[Flo-Products Company Logo]

Yamaha Robotics Division
Yamaha Motor Co. Ltd.

Robots & Robot Controllers
Cartesian series

Yamaha Cartesian Robots

XY Series

These robots are Yamaha's versatile line of Cartesian robots, in four different lightweight 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
     
HXYx series

HXYx Series

Heavy capacity model with ground ball screws
  • X-axis stroke is from 250 to 1250mm (850mm on whipover type).
  • Y-axis stroke is from 150 to 650/1050mm.
  • Z-axis stroke is 250mm to 550/650mm.
  • Maximum load capacity is from 40kg down to 30kg based on Y stroke (2-axes).
  • Maximum load capacity is from 25kg down to 8kg based on Y stroke (3-axes ZL/ZH).
  • Maximum load capacity is from 12kg down to 8kg based on Y stroke (4-axes ZRL/ZRH).

 

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.

Gantry type

This is an arm type, with a guide railing at the end of Y-axis for support, 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:
  • G1: 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.
  • G2: 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.
  • G3: 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.
  • G4: 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.

Moving Arm type

This type has the entire Y-axis arm move. This type can be used for the case where an arm type model would experience interference in the processes of loading and unloading in the horizontal direction.
There are 2 moving arm variations available:
  • M1: 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.
  • M3: 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.

Poll type

The poll type model has an XY operation area with respect to the wall. It is suitable not only for pic & place operation of XZ but also for putting objects into shelves and taking them out and other purposes.
There are 2 poll variations available:
  • P1: 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.
  • P2: 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.

XZ type

The type with combination of X-axis for horizontal movement and Z-axis for vertical movement. This type is suitable for pick & place operation of XZ and moving objects between processes.
There are 2 XZ variations available:
  • F1: X-axis is on the right and starts at origin of moving range and ends at mechanical stop, moving from right to left.
  • F3: X-axis is on the left and starts at origin of moving range and ends at mechanical stop, moving from left to right.

Cable variations

There are 2 cable variations available: cable carrier type (C) and whipover type (S).
  • C: The cable carrier type is supplied with a user cable as standard so that cable can be added easily. When adding cables to a cable carrier track, keep the cable occupation rate at 30% or less. (Note : User cable 10 cores, 0.2 sq.)
  • S: The whipover type is supplied with a user cable and tube as standard set. Adding a load on whipover will result in sagging and cut. Sagging may also occur when using long strokes. (Note : User cable 10 cores, 0.2 sq.) (Note : User tube two Θ4 air tubes.) Only on the Arm and Moving Arm types.

 

 

 

2-axes Specifications
  Arm Type   Gantry Type   Moving Arm Type   Poll Type   XZ Type
  2-axes 2-axes 2-axes 2-axes   2-axes 2-axes
  Cable Carrier Cable Carrier Cable Carrier Cable Carrier Whipover Cable Carrier
  X-axis Y-axis X-axis Y-axis X-axis Y-axis X-axis Y-axis X-axis Y-axis X-axis Z-axis
Motor output 600W 400W 600W 400W 600W 400W 600W 600W 600W 600W 400W 200W
Repeatability Note 1 ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm
Drive system Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7)
Ball screw lead (Deceleration ratio) 20 mm 20 mm 20 mm 20 mm 20 mm 20 mm 20 mm 10 mm 20 mm 10 mm 20 mm 10 mm
Maximum speedNote 2 1200 mm/sec 1200 mm/sec 1200 mm/sec 1200 mm/sec 1200 mm/sec 1200 mm/sec 1200 mm/sec 600 mm/sec 1200 mm/sec 600 mm/sec 1200 mm/sec 600 mm/sec
Moving range 250 to 1250 mm 250 to 650 mm 250 to 1250 mm 250 to 1050 mm 250 to 1250 mm 250 to 650 mm 250 to 1250 mm 250 to 1050 mm 250 to 850 mm 250 to 850 mm 250 to 950 mm 250 to 550 mm
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 Standard : 3.5m   Option : 5m, 10m Standard : 3.5m   Option : 5m, 10m
Controller DRCX2020-R DRCX2020-R DRCX2020-R DRCX2020-R DRCX2020-R DRCX2010-R

 

