Yas GP Serie Gesamt E

MOTOMAN
GP Series
Handling & General Application
Controlled by Controlled by
YRC1000
YRC1000 micro
MOTOMAN GP8
www.yaskawa.eu
2 MOTOMAN GP Series
Masters of Robotics,
Motion and Control
MOTOMAN GP Series 3
Contents
MOTOMAN GP Series
Overview................................................................................ 4
GP4........................................................................................ 7
GP7........................................................................................ 9
GP8 ....................................................................................... 11
GP8L ..................................................................................... 13
GP12 ..................................................................................... 15
GP20 ..................................................................................... 17
GP20HL................................................................................. 19
GP25 ..................................................................................... 21
GP25-12................................................................................ 23
GP35L ................................................................................... 25
GP50 ..................................................................................... 25
GP70L ................................................................................... 29
GP88 ..................................................................................... 31
GP110 ................................................................................... 33
GP180-120 ........................................................................... 35
GP180 ................................................................................... 37
GP215 ................................................................................... 39
GP215-200T.......................................................................... 41
GP225 ................................................................................... 43
GP250 ................................................................................... 45
GP280 ................................................................................... 47
GP400 ................................................................................... 49
GP600 ................................................................................... 51
Controller
YRC1000 .............................................................................. 55
YRC1000micro ...................................................................... 59
Smart Pendant....................................................................... 63
Energy recovery ............................................................ 66

4 MOTOMAN GP Series
Overview
GP4 GP7 GP8
Max. payload: Max. payload: Max. payload:

4 kg 7 kg 8 kg
Repeatability: Repeatability: Repeatability:
±0.01 mm ±0.01 mm ±0.01 mm
Max. working range R: Max. working range R: Max. working range R:
550 mm 927 mm 727 mm
Weight: Weight: Weight:
28 kg 37 kg 35 kg
GP8L GP12 GP20

8 kg 12 kg 20 kg
±0.02 mm ±0.02 mm ±0.02 mm
1636 mm 1440 mm 1802 mm
155 kg 150 kg 250 kg
GP20HL GP25 GP25-12

20 kg 25 kg 12 kg
±0.07 mm ±0.02 mm ±0.03 mm
3124 mm 1730 mm 2010 mm
560 kg 250 kg 260 kg
GP35L GP50 GP70L

35 kg 50 kg 70 kg
±0.07 mm ±0.03 mm ±0.05 mm
2538 mm 2061 mm 2732 mm
600 kg 570 kg 650 kg
Übersicht MOTOMAN MOTOMAN GP Series 5
GP88 GP110 GP180-120

88 kg 110 kg 120 kg
±0.03 mm ±0.03 mm ±0.05 mm
2236 mm 2236 mm 3058 mm
630 kg 660 kg 1090 kg
GP180 GP215 GP215-200T

180 kg 215 kg 200 kg
±0.05 mm ±0.05 mm ±0.05 mm
2702 mm 2912 mm 2676 mm
1020 kg 1340 kg 1360 kg
GP225 GP250 GP280

225 kg 250 kg 280 kg
±0.05 mm ±0.05 mm ±0.05 mm
2702 mm 2710 mm 2446 mm
1080 kg 1345 kg 1300 kg
GP400 GP600
Max. payload: Max. payload:

400 kg 600 kg
Repeatability: Repeatability:
±0.1 mm ±0.1 mm
Max. working range R: Max. working range R:
2942 mm 2942 mm
Weight: Weight:
2840 kg 3035 kg
6 MOTOMAN GP Series MOTOMAN
MOTOMAN MOTOMAN GP Series 7
MOTOMAN
GP4
Handling & General Applications
with the GP Series
The MOTOMAN GP4 is the smallest 6-axis robot in Yaskawa’s

GP Series model range and offers high performance for a
wide range of applications, such as flexible handling, machine
tending and assembly applications, with a payload of up to
4 kg. Providing an outstanding repeatability of ± 0.01 mm, it
is ideally suited for use in the electronics sector as well as
for high precision assembly and quality testing applications.
But more than this, the MOTOMAN GP4 is extremely agile and
fast – with axis speeds of up to 1000 °/s.
The high IP67 protection class allows it to be used for CNC
machine tending even under harsh environmental conditions,
and it’s small footprint and compact design allows installation
even in the tightest spaces. Thanks to the integrated media
and air supply, installation of grippers or sensors is easy.
The MOTOMAN GP4 is available with the YRC1000 or the
YRC1000micro controller. Customers can select between the
classical teach pendant or the innovative Smart Pendant for
operation and programming. The optional MotoLogix interface
allows full integration into PLC Programming Environment.
In terms of connectivity – I/O, Fieldbus, IoT, conveyors, ma-
chine vision and other sensors, the MOTOMAN GP4 benefits
from all the versatile features, tools and options of the com-
pact Yaskawa standard robot controller.
KEY BENEFITS
• High Motion Speed: up to 1000 °/s per axis
• Flexible mounting options: Floor, tilt, wall, ceiling
• Operation in confined spaces:
– Compact design
– Small footprint
• Payload: up to 4 kg
• Outstanding repeatability: ± 0.01 mm
• High protection class and easy cleaning: IP67
YRC1000
YRC1000 micro
8 MOTOMAN GP Series MOTOMAN GP4
290 72 View A
880 6 x M4 x P0.7,
(Ø 52)
2
depth 6
21±0.1
R/T
550
550
229
Ø4
50
92.5 94
45°
290 72 B View A
15
Ø 52 h7,
depth 3
A 880
65
6 x M4 x P0.7,
(Ø 52)
°
°
2
depth 6
21±0.1
45°
110
R/T
550
550
229
Ø4
531
50
325
21±0.1
260
depth 3.5
92.5 94
20
Ø 30 H7,
457
45°
15
U
0°
B
130°
Ø 52 h7,
2 x Ø 6 H7,
depth 3
A depth 6
65
°
°
45°
110
L 531
265
325
Working
P range
21±0.1
330260
depth 3.5
20
Point P
Ø 30 H7,
457
0°
View B
130°
2 x Ø 6 H7,
92 depth 6
B
L 265 Internal user
40 Working range wiring connector
95 95 49 Point P
S Matching connector
C 121
330
View B
127.5
When the media adapter 92
B
175
120
137
is connected to the 2 x Air

robots U-arm, the Internal user
working range40is wiring connector
95 95 49 to
limited according S Matching connector
CS 121
17
the hatching area.

0°
127.5
When the media adapter M6 x P1.0,
View C
175
120
137
is connected to the depth 11 65 2 x Air

30
robots U-arm, the

50
working range is Ø 8 H7 100 4xØ9

limited according to
17
the hatching area. S

0°
70±0.1 35±0.1
M6 x P1.0,
View C
50 50
depth 11 65
30
88±0.1
81±0.1
R1
Ø 8 H7 4xØ9
70±0.1 70±0.1 70±0.1 70±0.1

R5 100
09
2 x M6 x P1.0, 50
depth 16 0°
17
150
174
70±0.1 35±0.1
50
Prevent interaction of the robot with:

88±0.1
81±0.1
R1
• Corrosive gases, liquids or explosive gases R5

2 x Allowable wrist load
09
• Exposure to water, oil or dust M6 x P1.0, 50

• Excessive electrical noise (plasma) depth 16 0° 2 x Ø 6 H7 72±0.1
17
150
174
300
LT
265
1 kg
187
• Corrosive gases, liquids or explosive gases 2 kg Mounting options: Floor, ceiling, wall, tilt
• Exposure to water, oil or dust Allowable
125 wrist load
P-point 100 Protection class
• Excessive electrical noise (plasma) 4 kg 2 x Øversion
6 H7 YR-1-06VX4-A00
72±0.1
300 standard: IP67
LT
265
200 3001 kg 400 500 Option: Version YR-1-06VX4-F00 (FGG)

224 316 447

B-axis 187 LB Tilt angle without limitations
centre of 72 T-axis 2 kg Mounting options: Floor, ceiling, wall, tilt
125
rotation 100
P-point
centre of rotation No operating limit in S-axis
4 kg Protection class version YR-1-06VX4-A00
standard: IP67
200 300 400
Specifications GP4 500 Option: Version YR-1-06VX4-F00 (FGG)

224 316 447

B-axis LB Tilt angle without limitations
Maximum Maximum centre of 72
Allowable
T-axis Allowable Controlled axes 6
Axes motion range speed rotation moment centre of rotation moment of inertia No operating limit in S-axis
[º] [º/s] [Nm] [kg · m2] Max. payload [kg] 4
Key position
S ±170 465 –
(upper side) – GP4
Specifications Repeatability [mm] ± 0.01
2 x M5 x P 0.8,
L +130/–110
depth 4.5 465 Connector– – Max. working
Controlled range R [mm]
axes 550
6
Maximum Maximum Allowable Allowable
Axes (airmotion
outlets) range speed for user cable
moment moment of inertia
U +200/–65
[º] 525
[º/s] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
4
R ±200 565 D Key position Humidity [%] [mm]
S ±170 View
465 –8.86
(upper side) –0.2 Repeatability 200.01
± – 80
B 2 x±123
M5 x P 0.8, 565 Weight [kg] range R [mm]
L +130/–110
depth 4.5 465 Connector–8.86 –0.2 Max. working 28
550
(air±455
outlets) for user cable
T
U +200/–65 1000
525 –4.9 –0.07 Power supply,[ºC]
Temperature average [kVA] 1 to +45
0
Key position
(upper side)
R ±200 565 D
View 8.86 0.2 Humidity [%] 20 – 80
Connector
25.7
B ±123
for user cable 565 8.86 0.2 Weight [kg] 28
T ±455 1000 4.9

E 0.07 Power supply, average [kVA] 1
Key position
2 x Rc 1/4 (upper side) Detail of a
(air inlets)
When power cable
Connector
is led out downward
25.7
for user cable View C

E
MOTOMAN
GP7
with the GP Series
The MOTOMAN GP7 is an extremely fast and precise 6-axis

industrial robot with a payload capacity of up to 7 kg. With a
reach of 927 mm and a high repeatability of ± 0.01 mm, it is
ideally suited to assembly tasks, but also universal handling
tasks, CNC machine tool tending or packaging. Its smooth
and streamlined modern industrial design is attractive and
minimizes the space requirements at the installation site.
Cable entry is optionally from the side at the pedestal or
from underneath through the base plate, thus enabling
space-saving and uncluttered integration into its environment,
irrespective of the intended installation position. The prepared
routing of the supply lines in the arm enables optimal integra-
tion of the grippers or sensor systems, often dispensing with
the need for an external media package.
A world of possibilities is open to the MOTOMAN GP7 with the
numerous functions of the MOTOMAN YRC1000 controller
or the compact MOTOMAN YRC1000micro controller. In con-
junction with the conventional teach pendant, this robot is a
reliable mechanical engineering partner. With the innovative
operator control concept of the SmartPendant, it provides an
excellent point of entry into the world of robotics.
As standard, the MOTOMAN GP7 is designed with the high
protection classification IP67. Other variants (e.g. with food-
compatible grease in the food industry, special anti-corrosion
coating for applications in aggressive ambient conditions, or
as a cleanroom version CR5) are optionally available.
KEY BENEFITS
• Extremely fast and powerful

• Compact and flexible
• Large working range: 927 mm
• Reduced interference contours due to optimized design
• Simple commissioning and maintenance
YRC1000
YRC1000 micro
View A
1732
4 x M5, depth 8 45°
805
499
439
233
927
78
79
Ø3
0
1.5
2 x 4 x M4, 1217 View A

40 440 80
1732 depth 7
115 115 250 190
Ø 12 H7
4 x M5, depth 8 45°
62
805
499
439
233
927
20
78
79
Ø3
0
1.5
A 856 Fitting depth Ø 5 H7, depth 6
40
2 x 4 x M4, 1217
40 U 440 R B T
80
depth 7
115 115 ° 250 14 190
65
Ø 12 H7
5° View B
62
445
20
L 520
°
877
255 A 856 Fitting depth Ø 5 H7, depth 6

40
1217
Working
B T range
U R Internal user wiring connector
Point P
96
5 ° 14 Matching connector
256 5° View B
445
165
L 520 2 x Air inlet Rc 1/4
° B 83
877
255 with pipe plug

0
1217
Working range
S Internal user wiring connector
Point P
96
C
11 °
Matching connector
29
6°
25
165 View C
2 x Air inlet Rc 1/4
B 83
60±0.1 with pipe
66±0.plug
1
0
476
S
C
11 °
29
100±0.1
6°
4 x M8, depth 15 170° View C
160
198
124
52
85±0.1
60±0.1 66±0.1
54
476
80
100±0.1
4 x M8, depth 15 170° 160
160
198
54
Ø 12 H7 194 4 x Ø 12
124
33 52
R2
85±0.1
170° 100±0.1
R9
54
80
27
Mounting options: Floor, ceiling, wall, tilt*
160
Prevent interaction of the robot with: IP Protection: IP67
54
Ø 12 H7 194 4 x Ø 12
• Corrosive gases, liquids or explosive gases33 Option: Cleanroom class 5
R2 Allowable
170° wrist load 100±0.1
• Exposure to water, oil or dust R9
27 * tilt with condition of angle – see table below
• Excessive electrical noise (plasma)
300 Mounting options: Floor, ceiling, wall, tilt*
LT
Robot S-axis
Prevent interaction of the robot with: IP installation
Protection: IP67
angle operating range
204
5 kg [deg.]
Option: Cleanroom class [deg.]
5
• Corrosive gases, liquids or explosive gases
• Exposure to water, oil or dust Allowable
P-point
145
wrist 7load
kg ±170 degrees or less
100 * tilt 0
with
≤ condition
≤ 30 of angle – see table below
• Excessive electrical noise (plasma) (no limit)
300
LT
30 < ≤ 35
Robot ±60 degrees or less
S-axis
200 300 400

204 247 346 installation

35 < ≤ 45 angle operating
±45 degreesrange
or less
B-axis 5 kg LB [deg.] [deg.]
centre of 145 T-axis 45 < ±30 degrees or less
rotation
P-point 80 7centre of rotation
100
kg ±170 degrees or less
0 ≤ ≤ 30
(no limit)
30 < ≤ 35 ±60 degrees or less
Specifications
200 300 GP7
400

247 346 35 < ≤ 45 ±45 degrees or less

B-axis LB
Maximum Maximum centre ofAllowable T-axis Allowable Controlled axes
45 < 6 or less
±30 degrees
rotation 80 centre of rotation
Axes motion range speed moment moment of inertia
S ±170 375 – – GP7

Specifications Repeatability [mm] ±0.01★
L +145/–65
Maximum 315
Maximum –Allowable –Allowable Max. working
axes 927
6
U +190/–70
[º] 410
[º/s] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
7
R
S ±190
±170 550
375 –17 –0.5 Humidity [%] [mm]
Repeatability 20 – 80
±0.01 ★
B
L ±135
+145/–65 550
315 –17 –0.5 Weight
Max. [kg] range R [mm]
working 37
927
T
U ±360
+190/–70 1000
410 –10 –0.2 Power supply,[ºC]
Temperature average [kVA] 1★★
0 to +45
★
Conforms to ISO 9283 ★★
Varies in accordance with applications and motion patterns Note: SI units are used for specifi cations.
R ±190 550 17 0.5 Humidity [%] 20 – 80
B ±135 550 17 0.5 Weight [kg] 37
T ±360 1000 10 0.2 Power supply, average [kVA] 1★★

★
MOTOMAN
GP8
with the GP Series
The MOTOMAN GP8 is an extremely fast and precise 6-axis

industrial robot with a payload capacity of up to 8 kg. With a
reach of 727 mm and a high repeatability of ± 0.01 mm, it is
ideally suited to assembly tasks, but also universal handling
tasks, CNC machine tool tending or packaging. Its smooth,
streamlined and award-winning modern industrial design is
attractive and minimizes the space requirements at the instal-
lation site.
Cable entry is optionally from the side at the pedestal or
from underneath through the base plate, thus enabling
space-saving and uncluttered integration into its environment,
routing of the supply lines in the arm enables optimal integra-
tion of the grippers or sensor systems, often dispensing with
the need for an external media package.
A world of possibilities is open to the MOTOMAN GP8 with the
numerous functions of the MOTOMAN YRC1000 controller
or the compact MOTOMAN YRC1000micro controller. In con-
junction with the conventional teach pendant, this robot is a
reliable mechanical engineering partner. With the innovative
operator control concept of the SmartPendant, it provides an
excellent point of entry into the world of robotics.
protection classification IP67. Other variants (e.g. with food-
compatible grease in the food industry, special anti-corrosion
coating for applications in aggressive ambient conditions, or
as a cleanroom version CR5) are optionally available.
KEY BENEFITS
• Extremely fast and powerful

