 675 mm 71 mm 79 mm YK5XG YMH's conventional model shaft option convenient for routing of air tubes and harness wires Tool flange option for easy mounting of a tool to the tip Note. YK25XG to YKXG YK5XGL/YK6XGL Note. YK25XG to YK1XG G POINT 8 Zone control (= Optimal acceleration/deceleration automatic setting) function In the SCR robot, the load applied to the motor and speed reducer in the arm folded state greatly differs from that in the arm extended state. YMH SCR robot automatically selects optimal acceleration and deceleration from the arm postures at operation start and operation end. Therefore, the robot does not exceed the tolerance value of the motor peak torque or speed reducer allowable peak torque only by entering the initial payload. So, full power can be extracted from the motor whenever needed and high acceleration/ deceleration are maintained. For X-axis of YK5XG The torque in the arm folded state is 5 or more times different from that in the arm extended state. This may greatly affect the service life, vibration during operation, and controllability. If the motor torque exceeds the peak value This may adversely affect the controllability and mechanical vibration, etc. If the torque exceeds the tolerable peak torque value of the speed reducer This may cause early breakage or shorten the service life extremely. G POINT 9 Low price models with the arm length 5 mm/6 mm specifications are also added to the product lineup. The customers require to use SCR at a more affordable price. Models YK5XGL/YK6XGL were developed to meet these customer's requests. bout 3 %-cost reduction was achieved when compared to the conventional models YK5XG/6XG. YK5XGL YK6XGL bout 3 % DOWN YK5XG YK6XG Cost (Price)

8 Series Product Lineup NEW R Low cost high performance model YKXR R POINT 1 Shortest cycle time in this class cycle time of.5 sec. is achieved by drawing out the robot performance to its maximum level. R POINT 2 Superior cost performance Most economical price in YMH's similar robot class without sacrificing its existing features. R POINT 3 With versatile and high performance controller RCX3. Combination of YKXR robot and new RCX3 controller enable operation up to 16 axes with simple easy networking. GS Wall mount/inverse model Hanging is renewed. Completely beltless structure and high rigidity s the conventional hanging is changed to the wall mount, the flexibility of the system design is improved. The production equipment can be downsized. dditionally, as an inverse that allows upward operation is also added to the product lineup, the flexibility of the working direction is widened. Furthermore, use of a completely beltless structure achieves a maximum payload of 2 kg and a R-axis tolerable moment of inertia of 1 kgm 2 Note that are the top in the class. large hand can also be installed. So, this robot is suitable for heavy load work. Note. YK7XGS to YK1XGS Inverse GP model Up/down bellows structure improves the dust-proof and drip-proof performance. The dust-proof and drip-proof that can be operated even in a work environment where water or particle dust scatters was renewed to a completely beltless structure. The belt does not deteriorate and poor environment resistance is improved. dditionally, an up/down bellows structure is used to improve the dust-proof and drip-proof performance. Note. YK25XGP to YK6XGLP Protection class equivalent to IP65 (IEC6529) Seals are added to the joints to maintain the dust-proof and dripproof performance without air purging. The robot conforms to the protection class equivalent to IP65 (IEC6529). IP 6 5 Class of protection against invasion of water: 5 Water injected from any direction does not affect adversely. The pressure of the injected water is 3 KPa (3 KN/m 2,.3 kgf/cm). The injection speed is.5 liters/min. and the injection time is 3 min. Note. The water injected under conditions exceeding those shown above may enter the unit. Class of protection against solid objects: 6 No invasion of particle dust. and drip-proof connector for user wiring is provided as. YK25XGP to 6XGLP (arm part) YK25XGP to 6XGLP (base part)

9 Model/Type Model rm length (mm) Maximum payload (kg) Standard cycle time (sec.) Page Omni directional model NEW YK35TW (RCX3) /.38 (RCX2) P.338 YK5TW 5 5. (RCX3) /. (RCX2) Note 3.29 P.3 YKXG P.32 Completely beltless model Micro-mini (Tiny) YK15XG P.33 YK18XG P.3 YK18X 18. P.35 YK22X 22.2 P.36 YK25XG 25 P.37 YK35XG (.) Note 2.9 P.39 Small NEW YKXG P.351 Low cost high performance model YKXR 3. (2.) Note 2.5 P.353 YK5XGL 5 5. (.) Note 2.59 P.3 YK5XG P.356 Medium YK6XGL 6 5. (.) Note 2.63 P.357 YK6XG P.359 Completely beltless model YK6XGH P.36 NEW YK7XGL P.361 YK7XG 7.2 P.362 Large YK8XG 8.8 P YK9XG 9 P.36.9 YK1XG 1 P.365 YKX P.366 YK3XGS Note 1 3 P (.) Note 2.9 YKXGS Note 1 P.369 Wall mount/inverse model YK5XGS 5.5 P YK6XGS 6.6 P372 YK7XGS 7.2 P.373 YK8XGS 8.8 P YK9XGS 9.9 P.375 YK1XGS 1.6 P.376 YK25XGP 25 P.377 YK35XGP P.379 YKXGP P.381 YK5XGLP 5..7 P.383 YK5XGP P.385 model YK6XGLP 6..7 P.386 YK6XGP P.388 YK6XGHP 6.57 P.389 YK7XGP 7.52 P. YK8XGP P.1 YK9XGP 9 P.2.59 YK1XGP 1 P.3 Note 1. The YK3XGS and YKXGS are custom-order products. For details about the delivery time, please contact YMH. Note 2. For the option specifications (tool flange mount and user wiring/tubing through spline ), the maximum payload becomes the value in ( ). Note 3. For the option specifications (tool flange mount ), the maximum payload becomes kg (RCX3) or 3 kg (RCX2). 1

10 PPLICTION LCM1 single-axis TRNSERVO SCR ROOTS SERIES Single-axis single-axis PHSER CONTENTS SPECIFICTION SHEET 336 Robot ordering method description 337 Robot ordering method terminology 337 ORIT TYPE YK35TW 338 YK5TW 3 TINY TYPE YKXG 32 YK15XG 33 YK18XG 3 YK18X 35 YK22X 36 SMLL TYPE YK25XG 37 YK35XG 39 YKXG 351 YKXR 353 MEDIUM TYPE YK5XGL 3 YK5XG 356 YK6XGL 357 YK6XG 359 YK6XGH 36 LRGE TYPE YK7XGL 361 YK7XG 362 YK8XG 363 YK9XG 36 YK1XG 365 YKX 366 WLL-MOUNT / INVERSE TYPE YK3XGS 367 YKXGS 369 YK5XGS 371 YK6XGS 372 YK7XGS 373 YK8XGS 37 YK9XGS 375 YK1XGS 376 DUST-PROOF & DRIP-PROOF TYPE YK25XGP 377 YK35XGP 379 YKXGP 381 YK5XGLP 383 YK5XGP 385 YK6XGLP 386 YK6XGP 388 YK6XGHP 389 YK7XGP YK8XGP 1 YK9XGP 2 YK1XGP 3 Large SCR YP-X CLEN CONTROLLER INFORMTION Medium inverse Main functions P.3 335

11 PPLICTION LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Medium SPECIFICTION SHEET Type Orbit Standard inverse Tiny Small Medium Large Model rm length (mm) and XY axis resultant maximum speed (m/s) YK35TW 5.6 Standard Maximum cycle time payload (sec) Note 1 (kg).32 (RCX3).38 (RCX2) 5 YK5TW R-axis tolerable moment of inertia (kgm 2 ) Completely beltless structure Note 2 R-axis harmonic drive Note 3 Detailed info page.5 (Rated).5 (Maximum) P (Rated).5 (Maximum) P.3 YKXG P.32 YK15XG P.33 YK18XG P.3 YK18X P.35 YK22X P.36 YK25XG P.37 YK35XG P.39 YKXG P.351 YKXR P.353 YK5XGL P.3 YK5XG P.356 YK6XGL P.357 YK6XG P.359 YK6XGH P.36 YK7XGL P.361 YK7XG P.362 YK8XG P.363 YK9XG P.36 YK1XG P.365 YKX P.366 YK3XGS P.367 YKXGS P.369 YK5XGS P.371 YK6XGS P.372 YK7XGS P.373 YK8XGS P.37 YK9XGS P.375 YK1XGS P.376 YK25XGP P.377 YK35XGP P.379 YKXGP P.381 YK5XGLP P.383 YK5XGP P.385 YK6XGLP P.386 YK6XGP P.388 YK6XGHP P.389 YK7XGP P. YK8XGP P.1 YK9XGP P.2 YK1XGP P.3 Note 1. The cycle time is measured under the following conditions. During back and forth movement 25mm vertically and 1mm horizontally (TINY) During back and forth movement 25mm vertically and 3mm horizontally (small / medium / large ) Note 2. Maintains high accuracy over long periods because the beltless structure drastically cuts down on wasted motion. is also nearly maintenance-free for long periods with no worries about belt breakage, stretching or deterioration over time. Note 3. "Harmonic" and "Harmonic drive" are the registered trademarks Large inverse 336

12 Robot ordering method description In the order format for the YMH SCR series, the notation (letters/numbers) for the mechanical section is shown linked to the controller section notation. [Example] Mechanical YK25XG Z-axis stroke 15mm Tool flange With tool flange shaft With hollow shaft Cable length 3.5m YK25XG 15 F S 3L Mechanical section RCX2S RCX2S section To find detailed controller information see the controller page. RCX2 P.95, RCX3 P.58 PPLICTION LCM1 single-axis TRNSERVO Single-axis Model YK*** Z-axis stroke 5mm 1mm 15mm 2mm 3mm mm Tool flange No entry None F With tool flange shaft No entry None S With hollow shaft 2L 3L 5L 1L Cable 2m 3.5m 5m 1m RCX2 RCX2S RCX3 single-axis PHSER Note 1. vailable only for the master. Robot ordering method terminology SCR Model Z-axis stroke Tool flange shaft Cable Enter the robot unit model. Select the Z axis stroke. The stroke varies with the model you select so see that model s page to confirm the specifications. Tool flange option for easy mounting of a tool to the tip. No entry: None F: With tool flange shaft option for easy routing of air tubes and harness wires. No entry: None S: With hollow shaft Select the length of the robot cable connecting the robot and controller. 2L: 2m (Note 1) 3L: 3.5m 5L: 5m 1L: 1m Note 1. Only selectable for YKXG, YK15XG, YK18XG. Select either the RCX2 (RCX2S) or RCX3. YP-X CLEN CONTROLLER INFORMTION Medium Large inverse 337

13 PPLICTION YK35TW rm length 35mm Maximum payload 5kg Orbit LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Small / Orbit Medium Large inverse YK35TW 13 Model Z axis stroke Tool flange shaft Cable 13: 13mm No entry: None No entry: None 3L: 3.5m F: With tool flange S: With hollow shaft 5L: 5m 1L: 1m Specify various controller setting items. RCX2 RCX2S P.95 Specifications xis rm length 175 mm 175 mm 13 mm - specifications Rotation angle +/-225 +/ /-72 C servo motor output 75 W W 2 W 15 W Speed reducer Harmonic drive Harmonic drive all screw elt speed reduction mechanism Transmission Motor to speed reducer Timing belt Timing belt Timing belt Repeatability Note 1 +/-.1 mm +/-.1 mm +/-.1 Maximum speed 5.6 m/sec 1.5 m/sec 3 /sec Maximum payload Note 2 5 kg Standard cycle time: with 1kg payload Note 3.32 sec (RCX3) /.38 sec (RCX2) R-axis tolerable moment of Rated.5 kgm 2 inertia Note Maximum.5 kgm 2.15 sq 8 wires User tubing (Outer diameter) ϕ 6 2 Standard: 3.5 m Option: 5 m, 1 m 26 kg Note 1. This is the value at a constant ambient temperature. Note 2. Tool flange specifications (option) are kg. Note 3. When moving a 1 kg load back and forth 3mm horizontally and 25mm vertically (rough positioning arch motion). Note. Limits must be placed on parameters such as acceleration according to the moment of inertia being used. YK35TW 166 M ground terminal Depth Keep enough space for the maintenance work on the top face of the base. 1: Space needed for cable connection (Note) Note: Upper section requires a space of at least 25mm for detaching/attaching cover. R27 (Min. cable bending radius) (1) (R) Z-axis upper end mechanical stopper position ϕ16 h7-.18 (5mm rise during return-to-origin) Z-axis lower end mechanical stopper position M8x1.25 Depth 15 diameter ϕ7 through-hole 7 R ϕ6 H7 Depth 2x2-Mx.7 Depth 8 (Same on opposite side) 22 User tubing 2 (ϕ6 Red) Connects to arm User tubing 1 (ϕ6 black) Connects to arm M1x1.5 through-hole (For mounting from above) D-sub connector for user wiring (No.1 to 8 usable) 2 Width across flats 1 31 (ϕ16 h7 range) (Installation surface) Tube connection port (ϕ lue) 93 Connects to spline tip / RCX3- / User tubing 2 (ϕ6 Red) Connects to base R175 6-ϕ11 through-hole counterbore ϕ18 depth 11 (For mounting from below) R35 Option (OP.) 225 X-axis: during CCW motion D-sub connector for user wiring (No.1 to 8 usable) Tube through hollow shaft RCX3 RCX2-R3 Power capacity (V) method 25 R-axis moment of inertia (load inertia) Recommended positional relationship between the load weight and the offset amount from the center of the R-axis (center of gravity position) Offset (mm) (kg) Note. When the payload exceeds kg, it is predicted that the R-axis moment of inertia may exceed the rated value. So, make proper parameter setting. Y-axis overlap area Working envelope Y-axis overlap area 225 Y-axis overlap area Y-axis overlap area User tubing 1 (ϕ6 lack) Connects to base (3) Note. To set the coordinates with high accuracy, use a coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. 225 R35 R X-axis: during CW motion * Tube (ϕ) through hollow shaft protrudes about 3mm from the spline tip. * Tube through hollow shaft does not rotate with spline during R-axis rotation. bsolute Specify various controller setting items. RCX3 P.58 RCX2 R3 CE Marking Regeneratizve unit Expansion I/O Network option ivy System Gripper attery User tubing 2 (ϕ6 Red) Connects to base D-sub connector for user wiring (No.1 to 8 usable) User tubing 1 (ϕ6 lack) Connects to base 338 RCX3 u 58 RCX2 u 95

