S E R I E S - contaxireland.ie fileYA-R6F YA-U20F YA-R5F S E R I E S New Generation Robots S-axis L-axis E-axis U-axis R-axis B-axis T-axis S-axis L-axis E-axis U-axis R-axis B-axis

YA-R6F YA-U20F

YA-R5F

S E R I E S

New Generation Robots

S-axis

L-axis

E-axis

U-axis

R-axis

B-axis

T-axis

S-axis

L-axis

E-axis

U-axis

R-axis

B-axis

T-axis

R-axis

B-axis

T-axis

R-axis

B-axis

T-axis

Range ofMotion

MaximumSpeed

Number of axes

Vertical reach

Horizontal reach

Repeatability*1

Payload

AllowableInertia(GD2/4)

AllowableMoment

Mass

Power Requirements*2

*1: Conforms to JIS B 8432. *2: Varies in accordance with applications and motion patterns. *3: When a load is more than 1 kg, the motion range will be smaller. Use the robot within the recommended motion range.

YA-U5F YA-U10F

7

10 kg

1203 mm

720 mm

±0.1 mm

-180° to +180°

-110° to +110°

-170° to +170°

-135° to +135°

-180° to +180°

-110° to +110°

-180° to +180°

170°/s

170°/s

170°/s

170°/s

200°/s

200°/s

400°/s

31.4 N.m

31.4 N.m

19.6 N.m

1.0 kg.m2

1.0 kg.m2

0.4 kg.m2

60 kg

1.0 kVA

7

5 kg

1007 mm

559 mm

±0.06 mm

-180° to +180°

-110° to +110°

-170° to +170°

-90° to +115°

-180° to +180°

-110° to +110°

-180° to +180°

200°/s

200°/s

200°/s

200°/s

200°/s

230°/s

350°/s

14.7 N.m

14.7 N.m

7.35 N.m

0.45 kg.m2

0.45 kg.m2

0.11 kg.m2

30 kg

1.0 kVA

YA-U20F

7

20 kg

1498 mm

910 mm

±0.1 mm

-180° to +180°

-110° to +110°

-170° to +170°

-130° to +130°

-180° to +180°

-110° to +110°

-180° to +180°

130°/s

130°/s

170°/s

170°/s

200°/s

200°/s

400°/s

58.8 N.m

58.8 N.m

29.4 N.m

4.0 kg.m2

4.0 kg.m2

2.0 kg.m2

120 kg

1.5 kVA

YA-RJ

6

1 kg (max. 2 kg*3)