YRC1000
YRC1000 micro
View A
1342
4 x M5, depth 8 45°
615
370
322
199
727
Ø3
45
70
1.5
0
40 340 80 View A
1342
1017
Ø 12 H7
4 x M8, 4 x M5, depth 8 45°
115 115 110 190
615
370
322
199
727
depth 8 Ø3
45
70
62
1.5
20
818 Fitting depth Ø 5 H7, depth 6
40 340 80
A 731
40
° T 1017
Ø 12 H7
85 B View B
115 115 620 65
° 110U R
1190
45
4 x M8,
° depth 8
62
345
20
105°
486
818 255° L Fitting depth Ø 5 H7, depth 6
777
1017
A
Working range 731 Internal user wiring connector
40
Point
B P Matching connector
96
° T
85 ° U R View B
620 2565 14
330
5° 207
345
105°
137
486 with pipe plug
255°
B L
777
1017
Working range 0 Internal user wiring connector
°
31
Point° P Matching connector

96
S
C 113
25 View C
330
207
295
137
B 60±0.1 with pipe
66±0.plug
1
0
°
31
170° S
100±0.1
°
2 x M8, depth 16 C 113
16 55 View C
160
198
124
295
80
85±0.1
55
60±0.1 66±0.1
100±0.1
170°
2 x M8, depth 16 160
16 55
160
198
55 55
Ø 12 H7 194 4 x Ø 12
124
99
80
R7
85±0.1
R1 170° 27 100±0.1

160
IP Protection: IP67
55
Ø 12 H7 194 4 x Ø 12
9 9 R7 Option: Cleanroom class 5
Prevent interaction AllowableR1wrist load170° 27 100±0.1
* tilt with condition of angle – see table below
of the robot with:
LT
• Corrosive gases, Robot S-axis

liquids or IP installation
Protection: IP67
angle operating range
explosive gases 204
[deg.]
5 kg
Option: Cleanroom class [deg.]
5
Prevent
• Exposure interaction
to water, Allowable
P-Punkt 127
145
wrist load7 kg
±170 degrees or less
100 * tilt 0
with
≤ condition
ofoilthe
or robot
dust with: 8 kg (no limit)
300
LT
•• Corrosive
Excessive gases,
electrical 30 < ≤ 35
S-axis
liquids or
noise (plasma) 200 300 400

216 247 346 installation

±45 degreesrange
or less
explosive gases B-Achse
204
5 kg LB [deg.] [deg.]
Drehmittel- 145 T-Achse 45 < ±30 degrees or less
• Exposure to water, punkt
P-Punkt 127 80 7 kg
Drehmittelpunkt
100 ±170 degrees or less
oil or dust 8 kg 0 ≤ ≤ 30
(no limit)
• Excessive electrical 30 < ≤ 35 ±60 degrees or less

noise (plasma) 200 300 400 Specifications GP8

216 247 346 35 < ≤ 45 ±45 degrees or less

B-Achse LB
Maximum Maximum
Drehmittel- T-Achse Allowable Allowable Controlled axes
45 < 6 or less
±30 degrees
punkt 80 Drehmittelpunkt
S ±170 455 – – GP8

Specifications Repeatability [mm] ±0.01★
L +145/–65
Maximum 385
axes 727
6
U +190/–70
[º] 520
[º/s] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
8
R
S ±190
±170 550
455 –17 –0.5 Humidity [%] [mm]
±0.01 ★
B
L ±135
+145/–65 550
385 –17 –0.5 Weight
working 35
727
T
U ±360
+190/–70 1000
Temperature average [kVA] 1★★
0 to +45
★
R ±190 550 17 0.5 Humidity [%] 20 – 80
B ±135 550 17 0.5 Weight [kg] 35
T ±360 1000 10 0.2 Power supply, average [kVA] 1★★

★
MOTOMAN
GP8L
with the GP Series
The 6-axis MOTOMAN GP8L is a fast, general-purpose indus-

trial robot with 8 kg payload and a long reach of 1,636 mm.
With its slim design and compact, very narrow wrist, it is par-
ticularly suitable for applications where space is at a premium,
such as loading/unloading containers in packaging technology
or logistics. Automation around machine tools and injection
molding machines can also be excellently implemented with
this robot.
Its intelligent Yaskawa Sigma-7 drive technology enables fast
cycle times with high repeatability of +/– 0.02 mm.
With numerous functions, interfaces and communication
options of the YRC1000/YRC1000micro controllers, the
MOTOMAN GP8L is open to a full range of different technolo-
gies, including modern sensor systems and image processing
systems, which can be combined very well with this robot.
Alternatively, the proven MOTOMAN teach pendant or the
innovative Smart Pendant for newcomers to industrial auto-
mation are available for programming.
KEY BENEFITS
• Universal use
• Fast cycle times
• Compact design and slim wrist
• Long reach: 1,636 mm
• Internal media guide
• Easy installation, commissioning and operation
Further product information:
YRC1000
YRC1000 micro
14 MOTOMAN GP Series MOTOMAN GP8L
1931 View A
638 155 740 80
190 40 4 x M5 x P0.8,
Ø 12 H7,
depth 5
81
U B depth 8
45°
A
0 °
200
15
View A
20
1931
°
188 83
85
Ø 60 h7,
depth 3
638 155 740 P80
84
R/T 1902 x 4 x M440 4 x M5 x P0.8,
Ø 12 H7,
x P0.7,
depth 5
Ø3
200 71481
U depth 7B(both sides) depth 8 1.5

° 45°
90
15
A
°
714
5°
0
L
15
240°
20
Available Range Ø 5 H7, depth 6
2894
°
188 83
85
147.5
Ø 60 h7,
depth 3
P
84
R/T
197 2 x 4 x M4 x P0.7,
450
294 Ø3
Working range
depth 7 (both sides) View B 1.5
714
°
B 90 Point P
15
0
714
5°
240° L 1 x Air
Available Range Ø 5 H7, depth 6
2894
147.5 C Internal user wiring connector
Media connector
197
450
461
294
Working range View B
B Point P
175° 0
185.5186.5 View C 1 x Air
C Internal user wiring connector
964 Media300
connector
461 240 132±0.1
1326
1019
756
263
419
1636
175° 260
4 x Ø 18 2 x Ø 16 H7
185.5186.5 View C 60
4 x M6 x P1.0, 964
170° 300
132±0.1 153±0.1
R2
depth 14
102
65
2 x M6 x P1.0, 240 132±0.1
300
292
260
S
1326
1019
756
263
100419
1636
130±0.1
depth 12 260
4 x Ø 18 2 x Ø 16 H7
26
110
60
55
60
4 x M6 x P1.0,
170°
132±0.1 153±0.1
100±0.1 102±0.1
R2
depth 14 Ø 12 H7
55
102
65
13
2 x M6 x P1.0, 153±0.1
300
292
260
S
45 138
130±0.1
depth 12
100
R16
26
110
170°
60
36
55
19

R4
IP Protection:
Ø 12 H7 100±0.1 102±0.1
Main axes (S, L, U) IP54,
55
13
wrist IP67 153±0.1

45 138
Prevent interaction Allowable wrist load R16
170° 36
19
of the robot with: Mounting options: Floor, ceiling, wall, tilt*

R4
300
LT
• Corrosive gases, Robot S-axis

IP Protection: Main axes (S, L, U) IP54,
liquids or installation angle operating range
204 wrist IP67
[deg.] [deg.]
explosive gases 200
5 kg * tilt with condition of angle – see table below
Prevent
• Exposure interaction
to water, Allowable
P-point 127
145
wrist load 7 kg
0 ≤ ≤ 30
±170 degrees or less
ofoilthe 100 (no limit)
or robot
dust with: 8 kg
300 30 < ≤ 35 ±60 degrees or less

LT
•• Corrosive Robot S-axis

Excessive gases,
electrical installation angle operating range
liquids or
noise (plasma) 200 300 400

204 216 247 346 35 < ≤ 45

[deg.] ±45 degrees or less
[deg.]
explosive gases B-axis 200
LB
5 kg
centre of 145 T-axis 45 < ±30 degrees
±170 degreesororless
less
• Exposure to water, P-point
rotation 127 80 7 kg
centre of rotation 0 ≤ ≤ 30
100 (no limit)
oil or dust 8 kg

• Excessive electrical
noise (plasma) 200 300 400 Specifications GP8L

216 247 346 35 < ≤ 45 ±45 degrees or less

B-axis LB
Maximum centre ofMaximum T-axis Allowable Allowable Controlled axes
45 < 6 or less
±30 degrees
80
Axes motion range rotation speed moment
centre of rotation moment of inertia
S ±170 260 – Specifications– GP8L Repeatability [mm] ±0.02★
L +155/–90
Maximum 230
Maximum –
Allowable –
Allowable Max. working
axes 1636
6
U +150/–85
[º] 260
[º/s] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
8
R
S ±200
±170 470
260 –17 –0.5 Humidity [%] [mm]
±0.02 ★
B
L ±135
+155/–90 550
230 –17 –0.5 Weight
working 155
1636
T
U ±360
+150/–85 1000
Temperature average [kVA] 1.5
0
★★
to +45
★
R ±200 470 17 0.5 Humidity [%] 20 – 80
B ±135 550 17 0.5 Weight [kg] 155
T ±360 1000 10 0.2 Power supply, average [kVA] 1.5★★

★
MOTOMAN
GP12
with the GP Series
The MOTOMAN GP12 is a fast and precise 6-axis industrial

robot with a payload capacity of up to 12 kg. With a reach of
1440 mm and a high repeatability of ± 0.02 mm, it is ideally
suited to assembly tasks, but also universal handling tasks,
CNC machine tool tending or packaging. Its streamlined mod-
ern industrial design minimizes the space requirements at the
installation site.
The prepared routing of the supply lines through the hollow

arm enables optimal integration of the grippers or sensor
systems, often dispensing with the need for an external
media package. This reduces also interference contours.
With the MOTOMAN GP12 and numerous functions of the

MOTOMAN YRC1000 controller or the compact MOTOMAN
YRC1000 micro controller a wide range of applications can
be realized. In conjunction with the conventional teach
pendant, this robot is a reliable mechanical engineering
partner. With the innovative operator control concept of the
Smart Pendant, it provides an excellent point of entry into
industrial automation.

protection classification IP67 (wrist). Other variants (e.g. with
food-compatible grease in the food industry, special anti-
corrosion coating for applications in aggressive ambient con-
ditions, or as a cleanroom version) are optionally available.
KEY BENEFITS
• Fast and powerful

YRC1000
YRC1000 micro
1734 View A
155 640 100
81 1 x Ø 4 H7,
Ø 62 h6
U R 22.5°
Ø 50
depth 7
A Ø5
6
200
BT
View A
°
1734
85
P
Ø 100
188 93.5 84 155 640 100
1 x Ø 4 H7,
81
Ø 62 h6
° U R 22.5°
614
90
Ø 50
depth 7
L A 705 Install Ø5
° 6
240
200
155°
BT attachments 8 x M4, depth 8
1734
°
85
P to this range
Ø 100
188 147.5
93.5
84
450
188.5 299
° Working range
614
90
B Point P 0
705 View B
° L Install
240
155°
attachments 8 x M4, depth 8
1734
S 1 x Air
C to this range
147.5
361 Internal user wiring connector
450
188.5 299 Media connector

17 Working range
5°
B Point P 0 View B
188.2 186.5
S 777 View C 1 x Air
C
300
1129
848
606
206
0
410
1440
Media connector
1
256975° 240 132±0.1
260
188.2 186.5 4 x 18 Ø 2 x Ø 16 H7
777 View C 60
R26
170° 4 x M6, depth 14

5
300
1129
848
606
206
0
410
1440
132±0.1 153±0.1
102
2569 2 x M6, depth 12 240 132±0.1
300
292
260
130±0.1
260
26
4 x 18 Ø 2 x Ø 16 H7
60
60
R26
170° 4 x M6, depth 14

5
132±0.1 153±0.1
Ø 12 H7 100±0.1 102±0.1
130
13
60
102
45 475 2 x M6, depth 12 153±0.1
300
292
R14 260
130±0.1
26
40
170°
60
10

R4
Protection class Version YR-1-06VX12-A00

Standard: 100±0.1
Ø 12 H7 Main 102±0.1
axes (S, L, U) IP54, wrist IP67
130
13
60
Prevent interaction of the robot with: 45 475 153±0.1

Protection class version YR-1-06VX12-C00:
R14
• Corrosive gases, liquids or explosive gases Allowable
170°
wrist load 40 Main axes (S, L, U) IP65, wrist IP67
10
• Exposure to water, oil or dust Mounting options: Floor, ceiling, wall, tilt*
R4

300 Protection class Version YR-1-06VX12-A00
LT
238
Standard:
Robot Main axes (S,S-axis
L, U) IP54, wrist IP67
W = 3 kg
Prevent interaction of the robot with: 200 installation angle operating range
167 Protection
[deg.] class version[deg.]
YR-1-06VX12-C00:
• Corrosive gases, liquids or explosive gases Allowable
P-point wrist load W = 6 kg Main axes (S, L, U) IP65, wrist IP67
• Exposure to water, oil or dust 100 ±170 degrees or less
83
* tilt 0with
≤ condition
• Excessive electrical noise (plasma) W= (no limit)
300
LT
12 kg
30 < ≤ 35
S-axis
238 200 300 400 500
W = 3 kg

200 187 329 465

installation
±45 degreesrange
or less
167 LB [deg.] [deg.]
P-point
B-axis R-,WT-axis
= 6 kg
100 45 < ±30 degrees or less
centre of rotation100 centre of rotation ±170 degrees or less
83 0 ≤ ≤ 30
W= (no limit)
12 kg
200 300 400 500
Specifications GP12

187 329 465

LB 35 < ≤ 45 ±45 degrees or less
Maximum Maximum B-axis Allowable 100 Allowable
R-, T-axis Controlled axes
45 < 6 or less
±30 degrees
Axes motion range speed centre ofmoment
rotation centremoment
of rotation of inertia
[º] [º/sec.] [Nm] [kg · m2] Max. payload [kg] 12
S ±170 260 – Specifications– GP12 Repeatability [mm] ±0.02★
L +155/–90
Maximum 230
axes 1440
6
U +155/–85
[º] 260
[º/sec.] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
12
R
S ±200
±170 470
260 –22 –0.65 Humidity [%] [mm]
±0.02 ★
B
L ±150
+155/–90 470
230 –22 –0.65 Weight
working 150
1440
T
U ±455
+155/–85 700
Temperature average [KVA] 1.5
0
★★
to +45
★
R ±200 470 22 0.65 Humidity [%] 20 – 80
B ±150 470 22 0.65 Weight [kg] 150
T ±455 700 9.8 0.17 Power supply, average [KVA] 1.5★★

★
MOTOMAN
GP20
with the GP Series
The MOTOMAN GP20 is a very versatile 6-axis industrial

robot for payloads up to 20 kg. It has a reach of 1,802 mm and
can achieve very fast cycle times with excellent repeatability.
The slim design, especially of the wrist allows the use in

many applications, e.g. workpiece handling or machine
loading/unloading. Due to its stable and IP67 protected wrist,
the GP20 is also very well suited for machining or grinding
operations.
Combined with the proven Teach pendant, the robot can be

perfectly integrated in automation environments. With the
innovative operating concept of the SmartPendant, it offers
a very good entry into industrial automation.
KEY BENEFITS
• Slim design
• Versatile – large range of potential applications
• Powerful: 20 kg payload
• Large working range: 1,802 mm
• Stable, low-vibration wrist
• Fast movements due to high axis speeds and acceleration
• Easy commissioning, operation and maintenance
Controlled by
YRC1000
2158 View A
150 870 105
6 4 x M6 x 10 45°
114
U B
A
281
200
2158 View A
150 870 P 105 Ø4
8 6°
45° 0
80
400 114 6 4 x M6 x 10
5° U B
10
Ø 25 H7
Ø 50 h8
200 760
50
A
302
Ø 6 H7 x 6
281
R/T
155°
L
Ø4
8 6°
Working
P range 0
80
70°
Point P
760505
400
5°
10
Ø 25 H7
Ø 50 h8
50 B 0 View B
°
60
139
302
R/T Ø 6 H7 x 6
155°
L
C
Working range 1 x Air
70°
Point P
505
170° Internal user

