2018 Catalog E PDF

C A T A L O G 2018
FULL LINEUP
ARTICUL ATED ROBOTS LINEAR CONVEYOR MODULES

Features P. 8 Features P.10
YA Series Specifications P.109 LCM100 Specifications P.121
6-axis 7-axis Controller for use with LCM100-4M/3M/2MT LCM100-4B/3B Controller LCC140 for Linear
YA-RJ YA-U5F the YA series (Linear module) (Belt module) module
YA-R3F YA-U10F YAC100
YA-R5F YA-U20F
YA-R5LF
YA-R6F
P.111 P.116 P.119 P.122 P.122 P.128
CLOSED LOOP STEPPING MOTOR SINGLE-AXIS ROBOTS LINEAR MOTOR SINGLE-A XIS ROBOTS
Features P.16 Features P.32
TRANSERVO Series Specifications P.129 PHASER Series Specifications P.217
SS Type (Slider type) SG Type (Slider type) MF Type Long stroke & high-power using flat motor with core
Straight model/Space-saving model
SG07 Double Carriges Standard on all Modules
SS05H-S SS05H-R (L)
SS05-S SS05-R (L) MF7/7D
SS04-S SS04-R (L) MF15/15D
MF20/20D
MF30/30D
MF75/75D
MF15 MF20
P.132 P.138
SR Type (Rod type) SR Type (Rod type with support guide)

Straight model/Space-saving model Straight model/Space-saving model
SR05-S SR05-R (L) SRD05-S SRD05-U
SR04-S SR04-R (L) SRD04-S SRD04-U
SR03-S SR03-R (L) SRD03-S SRD03-U MF30D MF75
P.220
MR Type Shaft motor drive is compact and lightweight

P.139 P.142
STH Type RF Type BD Type Double Carriges Standard on all Modules

(Slide table type) (Rotary type) (Belt type)
Straight model/ Standard model/ Straight model MR12/12D
Space-saving model High rigidity model MR12
BD04
RF02 BD05
STH04-S STH04-R (L) P.238
RF03 BD07
STH06-S STH06-R (L)
RF04
CARTESIAN ROBOTS
P.152 P.156 P.168 Features P.36
XY-X Series Specifications P.241
PXYx FXYx FXYBx

SINGLE-A XIS ROBOTS
Features P.22
FLIP-X Series Specifications P.171
T type Frame-less structure model F type / GF type

High rigidity frame model P.252 P.254 P.260
T4L/T4LH
T5L/T5LH F8/F8L/F8LH/F10/F10H/F14/F14H/
T6L F17/F17L/F20/F20N SXYx SXYBx MXYx
T9/T9H GF14XL/GF17XL
T4L
P.176 F8 GF14XL P.183

P.266 P.284 P.302
N type Nut rotation type model R type Rotation axis type model
NXY NXY-W
N15/N18 R5
N15D/N18D R10
(Double carriage) R20
N15
R5
P.292 P.298
P.200 P.214
HXYx HXYLx
B type Timing belt drive model
B10
B14/B14H
B10
P.208 P.312 P.318
Icons
Articulated robots
Products using a resolver as the Products using 4-row circular arc Products meeting Class 10
in this catalog motor position detector groove 2-point contact guides cleanliness
YA
SCARA ROBOTS CLEAN ROBOTS
Features P.50
YK-TW Series / YK-XG Series / YK-XR Series CLEAN Type
Linear conveyor
LCM100
Specifications P.437
modules
Features P.40
YK-XGS / YK-XGP Specifications P.369 Single-axis robots Cartesian robots SCARA robots
SSC04/05/05H SXYxC YX180XC/ YK700XC/
Orbit type (Omni directional) [YK-TW] Tiny (ultra-small) type [YK-XG] C4L/C4LH/ SXYxC (ZSC12) YK220XC/ YK800XC/
Arm length: 350mm/500mm Arm length: 120mm to 220mm C5L/C5LH/C6L SXYxC (ZSC6) YK250XGC YK1000XC
TRANSERVO
single-axis robots
Maximum payload: 5kg Maximum payload: 1kg C8/C8L/C8LH SXYxC (ZRSC12) YK350XGC/
C10/C14/C14H SXYxC (ZRSC6) YK400XGC/
Compact
YK350TW YK120XG C17/C17L/C20 YK500XGLC
YK500TW YK150XG YK500XC/
YK180XG SXYxC YK600XGLC/
YK180X C14 YK600XC/
YK220X
Single-axis robots
P.441 P.458 P.464 YK250XGC
FLIP-X
YK500TW
YK180XG
ROBOTS CONTROLLER
P.372 P.376
Features P.54
Controllers
single-axis robots
Specifications P.481
PHASER
Linear motor
Small type [YK-XG] Small type [YK-XR]
Arm length: 250mm to 400mm Arm length: 400mm Single axis Robot positioner Single axis Robot driver
Maximum payload: 5kg Maximum payload: 3kg
<pulse train input only>
YK250XG YK400XR
YK350XG
YK400XG
Cartesian
XY-X
robots
TS-S2 TS-X TS-SD RDV-X
TS-SH TS-P RDV-P
YK400XG YK400XR
P.492 P.502 P.506
P.381 P.387
YK-X
SCARA
robots
Single axis Robot controller Single axis Robot controller
Medium type [YK-XG] Large type [YK-XG/YK-X]
<small servo 24V · 30W>
Arm length: 500mm to 600mm Arm length: 700mm to 1200mm
Maximum payload: 5kg to 20kg Maximum payload: 20kg to 50kg
Pick & place

YK500XGL/XG YK700XG/XGL
YP-X
robots
YK600XGL/XG/XGH YK800XG SR1-X
YK900XG ERCD SR1-P
YK1000XG
YK1200X
CLEAN
P.512 P.518
YK1200X
YK500XGL 1 to 2 axis Robot controller 1 to 4 axes Robot controller
P.388 P.395
RCX240
CONTROLLER INFORMATION
Wall-mount / inverse type [YK-XGS] Dust-proof & drip-proof type [YK-XGP] RCX240S
Arm length: 300mm to 1000mm Arm length: 250mm to 1000mm RCX340
Maximum payload: 20kg Maximum payload: 20kg
RCX221 RCX222
P.526 P.534
YK500XGS
ROBOT VISION Robot with image processing functions
YK250XGP
P.401 P411
iVY System Features P.74 iVY2 System Features P.80
RCX240 + iVY RCX340 + iVY2

A robot-
PICK & PL ACE ROBOTS integrated iVY board
Features P.48 vision system iVYボード

YP-X Series Specifications P.429
iVY2 unit
2 axes type 3 axes type 4 axes type ・照明制御ボード
• Lighting control board Tracking board
・トラッキングボード
• Tracking board P.578
YP220BX YP220BXR YP340X P.574
YP320X YP320XR
YP330X
ELECTRIC GRIPPER
Features P.88
YRG Series Specifications P.584
YP220BX YP220BXR YP340X
P.431 P.433 P.436 YRG-4225S YRG-2810W YRG-2840FS YRG-2820T P.585

YAMAHA ROBOT A LL YOU
History and approach
Only Yamaha can provide a
We provide the best solution
30 years of proven reliability.
YAMAHA’s robot development start- Orbit type robots Integrated robot vision
ed as it was introduced in our YK-TW iVY2 SYSTEM
motorcycle production line more
High-speed transfer Verify workpiece positioning
than 30 years ago. processing
Since then, YAMAHA’s industrial Unified control with only the robot
Ideal for narrow or program
robots have supported production limited space
equipment in a wide variety of
industries, such as assembly of electronic products, transfer of
in-vehicle components, and manufacture of large-scale LCD
panels.
Over the years YAMAHA has striven to develop and improve the
market and this is a testament to YAMAHA’s reliability.
Technical development based on

the originally developed technologies
and focusing on the needs of the market
“Motor control technology” absolutely
necessary for precise and high-speed
operation “Controller development
technology” is based on the highest
evaluation standards and Signal
processing technology allowing stable
operation even under extreme environmental conditions.
Rigidity, durability, and operability are features of YAMAHA’s prod-
ucts base on “Coretechnologies*” .
*Control boards, linear motors, and linear scales (position detectors), etc.
Linear conveyor modules
LCM100-4M/3M
Evaluation system provides Multi-step production lines
high reliability Shorten transport time and save space
YAMAHA continues to evaluate

technology to assure product Belt modules
reliability.
In the product development phase, LCM100-4B/3B
the evaluation test at “anechoic Slider return
chamber”* (YAMAHA’s equipment)
was developed to ensure the high Reduce facility cost
reliability and quality.
*Anechoic chamber: This equipment is intended to synthetically develop the EMC (Electro-Mag-
netic Compatibility) technologies for YAMAHA Group products and to share the developed
technologies. This equipment can evaluate the compliance with each country's regulation in
conformity with the international standards.
SPEC UP Major improvements

YAMAHA quality ensuring safety
Manufacturing, sales, and technolo-
gy integrated system is utilized at its
maximum level to establish a Linear conveyor module
system that consistently performs a
series of processes: inspection → LCM100
manufacture → assembly → inspec-
tion → shipping. This can provide Repeat positioning accuracy Max. payload Reduced slider no-stop zone
the customers with high quality, low
price, and short delivery time. Width 100µm
Key components are manufactured through in-house processing 5kg 65mm
and machining. YAMAHA as a robot manufacturer builds the com-
±0.015 mm
15 6
ponents to the highest quality level. (single slider)
Furthermore, the quality control based on the severe standards
achieves the craftsmanship with high quality. width 0.1mm kg mm
(mutual difference among all sliders)
4
A SSEMBLE
unified lineup from miniature actuators to articulated robots.
for a wide range of automation.
Cartesian robots (2-axis to 6-axis) Single-axis AC servo motor robot Linear motor single-axis robots Closed loop stepping motor
XY-X Series FLIP-X Series PHASER Series single-axis robots
Sealing work Board inspection work For long-distance or

TRANSERVO Series
high-mass transport Low-cost positioning equipment
High-rigidity guide ensures A wide range of general-purpose
long life robots
Scara robots
YK-XG Series
Pick and place work
Completely beltless design for high
rigidity and high precision
Articulated robots
(6-axis . 7-axis)
YA Series
Variable-orientation workpiece
assembly work
Allows more complex work
Circulation module
LCM100-2MT
"Insert" and "eject" sliders
Reduce the number of steps for
design and execution
NEW New products
Articulated robots Orbit type robots
YA Series P.8 YK350TW P.372
Belt modules Scara robots
LCM100-4B/3B P.10 YK700XGL P.395
Single-axis robots Robot driver
F10H P.188 RDV-X / RDV-P P.506
5
YAMAHA
WEB
YAMAHA ROBOT
Maintenance
ROBOT
Selection
WEB MEMBER SITE YAMAHA Robot Member Site provides information
you can utilize in the model selection or design phase
when introducing industrial robots.
Additionally, the contents necessary for the start-up
Starting Plan
or maintenance work are also prepared.
Selection Plan
Cycle time simulation calculation 2D/3D CAD data download

Use this when selecting models or calculating cycle time. Use this for production line design and device design,
and to check the layout and operating range.
You can download 2D/3D CAD data for Yamaha robots and controllers.
Input simple parameters

Input robot model, operating stroke, ■ Download 2D CAD data
payload mass, and acceleration
Automatic calculation
Total movement time
Acceleration/
deceleration time
Acceleration/
deceleration distance
Constant speed time
Constant speed distance
■ Download 3D CAD data

Robot life calculation
Use this when selecting models or calculating payload shape.
Input simple parameters
Enter the robot model, installation direction, operating Automatic
stroke, speed setting, payload mass, eccentricity, etc. calculation
Guide lifetime distance
Ball screw movement

distance
Total movement time
Acceleration/
deceleration time
Constant speed time
Constant speed distance
6
Accepting registrations from website
Useful contents from model selections to design, start-up, and maintenance work are provided.
To register as a new member
Go to New Registration screen from the top page

https://global.yamaha-motor.com/business/robot/ Go to New
Registration
screen from here
Starting Maintenance
Manual download Parts List and Exploded View
User’s Manual Installation Manual Maintenance Manual You can view parts lists, and request quotations.
Part lists for Yamaha robots are available.
Since this describes not only operating methods and setting methods but For some parts, this shows associated parts for which replacement is
also robot placement and examples of external wiring for the controller, required or recommended; this is helpful for maintenance activity.
it will be helpful for pre-setup work. Since component replacement
methods are also described, this also is useful for maintenance in
conjunction with the parts list. Very convenient
Parts are shown in detail
for repair work
JWF0146303
Ver. 3.03 J47
TS-Manager
You can also request a price estimate for the selected part.
You have peace of mind even if a problem occurs. Even
if the official version is not at hand, you can back up data
or transfer data.
Support Software
TS-Manager
TS-Manager installation disk
TS-Manager Software
TS-Manager User’s Manual [PDF DATA]
YAMAHA Robot Support Software TS-Manager
Device Driver for USB-Serial Cable
What you can do using TS-Manager (free version)

Initialize robot data
TS-Manager Ver.1.3.1.3
Manual Ver.2.01
USB Driver Ver.2.06.00
Copyright (C) YAMAHA MOTOR CO.,LTD.

2012 All rights reserved.
Transfer data from the controller to the PC
Ver.1.16
Transfer data from the PC to the controller

Obtain alarm history
7
YA
Series
Product Lineup
ARTICULATED ROBOTS
Ideal for compact cell construction,
transport and assembly of small
parts, and inspection work.
Arm B-axis
U-axis B-axis Arm T-axis
T-axis
U-axis
R-axis
R-axis
Body
L-axis
7-axis robots
6-axis robots Body
E-axis
S-axis: Rotate the body horizontally
S-axis
S-axis: Rotate the body horizontally L-axis L-axis: Move the body forward/backward
L-axis: Move the body forward/backward S-axis
E-axis: Twist the arm
U-axis: Move the arm up/down U-axis: Move the arm up/down
R-axis: Rotate the arm R-axis: Rotate the arm
B-axis: Move the tip of the arm up/down B-axis: Move the tip of the arm up/down
T-axis: Rotate the tip of the arm T-axis: Rotate the tip of the arm
8
Reduce personnel, increase productivity
6-axis 7-axis
YA-RJ YA-R3J
YA-R6F
YA-R5F YA-R5LF
YA-U20F YA-U5F YA-U10F
Payload Vertical reach Horizontal reach

Type Model Application Number of axes Page
(kg) (mm) (mm)
YA-RJ 1 kg (max. 2 kg Note) 909 545 P.111
YA-R3F 3 804 532 P.112
6-axis YA-R5F Handling (general) 6-axis 5 1193 706 P.113
YA-R5LF 5 1560 895 P.114
YA-R6F 6 2486 1422 P.115
YA-U5F 5 1007 559 P.116
Assembly /
7-axis YA-U10F 7-axis 10 1203 720 P.117
Placement
YA-U20F 20 1498 910 P.118
Note. When a load is more than 1 kg, the motion range will be smaller. Use the robot within the recommended motion range.
POINT
High-speed operation reduces cycle time Robot simulator dramatically reduces startup time
Thanks to high-speed, low-inertia AC servo motors, an arm designed We provide software that lets you use 3D CAD data to construct a
for light weight, and the latest control technology, these robots production facility in virtual space in a personal computer, and eas-
achieve an operating speed that is best in their class.From supply, ily perform engineering tasks such creating programs and check-
assembly, inspection, and packing to palletization, all applications ing for robot interference. Teaching can be performed even before
can enjoy shorter cycle time and improved productivity. the actual production line is completed, dramatically reducing line
startup time.
Workpieces with a high wrist load are also supported Note. Optional support
Interference checking
With a wrist section that has the highest allowable moment of inertia program
in its class, these robots can support jobs involving a high wrist load,
or simultaneous handling of multiple workpieces.
Free arm movement further boosts productivity.

7-axis Reduced space allows sophisticated system layouts 7-axis
“Elbow movement” unique to 7-axis models
allows optimal posture to be maintained
Since these robots can be installed close to workpieces or other
equipment, you can reduce the space required for your production fa- The 7-axis U-type robots allow “elbow movement,” changing only
cility. By locating multiple robots close to each other, processing can the elbow angle without affecting the position or posture of the tool.
be integrated and shortened. This permits operation to avoid nearby obstructions.
7-axis Access the workpiece from the opposite side or from below
Elbow movement with
Rotation of the seventh axis enables flexible movement with the unchanged flange
position
same freedom of motion as a human arm, allowing the workpiece to
be accessed from the opposite side or from below. This allows the
robot to enter narrow locations that a person could not fit in, or to ap-
proach the workpiece in a way that avoids obstructions, giving you
more freedom to design the layout for shorter cycle time and reduced
space.
9
LCM 1 0 0
Product Lineup
LINEAR CONVEYOR MODULES

From "flow" to "move"
Efficient transfer processes for increased profitability
Linear conveyor module LCM100
Note. As the figure shown above illustrates CG images, they are different from
the actual product.
10
Linear Conveyor Module LCM100
Constructing high-speed throughput lines.
High-speed movement
Round travel is possible

Smooth deceleration and stop
Direct positioning
Work on the slider is possible
Reduced
Increased
transfer
yield
time
Removable slider
Production line using
LCM100
Saves Lower High-speed and high-accuracy transfer

space total costs
●●Max. speed: 3000 mm/sec
●●Max. acceleration: 2G
●●Max. load mass: 15kg
●●Repeated positioning accuracy: ±0.015mm (standalone slider) Note
Note. This is the repeated positioning accuracy for a standalone slider when positioning from one direction
(single-side approach).
Note. The positioning accuracy for the single-side approach after correction by RFID is 0.1 mm including
the mutual difference between sliders.
POINT
Increase productivity by shortening transport time
● Comparison between LCM100 and a conventional conveyor
LCM100 Finished 30% reduction

in tact time
Transfer Stop Work Transfer Transfer time is reduced by 2 seconds from
High-speed
movement Direct positioning Work on the slider is possible High-speed
movement
6 to 4 seconds
Accurate
stop
Increased by approx. 50%
Linear motor drive for Optimum acceleration/ Slider is supported

high-speed transfer deceleration ensures a directly by a highly rigid LCM100
smooth deceleration guide
and stop Conventional
conveyor
(Yield per min.)
Conventional conveyor Finished
Note. May vary depending on conditions
Transfer Deceleration Stop Retraction Work Returning Transfer
Collides
Slow transport due to Requires some distance for All stop positions Workpiece retraction is Returned back to the line Note. May vary depending
frictional resistance deceleration require a sensor and required because the on conditions
stopper system does not have
rigidity
11
LCM100 Product Lineup
The length of the transfer line can be adjusted freely by

adding modules.
POINT
Save equipment space.
● Since the movement direction can be changed, the same processes are made common. This makes the equipment compact and
results in cost reduction.
● Forward and backward movement at a high speed can be set freely.
● Flexible actions such as moving only some sliders backward is possible.
Conventional system Two units of the same process are on one line. Same processes are made common as one shared process.
<Process order> A Same processes

are made common
<Process order>
A B A C A A B
B A C
The same process
A C Same processes are
made common
B The slider moves in both

directions to make the same
processes common.
The same process A
Numerical values are used for
setting transfer distance and
C stop positions Downsized
POINT
Can be moved efficiently between processes
with different tacts
Narrow pitch movement
● Narrow pitch movement is possible.
High-speed movement
● Movement time can be reduced by combining the use of different
movements, such as using pitch-feed for the same processes in short- Narrow pitch movement
time processes while transferring three workpieces at the same time at

a high speed in long-time processes.
POINT
Workpieces do not need to be retracted
● As the work moves down, you can assemble and process them on the transfer line.
● Eliminates having to retract the work from the pallet to the work table.
● Reduces costs.
Conventional system Have to retract the work from the pallet to the No need to provide space for a work table
work table.
Can perform work on the slider Process C
Retracting the work Process C
Process B Process B
Process A
Process A
Equipment
Equipment space
space Downsized
12
POINT
Significant reduction of start-up time
● Just connect modules for easy construction of a
Stored for maintenance Module is added
transfer line.
● Lifting cylinders, sensors, stoppers, and other complex
parts are not necessary.
● Operations can be performed by using only the
LCC140 Controller.
● Economical as excess modules can be used for other
lines or stored for maintenance. Transfer line is shortened
Transfer line is made longer.
POINT
Construct branching lines, joint lines, and other lines in flexible configurations.
● Layout examples by combining modules with circulation mechanisms
Example of horizontal circulation Example of horizontal branching

Horizontal circulation mechanism
Branching mechanism
Linear conveyor
Linear conveyor
Joint mechanism
Example of vertical circulation
Linear conveyor
Vertical circulation mechanism
Belt conveyor Note. The customer needs to prepare the return unit and the circulation mechanism.
Note. Modules convenient for the circulation are configured.
POINT
Optimal for small batch production of various product types
● No need for mechanical stoppers or sensors. Change layout easily.
● Reconstruction can be finished quickly by just changing the program to set a stop position.
● Frequent unit changes for different models can be handled flexibly.
Conventional system Requires stopper position adjustment Stop positions can be set just by changing the
program settings.
Narrow pitch movement Stop position can
be changed just
by changing the
1780
numeric value.
2013
Stopper
Stopper
13
LCM100 Product Lineup
Flexible set-up of the slider's acceleration/deceleration,

forward/backward movement, positioning, and other actions.
The variety of possible line structures has been greatly
expanded to supersede conventional models.
Simpler design and fewer processing steps

●●LCM100-2MT, a module for circulation, is available to insert or
eject a slider into or out of a line.
Linear module
●●Also can be used for a return mechanism.
We welcome consultations on proposals for customized design,

design drawing presentation, etc., to create return units best fitting
your request. For details, contact our sales representatives.
Optimum line
length design
Stroke variation
[640 mm/480 mm]
The optimum design
can be achieved by Circulation modules are
combining multiple Belt module also available
modules to reduce line
length.
Belt modules can be selected to your needs

Genuine new Yamaha belt modules are included in the lineup.
●●Low price......Using modules only for return processes and
interprocess transfer will help reduce the facility cost.
●●Easy control without controllers and no need to create robot
programs
POINT
Quick recovery by replacing the slider when
machine trouble occurs
● Parts can be replaced easily.
● Parts can be kept for maintenance as they are standardized.
● Possible to minimize the downtime of a production line.
LCM100 module Slider
POINT
Easy maintenance
● Motors and scales do not make contact and are free from
abrasion.
● As only the rails are sliding parts, dust generation is low.
● There are only a few consumable parts, which mean a long
service life.
14
System configuration diagram (when 3 sliders are connected)
The module is standardized and can also be stored Standardized slider

for maintenance.
The slider is standardized and can be used for any
If a short line is used and modules are in excess, line. It is also possible to share the slider on multiple
they can be diverted to another line or stored for lines. Production can be restored immediately by
maintenance. replacing a failed slider if trouble occurs.
RFID antennae Insertion/ejection rail
Termination module Robot cable
Programming box
HPB
Controller is replaceable
LINK cable
The connected controller and module
Note. One controller is required combinations can be changed as
for every module.
needed. Note that initial setting is
required when a
PLC cable (CC-Link network etc.)
combination is
Note. One controller needs to be connected to the PLC.
changed. Replacing
just the controller or
PLC on market the module is also
possible.
Belt module
Power cable
PLC cable (parallel I/O)
PLC on market 24V power
This interface allows the customer to supply 24V power and select just the necessary signals to use.Note
Note. The customer will need to prepare the wiring on the user side.
Linear module controller LCC140
Program operation SR1 controller base operation system

The LCC140 controller can perform operations using The same user interface as the SR1 controller is
registered programs and operations using remote incorporated, and specifications and functions specific
commands from the PLC. to the linear conveyor module have been added based
In addition to the control of input/output signals such on this user interface. A very user friendly operation
as movement or positioning, processes related to the system is provided.Note 1
insertion/ejection of sliders can be performed.
Controller-linking function Position correction function using RFID

You can use the link cables dedicated to LCC140 When multiple sliders are each stopped at a position
controllers to connect the controllers when t wo of your choice, actual stop positions has an error
or more modules are connected. You can handle width (machine difference) of 500 μm. This is because
multiple controllers as if they were one controller. each slider has a different stopping accuracy. Link
the RFID unit and LCC140 controller to suppress the
machine difference of individual sliders to an error
width of approximately 100 μm.Note 2
Note 1. Please note that some Yamaha single-axis controller SR1 functions are not available with the linear conveyor controller.
Note 2. All sliders stop within the width of 100μm that includes a teaching point.
15
TR A NSE R V O
Seri e s
Product Lineup
CLOSED LOOP STEPPING MOTOR

SINGLE-AXIS ROBOTS
Excellent characteristics of both stepping motor
and servomotor were combined.
Stepping motor single-axis robots "TRANSERVO"
series breaking through existing conventions.
Robot positioner TS-S2/TS-SH P.492 Robot driver TS-SD P.502
This robot positioner is specialized for the I/O This robot driver omits the operation with robot
point trace input. The positioning or pushing op- languages and is dedicated to the pulse train input.
eration can be performed using simple operation, This driver can be made applicable to the open
only by specifying a point number from the host collector method or line driver method using the
control unit and inputting the START signal. parameter setting and signal wiring. So, you can
Applicable match the robot driver to the host unit to be used.
SS SGNote SR STH
models:
Applicable
RF BD SS SR STHNote RFNote BD
models:
TS-S2 TS-SH TS-SD
Note. SG07 is only applicable to TS-SH. Note. Except for STH vertical specifications and RF sensor specifications.
16
Newly developed vector control method provides functions
and performance similar to servomotors.
SS type (Slider type) SG type (Slider type)
Straight model P.132 Space-saving model Straight model P.138
(Side mounted motor model) P.133
SS05H-S SS05H-R (L) SG07
SR type (Rod type standard)

Straight model P.139 Space-saving model (Side mounted motor model) P.140
SR05-S SR04-S SR03-S SR05-R (L) SR04-R (L) SR03-R (L)
SR type (Rod type with support guide)

Straight model P.142 Space-saving model (Side mounted motor model) P.143
SRD05-S SRD04-S SRD03-S SRD05-U SRD04-U SRD03-U
Lead Maximum payload (kg)Note 2 Maximum speed Stroke

Type Model Size (mm) Note 1 Page
(mm) Horizontal Vertical (mm/sec.) Note 3 (mm)
12 2 1 600 SS04-S: P.132
SS04-S
W49 × H59 6 4 2 300 50 to 400
SS04-R (L) SS04-R (L): P.133
2 6 4 100
SS type 20 4 - 1000 SS05-S: P.134
SS05-S
(Slider type) W55 × H56 12 6 1 600 50 to 800
SS05-R (L) SS05-R (L): P.135
6 10 2 300
Straight model/
20 6 - 1000 SS05H-S: P.136
Space-saving model
SS05H-S 600 (Horizontal)
12 8 2
W55 × H56 500 (Vertical) 50 to 800
SS05H-R (L) SS05H-R (L): P.137
300 (Horizontal)
6 12 4 250 (Vertical)
20 36 4 1200
SG type
SG07 W65 × H64 12 43 12 800 50 to 800 SG07: P.138
(Slider type)
6 46 20 350
SR03-S 12 10 4 500 SR03-S: P.139
SR03-R (L) W48 × H56.5 50 to 200 SR03-R (L): P.140
SR03-U 6 20 8 250 SR03-U: P.141
SR type
12 25 5 500 SR04-S: P.144
(Rod type standard) SR04-S
W48 × H58 6 40 12 250 50 to 300
Straight model/ SR04-R (L) SR04-R (L): P.145
2 45 25 80
Space-saving model
12 50 10 SR05-S: P.148
SR05-S
W56.4 × H71 6 55 20 150 50 to 300
SR05-R (L) SR05-R (L): P.149
2 60 30 50
SRD03-S 12 10 3.5 500 SRD03-S: P.142
W105 × H56.5 50 to 200
SRD03-U 6 20 7.5 250 SRD03-U: P.143
SR type
12 25 4 500 SRD04-S: P.146
(Rod type SRD04-S
W135 × H58 6 40 11 250 50 to 300
with support guide) SRD04-U SRD04-U: P.147
2 45 24 80
Straight model/
12 50 8.5 300 SRD05-S: P.150
Space-saving model SRD05-S
W157 × H71 6 55 18.5 150 50 to 300
SRD05-U SRD05-U: P.151
2 60 28.5 50
Note 1. The size shows approximate maximum cross sectional size. ■ Allowable ambient temperature for robot installation
Note 2. The payload may vary depending on the operation speed. For details, refer to the detailed page of relevant model. SS/SR type 0 to 40 °C
Note 3. The maximum speed may vary depending on the transfer weight or stroke length. For details, refer to the detailed page
of relevant model.
17
TRANSERVO Series Product Lineup
As the slide table type, rotary type, and belt type were added
to the product lineup, the design flexibility was extended.
STH type (Slide table type)
Straight model P.152 Space-saving model P.153
STH04-S STH04-R (L)

STH06-S STH06-R (L)

(mm) Horizontal Vertical (mm/sec.)Note 3 (mm)
STH04-S W45 × H46 5 6 2 200 STH04-S: P.152
STH type 50 to 100
(Slide table type) STH04-R (L) Note 4 W73 × H51 10 4 1 400 STH04-R (L): P.153
Straight model/ STH06 W61 × H65 8 9 2 150 STH06: P.154
Space-saving model 50 to 150
STH06-R (L) W106 × H70 16 6 4 400 STH06-R (L): P.155
RF type (Rotary type)

Standard model P.156 High rigidity model P.157
RF02
RF03
RF04
Rotation Maximum pushing Maximum speed Rotation

Type Model Height (mm) Torque type Page
torque (N • m) torque (N • m) (mm/sec.)Note 3 range (°)
RF02-N 42 (Standard) N: Standard 0.22 0.11 420 310 (RF02-N) RF02-N: P.156
RF02-S 49 (High rigidity) H: High torque 0.32 0.16 280 360 (RF02-S) RF02-S: P.159
RF type
(Rotary type)
RF03-S 62 (High rigidity) H: High torque 1.2 0.6 280 360 (RF03-S) RF03-S: P.163
Standard/High rigidity
RF04-S 78 (High rigidity) H: High torque 10 5 280 360 (RF04-S) RF04-S: P.167
BD type (Belt type)

Straight model P.168
BD04
BD05
BD07

(mm) Horizontal Vertical (mm/sec.)Note 3 (mm)
BD04 W40 × H40 48 1 - 1100 300 to 1000 BD04: P.168
BD type
BD05 W58 × H48 48 5 - 1400 300 to 2000 BD05: P.169
(Belt type)
BD07 W70 × H60 48 14 - 1500 300 to 2000 BD07: P.170
Note 1. The size shows approximate maximum cross sectional size. ■ Allowable ambient temperature for robot installation
Note 2. The payload may vary depending on the operation speed. For details, refer to the detailed page of relevant model.
Note 3. The maximum speed may vary depending on the transfer weight or stroke length. For details, refer to the detailed page STH/RF/BD type 5 to 40 °C
of relevant model.
Note 4. STH04-R (L) with 50-stroke and brake is not supported.
18
Com m on fe atur es of TRANSRVO Ser i es
POINT 1
New control method combining the advantages of both the servomotor and stepping motor
The stepping motor provides features that its price is less
expensive and hunting (minute vibration) does not occur during
Stepping motor Servomotor
stopping. However, this motor has disadvantages that the
positional deviation due to step-out occurs (in the open loop • Smooth movement
• Simple & low cost
• Constant torque at
mode), the torque decreases greatly in the high speed area, and • No vibration any time
during stopping
the power consumption is large during stopping. As YAMAHA’s • Energy saving
TRANSERVO uses the closed loop control, this ensures • High-pitched operation noise
• Great torque decrease in high • Tiny vibration during stopping
complete "no step-out". Furthermore, use of a newly developed speed area
• Large power consumption • High cost
vector control method ensures less torque decrease in the high during stopping
speed area, energy saving, and low noise. The function and
performance equivalent to the servomotor are achieved at a low
T R A N S E RVO c o m b i n e s b o t h m e r i t s .
cost even using the stepping motor.
Energy saving No hunting during stopping

As the basic control is the same as the servomotor, waste power con- Stop mode without hunting can be set in the same manner as the
sumption is suppressed. This greatly contributes to the energy saving general stepping motor. So, select this mode as required.
and CO2 reduction.
POINT 2
Closed loop control using excellent environment resistant resolver
A resolver with excellent reliability is used to detect the motor
position in the same manner as YAMAHA’s upper model. This resolver is a magnetic position detector. The
The stable position detection can be made even in a poor resolver features a simple structure without using
environment where fine particle dusts or oil mists exist. electronic components and optical elements, and
less potential failure factors when compared to
Additionally, a high resolution of 20480 pulses per revolution is
general optical encoders.
provided. The resolver has high environment resistance
and low failure ratio, and is used in a wide variety
of fields aiming at reliability such as automobile or
aircraft industry.
POINT 3
High resolution (4096, 20480 pulse/rev)
TRANSERVO
× Speed stability: Poor Conventional model
Use of a high resolution makes it possible to maintain
Speed
excellent controllability. Variations in speed are small and Adverse effect on settling time
settling time during deceleration stop can be shortened. Speed stability: Good
Time
Settling ability: Good × Settling ability: Poor
POINT 4
Return-to-origin is not needed to shorten the start-up time.
New type robot positioner TS-SH applicable to the high power
was newly developed.
This robot positioner is applicable to the absolute position
system and does not need any return-to-origin.
The work can be started quickly to shorten the start-up time.
TS-SH
19
TRANSERVO Series Product Lineup
SS type (Slider type) Straight model/Space-saving model
POINT
4-row circular arc groove type 2-point contact guide applicable to even large
moment load
A newly developed module guide is employed with a 4-row Conventional model TRANSERVO (SS type)
circular arc groove type 2-point contact guide built into a
■ 2-row gothic arch groove type ■ 4-row circular arc groove type
very compact body similar to the conventional model. This 4-point contact guide 2-point contact guide
guide maintains a satisfactory rolling movement with less ball
differential slip due to its structure even if a large moment load
is applied or the installation surface precision is poor, and has
characteristics that are difficult to malfunction, such as unusual
If a large moment load is applied or the Differential slip is small due to its
wear. installation surface precision is poor, a structure and service life is long.
large differential slip may occur easily.
POINT
Tact is shortened by high-speed movement.
Conventional model TRANSERVO (SS type)
As advantages of the vector control method are utilized at
maximum level, the TRANSERVO maintains a constant Payload Payload is
decreases always
payload even in a high-speed range. This greatly contributes in high-speed
Payload
Payload
constant.
to shortening of the tact time. Additionally, by combining this range.
feature with high-lead ball screws, the TRANSRERVO has
achieved a maximum speed of 1 m/sec.Note which is faster than
any single-axis servo motor. 0 200 400 600 800 0 200 400 600 800
Speed (mm/s) Speed (mm/s)
Note. SS05-S/SS05H-S with 20 mm-lead specifications
SG type (Slider type)

POINT
Maximum payload is 46 kg. A maximum SS05H SG07

payload of 20 kg is supported even with the Maximum payload Maximum payload
vertical specifications. 12 kg Payload is

increased 46kg
about 4 times.
As rigid table slide and 56 motor are adopted, the payload is
increased greatly. A maximum payload of 46 kg is achieved.
Up to 20 kg can be transferred even with the vertical specifications.
POINT
Maximum speed is 1200 mm/sec. current model

Maximum
speed
Maximum speed 1000 mm/sec of the current
SS05H
The maximum speed is made 1.2 times faster than that of the current model is
increased
1.2 times.
model SS05H. SG07 Maximum speed 1200 mm/sec
The tact-up of the equipment can be achieved.
SR type (Rod type) Standard model/Model with support guide

POINT
Long-term maintenance free is achieved. Highly reliable resolver is used.
A resolver with excellent environment
A lubricator used in the ball screw and a contact scraper resistance is used for the position detector.
All models can select brake specifications.
installed at the rod inlet and outlet provide maintenance-free
operation.
Ball screw lubricator
A lubricator with high density fiber net
Maintenance interval is greatly extended. impregnated with grease supplies an
adequate amount of oil to appropriate
Normal grease lubrication on the ball screw loses a very small locations.
amount of oil as the ball screw moves.
The SR type has a lubricator that supplies grease lost over long Laminated type
periods to greatly extend the maintenance interval and ensure near contact scraper
maintenance-free operationNote . A dual-layer scraper removes fine foreign objects sticking to the rod to prevent them from
entering the inside and troubles caused by foreign objects. Rod rattle is suppressed effectively.
Note. The maintenance-free period is within the running life of the robot.
20
Environment-friendly lubrication system
■ Tip nozzle for grease application
The lubrication system is environment-friendly as it uses a high When applying the grease to the ball screw of the SR type space-saving
density fiber net and supplies an adequate amount of oil to appro- model SR03-UB or SRD03-UB, use a grease gun with the tip bent.
priate locations to eliminate waste lubrication. Model KCU-M3861-00
Note. YAMAHA's recommended product. This tip nozzle can be attached to a generally
Prevention of foreign object entry available grease gun.
The dual-layer scraper is in contact with the front of the rod to

(120) (29)
ensure excellent fine contaminant particle removal performance.
The scraper removes fine contaminant particles sticking to the rod
through multi steps to prevent them from entering the inside and
troubles caused by foreign objects. Additionally, oleo-synthetic foam
(ф5)
(PT1/8)
rubber with a self-lubricating function ensures low-friction resis-
tance.
STH type (Slide table type) Straight model/Space-saving model

POINT
Use of a circulation type linear guide achieves the high rigidity and high accuracy.
l Guide rail is integrated with the table. Positioning pin hole
Workpiece installation reproducibility is improved.
l Table deflection amount is small.
l Use of a circulation type linear guide achieves the high
rigidity and high accuracy.
l STH06 provides an allowable overhang exceeding that
of FLIP-X series T9.
l Space-saving model with the motor built-into the body is
Body installation through hole
also added to the product lineup. Installation is possible from the top surface.
l Suitable for precision assembly.

Workpiece installation tap Guide rail is integrated with the table.
RF type (Rotary type) Standard model/High rigidity model

POINT
Rotation axis model, first in TRANSERVO series Use of highly rigid bearing makes it possible
to reduce displacement amount in the radial
l Rotation axis model, first in TRANSERVO series thrust direction of the table.
l Thin and compact

l Can be secured from the top or bottom surface.
l Hollow hole, through which the tool wiring is passed, is prepared.
l Workpiece can be attached easily.
l Motor is built-into the body to achieve the space-saving.
l Standard model or high rigidity model can be selected. Standard model High rigidity model
BD type (Belt type) Straight model

POINT
Belt type applicable to long stroke
l Applicable to up to 2000 mm-stroke.
l High speed movement at a speed of up to 1500 mm/sec. can be made.
l Maximum payload 14 kg
l Main body can be installed without disassembling the robot.
Shutter is provided as standard
l Shutter is provided as standard equipment. This prevents grease equipment.
scattering or entry of foreign object. This shutter covers the guide, ball screw, and belt.
The shutter prevents grease scattering or entry of
external foreign object.
21
F L IP - X
Series
Product Lineup
SINGLE-AXIS ROBOTS
General-purpose single-axis robots can be used for various applications,
such as assembly and inspection work.
6 types and 29 models ranging from compact size
to long-stroke robots are available.
Various custom specifications are also supported.

Various custom specifications, such as double-slider and wide slider are also supported.
For details, please consult YAMAHA.
22
Six types with high reliability and durability
T type Frame-less structure model P.176 F type Model with high rigidity frame P.183
F8
F10 F14 F14H F17 F20
F20N
F17L
T4L/T4LH T5L/T5LH T6L T9/T9H
■■Double appeal of compact body and low price. ■■Tolerable load moment is large and highly resistant to the
■■Ideal in applications as an actuator directly installed on an offset load.
installation base. ■■Suitable for Cartesian robots needing rigid arm or moving
arms that move the entire axis.
R type Rotation axis model P.214 GF type Long stroke model with high rigidity frame P.192
GF14XL GF17XL
R20 R10 R5
Effective stroke vs. maximum speed
Maximum speed (mm/sec.)

1400
■■Repeated positioning accuracy +/- 30 sec. (0.0083 °) 1200

1000
GF17XL
■■The robot can be used as the rotation axis when combined 800
600
with other robots or utilized for a wide variety of applications, 400
200 Competitor's model
such as index tables. 0
1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 2400 2500
Optimal support mechanism Note
■■High rigidity and high accuracy by harmonic drive. Effective stroke (mm)
Note. Patent pending
■■Movable at 1200 mm/sec. in the whole area without critical speed.

■■Suitable for long distance transfer.
N type Nut rotation type model P.200
■■Repeated positioning accuracy +/- 0.01 mm
■■Maximum payload 80 kg
■■Double-carrier available as a standard
Process 1
Process 2
N18 N15 Layout using two conventional Layout using two conventional
single-axis robots cartesian robots
Comparison of stroke vs. maximum speed

Maximum speed (mm/sec)
1400
1200 Current model
N15
1000
800
600
400 F14H
200
Competitor's model N15/N18
0
100 300 500 700 900 1100 1300 1500 1700 1900 2100
Stroke (mm)
Space saving using double- Space saving and process
Critical speed is not restricted and high- In this structure, the hollow motor is
carrier of N15/N18 integration using double-carrier
speed transfer is possible. connected to the nut of the ball screw of N15/N18
Stroke: 2500 mm and the nut is rotated with the screw
Maximum speed: 1200 mm/sec. shaft secured to perform the movement.
B type Timing belt drive model P.208

B14H
B14
B10
■■Maximum stroke is 3050 mm. Long-distance transfer between the processes is possible.
23
FLIP-X Series Product Lineup
POINT 1
4-row circular arc groove type 2-point contact guide that is resistant to large
moment load is adopted.Note 1
4-row circular arc groove type 2-point contact guide with less 2-row gothic arch groove type 4-row circular arc groove type
differential slip is used for the linear guide. This guide has less 4-point contact guide 2-point contact guide
ball differential slip due to its structure when compared to the
2-row Gothic arch type 4-point contact guide and maintains a
satisfactory rolling movement even if a large moment load is
applied or the installation surface precision is poor. The guide has
characteristics that are difficult to malfunction, such as unusual
wear and provides excellent reliability. Friction resistance Differential slip is
Note 1. Except for T4L/T4LH and T5L/T5LH is large and small and self-centering
differential slip is large. function is high.
● Easy to receive adverse effects of installation ● Resistant to alignment changes and moment
surface accuracy, friction, and elastic loads.
deformation. ● Difficult to break.
● Breakage may occur before expiration of
calculation service life.
F/N/B type Note 2 F8 series

For the F type, N type, and B type, The F8 series uses a newly developed
two guide frames are laid out on the module guide to greatly reduce the cross-
high rigidity aluminum extruded mate- sectional area (70 % when compared to
rial frame. Two bearing units per rail, F10). The rail is laid out in the full width of
four bearing units in total, support a the frame to ensure the high rigidity even
large load firmly. As a large moment with compact design. Of course, this series
(F14) (F8)
load is mainly converted into vertical also uses the 4-row circular arc groove type
force, the moment applied to one bearing unit becomes small to en- 2-point contact guide.
sure excellent durability.
Note 2. Except for F8 series/F10/B10.
POINT 2
Resolver with excellent environment resistance is used for the position detector.
Optical encoder Resolver

Slider
Ball screw
Position detector
Device intended to
read-out
the position or speed.
● Optical type
Linear motion
guide ● Electronic components are required
and structure is complicated. ● Magnetic type
● Damaged easily by electronic ● Simple structure only with iron core
component breakdown, dew and winding has less potential failure
condensation on or oil sticking to the factors.
disk. ● Immune to shock and electric noise.
AC servomotor
Detection failure High reliability
A resolver is used for the position detector. The resolver has a simple and rigid structure without using electronic components and
optical elements. Detection problems due to electronic component breakdown, dew condensation on or oil sticking to the disk that
may occur in optical encoders do not occur in the resolver. The resolver provides excellent durability. Additionally, as the absolute
specifications and incremental specifications use the same mechanical specifications and common controller, desired specifications
can be selected only by setting parameters. Furthermore, even when the absolute battery is consumed completely, the robot can still
operate as the incremental specifications. So, even if a trouble occurs, the line stop is not needed to ensure the safe production line.
Furthermore, the backup circuit has been completely renovated and now has a backup period of one year in the non-energizing state.
24
POINT 3
Long service life greatly reduces the maintenance cost.
As the acceleration is determined by the weight parameter, the service life can be assured when the weight and position of center of
gravity are known.
Allowable overhang Note
A
B C
C A
B C A
Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm)
A B C A B C A C
Lead 20 Lead 30
Lead 20 Lead 30
5kg 864 501 383 5kg 348 384 776 1kg 600 600
Lead 20
15kg 491 156 140 15kg 87 40 306 2kg 1098 1098
5kg 1292 505 462 5kg 416 388 1186 4kg 545 545
15kg 572 158 151 15kg 92 42 386 4kg 594 594
Lead 10
30kg 455 73 75 30kg 0 0 61 8kg 280 280
20kg 617 119 127 10kg 193 132 910 10kg 217 217
Lead 10
Lead 10
40kg 422 53 59 20kg 53 0 400 10kg 221 221
Lead 5
55kg 420 36 40 30kg 0 0 109 15kg 135 135
50kg 722 42 47 10kg 197 133 2360 20kg 92 92
Lead 5
Lead 5
60kg 657 33 37 20kg 54 0 985

80kg 577 23 25 30kg 0 0 427
Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.
As YAMAHA's robot uses high rigidity ball screw Cost reduction by high durability
or guide, it provides excellent durability. This
greatly contributes to reduction of the customer's Maintenance
control cost is
maintenance cost. Other company’s robot
reduced
YHAMAHA’s robot
Product service life
POINT 4
Controllers suitable for applications are Program
I/O point trace Pulse-train
(Positioner) control
prepared. RCX240/
SR1-X RCX222 RCX340 TS-X RDV-X
RCX240S
In addition to the robot program operation and pulse train
control, a positioner that is operated by specifying a point
number was added to the product lineup. Additionally, multi
specifications that control multiple robots using one controller
are also supported. You can select an optimal controller
P.518 P.526 P.534 P.544 P.492 P.506
suitable for your application.
POINT 5
Various custom specifications are supported.
YAMAHA supports custom orders flexibility to meet the customers' various needs.
Addition of free Free slider is added. Various applications, such as rigidity increase or use of two heads are supported.
slider
Wide slider To increase the slider rigidity, the standard slider is processed to the wide slider.
Specified stroke A stroke smaller than the minimum stroke may be supported. For details, please consult YAMAHA.
Lead beyond The lead may be changed to that not stated in the catalog. For details, please consult YAMAHA.
catalog
Origin non-motor Even when not stated in the catalog, the origin may be changed to the non-motor side. For details, please consult YAMAHA.
specifications
YAMAHA has a wide variety of custom order results other than those shown above. If you have any requirement or request, please
feel free to contact YAMAHA.
25
Note 1 Lead Maximum payload (kg) Maximum speed

Type Size (mm) Model Stroke (mm) Page
(mm) Horizontal Vertical (mm/sec.)
12 4.5 1.2 720 T4L: P.176
W45 × H53 T4L/T4LH 6 6 2.4 360 50 to 400
2 6 7.2 120 T4LH: P.177
20 3 - 1200 T5L: P.178

W55 × H52 T5L/T5LH 12 5 1.2 800 50 to 800
6 9 2.4 400 T5LH: P.179
20 10 - 1333
T type W65 × H56 T6L 12 12 4 800 50 to 800 P.180
Frame-less structure 6 30 8 400
model 30 15 - 1800
T9 20 30 4 1200
150 to 1050 P.181
(Standard) 10 55 10 600
5 80 20 300
W94 × H98
30 25 - 1800
T9H 20 40 8 1200
150 to 1050 P.182
(High thrust) 10 80 20 600
5 100 30 300
20 12 - 1200
W80 × H65 F8 12 20 4 720 150 to 800 P.183
6 40 8 360
30 7 - 1800
20 20 4 1200
W80 × H65 F8L 150 to 1050 P.184
10 40 8 600
5 50 16 300
20 30 - 1200
W80 × H65 F8LH 10 60 - 600 150 to 1050 P.186
5 80 - 300
30 15 - 1800
F10 20 20 4 1200
150 to 1050 P.187
(Standard) 10 40 10 600
5 60 20 300
W110 × H71
30 25 - 1800
F10H 20 40 8 1200
F type NEW 150 to 1000 P.188
(High thrust) 10 80 20 600
Model with high
rigidity frame 5 100 30 300
30 15 - 1800
F14 20 30 4 1200
P.190
(Standard) 10 55 10 600
5 80 20 300
W136 × H83 150 to 1050
30 25 - 1800
F14H 20 40 8 1200
P.191
(High thrust) 10 80 20 600
5 100 30 300
F17L 50 50 10 2200 1100 to 2050 P.195
40 40 - 2400 200 to 1450
W168 × H100
F17 20 80 15 1200 P.193
200 to 1250
10 120 35 600
40 60 - 2400 200 to 1450
W202 × H115 F20 20 120 25 1200 P.197
200 to 1250
10 - 45 600
W202 × H120 F20N 20 80 - 1200 1150 to 2050 P.199
W140 × H91.5 GF14XL 20 45 - 1200 750 to 2000 P.192
GF type
W168 × H105.5 GF17XL 20 90 - 1200 850 to 2500 P.196
N15 (Single-carrier) 500 to 2000 P.200
N type W145 × H120 50 -
N15D (Double-carrier) 250 to 1750 P.202
Nut rotation type 20 1200
model N18 (Single-carrier) 500 to 2500 P.204
W180 × H115 80 -
N18D (Double-carrier) 250 to 2250 P.206
W100 × H81 B10 Belt drive 10 - 1875 150 to 2550 P.208
B type
Timing belt B14 (Standard) Belt drive 20 - 1875 B14: P.210
drive model W146 × H94 150 to 3050
B14H (High thrust) Belt drive 30 - 1875 B14H: P.212
2
R5 0.12 kgm - P.214
R type
- R10 - 0.36 kgm2 - 360 °/sec 360 ° P.215
Rotation axis model
R20 1.83 kgm2 - P.216
Note 1. The size shows approximate maximum cross sectional size.
26
Multi-robot
MULTI-FLIP/MULTI-PHASER
This robot has multi specifications that control multiple robots using one controller.
Advantages of control with multi-axis controller
●●Sequence control is easy. System upgrades are easy at less expensive price.
●●Compact and space saving when compared to the operation with multiple single-axis controllers.
●●More advanced control is possible.
●●RCX221, RCX240, RCX240S, and RCX340 provide mixed control of the FLIP-X series and PHASER series (linear single-axis).
Multi-robot ordering method

Note 1
MLTX
Multi-robot model prefix
1st unit Note 2
1st unit robot type
2nd unit Note 2
2nd unit robot type
3rd unit Note 2
3rd unit robot type Cable length Controller Controller option
3K: 3.5 m RCX221/HP
Up to 8 units can be controlled. 5K: 5 m RCX222/HP
10K: 10 m RCX240/S
Note 1. When ordering a multi-robot, prefix "MLTX" to the top of the order model. RCX340
Note 2. Select either MULTI-FLIP or MULTI-PHASER shown below.
Note 3. For details about the controller and controller option models, please refer to relevant page of each controller.
MULTI-FLIP MULTI-PHASER
Lead Stroke Lead Stroke Stroke

Type Model Type Model Type Model Carrier
(mm) (mm) (mm) (mm) (mm)
12 12
T4L/T4LH 6 50 to 400 MF7 Single 100 to 4000
C4L
2 6 50 to 400
20
C4LH
2 MF7D Double 100 to 3800
T5L/T5LH 12 50 to 800
6 20 MF15 Single 300 to 4000
20 C5L
T type T6L 12 50 to 800 12 50 to 800
C5LH
Frame-less 6 6 MF15D Double 100 to 3800
structure model 30
T9 20 20 MF type
150 to 1050 Flat type with MF20 Single 150 to 4050
(Standard) 10
5
C6L 12 50 to 800 core
30 Linear motor MF20D Double 150 to 3850
6 specifications
T9H 20
150 to 1050 20
(High thrust) 10 MF30 Single 100 to 4000
5 C8 12 150 to 800
20
F8 12 150 to 800 6 MF30D Double 150 to 3750
6
20 MF75 Single 1000 to 4000
30
20 C8L 10 150 to 1050
F8L 150 to 1050
10 MF75D Double 680 to 3680
5 5
20 C type 20
F8LH 10 150 to 1050
MR type MR12 Single 50 to 1050
Clean Shaft type
5 room C8LH 10 150 to 1050
Linear motor
30 model MR12D Double 50 to 1050
5 specifications
F10 20
150 to 1050
(Standard) 10 20
5
30 C10 10 150 to 1050
F type NEW
F10H 20
150 to 1000 5
Model with (High thrust) 10
high rigidity 5 20
frame 30
F14 20 C14 10 150 to 1050
(Standard) 10 5
5
150 to 1050 20
30
F14H 20 C14H 10 150 to 1050
(High thrust) 10
5 5
F17L 50 1100 to 2050
40 200 to 1450 20
C17 250 to 1250
F17 20 10
200 to 1250
10
40 200 to 1450 1150 to
C17L 50
F20 20 2050
200 to 1250
10 20
F20N 20 1150 to 2050 C20 250 to 1250
GF14XL 20 750 to 2000 10
GF type GF17XL 20 850 to 2500
N type N15 (Single-carrier) 500 to 2000
Nut rotation N15D (Double-carrier)
20
250 to 1750
type N18 (Single-carrier) 500 to 2500
model N18D (Double-carrier) 250 to 2250
B type B10 Belt drive 150 to 2550
Timing belt B14 (Standard) Belt drive
150 to 3050
drive model B14H (High thrust) Belt drive
R type R5
Rotation axis R10 - 360 °
model R20
27
Robot settings
2-robot settings Main auxiliary axis setting

Use of 2-robot settings and multi-task program makes it possible to This auxiliary axis setting is used when it is inconvenient that two
perform asynchronous independent operation. As the auxiliary axis axes move simultaneously by the MOVE command. The axis set for
setting is used together, more free axis assignment can be made. the main auxiliary axis does not operate by the MOVE command and
it operates only by the DRIVE command (movement command in
axis units). This setting is recommended for the axis that needs to be
operated asynchronously from the main robot.
Double-carrier Dual setting

In robot types that the motor runs This setting is used when per-
separately, such as linear motor forming the dual drive (2-axis
single-axis PHASER series or N type synchronous control). This set-
(nut rotation type) of FLIP-X series, ting is used when the gantry type
two motors can be added to one axis. Cartesian robot with a long Y-axis
stroke stabilizes the high accel-
eration/deceleration or when a
high load or high thrust is needed.
Applicable controllers
1 to 2 axes controller 1 to 4 axes controller 1 to 4 axes controller

Name
RCX221 RCX222 RCX240/RCX240S RCX340
Appearance P.526 P.526 P.534 P.544
Position detection Incremental Absolute Incremental/Absolute Incremental/Absolute

FLIP-X and PHASER FLIP-X and PHASER can be FLIP-X and PHASER can be
Control model FLIP-X
can be mixed. mixed. mixed.
Maximum number of 100 programs 100 programs 100 programs
programs
Maximum number of points 10,000 points 10,000 points 30,000 points
Dedicated input 10 points/ Dedicated input 10 points/ Dedicated input 8 points/
dedicated output 12 points dedicated output 11 points dedicated output 9 points
Standard
Number of input/ General-purpose input 16 points/ General-purpose input 16 points/ General-purpose input 16 points/
output points general-purpose output 8 points general-purpose output 8 points general-purpose output 8 points
General-purpose input 24 points/ General-purpose input 24 points/ General-purpose input 24 points/
Expansion
general-purpose output 16 points general-purpose output 16 points general-purpose output 16 points
CC-Link, DeviceNetTM, EtherNet/IPTM, CC-Link, DeviceNetTM, EtherNet/IPTM,
Network option CC-Link, DeviceNetTM, Ethernet, PROFIBUS
Ethernet, PROFIBUS Ethernet, PROFIBUS, PROFINET
28
Examples of multi-robot ordering methods
Separate single axes 3 axes combination

<Example> F14H and F10 are installed separately. <Example> C17L, C14H, and C14H are used for the X-axis,
Y-axis, and Z-axis, respectively to form a 3-axis
XYZ combination.
MLTX F14H 20 U 500 1st unit

1st unit (X)
MLTX C17L 50 Z 1500 1st unit 3rd unit (Z)
F10 20 300 2nd unit 1st unit (X)

C14H 20 450 2nd unit
2nd unit (Y)
5K RCX222 N N1 Controller
C14H 10 BK 150 3rd unit
3K RCX240 R N BB Controller 2nd unit (Y)
2 axes + 1 axis Double-carrier

<Example> T6 is installed on the base for the 1st axis, C6 is Example of 4-axis control
secured to the upper portion for the 2nd axis, and
<Example> Two T6 are assembled to the double-carrier of
CH4 is secured to the upper portion for the 3rd axis
the MF20A, and they are used as XZ type and
to assemble the C6 and C4H to the XZ. (Either 2
controlled using one controller.
axes + 1 axis or 3 axes simultaneous control can be
made by the setting.)
MLTX MF20AD W M 850 1st unit 3rd unit (Z)
2nd unit (Y)
MLTX T6 6 300 1st unit 3rd unit (Z)
2nd unit (Y) T6 12 BK 100 2nd unit
C6 6 300 2nd unit

T6 12 BK 100 3rd unit
C4H 6 BK 100 3rd unit

3K RCX240S N1 B Controller 1st unit (X)
3K RCX240S N BB Controller 1st unit (X)
Note. When the customer combines each axis, it is recommended to use Note. For the double-carrier, since one robot occupies two axes of the
the cable terminal (relay cable) for the wiring among axes. For details controller, the number of robots may differ from the number of
about cable terminal, please contact YAMAHA. controllable axes.
Double-carrier/dual drive (2-axis simultaneous control)

Example of 8-axis control
<Example> Two double-carriers of the MF30 are arranged

in parallel and two MF20 installed on the top are
moved by the dual-drive.
T6 is attached to each tip of the MF20 and the
robots are controlled using two controllers.
CAUTION
MLTX MF30D H L 950 1st unit
4th unit
MF30D H L 950 2nd unit 6th unit Conditions needing regenerative unit on
2nd unit multi-robot
MF20 H 1350 3rd unit 3rd unit
●●The total motor capacity exceeds 450 W.
T6 6 BK 100 4th unit ●●The total motor capacity of the vertical axis exceeds 240 W.
MF20 H 1350 5th unit 5th unit ●●The B14H performs the operation at a maximum speed of
more than 1250 mm/s.
1st unit
T6 6 BK 100 6th unit
●●When the vertical axis is 240 W or less, the conditions
shown below are satisfied.
3K RCX240 R N
Note
Controller
• There is a 200 W-vertical axis.
• A 100 W-vertical axis has a stroke of 700 mm or more.
Note. For this specification, when writing one controller model, two controller • There are two 100 W-vertical axes with a 5 mm-lead.
will be arranged automatically.
29
FLIP-X terminology
High lead Allowable overhang

This term indicates models supporting ball screw leads that ex- This term indicates an allowable overhang of an object to be
ceed the standard lead (12 mm or 20 mm). (The standard lead transferred. In the specification data, this indicates the distance
of the F17L and C17L is 50.) from the center of the top face of the slider to the center of gravi-
ty of an object to be transferred by the weight. This value is de-
Origin on non-motor side termined according to the service life of the linear guide. Under
normal operation conditionsNote , the 90 %-service life of the lin-
This term indicates models that are applicable to the origin non- ear guide is 10,000 km or more if gravity centers of the work-
motor specifications as standard. The origin on the non-motor piece and tool are kept within the allowable overhang. When us-
side in the standard state is not supported with a lead not stated ing with an overhang amount exceeding the specification data, it
in the catalog. If special specifications are needed, please con- is necessary to install a separate support guide or restrict operat-
sult YAMAHA. ing conditions (speed, acceleration) so that a load is not applied
to the linear guide of the single-axis robot. For detail, please
Maximum speed consult YAMAHA.
This term indicates the maximum transfer speed. YAMAHA's

A
single-axis robots can transfer a workpiece at this speed regard-
less of the transfer weight as long as it is within the maximum C
B
payload. However, as the workpiece is heavier, the acceleration/ C A A
deceleration curve becomes gentle. If the movement distance is C
B
short, the speed does not reach the maximum speed stated in Note. Speed, acceleration 100 % (It is preconditioned that the weight parameters are
the catalog. set correctly.)
There shall be no impact load or excessive vibration during operation.
Additionally, the alignment is correct.
CAUTION
When the stroke of the ball screw drive type is long, noise Static tolerance moment
or vibration is produced due to resonance of the ball screw
This term indicates the load moment applied to the slider in the
if moved at the maximum speed. If this happens, lower the
robot stationary state.
speed to that stated in the note column. (It is also possible
to lower the transfer speed of the entire program using the
MY
SPEED setting or make the adjustment for each movement
command.)
MP
MR
Maximum payload
This term indicates the maximum weight that can be loaded on
Critical speed
the slider and transferred. Select an appropriate model so that
the total weight of the customer's tools (air cylinder or chuck) When the stroke of the ball screw drive type is long, noise or vi-
and workpiece is less than this data. When the center of gravity bration is produced due to resonance of the ball screw if moved
of the tool or workpiece is offset from the center of the slider, the at the maximum speed. If this happens, lower the speed to
allowable overhang needs to be taken into consideration. Addi- that stated in the note column. (It is also possible to lower the
tionally, when entering the total weight of the tool and workpiece transfer speed of the entire program using the SPEED setting or
for the payload parameter of the controller, optimal acceleration/ make the adjustment for each movement command.)
deceleration and servo parameter are automatically set.
Rated thrust
This term indicates the force to be applied in the slider advanc-
ing direction in the slider stationary (hold) state. When using
vertically, the weight of the loaded workpiece is subtracted from
this value (when the force is applied downward from the top).
The slider can move only at a low speed (approximately 10 %
of the maximum speed), but this value becomes lower than the
specification value. Additionally, the type B of the timing belt
drive cannot be used for applications, in which thrust is applied.
30
31
PH A S ER
Series
Product Lineup
LINEAR MOTOR
SINGLE-AXIS ROBOTS
No limit on critical speed even when using a long stroke of 4 m.
"PHASER" series delivers superb performance
during long distance transfer.
32
Critical speed is not restricted and high-speed long-stroke
transfer is possible.
MF type
High-power and long-stroke using flat motor with core P.220
■■Maximum stroke: 4050 mm
■■Maximum speed: 2500 mm/s
■■Repeated positioning accuracy: +/-5 μm
■■Maximum payload: 7 to 160 kg
Moving coil
Flat type magnet
Magnetic head
Magnetic scale
MF7D MF15 MF20 MF30D MF75
MR type
Lightweight, compact, and low cogging by shaft motor drive P.238
■■Maximum stroke: 1050 mm
■■Maximum speed: 2500 mm/s
■■Repeated positioning accuracy: +/-5 μm
Magnet shaft
■■Maximum payload: 5 kg
Moving coil
MR12
Direct drive guide
Magnetic scale
Magnetic head
Note 1 Maximum payload Maximum speed

Type Size (mm) Model Carrier Stroke (mm) Page
(kg) (mm/sec.)
MF7 Single 100 to 4000

Note 2
W85 × H80 10 (7) P.220
MF7D Double 100 to 3800

Note 2
W100 × H80 30 (15) P.226
MF type
Flat type with core 40 (20)
Note 2
P.230
Linear motor MF20D Double 150 to 3850
specifications W150 × H80 2500
Note 2
60 (30) P.233

Note 2
W210 × H100 160 (75) P.236
MR type MR12 Single 50 to 1050
Shaft type W60 × H90 5 P.238
Linear motor
specifications MR12D Double 50 to 1050

Note 2. When using at the maximum speed, the maximum payload becomes the value in ( ).
33
PHASER Series Product Lineup
POINT 1 POINT 2
Maximum speed 2.5 m/sec. and no critical Suitable for heavy object transfer.
speed limit Maximum payload 160 kg
The ultimate appeal of the linear motor single-axis robot is The maximum payload of the MF type using a flat magnet
that there are restrictions on critical speed like ball screw. The is 160 kg. The robot can transfer a heavy object, such as
maximum speed does not decrease even with long-distance large LCD panel at a high speed with high accuracy. (In the
transfer. Additionally, the maximum stroke of the MR type is set to payload range of some MF types, the maximum speed may be
up to 1050 mm and that of the MF type is set to up to 4000 mm restricted. For details, refer to the specification page of each
with standard settings. In particular, the cycle time of the long- model.)
distance transfer is greatly improved.
Movement time comparison between linear single-

axis robot PHASER and single-axis robot FLIP-X POINT 3
Effective use of stroke
Speed (m/s)
3.0
Maximum speed 2.5 m/s 2000 st / 50 kg

2.5 As the linear motor single-axis robot incorporates a coil that
PHASER
PHASER (MF75) is the drive part inside the table, dead spaces are eliminated
2.0
FLIP-X (F20N) to maximize the stroke. Additionally, as the main body is
symmetrical, the flexibility of the layout is improved.
1.5
Maximum speed 1.2 m/s
1.0 FLIP-X
0.5
0
0 0.5 1.0 1.5 2.0 2.5
Time (sec)
POINT 4
In-house manufacturing of major parts achieves low costs.
Magnetic scales are developed and manufactured at MF7: Linear motor F17: Ball screw B10: Belt type
YAMAHA. In-house manufacturing of other major parts
Stroke Stroke Stroke
achieves large cost reduction. Nowadays, the linear
motor is not a special mechanism. The customer can Speed Accuracy Speed Accuracy Speed Accuracy
select the linear motor or ball screw in the similar way
according to the customer's needs. In particular, when
performing a high-speed and long-distance transfer of
Size Maintenance Size Maintenance Size Maintenance
a light workpiece, selecting linear motor robots may
reduce the cost.
■ Comparison of single-axis robot models
Maximum
Maximum Maximum Repeated positioning
Maximum stroke cross-sectional
Model name Main body price Note 1 speed payload accuracy
(mm) dimension Note 2
(mm/sec.) (kg) (μm)
(mm)
MF7-1500 2500 10 (7) Note 3 +/- 5 4000 W85 × H80
Note 4
F17-40-1450 720 40 +/- 10 1450 W168 × H100
B10-1450 1850 10 +/- 40 2550 W100 × H81

Note 1: The prices are compared with the strokes shown above.
Note 2: Cable carriers are not included.
Note 3: The payload is 7 kg when the maximum speed is 2500 mm/s. (10 kg-payload: 2100 mm/s)
Note 4: This value is obtained by considering the critical speed with a stroke of 1450 mm.
POINT 5
Double-carrier available as standard
Double-carrier specifications that operate two carriers on one robot ■■Layout using two ball screw ■■Space saving using
are available as standard. High effects, such as space saving, cost single-axis robots double-carrier
reduction, and tact improvement are obtained when compared to
two single-axis robots. Furthermore, no axis alignment is needed
and tools are commonly used to shorten the setup time. (When
using the RCX series controller, an anti-collision function can be
used.)
34
POINT 6
Linear scale developed by YAMAHA
YAMAHA originally developed a new linear scale based on its excellent magnetic signal
detection technology.
Magnetic scale provides high environment resistance. High resolution 1 μm

YAMAHA's magnetic scale is resistant to dirt and can be used in an Magnetic signals recorded in the magnetic scale are detected and
environment where grease or cutting fluid sometimes splashes. interpolated to achieve a highly accurate resolution of 1 μm.
Semi-absolute specifications Repeated positioning accuracy: +/-5 μm

The current position is obtained by reading the signal recorded in the A fully-closed control that always feeds back the table position pro-
linear scale. So, it is not necessary to perform a large return-to-origin vides high accuracy steadily.
movement before starting the operation after turning on the power (the Additionally, there are no mechanical backlashes, such as ball screws
slider moves up to 76 mm when reading the signals). or timing belts.
Position command Controller

Cost reduction Control
In-house linear scale development and manufacturing achieves large Table (coil) Position feedback
cost reduction.
Magnetic head Magnetic scale Magnet shaft
POINT 7 POINT 8
Silence and long service life Dust-proof structure
Unlike ball screw type robots, there are few sliding and rotating All YAMAHA's linear motor robots use a stainless steel shutter.
parts. So, the operation is very quiet. Moreover, as the coil is This prevents entry of foreign objects. Additionally, these
not in contact with the magnet, they are not worn out and can shutters are made of tough stainless steel with an extremely
be used for an extended period of time. high fatigue strength to support high-speed and long-stroke
operation.
POINT 9
Flat type without cable carrier protrusion
For the MF7, as the main body is made compact, a flat type that Standard type Flat type
the cable carrier becomes flat on the top surface of the table is
prepared as standard. Please select this type according to the As the cable carrier
tool or workpiece shape, or installation method. does not protrude
from the table upper
sur face in the flat
type, a large tool can
be installed easily.
Applicable to multi-carrier operation Applicable to dual-drive

The PHASER series also supports "multi-carrier" operation As a dual-drive that simultaneously drives two axes, high-speed
that allows using three or more carriers on one robot. transfer and heavy object transfer are possible in a wide area.
This "multi-carrier" operation drastically extends applications YAMAHA can propose an optimal control method according to
due to its high effect in improving tact time and saving space. the robot linkage rigidity.
35
XY- X
Series
Product Lineup
CARTESIAN ROBOTS
Offering a full lineup of Cartesian robots that come with
exact performances and sizes supports a wide variety
of applications.
Fulfilling product lineups

Fulfilling product lineups are provided, such as compact and low price PXYx type, HXYLx allowing
long-distance transfer with a maximum payload of 50kg, and NXY with hollow servomotor used for
the X-axis applicable to double-arm. Fulfilling arm and performance variations support the customers'
various requests.
Additionally, various custom-order products other than models stated in the catalog are also support-
ed. For detail, please feel free to consult YAMAHA.
36
Fulfilling product lineups support a wide variety of applications.
Various variations P.242
Models with 3 or more axes can be selected from: ■ Z-axis clamped base and moving table type
■ Z-axis clamped table and moving base type
PXYx FXYx FXYBx SXYx MXYx
SXYBx NXY NXY-W HXYx HXYLx
Applicable arm variations Maximum Maximum stroke (mm)

Model Number of axes payload
Arm Gantry Moving arm Pole XZ (kg) X-axis Y-axis
PXYx l - - - - 2 axes 4.5 150 to 650 50 to 300
FXYx l - - - - 2 axes/3 axes 12 150 to 1050 150 to 550
FXYBx l - - - - 2 axes 7 150 to 2450 150 to 550
SXYx l - l l l 2 axes/3 axes/4 axes 20 150 to 1050 150 to 650
SXYBx l - - - l 2 axes/3 axes/4 axes 14 150 to 3050 150 to 550
MXYx l l l l l 2 axes/3 axes/4 axes 30 250 to 1250 150 to 650
NXY l - - - - 2 axes/3 axes 25 500 to 2000 150 to 650
NXY-W l - - - - 4 axes/6 axes 25 250 to 1750 150 to 650
HXYx l l l l l 2 axes/3 axes/4 axes 40 250 to 1250 250 to 650
HXYLx l l - - - 2 axes 40 1150 to 2050 250 to 650
Note. The maximum payloads and maximum strokes shown above are values when using arm type/cable carrier specifications.
POINT 1 POINT 2
Use of 4-row circular arc groove type Highly reliable resolver is used.
2-point contact achieves high durability. A resolver is used for the position detector. As the
4-row circular arc groove type 2-point contact guide with less resolver uses a simple and rigid structure without using
differential slip is adopted. When compared to the 2-row Gothic electronic components and optical elements, it features high
arch type 4-point contact guide, the robot provides features environment resistance and low failure ratio. Detection problems
that it does not stop due to catching or overload and is difficult due to electronic component breakdown, dew condensation on
to malfunction even under poor conditions with low installation or oil sticking to the disk that may occur in optical encoders do
surface accuracy or large overhang amount. Guide rail type not occur in the resolver due to its structure. Additionally, as the
suitable for Cartesian robots, to which moment is always absolute specifications and incremental specifications use the
applied. same mechanical specifications and common controller, desired
specifications can be selected only by setting parameters.
2-row gothic arch groove type 4-row circular arc groove type Furthermore, even when the absolute battery is consumed
4-point contact guide 2-point contact guide completely, the robot can still operate as the incremental
Large difference in Small difference in specifications. So, even if a trouble occurs, the line stop is not
circumferential length circumferential length
needed to ensure the safe production line. Furthermore, the
backup circuit has been completely renovated and now has a
backup period of one year in the non-energizing state.
POINT 3
Differential slip is Differential slip is
large and friction
resistance is large.
small and
self-centering
Easy maintenance
● Easy to receive effects of poor function is high.
installation surface accuracy, friction, ● Resistant to alignment changes and Even when the built-in structure is used, the motor or ball screw
and elastic deformation. moment loads. can be replaced individually to ensure smooth maintenance
● Breakage may occur even within the ● Difficult to break.
calculated service life. work.
37
X Y- X S e r i e s Product Lineup
POINT 4
Low price
It was succeeded to reduce the number of parts while improving the basic performance. So, further cost reduction was achieved.
Additionally, the resolver was used to eliminate the existing image "absolute specifications are expensive". Additionally, both the
absolute specifications and incremental specifications use exactly same mechanical parts.
POINT 5 POINT 6
Lightweight and compact Double Y-axis available as standard
The ball screw drive motor is renovated to a couplingless built- The NXY with nut rotation type structure supports a double
in structure to make dead spaces small and contribute to space Y-axis with two carriers arranged on the same axis. Two
saving. Cartesian robots can be made compact to improve the work
efficiency at a low cost and ensures the space saving.
Motor rotor Motor stator ■■Layout using two conventional ■■Space saving and process
+
Resolver rotor
+ Cartesian robots integration using NXY-W
Resolver stator
Process 1
Process 1
Ball screw Process 2
Process 2
A rm & cab l e vari at i o n s

Cable variations
Two kinds of cable specifications, cable carrier and whipover (separate cable), are available. (PXYx uses only the cable carrier.)
l Cable carrier (C) l Whipover (S)

[User cable is provided as standard [User cable and air tubing are provided as
equipment.] standard equipment.]
When adding cables into a cable carrier, Be aware that sagging or faulty wiring may
carefully check the space factor (30 % occur if a load is applied to the whipover.
or less), etc. Additionally, sagging may also occur when
Note. User cable: 10-core, 0.3 sq using a long-stroke.
Note. User cable: 7-core, 0.2 sq
Note. User tubing: ф 4-air tube, 2 pcs.
Arm variations
2 axes combination
l Arm type l Moving arm type l XZ type

Type with Y-axis slider movement Type with entire Y-axis arm movement Type with combination of X-axis for horizontal movement and Z-axis for
vertical movement
Clamped table/moving base Clamped base/moving table
l Gantry type
Type with support guide attached to the
Y-axis tip of the arm type l Pole type
Type with Y-axis slider
vertical movement l Dual-robot (2 axes)
Type with synchronous drive between
two axes
Note. The dual-robot is supported as a custom
order.
38
3 axes combinations
l Z-axis clamped base and l Z-axis clamped table and l Shaft up/down type
moving table type moving base type ZR-axis model: ZS
ZR-axis model: ZT / ZF / ZFL / ZL ZR-axis model: ZFH / ZH
l X-Y Gantry + Z-axis l X-Y Gantry + Z-axis l Dual-robot (3 axes)

(Clamped base/moving table) (Clamped table/moving base) Note. The dual-robot is supported as a custom
order.
4 axes combinations
l Z-axis clamped base and l ZR-axis integrated type

l Z-axis clamped table and moving
moving table type + rotation axis
base type + rotation axis ZR-axis model: ZRS
ZR-axis model: ZRF / ZRFL / ZRL
ZR-axis model: ZRFH / ZRH
l X-Y Gantry + Z-axis l X-Y Gantry + Z-axis l Dual-robot (4 axes) l Double Y-axis specifications
(Clamped base/moving table) + (Clamped table/moving base) + Note. The dual-robot is supported as a Robot model: NXY-W
custom order.
rotation axis rotation axis
6 axes combination
l Double Y-axis specifications/ Z-axis l Double Y-axis specifications/ Z-axis

clamped base and moving table type clamped table and moving base type
Robot model: NXY-W-ZFL Robot model: NXY-W-ZFH
YAMAHA supports models with strokes and payloads other than the standards as special orders. For detail, please feel free to
Special orders consult YAMAHA.
Contact Us E-mail: robotn@yamaha-motor.co.jp
39
Y K- X YK-TW Omni directional model
YK-XG/YK-X Completely beltless model Note
Series YK-XR Low cost high performance model

YK-XGS Wall mount/inverse model
YK-XGP Dust-proof & drip-proof model
Product Lineup
Note. Except for YK1200X
SCARA ROBOTS
Arm length of 120 mm to 1200 mm, full-selection of lineup is top in the world.
Completely beltless structure pursues the features of SCARA robots to
their utmost limits.
Low cost high performance model

YK400XR
History of 30 years
The first YAMAHA robots were SCARA robots. Since the first SCARA robot called "CAME" was produced
in 1979, some 30 years of SCARA robot innovations have continually appeared. These SCARA robots
have undergone countless modifications in an ever changing marketplace and amassed a hefty record of
1979
successful products making them an essential part of the YAMAHA robot lineup. <YK7000>
40
Comprehensive line of YAMAHA SCARA robots
Orbit type P.372 Large type P.395
■■Arm length 350 mm / 500 mm ■■Arm length 700 mm to 1200 mm
■■Maximum payload 4 kg ■■Maximum payload 20 kg to 50 kg
YK500TW
YK700XG YK800XG
Extra small type P.376

■■Arm length 120 mm to 220 mm
YK900XG YK1000XG
YK120XG/YK150XG/YK180XG YK180X/YK220X
Small type P.381

■■Arm length 250 mm to 400 mm YK1200X
Low cost high performance model

Wa l l m o u n t/ i n v e r s e m o d e l P.401
YK400XR
YK300XGS to YK1000XGS
Wall mount type Inverse type

YK400XR YK250XG/YK350XG/YK400XG
■■Wall mount type

Medium type P.388 Type where the robot body is installed in the wall.
■■Inverse type
■■Arm length 500 mm to 600 mm
Type where the wall-mount type is installed upside down.
■■Maximum payload 5 kg to 20 kg
Dust-proof & drip-proof model P.411
YK500XGL YK500XG
YK250XGP/YK350XGP/YK400XGP YK500XGP to YK1000XGP

YK500XGLP/YK600XGLP
Plays active part in the working environment with a large amount of water or
dust (protection class equivalent to IP65).
YK600XGL YK600XG/XGH
● Please consult YAMAHA for anti-droplet protection for fluids other than water.
41
YK-X Series Product Lineup
YK-TW Orbit type

Y K-T W POINT 1 Y K-T W POINT 3
Layout design freedom High quality

User: We want a smaller equipment footprint. User: We want a high precision assembly system.
YK-TW can move anywhere through the full YK-TW offers a repeated positioning accuracy of
ф 1000 mm Note 2 work envelope. ±0.01 mm Note 1 (XY axes).
Featuring a ceiling-mount configuration with a wide arm Higher repeated positioning accuracy than that offered by a
rotation angle, the YK-TW can access any point within the full parallel-link robot. This was accomplished by optimizing the
ф 1000 mm downward range. This eliminates all motion-related robot's weight balance through an extensive re-design of its
restrictions with regard to pallet and conveyor placement internal construction. The lightweight yet highly rigid arm has
operations, while dramatically reducing the equipment footprint. also been fitted with optimally tuned motors to enable high
accuracy positioning.
Y-motor
Reduction gear
R-motor
Z-motor
Motion range
C
Optimized rotation center of
Hollow construction gravity moment
Y-motor and reduction gear feature a Weight balance was optimized by placing
A B hollow construction which allows them to the R-motor and Z-motor at the left and
be housed inside the harness arm. right sides respectively.
360 ° Rotation. Reduced inertia enables

high-speed motion.
C
C
Y K-T W POINT 4
A B A B
Suitable for a wide range of applications
Orbit type SCARA robot Standard type SCARA robot
User: We need to move heavy workpieces at high speeds.
YK-TW handles payloads up to 5 kg.

Y K-T W POINT 2 Handles loads up to 5 kg. Also accommodates arm-end tools
which tend to be heavy, making it highly adaptable to various
Higher productivity applications.
User: We need to reduce cycle time.

Y K-T W POINT 5
Standard cycle time of 0.29 secs. Note 2
Y-axis (arm 2) passes beneath the X-axis (arm 1) and it has a Smaller equipment footprint
horizontal articulated structure, allowing it to move along the
User: We want to reduce the height of our equipment.
optimal path between points. Moreover, the optimized weight
balance of the internal components reduces the cycle time by YK-TW offers both a lower height and a smaller footprint.
36 % as compared to previous models.
YK-TW height is only 392 mm. This compact size enables more
freedom in the equipment layout design.
Reduced
YK500TW Standard cycle time of by
0.29 secs. approx. 36 % YK500TW YD11
Previous
YAMAHA 392 mm
model
Cycle time 844 mm
The standard cycle time for moving a 1-kg load horizontally 300 mm
and up/down 25 mm is shortened by approximately 36 % compared
to existing YAMAHA models.
Note 1. Applies to the YK350TW Note 2. Applies to the YK500TW
42
Y K-T W POINT 6 Y K-T W POINT 7
Easy installation Reduce the number of steps

User: Parallel-link robots require large frames User: Preparing the frame is extra work.
which complicates installation…
We can optionally provide a dedicated frame for
YK-TW has a total height of only 392 mm, and the YK-TW.
weighs only 27 kg Note 2. With no need for complex calculations
Lower inertia = Lighter frame of strength, startup steps can be
reduced.
YK500TW Weighs only Approx. 74 % lighter Note. For details on dimensions and price, please
27 kg contact Yamaha.
YD11 75 kg
Y K-T W POINT 8
Underpass motion
Ideal for narrow space applications Optimize use of the space
right below the main unit
User: We need to install in limited space, such as
between equipment.
Minimum installation width 492mm Note 1

Perfect in narrow spaces
between stations 492mm The tip (R-axis) is able
to pass right below the
main unit
YK-XG Completely beltless type
Integral structure designed for optimal YK-XG POINT 1

operation Completely beltless structure
Note. The following shows an example of YK500XG.
A completely beltless structure was achieved using a ZR-axis direct
Highly rigid independent
spline shaft
Ball screw directly connected structure coupling structure. This completely beltless structure greatly reduces waste
passed on from the single axis robot
motion. This structure also maintains high accuracy for an extended period
of time. Additionally, this structure ensures maintenance-free operation
for an extended period of time without worrying about belt breakage,
Specially
developed Built-in user wiring/ elongation, or secular deterioration (except for Orbit type and large type).
hollow motor user tubing
Conventional model YK-XG series
Vertical axis motor

Rotation axis motor
Vertical axis ball screw
Rotation axis
hollow motor
Vertical shaft motor

Tip rotation axis also uses the harmonic (direct coupling)
gear direct coupling structure to ensure Rotation axis hollow
the high rigidity and high accuracy. Drive by pulley and
timing belt speed reducer
● Rigidity and accuracy are determined by belt. ● High rigidity and high accuracy
● Secular change, such as belt elongation ● No worry about belt elongation and breakage
occurs. ● Maintenance free
YK-XG POINT 2
High speed
4.9 m/s YAMAHA's conventional model
The standard cycle time is fast. Additionally, YAMAHA XY-axis
7.6 m/s 45 %UP YK500XG
also places special emphasis on the tact time in the
1.7 m/s
practical working area. The speed reduction ratio or Z-axis
2.3 m/s 35 %UP
maximum motor RPM was reviewed to greatly improve
the maximum speed. This contributes to improvement 876 °/s
R-axis
1700 °/s 90 %UP
of the tact time.
43
YK-XG POINT 3
Resolver is used for position detector.
As the resolver uses a simple and rigid structure without
using electronic components and optical elements, it
Optical encoder Resolver
features high environment resistance and low failure ratio.
Detection problems due to electronic component breakdown,
dew condensation on or oil sticking to the disk that may
occur in optical encoders do not occur in the resolver due
to its structure. Additionally, as the absolute specifications
and incremental specifications use the same mechanical
specifications and common controller, the specifications can
be changed only by setting parameters. Furthermore, even
when the absolute battery is consumed completely, the robot
can still operate as the incremental specifications. So, even ● Optical type ● Magnetic type
● Electronic components are required ● Simple structure only with iron core
if a trouble occurs, the line stop is not needed to ensure the and structure is complicated. and winding has less potential failure
● Electronic component malfunction, or factors.
safe production line. The backup circuit has been completely dew condensation on or oily content ● Immune to shock and electric noise.
renovated and now has a backup period of one year in the sticking to disk may occur easily.
non-energizing state.
Note. The resolver has a simple structure without using electronic components. So, the Detection failure High reliability
resolver is highly resistant to low and high temperatures, impacts, electrical noise,
dust particles, and oil, etc., and is used in automobiles, trains, and aircrafts that
particularly require the reliability.
YK-XG POINT 4
Excellent maintenance ability
The covers of YAMAHA SCARA robot YK-XG series can be removed forward or upward. The cover is separated from the cable, so
the maintenance work is easy. Additionally, the grease replacement of the harmonic gear needs many steps to disassemble the gear
and may cause positional deviation. However, since the harmonic gear of the YAMAHA SCARA robot uses long-life grease, the grease
replacement is not needed.
YK-XG POINT 5
Surprising R-axis tolerable moment of inertia
The SCARA robot performance cannot be expressed only by
R-axis tolerable moment of inertia: Comparison be-
the standard cycle time. In actual operating environments,
there are various workpieces, such as heavy workpiece or
tween YK120XG and other company's model
workpiece with large offset. At this time, since the robot with low When the offset from the R-
R-axis tolerable moment of inertia needs to decrease the speed axis to the center of gravity of
during operation, the cycle time decreases greatly. All YAMAHA
the load is large, the inertia
SCARA robot YK-XG types have the tip rotation axis directly
becomes large and the ac-
coupled to the speed reducer. Since the R-axis tolerable
moment of inertia is very high when compared to a general celeration during operation is
structure in which the moment of inertia is transmitted by a belt restricted. The R-axis toler-
after decelerating, the robot can operate at a high speed even able moment of inertia of YA-
Offset
with workpieces that have been offset. MAHA XG series is exceed-
ingly large when compared 54 mm 1 kg
to other company's SCARA
robots in the similar class, so ф 55 mm
YK120XG
(R-axis tolerable moment of inertia: 0.1 kgfcm2) it can operate at a high speed
When the tip load weight is 1 kg, Approx. 100 mm
even in the offset state.
it is possible to operate at approx. 100 mm offset.
When the load weight is 1 kg (refer to the right in the figure,)
Offset Operation
Inertia (kgfcms2)
(mm) YK120XG Company A
0 0.0039
45 0.025
97 0.1
: Operable : Out of catalog value tolerance range

2
◆ R-axis tolerable moment of inertia: YK120XG.......... 0.1 kgfcms
Company A....... 0.0039 kgfcms2
44
YK-XG POINT 6 YK-XG POINT 7
Compact Hollow shaft and tool flange options are
As the cable layout is changed, the cable height becomes lower selectable.
than the main body cover. Additionally, use of extruded material
Hollow shaft that allows easy wiring to the tip tool and tool flange
base and motor with low overall height achieves the lowest
for tool mounting are provided as options.
overall height in the same class.
790 mm
741 mm
675 mm
Hollow shaft option convenient for Tool flange option for easy
routing of air tubes and harness mounting of a tool to the tip
YK500XG YAMAHA's conventional model
wires
Note. YK250XG to YK400XG Note. YK250XG to YK1000XG

YK500XGL/YK600XGL
YK-XG POINT 8
Zone control (= Optimal acceleration/deceleration automatic setting) function
In the SCARA robot, the load applied to
the motor and speed reducer in the arm For X-axis of YK500XG
folded state greatly differs from that in the
The torque in the arm folded state is 5 or
arm extended state. YAMAHA SCARA robot
more times different from that in the arm
automatically selects optimal acceleration and extended state.
deceleration from the arm postures at operation
start and operation end. Therefore, the robot
This may greatly affect the service life,
does not exceed the tolerance value of the vibration during operation, and control-
motor peak torque or speed reducer allowable lability.
peak torque only by entering the initial payload.
So, full power can be extracted from the motor If the motor torque exceeds the peak value
whenever needed and high acceleration/ → This may adversely affect the controllability and mechanical vibration, etc.
deceleration are maintained. If the torque exceeds the tolerable peak torque value of the speed reducer
→ This may cause early breakage or shorten the service life extremely.
YK-XG POINT 9
Low price models with the arm length 500 mm/600 mm
specifications are also added to the product lineup.
The customers require to use SCARA robots at a more affordable price. Models
YK500XGL/YK600XGL were developed to meet these customer's requests. About
30 %-cost reduction was achieved when compared to the conventional models
YK500XG/600XG.
YK500XGL About 30 %
YK600XGL DOWN
YK500XG
YK600XG
Cost (Price)
45
YK-XR Low cost high performance model YK400XR
YK-X R POINT 1 YK-X R POINT 2

Shortest cycle time in this class Superior cost performance
A standard cycle time of 0.45 sec. is achieved by drawing out Most economical price in YAMAHA's similar robot class without
the robot performance to its maximum level. sacrificing its existing features.
YK-X R POINT 3
With versatile and high performance controller RCX340.
Combination of YK400XR robot and new RCX340 controller enable operation up to 16 axes with simple easy networking.
YK-XGS Wall mount/inverse model

Hanging type is renewed. Completely beltless structure and high rigidity
As the conventional hanging type is changed to the wall mount type, the flexibility of the system design is improved. The production
equipment can be downsized. Additionally, as an inverse type that allows upward operation is also added to the product lineup, the
flexibility of the working direction is widened. Furthermore, use of a completely beltless structure achieves a maximum payload of 20 kg
and a R-axis tolerable moment of inertia of 1 kgm2 Note that are the top in the class. A large hand can also be installed. So, this robot is
suitable for heavy load work.
Note. YK700XGS to YK1000XGS
Inverse type
YK-XGP Dust-proof & drip-proof model

Up/down bellows structure improves the dust-proof and drip-proof performance.
The dust-proof and drip-proof type that can be operated even in a
Protection class equivalent to IP65 (IEC60529)
work environment where water or particle dust scatters was renewed
to a completely beltless structure. The belt does not deteriorate and Seals are added to the joints to maintain the dust-proof and drip-
poor environment resistance is improved. Additionally, an up/down proof performance without air purging. The robot conforms to the
bellows structure is used to improve the dust-proof and drip-proof protection class equivalent to IP65 (IEC60529).
performance.
IP 6 5 Class of protection against invasion of water: 5
Note. YK250XGP to YK600XGLP Water injected from any direction does not affect adversely.
The standard pressure of the injected water is 30 KPa (30 KN/m2, 0.3 kgf/cm).
The injection speed is 12.5 liters/min. and the injection time is 3 min.
Note. The water injected under conditions exceeding those shown above may enter the unit.
Class of protection against solid objects: 6

No invasion of particle dust.
Dust-proof and drip-proof connector for user

wiring is provided as standard.
YK250XGP to YK250XGP to
600XGLP (arm part) 600XGLP (base part)
46
Model/Type Model Arm length (mm) Maximum payload (kg) Standard cycle time (sec.) Page
0.32 (RCX340)
YK350TW 350 5.0 P.372
0.38 (RCX240)
Omni directional model
Note 2
YK500TW 500 4.0 (3.0) 0.29 P.374
YK120XG 120 P.376
YK150XG 150 0.33 P.377

Micro-mini type
YK180XG 180 1.0 P.378
(Tiny)
Completely YK180X 180 0.39 P.379
beltless
model YK220X 220 0.42 P.380
YK250XG 250 P.381

Note 2
YK350XG 350 5.0 (4.0) 0.49 P.383
Small type
YK400XG 400 P.385
Low cost high Note 2
performance YK400XR 400 3.0 (2.0) 0.45 P.387
model
Note 2
YK500XGL 500 5.0 (4.0) 0.59 P.388
YK500XG 500 10.0 0.45 P.390

Note 2
Medium type YK600XGL 600 5.0 (4.0) 0.63 P.391
YK600XG 600 10.0 0.46 P.393
Completely YK600XGH 600 20.0 (19.0) 0.47 P.394

beltless
model YK700XGL 700 10.0 (9.0) 0.50 P.395
YK700XG 700 0.42 P.396
YK800XG 800 0.48 P.397

Large type 20.0 (19.0)
YK900XG 900 P.398
0.49
YK1000XG 1000 P.399
– YK1200X 1200 50 0.91 P.400

Note 1
YK300XGS 300 P.401
5.0 (4.0) Note 2 0.49
Note 1
YK400XGS 400 P.403
YK500XGS 500 0.45 P.405

10.0
YK600XGS 600 0.46 P406
Wall mount/inverse model
YK700XGS 700 0.42 P.407
YK800XGS 800 0.48 P.408

20.0
YK900XGS 900 0.49 P.409
YK1000XGS 1000 0.6 P.410
YK250XGP 250 P.411
YK350XGP 350 5.0 0.49 P.413
YK400XGP 400 P.415
YK500XGLP 500 4.0 0.74 P.417
YK500XGP 500 8.0 0.55 P.419
YK600XGLP 600 4.0 0.74 P.420

Dust-proof & drip-proof model
YK600XGP 600 8.0 0.56 P.422
YK600XGHP 600 0.57 P.423
YK700XGP 700 0.52 P.424
YK800XGP 800 18.0 0.58 P.425
YK900XGP 900 P.426

0.59
YK1000XGP 1000 P.427
Note 1. The YK300XGS and YK400XGS are custom-order products. For details about the delivery time, please contact YAMAHA.
Note 2. For the option specifications (tool flange mount type and user wiring/tubing through spline type), the maximum payload becomes the value in ( ).
47
YP-X
S e ries
Product Lineup
PICK & PLACE ROBOTS

Ideal for small components high-speed pick & place work.
Positioning is made by servo control, so no complex mechanical
adjustments are needed.
48
Full lineup of 6 models in all from 2 axes to 4 axes
2 axes type P.431 3 axes type P.433 4 axes type P.436
YP220BX/YP320X YP220BXR/YP320XR/YP330X YP340X
Structure Maximum payload

Model Axis Cycle time (sec.) Page
X-axis Y-axis Z-axis R-axis (kg)
YP220BX Belt - Belt - 3 0.45 P.431

2 axes
YP320X Ball screw - Belt - 3 0.57 P.432
YP220BXR Belt - Belt Rotation axis 1 0.62 P.433
YP320XR 3 axes Ball screw - Belt Rotation axis 1 0.67 P.434
YP330X Ball screw Ball screw Belt - 3 0.57 P.435
YP340X 4 axes Ball screw Ball screw Belt Rotation axis 1 0.67 P.436
POINT 1
High speed Reciprocation
0.45 sec.
Super high-speed pick & place operation with a standard cycle time of 0.45 sec.
(YP220BX with up/down 50 mm, back/forth 150 mm, arch amount 50, load 1 kg)
greatly contributes to improvement of the productivity. Since it is possible to output
a signal to turn on/off any external equipment from any position while the axis is
50 mm
moving, the actual production cycle time is further improved.
150 mm
POINT 2
Compact
Use of a compact size with an overall with of 109 mm (YP220BX) makes it possible to make the production line compact and simple.
The moving arm structure with less interference with surroundings contributes to space saving.
■■ Line using pick & place ■■ Line using YAMAHA's compact ■■ Line using YAMAHA's
Reference examples utilizing space saving Cartesian robot PXYx compact SCARA robot
of robot layout
comparisons X-axis stroke: 250 mm YK250X
Y-axis stroke: 250 mm
The compactness can be 287.5 287.5 109 109
504.5 504.5 504.5
checked by comparing 574
the occupied spaces
when the YP-X series and
YAMAHA's Cartesian/
SCARA robots are laid
out.
POINT 3 POINT 4 POINT 5

High accuracy Complete absolute position system Versatility
Both extremely high-speed performance As the complete absolute position system Use of YAMAHA's unique servo system
and high repeated positioning accuracy of is used, no return-to-origin operation is makes it possible to freely program the stop
+/- 0.02 mm (YP320X, YP320XR, YP330X, needed. point and operation pattern settings. This
YP340X) are assured. robot is applicable to production of many
models in small quantities that cannot be
supported by the cam type robot.
49
CL E A N
T ype
Product Lineup
CLEAN ROBOTS
Suitable for electronics component, food, and medical unit related work in
clean room.
High sealing structure, dust generation prevention, and improvement of
suction efficiency are achieved.
Both the high cleanliness degree and high performance are established.
Clean robots contribute to automation and labor
saving of production systems in clean rooms.
50
Both high cleanliness degree and high performance were achieved.
Clean single-axis, Cartesian, and SCARA robots were added to the
product lineup.
Clean SCARA robots
YK-XGC/XC type P.464
The Z-axis spline is covered with bellows made of materials with low dust generation and other
sliding parts are sealed completely. Harnesses are also incorporated completely and the inside
of the robot is sucked from the rear of the base to prevent dust generation.
■■Arm length: 180 mm to 1000 mm
■■Suction amount: 30 to 60 Nℓ/min.
■■Cleanliness degree: CLASS ISO3 (ISO14644-1)
CLASS10 (FED-STD-209D)
YK250XGC YK400XGC
POINT 1 POINT 3
Vertical bellows structure improves the Completely beltless structure improves
reliability of the clean performance. the rigidity.
As a beltless structure is used, no dust generation caused A completely beltless structure was achieved using a ZR-axis
by the belt occurs. Furthermore, as the YK-XGC type was direct coupling structure. As a speed reducer is coupled to the
renewed to a structure, in which the bellows are installed on tip rotation axis, the R-axis tolerable moment of inertia is very
the Z-axis vertically, the reliability of the clean performance was high and the high-speed movement is possible even with a
further improved. heavy workpiece or largely offset workpiece.
Note. Except for YK500XC to YK1000XC Note. Except for YK500XC to YK1000XC
Conventional model YK-XGC/XC type

(Including YK180XC/YK220XC)
Vertical axis motor

Rotation axis Vertical axis
motor Ball screw
Rotation axis
Hollow motor
POINT 2
High durability
As a beltless structure is used, the robot can be operated Vertical axis
motor
without worry about belt elongation and secular change Note. (direct
coupling)
Additionally, the bellows installed on the Z-axis use material Drive by pulley
Rotation axis hollow
with high durability to ensure the durability performance. and timing belt
speed reducer
Note. Except for YK500XC to YK1000XC ● Rigidityand accuracy are ● High rigidity and high accuracy
determined by belt. ● Noworry about belt elongation and
● Secular change, such as belt breakage
elongation occurs. ● Maintenance free
Arm length Maximum payload Standard cycle time Beltless structure

Type Model Page
(mm) (kg) (sec.)
YK180XC 180 1 0.42 P.464

Micro-mini type
YK220XC 220 1 0.45 P.465
YK250XGC 250 4 0.57 P.466
Small type YK350XGC 350 4 0.57 P.468
YK400XGC 400 4 0.57 P.470
YK500XC 500 10 0.53 - P.474
YK500XGLC 500 4 0.74 P.472

Medium type
YK600XC 600 10 0.56 - P.477
YK600XGLC 600 4 0.74 P.475
YK700XC 700 20 0.57 - P.478
Large type YK800XC 800 20 0.57 - P.479
YK1000XC 1000 20 0.60 - P.480
51
C L E A N Ty p e Product Lineup
Clean single-axis robots

FLIP-XC type P.444
The FLIP-XC type robots are single-axis robots "FLIP-X series" with clean room specifications. According to the applications, an optimal robot
can be selected from 14 models from a lightweight and compact model to a large model with a maximum payload of 120 kg. As an air joint for
suction is provided as standard equipment, grease with low dust generative characteristics is used, and stainless sheets with an excellent dura-
bility are used for the slide table surface, high cleanliness degree is achieved.
■■Stroke: 50 to 2050 mm
■■Cleanliness degree: CLASS10 Note
■■Maximum payload: 120 kg (When installed horizontally)
Note. C4L/C4LH, C5L/C5LH, and C6L are CLASS ISO3 (ISO14644-1).
C6L C5L C4L
POINT
Excellent maintenance ability
As the table top can be slid
For C4L to C6L models, removing the screws from the side panel horizontally by removing
of the slider will allow replacement of the inner roller without the screws, this ensures
easy maintenance work.
detaching the tool. For C8 to C20 models, even when the direct
coupling structure is used, the motor or ball screw can be replaced
individually.
Maximum payload (kg) Maximum speed

Model Size (mm) Note Lead (mm) Stroke (mm) Page
(mm/sec.)
Horizontal Vertical
12 4.5 1.2 720
C4L C4L : P.444
W45 × H55 6 6 2.4 360 50 to 400
C4LH C4LH : P.445
2 6 7.2 120
20 3 - 1000
C5L C5L : P.446
W55 × H65 12 5 1.2 800 50 to 800
C5LH C5LH : P.447
6 9 2.4 400
20 10 - 1000
C6L W65 × H65 12 12 4 800 50 to 800 P.448
6 30 8 400
20 12 - 1000
C8 W80 × H75 12 20 4 720 150 to 800 P.449
6 40 8 360
20 20 4 1000
C8L W80 × H75 10 40 8 600 150 to 1050 P.450
5 50 16 300
20 30 - 1000
C8LH W80 × H75 10 60 - 600 150 to 1050 P.451
5 80 - 300
20 20 4 1000
C10 W104 × H85 10 40 10 500 150 to 1050 P.452
5 60 20 250
20 30 4 1000
C14 W136 × H96 10 55 10 500 150 to 1050 P.453
5 80 20 250
20 40 8 1000
C14H W136 × H96 10 80 20 500 150 to 1050 P.454
5 100 30 250
20 80 15 1000
C17 W168 × H114 250 to 1250 P.455
10 120 35 600
C17L W168 × H114 50 50 10 1000 1150 to 2050 P.456
20 120 25 1000
C20 W202 × H117 250 to 1250 P.457
10 - 45 500
52
Clean single-axis robots
SSC t ype ( TRANS E RV O) P.441
The SSC type robots are stepping motor single-axis robots "TRANSERVO series" with clean room specifications. Use of a newly developed
vector control method achieves the function and performance equivalent to the servomotor at a low cost even using the stepping motor. As an
air joint for suction is provided as standard equipment, grease with low dust generative characteristics is used and stainless sheets with an
excellent durability are used for the slide table surface, the high cleanliness degree is achieved.
■■Stroke: 50 to 800 mm
■■Cleanliness degree: CLASS10
■■Maximum payload: 12 kg (When installed horizontally)
SSC04 SSC05 SSC05H
Maximum payload (kg) Maximum speed

Model Size (mm) Note 1 Lead (mm) Stroke (mm) Page
Horizontal Vertical (mm/sec.)
12 2 1 600
SSC04 W49 × H59 6 4 2 300 50 to 400 P.441
2 6 4 100
20 4 - 1000
SSC05 W55 × H56 12 6 1 600 50 to 800 P.442
6 10 2 300
20 6 - 1000
SSC05H W55 × H56 12 8 2 600 (horizontal) / 500 (vertical) 50 to 800 P.443
6 12 4 300 (horizontal) / 250 (vertical)
Clean Cartesian robots

XY-XC type P.458
This Cartesian robot XY-XC type is applicable to clean rooms. As stainless sheets with excellent
durability are used, the opening can be designed to be its minimum level and the robots area ap-
plicable to CLASS10 with less suction amount. Furthermore, as the ZR-axis of the SXYxC uses
a super high speed unit of the SCARA robot, this achieves great reduction of the cycle time.
Note
■■Cleanliness degree: CLASS10
■■Maximum speed: 1000 mm/sec.
Note. User wiring: D-Sub 25-pin connector (Numbers 1 to 24 are already wired and number 25 is frame ground.)
SXYxC
Note. User tubing: ф 6-air tube, 3 pcs.
Maximum speed Maximum payload

Type Model Axis Movement range Page
(mm/sec.) (kg)
X 150 to 1050 mm 1000
2 axes SXYxC 20 P.458
Y 150 to 650 mm 1000
X 150 to 1050 mm 1000
SXYxC (ZSC12) Y 150 to 650 mm 1000 3 P.460
Z 150 mm 1000
3 axes
X 150 to 1050 mm 1000
SXYxC (ZSC6) Y 150 to 650 mm 1000 5 P.461
Z 150 mm 500
X 150 to 1050 mm 1000
Y 150 to 650 mm 1000
SXYxC (ZRSC12) 3 P.462
Z 150 mm 1000
R 360 ° 1020 °/sec
4 axes
X 150 to 1050 mm 1000
Y 150 to 650 mm 1000
SXYxC (ZRSC6) 5 P.463
Z 150 mm 500
R 360 ° 1020 °/sec
53
Co n t r ol l ers
Product Lineup
CONTROLLERS
An optimal controller can be selected from various command
input formats.
As servo parameters and deceleration patterns suitable for
robots are pre-registered, robots can be operated quickly
without complex settings.
54
High performance controllers supporting YAMAHA robots
TRANSERVO FLIP-X PHASER
[T4L/T5L] General-purpose
Stepping motor Small type servomotor servomotor Linear motor
(24 V • 30 W) (30 to 600 W)
P P P P
• I/O point trace TS-S2/
• Remote command
TS-SH/
TS-X/TS-P
• Online command P.492
TS-S2 TS-SH TS-X TS-P
TS-SD
NEW NEW
D D D P.502
1 axis
RDV-X/
• Pulse train RDV-P
P.506
C ERCD
TS-SD ERCD RDV-X RDV-P P.512
•(YAMAHA
Program
SRC language)
C C
SR1-X/
• I/O point trace SR1-P
• Remote command P.518
• Online command SR1-X SR1-P
•(YAMAHA
Program
BASIC language)
C C
2 axes
RCX221/
• I/O command RCX222
• Remote command P.526
• Online command RCX222 RCX221
C
•(YAMAHA
Program RCX240/
RCX240S
3, 4 axes
Note 1
BASIC language)
P.534
•
RCX240
I/O command Note 2
RCX240S
• Remote command C
• Online command
RCX340
P.544
RCX340
Five or more axes can also be supported

5 to 8 axes
RCX240
YC-LINK couples single-axis
controllers to a 4-axis controller
Note : Up to four SR1 series controllers can be
connected to the RCX series controller.
All programs and Connectable Controllers without

up to 16 axes
settings are using program settings

RCX340 managed using the LAN cable.
master. YC-Link/E
PLC
Master Slave Slave Slave
Up to four RCX340 controllers
(up to 16 controllable axes) can be connected.
Note 1. The RCX340 uses YAMAHA BASIC2 language.