14 YK35TW PPLICTION LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YK35TW Tool flange mount 166 M ground terminal Depth Keep enough space for the maintenance work on the top face of the base. 1: Space needed for cable connection (Note) Note: Upper section requires a space of at least 25mm for detaching/attaching cover. R27 (Min. cable bending radius) (R) Z-axis upper end mechanical stopper position (5mm rise during return-to-origin) Z-axis lower end mechanical stopper position M8x1.25 Depth 15 diameter ϕ7 through-hole 7 R ϕ6 H7 Depth User tubing 2 (ϕ6 Red) Connects to base D-sub connector for user wiring (No.1 to 8 usable) User tubing 2 (ϕ6 Red) Connects to arm User tubing 1 (ϕ6 black) Connects to arm M1x1.5 through-hole (For mounting from above) D-sub connector for user wiring (No.1 to 8 usable) (Installation surface) / User tubing 1 (ϕ6 lack) Connects to base R Tube connection port (ϕ lue) Connects to spline tip R X-axis: during CCW motion User tubing 2 (ϕ6 Red) Connects to base D-sub connector for user wiring (No.1 to 8 usable) Tube through hollow shaft ϕ11 through-hole counterbore ϕ18 depth 11 (For mounting from below) Y-axis overlap area Working envelope Y-axis overlap area (3) 225 Y-axis overlap area Y-axis overlap area User tubing 1 (ϕ6 lack) Connects to base ϕ3 h ϕ.5 through-hole diameter ϕ7 through-hole +. ϕ H7 through-hole * There is no phase relation between mounting hole and R-axis origin position. Details of tool flange section 225 R35 R X-axis: during CW motion * Tube (ϕ) through hollow shaft protrudes about 3mm from the spline tip. * Tube through hollow shaft does not rotate with spline during R-axis rotation. 2 Detailed drawing /-.2 ϕ35 ϕ / YP-X CLEN CONTROLLER INFORMTION Small / Orbit Medium Large inverse RCX3 u 58 RCX2 u 95 3

15 225 PPLICTION YK5TW rm length 5mm Maximum payload 5kg Orbit LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Small / Orbit Medium Large inverse YK5TW 13 Model Z axis stroke Tool flange shaft Cable 13: 13mm No entry: None No entry: None 3L: 3.5m F: With tool flange S: With hollow shaft 5L: 5m 1L: 1m Specifications xis rm length 25 mm 25 mm 13 mm - specifications Rotation angle +/-225 +/ /-72 C servo motor output 75 W W 2 W 15 W Speed reducer Harmonic drive Harmonic drive all screw elt speed reduction mechanism Transmission Motor to speed reducer Timing belt Timing belt Timing belt Repeatability Note 1 +/-.15 mm +/-.1 mm +/-.1 Maximum speed 6.8 m/sec 1.5 m/sec 3 /sec Maximum payload Note 2 5 kg (RCX3), kg (RCX2) Standard cycle time: with 1kg payload Note 3.29 sec R-axis tolerable moment of Rated.5 kgm 2 inertia Note Maximum.5 kgm 2.15 sq 8 wires User tubing (Outer diameter) ϕ 6 2 Standard: 3.5 m Option: 5 m, 1 m 27 kg Note 1. This is the value at a constant ambient temperature. Note 2. For the option specifications (tool flange mount ), the maximum payload becomes kg (RCX3) or 3 kg (RCX2). Note 3. When moving a 1 kg load back and forth 3 mm horizontally and 25 mm vertically (rough positioning arch motion). Note. Limits must be placed on parameters such as acceleration according to the moment of inertia being used. See P.536. YK5TW 19 ϕ6 H M ground terminal Depth R86 Depth Keep enough space for the maintenance work on the top face of the base. Note: Upper section requires a space of at least 25mm for detaching/attaching cover. R27 (Min. cable bending radius) 1: Space needed for cable connection (Note) x2-Mx.7 Depth8 (Same on opposite side) User tubing 2 (ϕ Red) Connects to arm 2 (1) 3 2 Width across Z-axis upper end mechanical stopper position flats 1 (5mm rise during return-to-origin) ϕ16 h Z-axis lower end mechanical stopper position M8x1.25 Depth15 diameter ϕ7 through-hole (R) M1x1.5 through-hole (For mounting from above) D-sub connector for user wiring (No.1 to 8 usable) 8 Connects to arm 31 (ϕ16 h7 range) (Installation surface) / RCX3- / 225 R25 Tube connection port (ϕ lue) Connects to spline tip X-axis: during CCW motion User tubing 2 (ϕ6 Red) Connects to base D-sub connector for user wiring (No.1 to 8 usable) Tube through hollow shaft 6-ϕ11 through-hole counterbore ϕ18 depth 11 (For mounting from below) 225 R5 Option (OP.) RCX3 RCX2-R3 Power capacity (V) method 25 R-axis moment of inertia (load inertia) Recommended positional relationship between the load weight and the offset amount from the center of the R-axis (center of gravity position) Offset (mm) Y-axis overlap area Y-axis overlap area Y-axis overlap area User tubing 1 (ϕ6 lack) Connects to base Y-axis overlap area 225 (kg) Note. To set the coordinates with high accuracy, use a coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. X-axis: during CW motion (3) R5 bsolute Specify various controller setting items. RCX3 P.58 RCX2 R3 CE Marking Regeneratizve unit Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P R * Tube (ϕ) through hollow shaft protrudes about 3mm from the spline tip. * Tube through hollow shaft does not rotate with spline during R-axis rotation. User tubing 2 (ϕ6 Red) Connects to base D-sub connector for user wiring (No.1 to 8 usable) User tubing 1 (ϕ6 lack) Connects to base 26 3 RCX3 u 58 RCX2 u 95

16 225 YK5TW PPLICTION LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YK5TW Tool flange mount ϕ6 H7 +. Depth 166 M ground terminal Depth Keep enough space for the maintenance work on the top face of the base. Note: Upper section requires a space of at least 25mm for detaching/attaching cover. R27 (Min. cable bending radius) 1: Space needed for cable connection (Note) User tubing 2 (ϕ Red) Connects to arm 115 (R) 22 Connects to arm M1x1.5 through-hole (For mounting from above) D-sub connector for user wiring (No.1 to 8 usable) (Installation surface) R25 Tube connection port (ϕ lue) Connects to spline tip R5 X-axis: during CCW motion User tubing 2 (ϕ6 Red) Connects to base D-sub connector for user wiring (No.1 to 8 usable) Tube through hollow shaft Y-axis overlap area Y-axis overlap area Y-axis overlap area User tubing 1 (ϕ6 lack) Connects to base Y-axis overlap area ϕ (3) R5 X-axis: during CW motion * Tube (ϕ) through hollow shaft protrudes about 3mm from the spline tip. * Tube through hollow shaft does not rotate with spline during R-axis rotation. 225 R YP-X CLEN CONTROLLER INFORMTION Orbit Z-axis upper end mechanical stopper position (5mm rise during return-to-origin) Z-axis lower end mechanical stopper position 19 User tubing 2 (ϕ6 Red) Connects to base D-sub connector for user wiring (No.1 to 8 usable) R User tubing 1 (ϕ6 lack) Connects to base / ϕ11 through-hole counterbore ϕ18 depth 11 (For mounting from below) -ϕ.5 through-hole diameter ϕ7 through-hole 22.6±.2 ϕ3 h ϕ55 Detailed drawing ±.2 +. ϕ H7 through-hole * There is no phase relation between mounting hole and R-axis origin position. Details of tool flange section Small / Medium Large inverse RCX3 u 58 RCX2 u 95 31

17 PPLICTION YKXG rm length mm Maximum payload 1kg Standard : Tiny LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION YKXG 5 Model Z axis stroke Cable 5: 5mm 2L: 2m 3L: 3.5m 5L: 5m 1L: 1m RCX3- / xis rm length 5 mm 75 mm 5 mm specifications Rotation angle +/-5 +/-15 +/-36 C servo motor output 3 W 3 W 3 W 3 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed 3.3 m/sec.9 m/sec 17 /sec Maximum payload 1. kg Standard cycle time: with.1kg payload Note 2.33 sec R-axis tolerable moment of inertia Note 3.1 kgm 2.1 sq 8 wires User tubing (Outer diameter) ϕ 2 Standard: 2 m Option: 3.5 m, 5 m, 1 m (Excluding robot cable) Note 3.9 kg Robot cable weight.9 kg (2 m) 1.5 kg (3.5 m) 2.1 kg (5 m).2 kg (1 m) Note 2. When moving 25mm in vertical direction and 1mm in horizontal direction reciprocally. Note 3. There are limits to acceleration coefficient settings. See P.536. Note. The total robot weight is the sum of the robot body weight and the cable weight. Option (OP.) Specify various controller setting items. RCX3 P.58 RCX2S RCX3 RCX2S bsolute CE Marking Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications YKXG (No. 1 to 8 usable, socket contact) J.S.T. Mfg Co., Ltd. SM connector SMR-8V-, pin SYM-1T-P.6 (supplied) Use the YC crimping tool. (ϕ53) 5 R25 R3 (R-axis dog rotational radius) () Do not attach any wire or tube to self-supporting cable. Doing so may degrade positioning accuracy. If attaching wire or tube, make use of these air tubes. For details, refer to 1 When attaching a new user wire or tube in Chapter (Maximum 322 during arm rotation) 25 (Maximum during arm rotation) 2 If the robot enters the inside of R, the Z-axis upper end stopper may be in contact with the base. So, do not perform such motion. User tubing 2 (ϕ) Power capacity (V) method 3 Note. The movement range can be limited by changing the positions R The Z-axis upper end stopper is in contact with the base in an area inside from the inner limit of this working envelope. So, do not perform any motion in this area. R75 R R6 8 Working envelope X, Y-axis origin is at ±5 with respect to front of robot base When performing return-to-origin, move the axes counterclockwise in advance from the position shown above Tiny 16 User tubing 1 (ϕ) Small / Medium Large inverse diameter : ϕ 15 7+/-2 (Z-axis origin position) ϕ ϕ1h Width across flats Details of R-axis dog Rises 5mm during returnto-origin on Z-axis 5 Z axis stroke No phase relation between flat spot and R-axis origin User tool installation range Tapped hole for user -M3 x.5, depth: 7 ϕ53 Z-axis upper end stopper R ϕ5.5 through-hole Use four M5 mounting bolt. R27 (Min. cable bending radius) Cross section - User tubing 2 (ϕ) M3 ground terminal (No. 1 to 8 usable, socket contact) J.S.T. Mfg Co., Ltd. SM connector SMR-8V-, pin SYM-1T-P.6 (supplied) Use the YC crimping machine Keep enough space for the maintenance work at the rear of the base. (3) 7 53 User tubing 1 (ϕ) RCX3 u 58 RCX2S u 95

18 YK15XG rm length 15mm Maximum payload 1kg Standard : Tiny PPLICTION YK15XG 5 Model Z axis stroke Cable 5: 5mm 2L: 2m 3L: 3.5m 5L: 5m 1L: 1m RCX3- / xis rm length 75 mm 75 mm 5 mm specifications Rotation angle +/-5 +/-15 +/-36 C servo motor output 3 W 3 W 3 W 3 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed 3. m/sec.9 m/sec 17 /sec Maximum payload 1. kg Standard cycle time: with.1kg payload Note 2.33 sec R-axis tolerable moment of inertia Note 3.1 kgm 2.1 sq 8 wires User tubing (Outer diameter) ϕ 2 Standard: 2 m Option: 3.5 m, 5 m, 1 m (Excluding robot cable) Note. kg Robot cable weight.9 kg (2 m) 1.5 kg (3.5 m) 2.1 kg (5 m).2 kg (1 m) Note 2. When moving 25mm in vertical direction and 1mm in horizontal direction reciprocally. Note 3. There are limits to acceleration coefficient settings. See P.536. Note. The total robot weight is the sum of the robot body weight and the cable weight. Option (OP.) Specify various controller setting items. RCX3 P.58 RCX2S RCX3 RCX2S bsolute CE Marking Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications YK15XG (No. 1 to 8 usable, socket contact) J.S.T. Mfg Co., Ltd. SM connector SMR-8V-, pin SYM-1T-P.6 (supplied) Use the YC crimping tool. 5 R25 R3 (R-axis dog rotational radius) (15) Do not attach any wire or tube to self-supporting cable. Doing so may degrade positioning accuracy. If attaching wire or tube, make use of these air tubes. For details, refer to 1 When attaching a new user wire or tube in Chapter (Maximum 322 during arm rotation) 25 (Maximum during arm rotation) 2 If the robot enters the inside of R, the Z-axis upper end stopper may be in contact with the base. So, do not perform such motion. User tubing 2 (ϕ) Power capacity (V) method 3 Note. The movement range can be limited by changing the positions R The Z-axis upper end stopper is in contact with the base in an area inside from the inner limit of this working envelope. So, do not perform any motion in this area. R75 R15 R5 8 Working envelope X, Y-axis origin is at ±5 with respect to front of robot base When performing return-to-origin, move the axes counterclockwise in advance from the position shown above LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION diameter : ϕ /-2 (Z-axis origin position) ϕ Details of 1 15 ϕ1h Width across flats R-axis dog Rises 5mm during returnto-origin on Z-axis. 5 Z axis stroke No phase relation between flat spot and R-axis origin User tool installation range Tapped hole for user -M3 x.5, depth: 7 Z-axis upper end stopper R ϕ5.5 through-hole Use four M5 mounting bolts. R27 (Min. cable bending radius) User tubing 1 (ϕ) Cross section - User tubing 2 (ϕ) M3 ground terminal (No. 1 to 8 usable, socket contact) J.S.T. Mfg Co., Ltd. SM connector SMR-8V-, pin SYM-1T-P.6 (supplied) Use the YC crimping machine Keep enough space for the maintenance work at the rear of the base. (3) User tubing 1 (ϕ) 7 Tiny Small / Medium Large inverse RCX3 u 58 RCX2S u 95 33

