Ypx Catalog

028

YP-XSeries

Product Lineup / Selection Guide

Ideal for high-speed pick & place tasks using small parts!Positioning is by servo control so no complex mechanical adjustments are needed!

This is why the YP-X is terrifi c!

2 axes 3 axes 4 axes

YP220BX / YP320X YP220BRX / YP320XR / YP330X YP340X

PICK & PLACE ROBOTS

1 High speed

Super high speed pick & place operation at 0.45sec cycle time as standard contributes largely to higher productivity (YP220BX under operation conditions of 50mm in vertical direction, 150mm in longitudinal direction, 50 in arch volume and 1kg load). As it is possible to output a signal to turn ON/OFF any external equipment from any position while the axis is moving, the actual production cycle time is further reduced.

2 Compact size

Designed as compact as 109mm in width (YP220BX), it is possible to make the production line small and simple. The moving arm structure with less interference area in periphery contributes to saving space.

Reference exampleof comparison of

robot layouts

Comparison of space occupied by the YP X series and by our small sized robots of Cartesian robot and SCARA robot allows you to confirm the compactness of the YP X series when they are installed to an assembly line.

287.5287.5 109 109 504.5 504.5 504.5 574

An assembly line using thepick & place excellent inspace saving property.

An assembly line using the PXYx,Yamaha’s compact size Cartesian robot.Stroke of X axis: 250mmStroke of Y axis: 250mm

An assembly line usingthe YK250X, Yamaha’s compact size SCARA robot

.45 secon0.45 secondor 1 strokefor 1 stroke

150mm

50m

m

.45 seconor 1 stroke

029

Structure Maximum payload (kg) Cycle time (sec) Model Detailed info page

X axis Belt3 0.45 YP220BX P.304

Z axis Belt


X axis Belt

1 0.62 YP220BXR P.306 Z axis Belt

R axis Rotation axis


X axis Ball screw

1 0.67 YP320XR P.307 Z axis Belt



X axis Ball screw

3 0.57 YP330X P.308 Y axis Ball screw

Z axis Belt


X axis Ball screw

1 0.67 YP340X P.309 Y axis Ball screw

Z axis Belt



X axis Ball screw3 0.57 YP320X P.305

Z axis Belt

YP-X easy selection table

2 axes

3 axes

4 axes

3 High precision

Both outstanding high-speed per formance and high precision of +/-0.02mm (YP320X, YP320XR, YP330X, YP340X) are assured.

4 General use

Owing to YAMAHA's unique servo system, settings for the stop point and operation pattern can be programmed freely. This provides outstanding applicability to production of multiple number of items in a small lot which is diffi cult with a cam type robot.

5 Complete absolute position system

As complete absolute position system is adopted as standard specification, the origin return operation is not necessary.

6 Fully assorted line-up

Full line-up of 6 models in all from 2 axes type to 4 axes type selectable for each use purpose.

301

2-axes

3-a

xes4-axes

APPLICATION

Co

mp

act

sing

le-a

xis robots

TRAN

SERVOS

ing

le-a

xis robots

FLIP-X

Lin

ea

r motor

sing

le-a

xis robots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-XG

Pick &

placero

bo

ts

YP-XC

LEAN

CON

TROLLER

INFORM

ATION

CONTENTS

Main functions P.028

YP-X SPECIFICATION ■

SHEET ··································· 302

Robot ordering method ■

description ··························· 302

Robot ordering method ■

terminology ·························· 303

2 AXES

YP220BX ··············································· 304

YP320X ················································· 305

3 AXES

YP220BXR ············································ 306

YP320XR ················································307

YP330X ················································· 308

4 AXES

YP340X ················································· 309

YP-XSERIES

PICK & PLACE ROBOTS

APPLICATION

Co

mp

act

sing

le-a

xis robots

TRAN

SERVOS

ing

le-a

xis robots

FLIP-X

Lin

ea

r motor

sing

le-a

xis robots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-XG

Pick &

placero

bo

ts

YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

302

2-axes

3-a

xes4-axes

YP-X SPECIFICATION SHEETType Model Maximum payload (kg) Cycle time (sec) Note 1 Structure Moving range Detailed info page