3-axes Specifications
  Arm Type   Gantry Type   Moving Arm Type
  3-axes 3-axes 3-axes
  Cable Carrier Cable Carrier Cable Carrier
  X-axis Y-axis Z-axis X-axis Y-axis Z-axis X-axis Y-axis Z-axis
Motor output 600W 400W 200W 600W 400W 200W 600W 400W 200W
Repeatability Note 1 ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm
Drive system Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7)
Ball screw lead (Deceleration ratio) 20 mm 20 mm 10 mm 20 mm 20 mm 5 mm 20 mm 20 mm 10 mm
Maximum speedNote 2 1200 mm/sec 1200 mm/sec 600 mm/sec 1200 mm/sec 1200 mm/sec 300 mm/sec 1200 mm/sec 1200 mm/sec 600 mm/sec
Moving range 250 to 1250 mm 250 to 650 mm 250 to 550 mm 250 to 1250 mm 150 to 650 mm 150 to 550 mm 250 to 1250 mm 250 to 1050 mm 250 to 550 mm
Robot cable length Standard : 3.5m   Option : 5m, 10m Standard : 3.5m   Option : 5m, 10m Standard : 3.5m   Option : 5m, 10m
Controller RCX40-R RCX40-R RCX40-R
  Poll Type
  3-axes 3-axes
  Cable Carrier Whipover
  X-axis Y-axis Z-axis X-axis Y-axis Z-axis
Motor output 600W 600W 200W 600W 600W 200W
Repeatability Note 1 ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm
Drive system Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7)
Ball screw lead (Deceleration ratio) 20 mm 10 mm 20 mm 20 mm 10 mm 20 mm
Maximum speedNote 2 1200 mm/sec 600 mm/sec 1200 mm/sec 1200 mm/sec 600 mm/sec 1200 mm/sec
Moving range 250 to 1250 mm 250 to 950 mm 250 to 650 mm 250 to 850 mm 250 to 850 mm 250 to 650 mm
Robot cable length Standard : 3.5m   Option : 5m, 10m Standard : 3.5m   Option : 5m, 10m
Controller RCX40-R RCX40-R

4-axes Specifications
  Arm Type   Gantry Type
  4-axes 4-axes
  Cable Carrier Cable Carrier
  X-axis Y-axis Z-axis R-axis X-axis Y-axis Z-axis R-axis
Motor output 600W 400W 200W 200W 600W 400W 200W 200W
Repeatability Note 1 ±0.01 mm ±0.01 mm ±0.01 mm ±0.0083° ±0.01 mm ±0.01 mm ±0.01 mm ±0.0083°
Drive system Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Harmonic gear Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Harmonic gear
Ball screw lead (Deceleration ratio) 20 mm 20 mm 10 mm (1/50) 20 mm 20 mm 10 mm (1/50)
Maximum speedNote 2 1200 mm/sec 1200 mm/sec 600 mm/sec 360°/sec 1200 mm/sec 1200 mm/sec 600 mm/sec 360°/sec
Moving range 250 to 1250 mm 250 to 650 mm 250 to 550 mm 360° 250 to 1250 mm 250 to 650 mm 250 to 550 mm 360°
Robot cable length Standard : 3.5m   Option : 5m, 10m Standard : 3.5m   Option : 5m, 10m
Controller RCX40-R RCX40-R
Note 1 : Repeatability for single oscillation.
Note 2 : When the X-axis stroke exceeds 850mm (750mm for Y-axis), resonance of a ball screw may occur depending on the operation range (dangerous speed). In such case, make an adjustment 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 Y-axis
Stroke(mm) 850 950 1050 1150 1250 850 950 1050
Maximum speed(mm/sec) 960 840 720 600 480 960 840 720
Speed setting 80% 70% 60% 50% 40% 80% 70% 60%

 