P : Robot positioner D : Robot driver C : Robot controller
Note 2. The I/O command is not applicable to the RCX340.
55
Controllers Product Lineup
POINT 1
Selectable from various control methods

Program input
A variety of operation settings, calculations, and conditional branching is possible

The single-axis robot controllers use the YAMAHA SRC language Note which is simple yet contains all required functions, such as I/O outputs
and conditional branching, etc. The multi-axis controller RCX series uses the YAMAHA BASIC language capable of more sophisticated
programming and includes all types of arithmetic operations, flexible variable settings, and various conditional branching, etc. Both are
easy to use robot language conforming to the BASIC. These languages support various needs from simple operations to expert user's
sophisticated work.
Note. The 2-axis controller DRCX also uses YAMAHA SRC language.
MOVA 1 , 100 Moves to point number 1 at 100 %-speed.

Single-axis robot YAMAHA SRC
DO 1 , 1 Turns on general-purpose output number 1.
controller language <Example>
WAIT 2 , 1 Waits until general-purpose input number 2 turns on.
IF DO(10)=1 THEN *END Jumps to *END if general-purpose input number 10 turns on.
Otherwise, moves to the next line.
MOVE P, P2, STOPON DI(1) =1 Moves to point number 2. Stops when general-purpose input
number 1 turns on during movement.
Multi-axis robot YAMAHA BASIC
WAIT ARM Waits until the robot arm operation ends.
controller language <Example>
P3=WHERE Writes the current position into point number 3.
*END: Defines the label named "END".
HOLD Pauses the program.
I/O point trace Remote command
Program-less means easy Ideal for unified data management

The host unit specifies a point number in binary format and the The word function of the CC-Link or DeviceNetTM is used to
robot moves to the specified point when the start signal is input. issue various commands or data to the robot. The expandability
The controller can operate only by teaching the point data of the word function from simple operation instructions to point
without programs. data writing is fully utilized to freely use the robot controller
functions from the host unit.
Point data Note. This function is enabled when selecting an option network board.
Point number
designation
DI 1 (20) ON
DI 2 (21) OFF Specifies P5.
DI 3 (22) ON Word function of PLC
PLC Start signal 0000 0064 007 B 0109

Parallel I/O CC-Link DeviceNetTM
Field bus CC-Link DeviceNetTM Controller
PLC Controller
Pulse train Online command
Acceleration/deceleration curves can be created freely Execute everything from a PC

The robot is controlled using pulse trains sent from the positioning unit. The PC can issue various commands or data to the controller or
The controller does not need to have programs or point data. This receive the data or status through the RS-232C or Ethernet Note.
pulse train is convenient when the control is centralized to the host All executable operations from the teaching pendant can be
unit. executed from the PC.
Note. Ethernet is enabled when selecting an option network board.
(For the RCX340, Ethernet is provided as standard function.)
Pulse train
@MOVA1,100 c/r I/f

Positioning unit
Controller
PC Controller
56
POINT 2
Easy optimal setup

Complicated parameter settings are unnecessary
Robot controllers are specially designed for YAMAHA robots. Optimal values for servo parameters required for robot operation, such
as gain are already registered beforehand. Start operating immediately without any need for complicated settings or tuning, even if you
don't have knowledge or experience about control.
Servo amp Yamaha controller
Control device and motion unit Control device
Gain Motion Return-to-origin Specify

1. adjustment 2. parameter 3. System 4. Operation 1. payload 2. Operation
(tuning) settings construction mass
Servo parameter adjustment is unnecessary
Easy acceleration/deceleration settings
The acceleration/deceleration is an important factor that affects the service life of the machine. If too high acceleration is set, this may
cause the service life of the machine to shorten. If the acceleration is too low, the motor power cannot be used effectively, causing
the tact time to lower. The acceleration/deceleration setting of YAMAHA robot controller is determined finely by load weight. Setting
only payload parameters will automatically set optimal acceleration/deceleration by taking the service life of the machine and motor
capability into consideration. Detailed robot knowledge from YAMAHA is what makes this possible. (Note: For the pulse train input, the
customer may need to set the acceleration/deceleration.)
Concept of speed and acceleration Acceleration calculation algorithm

Acceleration upper m/s 2
Specify a ratio (%) to the limit value at 0kg
Speed maximum speed of each robot. (Maximum acceleration)
"Acceleration" "Speed" = 100 (%) Acceleration upper limit

= 100 (%) "Deceleration" = 100 (%)
value when setting a
payload
Specify a ratio
"Speed" = 50 (%) (%) to the Acceleration upper limit
acceleration. value when setting the kg
maximum payload Payload Maximum
set value payload
Time Automatic setting

of acceleration Optimal acceleration is
calculated from the Acceleration
Specify a ratio (%) to the acceleration that is upper limit value determina-
Payload movement amount and
optimized according to the movement amount or setting according to tion and
payload. (See the movement speed at
movement speed based on the acceleration upper startup based on operation
limit value automatically set by the payload setting. figure shown start
above.) acceleration upper limit.
Zone control (= Optimal acceleration/deceleration automatic setting) function
The SCARA robot also incorporates a zone For X-axis of YK500XG

control function that always operates the
robot at its maximum performance level by The torque in the arm folded state is 5 or
considering changes in inertia due to the arm more times different from that in the arm
posture. Therefore, the robot does not exceed extended state.
the tolerance value of the motor peak torque
or speed reducer allowable peak torque only
This may greatly affect the service
by entering the initial payload to bring out life, vibration during operation,
the full power of the motor and keep the high and controllability.
acceleration/deceleration.
If the motor torque exceeds the peak value
→ This may adversely affect the controllability and mechanical vibration, etc.
If the torque exceeds the tolerable peak torque value of the speed reducer
→ This may cause early breakage or shorten the service life extremely.
57
POINT 3
Multi-function and expandability

■■Multi-axis controllers support up to 30,000 points (10,000 points for the RCX2 series, 1,000 points for the single-axis controller (255 points
for the TS series)). Up to 100 programs can be created on each controller.
TM TM
■■Various field networks, CC-Link, DeviceNet , PROFIBUS, and EtherNet/IP are supported.
Note. Some models do not support all networks.
■■The TS series, RD series, SR1 series, and RCX series use a dual-power supply system with separate control power supply and power supply.
■■As the controllers conform to the CE marking that is safety standards in EU (Europe), they can be used safely even overseas.
The TS series (except for TS-S), SR1 series, and RCX series conform to up to safety category 4.
For details about functions of each controller, refer to controller details pages from P.481.
Number of Number of Applicable network Compliance

Name Type
points programs CC-Link DeviceNetTM Ethernet EtherNet/IPTM PROFIBUS PROFINET with CE
TS-S2/TS-SH 1 axis robot 255 - - -
TS-X/TS-P positioner 255 - - -
TS-SD 1 axis robot - - - - - - -
RDV-X/RDV-P driver - - - - - - - -
ERCD 1 axis robot 1,000 100 - - - - - - -
SR1-X/SR1-P controller 1,000 100 - -

1 to 2 axes
RCX221/RCX222 10,000 100 - -
controller
RCX240 1 to 4 axes 10,000 100 -
RCX340 controller 30,000 100
RDV-X/RDV-P P.506 FLIP-X PHASER
[Robot driver] Contributing to saving space for the whole control

board
The compact design has reduced the width up to a maximum of 38%
Operation in comparison with former models. In addition, the improvement of
Pulse train
method
radiation efficiency makes it possible to arrange the devices with
Main power
Input power Single-phase/3-phase AC 200 V to 230 V less space in between. Multiple units can be installed side by side in
Control power
Single-phase AC 200 V to 230 V a neat arrangement.
Origin search
Incremental
method
Easy replacement
RDV-X RDV-P
The parameter settings and fastening-hole pitches are the same as
those of former models. It is easy to replace the software and the
Dedicated pulse train control
hardware as well.
The dedicated pulse train control has achieved a compact body and
a low price.
Command input: Line driver (2 Mpps)
Position setting time reduced by 40% Command output: ABZ-phase output
The response frequency is enhanced about two times in comparison (with a divider function)
with former models. The position setting time of uniaxial robots is
reduced by about 40%.Note 1 Real-time operation status monitoring
You can have analog outputs for speed, amperage, and more
Large cost reduction possible information to know the operation status in real time. RDV-Manager,
It is easy to assemble them in automated machinery. You can save the dedicated support software, is also available for a graphical view
much labor in designing, parts selection, setting and more. A large of the status.
cost reduction is possible.
Main power: Single and three phases supported (200V)
The full-specification operation is available with a single-phase
power supply.
Note 1. With a 400W servomotor, 20mm ball screw lead, and portability of 40kg.
58
TS-S2/TS-SH/TS-SD POINT
Usable for all TRANSERVO series models
TS-S2 TS-SH TS-SD Note 1
SS type SG type Note 2 SR type STH type RF type BD type

Slider type Slider type Rod type Slide table type Rotary type Belt type
Note 1. The STH type vertical specifications and RF type sensor specifications do not support the TS-SD.
Note 2. SG07 is only applicable to TS-SH.
TS-SD P.502 TRANSERVO
[Robot driver] Applicable to a wide variety of pulse train command

inputs
This robot driver can be made applicable to the open collector method
or line driver method using the parameter setting and signal wiring. In
the open collector method, a wide voltage range from 5 V to 24 V is
Operation
method
Pulse train supported. So, the robot driver can be matched to the specifications
Main power DC 24 V +/- 10 % of the host unit to be used.
Input power Control power DC 24 V +/- 10 %
Origin search
Incremental TS-Manager: Real-time trace function
TS-SD method
The current position, speed, load factor, current value, and voltage
value, etc. can be traced at real-time. Additionally, as trigger conditions
are set, the data when the conditions are satisfied can be automatically
Pulse train input driver dedicated to "TRANSERVO" acquired. Furthermore, as a range is specified from the monitor
A robot driver dedicated to the pulse train input for "TRANSERVO". results, the maximum value, minimum value, and average value can
be calculated. So, this is useful for the analysis if a trouble occurs.
Torque decrease in high-speed area is suppressed
Real-time traceable items (up to four items)
As a vector control method is used, the torque decrease in high-
• Voltage type • Command position • Current position
speed area is small and high-speed operation even with high • Command speed • Current speed • Internal temperature
payload can be performed. This greatly contributes to shortening of • Command current • Current current value • Motor load factor
the tact time. value • Input pulse count Note 1 • Movement pulse count Note 1
• Input/output I/O state
• Word input/output
Excellent silence state Note 2 Note. 1: TS-SD only Note. 2: TS controller only
High-pitched operation sounds unique to the stepping motor are

suppressed to achieve silent operation sounds similar to the AC Daisy chain function
servo.
As multiple TS series controllers
and drivers are connected in
Easy operation with support software TS-Manager a daisy chain, the data of a
In the same manner as the robot positioner TS series, the operation desired unit can be edited from
can be performed with the TS-Manager (Ver.1.3.0 or later) having the personal computer (up to 16
various convenient functions, such as robot parameter setting, units). Up to 16 units
backup, and real-time trace (The handy terminal "HT1" cannot use
this TS Manager).
59
TS-S2/TS-SH P.492 TRANSERVO TS-X/TS-P P.492 FLIP-X PHASER
[Robot positioner]
Point trace
Operation
Point trace Remote command
Operation method
Remote command Online command
method
Online command Number of
255 points
Number of points
255 points
points
Input power AC 100 V / AC 200 V
Main power DC 24 V +/- 10 %
Input power Control power DC 24 V +/- 10 % TS-X Absolute
TS-S2 Incremental Origin search Incremental
Origin search
TS-SH Absolute method TS-P Incremental
method
TS-S2 TS-SH Incremental TS-X TS-P Semi-absolute
Design that allows a clean installation

Unified installation sizes
Height and installation pitch are unified throughout the series. Units can be installed neatly within the control board.
Status indication lamps

(PWR, ERR)
Communication connectors
(COM1, COM2)
Robot I/O connector

(ROB I/O) Absolute battery is neatly
DIN rail installation
accommodated
Motor connector The absolute battery is stored On-board installation is made easy
(MOTOR) inside the unit. Replacement can by the DIN rail installation mecha-
be performed easily from the front nism that is standard on the
side. (TS-X and TS-SH supported) TS-SH. (Optionally installable on
I/O connector other models)
TS-X
Regenerative unit connector

(RGEN)
Power supply connector T S- SH

T S -P
TS- S2 T S- X
Selectable I/O interfaces
Two RS-232C ports provided A variety of I/O interfaces

● Connect support tools In addition to NPN and PNP, you can choose CC-Link, DeviceNet™,
Intuitive operation supports controller EtherNet/IP™, and PROFINET field networks.
design and maintenance.
● Daisy-chaining
Two ports can be used to daisy-chain ● Positioner interface
up to 16 units. Functionality has been condensed into an I/O interface with 16 inputs
● Communication commands and 16 outputs. In addition to easy positioning, this also includes
Easily understood ASCII text strings can be used to perform robot functionality that enhances interoperability with the control device.
operations. ● Remote commands
Numerical data can be directly manipulated by using the four-word
Selectable 100V/200V input and four-word output areas. You can add new direct positioning
commands to further unify the data at the control device.
• The TS-X/P let you select AC100/200V as the power input. (The
20A model is 200V only.) ● Gateway function
• The TS-S2/SH is DC24V input. New types of connection are provided to reduce network costs. (CC-
Link, EtherNet/IP™, and PROFINET are supported.)
60
Positional interface
"Positioner function" for easy positioning Consecutive operation, linked operation

You can easily perform positioning operations by specifying the number By specifying a branch destination, it is possible to execute positioning
of a point that is registered in the data, and entering a start command. operations consecutively. Additionally, by specifying linked operation,
operation with the branch destination can be executed while changing
Output a number after the speed without positioning stops; this allows control programming to
positioning is complete
Simply specify a point (changing to output at the time be simplified and takt to be shortened.
number, and then start of start is also possible)
Select point
number 1 2
Point number
1
selection
Start
Start
Operating
Output point 1 2
Operating
number Point number 1 2 3 4
output
Timer Timer
Speed
Speed
P1 P2 Time
P1 P2 P3 P4 Time
Consecutive operation Consecutive operation
(P1 P2 P3) (P3 P4)
Operation Position Speed Acceleration Deceleration Timer
Number Branch
type (mm) (%) (%) (%) (ms) The first start command Speed, position, and operation
consecutively executes type can be changed without a
P1 ABS 100.00 100 100 100 0 0 positioning operation positioning stop.
P2 ABS 200.00 80 100 100 0 0

Operation Position Speed Acceleration Deceleration Timer
Number Branch
type (mm) (%) (%) (%) (ms)
P1 ABS 100.00 100 100 100 2 500
P2 ABS 200.00 80 100 100 3 800
P3 ABS linked 300.00 100 100 100 4 0
A variety of output functions P4 ABS 350.00 30 100 100 0 0
The TS controller provides a variety of status outputs that are linked with
positioning operations. By selecting and using an output appropriate for
the scene, this can contribute to cost-saving measures such as making
the steps of the control device's program more efficient or by reducing
the peripheral equipment.
Jog and point teaching functions are provided
as standard
Jog movement and point teaching functions are provided as standard
If jog input is within
Zone output a specific time, for input signals. By linking these with buttons of a touch panel etc., a
inching operation
Pressing only. Transition to simple teaching system can be constructed.
status jog movement when
the time is
Output during
exceeded.
movement
Speed
Construct a
simple
teaching
Deceleration pressing
Time system
List of outputs
• Zone output ....................Output ON when between the two specified points

• Near position output .......Output ON when entering the specified region from the goal
position
• In movement output .......Output ON when above the specified speed
• Pressing status...............Output ON when specified pressing strength is reached
Also provided are return-to-origin completed status, manual
mode status, warning output, and alarm number output, etc.
61
TS-S2/TS-SH/TS-X/TS-P
Remote commands
Ideal for unifying data management
Remote commands are functions by which the control device can directly handle data such as points and parameters using the word area of the field
network.
Numerical data can be operated directly by using the word area. This promotes unification of data management.
New
Position and speed data settings Direct positioning commands that directly specify
function
and positioning commands position and speed data
transmitted together.
As remote commands, "direct positioning commands" are provided,
WIN0 WIN1 WIN2 WIN3
allowing the position and speed data to be specified directly and then
Command Speed data Position data positioning operations to be performed. In addition to unifying the
positioning data on the control device, this allows it to be done with a
WOUT0 WOUT1 WOUT2 WOUT3 single command, simplifying programming of the control device.
Status Query data
Consecutive queries for realtime update of various status
Data can be managed on the control device Query data output in real information
time every 5 ms.
Normally, remote commands only update data when responding, but if
Query data list a consecutive query is issued, the data continues to be updated at a
fixed interval until permission is given to stop. This is useful in various
• Current position • Point number being executed • Voltage
cases such as when it is desirable to obtain positioning data during
• Current • Current speed • Load ratio
operation for interoperation with peripheral devices, or to obtain
• Internal temperature
current values in order to monitor the status of a robot.
Parallel processing of "positioner < Usage examples >

interface" and "remote commands" • Obtain the current position during positioning operation Parallel processing is possible
• Obtain the current position during jog movement
•
Positioner Remote
Since positioner interface and remote commands Change the target position during linked operation interface command
operate independently of each other, parallel

processing is possible.
Positioner interface Remote command

Positioning operation Jog movement Positioning operation
Data write
Remote
Data read
commands
Consecutive query
: Parallel processing possible
"Gateway function" — a new way to connect New function
Decrease network cost

One controller equipped with a field network board can provide unified management of up to four I/O interfaces via a daisy-chain connection. This allows
network cost to be decreased while enabling the same type of I/O control as when one board is installed for each unit. (CC-Link and EtherNet/IP™ are
supported)
Previous method
NEW
A network board is required for each controller
Four CC-Link boards required

Only one network board for up to four units.
Host unit Gateway unit is not required
Network board
Host unit (field network compatible)
Gateway unit
Gateway unit is separately required Field network Daisy-chain connection Note
Cost
reduction
Host unit from four to
one CC-Link
board
Gateway unit
Note. Daisy chain connection cable is required.
62
Daisy chain connection
No need to connect or disconnect cables during

operation (up to 16 units) HT1
From a single PC, handy terminal, or touch-panel display, it is possible to

specify point data and parameters, perform operations, and monitor the status
for up to 16 axes on daisy-chained controllers. For everything from design to
maintenance, a connection to only the first controller is sufficient; any desired
controller can be accessed simply by switching the station number, without
having to connect or disconnect cables. Pro-face touch-panel
Connect up to 16 units
Communication commands
An easily handled command protocol using ASCII text strings supports a START
wide range of needs from data editing to operation and status monitoring.
By daisy-chaining multiple devices, simple multi-axis control can be performed.
OK
"KEYENCE PROTOCOL STUDIO Lite" serial communication settings software

By loading a TS settings file into PROTOCOL STUDIO Lite, communication
settings and main communication commands can be registered automatically. Contact for questions regarding PROTOCOL STUDIO Lite
Ladder-less data editing and daisy-chaining can be easily accomplished. Keyence Corporation, www.keyence.co.jp/red/kv01/
Daisy-chain connections (up to 16 axes) Automatic device assignment for each

communication command
Communication with the KV-L21V uses a Yamaha-made communication
cable (D-sub type). By using daisy-chain connections, up to 16 axes If the communication type is specified as cyclic, the desired information
can be managed together. to be obtained is automatically stored in data memory.
RS-232C
KV-L21V
Connect up to 16 units
Touch operator interface "Pro-Face" GP4000 Series

Connecting GP4000 Series made by Pro-face to Robot Positioner, TS-S2, TS-SH,
Free download of the program file from the
TS-X, TS-P enables you to use a lot of functions as well as basic operations on
Pro-face home page
Touch Operator Interface.
http://www.proface.com
Server
Pro-face
Can easily check a state and change settings. Without opening the control
panel, you can check the
GP4000 Series
• Check the status (the current position, speed etc) status and change the
settings on Touch Operator LAN
• Basic operations such as Jog operation, inching operation, return to origin,

Interface alone.
error reset etc. Up to 16 single-axis robot positioners

can be connected.
• Set, edit, or back up point data and parameters RS-232C
• Check triggered alarms and detailed descriptions of alarm history RS-422
Supports 3 languages Control Device
• Supports Japanese, English, and Chinese (simplified, traditional)
63
SR1-X/SR1-P P.518 FLIP-X PHASER
[Single-axis robot controller] I/O assignment function

Program As the I/O assignment is changed, the point trace operation, point
Operation Point trace
method Remote command teaching, and trace operation by specifying coordinate values can be
Online command selected in addition to the normal program operation. Since the JOG
Number of movement through the I/O is possible in the point teaching mode,
1000 points
points
the point teaching can be performed from the host unit without the
AC 100 V
Input power AC 200 V HPB.
SR1-X Absolute
Origin search
SR1-X SR1-P method

SR1-P
Incremental
Incremental
Current position output function
Semi-absolute
The position data is output as feedback pulse or binary data. This
allows the host unit to understand the current robot position at real-
Various command methods time. Furthermore, functions, zone output or point zone output to
An optimal method can be selected from various command methods, output near point number are incorporated.
such as program, point trace, remote command, and online
command. The program uses the YAMAHA SRC language that is Torque limiting
similar to the BASIC. Various operations, such as I/O output and As this function limits the maximum torque command value at
conditional branching, etc. can be executed using simple operations. desired timing, it is effective in operations such as pushing and
workpiece gripping operations. Furthermore, in addition to the torque
Applicable to complete absolute position system limiting by the parameter data value, the torque limiting by the
The SR1-X is applicable to complete absolute position system. No analog input voltage can be performed.
return-to-origin is needed. (The backup period is one year in the
non-energizing state.)
ERCD P.512 T4L/T5L
[Single-axis robot controller] Various monitor functions

Program The controller status can be checked using the input/output status
Operation Point trace
method Online command monitor, duty monitor, and LED status display.
Pulse train
Number of
1000 points
Error history and alarm history
points
The error or alarm history that occurred in the past can be displayed
Input power DC 24 V
and checked on the HPB or personal computer screen.
Origin search
ERCD Incremental
method
Robot number management
Four command formats As the controller is initialized by the robot number of the robot
to be controlled, parameters suitable for each robot model are
A desired command format can be selected from four command automatically registered and no complicated servo adjustment is
formats, program operation using various commands, point trace needed.
operation only by instructing a point number, online command, and
pulse train input.
Torque limiting control
Compact design The torque limiting control can
be performed using the program
Compact box size of W 44 × H 142 × D command. The axis can be
117mm is achieved with the functions stopped with the torque applied.
improved. This torque limiting control can be
The volume ratio of the robot controller is used for continuous positioning
downsized to approximately 62 % when of workpieces with different sizes,
25
compared to YAMAHA's conventional 14 0
mm press-fitting work, and workpiece
2
mm
model ERCX. The flexibility of the holding operation.
installation space is improved.
Various input/output functions Zone output function

The general-purpose output on/ ge
As a feedback pulse output function is provided, the host control g ran
off setting between desired points Settin
unit can easily manage the current position. Additionally, as the
can be performed using the
movement point number can be output in binary format during point
parameter setting. The positive
trace, the operation can be checked easily. As a teaching function
logic/negative logic setting can be
using the I/O is added, the flexibility and usability of the system
made and the axis position can be
configuration are further improved.
easily judged by an external unit.
This output is enabled in the program or point trace operation and
Up to four patterns can be set.
the number of outputs can be changed to a desired level using the
division setting.
64
SR1-X /SR1- P/ ERCD Va r iou s func tions
Position data output function Point teaching
The JOG movement of the robot and the point reaching can be
Zone output performed from the host unit.
Outputs whether or not the DO0 = OFF DO0 = ON DO0 = OFF
robot position is within the ■■Concept

The robot is moved to the teaching
● ● The current position is registered
specified range. Position
P900 P901 position using the JOG+/JOG- into the point number specified by
command. the PSET input.
PSET
It is possible to reverse the output logic.
JOG- JOG+
0 Position
0 Position Current position
Point zone output DO (7) (0) DO (7) (0)
Outputs the point number

0000 0011 0111 1111 Torque limiting function
near the robot position in As the torque limiting is performed during operation, the operation,
binary format. such as pushing and workpiece gripping can be performed.
P3 P127 Position
It is also possible to limit to ■■Concept ■■Features
only the moving point. CW
SR1
● Host unit manages the limiting time using the
Torque TLM input.
limiting
value 1
● Limiting status is understood using the
Electric torque limiting status output (TLON).
Binary output DO (15) (0) TLM current ● Torque limit value is changed (up to 4 patterns)
0011 1111 1100 0000 Torque using the input.
Outputs the current robot limiting ● Torque can be limited using the program
value 2 command.
position in 16-bit binary ● Torque can be limited using the analog
CCW input (0 to +10 V / 12 bit).
format. (This function is
163.20 [mm] Position ERCD
available only in the SR1.) ● Torque can be limited using the T program
It is possible to adjust the unit of the output command.
position data to be output using parameters.
Movement data change function

Feedback pulse output A The movement speed or target position can be changed during
-phase
Outputs the current position Host unit movement. (This function is available only in the SR1.)
(Counter)
counter value of the robot B
-phase ■■Concept ■■Features
through the A/B-phase line ● Host unit manages the limiting time using
driver. Inputs 1 Inputs 2 Inputs 3 the movement command input.
It is possible to perform the monitoring by Movement command is ABS-PT (absolute
Speed
●
host unit at real-time. movement command) or ABS-BN (binary
A frequency division function is built-in. specified movement command).
● Change speed can be specified in a range of
1 to 100 % (up to 4 patterns).
● Changing is disabled in the deceleration
Position
zone.
YA MA H A SRC la nguage conve nie nt func tions
Multi-task function Conditional stop function during movement

This function can execute multi tasks, such as robot peripheral The arm can be decelerated and stopped using I/O conditions of
units in parallel at the same time. Up to four tasks can be executed. the MOVF command while it is moving. This function is useful when
With the multi-task function combined with JMPP command, the I/O searching for the target position with the sensor.
signals can be output when the robot passes through the specified
point during movement.
I/O conditions
range
Setting P2
P3
P1
P0
Stop
P2
P1
65
RCX2 series RCX221/222 P.526 RCX240/240S P.534
[Multi-axis robot controller]

Program
Program Program Operation
Operation Operation Remote command
Remote command Remote command method
method method Online command
Online command Online command
Number of
Number of Number of 10000 points
10000 points 10000 points points
points points
Single phase :
Input power AC 200 V Input power AC 200 V Input power AC200V to 230V
+/-10% maximum
Origin search Incremental Origin search Absolute Origin search Absolute
method Semi-absolute method Incremental method Incremental
RCX221 RCX222 RCX240
Applicable to all YAMAHA robot models Applicable to robot vision "iVY System"
The RCX series is applicable to all YAMAHA robot models, such as The RCX series also supports the YAMAHA robot vision "iVY
PHASER, FLIP-X, and XY-X, etc. As the single-axis robot (FLIP-X/ System" that is capable of easy setup and applicable to a wide
PHASER) can be combined with the Cartesian robot freely, various variety of applications. As the vision board is incorporated into the
applications can be supported (except for some compact single-axis controller main body, the calibration work requiring a long time and
robots). labor is then greatly simplified. As the position is corrected by the
image recognition, the versatility and applicability of the equipment
Complete absolute position system is widened greatly (only supported by the RCX240).
The RCX uses complete absolute specifications that need no return-

to-origin when the power turns on. The completely same system can
be applicable to the incremental specifications. (When the PHASER
iVY board
series uses the magnetic scale, it is applicable to the semi-absolute
or incremental specifications.)
Extension of absolute data backup time • Lighting control board

• Tracking board
As the backup circuit is improved to the energy saving, the absolute
position data retention period in the non-energizing state is greatly
extended. The maximum one month of the conventional model Double-carrier anti-collision function
is extended to approximately one year. The current position
When using the double-carrier, collisions between both carriers can
information is monitored during long vacations, equipment storage,
be prevented by the control in the controller. Collision preventions
or even during transportation, and no return-to-origin is needed
by the zone judgments or external sensors are no longer needed to
when energized again. This allows quick production start.
make the double-carrier easier to use.
3D linear/circular interpolation control

Area check output function 2D and 3D linear and circular interpolation controls are possible.
This ensures the smooth and highly accurate operations suitable
This function can output the I/O signals
for the sealing work. (The 3D interpolation is not available in the
when the robot enters a set area during
RCX221/222.)
operation. Up to eight check areas can be
set.
P1
OFF
OFF ON
P2
Applicable to dual-drive
P20
P23
A dual-drive function is incorporated that controls two axes
synchronously. This function is effective for heavy workpiece transfer
or Y-axis long stroke of the Cartesian robot. The function can P22 P21
perform the operation using the high-speed and high acceleration/
deceleration of YAMAHA robots.
Note. The dual-drive is supported as a custom order. For detail, please consult
YAMAHA.
■■ Example of dual-drive
66
Palletizing function Passing point output control
This function can easily define up to 20 kinds of pallets only by The general-purpose output on/off can be controlled by specified
entering four corner positions on the pallet as the teaching points. points without stopping the axis operation during interpolation
When entering the teaching point in the height direction, even three- operation. The dispense can be turned on or off with the axis
dimensional pallets are supported. operated during sealing to allow smooth and stable dispensing.
When specifying the defined pallet number and executing the
movement command, the palletizing work is then performed. Various
operations, one point → pellet, pallet → one point, and pallet →
pallet, can be performed using the programs.
P10
ON
P11
P [5] OFF
START
NZ P [3]
NY
P [4]
Torque limiting function
P [1] The motor torque can be limited during gripping or press-fitting.
P [2]
NX Press-fitting
Hand definition
This function operates the robot based on coordinates of the offset
tool tip when the tool is attached to the tip of the robot axis in the
offset state. Particularly, this function is effective during tool rotation
of SCARA robots or robots including the rotation axis.
Multi-task function
Y Y Moves while centered
on coordinates for This function can execute multi tasks (up to eight tasks), such as
Moves while centered hand tip
on coordinates for robot peripheral units in parallel at the same time. When there
robot tip
are multiple tasks, the task can be changed by means of the time
sharing method and a priority can be put on the task. Additionally,
the priority can also be changed while the task is running. The multi-
X X
task function simplifies the control configuration of the entire system
to improve the operation efficiency.
No hand definition Hand definition
■■Task scheduling
Shift coordinates Priority The top of the task with the highest
priority transits to the RUN state.
A deviation may occur in the coordinate system when re-installing
Task 1
or replacing the robot during maintenance work. In this case, the
coordinate system can be corrected using the shift coordinate
function. So, the point data can be used as it is. No re-teaching is 1 Task 1 Task 3 Task 4
needed.
2 Task 5 Task 8
Y Y Y
X
3 Task 2 Task 6 Task 7
X X
Order, in which READY state transits.
Original coordinates Coordinates after Correction with

reinstallation shift coordinates
Sequence program
In addition to the normal task, a task to individually control the input/
output (parallel, serial, memory, timer) can be executed.
As the sequence program can be enabled even in the manual mode,
this is effective to construct a safety system linked with peripheral
units.
67
2-robot control Powerful support software: VIP+ (plus)

Two robots that are assigned to the main and sub robots can be This application software allows you to easily and visually operate
simultaneously controlled using one controller. As this function is the robot, create and edit programs, and teach points.
used together with the multi-task, advanced and smooth linking of The user interface is greatly improved and made easier to use when
two robots can be performed using one controller. compared to the conventional support software VIP.
Applicable to electric gripper "YRG series"

All grippers can be controlled using one RCX240 controller. Data
Applicable to auxiliary axis addition function exchanging with the host unit, such as PLC is not needed. The setup
"YC-Link system" or startup is very easy.
This YC-Link is a system that controls the single-axis robot controller Robot vision: iVY System
SR1 from the multi-axis controller RCX series through the serial
communication.
By installing the YC-Link system, the RCX series can be easily
linked with the SR1 series. As multiple controllers can be linked as
required, up to eight axes (up to six axes for simultaneous control) Camera Light
can be controlled.
Electric gripper: YRG series RCX240
RCX 240/ RCX3 40 POINT
RCX240 and RCX340 are applicable to all single-axis, Cartesian, SCARA, and P&P robots Note
The 4-axis robot controller RCX240 and Robot configuration examples

RCX340 are applicable to all robot models
2 axes robot Single-axis robot
including single-axis, Cartesian, SCARA, and (FLIP-X series)
Pick & Place robots.
As the mixed control of the ball screw
type FLIP-X series and linear motor type
PHASER series can be performed, the robots 2 axes robot 2 axes robot
can be combined freely according to the
applications. Additionally, when preparing the
robot controllers for the maintenance work of
multiple robots, it is enough to prepare only 3 axes robot Single-axis robot
one robot controller. This robot controller can (PHASER series)
be used for any model only by changing the
setting.
Note. Except for 24 V specification models.
SCARA robot
68
RCX3 series RCX340 P.544
[Multi-axis robot controller]

Program
Operation Remote command
method
Online command
Number of 30000 points
points
Single phase :
Input power
AC200V to 230V +/-10% maximum
Absolute
Origin search Incremental
RCX340 method
Semi-absolute
Advanced functionality allowing construction of high-level equipment

Multiple robots can be operated synchronously through the high-speed communication. Use of linking among
controllers makes it possible to store programs into only one controller. Use of a newly developed algorithm
achieves shortening of the positioning time and improvement of the tracking accuracy.
The control of multiple robots can be managed using one master controller
The RCX340 controller allows high-speed communication among the controllers. As the operation command can be sent to the controller of each slave
from the master controller, the programs or points can be managed only using the host master controller. Additionally, as this controller supports multi
tasks flexibly, data exchanging with the PLC can be simplified. Simultaneous start and simultaneous arrival of each robot can be controlled freely.
Complicated and precision robot system using many axes can be constructed at a low cost.
Conventional
method
RCX340
PLC ● Up to four robots or 16 axes can be managed with one master RCX340.
● Simultaneous start and arrival of each robot can be controlled freely.
All programs and Connectable using Controllers without

settings are LAN cable. program settings
managed using the YC-Link/E
master.
All controllers are controlled using one PLC. Master Slave Slave Slave
Program 1 Program 2 Program 3 Program 4
Programs are set for each controller. Operation is performed while

synchronizing the robots through I/O.
Arch motion can be specified more intuitively

As the arch motion route designation method is changed and the designation method is simplified, the arch motion can be specified more intuitively.
Conventional method RCX340

● All axes need to specify parameters. ● Only the arch axis needs to specify parameters.
● Route is difficult to adjust. ● Route adjustment is easy.
Specify using XYR parameters.
Specify using 2nd operation (X&Y)
Z parameters.
2nd operation (X&Y)
1st operation (Z) 3rd operation (Z)
Obstruction
1st operation (Z) Obstruction 3rd operation (Z)
Specify using Z parameters. Specify using Z parameters.
69
RCX340
Smooth movement is achieved by greatly improving motion functions

As a new servo motion engine is incorporated, various operations can be merged. Use of a newly developed algorithm achieves shortening of the
positioning time and improvement of the tracking accuracy.
■ Expansion of CONT option function ■ Improvement of operation speed Note ■ Proper use according to application Note
Different type operations, such as PTP, interpolation All operations can be merged as much as possible W hen per for ming t he c ontinuous operati on, an
operation, and conveyor tracking, etc. are merged to using the merge PTP. optimal operation can be selected according the
improve the speed. As even operations with dif ferent acceleration or a p p l i c a t i o n , l i k e t r a d i t i o n a l PAT H i s u s e d f o r
deceleration time are merged at maximum level with constant-speed operation, such as sealing and merge
priority put on the operation time, the movement time PTP is used for operation with priority put on the
RCX340 is shortened greatly. movement time.
[Example: PTP CP] Conventional method PATH

CP
Next operation starts Merge. Merge.
PTP1
after deceleration.
MOVE MOVE P,P4
P,P1,CONT PTP2
CP CP
Merge. Merge. TIME
Interpolation operation to the final target position

Merge PTP operation is performed at a specified speed.
MOVE C, P2,P3,CONT Next operation starts
during deceleration. Merge PTP operation
[Example: PTP Conveyor tracking] PTP1 PTP
Merge.
PTP2
MOVE MOVE
P,P1, P,P2,
CONT
Movement time is TIME PTP PTP
shortened
Merge.
● The PTP1/PTP2 operation pattern is calculated
CTMOVE as the merge is preconditioned.
● Maximum merge can be made regardless of ● PTP operation is performed so that the
Operation starts without stopping. operation types to be merged. So, the merge movement time until the final target position
effect is large. becomes the shortest.
Note. It is necessary to upgrade the firmware to its latest version.
Improvement of tracking accuracy

Use of visualization with servo
analyze function and high RCX240 RCX340
responsiveness with new servo
function makes it possible to
increase the follow-up ability
and improve the tracking
accuracy when compared to
the conventional models.
15 mm/sec.
500 mm/sec.
15 mm/sec.
Tracking deviation is reduced greatly.
500 mm/sec.
Improved basic performance

Functions, such as robot language, multi-task, sequence function, communication, and field bus are improved and
made easier to use.
Motion optimization Compact design
The optimization of the motion to meet the operation pattern is further The outside dimensions are approximately 355 mm (W) × 195 mm (H)
strengthened to bring out the robot performance at its maximum level. × 130 mm (D). The volume ratio is reduced to approximately 85 % and
Higher quality robot operations, such as shortening of the operation the body size is made compact when compared to the conventional
time and suppression of vibrations during stopping are achieved. 4-axis controllers so as to make the installation inside the control panel
easy.
■ Optimal acceleration/deceleration motion
Acceleration/deceleration motion is generated that can perform
the high-speed operation while suppressing vibrations.
RCX240 RCX340
Data table is added.
Downsized approximately 15 %
when compared to the RCX240.
70
Improvement of cycle time User memory capacity increase
The speed-up of the YK-XG series is achieved.
● Number of points is ● Total capacity of program and
Example: YK400XG greatly increased. point
Number of points 30,000
● Standard cycle time operation is increased RCX240 RCX340
RCX340 3 times
0.49 sec → 0.45 sec 364 KB 2.1MB
RCX240 10,000
800
Movement time (msec)
RCX240 RCX340
600
400
Built-in regenerative unit
200 As the regenerative unit (equivalent to RGU3) is built-in, no additional
regenerative unit is needed when connecting to the existing robot.
0
0 30 60 90 120 150 180
Arm rotation angle(°)
Support tool with visibility and operability improved New support software RCX-Studio Pro
The program debug function is strengthened to support the multi-task. Use of convenient operability and program input support function makes it
possible to perform the quick setup.
■ YAMAHA robot becomes easier to use, faster setup, efficient maintenance
Evaluation Design
● Emulator function provided ● Easy-to-use operating controls ● Inter-operation with other
● Cycle time calculator manufacturer's line simulators
● iVY2 editor provided
List of operation
items and data
Various editors
Various monitor panel layout

changes or floating displays
are possible.
After installation Maintenance

● Realtime trace ● Application debugging function ● Data comparison tool
Select and compare

two data items
Tolerance
Current
Current position
current
Debug information on multi
tasks is displayed at the
same time.
■ Programing box PBX

This programming box is applicable to three languages, "Japanese", "English", and "Chinese". Use of
a color display makes it possible to improve the visibility.
Work to add or edit functions becomes easy, allowing even personnel without programming skill to
operate this programming box.
A function to save the controller data into the USB memory is incorporated.
71
RCX340
Enhanced expandability
RS-232C and Ethernet ports are provided as standard equipment. A wide variety of high-speed and large capacity
field networks, such as CC-Link, DeviceNetTM, and EtherNet/IPTM are supported as options. Connections with general-
purpose servo amplifier or other company's VISION are easy. So, the RCX340 is called "connectable controller".
Communication Up to four RCX340 controllers (up to 16 controllable axes) can be connected.

between controllers
More flexible robot configuration Centralized control of multiple robots
Easy programming Cost reduction
Applicable to various field buses/centralized control of robots through connections of up to four controllers
RS-232C and Ethernet ports are provided as standard equipment. Additionally, fulfilling field buses, such as CC-Link, EtherNet/IPTM,
DeviceNetTM, PROFIBUS, and PROFINET Note 1 can be supported to connect and control a wide variety of devices. For 5 or more axes,
use of YC-Link/E makes it possible to connect up to four RCX340 controllers so as to perform the centralized control of multiple robots.
Additionally, when using YC-Link/E Note 2, multiple robots can be handled as if they are operated using one controller. This ensures very
easy robot programming and management.
Therefore, this robot controller contributes to reduction of unseen costs, such as labor cost necessary for the setup work.
Note 1. Supports PROFINET Ver. 2.2
Note 2. When ordering YC-Link/E, please specify what robot is connected to what number controller.
Standard equipment, Ethernet

Centralized program control
Up to four RCX340 controllers (16 axes) can be connected.
72
73
iV Y
System
Product Lineup
ROBOT VISION iVY RCX240
Easy to use and reduction of work steps.

"Finds and Picks up" and "Pursues and Picks up" without teaching.
Many robot users might think, "We tried vision recognition, but it seemed to take a lot of work" or
"we tried it before, but making adjustments was a tough job".
But YAMAHA iVY system solves these problems.
Anyone can make the setup easily to contribute to reduction of work steps.
74
iVY system layout
A robot controller with an image processing function is completed only by setting the iVY board in the 4-axis controller RCX240 or
RCX240S. As "eye" is put in the robot, the robot finds and takes workpiece, checks deviations in workpiece position, and makes
correction if the workpiece deviates largely. This expands the range of applications.
Up to two cameras and Vision board connects

lights can be connected. directly to bus Programming box RPB ■■Options
• Lighting control board
Multi-axis controller • Tracking board
• CCD camera
Robot • LAN cable
(Shielded cross-cable)
• Camera cable
iVY board
• Lens
• Close-up ring
2 cameras 2 lights
• Lighting control
board PC
• Tracking board
Encoder Encoder
CCD camera
Lens
Software
iVY Studio
Up to two encoders can be connected.
Either optional tracking board or lighting control board can be selected.

(Tracking board is equipped with lighting control function.) Tracking board
■■Positioning by searching for workpiece ■ Automatic correction even if the camera moves ■■Applicable to conveyor tracking
Conventional system without robot vision System with robot vision
Positioning by workpiece
Workpiece 1 Positioning is not needed.

Detection by camera
Pick-up Assembly Assembly
Workpiece 2 + pick-up
Workpiece 3
When the workpiece is changed, the positioning jig replacement work is needed. Even when the workpiece is changed, it is flexibly supported only by changing the part
In particular, when using a small lot of workpieces, the setup costs or jig manufacture type data.
and management costs are needed. Since no mechanical positioning is needed, cost reductions, such as equipment down-
sizing or jig cost reduction become possible.
75
iVY System Product Lineup
POINT 1
Easy for anyone to use, applicable to a wide variety of applications

When the system was upgraded by combining the robot with a generally available image processing unit, it took a long time
conventionally to adjust the robot controller and image processing unit, and perform the correction calculation. In YAMAHA "iVY
system", the vision board is integrated into the robot controller and the functions are limited to the positioning and position correction
so as to greatly simplify the operability. This makes the system incredibly easy to use when compared to conventional vision systems.
YAMAHA aimed at "a vision system that anyone can easily use". Please try to use YAMAHA's new robot vision.
Conventional robot vision iVY system
➀ Alignment with robot coordinates is difficult. ➀ Simple calibration function is incorporated.

➁ Correction calculation is needed when the camera moves. ➁ Coordinates are corrected automatically even when the
➂ Operation deviation between the camera and robot due to comunication camera moves. Point
time. ➂ High-speed connections through dedicated bus line.
➃ Adjustment of communication format is needed. ➃ Controller is incorporated to provide the central operation.
Image processing unit
➄ Applicable to all models of YAMAHA robot lineup.
Camera cable
Camera RS-232C
cable communication
Camera Camera
Light Light
RCX240
iVY board
Power supply for lighting Lighting control board

Robot Robot
• Difficult to handle. • Installation and setup costs are high. • Easy to use • Cost reduction by reducing work
• Hard to actually operate. • Difficult to know emergency contact • Various applications are steps.
address. supported using easy operation. • YAMAHA gives you total support.
Special skills are required and many work steps are needed. Easy operation extends applications
Connecting an external camera to the robot controller requires tasks such as coordinate YAMAHA iVY system can be calibrated very simply
alignment (calibration), and correction programs are needed, so the startup work is Furthermore, the coordinates are corrected automatically when a camera is installed on
difficult. When using for simple applications, many work steps are needed. So, possible the robot. As iVY system can be used, it can be applied to various applications.
applications are limited.
POINT 2
Easy workpiece registration only with 3 steps

YAMAHA aimed at "a vision system that anyone can easily use". But, image recognition itself has been around for a long time.
However, conventional image recognition required complex tasks such as coordinate matching (calibration) or coordinate correction
during camera movement, and it never became very popular. YAMAHA vision iVY System can be operated by anyone including
machine designers or actual machine operators.
STEP. 1 STEP. 2 STEP. 3 Search results

Capture images. Set the contour. Register the detection
position.
Put the workpiece within the Contour is automatically Specify the detection
camera field-of-view and extracted. Paint the position with the mouse.
specify an image capturing necessary contour with a Desired positions can be
range. pen tool. set.
76
POINT 3
Dedicated software "iVY Studio" included

The iVY system includes dedicated software "iVY Studio". All Support software iVY Studio
operations related to the vision, such as registration of fiducial
marks used for the calibration or workpieces (edge setting, various ● Search trial-run, part type registration
parameter setting, and image capturing range setting, etc.), ● Reference mark registration (for calibration)
backup, restore, and operation monitor can be performed only with ● Up to 40 workpiece types can be registered.
this software. ● Workpiece can also be added easily.
● Up to 40 workpieces can be detected at once.
● Data backup
● This software functions as a monitor during program
operation.
POINT 4
Simple calibration function (coordinate matching alignment work) incorporated

Conventional equipment combining "image processing unit +
robot" requires many steps in "calibration" that aligns the camera
coordinates with the robot coordinates. In the iVY system, the
operation is completed easily in a short time only by following
interactive instructions using the programming box. Additionally,
the coordinate values are corrected automatically even when the
robot installation position is changed, such as upward clamping,
downward clamping, robot Z-axis clamping, or SCARA robot Y-arm
clamping. Just follow instructions on Wizards
POINT 5
Setup time reduced greatly

When using a general vision, a coordinate conversion program Comparison of setup time
needs to be created in the robot controller since the robot
Installation Communication setting
coordinate data differs from the vision format. Pattern registration Parameter setting
Since the robot controller is integrated into the iVY system, the Calibration Program setting
Debug
robot coordinate data can be stored into the robot point data using iVY system
single process. This ensures very simple operation. Additionally, Setup time is shortened greatly
the unified control of the camera control and light control can be
performed using the robot program. The control becomes easy
and the number of start-up steps can also be reduced.
General-
purpose vision
Days
POINT 6
Free selection from YAMAHA robot lineup

This robot vision is applicable to all YAMAHA robots that can be operated by the RCX controller.
According to the applications, an appropriate robot can be selected from the single-axis robots FLIP-X series, linear single-axis
robots PHASER series, Cartesian robots XY-X, and SCARA robots YK-XG. A low-cost and easy-to-use robot vision system can be
constructed with an optimal model suitable for applications.
■■Cartesian robots XY-X ■■SCARA robots YK-XG ■■Linear motor ■■Single-axis robots FLIP-X
single-axis robots
PHASER
77
iVY System Product Lineup
POINT 7
Workpiece handling without teaching

When the robot handles a workpiece, the teaching work to the correct position is
absolutely required. If the workpiece position deviates, the correct handling cannot be
performed.
Use of iVY system makes it possible to detect the correct position through the image
recognition after coarse positioning. The workpiece can be transferred without teaching,
so the start-up steps are reduced and workpiece can be changed or added flexibly.
POINT 8
Edge search engine with excellent stability

The gray search (normalized correlation search) that was
frequently used for conventional visions is vulnerable to
adverse effects, such as lighting conditions, or workpiece
chipping or contamination. The environments and applications
are restricted.
The iVY system incorporates an "edge search engine" that
performs the search process using information on contour
shape. This contour search is resistant to effects on external
Search is made with good lighting. Search is correct even with insufficient
environment and the range of applications is extended. lightning.
POINT 9
High-speed connections through dedicated bus line

By directly connecting the robot controller and CPU board
through the bus, a data communication speed approximately Dedicated bus line 100 Mbit
5,000 times higher than that of the serial communication speed
with general vision is achieved.
Programming also becomes easy since the time lag due to
RS-232C 19200 bit
communication does not need to be considered. Additionally,
this robot vision supports the conveyor tracking that requires Data transmission volume per second
high-speed processing.
P O I N T 10
Applicable to conveyor tracking

The iVY system is applicable to the conveyor tracking only by adding CCD camera
the tracking board. As the pulses (AB-phase) are taken from the
Supply conveyor
encoder installed on the conveyor, the workpiece that is flowing can be Palletizing robot
picked up without stopping the conveyor.

As up to two encoders for the camera, lighting, and conveyor can be
connected, the iVY system is applicable to movement between the
conveyors.
Pallet Collection conveyor
78
P O I N T 11
Vision is also controlled easily with robot programs.

The robot program executes all vision controls including camera ■■Example of robot vision language
switching, image capturing, and workpiece search.
Program creation is simple when compared to general vision Command name Function
systems since the operations from the robot movement to the
camera control are performed consistently. VCAPTURE Captures images from the camera.
Furthermore, the debug work can be performed efficiently to
VSEARCH Searches for the specified part type.
greatly reduce the total number of work steps.
VMONITOR Switches the monitor mode between on and off.
VGETCNT Acquires the number of parts that were found.
VGETPOS Acquires the position data.

Acquires a period of time used for the search
VGETTIME command that was executed.
VGETSCR Acquires judgment values for the detected workpiece.
VSAVEIMG Saves images in BMP format.
Conventional robot vision iVY system
MOVE P, P9 MOVE P, P9
OFF LINE VSEARCH 1,2,0 Searches for workpiece.
SEND (* *) TO CMU Communication with P10=VGETPOS(0) Reads the point.
SEND CMU TO P10 image processing unit MOVE P, P10 Moves to this point.
ON LINE
MOVE P, P10
● No communication time lag
RS-232C
● Controllable only with the robot program.
Program of image ● Needs only few command lines.
Program of host PLC
processing unit MERITS ● Simple and easy to understand
Controls using different programs Centralized controls using robot programs
So, the iVY system can solve such problems.
Number of teaching steps needs to be reduced. Workpiece flowing on the conveyor is picked up.
Robot teaching work requires a lot of labor and time. The iVY The iVY system is applicable to conveyor tracking. The position
system acts as "robot eye". The final fine positioning can be of the flowing workpiece is continuously recognized according to
automated to greatly reduce the teaching time that was required the signals from the encoder. The workpiece can be picked up
for the conventional models. without stopping the conveyor.
Positioning mechanism needs to be simplified. Consultation destination is not found if a

trouble occurs.
In the current trend toward small-lot production of multiple mod-
els, a larger number of models means that positioning and other When a generally available image processing unit is combined
aspects of setup will require more time and trouble. Use of the iVY with the robot, various problems such as being unable to cap-
system makes it possible to greatly reduce costs necessary for ture images, unable to write data, or position deviation occur.
manufacture, management, and replacement of positioning jigs. YAMAHA iVY system will solve such troubles. The iVY system
delivers total support for tasks ranging from capturing of images
Random workpieces need to be handled. from the camera to operating the robot.
Use of a position detection function of the iVY system makes it

possible to simply construct operations, such as "workpiece is
directly placed from the parts feeder" and "workpiece in the pal-
let is gripped and transferred".
79
iVY2
Sy s t e m
Product Lineup
ROBOT VISION iVY2 RCX340

Integrated Robot Vision System with "plug-and-play" simplicity
Basic specifications have been dramatically enhanced while retaining the
current iVY system's ease of use.
Simplicity Sophistication Assurance

Setup is completed as little as eight With up to five million pixels, a variety of Comprehensive support covers everything
minutes after power-on. workpieces can be supported. from camera image acquisition to the
Auto-calibration makes setup easy. Improve throughput to 100 CPM with operation of the gripper and robot.
conveyor tracking. With support that only the robot
manufacturer can provide, you can relax.
80
Basic specifications have been dramatically enhanced
while retaining the current iVY system's ease of use.
Camera Number of registered types Shorter search time Longer cables usable Monitoring
5 254 50 20
Monitor
Supports from 300,000 to Increased to Approximately Cables can be as long as
output is
million pixels types % less m provided
Megapixel camera With capture: 30–40% less Enables operating status to
Previously 40 types Search only: approximately Previously 9.5 m
support 50% less
be monitored without a PC
Note. Time depends on the workpiece.
iVY2 System configuration illustration
Programming box
PBX
Monitor
iVY2 unit
Software
iVY2 Studio
24VDC
power supply Camera
Photoelectric or Lighting
proximity sensor, etc.
Encoder
Robot
* The illustration left shows an example system with
Tracking board the tracking board and an iVY2 unit (when the lighting
(when installed in control board option is selected).
option slot 4) * Connections to the STD.DIO, ACIN, and SAFETY
connectors are not shown in the left illustration.
POINT 1
Various application examples

Labeling device Sealant touch-up Screw attachment position Position compensation
(affixing labels to food packages) (engine block sealant) detection with upward-facing camera
(television panel screw attachment) (installing irregularly-shaped
parts on a circuit board)
■ Industry: food ■ Industry: automotive ■ Industry: electronics ■ Industry: electronics

■ Robot used: YK500TW ■ Robot used: SXYX Cartesian ■ Robot used: NXY Cartesian robot ■ Robot used:
omnidirectional robot robot YK150XG SCARA robot
Even if the incoming workpieces are irregularly Even if the workpiece is skewed from its Hole position is detected, and screws are The roughly-positioned circuit board
spaced or positioned, labels can be affixed at correct position, the skew and angle are fastened accurately. connector is picked up, the upward-facing
the same position. detected, and the application path is camera is used to apply position
automatically compensated. compensation, and the part is mounted
directly on the circuit board.
81
iVY2 System Product Lineup
POINT 2
Auto-calibration Requires as
little as
Easily complete high-precision calibration just by following a wizard! Even if equipment becomes misaligned, execute
auto-calibration and resume operation.
5 minutes
STEP 1 STEP 2
Register the desired fiducial mark Select the camera mounting method
Mounted on robot Fixed downward Fixed upward

Camera
Can be mounted
on moving part
Camera Camera
Camera
STEP 3 Execute auto-calibration

Align fiducial mark position
POINT 3 Fiducial mark
If camera is movable, move If camera is fixed, attach fiducial mark
the robot
Easy workpiece registration to robot, and move it
Camera Requires as
little as
From image acquisition, registration takes just three steps.
3 minutes
STEP 1 STEP 2 STEP 3 Search results
Camera
Capture images. Set the contour. Register the detection position.

Put the workpiece within the camera Contour is automatically extracted. Specify the detection position with
field-of-view and specify an image Paint the necessary contour with a the mouse. Desired positions can
capturing range. pen tool. be set.
POINT 4
No need to make time-consuming connection settings. Dramatic reduction in setup time.

From image acquisition, registration takes just three steps.
Installation Communication setting

Comparison of setup time
Calibration Parameter setting
Pattern registration Program setting
Debug
Setup time is shortened greatly

iVY2 system
Setup time
reduced by up to
General-purpose
80 %
vision
Setup time
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STEP 1 STEP 2
Register the desired fiducial mark Select the camera mounting method
Mounted on robot Fixed downward Fixed upward

Camera
Can be mounted
on moving part
Camera Camera
Camera
STEP 3 Execute auto-calibration

Align fiducial mark position
Fiducial mark
If camera is movable, move If camera is fixed, attach fiducial mark
the robot to robot, and move it
Camera
Camera
POINT 5
No need to create a coordinate conversion program.

Dedicated robot language for vision is provided.
General robot vision iVY2 system
MOVE P, P9
MOVE P, P9
OFF LINE Searches for workpiece.
VSEARCH 1,2,0
SEND (* *) TO CMU Communication with Reads the point.
P10=VGETPOS(0)
SEND CMU TO P10 image processing unit Moves to this point.
MOVE P, P10
ON LINE
MOVE P, P10
RS-232C ● No communication time lag

● Needs only few command lines.
Program of image
processing unit Program of host PLC ● Simple and easy to understand
MERITS
Camera and robot have separate programs Centralized control using only the robot program
POINT 6 POINT 7
Easy inter-operation with peripheral equipment Also supports moving camera

The same controller provides unified control of robot, gripper, and lighting. Even if the camera is mounted on the robot,
coordinates are automatically converted according
to the robot's movement.
Robot vision: iVY2 System
Camera Light
83
POINT 8
Conveyor tracking Conveyor tracking

reaches
Ideal for high-speed packaging arrangement high-speed transport of multiple types of items such as pharmaceuticals,
cosmetics, and food products.
100CPM per unit
The vision camera detects the position and orientation of parts moving on the conveyor, and the robot picks them up.
Previous RCX240 controller New RCX340 controller
Example program (RCX240) Example program (RCX340)

PTP command MOVE P,P1
Executed using Unify movement New CTMOVE CTMOVE (1),Z=0.0,CTZ=10.0
CTMOVE CTMOVE (1) multiple operation commands
commands Can be executed with a single command
CTDRIVE CTDRIVE(10.0)
Multiple operating takt required Unify the move up command, follow workpiece command,
move down command
Move down while following

the workpiece
Seamless movement from
Move while following move up to move down
Predict workpiece
the workpiece
Pause location and move
directly
Move up Reduce
Workpiece operating takt Conveyor direction
Tracking pickup location Tracking
start position start position Workpiece pickup location
Conveyor direction
Reduce movement distance
Workpiece position when tracking begins Workpiece position when tracking begins
Operating conditions: YK500XG / payload 1 kg (total of workpiece and tool) / horizontal movement 250 mm / vertical movement 1 mm / conveyor speed 100 mm/sec
POINT 9
Control multiple robots for even more improvement in production

Shortened Improve
efficiency. cycle time throughput
RCX340 + iVY2 RCX340

Connect up
to four units
100 CPM/unit x 4 units
(maximum 400 CPM)
Tracking board
Control two robots to let downstream
robot handle missed items
Program allows differentiation by
model for even more improvement in
production efficiency
Information from a single

camera can be shared by
multiple robots
Conveyor direction
84
P O I N T 10
Approximately double the search speed (compared to previous model)

Even a large number of workpieces can be detected at high speed. The search speed is approximately double that of the previous model.
This can be used for a wide variety of applications, including molded plastic parts or food items.
Sample workpiece ➊ Connector-shaped workpiece Sample workpiece ➋ Washer-shaped workpiece Sample workpiece ➌ Food item workpiece
RCX240 + iVY RCX340 + iVY2 RCX240 + iVY RCX340 + iVY2 RCX240 + iVY RCX340 + iVY2
158.7 ms 83.8 ms 200.2 ms 91.7 ms 149.8 ms 91.1 ms
P O I N T 11 P O I N T 12
Support for five-megapixel cameras 254 types can be registered

(Choose from 300,000 pixel, 1.3 megapixel, and 2 megapixel, and 5 megapixel)
Setup changes require only that part numbers be
changed. Setup changes are easy.
● Stable workpiece detection ● Decreased number of search detections
Detailed edge detection is possible even if A single search allows detection even for
workpieces are touching each other or a large workpiece, improving takt.
have a complex shape. 254 types (0–253) can be registered
● Previous: ● New: ● Previous: ● New:
300,000 pixel camera 1.3 megapixel camera 300,000 pixel camera two-megapixel camera
(partial detail illustration) (partial detail illustration) Field of vision
P O I N T 13 P O I N T 14
Monitor output is provided High-precision search even under low light

● Monitor the operating status ● Edge search engine is built-in
Monitor the search status while making calibration settings or Supports a variety of applications while being minimally affected
during automatic operation. by the external environment.
Contents of output
• Selected type / Captured image
• Search result (position, score, scale)
• Executed command
• Time required by command
Output method
• DVI-I (supports digital monitor or analog monitor) When lighting is sufficient Accurate search even if lighting is insufficient
85
P O I N T 15
Preparatory evaluation and advice give you peace of mind

We borrow the workpiece from you, evaluate it, and submit an evaluation report.
In addition, we draw on our wealth of experience and evaluation results to provide advice and training regarding selection and installation of
robots and peripheral equipment.
Workpiece is Preliminary Advice Robot Follow-up

Hearing
borrowed evaluation (evaluation report is submitted) training after delivery
Preliminary evaluation Advice (evaluation report is submitted) Robot training
■ Evaluation conditions (example)
Lens: 8 mm Advice regarding

camera, lens,
Lighting and lighting
settings
Lighting height: WD: 400 mm
Workpiece 375 mm
Background:
black
The results of our preliminary evaluation regarding

We borrow a workpiece from you and conduct an evaluation. Training can be performed according to the content of the
camera, lens, lighting selection, and setup are
customer's application.
summarized as a report and submitted.
P O I N T 16
Choose freely from Yamaha's lineup of robots

A low-cost and convenient robot vision system can be constructed using the models that are optimal for the customer's application.
■■XY-X Cartesian robots ■■YK-XG SCARA robots ■■YK-TW orbit type robots ■■FLIP-X single-axis robots
Note. The YA series is not supported.
86
87
YR G
S erie s
Product Lineup
ELECTRIC GRIPPERS
Electric grippers dedicated to the RCX240/RCX340 controller.
Easy operation is achieved as YAMAHA robot language gives
unified control.
Gripping force Multi-point Workpiece

Measuring Speed control
control position control check function
Speed can be set in 1 % Workpiece gripping
Gripping force can be Workpiece can be steps from 20 to 100 % mistake or workpiece
and acceleration can be Up to 10,000 positioning drop can be checked by
set in 1 % steps from measured using position points can be set.
30 to 100 %. detection function. set in 1 % steps from the HOLD output signal
1 to 100 %. without using sensor.
88
Plenty of lightweight and compact model variations
S type Single cam type P.585
Lightweight, compact, high-speed
Single cam structure

Use of an unique cam structure achieves
Small
single the simple and compact design. As the
cam self-lock is not activated, the fingers can
be operated using an external force.
YRG-2005SS YRG-2010S YRG-2815S YRG-4225S
W type Double cam type P.587

High gripping force
Double cam structure

Unique double cam structure with gear.
Use of a simple structure achieves high
gripping force with compact body.
YRG-2005W YRG-2810W YRG-4220W
Screw type Straight shape P.588 Screw type "T" shape P.589
High accuracy, long stroke
Ball screw structure

As the ground ball screw
is driven by the belt,
the long stroke with
high efficiency and high
accuracy is achieved.
YRG-2020FS/YRG-2840FS YRG-2020FT/YRG-2840FT
Three fingers type P.590

Compact, high rigidity, long stroke
Compact ball guide structure

Use of a special cam provides lightweight
and compact electric grippers. These
electric grippers are suitable for transfer
of round workpieces made of glass or
similar materials.
YRG-2004T YRG-2013T YRG-2820T YRG-4230T
Gripping Open/close Maximum speed Repeated Main body

Type Model positioning Page
force(N) stroke (mm) (mm/sec.) accuracy (mm) weight (g)
Compact single cam YRG-2005SS 5 3.2 100 +/- 0.02 90 P.585
YRG-2010S 6 7.6 100 +/- 0.02 160
Single cam YRG-2815S 22 14.3 100 +/- 0.02 300 P.586
YRG-4225S 40 23.5 100 +/- 0.02 580
YRG-2005W 50 5 60 +/- 0.03 200
Double cam YRG-2810W 150 10 60 +/- 0.03 350 P.587
YRG-4220W 250 19.3 45 +/- 0.03 800
Screw type YRG-2020FS 50 19 50 +/- 0.01 420

P.588
Straight shape YRG-2840FS 150 38 50 +/- 0.01 880
Screw type YRG-2020FT 50 19 50 +/- 0.01 420

P.589
"T" shape YRG-2840FT 150 38 50 +/- 0.01 890
YRG-2004T 2.5 3.5 100 +/- 0.03 90 P.590
Three fingers YRG-2013T 2 13 100 +/- 0.03 190

type YRG-2820T 10 20 100 +/- 0.03 340 P.591
YRG-4230T 20 30 100 +/- 0.03 640
● Gripping force control: 30 to 100 % (1 % steps) ● Speed control: 20 to 100 % (1 % steps) ● Acceleration control: 1 to 100 % (1 % steps)
● Multi-point position control: Maximum 10,000 points ● Workpiece size judgment: 0.01 mm steps (by ZON signal)
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YRG Series Product Lineup
POINT 1
Electric grippers achieve highly accurate gripping force, and position, and speed controls.
The YRG series provides the gripping force control, speed and acceleration controls, multi-point control, and workpiece measurement
that were difficult by conventional air-driven devices. The YRG series flexibly supports various applications.
Gripping force control Multi-point position control

The gripping force can be set in 1 % steps. Workpieces that are The finger can be set to a desired position according to the work-
easy to break or deform, such as glass or spring can be gripped. The piece size. This contributes to efficiency improvement of lines with
gripping force is constant even when the finger position changes. different workpiece sizes and materials mixed and lines with many
setup steps.
Air pressure type Electric type
Fine adjustment of the regulator is Gripping force can be set in 1 % steps

Air pressure type Electric type
difficult. from 30 % to 100 %.
Loss is generated in the stroke. Loss is not generated in the stroke
as optimal positioning accuracy is
maintained.
Contributes to tact
improvement.
Workpiece presence check function
The electric gripper outputs the HOLD signal. Workpiece gripping Measuring function
mistake or workpiece drop during transfer can be checked. No ex-
The gripped workpiece can be
ternal sensors are needed.
measured using the position
Air pressure type Electric type detection. Use of this function
makes it possible to correctly
Workpiece gripping mistake or drop Workpiece drop can be judged. No
is judged using the sensor or image external sensor is needed. judge what portion of the work-
processing unit. piece is gripped.
Zone range function

Use of this zone range function
makes it possible to judge the
size OK/NG and check for slant
insertion.
Speed control
The speed and acceleration can be set in a range of 20 to 100 mm/sec.
in 1 % steps (singe cam and three fingers type). The gripper can gently
■ List of robot languages (example)
touch workpieces that are vulnerable to impact, such as lenses or elec-
tronic components. Language
Function
name
GDRIVE Absolute position movement
GDRIVEI Relative position movement
POINT 2 GHOLD Absolute position gripping movement
Gripper can be controlled with controller GHOLDI Relative position gripping movement
GOPEN Constant speed gripping movement (open)
commands. GCLOSE Constant speed gripping movement (close)
GORIGIN Gripper axis return-to-origin
The gripper controls can be performed with one multi-axis
GSTATUS Status acquisition
controller RCX240/RCX340. Data exchanging with the host
ORIGIN Return-to-origin
unit, such as PLC is not needed. The setup or startup can be
WHERE Main group current position acquisition (joint coordinate: pulse)
made easily.
WHERE2 Sub group current position acquisition (joint coordinate: pulse)
WHRXY Main group current position acquisition (Cartesian coordinate:
mm, degree)
WHRXY2 Sub group current position acquisition (Cartesian coordinate:
mm, degree)
90
POINT 3
Combination with a vision system supports a Robot vision: iVY System
wide variety of applications.

As the YRG series is combined with controller integrated robot vision
"iVY System", the operations from the positioning using the camera
Camera Light
to workpiece handling can be controlled in the batch mode using the
RCX240/RCX340 controller. Sophisticated systems can be easily
configured.
Gripping force comparison of electric gripper models
Open/close Gripping force (N)

Type Model
stroke (mm) 0 10 20 30 40 50 60 70 80 90 100 150 300
Compact single cam YRG-2005SS 3.2 1.5 5
YRG-2010S 7.6 1.8 6
Single cam YRG-2815S 14.3 6.6 22
YRG-4225S 23.5 12 40
YRG-2005W 5 15 50
Double cam YRG-2810W 10 45 150
YRG-4220W 19.3 75 250
YRG-2020FS 19 15 50
Screw type
Straight shape
YRG-2840FS 38 45 150
YRG-2020FT 19 15 50
Screw type
"T" shape
YRG-2840FT 38 45 150
YRG-2004T 3.5 0.75 2.5
YRG-2013T 13 0.6 2
Three fingers type
YRG-2820T 20 3 10
YRG-4230T 30 6 20
Application examples
Deformation prevention transfer Chip assembly transfer Transfer and dimension check of
Deformation prevention and lead flexible workpieces with different
of resin rings, etc. protrusion dimension check sizes
<Gripping inner sides>
<Gripping outer sides>
● Measuring function (Maintains workpiece shape.) ● Measuring function (Checks lead protrusion ● Measuring function (Checks lead protrusion
● Gripping force control (Maintains workpiece shape dimensions.) dimensions.)
and prevents scratches.) ● Gripping force control (Maintains workpiece shape ● Gripping force control (Prevents workpiece
● Speed control (Maintains workpiece shape and prevents scratches.) deformation.)
and prevents scratches.) ● Speed control (Maintains workpiece shape ● Speed control (Prevents scratches.)
● Multi-point position control (Applicable to many part types and prevents scratches.) ● Multi-point position control (Applicable to many part
of workpieces.) ● Multi-point position control (Applicable to many part types types of workpieces.)
Note. Air unit cannot control the gripping force and speed, causing of workpieces.) ● Reduction of setup work (Improves productivity.)
workpiece to be scratched or tact time not to be shortened.
91
92
APPLICATION
APPLICATION
CONTENTS
STEPPING MOTOR SINGLE-AXIS ROBOTS TRANSERVO Transfer and stacking device within the unit·········································· 99
Dispenser······························································································· 99
Pressing and cutter machines································································ 94
Insertion unit (Tare weight cancellation using moving Z + air balancer)····99
Pressing and pitch feed·········································································· 94
Assembler & tester base machine (Simultaneous operation at upper and lower levels)··· 100
SINGLE-AXIS ROBOTS FLIP-X
Part assembly machine········································································ 100
Clean, dustproof / dripproof, high-speed conveying unit························ 94 Part pick and place··············································································· 100
Contact stopper height change unit······················································· 94 Dual-drive transport between processes·············································· 100
Screw tightening device········································································· 95 Application example of combination with auxiliary single-axis············· 100
Device to shift workpiece in width direction············································ 95 Application example of long-stroke and dual-drive······························ 100
Press-fitting device················································································· 95
SCARA ROBOT YK-X
O-ring fitting device················································································ 95
Finished product inspection, touch-panel type evaluation machine····· 101
Carrying and transferring equipment······················································ 95
Conveying masks for wafers································································ 101
Jig and tool positioning mechanism······················································· 95
Tall work pieces conveying and stacking machine······························· 101
Painting by combining multiple single-axis robots·································· 96
Assembly cell (independent cell)·························································· 101
Tape affixing to circular workpieces······················································· 96
Assembly cell (line cell)········································································ 101
LINEAR MOTOR SINGLE-AXIS ROBOTS PHASER
Assembly cell (Handling unit for special purpose tester)····················· 102
Check camera moving unit····································································· 96 Inter-process transport········································································· 102
Ink jet printer·························································································· 96 Inter-process transport with inverse specifications applied·················· 102
Chip mounter·························································································· 97
PICK & PLACE ROBOTS YP-X
Check device·························································································· 97
Precision part assembler (1)································································ 102
Open / close device················································································ 97
Precision part assembler (2)································································ 102
High-speed screw tightening unit··························································· 97
High-speed applicator (1)······································································· 97 ROBOT VISION iVY/iVY2
High-speed applicator (2)······································································· 97 Small part palletizing············································································ 103
High-speed pick & place unit·································································· 98 Loading parts into assembler machine················································ 103
High-speed loading / unloading robot···················································· 98 Screw tightening work with SCARA robot············································ 103
CARTESIAN ROBOTS XY-X Pick & place work················································································· 103
Sealing correction················································································ 103
Conveyor (2 parts simultaneously)························································· 98
Labeling device···················································································· 104
Application of adhesive agent································································ 98
Screw attachment position detection··················································· 104
IC palletizing within the unit···································································· 99
Position compensation with upward-facing camera ···························· 104
Tester (2 Cartesian robots controlled simultaneously)··························· 99
Sealing··································································································· 99
93
YAMAHA STEPPING MOTOR SINGLE-AXIS ROBOTS YAMAHA SINGLE-AXIS ROBOTS
TRANSERVO FLIP-X
Series Series
APPLICATION
P.129 P.171
Pressing and cutter machines Clean, dustproof / dripproof, high-speed

conveying unit
■ Cuts plastic lens material
■ Pressing function applications ■ Transfer and conveyance in the clean environment.
■ Transfer and conveyance in the harsh environment.
Web site
Wafer
POINT POINT
1. Cutting tasks using the TRANSERVO (TS-S, TS-X, TS-P) pressing function 1. Belt drive type robot complying with cleanliness requirement.
2. Pressing torque is adjustable, and time-out time and operation after 2. With a large payload, it is optimum for conveying panels.
reaching specified torque can be selected as desired (continuous 3. Provided with specifications for cleanliness and applicable to long stroke.
pressing, position hold). 4. With the payload and moment permissible value at high level, it is
3. Host control can be simplified by setting multiple continuous operation applicable to the Cartesian combination.
points. 5. Equivalent to B10 (YAMAHA model) .
Pressing and pitch feed Contact stopper height change unit

■ Positioning for bread loaf slicing ■ Change of stopper height in multiple number of steps.
■ Pressing function and pitch feed applications
Web site
POINT POINT
1. Measures bread thickness with robot and identifies bread type. (TS positioner 1. The stop position for the stopper block is positioned by the cylinder type
can send feedback on current position.) robot.
2. Varies the pitch feed quantity to match workpiece type. 2. It is possible to make set-up done by single touch operation or
3. Pressing torque is adjustable to match the workpiece type. automatically.
94
Screw tightening device O-ring fitting device
■ Tightening screws arranged on a straight line. ■ Handling workpieces to assembly units arranged on a
straight line.
APPLICATION
POINT POINT
1. High rigidity with a support axis added. 1. Assembly jigs arranged on a straight line under the single axis robot.
2. Pitch selectable freely in the moving axis direction.
Device to shift workpiece in width direction Carrying and transferring equipment

■ Positioning of workpieces flowing on the conveyor. ■ Handling parts
POINT POINT
1. Arrangement of multiple number of compact robots. 1. Space saving layout using double carrier. (N15 / N18)
2. Pulse string control from the upper controller.
Press-fitting device Jig and tool positioning mechanism

■ Workpieces are press-fitted in holes arranged on a ■ Adjustment of cutting fluid nozzle position of machining center
straight line. ■ Positioning under harsh working environments
Air cylinder
POINT POINT
1. Highly rigid frame. 1. The adoption of a magnetic accuracy detection resolver allows use even
2. Applicable to work positions arranged linearly. under adverse conditions.
95
Painting by combining multiple single-axis robots YAMAHA LINEAR MOTOR SINGLE-AXIS ROBOTS
■ Interpolation control of multiple single-axis
robots is performed for painting work.
PHASER
Web site
Series
APPLICATION
POINT
1. As single-axis robots are controlled with the multi-axis controller, such as
P.217
RCX240, the linear or circular interpolation operation can be performed
with combined coordinates.
2. A layout, such as desktop type that is different from the normal Cartesian
robot can be configured.
3. Optimal specifications can be selected from the versatile single-axis robot
lineup and they can be combined.
Tape affixing to circular workpieces Check camera moving unit

■ Interpolation control of multiple single-axis ■ Checking with moving camera.
robots is performed for tape affixing to circular ■ Multi-point check with a camera.
workpieces ■ Drawing created with line sensor and moving axes.
Web site
POINT POINT
1. Multiple single-axis robots are controlled with one multi-axis controller 1. Allows movement with minimal speed fluctuations.
(multi-robot). 2. Compact size.
2. Use of an interpolation function of the multi-axis controller makes it
possible to synchronize each axis.
3. As each axis is synchronized, a tension applied to the tape is kept
constant to provide tape affixing without elongation or sagging.
Ink jet printer
■ Ink jet feeding mechanism.
Movement at uniform speed
Speed
Stroke
Ink jet head
POINT
1. Allows movement with minimal speed fluctuations.
2. Capable of coping with a request for high speed. (Max. 2,500mm/sec)
3. Allows setting long constant-speed sections, with large acceleration.
96
Chip mounter High-speed screw tightening unit
■ Bonding and chip mounting on circuit board. ■ Positioning 2 nut runners at the same time for a large
■ Electronic part mounting process. work piece.
Operation ranges
■ 2 screws at opposite locations tightened at the same time.
are overlapped
APPLICATION
Vacuum head
Chips, etc. Dispenser
Circuit board
POINT POINT
1. Double carrier structure enabled compact size. 1. Performs high-speed, high-accuracy screw tightening on large work
2. Layout designing is easy as different workpieces can be carried onto the pieces such as large construction materials.
same axis.
3. Clean specification requirement can be coped with easily.
Check device High-speed applicator (1)

■ Handling to multiple number of check devices. ■ Application to a large size workpiece such as liquid
crystal circuit board and the like.
Parts unloaded
Parts loaded
POINT POINT
1. 2 heads can be installed to the same axis compactly. 1. Capable of applying to a large size work such as a flat panel display.
2. High speed operation.
Open / close device High-speed applicator (2)

■ Wide open/close of shutter. ■ Application to a large size workpiece such as liquid
crystal circuit board and the like.
Operation area
used commonly.
POINT POINT
1. It is possible to drive a work with a large width (shutter) using the dual 1. Capable of applying to a large size work such as a flat panel display.
drive method. 2. It is possible to drive a work with a large width using the dual drive
2. Various advantages (such as center layout, higher open / close speed, method.
sharing of effective stroke) are available due to adoption of the double
carrier mechanism.
3. Drives with the dual drive mechanism with 2 units of double carrier
PHASER in parallel and fixing them with sliders respectively.
4. RCX240 can control 4 axes in all.
97
High-speed pick & place unit YAMAHA CARTESIAN ROBOTS
■ Pick & place operation from the rack for large size parts.
X Y- X
Series
APPLICATION
POINT P.241
1. Capable of carrying over a long distance between processes in various
production facilities.
High-speed loading / unloading robot Conveyor (2 parts simultaneously)

■ The loading unit and unloading unit are mounted on the ■ Conveyance with high efficiency using double arms.
same axis.
F10
F10
F17L
POINT POINT
1. Utilizing double-carriers allows building systems that are highly efficient in 1. Setting 2 units on the Z-axis intersecting XZ drastically cuts the total tact
saving space. time and reduces the required installation space.
2. Customization only possible because a highly rigid frame and guide are
used.
Application of adhesive agent

■ Application of adhesive agent within a large size liquid
crystal surface processing unit.
POINT
1. Capable of handling large size workpieces.
2. Also applicable to cutting work with a cutter, surface check with a camera,
etc.
98
IC palletizing within the unit Transfer and stacking device within the unit
■ ICs are taken out of the pallet and parts are transferred ■ Used in the sheet metal processing unit.
to the specified place by the XYZ Cartesian robot.
■ Application as a part of the machine used in the process
where a die is attached to the circuit board using
thermocompression bonding in the manufacture of semi-
APPLICATION
conductors.
FXYBx
Pallet
Special station
POINT POINT
1. By using the RCX controller, it is possible to use the result of the 1. X1 and X2 axes are superposed for space efficiency.
operation based on variables during palletizing. 2. The unit layout is easy even for the doubled stroke.
Tester (2 Cartesian robots controlled simultaneously) Dispenser

■ Use as a tester in the post-process of manufacturing ■ Spreading adhesive agent to drums.
electronic parts.
R axis
RCX240 Z axis
SXYx
SXYx Y axis : Wide moving
X axis
Within +/- 0.05mm
POINT POINT
1. 2 units of SXYx are operated using 1 unit of RCX240 with settings for 2 1. Boosting the R axis strength allows 3-dimensional interpolation + R
robots. operation.
2. The vertical traveling accuracy of XY axes of both 2 units of SXYx is 2. Each axis has high rigidity and so can easily withstand harsh conditions
within +/- 0.05mm. such as on the moving arm (handles 100mm/sec).
Sealing Insertion unit

(Tare weight cancellation using moving Z + air balancer)
■ Spreading sealant to mating faces of the cases.
■ Heavy workpiece inserted in the pallet, etc.
■ Heavy workpiece before processing set in the processing
machine.
Air balancer
SXYx
POINT POINT
1. Three dimensional application using 3 axes Cartesian robot. 1. Z axis moving type: The heavy workpiece is cancelled by the air balancer
Cartesian robot incorporated with special purpose machine. and moved up and down.
99
Assembler & tester base machine Dual-drive transport between processes
(Simultaneous operation at upper and lower levels)
■ Uses dual-drive to convey large and heavy
■ Tester (upper and lower probes, camera with lighting) . workpieces
■ Precision spot welding machine.
■ Simultaneous assembly at upper and lower levels Web site
(caulking parts, screw tightening) .

APPLICATION
POINT
POINT 1. Dual-drive allows synchronized operation of two single-axis robots of the
same type.
1. Simultaneous control of 2 Cartesian robots. 2. Using dual-drive even allows conveying heavy items or large size parts
2. Levelness of upper and lower robots assured (custom specification) . and products.
3. Enhanced acceleration also helps cut tact time.
Part assembly machine Application example of combination with

auxiliary single-axis
■ Automotive clutch assembly
■ Efficient alternate assembly of two different parts ■ Cartesian robot and single-axis robot are
controlled with one controller.
Web site
Web site
POINT POINT
1. Double-arm ensures a short tact time along with a space-saving footprint. 1. Multiple robots can be controlled simultaneously with one controller.
2. Double-arm specifications selectable as standard feature. Up to 8 axes of maximum 2 groups can be expanded.
3. Y axis and Z axis strokes are selectable separately for left and right. 2. As multiple robots are controlled with one controller, the linking can be
(Special orders available) performed without using the I/O of the PLC or between the controllers.
4. Nut rotation type X axis supports long stroke and also maintains Therefore, there are merits that the number of control program creation
maximum speed. steps is reduced to shorten the equipment startup time and reduce the
labor cost.
Part pick and place Application example of long-stroke and dual-drive

■ Pick and place of parts from index ■ Long-stroke axis is combined with Cartesian
axis using the dual-drive control.
Web site Web site
POINT POINT
1. Vision system recognizes parts on index, and robot extracts and sorts the 1. As the dual drive (simultaneous 2 axes) control is applied, a Y-axis long-
parts. stroke of up to 2m can be supported. This is applicable to long-distance
2. Vision system identifies the type and position and directs robot to transfer and heavy workpiece transfer specifications.
operating position. 2. As the vertical axis is combined, this can be applied to the inspection with
3. Robot shifts not only to pre-instructed teaching position but also to any large LCD glass panels arranged vertically.
position based on data sent from external device. 3. According to required repeated accuracy, YAMAHA proposes optimal
4. Fieldbus to communicate with controller is selectable from RS-232C, combination mechanism and control method.
Ethernet or CC-Link.
100
YAMAHA SCARA ROBOT Tall work pieces conveying and stacking machine
■ Tall workpieces stacked by utilizing long Z axis.
YK-X
Series
APPLICATION
POINT
1. Z-axis long stroke is also accepted as special order.
If a stroke longer than the standard stroke shown below is needed,
consult YAMAHA.
P.369 Standard Z-axis stroke
[YK120XG to YK180XG]....... 50mm [YK180X to YK220X]......... 100mm
[YK250XG to YK600XGL]..... 150mm [YK500XG to YK600XG]... 200mm/300mm
[YK600XGH to YK1000XG]... 200mm/400mm [YK1200X]......................... 400mm
2. SCARA robot is used by utilizing its advantages, such as X/Y-axis speed
and space saving installation.
Finished product inspection, touch-panel
type evaluation machine Assembly cell (independent cell)
■ Finished product function test. ■ Base machine of independent type assembly cell.
■ Developed software evaluation.
■ Push-button type quality check.
Hand change unit Work jig unit

Image processor
Part supply unit
YK150XG
PDA
POINT POINT
1. Supports a variety of systems in a product lineup that is top class in its 1. Optimum for multi type variable quantity production.
field with arm lengths from 120mm to 1200mm. 2. Setting up reception places forms a construction of multiple number of
2. Space saving. cells.
3. Using SCARA, judgment is made through image processing by pushing
each button.
Conveying masks for wafers Assembly cell (line cell)

■ Replacing wafer mask from the stocker. ■ Base machine of line type assembly cell.
Discharge Discharge Part feeder
Wall mounting
Clean environment
(Class 10)
Assembly
Mask Mask Mask Mask pallet
Part supply pallet

Side view Top view
POINT POINT
1. Drive section installed beneath work pieces has clean specs + inverted 1. Utilization of advantages of SCARA with a wide operation range.
structure. 2. Form a line to any length by coupling these cells together.
2. If the cylindrical coordinate type robot is used, a running axis is necessary
for this application. However, if SCARA with the interpolation function is
used, the fixed type is usable.
101
Assembly cell
(Handling unit for special purpose tester) YAMAHA PICK & PLACE ROBOTS
■ When placed between 2 turn tables, handling of both

tables is possible.
Special purpose tester
YP-X
Series
APPLICATION
Test stage
Assembly stage
POINT
1. Utilization of advantages of SCARA which has a wide operation range. P.429
Inter-process transport
Precision part assembler (1)
■ Conveys large and heavy workpieces
■ Assembly of small size precision parts.
Web site
POINT
1. Built-in structure with no timing belt achieves high allowable moment-of-
inertia on R axis.
2. High allowable moment-of-inertia on R axis permits using large hand on
robot. So more workpieces can be conveyed per one time which makes
operation more efficient.
3. R axis can be driven at high acceleration during low moment-of-inertia.
This shortens the tact time. POINT
4. Uses a harmonic gear as XYR axis speed reducers.
1. High speed assembly.
No periodic greasing is required due to sealed grease.
2. Narrow machine width, and settable with a tiny pitch.
Note: Available for YK500XG to YK1000XG.
Inter-process transport with inverse

specifications applied Precision part assembler (2)
■ Workpiece inter-process transport with inverse ■ Assembly of small size precision parts.
specifications applied
Web site
POINT
1. As the inverse specifications are applied, the workpieces can be held
from the lower portion to prevent foreign objects from dropping onto
workpieces being transported.
2. The performance of the robot mechanical section is similar to the
standard specifications. The high performance of the YK-XG series can
be utilized.
3. YAMAHA SCARA robot can select three installation patterns, standard POINT
floor installation, wall-mount, inverse specifications (Note). YAMAHA
proposes various ideas about equipment design. 1. Speed increased even more when used in combination with a rotary
Note. If the robot with the standard specifications, normal ceiling-mount specifications, or table.
wall-mount specifications is installed upside down, this may cause a malfunction.
When considering the installation like this, be sure to use the robot with the
dedicated inverse specifications (YK-XS-U).
102
YAMAHA ROBOT VISION Screw tightening work with SCARA robot
■ Screw tightening work with the
SCARA robot is improved using
the iVY system.
iVY/iVY2
Web site
System
APPLICATION
POINT
1. As the position detection function using the iVY system is added, the
robot is applicable to various conditions.
For example, if the screw hole position varies, the workpiece position
on the conveyor is not constant, or various workpieces are supplied, the
iVY P.574 / iVY2 P.578 robot can be installed easily.
2. Use of iVY system makes it possible to perform the calibration using
system operation. As the teaching steps can be reduced, the equipment
startup time is shortened and labor cost can be reduced.
Small part palletizing Pick & place work

■ Assemble a sorting pallet for the automated machine in ■ Component pick & place work is improved using
the next process. iVY system.
Web site
CCD camera Supply vibrator hopper
Palletizing robot
Supply
conveyor
Recovery conveyor
POINT
Recovery conveyor 1. As the position detection function using the iVY system is added,
components on soft pallets or pallets with low accuracy can be gripped
Palettes
correctly.
2. Therefore, merits are provided that the pallet manufacture cost is
reduced, positioning mechanism is simplified, and equipment cost is
POINT reduced.
3. Two camera input channels are provided on one controller.
4. The camera can be incorporated into the robot or secured outside the
robot.
Simple calibration work can be performed under either of the conditions.
Loading parts into assembler machine Sealing correction

■ Loads unsorted parts or components into automated ■ Sealing tasks for placing gaskets or applying
equipment. adhesives in parts
■ Coating trajectory correction using iVY system
Transfer-Assembly stage Web site
CCD camera
Supply conveyor
Screw tightener stage
Part 2 supply stage
Assembly turntable
Part 1 supply stage
CCD camera
Finished part
extractor conveyor Supply
conveyor
POINT POINT
1. Use of iVY system makes corrections to Cartesian robot sealing tasks.
2. iVY system detects deviations and tilting even if workpiece strayed from
its main position, and automatically corrects the coating trajectory.
3. Maintains high coating quality even during low positioning accuracy on
component side.
103
Labeling device
■ Affixing labels to food packages
APPLICATION
POINT
1. Even if the incoming workpieces are irregularly spaced or positioned,
labels can be affixed at the same position.
Screw attachment position detection

■ Television panel screw attachment
POINT
1. Hole position is detected, and screws are fastened accurately.
Position compensation with upward-facing camera

■ Installing irregularly-shaped parts on a circuit board
POINT
1. The roughly-positioned circuit board connector is picked up, the
upward-facing camera is used to apply position compensation, and the
part is mounted directly on the circuit board.
104
Officially discontinued models and service period Models listed in the current model column are equivalent
items. Since these might not be compatible in some cases,
please contact Yamaha if you are considering replacement.
E-MAIL robotn@yamaha-motor.co.jp
Single-axis robots
Series Model Sale discontinued time Service period Current model (equivalent)
YMS45
Dec. 2013 Dec. 2020 -
YMS55
T4 T4L
T4H T4LH
T5 T5L
T5H T5LH
T6 T6L
Dec. 2012 Dec. 2019
C4 C4L
C4H C4LH
C5 C5L
C5H C5LH
C6 C6L
T7 Dec. 2009 Dec. 2016 -
FLIP-X F17 (Former model) Sep. 2002 Sep. 2009 F17 (Latter model)
F17 (Latter model) - - On sale
F20 (Former model) Sep. 2002 Sep. 2009 F20 (Latter model)
T9 (Former model) Oct. 2001 Oct. 2008 T9 (Latter model)
T9 (Latter model) - - On sale
T9H (Former model) Oct. 2001 Oct. 2008 T9H (Latter model)
T9H (Latter model) - - On sale
F10 (Former model) Oct. 2001 Oct. 2008 F10 (Latter model)
OFFICIALLY DISCONTINUED MODELS AND SERVICE PERIOD

F14 (Former model) Oct. 2001 Oct. 2008 F14 (Latter model)
F14H (Former model) Oct. 2001 Oct. 2008 F14H (Latter model)
F14H (Latter model) - - On sale
MR16/16D
MF15/15D
MR16H/16HD
Dec. 2011 Dec. 2018
MR20/20D MF20/20D
PHASER
MR25/25D MF30/30D
MF50/50D
Mar. 2011 Mar. 2018 MF75
MF100/100D
T4P
Pico Dec. 2009 Dec. 2016 -
T5P
FSt F10
BFSt B10
LTt T9
LSt F14
BLSt B14
LRt -
LTHt T9H
LSHt F14H
BLSHt B14H
FLIPt Jan. 2002 Jan. 2009
MSt F17
HSt F20
HSLt F20N
BHS -
FROP-Ft R5
FROP-St R10
FROP-Mt R20
TR -
FTt -
BPS
Economy Type PS Jan. 2002 Jan. 2009 -
BSt
BFSA B10
BLSA B14
BSA -
FROP-FA R5
FROP-HA -
FLIP AC FROP-MA Jul. 1998 Jul. 2005 R20
FSA F10
FTA -
HSA F20
HSC C20
HSLA F20N
Continues on next page
105
Single-axis robots (continued)
LRA -
LSA F14
LTA T9
FLIP AC Jul. 1998 Jul. 2005
MS -
MSA F17
MTA T9H
BFS B10
BLSII B14
BS -
FROP-F R5
FROP-M R20
FROP-H -
FS F10
FT
FLIP DC Jul. 1998 Jul. 2005
FTB
HS -
HSL
LR
LS/LSII/LSB/LSI F14
LT/LTB/LTI T9
MS F17
MT T9H
Cartesian robots
MXYX 3 axis ZF MXYX 3 axis ZFL/ZFH
MXYX 4 axis ZRF Jan. 2005 Jan. 2012 MXYX 4 axis ZRFL/ZRFH
MXYX pole type ZPM MXYX pole type
TXYX Mar. 2004 Mar. 2011 PXYX
SXYX (Former model) Oct. 2001 Oct. 2008 SXYX (Latter model)
XY-X
SXYX (Latter model) - - On sale
MXYX (Former model) Oct. 2001 Oct. 2008 MXYX (Latter model)
MXYX (Latter model) - - On sale
HXYX (Former model) Sep. 2002 Sep. 2009 HXYX (Latter model)
HXYX (Latter model) - - On sale
FXYt FXYBX
SXYt-C
SXYX
SXYt-S
SXYLt SXYBX
XYt MXYt-C Jan. 2002 Jan. 2009
MXYX
MXYt-S
HXYt-C
HXYX
HXYt-S
HXYLt HXYLX
SXYA SXYX
SXYLA SXYBX
XY AC MXYA Jan. 1999 Jan. 2006 MXYX
HXYA HXYX
HXYLA HXYLX
FXY
-
FXYL
SXY Jan. 1999 Jan. 2006
SXYX
XY DC SXYI
SXYL -
MXY
Oct. 1995 Oct. 2002 -
MXYL
Pick & place robots

YP YPX220 Apr. 2001 Apr. 2008 YP220BX
YP320A YP320X
YP AC YP340A Apr. 2001 Apr. 2008 YP340X
YP330A YP330X
YPS21 Jul. 1998 Jul. 2005 -
YP340 YP340X
YP DC
YP330 May 1996 May 2003
YP320X
YP320
106
SCARA robot s
YK500XP YK500XGP
YK600XP YK600XGP
YK700XP Dec. 2013 Dec. 2020 YK700XGP
YK800XP YK800XGP
YK-XP
YK1000XP YK1000XGP
YK250XP YK250XGP
YK350XP Dec. 2012 Dec. 2019 YK350XGP
YK400XP YK400XGP
YK250XC(H) YK250XGC
YK-XC YK350XC(H) Dec. 2012 Dec. 2019 YK350XGC
YK400XC(H) YK400XGC
YK300XHS YK300XGS
YK400XHS YK400XGS
YK500XS YK500XGS
YK-XS YK600XS Dec. 2012 Dec. 2019 YK600XGS
YK700XS YK700XGS
YK800XS YK800XGS
YK1000XS YK1000XGS
YK250X(H) YK250XG
YK350X(H) Dec. 2012 Dec. 2019 YK350XG
YK400XH YK400XG
YK550X(H) Dec. 2009 Dec. 2016 -
YK120X YK120XG
YK150X YK150XG
YK-X
YK400X YK400XG
YK500X YK500XG

Dec. 2008 Dec. 2015
YK600X YK600XG
YK700X YK700XG
YK800X YK800XG
YK1000X YK1000XG
YK550H Mar. 2003 Mar. 2010 YK550X(H)
YK420A-I/420ALZ-I/440A-I YK400XG
YK540A-I/541A-I
YK500XG
YK520A-I
YK640A-I/641A-I
YK600XG
YK620A-I
YK AC
YK740A-I/741A-I
(SANYO motor model) Mar. 2001 Mar. 2008 YK700XG
YK720A-I
YK840A-I/841A-I
YK800XG
YK820A-I
YK1041A-I YK1000XG
YK1043A-I -
YK1243A-1 YK1200X
YK420A/420ALZ/440A YK400XG
YK520A/540A/541A YK500XG
YK620A/640A/641A YK600XG
YK AC
YK720A/740A/741A YK700XG
(YASUKAWA motor Dec. 1995 Dec. 2002
YK820A/840A/841A YK800XG
model)
YK1041A YK1000XG
YK1043A -
YK1243A YK1200X
YK5020/5021
Replacement unavailable
YK7011/7012/7022
YK4000/4000LZ/4040
YK400XG
YK420/420LZ/440
YK520/540/541 YK500XG
YK DC May 1997 May 2004
YK620/640/641 YK600XG
YK720/740/741 YK700XG
YK820/840/841 YK800XG
YK1041 YK1000XG
YK1200 YK1200X
YK5012
CAME YK8050 Mar. 1990 Mar. 1997 -
YK8080
Software
Model Usage Sale discontinued time Current model (equivalent)
POPCOM ERC series / SRC series / DRC series / SR1 series Jul. 2013 POPCOM +
VIP For multi-axis controller Dec. 2009 VIP+
YPB-Win Pico series Dec. 2009 -
107
Controllers
Replacing models for Current model
Model Sale discontinued time Service period Service availability maintenance (equivalent)
RDX/RDP Aug. 2015 Aug. 2022 Being continued RDV-X/RDV-P RDV-X/RDV-P
TS-S Sep. 2013 Sep. 2020 Being continued TS-S2 TS-S2
DRCX Dec. 2012 Dec. 2019 Being continued - -
ERCX Jul. 2011 Jul. 2018 Being continued - -
SRCP30 Mar. 2011 Mar. 2018 Being continued - -
Replacement
PRC Dec. 2009 Dec. 2016 Already discontinued No current model
unavailable
RCX141
RCX240 RCX240
RCX142
Dec. 2008 Dec. 2015 Already discontinued
Replacement
RCX142-T No current model
unavailable
SRCX SR1-X SR1-X
SR1-P SR1-P
SRCP05/10/20
RDP RDP
Apr. 2008 Apr. 2015 Already discontinued
SR1-X SR1-X
SRCD
RDX RDX
TRCX RCX240 RCX240 Note. 2
RCX40 Oct. 2005 Oct. 2012 Already discontinued RCX240 RCX240
QRCX RCX240
Mar. 2002 Mar. 2009 Already discontinued RCX240
QRCX-E RCX240-E
SRCH SR1-X
DRCH Replacement RCX222
Jan. 2002 Jan. 2009 Already discontinued
TRCH3 unavailable
RCX240
TRCH4
Replacement
DRC-R Apr. 2001 Apr. 2008 Already discontinued No current model
unavailable
QRCH
QRCH-E RCX240
Replacement
QRCH-P Mar. 2001 Mar. 2008 Already discontinued
unavailable
MRCH No current model Note. 1
MRCH-E No current model Note. 1
SRCA (Latter model) SR1-X
Replacement
DRCA (Latter model) Oct. 1999 Oct. 2006 Already discontinued RCX222
unavailable
ERC SR1-X
Replacement
MRCA Nov. 1997 Nov. 2004 Already discontinued No current model Note. 1
unavailable
DRC RCX222
Replacement
SRC-1 Sep. 1997 Sep. 2004 Already discontinued
unavailable SR1-X
SRC-2
QRC Replacement
May 1997 May 2004 Already discontinued RCX240
QRCA unavailable
SRC-3
SRC-4 SR1-X
SRCA (Former model) Replacement
Dec. 1995 Dec. 2002 Already discontinued
DRCA (Former model) unavailable RCX222
MRCA
RCX240
MRC
RCH20 RCX240
Replacement
SRC2A Mar. 1994 Mar. 2001 Already discontinued
unavailable SR1-X
SRC4A
RCH40 Replacement
Mar. 1992 Mar. 1999 Already discontinued RCX240
RCH41 unavailable
RCS40
Replacement RCX240
RCS41 Mar. 1990 Mar. 1997 Already discontinued
unavailable
LP SR1-X
If a replacing model for maintenance is available, it can be used as a set including the controller and the cable for conversion.
When replacing with the current model, it is necessary to replace the robot and the controller as a set.
Note 1. Replacement with the current model is possible under certain conditions.
Note 2. Depending on specifications, replacement with the current model may not be possible.
Programming box
Current model
Model Sale discontinued time Service period Service availability (equivalent)
TP-2 Dec. 2009 Dec. 2016 Already discontinued -
MPB Jan. 2009 Jan. 2016 Already discontinued RPB Note
TP-1 Oct. 2005 Oct. 2012 Already discontinued TP-2
TPB Jun. 2005 Jun. 2012 Already discontinued HPB
DPB Jan. 1999 Jan. 2006 Already discontinued HPB
YPU20 Mar. 1994 Mar. 2001 Already discontinued -
SPB-2 Aug. 1992 Aug. 1999 Already discontinued -
YPU1 -
YPU2 Mar. 1992 Mar. 1999 Already discontinued -
YPU3 -
SPB Jan. 1990 Jan. 1997 Already discontinued -
Note. Customers using the RCX40/RCX141/RCX142 controllers will use a connector adaptor cable.
108
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
ARTICULATED ROBOTS
YA
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
SERIES
YK-X
SCARA
robots
CONTENTS
Pick & place

YP-X
robots
■■YA SERIES MANIPULATOR
SPECIFICATIONS···················110
6-axis
CLEAN
YA-RJ······················································111
YA-R3F··················································· 112
YA-R5F··················································· 113
YA-R5LF················································· 114
YA-R6F··················································· 115
7-axis
YA-U5F··················································· 116
YA-U10F··················································117
YA-U20F················································· 118
■■YAC100 Specifications··········119
■ Accessories and part options···· 120
Main functions P.8 109

YA SERIES MANIPULATOR SPECIFICATIONS
Articulated robots
YA
6-axis 7-axis
Applications Handling (general) Assembly / Placement

Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
YA-RJ YA-R3F YA-R5F YA-R5LF YA-R6F YA-U5F YA-U10F YA-U20F

Compact
Number of axes 6 6 6 6 6 7 7 7
1 kg
Payload 3 kg 5 kg 5 kg 6 kg 5 kg 10 kg 20 kg
(max. 2 kgNote 2)
Vertical reach 909 mm 804 mm 1193 mm 1560 mm 2486 mm 1007 mm 1203 mm 1498 mm
Single-axis robots
Horizontal reach 545 mm 532 mm 706 mm 895 mm 1422 mm 559 mm 720 mm 910 mm
FLIP-X
Repeatability ±0.03 mm ±0.03 mm ±0.02 mm ±0.03 mm ±0.08 mm ±0.06 mm ±0.1 mm ±0.1 mm

S-axis (turning) -160° to +160° -160° to +160° -170° to +170° -170° to +170° -170° to +170° -180° to +180° -180° to +180° -180° to +180°
L-axis (lower Arm) -90° to +110° -85° to +90° -65° to +150° -65° to +150° -90° to +155° -110° to +110° -110° to +110° -110° to +110°
E-axis (elbow twist) - - - - - -170° to +170° -170° to +170° -170° to +170°
single-axis robots
Range of
PHASER
U-axis (upper arm) -290° to +105° -105° to +260° -136° to +255° -138° to +255° -175° to +250° -90° to +115° -135° to +135° -130° to +130°
Linear motor
Motion
R-axis (wrist roll) -180° to +180° -170° to +170° -190° to +190° -190° to +190° -180° to +180° -180° to +180° -180° to +180° -180° to +180°
B-axis (wrist pich/yaw) -130° to +130° -120° to +120° -135° to +135° -135° to +135° -45° to +225° -110° to +110° -110° to +110° -110° to +110°
T-axis (wrist twist) -360° to +360° -360° to +360° -360° to +360° -360° to +360° -360° to +360° -180° to +180° -180° to +180° -180° to +180°
S-axis (turning) 160°/s 200°/s 376°/s 270°/s 220°/s 200°/s 170°/s 130°/s
L-axis (lower Arm) 130°/s 150°/s 350°/s 280°/s 200°/s 200°/s 170°/s 130°/s
Cartesian
XY-X
robots
E-axis (elbow twist) - - - - - 200°/s 170°/s 170°/s

Maximum
U-axis (upper arm) 200°/s 190°/s 400°/s 300°/s 220°/s 200°/s 170°/s 170°/s
Speed
R-axis (wrist roll) 300°/s 300°/s 450°/s 450°/s 410°/s 200°/s 200°/s 200°/s
B-axis (wrist pich/yaw) 400°/s 300°/s 450°/s 450°/s 410°/s 230°/s 200°/s 200°/s
T-axis (wrist twist) 500°/s 420°/s 720°/s 720°/s 610°/s 350°/s 400°/s 400°/s
YK-X
SCARA
3.33 N.m 5.39 N.m 12 N.m 12 N.m 11.8 N.m 14.7 N.m 31.4 N.m 58.8 N.m
robots
R-axis (wrist roll)

Allowable
B-axis (wrist pich/yaw) 3.33 N.m 5.39 N.m 12 N.m 12 N.m 9.8 N.m 14.7 N.m 31.4 N.m 58.8 N.m
Moment
T-axis (wrist twist) 0.98 N.m 2.94 N.m 7 N .m 7 N .m 5.9 N.m 7.35 N.m 19.6 N.m 29.4 N.m
Allowable R-axis (wrist roll) 0.058 kg.m2 0.1 kg.m2 0.30 kg.m2 0.30 kg.m2 0.27 kg.m2 0.45 kg.m2 1.0 kg.m2 4.0 kg.m2
Inertia B-axis (wrist pich/yaw) 0.058 kg.m2 0.1 kg.m2 0.30 kg.m2 0.30 kg.m2 0.27 kg.m2 0.45 kg.m2 1.0 kg.m2 4.0 kg.m2
Pick & place
YP-X
(GD2/4) 0.005 kg.m2 0.03 kg.m2 0.1 kg.m2 0.1 kg.m2 0.06 kg.m2 0.11 kg.m2 0.4 kg.m2 2.0 kg.m2
robots
T-axis (wrist twist)

Mass 15 kg 27 kg 27 kg 29 kg 130 kg 30 kg 60 kg 120 kg
Power RequirementsNote 1 0.5 kVA 0.5 kVA 1.0 kVA 1.0 kVA 1.0 kVA 1.0 kVA 1.0 kVA 1.5 kVA
Detailed info page P.111 P.112 P.113 P.114 P.115 P.116 P.117 P.118
CLEAN
Note 1. Varies in accordance with applications and motion patterns.