19 PPLICTION YK18XG rm length 18mm Maximum payload 1kg Standard : Tiny LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Tiny Small / Medium Large inverse YK18XG 5 Model Z axis stroke Cable 5 : 5mm 2L: 2m 3L: 3.5m 5L: 5m 1L: 1m RCX3- / xis rm length 15 mm 75 mm 5 mm specifications Rotation angle +/-5 +/-15 +/-36 C servo motor output 3 W 3 W 3 W 3 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed 3.3 m/sec.9 m/sec 17 /sec Maximum payload 1. kg Standard cycle time: with.1kg payload Note 2.33 sec R-axis tolerable moment of inertia Note 3.1 kgm 2.1 sq 8 wires User tubing (Outer diameter) ϕ 2 Standard: 2 m Option: 3.5 m, 5 m, 1 m (Excluding robot cable) Note.1 kg Robot cable weight.9 kg (2 m) 1.5 kg (3.5 m) 2.1 kg (5 m).2 kg (1 m) Note 2. When moving 25mm in vertical direction and 1mm in horizontal direction reciprocally. Note 3. There are limits to acceleration coefficient settings. See P.536. Note. The total robot weight is the sum of the robot body weight and the cable weight. Option (OP.) Specify various controller setting items. RCX3 P.58 RCX2S RCX3 RCX2S bsolute CE Marking Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications YK18XG (No. 1 to 8 usable, socket contact) J.S.T. Mfg Co., Ltd. SM connector SMR-8V-, pin SYM-1T-P.6 (supplied) Use the YC crimping tool. 7+/-2 (Z-axis origin position) diameter : ϕ 5 R25 R3 (R-axis dog rotational radius) ϕ Details of R-axis dog Rises 5mm during returnto-origin on Z-axis. 5 Z axis stroke 38 No phase relation between flat spot and R-axis origin ϕ1h Width across flats (18) User tool installation range Tapped hole for user -M3 x.5, depth: 7 Z-axis upper end stopper 138 Do not attach any wire or tube to self-supporting cable. Doing so may degrade positioning accuracy. If attaching wire or tube, make use of these air tubes. For details, refer to 1 When attaching a new user wire or tube in Chapter (Maximum 322 during arm rotation) 2-R3 1 (Maximum during arm rotation) ϕ5.5 through-hole (Use four M5 mounting bolts.) R27 (Min. cable bending radius) User tubing 2 (ϕ) User tubing 1 (ϕ) Cross section - User tubing 2 (ϕ) M3 ground terminal (No. 1 to 8 usable, socket contact) J.S.T. Mfg Co., Ltd. SM connector SMR-8V-, pin SYM-1T-P.6 (supplied) Use the YC crimping machine Keep enough space for the maintenance work at the rear of the base. Power capacity (V) method 5 Note. The movement range can be limited by changing the positions 5 (3) Working envelope X, Y-axis origin is at ±5 with respect to front of robot base When performing return-to-origin, move the axes counterclockwise in advance from the position shown above. 35 User tubing 1 (ϕ) 7 R18 R75 The Z-axis upper end stopper is in contact with the base in an area inside from the inner limit of this working envelope. So, do not perform any motion in this area. R RCX3 u 58 RCX2S u 95

20 YK18X rm length 18mm Maximum payload 1kg YK18X 1 Model Z axis stroke Cable 1: 1mm 3L: 3.5m 5L: 5m 1L: 1m xis rm length 71 mm 19 mm 1 mm specifications Rotation angle +/- +/-1 +/-36 C servo motor output 5 W 3 W 3 W 3 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed 3.3 m/sec.7 m/sec 17 /sec Maximum payload 1. kg Standard cycle time: with.1kg payload Note 2. sec R-axis tolerable moment of inertia Note 3.1 kgm 2.1 sq 6 wires User tubing (Outer diameter) ϕ 3 2 Standard: 3.5 m Option: 5 m, 1 m (Excluding robot cable) Note 5.5 kg Robot cable weight 1.5 kg (3.5 m) 2.1 kg (5 m).2 kg (1 m) Note 1. This is the value at a constant ambient temperature. Note 2. When reciprocating 1mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.536. Note. The total robot weight is the sum of the robot body weight and the cable weight. Standard : Tiny RCX3- / Option (OP.) Specify various controller setting items. RCX3 P.58 RCX2S RCX3 RCX2S bsolute CE Marking Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications YK18X diameter : ϕ (No. 1 to 6 usable, socket contact) J.S.T. Mfg Co., Ltd. SM connector SMR-6V, pin SYM-1T-P.6 (supplied) Use the YC crimping tool. 1+/-2 (Z-axis origin position) ϕ R3 ϕ62 1 No phase relation between flat spot and R-axis origin User tool installation range 5 8 Details of 1 15 ϕ1h Width across flats Rises 5mm during return-to-origin on Z-axis. Z axis stroke ϕ7 M6 bolt used for installation 13 For user tool installation -M x.7 Depth 6 Do not attach any wire or tube to self-supporting cable. Doing so may degrade positioning accuracy. If attaching wire or tube, make use of these air tubes. For details, refer to 1 When attaching a new user wire or tube in Chapter (During arm rotation 25) 3 (Maximum during arm rot) 315 User tubing 2 (ϕ3) User tubing 1 (ϕ3) Cross section - User tubing 2 (ϕ3) M3 ground terminal 19.5 (No. 1 to 6 usable, socket contact) J.S.T. Mfg Co., Ltd. SM connector SMR-6V, pin SYM-1T-P.6 (supplied) Use the YC crimping machine R27 (Min. cable bending radius) Keep enough space for the maintenance work at the rear of the base. Power capacity (V) method 5 Note. The movement range can be limited by changing the positions shown above. User tubing 1 (ϕ3) R19 1 R18 R Working envelope X-axis origin is at ±5 with respect to front of robot base 133 +/-5 X, Y-axis origin position When performing return-to-origin, move the axes counterclockwise in advance from the position PPLICTION LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Tiny Small / Medium Large inverse RCX3 u 58 RCX2S u 95 35

21 PPLICTION LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Tiny Small / Medium Large inverse YK22X rm length 22mm Maximum payload 1kg YK22X 1 Model Z axis stroke Cable 1: 1mm 3L: 3.5m 5L: 5m 1L: 1m RCX3- / xis rm length 111 mm 19 mm 1 mm specifications Rotation angle +/- +/-1 +/-36 C servo motor output 5 W 3 W 3 W 3 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed 3. m/sec.7 m/sec 17 /sec Maximum payload 1. kg Standard cycle time: with.1kg payload Note 2.2 sec R-axis tolerable moment of inertia Note 3.1 kgm 2.1 sq 6 wires User tubing (Outer diameter) ϕ 3 2 Standard: 3.5 m Option: 5 m, 1 m (Excluding robot cable) Note 5.5 kg Robot cable weight 1.5 kg (3.5 m) 2.1 kg (5 m).2 kg (1 m) Note 1. This is the value at a constant ambient temperature. Note 2. When reciprocating 1mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.536. Note. The total robot weight is the sum of the robot body weight and the cable weight. Standard : Tiny Option (OP.) Specify various controller setting items. RCX3 P.58 RCX2S RCX3 RCX2S bsolute CE Marking Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications YK22X (No. 1 to 6 usable, socket contact) J.S.T. Mfg Co., Ltd. SM connector SMR-6V, pin SYM-1T-P.6 (supplied) Use the YC crimping tool /-2 (Z-axis origin position) ϕ R3 ϕ62 1 No phase relation between flat spot and R-axis origin ϕ1h Width across flats diameter : ϕ Details of Rises 5mm during return-to-origin on Z-axis. Z axis stroke User tool installation range ϕ7 M6 bolt used for installation Do not attach any wire or tube to self-supporting cable. Doing so may degrade positioning accuracy. 111 If attaching wire or tube, make use of these air tubes. 5 For details, refer to 1 When attaching a new user wire or tube in Chapter For user tool installation -M x.7 Depth6 3 2 (During arm rotation 25) 3 (Maximum during arm rotation) 315 User tubing 2 (ϕ3) User tubing 1 (ϕ3) Cross section - User tubing 2 (ϕ3) M3 ground terminal (No. 1 to 6 usable, socket contact) J.S.T. Mfg Co., Ltd. SM connector SMR-6V, pin SYM-1T-P.6 (supplied) Use the YC crimping machine. R27 (Min. cable bending radius) Keep enough space for the maintenance work at the rear of the base. Power capacity (V) method 5 Note. The movement range can be limited by changing the positions R22 R Working envelope X-axis origin is at ±5 with respect to front of robot base 133 +/-5 R75.7 X, Y-axis origin position When performing return-to-origin, move the axes counterclockwise in advance from the position shown above. User tubing 1 (ϕ3) 1 36 RCX3 u 58 RCX2S u 95

22 YK25XG rm length 25mm Maximum payload 5kg Standard : Small PPLICTION YK25XG 15 Model Z axis stroke Tool flange shaft Cable 15: 15mm No entry: None No entry: None 3L: 3.5m F: With tool flange S: With hollow shaft 5L: 5m 1L: 1m RCX3- / Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.537. Note. Maximum payload of option specifications (with tool flange attached or with user wiring and tubing routed through spline shaft) is kg. Option (OP.) Specify various controller setting items. RCX3 P.58 RCX2S bsolute CE Marking Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications Power capacity (V) method xis rm length 1 mm 15 mm 15 mm - specifications Rotation angle +/-1 +/-1 - +/-36 RCX3 C servo motor output 2 W 15 W 5 W 1 W 1 RCX2S mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed.5 m/sec 1.1 m/sec /sec Maximum payload 5 kg (Standard specification), kg (Option specifications Note ) Note. The movement range can be limited by changing the positions.9 sec R-axis tolerable moment of inertia Note 3.5 kgm 2 (.5 kgfcms 2 ).2 sq 1 wires Note. To set the coordinates with high accuracy, use a User tubing (Outer diameter) ϕ 3 coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. Standard: 3.5 m Option: 5 m, 1 m 18.5 kg LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YK25XG 9 Cross section ±2 User tool installation range Width across flat ϕ16 h7-.18 ϕ35 diameter ϕ11 Z-axis lower end mechanical stopper position 1 Cross section - Tapped hole for user wiring 6-M3.5 Depth 6 The weight of the tool attached here should be added to the tip mass M8 bolt for installation, bolts used 138 (ase size) D-sub connector for user wiring (No. 1 to 1 usable) Maximum 28 during arm rotation Machine harness 6 Maximum 66 during arm rotation Z-axis upper end mechanical stopper position mm rise during Z-axis return-to-origin R27 (Min. cable bending radius) M ground terminal Keep enough space for the maintenance work at the rear of the base R25 R91 36 R The arm may be in contact with the machine harness in an area inside from 18 the inner limit of this working envelope. So, do not operate the arm in this area. Note that the robot cannot be used at a position where the base flange or robot cable interferes with the spline in the working envelope shown above. X-axis mechanical stopper position : 12 Y-axis mechanical stopper position : 16 -M3.5 through-hole (No phase relation to R-axis origin.) s this hole is intended for the wiring/tubing clamp, do not attach a large load to it. D-sub connector for user wiring (No. 1 to 1 usable) ± F ϕ27 5 diameter ϕ11 Option: /tubing through spline View of F YP-X CLEN CONTROLLER INFORMTION Orbit / Tiny Small Large inverse RCX3 u 58 RCX2S u 95 37

23 PPLICTION YK25XG LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Orbit / Tiny Small Large inverse YK25XG Tool flange mount ± Tapped hole for user wiring 6-M3.5 Depth 6 The weight of the tool attached here should be added to the tip mass. D M8 bolt for installation, bolts used 138 (ase size) Machine harness M ground terminal R27 (Min. cable bending radius) 2 Keep enough space for the maintenance work at the rear of the base. E 28 ϕ55 ϕ35 Detailed drawing D 26 D-sub connector for user wiring (No. 1 to 1 usable) 86 ϕ3 h ϕ.5 through-hole 22.6±.2 R25 The arm may be in contact with the machine harness in an area inside from 16 the inner limit of this working envelope. So, do not operate the arm in this area. Note that the robot cannot be used at a position where the base flange or robot cable interferes with the tool flange in the working envelope shown above. X-axis mechanical stopper position : 12 Y-axis mechanical stopper position : R3 R91 R M3.5 through-hole (No phase relation to R-axis origin.) s this hole is intended for the wiring/tubing clamp, do not attach a large load to it. diameter ϕ11 ϕ H7 +. through-hole View of E 7 ± F ϕ ± D diameter ϕ11 View of F Option: /tubing through spline 38 RCX3 u 58 RCX2S u 95

24 YK35XG rm length 35mm Maximum payload 5kg Standard : Small PPLICTION YK35XG 15 Model Z axis stroke Tool flange shaft Cable 15: 15mm No entry: None No entry: None 3L: 3.5m F: With tool flange S: With hollow shaft 5L: 5m 1L: 1m RCX3- / Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.537. Note. Maximum payload of option specifications (with tool flange attached or with user wiring and tubing routed through spline shaft) is kg. Option (OP.) Specify various controller setting items. RCX3 P.58 RCX2S bsolute CE Marking Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications Power capacity (V) method xis rm length 2 mm 15 mm 15 mm - specifications Rotation angle +/-1 +/-1 - +/-36 RCX3 C servo motor output 2 W 15 W 5 W 1 W 1 RCX2S mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed 5.6 m/sec 1.1 m/sec /sec Maximum payload 5 kg (Standard specification), kg (Option specifications Note ) Note. The movement range can be limited by changing the positions.9 sec R-axis tolerable moment of inertia Note 3.5 kgm 2 (.5 kgfcms 2 ).2 sq 1 wires Note. To set the coordinates with high accuracy, use a User tubing (Outer diameter) ϕ 3 coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. Standard: 3.5 m Option: 5 m, 1 m 19 kg LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YK35XG ±2 User tool installation range Width across flat Cross section - 9 Cross section diameter ϕ11 ϕ16h7-.18 ϕ (ase size) D-sub connector for user wiring (No. 1 to 1 usable) Maximum 33 during arm rotation Machine harness 62 Maximum 66 during arm rotation 2 Z-axis lower end mechanical stopper position 57 Z-axis upper end mechanical stopper position mm rise during Z-axis return-to-origin 7 Keep enough space for the maintenance work at the rear of the base. Tapped hole for user wiring 6-M3.5 Depth 6 The weight of the tool attached here should be added to the tip mass. 6 1 M8 bolt for installation, bolts used M ground terminal R27 (Min. cable bending radius) 28 1 R R R19 18 R15 -M3.5 through-hole (No phase relation to R-axis origin.) s this hole is intended for the wiring/tubing clamp, do not attach a large load to it. D-sub connector for user wiring (No. 1 to 1 usable) If the robot enters the inside of the corner of R19 and dimension 18, the Z-axis upper end stopper may be in contact with the base or the arm may be in contact with the machine harness. So, do not perform such motion. Note that the robot cannot be used at a position where the base flange or robot cable interferes with the spline in the working envelope shown above. X-axis mechanical stopper position : 12 Y-axis mechanical stopper position : ±2 F ϕ diameter ϕ11 View of F Option: /tubing through spline YP-X CLEN CONTROLLER INFORMTION Orbit / Tiny Small Large inverse RCX3 u 58 RCX2S u 95 39

25 PPLICTION YK35XG LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Orbit / Tiny Small Large inverse YK35XG Tool flange mount ± D Tapped hole for user wiring 6-M3.5 Depth 6 The weight of the tool attached here should be added to the tip mass (ase size) 6 1 M8 bolt for installation, bolts used Machine harness M ground terminal R27 (Min. cable bending radius) Keep enough space ϕ 35 for the maintenance work at the rear of the base. 2 E ϕ 55 Detailed drawing D 28 ϕ3 h M3.5 through-hole (No phase relation to R-axis origin.) s this hole is intended for the wiring/tubing clamp, do not attach a large load to it. D-sub connector for user wiring (No. 1 to 1 usable) ϕ.5 through-hole 22.6 ±.2 +. ϕ H7 through-hole R35 diameter ϕ11 R R View of E 116 R15 Note that the robot cannot be used at a position where the base flange or robot cable interferes with the tool flange in the working envelope shown above. X-axis mechanical stopper position : 12 Y-axis mechanical stopper position : ± If the robot enters the inside of the corner of R19 and dimension 16, the tool flange may be in contact with the base or the arm may be in contact with the machine harness. So, do not perform such motion ± ϕ27 F 15 5 D diameter ϕ11 View of F Option: /tubing through spline 35 RCX3 u 58 RCX2S u 95

