SCARA Robots YKX series - Yamaha Motor Company · YKX250 / YKX400 / YKX600 / YKX800 / YKX1000 SCARA...

YKX250 / YKX400 / YKX600 / YKX800 / YKX1000

SCARA Robots

YKX series

YKX250 YKX400 YKX600 YKX800 YKX1000

Motion range

Maximum horizontal reach (mm)

250 400 600 800 1000

Maximum operating angle of horizontal axis (°)*1 332 340 342

+/-360

346 326

Vertical stroke (mm) 200 200 / 450Tip axis rotation angle (°)

Motor output (W) X-axis / Y-axis / Z-axis / R-axis 750 / 400 / 400 / 320

Maximum speed

XY axis synthesis (m/s)

4.9 6.2 8.8 10.7 12.9Z-axis (m/s) 2.8R-axis (°/s) 1020

Repeatability*2

XY axis (mm)

Z-axis (mm)

R-axis (°)

Maximum payload (kg) 8 21Standard cycle time (s) *3 0.28 0.28 0.33 0.34 0.38R-axis tolerable moment of inertia (kgm2)*4 1.05

Wiring

IO1*5 0.15 sq × 12 wires (no shield, straight) 0.2 sq × 6 wires (no shield, straight)IO2*62

IO3*6 0.15 sq × 8 wires (shielded, twisted pair)EtherNet cable*5 0.15 sq × 8 wires (shielded, twisted pair)Light cable*5 0.5 sq × 4 wires (no shield, straight)

Tubing (Outer diameter)ф 4 × 2 *5

ф 6 × 2 *5

Travel limit 1. Soft limit 2. Mechanical stopper (X, Y, Z axis)Motor/Encoder cable 3 m, 6 m, 15 mWeight (kg) *7 25 26 33 34 36

CONTROLLER YHX series

YAMAHA ROBOT Automation system

Specification

*1. Excludes the installation area for the motor/encoder cable.*2. This is the value at a constant ambient temperature.*3. At horizontal direction 300 mm, vertical direction 25 mm reciprocation, 2 kg transfer, rough positioning arch motion.*4. The parameters for acceleration, etc., must be limited according to the moment of inertia.

* 5. Connect to rear side of body and plate on rear side of Y arm.* 6. Connect to rear side of body and stay inside Y arm.* 7. Does not include the weight of the motor/encoder cable.

+/-0.01 +/-0.02+/-0.01

+/-0.004

Synchronously control all robots in production line by Universal Controller YHX series.

Cooperative and Synchronous ControlTotal system control by Universal Controller YHX series CONTROLLER YHX series


ENGLISH

IM Operations　FA Section127 Toyooka, Kita-ku, Hamamatsu, Shizuoka 433-8103, JapanTel. +81-53-525-8350 Fax. +81-53-525-8378

https://global.yamaha-motor.com/business/robot/URLE-mail [email protected]

201708-AE

Specifications and appearance are subject to change without prior notice.

IoT

CONTROLLER YHX series

Internet of Things

IT devices

Machine control


YAMAHAROBOTseries

02 YAMAHA YKX series 03YAMAHA YKX series

The new universal control robot system that sharpens your competitive edge

Yamaha's own unique univerersal robot control concept offers Total Optimization of your production line.Helps building fully automated production line efficiently at lower cost in a short period of time. YAMAHA's

Advanced Robotics Automation Platform in the product lineup is a good match with IoT.

Full range of robotic products used for various automated processes including transport, handling, assembly, and

image recognition have been completely renewed. The newly released Universal Controller YHX series enables

cooperative and synchronous control of the Yamaha robotic products. In addition, the linear conveyor module

LCM-X series, new SCARA robot YKX series, single-axis robot GX and YLE series, and robot vision system

YFAEYE are being released.

Yamaha is proud to offer this new product lineup providing solutions to the challenges in today's manufacturing

scenes, and dramatically accelerate automated production to maximize your return of investment.

Industry’s fastest* operation performance

Maintenance free with complete elimination of belt

Maintenance free reduction gears

YAMAHA’s original complete belt-less structure

Connection cable completely separated from body

Compatible with absolute position system without battery replacement

Easy drive system replacement

Consideration to safety, installation and adjustments

Standard utility tap

Standard internal wiring and piping

Options for running wiring and piping inside can be selected


Direct drive (no belt) design and reinforced drive mechanismenabled industry’s shortest* cycle time.

