2021-2022 Transervo e

TR A NSE R V O
Seri e s
Product Lineup
CLOSED LOOP STEPPING MOTOR

SINGLE-AXIS ROBOTS
Excellent characteristics of both stepping motor
and servomotor were combined.
Stepping motor single-axis robots "TRANSERVO"
series breaking through existing conventions.
Robot positioner TS-S2/TS-SH P.626 Robot driver TS-SD P.636
This robot positioner is specialized for the I/O This robot driver omits the operation with robot
point trace input. The positioning or pushing op- languages and is dedicated to the pulse train input.
eration can be performed using simple operation, This driver can be made applicable to the open
only by specifying a point number from the host collector method or line driver method using the
control unit and inputting the START signal. parameter setting and signal wiring. So, you can
Applicable match the robot driver to the host unit to be used.
SS SGNote SR STH
models:
Applicable
RF BD SS SR STHNote RFNote BD
models:
TS-S2 TS-SH TS-SD
Note. SG07 is only applicable to TS-SH. Note. Except for STH vertical specifications and RF sensor specifications.
48
Newly developed vector control method provides functions
and performance similar to servomotors.
SS type (Slider type) SG type (Slider type)
Straight model P.256 Space-saving model Straight model P.262
(Side mounted motor model) P.257
SS05H-S SS05H-R (L) SG07
SR type (Rod type standard)

Straight model P.263 Space-saving model (Side mounted motor model) P.264
SR05-S SR04-S SR03-S SR05-R (L) SR04-R (L) SR03-R (L)
SR type (Rod type with support guide)

Straight model P.266 Space-saving model (Side mounted motor model) P.267
SRD05-S SRD04-S SRD03-S SRD05-U SRD04-U SRD03-U
Lead Maximum payload (kg)Note 2 Maximum speed Stroke

Type Model Size (mm) Note 1 Page
(mm) Horizontal Vertical (mm/sec.) Note 3 (mm)
12 2 1 600 SS04-S: P.256
SS04-S
W49 × H59 6 4 2 300 50 to 400
SS04-R (L) SS04-R (L): P.257
2 6 4 100
SS type 20 4 - 1000 SS05-S: P.258
SS05-S
(Slider type) W55 × H56 12 6 1 600 50 to 800
SS05-R (L) SS05-R (L): P.259
6 10 2 300
Straight model/
20 6 - 1000 SS05H-S: P.260
Space-saving model
SS05H-S 600 (Horizontal)
12 8 2
W55 × H56 500 (Vertical) 50 to 800
SS05H-R (L) SS05H-R (L): P.261
300 (Horizontal)
6 12 4 250 (Vertical)
20 36 4 1200
SG type
SG07 W65 × H64 12 43 12 800 50 to 800 SG07: P.262
(Slider type)
6 46 20 350
SR03-S 12 10 4 500 SR03-S: P.263
SR03-R (L) W48 × H56.5 50 to 200 SR03-R (L): P.264
SR03-U 6 20 8 250 SR03-U: P.265
SR type
12 25 5 500 SR04-S: P.268
(Rod type standard) SR04-S
W48 × H58 6 40 12 250 50 to 300
Straight model/ SR04-R (L) SR04-R (L): P.269
2 45 25 80
Space-saving model
12 50 10 SR05-S: P.272
SR05-S
W56.4 × H71 6 55 20 150 50 to 300
SR05-R (L) SR05-R (L): P.273
2 60 30 50
SRD03-S 12 10 3.5 500 SRD03-S: P.266
W105 × H56.5 50 to 200
SRD03-U 6 20 7.5 250 SRD03-U: P.267
SR type
12 25 4 500 SRD04-S: P.270
(Rod type SRD04-S
W135 × H58 6 40 11 250 50 to 300
with support guide) SRD04-U SRD04-U: P.271
2 45 24 80
Straight model/
12 50 8.5 300 SRD05-S: P.274
Space-saving model SRD05-S
W157 × H71 6 55 18.5 150 50 to 300
SRD05-U SRD05-U: P.275
2 60 28.5 50
Note 1. The size shows approximate maximum cross sectional size. ■ Allowable ambient temperature for robot installation
Note 2. The payload may vary depending on the operation speed. For details, refer to the detailed page of relevant model. SS/SR type 0 to 40 °C
Note 3. The maximum speed may vary depending on the transfer weight or stroke length. For details, refer to the detailed page
of relevant model.
49
TRANSERVO Series Product Lineup
As the slide table type, rotary type, and belt type were added
to the product lineup, the design flexibility was extended.
STH type (Slide table type)
Straight model P.276 Space-saving model P.277
STH04-S STH04-R (L)

STH06-S STH06-R (L)

(mm) Horizontal Vertical (mm/sec.)Note 3 (mm)
STH04-S W45 × H46 5 6 2 200 STH04-S: P.276
STH type 50 to 100
(Slide table type) STH04-R (L) Note 4 W73 × H51 10 4 1 400 STH04-R (L): P.277
Straight model/ STH06 W61 × H65 8 9 2 150 STH06: P.278
Space-saving model 50 to 150
STH06-R (L) W106 × H70 16 6 4 400 STH06-R (L): P.279
RF type (Rotary type)

Standard model P.280 High rigidity model P.281
RF02
RF03
RF04
Rotation Maximum pushing Maximum speed Rotation

Type Model Height (mm) Torque type Page
torque (N • m) torque (N • m) (mm/sec.)Note 3 range (°)
RF02-N 42 (Standard) N: Standard 0.22 0.11 420 310 (RF02-N) RF02-N: P.280
RF02-S 49 (High rigidity) H: High torque 0.32 0.16 280 360 (RF02-S) RF02-S: P.283
RF type
(Rotary type)
RF03-S 62 (High rigidity) H: High torque 1.2 0.6 280 360 (RF03-S) RF03-S: P.287
Standard/High rigidity
RF04-S 78 (High rigidity) H: High torque 10 5 280 360 (RF04-S) RF04-S: P.291
BD type (Belt type)

Straight model P.292
BD04
BD05
BD07

(mm) Horizontal Vertical (mm/sec.)Note 3 (mm)
BD04 W40 × H40 48 1 - 1100 300 to 1000 BD04: P.292
BD type
BD05 W58 × H48 48 5 - 1400 300 to 2000 BD05: P.293
(Belt type)
BD07 W70 × H60 48 14 - 1500 300 to 2000 BD07: P.294
Note 1. The size shows approximate maximum cross sectional size. ■ Allowable ambient temperature for robot installation
Note 2. The payload may vary depending on the operation speed. For details, refer to the detailed page of relevant model.
Note 3. The maximum speed may vary depending on the transfer weight or stroke length. For details, refer to the detailed page STH/RF/BD type 5 to 40 °C
of relevant model.
Note 4. STH04-R (L) with 50-stroke and brake is not supported.
50
Com m on fe atur es of TRANSRVO Ser i es
POINT 1
New control method combining the advantages of both the servomotor and stepping motor
The stepping motor provides features that its price is less
expensive and hunting (minute vibration) does not occur during
Stepping motor Servomotor
stopping. However, this motor has disadvantages that the
positional deviation due to step-out occurs (in the open loop • Smooth movement
• Simple & low cost
• Constant torque at
mode), the torque decreases greatly in the high speed area, and • No vibration any time
during stopping
the power consumption is large during stopping. As YAMAHA’s • Energy saving
TRANSERVO uses the closed loop control, this ensures • High-pitched operation noise
• Great torque decrease in high • Tiny vibration during stopping
complete "no step-out". Furthermore, use of a newly developed speed area
• Large power consumption • High cost
vector control method ensures less torque decrease in the high during stopping
speed area, energy saving, and low noise. The function and
performance equivalent to the servomotor are achieved at a low
T R A N S E RVO c o m b i n e s b o t h m e r i t s .
cost even using the stepping motor.
Energy saving No hunting during stopping

As the basic control is the same as the servomotor, waste power con- Stop mode without hunting can be set in the same manner as the
sumption is suppressed. This greatly contributes to the energy saving general stepping motor. So, select this mode as required.
and CO2 reduction.
POINT 2
Closed loop control using excellent environment resistant resolver
A resolver with excellent reliability is used to detect the motor
position in the same manner as YAMAHA’s upper model. This resolver is a magnetic position detector. The
The stable position detection can be made even in a poor resolver features a simple structure without using
environment where fine particle dusts or oil mists exist. electronic components and optical elements, and
less potential failure factors when compared to
Additionally, a high resolution of 20480 pulses per revolution is
general optical encoders.
provided. The resolver has high environment resistance
and low failure ratio, and is used in a wide variety
of fields aiming at reliability such as automobile or
aircraft industry.
POINT 3
Excellent controllability
TRANSERVO
× Speed stability: Poor Conventional model
Use of a high resolution (4096, 20480 pulse/rev) makes it
Speed
possible to maintain excellent controllability. Variations in Adverse effect on settling time

speed are small and settling time during deceleration stop Speed stability: Good
can be shortened.
Time
Settling ability: Good × Settling ability: Poor
POINT 4
Return-to-origin is not needed to shorten the start-up time.
New type robot positioner TS-SH applicable to the high power
was newly developed.
This robot positioner is applicable to the absolute position
system and does not need any return-to-origin.
The work can be started quickly to shorten the start-up time.
(SG type is only applicable to TS-SH.)
TS-SH
51
TRANSERVO Series Product Lineup
SS type (Slider type) Straight model/Space-saving model
POINT
4-row circular arc groove type 2-point contact guide applicable to even large
moment load
A newly developed module guide is employed with a 4-row Conventional model TRANSERVO (SS type)
circular arc groove type 2-point contact guide built into a
very compact body similar to the conventional model. This ■ 2-row gothic arch groove type
4-point contact guide
■ 4-row circular arc groove type
2-point contact guide
guide maintains a satisfactory rolling movement with less ball
differential slip due to its structure even if a large moment load
is applied or the installation surface precision is poor, and has
characteristics that are difficult to malfunction, such as unusual
If a large moment load is applied or the Differential slip is small due to its
wear. installation surface precision is poor, a structure and service life is long.
large differential slip may occur easily.
POINT
Tact is shortened by high-speed movement.
Conventional model TRANSERVO (SS type)
As advantages of the vector control method are utilized at
maximum level, the TRANSERVO maintains a constant Payload Payload is
decreases
payload even in a high-speed range. This greatly contributes in high-speed
always
Payload
Payload
constant.
to shortening of the tact time. Additionally, by combining this range.
feature with high-lead ball screws, the TRANSRERVO has
achieved a maximum speed of 1 m/sec.Note which is faster than
any single-axis servo motor. 0 200 400 600 800 0 200 400 600 800
Speed (mm/s) Speed (mm/s)
Note. SS05-S/SS05H-S with 20 mm-lead specifications
SG type (Slider type)

POINT
Maximum payload is 46 kg. A maximum SS05H SG07

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

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

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

POINT
Long-term maintenance free is achieved. Highly reliable resolver is used.
A resolver with excellent environment
A lubricator used in the ball screw and a contact scraper resistance is used for the position detector.
All models can select brake specifications.
installed at the rod inlet and outlet provide maintenance-free
operation.
Ball screw lubricator
A lubricator with high density fiber net
Maintenance interval is greatly extended. impregnated with grease supplies an
adequate amount of oil to appropriate
Normal grease lubrication on the ball screw loses a very small locations.
amount of oil as the ball screw moves.
The SR type has a lubricator that supplies grease lost over long Laminated type
periods to greatly extend the maintenance interval and ensure near contact scraper
maintenance-free operationNote . A dual-layer scraper removes fine foreign objects sticking to the rod to prevent them from
entering the inside and troubles caused by foreign objects. Rod rattle is suppressed effectively.
Note. The maintenance-free period is within the running life of the robot.
52
Environment-friendly lubrication system
■ Tip nozzle for grease application
The lubrication system is environment-friendly as it uses a high When applying the grease to the ball screw of the SR type space-saving
density fiber net and supplies an adequate amount of oil to appro- model SR03-UB or SRD03-UB, use a grease gun with the tip bent.
priate locations to eliminate waste lubrication. Model KCU-M3861-00
Note. YAMAHA's recommended product. This tip nozzle can be attached to a generally
Prevention of foreign object entry available grease gun.
The dual-layer scraper is in contact with the front of the rod to

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

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

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

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

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

POINT
Belt type applicable to long stroke
l Applicable to up to 2000 mm-stroke.
l High speed movement at a speed of up to 1500 mm/sec. can be made.
l Maximum payload 14 kg
l Main body can be installed without disassembling the robot.
Shutter is provided as standard
l Shutter is provided as standard equipment. This prevents grease equipment.
scattering or entry of foreign object. This shutter covers the guide, ball screw, and belt.
The shutter prevents grease scattering or entry of
external foreign object.
53
Articulated
robots
YA
Linear conveyor
modules
LCM
Single-axis robots
GX
Motor-less single
Robonity TRANSERVO
axis actuator
single-axis robots
CLOSED LOOP STEPPING MOTOR
Compact
SINGLE-AXIS ROBOTS
TRANSERVO
Single-axis robots
FLIP-X
single-axis robots
PHASER
SERIES
Linear motor
Cartesian
XY-X
robots
CONTENTS
YK-X
SCARA
robots
■ TRANSERVO SPECIFICATION RF02-N·········································· 280
Pick & place

SHEET······························254 RF02-S·········································· 282
YP-X
robots
RF03-N·········································· 284
■ Robot ordering method
RF03-S·········································· 286
description························255
CLEAN
RF04-N·········································· 288
■ Rod type: RF04-S·········································· 290
Bracket plates····················255 BD04············································· 292
CONTROLLER INFORMATION
■ Rod type: BD05············································· 293
Grease gun nozzle tube for BD07············································· 294
space-saving models··········255
■ Rod type:
Running life distance to life
time conversion example····255
TRANSERVO
SS04············································· 256
SS05············································· 258
SS05H··········································· 260
SG07············································· 262
SR03············································· 263
SRD03··········································· 266
SR04············································· 268
SRD04··········································· 270
SR05············································· 272
SRD05··········································· 274
STH04··········································· 276
STH06··········································· 278
Main functions P.48 253

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

Type Model Size (mm) Note 1 Lead (mm) Stroke (mm)
Horizontal Vertical (mm/sec) Note 3 page
Linear conveyor
12 2 1 600
modules
LCM
SS04-S
SS04-R (L) W49 × H59 6 4 2 300 50 to 400 P.256 - P.257
2 6 4 100
20 4 - 1000
SS type SS05-S
(Slide type) SS05-R (L) W55 × H56 12 6 1 600 50 to 800 P.258 - P.259
Straight model/ 6 10 2 300
Single-axis robots
Space-saving model 20 6 - 1000