2-axes

YP220BX 3 0.45X-axis Belt 200mm

P.304Z-axis Belt 100mm

YP320X 3 0.57X-axis Ball screw 330mm


3-axes

YP220BXR 1 0.62

X-axis Belt 200mm


R-axis Rotation axis +/-180°

YP320XR 1 0.67

X-axis Ball screw 330mm



YP330X 3 0.57


P.308Y-axis Ball screw 150mm

Z-axis Belt 100mm

4-axes YP340X 1 0.67


P.309Y-axis Ball screw 150mm

Z-axis Belt 100mm


Cycle time is the time required for moving back and forth 150mm (arch 50) and vertically 50mm (during rough positioning motion with 1kg load). Note 1.

Robot ordering method descriptionIn the order format for the YAMAHA pick & place robots YP-X series, the notation (letters/numbers) for the mechanical section is shown linked to the controller section notation.

[Example] 2-axis specifi cations

Mechanical YP220BX

• Robot cable length 3.5m

Controller RCX222

• Usable for CE Not required• Input/Output selection 1 NPN• Input/Output selection 2 None

Ordering method

RCX2223L NYP220BXMechanical section Controller section

Ordering method

RCX2405L N CC BBYP340XMechanical section Controller section

Mechanical YP340X

• Robot cable length 5m

Controller RCX240

• Usable for CE Not required• Expansion I/O NPN Standard I/O 16/8

• Network option CC-Link• Battery 4 pcs

No entry

N1P1EN

NoneOP.DIO 24/16 (NPN) Note 2

OP.DIO 24/17 (PNP)Ethernet Note 3 Note 4

3L5L10L

3.5m (Standard)5m10m

YP220BXYP320X

Controller Note 1

NPCCDNPBENYC

NPN Note 2

PNPCC-LinkDeviceNetProfibusEthernet None 2

YC-Link Note 3

Input/Output selection 2Input/Output selection 1

RCX222

Note 1. DRCX is also selectable.Note 2. With the CE marking, it is not possible to select NPN or Ethernet.Note 3. Available only for the master.Note 4. Only when CC-Link or DeviceNet or Profibus was selected for I/O select 1 above. Ethenet can be selected in I/O select 2.

Model Cable length Usable for CE

No entry

E

Standard

CE

marking

No entry

CCDNPBENYC

NoneCC-LinkDeviceNetProfibusEthernetYC-Link Note1

3L5L10L

3.5m (Standard)5m10m

YP220BXRYP320XRYP330XYP340X

Model Cable length Controller

NN1N2N3N4PP1P2P3P4

Standard I/O 16/8 (NPN) 40/24 (NPN) 64/40 (NPN) 88/55 (NPN) 112/72 (NPN)Standard I/O 16/8 (PNP) 40/24 (PNP) 64/40 (PNP) 88/55 (PNP) 112/72 (PNP)

Expansion I/O Note 1 Network optionUsable for CE

RCX240Battery

BB

Note 1. Available only for the master.

No entry

E

Standard

CE

marking

3 / 4 axis specifi cations

To fi nd detailed controller information see the controller page. DRCX P.387 , RCX222 P.395 , RCX240 P.402

APPLICATION

Co

mp

act

sing

le-a

xis robots

TRAN

SERVOS

ing

le-a

xis robots

FLIP-X

Lin

ea

r motor

sing

le-a

xis robots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-XG

Pick &

placero

bo

ts

YP-XC

LEAN

CON

TROLLER

INFORM

ATION

303

2-axes

3-a

xes4-axes

Robot ordering method terminology

Model Enter the robot unit model.

