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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.

NEW

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.

34

1979
<YK7000>

Comprehensive line of YAMAHA SCARA robots
P.338

Orbit type

P.361

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

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

YK500TW

P.342

Extra small type

YK700XG

YK800XG

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

YK1000XG

YK900XG

YK120XG/YK150XG/YK180XG

YK180X/YK220X

P.347

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

YK1200X

Low cost high performance model
YK400XR

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

NEW

P.367

YK300XGS to YK1000XGS

YK400XR

YK250XG/YK350XG/YK400XG

P.354

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.377

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.

35

YK-X Series

Product Lineup

YK-TW Orbit type
Y K-T W

POINT 1

Y K-T W

POINT 3

Accessible to 360 °-whole area under equipment

Tact is shortened by high-speed movement.

360 °-whole area under the equipment is covered by the
hanging installation and wide arm turning angle. The plane
working envelope is improved approx. 120 % when compared to
YAMAHA's conventional model with an arm length of 500 mm.
There is no dead space at the center of the working envelope.
This ensures an operation range of ф 1,000 mm x 130 mm.
As the working envelope is cylindrical, the pallet or conveyor
installation direction is not restricted and the flexibility of the
system design is improved.

Use of a horizontal articulated structure, in which the Y-axis (2nd
arm) can pass under the X-axis (1st arm) makes it possible to
move between the points through the optimum route at a high
speed. This greatly contributes to shortening of the tact time
in the light load transfer process, such as electrical or food
industry.

Standard cycle time is 0.29 sec.
When performing a reciprocation operation with a load of 1 kg, a horizontal movement of
300 mm, and a vertical movement of 25 mm, the standard cycle time is shortened about
36 % when compared to YAMAHA’s conventional model.

Shortened
about 36 %

YK500TW
YAMAHA’s
conventional
model

Cycle time

Y K-T W

High speed and highly accurate positioning
by high mechanical rigidity

C

Repeated positioning accuracy +/- 0.015 mm

Movement range
A

C

A

B

High accuracy and high load transferable by parallel link robot

B

The internal structure of the robot was reviewed strictly to
optimize the weight balance. Additionally, a motor tuned
optimally for the lightweight and highly rigid arm was
incorporated to achieve the high speed and highly accurate
positioning.

C

C

A

POINT 4

B

Y-motor

A

B
Speed reducer

Orbit type SCARA robot
YK500TW

Standard type SCARA robot
YK500XG

Cartesian robot FXYx

R-motor
Z-motor

Comparison of robot tact times
YK500TW

Shortened
greatly.

SACARA robot YK500XG
Cartesian robot FXYx
Tact time

Y K-T W

POINT 2

Low overall height makes the equipment
compact.
The overall height is as low as 392 mm. This can lower the
center of gravity of the overall equipment. Therefore, the
equipment can be downsized without needing any rigid frame.
As the production equipment is made compact, this shortens a
period of time necessary for the workpiece transfer.

36

Hollow structure is used.

Heavy components are
arranged at the center.

Y-motor and speed reducer have a hollow
structure, the harnesses can be stored
inside the arm.

R-motor and Z-motor are arranged on the
left and right, respectively to optimize the
weight balance.

360 ° Rotation

Inertia is reduced to make the
high-speed operation possible

Y K-T W

POINT 5

Resolver is used for position detector.
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.

YK-XG Completely beltless type

Integral structure designed for optimal operation
Note. The following shows an example of YK500XG.

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

Highly rigid independent spline shaft

Built-in user wiring/user tubing

Specially developed hollow motor

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

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
Vertical axis motor

YK-XG series

Rotation axis
motor

Vertical axis
ball screw
Rotation axis
hollow motor

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

Rotation axis hollow
speed reducer

● 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

37

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

38

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)

39

YK-X Series
NEW

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)

40

YK250XGP to
600XGLP (base part)

Model/Type
NEW

Model

Arm length (mm)

Maximum payload (kg)

Standard cycle time (sec.)

Page

YK350TW

400

5.0

0.32 (RCX340) / 0.38 (RCX240)

P.338

0.29

P.340

Omni directional model

Micro-mini type
(Tiny)
Completely
beltless
model

Small type

NEW

Low cost high
performance
model

Medium type

Completely
beltless
model

NEW

5.0 (RCX340) / 4.0 (RCX240)

Note 3

YK500TW

500

YK120XG

120

YK150XG

150

YK180XG

180

YK180X

180

0.39

P.345

YK220X

220

0.42

P.346

YK250XG

250

P.342
0.33
1.0

P.343
P.344

P.347
Note 2

YK350XG

350

YK400XG

400

YK400XR

400

3.0 (2.0)

Note 2

0.45

P.353

YK500XGL

500

5.0 (4.0) Note 2

0.59

P.354

YK500XG

500

10.0

0.45

P.356

0.63

P.357

5.0 (4.0)

0.49

P.349
P.351

Note 2

YK600XGL

600

5.0 (4.0)

YK600XG

600

10.0

0.46

P.359

YK600XGH

600

20.0

0.47

P.360

YK700XGL

800

10.0

0.50

P.361

YK700XG

700

0.42

P.362

YK800XG

800

0.48

P.363

Large type

20.0
YK900XG

900

P.364
0.49

YK1000XG

1000

YK1200X

1200

YK300XGS

Note 1

YK400XGS

Note 1

YK500XGS

300

P.365
50.0

0.91

5.0 (4.0) Note 2

0.49

P.366
P.367

400

P.369

500

0.45

P.371

10.0
YK600XGS

600

0.46

P372

YK700XGS

700

0.42

P.373

YK800XGS

800

0.48

P.374

Wall mount/inverse model

20.0
YK900XGS

900

0.49

P.375

YK1000XGS

1000

0.6

P.376

YK250XGP

250

YK350XGP

350

YK400XGP

400

YK500XGLP

500

4.0

0.74

P.383

YK500XGP

500

8.0

0.55

P.385

YK600XGLP

600

4.0

0.74

P.386

YK600XGP

600

8.0

0.56

P.388

YK600XGHP

600

0.57

P.389

YK700XGP

700

0.52

P.390

YK800XGP

800

0.58

P.391

YK900XGP

900

P.377
5.0

0.49

P.379
P.381

Dust-proof & drip-proof model

18.0

P.392
0.59

YK1000XGP

1000

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 ( ).
Note 3. For the option specifications (tool flange mount type), the maximum payload becomes 4 kg (RCX340) or 3 kg (RCX240).

P.393

41

APPLICATION
Linear conveyor
modules

LCM100

Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

YK-X

PHASER

Linear motor
single-axis robots

SCARA ROBOTS

Cartesian
robots

XY-X

SERIES

SCARA
robots

YK-X
YK800XGP··············································391

■■Robot ordering method
description···························· 337

YK700XGL··············································361

YK900XGP············································· 392

YK700XG··············································· 362

YK1000XGP··········································· 393

■■Robot ordering method
terminology··························· 337

YK800XG··············································· 363
YK900XG··············································· 364

ORBIT TYPE

YK1200X················································ 366

YK350TW··············································· 338

WALL-MOUNT / INVERSE TYPE

YK500TW··············································· 340

YK300XGS············································· 367

TINY TYPE

YK400XGS············································· 369

YK120XG················································ 342
YK150XG················································ 343
YK180XG················································ 344
YK220X·················································· 346

SMALL TYPE
YK250XG················································347
YK350XG··············································· 349
YK400XG················································351
YK400XR··············································· 353

MEDIUM TYPE
YK500XGL············································· 354
YK500XG··············································· 356
YK600XGL··············································357
YK600XG··············································· 359
YK600XGH············································· 360

YK600XGS··············································372
YK700XGS··············································373
YK800XGS··············································374
YK900XGS··············································375
YK1000XGS············································376

DUST-PROOF & DRIP-PROOF TYPE
YK250XGP··············································377
YK350XGP··············································379
YK400XGP··············································381
YK500XGLP··········································· 383
YK500XGP············································· 385
YK600XGLP··········································· 386
YK600XGP············································· 388
YK600XGHP·········································· 389
YK700XGP············································· 390

Main functions P.34

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

YK180X··················································· 345

YK500XGS··············································371

CONTROLLER INFORMATION

YK1000XG·············································· 365

CLEAN

LARGE TYPE

YP-X

■ YK-X SPECIFICATION SHEET···· 336

Pick & place
robots

CONTENTS

335

LCM100

Linear conveyor
modules

Type

Arm length (mm) and XY axis resultant maximum speed (m/s)

Model
120

Orbit
type

APPLICATION

YK-X SPECIFICATION SHEET

TRANSERVO

Tiny type

Compact
single-axis robots

YK150XG

5 .6
6. 8
3. 3
3.4

FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots

XY-X

Cartesian
robots
SCARA
robots

YK-X

Large type

5

0.005 (Rated)
0.05 (Maximum)

0.29

5

0.005 (Rated)
0.05 (Maximum)

0.33

1

0.01

0.33

1

0.01
0.01

0.33

1

YK180X

3. 3

0.39

1

0.01

0.42

1

0.01

3.4
4. 5

YK350XG

5 .6

0.49

5

0.05

0.49

5

0.05
0.05

YK400XG

6.1

0.49

5

YK400XR

6

0.45

3

0.05

0.59

5

0.05

YK500XGL

5.1

YK500XG

7.6

0.45

10

0.30

YK600XGL

4. 9

0.63

5

0.05

YK600XG

8.4

0.46

10

0.30

YK600XGH

7.7

0.47

20

1.0

0.50

10

0.30

0.42

20

1.0

0.48

20

1.0

0.49

20

1.0

0.49

20

1.0

0.91

50

2.45

0.49

5

0.05
0.05

9.2

YK700XG

8.4

YK800XG

9.2

YK900XG

9.9

YK1000XG

10.6

YK1200X
YK300XGS

YP-X

Pick & place
robots

Wall-mount / inverse type

0.32 (RCX340)
0.38 (RCX240)

3. 3

YK700XGL

7.4
4.4

YK400XGS

6.1

YK500XGS

7.6

YK600XGS

8.4

YK700XGS

8.4

CLEAN

YK800XGS

9.2

YK900XGS

9.9

YK1000XGS
YK 250XGP

CONTROLLER INFORMATION

YK350XGP
YK400XGP
Dust-proof & drip-proof type

R-axis
Completely
R-axis
tolerable
beltless
harmonic
moment of
Note 2
drive Note 3
2 structure
inertia (kgm )

YK180XG

YK 250XG
Small type

220 250 300 350 400 500 600 700 800 900 1000 1200

YK500TW

YK 220X

Standard

180

YK350TW

YK120XG

Medium type

150

Standard Maximum
cycle time payload
(sec) Note 1
(kg)

10.6
4. 5
5 .6
6.1

0.49

5

0.45

10

0. 3

0.46

10

0. 3

0.42

20

1.0

0.48

20

1.0

0.49

20

1.0

0.49

20

1.0

0.57

4

0.05

0.57

4

0.05

0.57

4

0.05
0.05

YK500XGLP

5.1

0.74

4

YK500XGP

7.6

0.55

8

0.3

4

0.05

YK600XGLP

4. 9

0.74

YK600XGP

8.4

0.56

8

0. 3

YK600XGHP

7.7

0.57

18

1.0

0.52

18

1.0

0.58

18

1.0

0.59

18

1.0

0.59

18

1.0

YK700XGP
YK800XGP

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

YK900XGP
YK1000XGP

8.4
9.2
9.9
10.6

Note 1. The standard cycle time is measured under the following conditions.
• During back and forth movement 25mm vertically and 100mm horizontally (TINY)
• During back and forth movement 25mm vertically and 300mm horizontally (small type / medium type / large type)
Note 2. Maintains high accuracy over long periods because the beltless structure drastically cuts down on wasted motion.
Operation is also nearly maintenance-free for long periods with no worries about belt breakage, stretching or deterioration over time.
Note 3. " Harmonic" and "Harmonic drive" are the registered trademarks of Harmonic Drive Systems Inc.

336

Detailed
info page

P.338
P.340
P.342
P.343
P.344
P.345
P.346
P.347
P.349
P.351
P.353
P.354
P.356
P.357
P.359
P.360
P.361
P.362
P.363
P.364
P.365
P.366
P.367
P.369
P.371
P.372
P.373
P.374
P.375
P.376
P.377
P.379
P.381
P.383
P.385
P.386
P.388
P.389
P.390
P.391
P.392
P.393

LCM100

[Example]
Mechanical

YK250XG

• Z-axis stroke
• Tool flange
• Hollow shaft
• Cable length

Controller

RCX240S

Compact
single-axis robots

TRANSERVO

150mm
With tool flange
With hollow shaft
3.5m

Ordering method

Tool flange
No entry None
F
With tool flange

Hollow shaft
No entry None
S
With hollow shaft

Cable
2m
3.5m
5m
10m

Controller
RCX240
RCX240S
RCX340

Cartesian
robots

2L
3L
5L
10L

XY-X

50mm
100mm
150mm
200mm
300mm
400mm

P.508

PHASER

Z-axis stroke
50
100
150
200
300
400

P.495 , RCX340

RCX240

Linear motor
single-axis robots

Model
YK***

FLIP-X

Controller section

To find detailed controller information see the controller page.

Single-axis robots

YK250XG 150 F S 3L RCX240S
Mechanical section

Linear conveyor
modules

In the order format for the YAMAHA SCARA robots YK-X series, the notation (letters/numbers) for the mechanical section is shown linked
to the controller section notation.

APPLICATION

Robot ordering method description

Note 1. Available only for the master.

Tool flange option for easy mounting of a tool to the tip.
No entry: None F: With tool flange

Hollow shaft

Hollow shaft option for easy routing of air tubes and harness wires.
No entry: None S: With hollow shaft

Cable

Select the length of the robot cable connecting the robot and controller.
2L: 2m (Note 1) 3L: 3.5m 5L: 5m 10L: 10m
Note 1. Only selectable for YK120XG, YK150XG, YK180XG.

Controller

Select either the RCX240 (RCX240S) or RCX340.

CONTROLLER INFORMATION

Tool flange

CLEAN

Select the Z axis stroke.
The stroke varies with the model you select so see that model’s page to confirm
the specifications.

Pick & place
robots

Z-axis stroke

YP-X

Enter the robot unit model.

SCARA
robots

Model

YK-X

Robot ordering method terminology

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

337

Arm length 350mm

Orbit type

Maximum payload 5kg

Linear conveyor
modules

LCM100

Ordering method

RCX340-4

YK350TW 130
Model

Compact
single-axis robots

TRANSERVO

Z axis stroke
130: 130mm

Tool flange
No entry: None
F: With tool flange

Hollow shaft
No entry: None
S: With hollow shaft

Controller /
Number of controllable axes

Cable
3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Controller

R3

CE Marking

Regeneratizve unit

Expansion I/O

iVY System

Gripper

P.495

FLIP-X
PHASER

Linear motor
single-axis robots

Speed reducer

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

X-axis

Y-axis

Z-axis

R-axis

175 mm

175 mm

130 mm

-

+/-225 °

+/-225 °

-

+/-720 °

750 W

400 W

Harmonic drive Harmonic drive
Timing belt

Direct-coupled

+/-0.01 mm

Maximum speed

105 W
Belt speed reduction

Timing belt

Timing belt

+/-0.01 mm

+/-0.01 °

1.5 m/sec

3000 °/sec

5.6 m/sec

Maximum payload Note 2

RCX340
RCX240-R3

200 W
Ball screw

Direct-coupled

Note 1

Controller Power capacity (VA) Operation method

R-axis moment of inertia (load inertia)

XY-X

Cartesian
robots

0.32 sec (RCX340) / 0.38 sec (RCX240)
0.005 kgm2

R-axis tolerable moment of Rated
inertia Note 4
Maximum

0.05 kgm2

User wiring

0.15 sq × 8 wires
ϕ6×2

User tubing (Outer diameter)
SCARA
robots

YK-X

Travel limit

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

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

Robot cable length

Standard: 3.5 m Option: 5 m, 10 m

Weight

2500

Recommended positional relationship between the load weight and the
offset amount from the center of the R-axis (center of gravity position)
Offset (mm) 100
80
60
40
20
0
0
1
2
3
4 Weight (kg)
Note. When the payload exceeds 4kg, it is predicted that the
R-axis moment of inertia may exceed the rated value. So,
make proper parameter setting.

5 kg

Standard cycle time: with 1kg payload Note 3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

26 kg

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature.
Note 2. Tool flange specifications (option) are 4 kg.
Note 3. When moving a 1 kg load back and forth 300mm horizontally and 25mm vertically (rough positioning arch motion).
Note 4. Limits must be placed on parameters such as acceleration according to the moment of inertia being used.

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

YK350TW
+ 0.012
Depth
0

320
276

12

Y-axis overlap area

22
User tubing 2 (ϕ6 Red) Connects to arm
User tubing 1 (ϕ6 black) Connects to arm R175

225

Y-axis overlap area

22

R175

225

166
190

135

°

225°

CLEAN

166

ϕ6 H7

225°

Single-axis robots

AC servo motor output

50

225

R3

Y-axis overlap area

X-axis: during CCW motion

X-axis: during CW motion
Working envelope

2

0 (Installation surface)
20
26.5
Tube connection port (ϕ4 Blue)
93
Connects to spline tip

2 Width across
flats 14

30

22 6
5

392

0

ϕ16 h7- 0.018

130

Z-axis upper end mechanical stopper position
(5mm rise during return-to-origin)
Z-axis lower end mechanical stopper position

185

4

205
175
M8x1.25 Depth 15 Hollow
diameter ϕ7 through-hole
R86

47

User tubing 2 (ϕ6 Red)
Connects to base
317
352
392 +/-2

D-sub connector for user wiring
(No.1 to 8 usable)
Tube through hollow shaft

522

6-ϕ11 through-hole counterbore ϕ18 depth 11
(For mounting from below)

166

109

Dust-proof
Small /
Wall-mount / & drip-proof
type
Medium type Large type inverse type

(121)

168
100
26
User tubing 1 (ϕ6 Black) Connects to base

Controller

User tubing 1 (ϕ6 Black)
Connects to base

RCX340 u 508 RCX240 u 495

(300)

50.5

215
178.5

31
(ϕ16 h7 range)

Orbit type

2x2-M4x0.7
Depth 8
(Same on
opposite side)

User tubing 2 (ϕ6 Red) Connects to base
D-sub connector for user wiring
(No.1 to 8 usable)

45

D-sub connector for user wiring (No.1 to 8 usable)

27

0

115

38.5

R27 (Min. cable bending radius)
Do not move the cable.

50

6-M10x1.5 through-hole
(For mounting from above)

(R)

100: Space needed for
cable connection (Note)
Note: Upper section requires a
space of at least 250mm for
detaching/attaching cover.

115

R3

Y-axis overlap area

°

CONTROLLER INFORMATION

M4 ground terminal
6 + 0.02
0 Depth 12
Keep enough space for the maintenance
4-ϕ9
work on the top face of the base.

338

Battery

Controller

Arm length
Axis
specifications Rotation angle

Repeatability

Absolute
battery

BB

Network option

Specify various controller setting items. RCX 240/RCX 240 S

Specifications

Option E
(OP.E)

P.508

Specify various controller setting items. RCX340

RCX240

Option D
(OP.D)

225°

APPLICATION

YK350TW

* Tube (ϕ4) through hollow shaft protrudes
about 300mm from the spline tip.
* Tube through hollow shaft does not rotate
with spline during R-axis rotation.

APPLICATION

YK350TW

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

YK350TW Tool flange mount type
Y-axis overlap area
Y-axis overlap area

22

R175

225

166
190

135

°

225°

50

Y-axis overlap area

45

X-axis: during CCW motion

2

D-sub connector for user wiring (No.1 to 8 usable)

50.5

Note: Upper section requires a
space of at least 250mm for
detaching/attaching cover.

115

X-axis: during CW motion
Working envelope

Tube connection port (ϕ4 Blue)
Connects to spline tip

User tubing 1 (ϕ6 Black)
Connects to base

R27 (Min. cable bending radius)
Do not move the cable.
User tubing 2 (ϕ6 Red)
Connects to base

(300)

0 (Installation
surface)

* Tube (ϕ4) through hollow shaft protrudes
about 300mm from the spline tip.
* Tube through hollow shaft does not rotate
with spline during R-axis rotation.

Tube through hollow shaft

ϕ55

Detailed drawing A

22

.6

.0

/-0

166

+
.6

168
100
26
User tubing 1 (ϕ6 Black) Connects to base

22

.6

ϕ4 H7 0 through-hole
* There is no phase relation between mounting hole
and R-axis origin position.
2

109

22

User tubing 2 (ϕ6 Red) Connects to base
D-sub connector for user wiring
(No.1 to 8 usable)

+ 0.012

90°

02

.6

22

Hollow diameter ϕ7
through-hole

-0.

4

4-ϕ4.5 through-hole

6

47

537
6-ϕ11 through-hole counterbore ϕ18 depth 11
(For mounting from below)

.
22

185

7 +/

Z-axis lower end mechanical stopper position
175
205
M8x1.25 Depth 15 Hollow
diameter ϕ7 through-hole
R86

2 4

5

0

ϕ30 h7 - 0.021

130

Z-axis upper end mechanical stopper position
(5mm rise during return-to-origin)

361
393
407+/-2

A

Details of tool flange section

Controller

RCX340 u 508 RCX240 u 495

Dust-proof
Small /
Wall-mount / & drip-proof
type
Medium type Large type inverse type

ϕ35

Orbit type

D-sub connector for user wiring
(No.1 to 8 usable)

CONTROLLER INFORMATION

100: Space needed for
cable connection (Note)

115

50

6-M10x1.5 through-hole
(For mounting from above)

(R)

M4 ground terminal
+ 0.02
6 0 Depth 12
Keep enough space for the maintenance
4-ϕ9
work on the top face of the base.

R3

Y-axis overlap area

°

225

R3

CLEAN

22
User tubing 2 (ϕ6 Red) Connects to arm
User tubing 1 (ϕ6 black) Connects to arm R175

225

225°

320
276

12

225°

+ 0.012
Depth
0

166

ϕ6 H7

339

APPLICATION

YK500TW

Arm length 500mm

Orbit type

Maximum payload 5kg

Linear conveyor
modules

LCM100

Ordering method

RCX340-4

YK500TW 130
Model

Compact
single-axis robots

TRANSERVO

Z axis stroke
130: 130mm

Tool flange
No entry: None
F: With tool flange

Hollow shaft
No entry: None
S: With hollow shaft

Controller /
Number of controllable axes

Cable
3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Option D
(OP.D)

R3

Controller

CE Marking

Regeneratizve unit

Expansion I/O

Network option

BB

iVY System

Battery

Z-axis

250 mm

250 mm

130 mm

-

+/-225 °

+/-225 °

-

+/-720 °

750 W

400 W

Harmonic drive Harmonic drive

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

Timing belt

Direct-coupled

R-axis

200 W

105 W

Ball screw

Belt speed reduction

Timing belt

Maximum speed

+/-0.015 mm

+/-0.01 mm

+/-0.01 °

6.8 m/sec

1.5 m/sec

3000 °/sec

Maximum payload Note 2

RCX340
RCX240-R3

Timing belt

Direct-coupled

Note 1

Controller Power capacity (VA) Operation method

R-axis moment of inertia (load inertia)

Offset (mm) 100
80
60
40
20
0

0.29 sec
0.005 kgm2

R-axis tolerable moment of Rated
inertia Note 4
Maximum

0.05 kgm2

User wiring

0

1

2

3

4

Weight (kg)

0.15 sq × 8 wires
ϕ6×2

User tubing (Outer diameter)

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

Robot cable length

Standard: 3.5 m Option: 5 m, 10 m

Weight

27 kg

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature.
Note 2. For the option specifications (tool flange mount type), the maximum payload becomes 4 kg (RCX340) or 3 kg (RCX240).
Note 3. When moving a 1 kg load back and forth 300 mm horizontally and 25 mm vertically (rough positioning arch motion).
Note 4. Limits must be placed on parameters such as acceleration according to the moment of inertia being used. See P.536.

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

YK500TW
320
276

ϕ6 H7 +0.012
Depth12
0

Y-axis overlap area

00

2

0

Orbit type

50.5

93

User tubing 2 (ϕ6 Red)
Connects to base
D-sub connector for user wiring
(No.1 to 8 usable)

X-axis: during CCW motion

31
(ϕ16 h7 range)

2 Width across
flats 14
0
ϕ16 h7 -0.018

4

185

X-axis: during CW motion

84

User tubing 1 (ϕ6 Black)
Connects to base

User tubing 2 (ϕ6 Red)
Connects to base
D-sub connector for user wiring
(No.1 to 8 usable)
Tube through hollow shaft

522

6-ϕ11 through-hole counterbore ϕ18 depth 11
(For mounting from below)

47

168
100
User tubing 1 (ϕ6 Black)
Connects to base

Controller

317
352
392 +/-2

Tube connection port (ϕ4 Blue)
Connects to spline tip

166

130

27
22 6
5

250
M8x1.25 Depth15
Hollow diameter ϕ7
through-hole

109

R86

Dust-proof
Small /
Wall-mount / & drip-proof
type
Medium type Large type inverse type

340

2x2-M4x0.7
Depth8
(Same on
opposite side)

205

Y-axis overlap area

0 (Installation surface)
20
26.5

392
(100) 30
Z-axis upper end mechanical stopper position
(5mm rise during return-to-origin)
Z-axis lower end mechanical stopper position

00

215
178.5

38.5

R27 (Min. cable bending radius)
Do not move the cable.

100: Space needed for
cable connection (Note)

Note: Upper section requires a
space of at least 250mm for
detaching/attaching cover.

115
45
D-sub connector for user wiring (No.1 to 8 usable)

115

Keep enough space for the maintenance 4-ϕ9
work on the top face of the base.

R5

Y-axis overlap area

°

225°

R5

6-M10x1.5 through-hole
(For mounting from above)

(R)

CONTROLLER INFORMATION

M4 ground terminal
6 +0.02
Depth12
0

R250

0

225°

135

User tubing 1 (ϕ4 black)
Connects to arm

R25

225°

CLEAN

166

Y-axis overlap area

22

225
User tubing 2 (ϕ4 Red)
Connects to arm

166
190

SCARA
robots

YK-X

Travel limit

225

XY-X

Cartesian
robots

Standard cycle time: with 1kg payload

2500

Recommended positional relationship between the load weight and the
offset amount from the center of the R-axis (center of gravity position)

5 kg (RCX340), 4 kg (RCX240)
Note 3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

26

RCX340 u 508 RCX240 u 495

(300)

PHASER

Linear motor
single-axis robots

Speed reducer

Y-axis

225°

FLIP-X

AC servo motor output

X-axis

225°

Single-axis robots

Controller

Arm length
Axis
specifications Rotation angle

Repeatability

Gripper

P.495

Specify various controller setting items. RCX 240/RCX 240 S

Specifications

Absolute
battery

P.508

Specify various controller setting items. RCX340

RCX240

Option E
(OP.E)

* Tube (ϕ4) through hollow shaft protrudes
about 300mm from the spline tip.
* Tube through hollow shaft does not rotate
with spline during R-axis rotation.

APPLICATION

YK500TW

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

YK500TW Tool flange mount type
Y-axis overlap area
225°

°
225

2

Y-axis overlap area

50.5

X-axis: during CCW motion

Tube connection port (ϕ4 Blue)
Connects to spline tip

0
(Installation
surface)

00

X-axis: during CW motion

User tubing 1 (ϕ6 Black)
Connects to base
(300)

R27 (Min. cable bending radius)
Do not move the cable.

100: Space needed for
cable connection (Note)

Note: Upper section requires a
space of at least 250mm for
detaching/attaching cover.

115
45
D-sub connector for user wiring (No.1 to 8 usable)

R5

Y-axis overlap area

User tubing 2 (ϕ6 Red)
Connects to base
D-sub connector for user wiring
(No.1 to 8 usable)
Tube through hollow shaft

361
393
407+/-2

Z-axis lower end mechanical stopper position

4-ϕ4.5 through-hole
Hollow diameter ϕ7
through-hole

.6
.6

90°

22
.6

166

84

109

02

0.

±
.6

22

.02

.6

22

6-ϕ11 through-hole counterbore ϕ18 depth 11
(For mounting from below)

22

R86

47

185

7 ±0

250

ϕ55
Detailed drawing A

537

4
205

0
ϕ30 h7 -0.021

130

5

A

ϕ4 H7 +0.012
through-hole
0
* There is no phase relation between mounting hole
and R-axis origin position.
Details of tool flange section

22

User tubing 2 (ϕ6 Red)
Connects to base
D-sub connector for user wiring
(No.1 to 8 usable)

168
100
User tubing 1 (ϕ6 Black)
Connects to base

26

Controller

RCX340 u 508 RCX240 u 495

Dust-proof
Small /
Wall-mount / & drip-proof
type
Medium type Large type inverse type

Z-axis upper end mechanical stopper position
(5mm rise during return-to-origin)

2 4

ϕ35

Orbit type

* Tube (ϕ4) through hollow shaft protrudes
about 300mm from the spline tip.
* Tube through hollow shaft does not rotate
with spline during R-axis rotation.

CONTROLLER INFORMATION

225°

115

Keep enough space for the maintenance 4-ϕ9
work on the top face of the base.

225°

00

R5

6-M10x1.5 through-hole
(For mounting from above)

(R)

M4 ground terminal
6 +0.02
Depth12
0

R250

0

225°

135

User tubing 1 (ϕ4 black)
Connects to arm

R25

CLEAN

166

Y-axis overlap area

22

225
User tubing 2 (ϕ4 Red)
Connects to arm

166
190

ϕ6 H7 +0.012
Depth12
0

225°

320
276

341

APPLICATION

YK120XG

Arm length 120mm

Standard type: Tiny type

Maximum payload 1kg

Linear conveyor
modules

LCM100

Ordering method

RCX340-4

YK120XG 50
Model

Compact
single-axis robots

TRANSERVO

Z axis stroke
50: 50mm

Controller /
Number of controllable axes

Cable
2L: 2m
3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

RCX240S

CE Marking

Expansion I/O

Network option

Absolute
battery

P.508

Specify various controller setting items. RCX340

Controller

Option E
(OP.E)

Option D
(OP.D)

iVY System

BB
Gripper

FLIP-X

Controller
X-axis

Arm length
Axis
specifications Rotation angle

PHASER

Linear motor
single-axis robots

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

Z-axis

R-axis

45 mm

75 mm

50 mm

+/-125 °

+/-145 °

+/-360 °

30 W

30 W

30 W

30 W

Ball screw

Harmonic drive

AC servo motor output
Speed reducer

Y-axis

Harmonic drive Harmonic drive

Controller Power capacity (VA) Operation method

RCX340
RCX240S

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

300

Direct-coupled
Direct-coupled

Repeatability Note 1

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

3.3 m/sec

0.9 m/sec

1700 °/sec

Maximum speed
Maximum payload

1.0 kg

XY-X

Cartesian
robots

Standard cycle time: with 0.1kg payload Note 2

0.33 sec

R-axis tolerable moment of inertia Note 3

0.01 kgm2

User wiring

0.1 sq × 8 wires
ϕ4×2

User tubing (Outer diameter)
Travel limit

1.Soft limit 2.Mechanical stopper (X,Y,Z axis)
Standard: 2 m Option: 3.5 m, 5 m, 10 m

Weight (Excluding robot cable) Note 4

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

3.9 kg

Robot cable weight

0.9 kg (2 m) 1.5 kg (3.5 m) 2.1 kg (5 m) 4.2 kg (10 m)

YP-X

YK120XG

R1

20

R1

2

R2

s)

og
0
R3 axis d
(R-

Do not attach any wire or tube to self-supporting cable.
Doing so may degrade positioning accuracy.

rot

38

75

If attaching wire or tube, make use of these air tubes.
For details, refer to “10 When attaching a new user wire or tube”
in Chapter 3.