600 (Horizontal)
GX
SS05H-S 12 8 2
SS05H-R (L) W55 × H56 500 (Vertical) 50 to 800 P.260 - P.261
300 (Horizontal)
6 12 4 250 (Vertical)
20 36 4 1200
SG type
P.262
Motor-less single
SG07 W65 × H64 12 43 12 800 50 to 800

Robonity TRANSERVO
(Slide type)
axis actuator
6 46 20 350
SR03-S 12 10 4 500
SR03-R (L) W48 × H56.5
6 20 8 250
50 to 200 P.263 - P.265
SR03-U
SR Type 12 25 5 500
(Rod type) SR04-S
SR04-R (L) W48 × H58 6 40 12 250 50 to 300 P.268 - P.269
single-axis robots
Space-saving model
Compact
12 50 10 300
SR05-S
SR05-R (L) W56.4 × H71 6 55 20 150 50 to 300 P.272 - P.273
2 60 30 50
SRD03-S 12 10 3.5 500
SRD03-U W105 × H56.5
6 20 7.5 250
50 to 200 P.266 - P.267
Single-axis robots
SR Type 12 25 4 500
SRD04-S
FLIP-X
(Rod type with support

guide) SRD04-U W135 × H58 6 40 11 250 50 to 300 P.270 - P.271
Space-saving model 12 50 8.5 300
SRD05-S
SRD05-U W157 × H71 6 55 18.5 150 50 to 300 P.274 - P.275
2 60 28.5 50
single-axis robots
STH Type STH04-S W45 × H46 5 6 2 200

PHASER
50 to 100 P.276 - P.277

Linear motor
(Slide table type) STH04-R (L) Note 4 W73 × H51 10 4 1 400

Straight model/ STH06 W61 × H65 8 9 2 150
Space-saving model STH06-R (L) W106 × H70 16 6 4 400
50 to 150 P.278 - P.279
Rotational torque Maximum pushing Maximum speed Detailed info

Type Model High (mm) Torque type Rotation range (°)
(N • m) torque (N • m) (mm/sec)Note 3 page
N:Standard 0.22 0.11 420
Cartesian
RF02-N 42 (Standard) 310 (RF02-N)

P.280 - P.283
XY-X
robots
RF Type RF02-S 49 (High rigidity) H:High torque 0.32 0.16 280 360 (RF02-S)
(Rotary type) RF03-N 53 (Standard) N:Standard 0.8 0.4 420 320 (RF03-N)
Standard model/ RF03-S 62 (High rigidity) H:High torque 1.2 0.6 280 360 (RF03-S) P.284 - P.287
High rigidity model RF04-N 68 (Standard) N:Standard 6.6 3.3 420 320 (RF04-N)
RF04-S 78 (High rigidity) H:High torque 10 5 280 360 (RF04-S) P.288 - P.291
YK-X
SCARA
Maximum payload(kg)
robots
Lead Note 2
Maximum speed Stroke Detailed info
Type Model Size (mm) Note 1 (mm) Horizontal Vertical (mm/sec) Note 3 (mm) page
BD04 W40 × H40 48 1 - 1100 300 to 1000 P.292
BD Type
(Belt type) BD05 W58 × H48 48 5 - 1400 300 to 2000 P.293
BD07 W70 × H60 48 14 - 1500 300 to 2000 P.294
Pick & place
Note 1. The size shows approximate maximum cross sectional size.

YP-X
w Precautions for use

robots
Note 2. The payload may vary depending on the operation speed. For details, refer to the
detailed page of relevant model. ■ Handling ■ Allowable installation ambient temperature
Note 3. The maximum speed may vary depending on the transfer weight or stroke length. Fully understand the contents stated in the "TRANSERVO [SS/SR type] 0 to 40 ºC
For details, refer to the detailed page of relevant model. User's Manual" and strictly observe the handling [STH/RF/BD type] 5 to 40 ºC
Note 4. STH04-R (L) with 50-stroke and brake is not supported. precautions during operation.
CLEAN
SR/SRD/STH type Speed vs. payload table

SR03 SRD03
Horizontal Lead 12 Lead 6 Horizontal Lead 12 Lead 6
Payload (kg) Speed (mm/sec ) % Payload (kg) Speed (mm/sec ) % Payload (kg) Speed (mm/sec ) % Payload (kg) Speed (mm/sec ) %
10 450 90 20 225 90 10 450 90 20 225 90

5 500 100 15 237.5 95 5 500 100 15 237.5 95
10 250 100 10 250 100
Vertical Lead 12 Lead 6 Vertical Lead 12 Lead 6
4 300 60 8 150 60 3.5 300 60 7.5 150 60
2 432 86 5 200 80 1.5 432 86 4.5 200 80
1 500 100 2 250 100 0.5 500 100 1.5 250 100
SR04 SRD04
Horizontal Lead 12 Lead 6 Lead 2 Horizontal Lead 12 Lead 6 Lead 2
Payload (kg) Speed (mm/sec ) % Payload (kg) Speed (mm/sec ) % Payload (kg) Speed (mm/sec ) % Payload (kg) Speed (mm/sec ) % Payload (kg) Speed (mm/sec ) % Payload (kg) Speed (mm/sec ) %
25 320 64 40 200 80 45 80 100 25 320 64 40 200 80 45 80 100
20 363 72 30 225 90 20 363 72 30 225 90
15 407 81 20 250 100 15 407 81 20 250 100
5 500 100 5 500 100
Vertical Lead 12 Lead 6 Lead 2 Vertical Lead 12 Lead 6 Lead 2
5 200 40 12 125 50 25 60 75 4 200 40 11 120 48 24 60 75
2 350 70 5 200 80 5 80 100 3 250 50 4 200 80 14 70 87
1 500 100 2 250 100 0.5 500 100 1 250 100 4 80 100
SR05 SRD05
Horizontal Lead 12 Lead 6 Lead 2 Horizontal Lead 12 Lead 6 Lead 2
50 168 56 55 135 90 60 50 100 50 168 56 55 135 90 60 50 100
40 198 66 40 150 100 40 198 66 40 150 100
30 249 83 30 249 83
20 300 100 20 300 100
Vertical Lead 12 Lead 6 Lead 2 Vertical Lead 12 Lead 6 Lead 2
10 69 23 20 48 32 30 30 60 8.5 90 30 18.5 48 32 28.5 30 60
5 168 56 15 75 50 5 50 100 5.5 138 46 8.5 102 68 5 50 100
1 300 100 2 150 100 0.5 300 100 0.5 150 100
STH04 STH06
Horizontal Lead 10 Lead 5 Horizontal Lead 16 Lead 8
4 400 100 6 200 100 6 400 100 9 150 100
2 400 100 3 200 100 3 400 100 5 150 100
1 400 100 1 200 100 1 400 100 1 150 100
Vertical Lead 10 Lead 5 Vertical Lead 16 Lead 8
1 220 62 2 150 75 2 200 80 4 100 66
0.75 220 62 1 150 75 1.5 200 80 3 100 66
0.3 350 100 0.5 200 100 1 250 100 2 140 93
254 1 150 100

Robot ordering method description
Articulated
robots
YA
In the order format for the YAMAHA single-axis robots TRANSERVO series, the notation (letters/numbers) for the mechanical section is
shown linked to the controller section notation.
Linear conveyor
[Example]
modules
LCM
Mechanical SS05 Controller TS-S2
• Lead 6mm • Grease Standard • Input /Output selection NPN
Single-axis robots
• Model Straight • Stroke 600mm
GX
• Brake Yes • Cable length 1m
• Origin position Standard
Motor-less single
Ordering Method
Robonity TRANSERVO
axis actuator
SS05 06SB NN 600 1K S2NP
To find detailed controller information see the controller page.
TS-S2 P.626 , TS-SH P.626 , TS-S D P.636
Mechanical section Controller section
single-axis robots
● SS type / SG type (Slider type)
Compact
Model Lead Model Brake Origin position Grease option Stroke Cable length
SS04 02 2mm S Straight model N With no brake N Standard N Standard grease 1K 1m
SS05 06 6mm Space-saving model B With brake Z No-motor side C Clean room grease 3K 3m
R
SS05H 12 12mm (motor installed on right) 5K 5m
Single-axis robots
SG07 20 20mm Space-saving model 10K 10m
L
FLIP-X
(motor installed on left)
● SR type (Rod type)
Model Lead Model Brake Origin position Bracket plate Stroke Cable length
SR03 02 2mm S Straight model N With no brake N Standard N No plate 1K 1m
SRD03 06 6mm Space-saving model B With brake Z No-motor side H With plate 3K 3m
single-axis robots
R
PHASER
Linear motor
SR04 12 12mm (motor installed on right) V With flange 5K 5m
SRD04 Space-saving model 10K 10m
L
SR05 (motor installed on left)
SRD05 Space-saving model
U
(motor installed on top)
● STH Type (Slide table type)
Model Lead Model Brake Origin position Bracket plate Stroke Cable length
Cartesian
XY-X
robots
STH04 05 5mm S Straight model N With no brake N Standard N No plate 1K 1m
STH06 08 8mm Space-saving model B With brake Z No-motor side H With plate 3K 3m
R
10 10mm (motor installed on right) 5K 5m
16 16mm Space-saving model 10K 10m
L
(motor installed on left)
● RF Type (Rotary type / Limit rotation specification, Rotary type / Sensor specification)
YK-X
SCARA
robots
Model Return-to-origin method Bearing Torque Cable entry location Rotation direction Cable length
RF02-N N Stroke end (Limit rotation) N Standard N Standard torque R From the right N CCW 1K 1m
RF02-S S Sensor (Limitless rotation) H High rigidity H High torque L From the left Z CW 3K 3m
RF03-N 5K 5m
RF03-S 10K 10m
RF04-N
Pick & place

RF04-S
YP-X
robots
● BD Type (Belt type)
Model Lead Brake Origin position Stroke Cable length

BD04 48 48mm N With no brake N Standard 1K 1m
BD05 3K 3m
CLEAN
BD07 5K 5m
10K 10m
Rod type: Bracket plates
SR03/SRD03 bracket plates SR04/SRD04 bracket plates SR05/SRD05 bracket plates
Feet (horizontal mount) Flange (vertical mount) Feet (horizontal mount) Flange (vertical mount) Feet (horizontal mount) Flange (vertical mount)
Type Model No. Type Model No. Type Model No.
Feet (2 plates per set) KCU-M223F-00 Feet (2 plates per set)* KCV-M223F-00 Feet (2 plates per set)* KCW-M223F-00
Flange (1 piece) KCU-M224F-00 Flange (1 piece) KCV-M224F-00 Flange (1 piece) KCW-M224F-00
* Comes with 12 mounting nuts for feet. * Comes with 8 mounting nuts for feet.
Rod type: Grease gun nozzle tube for space-saving models Rod type: Running life distance to life time conversion example
When greasing the ball screw in the SR03-UB or SRD03-UB (motor installed This is an example of life time converted from the running life distance
on top / with brake), use a grease gun with a bent nozzle tube as shown below. listed on each model page for the SR type.
■ Grease gun nozzle tube (YAMAHA recommended nozzle tube)
(120) (29) Model SR04-02SB, Vertical mount, 25 kg payload
Life distance 500 km Life time : Approx. 3 years
(PT1/8)
(ф5)
SR03-UB and
Operating conditions 100mm back-and-forth movement, shuttle time
SRD03-UB 16 seconds (duty: 20%)
Model KCU-M3861-00 Word conditions 16 hours per day
Note. This nozzle tube can be attached to a Work days 240 days per year
commercially available ordinary grease gun.
Note. Make sure that the rod is not subjected to a radical load.
This nozzle tube is even usable when there is little
space around the grease port.
For example, when the SR04 or SR05 space-saving
model is used with the motor facing up, the grease
port is positioned on the side of the robot body. This
may make it difficult to refill grease depending on
the positions of other robots or peripheral units.
255
SS04
Articulated
Slider type
robots
YA
CE compliance Origin on the non-motor side is selectable

Linear conveyor
SS04-S SS04-R
modules
LCM
Ordering method
SS04 S2
Single-axis robots
Robot positioner I/O

Model Lead Model Brake Origin position Grease option Stroke Cable length Note 2
S2: TS-S2 Note 3 NP: NPN
GX
12: 12mm S: Straight model N: With no brake N: Standard Note 1 N: Standard grease 50 to 400 1K: 1m PN: PNP
06: 6mm R: Space-saving model B: With brake Z: Non-motor side C: Clean room grease (50mm pitch) 3K: 3m CC: CC-Link
02: 2mm (motor installed on right) 5K: 5m DN: DeviceNetTM
L: Space-saving model 10K: 10m EP: EtherNet/IPTM
(motor installed on left) PT: PROFINET
Motor-less single
GW: No I/O boardNote 4

Robonity TRANSERVO
axis actuator
Note 1. If changing from the origin position at the time of purchase, the machine reference amount must be reset. For details,
refer to the manual.
Note 2. The robot cable is flexible and resists bending.
SH
Note 3. See P.634 for DIN rail mounting bracket. Robot positioner I/O Battery
SH: TS-SH NP: NPN B: With battery
Note 4. Select this selection when using the gateway function. For details, see P.96.
PN: PNP (Absolute)
single-axis robots
Basic specifications CC: CC-Link

DN: DeviceNetTM
N: None
(Incremental)
Compact
EP: EtherNet/IPTM
Motor 42 Step motor PT: PROFINET
Resolution (Pulse/rotation) 20480 GW: No I/O boardNote 4
Repeatability Note 1 (mm) +/-0.02
Deceleration mechanism Ball screw ϕ8 SD 1
Single-axis robots
Maximum motor torque (N.m) 0.27

FLIP-X
Robot driver I/O cable

Ball screw lead (mm) 12 6 2 SD: TS-SD 1: 1m
Maximum speed (mm/sec) 600 300 100
Maximum Horizontal 2 4 6
payload (kg) Vertical 1 2 4 Allowable overhang Note Static loading moment
Max. pressing force (N) 45 90 150
single-axis robots
A MY
PHASER
Linear motor
Stroke (mm) 50 to 400 (50mm pitch)

Overall length Horizontal Stroke+216 B C
(mm) Vertical Stroke+261 C A
B C A MR MP
Maximum outside dimension
of body cross-section (mm) W49 × H59
Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N.m)
Cable length (m) Standard: 1 / Option: 3, 5, 10 A B C A B C A C MY MP MR
Cartesian
807 218 292 274 204 776 407 408 16 19 17

