Product Lineup YP-X Series PICK & PLACE ROBOTS Ideal for high-speed pick & place tasks using small parts! Positioning is by servo control so no complex mechanical adjustments are needed! Full line-up of 6 models in all from 2 axes type to 4 axes type 2 axes type P.340 3 axes P.342 4 axes P.345 type type YP220BX/YP320X YP220BXR/YP320XR/YP330X YP340X Model Axes Structure X axis Y axis Z axis R axis Maximum payload (kg) Cycle time (sec) Detailed info page YP220BX Belt - Belt - 3 0.45 P.340 2 axes YP320X Ball screw - Belt - 3 0.57 P.341 YP220BXR Belt - Belt Rotation axis 1 0.62 P.342 YP320XR 3 axes Ball screw - Belt Rotation axis 1 0. P.343 YP330X Ball screw Ball screw Belt - 3 0.57 P.344 YP340X 4 axes Ball screw Ball screw Belt Rotation axis 1 0. P.345 Point 1 High speed High speed pick & place operation contributes largely to higher productivity. YP220BX under operation conditions of 50mm in vertical direction, 150mm in longitudinal direction, 50 in arch volume and 1kg load can achieve a total cycle time or.45 seconds. Since it is possible to output a signal to turn ON/OFF any external equipment from any position while the axis is moving, the actual production cycle time is further reduced. 0.45 second for 1 stroke 150mm 50mm 28
Point 2 size With a width of 109mm in width (YP220BX), it is possible to make the production line small and simple. The moving arm structure with less interference area in periphery contributes to saving space. Reference example of comparison of robot layouts Comparison of space occupied by the YP-X series to the small-sized robot and robot allows you to realize the compactness of the YP-X series when they are installed on an assembly line. An assembly line using the pick & place excellent in space saving property. 287.5 287.5 109109 An assembly line using the PXYx, Yamaha s compact size robot. Stroke of X axis: 250mm Stroke of Y axis: 250mm 504.5 504.5 504.5 An assembly line usingthe YK250X, Yamaha s compact size robot. 574 Point 3 Point 4 High precision Complete absolute position system Both extremely high-speed performance and high precision of +/-0.02mm (YP320X, YP320XR, YP330X, YP340X) are assured. The complete absolute position system is standard, eliminating the need for origin return operation. Point 5 General use Due to YAMAHA's unique servo system, stop point setting and operation pattern can be programmed easily. Compared with cam type robot, this compact size provides outstanding applicability to production of multiple number of items in a small area. 29
APPLICATION single-axis Single-axis PICK & PLACE ROBOTS YP-X SERIES CONTENTS YP-X SPECIFICATION SHEET 338 Robot ordering method description 338 Robot ordering method terminology 339 2 AXES YP220BX 340 YP320X 341 3 AXES YP220BXR 342 YP320XR 343 YP330X 344 4 AXES YP340X 345 single-axis Main functions P.28 337
APPLICATION single-axis Single-axis single-axis YP-X SPECIFICATION SHEET Type Model Maximum payload (kg) Cycle time (sec) Note 1 Structure Moving range Detailed info page 2-axes 3-axes YP220BX 3 0.45 YP320X 3 0.57 YP220BXR 1 0.62 YP320XR 1 0. YP330X 3 0.57 4-axes YP340X 1 0. X-axis Belt 200mm X-axis Ball screw 330mm X-axis Belt 200mm R-axis Rotation axis +/-180 X-axis Ball screw 330mm R-axis Rotation axis +/-180 X-axis Ball screw 330mm Y-axis Ball screw 150mm X-axis Ball screw 330mm Y-axis Ball screw 150mm R-axis Rotation axis +/-180 Note 1. Cycle time is the time required