26 YKXG rm length mm Maximum payload 5kg Standard : Small PPLICTION YKXG 15 Model Z axis stroke Tool flange shaft Cable 15: 15mm No entry: None No entry: None 3L: 3.5m F: With tool flange S: With hollow shaft 5L: 5m 1L: 1m RCX3- / Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.538. Note. Maximum payload of option specifications (with tool flange attached or with user wiring and tubing routed through spline shaft) is kg. Option (OP.) Specify various controller setting items. RCX3 P.58 RCX2S bsolute CE Marking Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications Power capacity (V) method xis rm length 25 mm 15 mm 15 mm - specifications Rotation angle +/-1 +/-1 - +/-36 RCX3 C servo motor output 2 W 15 W 5 W 1 W 1 RCX2S mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed 6.1 m/sec 1.1 m/sec /sec Maximum payload 5 kg (Standard specification), kg (Option specifications Note ) Note. The movement range can be limited by changing the positions.9 sec R-axis tolerable moment of inertia Note 3.5 kgm 2 (.5 kgfcms 2 ).2 sq 1 wires Note. To set the coordinates with high accuracy, use a User tubing (Outer diameter) ϕ 3 coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. Standard: 3.5 m Option: 5 m, 1 m 19.5 kg LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YKXG ±2 User tool installation range Width across flat Cross section - 9 Cross section - 1 diameter ϕ11 ϕ16 h7-.18 ϕ (ase size) D-sub connector for user wiring (No. 1 to 1 usable) Maximum 38 during arm rotation Machine harness 62 Maximum 66 during arm rotation 2 57 Z-axis upper end mechanical stopper position mm rise during Z-axis return-to-origin Z-axis lower end mechanical stopper position M8 bolt for installation, bolts used Keep enough space for the maintenance work at the rear of the base. Tapped hole for user wiring 6-M3.5 Depth 6 The weight of the tool attached here should be added to the tip mass M ground terminal R27 (Min. cable bending radius) If the robot enters the inside of the corner of R19 and dimension 18, the Z-axis upper end stopper may be in contact with the base or the arm may be in contact with the machine harness. So, do not perform such motion. Note that the robot cannot be used at a position where the base flange or robot cable interferes with the spline in the working envelope shown above. X-axis mechanical stopper position : 12 Y-axis mechanical stopper position : 16 -M3.5 through-hole (No phase relation to R-axis origin.) s this hole is intended for the wiring/tubing clamp, do not attach a large load to it. D-sub connector for user wiring (No. 1 to 1 usable) 86 1 R R156 R ± F ϕ R View of F Option: /tubing through spline 1 diameter ϕ11 YP-X CLEN CONTROLLER INFORMTION Orbit / Tiny Small Large inverse RCX3 u 58 RCX2S u

27 PPLICTION YKXG LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION YKXG Tool flange mount (ase size) 6 1 M8 bolt for installation, bolts used Machine harness If the robot enters the inside of the corner of R19 and dimension 18, the tool flange may be in contact with the base or the arm may be in contact with the machine harness. So, do not perform such motion. 1 R R156 R Note that the robot cannot be used at a position where the base flange or robot cable interferes with the tool flange in the working envelope shown above. X-axis mechanical stopper position : 12 Y-axis mechanical stopper position : 16 -M3.5 through-hole (No phase relation to R-axis origin.) s this hole is intended for the wiring/tubing clamp, do not attach a large load to it. R diameter ϕ11 Orbit / Tiny Small Large inverse ± D Tapped hole for user wiring 6-M3.5 Depth 6 The weight of the tool attached here should be added to the tip mass M ground terminal R27 (Min. cable bending radius) Keep enough space for the maintenance work at the rear of the base E ϕ ϕ35 86 Detailed drawing D D-sub connector for user wiring (No. 1 to 1 usable) ϕ3 h ϕ.5 through-hole 22.6±.2 diameter ϕ11 +. ϕ H7 through-hole View of E ± ± F ϕ D View of F Option: /tubing through spline 352 RCX3 u 58 RCX2S u 95

28 15 YKXR rm length mm Maximum payload 3kg Standard : Small LOW COST HIGH PERFORMNCE MODEL PPLICTION YKXR 15 Model Return-toorigin method Z axis stroke shaft Cable S: Sensor No entry: None 3L: 3.5m T: end S: With hollow shaft 5L: 5m 1L: 1m RCX3- / Option (OP.) Specify various controller setting items. RCX3 P.58 bsolute : pcs. 3: 3 pcs. 2: 2 pcs. 1: 1 pc. : pc. LCM1 single-axis TRNSERVO Specifications xis rm length 225 mm 175 mm 15 mm - specifications Rotation angle +/-132 +/ /-36 C servo motor output 2 W 1 W 1 W 1 W Speed reducer Harmonic drive Harmonic drive all screw elt speed reduction mechanism Transmission Motor to speed reducer Timing belt Timing belt Repeatability Note 1 +/-.1 mm +/-.1 mm +/-.1 Maximum speed 6 m/sec 1.1 m/sec 26 /sec Maximum payload 3 kg (Standard specification), 2 kg (Option specifications Note ).5 sec R-axis tolerable moment of inertia Note 3.5 kgm 2 (.5 kgfcms 2 ).2 sq 1 wires User tubing (Outer diameter) ϕ 3 Standard: 3.5 m Option: 5 m, 1 m 17 kg Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions and performing the coarse positioning arch operation. Note 3. It is necessary to input the moment of inertia in the actual operating environment. Note. Maximum payload of option specifications (with user wiring/tubing through spline ) is 2kg. Power capacity (V) method RCX3 1 Note. The movement range can be restricted by adding the X- and Y-axis mechanical stoppers. (The maximum movement range was set at shipment.) Note. To set the coordinates with high accuracy, use a coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. Single-axis single-axis PHSER SCR YKXR 653 ϕ27 15 F 5 Option and tubing routed through spline shaft. -M3.5 through-hole (No phase relation to R-axis origin.) View of F ±2 (Z-axis origin position) Z-axis upper end mechanical stopper position 1mm rise during return-to-origin Z-axis lower end mechanical stopper position connector (Numbers 1 to 1 are usable.) J.S.T. Connector SM connector: SMR-11V- Pin: SYM-1T-P.6 is attached. Use P-K2N for the crimping machine. 156 s this hole is intended for the wiring/tubing clamp, do not attach a large load to it. (1) 15 Z axis stroke (7) Width across flat Cross section ϕ16 h7-.18 ϕ35 diameter ϕ11 6 H7 1 (Width across flats) User tool installation range Standard 8 +. ϕ6 H Tapped hole for user wiring -M3.5 Depth 6 The weight of the tool attached here should be added to the tip mass (ase size) XY-axis origin position (Sensor specification) 5.5 (.5) When performing return-to-origin, 16 move both the X-axis and Y-axis counterclockwise in advance from the position shown above. R ϕ9 M8 bolt for installation, bolts used 131 Maximum 37 during arm rotation 58 Maximum 6 during arm rotation XY-axis origin position ( end specification) When performing return-to-origin, move the X-axis and Y-axis counterclockwise and clockwise, respectively in advance from the position shown above /-3 Keep enough space for the maintenance work at the rear of the base. R27 (Min. cable bending radius) 17 +/-3 M ground terminal connector (Numbers 1 to 1 are usable.) J.S.T. Connector SM connector: SMR-11V- Pin: SYM-1T-P.6 is attached. Use P-K2N for the crimping machine R Working envelope X-axis mechanical stopper position : 13 Y-axis mechanical stopper position : YP-X CLEN CONTROLLER INFORMTION Orbit / Tiny Small Large inverse RCX3 u

29 PPLICTION YK5XGL rm length 5mm Maximum payload 5kg Standard : Medium LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YK5XGL 15 Model Z axis stroke Tool flange shaft Cable 15: 15mm No entry: None No entry: None 3L: 3.5m F: With tool flange S: With hollow shaft 5L: 5m 1L: 1m RCX3- / Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.538. Note. Maximum payload of option specifications (with tool flange attached or with user wiring and tubing routed through spline shaft) is kg. Option (OP.) Specify various controller setting items. RCX3 P.58 RCX2S bsolute CE Marking Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications Power capacity (V) method xis rm length 25 mm 25 mm 15 mm - specifications Rotation angle +/-1 +/-1 - +/-36 RCX3 C servo motor output 2 W 15 W 5 W 1 W 1 RCX2S mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed 5.1 m/sec 1.1 m/sec /sec Maximum payload 5 kg (Standard specification), kg (Option specifications Note ) Note. The movement range can be limited by changing the positions.59 sec R-axis tolerable moment of inertia Note 3.5 kgm 2 (.5 kgfcms 2 ).2 sq 1 wires Note. To set the coordinates with high accuracy, use a User tubing (Outer diameter) ϕ 3 coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. Standard: 3.5 m Option: 5 m, 1 m 21 kg YP-X CLEN CONTROLLER INFORMTION Orbit / Tiny Medium Large inverse YK5XGL ±2 User tool installation range Width across flats: diameter: ϕ11 Cross section - ϕ16 h ϕ D-sub connector for user wiring (No. 1 to 1 usable) Machine harness Z-axis upper end mechanical stopper position mm rise during Z-axis return-to-origin Z-axis lower end mechanical stopper position Tapped hole for user wiring 6-M3.5 Depth 6 The weight of the tool attached here should be added to the tip mass M8 bolt for installation, bolts used 138 (ase size) 9 Maximum 315 during arm rotation 633 Maximum 673 during arm rotation R27 (Min. cable bending radius) ϕ27 F D-sub connector for user wiring (No. 1 to 1 usable) Keep enough space for the maintenance work at the rear of the base. If the robot enters the inside of the corner of R2 and R25, the arm may be in contact with the machine harness. So, do not perform such motion. R ±2 R155 R R25 2 Note that the robot cannot be used at a position where the base flange or robot cable interferes with the spline in the working envelope shown above. X-axis mechanical stopper position : 12 Y-axis mechanical stopper position : 16 -M3.5 through-hole (No phase relation to R-axis origin.) s this hole is intended for the wiring/tubing clamp, do not attach a large load to it. diameter ϕ11 1 View of F Option: /tubing through spline 3 RCX3 u 58 RCX2S u 95

30 YK5XGL PPLICTION LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YK5XGL Tool flange mount ±2 D Tapped hole for user wiring 6-M3.5 Depth 6 The weight of the tool attached here should be added to the tip mass. 93 D-sub connector for user wiring (No. 1 to 1 usable) Machine harness M8 bolt for installation, bolts used 138 (ase size) R27 (Min. cable bending radius) 28 ϕ35 Keep enough space for the maintenance work at the rear of the base. 2 E ϕ55 Detailed drawing D ϕ3 h ϕ H7 D-sub connector for user wiring (No. 1 to 1 usable) ±.2 1 R ± R155 R ±2 133 ϕ27 F R25 D 2 Note that the robot cannot be used at a position where the base flange or robot cable interferes with the tool flange in the working envelope shown above. X-axis mechanical stopper position : 12 Y-axis mechanical stopper position : 16 diameter: ϕ11 -ϕ.5 through-hole through-hole If the robot enters the inside of corners of R2 and R25, the arm may be in contact with the machine harness. So, do not perform such motion. -M3.5 through-hole (No phase relation to R-axis origin.) s this hole is intended for the wiring/tubing clamp, do not attach a large load to it. View of E 1 diameter ϕ11 View of F Option: /tubing through spline YP-X CLEN CONTROLLER INFORMTION Orbit / Tiny Medium Large inverse RCX3 u 58 RCX2S u

31 PPLICTION YK5XG rm length 5mm Maximum payload 1kg Standard : Medium LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YK5XG Model Z axis stroke Tool flange Cable 2: 2mm No entry: None 3L: 3.5m 3: 3mm F: With tool flange 5L: 5m 1L: 1m xis rm length 2 mm 3 mm 2 mm 3 mm specifications Rotation angle +/-13 +/-15 +/-36 C servo motor output W 2 W 2 W 2 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed 7.6 m/sec 2.3 m/sec 1.7 m/sec 17 /sec Maximum payload 1 kg.5 sec R-axis tolerable moment of inertia Note 3.3 kgm 2.2 sq 2 wires User tubing (Outer diameter) ϕ 6 3 Standard: 3.5 m Option: 5 m, 1 m 3 kg Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.5. RCX3- / Option (OP.) RCX3 RCX2-R3 Power capacity (V) method 17 bsolute Specify various controller setting items. RCX3 P.58 RCX2 R3 CE Marking Regeneratizve unit Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications Note. The movement range can be limited by changing the positions Note. To set the coordinates with high accuracy, use a coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. YP-X CLEN CONTROLLER INFORMTION Orbit / Tiny Medium Large YK5XG 775 Z3mm 675 Z2mm User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) User tool installation range ±2 3 Z axis stroke 1 2 Z axis stroke mm rise during Z-axis return-to-origin D-sub connector for user wiring (No.1 to 2 usable) ϕ2h ϕ5 Flat surface has no phase relation to R-axis origin. Standard Z-axis lower end mechanical stopper position (base size) Machine harness 81 Width across flats: 19 Cross section ϕ11 M1 bolt for installation, bolts used 652 (Maximum 66 during arm rotation) diameter: ϕ1 -ϕ5.5 through-hole diameter ϕ ±2 28 ±.2 +. ϕ5 H7 through-hole (ase installation surface) ϕ5 3 3 View of ± ϕ3 h7 ϕ7 9 User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) M ground terminal D-sub connector for user wiring (No.1 to 2 usable) If the robot enters the inside of R25 and corner of dimensions 5 and 26, the Z-axis upper end stopper or tool flange may be in contact with the base or the arm may be in contact with the machine harness. So, do not perform such motion (185) Values shown in ( ) For tool flange specifications 15 R5 R3 Working envelope of left-handed system R178 R25 R R5 R R25 If the robot enters the inside of R25 and corner of dimensions 5 and 26, the Z-axis upper end stopper or tool flange may be in contact with the base or the arm may be in contact with the machine harness. So, do not perform such motion. R Values shown in ( ) Working envelope of For tool flange right-handed system specifications X-axis mechanical stopper position: 132 Y-axis mechanical stopper position: 17 R3 165(185) inverse 1 -M x.7 through-hole for tool attachment Four M x 1L binding screws are supplied. Do not screw the screws in deeper than 1mm from bottom surface of arm. 32 M16 x 2 Depth2 (ottom of spline) Option: Tool flange mount R27 (Min. cable bending radius) Keep enough space for the maintenance work at the rear of the base. YK5XG Z2mm specification YK5XG Z3mm specification 356 RCX3 u 58 RCX2 u 95