Lead 2 Lead 6 Lead 12

Note 1. Positioning repeatability in one direction. 1kg 1kg 0.5kg
XY-X
robots
2kg 667 107 152 2kg 133 93 611 1kg 204 204
2kg 687 116 169 2kg 149 102 656 1kg 223 223
Motor installation (Space-saving model) Controller
3kg 556 76 112 3kg 92 62 516 2kg 107 107
R type Motor installed on right L type Motor installed on left 4kg 567 56 84 4kg 63 43 507 2kg 118 118 Controller Operation method
TS-S2 I/O point trace /
YK-X
4kg 869 61 92 4kg 72 48 829 4kg 53 53

SCARA
robots
TS-SH Remote command

6kg 863 40 60 6kg 39 29 789
TS-SD Pulse train control
Note. Distance from center of slider upper surface to carrier center-of-gravity at a
guide service life of 10,000 km (Service life is calculated for 400mm stroke
models).
Pick & place
YP-X
SS04 Straight model

robots
Approx. 200 (Cable length) 161+/-2: When origin is on motor side Effective stroke (55: When origin is on motor side)
30.5 (161: When origin is on non-motor side) 55+/-2: When origin is on non-motor side
13 2-ϕ3H7 Depth 6
Cable securing position (Note 2) 129+/-1 (Note 1)
CLEAN
21 4-M4 x 0.7 Depth 8 23+/-1 (Note 1)

15
24
8 20.5
40.5
(between knocks +/-0.02)
174+/-1 (with brake) (Note 1)

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

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

4 +0.02
0
Effective stroke 50 100 150 200 250 300 350 400 Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 2. Secure the cable with a tie-band 100mm or less from unit’s end face to prevent the cable from being subjected to
L 266 316 366 416 466 516 566 616 excessive loads.
A 2 3 4 5 6 7 8 9 Note 3. The cable’s minimum bend radius is R30.
Note 4. These are the weights without a brake. The weights are 0.2kg heavier when equipped with a brake.
B 3 4 5 6 7 8 9 10
C 50 100 150 200 250 300 350 400
Weight (kg) Note 4 1.5 1.6 1.7 1.8 2.0 2.1 2.2 2.3
256 Controller TS-S2 u 626 TS-SH u 626 TS-SD u 636

SS04
Articulated
robots
YA
Linear conveyor
modules
LCM
Single-axis robots
GX
Motor-less single
Robonity TRANSERVO
axis actuator
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Pick & place
YP-X
SS04 Space-saving model
robots
128.5 (with brake)
(Tolerance between
88.5
CLEAN
knocks +/-0.02)
33
56.5
(108)
49
Motor
50 +/-1 4-M4×0.7 Depth 8 23 +/-1 (Note 1)
(Note 1) 21 2-ϕ3H7 Depth 6
(88.5) (82 +/-2: When origin is on motor side) (55: When origin is on motor side)
SS04-L Specifications (82: When origin is on non-motor side) Effective stroke 55 +/-2: When origin is on non-motor side
(31) 58 41
32 25
(24)
50
(40)
15 (Note 2)
101 Cable securing position
(15) 110 Approx. 245 (Cable length) L
58.5 A×50
50 B-M5×0.8 Depth 12
R
ϕ4H7 +0.012
0 Depth 6
2
4 +0.02
0 Depth 6
38 C
Effective stroke 50 100 150 200 250 300 350 400 Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 2. Secure the cable with a tie-band 80mm or less from unit’s end face to prevent the cable from being subjected to
L 187 237 287 337 387 437 487 537 excessive loads.
A 2 3 4 5 6 7 8 9 Note 3. The cable’s minimum bend radius is R30.
Note 4. These are the weights without a brake. The weights are 0.2kg heavier when equipped with a brake.
B 3 4 5 6 7 8 9 10 Note 5. The belt cover’s left and right sides are asymmetrical. Therefore, if the motor mounting orientation is changed, the
C 100 150 200 250 300 350 400 450 cover cannot be attached.
Weight (kg) Note 4 1.2 1.4 1.5 1.6 1.7 1.8 1.9 2.1
Controller TS-S2 u 626 TS-SH u 626 TS-SD u 636 257

SS05
Articulated
Slider type
robots
YA
SS05-S
High lead: Lead 20 CE compliance Origin on the non-motor side is selectable SS05-R
Linear conveyor
modules
LCM
Ordering method
SS05 S2
Single-axis robots

Model Lead Model Brake Note 1
Origin position Grease option Stroke Cable length Note 3
GX
Motor-less single
Note 1. Brake-equipped models can be selected only when the lead is 12mm or 6mm. GW: No I/O boardNote 5
Robonity TRANSERVO
axis actuator
SH
PN: PNP (Absolute)
single-axis robots

DN: DeviceNetTM
N: None
(Incremental)
Compact
EP: EtherNet/IPTM
Motor 42 Step motor
PT: PROFINET
Deceleration mechanism
Maximum motor torque (N.m)
Ball screw ϕ12
0.27 SD 1
Single-axis robots
Ball screw lead (mm) 20 12 6

FLIP-X

Maximum speed Note 2 (mm/sec) 1000 600 300
SD: TS-SD 1: 1m
Maximum Horizontal 4 6 10
payload (kg) Vertical – 1 2
Max. pressing force (N)
Stroke (mm)
27 45
50 to 800 (50mm pitch)
90 Allowable overhang Note Static loading moment
Overall length Horizontal Stroke+230
single-axis robots
A MY
PHASER
Linear motor
(mm) Vertical Stroke+270

of body cross-section (mm) W55 × H56 B C
C A
Cable length (m) Standard: 1 / Option: 3, 5, 10 B C A MR MP
Note 1. Positioning repeatability in one direction. Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N.m)
Note 2. When the stroke is longer than 600mm, resonance of A B C A B C A C MY MP MR
the ball screw may occur depending on the operation
2kg 413 139 218 2kg 192 123 372 0.5kg 578 579
Cartesian
Lead 12 Lead 20
Lead 12 Lead 20
Lead 12
25 33 30
XY-X
conditions (critical speed). In this case, reduce the

robots
speed setting on the program by referring to the 4kg 334 67 120 4kg 92 51 265 1kg 286 286
maximum speeds shown in the table below. 4kg 347 72 139 4kg 109 57 300 1kg 312 312
Lead 6
Controller
Motor installation (Space-saving model) 6kg 335 47 95 6kg 63 31 263 2kg 148 148
4kg 503 78 165 4kg 134 63 496 Controller Operation method
Lead 6
Lead 6
R type Motor installed on right L type Motor installed on left 8kg 332 37 79 6kg 76 35 377 TSS
-2 I/O point trace /
YK-X
SCARA
robots
10kg 344 29 62 8kg 47 22 355 TSS

-H Remote command
TSS
-D Pulse train control
guide service life of 10,000 km (Service life is calculated for 600mm stroke
models).
Pick & place
YP-X
SS05 Straight model

robots
30.5 (178: When origin is on non-motor side) 52+/-2: When origin is on non-motor side
2-ϕ4H7 Depth 6
13 Cable securing position (Note 2) 140+/-1 (Note 1) 34 4-M4 x 0.7 Depth8 14+/-1 (Note 1)
CLEAN
15
24
8 20.5
40.5
180+/-1 (with brake) (Note 1)

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

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

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

SS05H
Articulated
Slider type
robots
YA
SS05H-S
High lead: Lead 20 CE compliance Origin on the non-motor side is selectable SS05H-R
Linear conveyor
modules
LCM
Ordering method
SS05H S2
Single-axis robots

Origin position Grease option Stroke Cable length Note 3
GX
Motor-less single
Note 1. Brake-equipped models can be selected only when the lead is 12mm or 6mm. GW: No I/O boardNote 5
Robonity TRANSERVO
axis actuator
SH
PN: PNP (Absolute)
single-axis robots

DN: DeviceNetTM
N: None
(Incremental)
Compact
EP: EtherNet/IPTM
Motor 42 Step motor
PT: PROFINET
Note 1
Repeatability (mm) +/-0.02
Maximum motor torque (N.m)
Ball screw ϕ12
0.47 SD 1
Single-axis robots

FLIP-X

Maximum speed Note 2
Horizontal 1000 600 300 SD: TS-SD 1: 1m
(mm/sec) Vertical – 500 250
Maximum Horizontal 6 8 12 Allowable overhang Note Static loading moment
payload (kg) Vertical – 2 4
Max. pressing force (N) 36 60 120 A MY
single-axis robots
Stroke (mm) 50 to 800 (50pitch)

PHASER
Linear motor
Overall length Horizontal Stroke+286 B C

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

6kg 352 71 104 6kg 71 49 262 2kg 244 245
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below. 4kg 500 118 179 4kg 146 96 449 4kg 113 113 Controller
6kg 399 79 118 6kg 85 55 334
Motor installation (Space-saving model) 8kg 403 56 88 8kg 55 34 305 Controller Operation method
6kg 573 83 136 6kg 101 62 519 TS-S2 I/O point trace /
R type Motor installed on right L type Motor installed on left
Lead 6
Lead 6

YK-X
480 61 100 64 39 413

SCARA
8kg 8kg
robots
10kg 442 47 78 10kg 43 26 355 TS-SD Pulse train control

12kg 465 39 64 12kg 28 17 338
Note. Distance from center of slider upper surface to carrier center-of-gravity at a guide
service life of 10,000 km (Service life is calculated for 600mm stroke models).
Pick & place
YP-X
SS05H Straight model

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

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

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

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

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

Linear conveyor
modules
LCM
Ordering method
SG07 SH
Single-axis robots
Model Lead Model Brake Origin position Grease option Stroke Cable length Note 2 Robot positioner I/O Battery
GX
20: 20mm S: Straight model N: With no brake N: Standard Note 1 N: Standard grease 50 to 800 1K: 1m SH: TS-SH NP: NPN B: With battery
12: 12mm B: With brake Z: Non-motor side C: Clean room grease (50mm pitch) 3K: 3m PN: PNP (Absolute)
06: 6mm 5K: 5m CC: CC-Link N: None
10K: 10m DN: DeviceNetTM (Incremental)
EP: EtherNet/IP TM
Note 1. If changing from the origin position at the time of purchase, the machine reference amount must be reset. For details, refer to the manual. PT: PROFINET
Motor-less single
Robonity TRANSERVO
GW: No I/O board Note 3

axis actuator

Basic specifications Allowable overhang Note Static loading moment

Motor 56 Step motor A MY
Resolution (Pulse/rotation) 20480
single-axis robots

Compact
B
Deceleration mechanism Ball screw ϕ12 C A C
B C A MR MP
Maximum speed Note 2 Note 3 (mm/sec) 1200 800 350
Maximum Horizontal 36 43 46 Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N.m)
payload (kg) Vertical 4 12 20 A B C A B C A C MY MP MR

10kg 3572 458 486 450 402 3261 2kg 2303 2303
Single-axis robots
10kg


Max. pressing force (N) 60 100 225 101 114 101
FLIP-X
Stroke (mm) 50 to 800 (50pitch) 25kg 2971 220 245 25kg 117 155 2943 4kg 1147 1147
Overall length Horizontal Stroke+288 36kg 3150 140 160 36kg 98 85 2520 4kg 1386 1386
(mm) Vertical Stroke+328
15kg 3703 363 406 15kg 351 307 3403 12kg 442 442 Controller
W65×H64 30kg 1962 172 196 30kg 134 117 1663 7kg 781 781
of body cross-section (mm)
Controller Operation method
Cable length (m) Standard: 1 / Option: 3, 5, 10 43kg 1430 114 131 43kg 68 59 1070 20kg 252 252
single-axis robots
I/O point trace /

PHASER
15kg 3853 363 414 15kg 353 307 3541

Linear motor
Note 1. Positioning repeatability in one direction. TS-SH

Note 2. When the stroke is longer than 600mm, resonance of the ball 30kg 2105 172 197 30kg 134 117 1752 Remote command
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program 46kg 1500 106 122 46kg 58 50 1100
by referring to the maximum speeds shown in the table below. Note. Distance from center of slider upper surface to carrier center-of-gravity at a guide service life of
Note 3. It is necessary to change the maximum speed according to the
payload. For details, see the “Speed vs. payload” graph shown below. 10,000 km (Service life is calculated for 600mm stroke models).
Note. Position detectors (resolvers) are common to incremental and Note. Calculated by the speed corresponding to the payload.
absolute specifications.
If the controller has a backup function then it will be absolute
Cartesian
XY-X
specifications.
robots
Speed vs. payload

Horizontal
Quick reference Vertical Quick reference
50 Lead 20 Lead 12 Lead 6 25 Lead 20 Lead 12 Lead 6
45 Payload Speed % Payload Speed % Payload Speed % Payload Speed % Payload Speed % Payload Speed %
Lead 12 (kg) (mm/sec) (kg) (mm/sec) (kg) (mm/sec) (kg) (mm/sec) (kg) (mm/sec) (kg) (mm/sec)
YK-X
SCARA
40 20
robots
36 320 26 43 240 30 46 140 40 4 560 56 12 200 33 20 100 31

35 Lead 6
Payload (kg)
Payload (kg)
30 400 33 40 255 31 42 155 44 3 680 68 10 240 40 15 150 46

30 15
25 480 40 35 295 36 40 165 47 2 800 80 9 260 43 12 180 56
25 20 560 46 30 340 42 35 190 54 1 1000 100 8 280 46 10 200 62
20 15 720 60 25 380 47 30 200 57 10 Lead 12
Lead 20 7 310 51 9 210 65
15 10 800 66 20 420 52 25 245 70 6 345 57 8 225 70
10 9 900 75 15 500 62 20 270 77 5 5 380 63 7 235 73
Pick & place
5 Lead 20
Lead 6 8 950 79 10 600 75 15 300 85 4 435 72 6 250 78
YP-X
robots
0 7 1000 83 9 615 76 10 325 92 0 3 500 83 5 270 84

0 200 400 600 800 1000 1200 1400 0 200 400 600 800 1000
6 1020 85 8 635 79 9 330 94 2 600 100 4 295 92
5 1035 86 7 655 81 8 335 95 3 320 100
4 1055 87 6 675 84 7 340 97
3 1075 89 5 700 87 6 350 100
2 1100 91 4 750 93
1 1200 100 3 800 100
CLEAN
SG07 Straight model

