CARTESIAN ROBOTS - Yamaha Motor Company...Pic place robots YP-X CEAN CONTROLLER INFRMATION XZ type...

CARTESIAN ROBOTS

P ro d u c t L i n e u p

XY-XSeries

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

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Fulfilling product lineups are provided, such as compact and low price PXYx type, HXYLx allowing

long-distance transfer with a maximum payload of 50kg, and NXY with hollow servomotor used for

the X-axis applicable to double-arm. Fulfilling arm and performance variations support the customers'

various requests.

Additionally, various custom-order products other than models stated in the catalog are also support-

ed. For detail, please feel free to consult YAMAHA.

Fulfilling product lineups

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Fulfilling product lineups support a wide variety of applications.Various variations P.242

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

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

FXYx SXYx PXYx

ModelApplicable arm variations

Number of axesMaximum payload

(kg)

Maximum stroke (mm)

Arm Gantry Moving arm Pole XZ X-axis Y-axis

PXYx l - - - - 2 axes 4.5 150 to 650 50 to 300

FXYx l - - - - 2 axes/3 axes 12 150 to 1050 150 to 550

FXYBx l - - - - 2 axes 7 150 to 2450 150 to 550

SXYx l - l l l 2 axes/3 axes/4 axes 20 150 to 1050 150 to 650

SXYBx l - - - l 2 axes/3 axes/4 axes 14 150 to 3050 150 to 550

MXYx l l l l l 2 axes/3 axes/4 axes 30 250 to 1250 150 to 650

NXY l - - - - 2 axes/3 axes 25 500 to 2000 150 to 650

NXY-W l - - - - 4 axes/6 axes 25 250 to 1750 150 to 650

HXYx l l l l l 2 axes/3 axes/4 axes 40 250 to 1250 250 to 650

HXYLx l l - - - 2 axes 40 1150 to 2050 250 to 650

FXYBx

SXYBx

MXYx

NXY NXY-W HXYx HXYLx

P O I N T 1

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

Large difference in circumferential length

Small difference in circumferential length

● Easy to receive effects of poor installation surface accuracy, friction, and elastic deformation.

● Breakage may occur even within the calculated service life.

Differential slip is large and friction resistance is large.

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

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

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

● Resistant to alignment changes and moment loads.

● Difficult to break.

P O I N T 2

Highly reliable resolver is used.

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

P O I N T 3

Easy maintenance

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

X Y- X S e r i e s P r o d u c t L i n e u p

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

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

lXZ type

Type with combination of X-axis for horizontal movement and Z-axis for

vertical movement

P O I N T 4

Low price

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

P O I N T 5

Lightweight and compact

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

Motor rotor+

Resolver rotor

Ball screw

Motor stator+

Resolver stator

P O I N T 6

Double Y-axis available as standard

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

Process 1

Process 2

Process 1

Process 2

■ Layout using two conventional Cartesian robots

■ Space saving and process integration using NXY-W

Arm & cable variations

Cable variations

Two kinds of cable specifications, cable carrier and whipover (separate cable), are available. (PXYx uses only the cable carrier.)

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

Note. User cable: 10-core, 0.3 sq

lArm type

Type with Y-axis slider movement

lMoving arm type

Type with entire Y-axis arm movement

lGantry type

Type with support guide attached to the

Y-axis tip of the arm type lPole type

Type with Y-axis slider

vertical movement

Arm variations

2 axes combination

Clamped table/moving base Clamped base/moving table

lDual-robot (2 axes)

Type with synchronous drive between

two axesNote. The dual-robot is supported as a custom

order.

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lZ-axis clamped base and moving table type

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

lZ-axis clamped table and moving base type

ZR-axis model: ZFH / ZH

lShaft up/down type

ZR-axis model: ZS

lX-Y Gantry + Z-axis

(Clamped base/moving table)


(Clamped table/moving base)

lDual-robot (3 axes)Note. The dual-robot is supported as a custom

order.

lZ-axis clamped base and moving table type + rotation axis

ZR-axis model: ZRF / ZRFL / ZRL

lZ-axis clamped table and moving base type + rotation axis

ZR-axis model: ZRFH / ZRH

lZR-axis integrated type

ZR-axis model: ZRS


(Clamped base/moving table) +

rotation axis


(Clamped table/moving base) +

rotation axis

lDual-robot (4 axes)Note. The dual-robot is supported as a

custom order.

lDouble Y-axis specifications

Robot model: NXY-W

lDouble Y-axis specifications/ Z-axis clamped base and moving table type

Robot model: NXY-W-ZFL

lDouble Y-axis specifications/ Z-axis clamped table and moving base type

Robot model: NXY-W-ZFH

Special orders

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

Contact Us E-mail: [email protected]

3 axes combinations

4 axes combinations

6 axes combination

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Arm

type

Gantry type

Moving arm

type

Po

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CONTENTS

Main functions P.36

XY-XSERIES

CARTESIAN ROBOTS

■ Arm & cable variations ······· 242■ 2-axis spec selection guide ··· 244■ 3-axis spec selection guide ··· 246

■ Robot ordering method description ··························· 250 ■ Robot ordering method terminology ·························· 251

ARM TYPEPXYx 2 axes C ��252FXYx 2 axes C ��254FXYx 2 axes / IO C ��256FXYx 3 axes / ZS C ��257FXYx 3 axes / ZT C ��258FXYBx 2 axes C ��260FXYBx 2 axes S ��262FXYBx 2 axes / IO C ��264SXYx 2 axes C ��266SXYx 2 axes S ��268SXYx 2 axes / IO C ��270SXYx 3 axes / ZF C ��272SXYx 3 axes / ZF S ��273SXYx 3 axes / ZFL20 ��274SXYx 3 axes / ZFH C ��275SXYx 3 axes / ZS C ��276SXYx 3 axes / ZS S ��277SXYx 4 axes / ZRF C ��278SXYx 4 axes / ZRF S ��279SXYx 4 axes / ZRFL20 C ��280SXYx 4 axes / ZRFH C��281SXYx 4 axes / ZRS C ��282SXYx 4 axes / ZRS S ��283SXYBx 2 axes C ��284SXYBx 3 axes / ZF C ��286SXYBx 3 axes / ZFL20 C ��287

SXYBx 3 axes / ZFH C ��288SXYBx 3 axes / ZS C ��289SXYBx 4 axes / ZRS C ��290NXY 2 axes C ��292NXY 3 axes / ZFL C ��294NXY 3 axes / ZFH C ��296NXY-W 4 axes C ��298NXY-W 6 axes / ZFL C ��299NXY-W 6 axes / ZFH C ��300MXYx 2 axes C��302MXYx 2 axes S ��304MXYx 2 axes / IO C ��306MXYx 3 axes / ZFL20/10 C ��307MXYx 3 axes / ZFH C ��308MXYx 4 axes / ZRFL20/10 C ��309MXYx 4 axes / ZRFH C ��310HXYx 2 axes C �� 312HXYx 3 axes / ZL C ��314HXYx 3 axes / ZH C ��315HXYx 4 axes / ZRL C ��316HXYx 4 axes / ZRH C �� 317HXYLx 2 axes C ��318

GANTRY TYPEMXYx 2 axes C��320MXYx 2 axes / IO C ��322MXYx 3 axes / ZFL20/10 C ��323MXYx 3 axes / ZFH C ��324MXYx 4 axes / ZRFL20/10 C ��325MXYx 4 axes / ZRFH C ��326HXYx 2 axes C ��328HXYx 3 axes / ZL C ��330HXYx 3 axes / ZH C ��331HXYx 4 axes / ZRL C ��332HXYx 4 axes / ZRH C ��333HXYLx 2 axes C ��334

MOVING ARM TYPESXYx 2 axes S ��336SXYx 3 axes / ZF S ��338SXYx 3 axes / ZFL20 S ��339SXYx 3 axes / ZFH S ��340SXYx 3 axes / ZS S ��341MXYx 2 axes C��342MXYx 3 axes / ZFL20/10 C ��344MXYx 3 axes / ZFH C ��345HXYx 2 axes C ��346HXYx 3 axes / ZH C ��348

POLE TYPESXYx 2 axes S ��350MXYx 2 axes C��351MXYx 2 axes S ��352MXYx 3 axes / ZPMH C ��353HXYx 2 axes C ��354HXYx 2 axes S ��355HXYx 3 axes / ZPH C ��356HXYx 3 axes / ZPH S ��357

XZ TYPESXYx 2 axes / ZF C ��358SXYx 2 axes / ZF S ��359SXYx 2 axes / ZFL20 C ��360SXYx 2 axes / ZS C ��361SXYx 2 axes / ZF C ��362SXYBx 2 axes / ZFL20 C ��363MXYx 2 axes / ZFL10 C ��364MXYx 2 axes / ZFH C ��365HXYx 2 axes / ZL C ��366HXYx 2 axes / ZH C ��367

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242

Arm

type

Gantry type

Moving arm

type

Po

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XZ

type


Cable variationsTwo cable types are available; cable carrier type and whipover type. (except PXYX) The cable carrier type is supplied with a user cable as standard so that cable can be added easily. The whipover type is supplied with a user cable and tube as standard set. A cable duct specially designed for clean rooms is also available. (See P.458 to P.463 for detailed information on Clean Cartesian robots.)

Arm variations The first step for selection of Cartesian type robot models is to check for applicable models according to specific use and operation area.

Cable carrier (C)

When adding cables to a cable carrier track, keep the cable occupation rate at 30% or less.

Note. User cable 10 cores, 0.2 sq.

Whipover (S)

Adding a load on whipover will result in sagging and cut. Sagging may also occur when using long strokes.

Note. User cable: 7 cores, 0.2 sq.Note. User tube: 2 ϕ4 air tubes.

Arm type

Gantry type

Moving arm type

Pole type

XZ type

Clean type

The type with moving Y-axis carriage.

The type with a guide railing at the end of Y-axis for support.

The type with a moving Y-axis arm.

The type with vertically moving Y-axis carriage.

The type with combination of X-axis for horizontal movement and Z-axis for vertical movement.

Special model for clean rooms with moving Y-axis carriage installed upward.

P.252

P.320

P.336

P.350

P.358

P.458

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Arm

type

Gantry type

Moving arm

type

Po

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XZ

type


Arm variations The first step for selection of Cartesian type robot models is to check for applicable models according to specific use and operation area.

A1 A3 A4

M M

A2

M M MMM

M

G1 G3 G4

MM M

M

G2

MM

MM

M1 M3

M

M

M

M

P1 P2M

M

M

M

F1 F3M

M

M

M

T1 T3

M

M

M

M

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Arm

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Gantry type

Moving arm

type

Po

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XZ

type

1 Select the arm variation

2 Select a line satisfying both the Y-axis stroke and payload and move to the right.

3 Check the cable types

4 Check the X axis stroke

5 Select the desired speed

6 Decide the model

Arm typeThe type with moving Y-axis carriage.

Gantry typeThe type with a guide railing at the end of Y-axis for support.

Moving arm typeThe type with a moving Y-axis arm.

Pole typeThe type with vertically moving Y-axis carriage.

XZ typeThe type with combination of X-axis for horizontal movement and Z-axis for vertical movement.

Setting method

While checking conditions in

order starting from , proceed

to the right. Select the desired

model in .

2-axis spec selection guide

Y-axis stroke (mm)Cable type X-axis stroke (mm)

Maximum speed(X-axis / Y-axis) (mm/sec)

Model (Note 1) Detailed info page50 100 150 200 250 300 350 400 450 500

Payload (kg) 4.5 4.5 3.5 2.5 2 1.5 Cable carrier 150 to 650 720 / 720 PXYx-C-A* P.252



ModelDetailed info

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12 11 9 7 Cable carrier 150 to 1050 1200 / 800 FXYx-C-A* P.25412 11 9 7 Cable carrier 150 to 1050 1200 / 800 FXYx-C-A* (I/O) P.256

7 6 5 3 Cable carrier 150 to 2450 1875 / 1875 FXYBx-C-A* P.2607 6 5 3 Whipover 150 to 950 1875 / 1875 FXYBx-S-A* P.2627 6 5 3 Cable carrier 150 to 2450 1875 / 1875 FXYBx-C-A* (I/O) P.264

20 17 15 13 11 9 Cable carrier 150 to 1050 1200 / 1200 SXYx-C-A* P.26620 17 15 13 11 9 Whipover 150 to 850 1200 / 1200 SXYx-S-A* P.26819 16 14 12 10 8 Cable carrier 150 to 1050 1200 / 1200 SXYx-C-A* (I/O) P.27014 12 10 8 7 Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A* P.28425 21 18 16 13 11 Cable carrier 500 to 2000 1200 / 1200 NXY-C-A* P.292

30 25 20 16 Cable carrier 250 to 1250 1200 / 1200 MXYx-C-A* P.30230 25 20 16 Whipover 250 to 850 1200 / 1200 MXYx-S-A* P.30429 24 19 15 Cable carrier 250 to 1250 1200 / 1200 MXYx-C-A* (I/O) P.306

40 35 30 Cable carrier 250 to 1250 1200 / 1200 HXYx-C-A* P.31240 35 30 Cable carrier 1150 to 2050 1200 / 1200 HXYLx-C-A* P.318



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30 25 20 Cable carrier 250 to 1050 1200 / 1200 MXYx-C-G* P.32029 24 19 Cable carrier 250 to 1050 1200 / 1200 MXYx-C-G* (I/O) P.322

50 Cable carrier 250 to 1250 1200 / 1200 HXYx-C-G* P.32850 Cable carrier 1150 to 2050 1200 / 1200 HXYLx-C-G* P.334



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15 14 13 Cable carrier 150 to 850 1200 / 1200 SXYx-C-M* P.33620 Cable carrier 250 to 1250 1200 / 1200 MXYx-C-M* P.342

30 Cable carrier 250 to 1250 1200 / 1200 HXYx-C-M* P.348



ModelDetailed info

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g) 8 Whipover 150 to 850 1200 / 600 SXYx-S-P* P.35020 Cable carrier 250 to 1250 1200 / 600 MXYx-C-P* P.35120 Whipover 250 to 950 1200 / 600 MXYx-S-P* P.352

30 Cable carrier 250 to 1250 1200 / 600 HXYx-C-P* P.35430 Whipover 250 to 850 1200 / 600 HXYx-S-P* P.355

Z-axis stroke (mm)Cable type X-axis stroke (mm)


ModelDetailed info

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10 Cable carrier 150 to 1050 1200 / 600 SXYx-C-F* (ZF) P.35810 Whipover 150 to 850 1200 / 600 SXYx-S-F* (ZF) P.3598 Cable carrier 150 to 1050 1200 / 1200 SXYx-C-F* (ZFL20) P.360

3 Cable carrier 150 to 1050 1200 / 1000 SXYx-C-F* (ZS12) P.3615 Cable carrier 150 to 1050 1200 / 500 SXYx-C-F* (ZS6) P.361

10 Cable carrier 150 to 3050 1875 / 600 SXYBx-C-F* (ZF) P.3628 Cable carrier 150 to 3050 1875 / 1200 SXYBx-C-F* (ZFL20) P.36315 Cable carrier 150 to 1050 1200 / 600 MXYx-C-F* (ZFL10) P.364

14 13 12 Cable carrier 150 to 1050 1200 / 600 MXYx-C-F* (ZFH) P.36520 Cable carrier 250 to 1250 1200 / 600 HXYx-C-F* (ZL) P.36630 Cable carrier 250 to 1250 1200 / 300 HXYx-C-F* (ZH) P.367

Arm type

Gantry type

Moving arm type

Pole type

XZ type

Decide the model

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XZ

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Model (Note 1) Detailed info page50 100 150 200 250 300 350 400 450 500

Payload (kg) 4.5 4.5 3.5 2.5 2 1.5 Cable carrier 150 to 650 720 / 720 PXYx-C-A* P.252



ModelDetailed info

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12 11 9 7 Cable carrier 150 to 1050 1200 / 800 FXYx-C-A* P.25412 11 9 7 Cable carrier 150 to 1050 1200 / 800 FXYx-C-A* (I/O) P.256

7 6 5 3 Cable carrier 150 to 2450 1875 / 1875 FXYBx-C-A* P.2607 6 5 3 Whipover 150 to 950 1875 / 1875 FXYBx-S-A* P.2627 6 5 3 Cable carrier 150 to 2450 1875 / 1875 FXYBx-C-A* (I/O) P.264

20 17 15 13 11 9 Cable carrier 150 to 1050 1200 / 1200 SXYx-C-A* P.26620 17 15 13 11 9 Whipover 150 to 850 1200 / 1200 SXYx-S-A* P.26819 16 14 12 10 8 Cable carrier 150 to 1050 1200 / 1200 SXYx-C-A* (I/O) P.27014 12 10 8 7 Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A* P.28425 21 18 16 13 11 Cable carrier 500 to 2000 1200 / 1200 NXY-C-A* P.292

30 25 20 16 Cable carrier 250 to 1250 1200 / 1200 MXYx-C-A* P.30230 25 20 16 Whipover 250 to 850 1200 / 1200 MXYx-S-A* P.30429 24 19 15 Cable carrier 250 to 1250 1200 / 1200 MXYx-C-A* (I/O) P.306

40 35 30 Cable carrier 250 to 1250 1200 / 1200 HXYx-C-A* P.31240 35 30 Cable carrier 1150 to 2050 1200 / 1200 HXYLx-C-A* P.318



ModelDetailed info

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30 25 20 Cable carrier 250 to 1050 1200 / 1200 MXYx-C-G* P.32029 24 19 Cable carrier 250 to 1050 1200 / 1200 MXYx-C-G* (I/O) P.322

50 Cable carrier 250 to 1250 1200 / 1200 HXYx-C-G* P.32850 Cable carrier 1150 to 2050 1200 / 1200 HXYLx-C-G* P.334



ModelDetailed info

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15 14 13 Cable carrier 150 to 850 1200 / 1200 SXYx-C-M* P.33620 Cable carrier 250 to 1250 1200 / 1200 MXYx-C-M* P.342

30 Cable carrier 250 to 1250 1200 / 1200 HXYx-C-M* P.348



ModelDetailed info

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g) 8 Whipover 150 to 850 1200 / 600 SXYx-S-P* P.35020 Cable carrier 250 to 1250 1200 / 600 MXYx-C-P* P.35120 Whipover 250 to 950 1200 / 600 MXYx-S-P* P.352

30 Cable carrier 250 to 1250 1200 / 600 HXYx-C-P* P.35430 Whipover 250 to 850 1200 / 600 HXYx-S-P* P.355

Z-axis stroke (mm)Cable type X-axis stroke (mm)


ModelDetailed info

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10 Cable carrier 150 to 1050 1200 / 600 SXYx-C-F* (ZF) P.35810 Whipover 150 to 850 1200 / 600 SXYx-S-F* (ZF) P.3598 Cable carrier 150 to 1050 1200 / 1200 SXYx-C-F* (ZFL20) P.360

3 Cable carrier 150 to 1050 1200 / 1000 SXYx-C-F* (ZS12) P.3615 Cable carrier 150 to 1050 1200 / 500 SXYx-C-F* (ZS6) P.361

10 Cable carrier 150 to 3050 1875 / 600 SXYBx-C-F* (ZF) P.3628 Cable carrier 150 to 3050 1875 / 1200 SXYBx-C-F* (ZFL20) P.36315 Cable carrier 150 to 1050 1200 / 600 MXYx-C-F* (ZFL10) P.364

14 13 12 Cable carrier 150 to 1050 1200 / 600 MXYx-C-F* (ZFH) P.36520 Cable carrier 250 to 1250 1200 / 600 HXYx-C-F* (ZL) P.36630 Cable carrier 250 to 1250 1200 / 300 HXYx-C-F* (ZH) P.367

Decide the model

Note 1. The figure entered at * inside the form, expresses the arm variation. See P. 242 for more information.

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246

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type

1 Select the arm variation

Arm type Moving arm type

The type with moving Y-axis carriage. The type with a moving Y-axis arm.

Gantry type Pole type

The type with a guide railing at the end of Y-axis for support.

The type with ver t ical ly moving Y-axis carriage.

While checking conditions in

order starting from , proceed

to the right. Select the desired

model in .

Setting method


Z-axis Y-axis stroke (mm)Cable type X-axis stroke (mm)

Maximum speed(X-axis / Y-axis)

(mm/sec)Model (Note 1) Detailed info

pageSpeed(mm/sec)

Stroke(mm)

Installation method 150 250 350 450 550 650 750 850 950 1050

1000 150Shaft vertical type

Pay

loa

d (k

g)

3

Cable carrier 150 to 1050 1200 / 800

FXYx-C-A*-ZS12 P.257500 150 5 3 FXYx-C-A*-ZS6 P.257

800 50 to 300Clamped base � moving

table type (60W)3 FXYx-C-A*-ZT6 P.258

600

150 Clamped base � moving table type

(100W)

10 9 7 5 3Cable carrier 150 to 1050 1200 / 1200 SXYx-C-A*-ZF P.272250 10 8 6 4 2

350 10 9 7 5 3 1150 Clamped base �

moving table type (100W)

10 9 7 5 3Whipover 150 to 850 1200 / 1200 SXYx-S-A*-ZF P.273250 10 10 8 6 4 2

350 10 9 7 5 3 1

1200150 Clamped base �


8 6 4 2Cable carrier 150 to 1050 1200 / 1200 SXYx-C-A*-ZFL20 P.274250 8 7 5 3 1

350 8 6 4 2 1

600150 Clamped table �

moving base type (200W)

13 10 8 6 4 2Cable carrier 150 to 1050 1200 / 1200 SXYx-C-A*-ZFH P.275250 12 9 7 5 3 1

350 11 8 6 4 2 1


3 Cable carrier 150 to 1050

1200 / 1200

SXYx-C-A*-ZS12 P.2763 Whipover 150 to 850 SXYx-S-A*-ZS12 P.276

500 1505 Cable carrier 150 to 1050 SXYx-C-A*-ZS6 P.2775 Whipover 150 to 850 SXYx-S-A*-ZS6 P.277



8 6 4 2 1Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A*-ZF P.286250 7 5 3 1

350 6 4 2



7 5 3 1Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A*-ZFL20 P.287250 6 4 2

350 5 3 1



7 5 3 1Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A*-ZFH P.288250 6 4 2

350 5 3 11000 150

Shaft vertical type3 Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A*-ZS12 P.289

500 150 5 4 3 Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A*-ZS6 P.289



8 5 3Cable carrier 500 to 2000 1200 / 1200 NXY-C-A*-ZFL20 P.294250 8 7 4 2

350 8 6 3 1



13 12 10 8 5 3Cable carrier 500 to 2000 1200 / 1200 NXY-C-A*-ZFH P.296250 13 11 9 7 4 2

350 12 10 8 6 3 1



15 12 12 8Cable carrier 250 to 1250 1200 / 1200 MXYx-C-A*-ZFL10 P.307250 15 11 11 7

350 15 10 10 6



8Cable carrier 250 to 1250 1200 / 1200 MXYx-C-A*-ZFL20 P.307250 8 7

350 8 6



14 12 8Cable carrier 250 to 1250 1200 / 1200 MXYx-C-A*-ZFH P.308250 13 11 7

350 12 10 6

600

250Clamped base �


20 18

Cable carrier 250 to 1250 1200 / 1200 HXYx-C-A*-ZL P.314350 20 17450 20 19 16550 20 18 15

300

250Clamped table �


25 20 18

Cable carrier 250 to 1250 1200 / 1200 HXYx-C-A*-ZH P.315350 25 20 17450 24 19 16550 23 18 15

Arm type

Decide the model

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100

247

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type

Setting method


3Select a line satisfying both the Y-axis stroke and payload and move to the right.

5 Check the X axis stroke 7 Decide the model

2 Check the Z-axis speed, stroke, and installation method

4 Check the cable types

6Check the maximum speed on X-axis and Y-axis




pageSpeed(mm/sec)

Stroke(mm)



Pay

loa

d (k

g)

3

Cable carrier 150 to 1050 1200 / 800

FXYx-C-A*-ZS12 P.257500 150 5 3 FXYx-C-A*-ZS6 P.257

800 50 to 300Clamped base � moving

table type (60W)3 FXYx-C-A*-ZT6 P.258

600

150 Clamped base � moving table type

(100W)

10 9 7 5 3Cable carrier 150 to 1050 1200 / 1200 SXYx-C-A*-ZF P.272250 10 8 6 4 2

350 10 9 7 5 3 1150 Clamped base �


10 9 7 5 3Whipover 150 to 850 1200 / 1200 SXYx-S-A*-ZF P.273250 10 10 8 6 4 2

350 10 9 7 5 3 1



8 6 4 2Cable carrier 150 to 1050 1200 / 1200 SXYx-C-A*-ZFL20 P.274250 8 7 5 3 1

350 8 6 4 2 1



13 10 8 6 4 2Cable carrier 150 to 1050 1200 / 1200 SXYx-C-A*-ZFH P.275250 12 9 7 5 3 1

350 11 8 6 4 2 1


3 Cable carrier 150 to 1050

1200 / 1200

SXYx-C-A*-ZS12 P.2763 Whipover 150 to 850 SXYx-S-A*-ZS12 P.276

500 1505 Cable carrier 150 to 1050 SXYx-C-A*-ZS6 P.2775 Whipover 150 to 850 SXYx-S-A*-ZS6 P.277



8 6 4 2 1Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A*-ZF P.286250 7 5 3 1

350 6 4 2



7 5 3 1Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A*-ZFL20 P.287250 6 4 2

350 5 3 1



7 5 3 1Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A*-ZFH P.288250 6 4 2

350 5 3 11000 150

Shaft vertical type3 Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A*-ZS12 P.289

500 150 5 4 3 Cable carrier 150 to 3050 1875 / 1875 SXYBx-C-A*-ZS6 P.289



8 5 3Cable carrier 500 to 2000 1200 / 1200 NXY-C-A*-ZFL20 P.294250 8 7 4 2

350 8 6 3 1



13 12 10 8 5 3Cable carrier 500 to 2000 1200 / 1200 NXY-C-A*-ZFH P.296250 13 11 9 7 4 2

350 12 10 8 6 3 1



15 12 12 8Cable carrier 250 to 1250 1200 / 1200 MXYx-C-A*-ZFL10 P.307250 15 11 11 7

350 15 10 10 6



8Cable carrier 250 to 1250 1200 / 1200 MXYx-C-A*-ZFL20 P.307250 8 7

350 8 6



14 12 8Cable carrier 250 to 1250 1200 / 1200 MXYx-C-A*-ZFH P.308250 13 11 7

350 12 10 6

600

250Clamped base �


20 18

Cable carrier 250 to 1250 1200 / 1200 HXYx-C-A*-ZL P.314350 20 17450 20 19 16550 20 18 15

300



25 20 18

Cable carrier 250 to 1250 1200 / 1200 HXYx-C-A*-ZH P.315350 25 20 17450 24 19 16550 23 18 15

Decide the model

Note 1. The figure entered at * inside the form, expresses the arm variation. See P.242 for more information.

Articulate

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TRAN

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SC

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Pick &

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P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

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LCM

100

248

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type





pageSpeed(mm/sec)

Stroke(mm)




Pay

loa

d (k

g)

15 12Cable carrier 250 to 1050 1200 / 1200 MXYx-C-G*-ZFL10 P.323250 15 11

350 15 10



8Cable carrier 250 to 1050 1200 / 1200 MXYx-C-G*-ZFL20 P.323250 8

350 8



14 12Cable carrier 250 to 1050 1200 / 1200 MXYx-C-G*-ZFH P.324250 13 11

350 12 10

600

250Clamped base �


20

Cable carrier 250 to 1250 1200 / 1200 HXYx-C-G*-ZL P.330350 20450 20550 20

300



30

Cable carrier 250 to 1250 1200 / 1200 HXYx-C-G*-ZH P.331350 30450 30550 30




pageSpeed(mm/sec)

Stroke(mm)




Pay

loa

d (k

g)

9 8 7Whipover 150 to 850 1200 / 1200 SXYx-S-M*-ZF P.338250 8 7 6

350 7 6 5



8 8 7Whipover 150 to 850 1200 / 1200 SXYx-S-M*-ZFL20 P.339250 8 7 6

350 7 6 5



9 8 7Whipover 150 to 850 1200 / 1200 SXYx-S-M*-ZFH P.340250 8 7 6

350 7 6 51000 150

Shaft vertical type3 Whipover 150 to 850 1200 / 1200 SXYx-S-M*-ZS12 P.341

500 150 5 Whipover 150 to 850 1200 / 1200 SXYx-S-M*-ZS6 P.341



12Cable carrier 250 to 1250 1200 / 1200 MXYx-C-M*-ZFL10 P.344250 11

350 10



8 Cable carrier 250 to 1250 1200 / 1200 MXYx-C-M*-ZFL20 P.344250350



12Cable carrier 250 to 1250 1200 / 1200 MXYx-C-M*-ZFH P.345250 11

350 10

300



18

Cable carrier 250 to 1250 1200 / 1200 HXYx-C-M*-ZH P.348350 18 17450 18 16550 18 15



(mm/sec)Model

Detailed info pageSpeed

(mm/sec)Stroke(mm)




Pay

loa

d (k

g)

10Cable carrier 250 to 1250 1200 / 600 MXYX-C-P2-ZPMH P.353250 9

350 8

1200

250

Clamped table � moving base type

(200W)

15

Cable carrier 250 to 1250 1200 / 600 HXYx-C-P2-ZPH P.356350 15450 15550 15650 15

1200

250


(200W)

15

Whipover 250 to 850 1200 / 600 HXYx-S-P1-ZPH P.357350 15450 15550 15650 15

Gantry type

Moving arm type

Pole type

Decide the model

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SC

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Pick &

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CLEA

NCO

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RMATIO

N

Lin

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LCM

100

249

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type3-axis spec selection guide




pageSpeed(mm/sec)

Stroke(mm)




Pay

loa

d (k

g)

15 12Cable carrier 250 to 1050 1200 / 1200 MXYx-C-G*-ZFL10 P.323250 15 11

350 15 10



8Cable carrier 250 to 1050 1200 / 1200 MXYx-C-G*-ZFL20 P.323250 8

350 8



14 12Cable carrier 250 to 1050 1200 / 1200 MXYx-C-G*-ZFH P.324250 13 11

350 12 10

600

250Clamped base �


20

Cable carrier 250 to 1250 1200 / 1200 HXYx-C-G*-ZL P.330350 20450 20550 20

300



30

Cable carrier 250 to 1250 1200 / 1200 HXYx-C-G*-ZH P.331350 30450 30550 30




pageSpeed(mm/sec)

Stroke(mm)




Pay

loa

d (k

g)

9 8 7Whipover 150 to 850 1200 / 1200 SXYx-S-M*-ZF P.338250 8 7 6

350 7 6 5



8 8 7Whipover 150 to 850 1200 / 1200 SXYx-S-M*-ZFL20 P.339250 8 7 6

350 7 6 5



9 8 7Whipover 150 to 850 1200 / 1200 SXYx-S-M*-ZFH P.340250 8 7 6

350 7 6 51000 150

Shaft vertical type3 Whipover 150 to 850 1200 / 1200 SXYx-S-M*-ZS12 P.341

500 150 5 Whipover 150 to 850 1200 / 1200 SXYx-S-M*-ZS6 P.341



12Cable carrier 250 to 1250 1200 / 1200 MXYx-C-M*-ZFL10 P.344250 11

350 10



8 Cable carrier 250 to 1250 1200 / 1200 MXYx-C-M*-ZFL20 P.344250350



12Cable carrier 250 to 1250 1200 / 1200 MXYx-C-M*-ZFH P.345250 11

350 10

300



18

Cable carrier 250 to 1250 1200 / 1200 HXYx-C-M*-ZH P.348350 18 17450 18 16550 18 15



(mm/sec)Model

Detailed info pageSpeed

(mm/sec)Stroke(mm)




Pay

loa

d (k

g)

10Cable carrier 250 to 1250 1200 / 600 MXYX-C-P2-ZPMH P.353250 9

350 8

1200

250


(200W)

15

Cable carrier 250 to 1250 1200 / 600 HXYx-C-P2-ZPH P.356350 15450 15550 15650 15

1200

250


(200W)

15

Whipover 250 to 850 1200 / 600 HXYx-S-P1-ZPH P.357350 15450 15550 15650 15

Decide the model

Note 1. The figure entered at * inside the form, expresses the arm variation. See P.242 for more information.

