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028
YP-XSeries
Product Lineup / Selection Guide
Ideal for high-speed pick & place tasks using small parts!Positioning is by servo control so no complex mechanical adjustments are needed!
This is why the YP-X is terrifi c!
2 axes 3 axes 4 axes
YP220BX / YP320X YP220BRX / YP320XR / YP330X YP340X
PICK & PLACE ROBOTS
1 High speed
Super high speed pick & place operation at 0.45sec cycle time as standard 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). As 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.
2 Compact size
Designed as compact as 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 exampleof comparison of
robot layouts
Comparison of space occupied by the YP X series and by our small sized robots of Cartesian robot and SCARA robot allows you to confirm the compactness of the YP X series when they are installed to an assembly line.
287.5287.5 109 109 504.5 504.5 504.5 574
An assembly line using thepick & place excellent inspace saving property.
An assembly line using the PXYx,Yamaha’s compact size Cartesian robot.Stroke of X axis: 250mmStroke of Y axis: 250mm
An assembly line usingthe YK250X, Yamaha’s compact size SCARA robot
.45 secon0.45 secondor 1 strokefor 1 stroke
150mm
50m
m
.45 seconor 1 stroke
029
Structure Maximum payload (kg) Cycle time (sec) Model Detailed info page
X axis Belt3 0.45 YP220BX P.304
Z axis Belt
Structure Maximum payload (kg) Cycle time (sec) Model Detailed info page
X axis Belt
1 0.62 YP220BXR P.306 Z axis Belt
R axis Rotation axis
Structure Maximum payload (kg) Cycle time (sec) Model Detailed info page
X axis Ball screw
1 0.67 YP320XR P.307 Z axis Belt
R axis Rotation axis
Structure Maximum payload (kg) Cycle time (sec) Model Detailed info page
X axis Ball screw
3 0.57 YP330X P.308 Y axis Ball screw
Z axis Belt
Structure Maximum payload (kg) Cycle time (sec) Model Detailed info page
X axis Ball screw
1 0.67 YP340X P.309 Y axis Ball screw
Z axis Belt
R axis Rotation axis
Structure Maximum payload (kg) Cycle time (sec) Model Detailed info page
X axis Ball screw3 0.57 YP320X P.305
Z axis Belt
YP-X easy selection table
2 axes
3 axes
4 axes
3 High precision
Both outstanding high-speed per formance and high precision of +/-0.02mm (YP320X, YP320XR, YP330X, YP340X) are assured.
4 General use
Owing to YAMAHA's unique servo system, settings for the stop point and operation pattern can be programmed freely. This provides outstanding applicability to production of multiple number of items in a small lot which is diffi cult with a cam type robot.
5 Complete absolute position system
As complete absolute position system is adopted as standard specification, the origin return operation is not necessary.
6 Fully assorted line-up
Full line-up of 6 models in all from 2 axes type to 4 axes type selectable for each use purpose.
301
2-axes
3-a
xes4-axes
APPLICATION
Co
mp
act
sing
le-a
xis robots
TRAN
SERVOS
ing
le-a
xis robots
FLIP-X
Lin
ea
r motor
sing
le-a
xis robots
PHA
SER
Ca
rtesia
nro
bo
ts
XY-X
SC
AR
Aro
bo
ts
YK
-XG
Pick &
placero
bo
ts
YP-XC
LEAN
CON
TROLLER
INFORM
ATION
CONTENTS
Main functions P.028
YP-X SPECIFICATION ■
SHEET ··································· 302
Robot ordering method ■
description ··························· 302
Robot ordering method ■
terminology ·························· 303
2 AXES
YP220BX ··············································· 304
YP320X ················································· 305
3 AXES
YP220BXR ············································ 306
YP320XR ················································307
YP330X ················································· 308
4 AXES
YP340X ················································· 309
YP-XSERIES
PICK & PLACE ROBOTS
APPLICATION
Co
mp
act
sing
le-a
xis robots
TRAN
SERVOS
ing
le-a
xis robots
FLIP-X
Lin
ea
r motor
sing
le-a
xis robots
PHA
SER
Ca
rtesia
nro
bo
ts
XY-X
SC
AR
Aro
bo
ts
YK
-XG
Pick &
placero
bo
ts
YP-X
CLEA
NCO
NTRO
LLERINFO
RMATIO
N
302
2-axes
3-a
xes4-axes
YP-X SPECIFICATION SHEETType Model Maximum payload (kg) Cycle time (sec) Note 1 Structure Moving range Detailed info page
2-axes
YP220BX 3 0.45X-axis Belt 200mm
P.304Z-axis Belt 100mm
YP320X 3 0.57X-axis Ball screw 330mm
P.305Z-axis Belt 100mm
3-axes
YP220BXR 1 0.62
X-axis Belt 200mm
P.306Z-axis Belt 100mm
R-axis Rotation axis +/-180°
YP320XR 1 0.67
X-axis Ball screw 330mm
P.307Z-axis Belt 100mm
R-axis Rotation axis +/-180°
YP330X 3 0.57
X-axis Ball screw 330mm
P.308Y-axis Ball screw 150mm
Z-axis Belt 100mm
4-axes YP340X 1 0.67
X-axis Ball screw 330mm
P.309Y-axis Ball screw 150mm
Z-axis Belt 100mm
R-axis Rotation axis +/-180°
Cycle time is the time required for moving back and forth 150mm (arch 50) and vertically 50mm (during rough positioning motion with 1kg load). Note 1.
