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FULL LINEUP

ARTICUL ATED ROBOTS

LINEAR CONVEYOR MODULES
Features P. 6
Specifications P.107

YA Series
6-axis

7-axis

YA-RJ
YA-R3F
YA-R5F
YA-R5LF
YA-R6F

YA-U5F
YA-U10F
YA-U20F

P.109

Controller for use with
the YA series
YAC100

P.114

Features P.14
Specifications P.127

TRANSERVO Series
SS Type (Slider type)
Straight model/Space-saving model
SS05H-S
SS05-S
SS04-S

LCM100-4M/3M/2MT
(Linear module)

P.117

CLOSED LOOP STEPPING MOTOR SINGLE-AXIS ROBOTS

SG Type (Slider type)

Features P.8
Specifications P.119

LCM100

Controller LCC140 for Linear
module

LCM100-4B/3B
(Belt module)

P.120

P.120

P.126

LINEAR MOTOR SINGLE-A XIS ROBOTS
Features P.30
Specifications P.215

PHASER Series

MF Type Long stroke & high-power using flat motor with core

 Double Carriges Standard on all Modules

SG07

SS05H-R (L)
SS05-R (L)
SS04-R (L)

MF7/7D
MF15/15D
MF20/20D
MF30/30D
MF75/75D
MF20

MF15

P.130

P.136

SR Type (Rod type)

SR Type (Rod type with support guide)

Straight model/Space-saving model

Straight model/Space-saving model

SR05-S
SR04-S
SR03-S

SRD05-S
SRD04-S
SRD03-S

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

SRD05-U
SRD04-U
SRD03-U

MF30D

MF75

P.218
P.137
STH Type
(Slide table type)

RF Type
(Rotary type)

Straight model/
Space-saving model
STH04-S
STH06-S

P.140

Standard model/
High rigidity model

STH04-R (L)
STH06-R (L)

RF02
RF03
RF04

BD Type
(Belt type)

MR Type Shaft motor drive is compact and lightweight

 Double Carriges Standard on all Modules
MR12/12D

Straight model

MR12

BD04
BD05
BD07

P.236

CARTESIAN ROBOTS
P.150

P.154

P.166

PXYx

SINGLE-A XIS ROBOTS

Features P.34
Specifications P.239

XY-X Series

FXYBx

FXYx

Features P.20
Specifications P.169

FLIP-X Series
T type Frame-less structure model
T4L/T4LH
T5L/T5LH
T6L
T9/T9H

F type / GF type
High rigidity frame model

P.250

F8/F8L/F8LH/F10/F10H/F14/F14H/
F17/F17L/F20/F20N
GF14XL/GF17XL

SXYx

P.252
SXYBx

P.258
MXYx

T4L

P.174

F8

GF14XL

P.181
P.264

N type Nut rotation type model

R type Rotation axis type model

N15/N18
N15D/N18D
(Double carriage)

R5
R10
R20

N15

P.300

NXY-W

NXY

R5

P.198

P.282

P.290

P.296

P.212
HXYx

HXYLx

B type Timing belt drive model
B10
B14/B14H
B10

P.206

P.310

P.316

Products using 4-row circular arc
groove 2-point contact guides

Products meeting Class 10
cleanliness

YK-TW Series / YK-XG Series / YK-XR Series
Features P.38
YK-XGS / YK-XGP
Specifications P.367

CLEAN Type

Arm length: 350mm/500mm
Maximum payload: 5kg

Arm length: 120mm to 220mm
Maximum payload: 1kg

YK350TW
YK500TW

YK120XG
YK150XG
YK180XG
YK180X
YK220X

Single-axis robots

Cartesian robots

SCARA robots

SSC04/05/05H
C4L/C4LH/
C5L/C5LH/C6L
C8/C8L/C8LH
C10/C14/C14H
C17/C17L/C20

SXYxC
SXYxC (ZSC12)
SXYxC (ZSC6)
SXYxC (ZRSC12)
SXYxC (ZRSC6)

YX180XC/ YK700XC/
YK220XC/ YK800XC/
YK250XGC YK1000XC
YK350XGC/
YK400XGC/
YK500XGLC
YK500XC/
YK600XGLC/
YK600XC/

SXYxC

C14

P.462

YK250XGC

YK180XG

P.370

ROBOTS CONTROLLER
P.374

Arm length: 250mm to 400mm
Maximum payload: 5kg

Arm length: 400mm
Maximum payload: 3kg

YK250XG
YK350XG
YK400XG

YK400XR

Robot positioner

Single axis

Single axis

Robot driver

<pulse train input only>

Cartesian
robots

XY-X

TS-X
TS-P

TS-S2
TS-SH
YK400XG

Features P.52
Specifications P.479

Controllers

RDV-X
RDV-P

TS-SD

YK400XR

P.490

Arm length: 500mm to 600mm
Maximum payload: 5kg to 20kg

Arm length: 700mm to 1200mm
Maximum payload: 20kg to 50kg

YK500XGL/XG
YK600XGL/XG/XGH

YK700XG/XGL
YK800XG
YK900XG
YK1000XG
YK1200X

Robot controller

Single axis

Single axis

Robot controller

<small servo 24V · 30W>

Pick & place
robots

Large type [YK-XG/YK-X]

P.504

YP-X

Medium type [YK-XG]

P.500

SR1-X
SR1-P

ERCD

P.516

P.386

P.393
Dust-proof & drip-proof type [YK-XGP]

Arm length: 300mm to 1000mm
Maximum payload: 20kg

Arm length: 250mm to 1000mm
Maximum payload: 20kg

Robot controller

1 to 4 axes

Robot controller

RCX240
RCX240S
RCX340

RCX222

RCX221

P.524

YK500XGS

YK250XGP

P.399

ROBOT VISION
P409

Robot with image processing functions

Features P.72

iVY2 System

RCX240 + iVY

PICK & PL ACE ROBOTS
Features P.46
Specifications P.427

YP-X Series

iVY System

P.532

2 axes type

3 axes type

4 axes type

YP220BX
YP320X

YP220BXR
YP320XR
YP330X

YP340X

A robotiVY board
integrated
vision system iVYボード
・照明制御ボード
• Lighting
control board
・トラッキングボード
• Tracking
board

Features P.78

RCX340 + iVY2

Tracking board

P.572

iVY2 unit

P.576

ELECTRIC GRIPPER
Features P.86
Specifications P.582

YRG Series

YP220BXR

P.429

YP340X

P.431

P.434

YRG-4225S

YRG-2810W

YRG-2840FS

YRG-2820T

P.583

CONTROLLER INFORMATION

Wall-mount / inverse type [YK-XGS]

1 to 2 axis

CLEAN

P.510
YK1200X
YK500XGL

SCARA
robots

P.385

YK-X

P.379

YP220BX

PHASER

Small type [YK-XR]

Linear motor
single-axis robots

Small type [YK-XG]

FLIP-X

P.456

Single-axis robots

P.439
YK500TW

Compact
single-axis robots

Tiny (ultra-small) type [YK-XG]

TRANSERVO

Orbit type (Omni directional) [YK-TW]

Features P.48
Specifications P.435

Linear conveyor
modules

CLEAN ROBOTS

LCM100

SCARA ROBOTS

YA

Products using a resolver as the
motor position detector

in this catalog

Articulated robots

Icons

A

YAMAHA ROBOT
History and approach

Only Yamaha can provide a
We provide the best solution

30 years of proven reliability.
YAMAHA’s robot development started as it was introduced in our
motorcycle production line more
than 30 years ago.
Since then, YAMAHA’s industrial
robots have supported production
equipment in a wide variety of
industries, such as assembly of electronic products, transfer of
in-vehicle components, and manufacture of large-scale LCD
panels.
Over the years YAMAHA has striven to develop and improve the
market and this is a testament to YAMAHA’s reliability.

LL YOU
Integrated robot vision

Orbit type robots

iVY2 SYSTEM

YK-TW

High-speed transfer
processing

Verify workpiece positioning

Unified control with only the robot
program

Ideal for narrow or
limited space

Technical development based on
the originally developed technologies
and focusing on the needs of the market
“Motor control technology” absolutely
necessary for precise and high-speed
operation “Controller development
technology” is based on the highest
evaluation standards and Signal
processing technology allowing stable
operation even under extreme environmental conditions.
Rigidity, durability, and operability are features of YAMAHA’s products base on “Coretechnologies*” .
*Control boards, linear motors, and linear scales (position detectors), etc.

Evaluation system provides
high reliability

Linear conveyor modules

LCM100-4M/3M

Multi-step production lines

Shorten transport time and save space

YAMAHA continues to evaluate
technology to assure product
reliability.
In the product development phase,
the evaluation test at “anechoic
chamber”* (YAMAHA’s equipment)
was developed to ensure the high
reliability and quality.

Belt modules

LCM100-4B/3B
Slider return

Reduce facility cost

*Anechoic chamber: This equipment is intended to synthetically develop the EMC (Electro-Magnetic Compatibility) technologies for YAMAHA Group products and to share the developed
technologies. This equipment can evaluate the compliance with each country's regulation in
conformity with the international standards.

YAMAHA quality ensuring safety
Manufacturing, sales, and technology integrated system is utilized at its
maximum level to establish a
system that consistently performs a
series of processes: inspection →
manufacture → assembly → inspection → shipping. This can provide
the customers with high quality, low
price, and short delivery time.
Key components are manufactured through in-house processing
and machining. YAMAHA as a robot manufacturer builds the components to the highest quality level.
Furthermore, the quality control based on the severe standards
achieves the craftsmanship with high quality.

4

SPEC UP

Major improvements

Linear conveyor module

LCM100

Repeat positioning accuracy

Width 100µm

±0.015

mm

(single slider)

width

0.1mm

(mutual difference among all sliders)

Max. payload

5kg

Reduced slider no-stop zone

65mm

15

kg

6

mm

A

SSEMBLE

unified lineup from miniature actuators to articulated robots.
for a wide range of automation.
Cartesian robots (2-axis to 6-axis)

XY-X Series
Sealing work

High-rigidity guide ensures
long life

Single-axis AC servo motor robot

FLIP-X Series

Board inspection work

A wide range of general-purpose
robots

Closed loop stepping motor
single-axis robots

Linear motor single-axis robots

PHASER Series

TRANSERVO Series

For long-distance or
high-mass transport

Low-cost positioning equipment

Scara robots

YK-XG Series
Pick and place work

Completely beltless design for high
rigidity and high precision

Articulated robots
(6-axis . 7-axis)

YA Series

Variable-orientation workpiece
assembly work

Allows more complex work

Circulation module

LCM100-2MT
"Insert" and "eject" sliders

Reduce the number of steps for
design and execution

NEW

New products
Orbit type robots

Articulated robots

YA Series

P.6

Belt modules

LCM100-4B/3B

P.370

Scara robots

P.8

Single-axis robots

F10H

YK350TW

YK700XGL

P.393

Robot driver

P.186

RDV-X / RDV-P

P.504

5

YA

Series
Product Lineup

ARTICULATED ROBOTS
Ideal for compact cell construction,
transport and assembly of small
parts, and inspection work.

U-axis

Arm

B-axis

Arm

B-axis

T-axis

T-axis
U-axis
R-axis

R-axis

Body
L-axis

S-axis

6

6-axis robots
S-axis: Rotate the body horizontally
L-axis: Move the body forward/backward
U-axis: Move the arm up/down
R-axis: Rotate the arm
B-axis: Move the tip of the arm up/down
T-axis: Rotate the tip of the arm

Body

E-axis

L-axis
S-axis

7-axis robots

S-axis: Rotate the body horizontally
L-axis: Move the body forward/backward
E-axis: Twist the arm
U-axis: Move the arm up/down
R-axis: Rotate the arm
B-axis: Move the tip of the arm up/down
T-axis: Rotate the tip of the arm

Reduce personnel, increase productivity
6-axis

7-axis

YA-RJ

YA-R3J

YA-R6F

YA-R5F

Type

Model

6-axis

YA-U20F

Vertical reach
(mm)

Payload
(kg)

Number of axes

YA-U5F

YA-U10F

Horizontal reach
(mm)

Page

YA-RJ

1 kg (max. 2 kg Note)

909

545

P.109

YA-R3F

3

804

532

P.110

5
5
6
5
10
20

1193
1560
2486
1007
1203
1498

706
895
1422
559
720
910

P.111
P.112
P.113
P.114
P.115
P.116

YA-R5F
YA-R5LF
YA-R6F
YA-U5F
YA-U10F
YA-U20F

7-axis

Application

YA-R5LF

Handling (general)

6-axis

Assembly /
Placement

7-axis

Note. When a load is more than 1 kg, the motion range will be smaller. Use the robot within the recommended motion range.

POINT
High-speed operation reduces cycle time
Thanks to high-speed, low-inertia AC servo motors, an arm designed
for light weight, and the latest control technology, these robots
achieve an operating speed that is best in their class.From supply,
assembly, inspection, and packing to palletization, all applications
can enjoy shorter cycle time and improved productivity.

Workpieces with a high wrist load are also supported

Robot simulator dramatically reduces startup time
We provide software that lets you use 3D CAD data to construct a
production facility in virtual space in a personal computer, and easily perform engineering tasks such creating programs and checking for robot interference. Teaching can be performed even before
the actual production line is completed, dramatically reducing line
startup time.
Note. Optional support
Interference checking

With a wrist section that has the highest allowable moment of inertia
in its class, these robots can support jobs involving a high wrist load,
or simultaneous handling of multiple workpieces.

program

Free arm movement further boosts productivity.
7-axis

Reduced space allows sophisticated system layouts

Since these robots can be installed close to workpieces or other
equipment, you can reduce the space required for your production facility. By locating multiple robots close to each other, processing can
be integrated and shortened.
7-axis

7-axis

“Elbow movement” unique to 7-axis models
allows optimal posture to be maintained

The 7-axis U-type robots allow “elbow movement,” changing only
the elbow angle without affecting the position or posture of the tool.
This permits operation to avoid nearby obstructions.

Access the workpiece from the opposite side or from below

Rotation of the seventh axis enables flexible movement with the
same freedom of motion as a human arm, allowing the workpiece to
be accessed from the opposite side or from below. This allows the
robot to enter narrow locations that a person could not fit in, or to approach the workpiece in a way that avoids obstructions, giving you
more freedom to design the layout for shorter cycle time and reduced
space.

Elbow movement with
unchanged flange
position

7

LCM 1 0 0

Product Lineup

LINEAR CONVEYOR MODULES
From "flow" to "move"
Efficient transfer processes for increased profitability

Linear conveyor module LCM100

Note. As the figure shown above illustrates CG images, they are different from
the actual product.

8

Linear Conveyor Module LCM100
Constructing high-speed throughput lines.
High-speed movement

Round travel is possible
Smooth deceleration and stop
Direct positioning
Work on the slider is possible

Reduced
transfer
time

Increased
yield
Removable slider

Production line using
LCM100
Saves
space

Lower
total costs

High-speed and high-accuracy transfer
●●Max.

speed: 3000 mm/sec

2G
15kg

●●Max. acceleration:
●●Max. load mass:

●●Repeated positioning accuracy:

±0.015mm (standalone slider)

Note

Note. This is the repeated positioning accuracy for a standalone slider when positioning from one direction
(single-side approach).
Note. The positioning accuracy for the single-side approach after correction by RFID is 0.1 mm including
the mutual difference between sliders.

POINT

Increase productivity by shortening transport time
● Comparison between LCM100 and a conventional conveyor
LCM100
Transfer

High-speed
movement

Linear motor drive for
high-speed transfer

30% reduction
in tact time

Finished

Stop

Work

Direct positioning

Work on the slider is possible

Accurate
stop

Optimum acceleration/
deceleration ensures a
smooth deceleration
and stop

Transfer
High-speed
movement

Transfer time is reduced by 2 seconds from

6 to 4 seconds

Increased by approx. 50%
Slider is supported
directly by a highly rigid
guide

LCM100
Conventional
conveyor
(Yield per min.)

Conventional conveyor
Transfer

Deceleration

Note. May vary depending on conditions

Stop

Retraction

Work

Finished

Returning

Transfer

Returned back to the line

Note. May vary depending
on conditions

Collides

Slow transport due to
frictional resistance

Requires some distance for
deceleration

All stop positions
require a sensor and
stopper

Workpiece retraction is
required because the
system does not have
rigidity

9

LCM100

Product Lineup

The length of the transfer line can be adjusted freely by
adding modules.
POINT

Save equipment space.
● Since the movement direction can be changed, the same processes are made common. This makes the equipment compact and
results in cost reduction.
● Forward and backward movement at a high speed can be set freely.
● Flexible actions such as moving only some sliders backward is possible.

Conventional system Two units of the same process are on one line.
<Process order>

A

B

A

Same processes are made common as one shared process.

A

A

C

B

The same process

A
B

C

<Process order>

A
A

B

C

Same processes are
made common

The slider moves in both
directions to make the same
processes common.

A

The same process

Same processes
are made common

C

Numerical values are used for
setting transfer distance and
stop positions

Downsized

POINT

Can be moved efficiently between processes
with different tacts

Narrow pitch movement

● Narrow pitch movement is possible.

High-speed movement

● Movement time can be reduced by combining the use of different
movements, such as using pitch-feed for the same processes in shorttime processes while transferring three workpieces at the same time at
a high speed in long-time processes.

Narrow pitch movement

POINT

Workpieces do not need to be retracted
● As the work moves down, you can assemble and process them on the transfer line.
● Eliminates having to retract the work from the pallet to the work table.
● Reduces costs.

Conventional system Have to retract the work from the pallet to the

No need to provide space for a work table

work table.

Retracting the work Process C

Can perform work on the slider Process C
Process B

Process B
Process A

Equipment
space

10

Process A

Equipment
space

Downsized

POINT

Significant reduction of start-up time
● Just connect modules for easy construction of a
transfer line.

Stored for maintenance

Module is added

● Lifting cylinders, sensors, stoppers, and other complex
parts are not necessary.
● Operations can be performed by using only the
LCC140 Controller.
● Economical as excess modules can be used for other
lines or stored for maintenance.

Transfer line is shortened

Transfer line is made longer.

POINT

Construct branching lines, joint lines, and other lines in flexible configurations.
● Layout examples by combining modules with circulation mechanisms

Example of horizontal circulation

Example of horizontal branching

Horizontal circulation mechanism

Branching mechanism

Linear conveyor

Linear conveyor

Joint mechanism

Example of vertical circulation
Linear conveyor

Vertical circulation mechanism
Belt conveyor

Note. The customer needs to prepare the return unit and the circulation mechanism.
Note. Modules convenient for the circulation are configured.

POINT

Optimal for small batch production of various product types
● No need for mechanical stoppers or sensors. Change layout easily.
● Reconstruction can be finished quickly by just changing the program to set a stop position.
● Frequent unit changes for different models can be handled flexibly.

Conventional system

Requires stopper position adjustment

Stop positions can be set just by changing the
program settings.
Narrow pitch movement
1780

Stop position can
be changed just
by changing the
numeric value.
2013

Stopper
Stopper

11

LCM100

Product Lineup

Flexible set-up of the slider's acceleration/deceleration,
forward/backward movement, positioning, and other actions.
The variety of possible line structures has been greatly
expanded to supersede conventional models.
Simpler design and fewer processing steps
●●LCM100-2MT, a module for circulation, is available to insert or

Linear module

eject a slider into or out of a line.
●●Also can be used for a return mechanism.
We welcome consultations on proposals for customized design,
design drawing presentation, etc., to create return units best fitting
your request. For details, contact our sales representatives.

Optimum line
length design
Stroke variation
[640 mm/480 mm]
The optimum design
can be achieved by
combining multiple
modules to reduce line
length.

Circulation modules are
also available

Belt module

Belt modules can be selected to your needs
Genuine new Yamaha belt modules are included in the lineup.
●●Low price......Using modules only for return processes and

interprocess transfer will help reduce the facility cost.
●●Easy control without controllers and no need to create robot

programs

POINT

Quick recovery by replacing the slider when
machine trouble occurs
● Parts can be replaced easily.
● Parts can be kept for maintenance as they are standardized.
● Possible to minimize the downtime of a production line.

POINT

Easy maintenance
● Motors and scales do not make contact and are free from
abrasion.
● As only the rails are sliding parts, dust generation is low.
● There are only a few consumable parts, which mean a long
service life.

12

LCM100 module

Slider

System configuration diagram (when 3 sliders are connected)
The module is standardized and can also be stored
for maintenance.
If a short line is used and modules are in excess,
they can be diverted to another line or stored for
maintenance.
RFID antennae

Standardized slider
The slider is standardized and can be used for any
line. It is also possible to share the slider on multiple
lines. Production can be restored immediately by
replacing a failed slider if trouble occurs.

Insertion/ejection rail

Robot cable

Termination module

Programming box
HPB

Controller is replaceable

LINK cable
Note. One controller is required
for every module.
PLC cable (CC-Link network etc.)
Note. One controller needs to be connected to the PLC.

PLC on market

The connected controller and module
combinations can be changed as
needed. Note that initial setting is
required when a
combination is
changed. Replacing
just the controller or
the module is also
possible.

Belt module

Power cable
PLC cable (parallel I/O)

PLC on market

24V power

This interface allows the customer to supply 24V power and select just the necessary signals to use.Note
Note. The customer will need to prepare the wiring on the user side.

Linear module controller LCC140
Program operation
The LCC140 controller can perform operations using
registered programs and operations using remote
commands from the PLC.
In addition to the control of input/output signals such
as movement or positioning, processes related to the
insertion/ejection of sliders can be performed.

SR1 controller base operation system
The same user interface as the SR1 controller is
incorporated, and specifications and functions specific
to the linear conveyor module have been added based
on this user interface. A very user friendly operation
system is provided.Note 1

Controller-linking function
You can use the link cables dedicated to LCC140
controllers to connect the controllers when t wo
or more modules are connected. You can handle
multiple controllers as if they were one controller.

Position correction function using RFID
When multiple sliders are each stopped at a position
of your choice, actual stop positions has an error
width (machine difference) of 500 μm. This is because
each slider has a different stopping accuracy. Link
the RFID unit and LCC140 controller to suppress the
machine difference of individual sliders to an error
width of approximately 100 μm.Note 2

Note 1. Please note that some Yamaha single-axis controller SR1 functions are not available with the linear conveyor controller.
Note 2. All sliders stop within the width of 100μm that includes a teaching point.

13

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.

P.490

Robot positioner TS-S2/TS-SH
This robot positioner is specialized for the I/O
point trace input. The positioning or pushing operation can be performed using simple operation,
only by specifying a point number from the host
control unit and inputting the START signal.
Applicable
models:

SS

SGNote

RF

BD

Note. SG07 is only applicable to TS-SH.

14

SR

P.500

Robot driver TS-SD
This robot driver omits the operation with robot
languages and is dedicated to the pulse train input.
This driver can be made applicable to the open
collector method or line driver method using the
parameter setting and signal wiring. So, you can
match the robot driver to the host unit to be used.

STH

Applicable
models:
TS-S2

TS-SH

SS

SR

STHNote RFNote

BD

Note. Except for STH vertical specifications and RF sensor specifications.

TS-SD

Newly developed vector control method provides functions
and performance similar to servomotors.
SS type (Slider type)

SG type (Slider type)

P.130

Straight model

Space-saving model

(Side mounted motor model)

SS05H-S

P.131

P.136

Straight model

SG07

SS05H-R (L)

SR type (Rod type standard)
P.137

Straight model

SR05-S

SR04-S

P.138

Space-saving model (Side mounted motor model)

SR03-S

SR05-R (L)

SR04-R (L)

SR03-R (L)

SR type (Rod type with support guide)
P.140

Straight model

SRD05-S

Type

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

SG type
(Slider type)

SR type
(Rod type standard)
Straight model/
Space-saving model

SR type
(Rod type
with support guide)
Straight model/
Space-saving model

SRD04-S

SRD03-S

Model

Size (mm) Note 1

SS04-S
SS04-R (L)

W49 × H59

SS05-S
SS05-R (L)

W55 × H56

SS05H-S
SS05H-R (L)

SG07

W55 × H56

W65 × H64

SR03-S
SR03-R (L)
SR03-U

W48 × H56.5

SR04-S
SR04-R (L)

W48 × H58

SR05-S
SR05-R (L)

W56.4 × H71

SRD03-S
SRD03-U

W105 × H56.5

SRD04-S
SRD04-U

W135 × H58

SRD05-S
SRD05-U

W157 × H71

Lead
(mm)

P.141

Space-saving model (Side mounted motor model)

SRD05-U

SRD04-U

Maximum payload (kg)Note 2 Maximum speed
(mm/sec.) Note 3
Horizontal
Vertical

12
6
2
20
12
6
20

2
4
6
4
6
10
6

1
2
4
1
2
-

12

8

2

6

12

4

20
12
6

36
43
46

4
12
20

600
300
100
1000
600
300
1000
600 (Horizontal)
500 (Vertical)
300 (Horizontal)
250 (Vertical)
1200
800
350

12

10

4

500

6

20

8

250

12
6
2
12
6
2
12
6
12
6
2
12
6
2

25
40
45
50
55
60
10
20
25
40
45
50
55
60

5
12
25
10
20
30
3.5
7.5
4
11
24
8.5
18.5
28.5

500
250
80

Note 1. The size shows approximate maximum cross sectional size.
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
of relevant model.

150
50
500
250
500
250
80
300
150
50

Stroke
(mm)
50 to 400

50 to 800

SRD03-U

Page
SS04-S:

SS05-S:

P.132

SS05-R (L): P.133
SS05H-S:

50 to 800

P.130

SS04-R (L): P.131

P.134

SS05H-R (L): P.135

50 to 800

SG07:

50 to 200

SR03-S:
P.137
SR03-R (L): P.138
SR03-U:
P.139

50 to 300

50 to 300
50 to 200
50 to 300

50 to 300

SR04-S:

P.136

P.142

SR04-R (L): P.143
SR05-S:

P.146

SR05-R (L): P.147
SRD03-S:
SRD03-U:

P.140
P.141

SRD04-S:

P.144

SRD04-U:

P.145

SRD05-S:

P.148

SRD05-U:

P.149

■ Allowable ambient temperature for robot installation
SS/SR type 0 to 40 °C

15

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)
P.150

Straight model

P.151

Space-saving model

STH04-S
STH06-S

STH04-R (L)
STH06-R (L)

Lead
(mm)

Maximum payload (kg)Note 2 Maximum speed Stroke
(mm/sec.)Note 3
(mm)
Horizontal
Vertical

Type

Model

Size (mm) Note 1

STH type
(Slide table type)

STH04-S

W45 × H46

5

6

2

200

STH04-R (L) Note 4

W73 × H51

10

4

1

400

STH06

W61 × H65

8

9

2

150

STH06-R (L)

W106 × H70

16

6

4

400

Straight model/
Space-saving model

Page
STH04-S:

50 to 100

P.150

STH04-R (L): P.151
STH06:

50 to 150

P.152

STH06-R (L): P.153

RF type (Rotary type)
P.154

Standard model

P.155

High rigidity model

RF02
RF03
RF04

Type

RF type
(Rotary type)
Standard/High rigidity

Rotation Maximum pushing Maximum speed
torque (N • m) torque (N • m)
(mm/sec.)Note 3

Model

Height (mm)

Torque type

RF02-N
RF02-S

42 (Standard)
49 (High rigidity)

N: Standard

0.22

0.11

420

H: High torque

0.32

0.16

280

RF03-N
RF03-S

53 (Standard)
62 (High rigidity)

N: Standard

0.8

0.4

420

H: High torque

1.2

0.6

280

RF04-N
RF04-S

68 (Standard)
78 (High rigidity)

N: Standard

6.6

3.3

420

H: High torque

10

5

280

Rotation
range (°)

Page

310 (RF02-N)
360 (RF02-S)

RF02-N: P.154
RF02-S: P.157

320 (RF03-N)
360 (RF03-S)

RF03-N: P.158
RF03-S: P.161

320 (RF04-N)
360 (RF04-S)

RF04-N: P.162
RF04-S: P.165

Stroke
(mm)

Page

BD type (Belt type)
P.166

Straight model

BD04
BD05
BD07

Size (mm) Note 1

Lead
(mm)

Maximum payload (kg)Note 2 Maximum speed
(mm/sec.)Note 3
Horizontal
Vertical

Type

Model
BD04

W40 × H40

48

1

-

1100

300 to 1000

BD04: P.166

BD type
(Belt type)

BD05

W58 × H48

48

5

-

1400

300 to 2000

BD05: P.167

BD07

W70 × H60

48

14

-

1500

300 to 2000

BD07: P.168

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.

16

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
stopping. However, this motor has disadvantages that the
positional deviation due to step-out occurs (in the open loop
mode), the torque decreases greatly in the high speed area, and
the power consumption is large during stopping. As YAMAHA’s
TRANSERVO uses the closed loop control, this ensures
complete "no step-out". Furthermore, use of a newly developed
vector control method ensures less torque decrease in the high
speed area, energy saving, and low noise. The function and
performance equivalent to the servomotor are achieved at a low
cost even using the stepping motor.

Energy saving

Stepping motor

Servomotor

• Simple & low cost
• No vibration
during stopping

• Smooth movement
• Constant torque at
any time
• Energy saving

• High-pitched operation noise
• Great torque decrease in high
speed area
• Large power consumption
during stopping

• Tiny vibration during stopping
• High cost

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 .
No hunting during stopping

As the basic control is the same as the servomotor, waste power consumption is suppressed. This greatly contributes to the energy saving
and CO2 reduction.

Stop mode without hunting can be set in the same manner as the
general stepping motor. So, select this mode as required.

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.
The stable position detection can be made even in a poor
environment where fine particle dusts or oil mists exist.
Additionally, a high resolution of 20480 pulses per revolution is
provided.

This resolver is a magnetic position detector. The
resolver features a simple structure without using
electronic components and optical elements, and
less potential failure factors when compared to
general optical encoders.
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
Use of a high resolution makes it possible to maintain
excellent controllability. Variations in speed are small and
settling time during deceleration stop can be shortened.

Speed

High resolution (4096, 20480 pulse/rev)

TRANSERVO
Conventional model

× Speed stability: Poor

Adverse effect on settling time
Speed stability: Good

Time
Settling ability: Good

×

Settling ability: Poor

POINT 4

Return-to-origin is not needed to shorten the start-up time.
New type robot positioner TS-SH applicable to the high power
was newly developed.
This robot positioner is applicable to the absolute position
system and does not need any return-to-origin.
The work can be started quickly to shorten the start-up time.
TS-SH

17

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
circular arc groove type 2-point contact guide built into a
very compact body similar to the conventional model. This
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
wear.

Conventional model

TRANSERVO (SS type)

■ 2-row gothic arch groove type
4-point contact guide

■ 4-row circular arc groove type
2-point contact guide

If a large moment load is applied or the
installation surface precision is poor, a
large differential slip may occur easily.

Differential slip is small due to its
structure and service life is long.

POINT

Tact is shortened by high-speed movement.

TRANSERVO (SS type)

Payload

Payload
decreases
in high-speed
range.

0

200

400

600

Payload is
always
constant.

Payload

Conventional model

As advantages of the vector control method are utilized at
maximum level, the TRANSERVO maintains a constant
payload even in a high-speed range. This greatly contributes
to shortening of the tact time. Additionally, by combining this
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.

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

SS05H

SG07

Maximum payload

Maximum payload

Payload is
increased
about 4 times.

12 kg

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.

46kg

POINT

Maximum speed is 1200 mm/sec.

current model

The maximum speed is made 1.2 times faster than that of the current
model SS05H.
The tact-up of the equipment can be achieved.

SS05H

Maximum speed 1000 mm/sec

SG07

Maximum speed 1200 mm/sec

Maximum
speed
of the current
model is
increased
1.2 times.

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

Long-term maintenance free is achieved.
A lubricator used in the ball screw and a contact scraper
installed at the rod inlet and outlet provide maintenance-free
operation.

Maintenance interval is greatly extended.
Normal grease lubrication on the ball screw loses a very small
amount of oil as the ball screw moves.
The SR type has a lubricator that supplies grease lost over long
periods to greatly extend the maintenance interval and ensure near
maintenance-free operationNote .
Note. The maintenance-free period is within the running life of the robot.

18

Highly reliable resolver is used.
A resolver with excellent environment
resistance is used for the position detector.
All models can select brake specifications.

Ball screw lubricator
A lubricator with high density fiber net
impregnated with grease supplies an
adequate amount of oil to appropriate
locations.

Laminated type
contact scraper
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.

Environment-friendly lubrication system

■ Tip nozzle for grease application

The lubrication system is environment-friendly as it uses a high
density fiber net and supplies an adequate amount of oil to appropriate locations to eliminate waste lubrication.

When applying the grease to the ball screw of the SR type space-saving
model SR03-UB or SRD03-UB, use a grease gun with the tip bent.

Model

KCU-M3861-00

Note. YAMAHA's recommended product. This tip nozzle can be attached to a generally
available grease gun.

Prevention of foreign object entry
The dual-layer scraper is in contact with the front of the rod to
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
rubber with a self-lubricating function ensures low-friction resistance.

(29)

(ф5)

(120)

(PT1/8)

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

l Table deflection amount is small.

Workpiece installation reproducibility is improved.

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
also added to the product lineup.
l Suitable for precision assembly.

Body installation through hole
Installation is possible from the top surface.

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
thrust direction of the table.

l Rotation axis model, first in TRANSERVO series
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.
l Shutter is provided as standard equipment. This prevents grease
scattering or entry of foreign object.

Shutter is provided as standard
equipment.
This shutter covers the guide, ball screw, and belt.
The shutter prevents grease scattering or entry of
external foreign object.

19

F L IP - X
Series
Product Lineup

SINGLE-AXIS ROBOTS
General-purpose single-axis robots can be used for various applications,
such as assembly and inspection work.
6 types and 29 models ranging from compact size
to long-stroke robots are available.

Various custom specifications are also supported.
Various custom specifications, such as double-slider and wide slider are also supported.
For details, please consult YAMAHA.

20

Six types with high reliability and durability
P.174

T type Frame-less structure model

P.181

F type Model with high rigidity frame

F8
F10

F14

F14H

F17

F20
F20N

T5L/T5LH

T6L

F17L

T9/T9H

■■Double appeal of compact body and low price.
■■Ideal in applications as an actuator directly installed on an
installation base.

P.212

R type Rotation axis model

R20

R10

■■Tolerable load moment is large and highly resistant to the
offset load.
■■Suitable for Cartesian robots needing rigid arm or moving
arms that move the entire axis.

GF type Long stroke model with high rigidity frame P.190

GF14XL

R5

■■Repeated positioning accuracy +/- 30 sec. (0.0083 °)
■■The robot can be used as the rotation axis when combined
with other robots or utilized for a wide variety of applications,
such as index tables.
■■High rigidity and high accuracy by harmonic drive.

Optimal support mechanism Note

GF17XL
Maximum speed (mm/sec.)

T4L/T4LH

1400

Effective stroke vs. maximum speed

1200

GF17XL

1000
800
600
400
200
0

Competitor's model
1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 2400 2500
Effective stroke (mm)
Note. Patent pending

■■Movable at 1200 mm/sec. in the whole area without critical speed.
■■Suitable for long distance transfer.

P.198

N type Nut rotation type model
■■Repeated positioning accuracy +/- 0.01 mm
■■Maximum payload 80 kg
■■Double-carrier available as a standard

Process 1
Process 2

Maximum speed (mm/sec)

N18

Layout using two conventional
single-axis robots

N15

Layout using two conventional
cartesian robots

Comparison of stroke vs. maximum speed

1400
1200

N15

1000

Current model

800
600

F14H

400
200
0

100

300

500

700

900

1100

N15/N18

Competitor's model
1300

1500

1700

1900

2100

Stroke (mm)

Critical speed is not restricted and highspeed transfer is possible.
Stroke:
2500 mm
Maximum speed: 1200 mm/sec.

In this structure, the hollow motor is
connected to the nut of the ball screw
and the nut is rotated with the screw
shaft secured to perform the movement.

Space saving using doublecarrier of N15/N18

B type Timing belt drive model

Space saving and process
integration using double-carrier
of N15/N18

P.206

B14H

B14
B10

■■Maximum stroke is 3050 mm. Long-distance transfer between the processes is possible.

21

FLIP-X Series

Product Lineup

POINT 1

4-row circular arc groove type 2-point contact guide that is resistant to large
moment load is adopted.Note 1
4-row circular arc groove type 2-point contact guide with less
differential slip is used for the linear guide. This guide has less
ball differential slip due to its structure when compared to the
2-row Gothic arch type 4-point contact guide and maintains a
satisfactory rolling movement even if a large moment load is
applied or the installation surface precision is poor. The guide has
characteristics that are difficult to malfunction, such as unusual
wear and provides excellent reliability.
Note 1. Except for T4L/T4LH and T5L/T5LH

F/N/B type Note 2

2-row gothic arch groove type
4-point contact guide

4-row circular arc groove type
2-point contact guide

Friction resistance
is large and
differential slip is large.

Differential slip is
small and self-centering
function is high.

● Easy to receive adverse effects of installation
surface accuracy, friction, and elastic
deformation.
● Breakage may occur before expiration of
calculation service life.

● Resistant to alignment changes and moment
loads.
● Difficult to break.

F8 series

For the F type, N type, and B type,
two guide frames are laid out on the
high rigidity aluminum extruded material frame. Two bearing units per rail,
four bearing units in total, support a
large load firmly. As a large moment
(F14)
load is mainly converted into vertical
force, the moment applied to one bearing unit becomes small to ensure excellent durability.

The F8 series uses a newly developed
module guide to greatly reduce the crosssectional area (70 % when compared to
F10). The rail is laid out in the full width of
the frame to ensure the high rigidity even
with compact design. Of course, this series
also uses the 4-row circular arc groove type
2-point contact guide.

(F8)

Note 2. Except for F8 series/F10/B10.

POINT 2

Resolver with excellent environment resistance is used for the position detector.
Optical encoder

Resolver

● Optical type
● Electronic components are required
and structure is complicated.
● Damaged easily by electronic
component breakdown, dew
condensation on or oil sticking to the
disk.

● Magnetic type
● Simple structure only with iron core
and winding has less potential failure
factors.
● Immune to shock and electric noise.

Detection failure

High reliability

Slider
Ball screw

Position detector
Device intended to
read-out
the position or speed.

Linear motion
guide

AC servomotor

A resolver is used for the position detector. The resolver has a simple and rigid structure without using electronic components and
optical elements. Detection problems due to electronic component breakdown, dew condensation on or oil sticking to the disk that
may occur in optical encoders do not occur in the resolver. The resolver provides excellent durability. Additionally, as the absolute
specifications and incremental specifications use the same mechanical specifications and common controller, desired specifications
can be selected only by setting parameters. Furthermore, even when the absolute battery is consumed completely, the robot can still
operate as the incremental specifications. So, even if a trouble occurs, the line stop is not needed to ensure the safe production line.
Furthermore, the backup circuit has been completely renovated and now has a backup period of one year in the non-energizing state.

22

POINT 3

Long service life greatly reduces the maintenance cost.
As the acceleration is determined by the weight parameter, the service life can be assured when the weight and position of center of
gravity are known.

Allowable overhang Note
A

383
140

5kg 1292
30kg

572
455

505
158
73

462
151
75

20kg

617

119

127

40kg

422
420
722

53
36
42

59
40
47

657
577

33
23

37
25

15kg
15kg

55kg
50kg
60kg
80kg

Wall installation

(Unit: mm)

A

B

C

348
87

384
40

776
306

30kg

416
92
0

388 1186
42 386
0
61

10kg

193

132

20kg

53
0
197

0 400
0 109
133 2360

5kg
15kg
5kg
15kg

30kg
10kg
20kg
30kg

54
0

0
0

Vertical installation (Unit: mm)

910

A
Lead 20

501
156

C

A

Lead 10

864
491

5kg

C

Lead 5

C
Lead 20 Lead 30

B

Lead 10

(Unit: mm)

A

Lead 5

Lead 5

Lead 10

Lead 20 Lead 30

Horizontal installation

B

A

C

B

C

600 600
2kg 1098 1098
1kg

4kg
4kg
8kg

545
594
280

545
594
280

10kg

217

217

10kg

221
135
92

221
135
92

15kg
20kg

985
427

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.

As YAMAHA's robot uses high rigidity ball screw
or guide, it provides excellent durability. This
greatly contributes to reduction of the customer's
maintenance cost.

Cost reduction by high durability
Maintenance
control cost is
reduced

Other company’s robot

YHAMAHA’s robot
Product service life

POINT 4

Controllers suitable for applications are
prepared.
In addition to the robot program operation and pulse train
control, a positioner that is operated by specifying a point
number was added to the product lineup. Additionally, multi
specifications that control multiple robots using one controller
are also supported. You can select an optimal controller
suitable for your application.

I/O point trace
(Positioner)

Pulse-train
control

RCX340

TS-X

RDV-X

P.542

P.490

P.504

Program
SR1-X

RCX222

P.516

P.524

RCX240/
RCX240S

P.532

POINT 5

Various custom specifications are supported.
YAMAHA supports custom orders flexibility to meet the customers' various needs.
Addition of free
slider

Free slider is added. Various applications, such as rigidity increase or use of two heads are supported.

Wide slider

To increase the slider rigidity, the standard slider is processed to the wide slider.

Specified stroke

A stroke smaller than the minimum stroke may be supported. For details, please consult YAMAHA.

Lead beyond
catalog

The lead may be changed to that not stated in the catalog. For details, please consult YAMAHA.

Origin non-motor
specifications

Even when not stated in the catalog, the origin may be changed to the non-motor side. For details, please consult YAMAHA.

YAMAHA has a wide variety of custom order results other than those shown above. If you have any requirement or request, please
feel free to contact YAMAHA.

23

FLIP-X Series

Type

Size (mm)

Note 1

W45 × H53

W55 × H52

T type
Frame-less structure
model

Product Lineup

Model

T4L/T4LH

T5L/T5LH

W65 × H56

T6L

T9
(Standard)
W94 × H98
T9H
(High thrust)

W80 × H65

F8

W80 × H65

F8L

W80 × H65

F8LH

F10
(Standard)
W110 × H71
NEW

F type
Model with high
rigidity frame

F10H
(High thrust)

F14
(Standard)
W136 × H83

W168 × H100

W202 × H115

GF type
N type
Nut rotation type
model
B type
Timing belt
drive model
R type
Rotation axis model

Maximum payload (kg) Maximum speed
(mm/sec.)
Horizontal Vertical

12

4.5

1.2

720

6

6

2.4

360

2

6

7.2

120

20

3

-

1200

12

5

1.2

800

6

9

2.4

400
1333

20

10

-

12

12

4

800

6

30

8

400

30

15

-

1800

20

30

4

1200

10

55

10

600

5

80

20

300

30

25

-

1800

20

40

8

1200

10

80

20

600

5

100

30

300

20

12

-

1200

12

20

4

720

6

40

8

360

30

7

-

1800

20

20

4

1200

10

40

8

600

5

50

16

300

20

30

-

1200

10

60

-

600

5

80

-

300

30

15

-

1800

20

20

4

1200

10

40

10

600

5

60

20

300

30

25

-

1800

20

40

8

1200

10

80

20

600

5

100

30

300

30

15

-

1800

20

30

4

1200

10

55

10

600

5

80

20

300

30

25

-

1800

Stroke (mm)

P.178

150 to 1050

P.179

150 to 1050

P.180

150 to 800

P.181

150 to 1050

P.182

150 to 1050

P.184

150 to 1050

P.185

150 to 1000

P.186

P.188
150 to 1050

40

8

1200

80

20

600

5

100

30

300

F17L

50

50

10

2200

1100 to 2050

40

40

-

2400

200 to 1450

F20

20

80

15

1200

120

35

600

40

60

-

2400

20

120

25

1200

10

-

45

600

T5LH: P.177

50 to 800

20

10

T4LH: P.175
T5L: P.176

50 to 800

10

F17

Page
T4L: P.174

50 to 400

F14H
(High thrust)

P.189

200 to 1250

P.193
P.191

200 to 1450
200 to 1250

P.195

W202 × H120

F20N

20

80

-

1200

1150 to 2050

P.197

W140 × H91.5

GF14XL

20

45

-

1200

750 to 2000

P.190

GF17XL

20

90

-

1200

850 to 2500

P.194

500 to 2000

P.198

W168 × H105.5
W145 × H120
W180 × H115
W100 × H81
W146 × H94

N15 (Single-carrier)
N15D (Double-carrier)
N18 (Single-carrier)

50

1200
80

-

B10

Belt drive

10

-

1875

B14 (Standard)

Belt drive

20

-

1875

B14H (High thrust) Belt drive

30

-

1875

R5
-

-

20

N18D (Double-carrier)

R10
R20

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

24

Lead
(mm)

2

-

0.36 kgm2

-

1.83 kgm2

-

0.12 kgm
-

250 to 1750

P.200

500 to 2500

P.202

250 to 2250

P.204

150 to 2550
150 to 3050

P.206
B14: P.208
B14H: P.210
P.212

360 °/sec

360 °

P.213
P.214

Multi-robot

MULTI-FLIP/MULTI-PHASER

This robot has multi specifications that control multiple robots using one controller.
Advantages of control with multi-axis controller
●●Sequence control is easy. System upgrades are easy at less expensive price.
●●Compact and space saving when compared to the operation with multiple single-axis controllers.
●●More advanced control is possible.
●●RCX221, RCX240, RCX240S, and RCX340 provide mixed control of the FLIP-X series and PHASER series (linear single-axis).

Multi-robot ordering method
Note 1

MLTX

Multi-robot model prefix

1st unit Note 2

2nd unit Note 2

3rd unit Note 2

1st unit robot type

2nd unit robot type

3rd unit robot type

Cable length
3K: 3.5 m
5K: 5 m
10K: 10 m

Up to 8 units can be controlled.

Controller
RCX221/HP
RCX222/HP
RCX240/S
RCX340

Note 1. When ordering a multi-robot, prefix "MLTX" to the top of the order model.
Note 2. Select either MULTI-FLIP or MULTI-PHASER shown below.
Note 3. For details about the controller and controller option models, please refer to relevant page of each controller.

MULTI-FLIP

MULTI-PHASER

Type

Model
T4L/T4LH
T5L/T5LH

T type
Frame-less
structure model

T6L
T9
(Standard)
T9H
(High thrust)
F8

F8L

F8LH
F10
(Standard)

F type
Model with
high rigidity
frame

NEW

F10H
(High thrust)
F14
(Standard)

F14H
(High thrust)
F17L
F17
F20

GF type
N type
Nut rotation
type
model
B type
Timing belt
drive model
R type
Rotation axis
model

Controller option

Lead
(mm)
12
6
2
20
12
6
20
12
6
30
20
10
5
30
20
10
5
20
12
6
30
20
10
5
20
10
5
30
20
10
5
30
20
10
5
30
20
10
5
30
20
10
5
50
40
20
10
40
20
10
20
20
20

F20N
GF14XL
GF17XL
N15 (Single-carrier)
N15D (Double-carrier)
20
N18 (Single-carrier)
N18D (Double-carrier)
B10
Belt drive
B14 (Standard)
Belt drive
B14H (High thrust) Belt drive
R5
R10
R20

Stroke
(mm)

Type

50 to 400

Model
C4L
C4LH

50 to 800

C5L
C5LH

50 to 800

Lead
(mm)

Stroke
(mm)

12
6
2
20
12

C6L

50 to 800

6
150 to 1050

MF type
Flat type with
core
Linear motor
specifications

20

C8

12
20

C8L

150 to 1050

10

150 to 1050

20

C8LH

10

150 to 1050

5

150 to 1050

Single

100 to 4000

MF7D

Double

100 to 3800

MF15

Single

300 to 4000

MF15D

Double

100 to 3800

MF20

Single

150 to 4050

MF20D

Double

150 to 3850

MF30

Single

100 to 4000

MF30D

Double

150 to 3750

MF75

Single

1000 to 4000

MF75D

Double

680 to 3680

MR12

Single

50 to 1050

MR12D

Double

50 to 1050

150 to 1050

5

C type
Clean
room
model

MF7

150 to 800

6

150 to 800

Stroke
(mm)

50 to 800

6
12

Model Carrier

50 to 400

20

150 to 1050

Type

MR type
Shaft type
Linear motor
specifications

20

C10

10

150 to 1050

5

150 to 1000

20

C14

10

150 to 1050

5
150 to 1050

20

C14H
1100 to 2050
200 to 1450

C17
C17L

200 to 1250
1150 to 2050
750 to 2000
850 to 2500
500 to 2000
250 to 1750
500 to 2500
250 to 2250
150 to 2550

150 to 1050

5

200 to 1250
200 to 1450

10

C20

20
10
50
20
10

250 to 1250
1150 to
2050
250 to 1250

150 to 3050
360 °

25

FLIP-X Series

Product Lineup

Robot settings
2-robot settings

Main auxiliary axis setting

Use of 2-robot settings and multi-task program makes it possible to
perform asynchronous independent operation. As the auxiliary axis
setting is used together, more free axis assignment can be made.

This auxiliary axis setting is used when it is inconvenient that two
axes move simultaneously by the MOVE command. The axis set for
the main auxiliary axis does not operate by the MOVE command and
it operates only by the DRIVE command (movement command in
axis units). This setting is recommended for the axis that needs to be
operated asynchronously from the main robot.

Double-carrier

Dual setting

In robot types that the motor runs
separately, such as linear motor
single-axis PHASER series or N type
(nut rotation type) of FLIP-X series,
two motors can be added to one axis.

This setting is used when performing the dual drive (2-axis
synchronous control). This setting is used when the gantry type
Cartesian robot with a long Y-axis
stroke stabilizes the high acceleration/deceleration or when a
high load or high thrust is needed.

Applicable controllers
1 to 2 axes controller

Name

RCX221

Appearance

P.524

Position detection

Incremental

Control model

FLIP-X and PHASER
can be mixed.

P.524

1 to 4 axes controller

RCX240/RCX240S

RCX340

P.532

P.542

Absolute

Incremental/Absolute

Incremental/Absolute

FLIP-X

FLIP-X and PHASER can be
mixed.

FLIP-X and PHASER can be
mixed.

Maximum number of
programs

100 programs

100 programs

100 programs

Maximum number of points

10,000 points

10,000 points

30,000 points

Standard

Dedicated input 10 points/
dedicated output 12 points
General-purpose input 16 points/
general-purpose output 8 points

Dedicated input 10 points/
dedicated output 11 points
General-purpose input 16 points/
general-purpose output 8 points

Dedicated input 8 points/
dedicated output 9 points
General-purpose input 16 points/
general-purpose output 8 points

Expansion

General-purpose input 24 points/
general-purpose output 16 points

General-purpose input 24 points/
general-purpose output 16 points

General-purpose input 24 points/
general-purpose output 16 points

Number of input/
output points

Network option

26

RCX222

1 to 4 axes controller

CC-Link, DeviceNetTM, Ethernet, PROFIBUS

CC-Link, DeviceNetTM, EtherNet/IPTM, CC-Link, DeviceNetTM, EtherNet/IPTM,
Ethernet, PROFIBUS, PROFINET
Ethernet, PROFIBUS

Examples of multi-robot ordering methods
Separate single axes

3 axes combination

<Example> F14H and F10 are installed separately.

MLTX F14H 20 U 500

1st unit

F10 20 300

2nd unit

5K RCX222 N N1

Controller

<Example> C17L, C14H, and C14H are used for the X-axis,
Y-axis, and Z-axis, respectively to form a 3-axis
XYZ combination.

1st unit (X)

MLTX C17L 50 Z 1500
C14H 20 450

2nd unit

C14H 10 BK 150

3rd unit

3K RCX240 R N BB

Controller

1st unit (X)

2nd unit (Y)

2 axes + 1 axis

2nd unit (Y)

Double-carrier

<Example> T6 is installed on the base for the 1st axis, C6 is
secured to the upper portion for the 2nd axis, and
CH4 is secured to the upper portion for the 3rd axis
to assemble the C6 and C4H to the XZ. (Either 2
axes + 1 axis or 3 axes simultaneous control can be
made by the setting.)

Example of 4-axis control
<Example> Two T6 are assembled to the double-carrier of
the MF20A, and they are used as XZ type and
controlled using one controller.

MLTX MF20AD W M 850

MLTX T6 6 300

3rd unit (Z)

1st unit

1st unit

1st unit

3rd unit (Z)
2nd unit (Y)

3rd unit (Z)
2nd unit (Y)

T6 12 BK 100

2nd unit

C6 6 300

2nd unit

T6 12 BK 100

3rd unit

C4H 6 BK 100

3rd unit

3K RCX240S N1 B

Controller

3K RCX240S N BB

Controller

1st unit (X)

1st unit (X)

Note. When the customer combines each axis, it is recommended to use
the cable terminal (relay cable) for the wiring among axes. For details
about cable terminal, please contact YAMAHA.

Note. For the double-carrier, since one robot occupies two axes of the
controller, the number of robots may differ from the number of
controllable axes.

Double-carrier/dual drive (2-axis simultaneous control)
Example of 8-axis control
<Example> Two double-carriers of the MF30 are arranged
in parallel and two MF20 installed on the top are
moved by the dual-drive.
T6 is attached to each tip of the MF20 and the
robots are controlled using two controllers.

MLTX MF30D H L 950
MF30D H L 950

2nd unit

4th unit
6th unit
2nd unit

MF20 H 1350

3rd unit

T6 6 BK 100

4th unit

MF20 H 1350

5th unit

T6 6 BK 100

6th unit

3K RCX240 R N

CAUTION

1st unit

Controller

3rd unit

Conditions needing regenerative unit on
multi-robot
●●The total motor capacity exceeds 450 W.
●●The total motor capacity of the vertical axis exceeds 240 W.

5th unit
1st unit

Note

Note. For this specification, when writing one controller model, two controller
will be arranged automatically.

●●The B14H performs the operation at a maximum speed of
more than 1250 mm/s.
●●When the vertical axis is 240 W or less, the conditions
shown below are satisfied.
• There is a 200 W-vertical axis.
• A 100 W-vertical axis has a stroke of 700 mm or more.
• There are two 100 W-vertical axes with a 5 mm-lead.

27

FLIP-X Series

Product Lineup

FLIP-X terminology
High lead

Allowable overhang

This term indicates models supporting ball screw leads that exceed the standard lead (12 mm or 20 mm). (The standard lead
of the F17L and C17L is 50.)

This term indicates an allowable overhang of an object to be
transferred. In the specification data, this indicates the distance
from the center of the top face of the slider to the center of gravity of an object to be transferred by the weight. This value is determined according to the service life of the linear guide. Under
normal operation conditionsNote , the 90 %-service life of the linear guide is 10,000 km or more if gravity centers of the workpiece and tool are kept within the allowable overhang. When using with an overhang amount exceeding the specification data, it
is necessary to install a separate support guide or restrict operating conditions (speed, acceleration) so that a load is not applied
to the linear guide of the single-axis robot. For detail, please
consult YAMAHA.

Origin on non-motor side
This term indicates models that are applicable to the origin nonmotor specifications as standard. The origin on the non-motor
side in the standard state is not supported with a lead not stated
in the catalog. If special specifications are needed, please consult YAMAHA.

Maximum speed
This term indicates the maximum transfer speed. YAMAHA's
single-axis robots can transfer a workpiece at this speed regardless of the transfer weight as long as it is within the maximum
payload. However, as the workpiece is heavier, the acceleration/
deceleration curve becomes gentle. If the movement distance is
short, the speed does not reach the maximum speed stated in
the catalog.

CAUTION
When the stroke of the ball screw drive type is long, noise
or vibration is produced due to resonance of the ball screw
if moved at the maximum speed. If this happens, lower the
speed to that stated in the note column. (It is also possible
to lower the transfer speed of the entire program using the
SPEED setting or make the adjustment for each movement

A

C

B

A
C

B

C
A

Note. Speed, acceleration 100 % (It is preconditioned that the weight parameters are
set correctly.)
There shall be no impact load or excessive vibration during operation.
Additionally, the alignment is correct.

Static tolerance moment
This term indicates the load moment applied to the slider in the
robot stationary state.
MY

command.)
MP

Maximum payload
This term indicates the maximum weight that can be loaded on
the slider and transferred. Select an appropriate model so that
the total weight of the customer's tools (air cylinder or chuck)
and workpiece is less than this data. When the center of gravity
of the tool or workpiece is offset from the center of the slider, the
allowable overhang needs to be taken into consideration. Additionally, when entering the total weight of the tool and workpiece
for the payload parameter of the controller, optimal acceleration/
deceleration and servo parameter are automatically set.

Rated thrust
This term indicates the force to be applied in the slider advancing direction in the slider stationary (hold) state. When using
vertically, the weight of the loaded workpiece is subtracted from
this value (when the force is applied downward from the top).
The slider can move only at a low speed (approximately 10 %
of the maximum speed), but this value becomes lower than the
specification value. Additionally, the type B of the timing belt
drive cannot be used for applications, in which thrust is applied.

28

MR

Critical speed
When the stroke of the ball screw drive type is long, noise or vibration is produced due to resonance of the ball screw if moved
at the maximum speed. If this happens, lower the speed to
that stated in the note column. (It is also possible to lower the
transfer speed of the entire program using the SPEED setting or
make the adjustment for each movement command.)

29

PH A S ER
Series
Product Lineup

LINEAR MOTOR
SINGLE-AXIS ROBOTS
No limit on critical speed even when using a long stroke of 4 m.
"PHASER" series delivers superb performance
during long distance transfer.

30

Critical speed is not restricted and high-speed long-stroke
transfer is possible.
MF type
P.218

High-power and long-stroke using flat motor with core
4050 mm
■■Maximum stroke:
2500 mm/s
■■Maximum speed:
■■Repeated positioning accuracy: +/-5 μm
7 to 160 kg
■■Maximum payload:
Moving coil
Flat type magnet

Magnetic head
Magnetic scale

MF7D

MF15

MF20

MF30D

MF75

MR type
P.236

Lightweight, compact, and low cogging by shaft motor drive
1050 mm
■■Maximum stroke:
2500 mm/s
■■Maximum speed:
■■Repeated positioning accuracy: +/-5 μm
5 kg
■■Maximum payload:

Magnet shaft

Moving coil

MR12

Type

Size (mm)

Note 1

Direct drive guide
Magnetic scale
Magnetic head

Model

Carrier

MF7

Single

Maximum payload
(kg)

W85 × H80

10 (7)
MF7D

Double

MF15

Single

W100 × H80
MF type
Flat type with core
Linear motor
specifications

Double

MF20

Single
Double

MF30

Single

P.218

100 to 4000

Note 2

P.224
100 to 3800
150 to 4050

Note 2

P.228
150 to 3850
2500

W150 × H80
60 (30)
MF30D

Double

MF75

Single

W210 × H100
MR type
Shaft type
Linear motor
specifications

Page

100 to 3800

40 (20)
MF20D

Stroke (mm)
100 to 4000

Note 2

30 (15)
MF15D

Maximum speed
(mm/sec.)

Note 2

Double

MR12

Single

W60 × H90

P.231
150 to 3750

160 (75)
MF75D

100 to 4000

Note 2

1000 to 4000
P.234
680 to 3680
50 to 1050

5
MR12D

Double

P.236
50 to 1050

Note 1. The size shows approximate maximum cross sectional size.
Note 2. When using at the maximum speed, the maximum payload becomes the value in ( ).

31

PHASER Series

Product Lineup

POINT 1

POINT 2

Maximum speed 2.5 m/sec. and no critical
speed limit

Suitable for heavy object transfer.
Maximum payload 160 kg

The ultimate appeal of the linear motor single-axis robot is
that there are restrictions on critical speed like ball screw. The
maximum speed does not decrease even with long-distance
transfer. Additionally, the maximum stroke of the MR type is set to
up to 1050 mm and that of the MF type is set to up to 4000 mm
with standard settings. In particular, the cycle time of the longdistance transfer is greatly improved.

The maximum payload of the MF type using a flat magnet
is 160 kg. The robot can transfer a heavy object, such as
large LCD panel at a high speed with high accuracy. (In the
payload range of some MF types, the maximum speed may be
restricted. For details, refer to the specification page of each
model.)

Speed (m/s)

Movement time comparison between linear singleaxis robot PHASER and single-axis robot FLIP-X

POINT 3

Effective use of stroke

3.0

2000 st / 50 kg

Maximum speed 2.5 m/s

2.5

PHASER

As the linear motor single-axis robot incorporates a coil that
is the drive part inside the table, dead spaces are eliminated
to maximize the stroke. Additionally, as the main body is
symmetrical, the flexibility of the layout is improved.

PHASER (MF75)

2.0

FLIP-X (F20N)

1.5

Maximum speed 1.2 m/s
FLIP-X

1.0

0.5
0
0

0.5

1.0

1.5

2.0

2.5

Time (sec)

POINT 4

In-house manufacturing of major parts achieves low costs.
Magnetic scales are developed and manufactured at
YAMAHA. In-house manufacturing of other major parts
achieves large cost reduction. Nowadays, the linear
motor is not a special mechanism. The customer can
select the linear motor or ball screw in the similar way
according to the customer's needs. In particular, when
performing a high-speed and long-distance transfer of
a light workpiece, selecting linear motor robots may
reduce the cost.

MF7: Linear motor

F17: Ball screw

Stroke

Stroke

Speed

Accuracy Speed

Size

Maintenance

Size

B10: Belt type
Stroke
Accuracy Speed

Maintenance

Accuracy

Size

Maintenance

■ Comparison of single-axis robot models

Model name
MF7-1500
F17-40-1450
B10-1450

Main body price Note 1

Maximum
payload
(kg)

2500

10 (7) Note 3

+/- 5

4000

W85 × H80

40

+/- 10

1450

W168 × H100

10

+/- 40

2550

W100 × H81

720

Note 4

1850

Repeated positioning
accuracy
(μm)

Maximum
cross-sectional
dimension Note 2
(mm)

Maximum
speed
(mm/sec.)

Maximum stroke
(mm)

Note 1: The prices are compared with the strokes shown above.
Note 2: Cable carriers are not included.
Note 3: The payload is 7 kg when the maximum speed is 2500 mm/s. (10 kg-payload: 2100 mm/s)
Note 4: This value is obtained by considering the critical speed with a stroke of 1450 mm.

POINT 5

Double-carrier available as standard
Double-carrier specifications that operate two carriers on one robot
are available as standard. High effects, such as space saving, cost
reduction, and tact improvement are obtained when compared to
two single-axis robots. Furthermore, no axis alignment is needed
and tools are commonly used to shorten the setup time. (When
using the RCX series controller, an anti-collision function can be
used.)

32

■■Layout using two ball screw
single-axis robots

■■Space saving using
double-carrier

POINT 6

Linear scale developed by YAMAHA
YAMAHA originally developed a new linear scale based on its excellent magnetic signal
detection technology.

Magnetic scale provides high environment resistance.
YAMAHA's magnetic scale is resistant to dirt and can be used in an
environment where grease or cutting fluid sometimes splashes.

Semi-absolute specifications
The current position is obtained by reading the signal recorded in the
linear scale. So, it is not necessary to perform a large return-to-origin
movement before starting the operation after turning on the power (the
slider moves up to 76 mm when reading the signals).

High resolution 1 μm
Magnetic signals recorded in the magnetic scale are detected and
interpolated to achieve a highly accurate resolution of 1 μm.

Repeated positioning accuracy: +/-5 μm
A fully-closed control that always feeds back the table position provides high accuracy steadily.
Additionally, there are no mechanical backlashes, such as ball screws
or timing belts.
Position command

Cost reduction
In-house linear scale development and manufacturing achieves large
cost reduction.

Control
Table (coil)

Magnetic head

POINT 7

Controller

Position feedback

Magnetic scale

Magnet shaft

POINT 8

Silence and long service life

Dust-proof structure

Unlike ball screw type robots, there are few sliding and rotating
parts. So, the operation is very quiet. Moreover, as the coil is
not in contact with the magnet, they are not worn out and can
be used for an extended period of time.

All YAMAHA's linear motor robots use a stainless steel shutter.
This prevents entry of foreign objects. Additionally, these
shutters are made of tough stainless steel with an extremely
high fatigue strength to support high-speed and long-stroke
operation.

POINT 9

Flat type without cable carrier protrusion
For the MF7, as the main body is made compact, a flat type that
the cable carrier becomes flat on the top surface of the table is
prepared as standard. Please select this type according to the
tool or workpiece shape, or installation method.

Applicable to multi-carrier operation
The PHASER series also supports "multi-carrier" operation
that allows using three or more carriers on one robot.
This "multi-carrier" operation drastically extends applications
due to its high effect in improving tact time and saving space.

Standard type

Flat type
As the cable carrier
does not protrude
from the table upper
sur face in the flat
type, a large tool can
be installed easily.

Applicable to dual-drive
As a dual-drive that simultaneously drives two axes, high-speed
transfer and heavy object transfer are possible in a wide area.
YAMAHA can propose an optimal control method according to
the robot linkage rigidity.

33

XY- X
Series
Product Lineup

CARTESIAN ROBOTS
Offering a full lineup of Cartesian robots that come with
exact performances and sizes supports a wide variety
of applications.

Fulfilling product lineups
Fulfilling product lineups are provided, such as compact and low price PXYx type, HXYLx allowing
long-distance transfer with a maximum payload of 50kg, and NXY with hollow servomotor used for
the X-axis applicable to double-arm. Fulfilling arm and performance variations support the customers'
various requests.
Additionally, various custom-order products other than models stated in the catalog are also supported. For detail, please feel free to consult YAMAHA.

34

Fulfilling product lineups support a wide variety of applications.
P.240

Various variations
Models with 3 or more axes can be selected from: ■ Z-axis clamped base and moving table type

■ Z-axis clamped table and moving base type

PXYx

FXYx

SXYBx

NXY

NXY-W

Applicable arm variations

Model

Arm

Gantry

SXYx

FXYBx

Moving arm

Pole

XZ

MXYx

HXYx

HXYLx

Number of axes

Maximum
payload
(kg)

Maximum stroke (mm)
X-axis

Y-axis

PXYx

l

-

-

-

-

2 axes

4.5

150 to 650

50 to 300

FXYx

l

-

-

-

-

2 axes/3 axes

12

150 to 1050

150 to 550

FXYBx

l

-

-

-

-

2 axes

7

150 to 2450

150 to 550

SXYx

l

-

l

l

l

2 axes/3 axes/4 axes

20

150 to 1050

150 to 650

SXYBx

l

-

-

-

l

2 axes/3 axes/4 axes

14

150 to 3050

150 to 550

MXYx

l

l

l

l

l

2 axes/3 axes/4 axes

30

250 to 1250

150 to 650

NXY

l

-

-

-

-

2 axes/3 axes

25

500 to 2000

150 to 650

NXY-W

l

-

-

-

-

4 axes/6 axes

25

250 to 1750

150 to 650

HXYx

l

l

l

l

l

2 axes/3 axes/4 axes

40

250 to 1250

250 to 650

HXYLx

l

l

-

-

-

2 axes

40

1150 to 2050

250 to 650

Note. The maximum payloads and maximum strokes shown above are values when using arm type/cable carrier specifications.

POINT 1

POINT 2

Use of 4-row circular arc groove type
2-point contact achieves high durability.
4-row circular arc groove type 2-point contact guide with less
differential slip is adopted. When compared to the 2-row Gothic
arch type 4-point contact guide, the robot provides features
that it does not stop due to catching or overload and is difficult
to malfunction even under poor conditions with low installation
surface accuracy or large overhang amount. Guide rail type
suitable for Cartesian robots, to which moment is always
applied.
2-row gothic arch groove type
4-point contact guide

4-row circular arc groove type
2-point contact guide

Large difference in
circumferential length

Small difference in
circumferential length

Differential slip is
large and friction
resistance is large.
● Easy to receive effects of poor
installation surface accuracy, friction,
and elastic deformation.
● Breakage may occur even within the
calculated service life.

Differential slip is
small and
self-centering
function is high.
● Resistant to alignment changes and
moment loads.
● Difficult to break.

Highly reliable resolver is used.
A resolver is used for the position detector. As the
resolver uses a simple and rigid structure without using
electronic components and optical elements, it features high
environment resistance and low failure ratio. Detection problems
due to electronic component breakdown, dew condensation on
or oil sticking to the disk that may occur in optical encoders do
not occur in the resolver due to its structure. Additionally, as the
absolute specifications and incremental specifications use the
same mechanical specifications and common controller, desired
specifications can be selected only by setting parameters.
Furthermore, even when the absolute battery is consumed
completely, the robot can still operate as the incremental
specifications. So, even if a trouble occurs, the line stop is not
needed to ensure the safe production line. Furthermore, the
backup circuit has been completely renovated and now has a
backup period of one year in the non-energizing state.

POINT 3

Easy maintenance
Even when the built-in structure is used, the motor or ball screw
can be replaced individually to ensure smooth maintenance
work.

35

X Y- X S e r i e s

Product Lineup

POINT 4

Low price
It was succeeded to reduce the number of parts while improving the basic performance. So, further cost reduction was achieved.
Additionally, the resolver was used to eliminate the existing image "absolute specifications are expensive". Additionally, both the
absolute specifications and incremental specifications use exactly same mechanical parts.

POINT 5

POINT 6

Lightweight and compact

Double Y-axis available as standard

The ball screw drive motor is renovated to a couplingless builtin structure to make dead spaces small and contribute to space
saving.

The NXY with nut rotation type structure supports a double
Y-axis with two carriers arranged on the same axis. Two
Cartesian robots can be made compact to improve the work
efficiency at a low cost and ensures the space saving.

Motor rotor
+
Resolver rotor

Motor stator
+
Resolver stator

■■Layout using two conventional
Cartesian robots

■■Space saving and process
integration using NXY-W

Process
1
Process
1

Ball screw

Process 2

Process 2

A rm & cab l e vari at i o n s
Cable variations
Two kinds of cable specifications, cable carrier and whipover (separate cable), are available. (PXYx uses only the cable carrier.)
l Cable carrier (C)

l Whipover (S)

[User cable is provided as standard
equipment.]
When adding cables into a cable carrier,
carefully check the space factor (30 %
or less), etc.

[User cable and air tubing are provided as
standard equipment.]
Be aware that sagging or faulty wiring may
occur if a load is applied to the whipover.
Additionally, sagging may also occur when
using a long-stroke.

Note. User cable: 10-core, 0.3 sq

Note. User cable: 7-core, 0.2 sq
Note. User tubing: ф 4-air tube, 2 pcs.

Arm variations
2 axes combination
l Arm type

l Moving arm type

Type with Y-axis slider movement

Type with entire Y-axis arm movement

l XZ type
Type with combination of X-axis for horizontal movement and Z-axis for
vertical movement
Clamped table/moving base

l Gantry type
Type with support guide attached to the
Y-axis tip of the arm type

l Pole type
Type with Y-axis slider
vertical movement

l Dual-robot (2 axes)
Type with synchronous drive between
two axes
Note. The dual-robot is supported as a custom
order.

36

Clamped base/moving table

3 axes combinations
l Z-axis clamped base and
moving table type

l Z-axis clamped table and
moving base type

ZR-axis model: ZT / ZF / ZFL / ZL

l Shaft up/down type
ZR-axis model: ZS

ZR-axis model: ZFH / ZH

l X-Y Gantry + Z-axis

l X-Y Gantry + Z-axis

(Clamped base/moving table)

l Dual-robot (3 axes)

(Clamped table/moving base)

Note. The dual-robot is supported as a custom
order.

4 axes combinations
l Z-axis clamped base and
moving table type + rotation axis

l Z-axis clamped table and moving
base type + rotation axis

ZR-axis model: ZRF / ZRFL / ZRL

l X-Y Gantry + Z-axis
(Clamped base/moving table) +
rotation axis

l ZR-axis integrated type
ZR-axis model: ZRS

ZR-axis model: ZRFH / ZRH

l X-Y Gantry + Z-axis
(Clamped table/moving base) +
rotation axis

l Dual-robot (4 axes)

l Double Y-axis specifications

Note. The dual-robot is supported as a
custom order.

Robot model: NXY-W

6 axes combination
l Double Y-axis specifications/ Z-axis
clamped base and moving table type
Robot model: NXY-W-ZFL

Special orders

l Double Y-axis specifications/ Z-axis
clamped table and moving base type
Robot model: NXY-W-ZFH

YAMAHA supports models with strokes and payloads other than the standards as special orders. For detail, please feel free to
consult YAMAHA.
Contact Us

81-53-460-6103 E-mail: robotn@yamaha-motor.co.jp

37

Y K- X

Series
Product Lineup

YK-TW

Omni directional model

YK-XG/YK-X

Completely beltless model

YK-XR

Low cost high performance model

YK-XGS

Wall mount/inverse model

YK-XGP

Dust-proof & drip-proof model

Note

Note. Except for YK1200X

SCARA ROBOTS
Arm length of 120 mm to 1200 mm, full-selection of lineup is top in the world.
Completely beltless structure pursues the features of SCARA robots to
their utmost limits.

Low cost high performance model
YK400XR

History of 30 years
The first YAMAHA robots were SCARA robots. Since the first SCARA robot called "CAME" was produced
in 1979, some 30 years of SCARA robot innovations have continually appeared. These SCARA robots
have undergone countless modifications in an ever changing marketplace and amassed a hefty record of
successful products making them an essential part of the YAMAHA robot lineup.

38

1979
<YK7000>

Comprehensive line of YAMAHA SCARA robots
P.370

Orbit type

P.393

Large type
■■Arm length 700 mm to 1200 mm
■■Maximum payload 20 kg to 50 kg

■■Arm length 350 mm / 500 mm
■■Maximum payload 4 kg

YK500TW

P.374

Extra small type

YK700XG

YK800XG

■■Arm length 120 mm to 220 mm
■■Maximum payload 1 kg

YK1000XG

YK900XG

YK120XG/YK150XG/YK180XG

YK180X/YK220X

P.379

Small type
■■Arm length 250 mm to 400 mm
■■Maximum payload 5 kg

YK1200X

Low cost high performance model

Wa l l m o u n t/ i n v e r s e m o d e l

YK400XR

P.399

YK300XGS to YK1000XGS

YK400XR

YK250XG/YK350XG/YK400XG

P.386

Medium type

Wall mount type

Inverse type

■■Wall mount type
Type where the robot body is installed in the wall.

■■Inverse type

■■Arm length 500 mm to 600 mm
■■Maximum payload 5 kg to 20 kg

Type where the wall-mount type is installed upside down.

Dust-proof & drip-proof model

YK500XGL

YK500XG

YK250XGP/YK350XGP/YK400XGP
YK500XGLP/YK600XGLP

YK600XGL

P.409

YK600XG/XGH

YK500XGP to YK1000XGP

Plays active part in the working environment with a large amount of water or
dust (protection class equivalent to IP65).
● Please consult YAMAHA for anti-droplet protection for fluids other than water.

39

YK-X Series

Product Lineup

YK-TW Orbit type
Y K-T W

POINT 1

Y K-T W

Layout design freedom

POINT 3

High quality

User: We want a smaller equipment footprint.

User: We want a high precision assembly system.

YK-TW can move anywhere through the full
ф 1000 mm Note 2 work envelope.

YK-TW offers a repeated positioning accuracy of
±0.01 mm Note 1 (XY axes).

Featuring a ceiling-mount configuration with a wide arm
rotation angle, the YK-TW can access any point within the full
ф 1000 mm downward range. This eliminates all motion-related
restrictions with regard to pallet and conveyor placement
operations, while dramatically reducing the equipment footprint.

Higher repeated positioning accuracy than that offered by a
parallel-link robot. This was accomplished by optimizing the
robot's weight balance through an extensive re-design of its
internal construction. The lightweight yet highly rigid arm has
also been fitted with optimally tuned motors to enable high
accuracy positioning.
Y-motor
Reduction gear

R-motor

Motion range

C

Z-motor

Hollow construction

A

Y-motor and reduction gear feature a
hollow construction which allows them to
be housed inside the harness arm.

B

360 ° Rotation.

C
A

C
A

B

Orbit type SCARA robot

Y K-T W

B

Optimized rotation center of
gravity moment

Weight balance was optimized by placing
the R-motor and Z-motor at the left and
right sides respectively.

Reduced inertia enables
high-speed motion.

POINT 4

Suitable for a wide range of applications

Standard type SCARA robot

User: We need to move heavy workpieces at high speeds.
YK-TW handles payloads up to 5 kg.

Y K-T W

POINT 2

Handles loads up to 5 kg. Also accommodates arm-end tools
which tend to be heavy, making it highly adaptable to various
applications.

Higher productivity
User: We need to reduce cycle time.
Standard cycle time of 0.29 secs. Note 2
Y-axis (arm 2) passes beneath the X-axis (arm 1) and it has a
horizontal articulated structure, allowing it to move along the
optimal path between points. Moreover, the optimized weight
balance of the internal components reduces the cycle time by
36 % as compared to previous models.
YK500TW

Standard cycle time of
0.29 secs.

Reduced
by
approx. 36 %

Previous
YAMAHA
model

Y K-T W

POINT 5

Smaller equipment footprint
User: We want to reduce the height of our equipment.
YK-TW offers both a lower height and a smaller footprint.
YK-TW height is only 392 mm. This compact size enables more
freedom in the equipment layout design.
YK500TW

YD11
392 mm

Cycle time

844 mm

The standard cycle time for moving a 1-kg load horizontally 300 mm
and up/down 25 mm is shortened by approximately 36 % compared
to existing YAMAHA models.
Note 1. Applies to the YK350TW Note 2. Applies to the YK500TW

40

Y K-T W

POINT 6

Y K-T W

Easy installation

Reduce the number of steps

User: Parallel-link robots require large frames
which complicates installation…

User: Preparing the frame is extra work.
We can optionally provide a dedicated frame for
the YK-TW.

YK-TW has a total height of only 392 mm, and
weighs only 27 kg Note 2.

With no need for complex calculations
of strength, startup steps can be
reduced.

Lower inertia = Lighter frame
Weighs only
27 kg

YK500TW
YD11

Y K-T W

POINT 7

Approx. 74 % lighter

Note. For details on dimensions and price, please
contact Yamaha.

75 kg

POINT 8
Underpass motion

Ideal for narrow space applications

Optimize use of the space
right below the main unit

User: We need to install in limited space, such as
between equipment.
Minimum installation width 492mm Note 1

492mm

Perfect in narrow spaces
between stations

The tip (R-axis) is able
to pass right below the
main unit

YK-XG Completely beltless type
Integral structure designed for optimal
operation
Note. The following shows an example of YK500XG.
Highly rigid independent
spline shaft

Ball screw directly connected structure
passed on from the single axis robot

Specially
developed
hollow motor

Built-in user wiring/
user tubing

YK-XG

POINT 1

Completely beltless structure
A completely beltless structure was achieved using a ZR-axis direct
coupling structure. This completely beltless structure greatly reduces waste
motion. This structure also maintains high accuracy for an extended period
of time. Additionally, this structure ensures maintenance-free operation
for an extended period of time without worrying about belt breakage,
elongation, or secular deterioration (except for Orbit type and large type).
Conventional model

YK-XG series

Vertical axis motor
Rotation axis motor

Vertical axis ball screw
Rotation axis
hollow motor

Tip rotation axis also uses the harmonic
gear direct coupling structure to ensure
the high rigidity and high accuracy.

Vertical shaft motor
(direct coupling)
Rotation axis hollow
speed reducer

Drive by pulley and
timing belt
● Rigidity and accuracy are determined by belt.
● Secular change, such as belt elongation
occurs.

YK-XG

● High rigidity and high accuracy
● No worry about belt elongation and breakage
● Maintenance free

POINT 2

High speed
The standard cycle time is fast. Additionally, YAMAHA
also places special emphasis on the tact time in the
practical working area. The speed reduction ratio or
maximum motor RPM was reviewed to greatly improve
the maximum speed. This contributes to improvement
of the tact time.

XY-axis

Z-axis

R-axis

4.9 m/s

7.6 m/s
1.7 m/s

2.3 m/s

45 %UP

YAMAHA's conventional model
YK500XG

35 %UP

876 °/s

1700 °/s

90 %UP

41

YK-X Series

YK-XG

Product Lineup

POINT 3

Resolver is used for position detector.
As the resolver uses a simple and rigid structure without
using electronic components and optical elements, it
features high environment resistance and low failure ratio.
Detection problems due to electronic component breakdown,
dew condensation on or oil sticking to the disk that may
occur in optical encoders do not occur in the resolver due
to its structure. Additionally, as the absolute specifications
and incremental specifications use the same mechanical
specifications and common controller, the specifications can
be changed only by setting parameters. Furthermore, even
when the absolute battery is consumed completely, the robot
can still operate as the incremental specifications. So, even
if a trouble occurs, the line stop is not needed to ensure the
safe production line. The backup circuit has been completely
renovated and now has a backup period of one year in the
non-energizing state.

Optical encoder

Resolver

● Optical type
● Electronic components are required
and structure is complicated.
● Electronic component malfunction, or
dew condensation on or oily content
sticking to disk may occur easily.

● Magnetic type
● Simple structure only with iron core
and winding has less potential failure
factors.
● Immune to shock and electric noise.