Articulate

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TRAN

SERVOS

ing

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FLIP-X

Lin

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XY-X

SC

AR

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YK

-X

Pick &

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P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

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s

LCM

100

250

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type

Robot ordering method description

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

[Example] 2-axis specifications

Mechanical FXYx (Arm type)

• Cable variations Cable carrier• Combination (Arm variations) A1

• X-axis stroke 450mm• Y-axis stroke 350mm• Robot cable length 3.5M

Controller RCX222

Mechanical SXYx (Moving arm type) Controller RCX240S• Cable variations Whipover• Combination (Arm variations) M3• X-axis stroke 850mm

• Y-axis stroke 150mm• Z-axis stroke 150mm• Robot cable length 5M

Ordering method

A1 45 3L RCX222C 35FXYxMechanical section Controller section

Ordering method

M3 85 ZFH RCX240SS 15 15 5LSXYxMechanical section Controller section

To find detailed controller information see the controller page. RCX222 P.526

To find detailed controller information see the controller page. RCX240 P.534 , RCX340 P.544

A1 to 4

G1 to 4

M1 / M3

P1 / P2

F1 / F3

Arm type

Gantry type

Moving arm type

Pole type

XZ type

C

S

Cable carrier

Whipover3L

5L

10L

3.5m

5m

10m

PXYx

FXYx

FXYBx

SXYx

SXYBx

NXY

MXYx

HXYx

HXYLx

RCX222

Cable Model Cable X-axis stroke Y-axis stroke Combination Note 1 Controller

Note 1. To find detailed information on arm variations (combinations) see P.242.

[Example] 3 / 4-axis specifications

RCX240

RCX240S

RCX340

A1 to 4

G1 to 4

M1/3

P1 to 2

Arm type

Gantry type

Moving arm type

Pole type

ZS

ZT

ZF

ZFL/ZL

ZFH/ZH

ZPMH/ZPH

ZRF

ZRS

ZRFL/ZRL

ZRFH/ZRH

Shaft vertical type

Clamped base •


Clamped base •


Clamped base •


Clamped table •


Clamped table • moving base

type (200W) for Pole type

Clamped base •

moving table type (100W)+R-axis

Shaft vertical type ZR-axis

integrated type

Clamped base •

moving table type (200W)+R-axis

Clamped table •

moving base type (200W)+R-axis

C

S

Cable carrier

Whipover

3L

5L

10L

3.5m

5m

10m

Model

FXYx

SXYx

SXYBx

NXY

MXYx

HXYx

Cable X-axis stroke ZR-axis ControllerY-axis stroke Z-axis stroke CableCombination

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XY-X

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CLEA

NCO

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RMATIO

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100

251

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type

Robot ordering method terminology

Model Enter the robot unit model.

CableCable specs can be selected. To find detailed information see P.242.C: Cable carrierS: Whipover

Combination (Arm variations)

Select the arm variation and combination method.

Arm typeThe type with moving Y-axis carriage.

Gantry typeThe type with a guide railing at the end of Y-axis for support.

Moving arm typeThe type with a moving Y-axis arm.

Pole typeThe type with vertically moving Y-axis carriage.

XZ typeThe type with combination of X-axis for horizontal movement and Z-axis for vertical movement.

Clean typeSpecial model for clean rooms with moving Y-axis carriage installed upward.

To find information on combinations see P.242.

X-axis stroke Select the X axis stroke. Enter in centimeters (cm). (For example enter 50 for a stroke of 500mm.)

Y-axis stroke Select the Y axis stroke. Enter in centimeters (cm). (For example enter 50 for a stroke of 500mm.)

ZR-axis

Select the Z axis installation direction. The R axis is installed with 4-axis specifications. To find more information see P.39.

[3-axes]ZS : Shaft vertical typeZT : Clamped base � moving table type (60W)ZF : Clamped base � moving table type (100W)ZFL/ZL : Clamped base � moving table type (200W)ZFH/ZH : Clamped table � moving base type (200W)ZPMH/ZPH : Clamped table � moving base type (200W) for pole type

[4-axes]ZRF : Clamped base � moving table type (100W)+R axisZRS : ZR axis integrated typeZRL/ZRFL : Clamped base � moving table type (200W)+R axisZRH/ZRFH : Clamped table � moving base type (200W)+R axis

Z-axis strokeSelect the Z axis stroke. Enter in centimeters (cm). (For example enter 15 for a stroke of 150mm.)

CableSelect the length of the robot cable connecting the robot and controller.3L : 3.5m 5L : 5m 10L : 10m

Controller2-axis specifications: Select the RCX222.3 / 4-axis specifications: Select either the RCX240 (RCX240S) or RCX340.

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P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

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100

252

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type

Controller RCX222 u 526

PXYx

Controller Operation method

RCX222Programming / I/O point trace /Remote command / Operation using RS-232C communication

Y stroke (mm) XY 2 axes

50 4.5

100 4.5

150 3.5

200 2.5

250 2

300 1.5

X-axis Y-axis

Axis construction Note 1 – T4H

AC servo motor output (W) 60 30

Repeatability Note 2 (mm) +/-0.02 +/-0.02

Drive system Ball screw (Class C10) Ball screw (Class C10)

Ball screw lead Note 3 (Deceleration ratio) (mm) 12 12

Maximum speed Note 4 (mm/sec) 720 720

Moving range (mm) 150 to 650 50 to 300

Robot cable length (m) Standard: 3.5 Option: 5,10

Note 1. Use caution that the flame machining (installation holes, tap holes) differs from single-axis robots’. Note 2. Positioning repeatability in one direction.Note 3. Leads not listed in the catalog are also available. Contact us for details.Note 4. When the X-axis stroke is longer than 650mm, resonance of the ball screw may occur depending on the operation conditions (critical

speed). In thiscase, reduce the speed setting on the program by referring to the maximum speeds shown in the table below.

PXYx C RCX222Model Cable Combination X-axis

strokeY-axis stroke Cable Controller Usable for CE Input/Output

selection 1Input/Output selection 2

A1 15 to 65cm 5 to 30cm 3L: 3.5m RCX222 No entry: Standard N: NPN Note 1 No entry: NoneA2 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16

(NPN) Note 1A3 10L: 10m CC: CC-LinkA4 DN: DeviceNetTM P1: OP.DIO24/17

(PNP)PB: PROFIBUSNote 1. NPN cannot be selected if using CE marking. EN: Ethernet EN: Ethernet Note 3

Note 2. Available only for the master. See P.68 for details on YC-Link system. YC: YC-Link Note 2

Note 3. Only when CC or DN or PB was selected for I/O select 1 above. EN can be selected in I/O select 2.

PXYx 2 axes A1

68.5

39.5

X stroke + 183L (X stroke + 254.5)

Approx. 250 (Motor cable length)50 or more

105

64.5

65Y

stro

ke80

+/-3

6

Note 1

6

6

54.5 45

185+/-3 X stroke

160

73

Y st

roke

+ 1

98

53

6

B

B-B (installation holes in detail) B

62

M x 40

(42)

9.5

(144

)

N-ϕ

8 4.5

23

57.5

53

128.5

56.5

Detail of section A Cross-section ofcable carrier

2-ϕ3H7 Depth6

(43)

35

(90)

4-M4 x 0.7 Depth9

30 (B

etw

een

knoc

ks +

/-0.0

2 )

4456

90

55.5

63

(67.

5)45

A

Use M4 x 0.7 hex socket head bolt with length head bolt with length (under head) of 15mm or more.

62

2519

50

ϕ7.6ϕ8.2

N-ϕ4.5 through (B-B)

20+/-0.02

Arm type Cable carrier

X stroke 150 250 350 450 550 650 Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper.

L 404.5 504.5 604.5 704.5 804.5 904.5

M 5 8 10 13 15 18

N 12 18 22 28 32 38

Y stroke 50 100 150 200 250 300

Maximum speed for each stroke (mm/sec) Note 2

X-axis 720 600 Note 2. When the X-axis stroke is longer than 650mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left.Speed setting – 83%

2 axes

Ordering method

Specification Maximum payload (kg)

Controller

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CLEA

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RMATIO

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100

253

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


PXYx

PXYx 2 axes A2

(43)

35(90)

4-M4 x 0.7 Depth 9

30 (B

etw

een

knoc

ks +

/-0.0

2 )

B-B (installation holes in detail)

44 56 90

55.5

63

(67.

5)45

A

68.5 X stroke + 183L (X stroke + 254.5) (80)

53

39.5

Approx. 250 (Motor cable length) 50 or more

105

Y st

roke

122+/-3

80+/

-3

Note 1

6 654.545

64.5

X stroke

160

73

Y st

roke

+ 1

98

65

66

57.5

(144

)

6256.5

B

B

M x 4040

53

128.5

23

20+/-0.022-ϕ3H7 Depth 6

Detail of section A

Cross-section of cable carrier

62

2519

50

ϕ7.6ϕ8.2

(42)

9.54.5


N-ϕ

8N-ϕ4.5 through (B-B)

PXYx 2 axes A4

39.5Approx. 250 (Motor cable length)50 or more

105

65

Y st

roke

122+/-3

80+/

-3

6

Note 1

66

6

54.5 45

64.5

X stroke

160

73

Y st

roke

+ 1

98

68.5(80)

53

57.5

(144

)62 56

.5

53

B

B

M x 4040

128.5

23


445690

55.5

63

(67.

5)45

A

(43)

35(90)

4-M4 x 0.7 Depth 9

30 (B

etw

een

knoc

ks +

/-0.0

2 )

20+/-0.022-ϕ3H7 Depth 6

Detail of section A

(42)

9.54.5


N-ϕ

8

X stroke + 183L (X stroke + 254.5)



62

2519

50

ϕ7.6ϕ8.2

PXYx 2 axes A3


44 5690

55.5

63

39.5Approx. 250 (Motor cable length) 50 or more

A

(42)

9.54.5


Note 1

6654.545185+/-3X stroke

105

64.5

65Y

stro

ke80

+/-3

66

Y st

roke

+ 1

98

68.5X stroke + 183L (X stroke + 254.5)

160

7353

(144

)56

.5

M x 40 128.540 B

B

6257

.553

23

(43)

35(90)

4-M4 x 0.7 Depth 9

30 (B

etw

een

knoc

ks +

/-0.0

2 )

20+/-0.022-ϕ3H7 Depth 6

Detail of section A

N-ϕ

8


62

2519

50

ϕ7.6ϕ8.2

(67.

5)45


2 axes

Articulate

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TRAN

SERVOS

ing

le-a

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FLIP-X

Lin

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PHA

SER

Ca

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XY-X

SC

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YK

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Pick &

pla

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bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

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ule

s

LCM

100

254

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


FXYx




150 12

250 12

350 11

450 9

550 7

X-axis Y-axis

Axis construction – –








Note 1. Positioning repeatability in one direction.Note 2. Leads not listed in the catalog are also available. Contact us for details.Note 3. When the X-axis stroke is longer than 750mm, resonance of the ball screw may occur depending on the operation conditions (critical

speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table below.

FXYx C RCX222Model Cable Combination X-axis








FXYx 2 axes A1

92

5

Y st

roke

X stroke

5

5

82.5Note 1

85

212+/-3

Y st

roke

+ 2

59(2

.5)

115+

/-3

90.5

(L + 5)

166.5

85

511

5

149.

5

L (X stroke + 310)(2.5)

75

(165

)

43

61

(50) 149

KM x 200100200

95

120 40

122.5 D+/-0.02

115

115

80

64

A 8013

9.5

16

B

76.5

Use M6 x 1.0 hex socket head bolt with length head bolt with length (under head) of 35mm or more

24

(14)

4.3

7.3

23.56.5

(Bet

wee

nkn

ocks

+/-0

.02 )

8090

90

36

8 - M5 x 0.8 Depth 8 20 (Between knocks +/-0.02)

25

73

35

57

Detail of section A Detail of section B Detail of section C

2-ϕ5H7 Depth 6


ϕ8.2

ϕ7.6

ϕ9.7

ϕ29 (Note 2)

2-ϕ10H7 Depth 14

N-ϕ6.5 through (C)


X stroke 150 250 350 450 550 650 750 850 950 1050 Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper.

Note 2. User cable extraction port.L 460 560 660 760 860 960 1060 1160 1260 1360

K 200 100 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960 960 1140

M 0 1 1 2 2 3 3 4 4 5

N 6 8 8 10 10 12 12 14 14 16

Y stroke 150 250 350 450 550Note 3. When the X-axis stroke is longer than 750mm, resonance of the ball screw may

occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left.


X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

2 axes

Ordering method


Controller

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TRAN

SERVOS

ing

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Lin

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PHA

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Ca

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XY-X

SC

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Pick &

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CLEA

NCO

NTRO

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RMATIO

N

Lin

ea

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s

LCM

100

255

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


FXYx 2 axes

FXYx 2 axes A2

3.5

4.3

2

7.3

6.5

16

B

76.5

115

115

8064

4361A80

139.

5


24

92

5

Y st

roke

X stroke

5 5

82.5 Note 1

85

178+/-3

Y st

roke

+ 2

5911

5+/-3

90.5

115

149.

5(2

.5)

M

5

(L + 5)

166.585

L (X stroke + 310)(2.5)

75 (165

)

(50) 149

KM x 200100200

120 40

122.5

95

8 - M5 x 0.8 Depth 8

8090

90

3620 (Between knocks +/-0.02)

MM

25

7335

57(B

etwe

enkn

ocks

+/-0

.02 )


2-ϕ5H7 Depth 6


ϕ8.2ϕ7.6

ϕ9.7

ϕ29 (Note 2)

D +/-0.02 2-ϕ10H7 Depth 14

N-ϕ6.5 through (C)

(14)

FXYx 2 axes A4

X stroke

82.5Note 1

92

5

Y st

roke

115+

/-3

55

90.5

511

5

149.

5

85

178+/-3

Y st

roke

+ 2

59(2

.5)

M

(L + 5)

166.585

(2.5)L (X stroke + 310)

75(165

)

(50)149

115

115

8064

43 61

8013

9.5

A

16

B

76.5


24

(14)

3.5

4.3

2

7.3

6.5

MM

8 - M5 x 0.8 Depth 8

8090

90


(Bet

ween

knoc

ks +

/-0.0

2 )


2-ϕ5H7 Depth 6

25

73

35

57


ϕ8.2ϕ7.6

ϕ9.7

ϕ29 (Note 2)

K M x 200 100200

95

12040

122.5D +/-0.022-ϕ10H7 Depth 14

N-ϕ6.5 through (C)

FXYx 2 axes A3

3.5

4.3

2

7.3

6.5

(14)

16

B

76.5

115

115

8064

A8013

9.5

Y st

roke

+ 2

61.5

Y st

roke

115+

/-35

90.5

Note 1

511

514

9.5

92

5

X stroke

5

82.585

212+/-3

(L + 5)

166.585

(2.5)L (X stroke + 310)

75(165

)

(50)149

K M x 200 100200

95

12040

122.5

43

61


24

Detail of section C

8 - M5 x 0.8 Depth 8

8090

90


(Bet

ween

knoc

ks +

/-0.0

2 )

Detail of section A Detail of section B

2-ϕ5H7 Depth 6

25

73

35

57


ϕ8.2ϕ7.6

ϕ9.7

ϕ29 (Note 2)

D +/-0.022-ϕ10H7 Depth 14

N-ϕ6.5 through (C)

Articulate

d rob

ots

YA

Co

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act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

256

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


FXYx




150 12

250 12

350 11

450 9

550 7

X-axis Y-axis

Axis construction – –










FXYx C IO RCX222Model Cable Combination X-axis

strokeY-axis stroke

ZR-axis Cable Controller Usable for CE Input/Output







FXYx 2 axes / IO A1

92X stroke

82.585

212+/-3

5

Y st

roke

115+

/-3

5

5

90.5

166.585

Note 1

511

5

149.

5

Y st

roke

+ 2

59(2

.5)

75

(165

)

43

61

(50) 149

KM x 200100200

95

120 40

122.5

(Bet

wee

nkn

ocks

+/-0

.02 )

8090

90

36

100

8 - M5 x 0.8 Depth 8

3.54.

37.

3

2

6.5


24

(14)

16

B

76.5

(84)

115

115

8064 80

139.

5(1

53)

5013

3.5

37

60135

A


6250

2519

7357

3525

YZ

XY

YZ

XY


2-ϕ5H7 Depth 6



ϕ8.2

ϕ7.6

ϕ9.7

ϕ9.7

ϕ29 (Note 2)

ϕ29 (Note 2)

(L + 5)

L (X stroke + 310)(2.5)

D+/-0.02

N-ϕ6.5 through (C)

2-ϕ10H7 Depth 14

Arm type Cable carrier Type with Y-axis I/O cable carrier added



K 200 100 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960 960 1140

M 0 1 1 2 2 3 3 4 4 5

N 6 8 8 10 10 12 12 14 14 16

Y stroke 150 250 350 450 550Note 3. When the X-axis stroke is longer than 750mm, resonance of the ball screw may



X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

2 axes / IO

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

257

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type

Controller RCX340 u 544 RCX240Su 534

FXYx


RCX340RCX240S

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

Y stroke (mm) ZS12 ZS6

150 3 5

250 3 5

350 3 5

450 3 5

550 3 3

X-axis Y-axisZ-axis: ZS12

Z-axis: ZS6

Axis construction – – –

AC servo motor output (W) 100 60 60

Repeatability Note 1 (mm) +/-0.01 +/-0.02 +/-0.02

Drive system Ball screw (Class C7) Ball screw (Class C10) Ball screw (Class C10)

Ball screw lead Note 2 (Deceleration ratio) (mm) 20 12 12 6

Maximum speed Note 3 (mm/sec) 1200 800 1000 500

Moving range (mm) 150 to 1050 150 to 550 150




FXYx C 15Model Cable Combi-

nationX-axis stroke

Y-axis stroke

ZR-axis

Z-axis stroke Cable

A1 15 to 105cm 15 to 55cm ZS12 3L: 3.5m A2 ZS6 5L: 5mA3 10L: 10mA4

FXYx 3 axes / ZS A1

Y st

roke

115+

/-3

X stroke

115

149.

5

Y st

roke

+ 2

59

322+/-35 5

5

90.5

166.5

85

Note 1

5

L (X stroke + 310)(2.5)

(L + 5)

(2.5

)

75 (165

)

43

61

(50) 149

95

115

80

64139.

5

115

8030

5

40

72

Z st

roke

Note 1

105

66 95

+/-2


0-0.018

3641

M8 x 1.25Depth 15

4.3

7.3

3.56.5


(14)

2

24

7357

6250

39.5

79.5(2.5)

110

101

299

67

84

(153

)55

.5

A

92242

67.5

B

70

MM

MM

25 35 19 25

YZ

YZ

XY

ϕ29 (Note 2)

KM x 200100200

120 40

122.5 D+/-0.02

N-ϕ6.5 through (C)

2-ϕ10H7 Depth 14

ϕ12

ϕ5

XY Cross-section of cable carrier Cross-section of cable carrier

ϕ9.7 ϕ9.7 ϕ8.2ϕ7.6

ϕ10.1ϕ9.9

MM

RCX340-3Controller /

Number of controllable axesSafety

standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E

(OP.E) Absolute battery

Specify various controller setting items. RCX340 P.544

RCX240SController CE Marking Expansion I/O Network option iVY System Gripper Battery

Specify various controller setting items. RCX240/RCX240S P.534



K 200 100 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960 960 1140

M 0 1 1 2 2 3 3 4 4 5

N 6 8 8 10 10 12 12 14 14 16

Y stroke 150 250 350 450 550

Z stroke 150Note 3. When the X-axis stroke is longer than 750mm, resonance of the ball screw may


Maximum speed for each stroke (mm/sec)Note 3

X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

3 axes / ZS

Arm type Cable carrier Z-axis shaft vertical type

Ordering method

Specification

Controller

Maximum payload (kg)

Articulate

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Co

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le-a

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TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

258

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


FXYx


RCX340RCX240S


Y stroke (mm) ZT

150 to 550 3X-axis Y-axis Z-axis

Axis construction Note 1 – – T6-12-BK




Ball screw lead Note 3 (Deceleration ratio) (mm) 20 12 12

Maximum speed Note 4 (mm/sec) 1200 800 800

Moving range (mm) 150 to 1050 150 to 550 50 to 300




FXYx 3 axes / ZT A1

115+

/-3

82.5Note 1

115

149.

5

L (X stroke + 310)

Y st

roke

+ 2

59

278+/-3 X stroke(2.5)

Y st

roke

5

90.5

(L + 5)

166.585

5

(2.5)

(2.5

)

5 5

120

75(1

65)

43

61

(50) 149

115

115

8064

A

8013

9.5

Z st

roke

+ 2

85.5

3119

4.5+

/-2

6544

6

82.5

Note 1

Z st

roke

6

45

30 +/-0.02

(116

)

(57)

4 - M5 x 0.8 Depth 11Use M6 x 1.0 hex socket head bolt with length head bolt with length (under head) of 35mm or more.

24

(14)

4.3

7.3

23.56.5

B

(208

)39

.5

99

4856

181

51

10

79.570

53

69.5

39

92

MM

MM

MM


7357

6250

25 35 19 25

YZ

XY

2-ϕ3H7 Depth 6


XY Sectional drawing of cable carrier YZ Sectional drawing of cable carrier

ϕ10.1ϕ9.9

ϕ9.7 ϕ9.7 ϕ8.2ϕ7.6

ϕ29 (Note 2)

95

KM x 200100200

120 40

122.5 D+/-0.02

N-ϕ6.5 through (C)

2-ϕ10H7 Depth 14

Arm type Cable carrier Z-axis: clamped base / moving table type (60W)

FXYx C ZT6 12Model Cable Combi-

nationX-axis stroke

Y-axis stroke ZR-axis Lead Z-axis

stroke Cable

A1 15 to 105cm 15 to 55cm 5 to 30cm 3L: 3.5m A2 5L: 5mA3 10L: 10mA4



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 200 100 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960 960 1140

M 0 1 1 2 2 3 3 4 4 5

N 6 8 8 10 10 12 12 14 14 16

Y stroke 150 250 350 450 550

Z stroke 50 100 150 200 250 300Note 3. When the X-axis stroke is longer than 750mm, resonance of the ball screw may



X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

3 axes / ZT

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100A

rm typ

eG

antry typeM

oving arm

typeP

ole typ

eX

Z type

259

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

260

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


FXYBx



Y stroke (mm) XY axes

150 7

250 6

350 5

450 5

550 3

X-axis Y-axis

Axis construction Note 1 B10 –



Drive system Timing belt Timing belt

Ball screw lead Note 3 (Deceleration ratio) (mm) Equivalent to lead 25 Equivalent to lead 25

Maximum speed (mm/sec) 1875 1875



Note 1. Use caution that the flame machining (installation holes, tap holes) differs from single-axis robots’. Note 2. Positioning repeatability in one direction.Note 3. Leads not listed in the catalog are also available. Contact us for details.

FXYBx C RCX222Model Cable Combination X-axis





(PNP)PB: PROFIBUSNote 1. NPN cannot be selected if using CE marking. Note 2. Available only for the master. See P.68 for details on YC-Link system.

EN: Ethernet EN: Ethernet Note 3

YC: YC-Link Note 2


FXYBx 2 axes A1

MM

MM

263+/-3 X stroke

79.5

(50)

166 89.7 *2.7

*2.9

177.

2

12.5

Y st

roke

100 14

1+/-3

Y st

roke

+ 3

00

12.5

122

89.5

85.5

127.

2

12.512.5Note 1

145

80

75 152

L (X stroke + 410)

GJ

2351

3453

Note 2

168

79 73.5

3281

15222

(195

)

20.6

167

100 M x 200 K200

N-M5 x 0.8 Depth 1085 40

80

140

7911

5.5

122.5

8476.7

A

39.5

47.5

B

80

2

7.3

4.3

6.53.5

(Bet

ween

knoc

ks +

/-0.0

2 )

5270

75 100

10085

25 35


ϕ9.7 ϕ8.2ϕ7.6

4 - M5 x 0.8 Depth 6

2-ϕ5H7 Depth 4



Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper. Note 2. The shaded position indicates an user cable extraction port.

Note 3. The dimension marked with an asterisk (*) indicates the height of the screw.

X stroke 150 250 350 450 550 650 750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450

L 560 660 760 860 960 1060 1160 1260 1360 1460 1560 1660 1760 1860 1960 2060 2160 2260 2360 2460 2560 2660 2760 2860

K 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200

M 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12

N 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30

G 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50

J 330 330 430 430 530 530 630 630 730 730 830 830 930 930 1030 1030 1130 1130 1230 1230 1330 1330 1430 1430

Y stroke 150 250 350 450 550

2 axes

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

261

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


FXYBx 2 axes

FXYBx 2 axes A2207+/-3

75 152

89.5

85.5

145

79.5

(50)

*2.7

X stroke

12.512.5 Note 1

89.797

*2.9

177.

212

.5Y

stro

ke10

0 141+

/-3 Y st

roke

+ 3

00

12.5

122

127.

2

L (X stroke + 410)GJ

79.5

168

79

73.5

(195

)

100 M x 200 K200 N-M5 x 0.8 Depth 10

80

85 40

2351

3281

15222

3453Note 2

80

20.6

167

140

7911

5.5

A

80122.5

76.7

39.5

B

47.5 84

5270

75 100 2

7.3

4.3

6.53.5

MM

MM

10085

25 35

(Bet

wee

nkn

ocks

+/

-0.0

2 )Cross-section of cable carrier

ϕ9.7 ϕ8.2ϕ7.6

4 - M5 x 0.8 Depth 62-ϕ5H7 Depth 4


FXYBx 2 axes A4

MM

MM

X stroke

*2.9

177.

2

97

12.5

Y st

roke

10014

1+/-3Y

stro

ke +

300

12.5

12.5 12.5Note 1

L (X stroke + 410)

207+/-3

122

127.

2

79.5

89.7 *2.7

75152

89.5

85.5

145

(50)

G J

100M x 200K200

N-M5 x 0.8 Depth 10

80

79.5

168

79

73.5

(195

)

8540

140

2351

79

3281

15222

115.

5

A

34 53 Note 2

80

20.6

167

80

122.5

8476.7

39.5

B

47.5

5270

75 100 2

7.3

4.3

6.53.5

10085

25 35

(Bet

wee

nkn

ocks

+/-0

.02 )


ϕ9.7 ϕ8.2ϕ7.6



FXYBx 2 axes A3

122.5

8476.7

39.5

47.5

B

140

8079

32

81

15222

115.

5

A

20.6

167

177.

2

263+/-3X stroke

12.5

Y st

roke

10014

1+/-3

Y st

roke

+ 3

00

12.5

12.5 12.5Note 112

2

127.

216689.7*2.7

*2.9

75152

89.5

85.5

L (X stroke + 410)

145

79.5

80

(50)G J

2351

34 53Note 2

168

79

73.5

(195

)

100M x 200K200

N-M5 x 0.8 Depth 10

80

8540

MM

MM

5270

75 100 2

7.3

4.3

6.53.5

10085

25 35

(Bet

wee

nkn

ocks

+/-0

.02 )


ϕ9.7 ϕ8.2ϕ7.6



Articulate

d rob

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YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

262

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


FXYBx




150 7

250 6

350 5

450 5

550 3

X-axis Y-axis










FXYBx S RCX222Model Cable Combination X-axis





(PNP)PB: PROFIBUSNote 1. NPN cannot be selected if using CE marking. Note 2. Available only for the master. See P.68 for details on YC-Link system.Note 3. Only when CC or DN or PB was selected for I/O select 1 above. EN can be selected in I/O select 2.


YC: YC-Link Note 2

FXYBx 2 axes A1

MM

263+/-3

*2.9

X stroke

12.5

Y st

roke

100 14

1+/-3

Y st

roke

+ 3

00

12.5

12.512.5 Note 1

145

138

88

80

166 89.7 *2.7

89.5

85.5

L (X stroke + 410)114 130

79.5

40

39

Groundingterminal (M4)

23

100 M x 200 K

200N-M5 x 0.8 Depth 10

8073

.5168

85 40

140

8011

5.5

8476.7

39.5

B

47.5

122.5

788118

7.6

79

130

MA

X. 1

100

167

A

2

7.3

4.3

6.5

3.5

5270

75 100

MM

ϕ29 (Note 2)

ϕ29 (Note 2)

(Bet

wee

nkn

ocks

+/-0

.02 )



X stroke 150 250 350 450 550 650 750 850 950 Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper.

Note 2. User cable extraction port.Note 3. The dimension marked with an asterisk (*) indicates the height of the screw.

L 560 660 760 860 960 1060 1160 1260 1360

K 100 200 100 200 100 200 100 200 100

M 1 1 2 2 3 3 4 4 5

N 8 8 10 10 12 12 14 14 16

Y stroke 150 250 350 450 550

2 axes

Arm type Whipover

Ordering method


Controller

Articulate

d rob

ots

YA

Co

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act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

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tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

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bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

263

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


FXYBx 2 axes

FXYBx 2 axes A2

*2.9

X stroke

12.5

Y st

roke

Y st

roke

+ 3

00

12.5

12.512.5 Note 1

207+/-3214.3 89.7

*2.7

100 14

1+/-3

89.5

85.5

145

138

88

114 130

79.5

40

2

7.3

4.3

6.53.5

5270

75 100

47.5

122.5

84

76.7

39.5

B

140

8011

5.5

78 8118

7.679

MA

X. 1

100

167

23

A

13080

39

M x 200 K200

N-M5 x 0.8 Depth 10

80

168 73

.5

85 40100

MM

MM

(Bet

wee

nkn

ocks

+/-0

.02 )



ϕ29 (Note 2)


L (X stroke + 410)

ϕ29 (Note 2)

FXYBx 2 axes A4X stroke

Y st

roke

12.5 Note 1

207+/-3214.389.7

*2.7*2.9

12.5

12.5

12.5

89.5

85.5

L (X stroke + 410)114130

79.5

40

10014

1+/-3

Y st

roke

+ 3

00

138

88

145

M x 200K200

N-M5 x 0.8 Depth 10

16873

.5

8540100

140

8011

5.5

A

788118

7.6 79

130

MA

X. 1

100 80

167

39

23

47.5

122.5

8476.7

39.5

B

MM

MM

80

2

7.3

4.3

6.53.5

5270

75 100

(Bet

wee

nkn

ocks

+/-0

.02 )



ϕ29 (Note 2)


ϕ29 (Note 2)

FXYBx 2 axes A3

m

8476.7

39.5

B

47.5

122.5

140

8011

5.5

A

78 8118

7.679

130

MA

X. 1

100

167

*2.9

263+/-3X stroke12

.5

Y st

roke

100

141+

/-3Y st

roke

+ 3

00

12.5

12.5 12.5Note 1

89.5

85.5

L (X stroke + 410)

145

138

88

114130

79.5

80

166*2.7

40

100M x 200K200

N-M5 x 0.8 Depth 10

8073

.5 168

39

8540

23

89.7

MM

2

7.3

4.3

6.53.5

5270

75 100

(Bet

wee

nkn

ocks

+/-0

.02 )



ϕ29 (Note 2)


ϕ29 (Note 2)

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

264

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


FXYBx Arm type Cable carrier




150 7

250 6

350 5

450 5

550 3

X-axis Y-axis










FXYBx C IO RCX222Model Cable Combination X-axis stroke Y-axis stroke ZR-axis Cable Controller Usable for CE Input/Output






YC: YC-Link Note 2

FXYBx 2 axes / IO A1

Note 112.5 12.5

12.5

Y st

roke

+ 3

00

141+

/-3

12.5

X stroke

Y st

roke

166 89.7 *2.7263+/-3

L (X stroke + 410)

85.5

89.5

15275

100

122

177.

2

79.5

*2.9

127.

2

(50)GJ

73.57916

8

Note 253 34

5123

(195

)

145

80

80

N-M5 x 0.8 Depth 10KM x 2001004085200

3.56.5

4.3

7.3

2

5270

75 100

47.5

122.5

8476.7

39.5

B

3.5

(3)

94

22

140

81 140

32

79

20.6

167

152

115.

580

(163

)

A

5013

3.5

37

60

MM

MM

Cross-section of cable carrier Cross-section of cable carrier

10085 73

57

25 35

25 35XY YZ

XY

YZ

(Bet

wee

n kn

ocks

+/-0

.02 )

4 - M5 x 0.8 Depth 6

2-ϕ5H7 Depth 4


ϕ9.7ϕ9.7

ϕ8.2ϕ7.6

ϕ29 (Note 2)

(ϕ37

)

Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper. Note 2. The shaded position indicates an user cable extraction port.

Note 3. The dimension marked with an asterisk (*) indicates the height of the screw.