135 B wiring connector
0 View B
°
60
139 Media connector

C 1076
1 x Air
262 229
Internal user
1503
1091
427
1803
0
(491) 135 170°

wiring connector
View C Media connector
168 70 1076 375

262 229 S 335
150
100
1503
1091
427
1803
0
200±0.1
(491) 60
View C 4 x Ø 18
168 70 375
R180
60
S 15 4 x M6 x 12 2
292
335
85
27
150
100
335
4 x M6 x 14
375
45
170±0.1 200±0.1
R4
R2
60 4 x Ø 18
R180
60
4 x M6 x 12 2 260±0.1
Allowable
15 wrist load
292
2 x Ø 12
85
27
335
4 x M6 x 14
375
45
R4
R2
316 200±0.1
600
LT
5 kg
170±0.1
400
260±0. 1
Allowable wrist load Mounting
2 xoptions:
Ø 12 Floor, ceiling, wall, tilt*
Robot S-axis
installation angle operating range 250 316
IP Protection: IP54 200±0.
(body S, L, U), IP67 1
(wrist)
600
LT
200 10 kg
[deg.] [deg.] P-point 167
125
15 kg * tilt with condition of angle – see table left side
20 kg
±180 max. 5 kg
0 ≤ ≤ 30 400
no limit Prevent
28,5 200 400 600 800 1000 Mountinginteraction
options: Floor,of the robotwall,
ceiling, with:tilt*
Robot
30 < ≤ 35 S-axis
±60 max. 220 300 450 900 • Corrosive gases, liquids or explosive gases
4 x M8 LB
installation angle operating range 250 IP Protection: IP54 (body
• Exposure to water, oil or dust S, L, U), IP67 (wrist)
B-axis 200 105 R-, T-axis
10 kg
35 <
[deg.] ±30 max.
[deg.] x 16 P-point
centre of rotation
167
15centre
kg of rotation *• tilt
Excessive electrical
with condition of anglenoise
– see (plasma)
table left side
125 48
20 kg
±180 max.
0 ≤ ≤ 30 User cable connector
no limit 28,5 Prevent interaction of the robot with:
JL05-2A20-29SC
200 400 GP20(Cap 800
600 1000
Specifications
30
30 < ≤ 35 ±60 max. 4 x M8

220 300 450 attached) 900 • Corrosive gases, liquids or explosive gases
LB
15
Maximum ±30 max. Maximum B-axis Allowable R-,

Air T-axis
outlet Allowable • Exposure
Controlled axesto water, oil or dust 6
35 < x 16 centre of rotation 105 • Excessive electrical noise (plasma) 30
Axes motion range speed moment centre ofRc3/8 rotation
moment of inertia
48
[º] [º/s] [Nm] (Plug[kg · m 2] Max. payload [kg] 20
48
User cable
attached) connector
Main
S ±180 210 – JL05-2A20-29SCkey– GP20(Cap Repeatability [mm] ±0.02
Specifications
30
30
6
attached)
1515
Detail
L +155/–105
Maximum 210
Maximum –
Allowable Air outlet –
Controlled range R 8[mm]
axes x M5 1802
6
C 30
Axes motion range speed moment Rc3/8moment of inertia
U +160/–86
[º] 265
[º/s] –
[Nm] – · m 2]
(Plug[kg 1:10
Temperature
Max. [kg] Detail
payload [ºC] x 6 0 to +45
20
48
attached)Main F
R
S ±200
±180 420
210 –44 2.3
key– Humidity [%] [mm]
±0.02
View
30
6
15
Detail
B
L ±140
+155/–105 E
420
210 –44 –2.3 Weight
working 250
1802
8 x M5
C
T
U ±455
+160/–86 720
Temperature average [kVA]
Detail
x 6
2.0
0 to +45
1:10
R ±200 420 44 2.3 Humidity [%] F 20 – 80
View
B ±140 E
420 44 2.3 Weight [kg] 250
T ±455 720 24.5 1.2 Power supply, average [kVA] 2.0

MOTOMAN
GP20HL
with the GP Series
The MOTOMAN GP20HL is a universally deployable robot

with an large reach of 3,124 mm and a maximum payload
capacity of 20 kg.
Thanks to the patented vibration control system, this robot

has very good positioning accuracy and path performance,
and is characterized by almost no oscillation when accelerat-
ing and decelerating in the fully extended position.
Typical applications for this robot is handling of very large

workpieces, seam sealing, and the application of insulating
material in vehicle body production.
The hollow structure of the wrist joint and a number of

prepared cable and hose guides in the arm enable optimal
routing of the media supply lines (high freedom of motion and
long service life).
KEY BENEFITS
• Wide range of potential applications

• Very good path performance
• Particularly suitable for large and bulky workpieces
• Hollow arm for optimal media supply
Controlled by
YRC1000
20 MOTOMAN GP Series MOTOMAN GP20HL
3519 ViewA
Working range
Point P 1 x Ø 4, 4 x M4,
22.5°
145 1812 100 depth 6 depth 8
133
120
103
65
U B 3519 ViewA
Ø 100
Ø 50
Ø 62
128
250 Working range A 2059
R/T Point P
8 0°
1 x Ø 4, 22.5° 4 x M4,
30
350 253
depth 6 depth 8
56
134
145 5° 25° 1812 P 100
4 Ø
13
1150
20
133
120
103
6° 5° 1101
65
°
B
90
223.5 U
°
Ø 100
80
Ø 50
Ø 62
128
A 2059 ViewB
1150 540 250
R/T
5622
8 0°
30
350 253
161° 526 x Air
134
25° 4 x M12,P depth 20

45°
40
B 0 Ø
10513
20
105 5° 233
6°
1101
°
Internal user wiring

90
223.5
Tube for 441

°
L
80
field bus connector

C
ViewB Media connector
5622
cable °
234 234 25
540
161° 4 x M12, depth 20 1128 2 x Air

40
B 1255
0
105 105 233 ViewC
Tube for Internal user wiring
441
field bus connector 2 x Ø 12 H7
230±0.1
234 234
cable C
° 2102 195±0.1 Media connector
25
1128
2834
1359
1022
659
1380
0
14
404
736
960
3124
1255
ViewC
5958
8 x Ø 22
320
280
385
455
2 x Ø 12 H7
195±0.1 230±0.1
1359 268 2102 195±0.1
195±0.1
45 15 672 380
2834
181359
1022
659
1380
R9
0
14
404
736
960
3124
77.5
0°
60 230
100
R3124
88
5958
37.5
8 x Ø 22
2 x M5, 400
320
280
385
depth 11 455
1359 268 195±0.1 230±0.1
195±0.1
13
180° 180°
30
130
S 15 2 x M6,
45
168 70 380
672
depth 12
153 455
R9 77.5
195±0.1
60 608
230
100
R3124
88
1 x M6, 4 x M8, 4 x M8, 1 x M6,

37.5
depth 14 depth 16 depth 15 depth 10 400

Prevent interaction 2 x M5,
of the robot with: depth 11
195±0.
Mounting 1
options: 230±0.
Floor, ceiling, wall, tilt*1
13
180°
30
130
• Corrosive gases, liquids S 2 x M6,

Allowable
168 wrist load
70 depth 12
153 455
Protection class: IP54/IP67
or explosive gases
• Exposure to water, oil or dust 608
1 x M6, 4 x M8, 4 x M8, 1 x M6,
LT * tilt with condition of angle – see table below
• Excessive electrical noise (plasma) depth 14 depth 16 depth 15 depth 10
Prevent interaction 333
of the robot with: 300
Robot options: Floor,S-axis
W = 6 kg Mounting ceiling, wall, tilt*
• Corrosive gases, liquids Allowable200wrist load installation angle operating range
or explosive gases Protection
[deg.] class: IP54/IP67
[deg.]
W = 10 kg
• Exposure to water, oil or dust P-point * tilt with condition of angle – ±180 degrees
see table below or less
LT
125
0 ≤ ≤ 30
• Excessive electrical noise (plasma) 100 W = 16 kg
(no limit)
333 W = 20 kg
300 30 < ≤ 35 ±60 degrees or less
W = 6 kg Robot S-axis
200 300 400 500

installation
±45 degreesrange
or less
200 250 324 418 LB [deg.] [deg.]
B-axis W = R-, T-axis
10 kg 45 < ±30 degrees or less
P-point
centre 125 105
of rotation centre of rotation ±180 degrees or less
100 W = 16 kg 0 ≤ ≤ 30
(no limit)
W = 20 kg
Specifications
200 300GP20HL
400 500

250 324 418 LB 35 < ≤ 45 ±45 degrees or less

Maximum Maximum B-axis Allowable R-, T-axis Allowable Controlled axes
45 < 6 or less
±30 degrees
Axes motion range speed centre of rotation 105
moment centre of moment of inertia
rotation
[º] [º/sec.] [Nm] [kg · m ] 2
Max. payload [kg] 20
S ±180 180 – –
Specifications GP20HL Repeatability [mm] ±0.07
L +135/–90
Maximum 180
Maximum –
Allowable –
axes 3124
6
U +206/–80
[º] 180
[º/sec.] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
20
R
S ±200
±180 400
180 –39.2 –1.05 Humidity [%] [mm]
±0.07
B
L ±150
+135/–90 430
180 –39.2 –1.05 Weight
working 560
3124
T
U ±455
+206/–80 630
180 –19.6 –0.75 Power supply,[ºC]
0 to +45
R ±200 400 39.2 1.05 Humidity [%] 20 – 80
B ±150 430 39.2 1.05 Weight [kg] 560
T ±455 630 19.6 0.75 Power supply, average [KVA] 4.0

MOTOMAN
GP25, GP25-12
with the GP Series
The MOTOMAN GP25 is a fast and precise 6-axis industrial

robot with a payload capacity of up to 25 kg. With a reach of
1730 mm and a high repeatability of ± 0.02 mm, it is ideally
suited to assembly tasks, but also universal handling tasks,
CNC machine tool tending or packaging. With its payload ca-
pacity of 12 kg, the MOTOMAN GP25-12 offers an even larger
working range of 2010 mm with a repeatability of ± 0.03 mm.
The streamlined modern industrial design minimizes the
space requirements at the installation site.
Cable entry from the side at the pedestal enables space-
saving and uncluttered integration into the environment,
routing of the supply lines in the arm enables optimal
integration of the grippers or sensor systems, often dispens-
ing with the need for an external media package. This reduces
also interference contours.
A world of possibilities is open to the MOTOMAN GP25 /GP25-12
robots with the numerous functions of the MOTOMAN YRC1000
controller. In conjunction with the conventional teach pen-
dant, these robots are reliable mechanical engineering
partners. With the innovative operator control concept of
the SmartPendant, it provides an excellent point of entry into
industrial automation.
As standard, the MOTOMAN GP25 and GP25-12 are designed
with the high protection classification IP67 (wrist). Other variants
of the MOTOMAN GP25 (e.g. with food-compatible grease in
the food industry, special anti-corrosion coating for applica-
tions in aggressive ambient conditions, or as a cleanroom
version) are optionally available.
KEY BENEFITS
• Flexible, fast and powerful

• Large working range: 1730 and 2010 mm
Controlled by
YRC1000
400 2085 View A

50 150 795 100
114 1 x Ø 4 H7,
Ø 62 h6
22.5°
102
103
86 U depth 6
°
Ø 50
6
A Ø5
281
200
R B T
30
84
Ø100
48 P
128
1074
30
139
760
30
5°
761
10
302
340°
155°
L 8 x M4, depth 8
135 0 °
24
343
505
8 x M5,
B
0
depth 6 View B
0
261 229 Working range
311 C S Point P 1 x Air
491
480 519
170° Internal user wiring connector
Media connector
1004
View C
1430
1024
876
808
694
277
0
102
348
406
1730
316 200
342 268 185 77.5 375

30
180° 168 70 R17 335
R4
06
4 x Ø 18 60
100
130
88
96
26
200±0.1
180
292
335
375
13
84
170±0.1
2 x M5, depth 11
85
R2
60
2 x M6, depth 12
180°
1 x M6, depth 10
15
4 x M6, depth 12
45
4 x M6, depth 14 2 x Ø 12 H7 260±0.1
Prevent interaction of the robot with: Mounting options: Floor, ceiling, wall, tilt*
• Exposure to water, oil or dust Allowable wrist load Protection class version YR-1-25VXH25-A00
Standard: Main axes (S, L, U) IP54, wrist IP67
600
LT
Protection class version YR-1-25VXH25-C00:

Main axes (S, L, U) IP65, wrist IP67
500
490
Protection class version YR-1-06VXH25-C02
W = 5 kg
400 (ACC): Main axes (S, L, U) IP65, wrist IP67
330 * tilt with condition of angle – see table below
300
W = 10 kg
220 Robot S-axis
200
165
W = 15 kg installation angle operating range
P-point 132
W = 20 kg
[deg.] [deg.]
W=
25 kg ±180 degrees or less
0 ≤ ≤ 30
(no limit)
200 300 400 500 600 700

212 265 353 480 678

LB
B-axis 100 R-, T-axis 35 < ±30 degrees or less
centre of rotation centre of rotation
Specifications GP25
Maximum Maximum Allowable Allowable Controlled axes 6

S ±180 210 – – Repeatability [mm] ±0.02★
L +155/–105 210 – – Max. working range R [mm] 1730
U +160/–86 265 – – Temperature [ºC] 0 to +45
R ±200 420 52 2.3 Humidity [%] 20 – 80
B ±150 420 52 2.3 Weight [kg] 250
T ±455 885 32 1.2 Power supply, average [kVA] 2,0★★
★
Varies in accordance with applications and motion patterns Note: SI units are used for specifi cations. All dimensions in mm
MOTOMAN GP25-12 MOTOMAN GP Series 23
2365 View A
400 1 x Ø 4 H7,
Ø 62 h6
150 1082 100 22.5°
50 depth 6
114
Ø 50
6
P Ø5
83
78
86 U
°
A
281
200
Ø100
R B T
128
30
1309
84
30
139 5° 48
30
10
760
8 x M5, 850
depth 6 8 x M4, depth 8
30
302
155°
L
135
160
505
° View B
B 199
0 0
261 229 Working range 1 x Air
C S Point P
491 540
Type: -A11
580 568 Internal user wiring connector
Media connector
598
1710
1287
1284
1041
792
559
374
425
561
2010
View C
1284
316 200
375
180°
R5 2 x M5, depth 11
61 335
917 165 77.5
4 x Ø 18 60
168 70
93.5
130
70
88
26
200±0.1
177
292
13
100
83.5
335
375
15
170±0.1
R 20
10
60
45
2 x M6, depth 12
180°
85
4 x M6, depth 12
R2
4 x M6, depth 14 2 x Ø 12 H7 260±0.1

• Exposure to water, oil or dust
• Excessive electrical noise (plasma) Mounting options: Floor, ceiling, wall, tilt*
Protection class: Main axes (S, L, U) IP54
(option 65), wrist IP67
Allowable wrist load * tilt with condition of angle – see table below
300
LT
Robot S-axis
238
W = 3 kg installation angle operating range
200
167 [deg.] [deg.]
P-point W = 6 kg
100 ±180 degrees or less
83
W= 0 ≤ ≤ 30
12 kg
(no limit)
200 300 400 500 30 < ≤ 35 ±60 degrees or less

187 329 465

LB
B-axis 100 R-, T-axis 35 < ±30 degrees or less
Specifications GP25-12

[º] [º/s] [Nm] [kg · m2] Max. payload (on U-axis) [kg] 12 (9)
S ±180 210 – – Repeatability [mm] ±0.03★
L +155/–105 210 – – Max. working range R [mm] 2010
U +160/–86 220 – – Temperature [ºC] 0 to +45
R ±200 435 22 0.65 Humidity [%] 20 – 80
B ±150 435 22 0.65 Weight [kg] 260
T ±455 700 9.8 0.17 Power supply, average [kVA] 2.0★★
★
Varies in accordance with applications and motion patterns Note: SI units are used for specifi cations. All dimensions in mm
MOTOMAN
GP35L
with the GP Series
The MOTOMAN GP35L is a dynamic, high-speed robot

featuring an extended reach for large parts. It offers superior
performance in laser welding, coating, dispensing, gluing,
material cutting and material handling applications.
KEY BENEFITS
• High repeatability: ±0.07 mm