Detection failure

High reliability

Note. The resolver has a simple structure without using electronic components. So, the
resolver is highly resistant to low and high temperatures, impacts, electrical noise,
dust particles, and oil, etc., and is used in automobiles, trains, and aircrafts that
particularly require the reliability.

YK-XG

POINT 4

Excellent maintenance ability
The covers of YAMAHA SCARA robot YK-XG series can be removed forward or upward. The cover is separated from the cable, so
the maintenance work is easy. Additionally, the grease replacement of the harmonic gear needs many steps to disassemble the gear
and may cause positional deviation. However, since the harmonic gear of the YAMAHA SCARA robot uses long-life grease, the grease
replacement is not needed.

YK-XG

POINT 5

Surprising R-axis tolerable moment of inertia
The SCARA robot performance cannot be expressed only by
the standard cycle time. In actual operating environments,
there are various workpieces, such as heavy workpiece or
workpiece with large offset. At this time, since the robot with low
R-axis tolerable moment of inertia needs to decrease the speed
during operation, the cycle time decreases greatly. All YAMAHA
SCARA robot YK-XG types have the tip rotation axis directly
coupled to the speed reducer. Since the R-axis tolerable
moment of inertia is very high when compared to a general
structure in which the moment of inertia is transmitted by a belt
after decelerating, the robot can operate at a high speed even
with workpieces that have been offset.

YK120XG

(R-axis tolerable moment of inertia: 0.1 kgfcm2)
When the tip load weight is 1 kg,
it is possible to operate at approx. 100 mm offset.

Approx. 100 mm

R-axis tolerable moment of inertia: Comparison between YK120XG and other company's model
When the offset from the Raxis to the center of gravity of
the load is large, the inertia
becomes large and the acceleration during operation is
restricted. The R-axis tolerable moment of inertia of YAMAHA XG series is exceedingly large when compared
to other company's SCARA
robots in the similar class, so
it can operate at a high speed
even in the offset state.

Offset
54 mm

1 kg
ф 55 mm

When the load weight is 1 kg (refer to the right in the figure,)
Offset
(mm)


0
45
97
: Operable

Inertia (kgfcms2)


Operation
YK120XG
Company A

0.0039
0.025
0.1

: Out of catalog value tolerance range

◆ R-axis tolerable moment of inertia: YK120XG.......... 0.1 kgfcms

42

2

Company A....... 0.0039 kgfcms2

YK-XG

POINT 6

YK-XG

Compact

YK500XG

YK-XG

Hollow shaft and tool flange options are
selectable.
Hollow shaft that allows easy wiring to the tip tool and tool flange
for tool mounting are provided as options.

790 mm

675 mm

741 mm

As the cable layout is changed, the cable height becomes lower
than the main body cover. Additionally, use of extruded material
base and motor with low overall height achieves the lowest
overall height in the same class.

POINT 7

YAMAHA's conventional model

Hollow shaft option convenient for
routing of air tubes and harness
wires

Tool flange option for easy
mounting of a tool to the tip

Note. YK250XG to YK400XG

YK500XGL/YK600XGL

Note. YK250XG to YK1000XG

POINT 8

Zone control (= Optimal acceleration/deceleration automatic setting) function
In the SCARA robot, the load applied to
the motor and speed reducer in the arm
folded state greatly differs from that in the
arm extended state. YAMAHA SCARA robot
automatically selects optimal acceleration and
deceleration from the arm postures at operation
start and operation end. Therefore, the robot
does not exceed the tolerance value of the
motor peak torque or speed reducer allowable
peak torque only by entering the initial payload.
So, full power can be extracted from the motor
whenever needed and high acceleration/
deceleration are maintained.

YK-XG

For X-axis of YK500XG
The torque in the arm folded state is 5 or
more times different from that in the arm
extended state.
This may greatly affect the service life,
vibration during operation, and controllability.
If the motor torque exceeds the peak value
→ This may adversely affect the controllability and mechanical vibration, etc.
If the torque exceeds the tolerable peak torque value of the speed reducer
→ This may cause early breakage or shorten the service life extremely.

POINT 9

Low price models with the arm length 500 mm/600 mm
specifications are also added to the product lineup.
The customers require to use SCARA robots at a more affordable price. Models
YK500XGL/YK600XGL were developed to meet these customer's requests. About
30 %-cost reduction was achieved when compared to the conventional models
YK500XG/600XG.

YK500XGL
YK600XGL

About 30 %
DOWN

YK500XG
YK600XG
Cost (Price)

43

YK-X Series

Product Lineup

YK-XR Low cost high performance model YK400XR
YK-X R

POINT 1

YK-X R

POINT 2

Shortest cycle time in this class

Superior cost performance

A standard cycle time of 0.45 sec. is achieved by drawing out
the robot performance to its maximum level.

Most economical price in YAMAHA's similar robot class without
sacrificing its existing features.

YK-X R

POINT 3

With versatile and high performance controller RCX340.
Combination of YK400XR robot and new RCX340 controller enable operation up to 16 axes with simple easy networking.

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

Inverse type

YK-XGP Dust-proof & drip-proof model
Up/down bellows structure improves the dust-proof and drip-proof performance.
The dust-proof and drip-proof type that can be operated even in a
work environment where water or particle dust scatters was renewed
to a completely beltless structure. The belt does not deteriorate and
poor environment resistance is improved. Additionally, an up/down
bellows structure is used to improve the dust-proof and drip-proof
performance.
Note. YK250XGP to YK600XGLP

Protection class equivalent to IP65 (IEC60529)
Seals are added to the joints to maintain the dust-proof and dripproof performance without air purging. The robot conforms to the
protection class equivalent to IP65 (IEC60529).

IP 6 5

Class of protection against invasion of water: 5
Water injected from any direction does not affect adversely.
The standard pressure of the injected water is 30 KPa (30 KN/m2, 0.3 kgf/cm).
The injection speed is 12.5 liters/min. and the injection time is 3 min.
Note. The water injected under conditions exceeding those shown above may enter the unit.

Class of protection against solid objects: 6
No invasion of particle dust.

Dust-proof and drip-proof connector for user
wiring is provided as standard.

YK250XGP to
600XGLP (arm part)

44

YK250XGP to
600XGLP (base part)

Model/Type

Model

Arm length (mm)

Maximum payload (kg)

Standard cycle time (sec.)

Page

YK350TW

350

5.0

0.32 (RCX340)
0.38 (RCX240)

P.370

YK500TW

500

4.0 (3.0)

0.29

P.372

YK120XG

120

YK150XG

150

YK180XG

180

YK180X

180

0.39

P.377

YK220X

220

0.42

P.378

YK250XG

250

Omni directional model

Micro-mini type
(Tiny)
Completely
beltless
model

Small type
Low cost high
performance
model

Medium type

Completely
beltless
model

Note 2

P.374
0.33
1.0

P.375
P.376

P.379
Note 2

YK350XG

350

YK400XG

400

YK400XR

400

3.0 (2.0)

Note 2

0.45

P.385

YK500XGL

500

5.0 (4.0)

Note 2

0.59

P.386

YK500XG

500

10.0

0.45

P.388

YK600XGL

600

5.0 (4.0)

0.63

P.389

YK600XG

600

10.0

0.46

P.391

YK600XGH

600

20.0 (19.0)

0.47

P.392

YK700XGL

700

10.0 (9.0)

0.50

P.393

YK700XG

700

0.42

P.394

YK800XG

800

0.48

P.395

Large type

5.0 (4.0)

0.49

P.381
P.383

Note 2

20.0 (19.0)
YK900XG

900

P.396
0.49

YK1000XG

1000

YK1200X

1200

YK300XGS
YK400XGS

Note 1
Note 1

YK500XGS

300

P.397
50

0.91

5.0 (4.0) Note 2

0.49

P.398
P.399

400

P.401

500

0.45

P.403

10.0
YK600XGS

600

0.46

P404

YK700XGS

700

0.42

P.405

YK800XGS

800

0.48

P.406

Wall mount/inverse model

20.0
YK900XGS

900

0.49

P.407

YK1000XGS

1000

0.6

P.408

YK250XGP

250

YK350XGP

350

YK400XGP

400

YK500XGLP

500

4.0

0.74

P.415

YK500XGP

500

8.0

0.55

P.417

YK600XGLP

600

4.0

0.74

P.418

YK600XGP

600

8.0

0.56

P.420

YK600XGHP

600

0.57

P.421

YK700XGP

700

0.52

P.422

YK800XGP

800

0.58

P.423

YK900XGP

900

P.409
5.0

0.49

P.411
P.413

Dust-proof & drip-proof model

18.0

P.424
0.59

YK1000XGP

1000

P.425

Note 1. The YK300XGS and YK400XGS are custom-order products. For details about the delivery time, please contact YAMAHA.
Note 2. For the option specifications (tool flange mount type and user wiring/tubing through spline type), the maximum payload becomes the value in ( ).

45

YP-X

S e ries
Product Lineup

PICK & PLACE ROBOTS
Ideal for small components high-speed pick & place work.
Positioning is made by servo control, so no complex mechanical
adjustments are needed.

46

Full lineup of 6 models in all from 2 axes to 4 axes
P.429

2 axes type

YP220BX/YP320X

Model
YP220BX
YP320X

Axis
2 axes

Structure
X-axis

Z-axis

R-axis

YP340X

Maximum payload
(kg)

Page

Cycle time (sec.)

Belt

-

Belt

-

3

0.45

P.429

Ball screw

-

Belt

-

3

0.57

P.430

Belt

-

Belt

Rotation axis

1

0.62

P.431

3 axes

Ball screw

-

Belt

Rotation axis

1

0.67

P.432

Ball screw

Ball screw

Belt

-

3

0.57

P.433

4 axes

Ball screw

Ball screw

Belt

Rotation axis

1

0.67

P.434

YP330X
YP340X

Y-axis

P.434

4 axes type

YP220BXR/YP320XR/YP330X

YP220BXR
YP320XR

P.431

3 axes type

POINT 1
Reciprocation
0.45 sec.

High speed

50 mm

Super high-speed pick & place operation with a standard cycle time of 0.45 sec.
(YP220BX with up/down 50 mm, back/forth 150 mm, arch amount 50, load 1 kg)
greatly contributes to improvement of the productivity. Since it is possible to output
a signal to turn on/off any external equipment from any position while the axis is
moving, the actual production cycle time is further improved.
150 mm

POINT 2

Compact
Use of a compact size with an overall with of 109 mm (YP220BX) makes it possible to make the production line compact and simple.
The moving arm structure with less interference with surroundings contributes to space saving.

Reference examples
of robot layout
comparisons
The compactness can be
checked by comparing
the occupied spaces
when the YP-X series and
YAMAHA's Cartesian/
SCARA robots are laid
out.

■■ Line using pick & place
utilizing space saving

287.5

■■ Line using YAMAHA's compact
Cartesian robot PXYx
X-axis stroke: 250 mm
Y-axis stroke: 250 mm

287.5 109 109

POINT 3

504.5

504.5

POINT 4

■■ Line using YAMAHA's
compact SCARA robot
YK250X

504.5

574

POINT 5

High accuracy

Complete absolute position system

Versatility

Both extremely high-speed performance
and high repeated positioning accuracy of
+/- 0.02 mm (YP320X, YP320XR, YP330X,
YP340X) are assured.

As the complete absolute position system
is used, no return-to-origin operation is
needed.

Use of YAMAHA's unique servo system
makes it possible to freely program the stop
point and operation pattern settings. This
robot is applicable to production of many
models in small quantities that cannot be
supported by the cam type robot.

47

CL E A N
T ype
Product Lineup

CLEAN ROBOTS
Suitable for electronics component, food, and medical unit related work in
clean room.
High sealing structure, dust generation prevention, and improvement of
suction efficiency are achieved.
Both the high cleanliness degree and high performance are established.
Clean robots contribute to automation and labor
saving of production systems in clean rooms.

48

Both high cleanliness degree and high performance were achieved.
Clean single-axis, Cartesian, and SCARA robots were added to the
product lineup.
Clean SCARA robots
P.462

YK-XGC/XC type
The Z-axis spline is covered with bellows made of materials with low dust generation and other
sliding parts are sealed completely. Harnesses are also incorporated completely and the inside
of the robot is sucked from the rear of the base to prevent dust generation.

180 mm to 1000 mm
■■Arm length:
30 to 60 Nℓ/min.
■■Suction amount:
■■Cleanliness degree: CLASS ISO3 (ISO14644-1)

CLASS10 (FED-STD-209D)
■■Maximum payload: 20 kg

YK250XGC

POINT 1

YK400XGC

POINT 3

Vertical bellows structure improves the
reliability of the clean performance.

Completely beltless structure improves
the rigidity.

As a beltless structure is used, no dust generation caused
by the belt occurs. Furthermore, as the YK-XGC type was
renewed to a structure, in which the bellows are installed on
the Z-axis vertically, the reliability of the clean performance was
further improved.

A completely beltless structure was achieved using a ZR-axis
direct coupling structure. As a speed reducer is coupled to the
tip rotation axis, the R-axis tolerable moment of inertia is very
high and the high-speed movement is possible even with a
heavy workpiece or largely offset workpiece.

Note. Except for YK500XC to YK1000XC

Note. Except for YK500XC to YK1000XC

YK-XGC/XC type

Conventional model

(Including YK180XC/YK220XC)

Vertical axis motor
Vertical axis
Ball screw

Rotation axis
motor
Rotation axis
Hollow motor

POINT 2

High durability
As a beltless structure is used, the robot can be operated
without worry about belt elongation and secular change Note.
Additionally, the bellows installed on the Z-axis use material
with high durability to ensure the durability performance.

Vertical axis
motor
(direct
coupling)
Drive by pulley
and timing belt

Note. Except for YK500XC to YK1000XC

● Rigidity

and accuracy are
determined by belt.

● Secular

change, such as belt
elongation occurs.

Type
Micro-mini type

Small type

Medium type

Large type

Rotation axis hollow
speed reducer
● High

rigidity and high accuracy

● No

worry about belt elongation and
breakage

● Maintenance

free

Maximum payload Standard cycle time Beltless structure
(kg)
(sec.)

Model

Arm length
(mm)

YK180XC

180

1

0.42

P.462

YK220XC

220

1

0.45

P.463

Page

YK250XGC

250

4

0.57

P.464

YK350XGC

350

4

0.57

P.466

YK400XGC

400

4

0.57

YK500XC

500

10

0.53

P.468
-

P.472

YK500XGLC

500

4

0.74

YK600XC

600

10

0.56

YK600XGLC

600

4

0.74

YK700XC

700

20

0.57

-

P.476

YK800XC

800

20

0.57

-

P.477

YK1000XC

1000

20

0.60

-

P.478

P.470
-

P.475
P.473

49

C L E A N Ty p e

Product Lineup

Clean single-axis robots
P.442

FLIP-XC type

The FLIP-XC type robots are single-axis robots "FLIP-X series" with clean room specifications. According to the applications, an optimal robot
can be selected from 14 models from a lightweight and compact model to a large model with a maximum payload of 120 kg. As an air joint for
suction is provided as standard equipment, grease with low dust generative characteristics is used, and stainless sheets with an excellent durability are used for the slide table surface, high cleanliness degree is achieved.

■■Stroke:
■■Suction amount:
■■Cleanliness degree:
■■Maximum payload:

50 to 2050 mm
15 to 90 Nℓ/min.
CLASS10 Note
120 kg (When installed horizontally)

Note. C4L/C4LH, C5L/C5LH, and C6L are CLASS ISO3 (ISO14644-1).

C6L

C5L

C4L

POINT

Excellent maintenance ability
As the table top can be slid
horizontally by removing
the screws, this ensures
easy maintenance work.

For C4L to C6L models, removing the screws from the side panel
of the slider will allow replacement of the inner roller without
detaching the tool. For C8 to C20 models, even when the direct
coupling structure is used, the motor or ball screw can be replaced
individually.

Model

C4L
C4LH
C5L
C5LH

C6L

C8

C8L

C8LH

C10

C14

C14H

Size (mm) Note

W45 × H55

W55 × H65

W65 × H65

W80 × H75

W80 × H75

W80 × H75

W104 × H85

W136 × H96

W136 × H96

C17

W168 × H114

C17L

W168 × H114

C20

W202 × H117

Lead (mm)

Maximum speed
(mm/sec.)

Horizontal

Vertical

12

4.5

1.2

720

6

6

2.4

360

2

6

7.2

120

20

3

-

1000

12

5

1.2

800

6

9

2.4

400

20

10

-

1000

12

12

4

800

6

30

8

400

20

12

-

1000

12

20

4

720

6

40

8

360

20

20

4

1000

10

40

8

600

5

50

16

300

20

30

-

1000

10

60

-

600

5

80

-

300

20

20

4

1000

10

40

10

500

5

60

20

250

20

30

4

1000

10

55

10

500

5

80

20

250

20

40

8

1000

10

80

20

500

5

100

30

250

20

80

15

1000

10

120

35

600

50

50

10

1000

20

120

25

1000

10

-

45

500

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

50

Maximum payload (kg)

Stroke (mm)

Page

50 to 400

C4L : P.442
C4LH : P.443

50 to 800

C5L : P.444
C5LH : P.445

50 to 800

P.446

150 to 800

P.447

150 to 1050

P.448

150 to 1050

P.449

150 to 1050

P.450

150 to 1050

P.451

150 to 1050

P.452

250 to 1250

P.453

1150 to 2050

P.454

250 to 1250

P.455

Clean single-axis robots
P.439

SSC t ype ( TRANS E RV O)

The SSC type robots are stepping motor single-axis robots "TRANSERVO series" with clean room specifications. Use of a newly developed
vector control method achieves the function and performance equivalent to the servomotor at a low cost even using the stepping motor. As an
air joint for suction is provided as standard equipment, grease with low dust generative characteristics is used and stainless sheets with an
excellent durability are used for the slide table surface, the high cleanliness degree is achieved.

50 to 800 mm
■■Stroke:
15 to 80 Nℓ/min.
■■Suction amount:
■■Cleanliness degree: CLASS10
■■Maximum payload: 12 kg (When installed horizontally)
SSC04

Model

Size (mm) Note 1

SSC04

W49 × H59

SSC05

W55 × H56

SSC05H

W55 × H56

Maximum payload (kg)

Lead (mm)

SSC05

Horizontal

Vertical

Maximum speed
(mm/sec.)

2
4
6
4
6
10
6
8
12

1
2
4
1
2
2
4

600
300
100
1000
600
300
1000
600 (horizontal) / 500 (vertical)
300 (horizontal) / 250 (vertical)

12
6
2
20
12
6
20
12
6

SSC05H

Stroke (mm)

Page

50 to 400

P.439

50 to 800

P.440

50 to 800

P.441

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

Clean Cartesian robots
P.456

XY-XC type
This Cartesian robot XY-XC type is applicable to clean rooms. As stainless sheets with excellent
durability are used, the opening can be designed to be its minimum level and the robots area applicable to CLASS10 with less suction amount. Furthermore, as the ZR-axis of the SXYxC uses
a super high speed unit of the SCARA robot, this achieves great reduction of the cycle time.

60 to 90 Nℓ/min.
■■Suction amount:
Note
■■Cleanliness degree: CLASS10
■■Maximum payload: 20 kg
■■Maximum speed: 1000 mm/sec.
Note. User wiring: D-Sub 25-pin connector (Numbers 1 to 24 are already wired and number 25 is frame ground.)
Note. User tubing: ф 6-air tube, 3 pcs.

Type

Model

2 axes

SXYxC

SXYxC (ZSC12)
3 axes
SXYxC (ZSC6)

SXYxC (ZRSC12)
4 axes
SXYxC (ZRSC6)

SXYxC

Axis

Movement range

Maximum speed
(mm/sec.)

X

150 to 1050 mm

1000

Y

150 to 650 mm

1000

X

150 to 1050 mm

1000

Y

150 to 650 mm

1000

Z

150 mm

1000

X

150 to 1050 mm

1000

Y

150 to 650 mm

1000

Z

150 mm

500

X

150 to 1050 mm

1000

Y

150 to 650 mm

1000

Z

150 mm

1000

R

360 °

1020 °/sec

X

150 to 1050 mm

1000

Y

150 to 650 mm

1000

Z

150 mm

500

R

360 °

1020 °/sec

Maximum payload
(kg)

Page

20

P.456

3

P.458

5

P.459

3

P.460

5

P.461

51

Co n t r ol l ers

Product Lineup

CONTROLLERS
An optimal controller can be selected from various command
input formats.
As servo parameters and deceleration patterns suitable for
robots are pre-registered, robots can be operated quickly
without complex settings.

52

High performance controllers supporting YAMAHA robots
TRANSERVO

FLIP-X

Stepping motor

P

• I/O point trace
• Remote command
• Online command

[T4L/T5L]
Small type servomotor
(24 V • 30 W)

PHASER

General-purpose
servomotor
(30 to 600 W)

P

Linear motor

P

P
TS-S2/
TS-SH/
TS-X/TS-P

P.490
TS-S2

TS-SH

TS-X

TS-P
TS-SD

NEW

1 axis

D

2 axes

NEW

D

P.500
RDV-X/
RDV-P

• Pulse train

P.504

C
TS-SD

3, 4 axes

D

ERCD

ERCD

RDV-X

Program
•(YAMAHA
SRC language)
• I/O point trace
• Remote command
• Online command
Program
•(YAMAHA
BASIC language)
I/O
command

• Remote command
• Online command
Program
•(YAMAHA
BASIC language)
I/O
command

• Remote command
• Online command

P.510

RDV-P

C

C
SR1-X/
SR1-P

P.516
SR1-X

SR1-P

C

C
RCX221/
RCX222

P.524
RCX222

RCX221

C

RCX240/
RCX240S

Note 1

RCX240
RCX240S

Note 2

C

P.532

RCX340

RCX340

P.542

up to 16 axes

5 to 8 axes

Five or more axes can also be supported
RCX240

YC-LINK couples single-axis
controllers to a 4-axis controller
Note : Up to four SR1 series controllers can be
connected to the RCX series controller.
All programs and
settings are
managed using the
master.

RCX340

Connectable
using
LAN cable.
YC-Link/E

Controllers without
program settings

PLC

Up to four RCX340 controllers
(up to 16 controllable axes) can be connected.

Note 1. The RCX340 uses YAMAHA BASIC2 language.
Note 2. The I/O command is not applicable to the RCX340.

P : Robot positioner

Master

D : Robot driver

Slave

Slave

Slave

C : Robot controller

53

Controllers

Product Lineup

POINT 1

Selectable from various control methods
Program input
A variety of operation settings, calculations, and conditional branching is possible
The single-axis robot controllers use the YAMAHA SRC language Note which is simple yet contains all required functions, such as I/O outputs
and conditional branching, etc. The multi-axis controller RCX series uses the YAMAHA BASIC language capable of more sophisticated
programming and includes all types of arithmetic operations, flexible variable settings, and various conditional branching, etc. Both are
easy to use robot language conforming to the BASIC. These languages support various needs from simple operations to expert user's
sophisticated work.
Note. The 2-axis controller DRCX also uses YAMAHA SRC language.

Single-axis robot
controller

Multi-axis robot
controller

YAMAHA SRC
language <Example>

YAMAHA BASIC
language <Example>

MOVA 1 , 100

Moves to point number 1 at 100 %-speed.

DO 1 , 1

Turns on general-purpose output number 1.

WAIT 2 , 1

Waits until general-purpose input number 2 turns on.

IF DO(10)=1 THEN *END

Jumps to *END if general-purpose input number 10 turns on.
Otherwise, moves to the next line.

MOVE P, P2, STOPON DI(1) =1

Moves to point number 2. Stops when general-purpose input
number 1 turns on during movement.

WAIT ARM

Waits until the robot arm operation ends.

P3=WHERE

Writes the current position into point number 3.

*END:

Defines the label named "END".

HOLD

Pauses the program.

I/O point trace

Remote command

Program-less means easy

Ideal for unified data management

Point number
designation

The host unit specifies a point number in binary format and the
robot moves to the specified point when the start signal is input.
The controller can operate only by teaching the point data
without programs.

PLC

Point data

DI 1 (20) ON
DI 2 (21) OFF

The word function of the CC-Link or DeviceNetTM is used to
issue various commands or data to the robot. The expandability
of the word function from simple operation instructions to point
data writing is fully utilized to freely use the robot controller
functions from the host unit.
Note. This function is enabled when selecting an option network board.

Specifies P5.

DI 3 (22) ON

Word function of PLC

Start signal
Parallel I/O
Field bus CC-Link DeviceNetTM

0000 0064 007 B 0109
Controller

Pulse train

CC-Link DeviceNetTM
PLC

Controller

Online command

Acceleration/deceleration curves can be created freely
The robot is controlled using pulse trains sent from the positioning unit.
The controller does not need to have programs or point data. This
pulse train is convenient when the control is centralized to the host
unit.

Execute everything from a PC
The PC can issue various commands or data to the controller or
receive the data or status through the RS-232C or Ethernet Note.
All executable operations from the teaching pendant can be
executed from the PC.
Note. Ethernet is enabled when selecting an option network board.
(For the RCX340, Ethernet is provided as standard function.)

Pulse train

@MOVA1,100 c/r I/f

Positioning unit
Controller
PC

54

Controller

POINT 2

Easy optimal setup
Complicated parameter settings are unnecessary
Robot controllers are specially designed for YAMAHA robots. Optimal values for servo parameters required for robot operation, such
as gain are already registered beforehand. Start operating immediately without any need for complicated settings or tuning, even if you
don't have knowledge or experience about control.
Servo amp

Yamaha controller

Control device and motion unit

1.

Gain
adjustment
(tuning)

Motion
2. parameter
settings

Return-to-origin
3. System
construction

Control device

4. Operation

1.

Specify
payload
mass

2. Operation

Servo parameter adjustment is unnecessary

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

Concept of speed and acceleration
Speed
"Acceleration"
= 100 (%)

Acceleration calculation algorithm
m/s
Acceleration upper
limit value at 0kg
(Maximum acceleration)

Specify a ratio (%) to the
maximum speed of each robot.

"Speed" = 100 (%)

"Speed" = 50 (%)

"Deceleration" = 100 (%)
Specify a ratio
(%) to the
acceleration.

Acceleration upper limit
value when setting a
payload
Acceleration upper limit
value when setting the
maximum payload

Time
Specify a ratio (%) to the acceleration that is
optimized according to the movement amount or
movement speed based on the acceleration upper
limit value automatically set by the payload setting.

2

Payload
setting

Automatic setting
of acceleration
upper limit value
according to
payload. (See the
figure shown
above.)

Payload
set value

Maximum
payload

Optimal acceleration is
calculated from the
movement amount and
movement speed at
startup based on
acceleration upper limit.

kg

Acceleration
determination and
operation
start

Zone control (= Optimal acceleration/deceleration automatic setting) function
The SCARA robot also incorporates a zone
control function that always operates the
robot at its maximum performance level by
considering changes in inertia due to the arm
posture. Therefore, the robot does not exceed
the tolerance value of the motor peak torque
or speed reducer allowable peak torque only
by entering the initial payload to bring out
the full power of the motor and keep the high
acceleration/deceleration.

For X-axis of YK500XG
The torque in the arm folded state is 5 or
more times different from that in the arm
extended state.
This may greatly affect the service
life, vibration during operation,
and controllability.
If the motor torque exceeds the peak value
→ This may adversely affect the controllability and mechanical vibration, etc.
If the torque exceeds the tolerable peak torque value of the speed reducer
→ This may cause early breakage or shorten the service life extremely.

55

Controllers

Product Lineup

POINT 3

Multi-function and expandability
■■Multi-axis controllers support up to 30,000 points (10,000 points for the RCX2 series, 1,000 points for the single-axis controller (255 points
for the TS series)). Up to 100 programs can be created on each controller.
TM
TM
■■Various field networks, CC-Link, DeviceNet , PROFIBUS, and EtherNet/IP are supported.

Note. Some models do not support all networks.

■■The TS series, RD series, SR1 series, and RCX series use a dual-power supply system with separate control power supply and power supply.
■■As the controllers conform to the CE marking that is safety standards in EU (Europe), they can be used safely even overseas.
The TS series (except for TS-S), SR1 series, and RCX series conform to up to safety category 4.
For details about functions of each controller, refer to controller details pages from P.479.

Name

Type

TS-S2/TS-SH

1 axis robot
positioner

TS-X/TS-P
TS-SD
RDV-X/RDV-P
ERCD
SR1-X/SR1-P
RCX221/RCX222
RCX240
RCX340

Applicable network
Compliance
Number of Number of
with CE
points
programs CC-Link DeviceNetTM Ethernet EtherNet/IPTM PROFIBUS PROFINET

1 axis robot
driver

1 to 4 axes
controller

-

255

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

100

-

-

-

-

-

-

1,000

100

-

-

10,000

100

-

-

10,000

100

30,000

100

RDV-X/RDV-P

P.504

-

-

FLIP-X

[Robot driver]

RDV-X

-

1,000

1 axis robot
controller
1 to 2 axes
controller

255

PHASER

Contributing to saving space for the whole control
board
Operation
method

Pulse train

Input power

Main power
Single-phase/3-phase AC 200 V to 230 V
Control power
Single-phase AC 200 V to 230 V

Origin search
method

Incremental

RDV-P

Dedicated pulse train control
The dedicated pulse train control has achieved a compact body and
a low price.

Position setting time reduced by 40%
The response frequency is enhanced about two times in comparison
with former models. The position setting time of uniaxial robots is
reduced by about 40%.Note 1

Large cost reduction possible
It is easy to assemble them in automated machinery. You can save
much labor in designing, parts selection, setting and more. A large
cost reduction is possible.

The compact design has reduced the width up to a maximum of 38%
in comparison with former models. In addition, the improvement of
radiation efficiency makes it possible to arrange the devices with
less space in between. Multiple units can be installed side by side in
a neat arrangement.

Easy replacement
The parameter settings and fastening-hole pitches are the same as
those of former models. It is easy to replace the software and the
hardware as well.

Command input: Line driver (2 Mpps)
Command output: ABZ-phase output
(with a divider function)
Real-time operation status monitoring
You can have analog outputs for speed, amperage, and more
information to know the operation status in real time. RDV-Manager,
the dedicated support software, is also available for a graphical view
of the status.

Main power: Single and three phases supported (200V)
The full-specification operation is available with a single-phase
power supply.
Note 1. With a 400W servomotor, 20mm ball screw lead, and portability of 40kg.

56

TS-S2/TS-SH/TS-SD

POINT

Usable for all TRANSERVO series models

TS-S2

SS type
Slider type

SG type Note 2
Slider type

SR type
Rod type

TS-SH

TS-SD Note 1

STH type
Slide table type

RF type
Rotary type

BD type
Belt type

Note 1. The STH type vertical specifications and RF type sensor specifications do not support the TS-SD.
Note 2. SG07 is only applicable to TS-SH.

TS-SD

P.500

TRANSERVO

[Robot driver]

TS-SD

Applicable to a wide variety of pulse train command
inputs

Operation
method

Pulse train

Input power

Main power
Control power

Origin search
method

Incremental

DC 24 V +/- 10 %
DC 24 V +/- 10 %

Pulse train input driver dedicated to "TRANSERVO"
A robot driver dedicated to the pulse train input for "TRANSERVO".

Torque decrease in high-speed area is suppressed
As a vector control method is used, the torque decrease in highspeed area is small and high-speed operation even with high
payload can be performed. This greatly contributes to shortening of
the tact time.

Excellent silence
High-pitched operation sounds unique to the stepping motor are
suppressed to achieve silent operation sounds similar to the AC
servo.

Easy operation with support software TS-Manager
In the same manner as the robot positioner TS series, the operation
can be performed with the TS-Manager (Ver.1.3.0 or later) having
various convenient functions, such as robot parameter setting,
backup, and real-time trace (The handy terminal "HT1" cannot use
this TS Manager).

This robot driver can be made applicable to the open collector method
or line driver method using the parameter setting and signal wiring. In
the open collector method, a wide voltage range from 5 V to 24 V is
supported. So, the robot driver can be matched to the specifications
of the host unit to be used.

TS-Manager: Real-time trace function
The current position, speed, load factor, current value, and voltage
value, etc. can be traced at real-time. Additionally, as trigger conditions
are set, the data when the conditions are satisfied can be automatically
acquired. Furthermore, as a range is specified from the monitor
results, the maximum value, minimum value, and average value can
be calculated. So, this is useful for the analysis if a trouble occurs.

Real-time traceable items (up to four items)
• Voltage type
• Command speed
• Command current
value
• Input/output I/O state
• Word input/output
state Note 2

• Command position
• Current speed
• Current current value
• Input pulse count Note 1

• Current position
• Internal temperature
• Motor load factor
• Movement pulse count Note 1

Note. 1: TS-SD only

Note. 2: TS controller only

Daisy chain function
As multiple TS series controllers
and drivers are connected in
a daisy chain, the data of a
desired unit can be edited from
the personal computer (up to 16
units).

Up to 16 units

57

Controllers

TS-S2/TS-SH

P.490

Product Lineup

TRANSERVO

TS-X/TS-P

P.490

FLIP-X

PHASER

[Robot positioner]

TS-S2

TS-SH

Operation
method

Point trace
Remote command
Online command

Number of
points

255 points

Input power

Main power
DC 24 V +/- 10 %
Control power DC 24 V +/- 10 %

Origin search
method

TS-S2 Incremental
TS-SH Absolute

Incremental

TS-X

Operation
method

Point trace
Remote command
Online command

Number of
points

255 points

Input power

AC 100 V / AC 200 V

Origin search
method

TS-X

TS-P

TS-P

Absolute
Incremental
Incremental
Semi-absolute

Design that allows a clean installation
Unified installation sizes
Height and installation pitch are unified throughout the series. Units can be installed neatly within the control board.

Status indication lamps
(PWR, ERR)
Communication connectors
(COM1, COM2)
Robot I/O connector
(ROB I/O)

Absolute battery is neatly
accommodated

Motor connector
(MOTOR)

The absolute battery is stored
inside the unit. Replacement can
be performed easily from the front
side. (TS-X and TS-SH supported)

I/O connector

DIN rail installation
On-board installation is made easy
by the DIN rail installation mechanism that is standard on the
TS-SH. (Optionally installable on
other models)

TS-X

Regenerative unit connector
(RGEN)
Power supply connector

T S -P
TS- S2

T S- SH
T S- X

Selectable I/O interfaces
Two RS-232C ports provided
● Connect support tools
Intuitive operation supports controller
design and maintenance.

A variety of I/O interfaces
In addition to NPN and PNP, you can choose CC-Link, DeviceNet™,
EtherNet/IP™, and PROFINET field networks.

● Daisy-chaining
Two ports can be used to daisy-chain
up to 16 units.
● Communication commands
Easily understood ASCII text strings can be used to perform robot
operations.

Selectable 100V/200V
• The TS-X/P let you select AC100/200V as the power input. (The
20A model is 200V only.)
• The TS-S2/SH is DC24V input.

58

● Positioner interface
Functionality has been condensed into an I/O interface with 16 inputs
and 16 outputs. In addition to easy positioning, this also includes
functionality that enhances interoperability with the control device.
● Remote commands
Numerical data can be directly manipulated by using the four-word
input and four-word output areas. You can add new direct positioning
commands to further unify the data at the control device.
● Gateway function
New types of connection are provided to reduce network costs. (CCLink, EtherNet/IP™, and PROFINET are supported.)

Positional interface
Consecutive operation, linked operation

"Positioner function" for easy positioning
You can easily perform positioning operations by specifying the number
of a point that is registered in the data, and entering a start command.
Output a number after
positioning is complete
(changing to output at the time
of start is also possible)

Simply specify a point
number, and then start
Select point
number

1

2

By specifying a branch destination, it is possible to execute positioning
operations consecutively. Additionally, by specifying linked operation,
operation with the branch destination can be executed while changing
the speed without positioning stops; this allows control programming to
be simplified and takt to be shortened.
Point number
selection

Start

1

Start

Operating
Output point
number

1

Operating
Point number
output

2

Speed

1

4

Timer

Speed

P1

P2

Time

P1

P2

Consecutive operation

Number

3

2

Timer

Operation
type

Position
(mm)

Speed
(%)

Acceleration Deceleration
(%)
(%)

Branch

(P1

Timer
(ms)

P1

ABS

100.00

100

100

100

0

0

P2

ABS

200.00

80

100

100

0

0

P1
P2
P3
P4

The TS controller provides a variety of status outputs that are linked with
positioning operations. By selecting and using an output appropriate for
the scene, this can contribute to cost-saving measures such as making
the steps of the control device's program more efficient or by reducing
the peripheral equipment.

If jog input is within
a specific time,
inching operation
only. Transition to
jog movement when
the time is
exceeded.

Zone output
Pressing
status
Output during
movement
Speed

Deceleration pressing

Time

P3)

The first start command
consecutively executes
positioning operation

Number

A variety of output functions

P2

Operation
type

Position
(mm)

Speed
(%)

P3

P4

Consecutive operation
(P3

Time

P4)

Speed, position, and operation
type can be changed without a
positioning stop.

Acceleration Deceleration
(%)
(%)

Branch

Timer
(ms)

ABS

100.00

100

100

100

2

500

ABS linked

300.00

100

100

100

4

0

ABS
ABS

200.00
350.00

80
30

100
100

100
100

3
0

800
0

Jog and point teaching functions are provided
as standard
Jog movement and point teaching functions are provided as standard
for input signals. By linking these with buttons of a touch panel etc., a
simple teaching system can be constructed.

Construct a
simple
teaching
system

List of outputs
• Zone output ....................Output ON when between the two specified points
• Near position output .......Output ON when entering the specified region from the goal
position
• In movement output .......Output ON when above the specified speed
• Pressing status...............Output ON when specified pressing strength is reached
Also provided are return-to-origin completed status, manual
mode status, warning output, and alarm number output, etc.

59

Controllers

Product Lineup

TS-S2/TS-SH/TS-X/TS-P

Remote commands
Ideal for unifying data management
Remote commands are functions by which the control device can directly handle data such as points and parameters using the word area of the field
network.
Numerical data can be operated directly by using the word area. This promotes unification of data management.

Position and speed data settings
and positioning commands
transmitted together.

WIN0

WIN1

Command

Speed data

WOUT0

WOUT1

WIN2

New
Direct positioning commands that directly specify
function

position and speed data

As remote commands, "direct positioning commands" are provided,
allowing the position and speed data to be specified directly and then
positioning operations to be performed. In addition to unifying the
positioning data on the control device, this allows it to be done with a
single command, simplifying programming of the control device.

WIN3

Position data
WOUT2

WOUT3

Query data

Status

Data can be managed on the control device

Consecutive queries for realtime update of various status
information

Query data output in real
time every 5 ms.

Normally, remote commands only update data when responding, but if
a consecutive query is issued, the data continues to be updated at a
fixed interval until permission is given to stop. This is useful in various
cases such as when it is desirable to obtain positioning data during
operation for interoperation with peripheral devices, or to obtain
current values in order to monitor the status of a robot.

Query data list
• Point number being executed • Voltage
• Current position
• Current speed
• Load ratio
• Current
• Internal temperature

Parallel processing of "positioner
interface" and "remote commands"
Since positioner interface and remote commands
operate independently of each other, parallel
processing is possible.

< Usage examples >
Obtain the current position during positioning operation
Obtain the current position during jog movement
Change the target position during linked operation



Positioner interface
Positioning operation
Remote
commands

Parallel processing is possible
Positioner
interface

Remote
command

Remote command

Jog movement

Positioning operation

Data write
Data read
Consecutive query
: Parallel processing possible

"Gateway function" -- a new way to connect

New function

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

A network board is required for each controller

Four CC-Link boards required
Host unit
Network board

NEW

Only one network board for up to four units.
Gateway unit is not required

Host unit (field network compatible)

Gateway unit

Gateway unit is separately required

Host unit

Field network

Daisy-chain connection Note

Cost
reduction
from four to
one CC-Link
board

Gateway unit
Note. Daisy chain connection cable is required.

60

Daisy chain connection
No need to connect or disconnect cables during
operation (up to 16 units)

HT1

From a single PC, handy terminal, or touch-panel display, it is possible to
specify point data and parameters, perform operations, and monitor the status
for up to 16 axes on daisy-chained controllers. For everything from design to
maintenance, a connection to only the first controller is sufficient; any desired
controller can be accessed simply by switching the station number, without
having to connect or disconnect cables.

Pro-face touch-panel

Connect up to 16 units

Communication commands
An easily handled command protocol using ASCII text strings supports a
wide range of needs from data editing to operation and status monitoring.
By daisy-chaining multiple devices, simple multi-axis control can be performed.

START

OK

"KEYENCE PROTOCOL STUDIO Lite" serial communication settings software
By loading a TS settings file into PROTOCOL STUDIO Lite, communication
settings and main communication commands can be registered automatically.
Ladder-less data editing and daisy-chaining can be easily accomplished.

Daisy-chain connections (up to 16 axes)
Communication with the KV-L21V uses a Yamaha-made communication
cable (D-sub type). By using daisy-chain connections, up to 16 axes
can be managed together.

Contact for questions regarding PROTOCOL STUDIO Lite
Keyence Corporation, www.keyence.co.jp/red/kv01/

Automatic device assignment for each
communication command
If the communication type is specified as cyclic, the desired information
to be obtained is automatically stored in data memory.

RS-232C

KV-L21V

Connect up to 16 units

Touch operator interface "Pro-Face" GP4000 Series
Connecting GP4000 Series made by Pro-face to Robot Positioner, TS-S2, TS-SH,
TS-X, TS-P enables you to use a lot of functions as well as basic operations on
Touch Operator Interface.

Can easily check a state and change settings.

• Check the status (the current position, speed etc)
• Basic operations such as Jog operation, inching operation, return to origin,

Free download of the program file from the
Pro-face home page
http://www.proface.com
Without opening the control
panel, you can check the
status and change the
settings on Touch Operator
Interface alone.

Server

Pro-face
GP4000 Series
LAN

error reset etc.

• Set, edit, or back up point data and parameters
• Check triggered alarms and detailed descriptions of alarm history
Supports 3 languages

Up to 16 single-axis robot positioners
can be connected.
RS-232C
RS-422

Control Device

• Supports Japanese, English, and Chinese (simplified, traditional)
61

Controllers

SR1-X/SR1-P

Product Lineup

P.516

FLIP-X

PHASER

[Single-axis robot controller]

SR1-X

SR1-P

I/O assignment function

Operation
method

Program
Point trace
Remote command
Online command

Number of
points

1000 points

Input power

AC 100 V
AC 200 V

Origin search
method

SR1-X

SR1-P

As the I/O assignment is changed, the point trace operation, point
teaching, and trace operation by specifying coordinate values can be
selected in addition to the normal program operation. Since the JOG
movement through the I/O is possible in the point teaching mode,
the point teaching can be performed from the host unit without the
HPB.

Absolute
Incremental
Incremental
Semi-absolute

Current position output function

Various command methods
An optimal method can be selected from various command methods,
such as program, point trace, remote command, and online
command. The program uses the YAMAHA SRC language that is
similar to the BASIC. Various operations, such as I/O output and
conditional branching, etc. can be executed using simple operations.

Applicable to complete absolute position system
The SR1-X is applicable to complete absolute position system. No
return-to-origin is needed. (The backup period is one year in the
non-energizing state.)

ERCD

P.510

Operation
method

Program
Point trace
Online command
Pulse train

As this function limits the maximum torque command value at
desired timing, it is effective in operations such as pushing and
workpiece gripping operations. Furthermore, in addition to the torque
limiting by the parameter data value, the torque limiting by the
analog input voltage can be performed.

Number of
points

1000 points

Input power

DC 24 V

Origin search
method

Incremental

Various monitor functions
The controller status can be checked using the input/output status
monitor, duty monitor, and LED status display.

Error history and alarm history
The error or alarm history that occurred in the past can be displayed
and checked on the HPB or personal computer screen.

Robot number management

Four command formats
A desired command format can be selected from four command
formats, program operation using various commands, point trace
operation only by instructing a point number, online command, and
pulse train input.

Compact design
Compact box size of W 44 × H 142 × D
117mm is achieved with the functions
improved.
The volume ratio of the robot controller is
downsized to approximately 62 % when
compared to YAMAHA's conventional
model ERCX. The flexibility of the
installation space is improved.

14
2

25

0

mm

mm

Various input/output functions
As a feedback pulse output function is provided, the host control
unit can easily manage the current position. Additionally, as the
movement point number can be output in binary format during point
trace, the operation can be checked easily. As a teaching function
using the I/O is added, the flexibility and usability of the system
configuration are further improved.
This output is enabled in the program or point trace operation and
the number of outputs can be changed to a desired level using the
division setting.

62

Torque limiting

T4L/T5L

[Single-axis robot controller]

ERCD

The position data is output as feedback pulse or binary data. This
allows the host unit to understand the current robot position at realtime. Furthermore, functions, zone output or point zone output to
output near point number are incorporated.

As the controller is initialized by the robot number of the robot
to be controlled, parameters suitable for each robot model are
automatically registered and no complicated servo adjustment is
needed.

Torque limiting control
The torque limiting control can
be performed using the program
command. The axis can be
stopped with the torque applied.
This torque limiting control can be
used for continuous positioning
of workpieces with different sizes,
press-fitting work, and workpiece
holding operation.

Zone output function
The general-purpose output on/
off setting between desired points
can be performed using the
parameter setting. The positive
logic/negative logic setting can be
made and the axis position can be
easily judged by an external unit.
Up to four patterns can be set.

ge
g ran

Settin

SR1-X /SR1- P/ ERCD Va r iou s func tions
Position data output function

Point teaching

Zone output
DO0 = OFF

Outputs whether or not the
robot position is within the
specified range.

DO0 = ON

P900

DO0 = OFF

The JOG movement of the robot and the point reaching can be
performed from the host unit.

■■Concept
The robot is moved to the teaching
position using the JOG+/JOGcommand.

JOG-

JOG+

0

DO (7)
(0)
0111 1111

DO (7)
(0)
0000 0011

Outputs the point number
near the robot position in
binary format.

PSET

It is possible to reverse the output logic.

Point zone output

The current position is registered
into the point number specified by
the PSET input.

Position

P901

0

Position

Current position

Position

Torque limiting function
As the torque limiting is performed during operation, the operation,
such as pushing and workpiece gripping can be performed.

P3

P127

Position

It is also possible to limit to
only the moving point.

■■Concept

■■Features
CW

SR1
Host unit manages the limiting time using the
TLM input.
Limiting status is understood using the
torque limiting status output (TLON).
● Torque limit value is changed (up to 4 patterns)
using the input.
● Torque can be limited using the program
command.
● Torque can be limited using the analog
input (0 to +10 V / 12 bit).

Binary output

DO (15)
(0)
0011 1111 1100 0000

Outputs the current robot
position in 16-bit binary
format. (This function is
available only in the SR1.)

Torque
limiting
value 1
Electric
current

TLM

Torque
limiting
value 2
CCW

163.20 [mm]

ERCD

Position

Torque can be limited using the T program
command.

It is possible to adjust the unit of the output
position data to be output using parameters.

Movement data change function
Feedback pulse output

A
-phase

Host unit
(Counter)

B
-phase

The movement speed or target position can be changed during
movement. (This function is available only in the SR1.)

■■Concept

■■Features
Host unit manages the limiting time using
the movement command input.
Movement command is ABS-PT (absolute
movement command) or ABS-BN (binary
specified movement command).
● Change speed can be specified in a range of
1 to 100 % (up to 4 patterns).
● Changing is disabled in the deceleration
zone.

It is possible to perform the monitoring by
host unit at real-time.
A frequency division function is built-in.

Inputs 1 Inputs 2

Inputs 3

Speed

Outputs the current position
counter value of the robot
through the A/B-phase line
driver.

Position

YA MA H A SRC la nguage conve nie nt func tions
Multi-task function

Conditional stop function during movement

This function can execute multi tasks, such as robot peripheral
units in parallel at the same time. Up to four tasks can be executed.
With the multi-task function combined with JMPP command, the I/O
signals can be output when the robot passes through the specified
point during movement.

The arm can be decelerated and stopped using I/O conditions of
the MOVF command while it is moving. This function is useful when
searching for the target position with the sensor.

I/O conditions

range
etting

S
P0

P2

P3

P1

Stop
P2

P1

63

Controllers

Product Lineup

RCX2 series RCX221/222

P.524

RCX240/240S

P.532

[Multi-axis robot controller]

RCX221

Operation
method

Program
Remote command
Online command

10000 points

Number of
points

10000 points

Input power

AC 200 V

Input power

Single phase :
AC200V to 230V
+/-10% maximum

Origin search
method

Absolute
Incremental

Origin search
method

Absolute
Incremental

Operation
method

Program
Remote command
Online command

Operation
method

Program
Remote command
Online command

Number of
points

10000 points

Number of
points

Input power

AC 200 V

Origin search
method

Incremental
Semi-absolute

RCX222

RCX240

Applicable to all YAMAHA robot models

Applicable to robot vision "iVY System"

The RCX series is applicable to all YAMAHA robot models, such as
PHASER, FLIP-X, and XY-X, etc. As the single-axis robot (FLIP-X/
PHASER) can be combined with the Cartesian robot freely, various
applications can be supported (except for some compact single-axis
robots).

The RCX series also supports the YAMAHA robot vision "iVY
System" that is capable of easy setup and applicable to a wide
variety of applications. As the vision board is incorporated into the
controller main body, the calibration work requiring a long time and
labor is then greatly simplified. As the position is corrected by the
image recognition, the versatility and applicability of the equipment
is widened greatly (only supported by the RCX240).

Complete absolute position system
The RCX uses complete absolute specifications that need no returnto-origin when the power turns on. The completely same system can
be applicable to the incremental specifications. (When the PHASER
series uses the magnetic scale, it is applicable to the semi-absolute
or incremental specifications.)

Extension of absolute data backup time
As the backup circuit is improved to the energy saving, the absolute
position data retention period in the non-energizing state is greatly
extended. The maximum one month of the conventional model
is extended to approximately one year. The current position
information is monitored during long vacations, equipment storage,
or even during transportation, and no return-to-origin is needed
when energized again. This allows quick production start.

iVY board

• Lighting control board
• Tracking board

Double-carrier anti-collision function
When using the double-carrier, collisions between both carriers can
be prevented by the control in the controller. Collision preventions
by the zone judgments or external sensors are no longer needed to
make the double-carrier easier to use.

3D linear/circular interpolation control
Area check output function

2D and 3D linear and circular interpolation controls are possible.
This ensures the smooth and highly accurate operations suitable
for the sealing work. (The 3D interpolation is not available in the
RCX221/222.)

This function can output the I/O signals
when the robot enters a set area during
operation. Up to eight check areas can be
set.
P1
OFF
OFF

Applicable to dual-drive

ON
P2

A dual-drive function is incorporated that controls two axes
synchronously. This function is effective for heavy workpiece transfer
or Y-axis long stroke of the Cartesian robot. The function can
perform the operation using the high-speed and high acceleration/
deceleration of YAMAHA robots.
Note. The dual-drive is supported as a custom order. For detail, please consult
YAMAHA.

■■ Example of dual-drive

64

P23
P22

P20

P21

Palletizing function

Passing point output control

This function can easily define up to 20 kinds of pallets only by
entering four corner positions on the pallet as the teaching points.
When entering the teaching point in the height direction, even threedimensional pallets are supported.
When specifying the defined pallet number and executing the
movement command, the palletizing work is then performed. Various
operations, one point → pellet, pallet → one point, and pallet →
pallet, can be performed using the programs.

The general-purpose output on/off can be controlled by specified
points without stopping the axis operation during interpolation
operation. The dispense can be turned on or off with the axis
operated during sealing to allow smooth and stable dispensing.

P10
ON

P [5]

NZ

P11
OFF

START

P [3]

NY

P [4]
P [1]

Torque limiting function
The motor torque can be limited during gripping or press-fitting.

P [2]

NX

Press-fitting

Hand definition
This function operates the robot based on coordinates of the offset
tool tip when the tool is attached to the tip of the robot axis in the
offset state. Particularly, this function is effective during tool rotation
of SCARA robots or robots including the rotation axis.
Y

Y
Moves while centered
on coordinates for
robot tip

X

Moves while centered
on coordinates for
hand tip

X

No hand definition

Hand definition

Multi-task function
This function can execute multi tasks (up to eight tasks), such as
robot peripheral units in parallel at the same time. When there
are multiple tasks, the task can be changed by means of the time
sharing method and a priority can be put on the task. Additionally,
the priority can also be changed while the task is running. The multitask function simplifies the control configuration of the entire system
to improve the operation efficiency.

■■Task scheduling

Shift coordinates

Priority

A deviation may occur in the coordinate system when re-installing
or replacing the robot during maintenance work. In this case, the
coordinate system can be corrected using the shift coordinate
function. So, the point data can be used as it is. No re-teaching is
needed.
Y

Y

Y
X

X

X

The top of the task with the highest
priority transits to the RUN state.
Task 1

1

Task 1

Task 3

2

Task 5

Task 8

3

Task 2

Task 6

Task 4

Task 7

Order, in which READY state transits.

Original coordinates

Coordinates after
reinstallation

Correction with
shift coordinates

Sequence program
In addition to the normal task, a task to individually control the input/
output (parallel, serial, memory, timer) can be executed.
As the sequence program can be enabled even in the manual mode,
this is effective to construct a safety system linked with peripheral
units.

65

Controllers

Product Lineup

2-robot control

Powerful support software: VIP+ (plus)

Two robots that are assigned to the main and sub robots can be
simultaneously controlled using one controller. As this function is
used together with the multi-task, advanced and smooth linking of
two robots can be performed using one controller.

This application software allows you to easily and visually operate
the robot, create and edit programs, and teach points.
The user interface is greatly improved and made easier to use when
compared to the conventional support software VIP.

Applicable to electric gripper "YRG series"
Applicable to auxiliary axis addition function
"YC-Link system"

All grippers can be controlled using one RCX240 controller. Data
exchanging with the host unit, such as PLC is not needed. The setup
or startup is very easy.

This YC-Link is a system that controls the single-axis robot controller
SR1 from the multi-axis controller RCX series through the serial
communication.
By installing the YC-Link system, the RCX series can be easily
linked with the SR1 series. As multiple controllers can be linked as
required, up to eight axes (up to six axes for simultaneous control)
can be controlled.

Robot vision: iVY System

Camera Light

Electric gripper: YRG series

RCX 240/ RCX3 40

RCX240

POINT

RCX240 and RCX340 are applicable to all single-axis, Cartesian, SCARA, and P&P robots Note
The 4-axis robot controller RCX240 and
RCX340 are applicable to all robot models
including single-axis, Cartesian, SCARA, and
Pick & Place robots.
As the mixed control of the ball screw
type FLIP-X series and linear motor type
PHASER series can be performed, the robots
can be combined freely according to the
applications. Additionally, when preparing the
robot controllers for the maintenance work of
multiple robots, it is enough to prepare only
one robot controller. This robot controller can
be used for any model only by changing the
setting.
Note. Except for 24 V specification models.

66

Robot configuration examples
2 axes robot

Single-axis robot
(FLIP-X series)

2 axes robot

2 axes robot

3 axes robot

Single-axis robot
(PHASER series)

SCARA robot

RCX3 series

RCX340

P.542

[Multi-axis robot controller]

RCX340

Operation
method

Program
Remote command
Online command

Number of
points

30000 points

Input power

Single phase :
AC200V to 230V +/-10% maximum

Origin search
method

Absolute
Incremental
Semi-absolute

Advanced functionality allowing construction of high-level equipment
Multiple robots can be operated synchronously through the high-speed communication. Use of linking among
controllers makes it possible to store programs into only one controller. Use of a newly developed algorithm
achieves shortening of the positioning time and improvement of the tracking accuracy.
The control of multiple robots can be managed using one master controller
The RCX340 controller allows high-speed communication among the controllers. As the operation command can be sent to the controller of each slave
from the master controller, the programs or points can be managed only using the host master controller. Additionally, as this controller supports multi
tasks flexibly, data exchanging with the PLC can be simplified. Simultaneous start and simultaneous arrival of each robot can be controlled freely.
Complicated and precision robot system using many axes can be constructed at a low cost.

RCX340

Conventional
method

PLC

Up to four robots or 16 axes can be managed with one master RCX340.
Simultaneous start and arrival of each robot can be controlled freely.

All programs and
settings are
managed using the
master.
Master

All controllers are controlled using one PLC.
Program 1

Program 2

Program 3

Connectable using
LAN cable.
YC-Link/E
Slave

Controllers without
program settings

Slave

Slave

Program 4

Programs are set for each controller. Operation is performed while
synchronizing the robots through I/O.

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

RCX340

Conventional method
● All axes need to specify parameters.
● Route is difficult to adjust.

● Only the arch axis needs to specify parameters.
● Route adjustment is easy.

Specify using XYR parameters.
Specify using
Z parameters.

2nd operation (X&Y)
2nd operation (X&Y)
3rd operation (Z)

1st operation (Z)

Obstruction
1st operation (Z)

Obstruction

3rd operation (Z)
Specify using Z parameters.

Specify using Z parameters.

67

Controllers

Product Lineup

RCX340

Smooth movement is achieved by greatly improving motion functions
As a new servo motion engine is incorporated, various operations can be merged. Use of a newly developed algorithm achieves shortening of the
positioning time and improvement of the tracking accuracy.

■ Expansion of CONT option function
Different type operations, such as PTP, interpolation
operation, and conveyor tracking, etc. are merged to
improve the speed.

RCX340
[Example: PTP

■ Improvement of operation speed Note

■ Proper use according to application Note

All operations can be merged as much as possible
using the merge PTP.
As even operations with dif ferent acceleration or
deceleration time are merged at maximum level with
priority put on the operation time, the movement time
is shortened greatly.

W hen per for ming t he c ontinuous operati on, an
optimal operation can be selected according the
a p p l i c a t i o n , l i k e t r a d i t i o n a l PAT H i s u s e d f o r
constant-speed operation, such as sealing and merge
PTP is used for operation with priority put on the
movement time.

Conventional method

CP]

PTP1
MOVE
P,P1,CONT

PATH

Next operation starts
after deceleration.

MOVE P,P4

Merge.

PTP2

MOVE C, P2,P3,CONT

Interpolation operation to the final target position
is performed at a specified speed.

Next operation starts
during deceleration.

Merge PTP operation

PTP1

Conveyor tracking]

PTP
Merge.

PTP2

MOVE
P,P2,

Movement time is TIME
shortened

Merge.
CTMOVE
Operation starts without stopping.

CP

TIME

Merge PTP operation

MOVE
P,P1,
CONT

Merge.
CP

Merge.

[Example: PTP

CP

Merge.

PTP

● The PTP1/PTP2 operation pattern is calculated
as the merge is preconditioned.
● Maximum merge can be made regardless of
operation types to be merged. So, the merge
effect is large.

PTP

● PTP operation is performed so that the
movement time until the final target position
becomes the shortest.
Note. It is necessary to upgrade the firmware to its latest version.

Improvement of tracking accuracy
Use of visualization with servo
analyze function and high
responsiveness with new servo
function makes it possible to
increase the follow-up ability
and improve the tracking
accuracy when compared to
the conventional models.

RCX340

RCX240

15 mm/sec.
500 mm/sec.
15 mm/sec.
500 mm/sec.

Tracking deviation is reduced greatly.

Improved basic performance
Functions, such as robot language, multi-task, sequence function, communication, and field bus are improved and
made easier to use.
Motion optimization

Compact design

The optimization of the motion to meet the operation pattern is further
strengthened to bring out the robot performance at its maximum level.
Higher quality robot operations, such as shortening of the operation
time and suppression of vibrations during stopping are achieved.

■ Optimal acceleration/deceleration motion
Acceleration/deceleration motion is generated that can perform
the high-speed operation while suppressing vibrations.

The outside dimensions are approximately 355 mm (W) × 195 mm (H)
× 130 mm (D). The volume ratio is reduced to approximately 85 % and
the body size is made compact when compared to the conventional
4-axis controllers so as to make the installation inside the control panel
easy.

RCX240

RCX340

Data table is added.

Downsized approximately 15 %
when compared to the RCX240.

68

Improvement of cycle time

User memory capacity increase

The speed-up of the YK-XG series is achieved.

Movement time (msec)

Example: YK400XG
● Standard cycle time operation
0.49 sec → 0.45 sec

● Number of points is
greatly increased.
RCX340
RCX240

Number of points
is increased
3 times

● Total capacity of program and
point

30,000

10,000

RCX240

RCX340

364 KB

2.1MB

800

400

Built-in regenerative unit

200
0

RCX340

RCX240

600

As the regenerative unit (equivalent to RGU3) is built-in, no additional
regenerative unit is needed when connecting to the existing robot.
0

30

60

90

120

150

180

Arm rotation angle(°)

Support tool with visibility and operability improved New support software RCX-Studio Pro
The program debug function is strengthened to support the multi-task. Use of convenient operability and program input support function makes it
possible to perform the quick setup.

■ YAMAHA robot becomes easier to use, faster setup, efficient maintenance
Evaluation

Design

● Emulator function provided
● Cycle time calculator

● Inter-operation with other
manufacturer's line simulators
● iVY2 editor provided

● Easy-to-use operating controls

List of operation
items and data
Various editors

Various monitor panel layout
changes or floating displays
are possible.

After installation

Maintenance

● Realtime trace

● Application debugging function

Select and compare
two data items

Tolerance
Current
current

● Data comparison tool

Current
position

Debug information on multi
tasks is displayed at the
same time.

■ Programing box PBX
This programming box is applicable to three languages, "Japanese", "English", and "Chinese". Use of
a color display makes it possible to improve the visibility.
Work to add or edit functions becomes easy, allowing even personnel without programming skill to
operate this programming box.
A function to save the controller data into the USB memory is incorporated.

69

Controllers

Product Lineup

RCX340

Enhanced expandability
RS-232C and Ethernet ports are provided as standard equipment. A wide variety of high-speed and large capacity
field networks, such as CC-Link, DeviceNetTM, and EtherNet/IPTM are supported as options. Connections with generalpurpose servo amplifier or other company's VISION are easy. So, the RCX340 is called "connectable controller".
Communication
between controllers

Up to four RCX340 controllers (up to 16 controllable axes) can be connected.
More flexible robot configuration

Centralized control of multiple robots

Easy programming

Cost reduction

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

Centralized program control

Standard equipment, Ethernet

Up to four RCX340 controllers (16 axes) can be connected.

70

71

iV Y

System
Product Lineup

ROBOT VISION iVY

RCX240

Easy to use and reduction of work steps.
"Finds and Picks up" and "Pursues and Picks up" without teaching.
Many robot users might think, "We tried vision recognition, but it seemed to take a lot of work" or
"we tried it before, but making adjustments was a tough job".
But YAMAHA iVY system solves these problems.
Anyone can make the setup easily to contribute to reduction of work steps.

72

iVY system layout
A robot controller with an image processing function is completed only by setting the iVY board in the 4-axis controller RCX240 or
RCX240S. As "eye" is put in the robot, the robot finds and takes workpiece, checks deviations in workpiece position, and makes
correction if the workpiece deviates largely. This expands the range of applications.

Up to two cameras and
lights can be connected.

Vision board connects
directly to bus

Programming box RPB

■■Options
• Lighting control board

Multi-axis controller

• Tracking board
• CCD camera
• LAN cable
(Shielded cross-cable)

Robot

• Camera cable

iVY board
2 cameras

• Lens
• Close-up ring

2 lights
• Lighting control
board
• Tracking board

PC

Encoder

Encoder

CCD camera
Lens

Software
iVY Studio

Up to two encoders can be connected.

Either optional tracking board or lighting control board can be selected.
(Tracking board is equipped with lighting control function.)

■■Positioning by searching for workpiece

Tracking board

■ Automatic correction even if the camera moves ■■Applicable to conveyor tracking

Conventional system without robot vision

System with robot vision

Positioning by workpiece
Positioning is not needed.

Workpiece 1

Pick-up

Workpiece 2

Assembly

Detection by camera
+ pick-up

Assembly

Workpiece 3

When the workpiece is changed, the positioning jig replacement work is needed.
In particular, when using a small lot of workpieces, the setup costs or jig manufacture
and management costs are needed.

Even when the workpiece is changed, it is flexibly supported only by changing the part
type data.
Since no mechanical positioning is needed, cost reductions, such as equipment downsizing or jig cost reduction become possible.

73

iVY System

Product Lineup

POINT 1

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

Conventional robot vision

iVY system

➀ Alignment with robot coordinates is difficult.
➁ Correction calculation is needed when the camera moves.
➂ Operation deviation between the camera and robot due to comunication

➀ Simple calibration function is incorporated.
➁ Coordinates are corrected automatically even when the
camera moves.

Image processing unit

Camera

Camera cable

RS-232C
communication

Camera
cable

Point

➂ High-speed connections through dedicated bus line.
➃ Controller is incorporated to provide the central operation.
➄ Applicable to all models of YAMAHA robot lineup.

time.
➃ Adjustment of communication format is needed.

Camera
Light

RCX240

Light

iVY board
Power supply for lighting

Lighting control board

Robot

• Difficult to handle.
• Installation and setup costs are high.
• Hard to actually operate. • Difficult to know emergency contact
address.

Robot

• Easy to use
• Various applications are
supported using easy operation.

• Cost reduction by reducing work
steps.
• YAMAHA gives you total support.

Easy operation extends applications

Special skills are required and many work steps are needed.

YAMAHA iVY system can be calibrated very simply
Furthermore, the coordinates are corrected automatically when a camera is installed on
the robot. As iVY system can be used, it can be applied to various applications.

Connecting an external camera to the robot controller requires tasks such as coordinate
alignment (calibration), and correction programs are needed, so the startup work is
difficult. When using for simple applications, many work steps are needed. So, possible
applications are limited.

POINT 2

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

74

STEP. 1

STEP. 2

STEP. 3

Capture images.

Set the contour.

Register the detection
position.

Put the workpiece within the
camera field-of-view and
specify an image capturing
range.

Contour is automatically
extracted. Paint the
necessary contour with a
pen tool.

Specify the detection
position with the mouse.
Desired positions can be
set.

Search results

POINT 3

Dedicated software "iVY Studio" included
The iVY system includes dedicated software "iVY Studio". All
operations related to the vision, such as registration of fiducial
marks used for the calibration or workpieces (edge setting, various
parameter setting, and image capturing range setting, etc.),
backup, restore, and operation monitor can be performed only with
this software.

Support software iVY Studio
● Search trial-run, part type registration
● Reference mark registration (for calibration)
● Up to 40 workpiece types can be registered.
● Workpiece can also be added easily.
● Up to 40 workpieces can be detected at once.
● Data backup
● This software functions as a monitor during program
operation.

POINT 4

Simple calibration function (coordinate matching alignment work) incorporated
Conventional equipment combining "image processing unit +
robot" requires many steps in "calibration" that aligns the camera
coordinates with the robot coordinates. In the iVY system, the
operation is completed easily in a short time only by following
interactive instructions using the programming box. Additionally,
the coordinate values are corrected automatically even when the
robot installation position is changed, such as upward clamping,
downward clamping, robot Z-axis clamping, or SCARA robot Y-arm
clamping.

Just follow instructions on Wizards

POINT 5

Setup time reduced greatly
When using a general vision, a coordinate conversion program
needs to be created in the robot controller since the robot
coordinate data differs from the vision format.
Since the robot controller is integrated into the iVY system, the
robot coordinate data can be stored into the robot point data using
single process. This ensures very simple operation. Additionally,
the unified control of the camera control and light control can be
performed using the robot program. The control becomes easy
and the number of start-up steps can also be reduced.

Comparison of setup time

iVY system

Installation

Communication setting

Pattern registration

Parameter setting

Calibration

Program setting

Debug
Setup time is shortened greatly

Generalpurpose vision

Days

POINT 6

Free selection from YAMAHA robot lineup
This robot vision is applicable to all YAMAHA robots that can be operated by the RCX controller.
According to the applications, an appropriate robot can be selected from the single-axis robots FLIP-X series, linear single-axis
robots PHASER series, Cartesian robots XY-X, and SCARA robots YK-XG. A low-cost and easy-to-use robot vision system can be
constructed with an optimal model suitable for applications.

■■Cartesian robots XY-X

■■SCARA robots YK-XG

■■Linear motor
single-axis robots
PHASER

■■Single-axis robots FLIP-X

75

iVY System

Product Lineup

POINT 7

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

POINT 8

Edge search engine with excellent stability
The gray search (normalized correlation search) that was
frequently used for conventional visions is vulnerable to
adverse effects, such as lighting conditions, or workpiece
chipping or contamination. The environments and applications
are restricted.
The iVY system incorporates an "edge search engine" that
performs the search process using information on contour
shape. This contour search is resistant to effects on external
environment and the range of applications is extended.

Search is made with good lighting.

Search is correct even with insufficient
lightning.

POINT 9

High-speed connections through dedicated bus line
By directly connecting the robot controller and CPU board
through the bus, a data communication speed approximately
5,000 times higher than that of the serial communication speed
with general vision is achieved.
Programming also becomes easy since the time lag due to
communication does not need to be considered. Additionally,
this robot vision supports the conveyor tracking that requires
high-speed processing.

100 Mbit

Dedicated bus line

19200 bit

RS-232C

Data transmission volume per second

P O I N T 10

Applicable to conveyor tracking
The iVY system is applicable to the conveyor tracking only by adding
the tracking board. As the pulses (AB-phase) are taken from the
encoder installed on the conveyor, the workpiece that is flowing can be
picked up without stopping the conveyor.
As up to two encoders for the camera, lighting, and conveyor can be
connected, the iVY system is applicable to movement between the
conveyors.

CCD camera
Supply conveyor

Palletizing robot

Pallet

76

Collection conveyor

P O I N T 11

Vision is also controlled easily with robot programs.
The robot program executes all vision controls including camera
switching, image capturing, and workpiece search.
Program creation is simple when compared to general vision
systems since the operations from the robot movement to the
camera control are performed consistently.
Furthermore, the debug work can be performed efficiently to
greatly reduce the total number of work steps.

■■Example of robot vision language
Command name
VCAPTURE

Function
Captures images from the camera.

VSEARCH

Searches for the specified part type.

VMONITOR

Switches the monitor mode between on and off.

VGETCNT

Acquires the number of parts that were found.

VGETPOS

Acquires the position data.

VGETTIME

Acquires a period of time used for the search
command that was executed.

VGETSCR

Acquires judgment values for the detected workpiece.

VSAVEIMG

Saves images in BMP format.

Conventional robot vision

MOVE P, P9
OFF LINE
SEND (* *) TO CMU
SEND CMU TO P10
ON LINE
MOVE P, P10

Communication with
image processing unit

iVY system

MOVE P, P9
VSEARCH 1,2,0
P10=VGETPOS(0)
MOVE P, P10

RS-232C
Program of image
processing unit

Program of host PLC

Controls using different programs

MERITS

Searches for workpiece.
Reads the point.
Moves to this point.

● No communication time lag
● Controllable only with the robot program.
● Needs only few command lines.
● Simple and easy to understand

Centralized controls using robot programs

So, the iVY system can solve such problems.
Number of teaching steps needs to be reduced.

Workpiece flowing on the conveyor is picked up.

Robot teaching work requires a lot of labor and time. The iVY
system acts as "robot eye". The final fine positioning can be
automated to greatly reduce the teaching time that was required
for the conventional models.

The iVY system is applicable to conveyor tracking. The position
of the flowing workpiece is continuously recognized according to
the signals from the encoder. The workpiece can be picked up
without stopping the conveyor.

Positioning mechanism needs to be simplified.

Consultation destination is not found if a
trouble occurs.

In the current trend toward small-lot production of multiple models, a larger number of models means that positioning and other
aspects of setup will require more time and trouble. Use of the iVY
system makes it possible to greatly reduce costs necessary for
manufacture, management, and replacement of positioning jigs.

Random workpieces need to be handled.

When a generally available image processing unit is combined
with the robot, various problems such as being unable to capture images, unable to write data, or position deviation occur.
YAMAHA iVY system will solve such troubles. The iVY system
delivers total support for tasks ranging from capturing of images
from the camera to operating the robot.

Use of a position detection function of the iVY system makes it
possible to simply construct operations, such as "workpiece is
directly placed from the parts feeder" and "workpiece in the pallet is gripped and transferred".

77

iVY2

Sy s t e m
Product Lineup

ROBOT VISION iVY2

RCX340

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

Simplicity

Setup is completed as little as eight
minutes after power-on.
Auto-calibration makes setup easy.

78

Sophistication
With up to five million pixels, a variety of
workpieces can be supported.
Improve throughput to 100 CPM with
conveyor tracking.

Assurance

Comprehensive support covers everything
from camera image acquisition to the
operation of the gripper and robot.
With support that only the robot
manufacturer can provide, you can relax.

Basic specifications have been dramatically enhanced
while retaining the current iVY system's ease of use.
Camera

5

Supports from 300,000 to

million pixels

Megapixel camera
support

Number of registered types

Shorter search time

types

% less

Longer cables usable

254 50 20
Increased to

Approximately

With capture: 30–40% less
Search only: approximately
50% less

Previously 40 types

Cables can be as long as

m

Previously 9.5 m

Monitoring

Monitor
output is
provided
Enables operating status to
be monitored without a PC

Note. Time depends on the workpiece.

iVY2 System configuration illustration
Programming box
PBX
Monitor
iVY2 unit
Software
iVY2 Studio

24VDC
power supply

Photoelectric or
proximity sensor, etc.

Camera

Lighting

Encoder

Robot
Tracking board
(when installed in
option slot 4)

* The illustration left shows an example system with
the tracking board and an iVY2 unit (when the lighting
control board option is selected).
* Connections to the STD.DIO, ACIN, and SAFETY
connectors are not shown in the left illustration.

POINT 1

Various application examples
Labeling device

(affixing labels to food packages)

Sealant touch-up

(engine block sealant)

Screw attachment position
detection

(television panel screw attachment)

Position compensation
with upward-facing camera
(installing irregularly-shaped
parts on a circuit board)

■ Industry: food
■ Robot used: YK500TW
omnidirectional robot

■ Industry: automotive
■ Robot used: SXYX Cartesian
robot

■ Industry: electronics
■ Industry: electronics
■ Robot used: NXY Cartesian robot ■ Robot used:
YK150XG SCARA robot

Even if the incoming workpieces are irregularly
spaced or positioned, labels can be affixed at
the same position.

Even if the workpiece is skewed from its
correct position, the skew and angle are
detected, and the application path is
automatically compensated.

Hole position is detected, and screws are
fastened accurately.

The roughly-positioned circuit board
connector is picked up, the upward-facing
camera is used to apply position
compensation, and the part is mounted
directly on the circuit board.

79

iVY2 System

Product Lineup

POINT 2

Auto-calibration
Easily complete high-precision calibration just by following a wizard! Even if equipment becomes misaligned, execute
auto-calibration and resume operation.

STEP 1

5 minutes

STEP 2

Register the desired fiducial mark

Select the camera mounting method
Fixed downward

Mounted on robot

Camera

Can be mounted
on moving part

Camera

Camera

Fixed upward

Camera

Execute auto-calibration

STEP 3
Align fiducial mark position

POINT 3

If camera is movable, move
the robot

Fiducial mark

If camera is fixed, attach fiducial mark
to robot, and move it

Easy workpiece registration

Requires as
little as

Camera

3 minutes

From image acquisition, registration takes just three steps.

STEP 1

Requires as
little as

Camera

Capture images.

Put the workpiece within the camera
field-of-view and specify an image
capturing range.

STEP 2

Search results

STEP 3

Set the contour.

Contour is automatically extracted.
Paint the necessary contour with a
pen tool.

Register the detection position.

Specify the detection position with
the mouse. Desired positions can
be set.

POINT 4

No need to make time-consuming connection settings. Dramatic reduction in setup time.
From image acquisition, registration takes just three steps.

Comparison of setup time

Installation

Communication setting

Calibration
Pattern registration

Parameter setting
Program setting

Debug
iVY2 system

General-purpose
vision

80

Setup time is shortened greatly
Setup time
reduced by up to

80

Setup time

%

STEP 1

STEP 2

Register the desired fiducial mark

Select the camera mounting method
Fixed upward

Fixed downward

Mounted on robot

Camera

Can be mounted
on moving part

Camera

Camera

Camera

Execute auto-calibration

STEP 3
Align fiducial mark position
If camera is movable, move
the robot

Fiducial mark

If camera is fixed, attach fiducial mark
to robot, and move it
Camera

Camera

POINT 5

No need to create a coordinate conversion program.
Dedicated robot language for vision is provided.

General robot vision
MOVE P, P9
OFF LINE
SEND (* *) TO CMU
SEND CMU TO P10
ON LINE
MOVE P, P10

iVY2 system
MOVE P, P9
VSEARCH 1,2,0
P10=VGETPOS(0)
MOVE P, P10

Communication with
image processing unit

RS-232C
Program of image
processing unit

Program of host PLC

Camera and robot have separate programs

MERITS

Searches for workpiece.
Reads the point.

Moves to this point.

● No communication time lag
● Needs only few command lines.
● Simple and easy to understand

Centralized control using only the robot program

POINT 6

POINT 7

Easy inter-operation with peripheral equipment

Also supports moving camera

The same controller provides unified control of robot, gripper, and lighting.

Even if the camera is mounted on the robot,
coordinates are automatically converted according
to the robot's movement.

Robot vision: iVY2 System

Camera Light

Electric gripper: YRG series

RCX340

81

iVY2 System

Product Lineup

POINT 8

Conveyor tracking

Conveyor tracking
reaches

100

Ideal for high-speed packaging arrangement high-speed transport of multiple types of items such as pharmaceuticals,
cosmetics, and food products.
The vision camera detects the position and orientation of parts moving on the conveyor, and the robot picks them up.

Previous RCX240 controller

New RCX340 controller

Example program (RCX240)

Example program (RCX340)

PTP command

MOVE P,P1

CTMOVE

CTMOVE (1)

CTDRIVE

CTDRIVE(10.0)

Executed using Unify movement
multiple operation
commands
commands

New CTMOVE

CTMOVE (1),Z=0.0,CTZ=10.0

Can be executed with a single command

Unify the move up command, follow workpiece command,
move down command

Multiple operating takt required
Move down while following
the workpiece
Move while following
the workpiece

Pause

CPM per unit

Seamless movement from
move up to move down

Predict workpiece
location and move
directly

Move up

Workpiece
pickup location

Tracking
start position

Reduce
operating takt

Conveyor direction

Tracking
start position

Workpiece pickup location

Conveyor direction

Reduce movement distance

Workpiece position when tracking begins

Workpiece position when tracking begins

Operating conditions: YK500XG / payload 1 kg (total of workpiece and tool) / horizontal movement 250 mm / vertical movement 1 mm / conveyor speed 100 mm/sec

POINT 9

Control multiple robots for even more improvement in production
efficiency.
RCX340 + iVY2

RCX340

Shortened
cycle time

Improve
throughput

Connect up
to four units

100 CPM/unit x 4 units
(maximum 400 CPM)
Tracking board

Program allows differentiation by
model for even more improvement in
production efficiency

Control two robots to let downstream
robot handle missed items

Information from a single
camera can be shared by
multiple robots
Conveyor direction

82

P O I N T 10

Approximately double the search speed (compared to previous model)
Even a large number of workpieces can be detected at high speed. The search speed is approximately double that of the previous model.
This can be used for a wide variety of applications, including molded plastic parts or food items.
Sample workpiece ➊ Connector-shaped workpiece

RCX240 + iVY
158.7 ms

RCX340 + iVY2

RCX240 + iVY

83.8 ms

200.2 ms

RCX340 + iVY2

RCX240 + iVY

91.7 ms

P O I N T 11

149.8 ms

RCX340 + iVY2

91.1 ms

P O I N T 12

Support for five-megapixel cameras

254 types can be registered

(Choose from 300,000 pixel, 1.3 megapixel, and 2 megapixel, and 5 megapixel)

● Stable workpiece detection

● Decreased number of search detections

Detailed edge detection is possible even if
workpieces are touching each other or
have a complex shape.

● Previous:
● New:
300,000 pixel camera
1.3 megapixel camera

(partial detail illustration)

Sample workpiece ➌ Food item workpiece

Sample workpiece ➋ Washer-shaped workpiece

Setup changes require only that part numbers be
changed. Setup changes are easy.

A single search allows detection even for
a large workpiece, improving takt.
● Previous:
● New:
300,000 pixel camera
two-megapixel camera

(partial detail illustration)

254 types (0–253) can be registered

Field of vision

P O I N T 13

P O I N T 14

Monitor output is provided

High-precision search even under low light

● Monitor the operating status

● Edge search engine is built-in

Monitor the search status while making calibration settings or
during automatic operation.

Supports a variety of applications while being minimally affected
by the external environment.

Contents of output
• Selected type / Captured image
• Search result (position, score, scale)
• Executed command
• Time required by command
Output method
• DVI-I (supports digital monitor or analog monitor)

When lighting is sufficient

Accurate search even if lighting is insufficient

83

iVY2 System

Product Lineup

P O I N T 15

Preparatory evaluation and advice give you peace of mind
We borrow the workpiece from you, evaluate it, and submit an evaluation report.
In addition, we draw on our wealth of experience and evaluation results to provide advice and training regarding selection and installation of
robots and peripheral equipment.