Robot ordering method descriptionIn the order format for the YAMAHA pick & place robots YP-X series, the notation (letters/numbers) for the mechanical section is shown linked to the controller section notation.
[Example] 2-axis specifi cations
Mechanical YP220BX
• Robot cable length 3.5m
Controller RCX222
• Usable for CE Not required• Input/Output selection 1 NPN• Input/Output selection 2 None
Ordering method
RCX2223L NYP220BXMechanical section Controller section
Ordering method
RCX2405L N CC BBYP340XMechanical section Controller section
Mechanical YP340X
• Robot cable length 5m
Controller RCX240
• Usable for CE Not required• Expansion I/O NPN Standard I/O 16/8
• Network option CC-Link• Battery 4 pcs
No entry
N1P1EN
NoneOP.DIO 24/16 (NPN) Note 2
OP.DIO 24/17 (PNP)Ethernet Note 3 Note 4
3L5L10L
3.5m (Standard)5m10m
YP220BXYP320X
Controller Note 1
NPCCDNPBENYC
NPN Note 2
PNPCC-LinkDeviceNetProfibusEthernet None 2
YC-Link Note 3
Input/Output selection 2Input/Output selection 1
RCX222
Note 1. DRCX is also selectable.Note 2. With the CE marking, it is not possible to select NPN or Ethernet.Note 3. Available only for the master.Note 4. 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.
Model Cable length Usable for CE
No entry
E
Standard
CE
marking
No entry
CCDNPBENYC
NoneCC-LinkDeviceNetProfibusEthernetYC-Link Note1
3L5L10L
3.5m (Standard)5m10m
YP220BXRYP320XRYP330XYP340X
Model Cable length Controller
NN1N2N3N4PP1P2P3P4
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)
Expansion I/O Note 1 Network optionUsable for CE
RCX240Battery
BB
Note 1. Available only for the master.
No entry
E
Standard
CE
marking
3 / 4 axis specifi cations
To fi nd detailed controller information see the controller page. DRCX P.387 , RCX222 P.395 , RCX240 P.402
APPLICATION
Co
mp
act
sing
le-a
xis robots
TRAN
SERVOS
ing
le-a
xis robots
FLIP-X
Lin
ea
r motor
sing
le-a
xis robots
PHA
SER
Ca
rtesia
nro
bo
ts
XY-X
SC
AR
Aro
bo
ts
YK
-XG
Pick &
placero
bo
ts
YP-XC
LEAN
CON
TROLLER
INFORM
ATION
303
2-axes
3-a
xes4-axes
Robot ordering method terminology
Model Enter the robot unit model.
Cable length
Select the length of the robot cable connecting the robot and controller.3L : 3.5m (Standard)5L : 5m10L : 10m
Controller2-axis specifi cations: Select either RCX222 or DRCX.3 / 4 axis specifi cations: RCX240.
Usable for CE CE marking is selectable.
Input/Output selection 1 This is an RCX222 controller option. It allows selecting an expansion I/O board
and network board adding to the standard I/O board. Input/Output selection 2
Expansion I/OThis is an RCX240 controller option. It allows selecting an expansion I/O board adding to the standard I/O board.
Network optionThis is an RCX240 controller option. It allows selecting a network board adding to the standard I/O board.