32 YK6XGL rm length 6mm Maximum payload 5kg Standard : Medium PPLICTION YK6XGL 15 Model Z axis stroke Tool flange shaft Cable 15: 15mm No entry: None No entry: None 3L: 3.5m F: With tool flange S: With hollow shaft 5L: 5m 1L: 1m RCX3- / Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.538. Note. Maximum payload of option specifications (with tool flange attached or with user wiring and tubing routed through spline shaft) is kg. Option (OP.) Specify various controller setting items. RCX3 P.58 RCX2S bsolute CE Marking Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications Power capacity (V) method xis rm length 35 mm 25 mm 15 mm - specifications Rotation angle +/-1 +/-1 - +/-36 RCX3 C servo motor output 2 W 15 W 5 W 1 W 1 RCX2S mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed.9 m/sec 1.1 m/sec /sec Maximum payload 5 kg (Standard specification), kg (Option specifications Note ) Note. The movement range can be limited by changing the positions.63 sec R-axis tolerable moment of inertia Note 3.5 kgm 2 (.5 kgfcms 2 ).2 sq 1 wires Note. To set the coordinates with high accuracy, use a User tubing (Outer diameter) ϕ 3 coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. Standard: 3.5 m Option: 5 m, 1 m 22 kg LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YK6XGL ±2 User tool installation range Width across flats: D-sub connector for user wiring (No. 1 to 1 usable) 1 diameter: ϕ11 Cross section - 1 ϕ16 h ϕ Z-axis upper end mechanical stopper position mm rise during Z-axis return-to-origin Z-axis lower end mechanical stopper position (ase size) 7 Tapped hole for user wiring 6-M3.5 Depth 6 The weight of the tool attached here should be added to the tip mass R27 (Min. cable bending radius) 1 M8 bolt for installation, bolts used 9 Maximum 355 during arm rotation 633 Maximum 673 during arm rotation Keep enough space for the maintenance work at the rear of the base. R6 R ±2 1.5 F ϕ R Note that the robot cannot be used at a position where the base flange or robot cable interferes with the spline in the working envelope shown above. X-axis mechanical stopper position : 12 Y-axis mechanical stopper position : 16 -M3.5 through-hole (No phase relation to R-axis origin.) s this hole is intended for the wiring/tubing clamp, do not attach a large load to it. D-sub connector for user wiring (No. 1 to 1 usable) Option: /tubing through spline 1 View of F diameter ϕ11 YP-X CLEN CONTROLLER INFORMTION Orbit / Tiny Medium Large inverse RCX3 u 58 RCX2S u

33 PPLICTION YK6XGL LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Orbit / Tiny Medium Large inverse YK6XGL Tool flange mount ±2 9 D-sub connector for user wiring (No. 1 to 1 usable) D (ase size) Tapped hole for user wiring 6-M3.5 Depth 6 The weight of the tool attached here should be added to the tip mass R27 (Min. cable bending radius) Keep enough space for the maintenance work at the rear of the base. 6 1 M8 bolt for installation, bolts used E ϕ55 ϕ35 28 ϕ3 h7-.21 Detailed drawing D ϕ H7 86 -ϕ.5 through-hole D-sub connector for user wiring (No. 1 to 1 usable) 22.6 ±.2 through-hole diameter: ϕ11 1 R ± R ±2 2.5 ϕ27 F D R Note that the robot cannot be used at a position where the base flange or robot cable interferes with the tool flange in the working envelope shown above. X-axis mechanical stopper position : 12 Y-axis mechanical stopper position : 16 -M3.5 through-hole (No phase relation to R-axis origin.) s this hole is intended for the wiring/tubing clamp, do not attach a large load to it. View of E diameter ϕ11 1 View of F Option: /tubing through spline 358 RCX3 u 58 RCX2S u 95

34 YK6XG rm length 6mm Maximum payload 1kg Standard : Medium PPLICTION YK6XG Model Z axis stroke Tool flange Cable 2: 2mm No entry: None 3L: 3.5m 3: 3mm F: With tool flange 5L: 5m 1L: 1m xis rm length 3 mm 3 mm 2 mm 3 mm specifications Rotation angle +/-13 +/-15 +/-36 C servo motor output W 2 W 2 W 2 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed 8. m/sec 2.3 m/sec 1.7 m/sec 17 /sec Maximum payload 1 kg.6 sec R-axis tolerable moment of inertia Note 3.3 kgm 2.2 sq 2 wires User tubing (Outer diameter) ϕ 6 3 Standard: 3.5 m Option: 5 m, 1 m 31 kg Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.5. RCX3- / Option (OP.) RCX3 RCX2-R3 Power capacity (V) method 17 bsolute Specify various controller setting items. RCX3 P.58 RCX2 R3 CE Marking Regeneratizve unit Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications Note. The movement range can be limited by changing the positions Note. To set the coordinates with high accuracy, use a coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YK6XG 775 Z3mm 675 Z2mm User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) User tool installation range ±2 2 Z axis stroke 3 Z axis stroke mm rise during Z-axis return-to-origin D-sub connector for user wiring (No.1 to 2 usable) ϕ2h ϕ5 Flat surface has no phase relation to R-axis origin. Standard Z-axis lower end mechanical stopper position Width across flats: M16 x 2 Depth 2 (ottom of spline) Machine harness Cross section - -M x.7 through-hole for tool attachment Four M x 1L binding screws are supplied. Do not screw the screws in deeper than 1mm from bottom surface of arm (base size) 81 diameter: ϕ ϕ11 M1 bolt for installation, bolts used 652 Maximum 66 during arm rotation -ϕ5.5 through-hole ϕ5 H7 through-hole ±2 (ase installation surface) diameter ϕ1 28 ± ± View of ϕ5 ϕ User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) ϕ3 h M ground terminal D-sub connector for user wiring (No. 1 to 2 usable) 6.5 Option: Tool flange mount R27 (Min. cable bending radius) Keep enough space for the maintenance work at the rear of the base. If the robot enters the inside of the corner of dimensions 135 and 22, the arm may be in contact with the machine harness. So, do not perform such motion. Working envelope of left-handed system YK6XG Z2mm specification 15 R3 R6 R18 22 R Working envelope of right-handed system X-axis mechanical stopper position: 132 Y-axis mechanical stopper position: R6 R3 15 R18 If the robot enters the inside of the corner of dimensions 135 and 22, the arm may be in contact with the machine harness. So, do not perform such motion. R YK6XG Z3mm specification YP-X CLEN CONTROLLER INFORMTION Orbit / Tiny Medium Large inverse RCX3 u 58 RCX2 u

35 PPLICTION YK6XGH rm length 6mm Maximum payload 2kg Standard : Medium LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YK6XGH Model Z axis stroke Tool flange Cable 2: 2mm No entry: None 3L: 3.5m : mm F: With tool flange 5L: 5m 1L: 1m RCX3- / xis rm length 2 mm mm 2 mm mm specifications Rotation angle +/-13 +/-15 +/-36 C servo motor output 75 W W W 2 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.2 mm +/-.1 mm +/-. Maximum speed 7.7 m/sec 2.3 m/sec 1.7 m/sec 92 /sec Maximum payload 2 kg.7 sec R-axis tolerable moment of inertia Note 3 1. kgm 2.2 sq 2 wires User tubing (Outer diameter) ϕ 6 3 Standard: 3.5 m Option: 5 m, 1 m Z axis 2 mm: 8 kg Z axis mm: 5 kg Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.5. Note. Please consult YMH when connecting other tubes and cables to the self-supporting machine harness. Option (OP.) RCX3 RCX2-R3 Power capacity (V) method 25 bsolute Specify various controller setting items. RCX3 P.58 RCX2 R3 CE Marking Regeneratizve unit Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications Note. The movement range can be limited by changing the positions Note. To set the coordinates with high accuracy, use a coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. YP-X CLEN CONTROLLER INFORMTION Orbit / Tiny Medium Large inverse YK6XGH Zmm Z2mm ±2 Z axis stroke 2 Z axis stroke User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) 6mm rise during Z-axis return-to-origin D-sub connector for user wiring (No.1 to 2 usable) ϕ25h7-.21 ϕ Flat surface has no phase relation to R-axis origin. 2 User tool installation range Standard (base size) Machine harness Z-axis lower end mechanical stopper position Cross section - 99 Width across flats: 2 -M x.7 through-hole for tool attachment Four M x 1L binding screws are supplied. Do not screw the screws in deeper than 1mm from bottom surface of arm. M2 x 2.5 Depth 2 (ottom of spline) ϕ1 M bolt for installation, bolts used +. ϕ6 H7 through-hole 711 Maximum 77 during arm rotation diameter : ϕ (ase installation surface) diameter ϕ18 38 ± ϕ6.6 through-hole ±.2 View of ϕ65 ϕ ϕ5 h7 Option: Tool flange mount R27 (Min. cable bending radius) Keep enough space for the maintenance work at the rear of the base. User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) M ground terminal D-sub connector for user wiring (No.1 to 2 usable) 53 Working envelope of left-handed system YK6XGH YK6XGH Z2mm specification Zmm specification If the robot enters the inside of the corner of dimensions 1 and, the arm may be in contact with the machine harness. So, do not perform such motion. 15 R6 R R28 R 1 97 R 1 97 R28 R6 R If the robot enters the inside of the corner of dimensions 1 and, the arm may be in contact with the machine harness. So, do not perform such motion. Working envelope of right-handed system X-axis mechanical stopper position: 132 Y-axis mechanical stopper position: RCX3 u 58 RCX2 u 95

36 YK7XGL Standard : Large rm length 7mm Maximum payload 1kg Note. This model is a special order product. Please consult us for delivery time. PPLICTION YK7XGL Model Z axis stroke Tool flange Cable 2: 2mm No entry: None 3L: 3.5m 3: 3mm F: With tool flange 5L: 5m 1L: 1m RCX3- / Option (OP.) Specify various controller setting items. RCX3 P.58 bsolute LCM1 single-axis TRNSERVO Specifications xis rm length mm 3 mm 2 mm 3 mm - specifications Rotation angle +/-13 +/ /-36 C servo motor output W 2 W 2 W 2 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-.5 Maximum speed 9.2 m/sec 2.3 m/sec 1.7 m/sec 17 /sec Maximum payload 1 kg (Standard ), 9 kg (Option: Tool flange mount ).5 sec R-axis tolerable moment of inertia Note 3.3 kgm 2.2 sq 2 wires User tubing (Outer diameter) ϕ6 3 Standard: 3.5 m Option: 5, 1 m 32 kg Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. Power capacity (V) method RCX3 17 Note. The movement range can be limited by changing the positions Note. To set the coordinates with high accuracy, use a coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. Single-axis single-axis PHSER SCR YK7XGL /-2 3 (Z axis stroke) 1 1 2(Z axis stroke) User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) 775 Z3mm 675 Z2mm ϕ2h mm rise during Z-axis return-to-origin ϕ5 Flat surface has no phase relation to R-axis origin. User tool installation range 1 32 Standard D-sub connector for user wiring (No.1 to 2 usable) 89 Z-axis lower end mechanical stopper position Machine harness 6 -M x.7 through-hole for tool attachment Four M x 1L binding screws are supplied. Do not screw the screws in deeper than 1mm from bottom surface of arm (base size) Maximum 71 during arm rotation -ϕ5.5 through-hole 259 Cross section ϕ11 M1 bolt for installation, bolts used diameter: ϕ1 28 +/-.2 ϕ5 H7 +. through-hole /-2 Option: Tool flange mount ϕ (ase installation surface) diameter: ϕ1 Width across flats: 19 M16 x 2 Depth 2 (ottom of spline) R27 (Min. cable bending radius) 3 3 View of +/ ϕ7 User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) ϕ3h M ground terminal Keep enough space for the maintenance work at the rear of the base. User tubing 1 (ϕ6 lack) R7 R3 YK7XGL Z2mm specification 15 R231 R3 Working envelope of right-handed system R231 X-axis mechanical stopper position: 132 Y-axis mechanical stopper position: 17 6 D-sub connector for user wiring (No. 1 to 2 usable) 15 R7 Working envelope of left-handed system YK7XGL Z3mm specification YP-X CLEN CONTROLLER INFORMTION Medium Large inverse RCX3 u

37 PPLICTION YK7XG rm length 7mm Maximum payload 2kg Standard : Large LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YK7XG Model Z axis stroke Tool flange Cable 2: 2mm No entry: None 3L: 3.5m : mm F: With tool flange 5L: 5m 1L: 1m RCX3- / xis rm length 3 mm mm 2 mm mm specifications Rotation angle +/-13 +/-15 +/-36 C servo motor output 75 W W W 2 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.2 mm +/-.1 mm +/-. Maximum speed 8. m/sec 2.3 m/sec 1.7 m/sec 92 /sec Maximum payload 2 kg.2 sec R-axis tolerable moment of inertia Note 3 1. kgm 2.2 sq 2 wires User tubing (Outer diameter) ϕ 6 3 Standard: 3.5 m Option: 5 m, 1 m Z axis 2 mm: 5 kg Z axis mm: 52 kg Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.5. Note. Please consult YMH when connecting other tubes and cables to the self-supporting machine harness. Option (OP.) RCX3 RCX2-R3 Power capacity (V) method 25 bsolute Specify various controller setting items. RCX3 P.58 RCX2 R3 CE Marking Regeneratizve unit Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications Note. The movement range can be limited by changing the positions Note. To set the coordinates with high accuracy, use a coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. YP-X CLEN CONTROLLER INFORMTION Medium Large inverse YK7XG User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) 99 Zmm 79 Z2mm ±2 Z axis stroke 2 Z axis stroke 6mm rise during Z-axis return-to-origin D-sub connector for user wiring (No.1 to 2 usable) User tool installation range ϕ25h7-.21 ϕ55 Flat surface has no phase relation to R-axis origin Standard 98 Z-axis lower end mechanical stopper position M2 x 2.5 Depth 2 (ottom of spline) (base size) Machine harness 99 Width across flats: 2 -M x.7 through-hole for tool attachment Four M x 1L binding screws are supplied. Do not screw the screws in deeper than 1mm from bottom surface of arm ϕ1 M bolt for installation, bolts used 711 Maximum 77 during arm rotation diameter : ϕ18 Cross section - diameter ϕ18 38 ±.2 +. ϕ6 H7 through-hole (ase installation surface) 2 -ϕ6.6 through-hole 9 ±.2 View of ϕ65 ϕ95 User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) ϕ5 h M ground terminal D-sub connector for user wiring (No.1 to 2 usable) 6.5 Option: Tool flange mount R27 (Min. cable bending radius) Keep enough space for the maintenance work at the rear of the base. 53 YK7XG Z2mm specification If the robot enters the inside of R3 and corner of dimensions 1 and 3, the Z-axis upper end stopper or tool flange may be in contact with the base or the arm may be in contact with the machine harness. So, do not perform such motion. 13 R7 R 3 22(225) Working envelope of left-handed system R R R25 R3 R3 YK7XG Zmm specification R25 R (15) If the robot enters the inside of R3 and corner of dimensions 1 and 3, the Z-axis upper end stopper or tool flange may be in contact with the base or the arm may be in contact with the machine harness. So, do not perform such motion. R Working envelope of right-handed system R7 22(225) 3 1 1(15) specifications X-axis mechanical stopper position: 132 Y-axis mechanical stopper position: Values shown in ( ) For tool flange specifications 13 Values shown in ( ) For tool flange 362 RCX3 u 58 RCX2 u 95

