Yamaha YK-XE Series
Low cost high performance SCARA Robots
New addition of higher payload models to YK-XE Series.
In addition to existing 400 mm horizontal arm reach YK400-XE, models with 10 kg payload capacity and 610 mm and 710 mm arm reach are added to YK-XE lineup.
Feature
• Optimal for transfer and assembly of automotive parts
• Improvement of productivity by high-speed operation
By reviewing the arm structure, the vibration is reduced and the motion is optimized to shorten the standard cycle time. High-speed, less-vibration, and agile operation contributes to improvement of the productivity.
• Affordable Price and Improved Performance
Both the high operation performance and affordable price are achieved. Production equipment with high cost performance can be constructed.
• Improved User Interface
Enhanced size and numbers of air tubes and user I/O for end effectors. Tubes and wires are positioned for easy layout and reduced risk of disconnection. (YK610XE-10 and YK710XE-10)
• In Yamaha YK-XE series Acceleration/Deceleration is optimized automatically
The optimal acceleration and deceleration are automatically selected from the arm posture at the time of operation start and the arm posture at the time of operation end. The motor peak torque or the tolerable peak torque of the speed reducer is not exceeded by inputting only three parameters*. The full power of the motor is always output to maintain the high acceleration/deceleration.
* Payload, R-axis moment of inertia, and offset amount of R-axis moment of inertia
• Drop-In upgrade by common platform design
The installation position of the YK400XE-4 is fully compatible with that of the conventional model YK400XR.
This ensures easy replacement work.
• Easier operation in combination with the RCX340 controller
RCX340 comprehensive controller brings out maximum potential of YK400XE robot system. Optional integrated vision system “iVY2” provides simplified image processing. Choice of PC Programming Software or Teaching Pendant available.
• Simple and Easy integration of Vision System
Robot controller with vision and gripper interface
• Compatible with various field networks
The robot is compatible with full field networks such as CC-Link, EtherNet/IP™, DeviceNet™, PROFIBUS, PROFINET, and EtherCAT
SPECIFICATION
| YK400XE-4 | X-axis | Y-axis | Z-axis | R-axis | ||
|---|---|---|---|---|---|---|
| Axis specifi cations |
Arm length(mm) | 225 | 175 | 150 | – | |
| Rotation angle(°) | ±132 | ±150 | – | ±360 | ||
| AC servo motor output(W) | 200 | 100 | 100 | 100 | ||
| Deceleration mechanism |
Transmission method |
Motor to speed reducer | Direct-coupled | Timing belt | ||
| Speed reducer to output | Direct-coupled | Timing belt | ||||
| Repeatability Note 1(XYZ：mm)(R：°) | ±0.01 | ±0.01 | ±0.01 | |||
| Maximum speed(XYZ：m/sec)(R：°/sec) | 6 | 1.1 | 2600 | |||
| Maximum payload(kg) | 4 kg (Standard specifi cation), 3 kg (Option specifi cations Note 4) | |||||
| Standard cycle time: with 2kg payload Note 2(sec) | 0.41 | |||||
| R-axis tolerable moment of inertia Note 3(kgm2) | 0.05 (0.5kgfcms2) | |||||
| User wiring(sq×wires) | 0.2 × 10 | |||||
| User tubing (Outer diameter) | φ4×3 | |||||
| Travel limit | 1.Soft limit 2.Mechanical stopper (X,Y,Z axis) | |||||
| Robot cable length(m) | Standard: 3.5 m Option: 5 m, 10 m | |||||
| Weight(kg) | 17 | |||||
Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2.When reciprocating 300mm in horizontal and 25mm in vertical directions and performing the coarse positioning arch operation.
Note 3.The acceleration coefficient is set automatically in accordance with the tip weight and offset amount for R-axis moment of inertia settings.
Note 4.Maximum payload of option specifications (with user wiring/tubing through spline type) is 3kg.
| YK610XE-10 | X-axis | Y-axis | Z-axis | R-axis | ||
|---|---|---|---|---|---|---|
| Axis specifi cations |
Arm length(mm) | 335 | 275 | 200 | – | |
| Rotation angle(°) | ±134 | ±152 | – | ±360 | ||
| AC servo motor output(W) | 400 | 200 | 200 | 200 | ||
| Deceleration mechanism |
Transmission method |
Motor to speed reducer | Direct-coupled | Timing belt | ||
| Speed reducer to output | Direct-coupled | Timing belt | ||||
| Repeatability Note 1(XYZ：mm)(R：°) | ±0.01 | ±0.01 | ±0.01 | |||
| Maximum speed(XYZ：m/sec)(R：°/sec) | 8.6 | 2 | 2600 | |||
| Maximum payload(kg) | 10 kg (Standard specifi cation), 9 kg (Option specifi cations Note 4) | |||||
| Standard cycle time: with 2kg payload Note 2(sec) | 0.39 | |||||
| R-axis tolerable moment of inertia Note 3(kgm2) | 0.3 | |||||
| User wiring(sq×wires) | 0.2 × 20 | |||||
| User tubing (Outer diameter) | φ6×3 | |||||
| Travel limit | 1.Soft limit 2.Mechanical stopper (X,Y,Z axis) | |||||
| Robot cable length(m) | Standard: 3.5 m Option: 5 m, 10 m | |||||
| Weight(kg) | 25 | |||||
Note 1.This is the value at a constant ambient temperature. (X,Y axes)
Note 2.When reciprocating 300mm in horizontal and 25mm in vertical directions and performing the coarse positioning arch operation.
Note 3.The acceleration coefficient is set automatically in accordance with the tip weight and offset amount for R-axis moment of inertia settings.
Note 4.Maximum payload of option specifications (with user wiring/tubing through spline type) is 9kg.
| YK710XE-10 | X-axis | Y-axis | Z-axis | R-axis | ||
|---|---|---|---|---|---|---|
| Axis specifi cations |
Arm length(mm) | 435 | 275 | 200 | – | |
| Rotation angle(°) | ±134 | ±152 | – | ±360 | ||
| AC servo motor output(W) | 400 | 200 | 200 | 200 | ||
| Deceleration mechanism |
Transmission method |
Motor to speed reducer | Direct-coupled | Timing belt | ||
| Speed reducer to output | Direct-coupled | Timing belt | ||||
| Repeatability Note 1(XYZ：mm)(R：°) | ±0.02 | ±0.01 | ±0.01 | |||
| Maximum speed(XYZ：m/sec)(R：°/sec) | 9.5 | 2 | 2600 | |||
| Maximum payload(kg) | 10 kg (Standard specifi cation), 9 kg (Option specifi cations Note 4) | |||||
| Standard cycle time: with 2kg payload Note 2(sec) | 0.42 | |||||
| R-axis tolerable moment of inertia Note 3(kgm2) | 0.3 | |||||
| User wiring(sq×wires) | 0.2 × 20 | |||||
| User tubing (Outer diameter) | φ6×3 | |||||
| Travel limit | 1.Soft limit 2.Mechanical stopper (X,Y,Z axis) | |||||
| Robot cable length(m) | Standard: 3.5 m Option: 5 m, 10 m | |||||
| Weight(kg) | 26 | |||||
Note 1.This is the value at a constant ambient temperature. (X,Y axes)
Note 2.When reciprocating 300mm in horizontal and 25mm in vertical directions and performing the coarse positioning arch operation.
Note 3.The acceleration coefficient is set automatically in accordance with the tip weight and offset amount for R-axis moment of inertia settings.
Note 4.Maximum payload of option specifications (with user wiring/tubing through spline type) is 9kg.