Battery Absolute data backup battery (not required if using incremental specifi cations).
APPLICATION
Co
mp
act
sing
le-a
xis robots
TRAN
SERVOS
ing
le-a
xis robots
FLIP-X
Lin
ea
r motor
sing
le-a
xis robots
PHA
SER
Ca
rtesia
nro
bo
ts
XY-X
SC
AR
Aro
bo
ts
YK
-XG
Pick &
placero
bo
ts
YP-X
CLEA
NCO
NTRO
LLERINFO
RMATIO
N
304
2-axes
3-a
xes4-axes
Controller
RCX222 395 DRCX 387
YP220BX
X axis Z axis
AC servo motor output (W) 200 200
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
Robot cable length (m) Standard: 3.5 Option: 5,10
Weight (kg) 17
Positioning repeatability precision in a single swing when residual vibration is stabilized (variable depending on the load and stroke).Note 1. When the moving stroke is short, the maximum speed may not be reached.Note 2. Reciprocating time in vertical direction (50mm) and longitudinal direction (150mm) with the arch amount of 50 (when executing rough Note 3. positioning arch motion with 1kg load).
Controller Power consumption (VA) Operating method
RCX222 500Programming /I/O point trace /Remote command /Operation using RS-232C communication
DRCX0505 500
YP220BX RCX222Model Cable length Controller Usable for CE Inputs/Outputs selection 1 Inputs/Outputs selection 2
3L: 3.5m (Standard) RCX222 No entry: Standard N: NPN Note 2 No entry: None5L: 5m DRCX0505 E: CE marking P: PNP N1: OP.DIO24/16
(NPN) Note 210L: 10m CC: CC-LinkDN: DeviceNet P1: OP.DIO24/17
(PNP)PB: Profi busEN: Ethernet Note 2 EN: Ethernet No e 2 No e 3
Available only for the master.Note 1. YC: YC-Link Note 1
With the CE marking, it is not possible to select NPN or Ethernet.Note 2. Only when you have selected CC, DN or PB for Input/Output selection 1, you can select EN for Input/Output selection 2.Note 3.
YP220BX
Robot cableGrounding terminal (M4)
287
MA
X. 6
00
X stroke: 200
10490
1167
510 73+/-220 468.5
(583)
5 (Note 1)
4- ϕ10
(Installation side)
+ Z
Z st
roke
: 100
(57)
2 (N
ote
1)
185
3 (Note 1)
20 4 (N
ote
1)
13
6823
29
20 30 8-M4 x 0.7 (for user installation)(same four places on opposite side)
67
89109
Air tube detachable connection
21
Tool plate
56.5
79
2534
14.5
57 2510
4-M5 x 0.8
Details of tool plate
Coupling for air (ϕ6)
Coupling for air (ϕ4) +X
Distance to mechanical stopper.Note 1. Return-to-origin on the YP220BX is by absolute reset. So the origin position must be set the fi rst time (making initial settings) Note 2. but after that is not required.
2 axes
Ordering method
Specifi cations Controller
APPLICATION
Co
mp
act
sing
le-a
xis robots
TRAN
SERVOS
ing
le-a
xis robots
FLIP-X
Lin
ea
r motor
sing
le-a
xis robots
PHA
SER
Ca
rtesia
nro
bo
ts
XY-X
SC
AR
Aro
bo
ts
YK
-XG
Pick &
placero
bo
ts
YP-XC
LEAN
CON
TROLLER
INFORM
ATION
305
2-axes
3-a
xes4-axes
Controller
RCX222 395 DRCX 387
YP320X
Controller Power consumption (VA) Operating method
RCX222 500Programming //O point trace /
Remote command /Operation using RS-232C communication
DRCX0505 500
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
Maximum payload (kg) 3
Robot cable length (m) Standard: 3.5 Option: 5,10
Weight (kg) 21
Positioning repeatability precision in a single swing when residual vibration is stabilized (variable depending on the load and stroke).Note 1. When the moving stroke is short, the maximum speed may not be reached.Note 2. Reciprocating time in vertical direction (50mm) and longitudinal direction (150mm) with the arch amount of 50 (when executing rough Note 3. positioning arch motion with 1kg load). Reciprocating time in vertical direction (25mm) and longitudinal direction (300mm) with the arch amount of 25 (when executing rough Note 4. positioning arch motion with 1kg load).