909 mm

545 mm

±0.03 mm

-160° to +160°

-90° to +110°

-

-290° to +105°

-180° to +180°

-130° to +130°

-360° to +360°

160° /s

130° /s

-

200° /s

300° /s

400° /s

500° /s

3.33 N.m

3.33 N.m

0.98 N.m

0.058 kg.m2

0.058 kg.m2

0.005 kg.m2

15 kg

0.5 kVA

YA-R3F

6

3 kg

804 mm

532 mm

±0.03 mm

-160° to +160°

-85° to +90°

-

-105° to +260°

-170° to +170°

-120° to +120°

-360° to +360°

200° /s

150° /s

-

190° /s

300° /s

300° /s

420° /s

5.39 N.m

5.39 N.m

2.94 N.m

0.1 kg.m2

0.1 kg.m2

0.03 kg.m2

27 kg

0.5 kVA

YA-R5F

6

5 kg

1193 mm

706 mm

±0.02 mm

-170° to +170°

-65° to +150°

-

-136° to +255°

-190° to +190°

-135° to +135°

-360° to +360°

376° /s

350° /s

-

400° /s

450° /s

450° /s

720° /s

12 N.m

12 N.m

7 N.m

0.30 kg.m2

0.30 kg.m2

0.1 kg.m2

27 kg

1.0 kVA

YA-R5LF

6

5 kg

1560 mm

895 mm

±0.03 mm

-170° to +170°

-65° to +150°

-

-138° to +255°

-190° to +190°

-135° to +135°

-360° to +360°

270° /s

280° /s

-

300° /s

450° /s

450° /s

720° /s

12 N.m

12 N.m

7 N.m

0.30 kg.m2

0.30 kg.m2

0.1 kg.m2

29 kg

1.0 kVA

YA-R6F

6

6 kg

2486 mm

1422 mm

±0.08 mm

-170° to +170°

-90° to +155°

-

-175° to +250°

-180° to +180°

-45° to +225°

-360° to +360°

220° /s

200° /s

-

220° /s

410° /s

410° /s

610° /s

11.8 N.m

9.8 N.m

5.9 N.m

0.27 kg.m2

0.27 kg.m2

0.06 kg.m2

130 kg

1.0 kVA

7-axis6-axisAssembly / PlacementHandling (general)Applications

YA series Manipulator Specifications

(turning)

(lower Arm)

(elbow twist)

(upper arm)

(wrist roll)

(wrist pich/yaw)

(wrist twist)

(turning)

(lower Arm)

(elbow twist)

(upper arm)

(wrist roll)

(wrist pich/yaw)

(wrist twist)

(wrist roll)

(wrist pich/yaw)

(wrist twist)

(wrist roll)

(wrist pich/yaw)

(wrist twist)

201509-AE

IM Operations

http://global.yamaha-motor.com/business/robot/URL E-mail Specifications and appearance are subject to change without prior notice.

882 Soude, Naka-ku, Hamamatsu, Shizuoka 435-0054, JapanTel 81-53-460-6103 Fax 81-53-460-6811

[email protected]

High-speed operation reduces cycle timeThanks to a faster control frequency in the YAC100 controller and hand vibration suppression function, these robots achieve the highest operating speed in their class. From supply, assembly, inspection, and packing to palletization, all applications can enjoy shorter cycle time and improved productivity.

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

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

Yamaha vertically articulated robots

series 6-axis 7-axis

Reduce personnel, increase productivity

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

7-axis

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

7-axis

6-axis robotsS-axis: Rotate the body horizontally

L-axis: Move the body forward/backward

U-axis: Move the arm up/down

R-axis: Rotate the arm

B-axis: Move the tip of the arm up/down

T-axis: Rotate the tip of the arm

7-axis robotsS-axis: Rotate the body horizontally

L-axis: Move the body forward/backward

E-axis: Twist the arm

U-axis: Move the arm up/down

R-axis: Rotate the arm

B-axis: Move the tip of the arm up/down

T-axis: Rotate the tip of the arm

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

7-axis

Interference checking

program

Construct compact cells

Transport and assemble small parts

Inspection processing

6-axis YA-R6FYA-R3F YA-R5F YA-R5LFYA-RJ

Handling (general)Application

6 kg

2486 mm

1422 mm

5 kg

1560 mm

895 mm

5 kg

1193 mm

706 mm

3 kg

804 mm

532 mm

1 kg (max. 2 kg*)

909 mm

545 mm

66666

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

Number of axesPayload

Vertical reachHorizontal reach

YA series

7 7

10 kg

1203 mm

720 mm

5 kg

1007 mm

559 mm

7

20 kg

1498 mm

910 mm

YA-U5F YA-U10F YA-U20FAssembly / PlacementApplications

7-axisYA series

Number of axesPayload

Vertical reachHorizontal reach

Free arm movement further boosts productivity.

The YA series provides a wide range of products.