45
37

325
322

R75

CONTROLLER INFORMATION

(ϕ53)
50

46

5

R46

diu

l ra

na
atio

80
Working envelope
X, Y-axis origin is at ±5° with respect to front of
robot base
When performing return-to-origin, move the axes
counterclockwise in advance from the position
shown above.

316 (Maximum 322 during arm rotation)
25 (Maximum 120 during arm rotation)

239
User tubing 2 (ϕ4)

32

123

32

Tapped hole for user
4-M3 x 0.5, depth: 7

Controller

2-ϕ5.5 through-hole
Use four M5 mounting bolt.
R27 (Min. cable bending radius)
Do not move the cable.

14

43

22.5

27 20 4.5

22.5

8 5
15 10

User tool installation range

0
9 -0.2
Width
across
flats

Details of B

90.5

4-ϕ9

Keep enough space for the maintenance
work at the rear of the base.

RCX340 u 508 RCX240S u 495

74

User tubing 1 (ϕ4)

35

6
41.5

User tubing 2 (ϕ4)
116 Cross section A-A
105
M3 ground terminal
80
67
Connector for user wiring
(No. 1 to 8 usable, socket contact)
0 J.S.T. Mfg Co., Ltd. SM connector SMR-8V-B,
pin SYM-001T-P0.6 (supplied)
Use the YC12 crimping machine.

14

Rises 5mm
during returnto-origin on
Z-axis

Z-axis upper
end stopper

R3

342

B

No phase relation between flat spot
and R-axis origin

0
ϕ10h 7 -0.015

Hollow
diameter
: ϕ4

User tubing 1 (ϕ4)

ϕ53

50
Z axis
stroke

0
ϕ26

A

2-

Dust-proof
Small /
Wall-mount / & drip-proof
type
Medium type Large type inverse type

47+/-2
(Z-axis origin position)

R-axis dog

2-5.5

Tiny type

A

146
105

°

138

145°

(120)

125

CLEAN

The Z-axis upper end stopper is
in contact with the base in an
area inside from the inner limit of
this working envelope. So, do not
perform any motion in this area.

If the robot enters the inside of R12,
the Z-axis upper end stopper may
be in contact with the base. So, do
not perform such motion.

Connector for user wiring
(No. 1 to 8 usable, socket contact)
J.S.T. Mfg Co., Ltd. SM connector
SMR-8V-B, pin SYM-001T-P0.6
(supplied)
Use the YC12 crimping tool.

°

Pick & place
robots

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When moving 25mm in vertical direction and 100mm in horizontal direction reciprocally.
Note 3. There are limits to acceleration coefficient settings. See P.536.
Note 4. The total robot weight is the sum of the robot body weight and the cable weight.

125

SCARA
robots

YK-X

Robot cable length

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.

145°

Single-axis robots

Specifications

Battery

P.495

Specify various controller setting items. RCX 240/RCX 240 S

(43)
47
53

Arm length 150mm

APPLICATION

YK150XG

Standard type: Tiny type

Maximum payload 1kg

Linear conveyor
modules

RCX340-4

YK150XG 50
Model

LCM100

Ordering method

Controller /
Number of controllable axes

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Option D
(OP.D)

Specify various controller setting items. RCX340

RCX240S
Controller

CE Marking

Expansion I/O

Network option

Option E
(OP.E)

Absolute
battery

P.508

BB

iVY System

Gripper

Battery

P.495

Arm length
Axis
specifications Rotation angle

R-axis

75 mm

50 mm

+/-145 °

+/-360 °

30 W

30 W

30 W

30 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

RCX340
RCX240S

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

300

Direct-coupled
Direct-coupled

Repeatability Note 1
Maximum speed

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

3.4 m/sec

0.9 m/sec

1700 °/sec

Maximum payload

PHASER

75 mm

Controller Power capacity (VA) Operation method

Linear motor
single-axis robots

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

Z-axis

+/-125 °

AC servo motor output
Speed reducer

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240 S

Specifications

Compact
single-axis robots

Cable
2L: 2m
3L: 3.5m
5L: 5m
10L: 10m

TRANSERVO

Z axis stroke
50: 50mm

1.0 kg

R-axis tolerable moment of inertia Note 3

0.01 kgm2

User wiring

0.1 sq × 8 wires
ϕ4×2

User tubing (Outer diameter)
Travel limit

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

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

4.0 kg

Robot cable weight

SCARA
robots

Standard: 2 m Option: 3.5 m, 5 m, 10 m

Weight (Excluding robot cable) Note 4

YK-X

Robot cable length

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.

0.9 kg (2 m) 1.5 kg (3.5 m) 2.1 kg (5 m) 4.2 kg (10 m)

Cartesian
robots

0.33 sec

XY-X

Standard cycle time: with 0.1kg payload Note 2

YP-X

YK150XG

°

145°

125

46

50

75

325
322

37

80
Working envelope

If attaching wire or tube, make use of these air tubes.
For details, refer to “10 When attaching a new user wire or tube”
in Chapter 3.

75

X, Y-axis origin is at ±5° with respect to front of
robot base
When performing return-to-origin, move the axes
counterclockwise in advance from the position
shown above.

316 (Maximum 322 during arm rotation)
25 (Maximum 120 during arm rotation)
239
User tubing 2 (ϕ4)

6

41.5

90.5

32

32

74

14

123

43

4.5

2-5.5

22.5
22.5

8

0
9 -0.2
Width
across
flats

27 20

R3

Details of B

(43)
47
53

User tool installation range

2-

5
15 10

No phase relation between flat spot
and R-axis origin

0
ϕ10h7 -0.015

Hollow
diameter
: ϕ4

Connector for user wiring
(No. 1 to 8 usable, socket contact)
0 J.S.T. Mfg Co., Ltd. SM connector SMR-8V-B,
pin SYM-001T-P0.6 (supplied)
Use the YC12 crimping machine.

Tapped hole for user
4-M3 x 0.5, depth: 7

2-ϕ5.5 through-hole
Use four M5 mounting bolts.
R27 (Min. cable bending radius)
Do not move the cable.

14

ϕ26

Z-axis upper
end stopper

User tubing 1 (ϕ4)

35

0

B

User tubing 1 (ϕ4)
Cross section A-A
User tubing 2 (ϕ4)
M3 ground terminal

119
105
80
67

4-ϕ9

Controller

Keep enough space for the maintenance
work at the rear of the base.

RCX340 u 508 RCX240S u 495

Dust-proof
Small /
Wall-mount / & drip-proof
type
Medium type Large type inverse type

47+/-2
(Z-axis origin position)

Rises 5mm
50
Z axis during returnstroke to-origin on
Z-axis.

104

A

R-axis dog

Tiny type

A

146

5

38

CONTROLLER INFORMATION

Do not attach any wire or tube to self-supporting cable.
Doing so may degrade positioning accuracy.

ro

R7

dog

us)

adi

al r

on
tati

°

2

5

R2

50
R1
R45

R1

125

138

145°

(150)

CLEAN

The Z-axis upper end stopper is
in contact with the base in an
area inside from the inner limit of
this working envelope. So, do not
perform any motion in this area.

If the robot enters the inside of R12,
the Z-axis upper end stopper may
be in contact with the base. So, do
not perform such motion.

Connector for user wiring
(No. 1 to 8 usable, socket contact)
J.S.T. Mfg Co., Ltd. SM connector
SMR-8V-B, pin SYM-001T-P0.6
(supplied)
Use the YC12 crimping tool.

0
R3 axis
(R-

Pick & place
robots

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When moving 25mm in vertical direction and 100mm in horizontal direction reciprocally.
Note 3. There are limits to acceleration coefficient settings. See P.536.
Note 4. The total robot weight is the sum of the robot body weight and the cable weight.

343

Arm length 180mm

Standard type: Tiny type

Maximum payload 1kg

Linear conveyor
modules

LCM100

Ordering method

RCX340-4

YK180XG 50
Model

Compact
single-axis robots

TRANSERVO

Z axis stroke
50 : 50mm

Controller /
Number of controllable axes

Cable
2L: 2m
3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Specify various controller setting items. RCX340

RCX240S
Controller

CE Marking

Expansion I/O

Network option

Option E
(OP.E)

Option D
(OP.D)

Absolute
battery

P.508

BB

iVY System

Gripper

Arm length
Axis
specifications Rotation angle

PHASER

Linear motor
single-axis robots

AC servo motor output
Speed reducer

Y-axis

Z-axis

105 mm

75 mm

50 mm

+/-125 °

+/-145 °

+/-360 °

30 W

30 W

30 W

30 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240S

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

500

Direct-coupled
Direct-coupled

Repeatability Note 1
Maximum speed

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

3.3 m/sec

0.9 m/sec

1700 °/sec

Maximum payload

1.0 kg

XY-X

Cartesian
robots

Standard cycle time: with 0.1kg payload Note 2

0.33 sec

R-axis tolerable moment of inertia Note 3

0.01 kgm2

User wiring

0.1 sq × 8 wires
ϕ4×2

User tubing (Outer diameter)
Travel limit

1.Soft limit 2.Mechanical stopper (X,Y,Z axis)
Standard: 2 m Option: 3.5 m, 5 m, 10 m

Weight (Excluding robot cable) Note 4

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

4.1 kg

Robot cable weight

0.9 kg (2 m) 1.5 kg (3.5 m) 2.1 kg (5 m) 4.2 kg (10 m)

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When moving 25mm in vertical direction and 100mm in horizontal direction reciprocally.
Note 3. There are limits to acceleration coefficient settings. See P.536.
Note 4. The total robot weight is the sum of the robot body weight and the cable weight.

YK180XG
The Z-axis upper end stopper is
in contact with the base in an
area inside from the inner limit of
this working envelope. So, do not
perform any motion in this area.

°

°

125

138

145°

(180)

R2

CLEAN

Connector for user wiring
(No. 1 to 8 usable, socket contact)
J.S.T. Mfg Co., Ltd. SM connector
SMR-8V-B, pin SYM-001T-P0.6
(supplied)
Use the YC12 crimping tool.

125

SCARA
robots

YK-X

Robot cable length

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.

80

FLIP-X

Controller
X-axis

145°

Single-axis robots

Specifications

Battery

P.495

Specify various controller setting items. RCX 240/RCX 240 S

R1

APPLICATION

YK180XG

1

50

5

R6

rot

Do not attach any wire or tube to self-supporting cable.
Doing so may degrade positioning accuracy.
38

75

105

R75

CONTROLLER INFORMATION

og
0
R3 axis d
(R- 325
322

s)

diu

l ra

na
atio

80
Working envelope

If attaching wire or tube, make use of these air tubes.
For details, refer to “10 When attaching a new user wire or tube” in Chapter 3.
316 (Maximum 322 during arm rotation)

37

X, Y-axis origin is at ±5° with respect to front of
robot base
When performing return-to-origin, move the axes
counterclockwise in advance from the position
shown above.

10 (Maximum 120 during arm rotation)
239

User tubing 1 (ϕ4)
Cross section A-A

6

41.5

90.5

32

0

32

14

123

Tapped hole for user
4-M3 x 0.5, depth: 7

Controller

14

2-ϕ5.5 through-hole
(Use four M5 mounting bolts.)
R27 (Min. cable bending radius)
Do not move the cable.

4-ϕ9

Keep enough space for the maintenance
work at the rear of the base.

RCX340 u 508 RCX240S u 495

74

Connector for user wiring
(No. 1 to 8 usable, socket contact)
J.S.T. Mfg Co., Ltd. SM connector SMR-8V-B,
pin SYM-001T-P0.6 (supplied)
Use the YC12 crimping machine.

43

4.5

2-5.5

27 20

22.5

0
9 -0.2
Width
across
flats

Hollow
diameter
: ϕ4
Details of B

22.5

User tool installation range

0
ϕ10h 7 -0.015

344

80
67

Z-axis upper
end stopper

User tubing 1 (ϕ4)

User tubing 2 (ϕ4)
M3 ground terminal

No phase relation between flat spot
and R-axis origin
8 5
15 10

ϕ26

B

119
105

R3
2-

Dust-proof
Small /
Wall-mount / & drip-proof
type
Medium type Large type inverse type

0

50
Rises 5mm
Z axis during returnstroke to-origin on
Z-axis.

Tiny type

47+/-2
(Z-axis origin position)

A

A

R-axis dog

35

146
104

User tubing 2 (ϕ4)

(43)
47
53

Arm length 180mm

APPLICATION

YK180X

Standard type: Tiny type

Maximum payload 1kg

Linear conveyor
modules

YK180X 100
Model

RCX340-4
Controller /
Number of controllable axes

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Specify various controller setting items. RCX340

RCX240S
Controller

CE Marking

Expansion I/O

Option E
(OP.E)

Option D
(OP.D)

Network option

Absolute
battery

P.508

BB

iVY System

Gripper

Battery

P.495

Arm length
Axis
specifications Rotation angle

Y-axis

Z-axis
100 mm

+/-140 °

+/-360 °

50 W

30 W

30 W

30 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

RCX340
RCX240S

500

Direct-coupled

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

Direct-coupled

Repeatability Note 1
Maximum speed

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

3.3 m/sec

0.7 m/sec

1700 °/sec

Maximum payload

PHASER

109 mm

Controller Power capacity (VA) Operation method

Linear motor
single-axis robots

71 mm
+/-120 °

AC servo motor output
Speed reducer

R-axis

FLIP-X

Controller
X-axis

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240 S

Specifications

Compact
single-axis robots

Cable
3L: 3.5m
5L: 5m
10L: 10m

TRANSERVO

Z axis stroke
100: 100mm

LCM100

Ordering method

1.0 kg

R-axis tolerable moment of inertia Note 3

0.01 kgm2

User wiring

0.1 sq × 6 wires
ϕ3×2

User tubing (Outer diameter)
Travel limit

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

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

5.5 kg

Robot cable weight

SCARA
robots

Standard: 3.5 m Option: 5 m, 10 m

Weight (Excluding robot cable) Note 4

YK-X

Robot cable length

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.

1.5 kg (3.5 m) 2.1 kg (5 m) 4.2 kg (10 m)

Cartesian
robots

0.39 sec

XY-X

Standard cycle time: with 0.1kg payload Note 2

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature.
Note 2. When reciprocating 100mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.536.
Note 4. The total robot weight is the sum of the robot body weight and the cable weight.

YK180X

44

0

R3

5 27
90
105

109

92

Do not attach any wire or tube to self-supporting cable.
Doing so may degrade positioning accuracy.

71
45

5
°+/°

315

User tubing 2 (ϕ3)

A
ϕ62

A

100
Z axis
stroke

103

11

15

55
50
25
8
0

74

No phase relation between flat spot
and R-axis origin

30 30

For user tool installation
30
4-M4 x 0.7 Depth 6
R27 (Min. cable bending radius)
Do not move the cable.

0
9 -0.2
Width
across
flats

0
ϕ10h 7 -0.015

24.5

User tool installation range

24.5

Keep enough space for the maintenance
work at the rear of the base.
4-ϕ9

Controller

RCX340 u 508 RCX240S u 495

Dust-proof
Small /
Wall-mount / & drip-proof
type
Medium type Large type inverse type

B

Cross section A-A
User tubing 2 (ϕ3)
173
147
M3 ground terminal
126
109.5
Connector for user wiring
(No. 1 to 6 usable, socket contact)
J.S.T. Mfg Co., Ltd. SM connector SMR-6VB,
pin SYM-001T-P0.6 (supplied)
0 Use the YC12 crimping machine.

Tiny type

X, Y-axis origin position
When performing return-to-origin, move the axes
counterclockwise in advance from the position
shown above.
User tubing 1 (ϕ3)

User tubing 1 (ϕ3)

0

8 5
15 10

X-axis origin is at 0°±5° with respect
to front of robot base

If attaching wire or tube, make use of these air tubes.
For details, refer to “10 When attaching a new user wire or tube”
in Chapter 3.
420 (During arm rotation 425)
30 (Maximum 120 during arm rot)

100+/-2
(Z-axis origin position)

Hollow
diameter
: ϕ4
Details of B

119
Working envelope

133

Rises 5mm during return-to-origin
on Z-axis.

R1

4-ϕ7 M6 bolt used for installation

467
463.5

ϕ26

.7

09

60

41

163.5

R180
R75

CONTROLLER INFORMATION

10

203

CLEAN

120
°
140°

130

°

73

120

39

140°

Connector for user wiring
(No. 1 to 6 usable, socket contact)
J.S.T. Mfg Co., Ltd. SM connector
SMR-6VB, pin SYM-001T-P0.6 (supplied)
Use the YC12 crimping tool.

345

Arm length 220mm

Standard type: Tiny type

Maximum payload 1kg

Linear conveyor
modules

LCM100

Ordering method

RCX340-4

YK220X 100
Z axis stroke
100: 100mm

Compact
single-axis robots

TRANSERVO

Model

Controller /
Number of controllable axes

Cable
3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

RCX240S

CE Marking

Expansion I/O

Network option

Absolute
battery

P.508

Specify various controller setting items. RCX340

Controller

Option E
(OP.E)

Option D
(OP.D)

BB

iVY System

Gripper

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240 S

FLIP-X

Specifications

Battery

P.495

Controller

Arm length
Axis
specifications Rotation angle

X-axis

Y-axis

Z-axis

PHASER

Linear motor
single-axis robots

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

Controller Power capacity (VA) Operation method

111 mm

109 mm

100 mm

+/-120 °

+/-140 °

+/-360 °

50 W

30 W

30 W

30 W

Ball screw

Harmonic drive

AC servo motor output
Speed reducer

R-axis

Harmonic drive Harmonic drive

RCX340
RCX240S

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

500

Direct-coupled
Direct-coupled

Repeatability Note 1
Maximum speed

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

3.4 m/sec

0.7 m/sec

1700 °/sec

Maximum payload

1.0 kg

XY-X

Cartesian
robots

Standard cycle time: with 0.1kg payload Note 2

0.42 sec

R-axis tolerable moment of inertia Note 3

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.

0.01 kgm2

User wiring

0.1 sq × 6 wires
ϕ3×2

User tubing (Outer diameter)
Travel limit

1.Soft limit 2.Mechanical stopper (X,Y,Z axis)
Standard: 3.5 m Option: 5 m, 10 m

Weight (Excluding robot cable) Note 4

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

5.5 kg

Robot cable weight

1.5 kg (3.5 m) 2.1 kg (5 m) 4.2 kg (10 m)

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature.
Note 2. When reciprocating 100mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.536.
Note 4. The total robot weight is the sum of the robot body weight and the cable weight.

YK220X

°

44

5 27
90
105

60

41

109

45

If attaching wire or tube, make use of these air tubes.
For details, refer to “10 When attaching a new user wire or tube”
in Chapter 3.

111

A

Cross section A-A
173
147
126
109.5

B

24.5

0
9 -0.2
Width
across
flats

24.5

8 5
15 10

346

30 30

Controller

103

X, Y-axis origin position
When performing return-to-origin, move the
axes counterclockwise in advance from the
position shown above.
User tubing 1 (ϕ3)

User tubing 2 (ϕ3)

M3 ground terminal
Connector for user wiring
(No. 1 to 6 usable, socket contact)
J.S.T. Mfg Co., Ltd. SM connector SMR-6VB,
0 pin SYM-001T-P0.6 (supplied)
Use the YC12 crimping machine.

100
Z axis
stroke

0

Hollow
diameter
: ϕ4
Details of B

Dust-proof
Small /
Wall-mount / & drip-proof
type
Medium type Large type inverse type

ϕ62

No phase relation between flat spot
and R-axis origin
User tool installation range

0
ϕ10h7 -0.015

User tubing 2 (ϕ3)
User tubing 1 (ϕ3)

A

100+/-2
(Z-axis origin position)

ϕ26

X-axis origin is at 0°±5° with respect to
front of robot base

420 (During arm rotation 425)
30 (Maximum 120 during arm rotation)

315

15

11
74

For user tool installation
4-M4 x 0.7 Depth6

119

Working envelope

°+/-

Tiny type

Rises 5mm during return-to-origin
on Z-axis.

467
463.5

R109

4-ϕ7 M6 bolt used for installation

92

Do not attach any wire or tube to self-supporting cable.
Doing so may degrade positioning accuracy.

203

°

R75.7

133

CONTROLLER INFORMATION

10

163.5

120

140°

130

20

73

R2

39

0

R3

CLEAN

Connector for user wiring
(No. 1 to 6 usable, socket contact)
J.S.T. Mfg Co., Ltd. SM connector
SMR-6VB, pin SYM-001T-P0.6 (supplied)
Use the YC12 crimping tool.

120

SCARA
robots

YK-X

Robot cable length

140°

APPLICATION

YK220X

30
R27 (Min. cable bending radius)
Do not move the cable.
Keep enough space for the maintenance
work at the rear of the base.
4-ϕ9

RCX340 u 508 RCX240S u 495

55
50
25
8
0

Arm length 250mm

APPLICATION

YK250XG

Standard type: Small type

Maximum payload 5kg

Linear conveyor
modules

RCX340-4

YK250XG 150
Model

LCM100

Ordering method

Hollow shaft
No entry: None
S: With hollow shaft

Cable
3L: 3.5m
5L: 5m
10L: 10m

Controller /
Number of controllable axes

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Option D
(OP.D)

RCX240S

CE Marking

Expansion I/O

Network option

iVY System

BB
Gripper

Battery

P.495

Arm length
Axis
specifications Rotation angle

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

100 mm

150 mm

150 mm

-

+/-140 °

+/-144 °

-

+/-360 °

200 W

150 W

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240S

50 W

100 W

Ball screw

Harmonic drive

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

1000

Direct-coupled
Direct-coupled

Repeatability Note 1

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

4.5 m/sec

1.1 m/sec

1020 °/sec

Maximum speed

0.49 sec

R-axis tolerable moment of inertia Note 3

0.05 kgm2 (0.5 kgfcms2)

User wiring

0.2 sq × 10 wires
ϕ4×3

User tubing (Outer diameter)
Travel limit

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

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

18.5 kg

SCARA
robots

Standard: 3.5 m Option: 5 m, 10 m

Weight

YK-X

Robot cable length

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.537.
Note 4. Maximum payload of option specifications (with tool flange attached or with user wiring and tubing routed through spline shaft) is 4kg.

Pick & place
robots

YP-X

YK250XG

R
15

0

138 (Base size)

36°

129
Maximum 280 during arm rotation
Machine
harness

661

B

11
llow r ϕ
Ho mete
dia

614

B

• Note that the robot cannot be used at a position where
the base flange or robot cable interferes with the spline
in the working envelope shown above.
• X-axis mechanical stopper position : 142°
• Y-axis mechanical stopper position : 146°

640
Maximum 660
during arm rotation

4-M3 × 0.5 through-hole (No phase relation to R-axis origin.)
As this hole is intended for the wiring/tubing clamp, do not
attach a large load to it.

468
428

Z-axis upper end mechanical stopper
position 4mm rise during Z-axis return-to-origin

M4 ground terminal

28

26

0

Option:
User wiring/tubing through spline type

dia
m

et

er

ϕ1
1

11.5
4

Z-axis lower end
mechanical stopper position

138.5 ±2
150

150

0

70

20

54

Cross section A-A

39 39
10 10

Ho

llo

w

50

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

R27 (Min. cable bending radius)
Do not move the cable.
Keep enough space for the maintenance
work at the rear of the base.

4-ϕ9

Controller

RCX340 u 508 RCX240S u 495

Dust-proof
Wall-mount / & drip-proof
Large type inverse type
type

95
79
61
45
12
0

ϕ35

11.5

4

User tubing 3 (ϕ4 blue)

0
h7-0.018

7.8

View of F

D-sub connector
for user wiring
(No. 1 to 10 usable)

User tubing 2 (ϕ4 red)

86

30 12

A

7.8

Small type

ϕ16

246
222
202
174
167

0
Width across flat 15

150

User tubing 1 (ϕ4 black)

5

780.5

57
47

A

↓F
ϕ27

Orbit / Tiny
type

42

7.8

100

The arm may be in contact with the
machine harness in an area inside from
the inner limit of this working envelope.
So, do not operate the arm in this area.

36°

7.8

150

148

227

4-ϕ9
M8 bolt for installation, 4 bolts used

CONTROLLER INFORMATION

56

144°

90

140°

R250

D-sub connector for user wiring (No. 1 to 10 usable)

Cross section B-B

1

CLEAN

62
88

R9

140°

104
60 60
140

93

142
144°

User tubing 1 (ϕ4 black) 30
User tubing 2 (ϕ4 red)
50
User tubing 3 (ϕ4 blue)

283
264
235
230
187
183
138.5 ±2
User tool
installation
range

Cartesian
robots

Standard cycle time: with 2kg payload Note 2

XY-X

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

5 kg (Standard specification), 4 kg (Option specifications Note 4)

Maximum payload

PHASER

Speed reducer

Z-axis

Linear motor
single-axis robots

AC servo motor output

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240 S

Specifications

Absolute
battery

P.508

Specify various controller setting items. RCX340

Controller

Option E
(OP.E)

Compact
single-axis robots

Tool flange
No entry: None
F: With tool flange

TRANSERVO

Z axis stroke
150: 150mm

347

APPLICATION

YK250XG

LCM100

Linear conveyor
modules
Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots

XY-X

Cartesian
robots
SCARA
robots

YK-X

142

84

144°

R250
R
15

4-ϕ9
M8 bolt for installation, 4 bolts used

226

0

CONTROLLER INFORMATION

138 (Base size)

33°

164

The arm may be in contact with the
machine harness in an area inside from
the inner limit of this working envelope.
So, do not operate the arm in this area.

33°

• Note that the robot cannot be used at a position where
the base flange or robot cable interferes with the tool
flange in the working envelope shown above.
• X-axis mechanical stopper position : 142°
• Y-axis mechanical stopper position : 146°

Machine harness

11
llow r ϕ
Ho mete
dia

150

User tubing 1 (ϕ4 black)

7.8

View of F

11

22

4

.6
22

0

Detailed drawing D

RCX340 u 508 RCX240S u 495

.6
22

ϕ4 H7 +0.012
through-hole
0

2

ϕ30 h7 -0.021

.0

ϕ55

±0

2

Controller

4-ϕ9

↑E

2

.0

39 39
10 10

±0

.6

.6

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should
be added to the tip mass.

Keep enough space for
the maintenance work at
the rear of the base.

90°

View of E

150
15.5

150

86

.6

15.5

22

20

R27 (Min. cable bending radius)
Do not move the cable.

D

Option:
User wiring/tubing through spline type

4-ϕ4.5 through-hole

te
me

70

dia

26

22

Dust-proof
Wall-mount / & drip-proof
Large type inverse type
type

50

0

ow

28
ϕ35

54

181
149
134.5 ±2
Holl

Small type

95
79
61
45
12
0
M4 ground terminal

7

Orbit / Tiny
type

User tubing 3 (ϕ4 blue)
D

0

348

7.8

D-sub connector
for user wiring
(No. 1 to 10 usable)

User tubing 2 (ϕ4 red)
181
149
134.5 ±2

↓F
ϕ27
5

780.5

7.8

4-M3 × 0.5 through-hole (No phase relation to R-axis origin.)
As this hole is intended for the wiring/tubing clamp, do not
attach a large load to it.

7.8

62
88

140°

90

50

R3
0
R91

140°

CLEAN

30

144°

164
104
60 60
140

93

YP-X

Pick & place
robots

YK250XG Tool flange mount type

Arm length 350mm

APPLICATION

YK350XG

Standard type: Small type

Maximum payload 5kg

Linear conveyor
modules

RCX340-4

YK350XG 150
Model

LCM100

Ordering method

Hollow shaft
No entry: None
S: With hollow shaft

Cable
3L: 3.5m
5L: 5m
10L: 10m

Controller /
Number of controllable axes

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Option D
(OP.D)

RCX240S

CE Marking

Expansion I/O

Network option

BB

iVY System

Gripper

Battery

P.495

Arm length
Axis
specifications Rotation angle

Z-axis

200 mm

150 mm

150 mm

-

+/-140 °

+/-144 °

-

+/-360 °

200 W

150 W

AC servo motor output
Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

Harmonic drive Harmonic drive

Controller Power capacity (VA) Operation method

RCX340
RCX240S

50 W

100 W

Ball screw

Harmonic drive

1000

Direct-coupled
Direct-coupled

Repeatability Note 1
Maximum speed

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

5.6 m/sec

1.1 m/sec

1020 °/sec

0.49 sec

R-axis tolerable moment of inertia Note 3

0.05 kgm2 (0.5 kgfcms2)

User wiring

0.2 sq × 10 wires
ϕ4×3

User tubing (Outer diameter)
Travel limit

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

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

19 kg

SCARA
robots

Standard: 3.5 m Option: 5 m, 10 m

Weight

YK-X

Robot cable length

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.537.
Note 4. Maximum payload of option specifications (with tool flange attached or with user wiring and tubing routed through spline shaft) is 4kg.

Pick & place
robots

YP-X

YK350XG

R190

129
Maximum 330 during arm rotation

Machine harness

r ϕ11

Hollo
diamew
te

613

4-M3 × 0.5 through-hole (No phase relation to R-axis origin.)
As this hole is intended for the wiring/tubing clamp, do not
attach a large load to it.

428

42

780.5

150

Z-axis upper end mechanical
stopper position 4mm rise
during Z-axis return-to-origin

0
M4 ground terminal

ϕ1
1

11.5
4

Z-axis lower end
mechanical stopper position

me

ter

50
10 10

39 39

dia
w
llo
Ho

Cross section A-A

95
79
61
45
12
0

70

20

54

138.5 ±2
0

28

R27 (Min. cable bending radius)
Do not move the cable.

26

7.8

7.8
View of F

Option:
User wiring/tubing through spline type

Keep enough space for the maintenance
work at the rear of the base.
Tapped hole for user wiring 6-M3 × 0.5 Depth 6 4-ϕ9
The weight of the tool attached here should be added to the tip mass.

Controller

↓F

RCX340 u 508 RCX240S u 495

Dust-proof
Wall-mount / & drip-proof
Large type inverse type
type

ϕ35

86

A

0

D-sub connector
for user wiring
(No. 1 to 10 usable)

User tubing 3 (ϕ4 blue)

4

A

246
222
202
174
167

ϕ27

Small type

30 12

User tubing 2 (ϕ4 red)

0
Width across flat 15

User tubing 1 (ϕ4 black)

57

Orbit / Tiny
type

47

7.8

468

5

B

150

B

• Note that the robot cannot be used at a position where
the base flange or robot cable interferes with the spline
in the working envelope shown above.
• X-axis mechanical stopper position : 142°
• Y-axis mechanical stopper position : 146°

620
Maximum 660
during arm rotation

150

661

7.8

200

If the robot enters the inside of the corner of
R190 and dimension 148, the Z-axis upper
end stopper may be in contact with the base
or the arm may be in contact with the machine
harness. So, do not perform such motion.