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

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

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

+ 0.05
4 0
145 C
185 (with brake)
Effective stroke 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 Note 1. Stop positions are determined by the
mechanical stoppers at both ends.
L 338 388 438 488 538 588 638 688 738 788 838 888 938 988 1038 1088
Note 2. Secure the cable with a tie-band 100mm or less
B 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 being subjected to excessive loads.
C 100 100 100 100 100 100 400 400 400 400 400 400 700 700 700 700 Note 3. The cable’s minimum bend radius is R30.
Weight (kg) Note 4 2.9 3.2 3.4 3.6 3.9 4.1 4.3 4.6 4.8 5.0 5.3 5.5 5.7 5.9 6.1 6.3 Note 4. These are the weights without a brake. The
Lead20 (Horizontal) 1200 1020 weights are 0.7kg heavier when equipped with
900 780 720 a brake.
Maximum Lead20 (Vertical) 1000 1000
Lead12 (Horizontal) 800 Note 5. When the stroke is longer than 600mm,
speed for each 578 510 442 408 resonance of the ball screw may occur
Lead12 (Vertical) 600
stroke Note 5 depending on the operation conditions (critical
Lead6 (Horizontal) 350 speed). In this case, reduce the speed setting
(mm/sec) 298 263 228 210
Lead6 (Vertical) 320 on the program by referring to the maximum
Speed setting – 85% 75% 65% 60% speeds shown in the table at the below.
262 Controller TS-SH u 626

SR03
Articulated
Rod type
robots
YA
CE compliance Origin on the non-motor side is selectable SR03-S SR03-R
Linear conveyor
modules
LCM
Ordering method
SR03 S2
Single-axis robots
Model Lead Model Brake Origin position Bracket plate Stroke Cable length Note 3
GX
12: 12mm S: Straight model N: With no brake N: Standard Note 2 N: No plate 50 to 200 1K: 1m PN: PNP
06: 6mm R: Space-saving model Note 1 B: With brake Z: Non-motor side H: With plate (50mm pitch) 3K: 3m CC: CC-Link
(motor installed on right) V: With flange 5K: 5m DN: DeviceNetTM
L: Space-saving model Note 1 10K: 10m EP: EtherNet/IPTM
U: Space-saving model Note 1
Motor-less single
Robonity TRANSERVO
axis actuator
(motor installed on top)
Note 1. See P.255 for grease gun nozzles. Note 3. The robot cable is flexible and resists bending. SH
Note 2. If changing from the origin position at the time of Note 4. See P.634 for DIN rail mounting bracket.
Robot positioner I/O Battery
purchase, the machine reference amount must be Note 5. Select this selection when using the gateway
function. For details, see P.96. SH: TS-SH NP: NPN B: With battery
reset. For details, refer to the manual. PN: PNP (Absolute)
single-axis robots
Basic specifications Speed vs. payload CC: CC-Link
DN: DeviceNetTM
N: None
(Incremental)
Compact
EP: EtherNet/IPTM
Motor 42 Step motor Horizontal
PT: PROFINET
Resolution (Pulse/rotation) 20480 25 GW: No I/O boardNote 5
Repeatability (mm) +/-0.02 Lead 6
20
SD 1
Payload (kg)
Deceleration mechanism Ball screw ϕ8

Single-axis robots
Lead 12
Maximum speed Note 1 (mm/sec) 500 250
FLIP-X
10 Robot driver I/O cable
Maximum Horizontal 10 20 SD: TS-SD 1: 1m
payload (kg) 5
Vertical 4 8
Max. pressing force (N)
Stroke (mm)
75 100
50 to 200 (50pitch)
0
0 100 200 300 400 500 600 Running life
Speed (mm/s) 5000 km on models other than shown below.
Lost motion 0.1mm or less Vertical
single-axis robots
Running life of only the model shown below becomes shorter than 5000 km
PHASER
Linear motor
Rotating backlash (°) +/-1.0 9
Overall length Horizontal Stroke+236.5 8 Lead 6 depending on the payload, so check the running life curve.
7
Payload (kg)
(mm) Vertical Stroke+276.5 6 Vertical Lead 12

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

Cable length (m) Standard: 1 / Option: 3, 5, 10 3 5000
2 4000
Note 1. The maximum speed needs to be changed in 1
Cartesian
XY-X
3000
accordance with the payload.
robots
0
0 100 200 300 400 500 600 2000
See the “Speed vs. payload” graph shown on the right. Speed (mm/s) Note. See P.255
For details, see P. 254. 1000 for running life
0 distance to life time
Motor installation (Space-saving model) 0 1 2
Payload (kg)
3 4 conversion example.
R type Motor installed on right L type Motor installed on left U type Motor installed on top
YK-X
SCARA
Controller
robots
Controller Operation method Controller Operation method
TS-S2 I/O point trace / TS-SD Pulse train control
Pick & place

YP-X
SR03 Straight model
robots
A
See Note 5. 9.5 68.5
Ball screw greasing port (φ6.5)
6
CLEAN
11 (Width across flat)
Approx. 250 (Cable length)

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

21
(For securing cable) L motor side

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

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

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

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

15 10 45 Use the external guide together so that any radial load is not
Hex. socket head cap bolt (M3×0.5), Length under head 10 (37.5) 4-φ4.5 55 applied to the rod.
* Two bolts are required for one plate. drill-through Note 2. The orientation of the width across flat part is undefined to the
base surface.
Note 3. Use the support guide together to maintain the straightness.
(25)
52
Note 4. When running the cables, secure cables so that any load is not
applied to them.
Note 5. Remove the M4 hex. socket head cap set bolts and use them
to secure the cables. (Effective screw thread depth 5)
2-φ5.5 (41) Note 6. The cable’s minimum bend radius is R30.
* See the bottom installation tap position. Note 7. Models with a brake will be 0.2kg heavier.
Note 8. Distance to mechanical stopper.

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

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

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

See Note 5.
97
(15)
(31)
20 53
45°
P.C.D
(0.5)
single-axis robots
.29
M8×1.25
Compact
56.5
48
38.5
ф16
42
21
7.5
94 15
M4×0.7 Depth 5 8 18 (Width across flat part)
(For securing cable) 10 4-M3×0.5 Depth 10
(10) 27.5
Single-axis robots
M4×0.7 Depth 5 10 L1
FLIP-X
(For securing cable) H×50 41 11(Width across flat)

50 35 48
Option: Horizontal installation plate (foot)
Effective stroke 50 100 150 200
6
25
* Contents of option: Plate, 2 pcs.
See our robot manuals for additional settings. L1 161 211 261 311
single-axis robots
PHASER
Linear motor
K-M3×0.5 Depth 4
L 204 254 304 354
H 2 3 4 5
10 (21)
K 6 8 10 12
Weight (kg) Note 7 1.3 1.5 1.6 1.8
Hex. socket head cap bolt (M3×0.5), Note 1. It is possible to apply only the axial load.
Length under head 10 Option: Vertical installation plate (flange)
15 Use the external guide together so that any radial load is
Cartesian
XY-X
* Two bolts are required for one plate.

robots
Hex. socket head cap bolt (M3×0.5), not applied to the rod.
Note 2. The orientation of the width across flat part is undefined to
Length under head 14
the base surface.
52
64
Note 4. When running the cables, secure cables so that any load is
25
not applied to them.

34
24
Note 5. Remove the M4 hex. socket head cap set bolts and use
(21)
2-ф5.5
YK-X
them to secure the cables. (Effective screw thread depth 5)

SCARA
robots
drill-through (41) 4-ф4.5 45 Note 6. The cable’s minimum bend radius is R30.
10
(37.5) drill-through Note 7. Models with a brake will be 0.2kg heavier.
* See the bottom installation tap position. 55 Note 8. Distance to mechanical stopper.
Pick & place
YP-X
SR03 Space-saving model (motor installed on left)

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

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

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

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

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

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

1
M4×0.7 Depth 5 10 4-M3×0.5 Depth 10

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

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

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

(21)
2-ф5.5 Note 4. When running the cables, secure cables so that any load is not applied to them.
drill-through (41) 10 (37.5) 4-ф4.5 45 Note 5. Remove the M4 hex. socket head cap set bolts and use them to secure the cables.
drill-through 55 (Effective screw thread depth 5)
* See the bottom installation tap position. Note 6. The cable’s minimum bend radius is R30.
Note 7. Models with a brake will be 0.2kg heavier.

SRD03
Articulated
Rod type (With support guide)

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

Linear conveyor
SRD03-S SRD03-U
modules
LCM
Ordering method
SRD03 S2
Single-axis robots

Model Lead Model Brake Origin position Bracket plate Stroke Cable length Note 3
GX
06: 6mm U: Space-saving model Note 1 B: With brake Z: Non-motor side H: With plate (50mm pitch) 3K: 3m CC: CC-Link
(motor installed on top) 5K: 5m DN: DeviceNetTM
10K: 10m EP: EtherNet/IPTM
PT: PROFINET
Motor-less single

Robonity TRANSERVO
axis actuator
Note 1. See P.255 for grease gun nozzles. Note 3. The robot cable is flexible and resists bending. SH
Note 2. If changing from the origin position at the time of Note 4. See P.634 for DIN rail mounting bracket.
purchase, the machine reference amount must be Note 5. Select this selection when using the gateway
function. For details, see P.96. SH: TS-SH NP: NPN B: With battery
single-axis robots

DN: DeviceNetTM
N: None
(Incremental)
Compact
Horizontal EP: EtherNet/IPTM

Motor 42 Step motor PT: PROFINET
Deceleration mechanism Ball screw ϕ8
20
SD 1
Payload (kg)
Single-axis robots
15
Ball screw lead (mm) 12 6
FLIP-X
Lead 12 Robot driver I/O cable

Maximum speed Note 1 (mm/sec) 500 250 10 SD: TS-SD 1: 1m
Maximum Horizontal 10 20
payload (kg) Vertical 3.5 7.5
5
Running life
0 5000 km on models other than shown below.
Max. pressing force (N) 75 100
single-axis robots
0 100 200 300 400 500 600 Running life of only the model shown below becomes shorter than 5000 km
PHASER
Linear motor
Stroke (mm) 50 to 200 (50pitch) Speed (mm/s) depending on the payload, so check the running life curve.
Vertical Lead 12
6000
7
Overall length Horizontal Stroke+236.5 Lead 6 5000
Running life (km)

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

Maximum outside dimension 3000
Cartesian
W48 × H56.5 4
XY-X
of body cross-section (mm) Lead 12

robots
3 2000 Note. See P.255

Cable length (m) Standard: 1 / Option: 3, 5, 10 2 1000 for running life
1 distance to life
0 0 1 2 3 4 time conversion
0 100 200 300 400 500 600 Payload (kg)
See the “Speed vs. payload” graph shown on the right. example.
Speed (mm/s)
For details, see P. 254.
YK-X
Controller
SCARA
robots

Pick & place
YP-X
SRD03 Straight model

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

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

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

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

52
Note 2.When running the cables, secure cables so that any load is not applied to them.
Note 3.Remove the M4 hex. socket head cap set bolts and use them to secure the cables.
(Effective screw thread depth 5)
2-φ5.5 15 Hex. socket head cap bolt (M3×0.5), Length under head 10 Note 4.The cable’s minimum bend radius is R30.
(41) * Two bolts are required for one plate. Note 5.Models with a brake will be 0.2kg heavier.
* See the bottom installation tap position. Note 6.Distance to mechanical stopper.

SRD03
Articulated
robots
YA
Linear conveyor
modules
LCM
Single-axis robots
GX
Motor-less single
Robonity TRANSERVO
axis actuator
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
SRD03 Space-saving model (motor installed on top)
A
Approx. 245 (Cable length) L 37.5+/-2 Effective stroke (5(Note 8))
Pick & place

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

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

SR04
Articulated
Rod type
robots
YA

Linear conveyor
SR04-S SR04-R
modules
LCM
Ordering method
SR04 S2
Single-axis robots

Model Lead Model Brake Origin positionNote 2
Bracket plate Stroke Cable length Note 4
GX
02: 2mm (motor installed on right) V: With flange 5K: 5m DN: DeviceNetTM
Motor-less single

Robonity TRANSERVO
Note 1. See P.255 for grease gun nozzles. Note 4. The robot cable is flexible and resists bending.
axis actuator
SH
Note 2. When “2mm lead” is selected, the origin position Note 5. See P.634 for DIN rail mounting bracket.
cannot be changed (to non-motor side). Note 6. Select this selection when using the gateway
Note 3. If changing from the origin position at the time of function. For details, see P.96.
purchase, the machine reference amount must be
single-axis robots

DN: DeviceNetTM
N: None
(Incremental)
Compact
EP: EtherNet/IPTM
PT: PROFINET
SD 1
40
Deceleration mechanism Ball screw ϕ8 Ball screw ϕ10
Payload (kg)
Ball screw lead (mm) 12 6 2 Lead 6

Single-axis robots
30
FLIP-X
20 Lead 12 Robot driver I/O cable

Maximum Horizontal 25 40 45 SD: TS-SD 1: 1m
payload (kg) Vertical 5 12 25 10
Stroke (mm) 50 to 300 (50pitch) 0
0 100 200 300
Speed (mm/s)
400 500 600
Running life
single-axis robots
Rotating backlash (°) +/-1.0

PHASER

Linear motor

25 Running life of only the model shown below becomes shorter than 5000 km
(mm) Lead 2
Vertical Stroke+303
Payload (kg)
20 depending on the payload, so check the running life curve.