Cable length

Select the length of the robot cable connecting the robot and controller.3L : 3.5m (Standard)5L : 5m10L : 10m

Controller2-axis specifi cations: Select either RCX222 or DRCX.3 / 4 axis specifi cations: RCX240.

Usable for CE CE marking is selectable.

Input/Output selection 1 This is an RCX222 controller option. It allows selecting an expansion I/O board

and network board adding to the standard I/O board. Input/Output selection 2

Expansion I/OThis is an RCX240 controller option. It allows selecting an expansion I/O board adding to the standard I/O board.

Network optionThis is an RCX240 controller option. It allows selecting a network board adding to the standard I/O board.

Battery Absolute data backup battery (not required if using incremental specifi cations).

APPLICATION

Co

mp

act

sing

le-a

xis robots

TRAN

SERVOS

ing

le-a

xis robots

FLIP-X

Lin

ea

r motor

sing

le-a

xis robots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-XG

Pick &

placero

bo

ts

YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

304

2-axes

3-a

xes4-axes

Controller

RCX222 395 DRCX 387

YP220BX

X axis Z axis

AC servo motor output (W) 200 200

Repeatability Note 1 (mm) +/-0.05 +/-0.05

Drive system Timing belt Timing belt

Deceleration ratio (mm) Equivalent to lead 24 Equivalent to lead 20

Maximum speed Note 2 (mm/sec) 1440 1200

Moving range (mm) 200 100

Cycle time (sec) 0.45 Note 3

Maximum payload (kg) 3

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

Weight (kg) 17

Positioning repeatability precision in a single swing when residual vibration is stabilized (variable depending on the load and stroke).Note 1. When the moving stroke is short, the maximum speed may not be reached.Note 2. Reciprocating time in vertical direction (50mm) and longitudinal direction (150mm) with the arch amount of 50 (when executing rough Note 3. positioning arch motion with 1kg load).

Controller Power consumption (VA) Operating method

RCX222 500Programming /I/O point trace /Remote command /Operation using RS-232C communication

DRCX0505 500

YP220BX RCX222Model Cable length Controller Usable for CE Inputs/Outputs selection 1 Inputs/Outputs selection 2

3L: 3.5m (Standard) RCX222 No entry: Standard N: NPN Note 2 No entry: None5L: 5m DRCX0505 E: CE marking P: PNP N1: OP.DIO24/16

(NPN) Note 210L: 10m CC: CC-LinkDN: DeviceNet P1: OP.DIO24/17

(PNP)PB: Profi busEN: Ethernet Note 2 EN: Ethernet No e 2 No e 3

Available only for the master.Note 1. YC: YC-Link Note 1

With the CE marking, it is not possible to select NPN or Ethernet.Note 2. Only when you have selected CC, DN or PB for Input/Output selection 1, you can select EN for Input/Output selection 2.Note 3.

YP220BX

Robot cableGrounding terminal (M4)

287

MA

X. 6

00

X stroke: 200

10490

1167

510 73+/-220 468.5

(583)

5 (Note 1)

4- ϕ10

(Installation side)

+ Z

Z st

roke

: 100

(57)

2 (N

ote

1)

185

3 (Note 1)

20 4 (N

ote

1)

13

6823

29

20 30 8-M4 x 0.7 (for user installation)(same four places on opposite side)

67

89109

Air tube detachable connection

21

Tool plate

56.5

79

2534

14.5

57 2510

4-M5 x 0.8

Details of tool plate

Coupling for air (ϕ6)

Coupling for air (ϕ4) +X

Distance to mechanical stopper.Note 1. Return-to-origin on the YP220BX is by absolute reset. So the origin position must be set the fi rst time (making initial settings) Note 2. but after that is not required.

