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Yamaha Motor Co.,Ltd.
Vertically articulated robots

Vertically articulated robots

Product catalog summary

Product Lineup Overview
The document details the YA series articulated robots, including 6-axis and 7-axis models, designed for handling, assembly, and inspection tasks. These robots offer high-speed operation, compact design, and flexible movement.

Specifications

6-axis Robots: Models YA-RJ, YA-R3F, YA-R5F, YA-R5LF, and YA-R6F handle payloads from 1 kg to 6 kg with varying reach capabilities.
7-axis Robots: Models YA-U5F, YA-U10F, and YA-U20F support higher payloads up to 20 kg, offering enhanced flexibility with an additional axis.

Key Features

High-Speed Operation: Utilizes low-inertia AC servo motors and advanced control technology.
Compact Design: Suitable for tight spaces, allowing integration of multiple robots.
Flexible Movement: 7-axis models provide human-like arm movement.
Robot Simulator: Software for virtual facility construction and program creation.

Performance Parameters

Repeatability: Ranges from ±0.02 mm to ±0.1 mm.
Speed: Maximum speeds vary, with the T-axis reaching up to 720°/s.
Allowable Moment and Inertia: Varies by model.

Environmental and Power Requirements

Operating Conditions: Suitable for environments free from corrosive gases and excessive noise.
Power Requirements: Typically 0.5 to 1.5 kVA.

Additional Options
Programming and connectivity options include EtherNet/IP, DeviceNet, and PROFIBUS.

Specifications Overview
Detailed specifications for models YA-R5F, YA-R5LF, YA-R6F, and YA-U5F, each designed for specific payloads and operational ranges.

Key Specifications

YA-R5F: 6-axis, 5 kg payload, 706 mm reach, ±0.02 mm repeatability.
YA-R5LF: Similar to YA-R5F with 895 mm reach, ±0.03 mm repeatability.
YA-R6F: 6-axis, 6 kg payload, 1422 mm reach, ±0.08 mm repeatability.
YA-U5F: 7-axis, 5 kg payload, ±0.06 mm repeatability.

Motion and Speed
Specific ranges of motion and maximum speeds for each model.

Environmental and Power Requirements

Temperature: 0 to +45°C, YA-U5F up to +40°C.
Humidity: 20 to 80% RH.
Power: 1.0 kVA.

Installation and Connectivity
Mounting options and connectivity features like CC-Link, DeviceNet, and EtherCAT.

Additional Notes
Advanced control features of the YAC100 controller and integration of internal user I/O wiring in YA-U5F.

Specifications
Details for YA-U10F and YA-U20F models, both 7-axis with high flexibility and compact design.

Technical Specifications

Controlled Axis: 7
Repeatability: ±0.1 mm
Maximum Speed: T-axis up to 6.98 rad/s
Mass: YA-U10F is 60 kg, YA-U20F is 120 kg
Power Requirements: 1.0 kVA for YA-U10F, 1.5 kVA for YA-U20F

Controller Specifications
The YAC100 controller supports up to six robot axes and two additional external axes.

Optional Features
Includes conveyor synchronization and vision function.

Accessories and Options
Standard accessories and optional parts for the YAC100 controller.

Installation and Maintenance Notes
Emphasizes preventing foreign substances in cables and ensuring space for grease replenishment.

Robot Types
Includes articulated robots, compact single-axis robots, and others.

Additional Information
Linear conveyor modules LCM 100 and 120.

Catalog excerpts

Product Lineup Ideal for compact cell construction, transport and assembly of small parts, and inspection work. 4w *"* S-axis: Rotate the body horizontally L-axis: Move the body forward/backward U-axis: Move the arm up/down R-axis: Rotate the arm B-axis: Move the tip of the arm up/down T-axis: Rotate the tip of the arm S-axis: Rotate the body horizontally L-axis: Move the body forward/backward E-axis: Twist the arm U-axis: Move the arm up/down R-axis: Rotate the arm B-axis: Move the tip of the arm up/down T-axis: Rotate the tip of the arm

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Reduce personnel, increase productivity 6-axis Handling (general) Assembly / Placement Note. When a load is more than 1 kg, the motion range will be smaller. Use the robot within the recommended motion range. POINT High-speed operation reduces cycle time Thanks to high-speed, low-inertia AC servo motors, an arm designed for light weight, and the latest control technology, these robots achieve an operating speed that is best in their class.From supply, assembly, inspection, and packing to palletization, all applications can enjoy shorter cycle time and improved productivity. Workpieces with a...

