Ypx Catalog

Product Lineup / Selection Guide
YP-X
Series
PICK & PLACE ROBOTS

3 axes 4 axes
Ideal for high-speed pick & place tasks using small parts! Positioning is by servo control so no complex mechanical adjustments are needed!
2 axes
YP220BX / YP320X
YP220BRX / YP320XR / YP330X
YP340X
This is why the YP-X is terric!

1
High speed
0.45 .45 second secon for or 1 stroke
150mm
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 example of 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.
An assembly line using the pick & place excellent in space saving property. An assembly line using the PXYx, Yamahas compact size Cartesian robot. Stroke of X axis: 250mm Stroke of Y axis: 250mm 504.5 504.5 504.5 An assembly line usingthe YK250X, Yamahas compact size SCARA robot
287.5 287.5 109 109
574
028
50mm
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.
3 4
High precision
5 6
Complete absolute position system
Both outstanding high-speed per formance and high precision of +/-0.02mm (YP320X, YP320XR, YP330X, YP340X) are assured.
As complete absolute position system is adopted as standard specification, the origin return operation is not necessary.
General use
Fully assorted line-up
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 dif cult with a cam type robot.
Full line-up of 6 models in all from 2 axes type to 4 axes type selectable for each use purpose.
YP-X easy selection table

Structure Maximum payload (kg) Cycle time (sec) Model Detailed info page
X axis
Belt
Z axis
Belt
0.45
YP220BX
P.304
2 axes
X axis
Ball screw Belt
Z axis
0.57
YP320X
P.305
Structure
Maximum payload (kg)
Cycle time (sec)
Model
Detailed info page
X axis
Belt Belt 1 0.62 YP220BXR

P.306
Z axis
R axis Rotation axis

3 axes
X axis
Ball screw Belt 1 0.67 YP320XR

P.307
Z axis
Structure
Cycle time (sec)
Model
Detailed info page
X axis Y axis
Ball screw Ball screw Belt 3 0.57 YP330X

P.308
Z axis
Structure
Cycle time (sec)
Model
Detailed info page
X axis
Ball screw Ball screw Belt 1 0.67 YP340X

P.309
4 axes
Y axis
Z axis
029
APPLICATION TRANSERVO FLIP-X PHASER
Compact single-axis robots Single-axis robots Linear motor single-axis robots
YP-X
SERIES
CONTENTS
YP-X SPECIFICATION SHEET 302 Robot ordering method description 302 Robot ordering method terminology 303
2 AXES
YP220BX 304 YP320X 305
PICK & PLACE ROBOTS

XY-X YK-XG YP-X CLEAN CONTROLLER INFORMATION
Cartesian robots SCARA robots Pick & place robots
3 AXES
2-axes
YP220BXR 306 YP320XR307 YP330X 308
3-axes
4 AXES
YP340X 309
4-axes
Main functions P.028
301
YP-X SPECIFICATION SHEET

Type
Compact single-axis robots Single-axis robots Linear motor single-axis robots Cartesian robots SCARA robots Pick & place robots
APPLICATION TRANSERVO FLIP-X PHASER XY-X YK-XG YP-X CLEAN CONTROLLER INFORMATION
2-axes 3-axes 4-axes
Model YP220BX
Maximum payload (kg) 3 3
Cycle time (sec) Note 1 0.45 0.57
Structure X-axis Z-axis X-axis Z-axis X-axis Z-axis X-axis Belt Belt Ball screw Belt Belt Belt Ball screw Belt Ball screw Ball screw Belt Ball screw Ball screw Belt
Moving range Detailed info page 200mm 100mm 330mm 100mm 200mm 100mm +/-180 330mm 100mm +/-180 330mm 150mm 100mm 330mm 150mm 100mm +/-180
P.304 P.305 P.306 P.307 P.308 P.309
2-axes YP320X
YP220BXR
0.62
R-axis Rotation axis 3-axes YP320XR 1 0.67 Z-axis X-axis YP330X 3 0.57 Y-axis Z-axis X-axis 4-axes YP340X 1 0.67 Y-axis Z-axis
R-axis Rotation axis
R-axis Rotation axis
Note 1. Cycle time is the time required for moving back and forth 150mm (arch 50) and vertically 50mm (during rough positioning motion with 1kg load).
Robot ordering method description