11.5

150

303

144°

140°

140

60

90
56

ϕ16h7-0.018

148

D-sub connector for user wiring (No. 1 to 10 usable)

CONTROLLER INFORMATION

138 (Base size)

CLEAN

R350

4-ϕ9
M8 bolt for installation, 4 bolts used

140°

88

R150

Cross section B-B

62
50

116°

30

R1
18

116°

User tubing 1 (ϕ4 black)

144°

104
60

93

142

User tubing 2 (ϕ4 red)
User tubing 3 (ϕ4 blue)

283
264
235
230
187
183
138.5 ±2
User tool
installation
range

Cartesian
robots

Standard cycle time: with 2kg payload Note 2

XY-X

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

5 kg (Standard specification), 4 kg (Option specifications Note 4)

Maximum payload

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

PHASER

Speed reducer

R-axis

Linear motor
single-axis robots

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240 S

Specifications

Absolute
battery

P.508

Specify various controller setting items. RCX340

Controller

Option E
(OP.E)

Compact
single-axis robots

Tool flange
No entry: None
F: With tool flange

TRANSERVO

Z axis stroke
150: 150mm

349

APPLICATION

YK350XG

LCM100

Linear conveyor
modules
Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots

XY-X

Cartesian
robots
SCARA
robots

YK-X

142

144°

R19
0

164

R150

CONTROLLER INFORMATION

138 (Base size)
Machine harness

303

60

140°

104
60

90

140

0
R35

4-ϕ9
M8 bolt for installation, 4 bolts used

140°

88

°
116

62
50

R11
8
116°

CLEAN

30

144°

93

YP-X

Pick & place
robots

YK350XG Tool flange mount type

If the robot enters the inside of the corner
of R190 and dimension 164, the tool flange
may be in contact with the base or the arm
may be in contact with the machine
harness. So, do not perform such motion.

User tubing 2 (ϕ4 red)

28

2

Detailed drawing D

5

150
150

6

ϕ4 H7 0
through-hole

RCX340 u 508 RCX240S u 495

0

D

15.5

4

6

.
22

90°

ϕ11

10 10

181
149
134.5 ±2

.6

r
ete

0

ϕ30 h7-0.021

2

↑E

0
0.

4-ϕ9

ϕ 55

Controller

4-ϕ4.5 through-hole

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should
be added to the tip mass.

ϕ 35

22

Keep enough space
for the maintenance
work at the rear of
the base.

.
22

Dust-proof
Wall-mount / & drip-proof
Large type inverse type
type

R27 (Min. cable bending radius)
Do not move the cable.

22
.

54

m
dia

20

↓F

ow

70

ϕ27

26

+0.012


0.
0
22 2
.6

15.5

M4 ground terminal
50

39 39

780.5

Holl

Small type

150

95
79
61
45
12
0

7.8
View of F

D

0

350

7.8

86

Orbit / Tiny
type

181
149
134.5 ±2

7.8

D-sub connector
for user wiring
(No. 1 to 10 usable)

User tubing 3 (ϕ4 blue)

7.8

4-M3 × 0.5 through-hole (No phase relation to R-axis origin.)
As this hole is intended for the wiring/tubing clamp, do not
attach a large load to it.

User tubing 1 (ϕ4 black)

Hollo
diamew
ter ϕ1
1

• Note that the robot cannot be used at a position where
the base flange or robot cable interferes with the tool
flange in the working envelope shown above.
• X-axis mechanical stopper position : 142°
• Y-axis mechanical stopper position : 146°

View of E

Option:
User wiring/tubing through spline type

Arm length 400mm

APPLICATION

YK400XG

Standard type: Small type

Maximum payload 5kg

Linear conveyor
modules

RCX340-4

YK400XG 150
Model

LCM100

Ordering method

Hollow shaft
No entry: None
S: With hollow shaft

Cable
3L: 3.5m
5L: 5m
10L: 10m

Controller /
Number of controllable axes

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

RCX240S

CE Marking

Expansion I/O

Network option

BB

iVY System

Gripper

Battery

Arm length
Axis
specifications Rotation angle

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

250 mm

150 mm

150 mm

-

+/-140 °

+/-144 °

-

+/-360 °

200 W

150 W

Harmonic drive Harmonic drive

R-axis

50 W

100 W

Ball screw

Harmonic drive

Controller Power capacity (VA) Operation method

RCX340
RCX240S

1000

Direct-coupled
Direct-coupled

Repeatability Note 1

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

6.1 m/sec

1.1 m/sec

1020 °/sec

Maximum speed

0.49 sec

R-axis tolerable moment of inertia Note 3

0.05 kgm2 (0.5 kgfcms2)

User wiring

0.2 sq × 10 wires
ϕ4×3

User tubing (Outer diameter)
Travel limit

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

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

19.5 kg

SCARA
robots

Standard: 3.5 m Option: 5 m, 10 m

Weight

YK-X

Robot cable length

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.538.
Note 4. Maximum payload of option specifications (with tool flange attached or with user wiring and tubing routed through spline shaft) is 4kg.

Pick & place
robots

YP-X

YK400XG
142

144°

6

R400

138 (Base size)

°

250
Machine harness

°

• Note that the robot cannot be used at a position where
the base flange or robot cable interferes with the spline
in the working envelope shown above.
• X-axis mechanical stopper position : 142°
• Y-axis mechanical stopper position : 146°

Hollo
diamew
ter ϕ1
1

620
Maximum 660
during arm rotation

613

B

R190

150

129
Maximum 380 during arm rotation

148

R150

56
661

131

131

D-sub connector for user wiring (No. 1 to 10 usable)

Cross section B-B

B
468
428

57

Cross section A-A

20

7.8
150
26

54
R27 (Min. cable bending radius)
Do not move the cable.

138.5 ±2
150

70

28

0
Keep enough space for the maintenance
work at the rear of the base.
Tapped hole for user wiring 6-M3 × 0.5 Depth 6 4-ϕ9
The weight of the tool attached here should be added to the tip mass.

Controller

11.5

39 39
10 10

w

dia
m
et

er

ϕ1
1

Z-axis lower end mechanical stopper position

86

150

11.5
4

0

Ho
llo

Width across flat 15

0

50

780.5
95
79
61
45
12
0
M4 ground terminal

7.8
View of F

Option:
User wiring/tubing through spline type

RCX340 u 508 RCX240S u 495

Dust-proof
Wall-mount / & drip-proof
Large type inverse type
type

Z-axis upper end mechanical
stopper position 4mm rise
during Z-axis return-to-origin

7.8

↓F
ϕ27
5

A
4

A
0

ϕ16 h7-0.018
ϕ35

D-sub connector
for user wiring
(No. 1 to 10 usable)

User tubing 3 (ϕ4 blue)

Small type

30 12

User tubing 2 (ϕ4 red)
246
222
202
174
167

Orbit / Tiny
type

42

4-M3 × 0.5 through-hole (No phase relation to R-axis origin.)
As this hole is intended for the wiring/tubing clamp, do not
attach a large load to it.

User tubing 1 (ϕ4 black)

47

CONTROLLER INFORMATION

User tubing 3 (ϕ4 blue)

R1
5

7.8

88

4-ϕ9
M8 bolt for installation, 4 bolts used

342

50

140°

90

User tubing 2 (ϕ4 red)

62

140°

30

CLEAN

104
60 60
140

93

If the robot enters the inside of the corner of R190 and dimension 148, the
Z-axis upper end stopper may be in contact with the base or the arm may
be in contact with the machine harness. So, do not perform such motion.

144°

User tubing 1 (ϕ4 black)

283
264
235
230
187
183
138.5 ±2
User tool
installation
range

Cartesian
robots

Standard cycle time: with 2kg payload Note 2

XY-X

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

5 kg (Standard specification), 4 kg (Option specifications Note 4)

Maximum payload

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

PHASER

Speed reducer

Z-axis

Linear motor
single-axis robots

AC servo motor output

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

P.495

Specify various controller setting items. RCX 240/RCX 240 S

Specifications

Absolute
battery

P.508

Specify various controller setting items. RCX340

Controller

Option E
(OP.E)

Option D
(OP.D)

Compact
single-axis robots

Tool flange
No entry: None
F: With tool flange

TRANSERVO

Z axis stroke
150: 150mm

351

APPLICATION

YK400XG

LCM100

Linear conveyor
modules
Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots

XY-X

Cartesian
robots
SCARA
robots

YK-X

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

R1
5

6

R400
°

131

R190

131

Machine harness

°

148

R150

CONTROLLER INFORMATION

138 (Base size)

Hollo
diamew
te

r ϕ11

• Note that the robot cannot be used at a position where
the base flange or robot cable interferes with the tool
flange in the working envelope shown above.
• X-axis mechanical stopper position : 142°
• Y-axis mechanical stopper position : 146°
4-M3 × 0.5 through-hole (No phase relation to R-axis origin.)
As this hole is intended for the wiring/tubing clamp, do not
attach a large load to it.

7.8

User tubing 1 (ϕ4 black)

150

.6

22

4

39 39
10 10

.6
22

2

7.8
View of F

RCX340 u 508 RCX240S u 495

02

ϕ30
Keep enough space
ϕ 55
+0.012
for the maintenance
ϕ4 H7 0
through-hole
work at the rear of
the base.
View of E
Detailed drawing D

150

D
15.5

ϕ11

0
h7 -0.021

0.

Controller

4-ϕ9

±
.6

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should
be added to the tip mass.

↑E

90°

150
15.5

181
149
134.5 ±2
0

.6

ter

R27 (Min. cable bending radius)
Do not move the cable.

4-ϕ4.5 through-hole

22

ϕ35

e
iam

54

20

26

wd

70

28

22

Dust-proof
Wall-mount / & drip-proof
Large type inverse type
type

352

50

7.8

o
Holl

Small type

0

↓F

86

D
95
79
61
45
12
0
M4 ground terminal

ϕ27

780.5

5

D-sub connector
for user wiring
(No. 1 to 10 usable)

User tubing 3 (ϕ4 blue)


0.
0
22 2
.6

Orbit / Tiny
type

User tubing 2 (ϕ4 red)

181
149
134.5 ±2

7.8

88

4-ϕ9
M8 bolt for installation, 4 bolts used

342

50

140°

90

62

140°

30

144°

CLEAN

104
60 60
140

93

142

144°

YP-X

Pick & place
robots

YK400XG Tool flange mount type

Option:
User wiring/tubing through spline type

YK400XR

Arm length 400mm

APPLICATION

Standard type: Small type
LOW COST HIGH PERFORMANCE MODEL

Maximum payload 3kg

Linear conveyor
modules

YK400XR

RCX340-4

150
Z axis stroke

Controller /
Number of controllable axes

Cable

No entry: None
S: With hollow shaft

3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Option D
(OP.D)

Absolute
battery
4: 4 pcs.
3: 3 pcs.
2: 2 pcs.
1: 1 pc.
0: 0 pc.

P.508

Specify various controller setting items. RCX340

Arm length
Axis
specifications Rotation angle

225 mm

175 mm

150 mm

-

+/-132 °

+/-150 °

-

+/-360 °

200 W

100 W

Harmonic drive Harmonic drive

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

R-axis

100 W
Belt speed reduction

+/-0.01 mm

+/-0.01 °

6 m/sec

1.1 m/sec

2600 °/sec

User wiring

0.2 sq × 10 wires
ϕ4×3

User tubing (Outer diameter)
Travel limit

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

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

17 kg

SCARA
robots

Standard: 3.5 m Option: 5 m, 10 m

Weight

YK-X

Robot cable length

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions and performing the coarse positioning arch operation.
Note 3. It is necessary to input the moment of inertia in the actual operating environment.
Note 4. Maximum payload of option specifications (with user wiring/tubing through spline type) is 2kg.

Pick & place
robots

YP-X

YK400XR

60
140
60
120.5

19 131

175

225

150°

°

74°

90 90

74°

Working envelope
X-axis mechanical stopper position : 134°
Y-axis mechanical stopper position : 154°

Maximum 370 during arm rotation

580
Maximum 600
during arm rotation

7.8

120

7.8

493
65

CONTROLLER INFORMATION

15

°

7.8
7.8
View of F

6-ϕ9
M8 bolt for installation,
4 bolts used

90

-3
°+/

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

30

147

As this hole is intended for the
wiring/tubing clamp, do not
attach a large load to it.

48

16

+0.012

ϕ6 H7 0

132

8

100

5

156

+/-

User tubing 1 (ϕ4 black)
User tubing 2 (ϕ4 red)
User tubing 3 (ϕ4 blue)

Option
User wiring and tubing routed
through spline shaft.

R115

12

653

When performing return-to-origin,
move the X-axis and Y-axis
counterclockwise and clockwise,
respectively in advance from the
position shown above.

CLEAN

R

counterclockwise in advance from
the position shown above.

°

+0.012
0

XY-axis origin position
(Stroke end specification)

132

6 H7

XY-axis origin position
166 (Base size)
(Sensor specification)
45.5 (120.5)
When performing return-to-origin,
move both the X-axis and Y-axis
16

150°

User wiring connector
(Numbers 1 to 10 are usable.)
J.S.T. Connector
SM connector: SMR-11V-B
Pin: SYM-001T-P0.6 is attached.
Use AP-K2N for the crimping machine.

150

347

39 39

10

llow

20

73

User tool
installation range

ϕ16
ϕ35

Ho

User tubing 1 (ϕ4 black)
181 User tubing 2 (ϕ4 red)
147 User tubing 3 (ϕ4 blue)
140
136

(Width across flats)

0
h7- 0.018

Cross section A-A
12

10

30

150
Width across (7) Z axis stroke (10)
flat 15

A

0
ete

m

dia

1

1

M4 ground terminal

Standard type

Tapped hole for user wiring 4-M3 × 0.5 Depth 6
The weight of the tool attached here
should be added to the tip mass.
51

20

19.4

4-ϕ9
Keep enough space for the maintenance
work at the rear of the base.
R27 (Min. cable bending radius)
Do not move the cable.

Controller

RCX340 u 508

Dust-proof
Wall-mount / & drip-proof
Large type inverse type
type

Z-axis upper end
mechanical stopper position
10mm rise during
0
return-to-origin
Z-axis lower end
mechanical stopper position

A

Small type

201
186
174
124.7±2
(Z-axis origin position)

Orbit / Tiny
type

User wiring connector
(Numbers 1 to 10 are usable.)
J.S.T. Connector
SM connector: SMR-11V-B
Pin: SYM-001T-P0.6 is
attached.
Use AP-K2N for the
crimping machine.

281
261

73

ϕ27 F

Cartesian
robots

0.45 sec
0.05 kgm2 (0.5 kgfcms2)

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be restricted by adding the X- and
Y-axis mechanical stoppers. (The maximum movement range
was set at shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

XY-X

Standard cycle time: with 2kg payload Note 2
R-axis tolerable moment of inertia Note 3

1000

Timing belt

+/-0.01 mm

3 kg (Standard specification), 2 kg (Option specifications Note 4)

Maximum payload

Programming /
Remote command /
Operation
using RS-232C
communication

Timing belt

Direct-coupled

Maximum speed

RCX340

100 W
Ball screw

Direct-coupled

Repeatability Note 1

Controller Power capacity (VA) Operation method

PHASER

Speed reducer

Z-axis

Linear motor
single-axis robots

AC servo motor output

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

Specifications

Option E
(OP.E)

Compact
single-axis robots

Hollow shaft

TRANSERVO

Return-toorigin method
S: Sensor
T: Stroke end

Model

LCM100

Ordering method

353

APPLICATION

YK500XGL

Arm length 500mm

Standard type: Medium type

Maximum payload 5kg

Linear conveyor
modules

LCM100

Ordering method

RCX340-4

YK500XGL 150
Model

Compact
single-axis robots

TRANSERVO

Z axis stroke
150: 150mm

Tool flange
No entry: None
F: With tool flange

Hollow shaft
No entry: None
S: With hollow shaft

Cable
3L: 3.5m
5L: 5m
10L: 10m

Controller /
Number of controllable axes

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Option D
(OP.D)

RCX240S

CE Marking

Expansion I/O

Network option

BB

iVY System

Gripper

Battery

P.495

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240 S

Controller

Arm length
Axis
specifications Rotation angle
Speed reducer

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

Y-axis

Z-axis

250 mm

250 mm

150 mm

-

+/-140 °

+/-144 °

-

+/-360 °

200 W

150 W

Harmonic drive Harmonic drive

R-axis

50 W

100 W

Ball screw

Harmonic drive

RCX340
RCX240S

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

1000

Direct-coupled
Direct-coupled

Repeatability Note 1
Maximum speed

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

5.1 m/sec

1.1 m/sec

1020 °/sec

5 kg (Standard specification), 4 kg (Option specifications Note 4)

Maximum payload

Controller Power capacity (VA) Operation method

0.59 sec

R-axis tolerable moment of inertia Note 3

0.05 kgm2 (0.5 kgfcms2)

User wiring

0.2 sq × 10 wires
ϕ4×3

User tubing (Outer diameter)
Travel limit

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

SCARA
robots

YK-X

Robot cable length

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

21 kg

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.538.
Note 4. Maximum payload of option specifications (with tool flange attached or with user wiring and tubing routed through spline shaft) is 4kg.

YP-X

Pick & place
robots

YK500XGL
User tubing 3 (ϕ4 blue)
User tubing 2 (ϕ4 red)
User tubing 1 (ϕ4 black)

If the robot enters the inside of the corner of R200 and R250, the arm may
be in contact with the machine harness. So, do not perform such motion.

R1

55

93

60

140°

90

144°

CLEAN

104
60

142

144°

XY-X

Cartesian
robots

Standard cycle time: with 2kg payload Note 2

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

140°

PHASER

Linear motor
single-axis robots

AC servo motor output

X-axis

140

FLIP-X

Specifications

Absolute
battery

P.508

Specify various controller setting items. RCX340

Controller

Option E
(OP.E)

133°

481

4-M3 × 0.5 through-hole
(No phase relation to R-axis origin.)
As this hole is intended for the wiring/tubing
clamp, do not attach a large load to it.
11
w ϕ
llo ter
Ho iame 7.8
d

4

Z-axis upper end mechanical
stopper position 4mm rise
during Z-axis return-to-origin

1.5

150

A

0
Z-axis lower end mechanical stopper position

11

llow r: ϕ
Ho mete
dia

50

70

20

54

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

Controller

793.5
D-sub connector
for user wiring
(No. 1 to 10 usable)

Keep enough space for the maintenance
work at the rear of the base.

RCX340 u 508 RCX240S u 495

ϕ27 ↓F

26

R27 (Min. cable bending radius)
Do not move the cable.

4-ϕ9

7.8

View of F

86

256
222
202 User tubing 1 (ϕ4 black)
174
167 User tubing 2 (ϕ4 red)
User tubing 3 (ϕ4 blue)
95
79
61
45
12
0
0
28

12
30

A
0

ϕ16 h7 - 0.018
ϕ35

Cross section A-A

354

57
47

4

Width across flats: 15

Dust-proof
Wall-mount / & drip-proof
Large type inverse type
type

User tool
installation
range

42

39 39
10 10

Orbit / Tiny
Medium type
type

296
277
274
248
243
200
196
151.5 ±2

5

441

7.8

• Note that the robot cannot be used at a position where
the base flange or robot cable interferes with the
spline in the working envelope shown above.
• X-axis mechanical stopper position : 142°
• Y-axis mechanical stopper position : 146°

7.8

633
Maximum 673
during arm rotation

627

133°

R200

129
Maximum 315 during arm rotation

250
Machine harness

442

4-ϕ9
M8 bolt for installation, 4 bolts used
138 (Base size)

150

88

151.5 ±2
150

250

62
50

0

1.5

56

674

30

R250

CONTROLLER INFORMATION

D-sub connector for user
wiring (No. 1 to 10 usable)

R500

Option:
User wiring/tubing through spline type

APPLICATION

YK500XGL

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

YK500XGL Tool flange mount type
If the robot enters the inside of corners of R200 and R250, the arm may
be in contact with the machine harness. So, do not perform such motion.
User tubing 3 (ϕ4 blue)
User tubing 2 (ϕ4 red)
User tubing 1 (ϕ4 black)

144°
140°

140

55

R500

50

88

4-ϕ9
M8 bolt for installation, 4 bolts used
138 (Base size)

133°

133°

R250

Machine harness

442

62

• Note that the robot cannot be used at a position where
the base flange or robot cable interferes with the tool
flange in the working envelope shown above.
• X-axis mechanical stopper position : 142°
• Y-axis mechanical stopper position : 146°

7.8
7.8

5

150

2.5

150
.6
22

2

90°

.6

4

22

+ 0.012
ϕ4 H7 0 through-hole

Detailed drawing D

Controller

2

0

ϕ30 h7 - 0.021

.0

±0

Keep enough space for the maintenance
work at the rear of the base.

.6

↑E
ϕ55

4-ϕ9

D

2.5

4-ϕ4.5 through-hole
22

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

194
162
147.5 ±2
0

Option:
User wiring/tubing through spline type

±0
.0
22 2
.6

150

20

39 39
10 10

70

26

View of E

RCX340 u 508 RCX240S u 495

Dust-proof
Wall-mount / & drip-proof
Large type inverse type
type

50

.6
22
1
ϕ1
llow r:
Ho amete
di

0

D-sub connector
for user wiring
(No. 1 to 10 usable)

7

D

147.5 ±2

User tubing 1 (ϕ4 black)
User tubing 2 (ϕ4 red)
User tubing 3 (ϕ4 blue)
95
79
61
45
12
0
R27 (Min. cable bending radius)
28
Do not move the cable.
54
ϕ35

86

194
162

Orbit / Tiny
Medium type
type

4-M3 × 0.5 through-hole
(No phase relation to R-axis origin.)
As this hole is intended for the wiring/tubing
clamp, do not attach a large load to it.
11
w ϕ
llo ter
Ho iame 7.8
7.8
d
↓F
ϕ27
View of F
793.5

CONTROLLER INFORMATION

30

R200

93

60

90

CLEAN

R1

140°

D-sub connector for user
wiring (No. 1 to 10 usable)

144°

104
60

142

355

APPLICATION

YK500XG

Arm length 500mm

Standard type: Medium type

Maximum payload 10kg

Linear conveyor
modules

LCM100

Ordering method

RCX340-4

YK500XG
Model

Compact
single-axis robots

TRANSERVO

Z axis stroke
200: 200mm
300: 300mm

Tool flange
No entry: None
F: With tool flange

Controller /
Number of controllable axes

Cable
3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Specify various controller setting items. RCX340

RCX240

R3

Controller

CE Marking

Regeneratizve unit

Expansion I/O

Option E
(OP.E)

Option D
(OP.D)

P.508

Network option

BB

iVY System

Gripper

Battery

P.495

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240 S

FLIP-X

Specifications

Absolute
battery

Controller

Arm length
Axis
specifications Rotation angle

PHASER

Linear motor
single-axis robots

X-axis

Y-axis

Z-axis

200 mm

300 mm

200 mm 300 mm

+/-130 °

+/-145 °

+/-360 °

400 W

200 W

200 W

200 W

Ball screw

Harmonic drive

AC servo motor output
Speed reducer

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

1700

Direct-coupled
Direct-coupled

Repeatability Note 1
Maximum speed

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

7.6 m/sec

2.3 m/sec 1.7 m/sec

1700 °/sec

Maximum payload

10 kg

XY-X

Cartesian
robots

Standard cycle time: with 2kg payload Note 2

0.45 sec

R-axis tolerable moment of inertia Note 3

0.30 kgm2

User wiring

0.2 sq × 20 wires
ϕ6×3

User tubing (Outer diameter)
Travel limit

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

SCARA
robots

YK-X

Robot cable length

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

30 kg

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.539.

YP-X

Pick & place
robots

YK500XG
300

200

If the robot enters the inside of R25 and corner of dimensions
50 and 260, the Z-axis upper end stopper or tool flange may
be in contact with the base or the arm may be in contact with
the machine harness. So, do not perform such motion.

194

178

°
260

165(185)

652
(Maximum 660
during arm rotation)

Values
shown in ( )
For tool flange
specifications

4-M4 x 0.7 through-hole for tool attachment
Four M4 x 10L binding screws are supplied.
Do not screw the screws in deeper than 10mm
from bottom surface of arm.

10

32 M16 x 2 Depth20 (Bottom of spline)

Controller


14

30

D-sub connector for user wiring
(No.1 to 20 usable)

0
R5
0

00

50
144

165(185)

260

R3

46
40
0

R300

R25

6.5

(Base 0
installation
surface)

300

Hollow
diameter: ϕ14

130

°

30

2
.0
±0

12

0
W
flat idth a
s: 1 cr
9 oss

10

Z-axis lower end
mechanical stopper position

2

148
131.1 ±2

200

8mm rise during
Z-axis return-to-origin

40

14

Standard type

40 40

Dust-proof
Wall-mount / & drip-proof
Large type inverse type
type

300 Z axis stroke
10 200 Z axis stroke

192

ϕ50 Flat surface has no phase relation
to R-axis origin.

78

°

Orbit / Tiny
Medium type
type

0

71

R1

ϕ50

187
158.5

0
ϕ20h7 -0.021

User tubing 1
(ϕ6 Black)
User tubing 2
(ϕ6 Red)
User tubing 3
(ϕ6 Blue)
67
47

27
0
B ϕ34 h7 - 0.025 15
0
ϕ70
M4 39 40
ground terminal

View of B

259

130

81

137.6 ±2

356

ϕ5 H7 +0.012
0
through-hole

90°

2
.0
±0

373

A

30

28

89

114°
Working envelope of
left-handed system

If the robot enters the inside of R25 and corner of dimensions
50 and 260, the Z-axis upper end stopper or tool flange may
be in contact with the base or the arm may be in contact with
the machine harness. So, do not perform such motion.

30

4-ϕ5.5 through-hole
Hollow
diamete
r ϕ14
351

R25

50
144

R300

675
Z200mm
Stroke

A

°

00

Machine harness

User tool
installation range

8

R17

113

775
Z300mm
Stroke

283
253
242
213
204

130

4-ϕ11
M10 bolt for installation, 4bolts used

130

40
120
60
140
200 (base size)

R3

CONTROLLER INFORMATION

54

D-sub connector for
user wiring
(No.1 to 20 usable)

00
R5

User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)

79

100

14

CLEAN

150

79

120

71

Values
shown in ( )
114°
Working envelope of For tool flange
right-handed system specifications
X-axis mechanical stopper position: 132°
Y-axis mechanical stopper position: 147°

Cross section A-A
Option: Tool flange mount type
54

R27 (Min. cable bending radius)
Do not move the cable.
Keep enough space for the maintenance
work at the rear of the base.
4-ϕ9

RCX340 u 508 RCX240 u 495

YK500XG
Z200mm Stroke specification

YK500XG
Z300mm Stroke specification

Arm length 600mm

APPLICATION

YK600XGL

Standard type: Medium type

Maximum payload 5kg

Linear conveyor
modules

RCX340-4

YK600XGL 150
Model

Hollow shaft
No entry: None
S: With hollow shaft

Cable
3L: 3.5m
5L: 5m
10L: 10m

Controller /
Number of controllable axes

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

RCX240S

CE Marking

Expansion I/O

Network option

BB

iVY System

Gripper

Battery

Arm length
Axis
specifications Rotation angle

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

350 mm

250 mm

150 mm

-

+/-140 °

+/-144 °

-

+/-360 °

200 W

150 W

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240S

50 W

100 W

Ball screw

Harmonic drive

1000

Direct-coupled
Direct-coupled

Repeatability Note 1
Maximum speed

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

4.9 m/sec

1.1 m/sec

1020 °/sec

5 kg (Standard specification), 4 kg (Option specifications Note 4)

Maximum payload

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

0.05 kgm2 (0.5 kgfcms2)

User wiring

0.2 sq × 10 wires
ϕ4×3

User tubing (Outer diameter)
Travel limit

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

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

22 kg

SCARA
robots

Standard: 3.5 m Option: 5 m, 10 m

Weight

YK-X

Robot cable length

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.538.
Note 4. Maximum payload of option specifications (with tool flange attached or with user wiring and tubing routed through spline shaft) is 4kg.

Pick & place
robots

YP-X

140°

140

4-ϕ9
M8 bolt for installation, 4 bolts used

R250

129
Maximum 355 during arm rotation

• Note that the robot cannot be used at a position where
the base flange or robot cable interferes with the
spline in the working envelope shown above.
• X-axis mechanical stopper position : 142°
• Y-axis mechanical stopper position : 146°

674
633
Maximum 673
during arm rotation

Z-axis upper end mechanical
stopper position 4mm rise
during Z-axis return-to-origin

4

1.5

ϕ35

1
ϕ1
llow r:
Ho mete
a
i
d

Cross section A-A

50

70

20

D-sub connector
for user wiring
(No. 1 to 10 usable)

28

26

R27 (Min. cable bending radius)
Do not move the cable.
54

ϕ27

151.5 ±2
0

Option:
User wiring/tubing through spline type

39 39
10 10

Width across flats: 15

Z-axis lower end mechanical stopper position

793.5

1.5

4

0
- 0.018

H
dia ollo
me w
ter
ϕ1
1

256
222 User tubing 1 (ϕ4 black)
202 User tubing 2 (ϕ4 red)
174
167 User tubing 3 (ϕ4 blue)
95
79
61
45
12
0
0

7.8

View of F

86

30 12
150

7.8

↓F

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

4-ϕ9

Controller

Keep enough space for the maintenance
work at the rear of the base.

RCX340 u 508 RCX240S u 495

Dust-proof
Wall-mount / & drip-proof
Large type inverse type
type

User tool
installation
range
0

47

A

A
ϕ16 h7

57

Orbit / Tiny
Medium type
type

42

7.8

4-M3 × 0.5 through-hole
(No phase relation to R-axis origin.)
As this hole is intended for the wiring/tubing
clamp, do not attach a large load to it.