* YAMAHA comparison Arm length 400 mm model standard cycle time 0.28 sec.

High speed and high precision

Hollow structure motor

Reduction gears (harmonic drive)

The standard wiring and piping are designed for a variety of applications so the installation and introduction time can be shortened.

Minimizing installation and start-up time

Wiring and piping that support a variety of peripheral devices such as cameras, Ethernet devices, and compact motors, etc., are provided as a standard in the robot.

The standard wiring and piping can be extended to the top of the R-axis as an option.

High repeatability and stability are achieved by eliminating the belt and adopting direct drive for all axes.

The industry’s top operation performance is achieved by employing a motor having more than twice the capacity of conventional motors, reduction gears, and control with an Universal Controller.

Highly reliable and maintenance free

As a motor reduction gear coupling structure is adopted for all joints, no belts, etc., are used. This eliminates the need for periodic adjustment of the belt tension, and ensures a high precision for a long time.

Long-life, high-performance grease is used to lubricate the reduction gears. There’s no need to replenish or replace the grease periodically.

The motor is made to the specification of complete absolute position system. You do not have to return the units to their origins after the trans-installation or startup, contributing to significantly decreasing man-hours. Equipped with the absolute position system requiring no battery replacement, you do not have to replace the battery.

A brake release switch is provided on the top of the arm for safety and for use during installation and adjustment. The vertical axis brakes can be released by pressing the switch.

The drive system for the joints has been completely designed as a unit. Even when the drive system needs to be replaced such as when the reduction gear has reached its life, the system can be replaced easily in a short-time.

The detachable cable makes it easy to install the robot body and change the cable length, etc.

The robot arm is equipped with a standard utility tap for mounting peripheral devices such as user tools. This makes introduction of the robot smooth.

The improved ease-of-use greatly reduces the installation and implementation time.

Further advanced usability

Z-axis raised Z-axis lowered

Greatly contributing to

higher productivity

Separated from body

SCARA Robots

YKXseries

Utility tap

Screw hole for fixing solenoid valve

Ethernet cableLight cable

Motor/Encoder cable

Motor/Encoder cable

250 mm

mm1000

Supported arm length

High speed, high accuracy, and high rigidity leading industry

Six M5 tap holesFour ф5H7 knock holes

Four M4 tap holes

0.28 sStandard cycle time:

Air piping (standard)

Wiring (standard)

Air piping (option)

Wiring (option)

Internal running option

Wiring and piping● 6-core (for electric hand drive)

● 8-core (for electric hand signals, can also be used for Ethernet cable)

Inside Y arm

Air piping

● ф 6 × 2

● ф 4 × 2

Wiring

● 12-core (for solenoid valve, etc.) ● Ethernet cable (for camera) ● 4-core (for power cable)

Rear side of body

Standard mounting

Kit with built-in extension cable

YKX250

YKX600

YKX400

YKX800

YKX1000

1

2 4

3


coupled directly with

reduction gears


coupled directly with

reduction gears

YAMAHA’s original internal struc-ture makes it possible to maintain a high precision for a long time, and enables a maintenance free structure.

Ordering method

Specifi cations

YKX250 200Model Z-axis stroke Tool adapter Extension cable built-in Cable length

200: 200mm No entry: None No entry: None 3L: 3mF: With tool adapter S: Extension cable built-in 6L: 6m

15L: 15m

Standard type: Small type

X-axis Y-axis Z-axis R-axisAxis specifi cations

Arm length 75 mm 175 mm 200 mm -Rotation angle +/-130 ° +/-150 ° - +/-360 °

AC servo motor output 750 W 400 W 400 W 320 WMaximum speed 4.9 m/sec 2.8 m/sec 1020 °/secRepeatability Note 1 +/-0.01 mm +/-0.01 mm +/-0.004 °Maximum payload 8 kgStandard cycle time Note 2 0.28 secR-axis tolerable moment of inertia Note 3 1.05 kgm2

Wiring

IO1 Note 4 0.15 sq × 12 wires (no shield, straight)IO2 Note 5 0.2 sq × 6 wires (no shield, straight)IO3 Note 5 0.15 sq × 8 wires (shielded, twisted pair)EtherNet cable Note 4 0.15 sq × 8 wires (shielded, twisted pair)Light cable Note 4 0.5 sq × 4 wires (no shield, straight)