38 YK8XG rm length 8mm Maximum payload 2kg Standard : Large PPLICTION YK8XG Model Z axis stroke Tool flange Cable 2: 2mm No entry: None 3L: 3.5m : mm F: With tool flange 5L: 5m 1L: 1m RCX3- / xis rm length mm mm 2 mm mm specifications Rotation angle +/-13 +/-15 +/-36 C servo motor output 75 W W W 2 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.2 mm +/-.1 mm +/-. Maximum speed 9.2 m/sec 2.3 m/sec 1.7 m/sec 92 /sec Maximum payload 2 kg.8 sec R-axis tolerable moment of inertia Note 3 1. kgm 2.2 sq 2 wires User tubing (Outer diameter) ϕ 6 3 Standard: 3.5 m Option: 5 m, 1 m Z axis 2 mm: 52 kg Z axis mm: kg Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.5. Note. Please consult YMH when connecting other tubes and cables to the self-supporting machine harness. Option (OP.) RCX3 RCX2-R3 Power capacity (V) method 25 bsolute Specify various controller setting items. RCX3 P.58 RCX2 R3 CE Marking Regeneratizve unit Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications Note. The movement range can be limited by changing the positions Note. To set the coordinates with high accuracy, use a coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YK8XG 99 Zmm 79 Z2mm ±2 User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) Z axis stroke 2 Z axis stroke 6mm rise during Z-axis return-to-origin D-sub connector for user wiring (No. 1 to 2 usable) ϕ25h ϕ User tool installation range Flat surface has no phase relation to R-axis origin. Standard Z-axis lower end mechanical stopper position M2 x 2.5 Depth2 (ottom of spline) Machine harness Width across flats: 2 -M x.7 through-hole for tool attachment Four M x 1L binding screws are supplied. Do not screw the screws in deeper than 1mm from bottom surface of arm (base size) 99 diameter: ϕ18 Cross section ϕ1 M bolt for installation, bolts used View of 711 Maximum 77 during arm rotation diameter ϕ18 38 ±.2 +. ϕ6 H7 through-hole (ase installation surface) 2 ±.2 ϕ65 ϕ95 Keep enough space for the maintenance work at the rear of the base. -ϕ6.6 through-hole R27 (Min. cable bending radius) 9 User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) ϕ5 h User tubing 3 (ϕ6 lue) M ground terminal D-sub connector for user wiring (No.1 to 2 usable) 6.5 Option: Tool flange mount 53 YK8XG Z2mm specification If the robot enters the inside of R3 and corner of dimensions 1 and 25, the Z-axis upper end stopper or tool flange may be in contact with the base or the arm may be in contact with the machine harness. So, do not perform such motion. 13 1(15) Values shown in ( ) For tool flange Working envelope of specifications left-handed system (225) R R R8 1 R27 R3 11 YK8XG Zmm specification R3 11 R27 1 R R8 Working envelope of right-handed system (225) R 1(15) If the robot enters the inside of R3 and corner of dimensions 1 and 25, the Z-axis upper end stopper or tool flange may be in contact with the base or the arm may be in contact with the machine harness. So, do not perform such motion. X-axis mechanical stopper position: 132 Y-axis mechanical stopper position: Values shown in ( ) For tool flange specifications YP-X CLEN CONTROLLER INFORMTION Medium Large inverse RCX3 u 58 RCX2 u

39 PPLICTION YK9XG rm length 9mm Maximum payload 2kg Standard : Large LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YK9XG Model Z axis stroke Tool flange Cable 2: 2mm No entry: None 3L: 3.5m : mm F: With tool flange 5L: 5m 1L: 1m RCX3- / xis rm length 5 mm mm 2 mm mm specifications Rotation angle +/-13 +/-15 +/-36 C servo motor output 75 W W W 2 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.2 mm +/-.1 mm +/-. Maximum speed 9.9 m/sec 2.3 m/sec 1.7 m/sec 92 /sec Maximum payload 2 kg.9 sec R-axis tolerable moment of inertia Note 3 1. kgm 2.2 sq 2 wires User tubing (Outer diameter) ϕ 6 3 Standard: 3.5 m Option: 5 m, 1 m Z axis 2 mm: kg Z axis mm: 56 kg Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.5. Note. Please consult YMH when connecting other tubes and cables to the self-supporting machine harness. Option (OP.) RCX3 RCX2-R3 Power capacity (V) method 25 bsolute Specify various controller setting items. RCX3 P.58 RCX2 R3 CE Marking Regeneratizve unit Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications Note. The movement range can be limited by changing the positions Note. To set the coordinates with high accuracy, use a coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. YP-X CLEN CONTROLLER INFORMTION Medium Large inverse YK9XG User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) 99 Zmm 79 Z2mm ±2 Z axis stroke 2 Z axis stroke 6mm rise during Z-axis return-to-origin D-sub connector for user wiring (No.1 to 2 usable) User tool installation range ϕ25h ϕ55 There is no phase relationship between flat face and origin of R axis Standard 98 Z-axis lower end mechanical stopper position 36 M2 x 2.5 Depth2 (ottom of spline) Width across flats: 2 -M x.7 through-hole for tool attachment Four M x 1L binding screws are supplied. Do not screw the screws in deeper than 1mm from bottom surface of arm (base size) 99 diameter: ϕ18 Cross section ϕ1 M bolt for installation, bolts used 711 Maximum 77 during arm rotation (ase installation surface) diameter ϕ18 38 ±.2 +. ϕ6 H7 through-hole 2 2 -ϕ6.6 through-hole 9 ±.2 View of ϕ65 ϕ ϕ5 h Option: Tool flange mount R27 (Min. cable bending radius) Keep enough space for the maintenance work at the rear of the base. User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) D-sub connector for user wiring (No.1 to 2 usable) M ground terminal YK9XG Z2mm specification 15 R R9 R 15 R252 Working envelope of left-handed system R252 R 15 Working envelope of right-handed system X-axis mechanical stopper position: 132 Y-axis mechanical stopper position: 152 YK9XG Zmm specification 15 R9 R RCX3 u 58 RCX2 u 95

40 15 YK1XG rm length 1mm Maximum payload 2kg Standard : Large PPLICTION YK1XG Model Z axis stroke Tool flange Cable 2: 2mm No entry: None 3L: 3.5m : mm F: With tool flange 5L: 5m 1L: 1m RCX3- / xis rm length 6 mm mm 2 mm mm specifications Rotation angle +/-13 +/-15 +/-36 C servo motor output 75 W W W 2 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.2 mm +/-.1 mm +/-. Maximum speed 1.6 m/sec 2.3 m/sec 1.7 m/sec 92 /sec Maximum payload 2 kg.9 sec R-axis tolerable moment of inertia Note 3 1. kgm 2.2 sq 2 wires User tubing (Outer diameter) ϕ 6 3 Standard: 3.5 m Option: 5 m, 1 m Z axis 2 mm: 56 kg Z axis mm: 58 kg Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.5. Note. Please consult YMH when connecting other tubes and cables to the self-supporting machine harness. Option (OP.) RCX3 RCX2-R3 Power capacity (V) method 25 bsolute Specify various controller setting items. RCX3 P.58 RCX2 R3 CE Marking Regeneratizve unit Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications Note. The movement range can be limited by changing the positions Note. To set the coordinates with high accuracy, use a coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YK1XG 99 Zmm 79 Z2mm ±2 Z axis stroke 2 Z axis stroke 6mm rise during Z-axis return-to-origin 8 8 User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) D-sub connector for user wiring (No.1 to 2 usable) ϕ25h ϕ User tool installation range Flat surface has no phase relation to R-axis origin. Standard Z-axis lower end mechanical stopper position 36 M2 x 2.5 Depth2 (ottom of spline) 6 -M x.7 through-hole for tool attachment Four M x 1L binding screws are supplied. Do not screw the screws in deeper than 1mm from bottom surface of arm. Width across flats: Cross section (base size) diameter: ϕ ϕ1 M M bolt for installation, bolts used View of 711 Maximum 77 during arm rotation ϕ (ase installation surface) diameter ϕ18 38 ±.2 +. ϕ6 H7 through-hole 2 2 -ϕ6.6 through-hole 9 ±.2 ϕ ϕ5 h Option: Tool flange mount R27 (Min. cable bending radius) Keep enough space for the maintenance work at the rear of the base M ground terminal User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) D-sub connector for user wiring (No.1 to 2 usable) YK1XG Z2mm specification R R1 R323 R 15 Working envelope of left-handed system R 15 Working envelope of right-handed system X-axis mechanical stopper position: 132 Y-axis mechanical stopper position: R1 R323 R YK1XG Zmm specification YP-X CLEN CONTROLLER INFORMTION Medium Large inverse RCX3 u 58 RCX2 u

41 PPLICTION LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YKX rm length mm Maximum payload 5kg YKX Model xis rm length 6 mm 6 mm mm specifications Rotation angle +/-5 +/-15 +/-36 C servo motor output 9 W 8 W 6 W W Speed reducer Planetary gear Planetary gear all screw Harmonic drive mechanism Transmission method Z axis stroke Cable 3L: 3.5m 5L: 5m 1L: 1m Motor to speed reducer RCX3- / Timing belt transmission Timing belt transmission Speed reducer to output Repeatability Note 1 +/-.5 mm +/-.2 mm +/-.5 Maximum speed 7. m/sec.75 m/sec 6 /sec Maximum payload 5 kg.91 sec R-axis tolerable moment of inertia Note kgm 2.2 sq 2 wires User tubing (Outer diameter) ϕ 6 3 Standard: 3.5 m Option: 5 m, 1 m kg Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.. Standard : Large Option (OP.) RCX3 RCX2-R bsolute Specify various controller setting items. RCX3 P.58 RCX2 R CE Marking Regeneratizve unit Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications Power capacity (V) method 25 Note. The movement range can be limited by changing the positions YP-X CLEN CONTROLLER INFORMTION YKX 1 User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) 7 6 D-sub connector for user wiring (No.1 to 2 usable) R R2 R29 R (base size) ϕ1 M bolt used for installation 8 R311 R 15 Working envelope R29 R 15 R Spline shaft () diameter: ϕ ϕ M16 x 2 Depth25 Z axis tip shape ux. shaft fixing plate ϕ1 (Use when tightening the lower M16 screw) Orbit / Tiny R6 Small / Medium 2 x 2-M x.7 Depth1 (Same on oppsite side) X and Y axes mechanical stopper positions Large inverse / ϕ1 ϕ M16 x 2 Depth R35 (Min. cable bending radius) 131 -ϕ Keep enough space for the maintenance work at the rear of the base. M ground terminal User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) D-sub connector for user wiring (No.1 to 2 usable) RCX3 u 58 RCX2 u 95

42 YK3XGSNote. uilt-to-order product. Contact us for the delivery period. rm length 3mm Maximum payload 5kg YK3XGS 15 Model Note1 Installation method stroke Z axis Tool flange shaft Cable W: Wall-mount 15: 15mm No entry: None No entry: None 3L: 3.5m (same as per external view) F: With tool flange S: With hollow shaft 5L: 5m U: Inverse wall-mount (upside down) 1L: 1m Note 1. When installing the robot, always follow the specifications. Do not install the ceiling-mount robot upside down or do not install the inverse robot to a ceiling. Incorrect installation can cause trouble or malfunction. inverse xis rm length 15 mm 15 mm 15 mm specifications Rotation angle +/- +/-13 +/-36 C servo motor output 2 W 15 W 5 W 1 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed. m/sec 1. m/sec /sec (wall-mount) 72 /sec (inverse wall-mount) Maximum payload 5 kg (Standard specification), kg (Option specifications Note ).9 sec R-axis tolerable moment of inertia Note 3.5 kgm 2.2 sq 1 wires User tubing (Outer diameter) ϕ 3 Standard: 3.5 m Option: 5 m, 1 m 19.5 kg Note 1. This is the value at a constant ambient temperature. Note 2. When reciprocating 25mm horizontally and 3mm horizontally (with a 2kg payload in rough-positioning arch motion). Note 3. There are limits to acceleration coefficient settings. See P.537. Note. Maximum payload of option specifications (with tool flange attached or with user wiring and tubing routed through spline shaft) is kg. YK3XGS ±2 Z-axis upper end mechanical stopper position mm rise during Z-axis return-to-origin Z-axis lower end mechanical stopper position D-sub connector for user wiring (No. 1 to 1 usable) User tool installation range ϕ16h ϕ Width across flat M ground terminal diameter ϕ11 Cross section - Tapped hole for user wiring 6-M3.5 Depth 6 The weight of the tool attached here should be added to the tip mass. D-sub connector for user wiring (No. 1 to 1 usable) R27 (Min. cable bending radius) 381 (Maximum 1 during arm rotation) M8 bolt for installation, bolts used ϕ6h7 through-hole 18 RCX3- / Cross section View of C 8 2-R 1 6H (ase size) RCX3 RCX2S Power capacity (V) method 1 Note. The movement range can be limited by changing the position of Y axis mechanical stopper. (The movement range is set to the maximum at the time of shipment.) M3.5 through-hole (No phase relation to R-axis origin.) s this hole is intended for the wiring/tubing clamp, do not attach a large load to it. diameter: ϕ11 Option (OP.) Keep enough space for the maintenance work on the top face of the base. 2 Working envelope X-axis mechanical stopper position: 2 Y-axis mechanical stopper position: 132 (Option) dditional Z-axis upper limit stopper: llows changing the Z-axis origin position to a point mm, 15mm or 18mm (in 3mm steps) lower than the position. dditional Z-axis lower limit stopper: llows changing the Z-axis stopper position to a point 17mm or more higher than the position. (Lower limit of working envelope: mm from additional stopper) (Cannot be used when user wiring and tubing are set through spline shaft.) C ϕ ± Specify various controller setting items. RCX3 P.58 RCX2S R15 6 R3 R7 Option: /tubing through spline Note. Inverse is installed upside down. bsolute CE Marking Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications PPLICTION LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Medium Large inverse RCX3 u 58 RCX2S u