• Ideal for a variety of applications, multi-purpose robot
• Wide motion range
• Small interference radius reduces floorspace requirements
• Specifically designed for processing large parts
• Protection class IP54/67 as standard
Controlled by
YRC1000
2933 View A
145 1225 175 Ø 6 H7, depth 10
60
57
U R B T
°
Ø 100 H6
210 191
42
connector A
Media connector 2933 View A
P
40
° Ø 80
346 203 1549 80 1549 Ø 6 H7, depth 10
145 1225 175
Working range
Ø 50 H7
20 ° 45U° 10 6
60
57
90 B TP
1150
R ° Point
2091
Internal user wiring 6° Ø 8 H7, 6 x M8,
°
Ø 100 H6
8
210 191
42
223.5
connector
Air 1 A 960 depth 14 depth 14
L
135°
Media connector
Air 2 P
40
4448
° ° Ø 80
346 203 1549 12
0 80 4 x M12, depth 20 1549 View B
1150540
Working range
Ø 50 H7
253 126 20 ° 45° 10 229 6
343
6° B09° 90 ° Point P
2091
0 0
223.540
1 Ø 82H7,
x Air 6 x M8,
105 105 8
Air 1 960 depth 14 depth 14
L
135°
65°
Air 2 S Internal user wiring
4448
625 0 ° connector
12 160°
4 x M12, depth 20 View B Media connectorr
540
Empty C 889
343 253 126 B 229
234 234 0 tube for 0
40
109° 2 x Air
fieldbus 105 105 View C
cable
65°
S 1516 Internal user wiring

Please note (Ø 21)
625 195±0.1connector 2 x Ø 12 H7
230±0.1
wall mounting option: 160°
C Media connectorr
2248
1436
869
279
121
165
428
513
565
2538
± 30° S-axis limit Empty 889 230
234 234 tube for
Please note
ceiling mounting
fieldbus View C
cable 8 x Ø 22
option: 4 x M8, 1516
320
280
385
455
Please note (Ø 21) 0 °
Please notice working 195±0.1 2 x Ø 12 H7
195±0.1 230±0.1
18 depth 16
195±0.1
wall mounting option: 72
range of B-axis R3
2248
1436
869
279
121
165
428
513
565
2538
± 30° S-axis limit 230

98
50
50
Please note
Please note
tilted robot: 400
ceiling mounting Empty 8 x Ø 22
0°– 90° limitation of S-axis, 195±0.1 230±0.1
option:
127
4 x M8,
320
tube for
280
385
details on request
Please notice working field bus 18
0° depthR16 455 153 455
195±0.1
372
18
253
range of B-axis 8
811.5R
0
cable 200
°
5
608
98
R56
50
50
Please note
195±0.1
tilted robot: 400

0°– 90° limitation of S-axis, Empty Mounting options: Floor, ceiling, wall, tilt*
195±0.
1 230±0. 1
127
details on request tube for

field bus R25 Protection153
class version 455
YR-1-06VXL35-A00
18
38
0
cable Allowable wrist811.5

load Standard: Main axes (S,
200 608L, U) IP54, wrist IP67
°
5
R56
Protection class version YR-1-06VXL35-C00:

LT Main axes (S, L, U) IP65, wrist IP67

600
10 kg Protection class version YR-1-06VXL35-A00
Robot S-axis Allowable400
wrist load Standard: Main axes (S, L, U) IP54, wrist IP67
Wrist + U-arm Up to 35 kg for attaching load mass
installation angle operating range 20 kg Protection class
in front version
including YR-1-06VXL35-C00:
wrist load

[deg.] [deg.]
LT 30 kg Main axes (S, L, U) IP65, wrist IP67
0 ≤ ≤ 30 ±180 (Standard) 200 Up to 10 kg. 49 N · m (5 kgf · m) max.
600 35 kg * tilt with condition of angle –moment
see tableamount
below of upper
P-point U-arm behind for increased
10 kg
30 < ≤ 35 ±60 arm (floor-, ceiling-mounted type only)
Robot S-axis 400
35 < ≤ 45 angle ±45 400 600 800 1000 Wrist + U-arm Up to 35 kg for attaching load mass
installation operating range 20 kg Up to 30 kg (floor-, ceiling-mounted
B-axis T-, R-axis LB in frontbelow
S-axis including wrist load
[deg.]
45 < [deg.]
±45 type only)
30 kg
0 ≤ ≤ 30 ±180 (Standard) 200 Up to 10 kg. 49 N · m (5 kgf · m) max.

35 kg
P-point U-arm behind for increased moment amount of upper
30 < ≤ 35 ±60 arm (floor-, ceiling-mounted type only)
Specifications GP35L
35 < ≤ 45 ±45 400 600 800 1000
Up to 30 kg (floor-, ceiling-mounted
45 <
Maximum±45 MaximumB-axis Allowable T-, R-axis Allowable LB S-axis below axes
Controlled type only) 6
Axes motion range speed centre of rotationmoment centre of rotation
moment of inertia
[º] [º/sec.] [Nm] [kg · m ] 2
S ±180 180 – Specifications –GP35L Repeatability [mm] ±0.07
L +135/–90
Maximum 140
Maximum –
Allowable –
axes 2538
6
U +206/–80
[º] 178
[º/sec.] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
35
R
S ±360
±180 250
180 –147 –10 Humidity [%] [mm]
±0.07
B
L ±125
+135/–90 250
140 –147 –10 Weight
working 600
2538
T
U ±360
+206/–80 360
178 –78 –4 Power supply,[ºC]
0 to +45
R ±360 250 147 10 Humidity [%] 20 – 80
B ±125 250 147 10 Weight [kg] 600
T ±360 360 78 4 Power supply, average [KVA] 4.0

MOTOMAN
GP50
with the GP Series
The MOTOMAN GP50 is a versatile, high speed 6-axis robot

offering superior performance in material handling, machine
tending, processing and dispensing applications.
Due to its compact design, the GP50 can be placed close to

machines for loading and unloading of parts.
KEY BENEFITS
• Fast, flexible and reliable

• Ideal for a variety of applications, multi-purpose robot
• Robot with sleek design that requires minimal
installation space
• 50 kg payload
Controlled by
YRC1000
2456 View A
145 1025 175 Ø 6 H7, depth 10
191
57
R
60
°
Ø 100 H6
42
A View A
210
3578
T 2456
P B
40
U
°
1369
80
Internal user wiring Ø 80
connector 191 20 145 1025 Working range
175 Ø 6 H7, depth 10
° Point P
1811
Ø 50 H7
6° 90 6
57
Media connector
870
R
60
223.5 925 Ø 8 H7, 6 x M8,
°
Ø 100 H6
135
8
42
346 203 depth 14 depth 14
L A
210
3578
T
P B
40
° U
°
1369 0
12
80
Internal user wiring 437 Ø 80
870540
connector
Air 1 20B 4Working range
x M12, depth 20 View6 B
° Point P
1811
Ø 50 H7
6° 90
223.5 40
Media connector 118 0

Air 2 0 925 Ø 8 H7, 6 x M8,
105 105
135
346 203 8 2 x14Air
depth depth 14
S L
°
C
343 253 453 460
0° Internal user wiring
Empty 12 437
540
tube for B 4170°

x M12, depth 20 connector
Air 1 View B Media connectorr
40
118 fieldbus 0
Air 2 0 cable 105 105 1121
(Ø 21)) 0 S 2 x Air
C
343 253 453 460 View C
1771
2061
1056
605
213
87
248
530
543
234 234 Empty Internal user wiring

tube for 3832 connector
170° 195±0.1Media connectorr
2 x Ø 12 H7
230±0.1
fieldbus
cable 230
1121
(Ø 21)) 0
0° 4 x M8,
18 depth 16 View C
1771
2061
72
1056
605
213
87
248
530
543
234 234 R3 8 x Ø 22
3832
320
280
385
455
98
50
50
195±0.1 2 x Ø 12 H7
195±0.1 230±0.1
195±0.1
230
° 4 x M8,
127
0
Empty tube 18 R5 2 depth 16 400
for field bus 18 43 R37 R20 195±0.1
8 x Ø 22
230±0.1
0° 61
320
280
385
455
98
cable 611.5 200

50
50
153 455
195±0.1
608
195±0.1
127
Empty tube R5 400

for field bus Allowable
18 43
wrist load R20 195±0.
Mounting 1
options: 230±0.
Floor, ceiling, wall, 1
tilt*
0 61
cable ° 611.5 200
LT Protection153
class version 455
YR-1-06VX50-A00
Standard: Main axes (S,
608L, U) IP54, wrist IP67

1000
10 kg Protection class version YR-1-06VX50-C00:
Allowable
800 wrist load Main axesoptions:
Mounting (S, L, U)Floor,
IP65, ceiling,
wrist IP67
wall, tilt*
Robot S-axis 20 kg
600 Please notice
Protection classwall mounting
version option:
YR-1-06VX50-A00
installation angle operating range LT ±30° S-axis limitaxes (S, L, U) IP54, wrist IP67
Standard: Main

[deg.] [deg.] 30 kg
1000 40 kg
Please notice ceiling mounting option:
0 ≤ ≤ 30 ±180 (Standard) 10
50 kg
kg Protection classVersion
versionYR-1-06VX50-A00
YR-1-06VX50-C00:
P-point 200 Protection
Please class
notice working range of IP67
B-axis
800 Main axes (S, L, U) IP65, wrist
Standard: Main axes (S, L, U) IP54, wrist IP67
30 < ≤ 35 ±60
Robot S-axis 20 kg Please notice
Protection
Please Class tilted
notice Version
wall robot:
YR-1-06VX50-C00:
mounting option:
35 < ≤ 45 angle ±45 600
200 400 600 800 1000 1200 1400 1600 1800
installation operating range 0°–90° limitation
Main axes
±30° S-axis L, U)ofIP65,
(S,limit S-axis,
wristdetails
IP67 on request
B-axis 30 kg T-, R-axis LB
[deg.]
45 < [deg.]
±30 400 Mounting options: Floor, ceiling, wall, tilt*
centre of rotation 40 kg centre of rotation Please notice ceiling mounting option: * tilt
tiltwith
withcondition
conditionof of
angle – see
angle table
– see below
table left side
0 ≤ ≤ 30 ±180 (Standard) P-point 200 50 kg Protection classworking
VersionrangeYR-1-06VX50-A00
Please notice of B-axis
30 < ≤ 35 ±60 Standard: Main axes (S, L, U) IP54, wrist IP67
Specifications GP50Mounting options: Floor, Please
ceiling,notice
Protection wall,
Class tilt*tilted
Versionrobot:
YR-1-06VX50-C00:
35 < ≤ 45 ±45 200 400 600 800 1000 1200 1400 1600 1800 0°–90° limitation
LB Main axes (S, L, U)ofIP65,S-axis,
wristdetails
IP67 on request
Maximum±30 Maximum B-axis Allowable T-, R-axis Protection
Allowable class: IP54/67
Controlled axes 6
45 < Please notice: Just valid for body/wrist,
Axes motion range speed centre of rotation
moment centre of rotation
moment of inertia * tilt
tiltwith
withcondition
condition of angle
of –
angle see
– table
see below
table left side
[º] [º/sec.] [Nm] connector
[kg · m ]
2 base not protected
S ±180 180 – Specifications– GP50Mounting options:Repeatability [mm]
Floor, ceiling, wall, tilt* ±0.03
L +135/–90
Maximum 178
Maximum –
Allowable – Max. working
Protection class: IP54/67
Allowable Controlled range R [mm]
axes 2061
6
Axes motion range speed moment Please
moment notice: Just valid for body/wrist,
of inertia
U +206/–80
[º] 178
[º/sec.] –
[Nm] – · mconnector
[kg 2
] Temperature
base not payload [ºC]
protected
Max. [kg] 0 to +45
50
R ±360 250 * tilt with condition of angle – see table
Humidity [%]below
S ±180 180 –216 –28 Repeatability [mm] 20 – 80
±0.03
B
L ±125
+135/–90 250
178 –216 –28 Weight
working 570
2061
T
U ±360
+206/–80 360
0 to +45
R ±360 250 216 28 Humidity [%] 20 – 80
B ±125 250 216 28 Weight [kg] 570

MOTOMAN
GP70L
Picking & Handling
with the GP Series
The fast and dynamic 6-axis MOTOMAN GP70L robot offers

top performance for order picking as well as item, box and
carton handling in the logistics industry. The most powerful
robot in its class offers a huge increase in terms of efficiency
and productivity for sorting and packing in intralogistics
applications.
With a payload of 70 kg and an enormous reach of 2,732 mm,

its slim design allows it to operate in the tightest of spaces,
resulting in a high robot density. The narrow cable routing
further reduces the width of the robot. The modern picking
and handling robot can flexibly supplement or replace manual
stations, and in combination with additional peripherals (e.g.,
3D vision technology), it increase economic efficiency.
The MOTOMAN GP70L operates with powerful servo motors

of the Yaskawa Sigma-7 generation, which ensure the highest
accelerations with short movements for even shorter cycle
times. The reduced cycle times further increase productivity.
The ideal combination is with the optional Functional Safety
Control (FSU) for safeguarding compact work areas, which
is already integrated in the compact MOTOMAN YRC1000
high-performance controller.
KEY BENEFITS
• Unique in its class —> especially for the logistics industry

• New Sigma-7 servo motors —> high acceleration, speeds,
smaller size and power requirements
• High payload: 70 kg
• Robust and flexible
• Slim, compact and low profile design
• Advanced safety function (FSU) in the control system
(YRC1000)
• PLC integration via MotoLogix software interface
• Wrist resistant to intrusion of dust and liquids (IP54/IP67)
Controlled by
YRC1000
2952 View A
30
320 1225 175
Ø 6 H7, depth 10
(197)
90
(40)
60
57
°
Ø 100 H6
42
A2952 View A
235
254
40
209
145
30
320 U
1225 B175
°
Ø 80
80
Internal user P Ø 6 H7, depth 10
235 1165 (197)
R /T 90
wiring connector
Ø 50 H7
(40)
45 6
60
Media connector °
57
Ø 8 H7, 6 x M8,
°
Ø 100 H6
(2137)
°
8
42
90
Luft 1 A 985 depth 14 depth 14
15
L-Axis
-
254 209Luft 2
40
5°
145
U B
(4715)
L
°
Ø 80
80
R /T Internal user P
°
wiring connector 90
Ø 50 H7
45 6
540
305
Media connector °
1165
226 Ø 8 H7, 6 x M8,

(2137)
B 8
90
Luft 1 0 depth 14 depth 14

0
985
15
Luft 2 L-Axis
- S
Tube for
5°
(4715)
L
fieldbus cable C Working range View B
(Ø 12) ° Point P
751 90
540
305 2 x Air
B 226
260 257 0
0 Internal user
Tube for S wiring connector
fieldbus cable C Working range View B Media connector
(Ø 12) Point P
751 1763 2 x Air
2070
412
0
321
634
677
765
2732
260 257 Internal user
wiring connector
Media connector
Tube for 0 ° 4 x M8,1763
fieldbus cable 18 depth 16 View C
811.5 200
(Ø 12) S
2070
412
0
321
634
677
765
2732
98
195±0.1 2 x Ø 12 H7
50
230±0.1
230
Tube for 0 ° 4 x M8,
18
127
fieldbus cable 811.5

R7 200 depth 16 View C
S 65 8 x Ø 22
(Ø 12) 18 R27
320
280
385
455
32
98
R4
0 ° 195±0.1 2 x Ø 12 H7
50
195±0.1 230±0.1
91
195±0.1
230
Allowable wrist load

127
400
R7 8 x Ø 22
65 R27 195±0.1 230±0.1
1
320
280
385
455
LT 80° 32
R4
153 455
91
195±0.1
400
50 kg 608
60 kg
Allowable wrist70load
195±0.1
kg 400
200 Mounting option:
P-point 195±0.1 Floor 230±0.1
LT
IP Protection:
153 Main axes455
(S, L, U) IP54,
400 wrist IP67
50 kg 608
60 kg 400 600 800 LB
70 kg
B-axis 200 T-, R-axis Mounting option: Floor
centre
P-pointof rotation centre of rotation
IP Protection: Main axes (S, L, U) IP54,
wrist IP67
400 Specifications
600 800 LB GP70L
4X M8XP1.25(Depth:16)
Maximum B-axisMaximum4X M8XP1.25(Depth:16)
T-, R-axis
Allowable Allowable Controlled axes 6
Axes motion range centrespeed
of rotation
If Servo-On centreorof rotation
lampmoment moment of inertia
[º] U-R-B-T-axis motor
[º/sec.] the holes cannot[Nm] cover is present, [kg · m2] Max. payload [kg] 70
be used.
70
S ±180 180 – Specifications –GP70L Repeatability [mm] ±0.05

50
L +155/–90
Maximum 123
Maximum –
Allowable –
axes 2732
6
Axes motion range speed If Servo-On lampmoment
or moment of inertia
U +90/–80
[º] 160
[º/sec.] – cover is present,
U-R-B-T-axis motor – · m 2] Temperature
Max. payload [ºC]
[kg] 0 to +45
70
the holes cannot[Nm]
be used. [kg
R ±360 230 –392 –28 Humidity [%] [mm] 20 – 80
70
50
S ±180 180 Repeatability ±0.05