YP320X RCX222Model Cable length Controller Usable for CE Inputs/Outputs selection 1 Inputs/Outputs selection 2
3L: 3.5m (Standard) RCX222 No entry: Standard N: NPN Note 2 No entry: None5L: 5m DRCX0505 E: CE marking P: PNP N1: OP.DIO24/16
(NPN) Note 210L: 10m CC: CC-LinkDN: DeviceNet P1: OP.DIO24/17
(PNP)PB: Profi busEN: Ethernet Note 2 EN: Ethernet Note 2 Note 3
Note1. Available only for the master. YC: YC-LinkNote 1. Note 1
Note2. With the CE marking, it is not possible to select NPN or Ethernet.Note3. Only when you have selected CC, DN or PB for Input/Output selection 1, you can select EN for Input/Output selection 2.
YP320X
431
Grounding 5 terminal (M4)
325
(650)
13570
(301)
7.5 80 8
9
120
(123
)
8-M8 x 1.25Depth20 (Note 3)
105
301X stroke: 330
1035 (Note 1) 3 (Note 1)
127
Z st
roke
: 100
(57)
193
1466
4 (N
ote
1)2
(Not
e 1)
242
3438102
Air tube detachableconnection
15.5123
+ X
+ Z
78
Note. Tool plate is detachable.The tool plate is made of aluminum alloy.
253414
.557 25
10
4-M5 x 0.8
2
159.5
4-Coupling for air ϕ4 Warning
Details of tool plate
Distance to mechanical stopper.Note 1. Return-to-origin on the YP320X is by absolute reset. So the origin position must be set the fi rst time (making initial Note 2. settings) but after that is not required. Do not use bolts longer than 20mm (robot bottom plate thickness).Note 3.
2 axes
Ordering method
Specifi cations Controller
APPLICATION
Co
mp
act
sing
le-a
xis robots
TRAN
SERVOS
ing
le-a
xis robots
FLIP-X
Lin
ea
r motor
sing
le-a
xis robots
PHA
SER
Ca
rtesia
nro
bo
ts
XY-X
SC
AR
Aro
bo
ts
YK
-XG
Pick &
placero
bo
ts
YP-X
CLEA
NCO
NTRO
LLERINFO
RMATIO
N
306
2-axes
3-a
xes4-axes
Controller
RCX240 402
YP220BXR
Controller Power consumption (VA) Operating method
RCX240 700
Programming /I/O point trace /Remote command /Operation using RS-232C communication
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 (kgm2[kgfcms2]) 0.0098 [0.01]
Robot cable length (m) Standard: 3.5 Option: 5,10
Weight (kg) 19
Positioning repeatability precision in a single swing when residual vibration is stabilized (variable depending on the load and stroke).Note 1. When the moving stroke is short, the maximum speed may not be reached.Note 2. Reciprocating time in vertical direction (50mm) and longitudinal direction (150mm) with the arch amount of 50 (when executing rough Note 3. positioning arch motion with 1kg load).
YP220BXR RCX240 BBModel Cable length Controller Usable for CE Expansion I/O Note 1 Network option Battery
3L: 3.5m (Standard) No entry: Standard N, P: Standard I/O 16/8 No entry: None BB: 4 pcs5L: 5m E: CE marking N1, P1: 40/24 CC: CC-Link10L: 10m N2, P2: 64/40 DN: DeviceNet
N3, P3: 88/56 PB: Profi busN4, P4: 112/72 EN: Ethernet
YC: YC-Link Note 2
Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected.Note 1. Available only for the master.Note 2.
YP220BXR
Bottom plate
287
10490
1167
468.5
Grounding terminal(M4)
4- ϕ10
51020 5 (Note 1)
103+/-2X stroke: 200
640
+ Z
+ X
120
68
179
3 (Note 1)
70
Z st
roke
: 100
4 (N
ote
1)2
(Not
e 1)
67
Air tube detachable connection
MA
X. 7
00
17.5
870
4010 89
ϕ8h7
20 266
5
C1
M5 x 0.8 Depth13
67
2-Coupling for air ϕ4
Details of tool plate
Width acrossflat 7 ϕ22
Distance to mechanical stopper.Note1. Return-to-origin on the YP220BXR is by absolute reset. So the origin position must be set the fi rst time (making initial settings) Note2. but after that is not required.