Tubing (Outer diameter)ф 4 × 2 Note 4

ф 6 × 2 Note 4

Travel limit 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Motor/Encoder cable 3 m, 6 m, 15 mWeight Note 6 25 kgController YHX series

Note 1. This is the value at a constant ambient temperature. Note 2. At horizontal direction 300 mm, vertical direction 25 mm reciprocation, 2 kg transfer, rough positioning arch motion.Note 3. The parameters for acceleration, etc., must be limited according to the moment of inertia.Note 4. Connect to rear side of body and plate on rear side of Y arm.Note 5. Connect to rear side of body and stay inside Y arm.Note 6. Does not include the weight of the motor/encoder cable.

Motor/Encoder cable

Tool adapter


Cable length Model3 m YKX-YHX-M3M6 m YKX-YHX-M6M15 m YKX-YHX-M15M

ModelYKX-OP-ZTA

Z-axis stroke Model200 mm YKX-OP-EXHNS-200

Maximum payload 8kg Arm length 250mm

YKX250

3 (N

ote

3)3

(Not

e 3)

015

174181184226

442

600

0

185+/-2

236.5

750.5

Z: 2

00 s

troke

Maximum 610during arm rotation

Standard type (no options)

B

A

17569.4

164

75 157 150 or more(Note 1)

Signal wire ф13.4 (Note 2) (minimum bending radius R54)

Motor wire ф15.3 (Note 2) (minimum bending radius R92)

017+/

-0.0

2

52 25 45

54+/-0.02

0560 ( *

Not

e 5)

25 45 60

0

5068

5068

040

65+/-0.02

40

130+

/-0.0

2

6-M5×0.8 Depth 10 (Note 4)

10H7

2

R

4-M6×1.0

25+/-0.0568+/

-0.05

No.2No.4No.6No.9

07.5

27.547.548.866.585.5

105.5

2419

4-M4×0.7(Board thickness t1.5)

No.5

No.3

No.1

No.6

No.4

No.9

No.8

View of A

3310

45To

ol m

ount

ing

rang

e

Detail of section B Wid

th a

cros

s fla

ts: 2

4

Hollow

diamete

r: ф18

0

178.5+/-2195229

(236.5)

3 (N

ote

3)3

(Not

e 3)

Z:20

0 st

roke

6.5

ф95

ф50h7

ф65

2

130°130° 150°

150°

50°115

R175

R250

R99

R175R116

ф25h7 0- 0.021 0

- 0.025

4-ф5H7 Depth 6

+ 0.012 0

65

+ 0.015 0

6-ф14 (Note 5)

ф10H7+ 0.015 0

Across widths and R-axis origin position are irrelevant

ф25h7 0- 0.021

Working envelope for standard type

X-axis mechanical stopper position: +/-131°Y-axis mechanical stopper position: +/-152°

035.57494114140

4152

No.1No.3No.5No.7

No.8No.10

Option: Tool adapter type

C

Hollow diameter ф18

12+/-

0.02

P.C.D.80

90°38+/-0.02

View of C

(300

)

(300

)

Tubing: ф4 Black

Tubing: ф4 Blue

Tubing: ф6 RedTubing: ф6 Black

For user wiring(0.2sq* 6-core): ф4.2

Option: Specifications with built-in extension cable

* Extends approx. 300 mm from end of spline that is passed through inside.* Does not rotate together with spline during R-axis rotation.

50°

EtherNet cable: ф6.8

4-ф6.6 through-hole

ф6H7 through-hole

+ 0.012 0

[Wiring and piping specifications]No.No.1No.2No.3No.4No.5No.6No.7No.8No.9

No.10

Names of each part (specifications)EtherNet cable (0.15 sq 4-pair)User wiring IO3 (0.15 sq 4-pair)User tubing (ф6 Red)User tubing (ф6 Black)User tubing (ф4 Blue)User tubing (ф4 Black)User wiring IO2 (0.2sq 6-core)Lighting power connector (0.5 sq 4-core)User wiring IO1 (0.15 sq 12-core)Ground terminal (M4)

Other party connector (Note 6)RJ45 connectorRJ45 connector

----

DF62C-6S-2.2C (HIROSE)1-1827864-2 (TE AMP)

DF62C-13S-2.2C (HIROSE)-

Remarks

Y arm side: Inside cover


250m

m o

r mor

e (N

ote

1)

**

M20×2.5 Depth 20(Bottom of spline)

(Base installation surface)

Note 1. Provide suffi cient space for maintenance behind and above the base.Note 2. Motor/Encoder cable must be secured on stationary surface.Note 3. Position to mechanical stopper at Z-axis up end and down end.Note 4. When mounting tools using the user tap on the base of the Y-axis, include the tool weight

in the tip weight.