50
99 100
B
L ±125
+155/–90 230
123 –392 –28 Weight
working 650
2732
View D
T ±360 350 (Scale 3:25) Power supply,[ºC]
average [KVA]
U +90/–80 160 –196 –11 Temperature 5.0
0 to +45
R ±360 230 392 28 Humidity [%] 20 – 80

70
50
99 100
B ±125 230 392 28 Weight [kg] 650
View D
T ±360 350 (Scale 3:25) 196 11 Power supply, average [KVA] 5.0
MOTOMAN
GP88
with the GP Series
The MOTOMAN GP88 is a versatile high speed 6-axis robot,

providing a high payload of up to 88 kg. It offers superior per-
formance in material handling, machine tending, processing
and dispending applications.
Despite its slim body, the MOTOMAN GP88 features a wide

work envelope with a small interference radius. Thereby it can
be placed close to machines for loading and unloading of
parts, which reduces the required floor space to a minimum.
KEY BENEFITS
• Flexible and powerful (payload of 88 kg)

• High axis speeds
• Improved wrist ratings provide higher handling capacity
• Small interference radius reduces floor space requirements
Controlled by
YRC1000
2456 View A
320 1025 175
6 Ø 6 H7,
Ø 50 H7
191
80
80 depth 10
57
°
D
PC
A
View A
210
T 2456
Ø 100 h7
R B
42
U P
320 1025 175
6 Ø 6 H7,
Ø 50 H7
191
80
870
40
80 depth 10
°
90
57
°
D
1038
PC
90°
Internal user 925 6 x M8,
155°
wiring connector 837 L A depth 14
210
Media connector T Ø 8 H7,
Ø 100 h7
R B
42
U P 8 depth 14
540
870
40
°
B 195
90
5 x Air 1038
90°
Internal user 0 0
925 6 x M8,
View B
155°
wiring connector 837 C L Working range depth 14
Media connector 368 S
Point P Ø 8 H7,
241 8
5 x Air depth 14
540
B 195
5 x Air 0 0
C
S
Working range View B Internal user wiring
368 Point P 1295 connector
241
5 x Air Media connector
1534
1470
352
423
519
718
2236
299 252
View C Internal user wiring

R7 98.5 100 connector
18 4 x M8, depth 16 1295
Media connector
230±0.1
195±0.1 2 x Ø 12 H7
4 x M8,
1534
1470
352
423
519
718
2236
depth 16
50
50
299 252
View C 8 x Ø 22
R7 98.5 100 R216
236
18 4 x M8, depth
50
320
280
385
455
195±0.1230±0.1
195±0.1 2 x Ø 12 H7
45 4 x M8,
195±0.1
R5 611.5 200 depth 16
50
50
230
8 x Ø 22
R2236 400
50
320
280
385
455
5
Allowable wrist load 195±0.1 230±0.1
195±0.1
4
R5 LT
611.5 200 153 455
195±0.1
608

230
400
50 kg 400
60 kg
195±0.1 230±0.1
70 kg Mounting options: Floor, ceiling, wall, tilt*
80 kg
Robot S-axis LT 153 455
installation angle operating range 200 Protection class version YR-1-06VX88-A00
608L, U) IP54, wrist IP67

[deg.] [deg.] 88 kg Standard: Main axes (S,

P-point 400
±180 (Standard) 50 kg
0 ≤ ≤ 30 Protection class version YR-1-06VX88-C00:
60 kg Main axes (S, L, U) IP65, wrist IP67
30 < ≤ 35 ±60 70 kg Mounting options: Floor, ceiling, wall, tilt*
200
80 kg 400 600 800
Robot S-axis Please notice: Just valid for body/wrist,
35 < ≤ 45 angle ±45 200 LB Protection class not
version YR-1-06VX88-A00
installation operating range connector base protected
[deg.] [deg.] B-axis 88 kg T-, R-axis Standard: Main axes (S, L, U) IP54, wrist IP67
45 < ±30
P-point
centre of rotation centre of rotation * tilt with condition of angle – see table left side
0 ≤ ≤ 30 ±180 (Standard) Protection class version YR-1-06VX88-C00:
Main axes (S, L, U) IP65, wrist IP67
30 < ≤ 35 ±60
200 400
Specifications GP88 600 800
±45
Please notice: Just valid for body/wrist,
35 < ≤ 45 LB
connector base not protected
Maximum±30 Maximum B-axis Allowable T-, R-axis
Allowable Controlled axes 6
45 <
Axes motion range speed centre of rotation
moment centremoment
of rotationof inertia * tilt with condition of angle – see table left side
S ±180 170 – Specifications– GP88 Repeatability [mm] ±0.03
L +155/–90
Maximum 140
Maximum –
Allowable –
axes 2236
6
U +90/–80
[º] 160
[º/sec.] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
88
R
S ±360
±180 230
170 –408 –30 Humidity [%] [mm]
±0.03
B
L ±125
+155/–90 230
140 –408 –30 Weight
working 630
2236
T
U ±360
+90/–80 350
0 to +45
R ±360 230 408 30 Humidity [%] 20 – 80
B ±125 230 408 30 Weight [kg] 630

MOTOMAN
GP110
with the GP Series
The 6-axis MOTOMAN GP110 is a versatile, high speed robot

offering superior performance for a variety of applications,
for example material handling, machine and press tending.
Despite of providing a wide motion range and high payload

of 110 kg, the MOTOMAN GP110 has a streamlined design,
which allows extremely close positioning of several robots.
Also the slim cable inlet reduces the robots width, therefore
valuable floor space can be saved.
The MOTOMAN GP110 is available with the PLd Category 3

Functional Safety Unit (FSU).
KEY BENEFITS
• Fast and flexible

• Wide motion range: 2236 mm
• Compact design
• Slim cable inlet
• Enhanced safety functions
Controlled by
YRC1000
2456 View A
320 1020 200
16
191
8 0°
82
7
5
12
Ø
A
235
T 2456 View A
3 0°
R B
Ø 145 h6
U P
320 1020 200
16
191
°
870
90
8 0°
82
1016 7
5
12
90°
Ø
A
155°
wiring connector 966 depth 15
Ø 31.5 H7
235
L
Media connector T
3 0°
R B
Ø 145 h6
U P 2 x Ø 10,
540
° depth 15
870
90
5 x Air B 185
1016
0 949
90°
155°
wiring connector 966 C Working range depth 15
Ø 31.5 H7
S L
Media connector 394 Point P
270 View B 2 x Ø 10,
540
depth 15
5 x Air B 185 5 x Air
0 0
C Working range
S
270 394 Point P 1295
View B Internal user wiring
connector
1536
1482
349
414
543
740
2236
315 258 5 x Air Media connector
573
R7 245.5 92 4 x M8
40 1295
16 60 View C connector
4 x M8, depth 14
1536
1482
349
414
543
740
2236
Media connector
45
315 258
2 x Ø 12 H7
230±0.1
573
195±0.1
R7 245.5 92 4 x M8 R2236
40
100
27.5
45 12.5
16 60 2 x M5, depth 9 View C

91 4
2 xx M8,
M6, depth
depth 14
11
R4 98.5 100 8 x Ø 22
320
280
385
455
2 x Ø 12 H7
195±0.1 230±0.1
195±0.1
195±0.1
R2236
100
27.5
12.5
Allowable wrist load 2 x M5, depth 9

1 230
9 2 x M6, depth 11
R4 98.5 100
400
8 x Ø 22
320
280
385
455
LT
195±0.1 230±0.1
195±0.1
800
153 455
Allowable 600
wrist load50 kg
195±0.1
608
230
LT
400
60 kg 400
80 kg 195±0.1 230±0.1
800
P-point 200 Mounting 153
option: Floor 455
110 kg
600
50 kg
608YR-1-06VX110-A00
Protection class version
400 600 800 1000 1200 1400 1600 Standard: Main axes (S, L, U) IP54, wrist IP67
60 kg
400 LB
B-axis T-,
80 R-axis
kg Protection class version YR-1-06VX110-C00:
centre of rotation centre of rotation Main axes (S, L, U) IP65, wrist IP67
P-point 200 Mounting option: Floor
110 kg
Protection class version YR-1-06VX110-A00
400 600
Specifications GP110
800 1000 1200 1400 1600 Standard: Main axes (S, L, U) IP54, wrist IP67
LB
Maximum B-axis Maximum T-, R-axis
Allowable Allowable Protection
Controlled axesclass version YR-1-06VX110-C00:
6
Axes motion range centre of rotation
speed centre of rotation
moment moment of inertia Main axes (S, L, U) IP65, wrist IP67
S ±180 140 – Specifications–GP110 Repeatability [mm] ±0.03
L +155/–90
Maximum 110
Maximum –
Allowable –
axes 2236
6
U +90/–80
[º] 130
[º/sec.] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
110
R
S ±360
±180 175
140 –721 –60 Humidity [%] [mm]
±0.03
B
L ±125
+155/–90 175
110 –721 –60 Weight
working 660
2236
T
U ±360
+90/–80 255
0 to +45
R ±360 175 721 60 Humidity [%] 20 – 80
B ±125 175 721 60 Weight [kg] 660
T ±360 255 294 33.7 Power supply, average [KVA] 5.0

MOTOMAN
GP180-120
with the GP Series
This powerful six-axis handling robot features high speed

motion which reduce cycle times.
High payload and increased moment and inertia ratings
allows the MOTOMAN GP180-120 the handling of large and
heavy payloads. Its streamlined upper arm design features a
slim wrist profile and reduces robot width. This enables easier
reach into confined spaces, improving application flexibility.
Therefore the MOTOMAN GP180-120 can be mounted closer
to machines and fixtures, making best use of valuable floor
space.
Its cables and airlines are routed through the robot base to
upper arm to increase cable life, enhance safety and reduce
teaching time.
The cable installation tube in the base of the robot facilitates
fieldbus routing to the robot upper arm and/or gripper. It is
also pre-wired for servo gripper which allows a wider range of
product handling.
The MOTOMAN GP180-120 has an IP67-rated wrist and an
IP54 body standard.
KEY BENEFITS
• Small footprint and minimal interferences

• High inertia rating enables handling of huge work pieces
• Reduced cycle times by optimal design and
high axes speed
• Versatile use in various applications
• High density spacing and reaching into
confined spaces
Controlled by
YRC1000
36 MOTOMAN GP Series MOTOMAN GP180-120
3416 View A
90
° 2 x Ø 10 H7, 2 x Ø 9 H7,
3058 8
2815 depth 8 depth 8
970 325 1590 225 2
Ø9
View A
153
3416
Ø 160h6
82
P
° 90 Ø 122x Ø 9 H7,
Internal user 60 ° 2 x Ø 10 H7, 5
2815 3058 A 88
depth 8 depth 8
wiring connector
300
Media connector U R BT 6 x M10,
970 325 1590 225 depth
2 14
86°
Ø 63H7
90 Working Ø9
153
76
(275) 344 ° 66 30° 6 x M10,
Ø 160h6
82
P
range R27
2253
Point P depth 14
220 ° Ø 12
Internal user 60 A 5
8
wiring connector
300
1150
L U R BT 6 x M10,
Media connector 928
Tube for depth 14
86°
Ø 63H7
fieldbus90cable Working ° View B
142 766
76
(275) 344 ° 797 30° 6 x M10,
(Ø12) range R2
2253
Point P depth 14
220 1 x Air
1150650
234
L
B 928
Tube for
° View B
fieldbus cable
S 142 797
287
(Ø12) C
Tube for 1 x Air
650
fieldbus cable
372
735
889
908
1440
234
(Ø12)
B Media connector
S 344 92 287
C 4 x M8, depth 14
266 Tube for 16 60
R51
fieldbus cable 2 x M5, depth 9 View C

372
735
889
908
1440

5
276 349 (Ø12) 689

4 x 2 x Ø 22
45
344 92 4 x M8, depth 14 40 210 250

16 60 2 x Ø 20 H7
266
R51
2 x M5, depth 9 View C

230±0.1
12.5
255 40 R3058
250±0.1
5
120
276 349
27.5
185±0.1
450 210
290
R90
2 x M6, depth 11 4 x 2 x Ø 22
45
8
2 x 2 x M8, depth 14 40 210 250

2 x Ø 20 H7
230±0.1
12.5
R3058
500
420
320
250±0.1
120
27.5
185±0.1
Allowable wrist load 210
R90
2 x M6, depth 11
8
LT
185±0.1
1000 2 x 2 x M8, depth 14
40 kg
230±0.1 295±0.1
800
500
420
320
60 kg
Allowable
600 wrist
80 kg load
100 kg
400
LT
185±0.1
120 kg Mounting option: Floor
P-point 1000
200
40 kg Protection230±0.1
class: IP54/IP67 295±0.1
800
60 kg
400 600 800 1000 1200 1400 1600
600 80 kg LB
B-axis 100 kg
R-, T-axis
centre of rotation
400 centre of rotation
P-point 200
Specifications GP180-120
400 600 800 1000 1200 1400 1600
B-axis R-, T-axis LB
Axes motion range centre
speedof rotation centremoment
of rotation moment of inertia
S ±180 125 – –
Specifications GP180-120 Repeatability [mm] ±0.05
L +76/–60
Maximum 115
Maximum –
Allowable –
axes 3058
6
U +90/–86
[º] 125
[º/s] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
120
R
S ±360
±180 182
125 –883 –79 Humidity [%] [mm]
±0.05
B
L ±130
+76/–60 175
115 –883 –79 Weight
working 1090
3058
T
U ±360
+90/–86 265
0 to +45
R ±360 182 883 79 Humidity [%] 20 – 80
B ±130 175 883 79 Weight [kg] 1090
T ±360 265 520 40 Power supply, average [kVA] 5.0

MOTOMAN
GP180
with the GP Series

offering superior performance for a variety of applications, like
material handling, machine and press tending.
Despite of providing a high payload of 180 kg and the wide

motion range of 2702 mm, the MOTOMAN GP180 was
designed with a width of 625 mm, therefore valuable floor
space can be saved.
With the higher axis operation speed and speed reducer

rigidity, a special vibration control system was developed.
By reducing cycle times, this system realises high increases
in productivity.
KEY BENEFITS
• Fast, flexible and powerful

• Maximum performance using minimal floor space
Controlled by
YRC1000
2702 View A
3061 2 x Ø 10 H7, 2 x Ø 9 H7,
970 9
depth 8 depth 8
90
°
325 1225 225
2450 2
Ø9
153
2702
P View A
82
Ø 160h6
°
60 A 3061 2 x Ø 10 H7, Ø 122x Ø 9 H7,
Internal user 970 98 5
300
depth 8 depth 8
wiring connector U R BT
90
6 x M10,
Media connector
°
90 325 6° 225
° 81225 depth
2 16
76
Ø 63H7
2450 Ø9
153
411
°
P
82
R2 30°
2253
(275) 344 6 x M10,
Ø 160h6
Working range
° Point P depth 16
220 60 A Ø 12
Internal user 5
1150
8
300
L 957
wiring connector U R BT 6 x M10,
Media connector Tube for
90 ° 928
° 86° 147 depth 16
76
View B
Ø 63H7
fieldbus cable
(Ø12) 411
°
2 30°
2253
(275) 344 Working range R 598 6 x M10,
147° depth 16
220 Point P 407 1 x Air
650
1150
L 957
B 9
Tube for ° 928
147
fieldbus cable
S View B
(Ø12)
Tube for
C 332
598
fieldbus cable 147°
(Ø12) 407 1 x Air
1441
562
577
709
713
762
650
Internal user wiring connector
B 9
Media connector
344 92 4 x M8, depth 14
R51
Tube for S 16 60
C 332
5
fieldbus cable 2 x M5, depth 9

255 40
266 (Ø12) View C
1441
562
577
709
713
762

45

344 92 4 x 2 x Ø 22
4 x M8, depth 14
R51
16 60 40 210 250
5
2 x M5, depth 9 R2702

12.5
255 40 2 x Ø 20 H7
266
120
View C
27.5
230±0.1
250±0.1
276 349
185±0.1
2 x M6, depth 11
45
450 210
290
R71
2 x 2 x M8, depth 14 4 x 2 x Ø 22
3
R2702 40 210 250