X stroke 150 250 350 450 550 650 750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450

L 560 660 760 860 960 1060 1160 1260 1360 1460 1560 1660 1760 1860 1960 2060 2160 2260 2360 2460 2560 2660 2760 2860

K 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200

M 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12

N 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30

G 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50

J 330 330 430 430 530 530 630 630 730 730 830 830 930 930 1030 1030 1130 1130 1230 1230 1330 1330 1430 1430

Y stroke 150 250 350 450 550

2 axes / IO

Type with Y-axis I/O cable carrier added

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100A

rm typ

eG

antry typeM

oving arm

typeP

ole typ

eX

Z type

265

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

266

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx




150 20

250 17

350 15

450 13

550 11

650 9

X-axis Y-axis

Axis construction Note 1 F14H F14










SXYx C RCX222Model Cable Combination X-axis stroke Y-axis stroke Cable Controller Usable for CE Input/Output






YC: YC-Link Note 2

SXYx 2 axes A1

8377.5

X stroke284+/-3

Note 1

191.

5

Y st

roke

+ 2

55

Y st

roke

140+

/-3

161.

5

513

6

55

5

35 X stroke + 215

59.5205

L (X stroke + 320)

32

90

110

70

135

4.57.2

2.8

6.5

Detail of section CDetail of section BDetail of section A


9

5.5(18.5)

N-M6 x 1.0 Depth 10

110

100

114KM x 200156151

See detaild drawing of C section

200

200139KM x 200131

77.5(50)

34

23

53Note 2

51

(171

) 242

79125

79

(105

)

173

64.5239

136

A42

7.5

B

MM

MM

25 35

7793

(ϕ10

H7)

8 - M6 x 1.0 Depth 8

2-ϕ6H7 Depth 8


ϕ8.2ϕ7.6

ϕ9.7

D +/-0.02

N-ϕ7 through (C)2-ϕ10H7

(Bet

wee

n kn

ocks

+/-0

.02 )



Note 2. The shaded position indicates an user cable extraction port.L 470 570 670 770 870 970 1070 1170 1270 1370

K 200 100 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960 960 1140

M 0 1 1 2 2 3 3 4 4 5

N 4 6 6 8 8 10 10 12 12 14

Y stroke 150 250 350 450 550 650Note 3. When the X-axis stroke is longer than 750mm, resonance of the ball screw may



X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

2 axes

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

267

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx 2 axes

SXYx 2 axes A2

Y st

roke

+ 2

55Y

stro

ke

83X stroke136+/-3

519

1.5

140+

/-313

6

77.5

5

161.

5

Note 1

170

5

X stroke + 215L (X stroke + 320)

6.5

5

35

(18.5)


5.5

4.57.2

2.8

6.5

32

90

110

70

135

(105

)

173

136

24223

5164.5

79 125

79

53239

A Note 2

34

77.5

83

7.542

(50)

B

114KM x 200156200

200139KM x 200131

151

100

110

9

(171

)

MM

MM

25 35

7793


(ϕ10

H7)


(Bet

wee

n kn

ocks

+/-0

.02 )


ϕ8.2ϕ7.6

ϕ9.7

N-M6 x 1.0 Depth 10

See detaild drawing of C section D +/-0.02


SXYx 2 axes A4

Y st

roke

+ 2

55

8377.5

X stroke 136+/-3

161.

5

Note 1


5

170

191.

55

136

5

6.5

5

35

77.5

(171

)

7.542

(50)

B

114 K M x 200 156200

200139 K M x 200 131

151

100

110


(18.5)5.5

(105

)17

364.534 53 239Note 2

242 23

5179125

79

83

136

A

9

MM

MM

4.57.2

2.8

6.5

32

90

110

70

135

Detail of section B Detail of section CDetail of section A


(Bet

wee

n kn

ocks

+/-0

.02 )

25 35

7793


ϕ8.2ϕ7.6

ϕ9.7

(ϕ10

H7)

N-M6 x 1.0 Depth 10

N-ϕ7 through (C)

D +/-0.02 See detaild drawing of C section2-ϕ10H7

Y st

roke

140+

/-3

SXYx 2 axes A3

4.57.2

2.8

6.5

427.5

B

(105

)13

6

242

79 125

79

173

64.5239

A

191.

5Y

stro

ke +

255

Y st

roke

140+

/-35

136

5

83

5

X stroke 284+/-3

161.

5

Note 1


59.5205

5

77.5

35

(171

)

(50)

53

5123

Note 234

77.5

N-M6 x 1.0 Depth 10

114 K M x 200 156200

200139 K M x 200 131

110

100

151 See detaild drawing of C sectionD +/-0.02

MM

MM

(18.5)


5.5

32

90

110

70

135 9


(ϕ10

H7)


(Bet

wee

n kn

ocks

+/-0

.02 )

25 35

7793


ϕ8.2ϕ7.6

ϕ9.7


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

268

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx




150 20

250 17

350 15

450 13

550 11

650 9

X-axis Y-axis











SXYx S RCX222Model Cable Combination X-axis stroke Y-axis stroke Cable Controller Usable for CE Input/Output






YC: YC-Link Note 2


SXYx 2 axes A1

Y st

roke

+ 2

55

Y st

roke

140+

/-3

8377.5

X stroke284+/-3

Note 1

81 51

513

6

55

5

(50)

122.

514

.8

731

130

L (X stroke + 320)

Note 253

51

34

23

114KM x 200156200

200139KM x 200131

110

100

151

108

83

(105

)

135

64.5

239

MA

X. 1

000

136

173 24

2

A

32

90

110

70

135

4.57.2

2.8

6.5


9

5.5

(18.5)

MM

MM


(ф10

H7)

8 - M6 x 1.0 Depth 8

2-ф6H7 Depth 8

(Bet

wee

n kn

ocks

+/-0

.02)

N-M6 x 1.0 Depth 10


N-ф7 through (C)2-ф10H7

77.5

79

B

X stroke 150 250 350 450 550 650 750 850 Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper.

Note 2. The shaded position indicates an user cable extraction port.L 470 570 670 770 870 970 1070 1170

K 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960

M 0 1 1 2 2 3 3 4

N 4 6 6 8 8 10 10 12

Y stroke 150 250 350 450 550 650Note 3. When the X-axis stroke is longer than 750mm, resonance of the ball screw may occur depending

on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left.


X-axis 1200 960 780

Speed setting – 80% 65%

2 axes

Arm type Whipover

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

269

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx 2 axes

SXYx 2 axes A2

73(50)

122.

5

130L (X stroke + 320)

14.84.5

7.2

2.8

6.5

32

90

110

70


9

5.5(18.5)

8377.5

5

X stroke

Note 1

136+/-3

135

1 81 51Y

stro

ke +

255

Y st

roke

140+

/-35

136

5

5

108

Note 2

136

242

5113

5

173

34

23

53

MA

X. 1

000

A

(105

)

8364.5

239

114KM x 200156200

200139KM x 200131

151

110

100

MM


(ф10

H7)8 - M6 x 1.0 Depth 8

2-ф6H7 Depth 8

(Bet

wee

n kn

ocks

+/-0

.02 )

N-M6 x 1.0 Depth 10


N-ф7 through (C)2-ф10H7

MM

B

7977

.5

427.5

SXYx 2 axes A4

73181

(50) 122.

5

51 130

Y st

roke

+ 2

55Y

stro

ke14

0+/-3

513

6

5

8377.5

5

X stroke

Note 1

L (X stroke + 320)

5 14.8

136+/-3

32

90

110

70

135

5.5(18.5)

94.5

2.8

6.5

7.2

200139 K M x 200 131

114 K M x 200 156200

151

110

100

136

242

173

(105

)Note 2 345364.5

239

108

5113

5 23

MA

X. 1

000

A

83

MM

MM



(ф10

H7)

8 - M6 x 1.0 Depth 8

2-ф6H7 Depth 8

(Bet

wee

n kn

ocks

+/-0

.02 )

N-M6 x 1.0 Depth 10

See detaild drawing of C sectionD +/-0.022-ф10H7

N-ф7 through (C)

B7.5

42

77.5

79

SXYx 2 axes A3

(105

)13

617

3

MA

X. 1

000

242

108

8313

5

64.5239

A

73 181

130

(50)

122.

5

51Y

stro

ke +

255

Y st

roke

140+

/-35

136

583

77.55

X stroke 284+/-3

Note 1

L (X stroke + 320)

5 14.8

Note 2

53

51

34

23

100

110

131M x 200K139200

200156K114

N-M6 x 1.0 Depth 10

151

MM

MM

4.57.2

2.8

6.5

32

90

110

70


9

5.5(18.5)

135


(ф10

H7)8 - M6 x 1.0 Depth 8

2-ф6H7 Depth 8

(Bet

wee

n kn

ocks

+/-0

.02 )

M x 200See detaild drawing of C sectionD +/-0.022-ф10H7

N-ф7 through (C)

B7.5

42

77.5

79

Articulate

d rob

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act

sing

le-a

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TRAN

SERVOS

ing

le-a

xis rob

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FLIP-X

Lin

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tor

sing

le-a

xis rob

ots

PHA

SER

Ca

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bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

270

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx




150 19

250 16

350 14

450 12

550 10

650 8

X-axis Y-axis



Repeatability Note 2(mm) +/-0.01 +/-0.01



Maximum speed Note 4(mm/sec) 1200 1200





SXYx C IO RCX222Model Cable Combination X-axis

strokeY-axis stroke ZR-axis Cable Controller Usable for CE Input/Output






YC: YC-Link Note 2


SXYx 2 axes / IO A1

191.

5

Y st

roke

+ 2

55

Y st

roke

140+

/-3513

6

55

X stroke296+/-3

161.

5

Note 1

5

77.5

35 X stroke + 215L (X stroke + 320)

59.5205

53

5123

Note 234

(171

)77

.5(50)

114KM x 200156200

200139KM x 200131

151

110

100

(105

)

64.5

136

242

173

79125

79

(168

)

239

37149

A

9083

T 111

2564

240

6

8312 42

108

4968

B

115


9

5.5(18.5)

4.5

7.2

2.8

6.5

4-M6 x 1.0

4-M5 x 0.8

296.

5

70

11.5

70

25

MM

MM

7357

25 35

25 35

7793

YZ

XY

Cross-section of cable carrierXY Cross-section of cable carrierYZ


(ϕ10

H7)

ϕ29 (Note 2)

N-M6 x 1.0 Depth 10


2-ϕ10H7N-ϕ7 through (C)

ϕ9.7 ϕ9.7ϕ8.2ϕ7.6




K 200 100 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960 960 1140

M 0 1 1 2 2 3 3 4 4 5

N 4 6 6 8 8 10 10 12 12 14

Y stroke 150 250 350 450 550 650

T 55 110 165 220 275 330Note 3. When the X-axis stroke is longer than 750mm, resonance of the ball screw may



X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

2 axes / IO

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100A

rm typ

eG

antry typeM

oving arm

typeP

ole typ

eX

Z type

271

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

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bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

272

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx


RCX340RCX240S


Z stroke (mm)

Y stroke (mm) 150 250 350

150 10 10 10

250 10 10 9

350 9 8 7

450 7 6 5

550 5 4 3

650 3 2 1

X-axis Y-axis Z-axis

Axis construction Note 1 F14H F14 F10-BK










SXYx C ZFModel Cable Combi-

nationX-axis stroke

Y-axis stroke ZR-axis Z-axis

stroke Cable


SXYx 3 axes / ZF A1

MM

Note 1

355+/-3 X stroke577.5 5

20559.5

L (X stroke + 320)X stroke + 21535

3311

5

136

161.

5

5

140+

/-3Y

stro

ke

Y st

roke

+ 2

55

191.

5

5

34

2351

53Note 2

(409

)

(50)

77.5

(171

)

N-M6 x 1.0 Depth 10200139KM x 200131

114KM x 200156200

151

110

100

4 - M5 x 0.8 Depth 12

110

70 86

6.52.8

7.2

4.5


5.5(18.5)

9

B

123.5

68

4.5

7949

68

65

71 83 42

190

136

(105

)

Z st

roke

+ 2

90

Z st

roke

195+

/-2

173

40.5

127

5

5

(168

)

64.5239 102

7912

579

242

109Note 1A

T 111

83

115

6


MM

MMXY

YZ

3525

57

3525

77

93 73


2-ϕ5H7 Depth 15

(ϕ10

H7)

ϕ9.7 ϕ10.1ϕ9.9

ϕ9.7 ϕ8.2ϕ7.6



D +/-0.02

2-ϕ10H7 N-ϕ7 through (C)




standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 200 100 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960 960 1140

M 0 1 1 2 2 3 3 4 4 5

N 4 6 6 8 8 10 10 12 12 14

Y stroke 150 250 350 450 550 650

T 55 110 165 220 275 330

Z stroke 150 250 350Note 3. When the X-axis stroke is longer than 750mm, resonance of the ball screw may



X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

3 axes / ZF

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

273

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx


RCX340RCX240S


Z stroke (mm)

Y stroke (mm) 150 250 350

150 10 10 10

250 10 10 9

350 9 8 7

450 7 6 5

550 5 4 3

650 3 2 1












SXYx S ZFModel Cable Combi-

nationX-axis stroke


stroke Cable


SXYx 3 axes / ZF A1

MM

70

130

(50)

X stroke355+/-3

136 40

140+

/-3Y

stro

ke

Y st

roke

+ 2

55

Note 1

L (X stroke + 320)

44

55

123.

5(3

0) 123.5

55

86

4 - M5 x 0.8 Depth 12

9Use M6 x 1.0 hex socket head bolt with length head bolt with length (under head) of 20mm or more.

110 5.5

70

60.5

Z st

roke

Z st

roke

+ 3

5040

.525

5+/-2

109

187

55

15 65(6.5) (40)4.5

77.571 83 4268

83

242

79

30

64.5

173

(105

)13

6

MA

X. 1

200 130

239

Note 1

102

A

34 53

5123

Note 2

N-M6 x 1.0 Depth 10131 M x 200 K 139

200

200156 M x 200 K 114151

110

100

MM


MM


2-ф5H7 Depth 15

(18.5)

(ф10

H7)

See detaild drawing of B section D +/-0.02

2-ф10H7 N-ф7 through (B)

ф37

77.5

79

Arm type Whipover Z-axis: clamped base / moving table type (100W)



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960

M 0 1 1 2 2 3 3 4

N 4 6 6 8 8 10 10 12

Y stroke 150 250 350 450 550 650

Z stroke 150 250 350

Note 3. When the X-axis stroke is longer than 750mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left.


X-axis 1200 960 780


3 axes / ZF

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

274

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx


RCX340RCX240S-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 8 8 8

250 8 8 8

350 8 7 6

450 6 5 4

550 4 3 2

650 2 1 1


Axis construction Note 1 F14H F14F10-BK equivalent

guide-reinforced model










SXYx C ZFL20Model Cable Combi-

nationX-axis stroke


stroke Cable


SXYx 3 axes / ZFL20 A1

MM

MM

Note 1355+/-3 X stroke

577.5 5

136

20559.5


161.

5

35

514

0+/-3

Y st

roke

Y st

roke

+ 2

55

191.

5533

115

110

156

7070

8

6 - M5 x 0.8 Depth 12

70+/

-0.0

243

6.52.8

7.2

4.5


5.5

34

23

53Note 2

242

79125

79

1156

(409

)

77.5

(171

)

51

(50) 64.5239 102

145

248+

/-2Z

stro

ke33

.5Z

stro

ke +

385

173

136

(105

)49

55

109

Note 1

T 111

A

83

N-M6 x 1.0 Depth 10

114KM x 200156

110

100

151

200

200139KM x 200131

68

79

71 83 42

190

B

123.5(76)


MM

3525

57

3525

77

93 73

YZ

XY


2-ϕ5H7 Depth 15

(18.5)

(ϕ10

H7)


D +/-0.02

2-ϕ10H7N-ϕ7 through (C) ϕ9.7 ϕ10.1

ϕ9.9ϕ9.7 ϕ8.2

ϕ7.6





standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E



RCX240S RController CE Marking Regeneratizve unit Expansion I/O Network option iVY System Gripper Battery

Specify various controller setting items. RCX240/RCX240S P.534 Specify various controller setting items. RCX240/RCX240S P.534



K 200 100 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960 960 1140

M 0 1 1 2 2 3 3 4 4 5

N 4 6 6 8 8 10 10 12 12 14

Y stroke 150 250 350 450 550 650

T 55 110 165 220 275 330




X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

3 axes / ZFL20

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

275

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx


RCX340RCX240S-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 13 12 11

250 10 9 8

350 8 7 6

450 6 5 4

550 4 3 2

650 2 1 1













SXYx C ZFHModel Cable Combi-

nationX-axis stroke


stroke Cable


SXYx 3 axes / ZFH A1

Note 1

375+/-3 X stroke577.5 5

136

20559.5


161.

5

35

514

0+/-3

Y st

roke

Y st

roke

+ 2

55

191.

5

3311

5

5

34

23

(409

)

51

(50)

77.5

(171

)

53Note 2

79125

7924

2

1154

N-M6 x 1.0 Depth 10

114KM x 200156

200139KM x 200131

110

100

151

200

6210

011

2

4 - M5 x 0.8 Depth 9

6.52.8

7.2

4.5 Use M6 x 1.0 hex socket head bolt

with length head bolt with length (under head) of 20mm or more.

9

5.5

64.5239

173

136

(105

)49

102Note 1

83

Z st

roke

Z st

roke

+ 3

8513

9.5+

/-213

05

5

A

109(111)86

T 111

79

71 83 42

190

123.5

B

20

(152)

68

26

145


MM

MM

MM

3525 3525

57

3525

77

93 735773

YZ

XY

Z


2-ϕ5H7 Depth 8

(18.5)

(ϕ10

H7)


2-ϕ10H7N-ϕ7 through (C) ϕ9.7 ϕ10.1

ϕ9.9ϕ9.7 ϕ8.2

ϕ7.6ϕ8.2ϕ7.6

Cross-section of cable carrierXY Cross-section of cable carrierYZ Cross-section of cable carrierZ

Arm type Cable carrier Z-axis: clamped table / moving base type (200W)



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 200 100 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960 960 1140

M 0 1 1 2 2 3 3 4 4 5

N 4 6 6 8 8 10 10 12 12 14

Y stroke 150 250 350 450 550 650

T 55 110 165 220 275 330




X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

3 axes / ZFH

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

276

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx


RCX340RCX240S



150 to 650 3 5X-axis Y-axis

Z-axisZS12

Z-axisZS6

Axis construction Note 1 F14H F14 –










SXYx C 15Model Cable Combi-

nationX-axis stroke


stroke Cable


SXYx 3 axes / ZS A1

20559.5


Note 1

35

X stroke577.5 5

Y st

roke

+ 2

55

394+/-3

136

161.

5

5

140+

/-3Y

stro

ke19

1.5

53811

5

(171

)

(409

)

77.5(50)

34

2351

53Note 2

114KM x 200156200

151

N-M6 x 1.0 Depth 10200139KM x 200131

100+

/-2

300

66

Z st

roke

173

(105

)13

6(1

68)

7240

7912

5

79

242

83

64.5239

Note 1

0-0.018

3641 6.52.8

7.2

4.5


9

5.5

4283

233110

67.5

6729

910

1

A

49150

B

7919

0124

115

68

6

110

100

T 111

MM

MM

3525

57

3525

77

93

73

YZ

XY

M8 x 1.25 Depth 15


(18.5) (ϕ

10H

7)

ϕ9.7

5

ϕ12 ϕ10.1ϕ9.9

ϕ9.7 ϕ8.2ϕ7.6

Cross-section of cable carrierXY

Cross-section of cable carrierYZ


D +/-0.02





standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 200 100 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960 960 1140

M 0 1 1 2 2 3 3 4 4 5

N 4 6 6 8 8 10 10 12 12 14

Y stroke 150 250 350 450 550 650

T 55 110 165 215 270 325




X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

3 axes / ZS

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

277

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx


RCX340RCX240S



150 to 650 3 5X-axis Y-axis

Z-axis: ZS12

Z-axis: ZS6



Repeatability Note 2(mm) +/-0.01 +/-0.01 +/-0.02



Maximum speed Note 4(mm/sec) 1200 1200 1000 500





SXYx S 15Model Cable Combi-

nationX-axis stroke


stroke Cable


SXYx 3 axes / ZS A1

(50)

X stroke

15

140+

/-3Y

stro

ke

Y st

roke

+ 2

55

Note 1

L (X stroke + 320)

55

55394+/-3

(30)

123.

5

70

130

136 40

44

123.5

3641

5.5

9

34 53

5123

Note 2

KM x 200156200

114151

200139KM x 200131

N-M6 x 1.0 Depth 10

100

110

83

242

79

30

64.5239

(105

)13

6

MA

X. 1

100

173

100+

/-2Z

stro

ke30

0

72

66

13040

Note 1

77.5

4283110

233

101

299

67

178.

5225

A

67.5

MM

MM

0-0.018

M8 x 1.25 Depth 15


ф5

ф12


(18.5)

(ф10

H7)

See detaild drawing of B section D +/-0.02


77.5

79

Arm type Whipover Z-axis shaft vertical type



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960

M 0 1 1 2 2 3 3 4

N 4 6 6 8 8 10 10 12

Y stroke 150 250 350 450 550 650

Z stroke 150



X-axis 1200 960 780


3 axes / ZS

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

278

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx


RCX340RCX240S


Z stroke (mm)

Y stroke (mm) 150 250 350

150 6 6 6

250 6 5 4

350 4 3 2

450 3 2 1

550 2 1 –

650 1 – –

X-axis Y-axis Z-axis R-axis

Axis construction Note 1 F14H F14 F10-BK R5

AC servo motor output (W) 200 100 100 50

Repeatability Note 2 (XYZ: mm) (R: °) +/-0.01 +/-0.01 +/-0.01 +/-0.0083

Drive system Ball screw (Class C7) Ball screw (Class C7) Ball screw (Class C7) Harmonic gear

Ball screw lead Note 3 (Deceleration ratio) (mm) 20 20 10 (1/50)

Maximum speed Note 4 (XYZ: mm/sec) (R: °/sec) 1200 1200 600 360

Moving range (XYZ: mm) (R: °) 150 to 1050 150 to 650 150 to 350 360




SXYx C ZRFModel Cable Combi-

nationX-axis stroke


stroke Cable


SXYx 4 axes / ZRF A1

MM

MM

Y st

roke

+ 2

55Y

stro

ke14

0+/-3

5

X stroke

161.

5

Note 1

5

77.5407.5+/-3

191.

5

(201)5 5


59.535

115

33

136

205

53

5123

Note 234

(171

)

(50)

77.5

110

100

131 M x 200 K 139200

200156 M x 200 K 114

N-M6 x 1.0 Depth 10

151

19 (W

idth

ac

ross

flat

)

56.6

56.6

37.5 4.5

7.2

2.86.5


5.5

9

136

242

79125

79

Z st

roke

+ 2

90

Z st

roke

+ 1

32

127

168+

/-2

55 Z

stro

ke

173

(168

)

152

109

T 111

64.5239

40.5 72

Note 1

110102

85

90

7824

2

6

123.5

A

86

(30)

4.565

79

123.5(152)

190

B

83 42

6849

1156871

6

1576

75

46

MM

MM

25 35

5773

ZR

25 35

5773

25 35

7793

YZ

XY


M8 x 1.25 Depth 20

4-M6 x 1.0 Depth 16

(18.5)

(ϕ10

H7)

ϕ9.7

ϕ11ϕ11ϕ9.9ϕ9.9

ϕ9.7ϕ9.7ϕ7.6

ϕ9.7ϕ7.6



See detailddrawing of C section D +/-0.02


ϕ22ϕ20h7

ϕ65h7

8

20

41

13

ZR

Arm type Cable carrier Z-axis: clamped base / moving table type (100W)+R-axis



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 200 100 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960 960 1140

M 0 1 1 2 2 3 3 4 4 5

N 4 6 6 8 8 10 10 12 12 14

Y stroke 150 250 350 450 550 650

T 55 110 165 220 275 330




X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

4 axes / ZRF

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

279

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx


RCX340RCX240S


Z stroke (mm)

Y stroke (mm) 150 250 350

150 6 6 6

250 6 5 4

350 4 3 2

450 3 2 1

550 2 1 –

650 1 – –

SXYx S ZRFModel Cable Combi-

nationX-axis stroke


stroke Cable


SXYx 4 axes / ZRF A1

MM

MM

MM

(50)

X stroke

140+

/-3Y

stro

ke

Y st

roke

+ 2

55

Note 1

L (X stroke + 320)

55

(30)

407.5+/-3

130

15

44

123.

5

70136 40123.5

55

8

20

41

13

37.5

56.6

56.6

5.5

9

34 53

5123

Note 2

KM x 200156200

200139KM x 200131

N-M6 x 1.0 Depth 10

114151

100

110

83

242

79

64.5

239

173

(105

)13

6

MA

X. 1

150

102

Note 1 72

110

30 130

Z st

roke

168+

/-212

7

Z st

roke

+ 1

32Z

stro

ke +

290

35.55

5

152

90

109115

71

6

123.5

15

123.5

65

75

78

68A

242

190

79

(30)

4.5

76

MM


19 (W

idth

ac

ross

flat

)4-M6 x 1.0 Depth 16

ф65h7

ф22

ф20h7

M8 x 1.25 Depth 20


(18.5)

(ф10

H7)

See detailddrawing of B section D +/-0.02


77.5

79


Axis construction Note 1 F14H F14 F10-BK R5










Arm type Whipover Z-axis: clamped base / moving table type (100W)+R-axis



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960

M 0 1 1 2 2 3 3 4

N 4 6 6 8 8 10 10 12

Y stroke 150 250 350 450 550 650

Z stroke 150 250 350



X-axis 1200 960 780


4 axes / ZRF

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

280

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx


RCX340RCX240S-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 4 4 4

250 4 4 3

350 4 3 1

450 2 1 –

550 1 – –



guide-reinforced modelR5










SXYx C ZRFL20Model Cable Combi-

nationX-axis stroke


stroke Cable


SXYx 4 axes / ZRFL20 A1

MM MM

205


Note 1

35

407.5+/-3 X stroke577.5 5

Y st

roke

+ 2

55

136

59.5

161.

5

514

0+/-3

Y st

roke

191.

5

3311

5

5

13

4120

56.6

56.6

37.5

6.52.8

7.2

4.5 9

5.5

34

2351

53Note 2

(409

)

(50)

77.5

(171

)

79125

7924

2

1154

114KM x 200156200

151

N-M6 x 1.0 Depth 10200139KM x 200131

110

100

Z st

roke

+ 3

85Z

stro

ke +

132

145

168+

/-25

5 Z st

roke

240

173

136

(105

)49

110

90

72

Note 1

102

83

64.5239

109

T 111

85

33.5

123.5

123.5

75

(152)

624

278

86

(30)

A

31

79

83 42

190

B

7615

6871

MM

MM

YZ

XY

ZR

25 35

5773

25 35

7793

25 35

5773


M8 x 1.25 Depth 20 19

(Wid

th

acro

ss fl

at)

4-M6 x 1.0 Depth 16

ϕ65h7ϕ22ϕ20h7


(18.5)

(ϕ10

H7)

ZR

ϕ9.7

ϕ11ϕ11ϕ9.9ϕ9.9

ϕ9.7ϕ9.7ϕ7.6

ϕ9.7ϕ7.6



See detailddrawing of C section D +/-0.02


8




standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 200 100 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960 960 1140

M 0 1 1 2 2 3 3 4 4 5

N 4 6 6 8 8 10 10 12 12 14

Y stroke 150 250 350 450 550

T 55 110 165 220 275




X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

4 axes / ZRFL20

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

281

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx


RCX340RCX240S-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 9 8 7

250 6 5 4

350 4 3 1

450 2 1 –

550 1 – –





Repeatability Note 2(XYZ: mm) (R: °) +/-0.01 +/-0.01 +/-0.01 +/-0.0083




Moving range (XYZ: mm)(R: °) 150 to 1050 150 to 550 150 to 350 360




SXYx C ZRFHModel Cable Combi-

nationX-axis stroke


stroke Cable


SXYx 4 axes / ZRFH A1

MM

Note 1

412.5+/-3 X stroke577.5 5

161.

5

514

0+/-3

Y st

roke

Y st

roke

+ 2

5519

1.5

5

20559.5


3311

5

136

79125

7924

234

23

53Note 2

51

(50)

(409

)

77.5

(171

)

1154

114KM x 200156200

151

N-M6 x 1.0 Depth 10200139KM x 200131

110

100

13

4120

56.6

56.6

37.5

130

10272

188+

/-2Z

stro

ke

Z st

roke

+ 3

85

55

139.

5

109

86

(111)

7818.5

173

136

(105

)49

83

239 Note 1

64.5

T 111

83 4220

6871

128.5(30)

A

76

242

2190 75

7614

5

7919

0

123.5

B

(152)26

6.52.8

7.2

4.5

9

5.5

MM MM

MM

25 35

5773

25 35

5773

25 35

7793

YZ

XY

ZR

Detail of section A Detail of section B Detail of section C ZR

ϕ9.7

ϕ11ϕ11ϕ9.9ϕ9.9

ϕ9.7ϕ9.7ϕ7.6

ϕ9.7ϕ7.6




(18.5)

(ϕ10

H7)

M8 x 1.25 Depth 20 19

(Wid

th

acro

ss fl

at)

4-M6 x 1.0 Depth 16

ϕ65h7ϕ22ϕ20h7



8

Z-axis: clamped table / moving base type (200W)+R-axis Arm type Cable carrier



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 200 100 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960 960 1140

M 0 1 1 2 2 3 3 4 4 5

N 4 6 6 8 8 10 10 12 12 14

Y stroke 150 250 350 450 550

T 55 110 165 220 275




X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

4 axes / ZRFH

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

282

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx


RCX340RCX240S


Y stroke (mm) ZRS12 ZRS6

150 3 5

250 3 5

350 3 5

450 3 5

550 3 5

650 3 4

X-axis Y-axisZ-axis: ZRS12

Z-axis: ZRS6

R-axis

Axis construction Note 1 F14H F14 – –




Ball screw lead Note 3 (Deceleration ratio) (mm) 20 20 12 6 (1/50)

Maximum speed Note 4 (XYZ: mm/sec) (R: °/sec) 1200 1200 1000 500 1020

Moving range (XYZ: mm) (R: °) 150 to 1050 150 to 650 150 360




SXYx C 15Model Cable Combi-

nationX-axis stroke


stroke Cable

A1 15 to 105cm 15 to 65cm ZRS12 3L: 3.5m A2 ZRS6 5L: 5mA3 10L: 10mA4

SXYx 4 axes / ZRS A1

X stroke577.5

394+/-3

3811

5

20559.5


Note 1

161.

5

140+

/-3Y

stro

ke

Y st

roke

+ 2

55

191.

5

136

5

55

34

2351

(50)

(171

)

53Note 2

(409

)

77.5

114KM x 200156200

200139KM x 200131

110

100

151

3641 6.5

2.8

7.2

4.5 9

5.5

B

124

190

79

83

67.5

233

110

42

150

6 115

A

684930

199 6579

125

79

242

64.5

239

T 111

100+

/-2

Note 1

72

300

40

66

83

Z st

roke17

3(1

05)

(168

)13

6

MM

MM

25 35

25 35

7793

5773

XY

YZ

0-0.018



(18.5) (ϕ

10H

7)

ϕ5

ϕ12

M8 x 1.25 Depth 15

ϕ9.7 ϕ9.7ϕ7.6ϕ9.9

ϕ9.9

ϕ11

ϕ11ϕ9.7



N-M6 x 1.0 Depth 10


D +/-0.02


Arm type Cable carrier ZR axis integrated type



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 200 100 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960 960 1140

M 0 1 1 2 2 3 3 4 4 5

N 4 6 6 8 8 10 10 12 12 14

Y stroke 150 250 350 450 550 650

T 55 110 165 220 275 330




X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

4 axes / ZRS

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

283

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx


RCX340RCX240S



150 3 5

250 3 5

350 3 5

450 3 5

550 3 5

650 3 4


Z-axis: ZRS6

R-axis

Axis construction Note 1 F14H F14 – –






Moving range (XYZ: mm) (R: °) 150 to 850 150 to 650 150 360





nationX-axis stroke


stroke Cable


SXYx 4 axes / ZRS A1

MM

MM

X stroke

40

140+

/-3Y

stro

ke

Y st

roke

+ 2

55

55

394+/-3

130

Note 1

44

570

(50) 136

15

L (X stroke + 320)

123.5

5

(30)

123.