481
441

7.8

627

5

350

150

250

518

138 (Base size)

56

R600

62
88

CONTROLLER INFORMATION

50

150

93

60

90

30

08

CLEAN

D-sub connector for user
wiring (No. 1 to 10 usable)

R2

140°

104
60

142

144°

User tubing 3 (ϕ4 blue)
User tubing 2 (ϕ4 red)
User tubing 1 (ϕ4 black)

144°

YK600XGL

296
277
274
248
243
200
196
151.5 ±2

Cartesian
robots

0.63 sec

R-axis tolerable moment of inertia Note 3

XY-X

Standard cycle time: with 2kg payload Note 2

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

PHASER

Speed reducer

Z-axis

Linear motor
single-axis robots

AC servo motor output

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

P.495

Specify various controller setting items. RCX 240/RCX 240 S

Specifications

Absolute
battery

P.508

Specify various controller setting items. RCX340

Controller

Option E
(OP.E)

Option D
(OP.D)

Compact
single-axis robots

Tool flange
No entry: None
F: With tool flange

TRANSERVO

Z axis stroke
150: 150mm

LCM100

Ordering method

357

APPLICATION

YK600XGL

LCM100

Linear conveyor
modules
Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots

XY-X

Cartesian
robots
SCARA
robots

YK-X

08

R600
518

62
88
4-ϕ9
M8 bolt for installation, 4 bolts used

R250

CONTROLLER INFORMATION

50
138 (Base size)

144°

140°

104
60
93

60

90

30

D-sub connector for user
wiring (No. 1 to 10 usable)

R2

140°

142

144°

CLEAN

User tubing 3 (ϕ4 blue)
User tubing 2 (ϕ4 red)
User tubing 1 (ϕ4 black)

140

YP-X

Pick & place
robots

YK600XGL Tool flange mount type

20

4-ϕ4.5 through-hole

Detailed drawing D

RCX340 u 508 RCX240S u 495

View of E

90°

6
22
.
02
.6

through-hole

±0
.

+ 0.012
0

7

ϕ4 H7

22

2

39 39
10 10

4

.6

0

ϕ30 h7-0.021

02

.
±0

Controller

4-ϕ9
Keep enough space for the maintenance
work at the rear of the base.

ϕ55

.6

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

↑E

7.8

11

D

Option:
User wiring/tubing through spline type

22

70

ϕ35

194
162
147.5 ±2
0

150

26

2.5

28

.6
22
1
ϕ1
llow r:
Ho amete
di

50

R27 (Min. cable bending radius)
Do not move the cable.
54

7.8

View of F

D-sub connector
for user wiring
(No. 1 to 10 usable)

22

Dust-proof
Wall-mount / & drip-proof
Large type inverse type
type

358

0

7.8

2.5

150

D

86

194
162
147.5 ±2

150

793.5
User tubing 1 (ϕ4 black)
User tubing 2 (ϕ4 red)
User tubing 3 (ϕ4 blue)
95
79
61
45
12
0

↓F

5

Orbit / Tiny
Medium type
type

ϕ27

H
dia ollo
me w
ter
ϕ

4-M3 × 0.5 through-hole
(No phase relation to R-axis origin.)
As this hole is intended for the wiring/tubing
clamp, do not attach a large load to it.

7.8

• Note that the robot cannot be used at a position where
the base flange or robot cable interferes with the tool
flange in the working envelope shown above.
• X-axis mechanical stopper position : 142°
• Y-axis mechanical stopper position : 146°

Arm length 600mm

APPLICATION

YK600XG

Standard type: Medium type

Maximum payload 10kg

Linear conveyor
modules

LCM100

Ordering method

RCX340-4

YK600XG
Model

Controller /
Number of controllable axes

Cable
3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Option D
(OP.D)

R3

Controller

CE Marking

Regeneratizve unit

Expansion I/O

Network option

BB

iVY System

Gripper

Battery

Arm length
Axis
specifications Rotation angle

300 mm

300 mm

200 mm 300 mm

+/-130 °

+/-145 °

+/-360 °

400 W

200 W

200 W

200 W

Ball screw

Harmonic drive

AC servo motor output
Speed reducer

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

1700

Direct-coupled
Direct-coupled

Repeatability Note 1
Maximum speed

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

8.4 m/sec

2.3 m/sec 1.7 m/sec

1700 °/sec

Maximum payload

10 kg
0.30 kgm2

User wiring

0.2 sq × 20 wires
ϕ6×3

User tubing (Outer diameter)
Travel limit

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

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Weight

31 kg

SCARA
robots

Standard: 3.5 m Option: 5 m, 10 m

YK-X

Robot cable length
Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.539.

300

300

If the robot enters the inside of the corner of dimensions 135 and 220, the arm
may be in contact with the machine harness. So, do not perform such motion.

194

178

130

°

R300

220

150

100

79

135

652
Maximum 660
during arm rotation

2
.0
±0

90°

Working envelope of
135°
left-handed system
4-ϕ5.5 through-hole
If
the
robot
enters
the
inside
of
the
corner
of
dimensions
135 and 220, the arm
Hollow
30
may be in contact with the machine harness. So, do not perform such motion.
diamete
30
r ϕ14
28
373
+0.012
ϕ5 H7 0
30
through-hole
.02
30
±0
12
View of B
User tubing 1
259
(ϕ6 Black)
ϕ50
User tubing 2
187
00
0
(ϕ6 Red)
R3
R18
158.5 192
User tubing 3
(ϕ6 Blue)
148
135
131.1 ±2
67

46
47
0
B ϕ34 h7-0.025 27
40
15
0
0
ϕ70
Working envelope of
0
135°
39 40
right-handed system
M4
(Base 0
ground
terminal
installation
X-axis mechanical stopper position: 132°
surface)
Y-axis mechanical stopper position: 147°
D-sub connector for user wiring
(No. 1 to 20 usable)

89

00

R6

220

145°

71

10

2

200

Cross section A-A
Option: Tool flange mount type
54

R27 (Min. cable bending radius)
Do not move the cable.

40 40

4-M4 x 0.7 through-hole for tool attachment
Four M4 x 10L binding screws are supplied.
Do not screw the screws in deeper than 10mm
from bottom surface of arm.

10

32 M16 x 2 Depth 20 (Bottom of spline)

Keep enough space for the maintenance
work at the rear of the base.
4-ϕ9

Controller

YK600XG
YK600XG
Z200mm Stroke specification Z300mm Stroke specification

RCX340 u 508 RCX240 u 495

Dust-proof
Wall-mount / & drip-proof
Large type inverse type
type

Hollow
diameter: ϕ14

300

Standard type
Z-axis lower end
mechanical stopper position

Wid
flats th acro
: 19 ss

ϕ50 Flat surface has no phase relation to
R-axis origin.

6.5

8mm rise during
Z-axis return-to-origin

14

A

0
ϕ20h7 -0.021

R300

300 Z axis stroke
10 200 Z axis stroke 40

A

Orbit / Tiny
Medium type
type

User tool
installation range

°

81

130

130

°

351

0

R180

CONTROLLER INFORMATION

Machine harness

°

00

675
Z200mm
Stroke

130

R3

775
Z300mm
Stroke

145°

113

4-ϕ11
M10 bolt for installation, 4bolts used

40
120
60
140
200 (base size)

00

54

D-sub connector
for user wiring
(No.1 to 20 usable)

R6

User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)

CLEAN

79

120

71

137.6 ±2

Pick & place
robots

YP-X

YK600XG

283
253
242
213
204

Cartesian
robots

0.46 sec

R-axis tolerable moment of inertia Note 3

XY-X

Standard cycle time: with 2kg payload Note 2

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

PHASER

Z-axis

Linear motor
single-axis robots

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

P.495

Specify various controller setting items. RCX 240/RCX 240 S

Specifications

Absolute
battery

P.508

Specify various controller setting items. RCX340

RCX240

Option E
(OP.E)

Compact
single-axis robots

Tool flange
No entry: None
F: With tool flange

TRANSERVO

Z axis stroke
200: 200mm
300: 300mm

359

Arm length 600mm

Standard type: Medium type

Maximum payload 20kg

Linear conveyor
modules

LCM100

Ordering method

RCX340-4

YK600XGH
Model

Compact
single-axis robots

TRANSERVO

Z axis stroke
200: 200mm
400: 400mm

Tool flange
No entry: None
F: With tool flange

Controller /
Number of controllable axes

Cable
3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Controller

R3

CE Marking

Regeneratizve unit

Expansion I/O

Network option

BB

iVY System

Gripper

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240 S

Battery

P.495

Controller

Arm length
Axis
specifications Rotation angle
Speed reducer

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

Y-axis

Z-axis

200 mm

400 mm

200 mm 400 mm

+/-130 °

+/-150 °

+/-360 °

750 W

400 W

400 W

200 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

2500

Direct-coupled
Direct-coupled

Repeatability Note 1
Maximum speed

+/-0.02 mm

+/-0.01 mm

+/-0.004 °

7.7 m/sec

2.3 m/sec 1.7 m/sec

920 °/sec

Maximum payload

20 kg
0.47 sec

R-axis tolerable moment of inertia Note 3

1.0 kgm2

User wiring

0.2 sq × 20 wires
ϕ6×3

User tubing (Outer diameter)
Travel limit

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

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

Z axis 200 mm: 48 kg Z axis 400 mm: 50 kg

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note. Please consult YAMAHA when connecting other tubes and cables to the self-supporting machine harness.

200

220

120

38

100

If the robot enters the inside of the corner of dimensions
100 and 400, the arm may be in contact with the
machine harness. So, do not perform such motion.

97°
Working envelope of
left-handed system

12

Standard type
Z-axis lower end
mechanical stopper position

0

ϕ95

ϕ50 h7- 00.025

0
(Base
installation
surface)

Hollow
diameter
: ϕ18

Cross section A-A

4-M4 x 0.7 through-hole for tool attachment
Four M4 x 10L binding screws are supplied.
Do not screw the screws in deeper than 10mm
from bottom surface of arm.

00
R6

150°

°

200

Flat surface has no phase
relation to R-axis origin.

R2

48

00

R4

R400


B

53

User tool

installation range
0
ϕ25h7-0.021
ϕ55

219
202.2

6.5

254.5
219

2

339.5

User tubing 1
(ϕ6 Black)
User tubing 2
(ϕ6 Red)
User tubing 3
(ϕ6 Blue)
74
54
47
34
19
21
0
25
46
M4 ground
terminal
D-sub connector for user wiring
(No.1 to 20 usable)

268

400

45 14

A

Width across
flats: 24

400 Z axis stroke
12 200 Z axis stroke
6mm rise during
Z-axis return-to-origin

A

130

ϕ65

476
99

40

.0
2

98

100
97°
If the robot enters the inside of the corner of dimensions
100 and 400, the arm may be in contact with the
machine harness. So, do not perform such motion.

Working envelope of
right-handed system
X-axis mechanical stopper position: 132°
Y-axis mechanical stopper position: 152°

Option: Tool flange mount type
54

R27 (Min. cable bending radius)
Do not move the cable.

48 48

Keep enough space for the maintenance
work at the rear of the base.
15

36

M20 x 2.5 Depth 20 (Bottom of spline)

Controller

4-ϕ9

RCX340 u 508 RCX240 u 495

°

Dust-proof
Wall-mount / & drip-proof
Large type inverse type
type

360

View of B
130

Orbit / Tiny
Medium type
type

0

12
±0

711
Maximum 770
during
arm rotation
86

440
368
333.5
319.5
278
273
208.7±2

ϕ6 H7 +0.012
0
through-hole

Machine harness

40

.02

±0

Z200mm 790
Stroke

°

8

150°

R400

4-ϕ6.6 through-hole

Ho
diamllow
ete
r ϕ1

128

990

130

00

40

Z400mm
Stroke

145
170
245
(base size)

00

63

50
75

48

R2

R4

ϕ14
M12 bolt for installation, 4bolts used

40

CONTROLLER INFORMATION

User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)

R6

CLEAN

400
D-sub connector for user wiring
(No.1 to 20 usable)

°

80

189
99 99
220

YP-X

Pick & place
robots

YK600XGH

161

SCARA
robots

YK-X

Robot cable length

130

XY-X

Cartesian
robots

Standard cycle time: with 2kg payload Note 2

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

400

PHASER

Linear motor
single-axis robots

AC servo motor output

X-axis

90°

FLIP-X

Specifications

Absolute
battery

P.508

Specify various controller setting items. RCX340

RCX240

Option E
(OP.E)

Option D
(OP.D)

400

APPLICATION

YK600XGH

YK600XGH
YK600XGH
Z200mm Stroke specification Z400mm Stroke specification

Arm length 700mm

Maximum payload 10kg

APPLICATION

YK700XGL

Standard type: Large type

Note. This model is a special order product. Please consult us for delivery time.

Linear conveyor
modules

LCM100

Ordering method

RCX340-4

YK700XGL
Model

Controller /
Number of controllable axes

Cable
3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Option E
(OP.E)

Absolute
battery

P.508

Specify various controller setting items. RCX340

Arm length
Axis
specifications Rotation angle

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

400 mm

300 mm

200 mm 300 mm

-

+/-130 °

+/-145 °

-

+/-360 °

400 W

200 W

Harmonic drive Harmonic drive

200 W

200 W

Ball screw

Harmonic drive

Controller Power capacity (VA) Operation method

RCX340

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

1700

Direct-coupled
Direct-coupled

Repeatability Note 1

+/-0.01 mm

+/-0.01 mm

+/-0.005 °

9.2 m/sec

2.3 m/sec 1.7 m/sec

1700 °/sec

Maximum speed
Maximum payload

R-axis

10 kg (Standard type), 9 kg (Option: Tool flange mount type)
0.30 kgm2

User wiring

0.2 sq × 20 wires
ϕ6 × 3

User tubing (Outer diameter)
Travel limit

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

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

32 kg

SCARA
robots

Standard: 3.5 m Option: 5, 10 m

Weight

YK-X

Robot cable length

Cartesian
robots

0.50 sec

R-axis tolerable moment of inertia Note 3

XY-X

Standard cycle time: with 2kg payload Note 2

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

PHASER

Speed reducer

Z-axis

Linear motor
single-axis robots

AC servo motor output

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

Specifications

Option D
(OP.D)

Compact
single-axis robots

Tool flange
No entry: None
F: With tool flange

TRANSERVO

Z axis stroke
200: 200mm
300: 300mm

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings.

Pick & place
robots

YP-X

YK700XGL
D-sub connector for user wiring (No.1 to 20 usable)
400

194

°
130

79
178

150

79

100

31

R2

40
60

0

R30

4-ϕ11
M10 bolt for installation, 4bolts used

120
140

200 (base size)
Working envelope of
right-handed system

Machine harness

Z-axis lower end
mechanical stopper position
4-M4 x 0.7 through-hole for tool attachment
Four M4 x 10L binding screws are supplied.
Do not screw the screws in deeper than 10mm
from bottom surface of arm.

Hollow
diameter: ϕ14

°

30
30

2
0.0

+/-

2
200

0

(Base 0
installation
surface)

300

Standard type

User tubing 1
(ϕ6 Black)
User tubing 2
(ϕ6 Red)
User tubing 3
(ϕ6 Blue)

67
B ϕ34h7- 00.025
47
ϕ70
27
15
0
M4
ground terminal
ϕ50

192
187
158.5 148
131.1+/-2

71
8mm rise during Z-axis return-to-origin

W
flat idth a
s: 1 cro
9 ss

4014
10 200(Z axis stroke)

A

0
ϕ20h7 - 0.021
ϕ50 Flat surface has no phase relation to R-axis origin.
User tool installation range

10

300 (Z axis stroke)

A

Working envelope of
left-handed system

39 40

X-axis mechanical stopper position: 132°
Y-axis mechanical stopper position: 147°
46
40
0
D-sub connector for user wiring
(No. 1 to 20 usable)

Cross section A-A

54
Keep enough space for the maintenance
work at the rear of the base.

40 40

0

259

0

10 32

M16 x 2 Depth 20 (Bottom of spline)
R27 (Min. cable bending radius)
Do not move the cable.

4-ϕ9

YK700XGL
Z200mm Stroke specification

Controller

YK700XGL
Z300mm Stroke specification

RCX340 u 508

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

253 283
242
213
204
137.6+/-2

00

R7

R30

View of B
Option:
Tool flange mount type

6.5

81

12

351

90°

30

373

31

°

130

30

ϕ5 H7 0
through-hole
+ 0.012

89

R2

130

652
Maximum 710 during arm rotation
4-ϕ5.5 through-hole
Hollow
diamete
r: ϕ14
28+/-0.02

145°

675
Z200mm
Stroke

CONTROLLER INFORMATION

User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)
54 113
775
Z300mm
Stroke

CLEAN

00

°

R7

130

145°

300

120

71

361

Arm length 700mm

Standard type: Large type

Maximum payload 20kg

Linear conveyor
modules

LCM100

Ordering method

RCX340-4

YK700XG
Z axis
stroke
200: 200mm
400: 400mm

Model

Tool flange

Compact
single-axis robots

TRANSERVO

Controller /
Number of controllable axes

Cable

No entry: None
F: With tool flange

3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Option D
(OP.D)

R3

Controller

CE Marking

Regeneratizve unit

Expansion I/O

Network option

BB

iVY System

Gripper

Battery

P.495

Arm length
Axis
specifications Rotation angle
Speed reducer

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

Z-axis

300 mm

400 mm

200 mm 400 mm

+/-130 °

+/-150 °

+/-360 °

750 W

400 W

400 W

200 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

2500

Direct-coupled
Direct-coupled

Repeatability Note 1
Maximum speed

+/-0.02 mm

+/-0.01 mm

+/-0.004 °

8.4 m/sec

2.3 m/sec 1.7 m/sec

920 °/sec

Maximum payload

20 kg
0.42 sec

R-axis tolerable moment of inertia Note 3

1.0 kgm2

User wiring

0.2 sq × 20 wires
ϕ6×3

User tubing (Outer diameter)
Travel limit

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

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

Z axis 200 mm: 50 kg Z axis 400 mm: 52 kg

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note. Please consult YAMAHA when connecting other tubes and cables to the self-supporting machine harness.

YP-X

Pick & place
robots

YK700XG
400
D-sub connector for user wiring
(No.1 to 20 usable)

300

If the robot enters the inside of R30 and corner of dimensions 100 and 300, the
Z-axis upper end stopper or tool flange may be in contact with the base or the arm
may be in contact with the machine harness. So, do not perform such motion.

220

relation to R-axis origin.

Z-axis lower end
mechanical stopper position

300
202(225)

40
0

0
Hollow
diameter
: ϕ18

21
25
46
M4 ground
terminal
D-sub connector for user wiring
(No.1 to 20 usable)

0
(Base
installation
surface)

Cross section A-A

4-M4 x 0.7 through-hole for tool attachment
Four M4 x 10L binding screws are supplied.
Do not screw the screws in deeper than 10mm
from bottom surface of arm.

150°

R40
0

6.5
ϕ50 h7 -0.025

05

R4
00
R30

2
.0
±0


B
ϕ95

400

0
ϕ25h7-0.021
ϕ55
Flat surface has no phase

Standard type

40

12

2

219
202.2

200

45 14

User tool
installation range

Width across
flats: 24

400 Z axis stroke
12 200 Z axis stroke
6mm rise during
Z-axis return-to-origin
12

254.5
219

00

R7

R2

100

140(150)
Values
shown in ( )
For tool flange
specifications
X-axis mechanical stopper position: 132°
Y-axis mechanical stopper position: 152°

124°
Working envelope of
right-handed system

Option: Tool flange mount type

54

R27 (Min. cable bending radius)
Do not move the cable.

48 48

Keep enough space for the maintenance
work at the rear of the base.
15

36 M20 x 2.5 Depth 20 (Bottom of spline)

Controller

4-ϕ9

RCX340 u 508 RCX240 u 495

YK700XG
Z200mm Stroke specification

°

A

User tubing 1
(ϕ6 Black)
User tubing 2
(ϕ6 Red)
User tubing 3
(ϕ6 Blue)
74
54
47
34
19
0

130

268
339.5

A

ϕ65

476
99

°

98

100 and 300, the Z-axis upper end stopper or tool flange may
be in contact with the base or the arm may be in contact with
the machine harness. So, do not perform such motion.

View of B

711
Maximum 770
during
arm rotation

00

140(150)
124°
Values
shown in ( )
For tool flange
If the robot enters the inside of R30 and corner of dimensions specifications
Working envelope of
left-handed system

2
.0

±0

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

362

ϕ6 H7 0
through-hole

Machine harness

86

0

R4

38

+0.012

790
Z200mm
Stroke

440
368
333.5
319.5
278
273
208.7±2

100

40

r ϕ18

990
Z400mm
Stroke

05

R2

R30

4-ϕ6.6 through-hole

Hollo
diamew
te

00

130

°

120

4-ϕ14
M12 bolt for installation, 4bolts used

128

R7

0

145
170
245
(base size)

40

CONTROLLER INFORMATION

63

50
75

R40

User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)

15

CLEAN

189
99 99
220

80

161

SCARA
robots

YK-X

Robot cable length

130

XY-X

Cartesian
robots

Standard cycle time: with 2kg payload Note 2

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

130
°

PHASER

Linear motor
single-axis robots

AC servo motor output

Y-axis

90°

FLIP-X

Controller
X-axis

53

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240 S

Specifications

Absolute
battery

P.508

Specify various controller setting items. RCX340

RCX240

Option E
(OP.E)

202(225)
300

APPLICATION

YK700XG

YK700XG
Z400mm Stroke specification

Arm length 800mm

APPLICATION

YK800XG

Standard type: Large type

Maximum payload 20kg

Linear conveyor
modules

RCX340-4

YK800XG
Tool flange

Controller /
Number of controllable axes

3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

R3

Controller

CE Marking

Regeneratizve unit

Expansion I/O

Network option

BB

iVY System

Gripper

Battery

P.495

Arm length
Axis
specifications Rotation angle

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

400 mm

400 mm

200 mm 400 mm

+/-130 °

+/-150 °

+/-360 °

750 W

400 W

400 W

200 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

2500

Direct-coupled
Direct-coupled

Repeatability Note 1

+/-0.02 mm

+/-0.01 mm

+/-0.004 °

9.2 m/sec

2.3 m/sec 1.7 m/sec

920 °/sec

Maximum speed
Maximum payload

20 kg
1.0 kgm2

User wiring

0.2 sq × 20 wires
ϕ6×3

User tubing (Outer diameter)
Travel limit

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

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Weight

Z axis 200 mm: 52 kg Z axis 400 mm: 54 kg

SCARA
robots

Standard: 3.5 m Option: 5 m, 10 m

YK-X

Robot cable length

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note. Please consult YAMAHA when connecting other tubes and cables to the self-supporting machine harness.

If the robot enters the inside of R30 and corner of dimensions 100 and 250, the
Z-axis upper end stopper or tool flange may be in contact with the base or the arm
may be in contact with the machine harness. So, do not perform such motion.

220

189
99 99
220

°

Standard type
Z-axis lower end
mechanical stopper position

0
Hollow
diameter: ϕ18

21
25
46
M4 ground
terminal
D-sub connector for user wiring
(No.1 to 20 usable)

12
48 48

36 M20 x 2.5 Depth20 (Bottom of spline)

R27 (Min. cable bending radius)
Do not move the cable.

4-ϕ9

Controller

YK800XG
Z200mm Stroke specification

00
R8

X-axis mechanical stopper position: 132°
Y-axis mechanical stopper position: 152°

Keep enough space for the
maintenance work at the
rear of the base.
15

R4

140(150)
Values
shown in ( )
For tool flange
specifications

141°
Working envelope of
right-handed system

Option: Tool flange mount type

54

00

100

202
(225)

2

0
(Base
installation
surface)

Cross section A-A
4-M4 x 0.7 through-hole for tool attachment
Four M4 x 10L binding screws are supplied.
Do not screw the screws in deeper than 10mm
from bottom surface of arm.

202
(225)

°
150
74
54
47
34
19
0

07

R40
0
R30

6.5
ϕ50

ϕ95

400

200

45 14

ϕ55 Flat surface has no phase
relation to R-axis origin.
Width across
flats: 24

400 Z axis stroke
12 200 Z axis stroke
6mm rise during
Z-axis return-to-origin

User tool
installation range

0
h7 - 0.025

R2

YK800XG
Z400mm Stroke specification

RCX340 u 508 RCX240 u 495

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

0
ϕ25h7 -0.021


B

User tubing 1
(ϕ6 Black)
User tubing 2
(ϕ6 Red)
User tubing 3
(ϕ6 Blue)

°

A

339.5 219
202.2
254.5
219

130

268

99

A

ϕ65

476

53

98

250

130
90°

40

2
.0

40

±0

12

If the robot enters the inside of R30 and corner of dimensions 100 and 250, the
Z-axis upper end stopper or tool flange may be in contact with the base or the arm
may be in contact with the machine harness. So, do not perform such motion.

°

120

View of B

CONTROLLER INFORMATION

Values
141°
shown in ( )
For tool flange Working envelope of
specifications left-handed system

711
Maximum 770 during
arm rotation
86

°

Machine harness

130

0

140(150)

02

.
±0

790
Z200mm
Stroke

+0.012
0
through-hole

R40
R30

38

ϕ6 H7

CLEAN

15

00

100

40

r ϕ18

128

07
R2

R4

4-ϕ6.6 through-hole

Hollo
diamew
te

990
Z400mm
Stroke

00

4-ϕ14
M12 bolt for installation, 4bolts used

40

63

50 145
75
170
245
(base size)

R8

User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)

130

400

250

400
D-sub connector for user wiring
(No. 1 to 20 usable)

161

80

0

Pick & place
robots

YP-X

YK800XG

440
368
333.5
319.5
278
273
208.7±2

Cartesian
robots

0.48 sec

R-axis tolerable moment of inertia Note 3

XY-X

Standard cycle time: with 2kg payload Note 2

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

PHASER

Speed reducer

Z-axis

Linear motor
single-axis robots

AC servo motor output

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240 S

Specifications

Absolute
battery

P.508

Specify various controller setting items. RCX340

RCX240

Option E
(OP.E)

Option D
(OP.D)

Compact
single-axis robots

No entry: None
F: With tool flange

Cable

TRANSERVO

Z axis
stroke
200: 200mm
400: 400mm

Model

LCM100

Ordering method

363

APPLICATION

YK900XG

Arm length 900mm

Standard type: Large type

Maximum payload 20kg

Linear conveyor
modules

LCM100

Ordering method

RCX340-4

YK900XG
Z axis
stroke
200: 200mm
400: 400mm

Model

Tool flange

Compact
single-axis robots

TRANSERVO

No entry: None
F: With tool flange

Controller /
Number of controllable axes

Cable
3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

R3

Controller

CE Marking

Regeneratizve unit

Expansion I/O

Network option

BB

iVY System

Gripper

Battery

P.495

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240 S

Controller

Arm length
Axis
specifications Rotation angle
Speed reducer

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

Y-axis

Z-axis

500 mm

400 mm

200 mm 400 mm

+/-130 °

+/-150 °

+/-360 °

750 W

400 W

400 W

200 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

2500

Direct-coupled
Direct-coupled

Repeatability Note 1

+/-0.02 mm

+/-0.01 mm

+/-0.004 °

9.9 m/sec

2.3 m/sec 1.7 m/sec

920 °/sec

Maximum speed
Maximum payload
Standard cycle time: with 2kg payload Note 2

0.49 sec

R-axis tolerable moment of inertia Note 3

1.0 kgm2

User wiring

0.2 sq × 20 wires
ϕ6×3

User tubing (Outer diameter)
Travel limit

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

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

Z axis 200 mm: 54 kg Z axis 400 mm: 56 kg

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note. Please consult YAMAHA when connecting other tubes and cables to the self-supporting machine harness.

220

99

120

145
170
245
(base size)

128

°

00

63

50
75

R252

R4

00

4-ϕ14
4 M12 bolt for installation, 4bolts used
4-ϕ6.6 through-hole

Hollo
diamew
te

40

r ϕ18

38

990
Z400mm
Stroke

150
°
Working envelope of
left-handed system

40

CONTROLLER INFORMATION

User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)

130

150°

°

500

R9

CLEAN

400
D-sub connector for user wiring
(No.1 to 20 usable)

189
99
220

80

130

YP-X

Pick & place
robots

YK900XG

161

SCARA
robots

YK-X

Robot cable length

00

XY-X

Cartesian
robots

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

20 kg

R4

PHASER

Linear motor
single-axis robots

AC servo motor output

X-axis

90°

FLIP-X

Specifications

Absolute
battery

P.508

Specify various controller setting items. RCX340

RCX240

Option E
(OP.E)

Option D
(OP.D)

Standard type
Z-axis lower end
mechanical stopper position

2
.0
±0

Hollow
diameter: ϕ18

150°

130

6.5

User tubing 1
(ϕ6 Black)
User tubing 2
(ϕ6 Red)
User tubing 3
(ϕ6 Blue)

ϕ95

0
(Base
installation
surface)

ϕ50 h7- 0.025
0

74
54
47
34
19
0

53

0

°

12

2


B

400

200

45 14

There is no phase relationship between
flat face and origin of R axis.
Width across
flats: 24

6mm rise during
Z-axis return-to-origin

ϕ55

00

R4

°
150
Working envelope of
right-handed system
X-axis mechanical stopper position: 132°
Y-axis mechanical stopper position: 152°

21
25

D-sub connector for
46 user wiring
(No.1 to 20 usable)
M4 ground terminal

Cross section A-A

12

400 Z axis stroke
12 200 Z axis stroke

User tool

installation range
0
ϕ25h7 -0.021

2

00

A

339.5 219
202.2
254.5
219

R9

R25

268

99

00

°

98

130

ϕ65

476

A

View of B

R4

4-M4 x 0.7 through-hole for tool attachment
Four M4 x 10L binding screws are supplied.
Do not screw the screws in deeper than 10mm
from bottom surface of arm.

Option: Tool flange mount type
54

R27 (Min. cable bending radius)
Do not move the cable.
Keep enough space for the
maintenance work at the
rear of the base.

48 48

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

364

0

through-hole

711
Maximum 770
during arm rotation
86

440
368
333.5
319.5
278
273
208.7±2

+0.012
0

40

40

.02
±0

ϕ6 H7

790
Z200mm
Stroke

15

36 M20 x 2.5 Depth20 (Bottom of spline)

Controller

4-ϕ9

RCX340 u 508 RCX240 u 495

YK900XG
Z200mm Stroke specification

YK900XG
Z400mm Stroke specification

Arm length 1000mm

APPLICATION

YK1000XG

Standard type: Large type

Maximum payload 20kg

Linear conveyor
modules

RCX340-4

YK1000XG
Tool flange

Controller /
Number of controllable axes

3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

R3

Controller

CE Marking

Regeneratizve unit

Expansion I/O

Network option

BB

iVY System

Gripper

Battery

P.495

Arm length
Axis
specifications Rotation angle

600 mm

400 mm

200 mm 400 mm

+/-130 °

+/-150 °

+/-360 °

750 W

400 W

400 W

200 W

Ball screw

Harmonic drive

AC servo motor output
Speed reducer

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

2500

Direct-coupled
Direct-coupled

Repeatability Note 1

+/-0.02 mm

+/-0.01 mm

+/-0.004 °

Maximum speed

10.6 m/sec

2.3 m/sec 1.7 m/sec

920 °/sec

Maximum payload

0.49 sec

R-axis tolerable moment of inertia Note 3

1.0 kgm2

User wiring

0.2 sq × 20 wires
ϕ6×3

User tubing (Outer diameter)
Travel limit

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

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Weight

Z axis 200 mm: 56 kg Z axis 400 mm: 58 kg

SCARA
robots

Standard: 3.5 m Option: 5 m, 10 m

YK-X

Robot cable length

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note. Please consult YAMAHA when connecting other tubes and cables to the self-supporting machine harness.