Workpiece is
borrowed

Hearing

Preliminary
evaluation

Preliminary evaluation

Advice
(evaluation report is submitted)

Advice (evaluation report is submitted)

Robot
training

Follow-up
after delivery

Robot training

■ Evaluation conditions (example)

Advice regarding
camera, lens,
and lighting
settings

Lens: 8 mm
Lighting

Workpiece

Lighting height:
375 mm

WD: 400 mm

Background:
black

We borrow a workpiece from you and conduct an evaluation.

The results of our preliminary evaluation regarding
camera, lens, lighting selection, and setup are
summarized as a report and submitted.

Training can be performed according to the content of the
customer's application.

P O I N T 16

Choose freely from Yamaha's lineup of robots
A low-cost and convenient robot vision system can be constructed using the models that are optimal for the customer's application.

■■XY-X Cartesian robots

■■YK-XG SCARA robots

■■YK-TW orbit type robots

■■FLIP-X single-axis robots

Note. The YA series is not supported.

84

85

YR G

S erie s
Product Lineup

ELECTRIC GRIPPERS
Electric grippers dedicated to the RCX240/RCX340 controller.
Easy operation is achieved as YAMAHA robot language gives
unified control.

86

Gripping force
control

Measuring

Speed control

Multi-point
position control

Workpiece
check function

Gripping force can be
set in 1 % steps from
30 to 100 %.

Workpiece can be
measured using position
detection function.

Speed can be set in 1 %
steps from 20 to 100 %
and acceleration can be
set in 1 % steps from
1 to 100 %.

Up to 10,000 positioning
points can be set.

Workpiece gripping
mistake or workpiece
drop can be checked by
the HOLD output signal
without using sensor.

Plenty of lightweight and compact model variations
P.583

S type Single cam type
Lightweight, compact, high-speed

Single cam structure
Use of an unique cam structure achieves
the simple and compact design. As the
self-lock is not activated, the fingers can
be operated using an external force.

Small
single
cam
YRG-2005SS

YRG-2010S

YRG-2815S

YRG-4225S

P.585

W type Double cam type
High gripping force

Double cam structure
Unique double cam structure with gear.
Use of a simple structure achieves high
gripping force with compact body.
YRG-2005W

YRG-2810W

YRG-4220W

P.586

Screw type Straight shape

P.587

Screw type "T" shape

High accuracy, long stroke

Ball screw structure
As the ground ball screw
is driven by the belt,
the long stroke with
high efficiency and high
accuracy is achieved.

YRG-2020FT/YRG-2840FT

YRG-2020FS/YRG-2840FS

P.588

Three fingers type
Compact, high rigidity, long stroke

Compact ball guide structure

YRG-2004T

YRG-2013T

Gripping
force(N)

YRG-2820T

Open/close
stroke (mm)

YRG-4230T

Maximum speed
(mm/sec.)

Use of a special cam provides lightweight
and compact electric grippers. These
electric grippers are suitable for transfer
of round workpieces made of glass or
similar materials.

Repeated
positioning
accuracy (mm)

Main body
weight (g)

Page

+/- 0.02

90

P.583

+/- 0.02

160

Type

Model

Compact single cam

YRG-2005SS

5

3.2

100

YRG-2010S

6

7.6

100

YRG-2815S

22

14.3

100

+/- 0.02

300

YRG-4225S

40

23.5

100

+/- 0.02

580

Single cam

Double cam

YRG-2005W

50

5

60

+/- 0.03

200

YRG-2810W

150

10

60

+/- 0.03

350

YRG-4220W

250

19.3

45

+/- 0.03

800

Screw type
Straight shape

YRG-2020FS

50

19

50

+/- 0.01

420

YRG-2840FS

150

38

50

+/- 0.01

880

Screw type
"T" shape

YRG-2020FT

50

19

50

+/- 0.01

420

YRG-2840FT

150

38

50

+/- 0.01

890

YRG-2004T

2.5

3.5

100

+/- 0.03

90

YRG-2013T

2

13

100

+/- 0.03

190

YRG-2820T

10

20

100

+/- 0.03

340

YRG-4230T

20

30

100

+/- 0.03

640

Three fingers
type

● Gripping force control: 30 to 100 % (1 % steps)

P.584

P.585

P.586
P.587
P.588
P.589

● Speed control: 20 to 100 % (1 % steps) ● Acceleration control: 1 to 100 % (1 % steps)

● Multi-point position control: Maximum 10,000 points ● Workpiece size judgment: 0.01 mm steps (by ZON signal)

87

YRG Series

Product Lineup

POINT 1

Electric grippers achieve highly accurate gripping force, and position, and speed controls.
The YRG series provides the gripping force control, speed and acceleration controls, multi-point control, and workpiece measurement
that were difficult by conventional air-driven devices. The YRG series flexibly supports various applications.

Gripping force control

Multi-point position control

The gripping force can be set in 1 % steps. Workpieces that are
easy to break or deform, such as glass or spring can be gripped. The
gripping force is constant even when the finger position changes.

The finger can be set to a desired position according to the workpiece size. This contributes to efficiency improvement of lines with
different workpiece sizes and materials mixed and lines with many
setup steps.

Air pressure type

Electric type

Fine adjustment of the regulator is
difficult.

Gripping force can be set in 1 % steps
from 30 % to 100 %.

Air pressure type
Loss is generated in the stroke.

Air pressure type

Electric type

Workpiece gripping mistake or drop
is judged using the sensor or image
processing unit.

Workpiece drop can be judged. No
external sensor is needed.

Loss is not generated in the stroke
as optimal positioning accuracy is
maintained.

Contributes to tact
improvement.

Workpiece presence check function
The electric gripper outputs the HOLD signal. Workpiece gripping
mistake or workpiece drop during transfer can be checked. No external sensors are needed.

Electric type

Measuring function
The gripped workpiece can be
measured using the position
detection. Use of this function
makes it possible to correctly
judge what portion of the workpiece is gripped.

Zone range function
Use of this zone range function
makes it possible to judge the
size OK/NG and check for slant
insertion.

Speed control
The speed and acceleration can be set in a range of 20 to 100 mm/sec.
in 1 % steps (singe cam and three fingers type). The gripper can gently
touch workpieces that are vulnerable to impact, such as lenses or electronic components.

POINT 2

Gripper can be controlled with controller
commands.
The gripper controls can be performed with one multi-axis
controller RCX240/RCX340. Data exchanging with the host
unit, such as PLC is not needed. The setup or startup can be
made easily.

88

■ List of robot languages (example)
Language
name

Function

GDRIVE

Absolute position movement

GDRIVEI

Relative position movement

GHOLD

Absolute position gripping movement

GHOLDI

Relative position gripping movement

GOPEN

Constant speed gripping movement (open)

GCLOSE

Constant speed gripping movement (close)

GORIGIN

Gripper axis return-to-origin

GSTATUS

Status acquisition

ORIGIN

Return-to-origin

WHERE

Main group current position acquisition (joint coordinate: pulse)

WHERE2

Sub group current position acquisition (joint coordinate: pulse)

WHRXY

Main group current position acquisition (Cartesian coordinate:
mm, degree)

WHRXY2

Sub group current position acquisition (Cartesian coordinate:
mm, degree)

POINT 3

Combination with a vision system supports a
wide variety of applications.

Robot vision: iVY System

As the YRG series is combined with controller integrated robot vision
"iVY System", the operations from the positioning using the camera
to workpiece handling can be controlled in the batch mode using the
RCX240/RCX340 controller. Sophisticated systems can be easily
configured.

Camera Light

Electric gripper: YRG series

RCX240

Gripping force comparison of electric gripper models
Type

Model

Open/close
stroke (mm)

Compact single cam

YRG-2005SS

3.2

YRG-2010S

7.6

YRG-2815S

14.3

YRG-4225S

23.5

YRG-2005W

5

YRG-2810W

10

YRG-4220W

19.3

YRG-2020FS

19

YRG-2840FS

38

YRG-2020FT

19

YRG-2840FT

38

YRG-2004T

3.5

0.75

YRG-2013T

13

0.6

YRG-2820T

20

YRG-4230T

30

Single cam

Double cam

Screw type
Straight shape

Screw type
"T" shape

Gripping force (N)
0

10 20 30 40 50 60 70 80 90 100
1.5

150

300

5

1.8

6
6.6

22
12

40

15

50
150

45

250

75
15

50
150

45
15

50
150

45
2.5
2

Three fingers type
10

3
6

20

Application examples
Deformation prevention transfer
of resin rings, etc.

Chip assembly transfer
Deformation prevention and lead
protrusion dimension check

Transfer and dimension check of
flexible workpieces with different
sizes

<Gripping inner sides>

<Gripping outer sides>

● Measuring function
● Gripping force control

(Maintains workpiece shape.)
(Maintains workpiece shape
and prevents scratches.)
(Maintains workpiece shape
● Speed control
and prevents scratches.)
● Multi-point position control (Applicable to many part types
of workpieces.)
Note. Air unit cannot control the gripping force and speed, causing
workpiece to be scratched or tact time not to be shortened.

● Measuring function

● Measuring function

● Gripping force control

(Checks lead protrusion
dimensions.)
(Maintains workpiece shape
and prevents scratches.)
(Maintains workpiece shape
● Speed control
and prevents scratches.)
● Multi-point position control (Applicable to many part types
of workpieces.)

● Gripping force control

(Checks lead protrusion
dimensions.)
(Prevents workpiece
deformation.)
(Prevents scratches.)
● Speed control
Multi-point
position
control
(Applicable to many part

types of workpieces.)
● Reduction of setup work (Improves productivity.)

89

90

APPLICATION

APPLICATION
CONTENTS
STEPPING MOTOR SINGLE-AXIS ROBOTS TRANSERVO
Pressing and cutter machines································································ 92
Pressing and pitch feed·········································································· 92

SINGLE-AXIS ROBOTS FLIP-X

Transfer and stacking device within the unit·········································· 97
Dispenser······························································································· 97
Insertion unit (Tare weight cancellation using moving Z + air balancer)···· 97
Assembler & tester base machine (Simultaneous operation at upper and lower levels)···· 98
Part assembly machine·········································································· 98

Clean, dustproof / dripproof, high-speed conveying unit························ 92

Part pick and place················································································· 98

Contact stopper height change unit······················································· 92

Dual-drive transport between processes················································ 98

Screw tightening device········································································· 93

Application example of combination with auxiliary single-axis··············· 98

Device to shift workpiece in width direction············································ 93

Application example of long-stroke and dual-drive································ 98

Press-fitting device················································································· 93

SCARA ROBOT YK-X

O-ring fitting device················································································ 93
Carrying and transferring equipment······················································ 93
Jig and tool positioning mechanism······················································· 93
Painting by combining multiple single-axis robots·································· 94
Tape affixing to circular workpieces······················································· 94

LINEAR MOTOR SINGLE-AXIS ROBOTS PHASER

Finished product inspection, touch-panel type evaluation machine······· 99
Conveying masks for wafers·································································· 99
Tall work pieces conveying and stacking machine································· 99
Assembly cell (independent cell)···························································· 99
Assembly cell (line cell)·········································································· 99
Assembly cell (Handling unit for special purpose tester)····················· 100

Check camera moving unit····································································· 94

Inter-process transport········································································· 100

Ink jet printer·························································································· 94

Inter-process transport with inverse specifications applied·················· 100

Chip mounter·························································································· 95

PICK & PLACE ROBOTS YP-X

Check device·························································································· 95
Open / close device················································································ 95
High-speed screw tightening unit··························································· 95

Precision part assembler (1)································································ 100
Precision part assembler (2)································································ 100

High-speed applicator (1)······································································· 95

ROBOT VISION iVY/iVY2

High-speed applicator (2)······································································· 95

Small part palletizing············································································ 101

High-speed pick & place unit·································································· 96

Loading parts into assembler machine················································ 101

High-speed loading / unloading robot···················································· 96

Screw tightening work with SCARA robot············································ 101

CARTESIAN ROBOTS XY-X

Pick & place work················································································· 101

Conveyor (2 parts simultaneously)························································· 96
Application of adhesive agent································································ 96
IC palletizing within the unit···································································· 97
Tester (2 Cartesian robots controlled simultaneously)··························· 97

Sealing correction················································································ 101
Labeling device···················································································· 102
Screw attachment position detection··················································· 102
Position compensation with upward-facing camera ···························· 102

Sealing··································································································· 97

91

YAMAHA STEPPING MOTOR SINGLE-AXIS ROBOTS

YAMAHA SINGLE-AXIS ROBOTS

APPLICATION

TRANSERVO

FLIP-X

Series

Series

P.127

P.169

Pressing and cutter machines

Clean, dustproof / dripproof, high-speed
conveying unit

■ Cuts plastic lens material
■ Pressing function applications
Web site

■ Transfer and conveyance in the clean environment.
■ Transfer and conveyance in the harsh environment.

Wafer

POINT

POINT

1. Cutting tasks using the TRANSERVO (TS-S, TS-X, TS-P) pressing function
2. Pressing torque is adjustable, and time-out time and operation after
reaching specified torque can be selected as desired (continuous
pressing, position hold).
3. Host control can be simplified by setting multiple continuous operation
points.

1. Belt drive type robot complying with cleanliness requirement.
2. With a large payload, it is optimum for conveying panels.
3. Provided with specifications for cleanliness and applicable to long stroke.
4. With the payload and moment permissible value at high level, it is
applicable to the Cartesian combination.
5. Equivalent to B10 (YAMAHA model) .

Pressing and pitch feed

Contact stopper height change unit
■ Change of stopper height in multiple number of steps.

■ Positioning for bread loaf slicing
■ Pressing function and pitch feed applications
Web site

92

POINT

POINT

1. Measures bread thickness with robot and identifies bread type. (TS positioner
can send feedback on current position.)
2. Varies the pitch feed quantity to match workpiece type.
3. Pressing torque is adjustable to match the workpiece type.

1. The stop position for the stopper block is positioned by the cylinder type
robot.
2. It is possible to make set-up done by single touch operation or
automatically.

Screw tightening device
■ Tightening screws arranged on a straight line.

O-ring fitting device
■ Handling workpieces to assembly units arranged on a
straight line.

APPLICATION

POINT

POINT

1. High rigidity with a support axis added.
2. Pitch selectable freely in the moving axis direction.

1. Assembly jigs arranged on a straight line under the single axis robot.

Device to shift workpiece in width direction

Carrying and transferring equipment

■ Positioning of workpieces flowing on the conveyor.

■ Handling parts

POINT

POINT

1. Arrangement of multiple number of compact robots.
2. Pulse string control from the upper controller.

1. Space saving layout using double carrier. (N15 / N18)

Press-fitting device

Jig and tool positioning mechanism

■ Workpieces are press-fitted in holes arranged on a
straight line.

■ Adjustment of cutting fluid nozzle position of machining center
■ Positioning under harsh working environments

Air cylinder

POINT

POINT

1. Highly rigid frame.
2. Applicable to work positions arranged linearly.

1. The adoption of a magnetic accuracy detection resolver allows use even
under adverse conditions.

93

Painting by combining multiple single-axis robots

YAMAHA LINEAR MOTOR SINGLE-AXIS ROBOTS

■ Interpolation control of multiple single-axis
robots is performed for painting work.

PHASER

Web site

APPLICATION

Series

POINT
1. As single-axis robots are controlled with the multi-axis controller, such as
RCX240, the linear or circular interpolation operation can be performed
with combined coordinates.
2. A layout, such as desktop type that is different from the normal Cartesian
robot can be configured.
3. Optimal specifications can be selected from the versatile single-axis robot
lineup and they can be combined.

Check camera moving unit

Tape affixing to circular workpieces
■ Interpolation control of multiple single-axis
robots is performed for tape affixing to circular
workpieces

P.215

Web site

■ Checking with moving camera.
■ Multi-point check with a camera.
■ Drawing created with line sensor and moving axes.

POINT

POINT

1. Multiple single-axis robots are controlled with one multi-axis controller
(multi-robot).
2. Use of an interpolation function of the multi-axis controller makes it
possible to synchronize each axis.
3. As each axis is synchronized, a tension applied to the tape is kept
constant to provide tape affixing without elongation or sagging.

1. Allows movement with minimal speed fluctuations.
2. Compact size.

Ink jet printer
■ Ink jet feeding mechanism.
Movement at uniform speed
Speed

Stroke

Ink jet head

POINT
1. Allows movement with minimal speed fluctuations.
2. Capable of coping with a request for high speed. (Max. 2,500mm/sec)
3. Allows setting long constant-speed sections, with large acceleration.

94

Chip mounter

High-speed screw tightening unit

■ Bonding and chip mounting on circuit board.
■ Electronic part mounting process.
Operation ranges
are overlapped

■ Positioning 2 nut runners at the same time for a large
work piece.
■ 2 screws at opposite locations tightened at the same time.
APPLICATION

Vacuum head
Chips, etc.

Dispenser

Circuit board

POINT

POINT

1. Double carrier structure enabled compact size.
2. Layout designing is easy as different workpieces can be carried onto the
same axis.
3. Clean specification requirement can be coped with easily.

1. Performs high-speed, high-accuracy screw tightening on large work
pieces such as large construction materials.

Check device

High-speed applicator (1)

■ Handling to multiple number of check devices.

■ Application to a large size workpiece such as liquid
crystal circuit board and the like.

Parts unloaded

Parts loaded

POINT

POINT

1. 2 heads can be installed to the same axis compactly.
2. High speed operation.

1. Capable of applying to a large size work such as a flat panel display.

Open / close device

High-speed applicator (2)

■ Wide open/close of shutter.

■ Application to a large size workpiece such as liquid
crystal circuit board and the like.

Operation area
used commonly.

POINT

POINT

1. It is possible to drive a work with a large width (shutter) using the dual
drive method.
2. Various advantages (such as center layout, higher open / close speed,
sharing of effective stroke) are available due to adoption of the double
carrier mechanism.
3. Drives with the dual drive mechanism with 2 units of double carrier
PHASER in parallel and fixing them with sliders respectively.
4. RCX240 can control 4 axes in all.

1. Capable of applying to a large size work such as a flat panel display.
2. It is possible to drive a work with a large width using the dual drive
method.

95

High-speed pick & place unit

YAMAHA CARTESIAN ROBOTS

■ Pick & place operation from the rack for large size parts.

X Y- X

APPLICATION

Series

P.239

POINT
1. Capable of carrying over a long distance between processes in various
production facilities.

High-speed loading / unloading robot
■ The loading unit and unloading unit are mounted on the
same axis.

Conveyor (2 parts simultaneously)
■ Conveyance with high efficiency using double arms.

F10
F10

F17L

POINT

POINT

1. Utilizing double-carriers allows building systems that are highly efficient in
saving space.

1. Setting 2 units on the Z-axis intersecting XZ drastically cuts the total tact
time and reduces the required installation space.
2. Customization only possible because a highly rigid frame and guide are
used.

Application of adhesive agent
■ Application of adhesive agent within a large size liquid
crystal surface processing unit.

POINT
1. Capable of handling large size workpieces.
2. Also applicable to cutting work with a cutter, surface check with a camera,
etc.

96

IC palletizing within the unit

Transfer and stacking device within the unit
■ Used in the sheet metal processing unit.

APPLICATION

■ ICs are taken out of the pallet and parts are transferred
to the specified place by the XYZ Cartesian robot.
■ Application as a part of the machine used in the process
where a die is attached to the circuit board using
thermocompression bonding in the manufacture of semiconductors.
FXYBx

Pallet
Special station

POINT

POINT

1. By using the RCX controller, it is possible to use the result of the
operation based on variables during palletizing.

1. X1 and X2 axes are superposed for space efficiency.
2. The unit layout is easy even for the doubled stroke.

Tester (2 Cartesian robots controlled simultaneously)

Dispenser

■ Use as a tester in the post-process of manufacturing
electronic parts.

■ Spreading adhesive agent to drums.
R axis
Z axis

RCX240

SXYx
SXYx

Y axis : Wide moving

X axis
Within +/- 0.05mm

POINT

POINT

1. 2 units of SXYx are operated using 1 unit of RCX240 with settings for 2
robots.
2. The vertical traveling accuracy of XY axes of both 2 units of SXYx is
within +/- 0.05mm.

1. Boosting the R axis strength allows 3-dimensional interpolation + R
operation.
2. Each axis has high rigidity and so can easily withstand harsh conditions
such as on the moving arm (handles 100mm/sec).

Sealing

Insertion unit
(Tare weight cancellation using moving Z + air balancer)

■ Spreading sealant to mating faces of the cases.

■ Heavy workpiece inserted in the pallet, etc.
■ Heavy workpiece before processing set in the processing
machine.
Air balancer

SXYx

POINT

POINT

1. Three dimensional application using 3 axes Cartesian robot.
Cartesian robot incorporated with special purpose machine.

1. Z axis moving type: The heavy workpiece is cancelled by the air balancer
and moved up and down.

97

Assembler & tester base machine

(Simultaneous operation at upper and lower levels)
■ Tester (upper and lower probes, camera with lighting) .
■ Precision spot welding machine.
■ Simultaneous assembly at upper and lower levels
(caulking parts, screw tightening) .

Dual-drive transport between processes
■ Uses dual-drive to convey large and heavy
workpieces
Web site

APPLICATION
POINT
POINT
1. Simultaneous control of 2 Cartesian robots.
2. Levelness of upper and lower robots assured (custom specification) .

1. Dual-drive allows synchronized operation of two single-axis robots of the
same type.
2. Using dual-drive even allows conveying heavy items or large size parts
and products.
3. Enhanced acceleration also helps cut tact time.

Part assembly machine

Application example of combination with
auxiliary single-axis

■ Automotive clutch assembly
■ Efficient alternate assembly of two different parts

■ Cartesian robot and single-axis robot are
controlled with one controller.
Web site
Web site

POINT

POINT

1. Double-arm ensures a short tact time along with a space-saving footprint.
2. Double-arm specifications selectable as standard feature.
3. Y axis and Z axis strokes are selectable separately for left and right.
(Special orders available)
4. Nut rotation type X axis supports long stroke and also maintains
maximum speed.

1. Multiple robots can be controlled simultaneously with one controller.
Up to 8 axes of maximum 2 groups can be expanded.
2. As multiple robots are controlled with one controller, the linking can be
performed without using the I/O of the PLC or between the controllers.
Therefore, there are merits that the number of control program creation
steps is reduced to shorten the equipment startup time and reduce the
labor cost.

Part pick and place

Application example of long-stroke and dual-drive
■ Long-stroke axis is combined with Cartesian
axis using the dual-drive control.

■ Pick and place of parts from index

Web site

Web site

98

POINT

POINT

1. Vision system recognizes parts on index, and robot extracts and sorts the
parts.
2. Vision system identifies the type and position and directs robot to
operating position.
3. Robot shifts not only to pre-instructed teaching position but also to any
position based on data sent from external device.
4. Fieldbus to communicate with controller is selectable from RS-232C,
Ethernet or CC-Link.

1. As the dual drive (simultaneous 2 axes) control is applied, a Y-axis longstroke of up to 2m can be supported. This is applicable to long-distance
transfer and heavy workpiece transfer specifications.
2. As the vertical axis is combined, this can be applied to the inspection with
large LCD glass panels arranged vertically.
3. According to required repeated accuracy, YAMAHA proposes optimal
combination mechanism and control method.

Tall work pieces conveying and stacking machine

YAMAHA SCARA ROBOT

■ Tall workpieces stacked by utilizing long Z axis.

YK-X

APPLICATION

Series

POINT
1. Z-axis long stroke is also accepted as special order.
If a stroke longer than the standard stroke shown below is needed,
consult YAMAHA.
Standard Z-axis stroke

P.367

[YK120XG to YK180XG]....... 50mm
[YK180X to YK220X]......... 100mm
[YK250XG to YK600XGL]..... 150mm
[YK500XG to YK600XG]... 200mm/300mm
[YK600XGH to YK1000XG]... 200mm/400mm [YK1200X]......................... 400mm

Finished product inspection, touch-panel
type evaluation machine

2. SCARA robot is used by utilizing its advantages, such as X/Y-axis speed
and space saving installation.

Assembly cell (independent cell)
■ Base machine of independent type assembly cell.

■ Finished product function test.
■ Developed software evaluation.
■ Push-button type quality check.

Hand change unit

Work jig unit

Image processor
Part supply unit

YK150XG
PDA

POINT

POINT

1. Supports a variety of systems in a product lineup that is top class in its
field with arm lengths from 120mm to 1200mm.
2. Space saving.
3. Using SCARA, judgment is made through image processing by pushing
each button.

1. Optimum for multi type variable quantity production.
2. Setting up reception places forms a construction of multiple number of
cells.

Conveying masks for wafers

Assembly cell (line cell)
■ Base machine of line type assembly cell.

■ Replacing wafer mask from the stocker.

Wall mounting

Discharge

Discharge

Part feeder

Clean environment
(Class 10)
Assembly
pallet

Mask Mask Mask Mask

Side view

Top view

Part supply pallet

POINT

POINT

1. Drive section installed beneath work pieces has clean specs + inverted
structure.
2. If the cylindrical coordinate type robot is used, a running axis is necessary
for this application. However, if SCARA with the interpolation function is
used, the fixed type is usable.

1. Utilization of advantages of SCARA with a wide operation range.
2. Form a line to any length by coupling these cells together.

99

Assembly cell
(Handling unit for special purpose tester)

YAMAHA PICK & PLACE ROBOTS

■ When placed between 2 turn tables, handling of both
tables is possible.

YP-X

Special purpose tester

APPLICATION

Series
Test stage

Assembly stage

POINT

P.427

1. Utilization of advantages of SCARA which has a wide operation range.

Inter-process transport
■ Conveys large and heavy workpieces

Precision part assembler (1)
■ Assembly of small size precision parts.

Web site

POINT
1. Built-in structure with no timing belt achieves high allowable moment-ofinertia on R axis.
2. High allowable moment-of-inertia on R axis permits using large hand on
robot. So more workpieces can be conveyed per one time which makes
operation more efficient.
3. R axis can be driven at high acceleration during low moment-of-inertia.
This shortens the tact time.
4. Uses a harmonic gear as XYR axis speed reducers.
No periodic greasing is required due to sealed grease.
Note: Available for YK500XG to YK1000XG.

Inter-process transport with inverse
specifications applied
■ Workpiece inter-process transport with inverse
specifications applied

POINT
1. High speed assembly.
2. Narrow machine width, and settable with a tiny pitch.

Precision part assembler (2)
■ Assembly of small size precision parts.

Web site

POINT
1. As the inverse specifications are applied, the workpieces can be held
from the lower portion to prevent foreign objects from dropping onto
workpieces being transported.
2. The performance of the robot mechanical section is similar to the
standard specifications. The high performance of the YK-XG series can
be utilized.
3. YAMAHA SCARA robot can select three installation patterns, standard
floor installation, wall-mount, inverse specifications (Note). YAMAHA
proposes various ideas about equipment design.
Note. If the robot with the standard specifications, normal ceiling-mount specifications, or
wall-mount specifications is installed upside down, this may cause a malfunction.
When considering the installation like this, be sure to use the robot with the
dedicated inverse specifications (YK-XS-U).

100

POINT
1. Speed increased even more when used in combination with a rotary
table.

Screw tightening work with SCARA robot

YAMAHA ROBOT VISION

iVY/iVY2

■ Screw tightening work with the
SCARA robot is improved using
the iVY system.

Web site

APPLICATION

System

POINT

iVY P.572 / iVY2 P.576
Small part palletizing

1. As the position detection function using the iVY system is added, the
robot is applicable to various conditions.
For example, if the screw hole position varies, the workpiece position
on the conveyor is not constant, or various workpieces are supplied, the
robot can be installed easily.
2. Use of iVY system makes it possible to perform the calibration using
system operation. As the teaching steps can be reduced, the equipment
startup time is shortened and labor cost can be reduced.

Pick & place work

■ Assemble a sorting pallet for the automated machine in
the next process.
CCD camera

■ Component pick & place work is improved using
iVY system.
Web site

Supply vibrator hopper

Palletizing robot

Supply
conveyor

Recovery conveyor

POINT
Recovery conveyor
Palettes

POINT

Loading parts into assembler machine
■ Loads unsorted parts or components into automated
equipment.
Transfer-Assembly stage

1. As the position detection function using the iVY system is added,
components on soft pallets or pallets with low accuracy can be gripped
correctly.
2. Therefore, merits are provided that the pallet manufacture cost is
reduced, positioning mechanism is simplified, and equipment cost is
reduced.
3. Two camera input channels are provided on one controller.
4. The camera can be incorporated into the robot or secured outside the
robot.
Simple calibration work can be performed under either of the conditions.

Sealing correction
■ Sealing tasks for placing gaskets or applying
adhesives in parts
■ Coating trajectory correction using iVY system

CCD camera

Web site

Supply conveyor

Screw tightener stage

Part 2 supply stage

Assembly turntable

Part 1 supply stage
CCD camera

Finished part
extractor conveyor

POINT

Supply
conveyor

POINT
1. Use of iVY system makes corrections to Cartesian robot sealing tasks.
2. iVY system detects deviations and tilting even if workpiece strayed from
its main position, and automatically corrects the coating trajectory.
3. Maintains high coating quality even during low positioning accuracy on
component side.

101

Labeling device
■ Affixing labels to food packages

APPLICATION
POINT
1. Even if the incoming workpieces are irregularly spaced or positioned,
labels can be affixed at the same position.

Screw attachment position detection
■ Television panel screw attachment

POINT
1. Hole position is detected, and screws are fastened accurately.

Position compensation with upward-facing camera
■ Installing irregularly-shaped parts on a circuit board

POINT
1. The roughly-positioned circuit board connector is picked up, the
upward-facing camera is used to apply position compensation, and the
part is mounted directly on the circuit board.

102

Officially discontinued models and service period

Models listed in the current model column are equivalent
items. Since these might not be compatible in some cases,
please contact Yamaha if you are considering replacement.
E-MAIL robotn@yamaha-motor.co.jp

Single-axis robots
Series

FLIP-X

Pico

FLIPt

Economy Type

FLIP AC

Sale discontinued time

Service period

Current model (equivalent)

Dec. 2013

Dec. 2020

T4L
T4LH
T5L
T5LH
T6L
C4L
C4LH
C5L
C5LH
C6L
F17 (Latter model)
On sale
F20 (Latter model)
On sale
T9 (Latter model)
On sale
T9H (Latter model)
On sale
F10 (Latter model)
On sale
F14 (Latter model)
On sale
F14H (Latter model)
On sale

Dec. 2012

Dec. 2019

Dec. 2009
Sep. 2002
Sep. 2002
Oct. 2001
Oct. 2001
Oct. 2001
Oct. 2001
Oct. 2001
-

Dec. 2016
Sep. 2009
Sep. 2009
Oct. 2008
Oct. 2008
Oct. 2008
Oct. 2008
Oct. 2008
-

Dec. 2011

Dec. 2018

Mar. 2011

Mar. 2018

Dec. 2009

Dec. 2016

-

Jan. 2002

Jan. 2009

F10
B10
T9
F14
B14
T9H
F14H
B14H
F17
F20
F20N
R5
R10
R20
-

Jan. 2002

Jan. 2009

-

Jul. 2005

B10
B14
R5
R20
F10
F20
C20
F20N

MF15/15D

Jul. 1998

MF20/20D
MF30/30D
MF75

OFFICIALLY DISCONTINUED MODELS AND SERVICE PERIOD

PHASER

Model
YMS45
YMS55
T4
T4H
T5
T5H
T6
C4
C4H
C5
C5H
C6
T7
F17 (Former model)
F17 (Latter model)
F20 (Former model)
F20 (Latter model)
T9 (Former model)
T9 (Latter model)
T9H (Former model)
T9H (Latter model)
F10 (Former model)
F10 (Latter model)
F14 (Former model)
F14 (Latter model)
F14H (Former model)
F14H (Latter model)
MR16/16D
MR16H/16HD
MR20/20D
MR25/25D
MF50/50D
MF100/100D
T4P
T5P
FSt
BFSt
LTt
LSt
BLSt
LRt
LTHt
LSHt
BLSHt
MSt
HSt
HSLt
BHS
FROP-Ft
FROP-St
FROP-Mt
TR
FTt
BPS
PS
BSt
BFSA
BLSA
BSA
FROP-FA
FROP-HA
FROP-MA
FSA
FTA
HSA
HSC
HSLA

Continues on next page

103

Single-axis robots (continued)
Series

FLIP AC

FLIP DC

OFFICIALLY DISCONTINUED MODELS AND SERVICE PERIOD

Model
LRA
LSA
LTA
MS
MSA
MTA
BFS
BLSII
BS
FROP-F
FROP-M
FROP-H
FS
FT
FTB
HS
HSL
LR
LS/LSII/LSB/LSI
LT/LTB/LTI
MS
MT

Sale discontinued time

Service period

Jul. 1998

Jul. 2005

Jul. 1998

Jul. 2005

Model
MXYX 3 axis ZF
MXYX 4 axis ZRF
MXYX pole type ZPM
TXYX
SXYX (Former model)
SXYX (Latter model)
MXYX (Former model)
MXYX (Latter model)
HXYX (Former model)
HXYX (Latter model)
FXYt
SXYt-C
SXYt-S
SXYLt
MXYt-C
MXYt-S
HXYt-C
HXYt-S
HXYLt
SXYA
SXYLA
MXYA
HXYA
HXYLA
FXY
FXYL
SXY
SXYI
SXYL
MXY
MXYL

Sale discontinued time

Service period

Jan. 2005

Jan. 2012

Mar. 2004
Oct. 2001
Oct. 2001
Sep. 2002
-

Mar. 2011
Oct. 2008
Oct. 2008
Sep. 2009
-

Current model (equivalent)
F14
T9
F17
T9H
B10
B14
R5
R20
F10

-

F14
T9
F17
T9H

Cartesian robots
Series

XY-X

XYt

XY AC

XY DC

Current model (equivalent)
MXYX 3 axis ZFL/ZFH
MXYX 4 axis ZRFL/ZRFH
MXYX pole type
PXYX
SXYX (Latter model)
On sale
MXYX (Latter model)
On sale
HXYX (Latter model)
On sale
FXYBX
SXYX
SXYBX

Jan. 2002

Jan. 2009

MXYX
HXYX

Jan. 1999

Jan. 2006

HXYLX
SXYX
SXYBX
MXYX
HXYX
HXYLX
-

Jan. 1999

Jan. 2006

SXYX
-

Oct. 1995

Oct. 2002

-

Sale discontinued time
Apr. 2001

Service period
Apr. 2008

Apr. 2001

Apr. 2008

Jul. 1998

Jul. 2005

Current model (equivalent)
YP220BX
YP320X
YP340X
YP330X
YP340X

May 1996

May 2003

Pick & place robots
Series
YP
YP AC

YP DC

104

Model
YPX220
YP320A
YP340A
YP330A
YPS21
YP340
YP330
YP320

YP320X

SCARA robot s
Series

YK-XP

YK-XC

YK-XS

YK-X

YK AC
(YASUKAWA motor
model)

Sale discontinued time

Service period

Dec. 2013

Dec. 2020

Dec. 2012

Dec. 2019

Dec. 2012

Dec. 2019

Dec. 2012

Dec. 2019

Dec. 2012

Dec. 2019

Dec. 2009

Dec. 2016

Dec. 2008

Dec. 2015

Mar. 2003

Mar. 2010

YK500XG
YK600XG
Mar. 2001

Mar. 2008

YK DC

CAME

YK700XG
YK800XG

Dec. 1995

Dec. 2002

YK1000XG
YK1200X
YK400XG
YK500XG
YK600XG
YK700XG
YK800XG
YK1000XG
YK1200X
Replacement unavailable

YK4000/4000LZ/4040
YK420/420LZ/440
YK520/540/541
YK620/640/641
YK720/740/741
YK820/840/841
YK1041
YK1200
YK5012
YK8050
YK8080

Current model (equivalent)
YK500XGP
YK600XGP
YK700XGP
YK800XGP
YK1000XGP
YK250XGP
YK350XGP
YK400XGP
YK250XGC
YK350XGC
YK400XGC
YK300XGS
YK400XGS
YK500XGS
YK600XGS
YK700XGS
YK800XGS
YK1000XGS
YK250XG
YK350XG
YK400XG
YK120XG
YK150XG
YK400XG
YK500XG
YK600XG
YK700XG
YK800XG
YK1000XG
YK550X(H)
YK400XG

OFFICIALLY DISCONTINUED MODELS AND SERVICE PERIOD

YK AC
(SANYO motor model)

Model
YK500XP
YK600XP
YK700XP
YK800XP
YK1000XP
YK250XP
YK350XP
YK400XP
YK250XC(H)
YK350XC(H)
YK400XC(H)
YK300XHS
YK400XHS
YK500XS
YK600XS
YK700XS
YK800XS
YK1000XS
YK250X(H)
YK350X(H)
YK400XH
YK550X(H)
YK120X
YK150X
YK400X
YK500X
YK600X
YK700X
YK800X
YK1000X
YK550H
YK420A-I/420ALZ-I/440A-I
YK540A-I/541A-I
YK520A-I
YK640A-I/641A-I
YK620A-I
YK740A-I/741A-I
YK720A-I
YK840A-I/841A-I
YK820A-I
YK1041A-I
YK1043A-I
YK1243A-1
YK420A/420ALZ/440A
YK520A/540A/541A
YK620A/640A/641A
YK720A/740A/741A
YK820A/840A/841A
YK1041A
YK1043A
YK1243A
YK5020/5021
YK7011/7012/7022

YK400XG
YK500XG
YK600XG
YK700XG
YK800XG
YK1000XG
YK1200X

May 1997

May 2004

Mar. 1990

Mar. 1997

-

Sale discontinued time
Jul. 2013
Dec. 2009
Dec. 2009

Current model (equivalent)
POPCOM +
VIP+

Software
Model
POPCOM
VIP
YPB-Win

Usage
ERC series / SRC series / DRC series / SR1 series
For multi-axis controller
Pico series

-

105

Controllers
Model

Sale discontinued time

Service period

Service availability

RDX/RDP
TS-S
DRCX
ERCX
SRCP30

Aug. 2015
Sep. 2013
Dec. 2012
Jul. 2011
Mar. 2011

Aug. 2022
Sep. 2020
Dec. 2019
Jul. 2018
Mar. 2018

Being continued
Being continued
Being continued
Being continued
Being continued

PRC

Dec. 2009

Dec. 2016

Being continued

Dec. 2008

Dec. 2015

Already discontinued

RCX141
RCX142

Replacing models for
maintenance
RDV-X/RDV-P
TS-S2
Replacement
unavailable
RCX240

Apr. 2008

Apr. 2015

Already discontinued

Oct. 2005

Oct. 2012

Already discontinued

Replacement
unavailable
SR1-X
SR1-P
RDP
SR1-X
RDX
RCX240
RCX240

Mar. 2002

Mar. 2009

Already discontinued

RCX240

Jan. 2002

Jan. 2009

Already discontinued

Replacement
unavailable

RCX142-T
SRCX
SRCP05/10/20
SRCD
TRCX
RCX40
QRCX
QRCX-E
SRCH
DRCH
TRCH3
TRCH4
DRC-R

OFFICIALLY DISCONTINUED MODELS AND SERVICE PERIOD

QRCH
QRCH-E
QRCH-P
MRCH
MRCH-E
SRCA (Latter model)
DRCA (Latter model)
ERC
MRCA
DRC
SRC-1
SRC-2
QRC
QRCA
SRC-3
SRC-4
SRCA (Former model)
DRCA (Former model)
MRCA
MRC
RCH20
SRC2A
SRC4A
RCH40
RCH41
RCS40
RCS41
LP

Apr. 2001

Apr. 2008

Already discontinued

Replacement
unavailable

Mar. 2001

Mar. 2008

Already discontinued

Replacement
unavailable

Oct. 1999

Oct. 2006

Already discontinued

Replacement
unavailable

Nov. 1997

Nov. 2004

Already discontinued

Replacement
unavailable

Sep. 1997

Sep. 2004

Already discontinued

Replacement
unavailable

May 1997

May 2004

Already discontinued

Replacement
unavailable

Already discontinued

Replacement
unavailable

Current model
(equivalent)
RDV-X/RDV-P
TS-S2
No current model
RCX240
No current model
SR1-X
SR1-P
RDP
SR1-X
RDX
RCX240 Note. 2
RCX240
RCX240
RCX240-E
SR1-X
RCX222
RCX240
No current model
RCX240
No current model Note. 1
No current model Note. 1
SR1-X
RCX222
SR1-X
No current model Note. 1
RCX222
SR1-X
RCX240
SR1-X

Dec. 1995

Dec. 2002

RCX222
RCX240

Mar. 1994

Mar. 2001

Already discontinued

Replacement
unavailable

Mar. 1992

Mar. 1999

Already discontinued

Replacement
unavailable

Mar. 1990

Mar. 1997

Already discontinued

Replacement
unavailable

RCX240
SR1-X
RCX240
RCX240
SR1-X

If a replacing model for maintenance is available, it can be used as a set including the controller and the cable for conversion.
When replacing with the current model, it is necessary to replace the robot and the controller as a set.
Note 1. Replacement with the current model is possible under certain conditions.
Note 2. Depending on specifications, replacement with the current model may not be possible.

Programming box
Model
TP-2
MPB
TP-1
TPB
DPB
YPU20
SPB-2
YPU1
YPU2
YPU3
SPB

Sale discontinued time

Service period

Service availability

Dec. 2009
Jan. 2009
Oct. 2005
Jun. 2005
Jan. 1999
Mar. 1994
Aug. 1992

Dec. 2016
Jan. 2016
Oct. 2012
Jun. 2012
Jan. 2006
Mar. 2001
Aug. 1999

Being continued
Already discontinued
Already discontinued
Already discontinued
Already discontinued
Already discontinued
Already discontinued

Mar. 1992

Mar. 1999

Already discontinued

Jan. 1990

Jan. 1997

Already discontinued

Note. Customers using the RCX40/RCX141/RCX142 controllers will use a connector adaptor cable.

106

Current model
(equivalent)
RPB Note
TP-2
HPB
HPB
-

YA

Articulated robots
Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

ARTICULATED ROBOTS

PHASER

Linear motor
single-axis robots

YA

Cartesian
robots

XY-X

SERIES

SCARA
robots

YK-X

CONTENTS
Pick & place
robots

YP-X

■■YA SERIES MANIPULATOR
SPECIFICATIONS·················· 108

CLEAN

6-axis
YA-RJ····················································· 109
YA-R3F··················································· 110

CONTROLLER INFORMATION

YA-R5F····················································111
YA-R5LF················································· 112
YA-R6F··················································· 113

7-axis
YA-U5F··················································· 114
YA-U10F················································· 115
YA-U20F················································· 116

■■YAC100 Specifications··········117
■ Accessories and part options····118

Main functions

P.6

107

YA

Articulated robots

YA SERIES MANIPULATOR SPECIFICATIONS

Linear conveyor
modules

LCM100

Applications

6-axis

7-axis

Handling (general)

Assembly / Placement

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

YA-RJ

YA-R3F

YA-R5F

YA-R5LF

YA-R6F

YA-U5F

YA-U10F

YA-U20F

6

6

6

6

6

7

7

7

1 kg
(max. 2 kgNote 2)

3 kg

5 kg

5 kg

6 kg

5 kg

10 kg

20 kg

Vertical reach

909 mm

804 mm

1193 mm

1560 mm

2486 mm

1007 mm

1203 mm

1498 mm

Horizontal reach

545 mm

532 mm

706 mm

895 mm

1422 mm

559 mm

720 mm

910 mm

±0.03 mm

±0.03 mm

±0.02 mm

±0.03 mm

±0.08 mm

±0.06 mm

±0.1 mm

±0.1 mm

Number of axes
Payload

Repeatability

PHASER

Linear motor
single-axis robots

S-axis (turning)

-160° to +160° -160° to +160°

-170° to +170°

-170° to +170°

-170° to +170°

L-axis (lower Arm)

-90° to +110°

-85° to +90°

-65° to +150°

-65° to +150°

-90° to +155°

-110° to +110°

-110° to +110°

-110° to +110°

E-axis (elbow twist)

-

-

-

-

-

-170° to +170°

-170° to +170°

-170° to +170°

-175° to +250°

-90° to +115°

-135° to +135°

-130° to +130°

Range of
U-axis (upper arm)
Motion
R-axis (wrist roll)

-290° to +105° -105° to +260° -136° to +255° -138° to +255°

-180° to +180° -180° to +180° -180° to +180°

-180° to +180°

-170° to +170°

-190° to +190° -190° to +190° -180° to +180° -180° to +180° -180° to +180° -180° to +180°

B-axis (wrist pich/yaw) -130° to +130°

-120° to +120°

-135° to +135°

T-axis (wrist twist)

-135° to +135°

-45° to +225°

-110° to +110°

-110° to +110°

-110° to +110°

-360° to +360° -360° to +360° -360° to +360° -360° to +360° -360° to +360° -180° to +180° -180° to +180° -180° to +180°

Cartesian
robots

XY-X

S-axis (turning)

160°/s

200°/s

376°/s

270°/s

220°/s

200°/s

170°/s

130°/s

L-axis (lower Arm)

130°/s

150°/s

350°/s

280°/s

200°/s

200°/s

170°/s

130°/s

E-axis (elbow twist)

-

-

-

-

-

200°/s

170°/s

170°/s

200°/s

190°/s

400°/s

300°/s

220°/s

200°/s

170°/s

170°/s

300°/s

300°/s

450°/s

450°/s

410°/s

200°/s

200°/s

200°/s

400°/s

300°/s

450°/s

450°/s

410°/s

230°/s

200°/s

200°/s

500°/s
3.33 N.m

420°/s
5.39 N.m

720°/s
12 N.m

720°/s
12 N.m

610°/s
11.8 N.m

350°/s
14.7 N.m

400°/s
31.4 N.m

400°/s
58.8 N.m

5.39 N.m

12 N.m
7 N .m

12 N.m
7 N .m

9.8 N.m

14.7 N.m
7.35 N.m

31.4 N.m

58.8 N.m
29.4 N.m

0.1 kg.m2

0.30 kg.m2
0.30 kg.m2

0.30 kg.m2
0.30 kg.m2

0.03 kg.m2

0.1 kg.m2

0.1 kg.m2

Maximum
U-axis (upper arm)
Speed
R-axis (wrist roll)

B-axis (wrist pich/yaw)
SCARA
robots

YK-X

T-axis (wrist twist)
R-axis (wrist roll)
Allowable
B-axis (wrist pich/yaw)
Moment
T-axis (wrist twist)

Pick & place
robots

YP-X

Allowable R-axis (wrist roll)
B-axis (wrist pich/yaw)
Inertia
(GD2/4)
T-axis (wrist twist)

3.33 N.m
0.98 N.m

2.94 N.m
0.1 kg.m2

0.058 kg.m2
0.058 kg.m2
0.005 kg.m2

Mass
Power RequirementsNote 1
Detailed info page

5.9 N.m
0.27 kg.m2
0.27 kg.m2

0.45 kg.m2
0.45 kg.m2

0.06 kg.m2

0.11 kg.m2

19.6 N.m
1.0 kg.m2
1.0 kg.m2

4.0 kg.m2
4.0 kg.m2

0.4 kg.m2

2.0 kg.m2

15 kg

27 kg

27 kg

29 kg

130 kg

30 kg

60 kg

120 kg

0.5 kVA

0.5 kVA

1.0 kVA

1.0 kVA

1.0 kVA

1.0 kVA

1.0 kVA

1.5 kVA

P.109

P.110

P.111

P.112

P.113

P.114

P.115

P.116

CLEAN

Note 1. Varies in accordance with applications and motion patterns.
Note 2. When a load is more than 1 kg, the motion range will be smaller. Use the robot within the recommended motion range. For details, refer to the dimensional diagram on P.109.

■ YA series basic system contents

CONTROLLER INFORMATION

Device cable connector*1

Programming box
YAP-J (Japanese)*2

Standard cable

Standard boards

8m

NPN (PNP *3) DIO board
28 I/O each

Optional
extension cable

EtherNet board

4m/8m/12m

Option board
Standard power supply cable
4m

NPN (PNP *3) expansion DIO board
28 I/O each Up to four boards
DeviceNetTM board
Master/Slave

Optional power supply cable
10m/15m/20m

YAC100

CC-Link board
Slave

YA series
Optional PC software
Software pendant
(YAP dummy connector is required.)

MotoSimEG-VRG for YAMAHA

Standard

108

Option

Optional functionality

via EtherNet

Vision function
External reference
point control

*1. Differs by model. For details, refer to the page for each model.
*2. YAP-E (English) or YAP-C (Chinese) can also be selected.
*3. PNP model is an option. Take care not to mix NPN and PNP for DIO.

PROFIBUS board
Slave
EtherNet/IPTM board
Slave
PROFINET board
Master/Slave
EtherCAT board
Slave
Conveyer synchronization
board

6-axis

YA

Maximum payload 2 kg

Articulated robots

YA-RJ

Longest Reach R545 mm

Linear conveyor
modules

YA-RJ
Model

4L

YAC100
Controller

– Safety standard – Language setting –
Option I/O

Network option
N: Normal
JE: Japanese/English
N, P: Standard I/O 28/28 No entry : None
JC: Japanese/Chinese N1, P1: 56/56 points
CC: CC-Link
E: CE marking
EJ: English/Japanese
N2, P2: 84/84 points
DM: DeviceNet master
EC: English/Chinese
N3, P3: 112/112 points
DS: DeviceNet slave
N4, P4: 140/140 points
PB: PROFIBUS
EP: EtherNet/IPTM
PM: Profinet master
PT: Profinet slave
ES: EtherCAT slave

Compact
single-axis robots

TRANSERVO

– Power cable length –
4L: 4m

LCM100

Ordering method

FLIP-X

Single-axis robots

Note. This unit is ideal for small tabletop devices or for education.
Note. The ultra-light, compact YA-RJ features portability and easy installation for simplified system integration.
Note. Each axis uses a motor of 80 W or less.
Note. This unit can also be used in combination with a travel axis or other external axis. Please contact us.

Linear motor
single-axis robots

6

Repeatability
L-axis (lower Arm)

-90° to +110°

U-axis (upper arm)

-290° to +105°

Allowable
Inertia
(GD2/4)

R-axis (wrist roll)

-180° to +180°

Mass

B-axis (wrist pich/yaw)

-130° to +130°

T-axis (wrist twist)

-360° to +360°

Axis with brakeNote 2

0.005 kg.m2
15 kg
During operation: 0 to +40˚C, During storage: -10 to +60˚C

Relative Humidity

2.79 rad/s, 160°/s

90% max. (non-condensing)
4.9 m/s2 or less

Vibration Acceleration

• Free from corrosive gasses or liquids, or
explosive gasses
• Free from exposure to water, oil, or dust
• Free from excessive electrical noise (plasma)

L-axis (lower Arm)

2.27 rad/s, 130°/s

U-axis (upper arm)

3.49 rad/s, 200°/s

R-axis (wrist roll)

5.23 rad/s, 300°/s

Power RequirementsNote 3

B-axis (wrist pich/yaw)

6.98 rad/s, 400°/s

T-axis (wrist twist)

8.72 rad/s, 500°/s

Note 1. When a load is more than 1 kg, the motion range will be smaller. Use the robot
within the recommended motion range. (See diagrams below)
Note 2. The S-, R-, B-, and T-axes do not have any brakes. Make sure that the operation
does not require brakes.
Note 3. Varies in accordance with applications and motion patterns.
Note. SI units are used for specifications.

Others

0.5 kVA

ф10H7

12.5±0.02

9

P-point maximum envelop for 1-kg load

View A

P-point maximum envelop for 2-kg load

R20

12.5±0.02

CONTROLLER INFORMATION

00

45°

5

R5

Base side
The cable that fits with the device's
cable connector is an optional item.
Please purchase it separately.
<Part number> KEM-M4870-00

CLEAN

5

.2
P.C.D

4-M5×P0.8
Depth 9

R54

: P-point Maximum Envelop

Pick & place
robots

Units: mm
2-ф5H7 Depth 7

YP-X

YA-RJ

6 (fitting depth)

SCARA
robots

Ambient
Conditions

YK-X

Maximum
Speed

T-axis (wrist twist)
Ambient Temperature

L-axis, U-axis

S-axis (turning)

B-axis (wrist pich/yaw)

0.98 N.m
0.058 kg.m2
0.058 kg.m2

T-axis (wrist twist)
R-axis (wrist roll)

Cartesian
robots

-160° to +160°

B-axis (wrist pich/yaw)

XY-X

Range of
Motion

±0.03 mm
S-axis (turning)

3.33 N.m
3.33 N.m

R-axis (wrist roll)

Allowable
Moment

1 kg (max. 2 kgNote 1)

Payload

PHASER

Specifications
Controlled Axis

Air inlet Tapped holes M5
Pitch:0.8mm with pipe plug

S-axis

1

C

B
183
500
273

92.5

55°

View B

168
P-point maximum envelop for 1-kg load

209
500
545

60

90

63

View C
Air inlet Tapped holes M5
Pitch:0.8mm with pipe plug

°

°
05

30°

25°

60

°

(Holes on diameter line)
2-ф6H7 (Reference hole)

185
160±0.2
80±0.1

P-Point

11
0

209

°
90

234

29

270

240

L-axis

A

90
76

60°

275

T-axis

90
76

ф1

63
R-axis B-axis
545

270
D

U-axis

364

55

545

P-point maximum envelop for 2-kg load

Controller

5-ф9
Arm side
The cable that fits with the device's
cable connector is an optional item.
Please purchase it separately.
<Part number> KEM-M4870-10
View D

YAC100 u 117

109

YA

Articulated robots

YA-R3F
Maximum payload 3 kg

6-axis

Longest Reach R532 mm

Linear conveyor
modules

LCM100

Ordering method

YA-R3F
Model

4L

YAC100

Compact
single-axis robots

TRANSERVO

– Power cable length –
4L: 4m

Controller

– Safety standard – Language setting –
Option I/O

Network option
N: Normal
JE: Japanese/English
N, P: Standard I/O 28/28 No entry : None
JC: Japanese/Chinese N1, P1: 56/56 points
CC: CC-Link
E: CE marking
EJ: English/Japanese
N2, P2: 84/84 points
DM: DeviceNet master
EC: English/Chinese
N3, P3: 112/112 points
DS: DeviceNet slave
N4, P4: 140/140 points
PB: PROFIBUS
EP: EtherNet/IPTM
PM: Profinet master
PT: Profinet slave
ES: EtherCAT slave

FLIP-X

Single-axis robots

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

PHASER

Linear motor
single-axis robots

Specifications
Controlled Axis

6

Payload

Allowable
Moment

3 kg

Repeatability

±0.03 mm
S-axis (turning)

Cartesian
robots

XY-X

Range of
Motion

-160° to +160° Note 1

L-axis (lower Arm)

-85° to +90°

U-axis (upper arm)

-105° to +260°

Allowable
Inertia
(GD2/4)

R-axis (wrist roll)

-170° to +170°

Mass

B-axis (wrist pich/yaw)

-120° to +120°

T-axis (wrist twist)
SCARA
robots

YK-X

Maximum
Speed

-360° to +360°

B-axis (wrist pich/yaw)

2.94 N.m
0.1 kg.m2

T-axis (wrist twist)
R-axis (wrist roll)
T-axis (wrist twist)

0.1 kg.m2
0.03 kg.m2

Temperature

0 to +40˚C

B-axis (wrist pich/yaw)

27 kg
Humidity

S-axis (turning)

3.49 rad/s, 200°/s

L-axis (lower Arm)

2.62 rad/s, 150°/s

Ambient
Conditions

5.39 N.m
5.39 N.m

R-axis (wrist roll)

20 to 80%RH (non-condensing)
4.9 m/s2 or less

Vibration

• Free from corrosive gasses or liquids, or
explosive gasses
• Free from exposure to water, oil, or dust
• Free from excessive electrical noise (plasma)

U-axis (upper arm)

3.32 rad/s, 190°/s

R-axis (wrist roll)

5.24 rad/s, 300°/s

B-axis (wrist pich/yaw)

5.24 rad/s, 300°/s

Power RequirementsNote 2

T-axis (wrist twist)

7.33 rad/s, 420°/s

Note 1. For wall-mounted installation, the S-axis operating range is ±25°.
Note 2. Varies in accordance with applications and motion patterns.
Note. SI units are used for specifications.

Others

0.5 kVA

Pick & place
robots

YP-X

YA-R3F
155
50±0.1
50

37

: P-point Maximum Envelop
88±0.1

2

150

4-M5×P0.8 Depth 9

88
R1

160°

170

ф5H7 Depth 7
View A

531

372

229

40 0

188

150

170
88±0.1

R53
R

50

78±0.1

80

CONTROLLER INFORMATION

.31.5

P.C.D
5 (fitting depth)

4
10

ф6H7

45°

145

5 (fitting depth)

ф40h6

18

ф20H6

CLEAN

Units: mm
3-M8×P1.25
Depth 16

160°

4-ф9 (Mounting Holes)

View B

532

270

90

U

R

D

583

B
A

30

79

57

822
4 Air inlets
Tapped hole M5 (4 places)
with pipe plug

T

659

°
°
90

26

55

260

474

°
85 L

133

0

193

S

47

21

18
0

Base side
The cable that fits with the device's
cable connector is an optional item.
Please purchase it separately.
<Part number> KEM-M4873-00

381

219

View C
158
204

276

B
389
337

(Note 1)

0

290

105°
C

4 Exhaust ports
Tapped hole M5 (4places)
with pipe plug

P-Point

189
74
42

Arm side
The cable that fits with the device's
cable connector is an optional item.
Please purchase it separately.
<Part number> KEM-M4874-00

View D

(Note 2)

Note 1. Motion range of point P when the S-axis is between -40° to +40°.
Note 2. Motion range of point P when the S-axis is between -125° to -160° or +125° to +160°.

110

Controller

YAC100 u 117

6-axis

YA

Maximum payload 5 kg

Articulated robots

YA-R5F

Longest Reach R706 mm

Linear conveyor
modules

YA-R5F
Model

4L

YAC100
Controller

– Safety standard – Language setting –
Option I/O

Network option
N: Normal
JE: Japanese/English
N, P: Standard I/O 28/28 No entry : None
JC: Japanese/Chinese N1, P1: 56/56 points
CC: CC-Link
E: CE marking
EJ: English/Japanese
N2, P2: 84/84 points
DM: DeviceNet master
EC: English/Chinese
N3, P3: 112/112 points
DS: DeviceNet slave
N4, P4: 140/140 points
PB: PROFIBUS
EP: EtherNet/IPTM
PM: Profinet master
PT: Profinet slave
ES: EtherCAT slave

Compact
single-axis robots

TRANSERVO

– Power cable length –
4L: 4m

LCM100

Ordering method

Linear motor
single-axis robots

Repeatability

±0.02 mm
S-axis (turning)

-65° to +150°

U-axis (upper arm)

-136° to +255°

Allowable
Inertia
(GD2/4)

R-axis (wrist roll)

-190° to +190°

Mass

B-axis (wrist pich/yaw)

-135° to +135°

T-axis (wrist twist)

T-axis (wrist twist)

0.1 kg.m2
27 kg

Temperature

-360° to +360°

0 to +45˚C

Humidity

6.56 rad/s, 376°/s

L-axis (lower Arm)

6.11 rad/s, 350°/s

U-axis (upper arm)

6.98 rad/s, 400°/s

R-axis (wrist roll)

7.85 rad/s, 450°/s

20 to 80%RH (non-condensing)
4.9 m/s2 or less

Vibration

Ambient
Conditions

• Free from corrosive gasses or liquids, or
explosive gasses
• Free from exposure to water, oil, or dust
• Free from excessive electrical noise (plasma)

Others

B-axis (wrist pich/yaw)

7.85 rad/s, 450°/s

Power RequirementsNote 2

T-axis (wrist twist)

12.57 rad/s, 720°/s

Note 1. For wall-mounted installation, the S-axis operating range is ±30°.
Note 2. Varies in accordance with applications and motion patterns.
Note. SI units are used for specifications.

1.0 kVA

2-M4×P0.7 Depth 8
4-M5×P0.8 Depth 9

40

25

55

P.C
.D

87

Air inlet
Tapped holes PT1/4
(with pipe plug)

66±0.1

60

109

85±0.1

109

B

U

A

688

40

160
R
°

310

65

T

105

255
°
330

100±0.1
View C

Arm side
The cable that fits with the device's cable connector is
an optional item. Please purchase it separately.
<Part number> KEM-M4874-10 (Two connectors)

239
156

B

4BC

S

0

3BC

°

136

AIR1

AIR2

203
243

0
51

C
178

4-ф12 (Mounting Holes)

194

474
150°
37°

740

ф12H7

P-Point

L

100±0.1

138

947
D

194

80

2-ф6H7

92±0.1

305

60±0.1

View A

706

235

0
15
114
88

View B

ф5H7 Depth 7

5 (fitting depth)

160
92±0.1

R2

06

277
233

.5

ф12H7

35

R7
170°

501

45°

.31

CONTROLLER INFORMATION

70

110

298

CLEAN

423

: P-point Maximum Envelop

Base side
The cable that fits with the device's cable connector is
an optional item. Please purchase it separately.
<Part number> KEM-M4873-10 (Two connectors)

4-M4×P0.7 Depth 8

170°

Pick & place
robots

Units: mm

YP-X

YA-R5F

4-M8×P1.25
Depth 16

SCARA
robots

S-axis (turning)

YK-X

Maximum
Speed

B-axis (wrist pich/yaw)

7 N .m
0.3 kg.m2
0.3 kg.m2

T-axis (wrist twist)
R-axis (wrist roll)

Cartesian
robots

L-axis (lower Arm)

B-axis (wrist pich/yaw)

XY-X

Range of
Motion

-170° to +170° Note 1

12 N.m
12 N.m

R-axis (wrist roll)

Allowable
Moment

5 kg

PHASER

6

Payload

FLIP-X

Specifications
Controlled Axis

Single-axis robots

Note. Thanks to the higher control rate of the YAC100 controller and vibration-damping control of the arm, we have reduced the residual vibration when the arm stops moving, while
shortening the cycle time and achieving the fastest speed in this class.
Note. Longest reach in a respective class (706 mm)
Note. Floor-mounted, wall-mounted, and ceiling-mounted types are available. Please contact us separately regarding wall-mounted or ceiling-mounted installations.
Note. This unit can also be used in combination with a travel axis or other external axis. Please contact us.

246

View D

Controller

2×Air inlet Tapped hole PT1/4
(with pipe plug)

YAC100 u 117

111

YA

Articulated robots

YA-R5LF
Maximum payload 5 kg

6-axis

Longest Reach R895 mm

Linear conveyor
modules

LCM100

Ordering method

YA-R5LF
Model

4L

YAC100

Compact
single-axis robots

TRANSERVO

– Power cable length –
4L: 4m

Controller

– Safety standard – Language setting –
Option I/O

Network option
N: Normal
JE: Japanese/English
N, P: Standard I/O 28/28 No entry : None
JC: Japanese/Chinese N1, P1: 56/56 points
CC: CC-Link
E: CE marking
EJ: English/Japanese
N2, P2: 84/84 points
DM: DeviceNet master
EC: English/Chinese
N3, P3: 112/112 points
DS: DeviceNet slave
N4, P4: 140/140 points
PB: PROFIBUS
EP: EtherNet/IPTM
PM: Profinet master
PT: Profinet slave
ES: EtherCAT slave

FLIP-X

Single-axis robots

Note. Thanks to the higher control rate of the YAC100 controller and vibration-damping control of the arm, we have reduced the residual vibration when the arm stops moving, while
shortening the cycle time and achieving the fastest speed in this class.
Note. Longest reach in a respective class (895 mm)
Note. Floor-mounted, wall-mounted, and ceiling-mounted types are available. Please contact us separately regarding wall-mounted or ceiling-mounted installations.
Note. This unit can also be used in combination with a travel axis or other external axis. Please contact us.

PHASER

Linear motor
single-axis robots

Specifications
Controlled Axis

6

Payload
Repeatability

±0.03 mm
S-axis (turning)

Cartesian
robots

XY-X

Range of
Motion

-170° to +170° Note 1

L-axis (lower Arm)

-65° to +150°

U-axis (upper arm)

-138° to +255°

Allowable
Inertia
(GD2/4)

R-axis (wrist roll)

-190° to +190°

Mass

B-axis (wrist pich/yaw)

-135° to +135°

T-axis (wrist twist)
SCARA
robots

YK-X

Maximum
Speed

12 N.m
12 N.m

R-axis (wrist roll)

Allowable
Moment

5 kg

B-axis (wrist pich/yaw)

B-axis (wrist pich/yaw)

7 N .m
0.3 kg.m2
0.3 kg.m2

T-axis (wrist twist)

0.1 kg.m2

T-axis (wrist twist)
R-axis (wrist roll)

29 kg
Temperature

-360° to +360°

0 to +45˚C

Humidity

S-axis (turning)

4.71 rad/s, 270°/s

L-axis (lower Arm)

4.89 rad/s, 280°/s

U-axis (upper arm)

5.24 rad/s, 300°/s

R-axis (wrist roll)

7.85 rad/s, 450°/s

20 to 80%RH (non-condensing)
4.9 m/s2 or less

Vibration

Ambient
Conditions

• Free from corrosive gasses or liquids, or
explosive gasses
• Free from exposure to water, oil, or dust
• Free from excessive electrical noise (plasma)

Others

Pick & place
robots

YP-X

B-axis (wrist pich/yaw)

7.85 rad/s, 450°/s

Power RequirementsNote 2

T-axis (wrist twist)

12.57 rad/s, 720°/s

Note 1. For wall-mounted installation, the S-axis operating range is ±30°.
Note 2. Varies in accordance with applications and motion patterns.
Note. SI units are used for specifications.

1.0 kVA

YA-R5LF
Units: mm
4-M8×P1.25 Depth 16

CLEAN

523
398

°
170

70

Base side
The cable that fits with the device's cable connector is
an optional item. Please purchase it separately.
<Part number> KEM-M4873-10 (Two connectors)

2-M4×P0.7 Depth 8

55

: P-point Maximum Envelop

4-M5×P0.8 Depth 9
45°

CONTROLLER INFORMATION

P.C
.D

.31

3BC

.5

4BC
AIR1

87

AIR2

5

5 (fitting depth)

109 109

B

R
°

400

T

503

55°
B

198

100±0.1

105

Arm side
The cable that fits with the device's cable connector is
an optional item. Please purchase it separately.
<Part number> KEM-M4874-10 (Two connectors)

98
0

S
C

4BC

209
288

14

0

°

138

3BC
AIR1

317
423

112

4-ф12 (Mounting Holes)

View C

2

330

194

32°

830

L

160

ф12H7

P-Point

15

65

92±0.1

808

40

A

2-ф6H7
194
100±0.1

80

D

66±0.1

85±0.1

60

405
U

60±0.1

160
92±0.1

895

View B
View A
1137

88

Air inlet
Tapped holes PT1/4
(with pipe plug)

ф5H7 Depth 7

138

25

R89

267

9
0

400
341

681

132

4-M4×P0.7
Depth 8

170°

ф12H7

67

R2

110

40

2BC
1BC

Controller

YAC100 u 117

AIR2

2×Air inlet Tapped hole PT1/4
(with pipe plug)
View D

6-axis

YA

Maximum payload 6 kg

Articulated robots

YA-R6F

Longest Reach R1422 mm

Linear conveyor
modules

YA-R6F
Model

4L

YAC100

Controller

– Safety standard – Language setting –
Option I/O

Network option
N: Normal
JE: Japanese/English
N, P: Standard I/O 28/28 No entry : None
JC: Japanese/Chinese N1, P1: 56/56 points
CC: CC-Link
E: CE marking
EJ: English/Japanese
N2, P2: 84/84 points
DM: DeviceNet master
EC: English/Chinese
N3, P3: 112/112 points
DS: DeviceNet slave
N4, P4: 140/140 points
PB: PROFIBUS
EP: EtherNet/IPTM
PM: Profinet master
PT: Profinet slave
ES: EtherCAT slave

Compact
single-axis robots

TRANSERVO

– Power cable length –
4L: 4m

LCM100

Ordering method

Linear motor
single-axis robots

Repeatability

±0.08 mm
S-axis (turning)

-90° to +155°

U-axis (upper arm)

-175° to +250°

Allowable
Inertia
(GD2/4)

R-axis (wrist roll)

-180° to +180°

Mass

B-axis (wrist pich/yaw)

-45° to +225°

T-axis (wrist twist)

3.49 rad/s, 200°/s

U-axis (upper arm)

3.84 rad/s, 220°/s

R-axis (wrist roll)

7.16 rad/s, 410°/s

B-axis (wrist pich/yaw)

0 to +45˚C

Humidity

20 to 80%RH (non-condensing)
4.9 m/s2 or less

Vibration

Ambient
Conditions

• Free from corrosive gasses or liquids, or
explosive gasses
• Free from exposure to water, oil, or dust
• Free from excessive electrical noise (plasma)

Others

7.16 rad/s, 410°/s

T-axis (wrist twist)

Temperature

Power RequirementsNote 2

10.65 rad/s, 610°/s

SCARA
robots

L-axis (lower Arm)

0.06 kg.m2

YK-X

Maximum
Speed

3.84 rad/s, 220°/s

T-axis (wrist twist)

130 kg

-360° to +360°

S-axis (turning)

B-axis (wrist pich/yaw)

5.9 N.m
0.27 kg.m2
0.27 kg.m2

T-axis (wrist twist)
R-axis (wrist roll)

Cartesian
robots

L-axis (lower Arm)

B-axis (wrist pich/yaw)

XY-X

Range of
Motion

-170° to +170° Note 1

11.8 N.m
9.8 N.m

R-axis (wrist roll)

Allowable
Moment

6 kg

PHASER

6

Payload

FLIP-X

Specifications
Controlled Axis

Single-axis robots

Note. Thanks to the higher control rate of the YAC100 controller and vibration-damping control of the arm, we have reduced the residual vibration when the arm stops moving, while
shortening the cycle time and achieving the fastest speed in this class.
Note. Longest reach in its class (1422 mm) and increased moment capacity of the wrist.
Note. Floor-mounted, wall-mounted, and ceiling-mounted types are available. Please contact us separately regarding wall-mounted or ceiling-mounted installations.
Note. This unit can also be used in combination with a travel axis or other external axis. Please contact us.

1.0 kVA

YP-X

Pick & place
robots

Note 1. For wall-mounted installation, the S-axis operating range is ±30°.
Note 2. Varies in accordance with applications and motion patterns.
Note. SI units are used for specifications.

YA-R6F
Units: mm

: P-point Maximum Envelop

CLEAN

2
142

170˚

6

R

6

130

81

45˚

70

170˚

Air inlet PT3/8
with pipe plug (B)

ф50h6

R2

R3

3BC

Base side
The cable that fits with the device's
cable connector is an optional item.
Please purchase it separately.
<Part number> KEM-M4870-20

P.C
.D

.40

1422

349
381

0
152

309

637

2BC

1BC

4-M6×P1.0
Depth 9

Arm side
The cable that fits with the device's
cable connector is an optional item.
Please purchase it separately.
<Part number> KEM-M4870-30
1122

Air inlet PT3/8
with pipe plug (A)

ф6H7 Depth 6
View A

View B

CONTROLLER INFORMATION

ф25H7

1722

240

188

199

4-ф18 (Mounting Holes)

352
B

S

ф12H7

0
5
204
316

C

100±0.1

0

175˚

538
501

2-ф16H7

60

300

681

132±0.1
60

130±0.1

250˚

155˚

L

260

102±0.1
153±0.1

132±0.1

90

˚

A

102±0.1
153±0.1

300

T

260

83

141

292

B

˚

155
1294
614

U

450

P-Point

640
R

95

75

150

View C
764

Controller

YAC100 u 117

113

YA

Articulated robots

YA-U5F

7-axis

Maximum payload 5 kg

Linear conveyor
modules

LCM100

Ordering method

YA-U5F
Model

4L

YAC100

Compact
single-axis robots

TRANSERVO

– Power cable length –
4L: 4m

Controller

– Safety standard – Language setting –
Option I/O

Network option
N: Normal
JE: Japanese/English
N, P: Standard I/O 28/28 No entry : None
JC: Japanese/Chinese N1, P1: 56/56 points
CC: CC-Link
E: CE marking
EJ: English/Japanese
N2, P2: 84/84 points
DM: DeviceNet master
EC: English/Chinese
N3, P3: 112/112 points
DS: DeviceNet slave
N4, P4: 140/140 points
PB: PROFIBUS
EP: EtherNet/IPTM
PM: Profinet master
PT: Profinet slave
ES: EtherCAT slave

FLIP-X

Single-axis robots

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

PHASER

Linear motor
single-axis robots

Specifications
Controlled Axis

7

Payload

Allowable
Moment

5 kg

Repeatability

Cartesian
robots

XY-X

Range of
Motion

SCARA
robots

YK-X

Maximum
Speed

±0.06 mm

B-axis (wrist pich/yaw)

7.35 N.m
0.45 kg.m2
0.45 kg.m2

T-axis (wrist twist)

0.11 kg.m2

T-axis (wrist twist)
R-axis (wrist roll)

S-axis (turning)

-180˚ to +180˚

L-axis (lower Arm)

-110˚ to +110˚

E-axis (elbow twist)

-170˚ to +170˚

Allowable
Inertia
(GD2/4)

U-axis (upper arm)

-90˚ to +115˚

Mass

R-axis (wrist roll)

-180˚ to +180˚

Power RequirementsNote 1

30 kg

B-axis (wrist pich/yaw)

-110˚ to +110˚

Temperature

T-axis (wrist twist)

-180˚ to +180˚

Humidity

Pick & place
robots

YP-X

S-axis (turning)

3.49 rad/s, 200˚/s

L-axis (lower Arm)

3.49 rad/s, 200˚/s

E-axis (elbow twist)

3.49 rad/s, 200˚/s

U-axis (upper arm)

3.49 rad/s, 200˚/s

R-axis (wrist roll)

3.49 rad/s, 200˚/s

B-axis (wrist pich/yaw)

4.01 rad/s, 230˚/s

T-axis (wrist twist)

6.11 rad/s, 350˚/s

14.7 N.m
14.7 N.m

R-axis (wrist roll)
B-axis (wrist pich/yaw)

Ambient
Conditions

1.0 kVA

0 to +40˚C
20 to 80%RH (non-condensing)
4.9 m/s2 or less

Vibration
Others

• Free from corrosive gasses or liquids, or
explosive gasses
• Free from exposure to water, oil, or dust
• Free from excessive electrical noise (plasma)

Note 1. Varies in accordance with applications and motion patterns.
Note. SI units are used for specifications.

YA-U5F

A

T

559

ф80

ф105

E

448

9

Air inlet (2 inlets)
Tapped hole PT3/8
with a pipe plug

220
215

S

R55

4-ф10
(Mounting Holes)
2-ф8H7
11±0.1
30

97.5±0.1
(Tolerance shall
be applied only
for 8 dia.+ 0.015
hole)
0

694.5

42
View A

L-axis

309.5

10

2-ф6H7 Depth 6

R144

C

(Note 2)

5 (fitting depth)

R-axis B-axis
ф129.5

(Note 2)

165

60

U-axis

270

AIR-1 (Red), AIR-2 (Blue)

220

45°

45

P-Point
148

270

Air Tube (2 tubes)
(Outside dia.: 4 mm,
Inside dia.: 2.5 mm)

3

85

8.2

D.6

559

P-point Maximum Envelop

4-M6×P1.0 Depth 10

.
P.C

CONTROLLER INFORMATION

559

S1

Arm side
The cable that fits with the device's cable connector is
an optional item. Please purchase it separately.
<Part number> KEM-M4870-40

ф80h7

Connector

: P-point Maximum Envelop

(Note 1)

CLEAN

Units: mm

62.5±0.1

118

5

97.5±0.1
(Tolerance shall
be applied only
for 8 dia. + 0.015
hole)
0

35

B

165
View C

Base side
The cable that fits with the device's
cable connector is an optional item.
Please purchase it separately.
<Part number> KEM-M4873-30

97.5
173.5

46
6

View B

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

114

Controller

YAC100 u 117

Articulated robots

YA-U10F

YA

7-axis

Maximum payload 10 kg

Linear conveyor
modules

YA-U10F
Model

4L

YAC100
Controller

– Safety standard – Language setting –
Option I/O

Network option
N: Normal
JE: Japanese/English
N, P: Standard I/O 28/28 No entry : None
JC: Japanese/Chinese N1, P1: 56/56 points
CC: CC-Link
E: CE marking
EJ: English/Japanese
N2, P2: 84/84 points
DM: DeviceNet master
EC: English/Chinese
N3, P3: 112/112 points
DS: DeviceNet slave
N4, P4: 140/140 points
PB: PROFIBUS
EP: EtherNet/IPTM
PM: Profinet master
PT: Profinet slave
ES: EtherCAT slave

Compact
single-axis robots

TRANSERVO

– Power cable length –
4L: 4m

LCM100

Ordering method

FLIP-X

Single-axis robots

Note. High degree of motion like a human arm with its 7-axis arm.
Note. The high flexibility of motion makes operation possible even in narrow spaces inaccessible to humans.
Note. Folds to compact size when not in use.
Note. Many installation options: on the floor, on the wall or on the ceiling. Please contact us separately regarding wall-mounted or ceiling-mounted installations.
Note. Optimal for handling small objects.
Note. By utilizing internal user I/O wiring harness and air lines integrated in the arm, layout can be planned offline without worrying about peripheral interference.
(Internal user I/O wiring harness and air lines specifications: two air hoses and twelve-core cables)
External axis specification for a hand can be accommodated. Contact YAMAHA regarding your requirements.

Linear motor
single-axis robots

7

Payload
Repeatability

B-axis (wrist pich/yaw)

19.6 N.m
1.0 kg.m2
1.0 kg.m2

T-axis (wrist twist)

0.4 kg.m2

T-axis (wrist twist)
R-axis (wrist roll)

S-axis (turning)

-180˚ to +180˚

L-axis (lower Arm)

-110˚ to +110˚

E-axis (elbow twist)

-170˚ to +170˚

Allowable
Inertia
(GD2/4)

U-axis (upper arm)

-135˚ to +135˚

Mass

R-axis (wrist roll)

-180˚ to +180˚

Power RequirementsNote 1

60 kg

B-axis (wrist pich/yaw)

-110˚ to +110˚

Temperature

T-axis (wrist twist)

-180˚ to +180˚

Humidity

2.97 rad/s, 170˚/s

U-axis (upper arm)

2.97 rad/s, 170˚/s

R-axis (wrist roll)

3.49 rad/s, 200˚/s

B-axis (wrist pich/yaw)

3.49 rad/s, 200˚/s

T-axis (wrist twist)

6.98 rad/s, 400˚/s

• Free from corrosive gasses or liquids, or
explosive gasses
• Free from exposure to water, oil, or dust
• Free from excessive electrical noise (plasma)

Others

Note 1. Varies in accordance with applications and motion patterns.
Note. SI units are used for specifications.