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

Note 1. The maximum speed needs to be changed in Lead 12 5000 5000
5
Cartesian
4000 4000
XY-X
robots
See the “Speed vs. payload” graph shown on the right. 0

0 100 200 300 400 500 600 3000 3000
For details, see P. 254. Additionally, when the stroke Speed (mm/s)
is long, the maximum speed is decreased due to the 2000 2000
critical speed of the ball screw. See the maximum 1000 1000
speed table shown at the lower portion of the drawing. 0 0
0 5 10 15 20 25 0 1 2 3 4 5
YK-X
Payload (kg) Payload (kg)

SCARA
robots
Motor installation (Space-saving model) Note. See P.255 for running life distance to life time conversion example.
Controller
Pick & place
YP-X

robots
SR04 Straight model

A
CLEAN
M4×0.7 Depth 5 9.5

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

Approx. 250 (Cable length) (10) 32.5

9 22
View A
8.5 (Width across flat part)
14
M10×1.25
45°
58
45
25
P.C
(22.5)
.D.5
φ20
3
4-M4×0.7 Depth 10 14
16.5
48 M4×0.7 Depth 5 (7) (5) (90°-equal division) 25 (Width across

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

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

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

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

Ball screw 56
Motor-less single
See Note 5.
Robonity TRANSERVO
45°
axis actuator
67.5 greasing port (ф6.5) T-slot for M3
(15)
(31)
(8 locations)
9.5 L1(T-slot range)
53
.D.
P.C
M10×1.25 B
56.5
single-axis robots
ф20
48
45
25
44
Compact
16.5
8.5
9 22 (Width across 14 4-M4x0.7
0.5
1.5
100 0.5 M4×0.7 Depth 5
(For securing cable) flat part) Depth 10
9.5 (10) 32.5 (Width across 25 (90°-equal
flat) division)
M4×0.7 Depth 5
Single-axis robots
M3x0.5 2.4 45 48
(For securing cable) 9.5
FLIP-X
102.5
5
5.
(7.8)
* Contents of option: Plate, 2 pcs., Nut, 12 pcs.
See our robot manuals for additional settings. Dimensions of attached Effective stroke 50 100 150 200 250 300
6
square nut for T-slot (6 pcs.) L1 162.5 212.5 262.5 312.5 362.5 412.5
L 209.5 259.5 309.5 359.5 409.5 459.5
single-axis robots
PHASER
Linear motor
10 (22.5)
Weight (kg) Note 7 1.6 1.9 2.1 2.4 2.6 2.9

Maximum Lead 12 500 440 320
Option: Vertical installation plate (flange) speed for each
Installed within the T-slot range of the main unit. stroke Lead 6 250 220 160
2-ф6.6 (Hex. socket head cap bolt (M3×0.5), Hex. socket head cap bolt (M4×0.7),
20 Length under head 10) (42.5) (mm/sec) Lead 2 80 72 53
drill-through Length under head 14 73
10 * Six bolts are required for one plate. Note 1. It is possible to apply only the axial load.
10 4-ф6.6 60 Use the external guide together so that any radial load is not applied to the rod.
Cartesian
drill-through
XY-X
robots
(25)
57
71
45
34
Note 5. Remove the M4 hex. socket head cap set bolts and use them to secure the
(22.5)
cables. (Effective screw thread depth 5)

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

YP-X
robots
A
M4×0.7 Depth 5 9.5 Approx. 245 (Cable length) L 42.5+/-2 Effective stroke (5(Note 8))
(For securing cable) 9.5 L1(T-slot range)
See (7(Note 8)) Origin on Origin on
CLEAN
Note 5. 67.5 Ball screw greasing
28.5
port (ф6.5)
6
View A M10x1.25 17 6 5.8
3.3
1.5
(19.6)
(40) (24)
Dimensions of attached nut Detail of section B
112 T-slot for M3
152 (with brake) (8 locations)
(15)
(31)
(Width across
56
45°
14 3
5
.D.
flat)
P.C
M10×1.25 B
56.5
48
ф20
25
45
44
8.5
1.5
0.5 100 9 22 (Width across

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

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

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

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

Option: Vertical installation plate (flange) Maximum Lead 12
10
500 440 320

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

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

SRD04
Articulated

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

Linear conveyor
modules
LCM
Ordering method
SRD04 S2
Single-axis robots

Model Lead Model Brake Origin position Note 2
GX
02: 2mm (motor installed on top) 5K: 5m DN: DeviceNetTM
PT: PROFINET
Motor-less single

Robonity TRANSERVO
axis actuator
SH
cannot be changed (to non-motor side). Note 6. Select this selection when using the gateway
single-axis robots

DN: DeviceNetTM
N: None
(Incremental)
Compact
EP: EtherNet/IPTM
PT: PROFINET
Deceleration mechanism Ball screw ϕ8 Ball screw ϕ10 40
SD 1
Payload (kg)
Single-axis robots
Ball screw lead (mm) 12 6 2 Lead 6

30
FLIP-X
Note 1
Maximum speed (mm/sec) 500 250 80 Robot driver I/O cable
Maximum Horizontal 25 40 45 20 Lead 12 SD: TS-SD 1: 1m
payload (kg) Vertical 4 11 24
10
Stroke (mm) 50 to 300 (50pitch) 0
Running life
single-axis robots
Lost motion 0.1mm or less 0 100 200 300 400 500 600 5000 km on models other than shown below.
PHASER
Linear motor
Rotating backlash (°) +/-0.05 Speed (mm/s) Running life of only the model shown below becomes shorter than 5000 km
Overall length Horizontal Stroke+263 Vertical depending on the payload, so check the running life curve.
(mm) Vertical Stroke+303 30 Vertical Lead 2 Vertical Lead 12
Running life (km)

25 Lead 2 6000 6000
Running life (km)

of body cross-section (mm) W48 × H58 5000 5000
4000 4000
Payload (kg)
Cable length (m) Standard: 1 / Option: 3, 5, 10 20 3000 3000

2000 2000
15 1000
Cartesian
1000
Note 1. The maximum speed needs to be changed in
XY-X
0 0
robots
Lead 6 0 5 10 15 20 25 Payload (kg) 0 1 2 3 4 5 Payload (kg)

accordance with the payload. 10
See the “Speed vs. payload” graph shown on the right. Lead 12 Note. See P.255 for running life distance to life time conversion
5
For details, see P. 254. example.
Additionally, when the stroke is long, the maximum 0
0 100 200 300 400 500 600
speed is decreased due to the critical speed of the ball
screw. Speed (mm/s) Controller
YK-X
SCARA
robots
See the maximum speed table shown at the lower Controller Operation method Controller Operation method
portion of the drawing.
Pick & place

YP-X
robots
Effective stroke+100.5
45
A
φ19
CLEAN
φ10
See Note 4.
45
6
45
Ball screw 8-M5×0.8

45
greasing port Depth 12

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

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

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

SRD04
Articulated
robots
YA
Linear conveyor
modules
LCM
Single-axis robots
GX
Motor-less single
Robonity TRANSERVO
axis actuator
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
* Contents of option: Plate, 2 pcs., Nut, 12 pcs. M4×0.7 Depth 5
Pick & place

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

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

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

5
(7.8)
(19.6)
3.3
1.5
L 209.5 259.5 309.5 359.5 409.5 459.5 5.8

16.5
Dimensions of attached Detail of Dimensions of

Weight (kg) Note 7 2.2 2.6 2.9 3.2 3.5 3.9 square nut for T-slot (6 pcs.) section B attached nut
Maximum Lead 12 500 440 320
speed for each Note 3. Use the support guide together to maintain the straightness.
stroke Lead 6 250 220 160 Note 4. When running the cables, secure cables so that any load is not applied to them.
(mm/sec) Lead 2 80 72 53 Note 5. Remove the M4 hex. socket head cap set bolts and use them to secure the cables. (Effective screw thread depth 5)
Note 1. It is possible to apply only the axial load. Note 7. Models with a brake will be 0.2kg heavier.
Use the external guide together so that any radial load is not applied to the rod. Note 8. Distance to mechanical stopper.
Note 2. The orientation of the width across flat part is undefined to the base surface. Note 9. For lead 2mm specifications, the origin on the non-motor side cannot be set.

SR05
Articulated
Rod type
robots
YA

Linear conveyor
SR05-S SR05-R
modules
LCM
Ordering method
SR05 S2
Single-axis robots

GX
02: 2mm (motor installed on right) V: With flange 5K: 5m DN: DeviceNetTM
Motor-less single
Note 1. See P.255 for grease gun nozzles. Note 4. The robot cable is flexible and resists bending. GW: No I/O boardNote 6
Robonity TRANSERVO
axis actuator
cannot be changed (to non-motor side).
Note 3. If changing from the origin position at the time of
Note 6. Select this selection when using the gateway
function. For details, see P.96.
SH
purchase, the machine reference amount must be Robot positioner I/O Battery
reset. For details, refer to the manual.
PN: PNP (Absolute)
single-axis robots

DN: DeviceNetTM
N: None
(Incremental)
Compact
EP: EtherNet/IPTM
PT: PROFINET
Repeatability (mm) +/-0.02 60
Lead 2
SD 1
Ball screw ϕ12 Lead 6
Payload (kg)
Deceleration mechanism 50
Single-axis robots
40 Lead 12
FLIP-X
30 Robot driver I/O cable

Maximum Horizontal 50 55 60 20 SD: TS-SD 1: 1m
payload (kg) Vertical 10 20 30
10
0
Stroke (mm) 50 to 300 (50pitch) 0 50 100 150 200 250 300 350 Running life
Lost motion 0.1mm or less Speed (mm/s)
single-axis robots
Rotating backlash (°) +/-1.0 Vertical 5000 km on models other than shown below.
PHASER
Linear motor
Overall length Horizontal Stroke+276 35 Running life of only the model shown below becomes shorter than 5000 km
(mm) Vertical Stroke+316 30 Lead 2 depending on the payload, so check the running life curve.
Payload (kg)
Maximum outside dimension 25 6000

of body cross-section (mm) W56.4 × H71 Vertical Lead 2
Running life (km)

20 Lead 6 5000
Cable length (m) Standard: 1 / Option: 3, 5, 10 15 4000
Lead 12 3000
accordance with the payload. 5
Cartesian
XY-X
2000
robots
See the “Speed vs. payload” graph shown on the right. 0

0 50 100 150 200 250 300 350 1000
For details, see P. 254. Speed (mm/s)
0
0 5 10 15 20 25 30
Payload (kg)
Note. See P.255 for running life distance to life time conversion
Motor installation (Space-saving model)
YK-X
SCARA
example.
robots

Controller
Pick & place

YP-X
robots
SR05 Straight model

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

M4×0.7 Depth 5 10 24 View A P. 17 (Width across flat)
(For securing cable) C.
9.5 (Width across flat part) D.
65
M12×1.25
45°
71
55
30
37
(28.2)
28.2
φ25
(7) (5)
(Note 9)
0.7
56.4 (Note 5) 4-M5×0.8 Depth 10 17

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

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

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

SR05
Articulated
robots
YA
Approx. 245 (Cable length) L 45.5+/-2 Effective stroke (5(Note 8,Note 12)) M4x0.7 3.2
Linear conveyor
7
146 (with brake)
modules
LCM
(7(Note 8))
(9.9)
106
Origin on Dimensions of attached

motor side Origin on square nut for T-slot (6 pcs.)
non-motor side (Note 9)
Single-axis robots
Ball screw greasing
port (ф6.5) 7.3 M12x1.25 19 7
GX
4.3
1.5
(21.9)
6
9.5
(40) (24) Detail of section B Dimensions of
Motor-less single
Robonity TRANSERVO
attached nut
axis actuator
4-M5x0.8 Depth 10 28.5 70
See Note 5. 78 T-slot for M4
(8 locations)
(31)
(15)
9.5 L1(T-slot range) 45°
across flat)
17 (Width
.65
P.C.D
B
single-axis robots
M12×1.25
Compact
71
56.5
56.5
55
30
37
28.2
9.5
(Note 11)
(Width across flat part)

0.7
127.5 9.5
Single-axis robots
10 24 17
M4×0.7 Depth 5
FLIP-X
Option: Horizontal installation plate (foot) M4×0.7 Depth 5 (Width across flat) 30
(For securing cable) 9.5 (For securing cable) (10) 35.5 55 56.4
9.5
L1 183 233 283 333 383 433
single-axis robots
PHASER
Linear motor
L 227.5 277.5 327.5 377.5 427.5 477.5
12 (27.5)
Weight (kg) Note 7 2.4 2.8 3.2 3.5 3.9 4.3

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

(28.2)

(30)
80
68

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

YP-X
robots
A
18 0.7(Note 11)
M4×0.7 Depth 5 See

9.5 (For securing cable) 9.5 L1(T-slot range)
Note 5.
78 M4x0.7 3.2
CLEAN
7
(9.9)
9.5
Origin on Origin on square nut for T-slot (6 pcs.)
Ball screw greasing
View A port (ф6.5) 7.3 M12x1.25 19 7
4.3
1.5
(21.9)
6
106 Detail of section B Dimensions of

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

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

(27.5)

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

SRD05
Articulated

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

Linear conveyor
modules
LCM
Ordering method
SRD05 S2
Single-axis robots

GX
02: 2mm (motor installed on top) 5K: 5m DN: DeviceNetTM
PT: PROFINET
Motor-less single

Robonity TRANSERVO
axis actuator
cannot be changed (to non-motor side). Note 6. Select this selection when using the gateway SH
single-axis robots

DN: DeviceNetTM
N: None
(Incremental)
Compact
EP: EtherNet/IPTM
PT: PROFINET
Lead 2
SD 1
Repeatability (mm) +/-0.02 60
Lead 6
Ball screw ϕ12 50
Payload (kg)
Single-axis robots
40 Lead 12
FLIP-X
Ball screw lead (mm) 12 6 2 Robot driver I/O cable

30 SD: TS-SD 1: 1m
20
Horizontal 50 55 60
Maximum
payload (kg)
10 Running life
Vertical 8.5 18.5 28.5
single-axis robots
0 50 100 150 200 250 300 350

Running life of only the model shown below becomes shorter than 5000 km
PHASER
Linear motor
Stroke (mm) 50 to 300 (50pitch) Speed (mm/s) depending on the payload, so check the running life curve.
Vertical
Lost motion 0.1mm or less
Running life (km)

Vertical Lead 2 6000
30
25 Lead 2 4000
3000
Payload (kg)
(mm) Vertical Stroke+316 20

2000
Lead 6
Cartesian
Maximum outside dimension 15 1000

XY-X
W56.4 × H71
robots
of body cross-section (mm) 10 0

0 5 10 15 20 25 30
Cable length (m) Standard: 1 / Option: 3, 5, 10 5 Lead 12 Payload (kg)
Note 1. The maximum speed needs to be changed in Note. See P.255 for running life distance to life time conversion example.
0
See the “Speed vs. payload” graph shown on the right.
0 50 100 150 200
Speed (mm/s)
250 300 350
Controller
YK-X
SCARA
For details, see P. 254.

robots


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

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

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

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

SRD05
Articulated
robots
YA
Linear conveyor
modules
LCM
Single-axis robots
GX
Motor-less single
Robonity TRANSERVO
axis actuator
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Approx. 245 (Cable length) L 45.5+/-2 Effective stroke (5(Note 8,Note 11))
(7(Note 8)) Origin on Origin on
Pick & place

YP-X
robots
A
M4×0.7 Depth 5
55
9.5
52
18
CLEAN
52
ф12
View A
ф21
(15)
47 10.5 24 70.9
146 (with brake)
Effective stroke +107 56.4 8-M6×1.0
106 Depth 15
(40)
(For user tool

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

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

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

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

STH04
Articulated
Slide table type

robots
YA

Linear conveyor
modules
LCM
Ordering method
STH04 S2
Single-axis robots

Origin position Bracket plate Note 3
Stroke Cable length Note 4
GX
05: 5mm S: Straight model N: With no brake N: Standard Note 2 N: No plate 50: 50mm 1K: 1m PN: PNP
10: 10mm R: Space-saving model B: With brake Z: Non-motor side H: With plate 100: 100mm 3K: 3m CC: CC-Link
(motor installed on right) 5K: 5m DN: DeviceNetTM
Motor-less single