Pick & place
robots

YP-X

YK1000XG
400
D-sub connector for user wiring
(No.1 to 20 usable)

600

220

130

°

189
99 99
220

120

00
R4

90°
40

.0
2

40

±0

12

2

4-M4 x 0.7 through-hole for tool attachment
Four M4 x 10L binding screws are supplied.
Do not screw the screws in deeper than 10mm
from bottom surface of arm.

Option: Tool flange mount type

54

150°

°
130

Hollow
diameter: ϕ18

Cross section A-A
12

200
400

45 14

Standard type
Z-axis lower end
mechanical stopper position

0

74
54
47
34
19
0

0
(Base
installation
0 surface)

Flat surface has no phase
relation to R-axis origin.
Width across
flats: 24

400 Z axis stroke
12 200 Z axis stroke
6mm rise during
Z-axis return-to-origin

ϕ55

User tool
installation range

ϕ50 h7 -0.025

ϕ95

21
25 46

00

0
ϕ25h7 -0.021

254.5
219

0

R40

User tubing 1
(ϕ6 Black)
User tubing 2
(ϕ6 Red)
User tubing 3
(ϕ6 Blue)

R4

A


B

°
150
Working envelope of
right-handed system
X-axis mechanical stopper position: 132°
Y-axis mechanical stopper position: 152°

D-sub connector for
user wiring
(No.1 to 20 usable)

M4 ground terminal

R27 (Min. cable bending radius)
Do not move the cable.

48 48

Keep enough space for the
maintenance work at the
rear of the base.
15

36 M20 x 2.5 Depth20 (Bottom of spline)

4-ϕ9

Controller

YK1000XG
Z200mm Stroke specification

YK1000XG
Z400mm Stroke specification

RCX340 u 508 RCX240 u 495

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

99

A

268

219
202.2
339.5

53

476

0
00
R1
3
R32

6.5

98

ϕ65

°

86

View of B

130

711
Maximum 770
during arm rotation

CONTROLLER INFORMATION

through-hole

CLEAN

150
°
Working envelope of
left-handed system

2

.0
±0

+0.012
0

°

38

ϕ6 H7

790
Z200mm
Stroke

130

00

40

r ϕ18

128

R4

4-ϕ6.6 through-hole

Hollo
diamew
te

0

145
170
245
(base size)

00

23

4-ϕ14
M12 M12 bolt for installation, 4bolts used

50
75

990
Z400mm
Stroke

0

R3

40

63

R1

User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)

150°

161

80

440
368
333.5
319.5
278
273
208.7±2

Cartesian
robots

Standard cycle time: with 2kg payload Note 2

XY-X

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

20 kg

PHASER

Z-axis

Linear motor
single-axis robots

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240 S

Specifications

Absolute
battery

P.508

Specify various controller setting items. RCX340

RCX240

Option E
(OP.E)

Option D
(OP.D)

Compact
single-axis robots

No entry: None
F: With tool flange

Cable

TRANSERVO

Z axis
stroke
200: 200mm
400: 400mm

Model

LCM100

Ordering method

365

APPLICATION

YK1200X

Arm length 1200mm

Standard type: Large type

Maximum payload 50kg

Linear conveyor
modules

LCM100

Ordering method

RCX340-4

YK1200X 400
Z axis
stroke

Model

Cable

TRANSERVO

Compact
single-axis robots

3L: 3.5m
5L: 5m
10L: 10m

Controller /
Number of controllable axes

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Controller

R

CE Marking

Regeneratizve unit

Expansion I/O

Absolute
battery

P.508

Specify various controller setting items. RCX340

RCX240

Option E
(OP.E)

Option D
(OP.D)

Network option

BB

iVY System

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240 S

FLIP-X

Specifications

Gripper

Battery

P.495

Controller

Arm length
Axis
specifications Rotation angle

PHASER

Linear motor
single-axis robots

AC servo motor output
Speed reducer

X-axis

Y-axis

Z-axis

600 mm

600 mm

400 mm

+/-125 °

+/-150 °

+/-360 °

900 W

800 W

600 W

400 W

Planetary gear Planetary gear

Ball screw

Harmonic drive

Direct-coupled

Timing belt
transmission

Timing belt
transmission

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

Direct-coupled

Repeatability Note 1

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240-R

+/-0.02 mm

+/-0.005 °

7.4 m/sec

0.75 m/sec

600 °/sec

XY-X

Cartesian
robots

Maximum payload

50 kg

Standard cycle time: with 2kg payload Note 2

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.

0.91 sec

R-axis tolerable moment of inertia Note 3

2.45 kgm2

User wiring

0.2 sq × 20 wires
ϕ6×3

User tubing (Outer diameter)
Travel limit

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

SCARA
robots

YK-X

Robot cable length

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

2500

Direct-coupled Direct-coupled

+/-0.05 mm

Maximum speed

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

124 kg

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.540.

YP-X

Pick & place
robots

YK1200X

0

°

°

11

R3

R1

20

125

125

CLEAN

M16 x 2 Depth25

4-ϕ14
M12 bolt used for installation

20
0

128
°

0

9
R2

R1

R91

103 97
140 112
252
(base size)

Z axis tip shape

150°
150°
Working envelope

128
°

R290

User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)

ϕ25 -0.01
-0.02

210

90
170
200
250

140

150

600

5
R13
0
R2

CONTROLLER INFORMATION

R
600
D-sub connector for user wiring
(No.1 to 20 usable)

ϕ10 (Use when tightening
the lower M16 screw)
Spline shaft (Hollow)
Hollow diameter: ϕ12

600

70

69
45

Aux. shaft fixing plate

1168

1124

2 x 2-M4 x 0.7
Depth10
(Same on
oppsite side)

830
783

° 152
152
°
X and Y axes mechanical stopper positions

60

541

366

45

69

381+/-2

95

400

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

00

R6

542.3

20

442
390

ϕ10
ϕ25 -0.01
-0.02

M16 x 2 Depth25

0

161.5

Controller

M4 ground terminal
User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)
131 4-ϕ12
67
88
49
25
29
0
0
Keep enough space for the maintenance
work at the rear of the base.
R35 (Min. cable bending radius)
Do not move the cable.

RCX340 u 508 RCX240 u 495

D-sub connector for user wiring
(No.1 to 20 usable)
47
0

Arm length 300mm

APPLICATION

YK300XGS

Wall-mount / inverse type

Note. Built-to-order product.
Contact us for the delivery period.

Maximum payload 5kg

Linear conveyor
modules

YK300XGS 

RCX340-4

150
Installation method Note1

Model

Hollow shaft

Cable

No entry: None
F: With tool flange

No entry: None
S: With hollow shaft

3L: 3.5m
5L: 5m
10L: 10m

Controller /
Number of controllable axes

Safety
standard

Option A Option B Option C Option D
(OP.A)
(OP.B)
(OP.C)
(OP.D)

Specify various controller setting items. RCX340

RCX240S
Controller

CE Marking

Expansion I/O

Network option

Option E
(OP.E)

Absolute
battery

P.508

BB

Gripper

iVY System

Battery

FLIP-X

Note 1. When installing the robot, always follow the specifications.
Do not install the ceiling-mount robot upside down or do not install the inverse type robot to a ceiling.
Incorrect installation can cause trouble or malfunction.

Specifications

Controller
R-axis

+/-360 °
100 W
Harmonic drive

Controller Power capacity (VA) Operation method

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature.
Note 2. When reciprocating 25mm horizontally and 300mm horizontally (with a 2kg payload in rough-positioning arch motion).
Note 3. There are limits to acceleration coefficient settings. See P.537.
Note 4. Maximum payload of option specifications (with tool flange attached or with user wiring and tubing routed through spline shaft) is 4kg.

YK300XGS
D-sub connector for user wiring
(No. 1 to 10 usable)

°
°

104
140

26

93
90

Keep enough space for the
maintenance work on the top face
of the base.

381
(Maximum 410 during
arm rotation)

381

150

ϕ27

60

H

C

60

4-M3×0.5 through-hole
(No phase relation to R-axis origin.)
As this hole is intended for the wiring/tubing clamp,
do not attach a large load to it.

Cross section A-A

0

Tapped hole for user wiring 6-M3×0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

7.8

70 20

1
ϕ1

142±2

Hollo

w dia

7.8

50

ter

me

ia
wd
ollo

10

39 39

4

0
-0.018

47
User tool installation range
Width across flat 15

ϕ16h7
ϕ35

42

25

135

8
2-R

X-axis mechanical stopper position: 122°
Y-axis mechanical stopper position: 132°
(Option)
• Additional Z-axis upper limit stopper:
Allows changing the Z-axis origin position to a point
12mm, 15mm or 18mm (in 3mm steps) lower than the
standard position.
• Additional Z-axis lower limit stopper:
Allows changing the Z-axis stopper position to a point
17mm or more higher than the standard position.
(Lower limit of working envelope: 4mm from additional
stopper)
(Cannot be used when user wiring and tubing are set
through spline shaft.)

501

7.8

10

Z-axis lower end
mechanical stopper
position

30 12

4

A

150

Z-axis upper end
mechanical
stopper position
4mm rise
during Z-axis
return-to-origin

A

0
14.5
35
59
72

50

64°

7.8

View of C

mete

r: ϕ1
1

Option:
User wiring/tubing through spline type
Note. Inverse type is installed upside down.

Controller

RCX340 u 508 RCX240S u 495

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

6H7
92.5
185.5 (Base size)

41

54

4-ϕ9
M8 bolt for installation,
4 bolts used
187.5 ϕ6H7
through-hole
148

B

R1

Working envelope

4-ϕ9
B

240

64°

5

47

R127

150

13
26

M4 ground terminal

CONTROLLER INFORMATION

57

Cross section B-B

R27 (Min. cable bending radius)
Do not move the cable.

131

R300

User tubing 3 (ϕ4 blue)

CLEAN

150

°

150

120

56

126
136

12
38

°

User tubing 2 (ϕ4 red)
User tubing 1 (ϕ4 black)
User tubing 3 (ϕ4 blue)

130

User tubing 2 (ϕ4 red)
User tubing 1 (ϕ4 black)

130

43

120

D-sub connector for user wiring (No. 1 to 10 usable)

SCARA
robots

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the position of
Y axis mechanical stopper. (The movement range is set to the
maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.

YK-X

Maximum payload
Standard cycle time: with 2kg payload Note 2
R-axis tolerable moment of inertia Note 3
User wiring
User tubing (Outer diameter)
Travel limit
Robot cable length
Weight

1.0 m/sec

Cartesian
robots

4.4 m/sec

1000

XY-X

+/-0.004 °
1020 °/sec (wall-mount)
720 °/sec (inverse wall-mount)
5 kg (Standard specification), 4 kg (Option specifications Note 4)
0.49 sec
0.05 kgm2
0.2 sq × 10 wires
ϕ4×3
1.Soft limit 2.Mechanical stopper (X,Y,Z axis)
Standard: 3.5 m Option: 5 m, 10 m
19.5 kg

Maximum speed

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

PHASER

RCX340
RCX240S

Linear motor
single-axis robots

X-axis
Y-axis
Z-axis
Arm length
150 mm
150 mm
150 mm
Axis
specifications Rotation angle
+/-120 °
+/-130 °

AC servo motor output
200 W
150 W
50 W
Speed reducer
Harmonic drive Harmonic drive Ball screw
Deceleration
Motor to speed reducer
Direct-coupled
mechanism Transmission
method
Speed reducer to output
Direct-coupled
Note 1
Repeatability
+/-0.01 mm
+/-0.01 mm

142±2

Single-axis robots

P.495

Specify various controller setting items. RCX 240/RCX 240S

0
16.5
46
51
94
98

Compact
single-axis robots

Tool flange

TRANSERVO

W: Wall-mount
(same as per external view)
U: Inverse wall-mount
(upside down)

Z axis
stroke
150: 150mm

LCM100

Ordering method

367

APPLICATION

YK300XGS

LCM100

Linear conveyor
modules
Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots

XY-X

Cartesian
robots
SCARA
robots

YK-X

D-sub connector for user wiring
(No. 1 to 10 usable)

°
°

104
140

26

93

R27 (Min. cable bending radius)
Do not move the cable.
381
(Maximum 410 during
arm rotation)

8
2-R

368

70

20

6H7
92.5

25

150

ϕ27

60

.6

60

4-M3×0.5 through-hole
(No phase relation to R-axis origin.)
As this hole is intended for the wiring/tubing clamp,
do not attach a large load to it.

22

.6

22

C

7.8

0
Hollo

w dia

7.8

7.8

View of C

146±2

mete

r: ϕ1
1

150

50

View of A
Tapped hole for user wiring 6-M3×0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

39 39
10 10

Z-axis lower end
mechanical stopper
position

4

ϕ4H7 +0.012
0
through-hole

02

150

0

ϕ30h7 -0.021

501

90°

A

ϕ55

.02
±0

Z-axis upper end
mechanical
stopper position
4mm rise
during Z-axis
return-to-origin

47
Hollow diameter ϕ11
4-ϕ4.5 through-hole

.6
22

4
2

4

10
46

42

0.

ϕ35

0
14.5
35
59
72

X-axis mechanical stopper position: 122°
Y-axis mechanical stopper position: 132°
(Option)
• Additional Z-axis upper limit stopper:
Allows changing the Z-axis origin position to a point
12mm, 15mm or 18mm (in 3mm steps) lower than the
standard position.
• Additional Z-axis lower limit stopper:
Allows changing the Z-axis stopper position to a point
17mm or more higher than the standard position.
(Lower limit of working envelope: 4mm from additional
stopper)
(Cannot be used when user wiring and tubing are set
through spline shaft.)

.6
22

0
16.5
46
51
94
98
146±2

.6
22

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

135

187.5 ϕ6H7
148 through-hole

64°

5

B

50

Working envelope

41

4-ϕ9
4-ϕ9
M8 bolt for installation,
4 bolts used

R1

240

64°

54

47

381

B

R127

Keep enough space for the
maintenance work on the top face
of the base.

185.5 (Base size)

13
26

90

57

Cross section B-B

M4 ground terminal

131

R300

User tubing 3 (ϕ4 blue)

126
136

150

°

150

120

CONTROLLER INFORMATION

56

12
38

°

CLEAN

User tubing 2 (ϕ4 red)
User tubing 1 (ϕ4 black)
User tubing 3 (ϕ4 blue)

130

User tubing 2 (ϕ4 red)
User tubing 1 (ϕ4 black)

130

43

120

D-sub connector for user wiring (No. 1 to 10 usable)

7.8

YP-X

Pick & place
robots

YK300XGS Tool flange mount type

Option:
User wiring/tubing through spline type
Note. Inverse type is installed upside down.

Controller

RCX340 u 508 RCX240S u 495

Arm length 400mm

APPLICATION

YK400XGS

Wall-mount / inverse type

Note. Built-to-order product.
Contact us for the delivery period.

Maximum payload 5kg

Linear conveyor
modules

YK400XGS 

RCX340-4

150
Installation method Note1

Model

Tool flange

Hollow shaft

Cable

No entry: None
F: With tool flange

No entry: None
S: With hollow shaft

3L: 3.5m
5L: 5m
10L: 10m

Controller /
Number of controllable axes

Safety
standard

Option A Option B Option C Option D
(OP.A)
(OP.B)
(OP.C)
(OP.D)

Specify various controller setting items. RCX340

RCX240S
Controller

CE Marking

Expansion I/O

Network option

Option E
(OP.E)

Absolute
battery

P.508

iVY System

BB

Gripper

Battery

P.495

FLIP-X

Note 1. When installing the robot, always follow the specifications.
Do not install the ceiling-mount robot upside down or do not install the inverse type robot to a ceiling.
Incorrect installation can cause trouble or malfunction.

Specifications

Controller
R-axis

+/-360 °
100 W
Harmonic drive

Controller Power capacity (VA) Operation method

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature.
Note 2. When reciprocating 25mm horizontally and 300mm horizontally (with a 2kg payload in rough-positioning arch motion).
Note 3. There are limits to acceleration coefficient settings. See P.538.
Note 4. Maximum payload of option specifications (with tool flange attached or with user wiring and tubing routed through spline shaft) is 4kg.

YK400XGS

104
140

125

26

°

93

13
26

90

50
R1

381
(Maximum 410 during
arm rotation)

125°

4-ϕ9
M8 bolt for installation,
4 bolts used
187.5

ϕ6H7
through-hole

llow

Ho

6H7
92.5

25

11

ete

m
dia

(Option)
• Additional Z-axis upper limit stopper:
Allows changing the Z-axis origin position to a point 12mm,
15mm or 18mm (in 3mm steps) lower than the standard
position.
• Additional Z-axis lower limit stopper:
Allows changing the Z-axis stopper position to a point 17mm or
more higher than the standard position.
(Lower limit of working envelope: 4mm from additional stopper)
(Cannot be used when user wiring and tubing are set through
spline shaft.)

501
60
60
4-M3×0.5 through-hole
(No phase relation to R-axis origin.)
As this hole is intended for the wiring/tubing clamp,
do not attach a large load to it.

Tapped hole for user wiring 6-M3×0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

ϕ27

C

0

7.8

Cross section A-A

7.8

70 20

47

39 39
10 10

50

0
14.5
35
59
72

User tool installation range

ϕ16h7 -0.018
ϕ35
0

Z-axis lower end
mechanical stopper
position

42
Width across flat 15

30 12

4

A

4

Z-axis upper end
mechanical
stopper position
4mm rise
during Z-axis
return-to-origin

A

150

0
16.5
46
51
94
98
142±2

X-axis mechanical stopper position: 127°
Y-axis mechanical stopper position: 146°

Hollo

w dia

7.8

7.8

mete

r: ϕ1
1

142±2

View of C
Option:
User wiring/tubing through spline type
Note. Inverse type is installed upside down.

Controller

RCX340 u 508 RCX240S u 495

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

8
2-R

135

148

Working envelope
185.5 (Base size) 41

B

54

B

125°

240

If the robot enters the inside of the corner of R205 and
dimension 240, the Y-axis and cover may be in
contact with the base. So, do not perform such motion.

4-ϕ9

150

381

5

131
47

05

250
57

Keep enough space for the
maintenance work on the top
face of the base.

R27 (Min. cable bending
radius)
Do not move the cable.

150

126
136

R156

Cross section B-B

M4 ground terminal

R2

150

R400

User tubing 3 (ϕ4 blue)

12
38

CONTROLLER INFORMATION

User tubing 2 (ϕ4 red)
User tubing 1 (ϕ4 black)
User tubing 3 (ϕ4 blue)

CLEAN

°

User tubing 2 (ϕ4 red)
User tubing 1 (ϕ4 black)

125

D-sub connector for user wiring
(No. 1 to 10 usable)

144°

43

144°

D-sub connector for user wiring (No. 1 to 10 usable)

SCARA
robots

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the position of
Y axis mechanical stopper. (The movement range is set to the
maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.

YK-X

Maximum payload
Standard cycle time: with 2kg payload Note 2
R-axis tolerable moment of inertia Note 3
User wiring
User tubing (Outer diameter)
Travel limit
Robot cable length
Weight

1.1 m/sec

Cartesian
robots

6.1 m/sec

1000

XY-X

+/-0.004 °
1020 °/sec (wall-mount)
720 °/sec (inverse wall-mount)
5 kg (Standard specification), 4 kg (Option specifications Note 4)
0.49 sec
0.05 kgm2
0.2 sq × 10 wires
ϕ4×3
1.Soft limit 2.Mechanical stopper (X,Y,Z axis)
Standard: 3.5 m Option: 5 m, 10 m
20 kg

Maximum speed

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

PHASER

RCX340
RCX240S

Linear motor
single-axis robots

X-axis
Y-axis
Z-axis
Arm length
250 mm
150 mm
150 mm
Axis
specifications Rotation angle
+/-125 °
+/-144 °

AC servo motor output
200 W
150 W
50 W
Speed reducer
Harmonic drive Harmonic drive Ball screw
Deceleration
Motor to speed reducer
Direct-coupled
mechanism Transmission
method
Speed reducer to output
Direct-coupled
Note 1
Repeatability
+/-0.01 mm
+/-0.01 mm

56

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240S

Compact
single-axis robots

Z axis
stroke
150: 150mm

TRANSERVO

W: Wall-mount
(same as per external view)
U: Inverse wall-mount
(upside down)

LCM100

Ordering method

369

APPLICATION

YK400XGS

LCM100

Linear conveyor
modules
Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots

XY-X

Cartesian
robots
SCARA
robots

YK-X
YP-X

Pick & place
robots

YK400XGS Tool flange mount type
43

41

Working envelope

6H7
92.5
185.5 (Base size)

25

(Option)
• Additional Z-axis upper limit stopper:
Allows changing the Z-axis origin position to a point 12mm,
15mm or 18mm (in 3mm steps) lower than the standard position.
• Additional Z-axis lower limit stopper:
Allows changing the Z-axis stopper position to a point 17mm or
more higher than the standard position.
(Lower limit of working envelope: 4mm from additional stopper)
(Cannot be used when user wiring and tubing are set through
spline shaft.)

.6
22
.6

02
0.

501

60

4-M3×0.5 through-hole
(No phase relation to R-axis origin.)
As this hole is intended for the wiring/tubing clamp,
do not attach a large load to it.

ϕ27

C

0

Hollo

w dia

7.8

7.8

View of C

mete

r: ϕ1
1

146±2
150

Tapped hole for user wiring 6-M3×0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

7.8

70 20

7.8

View of A
50

10 10

39 39

22

4 10
2 46

4
4

150

ϕ4H7 +0.012
0
through-hole

90°

370

.6

Z-axis lower end
mechanical stopper
position

22

A

60

125°

X-axis mechanical stopper position: 127°
Y-axis mechanical stopper position: 146°

.6

.02
±0

ϕ30h7

ϕ55

0
-0.021

47
Hollow diameter ϕ11
4-ϕ4.5 through-hole

22

42

.6

Z-axis upper end
mechanical
stopper position
4mm rise
during Z-axis
return-to-origin

ϕ35

0
14.5
35
59
72

22

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

0
16.5
46
51
94
98
146±2

240

If the robot enters the inside of corner of R205 and
dimension 240, the Y-axis and cover may be in
contact with the base. So, do not perform such motion.

8
2-R

135

187.5 ϕ6H7
148 through-hole

125°

54

B

50

B

R1

381
(Maximum 410 during
arm rotation)
4-ϕ9
4-ϕ9
M8 bolt for installation,
4 bolts used

381

R400

5

131
47

R156

Keep enough space for the
maintenance work on the top
face of the base.

R27 (Min. cable bending
radius)
Do not move the cable.

150

250
57

144°

°

104
140
13
26

90

150

126
136

°

56

User tubing 3 (ϕ4 blue)
M4 ground terminal
Cross section B-B

12
38

05
R2

CONTROLLER INFORMATION

User tubing 2 (ϕ4 red)
User tubing 1 (ϕ4 black)
User tubing 3 (ϕ4 blue)

Option:
User wiring/tubing through spline type
Note. Inverse type is installed upside down.

Controller

125

User tubing 2 (ϕ4 red)
User tubing 1 (ϕ4 black)

144°

CLEAN

26

93

D-sub connector for user wiring
(No. 1 to 10 usable)

125

D-sub connector for user wiring (No. 1 to 10 usable)

RCX340 u 508 RCX240S u 495

Arm length 500mm

APPLICATION

YK500XGS

Wall-mount / inverse type

Maximum payload 10kg

Installation method Note 1

Model

Tool flange

Controller /
Number of controllable axes

Cable

No entry: None
F: With tool flange

3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option E
(OP.E)

Option D
(OP.D)

Specify various controller setting items. RCX340

RCX240
Controller

R3

CE Marking

Regeneratizve unit

Expansion I/O

Absolute
battery

P.508

Network option

BB

iVY System

Gripper

Battery

FLIP-X

Single-axis robots

P.495

Specify various controller setting items. RCX 240/RCX 240 S
Note 1. When installing the robot, always follow the specifications.
Do not install the ceiling-mount robot upside down or do not install the inverse type robot to a ceiling.
Incorrect installation can cause trouble or malfunction.

Specifications

Controller

X-axis
Y-axis
Z-axis
R-axis
Arm length
200 mm
300 mm
200 mm 300 mm

Axis
specifications Rotation angle
+/-105 °
+/-125 °

+/-360 °
AC servo motor output
400 W
200 W
200 W
200 W
Speed reducer
Harmonic drive Harmonic drive Ball screw
Harmonic drive
Deceleration
Motor to speed reducer
Direct-coupled
mechanism Transmission
method
Speed reducer to output
Direct-coupled
Repeatability Note 1
+/-0.01 mm
+/-0.01 mm
+/-0.004 °
2.3
1.7 1700 °/sec (wall-mount)
Maximum speed
7.6 m/sec
m/sec m/sec 800 °/sec (inverse wall-mount)
Maximum payload
10 kg (Standard specification), 9 kg (Option specifications)
Note 2
Standard cycle time: with 2kg payload
0.45 sec
R-axis tolerable moment of inertia Note 3
0.30 kgm2
User wiring
0.2 sq × 20 wires
User tubing (Outer diameter)
ϕ6×3
Travel limit
1.Soft limit 2.Mechanical stopper (X,Y,Z axis)
Robot cable length
Standard: 3.5 m Option: 5 m, 10 m
Weight
30 kg

1700

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

Pick & place
robots

YP-X

D-sub connector for user wiring
(No.1 to 20 usable)
10

125
°

10

0
R30

0
-0.025

ϕ70

30

4-ϕ5.5 through-hole
Holl
diam ow
eter
ϕ14
90°

30

30
2
.0

12
±0

40 40

30

2
.0

Option: Tool flange mount type

through-hole
ϕ5 H7 +0.012
0
10 32

8H7
20 80
80
200 (base size)

50

54
60

6.5

X-axis mechanical stopper position: 107°
Y-axis mechanical stopper position: 127°
158

2

200

14

Working envelope of right-handed system

±0

Standard type
Flat surface has no phase
relation to R-axis origin.
Z-axis lower end
Cross section A-A
mechanical stopper position
4-M4 x 0.7 through-hole for tool attachment
Four M4 x 10L binding screws are supplied.
Do not screw the screws in deeper than 10mm
from bottom surface of arm.
The weight of the tool attached here should be
added to the tip mass.

300

200

63

00

R3

110°

28

10

10

300

ϕ50

ϕ20 h7

71
User tool installation range

Hollow diameter:
ϕ14
W
fla idt
ts: h a
19 cro
ss

8

40

A

00

100

39 40
178

2-R

R248

View of B

M16 x 2 Depth20 (Bottom of spline)

Controller

YK500XGS
Z200mm
Stroke specification

YK500XGS
Z300mm
Stroke specification

Note. Inverse type is installed upside down.

RCX340 u 508 RCX240 u 495

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

163.5 ±2
Z-axis upper end
mechanical
stopper position
8mm rise during
Z-axis
return-to-origin

10

72
0 0
13.5 (Base
42 installation ϕ50
surface)
109.5
114
153.5
170±2

B ϕ34 h7

ϕ8H7
through-hole

89

10

202

CONTROLLER INFORMATION

110°

6-ϕ11
M10 bolt for
installation,
6bolts used

4-ϕ9

CLEAN

00

89.5

A

R248

Working envelope of left-handed system

(406)
Z200mm 374
Stroke

00

15
20 20 27
M4 ground terminal
159
R27 (Min. cable bending Keep enough space for the
radius)
maintenance work on the top
Do not move the cable. face of the base.

User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)

10

113

R3

R3

54
Z300mm 474
Stroke

°

00

R5

D-sub connector for
user wiring
(No.1 to 20 usable)

User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)

125

120

46
40

R5

89.5
106

200

SCARA
robots

300

YK-X

YK500XGS
71

Cartesian
robots

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

XY-X

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.

PHASER

RCX340
RCX240-R3

Linear motor
single-axis robots

Controller Power capacity (VA) Operation method

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note. Please consult YAMAHA when connecting other tubes and cables to the self-supporting machine harness.

50
0
18
48
59
88
97.5

Compact
single-axis robots

W: Wall-mount
(same as per external view)
U: Inverse wall-mount
(upside down)

Z axis
stroke
200: 200mm
300: 300mm

TRANSERVO

Option C
(OP.C)

RCX340-4

YK500XGS

Linear conveyor
modules

YK500XGS-U
(Inverse wall-mount)

LCM100

YK500XGS-W
(Wall-mount)

Ordering method

371

APPLICATION

YK600XGS

Arm length 600mm

Wall-mount / inverse type

Maximum payload 10kg

Linear conveyor
modules

YK600XGS-W
(Wall-mount)

LCM100

Ordering method

YK600XGS-U
(Inverse wall-mount)

RCX340-4

YK600XGS
Installation method Note 1

Model

TRANSERVO

Compact
single-axis robots

W: Wall-mount
(same as per external view)
U: Inverse wall-mount
(upside down)

Z axis
stroke
200: 200mm
300: 300mm

Controller /
Number of controllable axes

Tool flange

Cable

No entry: None
F: With tool flange

3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Specify various controller setting items. RCX340

RCX240
Controller

R3

CE Marking

Regeneratizve unit

Expansion I/O

Option E
(OP.E)

Option D
(OP.D)

Network option

Absolute
battery

P.508

BB

iVY System

Gripper

Battery

P.495

FLIP-X

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240 S
Note 1. When installing the robot, always follow the specifications.
Do not install the ceiling-mount robot upside down or do not install the inverse type robot to a ceiling.
Incorrect installation can cause trouble or malfunction.

Specifications

Controller
Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

1700

XY-X

Cartesian
robots
SCARA
robots

YK-X

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note. Please consult YAMAHA when connecting other tubes and cables to the self-supporting machine harness.

YK600XGS
300

300

D-sub connector for
user wiring
(No.1 to 20 usable)

89.5

130

39 40
178

100

20 20 27
159

M4 ground terminal

145

°

54

4-ϕ9

20

60

6.5
0
ϕ34 h7 -0.025

H
diaomllow
eter

4-ϕ5.5 through-hole
30

ϕ14

10 32

M16 x 2 Depth20 (Bottom of spline)

Controller

RCX340 u 508 RCX240 u 495

30
90°

YK600XGS
YK600XGS
Z200mm
Z300mm
Stroke specification
Stroke specification
View of B
Note. Inverse type is installed upside down.

.0
2

12

through-hole
ϕ5 H7 +0.012
0

±0

Option:
Tool flange mount type

X-axis mechanical stopper position: 132°
Y-axis mechanical stopper position: 147°

2
.0
±0

40 40

10

4-M4 x 0.7 through-hole for tool attachment
Four M4 x 10L binding screws are supplied.
Do not screw the screws in deeper than 10mm
from bottom surface of arm.
The weight of the tool attached here should be
added to the tip mass.

ϕ70

0

R30

°
145
Working envelope of right-handed system

158

2

Standard type
Flat surface has no phase relation
to R-axis origin.
Z-axis lower end
Cross section A-A
mechanical stopper position

63

200

14

71
User tool installation range

300

200
300
10

ϕ50

ϕ20h7

Hollow diameter:
ϕ14
W
flat idth a
s: 1 cro
9 ss

8

40

A

R180

R300

A

163.5 ±2

00

R6

°

10

2-R

130

50
0
18
48
59
88
97.5

ϕ8H7
through-hole
(Base
installation
0 0 surface)
13.5
ϕ50
42
109.5
114
153.5
170 ±2

B

28

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

89

8H7
80
80
200 (base size) 50
130
°

Working envelope of left-handed system
6-ϕ11
M10 bolt for
installation,
6bolts used

89.5

202

372

Keep enough space
for the maintenance
work on the top
face of the base.