5

34 53

5123

Note 2

KM x 200156200

200139KM x 200131

100

110

114151

83

242

79

30 130

64.5

239

(105

)13

6

MA

X. 1

100

100+

/-2

Z st

roke

300

7240

Note 1

173

66

77.5

4283110

233

67.5

178.

5

225

A

99 65

301

3641

9

5.5

0-0.018



(18.5) (ф

10H

7)

ф5

ф12

M8 x 1.25 Depth 15

N-M6 x 1.0 Depth 10

See detaild drawing of B section

D +/-0.02

2-ф10H7N-ф7 through (B)

77.5

79

Arm type Whipover ZR axis integrated type



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960

M 0 1 1 2 2 3 3 4

N 4 6 6 8 8 10 10 12

Y stroke 150 250 350 450 550 650

Z stroke 150



X-axis 1200 960 780


4 axes / ZRS

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

284

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYBx


RCX222 Programming / I/O point trace /Remote command / Operation using RS-232C communication

Note. Regenerative unit RG2 is required when the maximum speed exceeds 1250mm/sec.


150 14

250 12

350 10

450 8

550 7

X-axis Y-axis

Axis construction Note 1 B14H B14









SXYBx C RCX222Model Cable Combination X-axis

strokeY-axis stroke Cable Controller Usable for CE Regeneratine

unit Note 1Input/Output selection 1

Input/Output selection 2

A1 15 to 305cm 15 to 55cm 3L: 3.5m RCX222 No entry: Standard No entry: None N: NPN Note 1 No entry: NoneA2 5L: 5m E: CE marking R: RG2 P: PNP N1: OP.DIO24/16


(PNP)PB: PROFIBUSEN: Ethernet EN: Ethernet Note 4

YC: YC-Link Note 3

SXYBx 2 axes A1

152104.5

129

Y st

roke

+ 3

38

195.

2

122

144+

/-3

X stroke320+/-3

L (X stroke + 438)

94

136

Y st

roke

12.512.5

12.5

12.5

(50)

GJ

9210

3

79.5

79.5

Note 1

10 168

23

79

3453

51

Note 2

1016

8

(205

)

90.5

(Bet

wee

n kn

ocks

+/-0

.02 )

146

90

134

3270 8 - M6 x 1.0 Depth 16

3.76.5

7.2

4.5

90.5 42 73.5

3294

159

79

73 280

(116

)13

6

9283

184

22152

A

122.5

10085

3525

B

MM

MM


ϕ9.7 ϕ8.2ϕ7.6

2-ϕ6H7 Depth 10


S

Cross-sectional drawing S-S

S

100

8526.5

M×200200

KN-M6×1.0 Depth 10

C+/-0.02 D+/-0.02

F-ϕ10H7: See the cross-sectional drawing of S-S.

85 E+/-0.02

5.5

(ϕ10

H7)

18.5


Note 1. Regenerative unit RG2 is required when the maximum speed on the RCX222 exceeds 1250mm/sec. Note 2. NPN cannot be selected if using CE marking. Note 3. Available only for the master. See P.68 for details on YC-Link system.Note 4. Only when CC or DN or PB was selected for I/O select 1 above, EN can be selected in I/O select 2.

X stroke 150 250 350 450 550 650 750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450 2550 2650 2750 2850 2950 3050L 588 688 788 888 988 1088 1188 1288 1388 1488 1588 1688 1788 1888 1988 2088 2188 2288 2388 2488 2588 2688 2788 2888 2988 3088 3188 3288 3388 3488K 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100C 240 420 600 600 780 780 960 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140D - - - - - - - - - - 240 240 240 420 600 600 780 780 960 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140E - - - - - - - - - - - - - - - - - - - - - - 240 240 420 420 600 600 780 960F 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4M 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16N 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36G 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50J 330 330 430 430 530 530 630 630 730 730 830 830 930 930 1030 1030 1130 1130 1230 1230 1330 1330 1430 1430 1530 1530 1630 1630 1730 1730

Y stroke 150 250 350 450 550

Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper.

Note 2. The shaded position indicates an user cable extraction port.

2 axes

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

285

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYBx 2 axes A2

3.76.5

7.2

4.5

(Bet

wee

n kn

ocks

+/-0

.02 )

7032

134

90

146

122.5

73.542

90.5

B

18413

6(1

16)

28073

7915

994

Note 253 34

32A

15222

8392

23

51

12.5

12.5

12.5 12.5

Y st

roke

136

94200+/-3 X stroke

144+

/-312

2

195.

2Y

stro

ke +

338

129

(50)

Note 1

79.5

L (X stroke + 438)

103

92

104.5 152 GJ

79.5

168 10

90.516

8

(205

)

1079

MM

MM

10085

3525

8 - M6 x 1.0 Depth 16


ϕ9.7 ϕ8.2ϕ7.6

2-ϕ6H7 Depth 10


S


S

100

85 26.5 M×200200

KN-M6×1.0 Depth 10

C+/-0.02 D+/-0.02

F-ϕ10H7:See the cross-sectional drawing of S-S.

85 E+/-0.02

5.5

(ϕ10

H7)

18.5

SXYBx 2 axes A4

Note 1

12.5

12.5

12.512.5

Y st

roke

136

94

L (X stroke + 438)

200+/-3X stroke

144+

/-312

219

5.2

Y st

roke

+ 3

3812

9

104.5152G J(50)

79.5

79.5

103

92

16810

90.5(2

05)

168

1079

1522232

184 83

92

7915

994

Note 2

23

51

A

136

(116

)

2805334

122.5

73.542

90.5

B

73

MM

MM

3.76.5

7.2

4.5

(Bet

wee

n kn

ocks

+/-0

.02 )

7032

134

90

146

10085

3525

8 - M6 x 1.0 Depth 16


ϕ9.7 ϕ8.2ϕ7.6

2-ϕ6H7 Depth 10


S


S

100

8526.5M×200200

KN-M6×1.0 Depth 10

C+/-0.02D+/-0.02


85E+/-0.02

5.5

(ϕ10

H7)

18.5

SXYBx 2 axes A3

3.76.5

7.2

4.5

122.5

73.542

90.5

B152

22

18483

92

7915

994

32

136

(116

)

28073

A

12.5

12.5

Y st

roke

136

79.5

144+

/-312

219

5.2

Y st

roke

+ 3

3812

9

12.512.594

320+/-3X stroke

168

Note 1

10

(50)

79.5

L (X stroke + 438)10

392

104.5152G J

90.5 16

8

(205

)

10

Note 2

2351

5334

79

MM

MM

(Bet

wee

n kn

ocks

+/-0

.02 )

7032

134

90

146

10085

3525

8 - M6 x 1.0 Depth 16


ϕ9.7 ϕ8.2ϕ7.6

2-ϕ6H7 Depth 10


S


S

100

8526.5M×200200

KN-M6×1.0 Depth 10

C+/-0.02D+/-0.02


85E+/-0.02

5.5

(ϕ10

H7)

18.5

SXYBx 2 axes

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

286

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYBx


RCX340RCX240S-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 8 7 6

250 6 5 4

350 4 3 2

450 2 1 –

550 1 – –


Axis construction Note 1 B14H B14 F10-BK



Drive system Timing belt Timing belt Ball screw (Class C7)

Ball screw lead Note 3 (Deceleration ratio) (mm) Equivalent to lead 25 Equivalent to lead 25 10

Maximum speed (mm/sec) 1875 1875 600




SXYBx C ZFModel Cable Combi-

nationX-axis stroke


stroke Cable


SXYBx 3 axes / ZF A1

MM

MM

Note 1

12.5

12.5

12.5 12.5

Y st

roke

136

391+/-3

79.5

X stroke

144+

/-3

122 19

5.2

Y st

roke

+ 3

3812

9

(50)

L (X stroke + 438)104.5 152 GJ

79.5

103

92

16810

3811

5

Note 2

2351

53 34

168

1079

184 83

92

7915

99490

.5 (205

)

32

(420

)

3.76.5

4.5

70 86

4 - M5 x 0.8 Depth 12

110

7.2

73.5

B

190

79

28073

39.5102 4271 94

68

136

(116

)19

5+/-2

Z st

roke

Z st

roke

+ 2

90

55

127

15222 Note 1

A109 65 4.5

133

6190.5

122.5


MM

85100

35253525

5773

YZ

XY


2-ϕ5H7 Depth 15

ϕ9.7 ϕ10.1ϕ9.9

ϕ9.7 ϕ8.2ϕ7.6



S


S

100

8526.5

M×200200

KN-M6×1.0 Depth 10

C+/-0.02 D+/-0.02


85 E+/-0.02

5.5

(ϕ10

H7)

18.5




standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E






Y stroke 150 250 350 450 550

Z stroke 150 250 350



3 axes / ZF

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

287

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type

Controller RCX340 u 544 RCX240S u 534

SXYBx


RCX340RCX240S-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 7 6 5

250 5 4 3

350 3 2 1

450 1 – –


Axis construction Note 1 B14H B14F10-BK equivalent










SXYBx C ZFL20Model Cable Combi-

nationX-axis stroke


stroke Cable


SXYBx 3 axes / ZFL20 A1

(50)

12.5

12.5

12.5 12.5

Y st

roke

136

79.5

L (X stroke + 438)

391+/-3 X stroke

144+

/-3

122

195.

2

Y st

roke

+ 3

3812

9

103

92

104.5 152 GJ

90.5

168

Note 1

10

79.5

3811

5

Note 2

2351

53 34

90.516

8

(205

)

1079

(420

)

70110

43

7015

6

70+/

-0.0

2

8

3.7

6.5

7.2

4.5

(76)

Z st

roke

+ 3

85Z

stro

ke24

8+/-214

5

32.5

55

(116

)13

6

28073 102

184 83

92

7915

994

32

15222

Note 1

A

109

122.5

73.5

190

79

B

4271 94

68

133


MM

MM

MM

85100

35253525

5773


6 - M5 x 0.8 Depth 12

2-ϕ5H7 Depth 15



ϕ9.7 ϕ10.1ϕ9.9

ϕ9.7 ϕ8.2ϕ7.6

S


S

100

85 26.5 M×200200

KN-M6×1.0 Depth 10

C+/-0.02 D+/-0.02


85 E+/-0.02

5.5

(ϕ10

H7)

18.5




standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E






Y stroke 150 250 350 450

Z stroke 150 250 350



3 axes / ZFL20

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

288

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYBx


RCX340RCX240S-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 7 6 5

250 5 4 3

350 3 2 1

450 1 – –


Axis construction Note 1 B14H B14F10-BK equivalent










SXYBx C ZFHModel Cable Combi-

nationX-axis stroke


stroke Cable


SXYBx 3 axes / ZFH A1

(50)

12.5

12.5

12.5 12.5

Y st

roke

136

79.5

L (X stroke + 438)

411+/-3 X stroke

144+

/-312

2 195.

2Y

stro

ke +

338

129

103

92

104.5 152 GJ

90.5

168

Note 1

10

79.5

3811

5

Note 2

2351

53 34

90.516

8

(205

)

1079

(420

)

70

6210

011

2

3.76.5

7.2

4.5

15222

184 83

92

7915

994

32

A

Z st

roke

+ 3

85Z

stro

ke

130

10986

151.

5+/-2

55

(116

)13

6

28073

Note 1 102

73.5

4294

13326(152)

71

68

145

76

20

122.5

190

79

B

(Between knocks +/-0.02)

MM

MM

85100

3525 3525

5773

3525

5773

YZ

XY




Cross-section of cable carrierZ


ϕ9.7 ϕ10.1ϕ9.9

ϕ9.7 ϕ8.2ϕ7.6

ϕ8.2ϕ7.6

Z

S


S

100

85 26.5 M×200200

KN-M6×1.0 Depth 10

C+/-0.02 D+/-0.02


85 E+/-0.02

5.5

(ϕ10

H7)

18.5



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E








Y stroke 150 250 350 450

Z stroke 150 250 350

3 axes / ZFH


Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

289

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYBx


RCX340RCX240S-R



150 3 5

250 3 5

350 3 5

450 3 4

550 3 3

X-axis Y-axisZ-axis: ZS12

Z-axis: ZS6

Axis construction Note 1 B14H B14 –




Ball screw lead Note 3 (Deceleration ratio) (mm) Equivalent to lead 25 Equivalent to lead 25 12 6

Maximum speed (mm/sec) 1875 1875 1000 500




SXYBx C ZS 15Model Cable Combi-

nationX-axis stroke


stroke Cable


SXYBx 3 axes / ZS A1

12.5 12.5X stroke430+/-3

12.5

12.5

Y st

roke

136 14

4+/-3

122 195.

2Y

stro

ke +

338

129

(50)

L (X stroke + 438)

79.5

104.5 152 GJ

103

92

168

79.5

10

3811

5

Note 1

A

168

10

79

184 83

92

7915

99490

.5 (205

)

32

15222

Z st

roke

300

136

72

(168

)

40

100+

/-2

116

28073

Note 1 66

73.5

C

190

79

94 61

6729

9

110

101

67.5

B

90.5

1508.5124

42244

122.5

Note 2

2351

53 34

3.76.5

7.2

4.5

VIEW A

41 36

MM

MM

MM

XY

YZ

Detail of section B Detail of section C

M8 x 1.25 Depth 15

ϕ5

0-0.018ϕ12

85100

3525

ϕ9.7 ϕ10.1ϕ9.9



3525

5773

ϕ9.7 ϕ8.2ϕ7.6

S


S

100

8526.5

M×200200

KN-M6×1.0 Depth 10

C+/-0.02 D+/-0.02

F-ϕ10H7:See the cross-sectional drawing of S-S.

85 E+/-0.02

5.5

(ϕ10

H7)

18.5



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E








Y stroke 150 250 350 450 550

Z stroke 150

3 axes / ZS


Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

290

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYBx


RCX340RCX240S-R



150 3 5

250 3 5

350 3 5

450 3 3

550 2 2


Z-axis: ZRS6

R-axis

Axis construction Note 1 B14H B14 – –


Repeatability Note 2(XYZ: mm)(R: °) +/-0.04 +/-0.04 +/-0.02 +/-0.005

Drive system Timing belt Timing belt Ball screw (Class C10) Harmonic gear

Ball screw lead Note 3 (Deceleration ratio) (mm) Equivalent to lead 25 Equivalent to lead 25 12 6 (1/50)

Maximum speed (XYZ: mm/sec)(R: °/sec) 1875 1875 1000 500 1020

Moving range (XYZ: mm)(R: °) 150 to 3050 150 to 550 150 360



SXYBx C 15Model Cable Combi-

nationX-axis stroke


stroke Cable


SXYBx 4 axes / ZRS A1

MM

Note 1

12.5

12.5

12.5 12.5

Y st

roke

136

X stroke

144+

/-3

122 195.

2Y

stro

ke +

338

129

430+/-3

(50)

L (X stroke + 438)

79.5

104.5 152 GJ

16879.5

10

103

92

3811

5

Note 2

2351

53 34 41 36

3.77.

24.

5

85100

A

168

1079 90

.5 (205

)

6.5

15222

184 83

92

28073

7915

994

32

Z st

rokeNote 1

300

136

72

(168

)

40

100+

/-2

66

116 73.5

C

190

79

94 61110

67.5

B

90.5

244

150

8.5

124

99 6530

1

42

MM

MM

122.5

25 3525 35

5773

XY

YZ

ϕ9.7 ϕ9.7ϕ9.9 ϕ7.6ϕ11

ϕ9.9ϕ11



ϕ9.7

VIEW A Detail of section B Detail of section C

M8 x 1.25 Depth 15

5

0-0.018ϕ12

S


S

100

85 26.5 M×200200

KN-M6×1.0 Depth 10

C+/-0.02 D+/-0.02


85 E+/-0.02

5.5

(ϕ10

H7)

18.5

Arm type Cable carrier ZR axis integrated type



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E








Y stroke 150 250 350 450 550

Z stroke 150

4 axes / ZRS

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100A

rm typ

eG

antry typeM

oving arm

typeP

ole typ

eX

Z type

291

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

292

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


NXY


RCX222-RProgramming / I/O point trace /Remote command / Operation using RS-232C communication


150 25

250 21

350 18

450 16

550 13

650 11

X-axis Y-axis

Axis construction Note 1 N15 F14



Drive system Ball screw (Class C7) ϕ15 Ball screw (Class C7) ϕ15






NXY C RCX222 RModel Cable Combination X-axis

strokeY-axis stroke Cable Controller Usable for CE Regeneratine

unitInput/Output selection 1


A1 50 to 200cm 15 to 65cm 3L: 3.5m RCX222 No entry: Standard R: RG2 N: NPN Note 1 No entry: NoneA3 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16

(NPN) Note 110L: 10m CC: CC-LinkDN: DeviceNetTM P1: OP.DIO24/17



YC: YC-Link Note 2


NXY 2 axes A1

129+/-3 X stroke83

5538

L

Y st

roke

+ 2

9710

.525

8

K 4.5

(2.5

)(S

crew

hea

d)

145

134.

8Y

stro

ke15

0+/-3

207.

316

05

5

Note 1

7328

8

B 10

118

C

(D)D200

E x 200F-M6 x 1.0 Depth10

C

(G)2-ϕ10H7 Depth17See cross-section C-C. (Note 4) J+/-0.02

G H x 200

I-ϕ7 Depth6See cross-section C-C. (Note 3)

105

200

56100

70

110

(Bet

ween

knoc

ks +/

-0.0

2 )

90

32 8-M6 x 1.0 Depth8

2-ϕ6H7 Depth8

Detail of section A

135

Detail of section B

1.5

3.5

6.5

Cross-section C-C


(17)

(ϕ10

H7)

(6)

(ϕ11

)

(ϕ7)

Cross-section of XY cable carrier

35

70

29

120100

Space for wiring by the user

A

(152

)13

622

012

0

(170

.5)

5.58.3


X stroke 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper.

Note 2. The origin of the X axis is set originally as the drawing and it is possible to change it to the R side origin by changing parameters.

Note 3. When using ϕ7 holes for installation, you must not use a washer, spring washer, etc. in the main unit.

Note 4. When using a ϕ10H7 hole, make sure that the pin does not go into deeper than as shown in the drawing.

Note 5. Use M4 tap of the box next to X axis for the user grounding terminal.

Note 6. The M4 taps at both ends of the cable carriage can be used for fixing cables.

L 830 930 1030 1130 1230 1330 1430 1530 1630 1730 1830 1930 2030 2130 2230 2330

D 15 65 15 65 15 65 15 65 15 65 15 65 15 65 15 65

E 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11

F 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24

G 115 165 115 165 115 165 115 165 115 165 115 165 115 165 115 165

H 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10

I 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22

J 620 720 820 920 1020 1120 1220 1320 1420 1520 1620 1720 1820 1920 2020 2120

K 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350 1400

Y stroke 150 250 350 450 550 650

2 axes

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

293

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


NXY 2 axes A3

X stroke

5

L

4.5

145

134.

8Y

stro

ke15

0+/-3

207.

316

05

5(2

.5)

(Scr

ew h

ead)

Note 1

129+/-383

538

K

Y st

roke

+ 2

9710

.525

873

288

118

10 B

C

C

(G)

56

2-ϕ10H7 Depth17See cross-section C-C. (Note 4)J+/-0.02

(D) D200

GH x 200105

200

E x 200

100

F-M6 x 1.0 Depth10


Detail of section B

1.5

5.58.3

3.5

6.5

Cross-section C-CDetail of section A

(17)

(ϕ10

H7)

(6)

(ϕ7)

(ϕ11

)


70

110

(Bet

ween

kno

cks

+/-0

.02 )

90

32

135

8-M6 x 1.0 Depth8

2-ϕ6H7 Depth8


35

70

29

120100


(152

)13

622

012

0

A

(170

.5)







L 830 930 1030 1130 1230 1330 1430 1530 1630 1730 1830 1930 2030 2130 2230 2330

D 15 65 15 65 15 65 15 65 15 65 15 65 15 65 15 65

E 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11

F 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24

G 115 165 115 165 115 165 115 165 115 165 115 165 115 165 115 165

H 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10

I 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22

J 620 720 820 920 1020 1120 1220 1320 1420 1520 1620 1720 1820 1920 2020 2120

K 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350 1400

Y stroke 150 250 350 450 550 650

NXY 2 axes

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

294

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type

Controller RCX340 u 544 RCX240 u 534

NXY


RCX340RCX240-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 8 8 8

250 8 8 8

350 8 8 8

450 8 7 6

550 5 4 3

650 3 2 1


Axis construction Note 1 N15 F14F10-BK equivalent




Drive system Ball screw (Class C7) ϕ15 Ball screw (Class C7) ϕ15 Ball screw (Class C7) ϕ15






NXY C ZFL20Model Cable Combi-

nationX-axis stroke


stroke Cable

A1 50 to 200cm 15 to 65cm 15 to 35cm 3L: 3.5m A3 5L: 5m

10L: 10m

Note 1. Reference of special order: RCX222+SR1-X

NXY 3 axes / ZFL20 A1

X strokeL

K 4.5

145

134.

8Y

stro

ke15

0+/-3

207.

3

Y st

roke

+ 2

9710

.5

160

55

(2.5

)(S

crew

hea

d)

200+/-3

258

55 Note 1

7328

8

B

120

118

10

CF-M6 x 1.0 Depth10

E x 200200

D (D)

C200

105

I-ϕ7 Depth6 See cross-section C-C. (Note 3)

H x 200GJ+/-0.02

56

(G)

100

2-ϕ10H7 Depth17See cross-section C-C. (Note 4)

110

156

870

70

4370

+/-0

.02

6-M5 x 0.8 Depth123-ϕ5H7 Depth15


Cross-section C-C

Dimension in the parentheses( ) is for the Y to Z cable.

(17)

(ϕ10

H7)

(6)

(ϕ7)

(ϕ11

)


35 29

120 (100)100 (80)


50

1.5

5.58.3

3.5

6.5

Detail of section BDetail of section A

(152

)13

6

290+

/-2

Z st

roke

+ 4

27

Z st

roke

80.5

55

(170

.5)

109

187

A

220

70

Note 1

102

(165

)

7168

83 38

69.5 124

(288

)





standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E



RCX240 RController Note 1 CE Marking Regeneratizve unit Expansion I/O Network option iVY System Gripper Battery








L 830 930 1030 1130 1230 1330 1430 1530 1630 1730 1830 1930 2030 2130 2230 2330

D 15 65 15 65 15 65 15 65 15 65 15 65 15 65 15 65

E 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11

F 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24

G 115 165 115 165 115 165 115 165 115 165 115 165 115 165 115 165

H 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10

I 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22

J 620 720 820 920 1020 1120 1220 1320 1420 1520 1620 1720 1820 1920 2020 2120

K 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350 1400

Y stroke 150 250 350 450 550 650

Z stroke 150 250 350

3 axes / ZFL20

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

295

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


NXY 3 axes / ZFL20 A3

Detail of section A

110

156

870

70

4370

+/-0

.02


Detail of section B

1.55.5

8.3

3.5

6.5


Cross-section C-C


(17)

(ϕ10

H7)

(ϕ7)

(ϕ11

)


3529

120 (100)

100 (80)


50

(6)

(288

)(1

65)

7168

8338

69.5124

(152

)13

618

729

0+/-2

Z st

roke

+ 4

27Z

stro

ke80

.5

55

(170

.5)

109

102

220

70

Note 1

C

C

F-M6 x 1.0 Depth10E x 200

200

105H x 200 G

200D(D)

J+/-0.02

56

(G)

100



A

7328

812

0

B10

118

X stroke

5 5

L

K4.5

145

134.

8Y

stro

ke15

0+/-3

207.

3

Y st

roke

+ 2

9710

.5

160

55

(2.5

)(S

crew

hea

d)

258

Note 1

200+/-3100 (Between knocks +/-0.02)







L 830 930 1030 1130 1230 1330 1430 1530 1630 1730 1830 1930 2030 2130 2230 2330

D 15 65 15 65 15 65 15 65 15 65 15 65 15 65 15 65

E 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11

F 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24

G 115 165 115 165 115 165 115 165 115 165 115 165 115 165 115 165

H 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10

I 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22

J 620 720 820 920 1020 1120 1220 1320 1420 1520 1620 1720 1820 1920 2020 2120

K 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350 1400

Y stroke 150 250 350 450 550 650

Z stroke 150 250 350

NXY 3 axes / ZFL20

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

296

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


NXYNXY C ZFH

Model Cable Combi-nation

X-axis stroke


stroke Cable

A1 50 to 200cm 15 to 65cm 15 to 35cm 3L: 3.5m A3 5L: 5m

10L: 10m

Note 1. Reference of special order: RCX222+SR1-X


RCX340RCX240-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 13 13 12

250 12 11 10

350 10 9 8

450 8 7 6

550 5 4 3

650 3 2 1


Axis construction Note 1 N15 F14F10-BK equivalent










NXY 3 axes / ZFH A1

C

C

X stroke

55

L

K 4.5

145

134.

8Y

stro

ke15

0+/-3

207.

3

Y st

roke

+ 2

9710

.5

160

55

7328

8

(2.5

)(S

crew

hea

d)

Note 1

220+/-3

F-M6 x 1.0 Depth10E x 200

200

105


H x 200G

200D (D)

J+/-0.02

56

(G)

100

258

120

118


B10 Cross-section of cable carrier



(17)

(ϕ10

H7)

(6)

(ϕ7)

(ϕ11

)


35 29

120 (100)100 (80)


50

4-M5 x 0.8 Depth9

2-ϕ5H7 Depth8

112

100

62(1

52)

136

(170

.5) (288

)(1

65)

83 38

187

Z st

roke

+ 4

27

102

220

Z st

roke

5

Note 1

68 2071

139.

5+/-2

109105.5 124140

Detail of section B

1.5 5.58.3

3.5

6.5

A 5


Arm type Cable carrier Z-axis clamped table: moving base type (200W)



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E











L 830 930 1030 1130 1230 1330 1430 1530 1630 1730 1830 1930 2030 2130 2230 2330

D 15 65 15 65 15 65 15 65 15 65 15 65 15 65 15 65

E 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11

F 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24

G 115 165 115 165 115 165 115 165 115 165 115 165 115 165 115 165

H 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10

I 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22

J 620 720 820 920 1020 1120 1220 1320 1420 1520 1620 1720 1820 1920 2020 2120

K 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350 1400

Y stroke 150 250 350 450 550 650

Z stroke 150 250 350

3 axes / ZFH

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

297

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


NXY 3 axes / ZFH A3

Detail of section B

5.58.3

3.5

6.5



Dimension in the parentheses ( ) is for the Y to Z cable.

(17)

(ϕ10

H7)

(6)

(ϕ7)

(ϕ11

)


35 29

120 (100)100 (80)


50


112

100

62 1.5

2083

(165

)(2

88)

713868

124 140

(152

)13

6

Z st

roke

187

Z st

roke

+ 4

2713

9.5+

/-2

102

55

Note 1

(170

.5)

220

109 105.5

A

4.5

160

55

207.

315

0+/-3

134.

8Y

stro

ke

145

(2.5

)(S

crew

hea

d)L

5

X stroke

Note 1 5

10.5

Y st

roke

+ 2

9725

8

220+/-3

K

C

C

7310

0

(G)

56

J+/-0.02

(D) D200

GH x 200105

200

E x 200


288

120

118

F-M6 x 1.0 Depth10

10

B









L 830 930 1030 1130 1230 1330 1430 1530 1630 1730 1830 1930 2030 2130 2230 2330

D 15 65 15 65 15 65 15 65 15 65 15 65 15 65 15 65

E 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11

F 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24

G 115 165 115 165 115 165 115 165 115 165 115 165 115 165 115 165

H 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10

I 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22

J 620 720 820 920 1020 1120 1220 1320 1420 1520 1620 1720 1820 1920 2020 2120

K 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350 1400

Y stroke 150 250 350 450 550 650

Z stroke 150 250 350

NXY 3 axes / ZFH

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

298

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


NXY-W Arm type Cable carrier Double Y axes specifications


RCX340RCX240-R



150 25

250 21

350 18

450 16

550 13

650 11

X-axis Y-axis Note 1

Axis construction Note 2 N15D F14



Drive system Ball screw (Class C7) ϕ15 Ball screw (Class C7) ϕ15





Note 1. The same two Y axes are installed and they have same specifications. If axes of individually different stroke are desired, it will be an order-made. In that case, consult YAMAHA.


NXY-W 4 axes WA1

55

LX strokeL

RX stroke 129+/-3(322) Note 6

B 10

38 83129+/-3

Y st

roke

+ 2

97

B

7328

811

825

810

.5

Note 1

160

55

150+

/-3Y

stro

ke

145

134 20

6.5

B

CF-M6 x 1.0 Depth10

E x 200200

D (D)

200

105


H x 200GJ+/-0.02


(G)

56100

C

70

110

(Bet

ween

kno

cks

+/-0

.02 )

90

328-M6 x 1.0 Depth8

2-ϕ6H7 Depth8

Detail of section A

135

Detail of section B

1.5 5.5

8.3

3.5

6.5

Cross-section C-C

(17)

(ϕ10

H7)

(6)

(ϕ7)

(ϕ11

)


VIEW Y (Y" is symmetrical with this drawing.)

(152

)13

622

0

60(1

67)

A 35

70

29

120100


120


ϕ9.9ϕ10.1

Y Y"

NXY C WA1Model Cable Combination X-axis stroke Y-axis stroke Cable

25 to 175cm 15 to 65cm Note 1 3L: 3.5m 5L: 5m10L: 10m

Note 1. When the Y-axis stroke is different between the right and left, it will be an order-made.Note 2. Reference of special order: 2 units of RCX222



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E










Note 6. Minimum dimension between LX and RX sliders.

L 830 930 1030 1130 1230 1330 1430 1530 1630 1730 1830 1930 2030 2130 2230 2330

D 15 65 15 65 15 65 15 65 15 65 15 65 15 65 15 65

E 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11

F 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24

G 115 165 115 165 115 165 115 165 115 165 115 165 115 165 115 165

H 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10

I 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22

J 620 720 820 920 1020 1120 1220 1320 1420 1520 1620 1720 1820 1920 2020 2120

Y stroke 150 250 350 450 550 650

4 axes

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

299

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


NXY-W


RCX340RCX240-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 8 8 8

250 8 8 8

350 8 8 8

450 8 7 6

550 5 4 3

650 3 2 1

X-axis Y-axis Note 1 Z-axis

Axis construction Note 2 N15D F14F10-BK equivalent











NXY C WA1 ZFL20Model Cable Combination X-axis

strokeY-axis stroke ZR-axis Z-axis

stroke Cable

25 to 175cm 15 to 65cm Note 1 15 to 35cm 3L: 3.5m 5L: 5m10L: 10m

Note 1. When either one or both of Y-axis or Z-axis stroke is different, it will be an order-made.

Note 2. If you enter “RCX240”, 2 units will be shipped automatically. Reference of special order: 2 sets of RCX222+SR1-X.

NXY-W 6 axes / ZFL WA1L

LX stroke200+/-3

RX stroke 200+/-3

(180) Note 6

258

10.5

Y st

roke

+ 2

97

Note 1

160 15

0+/-3

Y st

roke

145

134 20

6.5

55

5 55 5

Y Y"

BB

73

10

288

118

B

CF-M6 x 1.0 Depth10

E x 200200

D (D)

C200

105


H x 200GJ+/-0.02


(G)

56100

156

8

110

7070

4370

+/-0

.02

6-M5x 0.8 Depth123-ϕ5H7 Depth15


Dimension in the parentheses ( ) is for the Y to Z cable.

50100 (80)

120 (100)

2935



1.5 5.5

8.3

3.5

6.5

Cross-section C-C

(17)

(ϕ10

H7)

(6)

(ϕ7)

(ϕ11

)


(152

)13

6Z st

roke

290+

/-2

Z st

roke

+ 4

2780

.5

VIEW Y (Y" is symmetrical with this drawing.)8371

6838

12469.570

Note 1

109

187

55

A

60(1

67)

220

(165

)(2

88)

120


Arm type Cable carrier Double Y axes specifications



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E











L 830 930 1030 1130 1230 1330 1430 1530 1630 1730 1830 1930 2030 2130 2230 2330

D 15 65 15 65 15 65 15 65 15 65 15 65 15 65 15 65

E 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11

F 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24

G 115 165 115 165 115 165 115 165 115 165 115 165 115 165 115 165

H 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10

I 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22

J 620 720 820 920 1020 1120 1220 1320 1420 1520 1620 1720 1820 1920 2020 2120

Y stroke 150 250 350 450 550 650

Z stroke 150 250 350

6 axes / ZFL

Z-axis: clamped base / moving table type (200W)

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

300

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


NXY-W Arm type Cable carrier Double Y axes specifications Z-axis: clamped table / moving base type (200W)


RCX340RCX240-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 13 13 12

250 12 11 10

350 10 9 8

450 8 7 6

550 5 4 3

650 3 2 1

NXY C WA1 ZFHModel Cable Combination X-axis

strokeY-axis stroke ZR-axis Z-axis

stroke Cable

25 to 175cm 15 to 65cm Note 1 15 to 35cm 3L: 3.5m 5L: 5m10L: 10m

Note 1. When either one or both of Y-axis or Z-axis stroke is different, it will be an order-made.