Note 5. Hole for mounting body. Fix with four or more M12 hex socket head bolts (points marked with * are mandatory). Bolts are not enclosed.

Note 6. The other party connector is an option. * Contact the YAMAHA Sales Offi ce for details.

Ordering method

Specifi cations

Standard type: Small type

YKX400

Working envelope for standard typeX-axis mechanical stopper position: +/-141°Y-axis mechanical stopper position: +/-152°

3 (N

ote

3)3

(Not

e 3)

015

174181191226

442

610

0

185+/-2

236.5

750.5

Z:20

0 st

roke

ф25h7

257.5

17569.4 225 157 150 or more

164

(Note 1)



040

65+/-0.02

400

5068

5068

0560 ( *

Not

e 5)

25 45 60

017+/

-0.0

2

52 25 4554+/-0.02

225+/-0.05

68+/

-0.0

5

R10H7 + 0.015

0

130+

/-0.0

26-M5×0.8 Depth 10 (Note 4)

4-ф5H7 Depth 6

ф10H7+ 0.015 0

6-ф14 (Note 5)4-M6×1.0

035.57494114140

4152

No.1No.3

No.2No.4

No.5No.6No.7

No.8

No.9

No.10

07.5

27.547.548.866.585.5

105.5

2419


View of A

No.5

No.3

No.1

No.6

No.4

No.9

No.8

3310

45To

ol m

ount

ing

rang

e

Detail of section B

Wid

th a

cros

s fla

ts: 2

4Hollow

diamete

r: ф18

0(Base installation surface)

178.5+/-2195229

(236.5)

3 (N

ote

3)3

(Not

e 3)

Z:20

0 st

roke

6.5

ф95ф50h7 0

- 0.025

ф65

2

12+/-

0.02


P.C.D.80

90°38+/-0.02


ф6H7through-hole

View of C

(300

)

(300

)

Tubing: ф4 BlackTubing: ф4 Blue


EtherNet cable:ф6.8

70°

150°

150°

140°

140°

70°

R175

115

R400

R175

R114

R99

+0.012 0

65

C

ф25h7

0- 0.021

+ 0.012 0

0- 0.021 For user wiring

(0.2sq* 6-core):ф4.2

Option: Tool adapter typeOption: Specifications with built-in extension cable

A

B


250m

m o

r mor

e (N

ote

1)

**



[Wiring and piping specifications]No.

No.1No.2No.3No.4No.5No.6No.7No.8No.9No.10



----



Remarks





YKX400 200Model Z-axis stroke Tool adapter Extension cable built-in Cable length

200: 200mm No entry: None No entry: None 3L: 3mF: With tool adapter S: Extension cable built-in 6L: 6m

15L: 15m


Arm length 225 mm 175 mm 200 mm -Rotation angle +/-140 ° +/-150 ° - +/-360 °


Wiring

IO1 Note 4 0.15 sq × 12 wires (no shield, straight)IO2 Note 5 0.2 sq × 6 wires (no shield, straight)IO3 Note 5 0.15 sq × 8 wires (shielded, twisted pair)EtherNet cable Note 4 0.15 sq × 8 wires (shielded, twisted pair)Lighting cable Note 4 0.5 sq × 4 wires (no shield, straight)


ф 6 × 2 Note 4



Motor/Encoder cable

Tool adapter



ModelYKX-OP-ZTA

Z-axis stroke Model200 mm YKX-OP-EXHNS-200


Note 1. Provide suffi cient space for maintenance behind and above the base.

Note 2. Motor/Encoder cable must be secured on stationary surface.Note 3. Position to mechanical stopper at Z-axis up end and down end.Note 4. When mounting tools using the user tap on the base of the Y-axis,

include the tool weight in the tip weight.