for moving back and forth 150mm (arch 50) and vertically 50mm (during rough positioning motion with 1kg load). P.340 P.341 P.342 P.343 P.344 P.345 Robot ordering method description In the order format for the YAMAHA pick & place YP-X series, the notation (letters/numbers) for the mechanical section is shown linked to the controller section notation. [Example] 2-axis specifications Mechanical YP220BX Robot cable length 3.5m YP220BX YP320X 3L 5L 10L YP340X 3.5m 5m 10m Mechanical section 5L Mechanical YP340X Robot cable length 5m RCX222 RCX240S Model Cable length Usable for CE Note 1. With the CE marking, it is not possible to select NPN or Ethernet. Note 2. Available only for the master. Note 3. Only when CC-Link or DeviceNet or Profibus was selected for I/O select 1 above. Ethenet can be selected in I/O select 2. 3 / 4 axis specifications Model Cable length YP220BXR YP320XR YP330X YP340X 3L 5L 10L 3.5m 5m 10m Note 1. Available only for the master. RCX240S Usable for CE Not required Expansion I/O NPN Standard I/O 16/8 RCX240S section No entry Standard E CE marking N CC BB Usable for CE No entry Standard E CE marking N N1 N2 N3 N4 P P1 P2 P3 P4 RCX222 Usable for CE Input/Output selection 1 Input/Output selection 2 Input/Output selection 1 N NPN Note 1 P PNP CC CC-Link DN DeviceNet PB Profibus EN Ethernet YC YC-Link Note 2 Expansion I/O Note 1 Standard I/O 16/8 (NPN) 40/24 (NPN) 64/40 (NPN) 88/55 (NPN) 112/72 (NPN) Standard I/O 16/8 (PNP) 40/24 (PNP) 64/40 (PNP) 88/55 (PNP) 112/72 (PNP) No entry N1 P1 EN Network option Battery No entry CC DN PB EN EP YC Not required NPN None Input/Output selection 2 None OP.DIO 24/16 (NPN) Note 1 OP.DIO 24/17 (PNP) EtherNet Note 3 Network option None CC-Link DeviceNet Profibus Ethernet EtherNet/IP YC-Link Note1 CC-Link 4 pcs No entry GR Gripper None Gripper BB Battery To find detailed controller information see the controller page. RCX222 P.431, RCX240 P.438 338
Model Cable length Usable for CE Input/Output selection 1 Input/Output selection 2 Expansion I/O Network option Gripper Battery Robot ordering method terminology Enter the robot unit model. Select the length of the robot cable connecting the robot and controller. 3L : 3.5m 5L : 5m 10L : 10m 2-axis specifications: Select the RCX222. 3 / 4 axis specifications: RCX240S. CE marking is selectable. This is an RCX222 controller option. It allows selecting an expansion I/O board and network board adding to the standard I/O board. This is an RCX240S controller option. It allows selecting an expansion I/O board adding to the standard I/O board. This is an RCX240S controller option. It allows selecting a network board adding to the standard I/O board. You can select whether or not required you need the gripper. Absolute data backup battery (not required if using incremental specifications). APPLICATION single-axis Single-axis single-axis 339
APPLICATION YP220BX 2 axes single-axis Single-axis single-axis YP220BX RCX222 Model Cable length Usable for CE Inputs/Outputs selection 1 Inputs/Outputs selection 2 3L: 3.5m RCX222 No entry: Standard N: NPN Note 2 No entry: None 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16 10L: 10m CC: CC-Link (NPN) Note 2 DN: DeviceNet P1: OP.DIO24/17 PB: Profibus (PNP) EN: Ethernet EN: Ethernet Note 3 Note 1. Available only for the master. YC: YC-Link Note 1 Note 2. NPN cannot be selected if using CE marking. Note 3. Only when you have selected CC, DN