Maximum Load Capacity
ARM Type Cable carrier : 250 to 1250mm  
Number of axes 2-axes 3-axes 4-axes
ZR-axes   ZL ZH ZRL ZRH
Z-axis stroke 250 mm 350 mm 450 mm 550 mm 250 mm 350 mm 450 mm 550 mm 250 mm 350 mm 450 mm 550 mm 250 mm 350 mm 450 mm 550 mm
Y-axis stroke 250mm 40kg 20kg 20kg 20kg 20kg 25kg 25kg 24kg 23kg 12kg 12kg 12kg 12kg 12kg 12kg 12kg 12kg
350mm 40kg 20kg 20kg 20kg 20kg 25kg 25kg 24kg 23kg 12kg 12kg 12kg 12kg 12kg 12kg 12kg 12kg
450mm 35kg 20kg 20kg 19kg 18kg 25kg 25kg 24kg 23kg 12kg 12kg 12kg 12kg 12kg 12kg 12kg 12kg
550mm 30kg 18kg 17kg 16kg 15kg 18kg 17kg 16kg 15kg 10kg 9kg 8kg 7kg 11kg 10kg 9kg 8kg
650mm 30kg 18kg 17kg 16kg 15kg 18kg 17kg 16kg 15kg 10kg 9kg 8kg 7kg 11kg 10kg 9kg 8kg
GANTRY Type X-axis stroke : 250 to 1250mm
Number of axes 2-axes 3-axes 4-axes
ZR-axes   ZL ZH ZRL ZRH
Z-axis stroke 250 mm 350 mm 450 mm 550 mm 250 mm 350 mm 450 mm 550 mm 250 mm 350 mm 450 mm 550 mm 250 mm 350 mm 450 mm 550 mm
Y-axis stroke 250mm 50kg 20kg 30kg 12kg 20kg
350mm 50kg
450mm 50kg
550mm 50kg
650mm 50kg
750mm 50kg
850mm 50kg
950mm 50kg
1050mm 50kg
MOVING ARM Type X-axis stroke : 250 to 1250mm  
Number of axes 2-axes 3-axes  
ZR-axes   ZH
Z-axis stroke 250 mm 350 mm 450 mm 550 mm
Y-axis stroke 250mm 30kg 18kg 18kg 18kg 18kg
350mm 30kg 18kg 18kg 18kg 18kg
450mm 30kg 18kg 18kg 18kg 18kg
550mm 30kg 18kg 17kg 16kg 15kg
650mm 30kg 18kg 17kg 16kg 15kg
POLL Type Cable carrier : 250 to 1250mm
Whipover : 250 to 850mm		  
Number of axes 2-axes 3-axes
ZR-axes   ZPH
Z-axis stroke 250 mm 350 mm 450 mm 550 mm 650 mm
Y-axis stroke 250mm 30kg 15kg
350mm
450mm
550mm
650mm
750mm
850mm
950mm
1050mm
XZ Type X-axis stroke : 250 to 1250mm  
Number of axes   2-axes
ZR-axes   ZL ZH
Z-axis stroke 250 mm 350 mm 450 mm 550 mm 250 mm 350 mm 450 mm 550 mm
X-axis stroke 250mm 20kg 30kg
350mm
450mm
550mm
650mm
750mm
850mm
950mm
1050mm
1150mm
1250mm

 

HXYx Controller Options
DRCX - 2010 - R - CC - B1 DRCX controller for 2 axes; 400W driver(X), 400W driver(Y); regenerative unit RGU2; CC-Link network; 700mAh battery.
DRCX - 2010 - R - CC - B1 DRCX controller for 2 axes; 400W driver(X), 200W driver(Y); regenerative unit RGU2; CC-Link network; 700mAh battery.
RCX40 - R - N1 - CC - B3 RCX40 controller for 3/4 axes; regenerative unit RGU2; NPN 40/24 points external I/O; CC-Link network; 2000mAh battery.
|
|
|
|
|		 - |
|
|
|
|		 - |
|
|
|
|		 - |
|
|
|
|		 - +
B1
B2
B3
B4		 Battery
700 mAh battery (DRCX/TRCX)
2000 mAh battery (DRCX/TRCX)
2000 mAh battery (RCX40)
4000 mAh battery (RCX40)
|
|
|
|
|
|		 - |
|
|
|
|
|		 - |
|
|
|
|
|		 - +
nil
CC
DN
PB
EN		 Network
None
CC-Link
DeviceNet
ProfitBus
Ethernet
|
|
|
|
|
|
|
|
|
|
|
|
|
|		 - |
|
|
|
|
|
|
|
|
|
|
|
|
|		 - +
nil
R
+
N
N1
N2
N3
N4
P
P1
P2
P3
P4		 Regenerative Unit (DRCX only)
None
Regenerative unit RGU2
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
|
|
|
|
|
|		 - +
nil
R
+
2010
2020		 Regenerative Unit (RCX40 only)
None
Regenerative unit RGU2
Driver Model DRCX only
2 axes 400W (X) and 200W (Y)
2 axes 400W (X) and 400W (Y)
+
DRCX
RCX40		 Controller Type
Controller for 2 axes models
Controller for 3 or 4 axes models

 