12.5
2 x Ø 20 H7
120
27.5
230±0.1
500
420
320
250±0.1
185±0.1
2 x M6, depth 11 210
LT
R71
2 x 2 x M8, depth 14
3
1075
185±0.1
1000 40 kg
878
60 kg
760 230±0.1 295±0.1
500
420
320
80 kg
630
100 kg
484
LT 135 kg
350
1075
185±0.1
P-point 1000
200
180 kg
40 kg
Mounting option: Floor
878
760
class version YR-1-06VX180-A00
295±0.1
630
80 kg400 600 800 1000 1200 1400 1600 Standard: Main axes (S, L, U) IP54, wrist IP67
556 784 948 1060 1224
100 kg LB
B-axis 484 R-, T-axis
135 kg
Protection class version YR-1-06VX180-C00:
centre of rotation350 225 centre of rotation Main axes (S, L, U) IP65, wrist IP67
P-point 200 180 kg Mounting option: Floor
Specifications
400 600 800 1000 1200 1400 1600 GP180 Standard: Main axes (S, L, U) IP54, wrist IP67
556 784 948 1060 1224
LB
Maximum B-axisMaximum R-, T-axis
Allowable Allowable Protection
Controlled axesclass version YR-1-06VX180-C00:
6
centrespeed
of rotation 225 centre of rotation Main axes (S, L, U) IP65, wrist IP67
Axes motion range moment moment of inertia
L +76/–60
Maximum 115
Maximum –
Allowable –
axes 2702
6
U +90/–86
[º] 125
[º/sec.] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
180
R
S ±360
±180 182
125 –1000 –90 Humidity [%] [mm]
±0.05
B
L ±130
+76/–60 175
115 –1000 –90 Weight
working 1020
2702
T
U ±360
+90/–86 265
0 to +45
R ±360 182 1000 90 Humidity [%] 20 – 80
B ±130 175 1000 90 Weight [kg] 1020
T ±360 265 618 46.3 Power supply, average [KVA] 5.0

MOTOMAN
GP215
with the GP Series


space can be saved.
The vibration control system uses higher axis operation speed

and speed reducer rigidity to allow fast acceleration of short
movements. By reducing cycle times, this system realises
high increases in productivity.
KEY BENEFITS

Controlled by
YRC1000
View A
3311
5133 2 x Ø 10, 6 x M10,
8 depth 8 depth 12
2221 2912
25
D1
285 1490 250 PC
153 View A
91
U R 8
3311
5133 A 2 x Ø 10, 6 x M10, 6 x M10,
250
8
2221 2912 B T depth 8 depthP 12 depth 12
8°
P CD 25
77.
D1
19
P9C
Ø 180 h6
285 1490 250
Ø 63 H7
7°
Working range 30° 2
250 1150153
76U
91
0° R Point P 8
°
2203
1225 6 2 x Ø 9, depth 8
494 207 A
75 137.5 L 1008 6 x M10,
50°
B .T5° PC depth 12
8°
5
P 2
77.
14 650 D
19
Ø 180 h6
92
Ø 63 H7
509
7°
2 x 2Working
M12, depth range
24 View B 30°
85
650
° 76 Point P
60
40
236
1150
°
2203
1225
0 B Tube for fieldbus 2 x Ø 9, depth 8
494 207 0 2 x Air
77 75 137.5 L cable (Ø12) 177
1008
50°
5°
5
S
C 2.
Tube for 14 650
583
509
fieldbus cable View B
2 x 2 M12, depth 24 Internal user
85
650
(Ø12)
1477
1141
371
739
784
899
1401
wiring connector
40
B 236
0 Tube for fieldbus 0 Media connector
2 x Air
77 cable (Ø12) 177
C S
344 92
Tube for 583
fieldbus cable 16 60 4 x M8, depth 15
(Ø12)
R899
2 x M5, depth 10
1477
73 1141
371
739
784
899
1401
View C wiring connector

120
133
Media connector
45
893
344 92
640
08 16 60 4 x M8, depth 15
R6
410
12.5
27.5
441 375 290±0.1 290±0.1 2x

R899
2 x M5, depth 10
View C Ø 20 H7
120
133
540
Tube for
2 x M6, depth 12 R2912
73
45
fieldbus cable 893

(Ø12) 255 40 2 x 2 x M8, depth 15
350±0.1
640
08
290±0.1 290±0.1290±0.1 290±0.1

R6
410
12.5
27.5
290±0.1 290±0.1 2x
Ø 20 H7
640
540
735
540
Allowable
Tube for wrist load 2 x M6, depth 12 R2912
fieldbus cable
(Ø12) 255 40 2 x 2 x M8, depth 15
350±0.1
LT
1200
60 kg
290±0.1 290±0.1
640
540
1000
735
2x
Allowable
800 wrist
80 kg load 8 x Ø 22 353±0.1 Ø 16 H7
100 kg
600
LT
130 kg
1200
400 165 kg
P-point 1000
200
60 kg
215 kg 290±0.1 290±0.1
Protection class: IP54/IP67 2x
800 80 kg 8 x Ø 22 353±0.1 Ø 16 H7
100 kg
400 600 800 1000 1200 1400 1600 1800 2000
600 LB
B-axis 130 kg
R-, T-axis
centre of rotation
400 centre
165 kg of rotation
P-point 200 215 kg
400 600 800 1000 1200 1400 1600 1800 2000
B-axisMaximum R-, T-axis LB
Maximum Allowable Allowable Controlled axes 6
of rotation centre of rotation
L +76/–60
Maximum 90
Maximum –
Allowable –
axes 2912
6
U +197/–77.8
[º] 97
[º/s] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
215
R
S ±360
±180 120
100 –1176 –317 Humidity [%] [mm]
±0.05
B
L ±125
+76/–60 120
90 –1176 –317 Weight
working 1340
2912
T
U ±360
+197/–77.8 190
0 to +45
R ±360 120 1176 317 Humidity [%] 20 – 80
B ±125 120 1176 317 Weight [kg] 1340

MOTOMAN
GP215-200T
with the GP Series
The flexible, 6-axis handling robot MOTOMAN GP215-200T

is specifically designed for ceiling-mounted applications
and provides a high payload of 200 kg with a large reach of
2,676 mm.
It offers top performance especially where a robot is mounted

elevated on a steel structure to create space on the floor for
conveyors, fixtures or processing machines. With its slim arm,
it can be used effortlessly in the tightest work spaces. Typical
applications for the MOTOMAN GP215-200T include loading
operations with longer transport distances and spot welding
applications.
High performance Sigma-7 drive technology enables the robot

to perform fast, dynamic movements and accelerations with
high repeatability.
Combined with the powerful MOTOMAN YRC1000 robot

controller and an extensive portfolio of gantries and consoles,
the MOTOMAN GP215-200T is a versatile and reliable indus-
trial robot.
KEY BENEFITS

• Large working range: 2,676 m
• Space-saving ceiling mounting
• Slim arm for use in confined work spaces
• Fast movements due to high axis speeds and acceleration
Controlled by
YRC1000
42 MOTOMAN GP Series MOTOMAN GP215-200T
D Tube for View A

fieldbus cable (Ø12)
0
2 x Ø 10, 6 x M10,
8 depth 8 depth 12
B
650
40
25
D1
PC
85
Range of motion
where B-axis
D Tube for View
8 A
moment 0 kgfm fieldbus cable (Ø12)
Fall prevention jig 0
5
137.5 75 2 x Ø 10, 6 x M10, 6 x M10,
(attach it L 8
2203
B depth 8 depthP 12 depth 12
40°
650
after installing ° 50 °
40
112 50 25
40°
CD
° D1
°
P9C
Ø 180 h6
the manipulator)
12.2
85
Range
12.2°
Ø 63 H7
Range of motion 8° of motion 30° 2
.
40°
19
1150
441 where B-axis 95 12.2° 7 8
° where
moment 0 kgfm
P B-axis 2 x Ø 9, depth 8
Fall prevention jig
5
B U 137.5 75 moment 6 x M10,
(attach it L
250
2203
0 kgfm
PC depth 12
40°
after installing A ° 50 °
112 50
40°
° D
Ø 180 h6
the manipulator)
12.2
° Range 92
Ø 63 H7
112 .2 2 3 °
8 ° View B
91
8° of motion 30°
5.
40°
19
153
1150
441 250 91490 12.2° 285 7° where
P Working range B-axis 2 x Ø 9, depth 8
B U Point P moment
375
250
2677 2107
0 kgfm Internal user
A
4784 wiring connector
18° 23° View B Media connector
91
3310
153
250 1490 285
Working range
375 Point P 2 x Air
2677 4 x M8, depth 15 2107 Internal user
40 255 wiring connector
2 x M6, depth 12 4784
207 494 3310 Media connector
R2676
View C
12.5
27.5
R/T S
410
4 x M8, depth 15 2 x Air

353±0.1
40 255 2x 8 x Ø 22
2 x M6, depth 12 Ø 16 H7 290±0.1 290±0.1
45
73
207 494 R6
133
R2676 90
View C
12.5
27.5
R/T 2 x M5, depth 10 S

410
60 16
R7
92 344 290±0.1 290±0.1290±0.1 290±0.1

29
4 x M8, depth 15 353±0.1

2x 8 x Ø 22
Ø 16 H7 290±0.1 290±0.1
540
640
735
45
73
R6
133
90
350±0.1

2 x M5, depth 10 60 16
R7
92 344
29
4 x M8, depth 15
LT
2x 540
540
640
735
1207 1200
Ø 20 H7 290±0.1 290±0.1
350±0.1
60 kg
1000
906
640
Allowable
724 800 wrist load
80 kg
893
100 kg
557
600
LT
439
130 kg
2x 540
1207 1200
400 165 kg
362
200
60 kg
Mounting
Ø 20 H7 option: Ceiling
290±0.1 290±0.1
P-Punkt 1000
200
906
IP protection class: 640
Main axes (S, L, U) IP54
800 80 kg
724 (option IP65), wrist IP67
893
400 600 800 1000 1200 1400 1600 1800 2000
100 kg
557
600 727 923 1500
LB
250
130 kgR-, T-axis
B-axis 439
362 400
165 kg
centre of rotation 200 kgcentre of rotation Mounting option: Ceiling
P-Punkt 200
IP protection class: Main axes (S, L, U) IP54
(option IP65), wrist IP67
400 600 800 1000Specifications
1200 1400 1600 1800GP215-200T
2000
727 923 1500
250 LB Air outlet:B
Maximum B-axisMaximum R-, T-axisAllowable Allowable Controlled axes 6
of rotation centre of moment
rotation moment ofTapped
inertiahole Rc3/8
[º] [º/s] [Nm] [kg · m ]
2
with a pipeMax.
plug payload [kg] 200
B
S ±180 100 – – Air outlet:A

Repeatability [mm] ±0.05
A
Specifications GP215-200T
Tapped hole Rc3/8
Air outlet:B
L ±50
Maximum 90
Maximum –
Allowable –
Controlled axesrange R [mm] 2676
6
with a pipe plug
Axes motion range speed moment moment ofTapped
inertiahole Rc3/8
U +197/–77.8 97 – – · m 2] Temperature [ºC] 0 to +45
[º] [º/s] [Nm] [kg with a pipeMax.
plug payload [kg] 200
B
R
S ±360
±180 120
100 –1176 –317 Main key Humidity [%] [mm]
Air outlet:A
±0.05
A
–317 user wiring connector（Casing

B ±125 120 Tapped hole Rc3/8
Weight [kg]
L ±50 90 –1176 Internal Max. side） range R [mm]
working 1360
2676
with a pipe
type is JL05-2A24-28SC(with cap) plug
T
U ±360
+197/–77.8 190
0 to +45
Matching connector type is JL05-6A24-28P
R ±360 120 1176 317 Main
(provided key
by users) Humidity [%] 20 – 80
B ±125 120 1176 317 user wiring connector（Casing

Internal Weight [kg]
side） 1360
type is JL05-2A24-28SC(with cap)
Matching connector type is JL05-6A24-28P
(provided by users)
MOTOMAN
GP225
with the GP Series
The 6-axis MOTOMAN MH225 is a versatile, high speed robot


space can be saved.
With the higher axis operation speed and speed reducer

rigidity, a special vibration control system was developed.
By reducing cycle times, this system realises high increases
in productivity.
KEY BENEFITS

Controlled by
YRC1000
2702 View A
3061 8 2 x Ø 10 H7, 2 x Ø 9 H7,
970
depth 8 depth 8
90
°
325 1225 250
2450 2
Ø9
153
2702
P View A
82
Ø 180h6
°
60 A 3061 8 2 x Ø 10 H7, 2 xØ
Ø1925H7,
Internal user 970
300
depth 8 depth 8
wiring connector U R B T
90
6 x M10,
Media connector
°
90 325 6° 250
° 81225 depth
2 16
76
Ø 63H7
2450 Ø9
153
411
°
P
82
R2 30°
2253
(275) 344 6 x M10,
Ø 180h6
Working range
° Point P depth 16
220 60 A Ø 12
Internal user 5
1150
300
L 957
wiring connector U R B T 6 x M10,
Media connector Tube for
90 ° 928
° 86° 147 depth 16
76
View B
Ø 63H7
fieldbus cable
(Ø12) 411
°
2 30°
2253
(275) 344 Working range R 598 6 x M10,
147° depth 16
220 Point P 407 1 x Air
650
1150
L 957
B 9
Tube for ° 928
147
fieldbus cable
S View B
(Ø12)
Tube for
C 332
598
fieldbus cable 147°
(Ø12) 407 1 x Air
1441
562
577
709
713
762
650
Internal user wiring connector
B 9
Media connector
344 92 4 x M8, depth 14
R51
Tube for S 16 60
C 332
5
fieldbus cable 2 x M5, depth 9

255 40
266 (Ø12) View C
1441
562
577
709
713
762

45

344 92 4 x 2 x Ø 22
4 x M8, depth 14
R51
16 60 40 210 250
5
2 x M5, depth 9 R2702

12.5
255 40 2 x Ø 20 H7
266
120
View C
27.5
230±0.1
250±0.1
276 349
185±0.1
2 x M6, depth 11
45
450 210
290
R71
2 x 2 x M8, depth 14 4 x 2 x Ø 22
3
R2702 40 210 250

12.5
2 x Ø 20 H7
120

27.5
230±0.1
500
420
320
250±0.1
185±0.1
LT 2 x M6, depth 11 210
R71
1183
2 x 2 x M8, depth 14
3
185±0.1
60 kg
1000
937

80 kg
230±0.1 295±0.1
500
420
320
770
100 kg
LT
576
130 kg
454
1183 165 kg
333
185±0.1
P-point 1000 60 kg
200 937
class version YR-1-06VX225-A00
295±0.1
770
100 kg400 600 800 1000 1200 1400 1600 Standard: Main axes (S, L, U) IP54, wrist IP67
622 848 1056 1204 1346 1554
576 LB
130 kg Protection class version YR-1-06VX225-C00:
B-axis 454 R-, T-axis
165 kg
centre of rotation333 250 centre of rotation Main axes (S, L, U) IP65, wrist IP67
P-point 200 225 kg Mounting option: Floor
Specifications
400 600 800 1000 1200 1400 1600 GP225 Standard: Main axes (S, L, U) IP54, wrist IP67
622 848 1056 1204 1346 1554
LB
2 x Ø 10 H7,
B-axis 2 xR-,
Ø T-axis
9 H7, Protection class version YR-1-06VX225-C00:
Maximum 9 Maximum Allowable Allowable Controlled axes 6
depth
centre 8
of rotation 250 depth 8 of rotation
centre Main axes (S, L, U) IP65, wrist IP67
2
Ø9
Ø 160h6
S ±180 120 –
Specifications–GP225 Repeatability [mm] ±0.05
Ø 122x5–Ø 9 H7,
L +76/–60
Maximum 98 972 x Ø 10 H7,
Maximum Allowable –
axes 2702
6
depth 8 depth 8 Mounting option: Floor
Axes motion range speed moment
6 x M10, moment of inertia
U +90/–86
[º] 115
[º/sec.] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
225
depth
2 16 Protection class: IP54/67
Ø 63H7
Ø 9
R ±360 145 30° 6 x M10, –1372 –145 Humidity [%] [mm] 20 – 80
Ø 160h6
S ±180 120 Repeatability ±0.05

depth 16
B ±125 145 Ø 12 1372 Weight [kg] range R [mm]
L +76/–60 97 5– –145 Max. working 1080
2702
8
T
U ±360
+90/–86 220
115 –735
6 x M10, –84 Power supply,[ºC]
0 to +45
depth 16 Protection class: IP54/67
Ø 63H7
R ±360 145 30° 6 x M10, 1372 145 Humidity [%] 20 – 80

depth 16
B ±125 145 1372 145 Weight [kg] 1080

MOTOMAN
GP250
with the GP Series


space can be saved.
The vibration control system uses higher axis operation speed

and speed reducer rigidity to allow fast acceleration of short
movements. By reducing cycle times, this system realises
high increases in productivity.
KEY BENEFITS