In 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 specications
Mechanical
YP220BX 3.5m
Controller
RCX222 Not required NPN None
Robot cable length
Usable for CE Input/Output selection 1 Input/Output selection 2
YP220BX 3L RCX222 N
Mechanical section Controller section
Ordering method
RCX222
Model YP220BX YP320X Cable length 3L 3.5m (Standard) 5L 5m 10L 10m Controller Note 1 Usable for CE
No entry Standard E CE marking
Input/Output selection 1 N P CC DN PB EN YC NPN PNP CC-Link DeviceNet Profibus Ethernet None 2 YC-Link Note 3
Note 2
Input/Output selection 2
No entry None
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.
N1 P1 EN
OP.DIO 24/16 (NPN) Note 2 OP.DIO 24/17 (PNP) Ethernet Note 3 Note 4
3 / 4 axis specications Mechanical YP340X 5m Controller RCX240 Not required NPN Standard I/O 16/8 Network option Battery CC-Link 4 pcs Robot cable length
Usable for CE Expansion I/O
Ordering method
YP340X 5L RCX240 N CC BB
Mechanical section Controller section
RCX240
Model YP220BXR YP320XR YP330X YP340X Cable length 3L 3.5m (Standard) 5L 5m 10L 10m Controller Usable for CE
No entry Standard E CE marking
BB
Expansion I/O Note 1 N Standard I/O 16/8 (NPN) N1 40/24 (NPN) N2 64/40 (NPN) N3 88/55 (NPN) N4 112/72 (NPN) P Standard I/O 16/8 (PNP) P1 40/24 (PNP) P2 64/40 (PNP) P3 88/55 (PNP) P4 112/72 (PNP) Network option
No entry None
Battery
CC DN PB EN YC
CC-Link DeviceNet Profibus Ethernet YC-Link Note1
Note 1. Available only for the master.
To nd detailed controller information see the controller page.
DRCX
P.387 , RCX222
P.395 , RCX240
P.402
302
APPLICATION TRANSERVO
Robot ordering method terminology

Model Cable length Enter the robot unit model. Select the length of the robot cable connecting the robot and controller. 3L : 3.5m (Standard) 5L : 5m 10L : 10m 2-axis specications: Select either RCX222 or DRCX. 3 / 4 axis specications: RCX240. CE marking is selectable.
Compact single-axis robots Single-axis robots
FLIP-X
Controller Usable for CE Input/Output selection 1 Input/Output selection 2 Expansion I/O Network option Battery
Linear motor single-axis robots
PHASER XY-X YK-XG
This is an RCX222 controller option. It allows selecting an expansion I/O board and network board adding to the standard I/O board. This is an RCX240 controller option. It allows selecting an expansion I/O board adding to the standard I/O board. This is an RCX240 controller option. It allows selecting a network board adding to the standard I/O board. Absolute data backup battery (not required if using incremental specications).
Cartesian robots SCARA robots Pick & place robots
YP-X CLEAN CONTROLLER INFORMATION

