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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
     
HXYLx series

HXYLx Series

Long-stroke model with heavy load capacity of up to 50kg
  • Maximum load capacity of: 40kg for the arm type; 50kg for gantry type
  • Y-axis stroke of 650mm for arm type
  • Y-axis stroke of 1050mm for gantry type
  • 1150 to 2050mm in X-axis stroke

 

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.

Cable variations

There is 1 cable variations available: cable carrier type (C).
  • 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.)

 

2-axes Specifications
  Arm Type   Gantry Type
  2-axes 2-axes
  Cable Carrier Cable Carrier
  X-axis Y-axis X-axis Y-axis
Motor output 400W 400W 400W 400W
Repeatability Note 1 ±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 lead (Deceleration ratio) 20 mm 20 mm 20 mm 20 mm
Maximum speedNote 2 1200 mm/sec 1200 mm/sec 1200 mm/sec 1200 mm/sec
Moving range 1150 to 2050 mm 250 to 650 mm 1150 to 2050 mm 250 to 1050 mm
Robot cable length Standard : 3.5m   Option : 5m, 10m Standard : 3.5m   Option : 5m, 10m
Controller DRCX2020-R DRCX2020-R

 
Note 1 : Repeatability for single oscillation.
Note 2 : When the Y-axis stroke exceeds 850mm, 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 Y-axis
Stroke(mm) 850 950 1050
Maximum speed(mm/sec) 960 840 720
Speed setting 80% 70% 60%

 

Maximum Load Capacity
ARM Type
Cable carrier : 1150 to 2050mm		 GANTRY Type
Cable carrier : 1150 to 2050mm
Number of axes 2-axes Number of axes 2-axes
Y-axis stroke 250mm 40kg Y-axis stroke 250mm 50kg
350mm 40kg 350mm 50kg
450mm 35kg 450mm 50kg
550mm 30kg 550mm 50kg
650mm 30kg 650mm 50kg
  750mm 50kg
850mm 50kg
950mm 50kg
1050mm 50kg

 

HXYLx Controller Options
DRCX - 2020 - R - CC - B1 DRCX controller for 2 axes; 400W driver(X), 400W driver(Y); regenerative unit RGU2; CC-Link network; 700mAh battery.
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B1
B2		 Battery
700 mAh battery
2000 mAh battery
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nil
CC
DN
PB
EN		 Network
None
CC-Link
DeviceNet
ProfitBus
Ethernet
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nil
R		 Regenerative Unit (DRCX only)
None
Regenerative unit RGU2
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2020		 Driver Model
2 axes 400W (X) and 400W (Y)
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DRCX		 Controller Type
Controller for 2 axes models

 

HXYLx Options
HXYLx - C - A1 - 85 - 65 - 3L - Controller Series HXYLx 2-axes robot; cable carrier; arm type 1; 850mm x-axis stroke; 650mm y-axis stroke; 3.5m cable length; DRCX2020-R controller required.
HXYLx - C - G1 - 65 - 35 - 3L - Controller Series HXYLx 2-axes robot; cable carrier; gantry type 1; 650mm x-axis stroke; 350mm y-axis stroke; 3.5m cable length; DRCX-2020-R controller required.
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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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25
35
45
55
65
75
85
95
105		 Y-axis stroke
250mm stroke
350mm stroke
450mm stroke
550mm stroke
650mm stroke (N/A arm type)
750mm stroke (N/A arm type)
850mm stroke (N/A arm type)
950mm stroke (N/A arm type)
1050mm stroke (N/A arm type)
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115
125
135
145
155
165
175
185
195
205		 X-axis stroke
1150mm stroke
1250mm stroke
1350mm stroke
1450mm stroke
1550mm stroke
1650mm stroke
1750mm stroke
1850mm stroke
1950mm stroke
2050mm stroke
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A1
A2
A3
A4
G1
G2
G3
G4		 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
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C		 Cable
Cable carrier
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HXYLx		 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
 
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Copyright © 2003 Flo-Products Company
Last modified:
Brochure: XY Series