43 PPLICTION YK3XGS LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Medium Large inverse YK3XGS Tool flange mount ±2 Z-axis upper end mechanical stopper position mm rise during Z-axis return-to-origin 15 Z-axis lower end mechanical stopper position D-sub connector for user wiring (No. 1 to 1 usable) 56 5 ϕ diameter ϕ11 -ϕ.5 through-hole ϕ3h ϕ ±.2 ϕh7 +. through-hole M ground terminal R27 (Min. cable bending radius) 381 (Maximum 1 during arm rotation) View of Tapped hole for user wiring 6-M3.5 Depth 6 The weight of the tool attached here should be added to the tip mass. D-sub connector for user wiring (No. 1 to 1 usable) M8 bolt for installation, bolts used ϕ6h7 through-hole ± Cross section - Keep enough space for the maintenance work on the top face of the base. View of C 8 2-R 1 6H (ase size) M3.5 through-hole (No phase relation to R-axis origin.) s this hole is intended for the wiring/tubing clamp, do not attach a large load to it. diameter: ϕ11 2 Working envelope X-axis mechanical stopper position: 2 Y-axis mechanical stopper position: 132 (Option) dditional Z-axis upper limit stopper: llows changing the Z-axis origin position to a point mm, 15mm or 18mm (in 3mm steps) lower than the position. dditional Z-axis lower limit stopper: llows changing the Z-axis stopper position to a point 17mm or more higher than the position. (Lower limit of working envelope: mm from additional stopper) (Cannot be used when user wiring and tubing are set through spline shaft.) C ϕ ± R15 6 R3 R7 Option: /tubing through spline Note. Inverse is installed upside down. 368 RCX3 u 58 RCX2S u 95

44 YKXGSNote. uilt-to-order product. Contact us for the delivery period. rm length mm Maximum payload 5kg YKXGS 15 Model Note1 Installation method stroke Z axis Tool flange shaft Cable W: Wall-mount 15: 15mm No entry: None No entry: None 3L: 3.5m (same as per external view) F: With tool flange S: With hollow shaft 5L: 5m U: Inverse wall-mount (upside down) 1L: 1m Note 1. When installing the robot, always follow the specifications. Do not install the ceiling-mount robot upside down or do not install the inverse robot to a ceiling. Incorrect installation can cause trouble or malfunction. inverse xis rm length 25 mm 15 mm 15 mm specifications Rotation angle +/-5 +/-1 +/-36 C servo motor output 2 W 15 W 5 W 1 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed 6.1 m/sec 1.1 m/sec /sec (wall-mount) 72 /sec (inverse wall-mount) Maximum payload 5 kg (Standard specification), kg (Option specifications Note ).9 sec R-axis tolerable moment of inertia Note 3.5 kgm 2.2 sq 1 wires User tubing (Outer diameter) ϕ 3 Standard: 3.5 m Option: 5 m, 1 m 2 kg Note 1. This is the value at a constant ambient temperature. Note 2. When reciprocating 25mm horizontally and 3mm horizontally (with a 2kg payload in rough-positioning arch motion). Note 3. There are limits to acceleration coefficient settings. See P.538. Note. Maximum payload of option specifications (with tool flange attached or with user wiring and tubing routed through spline shaft) is kg. YKXGS ±2 Z-axis upper end mechanical stopper position mm rise during Z-axis return-to-origin 15 Z-axis lower end mechanical stopper position D-sub connector for user wiring (No. 1 to 1 usable) User tool installation range ϕ16h ϕ Width across flat diameter ϕ11 Cross section - Tapped hole for user wiring 6-M3.5 Depth 6 The weight of the tool attached here should be added to the tip mass M ground terminal Cross section D-sub connector for user wiring (No. 1 to 1 usable) R27 (Min. cable bending radius) 381 (Maximum 1 during arm rotation) M8 bolt for installation, bolts used ϕ6h7 through-hole RCX3- / View of C Keep enough space for the maintenance work on the top face of the base. 8 2-R 1 6H (ase size) Option (OP.) RCX3 RCX2S 5 Power capacity (V) method 6 6 -M3.5 through-hole (No phase relation to R-axis origin.) s this hole is intended for the wiring/tubing clamp, do not attach a large load to it. diameter: ϕ11 12± R25 R156 Specify various controller setting items. RCX3 P.58 RCX2S Note. The movement range can be limited by changing the position of Y axis mechanical stopper. (The movement range is set to the maximum at the time of shipment.) 5 R 2 If the robot enters the inside of the corner of R25 and dimension 2, the Y-axis and cover may be in contact with the base. So, do not perform such motion. Working envelope X-axis mechanical stopper position: 7 Y-axis mechanical stopper position: 16 (Option) dditional Z-axis upper limit stopper: llows changing the Z-axis origin position to a point mm, 15mm or 18mm (in 3mm steps) lower than the position. dditional Z-axis lower limit stopper: llows changing the Z-axis stopper position to a point 17mm or more higher than the position. (Lower limit of working envelope: mm from additional stopper) (Cannot be used when user wiring and tubing are set through spline shaft.) C ϕ27 51 R15 Option: /tubing through spline Note. Inverse is installed upside down. bsolute CE Marking Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications 5 PPLICTION LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Medium Large inverse RCX3 u 58 RCX2S u

45 PPLICTION YKXGS LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Medium Large inverse YKXGS Tool flange mount ±2 Z-axis upper end mechanical stopper position mm rise during Z-axis return-to-origin 15 Z-axis lower end mechanical stopper position ϕ55 D-sub connector for user wiring (No. 1 to 1 usable) 56 5 ϕ ϕ3h diameter ϕ11 -ϕ.5 through-hole 22.6±.2 ϕh7 +. through-hole Tapped hole for user wiring 6-M3.5 Depth 6 The weight of the tool attached here should be added to the tip mass M ground terminal ± (Maximum 1 during arm rotation) M8 bolt for installation, bolts used ϕ6h7 18 through-hole View of 9 D-sub connector for user wiring (No. 1 to 1 usable) Cross section - R27 (Min. cable bending radius) Keep enough space for the maintenance work on the top face of the base. 6 6 View of C 8 2-R 1 6H (ase size) 5 -M3.5 through-hole (No phase relation to R-axis origin.) s this hole is intended for the wiring/tubing clamp, do not attach a large load to it. diameter: ϕ11 2 If the robot enters the inside of corner of R25 and dimension 2, the Y-axis and cover may be in contact with the base. So, do not perform such motion. Working envelope X-axis mechanical stopper position: 7 Y-axis mechanical stopper position: 16 (Option) dditional Z-axis upper limit stopper: llows changing the Z-axis origin position to a point mm, 15mm or 18mm (in 3mm steps) lower than the position. dditional Z-axis lower limit stopper: llows changing the Z-axis stopper position to a point 17mm or more higher than the position. (Lower limit of working envelope: mm from additional stopper) (Cannot be used when user wiring and tubing are set through spline shaft.) C ϕ ± R25 R156 5 R R15 Option: /tubing through spline Note. Inverse is installed upside down RCX3 u 58 RCX2S u 95

46 YK5XGS rm length 5mm Maximum payload 1kg YK5XGS Model Note 1 Installation method stroke Z axis Tool flange Cable W: Wall-mount 2: 2mm No entry: None 3L: 3.5m (same as per external view) 3: 3mm F: With tool flange 5L: 5m U: Inverse wall-mount (upside down) 1L: 1m Note 1. When installing the robot, always follow the specifications. Do not install the ceiling-mount robot upside down or do not install the inverse robot to a ceiling. Incorrect installation can cause trouble or malfunction. inverse xis rm length 2 mm 3 mm 2 mm 3 mm specifications Rotation angle +/-15 +/-5 +/-36 C servo motor output W 2 W 2 W 2 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed 7.6 m/sec /sec (wall-mount) m/sec m/sec 8 /sec (inverse wall-mount) Maximum payload 1 kg (Standard specification), 9 kg (Option specifications).5 sec R-axis tolerable moment of inertia Note 3.3 kgm 2.2 sq 2 wires User tubing (Outer diameter) ϕ 6 3 Standard: 3.5 m Option: 5 m, 1 m 3 kg Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.5. Note. Please consult YMH when connecting other tubes and cables to the self-supporting machine harness. YK5XGS 1 71 User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) Z3mm 7 Z2mm ±2 Z-axis upper end mechanical stopper position 8mm rise during Z-axis return-to-origin D-sub connector for user wiring (No.1 to 2 usable) User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) M16 x 2 Depth2 (ottom of spline) diameter: ϕ D-sub connector for user wiring 6 (No.1 to 2 usable) Width across flats: 19 Z-axis lower end mechanical stopper position Cross section - -M x.7 through-hole for tool attachment Four M x 1L binding screws are supplied. Do not screw the screws in deeper than 1mm from bottom surface of arm. The weight of the tool attached here should be added to the tip mass User tool installation range ϕ2 h7 Standard ϕ5 Flat surface has no phase relation to R-axis origin M ground terminal 159 R27 (Min. cable bending radius) RCX3- / (6) 13.5 (ase 2 installation surface) ± ϕ8h7 through-hole ϕ5 ϕ ϕ3 h7 Option: Tool flange mount ϕ5 H R RCX3 RCX2-R3 Keep enough space for the maintenance work on the top face of the base diameter ϕ1 28 ±.2 through-hole Option (OP.) -ϕ5.5 through-hole 3 3 ± View of 6-ϕ11 M1 bolt for installation, 6bolts used 5 8H (base size) 9 Power capacity (V) method YK5XGS-W (Wall-mount) R28 17 R3 5 R3 11 R5 YK5XGS-U (Inverse wall-mount) Note. The movement range can be limited by changing the positions 5 R5 R28 R3 11 R3 YK5XGS YK5XGS Z2mm Z3mm specification specification Note. Inverse is installed upside down. 15 Working envelope of left-handed system 15 Working envelope of right-handed system X-axis mechanical stopper position: 17 Y-axis mechanical stopper position: 7 bsolute Specify various controller setting items. RCX3 P.58 RCX2 R3 CE Marking Regeneratizve unit Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications PPLICTION LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Medium Large inverse RCX3 u 58 RCX2 u

47 PPLICTION YK6XGS rm length 6mm Maximum payload 1kg inverse LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Medium Large inverse YK6XGS Model Note 1 Installation method stroke Z axis Tool flange Cable W: Wall-mount 2: 2mm No entry: None 3L: 3.5m (same as per external view) 3: 3mm F: With tool flange 5L: 5m U: Inverse wall-mount (upside down) 1L: 1m Note 1. When installing the robot, always follow the specifications. Do not install the ceiling-mount robot upside down or do not install the inverse robot to a ceiling. Incorrect installation can cause trouble or malfunction. xis rm length 3 mm 3 mm 2 mm 3 mm specifications Rotation angle +/-13 +/-15 +/-36 C servo motor output W 2 W 2 W 2 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed 8. m/sec /sec (wall-mount) m/sec m/sec 8 /sec (inverse wall-mount) Maximum payload 1 kg (Standard specification), 9 kg (Option specifications).6 sec R-axis tolerable moment of inertia Note 3.3 kgm 2.2 sq 2 wires User tubing (Outer diameter) ϕ 6 3 Standard: 3.5 m Option: 5 m, 1 m 31 kg Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.5. Note. Please consult YMH when connecting other tubes and cables to the self-supporting machine harness. YK6XGS Z3mm Z2mm ±2 Z-axis upper end mechanical stopper position 8mm rise during Z-axis return-to-origin User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) User tool installation range ϕ2h7 ϕ5 Standard Flat surface has no phase relation to R-axis origin. Z-axis lower end mechanical stopper position Cross section - 1 D-sub connector for user wiring (No.1 to 2 usable) User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) 89 -M x.7 through-hole for tool attachment Four M x 1L binding screws are supplied. Do not screw the screws in deeper than 1mm from bottom surface of arm. The weight of the tool attached here should be added to the tip mass. M16 x 2 Depth2 (ottom of spline) diameter: ϕ M ground terminal R27 (Min. cable bending radius) Width across flats: RCX3- / D-sub connector for user wiring (No.1 to 2 usable) () 22 ϕ8h7 through-hole (ase 1 installation surface) ϕ ± ϕ3 h ϕ Option: Tool flange mount diameter ϕ1 28 ±.2 +. ϕ5 H7 through-hole Option (OP.) 2-R RCX3 RCX2-R3 5 8H (base size) 13 Keep enough space for the maintenance work on the top face of the base. ±.2 6-ϕ11 M1 bolt for installation, 6bolts used ϕ5.5 through-hole YK6XGS-W (Wall-mount) Power capacity (V) method R3 15 R6 R18 17 R YK6XGS-U (Inverse wall-mount) Note. The movement range can be limited by changing the positions 15 R3 R6 R18 Working envelope of left-handed system R3 Working envelope of right-handed system X-axis mechanical stopper position: 132 Y-axis mechanical stopper position: 17 YK6XGS YK6XGS Z2mm Z3mm specification specification View of Note. Inverse is installed upside down. bsolute Specify various controller setting items. RCX3 P.58 RCX2 R3 CE Marking Regeneratizve unit Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications RCX3 u 58 RCX2 u 95

48 9 YK7XGS rm length 7mm Maximum payload 2kg inverse PPLICTION YK7XGS Model Note 1 Installation method stroke Z axis Tool flange Cable W: Wall-mount 2: 2mm No entry: None 3L: 3.5m (same as per external view) : mm F: With tool flange 5L: 5m U: Inverse wall-mount (upside down) 1L: 1m Note 1. When installing the robot, always follow the specifications. Do not install the ceiling-mount robot upside down or do not install the inverse robot to a ceiling. Incorrect installation can cause trouble or malfunction. xis rm length 3 mm mm 2 mm mm specifications Rotation angle +/-13 +/-13 +/-36 C servo motor output 75 W W W 2 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.2 mm +/-.1 mm +/-. Maximum speed 8. m/sec /sec (wall-mount) m/sec m/sec 8 /sec (inverse wall-mount) Maximum payload 2 kg (Standard specification), 19 kg (Option specifications).2 sec R-axis tolerable moment of inertia Note 3 1. kgm 2.2 sq 2 wires User tubing (Outer diameter) ϕ 6 3 Standard: 3.5 m Option: 5 m, 1 m Z axis 2 mm: 5 kg Z axis mm: 52 kg Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.5. Note. Please consult YMH when connecting other tubes and cables to the self-supporting machine harness. YK7XGS Zmm Z2mm ±2 ϕ25h7 User tool installation range (11) ϕ55 Standard Z-axis upper end mechanical stopper position 6mm rise during Z-axis return-to-origin User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) User tubing 3 (ϕ6 lue) User tubing 2 (ϕ6 Red) User tubing 1 (ϕ6 lack) D-sub connector for user wiring (No.1 to 2 usable) Flat surface has no phase relation to R-axis origin. Z-axis lower end mechanical stopper position D-sub connector for user wiring (No.1 to 2 usable) M ground terminal 219 R27 (Min. cable bending radius) (52) (ase 3 installation 65.5 surface) ±2 Cross section - -M x.7 through-hole for tool attachment Four M x 1L binding screws are supplied. Do not screw the screws in deeper than 1mm Option: Tool flange mount from bottom surface of arm. The weight of the tool attached here should be -ϕ6.6 through-hole added to the tip mass. M2 x 2.5 Depth2 (ottom of spline) diameter: ϕ18 Width across flats: 2 RCX3- / ϕ6 H ϕ8h7 through-hole ϕ65 diameter ϕ18 38 ±.2 through-hole ϕ5 h7 ϕ95 ± View of 1 2-R Option (OP.) Keep enough space for the maintenance work on the top face of the base. RCX3 RCX2-R3 51 8H (base size) 13 6-ϕ1 M bolt for installation, 6bolts used 13 Power capacity (V) method R7 R R R Note. The movement range can be limited by changing the positions 13 R R31 Working envelope of left-handed system R7 R Working envelope of right-handed system X-axis mechanical stopper position: 132 Y-axis mechanical stopper position: 132 YK7XGS YK7XGS Z2mm Zmm specification specification Note. Inverse is installed upside down. bsolute Specify various controller setting items. RCX3 P.58 RCX2 R3 CE Marking Regeneratizve unit Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Medium Large inverse RCX3 u 58 RCX2 u

