a full model changeover for compact scara robots! now ... · the base flange, robot cable, spline,...

New Product Information

YAMAHA SCARA Robots

A full model changeover for compact SCARA robots!Now redesigned into a 100% beltless structure.Offer more enhanced stiffness and rigidity along with excellent reliability and high accuracy.Though compact in size, the YK-XG series robots can handle the same heavy loads as models ranked one class higher!

YK250XG/350XG/400XGYK250XG/350XG/400XGYAMAHA Compact SCARA Robots

Payload boosted 1.6 times higher than other robots in same classPayload has now been boosted from 3kg to 5kg which is an increase of 1.6 times the previous models. The YK-XG series robots have a high tolerable moment of inertia on the arm tip axis making them extremely useful even for high-speed operation or workpieces having large offsets. Though built into a compact body, the YK-XG series robots handle the same heavy loads as SCARA robots ranked one class higher.

Wiring/tubing hollow-shaft and tool flange options availableAvailable options include a hollow-shaft for easy wiring/tubing to the arm tip tool and a tool flange option for simple tool installation.

Cuts installation footprint by 16%Amazing but true! Basic features such as payload are vastly improved yet the required installation space is 16 percent smaller than the previous models. Installing into much smaller space means more freedom in system design and layout.

Fully beltless design makes the YK-XG series maintenance-freeOperation is now fully beltless through use of a direct coupling design on the ZR axis. Lost motion on the arm tip rotation axis has been drastically cut to streamline operation and maintain high precision over long periods of time.Highly accurate positioning repeatability (0.004°) along with the above features makes the YK-XG series robots ideal for applications that require assembly of ultra-tiny components with high accuracy. Yet another plus is long-term maintenance free operation with no worries about belt breakage, stretching, or wear over the passage of time.

R-axis moment of inertia that totally beats out the competitionOh No! You didn't select a SCARA robot based on its standard cycle time and payload did you? SCARA robots are different from single-axis robots and Cartesian robots, so the “R-axis tolerable moment of inertia” will make a huge difference when using SCARA robots.If the R-axis tolerable moment of inertia is small, the job cycle time becomes significantly longer when handling heavy or large offset workpieces.All YAMAHA SCARA robots use an arm tip rotation axis that is directly coupled to a speed reduction gear. This delivers extremely high R-axis tolerable moment of inertia compared to ordinary belt-driven SCARA robots, and makes YAMAHA robots ideal for high-speed operation.

Uses high-reliability position resolverThe YK-XG series robots use a resolver for position detection the same as in other YAMAHA robots. The resolver has few parts and a rugged design that give it overwhelmingly high reliability compared to optical encoders.The robot contains absolutely no electrical circuits, so there are fewer unexpected failures and the downtime during maintenance work or during production is held to a minimum.

YAMAHA compact SCARA robots with arm lengths of 250mm to 400mm have evolved to be completely beltless to increase the payload capability.Drastically enhanced arm tip rigidity and maintenance-free design give powerful support for wide-ranging applications.Adding design features such as wiring/tubing hollow-shaft and tool flange options makes the YK-XG series robots easier to use than before.

3kg 5kg

Drastic boost in payload means versatility to handle wide ranging applications.

1.6 TIMES

Hollow-shaft option for easy wire and air tube routing

Tool flange option for simple installation of tool onto arm tip(KCY-M1790-00)

• Basic specifications: Compared to other manufacturer's robots

Model Arm length Payload R-axis tolerable moment of inertia

YK250XG 250mm 5kg 0.05kgm2

A Company � 3kg 0.015kgm2

B Company � 3kg 0.017kgm2

YK250XH~400XH YK250XG~400XG

16%

NEW

YK-XG Series

Rotational axis hollow-shaft speed reduction gear

PRIOR

140m

m

140m

m

165mm 138mm

Vertical axis ball screw

Rotation axis hollow-shaft motor

Vertical axis motor (direct coupling)

High reliability resolver

YK250XG

*1 : This is the value at a constant ambient temperature. (X,Y axes)*2 : Back and forth horizontal 300mm, vertical 25mm during rough positioning*3 : There are limits to acceleration coefficient settings.*4 : Maximum payload is 4 kg when tool flange and hollow shaft options are installed.