Note 2. When a load is more than 1 kg, the motion range will be smaller. Use the robot within the recommended motion range. For details, refer to the dimensional diagram on P.111.
■ YA series basic system contents

YAP cable
Device cable connector*1 Programming box 8m Standard boards

YAP-J (Japanese)*2
NPN (PNP *3) DIO board
28 I/O each
Optional
extension cable
4m/8m/12m EtherNet board
Option board
Standard power supply cable
4m
NPN (PNP *3) expansion DIO board
28 I/O each Up to four boards
DeviceNetTM board
Optional power supply cable
Master/Slave
10m/15m/20m
YAC100 CC-Link board

Slave
YA series
PROFIBUS board
Slave
Optional PC software Optional functionality
EtherNet/IPTM board
Software pendant Slave
via EtherNet Vision function
(YAP dummy connector is required.)
PROFINET board
External reference Master/Slave
MotoSimEG-VRG for YAMAHA
point control
EtherCAT board
Slave
*1. Differs by model. For details, refer to the page for each model.
Standard Option *2. YAP-E (English) or YAP-C (Chinese) can also be selected. Conveyer synchronization
*3. PNP model is an option. Take care not to mix NPN and PNP for DIO. board
110
YA-RJ
Articulated robots
6-axis
YA
Maximum payload 2 kg Longest Reach R545 mm
Linear conveyor
Ordering method
LCM100
modules
YA-RJ –
4L –
YAC100 – – – –
Model – Power cable length – Controller – Safety standard – Language setting – Option I/O – Network option
4L: 4m N: Normal JE: Japanese/English N, P: Standard I/O 28/28 No entry : None
TRANSERVO
single-axis robots
E: CE marking JC: Japanese/Chinese N1, P1: 56/56 points CC: CC-Link
EJ: English/Japanese N2, P2: 84/84 points DM: DeviceNet master
Compact
EC: English/Chinese N3, P3: 112/112 points DS: DeviceNet slave
N4, P4: 140/140 points PB: PROFIBUS
EP: EtherNet/IPTM
PM: Profinet master
PT: Profinet slave
ES: EtherCAT slave
Single-axis robots
FLIP-X
Note. This unit is ideal for small tabletop devices or for education.
Note. The ultra-light, compact YA-RJ features portability and easy installation for simplified system integration.
Note. Each axis uses a motor of 80 W or less.
Note. This unit can also be used in combination with a travel axis or other external axis. Please contact us.
single-axis robots
Specifications
PHASER
Linear motor
Controlled Axis 6 R-axis (wrist roll) 3.33 N.m
Allowable
Payload 1 kg (max. 2 kgNote 1) B-axis (wrist pich/yaw) 3.33 N.m
Moment
Repeatability ±0.03 mm T-axis (wrist twist) 0.98 N.m
S-axis (turning) -160° to +160° Allowable R-axis (wrist roll) 0.058 kg.m2
L-axis (lower Arm) -90° to +110° Inertia B-axis (wrist pich/yaw) 0.058 kg.m2
Cartesian
(GD2/4)
XY-X
0.005 kg.m2
robots
Range of U-axis (upper arm) -290° to +105° T-axis (wrist twist)
Motion R-axis (wrist roll) -180° to +180° Mass 15 kg
B-axis (wrist pich/yaw) -130° to +130° Ambient Temperature During operation: 0 to +40˚C, During storage: -10 to +60˚C
T-axis (wrist twist) -360° to +360° Relative Humidity 90% max. (non-condensing)
Axis with brakeNote 2 L-axis, U-axis Ambient Vibration Acceleration 4.9 m/s2 or less
S-axis (turning) 2.79 rad/s, 160°/s Conditions • Free from corrosive gasses or liquids, or
YK-X
SCARA
robots
explosive gasses
L-axis (lower Arm) 2.27 rad/s, 130°/s Others
• Free from exposure to water, oil, or dust
Maximum U-axis (upper arm) 3.49 rad/s, 200°/s • Free from excessive electrical noise (plasma)
Speed R-axis (wrist roll) 5.23 rad/s, 300°/s Power RequirementsNote 3 0.5 kVA
B-axis (wrist pich/yaw) 6.98 rad/s, 400°/s Note 1. When a load is more than 1 kg, the motion range will be smaller. Use the robot
T-axis (wrist twist) 8.72 rad/s, 500°/s within the recommended motion range. (See diagrams below)
Pick & place

YP-X
Note 2. The S-, R-, B-, and T-axes do not have any brakes. Make sure that the operation
robots
does not require brakes.
Note. SI units are used for specifications.
YA-RJ
CLEAN
Units: mm : P-point Maximum Envelop
2-ф5H7 Depth 7
4-M5×P0.8
Depth 9
P.C.D
6 (fitting depth)
5 .2
ф10H7
45°
Base side
The cable that fits with the device's
R54 cable connector is an optional item.
5
R5 12.5±0.02 12.5±0.02 Please purchase it separately.
00
P-point maximum envelop for 1-kg load <Part number> KEM-M4870-00
View A
9
P-point maximum envelop for 2-kg load

R20
Air inlet Tapped holes M5

Pitch:0.8mm with pipe plug
545 270 63 90 90
(Holes on diameter line)
D 76 76
55
U-axis R-axis B-axis 2-ф6H7 (Reference hole)

A 25° 30°
60
View C
90
T-axis
545
ф1
Air inlet Tapped holes M5

80±0.1
60°
L-axis P-Point Pitch:0.8mm with pipe plug

275
11
234
209
0° 0
160±0.2
°
29
°
90
185
63 92.5
°
°
05
60
S-axis 1
364
240
270
C
55° 5-ф9
Arm side
168 View B
B The cable that fits with the device's
183 209 P-point maximum envelop for 1-kg load cable connector is an optional item.
500 500 Please purchase it separately.
<Part number> KEM-M4870-10
273 545
P-point maximum envelop for 2-kg load View D
Controller YAC100 u 119 111

YA-R3F
Articulated robots
6-axis
YA

Linear conveyor
Ordering method
LCM100
modules
YA-R3F –
4L –
YAC100 – – – –
TRANSERVO
single-axis robots

Compact

EP: EtherNet/IPTM
PM: Profinet master
PT: Profinet slave
ES: EtherCAT slave
Single-axis robots
FLIP-X
Note. The YA-R3F, a compact manipulator with a motor of 80 W or less mounted on all axes, requires minimal space (baseplate: 240 mm × 170 mm). No fence is required for robot’s
working area. The robot can be used in applications such as automated guided vehicles (AGVs), testing equipment, and educational tools.
Note. Standard models include four air hoses (diameter: 4 mm), and an internal user I/O wiring harness (0.2 mm 2 × 10) running through the U-arm. This structure simplifies wiring
and tubing for easier system construction.
Note. Floor-mounted, wall-mounted, and ceiling-mounted types are available. Please contact us separately regarding wall-mounted or ceiling-mounted installations.
single-axis robots
Specifications
PHASER
Linear motor

Allowable
Payload 3 kg B-axis (wrist pich/yaw) 5.39 N.m
Moment
S-axis (turning) -160° to +160° Note 1 Allowable R-axis (wrist roll) 0.1 kg.m2
Cartesian
XY-X
(GD2/4) 0.03 kg.m2

robots

B-axis (wrist pich/yaw) -120° to +120° Temperature 0 to +40˚C
T-axis (wrist twist) -360° to +360° Humidity 20 to 80%RH (non-condensing)
S-axis (turning) 3.49 rad/s, 200°/s Ambient Vibration 4.9 m/s2 or less
L-axis (lower Arm) 2.62 rad/s, 150°/s Conditions • Free from corrosive gasses or liquids, or
YK-X
SCARA
robots
explosive gasses
Maximum U-axis (upper arm) 3.32 rad/s, 190°/s Others
Speed R-axis (wrist roll) 5.24 rad/s, 300°/s • Free from excessive electrical noise (plasma)
B-axis (wrist pich/yaw) 5.24 rad/s, 300°/s Power RequirementsNote 2 0.5 kVA
T-axis (wrist twist) 7.33 rad/s, 420°/s Note 1. For wall-mounted installation, the S-axis operating range is ±25°.
Pick & place
YP-X

robots
YA-R3F
CLEAN
160° 3-M8×P1.25
Depth 16 155 88±0.1
ф6H7
18 37 50±0.1
5 (fitting depth) 50
ф40h6
ф20H6
45°
78±0.1
50
.31.5
80
P.C.D
145
150
170
5 (fitting depth)
88±0.1
R53
2
4
R10 160° 4-M5×P0.8 Depth 9 150
R1
4-ф9 (Mounting Holes)

88
ф5H7 Depth 7 170
View A View B
531 372 229 40 0 188 532

270 90
822
79
4 Air inlets
57
R D 583
U B Tapped hole M5 (4 places)
with pipe plug Arm side
A The cable that fits with the device's
30
cable connector is an optional item.

T
Please purchase it separately.
474 <Part number> KEM-M4874-00
260
°
55
0° 85 L 4 Exhaust ports
90
26 P-Point
659
Tapped hole M5 (4places)

with pipe plug
Base side
189
193
105° cable connector is an optional item.
290
133
C S 47 Please purchase it separately.
74
42 21 18
0
0 B View C View D
(Note 2)
389
337
276
158
204
219
381
(Note 1)
0
Note 1. Motion range of point P when the S-axis is between -40° to +40°.
Note 2. Motion range of point P when the S-axis is between -125° to -160° or +125° to +160°.
112 Controller YAC100 u 119

YA-R5F
Articulated robots
6-axis
YA
Linear conveyor
Ordering method
LCM100
modules
YA-R5F –
4L –
YAC100 – – – –
TRANSERVO
single-axis robots
Compact
EP: EtherNet/IPTM
PM: Profinet master
PT: Profinet slave
ES: EtherCAT slave
Single-axis robots
FLIP-X
Note. Thanks to the higher control rate of the YAC100 controller and vibration-damping control of the arm, we have reduced the residual vibration when the arm stops moving, while
shortening the cycle time and achieving the fastest speed in this class.
Note. Longest reach in a respective class (706 mm)
single-axis robots
Specifications
PHASER
Linear motor
Controlled Axis 6 R-axis (wrist roll) 12 N.m
Allowable
Payload 5 kg B-axis (wrist pich/yaw) 12 N.m
Moment
Repeatability ±0.02 mm T-axis (wrist twist) 7 N .m
Cartesian
(GD2/4)
XY-X
0.1 kg.m2
robots
YK-X
SCARA
robots
explosive gasses
Pick & place

YP-X
robots
YA-R5F
Base side
CLEAN
4-M4×P0.7 Depth 8 The cable that fits with the device's cable connector is
4-M8×P1.25 170° an optional item. Please purchase it separately.
Depth 16 423 <Part number> KEM-M4873-10 (Two connectors)
2-M4×P0.7 Depth 8
298
110
4-M5×P0.8 Depth 9
70 55
45°
25
P.C
40
.D.31
.5
87
Air inlet
ф12H7
Tapped holes PT1/4

R7
35
06 (with pipe plug)

R2
ф5H7 Depth 7 View B

170° 5 (fitting depth)
60±0.1 66±0.1
View A 2-ф6H7
501
277
233
235
706
114
15
0
100±0.1
92±0.1
88 305 80
947
138
160
194
D
85±0.1
92±0.1
109 109
60
U B
A 688
160 4-ф12 (Mounting Holes)
40
R T ф12H7 194
° P-Point 105 100±0.1
65
310
L 474 View C
150°
Arm side
37°
°
740
255
The cable that fits with the device's cable connector is

an optional item. Please purchase it separately.
<Part number> KEM-M4874-10 (Two connectors)
239
330
156
B
4BC
S
0 3BC
°
C 136 AIR1 AIR2
178
51
2×Air inlet Tapped hole PT1/4

0
203
243
246 (with pipe plug)

View D

YA-R5LF
Articulated robots
6-axis
YA

Linear conveyor
Ordering method
LCM100
modules
YA-R5LF –
4L –
YAC100 – – – –
TRANSERVO
single-axis robots

Compact

EP: EtherNet/IPTM
PM: Profinet master
PT: Profinet slave
ES: EtherCAT slave
Single-axis robots
FLIP-X
Note. Longest reach in a respective class (895 mm)
single-axis robots
Specifications
PHASER
Linear motor
Controlled Axis 6 R-axis (wrist roll) 12 N.m

Allowable
Payload 5 kg B-axis (wrist pich/yaw) 12 N.m
Moment
Repeatability ±0.03 mm T-axis (wrist twist) 7 N .m
Cartesian
XY-X
(GD2/4) 0.1 kg.m2

robots

YK-X
SCARA
robots
explosive gasses
Pick & place
YP-X

robots
YA-R5LF
523 4-M8×P1.25 Depth 16

CLEAN
Base side
° 398 The cable that fits with the device's cable connector is
170 2-M4×P0.7 Depth 8 an optional item. Please purchase it separately.
70 55
4-M5×P0.8 Depth 9
45°
P.C
.D.31 3BC 4BC
.5
AIR1
AIR2
87
2BC
25
40
1BC
110
ф12H7
67
R2 4-M4×P0.7 R89 Air inlet
5 Tapped holes PT1/4
Depth 8 ф5H7 Depth 7
170° 5 (fitting depth) (with pipe plug)
View B
681
400
341
132
267
895
View A
9
0
60±0.1 66±0.1 2-ф6H7

1137
100±0.1
92±0.1
88 405 D 80
109 109
60
194
160
138
U 808
A
85±0.1
92±0.1
40
R B T
160
° ф12H7 4-ф12 (Mounting Holes)
65 P-Point
194
15
400
0°
L 503 105 100±0.1

830
32°
View C
255°
Arm side
B 198 an optional item. Please purchase it separately.
330

S 98
0
C 4BC
°
138
3BC
0
14
209
288
AIR1 AIR2
317
2×Air inlet Tapped hole PT1/4
423 (with pipe plug)
View D

YA-R6F
Articulated robots
6-axis
YA
Linear conveyor
Ordering method
LCM100
modules
YA-R6F –
4L –
YAC100 – – – –
TRANSERVO
single-axis robots
Compact
EP: EtherNet/IPTM
PM: Profinet master
PT: Profinet slave
ES: EtherCAT slave
Single-axis robots
FLIP-X
Note. Longest reach in its class (1422 mm) and increased moment capacity of the wrist.
single-axis robots
Specifications
PHASER
Linear motor
Allowable
Moment
Cartesian
(GD2/4)
XY-X
0.06 kg.m2
robots
YK-X
SCARA
robots
explosive gasses
Pick & place

YP-X
robots
YA-R6F
2
170˚ 142
CLEAN
R
6
Air inlet PT3/8

with pipe plug (A)
ф25H7
6
130
ф50h6 Air inlet PT3/8

with pipe plug (B)
81 R2
R3 70 45˚ 1BC
2BC
170˚
3BC
4-M6×P1.0
Depth 9
Arm side
Base side
The cable that fits with the device's P.C
cable connector is an optional item. .D The cable that fits with the device's
.40 cable connector is an optional item.
<Part number> KEM-M4870-30 Please purchase it separately.
1422
1122
ф6H7 Depth 6
637
309
152
349
381
0
View A View B
1722
P-Point
150 640 141
75
95
R
B 300
155
T 260
˚
153±0.1
83
U 240 132±0.1
102±0.1
A
60 2-ф16H7
614
4-ф18 (Mounting Holes)

˚
90
188 199
1294
L 681
155˚
260
300
292
60
250˚ 352
450
B
130±0.1
ф12H7
132±0.1
S 0
5
C 102±0.1
204
100±0.1 153±0.1
316
175˚
View C
764
538
501

YA-U5F
Articulated robots
7-axis
YA
Maximum payload 5 kg
Linear conveyor
Ordering method
LCM100
modules
YA-U5F –
4L –
YAC100 – – – –
TRANSERVO
single-axis robots

Compact

EP: EtherNet/IPTM
PM: Profinet master
PT: Profinet slave
ES: EtherCAT slave
Note. High degree of motion like a human arm with its 7-axis arm.
Single-axis robots
Note. The arm has been slimmed by employing a newly developed miniaturized actuator for the wrist section, greatly reducing the interference of the arm with the workpiece.
FLIP-X
Note. The narrowing of the motion range that usually results when downsizing a robot is avoided by an ingenious mechanism used for the arm joints, so maximum range is
maintained.
Note. Light and weighs only 30 kg, so many installation choices are available: floor, ceiling, or wall. Please contact us separately regarding wall-mounted or ceiling-mounted installations.
Note. By utilizing internal user I/O wiring harness and air lines integrated in the arm, layout can be planned offline without worrying about peripheral interference.
(Internal user I/O wiring harness and air lines specifications: two air lines and eight-core cables)
External axis specification for a hand can be accommodated. Contact YAMAHA regarding your requirements.
single-axis robots
Specifications
PHASER
Linear motor

Allowable
Moment
S-axis (turning) -180˚ to +180˚ Allowable R-axis (wrist roll) 0.45 kg.m2
L-axis (lower Arm) -110˚ to +110˚ Inertia B-axis (wrist pich/yaw) 0.45 kg.m2
Cartesian
XY-X
(GD2/4) 0.11 kg.m2

robots
E-axis (elbow twist) -170˚ to +170˚ T-axis (wrist twist)

Range of
U-axis (upper arm) -90˚ to +115˚ Mass 30 kg
Motion
R-axis (wrist roll) -180˚ to +180˚ Power RequirementsNote 1 1.0 kVA
B-axis (wrist pich/yaw) -110˚ to +110˚ Temperature 0 to +40˚C
T-axis (wrist twist) -180˚ to +180˚ Humidity 20 to 80%RH (non-condensing)
S-axis (turning) 3.49 rad/s, 200˚/s Vibration 4.9 m/s2 or less
YK-X
SCARA
Ambient
robots
L-axis (lower Arm) 3.49 rad/s, 200˚/s Conditions • Free from corrosive gasses or liquids, or
explosive gasses
E-axis (elbow twist) 3.49 rad/s, 200˚/s Others
Maximum • Free from exposure to water, oil, or dust
U-axis (upper arm) 3.49 rad/s, 200˚/s • Free from excessive electrical noise (plasma)
Speed
R-axis (wrist roll) 3.49 rad/s, 200˚/s Note 1. Varies in accordance with applications and motion patterns.
B-axis (wrist pich/yaw) 4.01 rad/s, 230˚/s Note. SI units are used for specifications.
Pick & place
YP-X
robots
T-axis (wrist twist) 6.11 rad/s, 350˚/s
YA-U5F
CLEAN
Arm side
Connector an optional item. Please purchase it separately. 4-M6×P1.0 Depth 10
S1 <Part number> KEM-M4870-40
P.C
8.2
559 559
. D.6
Air Tube (2 tubes) 45°

P-point Maximum Envelop
3
(Outside dia.: 4 mm,

Inside dia.: 2.5 mm) (Note 2)
P-Point
AIR-1 (Red), AIR-2 (Blue) 42
85 270 148 220
(Note 1)
ф80h7
A
45
U-axis T
(Note 2)
60
R-axis B-axis 5 (fitting depth) 10

2-ф6H7 Depth 6
ф105
E
ф80
559
270
ф129.5
View A
R144
hole)
4-ф10
694.5
L-axis (Mounting Holes)

(Tolerance shall
be applied only
for 8 dia.+ 0.015
R55 S 2-ф8H7
0
9 11±0.1
97.5±0.1
309.5
448
C
30
Air inlet (2 inlets)

Tapped hole PT3/8
with a pipe plug
215
220
165
B
35
hole)
62.5±0.1
5
118
(Tolerance shall
be applied only
Base side 97.5 46

for 8 dia. + 0.015

0
cable connector is an optional item. 173.5 6

97.5±0.1
165 Please purchase it separately.

View C <Part number> KEM-M4873-30 View B
Note 1. The flange is equipped with a cable through hole. When mounting equipment such as an
attachment, ensure that no foreign liquid, oil, or dust go into hole.
Note 2. A bolt is mounted for T-axis grease replenished. When attaching an attachment to 80 dia.
-0.035/0 part of the T-axis, enough space for the grease zerk (A-MT6X1) is required to
the shape of the attachment.

YA-U10F
Articulated robots
7-axis
YA
Linear conveyor
Ordering method
LCM100
modules
YA-U10F –
4L –
YAC100 – – – –
TRANSERVO
single-axis robots
Compact
EP: EtherNet/IPTM
PM: Profinet master
PT: Profinet slave
ES: EtherCAT slave
Single-axis robots
Note. The high flexibility of motion makes operation possible even in narrow spaces inaccessible to humans.
FLIP-X
Note. Folds to compact size when not in use.
Note. Many installation options: on the floor, on the wall or on the ceiling. Please contact us separately regarding wall-mounted or ceiling-mounted installations.
Note. Optimal for handling small objects.
(Internal user I/O wiring harness and air lines specifications: two air hoses and twelve-core cables)
single-axis robots
Specifications
PHASER
Linear motor
Allowable
Moment
Cartesian
(GD2/4)
XY-X
0.4 kg.m2
robots
Range of
Motion
YK-X
SCARA
Ambient
robots
explosive gasses
Speed
Pick & place

YP-X
robots
YA-U10F
CLEAN
2-ф6H7 Depth 10 8.2 (Note
2)
10.5 (Range where the dimension 80 dia. is available) 4-M6×P1.0 Depth 11
260 Arm side .63
P.C.D
3
Connector Details
(Note 1)
S1-1 an optional item. Please purchase it separately. (ho

posit les for
ф80h6

S1-2 P.C.Dioning)
.61.4
AIR-1 (Red)
78
Air Tube (2 tubes) AIR-2 (Blue) 6

(Outside dia.: 4 mm, Inside dia.: 2.5 mm) 15° 45°
10
6
720 B (Note 2)
T-axis
hole)
P-Point View B
P-point 73 73
155
(Tolerance shall
110
be applied only
Maximum Envelop
°
for 8 dia.+ 0.015
B-axis
110
67.5±0.1
97.5±0.1
4-ф14
R7
20
(Mounting Holes) 2-ф8H7

R-axis
360
84.5 80.5
13
5°
5°
13
76
165
230
225
U-axis
R2
1235
67.5±0.1
hole)
5
E-axis
360
97.5 97.5
(Tolerance shall
be applied only
100 105
for 8 dia.+ 0.015
(34)
110
Air inlet (2 inlets) 225 5

1080
°
0
0
°
11
L-axis Tapped hole PT3/8 (264)

97.5±0.1
636
with a pipe plug View A

360
360
S-axis
135° 135°
ф204
Base side
118
C
123

A <Part number> KEM-M4873-30
165
View C

YA-U20F
Articulated robots
7-axis
YA
Linear conveyor
Ordering method
LCM100
modules
YA-U20F –
4L –
YAC100 – – – –
TRANSERVO
single-axis robots
E: CE marking JC: Japanese/Chinese N1, P1: 56/56points CC: CC-Link

Compact

EP: EtherNet/IPTM
PM: Profinet master
PT: Profinet slave
ES: EtherCAT slave
Single-axis robots
Note. The high flexibility of motion makes operation possible even in narrow spaces inaccessible to humans.
FLIP-X
Note. Folds to compact size when not in use.

Note. Many installation options: on the floor, on the wall or on the ceiling. Please contact us separately regarding wall-mounted or ceiling-mounted installations.
Note. Assembles and handles heavy objects up to 20 kg.
(Internal user I/O wiring harness and air lines specifications: two air hoses and sixteen-core cables)
single-axis robots
Specifications
PHASER
Linear motor

Allowable
Moment
Cartesian
XY-X
(GD2/4) 2.0 kg.m2

robots

Range of
Motion
YK-X
SCARA
Ambient
robots
explosive gasses
Speed
Pick & place
YP-X
robots
YA-U20F
CLEAN
Arm side
Connector Details The cable that fits with the device's
S1-1 10.5 6-M8×P1.25

cable connector is an optional item. (Usable dimension:100 dia.) 2-ф8H7 Depth 10 Depth 12
S1-2 <Part number> KEM-M4870-40
.D.80
Air1 (Red) P.C
260
Air Tube (2 tubes) Air2 (Blue) (Note 2)

5
0
8.2
(Note 1)
ф1
ф100h7
(Outside dia.: 6 mm, Inside dia.: 4 mm)

390 910 B
6 (Note 2)
30°
T-axis
P-point
11
0
Maximum 80 85.5
°
180
110
P-Point Envelop B-axis 6

98 30° 30°
R-axis 3
420
0°
13
104 98 View B
13
0°
Base side
U-axis The cable that fits with the device's 340
2-ф8H7
910

4-ф14 60±0.1
1500
(Mounting Holes)
490

1320
130±0.1
E-axis
120 109.5 Air inlet: Air1
0°
13
13
Tapped hole PT3/8 with a pipe plug

0°
Air inlet: Air2

240
280
L-axis Tapped hole PT3/8 with a pipe plug

268
130±0.1
800
R3
90
410
S-axis 60±0.1
130°
165
130°
C 240
280
178
View C View A
A

Controller for use with the YA series
Articulated robots
YAC100 Specifications
YA
■ YAC100 controller specifications ■ YAP programming pendant specifications
Linear conveyor
LCM100
Configuration Standard: IP20 (open structure)
modules
470 mm (W) × 420 mm (D) × 200 mm (H)
Dimensions (Protrusions are not included.)
Mass 20 kg
TRANSERVO
single-axis robots
Cooling System Direct cooling
Compact
Ambient During operation: 0˚C to +40˚C
Temperature During storage : -10˚C to +60˚C
Relative Humidity 90% max. (non-condensing)
Note Single-phase 200/230 VAC (+10% to -15%), 50/60 Hz
Power Supply
Single-axis robots
Three-phase 200/220 VAC (+10% to -15%), 50/60 Hz
FLIP-X
Grounding Grounding resistance: 100 Ω or less
Specialized signals: 8 inputs and 11 output Dimensions 169 mm (W) × 314.5 mm (H) × 50 mm (D)
Digital l/Os General signals : 16 inputs and 16 outputs
Max. I/O (optional) : 1,024 inputs and 1,024 outputs Mass 0.990 kg
Positioning System By serial encoder
single-axis robots
Material Reinforced plastics
PHASER
Linear motor
Programming JOB: 10,000 steps, 1,000 instructions Select keys, axis keys (8 axes), numerical/application
Capacity CIO ladder: 1,500 steps keys, Mode switch with key (mode: teach, play, and
Expansion Slots MP2000 bus × 5 slots Operation Device remote), emergency stop button, enable switch,
compact flash card interface device (compact flash is
LAN (Connection to 1 (10BASE-T/100BASE-TX) optional.), USB port (1 port)
Host)
640 × 480 pixels color LCD, touch panel
Cartesian
XY-X
Interface RS-232C: 1ch
robots
Display (Alphanumeric characters, Chinese characters,
Control Method Software servo control Japanese letters, Others)
Six axes for robots. Two more axes can be IEC Protection
IP65
Drive Units added as external axes. (Can be installed in the Class
controller.)
Standard: 8 m, 4 m / 8 m / 12 m extension cable
Cable Length
YK-X
Painting Color Munsell notation 5Y7/1 (reference value) (maximum 20 m)
SCARA
robots
Note. YA-R6F: Three-phase only.
■ Optimum controller for handling and assembly
Pick & place

The YAC100 is a compact controller with improved performance and functions optimized for
YP-X
robots
handling and assembly.
● Fits in a 19-inch rack and can be installed under conveyors.
● Commands specifically designed for workpiece handling with synchronized conveyors.
CLEAN
Hardware Options Optional Functions
• External axis (max.: 2 axes) • Conveyor synchronization
• I/O module (28 points, NPN or PNP) • Vision function
• Major fieldbus interface boards DeviceNetTM (master/slave), CC-Link (slave), PROFIBUS (slave), • External reference point control
EtherNet/IPTM (slave, I/O communications), EtherCAT (slave) • Software pendant
■ Regarding the concurrent I/O ladder program

The YAC100 controller is equipped with an NPN (or PNP) for standard I/O. Dedicated input/output is assigned to this standard I/O
board. For this reason, if dedicated input/output is to be assigned to various types of field bus, concurrent I/O ladder program settings
must be made.
Sample programs can be downloaded from our website.Note
http://global.yamaha-motor.com/business/robot/
Note. The member site requires registration.
A robot simulator that implements the same functionality as the actual controller
MotoSim EG-VRG for YAMAHA

Virtual programming before the actual line is completed allows major reduction in line startup time.
■ Modeling layout ■ Intuitive robot operation
Models of workers and workpieces can be easily laid out. The robot's posture can be operated intuitively, allowing
■ Intuitive control of models more efficient teaching.
Models can be moved intuitively, simply by using the mouse. ■ Robot simulation
■ Programming and debugging The robot can be watched as it operates, allowing visual
Automatic generation of robot operating programs, job verification.
editing, and job analysis can be performed easily.
119
YA Series
Articulated robots
YA
Accessories and part options

Linear conveyor
LCM100
modules
YA Series
TRANSERVO
single-axis robots
■ Standard accessories
Compact
YAP programming box (with 8m cable) Parts for the YAC100 controller
Name Model Language Name Model
YAP-J KEN-M5110-0J Japanese Power supply connector KEN-M4871-00
Single-axis robots
YAP-E KEN-M5110-0E English Power supply cable clamp KEN-M4836-00

FLIP-X
YAP-C KEN-M5110-0C Chinese Dummy connector for shorting safety signal KEN-M5370-00
Power supply protection fuse KEN-M5853-00
KBH-M4420-00
Standard I/O connector (STD.IO)
KEN-M4420-00
single-axis robots
PHASER
Linear motor
Power cable (robot cable)

Manipulator name Model Cable length Cable diameter Bending radius
Signal wire ф8.5 mm 85.0 mm
YA-RJ KEM-M4710-40 4m
Power wire ф13.5 mm 140.0 mm
ф17.5 mm
Cartesian
Signal wire 180.0 mm

XY-X
robots
YA-R3F KEM-M4711-40 4m
YA-R5F/R5LF/R6F KEM-M4712-40 4m
YA-U5F/U10F KEM-M4713-40 4m
YK-X
SCARA
ф16.1 mm
robots
Power wire 180.0 mm

YA-U20F KEM-M4714-40 4m
Pick & place
■ Options
YP-X
robots
Power cable (robot cable)

Model
Manipulator name Cable diameter Bending radius
Cable length (10 m) Cable length (15 m) Cable length (20 m)
CLEAN

YA-RJ KEM-M4710-A0 KEM-M4710-F0 KEM-M4710-L0
YA-R3F KEM-M4711-A0 KEM-M4711-F0 KEM-M4711-L0

YA-R5F/R5LF/R6F KEM-M4712-A0 KEM-M4712-F0 KEM-M4712-L0
YA-U5F/U10F KEM-M4713-A0 KEM-M4713-F0 KEM-M4713-L0
YA-U20F KEM-M4714-A0 KEM-M4714-F0 KEM-M4714-L0
Device cable connector (connector for user wiring) Extension cable for YAP (extension cable for programming box)
Manipulator name Part position Model Remarks Name Model Cable length
Base side KEM-M4870-00 KEN-M531F-10 4m
YA-RJ Extension cable for
Arm side KEM-M4870-10 KEN-M531F-20 8m
YAP
Base side KEM-M4873-00 KEN-M531F-30 12 m
YA-R3F
Arm side KEM-M4874-00
Base side KEM-M4873-10 Two Dummy connector for YAP
connectors
YA-R5F/R5LF Name Model
Two
Arm side KEM-M4874-10 YAP dummy connector KEN-M5163-00
connectors
Base side KEM-M4870-20
YA-R6F
Arm side KEM-M4870-30
■ Maintenance parts
Base side KEM-M4873-30
YA-U5F
Arm side KEM-M4870-40 Name Model
Base side KEM-M4873-30 Battery unit for YA-RJ/R3F KEM-M53G3-10
YA-U10F
Arm side KEM-M4870-50 YA-R5F/R5LF/R6F
Base side KEM-M4870-60 KEM-M53G3-00
Battery unit for YA-U5F/U10F/U20F
YA-U20F
Arm side KEM-M4870-40 Battery unit for YAC100 controller KEN-M53G3-00
AC fan motor KEN-M6175-00
120
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
LINEAR CONVEYOR MODULES
LCM100
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
CONTENTS
Pick & place

YP-X
robots
■ LCM100 basic specifications··· 122
■ Static tolerable load of slider··· 122
CLEAN
■■Allowable overhang·············· 122
■■Ordering method·················· 122
■■External view of LCM100····· 123
■■● Accessory parts··············· 126
■ Controller for linear module

LCC140 basic specifications···· 128
■■External view of LCC140······ 128

LCM100 basic specifications
Articulated robots
YA
Linear conveyor
LCM100
modules
Basic specifications of linear conveyor module Basic specifications of belt module

Model LCM100-4M / 3M / 2MT Model LCM100-4B / 3B
Drive method Moving magnet type, Linear motor with flat core Drive method Belt back surface pressing force drive Note 5
TRANSERVO
single-axis robots
Repeat positioning +/-0.015mm (single slider) Note 1 / Bearing method 1 guide rail / 2 blocks (with retainer)
Compact
accuracy width 0.1mm (mutual difference among all sliders) Note 2

Max. speed 560mm/sec
Scale Electromagnetic type / resolution 5μm
Max. payload 14kg
Max. speed 3000mm/sec
Module length 640mm (4B) / 480mm (3B)
Max. acceleration 2G
Note 3 Note 4
Max. number of sliders 1 slider / 1 module
Max. payload 15kg
Single-axis robots
Main unit maximum

FLIP-X
Rated thrust 48N cross-section outside W173.8mm×H155mm (including slider)

Total module length 640mm (4M) / 480mm (3M) / 400mm (for 2MT circulation) dimensions
Max. number of combined modules 16 (total length: 10240 mm) Cable length None
Max. number of sliders 16 (when 16 modules are combined) Controller Dedicated driver (Included)
Min. pitch between sliders 420mm Power supply DC24V 5A
single-axis robots
Communication I/F Dedicated input/output 16 points

PHASER
Mutual height difference

Linear motor
0.08mm
between sliders Module weight 11.2kg (4B) / 8.8kg (3B)
Max. external size of
W136.5mm x H155mm (including slider) Note 5. Because the belt module works on the principle of using the friction of the belt to
body cross-section
move the slider, the belt will be abraded and generate dust, making it unsuitable
Bearing method 1 guide rail / 2 blocks (with retainer) for environments that require a degree of cleanliness.
Module weight 12.5kg (4M) / 9.4kg (3M) / 7.6kg (2MT)
Slider weight 2.4kg / 3.4kg (when the belt module is used.)
Cartesian
XY-X
Cable length 3m / 5m
robots
Controller LCC140
Note 1. Repeated positioning accuracy when positioning in the same direction (pulsating).
Note 2. Positioning accuracy in the pulsating when using the position correction function
with the RFID.
Note 3. Weight per single slider.
Note 4. When used together with the belt module, the max. payload becomes 14kg since
YK-X
SCARA
robots
the parts dedicated to the belt are attached to the slider.
Static tolerable load of slider

Static loads shown below are tolerable as references when performing the screw tightening, part assembly, or light press-fitting on the slider.
Pick & place
Center of guide rail Distance C

YP-X
robots
Load FC
Distance A Load FA
Load FB Slider upper surface
CLEAN
FA (Unit: N) FB (Unit: N) FC (Unit: N)

Payload Payload Payload

A (mm) C (mm)
5 kg 10 kg 15 kg 5 kg 10 kg 15 kg 5 kg 10 kg 15 kg
0 2550 1560 1270 38 0 1190 850 780
10 1790 1280 1170 10 970 710 650
20 1380 780 630 20 760 610 560
30 1130 520 420 30 630 530 490
40 900 390 310 40 540 480 430
50 720 310 250 50 470 430 390
60 600 260 210 60 410 390 360
Note. The loads shown above are tolerable loads at a Note. The loads shown above are tolerable loads at
position “A”mm away from the center of the guide a position “C”mm away from the slider upper
rail. surface.
Allowable overhang
Distance from center of slider upper surface to carrier center-of-gravity at a guide A
service life of 10,000 km.
(Unit: mm)
A B C
B
5kg 677 325 325
10kg 533 146 146 C
15kg 468 90 90
Ordering method
Linear module Belt module
LCM100 LCC140 10 LCM100

Model Cable length Note 1 Controller Current sensor Network option Note 2 Model Termination module for belt module Note 1
4M: 640mm 3L : 3m 10 : 10A No entry : None 4B: 640mm No entry : None
3M: 480mm 5L : 5m CC : CC-Link 3B: 480mm R: Linear module is connected to the right.
2MT: Module for circulation 3K : 3m (Flexible cable) DN : DeviceNetTM L: Linear module is connected to the left.
5K : 5m (Flexible cable) EP : EtherNet/IPTM RL: Linear module is connected to both sides.
The above shows “one module + one controller” ordering method.

When connecting modules, please separately inform the number of necessary modules. Note 1. Parts necessary to connect the belt module and linear
Note 1. The cable for 2MT has flexible specifications. module.
Note 2. For 2MT, be sure to select an appropriate network option. Parts are incorporated into the belt module.
122
LCM100
Articulated robots
YA
LCM100-4M/3M Linear conveyor module (640mm/ 480mm)
+ 0.012
2-ф5H7( 0 ), depth 8
L(Note 4) Number of 4M modules x 640 + number of 3M modules x 480 L (Note 4)
(2) 41 B (420: Minimum distance between sliders) 150 (Note 3) 41 (2)
Linear conveyor
LCM100
(Tolerance between
150 (Note 3) 8-M5x0.8, depth 10
modules
25 238 (8)
ф5H7 +/-0.02)
220
6 6
100 (Note 3) (Note 3)
70
TRANSERVO
single-axis robots
52
Compact
53 25
23.5
24.5
Grounding Grounding
(23.5)
(14.2)
terminal (M4)
(74)
terminal (M4)
Single-axis robots
101 23.5 (43.5)
FLIP-X
15 3.5 102 34
114 16.5
65.1
80
22 34
6.5
135.8
155
single-axis robots
53.5
PHASER
10
Linear motor
20 7.5 (41) 67 320 (D)
63
136.5 (41) (Number of 4M modules x 640 + number of 3M modules x 480) 20
21 (Module length: B)
C 200 200 (C) (C)
2
6.2
(10)
17.5
Cartesian
XY-X
4.5
robots
3.7
112
7.2
(7.5)
Details of A
2-ф8 through-hole (Note 2) 6-ф8 through-hole (Note 2): 1 module 2-ф8 through-hole (Note 2)
Note 1. All sliders and modules have the same dimensions. Note 6. Module variations can be combined freely within the same
Note 2. Use M6 hex socket head bolts to install the main body. line. (This figure shows that 3M on the left is combined with
YK-X
Note 3. An area of +/-6mm from both ends of each connected 4M on the right.)
SCARA
robots
Insertion/ejection rail module and an area of 150mm from the line end become Note 7. It is recommended to install rail support parts on the
length selection table slider stop inhibited areas. (These dimensions are insertion/ejection rail. When no support parts are installed,
Stroke L obtained when the slider is located at its center position.) the rail may be deflected by the slider's own weight, leading
variations B C D Insertion/ 44 Note 4. Select an appropriate rail length of the insertion/ejection to poor rail accuracy or short service life of the guide.
ejection rail rail option from the "Insertion/ejection rail length selection Note. No mechanical stoppers are provided due to product
4M 640 120 253 (mm) 100
3M 480 40 93 340 table" shown on the left. characteristics. When necessary, the customer installs
Note 5. The LCM100 is installed only in the horizontal direction. appropriate mechanical stoppers.
Pick & place

YP-X
robots
LCM100-2MT Module for circulation
2 396 (2)
(130) Effective stroke: 140 (Note 3) (130)
190 (Note 2) (80)
(80) 190 (Note 2)
CLEAN
20
53
(14.2)
A
(74)
10
Grounding terminal (M4)
20 7.5
63 Module length: 400
136.5
16.5
2
6.2
(10)
135.8
114
3.7
4.5
7.2
(7.5)
Details of A
107
50 300
Note 1. Use M6 hex socket head bolts to install the main body.
17.5
Note 2. For the stop point when the slider enters, specify a point 190mm
or more away from the module end face.
When ejecting the slider, eject the slider after it has been
stopped at a point 190mm or more away from the end face of the
module on the ejection side. Otherwise, the slider may not be
112
stopped or ejected correctly.

Note 3. The movement range above the module is 140mm around the
center.
Note. No mechanical stoppers are provided due to product
characteristics. When necessary, the customer installs
appropriate mechanical stoppers. 4-ф8 through-hole
123
LCM100
Articulated robots
YA
LCM100-4B Belt module (640mm)

688: Slider operable range
Linear conveyor
(24) 540: Sensor option R initial position (Note 2) (24)

LCM100
modules
320: Sensor option C initial position (Note 2)

100: Sensor option L initial position
(Note 2)
2
6.2
TRANSERVO
single-axis robots
(10)
Compact
3.7
4.5
7.2 (7.5)
Detailed drawing A
Single-axis robots
20
FLIP-X
63
640: Module length
155
single-axis robots
130.5
PHASER
104
Linear motor
114
10
13
136.5 A 403 AMP’s tab housing: 178803-7

173.8
30 90 100 100 100 100 90
Note 1. Use the M6 hex socket head bolts to install the main unit.
Cartesian
XY-X
robots
Note 2. The sensor option position can be moved in a range of

+/-50mm.
17.5
Note 3. Input power supply and signals to drive the motor.

The connector is AMP's dynamic connector D-3100D series.
Prepare 178289-7 (16 poles) for the housing and 175217-2
112
(gold plated contact) for the contact.

Note 4. Select 24V power supply with a capacity of 5A or more.
YK-X

SCARA
robots

appropriate mechanical stoppers. 7-ф8 through-hole
Pick & place
YP-X
robots
LCM100-3B Belt module (480mm)
605: Slider operable range

380: Sensor option R initial position (Note 2)
CLEAN
(62.5) (62.5)
240: Sensor option C initial position (Note 2)
100: Sensor option L
initial position (Note 2)
2
6.2
(10)
3.7
4.5
7.2 (7.5)
Detailed drawing A
20
63
480: Module length
155
130.5
104
114
10
13
136.5 A 287.5 AMP’s tab housing: 178803-7

173.8
30 10 100 100 100 100 10
17.5
Note 1. Use the M6 hex socket head bolts to install the main unit.
Note 2. The sensor option position can be moved in a range of
+/-50mm.
112
Note 3. Input power supply and signals to drive the motor.

The connector is AMP's dynamic connector D-3100D
series.
Prepare 178289-7 (16 poles) for the housing and 175217-2
(gold plated contact) for the contact.
Note 4. Select 24V power supply with a capacity of 5A or more. 7-ф8 through-hole
appropriate mechanical stoppers.
124
LCM100
Articulated robots
YA
Linear module slider Belt module slider
Linear conveyor
LCM100
modules
+ 0.012
2-ф5 H7 0 depth 8
(Tolerance Between ф5H7 mm dia.

+ 0.012
2-ф5 H7 depth 8
(Tolerance between
0
8-M5 × 0.8
ф5H7 +/-0.02) depth 10
positioning holes: +/-0.02)

8-M5 × 0.8
TRANSERVO
220
single-axis robots
depth 10
100 220
Compact
70
100
70
Single-axis robots
FLIP-X
23.5
23.5
101 3.5
single-axis robots
39.5
PHASER
25 238 (8)
Linear motor
15
35.2 101 3.5
21.5
36.4
39.5 31.5 238 31.5

9.8
15
101.5
46.6
36.4
79.5
Cartesian
XY-X
robots
101.5
(19) (19)
276
YK-X
SCARA
robots
Pick & place
YP-X
robots
Belt module outline diagram of input/output signal wiring
● Connector on front panel ● Pin assignment drawing
Pin No. Signal name Function
CLEAN
A1 +24V
Power supply connection DC24V (+/-10%)
A2 GND
A3 (Blank)
A4 Option sensor L Detection output
A5 Option sensor C Detection output
A6 Option sensor R Detection output
A7 ALARM Alarm output
A8 SPEED Speed output
Alarm reset input
B1 ALARM-RESET A8 A1
ON [L]: Reset OFF [H]: Normal
Speed setting unit change-over input
B2 INT.VR/EXT
ON [L]: Internal OFF [H]: External
Rotation direction change-over input
B3 CW/CCW B8 B1
ON [L]: CW OFF [H]: CCW
Brake input
B4 RUN/BRAKE
ON [L]: Run OFF [H]: Instantaneous stop
Start/stop input
B5 START/STOP
ON [L]: Start OFF [H]: Stop
B6 VRH (When using the dedicated speed setting unit)
B7 VRM Minus (-) side DC power supply for speed setting
B8 VRL Plus (+) side DC0 to 5V, 1mA or more
Note. For each input, a side to be connected to GND by the external switch is ON (L level).
Note. When both the START/STOP and RUN/BRAKE signals are turned ON (L level), the motor
starts rotating. In this case, when the CW/CCW signal is turned ON (L level), the slider moves
to the left as viewed from the connector side.
Conversely, when this signal is turned OFF (H level), the slider moves to the right.
Note. When the START/STOP signal is turned OFF (H level) in the RUN/BRAKE signal ON (L level)
state, the motor stops naturally.
According to the operation speed, the slider may overrun several tens to hundreds of
millimeters.
Note. When the RUN/BRAKE signal is turned OFF (H level) in the START/STOP signal ON (L level)
state, the motor stops instantaneously to suppress the slider overrun to its minimal level.
When investigating the linear conveyor module LCM100 actually, it is necessary to discuss the specifications and restrictions in detail.
So, please contact YAMAHA or your dealer to hold hearings regarding your requests.
125
LCM100
Articulated robots
YA
LCM100/LCC140 Accessory parts

Linear conveyor
6
LCM100
modules
4 ① Module
② Robot cable
TRANSERVO
single-axis robots
③ Slider
Compact
7 ④ Termination module (R side)

8
⑤ Termination module (L side)
⑥ Insertion/ejection rail
Single-axis robots
3
⑦ Module connection block (with fastening bolts)
FLIP-X
1
2
5
⑧ Module connection cable
LCM100 main body

single-axis robots
PHASER
Linear motor
LCM100 module Robot cable for linear module Slider

Linear module Robot cables for the number of modules are required. For linear module For belt module
Cartesian
XY-X
robots
① Belt module ③
Linear module ② Linear module
LCM100-4M For LCM100-4M/3M Model KDJ-M2264-00
YK-X
SCARA
robots
KDJ-M2020-40 (640mm) KDJ-M4710-30 (3m×2 pcs.) Belt module

LCM100-3M KDJ-M4710-50 (5m×2 pcs.)
Model Model Model KDJ-M2264-10
KDJ-M2020-30 (480mm) For LCM100-2MT
LCM100-2MT (for circulation) KDJ-M4721-30 (3m×1 pc.)
KDJ-M4721-50 (5m×1 pc.)
Pick & place
KDJ-M2022-20 (400mm)
YP-X
robots
Belt module
LCM100-4B
KDJ-4K111-40 (640mm)
Model
LCM100-3B
CLEAN
KDJ-4K111-30 (480mm)
Parts for LCM100

Termination module for linear module (R side) Termination module for linear module (L side) Insertion/ejection rail
This part is attached to the right end of the module. This part is attached to the left end of the module. Tapered rail.
One termination module per line is required. Note 1 One termination module per line is required. Note 1 Up to two rails per line can be installed.Note 1
Additionally, even when using only one module Additionally, even when using only one module 340mm
without connections, one termination module is without connections, one termination module is
required. required.

100mm 44mm
⑥
44mm : KDJ-M6200-00
(With a dedicated 44mm connection
④ ⑤ block)
Model KDJ-M2021-R0 Model KDJ-M2021-L0 100mm : KDJ-M2222-10
Model 160mm : KDJ-M2222-20 Note
Module connection block (with fastening bolts) Module connection cable 220mm : KDJ-M2222-30 Note
This block connects modules. This cable connects modules.
280mm : KDJ-M2222-40 Note
([Number of modules making up the line Note 1] - 1) ([Number of modules] - 1) cables per line are 340mm : KDJ-M2222-50
blocks are required. required.Note 1 Note. Not in stock. We require some lead time for delivery.
Additionally, when installing insertion/ejection rails,
one block per rail is required.
⑦ ⑧
Note 1. A state, in which multiple modules are connected, is
Model KDJ-M6100-00 Model KDJ-M4811-00 called “line”.
126
LCM100
Articulated robots
YA
Parts for LCC140 controller
Power connector + connection lever HPB dummy connector SAFETY connector
Linear conveyor
One set of parts per LCC140 is required. When performing the operation with the One connector per LCC140 is required.
LCM100
programming box HPB removed, connect this
modules
dummy connector to the HPB connector.
One connector per LCC140 is required.

TRANSERVO
single-axis robots
Compact
Not wired (plug + shell kit) Wired Note
Not wired : KDK-M5370-10
Model
Model KAS-M5382-00 Model KDK-M5163-00 Wired Note : KDK-M5370-00
Single-axis robots
Note. The wired connector is that the wiring for the
FLIP-X
emergency stop cancel was performed inside the
connector. Select this model when performing the
operation check or debugging with single linear
conveyor.
Parts for line configuration
single-axis robots
PHASER
Linear motor
LINK cable Terminator connector Dust cover (for LINK connector)
([Number of modules] - 1) cables per line are required. When connecting modules, two connectors per This dust cover is attached to the insertion port,
line are required. into which the the LINK cable terminator connector
is not inserted.
When using only one module without connections,
two dust covers are required.
Cartesian
XY-X
Note. The dust cover is essential for the 2MT.
robots
1m : KDK-M5361-10 Model KDK-M5361-00 Model KDK-M658K-00 (for MDR20 pin)
Model 3m : KDK-M5361-30
YK-X
SCARA
robots
5m : KDK-M5361-50
Selection parts
Pick & place

Proximity sensor for belt module Programming box HPB/HPB-D
YP-X
robots
R All operations, such as robot manual operation, program
C input or edit, teaching, and parameter setting can be
L performed with this programming box.
As an interactive interface with the screen display is used,
even personnel who use this programming box for the first
CLEAN
time can easily understand how to operate it.
HPB: KBB-M5110-01
L (Left): KDJ-M2205-L0 HPB-D: KBB-M5110-21
Model
Model C (Center): KDJ-M2205-C0 (CE specifications / with 3-position HPB-D Backside of HPB-D
R (Right): KDJ-M2205-R0 enable switch) (with enable switch)
Support software POPCOM+

PC supporting software POPCOM+ POPCOM+ environment
Microsoft Windows XP / Vista (32bit / 64Bit) / 7 (32bit / 64Bit) /
OS
8, 8.1 (32bit/64bit)
Processor that meets or exceeds the suggested requirements for
CPU
the OS being used.
Memory Suggested amount of memory or more for the OS being used.
Hard disk 50MB of available space required on installation drive.
Disk operation RS-232C
POPCOM+ software model KBG-M4966-00 Applicable controllers SRCX/ERCX/DRCX/TRCX/SRCP/SRCD/ERCD/SR1/LCC140 Note 1
Note 1. LCC140 is applicable to Ver. 2.1.1 or later.
Note. Windows is the registered trademark of US Microsoft Corporation in U.S.A. and other countries.
Data cables (5m)
Communication cable for POPCOM+.
Select from USB cable or D-sub cable.
USB D-Sub
USB type (5m) KBG-M538F-00 Note. This USB cable supports Windows 2000/XP or later.
Model D-Sub type Note. Data cable jointly used for POPCOM+, VIP+, RCX-Studio Pro.
KAS-M538F-10
9pin-9pin (5m) Note. USB driver for communication cable can also be downloaded from our website.
127
LCM100
Articulated robots
YA
RFID
RFID (manufactured by BALLUFF GmbH) RFID (manufactured by OMRON) Dust cover (for RFID)
Linear conveyor
Reader/writer cable Antenna amplifier controller cable This cover is attached to the insertion port if RFID
LCM100
is not used. (Included as standard)

modules
TRANSERVO
single-axis robots
Compact
Model KDK-M6300-00 Model KDK-M6300-A0 Model KDK-M658K-10(for MDR26 pin)

Single-axis robots
FLIP-X
Whether or not the RFID system can be used may vary depending on the destination place (country).
Before selecting a RFID system, please contact YAMAHA.
Maintenance parts
Robot cable for LCM100 Lithium battery for system backup Replacement filter for LCC140 (5 pcs. in package)
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
KDJ-M4751-30 (3m×1 pc.) Model KDK-M4252-00 Model KDK-M427G-00

KDJ-M4751-50 (5m×1 pc.)
Model KDJ-M4755-30
(Flexible cable 3m×1 pc.)
YK-X
SCARA
robots
KDJ-M4755-50
(Flexible cable 5m×1 pc.)
Pick & place
YP-X
robots
Controller for linear module

LCC140 basic specifications
CLEAN
Basic specifications of LCC140 controller

Controllable robot Linear conveyor module LCM series

Outside dimensions W402.5×H229×D106.5mm
Main body weight 4.8kg
Input power voltage Single-phase AC200 to 230V +/-10% or less (50/60Hz)
Maximum power consumption 350VA (LCM100-4M 1 slider is driven.)
SAFETY
External input/output RS-232C (dedicated to RFID)
RS-232C (for HPB / doubles as POPCOM+)
CC-Link Ver. 1.10 compatible, Remote device station (2 stations)
Network option DeviceNetTM Slave 1 node
EtherNet/IP TM adapter 2 ports
Programming box HPB, HPB-D (Software version 24.01 or later)
External view of LCC140
24.5 378
30 318
106.5 29 130 130 3-ф5.5
For wall-mount
64
229
217
199
101
97
15
19 64
3-5.5 (3-R)
93.5
(98)
128
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
CLOSED LOOP STEPPING MOTOR
SINGLE-AXIS ROBOTS
TRANSERVO
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
SERIES
YK-X
SCARA
robots
CONTENTS
Pick & place

YP-X
robots
■■TRANSERVO SPECIFICATION RF02-N··················································· 156
SHEET···································· 130 RF02-S··················································· 158
RF03-N··················································· 160
■■Robot ordering method
CLEAN
RF03-S··················································· 162
description···························· 131
RF04-N··················································· 164
■■Rod type: RF04-S··················································· 166
Bracket plates······················· 131
BD04······················································ 168
■■Rod type: BD05······················································ 169

Grease gun nozzle tube for BD07······················································ 170
space-saving models··········· 131
■■Rod type:
Running life distance to life
time conversion example····· 131
TRANSERVO
SS04······················································· 132
SS05······················································· 134
SS05H···················································· 136
SG07······················································ 138
SR03······················································ 139
SRD03···················································· 142
SR04······················································ 144
SRD04···················································· 146
SR05······················································ 148
SRD05···················································· 150
STH04···················································· 152
STH06···················································· 154

TRANSERVO SPECIFICATION SHEET
Articulated robots
YA
Maximum payload (kg) Note 2 Maximum speed Detailed info

Type Model Size (mm) Note 1 Lead (mm) (mm/sec) Note 3 Stroke (mm) page
Horizontal Vertical
12 2 1 600
SS04-S
Linear conveyor
W49 × H59 6 4 2 300 50 to 400 P.132 - P.133

LCM100
SS04-R (L)
2 6 4 100
modules
20 4 - 1000
SS type SS05-S
(Slide type) SS05-R (L) W55 × H56 12 6 1 600 50 to 800 P.134 - P.135
Straight model/ 6 10 2 300
Space-saving model 20 6 - 1000
600 (Horizontal)
SS05H-S 12 8 2
TRANSERVO
W55 × H56 500 (Vertical) 50 to 800 P.136 - P.137

single-axis robots
SS05H-R (L)
300 (Horizontal)
6 12 4
Compact
250 (Vertical)
20 36 4 1200
SG type
(Slide type) SG07 W65 × H64 12 43 12 800 50 to 800 P.138
6 46 20 350
SR03-S 12 10 4 500
SR03-R (L) W48 × H56.5
6 20 8 250
50 to 200 P.139 - P.141
Single-axis robots
SR03-U
SR Type 12 25 5 500
FLIP-X
(Rod type) SR04-S

SR04-R (L) W48 × H58 6 40 12 250 50 to 300 P.144 - P.145
Space-saving model
12 50 10 300
SR05-S
SR05-R (L) W56.4 × H71 6 55 20 150 50 to 300 P.148 - P.149
2 60 30 50
SRD03-S 12 10 3.5 500
single-axis robots
W105 × H56.5 50 to 200 P.142 - P.143

PHASER
SRD03-U 6 20 7.5 250

Linear motor
SR Type 12 25 4 500
(Rod type with support SRD04-S
guide) SRD04-U W135 × H58 6 40 11 250 50 to 300 P.146 - P.147
Space-saving model 12 50 8.5 300
SRD05-S
SRD05-U W157 × H71 6 55 18.5 150 50 to 300 P.150 - P.151
2 60 28.5 50
STH Type STH04-S W45 × H46 5 6 2 200
50 to 100 P.152 - P.153
Cartesian
(Slide table type) STH04-R (L) Note 4 W73 × H51 10 4 1 400

XY-X
robots
Straight model/ STH06 W61 × H65 8 9 2 150

Space-saving model STH06-R (L) W106 × H70 16 6 4 400
50 to 150 P.154 - P.155
Rotational torque Maximum pushing Maximum speed Detailed info

Type Model High (mm) Torque type Rotation range (°)
(N • m) torque (N • m) (mm/sec)Note 3 page
RF02-N 42 (Standard) N:Standard 0.22 0.11 420 310 (RF02-N)
RF02-S 49 (High rigidity) H:High torque 0.32 0.16 280 360 (RF02-S) P.156 - P.159
RF Type
YK-X
SCARA
robots
(Rotary type) RF03-N 53 (Standard) N:Standard 0.8 0.4 420 320 (RF03-N)
Standard model/ RF03-S 62 (High rigidity) H:High torque 1.2 0.6 280 360 (RF03-S) P.160 - P.163
High rigidity model RF04-N 68 (Standard) N:Standard 6.6 3.3 420 320 (RF04-N)
RF04-S 78 (High rigidity) H:High torque 10 5 280 360 (RF04-S) P.164 - P.167
Lead Maximum payload(kg) Note 2

Maximum speed Stroke Detailed info
Type Model Size (mm) Note 1 (mm) Horizontal Vertical (mm/sec) Note 3 (mm) page
Pick & place
P.168
YP-X
BD04 W40 × H40 48 1 - 1100 300 to 1000

robots
BD Type
(Belt type) BD05 W58 × H48 48 5 - 1400 300 to 2000 P.169
BD07 W70 × H60 48 14 - 1500 300 to 2000 P.170
Note 2. The payload may vary depending on the operation speed. For details, refer to the
w Precautions for use
detailed page of relevant model. ■ Handling ■ Allowable installation ambient temperature
Note 3. The maximum speed may vary depending on the transfer weight or stroke length. Fully understand the contents stated in the "TRANSERVO [SS/SR type] 0 to 40 ºC
CLEAN
For details, refer to the detailed page of relevant model. User's Manual" and strictly observe the handling [STH/RF/BD type] 5 to 40 ºC
Note 4. STH04-R (L) with 50-stroke and brake is not supported. precautions during operation.
SR/SRD/STH type Speed vs. payload table

SR03 SRD03
Horizontal Lead 12 Lead 6 Horizontal Lead 12 Lead 6

Payload (kg) Speed (mm/sec ) % Payload (kg) Speed (mm/sec ) % Payload (kg) Speed (mm/sec ) % Payload (kg) Speed (mm/sec ) %
10 450 90 20 225 90 10 450 90 20 225 90
5 500 100 15 237.5 95 5 500 100 15 237.5 95
10 250 100 10 250 100
Vertical Lead 12 Lead 6 Vertical Lead 12 Lead 6
4 300 60 8 150 60 3.5 300 60 7.5 150 60
2 432 86 5 200 80 1.5 432 86 4.5 200 80
1 500 100 2 250 100 0.5 500 100 1.5 250 100
SR04 SRD04
Horizontal Lead 12 Lead 6 Lead 2 Horizontal Lead 12 Lead 6 Lead 2
Payload (kg) Speed (mm/sec ) % Payload (kg) Speed (mm/sec ) % Payload (kg) Speed (mm/sec ) % Payload (kg) Speed (mm/sec ) % Payload (kg) Speed (mm/sec ) % Payload (kg) Speed (mm/sec ) %
25 320 64 40 200 80 45 80 100 25 320 64 40 200 80 45 80 100
20 363 72 30 225 90 20 363 72 30 225 90
15 407 81 20 250 100 15 407 81 20 250 100
5 500 100 5 500 100
Vertical Lead 12 Lead 6 Lead 2 Vertical Lead 12 Lead 6 Lead 2
5 200 40 12 125 50 25 60 75 4 200 40 11 120 48 24 60 75
2 350 70 5 200 80 5 80 100 3 250 50 4 200 80 14 70 87
1 500 100 2 250 100 0.5 500 100 1 250 100 4 80 100
SR05 SRD05
Horizontal Lead 12 Lead 6 Lead 2 Horizontal Lead 12 Lead 6 Lead 2
50 168 56 55 135 90 60 50 100 50 168 56 55 135 90 60 50 100
40 198 66 40 150 100 40 198 66 40 150 100
30 249 83 30 249 83
20 300 100 20 300 100
Vertical Lead 12 Lead 6 Lead 2 Vertical Lead 12 Lead 6 Lead 2
10 69 23 20 48 32 30 30 60 8.5 90 30 18.5 48 32 28.5 30 60
5 168 56 15 75 50 5 50 100 5.5 138 46 8.5 102 68 5 50 100
1 300 100 2 150 100 0.5 300 100 0.5 150 100
STH04 STH06
Horizontal Lead 10 Lead 5 Horizontal Lead 16 Lead 8
4 400 100 6 200 100 6 400 100 9 150 100
2 400 100 3 200 100 3 400 100 5 150 100
1 400 100 1 200 100 1 400 100 1 150 100
Vertical Lead 10 Lead 5 Vertical Lead 16 Lead 8
1 220 62 2 150 75 2 200 80 4 100 66
0.75 220 62 1 150 75 1.5 200 80 3 100 66
0.3 350 100 0.5 200 100 1 250 100 2 140 93
130 1 150 100

Robot ordering method description
Articulated robots
YA
In the order format for the YAMAHA single-axis robots TRANSERVO series, the notation (letters/numbers) for the mechanical section is
shown linked to the controller section notation.
[Example]
Linear conveyor
LCM100
modules
Mechanical SS05 Controller TS-S2
• Lead 6mm • Grease Standard • Input /Output selection NPN
• Model Straight • Stroke 600mm
TRANSERVO
• Brake Yes • Cable length 1m
single-axis robots
• Origin position Standard
Compact
Ordering Method
SS05 06SB NN 600 1K S2NP

To find detailed controller information see the controller page.
TS-S2 P.492 , TS-SH P.492 , TS-S D P.502
Single-axis robots
FLIP-X
Mechanical section Controller section
● SS type / SG type (Slider type)
Model Lead Model Brake Origin position Grease option Stroke Cable length
SS04 02 2mm S Straight model N With no brake N Standard N Standard grease 1K 1m
single-axis robots
SS05 06 6mm Space-saving model B With brake Z No-motor side C Clean room grease 3K 3m
R
PHASER
Linear motor
SS05H 12 12mm (motor installed on right) 5K 5m
SG07 20 20mm Space-saving model 10K 10m
L
(motor installed on left)
● SR type (Rod type)
Model Lead Model Brake Origin position Bracket plate Stroke Cable length
SR03 02 2mm S Straight model N With no brake N Standard N No plate 1K 1m
SRD03 06 6mm Space-saving model B With brake Z No-motor side H With plate 3K 3m
R
SR04 12 12mm (motor installed on right) V With flange 5K 5m
Cartesian
XY-X
SRD04 Space-saving model 10K 10m
robots
L
SR05 (motor installed on left)
SRD05 Space-saving model
U
(motor installed on top)
● STH Type (Slide table type)
Model Lead Model Brake Origin position Bracket plate Stroke Cable length
STH04 05 5mm S Straight model N With no brake N Standard N No plate 1K 1m
YK-X
SCARA
robots
STH06 08 8mm Space-saving model B With brake Z No-motor side H With plate 3K 3m
R
10 10mm (motor installed on right) 5K 5m
16 16mm Space-saving model 10K 10m
L
(motor installed on left)
● RF Type (Rotary type / Limit rotation specification, Rotary type / Sensor specification)
Model Return-to-origin method Bearing Torque Cable entry location Rotation direction Cable length
Pick & place

RF02-N N Stroke end (Limit rotation) N Standard N Standard torque R From the right N CCW 1K 1m
YP-X
robots
RF02-S S Sensor (Limitless rotation) H High rigidity H High torque L From the left Z CW 3K 3m
RF03-N 5K 5m
RF03-S 10K 10m
RF04-N
RF04-S
● BD Type (Belt type)
CLEAN
Model Lead Brake Origin position Stroke Cable length
BD04 48 48mm N With no brake N Standard 1K 1m
BD05 3K 3m
BD07 5K 5m
10K 10m
Rod type: Bracket plates
SR03/SRD03 bracket plates SR04/SRD04 bracket plates SR05/SRD05 bracket plates
Feet (horizontal mount) Flange (vertical mount) Feet (horizontal mount) Flange (vertical mount) Feet (horizontal mount) Flange (vertical mount)
Type Model No. Type Model No. Type Model No.
Feet (2 plates per set) KCU-M223F-00 Feet (2 plates per set)* KCV-M223F-00 Feet (2 plates per set)* KCW-M223F-00
Flange (1 piece) KCU-M224F-00 Flange (1 piece) KCV-M224F-00 Flange (1 piece) KCW-M224F-00
* Comes with 12 mounting nuts for feet. * Comes with 8 mounting nuts for feet.
Rod type: Grease gun nozzle tube for space-saving models Rod type: Running life distance to life time conversion example
When greasing the ball screw in the SR03-UB or SRD03-UB (motor installed This is an example of life time converted from the running life distance
on top / with brake), use a grease gun with a bent nozzle tube as shown below. listed on each model page for the SR type.
■ Grease gun nozzle tube (YAMAHA recommended nozzle tube)
(120) (29) Model SR04-02SB, Vertical mount, 25 kg payload
Life distance 500 km Life time : Approx. 3 years
(PT1/8)
(ф5)
SR03-UB and
Operating conditions 100mm back-and-forth movement, shuttle time
SRD03-UB 16 seconds (duty: 20%)
Model KCU-M3861-00 Word conditions 16 hours per day
Note. This nozzle tube can be attached to a Work days 240 days per year
commercially available ordinary grease gun.
Note. Make sure that the rod is not subjected to a radical load.
This nozzle tube is even usable when there is little
space around the grease port.
For example, when the SR04 or SR05 space-saving
model is used with the motor facing up, the grease
port is positioned on the side of the robot body. This
may make it difficult to refill grease depending on
the positions of other robots or peripheral units.
131
SS04
Articulated robots
Slider type
YA
CE compliance Origin on the non-motor side is selectable

SS04-S SS04-R
Linear conveyor
Ordering method
LCM100
modules
SS04 S2
Robot positioner I/O
Model Lead Model Brake Origin position Grease option Stroke Cable length Note 2
S2: TS-S2 Note 3 NP: NPN
12: 12mm S: Straight model N: With no brake N: Standard Note 1 N: Standard grease 50 to 400 1K: 1m PN: PNP
TRANSERVO
single-axis robots
06: 6mm R: Space-saving model B: With brake Z: Non-motor side C: Clean room grease (50mm pitch) 3K: 3m CC: CC-Link
02: 2mm (motor installed on right) 5K: 5m DN: DeviceNetTM
Compact
L: Space-saving model 10K: 10m EP: EtherNet/IPTM

(motor installed on left) PT: PROFINET
GW: No I/O boardNote 4
Note 1. If changing from the origin position at the time of purchase, the machine reference amount must be reset. For details,
refer to the manual.
Note 2. The robot cable is flexible and resists bending.
SH
Single-axis robots
Note 3. See P.500 for DIN rail mounting bracket. Robot positioner I/O Battery
SH: TS-SH NP: NPN B: With battery
FLIP-X
Note 4. Select this selection when using the gateway function. For details, see P.62.
PN: PNP (Absolute)
Basic specifications CC: CC-Link
DN: DeviceNetTM
N: None
(Incremental)
EP: EtherNet/IPTM
Motor 42 Step motor PT: PROFINET
Resolution (Pulse/rotation) 20480 GW: No I/O boardNote 4
Repeatability Note 1 (mm) +/-0.02
single-axis robots
Ball screw ϕ8 (Class C10) SD 1

PHASER
Deceleration mechanism
Linear motor
Maximum motor torque (N.m) 0.27

Robot driver I/O cable
Ball screw lead (mm) 12 6 2 SD: TS-SD 1: 1m
Maximum speed (mm/sec) 600 300 100
Maximum Horizontal 2 4 6
payload (kg) Vertical 1 2 4 Allowable overhang Note Static loading moment
Max. pressing force (N) 45 90 150 A MY
Stroke (mm) 50 to 400 (50mm pitch)
Cartesian
XY-X
robots
Overall length Horizontal Stroke+216 B C

(mm) Vertical Stroke+261 C A
B C A MR MP
Maximum outside dimension W49 × H59
of body cross-section (mm) Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N.m)
Cable length (m) Standard: 1 / Option: 3, 5, 10 A B C A B C A C MY MP MR
Lead 2 Lead 6 Lead 12

Note 1. Positioning repeatability in one direction. 1kg 807 218 292 1kg 274 204 776 0.5kg 407 408 16 19 17
YK-X
SCARA
2kg 667 107 152 2kg 133 93 611 1kg 204 204
robots
2kg 687 116 169 2kg 149 102 656 1kg 223 223
Motor installation (Space-saving model) Controller
3kg 556 76 112 3kg 92 62 516 2kg 107 107
R type Motor installed on right L type Motor installed on left 4kg 567 56 84 4kg 63 43 507 2kg 118 118 Controller Operation method
4kg 869 61 92 4kg 72 48 829 4kg 53 53 TS-S2 I/O point trace /
TS-SH Remote command
6kg 863 40 60 6kg 39 29 789
Pick & place
TS-SD Pulse train control

YP-X
robots
Note. Distance from center of slider upper surface to carrier center-of-gravity at a

guide service life of 10,000 km (Service life is calculated for 400mm stroke
models).
SS04 Straight model

CLEAN
Approx. 200 (Cable length) 161+/-2: When origin is on motor side Effective stroke (55: When origin is on motor side)
30.5 (161: When origin is on non-motor side) 55+/-2: When origin is on non-motor side
13 2-ϕ3H7 Depth 6
Cable securing position (Note 2) 129+/-1 (Note 1) 21 4-M4 x 0.7 Depth 8 23+/-1 (Note 1)
15
24
8 20.5
40.5
(between knocks +/-0.02)
174+/-1 (with brake) (Note 1)

12.5 206+/-2 (with brake): When origin is on motor side
(206 with brake: When origin is on non-motor side)
33
58 41
51 (Slider top face)
32 25
59
45
15 L
49 L+45 (with brake)
182.5 (with brake)

137.5 A x 50
50 B-M5 x 0.8 Depth8
R
ϕ4H7 ( +0.012
0 ) Depth6 2
162.5 C
Depth6
207.5 (with brake)

4 +0.02
0
Effective stroke 50 100 150 200 250 300 350 400 Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 2. Secure the cable with a tie-band 100mm or less from unit’s end face to prevent the cable from being subjected to
L 266 316 366 416 466 516 566 616 excessive loads.
A 2 3 4 5 6 7 8 9 Note 3. The cable’s minimum bend radius is R30.
Note 4. These are the weights without a brake. The weights are 0.2kg heavier when equipped with a brake.
B 3 4 5 6 7 8 9 10
C 50 100 150 200 250 300 350 400
Weight (kg) Note 4 1.5 1.6 1.7 1.8 2.0 2.1 2.2 2.3
132 Controller TS-S2 u 492 TS-SH u 492 TS-SD u 502

SS04
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Pick & place
YP-X
robots
SS04 Space-saving model
CLEAN
128.5 (with brake)
(Tolerance between
88.5
knocks +/-0.02)
33
56.5
(108)
49
Motor
50 +/-1 4-M4×0.7 Depth 8 23 +/-1 (Note 1)
(Note 1) 21 2-ϕ3H7 Depth 6
(88.5) (82 +/-2: When origin is on motor side) (55: When origin is on motor side)
SS04-L Specifications (82: When origin is on non-motor side) Effective stroke 55 +/-2: When origin is on non-motor side
(31) 58 41
32 25
(24)
50
(40)
15 (Note 2)
101 Cable securing position
(15) 110 Approx. 245 (Cable length) L
58.5 A×50
50 B-M5×0.8 Depth 12
R
ϕ4H7 +0.012
0 Depth 6
2
4 +0.02
0 Depth 6
38 C
Effective stroke 50 100 150 200 250 300 350 400 Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 2. Secure the cable with a tie-band 80mm or less from unit’s end face to prevent the cable from being subjected to
L 187 237 287 337 387 437 487 537 excessive loads.
A 2 3 4 5 6 7 8 9 Note 3. The cable’s minimum bend radius is R30.
Note 4. These are the weights without a brake. The weights are 0.2kg heavier when equipped with a brake.
B 3 4 5 6 7 8 9 10 Note 5. The belt cover’s left and right sides are asymmetrical. Therefore, if the motor mounting orientation is changed, the
C 100 150 200 250 300 350 400 450 cover cannot be attached.
Weight (kg) Note 4 1.2 1.4 1.5 1.6 1.7 1.8 1.9 2.1
Controller TS-S2 u 492 TS-SH u 492 TS-SD u 502 133

SS05
Articulated robots
Slider type SS05-S

YA
High lead: Lead 20 CE compliance Origin on the non-motor side is selectable SS05-R
Linear conveyor
Ordering method
LCM100
modules
SS05 S2
Model Lead Model Brake Note 1
Origin position Grease option Stroke Cable length Note 3
TRANSERVO
single-axis robots
Compact

Note 1. Brake-equipped models can be selected only when the lead is 12mm or 6mm. GW: No I/O boardNote 5
SH
Single-axis robots
FLIP-X
PN: PNP (Absolute)
DN: DeviceNetTM
N: None
(Incremental)
EP: EtherNet/IPTM
Motor 42 Step motor
PT: PROFINET
Ball screw ϕ12 (Class C10)
single-axis robots
SD 1
PHASER
Maximum motor torque (N.m)

Linear motor
0.27
Ball screw lead (mm) 20 12 6
Maximum speed Note 2 (mm/sec) 1000 600 300
SD: TS-SD 1: 1m
payload (kg) Vertical – 1 2
Max. pressing force (N)
Stroke (mm)
27 45
50 to 800 (50mm pitch)
90 Allowable overhang Note Static loading moment
Overall length Horizontal Stroke+230 A MY
(mm) Vertical Stroke+270
Cartesian
XY-X
robots
Maximum outside dimension W55 × H56 B C

of body cross-section (mm) C A
Cable length (m) Standard: 1 / Option: 3, 5, 10 B C A MR MP
Note 1. Positioning repeatability in one direction. Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N.m)
Note 2. When the stroke is longer than 600mm, resonance of A B C A B C A C MY MP MR
the ball screw may occur depending on the operation
2kg 413 139 218 2kg 192 123 372 0.5kg 578 579
Lead 12 Lead 20
Lead 12 Lead 20
Lead 12
conditions (critical speed). In this case, reduce the 25 33 30
4kg 334 67 120 4kg 92 51 265 1kg 286 286
YK-X
speed setting on the program by referring to the

SCARA
robots
maximum speeds shown in the table below. 4kg 347 72 139 4kg 109 57 300 1kg 312 312
Lead 6
Controller
Motor installation (Space-saving model) 6kg 335 47 95 6kg 63 31 263 2kg 148 148
4kg 503 78 165 4kg 134 63 496 Controller Operation method
Lead 6
Lead 6
R type Motor installed on right L type Motor installed on left 8kg 332 37 79 6kg 76 35 377 TS-S2 I/O point trace /
10kg 344 29 62 8kg 47 22 355 TS-SH Remote command
Pick & place

YP-X
robots

guide service life of 10,000 km (Service life is calculated for 600mm stroke
models).
SS05 Straight model

CLEAN
30.5 (178: When origin is on non-motor side) 52+/-2: When origin is on non-motor side
2-ϕ4H7 Depth 6
13 Cable securing position (Note 2) 140+/-1 (Note 1) 34 4-M4 x 0.7 Depth8 14+/-1 (Note 1)
15
24
8 20.5
40.5

12.5 218+/-2 (with brake): When origin is on motor side
(218 with brake: When origin is on non-motor side)
42
70 50
42 34
56
51
24 L
141.5 (with brake)
101.5 A x 50
50 B-M6 x 1 Depth8
ϕ4H7 ( +0.012
0 Depth6
0 ) Depth6 2
126.5 C
166.5 (with brake)
4 +0.02
Effective stroke 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 Note 1. Stop positions are determined by the mechanical
stoppers at both ends.
L 280 330 380 430 480 530 580 630 680 730 780 830 880 930 980 1030 Note 2. Secure the cable with a tie-band 100mm or less
from unit’s end face to prevent the cable from being
A 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 subjected to excessive loads.
B 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 Note 3. The cable’s minimum bend radius is R30.
Note 4. These are the weights without a brake. The weights
C 100 150 200 250 300 350 400 450 500 500 500 500 500 500 500 500 are 0.2kg heavier when equipped with a brake.
Weight (kg) Note 4 2.1 2.3 2.5 2.7 2.8 3.0 3.2 3.4 3.6 3.8 4.0 4.2 4.4 4.6 4.8 5.0 Note 5. When the stroke is longer than 600mm, resonance of
the ball screw may occur depending on the operation
Maximum Lead20 1000 933 833 733 633 conditions (critical speed). In this case, reduce the
speed for each Lead12 600 560 500 440 380 speed setting on the program by referring to the
Note 5 maximum speeds shown in the table at the left.
stroke Lead6 300 280 250 220 190
(mm/sec) Speed setting – 93% 83% 73% 63%

SS05
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Pick & place
YP-X
robots
SS05 Space-saving model
128.5 (with brake)
CLEAN
(Tolerance between
88.5
knocks +/-0.02)
(113)
42
56.5
Motor
55
(88.5)
SS05-L Specifications 4-M4×0.7 Depth 8

56.5 +/-1 34 14 +/-1 (Note 1)
(Note 1) 2-ϕ4H7 Depth 6
94.5 +/-2: When origin is on motor side (52: When origin is on motor side)
(94.5: When origin is on non-motor side) Effective stroke 52 +/-2: When origin is on non-motor side
(31) 70 50
42 34
(24)
55
(40)
24 (Note 2)
104 Cable securing position
68 A×50
50 B-M6×1.0 Depth 12
R
ϕ4H7 +0.012
0 Depth 6
Depth 6
2
+0.02
4 0
42 C
L 196.5 246.5 296.5 346.5 396.5 446.5 496.5 546.5 596.5 646.5 696.5 746.5 796.5 846.5 896.5 946.5 Note 2. Secure the cable with a tie-band 80mm or less
A 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 from unit’s end face to prevent the cable from being
subjected to excessive loads.
C 100 150 200 250 300 350 400 450 500 500 500 500 500 500 500 500 Note 4. These are the weights without a brake. The weights
are 0.2kg heavier when equipped with a brake.
Weight (kg) Note 4 1.6 1.8 2.0 2.2 2.4 2.6 2.8 3.0 3.2 3.4 3.6 3.8 4.0 4.1 4.3 4.5 Note 5. When the stroke is longer than 600mm, resonance of
Lead20 1000 933 833 733 633 the ball screw may occur depending on the operation
Maximum conditions (critical speed). In this case, reduce the
speed for each Lead12 600 560 500 440 380 speed setting on the program by referring to the
stroke Note 5 Lead6 300 280 250 220 190 maximum speeds shown in the table at the left.
Note 6. The belt cover’s left and right sides are asymmetrical.
(mm/sec) Speed setting – 93% 83% 73% 63% Therefore, if the motor mounting orientation is
changed, the cover cannot be attached.

SS05H
Articulated robots
Slider type
YA
SS05H-S
High lead: Lead 20 CE compliance Origin on the non-motor side is selectable SS05H-R
Linear conveyor
Ordering method
LCM100
modules
SS05H S2
Origin position Grease option Stroke Cable length Note 3
TRANSERVO
single-axis robots
Compact

Note 1. Brake-equipped models can be selected only when the lead is 12mm or 6mm. GW: No I/O boardNote 5
SH
Single-axis robots
FLIP-X
PN: PNP (Absolute)
DN: DeviceNetTM
N: None
(Incremental)
EP: EtherNet/IPTM
Motor 42 Step motor
PT: PROFINET
Note 1
Repeatability (mm) +/-0.02
single-axis robots
SD 1
PHASER
Linear motor
Maximum motor torque (N.m) 0.47

Ball screw lead (mm) 20 12 6 Robot driver I/O cable
Note 2
Maximum speed Horizontal 1000 600 300 SD: TS-SD 1: 1m
(mm/sec) Vertical – 500 250
Maximum Horizontal 6 8 12 Allowable overhang Note Static loading moment
Max. pressing force (N) 36 60 120 A MY
Stroke (mm) 50 to 800 (50pitch)
Cartesian
Overall length Horizontal Stroke+286

XY-X
B
robots
C A C
(mm) Vertical Stroke+306 B C A MR MP
Maximum outside dimension W55 × H56
of body cross-section (mm) Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N.m)
Cable length (m) Standard: 1 / Option: 3, 5, 10 A B C A B C A C MY MP MR
Note 1. Positioning repeatability in one direction. 2kg 599 225 291 2kg 262 203 554 1kg 458 459
Lead 12 Lead 20
Lead 12 Lead 20
Lead 6 Lead 12
32 38 34
Note 2. When the stroke is longer than 600mm, resonance of the ball 4kg 366 109 148 4kg 118 88 309 2kg 224 224
screw may occur depending on the operation conditions (critical
6kg 352 71 104 6kg 71 49 262 2kg 244 245
YK-X
SCARA
robots
speed). In this case, reduce the speed setting on the program

by referring to the maximum speeds shown in the table below. 4kg 500 118 179 4kg 146 96 449 4kg 113 113 Controller
6kg 399 79 118 6kg 85 55 334
Motor installation (Space-saving model) 8kg 403 56 88 8kg 55 34 305 Controller Operation method
6kg 573 83 136 6kg 101 62 519 TS-S2 I/O point trace /
R type Motor installed on right L type Motor installed on left
Lead 6
Lead 6
8kg 480 61 100 8kg 64 39 413 TS-SH Remote command

10kg 442 47 78 10kg 43 26 355 TS-SD Pulse train control
Pick & place
12kg 465 39 64 12kg 28 17 338

YP-X
robots
Note. Distance from center of slider upper surface to carrier center-of-gravity at a guide
service life of 10,000 km (Service life is calculated for 600mm stroke models).
SS05H Straight model

Approx. 200 (Cable length) 223.5+/-2: When origin is on motor side Effective stroke (62.5: When origin is on motor side)
CLEAN
30.5 (223.5: When origin is on non-motor side) 62.5+/-2: When origin is on non-motor side
2-ϕ4H7 Depth6
13 Cable securing position (Note 2) 175.5+/-1 (Note 1) 43 4-M5 x 0.8 Depth10 14.5+/-1 (Note 1)
15
24
8 20.5
40.5
195.5+/-1 (with brake) (Note 1)

12.5 243.5+/-2 (with brake): When origin is on motor side
(243.5 with brake: When origin is on non-motor side)
43
90 52
53 34
56
51
24 L
161.5 (with brake)
141.5 A x 50
50 B-M6 x 1 Depth8
R
ϕ4H7 ( +0.012
0 Depth6
0 ) Depth6 2
166.5 C
186.5 (with brake)
4 +0.02
L 336 386 436 486 536 586 636 686 736 786 836 886 936 986 1036 1086 Note 2. Secure the cable with a tie-band 100mm or less
A 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 from unit’s end face to prevent the cable from
B 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 being subjected to excessive loads.
Note 3. The cable’s minimum bend radius is R30.
C 100 150 200 250 300 350 400 450 500 500 500 500 500 500 500 500
Note 4. These are the weights without a brake. The weights
Weight (kg) Note 4 2.4 2.6 2.8 3.0 3.2 3.4 3.6 3.8 4.0 4.2 4.4 4.5 4.7 4.9 5.1 5.3 are 0.2kg heavier when equipped with a brake.
Lead20 1000 933 833 733 633 Note 5. When the stroke is longer than 600mm,
resonance of the ball screw may occur depending
Maximum Lead12 (Horizontal) 600 560 500 440 380
on the operation conditions (critical speed).
speed for each Lead12 ( Vertical) 500 440 380 In this case, reduce the speed setting on the
stroke Note 5 Lead6 (Horizontal) 300 280 250 220 190 program by referring to the maximum speeds
(mm/sec) Lead6 (Vertical) 250 220 190 shown in the table at the left.
Speed setting – 93% 83% 73% 63%

SS05H
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Pick & place
YP-X
robots
SS05H Space-saving model
128.5 (with brake)
CLEAN
(Tolerance between
88.5
knocks +/-0.02)
(113)
43
56.5
Motor
55
(88.5)
SS05H-L Specifications 52 +/-1 4-M5×0.8 Depth 10

(Note 1) 43 14.5 +/-1 (Note 1)
100 +/-2: When origin is on motor side 2-ϕ4 H7 Depth 6
(62.5: When origin is on motor side)
(100: When origin is on non-motor side) Effective stroke 62.5 +/-2: When origin is on non-motor side
(31) 90 52
53 34
(24)
55
(40)
(Note 2)
104 24 Cable securing position
68 A×50
50 B-M6×1.0 Depth 12
R
+0.012
ϕ4 H7 0
Depth 6
Depth 6
2
+0.02
4 0
42 C
L 212.5 262.5 312.5 362.5 412.5 462.5 512.5 562.5 612.5 662.5 712.5 762.5 812.5 862.5 912.5 962.5 Note 2. Secure the cable with a tie-band 80mm or less
being subjected to excessive loads.
C 100 150 200 250 300 350 400 450 500 500 500 500 500 500 500 500 Note 4. These are the weights without a brake. The weights
Weight (kg) Note 4 1.7 1.9 2.1 2.3 2.5 2.7 2.8 3.0 3.2 3.4 3.6 3.8 4.0 4.2 4.4 4.6 are 0.2kg heavier when equipped with a brake.
Note 5. When the stroke is longer than 600mm,
Lead20 1000 933 833 733 633 resonance of the ball screw may occur depending
on the operation conditions (critical speed).
Maximum Lead12 (Horizontal) 600 560 500 440 380 In this case, reduce the speed setting on the
speed for each Lead12 (Vertical) 500 440 380 program by referring to the maximum speeds
stroke Note 5 Lead6 (Horizontal) shown in the table at the left.
300 280 250 220 190 Note 6. The belt cover’s left and right sides are
(mm/sec) Lead6 (Vertical) 250 220 190 asymmetrical. Therefore, if the motor mounting
orientation is changed, the cover cannot be
Speed setting – 93% 83% 73% 63% attached.

SG07
Articulated robots
Slider type
YA
High lead: Lead 20 CE compliance Origin on the non-motor side is selectable.

Linear conveyor
Ordering method
LCM100
modules
SG07 SH
Model Lead Model Brake Origin position Grease option Stroke Cable length Note 2 Robot positioner I/O Battery
20: 20mm S: Straight model N: With no brake N: Standard Note 1 N: Standard grease 50 to 800 1K: 1m SH: TS-SH NP: NPN B: With battery
TRANSERVO
single-axis robots
12: 12mm B: With brake Z: Non-motor side C: Clean room grease (50mm pitch) 3K: 3m PN: PNP (Absolute)
06: 6mm 5K: 5m CC: CC-Link N: None
Compact
10K: 10m DN: DeviceNetTM (Incremental)

EP: EtherNet/IP TM
Note 1. If changing from the origin position at the time of purchase, the machine reference amount must be reset. For details, refer to the manual. PT: PROFINET
Note 2. The robot cable is flexible and resists bending. GW: No I/O board Note 3
Basic specifications Allowable overhang Note Static loading moment

Single-axis robots
FLIP-X
Motor 56 Step motor A MY

Resolution (Pulse/rotation) 20480
Repeatability Note 1 (mm) +/-0.02 B
Deceleration mechanism Ball screw ϕ12 (Class C10) C A C
B C A MR MP
Maximum speed Note 2 Note 3 (mm/sec) 1200 800 350
Maximum Horizontal 36 43 46 Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N.m)
single-axis robots
Vertical 4 12 20 A B C A B C A C MY MP MR
PHASER
payload (kg)
Linear motor
10kg 3572 458 486 10kg 450 402 3261 2kg 2303 2303


Max. pressing force (N) 60 100 225 101 114 101
Stroke (mm) 50 to 800 (50pitch) 25kg 2971 220 245 25kg 117 155 2943 4kg 1147 1147
Overall length Horizontal Stroke+288 36kg 3150 140 160 36kg 98 85 2520 4kg 1386 1386
Maximum outside dimension
15kg 3703 363 406 15kg 351 307 3403 12kg 442 442 Controller
W65×H64 30kg 1962 172 196 30kg 134 117 1663 7kg 781 781
of body cross-section (mm)
Controller Operation method
Cable length (m) Standard: 1 / Option: 3, 5, 10 43kg 1430 114 131 43kg 68 59 1070 20kg 252 252
15kg 3853 363 414 15kg 353 307 3541 I/O point trace /
Note 1. Positioning repeatability in one direction. TS-SH
Cartesian
Remote command
XY-X
Note 2. When the stroke is longer than 600mm, resonance of the ball 30kg 2105 172 197 30kg 134 117 1752
robots

speed). In this case, reduce the speed setting on the program 46kg 1500 106 122 46kg 58 50 1100
by referring to the maximum speeds shown in the table below. Note. Distance from center of slider upper surface to carrier center-of-gravity at a guide service life of
Note 3. It is necessary to change the maximum speed according to the
payload. For details, see the “Speed vs. payload” graph shown below. 10,000 km (Service life is calculated for 600mm stroke models).
Note. Position detectors (resolvers) are common to incremental and Note. Calculated by the speed corresponding to the payload.
absolute specifications.
If the controller has a backup function then it will be absolute
specifications.
YK-X
SCARA
robots
Speed vs. payload

Horizontal
Quick reference Vertical Quick reference
50 Lead 20 Lead 12 Lead 6 25 Lead 20 Lead 12 Lead 6
45 Payload Speed % Payload Speed % Payload Speed % Payload Speed % Payload Speed % Payload Speed %
Lead 12 (kg) (mm/sec) (kg) (mm/sec) (kg) (mm/sec) (kg) (mm/sec) (kg) (mm/sec) (kg) (mm/sec)
40 20
36 320 26 43 240 30 46 140 40 4 560 56 12 200 33 20 100 31
35 Lead 6
Payload (kg)
Payload (kg)
30 400 33 40 255 31 42 155 44 3 680 68 10 240 40 15 150 46

Pick & place
30 15
25 480 40 35 295 36 40 165 47 2 800 80 9 260 43 12 180 56
YP-X
robots
25 20 560 46 30 340 42 35 190 54 1 1000 100 8 280 46 10 200 62

20 15 720 60 25 380 47 30 200 57 10 Lead 12
Lead 20 7 310 51 9 210 65
15 10 800 66 20 420 52 25 245 70 6 345 57 8 225 70
10 9 900 75 15 500 62 20 270 77 5 5 380 63 7 235 73
5 Lead 20
Lead 6 8 950 79 10 600 75 15 300 85 4 435 72 6 250 78
0 7 1000 83 9 615 76 10 325 92 0 3 500 83 5 270 84
0 200 400 600 800 1000 1200 1400 0 200 400 600 800 1000
6 1020 85 8 635 79 9 330 94 2 600 100 4 295 92
5 1035 86 7 655 81 8 335 95 3 320 100
CLEAN
4 1055 87 6 675 84 7 340 97

3 1075 89 5 700 87 6 350 100
2 1100 91 4 750 93
1 1200 100 3 800 100
SG07 Straight model

(Approx. 160: with brake) (201:When origin is on non-motor side) 87+/-3: When origin is on non-motor side
knocks +/-0.02)
45
30+/-0.02
(between
Cable securing position 140+/-1 (Note 1) 26+/-1 (Note 1)

(31) (Note 2)
40
(24)
(40)
(15) 180+/-1 (with brake) (Note 1) 4-M5×0.8 Depth 10

+ 0.010 (58.2)
241+/-3 (with brake): 2-ϕ3 H7 ( 0 ) Depth 6
48
When origin is on motor side
(116) 32
60
72
50.4
65 L
175 (with brake) L+40 (with brake)
135 A×100
100 B-M6×1.0 Depth 8
+ 0.012
Depth 6
ϕ4H7 0 Depth 6 (R) 2

+ 0.05
4 0
145 C
185 (with brake)
Effective stroke 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 Note 1. Stop positions are determined by the
mechanical stoppers at both ends.
L 338 388 438 488 538 588 638 688 738 788 838 888 938 988 1038 1088
Note 2. Secure the cable with a tie-band 100mm or less
B 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 being subjected to excessive loads.
C 100 100 100 100 100 100 400 400 400 400 400 400 700 700 700 700 Note 3. The cable’s minimum bend radius is R30.
Weight (kg) Note 4 2.9 3.2 3.4 3.6 3.9 4.1 4.3 4.6 4.8 5.0 5.3 5.5 5.7 5.9 6.1 6.3 Note 4. These are the weights without a brake. The
Lead20 (Horizontal) 1200 1020 weights are 0.7kg heavier when equipped with
900 780 720 a brake.
Maximum Lead20 (Vertical) 1000 1000
Lead12 (Horizontal) 800 Note 5. When the stroke is longer than 600mm,
speed for each 578 510 442 408 resonance of the ball screw may occur
Lead12 (Vertical) 600
stroke Note 5 depending on the operation conditions (critical
Lead6 (Horizontal) 350 speed). In this case, reduce the speed setting
(mm/sec) 298 263 228 210
Lead6 (Vertical) 320 on the program by referring to the maximum
Speed setting – 85% 75% 65% 60% speeds shown in the table at the below.
138 Controller TS-SH u 492

SR03
Articulated robots
Rod type
YA
CE compliance Origin on the non-motor side is selectable SR03-S SR03-R
Linear conveyor
Ordering method
LCM100
modules
SR03 S2
Model Lead Model Brake Origin position Bracket plate Stroke Cable length Note 3
12: 12mm S: Straight model N: With no brake N: Standard Note 2 N: No plate 50 to 200 1K: 1m PN: PNP
TRANSERVO
single-axis robots
06: 6mm R: Space-saving model Note 1 B: With brake Z: Non-motor side H: With plate (50mm pitch) 3K: 3m CC: CC-Link
(motor installed on right) V: With flange 5K: 5m DN: DeviceNetTM
Compact
L: Space-saving model Note 1 10K: 10m EP: EtherNet/IPTM
U: Space-saving model Note 1 GW: No I/O boardNote 5
(motor installed on top)
Note 1. See P.131 for grease gun nozzles. Note 3. The robot cable is flexible and resists bending. SH
Note 2. If changing from the origin position at the time of Note 4. See P.500 for DIN rail mounting bracket.
Single-axis robots
Robot positioner I/O Battery
purchase, the machine reference amount must be Note 5. Select this selection when using the gateway
FLIP-X
reset. For details, refer to the manual. function. For details, see P.62.
PN: PNP (Absolute)
Basic specifications Speed vs. payload CC: CC-Link
DN: DeviceNetTM
N: None
(Incremental)
EP: EtherNet/IPTM
Motor 42 Step motor Horizontal
PT: PROFINET
Resolution (Pulse/rotation) 20480 25 GW: No I/O boardNote 5
Repeatability (mm) +/-0.02 Lead 6
20
Payload (kg)
single-axis robots
Deceleration mechanism Ball screw ϕ8 (Class C10)
SD 1
PHASER
Linear motor
Lead 12
Maximum speed Note 1 (mm/sec) 500 250 10 Robot driver I/O cable
Maximum Horizontal 10 20 SD: TS-SD 1: 1m
payload (kg) 5
Vertical 4 8
Max. pressing force (N) 75 100 0
0 100 200 300 400 500 600
Running life
Vertical Speed (mm/s) 5000 km on models other than shown below.
Lost motion 0.1mm or less
Rotating backlash (°) +/-1.0 9 Running life of only the model shown below becomes shorter than 5000 km
Cartesian
XY-X
8 Lead 6 depending on the payload, so check the running life curve.
robots
Overall length Horizontal Stroke+236.5
7
Payload (kg)
(mm) Vertical Stroke+276.5 6 Vertical Lead 12

Maximum outside dimension 5
W48 × H56.5 6000
of body cross-section (mm) 4 Lead 12
Running life (km)

Cable length (m) Standard: 1 / Option: 3, 5, 10 3 5000
2 4000
Note 1. The maximum speed needs to be changed in 1
3000
accordance with the payload. 0
0 100 200 300 400 500 600
YK-X
SCARA
See the “Speed vs. payload” graph shown on the right. 2000
robots
Speed (mm/s) Note. See P.131
For details, see P. 130. 1000 for running life
0 distance to life time
Motor installation (Space-saving model) 0 1 2 3 4 conversion example.
Payload (kg)
R type Motor installed on right L type Motor installed on left U type Motor installed on top
Controller
Pick & place

Controller Operation method Controller Operation method
YP-X
robots
TS-S2 I/O point trace / TS-SD Pulse train control
SR03 Straight model

A
CLEAN
See Note 5. 9.5 68.5
Ball screw greasing port (φ6.5)
6
11 (Width across flat)
Approx. 250 (Cable length)

(10) 27.5
8 18
7.5 (Width across flat part)
M8×1.25 4-M3×0.5 Depth 10
(90°-equal division)
56.5
(0.5)
(21)
45°
φ16
(7) (5)
38.5
15
48 M4x0.7 Depth 5 10 L1 Origin on

21
(For securing cable) L motor side

Origin on
L+40 (with brake) 37.5±2 Effective stroke
10 non-motor side
.29
11
.D
35 (Width across flat)

P.C
27
5 13 M8×1.25
25
M4×0.7 Depth 5
(For securing cable) 50
(15)
K-M3×0.5 Depth 4 H×50 41

Dimensions of attached nut View A
Option: Horizontal installation plate (foot) Option: Vertical installation plate (flange)
* Contents of option: Plate, 2 pcs. Effective stroke 50 100 150 200
See our robot manuals for additional settings. Hex. socket head cap bolt (M3×0.5), L1 161 211 261 311
Length under head 14 L 249 299 349 399
H 2 3 4 5
10 (21)
K 6 8 10 12
34
24
Weight (kg) Note 7 1.1 1.3 1.4 1.6

(21)
64 Note 1. It is possible to apply only the axial load.