Pick & place
robots

E-axis (elbow twist)

4.9 m/s2 or less

Vibration

Ambient
Conditions

YP-X

2.97 rad/s, 170˚/s

0 to +40˚C
20 to 80%RH (non-condensing)
SCARA
robots

2.97 rad/s, 170˚/s

L-axis (lower Arm)

1.0 kVA

YK-X

S-axis (turning)

Cartesian
robots

Maximum
Speed

B-axis (wrist pich/yaw)

XY-X

Range of
Motion

±0.1 mm

31.4 N.m
31.4 N.m

R-axis (wrist roll)

Allowable
Moment

10 kg

PHASER

Specifications
Controlled Axis

YA-U10F
8.2 (Note
2)

(ho
posit les for
P.C.Dioning)
.61.4

°

L-axis

5

123

118

ф204

C

1235
Air inlet (2 inlets)
Tapped hole PT3/8
with a pipe plug

S-axis

135°

360

105

A

4-ф14
(Mounting Holes)

67.5±0.1
2-ф8H7

67.5±0.1
97.5
(34)

225
(264)

97.5
5

View A

360

360

636

°

1080

°

U-axis

E-axis
100

110

11
0

230
225

R2
76

13

13

135°

80.5

360

20

R7

R-axis
84.5

45°
15°
10
(Note 2)
View B

165

73

B-axis

97.5±0.1
(Tolerance shall
be applied only
for 8 dia.+ 0.015
hole)
0

110

110
°

B

97.5±0.1
(Tolerance shall
be applied only
for 8 dia.+ 0.015
hole)
0

T-axis
73

P-Point

6

155

720
P-point
Maximum Envelop

78

AIR-1 (Red)
AIR-2 (Blue)
Air Tube (2 tubes)
(Outside dia.: 4 mm, Inside dia.: 2.5 mm)

6

S1-2

(Note 1)
ф80h6

S1-1

4-M6×P1.0 Depth 11
.63
P.C.D

CONTROLLER INFORMATION

Connector Details

Arm side
The cable that fits with the device's cable connector is
an optional item. Please purchase it separately.
<Part number> KEM-M4870-50

3

10.5 (Range where the dimension 80 dia. is available)
260

: P-point Maximum Envelop

CLEAN

Units: mm
2-ф6H7 Depth 10

165
View C

Base side
The cable that fits with the device's
cable connector is an optional item.
Please purchase it separately.
<Part number> KEM-M4873-30

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

Controller

YAC100 u 117

115

YA

Articulated robots

YA-U20F

7-axis

Maximum payload 20 kg

Linear conveyor
modules

LCM100

Ordering method

YA-U20F
Model

4L

YAC100

Compact
single-axis robots

TRANSERVO

– Power cable length –
4L: 4m

Controller

– Safety standard – Language setting –
Option I/O

Network option
N: Normal
JE: Japanese/English
N, P: Standard I/O 28/28 No entry : None
JC: Japanese/Chinese N1, P1: 56/56points
CC: CC-Link
E: CE marking
EJ: English/Japanese
N2, P2: 84/84 points
DM: DeviceNet master
EC: English/Chinese
N3, P3: 112/112 points
DS: DeviceNet slave
N4, P4: 140/140 points
PB: PROFIBUS
EP: EtherNet/IPTM
PM: Profinet master
PT: Profinet slave
ES: EtherCAT slave

FLIP-X

Single-axis robots

Note. High degree of motion like a human arm with its 7-axis arm.
Note. The high flexibility of motion makes operation possible even in narrow spaces inaccessible to humans.
Note. Folds to compact size when not in use.
Note. Many installation options: on the floor, on the wall or on the ceiling. Please contact us separately regarding wall-mounted or ceiling-mounted installations.
Note. Assembles and handles heavy objects up to 20 kg.
Note. By utilizing internal user I/O wiring harness and air lines integrated in the arm, layout can be planned offline without worrying about peripheral interference.
(Internal user I/O wiring harness and air lines specifications: two air hoses and sixteen-core cables)
External axis specification for a hand can be accommodated. Contact YAMAHA regarding your requirements.

PHASER

Linear motor
single-axis robots

Specifications
Controlled Axis

7

Payload
Repeatability

Cartesian
robots

XY-X

Range of
Motion

SCARA
robots

YK-X

Maximum
Speed

Allowable
Moment

20 kg
±0.1 mm

58.8 N.m
58.8 N.m

R-axis (wrist roll)
B-axis (wrist pich/yaw)

B-axis (wrist pich/yaw)

29.4 N.m
4.0 kg.m2
4.0 kg.m2

T-axis (wrist twist)

2.0 kg.m2

T-axis (wrist twist)
R-axis (wrist roll)

S-axis (turning)

-180˚ to +180˚

L-axis (lower Arm)

-110˚ to +110˚

E-axis (elbow twist)

-170˚ to +170˚

Allowable
Inertia
(GD2/4)

U-axis (upper arm)

-130˚ to +130˚

Mass

120 kg

R-axis (wrist roll)

-180˚ to +180˚

Power RequirementsNote 1

1.5 kVA

B-axis (wrist pich/yaw)

-110˚ to +110˚

Temperature

T-axis (wrist twist)

-180˚ to +180˚

Humidity

Pick & place
robots

YP-X

S-axis (turning)

2.27 rad/s, 130˚/s

L-axis (lower Arm)

2.27 rad/s, 130˚/s

E-axis (elbow twist)

2.97 rad/s, 170˚/s

U-axis (upper arm)

2.97 rad/s, 170˚/s

R-axis (wrist roll)

3.49 rad/s, 200˚/s

B-axis (wrist pich/yaw)

3.49 rad/s, 200˚/s

T-axis (wrist twist)

6.98 rad/s, 400˚/s

Ambient
Conditions

0 to +40˚C
20 to 80%RH (non-condensing)
4.9 m/s2 or less

Vibration

• Free from corrosive gasses or liquids, or
explosive gasses
• Free from exposure to water, oil, or dust
• Free from excessive electrical noise (plasma)

Others

Note 1. Varies in accordance with applications and motion patterns.
Note. SI units are used for specifications.

YA-U20F
CLEAN

Units: mm

10.5
(Usable dimension:100 dia.)

6-M8×P1.25
Depth 12

2-ф8H7 Depth 10

.D
P.C

8.2
5

(Note 2)

(Note 2)

6

180

268

2-ф8H7

Air inlet: Air1
Tapped hole PT3/8 with a pipe plug
Air inlet: Air2
Tapped hole PT3/8 with a pipe plug

S-axis

130°

165

90

410

R3

178

C
View C

340
60±0.1

4-ф14
(Mounting Holes)

240
280

Base side
The cable that fits with the device's
cable connector is an optional item.
Please purchase it separately.
<Part number> KEM-M4870-60

View B

800

1500

490

910
1320

13

13

E-axis
109.5

L-axis

130°

3

R-axis
98

U-axis

120

30°

30°

130±0.1

104

420

13

13

98

130±0.1

°

110
°

0
11

6

30°

ф1
0

.80

(Note 1)

260

CONTROLLER INFORMATION

S1-1

ф100h7

Arm side
The cable that fits with the device's
cable connector is an optional item.
Please purchase it separately.
S1-2
<Part number> KEM-M4870-40
Air1 (Red)
Air Tube (2 tubes)
Air2 (Blue)
(Outside dia.: 6 mm, Inside dia.: 4 mm)
B
390
910
T-axis
P-point
Maximum
80
85.5
P-Point
Envelop
B-axis
Connector Details

: P-point Maximum Envelop

60±0.1
240
280
View A

A

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

116

Controller

YAC100 u 117

Articulated robots

Controller for use with the YA series

■ YAC100 controller specifications

Mass

20 kg

Cooling System

Direct cooling

Ambient
Temperature

During operation: 0˚C to +40˚C
During storage : -10˚C to +60˚C

Relative Humidity

90% max. (non-condensing)
Single-phase 200/230 VAC (+10% to -15%), 50/60 Hz
Three-phase 200/220 VAC (+10% to -15%), 50/60 Hz
Grounding resistance: 100 Ω or less

Digital l/Os

Specialized signals: 8 inputs and 11 output
General signals : 16 inputs and 16 outputs
Max. I/O (optional) : 1,024 inputs and 1,024 outputs
JOB: 10,000 steps, 1,000 instructions
CIO ladder: 1,500 steps

Expansion Slots

MP2000 bus × 5 slots

Interface

RS-232C: 1ch

640 × 480 pixels color LCD, touch panel
(Alphanumeric characters, Chinese characters,
Japanese letters, Others)

Control Method

Software servo control

Drive Units

Six axes for robots. Two more axes can be
added as external axes. (Can be installed in the
controller.)

IEC Protection
Class

IP65

Painting Color

Munsell notation 5Y7/1 (reference value)

Cable Length

Standard: 8 m, 4 m / 8 m / 12 m extension cable
(maximum 20 m)

SCARA
robots

Display

LAN (Connection to 1 (10BASE-T/100BASE-TX)
Host)

YK-X

Operation Device

Select keys, axis keys (8 axes), numerical/application
keys, Mode switch with key (mode: teach, play, and
remote), emergency stop button, enable switch,
compact flash card interface device (compact flash is
optional.), USB port (1 port)

Cartesian
robots

Reinforced plastics

XY-X

0.990 kg

Material

PHASER

Programming
Capacity

169 mm (W) × 314.5 mm (H) × 50 mm (D)

Mass

Linear motor
single-axis robots

Positioning System By serial encoder

Dimensions

FLIP-X

Grounding

Single-axis robots

Power Supply

Note

Compact
single-axis robots

470 mm (W) × 420 mm (D) × 200 mm (H)
(Protrusions are not included.)

TRANSERVO

Dimensions

Linear conveyor
modules

Standard: IP20 (open structure)

■ YAP programming pendant specifications

LCM100

Configuration

YA

YAC100 Specifications

Note. YA-R6F: Three-phase only.

■ Optimum controller for handling and assembly
Pick & place
robots


YP-X

The YAC100 is a compact controller with improved performance and functions optimized for
handling and assembly.
Fits in a 19-inch rack and can be installed under conveyors.
Commands specifically designed for workpiece handling with synchronized conveyors.

• External axis (max.: 2 axes)
• I/O module (28 points, NPN or PNP)
• Major fieldbus interface boards DeviceNetTM (master/slave), CC-Link (slave), PROFIBUS (slave),
EtherNet/IPTM (slave, I/O communications), EtherCAT (slave)

• Conveyor synchronization
• Vision function
• External reference point control
• Software pendant

■ Regarding the concurrent I/O ladder program
The YAC100 controller is equipped with an NPN (or PNP) for standard I/O. Dedicated input/output is assigned to this standard I/O
board. For this reason, if dedicated input/output is to be assigned to various types of field bus, concurrent I/O ladder program settings
must be made.

CONTROLLER INFORMATION

Optional Functions

CLEAN

Hardware Options

Sample programs can be downloaded from our website.Note
http://global.yamaha-motor.com/business/robot/
Note. The member site requires registration.

A robot simulator that implements the same functionality as the actual controller

MotoSim EG-VRG for YAMAHA
Virtual programming before the actual line is completed allows major reduction in line startup time.
■ Modeling layout
Models of workers and workpieces can be easily laid out.
■ Intuitive control of models
Models can be moved intuitively, simply by using the mouse.
■ Programming and debugging
Automatic generation of robot operating programs, job
editing, and job analysis can be performed easily.

■ Intuitive robot operation
The robot's posture can be operated intuitively, allowing
more efficient teaching.
■ Robot simulation
The robot can be watched as it operates, allowing visual
verification.

117

YA

Articulated robots

YA Series

LCM100

Linear conveyor
modules

Accessories and part options
YA Series

Compact
single-axis robots

TRANSERVO

■ Standard accessories

YAP programming box (with 8m cable)
Name

Model

Parts for the YAC100 controller
Language

Name

Model

FLIP-X

Single-axis robots

YAP-J

KEN-M5110-0J

Japanese

Power supply connector

KEN-M4871-00

YAP-E

KEN-M5110-0E

English

Power supply cable clamp

KEN-M4836-00

YAP-C

KEN-M5110-0C

Chinese

Dummy connector for shorting safety signal

KEN-M5370-00

Power supply protection fuse

KEN-M5853-00
KBH-M4420-00

PHASER

Linear motor
single-axis robots

Standard I/O connector (STD.IO)

KEN-M4420-00

Power cable (robot cable)
Manipulator name

Model

Cable length

Cartesian
robots

XY-X

YA-RJ

KEM-M4710-40

4m

YA-R3F

KEM-M4711-40

4m

YA-R5F/R5LF/R6F

KEM-M4712-40

4m

SCARA
robots

YK-X

YA-U5F/U10F
YA-U20F

KEM-M4713-40

4m

KEM-M4714-40

4m

Cable diameter

Bending radius

Signal wire

ф8.5 mm

85.0 mm

Power wire

ф13.5 mm

140.0 mm

Signal wire

ф17.5 mm

180.0 mm

Power wire

ф19.5 mm

200.0 mm

Signal wire

ф17.5 mm

180.0 mm

Power wire

ф19.5 mm

180.0 mm

Signal wire

ф17.5 mm

180.0 mm

Power wire

ф16.1 mm

180.0 mm

Signal wire

ф17.5 mm

180.0 mm

Power wire

ф26.0 mm

260.0 mm

Pick & place
robots

YP-X

■ Options

Power cable (robot cable)
Manipulator name

Model

CLEAN
CONTROLLER INFORMATION

Cable length (10 m)

Cable length (15 m)

Cable length (20 m)

YA-RJ

KEM-M4710-A0

KEM-M4710-F0

KEM-M4710-L0

YA-R3F

KEM-M4711-A0

KEM-M4711-F0

KEM-M4711-L0

YA-R5F/R5LF/R6F

KEM-M4712-A0

KEM-M4712-F0

KEM-M4712-L0

YA-U5F/U10F
YA-U20F

KEM-M4713-A0
KEM-M4714-A0

KEM-M4713-F0
KEM-M4714-F0

Device cable connector (connector for user wiring)
Manipulator name Part position
YA-RJ
YA-R3F

Model

Base side

KEM-M4870-00

Arm side

KEM-M4870-10

Base side

KEM-M4873-00

Arm side

KEM-M4874-00

Base side

KEM-M4873-10

Arm side

KEM-M4874-10

YA-R5F/R5LF

YA-R6F
YA-U5F
YA-U10F
YA-U20F

118

Base side

KEM-M4870-20

Arm side

KEM-M4870-30

Base side

KEM-M4873-30

Arm side

KEM-M4870-40

Base side

KEM-M4873-30

Arm side

KEM-M4870-50

Base side

KEM-M4870-60

Arm side

KEM-M4870-40

Remarks

KEM-M4713-L0
KEM-M4714-L0

Cable diameter
Signal wire

ф8.5 mm

85.0 mm

Power wire

ф13.5 mm

140.0 mm

Signal wire

ф17.5 mm

180.0 mm

Power wire

ф19.5 mm

200.0 mm

Signal wire

ф17.5 mm

180.0 mm

Power wire

ф19.5 mm

180.0 mm

Signal wire

ф17.5 mm

180.0 mm

Power wire

ф16.1 mm

180.0 mm

Signal wire

ф17.5 mm

180.0 mm

Power wire

ф26.0 mm

260.0 mm

Extension cable for YAP (extension cable for programming box)
Name

Model

Extension cable for
YAP

Two
connectors
Two
connectors

Bending radius

KEN-M531F-10

Cable length
4m

KEN-M531F-20

8m

KEN-M531F-30

12 m

Dummy connector for YAP
Name
YAP dummy connector

Model
KEN-M5163-00

■ Maintenance parts
Name

Model

Battery unit for YA-RJ/R3F
YA-R5F/R5LF/R6F
Battery unit for YA-U5F/U10F/U20F
Battery unit for YAC100 controller

KEM-M53G3-10

AC fan motor

KEN-M6175-00

KEM-M53G3-00
KEN-M53G3-00

YA

Articulated robots
Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Cartesian
robots

XY-X

LCM100

Linear motor
single-axis robots

LINEAR CONVEYOR MODULES

SCARA
robots

YK-X
YP-X

Pick & place
robots

CONTENTS
■ LCM100 basic specifications··· 120
■ Static tolerable load of slider··· 120

CLEAN

■■Allowable overhang·············· 120
■■Ordering method·················· 120

CONTROLLER INFORMATION

■■External view of LCM100····· 121
● Accessory parts··················· 124
■■ Controller for linear module
LCC140 basic specifications···· 126
■■External view of LCC140······ 126

Main functions P.8

119

YA

Articulated robots

LCM100 basic specifications

Linear conveyor
modules

LCM100

Basic specifications of linear conveyor module

Basic specifications of belt module

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

Model

LCM100-4M / 3M / 2MT

Model

LCM100-4B / 3B

Drive method
Repeat positioning
accuracy
Scale

Moving magnet type, Linear motor with flat core
+/-0.015mm (single slider) Note 1 /
width 0.1mm (mutual difference among all sliders) Note 2
Electromagnetic type / resolution 5μm

Drive method

Belt back surface pressing force drive Note 5

Bearing method

1 guide rail / 2 blocks (with retainer)

Max. speed

560mm/sec

Max. speed

3000mm/sec

Max. payload

14kg

Max. acceleration

2G

Module length

640mm (4B) / 480mm (3B)

Max. number of sliders
Main unit maximum
cross-section outside
dimensions
Cable length

1 slider / 1 module

Controller

Dedicated driver (Included)

Power supply

DC24V 5A

Communication I/F

Dedicated input/output 16 points

Module weight

11.2kg (4B) / 8.8kg (3B)

Note 3 Note 4

Max. payload

15kg

Rated thrust

48N

Total module length

640mm (4M) / 480mm (3M) / 400mm (for 2MT circulation)

Max. number of combined modules 16 (total length: 10240 mm)

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

Max. number of sliders

16 (when 16 modules are combined)

Min. pitch between sliders
Mutual height difference
between sliders
Max. external size of
body cross-section
Bearing method

420mm

Module weight

12.5kg (4M) / 9.4kg (3M) / 7.6kg (2MT)

Slider weight

2.4kg / 3.4kg (when the belt module is used.)

Cable length

3m / 5m

Controller

LCC140

0.08mm
W136.5mm x H155mm (including slider)

W173.8mm×H155mm (including slider)
None

Note 5. Because the belt module works on the principle of using the friction of the belt to
move the slider, the belt will be abraded and generate dust, making it unsuitable
for environments that require a degree of cleanliness.

1 guide rail / 2 blocks (with retainer)

SCARA
robots

YK-X

Note 1. Repeated positioning accuracy when positioning in the same direction (pulsating).
Note 2. Positioning accuracy in the pulsating when using the position correction function
with the RFID.
Note 3. Weight per single slider.
Note 4. When used together with the belt module, the max. payload becomes 14kg since
the parts dedicated to the belt are attached to the slider.

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

Distance C
Load FC

YP-X

Center of guide rail
Load FA

Distance A

Slider upper surface

Load FB

CLEAN
CONTROLLER INFORMATION

FA

(Unit: N)
A (mm)

5 kg
2550
1790
1380
1130
900
720
600

0
10
20
30
40
50
60

Payload
10 kg
1560
1280
780
520
390
310
260

FB

15 kg
1270
1170
630
420
310
250
210

(Unit: N)
Payload
10 kg
38

5 kg

FC

(Unit: N)
C (mm)

15 kg

5 kg
1190
970
760
630
540
470
410

0
10
20
30
40
50
60

Note. The loads shown above are tolerable loads at a
position “A”mm away from the center of the guide
rail.

Payload
10 kg
850
710
610
530
480
430
390

15 kg
780
650
560
490
430
390
360

Note. The loads shown above are tolerable loads at
a position “C”mm away from the slider upper
surface.

Allowable overhang
Distance from center of slider upper surface to carrier center-of-gravity at a guide
service life of 10,000 km.
5kg
10kg
15kg

A
677
533
468

B
325
146
90

A

(Unit: mm)
C
325
146
90

B
C

Ordering method
Linear module

Belt module

LCM100
Cable length Note 1
3L : 3m
5L : 5m
3K : 3m (Flexible cable)
5K : 5m (Flexible cable)

Controller

Current sensor
10 : 10A

The above shows “one module + one controller” ordering method.
When connecting modules, please separately inform the number of necessary modules.
Note 1. The cable for 2MT has flexible specifications.
Note 2. For 2MT, be sure to select an appropriate network option.

120

LCM100

LCC140 10
Model
4M: 640mm
3M: 480mm
2MT: Module for circulation

Network option Note 2
No entry : None
CC : CC-Link
DN : DeviceNetTM
EP : EtherNet/IPTM

Model
4B: 640mm
3B: 480mm

Termination module for belt module Note 1
No entry : None
R: Linear module is connected to the right.
L: Linear module is connected to the left.
RL: Linear module is connected to both sides.

Note 1. Parts necessary to connect the belt module and linear
module.
Parts are incorporated into the belt module.

YA

LCM100-4M/3M Linear conveyor module (640mm/ 480mm)
+ 0.012

2-ф5H7( 0

L(Note 4)

53 25
(14.2)

(74)
23.5
24.5
52

70
(Tolerance between
ф5H7 +/-0.02)
10

(41)
(41)

67

(Number of 4M modules x 640 + number of 3M modules x 480)

20

(Module length: B)
C

200

(C)

200

(C)

Cartesian
robots

112

XY-X

3.7

17.5

2
6.2
(10)

(D)

320

PHASER

7.5

Linear motor
single-axis robots

53.5

135.8

34

114 16.5
6.5

22 34
65.1
80
155

FLIP-X

(43.5)
102

21

4.5
7.2

Grounding
terminal (M4)

Grounding
terminal (M4)

Single-axis robots

63
136.5

Compact
single-axis robots

A

41 (2)

6
6
(Note 3) (Note 3)

100

23.5
15 3.5

20

150 (Note 3)

TRANSERVO

(23.5)

150 (Note 3)
25
238
220

L (Note 4)

Number of 4M modules x 640 + number of 3M modules x 480
(420: Minimum distance between sliders)

Linear conveyor
modules

101

), depth 8

B
8-M5x0.8, depth 10
(8)

LCM100

(2) 41

Articulated robots

LCM100

(7.5)

Details of A

2-ф8 through-hole (Note 2)

2

(2)
(130)
190 (Note 2)

53
(74)
(14.2)

10

Module length: 400

63

135.8
114

4.5
7.2

3.7

(10)

2
6.2

16.5

136.5

CONTROLLER INFORMATION

Grounding terminal (M4)

7.5

CLEAN

396
Effective stroke: 140 (Note 3)
(80)
(80)

20

(130)
190 (Note 2)

20

Pick & place
robots

YP-X

LCM100-2MT Module for circulation

A

SCARA
robots

Insertion/ejection rail
length selection table
L
Insertion/
44
ejection rail
100
(mm)
340

Note 6. Module variations can be combined freely within the same
line. (This figure shows that 3M on the left is combined with
4M on the right.)
Note 7. It is recommended to install rail support parts on the
insertion/ejection rail. When no support parts are installed,
the rail may be deflected by the slider's own weight, leading
to poor rail accuracy or short service life of the guide.
Note. No mechanical stoppers are provided due to product
characteristics. When necessary, the customer installs
appropriate mechanical stoppers.

YK-X

Stroke
variations B C D
4M
640 120 253
3M
480 40 93

2-ф8 through-hole (Note 2)

6-ф8 through-hole (Note 2): 1 module

Note 1. All sliders and modules have the same dimensions.
Note 2. Use M6 hex socket head bolts to install the main body.
Note 3. An area of +/-6mm from both ends of each connected
module and an area of 150mm from the line end become
slider stop inhibited areas. (These dimensions are
obtained when the slider is located at its center position.)
Note 4. Select an appropriate rail length of the insertion/ejection
rail option from the "Insertion/ejection rail length selection
table" shown on the left.
Note 5. The LCM100 is installed only in the horizontal direction.

(7.5)
Details of A
107

112

Note 1. Use M6 hex socket head bolts to install the main body.
Note 2. For the stop point when the slider enters, specify a point 190mm
or more away from the module end face.
When ejecting the slider, eject the slider after it has been
stopped at a point 190mm or more away from the end face of the
module on the ejection side. Otherwise, the slider may not be
stopped or ejected correctly.
Note 3. The movement range above the module is 140mm around the
center.
Note. No mechanical stoppers are provided due to product
characteristics. When necessary, the customer installs
appropriate mechanical stoppers.

300

17.5

50

4-ф8 through-hole

121

YA

Articulated robots

LCM100
LCM100-4B Belt module (640mm)
688: Slider operable range

Linear conveyor
modules

540: Sensor option R initial position (Note 2)

LCM100

(24)

(24)

320: Sensor option C initial position (Note 2)

3.7

(10)

Compact
single-axis robots

TRANSERVO

2
6.2

100: Sensor option L initial position
(Note 2)

4.5
7.2

(7.5)

Detailed drawing A

Single-axis robots

FLIP-X

20

63

130.5

114

13

10

PHASER

104

Linear motor
single-axis robots

155

640: Module length

A

136.5
173.8

403
90

100

AMP’s tab housing: 178803-7
100

100

100

90

112

17.5

Cartesian
robots

XY-X

Note 1. Use the M6 hex socket head bolts to install the main unit.
Note 2. The sensor option position can be moved in a range of
+/-50mm.
Note 3. Input power supply and signals to drive the motor.
The connector is AMP's dynamic connector D-3100D series.
Prepare 178289-7 (16 poles) for the housing and 175217-2
(gold plated contact) for the contact.
Note 4. Select 24V power supply with a capacity of 5A or more.
Note. No mechanical stoppers are provided due to product
characteristics. When necessary, the customer installs
appropriate mechanical stoppers.
7-ф8 through-hole

30

SCARA
robots

YK-X

Pick & place
robots

YP-X

LCM100-3B Belt module (480mm)
605: Slider operable range

CLEAN

380: Sensor option R initial position (Note 2)

(62.5)

(62.5)

240: Sensor option C initial position (Note 2)
100: Sensor option L
initial position (Note 2)

3.7

(10)

2
6.2

CONTROLLER INFORMATION

4.5
7.2

(7.5)

Detailed drawing A
20
63

130.5

13

10

114

104

155

480: Module length

136.5
173.8

A

287.5

Note 1. Use the M6 hex socket head bolts to install the main unit.
Note 2. The sensor option position can be moved in a range of
+/-50mm.
Note 3. Input power supply and signals to drive the motor.
The connector is AMP's dynamic connector D-3100D
series.
Prepare 178289-7 (16 poles) for the housing and 175217-2
(gold plated contact) for the contact.
Note 4. Select 24V power supply with a capacity of 5A or more.
Note. No mechanical stoppers are provided due to product
characteristics. When necessary, the customer installs
appropriate mechanical stoppers.

122

112

17.5

30 10

7-ф8 through-hole

100

AMP’s tab housing: 178803-7
100

100

100

10

YA

Linear module slider

Belt module slider

70
(Tolerance Between ф5H7 mm dia.
positioning holes: +/-0.02)

+ 0.012
depth
0

8
8-M5 × 0.8
depth 10

220

Compact
single-axis robots

70
(Tolerance between
ф5H7 +/-0.02)

2-ф5 H7

TRANSERVO

8-M5 × 0.8
depth 10

Linear conveyor
modules

220
100

depth 8

LCM100

+ 0.012
0

2-ф5 H7

100

23.5

23.5

FLIP-X

Single-axis robots

3.5
(8)

238

36.4

21.5

35.2

101

3.5
39.5
15

31.5

238

31.5

Cartesian
robots

101.5

XY-X

79.5
46.6

101.5

9.8

36.4

25

PHASER

39.5
15

Linear motor
single-axis robots

101

Articulated robots

LCM100

(19)

276

(19)
SCARA
robots

YK-X

Pick & place
robots

YP-X

Belt module outline diagram of input/output signal wiring
● Connector on front panel
Pin No.

Signal name
+24V

A2

GND

Function

CLEAN

A1

● Pin assignment drawing

Power supply connection DC24V (+/-10%)

(Blank)
Option sensor L

Detection output

A5

Option sensor C

Detection output

A6

Option sensor R

Detection output

A7

ALARM

Alarm output

A8

SPEED

Speed output

B1

ALARM-RESET

B2

INT.VR/EXT

B3

CW/CCW

B4

RUN/BRAKE

B5

START/STOP

B6

VRH

(When using the dedicated speed setting unit)

B7

VRM

B8

VRL

Minus (-) side DC power supply for speed setting
Plus (+) side DC0 to 5V, 1mA or more

Alarm reset input
ON [L]: Reset
OFF [H]: Normal
Speed setting unit change-over input
ON [L]: Internal
OFF [H]: External
Rotation direction change-over input
ON [L]: CW
OFF [H]: CCW
Brake input
ON [L]: Run
OFF [H]: Instantaneous stop
Start/stop input
ON [L]: Start
OFF [H]: Stop

A8

A1

B8

B1

CONTROLLER INFORMATION

A3
A4

Note. For each input, a side to be connected to GND by the external switch is ON (L level).
Note. When both the START/STOP and RUN/BRAKE signals are turned ON (L level), the motor
starts rotating. In this case, when the CW/CCW signal is turned ON (L level), the slider moves
to the left as viewed from the connector side.
Conversely, when this signal is turned OFF (H level), the slider moves to the right.
Note. When the START/STOP signal is turned OFF (H level) in the RUN/BRAKE signal ON (L level)
state, the motor stops naturally.
According to the operation speed, the slider may overrun several tens to hundreds of
millimeters.
Note. When the RUN/BRAKE signal is turned OFF (H level) in the START/STOP signal ON (L level)
state, the motor stops instantaneously to suppress the slider overrun to its minimal level.

When investigating the linear conveyor module LCM100 actually, it is necessary to discuss the specifications and restrictions in detail.
So, please contact YAMAHA or your dealer to hold hearings regarding your requests.

123

YA

Articulated robots

LCM100
LCM100/LCC140 Accessory parts

Linear conveyor
modules

LCM100

6

4

① Module

Compact
single-axis robots

TRANSERVO

② Robot cable
③ Slider
7

④ Termination module (R side)

8

FLIP-X

Single-axis robots

1
5

⑤ Termination module (L side)
⑥ Insertion/ejection rail

3

⑦ Module connection block (with fastening bolts)

2

⑧ Module connection cable

PHASER

Linear motor
single-axis robots

LCM100 main body
Robot cable for linear module

LCM100 module

Slider

Robot cables for the number of modules are required.

Linear module

For linear module

For belt module

Cartesian
robots

XY-X

Belt module

Linear module
SCARA
robots

YK-X

Model
Pick & place
robots

YP-X

LCM100-4M
KDJ-M2020-40 (640mm)
LCM100-3M
KDJ-M2020-30 (480mm)
LCM100-2MT (for circulation)
KDJ-M2022-20 (400mm)

Model

Linear module

For LCM100-4M/3M
KDJ-M4710-30 (3m×2 pcs.)
KDJ-M4710-50 (5m×2 pcs.)
For LCM100-2MT
KDJ-M4721-30 (3m×1 pc.)
KDJ-M4721-50 (5m×1 pc.)

Model

KDJ-M2264-00

Belt module

Model

KDJ-M2264-10

Belt module

CLEAN

Model

LCM100-4B
KDJ-4K111-40 (640mm)
LCM100-3B
KDJ-4K111-30 (480mm)

Parts for LCM100

CONTROLLER INFORMATION

Termination module for linear module (R side)

Termination module for linear module (L side)

This part is attached to the right end of the module.
One termination module per line is required. Note 1
Additionally, even when using only one module
without connections, one termination module is
required.

This part is attached to the left end of the module.
One termination module per line is required. Note 1
Additionally, even when using only one module
without connections, one termination module is
required.

Insertion/ejection rail
Tapered rail.
Up to two rails per line can be installed.Note 1
340mm



Model

KDJ-M2021-R0

Module connection block (with fastening bolts)
This block connects modules.
([Number of modules making up the line Note 1] - 1)
blocks are required.
Additionally, when installing insertion/ejection rails,
one block per rail is required.


Model

124

Model

KDJ-M2021-L0

Module connection cable
This cable connects modules.
([Number of modules] - 1) cables per line are
required.Note 1

100mm

44mm

44mm : KDJ-M6200-00
(With a dedicated 44mm connection
block)
100mm : KDJ-M2222-10
Model 160mm : KDJ-M2222-20 Note
220mm : KDJ-M2222-30 Note
280mm : KDJ-M2222-40 Note
340mm : KDJ-M2222-50
Note. Not in stock. We require some lead time for delivery.


KDJ-M6100-00

Model

KDJ-M4811-00

Note 1. A state, in which multiple modules are connected, is
called “line”.

YA

Parts for LCC140 controller
Power connector + connection lever

HPB dummy connector

Linear conveyor
modules

When performing the operation with the
programming box HPB removed, connect this
dummy connector to the HPB connector.
One connector per LCC140 is required.

SAFETY connector
One connector per LCC140 is required.

LCM100

One set of parts per LCC140 is required.

Articulated robots

LCM100

Model

KAS-M5382-00

KDK-M5163-00

Model

Compact
single-axis robots

Model

TRANSERVO

Wired Note

Not wired (plug + shell kit)

Not wired : KDK-M5370-10
Wired Note : KDK-M5370-00

Single-axis robots

FLIP-X

Note. The wired connector is that the wiring for the
emergency stop cancel was performed inside the
connector. Select this model when performing the
operation check or debugging with single linear
conveyor.

Terminator connector

([Number of modules] - 1) cables per line are required.

When connecting modules, two connectors per
line are required.

Dust cover (for LINK connector)
This dust cover is attached to the insertion port,
into which the the LINK cable terminator connector
is not inserted.
When using only one module without connections,
two dust covers are required.

Cartesian
robots

XY-X

Note. The dust cover is essential for the 2MT.

Model

KDK-M5361-00

Model

KDK-M658K-00 (for MDR20 pin)
SCARA
robots

YK-X

1m : KDK-M5361-10
3m : KDK-M5361-30
5m : KDK-M5361-50

Model

PHASER

LINK cable

Linear motor
single-axis robots

Parts for line configuration

Selection parts

R

C
L

Model

HPB: KBB-M5110-01
HPB-D: KBB-M5110-21
(CE specifications / with 3-position
enable switch)

HPB-D

Backside of HPB-D
(with enable switch)

Support software POPCOM+
PC supporting software POPCOM+

POPCOM+ environment
Microsoft Windows XP / Vista (32bit / 64Bit) / 7 (32bit / 64Bit) /
8, 8.1 (32bit/64bit)
Processor that meets or exceeds the suggested requirements for
CPU
the OS being used.
Memory
Suggested amount of memory or more for the OS being used.
Hard disk
50MB of available space required on installation drive.
Disk operation
RS-232C
Applicable controllers SRCX/ERCX/DRCX/TRCX/SRCP/SRCD/ERCD/SR1/LCC140 Note 1
OS

POPCOM+ software model KBG-M4966-00

CONTROLLER INFORMATION

L (Left): KDJ-M2205-L0
C (Center): KDJ-M2205-C0
R (Right): KDJ-M2205-R0

All operations, such as robot manual operation, program
input or edit, teaching, and parameter setting can be
performed with this programming box.
As an interactive interface with the screen display is used,
even personnel who use this programming box for the first
time can easily understand how to operate it.

CLEAN

Model

Pick & place
robots

Programming box HPB/HPB-D

YP-X

Proximity sensor for belt module

Note 1. LCC140 is applicable to Ver. 2.1.1 or later.
Note. Windows is the registered trademark of US Microsoft Corporation in U.S.A. and other countries.

Data cables (5m)
Communication cable for POPCOM+.
Select from USB cable or D-sub cable.

USB

USB type (5m)
Model D-Sub type
9pin-9pin (5m)

D-Sub

KBG-M538F-00
KAS-M538F-10

Note. This USB cable supports Windows 2000/XP or later.
Note. Data cable jointly used for POPCOM+, VIP+, RCX-Studio Pro.
Note. USB driver for communication cable can also be downloaded from our website.

125

YA

Articulated robots

LCM100
RFID
RFID (manufactured by BALLUFF GmbH)

RFID (manufactured by OMRON)

Dust cover (for RFID)

Linear conveyor
modules

LCM100

Antenna amplifier controller cable

This cover is attached to the insertion port if RFID
is not used. (Included as standard)

Model

Model

Model

Compact
single-axis robots

TRANSERVO

Reader/writer cable

FLIP-X

Single-axis robots

KDK-M6300-00

KDK-M6300-A0

KDK-M658K-10(for MDR26 pin)

Whether or not the RFID system can be used may vary depending on the destination place (country).
Before selecting a RFID system, please contact YAMAHA.

Maintenance parts

PHASER

Linear motor
single-axis robots

Robot cable for LCM100

Cartesian
robots

Replacement filter for LCC140 (5 pcs. in package)

Model

Model

XY-X

Lithium battery for system backup

Model
SCARA
robots

YK-X

KDJ-M4751-30 (3m×1 pc.)
KDJ-M4751-50 (5m×1 pc.)
KDJ-M4755-30
(Flexible cable 3m×1 pc.)
KDJ-M4755-50
(Flexible cable 5m×1 pc.)

KDK-M4252-00

Pick & place
robots

YP-X

Controller for linear module

Basic specifications of LCC140 controller

External input/output

Network option
Programming box

Linear conveyor module LCM series
W402.5×H229×D106.5mm
4.8kg
Single-phase AC200 to 230V +/-10% or less (50/60Hz)
350VA (LCM100-4M 1 slider is driven.)
SAFETY
RS-232C (dedicated to RFID)
RS-232C (for HPB / doubles as POPCOM+)
CC-Link Ver. 1.10 compatible, Remote device station (2 stations)
DeviceNetTM Slave 1 node
EtherNet/IP TM adapter 2 ports
HPB, HPB-D (Software version 24.01 or later)

External view of LCC140
24.5

378
318

30
29

130

64

106.5

97

101

217

229
199

CONTROLLER INFORMATION

Controllable robot
Outside dimensions
Main body weight
Input power voltage
Maximum power consumption

15

CLEAN

LCC140 basic specifications

126

19

64
93.5
(98)

3-5.5

(3-R)

130

3-ф5.5
For wall-mount

KDK-M427G-00

YA

Articulated robots
Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots
Cartesian
robots

XY-X

SERIES

PHASER

TRANSERVO

Linear motor
single-axis robots

CLOSED LOOP STEPPING MOTOR
SINGLE-AXIS ROBOTS

SCARA
robots

YK-X

■■Rod type:
Grease gun nozzle tube for
space-saving models··········· 129

RF03-S··················································· 160
RF04-N··················································· 162
RF04-S··················································· 164
BD04······················································ 166
BD05······················································ 167
BD07······················································ 168

■■Rod type:
Running life distance to life
time conversion example····· 129

CONTROLLER INFORMATION

■■Rod type:
Bracket plates······················· 129

RF02-S··················································· 156
RF03-N··················································· 158

CLEAN

■■Robot ordering method
description···························· 129

RF02-N··················································· 154

YP-X

■■TRANSERVO SPECIFICATION
SHEET···································· 128

Pick & place
robots

CONTENTS

TRANSERVO
SS04······················································· 130
SS05······················································· 132
SS05H···················································· 134
SG07······················································ 136
SR03······················································ 137
SRD03···················································· 140
SR04······················································ 142
SRD04···················································· 144
SR05······················································ 146
SRD05···················································· 148
STH04···················································· 150
STH06···················································· 152

Main functions P.14

127

YA

Articulated robots

TRANSERVO SPECIFICATION SHEET
Type

Linear conveyor
modules

LCM100

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

Compact
single-axis robots

TRANSERVO

SG type
(Slide type)

Single-axis robots

FLIP-X

SR Type
(Rod type)
Straight model/
Space-saving model

PHASER

Linear motor
single-axis robots

SR Type
(Rod type with support
guide)
Straight model/
Space-saving model

XY-X

Cartesian
robots

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

Model

Size (mm) Note 1

SS04-S
SS04-R (L)

W49 × H59

SS05-S
SS05-R (L)

W55 × H56

SS05H-S
SS05H-R (L)

W55 × H56

12

8

2

6

12

4

20
12
6
12

36
43
46
10

4
12
20
4

6

20

8

250

12
6
2
12
6
2
12
6
12
6
2
12
6
2
5
10
8
16

25
40
45
50
55
60
10
20
25
40
45
50
55
60
6
4
9
6

5
12
25
10
20
30
3.5
7.5
4
11
24
8.5
18.5
28.5
2
1
2
4

500
250
80
300
150
50
500
250
500
250
80
300
150
50
200
400
150
400

12
6
2
20
12
6
20

SG07

W65 × H64

SR03-S
SR03-R (L)
SR03-U

W48 × H56.5

SR04-S
SR04-R (L)

W48 × H58

SR05-S
SR05-R (L)

W56.4 × H71

SRD03-S
SRD03-U

W105 × H56.5

SRD04-S
SRD04-U

W135 × H58

SRD05-S
SRD05-U

W157 × H71

STH04-S
STH04-R (L) Note 4
STH06
STH06-R (L)

W45 × H46
W73 × H51
W61 × H65
W106 × H70

SCARA
robots

YK-X

Type

Model

High (mm)

Torque type

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

RF02-N
RF02-S
RF03-N
RF03-S
RF04-N
RF04-S

42 (Standard)
49 (High rigidity)
53 (Standard)
62 (High rigidity)
68 (Standard)
78 (High rigidity)

N:Standard
H:High torque
N:Standard
H:High torque
N:Standard
H:High torque

Pick & place
robots

YP-X

Type

Model

Size (mm) Note 1

BD Type
(Belt type)

BD04
BD05
BD07

W40 × H40
W58 × H48
W70 × H60

CLEAN

Note 1. The size shows approximate maximum cross sectional size.
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 of relevant model.
Note 4. STH04-R (L) with 50-stroke and brake is not supported.

Maximum payload (kg) Note 2
Horizontal
Vertical
2
1
4
2
6
4
4
6
1
10
2
6
-

Maximum speed
(mm/sec) Note 3
600
300
100
1000
600
300
1000
600 (Horizontal)
500 (Vertical)
300 (Horizontal)
250 (Vertical)
1200
800
350
500

Lead (mm)

Stroke (mm)

Detailed info
page

50 to 400

P.130 - P.131

50 to 800

P.132 - P.133

50 to 800

P.134 - P.135

50 to 800

P.136

50 to 200

P.137 - P.139

50 to 300

P.142 - P.143

50 to 300

P.146 - P.147

50 to 200

P.140 - P.141

50 to 300

P.144 - P.145

50 to 300

P.148 - P.149

50 to 100

P.150 - P.151

50 to 150

P.152 - P.153

Rotational torque Maximum pushing Maximum speed
Rotation range (°)
(N • m)
torque (N • m)
(mm/sec)Note 3
0.22
0.11
420
310 (RF02-N)
360 (RF02-S)
0.32
0.16
280
0.8
0.4
420
320 (RF03-N)
360 (RF03-S)
1.2
0.6
280
6.6
3.3
420
320 (RF04-N)
360 (RF04-S)
10
5
280

Lead
(mm)
48
48
48

Maximum payload(kg)
Horizontal
Vertical
1
5
14
Note 2

Maximum speed
(mm/sec) Note 3
1100
1400
1500

Stroke
(mm)
300 to 1000
300 to 2000
300 to 2000

Detailed info
page

P.154 - P.157
P.158 - P.161
P.162 - P.165
Detailed info
page

P.166
P.167
P.168

w Precautions for use
■ Handling
Fully understand the contents stated in the "TRANSERVO
User's Manual" and strictly observe the handling
precautions during operation.

■ Allowable installation ambient temperature
[SS/SR type] 0 to 40 ºC
[STH/RF/BD type] 5 to 40 ºC

SR/SRD/STH type Speed vs. payload table

CONTROLLER INFORMATION

SR03

SRD03

Horizontal

Lead 12
Payload (kg) Speed (mm/sec ) %
10
450
90
5
500
100

Lead 6
Payload (kg) Speed (mm/sec ) %
20
225
90
15
237.5
95
10
250
100

Horizontal

Lead 12
Payload (kg) Speed (mm/sec ) %
10
450
90
5
500
100

Lead 6
Payload (kg) Speed (mm/sec ) %
20
225
90
15
237.5
95
10
250
100

Vertical

Lead 12
Payload (kg) Speed (mm/sec ) %
4
300
60
2
432
86
1
500
100

Lead 6
Payload (kg) Speed (mm/sec ) %
8
150
60
5
200
80
2
250
100

Vertical

Lead 12
Payload (kg) Speed (mm/sec ) %
3.5
300
60
1.5
432
86
0.5
500
100

Lead 6
Payload (kg) Speed (mm/sec ) %
7.5
150
60
4.5
200
80
1.5
250
100

Horizontal

Lead 12
Payload (kg) Speed (mm/sec ) %
25
320
64
20
363
72
15
407
81
5
500
100

Lead 6
Payload (kg) Speed (mm/sec ) %
40
200
80
30
225
90
20
250
100

Lead 2
Payload (kg) Speed (mm/sec ) %
45
80
100

Horizontal

Lead 12
Payload (kg) Speed (mm/sec ) %
25
320
64
20
363
72
15
407
81
5
500
100

Lead 6
Payload (kg) Speed (mm/sec ) %
40
200
80
30
225
90
20
250
100

Lead 2
Payload (kg) Speed (mm/sec ) %
45
80
100

Vertical

Lead 12
Payload (kg) Speed (mm/sec ) %
5
200
40
2
350
70
1
500
100

Lead 6
Payload (kg) Speed (mm/sec ) %
12
125
50
5
200
80
2
250
100

Lead 2
Payload (kg) Speed (mm/sec ) %
25
60
75
5
80
100

Vertical

Lead 12
Payload (kg) Speed (mm/sec ) %
4
200
40
3
250
50
0.5
500
100

Lead 6
Payload (kg) Speed (mm/sec ) %
11
120
48
4
200
80
1
250
100

Lead 2
Payload (kg) Speed (mm/sec ) %
24
60
75
14
70
87
4
80
100

Horizontal

Lead 12
Payload (kg) Speed (mm/sec ) %
50
168
56
40
198
66
30
249
83
20
300
100

Lead 6
Payload (kg) Speed (mm/sec ) %
55
135
90
40
150
100

Lead 2
Payload (kg) Speed (mm/sec ) %
60
50
100

Horizontal

Lead 12
Payload (kg) Speed (mm/sec ) %
50
168
56
40
198
66
30
249
83
20
300
100

Lead 6
Payload (kg) Speed (mm/sec ) %
55
135
90
40
150
100

Lead 2
Payload (kg) Speed (mm/sec ) %
60
50
100

Vertical

Lead 12
Payload (kg) Speed (mm/sec ) %
10
69
23
5
168
56
1
300
100

Lead 6
Payload (kg) Speed (mm/sec ) %
20
48
32
15
75
50
2
150
100

Lead 2
Payload (kg) Speed (mm/sec ) %
30
30
60
5
50
100

Vertical

Lead 12
Payload (kg) Speed (mm/sec ) %
8.5
90
30
5.5
138
46
0.5
300
100

Lead 6
Payload (kg) Speed (mm/sec ) %
18.5
48
32
8.5
102
68
0.5
150
100

Lead 2
Payload (kg) Speed (mm/sec ) %
28.5
30
60
5
50
100

SR04

SRD04

SR05

SRD05

STH04

STH06

Horizontal

Lead 10
Payload (kg) Speed (mm/sec ) %
4
400
100
2
400
100
1
400
100

Lead 5
Payload (kg) Speed (mm/sec ) %
6
200
100
3
200
100
1
200
100

Horizontal

Lead 16
Payload (kg) Speed (mm/sec ) %
6
400
100
3
400
100
1
400
100

Lead 8
Payload (kg) Speed (mm/sec ) %
9
150
100
5
150
100
1
150
100

Vertical

Lead 10
Payload (kg) Speed (mm/sec ) %
1
220
62
0.75
220
62
0.3
350
100

Lead 5
Payload (kg) Speed (mm/sec ) %
2
150
75
1
150
75
0.5
200
100

Vertical

Lead 16
Payload (kg) Speed (mm/sec ) %
2
200
80
1.5
200
80
1
250
100

Lead 8
Payload (kg) Speed (mm/sec ) %
4
100
66
3
100
66
2
140
93
1
150
100

128

YA

Articulated robots

Robot ordering method description
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.

SS05

Controller
• Grease
Standard
• Stroke
600mm
• Cable length 1m

TS-S2

• Input /Output selection NPN

Compact
single-axis robots

6mm
Straight
Yes
Standard

TRANSERVO

• Lead
• Model
• Brake
• Origin position

LCM100

Mechanical

Linear conveyor
modules

[Example]

Ordering Method

SS05 06SB NN 600 1K S2NP

FLIP-X

Single-axis robots

Mechanical section

To find detailed controller information see the controller page.
TS-S2 P.490 , TS-SH P.490 , TS-S D P.500

Controller section

● SS type / SG type (Slider type)
Model

Lead

Model

Brake
N With no brake
B With brake

S Straight model
Space-saving model
R
(motor installed on right)
Space-saving model
L
(motor installed on left)

Origin position

Grease option

Stroke

Cable length

N Standard
N Standard grease
Z No-motor side C Clean room grease

1K
3K
5K
10K

1m
3m
5m
10m

PHASER

2mm
6mm
12mm
20mm

Linear motor
single-axis robots

02
06
12
20

SS04
SS05
SS05H
SG07

● SR type (Rod type)
Model

Brake
N With no brake
B With brake

S Straight model
Space-saving model
R
(motor installed on right)
Space-saving model
L
(motor installed on left)
Space-saving model
U
(motor installed on top)

Origin position

Bracket plate

Stroke

Cable length

N Standard
N No plate
Z No-motor side H With plate
V With flange

1K
3K
5K
10K

1m
3m
5m
10m

Cartesian
robots

Lead
02 2mm
06 6mm
12 12mm

XY-X

Model
SR03
SRD03
SR04
SRD04
SR05
SRD05

● STH Type (Slide table type)
Model

Lead

Model

Brake
N With no brake
B With brake

S Straight model
Space-saving model
R
(motor installed on right)
Space-saving model
L
(motor installed on left)

Origin position

Bracket plate

Stroke

Cable length

N Standard
N No plate
Z No-motor side H With plate

1K
3K
5K
10K

1m
3m
5m
10m

SCARA
robots

5mm
8mm
10mm
16mm

YK-X

05
08
10
16

STH04
STH06

● RF Type (Rotary type / Limit rotation specification, Rotary type / Sensor specification)
Model

Return-to-origin method

Bearing

Torque

N Standard
H High rigidity

N Standard torque
H High torque

Cable entry location

Rotation direction

R From the right
L From the left

N CCW
Z CW

Cable length
1K
3K
5K
10K

Pick & place
robots

Stroke end (Limit rotation)
Sensor (Limitless rotation)

1m
3m
5m
10m

YP-X

N
S

RF02-N
RF02-S
RF03-N
RF03-S
RF04-N
RF04-S

● BD Type (Belt type)
Lead

Brake

48 48mm

N With no brake

Origin position

Stroke

N Standard

CLEAN

Model
BD04
BD05
BD07

Cable length
1K
3K
5K
10K

1m
3m
5m
10m

SR03/SRD03 bracket plates

Feet (horizontal mount)
Type

Flange (vertical mount)

SR04/SRD04 bracket plates

Feet (horizontal mount)

Flange (vertical mount)

SR05/SRD05 bracket plates

Feet (horizontal mount)

Flange (vertical mount)

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.

Rod type: Grease gun nozzle tube for space-saving models
When greasing the ball screw in the SR03-UB or SRD03-UB (motor installed
on top / with brake), use a grease gun with a bent nozzle tube as shown below.
■ Grease gun nozzle tube (YAMAHA recommended nozzle tube)

(ф5)

(120)

Model

(29)
(PT1/8)

KCU-M3861-00

Note. This nozzle tube can be attached to a
commercially available ordinary grease gun.

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.

SR03-UB and
SRD03-UB

CONTROLLER INFORMATION

Rod type: Bracket plates

* Comes with 8 mounting nuts for feet.

Rod type: Running life distance to life time conversion example
This is an example of life time converted from the running life distance
listed on each model page for the SR type.
Model
SR04-02SB, Vertical mount, 25 kg payload
Life time : Approx. 3 years
Life distance
500 km
Operating conditions 100mm back-and-forth movement, shuttle time
16 seconds (duty: 20%)
Word conditions
16 hours per day
Work days
240 days per year
Note. Make sure that the rod is not subjected to a radical load.

129

YA

Articulated robots

SS04

CE compliance

Slider type

Origin on the non-motor side is selectable

SS04-S

SS04-R

Linear conveyor
modules

LCM100

Ordering method

SS04
Model

S2

Compact
single-axis robots

TRANSERVO

Lead
12: 12mm
06: 6mm
02: 2mm

Model
S: Straight model
R: Space-saving model
(motor installed on right)
L: Space-saving model
(motor installed on left)

Brake
N: With no brake
B: With brake

Origin position
N: Standard Note 1
Z: Non-motor side

Grease option
N: Standard grease
C: Clean room grease

Stroke
50 to 400
(50mm pitch)

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

Note 2

FLIP-X

Single-axis robots

Note 1. If changing from the origin position at the time of purchase, the machine reference amount must be reset. For details,
refer to the manual.
Note 2. The robot cable is flexible and resists bending.
Note 3. See P.498 for DIN rail mounting bracket.
Note 4. Select this selection when using the gateway function. For details, see P.60.

Robot positioner
S2: TS-S2 Note 3

SH
Robot positioner
SH: TS-SH

Basic specifications

R type Motor installed on right

L type Motor installed on left

MY

A

C

B

Horizontal installation (Unit: mm)

2kg
2kg
3kg
4kg
4kg

YP-X

Pick & place
robots

6kg

B

A

B

C

807
667
687
556
567
869
863

218
107
116
76
56
61
40

292
152
169
112
84
92
60

C

Wall installation
1kg
2kg
2kg
3kg
4kg
4kg
6kg

C

A
(Unit: mm)

A

B

C

274
133
149
92
63
72
39

204
93
102
62
43
48
29

776
611
656
516
507
829
789

MR

MP

Vertical installation (Unit: mm)
0.5kg
1kg
1kg
2kg
2kg
4kg

A

C

407
204
223
107
118
53

408
204
223
107
118
53

(Unit: N.m)

MY
16

MP
19

MR
17

Controller
Controller
TS-S2
TS-SH
TS-SD

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).

1: 1m

Static loading moment

Lead 2 Lead 6 Lead 12

SCARA
robots

YK-X

Motor installation (Space-saving model)

1

A

1kg

Battery
B: With battery
(Absolute)
N: None
(Incremental)

I/O cable

Allowable overhang Note

Lead 2 Lead 6 Lead 12

Cartesian
robots

XY-X

Note 1. Positioning repeatability in one direction.

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 4

SD
Robot driver
SD: TS-SD

Lead 2 Lead 6 Lead 12

PHASER

Linear motor
single-axis robots

Motor
42 Step motor
Resolution (Pulse/rotation)
20480
Repeatability Note 1 (mm)
+/-0.02
Deceleration mechanism
Ball screw ϕ8 (Class C10)
Maximum motor torque (N.m)
0.27
Ball screw lead (mm)
12
6
2
Maximum speed (mm/sec)
600
300
100
Horizontal
2
4
6
Maximum
payload (kg)
Vertical
1
2
4
Max. pressing force (N)
45
90
150
Stroke (mm)
50 to 400 (50mm pitch)
Stroke+216
Overall length Horizontal
(mm)
Vertical
Stroke+261
Maximum outside dimension
W49 × H59
of body cross-section (mm)
Cable length (m)
Standard: 1 / Option: 3, 5, 10

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 4

Operation method
I/O point trace /
Remote command
Pulse train control

SS04 Straight model
161+/-2: When origin is on motor side
(161: When origin is on non-motor side)
Cable securing position (Note 2)
129+/-1 (Note 1)
21

23+/-1 (Note 1)

206+/-2 (with brake): When origin is on motor side
(206 with brake: When origin is on non-motor side)

59

58
32

41
25

45

174+/-1 (with brake) (Note 1)
12.5

33
(between knocks +/-0.02)

24
40.5

15

CONTROLLER INFORMATION

8 20.5

(55: When origin is on motor side)
55+/-2: When origin is on non-motor side

Effective stroke
2-ϕ3H7 Depth 6
4-M4 x 0.7 Depth 8

51 (Slider top face)

CLEAN

Approx. 200 (Cable length)
30.5
13

L
L+45 (with brake)

15
49

182.5 (with brake)
137.5

A x 50
B-M5 x 0.8 Depth8

R

50

Effective stroke
L
A
B
C
Weight (kg) Note 4

130

50
266
2
3
50
1.5

100
316
3
4
100
1.6

150
366
4
5
150
1.7

200
416
5
6
200
1.8

Controller

250
466
6
7
250
2.0

300
516
7
8
300
2.1

350
566
8
9
350
2.2

400
616
9
10
400
2.3

ϕ4H7 ( +0.012
) Depth6
0

C

2
4 +0.02
Depth6
0

162.5
207.5 (with brake)

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
excessive loads.
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.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

YA

Articulated robots

SS04

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X

Pick & place
robots

YP-X

SS04 Space-saving model
CLEAN

49

(108)

Motor
50 +/-1
(Note 1)

(88.5)

(82 +/-2: When origin is on motor side)

SS04-L Specifications

(82: When origin is on non-motor side)

21

4-M4×0.7 Depth 8
2-ϕ3H7 Depth 6

23 +/-1 (Note 1)
(55: When origin is on motor side)
55 +/-2: When origin is on non-motor side
41
25

Effective stroke

(40)

50

(24)

51 (Slider top face)

58
32

(31)

(15)

101
110

(Note 2)
Cable securing position
Approx. 245 (Cable length)

15

CONTROLLER INFORMATION

56.5

88.5

33
(Tolerance between
knocks +/-0.02)

128.5 (with brake)

L
58.5

A×50
B-M5×0.8 Depth 12

ϕ4H7 +0.012
Depth 6
0

2

38
Effective stroke
L
A
B
C
Weight (kg) Note 4

50
187
2
3
100
1.2

100
237
3
4
150
1.4

150
287
4
5
200
1.5

200
337
5
6
250
1.6

250
387
6
7
300
1.7

300
437
7
8
350
1.8

Controller

350
487
8
9
400
1.9

400
537
9
10
450
2.1

C

4 +0.02
Depth 6
0

R

50

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
excessive loads.
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.
Note 5. The belt cover’s left and right sides are asymmetrical. Therefore, if the motor mounting orientation is changed, the
cover cannot be attached.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

131

YA

Articulated robots

SS05

High lead: Lead 20

Slider type

SS05-S

CE compliance

Origin on the non-motor side is selectable

SS05-R

Linear conveyor
modules

LCM100

Ordering method

SS05
Model

S2

Compact
single-axis robots

TRANSERVO

Lead
20: 20mm
12: 12mm
06: 6mm

Note 1

Model
S: Straight model
R: Space-saving model
(motor installed on right)
L: Space-saving model
(motor installed on left)

Brake
N: With no brake
B: With brake

Origin position
N: Standard Note 2
Z: Non-motor side

Grease option
N: Standard grease
C: Clean room grease

Stroke
50 to 800
(50mm pitch)

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

Note 3

FLIP-X

Single-axis robots

Note 1. Brake-equipped models can be selected only when the lead is 12mm or 6mm.
Note 2. 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 3. The robot cable is flexible and resists bending.
Note 4. See P.498 for DIN rail mounting bracket.
Note 5. Select this selection when using the gateway function. For details, see P.60.

Robot positioner
S2: TS-S2 Note 4

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 5

SH
Robot positioner
SH: TS-SH

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 5

Basic specifications

SD

Static loading moment
MY

YP-X

Pick & place
robots

10kg

344

29

62

4kg

(Unit: mm)

A

B

C

192

123

372

4kg

92

51

265

4kg

109

57

300

6kg
6kg

63
134
76

31
63
35

263
496
377

8kg

47

22

355

4kg

MR

A

C

0.5kg

578

579

1kg

286

286

1kg

312

312

2kg

148

148

(Unit: N.m)

MY
25

MP
33

MR
30

Controller
Controller
TS-S2
TS-SH
TS-SD

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).

MP

Vertical installation (Unit: mm)
Lead 12

95
165
79

2kg

C

A

Lead 6

47
78
37

C

Wall installation
Lead 12 Lead 20

8kg

335
503
332

6kg

B

A

C

B

Lead 6

SCARA
robots

YK-X

L type Motor installed on left

1: 1m

A

Lead 12 Lead 20

Cartesian
robots

XY-X

R type Motor installed on right

I/O cable

Allowable overhang Note

Note 1. Positioning repeatability in one direction.
Horizontal installation (Unit: mm)
Note 2. When the stroke is longer than 600mm, resonance of
A
B
C
the ball screw may occur depending on the operation
2kg
413 139 218
conditions (critical speed). In this case, reduce the
4kg 334
67 120
speed setting on the program by referring to the
maximum speeds shown in the table below.
4kg 347
72 139

Motor installation (Space-saving model)

1

Robot driver
SD: TS-SD

Lead 6

PHASER

Linear motor
single-axis robots

Motor
42 Step motor
Resolution (Pulse/rotation)
20480
Repeatability Note 1 (mm)
+/-0.02
Deceleration mechanism
Ball screw ϕ12 (Class C10)
Maximum motor torque (N.m)
0.27
Ball screw lead (mm)
20
12
6
Maximum speed Note 2 (mm/sec) 1000
600
300
Horizontal
4
6
10
Maximum
payload (kg)
Vertical

1
2
Max. pressing force (N)
27
45
90
Stroke (mm)
50 to 800 (50mm pitch)
Stroke+230
Overall length Horizontal
(mm)
Vertical
Stroke+270
Maximum outside dimension
W55 × H56
of body cross-section (mm)
Cable length (m)
Standard: 1 / Option: 3, 5, 10

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Operation method
I/O point trace /
Remote command
Pulse train control

SS05 Straight model
178+/-2: When origin is on motor side
(178: When origin is on non-motor side)
140+/-1 (Note 1)
34

(52: When origin is on motor side)
52+/-2: When origin is on non-motor side
14+/-1 (Note 1)

24

Effective stroke
2-ϕ4H7 Depth 6
4-M4 x 0.7 Depth8

40.5

56

70
42

24
55

50
34

51

180+/-1 (with brake) (Note 1)
218+/-2 (with brake): When origin is on motor side
(218 with brake: When origin is on non-motor side)

12.5

57 (Slider top face)

15

CONTROLLER INFORMATION

8 20.5

Cable securing position (Note 2)

42
(between knocks +/-0.02)

CLEAN

Approx. 200 (Cable length)

30.5
13

L
L+40 (with brake)
141.5 (with brake)
101.5

A x 50
B-M6 x 1 Depth8

50

ϕ4H7 ( +0.012
) Depth6
0

126.5
166.5 (with brake)

Effective stroke
L
A
B
C
Weight (kg) Note 4
Lead20
Maximum
speed for each Lead12
Note 5
stroke
Lead6
(mm/sec) Speed setting

132

50
280
3
4
100
2.1

100
330
4
5
150
2.3

150
380
5
6
200
2.5

Controller

200
430
6
7
250
2.7

250
480
7
8
300
2.8

300 350
530 580
8
9
9
10
350 400
3.0 3.2
1000
600
300

400
630
10
11
450
3.4

450
680
11
12
500
3.6

500
730
12
13
500
3.8

550
780
13
14
500
4.0

600
830
14
15
500
4.2

650
880
15
16
500
4.4
933
560
280
93%

700
930
16
17
500
4.6
833
500
250
83%

2

C

750
980
17
18
500
4.8
733
440
220
73%

800
1030
18
19
500
5.0
633
380
190
63%

4 +0.02
0 Depth6

R

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 excessive loads.
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.
Note 5. When the stroke is longer than 600mm, resonance of
the ball screw may occur depending on the operation
conditions (critical speed). In this case, reduce the
speed setting on the program by referring to the
maximum speeds shown in the table at the left.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

YA

Articulated robots

SS05

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X

Pick & place
robots

YP-X

SS05 Space-saving model

55

42
(Tolerance between
knocks +/-0.02)

56.5

(113)

(88.5)
SS05-L Specifications
94.5 +/-2: When origin is on motor side
(94.5: When origin is on non-motor side)

56.5 +/-1
(Note 1)

34

4-M4×0.7 Depth 8
2-ϕ4H7 Depth 6

14 +/-1 (Note 1)
(52: When origin is on motor side)
52 +/-2: When origin is on non-motor side
50
34

Effective stroke

(31)

(40)

55

(24)

57 (Slider top face)

70
42

(15)

104
113

24

(Note 2)
Cable securing position
Approx. 245 (Cable length)

CONTROLLER INFORMATION

Motor

CLEAN

128.5 (with brake)
88.5

L
68

A×50
B-M6×1.0 Depth 12

R

50

C

Effective stroke
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
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
A
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
B
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
C
100 150 200 250 300 350 400 450 500 500 500 500 500 500 500 500
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
Lead20
1000
933 833 733 633
Maximum
Lead12
600
560 500 440 380
speed for each
stroke Note 5
Lead6
300
280 250 220 190
(mm/sec) Speed setting

93% 83% 73% 63%

Controller

4 0

2
42

+0.02

Depth 6

ϕ4H7 +0.012
Depth 6
0

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 excessive loads.
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.
Note 5. When the stroke is longer than 600mm, resonance of
the ball screw may occur depending on the operation
conditions (critical speed). In this case, reduce the
speed setting on the program by referring to the
maximum speeds shown in the table at the left.
Note 6. The belt cover’s left and right sides are asymmetrical.
Therefore, if the motor mounting orientation is
changed, the cover cannot be attached.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

133

YA

Articulated robots

SS05H

High lead: Lead 20

Slider type

CE compliance

SS05H-S

Origin on the non-motor side is selectable

SS05H-R

Linear conveyor
modules

LCM100

Ordering method

SS05H
Model

S2

Compact
single-axis robots

TRANSERVO

Lead
20: 20mm
12: 12mm
06: 6mm

Model
S: Straight model
R: Space-saving model
(motor installed on right)
L: Space-saving model
(motor installed on left)

Note 1

Brake
N: With no brake
B: With brake

Origin position
N: Standard Note 2
Z: Non-motor side

Grease option
N: Standard grease
C: Clean room grease

Stroke
50 to 800
(50mm pitch)

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

Robot positioner
S2: TS-S2 Note 4

Note 3

FLIP-X

Single-axis robots

Note 1. Brake-equipped models can be selected only when the lead is 12mm or 6mm.
Note 2. 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 3. The robot cable is flexible and resists bending.
Note 4. See P.498 for DIN rail mounting bracket.
Note 5. Select this selection when using the gateway function. For details, see P.60.

SH
Robot positioner
SH: TS-SH

Basic specifications

R type Motor installed on right

L type Motor installed on left

1: 1m

Static loading moment
MY

Pick & place
robots

YP-X

6kg
8kg
6kg
8kg
10kg
12kg

B

C

599
366
352
500
399
403
573
480
442
465

225
109
71
118
79
56
83
61
47
39

291
148
104
179
118
88
136
100
78
64

2kg
4kg
6kg
4kg
6kg
8kg
6kg
8kg
10kg
12kg

C

A
(Unit: mm)

A

B

C

262
118
71
146
85
55
101
64
43
28

203
88
49
96
55
34
62
39
26
17

554
309
262
449
334
305
519
413
355
338

MR

MP

Vertical installation (Unit: mm)
Lead 6 Lead 12

A

C

Wall installation
Lead 12 Lead 20

Horizontal installation (Unit: mm)

4kg
6kg
4kg

B

A

C

B

Lead 6

SCARA
robots

YK-X

Motor installation (Space-saving model)

1

A

2kg

Battery
B: With battery
(Absolute)
N: None
(Incremental)

I/O cable

Allowable overhang Note

Lead 12 Lead 20

Cartesian
robots

XY-X

Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 600mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 5

SD
Robot driver
SD: TS-SD

Lead 6

PHASER

Linear motor
single-axis robots

Motor
42 Step motor
Resolution (Pulse/rotation)
20480
Note 1
(mm)
+/-0.02
Repeatability
Deceleration mechanism
Ball screw ϕ12 (Class C10)
Maximum motor torque (N.m)
0.47
Ball screw lead (mm)
20
12
6
Note 2
Horizontal
1000
600
300
Maximum speed
(mm/sec)
Vertical

500
250
Horizontal
6
8
12
Maximum
payload (kg)
Vertical

2
4
Max. pressing force (N)
36
60
120
Stroke (mm)
50 to 800 (50pitch)
Stroke+286
Overall length Horizontal
(mm)
Vertical
Stroke+306
Maximum outside dimension
W55 × H56
of body cross-section (mm)
Standard: 1 / Option: 3, 5, 10
Cable length (m)

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 5

1kg
2kg
2kg
4kg

A

C

458
224
244
113

459
224
245
113

(Unit: N.m)

MY
32

MP
38

MR
34

Controller
Controller
TS-S2
TS-SH
TS-SD

Operation method
I/O point trace /
Remote command
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 600mm stroke models).

SS05H Straight model
175.5+/-1 (Note 1)

(62.5: When origin is on motor side)
62.5+/-2: When origin is on non-motor side

Effective stroke
2-ϕ4H7 Depth6
4-M5 x 0.8 Depth10

14.5+/-1 (Note 1)

24

43

40.5

56

90
53

24
55

52
34

51

195.5+/-1 (with brake) (Note 1)
243.5+/-2 (with brake): When origin is on motor side
(243.5 with brake: When origin is on non-motor side)

12.5

60 (Slider top face)

15

CONTROLLER INFORMATION

8 20.5

Cable securing position (Note 2)

223.5+/-2: When origin is on motor side
(223.5: When origin is on non-motor side)

43
(between knocks +/-0.02)

CLEAN

Approx. 200 (Cable length)
30.5
13

L
L+20 (with brake)
161.5 (with brake)
141.5

A x 50
B-M6 x 1 Depth8

166.5
186.5 (with brake)

ϕ4H7 ( +0.012
) Depth6
0

Effective stroke
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
L
336 386 436 486 536 586 636 686 736 786 836 886 936 986 1036 1086
A
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
B
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
C
100 150 200 250 300 350 400 450 500 500 500 500 500 500 500 500
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
Lead20
1000
933 833 733 633
560 500 440 380
Maximum Lead12 (Horizontal) 600
440 380
speed for each Lead12 ( Vertical) 500
stroke Note 5 Lead6 (Horizontal) 300
280 250 220 190
(mm/sec) Lead6 (Vertical) 250
220 190
Speed setting

93% 83% 73% 63%

134

Controller

2

C

4 +0.02
0 Depth6

R

50

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 excessive loads.
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.
Note 5. When the stroke is longer than 600mm,
resonance of the ball screw may occur depending
on the operation conditions (critical speed).
In this case, reduce the speed setting on the
program by referring to the maximum speeds
shown in the table at the left.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

YA

Articulated robots

SS05H

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X

Pick & place
robots

YP-X

SS05H Space-saving model

55

(88.5)
SS05H-L Specifications
100 +/-2: When origin is on motor side
(100: When origin is on non-motor side)

(31)

52 +/-1
(Note 1)

43

4-M5×0.8 Depth 10
2-ϕ4 H7 Depth 6

14.5 +/-1 (Note 1)
(62.5: When origin is on motor side)
62.5 +/-2: When origin is on non-motor side
52
34

Effective stroke

(40)

55

(24)

60 (Slider top face)

90
53

(15)

104
113

24

(Note 2)
Cable securing position
Approx. 245 (Cable length)
50

L
A×50
B-M6×1.0 Depth 12

2
42

C

Effective stroke
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
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
A
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
B
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
C
100 150 200 250 300 350 400 450 500 500 500 500 500 500 500 500
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
Weight (kg) Note 4
Lead20
1000
933 833 733 633
600
560 500 440 380
Maximum Lead12 (Horizontal)
500
440 380
speed for each Lead12 (Vertical)
stroke Note 5 Lead6 (Horizontal)
300
280 250 220 190
(mm/sec)
Lead6 (Vertical)
250
220 190
Speed setting

93% 83% 73% 63%

Controller

+0.02

Depth 6

4 0

+0.012

ϕ4 H7 0

Depth 6

R

68

CONTROLLER INFORMATION

Motor

43
(Tolerance between
knocks +/-0.02)

56.5

(113)

88.5

CLEAN

128.5 (with brake)

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 excessive loads.
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.
Note 5. When the stroke is longer than 600mm,
resonance of the ball screw may occur depending
on the operation conditions (critical speed).
In this case, reduce the speed setting on the
program by referring to the maximum speeds
shown in the table at the left.
Note 6. The belt cover’s left and right sides are
asymmetrical. Therefore, if the motor mounting
orientation is changed, the cover cannot be
attached.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

135

High lead: Lead 20

Slider type

CE compliance

Origin on the non-motor side is selectable.

Linear conveyor
modules

LCM100

Ordering method

SG07
Model

SH

Compact
single-axis robots

TRANSERVO

Lead
20: 20mm
12: 12mm
06: 6mm

Model
S: Straight model

Brake
N: With no brake
B: With brake

Origin position
N: Standard Note 1
Z: Non-motor side

Grease option
N: Standard grease
C: Clean room grease

Stroke
50 to 800
(50mm pitch)

Cable length Note 2
1K: 1m
3K: 3m
5K: 5m
10K: 10m

Robot positioner
SH: TS-SH

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.
Note 3. Select this selection when using the gateway function. For details, see P.60.

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IP TM
PT: PROFINET
GW: No I/O board Note 3

Allowable overhang Note

Cartesian
robots

XY-X

Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 600mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.
Note 3. It is necessary to change the maximum speed according to the
payload. For details, see the “Speed vs. payload” graph shown below.
Note. Position detectors (resolvers) are common to incremental and
absolute specifications.
If the controller has a backup function then it will be absolute
specifications.

MY

10kg 3572
25kg 2971
36kg 3150
15kg 3703

1962
1430
3853
2105
1500

B

C

458
220
140
363
172
114
363
172
106

486
245
160
406
196
131
414
197
122

C

Wall installation
10kg
25kg
36kg
15kg
30kg
43kg
15kg
30kg
46kg

C

A
(Unit: mm)

A

B

450
117
98
351
134
68
353
134
58

402
155
85
307
117
59
307
117
50

C

A

3261
2943
2520
3403
1663
1070
3541
1752
1100

MR

MP

Vertical installation (Unit: mm)
Lead 6 Lead 12 Lead 20

Horizontal installation (Unit: mm)
A

B

A

C

B

30kg
43kg
15kg
30kg
46kg

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Static loading moment

A

Lead 6 Lead 12 Lead 20

PHASER

Linear motor
single-axis robots

Motor
56 Step motor
Resolution (Pulse/rotation)
20480
Repeatability Note 1 (mm)
+/-0.02
Deceleration mechanism
Ball screw ϕ12 (Class C10)
Ball screw lead (mm)
20
12
6
Maximum speed Note 2 Note 3 (mm/sec) 1200
800
350
Maximum
Horizontal
36
43
46
Vertical
4
12
20
payload (kg)
Max. pressing force (N)
60
100
225
Stroke (mm)
50 to 800 (50pitch)
Overall length Horizontal
Stroke+288
Vertical
Stroke+328
(mm)
Maximum outside dimension
W65×H64
of body cross-section (mm)
Cable length (m)
Standard: 1 / Option: 3, 5, 10

Lead 6 Lead 12 Lead 20

FLIP-X

Single-axis robots

Basic specifications

(Unit: N.m)

C

MY
101

2kg 2303 2303
4kg 1147 1147
4kg 1386 1386
12kg 442 442
7kg
20kg

781
252

781
252

MP
114

MR
101

Controller
Controller Operation method
I/O point trace /
TS-SH
Remote command

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).
Note. Calculated by the speed corresponding to the payload.

SCARA
robots

YK-X

Speed vs. payload
Quick reference

Pick & place
robots

50
45
40
35
30
25
20
15
10
5
0

CLEAN

Lead 20
Lead 12
Lead 6
Payload Speed % Payload Speed % Payload Speed %
Lead 12
(kg) (mm/sec)
(kg) (mm/sec)
(kg) (mm/sec)
36
320 26
43
240 30
46
140 40
30
400 33
40
255 31
42
155 44
25
480 40
35
295 36
40
165 47
20
560 46
30
340 42
35
190 54
15
720 60
25
380 47
30
200 57
Lead 20
10
800 66
20
420 52
25
245 70
9
900 75
15
500 62
20
270 77
8
950 79
10
600 75
15
300 85
Lead 6
7 1000 83
9
615 76
10
325 92
0
200 400 600 800 1000 1200 1400
6 1020 85
8
635 79
9
330 94
Speed (mm/s)
5 1035 86
7
655 81
8
335 95
4 1055 87
6
675 84
7
340 97
6
350 100
3 1075 89
5
700 87
2 1100 91
4
750 93
1 1200 100
3
800 100

Quick reference

Vertical
25
20

Lead 6
15
10

Lead 12

5
0

Lead 20
0

200

400

600

Speed (mm/s)

800

1000

Lead 20
Lead 12
Lead 6
Payload Speed % Payload Speed % Payload Speed %
(kg) (mm/sec)
(kg) (mm/sec)
(kg) (mm/sec)
4
560 56
12
200 33
20
100 31
3
680 68
10
240 40
15
150 46
2
800 80
9
260 43
12
180 56
1 1000 100
8
280 46
10
200 62
7
310 51
9
210 65
6
345 57
8
225 70
5
380 63
7
235 73
4
435 72
6
250 78
3
500 83
5
270 84
2
600 100
4
295 92
3
320 100

Approx. 200 (Cable length) 201+/-3: When origin is on motor side
(Approx. 160: with brake)
(201:When origin is on non-motor side)
45
30+/-0.02
Cable securing position
140+/-1 (Note 1)

(31)

Effective stroke
40
(between
knocks +/-0.02)

CONTROLLER INFORMATION

SG07 Straight model

26+/-1 (Note 1)

(40)

(24)

(Note 2)

(87: When origin is on motor side)
87+/-3: When origin is on non-motor side

4-M5×0.8 Depth 10

72

175 (with brake)
135

+ 0.012

ϕ4H7 0

Depth 6
145
185 (with brake)

L
L+40 (with brake)
A×100
B-M6×1.0 Depth 8
100

(R)
C

2

Depth 6

65

Effective stroke
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
L
338 388 438 488 538 588 638 688 738 788 838 888 938 988 1038 1088
A
1
2
2
3
3
4
4
5
5
6
6
7
7
8
8
9
B
2
3
3
4
4
5
5
6
6
7
7
8
8
9
9
10
C
100 100 100 100 100 100 400 400 400 400 400 400 700 700 700 700
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
1020
Lead20 (Horizontal)
1200
900 780 720
Lead20
(Vertical)
1000
1000
Maximum
Lead12 (Horizontal)
800
speed for each
578 510 442 408
Lead12 (Vertical)
600
stroke Note 5
Lead6 (Horizontal)
350
298 263 228 210
(mm/sec)
Lead6 (Vertical)
320
Speed setting

85% 75% 65% 60%

136

Controller

TS-SH u 490

(58.2)
48
32

) Depth 6

50.4

+ 0.010

2-ϕ3 H7 ( 0
(116)
60

64 (Slider top face)

180+/-1 (with brake) (Note 1)
241+/-3 (with brake):
When origin is on motor side

(15)

+ 0.05
4 0

YP-X

Payload (kg)

Horizontal

Payload (kg)

YA

Articulated robots

SG07

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 excessive loads.
Note 3. The cable’s minimum bend radius is R30.
Note 4. These are the weights without a brake. The
weights are 0.7kg heavier when equipped with
a brake.
Note 5. When the stroke is longer than 600mm,
resonance of the ball screw may occur
depending on the operation conditions (critical
speed). In this case, reduce the speed setting
on the program by referring to the maximum
speeds shown in the table at the below.

CE compliance

Rod type

YA

Articulated robots

SR03

Origin on the non-motor side is selectable

SR03-S

SR03-R

Linear conveyor
modules

SR03

LCM100

Ordering method

S2
Brake
N: With no brake
B: With brake

H: With plate
V: With flange

Stroke
50 to 200
(50mm pitch)

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

SH

Note 3. The robot cable is flexible and resists bending.
Note 4. See P.498 for DIN rail mounting bracket.
Note 5. Select this selection when using the gateway
function. For details, see P.60.

Robot positioner
SH: TS-SH

Speed vs. payload
Lead 6

20
15

SD

Lead 12

10
5
0

0

100

300

400

500

Vertical
6000

400

500

600

Motor installation (Space-saving model)
U type Motor installed on top

L type Motor installed on left

R type Motor installed on right

4000
3000
2000
1000
0

0

1

2

Payload (kg)

3

4

Note. See P.129
for running life
distance to life time
conversion example.

SCARA
robots

300

Speed (mm/s)

5000

YK-X

200

Lead 12

Cartesian
robots

5000 km on models other than shown below.
Running life of only the model shown below becomes shorter than 5000 km
depending on the payload, so check the running life curve.

Lead 12

100

1: 1m

Running life

600

Lead 6

0

I/O cable

XY-X

9
8
7
6
5
4
3
2
1
0

200

Speed (mm/s)

Vertical

1

Robot driver
SD: TS-SD

Running life (km)

Payload (kg)

25

Battery
B: With battery
(Absolute)
N: None
(Incremental)

PHASER

Note 1. The maximum speed needs to be changed in
accordance with the payload.
See the “Speed vs. payload” graph shown on the right.
For details, see P. 128.

Horizontal

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 5

Linear motor
single-axis robots

Motor
42 Step motor
Resolution (Pulse/rotation)
20480
+/-0.02
Repeatability (mm)
Deceleration mechanism
Ball screw ϕ8 (Class C10)
Ball screw lead (mm)
12
6
Maximum speed Note 1 (mm/sec)
500
250
Horizontal
10
20
Maximum
payload (kg)
Vertical
4
8
Max. pressing force (N)
75
100
Stroke (mm)
50 to 200 (50pitch)
Lost motion
0.1mm or less
Rotating backlash (°)
+/-1.0
Stroke+236.5
Overall length Horizontal
(mm)
Vertical
Stroke+276.5
Maximum outside dimension
W48 × H56.5
of body cross-section (mm)
Standard: 1 / Option: 3, 5, 10
Cable length (m)

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 5

FLIP-X

Basic specifications

Bracket plate
N: No plate

Single-axis robots

Note 1. See P.129 for grease gun nozzles.
Note 2. If changing from the origin position at the time of
purchase, the machine reference amount must be
reset. For details, refer to the manual.

