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Yamaha Robotics Division
Yamaha Motor Co. Ltd.

Robots & Robot Controllers
Cartesian series

Yamaha Cartesian Robots

XY-X Series

These robots are Yamaha's versatile line of Cartesian robots, in eight different series suitable for an infinite variety of factory automation applications.
Features
  • Durable AC servo motor
  • Both belt and ball screw drives
  • Variety of end Z/R-axes specification
  • Wide variety of arms
 Benefits
  • High speed
  • High precision
  • High durability
     
FXYt series

FXYx Series

This series is the smallest of the XY-X cartesian robots that Yamaha offers with 2 and 3 axes capabilities.
  • X-axis stroke is from 150 to 1050mm.
  • Y-axis stroke is from 150 to 550mm.
  • Z-axis stroke is 150mm (for 3 axes models).
  • Maximum load capacity is from 12kg down to 7kg based on Y stroke (2-axes).
  • Maximum load capacity is 3kg or 5kg based on Y stroke (3-axes).

Arm type

This is a most frequently used arm type Cartesian robot whose Y-axis carriage performs XY operation. Use of a highly rigid frame reduces residual vibration at setting largely, making both high speed and precision possible.
There are 4 arm variations available:
  • A1: Y-axis is on the right of the arm and starts at origin of moving range and ends at mechanical stop, moving from left to right.
  • A2: Y-axis is on the left of the arm and starts at origin of moving range and ends at mechanical stop, moving from left to right.
  • A3: Y-axis is on the left of the arm and starts at origin of moving range and ends at mechanical stop, moving from right to left.
  • A4: Y-axis is on the right of the arm and starts at origin of moving range and ends at mechanical stop, moving from right to left.

 

Specifications
  2-axes   2-axes   3-axes   4-axes
  X-axis Y-axis X-axis Y-axis X-axis Y-axis Z-axis X-axis Y-axis Z-axis
Motor output 100W 60W 100W 60W 100W 60W 60W 100W 60W 30W
RepeatabilityNote 1 ±0.01mm ±0.02mm ±0.01mm ±0.02mm ±0.01mm ±0.02mm ±0.02mm ±0.01mm ±0.02mm ±0.02mm
Drive system Ball screw (Class C7) Ball screw (Class C10) Ball screw (Class C7) Ball screw (Class C10) Ball screw (Class C7) Ball screw (Class C10) Ball screw (Class C10) Ball screw (Class C7) Ball screw (Class C10) Ball screw (Class C10)
Ball screw lead (Deceleration ratio) 20mm 12mm 20mm 12mm 20mm 12mm 12 [6] mm 20mm 12mm 6mm
Maximum speedNote 2 1200 mm/sec 800 mm/sec 1200 mm/sec 800 mm/sec 1200 mm/sec 800 mm/sec 1000 [500] mm/sec 1200 mm/sec 800 mm/sec 1000 [500] mm/sec
Moving range 150 to 1050mm 150 to 550mm 150 to 1050mm 150 to 550mm 150 to 1050mm 150 to 550mm 150mm 150 to 1050mm 150 to 550mm 150mm
Robot cable length Standard : 3.5m   Option : 5m, 10m Standard : 3.5m   Option : 5m, 10m Standard : 3.5m   Option : 5m, 10m Standard : 3.5m   Option : 5m, 10m
Controller DRCX1005, RCX40 DRCX1005, RCX40 TRCX-3, RCX40 TRCX-3, RCX40
Note 1 : Repeatability for single oscillation.
Note 2 : When the X-axis stroke exceeds 750mm, resonance of a ball screw may occur depending on the operation range (dangerous speed). In such case, make an addjustment to reduce the speed using the corresponding parameter or program and refer to the table below for the maximum speed as a guide.
Axis X-axis
Stroke(mm) 750 850 950 1050
Maximum speed(mm/sec) 960 780 600 540
Speed setting 80% 65% 50% 45%

 

Maximum Load Capacity
  2-axes   2-axes   3-axes   3-axes
Y stroke XY XY ZS12 ZS6 ZT
150mm 12kg 12kg 3kg 5kg 2kg
250mm 12kg 12kg 3kg 5kg 2kg
350mm 11kg 11kg 3kg 5kg 2kg
450mm 9kg 9kg 3kg 5kg 2kg
550mm 7kg 7kg 3kg 3kg 2kg