303
YP220BX
MAX. 600
4 (Note 1)
20
2 (Note 1) Z stroke: 100 (57)
287
232
68
67
13
185
10
(Installation side)
67
11
14.5
57 25
2 axes
Ordering method
YP220BX
Model Cable length 3L: 3.5m (Standard) 5L: 5m 10L: 10m
RCX222
Controller RCX222 DRCX0505 Usable for CE No entry: Standard E: CE marking Inputs/Outputs selection 1 N: NPN Note 2 P: PNP CC: CC-Link DN: DeviceNet PB: Probus EN: Ethernet Note 2 YC: YC-Link Note 1 Inputs/Outputs selection 2 No entry: None N1: OP.DIO24/16 (NPN) Note 2 P1: OP.DIO24/17 (PNP) EN: Ethernet No e 2 No e 3
Note 1. Available only for the master. Note 2. With the CE marking, it is not possible to select NPN or Ethernet. Note 3. Only when you have selected CC, DN or PB for Input/Output selection 1, you can select EN for Input/Output selection 2.
Specications
X axis AC servo motor output (W) Repeatability Drive system Deceleration ratio (mm) Maximum speed Note 2 (mm/sec) Moving range (mm) Cycle time (sec) Maximum payload (kg) Robot cable length (m) Weight (kg)
Note 1
Controller
Z axis 200 +/-0.05 Timing belt Equivalent to lead 20 1200 100 0.45 Note 3 3 Standard: 3.5 Option: 5,10 17 DRCX0505 500 200 +/-0.05 Timing belt Equivalent to lead 24 1440 200 Power Controller consumption (VA) RCX222 500 Operating method Programming / I/O point trace / Remote command / Operation using RS-232C communication
(mm)
Note 1. Positioning repeatability precision in a single swing when residual vibration is stabilized (variable depending on the load and stroke). Note 2. When the moving stroke is short, the maximum speed may not be reached. Note 3. Reciprocating time in vertical direction (50mm) and longitudinal direction (150mm) with the arch amount of 50 (when executing rough positioning arch motion with 1kg load).
YP220BX
20 Coupling for air (6) Coupling for air (4)
30 8-M4 x 0.7 (for user installation) (same four places on opposite side) +X
79
Air tube detachable connection
+Z Tool plate
Robot cable Grounding terminal (M4)
20
468.5 510 (583)
5 (Note 1) 73+/-2
X stroke: 200
3 (Note 1)
56.5 21 89 109
4- 10
490
10
4-M5 x 0.8
25 34
Details of tool plate

Note 1. Distance to mechanical stopper. Note 2. Return-to-origin on the YP220BX is by absolute reset. So the origin position must be set the rst time (making initial settings) but after that is not required.
304
RCX222 X 395 DRCX X 387
Controller
YP320X
Ordering method
2 axes
Compact single-axis robots
YP320X
RCX222
Controller RCX222 DRCX0505 Usable for CE No entry: Standard E: CE marking Inputs/Outputs selection 1 N: NPN Note 2 P: PNP CC: CC-Link DN: DeviceNet PB: Probus EN: Ethernet Note 2 Note 1. YC: YC-Link Note 1 Inputs/Outputs selection 2 No entry: None N1: OP.DIO24/16 (NPN) Note 2 P1: OP.DIO24/17 (PNP) EN: Ethernet Note 2 Note 3
Single-axis robots
FLIP-X
Note1. Available only for the master. 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.
PHASER
Specications
Note 1
Controller
Z axis 200 +/-0.05 Timing belt Equivalent to lead 25 1500 100 0 57 Note 3, 0.78 Note 3 Standard: 3.5 Option: 5,10 21 DRCX0505 500 200 +/-0 02 Ball screw (C7 class) Equivalent to lead 20 1500 330 Power Controller consumption (VA) RCX222 500 Operating method Programming / /O point trace / Remote command / Operation using RS-232C communication
(mm)
Cartesian robots SCARA robots
XY-X YK-XG
Note 1. Positioning repeatability precision in a single swing when residual vibration is stabilized (variable depending on the load and stroke). Note 2. When the moving stroke is short, the maximum speed may not be reached. Note 3. Reciprocating time in vertical direction (50mm) and longitudinal direction (150mm) with the arch amount of 50 (when executing rough positioning arch motion with 1kg load). Note 4. Reciprocating time in vertical direction (25mm) and longitudinal direction (300mm) with the arch amount of 25 (when executing rough positioning arch motion with 1kg load).
Pick & place robots
YP-X CLEAN
YP320X
(650) 4 (Note 1) 431 66 14 +X 15.5 123 102 38 34
CONTROLLER INFORMATION
2 (Note 1) Z stroke: 100 (57)
+Z Air tube detachable connection
325
193 242
78
Warning
4-Coupling for air 4
127
2-axes
Grounding 5 terminal (M4) 301 (301) 135
5 (Note 1) 103
X stroke: 330
3 (Note 1)
7.5
70
80
8 9
3-axes
(123)
120 105
4-axes
9.5 10
15 2
8-M8 x 1.25 Depth20 (Note 3) 57 25
4-M5 x 0.8
Note. Tool plate is detachable. The tool plate is made of aluminum alloy.
14.5
25 34 Details of tool plate
Note 1. Distance to mechanical stopper. Note 2. Return-to-origin on the YP320X is by absolute reset. So the origin position must be set the rst time (making initial settings) but after that is not required. Note 3. Do not use bolts longer than 20mm (robot bottom plate thickness).
RCX222 X 395 DRCX X 387
Controller
305
YP220BXR
120 179 2 (Note 1) Z stroke: 100 4 (Note 1)
+Z
70
287
Grounding terminal (M4)
68
10 3 (Note 1)
89
40
17.5
20
468.5 510
5 (Note 1) 103+/-2
X stroke: 200
11
4- 10
490
10
67
6
Bottom plate
67
Width across flat 7
20
C1
22
8h7
M5 x 0.8 Depth13 Details of tool plate

