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Yamaha YK120X Manual Do Utilizador

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7-1
CHAPTER 7 Specifications
1
Manipulator
1-1
Basic specification
YK120X
69.5mm
±113°
50.5mm
±139°
30mm
±360°
15W
13W
13W
13W
1.8m/s
0.7m/s
1700
°/s
±0.005mm
±0.01mm
±0.006°
3kg
3.1kg
3kg
3.1kg
7kg
–
–
Class 10 (0.1
∫ level during suction)
25N
 /min
–
–
YK150X
99.5mm
±113°
50.5mm
±139°
30mm
±360°
15W
13W
13W
13W
2.1m/s
0.7m/s
1700
°/s
±0.005mm
±0.01mm
±0.006°
YK120XC
69.5mm
±113°
50.5mm
±139°
30mm
±360°
15W
13W
13W
13W
1.8m/s
0.5m/s
1700
°/s
±0.01mm
±0.01mm
±0.006°
YK150XC
99.5mm
±113°
50.5mm
±139°
30mm
±360°
15W
13W
13W
13W
2.1m/s
0.5m/s
1700
°/s
±0.01mm
±0.01mm
±0.006°
YK180X
71mm
±120°
109mm
±140°
100mm
±360°
50W
30W
30W
30W
3.3m/s
0.7m/s
1700
°/s
±0.01mm
±0.01mm
±0.01°
YK220X
111mm
±120°
109mm
±140°
100mm
±360°
50W
30W
30W
30W
3.4m/s
0.7m/s
1700
°/s
±0.01mm
±0.01mm
±0.01°
Arm length
Rotation angle
Arm length
Rotation angle
Stroke
Rotation angle
X-axis
Y-axis
Z-axis
R-axis
XY resultant
Z-axis
R-axis
XY-axes
Z-axis
R-axis
X-axis
Y-axis
Z-axis
R-axis
Axis 
specifi-
cations
Motor 
Maximum speed
Repeatability *1
Payload
R-axis tolerable moment of inertia *2
User wiring
User tubing
Travel limit
Robot cable
Weight
Degree of cleanliness
Suction amount
0.5kg
0.002kgm
2
 (0.02kgfcms
2
)
1.0kg
0.0098kgm
2
 (0.1kgfcms
2
)
6 cables
φ3×2
1.Soft limit  2.Mechanical limit (XYZ-axes)
3.5m (option: 5m, 10m)
Robot model
*1  At constant ambient temperature, measured when the robot arm was moved 
7 times in the same direction. 
 
Repeatable positioning accuracy =  
±  
 | Maximum value 
2
– Minimum value
 | 
*2 There are limits to acceleration coefficient settings.