or PB for Input/Output selection 1, you can select EN for Input/Output selection 2. Specifications X axis AC servo motor output (W) 200 200 Z axis Repeatability Note 1 (mm) +/-0.05 +/-0.05 Drive system Timing belt Timing belt Deceleration ratio (mm) Equivalent to lead 24 Equivalent to lead 20 Maximum speed Note 2 (mm/sec) 1440 1200 Moving range (mm) 200 100 Cycle time (sec) 0.45 Note 3 Maximum payload (kg) 3 Weight (kg) 17 RCX222 500 YP220BX 20 30 8-M4 x 0.7 (for user installation) Coupling for air (ϕ6) (same four places on opposite side) Coupling for air (ϕ4) +X Robot cable Grounding terminal (M4) MAX. 600 287 4- ϕ10 20 468.5 5 (Note 1) 510 73+/-2 (583) 490 (Installation side) 10 11 9 20 13 68 232 185 4 (Note 1) Z stroke: 100 (57) 2 (Note 1) X stroke: 200 3 (Note 1) 57 25 10 79 56.5 89 109 9.5 15 21 2 Air tube detachable connection Tool plate 4-M5 x 0.8 14.5 25 34 Note 1. Distance to mechanical stopper. Note 2. Return-to-origin on the YP220BX is by absolute reset. So the origin position must be set the first time (making initial settings) but after that is not required. 340 RCX222 u 431
YP320X 2 axes APPLICATION YP320X RCX222 Model Cable length Usable for CE Inputs/Outputs selection 1 Inputs/Outputs selection 2 3L: 3.5m RCX222 No entry: Standard N: NPN Note 2 No entry: None 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16 10L: 10m CC: CC-Link (NPN) Note 2 DN: DeviceNet P1: OP.DIO24/17 PB: Profibus (PNP) EN: Ethernet EN: Ethernet Note 3 Note1. Available only for the master. YC: YC-Link Note 1 Note2. NPN cannot be selected if using CE marking. Note3. Only when you have selected CC, DN or PB for Input/Output selection 1, you can select EN for Input/Output selection 2. Specifications X axis Z axis AC servo motor output (W) 200 200 Repeatability Note 1 (mm) +/-0.02 +/-0.05 Drive system Ball screw (C7 class) Timing belt Deceleration ratio (mm) Equivalent to lead 20 Equivalent to lead 25 Maximum speed Note 2 (mm/sec) 1500 1500 Moving range (mm) 330 100 Cycle time (sec) 0.57 Note 3, 0.78 Note 4 Maximum payload (kg) 3 Weight (kg) 21 Note 4. Reciprocating time in vertical direction (25mm) and longitudinal direction (300mm) with the arch amount of 25 (when executing rough YP320X 4-Coupling for air ϕ4 325 (650) 431 66 14 193 127 242 4 (Note 1) Z stroke: 100 (57) 2 (Note 1) RCX222 500 + X 15.5 123 102 38 34 78 Warning Air tube detachable connection single-axis Single-axis single-axis Grounding 5 terminal (M4) 7.5 120 105 70 301 (301) 135 8-M8 x 1.25 Depth20 (Note 3) 80 8 9 (123) 5 (Note 1) X stroke: 330 3 (Note 1) 103 57 25 10 9.5 15 2 4-M5 x 0.8 14.5 25 34 Note 1. Distance to mechanical stopper. Note 2. Return-to-origin on the YP320X is by absolute reset. So the origin position must be set the first time (making initial settings) but after that is not required. Note 3. Do not use bolts longer than 20mm (robot bottom plate thickness). RCX222 u 431 341
APPLICATION YP220BXR 3 axes single-axis Single-axis YP220BXR RCX240S BB Model Cable length Usable for CE Expansion I/O Note 1 Network option Gripper Battery 3L: 3.5m No entry: Standard N, P: Standard I/O 16/8 No entry: None No entry: BB: 4 pcs 5L: 5m E: CE marking N1, P1: 40/24 CC: CC-Link None 10L: 10m N2, P2: 64/40 DN: DeviceNet GR: N3, P3: 88/56 PB: Profibus Gripper N4, P4: 112/72 EN: Ethernet EP: EtherNet/IP Note 1. Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected. YC: YC-Link Note 2 Note 2. Available only for the master. See P.39 for details on YC-Link system. single-axis Specifications X axis Z axis R axis AC servo motor output (W) 200 200 60 Repeatability Note1 (mm) +/-0.05 +/-0.05 +/-0.1 Drive system Timing belt Timing belt Ball Reducer Deceleration ratio (mm) Equivalent to lead 24 Equivalent to lead 20 1/18 Maximum speed Note 2 (XZ: mm/sec) (R: /sec) 1440 1200 1000 Moving range (XZ: mm) (R: ) 200 100 +/-180 Cycle time (sec) 0.62 Note 3 Maximum payload (kg) 1 R-axis allowable moment inertia (kgm 2 [kgfcms 2 ]) 0.0098 [0.01] Weight (kg) 19 YP220BXR 2-Coupling for air ϕ4 Grounding terminal (M4) 287 4- ϕ10 20 468.5 5 (Note 1) 510 103+/-2 490 640 10 11 68 70 179 120 Z stroke: 100 4 (Note 1) 2 (Note 1) X stroke: 200 RCX240S 700 + X 3 (Note 1) 10 89 40 8 70 Air tube detachable connection 17.5 MAX. 700 Bottom plate 20 5 26 6 Width across flat 7 C1 ϕ8h7 ϕ22 M5 x 0.8 Depth13 Note1. Distance to mechanical stopper. Note2. Return-to-origin on the YP220BXR is by absolute reset. So the origin position must be set the first time (making initial settings) but after that is not required. 342 RCX240S u 438
YP320XR 3 axes APPLICATION YP320XR RCX240S BB Model Cable length Usable for CE Expansion I/O Note 1 Network option Gripper Battery 3L: 3.5m No entry: Standard N, P: Standard I/O 16/8 No entry: None No entry: BB: 4 pcs 5L: 5m E: CE marking N1, P1: 40/24 CC: CC-Link None 10L: 10m N2, P2: 64/40 DN: DeviceNet GR: N3, P3: 88/56 PB: Profibus Gripper N4, P4: 112/72 EN: Ethernet EP: EtherNet/IP Note 1. Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected. YC: YC-Link Note 2 Note 2. Available only for the master. See P.39 for details on YC-Link system. single-axis Single-axis Specifications X axis Z axis R axis AC servo motor output (W) 200 200 60 Repeatability Note 1 (XZ: mm) (R: ) +/-0.02 +/-0.05 +/-0.1 Drive system Ball screw (C7 class) Timing belt Ball Reducer Deceleration ratio (mm) Equivalent to lead 20 Equivalent to lead 25 1/18 Maximum speed Note 2 (XZ: mm/sec) (R: /sec) 1500 1500 1000 Moving range (XZ: mm) (R: ) 330 100 +/-180 Cycle time (sec) 0. Note 3, 0.87 Note 4 Maximum payload (kg) 1 R-axis allowable moment inertia (kgm 2 [kgfcms 2 ]) 0.0098 [0.01] Weight (kg) 23 Note 4. Reciprocating time in vertical direction (25mm) and longitudinal direction (300mm) with the arch amount of 25 (when executing rough YP320XR 4-Coupling for air ϕ4 325 Grounding terminal (M4) 7.5 70 (700) 431 301 (301) 135 80 8 9 66 71 127 5 (Note 1) 133 180 177 2 (Note 1) Z stroke: 100 4 (Note 1) RCX240S 700 + X X stroke: 330 3 (Note 1) 15.5 102 31.5 55 78 Warning 123 40 70 MAX. 700 8 single-axis 120 105 8-M8 x 1.25 Depth20 (Note 3) (123) 5 20 Width across flat 7 C1 ϕ8h7 ϕ22 26 6 M5 x 0.8 Depth13 Note1. Distance to mechanical stopper. Note2. Return-to-origin on the YP320XR is by absolute reset. So the origin position must be set the first time (making initial settings) but after that is not required. Note3. Do not use bolts longer than 20mm (robot bottom plate thickness). RCX240S u 438 343