MXYx Options
HXYx - C - A1 - 105 - 65 - ZF - 35 - 3L - Controller Series HXYx 3-axes robot; cable carrier; arm type 1; 1050mm x-axis stroke; 650mm y-axis stroke; ZL type ZR-axis; 350mm Z-axis stroke; 3.5m cable length; RCX40-R controller required.
HXYx - C - A1 - 85 - 65 - ZRH - 25 - 3L - Controller Series HXYx 4-axes robot; cable carrier; arm type 1; 850mm x-axis stroke; 650mm y-axis stroke; ZRH ZR-axis; 250mm Z-axis stroke; 3.5m cable length; RCX40-R controller required.
HXYx - C - M1 - 65 - 35 - ZH - 35 - 3L - Controller Series HXYx 3-axes robot; cable carrier; moving arm type 1; 650mm x-axis stroke; 350mm y-axis stroke; ZH type ZR-axis; 350mm Z axis; 3.5m cable length; RCX40-R controller required.
HXYx - S - P2 - 65 - 45 -   -   - 3L - Controller Series HXYx 2-axes robot; whipover cable; poll type 2; 650mm x-axis stroke; 450mm y-axis stroke; 3.5m cable length; DRCX-2020-R controller required.
HXYx - C - P2 - 105 - 65 - ZPHL - 35 - 3L - Controller Series HXYx 3-axes robot; cable carrier; poll type 2; 1050mm x-axis stroke; 650mm Y-stroke; ZPHL ZR-axis; 35mm z-axis stroke; 3.5m cable length; RCX40-R controller required.
|
|		 - |
|		 - |
|		 - |
|		 - |
|		 - |
|		 - |
|		 - |
|		 - +
Controller		  
See Table above
|
|
|
|		 - |
|
|
|		 - |
|
|
|		 - |
|
|
|		 - |
|
|
|		 - |
|
|
|		 - |
|
|
|		 - +
3L
5L
10L		 Cable Length
3 meter cable (standard)
5 meter cable
10 meter cable
|
|
|
|
|
|		 - |
|
|
|
|
|		 - |
|
|
|
|
|		 - |
|
|
|
|
|		 - |
|
|
|
|
|		 - |
|
|
|
|
|		 - +
25
35
45
55
65		 Z-axis Stroke 3/4-axes only
250mm
350mm
450mm
550mm
650mm
|
|
|
|
|
|		 - |
|
|
|
|
|		 - |
|
|
|
|
|		 - |
|
|
|
|
|		 - |
|
|
|
|
|		 - +
ZL
ZH
ZRL
ZRH
ZPH		 ZR-axis 2/3/4 axis
Z-axis (light)
Z-axis (heavy)
Z-axis (light)(4)
Z-axis (heavy)(4)
Z-axis Poll (heavy)
|
|
|
|
|
|
|
|
|
|
|		 - |
|
|
|
|
|
|
|
|
|
|		 - |
|
|
|
|
|
|
|
|
|
|		 - |
|
|
|
|
|
|
|
|
|
|		 - +
25
35
45
55
65
75
85
95
105		 Y-axis stroke
250mm stroke
350mm stroke
450mm stroke
550mm stroke
650mm stroke (N/A Moving Arm type, Poll type)
750mm stroke (N/A Arm, Moving Arm type, Poll type)
850mm stroke (N/A Arm, Moving Arm type, Poll type)
950mm stroke (N/A Arm, Moving Arm type, Poll type)
1050mm stroke (N/A Arm, Moving Arm type, Poll type)
|
|
|
|
|
|
|
|
|
|
|
|		 - |
|
|
|
|
|
|
|
|
|
|
|		 - |
|
|
|
|
|
|
|
|
|
|
|		 - +
25
35
45
55
65
75
85
95
105
115
125		 X-axis stroke
250mm stroke
350mm stroke
450mm stroke
550mm stroke
650mm stroke
750mm stroke
850mm stroke
950mm stroke (N/A Whipover Cable)
1050mm stroke (N/A Whipover Cable)
1150mm stroke (N/A Whipover Cable)
1250mm stroke (N/A Whipover Cable)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|		 - |
|
|
|
|
|
|
|
|
|
|
|
|
|
|		 - +
A1
A2
A3
A4
G1
G2
G3
G4
M1
M3
P1
P2
F1
F3		 Robot arm combination
Arm type 1
Arm type 2
Arm type 3
Arm type 4
Gantry type 1
Gantry type 2
Gantry type 3
Gantry type 4
Moving arm type 1
Moving arm type 3
Poll type 1
Poll type 2
XZ type 1
XZ type 3
|
|
|		 - +
C
S		 Cable
Cable carrier
Whipover (N/A Arm, Moving Arm, Gantry and XZ types)
+
HXYx		 Model
2/3/4 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
 
For ALL OTHER AREAS Please use the Info Request form for specific product information, pricing or other information. Please include company name, contact name, address, phone number and fax number to ensure a timely response.
 
Send e-mail to webmaster@flo-products.com with questions or comments about this web site.
Copyright © 2003 Flo-Products Company
Last modified:
Brochure: XY Series