R27 (Min. cable bending
radius)
Do not move the cable.

R300

(439)

Z200mm 374
Stroke

Z-axis upper end
mechanical
stopper position
8mm rise during
Z-axis
return-to-origin

°

Z300mm 474
Stroke

130

113

R180
15

R300

CONTROLLER INFORMATION

54

145°

D-sub connector for
user wiring
(No.1 to 20 usable)
User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)

User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)

00

°

106
46
40

R6

CLEAN

120

71

145°

PHASER

Linear motor
single-axis robots

X-axis
Y-axis
Z-axis
R-axis
Arm length
300 mm
300 mm
200 mm 300 mm

Axis
specifications Rotation angle
+/-130 °
+/-145 °

+/-360 °
AC servo motor output
400 W
200 W
200 W
200 W
Speed reducer
Harmonic drive Harmonic drive Ball screw
Harmonic drive
Deceleration
Motor to speed reducer
Direct-coupled
mechanism Transmission
method
Speed reducer to output
Direct-coupled
Repeatability Note 1
+/-0.01 mm
+/-0.01 mm
+/-0.004 °
2.3
1.7 1700 °/sec (wall-mount)
Maximum speed
8.4 m/sec
m/sec m/sec 800 °/sec (inverse wall-mount)
Maximum payload
10 kg (Standard specification), 9 kg (Option specifications)
Note 2
Standard cycle time: with 2kg payload
0.46 sec
R-axis tolerable moment of inertia Note 3
0.30 kgm2
User wiring
0.2 sq × 20 wires
User tubing (Outer diameter)
ϕ6×3
Travel limit
1.Soft limit 2.Mechanical stopper (X,Y,Z axis)
Robot cable length
Standard: 3.5 m Option: 5 m, 10 m
Weight
31 kg

30

30

Arm length 700mm

APPLICATION

YK700XGS

Wall-mount / inverse type

Maximum payload 20kg

Linear conveyor
modules

RCX340-4

YK700XGS
Installation method Note 1

Model

LCM100

Ordering method

Controller /
Number of controllable axes

Cable

No entry: None
F: With tool flange

3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Option D
(OP.D)

R3

Controller

CE Marking

Regeneratizve unit

Expansion I/O

Absolute
battery

P.508

Specify various controller setting items. RCX340

RCX240

Option E
(OP.E)

Network option

BB

iVY System

Gripper

Battery

FLIP-X

Single-axis robots

P.495

Specify various controller setting items. RCX 240/RCX 240 S
Note 1. When installing the robot, always follow the specifications.
Do not install the ceiling-mount robot upside down or do not install the inverse type robot to a ceiling.
Incorrect installation can cause trouble or malfunction.

Specifications

Controller
Controller Power capacity (VA) Operation method
Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

2500

Pick & place
robots

YP-X

114

46
220

21

160

130°

54

4-ϕ9

98

Z-axis lower end
mechanical stopper position

R400

25

75
6.5
2

200
400

Width across
flats: 24

Standard type
Flat surface has no phase
relation to R-axis origin.

79
(114)

Hollow diameter: ϕ18

14
45

6
200
12

86
User tool installation range

ϕ65

00

A

ϕ25h7

R310

R4

A
ϕ55

0 (Base 0
30 installation
65.5 surface)
137.3
150.5 186.3
202.8±2

10

2-R


B

198
ϕ50 h7

ϕ95

0
-0.025

130°
Working envelope of right-handed system

X-axis mechanical stopper position: 132°
Y-axis mechanical stopper position: 132°

90°

38

48 48

12

Cross section A-A
4-M4 x 0.7 through-hole for tool attachment
Four M4 x 10L binding screws are supplied.
Option: Tool flange mount type
Do not screw the screws in deeper than 10mm
from bottom surface of arm.
Ho
4-ϕ6.6 through-hole
The weight of the tool attached here should be
diamllow
eter
added to the tip mass.
40
ϕ18
40
±0

±0

12

M20 x 2.5 Depth20 (Bottom of spline)

through-hole
ϕ6 H7 +0.012
0

.0
2

.02

15 36

Controller

40

40

View of B

YK700XGS
YK700XGS
Z200mm
Z400mm
Stroke specification
Stroke specification
Note. Inverse type is installed upside down.

RCX340 u 508 RCX240 u 495

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

71

00

R7

°

ϕ8H7
through-hole

Working envelope of left-handed system

130

247

8H7
97.5 97.5
245 (base size) 51
130
°

Z200mm 385
Stroke

6-ϕ14
M12 bolt for
installation,
6bolts used

°

(520)

130

120

25

Keep enough space for
the maintenance work on
the top face of the base.

R27 (Min. cable bending
radius)
Do not move the cable.

CONTROLLER INFORMATION

M4 ground terminal

219

0

128

19
47

Z400mm 585
Stroke

400

°

R310

R400

R40

63

D-sub connector for
user wiring
(No.1 to 20 usable)

CLEAN

00

130

R7

°

User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)

Z-axis upper end
mechanical stopper
position 6mm rise during
Z-axis return-to-origin

130

53 D-sub connector for
20 user wiring
20 34 (No.1 to 20 usable)

°

300
User tubing 3 (ϕ6 Blue)
User tubing 2 (ϕ6 Red)
User tubing 1 (ϕ6 Black)

130

400

SCARA
robots

YK700XGS
80

YK-X

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note. Please consult YAMAHA when connecting other tubes and cables to the self-supporting machine harness.

Cartesian
robots

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

XY-X

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.

PHASER

RCX340
RCX240-R3

Linear motor
single-axis robots

X-axis
Y-axis
Z-axis
R-axis
Arm length
300 mm
400 mm
200 mm 400 mm

Axis
specifications Rotation angle
+/-130 °
+/-130 °

+/-360 °
AC servo motor output
750 W
400 W
400 W
200 W
Speed reducer
Harmonic drive Harmonic drive Ball screw
Harmonic drive
Deceleration
Motor to speed reducer
Direct-coupled
mechanism Transmission
method
Speed reducer to output
Direct-coupled
Repeatability Note 1
+/-0.02 mm
+/-0.01 mm
+/-0.004 °
920 °/sec (wall-mount)
2.3
1.7
Maximum speed
8.4 m/sec
m/sec m/sec 480 °/sec (inverse wall-mount)
Maximum payload
20 kg (Standard specification), 19 kg (Option specifications)
Note 2
Standard cycle time: with 2kg payload
0.42 sec
R-axis tolerable moment of inertia Note 3
1.0 kgm2
User wiring
0.2 sq × 20 wires
User tubing (Outer diameter)
ϕ6×3
Travel limit
1.Soft limit 2.Mechanical stopper (X,Y,Z axis)
Robot cable length
Standard: 3.5 m Option: 5 m, 10 m
Weight
Z axis 200 mm: 50 kg Z axis 400 mm: 52 kg

35
0
37
71.5
85.5
127.3
132
196.3±2

Compact
single-axis robots

Tool flange

TRANSERVO

W: Wall-mount
(same as per external view)
U: Inverse wall-mount
(upside down)

Z axis
stroke
200: 200mm
400: 400mm

373

APPLICATION

YK800XGS

Arm length 800mm

Wall-mount / inverse type

Maximum payload 20kg

Linear conveyor
modules

LCM100

Ordering method

RCX340-4

YK800XGS
Installation method Note 1

Model

TRANSERVO

Compact
single-axis robots

W: Wall-mount
(same as per external view)
U: Inverse wall-mount
(upside down)

Z axis
stroke
200: 200mm
400: 400mm

Tool flange

Cable

No entry: None
F: With tool flange

3L: 3.5m
5L: 5m
10L: 10m

Controller /
Number of controllable axes

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Specify various controller setting items. RCX340

RCX240

R3

Controller

CE Marking

Regeneratizve unit

Expansion I/O

Option E
(OP.E)

Option D
(OP.D)

Network option

Absolute
battery

P.508

BB

iVY System

Gripper

Battery

P.495

FLIP-X

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240 S
Note 1. When installing the robot, always follow the specifications.
Do not install the ceiling-mount robot upside down or do not install the inverse type robot to a ceiling.
Incorrect installation can cause trouble or malfunction.

Specifications

Controller
Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

2500

SCARA
robots

YK-X

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note. Please consult YAMAHA when connecting other tubes and cables to the self-supporting machine harness.

YK800XGS
80

400

114

53
20

25

120

46
220

21

160

00

47

M4 ground terminal
R27 (Min. cable bending radius)
Do not move the cable.

0

(520)

247

25

75

0

6.5
2

200


B

198
ϕ50 h7

ϕ95

Working envelope of
°
right-handed system
145
X-axis mechanical stopper position: 132°
Y-axis mechanical stopper position: 147°

Ho
4-ϕ6.6 through-hole
diamllow
eter
40
ϕ18
40
.02

.0

2

through-hole

Controller

40

40

±0

ϕ6 H7

+0.012
0

12

M20 x 2.5 Depth20 (Bottom of spline)

R4
00

0
-0.025

±0

15 36

R241

Option: Tool flange mount type

48 48

12

4-M4 x 0.7 through-hole for tool attachment Cross section A-A
Four M4 x 10L binding screws are supplied.
Do not screw the screws in deeper than 10mm
from bottom surface of arm.
The weight of the tool attached here should be
added to the tip mass.

°

R40

90°

Z-axis lower end
mechanical stopper position

400

Standard type
Flat surface has no phase
relation to R-axis origin.

Width across
flats: 24

45 14

ϕ25h7

Hollow diameter: ϕ18

6
200

400

12

ϕ55

79
(114)

ϕ65

145

°

Z-axis upper end
mechanical stopper
position 6mm rise
during Z-axis
return-to-origin

86
User tool installation range

10
2-R

38

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

A

71
0
(Base 0
30 installation
65.5 surface)
137.3
150.5 186.3
202.8±2

Working envelope of
left-handed system

130

ϕ8H7
through-hole

98

8H7
97.5 97.5
245 (base size) 51
130
°

54

Z200mm 385
Stroke

374

6-ϕ14
M12 bolt for
installation,
6bolts used

4-ϕ9

A

R400

Keep enough space
for the maintenance
work on the top
face of the base.

00

219

R241

R8

19

145°

D-sub connector for
user wiring
(No.1 to 20 usable)

R40

CONTROLLER INFORMATION

User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)
63 128
Z400mm 585
Stroke

35
0
37
71.5
85.5
127.3
132
196.3±2

°
130

145°

D-sub connector for
user wiring
(No.1 to 20 usable)

20 34

R8

CLEAN

400
User tubing 3 (ϕ6 Blue)
User tubing 2 (ϕ6 Red)
User tubing 1 (ϕ6 Black)

°

XY-X

Cartesian
robots

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.

130

PHASER

Linear motor
single-axis robots

X-axis
Y-axis
Z-axis
R-axis
Arm length
400 mm
400 mm
200 mm 400 mm

Axis
specifications Rotation angle
+/-130 °
+/-145 °

+/-360 °
AC servo motor output
750 W
400 W
400 W
200 W
Speed reducer
Harmonic drive Harmonic drive Ball screw
Harmonic drive
Deceleration
Motor to speed reducer
Direct-coupled
mechanism Transmission
method
Speed reducer to output
Direct-coupled
Repeatability Note 1
+/-0.02 mm
+/-0.01 mm
+/-0.004 °
920 °/sec (wall-mount)
2.3
1.7
Maximum speed
9.2 m/sec
m/sec m/sec 480 °/sec (inverse wall-mount)
Maximum payload
20 kg (Standard specification), 19 kg (Option specifications)
Note 2
Standard cycle time: with 2kg payload
0.48 sec
R-axis tolerable moment of inertia Note 3
1.0 kgm2
User wiring
0.2 sq × 20 wires
User tubing (Outer diameter)
ϕ6×3
Travel limit
1.Soft limit 2.Mechanical stopper (X,Y,Z axis)
Robot cable length
Standard: 3.5 m Option: 5 m, 10 m
Weight
Z axis 200 mm: 52 kg Z axis 400 mm: 54 kg

View of B

RCX340 u 508 RCX240 u 495

YK800XGS
YK800XGS
Z200mm
Z400mm
Stroke specification
Stroke specification
Note. Inverse type is installed upside down.

Arm length 900mm

APPLICATION

YK900XGS

Wall-mount / inverse type

Maximum payload 20kg

Linear conveyor
modules

RCX340-4

YK900XGS
Installation method Note 1

Model

LCM100

Ordering method

Controller /
Number of controllable axes

Cable

No entry: None
F: With tool flange

3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

R3

Controller

CE Marking

Regeneratizve unit

Expansion I/O

Absolute
battery

P.508

Specify various controller setting items. RCX340

RCX240

Option E
(OP.E)

Option D
(OP.D)

Network option

BB

iVY System

Gripper

Battery

FLIP-X

Single-axis robots

P.495

Specify various controller setting items. RCX 240/RCX 240 S

Compact
single-axis robots

Tool flange

TRANSERVO

W: Wall-mount
(same as per external view)
U: Inverse wall-mount
(upside down)

Z axis
stroke
200: 200mm
400: 400mm

Note 1. When installing the robot, always follow the specifications.
Do not install the ceiling-mount robot upside down or do not install the inverse type robot to a ceiling.
Incorrect installation can cause trouble or malfunction.

Specifications

Controller

X-axis
Y-axis
Z-axis
R-axis
Arm length
500 mm
400 mm
200 mm 400 mm

Axis
specifications Rotation angle
+/-130 °
+/-150 °

+/-360 °
AC servo motor output
750 W
400 W
400 W
200 W
Speed reducer
Harmonic drive Harmonic drive Ball screw
Harmonic drive
Deceleration
Motor to speed reducer
Direct-coupled
mechanism Transmission
method
Speed reducer to output
Direct-coupled
Repeatability Note 1
+/-0.02 mm
+/-0.01 mm
+/-0.004 °
2.3
1.7 920 °/sec (wall-mount)
Maximum speed
9.9 m/sec
m/sec m/sec 480 °/sec (inverse wall-mount)
Maximum payload
20 kg (Standard specification), 19 kg (Option specifications)
Note 2
Standard cycle time: with 2kg payload
0.49 sec
R-axis tolerable moment of inertia Note 3
1.0 kgm2
User wiring
0.2 sq × 20 wires
User tubing (Outer diameter)
ϕ6×3
Travel limit
1.Soft limit 2.Mechanical stopper (X,Y,Z axis)
Robot cable length
Standard: 3.5 m Option: 5 m, 10 m
Weight
Z axis 200 mm: 54 kg Z axis 400 mm: 56 kg

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

2500

Pick & place
robots

YP-X

114

53 D-sub connector for
20 user wiring
34 (No.1 to 20 usable)

°
130

46
220
25

120

°

130

00

R9

CLEAN

20

150°

500
User tubing 3 (ϕ6 Blue)
User tubing 2 (ϕ6 Red)
User tubing 1 (ϕ6 Black)

21

400

SCARA
robots

YK900XGS
80

YK-X

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note. Please consult YAMAHA when connecting other tubes and cables to the self-supporting machine harness.

Cartesian
robots

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

XY-X

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.

PHASER

RCX340
RCX240-R3

Linear motor
single-axis robots

Controller Power capacity (VA) Operation method

Z400mm 585
Stroke

(520)

54

247

Z-axis lower end
mechanical stopper position

12

Cross section A-A
4-M4 x 0.7 through-hole for tool attachment
Four M4 x 10L binding screws are supplied.
Do not screw the screws in deeper than 10mm
from bottom surface of arm.
The weight of the tool attached here should be
added to the tip mass.

25

75
2


B

R253

R4

198

ϕ95

ϕ50 h7

0
-0.025

°

150

Working envelope of
right-handed system

X-axis mechanical stopper position: 132°
Y-axis mechanical stopper position: 152°

38

Option: Tool flange mount type
Ho
dia llow 4-ϕ6.6 through-hole
me
ter
40
ϕ1
40
8
90°

48 48

.0

40

40

12

±0

through-hole
ϕ6 H7 +0.012
0

2

.02

M20 x 2.5 Depth20 (Bottom of spline)

00

R9

R400

±0

15 36

°

00

6.5

137.3
150.5 186.3
202.8±2

10
2-R

ϕ65

200

Standard type
Flat surface has no phase
relation to R-axis origin.

79
(114)

400

ϕ25h7

86
User tool installation range

Width across
flats: 24

200 6

400

12

ϕ55

0 (Base 0
30 installation
65.5 surface)

Hollow diameter: ϕ18

A

A

45 14

71

150

Controller

View of B

YK900XGS
YK900XGS
Z200mm
Z400mm
Stroke specification
Stroke specification
Note. Inverse type is installed upside down.

RCX340 u 508 RCX240 u 495

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

35
0
37
71.5
85.5
127.3
132
196.3±2
Z-axis upper end
mechanical stopper
position 6mm rise
during Z-axis
return-to-origin

Working envelope of
left-handed system

°
130

ϕ8H7
through-hole

98

0

6-ϕ14
M12 bolt for
installation,
6bolts used

4-ϕ9

Z200mm 385
Stroke

R40

Keep enough space
for the maintenance
work on the top
face of the base.

R27 (Min. cable bending radius)
Do not move the cable.

R4
00

219

150°

63 128

R253

19
47 M4 ground terminal

8H7
97.5 97.5
245 (base size) 51
130
°

160
D-sub connector for
user wiring
(No.1 to 20 usable)

CONTROLLER INFORMATION

User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)

375

APPLICATION

YK1000XGS

Arm length 1000mm

Wall-mount / inverse type

Maximum payload 20kg

Linear conveyor
modules

LCM100

Ordering method

RCX340-4

YK1000XGS
Z axis
stroke
200: 200mm
400: 400mm

Installation method Note 1

Model

TRANSERVO

Compact
single-axis robots

W: Wall-mount
(same as per external view)
U: Inverse wall-mount
(upside down)

Tool flange

Cable

No entry: None
F: With tool flange

3L: 3.5m
5L: 5m
10L: 10m

Controller /
Number of controllable axes

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Specify various controller setting items. RCX340

RCX240

R3

Controller

CE Marking

Regeneratizve unit

Expansion I/O

Option E
(OP.E)

Option D
(OP.D)

Network option

Absolute
battery

P.508

BB

iVY System

Gripper

Battery

P.495

FLIP-X

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240 S
Note 1. When installing the robot, always follow the specifications.
Do not install the ceiling-mount robot upside down or do not install the inverse type robot to a ceiling.
Incorrect installation can cause trouble or malfunction.

Specifications

Controller
Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

2500

SCARA
robots

YK-X

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 300mm in horizontal and 25mm in vertical directions.
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note. Please consult YAMAHA when connecting other tubes and cables to the self-supporting machine harness.

YK1000XGS
80

114

53

D-sub connector for
user wiring
(No.1 to 20 usable)

130

21

150°

20

20
34

46
220
25

0

00

°

R1

CLEAN

600
User tubing 3 (ϕ6 Blue)
User tubing 2 (ϕ6 Red)
User tubing 1 (ϕ6 Black)

120

400

°

XY-X

Cartesian
robots

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.

130

PHASER

Linear motor
single-axis robots

X-axis
Y-axis
Z-axis
R-axis
Arm length
600 mm
400 mm
200 mm 400 mm

Axis
specifications Rotation angle
+/-130 °
+/-150 °

+/-360 °
AC servo motor output
750 W
400 W
400 W
200 W
Speed reducer
Harmonic drive Harmonic drive Ball screw
Harmonic drive
Deceleration
Motor to speed reducer
Direct-coupled
mechanism Transmission
method
Speed reducer to output
Direct-coupled
Repeatability Note 1
+/-0.02 mm
+/-0.01 mm
+/-0.004 °
2.3
1.7 920 °/sec (wall-mount)
Maximum speed
10.6 m/sec
m/sec m/sec 480 °/sec (inverse wall-mount)
Maximum payload
20 kg (Standard specification), 19 kg (Option specifications)
Note 2
Standard cycle time: with 2kg payload
0.49 sec
R-axis tolerable moment of inertia Note 3
1.0 kgm2
User wiring
0.2 sq × 20 wires
User tubing (Outer diameter)
ϕ6×3
Travel limit
1.Soft limit 2.Mechanical stopper (X,Y,Z axis)
Robot cable length
Standard: 3.5 m Option: 5 m, 10 m
Weight
Z axis 200 mm: 56 kg Z axis 400 mm: 58 kg

D-sub connector for
user wiring
(No.1 to 20 usable)

219

47

R324

19
M4 ground terminal

128

Z400mm 585
Stroke

Z200mm 385
Stroke

54

Cross section A-A

25

75

0

R40


B
ϕ95

198
0

ϕ50 h7 -0.025

Working envelope of
°
right-handed system
150
X-axis mechanical stopper position: 132°
Y-axis mechanical stopper position: 152°

Option: Tool flange mount type
H
diaollow 4-ϕ6.6 through-hole
me
ter
40
ϕ1
40
8
90°

±0

Controller

RCX340 u 508 RCX240 u 495

.0

through-hole

±0

ϕ6 H7

12

M20 x 2.5 Depth20 (Bottom of spline)

+0.012
0

2

.02

15 36

R324

6.5
2
200

400

Width across
flats: 24

45 14

48 48

Hollow diameter: ϕ18

6
200
12

400

Standard type
Flat surface has no phase
relation to R-axis origin.
Z-axis lower end
mechanical stopper position

0

00

R1

00

User tool installation range

4-M4 x 0.7 through-hole for tool attachment
Four M4 x 10L binding screws are supplied.
Do not screw the screws in deeper than 10mm
from bottom surface of arm.
The weight of the tool attached here should be
added to the tip mass.

12

79
(114)

°

R4

ϕ25h7
ϕ55

86

ϕ65

150

°

A

0 0
30
65.5
137.3
150.5
186.3
202.8±2

10
2-R

(Base
installation
surface)

38

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

376

71

Working envelope of
left-handed system

130

247 ϕ8H7
through-hole
98

00

R4

8H7
97.5 97.5
245 (base size) 51
130
°

4-ϕ9

A

0

6-ϕ14
M12 bolt for
installation,
6bolts used

(520)

35
0
37
71.5
85.5
127.3
132
196.3±2
Z-axis upper end
mechanical stopper
position 6mm rise
during Z-axis
return-to-origin

R40

Keep enough space for
R27 (Min. cable bending the maintenance work on
the top face of the base.
radius)
Do not move the cable.

150°

63

160

CONTROLLER INFORMATION

User tubing 1 (ϕ6 Black)
User tubing 2 (ϕ6 Red)
User tubing 3 (ϕ6 Blue)

40

40

View of B

YK1000XGS
Z200mm
Stroke specification

YK1000XGS
Z400mm
Stroke specification

Note. Inverse type is installed upside down.

Arm length 250mm

APPLICATION

YK250XGP

Dust-proof & drip-proof type

Maximum payload 4kg

Linear conveyor
modules

YK250XGP 150

RCX340-4

S
Hollow shaft

No entry: None
F: With tool flange

S: With hollow shaft

Controller /
Number of controllable axes

Cable
3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A Option B Option C Option D
(OP.A)
(OP.B)
(OP.C)
(OP.D)

RCX240S

CE Marking

Expansion I/O

Network option

Absolute
battery

P.508

Specify various controller setting items. RCX340

Controller

Option E
(OP.E)

BB

Gripper

iVY System

Battery

Arm length
Axis
specifications Rotation angle

100 mm

150 mm

150 mm

+/-129 °

+/-134 °

+/-360 °

200

150

50

100

Ball screw

Harmonic drive

AC servo motor output (W)
Speed reducer

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240S

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

1000

Direct-coupled
Direct-coupled

Repeatability Note 1
Maximum speed

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

4.5 m/sec

1.1 m/sec

1020 °/sec

Maximum payload
R-axis tolerable moment of inertia Note 3

0.05 kgm2

Protection class Note 4

Equivalent to IP65 (IEC 60529)

User wiring

0.2 sq × 10 wires
ϕ4×4

User tubing (Outer diameter)
Robot cable length

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

21.5 kg

YK250XGP

°

°
129

R4

0

134

213 63

104
60 60
140

96

90

7.8

R250

117
Maximum 240 during arm rotation

8

R10

184

Machine Harness

689
661

46°

• Note that the robot cannot be used at a position
where the base flange, robot cable, spline,
bellows, and tool flange interfere with each other
in the working envelope shown above.
• X-axis mechanical stopper position : 131°
• Y-axis mechanical stopper position : 136°

632±10
Maximum 660
during arm rotation

614

50

46°

R1

(150)

100

510

User tubing 1 (ϕ4 black)
Insert the plug provided when not used.
User tubing 2 (ϕ4 red)
Since this port is not used, cover it with the cap supplied with the joint.

User tubing 3 (ϕ4 blue)

246 User tubing 4 (ϕ4 white)
221
202
167
Z-axis bellows
93
71
A
58
45
32
12
0
0
Z-axis upper end mechanical stopper position M4 ground terminal
Z-axis rises 4mm during return-to-origin.

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

4

150
95.5

4

11

0

70

39 39
10 10

50
Cross section A-A

48

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

20

6
10

22.5
26

98
61
32
0

ϕ70

31

Z-axis lower end mechanical stopper position
28
Keep enough space for the maintenance
work at the rear of the base.

ϕ38
42

A

54.5±2

H
dia ollow
me
t er

Width across flats: 15

173
133
120

ϕ90

57

10 10

283
264
234

51
43

User tool installation range

0

ϕ16 h7 - 0.018
Z axis tip shape
R32 (Min. cable bending radius)
Do not move the cable.

4-ϕ11

Controller

RCX340 u 508 RCX240S u 495

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

428

CONTROLLER INFORMATION

150

130

CLEAN

839
809

53

52

°

56↓F

4-ϕ9
M8 bolt for installation, 4 bolts used
13.4
13.4
12
View of F
183 (Base size)

°

10

User tubing 2 (ϕ4 red)

62

If the robot enters the
inside of R40, the Z-axis
bellows may be in contact
with the base. So, do not
perform such motion.

129

30

If the robot enters the inside from the inner limit of the
working envelope, the Z-axis bellows may be in contact
with the base or the arm may be in contact with the
machine harness. So, do not perform such motion.

134

User tubing 1 (ϕ4 black)
Insert the plug provided when not used.

4-M3 × 0.5 Depth 5
(No phase relation to R-axis origin.)
As this hole is intended for the
wiring/tubing clamp, do not
Hollo
attach a large load to it.
diamew
ter: ϕ
11
7.8

User tubing 3 (ϕ4 blue)
User tubing 4 (ϕ4 white)
212

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

Pick & place
robots

YP-X

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 25mm in vertical direction and 300mm in horizontal direction (rough-positioning arch motion).
Note 3. There are limits to acceleration coefficient settings. See P.537.
Note 4. Do not use robots where the bellows section is directly exposed to water jet. Contact our distributor for information on drip-proof
structure preventing liquid other than water.

SCARA
robots

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

YK-X

Travel limit

Cartesian
robots

0.57 sec

XY-X

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

4 kg

Standard cycle time: with 2kg payload Note 2

PHASER

Z-axis

Linear motor
single-axis robots

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

P.495

Specify various controller setting items. RCX 240/RCX 240S

Specifications

Compact
single-axis robots

Tool flange

TRANSERVO

Z axis
stroke
150: 150mm

Model

LCM100

Ordering method

377

APPLICATION

YK250XGP

LCM100

Linear conveyor
modules
Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots

XY-X

Cartesian
robots
SCARA
robots

YK-X

129

°

0
R4

7.8

R250

213 63

130

°

53

52

129

10

4-ϕ9
M8 bolt for installation, 4 bolts used
13.4
13.4
12
View of F
183 (Base size)

°

CONTROLLER INFORMATION

User tubing 2 (ϕ4 red)

62

134

30

If the robot enters the
inside of R40, the Z-axis
bellows may be in contact
with the base. So, do not
perform such motion.

°

104
60 60
140

96

90

CLEAN

User tubing 1 (ϕ4 black)
Insert the plug provided when not used.

If the robot enters the inside from the inner limit of the
working envelope, the Z-axis bellows may be in contact
with the base or the arm may be in contact with the
machine harness. So, do not perform such motion.

4-M3 × 0.5 Depth 5
(No phase relation to R-axis origin.)
As this hole is intended for the
wiring/tubing clamp, do not
Hollo
attach a large load to it.
diamew
ter: ϕ
11

134

User tubing 3 (ϕ4 blue)
User tubing 4 (ϕ4 white)
212

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

7.8

YP-X

Pick & place
robots

YK250XGP Tool flange mount type

8

R10

50
R1

184

46°

46°
• Note that the robot cannot be used at a position
where the base flange, robot cable, spline,
bellows, and tool flange interfere with each other
in the working envelope shown above.
• X-axis mechanical stopper position : 131°
• Y-axis mechanical stopper position : 136°

Machine Harness

User tubing 1 (ϕ4 black)
Insert the plug provided when not used.

Since this port is not used, cover it with the cap supplied with the joint.

User tubing 3 (ϕ4 blue)

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

User tubing 4 (ϕ4 white)

93
71
58
45
32
12
0

150

D

M4 ground terminal

6
10

22.5
26

98
61
32
0

4-ϕ4.5 through-hole

22

.6

0.0

4

.6±

RCX340 u 508 RCX240S u 495

Detailed drawing D

22

0

ϕ30 h7 -0.021

+ 0.012

ϕ4 H7 0

through-hole

0.
0
22 2
.6

4-ϕ11

↑E
ϕ55

2

2

Tapped hole for user wiring 6-M3 × 0.5 Depth 6 R32 (Min. cable bending radius)
The weight of the tool attached here should be Do not move the cable.
added to the tip mass.

Controller

ϕ35

Keep enough space for the maintenance
work at the rear of the base.

39 39
10 10

28

6

20

1
ϕ1

70

22

50

.
22

31

99.5

.6
90°

Z-axis bellows
65
50.5±2
0

llow r:
Ho amete
di

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

378

User tubing 2 (ϕ4 red)

View of E

Arm length 350mm

APPLICATION

YK350XGP

Dust-proof & drip-proof type

Maximum payload 4kg

Linear conveyor
modules

YK350XGP 150

RCX340-4

S
Hollow shaft

No entry: None
F: With tool flange

S: With hollow shaft

Controller /
Number of controllable axes

Cable
3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A Option B Option C Option D
(OP.A)
(OP.B)
(OP.C)
(OP.D)

RCX240S

CE Marking

Expansion I/O

Network option

iVY System

BB

Gripper

Battery

P.495

Arm length
Axis
specifications Rotation angle

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

200 mm

150 mm

150 mm

+/-129 °

+/-134 °

+/-360 °

200 W

150 W

50 W

100 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240S

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

1000

Direct-coupled
Direct-coupled

Repeatability Note 1
Maximum speed

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

5.6 m/sec

1.1 m/sec

1020 °/sec

Maximum payload
R-axis tolerable moment of inertia Note 3

0.05 kgm2

Protection class Note 4

Equivalent to IP65 (IEC 60529)

User wiring

0.2 sq × 10 wires
ϕ4×4

User tubing (Outer diameter)
Robot cable length

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

22 kg

YK350XGP
User tubing 3 (ϕ4 blue)
User tubing 4 (ϕ4 white) 212

428

4
0
Z-axis upper end mechanical stopper position
Z-axis rises 4mm during return-to-origin.
4

95.5
70

28

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

6
10

22.5
26

276
ϕ70

31

Z-axis lower end mechanical stopper position
20

39 39
10 10

50

M4 ground terminal

98
61
32
0

Keep enough space for the maintenance
work at the rear of the base.