2 axes

Ordering method

Specifi cations Controller

APPLICATION

Co

mp

act

sing

le-a

xis robots

TRAN

SERVOS

ing

le-a

xis robots

FLIP-X

Lin

ea

r motor

sing

le-a

xis robots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-XG

Pick &

placero

bo

ts

YP-XC

LEAN

CON

TROLLER

INFORM

ATION

305

2-axes

3-a

xes4-axes

Controller

RCX222 395 DRCX 387

YP320X


RCX222 500Programming //O point trace /

Remote command /Operation using RS-232C communication

DRCX0505 500

X axis Z axis

AC servo motor output (W) 200 200

Repeatability Note 1 (mm) +/-0 02 +/-0.05

Drive system Ball screw (C7 class) Timing belt

Deceleration ratio (mm) Equivalent to lead 20 Equivalent to lead 25

Maximum speed Note 2 (mm/sec) 1500 1500

Moving range (mm) 330 100

Cycle time (sec) 0 57 Note 3, 0.78 Note



Weight (kg) 21

Positioning repeatability precision in a single swing when residual vibration is stabilized (variable depending on the load and stroke).Note 1. When the moving stroke is short, the maximum speed may not be reached.Note 2. Reciprocating time in vertical direction (50mm) and longitudinal direction (150mm) with the arch amount of 50 (when executing rough Note 3. positioning arch motion with 1kg load). Reciprocating time in vertical direction (25mm) and longitudinal direction (300mm) with the arch amount of 25 (when executing rough Note 4. positioning arch motion with 1kg load).

YP320X RCX222Model Cable length Controller Usable for CE Inputs/Outputs selection 1 Inputs/Outputs selection 2

3L: 3.5m (Standard) RCX222 No entry: Standard N: NPN Note 2 No entry: None5L: 5m DRCX0505 E: CE marking P: PNP N1: OP.DIO24/16

(NPN) Note 210L: 10m CC: CC-LinkDN: DeviceNet P1: OP.DIO24/17

(PNP)PB: Profi busEN: Ethernet Note 2 EN: Ethernet Note 2 Note 3

Note1. Available only for the master. YC: YC-LinkNote 1. Note 1

Note2. With the CE marking, it is not possible to select NPN or Ethernet.Note3. Only when you have selected CC, DN or PB for Input/Output selection 1, you can select EN for Input/Output selection 2.

YP320X

431

Grounding 5 terminal (M4)

325

(650)

13570

(301)

7.5 80 8

9

120

(123

)

8-M8 x 1.25Depth20 (Note 3)

105

301X stroke: 330

1035 (Note 1) 3 (Note 1)

127

Z st

roke

: 100

(57)

193

1466

4 (N

ote

1)2

(Not

e 1)

242

3438102

Air tube detachableconnection

15.5123

+ X

+ Z

78

Note. Tool plate is detachable.The tool plate is made of aluminum alloy.

253414

.557 25

10

4-M5 x 0.8

2

159.5

4-Coupling for air ϕ4 Warning


Distance to mechanical stopper.Note 1. Return-to-origin on the YP320X is by absolute reset. So the origin position must be set the fi rst time (making initial Note 2. settings) but after that is not required. Do not use bolts longer than 20mm (robot bottom plate thickness).Note 3.

2 axes

Ordering method


APPLICATION

Co

mp

act

sing

le-a

xis robots

TRAN

SERVOS

ing

le-a

xis robots

FLIP-X

Lin

ea

r motor

sing

le-a

xis robots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-XG

Pick &

placero

bo

ts

YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

306

2-axes

3-a

xes4-axes

Controller

RCX240 402

YP220BXR


RCX240 700

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

X axis Z axis R axis

AC servo motor output (W) 200 200 60

Repeatability Note1 (mm) +/-0.05 +/-0 05 +/-0.1

Drive system Timing belt Timing belt Ball Reducer

Deceleration ratio (mm) Equivalent to lead 24 Equivalent to lead 20 1/18

Maximum speed Note 2 (XZ mm/sec) (R °/sec) 1440 1200 1000

Moving range (XZ mm) (R °) 200 100 +/-180

Cycle time (sec) 0.62 Note 3


R-axis allowable moment inertia (kgm2[kgfcms2]) 0.0098 [0.01]


Weight (kg) 19

Positioning repeatability precision in a single swing when residual vibration is stabilized (variable depending on the load and stroke).Note 1. When the moving stroke is short, the maximum speed may not be reached.Note 2. Reciprocating time in vertical direction (50mm) and longitudinal direction (150mm) with the arch amount of 50 (when executing rough Note 3. positioning arch motion with 1kg load).