3 axes
Ordering method
Specifi cations Controller
APPLICATION
Co
mp
act
sing
le-a
xis robots
TRAN
SERVOS
ing
le-a
xis robots
FLIP-X
Lin
ea
r motor
sing
le-a
xis robots
PHA
SER
Ca
rtesia
nro
bo
ts
XY-X
SC
AR
Aro
bo
ts
YK
-XG
Pick &
placero
bo
ts
YP-XC
LEAN
CON
TROLLER
INFORM
ATION
307
2-axes
3-a
xes4-axes
Controller
RCX240 402
YP320XR
Controller Power consumption (VA) Operating method
RCX240 700
Programming //O point trace /
Remote command /Operation using RS-232C communication
YP320XR RCX240 BBModel Cable length Controller Usable for CE Expansion I/O Note 1 Network option Battery
3L: 3.5m (Standard) No entry: Standard N, P: Standard I/O 16/8 No entry: None BB: 4 pcs5L: 5m E: CE marking N1, P1: 40/24 CC: CC-Link10L: 10m N2, P2: 64/40 DN: DeviceNet
N3, P3: 88/56 PB: Profi busN4, P4: 112/72 EN: Ethernet
YC: YC-Link Note 2
Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected.Note 1. Available only for the master.Note 2.
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) 0.67 Note 3, 0.87 Note
Maximum payload (kg) 1
R-axis allowable moment inertia (kgm2[kgfcms2]) 0.0098 [0.01]
Robot cable length (m) Standard: 3.5 Option: 5,10
Weight (kg) 23
Positioning repeatability precision in a single swing when residual vibration is stabilized (variable depending on the load and stroke).Note 1. When the moving stroke is short, the maximum speed may not be reached.Note 2. Reciprocating time in vertical direction (50mm) and longitudinal direction (150mm) with the arch amount of 50 (when executing rough Note 3. positioning arch motion with 1kg load). Reciprocating time in vertical direction (25mm) and longitudinal direction (300mm) with the arch amount of 25 (when executing rough Note 4. positioning arch motion with 1kg load).
YP320XR
+ X
+ Z
301
13570
8-M8 x 1.25Depth20 (Note 3)
325
(301)
7.5
120
80 8
9(1
23)
Grounding terminal (M4)
66 71431
(700)
180
177
133X stroke: 330 3 (Note 1)5 (Note 1)
Z st
roke
: 100
2 (N
ote
1)4
(Not
e 1)
105
78
123 40
708
MA
X. 7
00
15.5 102 31.5
55
20 266
5
Width acrossflat 7
C1
M5 x 0.8 Depth13
67
4-Coupling for air ϕ4
Details of tool plate
ϕ8h7ϕ22
127
Warning
Distance to mechanical stopper.Note1. Return-to-origin on the YP320XR is by absolute reset. So the origin position must be set the fi rst time (making initial Note2. settings) but after that is not required. Do not use bolts longer than 20mm (robot bottom plate thickness).Note3.
3 axes
Ordering method
Specifi cations Controller
APPLICATION
Co
mp
act
sing
le-a
xis robots
TRAN
SERVOS
ing
le-a
xis robots
FLIP-X
Lin
ea
r motor
sing
le-a
xis robots
PHA
SER
Ca
rtesia
nro
bo
ts
XY-X
SC
AR
Aro
bo
ts
YK
-XG
Pick &
placero
bo
ts
YP-X
CLEA
NCO
NTRO
LLERINFO
RMATIO
N
308
2-axes
3-a
xes4-axes
Controller
RCX240 402
YP330X
Controller Power consumption (VA) Operating method
RCX240 700
Programming /I/O point trace /Remote command /Operation using RS-232C communication
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
Maximum payload (kg) 3
Robot cable length (m) Standard: 3.5 Option: 5,10
Weight (kg) 32
Positioning repeatability precision in a single swing when residual vibration is stabilized (variable depending on the load and stroke).Note 1. When the moving stroke is short, the maximum speed may not be reached.Note 2. Reciprocating time in vertical direction (50mm) and longitudinal direction (150mm) with the arch amount of 50 (when executing rough Note 3. positioning arch motion with 1kg load). Reciprocating time in vertical direction (25mm) and longitudinal direction (300mm) with the arch amount of 25 (when executing rough Note 4. positioning arch motion with 1kg load).