APPLICATION YP330X 3 axes single-axis Single-axis YP330X RCX240S BB Model Cable length Usable for CE Expansion I/O Note 1 Network option Gripper Battery 3L: 3.5m No entry: Standard N, P: Standard I/O 16/8 No entry: None No entry: BB: 4 pcs 5L: 5m E: CE marking N1, P1: 40/24 CC: CC-Link None 10L: 10m N2, P2: 64/40 DN: DeviceNet GR: N3, P3: 88/56 PB: Profibus Gripper N4, P4: 112/72 EN: Ethernet EP: EtherNet/IP Note 1. Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected. YC: YC-Link Note 2 Note 2. Available only for the master. See P.39 for details on YC-Link system. single-axis Specifications X axis Y axis Z axis AC servo motor output (W) 200 200 200 Repeatability Note 1 (mm) +/-0.02 +/-0.02 +/-0.05 Drive system Ball screw (C7 class) Ball screw (C7 class) Timing belt Deceleration ratio (mm) Equivalent to lead 20 Equivalent to lead 20 Equivalent to lead 25 Maximum speed Note 2 (mm/sec) 1500 1000 1500 Moving range (mm) 330 150 100 Cycle time (sec) 0.57 Note 3, 0.78 Note 4 Maximum payload (kg) 3 Weight (kg) 32 Note 4. Reciprocating time in vertical direction (25mm) and longitudinal direction (300mm) with the arch amount of 25 (when executing rough YP330X 4-Coupling for airϕ4 412 (650) 431 66 14 193 214 329 4 (Note 1) 2 (Note 1) Z stroke: 100 (57) RCX240S 700 123 15.5 102 + X 38 34 78 Warning Grounding terminal (M4) 12.5 60 319 (319) 175 60 5 (Note 1) 78 12 X stroke: 330 3 (Note 1) 16 5 (Note 1) Y stroke: 150 280 2 (Note 1) 82 7.5 9.5 15 (280) 255 57 25 10 2 4-M5 x 0.8 8-M8 x 1.25 Depth20 (Note 3) 14.5 25 34 Note1. Distance to mechanical stopper. Note2. Return-to-origin on the YP330X is by absolute reset. So the origin position must be set the first time (making initial settings) but after that is not required. Note3. Do not use bolts longer than 20mm (robot bottom plate thickness). 344 RCX240S u 438
YP340X 4 axes APPLICATION YP340X RCX240S BB Model Cable length Usable for CE Expansion I/O Note 1 Network option Gripper Battery 3L: 3.5m No entry: Standard N, P: Standard I/O 16/8 No entry: None No entry: BB: 4 pcs 5L: 5m E: CE marking N1, P1: 40/24 CC: CC-Link None 10L: 10m N2, P2: 64/40 DN: DeviceNet GR: N3, P3: 88/56 PB: Profibus Gripper N4, P4: 112/72 EN: Ethernet EP: EtherNet/IP Note 1. Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected. YC: YC-Link Note 2 Note 2. Available only for the master. See P.39 for details on YC-Link system. single-axis Single-axis Specifications X axis Y axis Z axis R axis AC servo motor output (W) 200 200 200 60 Repeatability Note 1 (XYZ: mm)(r: ) +/-0.02 +/-0.02 +/-0.05 +/-0.1 Drive system Ball screw (C7 class) Ball screw (C7 class) Timing belt Ball Reducer Deceleration ratio (mm) Equivalent to lead 20 Equivalent to lead 20 Equivalent to lead 25 1/18 Maximum spee Note 2 (XYZ: mm/sec) (R: /sec) 1500 1000 1500 1000 Moving range (XYZ: mm) (R: ) 330 150 100 +/-180 Cycle time (sec) 0. Note 3, 0.87 Note 4 Maximum payload (kg) 1 R-axis allowable moment inertia (kgm 2 [kgfcms 2 ]) 0.0098 [0.01] Weight (kg) 34 Note 4. Reciprocating time in vertical direction (25mm) and longitudinal direction (300mm) with the arch amount of 25 (when executing rough YP340X 4-Coupling for air ϕ4 123 412 (700) 431 66 71 214 264 180 2 (Note 1) Z stroke: 100 4 (Note 1) RCX240S 800 + X 15.5 102 31.5 55 78 Warning 70 8 MAX. 750 single-axis Grounding terminal (M4) 12.5 60 5 (Note 1) 319 108 (319) 175 60 12 X stroke: 330 82 3 (Note 1) 16 5 (Note 1) Y stroke: 150 280 2 (Note 1) 40 (280) 255 8-M8 x 1.25 Depth20 (Note 3) 20 5 Width across flat 7 C1 ϕ8h7 ϕ22 26 6 M5 x 0.8 Depth13 Note1. Distance to mechanical stopper. Note2. Return-to-origin on the YP340X is by absolute reset. So the origin position must be set the first time (making initial settings) but after that is not required. Note3. Do not use bolts longer than 20mm (robot bottom plate thickness). RCX240S u 438 345