Controlled by
YRC1000
View A
4730
2 x Ø 10, 6 x M10,
3109 8 depth 8 depth 12
2020 2710 25
D1
PC
153 285 1285 250 View
8 A
91
4730 U R
A 2 x Ø 10, 6 x M10, 6 x M10,
3109 8 depth 8 depthP 12 depth 12
250
2020 B T
2710 CD
D1
25
.8°
P9C
Ø 180 h6
P
Ø 63 H7
77
19
30° 2
285 1285 250 range
Working
7°
8
153
250 1150
° 76U R Point P
91
2 x Ø 9, depth 8
494 207 60 °
2203
1225
A 6 x M10,
75 137.5 1070
50°
L PC depth 12
B T .5°
5
.8°
2
Ø 180 h6
P
14 92
Ø 63 H7
647 View B
77
19
597 30°
Working range
7°
650
85
2Point
x 2 M12, 440
P depth 24
1150
0° 76 2 x Ø 9, depth 8
40
494 207 °
2203
1225
80 B 6 Tube for fieldbus 2 x Air
0 0
137.5 cable (Ø12) 1070
50°
75 L
52
S 5°
5
Tube for C 2. 381

647 14 597 View B
fieldbus cable Internal user
1345
989
40534
589
759
801
804
1401
650
85
(Ø12) 2 x 2 M12, depth 24 440 wiring connector

80 B 2 x Air Media connector
Tube for fieldbus 0
0
cable (Ø12) 52
344 92
C S 381
Tube for 16 60 4 x M8, depth 15
441 375 fieldbus cable Internal user
2 x M5, depth 10
1345
989
534
589
759
801
804
1401
(Ø12)
R804
View C wiring connector

120
133
Media connector
73
45
893
344 92
8 640
60 16 60 4 x M8, depth 15
410
R
441 375 R2710
2 x M5, depth 10 290±0.1 290±0.1 2x
27.5
R804
View C
120
133
Ø 20 H7
45 12.5
540
Tube for 2 x M6, depth 12
73
fieldbus cable 893

(Ø12) 8 255 40 2 x 2 x M8, depth 15
350±0.1
0 640
290±0.1 290±0.1290±0.1 290±0.1

R6
410
R2710 290±0.1 290±0.1 2x

27.5
Ø 20 H7
12.5
640
540
735
540
Allowable
Tube for wrist load 2 x M6, depth 12
fieldbus cable
(Ø12) LT 255 40 2 x 2 x M8, depth 15
350±0.1
1200
60 kg
290±0.1 290±0.1
640
540
1000
735
Allowable wrist load 2x

80 kg 8 x Ø 22 Ø 16 H7
800 353±0.1
LT 100 kg
600
130 kg
1200
400 165 kg
200
60 kg
kg Mounting option: Floor
P-point 1000
200 250 kg 290±0.1 290±0.1
80 kg 8 x Ø 22 Ø 16 H7
800 353±0.1
100 kg400 600 800 1000 1200 1400 1600 1800 2000 2200
600 LB
B-axis R-, T-axis
130 kg
centre of rotation
400 centre of rotation
165 kg
P-point 200 250 kg
400 600 800 1000 1200 1400 1600 1800 2000 2200
LB
Maximum B-axis MaximumR-, T-axis Allowable Allowable Controlled axes 6
Axes centre of rotation
motion range speed centre of rotation
L +76/–60
Maximum 90
Maximum –
Allowable –
axes 2710
6
U +197/–77.8
[º] 97
[º/s] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
250
R
S ±360
±180 120
100 –1385 –317 Humidity [%] [mm]
±0.05
B
L ±125
+76/–60 120
90 –1385 –317 Weight
working 1345
2710
T
U ±360
+197/–77.8 190
0 to +45
R ±360 120 1385 317 Humidity [%] 20 – 80
B ±125 120 1385 317 Weight [kg] 1345

MOTOMAN
GP280
with the GP Series

The GP280 offers a large work envelope of 2446 mm and

a high moment of inertia ratings. Fast axial speeds and
acceleration reduce cycle times and increase production
output. The compact, slim design allows the robot to reach
into confined spaces, improving system productivity.
The MOTOMAN GP280 is is available with the PLd Category 3

KEY BENEFITS

• Compact design allows maximum performance using
minimal floor space
• Max. payload of 280 kg
• Max. working range of 2446 mm
• Enhanced safety funtions
Controlled by
YRC1000
View A
4202 2 x Ø 10, 6 x M10,

8 depth 8 depth 12
1756 2446
25
D1
2845 PC
285 1015 250 View
8 A
153 P
91
U R
4202 2 x Ø 10, 6 x M10, 6 x M10,
A 8 depth 8 depthP 12 depth 12
1756 2446
25
250
CD
B T D1
P9C
Ø 180 h6
8°
Ø 63 H7
18° 1015 2845 30° 2
°
77.
25285 250
Working range 8
153
42
PPoint P 2 x Ø 9, depth 8
91
494 207
°
U R
250 1150
°
60
2203
1225 6 x M10,
A 1153
PC depth 12
50°
76
75 137.5 L
°
B T 861 D
Ø 180 h6
828
5
8°
92
Ø 63 H7
25° 18° 142.5° 709 View B 30°
77.
Working range
42
455
85
650
Tube for fieldbus 2 x Ø 9, depth 8

494 207 Point P
cable (Ø12)
°
2 x Air
1150
287 °
60
40
2203
1225 B 112
0 1153
0
50°
76
75 137.5 L 117
°
828 2 x 2 M12, 861

5
Tube for C S
depth 24 142.5° 709 View B Internal user
fieldbus cable
1401
85
650
1172
788
0
332
40744
748
787
846
(Ø12) Tube for fieldbus

287 cable (Ø12) 2 x Air Media connector
B 112
0 0
117
2 x 2 M12, S
Tube for depth 24 C 344 92
fieldbus cable 60
16 View C wiring connector
1401
73 1172
788
0
332
744
748
787
846
(Ø12)
R84
4 x M8, depth 15 Media connector

120
133
45
7
2 x M5, depth 10 893

640
08 344 92
441 346 290±0.1 290±0.1
R6 2x
410
16 60 R244 View C Ø 20 H7
4 x M8, depth 156 540
R84
120
133
2 x M6, depth 10
45
Tube for
27.5
12.5
7
2 x M5, depth 10 893

73
fieldbus cable 2 x 2 x M8,
350±0.1
(Ø12) 255 40 depth 15 640
290±0.1 290±0.1290±0.1 290±0.1

08 290±0.1 290±0.1
R6 2x
410
R2446 Ø 20 H7
640
540
735
540
Tube for 2 x M6, depth 10
27.5
12.5
fieldbus cable 2 x 2 x M8,

350±0.1
(Ø12) 255 40 depth 15
LT
290±0.1 290±0.1
640
540
735
800 2x
720
8 x Ø 22 353±0.1 Ø 16 H7
600 100 kg
Allowable 480
wrist150load
kg
360 200 kg
300
P-point 257
LT
240 kg
280 kg
290±0.1 290±0.1
800
720
8 x Ø 22 353±0.1 Ø 16 H7
600 100 kg400 600 800 1000 1200 1400
486 567 680 907 1360
480
LB
B-axis 150 kgR-, T-axis
360 250
centre of rotation
300 200 kgcentre of rotation
P-point 257
240 kg
280 kg
400 600 800 Specifications
1000 1200 1400 GP280
486 567 680 907 1360
LB
Maximum B-axisMaximum R-, T-axis
centrespeed
of rotation 250 centre of rotation
Axes motion range moment moment of inertia
L +76/–60
Maximum 80
Maximum –
Allowable –
axes 2446
6
U +197/–77.8
[º] 90
[º/sec.] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
280
R
S ±360
±180 115
90 –1333 –142 Humidity [%] [mm]
±0.05
B
L ±125
+76/–60 110
80 –1333 –142 Weight
working 1300
2446
T
U ±360
+197/–77.8 190
0 to +45
R ±360 115 1333 142 Humidity [%] 20 – 80
B ±125 110 1333 142 Weight [kg] 1300

MOTOMAN
GP400
with the GP Series
The 6-axis MOTOMAN GP400 is a versatile, powerful robot The robot features a parallel-link construction for strength,
offering superior performance for a variety of applications. rigidity and stabilization of high moment and inertia loads.
It provides a high payload of 400 kg and a wide motion The GP400 also has heavy-duty bearings which provide a
range, which especially enables the handling of large work smooth arm rotation.
pieces.
KEY BENEFITS

• Parallel-link construction
• Heavy-duty bearings for smooth arm rotation
Controlled by
DX200
YRC1000
2565
1849
989
View A
0
500 1605 300
2683 9 ° 12 x M12,
(1674) 15 depth 25
R/T U 2401
250 260 2236
2565
1849
Ø 12,
989
Ø 315 H7
275 220 A
Ø 160 H7
View A depth 15
0
222 B
500 61 1605 300P 1498 PC
° 2683 D 2x M12,
49° 9 ° 12
18°
(1674) 15 50
55° 43 1409 depth 25
1050
R/T D ° U 2401
250 260
R1420 L 2236
3°
3° Ø 12,
Ø 315 H7
275 220 A
11
Ø 160 H7
11 900 depth 15
222 61 P B
1498 View B
° PC
49° Working range D2
18°
50
Point P 32 Tube for
202
900
55° 43 1409
1050
D ° 14 fieldbus cable
R1420 L
3°
3°
32
B 0
11
11 900
550 400 215 View B 1 x Air
C Working range
Tube for Point P 32 Tube for
202
900
796
922
1164
1318
1371
2942
fieldbus cable 14 4 x M4, Internal user
fieldbus cable
depth 3 wiring connector
32
609 680 B 0
Media connector
2 x M8, 550 400 4 x M8, 1 x Air
180° 215
depth 15 C 445 depth 15
Tube for
143.5
0
796
922
1164
1318
1371
2942
R1cable
fieldbus 16.5 822 100 4 x M8, 4 x M4, C
37
1 depth 15 View Internal user
609 680
Media connector
158
786
100
60
2 x M8, 4 x M8,
180° 50 540 50
4 x 2 x Ø 22
Sdepth 15 445 depth 15
365±0.1
R1 143.5 4 x M8,
16.5 822 100 2 x Ø 20C
View
70
50
37 R821 depth 15
1
158222
2 x Ø 16
786
290±0.1 290±0.1
100
60
R29 4 x 2 x Ø 22
30
540
42 50 540 50
S R10
180°
365±0.1
2 x Ø 20
70
50
R821
222
2 x Ø 16
540 50
290±0.1 290±0.1
290±0.1 290±0.1
0 R29
03 42 550 384
R1
Allowable wrist load 180°
LT Mounting option: Floor

800
50
290±0.1
Protection class: 290±0.1
IP30/IP67
685
200 kg 600 550 384

456
400 300 kg
342
LT View D option: Floor
Mounting
P-point 400 kg
800
200 Protection class: IP30/IP67
685 Internal user
200 kg
400 600 800 1000 1200 1400 1600 Media connector
456 762 1016 1525 LB
400 300 kg
B-axis 342 T-, R-axis View D
P-point
centre of rotation 300 400centre
kg of rotation
200
Internal user
wiring connector
1000 GP400
762 1016 1525 LB
Maximum B-axis Maximum T-, R-axis

Axes motion range speed 300
L +61/–55
Maximum 97
Maximum –
Allowable –
axes 2942
6
U +18/–113
[º] 97
[º/sec.] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
400
R
S ±360
±180 80
102 –2989 –500 Humidity [%] [mm]
±0.1
B
L ±115
+61/–55 80
97 –2989 –500 Weight
working 2840
2942
T
U ±360
+18/–113 172
0 to +45
R ±360 80 2989 500 Humidity [%] 20 – 80
B ±115 80 2989 500 Weight [kg] 2840

MOTOMAN
GP600
with the GP Series
The 6-axis MOTOMAN GP600 is a versatile, powerful robot The robot features a parallel-link construction for strength,
offering superior performance for a variety of applications. rigidity and stabilization of high moment and inertia loads.
It provides a high payload of 600 kg and a wide motion The GP600 also has heavy-duty bearings which provide a
range, which especially enables the handling of large and smooth arm rotation.
heavy work pieces.
KEY BENEFITS
• Ideal for handling of large work pieces

• Parallel-link construction
• Heavy-duty bearings for smooth arm rotation
Controlled by
YRC1000
2565
1849
989
View A
0
500 1605 300
2683 9 ° 12 x M12,
(1674) 15 depth 25
R/T U 2401
250 260 2236
2565
1849
Ø 12,
989
Ø 315 H7
275 220 A
Ø 160 H7
View A depth 15
0
222 B
500 61 1605 300P 1498 PC
° 2683 D 2x M12,
49° 9 ° 12
18°
(1674) 15 50
55° 43 1409 depth 25
1050
R/T D ° U 2401
250 260
R1420 L 2236
3°
3° Ø 12,
Ø 315 H7
275 220 A
11
Ø 160 H7
11 900 depth 15
222 61 P B
1498 View B
° PC
49° Working range D2
18°
50
Point P 32 Tube for
202
900
55° 43 1409
1050
D ° 14 fieldbus cable
R1420 L
3°
3°
32
B 0
11
11 900
550 400 215 View B 1 x Air
C Working range
Tube for Point P 32 Tube for
202
900
796
922
1164
1318
1371
2942
fieldbus cable 14 4 x M4, Internal user
fieldbus cable
32
706 777 B 0
Media connector
2 x M8, 550 400 4 x M8, 1 x Air
180° 215
depth 15 C 445 depth 15
Tube for
143.5
0
796
922
1164
1318
1371
2942
R1 cable
fieldbus 4 x M8, 4 x M4, C
37 16.5 822 100 View Internal user
1 depth 15 depth 3
706 777 wiring connector
Media connector
158
786
100
60
2 x M8, 4 x M8,
180° 50 540 50
4 x 2 x Ø 22
Sdepth 15 445 depth 15
365±0.1
R1 143.5 4 x M8,
37 16.5 822 100 2 x Ø 20C
View
70
50
1 R892 depth 15
158222
2 x Ø 16
786
290±0.1 290±0.1
100
60
R29 4 x 2 x Ø 22
54
540
42 50 540 50
S R10
180°
365±0.1
2 x Ø 20
70
50
R892
222
2 x Ø 16
540 50
290±0.1 290±0.1
290±0.1 290±0.1
R29
Allowable
05
4 wrist load 42 550 384
R1 180°
LT
800
50
200 kg Protection class:290±0.1 290±0.1
IP30/67
Allowable 600
wrist load 550 384
300 kg
LT
400 400 kg
500 kg View D option: Floor
Mounting
P-point 600 kg
800
200 200 kg Protection class: IP30/67
Internal user
300400
kg 600 800 1000 1200 1400 1600 Media connector
400 400 kg LB
B-axis 500R-,
kg T-axis View D
P-point
centre of rotation 300 600centre
kg of rotation
200
Internal user
wiring connector
1000 GP600
LB
583 700 875 1166 1612
Maximum B-axis Maximum R-, T-axis
Axes motion range speed 300
L +61/–55
Maximum 82
Maximum
583 –700 875
Allowable
1166 –1612
axes 2942
6
U +18/–113
[º] 82
[º/sec.] –
[Nm] – · m 2]
[kg Temperature
Max. payload [ºC]
[kg] 0 to +45
600
R
S ±360
±180 80
82 –3430 –520 Humidity [%] [mm]
±0.1
B
L ±115
+61/–55 80
82 –3430 –520 Weight
working 3035
2942
T
U ±360
+18/–113 162
0 to +45
R ±360 80 3430 520 Humidity [%] 20 – 80
B ±115 80 3430 520 Weight [kg] 3035

Kabeltrommel
MOTOMAN
YRC1000
Industrial Robot Controller
High Performance Controller

YRC1000
for MOTOMAN Robots
The MOTOMAN YRC1000 is a compact, fast and flexible Programming Pendant (PHG) –
controller for MOTOMAN robots that combines high per-
formance robot control in a small footprint cabinet with ergonomical, light and easy
volume of 125 litres and a maximum weight of 70 kg.
5.7’’ LCD colour display Operation keys
Besides the typical Yaskawa controller functionality, the start/stop
Touch screen
YRC1000 includes additional functional improvements. Speed emergency off
Option: Windows
of the controller has been increased by lowering a ladder
operating system
scanning time.
Path accuracy improvement assures increased precision in

trajectory performance independently on the motion speed.
User interface supports smartphone like touch operations

and allows the user to 3D simulate robots motion on PP
screen before and during execution of the real robot arm.
Service staff can directly connect to the PP user interface USB-
for remote service purposes. Total programming pendant’s Connection
weight was reduced to 730 grams which offers more con- and SD-
venient use by the operator. The new controller simplifies card slot
(reverse
maintenance by offering preventive maintenance information
side)
and powerful software tools for analysis and notification. Cursor
key
KEY BENEFITS
Main axes
keys
• Compact, fast and flexible
• Global standardization (no transformer required)
• High path accuracy
• High efficiency
Additional
axes keys
Optimal Industrial Design