Robonity TRANSERVO
axis actuator
SH
Note 1. For the space saving models (R and L), the specifications with brake are applicable to only 100mm strokes. Robot positioner I/O Battery
Note 2. If changing from the origin position at the time of purchase, the machine reference amount must be reset. For details, SH: TS-SH NP: NPN B: With battery
refer to the manual. PN: PNP (Absolute)
single-axis robots
Note 3. Space-saving models (R and L) with the plate cannot be selected. CC: CC-Link N: None
DN: DeviceNetTM (Incremental)
Compact

EP: EtherNet/IPTM
Note 5. See P.634 for DIN rail mounting bracket. PT: PROFINET
Note 6. The robot with the brake cannot use the TS-SD. GW: No I/O boardNote 7
Basic specifications
SD 1
Single-axis robots
FLIP-X

Motor 28 Step motor SD: TS-SD Note 6 1: 1m
Repeatability (mm) +/-0.05 Allowable overhang Note Static loading moment
Note 1
Straight Slide screw

Drive method
Space-saving Slide screw + belt A
single-axis robots
MY
PHASER
Linear motor

Maximum speed Note 2 (mm/sec) 200 400 B C
C A
Maximum payload Horizontal 6 4 B C A MR MP
(kg) Vertical 2 1
Max. pressing force (N) 55 30 Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N.m)
A B C A B C A C Stroke MY MP MR
Stroke (mm) 50/100
2kg 1534 611 415 2kg 435 595 1504 0.5kg 2000 2000 26 26
Cartesian
Lead 10
Lead 10
Lead 10
Maximum outside dimension Straight W45 × H46 50mm
XY-X
robots
3kg 949 374 255 3kg 263 359 920 0.75kg 1558 1558 48
of body cross-section (mm) Space-saving W74.5 × H51 100mm 43 43
Cable length (m) Standard: 1 / Option: 3, 5, 10 4kg 656 255 175 4kg 177 241 629 1kg 1165 1164
Lead 5
Lead 5
Lead 5
Note 2. The maximum speed needs to be changed in 4kg 656 255 175 4kg 177 241 629 1.5kg 771 771
accordance with the payload. 6kg 364 137 95 6kg 91 123 337 2kg 574 574
YK-X
SCARA

robots
For details, see P. 254. Note. Overhang at travelling service life of 3000km.
(Service life is calculated for 75mm stroke models.)
Motor installation (Space-saving model) Speed vs. payload Controller

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

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

Approx. 200 (C/2-1)xB 20 C-M5x0.8 Depth 6.5
(Cable length without brake)
B +0.03
ф5 +0.01 Depth 5
Depth 5
Approx. 180 6
+0.03
5 +0.01
(Cable length with brake)

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

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

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

Depth 5
Depth 12 Effective stroke 50 100 25 60

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

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

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

+0.030
9 35.5 A +0.030
ф4H9( ) Note 4. When installing the mechanical main unit using
F
Depth 4
4H9( 0
0
the back facing holes, push the slider toward the
Cross-sectional Depth 4 origin position on the motor side and insert the
drawing A-A hex socket head cap (M5) bolt.
Detailed drawing of Note 5. The dimensions of the specifications with the
YK-X
SCARA
robots
brake are common to those shown above.
installation hole
Note 6. The specifications with the brake are applicable
to only 100 strokes.
Pick & place

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

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

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

40

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

STH06
Articulated
Slide table type

robots
YA

Linear conveyor
modules
LCM
Ordering method
STH06 S2
Single-axis robots

Model Lead Model Brake Origin position Bracket plate Note 2
Stroke Cable length Note 3
GX
08: 8mm S: Straight model N: With no brake N: Standard Note 1 N: No plate 50: 50mm 1K: 1m PN: PNP
16: 16mm R: Space-saving model B: With brake Z: Non-motor side H: With plate 100: 100mm 3K: 3m CC: CC-Link
(motor installed on right) 150: 150mm 5K: 5m DN: DeviceNetTM
Motor-less single

Robonity TRANSERVO
axis actuator
SH
Note 1. If changing from the origin position at the time of purchase, the machine reference amount must be reset. For details, SH: TS-SH NP: NPN B: With battery
refer to the manual. PN: PNP (Absolute)
single-axis robots
Note 2. Space-saving models (R and L) with the plate cannot be selected. CC: CC-Link N: None
Compact

EP: EtherNet/IPTM
Note 5. The robot with the brake cannot use the TS-SD. GW: No I/O boardNote 6
Basic specifications
SD 1
Single-axis robots
FLIP-X

Motor 42 Step motor SD: TS-SD Note 5 1: 1m
Repeatability (mm) +/-0.05 Allowable overhang Note Static loading moment
Note 1
Straight Slide screw

Drive method
Space-saving Slide screw + belt A
single-axis robots
MY
PHASER
Linear motor

Maximum speed Note 2 (mm/sec) 150 400 B C
C A
Maximum payload Horizontal 9 6 B C A MR MP
(kg) Vertical 4 2
Max. pressing force (N) 180 100 Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) (Unit: N.m)
Stroke (mm) 50/100/150 A B C A B C A C Stroke MY MP MR

2kg 3000 2123 1436 2kg 1500 2091 3000 1kg 3000 3000 50mm 77 77 146
Cartesian
Maximum outside dimension Straight W61 × H65

Lead 16
Lead 16
Lead 16
XY-X
robots
of body cross-section (mm) Space-saving W108 × H70 4kg 2493 1001 680 4kg 710 975 2443 1.5kg 2458 2457 100mm 112 112 177
Cable length (m) Standard: 1 / Option: 3, 5, 10 6kg 1571 627 428 6kg 440 603 1524 2kg 1837 1837 150mm 155 155 152
Lead 8
Lead 8
Lead 8
Note 2. The maximum speed needs to be changed in 6kg 1571 627 428 6kg 440 603 1524 3kg 1217 1216
accordance with the payload. 9kg 956 378 260 9kg 260 355 912 4kg 907 906
YK-X
SCARA

robots
For details, see P. 254. Note. Overhang at travelling service life of 3000km.
(Service life is calculated for 100mm stroke models.)
Motor installation (Space-saving model) Speed vs. payload Controller

Vertical 4.5 Controller Operation method
Pick & place
R type Motor installed on right L type Motor installed on left Horizontal 10

9 4
YP-X
robots
8 Lead 8 3.5 Lead 8 TS-S2 I/O point trace /

7 Lead 16
Payload (kg)
Payload (kg)
6 3 TS-SH Remote command

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

Approx. 210 (C/2-1)xB 29
(Cable length without brake/with brake) B C-M6x1.0 Depth 8

+0.03
6 +0.01
Depth 6
7
ф6 +0.03
+0.01 Depth 6
R
36
(24) (40)
2-M6x1.0
(15)
Depth 14
(31)
D 14 61
23.5
0.5
44
65 +/- 0.3
55
57
1+/- 0.5 [1+/- 0.5]

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

38
Contents of option: Plate, 4 pcs.

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

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

Depth 5
0
Effective stroke 50 100 150

12
Detailed drawing of installation hole B 75 48 65

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

STH06
Articulated
robots
YA
STH06 Space-saving model (motor installed on right)
Linear conveyor
modules
LCM
(C/2-1) xB 25
B
C-M6x1.0 Depth 8
6 +0.01
Depth 6
+0.03
Single-axis robots
7 +0.03
Ap ф6 +0.01 Depth 6
(Ca prox.
GX
b
Ap le len 150
(Ca prox. gth w
ble 110 itho
len ut b
gth rak
wit e)
hb
Motor-less single
Robonity TRANSERVO
rak
36
axis actuator
e)
R
6.5 61 3-M6x1.0
Depth 10
G 10 44
6.5
16.5
0.5
(24)
52
single-axis robots
21
70 +/- 0.3
48
(15)
(31)
Compact
(40) 1+/- 0.5 [1+/- 0.5]
106 (2)
(Note 2) (Note 2)
(2.2) 16.5 Origin on non-motor side
Single-axis robots
Origin on motor
side (Note 1) (Note 1)
FLIP-X
19.5 L
Effective stroke
(E-1)xD 24.5 Effective stroke 50 100 150
E-M8x1.25 Depth 16 D B 75 48 65
See the cross-sectional A C 4 8 8
D 80 44 66
single-axis robots
drawing of A-A.
(M8)
PHASER
Linear motor
(37)
E 2 4 4
F 80 88 132
(16) G 143 207 28 5
ф11
ф6.8
ф12 (Note 4)
56
L 132 196 274
Weight (kg) Note 6 2.5 3.3 4.26
11.5 50.5 6 ф5H9 (+0.030 ) Depth 5
R
Cartesian
)
0 Note 2. Table movable range during return-to-origin
XY-X
+0.030
robots
F operation. The values in [ ] show those when the
Depth 5
5H9 ( 0
Cross-sectional return-to-origin direction is changed.

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

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

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

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

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

56
L 132 196 274

Weight (kg) Note 6 2.5 3.3 4.26
(37)
(M8)

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

RF02-N
Articulated
Rotary type / Limit rotation specification

robots
YA
CE compliance Rotation range : 310°

Linear conveyor
modules
LCM
Ordering method
RF02 N L S2
Single-axis robots

Model Return-to-origin method Bearing Torque Cable entry location Rotation direction Cable length Note 1
S2: TS-S2 Note2 NP: NPN
GX
N: Stroke end (Limit rotation) N: Standard N: Standard torque L: From the left N: CCW 1K: 1m PN: PNP
H: High rigidity H: High torque Z: CW 3K: 3m CC: CC-Link
5K: 5m DN: DeviceNetTM
PT: PROFINET
Motor-less single

Robonity TRANSERVO
axis actuator
SH
PN: PNP (Absolute)
single-axis robots
CC: CC-Link N: None

Compact
EP: EtherNet/IPTM
PT: PROFINET
SD 1
Single-axis robots

FLIP-X

Note 2. See P.634 for DIN rail mounting bracket. SD: TS-SD 1: 1m
Basic specifications Moment of inertia Acceleration/deceleration Effective torque vs. speed

single-axis robots
0.0045 0.35
Motor 20 Step motor
PHASER
Linear motor
Moment of inertia: I (kg • m )

2
Effective torque : T (N•m)

0.0040 0.30 High torque
Resolution (Pulse/rotation) 409 6 0.0035 High torque
0.25
Repeatability Note 1 (°) +/05
-0. 0.0030
0.0025 0.20
Drive method Special warm gear + belt 0.0020
Standard
0.15
Torque type Standard High torque 0.0015 Standard 0.10
0.0010
Maximum speed Note 2 (°/sec) 420 280 0.05
Cartesian
0.0005
XY-X
Rotating torque (N•m) 20

2. 302
.
robots
0.0000 0.00
100 1000 10000 0 100 200 300 400 500
Max. pushing torque (N•m) 11
0. 10
6. Acceleration/deceleration: ώ (°/s )
2
Speed: ω (°/s)
Backlash (°) +/5
-0.
Allowable load Controller
Max. moment of inertia Note 3 (kg•m2) 001
0. 8 004
.
（a）（b） Controller Operation method
Cable length (m) Standard: 1 / Option: 3, 5, 10
YK-X
SCARA
TS-S2 I/O point trace /

robots
Rotation range (°) 310

Note 1. Positioning repeatability in one direction.
Note 2. The maximum speed may vary depending on the Allowable thrust load (N) Allowable moment TS-SD Pulse train control
Allowable radial load (N)
(a) (b) (N•m)
moment of inertia. Check the maximum speed while High High High High
referring to the “Moment of inertia vs. Acceleration/ Standard Standard Standard Standard
rigidity rigidity rigidity rigidity
model model model model
Pick & place
deceleration” graph and the “Effective torque vs. model model model model
YP-X
robots
78 86 74 78 107 2.4 2.9

speed” graph (reference).
Note 3. For moment of inertia and effective torque details, Note. When purchasing the product, set the controller acceleration while carefully
see P.744. checking the “Moment of inertia vs. Acceleration/Deceleration” and “Effective
torque vs. Speed” graphs.
For details, please refer to the TRANSERVO Series User’s Manual.
CLEAN
RF02-NN Limit rotation specification – Standard model

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

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

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

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

*1
Origin position in CCW

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

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

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

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

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

RF02-N
Articulated
robots
YA
Linear conveyor
modules
LCM
Single-axis robots
GX
Motor-less single
Robonity TRANSERVO
axis actuator
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
RF02-NH Limit rotation specification – High rigidity model
SCARA
robots
Pick & place
Stroke end
YP-X
Origin position in
robots
1]
CW rotation direction
pt 0 014
+/-
3. )
[Origin] *3
De 8( +0.
[5°
3H th 4
8
De
8(
3H
+0.0
p
Origin mark
5°+/-1
014
2
)
CLEAN
d i r e c ti o n
42 15
45°
30°
CC W
°
Origin *2
310
A A
2
*1

51
rotation direction 2-ф5.2 drill-through

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

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

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

RF02-S
Articulated
Rotary type / Sensor specification

robots
YA
CE compliance Limitless rotation

Linear conveyor
modules
LCM
Ordering method
RF02 S L S2S
Single-axis robots

S2S: TS-S2S Note2 NP: NPN
GX
S: Sensor N: Standard N: Standard torque L: From the left N: CCW 1K: 1m PN: PNP
(Limitless rotation) H: High rigidity H: High torque Z: CW 3K: 3m CC: CC-Link
PT: PROFINET
Motor-less single

Robonity TRANSERVO
axis actuator
SHS
SHS: TS-SHS NP: NPN B: With battery
PN: PNP (Absolute)
single-axis robots
CC: CC-Link N: None

Compact
EP: EtherNet/IPTM
Note 1. The robot cable is flexible and resists bending. PT: PROFINET
Note 2. See P.634 for DIN rail mounting bracket. GW: No I/O boardNote 3

Single-axis robots
FLIP-X
0.0045 0.35
Motor 20 Step motor
2

0.0040 High torque
Resolution (Pulse/rotation) 4096 High torque
0.30
0.0035
Repeatability Note 1 (°) +/-0.05 0.25
0.0030
single-axis robots
0.0025
PHASER
Standard
Linear motor
Torque type Standard High torque 0.0020 0.15