10 10

150

11
H
dia ollow
me
ter

93
71
58
45
32
12
0

A

0

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

246 User tubing 4 (ϕ4 white)
221
202
167

Z-axis bellows

54.5±2

Since this port is not used, cover it with the cap supplied with the joint.

User tubing 3 (ϕ4 blue)

48

ϕ90

A

User tubing 2 (ϕ4 red)

57

ϕ38
User tool installation range

0
ϕ16 h7 - 0.018

R32 (Min. cable bending radius)
Do not move the cable.

4-ϕ11

Controller

Z axis tip shape

RCX340 u 508 RCX240S u 495

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

Width across flats: 15

°

°

User tubing 1 (ϕ4 black)
Insert the plug provided when not used.

510

Cross section A-A

129

7.8

632±10
Maximum 660
during arm rotation

51
43

76°

• Note that the robot cannot be used at a position
where the base flange, robot cable, spline,
bellows, and tool flange interfere with each other
in the working envelope shown above.
• X-axis mechanical stopper position : 131°
• Y-axis mechanical stopper position : 136°

42

(150)

Machine Harness

614

173
133
120

184
76°

689
661

283
264
234

134

7.8

104
60 60
140

96

90

130

R150

839
809

53

44

CONTROLLER INFORMATION

200

150

R1

R350

°

10

56 ↓F

4-ϕ9
M8 bolt for installation, 4 bolts used
13.4
13.4
12
183 (Base size)
View of F
117
Maximum 190 during arm rotation

129

User tubing 2 (ϕ4 red)

62

r: ϕ11

°

30

Hollo
diamew
te

134

User tubing 1 (ϕ4 black)
Insert the plug provided when not used.

If the robot enters the inside
from the inner limit of the
working envelope, the Z-axis
bellows may be in contact with
the base or the arm may be in
contact with the machine
harness. So, do not perform
such motion.

4-M3 × 0.5 Depth 5
(No phase relation to R-axis origin.)
As this hole is intended for the
wiring/tubing clamp, do not
attach a large load to it.

CLEAN

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

Pick & place
robots

YP-X

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 25mm in vertical direction and 300mm in horizontal direction (rough-positioning arch motion).
Note 3. There are limits to acceleration coefficient settings. See P.537.
Note 4. Do not use robots where the bellows section is directly exposed to water jet. Contact our distributor for information on drip-proof
structure preventing liquid other than water.

SCARA
robots

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

YK-X

Travel limit

Cartesian
robots

0.57 sec

XY-X

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

4 kg

Standard cycle time: with 2kg payload Note 2

PHASER

Speed reducer

Z-axis

Linear motor
single-axis robots

AC servo motor output

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240S

Specifications

Absolute
battery

P.508

Specify various controller setting items. RCX340

Controller

Option E
(OP.E)

Compact
single-axis robots

Tool flange

TRANSERVO

Z axis
stroke
150: 150mm

Model

LCM100

Ordering method

379

APPLICATION

YK350XGP

LCM100

Linear conveyor
modules
Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots

XY-X

Cartesian
robots
SCARA
robots

YK-X

°
134

°
129

140

104
60
60

90

7.8

130

44

276

53

R1

R350

4-ϕ9
M8 bolt for installation, 4 bolts used 13.4
13.4
12
View of F
183 (Base size)

°

10

62

184

76°

76°

R150

CONTROLLER INFORMATION

User tubing 2 (ϕ4 red)

r: ϕ11

129

30

Hollo
diamew
te

If the robot enters the inside
from the inner limit of the
working envelope, the Z-axis
bellows may be in contact with
the base or the arm may be in
contact with the machine
harness. So, do not perform
such motion.

°

User tubing 1 (ϕ4 black)
Insert the plug provided when not used.

4-M3 × 0.5 Depth 5
(No phase relation to R-axis origin.)
As this hole is intended for the
wiring/tubing clamp, do not
attach a large load to it.

212

7.8

User tubing 3 (ϕ4 blue)
User tubing 4 (ϕ4 white)

134

CLEAN

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

96

YP-X

Pick & place
robots

YK350XGP Tool flange mount type

• Note that the robot cannot be used at a position
where the base flange, robot cable, spline,
bellows, and tool flange interfere with each other
in the working envelope shown above.
• X-axis mechanical stopper position : 131°
• Y-axis mechanical stopper position : 136°

Machine Harness

User tubing 1 (ϕ4 black)
Insert the plug provided when not used.

Since this port is not used, cover it with the cap supplied with the joint.

User tubing 3 (ϕ4 blue)

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

User tubing 4 (ϕ4 white)

M4 ground terminal

99.5

6
10

22.5
26

ϕ35

31
Keep enough space for the maintenance
work at the rear of the base.
2

.6

ϕ30 h7 -0.021

Detailed drawing D

22

RCX340 u 508 RCX240S u 495

0

2

4-ϕ11

.0

Controller

R32 (Min. cable bending radius)
Do not move the cable.

↑E

ϕ55

±0

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

4-ϕ4.5 through-hole

.6

28

4

20

39 39
10 10

70

22

50

+ 0.012

ϕ4 H7 0

through-hole

View of E

90°

150

0

98
61
32
0

.6

D

22

93
71
58
45
32
12
0

±0
.
22 02
.6

65
50.5±2

7

Z-axis bellows

.6
22
1
ϕ1
llow r:
Ho amete
di

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

380

User tubing 2 (ϕ4 red)

Arm length 400mm

APPLICATION

YK400XGP

Dust-proof & drip-proof type

Maximum payload 4kg

Linear conveyor
modules

YK400XGP 150

RCX340-4

S

Controller /
Number of controllable axes

Hollow shaft

Cable

No entry: None
F: With tool flange

S: With hollow shaft

3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A Option B Option C Option D
(OP.A)
(OP.B)
(OP.C)
(OP.D)

Option E
(OP.E)

P.508

Specify various controller setting items. RCX340

RCX240S
Controller

CE Marking

Expansion I/O

Network option

BB

Gripper

iVY System

Battery

P.495

Arm length
Axis
specifications Rotation angle

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

250 mm

150 mm

150 mm

+/-129 °

+/-144 °

+/-360 °

200 W

150 W

50 W

100 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240S

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

1000

Direct-coupled
Direct-coupled

Repeatability Note 1

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

6.1 m/sec

1.1 m/sec

1020 °/sec

Maximum speed
Maximum payload
R-axis tolerable moment of inertia Note 3

0.05 kgm2

Protection class Note 4

Equivalent to IP65 (IEC 60529)

User wiring

0.2 sq × 10 wires
ϕ4×4

User tubing (Outer diameter)
Robot cable length

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

22.5 kg

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 25mm in vertical direction and 300mm in horizontal direction (rough-positioning arch motion).
Note 3. There are limits to acceleration coefficient settings. See P.538.
Note 4. Do not use robots where the bellows section is directly exposed to water jet. Contact our distributor for information on drip-proof
structure preventing liquid other than water.

YK400XGP

°

144

90

104
60 60
140

°
129

7.8

307

428

User tubing 2 (ϕ4 red)

93
71
58
45
32
12
0

4
4
70

Z-axis lower end mechanical stopper position
28

20

0

M4 ground terminal

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

6
10

22.5
26

98
61
32
0

ϕ70

31
Keep enough space for the maintenance
work at the rear of the base.

39 39
10 10

50

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

User tubing 4 (ϕ4 white)

ϕ38
42

246
221
202
167

10 10

(150)
95.5

Since this port is not used, cover it with the cap supplied with the joint.

User tubing 3 (ϕ4 blue)

48

Z-axis upper end mechanical stopper position
Z-axis rises 4mm during return-to-origin.

150

11

User tubing 1 (ϕ4 black)
Insert the plug provided when not used.

A

0

H
dia ollow
me
ter

510

57

Z-axis bellows
A

94°

• Note that the robot cannot be used at a position
where the base flange, robot cable, spline,
bellows, and tool flange interfere with each other
in the working envelope shown above.
• X-axis mechanical stopper position : 131°
• Y-axis mechanical stopper position : 146°

User tool installation range

0

ϕ16 h7 - 0.018
R32 (Min. cable bending radius)
Do not move the cable.

4-ϕ11

Controller

Z axis tip shape

RCX340 u 508 RCX240S u 495

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

Width across flats: 15

184

94°

Machine Harness

ϕ90

R156

View of F

117
Maximum 190 during arm rotation

250

51
43

R400

13.4

632±10
Maximum 660
during arm rotation

54.5±2

Cross section A-A

13.4

If the robot enters the inside
from the inner limit of the
working envelope, the Z-axis
bellows may be in contact with
the base or the arm may be in
contact with the machine
harness. So, do not perform
such motion.

CONTROLLER INFORMATION

12
183 (Base size)

173
133
120

°

130

689
661
614

283
264
234

12

150

53

R150

56

↓F

10

4-ϕ9
M8 bolt for installation, 4 bolts used

62

30

User tubing 2 (ϕ4 red)

839
809

144

User tubing 1 (ϕ4 black)
Insert the plug provided when not used.

4-M3 × 0.5 Depth 5
(No phase relation to R-axis origin.)
As this hole is intended for the
wiring/tubing clamp, do not
Hollo
w
attach a large load to it.
diame
ter: ϕ
11

CLEAN

96

212

7.8

User tubing 3 (ϕ4 blue)
User tubing 4 (ϕ4 white)

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

SCARA
robots

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

YK-X

Travel limit

Cartesian
robots

0.57 sec

XY-X

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

4 kg

Standard cycle time: with 2kg payload Note 2

PHASER

Speed reducer

Z-axis

Linear motor
single-axis robots

AC servo motor output

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240S

Specifications

Absolute
battery

Compact
single-axis robots

Tool flange

TRANSERVO

Z axis
stroke
150: 150mm

Model

LCM100

Ordering method

381

APPLICATION

YK400XGP

LCM100

Linear conveyor
modules
Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots

XY-X

Cartesian
robots
SCARA
robots

YK-X

°

144

104
60 60
140

7.8

90

130

R400

If the robot enters the
inside from the inner limit
of the working envelope,
the Z-axis bellows may be
in contact with the base or
the arm may be in contact
with the machine harness.
So, do not perform such
motion.

R156

307

53

4-ϕ9
13.4
13.4
M8 bolt for installation, 4 bolts used
View of F
12
183 (Base size)

184

94°

R150

CONTROLLER INFORMATION

10

62

°

30

User tubing 2 (ϕ4 red)

12

User tubing 1 (ϕ4 black)
Insert the plug provided when not used.

4-M3 × 0.5 Depth 5
(No phase relation to R-axis origin.)
As this hole is intended for the
wiring/tubing clamp, do not
Hollo
attach a large load to it.
diamew
ter: ϕ
11

144

CLEAN

96

212

°

User tubing 4 (ϕ4 white)

129

User tubing 3 (ϕ4 blue)

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

7.8

YP-X

Pick & place
robots

YK400XGP Tool flange mount type

94°

• Note that the robot cannot be used at a position
where the base flange, robot cable, spline,
bellows, and tool flange interfere with each other
in the working envelope shown above.
• X-axis mechanical stopper position : 131°
• Y-axis mechanical stopper position : 146°

Machine Harness

User tubing 1 (ϕ4 black)
Insert the plug provided when not used.
User tubing 2 (ϕ4 red)

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

6

ϕ35

4

RCX340 u 508 RCX240S u 495

Detailed drawing D

.6
22

0

ϕ30 h7- 0.021

+ 0.012

ϕ4 H7 0

through-hole

.6

4-ϕ11

↑E
ϕ55

22

2

Controller

R32 (Min. cable bending radius)
Do not move the cable.

.6

2

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

4-ϕ4.5 through-hole

0.0

39 39
10 10

28

22

20

.6±

70

22

50

Keep enough space for the
maintenance work at the
rear of the base.

11

31

99.5

.6

22.5
26

10

02

M4 ground terminal

98
61
32
0

22

150

D

0.

93
71
58
45
32
12
0

Z-axis bellows
65
50.5±2
0

90°

User tubing 4 (ϕ4 white)

ϕ
llow er:
Ho amet
di

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

382

Since this port is not used, cover it with the cap supplied with the joint.

User tubing 3 (ϕ4 blue)

View of E

Arm length 500mm

APPLICATION

YK500XGLP

Dust-proof & drip-proof type

Maximum payload 4kg

Linear conveyor
modules

YK500XGLP 150

RCX340-4

S
Hollow shaft

No entry: None
F: With tool flange

S: With hollow shaft

Controller /
Number of controllable axes

Cable
3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A Option B Option C Option D
(OP.A)
(OP.B)
(OP.C)
(OP.D)

RCX240S

CE Marking

Expansion I/O

Network option

BB

Gripper

iVY System

Battery

Arm length
Axis
specifications Rotation angle

250 mm

250 mm

150 mm

+/-129 °

+/-144 °

+/-360 °

200 W

150 W

50 W

100 W

Ball screw

Harmonic drive

AC servo motor output
Speed reducer

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240S

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

1000

Direct-coupled
Direct-coupled

Repeatability Note 1

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

5.1 m/sec

1.1 m/sec

1020 °/sec

Maximum speed
Maximum payload
R-axis tolerable moment of inertia Note 3

0.05 kgm2

Protection class Note 4

Equivalent to IP65 (IEC 60529)

User wiring

0.2 sq × 10 wires
ϕ4×4

User tubing (Outer diameter)
Robot cable length

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

25 kg

YK500XGLP

(150)

14

°

129

7.8

104
60 60
140

7.8

96

90

Machine Harness

184

R2

50

12

75°

75°

• Note that the robot cannot be used at a position
where the base flange, robot cable, spline,
bellows, and tool flange interfere with each other
in the working envelope shown above.
• X-axis mechanical stopper position : 131°
• Y-axis mechanical stopper position : 146°

117
Maximum 160 during arm rotation

250

55

R1

675±10
Maximum 730
during arm rotation

User tubing 1 (ϕ4 black)
User tubing 2 (ϕ4 red)
Insert the plug provided when not used.

523

User tubing 3 (ϕ4 blue)

4

0
Z-axis upper end mechanical stopper position
Z-axis rises 4mm during return-to-origin.
M4 ground terminal

Keep enough space for the maintenance
work at the rear of the base.

39 39
10 10

28

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

ϕ70

31

Z-axis lower end mechanical stopper position
20

6
10

98
61
32
0
22.5
26

ϕ38

42

93
71
58
45
32
12
0

A

150

82.5

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

256
221 User tubing 4 (ϕ4 white)
202
167

Z-axis bellows
A

50 70
Cross section A-A

48

ϕ90

67.5±2
0

Since this port is not used, cover it with the cap supplied with the joint.

57

10 10

186
146
133

51
43

4

Width across flats: 15
H
dia ollow
me
ter

11

296
274
247

User tool installation range

0

ϕ16 h7 - 0.018
R32 (Min. cable bending radius)
Do not move the cable.

Z axis tip shape
4-ϕ11

Controller

RCX340 u 508 RCX240S u 495

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

441

CONTROLLER INFORMATION

250

°

702
674
627

13.4

View of F
4-ϕ9
M8 bolt for installation, 4 bolts used
183 (Base size)

↓F
56

852
822

30
62
10 53 130

144

User tubing 2 (ϕ4 red)

00

13.4

R5

User tubing 1 (ϕ4 black)
Insert the plug provided when not used.

12

CLEAN

212

If the robot enters the
inside from the inner limit
of the working envelope,
the Z-axis bellows may be
in contact with the base or
the arm may be in contact
with the machine harness.
So, do not perform such
motion.

407

User tubing 4 (ϕ4 white)

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

4-M3 × 0.5 Depth 5
(No phase relation to R-axis origin.)
As this hole is intended for the
wiring/tubing clamp, do not
attach a large load to it.
Hollo
diamew
ter: ϕ
11

User tubing 3 (ϕ4 blue)

Pick & place
robots

YP-X

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 25mm in vertical direction and 300mm in horizontal direction (rough-positioning arch motion).
Note 3. There are limits to acceleration coefficient settings. See P.538.
Note 4. Do not use robots where the bellows section is directly exposed to water jet. Contact our distributor for information on drip-proof
structure preventing liquid other than water.

SCARA
robots

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

YK-X

Travel limit

Cartesian
robots

0.74 sec

XY-X

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

4 kg

Standard cycle time: with 2kg payload Note 2

PHASER

Z-axis

Linear motor
single-axis robots

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

P.495

Specify various controller setting items. RCX 240/RCX 240S

Specifications

Absolute
battery

P.508

Specify various controller setting items. RCX340

Controller

Option E
(OP.E)

Compact
single-axis robots

Tool flange

TRANSERVO

Z axis
stroke
150: 150mm

Model

LCM100

Ordering method

383

APPLICATION

YK500XGLP

LCM100

Linear conveyor
modules
Compact
single-axis robots

TRANSERVO
FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots

XY-X

Cartesian
robots
SCARA
robots

YK-X

14

°

129

104
60 60
140

7.8

96

90

°

13.4

4-ϕ9
M8 bolt for installation, 4 bolts used

13.4

55

R1

View of F

12
50

30
62
10 53 130

User tubing 2 (ϕ4 red)

144

CONTROLLER INFORMATION

User tubing 1 (ϕ4 black)
Insert the plug provided when not used.

12

00
R5

CLEAN

212

If the robot enters the
inside from the inner limit
of the working envelope,
the Z-axis bellows may be
in contact with the base or
the arm may be in contact
with the machine harness.
So, do not perform such
motion.

R2

183 (Base size)

407

User tubing 4 (ϕ4 white)

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

4-M3 × 0.5 Depth 5
(No phase relation to R-axis origin.)
As this hole is intended for the
wiring/tubing clamp, do not
attach a large load to it.
Hollo
diamew
ter: ϕ
11

User tubing 3 (ϕ4 blue)

7.8

YP-X

Pick & place
robots

YK500XGLP Tool flange mount type

184
75°

75°

• Note that the robot cannot be used at a position
where the base flange, robot cable, spline,
bellows, and tool flange interfere with each other
in the working envelope shown above.
• X-axis mechanical stopper position : 131°
• Y-axis mechanical stopper position : 146°
Machine Harness
User tubing 1 (ϕ4 black)

Since this port is not used, cover it with the cap supplied with the joint.
User tubing 3 (ϕ4 blue)

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

6

.6

4
2

39 39
10 10

RCX340 u 508 RCX240S u 495

↑E
ϕ55

0

ϕ30h7 - 0.021

Detailed drawing D

2

4-ϕ11

.6

.0

Controller

R32 (Min. cable bending radius)
Do not move the cable.

±0

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

22

Keep enough space for the
maintenance work at the
rear of the base.

.6

28

22

20

11

ϕ35

31
50 70

.6

10

22

M4 ground terminal

86.5

98
61
32
0
22.5
26

22

D
150

0

93
71
58
45
32
12
0

+ 0.012

ϕ4H7 0

through-hole


0.
22 02
.6

Z-axis bellows
78
63.5±2

View of E

90°

User tubing 4 (ϕ4 white)

ϕ
llow er:
Ho amet
di

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

384

User tubing 2 (ϕ4 red)
Insert the plug provided when not used.

Arm length 500mm

APPLICATION

YK500XGP

Dust-proof & drip-proof type

Maximum payload 8kg

Linear conveyor
modules

YK500XGP

RCX340-4

F
Tool flange

Controller /
Number of controllable axes

3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Option D
(OP.D)

Specify various controller setting items. RCX340

RCX240

R3

Controller

CE Marking

Regeneratizve unit

Expansion I/O

Option E
(OP.E)

P.508

Network option

iVY System

BB
Gripper

Battery

Arm length
Axis
specifications Rotation angle

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

200 mm

300 mm

200 mm 300 mm

+/-130 °

+/-145 °

+/-360 °

400 W

200 W

200 W

200 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

1700

Direct-coupled
Direct-coupled

Repeatability Note 1

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

7.6 m/sec

2.3 m/sec 1.7 m/sec

1700 °/sec

Maximum speed
Maximum payload
R-axis tolerable moment of inertia Note 3

0.3 kgm2

Protection class Note 4

Equivalent to IP65 (IEC 60529)

User wiring

0.2 sq × 20 wires
ϕ6×3

User tubing (Outer diameter)
Robot cable length

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

SCARA
robots

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

YK-X

Travel limit

Z axis 200 mm: 32 kg Z axis 300 mm: 33 kg

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 25mm in vertical direction and 300mm in horizontal direction (rough-positioning arch motion).
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note 4. Do not use robots where the bellows section is directly exposed to water jet. Contact our distributor for information on drip-proof
structure preventing liquid other than water.

YK500XGP
Connector for user wiring
(No.1 to 20 usable, cable clamp size: ϕ16 to18)
Cover with the caps provided when not used.

79 79
178

130

°

R5

120

R178

292

100

200

4-ϕ11
M10 bolt for installation, 4 bolts used

If the robot enters the inside of the corner of dimensions
135 and 292, the Z-axis tip flange may be in contact with
the base or the arm may be in contact with the machine
harness. So, do not perform such motion.

176
151(Maximum 300 during arm rotation)

Z300mm 785
Stroke

135
107°

Working envelope of left-handed system
710
(Maximum 760 during arm rotation)

10

Insert the plug provided when not used.
Z-axis lower end mechanical stopper position
28

User tubing 1 (ϕ6 black)
User tubing 2 (ϕ6 red)
User tubing 3 (ϕ6 blue)

25

.36

4-ϕ11

R3

292

60°36°

.60

.D

P.C.
D

R32 (Min. cable bending radius)
Do not move the cable.

R30
0

+ 0.021
ϕ25 H7 0
0
ϕ72 h7 - 0.03

P.C

Keep enough space for
the maintenance work at
the rear of the base.

135 and 292, the Z-axis tip flange may be in contact with
the base or the arm may be in contact with the machine
harness. So, do not perform such motion.

40

Working envelope of right-handed system

20

91

10

Z-axis rises
8mm during
return-to-origin.

71
ϕ72 h7

6

20
300 Z-axis stroke
200 Z-axis stroke

117.6+/-2

259 ϕ38 (Air release tubing)
40
Connect a hose and extend it
187 to a location not exposed to
159 water and dust.
X axis joint air purge port (ϕ6)
Y axis joint air purge port (ϕ6)
M4 ground terminal
0

• Note that the robot cannot be used at a position
where the base flange, robot cable, spline, and
bellows interfere with each other in the working
envelope shown above.
• X-axis mechanical stopper position : 132°
• Y-axis mechanical stopper position : 147°

6-M5×0.8 Depth 11
10-M5×0.8 Depth 11
* There is no phase relation between each position of M5 tapped holes
Z axis tip shape and R-axis origin position.

Controller

RCX340 u 508 RCX240 u 495

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

81

283
245

0

R178
Connector for user wiring
(No.1 to 20 usable,
cable clamp size: ϕ16 to18)
Cover with the caps provided
when not used.
120
135
115
70
50
107°
30
0 If the robot enters the inside of the corner of dimensions

373

351

00

130

479

°
130

°

00

R5

Z200mm 685
Stroke

CONTROLLER INFORMATION

300

53 114

°

81

16

00

0
R30

Insert the plug provided when not used.

130

40 120
62
222
(Base size)

R3

CLEAN

00

250

User tubing 1 (ϕ6 black)
User tubing 2 (ϕ6 red)
User tubing 3 (ϕ6 blue)
Note.

Cartesian
robots

0.55 sec

XY-X

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

8 kg

Standard cycle time: with 2kg payload Note 2

PHASER

Speed reducer

Z-axis

Linear motor
single-axis robots

AC servo motor output

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

P.495

Specify various controller setting items. RCX 240/RCX 240 S

Specifications

Absolute
battery

Compact
single-axis robots

F: With tool flange

Cable

TRANSERVO

Z axis
stroke
200: 200mm
300: 300mm

Model

LCM100

Ordering method

385

APPLICATION

YK600XGLP

Arm length 600mm

Dust-proof & drip-proof type

Maximum payload 4kg

Linear conveyor
modules

LCM100

Ordering method

YK600XGLP 150

RCX340-4

S

Z axis
stroke
150: 150mm

Model
Compact
single-axis robots

TRANSERVO

Tool flange

Hollow shaft

No entry: None
F: With tool flange

S: With hollow shaft

Controller /
Number of controllable axes

Cable
3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A Option B Option C Option D
(OP.A)
(OP.B)
(OP.C)
(OP.D)

RCX240S

CE Marking

Expansion I/O

Network option

iVY System

BB

Gripper

Battery

P.495

Arm length
Axis
specifications Rotation angle
Speed reducer

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

Z-axis

350 mm

250 mm

150 mm

+/-129 °

+/-144 °

+/-360 °

200 W

150 W

50 W

100 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240S

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

1000

Direct-coupled
Direct-coupled

Repeatability Note 1

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

4.9 m/sec

1.1 m/sec

1020 °/sec

Maximum speed
Maximum payload

0.74 sec

R-axis tolerable moment of inertia Note 3

0.05 kgm2

Protection class Note 4

Equivalent to IP65 (IEC 60529)

User wiring (sq × wires)

0.2 × 10
ϕ4×4

User tubing (Outer diameter)

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

Robot cable length

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

26 kg

YK600XGLP
User tubing 3 (ϕ4 blue)
User tubing 4 (ϕ4 white)

90

30
62
10 53 130

CONTROLLER INFORMATION

User tubing 2 (ϕ4 red)

250

Machine Harness

675±10
Maximum 740
during arm rotation

8

R20

184

97°

User tubing 1 (ϕ4 black)
User tubing 2 (ϕ4 red)
Insert the plug provided when not used.

523
441

0

User tubing 4 (ϕ4 white)

48
256
221
202
167

Z-axis bellows
A

82.5

4

A

50 70

Z-axis upper end mechanical stopper position
Z-axis rises 4mm during return-to-origin.
Z-axis lower end mechanical stopper position
20

28

0

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

93
71
58
45
32
12
0

M4 ground terminal

10

6

98
61
32
0
22.5
26

ϕ70

31
Keep enough space for the maintenance
work at the rear of the base.

39 39
10 10

Cross section A-A

Since this port is not used, cover it with the cap supplied with the joint.

User tubing 3 (ϕ4 blue)

57

ϕ90

4

11

67.5±2

51
43

150

296
274
247
186
146
133

H
dia ollow
me
ter

Width across flats: 15

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

386

The arm may be in
contact with the machine
harness in an area inside
from the inner limit of this
working envelope. So, do
not operate the arm in
this area.

• Note that the robot cannot be used at a position
where the base flange, robot cable, spline,
bellows, and tool flange interfere with each other
in the working envelope shown above.
• X-axis mechanical stopper position : 131°
• Y-axis mechanical stopper position : 146°

117
Maximum 170 during arm rotation

350

(150)

702
674
627

14

97°

↓F
56

852
822

4-ϕ9
M8 bolt for installation, 4 bolts used
12
13.4
13.4
183 (Base size)
View of F
7.8

User tubing 1 (ϕ4 black)
Insert the plug provided when not used.

4-M3 × 0.5 Depth 5
(No phase relation to R-axis origin.)
As this hole is intended for the
wiring/tubing clamp, do not

14
attach a large load to it.
Hollo
diamew
ter: ϕ
11
R600

104
60 60
140

96

212

12

CLEAN

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

R250

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 25mm in vertical direction and 300mm in horizontal direction (rough-positioning arch motion).
Note 3. There are limits to acceleration coefficient settings. See P.538.
Note 4. Do not use robots where the bellows section is directly exposed to water jet. Contact our distributor for information on drip-proof
structure preventing liquid other than water.

ϕ38

42

SCARA
robots

YK-X

Travel limit

°

XY-X

Cartesian
robots

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

4 kg

Standard cycle time: with 2kg payload Note 2

10 10

PHASER

Linear motor
single-axis robots

AC servo motor output

Y-axis

7.8

FLIP-X

Controller
X-axis

129

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240S

Specifications

Absolute
battery

P.508

Specify various controller setting items. RCX340

Controller

Option E
(OP.E)

0
ϕ16 h7 - 0.018

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

Controller

R32 (Min. cable bending radius)
Do not move the cable.

Z axis tip shape
4-ϕ11

RCX340 u 508 RCX240S u 495

User tool installation range

APPLICATION

YK600XGLP

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

YK600XGLP Tool flange mount type

°

7.8

4-ϕ9
M8 bolt for installation, 4 bolts used
13.4
13.4
12
183 (Base size)
View of F

R600

8

R20

184
97°

R250

104
60 60
140

90

12

CONTROLLER INFORMATION

User tubing 2 (ϕ4 red)

30
62
10 53 130

14

14

The arm may be in
contact with the machine
harness in an area inside
from the inner limit of this
working envelope. So, do
not operate the arm in
this area.

97°

• Note that the robot cannot be used at a position
where the base flange, robot cable, spline,
bellows, and tool flange interfere with each other
in the working envelope shown above.
• X-axis mechanical stopper position : 131°
• Y-axis mechanical stopper position : 146°

Machine Harness

User tubing 1 (ϕ4 black)
User tubing 2 (ϕ4 red)
Insert the plug provided when not used.

User tubing 4 (ϕ4 white)

31

.6

4
2

39 39
10 10

.6

Controller

↑E

ϕ55

2

R32 (Min. cable bending radius)
Do not move the cable.

4-ϕ11

22

.0

Tapped hole for user wiring 6-M3 × 0.5 Depth 6
The weight of the tool attached here should be
added to the tip mass.

±0

28

.6

20

ϕ35
22

50 70

Keep enough space for the
maintenance work at the
rear of the base.

0

ϕ30 h7 - 0.021

Detailed drawing D

+ 0.012

ϕ4 H7 0

through-hole

View of E

RCX340 u 508 RCX240S u 495

90°

6

22

10

0.
22 02
.6

M4 ground terminal

98
61
32
0
22.5
26

150

86.5

D

.6
22
1
ϕ1
llow er:
Ho amet
di

93
71
58
45
32
12
0

Z-axis bellows
78
63.5±2
0

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

Since this port is not used, cover it with the cap supplied with the joint.

User tubing 3 (ϕ4 blue)

CLEAN

User tubing 1 (ϕ4 black)
Insert the plug provided when not used.

4-M3 × 0.5 Depth 5
(No phase relation to R-axis origin.)
As this hole is intended for the
wiring/tubing clamp, do not
Hollo
attach a large load to it.
diamew
ter: ϕ
11

129

212

96

User tubing 4 (ϕ4 white)

7.8

User tubing 3 (ϕ4 blue)

Connector for user wiring
(No.1 to 10 usable, cable clamp size: ϕ13.1 to15)
Cover with the caps provided when not used.