Note1. Distance to mechanical stopper. Note2. Return-to-origin on the YP220BXR is by absolute reset. So the origin position must be set the rst time (making initial settings) but after that is not required.
306
RCX240 X 402
Controller
26
Air tube detachable connection
MAX. 700
3 axes
Ordering method
YP220BXR
RCX240
Controller Usable for CE No entry: Standard E: CE marking Expansion I/O Note 1 N, P: Standard I/O 16/8 N1, P1: 40/24 N2, P2: 64/40 N3, P3: 88/56 N4, P4: 112/72 Network option No entry: None CC: CC-Link DN: DeviceNet PB: Probus EN: Ethernet YC: YC-Link Note 2
BB
Battery BB: 4 pcs
Note 1. Use N to N4 when NPN is selected on the I/O board, and P to P4 when PNP is selected. Note 2. Available only for the master.
Specications
X axis AC servo motor output (W) Repeatability Drive system Deceleration ratio (mm) Maximum speed Note 2 (XZ mm/sec) (R /sec) Moving range (XZ mm) (R ) Cycle time (sec) Maximum payload (kg) R-axis allowable moment inertia (kgm2[kgfcms2]) Robot cable length (m) Weight (kg)
Note1
Controller
Z axis 200 +/-0 05 Timing belt Equivalent to lead 20 1200 100 0.62 Note 3 1 0.0098 [0.01] Standard: 3.5 Option: 5,10 19 R axis 60 +/-0.1 Ball Reducer 1/18 1000 +/-180 RCX240 700 200 +/-0.05 Timing belt Equivalent to lead 24 1440 200 Power Controller consumption (VA) Operating method Programming / I/O point trace / Remote command / Operation using RS-232C communication
(mm)
Note 1. Positioning repeatability precision in a single swing when residual vibration is stabilized (variable depending on the load and stroke). Note 2. When the moving stroke is short, the maximum speed may not be reached. Note 3. Reciprocating time in vertical direction (50mm) and longitudinal direction (150mm) with the arch amount of 50 (when executing rough positioning arch motion with 1kg load).
YP220BXR
640 2-Coupling for air 4 67 70 +X
YP320XR
Ordering method
3 axes
YP320XR
RCX240
BB
Battery BB: 4 pcs
Single-axis robots
FLIP-X
PHASER
Specications
X axis AC servo motor output (W) Repeatability Drive system Deceleration ratio (mm) Maximum speed Note 2 (XZ mm/sec) (R /sec) Moving range (XZ mm) (R ) Cycle time (sec) Maximum payload (kg) R-axis allowable moment inertia (kgm2[kgfcms2]) Robot cable length (m) Weight (kg)
Note 1
Controller
Z axis 200 +/-0.05 Timing belt Equivalent to lead 25 1500 100 0.67 Note 3, 0.87 Note 1 R axis 60 +/-0.1 Ball Reducer 1/18 1000 +/-180 RCX240 700 200 +/-0.02 Ball screw (C7 class) Equivalent to lead 20 1500 330 Power Controller consumption (VA) Operating method Programming / /O point trace / Remote command / Operation using RS-232C communication
(XZ mm) (R )
Cartesian robots
XY-X YK-XG
0.0098 [0.01] Standard: 3.5 Option: 5,10 23
SCARA robots
Pick & place robots
YP-X CLEAN
YP320XR
(700) 431 66 71 +X
15.5 55
102
31.5
+Z
2 (Note 1) Z stroke: 100 4 (Note 1) MAX. 700 180 70
325
127
177
78
2-axes
4-Coupling for air 4 Grounding terminal (M4) 301
Warning
5 (Note 1) 133
X stroke: 330
3 (Note 1)
123
40
3-axes
7.5
70
(301) 135
80
4-axes
67
(123)
120 105
C1
8-M8 x 1.25 Depth20 (Note 3)
Width across flat 7
20
22
8h7
M5 x 0.8 Depth13 Details of tool plate
Note1. Distance to mechanical stopper. Note2. Return-to-origin on the YP320XR is by absolute reset. So the origin position must be set the rst time (making initial settings) but after that is not required. Note3. Do not use bolts longer than 20mm (robot bottom plate thickness).
26
RCX240 X 402
Controller
307
YP330X
4 (Note 1)
2 (Note 1) Z stroke: 100 (57)
412
193
329
214
Grounding terminal (M4) 319
5 (Note 1) 78
X stroke: 330
3
(Note 1)
5 16
(Note 1)
Y stroke: 150 280
2
(Note 1)
(319)
12.5
60
175
60
12
9.5
(280) 255 10
15
2
4-M5 x 0.8
Note. Tool plate is detachable. The tool plate is made of aluminum alloy.
8-M8 x 1.25 Depth20 (Note 3)