Note 2. If you enter “RCX240”, 2 units will be shipped automatically. Reference of special order: 2 sets of RCX222+SR1-X.

X-axis Y-axis Note 1 Z-axis

Axis construction Note 2 N15D F14F10-BK equivalent











NXY-W 6 axes / ZFH WA1

220+/-3 LX stroke

220+/-3RX stroke

L(140) Note 6

5 555 Note 1

258

10.5

Y st

roke

+ 2

97

160

55

150+

/-3Y

stro

ke

145

134 20

6.5

BB

7328

811

8

10

Y Y"

B

CF-M6 x 1.0 Depth10

E x 200200

D (D)

C200

105


H x 200GJ+/-0.02


56

(G)

100

Detail of section A

2-ϕ5H7 Depth84-M5 x 0.8 Depth9

Cross-section ofcable carrier

Dimension in the parentheses ( ) isfor the Y to Z cable.

6210

011

2

50100 (80)

120 (100)2935


Detail of section B

1.5 5.5

8.3

3.5

6.5

Cross-section C-C

(17)

(ϕ10

H7)

(6)

(ϕ7)

(ϕ11

)


VIEW Y (Y" is symmetrical with this drawing.)

136

60(1

67)

(152

)13

6

Z st

roke

187

Z st

roke

+ 4

27

102

109

139.

5+/-2

105.5

220

5

A

Note 1 5

2083

(165

)(2

88)

71 3868

69.5 145.5

120




standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E











L 830 930 1030 1130 1230 1330 1430 1530 1630 1730 1830 1930 2030 2130 2230 2330

D 15 65 15 65 15 65 15 65 15 65 15 65 15 65 15 65

E 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11

F 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24

G 115 165 115 165 115 165 115 165 115 165 115 165 115 165 115 165

H 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10

I 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22

J 620 720 820 920 1020 1120 1220 1320 1420 1520 1620 1720 1820 1920 2020 2120

Y stroke 150 250 350 450 550 650

Z stroke 150 250 350

6 axes / ZFH

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100A

rm typ

eG

antry typeM

oving arm

typeP

ole typ

eX

Z type

301

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

302

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx




150 30

250 30

350 25

450 20

550 20

650 16

X-axis Y-axis

Axis construction Note 1 F17 F14H


Repeatability Note 2(mm) +/-0.01 +/-0.01



Maximum speed Note 4(mm/sec) 1200 1200





MXYx C RCX222 RModel Cable Combination X-axis

strokeY-axis stroke Cable Controller Usable for CE Regeneratine unit Input/Output






YC: YC-Link Note 2


MXYx 2 axes A1

Note 1

5

301+/-3 X stroke8315

77.5

55

5

125

18.5

(179

)

Y st

roke

+ 3

20

(150)

168

87 67

190+

/-3Y

stro

ke

13810 125 21

L (X stroke + 365)

(30)

(M4)Grounding terminal

ϕ29 (Note 2)

5.5

37

(Bet

wee

n kn

ocks

+/-0

.02 )

70

110

124

140


135

(345

)97

.5

(50)

8010

3.5

2-ϕ10H7 Depth16

C+/-0.02166.5

20040

132

K 75N-ϕ9 through (B)

M x 200

120

268

136

A

4880

230

41

(162

)299

100


26.5


M

M


25 35

7793

ϕ9.7 ϕ8.2ϕ7.6


X stroke 250 350 450 550 650 750 850 950 1050 1150 1250 Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper.

Note 2. User cable extraction port.L 615 715 815 915 1015 1115 1215 1315 1415 1515 1615

K 100 200 100 200 100 200 100 200 100 200 100

C 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 150 250 350 450 550 650Note 3. When the X-axis stroke is longer than 850mm, resonance of the ball screw

may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left.


X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

2 axes

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

303

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx 2 axes A2


110

(Bet

wee

n kn

ocks

+/-0

.02 )

70124140


135 26.5


(150)

87Y

stro

keY

stro

ke +

320

6719

0+/-3

(30)

L (X stroke + 365)1254.5

13810

X stroke179+/-383 15

77.5Note 1

168

(179

)

5

5 5

18.5

125

5


120268

41A

80

48

299

37

8010

3.5(162

)13

623

0ϕ29 (Note 2) 5.5

100

97.5

(50)

(345

)

2-ϕ10H7 Depth16C+/-0.02166.5

20040

132


M x 200

MM

MM


25 35

7793

ϕ9.7 ϕ8.2ϕ7.6

MXYx 2 axes A4

MM

X stroke 179+/-38315

77.5Note 1

168

87Y

stro

keY

stro

ke +

320

6719

0+/-3

(30)

(150) L (X stroke + 365)125 4.5

138 10

(179

)

5 55

18.5

125

5


110

(Bet

wee

n kn

ocks

+/-0

.02 )

26.5


70124140

8-M6 x 1.0 Depth8

135

2-ϕ6H7 Depth8

97.5

(50)

(345

)

2-ϕ10H7 Depth16C+/-0.02 166.5

20040

132

K75N-ϕ9 through (B)

M x 200(M4)Grounding terminal ϕ29 (Note 2)

120268

41A

(162

)13

6

5.5

230

100

8048

299

3780

103.5

MM


25 35

7793

ϕ9.7 ϕ8.2ϕ7.6

MXYx 2 axes A3

110

(Bet

wee

n kn

ocks

+/-0

.02 )


135

14012470


26.5


Y st

roke

+ 3

20

(150)

168

876719

0+/-3

Y st

roke

55

(30)

301+/-3X stroke83 15

Note 1

125

18.5

(179

)

138 1012521

77.5

5 5

L (X stroke + 365)120268

136

A 4880

230

41

(162

) 299

100

(M4)

Groundingterminal

ϕ29 (Note 2)

(345

)

97.5 37

(50)

8010

3.5

2-ϕ10H7 Depth16C+/-0.02 166.5

200

40

132

K75N-ϕ9 through (B)

M x 200

5.5MM

MM


25 35

7793

ϕ9.7 ϕ8.2ϕ7.6

MXYx 2 axes

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

304

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx




150 30

250 30

350 25

450 20

550 20

650 16

X-axis Y-axis











MXYx S RCX222 RModel Cable Combination X-axis







YC: YC-Link Note 2


MXYx 2 axes A1

551

77.5

15 83X stroke301+/-3

5

Y st

roke

190+

/-3 Y st

roke

+ 3

206787

168

(30)

5 5Note 1

1 7310 138

18.5

L (X stroke + 365)

(179

)

125

(M4)

37

5.5ϕ29 (Note 2)

Grounding terminal

103.

580

(50)

97.5

K

132

40200

166.5 C+/-0.022-ϕ10H7 Depth16

M x 200N-ϕ9 through (B)

75

110

(Bet

wee

n kn

ocks

+/-0

.02 )

70124140


135



MA

X. 9

00

100

135

165

136

(162

)

230

A

26.5MM

MM

Arm type Whipover

X stroke 250 350 450 550 650 750 850 Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper.Note 2. User cable extraction port.

L 615 715 815 915 1015 1115 1215

K 100 200 100 200 100 200 100

C 240 420 600 600 780 780 960

M 2 2 3 3 4 4 5

N 8 8 10 10 12 12 14

Y stroke 150 250 350 450 550 650


X-axis 1200 960 Note 3. When the X-axis stroke is longer than 850mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left.Speed setting – 80%

2 axes

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

305

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx 2 axes A2

(M4)

136

10023

0

A

135

165

ϕ29 (Note 2) 5.5

37

Grounding terminal

110

(Bet

wee

n kn

ocks

+/-0

.02 )


135


14012470


26.5

1 5173

77.51583X stroke

10 138

(179

)18

.512

5

Y st

roke

190+

/-3 Y st

roke

+ 3

206787

168

L (X stroke + 365)

179+/-3

(30)

5

5 5

5

Note 1

103.

580

(50)

97.5

20040 75

N-ϕ9 through (B)M x 200 K

2-ϕ10H7 Depth16C+/-0.02166.5

132

(162

)

MA

X. 9

00

MM

MM

MXYx 2 axes A4

51

Y st

roke

190+

/-3Y st

roke

+ 3

2067 87

168

(30)

77.515 83X stroke 179+/-3

5

55 Note 1

1 73

5

10138

(179

)18

.512

5

L (X stroke + 365)

103.

580

(50)

97.5

K 40200


75

166.5C+/-0.022-ϕ10H7 Depth16

132

110

(Bet

wee

n kn

ocks

+/-0

.02 )

135


14012470



26.5

(M4)

136

(162

)

MA

X. 9

00

230

A

135

165

ϕ29 (Note 2)5.5

37

Grounding terminal

100

MM

MM

MXYx 2 axes A3

110

(Bet

wee

n kn

ocks

+/-0

.02 )


135

70124140


26.5


77.51583

X stroke 301+/-3

551

5

Y st

roke

190+

/-3Y st

roke

+ 3

2067 87

168

(30)

55 Note 1

173

(179

)18

.512

5

L (X stroke + 365)10138

MA

X. 9

00

100

135

165

136

(162

)23

0

103.

580

(50)

97.5

A

(M4)

37

5.5ϕ29 (Note 2)

Grounding terminal

K 40200

166.5C+/-0.022-ϕ10H7 Depth16


75

132

MM

MM

MXYx 2 axes

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

306

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx




150 29

250 29

350 24

450 19

550 19

650 15

X-axis Y-axis











MXYx C IO RCX222 RModel Cable Combination X-axis

strokeY-axis stroke ZR-axis Cable Controller Usable for CE Regeneratine unit Input/Output






YC: YC-Link Note 2


MXYx 2 axes / IO A1

Y st

roke

+ 3

20

(150)

168

87 6719

0+/-3

Y st

roke

125

18.5

(179

)

5

X stroke55

5

L (X stroke + 365)

313+/-3

(30)

Note 1

13810


4-M6 x 1.0

25

11.5

70

6.5

29

4-M5 x 0.8

26.5


70

(M4)

Grounding terminalϕ29 (Note 2)

5.5

37

(50)

8010

3.5

(345

)

97.5

2-ϕ10H7 Depth16

C+/-0.02166.5

20040

132


M x 200

120268

4880

41

299

100 A

(168

)

90

37149

ϕ29 (Note 2)

230

(162

)13

6

83

6424

0

12

25

115

1577.5

21 125

MM

MM


7357

25 35

ϕ9.7


25 35

7793

ϕ9.7 ϕ8.2ϕ7.6

YZ

XY

YZ

XY




K 100 200 100 200 100 200 100 200 100 200 100

C 240 420 600 780 780 960 960 1140 1140 1320 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18




X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

2 axes / IO


Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

307

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx


RCX340RCX240-R


Z stroke (mm)

ZFL20 ZFL10

150 250 350 150 250 350

150 8 8 8 15 15 15

250 8 8 8 15 15 15

350 8 8 8 15 15 15

450 8 8 8 12 11 10

550 8 8 8 12 11 10

650 8 7 6 8 7 6

X-axis Y-axis Z-axis: ZFL20 Z-axis: ZFL10

Axis construction Note 1 F17 F14H F10-BK equivalent









Note. The standard types are ZFL with higher rigidity as compared with ZF types which are conventional standard types. When you need the ZF type, please consult YAMAHA.



MXYx CModel Cable Combi-

nationX-axis stroke


stroke Cable

A1 25 to 125cm 15 to 65cm ZFL20 15 to 35cm 3L: 3.5m A2 ZFL10 5L: 5mA3 10L: 10mA4

MXYx 3 axes / ZFL20/10 A1

MM

MM

MM

3525 3525

7793

125

(179

)

X stroke

3311

5

372+/-3

Y st

roke

+ 3

20

18.5

13810

55

L (X stroke + 365)

(30)

(150)

Note 1

168

6719

0+/-3

Y st

roke

55

87

(50)

8010

3.5

125 21

(345

)97

.5

(466

)


ϕ29 (Note 2)

5.5

37


75K40200

132

166.5 C+/-0.022-ϕ10H7 Depth16

Detail of section A

70

2-ϕ5H7 Depth15

8

6-M5 x 0.8 Depth12

110

43

7015

6

70+/

-0.0

2

Detail of section B

26.5


4880

230

41

299

100(162

)13

6

120268

Note 1

A

109

102

Z st

roke

+ 3

85

Z st

roke

248+

/-2145

55

90.5

123.5

79

71

68

83 15

190

77.5

(76)


Cross-section of cable carrierCross-section of cable carrier

5773

ϕ9.7 ϕ8.2ϕ7.6

ϕ9.7 ϕ10.1ϕ9.9

YZXY

XY

YZ




standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E



RCX240 RController CE Marking Regeneratizve unit Expansion I/O Network option iVY System Gripper Battery




K 100 200 100 200 100 200 100 200 100 200 100

C 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 150 250 350 450 550 650

Z stroke 150 250 350Note 3. When the X-axis stroke is longer than 850mm, resonance of the ball screw



X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

3 axes / ZFL20/10

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

308

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx


RCX340RCX240-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 14 13 12

250 14 13 12

350 14 13 12

450 12 11 10

550 12 11 10

650 8 7 6

MXYx C ZFHModel Cable Combi-

nationX-axis stroke


stroke Cable



Axis construction Note 1 F17 F14HF10-BK equivalent









Note. The standard types are ZFH with higher rigidity as compared with ZF types which are conventional standard types. When you need the ZF type, please consult YAMAHA.



MXYx 3 axes / ZFH A1

Y st

roke

+ 3

20

(150)

168

87 67

190+

/-3Y

stro

ke5

5

(30)

Note 1

X stroke55

3311

5

392+/-3

125

18.5

(179

)

13810L (X stroke + 365)


ϕ29 (Note 2)5.5

37

(50)

8010

3.5

125 21

(345

)97

.5

(466

)


75K40200

132

166.5 C+/-0.02

2-ϕ10H7 Depth16

Detail of section A


6210

011

2

Detail of section B

26.5


Z st

roke

+ 3

85Z

stro

ke

145

76

139.

5+/-2

130

4880

230

41

299

100(162

)13

6

120268

109 86

102

55

A

Note 1

26(152) 123.5

83 1577.5

7120

68

7919

0

70 (Between knocks +/-0.02)MM

MM

MM


3525

5773

ϕ9.7 ϕ8.2ϕ7.6


3525

5773

ϕ8.2ϕ7.6

3525

7793


ϕ9.7 ϕ10.1ϕ9.9

YZ

YZ Z

XY

XY

Z




standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 100 200 100 200 100 200 100 200 100 200 100

C 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 150 250 350 450 550 650




X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

3 axes / ZFH

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

309

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx Arm type Cable carrier Z-axis: clamped base / moving table type (200W)+R-axis


nationX-axis stroke


stroke Cable

A1 25 to 125cm 15 to 65cm ZRFL20 15 to 35cm 3L: 3.5m A2 ZRFL10 5L: 5mA3 10L: 10mA4


RCX340RCX240-R


Z stroke (mm)

ZRFL20 ZRFL10

Y stroke (mm)

150 250 350 150 250 350

150 4 4 4 11 11 11

250 4 4 4 11 11 11

350 4 4 4 11 11 11

450 4 4 4 8 7 6

550 4 4 4 8 7 6

650 4 4 4 4 3 2

MXYx 4 axes / ZRFL20/10 A1

Cross-section of cable carrierZR

Cross-section of cable carrierYZCross-section of cable carrierXY

Y st

roke

+ 3

20

(150)

168

87 67

190+

/-3Y

stro

ke

125

18.5

(179

)

13810

5

X stroke55

5

L (X stroke + 365)

424.5+/-3

(30)

Note 1

3311

5

Groundingterminal

ϕ29 (Note 2)

(345

)97

.5

5.5

37

(50)

8010

3.5

12521

(466

)

(M4)


75K

132

40200

166.5 C+/-0.022-ϕ10H7 Depth16

Detail of section B

26.5


13

ϕ65h7ϕ22ϕ20h7

4120

Detail of section A

4-M6 x 1.0

56.6

19 (W

idth

ac

ross

flat

)

56.6

37.5

M8 x 1.25Depth20

Depth16

240

Z st

roke

55

168+

/-214

5Z

stro

ke +

132

Z st

roke

+ 3

85

86

123.5

(30)

7824

26

(152)

A

31

77.57168

83 1515 123.5

76

7919

075

120268

4880

230

41

299

100

(162

)13

6

109140

102

Note 1

72

90

110

90.5

MM

MM MM

MM

ZR

YZ

XY

ϕ9.7ϕ9.9ϕ11

ϕ9.7ϕ7.6

25 35

7793

ϕ9.7 ϕ11ϕ9.9

25 35

5773

ϕ9.7ϕ7.6

2535

5773

8

X-axis Y-axisZ-axis: ZRFL20

Z-axis: ZRFL10

R-axis










Note. The standard types are ZRFL with higher rigidity as compared with ZRF types which are conventional standard types. When you need the ZRF type, please consult YAMAHA.





standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 100 200 100 200 100 200 100 200 100 200 100

C 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 150 250 350 450 550 650




X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

4 axes / ZRFL20/10

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

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le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

310

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx Arm type Cable carrier Z-axis: clamped table / moving base type (200W)+R-axis


RCX340RCX240-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 11 9 8

250 11 9 8

350 11 9 8

450 8 7 6

550 8 7 6

650 4 3 2





Repeatability Note 2 (XYZ: mm)(R: °) +/-0.01 +/-0.01 +/-0.01 +/-0.0083






Note. The standard types are ZRFH with higher rigidity as compared with ZRF types which are conventional standard types. When you need the ZRF type, please consult YAMAHA.



MXYx C ZRFHModel Cable Combi-

nationX-axis stroke


stroke Cable


MXYx 4 axes / ZRFH A1



X stroke55

429.5+/-3

125

18.5

(179

)

(150)

168

13810L (X stroke + 365)

(30)

Y st

roke

+ 3

2087 67

190+

/-3Y

stro

ke5

5

3311

5

Note 1

13

ϕ22ϕ20h7

4120

8

ϕ65h7

Depth1656.6 4-M6 x 1.0

Detail of section A

Depth20 19 (W

idth

ac

ross

flat

)56

.6

37.5

M8 x 1.25

Detail of section B

26.5


(M4)

Groundingterminalϕ29 (Note 2)

5.5

37

(345

)97

.5

125 21

(466

)(50)

8010

3.5


75K

132

40200

166.5 C+/-0.02

2-ϕ10H7 Depth16

Z st

roke

+ 3

85

Z st

roke

188+

/-213

013

9.5

102

55

72

Note 1

4880

23029

9

100

(162

)13

6

120268

41

109 8618.5 78 26

(152) 123.5

145

76

(30)128.5

2190

242

A

75

83 15

77.5

71 2068

76

7919

0

MM

MM

MM

MM

XY

ZR

YZ

ϕ9.7ϕ9.9ϕ11

ϕ9.7ϕ7.6 ϕ9.7 ϕ11

ϕ9.9

25 35

5773

25 35

7793

25 35

5773

ϕ11ϕ9.9



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 100 200 100 200 100 200 100 200 100 200 100

C 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 150 250 350 450 550 650




X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

4 axes / ZRFH

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100A

rm typ

eG

antry typeM

oving arm

typeP

ole typ

eX

Z type

311

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

312

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx


RCX222HP-RProgramming / I/O point trace /Remote command / Operation using RS-232C communication


250 40

350 40

450 35

550 30

650 30

X-axis Y-axis

Axis construction Note 1 F20 F17










HXYx C RCX222HP RModel Cable Combination X-axis stroke Y-axis stroke Cable Controller Usable for CE Regeneratine unit Input/Output


A1 25 to 125cm 25 to 65cm 3L: 3.5m RCX222HP No entry: Standard R: RG2 N: NPN Note 1 No entry: NoneA2 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16




YC: YC-Link Note 2

HXYx 2 axes A1

MM

X stroke100

327+/-3

Y st

roke

+ 4

0019

7.5+

/-320

2

23.5

5

5

Y st

roke

(150)

125

35.5

(213

)

L (X stroke + 417)

1382139

97.5

5

125

Note 1

5

101

(30)

5.5

37

Grounding terminal

ϕ29 (Note 2)

(M4)

(407

)

(50)

114.

180

118.

1

K

162

N-ϕ9 through (B)9572

200

M x 200

C+/-0.02176

2-ϕ10H7: See detaild drawing of B section


154

(Bet

wee

n kn

ocks

+/-0

.02 )

2-ϕ6H7 Depth10 155142

8-M8 x 1.25 Depth25 120


33

(ϕ10

H7)

4.8(14.8)

A12026816.5

488036

1

168

(191

)27

5

115

MM


25 35

7793

ϕ9.7 ϕ8.2ϕ7.6




K 100 200 100 200 100 200 100 200 100 200 100

C 420 420 600 600 780 780 960 960 1140 1320 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 250 350 450 550 650Note 3. When the X-axis stroke is longer than 850mm, resonance of the ball screw



X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

2 axes

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

313

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx 2 axes

HXYx 2 axes A2

MM

MM

Y st

roke

+ 4

0019

7.5+/-

310

120

2

23.5

5Y

stro

ke

(150)

125

35.5

(213

)

L (X stroke + 417)

138

217+/-3

21

X stroke100

97.5 33125

Note 1 5

5

(30)

Detail of section B

154

(Bet

wee

n kn

ocks

+/-0

.02 )

2-ϕ6H7 Depth10 155142

8-M8 x 1.25 Depth25 120


4.8

(ϕ10

H7)

(14.8)

Detail of section A

5

(M4)

A 120268 16.5

8036

1168

(191

)27

5

115

Grounding terminalϕ29 (Note 2) 5.5

37

48

(407

)(50)

114.

180

118.

1

K

162


200M x 200

C+/-0.02176



25 35

7793

ϕ9.7 ϕ8.2ϕ7.6

HXYx 2 axes A4

MM

MM

217+/-3X stroke100

55

Y st

roke

+ 4

0019

7.5+/

-310

120

2

23.5

5

Y st

roke

5(3

0)

Note 1

(150)

35.5

L (X stroke + 417)

138 2197.5

12533

125

(213

)

(407

)

(50)

114.

180

118.

1

K

162

N-ϕ9 through (B)95 72

200M x 200

C+/-0.02 1762-ϕ10H7: See detaild drawing of B section

154

(Bet

wee

n kn

ocks

+/-0

.02 )

2-ϕ6H7 Depth10 155142

8-M8 x 1.25 Depth25 120

(14.8)

(ϕ10

H7)

4.8


33

(M4)

16.5

8036

1 168

(191

)27

5

Grounding terminal

37

48

A120268

115

ϕ29 (Note 2)5.5


25 35

7793

ϕ9.7 ϕ8.2ϕ7.6


HXYx 2 axes A3

MM

MM


154

(Bet

wee

n kn

ocks

+/-0

.02 )

2-ϕ6H7 Depth10 155142

8-M8 x 1.25 Depth25 120

33

4.8


(ϕ10

H7)

(14.8)

A 120268 16.5

8036

1168

(191

)

275

115

48

Y st

roke

+ 4

0019

7.5+/

-310

120

2

23.5

Y st

roke

(150)

X stroke100

Note 1

327+/-35

55 5

(30) 35

.5

L (X stroke + 417)

13839

2197.5125

125

(213

)

(M4)

(407

) (50)

114.

180

118.

1

KN-ϕ9 through (B)

95 72

200

Grounding terminal

M x 200

C+/-0.02 176


5.5

37

162

ϕ29 (Note 2)


25 35

7793

ϕ9.7 ϕ8.2ϕ7.6

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

314

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx


RCX340RCX240-R


Z stroke (mm)

Y stroke (mm) 250 350 450 550

250 20 20 20 20

350 20 20 20 20

450 20 20 19 18

550 18 17 16 15

650 18 17 16 15


Axis construction Note 1 F20 F17 F14H-BK










HXYx C ZLModel Cable Combi-

nationX-axis stroke


stroke Cable


HXYx 3 axes / ZL A1

MM

MM

MM

Y st

roke

+ 4

00

202

23.5

5

5

Y st

roke

125

35.5

(213

)

L (X stroke + 417)

1382139

X stroke

97.5

5

125

Note 1

5(3

0)

918

2

430+/-3

197.

5+/-3

101


ϕ29 (Note 2)

5.5

37

(50)

8011

8.1

(407

)11

4.1

M x 200

200

72N-ϕ9 through (B)

95

162

K

2-ϕ10H7See detaild drawing of B section176 C+/-0.02

1358-M6 x 1.0 Depth8

140


124

70

2-ϕ6H7 Depth8

(14.8)

(ϕ10

H7)

4.8


33

120

26816.5

488036

1

168

(191

)27

5

115

5

Z st

roke

+ 3

50

Note 1

(176

)

A

240+

/-2

159136

118

Z st

roke

5

125

8021

4

77.58320 100



3525

57

3525

77

93

73

ϕ9.7 ϕ8.2ϕ7.6

ϕ9.7 ϕ10.1ϕ9.9

YZ

XY

XY

YZ




standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 100 200 100 200 100 200 100 200 100 200 100

C 420 420 600 600 780 780 960 960 1140 1320 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 250 350 450 550 650

Z stroke 250 350 450 550Note 3. When the X-axis stroke is longer than 850mm, resonance of the ball screw



X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

3 axes / ZL


Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

315

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx


RCX340RCX240-R


Z stroke (mm)

Y stroke (mm) 250 350 450 550

250 25 25 24 23

350 25 25 24 23

450 20 20 19 18

550 18 17 16 15

650 18 17 16 15







Maximum speed Note 4 (mm/sec) (°/sec) 1200 1200 300





HXYx C ZHModel Cable Combi-

nationX-axis stroke


stroke Cable


HXYx 3 axes / ZH A1

MM

MM

MM

(14.8)

(ϕ10

H7)

4.8

Detail of section B


33

Y st

roke

+ 4

0010

123

.5Y

stro

ke

X stroke430+/-3

197.

5+/-3

(100

)

202

5

5

125

35.5

(213

)

L (X stroke + 417)

1382139

97.5

5

125

Note 1

5(3

0)

(150)

VIEW A

100

143

200

ZM x

200

ZK16

100ZN-M6 x 1.0Depth10

55

(407

)

(50)

8011

8.1

114.

1


ϕ29 (Note 2)

5.5

37

K

162


200M x 200

C+/-0.021762-ϕ10H7See detaild drawing of B section

488036

1

168

(191

)27

5

115

12026816.5

(Scr

ew h

eigh

t)

5

Z st

roke

5

150

Z st

roke

+ 3

6412

4+/-2

(150

)13697

106268

55

Note 1159

(176

)

(2.5

)

A125

8021

4

8320

100

77.5

158.5760

Cross-sectionof cable carrier



3525 3525

573525

77

93 735773

ϕ9.7 ϕ8.2ϕ7.6

ϕ8.2ϕ7.6

ϕ9.7 ϕ10.1ϕ9.9

YZ Z

Z

XY

XY

YZ



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 100 200 100 200 100 200 100 200 100 200 100

C 420 420 600 600 780 780 960 960 1140 1320 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 250 350 450 550 650

Z stroke 250 350 450 550

ZK 100 200 100 200

ZM 1 1 2 2

ZN 10 10 12 12Note 3. When the X-axis stroke is longer than 850mm, resonance of the ball screw



X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

3 axes / ZH


Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

316

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx


RCX340RCX240-R


Z stroke (mm)

Y stroke (mm) 250 350 450 550

250 12 12 12 12

350 12 12 12 12

450 12 12 12 11

550 10 9 8 7

650 10 9 8 7


Axis construction Note 1 F20 F17 F14H-BK R20










HXYx C ZRLModel Cable Combi-

nationX-axis stroke


stroke Cable


HXYx 4 axes / ZRL A1

MM

MM

MM

MM



Y st

roke

+ 4

0010

123

.5Y

stro

ke

X stroke

197.

5+/-3

500+/-35

5

5

Note 1

918

2

202

125

35.5

(213

)

L (X stroke + 417)

1382139

97.5125

5(3

0)

(M4)5.5


37

(50)

8011

8.1

(407

)11

4.1

M x 200200

72N-ϕ9 through (B)

95

162

K

2-ϕ10H7See detaild drawing of B section

176 C+/-0.02

Detail of section B

(PCD.20)5-M8 x 1.25 Depth20

30

ϕ35h6

(14.8)

(ϕ10

H7)

4.8


33

Detail of section A

12026816.5

488036

1

(191

)27

5

115

Z st

roke

+ 3

5045

7+/-2

136

55

118

(260

)

Note 1

168

Z st

roke

100

165

90

159

8021

4

20

100173

8320

140

133

77.5

225(30)

1257850

313

75

(156)

225

6015

0

A

XY

ZR

YZ

ϕ9.7 ϕ11ϕ9.9

25 35

5773

ϕ9.7ϕ9.9ϕ11

ϕ9.7ϕ7.6

25 35

7793

ϕ9.7ϕ7.6

25 35

5773

ϕ75h8




standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 100 200 100 200 100 200 100 200 100 200 100

C 420 420 600 600 780 780 960 960 1140 1320 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 250 350 450 550 650




X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

4 axes / ZRL

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

317

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx


RCX340RCX240-R


Z stroke (mm)

Y stroke (mm) 250 350 450 550

250 12 12 12 12

350 12 12 12 12

450 12 12 12 11

550 11 10 9 8

650 11 10 9 8












Model Cable Combi-nation

X-axis stroke


stroke Cable


HXYx C ZRH

HXYx 4 axes / ZRH A1

MM

MMMM

MM

(14.8)

(ϕ10

H7)

4.8


Detail of section B

33

Y st

roke

+ 4

0010

120

2

23.5

5

5Y

stro

ke

X stroke

5

Note 1

5(3

0)

197.

5+/-3

(100

)

500+/-3

125

35.5

(213

)

L (X stroke + 417)

1382139

97.5125

(150)

(M4)5.5

37


(407

)(50)

8011

8.1

114.

1

M x 200200

72N-ϕ9 through (B)

95

162

K

2-ϕ10H7See detaild drawing of B section176 C+/-0.02

Detail of section A

(PCD.20)5-M8 x 1.25 Depth20

30

ϕ35h6

ϕ75h8

12026816.5

4880

361

168

(191

)27

5

115

5Z

stro

ke5

Note 1

90

55

268

97106 136

100

(150

)Z

stro

ke +

364

150

159

(176

)

268+

/-214

4

77.5

125

8021

4

7 (158)

60

A

7831

322

5

75

50

202083

173225 100(30)



25 35

25 35

25 35

7793

5773

5773

ϕ7.6ϕ9.7

ϕ9.7ϕ7.6

ϕ9.7ϕ9.9ϕ11

ϕ9.7ϕ7.6 ϕ9.7 ϕ11

ϕ9.9

ZR

YZXY

XY

YZ

ZR

Arm type Cable carrier Z-axis: clamped table / moving base type (200W)+R-axis



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 100 200 100 200 100 200 100 200 100 200 100

C 420 420 600 600 780 780 960 960 1140 1320 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 250 350 450 550 650




X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

4 axes / ZRH

Ordering method

Specification

Controller


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Pick &

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P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

318

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYLx




250 40

350 40

450 35

550 30

650 30

X-axis Y-axis

Axis construction Note 1 F20N F17









HXYLx C RCX222HP RModel Cable Combination X-axis stroke Y-axis stroke Cable Controller Usable for CE Regeneratine unit Input/Output


A1 115 to 205cm 25 to 65cm 3L: 3.5m RCX222HP No entry: Standard R: RG2 N: NPN Note 1 No entry: NoneA2 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16




YC: YC-Link Note 2

HXYLx 2 axes A1

MM

MM

Detail of section B

5.5

8.6

2.5

3.7

0.5

1.5

274+/-3 X stroke

10 10

55

Y st

roke

197.

5+/-3

202

224.

5

147

Y st

roke

+ 4

00

Note 1

D 152205


10097.5

Note 23453

219.