U-axisR-axis

L-axis

E-axis

T-axisB-axis

S-axis

Arm

Body

U-axis

R-axis

S-axis

L-axis

T-axis

B-axis

Arm

Body

32

Workpieces with a high wrist load are also supported

Dramatically reduce line setup time with a simulator

Reduced space allows sophisticated system layouts

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

Elbow movement with unchanged flange position

Access the workpiece from the opposite side or from below

5.39 N.m

5.39 N.m

2.94 N.m

0.1 kg.m2

0.1 kg.m2

0.03 kg.m2

27 kg

0˚C to +40˚C

20 to 80%RH (non-condensing)

4.9 m/s2 or less

0.5 kVA

YA-R3F

Basic specifications

YA-R3F

YA-R3F

6 (Vertically articulated)

3 kg

±0.03 mm

-160° to +160°

-85° to +90°

-105° to +260°

-170° to +170°

-120° to +120°

-360° to +360°

3.49 rad/s, 200°/s

2.62 rad/s, 150°/s

3.32 rad/s, 190°/s

5.24 rad/s, 300°/s

5.24 rad/s, 300°/s

7.33 rad/s, 420°/s

Allowable

Moment

Allowable

Inertia

(GD2/4)

Ambient

Conditions

S -axis (turning)

L -axis (lower Arm)

U -axis (upper arm)

R -axis (wrist roll)

B -axis (wrist pich/yaw)

T -axis (wrist twist)

S -axis (turning)

L -axis (lower Arm)

U -axis (upper arm)










Temperature

Humidity

Vibration

Others

Range of

Motion

Maximum

Speed

Model

Controlled Axis

Payload

Repeatability*1


Mass

(Note 2)(Note 1)

P-Point

193

47

381

133

74

389

337

57

55°

532

583

822

900

270188229372

7930

531 40

189

180

21

219

158

2040

85°

260°

276

659

42

0

290

260 474

B

T

R

L

R104

80

R188

R532

3718

S

View A View B

View C

4×φ9 (Mounting Holes)

φ6H7 (Reference Hole)

Connector for internal user I/O wiring harness Matching connector provided by users.

5050±0.1

88±0.1155

50

145

150

170

88±0

.1

4 Air inletsTapped hole M5 (4 places)with pipe plug

45°

φ20H

6

φ40h

6

4×M5×P0.8 Depth: 9

3×M8×P1.25Depth: 16

φ5H7 Depth: 7

φ31.5

5 (fitting depth)

View D


4 Air outletsTapped hole M5(4 places)with pipe plug

B

C

A

D

160°

160°

Note 1: Motion range of point P when the S-axis is between -40° to +40°.Note 2: Motion range of point P when the S-axis is between -125° to -160° or +125° to +160°.

150

170

90°

78±0

.1

105°

5 (fitting depth)

UU

YA-RJ

Basic specificationsYA-RJ


1 kg (max. 2 kg*1)

±0.03 mm

-160° to +160°

-90° to +110°

-290° to +105°

-180° to +180°

-130° to +130°

-360° to +360°

L-axis, U-axis

2.79 rad/s, 160°/s

2.27 rad/s, 130°/s

3.49 rad/s, 200°/s

5.23 rad/s, 300°/s

6.98 rad/s, 400°/s

8.72 rad/s, 500°/s

Allowable

Moment

Allowable

Inertia

(GD2/4)

Ambient

Conditions

3.33 N.m

3.33 N.m

0.98 N.m

0.058 kg.m2

0.058 kg.m2

0.005 kg.m2

15 kg

During operation: 0 to +40˚C,

During storage: -10 to +60˚C

90% max. (non-condensing)

4.9 m/s2 or less

Floor or ceiling

0.5 kVA

• Free from corrosive gasses or liquids, or explosive gasses

• Free from exposure to water, oil, or dust• Free from excessive electrical noise (plasma)



S -axis (turning)

L -axis (lower Arm)

U -axis (upper arm)




S -axis (turning)

L -axis (lower Arm)

U -axis (upper arm)










Ambient Temperature

Relative Humidity

Vibration Acceleration

Mounting

Others

Range of

Motion

Maximum

Speed

Model

Controlled Axis

Payload

Repeatability*2


Mass

Features

The ultra-light, compact YA-RJ features portability and easy installation for simplified system integration.

Each axis uses a motor of 80 W or less.

Users can create their own programs in C language to control robots.