Origin position
N: Standard Note 2
Z: Non-motor side

Compact
single-axis robots

Model
S: Straight model
R: Space-saving model Note 1
(motor installed on right)
L: Space-saving model Note 1
(motor installed on left)
U: Space-saving model Note 1
(motor installed on top)

TRANSERVO

Lead
12: 12mm
06: 6mm

Payload (kg)

Model

Robot positioner
S2: TS-S2 Note 4

Note 3

YP-X

Controller Operation method
TS-SD
Pulse train control

Pick & place
robots

Controller
Controller Operation method
TS-S2
I/O point trace /
TS-SH
Remote command

SR03 Straight model
68.5

Ball screw greasing port (φ6.5)

7.5 (Width across flat part)
M8×1.25

Origin on
non-motor side

.29

φ16
Effective stroke

(5)

27

M8×1.25

Option: Horizontal installation plate (foot)

34
24

10 (21)

Hex. socket head cap bolt (M3×0.5),
Length under head 14

64
Hex. socket head cap bolt (M3×0.5), Length under head 10
* Two bolts are required for one plate.

52
(25)
2-φ5.5

41

Option: Vertical installation plate (flange)

* Contents of option: Plate, 2 pcs.
See our robot manuals for additional settings.

15

11
(Width across flat)

50
H×50

K-M3×0.5 Depth 4

View A

(41)
* See the bottom installation tap position.

Controller

10
(37.5)

4-φ4.5
drill-through

(21)

(15)

M4×0.7 Depth 5
(For securing cable)

Dimensions of attached nut

35

25

13

5

P.C

.D

10

(7)
Origin on
motor side
37.5±2

L1

38.5
21

15

M4x0.7 Depth 5
10
(For securing cable)
L
L+40 (with brake)

48

4-M3×0.5 Depth 10
(90°-equal division)
45°

(21)

(0.5)

56.5

(10) 27.5
8 18

CONTROLLER INFORMATION

Approx. 250 (Cable length)

11 (Width across flat)

6

9.5

CLEAN

A
See Note 5.

45
55

Effective stroke
L1
L
H
K
Weight (kg) Note 7

50
161
249
2
6
1.1

100
211
299
3
8
1.3

150
261
349
4
10
1.4

200
311
399
5
12
1.6

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.
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.
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)
Note 6. The cable’s minimum bend radius is R30.
Note 7. Models with a brake will be 0.2kg heavier.
Note 8. Distance to mechanical stopper.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

137

YA

Articulated robots

SR03
SR03 Space-saving model (motor installed on right)

Ball screw greasing port (ф6.5)

M8×1.25

6

37.5+/-2

L

Effective stroke

PHASER

Linear motor
single-axis robots

10
L1
H×50

10

M4×0.7 Depth 5
(For securing cable)

41

50

53
45°

38.5
21

ф16
15

42

M4×0.7 Depth 5
(For securing cable)

94

(0.5)

(31)

M8×1.25

97
20

.29
P.C.D

FLIP-X

Single-axis robots

(15)

See Note 5.

Dimensions of
attached nut

(5(Note 8))

48
56.5

Approx. 245 (Cable length)

(24)

68.5

Origin on
non-motor side

11(Width across flat)

Compact
single-axis robots

TRANSERVO

(40)

9.5

Origin on
motor side
(7(Note 8))

5

13

(15)

LCM100

Linear conveyor
modules

128 (with brake)
88

7.5
8 18 (Width across flat part)
4-M3×0.5 Depth 10
(10) 27.5
(90°-equal division)
11(Width across flat)
35

48

* Contents of option: Plate, 2 pcs.
See our robot manuals for additional settings.

25

6

Option: Horizontal installation plate (foot)

10 (21)

XY-X

Cartesian
robots

K-M3×0.5 Depth 4

Hex. socket head cap bolt (M3×0.5),
Length under head 10
* Two bolts are required for one plate.

15

Pick & place
robots

YP-X

Hex. socket head cap bolt (M3×0.5),
Length under head 14

34
24

(21)

(41)
* See the bottom installation tap position.

10

(37.5)

4-ф4.5
drill-through

100
211
254
3
8

150
261
304
4
10

200
311
354
5
12

Weight (kg) Note 7

1.5

1.6

1.8

1.3

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.
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.
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)
Note 6. The cable’s minimum bend radius is R30.
Note 7. Models with a brake will be 0.2kg heavier.
Note 8. Distance to mechanical stopper.

Option: Vertical installation plate (flange)

25
52
64

SCARA
robots

YK-X

2-ф5.5
drill-through

Effective stroke 50
L1
161
L
204
H
2
K
6

45
55

SR03 Space-saving model (motor installed on left)
CLEAN

A
9.5

See Note 5.

68.5

Ball screw greasing port (ф6.5)

6

27

10

M4×0.7 Depth 5
(For securing cable)

Dimensions of attached nut
(5(Note 8))

37.5+/-2
Effective stroke

(15)

(31)

97
53

20

45°

Option: Horizontal installation plate (foot)

25

6
10 (21)

M4×0.7 Depth 5
(For securing cable)

50

H×50
10

138

Option: Vertical installation plate (flange)
Hex. socket head cap bolt (M3×0.5),
Length under head 14

24
34

(21)

(41)
* See the bottom installation tap position.

Controller

41

L1

25
52
64

2-ф5.5
drill-through

35

11
(Width
across flat)

K-M3×0.5 Depth 4

* Contents of option: Plate, 2 pcs.
See our robot manuals for additional settings.

Hex. socket head cap bolt (M3×0.5),
Length under head 10
* Two bolts are required for one plate.

21
38.5

7.5
48
8 18 (Width across flat part)
4-M3×0.5
Depth
10
(10) 27.5
(90°-equal division)

94

15

56.5
48

42

ф16

M8×1.25

(0.5)

L

.29
11(Width across flat)

Approx. 245 (Cable length)

(24)

(7(Note 8))

P.C.D

88
128 (with brake)

5

(15)

CONTROLLER INFORMATION

View A

(40)

M8×1.25 13
Origin on
non-motor side

Origin on
motor side

10 (37.5)

4-ф4.5
drill-through

45
55

Effective stroke 50
L1
161
L
204
H
2
K
6
Note 7
Weight (kg)
1.3

100
211
254
3
8
1.5

150
261
304
4
10
1.6

200
311
354
5
12
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.
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.
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)
Note 6. The cable’s minimum bend radius is R30.
Note 7. Models with a brake will be 0.2kg heavier.
Note 8. Distance to mechanical stopper.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

YA

Articulated robots

SR03

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X

Pick & place
robots

YP-X

SR03 Space-saving model (motor installed on top)
Approx. 245 (Cable length)

10

L

37.5+/-2 Effective stroke (5(Note 8))
Origin on
Origin on
Ball screw greasing
(7(Note
8))
non-motor side
motor side
port (ф6.5)

27

111.5

CLEAN

A
M4×0.7 Depth 5
(For securing cable)

CONTROLLER INFORMATION

5

(15)

M8×1.25 13
View A

Dimensions of attached nut
(15)
56.5
48

128 (with brake)

21

M4×0.7 Depth 5
(For securing cable)

10

(41)
* See the bottom installation tap position.

10 (37.5)

Controller

38.5 (0.5)

98
53

35

25

H×50
L1

10

Hex. socket head cap bolt (M3×0.5),
Length under head 14

(21)

2-ф5.5
drill-through

50

Option: Vertical installation plate (flange)

25
52
64

15

Hex. socket head cap bolt (M3×0.5),
Length under head 10
* Two bolts are required for one plate.

M4×0.7 Depth 5
(For securing cable)

34
24

10 (21)

6

* Contents of option: Plate, 2 pcs.
See our robot manuals for additional settings.

4-ф4.5
drill-through

45
55

41

Effective stroke 50
L1
161
L
204
H
2
K
6
Weight (kg) Note 7 1.3

11(Width across flat)

ф16

Option: Horizontal installation plate (foot)

.D.29

P.C
7.5
8 18 (Width across flat part)
4-M3×0.5 Depth 10
(90°-equal division)
(10) 27.5
11(Width across flat)
K-M3×0.5 Depth 4

15
1

42

45°

M8×1.25

(31)

21

94

(24)

48

(40)

88

100
211
254
3
8
1.5

150
261
304
4
10
1.6

200
311
354
5
12
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.
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.
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)
Note 6. The cable’s minimum bend radius is R30.
Note 7. Models with a brake will be 0.2kg heavier.
Note 8. Distance to mechanical stopper.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

139

CE compliance

Rod type (With support guide)

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

SRD03-S

SRD03-U

Linear conveyor
modules

LCM100

Ordering method

SRD03
Model

S2

Compact
single-axis robots

TRANSERVO

Lead
12: 12mm
06: 6mm

Model
S: Straight model
U: Space-saving model Note 1
(motor installed on top)

Brake
N: With no brake
B: With brake

FLIP-X

Single-axis robots

Note 1. See P.129 for grease gun nozzles.
Note 2. If changing from the origin position at the time of
purchase, the machine reference amount must be
reset. For details, refer to the manual.

Origin position
N: Standard Note 2
Z: Non-motor side

Bracket plate
N: No plate

Stroke
50 to 200
(50mm pitch)

H: With plate

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

Robot positioner
S2: TS-S2 Note 4

Note 3

Basic specifications

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 5

SH

Note 3. The robot cable is flexible and resists bending.
Note 4. See P.498 for DIN rail mounting bracket.
Note 5. Select this selection when using the gateway
function. For details, see P.60.

Robot positioner
SH: TS-SH

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 5

Speed vs. payload
Horizontal

Payload (kg)

25

Lead 6

20
15

SD

I/O cable
1: 1m

Running life

5
0
0

100

200

300

400

500

600

Cartesian
robots

XY-X

Speed (mm/s)
Vertical

SCARA
robots

YK-X

Note 1. The maximum speed needs to be changed in
accordance with the payload.
See the “Speed vs. payload” graph shown on the right.
For details, see P. 128.

Battery
B: With battery
(Absolute)
N: None
(Incremental)

1

Robot driver
SD: TS-SD

Lead 12

10

Payload (kg)

PHASER

Linear motor
single-axis robots

Motor
42 Step motor
Resolution (Pulse/rotation)
20480
+/-0.02
Repeatability (mm)
Deceleration mechanism
Ball screw ϕ8 (Class C10)
Ball screw lead (mm)
12
6
Maximum speed Note 1 (mm/sec)
500
250
Horizontal
10
20
Maximum
payload (kg)
Vertical
3.5
7.5
Max. pressing force (N)
75
100
Stroke (mm)
50 to 200 (50pitch)
Lost motion
0.1mm or less
Rotating backlash (°)
+/-0.05
Stroke+236.5
Overall length Horizontal
(mm)
Vertical
Stroke+276.5
Maximum outside dimension
W48 × H56.5
of body cross-section (mm)
Cable length (m)
Standard: 1 / Option: 3, 5, 10

8
7
6
5
4
3
2
1
0

5000 km on models other than shown below.
Running life of only the model shown below becomes shorter than 5000 km
depending on the payload, so check the running life curve.
Lead 12

Vertical
6000

Lead 6

Running life (km)

YA

Articulated robots

SRD03

Lead 12

0

100

200

300

400

500

600

Speed (mm/s)

5000
4000
3000
2000
1000
0

0

1

2

Payload (kg)

3

4

Note. See P.129
for running life
distance to life
time conversion
example.

Controller

Pick & place
robots

YP-X

Controller Operation method
TS-S2
I/O point trace /
TS-SH
Remote command

Controller Operation method
TS-SD
Pulse train control

SRD03 Straight model
CLEAN

Effective stroke+78

35.5

Ball screw
greasing port
(φ6.5)
68.5

9.5

23

18

97
23

8-M4×0.7 Depth 10
(For user tool installation)
4-M4×0.7 drill-through
(For main unit installation)

23

(7)

15

M4×0.7 Depth 5
10
(For securing cable)

48

L1

Origin on
motor side
37.5±2 Effective stroke

L
L+40 (with brake)

22
27
30
35

(21)

38.5
21

56.5

10

(0.5)

CONTROLLER INFORMATION

Approx. 250 (Cable length)

35

6

35

φ15
φ8

A

See Note 3.

(5)

Origin on
non-motor side

35
83
105

25

27

10

Option: Horizontal installation plate (foot)
* Contents of option: Plate, 2 pcs.

See our robot manuals for additional settings.

K-M3×0.5 Depth 4

64

Hex. socket head cap bolt (M3×0.5), Length under head 10
15
(41)
* Two bolts are required for one plate.
* See the bottom installation tap position.

2-φ5.5

140

Controller

View A

41

Effective stroke
L1
L
H
K
Weight (kg) Note 5

52
(25)

10 21

H×50

50

50
161
249
2
6
1.5

100
211
299
3
8
1.7

150
261
349
4
10
1.9

M4×0.7 Depth 5
(For securing cable)

200
311
399
5
12
2.1

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.
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)
Note 4.The cable’s minimum bend radius is R30.
Note 5.Models with a brake will be 0.2kg heavier.
Note 6.Distance to mechanical stopper.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

YA

Articulated robots

SRD03

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X
YP-X

Pick & place
robots

SRD03 Space-saving model (motor installed on top)
A
Approx. 245 (Cable length)
M4×0.7 Depth 5
(For securing cable)

37.5+/-2 Effective stroke
Origin on
motor side

L

(7(Note 8))

Origin on non-motor side

35

35

27

(5(Note 8))

CLEAN

111.5
Ball screw greasing port
(ф6.5)

10

128 (with brake)
88

(40)

ф15

35.5 10
Effective stroke+78

(15)

18
56.5
48

21

22
27
30
35

53
(0.5)
21
38.5

1

15

94

(24)

48

(31)

42

M4×0.7 Depth 5
(For securing cable)

10

4-M4×0.7 drill-through
(For main unit installation)

Option: Horizontal installation plate (foot)

8-M4x0.7 Depth 10
(For user tool installation)

Hex. socket head cap bolt (M3×0.5),
Length under head 10
* Two bolts are required for one plate.

M4×0.7 Depth 5
(For securing cable)

K-M3×0.5
Depth 4

25
52
64

2-ф5.5
drill-through

(41)
* See the bottom installation tap position.

Controller

23

50
161
204
2
6
1.7

100
211
254
3
8
1.9

50

H×50
L1

10
Effective stroke
L1
L
H
K
Weight (kg) Note 7

35
23
83
97
105

25

6

10 (21)

* Contents of option: Plate, 2 pcs.
See our robot manuals for additional settings.

15

23

CONTROLLER INFORMATION

ф8

View A

150
261
304
4
10
2.1

200
311
354
5
12
2.3

41

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.
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.
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)
Note 6. The cable’s minimum bend radius is R30.
Note 7. Models with a brake will be 0.2kg heavier.
Note 8. Distance to mechanical stopper.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

141

CE compliance

Rod type

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

SR04-S

SR04-R

Linear conveyor
modules

LCM100

Ordering method

SR04

S2
Model
S: Straight model
R: Space-saving model Note 1
(motor installed on right)
L: Space-saving model Note 1
(motor installed on left)

Brake
N: With no brake
B: With brake

Basic specifications

Bracket plate
N: No plate

H: With plate
V: With flange

Stroke
50 to 300
(50mm pitch)

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

Step motor
20480
+/-0.02
Ball screw ϕ8 Ball screw ϕ10
(Class C10)
(Class C10)
12
6
2
500
250
80
25
40
45
5
12
25
150
300
600
50 to 300 (50pitch)
0.1mm or less
+/-1.0
Stroke+263
Stroke+303

Ball screw lead (mm)
Maximum speed Note 1 (mm/sec)
Horizontal
Maximum
payload (kg)
Vertical
Max. pressing force (N)
Stroke (mm)
Lost motion
Rotating backlash (°)
Overall length Horizontal
(mm)
Vertical
Maximum outside dimension
W48 × H58
of body cross-section (mm)
Standard: 1 / Option: 3, 5, 10
Cable length (m)

Note 4. The robot cable is flexible and resists bending.
Note 5. See P.498 for DIN rail mounting bracket.
Note 6. Select this selection when using the gateway
function. For details, see P.60.

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 6

SH
Robot positioner
SH: TS-SH

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 6

Horizontal
50

Lead 2

40

SD

Lead 6

30

Battery
B: With battery
(Absolute)
N: None
(Incremental)

1

Robot driver
SD: TS-SD

Lead 12

20

I/O cable
1: 1m

10
0

0

100

Vertical

200

300

400

500

Speed (mm/s)

600

30
25

Lead 2

15

SCARA
robots

YK-X

0

0

100

200

300

400

Speed (mm/s)

500

600

YP-X

Pick & place
robots

Motor installation (Space-saving model)

6000

5000
4000
3000
2000
1000
0

Lead 12

Vertical

6000

Lead 12

5

Lead 2

Vertical

Lead 6

10

Running life
5000 km on models other than shown below.
Running life of only the model shown below becomes shorter than 5000 km
depending on the payload, so check the running life curve.

20

Note 1. The maximum speed needs to be changed in
accordance with the payload.
See the “Speed vs. payload” graph shown on the right.
For details, see P. 128. Additionally, when the stroke
is long, the maximum speed is decreased due to the
critical speed of the ball screw. See the maximum
speed table shown at the lower portion of the drawing.

0

5

10

15

Payload (kg)

20

5000
4000
3000
2000
1000
0

25

0

1

2

3

Payload (kg)

4

Controller
Controller Operation method
TS-S2
I/O point trace /
TS-SH
Remote command

Controller Operation method
TS-SD
Pulse train control

CLEAN

SR04 Straight model
A
See Note 5.

67.5

M4×0.7 Depth 5
(For securing cable)

Ball screw greasing port (φ6.5)

9.5

(10) 32.5
9 22
8.5 (Width across flat part)

14
(Width across flat)

6

View A

57
(25)

71
20
10 Installed within the T-slot range of the
main unit.
Hex. socket head cap bolt (M3×0.5),
Length under head 10
*Six bolts are required for one plate.

10

(42.5)

4-φ6.6

(5)

T-slot for M3 (8 locations)

M3×0.5
Dimensions of attached
square nut for T-slot (6 pcs.)
(22.5)
60
73

25
45

.53
14
(Width across
flat)

3.5

Origin on non-motor side

1.5

Hex. socket head cap bolt (M4×0.7),
Length under head 14

45
34

10 (22.5)

* Contents of option: Plate, 2 pcs., Nut, 12 pcs.
See our robot manuals for additional settings.

2-φ6.6

2.4

Option: Vertical installation plate (flange)

5.

Option: Horizontal installation plate (foot)

5

(7)
Origin on
motor side
42.5±2 Effective stroke

L1(T-slot range)
L
L+40 (with brake)

P.C
.D

4-M4×0.7 Depth 10
(90°-equal division)

(7.8)

16.5

M4×0.7 Depth 5
(For securing cable) 9.5

φ20

(22.5)

45
25

58

45°

M10×1.25

5.8

3.3

Details of T-slot

6

17 M10×1.25
(19.6)

CONTROLLER INFORMATION

28.5

9.5

Approx. 250 (Cable length)

48

Dimensions of attached nut

Effective stroke
50
100
150
200
250
300
L1
162.5 212.5 262.5 312.5 362.5 412.5
L
270.5 320.5 370.5 420.5 470.5 520.5
Weight (kg) Note 8
1.4
1.7
1.9
2.2
2.4
2.7
Maximum Lead 12
500
440
320
speed for each
Lead 6
250
220
160
stroke
(mm/sec)
Lead 2
80
72
53

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.
Note 2. The orientation of the width across flat part is undefined to the b 
ase surface.
Note 3. Use the support guide together to maintain the straightness.
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 7. The cable’s minimum bend radius is R30.
Note 8. M odels with a brake will be 0.2kg heavier.
Note 9.Distance to mechanical stopper.

142

Controller

5

Note. See P.129 for running life distance to life time conversion example.

L type Motor installed on left

R type Motor installed on right

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

Speed vs. payload

42

Deceleration mechanism

Origin position
N: Standard Note 3
Z: Non-motor side

Robot positioner
S2: TS-S2 Note 5

Note 4

Running life (km)

FLIP-X

Single-axis robots

Note 1. See P.129 for grease gun nozzles.
Note 2. When “2mm lead” is selected, the origin position
cannot be changed (to non-motor side).
Note 3. If changing from the origin position at the time of
purchase, the machine reference amount must be
reset. For details, refer to the manual.

Motor
Resolution (Pulse/rotation)
Repeatability (mm)

Note 2

Running life (km)

Compact
single-axis robots

TRANSERVO

Lead
12: 12mm
06: 6mm
02: 2mm

Payload (kg)

Model

Payload (kg)

YA

Articulated robots

SR04

TS-S2 u 490 TS-SH u 490 TS-SD u 500

YA

SR04 Space-saving model (motor installed on right)

5
6

45
25

ф20

45

M3x0.5 2.4

5

102.5

(7.8)

5.

0.5

16.5

44

9.5

Option: Vertical installation plate (flange)
Hex. socket head cap bolt (M4×0.7),
Length under head 14 73
4-ф6.6
60
drill-through

(22.5)

SCARA
robots

Pick & place
robots

YP-X

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.
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.
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)
Note 6. The cable’s minimum bend radius is R30.
Note 7. Models with a brake will be 0.2kg heavier.
Note 8. Distance to mechanical stopper.
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
the position in this drawing).

YK-X

(25)
57
71

10

45
34

(42.5)

Effective stroke
50
100
150
200
250
300
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
Weight (kg) Note 7
1.6
1.9
2.1
2.4
2.6
2.9
Maximum Lead 12
500
440
320
speed for each
Lead 6
250
220
160
stroke
(mm/sec)
Lead 2
80
72
53

Cartesian
robots

10 (22.5)

6

Dimensions of attached
square nut for T-slot (6 pcs.)

XY-X

Installed within the T-slot range of the main unit.
(Hex. socket head cap bolt (M3×0.5),
Length under head 10)
* Six bolts are required for one plate.

4-M4x0.7
Depth 10
(90°-equal
division)
48

25

PHASER

* Contents of option: Plate, 2 pcs., Nut, 12 pcs.
See our robot manuals for additional settings.

2-ф6.6
20
drill-through
10

9.5

M4×0.7 Depth 5
(For securing cable)

Option: Horizontal installation plate (foot)

8.5
9 22 (Width across 14
flat part)
(Width across
(10) 32.5
flat)

Linear motor
single-axis robots

M4×0.7 Depth 5
(For securing cable)

FLIP-X

0.5

100

B

Single-axis robots

M10×1.25

56
T-slot for M3
(8 locations)

45°

48
56.5

L1(T-slot range)

Dimensions of
attached nut

P.C
.D.
53

9.5

14(Width across flat)

Ball screw
greasing port (ф6.5)

67.5

(31)

(15)

See Note 5.

Compact
single-axis robots

Detail of section B

(24)

6

TRANSERVO

(40)

17

(19.6)

1.5

M10x1.25

LCM100

5.8
3.3

Linear conveyor
modules

42.5+/-2 Effective stroke (5(Note 8))
(7(Note 8))
Origin on
Origin on
motor side non-motor side (Note 9)

L
152 (with brake)
112

1.5

Approx. 245 (Cable length)

Articulated robots

SR04

SR04 Space-saving model (motor installed on left)
9.5

Approx. 245 (Cable length)

42.5+/-2 Effective stroke (5(Note 8))

L

L1(T-slot range)

67.5

Ball screw greasing
port (ф6.5)

(7(Note 8))

Origin on
motor side

Origin on
non-motor side (Note 9)

CONTROLLER INFORMATION

6

28.5

9.5
See
Note 5.

CLEAN

A
M4×0.7 Depth 5
(For securing cable)

17

6

(31)

5.8

Detail of section B
56
45°

B

M4×0.7 Depth 5
(For securing cable)

2.4

(7.8)
6

(22.5)

Dimensions of attached
square nut for T-slot (6 pcs.)

10

Option: Vertical installation plate (flange)

Installed within the T-slot range of the main unit.
(Hex. socket head cap bolt (M3×0.5),
Length under head 10)
(42.5)
* Six bolts are required for one plate.

Hex. socket head cap bolt (M4×0.7),
Length under head 14
73
4-ф6.6 drill-through
60

(22.5)

10

(25)
57
71

M3x0.5

5.

* Contents of option: Plate, 2 pcs., Nut, 12 pcs.
See our robot manuals for additional settings.

20
2-ф6.6
drill-through 10

9.5

5

Option: Horizontal installation plate (foot)

8.5
9 22 (Width across
flat part)

Controller

(10) 32.5

25
45

56.5
48
1.5

100

34
45

0.5

0.5

44

ф20

M10×1.25

T-slot for M3
(8 locations)

P.C
.D.
5
14 3
(Width across
flat)

Dimensions of attached nut

112
152 (with brake)

3.3

5

(19.6)

(24)

(15)

(40)

M10x1.25

1.5

View A

4-M4x0.7
Depth 10
(90°-equal
division)
48
102.5

25

14
(Width across flat)

45

Effective stroke
50
100
150
200
250
300
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
Weight (kg) Note 7
1.6
1.9
2.1
2.4
2.6
2.9
Maximum Lead 12
500
440
320
speed for each Lead 6
250
220
160
stroke
Lead 2
80
72
53
(mm/sec)
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.
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.
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)
Note 6. The cable’s minimum bend radius is R30.
Note 7. Models with a brake will be 0.2kg heavier.
Note 8. Distance to mechanical stopper.
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 the
position in this drawing).

TS-S2 u 490 TS-SH u 490 TS-SD u 500

143

CE compliance

Rod type (With support guide)

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

SRD04-S

SRD04-U

Linear conveyor
modules

SRD04
Model

S2

Compact
single-axis robots

TRANSERVO

Lead
12: 12mm
06: 6mm
02: 2mm

Model
S: Straight model
U: Space-saving model Note 1
(motor installed on top)

Brake
N: With no brake
B: With brake

FLIP-X

Single-axis robots

Note 1. See P.129 for grease gun nozzles.
Note 2. When “2mm lead” is selected, the origin position
cannot be changed (to non-motor side).
Note 3. If changing from the origin position at the time of
purchase, the machine reference amount must be
reset. For details, refer to the manual.

Bracket plate
N: No plate

H: With plate

Stroke
50 to 300
(50mm pitch)

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 6

SH
Robot positioner
SH: TS-SH

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 6

Speed vs. payload

Cartesian
robots

XY-X

Step motor
20480
+/-0.02
Ball screw ϕ8 Ball screw ϕ10
(Class C10)
(Class C10)
12
6
2
500
250
80
25
40
45
4
11
24
150
300
600
50 to 300 (50pitch)
0.1mm or less
+/-0.05
Stroke+263
Stroke+303

Ball screw lead (mm)
Maximum speed Note 1 (mm/sec)
Horizontal
Maximum
payload (kg)
Vertical
Max. pressing force (N)
Stroke (mm)
Lost motion
Rotating backlash (°)
Overall length Horizontal
(mm)
Vertical
Maximum outside dimension
W48 × H58
of body cross-section (mm)
Cable length (m)
Standard: 1 / Option: 3, 5, 10

SCARA
robots

YK-X

Pick & place
robots

YP-X

Note 1. The maximum speed needs to be changed in
accordance with the payload.
See the “Speed vs. payload” graph shown on the right.
For details, see P. 128.
Additionally, when the stroke is long, the maximum
speed is decreased due to the critical speed of the ball
screw.
See the maximum speed table shown at the lower
portion of the drawing.

Horizontal
50

Payload (kg)

42

Lead 2

40

SD

Lead 6

30

Lead 12

20
10

I/O cable
1: 1m

Running life
0

100

200

300

400

500

5000 km on models other than shown below.
Running life of only the model shown below becomes shorter than 5000 km
depending on the payload, so check the running life curve.

600

Speed (mm/s)
Vertical
30

Lead 2

Vertical

Lead 2

25
20
15

Lead 6

10

Lead 12

5
0

Battery
B: With battery
(Absolute)
N: None
(Incremental)

1

Robot driver
SD: TS-SD

0

Payload (kg)

PHASER

Linear motor
single-axis robots

Deceleration mechanism

Origin position
N: Standard Note 3
Z: Non-motor side

Robot positioner
S2: TS-S2 Note 5

Note 4

Note 4. The robot cable is flexible and resists bending.
Note 5. See P.498 for DIN rail mounting bracket.
Note 6. Select this selection when using the gateway
function. For details, see P.60.

Basic specifications
Motor
Resolution (Pulse/rotation)
Repeatability (mm)

Note 2

0

100

200

300

400

500

6000
5000
4000
3000
2000
1000
0

0

5

10

15

Vertical

20 25 Payload (kg)

Running life (km)

LCM100

Ordering method

Running life (km)

YA

Articulated robots

SRD04

6000
5000
4000
3000
2000
1000
0

0

Lead 12

1

2

3

4

5 Payload (kg)

Note. See P.129 for running life distance to life time conversion
example.
600

Controller

Speed (mm/s)

Controller Operation method
TS-S2
I/O point trace /
TS-SH
Remote command

Controller Operation method
TS-SD
Pulse train control

SRD04 Straight model

45

A

φ19

See Note 3.

φ10

CLEAN

Effective stroke+100.5
45

9.5

Approx. 250 (Cable length)

45

45

6

CONTROLLER INFORMATION

Ball screw
greasing port
(φ6.5)
67.5

22

30

126
30

30

4-M5×0.8
drill-through
(For main unit
installation)

M4×0.7 Depth 5
(For securing cable)

9.5

(7)
L1(T-slot range)

Origin on
motor side
42.5±2

L
L+40 (with brake)

T-slot for M3
(4 locations)
Effective stroke
Origin on
non-motor side

71

144

3.5

3.3

Details of T-slot

25
105
135

M4×0.7 Depth 5
(For securing cable)

9.5

View A

Installed within the T-slot range of the main unit.
Hex. socket head cap bolt (M3×0.5), Length under head 10
* Six bolts are required for one plate.

Effective stroke
L1
L
Weight (kg) Note 6
Maximum Lead 12
speed for each
Lead 6
stroke
(mm/sec)
Lead 2

57
(25)

2-φ6.6

20
10

(7.8)

M3×0.5
Dimensions of attached
square nut for T-slot (6 pcs.)

5.8

1.5

10 (22.5)

5.

2.4

5

Option: Horizontal installation plate (foot)
* Contents of option: Plate, 2 pcs., Nut, 12 pcs.
See our robot manuals for additional settings.

20
34

(5)

28.5

48

16.5

(22.5)

45
30

58

10.5

8-M5×0.8
Depth 12
(For user tool
installation)

Controller

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

50
100
150
200
250
300
the rod.
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.
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
to them.
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
500
440
320
the cables. (Effective screw thread depth 5)
250
220
160 Note 5.The cable’s minimum bend radius is R30.
Note 6.Models with a brake will be 0.2kg heavier.
80
72
53
Note 7.Distance to mechanical stopper.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

YA

Articulated robots

SRD04

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X
YP-X

Pick & place
robots

SRD04 Space-saving model (motor installed on top)
Option: Horizontal installation plate (foot)
M4×0.7 Depth 5
(For securing cable)

10 (22.5)

42.5+/-2 Effective stroke
(7(Note 8)) Origin on
motor side

L

45

20
10

(5(Note 8))
Origin on
non-motor side (Note 9)

ф19

25
57
71

ф10

45

2-ф6.6
drill-through

9.5

Approx. 245 (Cable length)

CONTROLLER INFORMATION

Installed within the T-slot range of the main unit.
(Hex. socket head cap bolt (M3×0.5),
Length under head 10)
* Six bolts are required for one plate.

CLEAN

6

* Contents of option: Plate, 2 pcs., Nut, 12 pcs.
See our robot manuals for additional settings.

(15)

(40)

152 (with brake)
112

45
10.5
Effective stroke+100.5

22

56.5
48

1
21

102.5
56

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.
Note 2. The orientation of the width across flat part is undefined to the base surface.

Controller

M3x0.5

2.4

M10x1.25
5

(7.8)

3.3
5.8
Dimensions of attached
Detail of
square nut for T-slot (6 pcs.) section B

1.5

Effective stroke
50
100
150
200
250
300
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
Weight (kg) Note 7
2.2
2.6
2.9
3.2
3.5
3.9
Maximum Lead 12
500
440
320
speed for each
Lead 6
250
220
160
stroke
(mm/sec)
Lead 2
80
72
53

T-slot for M3
(4 locations)

L1(T-slot range)

9.5
9.5

5

M4×0.7 Depth 5
(For securing cable)

5.

45

Ball screw greasing
port (ф6.5)

67.5

17

6

30

B 25
30
105
126
135

30

(19.6)

See
Note 5.

44

16.5

0.5

22.5

20
30
34
45

6

100

(24)

48

(31)

8-M5×0.8
Depth 12
(For user tool
installation)
4-M5×0.8
drill-through
(For main unit
installation)

Dimensions of
attached nut

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.
Note 5. Remove the M4 hex. socket head cap set bolts and use them to secure the cables. (Effective screw thread depth 5)
Note 6. The cable’s minimum bend radius is R30.
Note 7. Models with a brake will be 0.2kg heavier.
Note 8. Distance to mechanical stopper.
Note 9. For lead 2mm specifications, the origin on the non-motor side cannot be set.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

145

CE compliance

Rod type

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

SR05-S

SR05-R

Linear conveyor
modules

LCM100

Ordering method

SR05
Model
S: Straight model
R: Space-saving model Note 1
(motor installed on right)
L: Space-saving model Note 1
(motor installed on left)

Note 2

Brake
N: With no brake
B: With brake

FLIP-X

Single-axis robots

Note 1. See P.129 for grease gun nozzles.
Note 2. When “2mm lead” is selected, the origin position
cannot be changed (to non-motor side).
Note 3. If changing from the origin position at the time of
purchase, the machine reference amount must be
reset. For details, refer to the manual.

Basic specifications

Origin position
N: Standard Note 3
Z: Non-motor side

Bracket plate
N: No plate

H: With plate
V: With flange

Stroke
50 to 300
(50mm pitch)

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

Robot positioner
S2: TS-S2 Note 5

Note 4

Note 4. The robot cable is flexible and resists bending.
Note 5. See P.498 for DIN rail mounting bracket.
Note 6. Select this selection when using the gateway
function. For details, see P.60.

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 6

SH
Robot positioner
SH: TS-SH

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 6

Speed vs. payload

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

Motor
56 Step motor
Resolution (Pulse/rotation)
20480
+/-0.02
Repeatability (mm)
Deceleration mechanism Ball screw ϕ12 (Class C10)
Ball screw lead (mm)
12
6
2
Maximum speed Note 1 (mm/sec)
300
150
50
Horizontal
50
55
60
Maximum
payload (kg)
Vertical
10
20
30
Max. pressing force (N)
250
550
900
Stroke (mm)
50 to 300 (50pitch)
Lost motion
0.1mm or less
Rotating backlash (°)
+/-1.0
Stroke+276
Overall length Horizontal
(mm)
Vertical
Stroke+316
Maximum outside dimension
W56.4 × H71
of body cross-section (mm)
Standard: 1 / Option: 3, 5, 10
Cable length (m)

Horizontal
70
60
50
40
30
20
10
0

Lead 2

SD

Lead 6
Lead 12

0

50

Speed (mm/s)

SCARA
robots

YK-X

Note 1. The maximum speed needs to be changed in
accordance with the payload.
See the “Speed vs. payload” graph shown on the right.
For details, see P. 128.

Vertical

Lead 6

Lead 2

Lead 12
50

1: 1m

5000 km on models other than shown below.
Running life of only the model shown below becomes shorter than 5000 km
depending on the payload, so check the running life curve.

Lead 2

0

I/O cable

Running life

100 150 200 250 300 350

Vertical
35
30
25
20
15
10
5
0

Battery
B: With battery
(Absolute)
N: None
(Incremental)

1

Robot driver
SD: TS-SD

100 150 200 250 300 350

Speed (mm/s)

Running life (km)

Compact
single-axis robots

TRANSERVO

Lead
12: 12mm
06: 6mm
02: 2mm

Payload (kg)

Model

S2

Payload (kg)

YA

Articulated robots

SR05

6000
5000
4000
3000
2000
1000
0

0

5

10

15

20

25

30

Payload (kg)

Note. See P.129 for running life distance to life time conversion
example.

Motor installation (Space-saving model)
Pick & place
robots

L type Motor installed on left

YP-X

R type Motor installed on right

Controller
Controller Operation method
TS-S2
I/O point trace /
TS-SH
Remote command

Controller Operation method
TS-SD
Pulse train control

CLEAN

SR05 Straight model
A
9.5

78

M4×0.7 Depth 5
(For securing cable)

Ball screw greasing port
(φ6.5)

9.5
18

CONTROLLER INFORMATION

9.5

See Note 5.

Approx. 250 (Cable length)

65

55
30
L1(T-slot range)

68
(30)

main unit.
Hex. socket head cap bolt (M4×0.7),
Length under head 12
* Four bolts are required for one plate.

Controller

(45.5)

4-φ6.6

4-M5×0.8 Depth 10
(90°-equal division)
T-slot for M4
Origin on
(8 locations)
non-motor side

7.3

M4×0.7

7

17
(Width
across flat)

30
55
19

M12×1.25

(9.9)
Dimensions of attached
square nut for T-slot (6 pcs.)

(27.5)
70
83

4.3

Details of T-slot

(21.9)

7

Hex. socket head cap bolt (M5×0.8),
Length under head 14

55
40

12 (27.5)
80
20
10 Installed within the T-slot range of the

3.2

Option: Vertical installation plate (flange)

10

φ25

45.5±2 Effective stroke

L+40 (with brake)
Option: Horizontal installation plate (foot)
* Contents of option: Plate, 2 pcs., Nut, 8 pcs.
See our robot manuals for additional settings.

(5)

Origin on
motor side

1.5 4.5

0.7

(7)

(Note7)

28.2

9.5

L

146

17 (Width across flat)

C.
D.

37

71
56.4

2-φ6.6

P.

View A

9.5 (Width across flat part)
M12×1.25

45°

(28.2)

(10) 35.5
10 24

M4×0.7 Depth 5
(For securing cable)

Dimensions of attached nut

Effective stroke 50
100
150
200
250
300
L1
183
233
283
333
383
433
L
280.5 330.5 380.5 430.5 480.5 530.5
Weight (kg) Note 10 2.2
2.6
3.0
3.3
3.7
4.1

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.
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.
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 6. When running the cables, secure cables so that any load is not applied to them.
Note 7. Remove the M4 hex. socket head cap set bolts and use them to secure the cables. (Effective screw thread depth 5)
Note 8. The cable’s minimum bend radius is R30.
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.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

YA

SR05 Space-saving model (motor installed on right)
45.5+/-2

L

Effective stroke (5(Note 8,Note 12))

(9.9)

Dimensions of attached
Origin on
square nut for T-slot (6 pcs.)
non-motor side (Note 9)

6

9.5

28.2
56.5
71

55
30

37

56.5

Option: Horizontal installation plate (foot)

(Width across flat part)

9.5

M4×0.7 Depth 5
(For securing cable)

10 24

M4×0.7 Depth 5
9.5 (For securing cable)

* Contents of option: Plate, 2 pcs., Nut, 8 pcs.
See our robot manuals for additional settings.

(10) 35.5

56.4

9.5

55
40
(28.2)

(30)
68
80

SCARA
robots

70
83

YK-X

10 (45.5)
4-ф6.6 drill-through

Cartesian
robots

Pick & place
robots

YP-X

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.
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.
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)
Note 6. The cable’s minimum bend radius is R30.
Note 7. Models with a brake will be 0.2kg heavier.
Note 8. Distance to mechanical stopper.
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
the 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 2mm, this dimension is 27mm.

XY-X

12 (27.5)

30
55

Effective stroke 50
100
150
200
250
300
L1
183
233
283
333
383
433
L
227.5 277.5 327.5 377.5 427.5 477.5
Weight (kg) Note 7 2.4
2.8
3.2
3.5
3.9
4.3

Option: Vertical installation plate (flange)
Hex. socket head cap bolt (M5×0.8),
Length under head 14

Installed within the T-slot range of the main unit.
(Hex. socket head cap bolt (M4×0.7),
Length under head 12)
* Four bolts are required for one plate.

17
(Width across flat)

PHASER

0.7
(Note 11)

9.5

Linear motor
single-axis robots

127.5

B

FLIP-X

M12×1.25

P.C.D
.65

L1(T-slot range)

17 (Width
across flat)

(31)

9.5

Dimensions of
attached nut

70
T-slot for M4
(8 locations)
45°

Single-axis robots

(15)

4-M5x0.8 Depth 10
(90°-equal division)

78

28.5

Compact
single-axis robots

Detail of section B

(24)

7

19

M12x1.25

TRANSERVO

7.3
4.3

(21.9)

Ball screw greasing
port (ф6.5)

See Note 5.

3.2

7

Linear conveyor
modules

Origin on
motor side

20
2-ф6.6
drill-through 10

M4x0.7

(7(Note 8))

LCM100

146 (with brake)
106

1.5

Approx. 245 (Cable length)

(40)

Articulated robots

SR05

See
Note 5.

CLEAN

A

M4×0.7 Depth 5
9.5 (For securing cable)

L1(T-slot range)

9.5
78

3.2

M4x0.7

9.5

(9.9)

7
M12x1.25
6

(40)

70

(31)

(15)

Dimensions of
attached nut

45.5+/-2 Effective stroke (5(Note 8,Note 12))

L

(24)

Detail of section B

(7(Note 8))

28.5

.65
P.C.D

45°

9.5 M4×0.7 Depth 5
(For securing cable)

10 24

12 (27.5)

9.5

(10) 35.5

Option: Vertical installation plate (flange)
Hex. socket head cap bolt (M5×0.8),
Length under head 14

(27.5)

(30)
68
80

10 (45.5)

Controller

4-ф6.6
drill-through

70
83

30
55

17
(Width across
flat)

Effective stroke 50
100
150
200
250
300
L1
183
233
283
333
383
433
L
227.5 277.5 327.5 377.5 427.5 477.5
Note 7
Weight (kg)
2.4
2.8
3.2
3.5
3.9
4.3

40
55

Installed within the T-slot range of the main unit.
(Hex. socket head cap bolt (M4×0.7),
Length under head 12)
* Four bolts are required for one plate.

9.5
56.4
(Width across
4-M5x0.8 Depth 10
flat part)
(90°-equal division)

30
55

56.5

127.5

20
2-ф6.6
drill-through 10

B

T-slot for M4
(8 locations)

71
56.5
28.2

M12×1.25

Option: Horizontal installation plate (foot)
* Contents of option: Plate, 2 pcs., Nut, 8 pcs.
See our robot manuals for additional settings.

7

(Width
across
flat)

106
146 (with brake)

Approx. 245 (Cable length)

19

17

7.3
4.3

(21.9)

Ball screw greasing
port (ф6.5)

View A

Dimensions of attached
square nut for T-slot (6 pcs.)

Origin on
non-motor side (Note 9)

CONTROLLER INFORMATION

Origin on
motor side

1.5

18 0.7(Note 11)

SR05 Space-saving model (motor installed on left)

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.
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.
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)
Note 6. The cable’s minimum bend radius is R30.
Note 7. Models with a brake will be 0.2kg heavier.
Note 8. Distance to mechanical stopper.
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 the
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.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

147

CE compliance

Rod type (With support guide)

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

SRD05-S

SRD05-U

Linear conveyor
modules

LCM100

Ordering method

SRD05
Model

S2

Compact
single-axis robots

TRANSERVO

Lead
12: 12mm
06: 6mm
02: 2mm

Model
S: Straight model
U: Space-saving model Note 1
(motor installed on top)

Note 2

Brake
N: With no brake
B: With brake

FLIP-X

Single-axis robots

Note 1. See P.129 for grease gun nozzles.
Note 2. When “2mm lead” is selected, the origin position
cannot be changed (to non-motor side).
Note 3. If changing from the origin position at the time of
purchase, the machine reference amount must be
reset. For details, refer to the manual.

Origin position
N: Standard Note 3
Z: Non-motor side

Bracket plate
N: No plate

Stroke
50 to 300
(50mm pitch)

H: With plate

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

Robot positioner
S2: TS-S2 Note 5

Note 4

Note 4. The robot cable is flexible and resists bending.
Note 5. See P.498 for DIN rail mounting bracket.
Note 6. Select this selection when using the gateway
function. For details, see P.60.

Basic specifications

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 6

SH
Robot positioner
SH: TS-SH

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 6

Speed vs. payload
Horizontal
70

Lead 2

Payload (kg)

60

SD

Lead 6

50

Lead 12

40
30
20

50

100

150

200

250

300

350

Cartesian
robots

XY-X

Speed (mm/s)
Vertical

1: 1m

5000 km on models other than shown below.
Running life of only the model shown below becomes shorter than 5000 km
depending on the payload, so check the running life curve.
Vertical

30

Lead 2

Lead 2

25
20

Lead 6

15

SCARA
robots

YK-X

10

Lead 12

5
0

I/O cable

Running life

0
0

Note 1. The maximum speed needs to be changed in
accordance with the payload.
See the “Speed vs. payload” graph shown on the right.
For details, see P. 128.

Battery
B: With battery
(Absolute)
N: None
(Incremental)

1

Robot driver
SD: TS-SD

10

Payload (kg)

PHASER

Linear motor
single-axis robots

Motor
56 Step motor
Resolution (Pulse/rotation)
20480
Repeatability (mm)
+/-0.02
Deceleration mechanism Ball screw ϕ12 (Class C10)
Ball screw lead (mm)
12
6
2
Maximum speed Note 1 (mm/sec)
300
150
50
Horizontal
50
55
60
Maximum
payload (kg)
Vertical
8.5
18.5
28.5
Max. pressing force (N)
250
550
900
Stroke (mm)
50 to 300 (50pitch)
Lost motion
0.1mm or less
Rotating backlash (°)
+/-0.05
Stroke+276
Overall length Horizontal
(mm)
Vertical
Stroke+316
Maximum outside dimension
W56.4 × H71
of body cross-section (mm)
Cable length (m)
Standard: 1 / Option: 3, 5, 10

Running life (km)

YA

Articulated robots

SRD05

0

50

100

150

200

250

6000
5000
4000
3000
2000
1000
0

0

5

10 15 20
Payload (kg)

25

30

Note. See P.129 for running life distance to life time conversion example.

300

350

Controller

Speed (mm/s)

Pick & place
robots

YP-X

Controller Operation method
TS-S2
I/O point trace /
TS-SH
Remote command

Controller Operation method
TS-SD
Pulse train control

SRD05 Straight model

φ21

A

Ball screw
greasing port
(φ6.5)
Approx. 250 (Cable length)

8-M6×1.0
Depth 15
(For user tool
installation)

78
10.5

24

40

147
40

40

55
40

37
9.5

0.7

56.4

(Note5)

28.2

(28.2)

71

M4×0.7 Depth 5
(For securing cable)

(7)
L

L1(T-slot range)

(5)

Origin on
motor side

T-slot for M4
(4 locations)

45.5±2 Effective stroke

L+40 (with brake)

Origin on non-motor side

Option: Horizontal installation plate (foot)
* Contents of option: Plate, 2 pcs., Nut, 8 pcs.
See our robot manuals for additional settings.

30
130
157
9.5

7.3

M4×0.7

M4×0.7 Depth 5
(For securing cable)

2-φ6.6

20

Dimensions of attached
square nut for T-slot (6 pcs.)

68
(30)

148

4.3

Details of T-slot (2:1)

View A

80

Installed within the T-slot range of the main unit.
Hex. socket head cap bolt (M4×0.7), Length under head 12
* Four bolts are required for one plate.

10

1.5 4.5

12 (27.5)

(9.9)

7

3.2

4-M6×1.0
drill-through
(For main unit
installation)

30
44

9.5

18

CONTROLLER INFORMATION

52

52

55

9.5

CLEAN

See Note 3.

φ12

Effective stroke+107
47

Effective stroke
L1
L
Weight (kg) Note 8

Controller

50
100
150
200
250
300
183
233
283
333
383
433
280.5 330.5 380.5 430.5 480.5 530.5
3.1
3.6
4.1
4.5
5.0
5.5

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.
Note 2.For lead 2mm specifications, the origin on the non-motor side cannot be set.
Note 3.When the lead is 2mm, this dimension is 27mm.
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)
Note 6. The cable’s minimum bend radius is R30.
Note 7. Take great care as the outer case of the motor projects from the bottom of the main
unit.
Note 8. M odels with a brake will be 0.2kg heavier.
Note 9.Distance to mechanical stopper.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

YA

Articulated robots

SRD05

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X
YP-X

Approx. 245 (Cable length)

Pick & place
robots

SRD05 Space-saving model (motor installed on top)
45.5+/-2 Effective stroke (5(Note 8,Note 11))
Origin on
Origin on
(7(Note 8))
motor side non-motor side (Note 9)

L

A
55

CLEAN

M4×0.7 Depth 5
(For securing cable)

ф12

ф21

View A
(15)

47 10.5
Effective stroke +107

24

70.9
56.4

56.4

(40)

146 (with brake)
106

(31)

M4×0.7 Depth 5
(For securing cable)

30
40
44
55

9.5

3.2

M4x0.7

40
7.3

Installed within the T-slot range of the main unit.
(Hex. socket head cap bolt (M4×0.7),
Length under head 12)
* Four bolts are required for one plate.

Dimensions of attached
square nut for T-slot (6 pcs.)

6

4.3

40
130
147
157

40

Detail of section B

Effective stroke 50
100
150
200
250
300
L1
183
233
283
333
383
433
L
227.5 277.5 327.5 377.5 427.5 477.5
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.
Use the external guide together so that any radial load
is not applied to the rod.
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.
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)

Controller

30

1.5

(9.9)

10

(27.5) 9.5

12 (27.5)

20

(30)
68
80

2-ф6.6
drill-through

B

T-slot for M4
(4 locations)

L1

9.5

7

* Contents of option: Plate, 2 pcs., Nut, 8 pcs.
See our robot manuals for additional settings.

78

See Note 5.

Option: Horizontal installation plate (foot)

1 (Note 10)

56.5

28.5

(1)

(28.5) 9.5

70

127.5

(24)

Ball screw greasing
port (ф6.5)

8-M6×1.0
Depth 15
(For user tool
installation)
4-M6×1.0
drill-through
(For main unit
installation)

CONTROLLER INFORMATION

52

18

52

9.5

Note 6. The cable’s minimum bend radius is R30.
Note 7. Models with a brake will be 0.2kg heavier.
Note 8. Distance to mechanical stopper.
Note 9. For lead 2mm specifications, the origin on the nonmotor side cannot be set.
Note 10.Take great care as the outer case of the cover belt
projects from the bottom of the main unit.
Note 11. When the lead is 2 mm, this dimension is 27 mm.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

149

CE compliance

Slide table type

Origin on the non-motor side is selectable

Linear conveyor
modules

LCM100

Ordering method

STH04

S2

Model
Compact
single-axis robots

TRANSERVO

Lead
05: 5mm
10: 10mm

Note 1

Model
S: Straight model
R: Space-saving model
(motor installed on right)
L: Space-saving model
(motor installed on left)

Brake
N: With no brake
B: With brake

Note 3

Origin position
N: Standard Note 2
Z: Non-motor side

Bracket plate
N: No plate
H: With plate

Stroke
50: 50mm
100: 100mm

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

Robot positioner
S2: TS-S2 Note 5

Note 4

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 7

SH

FLIP-X

Single-axis robots

Note 1. For the space saving models (R and L), the specifications with brake are applicable to only 100mm strokes.
Note 2. 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 3. Space-saving models (R and L) with the plate cannot be selected.
Note 4. The robot cable is flexible and resists bending.
Note 5. See P.498 for DIN rail mounting bracket.
Note 6. The robot with the brake cannot use the TS-SD.
Note 7. Select this selection when using the gateway function. For details, see P.60.

Robot positioner
SH: TS-SH

1: 1m

MY

611

415

949

374

255

656
2kg 1534
4kg 656

255
611
255

175
415
175

364

137

95

2kg 1534
3kg
4kg

6kg

(Unit: mm)

A

B

2kg

435

595 1504

3kg

263

359

4kg
2kg
4kg

177
435
177

241 629
595 1504
241 629

C

A

6kg

91

920

123

337

MR

MP

Vertical installation (Unit: mm)

(Unit: N.m)

C

Stroke

0.5kg 2000 2000

Lead 10

C

C

A

50mm

0.75kg 1558 1558

100mm

MY
26
43

MP
26
43

MR
48

1kg 1165 1164
1kg 1165 1164
1.5kg 771 771

Lead 5

B

C

Wall installation
Lead 10

Horizontal installation (Unit: mm)
A

B

A

C

B

574

2kg

574

Note. Overhang at travelling service life of 3000km.
(Service life is calculated for 75mm stroke models.)

Speed vs. payload
Horizontal 7
6
5
4
3
2
1
0

L type Motor installed on left

1
I/O cable

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Static loading moment

Controller
Vertical 2.5

Lead 5

CLEAN

Payload (kg)

Pick & place
robots

YP-X

Motor installation (Space-saving model)
R type Motor installed on right

SD
Robot driver
SD: TS-SD Note 6

A

Lead 5

SCARA
robots

YK-X

Note 1. Positioning repeatability in one direction.
Note 2. The maximum speed needs to be changed in
accordance with the payload.
See the “Speed vs. payload” graph shown on the right.
For details, see P. 128.

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 7

Allowable overhang Note

Payload (kg)

Cartesian
robots

XY-X

Motor
28 Step motor
Resolution (Pulse/rotation)
4096
Note 1
Repeatability
(mm)
+/-0.05
Straight
Slide screw
Drive method
Space-saving
Slide screw + belt
Ball screw lead (mm)
5
10
Maximum speed Note 2 (mm/sec)
200
400
6
4
Maximum payload Horizontal
(kg)
Vertical
2
1
Max. pressing force (N)
55
30
Stroke (mm)
50/100
W45 × H46
Maximum outside dimension Straight
of body cross-section (mm) Space-saving
W74.5 × H51
Cable length (m)
Standard: 1 / Option: 3, 5, 10

Lead 10

PHASER

Linear motor
single-axis robots

Basic specifications

Lead 5

YA

Articulated robots

STH04

Lead 10

2

Controller
TS-S2
TS-SH
TS-SD Note

Lead 5

1.5
1

Lead 10

0.5

0

100

00

200 300 400 500
Speed (mm/s)

100
200
300
Speed (mm/s)

400

Operation method
I/O point trace /
Remote command
Pulse train control

Note. The robot with the brake
cannot use the TS-SD.

Approx. 200
(Cable length without brake)
Approx. 180
(Cable length with brake)

5 +0.01
Depth 5

+0.03

B

6

+0.03

C-M5x0.8 Depth 6.5

20

(C/2-1)xB

ф5 +0.01 Depth 5

R
24

(40)

41.5

46 +/-0.3
37

(15)

(2.1)

(Note 2)

(Note 2)

Origin on motor side

Origin on non-motor side

(Note 1)

(Note 1)

Effective stroke

E

G

9

2-M6x1.0
Option: Installation plate
Depth 12
* Not mounted on Contents of option: Plate, 4 pcs.
upper surface * For additional settings, contact your distributor.
28

4-ф5.3

A

Controller

100
44
8
191.5
85
88.5
191
1.7

4H9(0+0.030)
Depth 5

A
Effective stroke 50
B
40
C
6
D
116.5
E
65
G
39.5
L
122
Weight (kg) Note 6 1.25

5

R

Cross-sectional 4-M6x1.0
drawing A-A
Depth 12
Detailed drawing of installation hole

150

L

86

149.5(with brake)

25.5

29

[1+/- 0.5]

1+/-0.5
11.5

7

45

17

2-M5x0.8
Depth 8

9

0.3

(31)

D

45

+0.030

ф4H9( 0
Depth 5
15.5

ф5.5
)
25
40

60
74

8.3

(24)

4-ф9.5(Note 4)

CONTROLLER INFORMATION

STH04 Straight model

Note 1. Return-to-origin position.
Note 2. Table movable range during return-to-origin operation. The values in [ ] show those when the return-to-origin direction is changed.
Note 3. The minimum bending radius of the motor cable is R30.
Note 4. When installing the mechanical main unit using the back facing holes, use the hex socket head cap M5 bolts.
Note 5. The installation hole positions of the main unit with the specifications with the brake are common to those shown above.
Note 6. Models with a brake will be 0.11kg heavier.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

YA

Articulated robots

STH04
STH04 Space-saving model (motor installed on right)

Linear conveyor
modules

(C/2-1)xB

LCM100

19
B

+0.03

5 +0.01
Depth 5

6

C-M5x0.8 Depth 6.5
+0.03

24

2.5

3-M5x0.8
Depth 8

45

51 +/-0.3

(15)

(31)

Effective stroke
18
(25)
40

+0.030

)

ф9.5

ф5.3

(M6)

4H9( 0
Depth 4

F

A

ф4H9(

+0.030
)
0

Depth 4

Detailed drawing of
installation hole

Pick & place
robots

YP-X

Note 1. Return-to-origin position.
Note 2. Table movable range during return-to-origin
operation. The values in [ ] show those when the
return-to-origin direction is changed.
Note 3. The minimum bending radius of the motor cable is R30.
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 (M5) bolt.
Note 5. The dimensions of the specifications with the
brake are common to those shown above.
Note 6. The specifications with the brake are applicable
to only 100 strokes.
Note 7. Models with a brake will be 0.11kg heavier.

SCARA
robots

Cross-sectional
drawing A-A

100
44
8
44
4
88
191.5
181
1.6

YK-X

5

50
40
6
45
2
45
116.5
106
1.15

Cartesian
robots

35.5

Effective stroke
B
C
D
E
F
G
L
Weight (kg) Note 7

XY-X

A

R

ф10.5(Note 4)

D

E-M6x1.0 Depth 12
See the cross-sectional
drawing of A-A.

(2)

72.5

Origin on non-motor side (Note 1)

Origin on motor side

L
(E-1)xD

9

(Note 2)

(Note 1)

16.5
(12)

[1+/- 0.5]

(Note 2)

PHASER

13

(2.3)

1+/-0.5

Linear motor
single-axis robots

(40)

FLIP-X

37

13
5.5

8

Single-axis robots

G

17.2
35
0.3

29

(24)

Compact
single-axis robots

R

ф5 +0.01 Depth 5

TRANSERVO

Ap
(Ca prox.
b
1
Ap le len 60
gth
(Ca prox.
wit
ble 12
hou
len 0
t br
gth
ake
wit
)
hb
rak
e)

STH04 Space-saving model (motor installed on left)
24

CLEAN

)

ake

t br

u
itho

R

60 w
x. 1 gth
ke)
pro len
bra
Ap able
ith
0
2
w
(C
x. 1 gth
pro len
Ap able
(C

+0.03

Depth 5

+0.03
5 +0.01

C-M5x0.8 Depth 6.5

6
B
(C/2-1)xB

3-M5x0.8
Depth 8

19

51+/-0.3

(31)

(15)

(Note 2)

13

Effective stroke

4H9( +0.030
)
0
Depth 4

+0.030
ф4H9( 0 )

F
5

Depth 4

A
R

40

(M6)

E-M6x1.0 Depth 12
See the cross-sectional
drawing of A-A.

Detailed drawing of
installation hole

Controller

A

D
(E-1)xD

(25)

ф5.3

35.5

ф9.5

Origin on motor side

L

18

72.5

(Note 2)

(Note 1)

16.5

ф10.5(Note 4)

[1+/- 0.5] (2)

1 +/-0.5

(2.3)

Cross-sectional
drawing A-A

5.5
13

0.3
35
17.2

8

37

G

(40)

(12)

2.5

29

(24)

9

45

CONTROLLER INFORMATION

ф5 +0.01 Depth 5

Origin on non-motor side (Note 1)
Effective stroke
B
C
D
E
F
G
L
Weight (kg) Note 7

50
40
6
45
2
45
116.5
106
1.15

100
44
8
44
4
88
191.5
181
1.6

Note 1. Return-to-origin position.
Note 2. Table movable range during return-to-origin
operation. The values in [ ] show those when the
return-to-origin direction is changed.
Note 3. The minimum bending radius of the motor cable
is R30.
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 (M5) bolt.
Note 5. The dimensions of the specifications with the
brake are common to those shown above.
Note 6. The specifications with the brake are applicable
to only 100 strokes.
Note 7. Models with a brake will be 0.11kg heavier.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

151

CE compliance

Slide table type

Origin on the non-motor side is selectable

Linear conveyor
modules

LCM100

Ordering method

STH06
Model

S2

Compact
single-axis robots

TRANSERVO

Lead
08: 8mm
16: 16mm

Model
S: Straight model
R: Space-saving model
(motor installed on right)
L: Space-saving model
(motor installed on left)

Brake
N: With no brake
B: With brake

Origin position
N: Standard Note 1
Z: Non-motor side

Bracket plate
N: No plate
H: With plate

Note 2

Stroke
50: 50mm
100: 100mm
150: 150mm

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

Note 3

Robot positioner
S2: TS-S2 Note 4

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 6

SH

Single-axis robots

Robot positioner
SH: TS-SH

FLIP-X

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. Space-saving models (R and L) with the plate cannot be selected.
Note 3. The robot cable is flexible and resists bending.
Note 4. See P.498 for DIN rail mounting bracket.
Note 5. The robot with the brake cannot use the TS-SD.
Note 6. Select this selection when using the gateway function. For details, see P.60.

1: 1m

MY

Wall installation

C

A

2kg 3000 2123 1436
4kg 2493 1001

680
428
932
428
260

6kg 1571

627
3kg 3000 1375
6kg 1571 627
9kg 956 378

B

C

A

710 975 2443
440 603 1524
979 1347 3000
440 603 1524
260 355 912

6kg
3kg
6kg
9kg

MR

MP

Vertical installation (Unit: mm)

(Unit: mm)

2kg 1500 2091 3000
4kg

C

A

Lead 16

B

C

Lead 8

Horizontal installation (Unit: mm)
A

B

A

C

B

(Unit: N.m)

C

Stroke

MY
50mm 77
100mm 112
150mm 155

1kg 3000 3000
1.5kg 2458 2457
2kg 1837 1837

MP
77
112
155

MR
146
177
152

2kg 1837 1837
3kg 1217 1216

907

4kg

906

Note. Overhang at travelling service life of 3000km.
(Service life is calculated for 100mm stroke models.)

Speed vs. payload
Horizontal

CLEAN

Payload (kg)

L type Motor installed on left

1
I/O cable

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Static loading moment

10
9
8
7
6
5
4
3
2
1
0

0

Controller

Vertical 4.5
4
Lead 8
3.5
Lead 16
3
2.5
2
1.5
1
0.5
00
100 200 300 400 500
Speed (mm/s)

Controller
TS-S2
TS-SH
TS-SD Note

Lead 8

Payload (kg)

Pick & place
robots

YP-X

Motor installation (Space-saving model)
R type Motor installed on right

SD
Robot driver
SD: TS-SD Note 5

A

Lead 16

SCARA
robots

YK-X

Note 1. Positioning repeatability in one direction.
Note 2. The maximum speed needs to be changed in
accordance with the payload.
See the “Speed vs. payload” graph shown on the right.
For details, see P. 128.

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 6

Allowable overhang Note

Lead 8

Cartesian
robots

XY-X

Motor
42 Step motor
Resolution (Pulse/rotation)
20480
Note 1
Repeatability
(mm)
+/-0.05
Straight
Slide screw
Drive method
Space-saving
Slide screw + belt
Ball screw lead (mm)
8
16
Maximum speed Note 2 (mm/sec)
150
400
9
6
Maximum payload Horizontal
(kg)
Vertical
4
2
Max. pressing force (N)
180
100
Stroke (mm)
50/100/150
W61 × H65
Maximum outside dimension Straight
of body cross-section (mm) Space-saving
W108 × H70
Cable length (m)
Standard: 1 / Option: 3, 5, 10

Lead 16

PHASER

Linear motor
single-axis robots

Basic specifications

Lead 8

YA

Articulated robots

STH06

Lead 16

Pulse train control

Note. The robot with the brake
cannot use the TS-SD.

100 150 200 250 300
Speed (mm/s)

50

Operation method
I/O point trace /
Remote command

(C/2-1)xB
+0.03

29

B

7

C-M6x1.0 Depth 8
ф6 +0.03
+0.01 Depth 6

(31)

D

2-M6x1.0
Depth 14

57

1+/- 0.5
(Note 2)

16.5
82
123(with brake)

38
Controller

6
Depth 5

5H9 (+0.030
)
0

Effective stroke 50
100
150
B
75
48
65
C
4
8
8
D
143
207
285
E
84
98.5 126.5
F
4
4
6
G
40.5
88
69
L
144.5 206.5 284.5
Weight (kg) Note 6 2.52 3.27
3.6

Option: Installation plate
Contents of option: Plate, 4 pcs.
* For additional settings, contact your distributor.

R

A

(Note 1)

2-M8x1.25 Depth 16
* Not mounted on upper surface

A

F-ф6.8

F-ф11

Effective stroke

(Note 2)

Origin on non-motor side

12

E

G

Detailed drawing of installation hole

152

(Note 1)

(F/2-1)xG

8 39.5

Origin on motor side

L

[1+/- 0.5]

60

22

ф5H9 ( +0.030
) Depth5
0

ф6.6
12

(2.2)

F-M8x1.25
Cross-sectional Depth 16
drawing A-A

61
44

65 +/- 0.3
55

0.5

14

23.5

(40)
(15)

(24)

36

R

Approx. 210
(Cable length without brake/with brake)

6 +0.01
Depth 6

CONTROLLER INFORMATION

STH06 Straight model

81
30
Note 1. Return-to-origin position.
49
99
Note 2. Table movable range during return-to-origin operation.
The values in [ ] show those when the return-to-origin
direction is changed.
Note 5. The installation hole positions of the main unit with
Note 3. The minimum bending radius of the motor cable is R30.
the specifications with the brake are common to those
Note 4. When installing the mechanical main unit using the back
shown above.
facing holes, use the hex socket head cap M6 bolts.
Note 6. Models with a brake will be 0.34kg heavier.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

YA

Articulated robots

STH06
STH06 Space-saving model (motor installed on right)

+0.03

6 +0.01
Depth 6

C-M6x1.0 Depth 8

7

+0.03

ф6 +0.01 Depth 6

36

Compact
single-axis robots

0.5

16.5
6.5

21

52

(31)

(37)
56

(16)

ф6.8

ф11

A

6

5H9 ( 0
Depth 5

Detailed drawing of
installation hole

SCARA
robots

Cross-sectional
drawing A-A

150
65
8
66
4
132
285
274
4.26

Pick & place
robots

YP-X

Note 1. Return-to-origin position.
Note 2. Table movable range during return-to-origin
operation. The values in [ ] show those when the
return-to-origin direction is changed.
Note 3. The minimum bending radius of the motor cable is
R30.
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
brake are common to those shown above.
Note 6. M odels with a brake will be 0.34kg heavier.

ф5H9 (+0.030
) Depth 5
0

A

F

100
48
8
44
4
88
207
196
3.3

YK-X

+0.030

)

50.5

50
75
4
80
2
80
143
132
2.5

Cartesian
robots

Effective stroke
B
C
D
E
F
G
L
Weight (kg) Note 6

24.5

D

R

ф12 (Note 4)

(Note 1)

XY-X

(M8)

(E-1)xD
E-M8x1.25 Depth 16
See the cross-sectional
drawing of A-A.

Origin on non-motor side

Origin on motor
side (Note 1)
Effective stroke

L

PHASER

19.5

(2)

106

(Note 2)

Linear motor
single-axis robots

(Note 2)

16.5

FLIP-X

[1+/- 0.5]

1+/- 0.5
(2.2)

Single-axis robots

3-M6x1.0
Depth 10

61
44

48
70 +/- 0.3

6.5
10

(40)

11.5

TRANSERVO

R

(15)

25
B

G

(24)

Linear conveyor
modules

Ap
(Ca prox.
b
Ap le len 150
(Ca prox. gth w
ble 110 itho
ut b
len
rak
gth
e)
wit
hb
rak
e)

LCM100

(C/2-1) xB

STH06 Space-saving model (motor installed on left)
CLEAN

R

)

36

ake

6 +0.01
Depth 6

ф6 +0.03
+0.01 Depth 6

+0.03

7

C-M6x1.0 Depth 8

B
(C/2-1)xB

25
3-M6x1.0 Depth 10

52
(15)

(31)

(40)
(2.2)

16.5

F
6

A

1+/- 0.5

[1+/- 0.5]

Origin on motor
side (Note 1)
Effective stroke

Origin on non-motor side

(Note 2)

ф5H9 ( +0.030
)
0
Depth 5

R

50.5

(37)

56

(16)

(M8)

ф6.8

ф11

ф12 (Note 4)

11.5

L
5H9 (+0.030
)
0
Depth 5

19.5

Cross-sectional
drawing A-A
Detailed drawing of
installation hole

E-M8x1.25 Depth 16
See the cross-sectional
drawing of A-A.

Controller

A

D
(E-1)xD

61
44

70 +/- 0.3
48
0.5
21

10

G

(24)

CONTROLLER INFORMATION

50 with
e)
rak
x. 1 gth
pro le len 10 with b
p
A ab
1 th
.
x
(C pro leng
Ap able
(C

24.5

(Note 2)

(2)

6.5
6.5
16.5

br
out

106

(Note 1)

Effective stroke
B
C
D
E
F
G
L
Weight (kg) Note 6

50
75
4
80
2
80
143
132
2.5

100
48
8
44
4
88
207
196
3.3

150
65
8
66
4
132
285
274
4.26

Note 1. Return-to-origin position.
Note 2. Table movable range during return-to-origin
operation. The values in [ ] show those when the
return-to-origin direction is changed.
Note 3. The minimum bending radius of the motor cable is
R30.
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
brake are common to those shown above.
Note 6. M odels with a brake will be 0.34kg heavier.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

153

YA

Articulated robots

RF02-N

CE compliance

Rotary type / Limit rotation specification

Rotation range : 310°

Linear conveyor
modules

LCM100

Ordering method

RF02

N

Model
Compact
single-axis robots

TRANSERVO

Return-to-origin method
N: Stroke end (Limit rotation)

L
Bearing
N: Standard
H: High rigidity

Torque
N: Standard torque
H: High torque

S2

Cable entry location
L: From the left

Rotation direction
N: CCW
Z: CW

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

Robot positioner
S2: TS-S2 Note2

Note 1

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

SH

Single-axis robots

FLIP-X

Robot positioner
SH: TS-SH

PHASER

Linear motor
single-axis robots

SD

Note 1. The robot cable is flexible and resists bending.
Note 2. See P.498 for DIN rail mounting bracket.
Note 3. Select this selection when using the gateway function. For details, see P.60.

Basic specifications

Effective torque : T (N•m)

2

Moment of inertia: I (kg • m )

Cartesian
robots

XY-X

High torque

0.0030
0.0025
0.0020
Standard

0.0010
0.0005

SCARA
robots

YK-X

0.0000
100

1: 1m

0.35

0.0040

0.0015

I/O cable

Effective torque vs. speed

0.0045
0.0035

Battery
B: With battery
(Absolute)
N: None
(Incremental)

1

Robot driver
SD: TS-SD

Moment of inertia Acceleration/deceleration

Motor
20 Step motor
Resolution (Pulse/rotation)
4096
Repeatability Note 1 (°)
+/-0.05
Drive method
Special warm gear + belt
Torque type
Standard High torque
420
280
Maximum speed Note 2 (°/sec)
Rotating torque (N•m)
0.22
0.32
Max. pushing torque (N•m)
0.11
0.16
Backlash (°)
+/-0.5
Max. moment of inertia Note 3 (kg•m2)
0.0018
0.004
Cable length (m)
Standard: 1 / Option: 3, 5, 10
Rotation range (°)
310

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

1000

2

0.25
0.20

Standard

0.15
0.10
0.05
0.00

10000

High torque

0.30

Acceleration/deceleration: ώ (°/s )

0

100

200

300

400

Speed: ω (°/s)

Allowable load

500

Controller
(a)

(b)

Pick & place
robots

Operation method
I/O point trace /
Remote command
Pulse train control

3H
De 8( +0.
pt 0 014
h
3. )
8
45°

1]
+/-

30°

[5°

)

CC W

51

A

52
42
0

10

6

(24)

0

ф42h8(-0.039 )

3.5

ti o n
ec

di r

Origin mark

154

)

85

51

0.49

Controller

ф15H8(

+0.027
)
0

Cross-sectional drawing A-A

7
(Tolerance
range)

Weight (kg)

(2.1)
Approx. 170
(Motor cable exit direction: Exit from left side)

+0.014

+0.027

ф18H8 ( 0 )
ф8 (Through-hole)

(15)

3H8( 0
Depth 4

76

2
(Tolerance
range)

65.8

(40)

16

32

Manual operation screw (both sides)

Note 1.This drawing is output under the conditions below.
Bearing....................... Standard
Torque........................ Standard/High torque
Note 2.The minimum bending radius of the motor cable is
R30.
Note 3.The motor cable exit direction is only the left side.

2-ф5.2 drill-through
ф9 deep spot facing,
Depth 5.5
P.C.D.32
6-M4x0.7 Depth 6
(60° equally divided.)

ф43h8(-0.039 )

(31)

CW

Origin *2
Origin position in CCW
rotation direction
[Stroke end]

A

27

d i r e c ti o n

Origin mark

°

5°+/-1

014
+0.0

8(
3H th 4
p
De
2

15

42

2

CONTROLLER INFORMATION

*1 Table movable range by return-to-origin operation.
Be careful not to interfere with the workpiece or equipment around the table.
*2 Return-to-origin position
*3 Values and characters in [ ] show those when the return-to-origin
direction is changed.

Stroke end
Origin position in
CW rotation direction
[Origin] *3

310

CLEAN

RF02-NN Limit rotation specification – Standard model

*1

YP-X

Note 1. Positioning repeatability in one direction.
Allowable thrust load (N)
Allowable moment
Note 2. The maximum speed may vary depending on the
Allowable radial load (N)
(N•m)
(a)
(b)
moment of inertia. Check the maximum speed while
High
High
High
High
Standard
Standard
Standard
Standard
referring to the “Moment of inertia vs. Acceleration/
rigidity
rigidity
rigidity
rigidity
model
model
model
model
model
model
model
model
deceleration” graph and the “Effective torque vs.
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
checking the “Moment of inertia vs. Acceleration/Deceleration” and “Effective
see P.604.
torque vs. Speed” graphs.
For details, please refer to the TRANSERVO Series User’s Manual.

Controller
TS-S2
TS-SH
TS-SD

2-M6x1.0 Depth 12

2

TS-S2 u 490 TS-SH u 490 TS-SD u 500

14
52

(2.1)

YA

Articulated robots

RF02-N

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X

RF02-NH Limit rotation specification – High rigidity model
Pick & place
robots

YP-X

1]
+/[5°

3H
De 8( +0.
pt 0 014
h
3. )
8
45°

°

A

CW

6-M4x0.7 Depth 6
(60° equally divided.)

42

0

ф43h8(-0.039 )
0

ф42h8(-0.039 )

(40)

16

32

17

10.5

6

(24)

(31)

P.C.D.32

52

*1 Table movable range by return-to-origin operation.
Be careful not to interfere with the workpiece or equipment around the table.
*2 Return-to-origin position
*3 Values and characters in [ ] show those when the return-to-origin
direction is changed.
Origin mark
Manual
operation screw
(both sides)

2-ф5.2 drill-through
ф9 deep spot facing, Depth 5.5

di r

ec

27

ti o n

51

*1

310

A

2

Origin *2
Origin position in CCW
rotation direction
[Stroke end]

CONTROLLER INFORMATION

CC W

30°

d i r e c ti o n

)

5°+/-1

014
+0.0

2

15

42

8(
3H th 4
p
De

Origin mark

CLEAN

Stroke end
Origin position in
CW rotation direction
[Origin] *3

51
+0.027
)
0

Cross-sectional drawing A-A

7
(Tolerance range)

ф15H8(

2-M6x1.0 Depth 12

Weight (kg)

2

14
52

Controller

(2.1)

)

+0.027
)
0

ф8 (Through-hole)

85

Approx. 170
(Motor cable exit direction:
Exit from left side)

3H8( 0
Depth 4

2
(Tolerance range)

ф18H8(

(2.1)

(15)

76

+0.014

65.8

0.52

Note 1.This drawing is output under the conditions below.
Bearing....................... High rigidity
Torque........................ Standard/High torque
Note 2.The minimum bending radius of the motor cable is
R30.
Note 3.The motor cable exit direction is only the left side.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

155

YA

Articulated robots

RF02-S

CE compliance

Rotary type / Sensor specification

Limitless rotation

Linear conveyor
modules

LCM100

Ordering method

RF02
Model

S

L

Compact
single-axis robots

TRANSERVO

Return-to-origin method
S: Sensor
(Limitless rotation)

Bearing
N: Standard
H: High rigidity

Torque
N: Standard torque
H: High torque

S2

Cable entry location
L: From the left

Rotation direction
N: CCW
Z: CW

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

Note 1

Robot positioner
S2: TS-S2 Note2

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

SH

Single-axis robots

FLIP-X

Robot positioner
SH: TS-SH

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

Basic specifications

Moment of inertia Acceleration/deceleration

SCARA
robots

YK-X

Pick & place
robots

2

0.35

0.0040
High torque

0.0035
0.0030
0.0025
0.0020
0.0015

Standard

0.0010
0.0005
0.0000
100

1000

2

0.25
0.20

Standard

0.15
0.10
0.05
0.00

10000

High torque

0.30

Acceleration/deceleration: ώ (°/s )

0

100

Allowable load

Standard
model

High
rigidity
model

78

86

(b)

300

400

500

Controller Operation method
TS-S2S
I/O point trace /
TS-SHS
Remote command

Allowable thrust load (N)
(a)
(b)

Allowable radial load
(N)

200

Speed: ω (°/s)

Controller
(a)

High
rigidity
model

Standard
model

Allowable moment
(N•m)

Standard
model

High
rigidity
model

Standard
model

High
rigidity
model

78

107

2.4

2.9

74

CLEAN

Note. When purchasing the product, set the controller acceleration while carefully
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.

RF02-SN Sensor specification – Standard model

*1 Table movable range by return-to-origin
operation. Be careful not to interfere with the
workpiece or equipment around the table.
*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 User's
Manual and change the origin coordinates.

A
2-ф5.2 drill-through
ф9 deep spot facing,
Depth 5.5
P.C.D.32

52

6-M4x0.7 Depth 6
(60° equally divided.)

0
)
ф42h8(-0.039

(15)

76

2
(Tolerance
range)

ф18H8(+0.027
)
0

(2.1)

Weight (kg)

0.51

Cross-sectional drawing A-A

Note 1. This drawing is output under the conditions below.
Bearing....................... Standard
Torque........................ Standard/High torque
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.

156

Controller

2-M6x1.0 Depth 12
2
Approx. 300
(Sensor cable exit direction: Exit from left side)

TS-S2 u 490 TS-SH u 490

14
52
72

11

ф15H8(+0.027
)
0

7
(Tolerance
range)

51

ф8 (Through-hole)

85

(2.1)
Approx. 170
(Motor cable exit direction: Exit from left side)
+0.014

65.8

3H8( 0 )
Depth 4

(15)

(40)

16

(20)

32

10

3.5

0
)
ф43h8(-0.039

6

Manual
operation screw
(both sides)

A

42

(24)

(31)

51

C C W dir e

*1

ir e c t i o n
CW
d

30°

360°

c ti o

n

014 )
+0.
8( 0
3H th 4
p
De

CONTROLLER INFORMATION

2

15

4.8

YP-X

Note 1. Positioning repeatability in one direction.
Note 2. The maximum speed may vary depending on the
moment of inertia. Check the maximum speed while
referring to the “Moment of inertia vs. Acceleration/
deceleration” graph and the “Effective torque vs.
speed” graph (reference).
Note 3. For moment of inertia and effective torque details,
see P.604.

Effective torque vs. speed

0.0045

Effective torque : T (N•m)

Cartesian
robots

XY-X

Motor
20 Step motor
Resolution (Pulse/rotation)
4096
Repeatability Note 1 (°)
+/-0.05
Drive method
Special warm gear + belt
Torque type
Standard High torque
Note 2
Maximum speed
(°/sec)
420
280
Rotating torque (N•m)
0.22
0.32
Max. pushing torque (N•m)
0.11
0.16
Backlash (°)
+/-0.5
Note 3
2
Max. moment of inertia
(kg•m )
0.0018
0.004
Cable length (m)
Standard: 1 / Option: 3, 5, 10
Rotation range (°)
360

Moment of inertia: I (kg • m )

PHASER

Linear motor
single-axis robots

Note 1. The robot cable is flexible and resists bending.
Note 2. See P.498 for DIN rail mounting bracket.
Note 3. Select this selection when using the gateway function. For details, see P.60.

Battery
B: With battery
(Absolute)
N: None
(Incremental)

YA

Articulated robots

RF02-S

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X

RF02-SH Sensor specification – High rigidity model
n

c ti o

51

*1

ir e c t i o n

2-ф5.2 drill-through
ф9 deep spot facing, Depth 5.5
P.C.D.32

52

6-M4x0.7 Depth 6
(60° equally divided.)

0
ф43h8(-0.039
)

6

76

ф18H8(

+0.027
)
0

(2.1)

(15)

85

Approx. 170
(Motor cable exit direction: Exit from left side)

(2.1)

+0.027
)
0

Cross-sectional drawing A-A

2-M6x1.0 Depth 12
2

Weight (kg)

0.55

Note 1. This drawing is output under the conditions below.
Bearing....................... High rigidity
Torque........................ Standard/High torque
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.