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Articulated robots Linear conveyor modules Compact single-axis robots TRANSERVO FLIP-X Single-axis robots ARTICULATED ROBOTS Linear motor single-axis robots Cartesian robots SCARA robots CONTENTS Pick & place robots ■■YA SERIES MANIPULATOR SPECIFICATIONS···················110 CONTROLLER INFORMATION

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Note 1. Varies in accordance with applications and motion patterns. Note 2. When a load is more than 1 kg, the motion range will be smaller. Use the robot within the recommended motion range. For details, refer to the dimensional diagram on P.111. ■ YA series basic system contents Device cable connector*1 Programming box YAP-J (Japanese)*2 Standard boards YA series Optional PC software Optional extension cable 4m/8m/12m EtherNet board Option board NPN (PNP*3) expansion DIO board 28 I/O each ★ Up to four boards DeviceNet™ board Master/Slave YAC100 via EtherNet CC-Link board Slave PROFIBUS board...

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[+ Maximum payload 2 kg W # Longest Reach R545 mm Ordering method YA-RJ Model 4L YAC100 Power cable length Safety standard JE: Japanese/English JC: Japanese/Chinese EJ: English/Japanese EC: English/Chinese Note. This unit is ideal for small tabletop devices or for education. Note. The ultra-light, compact YA-RJ features portability and easy installation for simplified system integration. Note. Each axis uses a motor of 80 W or less. Note. This unit can also be used in combination with a travel axis or other external axis. Please contact us. Controlled Axis Network option DM: DeviceNet master...

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Linear conveyor Compact Linear motor Cartesian SCARA Pick & place Articulated robots modules single-axis robots Single-axis robots single-axis robots robots robots robotsl YA LCM100 TRANSERVO FLIP-X PHASER XY-X YK-X YP-X CLEAN CONTROLLER INFORMATION 4L - YAC100 Power cable lengthfl Controller Safety standard Language setting JE: Japanese/English JC: Japanese/Chinese EJ: English/Japanese EC: English/Chinese Network option DM: DeviceNet master DS: DeviceNet slave PB: PROFIBUS EP: EtherNet/IPTM PM: Profinet master PT: Profinet slave ES: EtherCAT slave Note. The YA-R3F, a compact manipulator with...

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• Maximum payload 5 kg T • Longest Reach R706 mm Safety standard Network option DM: DeviceNet master DS: DeviceNet slave PB: PROFIBUS EP: EtherNet/IPTM PM: Profinet master PT: Profnet slave ES: EtherCAT slave Note. Thanks to the higher control rate of the YAC100 controller and vibration-damping control of the arm, we have reduced the residual vibration when the arm stops moving, while shortening the cycle time and achieving the fastest speed in this class. Note. Longest reach in a respective class (706 mm) Note. Floor-mounted, wall-mounted, and ceiling-mounted types are available. Please contact...

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Linear conveyor Compact Linear motor Cartesian SCARA Pick & place Articulated robots modules single-axis robots Single-axis robots single-axis robots robots robots robotsl YA LCM100 TRANSERVO FLIP-X PHASER XY-X YK-X YP-X CLEAN CONTROLLER INFORMATION YA-R5LF Ordering method | Safety standard Network option No entry : None CC: CC-Link DM: DeviceNet master DS: DeviceNet slave PB: PROFIBUS EP: EtherNet/IPTM PM: Profinet master PT: Profinet slave ES: EtherCAT slave Note. Thanks to the higher control rate of the YAC100 controller and vibration-damping control of the arm, we have reduced the residual...

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• Maximum payload 6 kg W# Longest Reach R1422 mm Ordering method 4L - YAC100 Power cable lengthfl Controller Safety standard Language setting JE: Japanese/English JC: Japanese/Chinese EJ: English/Japanese EC: English/Chinese Network option DM: DeviceNet master DS: DeviceNet slave PB: PROFIBUS EP: EtherNet/IPTM PM: Profinet master PT: Profinet slave ES: EtherCAT slave Note. Thanks to the higher control rate of the YAC100 controller and vibration-damping control of the arm, we have reduced the residual vibration when the arm stops moving, while shortening the cycle time and achieving the fastest...

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Power cable lengthB Controller B Safety standard B Language setting Note. High degree of motion like a human arm with its 7-axis arm. Note. The arm has been slimmed by employing a newly developed miniaturized actuator for the wrist section, greatly reducing the interference of the arm with the workpiece. Note. The narrowing of the motion range that usually results when downsizing a robot is avoided by an ingenious mechanism used for the arm joints, so maximum range is maintained. Note. Light and weighs only 30 kg, so many installation choices are available: floor, ceiling, or wall. Please contact...

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Note. High degree of motion like a human arm with its 7-axis arm. Note. The high flexibility of motion makes operation possible even in narrow spaces inaccessible to humans. Note. Folds to compact size when not in use. Note. Many installation options: on the floor, on the wall or on the ceiling. Please contact us separately regarding wall-mounted or ceiling-mounted installations. Note. Optimal for handling small objects. Note. By utilizing internal user I/O wiring harness and air lines integrated in the arm, layout can be planned offline without worrying about peripheral interference. (Internal...

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673 Pages