YP330X RCX240 BBModel Cable length Controller Usable for CE Expansion I/O Note 1 Network option Battery
3L: 3.5m (Standard) No entry: Standard N, P: Standard I/O 16/8 No entry: None BB: 4 pcs5L: 5m E: CE marking N1, P1: 40/24 CC: CC-Link10L: 10m N2, P2: 64/40 DN: DeviceNet
N3, P3: 88/56 PB: Profi busN4, P4: 112/72 EN: Ethernet
YC: YC-Link Note 2
Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected.Note 1. Available only for the master.Note 2.
YP330X
X stroke: 330
Z st
roke
: 100
2 (N
ote
1)(5
7)
193
214
1466431
412
4 (N
ote
1)
5 (Note 1)
329
78319
(650)
6017560
8-M8 x 1.25Depth20 (Note 3)
Grounding terminal (M4)
12.5
255
(280
)
12
(319)
+ X 3438102
Y stroke: 150
82
2(Note 1)16
280
3(Note 1)
5 (Note 1)
7.5
15.5123
78
253414
.557 25
10
4-M5 x 0.8
9.5 15
2
+ Z
Note. Tool plate is detachable.The tool plate is made of aluminum alloy.
Details of tool plate
4-Coupling for airϕ4
Warn ng
Distance to mechanical stopper.Note1. Return-to-origin on the YP330X is by absolute reset. So the origin position must be set the fi rst time (making initial settings) Note2. but after that is not required. Do not use bolts longer than 20mm (robot bottom plate thickness).Note3.
3 axes
Ordering method
Specifi cations Controller
APPLICATION
Co
mp
act
sing
le-a
xis robots
TRAN
SERVOS
ing
le-a
xis robots
FLIP-X
Lin
ea
r motor
sing
le-a
xis robots
PHA
SER
Ca
rtesia
nro
bo
ts
XY-X
SC
AR
Aro
bo
ts
YK
-XG
Pick &
placero
bo
ts
YP-XC
LEAN
CON
TROLLER
INFORM
ATION
309
2-axes
3-a
xes4-axes
Controller
RCX240 402
YP340X
Controller Power consumption (VA) Operating method
RCX240 800
Programming //O point trace /
Remote command /Operation using RS-232C communication
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) 0.67 Note 3, 0.87 Note
Maximum payload (kg) 1
R-axis allowable moment inertia (kgm2[kgfcms2]) 0.0098 [0.01]
Robot cable length (m) Standard: 3.5 Option: 5,10
Weight (kg) 34
Positioning repeatability precision in a single swing when residual vibration is stabilized (variable depending on the load and stroke).Note 1. When the moving stroke is short, the maximum speed may not be reached.Note 2. Reciprocating time in vertical direction (50mm) and longitudinal direction (150mm) with the arch amount of 50 (when executing rough Note 3. positioning arch motion with 1kg load). Reciprocating time in vertical direction (25mm) and longitudinal direction (300mm) with the arch amount of 25 (when executing rough Note 4. positioning arch motion with 1kg load).
YP340X RCX240 BBModel Cable length Controller Usable for CE Expansion I/O Note 1 Network option Battery
3L: 3.5m (Standard) No entry: Standard N, P: Standard I/O 16/8 No entry: None BB: 4 pcs5L: 5m E: CE marking N1, P1: 40/24 CC: CC-Link10L: 10m N2, P2: 64/40 DN: DeviceNet
N3, P3: 88/56 PB: Profi busN4, P4: 112/72 EN: Ethernet
YC: YC-Link Note 2
Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected.Note 1. Available only for the master.Note 2.
YP340X
412
66431 71(700)
319 108X stroke: 3305 (Note 1)
214 26
418
0
Z st
roke
: 100
2 (N
ote
1)4
(Not
e 1)
+ X
+ Z
Y stroke: 15016
280
5(Note 1)
82
40
3(Note 1)
MA
X. 7
50
708
15.5 102 31.5
55
78
2(Note 1)
6017560
12.5 12
(319)
8-M8 x 1.25Depth20 (Note 3)
255
(280
)
123
Grounding terminal (M4)
ϕ8h7
266
C1
205
Width acrossflat 7
M5 x 0.8 Depth13
67
Details of tool plate
4-Coupling for air ϕ4
ϕ22
Warning
Distance to mechanical stopper.Note1. Return-to-origin on the YP340X is by absolute reset. So the origin position must be set the fi rst time (making initial settings) but after Note2. that is not required. Do not use bolts longer than 20mm (robot bottom plate thickness).Note3.
4 axes
Ordering method
Specifi cations Controller