Approx. 300
(Sensor cable exit direction: Exit from left side)

Controller

14

11

ф15H8(

7
(Tolerance range)

51

ф8 (Through-hole)

(40)

65.8

3H8( +0.014
)
0
Depth 4

(15)

2
(Tolerance range)

16

(20)

32

17

10.5

(24)

0
ф42h8(-0.039
)

CONTROLLER INFORMATION

CW
d

A

CLEAN

360°

30°

C C W dir e

)

(31)

11.8

Pick & place
robots

014

+0.

A

42

*1 Table movable range by return-to-origin operation. Be careful not to
interfere with the workpiece or equipment around the table.
*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
User's Manual and change the origin coordinates.
Manual
operation screw
(both sides)

YP-X

0
8(
3H
4
pth
De

2

15

52
72

TS-S2 u 490 TS-SH u 490

157

YA

Articulated robots

RF03-N

CE compliance

Rotary type / Limit rotation specification

Rotation range : 320°

Linear conveyor
modules

LCM100

Ordering method

RF03
Model

N

S2

Compact
single-axis robots

TRANSERVO

Return-to-origin method
N: Stroke end (Limit rotation)

Bearing
N: Standard
H: High rigidity

Torque
N: Standard torque
H: High torque

Cable entry location
R: From the right
L: From the left

Rotation direction
N: CCW
Z: CW

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

Robot positioner
S2: TS-S2 Note2

Note 1

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

SH

Single-axis robots

FLIP-X

Robot positioner
SH: TS-SH

PHASER

Linear motor
single-axis robots

SD

Note 1. The robot cable is flexible and resists bending.
Note 2. See P.498 for DIN rail mounting bracket.
Note 3. Select this selection when using the gateway function. For details, see P.60.

Basic specifications

SCARA
robots

YK-X

420
280
Rotating torque (N•m)
0.8
1.2
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
Rotation range (°)
320

I/O cable
1: 1m

Effective torque vs. speed

0.030

1.4

0.025

Effective torque : T (N•m)

Step motor
4096
+/-0.05
Special warm gear + belt
Standard High torque

2

28

Battery
B: With battery
(Absolute)
N: None
(Incremental)

1

Robot driver
SD: TS-SD

Moment of inertia Acceleration/deceleration
Moment of inertia: I (kg • m )

Cartesian
robots

XY-X

Motor
Resolution (Pulse/rotation)
Repeatability Note 1 (°)
Drive method
Torque type
Maximum speed Note 2 (°/sec)

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

High torque

0.020
0.015
0.010

Standard

0.005
0.000
100

1000

2

1.2

High torque

1.0
0.8

Standard

0.6
0.4
0.2
0.0

10000

Acceleration/deceleration: ώ (°/s )

0

100

200

300

Speed: ω (°/s)

Allowable load

400

500

Controller
(a)

(b)

Pick & place
robots

Operation method
I/O point trace /
Remote command
Pulse train control

RF03-NN Limit rotation specification – Standard model
4H
De 8( +0
pt 0 .018
h
4. )
8
45°
66

ti o n

*1

2-ф6.8 drill-through
ф11 deep spot facing, Depth 6.5
75

CW

6-M5x0.8 Depth 8
(60° equally divided.)

0

0

(24)

ф63h8(-0.046 )

(2.4)
Approx. 180
(Motor cable exit direction: Exit from left side)

+0.018

66

ф17 (Through-hole)

(2.4)
Approx. 180
(Motor cable exit direction: Exit from right side)

107
4H8( 0 )
Depth 5

+0.039
)
0

(15)
2
(Tolerance
range)

ф32H8(

(40)

20

40

13

8

(31)

88.2
102

ф22H8(

+0.033
)
0

Cross-sectional drawing A-A

Controller

8
(Tolerance
range)

1.1

Note 1.This drawing is output under the
conditions below.
Bearing.... Standard
Torque...... Standard/High torque
Note 2.The minimum bending radius of the
motor cable is R30.

P.C.D.48

58
ф64h8(-0.046 )

Origin mark
Manual
operation screw
(both sides)

158

A

4.5

CC W

A

ec

5°+

/-1]

d i r e c ti o n

30°

5°+/-1 [

42

39

Origin
Origin position in CCW
rotation direction
[Stroke end]
*2

Weight (kg)

)

Origin mark

2

018
+0.0

23

8(
4H th 5
p
De

Stroke end
Origin position in
CW rotation direction
[Origin] *3

2

CONTROLLER INFORMATION

*1 Table movable range by return-to-origin operation.
Be careful not to interfere with the workpiece or equipment
around the table.
*2 Return-to-origin position
*3 Values and characters in [ ] show those when the
return-to-origin direction is changed.

di r

CLEAN

Note 1. Positioning repeatability in one direction.
Allowable thrust load (N)
Allowable moment
Note 2. The maximum speed may vary depending on the
Allowable radial load (N)
(N•m)
(a)
(b)
moment of inertia. Check the maximum speed while
High
High
High
High
Standard
Standard
Standard
Standard
referring to the “Moment of inertia vs. Acceleration/
rigidity
rigidity
rigidity
rigidity
model
model
model
model
model
model
model
model
deceleration” graph and the “Effective torque vs.
196
233
197
363
398
5.3
6.4
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.604.
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.

320°

YP-X

Controller
TS-S2
TS-SH
TS-SD

2-M8x1.25 Depth 16

2

25

75

TS-S2 u 490 TS-SH u 490 TS-SD u 500

YA

Articulated robots

RF03-N

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X

RF03-NH Limit rotation specification – High rigidity model
Pick & place
robots

YP-X

23

45°

42

320°

*1

2-ф6.8 drill-through
ф11 deep spot facing, Depth 6.5

CW

dir

e ct

io n

A

39

66

A

2

Origin *2
Origin position in CCW
rotation direction
[Stroke end]

P.C.D.48
75

*1 Table movable range by return-to-origin operation.
Be careful not to interfere with the workpiece or equipment around the table.
*2 Return-to-origin position
*3 Values and characters in [ ] show those when the return-to-origin
direction is changed.

0

ф64h8(-0.046)
0

8

40

22

13.5

ф63h8(-0.046)

(24)

(31)

(40)

20

88.2
102

2
(Tolerance range)

(15)

+0.039
ф32H8( 0 )

107

(2.4)
Approx. 180
(Motor cable exit direction:
Exit from right side)

ф22H8(

+0.033
)
0

Cross-sectional drawing A-A

8
(Tolerance range)

66

ф17 (Through-hole)

(2.4)
Approx. 180
(Motor cable exit direction:
Exit from left side)

4H8( +0.018
)
0
Depth 5

Manual
operation screw
(both sides)

Origin mark

6-M5x0.8 Depth 8
(60° equally divided.)

56

CONTROLLER INFORMATION

CC W

30°

d i r e c ti o n

)

Origin mark

CLEAN

4H
De 8( +0
pt 0 .018
h
4. )
8

]

2

018
+0.
0

5°+/-1 [
5°+
/-1

8(
4H th 5
p
De

Stroke end
Origin position in
CW rotation direction
[Origin] *3

Weight (kg)

2-M8x1.25 Depth 16

Controller

2

25
75

1.2

Note 1.This drawing is output under the conditions below.
Bearing ...................... High rigidity
Torque........................ Standard/High torque
Note 2.The minimum bending radius of the motor cable is
R30.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

159

YA

Articulated robots

RF03-S

CE compliance

Rotary type / Sensor specification

Limitless rotation

Linear conveyor
modules

LCM100

Ordering method

RF03

S

Model

S2

Compact
single-axis robots

TRANSERVO

Return-to-origin method
S: Sensor
(Limitless rotation)

Bearing
N: Standard
H: High rigidity

Torque
N: Standard torque
H: High torque

Cable entry location
R: From the right
L: From the left

Rotation direction
N: CCW
Z: CW

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

Robot positioner
S2: TS-S2 Note2

Note 1

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

SH

Single-axis robots

FLIP-X

Robot positioner
SH: TS-SH

Note 1. The robot cable is flexible and resists bending.
Note 2. See P.498 for DIN rail mounting bracket.
Note 3. Select this selection when using the gateway function. For details, see P.60.

Moment of inertia Acceleration/deceleration

SCARA
robots

YK-X

Max. moment of inertia Note 3 (kg•m2)
0.012
0.027
Cable length (m)
Standard: 1 / Option: 3, 5, 10
Rotation range (°)
360

Pick & place
robots

1.4

0.025

High torque

0.020
0.015
0.010

Standard

0.005
0.000
100

1000

10000

1.2

High torque

1.0
0.8

Standard

0.6
0.4
0.2
0.0

Acceleration/deceleration: ώ (°/s2)

0

100

200

Standard
model

High
rigidity
model

196

233

400

500

Controller
(a)

Allowable radial load
(N)

300

Speed: ω (°/s)

Allowable load
(b)

Allowable thrust load (N)
(a)
(b)
High
rigidity
model

Standard
model

197

Controller Operation method
TS-S2S
I/O point trace /
TS-SHS
Remote command
Allowable moment
(N•m)

Standard
model

High
rigidity
model

Standard
model

High
rigidity
model

363

398

5.3

6.4

CLEAN

Note. When purchasing the product, set the controller acceleration while carefully
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.

2

A

A

66

r ect

C C W di
CW
d

ir e c t i o n

360°
*1

23

30°

*1 Table movable range by
return-to-origin operation. Be
careful not to interfere with
the workpiece or equipment
around the table.
*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 User's
Manual and change the
origin coordinates.

018 )
+0.
8( 0
4H th 5
p
De

CONTROLLER INFORMATION

ion

RF03-SN Sensor specification – Standard model

2-ф6.8 drill-through
ф11 deep spot facing, Depth 6.5
P.C.D.48

75
58

6-M5x0.8 Depth 8
(60° equally divided.)

0

8

0

(15)

2
(Tolerance
range)

+0.039
)
0

(2.4)
Approx. 180
(Motor cable exit direction: Exit from left side)

(2.4)
Approx. 180
(Motor cable exit direction: Exit from right side)

66

ф17 (Through-hole)

107
4H8( +0.018
)
0
Depth 5

20

88.2
102

(15)
ф32H8(

(40)

40

(20)

13

ф63h8(-0.046)

4.5

ф64h8(-0.046)

(24)

(31)

7.8

Manual operation screw
(both sides)

Weight (kg)

1.2

+0.033
)
0

Cross-sectional drawing A-A

Note 1. This drawing is output under the conditions below.
Bearing....................... Standard
Torque........................ Standard/High torque
Note 2. The minimum bending radii of the motor cable and sensor cable are R30.

160

Controller

2-M8x1.25 Depth 16
2
Approx. 300
(Sensor cable exit direction: Exit from left side)

TS-S2 u 490 TS-SH u 490

25

11

ф22H8(

8
(Tolerance
range)

YP-X

Note 1. Positioning repeatability in one direction.
Note 2. The maximum speed may vary depending on the
moment of inertia. Check the maximum speed while
referring to the “Moment of inertia vs. Acceleration/
deceleration” graph and the “Effective torque vs.
speed” graph (reference).
Note 3. For moment of inertia and effective torque details,
see P.604.

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Effective torque vs. speed

0.030

Effective torque : T (N•m)

Cartesian
robots

XY-X

Step motor
4096
+/-0.05
Special warm gear + belt
Standard High torque
420
280
0.8
1.2
0.4
0.6
+/-0.5

2

28

Moment of inertia: I (kg • m )

PHASER

Linear motor
single-axis robots

Basic specifications
Motor
Resolution (Pulse/rotation)
Repeatability Note 1 (°)
Drive method
Torque type
Maximum speed Note 2 (°/sec)
Rotating torque (N•m)
Max. pushing torque (N•m)
Backlash (°)

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

75
94

Approx. 300
(Sensor cable exit direction: Exit from right side)

YA

Articulated robots

RF03-S

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X

RF03-SH Sensor specification – High rigidity model
2

30°

C C W di

r ect

ion

Pick & place
robots

YP-X

018 )
+0.
8( 0
4H th 5
p
De

23

360°
*1

CLEAN

A

66

ir e c t i o n

A

P.C.D.48

75

6-M5x0.8 Depth 8
(60° equally divided.)

8

22

13.5

0

ф63h8(-0.046)
(24)

(31)

58
0
ф64h8(-0.046)

(2.4)

)

Approx. 180
(Motor cable exit direction: Exit from right side)

Cross-sectional drawing A-A

Weight (kg)

2-M8x1.25 Depth 16

2

1.3

Note 1. This drawing is output under the conditions below.
Bearing ...................... High rigidity
Torque........................ Standard/High torque
Note 2. The minimum bending radii of the motor cable and sensor cable are R30.

Approx. 300
(Sensor cable exit direction: Exit from left side)

Controller

11

)
ф22H8( +0.033
0

8
(Tolerance range)

66

ф17 (Through-hole)

107

Approx. 180
(Motor cable exit direction: Exit from left side)
+0.018

)
ф32H8( +0.039
0

(2.4)

(15)

4H8( 0
Depth 5

88.2
102

(15)

2
(Tolerance range)

20

(40)

40

(20)

Manual operation screw
(both sides)

16.8

*1 Table movable range by return-to-origin operation. Be careful not to
interfere with the workpiece or equipment around the table.
*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
User's Manual and change the origin coordinates.

CONTROLLER INFORMATION

CW
d

2-ф6.8 drill-through
ф11 deep spot facing, Depth 6.5

25
75
94

Approx. 300
(Sensor cable exit direction: Exit from right side)

TS-S2 u 490 TS-SH u 490

161

YA

Articulated robots

RF04-N

CE compliance

Rotary type / Limit rotation specification

Rotation range : 320°

Linear conveyor
modules

LCM100

Ordering method

RF04
Model

N

S2

Compact
single-axis robots

TRANSERVO

Return-to-origin method
N: Stroke end (Limit rotation)

Bearing
N: Standard
H: High rigidity

Torque
N: Standard torque
H: High torque

Cable entry location
R: From the right
L: From the left

Rotation direction
N: CCW
Z: CW

Robot positioner
S2: TS-S2 Note2

Note 1

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

SH

Single-axis robots

FLIP-X

Robot positioner
SH: TS-SH

PHASER

Linear motor
single-axis robots

SD

Note 1. The robot cable is flexible and resists bending.
Note 2. See P.498 for DIN rail mounting bracket.
Note 3. Select this selection when using the gateway function. For details, see P.60.

Basic specifications

SCARA
robots

YK-X

280
10
5

Rotating torque (N•m)
Max. pushing torque (N•m)
Backlash (°)
+/-0.5
Max. moment of inertia Note 3 (kg•m2)
0.04
0.1
Cable length (m)
Standard: 1 / Option: 3, 5, 10
Rotation range (°)
320

0.10

High torque

0.08
0.06
0.04
0.02

Standard

0.00
100

1000

I/O cable
1: 1m

Effective torque vs. speed

0.12

Effective torque : T (N•m)

420
6.6
3.3

2

Step motor
20480
+/-0.05
Special warm gear + belt
Standard High torque

Battery
B: With battery
(Absolute)
N: None
(Incremental)

1

Robot driver
SD: TS-SD

Moment of inertia Acceleration/deceleration
42

Moment of inertia: I (kg • m )

Cartesian
robots

XY-X

Motor
Resolution (Pulse/rotation)
Repeatability Note 1 (°)
Drive method
Torque type
Maximum speed Note 2 (°/sec)

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

12
10

10000
2

Acceleration/deceleration: ώ (°/s )

High torque

8
6
4
2
0

Standard
0

100

200

300

400

Speed: ω (°/s)

Allowable load

500

Controller
(a)

(b)

Pick & place
robots

Operation method
I/O point trace /
Remote command
Pulse train control

5H
De 8 ( +
pt 0 0.01
h
8
5.
3 )

45°

C C W d ir e c ti o n

*1

85

45

n
c ti o

Origin mark

0

52

16

10

(40)

(3)
Approx. 160
(Motor cable exit direction:
Exit from left side)

127

85

2
(Tolerance range)

(15)

11
(Tolerance range)

)
ф26H8 ( +0.033
0

Note 1.This drawing is output under the conditions below.
Bearing....................... Standard
Torque........................ Standard/High torque
Note 2.The minimum bending radius of the motor cable is R30.

5.5

0

ф74h8 ( -0.046 )

(24)

(31)

26
+0.039

Controller

6-M6x1.0 Depth 10
(60° equally divided.)

ф76h8 ( -0.046 )

Manual
operation screw
(both sides)

ф35H8 ( 0 )
ф20 (Through-hole)

2.2

2-ф8.5 drill-through
ф14 deep spot facing,
Depth 8.5
P.C.D.55

5H8 ( +0.018
)
0
Depth 5.5

]

320°

30°

5°+/-1 [5°
+/-1

)
A

90

114.2
133

162

018
+0.0

2

A

*1 Table movable range by return-to-origin operation.
Be careful not to interfere with the workpiece or equipment
around the table.
*2 Return-to-origin position
*3 Values and characters in [ ] show those when the
return-to-origin direction is changed.

Weight (kg)

8(
5H th 5.5
p
De

Origin mark

Origin *2
Origin position in CCW
rotation direction
[Stroke end]

5

26.

70

2

CONTROLLER INFORMATION

Stroke end
Origin position in
CW rotation direction
[Origin] *3

dir
e

CLEAN

RF04-NN Limit rotation specification – Standard model

CW

YP-X

Note 1. Positioning repeatability in one direction.
Allowable thrust load (N)
Allowable moment
Note 2. The maximum speed may vary depending on the
Allowable radial load (N)
(N•m)
(a)
(b)
moment of inertia. Check the maximum speed while
High
High
High
High
Standard
Standard
Standard
Standard
referring to the “Moment of inertia vs. Acceleration/
rigidity
rigidity
rigidity
rigidity
model
model
model
model
model
model
model
model
deceleration” graph and the “Effective torque vs.
314
378
296
398
517
9.7
12.0
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.604.
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.

Controller
TS-S2
TS-SH
TS-SD

Cross-sectional drawing A-A

2-M10x1.5 Depth 20

2

TS-S2 u 490 TS-SH u 490 TS-SD u 500

30
90

(3)
Approx. 170
(Motor cable exit direction:
Exit from right side)

YA

Articulated robots

RF04-N

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X

RF04-NH Limit rotation specification – High rigidity model
Pick & place
robots

5H
De 8 ( +
pt 0 0.01
h
8
5.
3 )

45°
85

*1

45

c ti o

n

P.C.D.55
6-M6x1.0 Depth 10
(60° equally divided.)

dir
e

90

CW

2-ф8.5 drill-through
ф14 deep spot facing,
Depth 8.5

70
0

ф76h8 (-0.046 )

Origin mark

127

(3)

52

26

(24)

ф74h8 ( -0.046 )

10

0

(31)

Manual
operation screw
(both sides)

(40)

26

114.2
133

(3)
Approx. 160
(Motor cable exit direction:
Exit from left side)

Approx. 170
(Motor cable exit direction:
Exit from right side)

ф26H8 ( +0.033
)
0

11
(Tolerance range)

85

ф20 (Through-hole)

(15)
2
(Tolerance range)

ф35H8

)
(+0.039
0

5H8 ( +0.018
)
0
Depth 5.5

*1 Table movable range by return-to-origin operation.
Be careful not to interfere with the workpiece or equipment
around the table.
*2 Return-to-origin position
*3 Values and characters in [ ] show those when the
return-to-origin direction is changed.

15.5

320°

A

CONTROLLER INFORMATION

C C W d ir e c ti o n

5°+/-1 [5
°+/-

30°

A

CLEAN

)

1]

YP-X

018
+0.0

2

5

26.

2

Origin *2
Origin position in CCW
rotation direction
[Stroke end]

8(
5H th 5.5
p
De

Origin mark

Stroke end
Origin position in
CW rotation direction
[Origin] *3

Cross-sectional drawing A-A

2-M10x1.5 Depth 20

2

30
90

Weight (kg)

2.4

Note 1.This drawing is output under the conditions below.
Bearing....................... High rigidity
Torque........................ Standard/High torque
Note 2.The minimum bending radius of the motor cable is R30.

Controller

TS-S2 u 490 TS-SH u 490 TS-SD u 500

163

YA

Articulated robots

RF04-S

CE compliance

Rotary type / Sensor specification

Limitless rotation

Linear conveyor
modules

LCM100

Ordering method

RF04

S

Model

S2

Compact
single-axis robots

TRANSERVO

Return-to-origin method
S: Sensor
(Limitless rotation)

Bearing
N: Standard
H: High rigidity

Torque
N: Standard torque
H: High torque

Cable entry location
R: From the right
L: From the left

Rotation direction
N: CCW
Z: CW

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

Robot positioner
S2: TS-S2 Note2

Note 1

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

SH

Single-axis robots

FLIP-X

Robot positioner
SH: TS-SH

Note 1. The robot cable is flexible and resists bending.
Note 2. See P.498 for DIN rail mounting bracket.
Note 3. Select this selection when using the gateway function. For details, see P.60.

Moment of inertia Acceleration/deceleration
0.10

High torque

0.08
0.06
0.04
Standard

0.02
0.00
100

1000

10000

2

12
10
High torque

8
6
4
2
0

Standard
0

100

200

Allowable load

SCARA
robots

YK-X

Pick & place
robots

314

378

500

(b)

Controller Operation method
TS-S2S
I/O point trace /
TS-SHS
Remote command

Allowable thrust load (N)
(a)
(b)
Standard
model

High
rigidity
model

Allowable moment
(N•m)

Standard
model

High
rigidity
model

Standard
model

High
rigidity
model

398

517

9.7

12.0

296

CLEAN

Note. When purchasing the product, set the controller acceleration while carefully
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.

RF04-SN Sensor specification – Standard model
18 )
+0.0
8( 0
5H th 5.5
p
De

2
5

26.

85

A

2-ф8.5 drill-through
ф14 deep spot facing,
Depth 8.5
P.C.D.55
6-M6x1.0 Depth 10
(60° equally divided.)

90
70
0
ф74h8(-0.046
)

(40)

52

(20)

16

10

0
)
ф76h8( -0.046

5.5

(31)

A

(24)

10.8

CW
d

ir e c t i o n

360°
*1

C C W di

30°

re ct

ion

CONTROLLER INFORMATION
Manual operation screw
(both sides)

*1 Table movable range by return-to-origin
operation. Be careful not to interfere
with the workpiece or equipment
around the table.
*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 User's
Manual and change the origin
coordinates.

+0.018

+0.039
)
0

127

(3)
Approx. 160
(Motor cable exit direction: Exit from left side)

2
(Tolerance
range)

ф35H8 (

(15)

5H8( 0 )
Depth 5.5

114.2
133

26

(15)

(3)
Approx. 170
(Motor cable exit direction: Exit from right side)

85

ф20 (Through-hole)

ф26H8 (

+0.033
)
0

Cross-sectional drawing A-A

2.3

Note 1. This drawing is output under the conditions below.
Bearing....................... Standard
Torque........................ Standard/High torque
Note 2. The minimum bending radii of the motor cable and sensor cable are R30.

164

2-M10x1.5 Depth 20

Controller

2
Approx. 300
(Sensor cable exit direction: Exit from left side)

TS-S2 u 490 TS-SH u 490

30
90
113

12

Weight (kg)

11
(Tolerance
range)

YP-X

High
rigidity
model

400

Controller
(a)

Standard
model

300

Speed: ω (°/s)

Acceleration/deceleration: ώ (°/s2)

Allowable radial load
(N)

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Effective torque vs. speed

0.12

Effective torque : T (N•m)

Cartesian
robots

XY-X

Note 1. Positioning repeatability in one direction.
Note 2. The maximum speed may vary depending on the
moment of inertia. Check the maximum speed while
referring to the “Moment of inertia vs. Acceleration/
deceleration” graph and the “Effective torque vs.
speed” graph (reference).
Note 3. For moment of inertia and effective torque details,
see P.604.

Moment of inertia: I (kg • m )

PHASER

Linear motor
single-axis robots

Basic specifications
Motor
42 Step motor
Resolution (Pulse/rotation)
20480
Repeatability Note 1 (°)
+/-0.05
Drive method
Special warm gear + belt
Torque type
Standard High torque
Maximum speed Note 2 (°/sec)
420
280
Rotating torque (N•m)
6.6
10
Max. pushing torque (N•m)
3.3
5
Backlash (°)
+/-0.5
Max. moment of inertia Note 3 (kg•m2)
0.04
0.1
Cable length (m)
Standard: 1 / Option: 3, 5, 10
Rotation range (°)
360

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

Approx. 300
(Sensor cable exit direction: Exit from right side)

YA

Articulated robots

RF04-S

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X

RF04-SH Sensor specification – High rigidity model
Pick & place
robots

YP-X

A

P.C.D.55
6-M6x1.0 Depth 10
(60° equally divided.)

90
70

(40)

52

(20)

26

(31)

15.5

0

ф74h8 (-0.046 )

10

0
)
ф76h8 (-0.046

(24)

20.8

*1 Table movable range by return-to-origin operation. Be careful not to
interfere with the workpiece or equipment around the table.
*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
User's Manual and change the origin coordinates.
Manual operation screw
(both sides)

2-ф8.5 drill-through
ф14 deep spot facing,
Depth 8.5

CONTROLLER INFORMATION

CW
d

85

ir e c t i o n

A

CLEAN

360°
*1

30°

C C W di

r ect

ion

018 )
+0.
8( 0
5H h 5.5
pt
De

2

5

26.

127

(3)
Approx. 160
(Motor cable exit direction: Exit from left side)

(3)
Approx. 170
(Motor cable exit direction: Exit from right side)

+0.033
)
0

Cross-sectional drawing A-A
Weight (kg)

2.5

Note 1. This drawing is output under the conditions below.
Bearing....................... High rigidity
Torque........................ Standard/High torque
Note 2. The minimum bending radii of the motor cable and sensor cable are R30.

2-M10x1.5 Depth 20

2
Approx. 300
(Sensor cable exit direction: Exit from left side)

Controller

30
90
113

12

ф26H8 (

11
(Tolerance range)

85

+0.018

+0.039
)
0

ф20 (Through-hole)

2
(Tolerance range)

ф35H8 (

(15)

5H8( 0 )
Depth 5.5

114.2
133

26

(15)

Approx. 300
(Sensor cable exit direction: Exit from right side)

TS-S2 u 490 TS-SH u 490

165

YA

Articulated robots

BD04

Belt type

CE compliance

Linear conveyor
modules

LCM100

Ordering method

BD04
Model

48

N

Compact
single-axis robots

TRANSERVO

Lead
48: 48mm

N

Brake
N: With no brake

S2

Origin position
N: Standard

Stroke
300: 300mm
500: 500mm
600: 600mm
700: 700mm
800: 800mm
900: 900mm
1000: 1000mm

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

Robot positioner
S2: TS-S2 Note2

Note 1

SH

Single-axis robots

FLIP-X

Robot positioner
SH: TS-SH

PHASER

Linear motor
single-axis robots
SCARA
robots

YK-X

Stroke (mm)

Battery
B: With battery
(Absolute)
N: None
(Incremental)

1

Robot driver
SD: TS-SD

I/O cable
1: 1m

Allowable overhang Note

Static loading moment

A

28

Step motor
4096
+/-0.1
Belt
48
1100
1
300/500/600/700/800/
900/1000

MY

B

A

C

B

C

Horizontal installation (Unit: mm) Wall installation
A

B

8036
1kg 3933

Note 1. Positioning repeatability in one direction.
Note 2. The maximum speed needs to be changed in
accordance with the payload.
See the “Speed vs. payload” graph shown on the right.

A

1504
747

0.5kg
1kg

MR

(Unit: N.m)

(Unit: mm)

B

1614
798

MP

MY
10

C

1942 8013
961 3969

MP
10

MR
20

Note. Distance from center of slider upper surface to carrier center-of-gravity at a
guide service life of 10,000km (This does not warrant the service life of the
product.). (Service life is calculated for 600mm stroke models.)

Speed vs. payload

Controller
Quick reference
Payload
Speed
(kg)
(mm/sec)
1
900
0.5
1000
0
1100

Horizontal 1.2
1
0.8
0.6

CLEAN

0.4

%
90
95
100

Controller
TS-S2
TS-SH
TS-SD

Operation method
I/O point trace /
Remote command
Pulse train control

0.2
0

0

200

400

600

800

Speed (mm/s)

1000 1200

CONTROLLER INFORMATION

BD04
Approx. 230 (Cable length)

L
Effective stroke

92.5+/-1
24

3H9

R

(103)

Depth 3

63(Note 1)

40

3.5

54.5(Note 1)

+0.025
( 0 )

28

(40)

ф3H9(

(31)

(2.4)

(15)

(24)

+0.025
)Depth
0

(1.5)

40

3

(72)

4-M4x0.7 Depth 6.4

Main unit installation reference surface (Note 2)

45.3

39.4
(35.4)

40

33

99.7

53.5
8

(Effective stroke+135)
20

Mx150

3H9(+0.025
)
0

150
N-ф3.4

R

7

5.5
M4x0.7
Depth 8
(For grounding terminal)

34

4

Depth 3

27

20
6

YP-X

Pick & place
robots

Overall length (mm)
Stroke + 195.5
(Horizontal installation)
Maximum outside dimension
W40 × H101.9
of body cross-section (mm)
Standard: 1 / Option: 3, 5, 10
Cable length (m)

C

1950
968

0.5kg

Payload (kg)

Cartesian
robots

XY-X

Motor
Resolution (Pulse/rotation)
Repeatability Note 1 (mm)
Drive method
Equivalent lead (mm)
Maximum speed Note 2 (mm/sec)
Maximum payload (kg)

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

SD

Note 1. The robot cable is flexible and resists bending.
Note 2. See P.498 for DIN rail mounting bracket.
Note 3. Select this selection when using the gateway function. For details, see P.60.

Basic specifications

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

Effective stroke
L
M
N
Weight (kg)

166

300
495.5
2
6
1.19

500
695.5
4
10
1.45

600
795.5
4
10
1.58

Controller

700
895.5
5
12
1.71

800
995.5
6
14
1.84

900
1095.5
6
14
1.97

1000
1195.5
7
16
2.1

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.

TS-S2 u 490 TS-SH u 490 TS-SD u 500

Belt type

YA

Articulated robots

BD05
CE compliance

Linear conveyor
modules

BD05
Model

48

N

Origin position
N: Standard

Stroke
300: 300mm
500: 500mm
600: 600mm
700: 700mm
800: 800mm
900: 900mm
1000: 1000mm
1200: 1200mm
1500: 1500mm
1800: 1800mm
2000: 2000mm

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

SH

PHASER

I/O cable
1: 1m

Allowable overhang Note

Static loading moment

A

42

MY

B

A

C

B

C

Horizontal installation (Unit: mm) Wall installation
A

B

2274
702
385

A

1681
553
325

1kg
3kg
5kg

(Unit: N.m)

(Unit: mm)

B

1784
573
331

MP

MY
27

C

2312 9545
743 3082
429 1789

MP
27

MR
52
SCARA
robots

Note. Distance from center of slider upper surface to carrier center-of-gravity at a
guide service life of 10,000km (This does not warrant the service life of the
product.). (Service life is calculated for 600mm stroke models.)

Controller

6

Horizontal
Payload (kg)

5
4
3
2
1
0

0

500

1000

Controller
TS-S2
TS-SH
TS-SD

%
39
50
71
100

Operation method
I/O point trace /
Remote command
Pulse train control

CLEAN

Quick reference
Payload
Speed
(kg)
(mm/sec)
5
550
3
700
1
1000
0
1400

YP-X

Speed vs. payload

Note 1. Positioning repeatability in one direction.
Note 2. The maximum speed needs to be changed in
accordance with the payload.
See the “Speed vs. payload” graph shown on the
right.

Pick & place
robots

Overall length (mm)
Stroke + 241.8
(Horizontal installation)
Maximum outside dimension
W58 × H123
of body cross-section (mm)
Standard: 1 / Option: 3, 5, 10
Cable length (m)

C

MR

YK-X

9445
3kg 2982
5kg 1689
1kg

Cartesian
robots

Step motor
20480
+/-0.1
Belt
48
1400
5
300/500/600/700/800/900/
1000/1200/1500/1800/2000

XY-X

Stroke (mm)

1

Linear motor
single-axis robots

SD
Robot driver
SD: TS-SD

Battery
B: With battery
(Absolute)
N: None
(Incremental)

FLIP-X

Motor
Resolution (Pulse/rotation)
Repeatability Note 1 (mm)
Drive method
Equivalent lead (mm)
Maximum speed Note 2 (mm/sec)
Maximum payload (kg)

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

Single-axis robots

Robot positioner
SH: TS-SH

Note 1. The robot cable is flexible and resists bending.
Note 2. See P.498 for DIN rail mounting bracket.
Note 3. Select this selection when using the gateway function. For details, see P.60.

Basic specifications

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

Compact
single-axis robots

Brake
N: With no brake

S2
Robot positioner
S2: TS-S2 Note2

Note 1

TRANSERVO

Lead
48: 48mm

N

LCM100

Ordering method

1500

Speed (mm/s)

Approx. 230 (Motor cable length)

L
Effective stroke

118.8+/-1

(123)

) Depth 3
3H9 ( +0.025
0

68 (Note 1)

) Depth 3
ф3H9 (+0.025
0
(1.5)
56.8

4-M5x0.8 Depth 8.5

64
(102)

Main unit installation reference surface (Note 2)

50
38

(Effective stroke+167)
Mx170

25
170

10

6.5

64.8
10

3H9 ( +0.025
)
0
Depth 3

24

38.5
(41.5)

120.8

48

(2.4)

(40)

(31)

(24)

(15)

58

38

R

3.5

45

65.8 (Note 1)

CONTROLLER INFORMATION

BD05

6

M4x0.7 Depth 8
(For grounding
terminal)

4

N-ф4.5

48

R

Effective stroke
L
M
N
Weight (kg)

300
541.8
2
6
2.39

500
741.8
3
8
2.85

600
841.8
4
10
3.08

700
941.8
4
10
3.31

800
1041.8
5
12
3.54

900
1141.8
6
14
3.77

1000
1241.8
6
14
4

1200
1441.8
7
16
4.46

1500
1741.8
9
20
5.15

1800
2041.8
11
24
5.84

2000
2241.8
12
26
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.

Controller

TS-S2 u 490 TS-SH u 490 TS-SD u 500

167

YA

Articulated robots

BD07

Belt type

CE compliance

Linear conveyor
modules

LCM100

Ordering method

BD07
Model

48

N

Compact
single-axis robots

TRANSERVO

Lead
48: 48mm

N

Brake
N: With no brake

S2

Origin position
N: Standard

Cable length
1K: 1m
3K: 3m
5K: 5m
10K: 10m

PHASER

Linear motor
single-axis robots
SCARA
robots

YK-X

Stroke (mm)

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

SD
Robot driver
SD: TS-SD

Battery
B: With battery
(Absolute)
N: None
(Incremental)

1
I/O cable
1: 1m

Allowable overhang Note

Static loading moment

A

56

Step motor
20480
+/-0.1
Belt
48
1500
14
300/500/600/700/800/900/
1000/1200/1500/1800/2000

MY

B

A

C

B

C

Horizontal installation (Unit: mm) Wall installation
A
3kg
8kg
14kg

1353
399
154

C

A

1247
458
254

1324
474
255

3kg
8kg
14kg

MR

MP
(Unit: N.m)

(Unit: mm)

B

MY
46

C

1354 5588
399 1658
151
643

MP
46

MR
101

Note. Distance from center of slider upper surface to carrier center-of-gravity at a
guide service life of 10,000km (This does not warrant the service life of the
product.). (Service life is calculated for 600mm stroke models.)

Speed vs. payload

Note 1. Positioning repeatability in one direction.
Note 2. The maximum speed needs to be changed in
accordance with the payload.
See the “Speed vs. payload” graph shown on the
right.

Controller

Horizontal 16

CLEAN

14
12
10
8
6
4
2
0

0

500

1000

Speed (mm/s)

1500

2000

Quick reference
Payload
Speed
(kg)
(mm/sec)
14
50
9
525
4
1000
1
1400
0.5
1500

%
3
35
66
93
100

Controller
TS-S2
TS-SH
TS-SD

Operation method
I/O point trace /
Remote command
Pulse train control

CONTROLLER INFORMATION

BD07
Approx. 230 (Motor cable length)

L
Effective stroke

150.6+/-1

(135)

5H9 (+0.030
) Depth 5
0

70 (Note 1)

) Depth 5
ф5H9 ( +0.030
0

70
(122)

78.6

4-M6x1.0 Depth 8.5
Main unit installation reference surface (Note 2)

60
48

(Effective stroke+189)

86.6
25

10

7.5

Mx200

)

200
N-ф5.5

6

+0.030

5H9 ( 0
Depth 5

15

6.5

46.8
(49.8)
30

145.3

(1.5)

60

(2.4)

(40)

(31)

(24)

(15)

70

R

44

42

87.6 (Note 1)

5.5

YP-X

Pick & place
robots

Overall length (mm)
Stroke + 285.6
(Horizontal installation)
Maximum outside dimension
W70 × H147.5
of body cross-section (mm)
Standard: 1 / Option: 3, 5, 10
Cable length (m)

B

5767
1839
829

Payload (kg)

Cartesian
robots

XY-X

Motor
Resolution (Pulse/rotation)
Repeatability Note 1 (mm)
Drive method
Equivalent lead (mm)
Maximum speed Note 2 (mm/sec)
Maximum payload (kg)

I/O
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O boardNote 3

SH

Note 1. The robot cable is flexible and resists bending.
Note 2. See P.498 for DIN rail mounting bracket.
Note 3. Select this selection when using the gateway function. For details, see P.60.

Basic specifications

Robot positioner
S2: TS-S2 Note2

Robot positioner
SH: TS-SH

FLIP-X

Single-axis robots

Stroke
300: 300mm
500: 500mm
600: 600mm
700: 700mm
800: 800mm
900: 900mm
1000: 1000mm
1200: 1200mm
1500: 1500mm
1800: 1800mm
2000: 2000mm

Note 1

M4x0.7 Depth 8
(For grounding
terminal)

60

R

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.

168

Controller

TS-S2 u 490 TS-SH u 490 TS-SD u 500

YA

Articulated robots
Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

FLIP-X

PHASER

Linear motor
single-axis robots

SINGLE-AXIS ROBOTS

Cartesian
robots

XY-X

SERIES

SCARA
robots

YK-X

F17L·························································193
GF17XL···················································194

■■Robot ordering method
terminology··························· 173

N15··························································198

N TYPE NUT ROTATION TYPE MODEL
N15D······················································· 200

T TYPE
FRAME-LESS STRUCTURE MODEL

N18··························································202

T4L··························································· 174

B TYPE TIMING BELT DRIVE MODEL

T5L··························································176
T5LH························································177
T6L··························································178

N18D······················································ 204

B10························································· 206
B14························································· 208
B14H························································210

T9H··························································180

R5····························································212

F TYPE / GF TYPE
HIGH RIGIDITY FRAME MODEL

R10··························································213
R20··························································214

F8····························································181

F type

R TYPE ROTATION AXIS TYPE MODEL

T type

T9····························································179

CONTROLLER INFORMATION

F20N························································197

CLEAN

F20··························································195

■■Robot ordering method
description···························· 172

T4LH························································175

YP-X

■■FLIP-X SPECIFICATION
SHEET···································· 170

Pick & place
robots

CONTENTS

F8L··························································182

GF type

F8LH························································184
F10···························································185

N type

F10H························································186
F14···························································188
F14H························································189

B/R type

GF14XL···················································190
F17···························································191

Main functions P.20

Multi robot P.25

Terminology P.28

169

YA

Articulated robots

FLIP-X SPECIFICATION SHEET

Linear conveyor
modules

LCM100

Type Model

T4L/
T4LH

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

T type

T5L/
T5LH

T6L

T9

PHASER

Linear motor
single-axis robots

T9H

F8

Motor
output
(W)

30

30

60

100

200

100

Repeatability
(mm)

+/-0.02

+/-0.02

+/-0.02

+/-0.01

+/-0.01

+/-0.02

Cartesian
robots

XY-X

F8L

SCARA
robots

YK-X

F8LH

F10

100

100

100

+/-0.01

+/-0.01

+/-0.01

Pick & place
robots

CLEAN

F type

YP-X

F10H

F14

CONTROLLER INFORMATION

F14H

GF type

N type
B type

F type
N type
B/R type

170

100

200

400

+/-0.01

+/-0.01

+/-0.01

+/-0.01

F17L

600

+/-0.02

F20

600

+/-0.01

50

100

150

200

250

650

700

750

800

1200

960

840

720

660

800

640

560

480

440

2.4

400

320

280

240

220

10

1333

1133 1000

866

800

12

12

4

800

680

600

520

480

6

30

8

400

340

300

260

240

30

15

1800

1440

1170

20

30

4

1200

960

780

600

10

55

10

600

480

390

300

5

80

20

300

240

195

150

30

25

1800

1440

1170

900

4.5

1.2

720

6

6

2.4

360

2

6

7.2

120

20

3

12

5

1.2

6

9

20

300

350

400

450

500

550

600

850

900

950

1000

900

20

40

8

1200

960

780

600

10

80

20

600

480

390

300

5

100

30

300

240

195

150

20

12

12

20

6

40

30

7

1800

1530 1350 1170 1080

990

900

810

20

20

4

1200

1020

900

780

720

660

600

540
270

1200

1080

900

780

720

600

4

720

648

540

468

432

360

8

360

324

270

234

216

180

10

40

8

600

510

450

390

360

330

300

5

50

16

300

255

225

195

180

165

150

135

20

30

1200

1020

900

780

720

660

600

540

480

10

60

600

510

450

390

360

330

300

270

240

5

80

300

255

225

195

180

165

150

135

120

30

15

1800

1440

1170

900

20

20

4

1200

960

780

600

10

40

10

600

480

390

300

5

60

20

300

240

195

30

25

1800

20

40

8

1200

960

840

10

80

20

600

480

5

100

30

300

240

30

15

1800

1440

20

30

4

1200

960

780

600

10

55

10

600

480

390

300

5

80

20

300

240

195

150

30

25

1800

1440

1170

900

1440 1260 1080

150

900

720

630

720

600

480

420

420

360

300

240

210

210

180

150

120

105

1170

900

20

40

8

1200

960

780

600

10

80

20

600

480

390

300

5

100

30

300

240

195

150

40

40

2400

1920

1680

20

80

15

1200

960

840

10

120

35

600

480

420

50

50

10

40

60

2400

1920

1680

20

120

25

1200

960

840

10

45

600

480

420

400

+/-0.04

20

80

GF14XL

200

+/-0.01

20

45

GF17XL

400

+/-0.01

20

90

N15

400

+/-0.01

20

50

N15D

400

+/-0.01

20

50

N18

400

+/-0.01

20

80

N18D

400

+/-0.01

20

80

B10

100

+/-0.04

10

B14

100

+/-0.04

20

B14H

200

+/-0.04

30

Motor
output
(W)

Stroke (mm) and maximum speed (mm/s)

12

F20N

Type Model

R type

T type

GF
type

F17

200

Payload
(kg)
Lead
(mm) Hori- Verzontal tical

Speed Maximum
Repeatspeed
ability reduction
(°/sec)
ratio
(sec)

R5

50

+/-30

1/50

360

R10

100

+/-30

1/50

360

R20

200

+/-30

1/50

360

1200

Detailed info
page

P.212
P.213
P.214

w Precautions for use
■ Handling
Fully understand the contents stated in the "FLIP-X Series User's Manual" and strictly observe the
handling precautions during operation.
■ Allowable installation ambient temperature
0 to 45 ºC

YA

Articulated robots

T4L:P.174
T4LH:P.175

FLIP-X

P.179

270

Single-axis robots

810
540

Compact
single-axis robots

P.178

TRANSERVO

T5L:P.176
T5LH:P.177

Linear conveyor
modules

Detailed info
page

LCM100

1050 1100 1150 1200 1250 1300 1350 1400 1450 1500 to 1600 1650 1700 1750 1800 1850 to 2000 2050 2150 2250 2350 2400 to 2500 2550 2650 to 3050

135

135

PHASER

P.180

270

Linear motor
single-axis robots

810
540

P.181
Cartesian
robots

P.182

240

XY-X

720
480
120

SCARA
robots

P.184

210
105

YK-X

420

810
540

YP-X

Pick & place
robots

P.185

270
135

P.186

P.188

270
810
540

P.189

270
135
1440

1200

720

600

480

960

360

300

240

2200

840

720

P.191
1900

1440

1200

960

720

600

480

360

300

240

1500
840

1200

1875
1875

P.197
P.190
P.194
P.198
P.200
P.202
P.204
P.206
P.208
P.210

GF type

1875

P.193

F type

1200

800

T type

1200

1200

900

P.195

1200
1200

1200

720

CONTROLLER INFORMATION

135

CLEAN

810
540

N type
B/R type

171

YA

Articulated robots

Robot ordering method description

LCM100

Linear conveyor
modules

In the order format for the YAMAHA single-axis robots FLIP-X series, the notation (letters/numbers) for the mechanical section is shown
linked to the controller section notation.

[Example]
Mechanical

F8

Compact
single-axis robots

TRANSERVO

• Lead
• Brake
• Origin position

Controller
20mm
Yes
Non-motor side

• Grease
Standard
• Stroke
500mm
• Cable length 3.5m

SR1-X

• Usable for CE
Not required
• Regenerative unit Not required

• I/O selection NPN
• Battery
With battery

Ordering method

Single-axis robots

F8 20 BK Z 500 3L SR1 X05 N B

FLIP-X

Mechanical section

Controller section

This page describes using the ordering form for mechanical components.
To find detailed controller information see the controller page.

SR1-X

P.516 , TS-X

P.490 , RDV-X

P.504

PHASER

Linear motor
single-axis robots

Mechanical section
T type / F type (F8 / F8L / F8LH)
①Model

Cartesian
robots

XY-X

T4L F8
T4LH F8L
T5L F8LH
T5LH
T6
T9
T9H

③Lead designation
30
20
12
10
6
5
2

④Brake

30mm
20mm
12mm
10mm
6mm
5mm
2mm

⑩Option
Origin position None Standard
change
Z
Non-motor side

No entry No brakes
BK
Brakes provided

⑪Stroke

⑫Cable length
3L
5L
10L
3K
5K
10K

Grease None Standard
type
GC Clean

3.5m
5m
10m
3.5m
5m
10m

F type (Except F8 / F8L / F8LH)
SCARA
robots

YK-X

①Model

Pick & place
robots

YP-X

F10 F20
F10H F20N
F14
F14H
F17
F17L

③Lead designation
50
40
30
20
10
5

⑥Cable entry location

④Brake

50mm
40mm
30mm
20mm
10mm
5mm

No entry No brakes
BK
Brakes provided

No entry
U
R
L

Standard (S)
From the top
From the right
From the left

⑩Option
Origin position None Standard
change
Z
Non-motor side

⑪Stroke
Grease None Standard
type
GC Clean

⑫Cable length
3L
5L
10L
3K
5K
10K

3.5m
5m
10m
3.5m
5m
10m

GF type

CLEAN

①Model

②Model

⑤Take out direction

GF14XL
GF17XL

S Straight
model

H Horizontal
installation

③Lead designation
20 20mm

⑩Option

⑥Cable entry location

CONTROLLER INFORMATION

No entry
U
R
L

Standard (S)
From the top
From the right
From the left

Origin position change
None Standard
Non-motor
Z
side

Frame
Standard
No
entry (Spot facing)
Tapping
T

⑪Stroke
Grease type
None Standard
GC Clean

3L
5L
10L
3K
5K
10K

N type (Single carriage)
①Model

③Lead designation

N15
N18

20 20mm

⑦Cable carrier entry location
RH
LH
RW
LW

Horizontal, right
Horizontal, left
Wall, right
Wall, left

⑩Option

⑧Cable carrier specification
S Standard cable
carrier
M Optional cable
carrier

Origin position None Standard
change
Z
Non-motor side

⑪Stroke

Grease None Standard
type
GC Clean

N type (Double carriage)

T type

①Model

③Lead designation

N15D
N18D

20 20mm

B type

F type

①Model

GF type

B10
B14
B14H

N type

R type

B/R type

172

⑤Take out direction
H Horizontal
installation
W Wall hanging
installation

L
R
LU
RU
LD
RD

Motor leftward, horizontal position
Motor rightward, horizontal position
Motor leftward, upper position
Motor rightward, upper position
Motor leftward, lower position
Motor rightward, lower position

①Model

⑥Cable entry location

R5
R10
R20

No entry Standard (S)
B
From the side

Grease None Standard
type
GC Clean

⑫Cable length
3L
5L
10L
3K
5K
10K

S Standard cable
carrier
M Optional cable
carrier

⑩Option

⑨Motor installation direction

3.5m
5m
10m
3.5m
5m
10m

⑩Option

⑧Cable carrier specification

Grease None Standard
type
GC Clean

⑪Stroke

⑫Cable length
3L
5L
10L
3K
5K
10K

3.5m
5m
10m
3.5m
5m
10m

⑪Stroke

⑫Cable length
3L
5L
10L
3K
5K
10K

3.5m
5m
10m
3.5m
5m
10m

⑫Cable length
3.5m
5m
10m
3.5m
5m
10m

⑫Cable length
3L
5L
10L
3K
5K
10K

3.5m
5m
10m
3.5m
5m
10m

YA

Articulated robots

Robot ordering method terminology
Enter the robot unit model.

Model

Straight model only (GF type)

Lead designation

Select the ball screw lead.

Brake

Select Brake or No-brake.
Horizontal specs : No-brake
Vertical specs : with Brake

Take out direction

Select what direction to install the robot (horizontal / wall mounted).

Cable entry location

Select what direction to extract the robot cable connecting the robot and
controller.

LCM100

Linear conveyor
modules

Model

Compact
single-axis robots

TRANSERVO

LW Wall, left

PHASER

LH Horizontal, left

RW Wall, right

Linear motor
single-axis robots

RH Horizontal, right

FLIP-X

Cartesian
robots

XY-X

Cable carrier entry
location

Single-axis robots

Select what direction to install the robot (horizontal / wall mounted) and what
direction to extract the robot cable carrier.

Note. Be sure to install in the direction as specified (in cable carrier take-out direction drawing and various specification drawings) individually. Installation
in any other way will cause a failure. For requirement of installation in any way other than the above standard installation, please consult YAMAHA
as special arrangement will be available.
SCARA
robots

YK-X

Select the cable carrier size for the customer wiring.
S type

M type

Standard cable carrier

Optional cable carrier

145

Note. Cannot pass more than 3 urethane hoses (ϕ6 x 4).

86

35
25

168

119
14

61

73
57

LD type Leftward at

RD type Rightward at

at horizontal
position

LU type Leftward at

upper position

RU type Rightward at

upper position

Motor installation
direction
lower position

lower position

CONTROLLER INFORMATION

R type Rightward

horizontal
position

CLEAN

Space for optional cable for users

Select what direction to install the motor.
L type Leftward at

YP-X

145

40

Pick & place
robots

58

Cable carrier
specification

Origin position change: Origin point position can be changed.
Frame: Hole to secure the frame can be selected. (Spot facing/tapping)

B/R type

Cable length

Select the robot cable length to use for connecting the robot to the controller.
1L : 1m (You can select a 1m cable only when you use T4L/T5L.)
3L : 3.5m (Standard)
5L : 5m
10L : 10m
3K : 3.5m (Flexible cable)
5K : 5m (Flexible cable)
10K : 10m (Flexible cable)

N type

Select the stroke for the robot movement range.

GF type

Stroke

F type

Grease type: Clean grease can be selected.

T type

Option

173

YA

Articulated robots

T4L

Origin on the non-motor side is selectable
Controller: 24V

Ordering method
LCM100

Linear conveyor
modules

T4L
Model

ERCD
Brake
No entry: No brakes
BK: Brakes provided

Origin position change
None: Standard
Z: Non-motor side

Grease type
None: Standard
GC: Clean

Cable lengthNote 1
1L: 1m
3L: 3.5m
5L: 5m
10L: 10m
1K/3K/5K/10K
(Flexible cable)

Stroke
50 to 400
(50mm pitch)

Compact
single-axis robots

TRANSERVO

Lead
designation
12: 12mm
6: 6mm
2: 2mm

Controller

I/O connector specification
CN1: I/O flat cable 1m (Standard)
CN2: Twisted-pair cable 2m (pulse train function)

FLIP-X

Single-axis robots

Note 1. The robot cable is standard cable (1L/3L/5L/10L), but can be changed to flexible cable. See P.594 for details on robot cable.

Static loading moment

A

MY

B

SCARA
robots

YK-X

433

87

180

4.5kg

223

33

75

3kg

515

58

135

6kg

340

26

62

3kg 1585

58

142

755

27

66

6kg

A

C

A

Wall installation

C

2kg

C
(Unit: mm)

B

C

2kg

149

54

376

4.5kg

50

1

148

3kg

107

24

380

6kg

31

0

195

3kg

113

6kg

32

24 1180
0

440

MR

MP

Vertical installation (Unit: mm)
Lead 2 Lead 6 Lead 12

Cartesian
robots

XY-X

A

(Unit: mm)

Lead 2 Lead 6 Lead 12

Horizontal installation

B

A

C

B

Lead 2 Lead 6 Lead 12

PHASER

Linear motor
single-axis robots

Allowable overhang Note

Specifications
AC servo motor output (W)
30
+/-0.02
Repeatability Note 1 (mm)
Deceleration mechanism
Ball screw φ8 (Class C10)
Ball screw lead (mm)
12
6
2
Maximum speed (mm/sec)
720
360
120
Horizontal
4.5
6
6
Maximum
payload (kg)
Vertical
1.2
2.4
7.2
Rated thrust (N)
32
64
153
Stroke (mm)
50 to 400 (50mm pitch)
Stroke+198
Overall length Horizontal
(mm)
Vertical
Stroke+236
Maximum dimensions of cross
W45 × H53
section of main unit (mm)
Standard: 3.5 / Option: 1,5,10
Cable length (m)
Linear guide type
2 rows of gothic arch grooves × 1 rail
Position detector
Resolvers Note 2
Resolution (Pulse/rotation)
16384

A

C

1.2kg

125

125

2.4kg

56

57

3kg

41

42

7.2kg

0

0

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.
Note. Service life is calculated for 300mm stroke models.

(Unit: N·m)

MY
15

MP
19

MR
18

Controller
Controller Operation method
Pulse train control /
Programming /
I/O point trace /
ERCD
Remote command /
Operation
using RS-232C
communication

Pick & place
robots

YP-X

Note 1. Positioning repeatability in one direction.
Note 2. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

T4L
125.5+/-3

Effective stroke

72.5+/-3
When origin is
on non-motor side 21.5+/-2(Note 1)

30 (Between
knocks +/-0.02)

CLEAN

Approx. 250 (Motor cable length)

When origin is on motor side
74.5+/-2(Note 1)
35
20+/-0.02

(3)

45

CONTROLLER INFORMATION

2-ϕ3 H7 Depth6

109.5+/-2(with brakes)
160.5+/-3 (with brakes)

4-M4×0.7 Depth 9
(44)
36
24

45

35
(38.5)

53

1.6

(90)
(44)

Grounding terminal (M4)
(2)

L
L+35 (with brakes)

T type

(3: Screw head)
122.5 (with brakes)
87.5

(35)

A
E

D

B

M×50

2

4

GF type

Installation hole:N-(See cross-section B-B)
C
12 mm or less (Note 4) 1.2

+0.05
0 Depth6

ϕ4H7 Depth6

R

11

F type
B
121.5
156.5 (with brakes)

B/R type

174

Controller

400
598
475.5
4.5
400
8.5
125.5
200
Cross-section B-B
1
10
Note 1. Stop positions are determined by the mechanical stoppers at both ends.
1.9 Note 2. Minimum bend radius of motor cable is R30.

ERCD u 510

24

350
548
425.5
350
125.5
200
0
8
1.8

ϕ4.5

300
498
375.5
300
125.5
1
8
1.7

11

200 250
398 448
275.5 325.5
200 250
125.5
3
0
10
6
1.5
1.6
720
360
120

ϕ8

N type

Effective stroke
50
100 150
L
248 298 348
A
125.5 175.5 225.5
C
50
100 150
D
E
M
0
1
2
N
4
6
8
Weight (kg) Note 3
1.1
1.2
1.4
Maximum Lead 12
speed for each Lead 6
stroke
Lead 2
(mm/sec)

Note 3. Weight of models with no brake. The weight of brake-attached models is 0.2 kg heavier than the models with no
brake shown in the table.
Note 4. The under-head length of the hex socket-head bolt (M4×0.7) to be used for the installation work is 12mm or less.
Note 5. External view of T4LH is identical to T4L.

Articulated robots

Origin on the non-motor side is selectable

YA

T4LH

Controller: 100V / 200V

Ordering method

TSX
Brake
No entry: No brakes
BK: Brakes provided

Origin position change
None: Standard
Z: Non-motor side

Grease type
None: Standard
GC: Clean

Stroke
50 to 400
(50mm pitch)

Positioner Note 2
TS-X

SR1-X

05

Controller

Driver: Power capacity
05: 100W or less

I/O selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 3

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Usable for CE
No entry: Standard
E: CE marking

I/O selection
N: NPN
P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Battery
B: With battery
(Absolute)
N: None
(Incremental)

RDV-X

2

05

Driver

Power-supply voltage
2: AC200V

Driver: Power capacity
05: 100W or less

MY

174

4.5kg

172

37

72

3kg

355

58

134

6kg

235

27

62

3kg 1105

59

142

520

27

66

C

2kg

140

73

300

4.5kg

47

22

119

3kg

105

42

260

6kg

31

11

135

3kg

113

42

810

6kg

32

11

305

Lead 2 Lead 6 Lead 12

Lead 2 Lead 6 Lead 12

90

B

MR

MP

Vertical installation (Unit: mm)
A

C

1.2kg

122

121

2.4kg

56

57

3kg

41

42

7.2kg

0

0

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.
Note. Service life is calculated for 300mm stroke models.

MP
19

MR
18

Controller
Controller Operation method
Programming /
I/O point trace /
SR1-X05
command /
RCX221/222 Remote
Operation
RCX240/340 using RS-232C
communication
TS-X105
I/O point trace /
Remote command
TS-X205
Pulse train control

Pick & place
robots

RDV-X205

YP-X

Note 1. Positioning repeatability in one direction.
Note 2. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

(Unit: N·m)

MY
15

SCARA
robots

341

A

(Unit: mm)

YK-X

2kg

6kg

Wall installation

C

C

A

Cartesian
robots

B

C

XY-X

A

(Unit: mm)

Lead 2 Lead 6 Lead 12

Horizontal installation

B

A

C

B

PHASER

Static loading moment

A

Linear motor
single-axis robots

Allowable overhang Note

Specifications
AC servo motor output (W)
30
+/-0.02
Repeatability Note 1 (mm)
Deceleration mechanism
Ball screw φ8 (Class C10)
Ball screw lead (mm)
12
6
2
Maximum speed (mm/sec)
720
360
120
Horizontal
4.5
6
6
Maximum
payload (kg)
Vertical
1.2
2.4
7.2
Rated thrust (N)
32
64
153
Stroke (mm)
50 to 400 (50mm pitch)
Stroke+198
Overall length Horizontal
(mm)
Vertical
Stroke+236
Maximum dimensions of cross
W45 × H53
section of main unit (mm)
Standard: 3.5 / Option: 5,10
Cable length (m)
Linear guide type
2 rows of gothic arch grooves × 1 rail
Position detector
Resolvers Note 2
Resolution (Pulse/rotation)
16384

FLIP-X

LCD monitor
No entry: None
L: With LCD

Single-axis robots

Note 1. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 2. See P.498 for DIN rail mounting bracket.
Note 3. Select this selection when using the gateway function. For details, see P.60.

Driver: Power-supply voltage /
Power capacity
105: 100V/100W or less
205: 200V/100W or less

Compact
single-axis robots

Cable lengthNote 1
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

TRANSERVO

Lead
designation
12: 12mm
6: 6mm
2: 2mm

Linear conveyor
modules

Model

LCM100

T4LH

T4LH
125.5+/-3

Effective stroke

(3)

2-ϕ3 H7 Depth6

109.5+/-2(with brakes)
160.5+/-3 (with brakes)

4-M4×0.7 Depth 9
(44)
36
24

45

35
(38.5)

53

1.6

(90)
(44)

Grounding terminal (M4)
(2)

CONTROLLER INFORMATION

45

When origin is on motor side
74.5+/-2(Note 1)
35
20+/-0.02

CLEAN

72.5+/-3
When origin is
on non-motor side 21.5+/-2(Note 1)

30 (Between
knocks +/-0.02)

Approx. 250 (Motor cable length)

L
L+35 (with brakes)

(3: Screw head)

(35)

A
E

D

M×50

Controller

+0.05
0 Depth6

4

24

11

400
598
475.5
4.5
400
8.5
125.5
Cross-section B-B
200
1
10
Note 1. Stop positions are determined by the mechanical stoppers at both ends.
1.9 Note 2. Minimum bend radius of motor cable is R30.
ϕ8

350
548
425.5
350
125.5
200
0
8
1.8

Note 3. Weight of models with no brake. The weight of brake-attached models is 0.2 kg heavier than the models with no
brake shown in the table.
Note 4. The under-head length of the hex socket-head bolt (M4×0.7) to be used for the installation work is 12mm or less.
Note 5. External view of T4LH is identical to T4L.

SR1-X u 516 TS-X u 490 RDV-X u 504

B/R type

300
498
375.5
300
125.5
1
8
1.7

N type

200 250
398 448
275.5 325.5
200 250
125.5
3
0
10
6
1.5
1.6
720
360
120

2

GF type

Effective stroke
50
100 150
L
248 298 348
A
125.5 175.5 225.5
C
50
100 150
D
E
M
0
1
2
N
4
6
8
Weight (kg) Note 3
1.1
1.2
1.4
Maximum Lead 12
speed for each
Lead 6
stroke
Lead 2
(mm/sec)

Installation hole:N-(See cross-section B-B)
C
12 mm or less (Note 4) 1.2

R

ϕ4H7 Depth6

ϕ4.5

B
121.5
156.5 (with brakes)

F type

11

B

T type

122.5 (with brakes)
87.5

175

YA

Articulated robots

T5L

High lead: Lead 20

Origin on the non-motor side is selectable

Controller: 24V

Ordering method
LCM100

Linear conveyor
modules

T5L

ERCD

Model

Brake Note 1
No entry: No brakes
BK: Brakes provided

Origin position change
None: Standard
Z: Non-motor side

Grease type
None: Standard
GC: Clean

Cable length Note 2
1L: 1m
3L: 3.5m
5L: 5m
10L: 10m
1K/3K/5K/10K
(Flexible cable)

Stroke
50 to 800
(50mm pitch)

Compact
single-axis robots

TRANSERVO

Lead
designation
20: 20mm
12: 12mm
6: 6mm

Controller

I/O connector specification
CN1: I/O flat cable 1m (Standard)
CN2: Twisted-pair cable 2m (pulse train function)

FLIP-X

Single-axis robots

Note 1. The model with a lead of 20mm cannot select specifications with brake (vertical specifications).
Note 2. The robot cable is standard cable (1L/3L/5L/10L), but can be changed to flexible cable. See P.594 for details on robot cable.

Static loading moment

A

MY

XY-X
YK-X

A

B

C

1kg

600

323

683

3kg

675

103

247

2kg 1170

159

406

555

59

155

3kg 1498

104

294

628

31

89

5kg
9kg

C

C

A

Wall installation

(Unit: mm)

A

B

C

1kg

600

291

600

3kg

215

73

589

2kg

368

5kg

127

127 1082
30

3kg

263

73

970

9kg

54

0

400

449

MR

MP

Vertical installation (Unit: mm)
Lead 6 Lead 12

(Unit: mm)

Lead 6 Lead 12 Lead 20

Horizontal installation

B

A

C

B

Lead 6 Lead 12 Lead 20

Pick & place
robots

Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 600mm, resonance of the
ball screw may occur depending on the operation conditions
(critical speed). In this case, reduce the speed setting on the
program by referring to the maximum speeds shown in the
table below.
Note 3. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

Cartesian
robots
SCARA
robots

PHASER

Linear motor
single-axis robots

Allowable overhang Note

Specifications
AC servo motor output (W)
30
Repeatability Note 1 (mm)
+/-0.02
Deceleration mechanism
Ball screw φ12 (Class C10)
Ball screw lead (mm)
20
12
6
Maximum speed Note 2 (mm/sec)
1200
800
400
Horizontal
3
5
9
Maximum
payload (kg)
Vertical
1.2
2.4
Rated thrust (N)
19
32
64
Stroke (mm)
50 to 800 (50mm pitch)
Stroke+201.5
Overall length Horizontal
(mm)
Vertical
Stroke+239.5
Maximum dimensions of cross
W55×H52
section of main unit (mm)
Standard: 3.5 / Option: 1,5,10
Cable length (m)
Linear guide type
2 rows of gothic arch grooves × 1 rail
Position detector
Resolvers Note 3
Resolution (Pulse/rotation)
16384

A

C

1.2kg

242

240

2.4kg

113

113

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.
Note. Service life is calculated for 600mm stroke models.

(Unit: N·m)

MY
30

MP
34

MR
40

Controller
Controller Operation method
Pulse train control /
Programming /
I/O point trace /
ERCD
Remote command /
Operation
using RS-232C
communication

CLEAN

Approx. 250 (Motor cable length)

127+/-3
When origin is on motor side
73+/-2(Note 1)

74.5+/-3
When origin is
on non-motor side
20.5+/-2(Note 1)

CONTROLLER INFORMATION

55

40
25+/-0.02

Effective stroke
35 (Between
knocks +/-0.02)

50

42
(45.5)

1.6

(96)
(55)

(2)

Grounding terminal (M4)

122 (with brakes)
87
B

D

M×50

ϕ4.5

ϕ8

16

16

F type

4.5

GF type

9
Cross-section B-B

B
135.5
170.5 (with brakes)

ϕ4H7 Depth6

C

N type

Effective stroke 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
L
251.5301.5351.5401.5451.5501.5551.5601.5651.5701.5751.5801.5 851.5 901.5 951.5 1001.5
A
130 180 230 280 330 380 430 480 530 580 630 680 730 780 830 880
C
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
D
230 230 230 230 230 230 230 230 230 230
M
0
1
2
3
4
5
0
1
2
3
4
5
6
7
8
9
N
4
6
8
10
12
14
6
8
10
12
14
16
18
20
22
24
Weight (kg) Note 3
1.7 1.8 2.0 2.2 2.3 2.5 2.7 2.8 3.0 3.2 3.3 3.5 3.7 3.8 4.0 4.2
Maximum Lead 20
1200
960 840 720 660
speed for Lead 12
800
640 560 480 440
each
Lead 6
400
320 280 240 220
stroke Note 5
80% 70% 60% 55%
(mm/sec) Speed setting

B/R type

176

(34.5)

A
Installation hole:N-(See cross-section B-B)

30

1

Controller

ERCD u 510

2

4 +0.02
0
Depth6

T type

L
L+35 (with brakes)

(3: Screw head)
15 mm or less (Note 4)

(51)
41
29

52

(3)

2-ϕ3 H7 Depth6
4-M4×0.7 Depth9

108+/-2 (with brakes) (Note 1)
162+/-3 (with brakes)

R

YP-X

T5L

Note 1. Stop positions are determined by the mechanical stoppers at both
ends.
Note 2. Minimum bend radius of motor cable is R30.
Note 3. Weight of models with no brake. The weight of brake-attached
models is 0.2 kg heavier than the models with no brake shown in
the table.
Note 4. The under-head length of the hex socket-head bolt (M4×0.7) to
be used for the installation work is 15mm or less.
Note 5. When the stroke is longer than 600mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed).
In this case, reduce the speed setting on the program by referring
to the maximum speeds shown in the table at the left.
Note 6. External view of T5LH is identical to T5L.

High lead: Lead 20

Articulated robots

Origin on the non-motor side is selectable

YA

T5LH

Controller: 100V / 200V

Ordering method

TSX
Brake Note 1
No entry: No brakes
BK: Brakes provided

Origin position change
None: Standard
Z: Non-motor side

Grease type
None: Standard
GC: Clean

Stroke
50 to 800
(50mm pitch)

Positioner Note 3
TS-X

SR1-X

05

Controller

Driver: Power capacity
05: 100W or less

I/O selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 4

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Usable for CE
No entry: Standard
E: CE marking

I/O selection
N: NPN
P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Battery
B: With battery
(Absolute)
N: None
(Incremental)

RDV-X

2

05

Driver

Power-supply voltage
2: AC200V

Driver: Power capacity
05: 100W or less

MY

967

324

598

3kg

429

104

226

2kg

916

159

398

5kg

436

60

152

3kg 1194

105

294

624

31

89

9kg

B

C

1kg

551

304

925

3kg

185

89

378

2kg

347

141

800

5kg

119

44

355

3kg

259

87

950

9kg

50

15

385

Lead 6 Lead 12

1kg

A

MP

A

C

1.2kg

240

239

2.4kg

109

110

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.
Note. Service life is calculated for 600mm stroke models.

(Unit: N·m)

MY
30

MP
34

MR
40

Controller
Controller Operation method
Programming /
I/O point trace /
SR1-X05
command /
RCX221/222 Remote
Operation
RCX240/340 using RS-232C
communication
TS-X105
I/O point trace /
Remote command
TS-X205

Pick & place
robots

Pulse train control

YP-X

RDV-X205

SCARA
robots

C

MR

Vertical installation (Unit: mm)

YK-X

B

(Unit: mm)

Cartesian
robots

A

C

A

Wall installation
Lead 6 Lead 12 Lead 20

(Unit: mm)

C

XY-X

Lead 6 Lead 12 Lead 20

Horizontal installation

B

A

C

B

PHASER

Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 600mm, resonance of the
ball screw may occur depending on the operation conditions
(critical speed). In this case, reduce the speed setting on the
program by referring to the maximum speeds shown in the
table below.
Note 3. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

Static loading moment

A

Linear motor
single-axis robots

Allowable overhang Note

Specifications
AC servo motor output (W)
30
Repeatability Note 1 (mm)
+/-0.02
Deceleration mechanism
Ball screw φ12 (Class C10)
Ball screw lead (mm)
20
12
6
Maximum speed Note 2 (mm/sec)
1200
800
400
Horizontal
3
5
9
Maximum
payload (kg)
Vertical
1.2
2.4
Rated thrust (N)
19
32
64
Stroke (mm)
50 to 800 (50mm pitch)
Stroke+201.5
Overall length Horizontal
(mm)
Vertical
Stroke+239.5
Maximum dimensions of cross
W55×H52
section of main unit (mm)
Cable length (m)
Standard: 3.5 / Option: 5,10
Linear guide type
2 rows of gothic arch grooves × 1 rail
Position detector
Resolvers Note 3
Resolution (Pulse/rotation)
16384

FLIP-X

LCD monitor
No entry: None
L: With LCD

Single-axis robots

Note 1. The model with a lead of 20mm cannot select specifications with brake (vertical
specifications).
Note 2. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 3. See P.498 for DIN rail mounting bracket.
Note 4. Select this selection when using the gateway function. For details, see P.60

Driver: Power-supply voltage /
Power capacity
105: 100V/100W or less
205: 200V/100W or less

Compact
single-axis robots

Cable lengthNote 2
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

TRANSERVO

Lead
designation
20: 20mm
12: 12mm
6: 6mm

Linear conveyor
modules

Model

LCM100

T5LH

T5LH

73+/-2(Note 1)

74.5+/-3
When origin is
on non-motor side
20.5+/-2(Note 1)

CONTROLLER INFORMATION

55

40
25+/-0.02

Effective stroke
35 (Between
knocks +/-0.02)

127+/-3
When origin is on motor side

CLEAN

Approx. 250 (Motor cable length)

50

42
(45.5)

1.6

(96)
(55)

Grounding terminal (M4)
L
L+35 (with brakes)

(3: Screw head)
15 mm or less (Note 4)

122 (with brakes)
87
B

(34.5)

A
Installation hole:N-(See cross-section B-B)

D

M×50

F type

Cross-section B-B

B
135.5
170.5 (with brakes)

ϕ4H7 Depth6

C

SR1-X u 516 TS-X u 490 RDV-X u 504

B/R type

Controller

Note 1. Stop positions are determined by the mechanical stoppers at both
ends.
Note 2. Minimum bend radius of motor cable is R30.
Note 3. Weight of models with no brake. The weight of brake-attached
models is 0.2 kg heavier than the models with no brake shown
in the table.
Note 4. The under-head length of the hex socket-head bolt (M4×0.7)
to be used for the installation work is 15mm or less.
Note 5. When the stroke is longer than 600mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed).
In this case, reduce the speed setting on the program by
referring to the maximum speeds shown in the table at the left.
Note 6. External view of T5LH is identical to T5L.

N type

Effective stroke
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
L
251.5301.5351.5401.5451.5501.5551.5601.5651.5701.5751.5801.5 851.5 901.5 951.5 1001.5
A
130 180 230 280 330 380 430 480 530 580 630 680 730 780 830 880
C
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
D
230 230 230 230 230 230 230 230 230 230
M
0
1
2
3
4
5
0
1
2
3
4
5
6
7
8
9
N
4
6
8
10
12
14
6
8
10
12
14
16
18
20
22
24
Weight (kg) Note 3
1.7 1.8 2.0 2.2 2.3 2.5 2.7 2.8 3.0 3.2 3.3 3.5 3.7 3.8 4.0 4.2
1200
960 840 720 660
Maximum Lead 20
800
640 560 480 440
speed for each Lead 12
Note 5
stroke
Lead 6
400
320 280 240 220
(mm/sec) Speed setting
80% 70% 60% 55%

2

GF type

9

4 +0.02
0
Depth6

4.5

R

ϕ4.5

ϕ8

16

16

30

1

T type

(2)

(51)
41
29

52

(3)

2-ϕ3 H7 Depth6
4-M4×0.7 Depth9

108+/-2 (with brakes) (Note 1)
162+/-3 (with brakes)

177

YA

Articulated robots

T6L

High lead: Lead 20

Origin on the non-motor side is selectable

Controller: 100V / 200V

Ordering method

TSX
Brake Note 1
No entry: No brakes
BK: Brakes provided

Origin position change
None: Standard
Z: Non-motor side

Grease type
None: Standard
GC: Clean

Stroke
50 to 800
(50mm pitch)

Compact
single-axis robots

TRANSERVO

Lead
designation
20: 20mm
12: 12mm
6: 6mm

Cable lengthNote 2
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

Positioner Note 3
TS-X

Single-axis robots

SR1-X

05

Controller

Driver: Power capacity
05: 100W or less

LCD monitor
No entry: None
L: With LCD

I/O selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 4

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Usable for CE
No entry: Standard
E: CE marking

I/O selection
N: NPN
P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Battery
B: With battery
(Absolute)
N: None
(Incremental)

RDV-X

2

05

RBR1

Driver

Power-supply voltage
2: AC200V

Driver: Power capacity
05: 100W or less

Regenerative unit

Static loading moment

A

MY

6kg
10kg
3kg
8kg
12kg
5kg
10kg
30kg

A

B

C

319
98
64
624
273
216
694
374
159

184
37
0
125
41
24
73
33
0

234
77
55
335
121
77
236
109
25

C

2kg
6kg
10kg
3kg
8kg
12kg
5kg
10kg
30kg

C

A

Wall installation
Lead 12 Lead 20

SCARA
robots

YK-X

Pick & place
robots

(Unit: mm)

A

B

C

234
61
30
293
89
43
204
72
0

152
13
0
96
14
0
45
0
0

265
71
42
510
210
130
530
245
0

MR

MP

Vertical installation (Unit: mm)
1kg
2kg
4kg
2kg
4kg
8kg

A

C

355
165
70
171
73
23

352
165
72
172
74
26

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.
Note. Service life is calculated for 600mm stroke models.

(Unit: N·m)

MY
35

MP
40

MR
50

Controller
Controller Operation method
Programming /
I/O point trace /
SR1-X05
command /
RCX221/222 Remote
Operation
RCX240/340 using RS-232C
communication
TS-X105
I/O point trace /
Remote command
TS-X205
RDV-X205-RBR1 Pulse train control

T6L
Approx. 250 (Motor cable length)

Effective stroke

91+/-3
When origin is on
non-motor side
27+/-2(Note 1)

(3)

CONTROLLER INFORMATION

65

CLEAN

156.5+/-3
When origin is on motor side
45
92.5+/-2(Note 1)
30+/-0.02

2-ϕ3H7 Depth6
4-M5×0.8 Depth11

127.5+/-2(with brakes)(Note 1)
191.5+/-3

Grounding terminal (M4)

(2)

L
L+35 (with brakes)

(3: Screw head)

(49)

A
Installation hole:N-(See cross-section B-B)

D

M×50

ϕ 4.5

ϕ8

4.5
9.5

GF type

B
168
203 (with brakes)

C

2

4

Cross-section B-B

ϕ4H7 Depth6

+ 0.05
0 Depth6

F type

42

1.8

23

40
B

23

T type

148.5 (with brakes)
113.5
15 mm or less (Note 4)

(58)
48
32

56

53

44
(47.5)

1.6

(116)
(60)

R

YP-X

Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 600mm, resonance of the
ball screw may occur depending on the operation conditions
(critical speed). In this case, reduce the speed setting on the
program by referring to the maximum speeds shown in the
table below.
Note 3. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

2kg

(Unit: mm)

Lead 6

Cartesian
robots

XY-X

Lead 12 Lead 20

Horizontal installation

B

A

C

B

Lead 6

PHASER

Linear motor
single-axis robots

Allowable overhang Note

Specifications
AC servo motor output (W)
60
Repeatability Note 1 (mm)
+/-0.02
Deceleration mechanism
Ball screw φ12 (Class C10)
Ball screw lead (mm)
20
12
6
Maximum speed Note 2 (mm/sec)
1333
800
400
Horizontal
10
12
30
Maximum
payload (kg)
Vertical
4
8
Rated thrust (N)
51
85
170
Stroke (mm)
50 to 800 (50mm pitch)
Stroke+247.5
Overall length Horizontal
(mm)
Vertical
Stroke+285.5
Maximum dimensions of cross
W65×H56
section of main unit (mm)
Standard: 3.5 / Option: 5,10
Cable length (m)
Linear guide type
2 rows of gothic arch grooves × 1 rail
Position detector
Resolvers Note 3
Resolution (Pulse/rotation)
16384

40 (Between
knocks+/-0.02)

FLIP-X

Note 1. The model with a lead of 20mm cannot select specifications with brake (vertical
specifications).
Note 2. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 3. See P.498 for DIN rail mounting bracket.
Note 4. Select this selection when using the gateway function. For details, see P.60.

Driver: Power-supply voltage /
Power capacity
105: 100V/100W or less
205: 200V/100W or less

Lead 12

Model

Lead 6

LCM100

Linear conveyor
modules

T6L

N type

Effective stroke
50
L
297.5
A
95
C
50
D
M
0
N
6
Weight (kg) Note 3
2.4
Maximum Lead 20
speed for each Lead 12
stroke Note 5
Lead 6
(mm/sec) Speed setting

B/R type

178

100
347.5
145
100
1
8
2.6

150
397.5
195
150
2
10
2.8

Controller

200
447.5
245
200
3
12
3.1

250
497.5
295
250
4
14
3.3

300 350
547.5 597.5
345 395
300 350
195
5
0
16
8
3.5
3.7
1333
800
400
-

400
647.5
445
400
195
1
10
4.0

450
697.5
495
450
195
2
12
4.2

500
747.5
545
500
195
3
14
4.4

550
797.5
595
550
195
4
16
4.6

600
847.5
645
600
195
5
18
4.8

650
897.5
695
650
195
6
20
5.1
1133
680
340
85%

700
947.5
745
700
195
7
22
5.3
1000
600
300
75%

750
997.5
795
750
195
8
24
5.5
866
520
260
65%

800
1047.5
845
800
195
9
26
5.7
800
480
240
60%

Note 1. Stop positions are determined by the mechanical
stoppers at both ends.
Note 2. Minimum bend radius of motor cable is R30.
Note 3. Weight of models with no brake. The weight of
brake-attached models is 0.2 kg heavier than the
models with no brake shown in the table.
Note 4. The under-head length of the hex socket-head
bolt (M4×0.7) to be used for the installation work
is 15mm or less.
Note 5. When the stroke is longer than 600mm,
resonance of the ball screw may occur depending
on the operation conditions (critical speed).
In this case, reduce the speed setting on the
program by referring to the maximum speeds
shown in the table at the left.

SR1-X u 516 TS-X u 490 RDV-X u 504

Origin on the non-motor side is selectable: Lead 10·20·30

YA

High lead: Lead 30

Articulated robots

T9

Note. Strokes longer than 1050mm are special order items. Please consult us for delivery time.