5

B

5123

2820

200M x 2 0035 K 35

162

N-ϕ9 through (C)

1292-ϕ10H7: See detaild drawing of C section

1320 +/-0.02

Detail of section A Detail of section C

154

(Bet

wee

n kn

ocks

+/-0

.02 )

2-ϕ6H7 Depth10 155142

8-M8 x 1.25 Depth25 120


33

4.8

(ϕ10

H7)

(14.8)

114

(166

)

120

246 16

828

0

7979

A

196


25 35

7793

ϕ9.7 ϕ10.1ϕ9.9




D 528 574 620 666 712 758 804 850 896 942

K 100 200 100 200 100 200 100 200 100 200

M 7 7 8 8 9 9 10 10 11 11

N 18 18 20 20 22 22 24 24 26 26

Y stroke 250 350 450 550 650

2 axes

Ordering method


Controller

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SERVOS

ing

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Lin

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sing

le-a

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ots

PHA

SER

Ca

rtesia

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bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

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cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

319

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYLx 2 axes

HXYLx 2 axes A2

MM

MM

Detail of section B

5.5

8.6 2.5

3.7

0.5


33

4.8

(ϕ10

H7)

(14.8)

154

(Bet

wee

n kn

ocks

+/-0

.02 )

2-ϕ6H7 Depth10 155142

8-M8 x 1.25 Depth25 120

1.5


196

168

280

Note 2

3453

219.

5

B

A

5123

79 120

79

2820

X stroke

10 55

Y st

roke

197.5

+/-3

202

224.

5

147

Y st

roke

+ 4

00

Note 1

D + 35 152205


164+/-3

35

10

10097.5

114

(166

)

200M x 20035 K 35

162

N-ϕ9 through (C)


1320 +/-0.02


ϕ9.7 ϕ10.1ϕ9.9

25 35

7793

HXYLx 2 axes A4

MM

MM

55

Y st

roke

197.5

+/-3

202

224.

514

7Y

stro

ke +

400

35D + 35152

205

L (X stroke + 420) 57

X stroke 164+/-3100

97.5

1010 Note 1

(166

)11

4

200M x 200 35K35

N-ϕ9 through (C)


1320 +/-0.02

162

154

(Bet

wee

n kn

ocks

+/-0

.02 )

2-ϕ6H7 Depth10

8-M8 x 1.25 Depth25

Detail of section B

5.5

8.6

2.53.7

0.5Detail of section A

1.5

155142120

Detail of section C


33

4.8

(ϕ10

H7)

(14.8)

B5334Note 2

196

168

28079

120

79219.

5

2351

A

2028


25 35

7793

ϕ9.7 ϕ10.1ϕ9.9

HXYLx 2 axes A3

MM

MM


154

(Bet

wee

n kn

ocks

+/-0

.02 )

2-ϕ6H7 Depth10 155142

8-M8 x 1.25 Depth25 120


33

4.8

(ϕ10

H7)

(14.8)

A

7979 12

024

6

196

168

280

274+/-3X stroke

10105Y

stro

ke19

7.5+

/-320

222

4.5

147

Y st

roke

+ 4

00

Note 1

10097.5

5

D152205

L (X stroke + 420) 57

5.5

8.6

2.53.71.5

0.5

Detail of section B

B

219.

5

(166

)11

4

34

Note 223

51 2820

N-ϕ9 through (C)

162

35 K 35M x 200200

1320 +/-0.02


129

53


25 35

7793

ϕ9.7 ϕ10.1ϕ9.9

Articulate

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TRAN

SERVOS

ing

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FLIP-X

Lin

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tor

sing

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ots

PHA

SER

Ca

rtesia

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bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

320

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx




150 30

250 30

350 30

450 30

550 30

650 30

750 25

850 20

X-axis Y-axis









Note 1. Use caution that the flame machining (installation holes, tap holes) differs from single-axis robots’. Note 2. Positioning repeatability in one direction.Note 3. Leads not listed in the catalog are also available. Contact us for details.Note 4. When the X-axis stroke is longer than 850mm (750mm for Y-axis), resonance of the ball screw may occur depending on the operation

conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table below.

MXYx C RCX222 RModel Cable Combination X-axis



G1 25 to 125cm 15 to 85cm 3L: 3.5m RCX222 No entry: Standard R: RG2 N: NPN Note 1 No entry: NoneG2 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16

(NPN) Note 1G3 10L: 10m CC: CC-LinkG4 DN: DeviceNetTM P1: OP.DIO24/17

(PNP)PB: PROFIBUS

Note 1.NPN cannot be selected if using CE marking. Note 2.Available only for the master. See P.68 for details on YC-Link system.Note 3.Only when CC or DN or PB was selected for I/O select 1 above. EN can be selected in I/O select 2.


YC: YC-Link Note 2

MXYx 2 axes G1X stroke301+/-3

8377.5

Y st

roke

190+

/-3 Y st

roke

+ 3

2067 87

Y st

roke

+ 3

3546

92

(30)

(150)

8-M6 x 1.0Depth8

5

55

5

Note 1

2112510 138

(179

)

18.5

125

L (X stroke + 365)

168

22

(M4)

37

5.5ϕ29 (Note 2)

Groundingterminal

103.

580

(50)

(345

)97

.550

K130 100107

20040

132


200 x (M-1)(N-2) -ϕ9 through (C)

M x 200

166.5 D+/-0.02 2-ϕ10H7 Depth16

200

Detail of section A

(Bet

wee

n kn

ocks

+/-0

.02 )

Detail of section B

135

2-ϕ6H7 Depth8140124

110

70


26.5

Detail of section C


12

41

48

A

268120

(162

)10

0

299

230

80

136

79

MM

MM


25 35

7793

ϕ9.7 ϕ8.2ϕ7.6



K 100 200 100 200 100 200 100 200 100 200 100

D 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 150 250 350 450 550 650 750 850

Maximum speed for each stroke

(mm/sec) Note 3

X-axis 1200 960 840 720 600 480 Note 3. When the X-axis stroke is longer than 850mm (750mm for Y-axis), resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left.

Speed setting – 80% 70% 60% 50% 40%

Y-axis 1200 960 780


2 axes

Gantry type Cable carrier

Ordering method


Controller

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SERVOS

ing

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FLIP-X

Lin

ea

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tor

sing

le-a

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ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

321

INFORM

ATION

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx 2 axes

MXYx 2 axes G2

92

Y st

roke

+ 3

35Y

stro

ke +

320

179+/-3 X stroke

87

83

46

Y st

roke

67

77.5

190+

/-3

(30)

168

55

(150)L (X stroke + 365)12513810

18.5

4.5

(179

)12

5

14

5

Note 1

5

Detail of section C


12

Detail of section B


26.5

Detail of section A

(Bet

wee

n kn

ocks

+/

-0.0

2 )

135

8-M6 x 1.0 Depth82-ϕ6H7 Depth8 140

124

110

70

120268

41A

(M4)

8048

299

3780

103.5


(162

)

100

136

230

79 97.5

(50)

(345

)

20040 K 75

N-ϕ9 through (B)M x 200

200 x (M-1)200

100130 K

50

71(N-2) -ϕ9 through (C)

2-ϕ10H7 Depth16D+/-0.02166.5

132

MM

MM


25 35

7793

ϕ9.7 ϕ8.2ϕ7.6

MXYx 2 axes G4


92

Y st

roke

+ 3

35Y

stro

ke +

320

L (X stroke + 365)

168

8746

5Y

stro

ke67

519

0+/-3

(30)

(150)

14

5

125 4.5138 10

179+/-3

Note 1

X stroke83

(179

)18

.512

5

77.5

5

Detail of section A

(Bet

wee

n kn

ocks

+/

-0.0

2 )


135

8-M6 x 1.0 Depth82-ϕ6H7 Depth8 140

124

110

70



26.5 12

97.5

(50)

(345

)

20040K75


132

50

(N-2) -ϕ9 through (C)

2-ϕ10H7 Depth16

71

166.5D+/-0.02

200 x (M-1)200

100 130K

(M4)

120268

41 A

8048

299

3780

103.5

Grounding terminal ϕ29 (Note 2)5.5

(162

)

100

136

230

79

MM

MM

25 35

7793

ϕ9.7 ϕ8.2ϕ7.6

MXYx 2 axes G3


(Bet

wee

n kn

ocks

+/

-0.0

2 )

110


135

70124140

Detail of section C

1226.5Use M8 x 1.25 hex socket head bolt with length head bolt with length (under head) of 25mm or more.



(162

)10

0

41

299

230

8048

A

136

268120

79

55

Y st

roke

190+

/-3Y st

roke

+ 3

206787 16

8

Y st

roke

+ 3

3546

92

(30)

(150)

X stroke 301+/-383 77.5

21 125 10138

18.5


(179

)12

5

5 5Note 1

(345

)97

.5


2-ϕ10H7 Depth16

103.

5

20040K75


(M4)

80

(50)5.5

ϕ29 (Note 2)Groundingterminal

37

50

K 130100200

132

200 x (M-1)

166.5D+/-0.02

107

MM

MM

25 35

7793

ϕ9.7 ϕ8.2ϕ7.6

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

322

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx




150 29

250 29

350 29

450 29

550 29

650 29

750 24

850 19

X-axis Y-axis











MXYx C IO RCX222 RModel Cable Combination X-axis

strokeY-axis stroke ZR-axis Cable Controller Usable for CE Regeneratine unit Input/Output


G1 25 to 125cm 15 to 85cm 3L: 3.5m RCX222 No entry: Standard R: RG2 N: NPN Note 1 No entry: NoneG2 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16


(PNP)PB: PROFIBUSNote 1.NPN cannot be selected if using CE marking. EN: Ethernet EN: Ethernet Note 3

Note 2.Available only for the master. See P.68 for details on YC-Link system. YC: YC-Link Note 2

Note 3.Only when CC or DN or PB was selected for I/O select 1 above. EN can be selected in I/O select 2.

MXYx 2 axes / IO G1

Y st

roke

+ 3

2067 87

Y st

roke

+ 3

3546

(30)10 13818

.5


(150)

X stroke

55

Y st

roke

190+

/-3

168

92

313+/-3

5Note 1

(179

)12

5

(M4)

37

5.5ϕ29 (Note 2)

Groundingterminal

103.

580

(50)

(345

)97

.5

K130 100

200

107 200 x (M-1)(N-2) -ϕ9 through (C)

20040 K 75


50

132

166.5 D+/-0.02 2-ϕ10H7 Depth16

Use M8 x 1.25 hex socket head bolt with length head bolt with length (under head) of 40mm or more.4-M5 x 0.8

6.5

7025 Use M8 x 1.25 hex socket head bolt

with length head bolt with length (under head) of 25mm or more.

26.5 122911

.570

4-M6 x 1.0

(162

)10

0

41

299

230

8048

136

268120

37149ϕ29 (Note 2)

E

E

79(1

68)

A90

Cross-section E-E

158377.5

12

115

21 125

6424

025

MM

MM


7357

25 35

ϕ9.7


25 35

7793

ϕ9.7 ϕ8.2ϕ7.6

YZXY

XY

YZ





K 100 200 100 200 100 200 100 200 100 200 100

D 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 150 250 350 450 550 650 750 850


(mm/sec) Note 3

X-axis 1200 960 840 720 600 480Note 3. When the X-axis stroke is longer than 850mm (750mm for Y-axis), resonance

of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left.

Speed setting – 80% 70% 60% 50% 40%

Y-axis 1200 960 780


2 axes / IO


Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

323

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx


RCX340RCX240-R


Z stroke (mm)

ZFL20 ZFL10

Y stroke (mm) 150 250 350 150 250 350

150 8 8 8 15 15 15

250 8 8 8 15 15 15

350 8 8 8 15 15 15

450 8 8 8 15 15 15

550 8 8 8 15 15 15

650 8 8 8 15 15 15

750 8 8 8 15 15 15

850 8 8 8 12 11 10

X-axis Y-axis Z-axis: ZFL20 Z-axis: ZFL10

Axis construction Note 1 F17 F14H-BKF10-BK equivalent













nationX-axis stroke


stroke Cable

G1 25 to 125cm 15 to 85cm ZFL20 15 to 35cm 3L: 3.5m G2 ZFL10 5L: 5mG3 10L: 10mG4

MXYx 3 axes / ZFL20/10 G1

MM

X stroke

10 138

18.5

L (X stroke + 365)

46

22

(30)(150)

372+/-3

Y st

roke

190+

/-3 Y st

roke

+ 3

2067 87

Y st

roke

+ 3

35

925

516

8

5 5

Note 1

(179

)12

5

3311

5

Detail of section A Detail of section B Detail of section C6-M5 x 0.8 Depth12


26.5 12


708

2-ϕ5H7 Depth15

7015

6

100 (Between knocks +/-0.02)110

4370

+/-0

.02

(M4)

37

5.5

ϕ29 (Note 2) Groundingterminal

(345

)97

.5

(466

)

103.

580

(50)

125 21

200 x (M-1)107200

100130 K

50



75K

132

40200

166.5 D +/-0.02 2-ϕ10H7 Depth16

(162

)10

0

41

299

230

8048

136

268120

7924

8+/-2

Z st

roke

Z st

roke

+ 3

85

145

55

90.5

E

E

A

Note 1

102

109

Cross-section E-E

77.5

71

68

83 15

123.5

79

(76)

190

MM

MM


3525

57

3525

77

93 73

ϕ9.7 ϕ8.2ϕ7.6

ϕ9.7 ϕ10.1ϕ9.9

YZXY

YZ

XY

Gantry type Cable carrier Z-axis: clamped base / moving table type (200W)



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 100 200 100 200 100 200 100 200 100 200 100

D 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 150 250 350 450 550 650 750 850

Z stroke 150 250 350


(mm/sec) Note 3



Speed setting – 80% 70% 60% 50% 40%

Y-axis 1200 960 780


3 axes / ZFL20/10

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

324

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx


RCX340RCX240-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 14 13 12

250 14 13 12

350 14 13 12

450 14 13 12

550 14 13 12

650 14 13 12

750 14 13 12

850 12 11 10















nationX-axis stroke


stroke Cable

G1 25 to 125cm 15 to 85cm 15 to 35cm 3L: 3.5m G2 5L: 5mG3 10L: 10mG4

MXYx 3 axes / ZFH G1

MM

X stroke

Y st

roke

Y st

roke

+ 3

20

Y st

roke

+ 3

35

392+/-3

55

190+

/-3

67 87168

46

92

(30)

(150)

Note 1

10 138

(179

)

18.5

125


3311

5

5 5

103.

580

(50)

(345

)97

.5

125 21

(466

)

(M4)

37

5.5

ϕ29 (Note 2)Grounding terminal

200 x (M-1)107200

100130 K

50



75K40200

166.5 D +/-0.02 2-ϕ10H7 Depth16

132





112

100

62

26.5 12

E

79

Z st

roke

102

Z st

roke

+ 3

85

55

Note 1

139.

5+/-2

130

E

(162

)

100

41

299

230

8048

136

268120

109 86

90.5

A

Cross-section E-E

77.5

2083 1571

123.5(152)26

68

145

76 7919

0


MM

MM

Cross-section of cable carrier Cross-section of cable carrierCross-section of cable carrier

3525 3525

57

3525

77

93 735773

ϕ9.7 ϕ8.2ϕ7.6

ϕ8.2ϕ7.6

ϕ9.7 ϕ10.1ϕ9.9

YZ ZXY

YZ

XY

Z

Gantry type Cable carrier Z-axis: clamped table / moving base type (200W)



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 100 200 100 200 100 200 100 200 100 200 100

D 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 150 250 350 450 550 650 750 850

Z stroke 150 250 350


(mm/sec) Note 3



Speed setting – 80% 70% 60% 50% 40%

Y-axis 1200 960 780


3 axes / ZFH

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

325

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx

Z stroke (mm)

ZRFL20 ZRFL10

Y stroke (mm) 150 250 350 150 250 350

150 4 4 4 11 11 11

250 4 4 4 11 11 11

350 4 4 4 11 11 11

450 4 4 4 11 11 11

550 4 4 4 11 11 11

650 4 4 4 11 11 11

750 4 4 4 11 11 11

850 4 4 4 8 7 6


RCX340RCX240-R



nationX-axis stroke


stroke Cable

G1 25 to 125cm 15 to 85cm ZRFL20 15 to 35cm 3L: 3.5m G2 ZRFL10 5L: 5mG3 10L: 10mG4

X-axis Y-axisZ-axis: ZRFL20

Z-axis: ZRFL10

R-axis










Note. The standard types are ZRFL with higher rigidity as compared with ZRF types which are conventional standard types. When you need the ZRF type, please consult YAMAHA.



MXYx 4 axes / ZRFL20/10 G1

MM

X stroke

Y st

roke

+ 3

2067 87

Y st

roke

+ 3

3546

(30)

424.5+/-3

10 13818.5

L (X stroke + 365) 22(150)

(179

)

125

55

Y st

roke

190+

/-3

168

92

3311

5

5 5

Note 1

Detail of section A

Depth20

Depth16

ϕ20h7

13

56.6

ϕ22

19 (W

idth

ac

ross

flat

)56

.6

4-M6 x 1.0ϕ65h7

41

20

8

37.5M8 x 1.25



26.5 12


(345

)97

.5

(466

)

12521

(M4)

103.

580

(50)5.5

ϕ29 (Note 2) Groundingterminal

37


75K40200

50


2-ϕ10H7 Depth16

132

200 x (M-1)107200

100130 K

166.5 D+/-0.02

(162

)10

0

299

230

8048

136

86

Z st

roke

+ 3

85Z

stro

ke +

132

145

168+

/-2Z

stro

ke24

0

55

E

41

268120

140109

E

79

110

72

Note 1

102

90.5

90

31(152) 123.5

Cross-section E-E

A

76

123.5

75

6

15

242

78

(30) 1583

68

71

77.5

190

79

MM

MM MM

Cross-section of cable carrier Cross-section of cable carrier Cross-section of cable carrier

25 35

25 35 25 35

7793

5773

5773

ZRYZXY

ϕ9.7ϕ9.9ϕ11

ϕ9.7ϕ7.6 ϕ9.7

ϕ7.6ϕ9.7 ϕ11

ϕ9.9

YZ

XY

ZR

Gantry type Cable carrier Z-axis: clamped base / moving table type (200W)+R-axis



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 100 200 100 200 100 200 100 200 100 200 100

D 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 150 250 350 450 550 650 750 850

Z stroke 150 250 350


(mm/sec) Note 3



Speed setting – 80% 70% 60% 50% 40%

Y-axis 1200 960 780


4 axes / ZRFL20/10

Ordering method

Specification

Controller


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SERVOS

ing

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FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

326

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx Gantry type Cable carrier Z-axis: clamped table / moving base type (200W)+R-axis


RCX340RCX240-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 10 9 8

250 10 9 8

350 10 9 8

450 10 9 8

550 10 9 8

650 10 9 8

750 10 9 8

850 8 7 6











Note. The standard types are ZRFH with higher rigidity as compared with ZRF types which are conventional standard types. When you need the ZRF type, please consult YAMAHA.



MXYx C ZRFHModel Cable Combi-

nationX-axis stroke


stroke Cable


MXYx 4 axes / ZRFH G1

MM

X stroke

55

10 138

(179

)

18.5

125

L (X stroke + 365)

Y st

roke

190+

/-3 Y st

roke

+ 3

2067 87

Y st

roke

+ 3

3546

92

22

(30)

(150)

3311

5

429.5+/-3

Note 1

168

5 5

(M4)

103.

580

(50)

37

5.5

ϕ29 (Note 2)Groundingterminal

(345

)97

.5

125 21

(466

)

50



75K40

200

2-ϕ10H7 Depth16

132

200 x (M-1)107200

100130 K

166.5 D+/-0.02

Detail of section A

Depth16

Depth20 19 (W

idth

ac

ross

flat

)13

56.6

56.6

4-M6 x 1.0ϕ65h7

ϕ22ϕ20h7

41

20

8

37.5M8 x 1.25



26.5 12


(162

)10

0

299

230

8048

136

41

268120

79Z

strok

e

Z st

roke

+ 3

85

188+

/-213

090

.513

9.5

109 8618.5 78

102Note 1 72

55

E

E

Cross-section E-E

77.5

(30) 2083 15

7168A

76128.5

123.5(152)26

145

76

75

242

9021

7919

0MM

MMMM


25 35

25 35

7793

5773

ϕ9.7 ϕ11ϕ9.9


25 35

5773

ϕ11ϕ9.9

ZRYZXY

ϕ9.7ϕ9.9ϕ11

ϕ9.7ϕ7.6

XY

YZ

ZR



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E





X stroke 250 350 450 550 650 750 850 950 1050 1150 1250Note 1. The moving range when returning to origin and the stop position when

stopping by the mechanical stopper.Note 2. User cable extraction port.

L 615 715 815 915 1015 1115 1215 1315 1415 1515 1615

K 100 200 100 200 100 200 100 200 100 200 100

D 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 150 250 350 450 550 650 750 850

Z stroke 150 250 350


(mm/sec) Note 3



Speed setting – 80% 70% 60% 50% 40%

Y-axis 1200 960 780


4 axes / ZRFH

Ordering method


Controller

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TRAN

SERVOS

ing

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ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100A

rm typ

eG

antry typeM

oving arm

typeP

ole typ

eX

Z type

327

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

328

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx




250 to 1050 50X-axis Y-axis









Note 1. Use caution that the flame machining (installation holes, tap holes) differs from single-axis robots’. Note 2. Positioning repeatability in one direction.Note 3. Leads not listed in the catalog are also available. Contact us for details.Note 4. When the X-axis/Y-axis stroke is longer than 850mm, resonance of the ball screw may occur depending on the operation conditions

(critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table below.

HXYx C RCX222HP RModel Cable Combination X-axis stroke Y-axis stroke Cable Controller Usable for CE Regeneratine



G1 25 to 125cm 25 to 105cm 3L: 3.5m RCX222HP No entry: Standard R: RG2 N: NPN Note 1 No entry: NoneG2 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16



Note 2.Available only for the master. See P.68 for details on YC-Link system. YC: YC-Link Note 2


HXYx 2 axes G1

MM

MM

X stroke100

5 5

327+/-333

125

35.5

(213

)

L (X stroke + 417)

13821 97.5125

608

(Not

e 3)

45(Note 3)

23.5

5

(150)39

5

(30)

Y st

roke

+ 4

0010

1Y

stro

ke +

360

46

197.

5+/-3

202

5

Y st

roke

Note 1

92

(M4)

(407

)(50)

114.

1

8011

8.1

37

Groundingterminal

5.5

ϕ29 (Note 2)

200 x (M-1)200

100K

5016

2

142


M x 200

200

72 95N-ϕ9 through (B)

K

130

154

(Bet

wee

n kn

ocks

+/-0

.02 )

2-ϕ6H7 Depth10 155142

8-M8 x 1.25 Depth25 120

A12026816.5

8036

1

168

(191

)27

5

115

48

Detail of section A




33 12

79

Cross-section of cable carrier25 35

7793

ϕ9.7 ϕ8.2ϕ7.6



Note 2. User cable extraction port.Note 3. Dimension of reinforced bracket (To be installed when the Y stroke is

750mm or longer)

L 667 767 867 967 1067 1167 1267 1367 1467 1567 1667

K 100 200 100 200 100 200 100 200 100 200 100

F 420 420 600 600 780 780 960 960 1140 1320 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 250 350 450 550 650 750 850 950 1050Note 4. When the X-axis/Y-axis stroke is longer than 850mm, resonance of the ball

screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left.


(mm/sec) Note 4

X-axis 1200 960 840 720 600 480

Y-axis 1200 960 840 720

Speed setting – 80% 70% 60% 50% 40%

2 axes

Ordering method


Controller

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TRAN

SERVOS

ing

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FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

329

INFORM

ATION

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx 2 axes

HXYx 2 axes G2

MM

MM

154

(Bet

wee

n kn

ocks

+/-0

.02 )


Detail of section A Detail of section CDetail of section B



155142120

12

(14.8)

(ϕ10

H7)

4.8

33

(M4)

A 120268 16.5

4880

36116

8(1

91)

275


3779 115

Y st

roke

+ 4

0019

7.5+/-

3

101

23.5

Y st

roke

Y st

roke

+ 3

6046

(30)

202

5

(150)

592

608

(Not

e 3)

125

35.5

(213

)

217+/-3 X stroke

55100 45 (Note 3)

33

L (X stroke + 417)

1382197.5 33

125

Note 1

5

(50)

114.

180

118.

1

KN-ϕ9 through (B)

9572200

M x 200

162

50(N-2) -ϕ9 through (C)142 K130 100

200200 x (M-1)

2-ϕ10H7: See detaild drawing of B section176 F+/-0.02

(407

)


25 357793

ϕ9.7 ϕ8.2ϕ7.6

HXYx 2 axes G4

m

MM


Y st

roke

+ 4

0010

123

.5Y

stro

ke +

360

46

(N-2) -ϕ9 through (C)142K 130100

200200 x (M-1)

(30)

197.5

+/-3

202

5

Y st

roke

217+/-3X stroke

5

100

92

45 (Note 3)

608

(Not

e 3)

33

(150)

125

35.5

(213

)

L (X stroke + 417)

138 2197.533

125

Note 15

5

5

154

(Bet

ween

kn

ocks

+/-0

.02 )

2-ϕ6H7 Depth10 155142

8-M8 x 1.25 Depth25 120


(14.8)

(ϕ10

H7)

4.8



12

Detail of section A

(407

) (50)

114.

180

118.

1

(M4)

A12026816.5

4880

361 16

8(1

91)

275

Groundingterminal

29 (Note 2)5.5

7911537

KN-ϕ9 through (B)

95 72

200M x 200

162

50

F+/-0.02 1762-ϕ10H7: See detaild drawing of B section

25 35

7793

ϕ9.7 ϕ8.2ϕ7.6

HXYx 2 axes G3

MM

MM


154

(Bet

ween

kn

ocks

+/-0

.02 )

2-ϕ6H7 Depth10 155142

8-M8 x 1.25 Depth25 120


4.8

(ϕ10

H7)

(14.8)



12

Y st

roke

+ 4

0010

123

.5

5

Y st

roke

Y st

roke

+ 3

6046

(213

)

X stroke100

55

327+/-3

33

608

(Not

e 3)

45 (Note 3)

125

35.5

(150) L (X stroke + 417)

138 2197.5125

197.5

+/-3

202

5

92

5

(30)

39

Note 1

A 120268 16.5

4880

36116

827

5

115

79 (191

) (407

)

(50)

114.

180

118.

1

162

M x 20095 K

F+/-0.02 1762-ϕ10H7: See detaild drawing of B section

200 x (M-1)200

100 130K

50

142


200

72N-ϕ9 through (B)

5.5

ϕ29 (Note 2)

Grounding terminal(M4)

37

25 35

7793

ϕ9.7 ϕ8.2ϕ7.6

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

330

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx


RCX340RCX240-R


Z stroke (mm)

Y stroke (mm) 250 to 550

250 to 1050 20












HXYx C ZLModel Cable Combi-

nationX-axis stroke


stroke Cable


HXYx 3 axes / ZL G1

MM

MM

MM

Y st

roke

+ 4

00Y

stro

ke

X stroke

Y st

roke

+ 3

60

430+/-3

35.5

(213

)

L (X stroke + 417)

13839

21125

608

(Not

e 3)

5

5

Note 1

5

92

46

182

9

45(Note 3)

197.

5+/-3

10120

2

23.5

5

(150)

125

97.5

5

(30)

(M4)

(407

)

(50)

8011

8.1

5.5

Groundingterminal

ϕ29 (Note 2)

162

M x 200200


K

114.

1


200 x (M-1)200

100130 K

50

142


37

Detail of section A

2-ϕ6H7 Depth8

70124

110 (Betweenknocks +/-0.02)

140

8-M6 x 1.0 Depth8

135




(14.8)

(ϕ10

H7)

4.8

33 12

Cross-section D-D

125

8021

4

77.58320 100

D

D

12026816.5

79

Note 1

Z st

roke

+ 3

50Z

stro

ke5

118

159

A

5

136

(176

)24

0+/-2

80

168

(191

)27

5

115

361

48


3525

57

3525

77

93 73

ϕ9.7 ϕ8.2ϕ7.6

ϕ9.7 ϕ10.1ϕ9.9

XY YZ

XY

YZ

Gantry type Cable carrier Z-axis: clamped base / moving table type (200W)



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







750mm or longer)

L 667 767 867 967 1067 1167 1267 1367 1467 1567 1667

K 100 200 100 200 100 200 100 200 100 200 100

F 420 420 600 600 780 780 960 960 1140 1320 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 250 350 450 550 650 750 850 950 1050

Z stroke 250 350 450 550Note 4. When the X-axis/Y-axis stroke is longer than 850mm, resonance of the ball



(mm/sec) Note 4

X-axis 1200 960 840 720 600 480

Y-axis 1200 960 840 720

Speed setting – 80% 70% 60% 50% 40%

3 axes / ZL

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

331

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx


RCX340RCX240-R


Z stroke (mm)


250 to 1050 30













nationX-axis stroke


stroke Cable


HXYx 3 axes / ZH G1

MMMM

MM

ZN-M6 x 1.0 Depth10

1655

ZKZM

x 2

0014

310

0

100

200

(M4)

VIEW A

5.5

37


Y st

roke

+ 4

0019

7.5+

/-3

101

23.5

Y st

roke

Y st

roke

+ 3

60

92

46(20)

202

55

(150)

125

35.5

(213

)

L (X stroke + 417)

13839

21

X stroke

97.5

5

125

Note 1

5

5

(30)

430+/-3

45(Note 3)

608

(Not

e 3)

(407

)(50)

8011

8.1

114.

116

2

M x 200200


K


(N-2) -ϕ9 through (C)142

50

K130 100200

200 x (M-1)

Detail of section B

Detail of section C

(14.8)

(ϕ10

H7)

4.8



12

12026816.5

8036

1 168

(191

)27

5

115

48

Note 1

D

A

(Scr

ew h

eigh

t)

136268

Z st

roke

97

5

106

150

(150

)12

4+/-2 Z st

roke

+ 3

64

55

(2.5

)

159

(176

)

Cross-section D-D2083

214

80

125

100

60

7 (158)77.5

5

D

33


3525

57

3525

77

93 73

ϕ9.7 ϕ8.2ϕ7.6


3525

5773

ϕ8.2ϕ7.6

ϕ9.7 ϕ10.1ϕ9.9

YZ ZXY

XY

YZ

Z

Gantry type Cable carrier Z-axis: clamped table / moving base type (200W)



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







750mm or longer)

L 667 767 867 967 1067 1167 1267 1367 1467 1567 1667

K 100 200 100 200 100 200 100 200 100 200 100

F 420 420 600 600 780 780 960 960 1140 1320 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 250 350 450 550 650 750 850 950 1050

Z stroke 250 350 450 550

ZK 100 200 100 200

ZM 1 1 2 2

ZN 10 10 12 12


(mm/sec) Note 4

X-axis 1200 960 840 720 600 480 Note 4. When the X-axis/Y-axis stroke is longer than 850mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left.

Y-axis 1200 960 840 720

Speed setting – 80% 70% 60% 50% 40%

3 axes / ZH

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

332

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx


RCX340RCX240-R


Z stroke (mm)


250 to 1050 12












HXYx C ZRLModel Cable Combi-

nationX-axis stroke


stroke Cable


HXYx 4 axes / ZRL G1

MM

MM

MM

MM

125

35.5

(213

)

L (X stroke + 417)

13839

21 97.5125

608

(Not

e 3)

Y st

roke

+ 4

0019

7.5+

/-3

10120

2

23.5

5Y

stro

ke

(150)

5

Note 1

Y st

roke

+ 3

60

92

46

5

(30)

182

9

500+/-345 (Note 3)

5

X stroke5

D (407

)

(50)

8011

8.1

114.