Note 1. Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected.Note 2. Available only for the master.

Ordering method

Specifications

YK250XG 150YK250XG: 250mmYK350XG: 350mmYK400XG: 400mm

150: 150mm No entry: NoneF: With tool flange

No entry: NoneS: With hollow shaft

3L: 3.5m5L: 5m10L: 10m

No entry: StandardE: CE marking

N, P: Standard I/O 16/8 N1, P1: 40/20 N2, P2: 64/40 N3, P3: 88/56 N4, P4: 112/72

No entry: NoneCC: CC-LinkDN: DeviceNetPB: ProfibusEN: EthernetYC: YC-Link Note 2

No entry: NoneVY: iVY (Vision)TR: iVY+Light +TrackingLC: iVY+Light

BB: 4 pcsRobot model Z-axis stroke Tool flange Hollow shaft Cable length Controller Usable for CE Network

optioniVY system BatteryExpansion I/O Note 1

RCX240S BB144°

144°

140°

140°

227

36° 36°148

R250R150

R91

• Note that the robot cannot be used at a position where the base flange, robot cable, spline, and tool flange interfere with each other in the working envelope shown above.

• X-axis mechanical stopper position : 142°• Y-axis mechanical stopper position : 146°

Standard typeCross section B-B

14060

6010

4

142

93

628850

30

138 (Base size)

4-φ9M8 bolt for installation, 4 bolts used

90

User tubing 1 (φ4 black)User tubing 2 (φ4 red)User tubing 3 (φ4 blue)

D-sub connector for user wiring (No. 1 to 10 usable)

0

138.5 ±2183187230235264283

4

150

0

167174202222246

4

φ16 h7-0.0180

φ 35

3012

11.5

Z-axis upper end mechanical stopper position 4mm rise during Z-axis return-to-origin

User toolinstallation range

Z-axis lower endmechanical stopper position

B B

A A

129Maximum 280 during arm rotation

620Maximum 660during arm rotation

428

468

10015056

661

613

42 57

47

Standard type

1010

50 70 20

3939

Wid

th a

cros

s fla

t 15

Hollow

diam

eter φ

11

Cross section A-A Scale 1:1

The weight of the tool attached here should be added to the tip mass.Tapped hole for user wiring 6-M3 × 0.5 Depth 6

138.5 ±2

780.5

150

150

5

φ 27

11.5

↓F

0

Option: User wiring/tubing through spline type

01245617995

26

86

28


User tubing 1 (φ4 black)

User tubing 2 (φ4 red)

User tubing 3 (φ4 blue)

M4 ground terminal

Robot model

Axis specifications

AC servo motor output

Maximum speed

Repeatability *1

Maximum payload (kg)

Standard cycle time (sec): When using 2kg payload *2

R-axis tolerable moment of inertia *3 (kgm2)

User wiring (sq × wires)

User tubing (Outer diameter)

Travel limit

Weight (kg)

X-axis Arm length (mm)

Rotation angle (°)

Y-axis Arm length (mm)

Rotation angle (°)

Z-axis Stroke (mm)

R-axis Rotation angle (°)

X-axis/Y-axis/Z-axis/R-axis

XY resultant (m/s)

Z-axis (m/s)

R-axis (°/s)

XY-axes (mm)

Z-axis(mm)

R-axis (°)

YK250XG YK350XG YK400XG

100 200 250

±140

150

±144

150

±360

200W / 150W / 50W / 100W

4.5 5.6 6.1

1.1

1020

±0.01

±0.01

±0.004

5kg *4

0.49

0.05

0.2×10

φ4×3

1.Soft limit 2.Mechanical stopper (XYZ-axes)

18.5 19 19.5

YK350XG

YK400XG

Cross section A-A

Scale 1 : 1

1010

50 70 20

3939

Tapped hole for user wiring 6-M3 × 0.5 Depth 6The weight of the tool attached here should be added to the tip mass.