Note1. Distance to mechanical stopper. Note2. Return-to-origin on the YP330X is by absolute reset. So the origin position must be set the rst time (making initial settings) but after that is not required. Note3. Do not use bolts longer than 20mm (robot bottom plate thickness).
14.5
57 25
25 34 Details of tool plate
308
RCX240 X 402
Controller
82
3 axes
Ordering method
YP330X
RCX240
BB
Battery BB: 4 pcs
Specications
Note 1
Controller
Y axis 200 +/-0 02 Ball screw (C7 class) Equivalent to lead 20 1000 150 0.57 Note 3, 0.78 Note 3 Standard: 3.5 Option: 5,10 32 Z axis 200 +/-0.05 Timing belt Equivalent to lead 25 1500 100 RCX240 700 200 +/-0.02 Ball screw (C7 class) Equivalent to lead 20 1500 330 Power Controller consumption (VA) Operating method Programming / I/O point trace / Remote command / Operation using RS-232C communication
(mm)
YP330X
(650) 431 15.5 66 14 +X 123 102 38 34
+Z
78
Warn ng
4-Coupling for air4
7.5
YP340X
Ordering method
4 axes
YP340X
RCX240
BB
Battery BB: 4 pcs
Single-axis robots
FLIP-X
PHASER
Specications
X axis AC servo motor output (W) Repeatability Drive system Deceleration ratio (mm) Maximum spee Note 2 (XYZ mm/sec) (R /sec) Moving range (XYZ mm) (R ) Cycle time (sec) Maximum payload (kg) R-axis allowable moment inertia (kgm2[kgfcms2]) Robot cable length (m) Weight (kg)
Note 1
Controller
Y axis 200 +/-0.02 Z axis 200 +/-0 05 Timing belt 1500 100 1 R axis 60 +/-0.1 Ball Reducer 1/18 1000 +/-180 RCX240 800 200 +/-0.02 Power Controller consumption (VA) Operating method Programming / /O point trace / Remote command / Operation using RS-232C communication
(XYZ mm)(R )
Ball screw (C7 class) Ball screw (C7 class) 1500 330 1000 150
Equivalent to lead 20 Equivalent to lead 20 Equivalent to lead 25
Cartesian robots
XY-X
0.67 Note 3, 0.87 Note
YK-XG
0.0098 [0.01] Standard: 3.5 Option: 5,10 34
SCARA robots
Pick & place robots
YP-X CLEAN
YP340X
(700) 431 123 15.5 66 71 +X 102 55 31.5
+Z 180 2 (Note 1) Z stroke: 100 4 (Note 1) 70
412
78
Warning
4-Coupling for air 4
214
264
MAX. 750
2-axes
Grounding terminal (M4) 319 (319) 12.5 60 175 60 12
5 (Note 1) 108
82
X stroke: 330
3
(Note 1)
5 16
(Note 1)
Y stroke: 150 280
2
(Note 1)
40
3-axes 4-axes
67 (280) 255
Width across flat 7 8-M8 x 1.25 Depth20 (Note 3)
20
C1
8h7 22 M5 x 0.8 Depth13
Details of tool plate