Ordering method

TSX
Brake Note 1
No entry:No brakes
BK: Brakes provided

Origin position change
None: Standard
Z: Non-motor side Note 2

Grease type
None: Standard
GC: Clean

Positioner Note 4
TS-X

SR1-X

05

Controller

Driver: Power capacity
05: 100W or less

2

Driver

Power-supply voltage
2: AC200V

05

RBR1

Driver: Power capacity
05: 100W or less

40kg
55kg
50kg
60kg
80kg

5kg
15kg
30kg
10kg
20kg
30kg
10kg
20kg
30kg

B

C

348
87
416
92
0
193
53
0
197
54
0

384 776
40 306
388 1186
42 386
0
61
132 910
0 400
0 109
133 2360
0 985
0 427

A
Lead 20

15kg

A

MR

MP

Vertical installation (Unit: mm)

Lead 10

20kg

5kg

(Unit: mm)

Lead 5

30kg

Lead 20 Lead 30

15kg

383
140
462
151
75
127
59
40
47
37
25

Lead 10

5kg

501
156
505
158
73
119
53
36
42
33
23

Lead 5

15kg

864
491
1292
572
455
617
422
420
722
657
577

C

Wall installation

1kg
2kg
4kg
4kg
8kg
10kg
10kg
15kg
20kg

C

600 600
1098 1098
545 545
594 594
280 280
217 217
221 221
135 135
92
92

MP
133

MR
117

Controller
Controller Operation method
Programming /
SR1-X05 Note I/O point trace /
command /
RCX221/222 Remote
Operation
RCX240/340 using RS-232C
communication
TS-X105 Note I/O point trace /
Note Remote command
TS-X205
RDV-X205-RBR1 Pulse train control
Note. Regenerative unit is required
when the models used vertically
and with 700mm or larger stroke.

YP-X

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.

(Unit: N·m)

MY
86

Pick & place
robots

Lead 5

5kg

B

C

A

SCARA
robots

Lead 10

Lead 20 Lead 30

A

(Unit: mm)

C

YK-X

Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 700mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.
Note 3. Strokes longer than 1050mm are available only for high lead
(Lead 30). (Special order item)
Note 4. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

Horizontal installation

B

A

C

B

Cartesian
robots

Standard: 3.5 / Option: 5,10
4 rows of circular arc grooves × 1 rail
Resolvers Note 4
16384

MY

XY-X

W94 × H98

Static loading moment

A

PHASER

100
+/-0.01
Ball screw (Class C7)
30
20
10
5
1800 1200 600
300
15
30
55
80

4
10
20
56
84
169
339
150 to 1250 Note 3 (50mm pitch)
Stroke+259
Stroke+289

Regenerative unit

Linear motor
single-axis robots

Allowable overhang Note

Specifications
AC servo motor output (W)
Repeatability Note 1 (mm)
Deceleration mechanism
Ball screw lead (mm)
Maximum speed Note 2 (mm/sec)
Maximum
Horizontal
Vertical
payload (kg)
Rated thrust (N)
Stroke (mm)
Overall length Horizontal
(mm)
Vertical
Maximum dimensions of cross
section of main unit (mm)
Cable length (m)
Linear guide type
Position detector
Resolution (Pulse/rotation)

Battery
B: With battery
(Absolute)
N: None
(Incremental)

FLIP-X

RDV-X

Usable for CE Regenerative unit
I/O selection
No entry: Standard No entry: None N: NPN
E: CE marking R: With RG1 P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Single-axis robots

Note 1. The model with a lead of 30mm cannot select specifications with brake (vertical
specifications).
Note 2. If selecting 5mm lead specifications then the origin point cannot be changed to the
non-motor side.
Note 3. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 4. See P.498 for DIN rail mounting bracket.
Note 5. Select this selection when using the gateway function. For details, see P.60.

I/O selection
Driver: Power-supply voltage / Regenerative unit LCD monitor
Power capacity
No entry: None No entry: None NP: NPN
PN: PNP
105: 100V/100W or less R: With RGT L: With LCD
205: 200V/100W or less
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 5

Compact
single-axis robots

Cable length Note 3
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

Stroke
Lead 20·10·5:
150 to 1050
(50mm pitch)
Lead 30:
150 to 1250
(50mm pitch)

TRANSERVO

Lead
designation
30: 30mm
20: 20mm
10: 10mm
5: 5mm

Linear conveyor
modules

Model

LCM100

T9

T9
82 (Between knocks +/-0.02)

44+/-1
(Note 4)

CONTROLLER INFORMATION

20

30 (with brakes)

L
165
B (Note 5)

60 x (N-1)
60

ϕ11

A

13
22

Grounding terminal

150
409
64
4
5.5

200
459
54
5
5.9

250
509
44
6
6.2

300
559
94
6
6.6

350
609
84
7
6.9

500
759
54
10
8.0

550
809
44
11
8.3

600
859
94
11
8.7

650
909
84
12
9.0

700
959
74
13
9.4

750 800 850 900 950 1000
1009 1059 1109 1159 1209 1259
64
54
44
94
84
74
14
15
16
16
17
18
9.7 10.0 10.3 10.7 11.0 11.4
1440
1170
900
960
780
600
480
390
300
240
195
150
80%
65%
50%

1050 1100 Note 9 1150 Note 9 1200 Note 9 1250 Note 9

1309 1359 1409 1459 1509
64
54
44
94
84
19
20
21
21
22
11.7 12.1 12.5 12.9 13.3
810
540
270
135
45%

Note 8. When the stroke is longer than 700mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to
the maximum speeds shown in the table above.
Note 9. Strokes longer than 1050mm are special order items. Please contact us for speed setting.

Controller

SR1-X u 516 TS-X u 490 RDV-X u 504

B/R type

400 450
659 709
74
64
8
9
7.3
7.6
1800
1200
600
300

N type

Effective stroke
L
A
N
Weight (kg) Note 7
Lead 30
Lead 20
Maximum
speed Note 8 Lead 10
(mm/sec)
Lead 5
Speed setting

Note 5. When installing the unit, washers, etc., cannot be used in the ϕ11 counter bore hole.
Note 6. Minimum bend radius of motor cable is R5.
Note 7. Weight of models with no brake. The weight of brake-attached models is 0.5 kg heavier than the models with no brake
shown in the table.

GF type

Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 2. 167.5+/-4 when the high lead specification (Lead 30) is used.
Note 3. 94+/-4 when the high lead specification (Lead 30) is used.
Note 4. 41.5+/-1 when the high lead specification (Lead 30) is used.

N-M8 x 1.25

F type

B

195 (with brakes)

T type

23
43
83.7
87.7

2.5
17.5

13

98

95.5

50

10

4-M5 x 0.8 Depth4
(The same position on the opposite surface at two (2) locations)
20

2-ϕ6H7 Depth8
4-M6 x 1.0 Depth18

145+/-1 (with brakes) (Note 1)
195+/-3: When origin is on motor side
(195): When origin is on non-motor side

Approx. 250
94

(94): When origin is on motor side
94+/-3 (Note 3): When origin is on non-motor side

Effective stroke

CLEAN

Approx. 250 (Motor cable length) 165+/-3 (Note 2): When origin is on motor side
(165): When origin is on non-motor side
115+/-1 (Note 1)
90
60

179

YA

Articulated robots

T9H

High lead: Lead 30

Origin on the non-motor side is selectable: Lead 20·30

Note. Strokes longer than 1050mm are special order items. Please consult us for delivery time.

Ordering method

TSX
Brake Note 1
No entry:No brakes
BK: Brakes provided

Origin position change
None: Standard
Z: Non-motor side Note 2

Grease type
None: Standard
GC: Clean

Stroke
Lead 20·10·5:
150 to 1050
(50mm pitch)
Lead 30:
150 to 1250
(50mm pitch)

Cable length Note 3
3L:3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

Positioner Note 4
TS-X

SR1-X

10

Controller

Driver: Power capacity
10: 200W

RDV-X

2

Driver

Power-supply voltage
2: AC200V

Regenerative unit LCD monitor
I/O selection
No entry: None No entry: None NP: NPN
R: With RGT L: With LCD
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 5

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Usable for CE Regenerative unit
I/O selection
No entry: Standard No entry: None N: NPN
E: CE marking R: With RG1 P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Battery
B: With battery
(Absolute)
N: None
(Incremental)

10

RBR1

Driver: Power capacity
10: 200W or less

Pick & place
robots

20kg
10kg
20kg
40kg
30kg
50kg
80kg
60kg
80kg
100kg

A

B

C

415
270
667
330
162
392
297
265
477
412
362

286
105
244
112
42
75
40
21
22
22
16

183
93
225
107
47
81
44
24
37
25
18

C

10kg
20kg
10kg
20kg
40kg
20kg
25kg
30kg
20kg
25kg
30kg

C

A

Wall installation
Lead 20 Lead 30

10kg

(Unit: mm)

(Unit: mm)

A

B

C

140
41
170
46
0
52
24
0
54
25
0

120
0
128
0
0
0
0
0
0
0
0

323
123
549
182
0
335
235
108
710
505
355

MR

MP

Vertical installation (Unit: mm)
4kg

10kg

6kg
8kg
15kg
20kg
15kg
20kg
30kg

A

C

515
334
244
217
133
90
135
92
49

515
334
244
217
133
90
135
92
49

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.

(Unit: N·m)

MY
86

MP
133

MR
117

Controller
Controller Operation method
Programming /
SR1-X10 Note I/O point trace /
command /
RCX221/222 Remote
Operation
RCX240/340 using RS-232C
communication
TS-X110 Note I/O point trace /
Note Remote command
TS-X210
RDV-X210-RBR1 Pulse train control
Note. When using the unit vertically, a
regeneration unit is required.

T9H
Approx. 250 (Motor cable length) 179+/-3 (Note 2): When origin is on motor side
(179): When origin is on non-motor side
129+/-1 (Note 1)
90
60

Effective stroke

(Note 4)

CONTROLLER INFORMATION

159+/-1 (with brakes) (Note 1)
209+/-3 (with brakes): When origin is on motor side
(209): When origin is on non-motor side

Approx. 250
4-M5 x 0.8 Depth4
(The same position on the opposite surface at 2 locations)

50

20

13

98

95.5

20

94

2-ϕ6H7 Depth8
4-M6 x 1.0 Depth18

(94): When origin is on motor side
94+/-3 (Note 3): When origin is on non-motor side
44+/-1

10

CLEAN

82 (Between knocks +/-0.02)

YP-X

Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 700mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.
Note 3. Strokes longer than 1050mm are available only for high lead
(Lead 30). (Special order item)
Note 4. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

Horizontal installation

B

A

C

B

Lead 10

SCARA
robots

YK-X

Standard: 3.5 / Option: 5,10
4 rows of circular arc grooves × 1 rail
Resolvers Note 4
16384

Static loading moment
MY

Lead 5

W94 × H98

Regenerative unit

A

Lead 20 Lead 30

Cartesian
robots

XY-X

200
+/-0.01
Ball screw (Class C7)
30
20
10
5
1800 1200 600
300
25
40
80
100

8
20
30
113
170
341
683
150 to 1250 Note 3 (50mm pitch)
Stroke+273
Stroke+303

Lead 10

PHASER

Linear motor
single-axis robots

Allowable overhang Note

Specifications
AC servo motor output (W)
Repeatability Note 1 (mm)
Deceleration mechanism
Ball screw lead (mm)
Maximum speed Note 2 (mm/sec)
Maximum
Horizontal
Vertical
payload (kg)
Rated thrust (N)
Stroke (mm)
Overall length Horizontal
(mm)
Vertical
Maximum dimensions of cross
section of main unit (mm)
Cable length (m)
Linear guide type
Position detector
Resolution (Pulse/rotation)

Lead 5

FLIP-X

Single-axis robots

Note 1. The model with a lead of 30mm cannot select specifications with brake (vertical
specifications).
Note 2. If selecting 10mm·5mm lead specifications then the origin point cannot be changed
to the non-motor side.
Note 3. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 4. See P.498 for DIN rail mounting bracket.
Note 5. Select this selection when using the gateway function. For details, see P.60.

Driver: Power-supply voltage /
Power capacity
110: 100V/200W
210: 200V/200W

Lead 20

Compact
single-axis robots

TRANSERVO

Lead
designation
30: 30mm
20: 20mm
10: 10mm
5: 5mm

Lead 10

Model

Lead 5

Linear conveyor
modules

LCM100

T9H

2.5
17.5

30 (with brakes)

L
60 x (N-1)

179
B (Note 5)

Grounding terminal

60

A

ϕ11
13
22

T type

23
43
83.7
87.7

N-M8 x 1.25

F type

B

209 (with brakes)

GF type

Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 2. 181.5+/-4 when the high lead specification (Lead 30) is used.
Note 3. 94+/-4 when the high lead specification (Lead 30) is used.
Note 4. 41.5+/-1 when the high lead specification (Lead 30) is used.

N type

Effective stroke
L
A
N
Weight (kg) Note 7
Lead 30
Maximum Lead 20
speed Note 8 Lead 10
(mm/sec)
Lead 5
Speed setting

150
423
64
4
5.8

200
473
54
5
6.2

250
523
44
6
6.5

300
573
94
6
6.9

350
623
84
7
7.3

B/R type

400 450
673 723
74
64
8
9
7.7
8.0
1800
1200
600
300

Note 5. When installing the unit, washers, etc., cannot be used in the ϕ11 counter bore hole.
Note 6. Minimum bend radius of motor cable is R5.
Note 7. Weight of models with no brake. The weight of brake-attached models is 0.5 kg heavier than the models with no brake
shown in the table.

500
773
54
10
8.4

550
823
44
11
8.8

600
873
94
11
9.1

650
923
84
12
9.5

700 750 800 850 900 950 1000
973 1023 1073 1123 1173 1223 1273
74
64
54
44
94
84
74
13
14
15
16
16
17
18
9.9 10.2 10.6 11.0 11.4 11.7 12.1
1440
1170
900
960
780
600
480
390
300
240
195
150
80%
65%
50%

1050 1100 Note 9 1150 Note 9 1200 Note 9 1250 Note 9
1323 1373 1423 1473 1523
64
54
44
94
84
19
20
21
21
22
12.5 12.9 13.3 13.7 14.1
810
540
270
135
45%

Note 8. When the stroke is longer than 700mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to
the maximum speeds shown in the table above.
Note 9. Strokes longer than 1050mm are special order items. Please contact us for speed setting.

180

Controller

SR1-X u 516 TS-X u 490 RDV-X u 504

Origin on the non-motor side is selectable

YA

High lead: Lead 20

Articulated robots

F8

Ordering method

TSX
Brake Note 1
No entry: No brakes
BK: Brakes provided

Origin position change
None: Standard
Z: Non-motor side

Grease type
None: Standard
GC: Clean

Positioner Note 3
TS-X

SR1-X

05

Controller

Driver: Power capacity
05: 100W or less

2

Driver

Power-supply voltage
2: AC200V

I/O selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 4

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Usable for CE
No entry: Standard
E: CE marking

I/O selection
N: NPN
P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Battery
B: With battery
(Absolute)
N: None
(Incremental)

05

MY

Lead 6

10kg
20kg
30kg

25
89
39
22
14
43
16
6
0

43
188
87
51
33
113
43
20
8

5kg
10kg
12kg
5kg
10kg
15kg
20kg
10kg
20kg
30kg
40kg

C

104
37

67
23

174
72

27
171
69
33
15
94
25
0
0

15
81
32
15
6
36
9
0
0

55
340
172
100
55
369
157
14
0

Lead 12

85
364
203
139
103
403
214
140
113

Lead 20

120
54

MP

1kg
2kg
3kg
4kg
2kg
4kg
6kg
8kg

A

C

447
214

448
216

137
98
244
113
69
46

138
99
245
113
69
46

(Unit: N·m)

MY
70

MP
95

MR
110

Controller
Controller Operation method
SR1-X05
RCX221/222
RCX240/340

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

TS-X105
TS-X205

I/O point trace /
Remote command
Pick & place
robots

40kg

76
32

Lead 12

Lead 20

20kg

197
100

B

MR

Vertical installation (Unit: mm)

YP-X

RDV-X205-RBR1 Pulse train control

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.

SCARA
robots

15kg

A

Lead 6

10kg

C

(Unit: mm)

YK-X

Lead 12

5kg

Wall installation

Cartesian
robots

12kg

B

C

A

XY-X

10kg

(Unit: mm)

C

Lead 6

Horizontal installation
A

B

A

C

B

PHASER

Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 550mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.
Note 3. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

Static loading moment

A

5kg

Regenerative unit

Linear motor
single-axis robots

Allowable overhang Note

Specifications
AC servo motor output (W)
100
Repeatability Note 1 (mm)
+/-0.02
Deceleration mechanism
Ball screw (Class C10)
Ball screw lead (mm)
20
12
6
Maximum speed Note 2 (mm/sec) 1200
720
360
Horizontal
12
20
40
Maximum
payload (kg)
Vertical

4
8
Rated thrust (N)
84
141
283
Stroke (mm)
150 to 800 (50mm pitch)
Stroke+286
Overall length Horizontal
(mm)
Vertical
Stroke+316
Maximum dimensions of cross
W80 × H65
section of main unit (mm)
Standard: 3.5 / Option: 5,10
Cable length (m)
Linear guide type
4 rows of circular arc grooves × 1 rail
Position detector
Resolvers Note 3
Resolution (Pulse/rotation)
16384

RBR1

Driver: Power capacity
05: 100W or less

FLIP-X

RDV-X

LCD monitor
No entry: None
L: With LCD

Single-axis robots

Note 1. The model with a lead of 20mm cannot select specifications with brake (vertical
specifications).
Note 2. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 3. See P.498 for DIN rail mounting bracket.
Note 4. Select this selection when using the gateway function. For details, see P.60.

Driver: Power-supply voltage /
Power capacity
105: 100V/100W or less
205: 200V/100W or less

Compact
single-axis robots

Cable length Note 2
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

Stroke
150 to 800
(50mm pitch)

TRANSERVO

Lead
designation
20: 20mm
12: 12mm
6: 6mm

Linear conveyor
modules

Model

LCM100

F8

F8
Approx. 240 (Motor cable length)

Effective stroke

93+/-3: When origin is on non-motor side
(93): When origin is on motor side

CLEAN

193+/-3: When origin is on motor side
(193): When origin is on non-motor side 50
148+/-1 (Note 1)
30 +/-0.02

48+/-1

Approx. 210 (Motor cable length)

CONTROLLER INFORMATION

80
70
(between
knocks +/-0.02)

(Note 1)

4-M6 x 1.0 Depth12
2-ϕ5H7 Depth10

178+/-1 (With brake) (Note 1)
223+/-3 (With brake): When origin is on motor side
(223): When origin is on non-motor side

L + 30 (With brake)
80
60

L
78

Grounding terminal (M4)

198 (With brake)

ϕ5.5

50

A x 100

B

50

(68)

100

2

200
486
0
150
8
290
3.9

250
536
1
100
10
340
4.2

300
586
1
150
10
390
4.4

(Note 4)

450
736
3
100
14
540
5.3

500
786
3
150
14
590
5.6

550
836
4
100
16
640
5.9

600
886
4
150
16
690
6.2
1080
648
324
90%

650 700 750 800
936 986 1036 1086
5
5
6
6
100 150 100 150
18
18
20
20
740 790 840 890
6.4
6.7
7.0
7.3
900 780 720 600
540 468 432 360
270 234 216 180
75% 65% 60% 50%

(Note 4)

D

2

Note 1. Stop positions are determined by the mechanical stoppers at
both ends.
Note 2. When installing the robot, do not use washers inside the robot
body.
Note 3. Minimum bend radius of motor cable is R50.
Note 4. When using this ϕ10 knock-pin hole to position the robot body,
the knockpin must not protrude more than 10mm inside the robot
body.
Note 5. Weight of models with no brake. The weight of brake-attached
models is 0.3 kg heavier than the models with no brake shown in
the table.

B/R type

350 400
636 686
2
2
100 150
12
12
440 490
4.7
5.0
1200
720
360

10H7

6.4
3.5

150
436
0
100
8
240
3.6

ϕ10H7 Plate thickness 10

N type

Effective stroke
L
A
B
C
D
Weight (kg) Note 5
Lead 20
Maximum
Lead 12
speed Note 6
Lead 6
(mm/sec)
Speed setting

E
145
175 (With brake)

GF type

Use M5 x 0.8 hex socket
Note Recommended plate nut:
head bolt with length
M3 ( 6 * t 1.6)
(under head) of 16mm or more.
F: Detail of T-groove
Cross-section E-E

F type

40

R

ϕ9.5

5

T type

168
C-ϕ5.5 See cross-section E-E. E

5
1.5

Greasing hole

63.5

34

65

F

Note 6. When the stroke is longer than 550mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the
maximum speeds shown in the table above.

Controller

SR1-X u 516 TS-X u 490 RDV-X u 504

181

YA

Articulated robots

F8L

High lead: Lead 30

Origin on the non-motor side is selectable

Ordering method

Compact
single-axis robots

TRANSERVO

Lead
designation
30: 30mm
20: 20mm
10: 10mm
5: 5mm

Brake
No entry:No brakes
BK:Brakes provided

Origin position change
None: Standard
Z: Non-motor side

Grease type
None: Standard
GC: Clean

Positioner Note 3
TS-X

Note 2

Stroke
150 to 1050
(50mm pitch)

Cable length
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

Single-axis robots

SR1-X

05

Controller

Driver: Power capacity
05: 100W or less

RDV-X

2

Driver

Power-supply voltage
2: AC200V

LCD monitor
No entry: None
L: With LCD

I/O selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 4

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Usable for CE
No entry: Standard
E: CE marking

I/O selection
N: NPN
P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Battery
B: With battery
(Absolute)
N: None
(Incremental)

05

MY

(Unit: mm)

SCARA
robots

YK-X
YP-X

Pick & place
robots

B

C

112
78
211
116
76
58
251
121
74
35
249
170
138
51

80
43
108
45
24
14
56
20
8
0
23
10
4
0

80
49
147
69
39
26
122
46
20
6
62
29
12
0

5kg
7kg
5kg
10kg
15kg
20kg
10kg
20kg
30kg
40kg
20kg
30kg
40kg
50kg

B

55
21
119
38
7
0
85
7
0
0
19
0
0
0

C

A
(Unit: mm)

A
Lead 20 Lead 30

A

C

Wall installation

Lead 10

Cartesian
robots

XY-X

Lead 20 Lead 30

Horizontal installation

Lead 10

B

A

C

B

5kg
7kg
5kg
10kg
15kg
20kg
10kg
20kg
30kg
40kg
20kg
30kg
40kg
50kg

Regenerative unit

Static loading moment

A

Lead 5

PHASER

Linear motor
single-axis robots

Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 650mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.
Note 3. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

RBR1

Driver: Power capacity
05: 100W or less

Allowable overhang Note

Specifications
AC servo motor output (W)
100
Repeatability Note 1 (mm)
+/-0.01
Deceleration mechanism
Ball screw (Class C7)
Ball screw lead (mm)
30
20
10
5
Maximum speed Note 2 (mm/sec) 1800 1200 600
300
Horizontal
7
20
40
50
Maximum
payload (kg)
Vertical

4
8
16
Rated thrust (N)
56
84
169
339
Stroke (mm)
150 to 1050 (50mm pitch)
Stroke
Stroke+292
Overall length Horizontal +300
(mm)
Vertical

Stroke+322
Maximum dimensions of cross
W80 × H65
section of main unit (mm)
Standard: 3.5 / Option: 5,10
Cable length (m)
Linear guide type
4 rows of circular arc grooves × 1 rail
Position detector
Resolvers Note 3
Resolution (Pulse/rotation)
16384

Lead 5

FLIP-X

Note 1. The model with a lead of 30mm cannot select specifications with brake (vertical
specifications).
Note 2. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 3. See P.498 for DIN rail mounting bracket.
Note 4. Select this selection when using the gateway function. For details, see P.60.

Driver: Power-supply voltage /
Power capacity
105: 100V/100W or less
205: 200V/100W or less

57
19
89
26
0
0
39
0
0
0
7
0
0
0

C

77
34
176
69
16
0
202
30
0
0
140
0
0
0

MR

MP

Vertical installation (Unit: mm)
Lead 10 Lead 20

LCM100

Model

Note 1

Lead 5

Linear conveyor
modules

TSX

F8L

2kg
4kg
2kg
4kg
6kg
8kg
5kg
10kg
15kg
16kg

A

C

236
106
310
141
85
57
123
47
22
19

240
110
311
143
86
58
124
48
22
19

(Unit: N·m)

MY
70

MP
95

MR
110

Controller
Controller Operation method
SR1-X05
RCX221/222
RCX240/340

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

TS-X105
TS-X205

I/O point trace /
Remote command

RDV-X205-RBR1 Pulse train control

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.

F8L
Approx. 240 (Motor cable length)

CLEAN

204+/-3: When origin is on motor side
(204): When origin is on non-motor side 50
160+/-1 (Note 1)
30 +/-0.02

88+/-3: When origin is on non-motor side
(88): When origin is on motor side

Effective stroke

44+/-1

CONTROLLER INFORMATION

80
70
(between
knocks +/-0.02)

(Note 1)

Approx. 210 (Motor cable length)

4-M6 x 1.0 Depth12
2-ϕ5H7 Depth10

190+/-1 (With brake) (Note 1)
234+/-3 (With brake): When origin is on motor side
(234): When origin is on non-motor side

L + 30 (With brake)

63.5

34
ϕ5.5

T type

ϕ9.5

Grounding terminal (M4)
5

L
Greasing hole

78

65

F

80
60

209 (With brake)
179
C-ϕ5.5 See cross-section E-E. E

5

A x 100

B

50

(63)

100

2

GF type
N type

Effective stroke
L
A
B
C
D
Weight (kg) Note 5
Lead 20
Maximum
Lead 10
speed Note 6
Lead 5
(mm/sec)
Speed setting

150
442
0
100
8
240
3.9

E
156
186 (With brake)

B/R type

200 250 300 350 400
492 542 592 642 692
0
1
1
2
2
150 100 150 100 150
8
10
10
12
12
290 340 390 440 490
4.2 4.5 4.8 5.1 5.4
1200
600
300

450 500 550 600
742 792 842 892
3
3
4
4
100 150 100 150
14
14
16
16
540 590 640 690
5.7 6.1 6.4 6.7

ϕ10H7 Plate thickness 10
(Note 4)

650
942
5
100
18
740
7.0

700
992
5
150
18
790
7.3
1020
510
255
85%

750
1042
6
100
20
840
7.6
900
450
225
75%

800
1092
6
150
20
890
7.9
780
390
195
65%

850
1142
7
100
22
940
8.2
720
360
180
60%

10H7

6.4
3.5

F type

Use M5 x 0.8 hex socket
Note Recommended plate nut:
head bolt with length
M3 ( 6 * t 1.6)
(under head) of 16mm or more.
F: Detail of T-groove
Cross-section E-E

D
900
1192
7
150
22
990
8.5
660
330
165
55%

(Note 4)

40

R

1.5

50

2
950
1242
8
100
24
1040
8.8
600
300
150
50%

1000
1292
8
150
24
1090
9.2
540
270
135
45%

1050
1342
9
100
26
1140
9.5
480
240
120
40%

Note 1. Stop positions are determined by the
mechanical stoppers at both ends.
Note 2. When installing the robot, do not
use washers inside the robot body.
Note 3. Minimum bend radius of motor
cable is R50.
Note 4. When using this ϕ10 knock-pin
hole to position the robot body, the
knockpin must not protrude more
than 10mm inside the robot body.
Note 5. Weight of models with no brake.
The weight of brake-attached
models is 0.3 kg heavier than the
models with no brake shown in the
table.

Note 6. When the stroke is longer than 650mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to
the maximum speeds shown in the table above.

182

Controller

SR1-X u 516 TS-X u 490 RDV-X u 504

YA

Articulated robots

F8L

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X

Approx. 240 (Motor cable length)

212+/-4: When origin is on motor side
(209.5): When origin is on non-motor side 50
165.5+/-1
30 +/-0.02

90.5+/-4: When origin is on non-motor side
(88): When origin is on motor side

Effective stroke

44+/-1

80
70
(between
knocks +/-0.02)

CLEAN

80
60

CONTROLLER INFORMATION

4-M6 x 1.0 Depth12
2-ϕ5H7 Depth10
L
Greasing hole

63.5

78

34

65

F

187

5

50

A x 100

C-ϕ5.5 See cross-section E-E. E

ϕ5.5

B

50

(63)

100

2

T type

5

(Note 4)

10H7

E

Use M5 x 0.8 hex socket
head bolt with length
Note Recommended plate nut:
(under head) of 16mm or more.
M3 ( 6 * t 1.6)
F: Detail of T-groove
Cross-section E-E

ϕ10H7 Plate thickness 10

(Note 4)

164

300

350

400

450

500

550

600

650

550

600

650

700

750

800

850

900

950 1000 1050 1100 1150 1200 1250 1300 1350

A

0

0

1

1

2

2

3

3

4

4

5

5

6

6

7

7

8

8

9

B

100

150

100

150

100

150

100

150

100

150

100

150

100

150

100

150

100

150

100

C

8

8

10

10

12

12

14

14

16

16

18

18

20

20

22

22

24

24

26

D

240

290

340

390

440

490

540

590

640

690

740

790

840

890

940

990 1040 1090 1140

Weight (kg)

3.9

4.2

4.5

4.8

5.1

5.4

5.7

6.1

6.4

6.7

7.0

7.3

7.6

7.9

8.2

8.5

8.8

9.2

9.5

1530 1350 1170 1080 990

900

810

720

800

850

900

950 1000 1050 Note 1. Stop positions are determined

85% 75% 65% 60% 55% 50% 45% 40%

by the mechanical stoppers
at both ends.
Note 2. When installing the robot,
do not use washers inside
the robot body.
Note 3. Minimum bend radius of
motor cable is R50.
Note 4. When using this ϕ10 knockpin hole to position the robot
body, the knockpin must
not protrude more than
10mm inside the robot body.

Note 5. When the stroke is longer than 650mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to
the maximum speeds shown in the table above.

Controller

SR1-X u 516 TS-X u 490 RDV-X u 504

B/R type

250

500

N type

200

450

GF type

150

L

1800

750

2

Effective stroke

Maximum speed Note 5 Lead 30
(mm/sec)
Speed setting

700

D

F type

6.4
3.5

40

R

ϕ9.5

Grounding terminal (M4)

1.5

Pick & place
robots

YP-X

F8L High lead type: Lead 30

183

YA

Articulated robots

F8LH

Origin on the non-motor side is selectable

Ordering method
LCM100

Linear conveyor
modules

F8LH

TSX

Model

Origin position change
None: Standard
Z: Non-motor side

Grease type
None: Standard
GC: Clean

Cable length Note 1
3L:3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

Stroke
150 to 1050
(50mm pitch)

Compact
single-axis robots

TRANSERVO

Lead
designation
20: 20mm
10: 10mm
5: 5mm

Positioner Note 2
TS-X

Driver: Power-supply voltage /
Power capacity
105: 100V/100W or less
205: 200V/100W or less

SR1-X

FLIP-X

Single-axis robots

I/O selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 3

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Usable for CE
No entry: Standard
E: CE marking

I/O selection
N: NPN
P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Battery
B: With battery
(Absolute)
N: None
(Incremental)

05

Controller

Note 1. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible
cable.
See P.594 for details on robot cable.
Note 2. See P.498 for DIN rail mounting bracket.
Note 3. Select this selection when using the gateway function. For details, see P.60.

LCD monitor
No entry: None
L: With LCD

Driver: Power capacity
05: 100W or less

RDV-X

2

Driver

Power-supply voltage
2: AC200V

05

RBR1

Driver: Power capacity
05: 100W or less

Regenerative unit

MY

SCARA
robots

YK-X

B

C

573
334
279
629
479
382

256
116
70
137
57
30

176
81
50
111
47
25

20kg 1094

148

127

851
714
601

63
34
20

54
29
17

10kg
20kg
30kg
20kg
20kg
60kg
40kg
60kg
80kg

Lead 20

A

C

MR

Wall installation

Lead 10

(Unit: mm)

Lead 5

Lead 20

Horizontal installation

B

A

C

B

Lead 10

Cartesian
robots

XY-X

Pick & place
robots

A

B

C

60kg

147
53
20
80
15
-

215
75
29
99
19
-

515
255
160
545
270
-

20kg

96

40kg

22

10kg
20kg
30kg
20kg
40kg

60kg
80kg

-

MP

(Unit: mm)

(Unit: N·m)

MY
128

26

MR
143

Controller
Controller Operation method

112 1005
-

MP
163

604
-

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.

SR1-X05
RCX221/222
RCX240/340

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

TS-X105
TS-X205

I/O point trace /
Remote command

RDV-X205-RBR1 Pulse train control

F8LH
Approx. 240 (Motor cable length)
70 (between
knocks +/-0.02)

CLEAN

5
2

242+/-3: When origin is on motor side
(242): When origin is on non-motor side

126+/-3: When origin is on non-motor side
(126): When origin is on motor side

Effective stroke
120
50

160+/-1 (Note 1)

30 +/-0.02

44+/-1
(Note 1)

MODEL

80

CONTROLLER INFORMATION

6.4
3.5

1.5

Note Recommended plate nut:
M3 ( 6 * t 1.6)

SER.NO
MANUFUCTURED
YAMAHA MOTOR CO,LTD MADE IN JAPAN

F: Detail of T-groove

80
60

L
2-Greasing hole

154

34

65

F

8-M6 x 1.0 Depth12
2-ϕ5H7 Depth10

63.5

YP-X

Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 600mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.
Note 3. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

Static loading moment

A

Lead 5

PHASER

Linear motor
single-axis robots

Allowable overhang Note

Specifications
AC servo motor output (W)
100
Repeatability Note 1 (mm)
+/-0.01
Deceleration mechanism
Ball screw (Class C7)
Ball screw lead (mm)
20
10
5
Maximum speed Note 2 (mm/sec) 1200
600
300
Maximum
Horizontal
30
60
80
payload (kg)
Rated thrust (N)
84
169
339
Stroke (mm)
150 to 1050 (50mm pitch)
Overall length Horizontal
Stroke+368
(mm)
Maximum dimensions of cross
W80 × H65
section of main unit (mm)
Standard: 3.5 / Option: 5,10
Cable length (m)
Linear guide type
4 rows of circular arc grooves × 1 rail
Position detector
Resolvers Note 3
Resolution (Pulse/rotation)
16384

Grounding terminal (M4)
192
C-ϕ5.5 See cross-section E-E. E

50

A x 100

B

50

(76)

100

E

ϕ10H7 Plate thickness 10
(Note 4)

169

D

(Note 4)

Use M5 x 0.8 hex socket
head bolt with length
(under head) of 16mm or more.

10H7

F type

40

R

ϕ5.5

ϕ9.5

T type

5

2

GF type

Cross-section E-E

N type
B/R type

Effective stroke
L
A
B
C
D
Weight (kg)
Lead 20
Maximum
Lead 10
speed Note 5
Lead 5
(mm/sec)
Speed setting

150
518
0
150
8
290
4.7

200
568
1
100
10
340
5.0

250
618
1
150
10
390
5.3

300
668
2
100
12
440
5.6

350 400
718 768
2
3
150 100
12
14
490 540
5.9 6.2
1200
600
300

450
818
3
150
14
590
6.6

500
868
4
100
16
640
6.9

550
918
4
150
16
690
7.2

600 650 700
968 1018 1068
5
5
6
100 150 100
18
18
20
740 790 840
7.5
7.8
8.1
1020 900
510 450
255 225
85% 75%

750 800 850 900 950
1118 1168 1218 1268 1318
6
7
7
8
8
150 100 150 100 150
20
22
22
24
24
890 940 990 1040 1090
8.4
8.7
9.0
9.3
9.7
780 720 660 600 540
390 360 330 300 270
195 180 165 150 135
65% 60% 55% 50% 45%

1000
1368
9
100
26
1140
10.0
480
240
120
40%

1050
1418
9
150
26
1190
10.3
420
210
105
35%

Note 1. Stop positions are determined
by the mechanical stoppers
at both ends.
Note 2. When installing the robot,
do not use washers inside
the robot body.
Note 3. Minimum bend radius of
motor cable is R50.
Note 4. When using this ϕ10 knockpin hole to position the robot
body, the knockpin must not
protrude more than 10mm
inside the robot body.

Note 5. When the stroke is longer than 600mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to
the maximum speeds shown in the table above.

184

Controller

SR1-X u 516 TS-X u 490 RDV-X u 504

Origin on the non-motor side is selectable: Lead 10·20·30

YA

High lead: Lead 30

Articulated robots

F10

Note. Strokes longer than 1050mm are special order items. Please consult us for delivery time.

Ordering method
Cable entry
location
No entry:
Standard (S)
U:From the top

Origin position change
None: Standard
Z: Non-motor side Note 2

Grease type
None: Standard
GC: Clean

Stroke
Lead 20·10·5:
150 to 1050
(50mm pitch)
Lead 30:
150 to 1250
(50mm pitch)

Positioner Note 4
TS-X

Cable
length Note 3
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

w

SR1-X

05

Controller

Driver: Power capacity
05: 100W or less

2

Driver

Power-supply voltage
2: AC200V

05

RBR1

Driver: Power capacity
05: 100W or less

Regenerative unit

30kg
40kg
30kg
50kg

15kg
5kg
10kg
20kg
10kg
20kg
30kg
10kg
20kg
30kg

C

206
45
250
99
21
105
22
0
107
22
0

209 480
0 177
213 905
51 438
0 149
53 550
0 230
0
0
54 1410
0 540
0
0

1kg

Lead 20

5kg

B

MP

2kg
4kg
4kg
8kg
10kg
10kg
15kg
20kg

A

C

600
649
306
338
142
102
105
51
25

600
691
347
380
183
144
146
93
66

MP
131

MR
115

Controller
Controller Operation method
Programming /
SR1-X05 Note I/O point trace /
command /
RCX221/222 Remote
Operation
RCX240/340 using RS-232C
communication
TS-X105 Note I/O point trace /
Note Remote command
TS-X205
RDV-X205-RBR1 Pulse train control
Note. Regenerative unit is required
when the models used vertically
and with 700mm or larger stroke.

YP-X

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.

(Unit: N·m)

MY
131

Pick & place
robots

60kg

215
63
259
116
44
74
20
0
20
0
0

A

MR

Vertical installation (Unit: mm)

Lead 10

15kg

273
61
282
121
40
71
17
0
19
0
0

(Unit: mm)

Lead 5

20kg

491
223
937
487
236
389
179
106
419
0
0

Lead 20 Lead 30

10kg

C

Lead 10

5kg

B

Wall installation

Lead 5

Lead 20 Lead 30
Lead 10

15kg

A

C

A

SCARA
robots

Lead 5

5kg

(Unit: mm)

C

YK-X

Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 700mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.
Note 3. Strokes longer than 1050mm are available only for high lead
(Lead 30). (Special order item)
Note 4. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

Horizontal installation

B

A

C

B

Cartesian
robots

Standard: 3.5 / Option: 5,10
4 rows of circular arc grooves × 1 rail
Resolvers Note 4
16384

MY

XY-X

W110 × H71

Static loading moment

A

PHASER

100
+/-0.01
Ball screw (Class C7)
30
20
10
5
1800 1200 600
300
15
20
40
60

4
10
20
56
84
169
339
150 to 1250 Note 3 (50mm pitch)
Stroke+260
Stroke+290

Linear motor
single-axis robots

Allowable overhang Note

Specifications
AC servo motor output (W)
Repeatability Note 1 (mm)
Deceleration mechanism
Ball screw lead (mm)
Maximum speed Note 2 (mm/sec)
Maximum
Horizontal
Vertical
payload (kg)
Rated thrust (N)
Stroke (mm)
Overall length Horizontal
(mm)
Vertical
Maximum dimensions of cross
section of main unit (mm)
Cable length (m)
Linear guide type
Position detector
Resolution (Pulse/rotation)

Battery
B: With battery
(Absolute)
N: None
(Incremental)

FLIP-X

RDV-X

Usable for CE Regenerative unit
I/O selection
No entry: Standard No entry: None N: NPN
E: CE marking R: With RG1 P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Single-axis robots

Note 1. The model with a lead of 30mm cannot select specifications with brake (vertical
specifications).
Note 2. If selecting 5mm lead specifications then the origin point cannot be changed to the non-motor side.
Note 3. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 4. See P.498 for DIN rail mounting bracket.
Note 5. Select this selection when using the gateway function. For details, see P.60.

I/O selection
Driver: Power-supply voltage / Regenerative unit LCD monitor
Power capacity
No entry: None No entry: None NP: NPN
PN: PNP
105: 100V/100W or less R: With RGT L: With LCD
205: 200V/100W or less
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 5

Compact
single-axis robots

Brake Note 1
No entry:
No brakes
BK:
Brakes
provided

TRANSERVO

Lead
designation
30: 30mm
20: 20mm
10: 10mm
5: 5mm

Linear conveyor
modules

TSX

Model

LCM100

F10

F10

127 (with brake)
Approx. 250

50

18

110
71

69.5

26

4-M5 x 0.8 Depth9
(The same position on the opposite surface at 2 locations)

147+/-1 (with brake) (Note 1)
195+/-3 (with brake): When origin is on motor side
(195): When origin is on non-motor side

30 (with brake)

109

L

102

K±0.02

195 (with brake)
165

M x 200
200

68

17

S

47+/-1
(Note 4)

10

17

18.5

12.5
U

18.5

14

2-ϕ5H7 Depth15
4-M5 x 0.8 Depth12

A

B (Note 5)

45

5

80

T type

ϕ9.5 (Note 5)

N-ϕ5.5
175
205 (with brake)

200
460
50
1
6
200
5.7

250
510
100
1
6
250
5.8

300
560
150
1
6
300
6.2

350
610
200
1
6
350
6.5

Note 5. When installing the unit, washers, etc., cannot be used in the ϕ9.5 counter bore hole.
Note 6. Minimum bend radius of motor cable is R50.
Note 7. When using this ϕ10 knock-pin hole to position the robot body, the knockpin must not protrude more than 10mm inside the robot body.
Note 8. Weight of models with no brake. The weight of brake-attached models is 0.6 kg heavier than the models with no brake shown in the table.

500
760
150
2
8
500
7.7

550
810
200
2
8
550
8.1

600
860
50
3
10
600
8.5

650
910
100
3
10
650
8.8

700
960
150
3
10
700
9.2

750 800
1010 1060
200
50
3
4
10
12
750 800
9.6 10.0
1440
960
480
240
80%

850

900

950

1000 1050 1100 Note 10 1150 Note 10 1200 Note 10 1250 Note 10

1110 1160 1210 1260 1310 1360
100 150 200
50
100
150
4
4
4
5
5
5
12
12
12
14
14
14
850 900 950 1000 1050 1100
10.4 10.8 11.1 11.5 11.9 12.3
1170
900
810
780
600
540
390
300
270
195
150
135
65%
50%
45%

1410
200
5
14
1150
12.7

1460
50
6
16
1200
13.1

1510
100
6
16
1250
13.5

Note 9. When the stroke is longer than 700mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the
maximum speeds shown in the table above.
Note 10.Strokes longer than 1050mm are special order items. Please contact us for speed setting.

Controller

SR1-X u 516 TS-X u 490 RDV-X u 504

B/R type

400 450
660 710
50
100
2
2
8
8
400 450
6.9
7.3
1800
1200
600
300

N type

K
Weight (kg) Note 8
Lead 30
Maximum Lead 20
speed Note 9 Lead 10
Lead 5
(mm/sec)
Speed setting

150
410
200
0
4
150
5.5

35

GF type

L
A
M
N

A

F type

Effective stroke

N-M5 x 0.8 Depth10
M x 200
2-ϕ10H7 Plate thickness 10 (Note 7)
200

B (S=1/1)

Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 2. 167.5+/-4 when the high lead specification (Lead 30) is used.
Note 3. 95+/-4 when the high lead specification (Lead 30) is used.
Note 4. 44.5+/-1 when the high lead specification (Lead 30) is used.

CONTROLLER INFORMATION

100 (Between knocks +/-0.02)

Direction of robot cable connection

(95): When origin is on motor side
95+/-3 (Note 3): When origin is on non-motor side

Effective stroke

CLEAN

165+/-3 (Note 2):
Approx. 250 (Motor cable length) When origin is on motor side
(165): When origin is
on non-motor side
117+/-1 (Note 1)
86
97
70

185

YA

Articulated robots

F10H

High lead: Lead 30

Origin on the non-motor side is selectable: Lead 10·20·30

Ordering method

TSX

Compact
single-axis robots

TRANSERVO

Lead
designation
30: 30mm
20: 20mm
10: 10mm
5: 5mm

Brake Note 1
No entry:
No brakes
BK:
Brakes
provided

Cable entry
location
No entry:
Standard (S)
U:From the top

Origin position change
None: Standard
Z: Non-motor side Note 2

Grease type
None: Standard
GC: Clean

Stroke
Lead 20·10·5:
150 to 1000
(50mm pitch)
Lead 30:
150 to 1000
(50mm pitch)

Positioner Note 4
TS-X

Cable
length Note 3
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

w

SR1-X

10

Controller

Driver: Power capacity
10: 200W

RDV-X

2

Driver

Power-supply voltage
2: AC200V

Regenerative unit LCD monitor
I/O selection
No entry: None No entry: None NP: NPN
R: With RGT L: With LCD
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 5

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Usable for CE Regenerative unit
I/O selection
No entry: Standard No entry: None N: NPN
E: CE marking R: With RG1 P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: Profibus

Battery
B: With battery
(Absolute)
N: None
(Incremental)

10

RBR1

Driver: Power capacity
10: 200W or less

Static loading moment
MY

A
10kg 1181

772

20kg

10kg 1961
20kg
40kg

SCARA
robots

YK-X

30kg
50kg
80kg
60kg
80kg
100kg

949
432
1615
1131
812
3091
2330
1733

(Unit: mm)

B

C

681
298
685
301
109
239
112
40
112
64
36

219
99
232
103
38
84
39
14
39
23
12

C

10kg
20kg
10kg
20kg
40kg
20kg
25kg
30kg
20kg
25kg
30kg

C

A

Wall installation
Lead 10 Lead 20 Lead 30

Horizontal installation

B

A

C

B

Lead 5

Cartesian
robots

XY-X

Pick & place
robots

(Unit: mm)

A

B

193
65
198
65
0
100
66
43
134
93
66

570
187
570
187
0
283
187
123
379
264
187

C

1062
549
1786
732
0
1981
1546
1223
7629
5987
4841

MR

MP

Vertical installation (Unit: mm)
A

(Unit: N·m)

C

MY
348

4kg 1650 1650
6kg 1104 1104
8kg
10kg
15kg
20kg
15kg
20kg
30kg

832
927
614
458
752
560
369

832
927
614
458
752
560
369

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.
Note. Service life is calculated for 600mm stroke models.

MP
348

MR
160

Controller
Controller Operation method
Programming /
SR1-X10 Note I/O point trace /
command /
RCX221/222 Remote
RCX240/340 Operation
using RS-232C
communication
TS-X110 Note I/O point trace /
Note Remote command
TS-X210
RDV-X210- Pulse train control
RBR1
Note. When using the unit vertically, a
regeneration unit is required.

F10H
(137) : When origin is on motor side
137+/-3:
When origin is on non-motor side
54+/-1 (Note 1)

Effective stroke
3-ϕ5H7 Depth15
6-M5x0.8 Depth12

CONTROLLER INFORMATION

100 (Between knocks +/-0.02)

CLEAN

Approx. 250 (Motor cable length) 218+/-3: When origin is on motor side
(218) : When origin is on non-motor side
156
140
135+/-1 (Note 1)
+/-0.02
70
115

145 (with brake)
165+/-1 (with brake) (Note 1)
248+/-3 (with brake): When origin is on motor side
(248): When origin is on non-motor side
120
18
6-M5x0.8 Depth 9
50
(Same position on opposite side)

Approx. 250

110

30 (with brake)

109

T type

17

102

Mx200

(55)

A

ϕ9.5 (Note 2)

B (Note 2)

5

200

ϕ10H7 Plate thickness 10 (Note 4)

N-ϕ5.5

(R
)

80

17

F type

18.5

K
100

12.5

18.5

14

L

280 (with brake)
195 (with brake)
165
250

Direction of robot cable connection

68

71

69.5

26

10

YP-X

Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 600mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.
When the movement distance is short, the speed may not
reach the maximum speed according to the payload.
Note 3. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

Regenerative unit

A

Lead 10 Lead 20 Lead 30

PHASER

Linear motor
single-axis robots

Allowable overhang Note

Specifications
AC servo motor output (W)
200
Repeatability Note 1 (mm)
+/- 0.01
Deceleration mechanism
Ball screw (Class C7)
Ball screw lead (mm)
30
20
10
5
Maximum speed Note 2 (mm/sec) 1800 1200 600
300
Horizontal 25
40
80
100
Maximum
payload (kg)
Vertical

8
20
30
Rated thrust (N)
113
170
341
683
Stroke (mm)
150 to 1000
Stroke+355
Overall length Horizontal
(mm)
Vertical
Stroke+385
Maximum dimensions of cross
W110 × H71
section of main unit (mm)
Cable length (m)
Standard: 3.5 / Option: 5,10
Linear guide type
4 rows of circular arc grooves × 1 rail
Position detector
Resolvers Note 3
Resolution (Pulse/rotation)
16384

Lead 5

FLIP-X

Single-axis robots

Note 1. The model with a lead of 30mm cannot select specifications with brake (vertical
specifications).
Note 2. If selecting 5mm lead specifications then the origin point cannot be changed to the
non-motor side.
Note 3. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 4. See P.498 for DIN rail mounting bracket.
Note 5. Select this selection when using the gateway function. For details, see P.60.

Driver: Power-supply voltage /
Power capacity
110: 100V/200W
210: 200V/200W

Lead 10 Lead 20

Model

Lead 5

Linear conveyor
modules

LCM100

F10H

100

200

GF type

260
290 (with brake)

N type
B/R type

Effective stroke
L
A
M
N
K
Weight (kg) Note 5
Lead 30
Maximum Lead 20
Note 6
Lead 10
speed
(mm/sec) Lead 5
Speed setting

150
505
200
0
6
250
6.9

200
555
50
1
8
300
7.3

250
605
100
1
8
350
7.7

300
655
150
1
8
400
8.1

350 400
705 755
200
50
1
2
8
10
450 500
8.4
8.8
1800
1200
600
300

450
805
100
2
10
550
9.2

500
855
150
2
10
600
9.6

Mx200

N-M5x0.8
Depth 10

B
2
A

(45)
10

550
905
200
2
10
650
10.0

600 650 700
955 1005 1055
50
100 150
3
3
3
12
12
12
700 750 800
10.3 10.7 11.1
1440 1260
960 840
480 420
240 210
80% 70%

+ 0.02
0

Plate thickness 10 (Note 4)

750 800 850 900 950 1000 Note 1. Stop positions are determined by the
stoppers at both ends.
1105 1155 1205 1255 1305 1355 Note 2. mechanical
When installing the unit, washers,
200
50
100 150 200
50
etc., cannot be used in the ϕ9.5
counter bore hole.
3
4
4
4
4
5
12
14
14
14
14
16 Note 3. Minimum bend radius of motor cable
is R50.
850 900 950 1000 1050 1100 Note 4. When using this ϕ10 knock-pin hole to
11.5 11.9 12.2 12.6 13.0 13.4
position the robot body, the knockpin
must not protrude more than 10mm
1080
900
720
630
inside the robot body.
720
600
480
420
Note
5.
Weight of models with no brake. The
360
300
240
210
weight of brake-attached models is
180
150
120
105
0.5 kg heavier than the models with no
brake shown in the table.
60%
50%
40%
35%

Note 6. When the stroke is longer than 600mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the
maximum speeds shown in the table above.

186

Controller

SR1-X u 516 TS-X u 490 RDV-X u 504

YA

Articulated robots

F10H

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X

Pick & place
robots

YP-X

F10H High lead type: Lead 30
(134.5): When origin is on motor side
137+/-4:
When origin is on non-motor side
51.5+/-1 (Note 1)

100 (Between knocks +/-0.02)

Effective stroke
3-ϕ5H7 Depth15
6-M5x0.8 Depth12

18

110

68

71

69.5

26

50

10

120

CONTROLLER INFORMATION

6-M5x0.8 Depth 9
(Same position on opposite side)

CLEAN

Approx. 250 (Motor cable length) 220.5+/-4: When origin is on motor side
(218) : When origin is on non-motor side
156
135+/-1 (Note 1)
140
70 +/-0.02
115

L

109

165
250

M×200

Direction of robot cable connection

100

200

ϕ9.5 (Note 2)

17

80

17

18.5

ϕ10H7 Plate thickness 10 (Note 4)
)
(R

100

200

260

N-M5x0.8
Depth 10
Mx200

2
A

(45)

200
555
50
1
8
300
7.3

250
605
100
1
8
350
7.7

300
655
150
1
8
400
8.1

450
805
100
2
10
550
9.2

500
855
150
2
10
600
9.6

550
905
200
2
10
650
10.0

600 650 700
955 1005 1055
50
100 150
3
3
3
12
12
12
700 750 800
10.3 10.7 11.1
1440 1260
960 840
480 420
240 210
80% 70%

750 800 850 900 950 1000
1105 1155 1205 1255 1305 1355
200
50
100 150 200
50
3
4
4
4
4
5
12
14
14
14
14
16
850 900 950 1000 1050 1100
11.5 11.9 12.2 12.6 13.0 13.4
1080
900
720
630
720
600
480
420
360
300
240
210
180
150
120
105
60%
50%
40%
35%

Note 1. Stop positions are determined by the
mechanical stoppers at both ends.
Note 2.When installing the unit, washers,
etc., cannot be used in the ϕ9.5
counter bore hole.
Note 3. Minimum bend radius of motor cable
is R50.
Note 4. When using this ϕ10 knock-pin hole to
position the robot body, the knockpin
must not protrude more than 10mm
inside the robot body.

B/R type

350 400
705 755
200
50
1
2
8
10
450 500
8.4
8.8
1800
1200
600
300

Plate thickness 10 (Note 4)

N type

150
505
200
0
6
250
6.9

+ 0.02
0

GF type

10

Effective stroke
L
A
M
N
K
Weight (kg)
Lead 30
Maximum Lead 20
Note 5
Lead 10
speed
(mm/sec) Lead 5
Speed setting

N-ϕ5.5
B

F type

18.5

5

12.5

(55)

A
B (Note 2)

T type

14

102

K

Note 5. When the stroke is longer than 600mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the
maximum speeds shown in the table above.

Controller

SR1-X u 516 TS-X u 490 RDV-X u 504

187

YA

Articulated robots

F14

High lead: Lead 30

Origin on the non-motor side is selectable

Note. Strokes longer than 1050mm are special order items. Please consult us for delivery time.

Ordering method

TSX
Cable entry
location
No entry:
Standard (S)
U: From the top
R: From the right
L: From the left

Origin position change
None: Standard
Z: Non-motor side

Grease type
None: Standard
GC: Clean

Stroke
Lead 20·10·5:
150 to 1050
(50mm pitch)
Lead 30:
150 to 1250
(50mm pitch)

Positioner Note 3
TS-X

Cable
length Note 2
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

SR1-X

05

Controller

Driver: Power capacity
05: 100W or less

2

Driver

Power-supply voltage
2: AC200V

05

Regenerative unit

Static loading moment

A

MY

Horizontal installation

Pick & place
robots

467

30kg 1266
20kg 1132

872
946
50kg 1575
60kg 1493
80kg 1466
40kg
55kg

465
245
353
183
140
158
135
107

Lead 20 Lead 30

863
438
980
430
294
361
218
184
222
194
159

5kg 2153 1366
15kg 1193

A

Lead 10

5kg 1756 1364
15kg 1236

Wall installation

C
5kg
15kg
5kg
15kg
30kg
20kg
40kg
55kg
30kg
40kg
60kg

951
408
1066
402
219
312
140
92
246
167
88

C

A
(Unit: mm)

B

C

A

969 1286
277 803
974 1578
276 775
105 678
189 690
57 402
0 345
107 1095
64 798
20 508

MR

MP

Vertical installation (Unit: mm)
1kg
2kg
4kg
4kg
8kg
10kg
10kg
15kg
20kg

(Unit: N·m)

MY
232

C

600 600
1200 1200
1154 895
1232 956
634 492
499 387
587 456
383 297
281 218

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.

MP
233

MR
204

Controller
Controller Operation method
Programming /
SR1-X05 Note I/O point trace /
command /
RCX221/222 Remote
Operation
RCX240/340 using RS-232C
communication
TS-X105 Note I/O point trace /
Note Remote command
TS-X205
RDV-X205-RBR1 Pulse train control
Note. Regenerative unit is required
when the models used vertically
and with 700mm or larger stroke.

F14

CLEAN

170+/-3 (Note 2):
Approx. 250 (Motor cable length) When origin is on motor side
(170): When origin is
on non-motor side
120+/-1 (Note 1)
90
70
32

3.5
1.5

8.3

CONTROLLER INFORMATION

5.5

1.5

B

Approx. 250 150+/-1 (with brake) (Note 1)
135
131

4-M5 x 0.8 Depth7
(The same position on the opposite surface at 2 locations)

130 (with brake)
100

R

18.5
5.5
A

105
C

K +/-0.02

126

F type

(9)
Use M6 x 1.0 hex socket
head bolt with length head
bolt with length (under head)
of 20mm or more.

156 (with brake)

20

S

200

125
155 (with brake)

L

GF type

Note 1. Stop positions are determined by the mechanical stoppers at
both ends.
Note 2. 172.5+/-4 when the high lead specification (Lead 30) is used.
Note 3. 85+/-4 when the high lead specification (Lead 30) is used.

N type

Effective stroke
L
A
M
N
K
Weight (kg) Note 6
Lead 30
Maximum Lead 20
Note 7
Lead 10
speed
Lead 5
(mm/sec)
Speed setting

M x 200
N-M6 x 1.0 Depth10

200

17

110
100

U

17

T type

14

41.5

200+/-3: When origin is on motor side
(200): When origin is on non-motor side
50
20

L

Direction of robot cable extraction

62
11.5

35+/-1 (Note 4)

2-ϕ6H7 Depth8
8-M6 x 1.0 Depth8

30 (with brake)

B

136

85+/-3 (Note 3): When origin is on non-motor side
(85): When origin is on motor side

Effective stroke

77.5
75

83

22.5

YP-X

Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 700mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.
Note 3. Strokes longer than 1050mm are available only for high lead
(Lead 30). (Special order item)
Note 4. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

B

C

19
23.5

SCARA
robots

YK-X

Standard: 3.5 / Option: 5,10
4 rows of circular arc grooves × 2 rail
Resolvers Note 4
16384

(Unit: mm)

Lead 5

Lead 20 Lead 30

W136 × H83

Lead 10

Cartesian
robots

XY-X

A

B

A

C

B

Lead 5

PHASER

Linear motor
single-axis robots

100
+/-0.01
Ball screw (Class C7)
30
20
10
5
1800 1200 600
300
15
30
55
80

4
10
20
56
84
169
339
150 to 1250 Note 3 (50mm pitch)
Stroke+255
Stroke+285

Battery
B: With battery
(Absolute)
N: None
(Incremental)

RBR1

Driver: Power capacity
05: 100W or less

Allowable overhang Note

Specifications
AC servo motor output (W)
Repeatability Note 1 (mm)
Deceleration mechanism
Ball screw lead (mm)
Maximum speed Note 2 (mm/sec)
Maximum
Horizontal
Vertical
payload (kg)
Rated thrust (N)
Stroke (mm)
Overall length Horizontal
(mm)
Vertical
Maximum dimensions of cross
section of main unit (mm)
Cable length (m)
Linear guide type
Position detector
Resolution (Pulse/rotation)

110 (Between knocks +/-0.02)

FLIP-X

RDV-X

Usable for CE Regenerative unit
I/O selection
No entry: Standard No entry: None N: NPN
E: CE marking R: With RG1 P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Battery
B: With battery
(Absolute)
N: None
(Incremental)

(ϕ10H7)

Single-axis robots

Note 1. The model with a lead of 30mm cannot select specifications with brake (vertical
specifications).
Note 2. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 3. See P.498 for DIN rail mounting bracket.
Note 4. Select this selection when using the gateway function. For details, see P.60.

I/O selection
Driver: Power-supply voltage / Regenerative unit LCD monitor
Power capacity
No entry: None No entry: None NP: NPN
PN: PNP
105: 100V/100W or less R: With RGT L: With LCD
205: 200V/100W or less
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 4

Lead 20

Compact
single-axis robots

TRANSERVO

Brake Note 1
No entry:
No brakes
BK:
Brakes
provided

Lead
designation
30: 30mm
20: 20mm
10: 10mm
5: 5mm

Lead 10

Model

Lead 5

Linear conveyor
modules

LCM100

F14

150
405
200
0
4
240
6.2

200
455
50
1
6
240
6.9

250
505
100
1
6
240
7.5

300
555
150
1
6
240
8.2

350
605
200
1
6
420
8.8

N-ϕ7 Depth9
M x 200
2-ϕ10H7 See cross-section C-C.

A

80

Cross-section C-C

C

Note 4. 32.5+/-1 when the high lead specification (Lead 30) is used.
Note 5. Minimum bend radius of motor cable is R50.
Note 6. Weight of models with no brake. The weight of brake-attached models is 0.7 kg heavier than the models with no brake shown in the table.

B/R type

400 450 500 550
655 705 755 805
50
100 150 200
2
2
2
2
8
8
8
8
420 420 420 600
9.5 10.1 10.8 11.4
1800
1200
600
300

600
855
50
3
10
600
12.1

650 700 750 800
905 955 1005 1055
100 150 200 50
3
3
3
4
10
10
10
12
600 600 780 780
12.6 13.4 13.9 14.6
1440
960
480
240
80%

850 900
1105 1155
100 150
4
4
12
12
780 780
15.2 15.9
1170
780
390
195
65%

950

1000 1050 1100 Note 8 1150 Note 8 1200 Note 8 1250 Note 8

1205 1255
200 50
4
5
12
14
960 960
16.5 17.2
900
600
300
150
50%

1305
100
5
14
960
17.8
810
540
270
135
45%

1355
150
5
14
960
18.5

1405
200
5
14
1140
19.1

1455
50
6
16
1140
19.8

1505
100
6
16
1140
20.4

Note 7. When the stroke is longer than 700mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to
the maximum speeds shown in the table above.
Note 8. Strokes longer than 1050mm are special order items. Please contact us for speed setting.

188

Controller

SR1-X u 516 TS-X u 490 RDV-X u 504

Origin on the non-motor side is selectable: Lead 10·20·30

YA

High lead: Lead 30

Articulated robots

F14H

Note. Strokes longer than 1050mm are special order items. Please consult us for delivery time.

Ordering method
Cable entry
location
No entry:
Standard (S)
U: From the top
R: From the right
L: From the left

Origin position change
None: Standard
Z: Non-motor side Note 2

Grease type
None: Standard
GC: Clean

Stroke
Lead 20·10·5:
150 to 1050
(50mm pitch)
Lead 30:
150 to 1250
(50mm pitch)

Positioner Note 4
TS-X

Cable
length Note 3
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

SR1-X

10

Controller

Driver: Power capacity
10: 200W

2

Driver

Power-supply voltage
2: AC200V

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Usable for CE Regenerative unit
I/O selection
No entry: Standard No entry: None N: NPN
E: CE marking R: With RG1 P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Battery
B: With battery
(Absolute)
N: None
(Incremental)

10

RBR1

Driver: Power capacity
10: 200W or less

50kg 1655
80kg 1720
60kg 2443
80kg 2193
100kg 2000

40kg
30kg
50kg
80kg
60kg
80kg
100kg

C

975 1219 1625
482 426 1257
999 1220 1711
515 558 987
263 227 635
419 338 1282
240 162 934
134
62 756
209 117 1398
135
62 1120
90
29 900

A

C

Lead 20

20kg

B

MR

MP

Vertical installation (Unit: mm)
4kg 2400 2016

Lead 10

30kg 1953

10kg

(Unit: mm)

10kg 1370 1106

Lead 5

40kg 1047

855
445
583
365
242
311
242
202

25kg

Lead 10

20kg 1402

10kg

Lead 5

691

10kg 2265 1674

934
533
961
537
324
485
328
238
317
253
214

A
Lead 20 Lead 30

C

10kg 2152 1673
25kg 1847

Wall installation

6kg 1699 1364
8kg 1301 1051
15kg
20kg
20kg
25kg
30kg

906
678
767
612
503

732
548
619
494
407

MP
552

MR
485

Controller
Controller Operation method
Programming /
SR1-X10 Note I/O point trace /
command /
RCX221/222 Remote
Operation
RCX240/340 using RS-232C
communication
TS-X110 Note I/O point trace /
Note Remote command
TS-X210
RDV-X210-RBR1 Pulse train control
Note. W hen using the unit vertically,
a regeneration unit is required.

YP-X

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.

(Unit: N·m)

MY
551

Pick & place
robots

Lead 5

B

C

A

SCARA
robots

Lead 10

Lead 20 Lead 30

A

(Unit: mm)

C

YK-X

Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 700mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.
Note 3. Strokes longer than 1050mm are available only for high lead
(Lead 30). (Special order item)
Note 4. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

Horizontal installation

B

A

C

B

Cartesian
robots

Standard: 3.5 / Option: 5,10
4 rows of circular arc grooves × 2 rail
Resolvers Note 4
16384

MY

XY-X

W136 × H83

Static loading moment

A

PHASER

200
+/-0.01
Ball screw (Class C7)
30
20
10
5
1800 1200 600
300
25
40
80
100

8
20
30
113
170
341
683
150 to 1250 Note 3 (50mm pitch)
Stroke+320
Stroke+350

Regenerative unit

Linear motor
single-axis robots

Allowable overhang Note

Specifications
AC servo motor output (W)
Repeatability Note 1 (mm)
Deceleration mechanism
Ball screw lead (mm)
Maximum speed Note 2 (mm/sec)
Maximum
Horizontal
Vertical
payload (kg)
Rated thrust (N)
Stroke (mm)
Overall length Horizontal
(mm)
Vertical
Maximum dimensions of cross
section of main unit (mm)
Cable length (m)
Linear guide type
Position detector
Resolution (Pulse/rotation)

FLIP-X

RDV-X

Regenerative unit LCD monitor
I/O selection
No entry: None No entry: None NP: NPN
R: With RGT L: With LCD
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 5

Single-axis robots

Note 1. The model with a lead of 30mm cannot select specifications with brake (vertical
specifications).
Note 2. If selecting 5mm lead specifications then the origin point cannot be changed to the
non-motor side.
Note 3. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 4. See P.498 for DIN rail mounting bracket.
Note 5. Select this selection when using the gateway function. For details, see P.60.

Driver: Power-supply voltage /
Power capacity
110: 100V/200W
210: 200V/200W

Compact
single-axis robots

Brake Note 1
No entry:
No brakes
BK:
Brakes
provided

TRANSERVO

Lead
designation
30: 30mm
20: 20mm
10: 10mm
5: 5mm

Linear conveyor
modules

TSX

Model

LCM100

F14H

F14H

Approx. 250
135
131

143 (with brake)
113

N-ϕ7 Depth9
200
M x 200
2-ϕ10H7 See cross-section C-C.

110
100
250
570
100
1
6
240
8.8

300
620
150
1
6
420
9.5

350
670
200
1
6
420
10.1

A

132

Cross-section C-C

Note 4. 32.5+/-1 when the high lead specification (Lead 30) is used.
Note 5. Minimum bend radius of motor cable is R50.
Note 6. Weight of models with no brake. The weight of brake-attached models is 0.7 kg heavier than the models with no brake shown in the table.

500
820
150
2
8
600
12.1

550
870
200
2
8
600
12.7

600
920
50
3
10
600
13.4

650 700 750 800 850 900
970 1020 1070 1120 1170 1220
100 150 200
50
100 150
3
3
3
4
4
4
10
10
10
12
12
12
600 780 780 780 960 960
13.9 14.6 15.2 15.9 16.5 17.2
1440
1170
960
780
480
390
240
195
80%
65%

950 1000
1270 1320
200
50
4
5
12
14
960 960
17.8 18.5
900
600
300
150
50%

1050 1100 Note 8 1150 Note 8 1200 Note 8 1250 Note 8
1370 1420 1470 1520 1570
100
150
200
50
100
5
5
5
6
6
14
14
14
16
16
1140 1140 1140 1140 1320
19.1 19.8 20.4
21.1
21.7
810
540
270
135
45%

Note 7. When the stroke is longer than 700mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to
the maximum speeds shown in the table above.
Note 8. Strokes longer than 1050mm are special order items. Please contact us for speed setting.

Controller

SR1-X u 516 TS-X u 490 RDV-X u 504

B/R type

400 450
720 770
50
100
2
2
8
8
420 420
10.8 11.4
1800
1200
600
300

C

N type

200
520
50
1
6
240
8.2

(9)
Use M6 x 1.0 hex socket
head bolt with length head
bolt with length (under head)
of 20mm or more.

GF type

150
470
200
0
4
240
7.5

157

F type

Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 2. 212.5+/-4 when the high lead specification (Lead 30) is used.
Note 3. 110+/-4 when the high lead specification (Lead 30) is used.

Effective stroke
L
A
M
N
K
Weight (kg) Note 6
Lead 30
Maximum
Lead 20
speed Note 7 Lead 10
Lead 5
(mm/sec)
Speed setting

C

181 (with brake)

138
168 (with brake)

L

A

K +/-0.02

151

20

S

M x 200
N-M6 x 1.0 Depth10

T type

17

200

17
R

U

18.5
5.5

L

(ϕ10H7)

40.5

45

30 (with brake)

Direction of robot cable extraction

14

50

77.5
75
B

136
62
11.5

240+/-3: When origin is on motor side
(240): When origin is on non-motor side

4-M5 x 0.8 Depth7
(The same position on the opposite surface at 2 locations)
22.5

83

165+/-1 (with brake) (Note 1)

35+/-1 (Note 4)

19
23.5

5.5
8.3
B

2-ϕ6H7 Depth8
8-M6 x 1.0 Depth8

CONTROLLER INFORMATION

110 (Between knocks +/-0.02)

3.5
1.5

1.5

110+/-3 (Note 3): When origin is on non-motor side
(110): When origin is on motor side

Effective stroke

CLEAN

210+/-3 (Note 2):
Approx. 250 (Motor cable length) When origin is on motor side
(210): When origin is
on non-motor side 140
135+/-1 (Note 1)
124
70

189

YA

Articulated robots

GF14XL

Origin on the non-motor side is selectable

Note. If you need an installation posture other than the horizontal installation, please contact us.

Ordering method

S

H

20

Model

Model
S: Straight
model

Installation
direction
H: Horizontal
installation

Lead
designation

TSX

Compact
single-axis robots

TRANSERVO

Cable entry
location
No entry:
Standard (S)
U: From the top
R: From the right
L: From the left

Origin position
change
None:
Standard
Z: Nonmotor side

Frame
No entry:
Standard
(Spot facing)
T: Tapping

Stroke
750 to 2000
(50mm pitch)

Grease
type
None: Standard
GC: Clean

Cable
length Note 1
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible
cable)

Positioner
Note 2

TS-X

Driver: Power-supply voltage /
LCD
Power capacity
monitor
110: 100V/200W
No entry:
None
210: 200V/200W
L: With LCD

SR1-X

Single-axis robots

Note 1. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 2. See P.498 for DIN rail mounting bracket.
Note 3. Select this selection when using the gateway function. For details, see P.60.

Controller

FLIP-X

[Cautions after purchase]
• When changing the origin position, contact us since the adjustment is needed.
• When changing the cable entry location, contact us since necessary parts may vary depending on the cable
entry location.
• Do not install the robot with the horizontal installation specifications in a direction other than the horizontal
direction.

2

Static loading moment

C

B

MR

Horizontal installation
B

(Unit: N·m)

MY
551

C

10kg 3550 1340 1210
20kg 2075
45kg 1280

MP

(Unit: mm)

685
326

633
308

MP
552

MR
485

Controller

SCARA
robots

YK-X

Note 1. Positioning repeatability in one direction.
Note 2. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

GF14XL

CLEAN

Direction of robot cable extraction

47 12

10
12

CONTROLLER INFORMATION

12

U

(14)

R

S

Approx. 250
346+/-3:
(Motor cable length) When origin is on motor side
(346: When origin is
on non-motor side)
140
Cable securing
128
263+/-1 (Note 1)
position
(Note 3)
70

(215:When origin is on motor side)
215+/-3:
When origin is
on non-motor
side 132+/-1

Effective stroke

(Note 1)

1.5

(2.6)

L

110

200
A

D

ϕ10 H7 Depth 11 (See cross-section A-A.)
A
Spot facing hole installation specifications

162

F type

(B/2-2)x200
B-M6x1.0 Depth 10

C

(A)

(R)

GF type

ϕ10 H7 Depth 11 (See cross-section A-A.)
A
Tapping hole installation specifications

162

9.5

Cross-section A-A

100

200

(11)

ϕ7

T type

A
162

140

C

(B/2-2)x200
B-(See cross-section A-A.)

2

D

10 + 00.02 Depth 11

152

B

(ϕ10 H7)

Ground terminal (2.6)
(M4)

140
118

ϕ11

90

50 45

27

4-M5x0.8 Depth 11
(The same position on the opposite
surface at 2 locations)

91.5

L

20

25

1.5
3.5
Details of B

8-M6x1.0 Depth 13
2-ϕ6 H7 Depth 8
15

(15)

(40)

YP-X

Pick & place
robots

Controller Operation method
Programming /
I/O point trace /
SR1-X10
command /
RCX221/222 Remote
Operation
RCX240/340 using RS-232C
communication
TS-X110
I/O point trace/
Remote command
TS-X210
RDV-X220-RBR1 Pulse train control

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.
Note. Service life is calculated for 1000mm stroke models.

129
(Between
knocks +/-0.02)

Cartesian
robots

XY-X

A
Lead 20

RBR1
Regenerative unit

MY

(18)

PHASER

Linear motor
single-axis robots

Ball screw lead (mm)
20
Maximum speed (mm/sec)
1200
Maximum payload (kg)
45
Rated thrust (N)
170
Stroke (mm)
750 to 2000 (50mm pitch)
Overall length (mm)
Stroke+561
Maximum dimensions of cross
W140×H91.5
section of main unit (mm)
Cable length (m)
Standard: 3.5 / Option: 5,10
Linear guide type
4 rows of circular arc grooves × 2 rail
Position detector
Resolvers Note 2
Resolution (Pulse/rotation)
20480

Battery
B: With battery
(Absolute)
N: None
(Incremental)

20

A

200
+/-0.01
Ball screw ф15 (Class C7)

I/O selection
N: NPN
P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Power-supply voltage Driver: Power capacity
2: AC200V
20: 600W or less

Allowable overhang Note

Specifications
AC servo motor output (W)
Repeatability Note 1 (mm)
Deceleration mechanism

Battery
B: With battery
(Absolute)
N: None
(Incremental)

10
Driver: Power capacity Usable for CE
10: 200W
No entry:
Standard
E: CE
marking

RDV-X
Driver

I/O selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 3

8.3
5.5

Linear conveyor
modules

LCM100

GF14XL

N type

Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Details of D
Note 2. When changing the return-to-origin direction, the adjustment is needed. (The standard is the origin on the motor side.)
Note 3. Secure the cable with a tie-band 100mm or less from unit’s end face to prevent the cable from being subjected to excessive loads.
Note 4. The cable’s minimum bend radius is R30.
Note 5. The length under head of the hexagonal socket head bolts (M6 x 1.0) that are used to install the main body with the spot facing hole installation specifications is 20mm or more.
It is recommended that the length under head of the hexagonal socket head bolts (M6 x 1.0) that are used to install the main body with the tapping hole installation specifications is the thickness of the
installation base + 10mm or less.

B/R type

Effective stroke
L
A
B
C
Weight (kg)

190

750
1311
1050
14
100
22.5

800
1361
1100
14
150
23.2

850
1411
1150
14
200
23.8

900
1461
1200
16
50
24.5

950
1511
1250
16
100
25.2

Controller

1000
1561
1300
16
150
25.9

1050
1611
1350
16
200
26.5

1100
1661
1400
18
50
27.2

1150
1711
1450
18
100
27.9

1200
1761
1500
18
150
28.6

1250
1811
1550
18
200
29.2

1300
1861
1600
20
50
29.9

1350
1911
1650
20
100
30.6

SR1-X u 516 TS-X

u

1400
1961
1700
20
150
31.3

1450
2011
1750
20
200
31.9

1500
2061
1800
22
50
32.6

1550
2111
1850
22
100
33.3

1600
2161
1900
22
150
33.9

1650
2211
1950
22
200
34.6

490 RDV-X u 504

1700
2261
2000
24
50
35.3

1750
2311
2050
24
100
36.0

1800
2361
2100
24
150
36.6

1850
2411
2150
24
200
37.3

1900
2461
2200
26
50
38.0

1950
2511
2250
26
100
38.7

2000
2561
2300
26
150
39.3

Origin on the non-motor side is selectable

YA

High lead: Lead 40

Articulated robots

F17

Note. Upper robot cable (U) on models with brakes is a special order item, so please consult our sales office or sales representative for assistance.
(External dimensions: overall length + 20 mm)

Ordering method
Origin position change
None: Standard
Z: Non-motor side

Grease type
None: Standard
GC: Clean

Stroke
Lead 20·10:
200 to 1250
(50mm pitch)
Lead 40:
200 to 1450
(50mm pitch)

Cable length
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

220
Driver: Power-supply voltage /
Power capacity
220: 200V/400 to 600W

SR1-X

20

Controller

Driver: Power capacity
20: 400 to 600W

Usable for CE Regenerative
I/O selection
unit Note 5
No entry: Standard
N: NPN
E: CE marking No entry: None P: PNP
R: With RG1 CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Battery
B: With battery
(Absolute)
N: None
(Incremental)

RDV-X

2

20

Driver

Power-supply voltage
2: AC200V

Driver: Power capacity
20: 600W or less

Regenerative unit
RBR1 (Horizontal)
RBR2 (Vertical)

50kg 1770

100kg 2000

80kg 1391
60kg 2443
120kg 1841

C

20kg 1202 1283 2483
40kg
30kg
50kg

100kg

80kg
60kg
120kg

752
987
574
342
535
283
220

587
820
447
237
355
169
123

2516
2578
1685
1263
2443
2000
1841

A
Lead 20

736
989
588
362
572
326
264

MR

MP

Vertical installation (Unit: mm)

(Unit: N·m)

MY
1032

C

5kg 3000 3000
10kg 2447 2447
15kg 1782 1782
25kg 1054 1054

742

742

Controller Operation method
SR1-X20 Note
RCX221/222
RCX240/340
TS-X220 Note
RDV-X220-RBR1
(Horizontal)
RDV-X220-RBR2
(Vertical)

Programming /
I/O point trace /
Remote command /
Operation using RS232C communication
I/O point trace /
Remote command

Pulse train control

YP-X

Note. When using the vertical model, if the unit
is operated at such speed exceeding the
maximum speed of 1,000mm/sec., and if it has
a high lead (40), a regeneration unit is required.

Pick & place
robots

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.

MR
908

Controller

15kg 1650 1650

35kg

MP
1034

SCARA
robots

Lead 20

30kg 2647

661
894
521
312
430
243
197

Lead 40

20kg 2541 1357 1181
40kg 2639

B

10kg 2022 2670 3501

Lead 20

10kg 3540 2753 1999

A

(Unit: mm)

Lead 10

C

C

A

Wall installation

Lead 10

B

Lead 10

Lead 40

A

(Unit: mm)

C

YK-X

Note 1. Repeatability for single oscillation.
Note 2. When the stroke exceeds 800mm, although depending on the
moving range, the ball screw may resonate (critical speed). In
that case, make adjustment to lower the speed on the program
using the maximum speed given in the below table as a guide.
Note 3. To operate the unit at a speed exceeding 1,000mm/sec. (Max.
speed), a regeneration unit RG1 is required.
Note 4. Longer than 1250mm stroke can be handled by the high lead
specification (Lead 40) only.
Note 5. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

Horizontal installation

B

A

C

B

Cartesian
robots

Standard: 3.5 / Option: 5,10
4 rows of circular arc grooves × 2 rail
Resolvers Note 5
16384

MY

XY-X

W168 × H100

Static loading moment

A

PHASER

400
+/-0.01
Ball screw (Class C7)
40
20
10
2400 1000 (1200 Note3) 600
40
80
120

15
35
169
339
678
200 to 1450 Note 4 (50mm pitch)
Stroke+375
Stroke+365

Stroke+395

Note 5

Linear motor
single-axis robots

Allowable overhang Note

Specifications
AC servo motor output (W)
Repeatability Note 1 (mm)
Deceleration mechanism
Ball screw lead (mm)
Maximum speed Note 2 (mm/sec)
Maximum
Horizontal
Vertical
payload (kg)
Rated thrust (N)
Stroke (mm)
Overall length Horizontal
(mm)
Vertical
Maximum dimensions of cross
section of main unit (mm)
Cable length (m)
Linear guide type
Position detector
Resolution (Pulse/rotation)

FLIP-X

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Single-axis robots

Note 1. The model with a lead of 40mm cannot select specifications with brake (vertical
specifications).
Note 2. Upper robot cable (U) on models equipped with brake is a special-order item.
Note 3. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 4. See P.498 for DIN rail mounting bracket.
Note 5. The robot with the high lead specifications (lead 40) needs a regenerative unit.
Note 6. Select this selection when using the gateway function. For details, see P.60.