Wid

th a

cros

s fla

t 15

Hollow di

amete

r φ11

Cross section B-B

93

30 62

50 88

138 (Base size)

104 60

60

140

142

90






Standard type


0

138.5 ±2183187230235264283

613

661

4

150

0

167174202222246

428

468


4

φ16h7-0.0180

φ 35

42

3012

150

47

129Maximum 330 during arm rotation200

11.5

56

57


Z-axis lower endmechanical stopper position

B B

A A

01245617995

26

86

28





M4 ground terminal


0

138.5 ±2

780.5

150

150

5

φ 27

11.5

↓F

Standard type

140°

140°

303

116°

116°

144°

144°

148

R190

R150

R350

R118

• Note that the robot cannot be used at a position where the base flange, robot cable,

spline, and tool flange interfere with each other in the working envelope shown above.





Cross section B-B

93

30 62

50 88

138 (Base size)

104 60

60

140

142

90






Cross section A-A

Scale 1 : 1

1010

50 70 20

3939

Wid

th a

cros

s fla

t 15

Hollow

diam

eter φ

11

The weight of the tool attached here should be added to the tip mass.Tapped hole for user wiring 6-M3 × 0.5 Depth 6

Standard type

Z-axis lower end mechanical stopper position


0

138.5 ±2183187230235264283

613

661

4

150

0

167174202222246

428

468


4

φ16 h7-0.0180

φ 35

42

3012

150

47

129Maximum 380 during arm rotation250

11.5

56

57


B B

A A

01245617995

26

86

28





M4 ground terminal


0

138.5 ±2

780.5

150

150

5

φ 27

11.5

↓F

Standard/Tool flange mount type

144°144°

140°140°

131° 131° 342

R400

R 150

148

R18

0

R156

Tool flange mount type

YK250XG

YK350XG

YK400XG




144°144°

140°140°

131° 131° 342

R400

R 150

148

R18

0

R156




140°

140°

144°

144°

116°

116°

303

R350

R118

164

R150R190




140°

140°144°

144°

226

33° 33°

R250R150

164

84

R30

164

R91

0

134.5±2149181

150

15.5

DD

↓F

0

134.5 ±2149181

780.5

150

15.5

φ 27

150 5

7.8

7.8

7.8 7.8

View of F

4-M3 × 0.5 through-hole (No phase relation to R-axis origin.)As this hole is intended for the wiring/tubing clamp, do not attach a large load to it.

φ 30 h7 -0.0210

φ 55

2

446

φ 35

Detailed drawing D

Scale 2:3

↑E

22.6

22.6

22.6

22.6

22.6±0.02

4-φ4.5 through-hole

φ 4 H7 0+0.012 through-hole

90°

Hollow diameter φ11

7 ±0.02

View of EOption: User wiring/tubing through spline type


D

0

134.5 ±2149181

780.5

150

15.5

150 5

φ 27↓F


0

134.5 ±2149181

0

150

15.5

D

View of E

22.6

22.6

22.6

22.6

22.6 ±0.02

90°


7 ±0.02

0+0.012

through-holeφ4 H7


Detailed drawing D

Scale 2 : 3

φ30 h7 -0.0210

φ 55

2

446

φ 35

↑E

7.8

7.8

7.8 7.8

4-M3 × 0.5 through-hole (No phase relation to R-axis origin.)As this hole is intended for the wiring/tubing clamp, do not attach a large load to it.

View of F

0134.5 ±2

149181

780.5

150

150 5

φ 27

15.5

↓F

D

0

134.5 ±2

149181

0

150

15.5

D

7.8

7.8

As this hole is intended for the wiring/tubing clamp, do not attach a large load to it.

4-M3 × 0.5 through-hole (No phase relation to R-axis origin.)

View of F

7.8 7.8

φ 30 h7-0.0210

φ 55

2

446

φ 35

↑E

Detailed drawing D

Scale 2 : 3

22.6

22.6

22.6

22.6

22.6±0.02

90°


7±0.02

0+0.012

through-holeφ4 H7


View of E

201112-AE

Specifications and appearance are subject to change without prior notice.

IM Operations882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054, JapanTel 81-53-460-6103 Fax 81-53-460-6811

URL http://www.yamaha-motor.co.jp/global/industrial/robot/E-mail [email protected]

a full model changeover for compact scara robots! now ... · the base flange, robot cable, spline,...

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