1

142

M x 200200


K



162

50

K130 100200

200 x (M-1)

(PCD.20)

ϕ75h8ϕ35h6

30

5-M8 x 1.25 Depth20


4.8

(ϕ10

H7)


(14.8)

33

Detail of section C

12


5.5

37

Grounding terminal(M4)

ϕ29 (Note 2)

VIEW D

79(2

60)

Z st

roke

118

159

90

165

100

457+

/-2Z

stro

ke +

350

E

E

12026816.5

8036

1

168

(191

)27

5

115

48

5 136

5

Note 1

Cross-section E-E

78

100

20

214

80125

77.5

A

133

14015

060

225

(156)

75

2083

173

313

50

225(30)


25 35

25 35 25 35

7793

5773

5773

ϕ9.7 ϕ11ϕ9.9

ZR

ZRYZXY

ϕ9.7ϕ9.9ϕ11

ϕ9.7ϕ7.6 ϕ9.7

ϕ7.6

XY

YZ

Gantry type Cable carrier Z-axis: clamped base / moving table type (200W)+R-axis



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







750mm or longer)

L 667 767 867 967 1067 1167 1267 1367 1467 1567 1667

K 100 200 100 200 100 200 100 200 100 200 100

F 420 420 600 600 780 780 960 960 1140 1320 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 250 350 450 550 650 750 850 950 1050

Z stroke 250 350 450 550Note 4. When the X-axis/Y-axis stroke is longer than 850mm, resonance of the ball



(mm/sec) Note 4

X-axis 1200 960 840 720 600 480

Y-axis 1200 960 840 720

Speed setting – 80% 70% 60% 50% 40%

4 axes / ZRL

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

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tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

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bo

ts

XY-X

SC

AR

Aro

bo

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YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

333

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx


RCX340RCX240-R


Z stroke (mm)


250 to 1050 20


Axis construction Note 1 F20 F17 F14H R20










HXYx C ZRHModel Cable Combi-

nationX-axis stroke


stroke Cable


HXYx 4 axes / ZRH G1

MM

MMMM

MM

Y st

roke

+ 4

0010

123

.5

125

35.5

(213

)

X stroke5 5

Y st

roke

+ 3

60

92

46(20)500+/-3

608

(Not

e 3)

197.

5+/-3

202

55

Y st

roke

(150)L (X stroke + 417)

13839

21 97.5125

Note 1

(30)

45(Note 3)

5

(M4)

5.5

37

ϕ29 (Note 2)

Grounding terminal

(50)

8011

8.1

(407

)

M x 200200


K

114.

1

200 x (M-1)200

100130 K

5016

2

142(N-2) -ϕ9 through (C)


(PCD.20)

Detail of section A

ϕ75h8ϕ35h6

30

5-M8 x 1.25 Depth20


(14.8)(ϕ

10H

7)

4.8



12

12026816.5

8036

1

168

(191

)27

5

115

48

Z st

roke

Z st

roke

+ 3

64(1

50)

268+

/-2(176

)79

D

55

Note 1

144

136

159

150

55

10697

268

100

90 D

Cross-section D-D

17383 202050

214

80125

75

22531

378

A

77.5

100225

60

7 (158)

(30)


25 35

25 35 25 35

7793

5773

5773

ϕ7.6ϕ9.7

ϕ9.7ϕ7.6

ϕ9.7 ϕ11ϕ9.9

XY YZ ZR

XY

YZ

ZR

ϕ9.7ϕ9.9ϕ11

ϕ9.7ϕ7.6

Gantry type Cable carrier Z-axis: clamped table / moving base type (200W)+R-axis



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







750mm or longer)

L 667 767 867 967 1067 1167 1267 1367 1467 1567 1667

K 100 200 100 200 100 200 100 200 100 200 100

F 420 420 600 600 780 780 960 960 1140 1320 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 250 350 450 550 650 750 850 950 1050

Z stroke 250 350 450 550


(mm/sec) Note 4


Y-axis 1200 960 840 720

Speed setting – 80% 70% 60% 50% 40%

4 axes / ZRH

Ordering method

Specification

Controller


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TRAN

SERVOS

ing

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FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

334

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYLx





Axis construction Note 1 F20N F17








Note 1. Use caution that the flame machining (installation holes, tap holes) differs from single-axis robots’. Note 2. Positioning repeatability in one direction.Note 3. Leads not listed in the catalog are also available. Contact us for details.Note 4. When the Y-axis stroke is longer than 850mm, resonance of the ball screw may occur depending on the operation conditions (critical


HXYLx C RCX222HP RModel Cable Combination X-axis stroke Y-axis stroke Cable Controller Usable for CE Regeneratine unit Input/Output


G1 115 to 205cm 25 to 105cm 3L: 3.5m RCX222HP No entry: Standard R: RG2 N: NPN Note 1 No entry: NoneG2 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16




YC: YC-Link Note 2

HXYLx 2 axes G1

MM

MM

Detail of section C


33

4.8

(ϕ10

H7)

(14.8) 274+/-3 X stroke

224.

5

10033

Y st

roke

+ 3

604697.5

45(Note 3)

154

(Bet

wee

n kn

ocks

+/-0

.02 )10 10

55

197.

5+/-3

202

147

Y st

roke

+ 4

00

Note 1

E 152205


92

608

(Not

e 3)

Detail of section D


12

Y st

roke

B

219.

5

53 34Note 2

235128

20

200M x 20035 K 35

162

N-ϕ9 through (C)

114

(166

)

F-ϕ9 through (D)

(K-100)130 100

200(M-1) x 20089

50

51


1320 +/-0.02

2-ϕ6H7 Depth10155142

8-M8 x 1.25 Depth25120

Detail of section B

5.5

8.6 2.5

3.71.5

0.5

Detail of section A

120

246

196

168

280

7979

79

A


25 35

7793

ϕ9.7 ϕ10.1ϕ9.9



Note 2. User cable extraction port.Note 3. Dimension of reinforced bracket (To be installed when the Y stroke is 750mm or

longer)

L 1570 1670 1770 1870 1970 2070 2170 2270 2370 2470

E 528 574 620 666 712 758 804 850 896 942

K 100 200 100 200 100 200 100 200 100 200

M 7 7 8 8 9 9 10 10 11 11

N 18 18 20 20 22 22 24 24 26 26

F 14 16 16 18 18 20 20 22 22 24

Y stroke 250 350 450 550 650 750 850 950 1050Note 4. When the Y-axis stroke is longer than 850mm, resonance of the ball screw may occur

depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left.


Y-axis 1200 960 840 720

Speed setting – 80% 70% 60%

2 axes

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

335

INFORM

ATION

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYLx 2 axes

HXYLx 2 axes G2

MM

MM

X stroke

Y st

roke

197.5

+/-3

224.

514

7Y

stro

ke +

400

164+/-3100

3397.5 92

Y st

roke

+ 3

60

45 (Note 3)

608

(Not

e 3)

10 55

202

Note 1

E + 35 152205


35

10

Detail of section B

5.5

8.6

2.53.71.5

0.5

Detail of section A15

4 (B

etw

een

knoc

ks +

/-0.0

2 )

2-ϕ6H7 Depth10155142

8-M8 x 1.25 Depth25 120

196

168

280

79

Note 2

3453

219.

5

B

5123

79 120

79

2820

A

Detail of section C

(14.8)


(ϕ10

H7)

4.8

Detail of section D


5189 (M-1) x 200200

100130

(K-100)

50

F-ϕ9 through (D)

N-ϕ9 through (C)

162

35KM x 20035200

1320 +/-0.022-ϕ10H7: See detaild drawing of C section

129

114

(166

)


25 35

7793

ϕ9.7 ϕ10.1ϕ9.9

HXYLx 2 axes G4

MM

MM


X stroke

55

Y st

roke

197.5

+/-3

202

224.

514

7Y

stro

ke +

400

164+/-3100

33 97.592

Y st

roke

+ 3

60

45 (Note 3)

608

(Not

e 3)

46

1010 Note1

E + 35152L (X stroke + 420) 57

35205

20035M x 200K35

162

N-ϕ9 through (C)

F-ϕ9 through (D)

50

(K-100)130100

200(M-1) x 200 8951

1320 +/-0.02 1292-ϕ10H7: See detaild drawing of C section

Detail of section B

5.5

8.6

2.53.71.5

0.5Detail of section A

Detail of section C

Detail of section D

154

(Bet

ween

kn

ocks

+/-0

.02 )

2-ϕ6H7 Depth10 155142

8-M8 x 1.25 Depth25 120



(14.8)

(ϕ10

H7)

4.8

7912

0

A

B

79219.

5

5334Note 2

2351

196

280

168

2028

79(166

)11

4

25 35

7793

ϕ9.7 ϕ10.1ϕ9.9

HXYLx 2 axes G3


Detail of section B

5.5

8.6

2.53.71.5

0.5

Detail of section A

154

(Bet

wee

n kn

ocks

+/-0

.02 )

2-ϕ6H7 Depth10 155142

8-M8 x 1.25 Depth25 120

Detail of section C Detail of section D

(14.8)



(ϕ10

H7)

4.8

A

(166

)11

4

7979 12

024

6

196

168

280

79

200M x 200 35K35

N-ϕ9 through (C)

F-ϕ9 through (D) 50(K-100)130100

200(M-1) x 200 8951


1320 +/-0.02

202851

23

Note 234 53

219.

5

274+/-3X stroke

101055

Y st

roke

197.5

+/-3

202

224.

514

7Y

stro

ke +

400

Note 1

E152 205

L (X stroke + 420) 57

1003392

Y st

roke

+ 3

6046

B

97.545 (Note 3)

608

(Not

e 3)

162

25 35

7793

ϕ9.7 ϕ10.1ϕ9.9

MM

MM

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

336

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx




150 15

250 14

350 13

X-axis Y-axis











SXYx S RCX222Model Cable Combination X-axis stroke Note 1 Y-axis stroke Note 1 Cable Controller Usable for CE Input/Output


M1 15 to 85cm 15 to 35cm 3L: 3.5m RCX222 No entry: Standard N: NPN Note 2 No entry: NoneM3 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16



YC: YC-Link Note 3

SXYx 2 axes M1

(When at the origin position)10

5

X stroke

40Note 1

194+/-383

5

Y stroke + (112+/-3)

122.

514

.8

27

55

130

Y st

roke

Y st

roke

+ 2

55

77.5

1090

170

136

61

(30)

5.58.6

2.5

3.7

2.3

Detail of section A

(Bet

wee

n kn

ocks

+/-0

.02 )

Detail of section C

130

11060

70

100

32

44

50 12-M6 x 1.0 through(Board thickness 10)

27

5.5

9


(ф10

H7)

(18.5)

Detail of section B

2-ф6H7 Depth6

51

Note 2

23

34 53

173

136

83 A

MA

X. 1

000

(105

)

M x 200 K200

157N-M6 x 1.0 Depth10

1132-ф10H7See detaild drawing of C section

100

110

132200

M x 200 K

N-ф7 through (C)

138151 D+/-0.02

MM

MM

70

16 B

10

25

77.5

79

(50) L (X stroke + 320)

Moving arm type Whipover

Note 1. The total of the X and Y strokes should be 1000mm or less.Note 2. NPN cannot be selected if using CE marking. Note 3. Available only for the master. See P.68 for details on YC-Link system.Note 4. Only when CC or DN or PB was selected for I/O select 1 above. EN can be selected in I/O select 2.

X stroke Note 3 150 250 350 450 550 650 750 850 Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper.


K 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960

M 0 1 1 2 2 3 3 4

N 4 6 6 8 8 10 10 12

Y stroke Note 3 150 250 350Note 3. The total of the X and Y strokes should be 1000mm or less.Note 4. When the X-axis stroke is longer than 750mm, resonance of the ball screw may occur depending on

the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left.


X-axis 1200 960 780


2 axes

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

337

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx 2 axes

SXYx 2 axes M3

(When at the origin position)

10

5

27

X stroke

40Note 1

194+/-383Y stroke + (112+/-3)

5

122.

514

.8

77.5 61

(30)

55

130

Y st

roke

170

Y st

roke

+ 2

55

136

1090

51

53Note 2

23

34

M x 200K200

157N-M6 x 1.0 Depth10


100

110

132200

M x 200K

N-ф7 through (C)

138151D+/-0.02

173

136

MA

X. 1

000

(105

)

83A

Detail of section B

2.3


4427


5.5

9

(ф10

H7)

(18.5)2-ф6H7 Depth6

70

100

32

5012-M6 x 1.0 through(Board thickness 10)

(Bet

wee

n kn

ocks

+/-0

.02 )

60110

130 5.5

8.6

3.7

2.5

MM

MM

70

16B

10

25

77.5

79

L (X stroke + 320)

(50)



K 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960

M 0 1 1 2 2 3 3 4

N 4 6 6 8 8 10 10 12

Note 3. The total of the X and Y strokes should be 1000mm or less.Note 4. When the X-axis stroke is longer than 750mm, resonance of the ball screw may occur depending on


Y stroke Note3 150 250 350


X-axis 1200 960 780


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

338

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx


RCX340RCX240S


Z stroke (mm)

Y stroke (mm) 150 250 350

150 9 8 7

250 8 7 6

350 7 6 5












SXYx S ZFModel Cable Combi-

nation X-axis stroke Note 1 Y-axis stroke Note 1 ZR-axis Z-axis stroke Cable

M1 15 to 85cm 15 to 35cm 15 to 35cm 3L: 3.5m M3 5L: 5m

10L: 10m

SXYx 3 axes / ZF M1

MM (Whe

n at

the

orig

in p

ositio

n)

10

5

X stroke

40

194+/-383

170Y

stro

ke +

255

5

136

(30)

Y st

roke

Note 1

Y st

roke

+ (1

83+/

-3)

122.

514

.8 130

77.561

55

90

Detail of section A

2-ф5H7 Depth15

110

4-M5 x 0.8 Depth12

8670

51

53Note 2

23

34

Detail of section B

5.58.6

2.5 3.7

2.3

Detail of section C


9

5.5

(ф10

H7)

(18.5)

173

136

83

MA

X. 1

000

(105

)

71

68

40.5

Z st

roke

Z st

roke

+ 3

50

255+

/-2

65 (6.5)

187

4.5

55

Note 1

60.5 15

A

ф37

109

138

113N-M6 x 1.0 Depth10

N-ф7 through (C)

157

KM x 200200

200

132

KM x 200

110

100

151 D+/-0.02

2-ф10H7 See detaild drawing of C section


102

MM

MM

70

16 B

10

25

77.5

79

(50) L (X stroke + 320)




standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E




Specify various controller setting items. RCX240/RCX240S P.534 Note 1. The total of the X and Y strokes should be 1000mm or less.



K 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960

M 0 1 1 2 2 3 3 4

N 4 6 6 8 8 10 10 12



Z stroke 150 250 350


X-axis 1200 960 780


3 axes / ZF

Moving arm type Whipover

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

339

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx Z-axis: clamped base / moving table type (200W) Moving arm type Whipover


RCX340RCX240S-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 8 8 7

250 8 7 6

350 7 6 5













SXYx S ZFL20Model Cable Combi-

nation X-axis strokeNote 1 Y-axis strokeNote 1 ZR-axis Z-axis stroke Cable


10L: 10m

SXYx 3 axes / ZFL20 M1

10

5

X stroke

40

194+/-383

122.

514

.8

(Whe

n at

the

orig

in p

ositio

n)17

0Y st

roke

+ 2

55

136

(30)

Y st

roke

Y st

roke

+ (1

83+/

-3)

77.561

130

5

5

Note 1

5

90

51

53Note 2

23

34

N-M6 x 1.0 Depth10

N-ф7 through (C)

200 2-ф10H7 See detaild drawing of C section

138 KM x 200200

132151 D+/-0.02

110

100

Detail of section A


70

2-ф5H7 Depth15

8

6-M5 x 0.8 Depth12

110

43

7015

6

70+/

-0.0

2

Detail of section B

5.5

8.62.

5

3.7

2.3

Detail of section C


9

5.5

(ф10

H7)

(18.5)

102

Z st

roke

+ 3

85Z

stro

ke24

8+/-214

55

5

33.5

7168

A

109

10

ф37

Note 1

(76)

85

30

173

136

83

MA

X. 1

000

(105

)

MM

MM

MM

70

16 B

10

25

77.5

79

L (X stroke + 320)

(50)

113 157KM x 200



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E




Specify various controller setting items. RCX240/RCX240S P.534 Specify various controller setting items. RCX240/RCX240S P.534 Note 1.The total of the X and Y strokes should be 1000mm or less.



A 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960

M 0 1 1 2 2 3 3 4

N 4 6 6 8 8 10 10 12



Z stroke 150 250 350


X-axis 1200 960 780


3 axes / ZFL20

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

340

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx


RCX340RCX240S-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 9 8 7

250 8 7 6

350 7 6 5








Maximum speed Note 4 (mm/sec) (°/sec) 1200 1200 600





SXYx S ZFHModel Cable Combi-



10L: 10m

SXYx 3 axes / ZFH M1

MM

MM

MM

170Y

stro

ke +

255

5

136

Y st

roke

Note 1

Y st

roke

+ (1

93+/

-3)

(Whe

n at

the

origi

n po

sition

)(3

0)

194+/-3 X stroke

540

122.

514

.8 130

55

51

53Note 2

23

34

M x 200 K

132

200

200M x 200 K

157

N-ф7 through (C)

N-M6 x 1.0 Depth10113

138151 D+/-0.02


100

110

Detail of section A

6210

011

2

2-ф5H7 Depth84-M5 x 0.8 Depth9

Detail of section B

5.58.6

2.5 3.7

2.3

Detail of section C


9

5.5

(ф10

H7)

(18.5)

173

83

(105

)M

AX

. 120

0

Z st

roke

+ 3

85Z

stro

ke

55

137+

/-2

10 7168

(30)

Note 1

136

79

119

A

10961

1013

8

102110

130


70

16B

10

25

77.5

79

L (X stroke + 320)

77.5

(50)

10 83

Z-axis: clamped table / moving base type (200W) Moving arm type Whipover



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E




Specify various controller setting items. RCX240/RCX240S P.534 Specify various controller setting items. RCX240/RCX240S P.534 Note 1. The total of the X and Y strokes should be 1000mm or less.



K 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960

M 0 1 1 2 2 3 3 4

N 4 6 6 8 8 10 10 12

Y stroke Note 3 150 250 350

Z stroke 150 250 350 Note 3. The total of the X and Y strokes should be 1000mm or less.Note 4. When the X-axis stroke is longer than 750mm, resonance of the ball screw may occur depending on



X-axis 1200 960 780


3 axes / ZFH

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

341

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx


RCX340RCX240S



150 to 350 3 5

X-axis Y-axis Z-axis: ZS12 Z-axis: ZS6













M1 15 to 85cm 15 to 35cm ZS12 3L: 3.5m M3 ZS6 5L: 5m

10L: 10m

SXYx 3 axes / ZS M1

(Whe

n at

the

orig

in p

ositio

n)17

0

Y st

roke

+ 2

55

5

136

Y st

roke

5

Note 1

5

Y st

roke

+ (2

22+/

-3)

(30)

194+/-3 X stroke

54083

122.

514

.8 130

51

53 Note 2

23

34

N-M6 x 1.0 Depth10

N-ф7 through (C)

113 157200

KM x 2002-ф10H7 See detaild drawing of C section

138 KM x 200200

132151 D+/-0.02

110

100

173

136

(105

)M

AX

. 110

079

119

83

11067.5

75

299

67

150

A

101

7240

Z st

roke

300

6 N

ote

6 (N

ote

1) N

ote

100+

/-2

Detail of section C


5.5

(ф10

H7)

(18.5)

9

Detail of section B

5.5

8.63.

72.

3

Detail of section A

2.5

Depth15

41 36

ф12 0-0.018

ф5

M8 x 1.25

MM

MM

70

16B

10

25

77.5

79

(50) L (X stroke + 320)

Z-axis shaft vertical type Moving arm type Whipover



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E




Specify various controller setting items. RCX240/RCX240S P.534 Note 1. The total of the X and Y strokes should be 1000mm or less.



K 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 960

M 0 1 1 2 2 3 3 4

N 4 6 6 8 8 10 10 12

Y stroke Note 3 150 250 350

Z stroke 150 Note 3. The total of the X and Y strokes should be 1000mm or less.Note 4. When the X-axis stroke is longer than 750mm, resonance of the ball screw may occur depending on



X-axis 1200 960 780


3 axes / ZS

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

342

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx















MXYx C RCX222 RModel Cable Combination X-axis stroke Y-axis stroke Cable Controller Usable for CE Regeneratine unit Input/Output


M1 25 to 125cm 15 to 55cm 3L: 3.5m RCX222 No entry: Standard R: RG2 N: NPN Note 1 No entry: NoneM3 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16


(PNP)Note 1. NPN cannot be selected if using CE marking. Note 2.Available only for the master. See P.68 for details on YC-Link system.Note 3. Only when CC or DN or PB was selected for I/O select 1 above. EN can be selected in I/O select 2.

PB: PROFIBUSEN: Ethernet EN: Ethernet Note 3

YC: YC-Link Note 2

MXYx 2 axes M1


234+/-3

Y stroke + (140+/-3)

Note 1

4083

55

X stroke10

168

Y st

roke

+ 3

2030

Y st

roke

210

125(150)L (X stroke + 365)

61

24

77.5

(30)

125

18.5

(179

)

55

10 138

10

90

(M4)(Note 2)

Grounding terminalϕ29

5.5

8010

3.5

37

135

165

(50)

(345

)97

.5

166.5 C+/-0.022-ϕ10H7 Depth16

K40200


75

132

2-ϕ6H7 Depth6

70

100

32


(Bet

wee

n kn

ocks

+/-0

.02 )

60 110

130

Detail of section A

44 27

Detail of section B

26.5


MA

X. 9

00

488029

923

013

6(1

62)

120

2683

100 A

MM

MM


25 35

7793

ϕ9.7 ϕ8.2ϕ7.6

Moving arm type Cable carrier



K 100 200 100 200 100 200 100 200 100 200 100

D 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18




X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

2 axes

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

343

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx 2 axes

MXYx 2 axes M3

2-ϕ6H7 Depth6

70

100

32


Detail of section A

(Bet

wee

n kn

ocks

+/-0

.02 )

60 110

130

4427

Detail of section B


26.5


234+/-3

Y stroke + (140+/-3)

Note 140

83

5 5

X stroke10

168

Y st

roke

+ 3

2030

Y st

roke

210

55

1013810

125

18.5

(179

)

125

L (X stroke + 365)

61

24

77.5

(30)

(150)

90

120

268 3

MA

X. 9

00

48 8029

9

230

136

(162

)

100A

K

132

40

200

166.5C+/-0.02

2-ϕ10H7 Depth16


75

(345

)97

.5

135

165

(50)

8010

3.5

5.5

37

(M4)(Note 2)


MM

MM


25 35

7793

ϕ9.7 ϕ8.2ϕ7.6



K 100 200 100 200 100 200 100 200 100 200 100

D 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18




X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

344

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx

Z stroke (mm)

ZFL20 ZFL10

Y stroke (mm)

150 250 350 150 250 350

150 to 550 8 8 8 12 11 10


RCX340RCX240-R


X-axis Y-axisZ-axis: ZFL20

Z-axis: ZFL10














nationX-axis stroke


stroke Cable

M1 25 to 125cm 15 to 55cm ZFL20 15 to 35cm 3L: 3.5m M3 ZFL10 5L: 5m

10L: 10m

MXYx 3 axes / ZFL20/10 M1

(Whe

n at

the

orig

in p

ositio

n)

234+/-3

168

Y st

roke

+ 3

20

Y st

roke

+ (2

11+/

-3)

Y st

roke

(150)

210

Note 1

4083

55

X stroke

55

125

L (X stroke + 365)

61

24

77.5

(30)

125

18.5

(179

)

10 138

90

(M4)(Note 2)

8010

3.5


5.5

37

135

165

(345

)97

.5

(50)


75K

132

40200

166.5 C+/-0.02

2-ϕ10H7 Depth16

Detail of section A


70

43

110

8


7015

6

70+/

-0.0

2

Detail of section B

26.5


120

2683

MA

X. 9

00

488029

9

230

136

(162

)

100

A

145

55

248+

/-2

7168

Z st

roke

+ 3

85Z

stro

ke

10

90.5

(76)

Note 1 ϕ37

102

10930

85

MM

MM

MM


25 35

7793

ϕ9.7 ϕ10.1ϕ9.9

Z-axis: clamped base / moving table type (200W) Moving arm type Cable carrier



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 100 200 100 200 100 200 100 200 100 200 100

C 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 150 250 350 450 550




X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

3 axes / ZFL20/10

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

345

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx


RCX340RCX240-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 to 550 12 11 10


nationX-axis stroke


stroke Cable


10L: 10m





Repeatability Note 2(mm) +/-0.01 +/-0.01 +/-0.01



Maximum speed Note 4(mm/sec) 1200 1200 600






MXYx 3 axes / ZFH M1

MM

MM

MM

234+/-3

168

Y st

roke

+ 3

20Y

stro

ke +

(221

+/-3

)(W

hen

at th

e or

igin

posit

ion)

Y st

roke

125(150)

210

Note 1

4083

55

X stroke

L (X stroke + 365)

6124

77.5

(30)

55

125

18.5

(179

)

10 138

90

20040

132


M x 200

166.5 C+/-0.022-ϕ10H7 Depth16

(Note 2)

135

8010

3.5

165

Groundingterminal(M4)

(345

)

ϕ29

5.5

97.537

(50)


112

100

62

26.5


138

61

10

109

A

130

110102

55

Z st

roke

+ 3

8513

7+/-2

Z st

roke

(30)

106871

Note 1

488029

923

0(1

62)

MA

X. 1

200

1202683

136

100



25 35

7793

ϕ9.7 ϕ10.1ϕ9.9




standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E





X stroke Note 3 250 350 450 550 650 750 850 950 1050 1150 1250 Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper.


K 100 200 100 200 100 200 100 200 100 200 100

D 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke Note 3 150 250 350 450 550Note 3. The total of the Y and Z strokes should be 800mm or less.Note 4. When the X-axis stroke is longer than 850mm, resonance of the ball screw


Z stroke 150 250 350


X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

3 axes / ZFH

Z-axis: clamped table / moving base type (200W) Moving arm type Cable carrier

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

346

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx




250 to 650 30

X-axis Y-axis











HXYx C RCX222HP RModel Cable Combination X-axis stroke Y-axis stroke Cable Controller Usable for CE Regeneratine unit Input/Output


M1 25 to 125cm 25 to 65cm 3L: 3.5m RCX222HP No entry: Standard R: RG2 N: NPN Note 1 No entry: NoneM3 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16




YC: YC-Link Note 2

HXYx 2 axes M1

MM

MM

(Whe

n at

the

orig

in p

ositi

on)

Y st

roke

+ 3

65

202

Y st

roke

240

32.5

Y st

roke

(157

.5+/

-3) 4-M8 x 1.25 through

(Board thickness 20)

100X stroke262+/-3

4555

33

Note 1

55

(150)

97.5

L (X stroke + 417)32 12561

(30)

125

35.5

(213

)

13821

9020

(M4)

ϕ29 (Note 2)Groundingterminal5.5

37

(50)

8011

8.122

613

5

(407

)11

4.1

M x 200200


162

K

C+/-0.02176 2-ϕ10H7: See detaild drawing of B section

Detail of section A

2-ϕ6H7 Depth6 78

133

63

120

(Bet

wee

n kn

ocks

+/-0

.02 )

8036

116

8(1

91)

275

115

33

MA

X. 1

100

120268

48

Detail of section


33

4.8

(ϕ10

H7)

(14.8)

A


25 35

7793

ϕ9.7 ϕ8.2ϕ7.6

Moving arm type Cable carrier



K 100 200 100 200 100 200 100 200 100 200 100

C 420 420 600 600 780 780 960 960 1140 1320 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18




X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

2 axes

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

347

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx 2 axes

HXYx 2 axes M3

MM

MM(Whe

n at

the

orig

in p

ositi

on)

5

Y st

roke

+ 3

65

202

Y st

roke

100X stroke 262+/-3

455

240

5

33

Note 1

32.5

Y st

roke

(157

.5+/

-3)

20

Detail of section B

2-ϕ6H7 Depth878

133



4.8

33

(ϕ10

H7)

(14.8)

5

(150)

97.5

L (X stroke + 417)3212561

(30)

120

(Bet

wee

n kn

ocks

+/-0

.02 )

125

35.5

202

(213

)

138 21

120

268

48

8036

116

8(1

91)

275

115

A

33

MA

X. 1

100

(M4)(50)

8011

8.1 22

613

5

ϕ29 (Note 2)Grounding terminal

37

5.5

(407

)

114.

1

K

162

N-ϕ9 through (B)95 72

200M x 200

C+/-0.02 176


90Cross-section of cable carrier

25 35

7793

ϕ9.7 ϕ8.2ϕ7.6

Detail of section A



K 100 200 100 200 100 200 100 200 100 200 100

C 420 420 600 600 780 780 960 960 1140 1320 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18




X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

348

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx


RCX340RCX240-R


Z stroke (mm)

Y stroke (mm) 250 350 450 550

250 18 18 18 18

350 18 18 18 18

450 18 18 18 18

550 18 17 16 15

650 18 17 16 15













nationX-axis stroke


stroke Cable


10L: 10m

HXYx 3 axes / ZH M1

MM

MM

X stroke252+/-3

35100

5

125

35.5

(213

)

(150)

97.5

L (X stroke + 417)32 12561

(30)

(77)

5

13821

Note 1

Y st

roke

+ (2

40.5

+/-3

)

1273

5

(Whe

n at

the

orig

in p

ositio

n)

Y st

roke

+ 3

6524

0

5

202

Y st

roke

90

(407

)

(50)

8011

8.1226

135

114.

1

C+/-0.02

K

162


200M x 200


(M4)

ϕ29 (Note 2)

37

5.5

Grounding terminal

33

4.8


(ϕ10

H7)

(14.8)

8036

1 168

(191

)27

5

33

MA

X. 1

700

120268

48

115

Note 1

Scr

ew h

eigh

t

124+

/-25

Z st

roke

Z st

roke

+ 3

64(2

.5)

5

77.5

83

100

16ZK

ZM x

200 20

014

310

055

130

5

ZN-M6 x 1.0Depth10

136 51


25 35

7793

ϕ9.7 ϕ10.1ϕ9.9

Detail of section B

Z-axis: clamped table / moving base type (200W) Moving arm type Cable carrier



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E







K 100 200 100 200 100 200 100 200 100 200 100

C 420 420 600 600 780 780 960 960 1140 1320 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 250 350 450 550 650

Z stroke 250 350 450 550

ZK 100 200 100 200

ZM 1 1 2 2




X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

3 axes / ZH

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100A

rm typ

eG

antry typeM

oving arm

typeP

ole typ

eX

Z type

349

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

350

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx Whipover





Axis construction Note 1 F14H F14-BK








Note 1. Use caution that the flame machining (installation holes, tap holes) differs from single-axis robots'. Note 2. Positioning repeatability in one direction.Note 3. Leads not listed in the catalog are also available. Contact us for details.Note 4. When the X-axis stroke is longer than 750mm, resonance of the ball screw may occur depending on the operation conditions (critical


SXYx S P1 RCX222Model Cable Combination X-axis strokeNote 1 Y-axis strokeNote 1 Cable Controller Usable for CE Input/Output


15 to 85cm 15 to 55cm 3L: 3.5m RCX222 No entry: Standard N: NPN Note 2 No entry: None5L: 5m E: CE marking P: PNP N1: OP.DIO24/16



YC: YC-Link Note 3

SXYx 2 axes P1

14.8

130

122.

5

N-M6 x 1.0 Depth10

N-ф7 through (C)

114KM x 200156

200

200

139KM x 200131

151


D +/-0.02

110

100

51

53 Note 2

23

34

2.3136(5.4)15

.585

136

ADetail of section A


110

135

8-M6 x 1.0 Depth8

2-ф6H7 Depth8

70 9032

4.5

7.2

2.8

6.5

Detail of section C


9

5.5

(ф10

H7)

(18.5)

Detail of section B

MM

MM

B

10325

7.5

42

X stroke

77.583

284+/-3

L (X stroke + 320)

83

242

173

Note 1

77.5

5 5

55

Y st

roke

230+

/-2

Y st

roke

+ 3

30

79

108

(50)

Note 1.The total of the X and Y strokes should be 1100mm or less.Note 2.NPN cannot be selected if using CE marking. Note 3.Available only for the master. See P.68 for details on YC-Link system.Note 4.Only when CC or DN or PB was selected for I/O select 1 above. EN can be selected in I/O select 2.



K 200 100 200 100 200 100 200 100

D 240 240 420 420 600 600 780 780

M 0 1 1 2 2 3 3 4

N 4 6 6 8 8 10 10 12

Y stroke Note 3 150 250 350 450 550 Note 3. The total of the X and Y strokes should be 1100mm or less.Note 4. When the X-axis stroke is longer than 750mm, resonance of the ball screw may occur depending on



X-axis 1200 960 780


2 axes

Pole type

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

351

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx Cable carrier





Axis construction Note 1 F17 F14H-BK










MXYx C P2 RCX222 RModel Cable Combination X-axis



25 to 125cm 15 to 65cm 3L: 3.5m RCX222 No entry: Standard R: RG2 N: NPN Note 1 No entry: None5L: 5m E: CE marking P: PNP N1: OP.DIO24/16




YC: YC-Link Note 2

MXYx 2 axes P2

(M4)

(179)

125 18.5

103.