The YA-R3F, a compact manipulator with a motor of 80 W or less mounted on all axes, requires minimal space (baseplate: 240 mm × 170 mm). No fence is required for robot’s working area. The robot can be used in applications such as automated guided vehicles (AGVs), testing equipment, and educational tools.

Standard models include four air hoses (diameter: 4 mm), and an internal user I/O wiring harness (0.2 mm2 × 10) running through the U-arm. This structure simplifies wiring and tubing for easier system construction.

Floor-mounted, wall-mounted, and ceiling-mounted types are available.

Features

YA-RJ Longest Reach R545 mmMaximum payload 2 kg Longest Reach R532 mmMaximum payload 3 kg

Floor-mounted Ceiling-mounted

-axisvertically articulated

Floor-mounted Wall-mounted Ceiling-mounted

6-axis6vertically articulated

: P-point Maximum Envelop

View B

View A

90

909076 76

A

B

500

P-point maximum envelop for 1-kg load


P-PointL

U

S

R B

T

545

545

364

240

275

55

270 63

110° 209

234

270

545

209183

273

168

105°

290°

500

90°

45°φ10H

7

12.5±0.02 12.5±0.02

6 (fitting depth)

4-M5×P0.8Depth: 9

2-φ5H7 Depth: 7

25° 30°

60°

60°

55°

92.563

80±

0.1

160±

0.2

185

(Holes on diameter line)2-φ6H7 (Reference hole)

5-φ9

φ160

φ25

R20

9



R545R500

Axis with brake*3

Note: SI units are used for specifications.

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

*2. Conforms to JIS B 8432.*3. The S-, R-, B-, and T-axes do not have any brakes. Make sure that the operation does not require

brakes.*4. Varies in accordance with applications and motion patterns.


*1. Conforms to JIS B 8432.*2. Varies in accordance with applications and motion patterns.

Units: mm : P-point Maximum EnvelopUnits: mm

54

S E R I E S

YA-R5F/YA-R5LF


YA-R5F / YA-R5LF

YA-R6F


YA-R6F



YA-R5F

±0.02 mm

-136° to +255°

6.56 rad/s, 376°/s

6.11 rad/s, 350°/s

6.98 rad/s, 400°/s


5 kg

-170° to +170°

-65° to +150°

-190° to +190°

-135° to +135°

-360° to +360°

7.85 rad/s, 450°/s

7.85 rad/s, 450°/s

12.57 rad/s, 720°/s

YA-R5LF

±0.03 mm

-138° to +255°

4.71 rad/s, 270°/s

4.89 rad/s, 280°/s

5.24 rad/s, 300°/s

YA-R5F

27 kg

YA-R5LF

29 kg

Allowable

Moment

Allowable

Inertia

(GD2/4)

Ambient

Conditions

S -axis (turning)

L -axis (lower Arm)

U -axis (upper arm)




S -axis (turning)

L -axis (lower Arm)

U -axis (upper arm)










Temperature

Humidity

Vibration

Others

Range of

Motion

Maximum

Speed

Model

Controlled Axis

Payload

Repeatability*1


Mass

Model

12 N.m

12 N.m

7 N.m

0.3 kg.m2

0.3 kg.m2

0.1 kg.m2

0 to +45°C

20 to 80%RH (non-condensing)

4.9 m/s2 or less

1.0 kVA

4×φ12 (Mounting Holes)

2×φ6H7

φ12H

7

φ5H7 Depth: 7

φ12H7

4×φ12(Mounting Holes)

2×φ6H7

φ12H7

YA-R5F YA-R5LF

View E

R235

R706

4×M4×P0.7 Depth: 8

2×M4×P0.7 Depth: 8

87

70 55

298

423

40

25

110

170°

170°

4×M8×P1.25Depth: 16

4×M5×P0.8 Depth: 945°

5 (fitting depth)

