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Yamaha Robotics Division
Yamaha Motor Co. Ltd.

Robots & Robot Controllers
SCARA series

Yamaha SCARA Robots

YK-X series


SCARA stands for Selective Compliance Assembly Robot Arm.
As may be known from the name, the robot has compliance only in specific directions (X and Y directions) and has high rigidity in other direction (Z direction), and thus, has been designed mainly for automation of assembling works. At present, it is used in various production sites as a robot that is very effective not only in assembling works but also in component carrying works (pick & place works) because of its outstanding speed. Although SCARA robot is examined by comparing with cartesian coordinate robot in many cases owing to its operating range, it can be said that SCARA robot is suitable for works requiring speeds on three axes or four axes motions because of its excellent cost-performance ratio. The features of this robot include its small installation area that provides higher degree of freedom in design of a system, and in addition, provides an advantage that, in case the system is disused in the future, the robot can be installed easily on another system.
 
Yamaha has set the industry's top class specifications in various aspects while utilizing the features of the SCARA robot to the fullest. All features allow for the fullest degree of freedom in system design, including compact size, tight standard repeatability for the XYZ axes as well as the R axis, which surpasses other brands, and the great reduction in the cycle time, which is the basis for the robot performance. All these features stand alone in the industry. Yamaha is also proud of the cost performance, which is a major point when considering incorporation of a robot.
 
The YK-X models features are space-saving compact design, provide both durability and serviceability, achieve high accuracy with R axis coupling mechanism, greatly reduced cycle time, standard incorporation of absolute feedback, pursuit of cost performance, completely pursuing ease-of-use, and 9 models.
 
Features
  1. Space-saving compact design
    Installation space is the industry's smallest for all models
    The base projection area is the most compact in the industry. This space saving feature allows for a dramatic increase in system design freedom.
    Lowest heights in industry's top class
    All models have the lowest total height in the industry's top class. Automation of compact lines, which was difficult with traditional SCARA robots, is now possible.
    Original design
    For the YK250X, YK350X and YK400X, an offset arm with which the end Z and R axes are originally laid out. This allows the Y axis arm to be downsized and the Y-axis' moment of inertia to be reduced.
    Reduced rear space
    The rear space for the YK500X and larger models has been downsized. The robot cable, user wiring connectors and user tubing do not protrude with this slim design.
     
  2. Provides both durability and serviceability
    New high-endurance grease
    A new type of grease has been used for the joints sections of the X, Y and R axes reduction gears. The service life is approximately five times the conventional grease. This allows the durability of the reduction gears to be greatly increased and realizes a maintenance-free mechanism.
     
  3. Achieving high accuracy with R axis coupling mechanism
    R axis repeatability ± 0.005°
    A new design that couples a spline nut with the R axis reduction gears has been adopted to achieve a highly accurate R axis repeatability of ± 0.005°. By improving the R axes rigidity, the high load moment of inertia cycle time has been reduced by 20 to 60% of the conventional model.
    Top class positioning accuracy
    The XYZ axes boast a positioning accuracy in the top class of the industry. Accuracy, greatly surpassing other brands, has been achieved for the R axis.
     
  4. Greatly reduced cycle time
    Reduced cycle time for each axis
    The cycle time of each axis has been greatly reduced by revising the reduction gear and ball screw, reducing the arm weight and incorporating a high-rotation motor. (Cycle time reduction compared to conventional models)
    •X, Y axes 22% reduction   •Z axis 45% reduction   •R axis 25% reduction
    Standard cycle time
    The standard cycle time has been reduced by approx. 20% compared to the conventional model.
     
  5. Standard incorporation of absolute feedback
    Complete absolute method
    The need for origin return operations has been completely eliminated by incorporating the complete absolute method for all models.
     
  6. Pursuit of cost performance
    Reduction of number of parts
    When compared to the previous models, parts have been reduced by approximately 20 pieces. This allows for reliability and serviceability to be improved and the cost to be reduced.
    Incorporation of extruded aluminum material for base
    Extruded aluminum has been used in the base and arm of the YK250X, YK350X and YK400X. This has contributed to the reduction in cost.
     
  7. Completely pursuing ease-of-use
    Eyebolts for easy transportation
    Eyebolts are included with the YK500X and larger models. This allows transportation and installation to be carried out easily and safely, and also allows the line to be structured easily.
    Standard user tubing and wiring
    The air tubes and electrical wiring are enclosed within the unit as standard. The air tubing and wiring can be reached easily with a compact layout to match needs.
    YK250X to 400X: Air θ4 x 3 tubes, 10 wires
    YK500X and higher: Air θ6 x 3 tubes, 20 wires
     

 

Ceiling Hanging/Inverse SCARA basic specifications
Model YK500XS YK600XS
Axis specifications X axis Arm length 250mm 350mm
Rotation range ± 120°
Y axis Arm length 250mm
Rotation range ± 135° ± 145°
Z axis Stroke 200mm, 300mm
R axis Rotation range ± 180°
Motor X axis 400W
Y axis 200W
Z axis 200W
R axis 100W
Maximum speed X, Y combined 4.9m / s 5.6m / s
Z axis 1.7m / s
R axis 876° / sec
Repeatability*1 X, Y axis ± 0.02mm
Z axis ± 0.01mm
R axis ± 0.005°
Maximum payload 10kg
Standard cycle time (with 2kg payload) 0.53 sec 0.56 sec
R axis allowable inertial moment*2 0.118kgm² (1.2kgfcms²)
User wiring 20 wires
User tubing Θ6 x 3
Movement limit setting 1. Soft limit, 2. Mechanical stopper (X, Y, Z axes)
Robot cable Standard 3.5m Option: 5m, 10m
Controller, power supply capacity RCX40-R, 1500VA
Weight 30kg 32kg
*1: This is the value at a constant ambient temperature, (X, Y axes)
*2: There are limits to the setting of the acceleration coefficient.
 

Ordering Options and Variations
YK600XS - 300 - 3L - RCX40 - R - N1 - CC - B3 YK600XP ceiling hanging/inverse series; 350mm X axis, 250mm Y axis; 300mm Z axis; ±180° R axis; 3.5m cable; RCX40 type controller with 4-axes; regenerative unit RGU2; NPN expansion I/O, 40/24 points; CC-Link network; 2000 mAh battery.
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B3
B4		 Battery
2000 mAh battery
4000 mAh battery
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nil
CC
DN
PB
EN		 Network
None
CC-Link
DeviceNet
ProfitBus
Ethernet
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N
N1
N2
N3
N4
P
P1
P2
P3
P4		 Expansion I/O
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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nil
R		 Regenerative Unit
None
Regenerative unit RGU2
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RCX40		 Controller Type
Controller for four axes
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3L
5L
10L		 Cable Length
3 meter cable (standard)
5 meter cable
10 meter cable
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200
300		 Z Axis Stroke
200mm
300mm
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YK500XS
YK600XS		 YK-XS SCARA Ceiling Hanging/Inverse Models
250mm X axis, 250mm Y axis; 200/300mm Z axis; ±180° R axis
350mm X axis, 250mm Y axis; 200/300mm Z axis; ±180° R axis

 
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: YK-XS Series