15 10 45 Use the external guide together so that any radial load is not
Hex. socket head cap bolt (M3×0.5), Length under head 10 (37.5) 4-φ4.5 55 applied to the rod.
* Two bolts are required for one plate. drill-through Note 2. The orientation of the width across flat part is undefined to the
base surface.
(25)
Note 3. Use the support guide together to maintain the straightness.

52
Note 4. When running the cables, secure cables so that any load is not
applied to them.
Note 5. Remove the M4 hex. socket head cap set bolts and use them
to secure the cables. (Effective screw thread depth 5)
2-φ5.5 (41) Note 6. The cable’s minimum bend radius is R30.
* See the bottom installation tap position. Note 7. Models with a brake will be 0.2kg heavier.
Note 8. Distance to mechanical stopper.

SR03
Articulated robots
YA
SR03 Space-saving model (motor installed on right)

128 (with brake)
88
Linear conveyor
LCM100
modules
Ball screw greasing port (ф6.5)

M8×1.25 13 5
(15)
6
TRANSERVO
single-axis robots
Origin on Origin on
non-motor side Dimensions of
Compact
motor side
attached nut
9.5 68.5 (7(Note 8)) (5(Note 8))
(40) (24) Approx. 245 (Cable length) L 37.5+/-2
Effective stroke
11(Width across flat)

See Note 5.
97
(15)
(31)
Single-axis robots
20 53
45°
FLIP-X
P.C.D
(0.5)
.29
M8×1.25
56.5
48
38.5
ф16
42
21
7.5
94 15
M4×0.7 Depth 5 8 18 (Width across flat part)
single-axis robots
(For securing cable) 10 4-M3×0.5 Depth 10

PHASER
Linear motor
(10) 27.5 (90°-equal division)

M4×0.7 Depth 5 10 L1
(For securing cable) H×50 41 11(Width across flat)
50 35 48
Option: Horizontal installation plate (foot)
6
Effective stroke 50 100 150 200
25
* Contents of option: Plate, 2 pcs.
See our robot manuals for additional settings. L1 161 211 261 311
K-M3×0.5 Depth 4
L 204 254 304 354
Cartesian
XY-X
robots
H 2 3 4 5
10 (21)
K 6 8 10 12
Weight (kg) Note 7 1.3 1.5 1.6 1.8
Hex. socket head cap bolt (M3×0.5), Note 1. It is possible to apply only the axial load.
Length under head 10 Option: Vertical installation plate (flange)
15 Use the external guide together so that any radial load is
* Two bolts are required for one plate. Hex. socket head cap bolt (M3×0.5), not applied to the rod.
YK-X
SCARA
Note 2. The orientation of the width across flat part is undefined to

robots
Length under head 14

the base surface.
52
64
25
Note 4. When running the cables, secure cables so that any load is
not applied to them.
34
24
Note 5. Remove the M4 hex. socket head cap set bolts and use
(21)
2-ф5.5 them to secure the cables. (Effective screw thread depth 5)

drill-through (41) 10 4-ф4.5 45 Note 6. The cable’s minimum bend radius is R30.
Pick & place
* See the bottom installation tap position. (37.5) drill-through 55

Note 7. Models with a brake will be 0.2kg heavier.
YP-X
robots
SR03 Space-saving model (motor installed on left)

A
CLEAN
M4×0.7 Depth 5
10 (For securing cable) 9.5 68.5
See Note 5. Ball screw greasing port (ф6.5)
27
6
M8×1.25 13 5
Origin on Origin on
View A motor side
(15)
non-motor side
88 Dimensions of attached nut

128 (with brake) (7(Note 8)) (5(Note 8))
(40) (24) Approx. 245 (Cable length) L 37.5+/-2
Effective stroke
97
(31)
(15)
53 20
45°
.29
(0.5)
P.C.D
M8×1.25
56.5
ф16
48
38.5
42
21
94 7.5 11
48
8 18 (Width across flat part) (Width
4-M3×0.5 Depth 10 across flat)
(10) 27.5 (90°-equal division) 35
K-M3×0.5 Depth 4
See our robot manuals for additional settings. Effective stroke 50 100 150 200
L1 161 211 261 311
6
25
L 204 254 304 354

50 H 2 3 4 5
10 (21)
M4×0.7 Depth 5 H×50 41

(For securing cable) K 6 8 10 12
10 L1 Weight (kg) Note 7
1.3 1.5 1.6 1.8
Hex. socket head cap bolt (M3×0.5),
Length under head 10 Option: Vertical installation plate (flange) Note 1. It is possible to apply only the axial load.
15 Use the external guide together so that any radial load is
* Two bolts are required for one plate. Hex. socket head cap bolt (M3×0.5),
not applied to the rod.
Length under head 14 Note 2. The orientation of the width across flat part is undefined to
the base surface.
25
52
64
Note 4. When running the cables, secure cables so that any load is
24
34
not applied to them.

(21)
2-ф5.5 them to secure the cables. (Effective screw thread depth 5)
drill-through (41) 10 (37.5) 4-ф4.5 45
* See the bottom installation tap position. drill-through 55 Note 7. Models with a brake will be 0.2kg heavier.

SR03
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Pick & place
YP-X
robots
SR03 Space-saving model (motor installed on top)
A
CLEAN
M4×0.7 Depth 5 Approx. 245 (Cable length) L 37.5+/-2 Effective stroke (5(Note 8))
(For securing cable) 10 111.5 Ball screw greasing Origin on Origin on
port (ф6.5) (7(Note 8)) motor side non-motor side
27
M8×1.25 13 5
(15)
View A
Dimensions of attached nut
(15)
128 (with brake) 56.5
48
88 21
(40)
48
(24)
98
53
38.5 (0.5)
94
M8×1.25
45°
(31)
ф16
P.C .D.29
21
7.5
15
42 8 18 (Width across flat part)

1
M4×0.7 Depth 5 10 4-M3×0.5 Depth 10

(For securing cable) (10) 27.5 (90°-equal division)
* Contents of option: Plate, 2 pcs. K-M3×0.5 Depth 4
35
See our robot manuals for additional settings.
6
25

50
10 (21)
M4×0.7 Depth 5 L1 161 211 261 311

H×50 41
(For securing cable) L 204 254 304 354
10 L1
Hex. socket head cap bolt (M3×0.5), H 2 3 4 5
15 Length under head 10 Option: Vertical installation plate (flange)
* Two bolts are required for one plate. K 6 8 10 12
Hex. socket head cap bolt (M3×0.5), Weight (kg) Note 7 1.3 1.5 1.6 1.8
Note 1. It is possible to apply only the axial load.
Use the external guide together so that any radial load is not applied to the rod.
25
52
64
Note 2. The orientation of the width across flat part is undefined to the base surface.
34
24
(21)

2-ф5.5 Note 4. When running the cables, secure cables so that any load is not applied to them.
drill-through (41) 10 (37.5) 4-ф4.5 45 Note 5. Remove the M4 hex. socket head cap set bolts and use them to secure the cables.
drill-through 55 (Effective screw thread depth 5)
* See the bottom installation tap position. Note 6. The cable’s minimum bend radius is R30.

SRD03
Articulated robots
Rod type (With support guide)

YA
CE compliance Origin on the non-motor side is selectable: Lead 6, 12

SRD03-S SRD03-U
Linear conveyor
Ordering method
LCM100
modules
SRD03 S2
Model Lead Model Brake Origin position Bracket plate Stroke Cable length Note 3
TRANSERVO
single-axis robots
06: 6mm U: Space-saving model Note 1 B: With brake Z: Non-motor side H: With plate (50mm pitch) 3K: 3m CC: CC-Link
(motor installed on top) 5K: 5m DN: DeviceNetTM
Compact
10K: 10m EP: EtherNet/IPTM

PT: PROFINET
Note 1. See P.131 for grease gun nozzles. Note 3. The robot cable is flexible and resists bending. SH
Note 2. If changing from the origin position at the time of Note 4. See P.500 for DIN rail mounting bracket.
Single-axis robots

purchase, the machine reference amount must be Note 5. Select this selection when using the gateway
FLIP-X
reset. For details, refer to the manual. function. For details, see P.62.
PN: PNP (Absolute)
DN: DeviceNetTM
N: None
(Incremental)
Horizontal EP: EtherNet/IPTM
Motor 42 Step motor PT: PROFINET
single-axis robots
20
SD 1
PHASER
Linear motor

Payload (kg)
15
Ball screw lead (mm) 12 6 Lead 12 Robot driver I/O cable
Maximum speed Note 1 (mm/sec) 500 250 10 SD: TS-SD 1: 1m
Maximum Horizontal 10 20
payload (kg)
5
Running life
Vertical 3.5 7.5
0 5000 km on models other than shown below.
Max. pressing force (N) 75 100 0 100 200 300 400 500 600 Running life of only the model shown below becomes shorter than 5000 km
Stroke (mm) 50 to 200 (50pitch) Speed (mm/s)
Cartesian
depending on the payload, so check the running life curve.

XY-X
robots
Lost motion 0.1mm or less Vertical

Vertical Lead 12
Rotating backlash (°) +/-0.05 8
6000
7
Overall length Horizontal Stroke+236.5 Lead 6 5000
Running life (km)

6
(mm)
Payload (kg)
Vertical Stroke+276.5 5 4000

Maximum outside dimension 4 3000
W48 × H56.5 Lead 12
of body cross-section (mm) 3 2000 Note. See P.131
YK-X
SCARA
robots
Cable length (m) Standard: 1 / Option: 3, 5, 10 2 1000 for running life

1 distance to life
0 0 1 2 3 4 time conversion
accordance with the payload. 0 100 200 300 400 500 600 Payload (kg)
See the “Speed vs. payload” graph shown on the right. example.
Speed (mm/s)
For details, see P. 130.
Controller
Pick & place

YP-X
robots

SRD03 Straight model

Effective stroke+78
CLEAN
35.5
See Note 3.
A
φ15
φ8
35
6
35
Ball screw
greasing port
(φ6.5)
9.5 68.5
97 8-M4×0.7 Depth 10
23 23 23 (For user tool installation)
10 18 4-M4×0.7 drill-through
(0.5)
(For main unit installation)

56.5
38.5
22
27
30
35
(21)
21
(7) (5)
15
M4×0.7 Depth 5
48 10 L1 Origin on 35
(For securing cable) L motor side 83
L+40 (with brake) 37.5±2 Effective stroke Origin on 105
non-motor side
10
27
25

* Contents of option: Plate, 2 pcs. K-M3×0.5 Depth 4 M4×0.7 Depth 5
See our robot manuals for additional settings. (For securing cable)
50 View A
H×50 41
L1 161 211 261 311
10 21
L 249 299 349 399

64 H 2 3 4 5
K 6 8 10 12
Weight (kg) Note 5 1.5 1.7 1.9 2.1
(25)
52
Note 1.It is possible to apply only the axial load.

Note 2.When running the cables, secure cables so that any load is not applied to them.
Note 3.Remove the M4 hex. socket head cap set bolts and use them to secure the cables.
(Effective screw thread depth 5)
2-φ5.5 15 Hex. socket head cap bolt (M3×0.5), Length under head 10 Note 4.The cable’s minimum bend radius is R30.
(41) * Two bolts are required for one plate. Note 5.Models with a brake will be 0.2kg heavier.
* See the bottom installation tap position. Note 6.Distance to mechanical stopper.

SRD03
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
SRD03 Space-saving model (motor installed on top)
Pick & place

YP-X
robots
A
Approx. 245 (Cable length) L 37.5+/-2 Effective stroke (5(Note 8))
M4×0.7 Depth 5 111.5 (7(Note 8)) Origin on
(For securing cable) 10 motor side Origin on non-motor side
Ball screw greasing port
(ф6.5)
CLEAN
27
35
35
View A
ф8
ф15
(15) 35.5 10 18
Effective stroke+78 56.5
128 (with brake)
48
88 21
(40)
(31)
48
(24)
(0.5)
94
53
22
27
30
35
38.5
21
15
1
42 35
M4×0.7 Depth 5 10 4-M4×0.7 drill-through 23 23 23
(For securing cable) (For main unit installation) 83
97
Option: Horizontal installation plate (foot) 8-M4x0.7 Depth 10 105
(For user tool installation)
10 (21)
25
Hex. socket head cap bolt (M3×0.5), M4×0.7 Depth 5

Length under head 10 (For securing cable) K-M3×0.5
* Two bolts are required for one plate. Depth 4
15 50
H×50 41
10 L1
Effective stroke 50 100 150 200 Note 1. It is possible to apply only the axial load.
25
52
64
L1 161 211 261 311 Note 2. The orientation of the width across flat part is undefined to the base surface.
L 204 254 304 354 Note 3. Use the support guide together to maintain the straightness.
Note 4. When running the cables, secure cables so that any load is not applied to them.
H 2 3 4 5 Note 5. Remove the M4 hex. socket head cap set bolts and use them to secure the
2-ф5.5
drill-through (41) K 6 8 10 12 cables. (Effective screw thread depth 5)
* See the bottom installation tap position. Weight (kg) Note 7 1.7 1.9 2.1 2.3 Note 7. Models with a brake will be 0.2kg heavier.

SR04
Articulated robots
Rod type
YA

SR04-S SR04-R
Linear conveyor
Ordering method
LCM100
modules
SR04 S2
Model Lead Model Brake Origin positionNote 2
Bracket plate Stroke Cable length Note 4
TRANSERVO
single-axis robots
02: 2mm (motor installed on right) V: With flange 5K: 5m DN: DeviceNetTM
Compact

Note 1. See P.131 for grease gun nozzles. Note 4. The robot cable is flexible and resists bending.
Note 2. When “2mm lead” is selected, the origin position Note 5. See P.500 for DIN rail mounting bracket.
cannot be changed (to non-motor side). Note 6. Select this selection when using the gateway SH
Note 3. If changing from the origin position at the time of function. For details, see P.62.
Single-axis robots

purchase, the machine reference amount must be
FLIP-X
reset. For details, refer to the manual. PN: PNP (Absolute)

DN: DeviceNetTM
N: None
(Incremental)
EP: EtherNet/IPTM
Motor 42
Step motor Horizontal
PT: PROFINET
40
Ball screw ϕ8 Ball screw ϕ10
single-axis robots
SD 1
Payload (kg)
PHASER
Lead 6
Linear motor
(Class C10) (Class C10) 30

20 Lead 12 Robot driver I/O cable
Maximum speed Note 1 (mm/sec) 500 250 80 SD: TS-SD 1: 1m
Maximum Horizontal 25 40 45 10
payload (kg) Vertical 5 12 25
Max. pressing force (N) 150 300 600 0
0 100 200 300 400 500 600
Stroke (mm) 50 to 300 (50pitch) Vertical Speed (mm/s) Running life
Lost motion 0.1mm or less 30 5000 km on models other than shown below.
Cartesian
Rotating backlash (°) +/-1.0

XY-X
Running life of only the model shown below becomes shorter than 5000 km
robots
25 Lead 2
Payload (kg)
(mm) 20 depending on the payload, so check the running life curve.

Vertical Stroke+303
Maximum outside dimension 15 Vertical Lead 2 Vertical Lead 12
W48 × H58 Lead 6
of body cross-section (mm) 6000 6000
10
Cable length (m) Standard: 1 / Option: 3, 5, 10
Running life (km)
Running life (km)

Lead 12 5000 5000
5
Note 1. The maximum speed needs to be changed in 4000 4000
0 100 200 300 400 500 600
YK-X
3000 3000
SCARA
See the “Speed vs. payload” graph shown on the right.

robots
Speed (mm/s)
For details, see P. 130. Additionally, when the stroke 2000 2000
is long, the maximum speed is decreased due to the 1000 1000
critical speed of the ball screw. See the maximum
0 0
speed table shown at the lower portion of the drawing. 0 5 10 15 20 25 0 1 2 3 4 5
Payload (kg) Payload (kg)
Motor installation (Space-saving model) Note. See P.131 for running life distance to life time conversion example.
Pick & place
YP-X
robots

Controller
CLEAN
SR04 Straight model

A
M4×0.7 Depth 5 9.5
See Note 6. 9.5 67.5 Ball screw greasing port (φ6.5) (For securing cable)
28.5
(Width across flat)

6
Approx. 250 (Cable length) (10) 32.5

9 22
View A
8.5 (Width across flat part)
14
M10×1.25
45°
58
45
25
P.C
(22.5)
.53.D
φ20
4-M4×0.7 Depth 10 14
16.5
48 M4×0.7 Depth 5 (7) (5) (90°-equal division) 25 (Width across

(For securing cable) 9.5 L1(T-slot range) Origin on T-slot for M3 (8 locations) 45 flat)
L motor side
Origin on non-motor side (Note 4)
L+40 (with brake) 42.5±2 Effective stroke
5.8
(7.8)
2.4 6 17 M10×1.25
3.5
5
5.
(19.6)
* Contents of option: Plate, 2 pcs., Nut, 12 pcs. Hex. socket head cap bolt (M4×0.7),
See our robot manuals for additional settings. M3×0.5
1.5
Length under head 14 3.3

Dimensions of attached
square nut for T-slot (6 pcs.) Details of T-slot Dimensions of attached nut
45
34
10 (22.5)
(22.5)
Effective stroke 50 100 150 200 250 300

10 60 L1 162.5 212.5 262.5 312.5 362.5 412.5
20 71 (42.5) 4-φ6.6 73
2-φ6.6 L 270.5 320.5 370.5 420.5 470.5 520.5
10 Installed within the T-slot range of the
main unit. Weight (kg) Note 8 1.4 1.7 1.9 2.2 2.4 2.7
Length under head 10 Maximum Lead 12 500 440 320
*Six bolts are required for one plate. speed for each
stroke Lead 6 250 220 160
(25)
57
(mm/sec) Lead 2 80 72 53
Note 2. The orientation of the width across flat part is undefined to the b
ase surface.
Note 4. For lead 2mm specifications, the origin on the non-motor side cannot be set.
Note 5.When running the cables, secure cables so that any load is not applied to them.
Note 6. Remove the M4 hex. socket head cap set bolts and use them to s ecure the cables. (Effective screw thread depth 5)
Note 8. M odels with a brake will be 0.2kg heavier.
Note 9.Distance to mechanical stopper.

SR04
Articulated robots
YA
Approx. 245 (Cable length) L 42.5+/-2 Effective stroke (5(Note 8))
152 (with brake) (7(Note 8))
Linear conveyor
112
LCM100
Origin on Origin on
modules
motor side non-motor side (Note 9)
5.8 M10x1.25
3.3 17 6
1.5
(19.6)
TRANSERVO
5
single-axis robots
6
Detail of section B Dimensions of
Compact
(40) (24) attached nut

See Note 5. Ball screw 56
67.5 greasing port (ф6.5) 45° T-slot for M3
(15)
(31)
(8 locations)
9.5 L1(T-slot range)
53
.D.
Single-axis robots
P.C
M10×1.25 B
FLIP-X
56.5
ф20
48
45
25
44
16.5
8.5
9 22 (Width across 14 4-M4x0.7
0.5
1.5
100 0.5 M4×0.7 Depth 5
(For securing cable) flat part) Depth 10
9.5 (10) 32.5 (Width across 25 (90°-equal
single-axis robots
flat) division)
PHASER
Linear motor
M4×0.7 Depth 5 45 48
(For securing cable) M3x0.5 2.4
9.5
102.5
5
5.
(7.8)
* Contents of option: Plate, 2 pcs., Nut, 12 pcs.
See our robot manuals for additional settings. Dimensions of attached Effective stroke 50 100 150 200 250 300
6
square nut for T-slot (6 pcs.) L1 162.5 212.5 262.5 312.5 362.5 412.5
L 209.5 259.5 309.5 359.5 409.5 459.5
10 (22.5)
Cartesian
Weight (kg) Note 7 1.6 1.9 2.1 2.4 2.6 2.9
XY-X
robots
Maximum Lead 12 500 440 320
Option: Vertical installation plate (flange) speed for each
Installed within the T-slot range of the main unit. stroke Lead 6 250 220 160
2-ф6.6 (Hex. socket head cap bolt (M3×0.5), Hex. socket head cap bolt (M4×0.7),
20 Length under head 10) (42.5) (mm/sec) Lead 2 80 72 53
drill-through Length under head 14 73
10 * Six bolts are required for one plate. Note 1. It is possible to apply only the axial load.
10 4-ф6.6 60
drill-through Use the external guide together so that any radial load is not applied to the rod.
YK-X
SCARA
robots
(25)
57
71
45
34
Note 5. Remove the M4 hex. socket head cap set bolts and use them to secure the
(22.5)
cables. (Effective screw thread depth 5)

Pick & place

Note 10.This unit can be installed with the motor facing up (turned 90 degrees from
YP-X
robots
the position in this drawing).

A
CLEAN
M4×0.7 Depth 5 9.5 Approx. 245 (Cable length) L 42.5+/-2 Effective stroke (5(Note 8))
(For securing cable) 9.5 L1(T-slot range)
See (7(Note 8)) Origin on Origin on
Note 5. 67.5 Ball screw greasing
28.5
port (ф6.5)
6
View A M10x1.25 17 6 5.8

3.3
1.5
(19.6)
(40) (24)
Dimensions of attached nut Detail of section B
112 T-slot for M3
152 (with brake) (8 locations)
(15)
(31)
(Width across
56
45°
14 3
5
.D.
flat)
P.C
M10×1.25 B
56.5
48
ф20
25
45
44
8.5
1.5
0.5 100 9 22 (Width across

0.5
4-M4x0.7 14
M4×0.7 Depth 5 flat part) Depth 10
(For securing cable) 9.5 (Width across flat)
(90°-equal 25
Option: Horizontal installation plate (foot) M3x0.5 (10) 32.5 division)
2.4
5
5.
* Contents of option: Plate, 2 pcs., Nut, 12 pcs. 48 45

(7.8)
See our robot manuals for additional settings. 102.5

6
Dimensions of attached Effective stroke 50 100 150 200 250 300

square nut for T-slot (6 pcs.) L1 162.5 212.5 262.5 312.5 362.5 412.5
L 209.5 259.5 309.5 359.5 409.5 459.5
(22.5)
Weight (kg) Note 7 1.6 1.9 2.1 2.4 2.6 2.9

Option: Vertical installation plate (flange)
10

Hex. socket head cap bolt (M4×0.7), speed for each Lead 6 250 220 160
Installed within the T-slot range of the main unit. stroke
2-ф6.6 20 (Hex. socket head cap bolt (M3×0.5), Length under head 14 (mm/sec) Lead 2 80 72 53
drill-through 10 Length under head 10) 73
(42.5) 4-ф6.6 drill-through Note 1. It is possible to apply only the axial load.
* Six bolts are required for one plate. 60 Use the external guide together so that any radial load is not applied to the rod.
10 Note 2. The orientation of the width across flat part is undefined to the base surface.
(25)
57
71
34
45
(22.5)

Note 10.This unit can be installed with the motor facing up (turned 90 degrees from the
position in this drawing).

SRD04
Articulated robots

YA
CE compliance Origin on the non-motor side is selectable: Lead 6, 12 SRD04-S SRD04-U

Linear conveyor
Ordering method
LCM100
modules
SRD04 S2
Model Lead Model Brake Origin position Note 2
TRANSERVO
single-axis robots
02: 2mm (motor installed on top) 5K: 5m DN: DeviceNetTM
Compact

PT: PROFINET
Note 1. See P.131 for grease gun nozzles. Note 4. The robot cable is flexible and resists bending.
Single-axis robots

FLIP-X

DN: DeviceNetTM
N: None
(Incremental)
EP: EtherNet/IPTM
PT: PROFINET
single-axis robots
Ball screw ϕ8 Ball screw ϕ10 40

SD 1
PHASER
Linear motor
Payload (kg)
(Class C10) (Class C10) Lead 6

30
Ball screw lead (mm) 12 6 2 Robot driver I/O cable
Maximum speed Note 1 (mm/sec) 500 250 80 20 Lead 12 SD: TS-SD 1: 1m
payload (kg) 10
Vertical 4 11 24
Max. pressing force (N) 150 300 600 0
Running life
Stroke (mm) 50 to 300 (50pitch) 0 100 200 300 400 500 600 5000 km on models other than shown below.
Lost motion 0.1mm or less Speed (mm/s) Running life of only the model shown below becomes shorter than 5000 km
Cartesian
XY-X
robots
Rotating backlash (°) +/-0.05 Vertical depending on the payload, so check the running life curve.
Overall length Horizontal Stroke+263 30 Vertical Lead 2 Vertical Lead 12
Running life (km)

25 Lead 2 6000 6000
Running life (km)

W48 × H58 4000 4000
Payload (kg)
of body cross-section (mm) 20 3000 3000

2000 2000
Cable length (m) Standard: 1 / Option: 3, 5, 10 15 1000 1000
Lead 6 0 0
Note 1. The maximum speed needs to be changed in 10 0 5 10 15 20 25 Payload (kg) 0 1 2 3 4 5 Payload (kg)
YK-X
SCARA
robots
accordance with the payload. Lead 12 Note. See P.131 for running life distance to life time conversion
5
See the “Speed vs. payload” graph shown on the right. example.
For details, see P. 130. 0
0 100 200 300 400 500 600
Additionally, when the stroke is long, the maximum
speed is decreased due to the critical speed of the ball Speed (mm/s) Controller
screw.
See the maximum speed table shown at the lower
Pick & place
TS-S2 I/O point trace / TS-SD

YP-X
portion of the drawing. Pulse train control

robots

Effective stroke+100.5
45
CLEAN
A
φ19
φ10
See Note 4.
45
45
Ball screw 8-M5×0.8

45
greasing port Depth 12

(φ6.5) (For user tool 4-M5×0.8
9.5 67.5 installation) drill-through
126 (For main unit
10.5 22 30 30 30 installation)
58
45
30
20
34
(22.5)
(7) (5)
16.5
48 M4×0.7 Depth 5 9.5 L1(T-slot range) T-slot for M3

Origin on 25
(For securing cable) L motor side (4 locations) 105
L+40 (with brake) 42.5±2 Effective stroke 135
Origin on
non-motor side M4×0.7 Depth 5 9.5
Option: Horizontal installation plate (foot) (Note 2)
(For securing cable)
5.8
3.5
(7.8)
28.5

5
5.
10 (22.5)
1.5
M3×0.5 3.3
71 square nut for T-slot (6 pcs.) Details of T-slot View A
20 Installed within the T-slot range of the main unit.
2-φ6.6 10 Hex. socket head cap bolt (M3×0.5), Length under head 10
* Six bolts are required for one plate.
Note 1.It is possible to apply only the axial load.
Use the external guide together so that any radial load is not applied to
Effective stroke 50 100 150 200 250 300 the rod.
L1 162.5 212.5 262.5 312.5 362.5 412.5 Note 2.For lead 2mm specifications, the origin on the non-motor side cannot be
set.
(25)
L 270.5 320.5 370.5 420.5 470.5 520.5 Note 3.When running the cables, secure cables so that any load is not applied
57
to them.
Weight (kg) Note 6 2.0 2.4 2.7 3.0 3.3 3.7
Note 4.Remove the M4 hex. socket head cap set bolts and use them to secure
Maximum Lead 12 500 440 320 the cables. (Effective screw thread depth 5)
speed for each
stroke Lead 6 250 220 160 Note 5.The cable’s minimum bend radius is R30.
Note 6.Models with a brake will be 0.2kg heavier.
(mm/sec) Lead 2 80 72 53 Note 7.Distance to mechanical stopper.

SRD04
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Pick & place

YP-X
robots
* Contents of option: Plate, 2 pcs., Nut, 12 pcs. M4×0.7 Depth 5
See our robot manuals for additional settings. (For securing cable)
6
CLEAN
10 (22.5)
9.5
Installed within the T-slot range of the main unit. Approx. 245 (Cable length) L 42.5+/-2 Effective stroke (5(Note 8))
(Hex. socket head cap bolt (M3×0.5), (7(Note 8)) Origin on Origin on
Length under head 10) motor side non-motor side (Note 9)
* Six bolts are required for one plate.
20
2-ф6.6
drill-through 10
45
45
ф10
25
57
71
ф19
45 10.5 22
(15) Effective stroke+100.5 56.5 1
152 (with brake) 48 8-M5×0.8
21 Depth 12
112 (For user tool
(40)
installation)
4-M5×0.8
(31)
48
drill-through
(For main unit
(24)
installation)
102.5
100
56
6
20
30
34
45
22.5
See Ball screw greasing T-slot for M3 B 25

0.5
44 Note 5. 67.5 port (ф6.5) (4 locations) 30 30 30

45 M4×0.7 Depth 5 9.5 L1(T-slot range) 105
(For securing cable) 9.5 126
M3x0.5 M10x1.25 17 6 135
Effective stroke 50 100 150 200 250 300 2.4
5
5.
5
(7.8)
L1 162.5 212.5 262.5 312.5 362.5 412.5

(19.6)
3.3
1.5
L 209.5 259.5 309.5 359.5 409.5 459.5 5.8

16.5
Dimensions of attached Detail of Dimensions of

Weight (kg) Note 7 2.2 2.6 2.9 3.2 3.5 3.9 square nut for T-slot (6 pcs.) section B attached nut
speed for each Note 3. Use the support guide together to maintain the straightness.
stroke Lead 6 250 220 160 Note 4. When running the cables, secure cables so that any load is not applied to them.
(mm/sec) Lead 2 80 72 53 Note 5. Remove the M4 hex. socket head cap set bolts and use them to secure the cables. (Effective screw thread depth 5)
Note 1. It is possible to apply only the axial load. Note 7. Models with a brake will be 0.2kg heavier.
Use the external guide together so that any radial load is not applied to the rod. Note 8. Distance to mechanical stopper.
Note 2. The orientation of the width across flat part is undefined to the base surface. Note 9. For lead 2mm specifications, the origin on the non-motor side cannot be set.

SR05
Articulated robots
Rod type
YA

SR05-S SR05-R
Linear conveyor
Ordering method
LCM100
modules
SR05 S2
TRANSERVO
single-axis robots
02: 2mm (motor installed on right) V: With flange 5K: 5m DN: DeviceNetTM
Compact

Note 1. See P.131 for grease gun nozzles. Note 4. The robot cable is flexible and resists bending. GW: No I/O boardNote 6
cannot be changed (to non-motor side).
Note 3. If changing from the origin position at the time of
Note 6. Select this selection when using the gateway
function. For details, see P.62.
SH
Single-axis robots
purchase, the machine reference amount must be Robot positioner I/O Battery
FLIP-X
reset. For details, refer to the manual.

PN: PNP (Absolute)
DN: DeviceNetTM
N: None
(Incremental)
EP: EtherNet/IPTM
PT: PROFINET
Repeatability (mm) +/-0.02 60
Lead 2
Deceleration mechanism Ball screw ϕ12 (Class C10) Lead 6
Payload (kg)
single-axis robots
50
SD 1
PHASER
Linear motor
Ball screw lead (mm) 12 6 2 40 Lead 12

Maximum speed Note 1 (mm/sec) 300 150 50 30 Robot driver I/O cable
Maximum Horizontal 50 55 60 20 SD: TS-SD 1: 1m
payload (kg) Vertical 10 20 30
10
Max. pressing force (N) 250 550 900
0
Stroke (mm) 50 to 300 (50pitch) 0 50 100 150 200 250 300 350 Running life
Lost motion 0.1mm or less Speed (mm/s)
Rotating backlash (°) +/-1.0 Vertical 5000 km on models other than shown below.
Cartesian
Overall length Horizontal Stroke+276 35

XY-X
robots
(mm) Vertical Stroke+316 30 Lead 2 depending on the payload, so check the running life curve.
Payload (kg)

W56.4 × H71 Vertical Lead 2
Running life (km)

of body cross-section (mm) 20 Lead 6 5000
Cable length (m) Standard: 1 / Option: 3, 5, 10 15 4000
Lead 12 3000
2000
See the “Speed vs. payload” graph shown on the right. 0
YK-X
0 50 100 150 200 250 300 350

SCARA
1000
robots
For details, see P. 130. Speed (mm/s)

0
0 5 10 15 20 25 30
Payload (kg)
Note. See P.131 for running life distance to life time conversion
Motor installation (Space-saving model) example.
Pick & place

YP-X
robots
Controller
CLEAN
SR05 Straight model

A
See Note 7. 9.5 78 Ball screw greasing port M4×0.7 Depth 5 9.5
9.5
(φ6.5)
18
Approx. 250 (Cable length) (10) 35.5

M4×0.7 Depth 5 10 24 View A P. 17 (Width across flat)
C .D
9.5 (Width across flat part) .6
5
M12×1.25
45°
71
55
30
37
(28.2)
28.2
φ25
(7) (5)
(Note 9)
0.7
56.4 (Note 5) 4-M5×0.8 Depth 10 17

9.5 L1(T-slot range) Origin on (90°-equal division)
Origin on 30 (Width
L motor side non-motor side T-slot for M4 55 across flat)
L+40 (with brake) 45.5±2 Effective stroke (Note 4) (8 locations)
7 19 M12×1.25
3.2 M4×0.7 7.3
7
* Contents of option: Plate, 2 pcs., Nut, 8 pcs. Hex. socket head cap bolt (M5×0.8),
1.5 4.5
(9.9)
See our robot manuals for additional settings. Length under head 14
(21.9)
4.3
square nut for T-slot (6 pcs.) Details of T-slot Dimensions of attached nut
55
40
12 (27.5)
(27.5)

10 70 L1 183 233 283 333 383 433
80 (45.5) 4-φ6.6 83
2-φ6.6 20 L 280.5 330.5 380.5 430.5 480.5 530.5
10 Installed within the T-slot range of the
main unit. Weight (kg) Note 10 2.2 2.6 3.0 3.3 3.7 4.1
Length under head 12 Note 1. It is possible to apply only the axial load.
* Four bolts are required for one plate. Use the external guide together so that any radial load is not applied to the rod.
(30)
68

Note 4.For lead 2mm specifications, the origin on the non-motor side cannot be set.
Note 5.When the lead is 2mm, this dimension is 27mm.
Note 7. Remove the M4 hex. socket head cap set bolts and use them to secure the cables. (Effective screw thread depth 5)
Note 9. Take great care as the outer case of the motor projects from the bottom of the main unit.
Note 10.Models with a brake will be 0.2kg heavier.
Note 11.Distance to mechanical stopper.

SR05
Articulated robots
YA
Approx. 245 (Cable length) L 45.5+/-2 Effective stroke (5(Note 8,Note 12)) M4x0.7 3.2
7
146 (with brake) (7(Note 8))
(9.9)
Linear conveyor
106
LCM100
modules
Origin on Dimensions of attached
motor side Origin on square nut for T-slot (6 pcs.)
non-motor side (Note 9)
Ball screw greasing
port (ф6.5) 7.3 M12x1.25 19 7
TRANSERVO
4.3
single-axis robots
1.5
(21.9)
Compact
6
9.5
(40) (24) Detail of section B Dimensions of
attached nut
4-M5x0.8 Depth 10 28.5 70
See Note 5. 78 T-slot for M4
(90°-equal division)
(8 locations)
(31)
(15)
9.5 L1(T-slot range) 45°
across flat)
Single-axis robots
17 (Width
.65
FLIP-X
P.C.D
B
M12×1.25
71
56.5
56.5
55
30
37
28.2
9.5
(Note 11)
single-axis robots
(Width across flat part)
PHASER
0.7
127.5 9.5
Linear motor
10 24 17
M4×0.7 Depth 5 (Width across flat) 30
Option: Horizontal installation plate (foot) (For securing cable) M4×0.7 Depth 5
9.5 (For securing cable) (10) 35.5 55 56.4
9.5
L1 183 233 283 333 383 433

L 227.5 277.5 327.5 377.5 427.5 477.5
Cartesian
XY-X
12 (27.5)
robots
Weight (kg) Note 7 2.4 2.8 3.2 3.5 3.9 4.3
Installed within the T-slot range of the main unit. Option: Vertical installation plate (flange) Use the external guide together so that any radial load is not applied to the rod.
2-ф6.6 20 (Hex. socket head cap bolt (M4×0.7), Hex. socket head cap bolt (M5×0.8), Note 2. The orientation of the width across flat part is undefined to the base surface.
drill-through 10 Length under head 12) Note 3. Use the support guide together to maintain the straightness.
* Four bolts are required for one plate.
40
YK-X
55
SCARA
robots
(28.2)

(30)
80
68

10 (45.5) 70 Note 9. For lead 2mm specifications, the origin on the non-motor side cannot be set.
Note 10.This unit can be installed with the motor facing up (turned 90 degrees from
4-ф6.6 drill-through 83
the position in this drawing).
Note 11.Take great care as the outer case of the motor and cover belt projects from
Pick & place

the bottom of the main unit.
YP-X
robots
A
18 0.7(Note 11)
CLEAN
M4×0.7 Depth 5 See
9.5 (For securing cable) 9.5 L1(T-slot range)
Note 5.
78 M4x0.7 3.2
7
(9.9)
9.5
Origin on Origin on square nut for T-slot (6 pcs.)
Ball screw greasing
View A port (ф6.5) 7.3 M12x1.25 19 7
4.3
1.5
(21.9)
6
106 Detail of section B Dimensions of

146 (with brake) (7(Note 8)) attached nut
(40) (24) L 45.5+/-2 Effective stroke (5(Note 8,Note 12))
T-slot for M4
70 28.5 (8 locations)
(15)
(31)
45°
P.C.D
across
(Width
flat)
B
.65
17
M12×1.25
71
56.5
56.5
30
55
28.2
127.5 9.5
9.5 M4×0.7 Depth 5 (Width across 56.4 17
(For securing cable) 10 24 (Width across
Option: Horizontal installation plate (foot) flat part) 4-M5x0.8 Depth 10 30
(90°-equal division) 55 flat)
* Contents of option: Plate, 2 pcs., Nut, 8 pcs. (10) 35.5
9.5

L1 183 233 283 333 383 433
L 227.5 277.5 327.5 377.5 427.5 477.5
12 (27.5)
Note 7
Option: Vertical installation plate (flange) Weight (kg) 2.4 2.8 3.2 3.5 3.9 4.3
Hex. socket head cap bolt (M5×0.8), Note 1. It is possible to apply only the axial load.
Length under head 14 Use the external guide together so that any radial load is not applied to the rod.
Installed within the T-slot range of the main unit. Note 2. The orientation of the width across flat part is undefined to the base surface.
2-ф6.6 20 (Hex. socket head cap bolt (M4×0.7), Note 3. Use the support guide together to maintain the straightness.
drill-through 10 Length under head 12) Note 4. When running the cables, secure cables so that any load is not applied to them.
* Four bolts are required for one plate. Note 5. Remove the M4 hex. socket head cap set bolts and use them to secure the
40
55

(27.5)

(30)
80
68
10 (45.5) 4-ф6.6 70 Note 10.This unit can be installed with the motor facing up (turned 90 degrees from the
drill-through 83 position in this drawing).
Note 11.Take great care as the outer case of the motor and cover belt projects from the
bottom of the main unit.
Note 12.When the lead is 2 mm, this dimension is 27 mm.

SRD05
Articulated robots

YA
CE compliance Origin on the non-motor side is selectable: Lead 6, 12 SRD05-S SRD05-U

Linear conveyor
Ordering method
LCM100
modules
SRD05 S2
TRANSERVO
single-axis robots
02: 2mm (motor installed on top) 5K: 5m DN: DeviceNetTM
Compact

PT: PROFINET
Note 1. See P.131 for grease gun nozzles. Note 4. The robot cable is flexible and resists bending. GW: No I/O boardNote 6
Single-axis robots

FLIP-X

DN: DeviceNetTM
N: None
(Incremental)
EP: EtherNet/IPTM
PT: PROFINET
Lead 2
Repeatability (mm) +/-0.02 60
single-axis robots
Lead 6
SD 1
PHASER
Linear motor
Deceleration mechanism Ball screw ϕ12 (Class C10) 50

Payload (kg)
Ball screw lead (mm) 12 6 2 40 Lead 12 Robot driver I/O cable

30 SD: TS-SD 1: 1m
20
Horizontal 50 55 60
Maximum
payload (kg)
10 Running life
Vertical 8.5 18.5 28.5
0 5000 km on models other than shown below.
Max. pressing force (N) 250 550 900 0 50 100 150 200 250 300 350
Speed (mm/s)
Cartesian

XY-X
depending on the payload, so check the running life curve.

robots
Vertical
Lost motion 0.1mm or less
Running life (km)

Vertical Lead 2 6000
30
Rotating backlash (°) +/-0.05 5000
25 Lead 2 4000
3000
Payload (kg)
(mm) Vertical Stroke+316 20

2000
Maximum outside dimension 15 Lead 6 1000
W56.4 × H71 0
YK-X
SCARA
10 0 5 10 15 20 25 30
robots
Cable length (m) Standard: 1 / Option: 3, 5, 10 5 Lead 12 Payload (kg)

Note 1. The maximum speed needs to be changed in Note. See P.131 for running life distance to life time conversion example.
0
accordance with the payload. 0 50 100 150 200 250 300 350
Controller
Speed (mm/s)
For details, see P. 130. Controller Operation method Controller Operation method
Pick & place

YP-X
robots

Effective stroke+107
47
CLEAN
φ21
A
φ12
See Note 5.
9.5
55
52
52
Ball screw
greasing port
(φ6.5) 8-M6×1.0
Depth 15
9.5 78 (For user tool
Approx. 250 (Cable length) installation)
147
10.5 24 4-M6×1.0
M4×0.7 Depth 5 40 40 40 drill-through
(For securing cable) (For main unit
installation)
71
37
55
40
30
44
(28.2)
28.2
(7)
(Note 7)
56.4 (5)
0.7
9.5 L1(T-slot range) Origin on (Note 3) T-slot for M4 30

L motor side (4 locations) 130
L+40 (with brake) 45.5±2 Effective stroke 157
Origin on non-motor side (Note 2) M4×0.7 Depth 5
Option: Horizontal installation plate (foot) 9.5
18
3.2 M4×0.7
7
1.5 4.5
(9.9)
12 (27.5)
Dimensions of attached 4.3

square nut for T-slot (6 pcs.) Details of T-slot (2:1)
View A
80
2-φ6.6 20 Installed within the T-slot range of the main unit.
Hex. socket head cap bolt (M4×0.7), Length under head 12 Note 1. It is possible to apply only the axial load.
* Four bolts are required for one plate. Note 2.For lead 2mm specifications, the origin on the non-motor side cannot be set.
Note 5. Remove the M4 hex. socket head cap set bolts and use them to secure the cables.
(30)
Effective stroke 50 100 150 200 250 300 (Effective screw thread depth 5)
68

L1 183 233 283 333 383 433 Note 7. Take great care as the outer case of the motor projects from the bottom of the main
L 280.5 330.5 380.5 430.5 480.5 530.5 unit.
Weight (kg) Note 8 3.1 3.6 4.1 4.5 5.0 5.5 Note 9.Distance to mechanical stopper.
10

SRD05
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Pick & place

YP-X
robots
Approx. 245 (Cable length) L 45.5+/-2 Effective stroke (5(Note 8,Note 11))
(7(Note 8)) Origin on Origin on
A
M4×0.7 Depth 5
CLEAN
55
9.5
52
18
52
ф12
View A
ф21
(15)
47 10.5 24 70.9
146 (with brake)
Effective stroke +107 56.4 8-M6×1.0
106 Depth 15
(40)
(For user tool

installation)
56.4
(31) 4-M6×1.0
drill-through
Ball screw greasing (For main unit
(24)
port (ф6.5) installation)

127.5
70
(28.5) 9.5
30
40
44
55
28.5
(1)
56.5 78 B
1 (Note 10)
See Note 5. T-slot for M4

(4 locations) 30
Option: Horizontal installation plate (foot) 9.5 L1
40 40 40
* Contents of option: Plate, 2 pcs., Nut, 8 pcs. M4×0.7 Depth 5 3.2
(For securing cable) 9.5 M4x0.7 7.3 130
147
7
157
(9.9)
6
1.5
4.3
(27.5) 9.5
12 (27.5)
square nut for T-slot (6 pcs.) Detail of section B

20 Installed within the T-slot range of the main unit. L1 183 233 283 333 383 433
2-ф6.6 (Hex. socket head cap bolt (M4×0.7),
drill-through 10 Length under head 12) L 227.5 277.5 327.5 377.5 427.5 477.5
* Four bolts are required for one plate. Weight (kg) Note 7 3.3 3.8 4.3 4.7 5.2 5.7
Note 1. It is possible to apply only the axial load. Note 6. The cable’s minimum bend radius is R30.
Use the external guide together so that any radial load Note 7. Models with a brake will be 0.2kg heavier.
is not applied to the rod. Note 8. Distance to mechanical stopper.
(30)
80
68
Note 2. The orientation of the width across flat part is Note 9. For lead 2mm specifications, the origin on the non-
undefined to the base surface. motor side cannot be set.
Note 3. Use the support guide together to maintain the straightness. Note 10.Take great care as the outer case of the cover belt
Note 4. When running the cables, secure cables so that any projects from the bottom of the main unit.
load is not applied to them. Note 11. When the lead is 2 mm, this dimension is 27 mm.
them to secure the cables. (Effective screw thread depth 5)

STH04
Articulated robots
Slide table type

YA

Linear conveyor
Ordering method
LCM100
modules
STH04 S2
Origin position Bracket plate Note 3
Stroke Cable length Note 4
05: 5mm S: Straight model N: With no brake N: Standard Note 2 N: No plate 50: 50mm 1K: 1m PN: PNP
TRANSERVO
single-axis robots
10: 10mm R: Space-saving model B: With brake Z: Non-motor side H: With plate 100: 100mm 3K: 3m CC: CC-Link
(motor installed on right) 5K: 5m DN: DeviceNetTM
Compact

SH
Note 1. For the space saving models (R and L), the specifications with brake are applicable to only 100mm strokes.
Single-axis robots

Note 2. If changing from the origin position at the time of purchase, the machine reference amount must be reset. For details, SH: TS-SH NP: NPN B: With battery
FLIP-X
refer to the manual. PN: PNP (Absolute)

Note 3. Space-saving models (R and L) with the plate cannot be selected. CC: CC-Link N: None
DN: DeviceNetTM (Incremental)
EP: EtherNet/IPTM
Note 5. See P.500 for DIN rail mounting bracket. PT: PROFINET
Note 6. The robot with the brake cannot use the TS-SD. GW: No I/O boardNote 7
single-axis robots
SD 1
PHASER
Linear motor
Basic specifications
Motor 28 Step motor SD: TS-SD Note 6 1: 1m
Repeatability Note 1
(mm) +/-0.05 Allowable overhang Note Static loading moment
Straight Slide screw
Drive method
Space-saving Slide screw + belt A MY
Ball screw lead (mm) 5 10
Cartesian
XY-X
robots
Maximum speed Note 2 (mm/sec) 200 400 B C

C A
Maximum payload Horizontal 6 4 B C A MR MP
(kg) Vertical 2 1
Max. pressing force (N) 55 30 Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N.m)
A B C A B C A C Stroke MY MP MR
Stroke (mm) 50/100
2kg 1534 611 415 2kg 435 595 1504 0.5kg 2000 2000
Lead 10
Lead 10
Lead 10
Maximum outside dimension Straight W45 × H46 50mm 26 26
3kg 949 374 255 3kg 263 359 920 0.75kg 1558 1558 48
of body cross-section (mm) Space-saving W74.5 × H51 100mm 43 43
YK-X
SCARA
robots
Cable length (m) Standard: 1 / Option: 3, 5, 10 4kg 656 255 175 4kg 177 241 629 1kg 1165 1164
Lead 5
Lead 5
Lead 5
Note 2. The maximum speed needs to be changed in 4kg 656 255 175 4kg 177 241 629 1.5kg 771 771
accordance with the payload. 6kg 364 137 95 6kg 91 123 337 2kg 574 574
For details, see P. 130. Note. Overhang at travelling service life of 3000km.
Pick & place
(Service life is calculated for 75mm stroke models.)

YP-X
robots
Motor installation (Space-saving model) Speed vs. payload Controller

R type Motor installed on right L type Motor installed on left Horizontal 7 Vertical 2.5 Controller Operation method
6 Lead 5
Payload (kg)
Payload (kg)
2 Lead 5 TS-S2 I/O point trace /

5 Lead 10
4 1.5 TS-SH Remote command
3 1 Lead 10 TS-SD Note Pulse train control
CLEAN
2
1 0.5
0 Note. The robot with the brake
0 100 200 300 400 500 00 100 200 300 400 cannot use the TS-SD.
STH04 Straight model

Approx. 200 (C/2-1)xB 20 C-M5x0.8 Depth 6.5

(Cable length without brake) +0.03
B ф5 +0.01 Depth 5
Depth 5
Approx. 180 6
+0.03
5 +0.01
(Cable length with brake)

R
24
(24) (40)
2-M5x0.8
D 9 45
(31)
Depth 8
29
0.3
(15)
17
46 +/-0.3
37
41.5
1+/-0.5 [1+/- 0.5]

(Note 2) (Note 2)
11.5 Origin on motor side Origin on non-motor side
(Note 1) (Note 1)
(2.1) 86 L Effective stroke
149.5(with brake) G E 9 2-M6x1.0

7 25.5 Option: Installation plate
4-ф9.5(Note 4)
Depth 12
A * Not mounted on Contents of option: Plate, 4 pcs.
upper surface * For additional settings, contact your distributor.
4-ф5.3
28
ф5.5
+0.030
ф4H9( 0 )
4H9(0+0.030)
Cross-sectional 4-M6x1.0 A 5
R
drawing A-A Depth 5

Depth 5
Depth 12 Effective stroke 50 100 25 60

45 15.5
8.3
Detailed drawing of installation hole B 40 44 40 74

C 6 8
Note 1. Return-to-origin position.
D 116.5 191.5 Note 2. Table movable range during return-to-origin operation. The values in [ ] show those when the return-to-origin direction is changed.
E 65 85 Note 3. The minimum bending radius of the motor cable is R30.
G 39.5 88.5 Note 4. When installing the mechanical main unit using the back facing holes, use the hex socket head cap M5 bolts.
L 122 191 Note 5. The installation hole positions of the main unit with the specifications with the brake are common to those shown above.
Weight (kg) Note 6 1.25 1.7 Note 6. Models with a brake will be 0.11kg heavier.

STH04
Articulated robots
YA
STH04 Space-saving model (motor installed on right)
Linear conveyor
(C/2-1)xB 19
LCM100
modules
B
6 C-M5x0.8 Depth 6.5
Depth 5
+0.03
5 +0.01
Ap +0.03
(Ca prox. ф5 +0.01 Depth 5
b 1
TRANSERVO
Ap le len 60
single-axis robots
(Ca prox. gth
wit
ble 12
Compact
len 0 hou
R
gth t br
wit ake 3-M5x0.8
hb ) 2.5 45
rak
24
e) Depth 8
29
(24)
G 8
5.5
0.3
13
35
Single-axis robots
17.2
37
FLIP-X
(31)
(15)
51 +/-0.3
1+/-0.5 [1+/- 0.5] 72.5 (2)
single-axis robots
(40)
PHASER
(Note 2) (Note 2)
Linear motor
13 Origin on motor side Origin on non-motor side (Note 1)
(2.3)
(Note 1)
16.5 L Effective stroke Effective stroke 50 100
B 40 44
(E-1)xD 18
C 6 8
(12)
E-M6x1.0 Depth 12 D D 45 44
E 2 4
(25)
See the cross-sectional A
Cartesian
XY-X
drawing of A-A. F 45 88
robots
G 116.5 191.5
L 106 181
Weight (kg) Note 7 1.15 1.6
(M6)
ф5.3
ф9.5
ф10.5(Note 4)
40
Note 2. Table movable range during return-to-origin
operation. The values in [ ] show those when the
return-to-origin direction is changed.
R
YK-X
SCARA
5
robots
)
Note 3. The minimum bending radius of the motor cable is R30.

+0.030
9 35.5 A +0.030
ф4H9( ) Note 4. When installing the mechanical main unit using
F
Depth 4
4H9( 0
0
the back facing holes, push the slider toward the
Cross-sectional Depth 4 origin position on the motor side and insert the
drawing A-A hex socket head cap (M5) bolt.
Detailed drawing of Note 5. The dimensions of the specifications with the
brake are common to those shown above.
installation hole
Note 6. The specifications with the brake are applicable
Pick & place

to only 100 strokes.
YP-X
robots
STH04 Space-saving model (motor installed on left)
CLEAN
)
ake
24
ut br
60 w itho
x. 1 gth ke)
pro len bra
Ap able
R
2 0 w ith
(C x. 1 gth +0.03
ф5 +0.01 Depth 5
pro len
Ap able
Depth 5
+0.03
5 +0.01
(C 6 C-M5x0.8 Depth 6.5
B 3-M5x0.8 45 2.5
Depth 8
(C/2-1)xB 19
(24) 29
G 8
0.3
5.5
35
13
17.2
37
51+/-0.3
(31)
(15)
1 +/-0.5 [1+/- 0.5] (2) 72.5

(40) (Note 2) (Note 2)
13 Origin on motor side Origin on non-motor side (Note 1)

(2.3)
(Note 1)
16.5 L Effective stroke Effective stroke 50 100
B 40 44
+0.030
ф4H9( 0 ) C 6 8
F
4H9( +0.030 )
9 35.5 D 45 44
Depth 4
Depth 4
0
5 A E 2 4
R F 45 88
ф10.5(Note 4)
G 116.5 191.5
L 106 181
ф9.5
ф5.3
(M6)
Weight (kg) Note 7 1.15 1.6

40

Note 2. Table movable range during return-to-origin
operation. The values in [ ] show those when the
E-M6x1.0 Depth 12 D A Note 3. The minimum bending radius of the motor cable
(25)
(12) is R30.
See the cross-sectional Note 4. When installing the mechanical main unit using
drawing of A-A. (E-1)xD 18 the back facing holes, push the slider toward the
Cross-sectional
drawing A-A origin position on the motor side and insert the
hex socket head cap (M5) bolt.
Detailed drawing of Note 5. The dimensions of the specifications with the
installation hole brake are common to those shown above.
Note 6. The specifications with the brake are applicable
to only 100 strokes.

STH06
Articulated robots
Slide table type

YA

Linear conveyor
Ordering method
LCM100
modules
STH06 S2
Model Lead Model Brake Origin position Bracket plate Note 2
Stroke Cable length Note 3
08: 8mm S: Straight model N: With no brake N: Standard Note 1 N: No plate 50: 50mm 1K: 1m PN: PNP
TRANSERVO
single-axis robots
16: 16mm R: Space-saving model B: With brake Z: Non-motor side H: With plate 100: 100mm 3K: 3m CC: CC-Link
(motor installed on right) 150: 150mm 5K: 5m DN: DeviceNetTM
Compact

SH
Single-axis robots

Note 1. If changing from the origin position at the time of purchase, the machine reference amount must be reset. For details, SH: TS-SH NP: NPN B: With battery
FLIP-X
refer to the manual. PN: PNP (Absolute)

Note 2. Space-saving models (R and L) with the plate cannot be selected. CC: CC-Link N: None
EP: EtherNet/IPTM
Note 5. The robot with the brake cannot use the TS-SD. GW: No I/O boardNote 6
single-axis robots
SD 1
PHASER
Linear motor
Basic specifications
Motor 42 Step motor SD: TS-SD Note 5 1: 1m
Repeatability Note 1
(mm) +/-0.05 Allowable overhang Note Static loading moment
Straight Slide screw
Drive method
Space-saving Slide screw + belt A MY
Ball screw lead (mm) 8 16
Cartesian
XY-X
robots
Maximum speed Note 2 (mm/sec) 150 400 B C

C A
Maximum payload Horizontal 9 6 B C A MR MP
(kg) Vertical 4 2
Max. pressing force (N) 180 100 Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N.m)
Stroke (mm) 50/100/150 A B C A B C A C Stroke MY MP MR

2kg 3000 2123 1436 2kg 1500 2091 3000 1kg 3000 3000 50mm 77 77 146
Lead 16
Lead 16
Lead 16
Maximum outside dimension Straight W61 × H65
of body cross-section (mm) Space-saving W108 × H70 4kg 2493 1001 680 4kg 710 975 2443 1.5kg 2458 2457 100mm 112 112 177
YK-X
SCARA
robots
Cable length (m) Standard: 1 / Option: 3, 5, 10 6kg 1571 627 428 6kg 440 603 1524 2kg 1837 1837 150mm 155 155 152
Lead 8
Lead 8
Lead 8
Note 2. The maximum speed needs to be changed in 6kg 1571 627 428 6kg 440 603 1524 3kg 1217 1216
accordance with the payload. 9kg 956 378 260 9kg 260 355 912 4kg 907 906
For details, see P. 130. Note. Overhang at travelling service life of 3000km.
Pick & place
(Service life is calculated for 100mm stroke models.)

YP-X
robots
Motor installation (Space-saving model) Speed vs. payload Controller

R type Motor installed on right L type Motor installed on left Horizontal 10 Vertical 4.5 Controller Operation method
9 4
8 Lead 8 3.5 Lead 8 TS-S2 I/O point trace /
7 Lead 16
Payload (kg)
Payload (kg)
6 3 TS-SH Remote command

5 2.5 Lead 16
2 TS-SD Note
CLEAN
4
1.5
Pulse train control
3
2 1
1 0.5 Note. The robot with the brake
0
0 100 200 300 400 500 00 50 100 150 200 250 300 cannot use the TS-SD.
STH06 Straight model

Approx. 210 (C/2-1)xB 29

(Cable length without brake/with brake) B C-M6x1.0 Depth 8
+0.03
6 +0.01
Depth 6
7
ф6 +0.03
+0.01 Depth 6
R
36
(24) (40)
2-M6x1.0
(15)
Depth 14
(31)
D 14 61
23.5
0.5
44
65 +/- 0.3
55
57
1+/- 0.5 [1+/- 0.5]

(Note 2) (Note 2)
16.5 Origin on motor side Origin on non-motor side
(2.2) 82 L (Note 1) (Note 1)
123(with brake) Effective stroke
(F/2-1)xG E 12
8 39.5 G 2-M8x1.25 Depth 16
A * Not mounted on upper surface
F-ф6.8
F-ф11
Option: Installation plate

38
Contents of option: Plate, 4 pcs.

* For additional settings, contact your distributor.
F-M8x1.25 A
R
Cross-sectional Depth 16 6
)
ф5H9 ( +0.030 ф6.6

5H9 (+0.030
drawing A-A 60 22 0 ) Depth5

Depth 5
0
Effective stroke 50 100 150

12
Detailed drawing of installation hole B 75 48 65

C 4 8 8 30 81
D 143 207 285 Note 1. Return-to-origin position.
Note 2. Table movable range during return-to-origin operation. 49 99
E 84 98.5 126.5
The values in [ ] show those when the return-to-origin
F 4 4 6 direction is changed. Note 5. The installation hole positions of the main unit with
G 40.5 88 69 Note 3. The minimum bending radius of the motor cable is R30. the specifications with the brake are common to those
L 144.5 206.5 284.5 Note 4. When installing the mechanical main unit using the back shown above.
Weight (kg) Note 6 2.52 3.27 3.6 facing holes, use the hex socket head cap M6 bolts. Note 6. Models with a brake will be 0.34kg heavier.

STH06
Articulated robots
YA
STH06 Space-saving model (motor installed on right)
Linear conveyor
LCM100
modules
(C/2-1) xB 25
B
C-M6x1.0 Depth 8
6 +0.01
Depth 6
+0.03
7 +0.03
Ap ф6 +0.01 Depth 6
(Ca prox.
TRANSERVO
b
Ap le len 150
single-axis robots
(Ca prox. gth w
ble 110 itho
Compact
len ut b
gth rak
wit e)
hb
rak
36
e)
R
6.5 61 3-M6x1.0
Depth 10
44
Single-axis robots
G 10
6.5
16.5
0.5
(24)
FLIP-X
52
21
70 +/- 0.3
48
(15)
(31)
(40) 1+/- 0.5 [1+/- 0.5]

106 (2)
single-axis robots
(Note 2) (Note 2)
PHASER
(2.2)
Linear motor
16.5 Origin on motor Origin on non-motor side
19.5 L side (Note 1) (Note 1)
Effective stroke
(E-1)xD 24.5 Effective stroke 50 100 150
E-M8x1.25 Depth 16 D B 75 48 65
See the cross-sectional A C 4 8 8
drawing of A-A. D 80 44 66
(M8)
(37)
E 2 4 4
Cartesian
XY-X
robots
F 80 88 132
(16) G 143 207 285
ф11
ф6.8
ф12 (Note 4)
56
L 132 196 274
Weight (kg) Note 6 2.5 3.3 4.26
11.5 50.5 6 ф5H9 (+0.030 ) Depth 5
R
)
0 Note 2. Table movable range during return-to-origin

+0.030
F A operation. The values in [ ] show those when the

Depth 5
YK-X
5H9 ( 0
SCARA
Cross-sectional
robots
drawing A-A Note 3. The minimum bending radius of the motor cable is
R30.
Detailed drawing of Note 4. When installing the mechanical main unit using
installation hole the back facing holes, push the slider toward the
origin position on the motor side and insert the hex
socket head cap (M6) bolt.
Note 5. The dimensions of the specifications with the
Pick & place

YP-X
robots
STH06 Space-saving model (motor installed on left)
CLEAN
R
)
ake
36
br
out
50 with e)
x. 1 gth rak
p pro le len 10 with b
A ab 1 th
x .
(C pro leng
Ap able ф6 +0.03
+0.01 Depth 6
(C
Depth 6
7
+0.03
6 +0.01
C-M6x1.0 Depth 8
B
(C/2-1)xB 25
3-M6x1.0 Depth 10 61 6.5

G 10 44
6.5
16.5
0.5
(24)
52
21
70 +/- 0.3
48
(31)
(15)
(40) 1+/- 0.5 [1+/- 0.5]

(2) 106
(Note 2) (Note 2)
(2.2) 16.5 Origin on motor Origin on non-motor side
19.5 L side (Note 1) (Note 1)
Effective stroke
Effective stroke 50 100 150
)
ф5H9 ( +0.030
5H9 (+0.030
F 0 ) B 75 48 65
Depth 5
0
11.5 50.5 6 A Depth 5 C 4 8 8

D 80 44 66
R
ф12 (Note 4)
E 2 4 4
(16) F 80 88 132
ф6.8
ф11
56
G 143 207 285

L 132 196 274
Weight (kg) Note 6 2.5 3.3 4.26
(37)
(M8)

E-M8x1.25 Depth 16 A Note 2. Table movable range during return-to-origin
D
Cross-sectional operation. The values in [ ] show those when the
drawing A-A See the cross-sectional (E-1)xD 24.5 return-to-origin direction is changed.
drawing of A-A. Note 3. The minimum bending radius of the motor cable is
Detailed drawing of R30.
installation hole Note 4. When installing the mechanical main unit using
the back facing holes, push the slider toward the
origin position on the motor side and insert the hex
socket head cap (M6) bolt.
Note 5. The dimensions of the specifications with the

RF02-N
Articulated robots
Rotary type / Limit rotation specification

YA
CE compliance Rotation range : 310°

Linear conveyor
Ordering method
LCM100
modules
RF02 N L S2
Model Return-to-origin method Bearing Torque Cable entry location Rotation direction Cable length Note 1
S2: TS-S2 Note2 NP: NPN
N: Stroke end (Limit rotation) N: Standard N: Standard torque L: From the left N: CCW 1K: 1m PN: PNP
TRANSERVO
single-axis robots
H: High rigidity H: High torque Z: CW 3K: 3m CC: CC-Link

5K: 5m DN: DeviceNetTM
Compact

PT: PROFINET
SH
Single-axis robots

FLIP-X
PN: PNP (Absolute)

CC: CC-Link N: None
EP: EtherNet/IPTM
PT: PROFINET
single-axis robots
SD 1
PHASER
Linear motor
Note 1. The robot cable is flexible and resists bending. Robot driver I/O cable
Note 2. See P.500 for DIN rail mounting bracket. SD: TS-SD 1: 1m
Basic specifications Moment of inertia Acceleration/deceleration Effective torque vs. speed

0.0045 0.35
Motor 20 Step motor
Moment of inertia: I (kg • m )
2
Effective torque : T (N•m)

0.0040
Cartesian
0.30 High torque

XY-X

robots
0.0035 High torque

0.25
Repeatability Note 1 (°) +/-0.05 0.0030
0.0025 0.20
Drive method Special warm gear + belt 0.0020
Standard
0.15
Torque type Standard High torque 0.0015 Standard 0.10
0.0010
Maximum speed Note 2 (°/sec) 420 280 0.05
0.0005
Rotating torque (N•m) 0.22 0.32 0.0000 0.00
YK-X
SCARA
100 1000 10000 0 100 200 300 400 500

robots
Max. pushing torque (N•m) 0.11 0.16 Acceleration/deceleration: ώ (°/s )

2
Speed: ω (°/s)
Backlash (°) +/-0.5
Allowable load Controller
Max. moment of inertia Note 3 (kg•m2) 0.0018 0.004
（a）（b） Controller Operation method
Rotation range (°) 310 TS-S2 I/O point trace /
Pick & place
Note 1. Positioning repeatability in one direction.

YP-X
TS-SD
robots
Note 2. The maximum speed may vary depending on the Allowable thrust load (N) Allowable moment Pulse train control
Allowable radial load (N)
(a) (b) (N•m)
moment of inertia. Check the maximum speed while High High High High
referring to the “Moment of inertia vs. Acceleration/ Standard Standard Standard Standard
rigidity rigidity rigidity rigidity
model model model model
deceleration” graph and the “Effective torque vs. model model model model
78 86 74 78 107 2.4 2.9
speed” graph (reference).
Note 3. For moment of inertia and effective torque details, Note. When purchasing the product, set the controller acceleration while carefully
see P.606. checking the “Moment of inertia vs. Acceleration/Deceleration” and “Effective
CLEAN
torque vs. Speed” graphs.

For details, please refer to the TRANSERVO Series User’s Manual.
RF02-NN Limit rotation specification – Standard model

pt 0 014
3H th 4
3. )
De 8( +0.
*1 Table movable range by return-to-origin operation.

De
8(
8
+0.0
p
Be careful not to interfere with the workpiece or equipment around the table.
014
3H
Stroke end *2 Return-to-origin position

)
Origin position in *3 Values and characters in [ ] show those when the return-to-origin 2
CW rotation direction 42 15
1]
direction is changed.
45°
+/-
[Origin] *3
30°
[5°
Origin mark
5°+/-1
d i r e c ti o n
A A
2
51
2-ф5.2 drill-through
27
ф9 deep spot facing,

Depth 5.5
CC W
52 P.C.D.32
°
310
Origin *2 42 6-M4x0.7 Depth 6

*1
Origin position in CCW

rotation direction (60° equally divided.)
ti o n
0
[Stroke end] (31) ф43h8(-0.039 )
ec
di r
(24)
0
ф42h8(-0.039 )
CW
Origin mark
6
3.5
10
Manual operation screw (both sides)

32
16
(40)
65.8 (2.1) 85 (2.1)

76 (15) Approx. 170
(Motor cable exit direction: Exit from left side)
)
+0.014
2
range)
(Tolerance
Depth 4
3H8( 0
+0.027
ф18H8 ( 0 )
ф8 (Through-hole)
51
Weight (kg) 0.49

Note 1.This drawing is output under the conditions below.
Bearing....................... Standard +0.027
(Tolerance
ф15H8( 0 )
Torque........................ Standard/High torque
range)
Note 2.The minimum bending radius of the motor cable is 2 14

Cross-sectional drawing A-A 2-M6x1.0 Depth 12
7
R30. 52
Note 3.The motor cable exit direction is only the left side.

RF02-N
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
RF02-NH Limit rotation specification – High rigidity model
Pick & place

YP-X
robots
Stroke end
Origin position in
1]
CW rotation direction
pt 0 014
+/-
3. )
[Origin] *3
De 8( +0.
[5°
3H th 4
CLEAN
8
De
8(
3H
+0.0
p
Origin mark
5°+/-1
014
2
)
d i r e c ti o n
42 15
45°
30°
CC W
°
Origin *2
310
A A
2
*1

51
rotation direction 2-ф5.2 drill-through

ti o n
27
[Stroke end] ф9 deep spot facing, Depth 5.5

ec
di r
52 P.C.D.32
CW
42 6-M4x0.7 Depth 6
*1 Table movable range by return-to-origin operation. (60° equally divided.)
*2 Return-to-origin position
*3 Values and characters in [ ] show those when the return-to-origin
direction is changed. 0
ф43h8(-0.039 )
0
(31) ф42h8(-0.039 )
(24)
Origin mark
6
10.5
Manual
operation screw
(both sides)
17
32
16
(40)
65.8
76 (15) (2.1) 85 (2.1)
2
(Tolerance range)
Approx. 170
(Motor cable exit direction:
+0.027
ф18H8( 0 ) Exit from left side)
)
+0.014
ф8 (Through-hole)
Depth 4
3H8( 0
51
+0.027 Weight (kg) 0.52

(Tolerance range)
ф15H8( 0 )
Bearing....................... High rigidity
Cross-sectional drawing A-A 2-M6x1.0 Depth 12 2 14 Note 2.The minimum bending radius of the motor cable is
R30.
7
52 Note 3.The motor cable exit direction is only the left side.

RF02-S
Articulated robots
Rotary type / Sensor specification

YA
CE compliance Limitless rotation

Linear conveyor
Ordering method
LCM100
modules
RF02 S L S2
S: Sensor N: Standard N: Standard torque L: From the left N: CCW 1K: 1m PN: PNP
TRANSERVO
single-axis robots
(Limitless rotation) H: High rigidity H: High torque Z: CW 3K: 3m CC: CC-Link

Compact

PT: PROFINET
SH
Single-axis robots

FLIP-X
PN: PNP (Absolute)

CC: CC-Link N: None
EP: EtherNet/IPTM
Note 1. The robot cable is flexible and resists bending. PT: PROFINET
Note 2. See P.500 for DIN rail mounting bracket. GW: No I/O boardNote 3
single-axis robots
PHASER
Linear motor

0.0045 0.35
Motor 20 Step motor
2

0.0040 0.30 High torque
Resolution (Pulse/rotation) 4096 High torque
0.0035
0.0030
Drive method Special warm gear + belt 0.0025 0.20
Standard
Torque type Standard High torque 0.0020
Cartesian
0.15
XY-X
robots
Note 2
Maximum speed (°/sec) 420 280 0.0015 Standard 0.10
Rotating torque (N•m) 0.22 0.32 0.0010
0.0005 0.05
Max. pushing torque (N•m) 0.11 0.16
Backlash (°) +/-0.5 0.0000 0.00
100 1000 10000 0 100 200 300 400 500
2
Max. moment of inertia Note 3 2
(kg•m ) 0.0018 0.004 Acceleration/deceleration: ώ (°/s ) Speed: ω (°/s)
Allowable load
YK-X
Controller
SCARA
robots
Rotation range (°) 360

（a）（b） Controller Operation method
Note 2. The maximum speed may vary depending on the TS-S2S I/O point trace /
moment of inertia. Check the maximum speed while TS-SHS Remote command
referring to the “Moment of inertia vs. Acceleration/
deceleration” graph and the “Effective torque vs. Allowable thrust load (N)
Pick & place
Allowable radial load Allowable moment

YP-X
(N) (a) (b) (N•m)

robots
Note 3. For moment of inertia and effective torque details, Standard High Standard High Standard High Standard High
see P.606. rigidity rigidity rigidity rigidity
78 86 74 78 107 2.4 2.9
Note. When purchasing the product, set the controller acceleration while carefully
checking the “Moment of inertia vs. Acceleration/Deceleration” and “Effective
CLEAN

RF02-SN Sensor specification – Standard model

2
3H th 4
15
De
8( 0
+0.
p
014 )
n
c ti o
C C W dir e
30°
*1 Table movable range by return-to-origin

360°
*1
operation. Be careful not to interfere with the

workpiece or equipment around the table. A A
51
ir e c t i o n
*2 The return-to-origin position may differ from 2-ф5.2 drill-through

that shown in this drawing. ф9 deep spot facing,
To align with the position shown in this Depth 5.5
52
d
P.C.D.32
CW
drawing, refer to the TS Series User's 42

Manual and change the origin coordinates. 6-M4x0.7 Depth 6
0
ф43h8(-0.039) (60° equally divided.)
(31)
0
(24)
Manual ф42h8(-0.039)
6
3.5
4.8
operation screw
(both sides)
10 32
(20)
(40)
(2.1) 85 (2.1)
16
65.8
Approx. 170
(15) 76 (15) (Motor cable exit direction: Exit from left side)
3H8( 0 )
+0.014
ф18H8(+0.027
2
range)
Depth 4
)
(Tolerance
0
ф8 (Through-hole)
51
(Tolerance
ф15H8(+0.027
0 ) 2-M6x1.0 Depth 12
range)
Weight (kg) 0.51 Cross-sectional drawing A-A

7
2 14
Note 1. This drawing is output under the conditions below.
11
Bearing....................... Standard 52
Torque........................ Standard/High torque Approx. 300
Note 2. The minimum bending radii of the motor cable and sensor cable are R30. (Sensor cable exit direction: Exit from left side) 72
Note 3. The motor cable exit direction is only the left side.
158 Controller TS-S2 u 492 TS-SH u 492

RF02-S
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
RF02-SH Sensor specification – High rigidity model
Pick & place

YP-X
3H
robots
2
De
8(
15
+0.
pth
n
0
014
c ti o
)
C C W dir e
30°
CLEAN
360°
*1
A A
51
ir e c t i o n
ф9 deep spot facing, Depth 5.5
d
CW
52 P.C.D.32
42 6-M4x0.7 Depth 6
*1 Table movable range by return-to-origin operation. Be careful not to
interfere with the workpiece or equipment around the table. (60° equally divided.)
*2 The return-to-origin position may differ from that shown in this drawing.
To align with the position shown in this drawing, refer to the TS Series
0
User's Manual and change the origin coordinates. ф43h8(-0.039 )
0
ф42h8(-0.039 )
(31)
(24)
11.8
10.5
Manual
operation screw
17
(both sides)
32
(20)
(40)
65.8
16
(15) 76 (15) (2.1) 85 (2.1)

2
(Tolerance range)
Approx. 170
+0.027
ф18H8( 0 ) (Motor cable exit direction: Exit from left side)
3H8( +0.014 )
ф8 (Through-hole)
Depth 4
0
51
(Tolerance range)
+0.027
ф15H8( 0 )
2-M6x1.0 Depth 12
Cross-sectional drawing A-A
7
2 14
11
Weight (kg) 0.55 52

Approx. 300
Note 1. This drawing is output under the conditions below. (Sensor cable exit direction: Exit from left side) 72
Note 2. The minimum bending radii of the motor cable and sensor cable are R30.
Note 3. The motor cable exit direction is only the left side.
Controller TS-S2 u 492 TS-SH u 492 159

RF03-N
Articulated robots

YA

Linear conveyor
Ordering method
LCM100
modules
RF03 N S2
N: Stroke end (Limit rotation) N: Standard N: Standard torque R: From the right N: CCW 1K: 1m PN: PNP
TRANSERVO
single-axis robots
H: High rigidity H: High torque L: From the left Z: CW 3K: 3m CC: CC-Link
Compact

PT: PROFINET
SH
Single-axis robots

FLIP-X
PN: PNP (Absolute)

CC: CC-Link N: None
EP: EtherNet/IPTM
PT: PROFINET
single-axis robots
SD 1
PHASER
Linear motor

Note 2. See P.500 for DIN rail mounting bracket. Robot driver I/O cable
Note 3. Select this selection when using the gateway function. For details, see P.62. SD: TS-SD 1: 1m

0.030 1.4
Motor 28 Step motor

2

0.025 High torque 1.2
Cartesian
XY-X
1.0
robots
0.020
0.015 Standard
0.010 Standard
0.4
Torque type Standard High torque
0.005 0.2
Maximum speed Note 2 (°/sec) 420 280
0.000 0.0
100 1000 10000 0 100 200 300 400 500
Rotating torque (N•m) 0.8 1.2 2
Acceleration/deceleration: ώ (°/s ) Speed: ω (°/s)
Max. pushing torque (N•m) 0.4 0.6
YK-X
SCARA
robots

Cable length (m) Standard: 1 / Option: 3, 5, 10 （a）（b） Controller Operation method
Pick & place
Note 2. The maximum speed may vary depending on the Allowable thrust load (N) Allowable moment TS-SD Pulse train control
YP-X

robots
(a) (b) (N•m)

196 233 197 363 398 5.3 6.4
CLEAN


*1 Table movable range by return-to-origin operation.
Be careful not to interfere with the workpiece or equipment
pt 0 .018
4. )
De 8( +0
around the table.

8
4H th 5
Stroke end *2 Return-to-origin position

4H
De
2
8(
Origin position in
+0.0
*3 Values and characters in [ ] show those when the

p
23
018
CW rotation direction return-to-origin direction is changed.

/-1]
[Origin] *3 42
5°+
45°
Origin mark
5°+/-1 [
30°
d i r e c ti o n
CC W
A A
2
320°
66
39
*1
Origin*2
ti o n
rotation direction
[Stroke end] 75 P.C.D.48
ec
58
di r
6-M5x0.8 Depth 8
CW
0
ф64h8(-0.046 ) (60° equally divided.)
(31) 0
(24)
Manual Origin mark ф63h8(-0.046 )

8
4.5
operation screw
13
(both sides)
40
20
(40)
88.2 (2.4) 107 (2.4)

Approx. 180 Approx. 180
102 (15) (Motor cable exit direction: Exit from left side) (Motor cable exit direction: Exit from right side)
4H8( 0 )
+0.018
+0.039
ф32H8( )
Depth 5
0
2
range)
(Tolerance
ф17 (Through-hole)
66
Weight (kg) 1.1

Note 1.This drawing is output under the
conditions below.
(Tolerance
+0.033
Bearing.... Standard ф22H8( 0 )
range)
Torque...... Standard/High torque

2-M8x1.25 Depth 16
Note 2.The minimum bending radius of the
8
Cross-sectional drawing A-A 2 25

motor cable is R30. 75

RF03-N
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Pick & place

YP-X
robots
Stroke end
pt 0 .018
4. )
Origin position in
De 8( +0
4H th 5
CW rotation direction 2
4H
De
]
8(
/-1
[Origin] *3
+0.
CLEAN
p
23
5°+
0
018
Origin mark
5°+/-1 [
42
45°
d i r e c ti o n
30°
CC W
320°
*1
A A
2
Origin *2
66

io n
39
rotation direction ф11 deep spot facing, Depth 6.5

e ct
[Stroke end]
dir
CW
P.C.D.48
75
6-M5x0.8 Depth 8
*1 Table movable range by return-to-origin operation. 58 (60° equally divided.)
*2 Return-to-origin position 0
ф64h8(-0.046)
*3 Values and characters in [ ] show those when the return-to-origin
direction is changed. 0
ф63h8(-0.046)
8
13.5
Origin mark (31)

(24)
Manual
operation screw
22
(both sides)
40
20
(40)
88.2 (2.4) (2.4)

107
102 (15)
2
(Tolerance range)
(Motor cable exit direction: (Motor cable exit direction:

+0.039
ф32H8( 0 ) Exit from left side) Exit from right side)
4H8( +0.018 )
ф17 (Through-hole)
Depth 5
0
66
(Tolerance range)
+0.033
ф22H8( 0 ) Weight (kg) 1.2
Bearing ...................... High rigidity
Cross-sectional drawing A-A Torque........................ Standard/High torque
2 25
8
Note 2.The minimum bending radius of the motor cable is

2-M8x1.25 Depth 16 R30.
75

RF03-S
Articulated robots

YA

Linear conveyor
Ordering method
LCM100
modules
RF03 S Robot positioner

S2
I/O
S: Sensor N: Standard N: Standard torque R: From the right N: CCW 1K: 1m PN: PNP
TRANSERVO
single-axis robots
(Limitless rotation) H: High rigidity H: High torque L: From the left Z: CW 3K: 3m CC: CC-Link
Compact

PT: PROFINET
SH
Single-axis robots

FLIP-X
PN: PNP (Absolute)

CC: CC-Link N: None
Note 1. The robot cable is flexible and resists bending. EP: EtherNet/IPTM
single-axis robots
PHASER

Linear motor
0.030 1.4
Motor 28 Step motor
2

Resolution (Pulse/rotation) 4096 0.025 High torque 1.2
High torque
0.020
0.015 Standard
Torque type Standard High torque 0.6
Cartesian
0.010 Standard
XY-X
Maximum speed Note 2 (°/sec) 420 280 0.4

robots
0.005 0.2
Rotating torque (N•m) 0.8 1.2
Max. pushing torque (N•m) 0.4 0.6 0.000 0.0
100 1000 10000 0 100 200 300 400 500
Backlash (°) +/-0.5 Acceleration/deceleration: ώ (°/s2) Speed: ω (°/s)
YK-X
SCARA
robots
Rotation range (°) 360 （a）（b） Controller Operation method

Note 1. Positioning repeatability in one direction. TS-S2S I/O point trace /
Note 2. The maximum speed may vary depending on the TS-SHS Remote command
moment of inertia. Check the maximum speed while
referring to the “Moment of inertia vs. Acceleration/ Allowable radial load Allowable thrust load (N) Allowable moment
deceleration” graph and the “Effective torque vs. (N) (a) (b) (N•m)
Pick & place
speed” graph (reference). Standard High Standard High Standard High Standard High
YP-X
robots
Note 3. For moment of inertia and effective torque details, rigidity rigidity rigidity rigidity
see P.606. 196 233 197 363 398 5.3 6.4
CLEAN

4H th 5
2
De
8( 0
23
+0.
p
ion
018 )
*1 Table movable range by

r ect
return-to-origin operation. Be
C C W di
careful not to interfere with

30°
the workpiece or equipment

around the table.
360°
*2 The return-to-origin position

*1
may differ from that shown in

this drawing. A A
ir e c t i o n
To align with the position

66
shown in this drawing, refer ф11 deep spot facing, Depth 6.5
d
to the TS Series User's

CW
Manual and change the 75 P.C.D.48

origin coordinates.
58 6-M5x0.8 Depth 8
0
ф64h8(-0.046) (60° equally divided.)
(24)
Manual operation screw (31) 0

8
4.5
ф63h8(-0.046)
7.8
(both sides)
13
(20)
40
(40)
88.2 (2.4) 107 (2.4)

20

(15) 102 (15) (Motor cable exit direction: Exit from left side) (Motor cable exit direction: Exit from right side)
4H8( +0.018 )
Depth 5
0
+0.039
ф32H8( )
2
range)
0
(Tolerance
ф17 (Through-hole)
66
+0.033
(Tolerance
ф22H8( 0 ) 2-M8x1.25 Depth 16

range)

Weight (kg) 1.2
8
Note 1. This drawing is output under the conditions below. 2 25

11
Bearing....................... Standard Approx. 300 Approx. 300

75
(Sensor cable exit direction: Exit from left side) 94 (Sensor cable exit direction: Exit from right side)

RF03-S
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Pick & place

YP-X
4H th 5
robots
2
De
8( 0
+0.
23
p
018 )
ion
r ect
C C W di
30°
CLEAN
360°
*1
A A
ir e c t i o n
66
d
CW
75 P.C.D.48
58 6-M5x0.8 Depth 8
interfere with the workpiece or equipment around the table.
*2 The return-to-origin position may differ from that shown in this drawing. (60° equally divided.)
0
To align with the position shown in this drawing, refer to the TS Series ф64h8(-0.046)
User's Manual and change the origin coordinates. 0
ф63h8(-0.046)
8
13.5
16.8
(31)
(24)
Manual operation screw

(both sides)
22
(20)
40
(40)
20
88.2 (2.4) (2.4)

107
(15) 102 (15)
2
(Tolerance range)
ф32H8( +0.039
0 ) (Motor cable exit direction: Exit from left side) (Motor cable exit direction: Exit from right side)
)
+0.018
ф17 (Through-hole)
Depth 5
4H8( 0
66
(Tolerance range)
ф22H8( +0.033
0 )
Cross-sectional drawing A-A 2-M8x1.25 Depth 16

8
11
2 25
Weight (kg) 1.3
Note 1. This drawing is output under the conditions below. Approx. 300 75 Approx. 300
Bearing ...................... High rigidity (Sensor cable exit direction: Exit from left side) 94 (Sensor cable exit direction: Exit from right side)

RF04-N
Articulated robots

YA

Linear conveyor
Ordering method
LCM100
modules
RF04 N S2
N: Stroke end (Limit rotation) N: Standard N: Standard torque R: From the right N: CCW 1K: 1m PN: PNP
TRANSERVO
single-axis robots
H: High rigidity H: High torque L: From the left Z: CW 3K: 3m CC: CC-Link
Compact

PT: PROFINET
SH
Single-axis robots

FLIP-X
PN: PNP (Absolute)

CC: CC-Link N: None
EP: EtherNet/IPTM
PT: PROFINET
single-axis robots
SD 1
PHASER
Linear motor

Note 3. Select this selection when using the gateway function. For details, see P.62. SD: TS-SD 1: 1m

0.12 12
Motor 42 Step motor
2

0.10 10
Cartesian
XY-X
High torque
robots
0.08 8
Repeatability Note 1 (°) +/-0.05
0.06 6
Drive method Special warm gear + belt
0.04 4
Torque type Standard High torque Standard
0.02 2 Standard
0.00 0
100 1000 10000
Rotating torque (N•m) 6.6 10 Acceleration/deceleration: ώ (°/s ) 2
0 100 200 300
Speed: ω (°/s)
400 500
Max. pushing torque (N•m) 3.3 5

YK-X
SCARA
robots

Cable length (m) Standard: 1 / Option: 3, 5, 10 （a）（b） Controller Operation method
Pick & place
Note 2. The maximum speed may vary depending on the Allowable thrust load (N) Allowable moment TS-SD Pulse train control
YP-X

robots
(a) (b) (N•m)

314 378 296 398 517 9.7 12.0
CLEAN


8
3 )
pt 0 0.01
De 8 ( +
5H th 5.5
5.
De
8(
5H
Stroke end
p
+0.0
2
Origin position in 5
018
CW rotation direction 26.

)
70
] +/-1
45°
[Origin] *3
5°+/-1 [5°
30°
Origin mark
C C W d ir e c ti o n
A A ф14 deep spot facing,
320°
Depth 8.5
85
*1
45
Origin *2 P.C.D.55
n

c ti o
rotation direction 6-M6x1.0 Depth 10

90
e
(60° equally divided.)

dir
[Stroke end]
CW
Origin mark 0
ф76h8 ( -0.046 )
*1 Table movable range by return-to-origin operation. Manual (31)
0
ф74h8 ( -0.046 )
5.5
Be careful not to interfere with the workpiece or equipment

10
operation screw
(24)
around the table. (both sides)

16
*2 Return-to-origin position
52
26
(40)
114.2
(3) 127 (3)
133 (15)
Approx. 160
(Tolerance range)
2
Approx. 170
5H8 ( +0.018
ф35H8 ( 0 )
+0.039 Exit from left side)
Depth 5.5

0
ф20 (Through-hole) Exit from right side)

85
ф26H8 ( +0.033
(Tolerance range)
0 )
Weight (kg) 2.2
Bearing....................... Standard
11
Torque........................ Standard/High torque 2-M10x1.5 Depth 20 2 30

Note 2.The minimum bending radius of the motor cable is R30.
90

RF04-N
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Pick & place

YP-X
robots
8
3 )
pt 0 0.01
De 8 ( +
5H th 5.5
5.
De
5H
8(
h
p
Stroke end 2
+0.0
5
018
26.
CLEAN
Origin position in
)
CW rotation direction
1]
45°
°+/-
[Origin] *3
5°+/-1 [5
30°
Origin mark
C C W d ir e c ti o n
A A
320°
Depth 8.5
85
*1
45
Origin *2 P.C.D.55
n
Origin position in CCW 6-M6x1.0 Depth 10

c ti o
rotation direction 90 (60° equally divided.)

e
dir
[Stroke end]
CW
70
0
*1 Table movable range by return-to-origin operation. Origin mark ф76h8 (-0.046 )
Be careful not to interfere with the workpiece or equipment 0
ф74h8 ( -0.046 )
15.5
10
around the table. Manual (31)

*2 Return-to-origin position operation screw
(24)
(both sides)
26

52
26
(40)
114.2
(3) 127 (3)
133 (15)
2
(Tolerance range)
ф35H8 (+0.039
0 ) (Motor cable exit direction: (Motor cable exit direction:
)
Exit from left side) Exit from right side)

5H8 ( +0.018
Depth 5.5
ф20 (Through-hole)
0
85
(Tolerance range)
ф26H8 ( +0.033
0 )

11
2-M10x1.5 Depth 20 2 30
90
Weight (kg) 2.4

Note 2.The minimum bending radius of the motor cable is R30.

RF04-S
Articulated robots

YA

Linear conveyor
Ordering method
LCM100
modules
RF04 S S2
S: Sensor N: Standard N: Standard torque R: From the right N: CCW 1K: 1m PN: PNP
TRANSERVO
single-axis robots
(Limitless rotation) H: High rigidity H: High torque L: From the left Z: CW 3K: 3m CC: CC-Link
Compact

PT: PROFINET
SH
Single-axis robots

FLIP-X
PN: PNP (Absolute)

CC: CC-Link N: None
Note 1. The robot cable is flexible and resists bending. EP: EtherNet/IPTM
Note 3. Select this selection when using the gateway function. For details, see P.62. GW: No I/O boardNote 3
single-axis robots

PHASER
Linear motor
0.12 12
Motor 42 Step motor
2

Resolution (Pulse/rotation) 20480 0.10 10
High torque
High torque
Repeatability Note 1 (°) +/-0.05 0.08 8
Drive method Special warm gear + belt 0.06 6
Torque type Standard High torque
0.04 4
Cartesian

XY-X
Standard
robots
Rotating torque (N•m) 6.6 10 0.02 2 Standard

Max. pushing torque (N•m) 3.3 5 0.00 0
0 100 200 300 400 500
100 1000 10000
Backlash (°) +/-0.5 Acceleration/deceleration: ώ (°/s2) Speed: ω (°/s)
YK-X
SCARA
Rotation range (°) 360 （a）（b） Controller Operation method

robots
Note 1. Positioning repeatability in one direction. TS-S2S I/O point trace /

Note 2. The maximum speed may vary depending on the TS-SHS Remote command
moment of inertia. Check the maximum speed while
referring to the “Moment of inertia vs. Acceleration/ Allowable radial load Allowable thrust load (N) Allowable moment
deceleration” graph and the “Effective torque vs. (N) (a) (b) (N•m)
speed” graph (reference). High High High High
Pick & place
Standard Standard Standard Standard

YP-X
Note 3. For moment of inertia and effective torque details, model model model model
robots

see P.606. 314 378 296 398 517 9.7 12.0
CLEAN

2
5H th 5.5
De
5
8( 0
26.
+0.0
p
18 )
ion
re ct
30°
C C W di
*1 Table movable range by return-to-origin

360°
A A 2-ф8.5 drill-through
*1
operation. Be careful not to interfere ф14 deep spot facing,

with the workpiece or equipment Depth 8.5
85
ir e c t i o n
around the table.

*2 The return-to-origin position may differ P.C.D.55
from that shown in this drawing.
d
CW
To align with the position shown in this 6-M6x1.0 Depth 10

drawing, refer to the TS Series User's 90 (60° equally divided.)
Manual and change the origin 70
coordinates. 0
ф76h8( -0.046 )
0
5.5
10
ф74h8(-0.046 )
10.8
Manual operation screw (31)

(24)
(both sides)
16
(20)
52
(40)
114.2 (3) 127 (3)

26
(15) 133 (15) (Motor cable exit direction: Exit from left side) (Motor cable exit direction: Exit from right side)
5H8( 0 )
+0.018
Depth 5.5
+0.039
ф35H8 ( )
range)
(Tolerance
2
0
ф20 (Through-hole)
85
+0.033
ф26H8 ( )
(Tolerance
0
range)
2-M10x1.5 Depth 20
11
Weight (kg) 2.3

12
Bearing....................... Standard 90
Torque........................ Standard/High torque Approx. 300 Approx. 300
Note 2. The minimum bending radii of the motor cable and sensor cable are R30. (Sensor cable exit direction: Exit from left side) 113 (Sensor cable exit direction: Exit from right side)

RF04-S
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Pick & place

2
YP-X
robots
5H h 5.5
5
26.
De
8( 0
+0.
pt
018 )
ion
r ect
C C W di
30°
CLEAN
360°
*1
A A 2-ф8.5 drill-through
ir e c t i o n

Depth 8.5
85
d
CW
P.C.D.55
6-M6x1.0 Depth 10
90 (60° equally divided.)
70
interfere with the workpiece or equipment around the table.
*2 The return-to-origin position may differ from that shown in this drawing. 0
To align with the position shown in this drawing, refer to the TS Series ф76h8 (-0.046 )
User's Manual and change the origin coordinates. 0
ф74h8 (-0.046 )
10
15.5
20.8
(24)
Manual operation screw (31)

(both sides)
26
(20)
52
(40)
114.2
(3) 127 (3)
26
(15) 133 (15) Approx. 160 Approx. 170

(Motor cable exit direction: Exit from left side) (Motor cable exit direction: Exit from right side)
5H8( 0 )
2
(Tolerance range)
+0.018
Depth 5.5
+0.039
ф35H8 ( 0 )
ф20 (Through-hole)
85
+0.033
(Tolerance range)
ф26H8 ( 0 )
2-M10x1.5 Depth 20
11
Weight (kg) 2.5

12

Torque........................ Standard/High torque Approx. 300 90 Approx. 300
Note 2. The minimum bending radii of the motor cable and sensor cable are R30. (Sensor cable exit direction: Exit from left side) 113 (Sensor cable exit direction: Exit from right side)

BD04
Articulated robots
Belt type
YA
CE compliance
Linear conveyor
Ordering method
LCM100
modules
BD04 48 N N S2
Model Lead Brake Origin position Stroke Cable length Note 1
48: 48mm N: With no brake N: Standard 300: 300mm 1K: 1m PN: PNP
TRANSERVO
single-axis robots
500: 500mm 3K: 3m CC: CC-Link

600: 600mm 5K: 5m DN: DeviceNetTM
Compact
700: 700mm 10K: 10m EP: EtherNet/IPTM

800: 800mm PT: PROFINET
900: 900mm GW: No I/O boardNote 3
1000: 1000mm
SH
Single-axis robots

FLIP-X
PN: PNP (Absolute)

CC: CC-Link N: None
EP: EtherNet/IPTM
PT: PROFINET
single-axis robots
SD 1
PHASER
Linear motor

SD: TS-SD 1: 1m

Cartesian
XY-X

robots
B
Repeatability Note 1 (mm) +/-0.1 C A
B C MR MP
Drive method Belt
Equivalent lead (mm) 48 Horizontal installation (Unit: mm) Wall installation (Unit: mm) (Unit: N.m)
Maximum speed Note 2 (mm/sec) 1100 A B C A B C MY MP MR

Maximum payload (kg) 1 0.5kg 8036 1950 1504 0.5kg 1614 1942 8013 10 10 20
YK-X
SCARA
300/500/600/700/800/ 1kg 3933 968 747 1kg 798 961 3969

robots
Stroke (mm)
900/1000
Overall length (mm)
Stroke + 195.5 guide service life of 10,000km (This does not warrant the service life of the
(Horizontal installation)
product.). (Service life is calculated for 600mm stroke models.)
Maximum outside dimension W40 × H101.9
Cable length (m) Standard: 1 / Option: 3, 5, 10 Speed vs. payload Controller
Pick & place
YP-X
Horizontal 1.2 Quick reference

robots
Note 1. Positioning repeatability in one direction. Controller Operation method

Note 2. The maximum speed needs to be changed in 1 Payload Speed TS-S2 I/O point trace /
%
accordance with the payload. (kg) (mm/sec) TS-SH Remote command
Payload (kg)
See the “Speed vs. payload” graph shown on the right. 0.8 1 900 90
0.6 0.5 1000 95
0.4 0 1100 100
CLEAN
0.2
0
0 200 400 600 800 1000 1200
Speed (mm/s)
BD04
Approx. 230 (Cable length) L

92.5+/-1 Effective stroke (103)
24 +0.025
54.5(Note 1) 3H9 ( 0 ) Depth 3 63(Note 1)
R
3.5
28
40
(24) (40) +0.025 40

ф3H9( 0 )Depth 3 4-M4x0.7 Depth 6.4
(15)
(72)
(2.4)
Main unit installation reference surface (Note 2)

(1.5) 45.3
(31)
39.4
27
(35.4)
40
99.7
33
20
6
53.5 (Effective stroke+135) 7

5.5
8 20 Mx150
M4x0.7
3H9(+0.025
0 ) 150 Depth 8
Depth 3 N-ф3.4 (For grounding terminal)
R
4
34
Effective stroke 300 500 600 700 800 900 1000

L 495.5 695.5 795.5 895.5 995.5 1095.5 1195.5 Note 1. Position from both ends to the mechanical stopper. (Movable range during return-to-origin)
Note 2. When installing using the main unit installation reference surface, make the mating or positioning height
M 2 4 4 5 6 6 7
2mm or more higher than the reference surface since the R-chamfering is provided on the main unit.
N 6 10 10 12 14 14 16 (Recommended height, 5mm)
Weight (kg) 1.19 1.45 1.58 1.71 1.84 1.97 2.1 Note 3. The minimum bending radius of the motor cable is R30.

BD05
Articulated robots
Belt type
YA
CE compliance
Linear conveyor
Ordering method
LCM100
modules
BD05 48 N N S2
TRANSERVO
single-axis robots
Compact
1000: 1000mm
1200: 1200mm
1500: 1500mm
1800: 1800mm
SH
Single-axis robots
2000: 2000mm Robot positioner I/O Battery
FLIP-X
PN: PNP (Absolute)
CC: CC-Link N: None
EP: EtherNet/IPTM
PT: PROFINET
single-axis robots
SD 1
PHASER
Linear motor
SD: TS-SD 1: 1m

Cartesian
XY-X
robots
B
B C MR MP
Drive method Belt

Maximum payload (kg) 5 1kg 9445 2274 1681 1kg 1784 2312 9545 27 27 52
YK-X
SCARA
300/500/600/700/800/900/ 3kg 2982 702 553 3kg 573 743 3082
robots
Stroke (mm)
1000/1200/1500/1800/2000 5kg 1689 385 325 5kg 331 429 1789
Overall length (mm)
Stroke + 241.8 Note. Distance from center of slider upper surface to carrier center-of-gravity at a
Maximum outside dimension guide service life of 10,000km (This does not warrant the service life of the
W58 × H123 product.). (Service life is calculated for 600mm stroke models.)
Pick & place

Speed vs. payload Controller
YP-X
robots
Note 2. The maximum speed needs to be changed in Horizontal 6 Quick reference Controller Operation method
accordance with the payload.
5 Payload Speed TS-S2 I/O point trace /
See the “Speed vs. payload” graph shown on the %
(kg) (mm/sec) TS-SH Remote command
Payload (kg)
right. 4
5 550 39
3 TS-SD Pulse train control
3 700 50
CLEAN
2
1 1000 71
1 0 1400 100
0
0 500 1000 1500
Speed (mm/s)
BD05
Approx. 230 (Motor cable length) L
45
65.8 (Note 1) 3H9 ( +0.025
0 ) Depth 3 68 (Note 1)
3.5
38
R
58
(24) (40)
(15)
ф3H9 (+0.025
0 ) Depth 3 64 4-M5x0.8 Depth 8.5
(2.4)
(1.5) (102) Main unit installation reference surface (Note 2)

56.8
(31)
50
38
48
120.8
(41.5)
38.5
24
64.8 (Effective stroke+167) 10 M4x0.7 Depth 8

6.5
6 (For grounding
10 25 Mx170
3H9 ( +0.025
0 ) 170 terminal)
Depth 3 N-ф4.5
4
R
48
Effective stroke 300 500 600 700 800 900 1000 1200 1500 1800 2000
L 541.8 741.8 841.8 941.8 1041.8 1141.8 1241.8 1441.8 1741.8 2041.8 2241.8
M 2 3 4 4 5 6 6 7 9 11 12
N 6 8 10 10 12 14 14 16 20 24 26
Weight (kg) 2.39 2.85 3.08 3.31 3.54 3.77 4 4.46 5.15 5.84 6.3
Note 1. Position from both ends to the mechanical stopper. (Movable range during return-to-origin)
Note 2. When installing using the main unit installation reference surface, make the mating or positioning height 2mm or more higher than the reference surface since the R-chamfering is provided on the main unit.
(Recommended height, 5mm)
Note 3. The minimum bending radius of the motor cable is R30.