View A

109 109

105 100±0.05

92±0

.192

±0.1

66±0.160±0.1

85±0

.1

View C

160194

160

138 10

0±0.0

519

4

310

330

40

740

0178

60

65°

150°

203

24351

136°

B

C

P-Point

S

L

U

R

B

T

A

156

0

246

239

474

688

88 80

233

947

0 15 235

706

277

501

114

305

255°

4×M8×P1.25 Depth: 16

R895

2×M4×P0.7 Depth: 8

523

170°

170°

1102540

87

70 55398

R2674×M4×P0.7Depth: 8

138

105 100±0.05

92±0

.192

±0.1

66±0.160±0.1

85±0

.1

100±

0.05

160194

160

194

Air inletTapped holes PT1/4(with pipe plug)


Air inletTapped holes PT1/4(with pipe plug)


View B View D

1BC

2BC

3BC 4BCAIR1

AIR2

109 109

9 0

88

681

400

267

895

330

400

40

341

98

503

1137

808

198

0

423

132

80

830

60

S

L

U

R B T

405

P-Point65° 150°32°

138°

255°

A

D

E

0 14 288

317

209

37°37°

φ31.5

YA-R6F


6 kg

±0.08 mm

-170° to +170°

-90° to +155°

-175° to +250°

-180° to +180°

-45° to +225°

-360° to +360°

3.84 rad/s, 220°/s

3.49 rad/s, 200°/s

3.84 rad/s, 220°/s

7.16 rad/s, 410°/s

7.16 rad/s, 410°/s

10.65 rad/s, 610°/s

Allowable

Moment

Allowable

Inertia

(GD2/4)

Ambient

Conditions

11.8 N.m

9.8 N.m

5.9 N.m

0.27 kg.m2

0.27 kg.m2

0.06 kg.m2

130 kg

0 to +45°C

20 to 80 %RH (non-condensing)

4.9 m/s2 or less

1.0 kVA



S -axis (turning)

L -axis (lower Arm)

U -axis (upper arm)




S -axis (turning)

L -axis (lower Arm)

U -axis (upper arm)










Temperature

Humidity

Vibration

Others

Range of

Motion

Maximum

Speed

Model

Controlled Axis

Payload

Repeatability*1


Mass

φ25H7

φ50h6

φ6H7 Depth: 6

4×φ18

φ12H7

2×φ16H7

View A View B

View C

φ40

45˚

4×M6×P1.0Depth: 9

175˚

83˚

90˚

155˚

250˚

614

155

95

6401507545

0

1422

381

349

152

0309

637

1122

1722

681

352

05

204316

764

538 0

501

L

B

T

R

U12

94

130

S

P-Point

R270

R1422

R381

170˚

170˚

6

6

A

B

C

199188

141

1BC

2BC

3BC

Connector for internal user I/O wiring harness (with cap)Matching connector provided by users.

Welding power source’sterminal block (with cover)Cover type is TCV-2001-04

Air inlet PT3/8with pipe plug (B)

Air inlet PT3/8with pipe plug (A)

102±0.1

153±0.1

153±

0.1

130±

0.1

100±0.1

300

292

260

102±

0.1

132±

0.1

60

132±0.1240

300

260

60

FeaturesFeatures

76

S E R I E S

-axis


6vertically articulated

-axis



Longest Reach R706 mm / R895 mmMaximum payload 5 kg Longest Reach R1422 mmMaximum payload 6 kg


*1. Conforms to JIS B 8432.*2. Varies in accordance with applications and motion patterns. Note: SI units are used for specifications.


The small YAC100 controller has a high-speed control cycle and a function to suppress vibrations in the robot’s hand for reduced residual vibration when starting and stopping to shorten cycle times and to realize the highest speed in their class.

Longest reach in a respective class (YA-R5F: 706 mm; YA-R5LF: 895 mm)


The small YAC100 controller has a high-speed control cycle and a function to suppress vibrations in the robot’s hand for reduced residual vibration when starting and stopping to shorten cycle times and to realize the highest speed in their class.

Longest reach in its class (1422 mm) and increased moment capacity of the wrist.