387

Arm length 600mm

Dust-proof & drip-proof type

Maximum payload 8kg

Linear conveyor
modules

LCM100

Ordering method

YK600XGP

RCX340-4

F
Z axis
stroke
200: 200mm
300: 300mm

Model

Tool flange

Compact
single-axis robots

TRANSERVO

Controller /
Number of controllable axes

Cable

F: With tool flange

3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Option D
(OP.D)

R3

Controller

CE Marking

Regeneratizve unit

Expansion I/O

Network option

BB

iVY System

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240S

Gripper

Battery

P.495

Controller

Arm length
Axis
specifications Rotation angle

PHASER

Linear motor
single-axis robots

AC servo motor output
Speed reducer

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

X-axis

Y-axis

Z-axis

300 mm

300 mm

200 mm 300 mm

+/-130 °

+/-145 °

+/-360 °

400 W

200 W

200 W

200 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

1700

Direct-coupled
Direct-coupled

Repeatability Note 1
Maximum speed

+/-0.01 mm

+/-0.01 mm

+/-0.004 °

8.4 m/sec

2.3 m/sec 1.7 m/sec

1700 °/sec

Maximum payload

XY-X

Cartesian
robots

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

8 kg

Standard cycle time: with 2kg payload Note 2

0.56 sec

R-axis tolerable moment of inertia Note 3

0.3 kgm2

Protection class Note 4

Equivalent to IP65 (IEC 60529)

User wiring (sq × wires)

0.2 × 20
ϕ6×3

User tubing (Outer diameter)

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

Robot cable length

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

Z axis 200 mm: 33 kg Z axis 300 mm: 34 kg

YK600XGP

250

°
120

100

79 79
178

°

130

40 120
4-ϕ11
M10 bolt for installation, 4 bolts used
62
222
16
(Base size)

176
151(Maximum 300 during arm rotation)

Z300mm 785
Stroke
Z200mm 685
Stroke

135
121°

0

300

If the robot enters the inside of the corner of dimensions
135 and 292, the Z-axis tip flange may be in contact with
the base or the arm may be in contact with the machine
harness. So, do not perform such motion.

R30

81
300
53 114

R180

00

CONTROLLER INFORMATION

User tubing 1 (ϕ6 black)
User tubing 2 (ϕ6 red)
User tubing 3 (ϕ6 blue)
Note. Insert the plug provided when not used.

R3

CLEAN

Connector for user wiring
(No.1 to 20 usable, cable clamp size: ϕ16 to18)
Cover with the caps provided when not used.

00

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 25mm in vertical direction and 300mm in horizontal direction (rough-positioning arch motion).
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note 4. Do not use robots where the bellows section is directly exposed to water jet. Contact our distributor for information on drip-proof
structure preventing liquid other than water.

130

SCARA
robots

YK-X

Travel limit

292

FLIP-X

Specifications

Absolute
battery

P.508

Specify various controller setting items. RCX340

RCX240

Option E
(OP.E)

R6

APPLICATION

YK600XGP

Working envelope of left-handed system

710
(Maximum 760 during arm rotation)

R6

0

Z-axis lower end mechanical
stopper position

Insert the plug provided
when not used.

28

Controller

Keep enough space for the maintenance
work at the rear of the base.

4-ϕ11

25

00

292

R3

R30

0

R18
Connector for user wiring
0
(No.1 to 20 usable,
cable clamp size: ϕ16 to18)
Cover with the caps provided
when not used.
120
115
70
135
50
°
121
30
0 If the robot enters the inside of the corner of dimensions

40

135 and 292, the Z-axis tip flange may be in contact with
the base or the arm may be in contact with the machine
harness. So, do not perform such motion.

Working envelope of right-handed system

P.C.
D

.36

+ 0.021
ϕ25 H7 0
0
ϕ72 h7 - 0.03

60° °
36

R32 (Min. cable bending radius)
Do not move the cable.

M4 ground terminal
User tubing 1 (ϕ6 black)
User tubing 2 (ϕ6 red)
User tubing 3 (ϕ6 blue)
20

71 91

6

10

Z-axis rises
8mm during

10 return-to-origin.

300 Z-axis stroke 20
200 Z-axis stroke

0

ϕ72 h7

259
187
159

ϕ38 (Air release tubing)
Connect a hose and extend it
to a location not exposed to
40
water and dust.
X axis joint air purge port (ϕ6)
Y axis joint air purge port (ϕ6)

°

117.6+/-2

373

81

.60
.D
P.C

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

388

351
283
245

130

130

°

00

479

• Note that the robot cannot be used at a position
where the base flange, robot cable, spline, and
bellows interfere with each other in the working
envelope shown above.
• X-axis mechanical stopper position : 132°
• Y-axis mechanical stopper position : 147°

6-M5×0.8 Depth 11
10-M5×0.8 Depth 11
* There is no phase relation between each position of M5 tapped holes
and R-axis origin position.
Z axis tip shape

RCX340 u 508 RCX240 u 495

Arm length 600mm

APPLICATION

YK600XGHP

Dust-proof & drip-proof type

Maximum payload 18kg

Linear conveyor
modules

YK600XGHP

RCX340-4

F
Tool flange

Controller /
Number of controllable axes

Cable
3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Specify various controller setting items. RCX340

RCX240

R3

Controller

CE Marking

Regeneratizve unit

Expansion I/O

Option E
(OP.E)

Option D
(OP.D)

Network option

P.508

BB

iVY System

Gripper

Battery

P.495

Arm length
Axis
specifications Rotation angle

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

200 mm

400 mm

200 mm 400 mm

+/-130 °

+/-150 °

+/-360 °

750 W

400 W

400 W

200 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

2500

Direct-coupled
Direct-coupled

Repeatability Note 1
Maximum speed

+/-0.02 mm

+/-0.01 mm

+/-0.004 °

7.7 m/sec

2.3 m/sec 1.7 m/sec

920 °/sec

Maximum payload

0.57 sec

R-axis tolerable moment of inertia Note 3

1.0 kgm2

Protection class Note 4

Equivalent to IP65 (IEC 60529)

User wiring (sq × wires)

0.2 × 20
ϕ6×3

User tubing (Outer diameter)
Robot cable length

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

SCARA
robots

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

YK-X

Travel limit

Z axis 200 mm: 52 kg Z axis 400 mm: 54 kg

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 25mm in vertical direction and 300mm in horizontal direction (rough-positioning arch motion).
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note 4. Do not use robots where the bellows section is directly exposed to water jet. Contact our distributor for information on drip-proof
structure preventing liquid other than water.

YK600XGHP

°
130
99

220

99

120

°

400

0
Z-axis lower end mechanical stopper position
Insert the plug provided when not used.

40

the machine harness. So, do not perform such motion.

Working envelope of right-handed system
+ 0.021

ϕ25 H7 0

0

ϕ90 h7 - 0.035

.36

R32 (Min. cable bending radius)
Do not move the cable.

60° 6°
3

P.C.
D

.70
.D

Keep enough space for the maintenance
work at the rear of the base.

P.C

28

400

5

25

R26

R40
0

M4 ground terminal
User tubing 1 (ϕ6 black)
User tubing 2 (ϕ6 red)
User tubing 3 (ϕ6 blue)

R4
00

°
130
X axis joint air purge port (ϕ6)
Y axis joint air purge port (ϕ6)

20

12
12

35

6

20
Z-axis rises
6mm during
return-to-origin.

400 Z-axis stroke
200 Z-axis stroke

86 101

ϕ38 (Air release tubing)
Connect a hose and extend it
to a location not exposed to
water and dust.

• Note that the robot cannot be used at a position
where the base flange, robot cable, spline, and
bellows interfere with each other in the working
envelope shown above.
• X-axis mechanical stopper position : 132°
• Y-axis mechanical stopper position : 152°

6-M5×0.8 Depth 11
10-M5×0.8 Depth 11
* There is no phase relation between each position of M5 tapped holes
and R-axis origin position.
Z axis tip shape

4-ϕ11

Controller

RCX340 u 508 RCX240 u 495

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

ϕ90 h7

254.5
219

Connector for user wiring
(No.1 to 20 usable,
cable clamp size: ϕ16 to18)
Cover with the caps provided
when not used.
128
158 98
119
80
97°
60
the robot enters the inside of R265 and corner of
40 Ifdimensions
and 400, the Z-axis tip flange may be in
0 contact with 98
the base or the arm may be in contact with

CONTROLLER INFORMATION

339.5

°

99

00
R248

476

440
368
324

R6

130

568

0

97°

Working envelope of left-handed system
813
(Maximum 920 during arm rotation)

800

188.7+/-2

98 158

If the robot enters the inside of R265 and corner of
dimensions 98 and 400, the Z-axis tip flange may be in
contact with the base or the arm may be in contact with
the machine harness. So, do not perform such motion.

175(Maximum 300 during arm rotation)

0

201

R40
5

200

R26

Z200mm
Stroke

00

Z400mm 1000
Stroke

400

R248

50 145
4-ϕ14
M12 bolt for installation, 4 bolts used
75
260
16
(Base size)

Insert the plug provided when not used.
90
63 128

R4

User tubing 1 (ϕ6 black)
User tubing 2 (ϕ6 red)
User tubing 3 (ϕ6 blue)
Note.

00

R6

130

161

275

CLEAN

Connector for user wiring
(No.1 to 20 usable, cable clamp size: ϕ16 to18)
Cover with the caps provided when not used.

Cartesian
robots

Standard cycle time: with 2kg payload Note 2

XY-X

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

18 kg

PHASER

Speed reducer

Z-axis

Linear motor
single-axis robots

AC servo motor output

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240S

Specifications

Absolute
battery

Compact
single-axis robots

F: With tool flange

TRANSERVO

Z axis
stroke
200: 200mm
400: 400mm

Model

LCM100

Ordering method

389

Arm length 700mm

Dust-proof & drip-proof type

Maximum payload 18kg

Linear conveyor
modules

LCM100

Ordering method

YK700XGP

RCX340-4

F
Z axis
stroke
200: 200mm
400: 400mm

Model

Tool flange

Compact
single-axis robots

TRANSERVO

Controller /
Number of controllable axes

Cable

F: With tool flange

3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Specify various controller setting items. RCX340

RCX240
Controller

R3

CE Marking

Regeneratizve unit

Expansion I/O

Option E
(OP.E)

Option D
(OP.D)

P.508

Network option

BB

iVY System

Gripper

Battery

P.495

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240S

Controller

Arm length
Axis
specifications Rotation angle

PHASER

Linear motor
single-axis robots

AC servo motor output
Speed reducer

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

X-axis

Y-axis

Z-axis

300 mm

400 mm

200 mm 400 mm

+/-130 °

+/-150 °

+/-360 °

750 W

400 W

400 W

200 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

2500

Direct-coupled
Direct-coupled

Repeatability Note 1
Maximum speed

+/-0.02 mm

+/-0.01 mm

+/-0.004 °

8.4 m/sec

2.3 m/sec 1.7 m/sec

920 °/sec

Maximum payload

XY-X

Cartesian
robots

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

18 kg

Standard cycle time: with 2kg payload Note 2

0.52 sec

R-axis tolerable moment of inertia Note 3

1.0 kgm2

Protection class Note 4

Equivalent to IP65 (IEC 60529)

User wiring

0.2 sq × 20 wires
ϕ6×3

User tubing (Outer diameter)

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

Robot cable length

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

Z axis 200 mm: 54 kg Z axis 400 mm: 56 kg

YK700XGP

00

°

161

99
99

120

°

50 145
4-ϕ14
75
M12 bolt for installation, 4 bolts used
16
260
(Base size)

Z400mm 1000
Stroke

400

300

201

09
If the robot enters the inside of R265 and corner of
°
dimensions 98 and 400, the Z-axis tip flange may be in
contact with the base or the arm may be in contact with
the machine harness. So, do not perform such motion.

175(Maximum 300 during arm rotation)

Working envelope of left-handed system

12

User tubing 1 (ϕ6 black)
User tubing 2 (ϕ6 red)
User tubing 3 (ϕ6 blue)

25

40

dimensions 98 and 400, the Z-axis tip flange may be in
contact with the base or the arm may be in contact with
the machine harness. So, do not perform such motion.

Working envelope of right-handed system
+ 0.021

20

Insert the plug provided when not used.

6

ϕ25 H7 0

0

ϕ90 h7 - 0.035
.36

60° 6°
3

Controller

4-ϕ11

P.C.
D

.70

R32 (Min. cable bending radius)
Do not move the cable.

Keep enough space for the
maintenance work at the rear
of the base.

.D

28

0

65

R2

0

M4 ground terminal

0
Z-axis lower end mechanical stopper position

R205
Connector for user wiring
(No.1 to 20 usable,
cable clamp size: ϕ16 to18)
Cover with the caps provided
when not used.
128
119
158 98
80
60
109°
40
If the robot enters the inside of R265 and corner of
0

R40

86 101

R4
0

130

°
20
Z-axis rises
6mm during
12 return-to-origin.

400 Z-axis stroke
200 Z-axis stroke

ϕ90 h7

339.5 ϕ38 (Air release tubing)
a hose and extend it 35
254.5 Connect
to a location not exposed to
219 water and dust.
X axis joint air purge port (ϕ6)
Y axis joint air purge port (ϕ6)

0

°

99

P.C

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

390

476

440
368
324

R70

130

568

0

158

813
(Maximum 920 during arm rotation)

Z200mm 800
Stroke

188.7+/-2

98

R400

1

90
63 128

65
R2

Note. Insert the plug provided when not used.

R205

0

CONTROLLER INFORMATION

User tubing 1 (ϕ6 black)
User tubing 2 (ϕ6 red)
User tubing 3 (ϕ6 blue)

130

R7

275

R40

CLEAN

Connector for user wiring
(No.1 to 20 usable, cable clamp size: ϕ16 to18)
Cover with the caps provided when not used.

130

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 25mm in vertical direction and 300mm in horizontal direction (rough-positioning arch motion).
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note 4. Do not use robots where the bellows section is directly exposed to water jet. Contact our distributor for information on drip-proof
structure preventing liquid other than water.

220

SCARA
robots

YK-X

Travel limit

400

FLIP-X

Specifications

Absolute
battery

400

APPLICATION

YK700XGP

• Note that the robot cannot be used at a position
where the base flange, robot cable, spline, and
bellows interfere with each other in the working
envelope shown above.
• X-axis mechanical stopper position : 132°
• Y-axis mechanical stopper position : 152°

6-M5×0.8 Depth 11
10-M5×0.8 Depth 11
* There is no phase relation between each position of M5 tapped holes
and R-axis origin position.
Z axis tip shape

RCX340 u 508 RCX240 u 495

Arm length 800mm

APPLICATION

YK800XGP

Dust-proof & drip-proof type

Maximum payload 18kg

Linear conveyor
modules

YK800XGP

RCX340-4

F
Tool flange

Controller /
Number of controllable axes

3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Specify various controller setting items. RCX340

RCX240
Controller

R3

CE Marking

Regeneratizve unit

Expansion I/O

Option E
(OP.E)

Option D
(OP.D)

P.508

Network option

BB

iVY System

Gripper

Battery

Arm length
Axis
specifications Rotation angle

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

400 mm

400 mm

200 mm 400 mm

+/-130 °

+/-150 °

+/-360 °

750 W

400 W

400 W

200 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

2500

Direct-coupled
Direct-coupled

Repeatability Note 1

+/-0.02 mm

+/-0.01 mm

+/-0.004 °

9.2 m/sec

2.3 m/sec 1.7 m/sec

920 °/sec

Maximum speed
Maximum payload

0.58 sec

R-axis tolerable moment of inertia Note 3

1.0 kgm2

Protection class Note 4

Equivalent to IP65 (IEC 60529)

User wiring

0.2 sq × 20 wires
ϕ6×3

User tubing (Outer diameter)
Robot cable length

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

SCARA
robots

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

YK-X

Travel limit

Z axis 200 mm: 56 kg Z axis 400 mm: 58 kg

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 25mm in vertical direction and 300mm in horizontal direction (rough-positioning arch motion).
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note 4. Do not use robots where the bellows section is directly exposed to water jet. Contact our distributor for information on drip-proof
structure preventing liquid other than water.

YK800XGP

°
130

161

220

120

99 99

°

400

CONTROLLER INFORMATION

98
119
°

If the robot enters the inside of R265 and corner of
dimensions 98 and 400, the Z-axis tip flange may be in
contact with the base or the arm may be in contact with
the machine harness. So, do not perform such motion.

175(Maximum 300 during arm rotation)

158

R400

201

5

400

R26

Z400mm 1000
Stroke

400

R205

00

50 145
4-ϕ14
M12 bolt for installation, 4 bolts used
75
16
260
(Base size)

Note. Insert the plug provided when not used.

90
63 128

R4

User tubing 1 (ϕ6 black)
User tubing 2 (ϕ6 red)
User tubing 3 (ϕ6 blue)

R8

Working envelope of left-handed system
813
(Maximum 920 during arm rotation)

Z200mm 800
Stroke

40

.D

60° °
36

.70

.36

00
R4

400

65

0
ϕ90 h7 - 0.035

P.C.
D

4-ϕ11

R2

ϕ25 H7 0

P.C

R32 (Min. cable bending radius)
Do not move the cable.

158

98

119°

If the robot enters the inside of R265 and corner of
dimensions 98 and 400, the Z-axis tip flange may be in
contact with the base or the arm may be in contact with
the machine harness. So, do not perform such motion.
+ 0.021

20

Keep enough space for the
28 maintenance work at the rear
of the base.

25

6

Insert the plug provided when not used.

User tubing 1 (ϕ6 black)
User tubing 2 (ϕ6 red)
User tubing 3 (ϕ6 blue)

128
119
80
60
40
0

R400

M4 ground terminal

0
Z-axis lower end mechanical stopper position

12

Z-axis rises
6mm during

12 return-to-origin.

20
400 Z-axis stroke
200 Z-axis stroke

86 101

R205

Working envelope of right-handed system
• Note that the robot cannot be used at a position
where the base flange, robot cable, spline, and
bellows interfere with each other in the working
envelope shown above.
• X-axis mechanical stopper position : 132°
• Y-axis mechanical stopper position : 152°

6-M5×0.8 Depth 11
10-M5×0.8 Depth 11
* There is no phase relation between each position of M5 tapped holes
and R-axis origin position.
Z axis tip shape

Controller

RCX340 u 508 RCX240 u 495

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

ϕ90 h7

°

0

ϕ38 (Air release tubing)
339.5 Connect a hose and extend it
35
to a location not exposed to
254.5 water and dust.
219
X axis joint air purge port (ϕ6)
Y axis joint air purge port (ϕ6)

99

130

188.7+/-2

Connector for user wiring
(No.1 to 20 usable,
cable clamp size: ϕ16 to18)
Cover with the caps provided
when not used.

476

440
368
324

0

130

°

R80
568

CLEAN

00

275

130

Connector for user wiring
(No.1 to 20 usable, cable clamp size: ϕ16 to18)
Cover with the caps provided when not used.

Cartesian
robots

Standard cycle time: with 2kg payload Note 2

XY-X

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

18 kg

PHASER

Speed reducer

Z-axis

Linear motor
single-axis robots

AC servo motor output

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

P.495

Specify various controller setting items. RCX 240/RCX 240S

Specifications

Absolute
battery

Compact
single-axis robots

F: With tool flange

Cable

TRANSERVO

Z axis
stroke
200: 200mm
400: 400mm

Model

LCM100

Ordering method

391

Arm length 900mm

Dust-proof & drip-proof type

Maximum payload 18kg

Linear conveyor
modules

LCM100

Ordering method

YK900XGP

RCX340-4

F
Z axis
stroke
200: 200mm
400: 400mm

Model

Tool flange

Compact
single-axis robots

TRANSERVO

Controller /
Number of controllable axes

Cable

F: With tool flange

3L: 3.5m
5L: 5m
10L: 10m

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Specify various controller setting items. RCX340

RCX240
Controller

R3

CE Marking

Regeneratizve unit

Expansion I/O

Option E
(OP.E)

Option D
(OP.D)

P.508

Network option

BB

iVY System

Gripper

Battery

P.495

Single-axis robots

Specify various controller setting items. RCX 240/RCX 240S

FLIP-X

Specifications

Absolute
battery

Controller

Arm length
Axis
specifications Rotation angle

PHASER

Linear motor
single-axis robots

AC servo motor output
Speed reducer

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

X-axis

Y-axis

Z-axis

500 mm

400 mm

200 mm 400 mm

+/-130 °

+/-150 °

+/-360 °

750 W

400 W

400 W

200 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

2500

Direct-coupled
Direct-coupled

Repeatability Note 1

+/-0.02 mm

+/-0.01 mm

+/-0.004 °

9.9 m/sec

2.3 m/sec 1.7 m/sec

920 °/sec

Maximum speed
Maximum payload

XY-X

Cartesian
robots

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

18 kg

Standard cycle time: with 2kg payload Note 2

0.59 sec

R-axis tolerable moment of inertia Note 3

1.0 kgm2

Protection class Note 4

Equivalent to IP65 (IEC 60529)

User wiring (sq × wires)

0.2 × 20
ϕ6×3

User tubing (Outer diameter)

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

Robot cable length

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

Z axis 200 mm: 58 kg Z axis 400 mm: 60 kg

YK900XGP

0

R90

°
99 99

120
90
63 128

400

500

201

R4

00

98

If the robot enters the inside of R265 and corner of
dimensions 98 and 400, the Z-axis tip flange may be in
contact with the base or the arm may be in contact with
the machine harness. So, do not perform such motion.

175(Maximum 300 during arm rotation)

158
129°

Working envelope of left-handed system

813
(Maximum 920 during arm rotation)

R9

00

130
°

°
130

Z200mm 800
Stroke

R400
65

Note. Insert the plug provided when not used.

Z400mm 1000
Stroke

R252

50 145
4-ϕ14
75
M12 bolt for installation, 4 bolts used
260
16
(Base size)

R2

CONTROLLER INFORMATION

User tubing 1 (ϕ6 black)
User tubing 2 (ϕ6 red)
User tubing 3 (ϕ6 blue)

°

161

275

0

M4 ground terminal

12

Z-axis lower end mechanical stopper position

25

40

20

Insert the plug provided when not used.

User tubing 1 (ϕ6 black)
User tubing 2 (ϕ6 red)
User tubing 3 (ϕ6 blue)

28

Keep enough space for the
maintenance work at the rear
of the base.

400
°

129

+ 0.021

Working envelope of right-handed system

0
ϕ90 h7 - 0.035

• Note that the robot cannot be used at a position
where the base flange, robot cable, spline, and
bellows interfere with each other in the working
envelope shown above.
• X-axis mechanical stopper position : 132°
• Y-axis mechanical stopper position : 152°

60° °
36

Controller

4-ϕ11

.36

98
158

If the robot enters the inside of R265 and corner of
dimensions 98 and 400, the Z-axis tip flange may be in
contact with the base or the arm may be in contact with
the machine harness. So, do not perform such motion.

ϕ25 H7 0

.70

R32 (Min. cable bending radius)
Do not move the cable.

128
119
80
60
40
0

.D

P.C.
D

00

R4

5

35

R252

R26

86 101

6

20
Z-axis rises
6mm during
12 return-to-origin.

400 Z-axis stroke
200 Z-axis stroke

0

ϕ90 h7

Connector for user wiring
(No.1 to 20 usable,
cable clamp size: ϕ16 to18)
Cover with the caps provided
when not used.

P.C

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

392

188.7+/-2

ϕ38 (Air release tubing)
Connect a hose and extend it
339.5 to a location not exposed to
water and dust.
254.5
219
X axis joint air purge port (ϕ6)
Y axis joint air purge port (ϕ6)
476

99

R40
0

568
440
368
324

130

CLEAN

Connector for user wiring
(No.1 to 20 usable, cable clamp size: ϕ16 to18)
Cover with the caps provided when not used.

130

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 25mm in vertical direction and 300mm in horizontal direction (rough-positioning arch motion).
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note 4. Do not use robots where the bellows section is directly exposed to water jet. Contact our distributor for information on drip-proof
structure preventing liquid other than water.

220

SCARA
robots

YK-X

Travel limit

400

APPLICATION

YK900XGP

6-M5×0.8 Depth 11
10-M5×0.8 Depth 11
* There is no phase relation between each position of M5 tapped holes
and R-axis origin position.
Z axis tip shape

RCX340 u 508 RCX240 u 495

Arm length 1000mm

APPLICATION

YK1000XGP

Dust-proof & drip-proof type

Maximum payload 18kg

Linear conveyor
modules

YK1000XGP

RCX340-4

F
Tool flange

Cable
3L: 3.5m
5L: 5m
10L: 10m

Controller /
Number of controllable axes

Safety
standard

Option A
(OP.A)

Option B
(OP.B)

Option C
(OP.C)

Specify various controller setting items. RCX340

RCX240
Controller

R3

CE Marking

Regeneratizve unit

Expansion I/O

Option E
(OP.E)

Option D
(OP.D)

P.508

Network option

BB

iVY System

Gripper

Battery

Arm length
Axis
specifications Rotation angle

Deceleration
Motor to speed reducer
mechanism Transmission
method
Speed reducer to output

600 mm

400 mm

200 mm 400 mm

+/-130 °

+/-150 °

+/-360 °

750 W

400 W

400 W

200 W

Ball screw

Harmonic drive

Harmonic drive Harmonic drive

R-axis

Controller Power capacity (VA) Operation method

RCX340
RCX240-R3

Programming /
I/O point trace /
Remote command /
Operation
using RS-232C
communication

2500

Direct-coupled
Direct-coupled

Repeatability Note 1

+/-0.02 mm

+/-0.01 mm

+/-0.004 °

Maximum speed

10.6 m/sec

2.3 m/sec 1.7 m/sec

920 °/sec

Maximum payload

0.59 sec

R-axis tolerable moment of inertia Note 3

1.0 kgm2

Protection class Note 4

Equivalent to IP65 (IEC 60529)

User wiring (sq × wires)

0.2 × 20
ϕ6×3

User tubing (Outer diameter)
Robot cable length

Our robot manuals (installation manuals) can be
downloaded from our website at the address below:
http://global.yamaha-motor.com/business/robot/

Standard: 3.5 m Option: 5 m, 10 m

Weight

SCARA
robots

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

YK-X

Travel limit

Z axis 200 mm: 60 kg Z axis 400 mm: 62 kg

YP-X

Pick & place
robots

Note 1. This is the value at a constant ambient temperature. (X,Y axes)
Note 2. When reciprocating 25mm in vertical direction and 300mm in horizontal direction (rough-positioning arch motion).
Note 3. There are limits to acceleration coefficient settings. See P.539.
Note 4. Do not use robots where the bellows section is directly exposed to water jet. Contact our distributor for information on drip-proof
structure preventing liquid other than water.

YK1000XGP

600

201

0
00
R1

00

98
If the robot enters the inside of the corner of dimensions
98 and 400, the Z-axis tip flange may be in contact with
the base or the arm may be in contact with the machine
harness. So, do not perform such motion.

175(Maximum 300 during arm rotation)

°

Working envelope of left-handed system

°
130
M4 ground terminal
User tubing 1 (ϕ6 black)
User tubing 2 (ϕ6 red)
User tubing 3 (ϕ6 blue)

0
Z-axis lower end mechanical stopper position
Insert the plug provided when not used.

25

Keep enough space for the
maintenance work at the rear
of the base.

0

ϕ90 h7 -0.035

60° °
36

.70

Controller

400
98
°
138

Working envelope of right-handed system
ϕ25 H7 0

.36

4-ϕ11

0

R40

If the robot enters the inside of the corner of dimensions
98 and 400, the Z-axis tip flange may be in contact with
the base or the arm may be in contact with the machine
harness. So, do not perform such motion.

+ 0.021

P.C.
D

R32 (Min. cable bending radius)
Do not move the cable.

40

.D
P.C

28

128
119
80
60
40
0

R323

R4
00

35

20

12
12

86 101

6

20
Z-axis rises
6mm during
return-to-origin.

400 Z-axis stroke
200 Z-axis stroke

ϕ90 h7

ϕ38 (Air release tubing)
339.5 Connect a hose and extend it
254.5 to a location not exposed to
219 water and dust.
X axis joint air purge port (ϕ6)
Y axis joint air purge port (ϕ6)

• Note that the robot cannot be used at a position
where the base flange, robot cable, spline, and
bellows interfere with each other in the working
envelope shown above.
• X-axis mechanical stopper position : 132°
• Y-axis mechanical stopper position : 152°

6-M5×0.8 Depth 11
10-M5×0.8 Depth 11
* There is no phase relation between each position of M5 tapped holes
Z axis tip shape and R-axis origin position.

RCX340 u 508 RCX240 u 495

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

368
324

°

99

00

Connector for user wiring
(No.1 to 20 usable,
cable clamp size: ϕ16 to18)
Cover with the caps provided
when not used.

476

440

R10

130

568

0

138

813
(Maximum 920 during arm rotation)

800
Z200mm
Stroke

188.7+/-2

00
R4

1000
Z400mm
Stroke

400

R4

400

99

220

99

130

°

161

120
Insert the plug provided when not used.
90
63 128

R323

4-ϕ14
50 145
M12 bolt for installation, 4 bolts used
75
260
16
(Base size)

CONTROLLER INFORMATION

Note.

°

User tubing 1 (ϕ6 black)
User tubing 2 (ϕ6 red)
User tubing 3 (ϕ6 blue)

CLEAN

275

130

Connector for user wiring
(No.1 to 20 usable, cable clamp size:
ϕ16 to18)
Cover with the caps provided when not
used.

Cartesian
robots

Standard cycle time: with 2kg payload Note 2

XY-X

Note. "Harmonic" and "Harmonic drive" are the registered trademarks
of Harmonic Drive Systems Inc.
Note. The movement range can be limited by changing the positions
of X and Y axis mechanical stoppers. (The movement range is
set to the maximum at the time of shipment.)
See our robot manuals (installation manuals) for detailed
information.
Note. To set the standard coordinates with high accuracy, use a
standard coordinate setting jig (option). Refer to the user’s
manual (installation manual) for more details.

18 kg

PHASER

Speed reducer

Z-axis

Linear motor
single-axis robots

AC servo motor output

Y-axis

FLIP-X

Controller
X-axis

Single-axis robots

P.495

Specify various controller setting items. RCX 240/RCX 240S

Specifications

Absolute
battery

Compact
single-axis robots

F: With tool flange

TRANSERVO

Z axis
stroke
200: 200mm
400: 400mm

Model

LCM100

Ordering method

393

APPLICATION

LCM100

Linear conveyor
modules

Compact
single-axis robots

TRANSERVO

FLIP-X

Single-axis robots

PHASER

Linear motor
single-axis robots

XY-X

Cartesian
robots

SCARA
robots

YK-X

YP-X

Pick & place
robots

CLEAN

CONTROLLER INFORMATION

Dust-proof
Small /
Orbit / Tiny
Wall-mount / & drip-proof
type
type
Medium type Large type inverse type

394