Maximum speed Note 2 (°/sec) 420 280 0.0015 Standard 0.10
Rotating torque (N•m) 0.22 0.32 0.0010
0.0005 0.05
Max. pushing torque (N•m) 0.11 0.16
Backlash (°) +/-0.5 0.0000 0.00
100 1000 10000 0 100 200 300 400 500
2
Max. moment of inertia Note 3 (kg•m2) 0.0018 0.004 Acceleration/deceleration: ώ (°/s ) Speed: ω (°/s)
Cartesian
XY-X
robots

Rotation range (°) 360
（a）（b） Controller Operation method
Note 2. The maximum speed may vary depending on the TS-S2S I/O point trace /
moment of inertia. Check the maximum speed while TS-SHS Remote command
YK-X
SCARA
referring to the “Moment of inertia vs. Acceleration/

robots
deceleration” graph and the “Effective torque vs. Allowable radial load Allowable thrust load (N) Allowable moment
speed” graph (reference). (N) (a) (b) (N•m)
Note 3. For moment of inertia and effective torque details, Standard High Standard High Standard High Standard High
see P.744. rigidity rigidity rigidity rigidity
78 86 74 78 107 2.4 2.9
Pick & place
YP-X
robots
Note. When purchasing the product, set the controller acceleration while carefully
checking the “Moment of inertia vs. Acceleration/Deceleration” and “Effective
CLEAN
RF02-SN Sensor specification – Standard model

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

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

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

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

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

7
2 14
Note 1. This drawing is output under the conditions below.
11
Bearing....................... Standard 52
Torque........................ Standard/High torque Approx. 300
Note 2. The minimum bending radii of the motor cable and sensor cable are R30. (Sensor cable exit direction: Exit from left side) 72
Note 3. The motor cable exit direction is only the left side.
282 Controller TS-S2 u 626 TS-SH u 626

RF02-S
Articulated
robots
YA
Linear conveyor
modules
LCM
Single-axis robots
GX
Motor-less single
Robonity TRANSERVO
axis actuator
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
RF02-SH Sensor specification – High rigidity model
SCARA
robots
3H
2
De
8(
15
+0.
pth
n
0
014
c ti o
)
C C W dir e
Pick & place

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

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

Approx. 300
Note 1. This drawing is output under the conditions below. (Sensor cable exit direction: Exit from left side) 72
Note 2. The minimum bending radii of the motor cable and sensor cable are R30.
Note 3. The motor cable exit direction is only the left side.
Controller TS-S2 u 626 TS-SH u 626 283

RF03-N
Articulated

robots
YA

Linear conveyor
modules
LCM
Ordering method
RF03 N S2
Single-axis robots

GX
N: Stroke end (Limit rotation) N: Standard N: Standard torque R:From the right N: CCW 1K: 1m PN: PNP
H: High rigidity H: High torque L: From the left Z: CW 3K: 3m CC: CC-Link
PT: PROFINET
Motor-less single

Robonity TRANSERVO
axis actuator
SH
PN: PNP (Absolute)
single-axis robots
CC: CC-Link N: None

Compact
EP: EtherNet/IPTM
PT: PROFINET
SD 1
Single-axis robots

Note 2. See P.634 for DIN rail mounting bracket.
FLIP-X

Note 3. Select this selection when using the gateway function. For details, see P.96. SD: TS-SD 1: 1m

0.030 1.4
Motor 28 Step motor
2
single-axis robots

PHASER
0.025 High torque 1.2

Linear motor
Resolution (Pulse/rotation) 4096 1.0

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

Backlash (°) +/-0.5
Max. moment of inertia Note 3 (kg•m2) 0.012 0.027
Cable length (m) Standard: 1 / Option: 3, 5, 10 （a）（b） Controller Operation method
Rotation range (°) 320 TS-S2 I/O point trace /
YK-X
SCARA
robots

(a) (b) (N•m)
Pick & place
196 233 197 363 398 5.3 6.4

YP-X
robots

CLEAN
*1 Table movable range by return-to-origin operation.

Be careful not to interfere with the workpiece or equipment
pt 0 .018
4. )
De 8( +0
around the table.

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

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

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

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

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

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

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

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

motor cable is R30. 75

RF03-N
Articulated
robots
YA
Linear conveyor
modules
LCM
Single-axis robots
GX
Motor-less single
Robonity TRANSERVO
axis actuator
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
Pick & place
Stroke end
pt 0 .018
4. )
YP-X
robots
Origin position in
De 8( +0
4H th 5
CW rotation direction 2
4H
De
]
8(
/-1
[Origin] *3
+0.
p
23
5°+
0
018
Origin mark
5°+/-1 [
42
45°
d i r e c ti o n
CLEAN
30°
CC W
320°
*1
A A
2
Origin *2
66

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

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

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

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

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

2-M8x1.25 Depth 16 R30.
75

RF03-S
Articulated

robots
YA

Linear conveyor
modules
LCM
Ordering method
RF03 S S2S
Single-axis robots

GX
S: Sensor N: Standard N: Standard torque R:From the right N: CCW 1K: 1m PN: PNP
(Limitless rotation) H: High rigidity H: High torque L: From the left Z: CW 3K: 3m CC: CC-Link
PT: PROFINET
Motor-less single

Robonity TRANSERVO
axis actuator
SHS
PN: PNP (Absolute)
single-axis robots
CC: CC-Link N: None

Compact
Note 1. The robot cable is flexible and resists bending. EP: EtherNet/IPTM

Single-axis robots
FLIP-X
0.030 1.4
Motor 28 Step motor
2

Resolution (Pulse/rotation) 4096 0.025 High torque 1.2
High torque
0.020
0.015 Standard
single-axis robots
Torque type Standard High torque 0.6

PHASER
Linear motor
0.010 Standard
Maximum speed Note 2 (°/sec) 420 280 0.4
0.005
Rotating torque (N•m) 0.8 1.2 0.2
Max. pushing torque (N•m) 0.4 0.6 0.000
100 1000 10000
0.0
0 100 200 300 400 500
Backlash (°) +/-0.5 Acceleration/deceleration: ώ (°/s2) Speed: ω (°/s)
Cartesian
XY-X

robots
Rotation range (°) 360 （a）（b） Controller Operation method

Note 1. Positioning repeatability in one direction. TS-S2S I/O point trace /
Note 2. The maximum speed may vary depending on the TS-SHS Remote command
moment of inertia. Check the maximum speed while
referring to the “Moment of inertia vs. Acceleration/ Allowable thrust load (N)
YK-X
SCARA
Allowable radial load Allowable moment

robots
deceleration” graph and the “Effective torque vs. (N) (a) (b) (N•m)
speed” graph (reference). Standard High Standard High Standard High Standard High
Note 3. For moment of inertia and effective torque details, rigidity rigidity rigidity rigidity
see P.744. 196 233 197 363 398 5.3 6.4
Pick & place
YP-X

robots


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

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

30°
the workpiece or equipment

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

*1
may differ from that shown in

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

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

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

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

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

20

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

range)

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

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

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

RF03-S
Articulated
robots
YA
Linear conveyor
modules
LCM
Single-axis robots
GX
Motor-less single
Robonity TRANSERVO
axis actuator
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
4H th 5
2
De
8( 0
+0.
23
p
018 )
ion
r ect
Pick & place

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

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

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

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

RF04-N
Articulated

robots
YA

Linear conveyor
modules
LCM
Ordering method
RF04 N S2
Single-axis robots

GX
N: Stroke end (Limit rotation) N: Standard N: Standard torque R:From the right N: CCW 1K: 1m PN: PNP
H: High rigidity H: High torque L: From the left Z: CW 3K: 3m CC: CC-Link
PT: PROFINET
Motor-less single

Robonity TRANSERVO
axis actuator
SH
PN: PNP (Absolute)
single-axis robots
CC: CC-Link N: None

Compact
EP: EtherNet/IPTM
PT: PROFINET
Note 1. The robot cable is flexible and resists bending. SD 1

Single-axis robots
Note 2. See P.634 for DIN rail mounting bracket.

FLIP-X

Note 3. Select this selection when using the gateway function. For details, see P.96. SD: TS-SD 1: 1m

0.12 12
Motor 42 Step motor
2
single-axis robots

PHASER
0.10 10
Linear motor
Resolution (Pulse/rotation) 20480 High torque

High torque
0.08 8
Repeatability Note 1 (°) +/-0.05
0.06 6
Drive method Special warm gear + belt
0.04 4
Torque type Standard High torque Standard
0.02 2 Standard
Maximum speed Note 2 (°/sec) 420 280
0.00 0
100 1000 10000
Rotating torque (N•m) 6.6 10 0 100 200 300 400 500
Cartesian
XY-X
2
Acceleration/deceleration: ώ (°/s ) Speed: ω (°/s)
robots
Max. pushing torque (N•m) 3.3 5

Backlash (°) +/-0.5
Cable length (m) Standard: 1 / Option: 3, 5, 10 （a）（b） Controller Operation method
Rotation range (°) 320 TS-S2 I/O point trace /
YK-X
SCARA
robots

(a) (b) (N•m)
Pick & place
314 378 296 398 517 9.7 12.0

YP-X
robots
CLEAN

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

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

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

90
e
(60° equally divided.)

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

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

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

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

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

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

RF04-N
Articulated
robots
YA
Linear conveyor
modules
LCM
Single-axis robots
GX
Motor-less single
Robonity TRANSERVO
axis actuator
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
8
Pick & place

3 )
pt 0 0.01
YP-X
De 8 ( +
robots
5H th 5.5
5.
De
5H
8(
h
p
Stroke end 2
+0.0
5
018
Origin position in 26.
)
CW rotation direction
1]
45°
°+/-
[Origin] *3
5°+/-1 [5
30°
Origin mark
C C W d ir e c ti o n
CLEAN
A A ф14 deep spot facing,
320°
Depth 8.5
85
*1
45
Origin *2 P.C.D.55
n
Origin position in CCW 6-M6x1.0 Depth 10

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

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

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

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

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

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

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

RF04-S
Articulated

robots
YA

Linear conveyor
modules
LCM
Ordering method
RF04 S S2S
Single-axis robots

GX
S: Sensor N: Standard N: Standard torque R:From the right N: CCW 1K: 1m PN: PNP
(Limitless rotation) H: High rigidity H: High torque L: From the left Z: CW 3K: 3m CC: CC-Link
PT: PROFINET
Motor-less single

Robonity TRANSERVO
axis actuator
SHS
PN: PNP (Absolute)
single-axis robots
CC: CC-Link N: None

Compact
Note 1. The robot cable is flexible and resists bending. EP: EtherNet/IPTM
Note 3. Select this selection when using the gateway function. For details, see P.96. GW: No I/O boardNote 3

Single-axis robots
0.12 12
FLIP-X
Motor 42 Step motor

2

Resolution (Pulse/rotation) 20480 0.10
High torque
10
High torque
Repeatability Note 1 (°) +/-0.05 0.08 8
Drive method Special warm gear + belt 0.06 6
Torque type Standard High torque
single-axis robots
PHASER
Linear motor
0.04 4
Maximum speed Note 2 (°/sec) 420 280 Standard
Rotating torque (N•m) 6.6 10 0.02 2 Standard
Max. pushing torque (N•m) 3.3 5 0.00 0
0 100 200 300 400 500
100 1000 10000
Backlash (°) +/-0.5 Acceleration/deceleration: ώ (°/s2) Speed: ω (°/s)
Cartesian

XY-X
robots
Rotation range (°) 360 （a）（b） Controller Operation method

Note 1. Positioning repeatability in one direction. TS-S2S I/O point trace /
Note 2. The maximum speed may vary depending on the TS-SHS Remote command
moment of inertia. Check the maximum speed while
referring to the “Moment of inertia vs. Acceleration/ Allowable radial load Allowable thrust load (N) Allowable moment
YK-X
SCARA
robots
deceleration” graph and the “Effective torque vs. (N) (a) (b) (N•m)
speed” graph (reference). Standard High Standard High Standard High Standard High
Note 3. For moment of inertia and effective torque details, rigidity rigidity rigidity rigidity
see P.744. 314 378 296 398 517 9.7 12.0
Pick & place

YP-X
robots


2
CLEAN
5H th 5.5
De
5
8( 0
26.
+0.0
p
18 )
ion
re ct
30°
C C W di
*1 Table movable range by return-to-origin

360°
A A 2-ф8.5 drill-through
*1
operation. Be careful not to interfere ф14 deep spot facing,

with the workpiece or equipment Depth 8.5
85
ir e c t i o n
around the table.

*2 The return-to-origin position may differ P.C.D.55
from that shown in this drawing.
d
CW
To align with the position shown in this 6-M6x1.0 Depth 10

drawing, refer to the TS Series User's 90 (60° equally divided.)
Manual and change the origin 70
coordinates. 0
ф76h8( -0.046 )
0
5.5
10
ф74h8(-0.046 )
10.8
Manual operation screw (31)

(24)
(both sides)
16
(20)
52
(40)
114.2 (3) 127 (3)

26
(15) 133 (15) (Motor cable exit direction: Exit from left side) (Motor cable exit direction: Exit from right side)
5H8( 0 )
+0.018
Depth 5.5
+0.039
ф35H8 ( )
range)
(Tolerance
2
0
ф20 (Through-hole)
85
+0.033
ф26H8 ( )
(Tolerance
0
range)
2-M10x1.5 Depth 20
11
Weight (kg) 2.3

12
Bearing....................... Standard 90
Torque........................ Standard/High torque Approx. 300 Approx. 300
Note 2. The minimum bending radii of the motor cable and sensor cable are R30. (Sensor cable exit direction: Exit from left side) 113 (Sensor cable exit direction: Exit from right side)

RF04-S
Articulated
robots
YA
Linear conveyor
modules
LCM
Single-axis robots
GX
Motor-less single
Robonity TRANSERVO
axis actuator
single-axis robots
Compact
Single-axis robots
FLIP-X
single-axis robots
PHASER
Linear motor
Cartesian
XY-X
robots
YK-X
SCARA
robots
2
5H h 5.5
5
26.
De
8( 0
+0.
pt
018 )
ion
Pick & place

r ect
YP-X
robots
C C W di
30°
360°
*1
CLEAN
A A 2-ф8.5 drill-through
ir e c t i o n
ф14 deep spot facing,

Depth 8.5
85
d
CW
P.C.D.55
6-M6x1.0 Depth 10
90 (60° equally divided.)
70
interfere with the workpiece or equipment around the table.
*2 The return-to-origin position may differ from that shown in this drawing. 0
To align with the position shown in this drawing, refer to the TS Series ф76h8 (-0.046 )
User's Manual and change the origin coordinates. 0
ф74h8 (-0.046 )
10
15.5
20.8
(24)
Manual operation screw (31)