: P-point Maximum EnvelopUnits: mm : P-point Maximum EnvelopUnits: mm

YA-U5FMaximum payload 5 kg Maximum payload 10 kg

Note : External axis specification for a hand can be accommodated. Contact YAMAHA regarding your requirements.


The YA-U5F features seven controlled axes with a 5 kg payload.Ideal for handling small objects in applications that require the robot to be installed in limited space, and where a high level of positioning accuracy is needed.

High degree of motion like a human arm with its 7-axis arm.

The arm has been slimmed by employing a newly developed miniaturized actuator for the wrist section, greatly reducing the interference of the arm with the workpiece.

The narrowing of the motion range that usually results when downsizing a robot is avoided by an ingenious mechanism used for the arm joints, so maximum range is maintained.

Light and weighs only 30 kg, so many installation choices are available: floor, ceiling, or wall.

By utilizing internal user I/O wiring harness and air lines integrated in the arm, layout can be planned offline without worrying about peripheral interference.(Internal user I/O wiring harness and air lines specifications: two air lines and eight-core cables)

Features

YA-U10F


The YA-U10F is a 7-axis robot with a 10 kg payload and is more compact than the YA-U20F.Optimal for handling small objects in limited space.


The high flexibility of motion makes operation possible even in narrow spaces inaccessible to humans.

Folds to compact size when not in use.

Many installation options: on the floor, on the wall or on the ceiling.

Optimal for handling small objects.

By utilizing internal user I/O wiring harness and air lines integrated in the arm, layout can be planned offline without worrying about peripheral interference.(Internal user I/O wiring harness and air lines specifications: two air hoses and twelve-core cables)

Features

Range of

Motion

Maximum

Speed

Model

Controlled Axis

Payload

Repeatability*1

S -axis (turning)

L -axis (lower Arm)

E-axis (elbow twist)

U -axis (upper arm)




S -axis (turning)

L -axis (lower Arm)


U -axis (upper arm)




YA-U10F7 (Vertically articulated)

10 kg±0.1 mm

-180˚ to +180˚-110˚ to +110˚-170˚ to +170˚-135˚ to +135˚-180˚ to +180˚-110˚ to +110˚-180˚ to +180˚

2.97 rad/s, 170˚/s2.97 rad/s, 170˚/s2.97 rad/s, 170˚/s2.97 rad/s, 170˚/s3.49 rad/s, 200˚/s3.49 rad/s, 200˚/s6.98 rad/s, 400˚/s

C: Enlarged views of the tip

Connector for internaluser I/O wiring harness

S1-2

S1-1

AIR-1 (Red)AIR-2 (Blue)

(Outside dia.: 4 mm,Inside dia.: 2.5 mm)

Air Tube

View A

97.5 97.5

225(34)

225

5

5

97.5

± 0.0

297

.5± 0

.02

67.5±0.02

230

4-φ14 2-φ8H7

(264)

165

Allowable

Moment

Allowable

Inertia

(GD2/4)

Ambient

Conditions







Temperature

Humidity

Vibration

Others

31.4 N.m31.4 N.m19.6 N.m1.0 kg.m2

1.0 kg.m2

0.4 kg.m2

60 kg1.0 kVA

0 to +40 C20 to 80%RH (non-condensing)

4.9 m/s2 or less



Mass


Allowable

Moment

Allowable

Inertia

(GD2/4)

Ambient

Conditions

Mass








Temperature

Humidity

Vibration

Others


Range of

Motion

Maximum

Speed

Model

Controlled Axis

Payload

Repeatability*1

S -axis (turning)

L -axis (lower Arm)


U -axis (upper arm)




S -axis (turning)

L -axis (lower Arm)


U -axis (upper arm)





5 kg±0.06 mm

-180˚ to +180˚-110˚ to +110˚-170˚ to +170˚-90˚ to +115˚

-180˚ to +180˚-110˚ to +110˚-180˚ to +180˚


14.7 N.m14.7 N.m7.35 N.m

0.45 kg.m2

0.45 kg.m2

0.11 kg.m2

30 kg1.0 kVA


4.9 m/s2 or less



YA-U5F

Units: mm Units: mm


S1Connector for internaluser I/O wiring harness

AIR-1 (Red)

AIR-2 (Blue)

(Outside dia.: 4 mm, Inside dia.: 2.5 mm)

Air Tube

View B

97.5

±0.0

297

.5±0

.02

215

3530

220

4-φ10

62.5±0.02

97.5 46

173.5 6

11±0.02

2-φ8H7

165

694.