580

5.5

Grounding terminal

168

136

37

ϕ29(Note 2)

A

13810

240+

/-2Y

stro

ke

Y st

roke

+ 3

5018

0

55

(50)

179+/-3 X stroke

126.583

77.5

15

97.5

126

55Note 1

M x 200

N-ϕ9 through (B)

75K

132

40

200

2-ϕ10H7 Depth16C +/-0.02166.5

L (X stroke + 365) (200)

(345

)


8-M6 x 1.0 Depth8

70

110

124

140

2-ϕ6H7 Depth8

135

100

8.5

299

125

174

Detail of section A

Detail of section B


26.5

MM

MM


25 35

7793

ϕ9.7 ϕ8.2ϕ7.6



K 100 200 100 200 100 200 100 200 100 200 100

C 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18




X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

2 axes

Pole type

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

352

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx




150 to 650 20

X-axis Y-axis











MXYx S P1 RCX222 RModel Cable Combination X-axis stroke Note 1 Y-axis strokeNote 1 Cable Controller Usable for CE Regeneratine unit Input/Output


25 to 95cm 15 to 65cm 3L: 3.5m RCX222 No entry: Standard R: RG2 N: NPN Note 2 No entry: None5L: 5m E: CE marking P: PNP N1: OP.DIO24/16


(PNP)Note 1. The total of the X and Y strokes should be 1100mm or less.Note 2. NPN cannot be selected if using CE marking. Note 3. Available only for the master. See P.68 for details on YC-Link system.Note 4. Only when CC or DN or PB was selected for I/O select 1 above. EN can be selected in I/O select 2.


YC: YC-Link Note 3

MXYx 2 axes P1

(50) 138

299

180

Y st

roke

+ 3

80

5

83301+/-3 X stroke

L (X stroke + 365)

270+

/-2

77.515

10

Y st

roke

5

Note 15 5

(M4)

ϕ29 (Note 2)

103.

5

18.5

Grounding terminal

37

80

125

5.5

168

200

40

132

K 75

N-ϕ9 through (B)

M x 200

166.5 C+/-0.02

2-ϕ10H7 Depth16

97.5


8-M x 1.0 Depth8

70

110

124

140

2-ϕ6H7 Depth8

135

174

100

(179)

136

A

Detail of section B

26.5


Detail of section A

MM

MM

Whipover Pole type


Note 2. User cable extraction port.L 615 715 815 915 1015 1115 1215 1315

K 100 200 100 200 100 200 100 200

C 240 420 600 600 780 780 960 960

M 2 2 3 3 4 4 5 5

N 8 8 10 10 12 12 14 14

Y stroke Note 3 150 250 350 450 550 650 Note 3. The total of the X and Y strokes should be 1100mm or less.Note 4. When the X-axis stroke is longer than 850mm, resonance of the ball screw may occur depending on



X-axis 1200 960 840


2 axes

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

353

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx


RCX340RCX240-R


Z stroke (mm)

Y stroke (mm) 150 250 350

150 to 650 10 9 8


Axis construction Note 1 F17 F14H-BKF10-BK equivalent









Note. The standard types are ZPMH with higher rigidity as compared with ZPM types which are conventional standard types. When you need the ZPM type, please consult YAMAHA.



MXYx 3 axes / ZPMHL P2

23.5

49.5

1002-ϕ4H7 Depth64-M5 x 0.8 through(Board thickness 10)

52

Detail of section ADetail of section B

(Bet

ween

kn

ocks

+/-0

.02)26.5


75 100

(50)68719.5 12

8377.5

15126.5

40 10

132

24

(38) (76)

136

20Z stroke + 380

109

102

110+/-3 Z stroke80

5 5145 (30)

(M4)

(179)

125 18.55.5

168ϕ29(Note 2)

Grounding terminal

103.

580

37

139

Note 1

300

13810

240+

/-2

Y st

roke

+ 3

5018

0

97.5

Note 1

5 5

X stroke

55

Y st

roke

136+/-3

MA

X. 1

300

100

L (X stroke + 365) (200)

(345

)

299

174

48

12559.5


75K40200

132

166.5 C+/-0.022-ϕ10H7 Depth16

A

Top view of ZPMHR14

5X

stro

ke +

380

110+

/-3

(76)(38)

Y-axisX-axis

689.5 71 12

20

40

MM

MM

MM

MM


25 35

7793

ϕ9.7 ϕ10.1ϕ9.9

Cable carrier Pole type Z-axis: Clamped table / moving base type (200W) for Pole type

MXYx C P2Model Cable Combi-

nationX-axis stroke


stroke Cable

25 to 125cm 15 to 65cm ZPMHL 15 to 35cm 3L: 3.5m ZPMHR 5L: 5m

10L: 10m



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E






Note 2. User cable extraction port.Note 3. This figure shows the combination for ZPMHL. For the combination for

ZPMHR, see the top view in the figure.

L 615 715 815 915 1015 1115 1215 1315 1415 1515 1615

K 100 200 100 200 100 200 100 200 100 200 100

C 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 150 250 350 450 550 650




X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

3 axes / ZPMH

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

354

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx




250 to 1050 30

X-axis Y-axis

Axis construction Note 1 F20 F20-BK










HXYx C P2 RCX222HP RModel Cable Combination X-axis



25 to 125cm 25 to 105cm 3L: 3.5m RCX222HP No entry: Standard R: RG2 N: NPN Note 1 No entry: None5L: 5m E: CE marking P: PNP N1: OP.DIO24/16




YC: YC-Link Note 2

HXYx 2 axes P2

MM

MM

(M4)

118.

180

37

(213)202

35.5125

5.5

202

Grounding terminal

ϕ29 (Note 2)

Y st

roke

+ 4

47

114.

130

2+/-2

Y st

roke

55

180

A

126

Note 1

(50)

114.1

115

55

20X stroke182+/-3

126.5

21

K

162


200M x 200

L (X stroke + 417)

138

(250)

C+/-0.021762-ϕ10H7: See detaild drawing of B section

41.5 125

8036

1

115

Detail of section B

Detail of section A

180

2-ϕ8H7 Depth10


160

4-M8 x 1.25 Depth30


4.8

(ϕ10

H7)

(14.8)


25 35

7793

ϕ9.7 ϕ8.2ϕ7.6

Cable carrier Pole type



K 100 200 100 200 100 200 100 200 100 200 100

C 420 420 600 600 780 708 960 960 1140 1320 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke 250 350 450 550 650 750 850 950 1050


(mm/sec) Note 3


Y-axis 600 480 420 360

Speed setting – 80% 70% 60% 50% 40%

2 axes

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

355

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx




250 to 850 30

X-axis Y-axis











HXYx S P1 RCX222HP RModel Cable Combination X-axis stroke Note 1 Y-axis stroke Note 1 Cable Controller Usable for CE Regeneratine unit Input/Output


25 to 85cm 25 to 85cm 3L: 3.5m RCX222HP No entry: Standard R: RG2 N: NPN Note 2 No entry: None5L: 5m E: CE marking P: PNP N1: OP.DIO24/16


(PNP)Note 1. The total of the X and Y strokes should be 1100mm or less.Note 2. NPN cannot be selected if using CE marking. Note 3. Available only for the master. See P.68 for details on YC-Link system.Note 4. Only when CC or DN or PB was selected for I/O select 1 above. EN can be selected in I/O select 2.


YC: YC-Link Note 3

HXYx 2 axes P1

MM

MM

(M4)

Y st

roke

+ 4

77

114.

133

2+/-2

Y st

roke

55

180

(50)

114.1

11520

X stroke

Grounding terminal

ϕ29 (Note 2)

362+/-3

(30)

118.

180

37

202

125

5.5

(213)

35.5

Note 1

55

L (X stroke + 417)21 138

K

162


200

M x 200


A

202

115

Detail of section A

180

2-ϕ8H7 Depth10


160

4-M8 x 1.25 Depth30

Detail of section B

33


4.8

(ϕ10

H7)

(14.8)

Whipover Pole type

X stroke Note 3 250 350 450 550 650 750 850 Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper.Note 2. User cable extraction port.

L 667 767 867 967 1067 1167 1267

K 100 200 100 200 100 200 100

C 420 420 600 600 780 780 960

M 2 2 3 3 4 4 5

N 8 8 10 10 12 12 14

Y stroke Note 3 250 350 450 550 650 750 850Note 3. The total of the X and Y strokes should be 1100mm or less.Note 4. When the X-axis/Y-axis stroke is longer than 850mm, resonance of the ball screw may occur depending on



(mm/sec) Note 4

X-axis 1200 960

Y-axis 600 480

Speed setting – 80%

2 axes

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

356

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx


RCX340RCX240-R


Z stroke (mm)


250 to 950 15


Axis construction Note 1 F20 F20-BK F14H










HXYx C P2Model Cable Combi-


25 to 125cm 25 to 95cm ZPHL 25 to 65cm 3L: 3.5m ZPHR 5L: 5m

10L: 10m

HXYx 3 axes / ZPHL P2

m

MM

MM

MM


(Bet

wee

n kn

ocks

+/-0

.02 )

2-ϕ6H7 Depth6

60 110

70

130

100

32

44

50


27


4.8

(ϕ10

H7)

(14.8)

(M4)

118.

180

37

(213)202

35.51255.5

202

139

90Z stroke140+/-3

30Z stroke +320

5

(25)

5

Note 1

80

136

MA

X. 1

800

350

ϕ29(Note 2) Grounding terminal

(30)

61 77.5

10

13213

8320

40115

20

114.1126.5

Y st

roke

+ 4

47

21

114.

130

2+/-2

Y st

roke

55

180

Note 1

55

X stroke

138

119+/-3

A

KN-ϕ9 through (B)

9572200

M x 200

L (X stroke + 417) (250)

162


Y-axisX-axis

Top view of ZPHR

61 77.5

10 83 2040

140+

/-330

Z st

roke

+ 3

20

361

115

48

59.5125


25 35

7793

ϕ9.7 ϕ10.1ϕ9.9

Cable carrier Pole type



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E




Specify various controller setting items. RCX240/RCX240S P.534 Specify various controller setting items. RCX240/RCX240S P.534 Note 1. The total of the Y and Z strokes should be 1200mm or less.

X stroke Note 4 250 350 450 550 650 750 850 950 1050 1150 1250 Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper.

Note 2. User cable extraction port.Note 3. This figure shows the combination for ZPHL. For the combination for ZPHR,

see the top view in the figure.

L 667 767 867 967 1067 1167 1267 1367 1467 1567 1667

K 100 200 100 200 100 200 100 200 100 200 100

C 420 420 600 600 780 780 960 960 1140 1320 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Y stroke Note 4 250 350 450 550 650 750 850 950

Z stroke 250 350 450 550 650 Note 4. The total of the Y and Z strokes should be 1200mm or less.Note 5. When the X-axis/Y-axis stroke is longer than 850mm, resonance of the ball



(mm/sec) Note 5

X-axis 1200 960 840 720 600 480

Y-axis 600 480 420

Speed setting – 80% 70% 60% 50% 40%

3 axes / ZPH

Z-axis: Clamped table / moving base type (200W) for Pole type

Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

357

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx


RCX340RCX240-R


Z stroke (mm)


250 to 850 15


Axis construction Note 1 F20 F20-BK F14H










HXYx S P1Model Cable Combi-


25 to 85cm 25 to 85cm ZPHL 25 to 65cm 3L: 3.5m ZPHR 5L: 5m

10L: 10m

HXYx 3 axes / ZPHL P1

MM

MM

MM

MM

Detail of section A

(Bet

wee

n kn

ocks

+/-0

.02 )

2-ϕ6H7 Depth6

60 110

70

130

100

32

44

50


27

Detail of section B


4.8

(ϕ10

H7)

(14.8)

(M4)

118.

180

37


20235.5125

5.5

(213)

20114.1

108320

40115

10

(50)

(30)

6177.5

Y st

roke

+ 4

7711

4.1

332+

/-2Y

stro

ke 55

180

Note 1

55

X stroke425+/-3132

6

KN-ϕ9 through (B)

9572200

M x 200

L (X stroke + 417)21 138

162

C+/-0.02176

202

115

90Z stroke140+/-3

30(25)

Note 1

136

5 5225

80

139

4020 83 10Y-axis

X-axis

Top view of ZPHR

77.5 61

140+

/-3

30Z

stro

ke +

320

A

Z stroke + 320


Whipover Pole type Z-axis: Clamped table / moving base type (200W) for Pole type



standardOption A

(OP.A)Option B

(OP.B) Option C

(OP.C)Option D

(OP.D)Option E




Specify various controller setting items. RCX240/RCX240S P.534 Specify various controller setting items. RCX240/RCX240S P.534 Note 1. The total of the X and Y strokes should be 1100mm or less and that of the Y and Z strokes should be 1200mm or less.

X stroke Note 4 250 350 450 550 650 750 850 Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper.Note 2. User cable extraction port.Note 3. This figure shows the combination for ZPHL. For the combination for ZPHR, see the top view in the figure.L 667 767 867 967 1067 1167 1267

K 100 200 100 200 100 200 100

D 420 420 600 600 780 780 960

M 2 2 3 3 4 4 5

N 8 8 10 10 12 12 14

Y stroke Note 4 250 350 450 550 650 750 850

Z stroke 250 350 450 550 650 Note 4. The total of the X and Y strokes should be 1100mm or less and that of the Y and Z strokes should be 1200mm or less.

Note 5. When the X-axis/Y-axis stroke is longer than 850mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left.


(mm/sec) Note 5

X-axis 1200 960

Y-axis 600 480

Speed setting – 80%

3 axes / ZPH

Ordering method

Specification

Controller


Articulate

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TRAN

SERVOS

ing

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FLIP-X

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sing

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xis rob

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PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

358

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx



Z stroke (mm)

X stroke (mm) 150 to 350

150 to 1050 10

X-axis Z-axis











SXYx C ZF RCX222Model Cable Combination X-axis

stroke ZR-axis Z-axis stroke Cable Controller Usable for CE Input/Output


F1 15 to 105cm 15 to 35cm 3L: 3.5m RCX222 No entry: Standard N: NPN Note 1 No entry: NoneF3 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16


(PNP)Note 1. NPN cannot be selected if using CE marking. Note 2. Available only for the master. See P.68 for details on YC-Link system.


Note 3. Only when CC or DN or PB was selected for I/O select 1 above. EN can be selected in I/O select 2. YC: YC-Link Note 2

SXYx 2 axes / ZF F1

122.

5 54

(35)

33115

77.5

Detail of section A

2-ϕ5H7 Depth15

4-M5 x 0.8 Depth12

70

100

110

86

Detail of section B


9

5.5

(ϕ10

H7)

(18.5)

2-ϕ10H7See detaild drawing of B section125

105 100

200

200

M x 20080 K

100

N-ϕ7 through (B)

N-M6 x 1.0 Depth10

K M x 200

110

126C +/-0.02

4.5

68

65

71

190

123.5

79

83

5

X stroke170+/-3


Z st

roke

+ 2

90

132.

5

5

102

109

512

7

Z st

roke

195+

/-2

5

130(50) Note 1

(236

)

136

79

35.5

A

Note 2

53

2351


MM

MM


3525

5773

ϕ9.7 ϕ8.2ϕ7.6

Cable carrier XZ type



K 200 100 200 100 200 100 200 100 200 100

C 240 240 420 420 600 600 780 780 960 960

M 0 1 1 2 2 3 3 4 4 5

N 4 6 6 8 8 10 10 12 12 14




X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

2 axes / ZF


Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

359

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx



Z stroke (mm)


150 to 850 10

X-axis Z-axis











SXYx S ZF RCX222Model Cable Combination X-axis



F1 15 to 85cm 15 to 35cm 3L: 3.5m RCX222 No entry: Standard N: NPN Note 1 No entry: NoneF3 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16





SXYx 2 axes / ZF F1

122.

5 54

(35)

5123

53 35.5

Note 2


110

2ϕ5H7 Depth15

4-M5 x 0.8 Depth12 Use M6 x 1.0 hex socket head bolt with length head bolt with length (under head) of 20mm or more.

5.5

(18.5)

70

100

86

9(ϕ

10H

7)

(6.5) 65 (40)

187

55

Z st

roke

+ 3

50

Z st

roke

255+

/-2

5

X stroke170+/-3


5

102

Note 1

109

130(50)

15

132.

5 136

79

60.5

ϕ37

MA

X. 1

000

A

68

71 83

77.5

4.5


105 100

200

200

M x 20080 K

100

N-ϕ7 through (B)

N-M6 x 1.0Depth10

K M x 200

110

126C+/-0.02


MM

MM

Whipover XZ type



K 200 100 200 100 200 100 200 100

C 240 240 420 420 600 600 780 780

M 0 1 1 2 2 3 3 4

N 4 6 6 8 8 10 10 12

Z stroke 150 250 350



X-axis 1200 960 780


2 axes / ZF


Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

360

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx



Z stroke (mm)


150 to 1050 8

X-axis Z-axis

Axis construction Note 1 F14F10-BK equivalent











SXYx C ZFL20 RCX222 RModel Cable Combination X-axis

stroke ZR-axis Z-axis stroke Cable Controller Usable for CE Regeneratine



F1 15 to 105cm 15 to 35cm 3L: 3.5m RCX222 No entry: Standard R: RG2 N: NPN Note 2 No entry: NoneF3 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16


(PNP)Note 1. DRCX0510 uses the RGU-2 regenerative unit. The RCX222 uses the RG2.Note 2. NPN cannot be selected if using CE marking.




SXYx 2 axes / ZFL20 F1

23

53

Note 2

54

122.

5(3

5)

35.5

51

130

X stroke170+/-3


(50)

(236

)

5

136

79

1025

139.

5

Z st

roke

+ 3

85

248+

/-2145

55

Z st

roke

Note 1

A109

33115

77.5

100

110

68

71

190

123.5

79

83

(76)

70

2-ϕ5H7 Depth15

8

6-M5 x 0.8 Depth12

110

100

7015

6

4370

+/-0

.02



5.5

(ϕ10

H7)

(18.5)

9

125

105

200

200

M x 20080 K

N-ϕ7 through (B)

N-M6 x 1.0Depth10

K M x 200 100

126C+/-0.02



MM

MM


3525

5773

ϕ9.7 ϕ8.2ϕ7.6




K 200 100 200 100 200 100 200 100 200 100

C 240 240 420 420 600 600 780 780 960 960

M 0 1 1 2 2 3 3 4 4 5

N 4 6 6 8 8 10 10 12 12 14




X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

2 axes / ZFL20


Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

361

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYx




150 to 1050 3 5X-axis Z-axis: ZS12 Z-axis: ZS6

Axis construction Note 1 F14 –





Maximum speed Note 4

(mm/sec)

During RCX240 use 1200 1000 500

During DRCX use 1200 900 450

Moving range (mm) 150 to 1050 150




SXYx C 15 RCX222Model Cable Combination X-axis



F1 15 to 105cm ZS12 3L: 3.5m RCX222 No entry: Standard N: NPN Note 1 No entry: NoneF3 ZS6 5L: 5m E: CE marking P: PNP N1: OP.DIO24/16





SXYx 2 axes / ZS F1

Note 2

2351

35.553

122.

5 54

(35)


Depth15

ϕ12 0-0.018

3641

ϕ5

M8 x 1.25 Use M6 x 1.0 hex socket head bolt with length head bolt with length (under head) of 20mm or more.

9

5.5

(ϕ10

H7)

(18.5)

7913

6

5

176

(50)

25 L (X stroke + 255)

170+/-3 X stroke

5

130

6

100+

/-2Z

stro

ke

6

115

Note 1

40

300

72

(236

)

83110

233

122.5

53 34

29

23

7919

0

51

Note 2

67.5

101

299

67

A


105 100

200

200

M x 20080 K

100

N-ϕ7 through (B)

N-M6 x 1.0Depth10

K M x 200

110

126C+/-0.02

77.5

MMMM


3525

5773

ϕ9.7 ϕ8.2ϕ7.6




K 200 100 200 100 200 100 200 100 200 100

C 240 240 420 420 600 600 780 780 960 960

M 0 1 1 2 2 3 3 4 4 5

N 4 6 6 8 8 10 10 12 12 14




X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

2 axes / ZS

Z-axis shaft vertical type

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

362

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYBx


RCX222 Programming / I/O point trace /Remote command / Operation using RS-232C communication

Note. A regenerative unit is required when the maximum speed exceeds 1250mm/sec.

Z stroke (mm)


150 to 3050 10

X-axis Z-axis

Axis construction Note 1 B14H F10-BK



Drive system Timing belt Ball screw (Class C7)

Ball screw lead Note 3 (Deceleration ratio) (mm) Equivalent to lead 25 10





SXYBx C ZF RCX222Model Cable Combination X-axis




F1 15 to 305cm 15 to 35cm 3L: 3.5m RCX222 No entry: Standard No entry: None N: NPN Note 2 No entry: NoneF3 5L: 5m E: CE marking R: RG2 P: PNP N1: OP.DIO24/16

(NPN) Note 210L: 10m CC: CC-Link

Note 1. Regenerative unit RG2 is required when the maximum speed on the RCX222 exceeds 1250mm/sec. Note 2. NPN cannot be selected if using CE marking. Note 3. Available only for the master. See P.68 for details on YC-Link system.Note 4. Only when CC or DN or PB was selected for I/O select 1 above. EN can be selected in I/O select 2.

DN: DeviceNetTM P1: OP.DIO24/17 (PNP)PB: PROFIBUS


YC: YC-Link Note 3

SXYBx 2 axes / ZF F1

115 38

34

122.5

87

23

79

53Note 2

58.5

51

178

16711

92

195

109

Z st

roke

+ 2

90

102

Z st

roke

136

(168

)

144.

5

55

X stroke

152

12.5 12.5

A

195+

/-2

235+/-3

L (X stroke + 388)

130

1.5 78

Note 1

Detail of section A

100

4-M5 x 0.8 Depth12

110

2-ϕ5H7 Depth15

68

94

4.565133

71

90.5

127

190

7970 86


MM


3525

5773

ϕ9.7 ϕ8.2ϕ7.6

S

S


Grounding terminal (M4)

73

85 108

100

KM×200

200

100

N-M6×1.0 Depth 1040.5

85 C+/-0.02 D+/-0.02 F-ϕ10H7: See the cross-sectional drawing of S-S.E+/-0.02

5.5(ϕ

10H

7)

18.5


Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper. Note 2. The shaded position indicates an user cable extraction port.Note 3. LU specification should be used for installation of the X axis motor.

X stroke 150 250 350 450 550 650 750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450 2550 2650 2750 2850 2950 3050

L 538 638 738 838 938 1038 1138 1238 1338 1438 1538 1638 1738 1838 1938 2038 2138 2238 2338 2438 2538 2638 2738 2838 2938 3038 3138 3238 3338 3438

K - 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100

C 240 420 420 600 600 780 780 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140

D - - - - - - - - - - - 240 240 420 600 600 780 780 960 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140

E - - - - - - - - - - - - - - - - - - - - - - 240 240 420 420 600 600 780 960

F 2 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4

M 1 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15

N 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36

Z stroke 150 250 350

2 axes / ZF


Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

363

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


SXYBx



Z stroke (mm)


150 to 3050 8

X-axis Z-axis

Axis construction Note 1 B14HF10-BK equivalent




Drive system Timing belt Ball screw (Class C7)

Ball screw lead Note 3 (Deceleration ratio) (mm) Equivalent to lead 25 20





SXYBx C ZFL20 RCX222 RModel Cable Combination X-axis








YC: YC-Link Note 2

SXYBx 2 axes / ZFL20 F1

115 38

58.5

34

122.5

23

53Note 2

178

16711

92

195

87

5179

55

X stroke12.5 12.5

235+/-3L (X stroke + 388)

145

248+

/-2Z

stro

ke

Z st

roke

+ 3

85

102

151.

5

152130

1.5

(168

)13

6

Note 1

78

A

109

68

94

133

71

90.5

190

79

(76)

70

43

100110

6-M5 x 0.8 Depth12

8

2-ϕ5H7Depth15

7015

6

70+/

-0.0

2

Detail of section A


MM


35255773

ϕ9.7 ϕ8.2ϕ7.6

S

S


Grounding terminal (M4)

73

85 108

100

KM×200

200

100

N-M6×1.0 Depth 1040.5

85 C+/-0.02 D+/-0.02 F-ϕ10H7: See the cross-sectional drawing of S-S.E+/-0.02

5.5

(ϕ10

H7)

18.5


Note 1. The moving range when returning to origin and the stop position when stopping by the mechanical stopper. Note 2. The shaded position indicates an user cable extraction port.Note 3. LU specification should be used for installation of the X axis motor.

X stroke 150 250 350 450 550 650 750 850 950 1050 1150 1250 1350 1450 1550 1650 1750 1850 1950 2050 2150 2250 2350 2450 2550 2650 2750 2850 2950 3050

L 538 638 738 838 938 1038 1138 1238 1338 1438 1538 1638 1738 1838 1938 2038 2138 2238 2338 2438 2538 2638 2738 2838 2938 3038 3138 3238 3338 3438

K - 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100 200 100

C 240 420 420 600 600 780 780 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140

D - - - - - - - - - - - 240 240 420 600 600 780 780 960 960 1140 1140 1140 1140 1140 1140 1140 1140 1140 1140

E - - - - - - - - - - - - - - - - - - - - - - 240 240 420 420 600 600 780 960

F 2 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4

M 1 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15

N 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30 30 32 32 34 34 36

Z stroke 150 250 350

2 axes / ZFL20


Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

364

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx



Z stroke (mm)


150 to 1050 15

X-axis Z-axis

Axis construction Note 1 F14HF10-BK equivalent











MXYx C ZFL10 RCX222 RModel Cable Combination X-axis








YC: YC-Link Note 2

MXYx 2 axes / ZFL10 F1

54

122.

5

33115

77.5

(35)

5123

53

Note 2

35.5

130(50)

(236

)

15

136

79

139.

5

X stroke210+/-3

L (X stroke + 320)

5102

5

Z st

roke

+ 3

85

248+

/-2145

55

Z st

roke

A109

Note 1

68

71

190

123.5

79

83

(76)

138

157

200

200

M x 200132 K

100

N-ϕ7 through (B)

N-M6 x 1.0Depth10

K M x 200

110

113

151C+/-0.02


Detail of section A

70

2-ϕ5H7Depth15

8

6-M5 x 0.8 Depth12

110

100

43

7015

6

70+/

-0.0

2

Detail of section B


9

5.5

(ϕ10

H7)

(18.5)


MM

MM

Cross-section of cable carrier3525

5773

ϕ9.7 ϕ8.2ϕ7.6




K 200 100 200 100 200 100 200 100 200 100

C 240 240 420 420 600 600 780 960 960 1140

M 0 1 1 2 2 3 3 4 4 5

N 4 6 6 8 8 10 10 12 12 14




X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

2 axes / ZFL10


Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

365

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


MXYx



Z stroke (mm)

X stroke (mm) 150 250 350

150 to 1050 14 13 12

X-axis Z-axis

Axis construction Note 1 F14HF10-BK equivalent











MXYx C ZFH RCX222 RModel Cable Combination X-axis






(PNP)PB: PROFIBUSNote 1.NPN cannot be selected if using CE marking. Note 2. Available only for the master. See P.68 for details on YC-Link system.Note 3.Only when CC or DN or PB was selected for I/O select 1 above. EN can be selected in I/O select 2.


YC: YC-Link Note 2

MXYx 2 axes / ZFH F1

54

122.

5(3

5)

77.5

115 33

5123

53

Note 2

35.5130(50)

15

210+/-3

L (X stroke +320)

Note 1 5 55

X stroke102

145

76

(236

)5

Z st

roke

+ 3

85Z

stro

ke

130

139.

5+/-2

(111) 109

86

A

136

79



9

5.5

(ϕ10

H7)

(18.5)4-M5 x 0.8 Depth9

2-ϕ5H7 Depth811

262

100


110

71

26

7919

0

(152)

68

20

123.5

83

138

157

200

200

M x 200132 K

100

N-ϕ7 through (B)

N-M6 x 1.0Depth10

K M x 200 113

151C+/-0.02


MM

MM


3525 35255773

5773

ϕ9.7 ϕ8.2ϕ7.6

ϕ8.2ϕ7.6

XZ Z

Z

XZ




K 200 100 200 100 200 100 200 100 200 100

C 240 240 420 420 600 600 780 960 960 1140

M 0 1 1 2 2 3 3 4 4 5

N 4 6 6 8 8 10 10 12 12 14




X-axis 1200 960 780 600 540

Speed setting – 80% 65% 50% 45%

2 axes / ZFH

Z-axis: clamped table / moving base type (200W)

Ordering method

Specification

Controller


Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts Y

P-XC

LEAN

CON

TROLLER

INFORM

ATION

Lin

ea

r convey o

r m

od

ule

s

LCM

100

366

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx



Z stroke (mm)


250 to 1250 20

X-axis Z-axis











HXYx C ZL RCX222 RModel Cable Combination X-axis








YC: YC-Link Note 2

HXYx 2 axes / ZL F1

MMMM

MM

M x 200

N-ϕ9 through (B)

75 K

132

40

200

166.5C+/-0.02

2-ϕ10H7 Depth16


1358-M6 x 1.0 Depth8

140

110

124

70

2-ϕ6H7 Depth8

26.5


(M4)

10

5.5

125

8021

4

77.5

83

20100

ϕ29 (Note 2)

37

Grounding terminal

(50)

55

148

Z st

roke

X stroke

Z st

roke

+ 3

50

168

80

97.5

136

240+

/-2

(176

)

125

5

159

5

4

157

240+/-3

L (X stroke + 365)

182 9

Note 1

ACross-section of cable carrier

3525

5773

ϕ9.7 ϕ8.2ϕ7.6





K 100 200 100 200 100 200 100 200 100 200 100

C 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18




X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

2 axes / ZL


Ordering method


Controller

Articulate

d rob

ots

YA

Co

mp

act

sing

le-a

xis rob

ots

TRAN

SERVOS

ing

le-a

xis rob

ots

FLIP-X

Lin

ea

r mo

tor

sing

le-a

xis rob

ots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-X

Pick &

pla

cero

bo

ts YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

Lin

ea

r convey o

r m

od

ule

s

LCM

100

367

Arm

type

Gantry type

Moving arm

type

Po

le type

XZ

type


HXYx



Z stroke (mm)


250 to 1250 30

X-axis Z-axis











HXYx C ZH RCX222 RModel Cable Combination X-axis








YC: YC-Link Note 2

HXYx 2 axes / ZH F1

MM

MM

MM

(Scr

ew h

eigh

t)

268

106

148

136

97

120

5 5

X stroke159240+/-3

L (X stroke + 365) (120)

Note 1

168

80

124+

/-2(176

)

Z st

roke

+ 3

64Z

stro

ke5

5

48

(150

)5515

0

77.5

(2.5

)

7(148)

60


75 K

132

40200

166.5C+/-0.022-ϕ10H7 Depth16


26.5

(M4)

ϕ29 (Note 2)

125

8021

4

Grounding terminal

37

5.5

A

100 8320

10

VIEW A

ZN-M6 x 1.0 Depth10 100

1655

ZKZM

x 2

00 200

143

(50) 97.5

100

412

5


3525 3525

5773

5773

ϕ9.7 ϕ8.2ϕ7.6

ϕ8.2ϕ7.6

XZ

XZ

Detail of section B

Z

Z




K 100 200 100 200 100 200 100 200 100 200 100

C 240 420 600 600 780 780 960 960 1140 1140 1320

M 2 2 3 3 4 4 5 5 6 6 7

N 8 8 10 10 12 12 14 14 16 16 18

Z stroke 250 350 450 550

ZK 100 200 100 200

ZM 1 1 2 2




X-axis 1200 960 840 720 600 480

Speed setting – 80% 70% 60% 50% 40%

2 axes / ZH

Z-axis: clamped table / moving base type (200W)

Ordering method

Specification

Controller


CARTESIAN ROBOTS - Yamaha Motor Company...Pic place robots YP-X CEAN CONTROLLER INFRMATION XZ type...

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Transcript of CARTESIAN ROBOTS - Yamaha Motor Company...Pic place robots YP-X CEAN CONTROLLER INFRMATION XZ type...