BD07
Articulated robots
Belt type
YA
CE compliance
Linear conveyor
Ordering method
LCM100
modules
BD07 48 N N S2
TRANSERVO
single-axis robots

Compact

1000: 1000mm
1200: 1200mm
1500: 1500mm
1800: 1800mm
SH
Single-axis robots
2000: 2000mm Robot positioner I/O Battery

FLIP-X
PN: PNP (Absolute)

CC: CC-Link N: None
EP: EtherNet/IPTM
PT: PROFINET
single-axis robots
SD 1
PHASER
Linear motor

SD: TS-SD 1: 1m

Cartesian
XY-X

robots
B
B C MR MP
Drive method Belt

Maximum payload (kg) 14 3kg 5767 1353 1247 3kg 1324 1354 5588 46 46 101
YK-X
SCARA
300/500/600/700/800/900/ 8kg 1839 399 458 8kg 474 399 1658

robots
Stroke (mm)
1000/1200/1500/1800/2000 14kg 829 154 254 14kg 255 151 643
Overall length (mm)
Stroke + 285.6 Note. Distance from center of slider upper surface to carrier center-of-gravity at a
Maximum outside dimension guide service life of 10,000km (This does not warrant the service life of the
W70 × H147.5 product.). (Service life is calculated for 600mm stroke models.)
Pick & place
Speed vs. payload Controller

YP-X
robots

Note 2. The maximum speed needs to be changed in Horizontal 16 Quick reference Controller Operation method
accordance with the payload. 14 Payload Speed TS-S2 I/O point trace /
See the “Speed vs. payload” graph shown on the %
12 (kg) (mm/sec) TS-SH Remote command
Payload (kg)
right. 10 14 50 3
8 TS-SD Pulse train control
9 525 35
6
CLEAN
4 4 1000 66
2 1 1400 93
0 0.5 1500 100
0 500 1000 1500 2000
Speed (mm/s)
BD07
Approx. 230 (Motor cable length) L

42
87.6 (Note 1) 5H9 (+0.030
0 ) Depth 5 70 (Note 1)
44
5.5
R
70
(24) (40) ф5H9 ( +0.030 ) Depth 5 70 4-M6x1.0 Depth 8.5

(15)
0
(2.4)
(122) Main unit installation reference surface (Note 2)

(1.5) 78.6
(31)
60
48
60
145.3
(49.8)
46.8
30
6.5
86.6 (Effective stroke+189) 10

7.5 M4x0.7 Depth 8
15 25 Mx200 (For grounding
+0.030
5H9 ( 0 ) 200 terminal)
Depth 5 N-ф5.5
6
R
60
Effective stroke 300 500 600 700 800 900 1000 1200 1500 1800 2000
L 585.6 785.6 885.6 985.6 1085.6 1185.6 1285.6 1485.6 1785.6 2085.62285.6 Note 1. Position from both ends to the mechanical stopper. (Movable range during return-to-origin)
M 2 3 3 4 4 5 5 6 8 9 10 Note 2. When installing using the main unit installation reference surface, make the mating or
positioning height 2mm or more higher than the reference surface since the R-chamfering
N 6 8 8 10 10 12 12 14 18 20 22 is provided on the main unit. (Recommended height, 5mm)
Weight (kg) 4.12 4.8 5.14 5.48 5.82 6.16 6.5 7.18 8.2 9.22 9.9 Note 3. The minimum bending radius of the motor cable is R30.

Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
FLIP-X
SINGLE-AXIS ROBOTS
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
SERIES
YK-X
SCARA
robots
CONTENTS
Pick & place

YP-X
robots
■■FLIP-X SPECIFICATION F17L·························································195
SHEET···································· 172 GF17XL···················································196
F20··························································197
CLEAN
F20N························································199
description·····························174
N TYPE NUT ROTATION TYPE MODEL
N15························································· 200
terminology··························· 175
N15D························································202
T TYPE N18························································· 204
FRAME-LESS STRUCTURE MODEL
N18D······················································ 206
T4L···························································176
B TYPE TIMING BELT DRIVE MODEL
T4LH························································177
B10························································· 208
T5L··························································178
B14··························································210
T5LH························································179
B14H························································212
T6L··························································180
R TYPE ROTATION AXIS TYPE MODEL
T9····························································181
T type
T9H··························································182 R5····························································214
R10··························································215
F TYPE / GF TYPE
HIGH RIGIDITY FRAME MODEL R20··························································216
F type
F8····························································183
F8L··························································184
GF type
F8LH························································186
F10···························································187
F10H························································188
N type
F14···························································190
F14H························································191
B/R type
GF14XL···················································192
F17···························································193
Main functions P.22 Multi robot P.27 Terminology P.30 171

FLIP-X SPECIFICATION SHEET
Articulated robots
YA
Payload
Motor Repeat- Stroke (mm) and maximum speed (mm/s)
Lead (kg)
Type Model output ability
Linear conveyor
(mm) Hori- Ver-

LCM100
(W) (mm) 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000
modules
zontal tical
12 4.5 1.2 720
T4L/
30 +/-0.02 6 6 2.4 360
T4LH
2 6 7.2 120
TRANSERVO
single-axis robots
20 3 – 1200 960 840 720 660

T5L/
Compact
30 +/-0.02 12 5 1.2 800 640 560 480 440

T5LH
6 9 2.4 400 320 280 240 220
20 10 – 1333 1133 1000 866 800
T6L 60 +/-0.02 12 12 4 800 680 600 520 480
T type
6 30 8 400 340 300 260 240

Single-axis robots
FLIP-X
30 15 – 1800 1440 1170 900

20 30 4 1200 960 780 600
T9 100 +/-0.01
10 55 10 600 480 390 300
5 80 20 300 240 195 150
30 25 – 1800 1440 1170 900
single-axis robots
PHASER
Linear motor
20 40 8 1200 960 780 600

T9H 200 +/-0.01
10 80 20 600 480 390 300
5 100 30 300 240 195 150
20 12 – 1200 1080 900 780 720 600
F8 100 +/-0.02 12 20 4 720 648 540 468 432 360
6 40 8 360 324 270 234 216 180
Cartesian
XY-X
robots
30 7 – 1800 1530 1350 1170 1080 990 900 810

20 20 4 1200 1020 900 780 720 660 600 540
F8L 100 +/-0.01
10 40 8 600 510 450 390 360 330 300 270
5 50 16 300 255 225 195 180 165 150 135
20 30 – 1200 1020 900 780 720 660 600 540 480
YK-X
SCARA
robots
F8LH 100 +/-0.01 10 60 – 600 510 450 390 360 330 300 270 240
5 80 – 300 255 225 195 180 165 150 135 120
30 15 – 1800 1440 1170 900
20 20 4 1200 960 780 600
F10 100 +/-0.01
10 40 10 600 480 390 300
Pick & place
YP-X
robots
5 60 20 300 240 195 150

30 25 – 1800 1440 1260 1080 900 720 630
20 40 8 1200 960 840 720 600 480 420
F10H 200 +/-0.01
F type
10 80 20 600 480 420 360 300 240 210

5 100 30 300 240 210 180 150 120 105
CLEAN
30 15 – 1800 1440 1170 900

20 30 4 1200 960 780 600
F14 100 +/-0.01
10 55 10 600 480 390 300
5 80 20 300 240 195 150
30 25 – 1800 1440 1170 900

20 40 8 1200 960 780 600
F14H 200 +/-0.01
10 80 20 600 480 390 300
5 100 30 300 240 195 150
40 40 – 2400 1920 1680
F17 400 +/-0.01 20 80 15 1200 960 840
10 120 35 600 480 420
F17L 600 +/-0.02 50 50 10
40 60 – 2400 1920 1680
F20 600 +/-0.01 20 120 25 1200 960 840
10 – 45 600 480 420
F20N 400 +/-0.04 20 80 –
T type
GF14XL 200 +/-0.01 20 45 –

type
GF
GF17XL 400 +/-0.01 20 90 –

N15 400 +/-0.01 20 50 –
N type
N15D 400 +/-0.01 20 50 – 1200

F type
N18 400 +/-0.01 20 80 –

N18D 400 +/-0.01 20 80 –
B10 100 +/-0.04 – 10 –
B type
GF type
B14 100 +/-0.04 – 20 –

B14H 200 +/-0.04 – 30 –
N type
Motor Repeat- Speed Maximum

Detailed info
Type Model output ability reduction speed w Precautions for use
page
(W) (sec) ratio (°/sec)
■ Handling
R5 50 +/-30 1/50 360 P.214 Fully understand the contents stated in the "FLIP-X Series User's Manual" and strictly observe the
B/R type
R type
handling precautions during operation.

R10 100 +/-30 1/50 360 P.215 ■ Allowable installation ambient temperature
R20 200 +/-30 1/50 360 P.216 0 to 45 ºC
172
Articulated robots
YA
Detailed info
Linear conveyor
page
LCM100
1050 1100 1150 1200 1250 1300 1350 1400 1450 1500 to 1600 1650 1700 1750 1800 1850 to 2000 2050 2150 2250 2350 2400 to 2500 2550 2650 to 3050
modules
T4L:P.176
T4LH:P.177
TRANSERVO
single-axis robots
T5L:P.178
Compact
T5LH:P.179
P.180
Single-axis robots
FLIP-X
810
540
270
P.181
135
810
single-axis robots
PHASER
Linear motor
540
270
P.182
135
P.183
Cartesian
XY-X
robots
720
480
240
P.184
120
420
YK-X
SCARA
P.186
robots
210
105
810
540
270
P.187
Pick & place

YP-X
robots
135
P.188
CLEAN
810
540
270
P.190
135
810
540
270
P.191
135
1440 1200 960 840 720
720 600 480 P.193
360 300 240
2200 1900 1500 1200 900 800 P.195
1440 1200 960 840 720
720 600 480 P.197
360 300 240
1200 P.199
T type
1200 P.192
1200 P.196
1200 P.200
P.202
F type
1200 P.204
1200 P.206
1875 P.208
GF type
1875 P.210
1875 P.212
N type
B/R type
173
Articulated robots
YA
In the order format for the YAMAHA single-axis robots FLIP-X series, the notation (letters/numbers) for the mechanical section is shown
linked to the controller section notation.
Linear conveyor
[Example]
LCM100
modules
Mechanical F8 Controller SR1-X

• Lead 20mm • Grease Standard • Usable for CE Not required • I/O selection NPN
• Brake Yes • Stroke 500mm • Regenerative unit Not required • Battery With battery
TRANSERVO
single-axis robots
• Origin position Non-motor side • Cable length 3.5m

Compact
Ordering method
F8 20 BK Z 500 3L SR1 X05 N B

Single-axis robots

FLIP-X
This page describes using the ordering form for mechanical components.
To find detailed controller information see the controller page. SR1-X P.518 , TS-X P.492 , RDV-X P.506
Mechanical section
single-axis robots
PHASER
Linear motor
T type / F type (F8 / F8L / F8LH)
①Model ③Lead designation ④Brake ⑩Option ⑪Stroke ⑫Cable length
T4L F8 30 30mm No entry No brakes Origin position None Standard Grease None Standard 3L 3.5m
T4LH F8L 20 20mm BK Brakes provided change Z Non-motor side type GC Clean 5L 5m
Cartesian
T5L F8LH 12 12mm 10L 10m

XY-X
robots
T5LH 10 10mm 3K 3.5m

T6 6 6mm 5K 5m
T9 5 5mm 10K 10m
T9H 2 2mm
F type (Except F8 / F8L / F8LH)

YK-X
SCARA
robots
①Model ③Lead designation ④Brake ⑥Cable entry location ⑩Option ⑪Stroke ⑫Cable length
F10 F20 50 50mm No entry No brakes No entry Standard (S) Origin position None Standard Grease None Standard 3L 3.5m
F10H F20N 40 40mm BK Brakes provided U From the top change Z Non-motor side type GC Clean 5L 5m
F14 30 30mm R From the right 10L 10m
Pick & place
F14H 20 20mm L From the left 3K 3.5m

YP-X
robots
F17 10 10mm 5K 5m
F17L 5 5mm 10K 10m
GF type
CLEAN
①Model ②Model ⑤Take out direction ③Lead designation ⑥Cable entry location ⑩Option ⑪Stroke ⑫Cable length
GF14XL S Straight H Horizontal 20 20mm No entry Standard (S) Origin position change Frame Grease type 3L 3.5m
GF17XL model installation U From the top None Standard No Standard None Standard 5L 5m
R From the right Z Non-motor entry (Spot facing) GC Clean 10L 10m
L From the left side T Tapping 3K 3.5m
5K 5m
N type (Single carriage) 10K 10m
①Model ③Lead designation ⑦Cable carrier entry location ⑧Cable carrier specification ⑩Option ⑪Stroke ⑫Cable length
N15 20 20mm RH Horizontal, right S Standard cable Origin position None Standard Grease None Standard 3L 3.5m
N18 LH Horizontal, left carrier change Z Non-motor side type GC Clean 5L 5m
RW Wall, right M Optional cable 10L 10m
LW Wall, left carrier 3K 3.5m
5K 5m
N type (Double carriage) 10K 10m
①Model ③Lead designation ⑤Take out direction ⑧Cable carrier specification ⑩Option ⑪Stroke ⑫Cable length
T type
N15D 20 20mm H Horizontal S Standard cable Grease None Standard 3L 3.5m

N18D installation carrier type GC Clean 5L 5m
W Wall hanging M Optional cable 10L 10m
installation carrier 3K 3.5m
B type
5K 5m
F type
10K 10m
①Model ⑨Motor installation direction ⑩Option ⑪Stroke ⑫Cable length
B10 L Motor leftward, horizontal position Grease None Standard 3L 3.5m

GF type
B14 R Motor rightward, horizontal position type GC Clean 5L 5m

B14H LU Motor leftward, upper position 10L 10m
RU Motor rightward, upper position 3K 3.5m
LD Motor leftward, lower position 5K 5m
RD Motor rightward, lower position 10K 10m
N type
R type
①Model ⑥Cable entry location ⑫Cable length

B/R type
R5 No entry Standard (S) 3L 3.5m

R10 B From the side 5L 5m
R20 10L 10m
3K 3.5m
5K 5m
10K 10m
174
Robot ordering method terminology
Articulated robots
YA
Model Enter the robot unit model.
Linear conveyor
LCM100
modules
Model Straight model only (GF type)
Lead designation Select the ball screw lead.
TRANSERVO
Select Brake or No-brake.
single-axis robots
Compact
Brake Horizontal specs : No-brake
Vertical specs : with Brake
Take out direction Select what direction to install the robot (horizontal / wall mounted).
Single-axis robots
FLIP-X
Select what direction to extract the robot cable connecting the robot and
Cable entry location
controller.
Select what direction to install the robot (horizontal / wall mounted) and what
single-axis robots
PHASER
Linear motor
direction to extract the robot cable carrier.
RH Horizontal, right RW Wall, right LH Horizontal, left LW Wall, left

Cable carrier entry
location
Cartesian
XY-X
robots
Note. Be sure to install in the direction as specified (in cable carrier take-out direction drawing and various specification drawings) individually. Installation
in any other way will cause a failure. For requirement of installation in any way other than the above standard installation, please consult YAMAHA
as special arrangement will be available.
YK-X
SCARA
robots
Select the cable carrier size for the customer wiring.
S type Standard cable carrier M type Optional cable carrier

58
Cable carrier
Pick & place

YP-X
robots
73
specification
168
119
40 57
25
35
14
145 61 145 86
Note. Cannot pass more than 3 urethane hoses (ϕ6 x 4). Space for optional cable for users
CLEAN
Select what direction to install the motor.
L type Leftward at R type Rightward LU type Leftward at RU type Rightward at
horizontal at horizontal upper position upper position
position position
Motor installation
direction
LD type Leftward at RD type Rightward at
lower position lower position
Origin position change: Origin point position can be changed.

T type
Option Frame: Hole to secure the frame can be selected. (Spot facing/tapping)
Grease type: Clean grease can be selected.
F type
Stroke Select the stroke for the robot movement range.

Select the robot cable length to use for connecting the robot to the controller.
GF type
1L : 1m (You can select a 1m cable only when you use T4L/T5L.)

3L : 3.5m (Standard)
5L : 5m
Cable length
N type
10L : 10m
3K : 3.5m (Flexible cable)
5K : 5m (Flexible cable)
B/R type
175
T4L
Articulated robots
Origin on the non-motor side is selectable

YA
Controller: 24V
Ordering method
Linear conveyor
T4L ERCD
LCM100
modules
Model Lead Brake Origin position change Grease type Stroke Cable lengthNote 1 Controller I/O connector specification
designation No entry: No brakes None: Standard None: Standard 50 to 400 1L: 1m CN1: I/O flat cable 1m (Standard)
12: 12mm BK: Brakes provided Z: Non-motor side GC: Clean (50mm pitch) 3L: 3.5m CN2: Twisted-pair cable 2m (pulse train function)
6: 6mm 5L: 5m
2: 2mm 10L: 10m
TRANSERVO
1K/3K/5K/10K
single-axis robots
(Flexible cable)
Compact
Single-axis robots
FLIP-X
Note 1. The robot cable is standard cable (1L/3L/5L/10L), but can be changed to flexible cable. See P.596 for details on robot cable.
single-axis robots
Specifications Allowable overhang Note Static loading moment

PHASER
Linear motor
AC servo motor output (W) 30 A MY

Deceleration mechanism Ball screw φ8 (Class C10) B C
C A
B C A MR MP
Maximum speed (mm/sec) 720 360 120 Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N·m)
Maximum Horizontal 4.5 6 6 A B C A B C A C MY MP MR
Cartesian
XY-X
robots
payload (kg) Vertical 1.2 2.4 7.2 15 19 18

2kg 433 87 180 2kg 149 54 376

Rated thrust (N) 32 64 153 1.2kg 125 125
4.5kg 223 33 75 4.5kg 50 1 148
3kg 515 58 135 3kg 107 24 380 Controller
Overall length Horizontal Stroke+198 2.4kg 56 57
(mm) Vertical Stroke+236 6kg 340 26 62 6kg 31 0 195 Controller Operation method
Maximum dimensions of cross 3kg 1585 58 142 3kg 113 24 1180 3kg 41 42 Pulse train control /
W45 × H53 Programming /
section of main unit (mm)
YK-X
SCARA
robots
Cable length (m) Standard: 3.5 / Option: 1,5,10

6kg 755 27 66 6kg 32 0 440 7.2kg 0 0 I/O point trace /
ERCD Remote command /
Linear guide type 2 rows of gothic arch grooves × 1 rail Note. Distance from center of slider top to center of gravity of object being carried at a guide service Operation
life of 10,000 km. using RS-232C
Position detector Resolvers Note 2 Note. Service life is calculated for 300mm stroke models. communication
Pick & place
Note 2. Position detectors (resolvers) are common to incremental and

YP-X
robots
absolute specifications. If the controller has a backup function

then it will be absolute specifications.
T4L
Approx. 250 (Motor cable length) 125.5+/-3 Effective stroke 72.5+/-3
CLEAN
When origin is
knocks +/-0.02)

on non-motor side 21.5+/-2(Note 1)
30 (Between
74.5+/-2(Note 1) 35
20+/-0.02
45
(3)
2-ϕ3 H7 Depth6
109.5+/-2(with brakes) 4-M4×0.7 Depth 9
160.5+/-3 (with brakes) (44)
(90) 36
(44) 24
1.6
53
(38.5)
45
35

(2) L
(3: Screw head) L+35 (with brakes)
T type
122.5 (with brakes)

87.5 A (35)
B D E M×50
F type
11
B ϕ4H7 Depth6 Installation hole:N-(See cross-section B-B)

0 Depth6
2
R
121.5 C
GF type
156.5 (with brakes) 12 mm or less (Note 4) 1.2

+0.05
4
Effective stroke 50 100 150 200 250 300 350 400

24
L 248 298 348 398 448 498 548 598

11
A 125.5 175.5 225.5 275.5 325.5 375.5 425.5 475.5

ϕ8
4.5
ϕ4.5
C 50 100 150 200 250 300 350 400

N type
D - - - - 125.5 125.5 125.5 125.5 8.5

E - - - - - - 200 200 Cross-section B-B
M 0 1 2 3 0 1 0 1
N 4 6 8 10 6 8 8 10 Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Weight (kg) Note 3 1.1 1.2 1.4 1.5 1.6 1.7 1.8 1.9 Note 2. Minimum bend radius of motor cable is R30.
B/R type
Maximum Lead 12 720 Note 3. Weight of models with no brake. The weight of brake-attached models is 0.2 kg heavier than the models with no
speed for each Lead 6 360 brake shown in the table.
stroke Note 4. The under-head length of the hex socket-head bolt (M4×0.7) to be used for the installation work is 12mm or less.
(mm/sec) Lead 2 120 Note 5. External view of T4LH is identical to T4L.
176 Controller ERCD u 512

T4LH
Articulated robots
YA
Controller: 100V / 200V
Ordering method
Linear conveyor
T4LH TSX
LCM100
modules
Model Lead Brake Origin position change Grease type Stroke Cable lengthNote 1 Positioner Note 2 Driver: Power-supply voltage / LCD monitor I/O selection Battery
designation No entry: No brakes None: Standard None: Standard 50 to 400 3L: 3.5m TS-X Power capacity No entry: None NP: NPN B: With battery
12: 12mm BK: Brakes provided Z: Non-motor side GC: Clean (50mm pitch) 5L: 5m 105: 100V/100W or less L: With LCD PN: PNP (Absolute)
6: 6mm 10L: 10m 205: 200V/100W or less CC: CC-Link N: None
2: 2mm 3K/5K/10K DN: DeviceNetTM (Incremental)
TRANSERVO
(Flexible cable) EP: EtherNet/IPTM
single-axis robots
PT: PROFINET
GW: No I/O board Note 3
Compact
SR1-X 05
Controller Driver: Power capacity Usable for CE I/O selection Battery
05: 100W or less No entry: Standard N: NPN B: With battery
E: CE marking P: PNP (Absolute)
Single-axis robots
CC: CC-Link N: None
FLIP-X
PB: PROFIBUS
Note 1. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.596 for details on robot cable.
Note 2. See P.500 for DIN rail mounting bracket.
RDV-X 2 05
Note 3. Select this selection when using the gateway function. For details, see P.62. Driver Power-supply voltage Driver: Power capacity
2: AC200V 05: 100W or less
single-axis robots
PHASER
Linear motor
Deceleration mechanism Ball screw φ8 (Class C10) B C
C A
B C A MR MP
Maximum speed (mm/sec) 720 360 120 Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N·m)
Maximum Horizontal 4.5 6 6 A B C A B C A C MY MP MR
Cartesian
XY-X
robots
payload (kg) Vertical 1.2 2.4 7.2 15 19 18
2kg 341 90 174 2kg 140 73 300

Rated thrust (N) 32 64 153 1.2kg 122 121
4.5kg 172 37 72 4.5kg 47 22 119
3kg 355 58 134 3kg 105 42 260 Controller
Overall length Horizontal Stroke+198 2.4kg 56 57
(mm) Vertical Stroke+236 6kg 235 27 62 6kg 31 11 135 Controller Operation method
Maximum dimensions of cross 3kg 1105 59 142 3kg 113 42 810 3kg 41 42 Programming /
W45 × H53 I/O point trace /
YK-X
SR1-X05
SCARA
robots
520 27 66 32 11 305 0 0
RCX221/222 Remote
Cable length (m) Standard: 3.5 / Option: 5,10
6kg 6kg 7.2kg command /
Operation
Linear guide type 2 rows of gothic arch grooves × 1 rail Note. Distance from center of slider top to center of gravity of object being carried at a guide service RCX240/340 using RS-232C
life of 10,000 km. communication
Position detector Resolvers Note 2 Note. Service life is calculated for 300mm stroke models.
Resolution (Pulse/rotation) 16384 TS-X105 I/O point trace /
TS-X205 Remote command
Pick & place

Note 2. Position detectors (resolvers) are common to incremental and RDV-X205 Pulse train control
YP-X
robots
T4LH
Approx. 250 (Motor cable length) 125.5+/-3 Effective stroke 72.5+/-3
When origin is
knocks +/-0.02)
CLEAN
on non-motor side 21.5+/-2(Note 1)
30 (Between
74.5+/-2(Note 1) 35
20+/-0.02
45
(3)
2-ϕ3 H7 Depth6
109.5+/-2(with brakes) 4-M4×0.7 Depth 9
160.5+/-3 (with brakes) (44)
(90) 36
(44) 24
1.6
53
(38.5)
45
35

(2) L
122.5 (with brakes)
T type
87.5 A (35)
B D E M×50
11
F type
B ϕ4H7 Depth6 Installation hole:N-(See cross-section B-B)

0 Depth6
2
R
121.5 C
156.5 (with brakes) 12 mm or less (Note 4) 1.2
+0.05
GF type
4
Effective stroke 50 100 150 200 250 300 350 400

24
L 248 298 348 398 448 498 548 598

11
A 125.5 175.5 225.5 275.5 325.5 375.5 425.5 475.5

ϕ8
4.5
ϕ4.5
C 50 100 150 200 250 300 350 400 8.5

N type
D - - - - 125.5 125.5 125.5 125.5 Cross-section B-B

E - - - - - - 200 200
M 0 1 2 3 0 1 0 1
N 4 6 8 10 6 8 8 10
Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Weight (kg) Note 3 1.1 1.2 1.4 1.5 1.6 1.7 1.8 1.9 Note 2. Minimum bend radius of motor cable is R30.
B/R type
Maximum Lead 12 720 Note 3. Weight of models with no brake. The weight of brake-attached models is 0.2 kg heavier than the models with no
speed for each brake shown in the table.
stroke Lead 6 360 Note 4. The under-head length of the hex socket-head bolt (M4×0.7) to be used for the installation work is 12mm or less.
(mm/sec) Lead 2 120 Note 5. External view of T4LH is identical to T4L.
Controller SR1-X u 518 TS-X u 492 RDV-X u 506 177

T5L
Articulated robots
High lead: Lead 20 Origin on the non-motor side is selectable

YA
Controller: 24V
Ordering method
Linear conveyor
T5L ERCD
LCM100
modules
Model Lead Brake Note 1 Origin position change Grease type Stroke Cable length Note 2 Controller I/O connector specification
designation No entry: No brakes None: Standard None: Standard 50 to 800 1L: 1m CN1: I/O flat cable 1m (Standard)
20: 20mm BK: Brakes provided Z: Non-motor side GC: Clean (50mm pitch) 3L: 3.5m CN2: Twisted-pair cable 2m (pulse train function)
12: 12mm 5L: 5m
6: 6mm 10L: 10m
TRANSERVO
1K/3K/5K/10K
single-axis robots
(Flexible cable)
Compact
Single-axis robots
FLIP-X
Note 1. The model with a lead of 20mm cannot select specifications with brake (vertical specifications).
Note 2. The robot cable is standard cable (1L/3L/5L/10L), but can be changed to flexible cable. See P.596 for details on robot cable.
single-axis robots

PHASER
Linear motor

Deceleration mechanism Ball screw φ12 (Class C10) B
C A C
Ball screw lead (mm) 20 12 6 B C A MR MP
Maximum Horizontal 3 5 9 Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N·m)
payload (kg) Vertical - 1.2 2.4 A B C A B C A C MY MP MR
Cartesian
XY-X
robots
Rated thrust (N) 19 32 64

600 323 683 600 291 600 30 34 40

1kg 1kg
Lead 6 Lead 12
Stroke (mm) 50 to 800 (50mm pitch) 1.2kg 242 240
Overall length Horizontal Stroke+201.5 3kg 675 103 247 3kg 215 73 589
(mm) Vertical Stroke+239.5
2kg 1170 159 406 2kg 368 127 1082 Controller
Maximum dimensions of cross 2.4kg 113 113
W55×H52 Controller Operation method
section of main unit (mm) 5kg 555 59 155 5kg 127 30 449
Cable length (m) Standard: 3.5 / Option: 1,5,10 Pulse train control /
3kg 1498 104 294 3kg 263 73 970
Linear guide type 2 rows of gothic arch grooves × 1 rail Programming /
YK-X
SCARA
robots
Position detector Resolvers Note 3 9kg 628 31 89 9kg 54 0 400 I/O point trace /
Resolution (Pulse/rotation) 16384 ERCD Remote command /
Note. Distance from center of slider top to center of gravity of object being carried at a guide service Operation
Note 1. Positioning repeatability in one direction. life of 10,000 km. using RS-232C
Note 2. When the stroke is longer than 600mm, resonance of the Note. Service life is calculated for 600mm stroke models. communication
ball screw may occur depending on the operation conditions
(critical speed). In this case, reduce the speed setting on the
program by referring to the maximum speeds shown in the
Pick & place
table below.
YP-X
robots

T5L
CLEAN
Approx. 250 (Motor cable length) 127+/-3 Effective stroke 74.5+/-3

When origin is on motor side When origin is
knocks +/-0.02)
35 (Between
on non-motor side
73+/-2(Note 1) 40 20.5+/-2(Note 1)
25+/-0.02
55
2-ϕ3 H7 Depth6
(3)
108+/-2 (with brakes) (Note 1) 4-M4×0.7 Depth9

162+/-3 (with brakes) (51)
(96) 41
29
(55)
1.6
(45.5)
50
52
42

(2) L
T type

122 (with brakes)
87 A (34.5)
15 mm or less (Note 4) 1
B D Installation hole:N-(See cross-section B-B) M×50
F type
30
16
16
ϕ8
ϕ4.5
4.5
B
Depth6
ϕ4H7 Depth6 2
4 +0.02
R
9
GF type
135.5 C
Cross-section B-B 170.5 (with brakes)
Note 1. Stop positions are determined by the mechanical stoppers at both

Effective stroke 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 ends.
L 251.5301.5351.5401.5451.5501.5551.5601.5651.5701.5751.5801.5 851.5 901.5 951.5 1001.5 Note 2. Minimum bend radius of motor cable is R30.
N type
A 130 180 230 280 330 380 430 480 530 580 630 680 730 780 830 880 Note 3. Weight of models with no brake. The weight of brake-attached
C 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 models is 0.2 kg heavier than the models with no brake shown in
D - - - - - - 230 230 230 230 230 230 230 230 230 230 the table.
M 0 1 2 3 4 5 0 1 2 3 4 5 6 7 8 9 Note 4. The under-head length of the hex socket-head bolt (M4×0.7) to
N 4 6 8 10 12 14 6 8 10 12 14 16 18 20 22 24 be used for the installation work is 15mm or less.
B/R type
Weight (kg) Note 3 1.7 1.8 2.0 2.2 2.3 2.5 2.7 2.8 3.0 3.2 3.3 3.5 3.7 3.8 4.0 4.2 Note 5. When the stroke is longer than 600mm, resonance of the ball
Maximum Lead 20 1200 960 840 720 660 screw may occur depending on the operation conditions (critical
speed for Lead 12 speed).
800 640 560 480 440
each In this case, reduce the speed setting on the program by referring
stroke Note 5
Lead 6 400 320 280 240 220 to the maximum speeds shown in the table at the left.
(mm/sec) Speed setting - 80% 70% 60% 55% Note 6. External view of T5LH is identical to T5L.
178 Controller ERCD u 512

T5LH
Articulated robots
YA
Ordering method
Linear conveyor
T5LH TSX
LCM100
modules
Model Lead Brake Note 1 Origin position change Grease type Stroke Cable lengthNote 2 Positioner Note 3 Driver: Power-supply voltage / LCD monitor I/O selection Battery
TRANSERVO
single-axis robots
PT: PROFINET
Compact
SR1-X 05
Single-axis robots
CC: CC-Link N: None
Note 1. The model with a lead of 20mm cannot select specifications with brake (vertical DN: DeviceNetTM (Incremental)
FLIP-X
specifications). PB: PROFIBUS
RDV-X 2 05
Note 4. Select this selection when using the gateway function. For details, see P.62 Driver Power-supply voltage Driver: Power capacity
2: AC200V 05: 100W or less
single-axis robots
PHASER
Linear motor
C A C
payload (kg) Vertical - 1.2 2.4 A B C A B C A C MY MP MR
Cartesian
XY-X
robots
967 324 598 551 304 925 30 34 40
1kg Lead 6 Lead 12 Lead 20 1kg
Lead 6 Lead 12
Stroke (mm) 50 to 800 (50mm pitch) 1.2kg 240 239
Overall length Horizontal Stroke+201.5 3kg 429 104 226 3kg 185 89 378
(mm) Vertical Stroke+239.5
2kg 916 159 398 2kg 347 141 800 Controller
Maximum dimensions of cross 2.4kg 109 110
W55×H52 Controller Operation method
Cable length (m) Standard: 3.5 / Option: 5,10 3kg 1194 105 294 3kg 259 87 950 Programming /
Linear guide type 2 rows of gothic arch grooves × 1 rail I/O point trace /
YK-X
SR1-X05
SCARA
robots
624 31 89 50 15 385
RCX221/222 Remote
Position detector Resolvers Note 3 9kg 9kg command /
Resolution (Pulse/rotation) 16384 Operation
Note. Distance from center of slider top to center of gravity of object being carried at a guide service RCX240/340 using RS-232C
Note 1. Positioning repeatability in one direction. life of 10,000 km. communication
Note 2. When the stroke is longer than 600mm, resonance of the Note. Service life is calculated for 600mm stroke models.
ball screw may occur depending on the operation conditions TS-X105 I/O point trace /
(critical speed). In this case, reduce the speed setting on the TS-X205 Remote command
program by referring to the maximum speeds shown in the
Pick & place

table below.
RDV-X205 Pulse train control
YP-X
robots
T5LH
CLEAN
Approx. 250 (Motor cable length) 127+/-3 Effective stroke 74.5+/-3
When origin is on motor side When origin is
knocks +/-0.02)
35 (Between
on non-motor side
73+/-2(Note 1) 40 20.5+/-2(Note 1)
25+/-0.02
55
2-ϕ3 H7 Depth6
(3)
108+/-2 (with brakes) (Note 1) 4-M4×0.7 Depth9

162+/-3 (with brakes) (51)
(96) 41
29
(55)
1.6
(45.5)
50
52
42

(2) L
T type

122 (with brakes)
87 A (34.5)
15 mm or less (Note 4) 1
F type
30
16
16
ϕ8
ϕ4.5
4.5
B
Depth6
ϕ4H7 Depth6 2
4 +0.02
R
9
GF type
0
135.5 C
Cross-section B-B 170.5 (with brakes)
Effective stroke 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 Note 1. Stop positions are determined by the mechanical stoppers at both
L 251.5301.5351.5401.5451.5501.5551.5601.5651.5701.5751.5801.5 851.5 901.5 951.5 1001.5 ends.
A 130 180 230 280 330 380 430 480 530 580 630 680 730 780 830 880 Note 2. Minimum bend radius of motor cable is R30.
N type
C 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 Note 3. Weight of models with no brake. The weight of brake-attached
D - - - - - - 230 230 230 230 230 230 230 230 230 230 models is 0.2 kg heavier than the models with no brake shown
M 0 1 2 3 4 5 0 1 2 3 4 5 6 7 8 9 in the table.
N 4 6 8 10 12 14 6 8 10 12 14 16 18 20 22 24 Note 4. The under-head length of the hex socket-head bolt (M4×0.7)
Weight (kg) Note 3 1.7 1.8 2.0 2.2 2.3 2.5 2.7 2.8 3.0 3.2 3.3 3.5 3.7 3.8 4.0 4.2 to be used for the installation work is 15mm or less.
Note 5. When the stroke is longer than 600mm, resonance of the ball
B/R type
Maximum Lead 20 1200 960 840 720 660

speed for each Lead 12 800 640 560 480 440 speed).
Note 5
stroke Lead 6 400 320 280 240 220 In this case, reduce the speed setting on the program by
(mm/sec) Speed setting referring to the maximum speeds shown in the table at the left.
- 80% 70% 60% 55% Note 6. External view of T5LH is identical to T5L.

T6L
Articulated robots

YA
Ordering method
Linear conveyor
T6L TSX
LCM100
modules
Model Lead Brake Note 1 Origin position change Grease type Stroke Cable lengthNote 2 Positioner Note 3 Driver: Power-supply voltage / LCD monitor I/O selection Battery
TRANSERVO

single-axis robots
PT: PROFINET
Compact
SR1-X 05
Single-axis robots
CC: CC-Link N: None

FLIP-X

RDV-X 2 05 RBR1
Note 4. Select this selection when using the gateway function. For details, see P.62. Driver Power-supply voltage Driver: Power capacity Regenerative unit
2: AC200V 05: 100W or less
single-axis robots

PHASER
Linear motor

C A C
payload (kg) Vertical - 4 8 A B C A B C A C MY MP MR
Cartesian
XY-X
robots

2kg 319 184 234 2kg 234 152 265 1kg 355 352 35 40 50
Lead 12 Lead 20
Lead 12 Lead 20
Lead 12
Overall length Horizontal Stroke+247.5 6kg 98 37 77 6kg 61 13 71 2kg 165 165
(mm) Vertical Stroke+285.5 10kg 64 0 55 10kg 30 0 42 4kg 70 72 Controller
Maximum dimensions of cross 3kg 624 125 335 3kg 293 96 510 2kg 171 172
W65×H56
Lead 6
section of main unit (mm) Controller Operation method
8kg 273 41 121 8kg 89 14 210 4kg 73 74
Programming /
Linear guide type 2 rows of gothic arch grooves × 1 rail 12kg 216 24 77 12kg 43 0 130 8kg 23 26 I/O point trace /
YK-X
SR1-X05
SCARA
robots
RCX221/222 Remote
Position detector Resolvers Note 3 5kg 694 73 236 5kg 204 45 530 command /
Lead 6
Lead 6

10kg 374 33 109 10kg 72 0 245 RCX240/340 using RS-232C
Note 1. Positioning repeatability in one direction. 30kg 159 0 25 30kg 0 0 0 communication
Note 2. When the stroke is longer than 600mm, resonance of the
ball screw may occur depending on the operation conditions Note. Distance from center of slider top to center of gravity of object being carried at a guide service TS-X105 I/O point trace /
(critical speed). In this case, reduce the speed setting on the life of 10,000 km. Remote command
program by referring to the maximum speeds shown in the TS-X205
Note. Service life is calculated for 600mm stroke models.
Pick & place
table below. RDV-X205-RBR1 Pulse train control

YP-X

robots

T6L
Approx. 250 (Motor cable length) 156.5+/-3 Effective stroke 91+/-3
When origin is on motor side When origin is on
knocks+/-0.02)
40 (Between
CLEAN
92.5+/-2(Note 1) 45 non-motor side

30+/-0.02 27+/-2(Note 1)
65
(3)
127.5+/-2(with brakes)(Note 1) 2-ϕ3H7 Depth6

191.5+/-3 4-M5×0.8 Depth11 (58)
(116) 48
(60) 32
1.6
(47.5)
53
56
44

(2) L
148.5 (with brakes)

(49)
T type
113.5 40 A
1.8
15 mm or less (Note 4)
F type
23
42
23
ϕ8
ϕ 4.5
4.5 ϕ4H7 Depth6

B 2
R
0 Depth6
9.5
168 C
GF type
Cross-section B-B 203 (with brakes)

+ 0.05
4
Effective stroke 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
Note 1. Stop positions are determined by the mechanical
L 297.5 347.5 397.5 447.5 497.5 547.5 597.5 647.5 697.5 747.5 797.5 847.5 897.5 947.5 997.5 1047.5 stoppers at both ends.
A 95 145 195 245 295 345 395 445 495 545 595 645 695 745 795 845 Note 2. Minimum bend radius of motor cable is R30.
N type
C 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 Note 3. Weight of models with no brake. The weight of
brake-attached models is 0.2 kg heavier than the
D - - - - - - 195 195 195 195 195 195 195 195 195 195 models with no brake shown in the table.
M 0 1 2 3 4 5 0 1 2 3 4 5 6 7 8 9 Note 4. The under-head length of the hex socket-head
N 6 8 10 12 14 16 8 10 12 14 16 18 20 22 24 26 bolt (M4×0.7) to be used for the installation work
B/R type
is 15mm or less.
Weight (kg) Note 3 2.4 2.6 2.8 3.1 3.3 3.5 3.7 4.0 4.2 4.4 4.6 4.8 5.1 5.3 5.5 5.7 Note 5. When the stroke is longer than 600mm,
Maximum Lead 20 1333 1133 1000 866 800 resonance of the ball screw may occur depending
speed for each Lead 12 800 680 600 520 480 on the operation conditions (critical speed).
In this case, reduce the speed setting on the
stroke Note 5 Lead 6 400 340 300 260 240 program by referring to the maximum speeds
(mm/sec) Speed setting - 85% 75% 65% 60% shown in the table at the left.
180 Controller SR1-X u 518 TS-X u 492 RDV-X u 506

T9
Articulated robots
High lead: Lead 30
YA
Origin on the non-motor side is selectable: Lead 10·20·30
Note. Strokes longer than 1050mm are special order items. Please consult us for delivery time.
Ordering method
Linear conveyor
T9 TSX
LCM100
modules
Model Lead Brake Note 1 Origin position change Grease type Stroke Cable length Note 3 Positioner Note 4 Driver: Power-supply voltage / Regenerative unit LCD monitor I/O selection Battery
designation No entry:No brakes None: Standard None: Standard Lead 20·10·5: 3L: 3.5m TS-X Power capacity No entry: None No entry: None NP: NPN B: With battery
30: 30mm BK: Brakes provided Z: Non-motor side Note 2 GC: Clean 150 to 1050 5L: 5m 105: 100V/100W or less R: With RGT L: With LCD PN: PNP (Absolute)
20: 20mm (50mm pitch) 10L: 10m 205: 200V/100W or less CC: CC-Link N: None
10: 10mm Lead 30: 3K/5K/10K DN: DeviceNetTM (Incremental)
TRANSERVO
5: 5mm 150 to 1250 (Flexible cable) EP: EtherNet/IPTM
single-axis robots
(50mm pitch) PT: PROFINET
Compact
SR1-X 05
Controller Driver: Power capacity Usable for CE Regenerative unit I/O selection Battery
Note 1. The model with a lead of 30mm cannot select specifications with brake (vertical 05: 100W or less No entry: Standard No entry: None N: NPN B: With battery
E: CE marking R: With RG1 P: PNP (Absolute)
specifications).
Single-axis robots
CC: CC-Link N: None
Note 2. If selecting 5mm lead specifications then the origin point cannot be changed to the DN: DeviceNetTM (Incremental)
FLIP-X
non-motor side. PB: PROFIBUS
RDV-X 2 05 RBR1
2: AC200V 05: 100W or less
single-axis robots
PHASER
Linear motor
Deceleration mechanism Ball screw (Class C7) B
Ball screw lead (mm) 30 20 10 5 C A C
B C A MR MP
Maximum speed Note 2 (mm/sec) 1800 1200 600 300
payload (kg) Vertical – 4 10 20 Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N·m)
A B C A B C A C MY MP MR
Cartesian
Rated thrust (N) 56 84 169 339
XY-X
robots
Stroke (mm) 150 to 1250 Note 3 (50mm pitch)
Lead 20 Lead 30
5kg 864 501 383 Lead 20 Lead 30 5kg 348 384 776 1kg 600 600 86 133 117
Lead 20
(mm) Vertical Stroke+289 15kg 491 156 140 15kg 87 40 306 2kg 1098 1098
Maximum dimensions of cross W94 × H98
section of main unit (mm) 15kg 572 158 151 15kg 92 42 386 4kg 594 594
Lead 10
Cable length (m) Standard: 3.5 / Option: 5,10 Controller Operation method
Linear guide type 4 rows of circular arc grooves × 1 rail 30kg 455 73 75 30kg 0 0 61 8kg 280 280 Programming /
Position detector Resolvers Note 4 20kg 617 119 127 10kg 193 132 910 10kg 217 217 SR1-X05 Note I/O point trace /
YK-X
SCARA
Lead 10
Lead 10
robots
RCX221/222 Remote
Resolution (Pulse/rotation) 16384 command /
40kg 422 53 59 20kg 53 0 400 10kg 221 221 Operation
Lead 5
Note 1. Positioning repeatability in one direction. RCX240/340 using RS-232C
screw may occur depending on the operation conditions (critical communication
speed). In this case, reduce the speed setting on the program 50kg 722 42 47 10kg 197 133 2360 20kg 92 92 TS-X105 Note I/O point trace /
Lead 5
Lead 5
by referring to the maximum speeds shown in the table below. 60kg 657 33 37 20kg 54 0 985 TS-X205 Note Remote command
Note 3. Strokes longer than 1050mm are available only for high lead
(Lead 30). (Special order item) 80kg 577 23 25 30kg 0 0 427 RDV-X205-RBR1 Pulse train control
Pick & place

Note 4. Position detectors (resolvers) are common to incremental and Note. Regenerative unit is required
YP-X
robots
absolute specifications. If the controller has a backup function Note. Distance from center of slider top to center of gravity of object being carried at a guide service when the models used vertically
then it will be absolute specifications. life of 10,000 km. and with 700mm or larger stroke.
T9
Approx. 250 (Motor cable length) 165+/-3 (Note 2): When origin is on motor side Effective stroke (94): When origin is on motor side
(165): When origin is on non-motor side 94+/-3 (Note 3): When origin is on non-motor side
82 (Between knocks +/-0.02)
CLEAN
115+/-1 (Note 1) 90 2-ϕ6H7 Depth8
60 44+/-1
4-M6 x 1.0 Depth18 (Note 4)
145+/-1 (with brakes) (Note 1)
Approx. 250 195+/-3: When origin is on motor side
(195): When origin is on non-motor side
94 4-M5 x 0.8 Depth4 50 20
(The same position on the opposite surface at two (2) locations)
10
20
95.5
98
13
23 30 (with brakes) L
17.5
2.5
43 165 60 x (N-1) A ϕ11

Grounding terminal B (Note 5) 60
83.7
T type
87.7
22
13
N-M8 x 1.25
F type
195 (with brakes) B
Note 1. Stop positions are determined by the mechanical stoppers at both ends. Note 5. When installing the unit, washers, etc., cannot be used in the ϕ11 counter bore hole.
Note 2. 167.5+/-4 when the high lead specification (Lead 30) is used. Note 6. Minimum bend radius of motor cable is R5.
Note 3. 94+/-4 when the high lead specification (Lead 30) is used. Note 7. Weight of models with no brake. The weight of brake-attached models is 0.5 kg heavier than the models with no brake
GF type
Note 4. 41.5+/-1 when the high lead specification (Lead 30) is used. shown in the table.
Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 Note 9 1150 Note 9 1200 Note 9 1250 Note 9
L 409 459 509 559 609 659 709 759 809 859 909 959 1009 1059 1109 1159 1209 1259 1309 1359 1409 1459 1509
A 64 54 44 94 84 74 64 54 44 94 84 74 64 54 44 94 84 74 64 54 44 94 84
N 4 5 6 6 7 8 9 10 11 11 12 13 14 15 16 16 17 18 19 20 21 21 22
N type
Weight (kg) Note 7 5.5 5.9 6.2 6.6 6.9 7.3 7.6 8.0 8.3 8.7 9.0 9.4 9.7 10.0 10.3 10.7 11.0 11.4 11.7 12.1 12.5 12.9 13.3
Lead 30 1800 1440 1170 900 810
Maximum Lead 20 1200 960 780 600 540
speed Note 8 Lead 10 600 480 390 300 270
B/R type
(mm/sec) Lead 5 300 240 195 150 135

Speed setting – 80% 65% 50% 45%
Note 8. When the stroke is longer than 700mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to
the maximum speeds shown in the table above.
Note 9. Strokes longer than 1050mm are special order items. Please contact us for speed setting.

T9H
Articulated robots
High lead: Lead 30

YA
Origin on the non-motor side is selectable: Lead 20·30

Ordering method
Linear conveyor
T9H TSX
LCM100
modules
Model Lead Brake Note 1 Origin position change Grease type Stroke Cable length Note 3 Positioner Note 4 Driver: Power-supply voltage / Regenerative unit LCD monitor I/O selection Battery
designation No entry:No brakes None: Standard None: Standard Lead 20·10·5: 3L:3.5m TS-X Power capacity No entry: None No entry: None NP: NPN B: With battery
30: 30mm BK: Brakes provided Z: Non-motor side Note 2 GC: Clean 150 to 1050 5L: 5m 110: 100V/200W R: With RGT L: With LCD PN: PNP (Absolute)
20: 20mm (50mm pitch) 10L: 10m 210: 200V/200W CC: CC-Link N: None
10: 10mm Lead 30: 3K/5K/10K DN: DeviceNetTM (Incremental)
TRANSERVO
5: 5mm 150 to 1250 (Flexible cable) EP: EtherNet/IPTM

single-axis robots

Compact
SR1-X 10
Note 1. The model with a lead of 30mm cannot select specifications with brake (vertical 10: 200W No entry: Standard No entry: None N: NPN B: With battery
specifications).
Single-axis robots
CC: CC-Link N: None

Note 2. If selecting 10mm·5mm lead specifications then the origin point cannot be changed DN: DeviceNetTM (Incremental)
FLIP-X
to the non-motor side. PB: PROFIBUS

RDV-X 2 10 RBR1
2: AC200V 10: 200W or less
single-axis robots

PHASER
Linear motor

B C A MR MP
Cartesian
Rated thrust (N) 113 170 341 683

XY-X
robots

Lead 20 Lead 30
Lead 20 Lead 30
10kg 415 286 183 10kg 140 120 323 4kg 515 515 86 133 117
Lead 20
Lead 10
YK-X
SCARA
Lead 10
Lead 10
robots
RCX221/222 Remote
Lead 5
Lead 5
Lead 5
Note Remote command

by referring to the maximum speeds shown in the table below. 80kg 412 22 25 25kg 25 0 505 TS-X210
Note 3. Strokes longer than 1050mm are available only for high lead RDV-X210-RBR1 Pulse train control
(Lead 30). (Special order item) 100kg 362 16 18 30kg 0 0 355
Pick & place
Note 4. Position detectors (resolvers) are common to incremental and Note. When using the unit vertically, a
YP-X
robots
absolute specifications. If the controller has a backup function Note. Distance from center of slider top to center of gravity of object being carried at a guide service regeneration unit is required.
then it will be absolute specifications. life of 10,000 km.
T9H
Approx. 250 (Motor cable length) 179+/-3 (Note 2): When origin is on motor side Effective stroke (94): When origin is on motor side
(179): When origin is on non-motor side 94+/-3 (Note 3): When origin is on non-motor side
CLEAN
129+/-1 (Note 1) 90 2-ϕ6H7 Depth8 44+/-1

60 4-M6 x 1.0 Depth18 (Note 4)
159+/-1 (with brakes) (Note 1)

Approx. 250 209+/-3 (with brakes): When origin is on motor side
94 4-M5 x 0.8 Depth4 50 20
(The same position on the opposite surface at 2 locations)
10
20
95.5
98
13
23 30 (with brakes) L
17.5
2.5
43 179 60 x (N-1) A
Grounding terminal ϕ11
83.7 B (Note 5) 60
87.7
T type
22
13
N-M8 x 1.25
B
F type
209 (with brakes)

Note 1. Stop positions are determined by the mechanical stoppers at both ends. Note 5. When installing the unit, washers, etc., cannot be used in the ϕ11 counter bore hole.
Note 3. 94+/-4 when the high lead specification (Lead 30) is used. Note 7. Weight of models with no brake. The weight of brake-attached models is 0.5 kg heavier than the models with no brake
Note 4. 41.5+/-1 when the high lead specification (Lead 30) is used. shown in the table.
GF type
L 423 473 523 573 623 673 723 773 823 873 923 973 1023 1073 1123 1173 1223 1273 1323 1373 1423 1473 1523
A 64 54 44 94 84 74 64 54 44 94 84 74 64 54 44 94 84 74 64 54 44 94 84
N 4 5 6 6 7 8 9 10 11 11 12 13 14 15 16 16 17 18 19 20 21 21 22
N type
Weight (kg) Note 7 5.8 6.2 6.5 6.9 7.3 7.7 8.0 8.4 8.8 9.1 9.5 9.9 10.2 10.6 11.0 11.4 11.7 12.1 12.5 12.9 13.3 13.7 14.1
Lead 30 1800 1440 1170 900 810
Maximum Lead 20 1200 960 780 600 540
speed Note 8 Lead 10 600 480 390 300 270
B/R type
(mm/sec) Lead 5 300 240 195 150 135

Speed setting – 80% 65% 50% 45%

F8
Articulated robots
High lead: Lead 20
YA
Ordering method
Linear conveyor
F8 TSX
LCM100
modules
Model Lead Brake Note 1 Origin position change Grease type Stroke Cable length Note 2 Positioner Note 3 Driver: Power-supply voltage / LCD monitor I/O selection Battery
TRANSERVO
single-axis robots
PT: PROFINET
Compact
SR1-X 05
Single-axis robots
CC: CC-Link N: None
FLIP-X
RDV-X 2 05 RBR1
2: AC200V 05: 100W or less
single-axis robots
PHASER
Linear motor
C A C
payload (kg) Vertical – 4 8 A B C A B C A C MY MP MR
Cartesian
XY-X
robots
5kg 197 76 120 5kg 104 67 174 1kg 447 448 70 95 110
Lead 20
Lead 20
Lead 12
(mm) Vertical Stroke+316 12kg 85 25 43 12kg 27 15 55 3kg 137 138 Controller
Maximum dimensions of cross W80 × H65 5kg 364 89 188 5kg 171 81 340 4kg 98 99
Lead 12
Lead 12
Cable length (m) Standard: 3.5 / Option: 5,10 10kg 203 39 87 10kg 69 32 172 2kg 244 245 Programming /
Linear guide type 4 rows of circular arc grooves × 1 rail
Lead 6
139 22 51 33 15 100 113 113 I/O point trace /
YK-X
15kg 15kg 4kg
SCARA
SR1-X05
robots
Position detector Resolvers Note 3 Remote command /
20kg 103 14 33 20kg 15 6 55 6kg 69 69 RCX221/222
10kg 403 43 113 10kg 94 36 369 8kg 46 46 RCX240/340 using RS-232C
communication
Lead 6
Lead 6
screw may occur depending on the operation conditions (critical TS-X105
30kg 140 6 20 30kg 0 0 14 I/O point trace /
by referring to the maximum speeds shown in the table below. 40kg 113 0 8 40kg 0 0 0
Pick & place

Note 3. Position detectors (resolvers) are common to incremental and RDV-X205-RBR1 Pulse train control
YP-X
robots
absolute specifications. If the controller has a backup function Note. Distance from center of slider top to center of gravity of object being carried at a guide service
F8
Approx. 240 (Motor cable length) 193+/-3: When origin is on motor side Effective stroke 93+/-3: When origin is on non-motor side
(193): When origin is on non-motor side 50 (93): When origin is on motor side
CLEAN
148+/-1 (Note 1) 30 +/-0.02 48+/-1
(Note 1)
knocks +/-0.02)
(between
80
70
178+/-1 (With brake) (Note 1) 4-M6 x 1.0 Depth12
Approx. 210 (Motor cable length) 223+/-3 (With brake): When origin is on motor side 2-ϕ5H7 Depth10
L + 30 (With brake)
80 L
60 78 Greasing hole
F
63.5
65
34
Grounding terminal (M4) 198 (With brake)

5 168 50 A x 100 B 50 (68)
T type
ϕ9.5
C-ϕ5.5 See cross-section E-E. E 100

ϕ5.5
5
1.5 2
R
40
F type
(Note 4)
3.5
6.4
10H7
Use M5 x 0.8 hex socket

head bolt with length Note Recommended plate nut: E ϕ10H7 Plate thickness 10
(under head) of 16mm or more. M3 ( 6 * t 1.6) 145 (Note 4) D 2
Cross-section E-E F: Detail of T-groove 175 (With brake)
GF type
Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800
L 436 486 536 586 636 686 736 786 836 886 936 986 1036 1086
A 0 0 1 1 2 2 3 3 4 4 5 5 6 6
Note 1. Stop positions are determined by the mechanical stoppers at
N type
B 100 150 100 150 100 150 100 150 100 150 100 150 100 150 both ends.
C 8 8 10 10 12 12 14 14 16 16 18 18 20 20 Note 2. When installing the robot, do not use washers inside the robot
D 240 290 340 390 440 490 540 590 640 690 740 790 840 890 body.
Note 3. Minimum bend radius of motor cable is R50.
Weight (kg) Note 5 3.6 3.9 4.2 4.4 4.7 5.0 5.3 5.6 5.9 6.2 6.4 6.7 7.0 7.3 Note 4. When using this ϕ10 knock-pin hole to position the robot body,
Lead 20 1200 1080 900 780 720 600 the knockpin must not protrude more than 10mm inside the robot
B/R type
Maximum body.
Lead 12 720 648 540 468 432 360
speed Note 6 Note 5. Weight of models with no brake. The weight of brake-attached
Lead 6 360 324 270 234 216 180
(mm/sec) models is 0.3 kg heavier than the models with no brake shown in
Speed setting – 90% 75% 65% 60% 50% the table.
Note 6. When the stroke is longer than 550mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the
maximum speeds shown in the table above.

F8L
Articulated robots
High lead: Lead 30

YA
Ordering method
Linear conveyor
F8L TSX
LCM100
modules
Positioner Note 3 Driver: Power-supply voltage / LCD monitor I/O selection Battery
Model Lead Brake Note 1
Origin position change Grease type Stroke Cable length Note 2
Power capacity
TS-X No entry: None NP: NPN B: With battery
designation No entry:No brakes None: Standard None: Standard 150 to 1050 3L: 3.5m 105: 100V/100W or less L: With LCD PN: PNP (Absolute)
30: 30mm BK:Brakes provided Z: Non-motor side GC: Clean (50mm pitch) 5L: 5m 205: 200V/100W or less CC: CC-Link N: None
20: 20mm 10L: 10m DN: DeviceNetTM (Incremental)
10: 10mm 3K/5K/10K
TRANSERVO
EP: EtherNet/IPTM
single-axis robots
5: 5mm (Flexible cable) PT: PROFINET

Compact
SR1-X 05
Single-axis robots
CC: CC-Link N: None

FLIP-X

RDV-X 2 05 RBR1
2: AC200V 05: 100W or less
single-axis robots

PHASER
Linear motor

C A C
Ball screw lead (mm) 30 20 10 5 B C A MR MP
Maximum Horizontal 7 20 40 50 Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N·m)
payload (kg) Vertical – 4 8 16 A B C A B C A C MY MP MR
Cartesian
XY-X
robots
Rated thrust (N) 56 84 169 339 5kg 112 80 80 5kg 55 57 77 2kg 236 240
Lead 20 Lead 30
Lead 10 Lead 20
Lead 20 Lead 30
Stroke (mm) 150 to 1050 (50mm pitch) 70 95 110

7kg 78 43 49 7kg 21 19 34 4kg 106 110
Stroke 5kg 211 108 147 5kg 119 89 176 2kg 310 311
Overall length Horizontal +300 Stroke+292
(mm) 10kg 116 45 69 10kg 38 26 69 4kg 141 143 Controller
Vertical – Stroke+322 15kg 76 24 39 15kg 7 0 16 6kg 85 86
Maximum dimensions of cross Controller Operation method
W80 × H65 20kg 58 14 26 20kg 0 0 0 8kg 57 58
Cable length (m) Standard: 3.5 / Option: 5,10 10kg 251 56 122 10kg 85 39 202 5kg 123 124 Programming /
Lead 10
Lead 10
Lead 5
I/O point trace /
YK-X
SCARA
20kg 121 20 46 20kg 7 0 30 10kg 47 48 SR1-X05

robots
Linear guide type 4 rows of circular arc grooves × 1 rail Remote command /
Position detector Resolvers Note 3
30kg 74 8 20 30kg 0 0 0 15kg 22 22 RCX221/222 Operation
Resolution (Pulse/rotation) 16384 40kg 35 0 6 40kg 0 0 0 16kg 19 19 RCX240/340 using RS-232C
20kg 249 23 62 20kg 19 7 140 communication
Lead 5
Lead 5
TS-X105 I/O point trace /
screw may occur depending on the operation conditions (critical 40kg 138 4 12 40kg 0 0 0
speed). In this case, reduce the speed setting on the program 50kg 51 0 0 50kg 0 0 0 TS-X205 Remote command
Pick & place
by referring to the maximum speeds shown in the table below.

RDV-X205-RBR1 Pulse train control
YP-X
Note 3. Position detectors (resolvers) are common to incremental and Note. Distance from center of slider top to center of gravity of object being carried at a guide service
robots
absolute specifications. If the controller has a backup function life of 10,000 km.
F8L
CLEAN
160+/-1 (Note 1) 30 +/-0.02 44+/-1

(Note 1)
knocks +/-0.02)
(between
80
70
190+/-1 (With brake) (Note 1) 4-M6 x 1.0 Depth12

Approx. 210 (Motor cable length) 234+/-3 (With brake): When origin is on motor side 2-ϕ5H7 Depth10
L + 30 (With brake)
80 L
60 78 Greasing hole
F
63.5
65
34
Grounding terminal (M4) 209 (With brake)

5 179 50 A x 100 B 50 (63)
ϕ9.5
ϕ5.5

T type
5
1.5 2
R
40
(Note 4)
F type
3.5
6.4
10H7

head bolt with length Note Recommended plate nut: E ϕ10H7 Plate thickness 10
(under head) of 16mm or more. M3 ( 6 * t 1.6) (Note 4)
156 D 2
Cross-section E-E F: Detail of T-groove
186 (With brake)
GF type
Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 Note 1. Stop positions are determined by the
L 442 492 542 592 642 692 742 792 842 892 942 992 1042 1092 1142 1192 1242 1292 1342 Note 2. When installing the robot, do not
A 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 use washers inside the robot body.
Note 3. Minimum bend radius of motor
B 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100 cable is R50.
C 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 Note 4. When using this ϕ10 knock-pin
N type
hole to position the robot body, the

D 240 290 340 390 440 490 540 590 640 690 740 790 840 890 940 990 1040 1090 1140 knockpin must not protrude more
Weight (kg) Note 5 3.9 4.2 4.5 4.8 5.1 5.4 5.7 6.1 6.4 6.7 7.0 7.3 7.6 7.9 8.2 8.5 8.8 9.2 9.5 than 10mm inside the robot body.
Lead 20 1200 1020 900 780 720 660 600 540 480 Note 5. Weight of models with no brake.
Maximum The weight of brake-attached
Lead 10 600 510 450 390 360 330 300 270 240 models is 0.3 kg heavier than the
speed Note 6
B/R type
Lead 5 300 255 225 195 180 165 150 135 120 models with no brake shown in the
(mm/sec) table.
Speed setting – 85% 75% 65% 60% 55% 50% 45% 40%

F8L
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Pick & place
YP-X
robots
F8L High lead type: Lead 30
Approx. 240 (Motor cable length) 212+/-4: When origin is on motor side Effective stroke 90.5+/-4: When origin is on non-motor side
(209.5): When origin is on non-motor side 50 (88): When origin is on motor side
165.5+/-1 30 +/-0.02 44+/-1
CLEAN
knocks +/-0.02)
(between
80
70
4-M6 x 1.0 Depth12
2-ϕ5H7 Depth10
80 L
60 78 Greasing hole
F
63.5
65
34
187 50 A x 100 B 50 (63)

5
ϕ9.5
ϕ5.5
5
T type
1.5 2
R
40
(Note 4)
10H7
3.5
6.4
Use M5 x 0.8 hex socket E ϕ10H7 Plate thickness 10

F type
head bolt with length Note Recommended plate nut: 164 (Note 4) D 2
(under head) of 16mm or more. M3 ( 6 * t 1.6)
Cross-section E-E F: Detail of T-groove
GF type
Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 Note 1. Stop positions are determined
by the mechanical stoppers
L 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350 at both ends.
A 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 Note 2. When installing the robot,
do not use washers inside
B 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100 the robot body.
N type
C 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 Note 3. Minimum bend radius of

motor cable is R50.
D 240 290 340 390 440 490 540 590 640 690 740 790 840 890 940 990 1040 1090 1140 Note 4. When using this ϕ10 knock-
Weight (kg) 3.9 4.2 4.5 4.8 5.1 5.4 5.7 6.1 6.4 6.7 7.0 7.3 7.6 7.9 8.2 8.5 8.8 9.2 9.5 pin hole to position the robot
body, the knockpin　must
Maximum speed Note 5 Lead 30 1800 1530 1350 1170 1080 990 900 810 720 not protrude more than
B/R type
(mm/sec) 10mm inside the robot body.

Speed setting – 85% 75% 65% 60% 55% 50% 45% 40%

F8LH
Articulated robots

YA
Ordering method
Linear conveyor
F8LH TSX
LCM100
modules
Model Lead Origin position change Grease type Stroke Cable length Note 1 Positioner Note 2 Driver: Power-supply voltage / LCD monitor I/O selection Battery
designation None: Standard None: Standard 150 to 1050 3L:3.5m TS-X Power capacity No entry: None NP: NPN B: With battery
20: 20mm Z: Non-motor side GC: Clean (50mm pitch) 5L: 5m 105: 100V/100W or less L: With LCD PN: PNP (Absolute)
TRANSERVO

single-axis robots
PT: PROFINET
Compact
SR1-X 05
Single-axis robots
CC: CC-Link N: None

FLIP-X
Note 1. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible PB: PROFIBUS
cable.
RDV-X 2 05 RBR1
2: AC200V 05: 100W or less
single-axis robots

PHASER
Linear motor

Ball screw lead (mm) 20 10 5 C A
B C MR MP
Maximum Horizontal installation (Unit: mm) Wall installation (Unit: mm)
Horizontal 30 60 80 (Unit: N·m)
payload (kg)
A B C A B C MY MP MR
Cartesian
XY-X

robots
Stroke (mm) 150 to 1050 (50mm pitch) 10kg 573 256 176 10kg 147 215 515 128 163 143
Lead 20
Lead 20
Overall length Horizontal 20kg 334 116 81 20kg 53 75 255

Stroke+368
(mm)
Maximum dimensions of cross 30kg 279 70 50 30kg 20 29 160 Controller
W80 × H65
Lead 10
Lead 10

Cable length (m) Standard: 3.5 / Option: 5,10 20kg 479 57 47 40kg 15 19 270 Programming /
Linear guide type 4 rows of circular arc grooves × 1 rail
60kg 382 30 25 60kg - - - I/O point trace /
YK-X
SCARA
Position detector Resolvers Note 3 SR1-X05

robots
Remote command /
Resolution (Pulse/rotation) 16384 20kg 1094 148 127 20kg 96 112 1005 RCX221/222 Operation
RCX240/340
Lead 5
Lead 5
Note 1. Positioning repeatability in one direction. 40kg 851 63 54 40kg 22 26 604 using RS-232C
Note 2. When the stroke is longer than 600mm, resonance of the ball communication
screw may occur depending on the operation conditions (critical 60kg 714 34 29 60kg - - -
speed). In this case, reduce the speed setting on the program TS-X105 I/O point trace /
80kg 601 20 17 80kg - - -
by referring to the maximum speeds shown in the table below. TS-X205 Remote command
Note 3. Position detectors (resolvers) are common to incremental and Note. Distance from center of slider top to center of gravity of object being carried at a guide service
Pick & place
life of 10,000 km. RDV-X205-RBR1 Pulse train control

YP-X

robots
F8LH
5
CLEAN
knocks +/-0.02)
1.5 2
70 (between
50
160+/-1 (Note 1) 30 +/-0.02 44+/-1
(Note 1)
3.5
6.4
MODEL
80
SER.NO
Note Recommended plate nut:

MANUFUCTURED
YAMAHA MOTOR CO,LTD MADE IN JAPAN
M3 ( 6 * t 1.6)
F: Detail of T-groove
8-M6 x 1.0 Depth12
2-ϕ5H7 Depth10
80 L
60 154 2-Greasing hole
F
63.5
65
34

5 192 50 A x 100 B 50 (76)
T type
ϕ9.5
ϕ5.5

R
40
F type
(Note 4)
10H7

head bolt with length E ϕ10H7 Plate thickness 10
(under head) of 16mm or more. 169 (Note 4) D 2
GF type
Cross-section E-E
Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 Note 1. Stop positions are determined
by the mechanical stoppers
L 518 568 618 668 718 768 818 868 918 968 1018 1068 1118 1168 1218 1268 1318 1368 1418 at both ends.
A 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 Note 2. When installing the robot,
B 150 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100 150 do not use washers inside
N type
the robot body.

C 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 Note 3. Minimum bend radius of
D 290 340 390 440 490 540 590 640 690 740 790 840 890 940 990 1040 1090 1140 1190 motor cable is R50.
Weight (kg) 4.7 5.0 5.3 5.6 5.9 6.2 6.6 6.9 7.2 7.5 7.8 8.1 8.4 8.7 9.0 9.3 9.7 10.0 10.3 Note 4. When using this ϕ10 knock-
pin hole to position the robot
Lead 20 1200 1020 900 780 720 660 600 540 480 420
B/R type
Maximum body, the knockpin must not

Lead 10 600 510 450 390 360 330 300 270 240 210 protrude more than 10mm
speed Note 5 inside the robot body.
Lead 5 300 255 225 195 180 165 150 135 120 105
(mm/sec)
Speed setting – 85% 75% 65% 60% 55% 50% 45% 40% 35%

F10
Articulated robots
High lead: Lead 30
YA
Ordering method
Linear conveyor
F10 TSX
LCM100
modules
Model Lead Brake Note 1 Cable entry Origin position change Grease type Stroke Cable Positioner Note 4 Driver: Power-supply voltage / Regenerative unit LCD monitor I/O selection Battery
designation No entry: location None: Standard None: Standard Lead 20·10·5: length Note 3 TS-X Power capacity No entry: None No entry: None NP: NPN B: With battery
30: 30mm No brakes No entry: Z: Non-motor side Note 2 GC: Clean 150 to 1050 3L: 3.5m 105: 100V/100W or less R: With RGT L: With LCD PN: PNP (Absolute)
20: 20mm BK: Standard (S) (50mm pitch) 5L: 5m 205: 200V/100W or less CC: CC-Link N: None
10: 10mm Brakes U:From the top Lead 30: 10L: 10m DN: DeviceNetTM (Incremental)
TRANSERVO
5: 5mm provided 150 to 1250 3K/5K/10K EP: EtherNet/IPTM
single-axis robots
(50mm pitch) (Flexible cable) PT: PROFINET
Compact
w
SR1-X 05
05: 100W or less No entry: Standard No entry: None N: NPN B: With battery
Note 1. The model with a lead of 30mm cannot select specifications with brake (vertical
Single-axis robots
CC: CC-Link N: None
specifications). DN: DeviceNetTM (Incremental)
FLIP-X
Note 2. If selecting 5mm lead specifications then the origin point cannot be changed to the non-motor side. PB: PROFIBUS
RDV-X 2 05 RBR1
2: AC200V 05: 100W or less
single-axis robots
PHASER
Linear motor
B C A MR MP
Cartesian
XY-X
robots
Lead 20 Lead 30
Lead 20 Lead 30
5kg 491 273 215 5kg 206 209 480 1kg 600 600 131 131 115
Lead 20
Lead 10
YK-X
SCARA
Lead 10
Lead 10
robots
RCX221/222 Remote
Lead 5
Lead 5
Lead 5
Note Remote command

Pick & place

YP-X
robots
F10
165+/-3 (Note 2):
Approx. 250 (Motor cable length) When origin is on motor side Effective stroke (95): When origin is on motor side
(165): When origin is 95+/-3 (Note 3): When origin is on non-motor side
CLEAN
on non-motor side
117+/-1 (Note 1) 86 2-ϕ5H7 Depth15 47+/-1

Direction of robot cable connection 97 70 4-M5 x 0.8 Depth12 (Note 4)
14 12.5
U S
17
17
18.5
18.5
127 (with brake) 147+/-1 (with brake) (Note 1)

Approx. 250 195+/-3 (with brake): When origin is on motor side
4-M5 x 0.8 Depth9
50 18 110
10
26
69.5
71
68
30 (with brake) L 102

109
195 (with brake) K±0.02
165 M x 200 A 45
200 B (Note 5)
ϕ9.5 (Note 5)
T type
80
5
N-ϕ5.5 200 N-M5 x 0.8 Depth10

F type
B (S=1/1) 175 M x 200 A 35

205 (with brake) 2-ϕ10H7 Plate thickness 10 (Note 7)
Note 1. Stop positions are determined by the mechanical stoppers at both ends. Note 5. When installing the unit, washers, etc., cannot be used in the ϕ9.5 counter bore hole.
GF type
Note 3. 95+/-4 when the high lead specification (Lead 30) is used. Note 7. When using this ϕ10 knock-pin hole to position the robot body, the knockpin must not protrude more than 10mm inside the robot body.
Note 4. 44.5+/-1 when the high lead specification (Lead 30) is used. Note 8. Weight of models with no brake. The weight of brake-attached models is 0.6 kg heavier than the models with no brake shown in the table.
L 410 460 510 560 610 660 710 760 810 860 910 960 1010 1060 1110 1160 1210 1260 1310 1360 1410 1460 1510
A 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100
M 0 1 1 1 1 2 2 2 2 3 3 3 3 4 4 4 4 5 5 5 5 6 6
N type
N 4 6 6 6 6 8 8 8 8 10 10 10 10 12 12 12 12 14 14 14 14 16 16
K 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250
Weight (kg) Note 8 5.5 5.7 5.8 6.2 6.5 6.9 7.3 7.7 8.1 8.5 8.8 9.2 9.6 10.0 10.4 10.8 11.1 11.5 11.9 12.3 12.7 13.1 13.5
Lead 30 1800 1440 1170 900 810
Maximum Lead 20 1200 960 780 600 540
B/R type
speed Note 9 Lead 10 600 480 390 300 270

(mm/sec) Lead 5 300 240 195 150 135
Speed setting – 80% 65% 50% 45%
Note 10.Strokes longer than 1050mm are special order items. Please contact us for speed setting.

F10H
Articulated robots
High lead: Lead 30

YA
Ordering method
Linear conveyor
F10H TSX
LCM100
modules
Positioner Note 4 Driver: Power-supply voltage / Regenerative unit LCD monitor I/O selection Battery
Model Lead Brake Note 1 Cable entry Origin position change Grease type Stroke Cable
TS-X Power capacity No entry: None No entry: None NP: NPN B: With battery
designation No entry: location None: Standard None: Standard Lead 20·10·5: length Note 3
150 to 1000 110: 100V/200W R: With RGT L: With LCD PN: PNP (Absolute)
30: 30mm No brakes No entry: Z: Non-motor side Note 2 GC: Clean 3L: 3.5m
Standard (S) (50mm pitch) 210: 200V/200W CC: CC-Link N: None
20: 20mm BK: 5L: 5m
10: 10mm Brakes U:From the top Lead 30: 10L: 10m
EP: EtherNet/IPTM
TRANSERVO
5: 5mm provided 150 to 1000 3K/5K/10K

single-axis robots
(50mm pitch) (Flexible cable) PT: PROFINET

Compact
SR1-X 10
w
10: 200W No entry: Standard No entry: None N: NPN B: With battery
Note 1. The model with a lead of 30mm cannot select specifications with brake (vertical E: CE marking R: With RG1 P: PNP (Absolute)
specifications). CC: CC-Link N: None
Single-axis robots
FLIP-X
non-motor side. PB: Profibus

See P.596 for details on robot cable. RDV-X 2 10 RBR1
Note 4. See P.500 for DIN rail mounting bracket. Driver Power-supply voltage Driver: Power capacity Regenerative unit
Note 5. Select this selection when using the gateway function. For details, see P.62. 2: AC200V 10: 200W or less
single-axis robots

PHASER
Linear motor

Repeatability Note 1 (mm) +/- 0.01
B C A MR MP
Maximum Horizontal 25 40 80 100 Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N·m)
payload (kg) Vertical – 8 20 30
Cartesian
XY-X
Rated thrust (N) 113 170 341 683

robots
10kg 1181 681 219

10kg 193 570 1062 4kg 1650 1650 348 348 160
Lead 10 Lead 20
Stroke (mm) 150 to 1000
Maximum dimensions of cross
W110 × H71 20kg 949 301 103 20kg 65 187 732 10kg 927 927
Cable length (m) Standard: 3.5 / Option: 5,10 40kg 432 109 38 40kg 0 0 0 15kg 614 614
Linear guide type 4 rows of circular arc grooves × 1 rail Programming /
30kg 1615 239 84 20kg 100 283 1981 20kg 458 458
SR1-X10 Note I/O point trace /
YK-X
SCARA
Position detector Resolvers Note 3

robots
RCX221/222 Remote
50kg 1131 112 39 25kg 66 187 1546 15kg 752 752 command /
Lead 5
Note 1. Positioning repeatability in one direction. 80kg 812 40 14 30kg 43 123 1223 20kg 560 560 RCX240/340 Operation
using RS-232C
Note 2. When the stroke is longer than 600mm, resonance of the ball 60kg 3091 112 39 20kg 134 379 7629 30kg 369 369 communication
Lead 5
Lead 5

speed). In this case, reduce the speed setting on the program 80kg 2330 64 23 25kg 93 264 5987 TS-X110 Note I/O point trace /
Note Remote command
by referring to the maximum speeds shown in the table below. TS-X210
100kg 1733 36 12 30kg 66 187 4841 RDV-X210- Pulse train control
When the movement distance is short, the speed may not
RBR1
Pick & place
reach the maximum speed according to the payload. Note. Distance from center of slider top to center of gravity of object being carried at a guide service
YP-X

robots
life of 10,000 km. Note. When using the unit vertically, a

absolute specifications. If the controller has a backup function Note. Service life is calculated for 600mm stroke models. regeneration unit is required.
F10H
Approx. 250 (Motor cable length) 218+/-3: When origin is on motor side Effective stroke (137) : When origin is on motor side
(218) : When origin is on non-motor side 137+/-3:
CLEAN
156 3-ϕ5H7 Depth15 When origin is on non-motor side

135+/-1 (Note 1) 140 6-M5x0.8 Depth12 54+/-1 (Note 1)
115 70 +/-0.02
145 (with brake)

Approx. 250 248+/-3 (with brake): When origin is on motor side
6-M5x0.8 Depth 9 120 18
110
(Same position on opposite side) 50
10
26
69.5
71
68
30 (with brake) L 102

109 280 (with brake)
195 (with brake)
165 K
T type
250 Mx200 A (55) ϕ9.5 (Note 2)

Direction of robot cable connection
100 200 B (Note 2)
14 12.5
5
ϕ10H7 Plate thickness 10 (Note 4)

17
17
F type
N-ϕ5.5
80
18.5
18.5
B
(R
100 200 N-M5x0.8 2

Depth 10
GF type
260 Mx200 A (45)

290 (with brake) 10
+ 0.02
0 Plate thickness 10 (Note 4)
Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 Note 1. Stop positions are determined by the
L 505 555 605 655 705 755 805 855 905 955 1005 1055 1105 1155 1205 1255 1305 1355 Note 2. mechanical stoppers at both ends.
When installing the unit, washers,
A 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 etc., cannot be used in the ϕ9.5
N type
M 0 1 1 1 1 2 2 2 2 3 3 3 3 4 4 4 4 5 counter bore hole.

N 6 8 8 8 8 10 10 10 10 12 12 12 12 14 14 14 14 16 Note 3. Minimum bend radius of motor cable
is R50.
K 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 Note 4. When using this ϕ10 knock-pin hole to
Weight (kg) Note 5 6.9 7.3 7.7 8.1 8.4 8.8 9.2 9.6 10.0 10.3 10.7 11.1 11.5 11.9 12.2 12.6 13.0 13.4 position the robot body, the knockpin
Lead 30 1800 1440 1260 1080 900 720 630 must not protrude more than 10mm
B/R type
Maximum Lead 20 1200 960 840 720 600 480 420 inside the robot body.
speed Note 6
Lead 10 600 480 420 360 300 240 210 Note 5. Weight of models with no brake. The
weight of brake-attached models is
(mm/sec) Lead 5 300 240 210 180 150 120 105 0.5 kg heavier than the models with no
Speed setting – 80% 70% 60% 50% 40% 35% brake shown in the table.

F10H
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Pick & place
YP-X
robots
F10H High lead type: Lead 30
CLEAN
Approx. 250 (Motor cable length) 220.5+/-4: When origin is on motor side Effective stroke (134.5): When origin is on motor side
(218) : When origin is on non-motor side 137+/-4:
156 3-ϕ5H7 Depth15 When origin is on non-motor side

135+/-1 (Note 1) 140 6-M5x0.8 Depth12 51.5+/-1 (Note 1)
115 70 +/-0.02
6-M5x0.8 Depth 9 120 18
(Same position on opposite side) 110
50
10
26
69.5
71
68
L 102
109
165 K
250 M×200 A (55)
Direction of robot cable connection 100 200 B (Note 2) ϕ9.5 (Note 2)
14 12.5
T type
5
ϕ10H7 Plate thickness 10 (Note 4)

17
17
80
N-ϕ5.5
18.5
18.5
)
(R
B
F type
N-M5x0.8 2
100 200
Depth 10
260 Mx200 A (45)
+ 0.02
10 0 Plate thickness 10 (Note 4)
GF type
Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 Note 1. Stop positions are determined by the
L 505 555 605 655 705 755 805 855 905 955 1005 1055 1105 1155 1205 1255 1305 1355 Note 2.When installing the unit, washers,
A 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 etc., cannot be used in the ϕ9.5
N type
M 0 1 1 1 1 2 2 2 2 3 3 3 3 4 4 4 4 5 counter bore hole.

N 6 8 8 8 8 10 10 10 10 12 12 12 12 14 14 14 14 16 Note 3. Minimum bend radius of motor cable
is R50.
K 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 Note 4. When using this ϕ10 knock-pin hole to
Weight (kg) 6.9 7.3 7.7 8.1 8.4 8.8 9.2 9.6 10.0 10.3 10.7 11.1 11.5 11.9 12.2 12.6 13.0 13.4 position the robot body, the knockpin
Lead 30 1800 1440 1260 1080 900 720 630 must not protrude more than 10mm
B/R type
Maximum Lead 20 1200 960 840 720 600 480 420 inside the robot body.
Note 5
speed Lead 10 600 480 420 360 300 240 210
(mm/sec) Lead 5 300 240 210 180 150 120 105
Speed setting – 80% 70% 60% 50% 40% 35%

F14
Articulated robots
High lead: Lead 30

YA

Ordering method
Linear conveyor
F14 TSX
LCM100
modules
30: 30mm No brakes No entry: Z: Non-motor side GC: Clean 150 to 1050 3L: 3.5m 105: 100V/100W or less R: With RGT L: With LCD PN: PNP (Absolute)
20: 20mm BK: Standard (S) (50mm pitch) 5L: 5m 205: 200V/100W or less CC: CC-Link N: None
10: 10mm Brakes U: From the top Lead 30: 10L: 10m DN: DeviceNetTM (Incremental)
TRANSERVO
5: 5mm provided R: From the right 150 to 1250 3K/5K/10K EP: EtherNet/IPTM
single-axis robots
L: From the left (50mm pitch) (Flexible cable) PT: PROFINET

Compact
SR1-X 05
05: 100W or less No entry: Standard No entry: None N: NPN B: With battery
Single-axis robots
CC: CC-Link N: None

FLIP-X

RDV-X 2 05 RBR1
2: AC200V 05: 100W or less
single-axis robots

PHASER
Linear motor

B C A MR MP
Cartesian

XY-X
robots

Lead 20 Lead 30
Lead 20 Lead 30
5kg 1756 1364 863 5kg 951 969 1286 1kg 600 600 232 233 204
Lead 20
(mm) 15kg 1236 467 438 15kg 408 277 803 2kg 1200 1200
Vertical Stroke+285
Lead 10
YK-X
SCARA
Lead 10
Lead 10
robots
RCX221/222 Remote
Lead 5
Lead 5
Lead 5
Note Remote command

Pick & place
YP-X
robots
F14
170+/-3 (Note 2):
Approx. 250 (Motor cable length) When origin is on motor side Effective stroke 85+/-3 (Note 3): When origin is on non-motor side
(170): When origin is (85): When origin is on motor side
CLEAN
on non-motor side
3.5 120+/-1 (Note 1) 90 35+/-1 (Note 4)

1.5 1.5 70 2-ϕ6H7 Depth8
32 8-M6 x 1.0 Depth8
5.5
8.3
Approx. 250 150+/-1 (with brake) (Note 1) 200+/-3: When origin is on motor side
135 (200): When origin is on non-motor side
131 4-M5 x 0.8 Depth7 50 20
23.5

19
22.5
83
77.5
75
18.5
136 B 30 (with brake) L 5.5
130 (with brake)
(ϕ10H7)
Direction of robot cable extraction 100 M x 200 A 105

200 N-M6 x 1.0 Depth10
62 41.5 17 C
T type
11.5 14
R
126 K +/-0.02
100
110
U S 156 (with brake) (9)

17

F type
head bolt with length head

20
200 N-ϕ7 Depth9 bolt with length (under head)

125 M x 200 A 80 of 20mm or more.
L 155 (with brake) 2-ϕ10H7 See cross-section C-C. Cross-section C-C
C
GF type
Note 1. Stop positions are determined by the mechanical stoppers at Note 4. 32.5+/-1 when the high lead specification (Lead 30) is used.
both ends. Note 5. Minimum bend radius of motor cable is R50.
Note 2. 172.5+/-4 when the high lead specification (Lead 30) is used. Note 6. Weight of models with no brake. The weight of brake-attached models is 0.7 kg heavier than the models with no brake shown in the table.
Note 3. 85+/-4 when the high lead specification (Lead 30) is used.
L 405 455 505 555 605 655 705 755 805 855 905 955 1005 1055 1105 1155 1205 1255 1305 1355 1405 1455 1505
A 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100
N type
M 0 1 1 1 1 2 2 2 2 3 3 3 3 4 4 4 4 5 5 5 5 6 6
N 4 6 6 6 6 8 8 8 8 10 10 10 10 12 12 12 12 14 14 14 14 16 16
K 240 240 240 240 420 420 420 420 600 600 600 600 780 780 780 780 960 960 960 960 1140 1140 1140
Weight (kg) Note 6 6.2 6.9 7.5 8.2 8.8 9.5 10.1 10.8 11.4 12.1 12.6 13.4 13.9 14.6 15.2 15.9 16.5 17.2 17.8 18.5 19.1 19.8 20.4
Lead 30 1800 1440 1170 900 810
B/R type
Maximum Lead 20 1200 960 780 600 540

Note 7
speed Lead 10 600 480 390 300 270
(mm/sec) Lead 5 300 240 195 150 135
Speed setting – 80% 65% 50% 45%

F14H
Articulated robots
High lead: Lead 30
YA
Ordering method
Linear conveyor
F14H TSX
LCM100
modules
30: 30mm No brakes No entry: Z: Non-motor side Note 2 GC: Clean 150 to 1050 3L: 3.5m 110: 100V/200W R: With RGT L: With LCD PN: PNP (Absolute)
20: 20mm BK: Standard (S) (50mm pitch) 5L: 5m 210: 200V/200W CC: CC-Link N: None
10: 10mm Brakes U: From the top Lead 30: 10L: 10m DN: DeviceNetTM (Incremental)
TRANSERVO
5: 5mm provided R: From the right 150 to 1250 3K/5K/10K EP: EtherNet/IPTM
single-axis robots
L: From the left (50mm pitch) (Flexible cable) PT: PROFINET
Compact
SR1-X 10
Note 1. The model with a lead of 30mm cannot select specifications with brake (vertical 10: 200W No entry: Standard No entry: None N: NPN B: With battery
specifications).
Single-axis robots
CC: CC-Link N: None
FLIP-X
non-motor side. PB: PROFIBUS
RDV-X 2 10 RBR1
2: AC200V 10: 200W or less
single-axis robots
PHASER
Linear motor
B C A MR MP
Cartesian
Rated thrust (N) 113 170 341 683
XY-X
robots
Lead 20 Lead 30
10kg 2152 1673 934 Lead 20 Lead 30 10kg 975 1219 1625 4kg 2400 2016 551 552 485
Lead 20
(mm) 25kg 1847 691 533 25kg 482 426 1257 6kg 1699 1364
Vertical Stroke+350
Lead 10
YK-X
SCARA
Lead 10
Lead 10
robots
RCX221/222 Remote
Lead 5
Lead 5
Lead 5
Note Remote command

Pick & place

Note 4. Position detectors (resolvers) are common to incremental and Note. W hen using the unit vertically,
YP-X
robots
absolute specifications. If the controller has a backup function Note. Distance from center of slider top to center of gravity of object being carried at a guide service a regeneration unit is required.
F14H
210+/-3 (Note 2):
Approx. 250 (Motor cable length) When origin is on motor side Effective stroke 110+/-3 (Note 3): When origin is on non-motor side
CLEAN
(210): When origin is (110): When origin is on motor side
3.5 on non-motor side 140

1.5 1.5 135+/-1 (Note 1) 124 2-ϕ6H7 Depth8 35+/-1 (Note 4)
70 8-M6 x 1.0 Depth8
5.5
8.3
B
135
131 4-M5 x 0.8 Depth7 50 45
23.5

19
22.5
77.5
83
75
18.5
B 30 (with brake) L 5.5
136
143 (with brake)
Direction of robot cable extraction 113 M x 200 A 157
62 200 N-M6 x 1.0 Depth10 C
40.5 17
(ϕ10H7)
11.5 14
T type
R
151 K +/-0.02
100
110
U 181 (with brake) (9)

S
17

bolt with length (under head)
F type
20
200 N-ϕ7 Depth9 of 20mm or more.

138 M x 200 A 132
L 168 (with brake) 2-ϕ10H7 See cross-section C-C. C Cross-section C-C
Note 1. Stop positions are determined by the mechanical stoppers at both ends. Note 4. 32.5+/-1 when the high lead specification (Lead 30) is used.
GF type
Note 3. 110+/-4 when the high lead specification (Lead 30) is used. Note 6. Weight of models with no brake. The weight of brake-attached models is 0.7 kg heavier than the models with no brake shown in the table.
L 470 520 570 620 670 720 770 820 870 920 970 1020 1070 1120 1170 1220 1270 1320 1370 1420 1470 1520 1570
A 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100
M 0 1 1 1 1 2 2 2 2 3 3 3 3 4 4 4 4 5 5 5 5 6 6
N type
N 4 6 6 6 6 8 8 8 8 10 10 10 10 12 12 12 12 14 14 14 14 16 16
K 240 240 240 420 420 420 420 600 600 600 600 780 780 780 960 960 960 960 1140 1140 1140 1140 1320
Weight (kg) Note 6 7.5 8.2 8.8 9.5 10.1 10.8 11.4 12.1 12.7 13.4 13.9 14.6 15.2 15.9 16.5 17.2 17.8 18.5 19.1 19.8 20.4 21.1 21.7
Lead 30 1800 1440 1170 900 810
Maximum Lead 20 1200 960 780 600 540
B/R type
speed Note 7 Lead 10 600 480 390 300 270

(mm/sec) Lead 5 300 240 195 150 135
Speed setting – 80% 65% 50% 45%

GF14XL
Articulated robots
YA

Note. If you need an installation posture other than the horizontal installation, please contact us.
Ordering method
Linear conveyor
GF14XL S H 20 TSX
LCM100
modules
Model Model Installation Lead Cable entry Origin position Frame Grease Stroke Cable Positioner Driver: Power-supply voltage / LCD I/O selection Battery
Note 2
S: Straight direction designation location change No entry: type 750 to 2000 length Note 1 Power capacity monitor NP: NPN B: With battery
model H: Horizontal No entry: None: Standard None: Standard (50mm pitch) 3L: 3.5m TS-X 110: 100V/200W No entry: PN: PNP (Absolute)
installation Standard (S) Standard (Spot facing) GC: Clean 5L: 5m 210: 200V/200W None CC: CC-Link N: None
U: From the top Z: Non- T: Tapping 10L: 10m L: With LCD DN: DeviceNetTM (Incremental)
TRANSERVO
motor side EP: EtherNet/IPTM

single-axis robots
R: From the right 3K/5K/10K

L: From the left (Flexible PT: PROFINET
Compact
cable) GW: No I/O board Note 3
Note 1. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable. SR1-X 10
10: 200W No entry: N: NPN B: With battery
Note 3. Select this selection when using the gateway function. For details, see P.62. Standard P: PNP (Absolute)
Single-axis robots
[Cautions after purchase] E: CE CC: CC-Link N: None

FLIP-X
marking DN: DeviceNetTM (Incremental)

• When changing the origin position, contact us since the adjustment is needed.
PB: PROFIBUS
• When changing the cable entry location, contact us since necessary parts may vary depending on the cable
entry location.
• Do not install the robot with the horizontal installation specifications in a direction other than the horizontal
RDV-X 2 20 RBR1
direction. Driver Power-supply voltage Driver: Power capacity Regenerative unit
2: AC200V 20: 600W or less
single-axis robots

PHASER
Linear motor

Deceleration mechanism Ball screw ф15 (Class C7) C
B MR MP
Ball screw lead (mm) 20
Maximum speed (mm/sec) 1200 Horizontal installation (Unit: mm) (Unit: N·m)
A B C MY MP MR
Cartesian
Maximum payload (kg) 45

XY-X
robots
Rated thrust (N) 170 10kg 3550 1340 1210 551 552 485
Lead 20
Stroke (mm) 750 to 2000 (50mm pitch) 20kg 2075 685 633
Overall length (mm) Stroke+561 45kg 1280 326 308 Controller
Maximum dimensions of cross Note. Distance from center of slider top to center of gravity of object being carried at a guide service Controller Operation method
W140×H91.5
section of main unit (mm) life of 10,000 km. Programming /
Note. Service life is calculated for 1000mm stroke models. I/O point trace /
Cable length (m) Standard: 3.5 / Option: 5,10 SR1-X10
YK-X
SCARA
robots
RCX221/222 Remote command /

Linear guide type 4 rows of circular arc grooves × 2 rail Operation
Position detector Resolvers Note 2 RCX240/340 using RS-232C
communication
TS-X110 I/O point trace/
Note 1. Positioning repeatability in one direction. Remote command
TS-X210
absolute specifications. If the controller has a backup function RDV-X220-RBR1 Pulse train control
Pick & place
YP-X

robots
GF14XL
Approx. 250 346+/-3:
(Motor cable length) When origin is on motor side Effective stroke (215:When origin is on motor side)
CLEAN
(346: When origin is 215+/-3:

knocks +/-0.02)
Direction of robot cable extraction on non-motor side) 140 When origin is

Cable securing
(Between
128 on non-motor
position 263+/-1 (Note 1) side 132+/-1
47 12 10 (14) (Note 3) 70
129
R (Note 1) 8.3
5.5
(18)
U
S
12
12
1.5 1.5
(15) 3.5
(40)
25 L 8-M6x1.0 Depth 13 Details of B

4-M5x0.8 Depth 11 2-ϕ6 H7 Depth 8
(The same position on the opposite 140
surface at 2 locations) 50 45 118
15
27
91.5
B
90
Ground terminal (2.6) L (2.6) 140

20
(M4)
152 (B/2-2)x200 C
(11)
(ϕ10 H7)
200 B-(See cross-section A-A.)

A
110
T type
9.5
ϕ11
ϕ10 H7 Depth 11 (See cross-section A-A.) D

ϕ7
A
162 A Cross-section A-A
Spot facing hole installation specifications
162 (B/2-2)x200 C (A)
F type
200 B-M6x1.0 Depth 10

(R)
100
10 + 00.02 Depth 11
2
GF type

162 A
Tapping hole installation specifications
Note 2. When changing the return-to-origin direction, the adjustment is needed. (The standard is the origin on the motor side.) Details of D
Note 3. Secure the cable with a tie-band 100mm or less from unit’s end face to prevent the cable from being subjected to excessive loads.
N type

Note 5. The length under head of the hexagonal socket head bolts (M6 x 1.0) that are used to install the main body with the spot facing hole installation specifications is 20mm or more.
It is recommended that the length under head of the hexagonal socket head bolts (M6 x 1.0) that are used to install the main body with the tapping hole installation specifications is the thickness of the
installation base + 10mm or less.
Effective stroke 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350 1400 1450 1500 1550 1600 1650 1700 1750 1800 1850 1900 1950 2000
B/R type
L 1311 1361 1411 1461 1511 1561 1611 1661 1711 1761 1811 1861 1911 1961 2011 2061 2111 2161 2211 2261 2311 2361 2411 2461 2511 2561
A 1050 1100 1150 1200 1250 1300 1350 1400 1450 1500 1550 1600 1650 1700 1750 1800 1850 1900 1950 2000 2050 2100 2150 2200 2250 2300
B 14 14 14 16 16 16 16 18 18 18 18 20 20 20 20 22 22 22 22 24 24 24 24 26 26 26
C 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150
Weight (kg) 22.5 23.2 23.8 24.5 25.2 25.9 26.5 27.2 27.9 28.6 29.2 29.9 30.6 31.3 31.9 32.6 33.3 33.9 34.6 35.3 36.0 36.6 37.3 38.0 38.7 39.3

F17 High lead: Lead 40
Articulated robots
YA
Note. Upper robot cable (U) on models with brakes is a special order item, so please consult our sales office or sales representative for assistance.
(External dimensions: overall length + 20 mm)
Ordering method
Linear conveyor
F17 TSX 220
LCM100
modules
Positioner Note 4 Driver: Power-supply voltage / Regenerative LCD monitor I/O selection Battery
Model Lead BrakeNote 1
Cable entry Origin position change Grease type Stroke Cable lengthNote 3
Power capacity unit Note 5
designation location TS-X No entry: None NP: NPN B: With battery
No entry: None: Standard None: Standard Lead 20·10: 3L: 3.5m
220: 200V/400 to 600W No entry: None L: With LCD PN: PNP (Absolute)
40: 40mm No brakes No entry: Z: Non-motor side GC: Clean 200 to 1250 5L: 5m
R: With RGT CC: CC-Link N: None
20: 20mm BK: Standard (S) (50mm pitch) 10L: 10m
10: 10mm Brakes U: From the topNote 2 Lead 40: 3K/5K/10K
EP: EtherNet/IPTM
TRANSERVO
provided R: From the right 200 to 1450 (Flexible cable)
single-axis robots
L: From the left
Compact
SR1-X 20
Controller Driver: Power capacity Usable for CE Regenerative I/O selection Battery
20: 400 to 600W No entry: Standard unit Note 5 N: NPN B: With battery
Note 1. The model with a lead of 40mm cannot select specifications with brake (vertical E: CE marking No entry: None P: PNP (Absolute)
specifications). R: With RG1 CC: CC-Link N: None
Single-axis robots
Note 2. Upper robot cable (U) on models equipped with brake is a special-order item. DN: DeviceNetTM (Incremental)
FLIP-X
PB: PROFIBUS
RDV-X 2 20
Note 5. The robot with the high lead specifications (lead 40) needs a regenerative unit. Driver Power-supply voltage Driver: Power capacity Regenerative unit Note 5
Note 6. Select this selection when using the gateway function. For details, see P.62. 2: AC200V 20: 600W or less RBR1 (Horizontal)
RBR2 (Vertical)
single-axis robots
PHASER
Linear motor
Deceleration mechanism Ball screw (Class C7) B C
Ball screw lead (mm) 40 20 10 C A
B C A MR MP
Maximum speed Note 2 (mm/sec) 2400 1000 (1200 Note3) 600
Maximum Horizontal 40 80 120 Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm)
(Unit: N·m)
payload (kg) Vertical – 15 35 A B C A B C A C
MY MP MR
Cartesian
Rated thrust (N) 169 339 678 10kg 3540 2753 1999 10kg 2022 2670 3501 5kg 3000 3000
Lead 10 Lead 20
XY-X
robots
Stroke (mm) 200 to 1450 Note 4 (50mm pitch) 20kg 2541 1357 1181 20kg 1202 1283 2483 10kg 2447 2447 1032 1034 908
Overall length Horizontal Stroke+375 Stroke+365 40kg 2639 661 736 40kg 752 587 2516 15kg 1650 1650
(mm) Vertical – Stroke+395 30kg 2647 894 989 30kg 987 820 2578 15kg 1782 1782
W168 × H100
Cable length (m) Standard: 3.5 / Option: 5,10 60kg 2443 430 572 60kg 535 355 2443
Linear guide type 4 rows of circular arc grooves × 2 rail 100kg 2000 243 326 100kg 283 169 2000
Position detector Resolvers Note 5 120kg 1841 197 264 120kg 220 123 1841
YK-X
SCARA
robots
Resolution (Pulse/rotation) 16384 Note. Distance from center of slider top to center of gravity of object being carried at a guide service life of 10,000 km.
Note 1. Repeatability for single oscillation.
Note 2. When the stroke exceeds 800mm, although depending on the
moving range, the ball screw may resonate (critical speed). In Controller
that case, make adjustment to lower the speed on the program
using the maximum speed given in the below table as a guide. Controller Operation method
Note 3. To operate the unit at a speed exceeding 1,000mm/sec. (Max. SR1-X20 Note Programming / I/O point trace / Remote command /
speed), a regeneration unit RG1 is required.
Note 4. Longer than 1250mm stroke can be handled by the high lead RCX221/222, RCX240/340 Operation using RS-232C communication
Note. [The following arrangements require a regeneration unit.]
Pick & place

specification (Lead 40) only. TS-X220 Note I/O point trace / Remote command • Using in the upright position.
YP-X
robots
Note 5. Position detectors (resolvers) are common to incremental and RDV-X220-RBR1 (Horizontal) • To move at a speed exceeding 1,000 mm/sec horizontally.
absolute specifications. If the controller has a backup function Pulse train control
RDV-X220-RBR2 (Vertical) • High lead (40) used horizontally.
F17
Direction of robot cable extraction (240): When origin is on non-motor side (125): When origin is on motor side
CLEAN
155 2-ϕ6H7 Depth10
56.5 (with brake 37.5) 17
76.5 156.5+/-2 (Note 1) 142 8-M8 x 1.25 Depth25 42.5+/-1(Note 1)

22 (with brake) 13 120
R
(Note 5)
U S
30
24
L 186.5+/-2 (with brake) (Note 1)

165 (270): When origin is on non-motor side
12 4-M5 x 0.8 Depth12 50 52.5
12.5
(The same position on the opposite surface at two (2) locations)

20 27
100
97.5
97.1
28
168 B 30 (with brake) L

70 (with brake)
40 M x 200 A 75
200 N-ϕ9 Depth27 (Note 2)
T type
3.7
1.5 2.5
5.5
132
8.6
F type
B (S=2/1) 2-ϕ10H7 Depth16 +/-0.02

166.5 C
196.5 (with brake)
GF type
Note 2. When installing the robot, do not use washers inside the robot body.
Note 3. Minimum bend radius of motor cable is R50.
Note 4. Weight of models with no brake. The weight of brake-attached models is 1.2 kg heavier than the models with no brake shown in the table.
Note 5. Make a separate consultation with us regarding robot cable (brake specifications) U extraction. (External dimensions: overall length + 20 mm)
Note 7. To operate the unit at a speed exceeding 1,000mm/sec. (Max. speed), a regeneration unit RG1 is required.
N type
Effective stroke 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250
L 565 615 665 715 765 815 865 915 965 1015 1065 1115 1165 1215 1265 1315 1365 1415 1465 1515 1565 1615
A 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100
M 2 2 2 2 3 3 3 3 4 4 4 4 5 5 5 5 6 6 6 6 7 7
N 8 8 8 8 10 10 10 10 12 12 12 12 14 14 14 14 16 16 16 16 18 18
B/R type
C 240 240 420 420 420 600 600 600 600 780 780 780 780 960 960 960 960 1140 1140 1140 1140 1320
Weight (kg) Note 4 14.5 15.3 16.2 17.0 17.8 18.6 19.5 20.3 21.1 21.9 22.8 23.6 24.4 25.2 26.1 26.9 27.7 28.5 29.4 30.2 31.0 31.8
Maximum Lead 20 1000(1200 Note 7) 960 840 720 600 480
speed Note 6 Lead 10 600 480 420 360 300 240
(mm/sec) Speed setting – 80% 70% 60% 50% 40%

F17
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Pick & place
YP-X
robots
F17 High lead type: Lead 40

Direction of robot cable extraction (244): When origin is on non-motor side (130): When origin is on motor side
2-ϕ6H7 Depth10
CLEAN
76.5 61.5 17 155

13 157.5+/-2 (Note 1) 142 8-M8 x 1.25 Depth25 43.5+/-1

22 R 120 (Note 1)
U S
30
24
L
165 4-M5 x 0.8 Depth12
12.5
12 (The same position on the opposite surface at 2 locations) 50 52.5

20 27
97.5
97.1
100
(16)
28
L
(ϕ10H7)
168 B
45 M x 200 A 80
200 N-ϕ9 Depth26.5 (Note 2) D
3.7
T type
1.5 2.5
(26.5)
132
5.5

8.6

of 40mm or more.
F type
2-ϕ10H7 Depth16 D
Cross-section D-D B
171.5 See cross-section D-D. C +/-0.02
GF type
Note 1. Stop positions are determined by the mechanical stoppers at both ends. Note 3. Minimum bend radius of motor cable is R50.
L 575 625 675 725 775 825 875 925 975 1025 1075 1125 1175 1225 1275 1325 1375 1425 1475 1525 1575 1625 1675 1725 1775 1825
A 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100
N type
M 2 2 2 2 3 3 3 3 4 4 4 4 5 5 5 5 6 6 6 6 7 7 7 7 8 8
N 8 8 8 8 10 10 10 10 12 12 12 12 14 14 14 14 16 16 16 16 18 18 18 18 20 20
C 240 240 420 420 420 600 600 600 600 780 780 780 780 960 960 960 960 1140 1140 1140 1140 1320 1320 1320 1320 1320
B/R type
Weight (kg) 14.7 15.5 16.4 17.2 18.0 18.8 19.7 20.5 21.3 22.1 23.0 23.8 24.6 25.4 26.3 27.1 27.9 28.7 29.6 30.4 31.2 32.0 32.8 33.6 34.4 35.2
Maximum speed Note 4 Lead 40 2400 1920 1680 1440 1200 960 840 720
(mm/sec) Speed setting – 80% 70% 60% 50% 40% 35% 30%

F17L
Articulated robots
YA
Ordering method
Linear conveyor
F17L 50 TSX 220 R
LCM100
modules
Model Lead Brake Cable entry Origin position change Grease type Stroke Cable length Note 2
Power capacity Note 4
TS-X R: With RGT No entry: None NP: NPN B: With battery
designation No entry: location None: Standard None: Standard 1100 to 2050 3L: 3.5m 220: 200V/400 to 600W L: With LCD PN: PNP (Absolute)
No brakes No entry: Z: Non-motor side GC: Clean (50mm pitch) 5L: 5m CC: CC-Link N: None
BK: Standard (S) 10L: 10m DN: DeviceNetTM (Incremental)
Brakes U: From the top Note 1 3K/5K/10K EP: EtherNet/IPTM
TRANSERVO
provided R: From the right (Flexible cable)
single-axis robots
PT: PROFINET
L: From the left GW: No I/O board Note 5
Compact
SR1-X 20 R
Controller Driver: Usable for CE Regenerative unit I/O selection Battery
Power capacity Note 4 No entry: Standard R: With RG1 N: NPN B: With battery
20: 400 to 600W E: CE marking P: PNP (Absolute)
Note 1. Upper robot cable (U) on models equipped with brake is a special-order item. CC: CC-Link N: None
Single-axis robots
FLIP-X
PB: PROFIBUS
Note 4. Acceleration / deceleration is different depending the Positioner or Controller or
RDV-X 2 20
Driver. Driver Power-supply voltage Driver: Power capacity Note 4 Regenerative unit
RBR2 (Vertical)
single-axis robots
PHASER
Linear motor
C A C
Ball screw lead (mm) 50 B C A MR MP
Maximum speed Note 2 (mm/sec) 2200
Maximum Horizontal 50 Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N·m)
payload (kg) Vertical 10 A B C A B C A C MY MP MR
Cartesian
XY-X
Rated thrust (N) 204
robots
10kg 4000 2755 2608 10kg 2720 2681 4000 2kg 1200 1200 1032 1034 908
Lead 50
Lead 50
Lead 50
(mm) Vertical Stroke+505 50kg 2602 523 715 50kg 680 449 2602 10kg 2650 2650 Controller
Maximum dimensions of cross W168 × H100 Note. Distance from center of slider top to center of gravity of object being carried at a guide service
Cable length (m) Standard: 3.5 / Option: 5,10 life of 10,000 km.
Programming /
Linear guide type 4 rows of circular arc grooves × 2 rail SR1-X20-R I/O point trace /
YK-X
SCARA
robots
RCX221/222 Remote
Position detector Resolvers Note 3 command /
RCX240/340 using RS-232C
Note 1. Positioning repeatability in one direction. communication
TS-X220-R I/O point trace /
Remote command
by referring to the maximum speeds shown in the table below.
RDV-X220-RBR1
(Horizontal)
Pick & place

Note 3. Position detectors (resolvers) are common to incremental and Pulse train control
YP-X
RDV-X220-RBR2
robots
then it will be absolute specifications. (Vertical)
F17L
(293): When origin is on non-motor side (182): When origin is on motor side
CLEAN
3.7 203+/-2 (Note 1) 155 2-ϕ6H7 Depth10
92+/-2 (Note 1)
1.5 2.5 142 8-M8 x 1.25 Depth25

120
5.5
8.6
B
233+/-2 (With brake) (Note 1)

323+/-7 (With brake)
4-M5 x 0.8 Depth12 50 52.5

12.5
165
20 27
97.5
100
28
168 B 30 (With brake) L (16)
123 (With brake) M x 200 A 82

(ϕ10H7)
T type
Direction of robot cable extraction 93 200 N-ϕ9 Depth26.5 (Note 2) C

76.5 56.5 (With brake 37.5) 17
22 (With brake 12) 13 R
(Note 4)
132
F type
U S
(26.5)
30

24

C bolt with length (under head)
211.5 2-ϕ10H7 Depth16
of 40mm or more.
GF type
See cross-section C-C.