YP220BXR RCX240 BBModel Cable length Controller Usable for CE Expansion I/O Note 1 Network option Battery

3L: 3.5m (Standard) No entry: Standard N, P: Standard I/O 16/8 No entry: None BB: 4 pcs5L: 5m E: CE marking N1, P1: 40/24 CC: CC-Link10L: 10m N2, P2: 64/40 DN: DeviceNet

N3, P3: 88/56 PB: Profi busN4, P4: 112/72 EN: Ethernet

YC: YC-Link Note 2

Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected.Note 1. Available only for the master.Note 2.

YP220BXR

Bottom plate

287

10490

1167

468.5

Grounding terminal(M4)

4- ϕ10

51020 5 (Note 1)

103+/-2X stroke: 200

640

+ Z

+ X

120

68

179

3 (Note 1)

70

Z st

roke

: 100

4 (N

ote

1)2

(Not

e 1)

67

Air tube detachable connection

MA

X. 7

00

17.5

870

4010 89

ϕ8h7

20 266

5

C1

M5 x 0.8 Depth13

67

2-Coupling for air ϕ4


Width acrossflat 7 ϕ22

Distance to mechanical stopper.Note1. Return-to-origin on the YP220BXR is by absolute reset. So the origin position must be set the fi rst time (making initial settings) Note2. but after that is not required.

3 axes

Ordering method


APPLICATION

Co

mp

act

sing

le-a

xis robots

TRAN

SERVOS

ing

le-a

xis robots

FLIP-X

Lin

ea

r motor

sing

le-a

xis robots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-XG

Pick &

placero

bo

ts

YP-XC

LEAN

CON

TROLLER

INFORM

ATION

307

2-axes

3-a

xes4-axes

Controller

RCX240 402

YP320XR


RCX240 700

Programming //O point trace /


YP320XR RCX240 BBModel Cable length Controller Usable for CE Expansion I/O Note 1 Network option Battery



YC: YC-Link Note 2


X axis Z axis R axis


Repeatability Note 1 (XZ mm) (R °) +/-0.02 +/-0.05 +/-0.1

Drive system Ball screw (C7 class) Timing belt Ball Reducer

Deceleration ratio (mm) Equivalent to lead 20 Equivalent to lead 25 1/18

Maximum speed Note 2 (XZ mm/sec) (R °/sec) 1500 1500 1000

Moving range (XZ mm) (R °) 330 100 +/-180

Cycle time (sec) 0.67 Note 3, 0.87 Note




Weight (kg) 23


YP320XR

+ X

+ Z

301

13570


325

(301)

7.5

120

80 8

9(1

23)

Grounding terminal (M4)

66 71431

(700)

180

177

133X stroke: 330 3 (Note 1)5 (Note 1)

Z st

roke

: 100

2 (N

ote

1)4

(Not

e 1)

105

78

123 40

708

MA

X. 7

00

15.5 102 31.5

55

20 266

5

Width acrossflat 7

C1

M5 x 0.8 Depth13

67



ϕ8h7ϕ22

127

Warning

Distance to mechanical stopper.Note1. Return-to-origin on the YP320XR is by absolute reset. So the origin position must be set the fi rst time (making initial Note2. settings) but after that is not required. Do not use bolts longer than 20mm (robot bottom plate thickness).Note3.