(both sides)
26
(20)
52
(40)
114.2
(3) 127 (3)
26
(15) 133 (15) Approx. 160 Approx. 170

(Motor cable exit direction: Exit from left side) (Motor cable exit direction: Exit from right side)
5H8( 0 )
2
(Tolerance range)
+0.018
Depth 5.5
+0.039
ф35H8 ( 0 )
ф20 (Through-hole)
85
+0.033
(Tolerance range)
ф26H8 ( 0 )
2-M10x1.5 Depth 20
11
Weight (kg) 2.5

12

Torque........................ Standard/High torque Approx. 300 90 Approx. 300
Note 2. The minimum bending radii of the motor cable and sensor cable are R30. (Sensor cable exit direction: Exit from left side) 113 (Sensor cable exit direction: Exit from right side)

BD04
Articulated
Belt type
robots
YA
CE compliance
Linear conveyor
modules
LCM
Ordering method
BD04 48 N N S2
Single-axis robots

Model Lead Brake Origin position Stroke Cable length Note 1
GX
48: 48mm N: With no brake N: Standard 300: 300mm 1K: 1m PN: PNP
500: 500mm 3K: 3m CC: CC-Link
600: 600mm 5K: 5m DN: DeviceNetTM
700: 700mm 10K: 10m EP: EtherNet/IPTM
800: 800mm PT: PROFINET
900: 900mm
Motor-less single

Robonity TRANSERVO
1000: 1000mm
axis actuator
SH
PN: PNP (Absolute)
single-axis robots
CC: CC-Link N: None

Compact
EP: EtherNet/IPTM
PT: PROFINET
SD 1
Single-axis robots

FLIP-X
Note 2. See P.634 for DIN rail mounting bracket. Robot driver I/O cable
SD: TS-SD 1: 1m

single-axis robots

PHASER
Linear motor
Resolution (Pulse/rotation) 409 6

B
Repeatability Note 1 (mm) +/1-0. C A
B C MR MP
Drive method Belt
Equivalent lead (mm) 48 Horizontal installation (Unit: mm) Wall installation (Unit: mm) (Unit: N.m)
Maximum speed Note 2 (mm/sec) 1100 A B C A B C MY MP MR

Cartesian
10 10 20
XY-X
Maximum payload (kg) 1 0.5kg 8036 1950 1504 0.5kg 1614 1942 8013
robots
300/500/600/ 700/ 800/ 1kg 3933 968 747 1kg 798 961 3969
Stroke (mm)
900/1000
Overall length (mm)
Stroke + 19 5. guide service life of 10,000km (This does not warrant the service life of the
(Horizontal installation)
product.). (Service life is calculated for 600mm stroke models.)
Maximum outside dimension W40 × H1019.
YK-X
SCARA
robots
Cable length (m) Standard: 1 / Option: 3, 5, 10 Speed vs. payload Controller

Note 1. Positioning repeatability in one direction. Horizontal 1.2 Quick reference Controller Operation method
Note 2. The maximum speed needs to be changed in 1 Payload Speed TS-S2 I/O point trace /
%
accordance with the payload. (kg) (mm/sec) TS-SH Remote command
Payload (kg)
See the “Speed vs. payload” graph shown on the right. 0.8 1 900 90
Pick & place
TS-SD Pulse train control

YP-X
robots
0.6 0.5 1000 95

0.4 0 1100 100
0.2
0
CLEAN
0 200 400 600 800 1000 1200

Speed (mm/s)
BD04
Approx. 230 (Cable length) L
92.5+/-1 Effective stroke (103)

24 +0.025
54.5(Note 1) 3H9 ( 0 ) Depth 3 63(Note 1)
R
3.5
28
40
(24) (40) +0.025 40

ф3H9( 0 )Depth 3 4-M4x0.7 Depth 6.4
(15)
(72)
(2.4)
Main unit installation reference surface (Note 2)

(1.5) 45.3
(31)
39.4
27
(35.4)
40
99.7
33
20
6
53.5 (Effective stroke+135) 7

5.5
8 20 Mx150
M4x0.7
3H9(+0.025
0 ) 150 Depth 8
Depth 3 N-ф3.4 (For grounding terminal)
R
4
34
Effective stroke 300 500 600 700 800 900 1000

L 495.5 695.5 795.5 895.5 995.5 1095.5 1195.5 Note 1. Position from both ends to the mechanical stopper. (Movable range during return-to-origin)
Note 2. When installing using the main unit installation reference surface, make the mating or positioning height
M 2 4 4 5 6 6 7
2mm or more higher than the reference surface since the R-chamfering is provided on the main unit.
N 6 10 10 12 14 14 16 (Recommended height, 5mm)
Weight (kg) 1.19 1.45 1.58 1.71 1.84 1.97 2.1 Note 3. The minimum bending radius of the motor cable is R30.

BD05
Articulated
Belt type
robots
YA
CE compliance
Linear conveyor
modules
LCM
Ordering method
BD05 48 N N S2
Single-axis robots
GX
900: 900mm
Motor-less single
Robonity TRANSERVO
1000: 1000mm
axis actuator
SH
1200: 1200mm
1500: 1500mm
1800: 1800mm
2000: 2000mm Robot positioner I/O Battery
PN: PNP (Absolute)
single-axis robots
CC: CC-Link N: None
Compact
EP: EtherNet/IPTM
PT: PROFINET
SD 1
Single-axis robots
FLIP-X
SD: TS-SD 1: 1m
single-axis robots
PHASER
Linear motor
B
Repeatability Note 1 (mm) +/-0.1 C A
B C MR MP
Drive method Belt
Cartesian
27 27 52
XY-X
Maximum payload (kg) 5 1kg 9445 2274 1681 1kg 1784 2312 9545
robots
300/500/600/700/800/900/ 3kg 2982 702 553 3kg 573 743 3082
Stroke (mm)
1000/1200/1500/1800/2000 5kg 1689 385 325 5kg 331 429 1789
Overall length (mm)
Stroke + 241.8 Note. Distance from center of slider upper surface to carrier center-of-gravity at a
Maximum outside dimension guide service life of 10,000km (This does not warrant the service life of the
W58 × H123 product.). (Service life is calculated for 600mm stroke models.)
YK-X
SCARA
robots
Note 1. Positioning repeatabi
yinlit one direc tion. Speed vs. payload Controller
Note 2. The ma ximum speed needs to be changed in Horizontal 6 Quick reference Controller Operation method
ac cordance with the lopa yad.
5 Payload Speed TS-S2 I/O point trace /
See the “Speed vs.lopa yad” graph shown on the %
Pick & place

(kg) (mm/sec) TS-SH Remote command
YP-X
righ .t
Payload (kg)
robots
5 550 39
3 TS-SD Pulse train control
3 700 50
2
1 1000 71
1 0 1400 100
CLEAN
0
0 500 1000 1500
Speed (mm/s)
BD05
Approx. 230 (Motor cable length) L
45
65.8 (Note 1) 3H9 ( +0.025
0 ) Depth 3 68 (Note 1)
3.5
38
R
58
(24) (40)
(15)
ф3H9 (+0.025
0 ) Depth 3 64 4-M5x0.8 Depth 8.5
(2.4)
(1.5) (102) Main unit installation reference surface (Note 2)

56.8
(31)
50
38
48
120.8
(41.5)
38.5
24
64.8 (Effective stroke+167) 10 M4x0.7 Depth 8

6.5
6 (For grounding
10 25 Mx170
3H9 ( +0.025
0 ) 170 terminal)
Depth 3 N-ф4.5
4
R
48
Effective stroke 300 500 600 700 800 900 1000 1200 1500 1800 2000
L 541.8 741.8 841.8 941.8 1041.8 1141.8 1241.8 1441.8 1741.8 2041.8 2241.8
M 2 3 4 4 5 6 6 7 9 11 12
N 6 8 10 10 12 14 14 16 20 24 26
Weight (kg) 2.39 2.85 3.08 3.31 3.54 3.77 4 4.46 5.15 5.84 6.3
Note 1. Position from both ends to the mechanical stopper. (Movable range during return-to-origin)
Note 2. When installing using the main unit installation reference surface, make the mating or positioning height 2mm or more higher than the reference surface since the R-chamfering is provided on the main unit.
(Recommended height, 5mm)
Note 3. The minimum bending radius of the motor cable is R30.

BD07
Articulated
Belt type
robots
YA
CE compliance
Linear conveyor
modules
LCM
Ordering method
BD07 48 N N S2
Single-axis robots

GX
900: 900mm
Motor-less single

Robonity TRANSERVO
1000: 1000mm
axis actuator
SH
1200: 1200mm
1500: 1500mm
1800: 1800mm
2000: 2000mm Robot positioner I/O Battery
PN: PNP (Absolute)
single-axis robots
CC: CC-Link N: None

Compact
EP: EtherNet/IPTM
PT: PROFINET
SD 1
Single-axis robots

FLIP-X
SD: TS-SD 1: 1m

single-axis robots

PHASER
Linear motor

B
Repeatability Note 1 (mm) +/-0.1 C A
B C MR MP
Drive method Belt

Cartesian
46 46 101
XY-X
Maximum payload (kg) 14 3kg 5767 1353 1247 3kg 1324 1354 5588
robots
300/500/600/700/800/900/ 8kg 1839 399 458 8kg 474 399 1658

Stroke (mm)
1000/1200/1500/1800/2000 14kg 829 154 254 14kg 255 151 643
Overall length (mm)
Stroke + 285.6 Note. Distance from center of slider upper surface to carrier center-of-gravity at a
Maximum outside dimension guide service life of 10,000km (This does not warrant the service life of the
W70 × H147.5 product.). (Service life is calculated for 600mm stroke models.)
YK-X
SCARA
robots

Speed vs. payload Controller
Note 2. The maximum speed needs to be changed in Horizontal 16 Quick reference Controller Operation method
accordance with the payload. 14 Payload Speed TS-S2 I/O point trace /
See the “Speed vs. payload” graph shown on the %
(kg) (mm/sec)
Pick & place
12
Payload (kg)
YP-X
right.
robots
10 14 50 3
8 TS-SD Pulse train control
9 525 35
6
4 4 1000 66
2 1 1400 93
0 0.5 1500 100
CLEAN
0 500 1000 1500 2000

Speed (mm/s)
BD07
Approx. 230 (Motor cable length) L

42
87.6 (Note 1) 5H9 (+0.030
0 ) Depth 5 70 (Note 1)
44
5.5
R
70
(24) (40) ф5H9 ( +0.030 ) Depth 5 70 4-M6x1.0 Depth 8.5

(15)
0
(2.4)
(122) Main unit installation reference surface (Note 2)

(1.5) 78.6
(31)
60
48
60
145.3
(49.8)
46.8
30
6.5
86.6 (Effective stroke+189) 10

7.5 M4x0.7 Depth 8
15 25 Mx200 (For grounding
+0.030
5H9 ( 0 ) 200 terminal)
Depth 5 N-ф5.5
6
R
60
Effective stroke 300 500 600 700 800 900 1000 1200 1500 1800 2000
L 585.6 785.6 885.6 985.6 1085.6 1185.6 1285.6 1485.6 1785.6 2085.62285.6 Note 1. Position from both ends to the mechanical stopper. (Movable range during return-to-origin)
M 2 3 3 4 4 5 5 6 8 9 10 Note 2. When installing using the main unit installation reference surface, make the mating or
positioning height 2mm or more higher than the reference surface since the R-chamfering
N 6 8 8 10 10 12 12 14 18 20 22 is provided on the main unit. (Recommended height, 5mm)
Weight (kg) 4.12 4.8 5.14 5.48 5.82 6.16 6.5 7.18 8.2 9.22 9.9 Note 3. The minimum bending radius of the motor cable is R30.

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TR A NSE R V O

CLOSED LOOP STEPPING MOTOR

Robot positioner TS-S2/TS-SH P.626 Robot driver TS-SD P.636

SS05H-S SS05H-R (L) SG07

SR type (Rod type standard)

SR05-S SR04-S SR03-S SR05-R (L) SR04-R (L) SR03-R (L)

SR type (Rod type with support guide)

SRD05-S SRD04-S SRD03-S SRD05-U SRD04-U SRD03-U

Lead Maximum payload (kg)Note 2 Maximum speed Stroke

STH04-S STH04-R (L)

Lead Maximum payload (kg)Note 2 Maximum speed Stroke

RF type (Rotary type)

Rotation Maximum pushing Maximum speed Rotation

BD type (Belt type)

Lead Maximum payload (kg)Note 2 Maximum speed Stroke

Energy saving No hunting during stopping

possible to maintain excellent controllability. Variations in Adverse effect on settling time

SS type (Slider type) Straight model/Space-saving model

SG type (Slider type)

Maximum payload is 46 kg. A maximum SS05H SG07

vertical specifications. 12 kg Payload is

Maximum speed is 1200 mm/sec. current model

SR type (Rod type) Standard model/Model with support guide

priate locations to eliminate waste lubrication. Model KCU-M3861-00

The dual-layer scraper is in contact with the front of the rod to

STH type (Slide table type) Straight model/Space-saving model

l Suitable for precision assembly.

RF type (Rotary type) Standard model/High rigidity model

l Thin and compact

BD type (Belt type) Straight model

Pick & place

Main functions P.48 253

Maximum payload (kg) Note 2 Maximum speed Detailed info

Space-saving model 20 6 - 1000

SG07 W65 × H64 12 43 12 800 50 to 800

(Rod type with support

STH Type STH04-S W45 × H46 5 6 2 200

50 to 100 P.276 - P.277

(Slide table type) STH04-R (L) Note 4 W73 × H51 10 4 1 400

Rotational torque Maximum pushing Maximum speed Detailed info

RF02-N 42 (Standard) 310 (RF02-N)

Note 1. The size shows approximate maximum cross sectional size.

w Precautions for use

SR/SRD/STH type Speed vs. payload table

10 450 90 20 225 90 10 450 90 20 225 90

254 1 150 100

Pick & place

Model Lead Brake Origin position Stroke Cable length

Rod type: Bracket plates

CE compliance Origin on the non-motor side is selectable

Robot positioner I/O

GW: No I/O boardNote 4

Basic specifications CC: CC-Link

Maximum motor torque (N.m) 0.27

Robot driver I/O cable

Stroke (mm) 50 to 400 (50mm pitch)

807 218 292 274 204 776 407 408 16 19 17

Lead 2 Lead 6 Lead 12

Lead 2 Lead 6 Lead 12

4kg 869 61 92 4kg 72 48 829 4kg 53 53

TS-SH Remote command

SS04 Straight model