L Cross-section C-C
241.5 (With brake) K+/-0.02
Note 1. Stop positions are determined by the mechanical stoppers at both ends. Note 3. This is the weight of the model without a brake. The weight of the model equipped with a brake is 1.2kg heavier than this value.
Note 2. It is not allowed to use a counter bore washer, etc. when installing the main unit. Note 4. Make a separate consultation with us regarding robot cable (brake specifications) U extraction. (External dimensions:
overall length + 20 mm)
N type
Effective stroke 1100 1150 1200 1250 1300 1350 1400 1450 1500 1550 1600 1650 1700 1750 1800 1850 1900 1950 2000 2050
L 1575 1625 1675 1725 1775 1825 1875 1925 1975 2025 2075 2125 2175 2225 2275 2325 2375 2425 2475 2525
A 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150
M 6 7 7 7 7 8 8 8 8 9 9 9 9 10 10 10 10 11 11 11
N 16 18 18 18 18 20 20 20 20 22 22 22 22 24 24 24 24 26 26 26
B/R type
K 1140 1140 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320
Weight (kg) Note 3 34.1 34.9 35.8 36.7 37.6 38.4 39.3 40.2 41.1 42 42.9 43.8 44.7 45.6 46.5 47.3 48.2 49.1 50 50.9
Maximum speed Note 5 Lead 50 2200 1900 1500 1200 900 800
Note 5. When the stroke exceeds 1200mm, although depending on the moving range, the ball screw may resonate (critical speed). In that case, make adjustment to lower the speed on the program using the
maximum speed given in the above table as a guide.

GF17XL
Articulated robots
YA

Note. If you need an installation posture other than the horizontal installation, please contact us.
Ordering method
Linear conveyor
GF17XL S H 20 TSX 220

LCM100
modules
Positioner Driver: Power-supply voltage / Regenerative LCD I/O selection Battery

Model Model Installation Lead Cable entry Origin position Frame Grease Stroke Cable Note 2
Power capacity unit monitor NP: NPN B: With battery
S: Straight direction designation location change No entry: type 850 to 2500 length Note 1
TS-X 220: 200V/400 to 600W No entry: No entry: PN: PNP (Absolute)
model H: Horizontal No entry: None: Standard None: Standard (50mm pitch) 3L: 3.5m None None CC: CC-Link N: None
installation Standard (S) Standard (Spot facing) GC: Clean 5L: 5m (Incremental)
R: With RGT L: With LCD DN: DeviceNetTM
U: From the top Z: Non- T: Tapping 10L: 10m EP: EtherNet/IPTM
TRANSERVO
motor side
single-axis robots
R: From the right 3K/5K/10K PT: PROFINET

L: From the left (Flexible GW: No I/O board Note 3
Compact
cable)
SR1-X 20 R
Note 4

Note 2. See P.500 for DIN rail mounting bracket. Controller Driver: Power capacity Usable for CE Regenerative I/O selection Battery
Note 3. Select this selection when using the gateway function. For details, see P.62. 20: 400 to 600W No entry: unit N: NPN B: With battery
Note 4. When operating the robot at a speed that is a maximum speed of 750 mm/sec or less, the Standard No entry: P: PNP (Absolute)
regenerative unit is not needed.
Single-axis robots
E: CE None CC: CC-Link N: None

marking R: With DN: DeviceNetTM (Incremental)
FLIP-X
[Cautions after purchase] RG1 PB: PROFIBUS

• When changing the origin position, contact us since the adjustment is needed.
• When changing the cable entry location, contact us since necessary parts may vary depending on the
cable entry location.
RDV-X 2 20 RBR1
• Do not install the robot with the horizontal installation specifications in a direction other than the Driver Power-supply voltage Driver: Power capacity Regenerative unit
horizontal direction. 2: AC200V 20: 600W or less
single-axis robots

PHASER
Linear motor

Deceleration mechanism Ball screw ф20 (Class C7) C
B MR MP
Maximum speed (mm/sec) 1200 Note 2 Horizontal installation (Unit: mm) (Unit: N·m)
A B C MY MP MR
Cartesian

XY-X
robots
Rated thrust (N) 339 30kg 4050 1090 1405 1032 1034 908
Lead 20
Stroke (mm) 850 to 2500 (50mm pitch) 50kg 2755 650 835
Overall length (mm) Stroke+686 90kg 1610 345 450 Controller
Maximum dimensions of cross Note. Distance from center of slider top to center of gravity of object being carried at a guide service Controller Operation method
W168×H105.5
section of main unit (mm) life of 10,000 km. Programming /
Cable length (m) Standard: 3.5 / Option: 5,10 Note. Service life is calculated for 1000mm stroke models. SR1-X20 Note I/O point trace /
YK-X
SCARA

robots
Linear guide type 4 rows of circular arc grooves × 2 rail RCX240/340 Operation using RS-
Position detector Resolvers Note 3 232C communication
Resolution (Pulse/rotation) 20480 I/O point trace/
Note 1. Positioning repeatability in one direction. RDV-X220-RBR1 Pulse train control
Note 2. To operate the unit at a speed exceeding 750 mm/sec. (Max.
speed), a regeneration unit is required. Note. To operate the unit at a speed
Pick & place
exceeding 750 mm/sec. (Max.

YP-X

robots
absolute specifications. If the controller has a backup function speed), a regeneration unit is
required.
GF17XL
Approx. 250 420.5+/-3:
(Motor cable length) When origin is on motor side Effective stroke (265.5: When origin is on motor side)
CLEAN
(420.5: When origin is 265.5+/-3:

knocks +/-0.02)
Direction of robot cable extraction on non-motor side) 175 When origin is

(Between
Cable securing on non-motor

position 323+/-1 (Note 1) 160 side 168+/-1
54 12 10 (Note 3) 132
156
R (14) (Note 1)
(18)
U 8.6
5.5
S
12
12
2.5 1.5
(15) 3.7
(40)
25 L 8-M8x1.25 Depth 25 Details of B

2-ϕ6 H7 Depth 10
4-M5x0.8 Depth 12
168
(The same position on the opposite
32.5
50 62.5 144
15
surface at 2 locations)
105.5
103
B
Ground terminal (2.6) L (2.6)
19
(M4) 168
172 (B/2-2)×200 C
200 B-(See cross-section A-A.) (15)
(ϕ10 H7)
A
134
T type
A ϕ10 H7 Depth 15 (See cross-section A-A.) 12

ϕ14
ϕ9
D
182 A
Spot facing hole installation specifications Cross-section A-A
192 (B/2-2)×200 C (A)
F type
200 B-M8x1.25 Depth 15 (R)

130
10 + 00.02 Depth 15
2
GF type

182 A
Tapping hole installation specifications
Note 1. Stop positions are determined by the mechanical stoppers at both ends. Details of D
Note 2. When changing the return-to-origin direction, the adjustment is needed. (The standard is the origin on the motor side.)
Note 3. Secure the cable with a tie-band 100mm or less from unit’s end face to prevent the cable from being subjected to excessive loads.
N type

Note 5. The length under head of the hexagonal socket head bolts (M8 x 1.25) that are used to install the main body with the spot facing hole installation specifications is 45 mm or more.
It is recommended that the length under head of the hexagonal socket head bolts (M8 x 1.25) that are used to install the main body with the tapping hole installation specifications is the thickness of the
installation base + 15 mm or less.
Effective stroke 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350 1400 1450 1500 1550 1600 1650 1700 1750 1800 1850 1900 1950 2000 2050 2100 2150 2200 2250 2300 2350 2400 2450 2500
B/R type
L 1536 1586 1636 1686 1736 1786 1836 1886 1936 1986 2036 2086 2136 2186 2236 2286 2336 2386 2436 2486 2536 2586 2636 2686 2736 2786 2836 2886 2936 2986 3036 3086 3136 3186
A 1250 1300 1350 1400 1450 1500 1550 1600 1650 1700 1750 1800 1850 1900 1950 2000 2050 2100 2150 2200 2250 2300 2350 2400 2450 2500 2550 2600 2650 2700 2750 2800 2850 2900
B 16 16 16 18 18 18 18 20 20 20 20 22 22 22 22 24 24 24 24 26 26 26 26 28 28 28 28 30 30 30 30 32 32 32
C 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150
Weight (kg) 37.4 38.4 39.4 40.3 41.3 42.3 43.2 44.2 45.2 46.1 47.1 48.1 49.0 50.0 51.0 51.9 52.9 53.9 54.8 55.8 56.8 57.7 58.7 59.7 60.6 61.6 62.6 63.5 64.5 65.5 66.4 67.4 68.4 69.3

F20
High lead: Lead 40
Articulated robots
YA
Ordering method
Linear conveyor
F20 TSX 220
LCM100
modules
Positioner Note 4 Driver: Power-supply voltage / Regenerative LCD monitor I/O selection Battery
Model Lead Brake Note 1
Cable entry Origin position change Grease type Stroke Cable length Note 3
Power capacity Note 5 unit Note 6
designation No entry: location None: Standard None: Standard Lead 20·10: 3L: 3.5m 220: 200V/400 to 600W No entry: None L: With LCD PN: PNP (Absolute)
40: 40mm No brakes No entry: Z: Non-motor side GC: Clean 200 to 1250 5L: 5m R: With RGT CC: CC-Link N: None
20: 20mm BK: Brakes Standard (S) (50mm pitch) 10L: 10m (Incremental)
DN: DeviceNetTM
10: 10mm provided U: From the top Note 2 Lead 40: 3K/5K/10K EP: EtherNet/IPTM
TRANSERVO
R: From the right 200 to 1450 (Flexible cable)
single-axis robots
PT: PROFINET
L: From the left (50mm pitch)
Compact
SR1-X 20
Note 1. The model with a lead of 40mm cannot select specifications with brake (vertical Controller Driver: Usable for CE Regenerative I/O selection Battery
specifications). Power capacity Note 5 No entry: Standard unit Note 6 N: NPN B: With battery
Note 2. Upper robot cable (U) on models equipped with brake is a special-order item. 20: 400 to 600W E: CE marking No entry: None P: PNP (Absolute)
Note 3. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable. R: With RG1 CC: CC-Link N: None
Single-axis robots
FLIP-X
PB: PROFIBUS
Note 5. Acceleration / deceleration is different depending the Positioner or Controller or
Driver.
RDV-X 2 20
Note 6. The robot with the high lead specifications (lead 40) needs a regenerative unit. Driver Power-supply voltage Driver: Power capacity Note 5 Regenerative unit Note 6
RBR2 (Vertical)
single-axis robots
PHASER
Linear motor
Ball screw lead (mm) 40 20 10 C A C
B C A MR MP
Maximum speed Note 2 (mm/sec) 2400 1000 (1200 Note 3) 600
Maximum Horizontal 60 120 –
Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N·m)
Cartesian
XY-X
robots
10kg 4000 4000 3450 10kg 3571 4000 4000 15kg 2635 2635
Lead 20 Lead 40
Lead 20 Lead 40
Lead 10 Lead 20
Stroke (mm) 200 to 1450 Note 4 (50mm pitch) 1196 1199 1052
Overall length Horizontal Stroke+427 Stroke+417 20kg 3397 2235 2073 20kg 2118 2164 3397 20kg 2000 2000
(mm) Vertical – Stroke+447 60kg 2443 718 977 60kg 1000 648 2443 25kg 1621 1621
W202 × H115
80kg 2193 528 703 80kg 708 458 2193 30kg 1446 1446
Linear guide type 4 rows of circular arc grooves × 2 rail 120kg 1841 339 505 120kg 468 268 1841 45kg 951 951
Position detector Resolvers Note 5 Note. Distance from center of slider top to center of gravity of object being carried at a guide service
YK-X
SCARA
robots
Resolution (Pulse/rotation) 16384 life of 10,000 km.
screw may occur depending on the operation conditions (critical Controller
by referring to the maximum speeds shown in the table below. Controller Operation method
Note 3. To operate the unit at a speed exceeding 1,000mm/sec. (Max.
speed), a regeneration unit RG1 is required. SR1-X20 Note Programming / I/O point trace / Remote command /
Note 4. Longer than 1250mm stroke can be handled by the high lead RCX221/222, RCX240/340 Operation using RS-232C communication Note. [The following arrangements require a regeneration unit.]
Pick & place

specification (Lead 40) only. TS-X220 Note I/O point trace / Remote command • Using in the upright position.
YP-X
robots
Note 5. Position detectors (resolvers) are common to incremental and RDV-X220-RBR1 (Horizontal) • To move at a speed exceeding 1,000 mm/sec horizontally.
absolute specifications. If the controller has a backup function Pulse train control
RDV-X220-RBR2 (Vertical) • High lead (40) used horizontally.
F20
Approx. 250 (Motor cable length) 272+/-3: When origin is on motor side Effective stroke (145): When origin is on motor side
(272): When origin is on non-motor side 145+/-3: When origin is on non-motor side
CLEAN
176+/-2 (Note 1) 180 2-ϕ8H7 Depth10 50+/-1
Direction of robot cable extraction

160 4-M8 x 1.25 Depth30 (Note 1)
90 39 (with brake 42.5) 17
27 (with brake 14.5) 13 R
(Note 5)
U S
30
20
L
199
15 4-M5 x 0.8 Depth15 50 65
12.5

28 20 31
(14.8)
114.1
112.1
115
4.8
(ϕ10H7)
202 B 30 (with brake) L

72 M x 200 A 95
200 N-ϕ9 Depth33 (Note 2) C
3.7
1.5 2.5
T type
5.5
176 K +/-0.02 (33)

162
8.6

B bolt with length (under head)
F type
of 45mm or more.
102 (with brake) C
206 (with brake) 2-ϕ10H7 See cross-section C-C. Cross-section C-C
Note 1. Stop positions are determined by the mechanical stoppers at both ends. Note 4. Weight of models with no brake. The weight of brake-attached models is 1.5 kg heavier than the models with
GF type
Note 2. When installing the robot, do not use washers inside the robot body. no brake shown in the table.
Note 3. Minimum bend radius of motor cable is R50. Note 5. Make a separate consultation with us regarding robot cable (brake specifications) U extraction. (External
dimensions: overall length + 20 mm)
Effective stroke 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250
L 617 667 717 767 817 867 917 967 1017 1067 1117 1167 1217 1267 1317 1367 1417 1467 1517 1567 1617 1667
A 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100
N type
M 2 2 2 2 3 3 3 3 4 4 4 4 5 5 5 5 6 6 6 6 7 7
N 8 8 8 8 10 10 10 10 12 12 12 12 14 14 14 14 16 16 16 16 18 18
K 420 420 420 420 600 600 600 600 780 780 780 780 960 960 960 960 1140 1140 1140 1320 1320 1320
Weight (kg) Note 4 21.0 22.0 22.9 23.8 24.8 25.7 26.6 27.5 28.5 29.4 30.3 31.2 32.1 33.0 34.0 34.9 35.8 36.7 37.7 38.6 39.5 40.4
B/R type
Maximum Lead 20 1000 (1200 Note 7) 960 840 720 600 480
speed Note 6 Lead 10 600 480 420 360 300 240
Note 6. When the stroke exceeds 800mm, although depending on the moving range, the ball screw may resonate (critical speed). In that case, make adjustment to lower the speed on the program using the
maximum speed given in the above table as a guide.
Note 7. To operate the unit at a speed exceeding 1,000mm/sec. a regeneration unit RG1 is required.

F20
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Pick & place
YP-X
robots
F20 High lead type: Lead 40

Direction of robot cable extraction (150): When origin is on motor side
177+/-1 (Note 1) 180 2-ϕ8H7 Depth10 51+/-1
90 39 17 4-M8 x 1.25 Depth30 (Note 1)

27 13 R 160
CLEAN
U S
30
20
199 4-M5 x 0.8 Depth15

15 (The same position on the opposite surface at 2 locations) 50 65
12.5
20 31
114.1
112.1
115
(14.8)
4.8
28
202 L
B
(ϕ10H7)
77 M x 200 A 100
200 N-ϕ9 Depth33 (Note 2)
C
3.7
1.5 2.5
5.5
162
T type
(33)
8.6

B 2-ϕ10H7: See cross-section C-C. of 45mm or more.
C
181 K +/-0.02 Cross-section C-C
F type
Note 1. Stop positions are determined by the mechanical stoppers at both ends. Note 3. Minimum bend radius of motor cable is R50.
GF type
L 627 677 727 777 827 877 927 977 1027 1077 1127 1177 1227 1277 1327 1377 1427 1477 1527 1577 1627 1677 1727 1777 1827 1877
A 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100
M 2 2 2 2 3 3 3 3 4 4 4 4 5 5 5 5 6 6 6 6 7 7 7 7 8 8
N 8 8 8 8 10 10 10 10 12 12 12 12 14 14 14 14 16 16 16 16 18 18 18 18 20 20
N type
K 420 420 420 420 600 600 600 600 780 780 780 780 960 960 960 960 1140 1140 1140 1320 1320 1320 1320 1320 1320 1320
Weight (kg) 21.2 22.2 23.1 24.0 25.0 25.9 26.8 27.7 28.7 29.6 30.5 31.4 32.3 33.2 34.2 35.1 36.0 36.9 37.9 38.8 39.7 40.6 41.5 42.4 43.3 44.2
Maximum speed Note 4 Lead 40 2400 1920 1680 1440 1200 960 840 720
(mm/sec) Speed setting – 80% 70% 60% 50% 40% 35% 30%
B/R type
Note 5. Longer than 1250mm stroke can be handled by the high lead specification (Lead 40) only.

F20N
Articulated robots
YA
Ordering method
Linear conveyor
F20N 20 TSX 220
LCM100
modules
Model Lead Origin position change Grease type Stroke Cable length Note 1 TS-X Power capacity No entry: None No entry: None NP: NPN B: With battery
designation None: Standard None: Standard 1150 to 2050 3L: 3.5m 220: 200V/400 to 600W R: With RGT L: With LCD PN: PNP (Absolute)
Z: Non-motor side GC: Clean (100mm pitch) 5L: 5m CC: CC-Link N: None
10L: 10m DN: DeviceNetTM (Incremental)
3K/5K/10K EP: EtherNet/IPTM
TRANSERVO
single-axis robots
(Flexible cable) PT: PROFINET
Compact
SR1-X 20
20: 400 to 600W No entry: Standard No entry: None N: NPN B: With battery
CC: CC-Link N: None
Single-axis robots
FLIP-X
PB: PROFIBUS
Note 1. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible
cable.
RDV-X 2 20 RBR1
single-axis robots
PHASER
Linear motor
Deceleration mechanism Ball screw (Class C10)
B C
Ball screw lead (mm) 20 MR MP
Maximum speed (mm/sec) 1000 (1200 Note 2)
Horizontal installation (Unit: mm) (Unit: N·m)
A B C MY MP MR
Cartesian
XY-X
robots
Stroke (mm) 1150 to 2050 (100mm pitch) 20kg 3397 2332 2683 1196 1199 1052
Lead 20
Overall length (mm) Stroke+420 40kg 2795 1144 1361

Maximum dimensions of cross W202 × H120 60kg 2443 749 914 Controller
80kg 2193 551 695 Controller Operation method
Linear guide type 4 rows of circular arc grooves × 2 rail Note. Distance from center of slider top to center of gravity of object being carried at a guide service Programming /
life of 10,000 km. SR1-X20 Note I/O point trace /
YK-X
Position detector
SCARA
Resolvers Note 3
robots
Resolution (Pulse/rotation) 16384 RCX240/340 Operation using RS-
Note 1. Positioning repeatability in one direction. 232C communication
TS-X220 Note I/O
Note 2. A regenerative unit is needed if using the SR1-X, TS-X at point trace /
maximum speeds exceeding 1000mm /sec.. If using the Remote command
RDV-X, then the regenerative unit RBR1 is required regardless RDV-X220-RBR1 Pulse train control
of the installation conditions. Note. When the unit is operated at a
Pick & place

Note 3. Position detectors(resolvers) are common to incremental and speed exceeding the maximum
YP-X
absolute specifications. If the controller has a backup function speed of 1,000mm/sec., a
robots
then it will be absolute specifications. regeneration unit is required.
F20N
219+/-3: When origin is on L side Effective stroke 201+/-3: When origin is on R side
(219): When origin is on R side 242 (201): When origin is on L side
CLEAN
2-ϕ8H7 Depth10 3.7
90
160 4-M8 x 1.25 Depth16
1.5 2.5
57 122 17
0.5
5.5
8.6
C section detailed chart
B 152 (50) 224.5

(140) L 201
53
23
79
34
219.5
199
20
120
114
79
23
57 (Note 1) 101+/-2 (Note 1) Note 2 53 202

28
C
T type
(14.8)
4.8 93
77
35
25
35 M x 200 A 35
200 N-ϕ9 thickness 33 (Note 3) D
F type
Cross section of cable guide

(ϕ10H7)
162
(33)
GF type
Use M8 x 1.25 hex socket head bolt

2-ϕ10H7: See cross-section D-D. with length head bolt with length (under head)
D of 45mm or more.
+/-0.02
129 E
Cross-section D-D
N type
Effective stroke 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 Note 1. Stop positions are determined by the mechanical stoppers at both ends.
L 1570 1670 1770 1870 1970 2070 2170 2270 2370 2470 Note 2. The shaded position indicates the user cable extraction port.
A 100 200 100 200 100 200 100 200 100 200 Note 3. When installing the robot, do not use washers inside the robot body.
B 602 648 694 740 786 832 878 924 970 1016 Note 4. The origin is set on the left (L) side at shipping.
E 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320
B/R type
M 7 7 8 8 9 9 10 10 11 11
N 18 18 20 20 22 22 24 24 26 26
Weight (kg) 54.0 56.2 58.4 60.6 62.9 65.1 67.3 69.6 71.8 74.0

N15
Articulated robots
YA
Ordering method
Linear conveyor
N15 20 TSX 220 R

LCM100
modules
Model Lead Cable carrier Cable carrier Origin position change Grease type Stroke Cable length Note 2
Power capacity
designation entry location Note 1 specification Hori- None: R side (Standard) None: Standard 500 to 2000 3L: 3.5m 220: 200V/400 to 600W L: With LCD PN: PNP (Absolute)
RH: Horizontal, right S: Standard zontal Z: L side GC: Clean (100mm pitch) 5L: 5m CC: CC-Link N: None
LH: Horizontal, left Cable carrier None: L side (Standard) 10L: 10m DN: DeviceNetTM (Incremental)
Wall
RW: Wall, right M: Optional Z: R side 3K/5K/10K EP: EtherNet/IPTM
TRANSERVO
LW: Wall, left Cable carrier (Flexible cable)

single-axis robots
PT: PROFINET

Compact
SR1-X 20 R
20: 400 to 600W No entry: Standard R: With RG1 N: NPN B: With battery
CC: CC-Link N: None
Single-axis robots

FLIP-X
PB: PROFIBUS
Note 1. To find information on cable carrier extraction directions see P.175.
RDV-X 2 20 RBR1
single-axis robots

PHASER
Linear motor

Deceleration mechanism Ball screw ϕ15 (Class C7) B
C A
Ball screw lead (mm) 20 B C MR MP
Note 2
Maximum speed (mm/sec) 1200
Maximum payload (kg) 50 Horizontal installation (Unit: mm) Wall installation (Unit: mm) (Unit: N·m)
Cartesian

XY-X
robots
Lead 20
Lead 20
Overall length (mm) Stroke+330 30kg 1489 841 500 30kg 428 545 1039
section of main unit (mm) W145 × H120 50kg 1278 544 344 50kg 248 289 749 Controller
Cable length (m) Standard: 3.5 / Option: 5,10 Note. Distance from center of slider top to center of gravity of object being carried at a guide service Controller Operation method
life of 10,000 km.
Position detector Resolvers Note 3 Cable carrier for users SR1-X20-R I/O point trace /
YK-X
SCARA
robots
RCX221/222 Remote
Operation
Note 2. The maximum speed may not be reached when the moving S type Standard cable carrier M type Optional cable carrier
communication
distance is short.
Space for optional
TS-X220-R I/O
Note 3. Position detectors (resolvers) are common to incremental and 58 Note. Cannot pass more point trace /
cable for users
absolute specifications. If the controller has a backup function than 3 urethane Remote command
then it will be absolute specifications. hoses (ϕ6 x 4). 73 RDV-X220-RBR1 Pulse train control
Pick & place
168
119
YP-X
40 57
robots
25
35
14
145 61 145 86
N15: Horizontal installation / Standard Cable carrier specification

CLEAN
50 2-M5 x 0.8 Depth10 L

165+/-3: L-side origin position Effective stroke 165+/-3: R-side origin position
12
(165: When origin is on R side) (165: When origin is on L side)
(Between knocks ϕ6H7 +/-0.02)

190
65+/-1 2-ϕ6H7 Depth10 150 65
(Note 1) 8-M6 x 1.0 Depth14 98 (Note 1)
VIEW K
(17)
(6)
134
Top face of slider
(ϕ11)
(ϕ7)
(ϕ10H7)
145 (61)
123 58 Ground terminal for user (M4)
24
K
(Note 8)
120
119
118
Use M6×1.0 hex socket

25

bolt with length (under head) J 145 H
of 20mm or more. A B x 200 (A)
Cross-section H-H 200 C-M6 x 1.0 Depth10
40 7
T type
2.5 3.7
100
56
R0.3
4.5
7.2
14
ϕ6.5 H F-ϕ7 Depth6 See cross-section H-H. (Note 2)

ϕ8.2 R0.3 200
2-ϕ10H7 Depth17 D E x 200 (D)
Cross-section of
G +/-0.02
F type
cable carrier Detail of section J See cross-section H-H. 105

(Note 5)
Note 5. When using a ϕ10H7 hole, make sure that the pin does not go into deeper than as shown
Note 1. Stop positions are determined by the mechanical stoppers at both ends. in the drawing.
Note 2. When using ϕ7 holes for installation, do not use a washer, spring washer, etc. in the main unit. Note 6. Contact us for vertical installation.
Note 3. When shipped from the factory, the horizontal model has the origin on the right side and the wall model has Note 7. Weight of models with no brake. The weight of brake-attached models is 1 kg heavier than
GF type
the origin on the left side. (This diagram shows the machine whose cable carrier taken out from right.) the models with no brake shown in the table.
Note 4. If the model is a standard cable carrier specification, it is not possible to pass 3 or more ϕ6 × 4 urethane air hoses. Note 8. Depending on the stroke and the operating conditions, the cable carrier bending radius
might be larger, making it higher than the dimensions shown in the diagram.
L 830 930 1030 1130 1230 1330 1430 1530 1630 1730 1830 1930 2030 2130 2230 2330
A 15 65 15 65 15 65 15 65 15 65 15 65 15 65 15 65
N type
B 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11
C 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24
D 115 165 115 165 115 165 115 165 115 165 115 165 115 165 115 165
E 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10
B/R type
F 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22
G 620 720 820 920 1020 1120 1220 1320 1420 1520 1620 1720 1820 1920 2020 2120
Weight (kg) Note 7 19 20 22 23 24 26 27 29 30 32 33 35 36 38 39 40

N15
Articulated robots
YA
N15: Horizontal installation / Optional Cable carrier specification
L
Linear conveyor
50 2-M5 x 0.8 Depth10 165+/-3: L-side origin position Effective stroke 165+/-3: R-side origin position
LCM100
12 (165:When origin is on R side) 190 (165: When origin is on L side)
modules
2-ϕ6H7 Depth10 150
65+/-1 8-M6 x 1.0 Depth14 98 65
(Between knocks
(Note 1) (Note 1)
ϕ6H7 +/-0.02)
VIEW K
TRANSERVO
134
(17)
single-axis robots
(6)
Compact
(ϕ11)
Top face of slider

(ϕ10H7)
(ϕ7)
Ground terminal for user (M4)

145
123
24
Single-axis robots
K
(Note 8)
168
FLIP-X
120
118
25

of 20mm or more. J 145 86
H
Cross-section H-H A B x 200 (A)
200 C-M6 x 1.0 Depth10
73
single-axis robots
7
PHASER
57
Linear motor
2.5 3.7
100
56
R0.3
35
25
4.5
7.2
ϕ6.5
ϕ8.2 R0.3 H F-ϕ7 Depth6 See cross-section H-H. (Note 2)
2-ϕ10H7 Depth17 D 200 E x 200 (D)
Cross-section of
cable carrier Detail of section J See cross-section H-H. 105 G +/-0.02
(Note 5)
Cartesian
XY-X
robots
N15: Wall installation / Standard Cable carrier specification
H (A)
2-M5 x 0.8 Depth10 A B x 200
50 200 C-M6 x 1.0 Depth10
12
100
YK-X
56
SCARA
robots
VIEW K H F-ϕ7 Depth6 See cross-section H-H. (Note 2)
2-ϕ10H7 Depth17 200
R0 See cross-section H-H. D E x 200 (D)
40 .3 0.3 G +/-0.02
3.7
R (Note 5) 105
7

14
2.5
Pick & place

4.5
YP-X
ϕ6.5
robots
ϕ8.2 7.2
118
Cross-section of
cable carrier Detail of section J L
(17) (165: When origin is on R side) (165: When origin is on L side)
(6) 105 55
34 85
CLEAN
(ϕ11)
(ϕ10H7)
(ϕ7)
134 (Between knocks

(Note 8)
ϕ6H7 +/-0.02)
260
145
123
145

bolt with length (under head) 98 8-M6 x 1.0 Depth14
of 20mm or more. J 25 24 150 2-ϕ6H7 Depth10
Cross-section H-H 120 65 (Note 1) 190 65+/-1 (Note 1)
K
N15: Wall installation / Optional Cable carrier specification

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N15D
Articulated robots
Double carriage
YA
Ordering method
Linear conveyor
N15D 20 RCX222HP R
LCM100
modules
Model Lead Installation Cable carrier Option Stroke Cable length Controller Note 1 Usable for CE Regenerative unit I/O selection 1 I/O selection 2
designation direction specification None: 250 to 1750 3L: 3.5m RCX222HP No entry : R: RG2 N: NPN Note 3 No entry: None
Grease
H: Horizontal S: Standard Standard (100mm pitch) 5L: 5m SR1-X (2 units) Note 2 Standard P: PNP N1: OP.DIO24/16
type
installation Cable carrier GC: Clean 10L: 10m TS-X (2 units) Note 2 CC: CC-Link (NPN) Note 3
E: CE marking
W: Wall M: Optional Cable 3K/5K/10K RDV-X (2 units) Note 2 DN: DeviceNetTM P1: OP.DIO24/17
TRANSERVO
installation carrier (Flexible cable) Note 5 PB: PROFIBUS (PNP)

single-axis robots
EN: Ethernet Note 3 EN: Ethernet Note 3 Note 4

Compact
Single-axis robots
Note 1. To find controller selection options for other than the RCX222HP, see the ordering method on each controller page.
FLIP-X
Note 2. 2 units are required when using SR1-X, TS-X or RDV-X.

Note 3. NPN and Ethernet cannot be selected when using CE marking.
Note 4. Only when you have selected CC, DN or PB for Input/Output selection 1, you can select EN for Input/Output selection 2.
Note 5. If a flexible cable is needed for the SR1-X, TS-X, or RDV-X, then select 3K/5K/10K. On the RCX222HP, the standard cable is a flexible cable, so enter 3L/5L/10L when
ordering.
single-axis robots

PHASER
Linear motor


Deceleration mechanism B
C A
Ball screw lead (mm) 20 B C MR MP
Note 2
Maximum speed (mm/sec) 1200
Maximum payload (kg) 50 Horizontal installation (Unit: mm) Wall installation (Unit: mm) (Unit: N·m)
Cartesian

XY-X
robots
Lead 20
Lead 20
Overall length (mm) Stroke+330 30kg 1489 841 500 30kg 428 545 1039
W145 × H120 50kg 1278 544 344 50kg 248 289 749 Controller
Cable length (m) Standard: 3.5 / Option: 5,10 Note. Distance from center of slider top to center of gravity of object being carried at a guide service Controller Operation method
life of 10,000 km.
Position detector Resolvers Note 3 Cable carrier for users RCX222HP-R I/O point trace /
YK-X
SCARA
robots
Resolution (Pulse/rotation) 16384 Remote command /

Operation
Note 2. The maximum speed may not be reached when the moving S type Standard cable carrier M type Optional cable carrier SR1-X20-R Note
using RS-232C
distance is short.
communication
Space for optional
TS-X220-R Note I/O
Note 3. Position detectors (resolvers) are common to incremental and 58 Note. Cannot pass more point trace /
cable for users
absolute specifications. If the controller has a backup function than 3 urethane Remote command
then it will be absolute specifications. hoses (ϕ6 x 4). 73 RDV-X20-
Pick & place
168
Pulse train control

YP-X
119
40 57 RBR1 Note
robots
Note. 2 units are required when using

25
35
14
145 61 145 86 SR-1, TS-X or RDV-X.
N15D: Horizontal installation / Standard Cable carrier specification

CLEAN
134 (Between knocks ϕ6H7 +/-0.02)

165+/-3 (Note 1) Effective stroke (250: Minimum distance between carrier)

2-M5 x 0.8 Depth10 50 Effective stroke 165+/-3 (Note 1)
12
65 190 190 65
(Note 2) 150 2-ϕ6H7 Depth10 2-ϕ6H7 Depth10 150 (Note 2)
98 8-M6 x 1.0 Depth14 8-M6 x 1.0 Depth14 98
(17)
(6)
VIEW K
(ϕ11)
(ϕ10H7)
(ϕ7)
Top face of slider
145 (61)
24
K
(Note 8)
120
119
118

25
of 20mm or more.
J 145
Cross-section H-H H
A B x 200 (A)
200 C-M6 x 1.0 Depth10
40 7
T type
2.5 3.7
100
56
R0.3
14
4.5
7.2
ϕ6.5 R0.3
ϕ8.2 H F-ϕ7 Depth6 See cross-section H-H. (Note 3)
200 (D)
F type
Cross-section of 2-ϕ10H7 Depth17 D E x 200

cable carrier Detail of section J See cross-section H-H. (Note 5) G +/-0.02
105
Note 1. Position of table carriage when searched to the origin. Note 5. When using a ϕ10H7 hole, make sure that the pin does not go into deeper than as shown in the drawing.
Note 2. Stop positions are determined by the mechanical stoppers at both ends. Note 6. Contact us for vertical installation.
Note 3. When using ϕ7 holes for installation, do not use a washer, spring washer, etc. in the main unit. Note 7. Weight of models with no brake. The weight of brake-attached models is 1 kg heavier
GF type
Note 4. If the model is a standard cable carrier specification, it is not possible to pass 3 or more ϕ6 × 4 urethane air hoses. than the models with no brake shown in the table.
Note 8. Depending on the stroke and the operating conditions, the cable carrier bending radius
L 830 930 1030 1130 1230 1330 1430 1530 1630 1730 1830 1930 2030 2130 2230 2330
A 15 65 15 65 15 65 15 65 15 65 15 65 15 65 15 65
N type
B 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11
C 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24
D 115 165 115 165 115 165 115 165 115 165 115 165 115 165 115 165
E 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10
B/R type
F 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22
G 620 720 820 920 1020 1120 1220 1320 1420 1520 1620 1720 1820 1920 2020 2120
Weight (kg) Note 7 24 26 27 29 30 32 33 35 36 38 39 40 42 43 45 46
202 Controller RCX222 u 526 SR1-X u 518 TS-X u 492 RDV-X u 506
N15D
Articulated robots
YA
N15D: Horizontal installation / Optional Cable carrier specification
L
Linear conveyor
LCM100
modules
Effective stroke 165+/-3 (Note 1)
2-M5 x 0.8 Depth10 50 190 190
12
134 (Between knocks
134 (Between knocks

65 150 2-ϕ6H7 Depth10 2-ϕ6H7 Depth10 150 65
(Note 2) 98 8-M6 x 1.0 Depth14 8-M6 x 1.0 Depth14 98 (Note 2)
(17)
ϕ6H7 +/-0.02)
ϕ6H7 +/-0.02)
(6)
TRANSERVO
single-axis robots
(ϕ11)
VIEW K
(ϕ10H7)
(ϕ7)
Compact
Top face of slider
145
123 Ground terminal for user (M4)
24
Single-axis robots
K
(Note 8)
168
FLIP-X
120
118
of 20mm or more.
25
Cross-section H-H
J 145 86 H
A B x 200 (A)
200 C-M6 x 1.0 Depth10
73
single-axis robots
57 7
PHASER
Linear motor
2.5 3.7
100
56
R0.3
35
25
4.5
7.2
ϕ6.5
ϕ8.2 R0.3 H F-ϕ7 Depth6 See cross-section H-H. (Note 3)
Cross-section of 200 (D)
2-ϕ10H7 Depth17 D E x 200
cable carrier Detail of section J See cross-section H-H. (Note 5)
105 G +/-0.02
Cartesian
XY-X
robots
N15D: Wall installation / Standard Cable carrier specification
A H B x 200 (A)
2-M5 x 0.8 Depth10 50
200 C-M6 x 1.0 Depth10
12
YK-X
100
SCARA
56
robots
VIEW K H F-ϕ7 Depth6 See cross-section H-H. (Note 3)
2-ϕ10H7 Depth17 D 200 E x 200 (D)
R0 See cross-section H-H. (Note 5) 105 G +/-0.02
40 .3 0.3
3.7
R
Pick & place

7
14
YP-X
2.5
robots
4.5
ϕ6.5
118
7.2
ϕ8.2
Cross-section of cable carrier Detail of section J
L
(250: Minimum distance between carrier) Effective stroke 165+/-3 (Note 1)

(17) 165+/-3 (Note 1) Effective stroke
34 85
CLEAN
(6) 105 55 55 105
(ϕ11)
(ϕ10H7)
(ϕ7)
(Note 8)
260
145
123
145
head bolt with length head J 98 8-M6 x 1.0 Depth14 8-M6 x 1.0 Depth14 98
bolt with length (under head) 25 24
150 2-ϕ6H7 Depth10 2-ϕ6H7 Depth10 150
of 20mm or more. 120 65 (Note 2) 190 190 65
Cross-section H-H (Note 2)
K K
N15D: Wall installation / Optional Cable carrier specification

A B x 200 (A)
2-M5 x 0.8 Depth10 50 200 C-M6 x 1.0 Depth10
H
12
100
56
2-ϕ10H7 Depth17 F-ϕ7 Depth6 See cross-section H-H. (Note 3)

T type
VIEW K H
See cross-section H-H. (Note 5) D 200 E x 200 (D)
73 R0 105 G +/-0.02
.3 .3
R0
3.7
57 Ground terminal for user (M4)

7
35
25
2.5
F type
ϕ6.5 4.5
118
ϕ8.2 7.2
Cross-section of cable carrier Detail of section J L
(250: Minimum distance between carrier) 165+/-3 (Note 1)

Effective stroke
165+/-3 (Note 1) Effective stroke
GF type
(17)
9 110 105 55 55 105
(6)
(ϕ11)
(ϕ10H7)
(ϕ7)
(Note 8)
310
N type
145
123
145

head bolt with length head 98 8-M6 x 1.0 Depth14 8-M6 x 1.0 Depth14 98
B/R type
bolt with length (under head) J

of 20mm or more. 25 24 150 2-ϕ6H7 Depth10 2-ϕ6H7 Depth10 150
120 65 190 190 65
Cross-section H-H (Note 2) (Note 2)
Controller RCX222 u 526 SR1-X u 518 TS-X u 492 RDV-X u 506 203
N18
Articulated robots
YA
Ordering method
Linear conveyor
N18 20 TSX 220 R

LCM100
modules
Model Lead Cable carrier Cable carrier Origin position change Grease type Stroke Cable length Note 2
Power capacity
designation entry location Note 1 specification Hori- None: R side (Standard) None: Standard 500 to 2500 3L: 3.5m 220: 200V/400 to 600W L: With LCD PN: PNP (Absolute)
RH: Horizontal, right S: Standard zontal Z: L side GC: Clean (100mm pitch) 5L: 5m CC: CC-Link N: None
LH: Horizontal, left Cable carrier None: L side (Standard) 10L: 10m DN: DeviceNetTM (Incremental)
Wall
RW: Wall, right M: Optional Z: R side 3K/5K/10K EP: EtherNet/IPTM
TRANSERVO
LW: Wall, left Cable carrier (Flexible cable)

single-axis robots
PT: PROFINET
Compact
SR1-X 20 R
20: 400 to 600W No entry: Standard R: With RG1 N: NPN B: With battery
CC: CC-Link N: None
Single-axis robots

FLIP-X
PB: PROFIBUS
Note 1. To find information on cable carrier extraction directions see P.175.
RDV-X 2 20 RBR1
single-axis robots

PHASER
Linear motor

C A
B C MR MP
Note 2
Maximum speed (mm/sec) 1200 Horizontal installation (Unit: mm) Wall installation (Unit: mm) (Unit: N·m)
Maximum payload (kg) 80 A B C A B C MY MP MR
Cartesian
XY-X
robots
Rated thrust (N) 339 30kg 3045 1629 1902 30kg 1928 1553 3045 1161 1163 1021
Lead 20
Lead 20
Stroke (mm) 500 to 2500 (100mm pitch) 50kg 2602 961 1150 50kg 1157 885 2602
Overall length (mm) Stroke+362
80kg 2193 586 716 80kg 707 509 2193 Controller
section of main unit (mm) Note. Distance from center of slider top to center of gravity of object being Controller Operation method
Cable length (m) Standard: 3.5 / Option: 5,10 carried at a guide service life of 10,000 km.
Programming /
Linear guide type 4 rows of circular arc grooves × 2 rail Cable carrier for users
YK-X
SCARA
I/O point trace /

robots
SR1-X20-R
Position detector Resolvers Note 3 RCX221/222
Remote command /
RCX240/340
Note 1. Repeatability for single oscillation.
S type Standard cable carrier M type Optional cable carrier using RS-232C
communication
Note 2. The maximum speed may not be reached when the moving Note. Cannot pass more Space for optional
58
distance is short. than 3 urethane cable for users I/O point trace /
Note 3. Position detectors (resolvers) are common to incremental and TS-X220-R
hoses (ϕ6 x 4). 73 Remote command
Pick & place

165

YP-X
114
40 57
robots

14
35
25
180 61 180 86
N18: Horizontal installation / Standard Cable carrier specification

CLEAN
(30)
L
ϕ14
(ϕ9)
(181: When origin is on R side) (181: When origin is on L side)
50 2-M5 x 0.8 Depth11 78+/-1 190 78
(Between knocks ϕ6H7 +/-0.02)

2-ϕ6H7 Depth10
12
(Note 1) 150 (Note 1)

8-M8 x 1.25 Depth25 98

(ϕ10H7)
168
(Diameter or roller: ϕ20)

of 40mm or more.
Cross-section E-E 179 (61) (Note 7)
36
(Note 9)
115
114
113
(65)
22
180 A B x 200 (A)

F
T type
200 C-ϕ9 Depth30 See cross-section E-E. (Note 2)

E
40
7
2.5 3.7
149
14
7.2
4.5
F type
ϕ6.5
ϕ8.2 R1 R0.3
E 2-ϕ10H7 Depth15 See cross-section E-E. (Note 5)
Cross-section of cable carrier Detail of section F
106 D+/-0.02
GF type
Note 1. Stop positions are determined by the mechanical stoppers at both ends. Note 5. When using a ϕ10H7 hole, make sure that the pin does not go into deeper than as shown in the drawing.
Note 2. When using ϕ9 holes for installation, do not use a washer, spring washer, etc. in the main unit. Note 6. Contact us for vertical installation.
Note 3. When shipped from the factory, the horizontal model has the origin on the right side and the wall model Note 7. For the robot with more than 2,100 stroke, a roller is installed to prevent the cable carrier hanging.
has the origin on the left side. (This diagram shows the machine whose cable carrier taken out from right.) Note 8. Weight of models with no brake. The weight of brake-attached models is 1 kg heavier than
Note 4. If the model is a standard cable carrier specification, it is not possible to pass 3 or more ϕ6 × 4 urethane air hoses. the models with no brake shown in the table.
N type
Effective stroke 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 2400 2500
L 862 962 1062 1162 1262 1362 1462 1562 1662 1762 1862 1962 2062 2162 2262 2362 2462 2562 2662 2762 2862
A 131 81 131 81 131 81 131 81 131 81 131 81 131 81 131 81 131 81 131 81 131
B 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13
B/R type
C 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28
D 650 750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450 2550 2650
Weight (kg) Note 8 27 29 31 33 35 37 39 41 43 45 47 48 50 52 54 56 58 60 62 64 66

N18
Articulated robots
YA
N18: Horizontal installation / Optional Cable carrier specification
(30) L
Linear conveyor
181+/-3: L-side origin position 181+/-3: R-side origin position
ϕ14
Effective stroke
(ϕ9)
LCM100
(181: When origin is on R side)
modules
(181: When origin is on L side)
2-M5 x 0.8 Depth11 78+/-1 190 78
50 (Note 1) 2-ϕ6H7 Depth10 150
12
(Note 1)
8-M8 x 1.25 Depth25
168 (Between knocks

98
(ϕ10H7)
ϕ6H7 +/-0.02)
TRANSERVO
single-axis robots
VIEW K
Compact
bolt with length (under head) Ground terminal for user (M4)
of 40mm or more. 179
Single-axis robots
Cross-section E-E 156
FLIP-X
(Note 9)
36
165
115
113
180 86
22
A B x 200 (A)
F C-ϕ9 Depth30 See cross-section E-E. (Note 2)
200
E
single-axis robots
73
PHASER
Linear motor
7
57
2.5 3.7
149
7.2
4.5
35
25
ϕ6.5
ϕ8.2 R1 R0.3
E 2-ϕ10H7 Depth15 See cross-section E-E. (Note 5) +/-0.02
Cross-section of cable carrier Detail of section F 106 D
Cartesian
XY-X
robots
N18: Wall installation / Standard Cable carrier specification
A B x 200 (A)
50 2-M5 x 0.8 Depth11
12
YK-X
SCARA
149
robots
VIEW K
40 R0.3 E
3.7
2-ϕ10H7 Depth15 See cross-section E-E. (Note 5)

106 D+/-0.02
7
14

2.5
R1 4.5
ϕ6.5
Pick & place

7.2
ϕ8.2
YP-X
robots
113

(30) L
(Note 7)
(ϕ9)
ϕ14
14 100 181+/-3: L-side origin position Effective stroke 181+/-3: R-side origin position
(181: When origin is on R side) 105 55 (181: When origin is on L side)
CLEAN
168 (Between knocks
72
(ϕ10H7)
(Note 9)
300
ϕ6H7 +/-0.02)
180
156
179
bolt with length (under head) F 98 8-M8 x 1.25 Depth25
of 40mm or more. 22 36 150 2-ϕ6H7 Depth10
Cross-section E-E 115 78 (Note 1) 190 78+/-1 (Note 1)
K
N18: Wall installation / Optional Cable carrier specification

50 2-M5 x 0.8 Depth11 A B x 200 (A)
12
E
149
VIEW K
T type

73 106 D+/-0.02
57 R0.3
3.7

7
35
25
2.5
113
ϕ6.5 R1 4.5
F type
ϕ8.2 7.2
Cross-section of L
cable carrier Detail of section F
114 181+/-3: L-side origin position Effective stroke 181+/-3: R-side origin position
(181: When origin is on R side) 105 55 (181: When origin is on L side)
GF type
168 (Between knocks
(Note 9)
345
N type
ϕ6H7 +/-0.02)
180
156
179

B/R type
bolt with length (under head) F 98

of 40mm or more. 22 36 150 8-M8 x 1.25 Depth25
115 78 (Note 1) 190 2-ϕ6H7 Depth10 78+/-1 (Note 1)
Cross-section E-E

N18D
Articulated robots
Double carriage
YA
Ordering method
Linear conveyor
N18D 20 RCX222HP R
LCM100
modules
Model Lead Installation Cable carrier Option Stroke Cable length Controller Note 1 Usable for CE Regenerative unit I/O selection1 I/O selection2
designation direction specification None: 250 to 2250 3L: 3.5m RCX222HP No entry: R: RG2 N: NPN Note 3 No entry: None
Grease
H: Horizontal S: Standard Standard (100mm pitch) 5L: 5m SR1-X (2 units) Note 2 Standard P: PNP N1: OP.DIO24/16
type
installation Cable carrier GC: Clean 10L: 10m TS-X (2 units) Note 2 E: CE CC: CC-Link (NPN) Note 3
W: Wall M: Optional Cable 3K/5K/10K RDV-X (2 units) Note 2 marking DN: DeviceNetTM P1: OP.DIO24/17
TRANSERVO
installation carrier (Flexible cable)Note 5 PB: PROFIBUS (PNP)

single-axis robots
EN: Ethernet Note 3 EN: Ethernet Note 3 Note 4

Compact
Single-axis robots
Note 1. To find controller selection options for other than the RCX222HP, see the ordering method on each controller page.
FLIP-X
Note 2. 2 units are required when using SR1-X, TS-X or RDV-X.

Note 3. NPN and Ethernet cannot be selected when using CE marking.
Note 4. Only when you have selected CC, DN or PB for Input/Output selection 1, you can select EN for Input/Output selection 2.
Note 5. If a flexible cable is needed for the SR1-X, TS-X, or RDV-X, then select 3K/5K/10K. On the RCX222HP, the standard cable is a flexible cable, so enter 3L/5L/10L when
ordering.
single-axis robots

PHASER
Linear motor


C A
B C MR MP
Note 2
Maximum speed (mm/sec) 1200 Horizontal installation (Unit: mm) Wall installation (Unit: mm) (Unit: N·m)
Maximum payload (kg) 80 A B C A B C MY MP MR
Cartesian
XY-X
robots
Rated thrust (N) 339 30kg 3045 1629 1902 30kg 1928 1553 3045 1161 1163 1021
Lead 20
Lead 20
Stroke (mm) 250 to 2250 (100 pitch) 50kg 2602 961 1150 50kg 1157 885 2602
Overall length (mm) Stroke+362 80kg 2193 586 716 80kg 707 509 2193 Controller
section of main unit (mm) Note. Distance from center of slider top to center of gravity of object being carried at a guide service Controller Operation method
Cable length (m) Standard: 3.5 / Option: 5,10 life of 10,000 km.
Programming /
Linear guide type 4 rows of circular arc grooves × 2 rail Cable carrier for users RCX222HP-R I/O point trace /
YK-X
SCARA
robots
Position detector Resolvers Note 3 Remote command /

Operation
Resolution (Pulse/rotation) 16384 SR1-X20-R Note
using RS-232C
S type Standard cable carrier M type Optional cable carrier
Note 1. Positioning repeatability in one direction. communication
Note 2. The maximum speed may not be reached when the moving Note. Cannot pass more Space for optional
58
TS-X220-R Note I/O
than 3 urethane cable for users
point trace /
distance is short. Remote command
Note 3. Position detectors (resolvers) are common to incremental and hoses (ϕ6 x 4). 73
RDV-X20-
Pick & place
165

Pulse train control
114
57
YP-X
40 RBR1 Note
robots

Note. 2 units are required when using
14
35
25
180 61 180 86 SR1-X, TS-X or RDV-X.
N18D: Horizontal installation / Standard Cable carrier specification

CLEAN
L

(30)
ϕ14

(ϕ9)

2-M5 x 0.8 Depth11 50 78 190 190 78
12

98 8-M8 x 1.25 Depth25 8-M8 x 1.25 Depth25 98
( 10H7)
VIEW K

of 40mm or more. (Note 7)
179 (61)
Cross-section E-E Ground terminal for user (M4)
156 58
36
(Note 9)
115
114
113
(65)
22
F 180 (A)
A B x 200
T type

7 E
40
2.5 3.7
4.5
7.2
14
149
ϕ6.5
F type
R1 R0.3
ϕ8.2
106 D +/-0.02
GF type
Note 1. Position of table carriage when searched to the origin. Note 5. When using a ϕ10H7 hole, make sure that the pin does not go into deeper than as shown in the drawing.
Note 2. Stop positions are determined by the mechanical stoppers at both ends. Note 6. Contact us for vertical installation.
Note 3. When using ϕ9 holes for installation, do not use a washer, spring washer, etc. in the main unit. Note 7. For the robot with more than 2,050 stroke, a roller to prevent the cable carrier from hanging is provided.
Note 4. If the model is a standard cable carrier specification, it is not possible to pass 3 or more ϕ6 × 4 urethane air hoses. Note 8. Weight of models with no brake. The weight of brake-attached models is 1 kg heavier than the
models with no brake shown in the table.
Note 9. Depending on the stroke and the operating conditions, the cable carrier bending radius might be
larger, making it higher than the dimensions shown in the diagram.
N type
L 862 962 1062 1162 1262 1362 1462 1562 1662 1762 1862 1962 2062 2162 2262 2362 2462 2562 2662 2762 2862
A 131 81 131 81 131 81 131 81 131 81 131 81 131 81 131 81 131 81 131 81 131
B 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13
B/R type
C 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28
D 650 750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450 2550 2650
Weight (kg) Note 8 35 37 39 41 43 45 47 48 50 52 54 56 58 60 62 64 66 68 70 72 74
206 Controller RCX222 u 526 SR1-X u 518 TS-X u 492 RDV-X u 506
N18D
Articulated robots
YA
N18D: Horizontal installation / Optional Cable carrier specification
(30) 2-M5 x 0.8 Depth11 50 L
ϕ14
12
(ϕ9)
Linear conveyor

LCM100
modules
78 190 190 78
98 8-M8 x 1.25 Depth25 8-M8 x 1.25 Depth25 98
VIEW K
(ϕ10H7)
TRANSERVO
single-axis robots
Compact
of 40mm or more. 179
Cross-section E-E 156 Ground terminal for user (M4)
Single-axis robots
FLIP-X
(Note 9)
36
165
115
113
F 180 86
22
A B x 200 (A)
E 200 C-ϕ9 Depth30 See cross-section E-E. (Note 3)
single-axis robots
73
PHASER
7
Linear motor
57
2.5 3.7
4.5
7.2
149
35
25
ϕ6.5
ϕ8.2 R1 R0.3
Cross-section of cable carrier Detail of section F E 2-ϕ10H7 Depth15 See cross-section E-E. (Note 5) +/-0.02
106 D
Cartesian
XY-X
robots
N18D: Wall installation / Standard Cable carrier specification
2-M5 x 0.8 Depth11 50 A B x 200 (A)
12
YK-X
SCARA
149
robots
VIEW K
R0.3 E 2-ϕ10H7 Depth15 See cross-section E-E. (Note 5)

40
(Diameter or roller: ϕ20) (Note 7)
+/-0.02
3.7
106 D
7

14
2.5
Pick & place

ϕ6.5 R1
4.5
YP-X
robots
ϕ8.2 7.2
Cross-section of
cable carrier Detail of section F
L

(30) 14 100 (250: Minimum distance between carrier) Effective stroke 181+/-3 (Note 1)
(ϕ9)
ϕ14
181+/-3 (Note 1) Effective stroke 55 105

Note 7
CLEAN
72
(Note 9)
300
(ϕ10H7)
180
156
179
head bolt with length head F
bolt with length (under head) 98 8-M8 x 1.25 Depth25 8-M8 x 1.25 Depth25 98
of 40mm or more. 22 36 150 2-ϕ6H7 Depth10 2-ϕ6H7 Depth10 150
115 78 190 190 78
Cross-section E-E (Note 2) (Note 2)
N18D: Wall installation / Optional Cable carrier specification

2-M5 x 0.8 Depth11 50 A B x 200 (A)
12

149
VIEW K
T type
73 E 2-ϕ10H7 Depth15 See cross-section E-E. (Note 5) +/-0.02

57 R0.3 106 D
3.7
Ground terminal for user use (M4)

7
35
25
2.5
ϕ6.5 R1 4.5
113
ϕ8.2
F type
7.2
L
(250: Minimum distance between carrier) Effective stroke 181+/-3 (Note 1)
114 181+/-3 (Note 1) Effective stroke 55 105

GF type
(Note 9)
345
N type
180
156
179

B/R type
bolt with length (under head) F 98 98

of 40mm or more. 22 36 150 8-M8 x 1.25 Depth25 8-M8 x 1.25 Depth25 150
Cross-section E-E 115 78 190 2-ϕ6H7 Depth10 2-ϕ6H7 Depth10 190 78
(Note 1) (Note 1)
Controller RCX222 u 526 SR1-X u 518 TS-X u 492 RDV-X u 506 207
B10
Articulated robots
YA
Ordering method
Linear conveyor
B10 TSX
LCM100
modules
Model Motor installation direction Option Stroke Cable length Note 1
Power capacity
L: Motor leftward, horizontal position None: 150 to 2550 3L: 3.5m 105: 100V/100W or less L: With LCD PN: PNP (Absolute)
Grease Standard (100mm pitch)
R: Motor rightward, horizontal position 5L: 5m 205: 200V/100W or less CC: CC-Link N: None
type
LU: Motor leftward, upper position GC: Clean 10L: 10m DN: DeviceNetTM (Incremental)
RU: Motor rightward, upper position 3K/5K/10K EP: EtherNet/IPTM
TRANSERVO
(Flexible cable)
single-axis robots
LD: Motor leftward, lower position PT: PROFINET

RD: Motor rightward, lower position GW: No I/O board Note 3
Compact
SR1-X 05
CC: CC-Link N: None
Single-axis robots

FLIP-X
Note 1. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible PB: PROFIBUS
cable.
See P.596 for details on robot cable. RDV-X 2 05 RBR1
single-axis robots

PHASER
Linear motor

Belt (mm) Equivalent to lead 25 B
C A
Maximum speed (mm/sec) 1875 B C MR MP
Stroke (mm) 150 to 2550 (100mm pitch) Horizontal installation (Unit: mm) Wall installation (Unit: mm) (Unit: N·m)
Cartesian
Overall Motor L/R type Stroke+397.5

XY-X
robots
length (mm) installation Another Stroke+310 3kg 1800 1392 1084 3kg 1144 1005 1734 188 188 165
Maximum dimensions of cross 5kg 1574 826 696 5kg 724 576 1199
W100 × H81
8kg 1221 509 474 8kg 493 333 918 Controller
Linear guide type 4 rows of circular arc grooves × 1 rail 10kg 1171 403 407 10kg 414 254 869 Controller Operation method
Position detector Resolvers Note 2 Note. Distance from center of slider top to center of gravity of object
Programming /
Resolution (Pulse/rotation) 16384 being carried at a guide service life of 10,000 km.
YK-X
SCARA
I/O point trace /

robots
SR1-X05
Note 1. Positioning repeatability in one direction. Remote command /
Note 2. Position detectors (resolvers) are common to incremental and RCX221/222
Operation
absolute specifications. If the controller has a backup function RCX240/340 using RS-232C
communication
Motor installation The line-up consisting of six models of deferent motor installation position as follows. TS-X105 I/O point trace /
Pick & place
L type Leftward at R type Rightward LU type Leftward at RU type Rightward at LD type Leftward at RD type Rightward at
YP-X
horizontal at horizontal upper position upper position lower position lower position
robots

position position
CLEAN
B10 R type (Motor rightward, horizontal position)

215 (Note 1) 90 2-ϕ5H7 Depth8 67.5
4.3
7.3
70 4-M5 x 0.8 Depth8 (Note 1)
1
2 3.5
Detail of section G
50 20 4-M5 x 0.8 Depth10 100

167 (The same position on the opposite 86 (Between knocks +/-0.02)
surface at 2 locations) (M5, ϕ5H7 position)
5
16 35.5
73.5
81
78
85.5 89.5 L+87.5 100

1
175 G
172.5 40 100 M x 200 A
200 N-M5 x 0.8 Depth10
E
(ϕ10H7)
T type
80
Grounding terminal
VIEW H 5
D-ϕ10H7: See cross-section E-E. E
F type
H (13)
57 B+/-0.02 C+/-0.02 Cross-section E-E
Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350
L 460 510 560 610 660 710 760 810 860 910 960 1010 1060 1110 1160 1210 1260 1310 1360 1410 1460 1510 1560 1610 1660
A 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200
GF type
B 240 240 240 420 420 420 600 600 600 600 780 780 780 780 960 960 960 960 1140 1140 1140 1140 1320 1320 1320
C – – – – – – – – – – – – – – – – – – – – – – – – –
D 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2
M – 1 1 1 1 2 2 2 2 3 3 3 3 4 4 4 4 5 5 5 5 6 6 6 6
N 6 8 8 8 8 10 10 10 10 12 12 12 12 14 14 14 14 16 16 16 16 18 18 18 18
N type
Weight (kg) 7.4 7.8 8.2 8.6 9.0 9.4 9.8 10.1 10.5 10.9 11.3 11.7 12.1 12.5 12.9 13.3 13.7 14.1 14.5 14.9 15.3 15.7 16.1 16.5 16.9
Effective stroke 1400 1450 1500 1550 1600 1650 1700 1750 1800 1850 1900 1950 2000 2050 2100 2150 2200 2250 2300 2350 2400 2450 2500 2550 Note 1. Stop positions are
determined by the
L 1710 1760 1810 1860 1910 1960 2010 2060 2110 2160 2210 2260 2310 2360 2410 2460 2510 2560 2610 2660 2710 2760 2810 2860
mechanical stoppers at
A 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 both ends.
B 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 1320 Note 2. Cables can be extracted
C – 240 240 240 420 420 420 420 600 600 600 780 780 780 780 960 960 960 960 1140 1140 1140 1140 1320
B type
in upward, downward,
D 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 forward or rearward
M 7 7 7 7 8 8 8 8 9 9 9 9 10 10 10 10 11 11 11 11 12 12 12 12 directions. (This figure
N 20 20 20 20 22 22 22 22 24 24 24 24 26 26 26 26 28 28 28 28 30 30 30 30 shows the forward
Weight (kg) 17.3 17.7 18.0 18.4 18.8 19.2 19.6 20.0 20.4 20.8 21.2 21.6 22.0 22.4 22.8 23.2 23.6 24.0 24.4 24.8 25.2 25.6 25.9 26.3 direction.)

B10
Articulated robots
YA
B10 RU type (Motor rightward, upper position)
185+/-3 Effective stroke (125)
Linear conveyor
127.5 (Note 1) 90 2-ϕ5H7 Depth8 67.5
LCM100
4-M5 x 0.8 Depth8 (Note 1)
modules
70
7.3
4.3
1
2 3.5
Detail of section G
TRANSERVO
single-axis robots
Compact
50 20 4-M5 x 0.8 Depth10 100
(The same position on the opposite 86 (Between knocks +/-0.02)
(M5, ϕ5H7 position)
5
168
16 35.5
Single-axis robots
73.5
81
FLIP-X
85.5 89.5 1.5 78 100
L G
175
85 40 100 M x 200 A
200 N-M5 x 0.8 Depth10
single-axis robots
Note 1. Stop positions are determined E
PHASER
Linear motor
by the mechanical stoppers at
both ends.
(ϕ10H7)
Note 2. Cables can be extracted in
80
upward, downward, forward or
rearward directions. (This figure
5
shows the downward direction.) (13)
D-ϕ10H7: See cross-section E-E.
Grounding terminal E Cross-section E-E
57 B+/-0.02 C+/-0.02
Cartesian
XY-X
robots
B10 RD type (Motor rightward, lower position)
Grounding terminal 127.5 (Note 1) 90 2-ϕ5H7 Depth8 67.5
7.3
4.3
70 4-M5 x 0.8 Depth8 (Note 1)
YK-X
SCARA
2 3.5
robots
Detail of section G
100
85.5 89.5 50 20 4-M5 x 0.8 Depth10 86 (Between knocks +/-0.02)
(The same position on the opposite surface at 2 locations) (M5, ϕ5H7 position)
5
Pick & place

16 35.5
YP-X
robots
73.5
81
79
167
G 100
88
CLEAN
1.5 78 L
85 40 100 M x 200 A
(ϕ10H7)
200 N-M5 x 0.8 Depth10

E
Note 1. Stop positions are determined
80
both ends.
5
rearward directions. (This figure (13)
D-ϕ10H7: See cross-section E-E. E
shows the upward direction.) Cross-section E-E
57 B+/-0.02 C+/-0.02
B10 LU type (Motor leftward, upper position)

127.5 (Note 1) 90 2-ϕ5H7 Depth8 67.5
70 4-M5 x 0.8 Depth8 (Note 1)
7.3
4.3
1
T type
2 3.5
Detail of section G
F type
50 20 4-M5 x 0.8 Depth10 100

(M5, ϕ5H7 position)
5
168
16 35.5
73.5
81
GF type
89.5 85.5 1.5 78 L 100

G
175
85 40 100 M x 200 A
200 N-M5 x 0.8 Depth10
N type
E
Grounding terminal
(ϕ10H7)

80

both ends.
Note 2. Cables can be extracted in 5
B type
upward, downward, forward or D-ϕ10H7: See cross-section E-E. (13)

rearward directions. (This figure E
57 B+/-0.02 C+/-0.02 Cross-section E-E
shows the downward direction.)

B14
Articulated robots
YA
Ordering method
Linear conveyor
B14 TSX
LCM100
modules
Power capacity
Grease
R: Motor rightward, horizontal position Standard (50mm pitch) 5L: 5m 205: 200V/100W or less CC: CC-Link N: None
type
RU: Motor rightward, upper position 3K/5K/10K EP: EtherNet/IPTM
TRANSERVO
LD: Motor leftward, lower position (Flexible cable)

single-axis robots
PT: PROFINET
RD: Motor rightward, lower position GW: No I/O board Note 3
Compact
SR1-X 05
CC: CC-Link N: None
Single-axis robots

FLIP-X
PB: PROFIBUS
cable.
RDV-X 2 05 RBR1
single-axis robots

PHASER
Linear motor

Belt (mm) Equivalent to lead 25mm B
C A
Maximum speed (mm/sec) 1875 B C MR MP
(Unit: N·m)
Stroke (mm) 150 to 3050 (100mm pitch) Horizontal installation (Unit: mm) Wall installation (Unit: mm)
MY MP MR
Cartesian
Overall Motor L/R type Stroke+425.5 A B C A B C

XY-X
robots
W146 × H94
20kg 1102 320 348 20kg 305 156 615 Controller
Linear guide type 4 rows of circular arc grooves × 2 rail Note. Distance from center of slider top to center of gravity of object Controller Operation method
Position detector Resolvers Note 2 being carried at a guide service life of 10,000 km.
Programming /
YK-X
I/O point trace /

SCARA
robots
SR1-X05
Note 1. Positioning repeatability in one direction. Remote command /
Note 2. Position detectors (resolvers) are common to incremental and RCX221/222
Operation
absolute specifications. If the controller has a backup function RCX240/340 using RS-232C
communication
Motor installation The line-up consisting of six models of deferent motor installation position as follows. TS-X105 I/O point trace /
Pick & place
L type Leftward at R type Rightward LU type Leftward at RU type Rightward at LD type Leftward at RD type Rightward at
YP-X
horizontal at horizontal upper position upper position lower position lower position RDV-X205-RBR1 Pulse train control
robots
position position
CLEAN
B14 R type (Motor rightward, horizontal position)

240 (Note 1) 90 70.5 3.5
70 2-ϕ6H7 Depth10 (Note 1) 1.5 1.5
32 8-M6 x 1.0 Depth16
8.3
5.5
Detail of section G
167 146
4-M5 x 0.8 Depth12 134 (Between knocks +/-0.02)
50 20
12.5
22.5 34.5
90.5
78
94
90
L+87.5 136
11
83 92 G
175 172.5 60 100 B x 200 A
(ϕ10H7)
200 M-M6 x 1.0 Depth10

J
T type

100
both ends.
5.5 Note 2. Cables can be extracted in
Grounding terminal
18.5 upward, downward, forward or
VIEW H rearward directions. (This figure
F type
H F-ϕ10H7 See cross-section J-J. J Cross-section J-J

85 C+/-0.02 D+/-0.02 E+/-0.02 shows the forward direction.)
Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350 1400 1450 1500 1550 1600
L 488 538 588 638 688 738 788 838 888 938 988 1038 1088 1138 1188 1238 1288 1338 1388 1438 1488 1538 1588 1638 1688 1738 1788 1838 1888 1938
M 6 8 8 8 8 10 10 10 10 12 12 12 12 14 14 14 14 16 16 16 16 18 18 18 18 20 20 20 20 22
GF type
A - 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50
B 1 1 1 1 1 2 2 2 2 3 3 3 3 4 4 4 4 5 5 5 5 6 6 6 6 7 7 7 7 8
C 240 240 240 420 420 420 600 600 600 600 780 780 780 780 960 960 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140
D - - - - - - - - - - - - - - - - - - - - - - 240 240 240 240 420 420 420 600
E - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
F 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3
Weight (kg) 9.6 10.2 10.8 11.4 12 12.5 13.1 13.7 14.3 14.9 15.5 16.0 16.6 17.2 17.8 18.4 19 19.5 20.2 20.7 21.3 21.9 22.5 23.1 23.7 24.2 24.8 25.4 26 26.6
N type
Effective stroke 1650 1700 1750 1800 1850 1900 1950 2000 2050 2100 2150 2200 2250 2300 2350 2400 2450 2500 2550 2600 2650 2700 2750 2800 2850 2900 2950 3000 3050
L 1988 2038 2088 2138 2188 2238 2288 2338 2388 2438 2488 2538 2588 2638 2688 2738 2788 2838 2888 2938 2988 3038 3088 3138 3188 3238 3288 3338 3388
M 22 22 22 24 24 24 24 26 26 26 26 28 28 28 28 30 30 30 30 32 32 32 32 34 34 34 34 36 36
A 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100
B 8 8 8 9 9 9 9 10 10 10 10 11 11 11 11 12 12 12 12 13 13 13 13 14 14 14 14 15 15
B type
C 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140
D 600 600 600 780 780 780 780 960 960 960 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140
E - - - - - - - - - - - - - - - 240 240 240 240 420 420 420 600 600 600 600 780 780 780
F 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4 4 4 4 4 4 4
Weight (kg) 27.2 27.7 28.3 28.9 29.5 30.1 30.7 31.3 31.9 32.4 33 33.6 34.2 34.8 35.4 35.9 36.5 37.1 37.7 38.3 38.9 39.4 40 40.6 41.2 41.8 42.4 43.0 43.6

B14
Articulated robots
YA
B14 RU type (Motor rightward, upper position)
Linear conveyor
152.5 (Note 1) 90 70.5 3.5
LCM100
70 2-ϕ6H7 Depth10 (Note 1) 1.5 1.5
modules
32 8-M6 x 1.0 Depth16
8.3
5.5
TRANSERVO
single-axis robots
Detail of section G
Compact
4-M5 x 0.8 Depth12 146
(The same position on the opposite surface at 2 locations) 134 (Between knocks +/-0.02)
50 20 (M6, ϕ6H7 position)
12.5
34.5
167
178
Single-axis robots
90.5
22.5
94
FLIP-X
83 92 1.5 78 L
11
G 136
175 85 60 100 B x 200 A
200 M-M6 x 1.0 Depth10
H
(ϕ10H7)
single-axis robots
PHASER
Linear motor
100
both ends. Grounding terminal
upward, downward, forward
or rearward directions. (This 5.5
figure shows the downward F-ϕ10H7: See cross-section H-H. H 18.5
direction.) 85 C+/-0.02 D+/-0.02 E+/-0.02 Cross-section H-H
Cartesian
XY-X
robots
B14 RD type (Motor rightward, lower position)
152.5 (Note 1) 90 2-ϕ6H7 Depth10 70.5 (Note 1) 3.5
Grounding 70 1.5 1.5
terminal 32 8-M6 x 1.0 Depth16
YK-X
SCARA
robots
8.3
5.5
Detail of section G
146
50 20
Pick & place

34.5
83 92
12.5
YP-X
(5)
robots
90.5
22.5
94
89
167
G 136
78
CLEAN
1.5 78 L
85 60 100 B x 200 A
200 M-M6 x 1.0 Depth10
(ϕ10H7)
100

both ends.
Note 2. Cables can be extracted in 5.5
upward, downward, forward or 18.5
F-ϕ10H7: See cross-section H-H. H
shows the upward direction.) 85 C+/-0.02 D+/-0.02 E+/-0.02 Cross-section H-H
B14 LU type (Motor leftward, upper position)

152.5 (Note 1) 90 2-ϕ6H7 Depth10 70.5
70 (Note 1)
1.5 78 8-M6 x 1.0 Depth16 3.5
32
1.5 1.5
5.5
8.3
T type
Detail of section G
4-M5 x 0.8 Depth12 146

F type
50 20 surface at 2 locations) (M6, ϕ6H7 position)

34.5
12.5
167
178
90.5
22.5
94
GF type
92 83 L G 136
11
175 85 60 100 B x 200 A

(ϕ10H7)
Grounding terminal 200 M-M6 x 1.0 Depth10

H
N type
100

both ends. 5.5
B type
upward, downward, forward or F-ϕ10H7: See cross-section H-H. H

rearward directions. (This figure Cross-section H-H
85 C+/-0.02 D+/-0.02 E+/-0.02

B14H
Articulated robots
YA
Ordering method
Linear conveyor
B14H TSX R
LCM100
modules
Power capacity
Grease Standard (50mm pitch)
R: Motor rightward, horizontal position 5L: 5m 205: 200V/100W or less CC: CC-Link N: None
type
EP: EtherNet/IPTM
TRANSERVO
RU: Motor rightward, upper position 3K/5K/10K

single-axis robots
PT: PROFINET
LD: Motor leftward, lower position (Flexible cable)
Compact
RD: Motor rightward, lower position

SR1-X 05 R
05: 100W or less No entry: Standard R: With RG1 N: NPN B: With battery
CC: CC-Link N: None
Single-axis robots

FLIP-X
PB: PROFIBUS
cable.
RDV-X 2 10 RBR1
single-axis robots

PHASER
Linear motor

Belt (mm) Equivalent to lead 25mm B
C A
Maximum speed (mm/sec) 1250 (1875 Note 2) B C MR MP
Stroke (mm) 150 to 3050(100mm pitch) Horizontal installation (Unit: mm) Wall installation (Unit: mm) (Unit: N·m)
Cartesian
Overall Motor L/R type Stroke+475.5

XY-X
robots
W146 × H94
20kg 2158 867 651 20kg 604 561 1512 Controller
Linear guide type 4 rows of circular arc grooves × 2 rail 30kg 1708 590 466 30kg 397 336 1106 Controller Operation method
Position detector Resolvers Note 3 Note. Distance from center of slider top to center of gravity of object being
Programming /
Resolution (Pulse/rotation) 16384 carried at a guide service life of 10,000 km.
YK-X
SCARA
I/O point trace /

robots

SR1-X05 Note
Remote command /
Note 2. A regenerative unit is needed if using the SR1-X, TS-X at maximum RCX221/222
Operation
speeds exceeding 1250mm sec. If using the RDV-X, then the regenerative RCX240/340 using RS-232C
unit RBR1 is required regardless of the installation conditions
Note 3. Position detectors(resolvers) are common to incremental and communication
then it will be absolute specifications. TS-X105 Note I/O point trace /
TS-X205 Note Remote command
Pick & place
Motor installation The line-up consisting of six models of deferent motor installation position as follows.
YP-X
robots

L type Leftward at R type Rightward LU type Leftward at RU type Rightward at LD type Leftward at RD type Rightward at Note. A regenerative unit is needed
horizontal at horizontal upper position upper position lower position lower position if using the SR1-X, TS-X at
position position
maximum speeds exceeding
1250mm sec.
CLEAN
B14H R type (Motor rightward, horizontal position)

240 (Note 1) 140 2-ϕ6H7 Depth10 3.5
124 70.5
1.5 1.5
70 8-M6 x 1.0 Depth16 (Note 1)
8.3
5.5
Detail of section G
167 146
12.5
34.5
(The same position on the opposite

22.5
90.5
78
94
90
103 92 L+87.5 G 136

11
195 172.5 108 100 B x 200 A

(ϕ10H7)
200 J M-M6 x 1.0 Depth10

T type

100
both ends.
5.5 Note 2. Cables can be extracted in
Grounding terminal 18.5 upward, downward, forward
VIEW H H F-ϕ10H7: J Cross-section J-J or rearward directions. (This
See cross-section J-J. figure shows the forward
F type
85 C+/-0.02 D+/-0.02 E+/-0.02 direction.)

Effective stroke 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350 1400 1450 1500 1550 1600
L 538 588 638 688 738 788 838 888 938 988 1038 1088 1138 1188 1238 1288 1338 1388 1438 1488 1538 1588 1638 1688 1738 1788 1838 1888 1938 1988
M 6 8 8 8 8 10 10 10 10 12 12 12 12 14 14 14 14 16 16 16 16 18 18 18 18 20 20 20 20 22
A – 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50
GF type
B 1 1 1 1 1 2 2 2 2 3 3 3 3 4 4 4 4 5 5 5 5 6 6 6 6 7 7 7 7 8
C 240 240 420 420 420 600 600 600 600 780 780 780 780 960 960 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140
D – – – – – – – – – – – – – – – – – – – – – 240 240 240 240 420 420 420 600 600
E – – – – – – – – – – – – – – – – – – – – – – – – – – – – – –
F 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3
Weight (kg) 10.9 11.5 12.1 12.7 13.2 13.9 14.4 15.0 15.6 16.2 16.7 17.4 17.9 18.5 19.1 19.7 20.2 20.9 22.0 22.1 22.6 23.3 23.8 24.4 24.9 25.6 26.1 26.8 27.3 27.9
N type
Effective stroke 1650 1700 1750 1800 1850 1900 1950 2000 2050 2100 2150 2200 2250 2300 2350 2400 2450 2500 2550 2600 2650 2700 2750 2800 2850 2900 2950 3000 3050
L 2038 2088 2138 2188 2238 2288 2338 2388 2438 2488 2538 2588 2638 2688 2738 2788 2838 2888 2938 2988 3038 3088 3138 3188 3238 3288 3338 3388 3438
M 22 22 22 24 24 24 24 26 26 26 26 28 28 28 28 30 30 30 30 32 32 32 32 34 34 34 34 36 36
A 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100 150 200 50 100
B 8 8 8 9 9 9 9 10 10 10 10 11 11 11 11 12 12 12 12 13 13 13 13 14 14 14 14 15 15
B type
C 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140
D 600 600 780 780 780 960 960 960 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140
E – – – – – – – – – – – – – – 240 240 240 420 420 420 420 600 600 600 600 780 780 780 960
F 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4
Weight (kg) 28.4 29.1 29.6 30.3 30.8 31.4 31.9 32.6 33.1 33.8 34.3 35.0 35.5 36.1 36.6 37.3 37.8 38.5 39.0 39.6 40.1 40.8 41.3 42.0 42.5 43.1 43.6 44.3 45.4

B14H
Articulated robots
YA
B14H RU type (Motor rightward, upper position)
Linear conveyor
152.5 (Note 1) 140 70.5
LCM100
2-ϕ6H7 Depth10
modules
124 (Note 1)
3.5
70 8-M6 x 1.0 Depth16
1.5 1.5
8.3
5.5
TRANSERVO
single-axis robots
Detail of section G
Compact
4-M5 x 0.8 Depth12 146
50 45 surface at 2 locations) (M6, ϕ6H7 position)
34.5
12.5
167
178
Single-axis robots
FLIP-X
90.5
22.5
94
103 92 1.5 78 G 136
L
11
195
85 108 100 B x 200 A
200 M-M6 x 1.0 Depth10
(ϕ10H7)
H
single-axis robots
PHASER
Linear motor
both ends.
100
5.5
F-ϕ10H7: See cross-section H-H. 18.5
Grounding terminal H Cross-section H-H
85 C+/-0.02 D+/-0.02 E+/-0.02
Cartesian
XY-X
robots
B14H RD type (Motor rightward, lower position)
152.5 (Note 1) 140 2-ϕ6H7 Depth10 3.5
Grounding terminal 124 70.5 1.5 1.5
70 8-M6 x 1.0 Depth16 (Note 1)
YK-X
SCARA
robots
8.3
5.5
Detail of section G
4-M5 x 0.8 Depth12 146

Pick & place

50 45 (The same position on the opposite (M6, ϕ6H7 position)
YP-X
12.5
34.5
robots
103 92
(5)
90.5
22.5
94
89
167
G 136
78
CLEAN
1.5 78 L
85 108 100 B x 200 A (ϕ10H7)
200 H M-M6 x 1.0 Depth10
both ends.
5.5
rearward directions. (This figure F-ϕ10H7: See cross-section H-H. H Cross-section H-H
shows the upward direction.) 85 C+/-0.02 D+/-0.02 E+/-0.02
B14H LU type (Motor leftward, upper position)

152.5 (Note 1) 140 2-ϕ6H7 Depth10 70.5
124 (Note 1) 3.5
70 8-M6 x 1.0 Depth16 1.5 1.5
5.5
8.3
T type
Detail of section G
1.5 78 4-M5 x 0.8 Depth12

F type
(The same position on the opposite 146

surface at 2 locations) 134 (Between knocks +/-0.02)
12.5
34.5
167
178
GF type
90.5
22.5
94
92 103 L G 136
11
195
Grounding 85 108 100 B x 200 A
terminal 200 M-M6 x 1.0 Depth10
N type
(ϕ10H7)

100

both ends.
B type

rearward directions. (This figure F-ϕ10H7: See cross-section H-H. H
shows the downward direction.) 85 C+/-0.02 D+/-0.02 E+/-0.02 Cross-section H-H

R5
Articulated robots
YA
Ordering method
Linear conveyor
R5 TSX
LCM100
modules
Model Cable entry location Cable length Note 1
Power capacity
No entry: Standard (S) 3L: 3.5m 105: 100V/100W or less L: With LCD PN: PNP (Absolute)
B: From the side 5L: 5m 205: 200V/100W or less CC: CC-Link N: None
TRANSERVO
(Flexible cable)
single-axis robots
PT: PROFINET
Compact
SR1-X 05
Note 1. The robot cable is standard cable CC: CC-Link N: None
Single-axis robots

(3L/5L/10L), but can be changed to
FLIP-X
PB: PROFIBUS
flexible cable.
RDV-X 2 05 RBR1
Note 3. Select this selection when using the Driver Power-supply voltage Driver: Power capacity Regenerative unit
gateway function. For details, see P.62. 2: AC200V 05: 100W or less
single-axis robots
Specifications Maximum allowable moment inertia Controller

PHASER
Linear motor
AC servo motor output (W) 50 Payload parameters W (kg) 1 2 3 4 5 6 7 8 9 10 Controller Operation method
Repeatability (°) +/-0.0083 Maximum allowable Programming /
0.12 0.24 0.36 0.48 0.60 0.72 0.84 0.96 1.08 1.20
Maximum speed (°/sec) 360 moment inertia J (kgfcms2) I/O point trace /
SR1-X05
Note. When the weight of a tool or workpiece attached to the shaft Remote command /
Maximum allowable moment RCX221/222
0.12 [1.2] J R5 is W (kg), its moment of inertia (J) must be smaller than Operation
inertia (kgm2[kgfcms2]) RCX240/340 using RS-232C
the values shown in the table above. (For example, enter 4kg
Rated torque (Nm[kgfm]) 5.29 [0.54] W if W is 3kg and J is 0.48kgf cm sec2.) Enter the above mass communication
Cartesian
XY-X
parameter value for the controller, and optimum acceleration

robots
Speed reduction ratio 1/50 is automatically set based on this value. TS-X105 I/O point trace /
Rotation range (°) 360 TS-X205 Remote command
Cable length (m) Standard: 3.5 / Option: 5,10 RDV-X205-RBR1 Pulse train control
Speed reducer type Harmonic drive
Position detector Resolvers
Resolution (Pulse/rotation) 16384 Note. For calculation (equation) of the inertia moment, please refer to P.613.
YK-X
SCARA
robots
Pick & place
YP-X
robots
R5
20 35 4-ϕ6 Through hole Approx. 150
ϕ9.5 spot facing depth25 (Cable length)
CLEAN
ϕ65h7
57
M8 x 1.25 Depth20
4-M6 x 1.0 Depth16 13
MAX. 30
56.6
ϕ22
76
ϕ20h7
37.5
22.5
T type
19 20 8
9.5
56.6 (Width across flat) 41 102 49

72 242
(77)
F type
Cable take out direction

7 70 4-M6 x 1.0 Depth16 14 Note 1
GF type
60
N type
B S
R type
Weight (kg) 3.0 Note 1.The cable extraction port can be changed.

R10
Articulated robots
YA
Ordering method
Linear conveyor
R10 TSX
LCM100
modules
Power capacity
TRANSERVO
(Flexible cable)
single-axis robots
PT: PROFINET
Compact
SR1-X 05
Single-axis robots
(3L/5L/10L), but can be changed to DN: DeviceNetTM (Incremental)
FLIP-X
flexible cable. PB: PROFIBUS
Note 2. See P.500 for DIN rail mounting bracket. RDV-X 2 05 RBR1
single-axis robots
PHASER
Linear motor
0.25 0.49 0.74 0.99 1.24 1.48 1.73 1.98 2.23 2.47
SR1-X05
Remote command /
Maximum allowable moment Payload parameters W (kg) 11 12 13 14 15 RCX221/222
0.36 [3.71] Operation
Maximum allowable
2.72 2.97 3.22 3.46 3.71 communication
Rated torque (Nm[kgfm]) 10.78 [1.10] moment inertia J (kgfcms2)
Cartesian
XY-X
robots
Speed reduction ratio 1/50 Note. When the weight of a tool or workpiece attached to the shaft TS-X105 I/O point trace /
J R10 is W (kg), its moment of inertia (J) must be smaller than Remote command
Rotation range (°) 360 TS-X205
Cable length (m) Standard: 3.5 / Option: 5,10 W
if W is 3kg and J is 0.99kgf cm sec2.) Enter the above mass RDV-X205-RBR1 Pulse train control
parameter value for the controller, and optimum acceleration
Speed reducer type Harmonic drive
is automatically set based on this value.
Position detector Resolvers
YK-X
SCARA
robots
Note. For calculation (equation) of the inertia moment, please refer to P.613.
Pick & place

YP-X
robots
R10
11 16 50 4-ϕ6.5 Through hole Approx. 150
ϕ11 spot facing depth35 (Cable length)
CLEAN
ϕ66h7
4-M6 x 1.0 Depth16
M8 x 1.25 Depth20 Grounding terminal (M4)
MAX. 30
ϕ20h7
ϕ22
81
60
20
40
26.5
T type
11
11.5
20 20 8
50 (Width across flat) 39 106.5
80 262
F type
(85)
Cable take out direction

6 70 4-M6 x 1.0 Depth16 20 16
GF type
(Note 1)
66
N type
B S
11.5
R type

R20
Articulated robots
YA
Ordering method
Linear conveyor
R20 TSX
LCM100
modules
Power capacity
TRANSERVO
(Flexible cable)
single-axis robots
PT: PROFINET
Compact
SR1-X 10
Single-axis robots
(3L/5L/10L), but can be changed to DN: DeviceNetTM (Incremental)

FLIP-X
flexible cable. PB: PROFIBUS

Note 2. See P.500 for DIN rail mounting bracket. RDV-X 2 10 RBR1
single-axis robots

PHASER
Linear motor
0.93 1.8 2.8 3.7 4.6 5.6 6.5 7.4 8.4 9.3
SR1-X10
Remote command /
Maximum allowable moment Payload parameters W (kg) 11 12 13 14 15 16 17 18 19 20 RCX221/222
1.83 [18.7] Operation
Maximum allowable
Rated torque (Nm[kgfm]) 21.46 [2.19] 10.2 11.2 12.1 13.1 14 14.9 15.9 16.8 17.7 18.7 communication
moment inertia J (kgfcms2)
Cartesian
XY-X
robots
Speed reduction ratio 1/50 TS-X110

Note. When the weight of a tool or workpiece attached to the shaft I/O point trace /
Rotation range (°) 360 J R20 is W (kg), its moment of inertia (J) must be smaller than Remote command
TS-X210
Cable length (m) Standard: 3.5 / Option: 5,10 if W is 3kg and J is 3.7kgf cm sec2.) Enter the above mass RDV-X210-RBR1 Pulse train control
W
Speed reducer type Harmonic drive parameter value for the controller, and optimum acceleration
is automatically set based on this value.
Position detector –
YK-X
SCARA
robots
Note. For calculation (equation) of the inertia moment, please refer to P.613.
Pick & place
YP-X
robots
R20
CLEAN
80
20 35 4-ϕ6.5 Through hole

Approx. 150
ϕ11 spot facing depth40 (Cable length)
5-M8 x 1.25
MAX. 30
Depth20 (P.C.D.20) Grounding

terminal (M4)
-0.2
ϕ75h8
ϕ35h7
0
ϕ38
101
80
22
ϕ98
50
39
16
30 3
T type
80 50 11
100 4-M6 x 1.0 Depth15 60 111.5
(105) 275
F type
Cable take out direction 20 65 4-M6 x 1.0 Depth20

GF type
N type
80
B S
11
(Note 1)
R type
22 16

Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
LINEAR MOTOR
SINGLE-AXIS ROBOTS
PHASER
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
SERIES
YK-X
SCARA
robots
CONTENTS
Pick & place

YP-X
robots
■■PHASER SPECIFICATION
SHEET···································· 218
CLEAN
description···························· 218

terminology··························· 219
MF TYPE
MF7/MF7D············································· 220
MF15/MF15D·········································· 226
MF20/MF20D········································· 230
MF30/MF30D········································· 233
MF75/MF75D········································· 236
MR TYPE
MF type
MR12/MR12D········································· 238
MR type

PHASER SPECIFICATION SHEET
Articulated robots
YA
Note 1 Maximum payload Maximum Detailed

Type Size (mm) Model Carrier speed Stroke (mm)
(kg) (mm/sec.) info page
Linear conveyor
LCM100
modules
100 to 4000 (Horizontal)

MF7 Single 100 to 2000 (Wall mount) P.220
W85 × H80 10 (7) Note 2
MF7D Double 100 to 1800 (Wall mount) P.220
MF15 Single 100 to 2000 (Wall mount) P.226
TRANSERVO
single-axis robots
W100 × H80 30 (15) Note 2

MF15D Double P.226
Compact
100 to 1800 (Wall mount)

MF type
Flat type with core
MF20 Single 150 to 4050 P.230
40 (20) Note 2
Linear motor MF20D Double 150 to 3850 P.230
specifications W150 × H80 2500
Single-axis robots
MF30 Single 100 to 4000 P.233

FLIP-X
60 (30) Note 2
MF30D Double 150 to 3750 P.233
MF75 Single 1000 to 4000 P.236
W210 × H100 160 (75) Note 2
MF75D Double 680 to 3680 P.236
single-axis robots
PHASER
Linear motor
MR type
MR12 Single 50 to 1050 P.238
Shaft type W60 × H90 5
Linear motor MR12D Double 50 to 1050 P.238
specifications
Note 1. The size shows approximate maximum cross sectional size. Note 2. When using at the maximum speed, the maximum payload becomes the value in ( ).
Precautions for use

Cartesian
XY-X
robots
■ Handling
● Please be sure to read “PHASER Series Instruction Manual” carefully to have full understanding of its contents before using this product and strictly observe each instruction.
● Dropping or hitting this product may cause it to break. Always handle it carefully.
● Never disassemble this product. Entry of a foreign object will cause deterioration of accuracy.
● This product uses a magnetic type linear scale. Do not bring anything that generates a strong magnetic field near the robot itself as it may cause damage to the linear scale.
■ Installation place and environment
When installing this product, avoid the place where any of the following conditions applies.
YK-X
SCARA
● The ambient temperature is outside of the 0 °C to 40 °C range. ● Dewing occurs, or corrosive gas or combustible gas is generated.
robots
● Dielectric powder such as iron powder, dust, moist, salt or organic solvent is produced and flies in the air. ● The product is exposed to direct sun or radiant heat.
● Strong electric field, strong magnetic field, etc. occur. ● A noise source exists in the surrounding area.
● The product is affected by vibration or impact. ● Inspection and cleaning cannot be performed.
■ Safety precaution
● A high performance rare earth magnets are used in the motor section of this product. For this reason, bringing a magnetic response type device or a medical device such as a
heart pace maker close to the robot may cause it to malfunction. Be careful not to bring such a device close to the robot.
Pick & place
YP-X
robots

In the order format for the YAMAHA linear motor single-axis robots PHASER series, the notation (letters/numbers) for the mechanical
CLEAN
section is shown linked to the controller section notation.

[Example]
Mechanical MF20 Controller SR1-P
• Cable carrier take out direction RH • Grease Standard • Regenerative unit Required
• Optional cable carrier for users S • Stroke 550mm • I/O selection NPN
• Origin position Change (R side) • Cable length 3.5m
Ordering method
MF20 RH S Z 550 3L SR1 P10 R N

This page describes using the ordering form for mechanical components.
To find detailed controller information see the controller page. SR1-P P.518 , TS-P P.492 , RDV-P P.506
MF type
Mechanical section
Single carriage
MR type
Model Cable carrier entry location Optional cable carrier for users Origin position change Grease type Stroke Cable length
MF7 MF7A RH Horizontal, right No entry None No entry L side No entry Standard 3L 3.5m
MF15 MF15A LH Horizontal, left S S type Z R side GC Clean 5L 5m
MF20 MF20A RW Wall mounted, right M M type 10L 10m
MF30 MF30A LW Wall mounted, left L L type 3K 3.5m
MF75 MF75A 5K 5m
10K 10m
Double carriage
Model Installing direction Optional cable carrier for users Grease type Stroke Cable length
MF7D MF7AD Horizontal No entry None No entry Standard 3L 3.5m

H installation
MF15D MF15AD S S type GC Clean 5L 5m
MF20D MF20AD Wall mounted M M type 10L 10m
W
MF30D MF30AD installation L L type 3K 3.5m
MF75D MF75AD 5K 5m
10K 10m
218
Articulated robots
YA
Enter the robot unit model.
Model
Linear conveyor
LCM100
Select from 2 types: incremental specifications and semi-absolute specifications.
modules
Select what direction to install the robot (horizontal / wall mounted) and what
direction to extract the robot cable carrier.
TRANSERVO
single-axis robots
Compact
RH Horizontal, right RW Wall hanging, right LH Horizontal, left LW Wall hanging, left
Cable carrier entry
location
Single-axis robots
FLIP-X
Note. Be sure to install in the direction as specified (in cable carrier take-out direction drawing and various specification drawings) individually. Installation in
any other way will cause a failure. For requirement of installation in any way other than the above standard installation, please consult YAMAHA as
special arrangement will be available.
Installing direction Select what direction to install the robot (horizontal / wall mounted).
single-axis robots
PHASER
Linear motor
Please specify if a cable carrier is needed for customer wiring.
[MF type] (For MF20)
ϕ30
S type M type L type Diameter or roller
Cartesian
XY-X
robots
167
100
100
90
215.5 240.5 238
YK-X
SCARA
robots
66
50
24 49
15 40
Pick & place

29
35
YP-X
20.5
20.5
robots
14
14
Cable and pipe guide S : ϕ8 flexible cable x 1,ϕ4 air tube x 1

Optional cable M : ϕ8 flexible cable x 2, ϕ6 air tube x 2
L : ϕ8 flexible cable x 2, ϕ8 air tube x 3 Space for optional cable for users
carrier for users
CLEAN
[MR type]
S type M type
120 145
15 40
89
89
14
14
24 49
15 40
20.5
20.5
14
14
Space for optional cable for users

MF type
Note. The cable and air hoses should take up less than 30% of the space when
storing them inside the cable carrier. Lay out the cables and air hoses in rows
inside the cable carrier so they do not cross each other.
Origin position change Origin point position can be changed.

MR type
Grease type Clean grease can be selected.