 

FXYx Controller Options
DRCX - 0505 - CC - B1 DRCX controller for 2 axes; 100W driver(X), 100W or less driver(Y); CC-Link network; 700mAh battery.
TRCX - 3 - CC - B2 TRCX controller for 3 axes; CC-Link network; 2000mAh battery.
RCX40 - N1 - CC - B3 RCX40 controller for 3/4 axes; NPN 40/24 points external I/O; CC-Link network; 2000mAh battery.
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B1
B2
B3
B4		 Battery
700 mAh battery (DRCX/TRCX)
2000 mAh battery (DRCX/TRCX)
2000 mAh battery (RCX40)
4000 mAh battery (RCX40)
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nil
CC
DN
PB
EN		 Network
None
CC-Link
DeviceNet
ProfitBus
Ethernet
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1005
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3
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N
N1
N2
N3
N4
P
P1
P2
P3
P4		 Driver Model DRCX only
2 axes 200W (X) and 100W or less (Y)
TRCX axes TRCX only
DRCX0505 (main) and ERCX (sub)
Expansion I/O RCX40 only
NPN standard I/O, 16/8 points
NPN 40/24 points
NPN 56/48 points
NPN 80/64 points
NPN 112/72 points
PNP standard I/O, 16/8 points
PNP 40/24 points
PNP 56/48 points
PNP 80/64 points
PNP 112/72 points
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DRCX
TRCX
RCX40		 Controller Type
Controller for 2 axes models
Controller for 3 axes models
Controller for 3 or 4 axes models

 

FXYx Options
FXYx - C - A1 - 105 - 55 -   -   -   - 3L - Controller Series FXYx 2-axes robot; cable carrier; arm type 1; 1050mm x-axis stroke; 550mm y-axis stroke; 3.5m cable length.
FXYx - C - A1 - 105 - 55 - IO -   -   - 3L - Controller Series FXYx 2-axes robot; cable carrier; arm type 1; 1050mm x-axis stroke; 550mm y-axis stroke; IO on ZR-axis; 3.5m cable length.
FXYx - C - A1 - 105 - 55 - ZS12 - 15 -   - 3L - Controller Series FXYx 3-axes robot; cable carrier; arm type 1; 1050mm x-axis stroke; 550mm y-axis stroke; 12mm lead; 150mm Z axis; 3.5m cable length.
FXYx - C - A1 - 105 - 55 - ZT4 - 06 - 30 - 3L - Controller Series FXYx robot; cable carrier; arm type 1; 1050mm x-axis stroke; 550mm y-axis stroke; ZT4 on ZR-axis; 6mm lead; 30mm Z stroke; 3.5m cable length.
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Controller		  
See Table above
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3L
5L
10L		 Cable Length
3 meter cable (standard)
5 meter cable
10 meter cable
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5
10
15
20
25
30		 ZR-axis lead 3-axes ZT4 only
50mm
100mm
150mm
200mm
250mm
300mm
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15		 Z-axis Stroke 3-axes ZT4 only
150mm
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IO
ZS12
ZS6
ZT4		 ZR-axis 2/3/4 axis only
IO (2)
Z-axis 12mm lead (3)
Z-axis 6mm lead (3)
ZR-axis ZT4 (3)
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15
25
35
45
55		 Y-axis stroke
150mm stroke
250mm stroke
350mm stroke
450mm stroke
550mm stroke
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15
25
35
45
55
65
75
85
95
105		 X-axis stroke
150mm stroke
250mm stroke
350mm stroke
450mm stroke
550mm stroke
650mm stroke
750mm stroke
850mm stroke
950mm stroke
1050mm stroke
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A1
A2
A3
A4		 Robot arm combination
Arm type 1
Arm type 2
Arm type 3
Arm type 4
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C		 Cable
Cable carrier
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FXYx		 Model
2/3 axes

 
If you are located in Missouri, Kansas, Nebraska, or Illinois, you may contact us at the following telephone
and fax numbers with your requests or questions:
St. Louis telephone 314.428.4000 fax 314.428.4097
Kansas City telephone 913.829.5900 fax 913.829.0815
 
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Copyright © 2003 Flo-Products Company
Last modified:
Brochure: XY-X Series