5

309.

527

060

φ129.5

R144

R559

559

P-point Maximum Envelop

U

L

R B

559

85 270 148

φ105

φ80

220

559

448

S

E

T

B

155

360

φ204

105100

80.584.5

7373

360

360

1235

T-axis

B-axis

R-axis

U-axis

E-axis

L-axis

S-axis

B

C

A

View A

45°

8.2

4-M6 Depth:10L

P.C.D

.63

5 (fitting depth)

2-φ6H7 Depth: 6L

φ80h

7 4245

10

YA-U10F

A

C720

P-point


R720

135°

135°

R276

1080

135°135°11

0°

110°

110°

110°

636

360

123

2-φ6H7 Depth: 10L

10.5 (φ80h6 valid range)

φ80h

6

6

8.24-M6 Depth: 11L

P.C.D.63

3

6

78

45°

1015°

(reamer hole pitch)P.C.D.61.4

View B

98

S E R I E S

-axis



-axis







YA-U20F


YAC100 Controller Specifications Programming Pendant Specifications

Features

Range of

Motion

Maximum

Speed

Model

Controlled Axis

Payload

Repeatability*1

S -axis (turning)

L -axis (lower Arm)


U -axis (upper arm)




S -axis (turning)

L -axis (lower Arm)


U -axis (upper arm)





20 kg±0.1 mm

-180˚ to +180˚-110˚ to +110˚-170˚ to +170˚-130˚ to +130˚-180˚ to +180˚-110˚ to +110˚-180˚ to +180˚


180

420

490 15

00

410

T-axis

B-axis

R-axis

U-axis

E-axis

L-axis

S-axis

85.5

98

109.5

80

104

120


View B

Connector for internaluser I/O wiring harness

S1-2

S1-1

AIR-1 (Red)AIR-2 (Blue)

(Outside dia.: 6 mm,Inside dia.: 4 mm)

Air Tube

View A280

280

340

240

240

4-φ14

2-φ8H7

60±0.03

60±0.03 130±

0.03

Allowable

Moment

Allowable

Inertia

(GD2/4)

Ambient

Conditions







Temperature

Humidity

Vibration

Others

58.8 N.m58.8 N.m29.4 N.m4.0 kg.m2

4.0 kg.m2

2.0 kg.m2

120 kg1.5 kVA


4.9 m/s2 or less



Mass


The YAC100 is a compact controller with improved performance and functions optimized for

handling and assembly. Can be used with robots with a 20-kg payload or less.

Fits in a 19-inch rack and can be installed under conveyors.

High-speed positioning achieved by suppressing vibration of hands.

Commands specifically designed for workpiece handling with synchronized conveyors.

YAC100

Items

Configuration

Dimensions

Mass

Cooling System

Ambient Temperature

Relative Humidity

Power Supply *

Grounding

Digital l/Os

Positioning System

Programming Capacity

Expansion Slots

LAN (Connection to Host)

Interface

Control Method

Drive Units

Painting Color

Standard: IP20 (open structure), Option: IP54 (dustproof housing)

470 (W)×420 (D)×200 (H) mm (Protrusions are not included.)