Stroke Select the stroke for the robot operating range.
Select the length of the robot cable connecting the robot to the controller.
3L : 3.5m (Standard)
5L : 5m
Cable length 10L : 10m
3K : 3.5m (Flexible cable)
219
MF7/MF7D
● Flat type available
Articulated robots
● Can be used for wall-mount

YA
Ordering method
Linear conveyor
Single carriage model

LCM100
modules
MF7 TSP
Model Cable carrier Optional cable Origin position change Grease type Stroke Note 3 Cable length Positioner Driver: Power-supply voltage / LCD monitor I/O selection
MF7: Incremental entry location carrier for users Note 2 No entry: L side No entry: Hori- 100 to 4000 Note 4 Note 6 Power capacity No entry: None NP: NPN
Hori-
MF7A: Semi-absolute Note 1 RH: Horizontal, right No entry: None (Standard) Standard zontal (100mm pitch) 3L: 3.5m TS-P 110: 100V/200W L: With LCD PN: PNP
zontal
LH: Horizontal, left S: S type Z: R side GC: Clean 100 to 2000 5L: 5m 210: 200V/200W CC: CC-Link
TRANSERVO
Wall
single-axis robots
FRH: Horizontal, right M: M type No entry: R side (100mm pitch) 10L: 10m DN: DeviceNetTM
(Flat) L: L type Wall (Standard) 3K/5K/10K EP: EtherNet/IPTM
Compact
FLH: Horizontal, left Z: L side (Flexible cable)Note 5 GW: No I/O board Note 7
(Flat)
RW: Wall mount, right
LW: Wall mount, left
SR1-P 10
Controller Driver: Power capacity Usable for CE I/O selection
10: 200W No entry: Standard N: NPN
Note 1. For the details of the semi-absolute model, please refer to P.35. RDV-P has an incremental model only. E: CE marking P: PNP
Single-axis robots
Note 2. For models with a 2,100mm or longer stroke, optional L type cable carriers can only be used. Flat type CC: CC-Link
FLIP-X
cannot be selected for L type. DN: DeviceNetTM

Note 3. Maximum stroke for flat type is 2000mm. PB: PROFIBUS
Note 4. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable. See P.596 for details
on robot cable. RDV-P 2 10 RBR1
Note 5. If a flexible cable is needed for the SR1-P, TS-P, or RDV-P, then select 3K/5K/10K. On the RCX221, the Driver Power-supply voltage Driver: Power capacity Regenerative unit
standard cable is a flexible cable, so enter 3L/5L/10L when ordering. 2: AC200V 10: 200W or less
Note 6. These controllers can be mounted on DIN rails. See P.500 for details.
single-axis robots
PHASER
Linear motor
Note. It is possible to provide the model without a cable carrier. To find information on wiring (cable terminals)
within the cable carrier see P.604.
Double carriage model
MF7D RCX221
Model Installing direction Optional cable Grease type Stroke Note 3 Cable length Controller Usable for CE I/O selection 1 I/O selection 2
Cartesian
XY-X
carrier for users Note 2

robots
MF7D: Incremental H: Horizontal installation No entry: Hori- 100 to 3800 3L: 3.5m RCX221 No entry: N: NPN No entry: None
MF7AD: Semi-absolute Note 1 FH:Horizontal installation (Flat) No entry: None Standard zontal (100mm pitch) 5L: 5m SR1-P (2 units) Standard P: PNP N1: OP.DIO24/16
W: Wall mount installation S: S type GC: Clean 100 to 1800 10L: 10m TS-P (2 units) E: CE marking CC: CC-Link (NPN)
Wall
M: M type (100mm pitch) 3K/5K/10K RDV-P (2 units) DN: DeviceNetTM P1: OP.DIO24/17
L: L type (Flexible cable)Note 5 PB: PROFIBUS (PNP)
EN: Ethernet EN: Ethernet
YK-X
SCARA
robots
Specifications Note Allowable overhang Note

Static loading moment
Model MF7 MF7D
A
Driving method Steel cored linear motor with falt magnet MY
Repeatability (μm) +/-5
Scale (μm) Magnetic type: resolution of 1
Pick & place
Maximum speed Note 2 (mm/sec) 2500 B

YP-X
C
robots
Rated thrust (N) 37 A MP
Maximum Horizontal 10 Note 1 B C MR

payload (kg) Wall mount 7
100 to 4000 100 to 3800
Horizontal Horizontal installation (Unit: mm) Wall installation (Unit: mm) (Unit: N·m)
(100mm pitch) (100mm pitch)
Stroke (mm) MY MP MR
100 to 2000 100 to 1800 A B C A B C
Wall mount
CLEAN
(100mm pitch) (100mm pitch) 156 156 194

Linear guide 4 rows of circular arc grooves × 1 rail 1kg 3000 3000 680 1kg 700 3000 3000
Maximum cross-section W85 × H80 3kg 3000 1350 215 3kg 195 1260 3000
outside dimensions (mm) (except the cable carrier section)
Total length (mm) Stroke+280 Stroke+480
5kg 2900 830 125 5kg 90 630 2480 Controller
Controller Operating method
Note. A vertical model (with brake) is not available with the PHASER series. 9kg 2200 460 60
Note. The basic specifications of semi-absolute model are the same as those Programming /
of the incremental model. 10kg 2100 410 55 SR1-P10
I/O point trace /
Note 1.Payload per carrier. When the payload exceeds 7kg, please consult our Note. Distance from center of slider top to center of gravity of object Remote command /
sales office or sales representative. being carried at a guide service life of 10,000 km.
RCX221 Operation using RS-232C
Note 2. Table of maximum speed
RCX240/340 communication
3000
Payload (kg) Maximum speed
Maximum speed (mm/s)
(mm/s)
2500 TS-P110 I/O point trace /
7 or less 2500
2000 TS-P210 Remote command
8 2300
9 2200 1500 RDV-P210-RBR1 Pulse train control
10 2100
1000
500
0
0 1 2 3 4 5 6 7 8 9 10
Payload (kg)
MF type
Cable carrier entry location Optional cable carrier for users

ϕ30: Diameter or roller
RH Horizontal, right LH Horizontal, left S type M type L type

MR type
184
145.4 170.4
216.5
100
100
138.5
RW Wall mounted, right LW Wall mounted, left
179
66
24 49 50
15 40
29
35
Note. Be sure to install in the direction as specified (in cable carrier take-out
20.5
20.5
14
14
direction drawing and various specification drawings) individually.

Installation in any other way will cause a failure. For requirement of
installation in any way other than the above standard installation,
please consult YAMAHA as special arrangement will be available. Cable and air tube guide S: ϕ8 flexible cable x 1,ϕ4 air tube x 1
M: ϕ8 flexible cable x 2, ϕ6 air tube x 2
L: ϕ8 flexible cable x 2, ϕ8 air tube x 3 Space for optional cable for users
220 Controller SR1-P u 518 RCX221 u 526 TS-P u 492 RDV-P u 506
MF7/MF7D
Articulated robots
YA
MF7 single carriage horizontal mount model
L
(Between ф4H7±0.02)
Linear conveyor
140±5 (L side origin position) Effective stroke (140)
LCM100
modules
(140) 140±5
40±1 110 (R side origin position)
(Note 1) 80 4-ф4H7 Depth 10 40±1
50 8-M5×0.8 Depth 12 (Note 1)
30 ±0.02
TRANSERVO
single-axis robots
Compact
(79)
170.4 145.4
65
Optional cable carrier M type Optional cable carrier S type
80 : Top face of slider
77 (190)
D 10 10
Single-axis robots
FLIP-X
(Note 4)
(100)
(79.5)
64.5
58.7
42.4 Ground terminal (M4)

85.8
single-axis robots
E
PHASER
Linear motor
116.4 40 A×100 (40)
11 100 B-M4×0.7 Depth 9
5
(ф10H7)
1.5 2.6 6
3.2
5.7
50
Cartesian
2
XY-X
robots
Detail of section D Cross-section of E-E 2-ф10H7 Refer to cross-section of E-E.
90 C ±0.02 (90)
Note 2. The origin is set on the L side at the time of shipment. It can be changed to the R E
side by parameter setting.
Note 3. The drawings on this page show the unit with horizontal-right-type cable carrier (RH).
24 49
Note 4. Depending on the stroke and the operating conditions, the cable carrier bending radius might be larger, making it higher than the dimensions shown 15 40
in the diagram.
YK-X
20.5
20.5
SCARA
14
robots
14
L 380 480 580 680 780 880 980 1080 1180 1280 1380 1480 1580 1680 1780 1880 1980 2080 2180 2280
A 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22
S M
B 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46
C 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 Cross-section of cable carrier
Weight (kg) 5.8 6.5 7.3 8 8.7 9.4 10.1 10.9 11.6 12.3 13 13.7 14.5 15.2 15.9 16.6 17.3 18.1 18.8 19.5
Pick & place

YP-X
robots
MF7 single carriage wall mount model
11 40 A x 100 (40)
24 49 66 100
(ϕ10 H7)
15 40 50 6 F B-M4 x 0.7 Depth 9
CLEAN
20.5
20.5
35
29
14
14
50
ϕ7.7
S M L 2
ϕ7.5 F 2-ϕ10 H7 (Refer to cross-section of F-F.)
Cross-section of optional cable carrier Cross-section of F-F C+/-0.02
90 D 20
Standard and L types
Standard and M types

2.6
Standard and S types

5
3.2 L (50:Note 3)
1.5
MF type
103.5 5.7 (140) Effective stroke 140+/-5(R side origin position)

Detail of section G 140+/-5 (140)
(Between ϕ4 H7+/-0.02)
(L side origin
position)
99.5 S type 79 142
MR type
(Note 4)
277.5
(Note 4)
(Note 4)
180.9
180.9
6
84.8
(79)
65
24 20 58.7 G 80: 40+/-2

40+/-2 8-M5 x 0.8 Depth 12
64.5 Top face of slider 50 (Note 1)
(Note 1) 4-ϕ4 H7 Depth 10 80
Optional cable carrier Optional cable carrier 30+/-0.02
L type M type 110
(190)
Note 1. Stop positions are determined by the mechanical stoppers at both
L 380 480 580 680 780 880 980 1080 1180 1280 1380 1480 1580 1680 1780 1880 1980 2080 2180 2280 ends.
A 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 Note 2. The origin is set on the R side at the time of shipment. It can be
changed to the L side by parameter setting.
B 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 Note 3. Cable carrier’s protrusion amount from the mechanical end (For “L”
C 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 specs.).
Note 4.Depending on the stroke and the operating conditions, the cable
D 220 270 320 370 420 470 520 570 620 670 720 770 820 870 920 970 1020 1070 1120 1170 carrier bending radius might be larger, making it higher than the
Weight (kg) 5.8 6.5 7.3 8 8.7 9.4 10.1 10.9 11.6 12.3 13 13.7 14.5 15.2 15.9 16.6 17.3 18.1 18.8 19.5 dimensions shown in the diagram.
Controller SR1-P u 518 RCX221 u 526 TS-P u 492 RDV-P u 506 221
MF7/MF7D
Articulated robots
YA
MF7 single carriage horizontal mount model Optional L-type cable carrier
L (50)
Linear conveyor
65 (Between ф4H7±0.02)
LCM100
140±5 (L side origin position) Effective stroke (140) Note 5

modules
(140) 140±5 (R side origin position)

40±1 110 40±1
(Note 1) 80 4-ф4H7 Depth 10 (Note 1)
50 8-M5×0.8 Depth 12
30±0.02
TRANSERVO
single-axis robots
(79)
Compact
Horizontal-left-type cable carrier (FLH)

(190) Ground terminal (M4)
Single-axis robots
105
FLIP-X
37
77
D 10
(216.5)
10
(Note 6)
173.5
(Diameter of roller:ф30)
138.5
(79.5)
single-axis robots
58.7
PHASER
64.5
Linear motor
Note 4
84.8 66
179 11 50
(ф10H7)
5 6 E
1.5 2.6
29
35
3.2
5.7
ф7.5
50
Cartesian
XY-X
2 ф7.7
robots
Detail of section D Cross-section of E-E 90 2-ф10H7 Refer to cross-section of E-E. C ±0.02 B-M4×0.7 Depth 9 (90) Cross-section of cable carrier
40 A×100 100 (40)
E
Note 2. The origin is set on the L side at the time of shipment. It can be changed to the R side by parameter setting. Note 5. Protrusion is the distance the cable carrier extends from the edge of the unit.
Note 3. The drawings on this page show the unit with horizontal-right-type cable carrier (RH). Note 6. Depending on the stroke and the operating conditions, the cable carrier bending radius might be larger,
YK-X
SCARA
robots
Note 4. For models with a 3,000mm or longer stroke, a roller is installed to prevent the cable carrier from sagging. making it higher than the dimensions shown in the diagram.
Effective stroke 100 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 2400 2500 2600 2700 2800 2900 3000 3100 3200 3300 3400 3500 3600 3700 3800 3900 4000
L 380 480 580 680 780 880 980 1080 1180 1280 1380 1480 1580 1680 1780 1880 1980 2080 2180 2280 2380 2480 2580 2680 2780 2880 2980 3080 3180 3280 3380 3480 3580 3680 3780 3880 3980 4080 4180 4280
A 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42
B 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 52 54 56 58 60 62 64 66 68 70 72 74 76 78 80 82 84 86
C 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 2400 2500 2600 2700 2800 2900 3000 3100 3200 3300 3400 3500 3600 3700 3800 3900 4000 4100
Pick & place
YP-X
Weight (kg) 5.8 6.5 7.3 8.0 8.7 9.4 10.1 10.9 11.6 12.3 13.0 13.7 14.5 15.2 15.9 16.6 17.3 18.1 18.8 19.5 20.2 20.9 21.7 22.4 23.1 23.8 24.5 25.3 26.0 26.7 27.4 28.1 28.9 29.6 30.3 31.0 31.7 32.5 33.2 33.9
robots
MF7 single carriage horizontal mount model Flat type

L
CLEAN
140±5 (L side origin position) Effective stroke (140)

(140) 140±5
40±1 110 (R side origin position)
(Note 1) 80 4-ф4H7 Depth 10 40±1
50 8-M5×0.8 Depth 12 (Note 1)
30±0.02
(79)
172 147
65

77 (190)
D
10 10
(79.5)
(Note 4)
64.5
58.7
(92)
Installation
surface 42.4 Ground terminal (M4)
12.5
84.8
MF type
E
118 40 A×100 (40)
100 B-M4×0.7 Depth 9
11
5
(ф10H7)
6
1.5 2.6
MR type
3.2
5.7
50
2
2-ф10H7 Refer to cross-section of E-E. (90)
90 C ±0.02
Detail of section D Cross-section of E-E
E
Note 2. The origin is set on the L side at the time of shipment. It can be changed to the R side by parameter setting.
24 49
Note 3. The drawings on this page show the unit with horizontal-right-type cable carrier (RH).
Note 4. Depending on the stroke and the operating conditions, the cable carrier bending radius might be larger, making it higher than the dimensions 15 40
shown in the diagram.
20.5
20.5
14
14
L 380 480 580 680 780 880 980 1080 1180 1280 1380 1480 1580 1680 1780 1880 1980 2080 2180 2280
A 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 S M
B 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 Cross-section of cable carrier
C 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100
Weight (kg) 5.8 6.5 7.3 8 8.7 9.4 10.1 10.9 11.6 12.3 13 13.7 14.5 15.2 15.9 16.6 17.3 18.1 18.8 19.5
MF7/MF7D
Articulated robots
YA
MF7D double carriage horizontal mount model
L
Linear conveyor
LCM100
140±5 (Note 1) Effective stroke (200 : Minimum distance between carriages) 140±5 (Note 1)
modules
40±1 110 Effective stroke 40±1
50 8-M5×0.8 Depth 12
30±0.02
TRANSERVO
single-axis robots
(79)
65
Compact
170.4 145.4
(190)
77
Single-axis robots
D 10 10
FLIP-X
(Note 3)
(100)
(79.5)
64.5
58.7
42.4 Ground terminal (M4)
single-axis robots
85.8
PHASER
Linear motor
E
116.4 40 A×100 (40)
100 B-M4×0.7 Depth 9
5 11
(ф10H7)
1.5 2.6 6
3.2
5.7
50
Cartesian
XY-X
robots
2
2-ф10H7 Refer to cross-section of E-E. ±0.02 (90)
Detail of section D Cross-section of E-E 90 C
Note 1. Position of the table slider when returned to the origin. E 24 49
in the diagram.
YK-X
SCARA
20.5
20.5
robots
14
14
L 580 680 780 880 980 1080 1180 1280 1380 1480 1580 1680 1780 1880 1980 2080 2180 2280 2380 2480
A 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 M
S
B 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50
C 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 Cross-section of cable carrier
Weight (kg) 9.3 10.2 11.1 12.0 12.9 13.9 14.8 15.7 16.6 17.5 18.5 19.4 20.3 21.2 22.1 23.1 24.0 24.9 25.8 26.7
Pick & place

YP-X
robots
MF7D double carriage wall mount model
40 A x 100 (40)
11 100
(ϕ10 H7)
24 49 66 6 F B-M4 x 0.7 Depth 9

15 40 50
CLEAN
50
29
20.5
20.5
35
14
14
ϕ7.7 2 F 2-ϕ10 H7 (Refer to cross-section of F-F.)

M L ϕ7.5 90
S C+/-0.02
20 D D 20
Cross-section of optional cable carrier Cross-section of F-F Grounding terminal (M4)
Standard and L types
Standard and M types

2.6
5
3.2 Standard and S types

1.5
5.7 (50:Note 2) L (50:Note 2)

103.5
MF type
140+/-5 Effective stroke (200 : Minimum distance between carriages) 140+/-5

Detail of section G
Effective stroke
142 142
99.5 S type 79
MR type
(Note 3)
277.5
(Note 3)
(Note 3)
180.9
180.9
6
84.8
(79)
(79)
65
65
24 20 58.7 G 80: 40+/-2(Note 1) 50 8-M5 x 0.8 Depth 12 8-M5 x 0.8 Depth 12 40+/-2
64.5 50
Top face of slider 80 4-ϕ4 H7 Depth 10 4-ϕ4 H7 Depth 10 80 (Note 1)
Optional cable carrier Optional cable carrier
L type M type Standard and S types 110 110
30+/-0.02 30+/-0.02
(190) (190)
Effective stroke 100 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800
L 580 680 780 880 980 1080 1180 1280 1380 1480 1580 1680 1780 1880 1980 2080 2180 2280
A 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 Note 1. Stop positions are determined by the mechanical stoppers at both
B 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 ends.
Note 2. Cable carrier’s protrusion amount from the mechanical end.
C 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 Note 3. Depending on the stroke and the operating conditions, the cable
D 220 270 320 370 420 470 520 570 620 670 720 770 820 870 920 970 1020 1070 carrier bending radius might be larger, making it higher than the
Weight (kg) 9.3 10.2 11.1 12.0 12.9 13.9 14.8 15.7 16.6 17.5 18.5 19.4 20.3 21.2 22.1 23.1 24.0 24.9 dimensions shown in the diagram.
MF7/MF7D
Articulated robots
YA
MF7D double carriage horizontal mount model Optional L-type cable carrier
65 (Between ф4H7±0.02)
(50) L (50)
Linear conveyor
Note 4 140±5 (Note 1) Effective stroke (200 : Minimum distance between carriages) 140±5 (Note 1) Note 4
LCM100
modules

50
30±0.02 8-M5×0.8 Depth 12
TRANSERVO
(79)
single-axis robots
Compact
(190) Ground terminal (M4) Ground terminal (M4)

105
Single-axis robots
FLIP-X
37
77
D 10 10
(216.5)
(Note 5)
173.5
(Diameter of roller:ф30)
138.5
(79.5)
64.5
58.7
single-axis robots
PHASER
Linear motor
84.8 E 66
Note 3
179 50
11
(ф10H7)
5 6
29
35
1.5 2.6
3.2
5.7
ф7.5
50
ф7.7
Cartesian
XY-X
2
robots
90 2-ф10H7 Refer to cross-section of E-E. C ±0.02 B-M4×0.7 Depth 9 (90) Cross-section of cable carrier
Detail of section D Cross-section of E-E 100 (40)
40 A×100
E
Note 1. Position of the table slider when returned to the origin.
Note 3. For models with a 3,000mm or longer stroke, a roller is installed to prevent the cable carrier from sagging.
YK-X
SCARA
Note 4. Protrusion is the distance the cable carrier extends from the edge of the unit.
robots
Note 5. Depending on the stroke and the operating conditions, the cable carrier bending radius might be larger, making it higher than the dimensions shown in the diagram.
Effective stroke 100 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 2400 2500 2600 2700 2800 2900 3000 3100 3200 3300 3400 3500 3600 3700 3800
L 580 680 780 880 980 1080 1180 1280 1380 1480 1580 1680 1780 1880 1980 2080 2180 2280 2380 2480 2580 2680 2780 2880 2980 3080 3180 3280 3380 3480 3580 3680 3780 3880 3980 4080 4180 4280
A 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42
B 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 52 54 56 58 60 62 64 66 68 70 72 74 76 78 80 82 84 86
C 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 2400 2500 2600 2700 2800 2900 3000 3100 3200 3300 3400 3500 3600 3700 3800 3900 4000 4100
Pick & place
YP-X
robots
Weight (kg) 9.3 10.2 11.1 12.0 12.9 13.9 14.8 15.7 16.6 17.5 18.5 19.4 20.3 21.2 22.1 23.1 24.0 24.9 25.8 26.7 27.7 28.6 29.5 30.4 31.3 32.3 33.2 34.1 35.0 35.9 36.9 37.8 38.7 39.6 40.5 41.5 42.4 43.3
MF7D double carriage horizontal mount model Flat type

CLEAN
L
140±5 (Note 1) Effective stroke (200 : Minimum distance between carriages) 140±5 (Note 1)
50 8-M5×0.8 Depth 12
30 ±0.02
(79)
65
172 147
(190)
D 77
10 10
(79.5)
64.5
(Note 3)
58.7
(92)
Installation
surface Ground terminal (M4) Ground terminal (M4)
MF type
42.4
12.5
84.8
E
118 40 A×100 (40)
11 100 B-M4×0.7 Depth 9
5
(ф10H7)
6
MR type
1.5 2.6
3.2
5.7
50
2
2-ф10H7 Refer to cross-section of E-E. (90)
90 C±0.02
Detail of section D Cross-section of E-E
E
Note 1. Position of the table slider when returned to the origin. 24 49
in the diagram.
20.5
20.5
14
14
L 580 680 780 880 980 1080 1180 1280 1380 1480 1580 1680 1780 1880 1980 2080 2180 2280 2380 2480
A 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 S M
B 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 Cross-section of cable carrier
C 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300
Weight (kg) 9.3 10.2 11.1 12.0 12.9 13.9 14.8 15.7 16.6 17.5 18.5 19.4 20.3 21.2 22.1 23.1 24.0 24.9 25.8 26.7
Linear conveyor Compact Linear motor Cartesian SCARA Pick & place
Articulated robots modules single-axis robots Single-axis robots single-axis robots robots robots robots
YA LCM100 TRANSERVO FLIP-X PHASER XY-X YK-X YP-X CLEAN CONTROLLER INFORMATION MF type MR type
225
MF15/MF15D
Articulated robots
YA
Ordering method
Linear conveyor

LCM100
modules
MF15 TSP
Model Cable carrier Optional cable Origin position change Grease type Stroke Cable length Positioner Driver: Power-supply voltage / LCD monitor I/O selection
MF15: Incremental entry location carrier for users Note 2 No entry: L side No entry: Hori- 100 to 4000 Note 3 Note 5 Power capacity No entry: None NP: NPN
Hori-
MF15A: Semi-absolute Note 1 RH: Horizontal, right No entry: None (Standard) Standard zontal (100mm pitch) 3L: 3.5m TS-P 110: 100V/200W L: With LCD PN: PNP
zontal
LH: Horizontal, left S: S type Z: R side GC: Clean 100 to 2000 5L: 5m 210: 200V/200W CC: CC-Link
TRANSERVO
Wall
single-axis robots
RW: Wall mount, right M: M type No entry: R side (100mm pitch) 10L: 10m DN: DeviceNetTM
LW: Wall mount, left L: L type Wall (Standard) 3K/5K/10K EP: EtherNet/IPTM
Compact
Z: L side (Flexible cable)Note 4 GW: No I/O board Note 6
SR1-P 10
10: 200W No entry: Standard N: NPN
E: CE marking P: PNP
Single-axis robots
CC: CC-Link
FLIP-X
Note 1. For the details of the semi-absolute model, please refer to P.35. RDV-P has an incremental model only. DN: DeviceNetTM
Note 2. For models with a 2,100mm or longer stroke, optional L type cable carriers can only be used. PB: PROFIBUS
Note 3. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable. See P.596 for details
on robot cable. RDV-P 2 10 RBR1
Note 4. If a flexible cable is needed for the SR1-P, TS-P, or RDV-P, then select 3K/5K/10K. On the RCX221, the
Driver Power-supply voltage Driver: Power capacity Regenerative unit
standard cable is a flexible cable, so enter 3L/5L/10L when ordering.
2: AC200V 10: 200W or less
single-axis robots
PHASER
Linear motor
MF15D RCX221
Model Installing Optional cable Grease type Stroke Cable length Controller Usable for CE I/O selection 1 I/O selection 2
Cartesian
XY-X
direction carrier for users Note 2

robots
MF15D: Incremental No entry: Hori- 100 to 3800 3L: 3.5m RCX221 No entry: N: NPN No entry: None
MF15AD: Semi-absolute Note 1 H: Horizontal No entry: None Standard zontal (100mm pitch) 5L: 5m SR1-P (2 units) Standard P: PNP N1: OP.DIO24/16
installation S: S type GC: Clean 100 to 1800 10L: 10m TS-P (2 units) E: CE marking CC: CC-Link (NPN)
Wall
W: Wall mount M: M type (100mm pitch) 3K/5K/10K RDV-P (2 units) DN: DeviceNetTM P1: OP.DIO24/17
installation L: L type (Flexible cable)Note 4 PB: PROFIBUS (PNP)
YK-X
SCARA
robots

Model MF15 MF15D
A

Pick & place
B
YP-X
C
robots
Note 2
Maximum speed (mm/sec) 2500 A MP
Rated thrust (N) 54 C MR
B
Maximum payload Note 1 (kg) 30
100 to 4000 100 to 3800
Horizontal Horizontal installation (Unit: mm) Wall installation (Unit: mm) (Unit: N·m)
Stroke (mm) MY MP MR
100 to 2000 100 to 1800 A B C A B C
Wall mount
CLEAN
(100mm pitch) (100mm pitch) 5kg 3000 3000 915 5kg 865 1880 3060 290 291 256
Linear guide 4 rows of circular arc grooves × 2 rail
10kg 2604 1542 481 10kg 410 905 2115
Maximum cross-section W100 × H80
outside dimensions (mm) (except the cable carrier section) 15kg 2368 1051 340 15kg 255 575 1910 Controller
Total length (mm) Stroke+260 Stroke+460 20kg 1820 600 260 20kg 170 410 1780
25kg 1470 450 175 25kg 120 295 1660

Note. A vertical model (with brake) is not available with the PHASER series. Programming /
Note. The basic specifications of semi-absolute model are the same as those 30kg 1250 310 145 30kg 90 215 1440 SR1-P10
I/O point trace /
of the incremental model. Note. Distance from center of slider top to center of gravity of object Remote command /
Note 1. Payload per carrier. When the payload exceeds 15kg, please consult being carried at a guide service life of 10,000 km.
our sales office or sales representative. RCX221 Operation using RS-232C
Note 2. Table of maximum speed RCX240/340 communication
3000
Maximum speed TS-P110

Payload (kg) I/O point trace /
(mm/s) 2500
15 or less 2500 TS-P210 Remote command
2000
20 2200
1500
RDV-P210-RBR1 Pulse train control
25 1800
30 1500 1000
500
0
0 5 10 15 20 25 30 35
Payload (kg)
MF type

ϕ30: Diameter or roller
RH Horizontal, right LH Horizontal, left S type M type L type

MR type
184
161.5 186.5
167
100
100
90
188
66
24 49 50
15 40
29
35
20.5
20.5
14
14

MF15/MF15D
Articulated robots
YA
/
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Note 5. Protrusion is the distance the cable carrier extends from the edge of unit when an
Note 1. Stop positions are determined by the mechanical stoppers at both ends. optional L type cable carrier is used.
Note 2. The origin is set on the L side at the time of shipment. It can be changed to the R side by parameter setting. Note 6. When using ф10 H7 hole, do not insert the pin more than the depth stated in the
Note 3. For models with a 2,100mm or longer stroke, optional L type cable carriers can only be used. drawing. Otherwise, the motor may break.
Note 4. For models with a 3,000mm or longer stroke and an optional L type cable carrier, a roller is installed to prevent Note 7. Depending on the stroke and the operating conditions, the cable carrier bending
the cable carrier from sagging. radius might be larger, making it higher than the dimensions shown in the diagram.
YK-X
SCARA
robots
Effective stroke 100 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 18001900200021002200230024002500260027002800290030003100 320033003400350036003700380039004000
L 360 460 560 660 760 860 960 106011601260 1360 1460 15601660 1760 18601960206021602260236024602560266027602860296030603160 326033603460356036603760386039604060 4160 4260
A 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30
B 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21
C 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36 36 38 38 40 40 42 42 44
D 200 300 400 500 600 700 800 9001000 1100 1200 1300 1400 15001600 1700 18001900200021002200230024002500260027002800290030003100 3200330034003500360037003800390040004100
Pick & place

YP-X
Weight (kg) 6.3 7.3 8.3 9.3 10.3 11.3 12.3 13.3 14.3 15.4 16.4 17.4 18.4 19.4 20.4 21.4 22.4 23.4 24.4 25.4 26.4 27.4 28.4 29.4 30.4 31.4 32.4 33.4 34.4 35.8 36.8 37.8 38.8 39.8 40.8 41.8 42.8 43.8 44.8 45.8
robots
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CLEAN
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Note 4. For models with a 3,050mm or longer stroke and an optional L type cable carrier, a roller is installed to prevent the cable
carrier from sagging.
Note 1. Position of table carriage when returned to the origin. Note 5. Protrusion is the distance the cable carrier extends from the edge of unit when an optional L type cable carrier is used.
Note 2. Stop positions are determined by the mechanical stoppers at both ends. Note 6. When using ф10 H7 hole, do not insert the pin more than the depth stated in the drawing. Otherwise, the motor may break.
Note 3. For models with a 2,100mm or longer stroke, optional L type cable carriers Note 7. Depending on the stroke and the operating conditions, the cable carrier bending radius might be larger, making it higher
can only be used. than the dimensions shown in the diagram.
L 560 660 760 860 960 1060 1160 1260 1360 146015601660 1760 18601960206021602260236024602560266027602860296030603160 326033603460356036603760386039604060 4160 4260
A 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30
B 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21
C 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36 36 38 38 40 40 42 42 44
D 400 500 600 700 800 900 1000 1100 1200 1300140015001600 1700 18001900200021002200230024002500260027002800290030003100 320033003400350036003700380039004000 4100
Weight (kg) 10.3 11.5 12.6 13.7 14.8 16.0 17.1 18.219.320.5 21.6 22.723.825.0 26.1 27.2 28.329.530.6 31.7 32.834.0 35.136.2 37.4 38.539.6 41.0 42.243.344.445.546.7 47.8 48.950.0 51.2 52.3
MF15/MF15D
Articulated robots
YA

A B×200 (A)
Linear conveyor
200 C-M6×1.0 Depth 10

LCM100
modules
60
2-ф10H7 Depth 7 (Note 4)
TRANSERVO
80 D+/-0.02
single-axis robots
E 20
Compact
66 Ground terminal (M4)

49
24
40 50
15
35
20.5
20.5
ф7.7
Single-axis robots
14
29
14
L type
ф7.5
FLIP-X
S M L Ground terminal (M4)
Cross-section of optional cable carrier
M type
single-axis robots
PHASER
Linear motor
Ground terminal (M4)

3.7
6.2
4.5 Standard and S types

2
7.2 L (50:Note 3)
103.5
Cartesian
(130) Effective stroke 130+/-5 (R side origin position)

XY-X
Detail of section G
robots
130+/-5 (130)
84 (Between ф6H7+/-0.02)
(L side origin
position)
112
99.5 S type 79
(Note 5)
292.4
YK-X
SCARA
robots
(Note 5)
(Note 5)
6
197
197
100
(94)
Pick & place
24 20 20 G 4-M6×1.0 Depth 12 31+/-2

YP-X
31+/-2 68
robots
80: 2-ф6H7 Depth 10 (Note 1)

Top face of slider 66 (Note 1) 90
Optional cable carrier Optional cable carrier 48+/-0.02 (186)
L type M type Standard and S types
Note 2. The origin is set on the R side at the time of shipment. It can be changed to the L side by parameter setting.
Note 3. Protrusion is the distance the cable carrier extends from the edge of unit when an optional L type cable carrier is used.
CLEAN
Note 4. When using ф10 H7 hole, do not insert the pin more than the depth stated in the drawing. Otherwise, the motor may break.
Note 5. Depending on the stroke and the operating conditions, the cable carrier bending radius might be larger, making it higher than the dimensions shown
in the diagram.
L 360 460 560 660 760 860 960 1060 1160 1260 1360 1460 1560 1660 1760 1860 1960 2060 2160 2260
A 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30
B 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11
C 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24
D 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100
E 220 270 320 370 420 470 520 570 620 670 720 770 820 870 920 970 1020 1070 1120 1170
Weight (kg) 6.3 7.3 8.3 9.3 10.3 11.3 12.3 13.3 14.3 15.4 16.4 17.4 18.4 19.4 20.4 21.4 22.4 23.4 24.4 25.4
MF type
MR type
MF15/MF15D
Articulated robots
YA
A B×200 (A)
Linear conveyor
200 C-M6×1.0 Depth 10
LCM100
modules
60
2-ф10H7 Depth 7 (Note 3)
80 D+/-0.02
TRANSERVO
single-axis robots
20 E E 20
Compact
49 66
40 50
15 35
20.5
20.5
ф7.7
14
29
14
Single-axis robots
S M L ф7.5 L type
FLIP-X
M type
single-axis robots
PHASER
Linear motor
3.7
6.2
(50:Note 3) L (50:Note 3)
4.5
2
103.5 (200 : Minimum distance between carriages) 130+/-5
Cartesian
7.2 130+/-5 Effective stroke
XY-X
robots
84 (Between ф6H7+/-0.02)
Effective stroke
84 (Between ф6H7+/-0.02)
Detail of section G
S type 112 112

99.5 79
(Note 4)
292.4
YK-X
SCARA
robots
(Note 4)
(Note 4)
6
197
197
100
(94)
(94)
G
Pick & place

24 20 80: 20 68
YP-X
66 31+/-2 68 4-M6×1.0 Depth 12 4-M6×1.0 Depth 12
robots
Top face of slider 90 31+/-2
(Note 1) 90 2-ф6H7 Depth 10 2-ф6H7 Depth 10
Optional cable carrier Optional cable carrier 48+/-0.02 (186) (186) (Note 1)
48+/-0.02
L type M type Standard and S types
Note 3. When using ф10 H7 hole, do not insert the pin more than the depth stated in the drawing. Otherwise, the motor may break.
CLEAN
Note 4. Depending on the stroke and the operating conditions, the cable carrier bending radius might be larger, making it higher than the
dimensions shown in the diagram.
L 560 660 760 860 960 1060 1160 1260 1360 1460 1560 1660 1760 1860 1960 2060 2160 2260
A 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30 80 30
B 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11
C 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24
D 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100
E 220 270 320 370 420 470 520 570 620 670 720 770 820 870 920 970 1020 1070
Weight (kg) 10.3 11.5 12.6 13.7 14.8 16.0 17.1 18.2 19.3 20.5 21.6 22.7 23.8 25.0 26.1 27.2 28.3 29.5
MF type
MR type
MF20/MF20D
Articulated robots
YA
Ordering method
Linear conveyor

LCM100
modules
MF20 TSP R
Model Cable carrier Optional cable Origin position change Grease type Stroke Cable length Positioner Driver: Power-supply voltage / Regenerative unit LCD monitor I/O selection
MF20: Incremental entry location carrier for users Note 2 No entry: L side No entry: 150 to 4050 Note 3 Note 5 Power capacity R: With RGT No entry: None NP: NPN
Hori- (Standard) Standard (100mm pitch)
MF20A: Semi-absolute Note 1 RH: Horizontal, right No entry: None 3L: 3.5m TS-P 110: 100V/200W L: With LCD PN: PNP
zontal
L H: Horizontal, left S: S type Z: R side GC: Clean 5L: 5m 210: 200V/200W CC: CC-Link
TRANSERVO
single-axis robots
RW: Wall mount, right M: M type No entry: R side 10L: 10m DN: DeviceNetTM
Compact
SR1-P 10 R
Controller Driver: Power capacity Usable for CE Regenerative unit I/O selection
10: 200W No entry: Standard R: With RG1 N: NPN
Single-axis robots
CC: CC-Link
FLIP-X
Note 1. For the details of the semi-absolute model, please refer to P.35. RDV-P has an incremental DN: DeviceNetTM
model only. PB: PROFIBUS
Note 2. For models with a 2,050mm or longer stroke, optional L type cable carriers can only be used.
Note 3. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable. See P.596 RDV-P 2 10 RBR1
for details on robot cable. Driver Power-supply voltage Driver: Power capacity Regenerative unit
Note 4. If a flexible cable is needed for the SR1-P, TS-P, or RDV-P, then select 3K/5K/10K. On the 2: AC200V 10: 200W or less
single-axis robots
RCX221, the standard cable is a flexible cable, so enter 3L/5L/10L when ordering.
PHASER
Linear motor
Note. It is possible to provide the model without a cable carrier. To find information on wiring (cable
terminals) within the cable carrier see P.604.
MF20D RCX221 R
Cartesian
XY-X
robots
Model Installing Optional cable Grease type Stroke Cable length Controller Usable for CE Regenerative unit I/O selection 1 I/O selection 2
MF20D: Incremental direction carrier for users Note 2 No entry: 150 to 3850 3L: 3.5m RCX221 No entry: R: RG2 N: NPN No entry: None
MF20AD: Semi-absolute Note 1 H : Horizontal No entry: None Standard (100mm pitch) 5L: 5m SR1-P (2 units) Standard (RCX221) P: PNP N1: OP.DIO24/16
installation S: S type GC: Clean 10L: 10m TS-P (2 units) E: CE marking CC: CC-Link (NPN)
W: Wall mount M: M type 3K/5K/10K RDV-P (2 units) DN: DeviceNetTM P1: OP.DIO24/17
YK-X
SCARA
robots

Model MF20 MF20D
A

Pick & place
B
YP-X
C
robots
Note 2
B
150 to 4050 150 to 3850
Stroke (mm) Horizontal installation (Unit: mm) Wall installation (Unit: mm) (Unit: N·m)
MY MP MR
4 rows of circular arc A B C A B C
Linear guide
CLEAN
grooves × 2 rail 373 373 328

10kg 3156 1747 1196 10kg 1220 1320 2540
outside dimensions (mm) (except the cable carrier section) 15kg 2811 1176 883 15kg 870 850 2200
Total length (mm) Stroke+260 Stroke+460 20kg 2679 890 717 20kg 670 610 2030 Controller
Note. A vertical model (with brake) is not available with the PHASER series. 30kg 1830 605 370 30kg 350 325 1050
Note. The basic specifications of semi-absolute model are the same as those
Programming /
of the incremental model. 35kg 1580 525 275 35kg 265 270 890 SR1-P10-R
Note 1. Payload per carrier. When the payload exceeds 20kg, please consult I/O point trace /
our sales office or sales representative. 40kg 1390 465 225 40kg 235 230 765 Remote command /
Note. Distance from center of slider top to center of gravity of object RCX221-R Operation using RS-232C
Maximum speed being carried at a guide service life of 10,000 km. RCX240/340 communication
Payload (kg) 3000
(mm/s)
20 or less 2500 2500 TS-P110-R I/O point trace /
25 2300 2000 Remote command
TS-P210-R
30 2000
1500 RDV-P210-RBR1 Pulse train control
35 1800
40 1500 1000
500
0
0 5 10 15 20 25 30 35 40 45
Payload (kg)
MF type

ϕ30
RH Horizontal, right LH Horizontal, left S type M type L type Diameter or roller
MR type
167
100
100
90
215.5 240.5 238

66
50
24 49
15 40
29
35
20.5
20.5
14
14

MF20/MF20D
Articulated robots
YA
L
ф30 Diameter
Linear conveyor
130+/-5 (L side origin position) Effective stroke (130: When at L side origin)
LCM100
modules
of roller
(130: When at R side origin) 130+/-5 (R side origin position)
190
70
120 (Between
ф6H7 +/-0.02)
+0.012
50+/-0.02
(Note 7)
4-ф6H7 0 Depth 10
167
(Note 7)
4-M6 x 1.0 Depth 12

(100)
29+/-1 29+/-1 (Note 1)
TRANSERVO
90
single-axis robots
(Note 1)
Compact
240.5 (M option) 238 (Note 4)
136
215.5 (S option)
Optional cable carrier Optional cable carrier
S / M type L type
80: Top face of slider
Single-axis robots
186
FLIP-X
7
2.5 3.7
(Note 7)
(100)
7.2
4.5
98
64
14
150 32.5 30 (Note 5)

G
Detail of section G Grounding terminal (M4)
single-axis robots
PHASER
Linear motor
A B x 200 (A)
66 C-M6 x 1.0 Depth 10
200
24 49 50
15 40
100
35
29
20.5
20.5
14
14
ф7.7
Cartesian
XY-X
S M L
robots
ф7.5 +0.015
Cross-section of cable carrier 2-ф10H7 0 Depth 10 (Note 6)
105 D +/-0.02
Note 4. For models with a 3,050mm or longer stroke and an optional L type cable carrier, a roller is installed to prevent the cable carrier
from sagging.
Note 1. Stop positions are determined by the mechanical stoppers at both Note 5. Protrusion is the distance the cable carrier extends from the edge of unit when an optional L type cable carrier is used.
ends. Note 6. When using ф10 H7 hole, do not insert the pin more than the depth stated in the drawing. Otherwise, the motor may break.
YK-X
SCARA
Note 2. The origin is set on the L side at the time of shipment. It can be Note 7. Depending on the stroke and the operating conditions, the cable carrier bending radius might be larger, making it higher than
robots
changed to the R side by parameter setting. the dimensions shown in the diagram.
L 410 510 610 710 810 910 1010 1110 12101310 1410 1510 1610 1710 18101910201021102210231024102510261027102810291030103110321033103410351036103710381039104010 4110 42104310
A 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55
B 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21
C 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36 36 38 38 40 40 42 42 44
Pick & place

D 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 15001600 1700 18001900200021002200230024002500260027002800290030003100 320033003400350036003700380039004000 4100
YP-X
Weight (kg) 8.4 10.1 11.7 13.3 15.0 16.618.219.8 21.5 23.1 24.726.428.029.6 31.3 32.934.5 36.1 37.8 39.4 41.0 42.744.345.9 47.6 49.250.852.4 54.1 55.7 57.3 59.060.662.263.965.5 67.1 68.770.4 72.0
robots
ф30 Diameter of roller A B x 200 (A)
CLEAN
120.3 200 C-M6 x 1.0 Depth10
(5)
105
100
(Note 7)
(Note 7)
325
9
290
+0.015
2-ф10H7 0 Depth10 (Note 6)
150
105 D +/-0.02
Grounding terminal (M4) E 13
41.3
Optional cable carrier M type Optional cable carrier L type
M, Ltype
66
24 49 50 Grounding terminal (M4)
15 40
Standard, Stype
35
29
20.5
20.5
14
14
ф7.7 L (30: Note 5)

S M L ф7.5 130+/-5 (L side origin position) Effective stroke (130: When at L side origin)
Cross-section of optional cable carrier (130: When at R side origin) 130+/-5 (R side origin position)
120 (Between
S type 79 108
ф6H7 +/-0.02)
3.7
MF type
7
2.5
4.5
(Note 7)
7.2
250
Detail of section G
150
136
MR type
G 14 4-M6 x 1.0 Depth 12 50 +/-0.02

64 +0.012 70
Top face of slider 29+/-1 (Note 1) 4-ф6H7 0 Depth 10 190 29+/-1 (Note 1)
80
Note 4. For models with a 3,050mm or longer stroke and an optional L type cable carrier, a roller is installed to prevent the cable
Note 1. Stop positions are determined by the mechanical stoppers at both ends. carrier from sagging.
Note 2. The origin is set on the R side at the time of shipment. It can be changed Note 5. Protrusion is the distance the cable carrier extends from the edge of unit when an optional L type cable carrier is used.
to the L side by parameter setting. Note 6. When using ф10 H7 hole, do not insert the pin more than the depth stated in the drawing. Otherwise, the motor may break.
Note 3. For models with a 2,050mm or longer stroke, optional L type cable Note 7. Depending on the stroke and the operating conditions, the cable carrier bending radius might be larger, making it higher
carriers can only be used. than the dimensions shown in the diagram.
L 410 510 610 710 810 910 1010 1110 12101310 1410 1510 1610 1710 18101910201021102210231024102510261027102810291030103110321033103410351036103710381039104010 4110 42104310
A 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55
B 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21
C 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36 36 38 38 40 40 42 42 44
D 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 15001600 1700 18001900200021002200230024002500260027002800290030003100 320033003400350036003700380039004000 4100
E 220 270 320 370 420 470 520 570 620 670 720 770 820 870 920 970 10201070 1120 1170 12201270 1320 1370 1420 1470 1520157016201670 1720 17701820187019201970202020702120 2170
Weight (kg) 8.4 10.1 11.7 13.3 15.0 16.618.219.8 21.5 23.1 24.726.428.029.6 31.3 32.934.5 36.1 37.8 39.4 41.0 42.744.345.9 47.6 49.250.852.4 54.1 55.7 57.3 59.060.662.263.965.5 67.1 68.770.4 72.0
MF20/MF20D
Articulated robots
YA

L
ф30
120 (Between ф6H7 +/-0.02)
120 (Between ф6H7 +/-0.02)

Linear conveyor
Diameter of roller 130+/-5 Effective stroke (200: Minimum distance between carriages)
LCM100
(Note 1)
modules
(Note 7)
190 190
167
+0.012 +0.012
(Note 7) 70 4-ф6H7 0 Depth 10 4-ф6H7 0 Depth 10 70
(100)
90
50+/-0.02 4-M6 x 1.0 Depth 12 4-M6 x 1.0 Depth 12 50+/-0.02
240.5 (M option) 29+/-1 29+/-1
TRANSERVO
238 (Note 4)
single-axis robots
(Note 2) (Note 2)
215.5 (S option)
Compact
Optional cable carrier S / M type Optional cable carrier L type
136
7
2.5 3.7 80: Top face of slider
7.2
4.5
Single-axis robots
186
FLIP-X
Detail of section G
(Note 7)
(100)
14
64
150 32.5 30 (Note 5) (30) (Note 5)

G Grounding terminal (M4)
single-axis robots
PHASER
Linear motor
66
24 49 50 A B x 200 (A)
15 40 200 C-M6 x 1.0 Depth 10
20.5
20.5
14
14
35
29
100
S M ф7.7
L ф7.5
Cross-section of optional cable carrier +0.015
Cartesian
XY-X
2-ф10H7 0 Depth 10 (Note 6)

robots
105 D +/-0.02
Note 4. For models with a 3,050mm or longer stroke and an optional L type cable carrier, a roller is installed to prevent the cable carrier from
sagging.
Note 1. Position of table carriage when returned to the origin. Note 6. When using ф10 H7 hole, do not insert the pin more than the depth stated in the drawing. Otherwise, the motor may break.
Note 2. Stop positions are determined by the mechanical Note 7. Depending on the stroke and the operating conditions, the cable carrier bending radius might be larger, making it higher than the dimensions
YK-X
SCARA
robots
stoppers at both ends. shown in the diagram.

L 610 710 810 910 1010 1110 1210 1310 1410 1510 1610 1710 181019102010 2110221023102410 251026102710281029103010 3110 321033103410351036103710381039104010 4110 42104310
A 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55
B 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21
C 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36 36 38 38 40 40 42 42 44
D 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 180019002000 2100 220023002400250026002700280029003000 3100 320033003400350036003700380039004000 4100
Pick & place
Weight (kg)14.9 16.6 18.320.0 21.7 23.525.226.928.630.332.033.735.4 37.2 38.940.642.344.045.7 47.4 49.1 50.852.654.356.0 57.7 59.4 61.1 62.864.566.368.069.7 71.4 73.1 74.8 76.578.2
YP-X
robots

ф30 A B x 200 (A)
CLEAN
120.3 Diameter of roller 200 C-M6 x 1.0 Depth 10

(5)
100
105
(Note 7)
(Note 7)
325
290
+0.015
9

105 D +/-0.02
150

13 E E 13
41.3 M, Ltype
Optional cable carrier M type Optional cable carrier L type
66
24 49 50 Standard, Stype
15 40
35
29
20.5
20.5
30 (Note 5) L 30 (Note 5)
14
14
ф7.7 (200: Minimum distance between carriages) Effective stroke 130+/-5

S M L
ф7.5 130+/-5 (Note 1) Effective stroke (Note 1)
120 (Between
120 (Between
S type 79 108 108

3.7
ф6H7 +/-0.02)
ф6H7 +/-0.02)
MF type
7
2.5
4.5
7.2
(Note 7)
250
Detail of section G
150
136
136
MR type
14
G 50 +/-0.02 4-M6 x 1.0 Depth 12 4-M6 x 1.0 Depth 12 50 +/-0.02
64 70 70
Top face of slider +0.012 +0.012
80 4-ф6H7 0 Depth 10 4-ф6H7 0 Depth 10
29+/-1 (Note 2) 190 190 29+/-1 (Note 2)
Note 4. For models with a 3,050mm or longer stroke and an optional L type cable carrier, a roller is installed to prevent the
cable carrier from sagging.
Note 1. Position of table carriage when returned to the origin. Note 6. When using ф10 H7 hole, do not insert the pin more than the depth stated in the drawing. Otherwise, the motor may
Note 2. Stop positions are determined by the mechanical stoppers at both ends. break.
Note 3. For models with a 2,050mm or longer stroke, optional L type cable carriers Note 7. Depending on the stroke and the operating conditions, the cable carrier bending radius might be larger, making it
can only be used higher than the dimensions shown in the diagram.
L 610 710 810 910 1010 1110 1210 1310 1410 1510 1610 1710 181019102010 2110221023102410 251026102710281029103010 3110 321033103410351036103710381039104010 4110 42104310
A 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55
B 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21
C 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36 36 38 38 40 40 42 42 44
D 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 180019002000 2100 220023002400250026002700280029003000 3100 320033003400350036003700380039004000 4100
E 220 270 320 370 420 470 520 570 620 670 720 770 820 870 920 970 1020 1070 1120 1170 1220 1270 1320 1370 1420 1470 1520 157016201670 1720 1770 1820 1870 1920 197020202070
Weight (kg)14.9 16.6 18.320.0 21.7 23.525.226.928.630.332.033.735.4 37.2 38.940.642.344.045.7 47.4 49.1 50.852.654.356.0 57.7 59.4 61.1 62.864.566.368.069.7 71.4 73.1 74.8 76.578.2
MF30/MF30D
Articulated robots
YA
Ordering method
Linear conveyor
LCM100
modules
MF30 TSP 220 R
Model Cable carrier Optional cable Origin position change Grease type Stroke Cable length Positioner Driver: Power-supply voltage / Regenerative unit LCD monitor I/O selection
MF30: Incremental entry location carrier for users Note 2 No entry: L side No entry: 100 to 4000 Note 3 Note 5 Power capacity R: With RGT No entry: None NP: NPN
MF30A: Semi-absolute Note 1 RH: Horizontal, right No entry: None 3L: 3.5m TS-P 220: 200V/400 to 600W L: With LCD PN: PNP
zontal
L H: Horizontal, left S: S type Z: R side GC: Clean 5L: 5m CC: CC-Link
TRANSERVO
single-axis robots
RW: Wall mount, right M: M type No entry: R side 10L: 10m DN: DeviceNetTM
Compact
SR1-P 20 R
20: 400 to 600W No entry: Standard R: With RG1 N: NPN
Single-axis robots
Note 1. For the details of the semi-absolute model, please refer to P.35. RDV-P has an incremental
CC: CC-Link
FLIP-X
model only. DN: DeviceNetTM
Note 2. For models with a stroke of 2100 or longer (2050 or longer for double carriage models), only the PB: PROFIBUS
optional L type cable carriers can be used.
Note 3. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable. See P.596
for details on robot cable.
RDV-P 2 20 RBR1
Note 4. If a flexible cable is needed for the SR1-P, TS-P, or RDV-P, then select 3K/5K/10K. On the Driver Power-supply voltage Driver: Power capacity Regenerative unit
2: AC200V 20: 400W or less
RCX221HP, the standard cable is a flexible cable, so enter 3L/5L/10L when ordering.
single-axis robots
PHASER
Linear motor
Note. It is possible to provide the model without a cable carrier. To find information on wiring (cable
terminals) within the cable carrier see P.604.
MF30D RCX221HP R
Cartesian
XY-X
Model Installing Optional cable Grease type Stroke Cable length Controller Usable for CE Regenerative unit I/O selection 1 I/O selection 2
robots
MF30D: Incremental direction carrier for users Note 2 No entry: 150 to 3750 3L: 3.5m RCX221HP No entry: R: RG2 N: NPN No entry: None
MF30AD: Semi-absolute Note 1 H : Horizontal No entry: None Standard (100mm pitch) 5L: 5m SR1-P (2 units) Standard (RCX221HP) P: PNP N1: OP.DIO24/16
installation S: S type GC: Clean 10L: 10m TS-P (2 units) E: CE marking CC: CC-Link (NPN)
W: Wall mount M: M type 3K/5K/10K RDV-P (2 units) DN: DeviceNetTM P1: OP.DIO24/17
YK-X
SCARA
robots
Model MF30 MF30D
A

Pick & place

B
YP-X
C
robots
Note 2
B
100 to 4000 150 to 3750
Stroke (mm) Horizontal installation (Unit: mm) Wall installation (Unit: mm) (Unit: N·m)
4 rows of circular arc A B C A B C MY MP MR
Linear guide
CLEAN
grooves × 2 rail 10kg 3364 2485 1284 10kg 1290 1320 2730 373 373 328
outside dimensions (mm) (except the cable carrier section) 20kg 2298 1265 694 20kg 650 610 1750
Total length (mm) Stroke+310 Stroke+560 30kg 2060 859 507 30kg 430 360 1460 Controller
Note. A vertical model (with brake) is not available with the PHASER series. 50kg 1265 400 180 50kg 145 175 470
Programming /
of the incremental model. 60kg 1070 350 135 60kg 105 140 380 SR1-P20-R
Note 1. Payload per carrier. When the payload exceeds 30kg, please consult I/O point trace /
our sales office or sales representative. Note. Distance from center of slider top to center of gravity of object Remote command /
Note 2. Table of maximum speed being carried at a guide service life of 10,000 km. RCX221HP-R Operation using RS-232C
Maximum speed RCX240/340 communication
Payload (kg) 3000
(mm/s)
30 or less 2500 2500 I/O point trace /
TS-P220-R
40 2200 2000 Remote command
50 1800 RDV-P220-RBR1 Pulse train control
1500
60 1500
1000
500
0
0 10 20 30 40 50 60 70
Payload (kg)
MF type

ϕ30
RH Horizontal, right LH Horizontal, left S type M type L type Diameter or roller
MR type
167
100
100
90
215.5 240.5 238

66
50
24 49
15 40
29
35
20.5
20.5
14
14

MF30/MF30D
Articulated robots
YA
(Note 6)
Linear conveyor
(100)
L
LCM100
modules
155+/-5 (L side origin position) Effective stroke (155: When at L side origin)
240.5 (M option) (155: When at R side origin) 155+/-5 (R side origin position)
120 (Between
215.5 (S option) 190
ф6H7 +/-0.02)
+0.012
Optional cable carrier S / M type 70 4-ф6H7 0 Depth 10
54+/-1 50 +/-0.02 4-M6 x 1.0 Depth 12 54+/-1 (Note 1)
TRANSERVO
ф30
single-axis robots
(Note 1)
Diameter of roller
Compact
136
(Note 6)
167
90
238 Note 4
Single-axis robots
Optional cable carrier L type 186

FLIP-X
(Note 6)
(100)
98
14
64
7
2.5 3.7 G 150 32.5
7.2
4.5
single-axis robots
PHASER
Linear motor
A B x 200 (A)
Detail of section G 200 C-M6 x 1.0 Depth 10
66
24 49 50
100
15 40
35
29
20.5
20.5
14
14
+0.015
Cartesian
Depth 10 (Note 5)
XY-X
ф7.7 2-ф10H7 0
robots
S M L 105 D +/-0.02
ф7.5
Note 4. For models with a 3,000mm or longer stroke and an optional L type cable carrier, a roller is
installed to prevent the cable carrier from sagging.
Note 1. Stop positions are determined by the mechanical stoppers at both ends. Note 5. When using ф10 H7 hole, do not insert the pin more than the depth stated in the drawing.
Note 2. The origin is set on the L side at the time of shipment. It can be changed to the R side by parameter Otherwise, the motor may break.
YK-X
SCARA
setting. Note 6. Depending on the stroke and the operating conditions, the cable carrier bending radius might
robots
Note 3. For models with a 2,100mm or longer stroke, optional L type cable carriers can only be used. be larger, making it higher than the dimensions shown in the diagram.
L 410 510 610 710 810 910 1010 1110 12101310 1410 1510 1610 1710 18101910201021102210231024102510261027102810291030103110321033103410351036103710381039104010 4110 42104310
A 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55
B 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21
C 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36 36 38 38 40 40 42 42 44
D 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 15001600 1700 18001900200021002200230024002500260027002800290030003100 320033003400350036003700380039004000 4100
Pick & place
YP-X
Weight (kg) 9.0 10.7 12.3 13.9 15.6 17.2 18.820.4 22.1 23.725.3 27.0 28.630.2 31.9 33.5 35.1 36.738.440.0 41.6 43.344.946.548.249.8 51.4 53.054.756.3 57.9 59.6 61.262.864.5 66.1 67.7 69.3 71.0 72.6
robots

ф30 A B x 200 (A)
CLEAN
Diameter of roller 200 C-M6 x 1.0 Depth 10

120.3
(5)
100
105
(Note 6)
(Note 6)
325
290
9
+0.015
105 D +/-0.02
150
Grounding terminal (M4) 13
41.3
M, Ltype
Optional cable carrier L type Optional cable carrier M type
66 Grounding terminal (M4)
24 49 50
15 40 Standard, Stype
35
29
20.5
20.5
14
14
L
ф7.7
S M L 155+/-5 (L side origin position) Effective stroke (155: When at L side origin)
ф7.5
Cross-section of optional cable carrier (155: When at R side origin) 155+/-5 (R side origin position)
108
120 (Between
S type 79
ф6H7 +/-0.02)
3.7
MF type
7
2.5
4.5
(Note 6)
7.2
250
G section detailed chart

150
136
MR type
G14 4-M6 x 1.0 Depth 12 50 +/-0.02

64 +0.012 70
Top face of slider 80 54+/-1 (Note 1) 4-ф6H7 0 Depth 10
190 54+/-1 (Note 1)
Note 4. For models with a 3,000mm or longer stroke and an optional L type cable carrier, a roller is
installed to prevent the cable carrier from sagging.
Note 1. Stop positions are determined by the mechanical stoppers at both ends. Note 5. When using ф10 H7 hole, do not insert the pin more than the depth stated in the drawing.
Note 2. The origin is set on the R side at the time of shipment. It can be changed to the L side by parameter Otherwise, the motor may break.
setting. Note 6. Depending on the stroke and the operating conditions, the cable carrier bending radius might
Note 3. For models with a 2,100mm or longer stroke, optional L type cable carriers can only be used. be larger, making it higher than the dimensions shown in the diagram.
L 410 510 610 710 810 910 1010 1110 12101310 1410 1510 1610 1710 18101910201021102210231024102510261027102810291030103110321033103410351036103710381039104010 4110 42104310
A 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55
B 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21
C 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36 36 38 38 40 40 42 42 44
D 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 15001600 1700 18001900200021002200230024002500260027002800290030003100 320033003400350036003700380039004000 4100
E 220 270 320 370 420 470 520 570 620 670 720 770 820 870 920 970 10201070 1120 1170 12201270 1320 1370 1420 1470 1520157016201670 1720 17701820187019201970202020702120 2170
Weight (kg) 9.0 10.7 12.3 13.9 15.6 17.2 18.820.4 22.1 23.725.3 27.0 28.630.2 31.9 33.5 35.1 36.738.440.0 41.6 43.344.946.548.249.8 51.4 53.054.756.3 57.9 59.6 61.262.864.5 66.1 67.7 69.3 71.0 72.6
MF30/MF30D
Articulated robots
YA
L
120 (Between ф6H7 +/-0.02)
120 (Between ф6H7 +/-0.02)
Linear conveyor
(Note 6)
155+/-5 Effective stroke (250: Minimum distance between carriages)
(100)
LCM100
(Note 1)
modules
190 190
240.5 (M option) +0.012 +0.012
70 4-ф6H7 0 Depth 10 4-ф6H7 0 Depth 10 70
215.5 (S option)
50 +/-0.02 4-M6 x 1.0 Depth 12 4-M6 x 1.0 Depth 12 50 +/-0.02
Optional cable carrier S / M type
54+/-1 54+/-1
(Note 2) (Note 2)
TRANSERVO
single-axis robots
ф30 Diameter of roller
Compact
136
(Note 6)
167

90
Single-axis robots
186
FLIP-X
238 Note 4
Optional cable carrier L type
(Note 6)
(100)
98
14
64
7
2.5 3.7 G 150 32.5
7.2
4.5
single-axis robots
PHASER
Linear motor
Detail of section G A B x 200 (A)
200 C-M6 x 1.0 Depth 10
66
24 49 50
15 40
100
20.5
20.5
14
14
35
29
Cartesian
XY-X
robots
S M ф7.7 +0.015
L 2-ф10H7 0 Depth 10 (Note 5)
ф7.5 105 D +/-0.02
Note 4. For models with a 3,050mm or longer stroke and an optional L type cable carrier, a roller is installed to prevent the cable carrier from
sagging.
YK-X
SCARA
Note 2. Stop positions are determined by the mechanical stoppers Note 6. Depending on the stroke and the operating conditions, the cable carrier bending radius might be larger, making it higher than the
robots
at both ends. dimensions shown in the diagram.
L 710 810 910 1010 1110 1210 1310 1410 1510 1610 1710 1810 19102010 2110 22102310 2410 251026102710281029103010 3110 321033103410351036103710381039104010 4110 42104310
A 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55
B 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21
C 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36 36 38 38 40 40 42 42 44
Pick & place

D 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 19002000 2100 220023002400250026002700280029003000 3100 320033003400350036003700380039004000 4100
YP-X
robots
Weight (kg) 17.6 19.3 21.0 22.824.526.2 27.9 29.6 31.3 33.034.736.538.239.9 41.6 43.345.046.748.450.2 51.9 53.655.3 57.0 58.760.4 62.1 63.965.6 67.3 69.0 70.7 72.4 74.1 75.8 77.5 79.3

ф30 Diameter of roller A B x 200 (A)
CLEAN
120.3 200 C-M6 x 1.0 Depth 10
(5)
100
105
(Note 6)
(Note 6)
325
290
+0.015
9
105 2-ф10H7 0 Depth 10 (Note 5) D +/-0.02
150
13 Grounding terminal (M4) E 13

E
41.3 M and L types

Optional cable carrier L type Optional cable carrier M type
66 Grounding terminal (M4)

24 49 50
15 40 Standard and S types
35
29
20.5
20.5
14
14
120 (Between ф6H7 +/-0.02)
120 (Between ф6H7 +/-0.02)
ф7.7 L
S M L (250: Minimum distance between carriages)
Cross-section of optional cable carrier ф7.5 Effective stroke 155+/-5
155+/-5 Effective stroke (Note 1)
S type 79 (Note 1) 108 108
3.7
MF type
7
2.5
4.5
7.2
(Note 6)
250
Detail of section G
150
136
136
MR type
G
14 50 +/-0.02 4-M6 x 1.0 Depth 12 4-M6 x 1.0 Depth 12 50 +/-0.02
64 70 +0.012 +0.012 70
Top face of slider 80 54+/-1 (Note 2) 4-ф6H7 0 Depth 10 4-ф6H7 0 Depth 10 54+/-1 (Note 2)
190 190
Note 1. Position of table carriage when returned to the origin. Note 4. For models with a 3,050mm or longer stroke and an optional L type cable carrier, a roller is installed to prevent the cable carrier from
Note 2. Stop positions are determined by the mechanical stoppers sagging.
at both ends. Note 5. When using ф10 H7 hole, do not insert the pin more than the depth stated in the drawing. Otherwise, the motor may break.
Note 3. For models with a 2,050mm or longer stroke, optional L Note 6. Depending on the stroke and the operating conditions, the cable carrier bending radius might be larger, making it higher than the
type cable carriers can only be used. dimensions shown in the diagram.
L 710 810 910 1010 1110 1210 1310 1410 1510 1610 1710 1810 19102010 2110 22102310 2410 251026102710281029103010 3110 321033103410351036103710381039104010 4110 42104310
A 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55 105 55
B 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21
C 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36 36 38 38 40 40 42 42 44
D 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 19002000 2100 220023002400250026002700280029003000 3100 320033003400350036003700380039004000 4100
E 220 270 320 370 420 470 520 570 620 670 720 770 820 870 920 970 10201070 1120 1170 122012701320 1370 1420 1470 15201570162016701720 177018201870192019702020
Weight (kg) 17.6 19.3 21.0 22.824.526.2 27.9 29.6 31.3 33.034.736.538.239.9 41.6 43.345.046.748.450.2 51.9 53.655.3 57.0 58.760.4 62.1 63.965.6 67.3 69.0 70.7 72.4 74.1 75.8 77.5 79.3
MF75/MF75D
Articulated robots
YA
Ordering method
Linear conveyor

LCM100
modules
MF75 TSP 220 R

Model Cable carrier Origin position change Grease type Stroke Cable length Positioner Driver: Power-supply voltage / Regenerative unit LCD monitor I/O selection
MF75: Incremental entry location No entry: L side No entry: 1000 to 4000 Note 2 Note 4 Power capacity R: With RGU-2 No entry: None NP: NPN
MF75A: Semi-absolute Note 1 RH: Horizontal, right 3L: 3.5m TS-P 220: 200V/400 to 600W L: With LCD PN: PNP
zontal
LH: Horizontal, left Z: R side GC: Clean 5L: 5m CC: CC-Link
TRANSERVO
single-axis robots
10L: 10m DN: DeviceNetTM

Compact
(Flexible cable)Note 3 GW: No I/O board Note 5
SR1-P 20 R
20: 400 to 600W No entry: Standard R: With RGU-2 N: NPN
Single-axis robots
CC: CC-Link
FLIP-X
Note 1. For the details of the semi-absolute model, please refer to P.35. RDV-P has an DN: DeviceNetTM
incremental model only. PB: PROFIBUS
See P.596 for details on robot cable. RDV-P 2 25 RBR2
Note 3. If a flexible cable is needed for the SR1-P, TS-P, or RDV-P, then select 3K/5K/10K. Driver Power-supply voltage Driver: Power capacity Regenerative unit
On the RCX221HP, the standard cable is a flexible cable, so enter 3L/5L/10L when 2: AC200V 25: 750W or less
single-axis robots
ordering.
PHASER
Linear motor
Note. It is possible to provide the model without a cable carrier. To find information on wiring
(cable terminals) within the cable carrier see P.604.
MF75D H RCX221HP R
Cartesian
XY-X
robots
Model Installing Grease type Stroke Cable length Controller Usable for CE Regenerative unit I/O selection 1 I/O selection 2
MF75D: Incremental direction No entry: 680 to 3680 3L: 3.5m RCX221HP No entry: N: NPN No entry: None
MF75AD: Semi-absolute Note 1 H : Horizontal Standard (100mm pitch) 5L: 5m SR1-P (2 units) Standard P: PNP N1: OP.DIO24/16
installation GC: Clean 10L: 10m TS-P (2 units) E: CE marking CC: CC-Link (NPN)
3K/5K/10K RDV-P (2 units) DN: DeviceNetTM P1: OP.DIO24/17
(Flexible cable)Note 3 PB: PROFIBUS (PNP)
YK-X
SCARA
robots

Model MF75 MF75D
A

Pick & place
YP-X
C
robots
Note 2
Maximum speed (mm/sec) 2500 MP
Rated thrust (N) 260 MR
B
1000 to 4000 680 to 3680
Stroke (mm) Horizontal installation (Unit: mm) (Unit: N·m)
4 rows of circular arc A B C MY MP MR
Linear guide
CLEAN
grooves × 2 rail 20kg 3397 2841 1840 830 831 730

Maximum cross-section W210×H100
outside dimensions (mm) (except the cable carrier section) 40kg 2795 1389 964
Total length (mm) Stroke+360 Stroke+680 60kg 2200 530 450 Controller
Cable length (m) Standard: 3.5 / Option: 5,10 80kg 1800 175 150
Note. A vertical model (with brake) is not available with the PHASER series. 100kg 1500 130 110
Note. The basic specifications of semi-absolute model are the same as those SR1-P20-R Programming /
of the incremental model. 120kg 1250 100 80 (RGU-2) I/O point trace /
Note 1. Payload per carrier. When the payload exceeds 75kg, please consult Remote command /
our sales office or sales representative. 140kg 1100 80 65 RCX221HP-R
(RG2) Operation using RS-232C
160kg 950 60 50 communication
RCX240/340
Note. Distance from center of TS-P220-R I/O point trace /
Maximum 3000
Payload (kg) slider top to center of

speed (mm/s) gravity of object being
(RGU-2) Remote command
2500
75 or less 2500 carried at a guide service
90 2310 2000 life of 10,000 km.
RDV-P225-RBR2 Pulse train control
100 2200
110 2090 1500
120 2000 1000
130 1920
140 1840 500
150 1770 0
160 1700 0 50 60 70 80 90 100 110 120 130 140 150 160
Payload (kg)
MF type
Cable carrier entry location Cable carrier
141
RH Horizontal, right LH Horizontal, left
MR type
(180)
175
100
99
Note. Be sure to install in the direction as specified (in cable carrier take-out 210 88
Installation in any other way will cause a failure. For requirement of 66
please consult YAMAHA as special arrangement will be available. 50
29
35
Cable and air tube guide ϕ8 flexible cable x 2, ϕ6 air tube x 3

Space for optional cable for users
MF75/MF75D
Articulated robots
YA
Remove two top caps.
L
Linear conveyor
7
LCM100
4.8 180±5 (L side origin position) Effective stroke (180 When at L side origin)
2.5 3.7
modules
Tool mounting hole
Insert bolt from 1.4 2.6 (180 : When at R side origin) Slot width 20: lnsert M3 nut through this slot. 180±5 (R side origin position)
7.2
4.5
lateral side of axis. 31 ± 2 (Nut mountable range: 145) 31 ± 2
5.7
3.2
(Note 3) (Note 1) (Note 1)
Remove cap from
(11 .5)
14
each tool hole.
ф9
TRANSERVO
single-axis robots
Detail of section G Cross-section of H-H Detail of section J
Compact
(Roller diameter
100 (Top face of slider)
Note 4 Ground terminal (M4)
: ф30)
66
50 J H
141
11 .5
(Note 6)
(180)
175
Single-axis robots
(107 )
35
29
(99 )
97
FLIP-X
22 18
ф7.7 H
Cross-section of 210 88
cable carrier ф7.5 G
286
120
A Bx200 (A)
80 ± 0.02
200 C-ф9 Depth 14 (Refer to cross-section of H-H.)
single-axis robots
PHASER
Linear motor
ф6H7±0.02)
120 (Between
196
160
150
+ 0.015 200 F-M8x1.25 Depth 15

2-ф10H7 0 D Ex200 (D)
Depth 10
+ 0 .012
4-ф6H7 0 Depth 10 130 G± 0 .02
4-M8x1.25 Depth 20 (Note 5)
Detail of slider
Cartesian
XY-X
robots
Note 3. The length under head of M8 hex socket head bolts for installing the robot body must not be longer than 30mm.
Note 5. When using ф10 H7 hole, do not insert the pin more than the depth stated in the drawing. Otherwise, the motor may
Note 1. Stop positions are determined by the mechanical stoppers at both ends. break.
Note 2. The origin is set on the L side (as shown above) at the time of shipment. It can be Note 6. Depending on the stroke and the operating conditions, the cable carrier bending radius might be larger, making it
changed to the R side by parameter setting. higher than the dimensions shown in the diagram.
Effective stroke 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 2400 2500 2600 2700 2800 2900 3000 3100 3200 3300 3400 3500 3600 3700 3800 3900 4000
YK-X
SCARA
robots
L 1360 1460 1560 1660 1760 1860 1960 2060 2160 2260 2360 2460 2560 2660 2760 2860 2960 3060 3160 3260 3360 3460 3560 3660 3760 3860 3960 4060 4160 4260 4360
A 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80
B 5 5 7 7 7 7 9 9 9 9 11 11 11 11 13 13 13 13 15 15 15 15 17 17 17 17 19 19 19 19 21
C 12 12 16 16 16 16 20 20 20 20 24 24 24 24 28 28 28 28 32 32 32 32 36 36 36 36 40 40 40 40 44
D 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180
E 6 6 6 6 8 8 8 8 10 10 10 10 12 12 12 12 14 14 14 14 16 16 16 16 18 18 18 18 20 20 20
F 14 14 14 14 18 18 18 18 22 22 22 22 26 26 26 26 30 30 30 30 34 34 34 34 38 38 38 38 42 42 42
G 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 2400 2500 2600 2700 2800 2900 3000 3100 3200 3300 3400 3500 3600 3700 3800 3900 4000 4100
Pick & place

YP-X
Weight (kg) 46 49 51 54 56 59 61 64 66 69 71 74 76 79 81 84 86 89 91 94 96 99 101 104 106 109 111 114 116 119 121
robots
MF75D double carriage mount model
Remove two top caps. L
CLEAN
7 180 ± 5 Effective stroke (320 : Minimum distance between carriages)
2.5 3.7 Tool mounting hole 4.8 (Note 1) Effective stroke 180±5 (Note 1)
Insert bolt from 1.4 2.6 31 ± 2 Slot width 20: lnsert M3 nut through this slot. 31±2
7.2
4.5
lateral side of axis. (Note 2) (Nut mountable range: 145) (Note 2)

5.7
3.2
(Note 3)
Remove cap from

(11 .5)
14
each tool hole.
ф9
Detail of section G Cross-section of H-H Detail of section J
(Roller diameter
100 (Top face of slider)

: ф30)
50 Note 4
J
141
11 .5
H
(Note 6)
(180)
175
35
29
(107 )
(99 )
97
22 18
ф7.7 H
Cross-section of
cable carrier
ф7.5 G 210 88
286
120 A Bx200 (A)
80 ± 0.02 C-ф9 Depth 14 (Refer to cross-section of H-H.)
200
MF type
120 (Between
ф6H7±0.02)
196
160
150
+ 0 .015 200 F-M8x1.25 Depth 15

MR type
2-ф10H7 0 (D )
Depth 10 D Ex200
+ 0.012
4-M8x1.25 Depth 20 4-ф6H7 0 Depth 10 (Note 5) 130 G ± 0.02
Detail of slider
Note 3. The length under head of M8 hex socket head bolts for installing the robot body must not be longer than 30mm.
Note 2. Stop positions are determined by the mechanical stoppers at Note 6. Depending on the stroke and the operating conditions, the cable carrier bending radius might be larger, making it higher than the
both ends. dimensions shown in the diagram.
Effective stroke 680 780 880 980 1080 1180 1280 1380 1480 1580 1680 1780 1880 1980 2080 2180 2280 2380 2480 2580 2680 2780 2880 2980 3080 3180 3280 3380 3480 3580 3680
L 1360 1460 1560 1660 1760 1860 1960 2060 2160 2260 2360 2460 2560 2660 2760 2860 2960 3060 3160 3260 3360 3460 3560 3660 3760 3860 3960 4060 4160 4260 4360
A 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80
B 5 5 7 7 7 7 9 9 9 9 11 11 11 11 13 13 13 13 15 15 15 15 17 17 17 17 19 19 19 19 21
C 12 12 16 16 16 16 20 20 20 20 24 24 24 24 28 28 28 28 32 32 32 32 36 36 36 36 40 40 40 40 44
D 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180 230 80 130 180
E 6 6 6 6 8 8 8 8 10 10 10 10 12 12 12 12 14 14 14 14 16 16 16 16 18 18 18 18 20 20 20
F 14 14 14 14 18 18 18 18 22 22 22 22 26 26 26 26 30 30 30 30 34 34 34 34 38 38 38 38 42 42 42
G 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 2400 2500 2600 2700 2800 2900 3000 3100 3200 3300 3400 3500 3600 3700 3800 3900 4000 4100
Weight (kg) 57 60 62 65 67 70 73 75 78 81 83 86 88 91 94 96 99 101 104 107 109 112 114 117 120 122 125 127 130 133 135
MR12/MR12D
Articulated robots
YA
Ordering method
Linear conveyor

LCM100
modules
MR12 TSP
Model Cable carrier entry Optional cable Origin position change Grease type Stroke Cable length Positioner Driver: Power-supply voltage / LCD monitor I/O selection
MR12: Incremental location carrier for users No entry: L side No entry: 50 to 1050 Note 2 Note 4 Power capacity No entry: None NP: NPN
MR12A: Semi-absolute Note 1 RH: Horizontal, right No entry: None 3L: 3.5m TS-P 105: 100V/100W or less L: With LCD PN: PNP
zontal
L H: Horizontal, left S: S type Z: R side GC: Clean 5L: 5m 205: 200V/100W or less CC: CC-Link
TRANSERVO
single-axis robots
RW: Wall mounted, right M: M type No entry: R side 10L: 10m DN: DeviceNetTM
LW: Wall mounted, left Wall (Standard) 3K/5K/10K EP: EtherNet/IPTM
Compact
SR1-P 05
05: 100W or less No entry: Standard N: NPN
Single-axis robots
CC: CC-Link
FLIP-X
DN: DeviceNetTM
Note 1. For the details of the semi-absolute model, please refer to P.35. RDV-P has an incremental model PB: PROFIBUS
only.
Note 2. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable. See P.596 for
details on robot cable.
RDV-P 2 05
Note 3. If a flexible cable is needed for the SR1-P, TS-P, or RDV-P, then select 3K/5K/10K. On the RCX221, the Driver Power-supply voltage Driver: Power capacity
standard cable is a flexible cable, so enter 3L/5L/10L when ordering. 2: AC200V 05: 100W or less
single-axis robots
PHASER
Linear motor
MR12D RCX221
Cartesian
XY-X
Installing Optional cable

robots
Model Grease type Stroke Cable length Controller Usable for CE I/O selection 1 I/O selection 2
direction carrier for users
MR12D: Incremental H : Horizontal No entry: None No entry: 50 to 1050 3L: 3.5m RCX221 No entry: N: NPN No entry: None
MR12AD: Semi-absolute Note 1 installation S: S type Standard (100mm pitch) 5L: 5m SR1-P (2 units) Standard P: PNP N1: OP.DIO24/16
W: Wall mounted M: M type GC: Clean 10L: 10m TS-P (2 units) E: CE marking CC: CC-Link (NPN)
installation 3K/5K/10K RDV-P (2 units) DN: DeviceNetTM P1: OP.DIO24/17
(Flexible cable)Note 3 PB: PROFIBUS (PNP)
YK-X
SCARA
robots

Model MR12 MR12D
A
MY
Driving method / Shaft diameter Shaft motor / ϕ12
Repeatability (μm) +/-5 or less
Pick & place
B
YP-X
Scale (μm) Magnetic type: resolution of 1 C

robots
A MP
Note 1
Maximum speed (mm/sec) 2500 C
B MR
Rated thrust (N) 18
Maximum payload Note 2 (kg) 5 Horizontal installation (Unit: mm) Wall installation (Unit: mm) (Unit: N·m)
Stroke (mm) 50 to 1050 (50mm pitch) A B C A B C MY MP MR

CLEAN
4 rows of circular arc 1kg 600 600 600 1kg 600 600 600 107 107 89
Linear guide
grooves × 2 rail
2kg 1200 1200 598 2kg 529 1200 1200
Maximum cross-section W60 × H90 3kg 1800 1800 406 3kg 323 1450 1800 Controller
outside dimensions (mm) (except the cable carrier section)
5kg 3000 1561 241 5kg 162 589 3000
Total length (mm) Stroke+288 Stroke+488
Note. Distance from center of slider top to center of gravity of object

Cable length (m) Standard: 3.5 / Option: 5,10 being carried at a guide service life of 10,000 km. Programming /
SR1-P05
I/O point trace /
Note. A vertical model (with brake) is not available with the PHASER series.
Remote command /
of the incremental model. RCX221 Operation using RS-232C
Note 1. Maximum speed may not be obtained depending on operating RCX240/340 communication
conditions.
Note 2. Maximum payload per carriage. TS-P105 I/O point trace /
TS-P205 Remote command
RDV-P205 Pulse train control

MF type
RH Horizontal, right LH Horizontal, left S type M type

MR type
120 145
15 40
89
89
14
14
24 49
15 40
20.5
20.5
14
14
installation in any way other than the above standard installation, Space for optional cable for users
please consult YAMAHA as special arrangement will be available.
Note. The cable and air hoses should take up less than 30% of the space when
storing them inside the cable carrier. Lay out the cables and air hoses in rows
inside the cable carrier so they do not cross each other.
MR12/MR12D
Articulated robots
YA
MR12 single carriage horizontal mount model
/
7ROHUDQFHEHWZHHQ
Linear conveyor
LCM100
/VLGHRULJLQSRVLWLRQ 0RYDEOHUDQJH :KHQDW/VLGHRULJLQ
modules
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TRANSERVO
single-axis robots

Compact
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single-axis robots
PHASER
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Linear motor

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robots

10['HSWK

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YK-X
SCARA
robots
Effective stroke 50 150 250 350 450 550 650 750 850 950 1050 Note 1. Stop positions are determined by the mechanical stoppers at both ends.
L 338 438 538 638 738 838 938 1038 1138 1238 1338 might be larger, making it higher than the dimensions shown in the diagram.
M 2 3 4 5 6 7 8 9 10 11 12 Note. The origin is set on the L side at the time of shipment. It can be changed to the R side by
parameter setting.
N 6 8 10 12 14 16 18 20 22 24 26
Pick & place

Weight (kg) 3.9 4.4 5.0 5.6 6.1 6.7 7.3 7.9 8.4 9.0 9.5
YP-X
robots
MR12 single carriage wall mount model

CLEAN

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Effective stroke 50 150 250 350 450 550 650 750 850 950 1050 Note 1. Stop positions are determined by the mechanical stoppers at both ends.
L 338 438 538 638 738 838 938 1038 1138 1238 1338 might be larger, making it higher than the dimensions shown in the diagram.
M 2 3 4 5 6 7 8 9 10 11 12 Note. The origin is set on the R side at the time of shipment. It can be changed to the L side by
parameter setting.
N 6 8 10 12 14 16 18 20 22 24 26
Weight (kg) 3.9 4.4 5.0 5.6 6.1 6.7 7.3 7.9 8.4 9.0 9.5
MR12/MR12D
Articulated robots
YA
MR12D double carriage horizontal mount model
7ROHUDQFHEHWZHHQ
/
Linear conveyor

LCM100
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modules
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0RSWLRQ
single-axis robots
6RSWLRQ
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1RWH

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single-axis robots
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Linear motor
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XY-X
0[
robots

10['HSWK

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YK-X
SCARA
robots
Effective stroke 50 150 250 350 450 550 650 750 850 950 1050 Note 1. Position of the table slider when returned to the origin.
L 538 638 738 838 938 1038 1138 1238 1338 1438 1538 Note 3. Depending on the stroke and the operating conditions, the cable carrier bending radius
M 4 5 6 7 8 9 10 11 12 13 14 might be larger, making it higher than the dimensions shown in the diagram.
N 10 12 14 16 18 20 22 24 26 28 30
Pick & place
Weight (kg) 5.7 6.3 6.8 7.3 8.0 8.6 9.1 9.7 10.2 10.8 11.3
YP-X
robots
MR12D double carriage wall mount model

CLEAN

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Effective stroke 50 150 250 350 450 550 650 750 850 950 1050 Note 1. Position of the table slider when returned to the origin.
L 538 638 738 838 938 1038 1138 1238 1338 1438 1538 Note 3. Depending on the stroke and the operating conditions, the cable carrier bending radius
M 4 5 6 7 8 9 10 11 12 13 14 might be larger, making it higher than the dimensions shown in the diagram.
N 10 12 14 16 18 20 22 24 26 28 30
Weight (kg) 5.7 6.3 6.8 7.3 8.0 8.6 9.1 9.7 10.2 10.8 11.3
Articulated robots
YA
Linear conveyor
LCM100
modules
TRANSERVO
single-axis robots
Compact
Single-axis robots
FLIP-X
XY-X
CARTESIAN ROBOTS
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
SERIES
YK-X
SCARA
robots
CONTENTS
Pick & place

YP-X
robots
■■Arm & cable variations········ 242 SXYBx 3 axes / ZFH C��288 MOVING ARM TYPE
■ 2-axis spec selection guide···· 244 SXYBx 3 axes / ZS C��289 SXYx 2 axes S��336
SXYBx 4 axes / ZRS C��290 SXYx 3 axes / ZF S��338
■ 3-axis spec selection guide···· 246
NXY 2 axes C��292
CLEAN
SXYx 3 axes / ZFL20 S��339
■■Robot ordering method NXY 3 axes / ZFL C��294 SXYx 3 axes / ZFH S��340
description···························· 250 NXY 3 axes / ZFH C��296 SXYx 3 axes / ZS S��341
■■Robot ordering method NXY-W 4 axes C��298 MXYx 2 axes C��342
terminology··························· 251 NXY-W 6 axes / ZFL C��299 MXYx 3 axes / ZFL20/10 C��344
NXY-W 6 axes / ZFH C��300 MXYx 3 axes / ZFH C��345
ARM TYPE
MXYx 2 axes C��302 HXYx 2 axes C��346
PXYx 2 axes C��252 MXYx 2 axes S��304 HXYx 3 axes / ZH C��348
FXYx 2 axes C��254 MXYx 2 axes / IO C��306
FXYx 2 axes / IO C��256 MXYx 3 axes / ZFL20/10 C��307 POLE TYPE
FXYx 3 axes / ZS C��257 MXYx 3 axes / ZFH C��308 SXYx 2 axes S��350
FXYx 3 axes / ZT C��258 MXYx 4 axes / ZRFL20/10 C��309 MXYx 2 axes C��351
FXYBx 2 axes C��260 MXYx 4 axes / ZRFH C�� 310 MXYx 2 axes S��352
FXYBx 2 axes S��262 HXYx 2 axes C�� 312 MXYx 3 axes / ZPMH C��353
FXYBx 2 axes / IO C��264 HXYx 3 axes / ZL C�� 314 HXYx 2 axes C��354
SXYx 2 axes C��266 HXYx 3 axes / ZH C�� 315 HXYx 2 axes S��355
Arm type
SXYx 2 axes S��268 HXYx 4 axes / ZRL C�� 316 HXYx 3 axes / ZPH C��356
SXYx 2 axes / IO C��270 HXYx 4 axes / ZRH C�� 317 HXYx 3 axes / ZPH S��357
SXYx 3 axes / ZF C��272 HXYLx 2 axes C�� 318
SXYx 3 axes / ZF S��273 XZ TYPE
Gantry type
SXYx 3 axes / ZFL20�� 274 GANTRY TYPE SXYx 2 axes / ZF C��358

SXYx 3 axes / ZFH C��275 MXYx 2 axes C��320 SXYx 2 axes / ZF S��359
SXYx 3 axes / ZS C��276 MXYx 2 axes / IO C��322 SXYx 2 axes / ZFL20 C��360
Moving arm
SXYx 3 axes / ZS S��277 MXYx 3 axes / ZFL20/10 C��323 SXYx 2 axes / ZS C��361
type
SXYx 4 axes / ZRF C��278 MXYx 3 axes / ZFH C��324 SXYx 2 axes / ZF C��362
SXYx 4 axes / ZRF S��279 MXYx 4 axes / ZRFL20/10 C��325 SXYBx 2 axes / ZFL20 C��363
SXYx 4 axes / ZRFL20 C��280 MXYx 4 axes / ZRFH C��326 MXYx 2 axes / ZFL10 C��364
Pole type
SXYx 4 axes / ZRFH C��281 HXYx 2 axes C��328 MXYx 2 axes / ZFH C��365
SXYx 4 axes / ZRS C��282 HXYx 3 axes / ZL C��330 HXYx 2 axes / ZL C��366
SXYx 4 axes / ZRS S��283 HXYx 3 axes / ZH C��331 HXYx 2 axes / ZH C��367
SXYBx 2 axes C��284 HXYx 4 axes / ZRL C��332
XZ type
SXYBx 3 axes / ZF C��286 HXYx 4 axes / ZRH C��333

SXYBx 3 axes / ZFL20 C��287 HXYLx 2 axes C��334

Arm & cable variations
Articulated robots
YA
Cable variations Arm variations

Linear conveyor
LCM100
modules
Two cable types are available; cable carrier The first step for selection of Cartesian type robot models is to check for
type and whipover type. (except PXYX) The applicable models according to specific use and operation area.
cable carrier type is supplied with a user
cable as standard so that cable can be added
TRANSERVO
single-axis robots
easily. The whipover type is supplied with a

Compact
user cable and tube as standard set. A cable

duct specially designed for clean rooms Arm type
is also available. (See P.458 to P.463 for
Single-axis robots
detailed information on Clean Cartesian robots.)

FLIP-X
The type with moving

Y-axis carriage.
P.252
single-axis robots
PHASER
Linear motor
Cable carrier (C)

When adding cables to a cable carrier track,
keep the cable occupation rate at 30% or Gantry
less. type
Cartesian
XY-X
robots
The type with a guide

railing at the end of
Y-axis for support.
P.320
YK-X
SCARA
robots
Moving
Note. User cable 10 cores, 0.2 sq.
arm type
Pick & place
YP-X
robots
The type with a moving

Whipover (S) Y-axis arm.
Adding a load on whipover will result in

P.336
CLEAN
sagging and cut. Sagging may also occur

when using long strokes.
Pole type
The type with vertically

moving Y-axis carriage.
P.350
XZ type
Arm type
Note. User cable: 7 cores, 0.2 sq. The type with combination
Note. User tube: 2 ϕ4 air tubes.
of X-axis for horizontal
Gantry type
movement and Z-axis for

vertical movement. P.358
Moving arm
type
Clean
type
Pole type
Special model for clean

rooms with moving Y-axis
carriage installed upward.
P.458
XZ type
242
Articulated robots modules single-axis robots Single-axis robots single-axis robots robots robots robots Moving arm
YA LCM100 TRANSERVO FLIP-X PHASER XY-X YK-X YP-X CLEAN CONTROLLER INFORMATION Arm type Gantry type type Pole type XZ type
243
M
M
M
M
G4
A4
M
M
M
M
G3
A3
M
M
M
M
M
M
M
M
M
M
M3
G2
P2
T3
F3
A2
M
M
M
M
M
M
M
M
M
M
M1
P1
G1
A1
F1
T1
2-axis spec selection guide
Articulated robots
YA
Setting method
Linear conveyor
LCM100
While checking conditions in Arm type Y-axis stroke (mm)

modules
order starting from , proceed 50 100 150 200 250 300 350 400 450 500
Payload (kg) 4.5 4.5 3.5 2.5 2 1.5
to the right. Select the desired
model in . Y-axis stroke (mm)
TRANSERVO
single-axis robots
150 250 350 450 550 650 750 850 950 1050
Compact
12 11 9 7
1 Select the arm variation
12 11 9 7
7 6 5 3
Arm type
7 6 5 3
The type with moving Y-axis
Single-axis robots
7 6 5 3
carriage.
FLIP-X
20 17 15 13 11 9
Payload (kg)
20 17 15 13 11 9
Gantry type
19 16 14 12 10 8
The type with a guide railing
14 12 10 8 7
at the end of Y-axis for
single-axis robots
25 21 18 16 13 11
PHASER
support.
Linear motor
30 25 20 16
Moving arm type 30 25 20 16
The type with a moving Y-axis 29 24 19 15
arm.
40 35 30
40 35 30
Pole type
Cartesian
XY-X
robots
The type with vertically

moving Y-axis carriage. Gantry type Y-axis stroke (mm)
150 250 350 450 550 650 750 850 950 1050
XZ type 30 25 20
Payload
The type with combination 29 24 19

(kg)
YK-X
SCARA
of X-axis for horizontal

robots
50
movement and Z-axis for 50
vertical movement.
Moving arm type Y-axis stroke (mm)

Pick & place
YP-X
150 250 350 450 550 650 750 850 950 1050
robots
15 14 13
Payload
(kg)
20
2 Select a line satisfying both 30
the Y-axis stroke and payload
CLEAN
and move to the right.

Pole type Y-axis stroke (mm)
150 250 350 450 550 650 750 850 950 1050
8
Payload (kg)
20
20
30
3 Check the cable types 30
XZ type Z-axis stroke (mm)

4 Check the X axis stroke 150 250 350 450 550 650 750 850 950 1050
10
10
Arm type
8
3
Payload (kg)
5
10
Gantry type
5 Select the desired speed 8

15
14 13 12
20
Moving arm
30
type
6 Decide the model

Pole type
XZ type
244
Articulated robots
YA
Decide the model
Linear conveyor
LCM100
Maximum speed Detailed info
modules
Cable type X-axis stroke (mm) Model (Note 1)
(X-axis / Y-axis) (mm/sec) page
Cable carrier 150 to 650 720 / 720 PXYx-C-A* P.252
TRANSERVO
single-axis robots
Cable type X-axis stroke (mm) Model
Compact
Cable carrier 150 to 1050 1200 / 800 FXYx-C-A* P.254
Cable carrier 150 to 1050 1200 / 800 FXYx-C-A* (I/O) P.256
Cable carrier 150 to 2450 1875 / 1875 FXYBx-C-A* P.260
Whipover 150 to 950 1875 / 1875 FXYBx-S-A* P.262
Single-axis robots
Cable carrier 150 to 2450 1875 / 1875 FXYBx-C-A* (I/O) P.264
FLIP-X
Cable carrier 150 to 1050 1200 / 1200 SXYx-C-A* P.266
Whipover 150 to 850 1200 / 1200 SXYx-S-A* P.268
Cable carrier 150 to 1050 1200 / 1200 SXYx-C-A* (I/O) P.270
Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A* P.284
P.292
single-axis robots
Cable carrier 500 to 2000 1200 / 1200 NXY-C-A*
PHASER
Linear motor
Cable carrier 250 to 1250 1200 / 1200 MXYx-C-A* P.302
Whipover 250 to 850 1200 / 1200 MXYx-S-A* P.304
Cable carrier 250 to 1250 1200 / 1200 MXYx-C-A* (I/O) P.306
Cable carrier 250 to 1250 1200 / 1200 HXYx-C-A* P.312
Cable carrier 1150 to 2050 1200 / 1200 HXYLx-C-A* P.318
Cartesian
XY-X
robots
Cable carrier 250 to 1050 1200 / 1200 MXYx-C-G* P.320
Cable carrier 250 to 1050 1200 / 1200 MXYx-C-G* (I/O) P.322
YK-X
SCARA
robots
Cable carrier 250 to 1250 1200 / 1200 HXYx-C-G* P.328
Cable carrier 1150 to 2050 1200 / 1200 HXYLx-C-G* P.334
Pick & place

YP-X
robots
Cable carrier 150 to 850 1200 / 1200 SXYx-C-M* P.336
Cable carrier 250 to 1250 1200 / 1200 MXYx-C-M* P.342
Cable carrier 250 to 1250 1200 / 1200 HXYx-C-M* P.348
CLEAN
Whipover 150 to 850 1200 / 600 SXYx-S-P* P.350
Cable carrier 250 to 1250 1200 / 600 MXYx-C-P* P.351
Whipover 250 to 950 1200 / 600 MXYx-S-P* P.352
Cable carrier 250 to 1250 1200 / 600 HXYx-C-P* P.354
Whipover 250 to 850 1200 / 600 HXYx-S-P* P.355

Cable carrier 150 to 1050 1200 / 600 SXYx-C-F* (ZF) P.358
Whipover 150 to 850 1200 / 600 SXYx-S-F* (ZF) P.359
Arm type
Cable carrier 150 to 1050 1200 / 1200 SXYx-C-F* (ZFL20) P.360

Cable carrier 150 to 1050 1200 / 1000 SXYx-C-F* (ZS12) P.361
Cable carrier 150 to 1050 1200 / 500 SXYx-C-F* (ZS6) P.361
Cable carrier 150 to 3050 1875 / 600 SXYBx-C-F* (ZF) P.362
Gantry type
Cable carrier 150 to 3050 1875 / 1200 SXYBx-C-F* (ZFL20) P.363

Cable carrier 150 to 1050 1200 / 600 MXYx-C-F* (ZFL10) P.364
Cable carrier 150 to 1050 1200 / 600 MXYx-C-F* (ZFH) P.365
Cable carrier 250 to 1250 1200 / 600 HXYx-C-F* (ZL) P.366
Moving arm
Cable carrier 250 to 1250 1200 / 300 HXYx-C-F* (ZH) P.367

type
Note 1. The figure entered at * inside the form, expresses the arm
variation. See P. 242 for more information.
Pole type
XZ type
245
Articulated robots
YA
Setting method
Linear conveyor
LCM100
While checking conditions in

modules
order starting from , proceed 1 Select the arm variation

to the right. Select the desired Arm type Moving arm type
model in . The type with moving Y-axis carriage. The type with a moving Y-axis arm.
TRANSERVO
single-axis robots
Compact
Gantry type Pole type

The type with a guide railing at the end of The t ype with ver tic ally moving Y- a xis
Y-axis for support. carriage.
Single-axis robots
FLIP-X
Arm type Z-axis Y-axis stroke (mm)

single-axis robots
PHASER
Linear motor
Speed Stroke
Installation method 150 250 350 450 550 650 750 850 950 1050
(mm/sec) (mm)
1000 150 3
Shaft vertical type
500 150 5 3
Clamped base · moving
800 50 to 300 3
table type (60W)
Cartesian
150 10 9 7 5 3
XY-X
Clamped base ·
robots
250 moving table type 10 8 6 4 2

350 (100W) 10 9 7 5 3 1
600
150 Clamped base · 10 9 7 5 3
250 moving table type 10 10 8 6 4 2
350 (100W) 10 9 7 5 3 1
YK-X
SCARA
robots
150 Clamped base · 8 6 4 2

1200 250 moving table type 8 7 5 3 1
350 (200W) 8 6 4 2 1
150 Clamped table · 13 10 8 6 4 2
600 250 moving base type 12 9 7 5 3 1
Pick & place
YP-X
(200W)
robots
350 11 8 6 4 2 1
3
1000 150
3
Shaft vertical type
5
500 150
5
CLEAN
150 Clamped base · 8 6 4 2 1

600 250 moving table type 7 5 3 1
350 (100W) 6 4 2
150 Clamped base · 7 5 3 1
1200 250 moving table type 6 4 2

(200W)
Payload (kg)
350 5 3 1
150 Clamped table · 7 5 3 1
600 250 moving base type 6 4 2
350 (200W) 5 3 1
1000 150 3
Shaft vertical type
500 150 5 4 3
150 Clamped base · 8 5 3
350 (200W) 8 6 3 1
150 Clamped table · 13 12 10 8 5 3
600 250 moving base type 13 11 9 7 4 2
Arm type
350 (200W) 12 10 8 6 3 1
150 Clamped base · 15 12 12 8
350 (200W) 15 10 10 6
Gantry type
150 Clamped base · 8

1200 250 moving table type 8 7
350 (200W) 8 6
150 14 12 8
Moving arm
Clamped table ·
type
350 (200W) 12 10 6
250 20 18
350 Clamped base · 20 17
Pole type
600 moving table type

450 (200W) 20 19 16
550 20 18 15
250 25 20 18
Clamped table ·
XZ type
350 25 20 17
300 moving base type
450 (200W) 24 19 16
550 23 18 15
246
Articulated robots
YA
Linear conveyor
LCM100
modules
Select a line satisfying both the
2 Check the Z-axis speed, 3 4 Check the cable
Y-axis stroke and payload and
stroke, and installation method types
move to the right.
TRANSERVO
single-axis robots
Compact
Check the maximum speed
5 Check the X axis stroke 6 7 Decide the model
on X-axis and Y-axis
Single-axis robots
FLIP-X
Decide the model
Maximum speed
single-axis robots
Detailed info
PHASER
Cable type X-axis stroke (mm) (X-axis / Y-axis) Model (Note 1)
Linear motor
page
(mm/sec)
FXYx-C-A*-ZS12 P.257
FXYx-C-A*-ZS6 P.257
Cable carrier 150 to 1050 1200 / 800
FXYx-C-A*-ZT6 P.258
Cartesian
XY-X
robots
Cable carrier 150 to 1050 1200 / 1200 SXYx-C-A*-ZF P.272
Whipover 150 to 850 1200 / 1200 SXYx-S-A*-ZF P.273
YK-X
SCARA
robots
Cable carrier 150 to 1050 1200 / 1200 SXYx-C-A*-ZFL20 P.274
Cable carrier 150 to 1050 1200 / 1200 SXYx-C-A*-ZFH P.275
Pick & place

YP-X
robots
Cable carrier 150 to 1050 SXYx-C-A*-ZS12 P.276
Whipover 150 to 850 SXYx-S-A*-ZS12 P.276
1200 / 1200
Cable carrier 150 to 1050 SXYx-C-A*-ZS6 P.277
Whipover 150 to 850 SXYx-S-A*-ZS6 P.277
CLEAN
Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A*-ZF P.286
Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A*-ZFL20 P.287
Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A*-ZFH P.288
Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A*-ZS12 P.289

Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A*-ZS6 P.289
Cable carrier 500 to 2000 1200 / 1200 NXY-C-A*-ZFL20 P.294
Cable carrier 500 to 2000 1200 / 1200 NXY-C-A*-ZFH P.296

Arm type
Cable carrier 250 to 1250 1200 / 1200 MXYx-C-A*-ZFL10 P.307

Gantry type
Cable carrier 250 to 1250 1200 / 1200 MXYx-C-A*-ZFL20 P.307

Moving arm
Cable carrier 250 to 1250 1200 / 1200 MXYx-C-A*-ZFH P.308

type
Pole type
Cable carrier 250 to 1250 1200 / 1200 HXYx-C-A*-ZL P.314

XZ type
Cable carrier 250 to 1250 1200 / 1200 HXYx-C-A*-ZH P.315 Note 1. The figure entered at * inside the form,
expresses the arm variation. See P.242 for
more information.
247
Articulated robots
YA
Linear conveyor
LCM100
Gantry type Z-axis Y-axis stroke (mm)

modules
Speed Stroke
(mm/sec) (mm)
150 Clamped base · 15 12
600 250 moving table type 15 11
TRANSERVO
single-axis robots
350 (200W) 15 10
Compact

1200 250 moving table type 8
350 (200W) 8
150 Clamped table · 14 12
Payload (kg)
Single-axis robots
600 250 moving base type 13 11

FLIP-X
350 (200W) 12 10
250 20
600 moving table type
450 (200W) 20
550 20
single-axis robots
PHASER
Linear motor
250 30
350 Clamped table · 30
450 (200W) 30
550 30
Cartesian
XY-X
robots
Moving arm type Z-axis Y-axis stroke (mm)

Speed Stroke
(mm/sec) (mm)
350 (100W) 7 6 5
YK-X
SCARA
robots

350 (200W) 7 6 5
150 Clamped table · 9 8 7
Pick & place

YP-X
robots
350 (200W) 7 6 5
1000 150 3
Shaft vertical type
Payload (kg)
500 150 5
CLEAN
350 (200W) 10
150 Clamped base ·
350 (200W)

600 250 moving base type 11
350 (200W) 10
250 18
350 Clamped table · 18 17
450 (200W) 18 16
550 18 15
Pole type Z-axis Y-axis stroke (mm)

Speed Stroke
(mm/sec) (mm)
Arm type

350 (200W) 8
250 15
Gantry type

Payload (kg)

550 (200W) 15
Moving arm
650 15
type
250 15
(200W)
Pole type
550 15
650 15
XZ type
248
Articulated robots
YA
Decide the model
Linear conveyor
LCM100
Maximum speed
modules
Detailed info
page
(mm/sec)
Cable carrier 250 to 1050 1200 / 1200 MXYx-C-G*-ZFL10 P.323
TRANSERVO
single-axis robots
Compact
Cable carrier 250 to 1050 1200 / 1200 MXYx-C-G*-ZFL20 P.323
Single-axis robots
Cable carrier 250 to 1050 1200 / 1200 MXYx-C-G*-ZFH P.324
FLIP-X
Cable carrier 250 to 1250 1200 / 1200 HXYx-C-G*-ZL P.330
single-axis robots
PHASER
Linear motor
Cable carrier 250 to 1250 1200 / 1200 HXYx-C-G*-ZH P.331
Cartesian
XY-X
robots
Maximum speed
Detailed info
page
(mm/sec)
Whipover 150 to 850 1200 / 1200 SXYx-S-M*-ZF P.338
YK-X
SCARA
robots
Whipover 150 to 850 1200 / 1200 SXYx-S-M*-ZFL20 P.339
Pick & place

Whipover 150 to 850 1200 / 1200 SXYx-S-M*-ZFH P.340
YP-X
robots
Whipover 150 to 850 1200 / 1200 SXYx-S-M*-ZS12 P.341
Whipover 150 to 850 1200 / 1200 SXYx-S-M*-ZS6 P.341
Cable carrier 250 to 1250 1200 / 1200 MXYx-C-M*-ZFL10 P.344
CLEAN
Cable carrier 250 to 1250 1200 / 1200 MXYx-C-M*-ZFL20 P.344
Cable carrier 250 to 1250 1200 / 1200 MXYx-C-M*-ZFH P.345
Cable carrier 250 to 1250 1200 / 1200 HXYx-C-M*-ZH P.348 Note 1. The figure entered at * inside the form,
expresses the arm variation. See P.242 for
more information.
Maximum speed
Detailed info
Cable type X-axis stroke (mm) (X-axis / Y-axis) Model
page
(mm/sec)
Arm type
Cable carrier 250 to 1250 1200 / 600 MXYX-C-P2-ZPMH P.353

Gantry type
Cable carrier 250 to 1250 1200 / 600 HXYx-C-P2-ZPH P.356

Moving arm
type
Whipover 250 to 850 1200 / 600 HXYx-S-P1-ZPH P.357

Pole type
XZ type
249
Articulated robots
YA
In the order format for the YAMAHA cartesian robots XY-X series, the notation (letters/numbers) for the mechanical section is shown linked to
the controller section notation.
Linear conveyor
LCM100
[Example]
modules
2-axis specifications
Mechanical FXYx (Arm type) Controller RCX222

TRANSERVO
single-axis robots
• Cable variations Cable carrier • X-axis stroke 450mm

Compact
• Combination (Arm variations) A1 • Y-axis stroke 350mm

• Robot cable length 3.5M
Ordering method
Single-axis robots
FXYx C A1 45 35 3L RCX222
FLIP-X
To find detailed controller information see the controller page. RCX222 P.526
single-axis robots
PHASER
Linear motor
RCX222
Model Cable Combination Note 1 X-axis stroke Y-axis stroke Cable Controller
PXYx C Cable carrier A1 to 4 Arm type 3L 3.5m

FXYx S Whipover G1 to 4 Gantry type 5L 5m
Cartesian
XY-X
FXYBx M1 / M3 Moving arm type 10L 10m

robots
SXYx P1 / P2 Pole type

SXYBx F1 / F3 XZ type
NXY
MXYx
HXYx
HXYLx
YK-X
SCARA
robots
Note 1. To find detailed information on arm variations (combinations) see P.242.
[Example]
3 / 4-axis specifications
Pick & place
YP-X
robots
Mechanical SXYx (Moving arm type) Controller RCX240S

• Cable variations Whipover • Y-axis stroke 150mm
• Combination (Arm variations) M3 • Z-axis stroke 150mm
• X-axis stroke 850mm • Robot cable length 5M
CLEAN
Ordering method
SXYx S M3 85 15 ZFH 15 5L RCX240S

To find detailed controller information see the controller page. RCX240 P.534 , RCX340 P.544
Model Cable Combination X-axis stroke Y-axis stroke ZR-axis Z-axis stroke Cable Controller
FXYx C Cable carrier A1 to 4 Arm type ZS Shaft vertical type 3L 3.5m RCX240
SXYx S Whipover G1 to 4 Gantry type Clamped base • 5L 5m RCX240S
ZT
SXYBx M1/3 Moving arm type moving table type (60W) 10L 10m RCX340
NXY P1 to 2 Pole type Clamped base •
ZF
MXYx moving table type (100W)
Arm type
HXYx Clamped base •

ZFL/ZL
moving table type (200W)
Clamped table •
ZFH/ZH
moving base type (200W)
Gantry type
Clamped table • moving base

ZPMH/ZPH
type (200W) for Pole type
Clamped base •
ZRF
moving table type (100W)+R-axis
Shaft vertical type ZR-axis
ZRS
integrated type
Moving arm
Clamped base •
type
ZRFL/ZRL
moving table type (200W)+R-axis
Clamped table •
ZRFH/ZRH
moving base type (200W)+R-axis
Pole type
XZ type
250
Articulated robots
YA
Model Enter the robot unit model.
Linear conveyor
LCM100
modules
Cable specs can be selected. To find detailed information see P.242.
Cable C: Cable carrier
S: Whipover
TRANSERVO
single-axis robots
Select the arm variation and combination method.
Compact
Arm type Gantry type Moving arm type Pole type XZ type Clean type
The type with The type with a The type with a The type with vertically The type with Special model for
moving Y-axis guide railing at the moving Y-axis arm. moving Y-axis carriage. combination of X-axis clean rooms with
carriage. end of Y-axis for for horizontal moving Y-axis
support. movement and Z-axis carriage installed
Combination
Single-axis robots
for vertical movement. upward.
FLIP-X
(Arm variations)
single-axis robots
PHASER
Linear motor
To find information on combinations see P.242.
Select the X axis stroke. Enter in centimeters (cm).
X-axis stroke
(For example enter 50 for a stroke of 500mm.)
Select the Y axis stroke. Enter in centimeters (cm).