YKX250 YKX400


Ordering method

Specifi cations

YKX600Model Z-axis stroke Tool adapter Extension cable built-in Cable length

200: 200mm No entry: None No entry: None 3L: 3m450: 450mm F: With tool adapter S: Extension cable built-in 6L: 6m

15L: 15m

Standard type: Medium type

YKX600

B

(Note 1)

View of C

A

View of A


250m

m o

r mor

e (N

ote

1)

15735025071.4

175

150 or more

166

0

255+/-2306.5

828(Z200)

1096(Z450)

250m

m o

r mor

e (N

ote

1)

015

174198

296301

512.5

780

ф25h7

Z: 4

50 s

troke

3 (N

ote

3)



10H7

060 ( *

Not

e 5)

5 25 45 60

25+/-0.05

68+/

-0.0

52

ф10H7

017+/

-0.0

2

2552 45

54+/-0.02

04065

4065+/-0.02

130+

/-0.0

2

6-M5×0.8Depth 10 (Note 4)

4-ф5H7Depth 6

0

248.5+/-2265299

(306.5)

Z: 4

50 s

troke

Z: 2

00 st

roke

3(N

ote

3)3 (N

ote

3)

6.5

3 (Not

e 3)

ф95ф50h7

2

90°38+/-0.02

P.C.D.80

Hollow diameter ф184-ф6.6 through-hole

ф6H7through-hole

(300

)

(300

)

4-M6×1.06-ф14 (Note 5)

1924

No.1No.9No.3

No.6

No.4

No.8

No.5

0103050

6988

108

51.3

500

6850

68

3 (N

ote

3)3

(Not

e 3)

Z: 2

00 s

troke

No.8No.10

No.3No.5

1401149474

41

No.1

No.7

No.2No.4

No.9

35.50

52

No.6

Tubing: ф4 BlueTubing: ф4 Black


For user wiring(0.2sq* 6-core):ф4.2


Detail of section B Wid

th a

cros

s fla

ts: 2

4Hollow

dia

meter: ф

18

ф25h7

33 45To

ol m

ount

ing

rang

e

10


130°

130°

150°150°

R250

115

R183

R250 R250

R104

R600

107° 107°

12+/-0.02

+ 0.012 0

0- 0.021

0- 0.025

+ 0.012 0

+ 0.015 0

+ 0.015 0

0- 0.021


**




[Wiring and piping specifications]No.

No.1No.2No.3No.4No.5No.6No.7No.8No.9No.10



----



Remarks






Option: Specifications with built-in extension cableOption: Tool adapter type


Arm length 350 mm 250 mm 200/450 mm -Rotation angle +/-130 ° +/-150 ° - +/-360 °


Wiring



ф 6 × 2 Note 4



Motor/Encoder cable

Tool adapter



ModelYKX-OP-ZTA

Z-axis stroke Model200 mm YKX-OP-EXHNS-200450 mm YKX-OP-EXHNS-450



in the tip weight.



Ordering method

Specifi cations



15L: 15m

Standard type: Large type

YKX800[Wiring and piping specifications]

No.No.1No.2No.3No.4No.5No.6No.7No.8No.9No.10



----



Remarks



Detail of section B

A


C

B


View of A

250m

mor

mor

e (N

ote

1)

Signal wire ф13.4 (Note 2) (minimum bending radius R54)Motor wire ф15.3 (Note 2) (minimum bending radius R92)

90°38+/-0.02

P.C.D.80


4-ф6.6through-hole

ф6H7through-hole

(300

)

(300

)

175

164

80 350 450 157 150 or more(Note 1)

2

Z: 2

00 s

troke

Z: 4

50 s

troke3

(Not

e 3)

3 (N

ote

3)

(313.5)

306272

255.5+/-2

ф95ф50h7

3 (N

ote

3)

6.5

0

4-M6×1.06-ф14 (Note 5)

ф10H7

268

+/-0

.05

604525560 ( *

Not

e 5)

0

10H7

25+/-0.05

4-ф5H7Depth 66-M5×0.8Depth 10 (Note 4)

130+

/-0.0

2

65+/-0.0240

65400

54+/-0.02

4552 25 17+/

-0.0

20

3 (N

ote

3)