• Volume: 125 liters
Earlier models New model

YRC1000 Display can be individually set
3 position dead for applications:
man switch – Shielded Arc Welding
in compliance with – Spot Welding
DIN EN ISO 10218-1 – General Applications
• Easy and fast programming

• Several user levels –
from operator to safety mode
• Help function
Specifications controller YRC1000
Dimensions
598 (W) x 490 (H) x 427 (D) mm Common Size for use
(125 l without protrusion parts)
70 kg max.
in Japan, Asia, Europe, and the U.S.
Weight
(possible to control three external axes)
Protection class IP54
Cooling system Indirect cooling
During operation: 0°C to +45°C /

Ambient temperature
During storage: −10°C to +60°C
Relative humidity 90 % max. (non-condensing)
Three-phase 380 – 440 VAC (+10 %, −15 %),

Power supply
50/60 Hz (±2 %)
Specialized signals: 19 inputs and 6 outputs /

Digital I/Os
General signals: 40 inputs and 40 outputs
Programming JOB: 200,000 steps, 10,000 instructions /

capacity CIO ladder: 20,000 steps
Expansion slots 2 x PCIe or 2 x PCI or 1 x PCI/1 x PCIe
LAN
2 (10BASE-T/100BASE-TX)
(Connection to host)
Interface RS-232C/RS422: 1 ch (used by switching)
Improved Programming Pendant

Specifications programming pendant
Dimensions 152 (W) x 299 (H) x 53 (D) mm
Weight 0.730 kg
Material Reinforced plastics
Select keys, axis keys, numerical/application

keys, mode selector switch with keys
Operation device (mode: teach, play, and remote), emergency
stop button, enable switch, SD card interface
device, USB port (1 port)
5.7-inch color LCD,

Display
touch panel 640 x 480 pixels
IEC protection class IP54

MOTOMAN
YRC1000micro
for small MOTOMAN Robots
The MOTOMAN YRC1000micro controller is a controller for

small MOTOMAN robots. It provides high performance robot
control in a small footprint cabinet. Its performance and
functions are optimized for Pick & Place and assembly
applications.
Besides the typical Yaskawa functionality, the MOTOMAN

YRC1000micro controller includes easy connections to
peripheral devices and new high speed and high precision
motion control.
It is compatible with the optional “Functional Safety”, which

monitors motion range and speed limitations.
KEY BENEFITS
• Compact and lightweight

• High performance
• New motion control
• Minimum installation space
• Easy connections to peripheral
devices
• Compatible with “Functional Safety”

YRC1000micro
for small MOTOMAN Robots
Specifications Controller YRC1000micro Programming Pendant (PHG) –

Configuration Open structure ergonomical, light and easy
425 (W) x 125 (H) x 280 (D) mm –
Dimensions
excluding protrusions
5.7’’ LCD colour display Operation keys
Touch screen start/stop
Weight 10.5 kg (without top mount box)
emergency off
Option: Windows
Protection class IP20 operating system
Cooling system Direct cooling
During operation: 0°C to +40°C

Ambient temperature
During storage: –10°C to +60°C
Relative humidity 90 % max. (non-condensing)
Single-phase 200/230 VAC (+10 to –15%),

50/60 Hz (±2 %) 1; USB-
Power supply Connection
three-phase 220/220 VAC (+10 to –15 %),
50/60 Hz (± 2%) and SD-
card slot
External IO (hardware, standard max):
(reverse
8 inputs / 8 outputs (transistor 100 mA) ²
side)
Digital I/Os Standard signal allocation: Cursor
Gerneral Purpose IO: 1 input / 1 output key
Specific IO: 7 inputs / 7 outputs
JOB: 200,000 steps, 10,000 instructions;

Programming capacity
CIO ladder: 1,500 steps Main axes
keys
Expansion slots PCI express, 2 slots
LAN
1 (10BASE-T/100BASE-TX)
(Connections to host)
Safety category 4, PLd

Additional
1
Manipulators operated by single-phase power supply: MOTOMAN GP7, GP8, MotoMINI.
axes keys
2
If it is necessary to expand the number of points, a filed bus board is required
Specifications programming pendant
Dimensions 152 (W) x 299 (H) x 53 (D) mm

3 position dead
Weight 0.730 kg
man switch
Material Reinforced plastics in compliance with Display for
DIN EN ISO 10218-1 general application
Select keys, axis keys, numerical/application
keys, mode selector switch with keys
Operation device (mode: teach, play, and remote),
emergency stop button, enable switch, • Easy and fast programming
SD card interface device, USB port (1 port)
• Several user levels –
Display
5.7-inch color LCD, from operator to safety mode
touch panel 640 x 480 pixels
• Help function
IECpProtection class IP54
Optimal Industrial Design

Horizontally mounted *** • Volume: 21.5 l (GP7/8/12, MotoMini), 33.5 l (HC10DT)
DX200 YRC1000 New model

YRC1000micro
See notes *
Air Air Air
min. 100
(31)
Warning
label
See notes *
min. 65
280
Type
name
plate
See notes *
min. 120
(120)
Air Air Air Europa and Korea

Manipulator type Region: (EMC directive required)
Connector Grounding For filter circuit suppply Standard GP7 Top mount
(LAN) terminal connector (AC IN(F)) size: GP8 box for
Connector (M4 screw) Filter circuit power
(GPIO) Warning label supply switch 425 (W) x GP12 CE noise filter:
425 125 (H) x 55 (H) x
280 (D) mm MotoMINI 280 (D) mm
(188 include case feet)
55
without Total litres:

additional 21.5 l
boxes
Top mount
125
without HC10
See notes * EMV box for
min. 65 CE noise filter
PFL-Card:
125 (H) x
Connector Connector Air inlet Warning
(4.2)
280 (D) mm
(SAFETY) (USB) label
Connector for programming For manipulator Power supply Total litres:

pendant (-X81) power/signals (-X1) specification label 33.5 l
Vertically mounted ***
4 x M5, depth 5 ** Rating name plate
Air
out
A A
Air
95±0.5
in
A A
18
235±0.5 26.2
(4.2)
䠄18.8䠅
See notes * See notes *

min. 60 min. 120
* Secure the dimensions stated in the placement space
chart for cooling and maintenance.
See notes * ** Use eight holes marked with the symbol “A” to fix the
min. 100
controller on the floor with fixing jigs and anchor bolts.
When fixing the rack, use A hole (8 places).
*** Values refer to version for GP7, GP8, GP12 und
MotoMini).
MOTOMAN GP8
Smart Pendant
Quick and easy programming
The Yaskawa Smart Pendant is an innovative teach pendant

with a large 10-inch touch screen and offers a newly thought-
out operator control concept.
The tablet-based graphical user interface (GUI) enables the
guided entry of commands, parameters, functions and pro-
gram sequences. The central interface comprises the main
and navigation menus, where entries are listed and switched
in a specific, easily comprehensible order.
The Smart Pendant has a revolutionary patented coordinate
system – the “Smart Frame” – that also supports rotation and
inclination of the Smart Pendant. This means that the operator
no longer has to convert motions or break them down into
a coordinate space (X,Y,Z) when teaching them, and his line
of vision relative to the robot is automatically taken into con-
sideration by the system.
In the case of collaborative robots, the “Hand Guiding” func-
tion – guiding the robot manually to a desired position – is
also supported.
The Smart Pendant is available for the following MOTOMAN
robots with the YRC1000 and YRC1000micro controller gene-
rations:
• MOTOMAN YRC1000:
HC10, HC10DT, HC20DT, GP7 to GP600
• MOTOMAN YRC1000micro:
MotoMINI, HC10DT, HC20DT, GP7, GP8, GP12
KEY BENEFITS
• Large touch screen (10”)
• Ergonomic design with low weight, diagonal side cable
entry and integrated Emergency Stop
• Simple and intuitive operator control, short learning curve
• Ideal for users who need to carry out frequent reprogram-
ming and thus appreciate simple operator control
• Supports many powerful functions of the MOTOMAN
YRC1000
• Context-sensitive help and help menu offer many
explanations
YRC1000 YRC1000
micro
Smart Pendant
Emergency stop
Touch Membrane keys

screen and status indicators
Key
switch
Pendant cable:
connect the other end
of this cable to X1 port Enable
on the front of the switch
YRC1000 controller cabinet
USB port
Main menu
Smart Frame
The patented technology of the “Smart Frame”
determines the user’s orientation relative to the robot.
This eliminates the use of conventional coordinates
(X, Y, Z) frames. The intuitive robot jogging by tilting
the smart pendant makes it also easy to use.
Simplified Programming
Command Builder function enables various
editing possibilities.
Configuration enables fast TCP setup Simple tool
Hand Guiding
This function enables manual guidance of the robot
to a desired position by hand.
1 Button replaces deadman switch

2 Button is freely programmable (i.e. Open/Close gripper)
T Teach button to program current position
66 MOTOMAN GP Series
Optimize your energy

consumption by recovering
braking energy
Yaskawa offers a technical solution for feeding robot braking energy back
into the in-house power supply system – as standard and without additional
hardware. All larger MOTOMAN robots with payloads of 35 kg or more and
the current YRC1000 robot controller are able to convert kinetic energy
from downward and sideways motions directly into the power supply system.
Depending on the motion profile, this considerably reduces the energy
requirements of the robot.
How does energy recovery

work in practice?
In their varied tasks – such as handling, palletizing or machine tending – industrial robots
perform many downwards or sideways motions during which the servomotors dissipate
energy and can possibly generate current. Until now, in older robots or other robot models
on the market, the energy has been transformed into waste heat by electrical resistors and
dissipated unused into the environment.
Energy is lost as
waste heat
MOTOMAN GP Series 67
The solution from Yaskawa feeds the electrical energy back into the in-house power supply
system of the user and reuses it without the need for additional hardware. All MOTOMAN
robots with a payload capacity of approx. 35 kg or higher and the current YRC1000 robot
controller are able to convert kinetic energy from downward and sideways motions directly
into 400 VAC with 50 Hz and feed it back into the in-house power supply system. This is
also possible with external axes of the robot. Depending on the motion profile, the energy
requirements of the robot are thus considerably reduced.
Robot motors are

in generator mode
Energy is converted
and fed into the
internal power grid
The specific savings depend on the task and the individual motion profile of the robot. They
can vary between 8% and 25%. The energy saved has a positive effect on the CO2 balance.
YASKAWA GROUP DISTRIBUTORS
AT Yaskawa Austria BG ATRI ROBOTICS Ltd.
Schwechat/Wien Stara Zagora +359 899 625 160
+43(0)1-707-9324-15
Kammarton Bulgaria Ltd.
CZ Yaskawa Czech s.r.o. Sofia +359-02-926-6060
Rudná u Prahy +420-257-941-718
EE RKR Seadmed OÜ
DK Yaskawa Danmark Tallinn/Estonia +372-68-35-235
Løsning +45 7022 2477
GR Gizelis Robotics
ES Yaskawa Ibérica, S.L. Schimatari Viotias +30-2262057199
Viladecans/Barcelona +34-93-6303478
HU Flexman Robotics Kft
FR Yaskawa France SARL Budapest +36 1 259 0981
Le Bignon +33-2-40131919
LT Profibus UAB
FI Yaskawa Finland Oy Panevezys +370-45-518575
Turku +358-(0)-403000600
NO Skala Robotech AS
GB Yaskawa UK Ltd. Lierstranda +47-32240600
Newton Aycliffe +44-330-678-1990
PT ROBOPLAN Lda
IT Yaskawa Italia s.r.l. Aveiro +351-234 943 900
Torino +39-011-9005833
RO NORMANDIA S.R.L.
IL Yaskawa Europe Technology Ltd. Brașov +40 268 549 236
Rosh Ha’ayin +972-3-9004114
LVA Yaskawa Latvia
Riga +371-2-2467570
NL Yaskawa Benelux B.V.
Eindhoven +31-40-2895500
PL Yaskawa Polska Sp. z o.o.
Wrocław +48-71-7928670
SE Yaskawa Nordic AB
Torsås +46-480-417-800
SI Yaskawa Slovenia
Ribnica +386-1-8372-410
TR Yaskawa Turkey Elektrik
Ticaret Ltd. Sti.
İstanbul +90-216-5273450
ZA Yaskawa Southern Africa (PTY) Ltd
Johannesburg +27-11-6083182
Yaskawa Headquarters Yaskawa Academy All drawing dimensions in mm.

Technical data may be subject to change without previous notice.
and sales office Frankfurt
Yaskawa Europe GmbH Please request detailed drawings at robotics@yaskawa.eu.
Robotics Division Yaskawa Europe GmbH GP Series
Yaskawastraße 1 Philipp-Reis-Straße 6 I-06-2023, A-No. 180894
85391 Allershausen, Germany 65795 Hattersheim am Main, Germany
Tel. +49 (0) 8166/90-0 Tel. +49 (0) 6196/77725-0
Fax +49 (0) 8166/90-103 Fax +49 (0) 6196/77725-39
robotics@yaskawa.eu
www.yaskawa.eu

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MOTOMAN

Energy recovery ............................................................ 66

Max. payload: Max. payload: Max. payload:

GP8L GP12 GP20

Max. payload: Max. payload: Max. payload:

GP20HL GP25 GP25-12

Max. payload: Max. payload: Max. payload:

GP35L GP50 GP70L

Max. payload: Max. payload: Max. payload:

GP88 GP110 GP180-120

Max. payload: Max. payload: Max. payload:

GP180 GP215 GP215-200T

Max. payload: Max. payload: Max. payload:

GP225 GP250 GP280

Max. payload: Max. payload: Max. payload:

Max. payload: Max. payload:

The MOTOMAN GP4 is the smallest 6-axis robot in Yaskawa’s

is connected to the 2 x Air

the hatching area.

is connected to the depth 11 65 2 x Air

robots U-arm, the

working range is Ø 8 H7 100 4xØ9

the hatching area. S

70±0.1 70±0.1 70±0.1 70±0.1

Prevent interaction of the robot with:

• Corrosive gases, liquids or explosive gases R5

• Exposure to water, oil or dust M6 x P1.0, 50

224 316 447

224 316 447

T ±455 1000 4.9

for user cable View C

The MOTOMAN GP7 is an extremely fast and precise 6-axis

• Extremely fast and powerful

2 x 4 x M4, 1217 View A

255 A 856 Fitting depth Ø 5 H7, depth 6

255 with pipe plug

4 x M8, depth 15 170° View C

204 247 346 installation

247 346 35 <  ≤ 45 ±45 degrees or less

S ±170 375 – – GP7

B ±135 550 17 0.5 Weight [kg] 37

T ±360 1000 10 0.2 Power supply, average [kVA] 1★★

The MOTOMAN GP8 is an extremely fast and precise 6-axis

• Extremely fast and powerful

Point° P Matching connector

Mounting options: Floor, ceiling, wall, tilt*

• Corrosive gases, Robot S-axis

216 247 346 installation

• Excessive electrical 30 <  ≤ 35 ±60 degrees or less

216 247 346 35 <  ≤ 45 ±45 degrees or less

S ±170 455 – – GP8

B ±135 550 17 0.5 Weight [kg] 35

T ±360 1000 10 0.2 Power supply, average [kVA] 1★★

The 6-axis MOTOMAN GP8L is a fast, general-purpose indus-

Further product information:

R/T 1902 x 4 x M440 4 x M5 x P0.8,

U depth 7B(both sides) depth 8 1.5

2 x M6 x P1.0, 240 132±0.1

Mounting options: Floor, ceiling, wall, tilt*

wrist IP67 153±0.1

of the robot with: Mounting options: Floor, ceiling, wall, tilt*

• Corrosive gases, Robot S-axis

300 30 <  ≤ 35 ±60 degrees or less

247 346 35 < ≤ 45 ±45 degrees or less

• Excessive electrical 30 < ≤ 35 ±60 degrees or less

216 247 346 35 < ≤ 45 ±45 degrees or less

300 30 < ≤ 35 ±60 degrees or less

204 216 247 346 35 < ≤ 45

30 < ≤ 35 ±60 degrees or less

216 247 346 35 < ≤ 45 ±45 degrees or less

30 < ≤ 35 ±60 max. 4 x M8

250 324 418 LB 35 < ≤ 45 ±45 degrees or less

200 300 400 500 30 < ≤ 35 ±60 degrees or less