3 axes

Ordering method


APPLICATION

Co

mp

act

sing

le-a

xis robots

TRAN

SERVOS

ing

le-a

xis robots

FLIP-X

Lin

ea

r motor

sing

le-a

xis robots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-XG

Pick &

placero

bo

ts

YP-X

CLEA

NCO

NTRO

LLERINFO

RMATIO

N

308

2-axes

3-a

xes4-axes

Controller

RCX240 402

YP330X


RCX240 700

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

X axis Y axis Z axis


Repeatability Note 1 (mm) +/-0.02 +/-0 02 +/-0.05

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

Deceleration ratio (mm) Equivalent to lead 20 Equivalent to lead 20 Equivalent to lead 25

Maximum speed Note 2 (mm/sec) 1500 1000 1500

Moving range (mm) 330 150 100




Weight (kg) 32


YP330X RCX240 BBModel Cable length Controller Usable for CE Expansion I/O Note 1 Network option Battery



YC: YC-Link Note 2


YP330X

X stroke: 330

Z st

roke

: 100

2 (N

ote

1)(5

7)

193

214

1466431

412

4 (N

ote

1)

5 (Note 1)

329

78319

(650)

6017560



12.5

255

(280

)

12

(319)

+ X 3438102

Y stroke: 150

82

2(Note 1)16

280

3(Note 1)

5 (Note 1)

7.5

15.5123

78

253414

.557 25

10

4-M5 x 0.8

9.5 15

2

+ Z

Note. Tool plate is detachable.The tool plate is made of aluminum alloy.


4-Coupling for airϕ4

Warn ng

Distance to mechanical stopper.Note1. Return-to-origin on the YP330X is by absolute reset. So the origin position must be set the fi rst time (making initial settings) Note2. but after that is not required. Do not use bolts longer than 20mm (robot bottom plate thickness).Note3.

3 axes

Ordering method


APPLICATION

Co

mp

act

sing

le-a

xis robots

TRAN

SERVOS

ing

le-a

xis robots

FLIP-X

Lin

ea

r motor

sing

le-a

xis robots

PHA

SER

Ca

rtesia

nro

bo

ts

XY-X

SC

AR

Aro

bo

ts

YK

-XG

Pick &

placero

bo

ts

YP-XC

LEAN

CON

TROLLER

INFORM

ATION

309

2-axes

3-a

xes4-axes

Controller

RCX240 402

YP340X


RCX240 800

Programming //O point trace /


X axis Y axis Z axis R axis

AC servo motor output (W) 200 200 200 60

Repeatability Note 1 (XYZ mm)(R °) +/-0.02 +/-0.02 +/-0 05 +/-0.1

Drive system Ball screw (C7 class) Ball screw (C7 class) Timing belt Ball Reducer

Deceleration ratio (mm) Equivalent to lead 20 Equivalent to lead 20 Equivalent to lead 25 1/18

Maximum spee Note 2 (XYZ mm/sec) (R °/sec) 1500 1000 1500 1000

Moving range (XYZ mm) (R °) 330 150 100 +/-180





Weight (kg) 34


YP340X RCX240 BBModel Cable length Controller Usable for CE Expansion I/O Note 1 Network option Battery



YC: YC-Link Note 2


YP340X

412

66431 71(700)

319 108X stroke: 3305 (Note 1)

214 26

418

0

Z st

roke

: 100

2 (N

ote

1)4

(Not

e 1)

+ X

+ Z

Y stroke: 15016

280

5(Note 1)

82

40

3(Note 1)

MA

X. 7

50

708

15.5 102 31.5

55

78

2(Note 1)

6017560

12.5 12

(319)


255

(280

)

123


ϕ8h7

266

C1

205

Width acrossflat 7

M5 x 0.8 Depth13

67



ϕ22

Warning

Distance to mechanical stopper.Note1. Return-to-origin on the YP340X is by absolute reset. So the origin position must be set the fi rst time (making initial settings) but after Note2. that is not required. Do not use bolts longer than 20mm (robot bottom plate thickness).Note3.

4 axes

Ordering method


Documents

Ypx Catalog