Yamaha Yk400xh SCARA 4-Axis Robot
Axis Specifications:
- X-axis: Arm length of 225mm, rotation angle of +/-115 degrees, AC
servo motor output of 200W, speed reducer using a harmonic drive,
motor to speed reducer transmission is direct-coupled,
repeatability of +/-0.01mm, maximum speed of 6m/sec, maximum
payload of 3kg, and a standard cycle time of 0.49 seconds with a
2kg payload.
- Y-axis: Arm length of 175mm, rotation angle of +/-140 degrees, AC
servo motor output of 100W, speed reducer using a harmonic drive,
motor to speed reducer transmission using a timing belt,
repeatability of +/-0.01mm, maximum speed of 1.0m/sec, maximum
payload of 3kg, and a standard cycle time of 0.49 seconds with a
2kg payload.
- Z-axis: Arm length of 150mm, no specified rotation angle, AC servo
motor output of 100W, speed reducer using a ball screw, motor to
speed reducer transmission using a timing belt, repeatability of
+/-0.01mm, maximum speed of 1020 degrees/sec, maximum payload of
3kg, and a standard cycle time of 0.49 seconds with a 2kg payload.
- R-axis: No specified arm length, rotation angle of +/-360 degrees,
AC servo motor output of 100W, speed reducer using a harmonic
drive, motor to speed reducer transmission is direct-coupled,
repeatability of +/-0.005 degrees, maximum speed of 1.0m/sec,
maximum payload of 3kg, and a standard cycle time of 0.49 seconds
with a 2kg payload. It also mentions a tolerable moment of inertia
of 0.05 kgm^2 for the R-axis.
Other Specifications:
- Deceleration Mechanism: The X-axis and Y-axis use a speed reducer
based on a harmonic drive, while the Z-axis uses a ball screw.
- Transmission Method: The X-axis and Z-axis have a direct-coupled
transmission from the motor to the speed reducer, while the Y-axis
uses a timing belt transmission.
- Repeatability: The repeatability for all axes is specified as
+/-0.01mm, except for the R-axis, which is specified as +/-0.005
degrees.
- User Wiring: The specification mentions a user wiring size of 0.2
sq × 10 wires.
- User Tubing: The specification mentions a user tubing size of ϕ4 ×
3 (outer diameter).
- Travel Limit: The X, Y, and Z axes have soft limits and mechanical
stoppers to define their travel limits.
- Robot Cable Length: The standard robot cable length is 3.5 meters.