49 9 PPLICTION YK8XGS rm length 8mm Maximum payload 2kg inverse LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Medium Large inverse YK8XGS Model Note 1 Installation method stroke Z axis Tool flange Cable W: Wall-mount 2: 2mm No entry: None 3L: 3.5m (same as per external view) : mm F: With tool flange 5L: 5m U: Inverse wall-mount (upside down) 1L: 1m Note 1. When installing the robot, always follow the specifications. Do not install the ceiling-mount robot upside down or do not install the inverse robot to a ceiling. Incorrect installation can cause trouble or malfunction. xis rm length mm mm 2 mm mm specifications Rotation angle +/-13 +/-15 +/-36 C servo motor output 75 W W W 2 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.2 mm +/-.1 mm +/-. Maximum speed 9.2 m/sec /sec (wall-mount) m/sec m/sec 8 /sec (inverse wall-mount) Maximum payload 2 kg (Standard specification), 19 kg (Option specifications).8 sec R-axis tolerable moment of inertia Note 3 1. kgm 2.2 sq 2 wires User tubing (Outer diameter) ϕ 6 3 Standard: 3.5 m Option: 5 m, 1 m Z axis 2 mm: 52 kg Z axis mm: kg Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.5. Note. Please consult YMH when connecting other tubes and cables to the self-supporting machine harness. YK8XGS Zmm Z2mm ±2 Z-axis upper end mechanical stopper position 6mm rise during Z-axis return-to-origin User tubing 3 (ϕ6 lue) 53 2 User tubing 2 (ϕ6 Red) 2 3 User tubing 1 (ϕ6 lack) User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) D-sub connector for user wiring (No.1 to 2 usable) 86 ϕ25h7 User tool installation range ϕ55 Standard Flat surface has no phase relation to R-axis origin. Z-axis lower end mechanical stopper position M ground terminal R27 (Min. cable bending radius) 79 (11) D-sub connector for user wiring (No.1 to 2 usable) (52) 27 -M x.7 through-hole for tool attachment Cross section - Four M x 1L binding screws are supplied. Do not screw the screws in deeper than 1mm from bottom surface of arm. The weight of the tool attached here should be added to the tip mass. M2 x 2.5 Depth2 (ottom of spline) diameter: ϕ18 Width across flats: 2 71 (ase 3 installation 65.5 surface) ±2 RCX3- / 2 ϕ8h7 through-hole 2 ϕ65 diameter ϕ ϕ5 h ϕ95 38 ± Option: Tool flange mount +. ϕ6 H7 through-hole ± R -ϕ6.6 through-hole View of Option (OP.) Keep enough space for the maintenance work on the top face of the base. 8H (base size) RCX3 RCX2-R ϕ1 M bolt for installation, 6bolts used 13 Power capacity (V) method R 15 R21 R8 25 Working envelope of left-handed system R R8 Note. The movement range can be limited by changing the positions R21 R R Working envelope of right-handed system X-axis mechanical stopper position: 132 Y-axis mechanical stopper position: 17 YK8XGS YK8XGS Z2mm Zmm specification specification Note. Inverse is installed upside down. bsolute Specify various controller setting items. RCX3 P.58 RCX2 R3 CE Marking Regeneratizve unit Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications RCX3 u 58 RCX2 u 95

50 9 YK9XGS rm length 9mm Maximum payload 2kg inverse PPLICTION YK9XGS Model Note 1 Installation method stroke Z axis Tool flange Cable W: Wall-mount 2: 2mm No entry: None 3L: 3.5m (same as per external view) : mm F: With tool flange 5L: 5m U: Inverse wall-mount (upside down) 1L: 1m Note 1. When installing the robot, always follow the specifications. Do not install the ceiling-mount robot upside down or do not install the inverse robot to a ceiling. Incorrect installation can cause trouble or malfunction. xis rm length 5 mm mm 2 mm mm specifications Rotation angle +/-13 +/-15 +/-36 C servo motor output 75 W W W 2 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.2 mm +/-.1 mm +/-. Maximum speed 9.9 m/sec /sec (wall-mount) m/sec m/sec 8 /sec (inverse wall-mount) Maximum payload 2 kg (Standard specification), 19 kg (Option specifications).9 sec R-axis tolerable moment of inertia Note 3 1. kgm 2.2 sq 2 wires User tubing (Outer diameter) ϕ 6 3 Standard: 3.5 m Option: 5 m, 1 m Z axis 2 mm: kg Z axis mm: 56 kg Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.5. Note. Please consult YMH when connecting other tubes and cables to the self-supporting machine harness. YK9XGS Zmm Z2mm ±2 Z-axis upper end mechanical stopper position 6mm rise during Z-axis return-to-origin ϕ25h7 User tool installation range ϕ55 Standard Flat surface has no phase relation to R-axis origin. Z-axis lower end mechanical stopper position User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) User tubing 3 (ϕ6 lue) User tubing 2 (ϕ6 Red) User tubing 1 (ϕ6 lack) 16 D-sub connector for user wiring (No.1 to 2 usable) (11) Cross section - -M x.7 through-hole for tool attachment Four M x 1L binding screws are supplied. Do not screw the screws in deeper than 1mm from bottom surface of arm. The weight of the tool attached here should be added to the tip mass. M2 x 2.5 Depth2 (ottom of spline) diameter: ϕ18 (52) M ground terminal 219 R27 (Min. cable bending radius) Width across flats: 2 RCX3- / D-sub connector for user wiring (No.1 to 2 usable) 71 (ase 3 installation 65.5 surface) ±2 2 ϕ8h7 through-hole 2 ϕ ϕ5 h ϕ R Option: Tool flange mount diameter ϕ18 38 ±.2 +. ϕ6 H7 through-hole -ϕ6.6 through-hole ±.2 View of Option (OP.) Keep enough space for the maintenance work on the top face of the base. RCX3 RCX2-R3 51 8H (base size) 13 6-ϕ1 M bolt for installation, 6bolts used 13 Power capacity (V) method R R R9 Working envelope of left-handed system 15 R R R253 YK9XGS YK9XGS Z2mm Zmm specification specification Note. Inverse is installed upside down. 15 Note. The movement range can be limited by changing the positions R9 R bsolute Specify various controller setting items. RCX3 P.58 RCX2 R3 CE Marking Regeneratizve unit Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications Working envelope of right-handed system X-axis mechanical stopper position: 132 Y-axis mechanical stopper position: LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Medium Large inverse RCX3 u 58 RCX2 u

51 9 PPLICTION YK1XGS rm length 1mm Maximum payload 2kg inverse LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Medium Large inverse YK1XGS Model Note 1 Installation method stroke Z axis Tool flange Cable W: Wall-mount 2: 2mm No entry: None 3L: 3.5m (same as per external view) : mm F: With tool flange 5L: 5m U: Inverse wall-mount (upside down) 1L: 1m Note 1. When installing the robot, always follow the specifications. Do not install the ceiling-mount robot upside down or do not install the inverse robot to a ceiling. Incorrect installation can cause trouble or malfunction. xis rm length 6 mm mm 2 mm mm specifications Rotation angle +/-13 +/-15 +/-36 C servo motor output 75 W W W 2 W mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.2 mm +/-.1 mm +/-. Maximum speed 1.6 m/sec /sec (wall-mount) m/sec m/sec 8 /sec (inverse wall-mount) Maximum payload 2 kg (Standard specification), 19 kg (Option specifications).9 sec R-axis tolerable moment of inertia Note 3 1. kgm 2.2 sq 2 wires User tubing (Outer diameter) ϕ 6 3 Standard: 3.5 m Option: 5 m, 1 m Z axis 2 mm: 56 kg Z axis mm: 58 kg Note 2. When reciprocating 3mm in horizontal and 25mm in vertical directions. Note 3. There are limits to acceleration coefficient settings. See P.5. Note. Please consult YMH when connecting other tubes and cables to the self-supporting machine harness. YK1XGS Zmm Z2mm ±2 Z-axis upper end mechanical stopper position 6mm rise during Z-axis return-to-origin User tubing 3 (ϕ6 lue) 53 2 User tubing 2 (ϕ6 Red) 2 3 User tubing 1 (ϕ6 lack) ϕ55 User tubing 1 (ϕ6 lack) User tubing 2 (ϕ6 Red) User tubing 3 (ϕ6 lue) D-sub connector for user wiring (No.1 to 2 usable) 86 ϕ25h7 User tool installation range Standard Flat surface has no phase relation to R-axis origin. Z-axis lower end mechanical stopper position -M x.7 through-hole for tool attachment Four M x 1L binding screws are supplied. Do not screw the screws in deeper than 1mm from bottom surface of arm. The weight of the tool attached here should be added to the tip mass. M2 x 2.5 Depth2 (ottom of spline) diameter: ϕ (11) Width across flats: 2 Cross section - RCX3- / D-sub connector for user wiring (No.1 to 2 usable) M ground terminal R27 (Min. cable bending radius) (52) 27 ϕ8h7 through-hole (ase 71 installation surface) ϕ ± ϕ R 198 ϕ5 h diameter ϕ18 38 Option: Tool flange mount ±.2 +. ϕ6 H7 through-hole 8H (base size) RCX3 RCX2-R ϕ1 M bolt for installation, 6bolts used -ϕ6.6 through-hole ±.2 View of Option (OP.) Keep enough space for the maintenance work on the top face of the base. 13 Power capacity (V) method R R1 R32 15 R 25 Working envelope of left-handed system Note. The movement range can be limited by changing the positions R R32 R1 R Working envelope of right-handed system X-axis mechanical stopper position: 132 Y-axis mechanical stopper position: 152 YK1XGS YK1XGS Z2mm Zmm specification specification Note. Inverse is installed upside down. bsolute Specify various controller setting items. RCX3 P.58 RCX2 R3 CE Marking Regeneratizve unit Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications RCX3 u 58 RCX2 u 95

52 YK25XGP rm length 25mm Maximum payload kg PPLICTION YK25XGP 15 Model xis rm length 1 mm 15 mm 15 mm specifications Rotation angle +/-9 +/-13 +/-36 C servo motor output (W) mechanism Transmission Motor to speed reducer Repeatability Note 1 +/-.1 mm +/-.1 mm +/-. Maximum speed.5 m/sec 1.1 m/sec /sec Maximum payload kg.57 sec R-axis tolerable moment of inertia Note 3.5 kgm 2 Protection class Note Equivalent to IP65 (IEC 6529).2 sq 1 wires User tubing (Outer diameter) ϕ Standard: 3.5 m Option: 5 m, 1 m 21.5 kg Note 2. When reciprocating 25mm in vertical direction and 3mm in horizontal direction (rough-positioning arch motion). Note 3. There are limits to acceleration coefficient settings. See P.537. Note. Do not use where the bellows section is directly exposed to water jet. Contact our distributor for information on drip-proof structure preventing liquid other than water. YK25XGP Width across flats: 15.5±2 S Z axis stroke Tool flange shaft Cable 15: 15mm No entry: None S: With hollow shaft 3L: 3.5m F: With tool flange 5L: 5m 1L: 1m (No.1 to 1 usable, cable clamp size: ϕ13.1 to15) Cover with the caps provided when not used. Insert the plug provided when not used M8 bolt for installation, bolts used (ase size) 56 F Maximum 2 during arm rotation 89 diameter: ϕ11 Cross section (15) 9 15 ϕ Tapped hole for user wiring 6-M3.5 Depth 6 The weight of the tool attached here should be added to the tip mass. 96 Z-axis bellows User tubing (ϕ white) ±1 Maximum 66 during arm rotation Z-axis upper end mechanical stopper position Z-axis rises mm during return-to-origin. Z-axis lower end mechanical stopper position 28 R32 (Min. cable bending radius) RCX3- / Machine Harness -ϕ11 User tubing (ϕ white) M ground terminal (No phase relation to R-axis origin.) s this hole is intended for the wiring/tubing clamp, do not attach a large load to it. diameter: ϕ11 -M3.5 Depth View of F Keep enough space for the maintenance work at the rear of the base. Option (OP.) RCX3 RCX2S 9 13 R25 R ϕ16 h Power capacity (V) method ϕ Note that the robot cannot be used at a position where the base flange, robot cable, spline, bellows, and tool flange interfere with each other in the working envelope shown above. X-axis mechanical stopper position : 131 Y-axis mechanical stopper position : 136 Insert the plug provided when not used. (No.1 to 1 usable, cable clamp size: ϕ13.1 to15) Cover with the caps provided when not used. ϕ38 2 Since this port is not used, cover it with the cap supplied with the joint. R Z axis tip shape Specify various controller setting items. RCX3 P.58 RCX2S If the robot enters the inside from the inner limit of the working envelope, the Z-axis bellows may be in contact with the base or the arm may be in contact with the machine harness. So, do not perform such motion. If the robot enters the inside of R, the Z-axis bellows may be in contact with the base. So, do not perform such motion R bsolute CE Marking Expansion I/O Network option ivy System Gripper attery Specify various controller setting items. RCX2 RCX2S P.95 Specifications Note. The movement range can be limited by changing the positions Note. To set the coordinates with high accuracy, use a coordinate setting jig (option). Refer to the user s manual (installation manual) for more details. 9 User tool installation range LCM1 single-axis TRNSERVO Single-axis single-axis PHSER SCR YP-X CLEN CONTROLLER INFORMTION Medium Large inverse RCX3 u 58 RCX2S u