Note1. Distance to mechanical stopper. Note2. Return-to-origin on the YP340X is by absolute reset. So the origin position must be set the rst time (making initial settings) but after that is not required. Note3. Do not use bolts longer than 20mm (robot bottom plate thickness).
RCX240 X 402
Controller
26
309

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Product Lineup / Selection Guide

PICK & PLACE ROBOTS

YP220BRX / YP320XR / YP330X

This is why the YP-X is terric!

287.5 287.5 109 109

Complete absolute position system

Fully assorted line-up

YP-X easy selection table

Ball screw Belt

Maximum payload (kg)

Cycle time (sec)

Detailed info page

Belt Belt 1 0.62 YP220BXR

R axis Rotation axis

Ball screw Belt 1 0.67 YP320XR

R axis Rotation axis

Maximum payload (kg)

Cycle time (sec)

Detailed info page

Ball screw Ball screw Belt 3 0.57 YP330X

Maximum payload (kg)

Cycle time (sec)

Detailed info page

Ball screw Ball screw Belt 1 0.67 YP340X

R axis Rotation axis

APPLICATION TRANSERVO FLIP-X PHASER

Compact single-axis robots Single-axis robots Linear motor single-axis robots

PICK & PLACE ROBOTS

Cartesian robots SCARA robots Pick & place robots

YP220BXR 306 YP320XR307 YP330X 308

Main functions P.028

YP-X SPECIFICATION SHEET

Maximum payload (kg) 3 3

Cycle time (sec) Note 1 0.45 0.57

P.304 P.305 P.306 P.307 P.308 P.309

R-axis Rotation axis

R-axis Rotation axis

Robot ordering method description

RCX222 Not required NPN None

Robot cable length

Usable for CE Input/Output selection 1 Input/Output selection 2

Usable for CE Expansion I/O

CC-Link DeviceNet Profibus Ethernet YC-Link Note1

Note 1. Available only for the master.

To nd detailed controller information see the controller page.

Robot ordering method terminology

Compact single-axis robots Single-axis robots

Linear motor single-axis robots

PHASER XY-X YK-XG

Cartesian robots SCARA robots Pick & place robots

YP-X CLEAN CONTROLLER INFORMATION

2 (Note 1) Z stroke: 100 (57)

20 Coupling for air (6) Coupling for air (4)

Air tube detachable connection

Robot cable Grounding terminal (M4)

468.5 510 (583)

Details of tool plate

RCX222 X 395 DRCX X 387

Compact single-axis robots

Linear motor single-axis robots

Cartesian robots SCARA robots

Pick & place robots

2 (Note 1) Z stroke: 100 (57)

+Z Air tube detachable connection