20 kg

Direct cooling

During operation: 0˚C to +40˚C

During storage : -10˚C to +60˚C

90% max. (non-condensing)

Single-phase 200/230 VAC (+10% to -15%), 50/60 Hz

Three-phase 200/220 VAC (+10% to -15%), 50/60 Hz

Grounding resistance: 100 Ω or less

Specialized signals: 10 inputs and 1 output

General signals : 28 inputs and 28 outputs

Max. I/O (optional) : 1,024 inputs and 1,024 outputs

By serial encoder

JOB: 10,000 steps, 1,000 instructions

CIO ladder: 1,500 steps

MP2000 bus × 5 slots

1 (10BASE-T/100BASE-TX)

RS-232C: 1ch

Software servo control

Six axes for robots. Two more axes can be added as

external axes. (Can be installed in the controller.)

Munsell notation 5Y7/1 (reference value)

Items

Dimensions

Mass

Material

Operation Device

Display

IEC Protection Class

Cable Length

169 (W)×314.5 (H)×50 (D) mm

0.990 kg

Reinforced plastics

Select keys, axis keys (8 axes), numerical/application keys,

Mode switch with key (mode: teach, play, and remote),

emergency stop button, enable switch, compact flash card

interface device (compact flash is optional.), USB port (1 port)

640×480 pixels color LCD, touch panel

(Alphanumeric characters, Chinese characters, Japanese letters, Others)

IP65

Standard: 8 m, optional: 20 m max.

SpecificationsSpecifications

Note: A programming pendant or a dummy connector is required with the YAC100. (Sold separately.)

Programming pendant

For maintenance, the programming pendant is required. One programming pendant can be used with more than one controller.

Dummy connector

The dummy connector must be inserted when the programming pendant is not

connected or when the software pendant is used.

Custom-made functions and windows can be created for various purposes and users.

Development of custom applications for robot control

• Robot control applications developed by the user in the C programming language can be installed in the controller

Controlling the YAC100 directly from a host computer, with the YAC100 as a server

• The robot can be controlled from a host computer

Programming pendant application software development

• Windows CE application software developed by the user can be installed in the programming pendant

Hardware Options Optional Functions

• Programming pendant• IP54 protective structure• External axis (max.: 2 axes)• I/O module (28 points, NPN or PNP)• Counter module (2 channels)• Analog I/O module (8 channels)• Major fieldbus interface boards

DeviceNetTM (master/slave), CC-Link (slave), PROFIBUS (slave),Ethernet/IPTM (slave, I/O communications)

• Conveyor synchronization• TCP• Relative job• Coordinated control• Servo float• Energy saving mode (with servomotor turn off limit)• Software pendant• Network (data transfer, FTP, Ethernet server)• Bilingual display (Shown in the required language.)

• Vision function• External reference point control• Independent control• Search• Automatic backup

controller for use with the YA series

Optimum controller for handling and assembly

Open controller

* ControlLogix 1756-L61 and CompactLogix 1756-L35E are supported

* YA-R6F: Three-phase only.

Optional

YA-U20F

Units: mm

B

A

C

10.5 (φ100h7 valid range)

φ10

0h7

6

2-φ8H7 Depth: 10L

φ10

P.C.D.80

8.25

30°

30°30°98

3

6

910390

110°

110°

130° 130°

130° 130°

P-point


R390Lamp

(optional)130°

800

178

910

1320

130°

1110

S E R I E S

-axis



Maximum payload 20 kg


With its unique arm form and 7 degrees of freedom, the YA-U20F has achieved flexibility of movement that was impossible for robots till now.


The high flexibility of motion makes operation possible even in narrow spaces inaccessible to humans.

Folds to compact size when not in use.

Many installation options: on the floor, on the wall or on the ceiling.

Assembles and handles heavy objects up to 20 kg.

By utilizing internal user I/O wiring harness and air lines integrated in the arm, layout can be planned offline without worrying about peripheral interference.(Internal user I/O wiring harness and air lines specifications: two air hoses and sixteen-core cables)



6-M8 Depth: 12L

Documents

S E R I E S - contaxireland.ie fileYA-R6F YA-U20F YA-R5F S E R I E S New Generation Robots S-axis L-axis E-axis U-axis R-axis B-axis T-axis S-axis L-axis E-axis U-axis R-axis B-axis