Z: 4

50 s

troke

ф25h7

0

262+/-2313.5

837(Z200)

1103(Z450)

250m

mor

mor

e (N

ote

1)

015

174190303308

519.5

800

Z: 2

00 s

troke

3 (N

ote

3)3

(Not

e 3)

No.1No.3No.5No.7

No.10No.841

52

No.4No.6

No.2

No.9

035.57494114140

No.5No.6

No.4No.3No.9No.1No.819

24

0103050

6988

51.3

108

05068

5068

Tubing: ф4 Blue

Tubing: ф4 Black




Wid

th a

cros

s fla

ts: 2

4Hollow

dia

meter: ф

18

ф25h7

33 45To

ol m

ount

ing

rang

e

10


R144

R350R800

R35

0R350

115R103

105°

130°

165°

165°

130°

105°


0- 0.021

0- 0.025


View of C

12+/-0.02+ 0.012 0

0- 0.021

+ 0.015 0

+ 0.015 0

+ 0.012 0

**




Option: Tool adapter type Option: Specifications with built-in extension cable





Wiring



ф 6 × 2 Note 4



Motor/Encoder cable

Tool adapter



ModelYKX-OP-ZTA




in the tip weight.



YKX600 YKX800


Ordering method

Specifi cations



15L: 15m

Standard type: Large type

YKX1000[Wiring and piping specifications]

No.No.1No.2No.3No.4No.5No.6No.7No.8No.9No.10



----



Remarks



Detail of section B



C

A


B




90°38+/-0.02

P.C.D.80



ф6H7through-hole

(300

)

(300

)

175

164

80 350 650 157 150 or more (Note 1)

2

Z: 2

00 s

troke

Z: 4

50 s

troke3

(Not

e 3)

3 (N

ote

3)

(313.5)306272

255.5+/-2

ф95

ф50h7

3 (N

ote

3)

6.5

0

No.1No.3No.5No.7

No.10No.8

4152

No.4No.6

No.2

No.9

035.57494114140

4-ф5H7Depth 66-M5×0.8Depth 10 (Note 4)

130+

/-0.0

265+/-0.0240

65400

54+/-0.02

4552 25 17+/

-0.0

20 60250

6-ф14 (Note 5)

0

10H7

5

68

25+/-0.05

4-M6×1.0

50

45

ф10H7

260

( *N

ote

5)

68

50

68+/

-0.0

5

150

174190303308

519.5

800

250m

mor

mor

e (N

ote

1)

3 (N

ote

3)

1103(Z450)

837(Z200)

313.5262+/-2

0

3 (N

ote

3)3

(Not

e 3)

Z: 2

00 s

troke

ф25h7

Z: 4

50 s

troke

250m

m o

r mor

e (N

ote

1)

Tubing: ф4 Blue

Tubing: ф4 Black




Wid

th

acro

ss

flats

: 24Holl

ow

diamete

r: ф18

ф25h7

33 45To

ol m

ount

ing ra

nge

10

R1000

R350

R325

R350

165°

130°

165°

165°13

0°

165°

R350

0- 0.021

No.5No.6

No.4No.3No.9No.1

No.81924

0103050

6988

51.3

108


View of A


+ 0.012 0

+ 0.015 0

+ 0.015 0 0

- 0.021

View of C

12+/-0.02

+ 0.012 0

0- 0.025

**



Option: Tool adapter type Option: Specifications with built-in extension cable





Wiring



ф 6 × 2 Note 4



Motor/Encoder cable

Tool adapter



ModelYKX-OP-ZTA




in the tip weight.




YKX1000

[Controller side]

Cable length selection (3 m / 6 m / 15 m) (50) (7)(23)(23)

(44.

4)

(40.6)

(24.

2)

(8)

Outline dimensions of motor/encoder cable

[Mounted on robot body]

3 m

6 m

15 m

KEP-M6211-30

KEP-M6211-60

KEP-M6211-F0

YKX-YHX-M3M

YKX-YHX-M6M

YKX-YHX-M15M

Part No.Cable length Model

M E M O

Date post:	25-Apr-2018
Category:	Documents
Upload:	ngohanh
View:	234 times
Download:	3 times

SCARA Robots YKX series - Yamaha Motor Company · YKX250 / YKX400 / YKX600 / YKX800 / YKX1000 SCARA...

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