YK400XG

Articulated robots

Standard type: Small type

YA

Arm length 400mm Maximum payload 5kg

Linear conveyor
LCM100

Ordering method
modules

YK400XG 150 RCX340-4

Model Z axis stroke Tool flange Hollow shaft Cable Controller / Safety Option A Option B Option C Option D Option E Absolute
Motor-less single
Robonity TRANSERVO

Number of controllable axes standard (OP.A) (OP.B) (OP.C) (OP.D) (OP.E) battery
axis actuator

150: 150mm No entry: None No entry: None 3L: 3.5m

F: With tool flange S: With hollow shaft 5L: 5m
10L: 10m Specify various controller setting items. RCX340 P.566
single-axis robots
Compact

Specifications Controller
X-axis Y-axis Z-axis R-axis Controller Power capacity (VA) Operation method
Axis Arm length 250 mm 150 mm 150 mm - Programming /
Single-axis robots

specifications Rotation angle +/-140 ° +/-144 ° - +/-360 ° I/O point trace /

FLIP-X

Remote command /
AC servo motor output 200 W 150 W 50 W 100 W RCX340 1000
Operation
Deceleration Transmission Motor to speed reducer Direct-coupled using RS-232C
mechanism method Speed reducer to output Direct-coupled communication

Repeatability Note 1 +/-0.01 mm +/-0.01 mm +/-0.004 °

single-axis robots
PHASER

Maximum speed 6.1 m/sec 1.1 m/sec 1020 °/sec

Linear motor

Maximum payload 5 kg (Standard specification), 4 kg (Option specifications Note 4) Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
Standard cycle time: with 2kg payload Note 2 0.45 sec set to the maximum at the time of shipment.)
R-axis tolerable moment of inertia Note 3 0.05 kgm2 (0.5 kgfcms2) See our robot manuals (installation manuals) for detailed
information.
User wiring 0.2 sq × 10 wires Note. To set the standard coordinates with high accuracy, use a
User tubing (Outer diameter) ϕ4×3 standard coordinate setting jig (option). Refer to the user’s
Cartesian

manual (installation manual) for more details.

XY-X
robots

Travel limit 1.Soft limit 2.Mechanical stopper (X,Y,Z axis)

Our robot manuals (installation manuals) can be
Robot cable length Standard: 3.5 m Option: 5 m, 10 m downloaded from our website at the address below:
Weight 19.5 kg https://global.yamaha-motor.com/business/robot/

Note 1. This is the value at a constant ambient temperature. (X,Y axes)

Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. The acceleration coefficient is set automatically in accordance with the tip weight and R-axis moment of inertia settings.
YK-X
SCARA
robots

Note 4. Maximum payload of option specifications (with tool flange attached or with user wiring and tubing routed through spline shaft) is 4kg.

YK400XG
Pick & place
YP-X
robots

142 If the robot enters the inside of the corner of R190 and dimension 148, the
Z-axis upper end stopper may be in contact with the base or the arm may
93

be in contact with the machine harness. So, do not perform such motion.
104
60 60
140
90
CLEAN

144°
144°

R1

140°
140°

User tubing 1 (ϕ4 black) 30 62 4-ϕ9 56

M8 bolt for installation, 4 bolts used
User tubing 2 (ϕ4 red) 50 88
User tubing 3 (ϕ4 blue) R400
138 (Base size)
CONTROLLER INFORMATION

342

° 131
131 °
D-sub connector for user wiring (No. 1 to 10 usable)
Cross section B-B 148
R150
R190

129
56 150 250 Maximum 380 during arm rotation
Machine harness 620 • Note that the robot cannot be used at a position where
661 the base flange or robot cable interferes with the spline
Maximum 660
during arm rotation in the working envelope shown above.
613 • X-axis mechanical stopper position : 142°
• Y-axis mechanical stopper position : 146°
1
ter ϕ1

B B
468
diamew
Hollo

428
4-M3 × 0.5 through-hole (No phase relation to R-axis origin.)
7.8
Extra small