Y-axis stroke
Cartesian
XY-X
robots
Select the Z axis installation direction. The R axis is installed with 4-axis
specifications. To find more information see P.39.
[3-axes]
YK-X
SCARA
robots
ZS : Shaft vertical type
ZT : Clamped base · moving table type (60W)
ZF : Clamped base · moving table type (100W)
ZFL/ZL : Clamped base · moving table type (200W)
Pick & place

ZR-axis
YP-X
robots
ZFH/ZH : Clamped table · moving base type (200W)
ZPMH/ZPH : Clamped table · moving base type (200W) for pole type
[4-axes]
ZRF : Clamped base · moving table type (100W)+R axis
CLEAN
ZRS : ZR axis integrated type
ZRL/ZRFL : Clamped base · moving table type (200W)+R axis
ZRH/ZRFH : Clamped table · moving base type (200W)+R axis
Select the Z axis stroke. Enter in centimeters (cm).
Z-axis stroke
Select the length of the robot cable connecting the robot and controller.
Cable
3L : 3.5m 5L : 5m 10L : 10m
2-axis specifications: Select the RCX222.
Controller
3 / 4-axis specifications: Select either the RCX240 (RCX240S) or RCX340.
Arm type
Gantry type
Moving arm
type
Pole type
XZ type
251
PXYx
Articulated robots
2 axes
YA
Arm type Cable carrier

Linear conveyor
Ordering method
LCM100
modules
PXYx C RCX222
X-axis Y-axis Input/Output Input/Output
Model Cable Combination Cable Controller Usable for CE
stroke stroke selection 1 selection 2
TRANSERVO
single-axis robots
A1 15 to 65cm 5 to 30cm 3L: 3.5m RCX222 No entry: Standard N: NPN Note 1 No entry: None
A2 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16
Compact
A3 10L: 10m CC: CC-Link (NPN) Note 1

A4 DN: DeviceNetTM P1: OP.DIO24/17
PB: PROFIBUS (PNP)
Note 1. NPN cannot be selected if using CE marking. EN: Ethernet EN: Ethernet Note 3
Note 2. Available only for the master. See P.68 for details on YC-Link system. YC: YC-Link Note 2
Note 3. Only when CC or DN or PB was selected for I/O select 1 above. EN can be selected in I/O select 2.
Single-axis robots
Specification Maximum payload (kg)

FLIP-X
X-axis Y-axis Y stroke (mm) XY 2 axes

Axis construction Note 1 – T4H 50 4.5
AC servo motor output (W) 60 30 100 4.5
150 3.5
Repeatability Note 2 (mm) +/-0.02 +/-0.02
single-axis robots
200 2.5
PHASER
Linear motor
Drive system Ball screw (Class C10) Ball screw (Class C10)
250 2
Ball screw lead Note 3 (Deceleration ratio) (mm) 12 12
300 1.5
Maximum speed Note 4 (mm/sec) 720 720
Moving range (mm) 150 to 650 50 to 300
Robot cable length (m) Standard: 3.5 Option: 5,10
Note 1. Use caution that the flame machining (installation holes, tap holes) differs from single-axis robots’.
Cartesian
XY-X

robots
Note 3. Leads not listed in the catalog are also available. Contact us for details. Controller
Note 4. When the X-axis stroke is longer than 650mm, resonance of the ball screw may occur depending on the operation conditions (critical
speed). In thiscase, reduce the speed setting on the program by referring to the maximum speeds shown in the table below. Controller Operation method
Programming / I/O point trace /
RCX222 Remote command / Operation using
RS-232C communication
YK-X
SCARA
robots
PXYx 2 axes A1
Approx. 250 (Motor cable length) 185+/-3 X stroke
50 or more 39.5 54.5 45
6 6
Pick & place
YP-X
robots
Note 1
(90)
35 2-ϕ3H7 Depth6
6
20 +/-0.02
Y stroke
Y stroke + 198
CLEAN
4-M4 x 0.7 Depth9 62

50
(43)
6
19
25
ϕ8.2
80+/-3
160
65
ϕ7.6
Cross-section of
Detail of section A cable carrier
105
64.5
53
73
68.5 X stroke + 183

L (X stroke + 254.5)
A
57.5
45
63
(144)
90
(67.5)
56.5
55.5
62
56
53
44
Arm type

with length head bolt with length
(under head) of 15mm or more. 128.5 M x 40
Gantry type
9.5 N-ϕ4.5 through (B-B)

4.5 B
N-ϕ8
23
(42)
Moving arm
B-B (installation holes in detail) B

type
X stroke 150 250 350 450 550 650 Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper.
L 404.5 504.5 604.5 704.5 804.5 904.5

Pole type
M 5 8 10 13 15 18
N 12 18 22 28 32 38
Y stroke 50 100 150 200 250 300

XZ type
Note 2. When the X-axis stroke is longer than 650mm, resonance of the ball screw may occur depending on the
Maximum speed for each X-axis 720 600
operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the
stroke (mm/sec) Note 2 Speed setting – 83% maximum speeds shown in the table at the left.
252 Controller RCX222 u 526

PXYx 2 axes
Articulated robots
YA
PXYx 2 axes A2
Approx. 250 (Motor cable length) 50 or more 122+/-3 X stroke
knocks +/-0.02)
30 (Between
(90) Use M4 x 0.7 hex socket head bolt 45 54.5 39.5
Linear conveyor
LCM100
35 with length head bolt with length 6 6
modules
2-ϕ3H7 Depth 6 (under head) of 15mm or more.
20 +/-0.02 Note 1
9.5
4-M4 x 0.7 Depth 9
N-ϕ8
4.5
6
(43)
Y stroke + 198
80+/-3 Y stroke
(42)
62
TRANSERVO
B-B (installation holes in detail)
single-axis robots
50
Detail of section A
Compact
65
19
25
160
ϕ8.2
ϕ7.6
64.5
Cross-section of cable carrier
105
73
53
Single-axis robots
68.5 X stroke + 183
FLIP-X
A L (X stroke + 254.5) (80)
62 57.5
(67.5) 45
55.5 63
(144)
56.5
90
53
56
44
single-axis robots
PHASER
Linear motor
128.5 M x 40
40
B N-ϕ4.5 through (B-B)
23
B
Cartesian
XY-X
robots
PXYx 2 axes A3
X stroke 185+/-3 Approx. 250 (Motor cable length) 50 or more
knocks +/-0.02)
30 (Between
(90) Use M4 x 0.7 hex socket head bolt 45 54.5 39.5

35 with length head bolt with length 6 6
20+/-0.02 9.5
Note 1
YK-X
SCARA
robots
N-ϕ8
4-M4 x 0.7 Depth 9 4.5

(42)
6
(43)
Y stroke + 198
80+/-3 Y stroke
Detail of section A B-B (installation holes in detail)

6
160
65
Pick & place

62
YP-X
robots
50
19
25
64.5
105
ϕ8.2 53
ϕ7.6
73
X stroke + 183 68.5

Cross-section of cable carrier L (X stroke + 254.5)
A
CLEAN
62 57.5
55.5 63
(67.5) 45
(144)
90
56.5
53
56
44
M x 40 128.5
N-ϕ4.5 through (B-B) 40 B
23
PXYx 2 axes A4
knocks +/-0.02)
X stroke 122+/-3 Approx. 250 (Motor cable length)

30 (Between
(90)
39.5 54.5 45 50 or more
6 6 35
2-ϕ3H7 Depth 6
20 +/-0.02
Note 1
4-M4 x 0.7 Depth 9
(43)
6
Y stroke + 198
Arm type
80+/-3 Y stroke
Detail of section A
6

160
65
with length head bolt with length 62

Gantry type
(under head) of 15mm or more. 50

9.5
N-ϕ8
4.5
19
25
64.5
105
73
ϕ8.2
(42)
53
X stroke + 183 68.5 ϕ7.6
Moving arm
(80) L (X stroke + 254.5) B-B (installation holes in detail)

type
A
62 57.5
(67.5) 45
55.5 63
(144)
Pole type
90
56.5
53
56
44
M x 40 128.5
N-ϕ4.5 through (B-B) 40 B
XZ type
23
Controller RCX222 u 526 253

FXYx
Articulated robots
2 axes
YA

Linear conveyor
Ordering method
LCM100
modules
FXYx C RCX222
TRANSERVO
single-axis robots
Compact

PB: PROFIBUS (PNP)
Single-axis robots

FLIP-X

Axis construction – – 150 12
AC servo motor output (W) 100 60 250 12
350 11
single-axis robots
450 9
PHASER
Linear motor
550 7
Cartesian
XY-X
Note 2. Leads not listed in the catalog are also available. Contact us for details.
robots
Note 3. When the X-axis stroke is longer than 750mm, resonance of the ball screw may occur depending on the operation conditions (critical Controller
speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table below.
YK-X
SCARA
robots
FXYx 2 axes A1
90
212+/-3 X stroke 80
92 36 (14)
Pick & place
85 20 (Between knocks +/-0.02)

8 - M5 x 0.8 Depth 8
YP-X
robots
(2.5)
82.5 Note 1 6.5

knocks +/-0.02)
5 5 3.5 2
(Between
24
5
90
4.3
7.3 Use M6 x 1.0 hex socket head bolt
Y stroke
CLEAN
Y stroke + 259
2-ϕ5H7 Depth 6 (under head) of 35mm or more
Detail of section A Detail of section B Detail of section C
73
115+/-3
5
57
115
25
35
ϕ9.7 ϕ8.2
149.5
90.5
ϕ7.6
85 Cross-section of cable carrier
(2.5) 166.5 L (X stroke + 310)
(L + 5)
76.5
16
ϕ29 (Note 2)
80
115
61
B
(165)
43
A
115
80
75
64
Arm type
(50) 149
139.5
120 100 M x 200 K 40 N-ϕ6.5 through (C)

200
Gantry type
95
+/-0.02
122.5 D 2-ϕ10H7 Depth 14
Moving arm
X stroke 150 250 350 450 550 650 750 850 950 1050 Note 1. The moving range when returning to origin and the stop position when stopping by
type
the mechanical stopper.

L 460 560 660 760 860 960 1060 1160 1260 1360 Note 2. User cable extraction port.
K 200 100 200 100 200 100 200 100 200 100
D 240 240 420 420 600 600 780 960 960 1140
Pole type
M 0 1 1 2 2 3 3 4 4 5
N 6 8 8 10 10 12 12 14 14 16
Y stroke 150 250 350 450 550

Note 3. When the X-axis stroke is longer than 750mm, resonance of the ball screw may
XZ type
X-axis 1200 960 780 600 540 occur depending on the operation conditions (critical speed). In this case, reduce
Maximum speed for each
the speed setting on the program by referring to the maximum speeds shown in the
stroke (mm/sec) Note 3 Speed setting – 80% 65% 50% 45% table at the left.

FXYx 2 axes
Articulated robots
YA
FXYx 2 axes A2
178+/-3 X stroke
92
Linear conveyor
90
85
LCM100
80 (14)
(2.5)
modules
36 82.5 Note 1
8 - M5 x 0.8 Depth 8 20 (Between knocks +/-0.02)
6.5 5 5
5
knocks +/-0.02)
2 3.5
24
(Between
Y stroke + 259
115+/-3 Y stroke
4.3
7.3
90
TRANSERVO
single-axis robots
Compact
115 5
Detail of section A Detail of section B Detail of section C M
73
57
85
149.5
90.5
25
35
Single-axis robots
166.5
ϕ9.7 ϕ8.2 (2.5) L (X stroke + 310)
FLIP-X
ϕ7.6 16
76.5 (L + 5)
115 80
80 115
M
B
(165)
A
75
64
ϕ29 (Note 2) 61
single-axis robots
(50) 149
43
139.5
PHASER
Linear motor
120 100 M x 200 K 40
N-ϕ6.5 through (C)
200
95
122.5 D +/-0.02 2-ϕ10H7 Depth 14
Cartesian
XY-X
robots
FXYx 2 axes A3
90 X stroke 212+/-3
80 (14) 92
36 85
8 - M5 x 0.8 Depth 8 20 (Between knocks +/-0.02) 82.5
Note 1
6.5
knocks +/-0.02)
5 5
YK-X
SCARA
2 3.5
robots
24
5
(Between
90
4.3
7.3

Y stroke + 261.5
149.5 115+/-3 Y stroke

115 5
Pick & place

73
YP-X
robots
57
90.5
25
35
ϕ9.7 85
ϕ8.2
ϕ7.6 166.5
L (X stroke + 310) (2.5)
Cross-section of cable carrier 76.5 (L + 5)
CLEAN
16
ϕ29 (Note 2)
115 80
80 115
B 61
(165)
43
A
75
64
149 (50)
139.5
N-ϕ6.5 through (C) 40 K M x 200 100 120
200
95
2-ϕ10H7 Depth 14 D +/-0.02 122.5
FXYx 2 axes A4
X stroke 178+/-3 90
92 80 (14)
85 36
(2.5)
Note 1 82.5 8 - M5 x 0.8 Depth 8 20 (Between knocks +/-0.02)

6.5
knocks +/-0.02)
5 5 3.5 2
5
(Between
24
7.3
4.3
90

Arm type
Y stroke + 259
115+/-3 Y stroke

115 5
M
Gantry type
90.5
73
57
85
149.5
166.5
25
35
L (X stroke + 310) (2.5)

ϕ9.7 ϕ8.2
Moving arm
(L + 5)
76.5 ϕ7.6
type
115
16

115 80
M
B
(165)
A
Pole type
80
75
64
149 (50) 61 ϕ29 (Note 2)

43
139.5
N-ϕ6.5 through (C) 40 K M x 200 100 120

200
XZ type
95
2-ϕ10H7 Depth 14 D +/-0.02 122.5

FXYx
Articulated robots
2 axes / IO
YA
Arm type Cable carrier Type with Y-axis I/O cable carrier added
Linear conveyor
Ordering method
LCM100
modules
FXYx C IO RCX222
X-axis Y-axis ZR- Input/Output Input/Output
stroke stroke axis selection 1 selection 2
TRANSERVO
single-axis robots
Compact

PB: PROFIBUS (PNP)
Single-axis robots

FLIP-X

Axis construction – – 150 12
350 11
single-axis robots
450 9
PHASER
Linear motor
550 7
Cartesian
XY-X
robots
Note 3. When the X-axis stroke is longer than 750mm, resonance of the ball screw may occur depending on the operation conditions (critical Controller
YK-X
SCARA
robots
FXYx 2 axes / IO A1
212+/-3 X stroke 90
92 (14)
85 80
2-ϕ5H7 Depth 6 36
(2.5)
82.5
Pick & place
Note 1
8 - M5 x 0.8 Depth 8 20 (Between knocks +/-0.02)
YP-X
robots
5 5 6.5
knocks +/-0.02)
5
3.5 2 24
(Between
4.3
100
90

Y stroke
Y stroke + 259
7.3
(under head) of 35mm or more.
CLEAN

115+/-3
115 5
73
57
149.5
90.5
25
35
85
ϕ9.7 ϕ8.2
166.5
(2.5) L (X stroke + 310) ϕ7.6
(L + 5) 135 ϕ29 (Note 2) XY Cross-section of cable carrier
60 YZ (84)
(153)
50 133.5
37
XY
16
ϕ29 (Note 2)
80
115
61 B 62
(165)
50
115
A 76.5
80
75
64
43
19
25
(50) 149
139.5
ϕ9.7
Arm type
YZ Cross-section of cable carrier

120 100 M x 200 K 40 N-ϕ6.5 through (C)
200
Gantry type
95
+/-0.02
122.5 D 2-ϕ10H7 Depth 14
Moving arm
type

K 200 100 200 100 200 100 200 100 200 100
D 240 240 420 420 600 600 780 960 960 1140
Pole type
M 0 1 1 2 2 3 3 4 4 5
N 6 8 8 10 10 12 12 14 14 16
Y stroke 150 250 350 450 550

XZ type
X-axis 1200 960 780 600 540 occur depending on the operation conditions (critical speed). In this case, reduce
Maximum speed for each

FXYx
Articulated robots
3 axes / ZS
YA
Arm type Cable carrier Z-axis shaft vertical type
Linear conveyor
Ordering method
LCM100
modules
FXYx C 15 RCX340-3
Combi- X-axis Y-axis ZR- Z-axis Controller / Safety Option A Option B Option C Option D Option E Absolute
Model Cable Cable Number of controllable axes standard (OP.A) (OP.B) (OP.C) (OP.D) (OP.E) battery
nation stroke stroke axis stroke
TRANSERVO
A1 15 to 105cm 15 to 55cm ZS12 3L: 3.5m
single-axis robots
A2 ZS6 5L: 5m Specify various controller setting items. RCX340 P.544
Compact
A3 10L: 10m
A4
RCX240S
Controller CE Marking Expansion I/O Network option iVY System Gripper Battery
Specify various controller setting items. RCX240/RCX240S P.534
Single-axis robots
FLIP-X
Z-axis: Z-axis: Y stroke (mm) ZS12 ZS6
X-axis Y-axis
ZS12 ZS6 150 3 5
Axis construction – – – 250 3 5
AC servo motor output (W) 100 60 60 350 3 5
single-axis robots
450 3 5
PHASER
Repeatability Note 1 (mm) +/-0.01 +/-0.02 +/-0.02
Linear motor
Drive system Ball screw (Class C7) Ball screw (Class C10) Ball screw (Class C10) 550 3 3
Ball screw lead Note 2 (Deceleration ratio) (mm) 20 12 12 6

Moving range (mm) 150 to 1050 150 to 550 150
Cartesian
XY-X
robots
speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table below. Controller Operation method
RCX340
Remote command / Operation using
RCX240S
YK-X
SCARA
robots
FXYx 3 axes / ZS A1
322+/-3 X stroke 73 62
5 5 57
(2.5)
50
35
25
Pick & place

19
25
ϕ10.1
YP-X
ϕ9.7 ϕ9.7 ϕ8.2
robots
ϕ9.9 ϕ7.6
5
Note 1
XY Cross-section of cable carrier YZ Cross-section of cable carrier
Y stroke
Y stroke + 259
ϕ5 (14)
6.5
CLEAN
41
36
5
3.5 2
115+/-3
0
ϕ12 -0.018
4.3
24
115
M
7.3
M8 x 1.25
Depth 15 with length head bolt with length
149.5

90.5
85
166.5
(2.5) L (X stroke + 310) 105 72
(L + 5) 40 84
YZ
299
305
B
(153)
115
XY M
ϕ29 (Note 2)
115 80
M
Z stroke 95+/-2
61
67
101
(165)
39.5
55.5
139.5
43
6
75
64
A (2.5) 70
(50) 149
80
67.5 79.5
Arm type
110 92
Note 1
6
120 100 M x 200 K 40 N-ϕ6.5 through (C) 242

200
95
Gantry type
+/-0.02
122.5 D 2-ϕ10H7 Depth 14
Moving arm

type
K 200 100 200 100 200 100 200 100 200 100
D 240 240 420 420 600 600 780 960 960 1140
M 0 1 1 2 2 3 3 4 4 5
Pole type
N 6 8 8 10 10 12 12 14 14 16
Y stroke 150 250 350 450 550
Z stroke 150
XZ type
Maximum speed for each X-axis 1200 960 780 600 540 occur depending on the operation conditions (critical speed). In this case, reduce
stroke (mm/sec)Note 3 Speed setting – 80% 65% 50% 45% table at the left.
Controller RCX340 u 544 RCX240S u 534 257

FXYx
Articulated robots
3 axes / ZT
YA
Arm type Cable carrier Z-axis: clamped base / moving table type (60W)
Linear conveyor
Ordering method
LCM100
modules
FXYx C ZT6 12 RCX340-3

Combi- X-axis Y-axis Z-axis Controller / Safety Option A Option B Option C Option D Option E Absolute
Model Cable ZR-axis Lead Cable
nation stroke stroke stroke Number of controllable axes standard (OP.A) (OP.B) (OP.C) (OP.D) (OP.E) battery
TRANSERVO
A1 15 to 105cm 15 to 55cm 5 to 30cm 3L: 3.5m

single-axis robots
A2 5L: 5m Specify various controller setting items. RCX340 P.544

Compact
A3 10L: 10m
A4
RCX240S

Single-axis robots

FLIP-X
X-axis Y-axis Z-axis Y stroke (mm) ZT

Axis construction Note 1 – – T6-12-BK 150 to 550 3
AC servo motor output (W) 100 60 60
single-axis robots
PHASER
Linear motor
Drive system Ball screw (Class C7) Ball screw (Class C10) Ball screw (Class C10)
Ball screw lead Note 3 (Deceleration ratio) (mm) 20 12 12
Moving range (mm) 150 to 1050 150 to 550 50 to 300
Cartesian
XY-X

robots
RCX340
RCX240S
YK-X
SCARA
robots
FXYx 3 axes / ZT A1
278+/-3 X stroke 73 62
(2.5) 57
(2.5)
120 82.5
Note 1 50
5 5
Pick & place
25
35
25
19
5
YP-X
robots
ϕ9.7 ϕ10.1 ϕ9.7 ϕ8.2

ϕ9.9 ϕ7.6
Y stroke
Y stroke + 259
30 +/-0.02
XY Sectional drawing of cable carrier YZ Sectional drawing of cable carrier
(14)
6.5
115+/-3
CLEAN
(116)
115 5
45
3.5 2
2-ϕ3H7 Depth 6
4.3
M
4 - M5 x 0.8 Depth 11 24
7.3

149.5

90.5

(57) (under head) of 35mm or more.
85
166.5
(2.5) L (X stroke + 310)
(L + 5) 82.5 65
44 53 99
39
A YZ
Z stroke 194.5+/-2
69.5
M
Note 1
51
Z stroke + 285.5
6
(208)
XY
39.5
115
181
ϕ29 (Note 2)
80
M
61
B
(165)
6
115
70
75
64
43
48 79.5
Arm type
(50) 149
80
31
139.5
56 92
120 100 M x 200 K 40 N-ϕ6.5 through (C) 10
200
Gantry type
95
+/-0.02 2-ϕ10H7 Depth 14

122.5 D
Moving arm

type
K 200 100 200 100 200 100 200 100 200 100
D 240 240 420 420 600 600 780 960 960 1140
Pole type
M 0 1 1 2 2 3 3 4 4 5
N 6 8 8 10 10 12 12 14 14 16
Y stroke 150 250 350 450 550
Z stroke 50 100 150 200 250 300

XZ type
occur depending on the operation conditions (critical speed). In this case, reduce
Maximum speed for each X-axis 1200 960 780 600 540
258 Controller RCX340 u 544 RCX240S u 534

259
FXYBx
Articulated robots
2 axes
YA

Linear conveyor
Ordering method
LCM100
modules
FXYBx C RCX222
TRANSERVO
single-axis robots
Compact

PB: PROFIBUS (PNP)
Single-axis robots

FLIP-X
X-axis Y-axis Y stroke (mm) XY axes

Axis construction Note 1 B10 – 150 7
350 5
single-axis robots
450 5
PHASER
Linear motor
Drive system Timing belt Timing belt

550 3
Ball screw lead Note 3 (Deceleration ratio) (mm) Equivalent to lead 25 Equivalent to lead 25
Maximum speed (mm/sec) 1875 1875
Cartesian
XY-X

robots
YK-X
SCARA
robots
FXYBx 2 axes A1
263+/-3 X stroke
166 89.7 *2.7
*2.9
70 2-ϕ5H7 Depth 4
12.5 12.5
Pick & place
Note 1 52 4 - M5 x 0.8 Depth 6

YP-X
robots
6.5
knocks +/-0.02) 3.5 2
12.5
(Between
75
100
Y stroke
Y stroke + 300
79.5
4.3
7.3
12.5
CLEAN
Detail of section A Detail of section B

145
141+/-3
80
85.5 89.5
100
100
85
M
25
35
127.2
177.2
122
ϕ9.7 ϕ8.2
(50) ϕ7.6
75 152 J G Cross-section of cable carrier
L (X stroke + 410)
152 122.5
22
32
B
A
79
39.5
53 34
167
Note 2 M
80 115.5
(195)
23
168
140
76.7
73.5
20.6
81
79
51
84 47.5
Arm type
85 40 100 M x 200 K N-M5 x 0.8 Depth 10

200
Gantry type
80
Moving arm
Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper. Note 3. The dimension marked with an asterisk (*) indicates the height of the screw.
type
Note 2. The shaded position indicates an user cable extraction port.

X stroke 150 250 350 450 550 650 750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450
L 560 660 760 860 960 1060 1160 1260 1360 1460 1560 1660 1760 1860 1960 2060 2160 2260 2360 2460 2560 2660 2760 2860
Pole type
K 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200
M 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12
N 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30
G 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50
XZ type
J 330 330 430 430 530 530 630 630 730 730 830 830 930 930 1030 1030 1130 1130 1230 1230 1330 1330 1430 1430
Y stroke 150 250 350 450 550

FXYBx 2 axes
Articulated robots
YA
FXYBx 2 axes A2
207+/-3 X stroke
97
Linear conveyor
*2.9
LCM100
2-ϕ5H7 Depth 4 *2.7 89.7
70
modules
52 4 - M5 x 0.8 Depth 6 100
12.5 Note 1 12.5
85
6.5
(Between
2 3.5
25
35
12.5 12.5
knocks
100
+/-0.02)
Y stroke + 300
4.3
75
7.3
177.2 141+/-3 Y stroke

ϕ9.7 ϕ8.2
79.5
ϕ7.6
TRANSERVO
single-axis robots
Detail of section A Detail of section B Cross-section of cable carrier
89.5
145
Compact
122 100
M
85.5
127.2
(50)
Single-axis robots
75 152 J G
FLIP-X
152 L (X stroke + 410)
122.5 80 22
32
A 79.5
39.5
80 115.5 79
167
20.6
73.5
23
(195)
B
168
140
single-axis robots
76.7
79
81
51
PHASER
Linear motor
47.5 84
Note 2 53 34
85 40 100 M x 200 K
N-M5 x 0.8 Depth 10
200
80
Cartesian
XY-X
robots
FXYBx 2 axes A3
X stroke 263+/-3
*2.9 *2.7 89.7 166
70 2-ϕ5H7 Depth 4
100 12.5 Note 1 12.5
52 4 - M5 x 0.8 Depth 6
85
YK-X
6.5
SCARA
robots
12.5
(Between
2 3.5
141+/-3 Y stroke
25
35
knocks
Y stroke + 300
+/-0.02)
100
4.3
75
7.3
ϕ9.7 ϕ8.2
12.5
79.5
ϕ7.6
Detail of section A Detail of section B Cross-section of cable carrier 145
80
89.5
100
Pick & place

M
YP-X
robots
177.2
127.2
122
85.5
(50)
G J 152 75
152 L (X stroke + 410)
122.5 22
B
32
CLEAN
A
39.5
34 53
80 115.5 79
167
M Note 2
73.5
(195)
51 23
168
140
76.7
81
79
47.5 84
20.6
K M x 200 100 40 85
N-M5 x 0.8 Depth 10
200
80
FXYBx 2 axes A4
X stroke 207+/-3
97
*2.9
89.7 *2.7 2-ϕ5H7 Depth 4

70
52 4 - M5 x 0.8 Depth 6 100
12.5 Note 1 12.5 85
6.5
(Between
2 3.5
25
35
12.5 12.5
knocks
+/-0.02)
100
4.3
75
7.3
Y stroke + 300
Arm type
ϕ9.7 ϕ8.2
141+/-3 Y stroke
ϕ7.6
79.5
145
89.5
Gantry type
122 100
M
177.2
127.2
85.5
(50)
Moving arm
G J 152 75
L (X stroke + 410) 152
type
22 80 122.5
32
79.5 A
39.5
80 115.5 79
M
167
20.6
Pole type
73.5
51 23
B
(195)
168
140
76.7
81
79
84 47.5
34 53 Note 2
N-M5 x 0.8 Depth 10 K M x 200 100 40 85

200
XZ type
80

FXYBx
Articulated robots
2 axes
YA
Arm type Whipover

Linear conveyor
Ordering method
LCM100
modules
FXYBx S RCX222
TRANSERVO
single-axis robots
Compact

PB: PROFIBUS (PNP)
Single-axis robots

FLIP-X

350 5
single-axis robots
450 5
PHASER
Linear motor

550 3
Cartesian
XY-X

robots
YK-X
SCARA
robots
FXYBx 2 axes A1
263+/-3 X stroke
166 89.7 *2.7
*2.9
Pick & place
YP-X
12.5 Note 1 12.5

robots
70
52 2-ϕ5H7 Depth 4
4 - M5 x 0.8 Depth 6
12.5
6.5
Y stroke
Y stroke + 300
3.5 2
(Between
4.3
7.3
knocks
100
75
+/-0.02)
12.5
CLEAN
79.5
145
141+/-3
80

85.5 89.5
M
100
138
88
40 ϕ29 (Note 2)
114 130
L (X stroke + 410)
130
MAX. 1100
122.5 ϕ29 (Note 2)
A
79
39.5
Grounding
187.6
167
terminal (M4) M
115.5
B
168
140
39
Arm type
76.7
73.5
81
80
78
84 47.5
23
Gantry type
85 40 100 M x 200 K N-M5 x 0.8 Depth 10

200
80
Moving arm
type
Pole type
X stroke 150 250 350 450 550 650 750 850 950 Note 1. The moving range when returning to origin and the stop position when
stopping by the mechanical stopper.
L 560 660 760 860 960 1060 1160 1260 1360 Note 2. User cable extraction port.
K 100 200 100 200 100 200 100 200 100 Note 3. The dimension marked with an asterisk (*) indicates the height of the screw.
M 1 1 2 2 3 3 4 4 5
XZ type
N 8 8 10 10 12 12 14 14 16
Y stroke 150 250 350 450 550

FXYBx 2 axes
Articulated robots
YA
FXYBx 2 axes A2
207+/-3 X stroke
214.3 89.7
Linear conveyor
70 2-ϕ5H7 Depth 4
LCM100
*2.9
4 - M5 x 0.8 Depth 6 *2.7
modules
52
6.5 12.5 Note 1 12.5
(Between
2 3.5
knocks
+/-0.02)
100
4.3
7.3
75
12.5 12.5
Y stroke + 300
138 141+/-3 Y stroke
79.5
TRANSERVO
single-axis robots
145
Compact
89.5
M
100
88
85.5
40 ϕ29 (Note 2)
Single-axis robots
130 114 130
L (X stroke + 410)
FLIP-X
80
MAX. 1100
ϕ29 (Note 2) 122.5
A
39.5
80 115.5 79
187.6
167
73.5
B
single-axis robots
168
140
PHASER
76.7
81
Linear motor
78
47.5 84
39
Grounding
terminal (M4) 23 85 40100 M x 200 K N-M5 x 0.8 Depth 10
200
80
Cartesian
XY-X
robots
FXYBx 2 axes A3
X stroke 263+/-3
*2.7 89.7 166
*2.9
70 2-ϕ5H7 Depth 4
52 4 - M5 x 0.8 Depth 6 12.5 Note 1 12.5
6.5
YK-X
SCARA
(Between
12.5 12.5
2 3.5
robots
Y stroke + 300
knocks
100
+/-0.02)
138 141+/-3 Y stroke
79.5
4.3
7.3
75
89.5
Detail of section A Detail of section B 145
80
85.5
Pick & place

YP-X
100
robots
88
ϕ29 (Note 2) 40
130 114
L (X stroke + 410)
130
MAX. 1100
ϕ29 (Note 2) 122.5
CLEAN
A
39.5
Grounding
80 115.5 79
187.6
terminal (M4)
167
M
140
B
168
73.5
76.7
81
78
39
47.5 84 23
N-M5 x 0.8 Depth 10 K M x 200 100 40 85
200
80
FXYBx 2 axes A4
X stroke 207+/-3
89.7 214.3
2-ϕ5H7 Depth 4
*2.9
*2.7 70
52 4 - M5 x 0.8 Depth 6
12.5 Note 1 12.5
6.5
(Between
2 3.5
12.5
knocks
+/-0.02)
100
4.3
7.3
75
Y stroke + 300
Arm type
138 141+/-3 Y stroke
12.5
79.5
145
89.5
Gantry type
M
100
88
85.5
ϕ29 (Note 2) 40
130 114
L (X stroke + 410) 130
Moving arm
80
MAX. 1100
122.5 ϕ29 (Note 2)

type
A
39.5
80 115.5 79
M
187.6
167
Pole type
73.5
B
168
140
76.7
81
78
Grounding 84 47.5
39
K M x 200 100 40 85 23 terminal (M4)

N-M5 x 0.8 Depth 10
200
XZ type
80

FXYBx
Articulated robots
2 axes / IO
YA
Arm type Cable carrier Type with Y-axis I/O cable carrier added
Linear conveyor
Ordering method
LCM100
modules
FXYBx C IO RCX222
Input/Output Input/Output
Model Cable Combination X-axis stroke Y-axis stroke ZR-axis Cable Controller Usable for CE
selection 1 selection 2
TRANSERVO
single-axis robots

Compact

PB: PROFIBUS (PNP)
Single-axis robots

FLIP-X

350 5
single-axis robots
450 5
PHASER
Linear motor

550 3
Cartesian
XY-X

robots
YK-X
SCARA
robots
FXYBx 2 axes / IO A1
263+/-3 X stroke 2-ϕ5H7 Depth 4
70
*2.9
166 89.7 *2.7

52 4 - M5 x 0.8 Depth 6
6.5
Pick & place
12.5 Note 1 12.5 3.5 2

YP-X
robots
(Between
knocks
+/-0.02)
100
75
12.5
4.3
7.3
Y stroke
Y stroke + 300

12.5
79.5
100
CLEAN
145 85 73
141+/-3
57
80
85.5 89.5
25
35
100
25
35
M ϕ9.7 ϕ8.2
ϕ7.6 ϕ9.7
177.2
127.2
122
(50)
75 152 J G YZ 140
L (X stroke + 410) 60 ϕ29 (Note 2)
3.5 94
152
22 122.5
32
(ϕ37)
(163)
XY
50 133.5
37
79
39.5
53 34
167
Note 2
M
115.5
B
(195)
23
168
140
A 76.7
73.5
80
79
81
20.6
51
(3) 84 47.5
Arm type
85 40 100 M x 200 K N-M5 x 0.8 Depth 10

200
Gantry type
80
Moving arm
Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper. Note 3. The dimension marked with an asterisk (*) indicates the height of the screw.
type

X stroke 150 250 350 450 550 650 750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450
L 560 660 760 860 960 1060 1160 1260 1360 1460 1560 1660 1760 1860 1960 2060 2160 2260 2360 2460 2560 2660 2760 2860
Pole type
K 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200
M 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12
N 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30
G 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50
XZ type
J 330 330 430 430 530 530 630 630 730 730 830 830 930 930 1030 1030 1130 1130 1230 1230 1330 1330 1430 1430
Y stroke 150 250 350 450 550

265
SXYx
Articulated robots
2 axes
YA

Linear conveyor
Ordering method
LCM100
modules
SXYx C RCX222
Model Cable Combination X-axis stroke Y-axis stroke Cable Controller Usable for CE
TRANSERVO
single-axis robots
Compact

PB: PROFIBUS (PNP)
Single-axis robots

FLIP-X

Axis construction Note 1 F14H F14 150 20
350 15
single-axis robots
450 13
PHASER
Linear motor
550 11
650 9
Cartesian
XY-X

robots
YK-X
SCARA
robots
SXYx 2 axes A1
(18.5)
284+/-3 X stroke 5.5
90
83 70 2-ϕ6H7 Depth 8
Pick & place
77.5
YP-X
Note 1 32 8 - M6 x 1.0 Depth 8

robots
(ϕ10H7)
5 5
5
7.2
knocks +/-0.02)
4.5 9
(Between
Y stroke
Y stroke + 255
110
135

6.5
2.8

CLEAN
140+/-3
5

M
93
191.5
77
161.5
136
25
35
59.5
ϕ9.7 ϕ8.2
205
ϕ7.6
35 X stroke + 215
L (X stroke + 320)
42
A
7.5
M
53 34
(105) 136
125 79
Note 2 B
242
23
(171)
173
79
51
(50) 64.5
77.5
239
Arm type
131 M x 200 K 139

200 N-M6 x 1.0 Depth 10
100
110
Gantry type
2-ϕ10H7 N-ϕ7 through (C)

200
See detaild drawing of
C section 156 M x 200 K 114
151 D +/-0.02
Moving arm
type

L 470 570 670 770 870 970 1070 1170 1270 1370 Note 2. The shaded position indicates an user cable extraction port.
K 200 100 200 100 200 100 200 100 200 100
D 240 240 420 420 600 600 780 960 960 1140
Pole type
M 0 1 1 2 2 3 3 4 4 5
N 4 6 6 8 8 10 10 12 12 14
Y stroke 150 250 350 450 550 650

XZ type
the speed setting on the program by referring to the maximum speeds shown in
stroke (mm/sec) Note 3 Speed setting – 80% 65% 50% 45% the table at the left.

SXYx 2 axes
Articulated robots
YA
SXYx 2 axes A2
(18.5) 136+/-3 X stroke
90 5.5 83
Linear conveyor
70 2-ϕ6H7 Depth 8 77.5
LCM100
Note 1
32 8 - M6 x 1.0 Depth 8
modules
5 5
5
(ϕ10H7)
7.2
Y stroke + 255
knocks +/-0.02)
191.5 140+/-3 Y stroke

4.5
(Between
9
135
110
6.5
2.8
TRANSERVO
single-axis robots
M
Compact
161.5
136
6.5
93 170
35 X stroke + 215
77
L (X stroke + 320)
Single-axis robots
25
35
42
FLIP-X
ϕ9.7 ϕ8.2 A Note 2 7.5
ϕ7.6 B
136 M
23
125 79
77.5
242
(171)
83
79
64.5
(105)
51
(50)
173
single-axis robots
PHASER
239 53 34
Linear motor
131 M x 200 K 139
200 N-M6 x 1.0 Depth 10
100
110
200 N-ϕ7 through (C)
2-ϕ10H7 156 M x 200 K 114
See detaild drawing of C section 151 D +/-0.02
Cartesian
XY-X
robots
SXYx 2 axes A3
(18.5) X stroke 284+/-3

90 5.5 83
70 2-ϕ6H7 Depth 8 Note 1 77.5
32 8 - M6 x 1.0 Depth 8 5 5
(ϕ10H7)
YK-X
knocks +/-0.02)
SCARA
7.2 Y stroke + 255
robots
5
4.5 9 191.5 140+/-3 Y stroke
(Between
135
110
6.5
2.8
Use M6 x 1.0 hex socket head bolt 5

(under head) of 20mm or more. M
161.5
Pick & place

136
YP-X
robots
93 59.5
77 205
X stroke + 215 35
42 L (X stroke + 320)
25
35
7.5 A
ϕ9.7 ϕ8.2 B
ϕ7.6 M 34 53
CLEAN
136
Note 2
125 79

242
23
(171)
77.5
173
79
64.5 (50)
51
(105)
239
139 K M x 200 131
N-M6 x 1.0 Depth 10
200
100
110
N-ϕ7 through (C) 200

114 K M x 200 156 2-ϕ10H7
D +/-0.02 151 See detaild drawing of C section
SXYx 2 axes A4
X stroke 136+/-3
83 (18.5)
77.5 90 5.5
70 2-ϕ6H7 Depth 8
Note 1
5 5 32 8 - M6 x 1.0 Depth 8
5
(ϕ10H7)
Y stroke + 255
191.5 140+/-3 Y stroke
knocks +/-0.02)
7.2
4.5 9
Arm type
(Between
135
110

6.5
2.8

5
M (under head) of 20mm or more.

161.5

Gantry type
136
6.5 93
170 77
X stroke + 215 35
L (X stroke + 320)
25
35
Moving arm
42
ϕ9.7 ϕ8.2
7.5 A ϕ7.6
type
B
M Cross-section of cable carrier
136
77.5
125 79
51 23
242
(171)
79
83
Pole type
(50) 64.5
(105)
173
139 K M x 200 131 Note 2 34 53 239

N-M6 x 1.0 Depth 10 200
100
110
XZ type
N-ϕ7 through (C) 200

114 K M x 200 156 2-ϕ10H7

SXYx
Articulated robots
2 axes
YA
Arm type Whipover

Linear conveyor
Ordering method
LCM100
modules
SXYx S RCX222
Model Cable Combination X-axis stroke Y-axis stroke Cable Controller Usable for CE
TRANSERVO
single-axis robots
Compact

PB: PROFIBUS (PNP)
Single-axis robots

FLIP-X

350 15
single-axis robots
450 13
PHASER
Linear motor
550 11
650 9
Cartesian
XY-X

robots
YK-X
SCARA
robots
SXYx 2 axes A1
284+/-3 X stroke
83
77.5 90 (18.5)
2-ф6H7 Depth 8
Pick & place
5 Note 1 5 70 5.5
YP-X
robots
32 8 - M6 x 1.0 Depth 8
5
(ф10H7)
knocks +/-0.02)
Y stroke + 255
Y stroke
7.2
(Between
110
135
4.5 9
130
CLEAN
6.5
2.8
14.8

140+/-3
5

M (under head) of 20mm or more.
122.5
136

1 73
51
81
(50) L (X stroke + 320)

MAX. 1000
B
34 53 A
Note 2
M
23
135
136
242
79
51
173
108
83
Arm type
77.5
(105)
64.5
131 M x 200 K 139 239
200 N-M6 x 1.0 Depth 10
Gantry type
100
110
200 N-ф7 through (C)

2-ф10H7 156 M x 200 K 114
See detaild
151 D +/-0.02
Moving arm
drawing of C section
type
X stroke 150 250 350 450 550 650 750 850 Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical
L 470 570 670 770 870 970 1070 1170 stopper.
K 200 100 200 100 200 100 200 100
Pole type
D 240 240 420 420 600 600 780 960

M 0 1 1 2 2 3 3 4
N 4 6 6 8 8 10 10 12
Y stroke 150 250 350 450 550 650
XZ type
Note 3. When the X-axis stroke is longer than 750mm, resonance of the ball screw may occur depending
Maximum speed for each X-axis 1200 960 780 on the operation conditions (critical speed). In this case, reduce the speed setting on the program
stroke (mm/sec) Note 3 Speed setting – 80% 65% by referring to the maximum speeds shown in the table at the left.

SXYx 2 axes
Articulated robots
YA
SXYx 2 axes A2
(18.5) 136+/-3 X stroke
5.5 83
Linear conveyor
90 77.5 Note 1
LCM100
2-ф6H7 Depth 8
modules
70 5 5
5
32 8 - M6 x 1.0 Depth 8
(ф10H7)
Y stroke + 255
140+/-3 Y stroke
knocks +/-0.02)
7.2 9
4.5
(Between
135
122.5 14.8
110
6.5
2.8
136 5
TRANSERVO
single-axis robots
Compact
Detail of section A Detail of section B Detail of section C 130 73 1
81
51
(50) L (X stroke + 320)
Single-axis robots
MAX. 1000
FLIP-X
42
A 7.5
23
79
108 135
136
B
242
173
77.5
51
83
single-axis robots
34 53 Note 2
(105)
PHASER
Linear motor
64.5 131 M x 200 K 139
200 N-M6 x 1.0 Depth 10
239
100
110
200 N-ф7 through (C)
2-ф10H7 156 M x 200 K 114
Cartesian
XY-X
robots
SXYx 2 axes A3
(18.5) X stroke 284+/-3
83
5.5 77.5
90 5 Note 1 5
70 2-ф6H7 Depth 8
5
32 8 - M6 x 1.0 Depth 8
(ф10H7)
YK-X
SCARA
robots
Y stroke + 255
140+/-3 Y stroke
knocks +/-0.02)
7.2 9
4.5 130
(Between
135
110
122.5 14.8
6.5
2.8

5
Detail of section A Detail of section B Detail of section C 73 1
Pick & place

51
81
136
YP-X
L (X stroke + 320) (50)
robots
42
MAX. 1000
7.5
B 53 34
CLEAN
A
Note 2
M
51 23
108 135
136
242
79
173
83
77.5
64.5
(105)
139 K M x 200 131
239 N-M6 x 1.0 Depth 10 200
100
110
N-ф7 through (C) 200

114 K M x 200 156 2-ф10H7
SXYx 2 axes A4
X stroke 136+/-3
83 (18.5)
Note 1 77.5 2-ф6H7 Depth 8 5.5
90
5 5 70
8 - M6 x 1.0 Depth 8
5
32
Y stroke + 255
(ф10H7)
140+/-3 Y stroke
knocks +/-0.02)
7.2
9
Arm type
4.5
(Between
135
110
14.8
6.5
2.8

5

M
122.5
Gantry type
1 73 130
81
51
136
L (X stroke + 320) (50)
42
Moving arm
MAX. 1000
7.5
type
A
B
M
23
108 135
136
242
Pole type
79
173
51
83
Note 2
(105)
77.5
139 K M x 200 131 53 34

N-M6 x 1.0 Depth 10 200 64.5
239
100
110
XZ type
N-ф7 through (C) 200

114 K M x 200 156 2-ф10H7

SXYx
Articulated robots
2 axes / IO
YA

Linear conveyor
Ordering method
LCM100
modules
SXYx C IO RCX222
Model Cable Combination ZR-axis Cable Controller Usable for CE
TRANSERVO
single-axis robots
Compact

PB: PROFIBUS (PNP)
Single-axis robots

FLIP-X

350 14
Repeatability Note 2(mm) +/-0.01 +/-0.01
single-axis robots
450 12
PHASER
Linear motor
550 10
650 8
Maximum speed Note 4(mm/sec) 1200 1200
Cartesian
XY-X

robots
YK-X
SCARA
robots
SXYx 2 axes / IO A1
296+/-3 X stroke (18.5)
77.5 4-M6 x 1.0 5.5
5 5 Note 1
Pick & place
YP-X
5
robots
(ϕ10H7)
70
6.5
11.5
Y stroke
Y stroke + 255
2.8
29
9
4.5
7.2

25
6.5

70
140+/-3

136 5
4-M5 x 0.8
CLEAN
M
161.5
191.5
59.5
205
35 X stroke + 215
L (X stroke + 320)
ϕ29 (Note 2) 149
YZ 37 108
25
T 111
(168)
6
49
115
XY
240
68
53 M
34
136
125 79
64
Note 2
B
242
23
(171)
173
(105)
12 83 42
83
90
79
51
(50)
A
77.5
64.5
239
Arm type
93
131 M x 200 K 139 73
N-M6 x 1.0 Depth 10 77
200 57
25
35
25
35
100
110
Gantry type
ϕ9.7 ϕ8.2
ϕ9.7
N-ϕ7 through (C) ϕ7.6
200
2-ϕ10H7 XY Cross-section of cable carrier YZ Cross-section of cable carrier
156 M x 200 K 114
See detaild drawing of
C section 151 D +/-0.02
Moving arm
type
L 470 570 670 770 870 970 1070 1170 1270 1370 the mechanical stopper.
K 200 100 200 100 200 100 200 100 200 100
D 240 240 420 420 600 600 780 960 960 1140
Pole type
M 0 1 1 2 2 3 3 4 4 5
N 4 6 6 8 8 10 10 12 12 14
Y stroke 150 250 350 450 550 650
T 55 110 165 220 275 330
XZ type

271
SXYx
Articulated robots
3 axes / ZF
YA
Linear conveyor
Ordering method
LCM100
modules
SXYx C ZF RCX340-3
Model Cable ZR-axis Cable Number of controllable axes standard (OP.A) (OP.B) (OP.C) (OP.D) (OP.E) battery
nation stroke stroke stroke
TRANSERVO

single-axis robots

Compact
A3 10L: 10m
A4
RCX240S

Single-axis robots

FLIP-X
X-axis Y-axis Z-axis Z stroke (mm)

Axis construction Note 1 F14H F14 F10-BK Y stroke (mm) 150 250 350
AC servo motor output (W) 200 100 100 150 10 10 10
250 10 10 9
single-axis robots
350 9 8 7
PHASER
Linear motor
450 7 6 5
550 5 4 3
Maximum speed Note 4 (mm/sec) 1200 1200 600 650 3 2 1
Cartesian
XY-X

robots
RCX340
RCX240S
YK-X
SCARA
robots
SXYx 3 axes / ZF A1
355+/-3 X stroke 110 (18.5)
77.5 5 5 Note 1 100 (Between knocks +/-0.02) 5.5
Pick & place
5
YP-X
robots
115 33
6.5 (ϕ10H7)
70
86
Y stroke
Y stroke + 255
2.8
9
7.2
4.5

4 - M5 x 0.8 Depth 12 with length head bolt with length
140+/-3
5

CLEAN
M
136

191.5
161.5
59.5
205
35 X stroke + 215 123.5
65 4.5
(168)
L (X stroke + 320) 109

127
Note 1
YZ A
M
5 Z stroke 195+/-2
79
6
Z stroke + 290
T 111 115
49
5
190
(409)
XY
68
53 34 M
136
79
Note 2
242
23
B
(171)
173
125
83
79
51
68
(50) 64.5
(105)
77.5
71 83 42
40.5
102
239
131 M x 200 K 139 93

Arm type
73
200 N-M6 x 1.0 Depth 10
77 57
100
110
25
35
25
35
2-ϕ10H7
ϕ9.7 ϕ10.1 ϕ9.7 ϕ8.2
Gantry type

See detaild drawing of ϕ9.9
C section
156 M x 200 K 114 ϕ7.6
151 D +/-0.02 XY Cross-section of cable carrier YZ Cross-section of cable carrier
Moving arm
L 470 570 670 770 870 970 1070 1170 1270 1370
type
K 200 100 200 100 200 100 200 100 200 100
D 240 240 420 420 600 600 780 960 960 1140
M 0 1 1 2 2 3 3 4 4 5
N 4 6 6 8 8 10 10 12 12 14
Pole type
Y stroke 150 250 350 450 550 650

T 55 110 165 220 275 330
Z stroke 150 250 350

XZ type
occur depending on the operation conditions (critical speed). In this case, reduce the
speed setting on the program by referring to the maximum speeds shown in the table
stroke (mm/sec) Note 3 Speed setting – 80% 65% 50% 45% at the left.

SXYx
Articulated robots
3 axes / ZF
YA
Arm type Whipover Z-axis: clamped base / moving table type (100W)
Linear conveyor
Ordering method
LCM100
modules
SXYx S ZF RCX340-3
TRANSERVO
single-axis robots
Compact
A3 10L: 10m
A4
RCX240S
Single-axis robots
FLIP-X
Axis construction Note 1 F14H F14 F10-BK Y stroke (mm) 150 250 350
250 10 10 9
single-axis robots
350 9 8 7
PHASER
Linear motor
450 7 6 5
550 5 4 3
Maximum speed Note 4 (mm/sec) 1200 1200 600 650 3 2 1
Cartesian
XY-X
robots
RCX340
RCX240S
YK-X
SCARA
robots
SXYx 3 axes / ZF A1
355+/-3 X stroke (18.5)
5 5 Note 1 110 5.5
Pick & place

5
YP-X
robots
(ф10H7)
70
86
Y stroke + 255
Y stroke
9
130 44 Use M6 x 1.0 hex socket head bolt
2-ф5H7 Depth 15 with length head bolt with length
4 - M5 x 0.8 Depth 12 (under head) of 20mm or more.
140+/-3
CLEAN
5

M
123.5
123.5
70
40
136
(30)
(50) L (X stroke + 320)
109
(6.5) 65 (40)
15
4.5
ф37
30 130 M
MAX. 1200
Z stroke 255+/-2
187
A
5 60.5
Z stroke + 350
34 53
79
Note 2
M
51 23
(105) 136
242
79
173
Note 1
83
68 77.5
77.5
64.5 102
40.5
71 83 42
Arm type
239
131 M x 200 K 139
200 N-M6 x 1.0 Depth 10
100
110
Gantry type
2-ф10H7 200 N-ф7 through (B)

See detaild drawing of 156 M x 200 K 114
B section 151 D +/-0.02
Moving arm
stopper.
L 470 570 670 770 870 970 1070 1170 Note 2. The shaded position indicates an user cable extraction port.
type
K 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960
M 0 1 1 2 2 3 3 4
Pole type
N 4 6 6 8 8 10 10 12
Y stroke 150 250 350 450 550 650

Z stroke 150 250 350
XZ type
Maximum speed for each X-axis 1200 960 780
on the operation conditions (critical speed). In this case, reduce the speed setting on the program

SXYx
Articulated robots
3 axes / ZFL20
YA
Linear conveyor
Ordering method
LCM100
modules
SXYx C ZFL20 RCX340-3

TRANSERVO

single-axis robots

Compact
A3 10L: 10m
A4
RCX240S R
Controller CE Marking Regeneratizve unit Expansion I/O Network option iVY System Gripper Battery

Single-axis robots

FLIP-X

F10-BK equivalent Y stroke (mm) 150 250 350
Axis construction Note 1 F14H F14
guide-reinforced model 150 8 8 8
single-axis robots
350 8 7 6
PHASER

Linear motor
Drive system Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) 450 6 5 4
550 4 3 2
Note 4
650 2 1 1
Cartesian
XY-X
robots
Note 2. Positioning repeatability in one direction. Controller
Note 4. When the X-axis stroke is longer than 750mm, resonance of the ball screw may occur depending on the operation conditions (critical Controller Operation method
RCX340
RCX240S-R
YK-X
SCARA
robots
SXYx 3 axes / ZFL20 A1

355+/-3 X stroke 110
Note 1
77.5 5 5 100 (Between knocks +/-0.02)
(18.5)
Pick & place
33
5.5
YP-X
8
robots
Y stroke + 255
70 +/-0.02 43
Y stroke
115
70
(ϕ10H7)
156
6.5
140+/-3
2.8
136 5
70
9
M
CLEAN

7.2
4.5
2-ϕ5H7 Depth 15 with length head bolt with length

191.5
161.5

6 - M5 x 0.8 Depth 12
59.5 Detail of section A Detail of section B Detail of section C

205
35 X stroke + 215
L (X stroke + 320) 109
A (76) 123.5
Note 1 M
145
Z stroke 248+/-2
T 111
6
79
Z stroke + 385
115 YZ
5
190
49
XY
(409)
53 M
34
(105) 136
125 79
242
Note 2
51 23
5
(171)
B
173
83
79
68
(50)
33.5
64.5 71 83 42
77.5
239 102
131 M x 200 K 139 93 73
Arm type
200 N-M6 x 1.0 Depth 10 77 57

100
110
25
35
25
35
200 N-ϕ7 through (C) ϕ9.7 ϕ10.1 ϕ9.7 ϕ8.2

Gantry type
2-ϕ10H7 156 M x 200 K 114 ϕ9.9 ϕ7.6

See detaild drawing of 151 D +/-0.02 XY Cross-section of cable carrier YZ Cross-section of cable carrier
C section
Moving arm
L 470 570 670 770 870 970 1070 1170 1270 1370
type
K 200 100 200 100 200 100 200 100 200 100
D 240 240 420 420 600 600 780 960 960 1140
M 0 1 1 2 2 3 3 4 4 5
N 4 6 6 8 8 10 10 12 12 14
Pole type
Y stroke 150 250 350 450 550 650

T 55 110 165 220 275 330
Z stroke 150 250 350
XZ type

SXYx
Articulated robots
3 axes / ZFH
YA
Arm type Cable carrier Z-axis: clamped table / moving base type (200W)
Linear conveyor
Ordering method
LCM100
modules
SXYx C ZFH RCX340-3
TRANSERVO
single-axis robots
Compact
A3 10L: 10m
A4
RCX240S R
Single-axis robots
FLIP-X
Axis construction Note 1 F14H F14
single-axis robots
350 8 7 6
PHASER
Linear motor
Drive system Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) 450 6 5 4
550 4 3 2
Note 4
650 2 1 1
Cartesian
XY-X
robots
RCX340
RCX240S-R
YK-X
SCARA
robots
SXYx 3 axes / ZFH A1
375+/-3 X stroke
77.5 5 Note 1 5 4 - M5 x 0.8 Depth 9 (18.5)
2-ϕ5H7 Depth 8 5.5
33
Pick & place

YP-X
robots
Y stroke + 255
140+/-3 Y stroke
115
(ϕ10H7)
100
6.5
2.8 9
112
136 5

62
4.5
7.2
M
CLEAN
191.5
161.5

59.5
205
35 X stroke + 215 (111) 109 (152) 123.5
L (X stroke + 320) 86 26
M
130
145
Z
T 111
79
Z stroke + 385
76
YZ
4 115
139.5+/-2
190
(105) 136 49
XY
(409)
53 34 M
125 79
Note 2
242
51 23
B
(171)
173
5
79
Z stroke
(50) A 68 20
83
77.5
71 83 42
64.5
239 Note 1
5
102
131 M x 200 K 139
Arm type
200 N-M6 x 1.0 Depth 10 93 73 73

77 57 57
100
110
25
35
25
35
25
35

ϕ9.7 ϕ10.1 ϕ9.7 ϕ8.2 ϕ8.2
Gantry type
2-ϕ10H7 156 M x 200 K 114 ϕ9.9 ϕ7.6 ϕ7.6

See detaild drawing of C section 151 D +/-0.02 XY Cross-section of cable carrier YZ Cross-section of cable carrier Z Cross-section of cable carrier
Moving arm
L 470 570 670 770 870 970 1070 1170 1270 1370
type
K 200 100 200 100 200 100 200 100 200 100
D 240 240 420 420 600 600 780 960 960 1140
M 0 1 1 2 2 3 3 4 4 5
N 4 6 6 8 8 10 10 12 12 14
Pole type
Y stroke 150 250 350 450 550 650

T 55 110 165 220 275 330
Z stroke 150 250 350
XZ type

SXYx
Articulated robots
3 axes / ZS
YA

Linear conveyor
Ordering method
LCM100
modules
SXYx C 15 RCX340-3
TRANSERVO
A1 15 to 105cm 15 to 65cm ZS12 3L: 3.5m

single-axis robots

Compact
A3 10L: 10m
A4
RCX240S

Single-axis robots

FLIP-X
Z-axis Z-axis Y stroke (mm) ZS12 ZS6

X-axis Y-axis
ZS12 ZS6 150 to 650 3 5
Axis construction Note 1 F14H F14 –
single-axis robots
PHASER

Linear motor
Cartesian
XY-X
robots
RCX340
RCX240S
YK-X
SCARA
robots
SXYx 3 axes / ZS A1
(18.5)
394+/-3 X stroke 5.5 93
77.5 5
5 5 Note 1
77
Pick & place
YP-X
38
robots
(ϕ10H7)
41
36
6.5
25
35
Y stroke + 255
2.8
Y stroke
115
0
ϕ12 -0.018 9 ϕ9.7 ϕ10.1
ϕ9.9
7.2
4.5
M8 x 1.25 Use M6 x 1.0 hex socket head bolt

Depth 15 with length head bolt with length XY Cross-section of cable carrier
140+/-3

136 5
CLEAN
M 73
Detail of section A Detail of section B Detail of section C 57
191.5
161.5
25
35
59.5 ϕ9.7 ϕ8.2
205 ϕ7.6
35 X stroke + 215 YZ Cross-section of cable carrier

L (X stroke + 320)
40 72 150 124
YZ 79
T 111
(168)
300
299
49
100+/-2
190
XY
A
(409)
68
M
(105) 136
53 34
125 79
67
242
101
Note 2
6
51 23
B
(171)
Z stroke
6 115
83
79
67.5
(50)
173
64.5 110 83
77.5
239 233 42
Note 1
6
131 M x 200 K 139

Arm type
200 N-M6 x 1.0 Depth 10

100
110
2-ϕ10H7 200 N-ϕ7 through (C)

Gantry type

C section
151 D +/-0.02
Moving arm
K 200 100 200 100 200 100 200 100 200 100
type
D 240 240 420 420 600 600 780 960 960 1140
M 0 1 1 2 2 3 3 4 4 5
N 4 6 6 8 8 10 10 12 12 14
Pole type
Y stroke 150 250 350 450 550 650

T 55 110 165 215 270 325
Z stroke 150
XZ type

SXYx
Articulated robots
3 axes / ZS
YA
Arm type Whipover Z-axis shaft vertical type
Linear conveyor
Ordering method
LCM100
modules
SXYx S 15 RCX340-3
TRANSERVO
A1 15 to 85cm 15 to 65cm ZS12 3L: 3.5m
single-axis robots
Compact
A3 10L: 10m
A4
RCX240S
Single-axis robots
FLIP-X
X-axis Y-axis
ZS12 ZS6 150 to 650 3 5
Axis construction Note 1 F14H F14 –
single-axis robots
PHASER
Repeatability Note 2(mm) +/-0.01 +/-0.01 +/-0.02
Linear motor
Maximum speed Note 4(mm/sec) 1200 1200 1000 500
Cartesian
XY-X
robots
RCX340
RCX240S
YK-X
SCARA
robots
SXYx 3 axes / ZS A1
394+/-3 X stroke (18.5)
5 5 Note 1
5.5
ф5
5
Pick & place

YP-X
robots
(ф10H7)
41
36
Y stroke + 255
Y stroke
0 9
ф12 -0.018
130 44
M8 x 1.25
Depth 15 (under head) of 20mm or more.
140+/-3
CLEAN
123.5 15

M
123.5
40
70
136
(30)
(50) L (X stroke + 320)
40 72 225
30 130
MAX. 1100
300
299
34 53
178.5
100+/-2
79
Note 2
A
M
51 23
(105) 136
67
242
101
79
6
173
83
67.5 77.5
64.5 110 83
77.5
239 Note 1
233 42
Arm type
Z stroke
6
131 M x 200 K 139

200 N-M6 x 1.0 Depth 10
100
110
Gantry type
2-ф10H7 200 N-ф7 through (B)

B section 151 D +/-0.02
Moving arm
stopper.
L 470 570 670 770 870 970 1070 1170 Note 2. The shaded position indicates an user cable extraction port.
type
K 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960
Pole type
M 0 1 1 2 2 3 3 4
N 4 6 6 8 8 10 10 12
Y stroke 150 250 350 450 550 650
Z stroke 150
XZ type
Maximum speed for each X-axis 1200 960 780

SXYx
Articulated robots
4 axes / ZRF
YA
Arm type Cable carrier Z-axis: clamped base / moving table type (100W)+R-axis
Linear conveyor
Ordering method
LCM100
modules
SXYx C ZRF RCX340-4

TRANSERVO

single-axis robots

Compact
A3 10L: 10m
A4
RCX240S

Single-axis robots

FLIP-X
X-axis Y-axis Z-axis R-axis Z stroke (mm)

Axis construction Note 1 F14H F14 F10-BK R5 Y stroke (mm) 150 250 350
AC servo motor output (W) 200 100 100 50 150 6 6 6
250 6 5 4
Repeatability Note 2 (XYZ: mm) (R: °) +/-0.01 +/-0.01 +/-0.01 +/-0.0083
single-axis robots
350 4 3 2
PHASER
Linear motor
Drive system Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Harmonic gear
450 3 2 1
Ball screw lead Note 3 (Deceleration ratio) (mm) 20 20 10 (1/50)
550 2 1 –
Maximum speed Note 4 (XYZ: mm/sec) (R: °/sec) 1200 1200 600 360 650 1 – –
Moving range (XYZ: mm) (R: °) 150 to 1050 150 to 650 150 to 350 360
Cartesian
XY-X

robots
RCX340
RCX240S
YK-X
SCARA
robots
SXYx 4 axes / ZRF A1

93
407.5+/-3 X stroke 73
13
77
8
(201) 77.5 57
5 5
41
25
35
Pick & place
Note 1
YP-X
ϕ9.7
25
35
ϕ20h7 ϕ9.7
robots
20
33
ϕ22 (18.5) ϕ9.9 ϕ7.6 ϕ9.7 ϕ11

ϕ65h7 5.5 ϕ11 ϕ9.9
Y stroke + 255
140+/-3 Y stroke
115

56.6 4-M6 x 1.0
Depth 16
(ϕ10H7)
73
CLEAN
6.5
5
56.6
M 57
2.8 9
across flat)
25
35
7.2
4.5
19 (Width
191.5
37.5
161.5
136
with length head bolt with length ϕ9.7

M8 x 1.25 (under head) of 20mm or more.
Depth 20 ϕ7.6
59.5
205 Detail of section A Detail of section B Detail of section C ZR Cross-section of cable carrier
35 X stroke + 215
L (X stroke + 320)
(152) 123.5
ZR
109 65 4.5
YZ
M
127
46
152
Z stroke + 290
79
86
(168)
Z stroke + 132
T 111
68 49
90 75
168+/-2
78
XY
190
M M
53 34
136
6
125 79
Note 2
242
242
51 23
(171)
173
B
79
72 6
(50)
5
40.5
77.5
(30)
Z stroke
64.5 102 76 68 115

131 M x 200 K 139 A 15 71
Arm type
239 85 110
200 N-M6 x 1.0 Depth 10
5
123.5 83 42
Note 1
100
110
2-ϕ10H7
Gantry type

See detaild 156 M x 200 K 114
drawing of
C section 151 D +/-0.02
Moving arm
L 470 570 670 770 870 970 1070 1170 1270 1370
type
K 200 100 200 100 200 100 200 100 200 100
D 240 240 420 420 600 600 780 960 960 1140
M 0 1 1 2 2 3 3 4 4 5
N 4 6 6 8 8 10 10 12 12 14
Pole type
Y stroke 150 250 350 450 550 650

T 55 110 165 220 275 330
Z stroke 150 250 350
XZ type

SXYx
Articulated robots
4 axes / ZRF
YA
Arm type Whipover Z-axis: clamped base / moving table type (100W)+R-axis
Linear conveyor
Ordering method
LCM100
modules
SXYx S ZRF RCX340-4
TRANSERVO
single-axis robots
Compact
A3 10L: 10m
A4
RCX240S
Single-axis robots
FLIP-X
Axis construction Note 1 F14H F14 F10-BK R5 Y stroke (mm) 150 250 350
250 6 5 4
single-axis robots
350 4 3 2
PHASER
Linear motor
450 3 2 1
550 2 1 –
Maximum speed Note 4 (XYZ: mm/sec) (R: °/sec) 1200 1200 600 360 650 1 – –
Cartesian
XY-X
robots
RCX340
RCX240S
YK-X
SCARA
robots
SXYx 4 axes / ZRF A1
407.5+/-3 X stroke
5 5
13
Note 1
8
(18.5)
41
Pick & place

5
5.5
YP-X
robots
ф20h7
20
ф22
Y stroke
Y stroke + 255
ф65h7
130 44 56.6 4-M6 x 1.0
(ф10H7)
Depth 16
CLEAN
56.6
9
140+/-3
123.5 15
M Use M6 x 1.0 hex socket head bolt

across flat)

19 (Width
M8 x 1.25 37.5 (under head) of 20mm or more.

123.5 Depth 20
136
70
40
(30)
(50) L (X stroke + 320)
115
4.5 123.5
109
65
75
MAX. 1150
30 130 M
127
Z stroke + 132 152
79
Z stroke + 290
34 53 90
78
79
190
Note 2 M
M
51 23
(105) 136
6
242
242
Z stroke 168+/-2
79
173
83
Arm type
5
35.5
77.5
131 M x 200 K 139 (30) 76 68

N-M6 x 1.0 Depth 10 64.5 A
5
200
239 Note 1 72 15 71
Gantry type
110
100
102 123.5
2-ф10H7
200 N-ф7 through (B) 110
See detaild
drawing of 156 M x 200 K 114
B section 151 D +/-0.02
Moving arm
type
L 470 570 670 770 870 970 1070 1170 stopper.

K 200 100 200 100 200 100 200 100
D 240 240 420 420 600 600 780 960
Pole type
M 0 1 1 2 2 3 3 4
N 4 6 6 8 8 10 10 12
Y stroke 150 250 350 450 550 650
Z stroke 150 250 350
XZ type
Maximum speed for each X-axis 1200 960 780 Note 3. When the X-axis stroke is longer than 750mm, resonance of the ball screw may occur depending on
the operation conditions (critical speed). In this case, reduce the speed setting on the program by
stroke (mm/sec) Note 3 Speed setting – 80% 65% referring to the maximum speeds shown in the table at the left.

SXYx
Articulated robots
4 axes / ZRFL20
YA
Arm type Cable carrier Z-axis: clamped base / moving table type (200W)+R-axis
Linear conveyor
Ordering method
LCM100
modules
SXYx C ZRFL20 RCX340-4

TRANSERVO

single-axis robots

Compact
A3 10L: 10m
A4
RCX240S R

Single-axis robots

FLIP-X

Axis construction Note 1 F14H F14 R5
single-axis robots
350 4 3 1
PHASER

Linear motor
Drive system Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Harmonic gear 450 2 1 –
550 1 – –
Note 4
Maximum speed (XYZ: mm/sec) (R: °/sec) 1200 1200 1200 360
Cartesian
XY-X
robots
RCX340
RCX240S-R
YK-X
SCARA
robots
SXYx 4 axes / ZRFL20 A1

93
407.5+/-3 X stroke 73
20 13
77
8
77.5 5 5 Note 1 57
41
25
35
Pick & place
ϕ20h7
33
ϕ9.7
25
35
ϕ9.7
5
YP-X
robots
ϕ22 ϕ9.9 ϕ7.6 ϕ9.7 ϕ11

Y stroke + 255
191.5 140+/-3 Y stroke
ϕ65h7 (18.5)
115
ϕ11 ϕ9.9
56.6 4-M6 x 1.0 5.5
Depth 16
136 5
across flat) 56.6
(ϕ10H7)
M 6.5 73
CLEAN
2.8 57
9
161.5
19 (Width
37.5
7.2
4.5
25
35
M8 x 1.25 with length head bolt with length
59.5 Depth 20 (under head) of 20mm or more. ϕ9.7
205 ϕ7.6
35 X stroke + 215 ZR Cross-section of cable carrier
L (X stroke + 320)
(152) 123.5
109
31
ZR
M
145
240
T 111
Z stroke + 385
79
78 86
Z stroke + 132
YZ
4 115 90 75
168+/-2
190
(105) 136 49
XY
(409)
Note 2 53 34 M M
6
125 79
242
242
51 23
(171)
B
173
79
83
(50) 72 A
5
33.5
77.5
Z stroke
64.5 102
239 85 110
Arm type
131 M x 200 K 139 (30) 76 68 83 42

5
200 N-M6 x 1.0 Depth 10 Note 1 15 71

123.5
100
110
Gantry type
2-ϕ10H7 200 N-ϕ7 through (C)

See detaild 156 M x 200 K 114
drawing of C section 151 D +/-0.02
Moving arm
L 470 570 670 770 870 970 1070 1170 1270 1370 the mechanical stopper.
type
K 200 100 200 100 200 100 200 100 200 100
D 240 240 420 420 600 600 780 960 960 1140
M 0 1 1 2 2 3 3 4 4 5
Pole type
N 4 6 6 8 8 10 10 12 12 14
Y stroke 150 250 350 450 550
T 55 110 165 220 275
Z stroke 150 250 350
XZ type

SXYx
Articulated robots
4 axes / ZRFH
YA
Arm type Cable carrier Z-axis: clamped table / moving base type (200W)+R-axis
Linear conveyor
Ordering method
LCM100
modules
SXYx C ZRFH RCX340-4
TRANSERVO
single-axis robots
Compact
A3 10L: 10m
A4
RCX240S R
Single-axis robots
FLIP-X
Axis construction Note 1 F14H F14 R5
single-axis robots
350 4 3 1
PHASER
Repeatability Note 2(XYZ: mm) (R: °) +/-0.01 +/-0.01 +/-0.01 +/-0.0083
Linear motor
450 2 1 –
550 1 – –
Note 4
Maximum speed (XYZ: mm/sec) (R: °/sec) 1200 1200 600 360
Moving range (XYZ: mm)(R: °) 150 to 1050 150 to 550 150 to 350 360
Cartesian
XY-X
robots
RCX340
RCX240S-R
YK-X
SCARA
robots
SXYx 4 axes / ZRFH A1
93
73
13
412.5+/-3 X stroke 77
8
77.5 5 Note 1 5 57
41
25
35
20
Pick & place

ϕ20h7 ϕ9.7
25
35
ϕ9.7
YP-X
33
robots
(18.5)
ϕ22 ϕ9.9 ϕ7.6 ϕ9.7 ϕ11
5.5
Y stroke + 255
ϕ65h7 ϕ11 ϕ9.9

140+/-3 Y stroke
115
56.6 4-M6 x 1.0 XY Cross-section of cable carrier YZ Cross-section of cable carrier

Depth 16
(ϕ10H7)
6.5
across flat) 56.6
73
5
CLEAN
M 2.8 9 57
136

19 (Width
7.2
191.5
4.5
161.5
37.5
25
35
M8 x 1.25 (under head) of 20mm or more. ϕ9.7
Depth 20
59.5 ϕ7.6
205 Detail of section A Detail of section B Detail of section C ZR Cross-section of cable carrier
35 X stroke + 215
L (X stroke + 320)
(111) 109
(152) 123.5
18.5 78
ZR 26
86
M
130
145
T 111
Z stroke + 385
79
90 76
YZ
4 115 75
190
(105) 136 49
XY
(409)
M M
53 34
21
125 79
242
Note 2
139.5
Z stroke 188+/-2
242
51 23
(171)
173
B
79
83
(50) 72
77.5
A
Arm type
131 M x 200 K 139 102

64.5 68
200 N-M6 x 1.0 Depth 10 239 Note 1 (30) 76 71 20
5
128.5 83 42
100
110
Gantry type

2-ϕ10H7 156 M x 200 K 114
Moving arm
L 470 570 670 770 870 970 1070 1170 1270 1370
type
K 200 100 200 100 200 100 200 100 200 100
D 240 240 420 420 600 600 780 960 960 1140
M 0 1 1 2 2 3 3 4 4 5
N 4 6 6 8 8 10 10 12 12 14
Pole type
Y stroke 150 250 350 450 550

T 55 110 165 220 275
Z stroke 150 250 350

XZ type

SXYx
Articulated robots
4 axes / ZRS
YA
Arm type Cable carrier ZR axis integrated type

Linear conveyor
Ordering method
LCM100
modules
SXYx C 15 RCX340-4
TRANSERVO
A1 15 to 105cm 15 to 65cm ZRS12 3L: 3.5m

single-axis robots
A2 ZRS6 5L: 5m Specify various controller setting items. RCX340 P.544

Compact
A3 10L: 10m
A4
RCX240S

Single-axis robots

FLIP-X
Z-axis: Z-axis: Y stroke (mm) ZRS12 ZRS6

X-axis Y-axis R-axis
ZRS12 ZRS6 150 3 5
Axis construction Note 1 F14H F14 – – 250 3 5
single-axis robots
450 3 5
PHASER

Linear motor
Drive system Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C10) Harmonic gear 550 3 5
650 3 4
Ball screw lead Note 3 (Deceleration ratio) (mm) 20 20 12 6 (1/50)
Note 4
Maximum speed (XYZ: mm/sec) (R: °/sec) 1200 1200 1000 500 1020
Moving range (XYZ: mm) (R: °) 150 to 1050 150 to 650 150 360
Cartesian
XY-X
robots
RCX340
RCX240S
YK-X
SCARA
robots
SXYx 4 axes / ZRS A1
394+/-3 93
X stroke (18.5) 77
77.5 Note 1
5 5 ϕ5 5.5
25
35
Pick & place
YP-X
ϕ9.7 ϕ9.7
38
robots
ϕ9.9
41
ϕ7.6
36
(ϕ10H7)
6.5
Y stroke + 255
ϕ11
191.5 140+/-3 Y stroke
115
0
ϕ12 -0.018 2.8
9 XY Cross-section of cable carrier
7.2
4.5

Depth 15 with length head bolt with length 73
5
CLEAN
M (under head) of 20mm or more. 57

136
25
35
161.5
ϕ9.7 ϕ11
ϕ9.9
59.5
205
35 X stroke + 215
L (X stroke + 320)
150 124
YZ 40 72
79
(168)
T 111
300
301
49
100+/-2
190
XY
A
(409)
53 34
68
Note 2 M
136
125 79
65
242
99
51 23
B
6
(171)
83
6 115
79
(50) 67.5
77.5
64.5
110 83
173
(105)
239
Z stroke
6
131 M x 200 K 139 Note 1 233 42

N-M6 x 1.0 Depth 10
Arm type
200
100
110

Gantry type
2-ϕ10H7 156 M x 200 K 114

See detaild drawing of 151 D +/-0.02
C section
Moving arm

type
K 200 100 200 100 200 100 200 100 200 100
D 240 240 420 420 600 600 780 960 960 1140
M 0 1 1 2 2 3 3 4 4 5
Pole type
N 4 6 6 8 8 10 10 12 12 14
Y stroke 150 250 350 450 550 650
T 55 110 165 220 275 330
Z stroke 150
XZ type

SXYx
Articulated robots
4 axes / ZRS
YA
Arm type Whipover ZR axis integrated type
Linear conveyor
Ordering method
LCM100
modules
SXYx S 15 RCX340-4
TRANSERVO
A1 15 to 85cm 15 to 65cm ZRS12 3L: 3.5m
single-axis robots
A2 ZRS6 5L: 5m Specify various controller setting items. RCX340 P.544
Compact
A3 10L: 10m
A4
RCX240S
Single-axis robots
FLIP-X
Z-axis: Z-axis: Y stroke (mm) ZRS12 ZRS6
X-axis Y-axis R-axis
ZRS12 ZRS6 150 3 5
Axis construction Note 1 F14H F14 – – 250 3 5
single-axis robots
450 3 5
PHASER
Linear motor
Drive system Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C10) Harmonic gear 550 3 5
650 3 4
Ball screw lead Note 3 (Deceleration ratio) (mm) 20 20 12 6 (1/50)
Note 4
Maximum speed (XYZ: mm/sec) (R: °/sec) 1200 1200 1000 500 1020
Moving range (XYZ: mm) (R: °) 150 to 850 150 to 650 150 360
Cartesian
XY-X
robots
RCX340
RCX240S
YK-X
SCARA
robots
SXYx 4 axes / ZRS A1
394+/-3 X stroke
5 5 Note 1 (18.5)
ф5 5.5
Pick & place

5
YP-X
robots
41
36
(ф10H7)
Y stroke + 255
Y stroke
0
ф12 -0.018
130 44 9
Depth 15 with length head bolt with length
15
CLEAN
140+/-3

5
M
123.5
123.5
40
70
136
(30)
(50) L (X stroke + 320)
40 72 225
30 130
MAX. 1100
34 53
300
301
Note 2
100+/-2
178.5
79
A
23
M
136
65
242
99
79
51
6
83
67.5 77.5
77.5
110 83
(105)
173
64.5
Arm type
Note 1 233 42
239
Z stroke
6
131 M x 200 K 139

200 N-M6 x 1.0 Depth 10
100
110
Gantry type
200 N-ф7 through (B)

2-ф10H7 156 M x 200 K 114
See detaild drawing of 151 D +/-0.02
B section
Moving arm
type
L 470 570 670 770 870 970 1070 1170 stopper.

K 200 100 200 100 200 100 200 100
D 240 240 420 420 600 600 780 960
Pole type
M 0 1 1 2 2 3 3 4
N 4 6 6 8 8 10 10 12
Y stroke 150 250 350 450 550 650
Z stroke 150
XZ type
Maximum speed for each X-axis 1200 960 780 Note 3. When the X-axis stroke is longer than 750mm, resonance of the ball screw may occur depending

SXYBx
Articulated robots
2 axes
YA

Linear conveyor
Ordering method
LCM100
modules
SXYBx C RCX222
X-axis Y-axis Regeneratine Input/Output Input/Output
stroke stroke unit Note 1 selection 1 selection 2
TRANSERVO
single-axis robots
A1 15 to 305cm 15 to 55cm 3L: 3.5m RCX222 No entry: Standard No entry: None N: NPN Note 1 No entry: None
A2 5L: 5m E: CE marking R: RG2 P: PNP N1: OP.DIO24/16
Compact

PB: PROFIBUS (PNP)
Note 1. Regenerative unit RG2 is required when the maximum speed on the RCX222 exceeds 1250mm/sec. EN: Ethernet EN: Ethernet Note 4
Note 2. NPN cannot be selected if using CE marking. YC: YC-Link Note 3
Note 3. Available only for the master. See P.68 for details on YC-Link system.
Note 4. Only when CC or DN or PB was selected for I/O select 1 above, EN can be selected in I/O select 2.
Single-axis robots

FLIP-X

Axis construction Note 1 B14H B14 150 14
350 10
single-axis robots
450 8
PHASER
Linear motor

550 7
Cartesian
XY-X

robots
Note. Regenerative unit RG2 is required when the maximum speed
YK-X
SCARA
robots
exceeds 1250mm/sec.
SXYBx 2 axes A1
320+/-3 X stroke
94
12.5 12.5
Pick & place
YP-X
robots
Note 1
12.5
Y stroke + 338
Y stroke
90 2-ϕ6H7 Depth 10
70 8 - M6 x 1.0 Depth 16
32
12.5
CLEAN
79.5
100
knocks +/-0.02)
144+/-3
10 168 85
6.5
92
(Between
134
146
136
25
35
3.7
4.5
7.2
M
ϕ9.7 ϕ8.2
103
ϕ7.6
79.5
195.2
122
129

(50)
104.5 152 J G 152
L (X stroke + 438) 22 122.5
32
B
A
79
53 34 M
83 92
Note 2
136
159
184
(205)
23
168
(116)
90.5 42 73.5
90.5
94
79
51
73
10
26.5 280
Arm type
85 M×200 K F-ϕ10H7: See the cross-sectional drawing of S-S.

200 N-M6×1.0 Depth 10 S
100
(ϕ10H7)
Gantry type
5.5
S
18.5
85 C+/-0.02 D+/-0.02 E+/-0.02
Cross-sectional drawing S-S Note 1. The moving range when returning to origin and the stop
position when stopping by the mechanical stopper.
Moving arm
X stroke 150 250 350 450 550 650 750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450 2550 2650 2750 2850 2950 3050
type
L 588 688 788 888 988 1088 1188 1288 1388 1488 1588 1688 1788 1888 1988 2088 2188 2288 2388 2488 2588 2688 2788 2888 2988 3088 3188 3288 3388 3488
K 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100
C 240 420 600 600 780 780 960 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140
D - - - - - - - - - - 240 240 240 420 600 600 780 780 960 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140
Pole type
E - - - - - - - - - - - - - - - - - - - - - - 240 240 420 420 600 600 780 960

F 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4
M 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16
N 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36
G 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50
XZ type
J 330 330 430 430 530 530 630 630 730 730 830 830 930 930 1030 1030 1130 1130 1230 1230 1330 1330 1430 1430 1530 1530 1630 1630 1730 1730
Y stroke 150 250 350 450 550

SXYBx 2 axes
Articulated robots
YA
SXYBx 2 axes A2
90 200+/-3 X stroke
70 2-ϕ6H7 Depth 10 12.5 94 12.5
Linear conveyor
32
LCM100
8 - M6 x 1.0 Depth 16
modules
100 Note 1
85
knocks +/-0.02)
6.5
12.5 12.5
144+/-3 Y stroke
Y stroke + 338
(Between 3.7
35
25
146
134
4.5
7.2
ϕ9.7 ϕ8.2
79.5
ϕ7.6
TRANSERVO
single-axis robots
Cross-section of cable carrier 168 10
Compact
103 92
122 136
M
195.2
129
79.5
(50)
Single-axis robots
122.5 104.5 152 J G
152
L (X stroke + 438)
FLIP-X
22
32
B A
94 159 79
M
23 83 92
(116) 136
184
(205)
168
90.5
90.5
73.5
79
51
single-axis robots
42
PHASER
Linear motor
73 85 26.5
Note 2
10
M×200 K F-ϕ10H7:See the cross-sectional drawing of S-S.
280 53 34
200 N-M6×1.0 Depth 10 S
100
(ϕ10H7)
5.5
S 18.5
85 C+/-0.02 D+/-0.02 E+/-0.02 Cross-sectional drawing S-S
Cartesian
XY-X
robots
SXYBx 2 axes A3
X stroke 320+/-3
94
90 12.5 12.5
70 2-ϕ6H7 Depth 10
32 8 - M6 x 1.0 Depth 16 Note 1
100
YK-X
SCARA
robots
85
knocks +/-0.02)
12.5 12.5
Y stroke + 338
6.5
144+/-3 Y stroke
3.7
(Between
25
35
146
134
7.2
4.5
ϕ9.7 ϕ8.2 79.5

ϕ7.6 168 10
103 92
136
Pick & place

M
YP-X
robots
195.2
79.5
122
129
(50)
G J 152 104.5
122.5 152 L (X stroke + 438)
22
32
B
A
CLEAN
94 159 79
M 34 53
83 92
Note 2
(116) 136
184
(205)
51 23
168
90.5
90.5
73.5
79
42
73 F-ϕ10H7: K M×200 26.5 85
10
280
See the cross-sectional drawing of S-S. S N-M6×1.0 Depth 10 200
100
(ϕ10H7)
5.5
18.5 S
Cross-sectional drawing S-S E+/-0.02 D+/-0.02 C+/-0.02 85
SXYBx 2 axes A4
X stroke 200+/-3 90
12.5 94 12.5 70 2-ϕ6H7 Depth 10
32 8 - M6 x 1.0 Depth 16
Note 1 100
85
knocks +/-0.02)
12.5 12.5
6.5
Y stroke + 338
144+/-3 Y stroke
(Between
3.7
25
35
134
146
Arm type
4.5
7.2
ϕ9.7 ϕ8.2
79.5
ϕ7.6
10 168
103 92
122 136
Gantry type
M
195.2
129
79.5
(50)
G J 152 104.5 152 122.5
L (X stroke + 438)
Moving arm
22
32
A B
type
159 79
M
23 83 92
(116) 136
184
(205)
168
Pole type
73.5
90.5
90.5
94
79
51
42
26.5 85 Note 2 73
10
F-ϕ10H7: K M×200
34 53 280
See the cross-sectional drawing of S-S. S N-M6×1.0 Depth 10 200
100
XZ type
(ϕ10H7)
5.5
18.5 S
E+/-0.02 D+/-0.02 C+/-0.02 85
Cross-sectional drawing S-S

SXYBx
Articulated robots
3 axes / ZF
YA
Linear conveyor
Ordering method
LCM100
modules
SXYBx C ZF RCX340-3
Model Cable ZR-axis Cable
TRANSERVO

single-axis robots

Compact
A3 10L: 10m
A4
RCX240S R

Single-axis robots

FLIP-X

Axis construction Note 1 B14H B14 F10-BK Y stroke (mm) 150 250 350
250 6 5 4
single-axis robots
350 4 3 2
PHASER
Linear motor
Drive system Timing belt Timing belt Ball screw (Class C7)
450 2 1 –
Ball screw lead Note 3 (Deceleration ratio) (mm) Equivalent to lead 25 Equivalent to lead 25 10
550 1 – –
Cartesian
XY-X

robots
RCX340 Programming / I/O point trace /

RCX240S-R RS-232C communication
YK-X
SCARA
robots
SXYBx 3 axes / ZF A1
391+/-3 X stroke 100
12.5 12.5 85
Pick & place
Note 1
YP-X
25
35
robots
110
ϕ9.7 ϕ10.1
115 38

12.5
ϕ9.9
Y stroke + 338
Y stroke
XY Cross-section of cable carrier

6.5
70
86
12.5
79.5 3.7 73
4.5
7.2
CLEAN
57
144+/-3
10 168 2-ϕ5H7 Depth 15

4 - M5 x 0.8 Depth 12
92
25
35
136
M Detail of section A Detail of section B ϕ9.7 ϕ8.2

103
ϕ7.6
195.2
79.5
122
129

(50)
104.5 152 J G 133
109 YZ 65 4.5
L (X stroke + 438) 122.5
A
127
Z stroke 195+/-2
152
79
22
32
Note 1
Z stroke + 290
M
5
190
79
XY
53 34 M
(420)
83 92
136
Note 2
159
184
(205)
B
23
168
5
(116)
90.5
94
79
51
68 90.5 61
26.5 73
39.5
10
85 M×200 K F-ϕ10H7: 280 102 71 94 42 73.5

Arm type
200 N-M6×1.0 Depth 10 S See the cross-sectional drawing of S-S.

100
(ϕ10H7)
5.5
S
Gantry type
18.5
85 C+/-0.02 D+/-0.02 E+/-0.02 Note 1. The moving range when returning to origin and the stop
Cross-sectional drawing S-S position when stopping by the mechanical stopper.
X stroke 150 250 350 450 550 650 750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450 2550 2650 2750 2850 2950 3050
L 588 688 788 888 988 1088 1188 1288 1388 1488 1588 1688 1788 1888 1988 2088 2188 2288 2388 2488 2588 2688 2788 2888 2988 3088 3188 3288 3388 3488
Moving arm
K 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100
type
C 240 420 600 600 780 780 960 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140
D - - - - - - - - - - 240 240 240 420 600 600 780 780 960 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140
E - - - - - - - - - - - - - - - - - - - - - - 240 240 420 420 600 600 780 960
Pole type
F 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4
M 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16
N 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36
G 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50
J 330 330 430 430 530 530 630 630 730 730 830 830 930 930 1030 1030 1130 1130 1230 1230 1330 1330 1430 1430 1530 1530 1630 1630 1730 1730
XZ type
Y stroke 150 250 350 450 550

Z stroke 150 250 350

SXYBx
Articulated robots
3 axes / ZFL20
YA
Linear conveyor
Ordering method
LCM100
modules
SXYBx C ZFL20 RCX340-3
TRANSERVO
single-axis robots
Compact
A3 10L: 10m
A4
RCX240S R
Single-axis robots
FLIP-X
Axis construction Note 1 B14H B14
single-axis robots
350 3 2 1
PHASER
Repeatability Note 2 (mm)
Linear motor
+/-0.04 +/-0.04 +/-0.01
450 1 – –
Cartesian
XY-X
robots

YK-X
SCARA
robots
SXYBx 3 axes / ZFL20 A1
391+/-3 X stroke 110
100 (Between knocks +/-0.02) 100
90.5 12.5 12.5
85
Pick & place

8
12.5
Note 1
YP-X
25
35
robots
70 +/-0.02 43
ϕ9.7 ϕ10.1
115 38
70
ϕ9.9
Y stroke
Y stroke + 338
XY Cross-section of cable carrier

156
12.5
79.5
70
6.5
CLEAN
144+/-3
10 168 3.7
73
4.5
7.2
92
2-ϕ5H7 Depth 15 57
136
M 6 - M5 x 0.8 Depth 12
103
25
35
195.2

79.5
122
129
ϕ9.7 ϕ8.2
ϕ7.6
(50) YZ Cross-section of cable carrier
104.5 152 J G
L (X stroke + 438) 109 (76) 133
M
A 122.5
145
248+/-2
152 Note 1
79
22
32
Z stroke + 385
5
79
Z stroke
190
53 34 M
83 92
(420)
Note 2
136
159
184
5
(205)
23
168
90.5
B
94
79
51
68
Arm type
73 42
(116)
26.5 280 102

32.5
10
85 M×200 K F-ϕ10H7: 71 94 73.5

200 N-M6×1.0 Depth 10 S See the cross-sectional drawing of S-S.
100
Gantry type
(ϕ10H7)
5.5
S 18.5 Note 1. The moving range when returning to origin and the stop position when
85 C+/-0.02 D+/-0.02 E+/-0.02 stopping by the mechanical stopper.
Cross-sectional drawing S-S Note 2. The shaded position indicates an user cable extraction port.
X stroke 150 250 350 450 550 650 750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450 2550 2650 2750 2850 2950 3050
Moving arm
L 588 688 788 888 988 1088 1188 1288 1388 1488 1588 1688 1788 1888 1988 2088 2188 2288 2388 2488 2588 2688 2788 2888 2988 3088 3188 3288 3388 3488
type
K 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100
C 240 420 600 600 780 780 960 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140
D - - - - - - - - - - 240 240 240 420 600 600 780 780 960 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140
E - - - - - - - - - - - - - - - - - - - - - - 240 240 420 420 600 600 780 960
Pole type
F 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4
M 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16
N 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36
G 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50
J 330 330 430 430 530 530 630 630 730 730 830 830 930 930 1030 1030 1130 1130 1230 1230 1330 1330 1430 1430 1530 1530 1630 1630 1730 1730
XZ type
Y stroke 150 250 350 450

Z stroke 150 250 350

SXYBx
Articulated robots
3 axes / ZFH
YA
Arm type Cable carrier Z-axis: clamped table / moving base type (200W)
Linear conveyor
Ordering method
LCM100
modules
SXYBx C ZFH RCX340-3

TRANSERVO

single-axis robots

Compact
A3 10L: 10m
A4
RCX240S R

Single-axis robots

FLIP-X

Axis construction Note 1 B14H B14
single-axis robots
350 3 2 1
PHASER
Repeatability Note 2 (mm)

Linear motor
+/-0.04 +/-0.04 +/-0.01

450 1 – –
Cartesian
XY-X
robots

YK-X
SCARA
robots
SXYBx 3 axes / ZFH A1

100
411+/-3 X stroke 4 - M5 x 0.8 Depth 9 73
85
90.5 12.5 12.5 2-ϕ5H7 Depth 8 57
Pick & place
25
35
12.5
Note 1
25
35
YP-X
robots
38
ϕ9.7 ϕ10.1 ϕ9.7 ϕ8.2

ϕ9.9 ϕ7.6
100
Y stroke + 338
195.2 144+/-3 Y stroke
115

12.5
79.5 6.5 73
112
62
10 168 3.7 57
CLEAN
4.5
7.2
92
25
35
70
122 136
M
(Between knocks +/-0.02) ϕ8.2
103
ϕ7.6
79.5

129
Z Cross-section of cable carrier

(50)
104.5 152 J G
L (X stroke + 438) (152) 133
86 109 26
M 122.5
130
145
152
79
YZ
Z stroke + 385
22
76
32
XY
79
190
53 34
(420)
83 92
Note 2
136
159
151.5+/-2
184
(205)
23
168
90.5
B
94
79
51
Z stroke
68 20 42
A
10
Arm type
26.5 F-ϕ10H7: 73 71 94 73.5

85 M×200 K
200 N-M6×1.0 Depth 10 See the cross-sectional drawing of S-S. 280
(116)
S 102
5
Note 1
100
(ϕ10H7)
5.5
Gantry type
S 18.5 Note 1. The moving range when returning to origin and the stop
85 C+/-0.02 D+/-0.02 E+/-0.02 position when stopping by the mechanical stopper.
Cross-sectional drawing S-S
X stroke 150 250 350 450 550 650 750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450 2550 2650 2750 2850 2950 3050
L 588 688 788 888 988 1088 1188 1288 1388 1488 1588 1688 1788 1888 1988 2088 2188 2288 2388 2488 2588 2688 2788 2888 2988 3088 3188 3288 3388 3488
Moving arm
K 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100
type
C 240 420 600 600 780 780 960 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140
D - - - - - - - - - - 240 240 240 420 600 600 780 780 960 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140
E - - - - - - - - - - - - - - - - - - - - - - 240 240 420 420 600 600 780 960
Pole type
F 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4
M 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16
N 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36
G 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50
J 330 330 430 430 530 530 630 630 730 730 830 830 930 930 1030 1030 1130 1130 1230 1230 1330 1330 1430 1430 1530 1530 1630 1630 1730 1730
XZ type
Y stroke 150 250 350 450

Z stroke 150 250 350

SXYBx
Articulated robots
3 axes / ZS
YA
Linear conveyor
Ordering method
LCM100
modules
SXYBx C ZS 15 RCX340-3
Model Cable ZR-axis Cable
TRANSERVO
A1 15 to 305cm 15 to 55cm ZS12 3L: 3.5m
single-axis robots
Compact
A3 10L: 10m
A4
RCX240S R
Single-axis robots
FLIP-X
X-axis Y-axis
ZS12 ZS6 150 3 5
Axis construction Note 1 B14H B14 – 250 3 5
AC servo motor output (W) 200 100 60 350 3 5
single-axis robots
450 3 4

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C A T A L O G 2018

ARTICUL ATED ROBOTS LINEAR CONVEYOR MODULES

SR Type (Rod type) SR Type (Rod type with support guide)

MR Type Shaft motor drive is compact and lightweight

STH Type RF Type BD Type Double Carriges Standard on all Modules

PXYx FXYx FXYBx

T type Frame-less structure model F type / GF type

P.176 F8 GF14XL P.183

Pick & place

RCX240 + iVY RCX340 + iVY2

Features P.48 vision system iVYボード

YP220BX YP220BXR YP340X

P.431 P.433 P.436 YRG-4225S YRG-2810W YRG-2840FS YRG-2820T P.585

Technical development based on

YAMAHA continues to evaluate

SPEC UP Major improvements

Sealing work Board inspection work For long-distance or

NEW New products

Articulated robots Orbit type robots

YA Series P.8 YK350TW P.372

Belt modules Scara robots

LCM100-4B/3B P.10 YK700XGL P.395

Single-axis robots Robot driver

F10H P.188 RDV-X / RDV-P P.506

Cycle time simulation calculation 2D/3D CAD data download

Input simple parameters

Total movement time

Constant speed time

Constant speed distance

■ Download 3D CAD data

Guide lifetime distance

Ball screw movement

Total movement time

Constant speed time

Constant speed distance

To register as a new member

Go to New Registration screen from the top page

Manual download Parts List and Exploded View

Ver. 3.03 J47

Device Driver for USB-Serial Cable

What you can do using TS-Manager (free version)

Copyright (C) YAMAHA MOTOR CO.,LTD.

Transfer data from the PC to the controller

Payload Vertical reach Horizontal reach

Free arm movement further boosts productivity.

LINEAR CONVEYOR MODULES

Linear conveyor module LCM100

Round travel is possible

Work on the slider is possible

Saves Lower High-speed and high-accuracy transfer

LCM100 Finished 30% reduction

Linear motor drive for Optimum acceleration/ Slider is supported

Transfer Deceleration Stop Retraction Work Returning Transfer

The length of the transfer line can be adjusted freely by

<Process order> A Same processes

B The slider moves in both

time processes while transferring three workpieces at the same time at

Example of horizontal circulation Example of horizontal branching