I/O selection
Regenerative LCD monitor
unit Note 5
No entry: None NP: NPN
No entry: None L: With LCD
PN: PNP
R: With RGT
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 6

Compact
single-axis robots

Cable entry
location
No entry:
Standard (S)
U: From the topNote 2
R: From the right
L: From the left

TSX
Positioner Note 4
TS-X

TRANSERVO

Brake
No entry:
No brakes
BK:
Brakes
provided

Lead
designation
40: 40mm
20: 20mm
10: 10mm

Note 3

Linear conveyor
modules

Model

Note 1

LCM100

F17

F17

(Note 5)

S

24

30

U

125+/-3: When origin is on non-motor side
(125): When origin is on motor side
42.5+/-1(Note 1)

CONTROLLER INFORMATION

154 (Between knocks +/-0.02)

76.5
22 (with brake)

Effective stroke
2-ϕ6H7 Depth10
8-M8 x 1.25 Depth25

L

186.5+/-2 (with brake) (Note 1)
270+/-3: When origin is on motor side
(270): When origin is on non-motor side
4-M5 x 0.8 Depth12
50 52.5
(The same position on the opposite surface at two (2) locations)
97.5
97.1

28

20 27
100

12

12.5

Approx. 250

165

168

B

30 (with brake)

CLEAN

Approx. 250 (Motor cable length) 240+/-3: When origin is on motor side
(240): When origin is on non-motor side
155
56.5 (with brake 37.5) 17
156.5+/-2 (Note 1)
142
13
120
R

Direction of robot cable extraction

L

70 (with brake)
40

75

B (S=2/1)

166.5
196.5 (with brake)

2-ϕ10H7 Depth16

F type

8.6

132

5.5

A

T type

1.5

M x 200
N-ϕ9 Depth27 (Note 2)

200

3.7
2.5

+/-0.02

C

250 300
615 665
100 150
2
2
8
8
240 420
15.3 16.2

350
715
200
2
8
420
17.0

400
765
50
3
10
420
17.8

450 500 550
815 865 915
100 150 200
3
3
3
10
10
10
600 600 600
18.6 19.5 20.3
1000(1200 Note 7)
600

Controller

600 650 700
965 1015 1065
50
100 150
4
4
4
12
12
12
600 780 780
21.1 21.9 22.8

750 800 850 900
1115 1165 1215 1265
200
50
100 150
4
5
5
5
12
14
14
14
780 780 960 960
23.6 24.4 25.2 26.1
960
480
80%

950 1000
1315 1365
200
50
5
6
14
16
960 960
26.9 27.7
840
420
70%

1050 1100
1415 1465
100 150
6
6
16
16
1140 1140
28.5 29.4
720
360
60%

1150 1200
1515 1565
200
50
6
7
16
18
1140 1140
30.2 31.0
600
300
50%

SR1-X u 516 TS-X u 490 RDV-X u 504

1250
1615
100
7
18
1320
31.8
480
240
40%

B/R type

200
565
50
2
8
240
14.5

N type

Effective stroke
L
A
M
N
C
Weight (kg) Note 4
Maximum Lead 20
speed Note 6 Lead 10
(mm/sec) Speed setting

GF type

Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 2. When installing the robot, do not use washers inside the robot body.
Note 3. Minimum bend radius of motor cable is R50.
Note 4. Weight of models with no brake. The weight of brake-attached models is 1.2 kg heavier than the models with no brake shown in the table.
Note 5. Make a separate consultation with us regarding robot cable (brake specifications) U extraction. (External dimensions: overall length + 20 mm)
Note 6. When the stroke is longer than 800mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to
the maximum speeds shown in the table above.
Note 7. To operate the unit at a speed exceeding 1,000mm/sec. (Max. speed), a regeneration unit RG1 is required.

191

YA

Articulated robots

F17

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X

Pick & place
robots

YP-X

F17 High lead type: Lead 40
Approx. 250 (Motor cable length) 245+/-5: When origin is on motor side
(244): When origin is on non-motor side
155
157.5+/-2 (Note 1)
142
120

13

U

61.5 17
R

24

CONTROLLER INFORMATION

30

S

L

4-M5 x 0.8 Depth12
(The same position on the opposite surface at 2 locations)

165

52.5

(ϕ10H7)

28

(16)

50

(Note 1)

97.5
97.1

20 27
100

12

43.5+/-1

12.5

76.5
22

131+/-5: When origin is on non-motor side
(130): When origin is on motor side

Effective stroke
2-ϕ6H7 Depth10
8-M8 x 1.25 Depth25

154 (Between knocks +/-0.02)

CLEAN

Direction of robot cable extraction

L

B

168

45

M x 200
N-ϕ9 Depth26.5 (Note 2)

200

A

80
D

F type

8.6

5.5

(26.5)
Use M8 x 1.25 hex socket
head bolt with length head
bolt with length (under head)
of 40mm or more.
Cross-section D-D

132

T type

3.7
2.5

1.5

B

GF type

Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 2. When installing the robot, do not use washers inside the robot body.

D

2-ϕ10H7 Depth16
See cross-section D-D. C +/-0.02

171.5

Note 3. Minimum bend radius of motor cable is R50.

N type

Effective stroke

200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350 1400 1450

L

575 625 675 725 775 825 875 925 975 1025 1075 1125 1175 1225 1275 1325 1375 1425 1475 1525 1575 1625 1675 1725 1775 1825

A

50

50

100

150

200

50

M

2

2

2

2

3

3

3

3

4

4

4

4

5

5

5

5

6

6

6

6

7

7

7

7

8

8

N

8

8

8

8

10

10

10

10

12

12

12

12

14

14

14

14

16

16

16

16

18

18

18

18

20

20

100 150 200

50

100 150 200

50

100 150 200

50

100 150 200

50

100 150 200

100

B/R type

C

240 240 420 420 420 600 600 600 600 780 780 780 780 960 960 960 960 1140 1140 1140 1140 1320 1320 1320 1320 1320

Weight (kg)

14.7 15.5 16.4 17.2 18.0 18.8 19.7 20.5 21.3 22.1 23.0 23.8 24.6 25.4 26.3 27.1 27.9 28.7 29.6 30.4 31.2 32.0 32.8 33.6 34.4 35.2

Maximum speed Note 4 Lead 40
(mm/sec)
Speed setting

2400

1920

1680

1440

1200

960

840

720

80%

70%

60%

50%

40%

35%

30%

Note 4. When the stroke is longer than 800mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to
the maximum speeds shown in the table above.

192

Controller

SR1-X u 516 TS-X u 490 RDV-X u 504

Origin on the non-motor side is selectable

Note. Upper robot cable (U) on models with brakes is a special order item, so please consult our sales office or sales representative for assistance.
(External dimensions: overall length + 20 mm)

YA

Articulated robots

F17L
Ordering method

Origin position change
None: Standard
Z: Non-motor side

Grease type
None: Standard
GC: Clean

Stroke
1100 to 2050
(50mm pitch)

Cable length
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

R
Regenerative unit
R: With RGT

SR1-X

20

Controller

R

Driver:
Power capacity Note 4
20: 400 to 600W

Usable for CE Regenerative unit
No entry: Standard R: With RG1
E: CE marking

2

20

Driver

Power-supply voltage
2: AC200V

Driver: Power capacity Note 4
20: 600W or less

I/O selection
N: NPN
P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Regenerative unit
RBR1 (Horizontal)
RBR2 (Vertical)

30kg 3045

895 1175
523 715

A

(Unit: mm)

B

C

10kg 2720 2681 4000
30kg 1185
50kg

821 3045
449 2602

680

MR

MP

Vertical installation (Unit: mm)
A
Lead 50

10kg 4000 2755 2608
50kg 2602

Wall installation

C

C

A

C

2kg 1200 1200
5kg 3000 3000
10kg 2650 2650

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.

MP
1034

MR
908

Controller

Pick & place
robots

YP-X

(Vertical)

SCARA
robots

Controller Operation method
Programming /
SR1-X20-R I/O point trace /
command /
RCX221/222 Remote
Operation
RCX240/340 using RS-232C
communication
point trace /
TS-X220-R I/O
Remote command
RDV-X220-RBR1
(Horizontal)
Pulse train control
RDV-X220-RBR2

YK-X

Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 1200mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.
Note 3. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

(Unit: N·m)

MY
1032

Cartesian
robots

B

C

XY-X

A

(Unit: mm)

Lead 50

Horizontal installation

B

A

C

B

PHASER

MY

Linear motor
single-axis robots

Static loading moment

A

Lead 50

Battery
B: With battery
(Absolute)
N: None
(Incremental)

FLIP-X

RDV-X

Allowable overhang Note

Specifications
AC servo motor output (W)
600
Repeatability Note 1 (mm)
+/-0.02
Deceleration mechanism
Ball screw (Class C10)
Ball screw lead (mm)
50
Maximum speed Note 2 (mm/sec)
2200
Horizontal
50
Maximum
payload (kg)
Vertical
10
Rated thrust (N)
204
Stroke (mm)
1100 to 2050 (50mm pitch)
Stroke+475
Overall length Horizontal
(mm)
Vertical
Stroke+505
Maximum dimensions of cross
W168 × H100
section of main unit (mm)
Standard: 3.5 / Option: 5,10
Cable length (m)
Linear guide type
4 rows of circular arc grooves × 2 rail
Position detector
Resolvers Note 3
Resolution (Pulse/rotation)
16384

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Single-axis robots

Note 1. Upper robot cable (U) on models equipped with brake is a special-order item.
Note 2. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 3. See P.498 for DIN rail mounting bracket.
Note 4. Acceleration / deceleration is different depending the Positioner or Controller or
Driver.
Note 5. Select this selection when using the gateway function. For details, see P.60.

LCD monitor
I/O selection
No entry: None NP: NPN
L: With LCD
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 5

Compact
single-axis robots

Cable entry
location
No entry:
Standard (S)
U: From the top Note 1
R: From the right
L: From the left

220
Driver: Power-supply voltage /
Power capacity Note 4
220: 200V/400 to 600W

TRANSERVO

Brake
No entry:
No brakes
BK:
Brakes
provided

Lead
designation

TSX
Positioner Note 3
TS-X

Linear conveyor
modules

Model

Note 2

LCM100

F17L 50

F17L

5.5
8.6
B

182+/-7: When origin is on non-motor side
(182): When origin is on motor side
92+/-2 (Note 1)

CONTROLLER INFORMATION

154 (Between knocks +/-0.02)

3.7
2.5

1.5

Effective stroke
2-ϕ6H7 Depth10
8-M8 x 1.25 Depth25

CLEAN

Approx. 250 (Motor cable length) 293+/-7: When origin is on motor side
(293): When origin is on non-motor side
203+/-2 (Note 1)
155
142
120

4-M5 x 0.8 Depth12
(The same position on the opposite surface at 2 locations)

50

52.5

28

97.5

20 27
100

165

12.5

233+/-2 (With brake) (Note 1)
323+/-7 (With brake)

30 (With brake)

76.5

56.5 (With brake 37.5) 17
13

(16)
A

82
C

R
132

24

30

S

L

241.5 (With brake)

2-ϕ10H7 Depth16
See cross-section C-C.
K+/-0.02

C

Cross-section C-C

Note 3. This is the weight of the model without a brake. The weight of the model equipped with a brake is 1.2kg heavier than this value.
Note 4. Make a separate consultation with us regarding robot cable (brake specifications) U extraction. (External dimensions:
overall length + 20 mm)

Effective stroke
L
A
M
N
K
Weight (kg) Note 3
Maximum speed Note 5 Lead 50
Speed setting
(mm/sec)

1450
1925
150
8
20
1320
40.2

1150
1625
50
7
18
1140
34.9
2200

1200
1675
100
7
18
1320
35.8

1250
1725
150
7
18
1320
36.7

1300 1350
1775 1825
200
50
7
8
18
20
1320 1320
37.6 38.4
1900
86%

1400
1875
100
8
20
1320
39.3

1500 1550
1975 2025
200
50
8
9
20
22
1320 1320
41.1
42
1500
68%

1600
2075
100
9
22
1320
42.9

1650
2125
150
9
22
1320
43.8

1700 1750
2175 2225
200
50
9
10
22
24
1320 1320
44.7 45.6
1200
54%

1800 1850 1900 1950 2000 2050

2275 2325 2375 2425 2475 2525
100 150 200
50
100 150
10
10
10
11
11
11
24
24
24
26
26
26
1320 1320 1320 1320 1320 1320
46.5 47.3 48.2 49.1 50 50.9
900
800
40%
36%

B/R type

1100
1575
200
6
16
1140
34.1

N type

Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 2. It is not allowed to use a counter bore washer, etc. when installing the main unit.

GF type

211.5

(26.5)
Use M8 x 1.25 hex socket
head bolt with length head
bolt with length (under head)
of 40mm or more.

F type

(Note 4)

U

200

M x 200
N-ϕ9 Depth26.5 (Note 2)

T type

123 (With brake)
93

Direction of robot cable extraction

22 (With brake 12)

L
(ϕ10H7)

B

168

Note 5. When the stroke exceeds 1200mm, although depending on the moving range, the ball screw may resonate (critical speed). In that case, make adjustment to lower the speed on the program using the
maximum speed given in the above table as a guide.

Controller

SR1-X u 516 TS-X u 490 RDV-X u 504

193

YA

Articulated robots

GF17XL

Origin on the non-motor side is selectable

Note. If you need an installation posture other than the horizontal installation, please contact us.

Ordering method
Model

H 20

Model
S: Straight
model

TSX
Frame
Stroke
Grease
type
850 to 2500
No entry:
Standard None: Standard (50mm pitch)
(Spot facing) GC: Clean
T: Tapping

Origin position
change
None:
Standard
Z: Nonmotor side

Note 2

TS-X

SR1-X
Controller

[Cautions after purchase]
• When changing the origin position, contact us since the adjustment is needed.
• When changing the cable entry location, contact us since necessary parts may vary depending on the
cable entry location.
• Do not install the robot with the horizontal installation specifications in a direction other than the
horizontal direction.

2

RBR1
Regenerative unit

Static loading moment

C

B

MR

Horizontal installation
B

(Unit: N·m)

MY
1032

C

30kg 4050 1090 1405
50kg 2755
90kg 1610

MP

(Unit: mm)

650
345

835
450

MP
1034

MR
908

Controller

SCARA
robots

YK-X

Controller Operation method
Programming /
SR1-X20 Note I/O point trace /
RCX221/222 Remote command /
RCX240/340 Operation using RS232C communication
I/O point trace/
TS-X220
Remote command
RDV-X220-RBR1 Pulse train control

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.
Note. Service life is calculated for 1000mm stroke models.

Pick & place
robots

Note. To operate the unit at a speed
exceeding 750 mm/sec. (Max.
speed), a regeneration unit is
required.

GF17XL

CLEAN

Direction of robot cable extraction

10

54 12
12

CONTROLLER INFORMATION

12

U

(14)

R

S

420.5+/-3:
Approx. 250
(Motor cable length) When origin is on motor side
(420.5: When origin is
on non-motor side)
175
Cable securing
323+/-1 (Note 1)
position
160
(Note 3)
132

(265.5: When origin is on motor side)
265.5+/-3:
When origin is
on non-motor
side 168+/-1

Effective stroke

(Note 1)

2.5
8-M8x1.25 Depth 25
2-ϕ6 H7 Depth 10

(2.6)

L

ϕ10 H7 Depth 15 (See cross-section A-A.)
A
Spot facing hole installation specifications

F type

192

12

Cross-section A-A
(A)
(R)

C

(B/2-2)×200

(15)

B-M8x1.25 Depth 15
130

200

D

(ϕ10 H7)

134

T type

A
182

168

C

(B/2-2)×200
B-(See cross-section A-A.)

200
A

B

ϕ9

172

168
144

32.5
103

50 62.5

105.5

4-M5x0.8 Depth 12
(The same position on the opposite
surface at 2 locations)

Ground terminal (2.6)
(M4)

1.5
3.7
Details of B

19

L

25

15

(15)

(40)

YP-X

Note 1. Positioning repeatability in one direction.
Note 2. To operate the unit at a speed exceeding 750 mm/sec. (Max.
speed), a regeneration unit is required.
Note 3. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

156
(Between
knocks +/-0.02)

Cartesian
robots

XY-X

A
Lead 20

Battery
B: With battery
(Absolute)
N: None
(Incremental)

MY

(18)

PHASER

Linear motor
single-axis robots

Ball screw lead (mm)
20
Maximum speed (mm/sec)
1200 Note 2
Maximum payload (kg)
90
Rated thrust (N)
339
Stroke (mm)
850 to 2500 (50mm pitch)
Overall length (mm)
Stroke+686
Maximum dimensions of cross
W168×H105.5
section of main unit (mm)
Cable length (m)
Standard: 3.5 / Option: 5,10
Linear guide type
4 rows of circular arc grooves × 2 rail
Position detector
Resolvers Note 3
Resolution (Pulse/rotation)
20480

I/O selection
N: NPN
P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

20

Power-supply voltage Driver: Power capacity
2: AC200V
20: 600W or less

A

400
+/-0.01
Ball screw ф20 (Class C7)

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Note 4

Driver: Power capacity Usable for CE Regenerative
unit
20: 400 to 600W
No entry:
Standard
No entry:
None
E: CE
marking
R: With
RG1

RDV-X
Driver

R

Allowable overhang Note

Specifications
AC servo motor output (W)
Repeatability Note 1 (mm)
Deceleration mechanism

20

I/O selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 3

GF type

ϕ10 H7 Depth 15 (See cross-section A-A.)
A
Tapping hole installation specifications

182

ϕ14

FLIP-X

Single-axis robots

Note 1. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 2. See P.498 for DIN rail mounting bracket.
Note 3. Select this selection when using the gateway function. For details, see P.60.
Note 4. When operating the robot at a speed that is a maximum speed of 750 mm/sec or less, the
regenerative unit is not needed.

Cable
length Note 1
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible
cable)

220
Driver: Power-supply voltage / Regenerative
LCD
Power capacity
unit
monitor
220: 200V/400 to 600W No entry:
No entry:
None
None
R: With RGT L: With LCD

2

D

10 + 00.02 Depth 15

Compact
single-axis robots

TRANSERVO

Installation
Lead
Cable entry
direction designation
location
H: Horizontal
No entry:
installation
Standard (S)
U: From the top
R: From the right
L: From the left

Positioner

8.6
5.5

Linear conveyor
modules

LCM100

GF17XL S

N type

Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Details of D
Note 2. When changing the return-to-origin direction, the adjustment is needed. (The standard is the origin on the motor side.)
Note 3. Secure the cable with a tie-band 100mm or less from unit’s end face to prevent the cable from being subjected to excessive loads.
Note 4. The cable’s minimum bend radius is R30.
Note 5. The length under head of the hexagonal socket head bolts (M8 x 1.25) that are used to install the main body with the spot facing hole installation specifications is 45 mm or more.
It is recommended that the length under head of the hexagonal socket head bolts (M8 x 1.25) that are used to install the main body with the tapping hole installation specifications is the thickness of the
installation base + 15 mm or less.

B/R type

Effective stroke
L
A
B
C
Weight (kg)

194

850
1536
1250
16
100
37.4

900
1586
1300
16
150
38.4

950
1636
1350
16
200
39.4

1000
1686
1400
18
50
40.3

1050
1736
1450
18
100
41.3

1100
1786
1500
18
150
42.3

Controller

1150
1836
1550
18
200
43.2

1200
1886
1600
20
50
44.2

1250
1936
1650
20
100
45.2

1300
1986
1700
20
150
46.1

1350
2036
1750
20
200
47.1

1400
2086
1800
22
50
48.1

1450
2136
1850
22
100
49.0

1500
2186
1900
22
150
50.0

1550
2236
1950
22
200
51.0

1600
2286
2000
24
50
51.9

1650
2336
2050
24
100
52.9

SR1-X u 516 TS-X

u

1700
2386
2100
24
150
53.9

1750
2436
2150
24
200
54.8

1800
2486
2200
26
50
55.8

1850
2536
2250
26
100
56.8

1900
2586
2300
26
150
57.7

1950
2636
2350
26
200
58.7

2000
2686
2400
28
50
59.7

2050
2736
2450
28
100
60.6

490 RDV-X u 504

2100
2786
2500
28
150
61.6

2150
2836
2550
28
200
62.6

2200
2886
2600
30
50
63.5

2250
2936
2650
30
100
64.5

2300
2986
2700
30
150
65.5

2350
3036
2750
30
200
66.4

2400
3086
2800
32
50
67.4

2450
3136
2850
32
100
68.4

2500
3186
2900
32
150
69.3

Origin on the non-motor side is selectable

Note. Upper robot cable (U) on models with brakes is a special order item, so please consult our sales office or sales representative for assistance.
(External dimensions: overall length + 20 mm)

YA

High lead: Lead 40

Articulated robots

F20

Ordering method
Origin position change
None: Standard
Z: Non-motor side

Grease type
None: Standard
GC: Clean

Stroke
Lead 20·10:
200 to 1250
(50mm pitch)
Lead 40:
200 to 1450
(50mm pitch)

Cable length
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

SR1-X

Usable for CE Regenerative
I/O selection
unit Note 6
No entry: Standard
N: NPN
E: CE marking No entry: None P: PNP
R: With RG1 CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Battery
B: With battery
(Absolute)
N: None
(Incremental)

20
Driver:
Power capacity Note 5
20: 400 to 600W

2

20

Driver

Power-supply voltage
2: AC200V

Driver: Power capacity Note 5
20: 600W or less

C

A

Lead 40

10kg 4000 4000 3450
20kg 3397 2235 2073
60kg 2443
80kg 2193
120kg 1841

B

C

10kg 3571 4000 4000
20kg 2118 2164 3397
60kg 1000
50kg 1097
80kg
120kg

708
468

648
799
458
268

2443
2602
2193
1841

MR

MP

Vertical installation (Unit: mm)
A

(Unit: N·m)

C

MY
1196

15kg 2635 2635
20kg 2000 2000

30kg 1446 1446

951

951

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.

MR
1052

Controller

25kg 1621 1621
20kg 2188 2188
45kg

MP
1199

Controller Operation method
SR1-X20 Note
RCX221/222
RCX240/340
TS-X220 Note

Pulse train control

YP-X

Note. When using the vertical model, if the unit
is operated at such speed exceeding the
maximum speed of 1,000mm/sec., and if it has
a high lead (40), a regeneration unit is required.

Pick & place
robots

RDV-X220-RBR1
(Horizontal)
RDV-X220-RBR2
(Vertical)

Programming /
I/O point trace /
Remote command /
Operation using RS232C communication
I/O point trace/
Remote command

SCARA
robots

Lead 20

50kg 2602

(Unit: mm)

YK-X

718 977
869 1083
528 703
339 505

C

A

Lead 20

B

C

Wall installation
Lead 40

A

(Unit: mm)

Lead 20

Horizontal installation

B

A

C

B

Cartesian
robots

Note 1. Positioning repeatability in one direction.
Note 2. When the stroke is longer than 800mm, resonance of the ball
screw may occur depending on the operation conditions (critical
speed). In this case, reduce the speed setting on the program
by referring to the maximum speeds shown in the table below.
Note 3. To operate the unit at a speed exceeding 1,000mm/sec. (Max.
speed), a regeneration unit RG1 is required.
Note 4. Longer than 1250mm stroke can be handled by the high lead
specification (Lead 40) only.
Note 5. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

MY

XY-X

Standard: 3.5 / Option: 5,10
4 rows of circular arc grooves × 2 rail
Resolvers Note 5
16384

Static loading moment

A

PHASER

W202 × H115

Regenerative unit Note 6
RBR1 (Horizontal)
RBR2 (Vertical)

Linear motor
single-axis robots

600
+/-0.01
Ball screw (Class C7)
40
20
10
2400 1000 (1200 Note 3) 600
60
120


25
45
255
510
1020
200 to 1450 Note 4 (50mm pitch)
Stroke+427
Stroke+417

Stroke+447

FLIP-X

RDV-X

Allowable overhang Note

Specifications
AC servo motor output (W)
Repeatability Note 1 (mm)
Deceleration mechanism
Ball screw lead (mm)
Maximum speed Note 2 (mm/sec)
Maximum
Horizontal
Vertical
payload (kg)
Rated thrust (N)
Stroke (mm)
Overall length Horizontal
(mm)
Vertical
Maximum dimensions of cross
section of main unit (mm)
Cable length (m)
Linear guide type
Position detector
Resolution (Pulse/rotation)

Controller

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Single-axis robots

Note 1. The model with a lead of 40mm cannot select specifications with brake (vertical
specifications).
Note 2. Upper robot cable (U) on models equipped with brake is a special-order item.
Note 3. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 4. See P.498 for DIN rail mounting bracket.
Note 5. Acceleration / deceleration is different depending the Positioner or Controller or
Driver.
Note 6. The robot with the high lead specifications (lead 40) needs a regenerative unit.
Note 7. Select this selection when using the gateway function. For details, see P.60.

I/O selection
Regenerative LCD monitor
unit Note 6
No entry: None NP: NPN
No entry: None L: With LCD
PN: PNP
R: With RGT
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 7

Compact
single-axis robots

Cable entry
location
No entry:
Standard (S)
U: From the top Note 2
R: From the right
L: From the left

220
Driver: Power-supply voltage /
Power capacity Note 5
220: 200V/400 to 600W

Lead 10

Brake
No entry:
No brakes
BK: Brakes
provided

TSX
Positioner Note 4
TS-X

TRANSERVO

Lead
designation
40: 40mm
20: 20mm
10: 10mm

Note 3

Linear conveyor
modules

Model

Note 1

LCM100

F20

F20

206+/-2 (with brake) (Note 1)

4-M5 x 0.8 Depth15
(The same position on the opposite surface at 2 locations)

B

202

50

(14.8)
4.8

30 (with brake)

L
M x 200
N-ϕ9 Depth33 (Note 2)

72
200

A

C

95

K +/-0.02

176

162

8.6

5.5

3.7
2.5

102 (with brake)
206 (with brake)

250 300 350 400 450
667 717 767 817 867
100 150 200
50
100
2
2
2
3
3
8
8
8
10
10
420 420 420 600 600
22.0 22.9 23.8 24.8 25.7
1000

500 550 600 650
917 967 1017 1067
150 200
50
100
3
3
4
4
10
10
12
12
600 600 780 780
26.6 27.5 28.5 29.4
(1200 Note 7)
600

700 750 800 850 900 950 1000 1050 1100
1117 1167 1217 1267 1317 1367 1417 1467 1517
150 200
50
100 150 200
50
100 150
4
4
5
5
5
5
6
6
6
12
12
14
14
14
14
16
16
16
780 780 960 960 960 960 1140 1140 1140
30.3 31.2 32.1 33.0 34.0 34.9 35.8 36.7 37.7
960
840
720
480
420
360
80%
70%
60%

1150

1200 1250

1567 1617
200
50
6
7
16
18
1320 1320
38.6 39.5
600
300
50%

1667
100
7
18
1320
40.4
480
240
40%

Note 6. When the stroke exceeds 800mm, although depending on the moving range, the ball screw may resonate (critical speed). In that case, make adjustment to lower the speed on the program using the
maximum speed given in the above table as a guide.
Note 7. To operate the unit at a speed exceeding 1,000mm/sec. a regeneration unit RG1 is required.

Controller

SR1-X u 516 TS-X u 490 RDV-X u 504

B/R type

Weight (kg) Note 4
Lead 20
Maximum
speed Note 6 Lead 10
(mm/sec) Speed setting

200
617
50
2
8
420
21.0

Cross-section C-C

Note 4. Weight of models with no brake. The weight of brake-attached models is 1.5 kg heavier than the models with
no brake shown in the table.
Note 5. Make a separate consultation with us regarding robot cable (brake specifications) U extraction. (External
dimensions: overall length + 20 mm)

N type

Effective stroke
L
A
M
N
K

C

GF type

Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 2. When installing the robot, do not use washers inside the robot body.
Note 3. Minimum bend radius of motor cable is R50.

2-ϕ10H7 See cross-section C-C.

F type

B

(33)
Use M8 x 1.25 hex socket
head bolt with length head
bolt with length (under head)
of 45mm or more.

T type

1.5

65

114.1
112.1

28 20 31
115

15

302+/-3: When origin is on motor side
(302): When origin is on non-motor side

(ϕ10H7)

Approx. 250
199

(Note 1)

12.5

30

20

L

50+/-1

CONTROLLER INFORMATION

S

U

185 (Between knocks +/-0.02)

(Note 5)

(145): When origin is on motor side
145+/-3: When origin is on non-motor side

Effective stroke
2-ϕ8H7 Depth10
4-M8 x 1.25 Depth30

CLEAN

Approx. 250 (Motor cable length) 272+/-3: When origin is on motor side
(272): When origin is on non-motor side
176+/-2 (Note 1)
180
Direction of robot cable extraction
160
90 39 (with brake 42.5) 17
27 (with brake 14.5)
13
R

195

YA

Articulated robots

F20

Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots
Cartesian
robots

XY-X

SCARA
robots

YK-X

Approx. 250 (Motor cable length) 277+/-5: When origin is on motor side
(276): When origin is on non-motor side
177+/-1 (Note 1)
180
160

90

13

39 17

R

S

20
30

U

CONTROLLER INFORMATION

L

4-M5 x 0.8 Depth15
(The same position on the opposite surface at 2 locations)

15

50

65

51+/-1
(Note 1)

114.1
112.1

20 31
115

199

151+/-5: When origin is on non-motor side
(150): When origin is on motor side

28

(14.8)
4.8

202

L

B
77
200

A

100

C

3.7
2.5
162

8.6

T type

5.5

1.5

M x 200
N-ϕ9 Depth33 (Note 2)

(ϕ10H7)

CLEAN

27

Effective stroke
2-ϕ8H7 Depth10
4-M8 x 1.25 Depth30

185 (Between knocks +/-0.02)

Direction of robot cable extraction

12.5

Pick & place
robots

YP-X

F20 High lead type: Lead 40

B

2-ϕ10H7: See cross-section C-C.
K +/-0.02

F type

181
Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 2. When installing the robot, do not use washers inside the robot body.

GF type

Effective stroke
L
A
M
N
K
Weight (kg)
Maximum speed Note 4 Lead 40
(mm/sec)
Speed setting

N type

200
627
50
2
8
420
21.2

250
677
100
2
8
420
22.2

300
727
150
2
8
420
23.1

350
777
200
2
8
420
24.0

400
827
50
3
10
600
25.0

450
877
100
3
10
600
25.9

B/R type

500
927
150
3
10
600
26.8
2400

(33)
Use M8 x 1.25 hex socket
head bolt with length head
bolt with length (under head)
of 45mm or more.
Cross-section C-C

C

Note 3. Minimum bend radius of motor cable is R50.

550
977
200
3
10
600
27.7

600
1027
50
4
12
780
28.7

650
1077
100
4
12
780
29.6

700
1127
150
4
12
780
30.5

750
1177
200
4
12
780
31.4

800
1227
50
5
14
960
32.3

850 900
1277 1327
100 150
5
5
14
14
960 960
33.2 34.2
1920
80%

950 1000
1377 1427
200 50
5
6
14 16
960 1140
35.1 36.0
1680
70%

1050 1100
1477 1527
100 150
6
6
16 16
1140 1140
36.9 37.9
1440
60%

1150 1200
1577 1627
200 50
6
7
16 18
1320 1320
38.8 39.7
1200
50%

1250 1300
1677 1727
100 150
7
7
18
18
1320 1320
40.6 41.5
960
40%

1350 1400 1450
1777 1827 1877
200 50 100
7
8
18
20
1320 1320
42.4 43.3
840
35%

8
20
1320
44.2
720
30%

Note 4. When the stroke is longer than 800mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to
the maximum speeds shown in the table above.
Note 5. Longer than 1250mm stroke can be handled by the high lead specification (Lead 40) only.

196

Controller

SR1-X u 516 TS-X u 490 RDV-X u 504

YA

Articulated robots

F20N
Ordering method

Model

Lead
designation

Origin position change
None: Standard
Z: Non-motor side

Grease type
None: Standard
GC: Clean

SR1-X

20

Controller

Driver: Power capacity
20: 400 to 600W

Power-supply voltage
2: AC200V

I/O selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 3

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Usable for CE
No entry: Standard
E: CE marking

Regenerative unit
No entry: None
R: With RG1

I/O selection
N: NPN
P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Battery
B: With battery
(Absolute)
N: None
(Incremental)

20

RBR1

Driver: Power capacity
20: 600W or less

Regenerative unit

MY

C

B

Horizontal installation

Lead 20

(Unit: N·m)

MY
1196

C

20kg 3397 2332 2683
40kg 2795 1144 1361
80kg 2193

749
551

MP
1199

MR
1052

Cartesian
robots

B

60kg 2443

MP

(Unit: mm)

XY-X

A

MR

PHASER

Static loading moment

A

Linear motor
single-axis robots

Allowable overhang Note

Specifications

Controller

914
695

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.

Pick & place
robots

Note. When the unit is operated at a
speed exceeding the maximum
speed of 1,000mm/sec., a
regeneration unit is required.

YP-X

Note 1. Positioning repeatability in one direction.
Note 2. A regenerative unit is needed if using the SR1-X, TS-X at
maximum speeds exceeding 1000mm /sec.. If using the
RDV-X, then the regenerative unit RBR1 is required regardless
of the installation conditions.
Note 3. Position detectors(resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

SCARA
robots

Controller Operation method
Programming /
SR1-X20 Note I/O point trace /
RCX221/222 Remote command /
RCX240/340 Operation using RS232C communication
point trace /
TS-X220 Note I/O
Remote command
RDV-X220-RBR1 Pulse train control

YK-X

AC servo motor output (W)
400
Repeatability Note 1 (mm)
+/-0.04
Deceleration mechanism
Ball screw (Class C10)
Ball screw lead (mm)
20
Maximum speed (mm/sec)
1000 (1200 Note 2)
Maximum payload (kg)
80
Rated thrust (N)
339
Stroke (mm)
1150 to 2050 (100mm pitch)
Overall length (mm)
Stroke+420
Maximum dimensions of cross
W202 × H120
section of main unit (mm)
Standard: 3.5 / Option: 5,10
Cable length (m)
Linear guide type
4 rows of circular arc grooves × 2 rail
Position detector
Resolvers Note 3
Resolution (Pulse/rotation)
16384

FLIP-X

2

Driver

LCD monitor
No entry: None
L: With LCD

Single-axis robots

RDV-X

Regenerative unit
No entry: None
R: With RGT

Compact
single-axis robots

Note 1. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible
cable.
See P.594 for details on robot cable.
Note 2. See P.498 for DIN rail mounting bracket.
Note 3. Select this selection when using the gateway function. For details, see P.60.

220
Driver: Power-supply voltage /
Power capacity
220: 200V/400 to 600W

TRANSERVO

Cable length Note 1
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

Stroke
1150 to 2050
(100mm pitch)

TSX
Positioner Note 2
TS-X

Linear conveyor
modules

20

LCM100

F20N

F20N
201+/-3: When origin is on R side
(201): When origin is on L side

2-ϕ8H7 Depth10
4-M8 x 1.25 Depth16

90
160

57

122

3.7
1.5

17

2.5

C section detailed chart
224.5

(50)

201

57 (Note 1)

Note 2

101+/-2 (Note 1)

34
20

199
79
23

114

79

23

185 (Between knocks +/-0.02)

53

53

202

200

M x 200
N-ϕ9 thickness 33 (Note 3)

A

35
25

35

C

35

93
77

D
(ϕ10H7)

162
1250
1670
200
648
1320
7
18
56.2

1350
1770
100
694
1320
8
20
58.4

1450
1870
200
740
1320
8
20
60.6

1550
1970
100
786
1320
9
22
62.9

1650
2070
200
832
1320
9
22
65.1

1750
2170
100
878
1320
10
24
67.3

1850
2270
200
924
1320
10
24
69.6

Controller

1950
2370
100
970
1320
11
26
71.8

2050
2470
200
1016
1320
11
26
74.0

Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 2. The shaded position indicates the user cable extraction port.
Note 3. When installing the robot, do not use washers inside the robot body.
Note 4. The origin is set on the left (L) side at shipping.

SR1-X u 516 TS-X u 490 RDV-X u 504

B/R type

1150
1570
100
602
1320
7
18
54.0

N type

Effective stroke
L
A
B
E
M
N
Weight (kg)

D

+/-0.02

E

(33)

Use M8 x 1.25 hex socket head bolt
with length head bolt with length (under head)
of 45mm or more.
Cross-section D-D

GF type

2-ϕ10H7: See cross-section D-D.

F type

Cross section of cable guide

129

T type

(14.8)
4.8

120
219.5

152
L

28

B
(140)

CONTROLLER INFORMATION

0.5

5.5
8.6

Effective stroke
242

CLEAN

219+/-3: When origin is on L side
(219): When origin is on R side

197

YA

Articulated robots

N15
Ordering method
Lead
designation

Compact
single-axis robots

TRANSERVO

Cable carrier
entry location Note 1
RH: Horizontal, right
LH: Horizontal, left
RW: Wall, right
LW: Wall, left

Cable carrier
specification
S: Standard
Cable carrier
M: Optional
Cable carrier

Origin position change
Hori- None: R side (Standard)
zontal Z: L side
None: L side (Standard)
Wall
Z: R side

Grease type
None: Standard
GC: Clean

Stroke
500 to 2000
(100mm pitch)

Cable length
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

FLIP-X

Single-axis robots

Note 1. To find information on cable carrier extraction directions see P.173.
Note 2. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 3. See P.498 for DIN rail mounting bracket.
Note 4. Select this selection when using the gateway function. For details, see P.60.

TSX

220

R

Positioner Note 3
TS-X

Driver: Power-supply voltage /
Power capacity
220: 200V/400 to 600W

Regenerative unit
R: With RGT

SR1-X

20

Controller

Driver: Power capacity
20: 400 to 600W

LCD monitor
I/O selection
No entry: None NP: NPN
L: With LCD
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 4

RDV-X

2

Driver

Power-supply voltage
2: AC200V

I/O selection
N: NPN
P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

20

Regenerative unit

MY

Horizontal installation

(Unit: mm)

C

10kg 3048 2322 1259
30kg 1489
50kg 1278

841
544

500
344

MR

Wall installation
A
30kg
50kg

B

428
248

(Unit: N·m)

C

545 1039
289 749

Pick & place
robots

YP-X

145

61

M type

Optional cable carrier
Space for optional
cable for users

Note. Cannot pass more
than 3 urethane
hoses (ϕ6 x 4).

58
119

SCARA
robots

YK-X

Cable carrier for users
Standard cable carrier

40
145

MY

MP

MR

691

692

608

Controller

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.

S type

MP

(Unit: mm)

10kg 1258 1823 2449

Lead 20

B

C

14

Cartesian
robots

XY-X

A

B

A

C

B

Lead 20

PHASER

Linear motor
single-axis robots

Static loading moment

A

Note 1. Positioning repeatability in one direction.
Note 2. The maximum speed may not be reached when the moving
distance is short.
Note 3. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

Battery
B: With battery
(Absolute)
N: None
(Incremental)

RBR1

Driver: Power capacity
20: 600W or less

Allowable overhang Note

Specifications
AC servo motor output (W)
400
+/-0.01
Repeatability Note 1 (mm)
Deceleration mechanism
Ball screw ϕ15 (Class C7)
Ball screw lead (mm)
20
Note 2
Maximum speed
(mm/sec)
1200
Maximum payload (kg)
50
Rated thrust (N)
339
Stroke (mm)
500 to 2000 (100mm pitch)
Overall length (mm)
Stroke+330
Maximum dimensions of cross
W145 × H120
section of main unit (mm)
Standard: 3.5 / Option: 5,10
Cable length (m)
Linear guide type
4 rows of circular arc grooves × 2 rail
Position detector
Resolvers Note 3
Resolution (Pulse/rotation)
16384

Battery
B: With battery
(Absolute)
N: None
(Incremental)

R
Usable for CE Regenerative unit
No entry: Standard R: With RG1
E: CE marking

73
57

168

Model

Note 2

86

Controller Operation method
Programming /
SR1-X20-R I/O point trace /
command /
RCX221/222 Remote
Operation
RCX240/340 using RS-232C
communication
point trace /
TS-X220-R I/O
Remote command
RDV-X220-RBR1 Pulse train control

35
25

Linear conveyor
modules

LCM100

N15 20

N15: Horizontal installation / Standard Cable carrier specification
L
Effective stroke

165+/-3: L-side origin position
(165: When origin is on R side)

2-ϕ6H7 Depth10
8-M6 x 1.0 Depth14

65+/-1
(Note 1)

7.2
4.5

7

3.7
R0.3

118

H

R0.3

F type

Detail of section J

65
(Note 1)

C-M6 x 1.0 Depth10

(A)

B x 200

100
56

T type

14

H

A

200
2.5

ϕ6.5
ϕ8.2
Cross-section of
cable carrier

145

J

190
150
98

Ground terminal for user (M4)

119
25

Use M6×1.0 hex socket
head bolt with length head
bolt with length (under head)
of 20mm or more.
Cross-section H-H
40

(61)
58

120

K

145
123

(Note 8)

(ϕ7)
(ϕ10H7)

(ϕ11)

(17)
(6)

Top face of slider
24

CONTROLLER INFORMATION

VIEW K

165+/-3: R-side origin position
(165: When origin is on L side)
134
(Between knocks ϕ6H7 +/-0.02)

12

CLEAN

2-M5 x 0.8 Depth10

50

2-ϕ10H7 Depth17
See cross-section H-H.
(Note 5)

D

200

105

F-ϕ7 Depth6 See cross-section H-H. (Note 2)
(D)

E x 200
G +/-0.02

GF type

Note 5. When using a ϕ10H7 hole, make sure that the pin does not go into deeper than as shown
in the drawing.
Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 6. Contact us for vertical installation.
Note 2. When using ϕ7 holes for installation, do not use a washer, spring washer, etc. in the main unit.
Note 3. When shipped from the factory, the horizontal model has the origin on the right side and the wall model has Note 7. Weight of models with no brake. The weight of brake-attached models is 1 kg heavier than
the models with no brake shown in the table.
the origin on the left side. (This diagram shows the machine whose cable carrier taken out from right.)
Note 4. If the model is a standard cable carrier specification, it is not possible to pass 3 or more ϕ6 × 4 urethane air hoses. Note 8. Depending on the stroke and the operating conditions, the cable carrier bending radius
might be larger, making it higher than the dimensions shown in the diagram.

N type

Effective stroke
L
A
B
C
D
E
F
G
Weight (kg) Note 7

B/R type

198

500
830
15
4
10
115
3
8
620
19

600 700 800 900 1000 1100 1200 1300 1400 1500
930 1030 1130 1230 1330 1430 1530 1630 1730 1830
65
15
65
15
65
15
65
15
65
15
4
5
5
6
6
7
7
8
8
9
10
12
12
14
14
16
16
18
18
20
165 115 165 115 165 115 165 115 165 115
3
4
4
5
5
6
6
7
7
8
8
10
10
12
12
14
14
16
16
18
720 820 920 1020 1120 1220 1320 1420 1520 1620
20
22
23
24
26
27
29
30
32
33

Controller

1600 1700 1800 1900
1930 2030 2130 2230
65
15
65
15
9
10
10
11
20
22
22
24
165 115 165 115
8
9
9
10
18
20
20
22
1720 1820 1920 2020
35
36
38
39

2000
2330
65
11
24
165
10
22
2120
40

SR1-X u 516 TS-X u 490 RDV-X u 504

YA

Articulated robots

N15
N15: Horizontal installation / Optional Cable carrier specification
12

65+/-1
(Note 1)

165+/-3: R-side origin position
190 (165: When origin is on L side)
150
98
65
(Note 1)

VIEW K

Top face of slider

25

118

168

(Note 8)

24

(ϕ11)

(ϕ7)
(ϕ10H7)

120

FLIP-X

86

H

A

(A)

B x 200
C-M6 x 1.0 Depth10

200

Linear motor
single-axis robots

73
57
ϕ6.5
ϕ8.2
Cross-section of
cable carrier

100
56

7.2
4.5

35
25

3.7
R0.3

PHASER

7
2.5

R0.3

H

Detail of section J

(Note 5)

F-ϕ7 Depth6 See cross-section H-H. (Note 2)
E x 200
G +/-0.02

200

D
105

2-ϕ10H7 Depth17
See cross-section H-H.

(D)

Cartesian
robots

XY-X

N15: Wall installation / Standard Cable carrier specification
C-M6 x 1.0 Depth10

200

(A)

B x 200

H

2-ϕ10H7 Depth17
See cross-section H-H.

0.3

.3

(Note 5)

R

200

D
105

F-ϕ7 Depth6 See cross-section H-H. (Note 2)
E x 200
G +/-0.02

2.5

Ground terminal for user (M4)
118

4.5
7.2

Detail of section J

134 (Between knocks
ϕ6H7 +/-0.02)

145
J

25

120

165+/-3: R-side origin position
(165: When origin is on L side)

24

8-M6 x 1.0 Depth14
2-ϕ6H7 Depth10

98
150
190
K

65 (Note 1)

65+/-1 (Note 1) 

0['HSWK 

+

$

&0['HSWK 

$

%[   

N15: Wall installation / Optional Cable carrier specification

CONTROLLER INFORMATION

123
145

(Note 8)

260

(ϕ7)
(ϕ10H7)

34 85

Use M6×1.0 hex socket
head bolt with length head
bolt with length (under head)
of 20mm or more.
Cross-section H-H

L
Effective stroke

165+/-3: L-side origin position
(165: When origin is on R side)
105 55

CLEAN

(17)
(6)
(ϕ11)

YP-X

ϕ6.5
ϕ8.2
Cross-section of
cable carrier

(D)

Pick & place
robots

14

7

3.7

40

R0

SCARA
robots

VIEW K

YK-X

100
56

12

H

A

2-M5 x 0.8 Depth10

50

Single-axis robots

145

J

Compact
single-axis robots

K
Use M6×1.0 hex socket
head bolt with length head
bolt with length (under head)
of 20mm or more.
Cross-section H-H

Ground terminal for user (M4)
145
123

TRANSERVO

(17)
(6)

134
(Between knocks
ϕ6H7 +/-0.02)

2-ϕ6H7 Depth10
8-M6 x 1.0 Depth14

Linear conveyor
modules

L
Effective stroke

165+/-3: L-side origin position
(165:When origin is on R side)

LCM100

2-M5 x 0.8 Depth10

50

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T type

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199

YA

Articulated robots

N15D

Double carriage

Ordering method
LCM100

Linear conveyor
modules

N15D 20
Model

Lead
designation

RCX222HP

Compact
single-axis robots

TRANSERVO

Installation
direction
H: Horizontal
installation
W: Wall
installation

Cable carrier
specification
S: Standard
Cable carrier
M: Optional Cable
carrier

Option
None:
Grease
Standard
type
GC: Clean

Stroke
250 to 1750
(100mm pitch)

R

Controller Note 1
RCX222HP
SR1-X (2 units) Note 2
TS-X (2 units) Note 2
RDV-X (2 units) Note 2

Cable length
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable) Note 5

Usable for CE
No entry :
Standard

Regenerative unit
R: RG2

E: CE marking

I/O selection 1
N: NPN Note 3
P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS
EN: Ethernet Note 3

I/O selection 2
No entry: None
N1: OP.DIO24/16
(NPN) Note 3
P1: OP.DIO24/17
(PNP)
EN: Ethernet Note 3 Note 4

Single-axis robots

Static loading moment

A

MY

Horizontal installation

(Unit: mm)

B

C

10kg 3048 2322 1259
30kg 1489

841
544

50kg 1278

500
344

C

MR

Wall installation
A
30kg
50kg

B

428
248

(Unit: N·m)

MY
691

C

545 1039
289 749

Standard cable carrier

Optional cable carrier
Space for optional
cable for users

119
61

73
57

168

Pick & place
robots

YP-X

145

M type

Note. Cannot pass more
than 3 urethane
hoses (ϕ6 x 4).

58

40
145

MR
608

86

Controller Operation method
Programming /
RCX222HP-R I/O point trace /
Remote command /
Operation
Note
using RS-232C
SR1-X20-R
communication
point trace /
TS-X220-R Note I/O
Remote command
RDV-X20Pulse train control
RBR1 Note
Note. 2 units are required when using
SR-1, TS-X or RDV-X.

35
25

SCARA
robots

YK-X

Cable carrier for users
S type

MP
692

Controller

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.

Note 1. Positioning repeatability in one direction.
Note 2. The maximum speed may not be reached when the moving
distance is short.
Note 3. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

MP

(Unit: mm)

10kg 1258 1823 2449

Lead 20

Cartesian
robots

XY-X

A

B

A

C

B

Lead 20

PHASER

Linear motor
single-axis robots

Allowable overhang Note

Specifications
AC servo motor output (W)
400
+/-0.01
Repeatability Note 1 (mm)
Deceleration mechanism
Ball screw ϕ15 (Class C7)
Ball screw lead (mm)
20
Note 2
Maximum speed
(mm/sec)
1200
Maximum payload (kg)
50
Rated thrust (N)
339
Stroke (mm)
250 to 1750 (100mm pitch)
Overall length (mm)
Stroke+330
Maximum dimensions of cross
W145 × H120
section of main unit (mm)
Standard: 3.5 / Option: 5,10
Cable length (m)
Linear guide type
4 rows of circular arc grooves × 2 rail
Position detector
Resolvers Note 3
Resolution (Pulse/rotation)
16384

14

FLIP-X

Note 1. To find controller selection options for other than the RCX222HP, see the ordering method on each controller page.
Note 2. 2 units are required when using SR1-X, TS-X or RDV-X.
Note 3. NPN and Ethernet cannot be selected when using CE marking.
Note 4. Only when you have selected CC, DN or PB for Input/Output selection 1, you can select EN for Input/Output selection 2.
Note 5. If a flexible cable is needed for the SR1-X, TS-X, or RDV-X, then select 3K/5K/10K. On the RCX222HP, the standard cable is a flexible cable, so enter 3L/5L/10L when
ordering.

65

190
150
98

(Note 2)

2-ϕ6H7 Depth10
8-M6 x 1.0 Depth14

145

H

A

C-M6 x 1.0 Depth10

200

2-ϕ6H7 Depth10
8-M6 x 1.0 Depth14

190
150
98

65
(Note 2)

(A)

B x 200

7
7.2
4.5

14

2.5

F type

ϕ6.5
ϕ8.2
Cross-section of
cable carrier

3.7
R0.3

100
56

T type

40

(250: Minimum distance between carrier)
165+/-3 (Note 1)

134 (Between knocks ϕ6H7 +/-0.02)

Effective stroke

Ground terminal for user (M4)

119
25

J

Effective stroke

(61)
58
(Note 8)

24

145
123

120

Use M6×1.0 hex socket
head bolt with length head
bolt with length (under head)
of 20mm or more.
Cross-section H-H

K

Top face of slider

VIEW K

(ϕ7)
(ϕ10H7)

(ϕ11)

CONTROLLER INFORMATION

(17)
(6)

L
165+/-3 (Note 1)

118

50

12

CLEAN

2-M5 x 0.8 Depth10

134 (Between knocks ϕ6H7 +/-0.02)

N15D: Horizontal installation / Standard Cable carrier specification

R0.3
Detail of section J

H
2-ϕ10H7 Depth17
See cross-section H-H. (Note 5)

D

200

F-ϕ7 Depth6 See cross-section H-H. (Note 3)

105

E x 200
G +/-0.02

(D)

GF type

Note 1. Position of table carriage when searched to the origin.
Note 5. When using a ϕ10H7 hole, make sure that the pin does not go into deeper than as shown in the drawing.
Note 2. Stop positions are determined by the mechanical stoppers at both ends.
Note 6. Contact us for vertical installation.
Note 3. When using ϕ7 holes for installation, do not use a washer, spring washer, etc. in the main unit.
Note 7. Weight of models with no brake. The weight of brake-attached models is 1 kg heavier
Note 4. If the model is a standard cable carrier specification, it is not possible to pass 3 or more ϕ6 × 4 urethane air hoses.
than the models with no brake shown in the table.
Note 8. Depending on the stroke and the operating conditions, the cable carrier bending radius
might be larger, making it higher than the dimensions shown in the diagram.

N type

Effective stroke
L
A
B
C
D
E
F
G
Weight (kg) Note 7

B/R type

200

250
830
15
4
10
115
3
8
620
24

350 450 550 650 750 850
930 1030 1130 1230 1330 1430
65
15
65
15
65
15
4
5
5
6
6
7
10
12
12
14
14
16
165 115 165 115 165 115
3
4
4
5
5
6
8
10
10
12
12
14
720 820 920 1020 1120 1220
26
27
29
30
32
33

Controller

950 1050 1150 1250
1530 1630 1730 1830
65
15
65
15
7
8
8
9
16
18
18
20
165 115 165 115
6
7
7
8
14
16
16
18
1320 1420 1520 1620
35
36
38
39

1350 1450 1550 1650
1930 2030 2130 2230
65
15
65
15
9
10
10
11
20
22
22
24
165 115 165 115
8
9
9
10
18
20
20
22
1720 1820 1920 2020
40
42
43
45

1750
2330
65
11
24
165
10
22
2120
46

RCX222 u 524 SR1-X u 516 TS-X u 490 RDV-X u 504

YA

Articulated robots

N15D
N15D: Horizontal installation / Optional Cable carrier specification

134 (Between knocks
ϕ6H7 +/-0.02)

118

25

120

FLIP-X

168

Ground terminal for user (M4)
(Note 8)

24

145
123

Single-axis robots

K

Top face of slider

(ϕ7)
(ϕ10H7)

VIEW K

2-ϕ6H7 Depth10
8-M6 x 1.0 Depth14

145

J

86

H

A

(A)

B x 200
C-M6 x 1.0 Depth10

200

Linear motor
single-axis robots

73
57

100
56

7.2
4.5

35
25

ϕ6.5
ϕ8.2
Cross-section of
cable carrier

3.7
R0.3

PHASER

7
2.5

R0.3

H
2-ϕ10H7 Depth17
See cross-section H-H. (Note 5)

Detail of section J

F-ϕ7 Depth6 See cross-section H-H. (Note 3)
E x 200

200

D

(D)

G +/-0.02

105

Cartesian
robots

XY-X

N15D: Wall installation / Standard Cable carrier specification
2-M5 x 0.8 Depth10

H

A

C-M6 x 1.0 Depth10

200

(A)

B x 200

YK-X

VIEW K
2-ϕ10H7 Depth17
See cross-section H-H. (Note 5)

0.3

.3

R

H

F-ϕ7 Depth6 See cross-section H-H. (Note 3)
E x 200
G +/-0.02

200

D
105

118

Use M6×1.0 hex socket
head bolt with length head
bolt with length (under head)
of 20mm or more.
Cross-section H-H

J

98
150
190

123
145
24

25
120

65 (Note 2)

L
165+/-3 (Note 1)

Effective stroke
Effective stroke

55

8-M6 x 1.0 Depth14
2-ϕ6H7 Depth10

8-M6 x 1.0 Depth14
2-ϕ6H7 Depth10

K

105

98
150
190

65
(Note 2)

K

N15D: Wall installation / Optional Cable carrier specification
A
H

(A)

B x 200

200

C-M6 x 1.0 Depth10

100
56

50

12

2-M5 x 0.8 Depth10

CONTROLLER INFORMATION

145

260

(Note 8)

(ϕ7)
(ϕ10H7)

(ϕ11)

34 85

(250: Minimum distance between carrier)
165+/-3 (Note 1)
105 55

CLEAN

(17)
(6)

134 (Between knocks ϕ6H7 +/-0.02)

Detail of section J

134 (Between knocks ϕ6H7 +/-0.02)

2.5

14

Pick & place
robots

4.5
7.2

YP-X

ϕ6.5
ϕ8.2
Cross-section of cable carrier

(D)

Ground terminal for user (M4)

7

3.7

40

R0

SCARA
robots

100
56

12

50

Compact
single-axis robots

(ϕ11)

(17)
(6)

190
150
98

65
(Note 2)

TRANSERVO

134 (Between knocks
ϕ6H7 +/-0.02)

12

50

LCM100

Effective stroke

2-M5 x 0.8 Depth10

Use M6×1.0 hex socket
head bolt with length head
bolt with length (under head)
of 20mm or more.
Cross-section H-H

(250: Minimum distance between carrier)
165+/-3 (Note 1)
190
2-ϕ6H7 Depth10
150
65
(Note 2)
8-M6 x 1.0 Depth14
98

Effective stroke

Linear conveyor
modules

L
165+/-3 (Note 1)

R0

.3

.3
R0

H

200

F-ϕ7 Depth6 See cross-section H-H. (Note 3)
E x 200
G +/-0.02
Ground terminal for user (M4)

(D)

Detail of section J

Controller

123
145

145
Cross-section H-H

J

25

24
120

65
(Note 2)

98
150
190

8-M6 x 1.0 Depth14
2-ϕ6H7 Depth10

55

8-M6 x 1.0 Depth14
2-ϕ6H7 Depth10

RCX222 u 524 SR1-X u 516 TS-X u 490 RDV-X u 504

98
150
190

105

65
(Note 2)

B/R type

Use M6×1.0 hex socket
head bolt with length head
bolt with length (under head)
of 20mm or more.

165+/-3 (Note 1)

Effective stroke

Effective stroke

N type

310

110

(Note 8)

(ϕ7)
(ϕ10H7)

(ϕ11)

9

L

GF type

(17)
(6)

(250: Minimum distance between carrier)
165+/-3 (Note 1)
105 55

134 (Between knocks ϕ6H7 +/-0.02)

118

4.5
7.2

134 (Between knocks ϕ6H7 +/-0.02)

2.5

ϕ6.5
ϕ8.2
Cross-section of cable carrier

F type

35
25

7

3.7

73
57

D
105

T type

2-ϕ10H7 Depth17
See cross-section H-H. (Note 5)

VIEW K

201

YA

Articulated robots

N18
Ordering method
Lead
designation

Compact
single-axis robots

TRANSERVO

Cable carrier
entry location Note 1
RH: Horizontal, right
LH: Horizontal, left
RW: Wall, right
LW: Wall, left

Cable carrier
specification
S: Standard
Cable carrier
M: Optional
Cable carrier

Origin position change
Hori- None: R side (Standard)
zontal Z: L side
None: L side (Standard)
Wall
Z: R side

Grease type
None: Standard
GC: Clean

Stroke
500 to 2500
(100mm pitch)

Cable length
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

FLIP-X

Single-axis robots

Note 1. To find information on cable carrier extraction directions see P.173.
Note 2. The robot cable is standard cable (3L/5L/10L), but can be changed to flexible cable.
See P.594 for details on robot cable.
Note 3. See P.498 for DIN rail mounting bracket.
Note 4. Select this selection when using the gateway function. For details, see P.60.

TSX

220

R

Positioner Note 3
TS-X

Driver: Power-supply voltage /
Power capacity
220: 200V/400 to 600W

Regenerative unit
R: With RGT

SR1-X

20

Controller

Driver: Power capacity
20: 400 to 600W

LCD monitor
I/O selection
No entry: None NP: NPN
L: With LCD
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 4

RDV-X

2

Driver

Power-supply voltage
2: AC200V

20

RBR1

Static loading moment
MY

B

A

30kg 3045 1629 1902
50kg 2602

961 1150
586 716

80kg 2193

C

MR

Wall installation

C

B

(Unit: N·m)

MY
1161

C

30kg 1928 1553 3045
50kg 1157
80kg

885 2602
509 2193

707

M type

Pick & place
robots

YP-X

61

Space for optional
cable for users

40
180

MR
1021

Controller

Optional cable carrier

Note. Cannot pass more
than 3 urethane
hoses (ϕ6 x 4).

14

SCARA
robots

YK-X

Standard cable carrier

58

MP
1163

Controller Operation method

Cable carrier for users
S type

MP

(Unit: mm)

Note. Distance from center of slider top to center of gravity of object being
carried at a guide service life of 10,000 km.

114

Cartesian
robots

XY-X

A

(Unit: mm)

Lead 20

Horizontal installation

B

A

C

B

180

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Regenerative unit

A

Lead 20

PHASER

Linear motor
single-axis robots

Note 1. Repeatability for single oscillation.
Note 2. The maximum speed may not be reached when the moving
distance is short.
Note 3. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

I/O selection
N: NPN
P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS

Driver: Power capacity
20: 600W or less

Allowable overhang Note

Specifications
AC servo motor output (W)
400
Repeatability Note 1 (mm)
+/-0.01
Deceleration mechanism
Ball screw ϕ20 (Class C7)
Ball screw lead (mm)
20
Note 2
Maximum speed
(mm/sec)
1200
Maximum payload (kg)
80
Rated thrust (N)
339
Stroke (mm)
500 to 2500 (100mm pitch)
Overall length (mm)
Stroke+362
Maximum dimensions of cross
W180
× H115
section of main unit (mm)
Cable length (m)
Standard: 3.5 / Option: 5,10
Linear guide type
4 rows of circular arc grooves × 2 rail
Position detector
Resolvers Note 3
Resolution (Pulse/rotation)
16384

Battery
B: With battery
(Absolute)
N: None
(Incremental)

R
Usable for CE Regenerative unit
No entry: Standard R: With RG1
E: CE marking

73
57

165

Model

Note 2

86

SR1-X20-R
RCX221/222
RCX240/340

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

I/O point trace /
Remote command
RDV-X220-RBR1 Pulse train control

TS-X220-R

35
25

Linear conveyor
modules

LCM100

N18 20

(Note 7)

113

114

(65)

115

36

Ground terminal for user (M4)
(Note 9)

(61)
58

179
156

(Diameter or roller: ϕ20)

(ϕ10H7)
Use M8 x 1.25 hex socket
head bolt with length head
bolt with length (under head)
of 40mm or more.
Cross-section E-E

22

180

T type

F

A
E

40

200

B x 200
C-ϕ9 Depth30 See cross-section E-E. (Note 2)

7.2
4.5

F type

14

7

ϕ6.5
ϕ8.2
Cross-section of cable carrier

2.5

3.7

R1
R0.3
Detail of section F

GF type

E
106

2-ϕ10H7 Depth15 See cross-section E-E. (Note 5)
D+/-0.02

Note 1. Stop positions are determined by the mechanical stoppers at both ends.
Note 2. When using ϕ9 holes for installation, do not use a washer, spring washer, etc. in the main unit.
Note 3. When shipped from the factory, the horizontal model has the origin on the right side and the wall model
has the origin on the left side. (This diagram shows the machine whose cable carrier taken out from right.)
Note 4. If the model is a standard cable carrier specification, it is not possible to pass 3 or more ϕ6 × 4 urethane air hoses.

N type
B/R type

Effective stroke
L
A
B
C
D
Weight (kg) Note 8

202

(A)

149

CONTROLLER INFORMATION

2-ϕ6H7 Depth10
8-M8 x 1.25 Depth25

(Note 1)

181+/-3: R-side origin position
(181: When origin is on L side)
190
78
(Note 1)
150
98

168
(Between knocks ϕ6H7 +/-0.02)

L
Effective stroke

181+/-3: L-side origin position
(181: When origin is on R side)
2-M5 x 0.8 Depth11
78+/-1

50

12

ϕ14

CLEAN

(30)

(ϕ9)

N18: Horizontal installation / Standard Cable carrier specification

500
862
131
3
8
650
27

Note 5. When using a ϕ10H7 hole, make sure that the pin does not go into deeper than as shown in the drawing.
Note 6. Contact us for vertical installation.
Note 7. For the robot with more than 2,100 stroke, a roller is installed to prevent the cable carrier hanging.
Note 8. Weight of models with no brake. The weight of brake-attached models is 1 kg heavier than
the models with no brake shown in the table.
Note 9. Depending on the stroke and the operating conditions, the cable carrier bending radius
might be larger, making it higher than the dimensions shown in the diagram.

600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 2400 2500
962 1062 1162 1262 1362 1462 1562 1662 1762 1862 1962 2062 2162 2262 2362 2462 2562 2662 2762 2862
81
131
81
131
81
131
81
131
81
131
81
131
81
131
81
131
81
131
81
131
4
4
5
5
6
6
7
7
8
8
9
9
10
10
11
11
12
12
13
13
10
10
12
12
14
14
16
16
18
18
20
20
22
22
24
24
26
26
28
28
750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450 2550 2650
29
31
33
35
37
39
41
43
45
47
48
50
52
54
56
58
60
62
64
66

Controller

SR1-X u 516 TS-X u 490 RDV-X u 504

YA

Articulated robots

N18
N18: Horizontal installation / Optional Cable carrier specification

168 (Between knocks
ϕ6H7 +/-0.02)

2-ϕ6H7 Depth10
8-M8 x 1.25 Depth25

(Note 1)

181+/-3: R-side origin position
(181: When origin is on L side)
190
78
(Note 1)
150
98

Ground terminal for user (M4)

113

165

(Note 9)

115
22

180

FLIP-X

36

179
156

86

A

F

149

3.7

7.2
4.5

35
25

PHASER

ϕ6.5
ϕ8.2
Cross-section of cable carrier

Linear motor
single-axis robots

7

2.5

(A)

B x 200
C-ϕ9 Depth30 See cross-section E-E. (Note 2)

200

E

73
57

Single-axis robots

Use M8 x 1.25 hex socket
head bolt with length head
bolt with length (under head)
of 40mm or more.
Cross-section E-E

Compact
single-axis robots

VIEW K

TRANSERVO

(ϕ10H7)

12

ϕ14

(ϕ9)

50

Linear conveyor
modules

L
Effective stroke

181+/-3: L-side origin position
(181: When origin is on R side)
78+/-1
2-M5 x 0.8 Depth11

LCM100

(30)

R1

R0.3

E
106

Detail of section F

2-ϕ10H7 Depth15 See cross-section E-E. (Note 5)

D

+/-0.02
Cartesian
robots

XY-X

N18: Wall installation / Standard Cable carrier specification
A

2-M5 x 0.8 Depth11

12

50

200

E

(A)

B x 200
C-ϕ9 Depth30 See cross-section E-E. (Note 2)

149

SCARA
robots

YK-X

VIEW K
R0.3

E
106

4.5
7.2
113

Detail of section F
(Diameter or roller: ϕ20)

181+/-3: L-side origin position
(181: When origin is on R side)

156
179

180

300

(Note 9)

(ϕ10H7)

F
22

36
115

55

181+/-3: R-side origin position
(181: When origin is on L side)

98
150
190

78 (Note 1)

8-M8 x 1.25 Depth25
2-ϕ6H7 Depth10

CONTROLLER INFORMATION

Use M8 x 1.25 hex socket
head bolt with length head
bolt with length (under head)
of 40mm or more.
Cross-section E-E

105

L
Effective stroke

CLEAN

72

14 100

168 (Between knocks
ϕ6H7 +/-0.02)

(Note 7)

(ϕ9)

ϕ14

(30)

R1

D+/-0.02

Ground terminal for user (M4)

YP-X

ϕ6.5
ϕ8.2
Cross-section of cable carrier

2-ϕ10H7 Depth15 See cross-section E-E. (Note 5)

Pick & place
robots

2.5

14

7

3.7

40

78+/-1 (Note 1)

K

N18: Wall installation / Optional Cable carrier specification
A
E

2-M5 x 0.8 Depth11

VIEW K

(A)

B x 200
C-ϕ9 Depth30 See cross-section E-E. (Note 2)

106

2-ϕ10H7 Depth15 See cross-section E-E. (Note 5)

E

D+/-0.02

Ground terminal for user (M4)
113

4.5
7.2

36

168 (Between knocks
ϕ6H7 +/-0.02)

345

180

115

181+/-3: R-side origin position
(181: When origin is on L side)

55

78 (Note 1)

Controller

98
150
190

8-M8 x 1.25 Depth25
2-ϕ6H7 Depth10

78+/-1 (Note 1)

SR1-X u 516 TS-X u 490 RDV-X u 504

B/R type

Cross-section E-E

F
22

105

N type

Use M8 x 1.25 hex socket
head bolt with length head
bolt with length (under head)
of 40mm or more.

L
Effective stroke

GF type

181+/-3: L-side origin position
(181: When origin is on R side)

114

(Note 9)

Detail of section F

156
179

R1

F type

ϕ6.5
ϕ8.2
Cross-section of
cable carrier

2.5

35
25

7

3.7

R0.3

T type

73
57

200

149

12

50

203

YA

Articulated robots

N18D

Double carriage

Ordering method
LCM100

Linear conveyor
modules

N18D 20
Model

Lead
designation

RCX222HP

Compact
single-axis robots

TRANSERVO

Installation
direction
H: Horizontal
installation
W: Wall
installation

Option
None:
Grease
Standard
type
GC: Clean

Cable carrier
specification
S: Standard
Cable carrier
M: Optional Cable
carrier

Stroke
250 to 2250
(100mm pitch)

Cable length
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)Note 5

R

Controller Note 1
RCX222HP
SR1-X (2 units) Note 2
TS-X (2 units) Note 2
RDV-X (2 units) Note 2

Usable for CE
No entry:
Standard
E: CE
marking

Regenerative unit
R: RG2

I/O selection1
N: NPN Note 3
P: PNP
CC: CC-Link
DN: DeviceNetTM
PB: PROFIBUS
EN: Ethernet Note 3

I/O selection2
No entry: None
N1: OP.DIO24/16
(NPN) Note 3
P1: OP.DIO24/17
(PNP)
EN: Ethernet Note 3 Note 4

Single-axis robots

Static loading moment

A

MY

B

A

30kg 3045 1629 1902
50kg 2602
80kg 2193

C

961 1150
586 716

MR

Wall installation

C

B

(Unit: N·m)

MY
1161

C

30kg 1928 1553 3045
50kg 1157
80kg

885 2602
509 2193

707

Standard cable carrier

Pick & place
robots

YP-X

180

M type

Optional cable carrier

Note. Cannot pass more
than 3 urethane
hoses (ϕ6 x 4).

Space for optional
cable for users

40

61

73
57

165

58

180

MR
1021

86

Controller Operation method
Programming /
RCX222HP-R I/O point trace /
Remote command /
Operation
Note
using RS-232C
SR1-X20-R
communication
point trace /
TS-X220-R Note I/O
Remote command
RDV-X20Pulse train control
RBR1 Note
Note. 2 units are required when using
SR1-X, TS-X or RDV-X.

35
25

SCARA
robots

YK-X

S type

MP
1163

Controller

Cable carrier for users

Note 1. Positioning repeatability in one direction.
Note 2. The maximum speed may not be reached when the moving
distance is short.
Note 3. Position detectors (resolvers) are common to incremental and
absolute specifications. If the controller has a backup function
then it will be absolute specifications.

MP

(Unit: mm)

Note. Distance from center of slider top to center of gravity of object being carried at a guide service
life of 10,000 km.

114

Cartesian
robots

XY-X

A

(Unit: mm)

Lead 20

Horizontal installation

B

A

C

B

Lead 20

PHASER

Linear motor
single-axis robots

Allowable overhang Note

Specifications
AC servo motor output (W)
400
Repeatability Note 1 (mm)
+/-0.01
Deceleration mechanism
Ball screw ϕ20 (Class C7)
Ball screw lead (mm)
20
Note 2
Maximum speed
(mm/sec)
1200
Maximum payload (kg)
80
Rated thrust (N)
339
Stroke (mm)
250 to 2250 (100 pitch)
Overall length (mm)
Stroke+362
Maximum dimensions of cross
W180
× H115
section of main unit (mm)
Cable length (m)
Standard: 3.5 / Option: 5,10
Linear guide type
4 rows of circular arc grooves × 2 rail
Position detector
Resolvers Note 3
Resolution (Pulse/rotation)
16384

14

FLIP-X

Note 1. To find controller selection options for other than the RCX222HP, see the ordering method on each controller page.
Note 2. 2 units are required when using SR1-X, TS-X or RDV-X.
Note 3. NPN and Ethernet cannot be selected when using CE marking.
Note 4. Only when you have selected CC, DN or PB for Input/Output selection 1, you can select EN for Input/Output selection 2.
Note 5. If a flexible cable is needed for the SR1-X, TS-X, or RDV-X, then select 3K/5K/10K. On the RCX222HP, the standard cable is a flexible cable, so enter 3L/5L/10L when
ordering.

(61)
58

36

179
156

(65)
114

22
F

Effective stroke
78
(Note 2)

190
150
98

T type

E

200

78
(Note 2)

B x 200
C-ϕ9 Depth30 See cross-section E-E. (Note 3)

(A)

F type

149

14

7.2
4.5

3.7

R1

R0.3

Detail of section F

E
106

2-ϕ10H7 Depth15 See cross-section E-E. (Note 5)
D +/-0.02

GF type

Note 1. Position of table carriage when searched to the origin.
Note 2. Stop positions are determined by the mechanical stoppers at both ends.
Note 3. When using ϕ9 holes for installation, do not use a washer, spring washer, etc. in the main unit.
Note 4. If the model is a standard cable carrier specification, it is not possible to pass 3 or more ϕ6 × 4 urethane air hoses.

N type
B/R type

204

190
150
98

(Note 7)

7

ϕ6.5
ϕ8.2
Cross-section of cable carrier

Effective stroke
L
A
B
C
D
Weight (kg) Note 8

2-ϕ6H7 Depth10
8-M8 x 1.25 Depth25

2-ϕ6H7 Depth10
8-M8 x 1.25 Depth25

A

2.5

(250: Minimum distance between carrier)
181+/-3 (Note 1)

Ground terminal for user (M4)

180

40

Effective stroke

113

Use M8 x 1.25 hex socket
head bolt with length head
bolt with length (under head)
of 40mm or more.
Cross-section E-E

(Note 9)

VIEW K

(Diameter or roller: ϕ20)

12

50

115

CONTROLLER INFORMATION

( 10H7)

2-M5 x 0.8 Depth11

L

181+/-3 (Note 1)

168 (Between knocks ϕ6H7 +/-0.02)

(ϕ9)

ϕ14

CLEAN

(30)

168 (Between knocks ϕ6H7 +/-0.02)

N18D: Horizontal installation / Standard Cable carrier specification

250
862
131
3
8
650
35

Note 5. When using a ϕ10H7 hole, make sure that the pin does not go into deeper than as shown in the drawing.
Note 6. Contact us for vertical installation.
Note 7. For the robot with more than 2,050 stroke, a roller to prevent the cable carrier from hanging is provided.
Note 8. Weight of models with no brake. The weight of brake-attached models is 1 kg heavier than the
models with no brake shown in the table.
Note 9. Depending on the stroke and the operating conditions, the cable carrier bending radius might be
larger, making it higher than the dimensions shown in the diagram.

350 450 550 650 750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250
962 1062 1162 1262 1362 1462 1562 1662 1762 1862 1962 2062 2162 2262 2362 2462 2562 2662 2762 2862
81
131
81
131
81
131
81
131
81
131
81
131
81
131
81
131
81
131
81
131
4
4
5
5
6
6
7
7
8
8
9
9
10
10
11
11
12
12
13
13
10
10
12
12
14
14
16
16
18
18
20
20
22
22
24
24
26
26
28
28
750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450 2550 2650
37
39
41
43
45
47
48
50
52
54
56
58
60
62
64
66
68
70
72
74

Controller

RCX222 u 524 SR1-X u 516 TS-X u 490 RDV-X u 504

YA

Articulated robots

N18D

190
150
98

2-ϕ6H7 Depth10
8-M8 x 1.25 Depth25

179
156

22

180

113
149

35
25
ϕ6.5
ϕ8.2
Cross-section of cable carrier

(A)

B x 200
C-ϕ9 Depth30 See cross-section E-E. (Note 3)

200

3.7

7.2
4.5

7

A
E

PHASER

2.5

86

Linear motor
single-axis robots

73
57

(Note 9)

115

165

36

Ground terminal for user (M4)

FLIP-X

F

168 (Between knocks ϕ6H7 +/-0.02)

78
(Note 2)

Single-axis robots

Use M8 x 1.25 hex socket
head bolt with length head
bolt with length (under head)
of 40mm or more.
Cross-section E-E

(250: Minimum distance between carrier)
181+/-3 (Note 1)
190
78
2-ϕ6H7 Depth10
(Note 2)
150
8-M8 x 1.25 Depth25
98

Effective stroke

R1
R0.3
Detail of section F

E
106

2-ϕ10H7 Depth15 See cross-section E-E. (Note 5)

D

+/-0.02
Cartesian
robots

XY-X

N18D: Wall installation / Standard Cable carrier specification
A
E

149
(Diameter or roller: ϕ20) (Note 7)

14

72

100

156
179

180

(Note 9)

300

+/-0.02

F
22

L
(250: Minimum distance between carrier)
181+/-3 (Note 1)

115

55

181+/-3 (Note 1)
105

Note 7

36

Cross-section E-E

Effective stroke
Effective stroke

78

98
150
190

8-M8 x 1.25 Depth25
2-ϕ6H7 Depth10

8-M8 x 1.25 Depth25
2-ϕ6H7 Depth10

98
150
190

(Note 2)

78
(Note 2)

N18D: Wall installation / Optional Cable carrier specification
A
E

200

VIEW K

E
106

3.7

R0.3

2-ϕ10H7 Depth15 See cross-section E-E. (Note 5)

2.5

+/-0.02

Ground terminal for user use (M4)

7
R1

4.5
7.2
Detail of section F

F type

113

35
25

D

T type

73
57
ϕ6.5
ϕ8.2
Cross-section of cable carrier

(A)

B x 200
C-ϕ9 Depth30 See cross-section E-E. (Note 3)

149

12

2-M5 x 0.8 Depth11 50

CONTROLLER INFORMATION

(ϕ10H7)

D

CLEAN

Use M8 x 1.25 hex socket
head bolt with length head
bolt with length (under head)
of 40mm or more.

2-ϕ10H7 Depth15 See cross-section E-E. (Note 5)
Ground terminal for user (M4)

168 (Between knocks ϕ6H7 +/-0.02)

Detail of section F
(ϕ9)

ϕ14

4.5
7.2

R1

E
106

Pick & place
robots

2.5

14

7

3.7

R0.3

YP-X

(30)

SCARA
robots

ϕ6.5
ϕ8.2
Cross-section of
cable carrier

(A)

B x 200
C-ϕ9 Depth30 See cross-section E-E. (Note 3)

YK-X

VIEW K
40

200

168 (Between knocks ϕ6H7 +/-0.02)

50

12

2-M5 x 0.8 Depth11

Compact
single-axis robots

(ϕ10H7)

VIEW K

L
Effective stroke

181+/-3 (Note 1)

TRANSERVO

168 (Between knocks ϕ6H7 +/-0.02)

12

50

LCM100

ϕ14

2-M5 x 0.8 Depth11

Linear conveyor
modules

(30)

(ϕ9)

N18D: Horizontal installation / Optional Cable carrier specification

78
(Note 1)

98
150
190

8-M8 x 1.25 Depth25
2-ϕ6H7 Depth10

8-M8 x 1.25 Depth25
2-ϕ6H7 Depth10

RCX222 u 524 SR1-X u 516 TS-X u 490 RDV-X u 504

181+/-3 (Note 1)
105

98
150
190

78
(Note 1)

168 (Between knocks ϕ6H7 +/-0.02)

156
179

180

345

(Note 9)

55

B/R type

Controller

36
115

Effective stroke
Effective stroke

N type

F
22

(250: Minimum distance between carrier)
181+/-3 (Note 1)

GF type

Use M8 x 1.25 hex socket
head bolt with length head
bolt with length (under head)
of 40mm or more.
Cross-section E-E

168 (Between knocks ϕ6H7 +/-0.02)

L
114

205

YA

Articulated robots

B10
Ordering method

LCM100

Linear conveyor
modules

B10

TSX

Model

Compact
single-axis robots

TRANSERVO

Motor installation direction
L: Motor leftward, horizontal position
R: Motor rightward, horizontal position
LU: Motor leftward, upper position
RU: Motor rightward, upper position
LD: Motor leftward, lower position
RD: Motor rightward, lower position

Grease
type

Option
None:
Standard
GC: Clean

Positioner Note 2
TS-X

Note 1

Stroke
150 to 2550
(100mm pitch)

Cable length
3L: 3.5m
5L: 5m
10L: 10m
3K/5K/10K
(Flexible cable)

Driver: Power-supply voltage /
Power capacity
105: 100V/100W or less
205: 200V/100W or less

SR1-X

FLIP-X

Single-axis robots

I/O selection
NP: NPN
PN: PNP
CC: CC-Link
DN: DeviceNetTM
EP: EtherNet/IPTM
PT: PROFINET
GW: No I/O board Note 3

Battery
B: With battery
(Absolute)
N: None
(Incremental)

Usable for CE
No entry: Standard
E: CE marking

I/O selection
N: NPN
P: PNP
CC: C