User tubing 1 (ϕ4 black) As this hole is intended for the wiring/tubing clamp, do not
47
Orbit /

attach a large load to it.

type

42 57
283 User tubing 2 (ϕ4 red)
7.8

264
235 246 D-sub connector
230 222 for user wiring 7.8 7.8
User tubing 3 (ϕ4 blue)
Small type

187 202 (No. 1 to 10 usable) ↓F

30 12

174 ϕ27 View of F

183
A A 167
138.5+/-2 0
780.5
ϕ16 h7-0.018
4

5
150

User tool 95
installation ϕ35 Z-axis upper end mechanical 79
150

61
Large type inverse type

range stopper position 4mm rise

45
86

during Z-axis return-to-origin 12

0 0 0
M4 ground terminal 28 26
11.5
Width across flat 15

Z-axis lower end mechanical stopper position

4

54
ϕ1
Wall mount / & drip-proof

er

50 70 20 R27 (Min. cable bending radius)

et

138.5 +/-2
m

Do not move the cable.

dia

150
w

10 10
llo

39 39

0
Ho

11.5

Keep enough space for the maintenance

Dust-proof

work at the rear of the base.

Cross section A-A Option:
Tapped hole for user wiring 6-M3 × 0.5 Depth 6 4-ϕ9
type

User wiring/tubing through spline type

The weight of the tool attached here should be added to the tip mass.

406 Controller RCX340 u 566

 YK400XG

Articulated robots
YA
Linear conveyor
LCM100
modules
Motor-less single
Robonity TRANSERVO
axis actuator
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
YK400XG Tool flange mount type

Pick & place

YP-X
robots
If the robot enters the inside of the corner of R190 and dimension 148,
142 the tool flange may be in contact with the base or the arm may be in
contact with the machine harness. So, do not perform such motion.
93

104
60 60
140
90

144°
144°

CLEAN
R1
140°
140°

56
30 62 4-ϕ9
M8 bolt for installation, 4 bolts used
50 88 R400
138 (Base size)
342

° 131
131

CONTROLLER INFORMATION
°
148
R150
R190

Machine harness
• Note that the robot cannot be used at a position where
the base flange or robot cable interferes with the tool
flange in the working envelope shown above.
• X-axis mechanical stopper position : 142°
r ϕ11

• Y-axis mechanical stopper position : 146°

te
diamew
Hollo

4-M3 × 0.5 through-hole (No phase relation to R-axis origin.)

7.8

As this hole is intended for the wiring/tubing clamp, do not

User tubing 1 (ϕ4 black) attach a large load to it.
7.8

User tubing 2 (ϕ4 red)

Extra small

↓F 7.8 7.8
Orbit /

ϕ27
type

D-sub connector
User tubing 3 (ϕ4 blue) for user wiring View of F
780.5
181 (No. 1 to 10 usable)
5
150

149 D
Small type

134.5+/-2
95
79
150

61
45
86

12
0 0
Holl

M4 ground terminal 28 26
15.5

ow

Large type inverse type

181
dia

22
me

149 D
.6

ϕ35
ter

134.5 +/-2
150

54 4-ϕ4.5 through-hole
ϕ11

50 70 20 R27 (Min. cable bending radius) 0

Do not move the cable.
15.5
22

90°
.6
10 10
39 39

Wall mount / & drip-proof

22

Option:
.6
.6

22

User wiring/tubing through spline type

+/
2

-0

↑Eϕ30
0
.0

h7 -0.021
2

Keep enough space

22 .02

Tapped hole for user wiring 6-M3 × 0.5 Depth 6 4-ϕ9 for the maintenance ϕ 55 +0.012
ϕ4 H7 0
/-0
.6

through-hole
7+

The weight of the tool attached here should work at the rear of
be added to the tip mass. the base.
Dust-proof

Detailed drawing D View of E

type

Controller RCX340 u 566 407